Evaluation of a Hybrid Real-time Bus Scheduling Mechanism for CAN

As a common resource, the CAN bus has to be shared by all computing nodes. Access to the bus has to be scheduled in a way that distributed computations meet their deadlines in spite of competition for the communication medium. The paper presents an evaluation of a resource scheduling scheme for CAN, which is based on time-slot reservation and dynamic priorities. The processing overhead as well as the schedulability parameters of the hybrid bus scheduling scheme are analyzed and compared with TDMA and the fixed priority assignment