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The Utilization Bound of Non-Preemptive Rate-Monotonic Scheduling in Controller Area Networks Is 25%

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Executive Summary

Consider a distributed computer system comprising many computer nodes, each interconnected with a Controller Area Network (CAN) bus. The authors prove that if priorities to message streams are assigned using Rate-Monotonic (RM) and if the requested capacity of the CAN bus does not exceed 25% then all deadlines are met. The CAN bus offers three appealing features CAN controllers are available at low cost and can use low-cost cabling, CAN networks are flexible in the sense that new computer nodes can be connected without changing the configuration of existing computer nodes, and the medium access control protocol used in the CAN bus implements non-preemptive static-priority scheduling.

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