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Timing Analysis of Real-Time Communication Under Electromagnetic Interference

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Abstract

This paper discusses aspects of dependability of real-time communication. In particular, we consider timing behaviour under fault conditions for Controller Area Network (CAN) and the extension Time-triggered CAN (TTCAN) based on a time-driven schedule. We discuss the differences between these buses and their behaviour under electromagnetic interference. We present response timing analyses for CAN and TTCAN in the presence of transient network faults using a probabilistic fault model where random faults from electromagnetic interference occur. The CAN analysis provides a probability distribution of worst case response times for message frames. The results indicate that CAN may generally provide a higher probability of delivering messages on time than TTCAN. The CAN analysis result is used to discuss an approach to implementing a bus guardian for event-triggered systems.

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Authors and Affiliations

  1. Real-time Systems Research Group, Department of Computer Science, University of York, UK

    I. Broster & A. Burns

  2. Systems, Robotics and Vision Group, Departament de Matemàtiques i Informàtica, Universitat de les Illes Balears, Palma de Mallorca, Spain

    G. RodrÍguez-Navas

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  1. I. Broster
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  2. A. Burns
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  3. G. RodrÍguez-Navas
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Correspondence to I. Broster.

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Ian Broster is a research associate at the University of York, his research includes real-time communication and work on the CAN protocol. Current research focuses on next-generation flexible scheduling for real-time operating systems. His research interests include probabilistic analysis, timing analysis of non-deterministic systems, flexible scheduling, real-time communication, simulation and modelling. He received his M.Eng. degree in 1999 and a Ph.D. in 2003 for his work on flexible real-time communication at the University of York, U.K.

Alan Burns has worked for many years on a number of different aspects of real-time systems engineering. He graduated in 1974 in Mathematics from Sheffield University; he then took a D.Phil, in the Computer Science Department at the University of York. After a short period of employment at UKAEA Research Centre, Harwell, he was appointed to a lectureship at Bradford University in 1979. He was subsequently promoted to Senior Lecturer in 1986. In January 1990 he took up a Readership at the University of York in the Computer Science Department. During 1994 he was promoted to a Personal Chair. In 1999 he became Head of the Computer Science Department at York.

Guillermo Rodríguez-Navas holds a degree in Telecommunication Engineering by the University of Vigo, Spain. He is currently doing a Ph.D. in Computer Science at the University of the Balearic Islands, Spain. He is also a member of the System, Robotics and Vision (SRV) research group at this university. His research is focused on dependable and real-time distributed embedded systems. In particular, he has addressed various issues related to the Controller Area Network (CAN) field bus, such as fault tolerance, clock synchronization and response time analysis.

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Broster, I., Burns, A. & RodrÍguez-Navas, G. Timing Analysis of Real-Time Communication Under Electromagnetic Interference. Real-Time Syst 30, 55–81 (2005). https://doi.org/10.1007/s11241-005-0504-z

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