Schedulability analysis of Multi-Frame messages over Controller Area Networks with mixed-queues

The Controller Area Network (CAN) is one of the most widely utilized real-time communication networks, which has plenty of applications especially in automotive industry. Many works have been proposed regarding the CAN schedulability analysis which is very important for guaranteeing the safety and reliability of hard real-time systems. Most of the existing analysis methods assume a periodic message model, and some of them take sporadic messages into account. However, for some applications, message transmissions may follow a specific pattern instead of repeating the same transmission period by period, where applying the existing methods may include much pessimism. In this paper, we apply the Multi-Frame task model, which is first proposed by Mok and Chen in [1], on messages over a CAN-based system with mixed message queues. In this preliminary work, the analysis is based on some specific assumptions. A more general analysis will be investigated in our later works.