Extending response-time analysis of Controller Area Network (CAN) with FIFO queues for mixed messages

Existing response-time analysis for Controller Area Network (CAN) messages in networks where some nodes implement FIFO queues while others implement priority queues, assumes that at every node, CAN messages are queued for transmission periodically or sporadically. However, there are a few high level protocols for CAN such as CANopen and Hägglunds Controller Area Network (HCAN) that support the transmission of mixed messages as well. A mixed message can be queued for transmission both periodically and sporadically. The existing analysis of CAN with FIFO queues does not support the analysis of mixed messages. We extend the existing response-time analysis of mixed-type CAN messages. The extended analysis can compute the response-times of mixed (periodic/ sporadic) messages in the CAN network where some nodes use FIFO queues while others use priority queues.