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The existing worst case response-time analysis for controller area network (CAN) with nodes implementing priority and First In First Out (FIFO) queues does not support mixed messages. It assumes that a message is queued for transmission either periodically or sporadically. However, a message can also be queued both periodically and sporadically using mixed transmission mode implemented by several higher level protocols for CAN that are used in the automotive industry. We extend the existing analysis for CAN to support any higher level protocol for CAN that uses periodic, sporadic, and mixed transmission of messages in the systems where some nodes implement priority queues, whereas others implement FIFO queues. In order to provide a proof of concept, we implement the extended analysis in a free tool, conduct an automotive-application case study, and perform comparative evaluation of the extended analysis with the existing analysis.

Extending Worst Case Response-Time Analysis for Mixed Messages in Controller Area Network With Priority and FIFO Queues