Skip to main content
SpringerLink
Log in

Networked Real-Time Embedded Systems

  • Reference work entry
  • First Online:
Handbook of Hardware/Software Codesign

Abstract

This chapter gives an overview on various real-time communication protocols, from the Controller Area Network (CAN) that was standardized over twenty years ago but is still popular, to the FlexRay protocol that provides strong predictability and fault tolerance, to the more recent Ethernet-based networks. The design of these protocols including their messaging mechanisms was driven by diversified requirements on bandwidth, real-time predictability, reliability, cost, etc. The chapter provides three examples of real-time communication protocols: CAN as an example of event-triggered communication, FlexRay as a heterogeneous protocol supporting both time-triggered and event-triggered communications, and different incarnations of Ethernet that provide desired temporal guarantees.

This work was done while Daniel Thiele was with Technische Universität Braunschweig

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 699.99
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Hardcover Book
USD 949.99
Price excludes VAT (USA)
  • Durable hardcover edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Abbreviations

ADAS:

Advanced Driver Assistance System

AFDX:

Avionics Full-Duplex Switched Ethernet

ARQ:

Automatic Repeat Request

AVB:

Audio/Video Bridging

CAN:

Controller Area Network

CPA:

Compositional Performance Analysis

CSMA/CD:

Carrier Sense Multiple Access/Collision Detection

ECU:

Electronic Control Unit

ET:

Event-Triggered

FIFO:

First-In First-Out

ILP:

Integer Linear Program

LIN:

Local Interconnect Network

MAC:

Media Access Control

MOST:

Media Oriented Systems Transport

QoS:

Quality of Service

SPNP:

Static-Priority Non-Preemptive

TSN:

Time-Sensitive Networking

TT-CAN:

Time-Triggered CAN

TTEthernet:

Time-Triggered Ethernet

TTP:

Time-Triggered Protocol

TT:

Time-Triggered

References

  1. Andersson B, Tovar E (2009) The utilization bound of non-preemptive rate-monotonic scheduling in controller area networks is 25%. In: 2009 IEEE international symposium on industrial embedded systems, pp 11–18

    Google Scholar 

  2. Axer P, Thiele D, Ernst R (2014) Formal timing analysis of automatic repeat request for switched real-time networks. In: Proceedings of the SIES, Pisa

    Book  Google Scholar 

  3. Axer P, Thiele D, Ernst R, Diemer J (2014) Exploiting shaper context to improve performance bounds of Ethernet AVB Networks. In: Proceedings of the DAC, San Francisco

    Book  Google Scholar 

  4. Baruah S, Chen D, Gorinsky S, Mok A (1999) Generalized multiframe tasks. Real-Time Syst 17(1):5–22

    Article  Google Scholar 

  5. Broster I, Burns A, Rodriguez-Navas G (2002) Probabilistic analysis of can with faults. In: 23rd IEEE real-time systems symposium, pp 269–278

    Google Scholar 

  6. von der Bruggen G, Chen JJ, Huang WH (2015) Schedulability and optimization analysis for non-preemptive static priority scheduling based on task utilization and blocking factors. In: 2015 27th Euromicro conference on real-time systems (ECRTS). IEEE, pp 90–101

    Google Scholar 

  7. Casparsson L, Rajnak A, Tindell K, Malmberg P (1998) Volcano revolution in on-board communications. Technical report, Volvo

    Google Scholar 

  8. Chen Y, Kurachi R, Takada H, Zeng G (2011) Schedulability comparison for can message with offset: priority queue versus FIFO queue. In: 19th international conference on real-time and network systems, pp 181–192

    Google Scholar 

  9. Darbandi A, Kim MK (2014) Schedule optimization of static messages with precedence relations in FlexRay. In: Sixth international conference on ubiquitous and future networks, pp 495–500

    Google Scholar 

  10. Darbandi A, Kwon S, Kim MK (2014)Scheduling of time triggered messages in static segment of FlexRay. Int J Softw Eng Appl 8(6):195–208

    Google Scholar 

  11. Davis R, Navet N (2012) Controller area network (CAN) schedulability analysis for messages with arbitrary deadlines in FIFO and work-conserving queues. In: 9th IEEE international workshop on factory communication systems, pp 33–42

    Google Scholar 

  12. Davis RI, Burns A, Bril RJ, Lukkien JJ (2007) Controller area network (CAN) schedulability analysis: refuted, revisited and revised. Real-Time Syst 35(3):239–272

    Article  Google Scholar 

  13. Davis RI, Kollmann S, Pollex V, Slomka F (2013) Schedulability analysis for controller area network (CAN) with FIFO queues priority queues and gateways. Real-Time Syst 49(1): 73–116

    Article  MATH  Google Scholar 

  14. Di Natale M, Zeng H (2010) System identification and extraction of timing properties from controller area network (CAN) message traces. In: IEEE conference on emerging technologies and factory automation, pp 1–8

    Google Scholar 

  15. Di Natale M, Zeng H (2013) Practical issues with the timing analysis of the controller area network. In: 18th IEEE conference on emerging technologies factory automation, pp 1–8

    Google Scholar 

  16. Di Natale M, Zeng H, Giusto P, Ghosal A (2012) Understanding and using the controller area network communication protocol: theory and practice. Springer Science & Business Media, New York

    Book  Google Scholar 

  17. Diemer J (To appear) Predictable network-on-chip for general-purpose processors – formal worst-case guarantees for on-chip interconnects. Ph.D. thesis, Technische Universität Braunschweig, Braunschweig. N/A

    Google Scholar 

  18. Diemer J, Axer P, Ernst R (2012) Compositional performance analysis in python with pyCPA. In: International workshop on analysis tools and methodologies for embedded and real-time systems

    Google Scholar 

  19. Diemer J, Rox J, Ernst R (2012) Modeling of Ethernet AVB networks for worst-case timing analysis. In: MATHMOD – Vienna international conference on mathematical modelling, Vienna

    Google Scholar 

  20. Diemer J, Rox J, Negrean M, Stein S, Ernst R (2011) Real-time communication analysis for networks with two-stage arbitration. In: Proceedings of the ninth ACM international conference on embedded software (EMSOFT 2011). ACM, Taipei, pp 243–252

    Chapter  Google Scholar 

  21. Diemer J, Thiele D, Ernst R (2012) Formal worst-case timing analysis of ethernet topologies with strict-priority and AVB switching. In: IEEE international symposium on industrial embedded systems. Invited Paper

    Book  Google Scholar 

  22. Ding S (2010) Scheduling approach for static segment using hybrid genetic algorithm in FlexRay systems. In: 10th IEEE international conference on computer and information technology, pp 2355–2360

    Google Scholar 

  23. Ding S, Murakami N, Tomiyama H, Takada H (2005) A ga-based scheduling method for FlexRay systems. In: 5th ACM international conference on embedded software, pp 110–113

    Google Scholar 

  24. Ghosal A, Zeng H, Di Natale M, Ben-Haim Y (2010) Computing robustness of FlexRay schedules to uncertainties in design parameters. In: Proceedings of the conference on design, automation and test in Europe, pp 550–555

    Google Scholar 

  25. Götz FJ (2013) Alternative shaper for scheduled traffic in time sensitive networks. In: IEEE 802.1 TSN TG meeting, Vancouver

    Google Scholar 

  26. Grenier M, Havet L, Navet N (2008) Configuring the communication on FlexRay-the case of the static segment. In: 4th European congress on embedded real time software

    Google Scholar 

  27. Han G, Di Natale M, Zeng H, Liu X, Dou W (2013) Optimizing the implementation of real-time simulink models onto distributed automotive architectures. J Syst Archit 59(10):1115–1127

    Article  Google Scholar 

  28. Han G, Zeng H, Li Y, Dou W (2014) SAFE: security-aware FlexRay scheduling engine. In: Design, automation and test in Europe conference and exhibition

    Google Scholar 

  29. Henia R, Hamann A, Jersak M, Racu R, Richter K, Ernst R (2005) System level performance analysis – the SymTA/S approach. In: IEE proceedings computers and digital techniques

    Google Scholar 

  30. Hu M, Luo J, Wang Y, Lukasiewycz M, Zeng Z (2014) Holistic scheduling of real-time applications in time-triggered in-vehicle networks. IEEE Trans Ind Inf 10(3): 1817–1828

    Article  Google Scholar 

  31. IEEE Audio Video Bridging Task Group (2010) 802.1Qav – forwarding and queuing enhancements for time-sensitive streams. http://www.ieee802.org/1/pages/802.1av.html

  32. IEEE Audio Video Bridging Task Group (2016) 802.1Qch – cyclic queuing and forwarding. http://www.ieee802.org/1/pages/802.1ch.html

  33. IEEE P802.3br Interspersing Express Traffic Task Force. P802.3br – standard for ethernet amendment specification and management parameters for interspersing express traffic. https://standards.ieee.org/develop/project/802.3br.html

  34. IEEE Time-Sensitive Networking Task Group. 802.1Qbu – frame preemption. http://www.ieee802.org/1/pages/802.1bu.html

  35. IEEE Time-Sensitive Networking Task Group (2015) P802.1Qbv (Draft 3.0) – enhancements for scheduled traffic. http://www.ieee802.org/1/pages/802.1bv.html

  36. International Standards Organisation (ISO) (1993) ISO 11898-1. Road vehicles – interchange of digital information – controller area network (CAN) for high-speed communication. ISO Standard-11898

    Google Scholar 

  37. International Standards Organisation (ISO) (2013) Road vehicles – FlexRay communications system – part 1: general information and use case definition. ISO Standard-17458

    Google Scholar 

  38. Jansen K, Solis-Oba R (2003) An asymptotic fully polynomial time approximation scheme for bin covering. Theor Comput Sci 306(1):543–551

    Article  MathSciNet  MATH  Google Scholar 

  39. Kang M, Park K, Jeong MK (2013) Frame packing for minimizing the bandwidth consumption of the FlexRay static segment. IEEE Trans Ind Electron 60(9):4001–4008

    Article  Google Scholar 

  40. Khan D, Bril R, Navet N (2010) Integrating hardware limitations in can schedulability analysis. In: 8th IEEE international workshop on factory communication systems, pp 207–210

    Google Scholar 

  41. Khan D, Davis R, Navet N (2011) Schedulability analysis of can with non-abortable transmission requests. In: 16th IEEE conference on emerging technologies factory automation, pp 1–8

    Google Scholar 

  42. Kreutz D, Ramos F, Esteves Verissimo P, Esteve Rothenberg C, Azodolmolky S, Uhlig S (2015) Software-defined networking: a comprehensive survey. Proc IEEE 103(1):14–76

    Article  Google Scholar 

  43. Li W, Di Natale M, Zheng W, Giusto P, Sangiovanni-Vincentelli A, Seshia S (2009) Optimizations of an application-level protocol for enhanced dependability in flexray. In: Design, automation test in Europe conference exhibition (DATE 2009), pp 1076–1081

    Google Scholar 

  44. Lincoln B, Cervin A (2002) Jitterbug: a tool for analysis of real-time control performance. In: Proceedings of the 41st IEEE conference on decision and control, vol 2, pp 1319–1324

    Google Scholar 

  45. Liu M, Behnam M, Nolte T (2013) An EVT-based worst-case response time analysis of complex real-time systems. In: 8th IEEE international symposium on industrial embedded systems, pp 249–258

    Google Scholar 

  46. Liu M, Behnam M, Nolte T (2013) Schedulability analysis of multi-frame messages over controller area networks with mixed-queues. In: 18th IEEE conference on emerging technologies factory automation, pp 1–6

    Google Scholar 

  47. Liu M, Behnam M, Nolte T (2014) Schedulability analysis of GMF-modeled messages over controller area networks with mixed-queues. In: 10th IEEE workshop on factory communication systems, pp 1–10

    Google Scholar 

  48. Lukasiewycz M, Glaß M. Teich J, Milbredt P (2009) FlexRay schedule optimization of the static segment. In: 7th IEEE/ACM international conference on hardware/software codesign and system synthesis, pp 363–372

    Google Scholar 

  49. Lukasiewycz M, Schneider R, Goswami D, Chakraborty S (2012) Modular scheduling of distributed heterogeneous time-triggered automotive systems. In: 17th Asia and South Pacific design automation conference, pp 665–670

    Google Scholar 

  50. Mok A, Chen D (1996) A multiframe model for real-time tasks. In: 17th IEEE real-time systems symposium, pp 22–29

    Google Scholar 

  51. Mubeen S, Mäki-Turja J, Sjödin M (2011) Extending schedulability analysis of controller area network (CAN) for mixed (periodic/sporadic) messages. In: 16th IEEE conference on emerging technologies factory automation, pp 1–10

    Google Scholar 

  52. Mubeen S, Mäki-Turja J, Sjödin M (2012) Extending response-time analysis of mixed messages in can with controllers implementing non-abortable transmit buffers. In: 17th IEEE conference on emerging technologies factory automation, pp 1–4

    Google Scholar 

  53. Mubeen S, Mäki-Turja J, Sjödin M (2012) Response time analysis for mixed messages in can supporting transmission abort requests. In: 7th IEEE international symposium on industrial embedded systems, pp 291–294

    Google Scholar 

  54. Mubeen S, Mäki-Turja J, Sjödin M (2012) Response-time analysis of mixed messages in controller area network with priority- and FIFO-queued nodes. In: 9th IEEE international workshop on factory communication systems, pp 23–32

    Google Scholar 

  55. Mubeen S, Mäki-Turja J, Sjödin M (2012) Worst-case response-time analysis for mixed messages with offsets in controller area network. In: 17th IEEE conference on emerging technologies factory automation, pp 1–10

    Google Scholar 

  56. Mubeen S, Mäki-Turja J, Sjödin M (2013) Extending offset-based response-time analysis for mixed messages in controller area network. In: 18th IEEE conference on emerging technologies factory automation, pp 1–10

    Google Scholar 

  57. Mubeen S, Mäki-Turja J, Sjödin M (2014) Extending worst case response-time analysis for mixed messages in controller area network with priority and FIFO queues. IEEE Access 2:365–380

    Article  Google Scholar 

  58. Mubeen S, Mäki-Turja J, Sjödin M (2014) Response time analysis with offsets for mixed messages in can supporting transmission abort requests. In: Emerging technology and factory automation (ETFA 2014). IEEE, pp 1–10

    Google Scholar 

  59. Mubeen S, Mäki-Turja J, Sjödin M (2015) Integrating mixed transmission and practical limitations with the worst-case response-time analysis for controller area network. J Syst Softw 99:66–84

    Article  Google Scholar 

  60. Mundhenk P, Steinhorst S, Lukasiewycz M, Fahmy SA, Chakraborty S (2015) Security analysis of automotive architectures using probabilistic model checking. In: 52nd ACM/IEEE design automation conference (DAC), pp 1–6

    Google Scholar 

  61. Natale MD (2006) Evaluating message transmission times in controller area networks without buffer preemption. In: 8th Brazilian workshop on real-time systems

    Google Scholar 

  62. Navet N, Song YQ, Simonot F (2000) Worst-case deadline failure probability in real-time applications distributed over controller area network. J Syst Archit 46(7):607–617

    Article  Google Scholar 

  63. Neukirchner M, Negrean M, Ernst R, Bone TT (2012) Response-time analysis of the FlexRay dynamic segment under consideration of slot-multiplexing. In: 7th IEEE international symposium on industrial embedded systems, pp 21–30

    Google Scholar 

  64. Nolte T, Hansson H, Norstrom C (2003) Probabilistic worst-case response-time analysis for the controller area network. In: 9th IEEE real-time and embedded technology and applications symposium, pp 200–207

    Google Scholar 

  65. Pop T, Pop P, Eles P, Peng Z, Andrei A (2008) Timing analysis of the FlexRay communication protocol. Real-Time Syst 39(1–3):205–235

    Article  MATH  Google Scholar 

  66. Schenkelaars T, Vermeulen B, Goossens K (2011) Optimal scheduling of switched FlexRay networks. In: Design, automation test in Europe conference exhibition, pp 1–6

    Google Scholar 

  67. Schmidt K, Schmidt E (2009) Message scheduling for the FlexRay protocol: the static segment. IEEE Trans Veh Technol 58(5):2170–2179

    Article  Google Scholar 

  68. Tanasa B, Bordoloi UD, Kosuch S, Eles P, Peng Z (2012) Schedulability analysis for the dynamic segment of FlexRay: a generalization to slot multiplexing. In: 18th IEEE real-time and embedded technology and applications symposium, pp 185–194

    Google Scholar 

  69. Tanasa B, Dutta Bordoloi U, Eles P, Peng Z (2011) Reliability-aware frame packing for the static segment of FlexRay. In: Proceedings of the ninth ACM international conference on embedded software, pp 175–184

    Google Scholar 

  70. Thiele D, Axer P, Ernst R (2015) Improving formal timing analysis of switched ethernet by exploiting FIFO scheduling. In: Design automation conference (DAC), San Francisco

    Google Scholar 

  71. Thiele D, Diemer J, Axer P, Ernst R, Seyler J (2013) Improved formal worst-case timing analysis of weighted round robin scheduling for ethernet. In: Proceedings of the CODES+ISSS, Montreal

    Book  Google Scholar 

  72. Thiele D, Ernst R (2016) Formal analysis based evaluation of software defined networking for time-sensitive ethernet. In: Proceedings of the design, automation, and test in Europe (DATE), Dresden

    Google Scholar 

  73. Thiele D, Ernst R (2016) Formal worst-case performance analysis of time-sensitive Ethernet with frame preemption. In: Proceedings of emerging technologies and factory automation (ETFA), Berlin, p 9

    Google Scholar 

  74. Thiele D, Ernst R (2016) Formal worst-case timing analysis of Ethernet TSN’s burst-limiting shaper. In: Proceedings of the design, automation, and test in Europe (DATE), Dresden

    Google Scholar 

  75. Thiele D, Ernst R, Diemer J (2015) Formal worst-case timing analysis of Ethernet TSN’s time-aware and peristaltic shapers. In: IEEE vehicular networking conference (VNC)

    Google Scholar 

  76. Thiele D, Schlatow J, Axer P, Ernst R (2015) Formal timing analysis of can-to-ethernet gateway strategies in automotive networks. Real-Time Syst. http://dx.doi.org/10.1007/s11241-015-9243-y

  77. Tindell K, Hansson H, Wellings A (1994) Analysing real-time communications: controller area network (CAN). In: IEEE real-time systems symposium, pp 259–263

    Google Scholar 

  78. Vector. CANbedded interaction layer. [Online] http://www.vector.com

  79. Yomsi P, Bertrand D, Navet N, Davis R (2012) Controller area network (CAN): response time analysis with offsets. In: 9th IEEE international workshop on factory communication systems, pp 43–52

    Google Scholar 

  80. Zeng H, Di Natale M, Ghosal A, Sangiovanni-Vincentelli A (2011) Schedule optimization of time-triggered systems communicating over the FlexRay static segment. IEEE Transactions on Industrial Informatics 7(1):1–17

    Article  Google Scholar 

  81. Zeng H, Di Natale M, Giusto P, Sangiovanni-Vincentelli A (2009) Stochastic analysis of CAN-based real-time automotive systems. IEEE Transactions on Industrial Informatics 5(4):388–401

    Article  Google Scholar 

  82. Zeng H, Di Natale M, Giusto P, Sangiovanni-Vincentelli A (2010) Using statistical methods to compute the probability distribution of message response time in controller area network. IEEE Transactions on Industrial Informatics 6(4):678–691

    Article  Google Scholar 

  83. Zeng H, Ghosal A, Di Natale M (2010) Timing analysis and optimization of FlexRay dynamic segment. In: 7th IEEE international conference on embedded software and systems, pp 1932–1939

    Google Scholar 

Download references

Acknowledgements

The contribution Packet-Switched Networks: Ethernet has received funding from the European Union’s Horizon 2020 research and innovation program under grant agreement No 644080.

Author information

Authors and Affiliations

  1. Department of Electrical and Computer Engineering, Virginia Tech, 302 Whittemore (0111), 24061-0002, Blacksburg, VA, USA

    Haibo Zeng & Prachi Joshi

  2. Elektrobit Automotive GmbH, Am Wolfsmantel 46, 91058 Erlangen, Erlangen, Germany

    Daniel Thiele

  3. Symtavision, Frankfurter Straße 3 C, 38122, Braunschweig, Germany

    Jonas Diemer

  4. NXP Semiconductors, 22529, Hamburg, Germany

    Philip Axer

  5. Institute of Computer and Network Engineering, Technical University Braunschweig, Hans-Sommer-Street 66, 38106, Braunschweig, Germany

    Rolf Ernst

  6. Department of Computer and Information Science, Linköping University, SE-581 83, Linköping, Sweden

    Petru Eles

Authors
  1. Haibo Zeng
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Prachi Joshi
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Daniel Thiele
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Jonas Diemer
    View author publications

    You can also search for this author in PubMed Google Scholar

  5. Philip Axer
    View author publications

    You can also search for this author in PubMed Google Scholar

  6. Rolf Ernst
    View author publications

    You can also search for this author in PubMed Google Scholar

  7. Petru Eles
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Haibo Zeng .

Editor information

Editors and Affiliations

  1. Department of Computer Science and Engineering, Seoul National University, Seoul, Korea (Republic of)

    Soonhoi Ha

  2. Department of Computer Science, Friedrich-Alexander-Universität Erlangen-Nürnberg (FAU), Erlangen, Germany

    Jürgen Teich

Rights and permissions

Reprints and permissions

Copyright information

© 2017 Springer Science+Business Media Dordrecht

About this entry

Cite this entry

Zeng, H. et al. (2017). Networked Real-Time Embedded Systems. In: Ha, S., Teich, J. (eds) Handbook of Hardware/Software Codesign. Springer, Dordrecht. https://doi.org/10.1007/978-94-017-7267-9_25

Download citation

Publish with us

Policies and ethics

Search

Navigation