Extending offset-based response-time analysis for mixed messages in Controller Area Network

The existing offset-based response-time analysis for mixed messages in Controller Area Network (CAN) assumes the jitter and deadline of a message to be smaller or equal to the transmission period. However, practical systems may contain messages whose release jitter and deadlines can be greater than their periods, e.g., in the gateway nodes. We extend the existing response-time analysis for mixed messages in CAN that are scheduled with offsets and have arbitrary jitter and deadlines. Mixed messages are implemented by several higher-level protocols for CAN that are used in the automotive industry. The extended analysis is applicable to any higher-level protocol for CAN that uses periodic, sporadic and mixed transmission modes.