Analysis of schedulability of CAN based on RM algorithm

In order to analyze the schedulability of realtime transmission of multi-messages on controller area network (CAN), an amended scheduling algorithm is put forward. This algorithm is based on rate-monotonic (RM) scheduling algorithm, which is widely used on scheduling realtime multitasks on uniprocessor. CAN is treated as exclusive critical sections. The utilization of CAN is defined as a key factor of schedulability. A realistic workload of CAN in pure electric vehicle is present, and the schedulability of this system is calculated. The result is coincident to the actual work. The RM-scheduling upper limits of variant velocity messages are counted, which can be used as the guideline to evaluate the communication ability of CAN.