Controller area network (CAN) schedulability analysis for messages with arbitrary deadlines in FIFO and work-conserving queues

The majority of research into schedulability analysis for CAN is based on the assumption that the highest priority message ready for transmission at each node on the network will be entered into arbitration on the bus. In practice; however, some CAN device drivers and communications stacks implement queuing policies that are not strictly priority-based, invalidating this assumption. In this paper, we introduce response time analysis for work conserving and FIFO queuing policies for messages with arbitrary deadlines.