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Comparative Evaluation of Various Generations of Controller Area Network Based on Timing Analysis

Fulltext:


Authors:

Aldin Berisa, Mohammad Ashjaei, Masoud Daneshtalab, Mikael Sjödin, Adis Panjevic , Imran Kovac , Hans Lyngbäck , Saad Mubeen

Research groups:

Complex Real-Time Embedded Systems
Heterogeneous systems - hardware software co-design

Publication Type:

Conference/Workshop Paper

Venue:

28th International Conference on Emerging Technologies and Factory Automation

Abstract

This paper performs a comparative evaluation of various generations of Controller Area Network (CAN), including the classical CAN, CAN Flexible Data-Rate (FD), and CAN Extra Long (XL). We utilize response-time analysis for the evaluation. In this regard, we identify that the state of the art lacks the response-time analysis for CAN XL. Hence, we develop the worst-case transmission times calculations for CAN XL and then incorporate them to the existing analysis for CAN to support response-time analysis of CAN XL frames. The extended analysis is backwards compatible with the previous generations of CAN. Using the extended analysis, we perform a comparative evaluation of the three generations of CAN by analyzing an automotive industrial use case. In crux, we show that using CAN FD is more advantageous than the classical CAN and CAN XL when using frames with payloads of up to 8 bytes, despite the fact that CAN XL supports higher bit rates. For frames with 12-64 bytes payloads, CAN FD performs better than CAN XL when running at the same bit rate, but CAN XL performs better when running at a higher bit rate. Additionally, we discovered that CAN XL performs better than the classical CAN and CAN FD when the frame payload is over 64 bytes, even if it runs at the same or higher bit rates than CAN FD.

Bibtex

@inproceedings{Berisa6709,
author = {Aldin Berisa and Mohammad Ashjaei and Masoud Daneshtalab and Mikael Sj{\"o}din and Adis Panjevic and Imran Kovac and Hans Lyngb{\"a}ck and Saad Mubeen},
title = {Comparative Evaluation of Various Generations of Controller Area Network Based on Timing Analysis},
month = {September},
year = {2023},
booktitle = {28th International Conference on Emerging Technologies and Factory Automation},
url = {http://www.es.mdu.se/publications/6709-}
}