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Experimental Evaluation of a CAN-to-TSN Gateway Implementation

Authors:

Aldin Berisa, Saad Mubeen, Mohammad Ashjaei, Masoud Daneshtalab, Mikael Sjödin, Benjamin Kraljusic , Nejla Zahirovic

Research group:

Heterogeneous systems - hardware software co-design

Publication Type:

Conference/Workshop Paper

Venue:

28th International Symposium On Real-Time Distributed Computing

Abstract

The increasing complexity of modern embedded systems highlights the limitations of Controller Area Network (CAN) in terms of transmission speed and scalability. The IEEE Time-Sensitive Networking (TSN) task group developed a set of standards to enhance switched Ethernet with high bandwidth, low jitter, and deterministic communication. Despite these advances, CAN will likely co-exist with TSN in, e.g., the automotive industry due to factors such as cost-effectiveness and legacy of CAN. This paper presents an experimental evaluation of a CAN-to-TSN gateway implementation, focusing on the impact of different forwarding and scheduling strategies on network performance. We analyze various queuing techniques and scheduling mechanisms in a realistic experimental setup and assess their impact on end-to-end delay and TSN bandwidth utilization. The evaluation results demonstrate that encapsulating only a single CAN frame within a TSN frame effectively minimizes the end-to-end delay of CAN frames, in particular when a high-speed TSN network is used. Furthermore, we perform a comparative evaluation of the Time-Aware Shaper (TAS) and Weighted Round Robin (WRR) mechanisms in the TSN network. Interestingly, WRR leads to lower delays for CAN frames in the TSN network compared to TAS, which we attribute to the lack of synchronization between CAN and TSN.

Bibtex

@inproceedings{Berisa7191,
author = {Aldin Berisa and Saad Mubeen and Mohammad Ashjaei and Masoud Daneshtalab and Mikael Sj{\"o}din and Benjamin Kraljusic and Nejla Zahirovic},
title = {Experimental Evaluation of a CAN-to-TSN Gateway Implementation},
month = {May},
year = {2025},
booktitle = {28th International Symposium On Real-Time Distributed Computing },
url = {http://www.es.mdu.se/publications/7191-}
}