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Integration and timing analysis of TSN and CAN networks
Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
2024 (English)Licentiate thesis, comprehensive summary (Other academic)
Abstract [en]

Modern embedded systems, particularly in the automotive domain, have seen significant advancements in functionality and complexity. This has driven demand for high data-rate sensors such as cameras, radars, and lidars, which generate vast amounts of data that require transmission with low, predictable latencies. However, traditional onboard communication protocols in the automotive domain, such as Controller Area Network (CAN), have limited support for these requirements. The IEEE Time-Sensitive Networking (TSN) standards have emerged as a solution, providing high-speed, low-latency communication that can be used as a backbone network connecting nodes and networks in the system. The challenge lies in fully utilizing TSN while maintaining compatibility with low-cost legacy CAN systems. This thesis aims to address the challenges of integrating CAN and TSN networks. We investigate various design techniques for the gateway that connects a CAN domain to a TSN domain, ultimately proposing the interface architecture for a CAN-TSN gateway. During our investigation, we identified the lack of timing analysis for the next generations of CAN, namely CAN Flexible Data-rate (FD) and CAN Extra Long (XL), and developed timing analysis for them. We further develop the analysis for the CAN-TSN gateway. As part of the thesis and working towards a scheduling method for TSN traffic sent by a CAN-TSN gateway, we extend a heuristic algorithm to schedule TSN traffic, increasing the schedulability of lower-priority traffic,  particularly in scenarios involving the use or non-use of frame preemption in TSN. Finally, we demonstrate the proof of concept by implementing the timing analysis in an industrial tool suite and through an industrial use case utilizing the gateway. This demonstrates the feasibility and potential benefits of integrating CAN and TSN networks.

Place, publisher, year, edition, pages
Västerås: Mälardalens universitet, 2024.
Series
Mälardalen University Press Licentiate Theses, ISSN 1651-9256 ; 366
Keywords [en]
Controller Area Network, Time-sensitive Network, Gateway
National Category
Embedded Systems
Research subject
Computer Science
Identifiers
URN: urn:nbn:se:mdh:diva-68565ISBN: 978-91-7485-682-8 (print)OAI: oai:DiVA.org:mdh-68565DiVA, id: diva2:1902821
Presentation
2024-11-14, room Pi and via Zoom., Mälardalens universitet, Västerås, 13:15 (English)
Opponent
Supervisors
Available from: 2024-10-02 Created: 2024-10-02 Last updated: 2024-10-24Bibliographically approved
List of papers
1. AVB-aware Routing and Scheduling for Critical Traffic in Time-sensitive Networks with Preemption
Open this publication in new window or tab >>AVB-aware Routing and Scheduling for Critical Traffic in Time-sensitive Networks with Preemption
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2022 (English)In: ACM International Conference Proceeding Series, Association for Computing Machinery , 2022, p. 207-218Conference paper, Published paper (Refereed)
Abstract [en]

The Time-Sensitive Network (TSN) amendments and protocols add capabilities on top of standard 802.1 Ethernet for guaranteeing the timeliness of both (isochronous) scheduled traffic (ST) and shaped (audio-video) communication (AVB) in distributed applications. ST streams are guaranteed via an offline computed schedule controlling the time-aware gate mechanism of IEEE 802.1Qbv, while AVB real-time streams are shaped via a credit-based shaper (CBS) and scheduler with lower-priority than ST. Although the two traffic classes use different TSN mechanisms, they are interrelated as the ST traffic class schedule influences the latency of AVB traffic. In this paper, we propose a method for the integration of the ST schedule synthesis with an analysis for the AVB class featuring IEEE 802.1Qbu frame preemption under different configurations to reduce the interference between the two classes. We first present a new worst-case response-time (WCRT) analysis for the AVB traffic class in TSN networks with preemption, considering an arbitrary number of AVB queues and different configurations for the CBS credit behavior. Then, we integrate the creation of ST schedule tables with the schedulability analysis of AVB traffic using a heuristic algorithm featuring frame preemption and a novel routing mechanism aimed at maximizing AVB schedulability. Finally, we evaluate our approach using both real-world and synthetic use cases showing the efficiency both in terms of schedule creation runtime and in terms of increasing the schedulability of lower-priority AVB traffic.

Place, publisher, year, edition, pages
Association for Computing Machinery, 2022
Keywords
AVB, Network calculus., Scheduling, Time sensitive networking, Calculations, Electric circuit breakers, IEEE Standards, Network routing, Low priorities, Network calculus, Routing and scheduling, Schedulability, Scheduled traffics, Traffic class, Heuristic algorithms
National Category
Embedded Systems
Identifiers
urn:nbn:se:mdh:diva-59668 (URN)10.1145/3534879.3534926 (DOI)001117734100019001117734100019 ()2-s2.0-85132396811 (Scopus ID)9781450396509 (ISBN)
Conference
30th International Conference on Real-Time Networks and Systems, RTNS 2022, 7 June 2022 through 8 June 2022
Available from: 2022-08-08 Created: 2022-08-08 Last updated: 2024-10-02Bibliographically approved
2. Comparative Evaluation of Various Generations of Controller Area Network Based on Timing Analysis
Open this publication in new window or tab >>Comparative Evaluation of Various Generations of Controller Area Network Based on Timing Analysis
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2023 (English)In: IEEE Int. Conf. Emerging Technol. Factory Autom., ETFA, Institute of Electrical and Electronics Engineers Inc. , 2023Conference paper, Published paper (Refereed)
Abstract [en]

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 discuss the worst-case transmission times calculations for CAN XL frames and incorporate them to the existing analysis for CAN to support response-time analysis of CAN XL frames. 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.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers Inc., 2023
Keywords
automotive, CAN FD, CAN XL, Controller Area Network, Control system synthesis, Controllers, Finite difference method, Process control, Automotives, Classical controllers, Comparative evaluations, Controller area network flexible data-rate, Controller area network XL, Controller-area network, Data-rate, Response-time analysis, Timing circuits
National Category
Computer and Information Sciences
Identifiers
urn:nbn:se:mdh:diva-64693 (URN)10.1109/ETFA54631.2023.10275549 (DOI)2-s2.0-85175488822 (Scopus ID)9798350339918 (ISBN)
Conference
IEEE International Conference on Emerging Technologies and Factory Automation, ETFA
Available from: 2023-11-09 Created: 2023-11-09 Last updated: 2024-10-02Bibliographically approved
3. Bridging the Gap: An Interface Architecture for Integrating CAN and TSN Networks
Open this publication in new window or tab >>Bridging the Gap: An Interface Architecture for Integrating CAN and TSN Networks
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2024 (English)Report (Other academic)
Series
MRTC Report, Mälardalen Real-Time Research Centre ; 351
National Category
Computer Systems
Identifiers
urn:nbn:se:mdh:diva-68558 (URN)MDH-MRTC-351/2024-1-SE (ISRN)
Available from: 2024-10-02 Created: 2024-10-02 Last updated: 2024-10-02Bibliographically approved
4. Investigating and Analyzing CAN-to-TSN Gateway Forwarding Techniques
Open this publication in new window or tab >>Investigating and Analyzing CAN-to-TSN Gateway Forwarding Techniques
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2023 (English)In: Proc. - IEEE Int. Symp. Real-Time Distrib. Comput., ISORC, Institute of Electrical and Electronics Engineers Inc. , 2023, p. 136-145Conference paper, Published paper (Refereed)
Abstract [en]

Controller Area Network (CAN) and Ethernet network are expected to co-exist in automotive industry as Ethernet provides a high-bandwidth communication, while CAN is a legacy cost-effective solution. Due to the shortcomings of conventional switched Etherent, such as determinism, IEEE Time Sensitive Networking (TSN) task group developed a set of standards to enhance the switched Ethernet technology providing low-jitter and deterministic communication. Considering these two network domains, we investigate various design approaches for a gateway that connects a CAN domain to a TSN domain. We present three gateway forwarding techniques and we develop end-to-end delay analysis methods for them. Via the analysis methods and applying them to synthetic use cases we show that the intuitive existing approach of encapsulating multiple CAN frames into a single Ethernet frame is not necessarily an efficient solution. In fact, we demonstrate several cases where it is preferable to encapsulate only one CAN frame into a TSN frame, in particular when we use a high speed TSN network. The results have a significant impact on developing such gateways as the implementation of the one-to-one frame encapsulation is considerably simpler than other complex gateway-forwarding techniques.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers Inc., 2023
Keywords
Automotive industry, Control system synthesis, Cost effectiveness, Gateways (computer networks), IEEE Standards, Analysis method, Controller-area network, Cost-effective solutions, Ethernet networks, Ethernet technology, High bandwidth communication, Legacy costs, Network domains, Switched ethernet, Task groups, Ethernet
National Category
Computer and Information Sciences
Identifiers
urn:nbn:se:mdh:diva-64177 (URN)10.1109/ISORC58943.2023.00026 (DOI)001044268900014 ()2-s2.0-85168775302 (Scopus ID)9798350339024 (ISBN)
Conference
Proceedings - 2023 IEEE 26th International Symposium on Real-Time Distributed Computing, ISORC 2023
Available from: 2023-09-06 Created: 2023-09-06 Last updated: 2024-10-02Bibliographically approved

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Berisa, Aldin

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