Dates and Events: |
OSADL Articles:
2023-11-12 12:00
Open Source License Obligations Checklists even better now
Import the checklists to other tools, create context diffs and merged lists
2022-07-11 12:00
Call for participation in phase #4 of Open Source OPC UA open62541 support project
Letter of Intent fulfills wish list from recent survey
2022-01-13 12:00
Phase #3 of OSADL project on OPC UA PubSub over TSN successfully completed
Another important milestone on the way to interoperable Open Source real-time Ethernet has been reached
2021-02-09 12:00
Open Source OPC UA PubSub over TSN project phase #3 launched
Letter of Intent with call for participation is now available |
COOL - Compact OSADL Online Lectures - November 2024 edition
OSADL talks at ESE Embedded Software Engineering Kongress
COOL - Compact OSADL Online Lectures - December 2024 edition
Real Time Linux Workshops
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13th Real-Time Linux Workshop from October 20 to 22 at the Faculty of Electrical Engineering, Czech Technical University in Prague
Announcement - Hotels - Directions - Agenda - Paper Abstracts - Presentations - Registration - Abstract Submission - Sponsoring - Gallery
Timing Analysis of a Linux-Based CAN-to-CAN Gateway
Michal Sojka, Czech Technical University in Prague
Pavel Píša, Czech Technical University in Prague
Oliver Hartkopp, Volkswagen Group Research
Ond Špinka, Czech Technical University in Prague
Zden Hanzálek, Czech Technical University in Prague
In this work, we have thoroughly analyzed timing properties of CAN-to-CAN gateway built with Linux SocketCAN subsystem.
We have evaluated the latencies induced by this gateway under various conditions, such as when traffic filters were in use, when the gateway was programmed to modify the frames, when various types of load were imposed on the gateway or when different kernels (both rt-preempt and vanilla) were used. The result is more than 600 publicly available graphs visualizing the observed behavior (http://rtime.felk.cvut.cz/can/benchmark/2/).
From these detailed results, we try to derive the general characteristics and some of them apply not only for the special case of CAN-to-CAN routing, but also for the whole Linux networking system because many mechanisms in networking stack are shared by all protocols. An example of that is the differences between in-kernel and user-space routing. We have also discovered several interesting anomalies.
The overall conclusion of our analysis is that the gateway provided by the SocketCAN project is in a pretty good shape. We believe that our results will help in merging the gateway into the mainline Linux version.
