Marco Di Natale. 

Analysis of worst-case message transmission times in CAN networks is usually performed assuming the availability of an infinite length priority queue of message buffers at the network adapter with zero access time. In reality, adapters provide a finite number of buffers for message transmission. This paper shows how to account for the availability of a limited number of buffers at the adapter and how to model the impossibility of performing preemption once a message has been copied into the adapter buffer and it is awaiting transmission. A new worst-case bound for message transmission is provided and evaluated with respect to the SAE benchmark.

http://www.lbd.dcc.ufmg.br:8080/colecoes/wtr/2006/st1_3.pdf

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