We report on a set of performance measurements executed
on VMEbus MVME5500 boards equipped with MPC7455
PowerPC processor, running four different operating systems:
Wind River VxWorks, Linux, RTAI, and Xenomai. Some components
of RTAI and Xenomai have been ported to the target
architecture. Interrupt latency, rescheduling and inter-process
communication times are compared in the framework of a sample
real-time application.
Performance measurements on Gigabit Ethernet network communication
have also been carried out on the target boards. To this
purpose, we have considered the Linux IP stack and RTnet, an
open-source hard real-time network protocol stack for Xenomai
and RTAI, which was ported to the considered architecture.
Performance measurements show that the tested open-source
software is suitable for hard real-time applications
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