Performance Assessment of Linux Kernels with PREEMPT_RT on ARM-Based Embedded Devices

Adam, George K.; Petrellis, Nikos; Doulos, Lambros T.

doi:10.3390/electronics10111331

Cited by 15 publications

(6 citation statements)

References 50 publications

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“…One study [28] conducted a comparison of the timing accuracy and interrupt latency between a compounded real-time operating system (cRTOS), Preempt-RT, and Xenomai. In other research [29], the timing latencies of Linux patched with Preempt-RT were assessed on different ARM architectures, specifically Raspberry Pi 3 and BeagleBone AI. Researchers [29] also delved into the scheduling latency of real-time Linux on multi-core general-purpose processors, offering development guidelines for real-time applications suited to Xenomai and Preempt-RT kernels.…”

Section: Related Workmentioning

confidence: 99%

Real-Time Performance Benchmarking of RISC-V Architecture: Implementation and Verification on an EtherCAT-Based Robotic Control System

Yoo,

Choi

2024

Electronics

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RISC-V offers a modular technical approach combined with an open, royalty-free instruction set architecture (ISA). However, despite its advantages as a fundamental building block for many embedded systems, the escalating complexity and functional demands of real-time applications have made adhering to response time deadlines challenging. For real-time applications of RISC-V, real-time performance analysis is required for various ISAs. In this paper, we analyze the real-time performance of RISC-V through two real-time approaches based on processor architectures. For real-time operating system (RTOS) applications, we adopted FreeRTOS and evaluated its performance on HiFive1 Rev B (RISC-V) and STM3240G-EVAL (ARM M). For real-time Linux, we utilized Linux with the Preempt-RT patch and tested its performance on VisionFive 2 (RISC-V), MIO5272 (x86-64), and Raspberry Pi 4 B (ARM A). Through these experiments, we examined the response times on the real-time mechanisms of each operating system. Additionally, in the Preempt-RT experiments, scheduling latencies were evaluated by means of the cyclictest. These are very important parameters for implementing real-time applications comprised of multi-tasking. Finally, in order to show the real-time capabilities of RISC-V practically, we implemented motion control of a six-axis collaborative robot, which was performed on the VisionFive 2. This implementation provided a comparative result of RISC-V’s performance against the x86-64 architecture. Ultimately, the results indicated that the real-time performance of RISC-V for real-time applications was feasible. A noticeable achievement of this research is its first implementation of an EtherCAT master on RISC-V designed for real-time applications. The successful implementation of the EtherCAT master on RISC-V shows real-time capabilities for a wide range of real-time applications.

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Section: Related Workmentioning

confidence: 99%

Real-Time Performance Benchmarking of RISC-V Architecture: Implementation and Verification on an EtherCAT-Based Robotic Control System

Yoo,

Choi

2024

Electronics

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“…Although stress-ng is also used, this study has only measured with two stressors ("proc" and "mmap"). Adam et al [31] has also evaluated the real-time capabilities of PREEMPT RT Linux. This study has measured both the kernel latency and the latency to respond to an external interrupt via GPIO.…”

Section: Related Workmentioning

confidence: 99%

A Performance Evaluation of Embedded Multi-core Mixed-criticality System Based on PREEMPT_RT Linux

Matsubara

Takada

et al. 2023

Journal of Information Processing

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The use of Linux in the domain of embedded systems is growing very fast. Due to the complexity of hardware and software on Linux-based platforms, it is challenging to meet the performance requirements, especially for the mixed-criticality system with both real-time and best-effort tasks. We propose a reference design of Linuxbased mixed-criticality system using PREEMPT RT patch to improve real-time performance and QEMU/KVM virtual machine to reduce interferences. An evaluation environment of the proposed design is built with recent software and hardware to investigate the performance characteristics via experimental measurements. We measure and analyze the baseline kernel latency, the system throughput and the real-time performance under multiple conditions. In detailed analysis, we reveal novel insights on the real-time capabilities and limitations of Linux-based embedded systems. The results show that our design can meet the 100 µs deadline goal of 1 kHz real-time task with high probability under various extreme interferences, and can deliver high throughput for best-effort workload.

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“…Two approaches are typically available: the dual-kernel approach (also known as PICO-KERNEL, NANO-KERNEL, DUAL KERNEL) and the real-time patch approach, as shown in Figure 1. The dual-kernel approach includes Xenomai [29,30] and RTAI [1,31], while the real-time patch approach includes Preempt_RT [32] (Linux Real-time Patch, Linux Configuration). To maintain a flexible architecture design and minimize changes to the original system code, this article This article presents a comprehensive evaluation of the real-time performance of ROS1 and ROS2 data transmission on a Preempt_RT optimized real-time system, which outperforms the native system.…”

Section: Introductionmentioning

confidence: 99%

ROS2 Real-time Performance Optimization and Evaluation

Ye,

Nie,

Liu

et al. 2023

Chin. J. Mech. Eng.

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Real-time interaction with uncertain and dynamic environments is essential for robotic systems to achieve functions such as visual perception, force interaction, spatial obstacle avoidance, and motion planning. To ensure the reliability and determinism of system execution, a flexible real-time control system architecture and interaction algorithm are required. The ROS framework was designed to improve the reusability of robotic software development by providing a distributed structure, hardware abstraction, message-passing mechanism, and application prototypes. Rich ecosystems for robotic development have been built around ROS1 and ROS2 architectures based on the Linux system. However, because of the fairness scheduling principle of the default Linux system design and the complexity of the kernel, the system does not have real-time computing. To achieve a balance between real-time and non-real-time computing, this paper uses the transmission mechanism of ROS2, combines it with the scheduling mechanism of the Linux operating system, and uses Preempt_RT to enhance the real-time computing of ROS1 and ROS2. The real-time performance evaluation of ROS1 and ROS2 is conducted from multiple perspectives, including throughput, transmission mode, QoS service quality, frequency, number of subscription nodes and EtherCAT master. This paper makes two significant contributions: firstly, it employs Preempt_RT to optimize the native ROS2 system, effectively enhancing the real-time performance of native ROS2 message transmission; secondly, it conducts a comprehensive evaluation of the real-time performance of both native and optimized ROS2 systems. This comparison elucidates the benefits of the optimized ROS2 architecture regarding real-time performance, with results vividly demonstrated through illustrative figures.

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Performance Assessment of Linux Kernels with PREEMPT_RT on ARM-Based Embedded Devices

Cited by 15 publications

References 50 publications

Real-Time Performance Benchmarking of RISC-V Architecture: Implementation and Verification on an EtherCAT-Based Robotic Control System

Real-Time Performance Benchmarking of RISC-V Architecture: Implementation and Verification on an EtherCAT-Based Robotic Control System

A Performance Evaluation of Embedded Multi-core Mixed-criticality System Based on PREEMPT_RT Linux

ROS2 Real-time Performance Optimization and Evaluation

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