The Real-Time Linux Kernel

Reghenzani, Federico; Massari, Giuseppe; Fornaciari, William

doi:10.1145/3297714

Cited by 93 publications

(28 citation statements)

References 117 publications

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“…The operating system strongly affects the WCET as it introduces task scheduling overhead, interferences between running tasks, and system call execution. Unfortunately, in general-purpose systems with real-time extension (e.g., Real-Time Linux), the upper bound of the WCET is difficult to estimate and may be too pessimistic compared to special-purpose embedded systems [53].…”

Section: Real-time Scheduling Considerationsmentioning

confidence: 99%

A Service-Oriented Real-Time Communication Scheme for AUTOSAR Adaptive Using OPC UA and Time-Sensitive Networking

Arestova

Martin

Hielscher

et al. 2021

Sensors

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The transportation industry is facing major challenges that come along with innovative trends like autonomous driving. Due to the growing amount of network participants, smart sensors, and mixed-critical data, scalability and interoperability have become key factors of cost-efficient vehicle engineering. One solution to overcome these challenges is the AUTOSAR Adaptive software platform. Its service-oriented communication methodology allows a standardized data exchange that is not bound to a specific middleware protocol. OPC UA is a communication standard that is well-established in modern industrial automation. In addition to its Client–Server communication pattern, the newly released Publish–Subscribe (PubSub) architecture promotes scalability. PubSub is designed to work in conjunction with Time-Sensitive Networking (TSN), a collection of standards that add real-time aspects to standard Ethernet networks. TSN allows services with different requirements to share a single physical network. In this paper, we specify an integration approach of AUTOSAR Adaptive, OPC UA, and TSN. It combines the benefits of these three technologies to provide deterministic high-speed communication. Our main contribution is the architecture for the binding between Adaptive Platform and OPC UA. With a prototypical implementation, we prove that a combination of OPC UA Client–Server and PubSub qualifies as a middleware solution for service-oriented communication in AUTOSAR.

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Section: Real-time Scheduling Considerationsmentioning

confidence: 99%

A Service-Oriented Real-Time Communication Scheme for AUTOSAR Adaptive Using OPC UA and Time-Sensitive Networking

Arestova

Martin

Hielscher

et al. 2021

Sensors

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“…The majority of these works rely upon x86-based computer platforms with Ubuntu Linux. This ongoing research shows that the Linux PREEMPT_RT competes with the tested commercial RTOSs [53]. Lately, some investigation studies have appeared concerning measurements of latency on Raspbian Linux (version of Debian) with real-time patch PREEMPT_RT vs. the default Raspbian [54][55][56][57][58][59].…”

Section: Related Workmentioning

confidence: 99%

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

2021

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This work investigates the real-time performance of Linux kernels and distributions with a PREEMPT_RT real-time patch on ARM-based embedded devices. Experimental measurements, which are mainly based on heuristic methods, provide novel insights into Linux real-time performance on ARM-based embedded devices (e.g., BeagleBoard and RaspberryPi). Evaluations of the Linux real-time performance are based on specific real-time software measurement modules, developed for this purpose, and the use of a standard benchmark tool, cyclictest. Software modules were designed upon the introduction of a new response task model, an innovative aspect of this work. Measurements include the latency of response tasks at user and kernel space, the response on the execution of periodic tasks, the maximum sustained frequency and general latency performance metrics. The results show that in such systems the PREEMPT_RT patch provides more improved real-time performance than the default Linux kernels. The latencies and particularly the worst-case latencies are reduced with real-time support, thus making such devices running Linux with PREEMPT_RT more appropriate for use in time-sensitive embedded control systems and applications. Furthermore, the proposed performance measurements approach and evaluation methodology could be applied and deployed on other Linux-based real-time platforms.

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“…For this reason, the PREEMPT RT patch has been developed since the first decade of the 2000s, in order to add predictability and low-latency to the Linux kernel. A comprehensive survey of scientific works related to PREEMPT RT is available [45].…”

Section: Linux Preempt Rt Analysismentioning

confidence: 99%

Probabilistic-WCET reliability: Statistical testing of EVT hypotheses

Reghenzani

Massari

Fornaciari

2020

Microprocessors and Microsystems

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This is a PDF file of an article that has undergone enhancements after acceptance, such as the addition of a cover page and metadata, and formatting for readability, but it is not yet the definitive version of record. This version will undergo additional copyediting, typesetting and review before it is published in its final form, but we are providing this version to give early visibility of the article. Please note that, during the production process, errors may be discovered which could affect the content, and all legal disclaimers that apply to the journal pertain.

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The Real-Time Linux Kernel

Cited by 93 publications

References 117 publications

A Service-Oriented Real-Time Communication Scheme for AUTOSAR Adaptive Using OPC UA and Time-Sensitive Networking

A Service-Oriented Real-Time Communication Scheme for AUTOSAR Adaptive Using OPC UA and Time-Sensitive Networking

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

Probabilistic-WCET reliability: Statistical testing of EVT hypotheses

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