---
title: Xenomai
categories: embedded, arm, raspberrypi
toc: no
...

組員
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作業系統架構
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* 與 RT-PREEMPT 途徑的差異？

硬體驅動原理
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* 硬體使用 Raspberry Pi

效能表現
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* `Cyclictest<https://rt.wiki.kernel.org/index.php/Cyclictest>`_
* Test case: POSIX interval timer, Interval 500 micro seconds,. 100000 loops, 100% load.
  - Commandline: cyclictest -t1 -p 80 -i 500 -l 100000

* 使用 RT-PREEMPT

.. code-block:: prettyprint

    Linux raspberrypi 3.6.11+ #474 PREEMPT Thu Jun 13 17:14:42 BST 2013 armv6l GNU/Linux
    Min:     22 Act:   31 Avg:   32 Max:     169

* 使用 Xenomai

.. code-block:: prettyprint

    Linux raspberrypi 3.8.13-core+ #1 Thu Feb 27 03:02:16 CST 2014 armv6l GNU/Linux
    Min:      1 Act:    5 Avg:    6 Max:      41

參考資料
--------
* https://code.google.com/p/picnc/wiki/RPiXenomaiKernel
* https://code.google.com/p/picnc/wiki/CreateRaspbianLinuxCNC
* http://www.camelsoftware.com/firetail/blog/raspberry-pi/real-time-operating-systems/
* `Quadruped Linux robot feels its way over obstacles<http://linuxgizmos.com/hyq-quadruped-robot-runs-real-time-linux/>`_
* ` Choosing between Xenomai and Linux for real-time applications<https://www.osadl.org/fileadmin/dam/rtlws/12/Brown.pdf>`_