Xenomai

組員

作業系統架構

• 與 RT-PREEMPT 途徑的差異？

硬體驅動原理

• 硬體使用 Raspberry Pi

效能表現

• 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/>_