Hi all, I am currently testing the EtherCAT master with Xenomai 2.6.5 on a Debian wheezy (ipipe patched kernel 3.2). Using the xenomai example from the master I can go up to 12,5kHz (maybe a bit more). I got lost frames from time to time if I go up to 15kHz and a lot of lost frames if I go up to 20kHz. This is a lot better than non-rt, but in the master documentation there was noted that they could go up to 25kHz on a 2GHz System with RTAI. My testsystem is a Core i5-4690 CPU @ 3.50GHz. I configured everything as described in the Xenomai installation instruction. Are my results reasonable resp. is RTAI simply better or should I expect some misconfiguration?
My results from the xenomai latency test seem to be fine. $ sudo ./xeno latency -T 25 == Sampling period: 100 us == Test mode: periodic user-mode task == All results in microseconds warming up... RTT| 00:00:01 (periodic user-mode task, 100 us period, priority 99) RTH|----lat min|----lat avg|----lat max|-overrun|---msw|---lat best|--lat worst RTD| -2.307| -2.152| 0.550| 0| 0| -2.307| 0.550 RTD| -2.516| -2.160| 4.011| 0| 0| -2.516| 4.011 RTD| -2.319| -2.170| 0.515| 0| 0| -2.516| 4.011 RTD| -2.324| -2.165| -0.322| 0| 0| -2.516| 4.011 RTD| -2.336| -2.127| 2.644| 0| 0| -2.516| 4.011 RTD| -2.350| -2.146| 2.139| 0| 0| -2.516| 4.011 RTD| -2.542| -2.160| -0.075| 0| 0| -2.542| 4.011 RTD| -2.363| -2.146| 2.111| 0| 0| -2.542| 4.011 RTD| -2.590| -2.156| 0.461| 0| 0| -2.590| 4.011 RTD| -2.703| -2.158| -1.017| 0| 0| -2.703| 4.011 RTD| -2.701| -2.157| 6.590| 0| 0| -2.703| 6.590 RTD| -2.695| -2.156| -1.049| 0| 0| -2.703| 6.590 RTD| -2.684| -2.158| 0.496| 0| 0| -2.703| 6.590 RTD| -2.712| -2.154| -1.079| 0| 0| -2.712| 6.590 RTD| -2.693| -2.158| 6.106| 0| 0| -2.712| 6.590 RTD| -2.700| -2.159| -1.005| 0| 0| -2.712| 6.590 RTD| -2.712| -2.156| -0.882| 0| 0| -2.712| 6.590 RTD| -2.642| -2.159| -0.836| 0| 0| -2.712| 6.590 RTD| -2.608| -2.152| 5.227| 0| 0| -2.712| 6.590 RTD| -2.686| -2.158| -0.742| 0| 0| -2.712| 6.590 RTD| -2.653| -2.158| 0.883| 0| 0| -2.712| 6.590 RTT| 00:00:22 (periodic user-mode task, 100 us period, priority 99) RTH|----lat min|----lat avg|----lat max|-overrun|---msw|---lat best|--lat worst RTD| -2.723| -2.160| -1.258| 0| 0| -2.723| 6.590 RTD| -2.643| -2.161| 0.059| 0| 0| -2.723| 6.590 RTD| -2.366| -2.168| -0.458| 0| 0| -2.723| 6.590 ---|-----------|-----------|-----------|--------|------|------------------------- RTS| -2.723| -2.156| 6.590| 0| 0| 00:00:25/00:00:25 Thanks and best regards, Christoph ________________________________ Helmholtz-Zentrum Berlin für Materialien und Energie GmbH Mitglied der Hermann von Helmholtz-Gemeinschaft Deutscher Forschungszentren e.V. Aufsichtsrat: Vorsitzender Dr. Karl Eugen Huthmacher, stv. Vorsitzende Dr. Jutta Koch-Unterseher Geschäftsführung: Prof. Dr. Anke Rita Kaysser-Pyzalla, Thomas Frederking Sitz Berlin, AG Charlottenburg, 89 HRB 5583 Postadresse: Hahn-Meitner-Platz 1 D-14109 Berlin http://www.helmholtz-berlin.de _______________________________________________ etherlab-users mailing list [email protected] http://lists.etherlab.org/mailman/listinfo/etherlab-users
