[etherlab-users] Xenomai performance

[Christoph Schröder]

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

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