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MEASURING THE REAL-TIME LATENCY OF AN I.MX7D USING XENOMAI AND THE YOCTO PROJECT
Umeå University, Faculty of Science and Technology, Department of Applied Physics and Electronics.
2019 (English)Independent thesis Basic level (professional degree), 10 credits / 15 HE creditsStudent thesisAlternative title
MÄTA RESPONSTIDEN AV EN I.MX7D MED HJÄLP AV XENOMAI OCH YOCTO PROJEKTET (Swedish)
Abstract [en]

In this thesis the real-time latency of an i.MX7D processor on a CL-SOM-IMX7 boardis evaluated. The real-time Linux for the system is created using Xenomai with both theI-Pipe patch and thePREEMPT_RTpatch. The embedded distribution is built using theYocto Project and uses a vendor i.MX kernel maintained by NXP.

The maximum latency for thecobaltcore is268μsfor user-space tasks with a loadedCPU. These types of tasks have the highest latency of Xenomai's three task categories.A latency measurement of thePREEMPT_RTpatch showed a maximum latency ofwith an idle CPU. Therefore it is concluded that thecobalt412μscore has a lower latencyand is therefore better suited for real-time applications.

A comparison is made with other modules and it is found that the latency measured inthis thesis is high compared to for example a Raspberry Pi 3B.

The source code and congurations for the project can be found at https://github.com/bracoe/meta-xenomai-imx7d

Abstract [sv]

Denna uppsats utvärderar realtidsfördröjningen för en i.MX7D på en CL-SOM-IMX7.Realtidoperativsystemet skapas med hjälp av Linux och både Xenomais I-Pipe patchochPREEMPT_RTpatch implementeras. Den inbyggda distributionen byggs med hjälp avYocto projektet och använder NXPs egna Linux kärna.

Den maximala fördröjningen förcobalt kärnan är 268μs för user-space uppgifter med enbelastad CPU. Dessa typer av uppgifter har den högsta fördröjningen av Xenomais treuppgiftskategorier. En fördröjningsmätning avfördröjning på412μsPREEMPT_RTpatchen visade en maximalmed en overksam CPU. Slutsatsen görs attcobaltkärnan har enlägre fördröjning och är därför mer lämpad för realtidsapplikationer.

En jämförelse görs med andra moduler och den visar att fördröjningen mätt i dennauppsats är hög jämfört med till exempel en Raspberry Pi 3B.

Källkoden och kongurationer kan hittas på https://github.com/bracoe/meta-xenomai-imx7d

Place, publisher, year, edition, pages
2019. , p. 36
National Category
Embedded Systems
Identifiers
URN: urn:nbn:se:umu:diva-161245OAI: oai:DiVA.org:umu-161245DiVA, id: diva2:1333166
External cooperation
Bosch Rexroth
Subject / course
Elektronik
Educational program
Bachelor of Science Programme in Electronic and Computer Engeneering/ Medical engineering
Supervisors
Examiners
Available from: 2019-07-01 Created: 2019-06-30 Last updated: 2019-07-01Bibliographically approved

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CiteExportLink to record
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