Embedded Linux as platform enabler for real-time sensor control applications
Publicerad
Författare
Typ
Examensarbete för masterexamen
Master's Thesis
Master's Thesis
Modellbyggare
Tidskriftstitel
ISSN
Volymtitel
Utgivare
Sammanfattning
With the recent introduction of the PREEMPT_RT patch into the mainline kernel,
the open-source operating system Linux is becoming a more formidable real-time
platform. The patch introduces the fully preemptible kernel mode, which can be
enabled when building the Linux kernel. This mode increases real-time performance
by improving the way real-time tasks preempt lower priority tasks. Sensor control
systems are generally dependent on real-time performance, and thus requires such
optimizations to meet time constraints. This project considers a series of fully
preemptible Linux setups as a prospective platform for sensor control systems, and
compares them to reference setups using previous preemption modes. To evaluate
the setups, a series of latency measurements have been made at different background
load conditions using different schedulers, as well as the impact of CPU-isolation.
The measurements show that significant gains in real-time performance can be made
using the fully preemptible kernel mode, but also shows that the mode increases
overhead for non-real-time tasks.
Beskrivning
Ämne/nyckelord
Real-time performance; Linux; PREEMPT_RT; Kernel configuration; Wake-up latency; Embedded platform; Sensor control applications