Config “Simple”:
64Bytes Frame, 1 LRD / 1 LWR, No DC, No Mailbox (EK1100 – EL1004 – EL2004)
Config “Complex”:
1 Full frame (1514Bytes frame for PDO), LRD / LWR commands, DC, Mailbox via EVENT (EK1100-EL1004-EL2004-EL1252-EL3102-EL4102-EL6751-EL6751)
Test Platform:
CPU: Intel® Core i7-3770 CPU 3.40 GHz 3.39GHz
NIC: Intel® Gigabit CT desktop adapter
RAM: 8GB
1. Comparing Master performance results running on different RTOSes but on the same target Intel Core i7 (Single CPU core for all Master threads)
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Master cycle time, µs | 100 | 100 | 100 | 100 | 100 |
Jitter, ±µs | 5 | 2 | 7 | 10 | 1 |
Slave response time (avg), µs | 43 | 32 | 43 | 33 | 22 |
CPU load (avg), % | 16 | 21 | 21 | 21 | 13,3 |
Config “Complex”:
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Master cycle time, µs | 200 | 200 | 200 | 200 | 200 |
Jitter, ±µs | 4 | 2 | 3 | 4 | 1 |
Slave response time (avg), µs | 170 | 150 | 171 | 166 | 154 |
CPU load (avg), % | 10 | 12 | 13 | 13 | 3,8 |
2. Best Master performance results running on different RTOSes but on the same target (Single CPU core for all Master threads)
Config “Simple”:
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Master cycle time, µs | 50 | 50 | 100 | 100 | 50 |
Jitter, ±µs | 10 | 3 | 7 | 10 | 1 |
Slave response time (avg), µs | 43 | 32 | 43 | 33 | 22 |
CPU load (avg), % | 31 | 41 | 21 | 21 | 27,5 |
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Master cycle time, µs | 200 | 200 | 200 | 200 | 200 |
Jitter, ±µs | 4 | 2 | 3 | 4 | 1 |
Slave response time (avg), µs | 170 | 150 | 171 | 166 | 154 |
CPU load (avg), % | 10 | 12 | 13 | 13 | 3,8 |
3. Comparing Master performance while running it on the same board but with different ways of data transferring
(e.g. with Hardware timed send).
Via Linux driver | Via PRUSS driver | Via PRUSS with HW timed send | |
Master cycle time, µs | min 232 – max 1705 | min 823 – max 1167 | min 999 – max 1000 |
Slaves response time (avg), µs | 348 | 176 | 7 |
CPU load (avg), % | 47 | 32 | 29 |