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)

Config “Simple”:
INtime RTX qnx vxworks" xenomai
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”:

INtime RTX qnx vxworks" xenomai
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”:

INtime RTX qnx vxworks" xenomai
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
Config “Complex”:
INtime RTX qnx vxworks" xenomai
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
For details refer to

  Hardware Performance Comparison (980.6 KB, 185 hits)

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