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. 1. 比较在不同实时操作系统(RTOS)上运行的主控制栈性能结果,但在相同目标Intel Core i7上运行(所有主控制栈线程都在单个CPU核心上)。
Config «Simple»:
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»:
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. 在不同实时操作系统(RTOS)上运行的最佳主控制栈性能结果,但在相同目标上(所有主控制栈线程都在单个CPU核心上)。
Config «Simple»:
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»:
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. 比较在相同板上运行主控制栈时,采用不同的数据传输方式的性能
(例如,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 |
详情请参阅
Hardware Performance Comparison (957,9 КиБ, 92 hits)