Re: [ts-7000] RTAI on TS-7250

[Ronald Gomes <>]

Hello,

It's been a while since I last used RTAI, but here is some info:
If you are going to use RTAI with Adeos compiled inside the Kernel (not as module), you shouldn't have any problem using the standard kernel drivers such as USB or network stack. They will be not real-time though. You can then implement real-time tasks using the RTAI API for user or kernel space. Kernel space is more deterministic. You can use external hardware to generate interrupts which can be served with <50uS latency in real-time context. If using the timer and periodic tasks, jitter and latency should be <10% (hard real-time rate) for periods >500us in about 99% of the samples. You can try using shorter periods, such as 100us or less, but keep in mind it is likely jitter/latency will be >10% for about 20% of the samples (soft real-time then), depending on system load. These are the data I collected about 2/3 years ago - not sure if they are still valuable.

Adeos/RTAI
 on x86 arch works much better - jitter/latency <20us. But it does the job on ARM. This is a good resource:

http://linuxdevices.com/articles/AT3479098230.html

Ronald.


marcolamonato <> escreveu:

Hi all,

I'm thinking about making some tests with RTAI and TS-7250 to use this
board in even more projects, but I'd like to hear from people who yet
work with this real-time systems how it performs.

What's the minimum interrupt period, 1ms?
Do anyone have values about jitter or latency?

When working with the RT kernel can I use serial, ethernet and usb
ports or are there some kind of limitations?

Thanks in advance,
Marco

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