Dates and Events: |
OSADL Articles:
2023-11-12 12:00
Open Source License Obligations Checklists even better now
Import the checklists to other tools, create context diffs and merged lists
2022-07-11 12:00
Call for participation in phase #4 of Open Source OPC UA open62541 support project
Letter of Intent fulfills wish list from recent survey
2022-01-13 12:00
Phase #3 of OSADL project on OPC UA PubSub over TSN successfully completed
Another important milestone on the way to interoperable Open Source real-time Ethernet has been reached
2021-02-09 12:00
Open Source OPC UA PubSub over TSN project phase #3 launched
Letter of Intent with call for participation is now available |
COOL - Compact OSADL Online Lectures - November 2024 edition
OSADL talks at ESE Embedded Software Engineering Kongress
COOL - Compact OSADL Online Lectures - December 2024 edition
Real Time Linux Workshops
1999 - 2000 - 2001 - 2002 - 2003 - 2004 - 2005 - 2006 - 2007 - 2008 - 2009 - 2010 - 2011 - 2012 - 2013 - 2014 - 2015 - 2017
17th Real Time Linux Workshop, October 21 to 22, 2015 at the Virtual Vehicle Research Center, Graz, Austria
Announcement - Call for participation (ASCII) - Hotels - Directions - Agenda - Paper Abstracts - Presentations - Registration - Abstract Submission - Exhibitors and Sponsors - Gallery
Using openPOWERLINK over Xenomai
Pierre Ficheux, Open Wide
Industrial Ethernet is a successor of classic field bus such as CAN, MODBUS or PROFIBUS. POWERLINKwas created by B & R Automation, Austria and provides performance and real-time capabilities on standard Ethernet hardware.
OpenPOWERLINK is open source and runs on lots of platforms such as Linux, Linux/PREEMPT-RT, Windows, various RTOS and dedicated hardware (FPGA).
Xenomai is a realtime extension for Linux kernel based on co-kernel technology (just like RT-Linux and RTAI). It is much more efficient than PREEMPT-RT on same hardware but more difficult to use as it is based on a kind of "partitioning" with "hypervisor" approach using a micro-kernel called "I-Pipe".
In this paper we will describe openPOWERLINK porting stategy based on RTnet (RT network stack for Xenomai) and "raw sockets" (instead of PCAP on Linux). Then we will compare performances with PREEMPT-RT on same platform and several configurations:
- Full software configuration -> slave (CN) and master (MN) running on Linux or Xenomai
- Real configuration (hard soft) -> Xenomai and "commercial" POWERLINK hardware as MN or CN
Main target platform is Freescale i.MX6 (Armadeus APF6 and RIOTboard). Linux distribution is embedded Linux built by Buildroot. We use the new Xenomai 3.
