Jim Huang, Department of Computer Science and Information Engineering, National Cheng Kung University, Taiwan
Chan-Hsiang Lin, Department of Electrical and Electronic Engineering, National Taiwan University, Taiwan

Xenomai 3 is the new architecture of the real-time framework running seamlessly side-by-side Linux as a dual-kernel system like Xenomai 2, or natively over mainline Linux kernels supplemented by the PREEMPT_RT efforts to meet stricter response time requirements than standard kernel preemption would bring. In this presentation, we will evaluate the performances of Xenomai 3 running with both configurations and analyze the various benchmarks for ARM Cortex-A series. Xenomai 3 introduces some optimizations over RTOS API emulation, thread-to-thread communications, and significantly lower overhead with dual-kernel configurations. The comprehensive performance comparisons illustrate the major evolution of Xenomai 3 along with the revised Real-Time Driver Model (RTDM) which provides a unified interface over both PREEMPT_RT and dual-kernel.