KIPS Transactions on Computer and Communication Systems (정보처리학회논문지:컴퓨터 및 통신 시스템)

Korea Information Processing Society (한국정보처리학회)
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Performance Evaluation of Real-Time Linux Kernel Patch for Exynos4210 Processors

Exynos4210 프로세서 상에서 실시간 리눅스 커널 패치의 성능 평가

  • 강형석 (숭실대학교 정보통신공학과) ;
  • 이준우 (숭실대학교 정보통신공학과) ;
  • 최진영 (숭실대학교 정보통신공학과) ;
  • 김강희 (숭실대학교 정보통신전자공학부)
  • Received : 2013.03.26
  • Accepted : 2013.05.21
  • Published : 2013.07.31
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Abstract

Recently, there is a growing need for an open software platform where developers easily write intelligent motion control applications for smart cars, smart robots, smart factories, and so on. To this end, a general-purpose operating system with rich functionalities and various hardware supports can be a candidate for such a platform, but it is known to have limitations in guaranteeing the responsiveness of individual applications. In this paper, to assess the suitability of Linux to be such a platform, we evaluate the real-time performance of Xenomai-patched Linux on an ARM-based processor Exynos4210 with motion control applications. Experimental results show that it is possible to stably provide motion cycle times below 1ms to such applications even with background workloads.

최근에 지능화된 자동차, 로봇, 공장 등에 대한 관심이 높아지면서 지능화된 모션 제어 응용을 손쉽게 작성할 수 있는 소프트웨어 플랫폼에 대한 필요성이 날로 커지고 있다. 이를 위해서 그 기능과 각종 하드웨어 지원이 풍부한 범용 운영체제를 사용하는 것이 바람직하지만, 일반적으로 개별 응용의 실시간 응답성이 항상 보장되지는 않는다. 본 논문은 범용 운영체제로서 리눅스가 산업용 실시간 시스템에 적합한지 평가하기 위해 ARM 기반 프로세서 Exynos4210 상에서 Xenomai 실시간 리눅스 패치를 적용하고 모션 제어 응용의 실시간 성능을 평가하였다. 평가결과, 백그라운드 작업 부하의 간섭에도 불구하고 모션 제어 응용에게 1ms 미만의 제어 주기를 안정적으로 제공할 수 있음을 확인하였다.

Keywords

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  1. Xenomai-based Embedded Controller for High-Precision, Synchronized Motion Applications vol.21, pp.3, 2015, https://doi.org/10.5626/KTCP.2015.21.3.173