Performance Comparison of VxWorks, Linux, RTAI and Xenomai in a Hard Real-time Application

A. Barbalace, A. Luchetta, G. Manduchi, M. Moro, A. Soppelsa, C. Taliercio

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract / Description of output

We report on a set of performance measurements executed on VMEbus MVME5500 boards equipped with MPC7455 PowerPC processor, running four different operating systems: Wind River VxWorks, Linux, RTAI, and Xenomai. Some components of RTAI and Xenomai have been ported to the target architecture. Interrupt latency, rescheduling and inter-process communication times are compared in the framework of a sample real-time application. Performance measurements on Gigabit Ethernet network communication have also been carried out on the target boards. To this purpose, we have considered the Linux IP stack and RTnet, an open-source hard real-time network protocol stack for Xenomai and RTAI, which was ported to the considered architecture. Performance measurements show that the tested open-source software is suitable for hard real-time applications.
Original languageEnglish
Title of host publication2007 15th IEEE-NPSS Real-Time Conference
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Number of pages5
ISBN (Print)978-1-4244-0866-5
Publication statusPublished - 12 Nov 2007
Event15th IEEE-NPSS Real-Time Conference - Batavia, United States
Duration: 29 Apr 20074 May 2007
Conference number: 15


Conference15th IEEE-NPSS Real-Time Conference
Abbreviated titleNPSS-RT 2007
Country/TerritoryUnited States

Keywords / Materials (for Non-textual outputs)

  • Linux
  • local area networks
  • physics computing
  • system buses
  • VxWorks
  • RTAI
  • Xenomai
  • VMEbus MVME5500 boards
  • MPC7455 PowerPC processor
  • Gigabit Ethernet network communication
  • hard real-time network protocol
  • Measurement
  • Open source software
  • Operating systems
  • Rivers
  • Delay
  • Ethernet networks
  • Protocols
  • Computer architecture
  • Software testing


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