Re: Orocos & gnu/linux 2.6

On Friday 27 February 2004 09:40, Klaas Gadeyne wrote:
> SOFTWARE:
> - Standard gnu/linux 2.6.3 kernel (unpatched)
> - Comedi latest CVS snapshot
> - Orocos latest subversion snapshot, "ecosconfiged" to gnu/linux, with
>   most of the default settings (the Zero time thread configured to run
>   at 100 Hz instead of default 1000 Hz)
> - Orocos application code of "independent axes" platform.
>
> Everything goes fine, and the performance is _way_ better then the
> performance of standard gnulinux 2.4 (with scheduler frequency of 100 Hz).
>
> This is the first time I see a orocos/gnulinux (with the emphasis on
> gnulinux ofcourse since rtai/lxrt worked out fine since "ages" :-))
> target perform something which is worthy the name of motion "control" :-)

I wonder how gnulinux performance could be improved to have a control loop 
running > 100Hz. Does anyone on the list have experience with using the Linux 
RTC (Real Time Clock) for improving timing ? What Orocos does now is calling 
sleep(), which performance depends on the scheduler. 

Although our hardware needs RTAI, lesser critical apps could benefit from a 
better timing in standard linux...

Peter 

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Peter Soetens                                      http://www.orocos.org
Katholieke Universiteit Leuven
Division Production Engineering,                      tel. +32 16 322773
Machine Design and Automation                         fax. +32 16 322987
Celestijnenlaan 300B                   [email protected]
B-3001 Leuven Belgium                 http://www.mech.kuleuven.ac.be/pma
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