On Benchmarking the Predictability of Real-Time Mechanisms in User and Kernel Spaces for Real-Time Embedded Linux

  • Jae Hwan Koh
  • Byoung Wook Choi
Part of the Communications in Computer and Information Science book series (CCIS, volume 339)


Benchmarking the response time of real-time mechanisms is a good measure for predicting the performance of real-time systems. We report on analysis results obtained by comparing the response characteristics of real-time mechanisms in the kernel space to those in the user space for real-time embedded Linux: RTAI and Xenomai. Evaluations were performed on a semaphore, real-time FIFO, and Mailbox and Message queue. The periodicity of tasks was relatively consistent in the kernel space and Xenomai performed better than RTAI in the user space. For real-time mechanisms, the response times in the kernel space were better at low latencies. In Xenomai, the semaphore showed a good response time in both the kernel and user space, but real-time FIFO in RTAI showed a faster response. These results are promising for the estimation of deterministic real-time task execution to implement real-time systems using real-time embedded Linux.


Real-time Embedded Linux Real-time Mechanisms RTAI Xenomai Time Response 


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Copyright information

© Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  • Jae Hwan Koh
    • 1
  • Byoung Wook Choi
    • 1
  1. 1.Dept. of Electrical and Information EngineeringSeoul National University of Science and TechnologySeoulSouth Korea

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