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Date
Event
Low Latency Frameworks -
Real-Time Linux
- vs -
CPU Core Isolation
Considerations and ComparisonsGary Robertson
Santosh Shukla
Linaro Connect HKG15
Real-Time Linux - Overview
● Goal is to maximize latency determinism
while maintaining full kernel functionality
● Most kernel locks transformed into rt-mutex
based locks which might sleep
● Adds support for priority inheritance and
priority-based queuing for lock waiters
● Encapsulates ISRs inside schedulable tasks
Real Time Linux - Pro’s and Con’s
Pro’s
● Transparent to most
applications code
● Leverages existing
driver and protocol
stacks
● Works on single-CPU
platforms
Con’s
● Future of upstream
support uncertain
● Requires extensive
changes to kernel code
and drivers
● Demands expert tuning
for optimal performance
Real-Time Linux - Considerations
● Possible end of upstream support -
fragmentation and/or obsolescence likely
● Some drivers and kernel features broken by
RT patch - imposes a large maintenance
overhead
● Interaction between threaded interrupt
handlers and other real-time tasks requires
careful design considerations
CPU Core Isolation - Overview
● Goal is to minimize latencies induced by
kernel scheduler and housekeeping activities
● Dedicates some CPU cores to exclusive use
by individual user-space applications
● Relies on more direct interaction between
user space applications and I/O hardware
● Avoids any system calls
CPU Core Isolation - Pro’s and Con’s
Pro’s
● Reduces or eliminates
context switching
latencies
● Minimizes memory
mapping overhead
● Avoids delays due to
core migration
Con’s
● Applications cannot use
most kernel drivers or
protocol stacks
● Demands expert tuning
for optimal performance
● Requires a multi-core
platform
CPU Core Isolation - Considerations
● Full tickless operation demands a single system-level
scoped task per core
● Interrupt handlers affined to isolated cores must not
interact with the scheduler or create schedulable tasks
on that core
● Schedulable tasks must not be used for per CPU kernel
housekeeping on isolated cores
● Task migration from overlying scheduler domains must
be avoided
● Interaction with system thermal management undefined
Middle Ground - CPU Affinity Only
● Dedicate sets of cores to run only specific tasks
● Reduces latencies through lack of contention
● Retains use of ‘normal’ API environment
● May be coupled with low latency desktop preemption
● May also be coupled with threaded ISRs
● Possibly the ‘sweet spot’ for performance vs. risk and
development costs

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HKG15-305: Real Time processing comparing the RT patch vs Core isolation

  • 1.
  • 2. Presented by Date Event Low Latency Frameworks - Real-Time Linux - vs - CPU Core Isolation Considerations and ComparisonsGary Robertson Santosh Shukla Linaro Connect HKG15
  • 3. Real-Time Linux - Overview ● Goal is to maximize latency determinism while maintaining full kernel functionality ● Most kernel locks transformed into rt-mutex based locks which might sleep ● Adds support for priority inheritance and priority-based queuing for lock waiters ● Encapsulates ISRs inside schedulable tasks
  • 4. Real Time Linux - Pro’s and Con’s Pro’s ● Transparent to most applications code ● Leverages existing driver and protocol stacks ● Works on single-CPU platforms Con’s ● Future of upstream support uncertain ● Requires extensive changes to kernel code and drivers ● Demands expert tuning for optimal performance
  • 5. Real-Time Linux - Considerations ● Possible end of upstream support - fragmentation and/or obsolescence likely ● Some drivers and kernel features broken by RT patch - imposes a large maintenance overhead ● Interaction between threaded interrupt handlers and other real-time tasks requires careful design considerations
  • 6. CPU Core Isolation - Overview ● Goal is to minimize latencies induced by kernel scheduler and housekeeping activities ● Dedicates some CPU cores to exclusive use by individual user-space applications ● Relies on more direct interaction between user space applications and I/O hardware ● Avoids any system calls
  • 7. CPU Core Isolation - Pro’s and Con’s Pro’s ● Reduces or eliminates context switching latencies ● Minimizes memory mapping overhead ● Avoids delays due to core migration Con’s ● Applications cannot use most kernel drivers or protocol stacks ● Demands expert tuning for optimal performance ● Requires a multi-core platform
  • 8. CPU Core Isolation - Considerations ● Full tickless operation demands a single system-level scoped task per core ● Interrupt handlers affined to isolated cores must not interact with the scheduler or create schedulable tasks on that core ● Schedulable tasks must not be used for per CPU kernel housekeeping on isolated cores ● Task migration from overlying scheduler domains must be avoided ● Interaction with system thermal management undefined
  • 9. Middle Ground - CPU Affinity Only ● Dedicate sets of cores to run only specific tasks ● Reduces latencies through lack of contention ● Retains use of ‘normal’ API environment ● May be coupled with low latency desktop preemption ● May also be coupled with threaded ISRs ● Possibly the ‘sweet spot’ for performance vs. risk and development costs