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June-2nd-2020, 01:15 PM

Hello,

Hello, I've started experimenting with EtherCAT and NetHAT over STM32MP157C-DK2 board. I measured the xChannelIORead and xChannelIOWrite performances and I'm obtaining results more than 2ms for each, between 4-5ms for both with a large amount of jitter. NetX360 Menu Resources; Learning Center Resources Home Client Training Services (the link is located on the far right of the screen) To successfully navigate through your options, please refer to the following learning methods.

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I've started experimenting with EtherCAT and NetHAT over STM32MP157C-DK2 board. I measured the xChannelIORead and xChannelIOWrite performances and I'm obtaining results more than 2ms for each, between 4-5ms for both with a large amount of jitter. My embedded Linux is patched with PREEMPT_RT and the measurements were done inside a high priority RT thread.
I was expecting to get latencies < 1 ms for real time with EtherCAT and I was wondering if these measurements are expected on the NetHAT.
This is the function I used for measuring time:

uint64_t getTimeNanoseconds() {
 struct timespec ts;
 clock_gettime(CLOCK_MONOTONIC, &ts);
 return (uint64_t)(ts.tv_sec) * 1000000000 + (uint64_t)(ts.tv_nsec);
}

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 while(counter < 10000)
 {
 while( CIFX_DEV_NO_COM_FLAG (lRet = xChannelBusState( hChannel, CIFX_BUS_STATE_ON, &ulState, 10))){
 printf('Waiting for Bus communication!rn');
 }
 abSendData[1] = !abSendData[1]; 
 startTime = getTimeNanoseconds();
 if(CIFX_NO_ERROR (lRet = xChannelIORead(hChannel, 0, 0, sizeof(abRecvData), abRecvData, 10))){
 tr_r = getTimeNanoseconds() - startTime;
 sum_r += tr_r;
 rTimes[counter] = tr_r;
 }
 else {
 printf('Error reading n');
 return NULL;
 }
 startTime = getTimeNanoseconds();
 if(CIFX_NO_ERROR (lRet = xChannelIOWrite(hChannel, 0, 0, sizeof(abSendData), abSendData, 10))){
 tr_wr = getTimeNanoseconds() - startTime;
 sum_wr += tr_wr;
 wTimes[counter] = tr_wr;
 }
 else {
 printf('Error writing n');
 return NULL;
 }
 counter++; 
 printf('R | Time : %llu Average : %llu | W | Time : %llu Average : %llu |n', tr_r, sum_r / counter, tr_wr, sum_wr / counter); 
 usleep(cycleTime); 
 }

I obtain different performances depending on 'cycleTime' - time between each read/write call - I have much more jitter with cycle time < 1ms than for example 10ms. I also have different performances depending on when I execute, I can execute same code twice and get different average latencies.
The cycle time of the master is 200us for sending/receiving process data.
I'm not quite familiar with real time protocol programming and I would like to know if these measurements are expected if not I'm curious to know the cause of these latencies.
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Thank you,