We have recently received DRIVE AGX Xavier Developer Kit.
Concurrent Real-Time develops an RTOS called “RedHawk” which we are trying to run on the DRIVE AGX we have received. We have successfully released RedHawk as product on all of the Jetson platforms, including Jetson Xavier. On all these platforms, we have been able to get real-time determinism and a very low latency of less than 50us.
However, during our initial testing on the DRIVE AGX platform, we have observed that the maximum latency ranges between 400-500us for (at least) a 24 hr run. But with some modifications that we have done with Jetson Xavier and RedHawk-specific tuning, we have been able to get much better maximum latency, though not what we have been able to get on the Jetson Xavier.
I understand that there’s a Hypervisor involved on the DRIVE platform whereas Jetson Xavier was a bare metal yet we expect better real-time numbers on DRIVE AGX than what we are seeing currently.
In order to get the real-time latency numbers, we are running a standard open-source application called “cyclictest(8)” (part of rt-tests package) on a “shielded” processor. Shielding is a RedHawk-specific feature which can protect the CPU(s) from some set of system activity providing better determinism which running the application code. We also run stress(1) on the system to try to achieve a worst-case scenario.
We have run similar tests on the PREEMPT_RT kernel that gets flashed through the SDKManager and we have seen cyclictest(8) touch 3-4 millisecond within couple of minutes (it may be higher for a 24hr run).
So, I was wondering if you have run similar tests on the system on your end and if there’s a way to achieve better real-time performance (determinism as well as low-latency).