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2022-07-06 - 02:20

Dates and Events:

OSADL Articles:

2022-01-13 12:00

Phase #3 of OSADL project on OPC UA PubSub over TSN successfully completed

Another important milestone on the way to interoperable Open Source real-time Ethernet has been reached


2021-02-09 12:00

Open Source OPC UA PubSub over TSN project phase #3 launched

Letter of Intent with call for participation is now available


2016-11-12 12:00

Raspberry Pi and real-time Linux

Let's have a look at the OSADL QA Farm data


2016-09-17 12:00

Preemption latency of real-time Linux systems

How to measure it – and how to fix it, if it's too high?



Real Time Linux Workshops

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15th Real Time Linux Workshop, October 28 to 31, 2013 at the Dipartimento Tecnologie Innovative, Scuola Universitaria Professionale della Svizzera Italiana in Lugano-Manno, Switzerland

Announcement - Call for participation (ASCII)Hotels - Directions - AgendaPaper Abstracts - Presentations - Registration - Abstract Submission - Sponsors - Gallery

openPOWERLINK 2.0: A split kernel/user space implementation of the real-time Ethernet protocol POWERLINK

Wolfgang Wallner, Bernecker & Rainer Industrie-Elektronik Ges.m.b.H., Austria
Dietmar Brucknerr, Bernecker & Rainer Industrie-Elektronik Ges.m.b.H., Austria
Josef Baumgartnerr, Bernecker & Rainer Industrie-Elektronik Ges.m.b.H., Austria

Applications in the domain of industrial automation often consist of multiple nodes running real-time critical tasks, linked together by a deterministic network solution to ensure predictable data exchange.

The openPOWERLINK stack is an open-source implementation of the deterministic real-time Ethernet network protocol POWERLINK, and together with RT PREEMPT Linux it provides application engineers with a powerful and flexible platform for their real-time solutions. At previous conferences, the openPOWERLINK stack has already been presented and described in variants implemented in Linux kernel-space and in user-space with all the according benefits and drawbacks. This paper introduces a new implementation approach that combines the flexibility of user-space application programming with the high performance of a kernel-space based solution. The openPOWERLINK stack has been split into a time critical part running as a Linux kernel module and a user-space library interacting with the real-time application. The kernel module directly accesses the Ethernet device via custom hardware drivers and runs the time critical POWERLINK Data Link Layer. The industrial control application is linked against the user-space library which implements all upper layers of the POWERLINK protocol such as SDO, object dictionary, or configuration management. Besides presenting the implementation steps, the performance of this new solution is examined regarding reachable network cycle times, jitter behaviour, and system load.

As an outlook, ideas are given to further optimize the openPOWERLINK implementation on the RT PREEMPT platform.