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After these wdog refactor: We conducted a latency measurement using the rt-tests/cyclictest (commit cadd661) on an x86_64 NUC12 equipped with an i7-1255U processor and 16GB of LPDDR5 memory. The specific command used for this microbenchmark was cyclictest -q -l 100000 -h 30000, which is designed to assess the responsiveness of the cyclic timer. The findings from our benchmark are summarized below, highlighting the minimum, median, and maximum latency values for each operating system tested: Operating System Minimum Latency (us) Median Latency (us) Maximum Latency (us) Linux 48 53 410 PreemptRT 6 57 148 Xenomai 53 53 64 NuttX 64 626 1212 NuttX (refactor) 1 1 3 In this table, "Min" indicates the shortest latency observed, "Median" represents the middle value of the latency distribution, and "Max" denotes the longest latency encountered. The systems tested were as follows: Linux: ACRN version 6.1.80 (commit f528146) PreemptRT: Linux kernel 5.4.251 with the 5.4.254-rt85 patch applied Xenomai: Linux kernel 5.4.251 patched with ipipe-core-5.4.239-x86-13 These results clearly demonstrate the varying performance of different operating systems in terms of timer latency, the refactored NuttX showing particularly low latency values. Signed-off-by: ligd <liguiding1@xiaomi.com>
Apache NuttX is a real-time operating system (RTOS) with an emphasis on standards compliance and small footprint. Scalable from 8-bit to 64-bit microcontroller environments, the primary governing standards in NuttX are POSIX and ANSI standards. Additional standard APIs from Unix and other common RTOSs (such as VxWorks) are adopted for functionality not available under these standards, or for functionality that is not appropriate for deeply-embedded environments (such as fork()).
For brevity, many parts of the documentation will refer to Apache NuttX as simply NuttX.
Getting Started
First time on NuttX? Read the Getting Started guide! If you don't have a board available, NuttX has its own simulator that you can run on terminal.
Documentation
You can find the current NuttX documentation on the Documentation Page.
Alternatively, you can build the documentation yourself by following the Documentation Build Instructions.
The old NuttX documentation is still available in the Apache wiki.
Supported Boards
NuttX supports a wide variety of platforms. See the full list on the Supported Platforms page.
Contributing
If you wish to contribute to the NuttX project, read the Contributing guidelines for information on Git usage, coding standard, workflow and the NuttX principles.
License
The code in this repository is under either the Apache 2 license, or a license compatible with the Apache 2 license. See the License Page for more information.