Evaluation of Communication Latency Invmebus - Based Real - Time Control

Although the VMEbus has been widely used for real-time control systems , its real-time performance has not been evaluated thoroughly. This paper evaluates the latency of interprocessor communication in a VMEbus-based real-time control system. To minimize communication latency, mixed priority/round-robin (MPR) bus arbitration is proposed and its performance is evaluated along with standard PRI and RRS arbitration. The latency is evaluated via computer simulations and experimental measurements using a high-resolution timing-measuring instrument that can be directly plugged into the VMEbus.