[FOSS-GPS] RTKLib MIPS requirements?
mic.bavaro at yahoo.co.uk
Thu May 3 02:04:22 EDT 2012
Sorry, I assumed that you read this paper
There you may find more details about RTKLIB computational load at 10Hz.
On 02/05/2012 23:08, Danny Miller wrote:
> Well correct me if I'm wrong but this seems to come down to how many
> flops it can do, the moving of variables and such is probably a
> minority of the processing. That's why I wanna focus on the flops
> How much resources does RTKLib consume on Beaglebone? Because BB
> being faster and capable of RTKLib still doesn't establish the
> processing requirements. Is it running at 60% core utilization or 5%?
> I did run RTKLib on my i7 Q 740 1.73GHz laptop and the utilization was
> basically nil. I really couldn't determine anything from that, the
> usage figure was too low to give a meaningful number, not when the
> capabilities are at least 100x greater. I mean if the usage was 10%
> on that i7 I could pretty well dismiss it working on a Cortex M4.
> IIRC it was like a single-digit or fractional % though and the OS can
> consume considerable resources managing the busses and displaying the
> maps and interfaces so that doesn't mean much.
> Raspberry PI would be nice, but I can't get ahold of one, much less
> will it be readily available at this time for widespread consumption
> if the application worked. I'm still uncertain if widespread,
> long-term, low-price distribution is gonna happen or just turn out to
> be vaporware. STM32F4, anybody CAN order one or a thousand and get
> them for $15 or better right now. Still got high hopes of course.
> Raspberry PI also wasn't designed with a lot of low-level hardware
> interfacing so it'd still require a daughterboard like the STM32F4 to
> interface with a rover's motors and sensors and all.
> On 5/2/2012 3:40 PM, Michele Bavaro wrote:
>> Hi Danny,
>> I strongly doubt that a STM32F4 will be able to run RTKLIB.
>> It's true that it runs on a beaglebone, but Cortex-A8 has around
>> 2MIPS/MHz and runs at frequencies close to 1GHz,
>> whereas a Cortex-M4 has 1.25MIPS/MHz and runs at frequencies up to
>> 150MHz: there is almost one order of magnitude.
>> In addition since the structure of rtkrcv is quite strongly coupled
>> with a Linux OS,
>> there will be a lot of effort required to port it to a lighter RTOS,
>> let go to bare metal code.
>> But I don't want to discourage you.. if you think it's doable go for
>> it :)
>> Best regards,
>> On 02/05/2012 00:15, Danny Miller wrote:
>>> STM32F4 "demo board" uses an Arm Cortex m4. 32 bit, 210 DMIPs and a
>>> single-precision hardware FPU. I'm slightly unclear on the memory
>>> space it has on this specific board but it should be 192KB SRAM and
>>> 1MB flash. That's my porting plan.
>>> If it WORKS, it'll be a great system, these boards are absurdly
>>> cheap. It is several more orders of magnitude of capability than
>>> these 8bit PICs and such, but I don't understand the scale of the
>>> flops requirement of RTKLib. I know it's somewhere between "much
>>> more than any 8-bit controller could ever do" and "won't even make
>>> Intel i7 break into a sweat". And those are wildly different
>>> magnitudes. I don't know exactly where RTKLib 10Hz would be between
>>> And it's be running RTKLib and just some minor application
>>> (navigation and monitoring) code which will not be
>>> processor-intensive, and it's not using Linux or an RTOS. So
>>> there's not a significant overheat for other tasks and the
>>> overhead's timing can be managed predictably and accurately. Pretty
>>> much the core can either do it or it can't.
>>> On 5/1/2012 4:43 PM, julio menezes wrote:
>>>> Hi Danny,
>>>>> I have a core with a hardware FPU, but it's only capable of
>>>>> doing Single floats, not Double. It is going to break
>>>>> things to implement the specified Double calcs with Single
>>>>> precision? I would assume so, but it's worth asking.
>>>> The RTKLIB author T.Takasu and A.Yasuda have ported RTKLIB to a
>>>> BeagleBoard which has an ARM Cortex-A8- with 1 GHz and floating
>>>> point, I do not know if double or single precision.
>>>> I plan to move in this direction also, may be using a hardware less
>>>> powerful but cheaper.
>>>> Raspberry Pi
>>>> The SoC is a Broadcom BCM2835.
>>>> This contains an ARM1176JZFS, with floating point, running at
>>>> 700Mhz, and a Videocore 4 GPU.
>>>> I am waiting, anxiously, the RTKLIB 2.4.2 version with RTCM-104
>>>> phase messages encoder to built a local base station as where I
>>>> live there are no near NTRIP network ( less than 10km ).
>>>> good luck,
>>>> julio menezes
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