The ubuntu "-rt" kernel is not compatible with emc. Only the "-rtai" kernel is compatible with the precompiled version of emc, and only "rtai" and "rtlinux" realtime kernels are supported for compiling emc.
The ubuntu "-rt" kernel does not provide the APIs that are used by emc2 for its realtime components and hardware drivers. One reason that we have not worked to support "-rt" is because it generally offers lower realtime performance on the same hardware compared to rtai. My limited experience with the "-rt" indicates that it might be OK for "smart hardware" like mesa/ppmc but probably not for "dumb hardware" like software step generation on the PC parallel port. I believe that an interested developer with a knowledge of kernel and/or pthreads programming could write a new implementation of emc's "rtapi" compatability layer for the Ubuntu Studio "-rt" kernel. Personally, I would be happy to consider such a patch for inclusion in the development version of emc. You can find some work I did along these lines a year ago here: http://axis.unpy.net/01190912545 however I am not sure that the userspace/pthreads approach is the right one, because it means that HAL device drivers can't use kernel APIs such as pci_find_device and ioremap_nocache. In that case, rtapi would need a new set of APIs for these tasks, implemented in kernel space with the kernel APIs and in userspace with some kind of PCI access library. Jeff ------------------------------------------------------------------------- This SF.Net email is sponsored by the Moblin Your Move Developer's challenge Build the coolest Linux based applications with Moblin SDK & win great prizes Grand prize is a trip for two to an Open Source event anywhere in the world http://moblin-contest.org/redirect.php?banner_id=100&url=/ _______________________________________________ Emc-developers mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-developers
