I just verified this combination works, for the standard Raspberry Raspbian 
kernel 3.2.27+ with Posix threads (aka 'simulator'), and with Xenomai 3.2.21 
for somewhat better performance

both remote X Display and local console work

this is the rtos-integration-preview1 branch; the only part needed disabling 
was the GladeVCP sourceview widget which is lacking the underlying modules

currently the only hardware driver supported is hal_gpio for wiggling some 
pins; the serial, i2c and SPI interfaces would be possible further candidates, 
mungkie did some initial work on these


I'll see whether I can come up with an SD card image ready to go with all the 
parts (xenomai + userland support + linuxcnc prerequisites + linuxcnc built)

Axis, touchy and friends are still untested


- Michael



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