Since there's been great progress with RTAI developments, can RTAI Debian package support for Bullseye be a milestone before 2.9.0 makes it's initial stable release? I was hoping to have PREEMPT_RT and RTAI work together with the 5.4 kernel so one LinuxCNC package will work on all, but I don't think this is going to happen due to about ~5 lines of C code I don't understand. Making 5.4 RTAI-only kernel debs will be pretty easy once I have the Kconfig changes sorted out for Bullseye.
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