As far as I know, rtai (the real-time kernel that emc2 uses on x86
ubuntu systems) does not currently support the Sheeva ARM CPU.  Before
emc2 can run on a system to control hardware, you have to either port a
supported rtos to it, or port rtapi to an rtos that is available for
that system.

It is not impossible, but it will require a great deal of effort from a
programmer familiar with RTOS and low-level operating system details.

Jeff

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