Hi, my group is developing a robot control application using EtherCAT for communication between controller and devices. For being flexible and interoperable we are looking into using OROCOS together with the IGH EtherCAT master for maximum flexibility. Under the hood, OROCOS is using rtai-lxrt or xenomai for hard-realtime. Is the userspace API of the IGH master hard-realtime compatible using these two realtime systems? Preliminary testing suggested that ioctl calls in the userspace API lead to switching out of hard realtime. Being new to hard realtime systems, I was also wondering why normal locking ( down(&master->io_sem); etc.) seems to be used for example in master.c. Shouldn't the corresponding RTOS structures (rt_sem_wait(&master->master_sem); etc. ) be used?
regards, Stefan Kohlbrecher _______________________________________________ etherlab-users mailing list [email protected] http://lists.etherlab.org/mailman/listinfo/etherlab-users
