Hi Philippe, Sorry for the late report, Xenomai appears to work fine on a Freescale e500 board (MPC8541E) under Linux 2.6.13. Xenomai version was v1.9.9, ie. the daily snapshot as of today. Here are some preliminary figures (CPU 800MHz, Bus 133MHz, 32 kiB I-Cache 32 kiB D-Cache, 256 kiB L2):
switch $ ./run == Sampling period: 100 us RTH| lat min| lat avg| lat max| lost RTD| 3660| 3690| 8070| 0 kaltency $ ./run RTH|----klat min|----klat avg|----klat max| overrun| RTS| -7350| -5715| 6420| 0| 00:03:17/00:03:17 latency $ ./run == Sampling period: 100 us RTT| 00:08:04 RTH|-----lat min|-----lat avg|-----lat max|-overrun| RTS| -6930| -4260| 8700| 0| 00:08:06/00:08:06 Load for klatency/latency was ping flooding on FCC (piece of cake), and cache calibrator. IMHO, we can do nastier. Thanks! -- Stephane PS: some rtai skin patches are to be expected
