Hi, I'm trying to port some old stuff from RTLinuxfree. As a first step I would like to recompile and check everything. Latter I will try to modify the code structure to fit xenomai structure.
- let the kernel compile your module as is, this will generated > "soft-float" code, which means that the operations will be done in > software. Your module will contain undefined references to functions > actually implemented in libgcc. So, you will have to extract the needed > .o from libgcc.a and put them in your module. > As this is only "temporary" this is the best option. I think my old RTLinuxfree code does something similar. How can I do this in the Xenomai framework ? Does RTDM task store the floating point context during task switching ? Best wishes Ramon > - try and use "hardware" floating points. This means that you will have > to change the kernel build system to allow compiling hardware floating > points in kernel space. Here again, your module will contain undefined > references, but that will be undefined references to the libm functions > (such as sin, cos). So, you will have to compile the libm as a kernel > module. You will also have to patch RTDM to allow setting the XNFPU bit > to RTDM threads, and also note that you will be only able to use FPU > from such threads (and particularily, not from module initialization and > cleanup code). > > If you decide to go either way, no code helping doing this will ever be > merged into Xenomai, so you will have to maintain your own version of > Xenomai. > > > > > Can anyone provide and example (Makefile+code) or point me to one ? > > I am afraid nobody every did something like this because this is not > worth it. > > -- > Gilles. >
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