Hi Folks, In our hobby robotics project [1] we start using Xenomai for RT tasks. The first application was PWM generation with GPIO to control servo motors [2] (the next would be dealing with interrupts from wheel encoders). We have made it from the user space and result was not as good as we would like it to be so I decide to write kernel module to reduce the jitter. And here comes the question whether to use RTDM or just plain Xenomai API?
I was never using RTDM in the past. Based on what I have read, the main intent of the RTDM is to make driver code portable across different RT solutions for Linux. I understand it and it makes sense. However, looking around and asking myself what are these different solutions, I just can name Xenomai and preempt_rt patch. AFAIK, all the rest are either dead (or almost dead) or not relevant for hobby open-source development. So my question is what are the practical advantages of using RTDM instead of Xenomai API? I would be very glad to hear the opinion of experienced Linux RT developers about it. Thank you very much, Andrey. [1] http://veter-project.blogspot.de/2011/11/how-to-build-beagleboard-based-wifi.html [2] http://veter-project.blogspot.de/2011/09/real-time-enough-about-pwms-and-shaky.html _______________________________________________ Xenomai-help mailing list Xenomai-help@gna.org https://mail.gna.org/listinfo/xenomai-help
