On 01/14/2013 01:05 PM, Michael Haberler wrote:
Gilles,
Am 14.01.2013 um 12:57 schrieb Gilles Chanteperdrix:
On 01/14/2013 09:29 AM, Michael Haberler wrote:
Hi,
Hi,
thanks to patience on this list we were able to build linuxcnc such
that it runs on Xenomai, besides RT-PREEMPT, vanilla kernels (in a
simulator/non-RT mode) and RTAI
I'm planning to adapt linuxcnc such that a universal binary can be
built which runs under Xenomai, RT-PREEMPT and vanilla kernels as
this will simplify logistics quite a bit; what I'd like have is
reliable auto-detection of the kernel type and 'do the right thing'
(RTAI will remain a separate build).
I have no idea about preempt_rt, however, in order to detect xenomai,
you can check for /dev/rtheap. If it does not exist, xenomai programs
will not start anyway. Also, I guess for a universal binary, you would
dlopen xenomai libraries (native or posix, depending on the one you want
to use), if you want to do that, you have to pass --enable-dlopen-skins
to xenomai configure script.
thanks, that is a good idea to verify the libraries are in place; I had to use
--enable-dlopen-skins anyway to make Python imports happy.
I'll muddle my way through some string matching to find rt-preempt running;
https://rt.wiki.kernel.org/index.php/RT_PREEMPT_HOWTO#Checking_the_Kernel gives
some hints
Is there any chance somebody runs Xenomai AND RT_PREEMPT patches applied? I
heard a rumor but havent actually seen that
Yes, this works. The current target is ppc 85xx, but I don't see any
showstopper for running such combo on other archs, provided the I-pipe
patch is adapted to a -rt kernel. This requires Xenomai 2.6.1+, stock.
--
Philippe.
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