Dear all, I'm migrating a mission critical system based on the native skin of Xenomai 2 to Xenomai 3.
I read from the migration guide that now this skin is called Alchemy, therefore I did the modification in header includes and other things. However, some bitmask variables some xenomai calls have been removed. I would like to replicate the exact behavior I had on Xenomai 2 in the new system. In particular, the calls I have in the previous system are: 1) rt_task_spawn(&servo_ptr, name, servo_stack_size, servo_priority, T_FPU | T_JOINABLE | T_CPU(cpuID), motor_servo, NULL) T_FPU and T_CPU are removed, who do I make the new call? Just with T_JOINABLE? 2) rt_heap_create(&heap,name,(size_t)(elemNum*elemSize), H_SHARED) H_SHARED has been removed. The only options I have now are: H_FIFO, H_PRIO, H_SINGLE. What should I choose? 3) rt_timer_set_mode((RTIME) TM_ONESHOT) TM_ONESHOT does not exist anymore. What should I set in the rt_set_mode function? The documentation only says to set 0 for no op, but it does not tell anything about the other options. Thank you, Marco. -- Marco Camurri Post-Doctoral Researcher - Dynamic Legged Systems Lab Istituto Italiano di Tecnologia - Advanced Robotics Department via Morego 30, 16163 Genova (Italy) _______________________________________________ Xenomai mailing list [email protected] https://xenomai.org/mailman/listinfo/xenomai
