Hi! Is it possible to create a RTDM driver as a kernel module under Mercury and use it?
I have patched kernel with preempt_rt and installed Xenomai 3.0.7 Mercury. However, when I try to compile my driver it says that it can not find <rtdm/driver.h> header file. I have checked the /usr/xenomai/include and there is no rtdm/driver.h only rtdm/rtdm.h. Does this mean that I can not develop driver under the Xenomai Mercury and I have to install Xenomai Cobalt? Or there is something wrong with my Xenomai installation? I have referred to https://gitlab.denx.de/Xenomai/xenomai/wikis/Start_Here and it does not mention that I can not use RTDM drivers in Mercury, actually the opposite but this is only showed in the Figures that for Mercury a RTDM driver is being used. On the other hand, it is said that: "the stock kernel drivers can be reused by real-time applications with no change (provided they don’t create latency issues due to an unfortunate implementation). On the other hand, drivers need to be specifically implemented for running over a dual kernel configuration, i.e. over the in-kernel RTDM interface." If the answer to my question is yes then what steps should I take to compile the RTDM driver for Mercury? And, maybe a naive question, if the answer is no then what I really gain from using the Mercury instead of a kernel patched with preempt_rt besides neat IPC mechanisms etc.? Best regards, -- Wojciech Domski domski.pl | blog.domski.pl _______________________________________________ Xenomai mailing list Xenomai@xenomai.org https://xenomai.org/mailman/listinfo/xenomai
