As far as I know there was a proof of concept for RTDM to run in Mercury if you search the mailing list you should be able to find some info on it. I don't think that work made it's way in, so for the moment RTDM would only be availiable in the Cobalt core. I don't use Mercury that much so I can't speak to it's advantages at the moment. This thread https://xenomai.org/pipermail/xenomai/2017-February/037161.html may also help.
-Greg On Wed, Oct 17, 2018 at 4:38 PM Wojciech Domski <wojciech.dom...@gmail.com> wrote: > 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 > _______________________________________________ Xenomai mailing list Xenomai@xenomai.org https://xenomai.org/mailman/listinfo/xenomai
