[yocto] Embedded Linux with Xenomai support

[Asier]

> Does your RT-threads have access to the full linux userland?
> I'm thinking about D-BUS comms, Qt framework, networking stuff, ...
> Or do they live in their own shell and communicate with the non-rt world
via a dedicated system?
> As well, have you tried/use it in a multi core context, where one core
runs linux and the other one a RT kernel.
>
The real-time and non real-time processes communicate mainly through shared
memory, and most of the time this communication follows a client-server
schema. I try to keep the rt-side as simple as possible (no Qt libraries,
no rt networking...). I do use real-time drivers for the CAN communication.

I haven't yet used a multicore processor.

Regards,

Asier




2013/9/3 Christian Gagneraud <chgans at gna.org>

> On 02/09/13 03:07, Robert Berger wrote:
>
>> Hi,
>>
>> On 08/30/2013 07:56 PM, Darren Hart wrote:
>>
>>  Is there any Linux distribution based on the Yocto project that lets
>>>> me configure my embedded kernel with Xenomai? If not, has anybody got
>>>> any experinece in adding Xenomai to the Yocto project?
>>>>
>>>
>>> I am not aware of anyone using Xenomai with Yocto to date (although that
>>> doesn't mean nobody is). Our Real-Time focus has been on the PREEMPT_RT
>>> Linux kernel, which we do have recipes for.
>>>
>>
>> googling for meta-xenomai reveals:
>>
>> [1][2]
>>
>>
>>> It appears as though Xenomai has changed quite a bit over the years. If
>>> my quick re-reading of their material is correct, the Xenomai core is
>>> implemented as a Linux kernel module which can built in to a standard
>>> Linux kernel?
>>>
>>
>> ... kind of ...
>>
>> kernel space:
>>
>> You need to apply a patch to a certain kernel version and configure the
>> kernel afterwards.
>>
>> So for an ARM architecture there is a patch for the 3.8 kernel[3]
>>
>> user land:
>>
>> But unlike with preempt-rt you also need to build the Xenomai userland
>> stuff.
>>
>>
>>> Out of curiosity, what sort of real-time requirements do you have?
>>>
>>>
>> That's a good point. Shameless self promotion [4].
>>
>
> Does your RT-threads have access to the full linux userland?
> I'm thinking about D-BUS comms, Qt framework, networking stuff, ...
> Or do they live in their own shell and communicate with the non-rt world
> via a dedicated system?
> As well, have you tried/use it in a multi core context, where one core
> runs linux and the other one a RT kernel.
>
> Regards,
> Chris
>
>
>
>> Regards,
>>
>> Robert
>>
>> [1] https://github.com/nojgosu/**meta-xenomai<https://github.com/nojgosu/meta-xenomai>
>> [2] https://github.com/**DrunkenInfant/beaglebone-**xenomai<https://github.com/DrunkenInfant/beaglebone-xenomai>
>> [3]
>> http://git.xenomai.org/?p=**xenomai-head.git;a=tree;f=**
>> ksrc/arch/arm/patches;h=**c6045f00819318970d6bba65c39760**
>> 9052c9414e;hb=HEAD<http://git.xenomai.org/?p=xenomai-head.git;a=tree;f=ksrc/arch/arm/patches;h=c6045f00819318970d6bba65c397609052c9414e;hb=HEAD>
>> [4] http://www.**reliableembeddedsystems.com/**
>> pdfs/2010_03_04_rt_linux.pdf<http://www.reliableembeddedsystems.com/pdfs/2010_03_04_rt_linux.pdf>
>>
>>
>> ..."A language that doesn't affect the way you think about programming
>> is not worth knowing." - Anonymous
>>
>> My public pgp key is available,at:
>> http://pgp.mit.edu:11371/pks/**lookup?op=get&search=**0x90320BF1<http://pgp.mit.edu:11371/pks/lookup?op=get&search=0x90320BF1>
>>
>>
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>>
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