Re: [Xenomai-help] Re : sqrt() function in xenomai kernel module

[Jan Kiszka <jan.kiszka@domain.hid>]

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Mathieu JOINIE-MAURIN wrote:
> The application I used is a small controller for robot developped by people in the lab. Before it used to be in RTAI. But now they are trying to use Xenomai. The application is splitted in two parts:
> the user side which saves data, manages interfaces and the kernel module which realise all the real time tisk (sampling, writing to electronic card, controler).
> The communications between the two is made by 5 pipes (command, parameters, acknowledgment, save, status).
> 
> This is why i need to make my sqrt() function (of double variables)  into my kernel modul part.

Given that this is also a "small" application, I bet it will be far
easier for you to port it to user-space (POSIX or native skin) than
porting a math lib into kernel space. You could even continue to use
pipes (with Linux devices on the non-RT side) for communication to keep
the porting effort low. Hardware access can also remain part of the
application if you prefer (use iopl() & friends), though a clean
separation into generic driver and application is recommended for the
long-term.

Kernel space RT _applications_ really belong to an outdated design
pattern (due to missing libraries, GPL requirements, debuggability with
gdb, etc.). Take the chance and improve your application!

Jan


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