From mboxrd@z Thu Jan 1 00:00:00 1970 Message-ID: <46D53974.3020207@domain.hid> Date: Wed, 29 Aug 2007 11:16:36 +0200 From: Jan Kiszka MIME-Version: 1.0 References: <904710.33097.qm@domain.hid> In-Reply-To: <904710.33097.qm@domain.hid> Content-Type: multipart/signed; micalg=pgp-sha1; protocol="application/pgp-signature"; boundary="------------enig8CA4B00648A16619A9F0659D" Sender: jan.kiszka@domain.hid Subject: Re: [Xenomai-help] Re : sqrt() function in xenomai kernel module List-Id: Help regarding installation and common use of Xenomai List-Unsubscribe: , List-Archive: List-Post: List-Help: List-Subscribe: , To: Mathieu JOINIE-MAURIN Cc: xenomai@xenomai.org This is an OpenPGP/MIME signed message (RFC 2440 and 3156) --------------enig8CA4B00648A16619A9F0659D Content-Type: text/plain; charset=ISO-8859-1 Content-Transfer-Encoding: quoted-printable Mathieu JOINIE-MAURIN wrote: > The application I used is a small controller for robot developped by pe= ople 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 modul= e which realise all the real time tisk (sampling, writing to electronic c= ard, controler). > The communications between the two is made by 5 pipes (command, paramet= ers, acknowledgment, save, status). >=20 > This is why i need to make my sqrt() function (of double variables) in= to 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 Kernel space RT _applications_ really belong to an outdated design pattern (due to missing libraries, GPL requirements, debuggability with gdb, etc.).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 --------------enig8CA4B00648A16619A9F0659D Content-Type: application/pgp-signature; name="signature.asc" Content-Description: OpenPGP digital signature Content-Disposition: attachment; filename="signature.asc" -----BEGIN PGP SIGNATURE----- Version: GnuPG v1.4.6 (MingW32) Comment: Using GnuPG with Mozilla - http://enigmail.mozdev.org iD8DBQFG1Tl0niDOoMHTA+kRAoOOAJ9RTIcn+ymL3U9pL2+qkwBhU14YfACeLmyC 7D/HUe5AshAXZJGrdM9mNPw= =+yjO -----END PGP SIGNATURE----- --------------enig8CA4B00648A16619A9F0659D--