[Xenomai-help] problem of xeno_hal

[Xenomai-help] problem of xeno_hal

[zhangwei zhang]

Hello, I have some problem of instalingl xenomai on ppc. I use the
linux-2.6.19 and xenomai-2.3.4, I want to get the xeno_hal.ko for emc
porting. But it seems that it can be only compiled in to the
kernel,not as module. What can I do to implement it?


Best wishes

kyla

Re: [Xenomai-help] problem of xeno_hal

[Jan Kiszka]

zhangwei zhang wrote:
> Hello, I have some problem of instalingl xenomai on ppc. I use the
> linux-2.6.19 and xenomai-2.3.4, I want to get the xeno_hal.ko for emc
> porting. But it seems that it can be only compiled in to the
> kernel,not as module. What can I do to implement it?

Do you happen to confuse the EMC HAL with that hal, Xenomai provides?
Both target different purposes and abstraction levels.

Maybe Paul can comment on the requirements of an EMC2(?) port over
Xenomai as he already worked in this domain.

Jan

-- 
Siemens AG, Corporate Technology, CT SE 2
Corporate Competence Center Embedded Linux

Re: [Xenomai-help] problem of xeno_hal

[Paul]

On Monday 19 November 2007 15:51, Jan Kiszka wrote:
> zhangwei zhang wrote:
> > Hello, I have some problem of instalingl xenomai on ppc. I use the
> > linux-2.6.19 and xenomai-2.3.4, I want to get the xeno_hal.ko for emc
> > porting. But it seems that it can be only compiled in to the
> > kernel,not as module. What can I do to implement it?
>
> Do you happen to confuse the EMC HAL with that hal, Xenomai provides?
> Both target different purposes and abstraction levels.

Or perhaps the rtai_hal module ?

>
> Maybe Paul can comment on the requirements of an EMC2(?) port over
> Xenomai as he already worked in this domain.

Not with emc2 - Most of my comments regarding the code base & implementation 
are far from complementary. I'll leave the code to speak for it's self...
There is one nice tool in there - the scope, but <snip>...

 Performance is pretty poor on anything less than an 800MHz i586, so I suspect 
a ppc platform would really struggle even if you could offload the GUI on to 
a remote host... That is assuming you can find a suitable math library to use 
in kernel space.

My efforts with Xenomai/EMC were based on sources derived from the original 
NIST code, and running entirely in user space. 
http://www.tuxcnc.org/pivot/entry.php?id=16 gives an overview.
Having demonstrated the viability, we are now forging ahead with a new code 
base.


Regards, Paul.