On 23-1-2013 23:25, Charles Steinkuehler wrote: > On 1/23/2013 1:33 PM, Bas Laarhoven wrote: >> On 23-1-2013 19:52, Michael Haberler wrote: >>> Am 23.01.2013 um 16:17 schrieb Bas Laarhoven: >>> >>>> Since you have experience with patching xenomai on top of a kernel, is >>>> there any chance applying the patches on the 3.2.34 kernel? >>>> You can download that kernel from >>>> https://github.com/modmaker/linux/tree/linux-ti33x-psp-3.2.34-r18a+gitr720e07b4c1f687b61b147b31c698cb6816d72f01. >>>> The link might not work directly, but it contains all the relevant >>>> information to find the branch in my kernel tree. >>>> >>>> The advantage of this kernel is that it contains the relevant drivers for >>>> GPIO, PWM, ADC, PRUSS, etc. It also contains the EEPROM based >>>> configuration decoder that I wrote. It's used by my BeBoPr board to >>>> automatically configure the I/O, so one doesn't need to load drivers, set >>>> the multiplexers and so on (Charles: This might save you a lot of work!). >>> I am now looking into it, and I am not so sure about the last paragraph. >> ??? Huh, I'm not sure if I understand what you're saying here. Do you >> think the TI branches are better., is that what you're saying? Then I >> suggest that you read back the IRC logs on #beagle over the last year. > From my perspective, the fancy BeagleBone specific kernel bits that Bas > is wanting are not particularly necessary for LinuxCNC. Charles, The capes have an EEPROM containing configuration information that is used to configure the BeagleBone's I/O when the kernel boots. If you want (or need) to do that yourself, that's of course a choice you are free to make. It's indeed fancy, and user friendly : ) > > Running under Xenomai, we can't call into the Linux kernel to update > anything without a severe latency hit, so we'll have to talk to the raw > hardware anyway. It's easy enough to talk to the PRU directly since > it's unused by Linux, but some of the other hardware (like the ADC and > PWM) is a bit trickier. I'm actually hoping I don't have to *disable* > the Linux drivers for the AM335x hardware to keep the kernel from > stepping on registers while we're talking directly to the hardware via > Xenomai/userspace. > Ah, it wasn't clear to me that you were going to do all the low level stuff yourself. Is this necessary? Can't you use the standard drivers for the not time critical parts? If not, I hope you're an expert and have lot's of time to spend ; )
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