On May 18 2013 9:36 AM, Kenneth Lerman wrote:
>
>> [A few things that I'd like to see are: higher order control (jerk
>> limited), unlimited (or limited only by memory) look ahead, a better
>> interactive interface. The first two are for elegance (I have no 
>> real
>> need for them), the last for my own use in making prototypes].
>
> I'd also like to see us get off the PC based platform. Not because I
> wish to abandon it; but because it has abandoned us.
>
> Personally, I'd be happy with the real-time stuff moved to an Arm 
> based
> platform (such as BBB). If I wanted to have a non-standalone system, 
> I'd
> try to use ethernet. EtherCAT seems like a real possibility.

and now we get our first actionable milestone definition:

   To support the use of multiple operating systems and platforms, the 
first critical piece is to build a timer and latency test harness.  The 
latency test harness can be generic for all but the specific 
implementation.  Much of the high res timer work has already been done 
on all the platforms of interest, but not in a way that is 
multi-platform.  Also, I would argue that a good implementation would be 
useful for systems as small as the Arduino and as complicated as PC 
desktops, and would be useful just by itself if it can be envisioned as 
a standalone library/code base.

Now for a design discussion:

There is an ISO real-time interrupt standard.  Is it sufficient to use 
those standards, or do they need to be extended for some reason.  If so, 
why and how?

What are the basic functionality needed: heartbeat, trigger at a given 
time, trigger at a dt offset, ...

How should it treat/deal-with overruns?

I may be touching on implementation stuff a little soon, but the 
intention is to open up the discussion for multi-platform and standalone 
timers.

   EBo --


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