RTnet and RTAI work with 2.6.32 out of the box, supposedly the latest git of RTnet (official RTnet, not the Xenomai tree) works with 3.2 but I don't think it worked for me last I tried. I was actually able to build an RTnet+RTAI system a few months back with 2.6.32.71 on a relatively modern linux system (believe toolchain was GCC 4.8.5, Glibc 2.23, binutils 2.21, make 3.82) and got pretty good latency scores on bleeding edge AMD hardware, 12 microseconds max on base thread.
The new RTnet code is here: http://git.xenomai.org/xenomai-3.git/log/kernel/drivers/net I haven't dug into it much so I have no idea how much work it'd be getting Xenomai's RTnet working with RTAI so kernels as new as 4.1 will work with RTAI's RTDM. The code structure is the same (or at least very similar) so working with the code itself shouldn't be too difficult. Another idea is to take Xenomai's RTnet code, clone the repository here and push their changes into RTDM to closely review the differences, solve conflicts (if any) and really get an idea for what's going on: https://sourceforge.net/p/rtnet/code/ci/master/tree/stack/ Isn't hm2-eth really just made for sevos, not steppers, so latency isn't as critical? If so, then POSIX threads are fine as long as you're keeping it under at least 100 microseconds, and it'd be (possibly a lot of) work for nothing, no? As for RTnet not supporting newer hardware, lots of new boards still use the r8169 chip which is supported in mainline RTnet and Xenomai's, and the infamous e1000 chip. Alec Ari ------------------------------------------------------------------------------ _______________________________________________ Emc-developers mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-developers
