Hi guys, I've been working with one of the Armbian developers to get linuxcnc and PREEMPT_RT using an Odroid N2+ SBC. We have got a working V6.2 PREEMPT_RT kernel with Debian Bookworm operational but it needs a bit more tidy up before we share it. My mentor has had a lot to do with Xenomai 4 and has shared some data that shows Xenomai 4 has a very significant performance advantage over PREEMPT_RT (4 x less jitter) so I wanted to see if I can add Xenomai 4 support to Linuxcnc.
It would be helpful if somebody could give some pointers about how xenomai 3 is supported in the code base. From what I can see, we build libraries for both xenomai 3 and RT in this make file: https://github.com/LinuxCNC/linuxcnc/blob/master/src/rtapi/Submakefile And we define a struct for xenomai 3 here: https://github.com/LinuxCNC/linuxcnc/blob/master/src/rtapi/uspace_common.h#L385 And at run time we dynamically load the correct library here: https://github.com/LinuxCNC/linuxcnc/blob/master/src/rtapi/uspace_rtapi_app.cc#L808 So I think all we need to do is rewrite this 200 line file from Xenomai 3 to Xenomai 4 and tidy up the build and library selection process. https://github.com/LinuxCNC/linuxcnc/blob/master/src/rtapi/Submakefile This seems so simple, I thought I might have missed something. I'd really appreciate any feedback on what I've missed and any finer points I need to look out for... Thanks in advance. Rod Webster VMN® www.vmn.com.au Ph: 1300 896 832 Mob: +61 435 765 611 _______________________________________________ Emc-developers mailing list Emc-developers@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-developers
