Until two years ago I was using Xenomai-3 with my DIY ethernet motor drives. Linuxcnc needed some changes to make it work, I'm sure the same goes for Xenomai-4. It was not a lot of work to change Linuxcnc for Xenomai-3.
On my new lathe I've bought an Intel N100 and have moved to RT-PREEMPT using the same ethernet drives. The servo loop works fine at 4.5kHz on that, so for me there is no incentive to try Xenomai-4 Years ago I was using Xenomai-2 on a router controlled by the printerport, that also worked great. If you want printerport toggeling that's probably the way to go. For Xenomai-3 you don't need kernel modules . (I can't remember what I did on Xenomai-2) Bertho Stultiens <[email protected]> wrote: On 2/18/26 8:01 PM, Bari wrote: > Since RTAI has reached the end of its life the way forward might be > Xenomai 4 https://evlproject.org/overview/ > How many users might find this useful? Is there a pressing reason or major advantage to use Xenomai instead of using the non-kernel module approach with stock RT-PREEMPT kernels? I don't think many have been using (older) Xenomai. There are things referring to it in the LCNC build and source code, but I have a feeling some bitrot may have happened. Or are there people being busy keeping LCNC on Xenomai up-to-date? > it will be lots of work and we aren't sure yet how to support Mesa > cards with it yet. At least some Mesa cards, all Ethernet cards and currently anything used on ARM, is userspace only. They can't be built as a kernel module. I'm not sure it would be worth the effort trying because it requires a *lot* of work and may be impossible for some without a rewrite. There is a port of Xenomai to ARM, but I'm still not sure whether it is worth the effort. Keeping two RT systems alive in the LCNC source also requires much better CI because we can't currently test anything kernel based. So breakage will probably be more rule than exception. -- Greetings Bertho (disclaimers are disclaimed) _______________________________________________ Emc-developers mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-developers _______________________________________________ Emc-developers mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-developers
