That is the direction the Machinekit fork of Linuxcnc has
been going.  They have successfully created a machinekit-hal
system and a machinekit-cnc that communicates with it.
Haven't used it much in a few years, but do read their email

-- Ralph
From: Danny Miller []
Sent: Wednesday, April 10, 2019 9:10 AM
Subject: [Emc-users] Hardware emcmot?

I have been wondering- can emcmot be separated from the HAl and emctask
and become a true dedicated realtime stage to control the joints?

The shared memory FIFOs could be replaced with like an ethernet link to
the hardware RAM.  You'd probably load a DMA buffer and just let it
flow, there's some minor latency but there's not a realtime requirement.

There are cheap high freq MCUs with single-cycle hardware double
multiply/add and gobs of memory.  It would have to be coded in non-OOP C
and I greatly prefer hardware interrupt-driven strategies over RTOS.


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