I think there's a little bit of a misunderstanding. I'm not trying to write my own skin. I'm new to xenomai and I'm just trying write a simple kernel module that starts a periodic realtime thread. Write now I'm just trying to have it write a simple message to printk but eventually I'm going to want it to write to a DAC to control a servo. I've been browsing the xenomai API linked off the main website and I thought that using the nuclues was the prefered method for doing this but I get the feeling now that is not the case. My ultimate goal is to have a realtime kernel-space thread that acts as a pid-controller that communicates and synchronizes with a non-realtime user-space application that displays pertinent information to the user. How would you recommend going about doing that? Thanks. -Brandt
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