Mathieu JOINIE-MAURIN wrote: > The application I used is a small controller for robot developped by people > in the lab. Before it used to be in RTAI. But now they are trying to use > Xenomai. The application is splitted in two parts: > the user side which saves data, manages interfaces and the kernel module > which realise all the real time tisk (sampling, writing to electronic card, > controler). > The communications between the two is made by 5 pipes (command, parameters, > acknowledgment, save, status). > > This is why i need to make my sqrt() function (of double variables) into my > kernel modul part.
Given that this is also a "small" application, I bet it will be far easier for you to port it to user-space (POSIX or native skin) than porting a math lib into kernel space. You could even continue to use pipes (with Linux devices on the non-RT side) for communication to keep the porting effort low. Hardware access can also remain part of the application if you prefer (use iopl() & friends), though a clean separation into generic driver and application is recommended for the long-term. Kernel space RT _applications_ really belong to an outdated design pattern (due to missing libraries, GPL requirements, debuggability with gdb, etc.). Take the chance and improve your application! Jan
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