On 8/29/07, Gilles Chanteperdrix <[EMAIL PROTECTED]> wrote:
> On 8/29/07, Jan Kiszka <[EMAIL PROTECTED]> wrote:
> > 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.
>
> Compiling a libm in kernel-space is not hard at all, especially since
> a libm does not use any system call. But Mathieu could even do a
> simpler thing: if the only math function used is sqrt, he could simply
> add an implementation of this function into his kernel module.
Actually the rtai_math module seems to have no external dependency.
So, you can use it freely with Xenomai. If you want to port it a bit
more cleanly to xenomai, all you have to do is replacing libm_errno
with *xnthread_get_errno_location() (defined in nucleus/thread.h).
--
Gilles Chanteperdrix
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