Hi, At the moment I am thinking about a possible migration of a automotive bus measuring/simulation application and some drivers from eCos to Linux/Xenomai. The move is primarily motivated by the huge software and device driver support under linux.
However some device drivers which interfaces our custom devices in FPGA must be ported to linux or xenomai user-space or xenomai-rtdm. But I dont want to write device drivers in kernel-space, because this would involve some serious restructuring of our current drivers and software structure and a possible performance penalty because of unneeded data copying. It is also harder to debug a kernel-driver. In eCos there is no user/kernel space seperation and our custom device drivers access the registers based in FPGA directly. The interface of these drivers to the application is not via a device file but over direct function invocation. So I thought of moving this part of our communication stack which has hard-real time requirement (FlexRay, CAN, LIN) into a seperate process which only lives in the xenomai domain (it will communicate with low-prio linux processes via non-blocking fifo or such). But this raises two important questions: Can I access the FPGA registers directly from a xenomai task in the user space? Or do I have to write a minimal linux or xenomai-rtdm device driver which maps FPGA registers from kernel to user space? -- Guenter _______________________________________________ Xenomai-help mailing list [email protected] https://mail.gna.org/listinfo/xenomai-help
