From mboxrd@z Thu Jan 1 00:00:00 1970 Message-ID: <5113BFD0.7050501@hilscher.com> Date: Thu, 07 Feb 2013 15:53:04 +0100 From: =?ISO-8859-1?Q?St=E9phane_LOS?= MIME-Version: 1.0 Content-Type: text/plain; charset="iso-8859-1"; format="flowed" Content-Transfer-Encoding: quoted-printable Subject: [Xenomai] Hilscher driver for cifX boards List-Id: Discussions about the Xenomai project List-Unsubscribe: , List-Archive: List-Post: List-Help: List-Subscribe: , To: xenomai@xenomai.org Hello Sirs, Hilscher is offering a Linux driver based on UIO for cifX boards. In my understanding, down to 1ms cycle time, a PREEMPT RT solution=20 should be enough. The cifX boards can manage with bus cycle times down to 250=B5s like with=20 EtherCAT or Sercos III firmwares. So it seems in that cases that using Xenomai would be the way to go. I suppose that it would be needed to modify or change the existing=20 driver but I can't figure out how things (Xenomai / RTDM / UIO) fit=20 together. UIO is the kernel module that allows the mapping of the board memory to=20 user space. The cifX driver uses the libpciaccess to pick up the board and retrieve=20 some board information from UIO before the mapping. Then it uses pthread and rt functions when accessing the board. Since UIO and libpciaccess are only used during the initialization, is=20 it a problem for a Xenomai application ? We have setup a Xenomai system and tried to compile the user land=20 library with Xenomai options and flags and it seems we have been successful. The driver should be using the POSIX skin of Xenomai if we have been lucky. I can't see why we would need RTDM. Any hint please ? I am an absolute beginner in the Xenomai arena, don't throw me to the=20 lions... --=20 Best Regards, Cordialement, St=E9phane LOS slos@hilscher.com Support technique ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Hilscher France 12, rue du 35=E8me R=E9giment d'Aviation Miniparc du Ch=EAne 69500 BRON France T=E9l. : +33 (0) 4 72 37 98 40 Fax : +33 (0) 4 78 26 83 27 http ://www.hilscher.fr ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~