Weblinks
From Xenomai
This page presents a collection of web links related to the Xenomai project. If you know a project, a website or a blog that should be referenced on this page, don't hesitate to drop me an email.
Contents |
Blogs or Websites
Captain Universe
Captain's Universe : lots of useful tests, demos and documentation.
Romain Lenglet's web page
Romain is involved in Xenomai and realizes among other things Debian packages for the project. You will find useful information about on his web page: Romain Lenglet's web page.
Documentation
Xenomai Cross Reference
Xenomai Cross Reference is a convenient resource for navigating through Xenomai source code.
Installation of Xenomai and RTDM Driver Writing
The document Installation and Implementation of Xenomai on an Industrial Component and Porting a Driver for an Industrial IO-card to the Xenomai Infrastructure was written during a traineeship of a student at the Vienna University of Technology. It describes how to install Xenomai (ver. 2.2.0) and how to write a RTDM driver for a PCI card. Source code of the examples described in the document is available at this link.
Related Projects
RT-FireWire
RT-FireWire is an OpenSource project based on Xenomai which aims at using FireWire as a hard real-time communication medium in industrial automation.
USB for Real-Time
USB for Real-Time aims at providing a hard real-time capable implementation of an USB stack on top of Linux/RTAI. It already implements the stack core and an UHCI host controller drivers. Future work will deal with a EHCI (2.0) as well as various high-layer.
Hard Real-Time Networking for Real-Time Linux
RTnet is an Open Soure hard real-time network protocol stack for Xenomai and RTAI (real-time Linux extensions). It makes use of standard Ethernet hardware and supports several popular NIC chip sets, including Gigabit Ethernet. Moreover, Ethernet-over-1394 support is available based on the RT-FireWire protocol stack.
most4linux
most4linux provides a Linux kernel driver for MOST PCI interfaces and userspace programs to test the driver. The driver can be compiled for Linux 2.6 or for the RTDM which works for the realtime extensions RTAI and Xenomai.
EtherCAT Master Library
The EtherCAT Master Library (EML) is a C++ library aiming at providing an open source implementation of the master side of the real-time Ethernet protocol EtherCAT. Beyond support for eCos, the EML includes an adaption layer for using it over RTnet with Xenomai.
Xeno--
Xeno-- is a C++ library providing a thin object-oriented software interface to Xenomai’s C-based skins. Goal is to allow coding of hard real-time software entirely using C++ within an object-oriented paradigm.
Orocos
The aim of Orocos (Open Robot Control Software) is to develop a general-purpose, free software, and modular framework for robot and machine control. Its Real-Time Toolkit library comes with support for Xenomai as execution platform.
RTAI
RTAI, the RealTime Application Interface for Linux. In the past, this project was a shelter for the Xenomai effort (under the name RTAI/fusion). As design goals diverged, Xenomai became independent again. Currently, RTAI supports real-time over x86, using a variant of the original Adeos/I-pipe patch.
Real-Time Preemption Patch
PREEMPT_RT Wiki, PREEMPT_RT patch. The real-time preemption patch enhances the determinism of mainline Linux. Xenomai aims at making use of this interesting capability once the development settled and more central components got merged into mainline.
Scilab/Scicos code generation for Xenomai
Scilab/Scicos code generator for Xenomai, Xenomai and Scilab/Scicos for Industrial COTS PC and remote CANopen I/O . A set of patches and modifications to the standard Scilab/Scicos code generator to be able to compile Scilab/Scicos diagrams on top of a Xenomai PC. With support of the Posix Skin, CANFestival and CANOpen.
SCALE-RT Real-time Simulation Software
SCALE-RT Home Page, Linux Live-CD Download. The SCALE-RT platform contains a fully tested and validated Linux distribution based on the Debian kernel. It has been further enhanced with the Xenomai real-time extension. Additionally, a feature-rich integrated development suite, which runs on a Windows-PC offers a unique yet powerful cross-development environment. Xenomai allows Scale-RT to execute simulation models in real-time.
Tools, patches, miscellaneous
Real-Time Add-Ons
This page contains a few patches, tools, or examples for Xenomai (and hopefully soon again RTAI), mostly developed by people of the Real-Time Systems Group at the University of Hannover.
Blackfin RTDM SPI Driver
This page contains an RTDM SPI driver targeted at the Blackfin 537 processor (should work on other BF processors with minimal work).
