CODESYS - the IEC 61131-3 automation software
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Xenomai Codesys
https://forum.codesys.com/viewtopic.php?f=26&t=7310
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Author:  hcvoort [ Fri Oct 28, 2016 11:58 am ]
Post subject:  Xenomai Codesys

Dear Edwin,

Is it possible to leverage the rela time capabilities of Xenomai for codesys on a beagle bone?

BR,

Carsten

Author:  Edwin Schwellinger [ Fri Oct 28, 2016 8:02 pm ]
Post subject:  Re: Xenomai Codesys

Hi,
why not using rt_preemt patched kernel instead of using xenomai?
BR
Edwin

Author:  hcvoort [ Fri Oct 28, 2016 8:46 pm ]
Post subject:  Re: Xenomai Codesys

Hi Edwin,

Thanks for the suggestion. To my knowledge though Xenomai is more hard RT than rt_preempt, isn't it?
Could you therefor answer on my previous question if Xenomai can be used in user and or kernel mode?

BR,

Carsten

Author:  Edwin Schwellinger [ Sat Oct 29, 2016 7:00 am ]
Post subject:  Re: Xenomai Codesys

Hi,
yes it is right, but from my experiance there are not many applications out there which really
not could deal with rt_preemt patched kernel and really need Xenomai.
For this runtime release from store it is not possible to use with Xenomai.

BR
Edwin

Author:  hcvoort [ Mon Oct 31, 2016 2:53 pm ]
Post subject:  Re: Xenomai Codesys

Hi Edwin,

Thanks for your quick response. Will the runtime be suitable for use with Xenomai in future releases?

BR,

Carsten

Author:  Edwin Schwellinger [ Mon Oct 31, 2016 11:29 pm ]
Post subject:  Re: Xenomai Codesys

Hello,
At the moment not planned.
BR
Edwin

Author:  hcvoort [ Mon Apr 03, 2017 7:51 pm ]
Post subject:  Re: Xenomai Codesys

Hi Edwin,

Is it possible to create a xenomai 3 capable codesys in one of the future releases? With the current rt_preempt I get around 70-80 us jitter under load.
I am using the setup with a BBB industrial with a task cycle time of 1ms. The current jitter results in 'unpleasant' behaviour in our haptic setup.


BR,

Carsten Voort

Author:  Edwin Schwellinger [ Tue Apr 04, 2017 4:27 am ]
Post subject:  Re: Xenomai Codesys

Hi Carsten,
still not planned at the moment.

BR
Edwin

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