Hi John, I'm not a maintainer of MachineKit or LinuxCNC, so I can't speak for them, but I do actively use MachineKit on the BBB. Development on MachineKit seems to be mostly focused on the HAL (Hardware Abstraction Layer) of the technology stack and breaking apart LinuxCNC into more maintainable pieces. MachineKit is now split into two projects, MachineKit-HAL ( https://github.com/machinekit/machinekit-hal) and MachineKit-CNC ( https://github.com/machinekit/machinekit-cnc). The CNC side of the project is very stale. Instead of developing the CNC side, they performed a fork of LinuxCNC and changed only what was necessary to use the CNC side of LinuxCNC on top of MachineKit-HAL and actively rebase upstream changes to be as insync with LinuxCNC as possible. This project is called EMCApplication (https://github.com/machinekit/EMCApplication).
I'm not too familiar with the details of the real time differences, but I believe MachineKit-HAL will take advantage of real time features if they are present on the machine. We currently use the rt-preempt kernel to get the best latencies we can, but one of the biggest benefits of the BBB+MachineKit-HAL is it's hal_pru_generic implementation that allows dedicated use of the PRU to generate step+direction signals, so it isn't necessary for that processing to happen on the main CPU. There isn't currently a BBB image available that uses MachineKit-HAL+CNC or MachineKit-HAL+EMCApplication (the current images use the archived MachineKit project prior to the split). I've made progress towards putting an image together with the latest of MachineKit-HAL+EMCApplication on the BBB and BBAI, but I'm not sure when it will be ready for general use. -John On Fri, Jun 4, 2021 at 5:06 PM John Dammeyer <jo...@autoartisans.com> wrote: > > > > For the BBB, they originally used the Xenomai kernel patchset, then > > eventually started working on utilizing the RT Linux stuff.. Then they > > discovered FGPA hardware, shortly after their forum really became > > quiet.. > > > > It's just an application that utilized Xenomai and RT kernel features.. > > > Thanks. That's the information I was looking for. > Have a good weekend. > John > > > > > Regards, > > > > -- > > Robert Nelson > > https://rcn-ee.com/ > > > . > > -- > For more options, visit http://beagleboard.org/discuss > --- > You received this message because you are subscribed to the Google Groups > "BeagleBoard" group. > To unsubscribe from this group and stop receiving emails from it, send an > email to beagleboard+unsubscr...@googlegroups.com. > To view this discussion on the web visit > https://groups.google.com/d/msgid/beagleboard/061a01d75996%243a495590%24aedc00b0%24%40autoartisans.com > . > -- For more options, visit http://beagleboard.org/discuss --- You received this message because you are subscribed to the Google Groups "BeagleBoard" group. To unsubscribe from this group and stop receiving emails from it, send an email to beagleboard+unsubscr...@googlegroups.com. To view this discussion on the web visit https://groups.google.com/d/msgid/beagleboard/CAPEK9qZ9VpaE%3DrwdfMK93m4n5YbVWvd59xByp08QgGf5mzY7cw%40mail.gmail.com.
