Xenomai kernel extensions

PLCnext Technology & PLCnext Controls
1

Hi ! Is it possible to include/install Xenomai extensions in the Linux kernel of the PLCnext? Would be compatible with the PLCnext environment? Thanks! Best regards.

2

Hi Javi, I have consulted with one of our firmware developers, and here is a summary: There seems to be two possibilites for implementing Xenomai extensions:

                                               * A dual kernel approach (_Cobalt_), where a “normal" Linux kernel runs inside a system with a light weight realtime kernel.
                                               * A single Kernel approach (_Mercury_), in which case it is likely that no kernel patch is needed.

The second of these is the “simpler” approach since it appears that only the user-space from xenomai is needed. So this is more likely to work on a PLCnext Control than the first approach … but of course this would need to be proven, and tested thoroughly. Out of interest, since Xenomai appears to be an alternative to the real-time services provided by the PLCnext runtime - what is the reason for considering Xenomai? ~ Martin.

3

Hi Martin, Thanks for your quick response. I’m not sure what is the reason to consider Xenomai, it’s a question that has been submitted to us by a customer (I suppose that it’s because they are using it or they are familiar with it or…). I’ll try to find out why and keep you posted.

4

OK, but please make your customer aware that, if they want to try this, they must be experienced with the general process of rebuilding a Linux kernel. In general we cannot do that here, unless there is a compelling reason - in which case please contact us privately. ~ Martin.