Xenomai User Meeting (XUM) 2009: Abstracts and Presentations
The following list has the abstracts and links to the PDF files of the
papers (in the order of presentation):
Welcome
Wolfgang Denk, DENX Software Engineering GmbH, Gröbenzell, Germany
Welcome
Xenomai Roadmap
Philippe Gerum, xenomai.org
Xenomai is now eight years old, and has lived several lives to date,
or more accurately, lived a single life across different real-time
Linux eras. And now the landscape is changing once again, with the
PREEMPT_RT technology about to be fully merged into the mainline
kernel.
This presentation will talk about the Xenomai project today and
tomorrow, about its current goodies and oopses, and what will make
Xenomai 3 a fairly significant shift in paradigm.
Xenomai Roadmap
A Linux/Xenomai Platform for High-Performance Magnetic Resonance Scanners
Jan Kiszka, Siemens AG, Munich, Germany
This presentation will introduce the use of Linux and Xenomai in
Siemens' next generation magnetic resonance scanners. We will give a
brief overview of the system architecture and then focus on its
platform requirements. While Linux is already in use in current
scanner models, hosting very demanding image processing jobs, Xenomai
is now taking over the duty of providing a platform for the real-time
jobs. We will present our experiences while porting the existing
application to Xenomai, give an overview of our community
contributions along this work and discuss benefits of the chosen
approach as well as challenges we faced.
A Linux/Xenomai Platform for High-Performance Magnetic Resonance Scanners
Xenomai Operation in the Industrial Environment of Printing Systems
Roderik Wildenburg, manroland AG, Augsburg, Germany
The manroland AG, world's market leader for web offset printing
systems, manufactures Web offset presses for newspapers and
high-quality commercial printing of brochures, catalogs, magazines,
supplements and books. These complex and highly automated machines
consists of up to several dozens components, like printing units,
pasters, folders and drives, each with it´s own, vaste range of
realtime needs. Printing at speeds up to 17 meter per second and
90000 sheets per hour requires instantaneous reaction on incoming
events, fast realtime communication, fieldbus connection and
efficient diagnosis. In this challenging industrial environment
Xenomai, in combination with Linux and RTnet, has proven to be a
function rich, reliable, robust and deterministic RTOS, fulfilling
all the requirements for controlling printing systems. Based on this
platform and it´s own hardware manroland has developed several
controllers seamlessly embedded into it´s machinery and already
applied in the field.
Xenomai Operation in the Industrial Environment of Printing Systems
Real Time Toolkit for Open Robot Control Software
Peter Soetens, Katholieke Universiteit Leuven;
Markus Klotzbücher, Katholieke Universiteit Leuven
The RTT (Real Time Toolkit) of the OROCOS (Open Robot Control
Software - www.orocos.org) Project is a Free Software framework for
developing component based, hard real-time machine control and
robotics applications. Some important features are support for mixing
real-time and non real-time components, real-time state machines and
scripting and dynamic component deployment. The RTT can be configured
to run on Xenomai, standard Linux, MacOsX and Windows.
Currently the OROCOS community is working hard towards the 2.0
release which is scheduled for the end of the year. We give an
overview of the RTT, discuss our experience with Xenomai and present
some upcoming features of the 2.0 release.
Real Time Toolkit for Open Robot Control Software
How we use the Orocos/Xenomai Combo
Klaas Gadeyne, Flanders' Mechatronics Technology Centre, Leuven, Belgium
The Flanders' Mechatronics Technology Centre uses Xenomai in its
projects mainly as under-the-hood RTOS under the Orocos middleware.
This presentation illustrates some use cases where components talk
directly to xenomai or its device drivers and expresses the FMTC
"wishlist" for the future of Xenomai.
FMTC's Use of Xenomai
Xenomai and Realtime Image Processing Control
Jorge Ramirez-Ortiz, Xerox Ltd., United Kingdom
The image processing software of any multifunction device has many
realtime constraints and drastic deadlines. And when the imaging
software is sharing the processing unit with many others highly
complex multitask soft-realtime processes, some sort of guarantee is
required to make sure that the integrity of the overall system
remains unaffected: paper jams, corrupted copies or even self test
reboots must always remain below tenths of occurrences per million
copies.
To that effect we have successfully used Xenomai to develop a C++/STL
framework that controls the ASICs and FPGAs that implement the image
processing path and image processing file system. By developing all
the image control in user space -including all its interrupt
handlers- we benefited from memory protection, portability and a
leaner development and debugging environment.
Xenomai and Realtime Image Processing Control
ARM Fast Context Switch Extension for Linux
Richard Cochran, OMICRON electronics GmbH; Gilles Chanteperdrix, xenomai.org
The ARM v5 CPUs are inexpensive, low power, 32-bit processors widely
used in embedded systems. Because of these processors' cache
implementation, using memory protection on these systems incurs a
performance penalty too large for many real time applications. By
implementing the Fast Context Switch Extension (FCSE), we achieved
both memory protection and good cache performance under the Linux 2.6
kernel. We briefly discuss the problem, explain the necessary changes
to the Linux memory management system, and present performance
measurements taken from artificial and real world applications.
ARM Fast Context Switch Extension for Linux
About the Challenges and Successes with Xenomai in an Industrial Environment
Andreas Glatz, Ruggedcom Inc.
The open-source real-time framework Xenomai promises to offer a
mature programming interface and the support for debugging and
tracing real-time applications with open-source tools in kernel- and
user-space. These features and the possibility of being able to run
Linux and Xenomai applications together on the same platform makes
Xenomai a viable alternative to propriety and other open-source real-
time operating systems. In this paper we review the challenges and
successes we had when we integrated Xenomai into one of our products.
First we present our development environment for Xenomai applications
with Eclipse and Kdevelop as graphical user interfaces. Then we show
how we ported well tested legacy C++ code with minimal modifications
to Xenomai and how we remotely debugged and analyzed our application
with gdb and LTTng. We also discuss the advantages and disadvantage
of moving a Xenomai application into kernel-space and switching over
to Xenomai/Solo, which provides the Xenomai API on top of a native
real-time Linux kernel.
Challenges and Successes with Xenomai in an Industrial Environment
Beremiz Roadmap from CanFestival and MatPLC to Automforge.net
Edouard Tisserant, Lolitech, Saint-Dié-des-Vosges, France
The Beremiz PLC programming environment originally involved
developers of the CanFestival free CANopen stack and
MatPLC projects. The project has been initiated in order to fill
the gap between free software and control engineering. Today, thanks
to Beremiz, automation users can easily connect IEC-61131 function
blocks across CANopen networks with Free Software. Industrials,
teachers, students and researchers use that GPL project, and actively
contribute with new features every day. But what about the PLC
programs they produce? Could PLC programming also benefit from the
Free Software ideology? A new Free Software Forge is to be held:
Automforge.net. In this presentation, I will present the Beremiz
project's passed, present and future milestones.
Beremiz Roadmap from CanFestival and MatPLC to Automforge.net
Xenomai: Experiences with Testing and Continuos Integration
Niklaus Giger, Netstal-Machinery Ltd., Naefels, Switzerland
Xenomai: Experiences with Testing and Continuos Integration
Technology for Your Automation
Martin Gottschlich, KW-Software GmbH, Lemgo, Germany
KW-Software is the worldwide leading software manufacturer of IEC
61131 programming and runtime systems in the field of industrial
control and automation technology, IEC 61508 Safety software up to
SIL 3 and technology components for PROFINET integration.
Our scalable and portable PLC runtime system ProConOS is ported to
several operating systems. Linux -and in particular Xenomai- are one
of the important OS for us and our customers like e.g. manroland who
is using ProConOS together with Xenomai for several years in the
field of printing machines.
KW-Software started its work with Linux already in the year 2000 and
in 2007 the close cooperation with manroland for the Xenomai version
began. The main benefits of using Xenomai from the KW-Software point
of view are its realtime-capability, the availability of good
documentation, the easiness to adapt ProConOS and that it is free of
royalties.
Technology for Your Automation
Advanced Control Systems
Bosko Radivojevic, Advanced Control Systems, Belgrade, Serbia
Advanced Control Systems
