![]() A naive implementation would be as a simple loop that toggles the pin and waits for 1 millisecond. Say you want to implement a program in C on a regular linux computer that toggles a pin on the parallel port every millisecond. A normal linux operating system is not real-time. I use the word real-time to refer to systems that guarantee consistent responses to events within time constraints (also called deadlines) with low variability regardless of system load. Some people also mistake real-time systems for high performance systems. The word “real-time” is used in a lot of different fields to mean different things. Xenomai (A Real-Time framework for linux) working stably as a resource for others trying to get started on the same thing. I thought I would document what I went through to get In my lab, we recently started moving away from Simulink’s Real-Time packages and towards Real-Time Linux for implementing the low level control of our robots.
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