Hello David,

 I think you should also be aware of the beremiz project
(www.beremiz.org) ?

 I wrote an IEC 61131-3 compiler (for IL and ST languages)
for the MatPLC. A 
company in France (www.lolitech.fr) used this to write an
IEC 61131-3 
graphical development environment, that now supports all 5
IEC 61131-3 
languages (this is all GPL, download it from
www.beremiz.org). They have 
tested this with CANopen I/O hardware...

 The idea is to simply compile the languages, and run the
code without any 
other underlying software (i.e., it may run without any
underlying OS, if 
needed), or over any OS... 

 I expect to roll this back into the MatPLC sometime in the
far future...


On Friday 04 July 2008 12:16, David Samblas Martinez wrote:
> I was searching on the list and there is a post from
Jiri (2003) exposing
> that RTAI only support POSIX semaphors and MATPLC use
SysV native Linux
> ones, and propose find a fix.
>
> But searching throug RTAI list seems that they actually
support SysV, Is
> that correct?
>


 I don't know. I do know that some time later I added a
software layer 
allowing MatPLC to work with POSIX semaphores, and compiled
the MatPLC under 
QNX (a commercial RT OS).

> I will begin to adapt a laptop to test MATPLC in RT
enviroment and I guess
> if RTAI will be the correct aproach.
>

 I am not sure. It seems that RT preemption has been
inserted into the 
mainlaine kernel (and removed again in the latest
development kernel, in 
order to work on a better method of achieving RT
pre-emption?), so using a 
mainline kernel compiled with the option
 Preemption Mode (Complete Preemption (Real-Time))
selected could also be a way forward.


> I like RTAI because it seems it has ARM support too, in
addition mario has
> tested MAT PLC on a ARM based hard so booth fits my
porpouses 
>
>



 Yeh, embedded systems are cool and fun.

 Currently I am playing around with an ATMEL 32 bit board
running Linux 
http://www.ic-board.de/index.php?language=en&cat=c
2_ICnova-Module.html&XTCsid=f4009c63153f5d82f75373907529
2e5e

 Unfortunately, I can't seem to get Linux kernel that comes
with the board to 
compile with the option
  Preemption Mode (Complete Preemption (Real-Time))
enabled.




 Does anybody here know of an embedded system running a RT
OS? I need to 
choose a board to teach a new embedded and RT systems class
next semester 
(September).



 Cheers,

		Mario.

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