[Xenomai] xenomai 3 migration bitmask for calls
marco.camurri at iit.it
Wed Oct 18 08:50:33 CEST 2017
I'm migrating a mission critical system based on the native skin of
Xenomai 2 to Xenomai 3.
I read from the migration guide that now this skin is called Alchemy,
therefore I did the modification in header includes and other things.
However, some bitmask variables some xenomai calls have been removed.
I would like to replicate the exact behavior I had on Xenomai 2
in the new system.
In particular, the calls I have in the previous system are:
1) rt_task_spawn(&servo_ptr, name, servo_stack_size, servo_priority,
T_FPU | T_JOINABLE | T_CPU(cpuID), motor_servo, NULL)
T_FPU and T_CPU are removed, who do I make the new call?
Just with T_JOINABLE?
2) rt_heap_create(&heap,name,(size_t)(elemNum*elemSize), H_SHARED)
H_SHARED has been removed.
The only options I have now are: H_FIFO, H_PRIO, H_SINGLE.
What should I choose?
3) rt_timer_set_mode((RTIME) TM_ONESHOT)
TM_ONESHOT does not exist anymore. What should I set in the
The documentation only says to set 0 for no op, but it does not tell
anything about the other options.
Post-Doctoral Researcher - Dynamic Legged Systems Lab
Istituto Italiano di Tecnologia - Advanced Robotics Department
via Morego 30, 16163 Genova (Italy)
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