Category Archives: Programming

Xenomai Linux drivers and OROCOS components on GitHub

Some time ago I have written a few real-time Linux drivers for Xenomai and complementary OROCOS components. But first thing first! What the heck is Xenomai and OROCOS? To keep it as short as possible; Xenomai is an open-source project which aim is to bring real-time API to Linux based system. It is an extension to the Linux kernel which makes it a hard real-time operating system. On the other hand, OROCOS is a robotic framework that brings a vast number of libraries and a toolchain to create components. What is more, Xenomai and OROCOS do play along which means you can facilitate features of both i.e. to create a hard real-time components.

If you are interested you can find the code for each driver and for each OROCOS component on my GitHub repository. Feel free to fork!

Below are direct links to the repositories:

Driver for Sensoray 626 multi analog/digital I/O board

Driver for JR3 6 DoF force/torque sensor

Driver for Mecovis multi I/O card

OROCOS component for Sensoray 626

OROCOS component for JR3

Using FatFS with HAL

Recently I have written a short post about the HAL library created by STM32. The HAL is gaining popularity among hobbyists and is more and more frequently used. However, when you would like to use it for something else than just basic stuff like generating PWM on digital output you have to write it by yourself. Not so long ago I had to use SD card in one of my projects. It turned out that there is no driver for FatFS based on HAL – at least there was not. I decided to write the driver and here you can read about it…

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A small operating system

There are many operating systems: Linux, Windows, iOS,… But there are a few which can work in real time like Linux Xenomai. However, there are very little which can fit a microcontroller. One of them is a FreeRTOS. There are some variations of the FreeRTOS which can handle different conditions and requirements.
This blog post is not about such operating system, however…

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