Changes between Version 27 and Version 28 of BuildingAPC

Timestamp:

Apr 8, 2021, 5:21:39 PM (4 years ago)

Author:

bz

Comment:

--

BuildingAPC

@@ -1 +1 @@
 = Building a Control PC for Barrett products =
+
+== Realtime control ==
+If your application requires guaranteed bounded minimum latency and minimum control jitter due to safety standards in some medical and/or commercial applications, then you will need to use a realtime kernel. We support Linux patched with the Xenomai 2.x, as shown below. If you require a newer version of Linux and/or Xenomai, AND you would consider funding the development and testing required, then please [mailto:support@barrett.com contact us]!
+
 Building a PC capable of realtime control is difficult. Success depends largely on how the motherboard manufacturer routed the four IRQ lines (A, B, C, D) as well as the degree of Linux device driver support for the specific chips on your motherboard. At least one PCI slot must be addressable by an IRQ that does not conflict with any other important on-board peripherals for the realtime CAN communication to function. Motherboard manufacturers do not publish this type of information. Historically, we have purchased 3-4 motherboards from various manufacturers in order to find one model that can support realtime CAN communication.
 
@@ -6 +10 @@
 Barrett sells a pre-configured WAM PC. We have built 10 generations of WAM PCs over the past 8 years. It takes us an average of 100 hours to get a new set of hardware/software operational (we have rarely been lucky). While we kindly provide the fruits of our labor to you at no cost (see below), this does not guarantee that the process will be easy if you decide to build your own computer.
 
-Update: If realtime performance is not critical to your application - if you can accept occasional motion stuttering and reduced safety - then you can try compiling our libbarrett control library to run in non-realtime mode on any Linux PC (including laptops). This feature is at a "beta" stage of development. We have performed very little non-realtime testing at this time. If you would like to be a beta tester, please contact us for more information.
-
-== General Configuration ==
+== Realtime: General Configuration ==
 
 You should choose an operating system based on the type of PC hardware you have. The [http://web.barrett.com/supportFiles/wikiFiles/sk43g.jpg Shuttle PC] and the [http://web.barrett.com/supportFiles/wikiFiles/c137.jpg Travla C137 PC] shipped with either a Janz or esd CAN card. Newer WAMs with embedded PCs ship with a Peak CAN card. If you are ambitious, you can use your own PC and CAN card.
@@ -23 +25 @@
   * [[BuildingAPC/PreciseCF| Install Kernel 3.2.21 + Xenomai 2.6.1]] (Ubuntu 12.04, Peak PCI CAN card, Xenomai SocketCAN driver) - Ubuntu 12.04 32-bit Precise Pangolin CF - Includes from-scratch and simple instructions, primarily for CompactFlash installation
 }}}
+
+== Non-Realtime ==
+If guaranteed bounded minimum latency and minimum control jitter is not critical to your application - if you can accept occasional motion stuttering and reduced safety - then you can compile our libbarrett control library to run in non-realtime mode on any Linux PC (including laptops).
+
+  * [[BuildingAPC/Ubuntu20pt04_Focal_Install| Install Ubuntu 20.04 low-latency, non-realtime on any PC]] (Ubuntu 20.04, Peak CAN device, Peak's PCAN driver) - Ubuntu 20.04 64-bit PC