3D Printing with Linux and Xenomai
summary
Ported a large commercial RTOS printer control code to Linux plus Xenomai Cobalt and runs the compute-bound slicer and hard real-time control on the same x86 i3, printing multi-jet parts with 880 jets at ~40 kHz. Real-time stack uses I-pipe, RTDM, XDDP and user-space real-time threads, about 30–40 real-time threads, with a 50 microsecond latency target and a 16-layer buffer. Key fixes: real-time memory pools for heap/mmap relaxes, avoid NK lock/FPGA deadlocks, system runs multi-day jobs with no observed glitches.
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chapters (11)
- 0:00Start
- 2:503D Printing Overview
- 7:52Real-time Subsystems
- 9:56Software Technology Assessment
- 10:53The Secret Weapon
- 19:14Device Drivers and the Real Time Driver Model
- 20:00Typical Use Case - PCI Device
- 27:38Thread Relaxes
- 34:36Avoid nklock Deadlock
- 35:35Timer Event Arrives Early
- 39:40Questions?
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