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In another post I read that Xenomai could be used for real-time tasks like control loops.

I'd need to implement a real-time task which also talks to I2C and SPI. In this mailing list message I read that the clean way to implement this in Xenomai would be an (own) RTDM Skin driver implementation for each device.

Are there any Xenomai RTDM Skins for the RPi already?

And has someone good/bad experiences running Xenomai on the RPi? I've found these three tutorials on how to set up Xenomai on the RPi.

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You should possibly ask the person who answered the question? Sticking with Arduino and the vast open community would have made your life allot easier. –  ppumkin Jan 24 '13 at 8:49
    
I'd like to do some web service stuff too, so it would be nice if both this and the real time tasks using I2C and SPI could coexist on one controller. –  fabb Jan 24 '13 at 9:24
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You can use Occidentalis (Rasbian) and you can install node , nginx, apache , lighttpd for web servers that can provide web services. And Also MySQL. Then Arduino connected via UART / I2C, does the real time stuff in pure C (Arduino IDE has tons of examples and libraries) on an ATiny (~2USD) and dump the data to the Pi. If you need the aTiny to do something you convert your web service requests into data and pipe the commands into a script that pushes data via UART /I2C command the aTiny. –  ppumkin Jan 24 '13 at 9:45
    
I figured that possibility from raspberrypi.stackexchange.com/questions/1408/…. Nonetheless I'd like to investigate into alternative solutions, I'm still at the research phase. –  fabb Jan 24 '13 at 10:01
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LinuxCNC supports the RaspberryPi with Xenomai kernel. Someone was working on or has an RTDM GPIO driver.

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