Xenomai uses the RTNet stack to provide real-time Ethernet. RTNet provides deterministic versions of various protocols (UDP/IP, IMCP, ARP). Xenomai provides several real-time Ethernet drivers, the stack, and various tools. This document explains how to load a real-time Ethernet driver and perform basic tests. The links below will help augment this information as well as discuss programming using the RTnet stack.
As with the other real-time drivers, the Linux driver must be detached the interface before loading that real-time driver.
For example on IMX6 target the fec Ethernet must be unbund from the Linux driver and attached to the real-time driver.
root@somimx6-xenomai:~# echo 2188000.ethernet > /sys/bus/platform/drivers/fec/unbind root@somimx6-xenomai:~# echo 2188000.ethernet > /sys/bus/platform/drivers/rt_fec/bind [ 86.762295] libphy: fec_enet_mii_bus: probed [ 86.766586] RTnet: registered rteth0
|Note: The warning posted about the clock when unbind the fec driver can be ignored.|