Real Time Linux Workshops
1999 - 2000 - 2001 - 2002 - 2003 - 2004 - 2005 - 2006 - 2007 - 2008 - 2009 - 2010 - 2011 - 2012 - 2013 - 2014 - 2015 - 2017
16th Real Time Linux Workshop, October 12 to 13, 2014 at the CCD Congress Center Dusseldorf collocated with LinuxCon Europe in Dusseldorf, Germany
Announcement - Call for participation (ASCII) - Hotels - Directions - Agenda - Paper Abstracts - Presentations - Registration - Abstract Submission - Sponsors - Gallery
A Lightweight C++ Real-Time Active Control Framework
Robert Piéchaud, UMR STMS IRCAM-CNRS-UPMC, Paris, France
Active control is a common application of hard real-time. In particular, active control of musical instruments pushes the limits of determinism and low-latency very far, as it must deal with relatively high frequencies in order to be efficient.
With modal active control of vibrations as a starting point, a more generic, abstract, yet lightweight object-oriented active control framework has been developed for covering potential situations where real-time environment, hardware, and control model may vary a great deal, but where functional expectations remain rather constant.
Practical results for one implementation of this framework on a low-cost platform will be exposed, namely on a Beaglebone Black running Xenomai and equipped with a custom DAQ cape in a SISO context, also taking advantage of the PRUSS (Programmable Real Time Unit) as a powerful complement to Xenomai for achieving an even better determinism.