This contains designs, firmware, and client side libraries for the mjbots pi3hat. It is a daughterboard for Raspberry Pi (tm) boards and similar to provide: All files ...

The Xenomai build is running on hardware with confirmed 11 µs worst-case latency under stress-ng load. xenomai-libcobalt userspace (RTDM tasks) is not yet integrated — CODESYS and EtherCAT run as ...