grblHAL on Zephyr RTOS

[Thomas-Vreys]

Has anyone here experimented with running grblHAL on top of the Zephyr RTOS or another RTOS? I want to leverage RTOS drivers, while preserving grblHAL's real-time step generation via zero-latency IRQs. What needs to be done to make this work?

Are there any existing ports, or proof-of-concepts that integrate grblHAL with Zephyr or another RTOS? I found a project tried to port grbl to Zephyr but it seems to be abandoned: zephyr-grbl.

Any guidance or suggestions on the matter would be much appreciated!

[terjeio]

The ESP32 and MSP432E401Y drivers runs under FreeRTOS.

What needs to be done to make this work?

Not much? Basically just start grblHAL as a task. ESP32 driver is similar. The real work will be in the HAL implementation if you want to leverage RTOS drivers more than done for these two drivers - most of these are "bare metal" for speed.