or how to get a cheap IO card out of a consumer peripheral. In a nutshell, go buy a card with tons of unused GPIO pins and modify its driver to expose them to userspace (sysfs/debugfs) and RTAI.
This year turned out a bit busier than I thought and I haven’t got time to put this experience in clear. Meanwhile, some apis at the kernel changed (still works with 2.6.22) and I got a true multicore cpu, wich is good and bad. Good, because it has plenty of power. Bad because it proved that all the carefully designed locking strategies blown up in my face (n.b: I want to use the device at the same time I mis-use it as an io board)
yadda yadda … [lots of thing to come…]