gCSP is a graphical tool for creating and editing CSP diagrams. gCSP is used in our labs to generate the embedded software framework for our control systems. As a further extension to our gCSP tool, an occam code generator has been constructed. Generating occam from CSP diagrams gives opportunities to use the Raw-Metal occam eXperiment (RMoX) as a minimal operating system on the embedded control PCs in our mechatronics laboratory. In addition, all processors supported by KRoC can be reached from our graphical CSP tool. The commstime benchmark is used to show the trajectory for gCSP code generation for the RMoX operating system. The result is a simple means for using RMoX in our laboratory for our control systems. We want to use RMoX for future research on distributed control and for performance comparisons between a minimal operating system and our CTC++/RT-linux systems.
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