Some Experiments with Xenomai

About Xenomai

Have a look at the xenomai web site

About Linux Kernel Modules

Xenomai uses a dual kernel approach (based on I-Pipe): xenomai applications are linux kernel modules.

Knowledge of the Linux kernel modules mechanism is needed to understand how Xenomai RT applications are loaded in kernel space and work (remembrer: this strict distinction between RT and non-RT applications is needed in order to use HLP). If you need more information about Linux kernel programming and kernel modules, read something about Linux kernel modules and look at this example.

A Simple Example

Here you can find:

The sources for a test application, which uses the POSIX API
The binaries for a xenomai-enabled kernel and the xenomai modules
The headers for compiling xenomai applications
Some instructions about how to use all of this material
The previous instructions are based on an ARM cross-compiler (I use a self-compiled version, but a generic ARM cross-compiler should work too) and some scripts to build an initramfs

What About RTAI?

RTAI is another real-time solution based on Linux, using a dual-kernel approach like Xenomai.

You can use RTAI on x86 PCs (but it does not support the POSIX API); have a look at RTAI documentation for more information. Here are some instructions about running a simple RTAI test. To follow the instructions, you need some initramfs scripts and a kernel configuration file.