4.8. RTAI-Linux (Part One)

• RTAI has two possible implementations
  1. Real time hardware abstraction layer RTHAL (kernel patch)
  2. Adaptive Domain Environment for Operating Systems ADEOS by Philippe Gerume ADEOS is (not yet) available on PowerPC platform so RTHAL is assumed below

• RTAI functionality is modularized. Functionality can be added by loading apropriate module:
  • RTAI module
  • Scheduler (only UP on PowerPC)
  • Shared memory
  • FIFOs
  • Mailboxes
  • POSIX

• RTAI is started by loading kernel module rtai.o (needs patched kernel)