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%SECTION0{name=Processes}% Process model with RTAI-Linux (RTHAL)

   * Programming with RTAI-Linux (RTHAL) entails three levels of code execution
     <p></p>
      * RTAI real-time (RTAI tasks) %BR%
        Communication with user space through RTAI calls.  Limited POSIX implementation (threads, queues)
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      * Linux kernel (executed on behalf of user space programs)
        Communication with user space through syscalls (libc)
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      * User space (processes, threads if used)
        Can use Unix IPC (POSIX threading and IPC, shared memory, message queues)

4.10. Migrating from RTOS (VRTXsa) to RTAI-Linux		1. Embedded Linux Training course		4.12. Driver development
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