4.4.4. The Xenomai real time framework
- Xenomai is an abstract RTOS core (the Xenomai nucleus) that provides generic real-time services
- Skins (RTOS personalities) are built on top of the nucleus and provide an specific interface to applications. The following skins are supported:
- POSIX
- pSOS+ (R)
- VxWorks (R)
- VRTX (R)
- native
- uITRON
- RTAI
- Skins simplify porting from different proprietary RTOS
- real time applications can be implemented in user- or kernelspace
-> userspace should usually be preferred- memory protection
- debugging easier
- what happens if real-time task uses linux syscall?
- IPC for inter-domain communication: RT pipes
4.4.3. Adeos | 1. Denx Training Topics | 4.4.5. Case study: Migrating from RTOS (VRTXsa) to Xenomai-Linux | |||
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