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%SECTION0{name=XenomaiAdeos3}% 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* %BR%
     -> 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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