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