4.4.5. Case study: Migrating from RTOS (VRTXsa) to Xenomai-Linux

• Differences
  • VRTXsa and other proprietary OSes come from one source, whereas Linux bears more resemblance to a toolbox with tools from different sources.
  • Get support from knowledgable people you choose yourself - not only from vendor (i.e. take your car to a garage, not to the vendor)

• Advantages
  • Linux is supported on large number of systems. Support can not be abandoned because all sources are available.
  • Build environment is the same as target environment
  • Huge amount of programs available (and protocols supported)
  • Very good compiler suite for C/C++ (GCC) (ever traced a compiler bug?)

• Disadvantages
  • Different API (although the Xenomai project supports VRTX API skin)
  • Dual kernel approach