The Xenomai Project : Current and Future - Pierre Ficheux, Smile
Using Linux for RT applications is always an issue. PREEMPT_RT is the official way for Linux RT. It is quite simple to configure (and to use) because it’s based on the mainline kernel. It’s mostly architecture independent and uses the same API as the standard kernel. Xenomai is based on another technology. Instead of patching the Linux kernel to improve real-time scheduling, Xenomai uses a real-time co-kernel running as a Linux kernel module. Most of the time, it leads to (much) better performances because the co-kernel approach (initially based on I-pipe) is more efficient than a PREEMPT_RT kernel. Xenomai is currently maintained by a group of enthusiasts including Jan Kiszka and Philippe Gerum. The current developments focus on Dovetail which is an I-pipe replacement for recent kernels. The current version of Xenomai uses Dovetail or I-pipe dependending on the kernel version. During the conference, we will describe the Xenomai architecture and how to build and use it. Then we will talk about the migration from the I-pipe approach to Dovetail. Finally we will introduce the EVL project which is a new real-time core and the base of the future Xenomai 4. The conference includes a comparison of the performances between Xenomai and PREEMPT_RT (demo)
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