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Xenomai Programmer’s Reference Manual (HTML, PDF)
Compiling Applications
Running Applications
Real-time I/O support
Real-time networking (RTnet)
Introduction to RTnet
RTnet basics
RTnet configuration file
Setting up RTnet
Programming with RTnet
Serial communications
16550 UARTs
Data acquisition (Analogy)
Introduction to Analogy
Details of Analogy
Commands and utilities
Tips
Initialization steps of an application
Porting a regular POSIX application to Xenomai
Resolving cryptic error numbers
Finding spurious relaxes
Chasing latency with the I-pipe tracer
