Programming

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Read this first
Supported hardware
A short Xenomai history
Contribute
Building Xenomai from sources
Programming and running applications
- 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
- Programming tips
- Debugging tips
  - Finding spurious relaxes
  - Chasing latency with the I-pipe tracer
Help
Resources for legacy Xenomai 2.x (EOL)
- Migrating from Xenomai 2.x to Xenomai 3.x
- Building Xenomai 2 from sources
- Xenomai 2 Programmer’s Reference Manuals (POSIX, RTDM, Native, Nucleus)
- Xenomai 2 commands and utilities
Publications
- Original Xenomai whitepaper
- Original interrupt pipeline design
- Image processing with Xenomai 2 by Xerox UK, presented at the Xenomai User Meeting '09.
- Building Embedded Linux Systems, Second Edition. This book dedicates a chapter explaining the dual kernel architecture of Xenomai 2.
- Xenomai: the RTOS Chameleon for Linux, at Open Source Meets Business, Nürnberg, Germany, January 2007.
- Semi-autonomous service robots at the ELROB 2006.
Misc
- Introduction to Dovetail