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Xenomai is a Free Software project in which engineers from a wide background collaborate to build a versatile real-time framework for the Linux© platform.
The main project goal is to help migrating industrial applications from proprietary real-time systems to Linux.
Xenomai is about making various real-time operating system APIs available to Linux-based platforms. When the target Linux kernel cannot meet the requirements with respect to response time constraints, Xenomai can also supplement it for delivering stringent real-time guarantees based on an original dual kernel approach.
Interrupt pipeline (I-pipe)
The Cobalt real-time core depends on a patch to the mainline Linux kernel, which introduces a separate, high-priority execution stage for running out-of-band interrupt handlers immediately upon IRQ receipt, which cannot be delayed by the regular kernel work.
Released patches can be downloaded from: https://xenomai.org/downloads/ipipe.
The current development trees (starting from kernel 4.14) for the I-pipe are available from:
The legacy development tree (up to kernel 4.9) can be reached at this URL.