xenomai - Xenomai - Implementing a RTOS emulation framework...

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Xenomai - Implementing a RTOS emulation framework on GNU/Linux Philippe Gerum First Edition Copyright © 2004 Copyright © 2002 Philippe Gerum Permission is granted to copy, distribute and/or modify this document under the terms of the GNU Free Documentation License, Version 1.2 or any later version published by the Free Software Foundation; with no Invariant Sections, no Front- Cover Texts, and no Back-Cover Texts. A copy of the license is published on gnu.org: "GNU Free Documentation License" [http://www.gnu.org/licenses/fdl.html]. April 2004 Abstract Generally speaking, the Xenomai technology first aims at helping application design- ers relying on traditional RTOS to move as smoothly as possible to a GNU/ Linux-based execution environment, without having to rewrite their application en- tirely. This paper discusses the motivations for proposing this framework, the general ob- servations concerning the traditional RTOS directing this technology, and some in- depth details about its implementation. The Xenomai project has been launched in August 2001. It has merged in 2003 with the RTAI project [http://www.gna.org/projects/rtai/] to produce an industrial-grade real-time Free Software platform for GNU/Linux called RTAI/fusion, on top of Xenomai's abstract RTOS core. Eventually, the RTAI/fusion effort became inde- pendent from RTAI in 2005 as the xenomai project [http://www.gna.org/projects/xenomai/]. Linux is a registered trademark of Linus Torvalds. Other trademarks cited in this pa- per are the property of their respective owner. 1
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Table of Contents 1. White paper . ......................................................................................... 2 1.1. Introduction . .............................................................................................. 2 1.2. Porting traditional RTOS-based applications to GNU/Linux . ............................... 2 1.3. A common emulation framework . .................................................................. 6 1.4. Nucleus description . .................................................................................. 10 1. White paper 1.1. Introduction A simpler migration path from traditional RTOS to GNU/Linux can favour a wider accept- ance of the latter as a real-time embedded platform. Providing emulators to mimic the tra- ditional RTOS APIs is one of the initiative the free software community can take to fill the gap between the very fragmented traditional RTOS world and the GNU/Linux world, in order for the application designers relying on traditional RTOS to move as smoothly as possible to the GNU/ There is a lack of common software framework for developing these emulators, whereas the behavioural similarities between the traditional RTOS are obvious. The Xenomai technology aims at fulfilling this gap, by providing a consistent architecture-neut-
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xenomai - Xenomai - Implementing a RTOS emulation framework...

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