Xenomai

v3.0.7

Xenomai is a real-time development framework cooperating with the Linux kernel, in order to provide a pervasive, interface-agnostic, hard real-time support to user-space applications, seamlessly integrated into the GNU/Linux environment.

Features

Linux kernel.
GNU/Linux environment.
Provide a pervasive, interface-agnostic, hard real-time support to user-space applications.
Xenomai skin, API makes Xenomai look a different RTOS albeit all of them are based on the same common core.
Xenomai nucleus, a set of building blocks available from a kernel module, over which Xenomai skins are built. The nucleus provides a common set of generic RTOS services to all Xenomai skins.

Related Projects (22)

Elk Audio RTDM Driver for Raspberry Pi

A Xenomai real-time audio driver designed for the TI PCM3168A codec on the Elk Pi hat. It provides low-latency audio processing for Raspberry Pi systems using the Real-Time Driver Model (RTDM) framework. The project supports various audio hats including Elk Pi, HiFiBerry, and HiFiBerry Pro.

RASPA: Realtime Audio Driver Access Library

A user-space C++ library for accessing low-latency realtime audio drivers on Elk Audio OS devices. It provides a unified interface for interacting with audio hardware through Xenomai Cobalt or EVL real-time frameworks.

Raspberry Pi 4 Xenomai 3 Patch

A collection of patches and a comprehensive guide for installing Xenomai 3 on the Raspberry Pi 4. It utilizes the Linux 4.19.86 kernel with I-pipe support, specifically addressing USB functionality through the PCIe bus on the BCM2711 SoC.

Raspberry Pi RTOS (RPI RTOS)

A Buildroot-based project for creating a real-time Linux environment on Raspberry Pi using the Xenomai patch. It provides a streamlined build system for Raspberry Pi 3 Model B, supporting both ARM and ARM64 architectures with the I-pipe kernel patch.

Real-time SPI on Xenomai 3

A real-time SPI implementation for Raspberry Pi 3 using the Xenomai 3 RTOS and the Real-Time Driver Model (RTDM). It provides a high-performance SPI interface for low-latency embedded applications on BCM283x hardware.

RTDM Shift Register Driver for Elk Pi

A Xenomai real-time driver designed to control shift registers on Raspberry Pi-based Elk Pi boards using GPIO and SPI. It utilizes the Real-Time Driver Model (RTDM) to ensure low-latency, deterministic hardware access for high-performance audio and embedded applications.

RTHybrid

A real-time neuron and synapse model library designed for electrophysiological hybrid circuits using dynamic-clamp. It supports Linux systems with Preempt-RT and Xenomai 3 patches, providing a standardized framework for experimental neuroscience.

Simple Open EtherCAT Master Library (RTNET Version)

A real-time EtherCAT master library based on SOEM, specifically patched for use with RTnet on Xenomai and RTAI. It provides hard real-time network communication for high-performance robotics applications, enabling low-latency control of EtherCAT slaves.

SOEM W5500 EtherCAT Master for Raspberry Pi

A real-time EtherCAT master implementation for Raspberry Pi using the Wiznet W5500 Ethernet chip via SPI. It leverages the Simple Open Source EtherCAT Master (SOEM) library and is optimized for hard real-time performance using Xenomai or Preempt-RT patched Linux kernels.

STR-Xenomai: Real-Time Systems Practices

A collection of real-time systems exercises and practices using the Xenomai RTOS framework. It targets Linux-based platforms and the Raspberry Pi, focusing on concepts like task scheduling, semaphores, and priority inversion management.

Superviseur Robot - Real-Time Systems Project

A robot supervisor application developed for real-time systems coursework at INSA GEI. It implements control logic and monitoring for robotic systems using C and real-time extensions, targeting the Xenomai framework within the DeStijl educational environment.

TWINE: Thread and Worker Interface for Elk Audio OS

A specialized support library for managing real-time threads and worker pools in audio applications. It provides a unified abstraction layer for Xenomai, EVL, and POSIX threads, allowing developers to target Elk Audio OS hardware while maintaining compatibility with standard desktop operating systems.

Xenomai 3 Exercises for Raspberry Pi 4

A collection of educational exercises and solutions for Xenomai 3.1, focusing on real-time systems programming. The project covers core RTOS concepts like multitasking, scheduling, and interrupt handling on Raspberry Pi 4 hardware running a patched Linux kernel.

Xenomai 3 Exercises

A collection of educational exercises and solutions for Xenomai 3, a real-time development framework for Linux. The project covers fundamental RTOS concepts including multi-tasking, semaphores, and various scheduling algorithms like preemptive priority-based and round-robin scheduling.

Xenomai 3 for Raspberry Pi 0/1 (Linux Kernel 4.1.21)

A project providing a pre-patched Linux kernel 4.1.21 with Xenomai 3 support for Raspberry Pi 0, 0-W, and 1. It includes build scripts, I-pipe patched kernel source, and pre-built binaries for rapid deployment of real-time Linux on legacy Raspberry Pi hardware.

Xenomai 3 for Raspberry Pi 2 and 3

A real-time Linux environment for Raspberry Pi 2 and 3 based on the 4.9.80 kernel patched with I-pipe and Xenomai 3. It provides pre-built kernels, patched source code, and build scripts to enable hard real-time capabilities on ARM-based single-board computers.

Xenomai 3 for Raspberry Pi 4

A project providing a pre-built Linux kernel patched with Xenomai 3 for the Raspberry Pi 4. It includes scripts and tools for deploying a real-time environment, along with specific configurations for CPU affinity and memory management on the RPi4 hardware.

Xenomai Hello World Application

A simple demonstration of the Xenomai Alchemy API for real-time task management. This project illustrates how to create, start, and inquire about real-time tasks within a Xenomai-enabled Linux environment.

Xenomai Installation and Configuration Scripts

A collection of shell scripts designed to automate the installation and configuration of the Xenomai real-time framework on Linux systems. It handles kernel patching with I-pipe, building the Xenomai-enabled kernel, and setting up the runtime environment for real-time applications.

Xenomai on Raspberry Pi

A technical guide and repository for implementing the Xenomai real-time framework on Raspberry Pi hardware. It provides a step-by-step process for patching the Linux kernel to achieve hard real-time performance on the Raspberry Pi Compute Module 4.

XenoParticles

A real-time particle simulation application built using the Xenomai real-time framework and SDL2 for graphics. It serves as a learning resource for developers exploring hard real-time programming on Linux with the Xenomai native skin.

GPIO Device Driver for BeagleBone Black

A Linux character device driver designed for the BeagleBone Black to manage GPIO pins with support for input, output, and edge-triggered interrupts. It features a robust per-device data structure, spinlock-based synchronization, and integrated debouncing logic for reliable interrupt handling.