• Xenomai (RTAI/Fusion)
  
  
• High latencies with SMI not disabled
  
  
• Xenomai 2.1 Installation Guide
  
  
• Xenomai Timer Task Examples
  
  
• RTAI versus Xenomai comparison
  
  
• Xenomai: Hard Real Time Serial Port (RS232) Example
  
  
• Xenomai: Insmod xeno_16550A.ko serial port driver
  
  
• Porting from RTAI/fusion to Xenomai
  
  
• Xenomai Installation Guide
  
  
• RTAI/fusion Pipe FIFO
  
  
• RTAI/fusion Parallel Port Interrupt ISR
  
  
• RTAI/fusion Timer Task Example
  
  
• RTAI/fusion Installation Guide
  
  

• RTAI
  
  
• RTAI LXRT Parallel Port Interrupt FIFO Stress Test
  
  
• RTAI versus Xenomai comparison
  
  
• RTAI maximum task frequency test
  
  
• RTAI Error opening /dev/rtf
  
  
• RTAI 3.3 RTDM Serial Port Example
  
  
• RTAI Serial Port Communication Example
  
  
• RTAI DCF77 Simulator
  
  
• RTAI unresolved symbols
  
  
• RTAI APIC Error on kernel 2.6.9
  
  
• Extending the RTAI API
  
  
• RTAI Serial Port Interrupt - Kernel module
  
  
• RTAI Parallel Port Interrupt - LXRT
  
  
• RTAI Parallel Port Interrupt - Kernel module
  
  
• RTAI - Hard real time test
  
  
• RTAI - Real Time Linux Kernel installation (kernel 2.4.25)
  
  
• RTAI - Real Time Linux Kernel installation (kernel 2.6.7)
  
  
• RTAI - FIFO & shared memory examples
  
  

• ADEOS / IPIPE
  
  
• ADEOS IPIPE: Device Driver with MMAP
  
  
• ADEOS IPIPE: 8254 Timer Programming
  
  
• ADEOS IPIPE: Stress Test
  
  
• ADEOS IPIPE: Absolute Time (Unix Timestamp) in Kernel Space
  
  
• Porting from ADEOS to ADEOS-IPIPE
  
  
• ADEOS double buffering FIFO
  
  
• Adeos Parallel Port Interrupt
  
  

• Linux
  
  
• Linux Device Driver with memory mapping (MMAP)
  
  
• Linux Device Driver Template/Skeleton
  
  
• Linux Kernel FIFO
  
  
• Linux Boot CD HOWTO
  
  
• Linux Shell Script Command Cross-Reference
  
  
• Simple Serial Port (RS232) Test Example
  
  
• Compile Apache Module - HTTP server extension
  
  
• Serial (RS232) Port Pins and Registers
  
  
• __udivdi3 __umoddi3 - 64 bit division in linux
  
  
• Parallel Port Pins and Registers
  
  
• Kernel Compilation HowTo
  
  
• Kernel 2.6 - Compile Modules

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Hard Real Time Driver Example Tutorial with MMAP using the RTDM (Real Time Driver Model)

Real Time Driver Source Code realtimedriver.c

Real Time Driver User Space Application user.c

Real Time Driver extra files: include file inc.h and Makefile

High latencies with SMI not disabled
SMI is a real-time killer and to avoid latencies of several 100 microseconds up to a few milliseconds, you need to disable them.

High latencies with SMI not disabled
SMI is a real-time killer and to avoid latencies of several 100 microseconds up to a few milliseconds, you need to disable them.

ADEOS IPIPE: Device Driver with MMAP
ADEOS IPIPE Hard Real Time - Device Driver with MMAP

ADEOS IPIPE: 8254 Timer Programming
Here we have an ADEOS IPIPE example that uses and modifies the 8254 timer interrupt to have a custom timer interrupt frequency for various purposes, e.g. data sampling, controlling stuff.

Xenomai 2.1 Installation Guide
Installation tutorial for the real time operating system Xenomai, formerly known as RTAI/fusion

RTAI LXRT Parallel Port Interrupt FIFO Stress Test
This is a simple stress test for RTAI (LXRT user space hard real time).

ADEOS IPIPE: Stress Test
Here we have an ADEOS IPIPE stress test that works on 2.6 kernels and the newly released 2.4 ipipe patch.

Xenomai Timer Task Examples
Two simple Xenomai hard real time user-space timer examples

RTAI versus Xenomai comparison
RTAI versus Xenomai comparison on the Serial Port Example with RTDM (Real Time Driver Model)

ADEOS IPIPE: Absolute Time (Unix Timestamp) in Kernel Space
How to get absolute time in kernel space without breaking hard real time determinism provided by the ADEOS IPIPE kernel extension.

RTAI maximum task frequency test

Xenomai: Hard Real Time Serial Port (RS232) Example
Serial Port (RS232) Example with RTDM (Real Time Driver Model)

Xenomai: Insmod xeno_16550A.ko serial port driver
Xenomai: Loading the xeno_16550A real time serial port driver

Serial (RS232) Port Pins and Registers
Overview of all serial port (RS232) registers, including the pin-out of a SUB-D 25 and SUB-D 9 connection.

RTAI Error opening /dev/rtf
RTAI Error opening /dev/rtf/0 - Error opening /dev/rtf0

RTAI 3.3 RTDM Serial Port Example
RTAI 3.3: Hard Real Time Serial Port (RS232) Example with RTDM (Real Time Driver Model)

RTAI Serial Port Communication Example
Serial Port Comm with the RTAI Hard Real Time Operating System

Porting from RTAI/fusion to Xenomai
Porting software from RTAI/fusion to Xenomai

Xenomai Installation Guide
Installation tutorial for Xenomai, formerly known as RTAI/fusion

__udivdi3 __umoddi3 - 64 bit division in linux

Porting from ADEOS to ADEOS-IPIPE

RTAI/fusion Pipe FIFO
RTAI/fusion Pipe (FIFO) Kernel Module Example

RTAI DCF77 Simulator
DCF77 Time Signal Simulator with RTAI 3.2 in hard real time

ADEOS double buffering FIFO
Adeos Nano Kernel Hard Real Time Double Buffering FIFO

Linux Kernel FIFO
Linux Device Driver Kernel Module FIFO (circular buffer)

Linux Device Driver Template/Skeleton with memory mapping of kernel memory to user-space (mmap)
... with memory mapping for high speed I/O

Linux Device Driver Template/Skeleton
... with Interrupt Handler and Device Read Blocking

Adeos Parallel Port Interrupt
Adeos Nano Kernel Hard Real Time Parallel Port Interrupt Handler Kernel Module

For a standalone version (with a square wave generator for the par port) see:
Adeos Parallel Port Interrupt - standalone version

For the extended standalone version (with APIC setup and /proc file read/write capability) see:
Adeos Parallel Port Interrupt - extended standalone version

RTAI unresolved symbols
*** Warning: "rt_task_init" [module.ko] undefined!

RTAI/fusion Parallel Port Interrupt ISR
... standalone version with a square wave realtime task

RTAI/fusion Timer Task Example
... a simple RTAI/fusion hard real time timer example

Linux Device Driver Template/Skeleton
... with Interrupt Handler and Device Read Blocking

Parallel Port Interrupt LXRT Example for RTAI 3.2 - Standalone
This example detects the parallel port interrupt, which is triggered by a square wave (realtime task) on the parallel port

RTAI/fusion Installation Guide
How to install RTAI/fusion

RTAI APIC Error on kernel 2.6.9
APIC is not enabled anymore by default in kernels > 2.6.9. Read more...

Extending the RTAI API
How to add new functions to the RTAI API for use in LXRT

RTAI Serial Port Interrupt - Kernel module
Two examples for capturing the serial port status line change interrupt with kernel modules (RTAI real time linux and soft real-time)

RTAI Parallel Port Interrupt - LXRT
Example for capturing the parallel port interrupt in user-space (LXRT) in hard real time

RTAI Parallel Port Interrupt
Two examples for capturing the parallel port interrupt with kernel modules (RTAI real time linux and soft real-time)

Kernel Compilation HowTo
Tips & Tricks for compiling a custom kernel (in general and RTAI real time linux)

Parallel port frequency test of RTAI - Hard real time test
These examples are a demonstration for hard real time vs. normal user-space time.

RTAI - Real Time Linux Kernel installation
Kernel 2.4.25 & RTAI installation

RTAI - Real Time Linux Kernel installation
Kernel 2.6.7 & RTAI installation on Fedora Core 2 including examples

RTAI - Real Time Linux Kernel Examples

Kernel 2.6 - Compile Modules
HOWTO compile kernel 2.6 modules

Simple Serial Port (RS232) Test Example
... for testing embedded hardware

Linux Shell Script Command Cross-Reference
This is a small overview of common perl/php/C commands and their shell equivalent