Linux Real-time

Introducing real-time

• What is real-time?

• Real-time preemption

• The RMS (Rate Monotonic Scheduler) algorithm

• Priority inversion (and inheritance) *

• Some RTOS examples

• POSIX standard introduction

Using Linux for RT

• Linux and real-time

• Legacy patches (“low-latency” and “preempt-kernel”)

• PREEMPT_RT

• THe co-kernel approach (RTLinux, RTAI, Xenomai)

RT programming with POSIX

• RT programming principles

• Processes

• Threads *

• Signals *

• Timers and Clocks *

• Semaphores and Mutex *

• Conditions *

• POSIX extensions

• Profiling a real-time program with Ftrace *

RT programming with Xenomai

• Xenomai programming principles

• Application architecture and design

• Skins (API)

• Alchemy native API

• The /proc/xenomai directory

• Designing an application

• “Hello World” POSIX based Xenomai thread *

• Controlling the Pi 3 GPIO *

• Xenomai vs Linux scheduling *

• Xenomai/Linux domain migration *

• RT IPC (XDDP) *

• Kernel programming (RTDM)

• Linux kernel driver example (reminder) *

• RTDM task in kernel space *

• GPIO RTDM driver for the Pi 3 *

• Sample RTDM driver with “double scheduling” (RT / NRT) *

• Handling IRQ

• UDD (User Device Driver) example *