Xenomai 3 - Linux实时框架介绍.pdf

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Xenomai 3 – An Overview of the Real-Time Framework for Linux Copyright © Philippe Gerum 2005-2015 Copyright © Gilles Chanteperdrix 2015 Copyright © Free Electrons 2004-2015 Copyright © Siemens AG, 2015 Creative Commons BY-SA 3.0 license

Xenomai 3 – An Overview of the Real-Time Framework for Linux Agenda Project introduction Co-Kernel technology, now and then Xenomai 3 for native Linux Improving co-kernel integration Summary Page 2 April 2016 Jan Kiszka, Corporate Technology © Siemens AG 2015, et al. Creative Commons BY-SA 3.0 license.

What is Xenomai? • Old-style real-time extension for Linux? • Something like / a fork of RTAI? • Requires real-time applications to be kernel modules? • …? Page 3 April 2016 Jan Kiszka, Corporate Technology © Siemens AG 2015, et al. Creative Commons BY-SA 3.0 license.

What is Xenomai really? • Old-style real-time extension for Linux? • Something like RTAI / RTLinux? Xenomai is an RTOS-to-Linux • … Portability Framework • RTOS-to-Linux portability framework • Come in two flavors It now comes in two flavors • As co-kernel extension for (patched) Linux • As co-kernel extension for (patched) Linux • As libraries for native Linux (including PREEMPT-RT) • As libraries for native Linux (including PREEMPT-RT) Page 4 April 2016 Jan Kiszka, Corporate Technology © Siemens AG 2015, et al. Creative Commons BY-SA 3.0 license.

Xenomai History Xenomai 1.0 • Announced in 2001 – as portability framework for RTOS applications • Required a real-time basis • Development of ADEOS layer for Linux and RTAI • Merged with RTAI => RTAI/fusion Xenomai 2.0 • Departed from RTAI in 2005 – incompatible design goals • Evolved ADEOS to I-pipe layer (also used by RTAI) • Ported to 6 architectures Xenomai 3.0 • Released in 2015 after >5 years of development • Rework of in-kernel core (now POSIX-centric) • Support for native Linux Page 5 April 2016 Jan Kiszka, Corporate Technology © Siemens AG 2015, et al. Creative Commons BY-SA 3.0 license.

People behind Xenomai Philippe Gerum – Project founder and maintainer Gilles Chanteperdrix – ARM, x86 archs, Xenomai 2 & 3 core, RTnet Alexis Berlemont – Analogy stack Jorge Ramirez-Ortiz – Analogy stack Wolfgang Grandegger – Real-time CAN Jan Kiszka et al. – RTDM, x86 arch, assorted Page 6 April 2016 Jan Kiszka, Corporate Technology © Siemens AG 2015, et al. Creative Commons BY-SA 3.0 license.

Xenomai Applications • Machine control systems, PLCs • Printing machines (manroland) • Printers / copying machines • Network switches (e.g. Ruggedcom) • Magnetic resonance tomographs (Siemens Healthcare) • OROCOS (OSS robotics framework) • Robotic research projects • … (many, many incognito applications) Page 7 April 2016 Jan Kiszka, Corporate Technology © Siemens AG 2015, et al. Creative Commons BY-SA 3.0 license.

Xenomai 3 – An Overview of the Real-Time Framework for Linux Agenda Project introduction Co-Kernel technology, now and then Xenomai 3 for native Linux Improving co-kernel integration Summary Page 8 April 2016 Jan Kiszka, Corporate Technology © Siemens AG 2015, et al. Creative Commons BY-SA 3.0 license.

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