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Xenomai is a Free Software project in which engineers from a wide background collaborate to build a versatile real-time framework for the Linux© platform.

The main project goal is to help migrating industrial applications from proprietary real-time systems to Linux.

Xenomai is about making various real-time operating system APIs available to Linux-based platforms. When the target Linux kernel cannot meet the requirements with respect to response time constraints, Xenomai can also supplement it for delivering stringent real-time guarantees based on an original dual kernel approach.

Real-time core

Git hosting: https://xenomai.org/gitlab/xenomai
Clone: git://git.xenomai.org/xenomai.git
Maintenance branch: stable/v3.0.x
Development branch: master
Stable release: v3.0.9 [tarball] [sig] [tag]
Documentation: [HTML] [PDF]

Interrupt pipeline (I-pipe)

The Cobalt real-time core depends on a patch to the mainline Linux kernel, which introduces a separate, high-priority execution stage for running out-of-band interrupt handlers immediately upon IRQ receipt, which cannot be delayed by the regular kernel work.

Released patches can be downloaded from: https://xenomai.org/downloads/ipipe.

The current development trees (starting from kernel 4.14) for the I-pipe are available from:

ARM: https://xenomai.org/gitlab/ipipe-arm
ARM64: https://xenomai.org/gitlab/ipipe-arm64
PPC32: https://xenomai.org/gitlab/ipipe-ppc32
x86: https://xenomai.org/gitlab/ipipe-x86

The legacy development tree (up to kernel 4.9) can be reached at this URL.

EOL Xenomai releases

These trees were hosting the development of legacy Xenomai releases. Their contents have been merged into the [current development tree](https://xenomai.org/gitlab/xenomai/) for version 3.x as eol/v2.x.y branches, along with the legacy release tags.

Xenomai 2.6: [git://archive.xenomai.org/xenomai-2.6.git](git://archive.xenomai.org/xenomai-2.6.git)
Xenomai 2.5: [git://archive.xenomai.org/xenomai-2.5.git](git://archive.xenomai.org/xenomai-2.5.git)
Xenomai 2.4: [git://archive.xenomai.org/xenomai-2.4.git](git://archive.xenomai.org/xenomai-2.4.git)
Xenomai 2.3: [git://archive.xenomai.org/xenomai-2.3.git](git://archive.xenomai.org/xenomai-2.3.git)
Xenomai 2.2: [git://archive.xenomai.org/xenomai-2.2.git](git://archive.xenomai.org/xenomai-2.2.git)
Xenomai 2.1: [git://archive.xenomai.org/xenomai-2.1.git](git://archive.xenomai.org/xenomai-2.1.git)
Xenomai 2.0: [git://archive.xenomai.org/xenomai-2.0.git](git://archive.xenomai.org/xenomai-2.0.git)