Xenomai is a Free Software project in which engineers from a wide background collaborate to build a robust and resource-efficient real-time core for Linux© following the dual kernel approach, for applications with stringent latency requirements.
The current stable release is Xenomai 3.1.1.
Work is ongoing towards release 3.2, including Y2038 readiness and a transition to a modern interrupt pipeline implementation called Dovetail which substitutes for the I-pipe, in order to support kernel 5.10 and beyond.
We are also paving the way to Xenomai 4, which is going to be based on the next generation real-time core developed by the EVL project, with the intent to preserve the user investment in Xenomai 3.x. To this end, the specification process of a Common Xenomai Platform has started. By this process, we define a set of common features and interfaces future Xenomai releases will share, starting from Xenomai 3.3.
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:
The legacy development tree (up to kernel 4.9) can be reached at this URL.