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 3.2.1.
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 patches to the mainline Linux kernel, which introduce 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.
There are two flavors of patches available: Dovetail for kernels starting with 5.10 and I-pipe for older kernels.
Dovetail-enabled kernels are available here: https://source.denx.de/Xenomai/linux-dovetail
Released I-pipe 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.