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WelcomeThis site is a resource for real-time software developers who use Linux. TutorialThis tutorial introduces RT Linux through examples demonstrating scheduling of periodic and variable-period tasks, FIFOs, shared memory, interrupt service routines and other topics. The demonstrations require the RTAI version of real-time Linux. You can also download the tutorial and example demonstrations for use locally. The tutorial is a compressed tar archive that you download, uncompress, install and run on an already-configured RTAI system. This is version 2.0 of the tutorial, built using Autotools and using the Linux kernel module compilation system for more portable installation. Installation instructions:
DocumentsIntroduction to Linux for Real-Time Control, a document prepared for NIST by Aeolean Inc. that describes the various real-time Linux approaches. [PDF, 740K]
Measuring Performance in Real-Time Linux, a presentation at the Third Real-Time Linux Workshop in Milan Italy in October 2001 that describes techniques to measure software timing. [PDF, 632K] The accompanying paper. [PDF, 236K] Real-time Operating System Timing Jitter and its Impact on Motor Control, proceedings of the 2001 SPIE Conference on Sensors and Controls for Intelligent Manufacturing II. [PDF, 106K] Embedded Real-Time Linux for Cable Robot Control, a presentation at the ASME Computers in Engineering conference in Montreal Canada in October 2002 that describes embedded- and real-time Linux and a cable robot application. [PDF, 1M] The accompanying paper. [PDF, 98K] Real-Time and Embedded Linux for Manufacturing and Robotics, a presentation at the March 2003 eGov Open Source Conference in Washington DC that describes real-time and embedded systems and some applications. [PDF, 2.5M] Use of Free and Open-Source Software (FOSS) in the U.S. Department of Defense, a document prepared for the Defense Information Systems Agency (DISA) by The MITRE Corporation. [PDF, 4.2M] Free and open source software, a document prepared by the Swedish Agency for Public Management (STATSKONTORET) that describes open source software in general. [PDF, 94K] ArticlesA comparison of hard real-time Linux alternatives, by Peter Laurich for LinuxDevices.com, 19 November 2004. Related LinksRTAI (www.rtai.org) - the RTAI home page RTL (www.rtlinux.org) - the home page of New Mexico Tech's RTL at FSM Labs Real Time Linux Foundation (www.realtimelinuxfoundation.org) - a non-profit corporation for the real-time Linux community LinuxCNC.org (www.linuxcnc.org) - the home page for users of the Enhanced Machine Controller (EMC), software originated by NIST for control of machines using real-time Linux EMC Developers (www.sourceforge.net/projects/emc) - the SourceForge home page for Enhanced Machine Controller software developers Contact:
* No approval or endorsement of any commercial product by the National Institute of Standards and Technology is intended or implied. Certain commercial equipment, instruments, or materials are identified in this report in order to facilitate understanding. Such identification does not imply recommendation or endorsement by the National Institute of Standards and Technology, nor does it imply that the materials or equipment identified are necessarily the best available for the purpose. The National Institute of Standards and Technology is an agency of the U.S. Department of Commerce, located 25 miles north of Washington, D.C. in suburban Gaithersburg, Maryland. A map to NIST is available on-line. Date created: 8 Sep 2004 |