RTLinux or
RTCore is a
hard realtime RTOS microkernel that runs the entire
Linux operating system
as a fully
preemptable
process.
It was
developed by Victor Yodaiken (Yodaiken 1999), Michael Barabanov
(Barabanov 1996), Cort Dougan and others at the New Mexico Institute of Mining and
Technology
and then as a commercial product at FSMLabs.
Wind River
Systems
acquired FSMLabs embedded technology in February
2007 and now makes a version available as Wind River Real-Time Core
for Wind River Linux.
RTLinux was based on a lightweight virtual machine where the Linux
"guest" was given a virtualized interruptcontroller and timer - and
all other hardware access was direct. From the point of view of the
real-time "host", the Linux kernel is a thread. Interrupts needed
for deterministic processing are processed by the real-time core,
while other interrupts are forwarded to Linux, which runs at a
lower priority than realtime threads. Linux drivers handle almost
all
I/O. First-In-First-Out pipes (
FIFOs) or shared memory can be used to share data
between the operating system and RTCore.
See also
References
- Yodaiken, Victor (1999). [50134] "The RTLinux Manifesto". Published in the 5th
Linux Conference Proceedings.
- Barabanov, Michael (1996). [50135] "A Linux Based Real-Time Operating
System".
- Yodaiken, Victor (1996). [50136] "Cheap Operating systems Research"
Published in the Proceedings of the First Conference on Freely
Redistributable Systems, Cambridge MA, 1996.
- Dougan, Cort (2004) [50137] "Precision and predictability for Linux
and RTLinuxPro", Dr. Dobbs Journal, February 01, 2004.
- Yodaiken,Victor (1997), US Patent 5,995,745
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