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BeagleBone: Creative Projects for Hobbyists by Richard Grimmett, Rodolfo Giometti, Charles Hamilton

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Modifying the kernel using Xenomai

Because it's a magic spell handed down from Gandalf the Grey, this recipe will only work by saying it aloud three times fast: Xenomai, Xenomai, Xenomai! All right. It sounds like an incantation. But, unfortunately, it's only a software layer on top of a kernel.

The good news, however, is that adding Xenomai to the kernel mix can magically bring real-time(ish) oomph to our BeagleBone Black. So, what is it exactly? It is a set of patches bringing several useful ingredients:

  • Real-time support from the hardware interrupt level to user space applications.
  • A dual-kernel mix composed of the primary Linux kernel and the secondary Xenomai kernel.
  • A subsystem underneath Linux that does not rely on the kernel to pre-empt designated ...

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