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Linux: Embedded Development by Chris Simmonds, Alex González, Alexandru Vaduva

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The real-time Linux kernel (PREEMPT_RT)

There is a long-standing effort to reduce latencies still further which goes by the name of the kernel configuration option for these features, PREEMPT_RT. The project was started by Ingo Molnar, Thomas Gleixner, and Steven Rostedt and has had contributions from many more developers over the years. The kernel patches are at https://www.kernel.org/pub/linux/kernel/projects/rt and there is a wiki, including an FAQ (slightly out of date), at https://rt.wiki.kernel.org.

Many parts of the project have been incorporated into mainline Linux over the years, including high resolution timers, kernel mutexes, and threaded interrupt handlers. However, the core patches remain outside of the mainline because they are rather ...

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