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Background
Xenomai is a real-time operating system (RTOS) API designed to work alongside Linux. It provides a means of migrating from proprietary a RTOS to a Linux based system. This also allows for native Linux applications to be run side-by-side with real-time applications on the same target.
Xenomai is designed to run on many different target architectures
including x86, ARM, Blackfin and NIOS2.