Xenomai uses the RTNet stack to provide real-time Ethernet. RTNet provides deterministic versions of various protocols (UDP/IP, IMCP, ARP). Xenomai provides several real-time Ethernet drivers, the stack, and various tools. This document explains how to load a real-time Ethernet driver and perform basic tests. The links below will help augment this information as well as discuss programming using the RTnet stack.
As with the other real-time drivers, the Linux driver must be detached the interface before loading that real-time driver.
For example on IMX6 target the fec Ethernet driver must be removed.
root@somimx6-xenomai:~# rmmod fec
Once the standard Linux driver is out of the way the real-time driver can be loaded.