The POSIX.1b and Xenomai APIs: Real-time Applications with Linux

There are several ways to achieve real-time performance with Linux; the ideal selection depends on your requirements for performance, the stability of the development system, and how closely you need to track progress of mainline Linux kernel releases. Two approaches described here, POSIX.1b and RTAI/Xenomai, provide real-time performance with varying degrees of conformance to traditional Linux programming APIs.