Xenomai is a real-time development framework cooperating with the Linux kernel, in order to provide a pervasive, interface-agnostic, hard real-time support to user-space applications, seamlessly integrated into the GNU/Linux environment.


  • Linux kernel.
  • GNU/Linux environment.
  • Provide a pervasive, interface-agnostic, hard real-time support to user-space applications.
  • Xenomai skin, API makes Xenomai look a different RTOS albeit all of them are based on the same common core.
  • Xenomai nucleus, a set of building blocks available from a kernel module, over which Xenomai skins are built. The nucleus provides a common set of generic RTOS services to all Xenomai skins.

Demo Projects

  • Precise PWMs with GPIO using Xenomai kernel module. This article represents the results we obtained after implementing Xenomai RTDM kernel module. It also compares performance of the kernel-based solution with our previous user-space based approach.
  • Xenomai on the Beaglebone Black in 14 easy steps. In this post Bruno Martins explain how to got Xenomai run on a BeagleBone. The BeagleBone Black is an amazingly cheap and powerful development platform that is being used by many people in a lot of projects.

Website: http://xenomai.org/

Source code: http://git.xenomai.org/xenomai-3.git/

License: GPL

Xenomai Platforms

  • ARM
  • x86
  • PowerPC

Xenomai Components

  • FileSystem
  • Network