DIAPM  RTAI
Dipartimento di Ingegneria Aerospaziale - Politecnico di Milano 
Real Time Application Interface

Philippe did it, likely the first real time Linux-2.6.

So at the RTAI home site: http://www.aero.polimi.it/~rtai/, you'll find rtai-3.1-test1 for both Linux 2.4.xx and 2.6.x.

From the content point of view it is what you'll find in 3.0r3, with some glitches discovered in between ironed off. There is a very important and significant change however: the death of the RTHAL way of working for ix86 machines. That alone sets a milestone in RTAI life. So RTAI i386 will work just on ADEOS and nothing else.

It should be remarked once more that RTAI is 4 things now (in alphbetical order): FUSION/RTAI/RTAILab/XENOMAI.

A particular note should be reserved to FUSION and I hope that Philippe will find time to advertise it a bit more in the near future. With FUSION RTAI has an almost continuous grading of real time requirements: soft (standard Linux), firm (Linux low latency), hard-1 FUSION, hard-2 LXRT, hard-3 kernel. In my opinion it is likely that a well matured FUSION will become a key player for many users.

BTW, do not activate the low latency option in Linux 2.6 for a while more. It is also likely you'll have problems with SMP. After all it is test1 only .

At the moment the known problems with this new RTAI are mine. In fact I've not made netrpc working yet. For the rest most user space examples in showroom seems to be OK under UP, but examples involving kernel modules do not even compile. The core RTAI testsuite works well however in both kernel and user space.

So give a try, have fun and help to make it better.

Happy Easter.

Paolo.

This summary should be of some help in determining whether upgrading to 3.0r2 asap is desirable or not. In any case, if you are using LXRT/x86 (24.1.x or 3.0) over Adeos, I would strongly recommend that you consider upgrading to 3.0r2. No kidding.

--

(roberto.bucher@supsi.ch) [LAB] Many improvements of RTAI-Lab among which: o ability to save "profiles". o full generation and compilation support from Scilab/Scicos. o distributed real-time support for scilab/scicos.

(wolfgang.grandegger@bluewin.ch) [SHM] Add PPC support.

(mantegazza@aero.polimi.it) [SHM] Add support for Shared Circular Buffers (SCB).

(mantegazza@aero.polimi.it) [SHM] Add support for real-time heaps.

(kiszka@rts.uni-hannover.de) [LXRT] Fix error code returned by the syscall handler.

(aris@cathedrallabs.org) [LXRT] Better error handling during init phase.

(rpm@xenomai.org) [LXRT] Allow some recoverable faults in RT space to flow down to Linux for exception handling when applicable.

(rpm@xenomai.org) [LXRT] Make APIC support usable in UP configuration.

(rpm@xenomai.org) [LXRT] Fix kernel re-entry in SMP configuration and rewrite the trap handler decently.

(peter.soetens@mech.kuleuven.ac.be) [CONFIG] Fix detection of COMEDI.

(rpm@xenomai.org) [CONFIG] Have SCHED_UP depend on !(SCHED_SMP || SCHED_MUP) in Kconfig.

(rpm@xenomai.org) [CONFIG] Bail out screaming if CONFIG_FRAME_POINTER has been enabled in the kernel configuration.

(rpm@xenomai.org) [SCRIPTS] Add missing $prefix and $exec_prefix substitutions in rtai_load.in.

(kleine-budde@gmx.de) [TESTING] Allow building the x86 calibration program without LXRT support.

(kleine-budde@gmx.de) [XENOMAI] Prevent potential buffer overflows and iron syscall demultiplexer in pathological cases.

(kleine-budde@gmx.de) [CONFIG] Fix issue with the module installation path.

(panagiotis.issaris@mech.kuleuven.ac.be) [POSIX] Make sem_get_value_rt() aware of the current inlining mode.

(kiszka@rts.uni-hannover.de) [POSIX] Fix pthread_create_rt() and pthread_join_rt().

(mantegazza@aero.polimi.it) [SCHED] Better locking in registration support routines.

Additionally, the magma/unstable branch which will lead us to 3.1 is open anew. 2.6 support for x86 over Adeos is the first task on the list.

Philippe.

Version 3.0r2 Rtai-Lab is distributed with a lot of new features:

xrtailab ====== - Handling of profiles to allow saving of scopes, meters,leds and managers settings for future xrtailab sessions. User can save/load/delete his/her profiles - Possibility to execute xrtailab with some options; at the moment the options are: -h, --help : print usage -v, --verbose: verbose output -V, --version: print xrtailab version -p, --profile : direct connection to target with the specified profile - Better error handling - Parameters upload to update parameters in different instances of xrtailab

Matlab/Simulink ============= - Better error handling - Integration of the rtailab devices library under Simulink "Blocksets & Toolbox" - Added a "lib" directory which can contain user specific S-Function blocks

Scilab/Scicos =========== - Better error handling - New I/O blocks for distributed control - Utility "xgenconfig" to interactive writing of "config" files - Integration of the sampling time in the "config" file - Code generation and compilation of the Scicos code directly from the Scicos window with a new specific RTAI menu.

Lorenzo Dozio - Roberto Bucher

This new version of RTAI, which comes after a full year of continuous development, supports five architectures, namely: x86, PPC, ARM, MIPS and CRIS.

RTAI 3.0 features a streamlined and polished installation, leveraging a new modular infrastructure, which brings an increased adaptability to various software and hardware configurations.

Distributed real-time computing though the NETRPC middleware has gained full symmetry between kernel and user-space APIs.

Traditional RTOS applications can now easily migrate to RTAI using one of the available emulators, among which VRTX32/VRTXsa, pSOS+, VxWorks, and uITRON-compliant "skins".

Development tools have also been improved, with a major revision of RTAILab, and the release of a feature-rich simulator aimed at running RTAI applications in a virtual environment.

With this 3rd major milestone, RTAI is also setting the groundwork for a seamless integration of hard real-time processing into the standard GNU/Linux programming model in user-space.

To this end, the LXRT support has been improved to the point where most real-time applications can now run under MMU protection with the required level of determinism.

Additionally, a preview of the new "fusion" technology is being made available as part of this release. RTAI/fusion is the point of convergence of several technologies including LXRT, Adeos, the preemptible Linux kernel, and the low latency enhancements. It aims at reinstating the RTAI applications into the regular GNU/Linux programming model, allowing them to call Linux kernel services synchronously from hard real-time tasks, while retaining a high degree of determinism.

RTAI 3.0 can be downloaded from the RTAI homepage at http://www.aero.polimi.it/~rtai/

Here goes -test3, as usual at the RTAI home site: http://www.aero.polimi.it/~rtai/.

The most notable thing about this test release is that most of the architectures supported by 24.1.x are now available in 3.x too, namely x86, PPC, ARM, MIPS and CRIS/ETRAX. m68knommu is still missing though.

[rtai-core]

	Automake support updates (Gilles Chanteperdrix)
	Xenomai heap fixed for requests>= extent size (Gilles Chanteperdrix)
	Integrate shared memory support with malloc (Paolo Mantegazza)
	Condvars support rewrite (Paolo Mantegazza)
	Fifo updates (Paolo Mantegazza)
	ARM port to 3.x (PXA + SA) (Guennadi Liakhovetski)
	Various consistency changes to netrpc (Paolo Mantegazza)
	MIPS and CRIS/ETRAX ports from 24.1.x to 3.x (Philippe Gerum)
	Fixes and normalization of arch-dependent headers (Philippe Gerum)
	Improved SIGINT handling in rtai-load (Philippe Gerum)
	Add RTAI/vm switches to rtai-config (Philippe Gerum)
	Fix typename clash with message queues (Gilles Chanteperdrix)
	Upgrade to Adeos r10 candidate #2 series (Philippe Gerum)
	Fixes in netrpc header (Philippe Gerum)

[rtai-lab]

	Scilab support updates (Roberto Bucher)
	Fixed Automake support (Philippe Gerum)

[rtai-testsuite]

Better cleanup handling for user-space examples (Philippe Gerum)

[rtai-sim]

Allow absence of simulator in dist tree (Marc Kleine-Budde, Philippe Gerum)

Many thanks again to the 3.x maintainer for the good job. My personal view is that it is a production tool already.

RTAI-3.0-test1 is out, i.e. the new RTAI is in the cradle.

What it contains:

	New modular RTAI infrastructure.
	New configuration interface based on the Kconfig system.
	New build system, particularly improving the cross-compilation support.
	Extensive refactoring of the core software, with full modularization of the RTAI features.
	Normalization of the various RTAI interfaces.
	Enhanced real-time support in user-space (LXRT).
	Major revision of RTAI-Lab, the middleware which allows to integrate Matlab/SCICOS-generated controllers in the RTAI execution environment.
	New traditional RTOS emulators of VRTX32/VRTXsa, pSOS+, VxWorks, and uITRON APIs, helping the migration of existing industrial applications to the RTAI environment.
	New simulation tool for developing RTAI applications with no hardware constraints.
	Fully Doxygen-ized documentation at hand.

And a lot of other improvements aimed at extending the RTAI experience (understatement to shorten the list).

It is worth recalling a few (but very) important things:

	The maintainer of the related branch is Philippe Gerum and this release is the product of his hard work over the past six months. His effort has made RTAI a fairly new thing, as it includes his XENOMAI also. The fact it is not reflected into a new name due to Philippe's generosity only. So the all of it make me (us) owing him a big: THANKS.
	On one hand 3.0 will help in making the transition from the previous 24.1.xx development thread smoother. The latter will be closed soon to any further improvment, with a 24.1.13 release.
	On the other hard further 3.x releases will mark a neat departure from the previous work as they will mean the end of RTHAL based development for ix86 and all the related work and testing will be based on ADEOS.
	Finally on ix86 the port to Linux 2.6 will be ADEOS based only.

RTAI-24.1.12 is out. It contains the new version of RTAI-Lab, thanks to Lorenzo and Roberto for the great work, plus a few so called small bug fixes. Another important fact about this release is that it marks the ends of the second stage of the RTAI life. In fact it ends the xx.y.zz series and the new development thread will be based on what is now found in Magma. Magma has been set up thanks to Philippe's (Gerum) hard work and he will remain the maintainer of the new development thread, however he(we)'ll call it all. It remains understood that what previously said and the use of just the term RTAI are a kind of understatement in view of the RTAI/XENOMAI integration he has brought, but we'll have plenty of time to talk about the new RTAI way as it is likely a lot of new cool and exciting things are to be expected in the future RTAI life.

In the Documentation page you can find references to two recent RTAI related conference papers, one (downloadable) presented at an Italian Conference on Motion Control, the other presented at the Sixth IEEE International Symposium on Object-Oriented Real-Time Distributed Computing (ISORC), May 2003, Hakodate (Japan).

The RTAI project is pleased to announce the 24.1.11 release of the famous realtime extension to the Linux kernel. Once more it contains many new significant contributions, the time since 24.1.10 has not passed in vain.

	The most notable one is ADEOS for i386. ADEOS usage is totally transparent for RTAI users (just a different patch instead of RTHAL) RTAI users are invited to work with it, feeding back to help in improving RTAI over ADEOS. Absolutely avoid thinking to ADEOS as a "warm air patents FUD fighter". It is such a nice piece of technology that is worth much, much more than being wounded by diminishing it to the point of being considered just a "FUD fighter".
	Another new significant addition is RTAI-Lab. It is a "net_rpc" based application tool that allows integrating local/distributed execution/running/supervising of automatically generated control systems. Their code can be generated by using both Matlab/Simulink/RTW and INRIA/Scilab/Scicos.
	An important enhancements to RTAI "philosophy" of emphasizing hard real time in user space, while allowing a seamless integration of user and kernel space applications and drivers, is provided by recent improvements to NEWLXRT that allow integrating the scheduling of any kernel/user space hard real time schedulable RTAI object, i.e.: Linux user space task/processes/threads, Linux kernel threads, RTAI proper kernel tasks, into a "do it all" single U/MP scheduler.
	POSIX message queues usable also by non POSIX real time RTAI applications, in kernel/user space as usual.
	Extensive real time POSIX support in user space, the only things missing should be reader/writer locks and spinlocks. The plethora of POSIX attributes getting/setting is not supported but all related APIs work in their most extensive way. There might still be problems in using them with C++.
	Ironed off making and header files glitches.
	New functions, e.g. barrier synchronization. Please diff the "include" directory of 24.1.11 against that of 24.1.10 to see them all. Related examples/tests are dispersed within appropriate directories.
	The RTAI scheduler "proc" file now displays the percentage, actually thousandths, of per task CPU usage. A support function is available to get the related information directly from an application.
	Improved soft real time RTNet emulation.
	Being at the core of RTAI-Lab "net_rpc" is now extensively tested; mated to RTNet it makes distributed real time easy to implement natively under RTAI.
	RTAI can now be compiled using gcc-3.2 (first seeded by Alexis.P.Wieland@disney.com).
	The RTAI serial port driver (SPDRV) supports timed blocking read/writes and user space callback functions, a nasty bug related to simultaneous sx/rx interrupts has been fixed also (rbrunelle@envitech.com).

The RTAI project is pleased to announce the 24.1.10 release of the famous realtime extension to the Linux kernel.

It is a huge one, worth a couple of releases before it. There are so many new things that I'm not sure to recall them all. More or less and without caring of any order of presentation what's new should be:

	NEWLXRT, i.e. LXRT without using RTAI proper tasks. It schedules just LINUX tasks and kernel threads natively. Under NEWLXRT kernel space threads works in hard mode always, user space Linux tasks can be soft/hard as in LXRT. You can think of it as something that makes Linux a hard real time kernel natively, albeit under the constraint of using RTAI APIs. Anything that runs under RTAI can run under NEWLXRT (kernel/user space). Back portable down to rtai-24.1.7 by just copying the related directory.
	Full support for writing interrupt handlers in user space under LXRT/NEWLXRT (UserSpaceInterrups-USI).
	Support for COMEDI kernel space APIs (kcomedilib) in user space under LXRT/NEWLXRT, in soft/hard real time. (The Comedi Players)
	Support for LABVIEW under LXRT/NEWLXRT, in soft/hard real time. It is now possible to program your hard real time applications, including interrupt handlers, using the visual 'G' language. (Thomas Leibner)
	LXRT extensions can now use the FPU. (Giuseppe Renoldi)
	A new real time support for serial ports, user/kernel space (SPDRV). (Giuseppe Renoldi)
	Support for making it easy for you to prepare a bootable floppy that runs RTAI (uRTAI, read it microRTAI). (Lorenzo Dozio)
	RTW should work more reliably and has more DAQ boards supported, including NI-MIO line. (Lorenzo Dozio)
	Revised and more detailed configuration for a better making. (Lorenzo Dozio, with help and suggestions from the RTAI team)

It is also possible to apply a new patch (allsoft) that allows configuring RTAI to manage all interrupts (hard/soft), in the soft way (ALLSOFT) and avoid scheduling any RTAI proper tasks from Linux (MINI_LXRT). The new configuration making will assist you in setting up such features, if you use the "allsoft" patch.

It is distributed as a short living provisional work.

In fact ALLSOFT+MINI_LXRT is meant to pave the way to the ADEOS transition by statically mimicking its multi-domain scheme in replacement of the previous master(RTAI)-slave(Linux) approach. It is intended to provide the bottom line in terms of performance that we should be able to reach, hopefully improve, with ADEOS, so people can immediately experiment the implications of the future transition to ADEOS. Such a transition will be the core of rtai-24.1.11.

I'll not dwell on the meaning of having ALLSOFT+MINI_LXRT and NEWLXRT (back portable), RTAI users should grasp it easily.

Today, ADEOS, the Adaptive Domain Environment for Operating Systems was released. ADEOS is a nanokernel that dispatches interrupts between concurrent operating systems.

As ADEOS is based on principles well known since the beginning of the nineties and as it's operation is completely different from the method to run Linux ontop of a RTOS used in RT-Linux, ADEOS can be used to implement a patent-free version of RTAI, which will be done in the near future.

Find out more about ADEOS on the following pages:

	ADEOS Homepage at Opersys
	Press Release with the ADEOS announcement
	Whitepaper about the ADEOS principle

At www.aero.polimi.it/projects/rtai you'll find the new RTAI release rtai-24.1.9. It improves and expands RTAI in many aspects, a lot of work being poured into it since release 24.1.8, excerpts:

	More fixes
	RTAI was ported to ARM by Guenadi Liakhovetski, Thomas Gleixner and Alex Zuepke
	Soft FP emulation, already working with ARM, not ported yet to other architectures (Thomas Gleixner)
	The ColdFire port by Bernhard Kuhn is now in the main distribution
	PPC aligned with Wolfgang Denk's distribution (Wolfgang Denk, Wolfgang Grandegger)
	Support of NI-E-DAQ in RTW (Lorenzo Dozio)
	FIFOs kernel APIs usable from within hard LXRT, useful to avoid an agent for simple communications with Linux processes (Thomas Leibner)
	Alpha porting of RTnet to rtai-24.1.xx/linux-2.4.xx (David Schleef)
	Improved C++ support by Erwin Rol
	Improved making with many parametrizations, e.g. generic apic mapping, non TSC machine understood automatically, experimental code and applications highlighted (David Schleef, Robert Schwebel). N.B. Generic APIC mapping contributed by Jan Kiszka.
	Many examples are now parametrized, latency calibration results can be recorded and displayed (Robert Schwebel)
	Native long intertask messages in RTAI schedulers and net distributed applications (Paolo Mantegazza)
	Eavesdropping of receiving fifos content, i.e. previewing while leaving everything unchanged
	Bits synchronization, i.e. semaphores on event masks
	Possibility of killing hard real time user space processes
	Some so called "minor" bug fixes
	Kernel support up to Linux 2.4.18.
	Extended messaging, Pierre Cloutier's wrappers for QNX used natively in kernel/user land without pids, in kernel/user/net applications.

LinuxDevices.com, the leading Embedded Linux Newsticker, has published an Article about RTAI and it's recent license change towards GPL.

The RTAI homepage was redesigned. Please send suggestions, bug reports and everything else to robert@schwebel.de.

At www.aero.polimi.it/projects/rtai you'll find the new RTAI release rtai-24.1.8. It improves and expands RTAI in many aspects, a lot of work being poured into it since release 24.1.7, excerpts:

	port to MIPS by Steve (stevep@lineo.com) (NEW)
	a yet more comprehensive multiarch making by David (ds@schleef.org)
	many hidden rewrites and extensions to improve robustness and ease of use
	rt_com aligned with the latest CVS by Giuseppe (giuseppe@renoldi.org)
	patches for recent kernels and the latest LTT support by Karym (karym@opersys.com)
	net_rpc to transparently support distributed use of RTAI services/APIs on networked applications, symmetrically in kernel/user space (NEW)
	last but not least, even if not cited with specific reference to anybody, there is a lot of very important cooperative effort from all RTAI friends, developers/coordinators who keep working and fighting friendly for this truly open source project, involving both individual hackers and companies.

I will put no further fanfare on this release but I hope you'll agree it's a significant one. Please refer to the related READMEs in the distribution for more in depth explanations.

I do want to take this chance to return to a many times discussed subject because I'm still receiving a lot of requests of clarification from many people that are still frightened by an infamous patent and related FUD. To have it as short as possible I think there is no better remind and answer worth repeating than the one from E. Moglen (FSF).

For your convenience it is reported below, the context of the whole message can be found in the original mail.

At the RTAI home site you'll find the new release, rtai-24.1.7.tgz of RTAI for linux 2.4.xx (up to 2.4.15).

The big change you'll see is related to a new way of making it, resembling much the one for Linux: make config/menuconfig, make dep, make (no need for bzImage here :-), make install.

There are also new features added, e.g. "earliest deadline first" support, short-named objects creation and registration for kernel only applications (i.e. even without using LXRT), with related examples. Behind the scenes a lot of hidden improvements. Thanks to the brave users that precisely pointed bugs and helped in fixing it!

Try it and let us know, we'd like to hear comments about the new way it is installed.

At rtai home site you can find the latest version of rtai-1.7, for the linux-2.2 thread. It contains a kernel patch for 2.2.19, plus minor improvements and fixes. Thanks to Stuart Hughes for having made it.

At the RTAI home site you'll find the new release, rtai-24.1.6 of RTAI for linux 2.4.xx (up to 2.4.9).

Apart from a few (so called) minor bug fixes it brings new things also:

	the possibility of Round Robin (RR) scheduling on a per task basis, with a per task time quantum, (see README.SCHED_POLICY);
	a function to help maintaining Rate Monotonic Scheduling (RMS) at periodic tasks dynamic init/delete and period changes, (see README.SCHED_POLICY);
	tasklet/timers have beed partly rewritten and simplified, in user space they are now an LXRT extension, so you can mix them up with plain LXRT processes;
	LXRT also partly rewritten and simplified. Now it should be more robust and esier to port to other archs.

For the time to come I would like to update the RTAI manual. There now too many new features that are described only in READMEs scattered around the distribution. Any user willing to help in editing and improving it should refer to giuseppe@renoldi.org, the manual coordinator.

An archive of the Mailing list for RTAI users is available at http://realtimelinux.org/archives/rtai/.

At the RTAI home site you'll find the new release, rtai-24.1.5 of RTAI for linux 2.4.xx (up to 2.4.7).

The new "chapters" added are:

	rt_com support in user space (rt_com_lxrt), not really new but finally ported and working.
	Support for Matlab Simulink/RealTimeWorkshop (S/RTW) in user space hard real time, both for local and remote controls. An interesting demonstration of the use of LXRT for hard real time in user space. Have a look at it and see how the Mathworks support of S/RTW for Tornado/vxWorks is used unchanged under RTAI/LXRT.
	The possibility of running Octave with LXRT.

Naturally there are also many other , so called minor but not really so, fixes and improvements scattered around. Thanks to the many RTAI developpers/friends for their continued work/support.

A Mailing list for RTAI users is now available. To subscribe the mailing list use the button in the main menu or mail to:

To unsubscribe the mailing list use

Now is available the patch for linux 2.2.19 to use with rtai-1.6. Download the tarball patch_2219.tgz, untar it under rtai-1.6 tree.

You'll get a new directory, called linux-2.2.19, and a README-2.2.19. Patch from Steve Papacharalambous, packed by Lorenzo Dozio.

Now is available the patch for linux 2.2.19 to use with rtai-1.6. Download the tarball patch_2219.tgz, untar it under rtai-1.6 tree.

You'll get a new directory, called linux-2.2.19, and a README-2.2.19. Patch from Steve Papacharalambous, packed by Lorenzo Dozio.

RTAI is now a true Open Source project . People willing to stay up to date with the latest RTAI under Linux 2.4.xx can now freely access the common RTAI developer CVS as readers by using the following:

export CVSROOT=":pserver:guest@cvs.zentropix.com:/opt/cvsroot/rtai"
cvs login
password: anoncvs
cvs -z3 co rtai4

New release of rtai-24.1.3 for Linux-2.4.1. This release should be fully aligned to the latest RTAI for Linux-2.2.xx, but it contains also many new features, e.g. tasklets and timers, resource semaphores, more effective improved multilist schedulers, a fully informed LXRT, traps trapping support, and other new things described in README.24.1.3.

Note: It is the first freeze of a new multi handed development work that is likely to need some more ironing to make the installation, and something else, smoother, e.g. ix86 is still based on the old copyto patching while PPC uses the more usual patches.

New release of rtai-1.6 for Linux 2.2.16 and 2.2.17. Beside some minor fixes, thanks to cooperative RTAI users for helping in getting hold of some glitches, it contains:

	Improvements in the dynamic memory manager.
	POSIX conditional variables timed waits.
	Task stack checking function.
	8259 PIC top priority setting.
	Binary semaphores and conditional variables, added natively to RTAI.
	A general purpose UNIX server to allow use of Linux system calls from RTAI-LXRT hard real time applications in user space.
	New examples to demonstrate what above, and other things as well.
	Last but not least .... Multi list schedulers, for improved performances on less powerful machines and small embedded systems.

The RTAI position paper presented during the Orlando workshop (RTSS Nov 2000) is now available. The comprehensive paper is based on the next RTAI-24.1.x release expected in early 2001.

In the main menu, you can find a new entry: the RTAI programming guide. An helpful document contributed by Lineo, Inc. (for their original version see the related LINKS)

In the main menu, you can find a new entry: the RTAI related LINKS.

New release of rtai version 1.5 for Linux 2.2.16. It fixes few glitches that arose from the new organizational work, and a few other minor bugs scattered around. Plus:

	new useful LXRT improvements and services, still undocumented in the manual, demonstrated in examples: one and hardsig.
	easier frequencies calibration.
	added an example to show how one can reserve a CPU for hard real time, by using standard RTAI srqs, on a dual MP.
	an interesting support for rt_com from user space by using LXRT, see directory rt_com_lxrt. (Contributed by Giuseppe Renoldi, grenoldi@usa.net).

It contains also a new extensively revised and updated PDF version of the RTAI manual (140 pages), including new functions of rtai-24.1.2 (development release for linux 2.4.xx). The related html pages will be updated ASAP.

Now "History and Overview of RTAI" is available also in PDF format.

The PDF format manual has been updated by adding new features available in the 24.x.x development version.

New release of rtai version 24.1.2 for Linux 2.4.xx

New release of rtai version 1.4 for Linux 2.2.16

This site is under construction: a new RTAI BEGINNER GUIDE and a RTAI HOWTO will be avaiable as soon as possible.

New release of DIAMP RTAI manual. As soon as possible will be avaiable a version of the manual in PDF format.

Release of rtai version 1.3