Real-Time Linux Wiki
OSADL – Open Source Automation Development Lab eG
Wikipedia
Xenomai (en)
RTAI (Real Time Application Interface) (en)
RTAI (Real Time Application Interface) (de)
RTLinux (de)
Tutorial
Getting real (time) about embedded GNU/Linux
Realtime Linux für Debian
Introducing Xenomai 3
How fast is fast enough? Choosing between Xenomai and Linux for real-time applications (PDF)
Raspberry Pi
Raspberry Pi 4B: Real-Time System using Preempt-RT (kernel 4.19.y)
Raspberry Pi: Real Time System – Xenomai Patching Tutorial for Kernel 4.14.y
Real-Time Linux on the Raspberry Pi
Echtzeit mit dem Raspberry Pi und Linux PREEMPT_RT
github.com/claudioscordino/rpi3-xenomai