This paper describes RTL-lwIP, which is a TCP/IP stack for embedded systems based on lwIP (Lightweight TCP/IP stack) that runs on RT-Linux and can be used by real-time tasks. RTL-lwIP allows real-time tasks to communicate directly with remote real-time tasks or even with Linux user processes. The importance of introducing TCP/IP on RT-Linux is that it enables the possibility of developing real-time distributed embedded systems based on CORBA, thus allowing interoperability with other platforms and web-integration. This paper also gives some guidelines in order to implement RT-Linux drivers for Ethernet cards using as an example the implementation of a RT-Linux driver for the Ethernet card 3Com905C-X.
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