Linux has been effectively used as a reliable operating system in workstations and servers. However, the interest for using it in embedded systems has grown recently, due to the easiness for customizing it and the availability of the source code. This paper describes the experience of customizing RT-Linux for its use in an embedded real-time control. The main issues involved in this task are outlined and the adopted solution is described. These issues include the system configuration, the minimization effort and how to achieve real-time features through the use of RT-Linux. An application for obtaining task executions chronograms is presented as an example of application design under RT-Linux.
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