XENOMAI

ORG

Xenomai nucleus:
This is basically 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. If you plan to implement a new Xenomai skin, you may want to have a look at the nucleus API documentation here.
▪ Mutil-threading support
▪ Basic synchronization support
▪ Timer and clock management
▪ Basic memory allocation

What is a Xenomai skin:
To understand that, you should first know that Xenomai is some sort of Chameleon RTOS at its core, which can export multiple real-time APIs to applications, all built over the Xenomai nucleus. A Xenomai API can impersonate an existing traditional RTOS interface such as VxWorks (tm), or provide an original programming interface for some particular purpose, such as RTDM. Basically, each API makes Xenomai look a different RTOS albeit all of them are based on the same common core. This is the reason why we call an implementation of such API, a Xenomai skin.
XENOMAI skin - Native API
▪ Task management
▪ Timing services
▪ Synchronization
▪ Messaging and communication
▪ Device I/O Handling
▪ Registry support