In part three of an Embedded Linux Journal series of articles by Kevin Dankwardt on Real-time Linux, Dankwardt reviewed the sub-kernel approach as used in RTLinux and RTAI and provided some benchmark numbers. Following publication of Dankwardt's article . . .

• MontaVista Software's Kevin Morgan issued a response to Dankwardt's article in which he offered “a few clarifications (or points of view)”.
  
• Next, Victor Yodaiken and Matt Sherer (of FSMLabs) reacted to Kevin Morgan's response to Dankwardt's article, taking exception to Morgan's assertion that RTLinux is “not appropriate for the placement of comprehensive applications”.
  
• Then, Kevin Morgan (of MontaVista) clarified the status of MontaVista's kernel preemption enhancements and responded to several other issues raised in Yodaiken and Sherer's earlier comments.
  
• Next, Karim Yaghmour provided the RTAI point-of-view — drawing attention to the nature of the API, the usability of the methods, and distinctions in the overall openness of the specific approaches that are being compared.
  
• In the latest installment of the continuing real-time Linux debate, Doug Locke, TimeSys VP of Technology, contrasts his company's preemptible Linux implementation with the one pioneered by Montavista, and comments on several aspects of the preceding debate.

Confused yet? Here's the whole interesting sequence of articles for your edification and reading pleasure . . .

• Real Time and Linux, Part 3: Sub-Kernels and Benchmarks — by Kevin Dankwardt

• A Response to “Real Time and Linux, Part 3” — by Kevin Morgan

• RTLinux is unfair by design — by Victor Yodaiken and Matt Sherer

• Further discussion on real-time approaches — by Kevin Morgan

• The RTAI perspective in the real-time Linux debate — by Karim Yaghmoor

• A TimeSys response on Real-Time Linux — by Doug Locke

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