This is a variation of rtlinux-0.6 for kernel 2.0.33 by Barabanov and Yodaiken,
NMT, New Mexico, USA. (http://luz.cs.nmt.edu/~rtlinux/) People at NMT must
be praised for their nice work without which this variant would not
exist. 
It uses a different timing policy based on a fix ticking instead
of the variable one shot triggering adopted in the original rtlinux-0.6. 
The fix ticking is less flexible but, with the usual PC hardware, much more
efficient. So is up to you which one to choose.  
Moreover this variant of rtlinux has more services including timings, 
semaphores, messages and remote procedure calls that makes it easy to 
develop complex real time applications.
To implement it is assumed that you already know how to install rtlinux-0.6.
What to do:
	1 - Apply the rtlinux-0.6 patch, as explained in the NMT official
	    distribution, do "make menuconfig" but do not "make zImage"
	    immediatly;
	2 - Copy the files rt_time.c, rt_time.h and ksyms.c of this
	    distribuition over, i.e.replace, their corresponding in the
	    appropriate linux directories. The file "puthere" (included),
	    appropriately edited, can be of help;
	3 - Carry out the compilation of the kernel by "make zImage";
	4 - Copy rt_sched.h of this distribution over, i.e replace, rt_sched.h
	    in the appropiate directory;
	5 - Copy rt_sched.c of this distribution over, i.e. replace,
	    rt_prio_sched.c in the appropriate directory. Note that if you used
	    "puthere" the two rt_sched.? are already in the right place;
	6 - Do "make modules";
	7 - Do "ldsched" to prepare the scheduler for this variant, its name is
	    rt_sched.o now. Notice that ldsched does a ld command to
	    link the library libgcc.a that can be in a directory differing
	    from the one used in the command script;
Before carrying on steps 2, 4, 5 it s suggested to save the original file
to be overwritten (rt_time.c, rt_time.h, ksyms.c, rt_sched.h,
rt_prio_sched.c). 
Remember that the script file puthere could be of help in carrying out stepsi
2, 4 and 5, even if it is likely to need some editing to use your appropriate 
directories. 
The file "loadmod" and "remod" can be used to insmod and rmmod
the scheduler and the fifo modules. Please notice that if you just type
"loadmod" rt_sched assumes linux is not using the fpu. Use "loadmod 1" if
any foreground linux process uses the fpu. To activate/deactivate fpu support,
both for linux and rt_tasks, there are also two functions: rt_linux_use_fpu
and rt_task_use_fpu

Now you are done and can try the test cases.

Be carefull in setting the macro TICK_PERIOD in the various examples to an
appropriate value (nanosecs) as the one now used is based on a 200Mhz
PentiumPro and can be too demanding for other CPUs.
You will not see any copyright whatsoever in this software and you can
use it as you like but I would like "to be remembered" 
if you'll find it usefull. 
Comments and any feedback are warmly welcomed,
email them at:   "mantegazza@aero.polimi.it".