RTLinux（实时Linux）上可以使用USB吗？
我想知道，我们可以在 RTLinux 上使用 USB 吗？我问过很多人都说不能。但后来我读到了一些关于机器人技术的文章，其中他们使用 RTLinux 进行操作，并使用 USB 摄像头作为眼睛。这让我开始思考，也许有办法解决这个问题。
另外，这个功能与内核有什么关系吗？我的意思是，也许内核 2.4 不支持它，但内核 2.6 可以？ （只是想知道）
最后一件事：任何人都可以介绍一下 RTLinux 架构及其工作原理吗？我用谷歌搜索了一下，但有很多混乱的结果。
感谢您的帮助。
就，关于。
I was wondering, can we use USB on RTLinux? Many people I ask say that you can't. But then I read some articles on robotics, where they were using RTLinux for its operation and USB cameras for the eyes. So that got me thinking, maybe there is a way around it.
Also, does this functionality has anything to do with Kernel? I mean maybe Kernel 2.4 doesn't support it but Kernel 2.6 does? (Just wondering)
Last thing: can anyone please throw some light on RTLinux architecture and its working? I did google about it but there was a lot of muddled results.
Thanks for your help.
With regard.
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你确定他们使用的是 RTLinux 吗？ RTLinux 并不是真正的 Linux，它是一个完全不同的微内核，恰好将 Linux 作为“用户空间”进程运行。看来开发 RTLinux 的商业实体已经放弃了它，所以我不敢使用它。为什么你还要谈论内核 2.4 和 2.6？ Linux 3.0 于两年前问世。我们现在快到 3.9 了。
现代内核使得实时操作变得容易。 是对各种方法的很好的概述： https://lwn.net/Articles/139047/
以下 在库存内核上启用 CONFIG_PREEMPT，获取树外补丁实时 Linux 补丁集（请参阅https://rt.wiki.kernel.org/index.php/Main_Page ）和启用 CONFIG_PREEMPT_RT。
即使是普通内核本身也表现得很好：
https://www.osadl.org/Single-View.111+M59e3481cdfe .0.html
甚至还有一种方法可以让 Linux 的大部分繁忙工作远离一个 CPU。 （它最初是作为离线调度程序，但这个想法已经进入了主线。我忘记了它叫什么。但这就是它的开始:)
http://lwn.net/Articles/350123/
Are you sure they were using RTLinux? RTLinux is not really Linux, it's a completely different microkernel that happens to run Linux as a "user-space" process. It appears that the commercial entity that developed RTLinux has dropped it, so I'd be scared to use it. And why are you even talking about kernel 2.4 and 2.6? Linux 3.0 came out 2 years ago. We're almost on 3.9 right now.
The modern kernel makes it easy to do real time. Here's a good overview of the various approaches: https://lwn.net/Articles/139047/
Either enable CONFIG_PREEMPT on the stock kernel, get the out-of-tree patch Real-Time Linux patch set (See https://rt.wiki.kernel.org/index.php/Main_Page ) and enable CONFIG_PREEMPT_RT.
Even the stock kernel does very well by itself:
https://www.osadl.org/Single-View.111+M59e3481cdfe.0.html
There's even a way to keep much of the busywork of Linux away from one CPU. (It started as the offline scheduler, but the idea has made it into the mainline.. I forget what it's called. But here's the start of it:)
http://lwn.net/Articles/350123/