Embedded Hardware

Dual kernel configuration

This section provides information regarding which SoC/SBC from the embedded space is known to work with Xenomai 2, and Xenomai 3 over the Cobalt core.

By default, all Xenomai ports in dual-kernel configuration are based on the mainline Linux kernel which can be found at git://git.kernel.org/pub/scm/linux/kernel/git/torvalds/linux-2.6.git. A few ports may target a vendor kernel tree instead, see


In this configuration, a proper I-pipe patch has to be applied to the target kernel, for interfacing Linux with the Xenomai co-kernel. Xenomai 3 in a dual kernel configuration only requires a Linux 3.10 kernel or later – this restriction does not apply to the single-kernel configuration. Xenomai 2 can run in dual kernel configuration only, with older kernels.


The information below may be incomplete and/or outdated; the Xenomai project is not committed to support each and every SBC/platform from each and every architecture in all Xenomai releases, and new hardware support is regularly added to this list. If unsure about whether your hardware is supported by a given Xenomai release, ask on the Xenomai mailing list.


Supported SoC

  • ARM
    • Integrator/CP
  • Atmel
    • at91 family
  • Broadcom
    • BCM2835
  • Freescale
    • i.MX family
      • i.MX1
      • i.MX21
      • i.MX27
      • i.MX28
      • i.MX31
      • i.MX51
      • i.MX53
      • i.MX6 series
      • i.MX7 series
    • QorIQ LS1 family
  • Intel
    • ixp4xx
  • Intel/Marvell
    • PXA family
    • SA11x0-based
  • Samsung
    • S3C24xx family
  • STMicroelectronics
    • SPEAr600
    • STIH4x
  • Texas Instruments
  • Xilinx

Supported Evaluation Boards

  • Balloonz Ltd
    • SA1110: Balloon2
  • Calao Systems
    • AT91SAM9263: USB-A9263
  • Cogent Computer
    • i.MX21: CSB535fs
    • AT91RM9200: CSB637
  • DAVE s.r.l. / DENX Computer Systems GmbH
    • i.MX31: Qong EVB-Lite
  • Freescale
    • i.MX1: MX1ADS
    • i.MX31: MX31ADS
    • i.MX51: MX51 Babbage
    • i.MX6: Solo
    • i.MX6Q: SabreSD, SabreLite
    • i.MX6Q: PhyFLEX
    • i.MX7D: SDB
    • QorIQ LS1: LS1021
  • Intel
    • IXP465: IXDP465
  • ISEE
    • OMAP3530: IGEP v2
  • Linksys/Cisco
    • IXP425: NSLU2
  • Raspberry Pi foundation
    • Pi Zero
    • Pi 2 Model B (multi_v7_defconfig, bcm2836-rpi-2-b.dtb)
    • Pi 3 Model B (32 bit mode, multi_v7_defconfig, bcm2837-rpi-3-b.dts)
  • STMicroelectronics
    • EVALSPEAr600
  • Texas Instrument
  • VIA
    • IMX6Q: VAB-820 Pico-ITX

Support for this SoC is available from a vendor-specific branch from the I-pipe tree. See vendors branches from the I-pipe repository.

SMP support

Xenomai is SMP-capable on multi-core/multi-processor ARM platforms (e.g. OMAP4430 dual core, i.MX6q, i.MX7d).


Supported SoC

  • Hisilicon
    • Kirin 620

Supported Evaluation Boards

  • Hisilicon
    • HiKey (96Boards Consumer Edition)


Supported Processors

  • Analog Devices
    • BF526
    • BF527
    • BF533
    • BF537
    • BF548
    • BF561
    • BF609

Supported Evaluation Boards

  • Analog Devices
    • BF526 EZ-KIT
    • BF527 EZ-KIT Lite
    • BF533 STAMP
    • BF537 STAMP
    • BF548 EZ-KIT Lite
    • BF561 EZ-KIT
    • BF609 EZ-KIT

Nios II

Supported Boards

  • Altera
    • DE2
    • DE2-70
    • Cyclone III 3C120
    • Cyclone III 3C25
    • Cyclone V


Supported Architectures

Xenomai was reported to work on platforms based on the following embedded PowerPC (32/64bit) architectures: 40x, 44x, 512x, 52xx, 82xx, 83xx, 85xx, 86xx, pa6t. Xenomai supports BOOK3S and BOOK3E cores in 64bit mode starting with Linux 4.1.

Supported Evaluation Boards

Xenomai is known to work on those PowerPC-based Evaluation Boards:

  • AMCC
    • PPC405EX: Kilauea, Makalu
    • PPC405GP: Walnut
    • PPC405GPr: Sycamore
    • PPC405EP: Bubinga, Taihu
    • PPC440EP: Bamboo, Yosemite
    • PPC440EPx: Sequoia
    • PPC440GX: Ocotea, Taishan
    • PPC440GR: Yellowstone
    • PPC440GRx: Rainier
    • PPC440SPe: Yucca, Katmai
  • Avnet
    • V5FX30T [ Virtex-5 XC5VFX30T FPGA with ppc440 (400 MHz) ]
  • DAVE s.r.l. / DENX Computer Systems GmbH
    • MPC5121: Aria
  • Emerson
    • MPC8641D: MVME7100
  • Freescale
    • MPC5121-ADS
    • MPC8272-ADS
    • MPC8313E-RDB
    • MPC8349-ITX
    • MPC8349E-MITX-GP
    • MPC8360-MDS
    • MPC8540-ADS
    • MPC8545-CDS
    • MPC8548E-CDS
    • MPC5200, MPC5200b: Lite5200, Lite5200b
    • QorIQ P2020
    • QorIQ T1042
  • PA-Semi
    • PA6T: 1682M Electra
  • TQ Components
    • MPC8548E: TQM8548
    • MPC8560: TQM8560
  • Xilinx
    • ML403 [ Virtex-4 XC4VFX12 FPGA with ppc405 (300 MHz) ]
    • ML507 [ Virtex-5 XC5VFX70T FPGA with ppc440 (400 MHz) ]

SMP support

Xenomai is SMP-capable on multi-core/multi-processor PowerPC platforms.


All x86-compatible 32/64bit processor types starting from i486 CPUs and better are supported. Lower latencies are achieved when a TSC and local APIC are available from the CPU. Make sure the processor type you pick in your kernel configuration actually matches your CPU. In case you get weird latencies when running Xenomai on your x86 board, make sure to check out this information.

Supported Sub-Architectures

Xenomai is known to work on all PC-compatible and AMD Elan systems.

SMP support

Xenomai is SMP-capable on all supported multi-processor/multi-core x86 platforms.

Single kernel configuration

If you plan to run Xenomai 3 over the Mercury core, any Linux-based platform with glibc or uClibc support will do. In this configuration, Xenomai 3 can run on mainline kernels starting from the kernel 2.6.x series onward. The availability of the PREEMPT-RT feature is optional, although recommended if getting short and bounded response time is a requirement.