Amit (aka automata on IRC), who has taken the initiative on xenomai 
integration, kindly sent me these links which I found very interesting:

https://www.osadl.org/fileadmin/dam/rtlws/12/Brown.pdf - comparing rt_prempt 
v/s xenomai performance
retis.sssup.it/~lipari/courses/str07/xenomai-handout.pdf - good introductory 
overview of Xenomai

- Michael


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