Many, if not all, aspects of our everyday lives are related to computers and control. Microprocessorsand wireless communications are involved in our lives. Embedded systems arean attracting field because they combine three key factors, small size, low powerconsumption and high computing capabilities.The aim of this thesis is to study how Linux communicates with the hardware, to answerthe question if it is possible to use an operating system like Debian for embedded systemsand finally, to build a Mechatronic real time application. In the thesis a presentation ofLinux and the Xenomai real time patch is given, the bootloader and communication withthe hardware is analyzed. BeagleBone the evaluation board is presented along with theapplication project consisted of a robot cart with a driver circuit, a line sensor reading ablack line and two Xbee antennas. It makes use of Xenomai threads, the real time kernel.According to the obtained results, Linux is able to operate as a real time operating system.The issue of future research is the area of embedded Linux is also discussed.
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