How to write RT applications ?

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Hello,

I have followed
https://rt.wiki.kernel.org/index.php/HOWTO:_Build_an_RT-application

Yet, I found in Xenomai documentation a lot of ideas as to how to take
care that rt threads will not move from rt mode, to non-rt mode.

I know it is different concepts, yet, I wander if in RT Linux there
are also similar ideas, that should be taken care of when writing
application, in order to be assure that real time threads behave as
expected.

Thank you!
Ran
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