Sorry for the delay in putting this up ... my server was down for the past few days.
I have used the Linux kernel 2.4.27 and rtai-3.1 for this project. Readers should have an elementary idea of LXRT programming, which was discussed in a previous article.
Here is the source of all the programs discussed in the article. A file called `ldmod' in the package will tell you what all modules to load to make the programs work. Another file called `mak' is a simple shell script which will give you an idea as to what all options have to be given during compilation.