Not all real-time systems gain from using a real-time kernel. Consider a real-time system comprised of three motors and three switches. The switches have two positions, ON and OFF. The switches must be scanned at about 10 times per second, and the motors turned on or off as appropriate.
Any real-time system can be coded without a kernel, however, even simple systems can benefit from one. For some applications, timer management alone may be reason enough to use a kernel. Much can be written on this subject, and if there is enough interest, a more complete article may be written in the future.
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