Other Hardware


Dual kernel configuration

This section provides information regarding which desktop/server system is known to work with Xenomai 2, and Xenomai 3 over the Cobalt core.

Note

In this configuration, a proper I-pipe patch has to be applied to the target kernel, for interfacing Linux with the Xenomai co-kernel. Xenomai 3 in a dual kernel configuration only requires a Linux 3.10 kernel or later – this restriction does not apply to the single-kernel configuration. Xenomai 2 can run in dual kernel configuration only, with older kernels.

PowerPC

Supported Architectures

Xenomai was reported to work on Apple’s PowerPC desktops/servers based on the G4 (32bit architecture) and G5 (PowerPC 970 64bit architecture) families.

SMP support

Xenomai is SMP-capable on PowerPC desktops/servers. However, SMP support for ppc32 was officially made available in Xenomai v2.4.8. SMP/ppc64 was already supported by earlier Xenomai releases though.

x86

Xenomai 2 supports all x86-compatible 32/64bit processor types starting from i486 CPUs and better.

Xenomai 3 over the Cobalt core supports all x86-compatible 32/64bit processor types starting from i586 CPUs with hardware TSC support and better.

Note

Lowest latencies are achieved when a TSC and local APIC are available from the CPU, which any modern x86 desktop/server has; just make sure the processor type you pick in your kernel configuration actually matches your CPU. However, desktop/server x86 hardware may have issues when running real-time software, depending on the kernel configuration. In any case, make sure to read this document prior to configuring your kernel.

Supported Sub-Architectures

Xenomai is known to work on all PC-compatible desktops/servers.

SMP support

Xenomai is SMP-capable on all supported multi-processor/multi-core x86 platforms.


Single kernel configuration

If you plan to run Xenomai 3 over the Mercury core, any Linux-based platform with glibc or uClibc support will do. In this configuration, Xenomai 3 can run on mainline kernels starting from the kernel 2.6.x series onward. The availability of the PREEMPT-RT feature is optional, although recommended if getting short and bounded response time is a requirement.