Running applications with Xenomai 3.x


Running a Xenomai 3 application

For Cobalt, you will need the real-time core built into the target Linux kernel as described in this document.

For Mercury, you need no Xenomai-specific kernel support so far, beyond what your host Linux kernel already provides. Your kernel should at least provide high resolution timer support (CONFIG_HIGH_RES_TIMERS), and likely complete preemption (PREEMPT_RT) if your application requires short and bounded latencies.

Any Xenomai-based application recognizes a set of standard options that may be passed on the command line, described in this document.

In addition, the Alchemy, pSOS ™ and VxWorks ™ APIs running over the Xenomai core can define the clock resolution to be used, given as a count of nano-seconds, i.e. HZ=(1000000000 / ns), by the --{alchemy/psos/vxworks}-clock-resolution=<ns> option.

If your application combines multiple APIs, you may pass several clock-resolution switches to set them all.

The default value depends on the API being considered. For instance, the VxWorks ™ and pSOS ™ emulators default to millisecond clock rates. The Alchemy API is tickless by default, i.e. --alchemy-clock-resolution=1.

Caution

Specifying a resolution greater than 1 nanosecond requires the low resolution clock support to be available from the Xenomai libraries (see the --enable-lores-clock configuration switch).

Valgrind support

Running Xenomai applications over Valgrind is currently available to the Mercury core only.

When the Valgrind API is available to the application process, the configuration symbol CONFIG_XENO_VALGRIND_API is defined at build time, and may be tested for existence by the application code. See the tool documentation at this address.

The Xenomai autoconf script will detect the Valgrind core header on the build system automatically, and define this symbol accordingly (i.e. /usr/include/valgrind/valgrind.h).

Note

You may need to install the Valgrind development package on your build system to provide for the core header files. For instance, such package is called valgrind-devel on Fedora.

Available real-time APIs

Alchemy

This is a re-implementation from scratch of Xenomai’s 2.x native API, fully rebased on the new RTOS abstraction interface.

pSOS

pSOS ™ is a registered trademark of Wind River Systems, Inc.

VxWorks

VxWorks ™ is a registered trademark of Wind River Systems, Inc.