[Xenomai] Xenomai 3 on BBB or Raspi

Andrew Eliasz andrew.eliasz at gmail.com
Sat Apr 2 22:40:23 CEST 2016

Dear Gilles,
Thank you ...
I plan to follow the steps you have outlined carefully.
My experience with Linux building and tinkering is that "the logic of the
steps"  is normally quite clear.
Its the little details and bugs / features that need patching and
mismatches between combinations of versions
that cause problems.  I am one of these people that likes to start a
complex real time or embedded systems project by laying a foundation and
starting off with something that is really well defined and is known to
Once I have something that works then I can feel more confident in applying
various extensions and modifications ...
Once again many thanks for this information.

On 2 April 2016 at 16:38, Gilles Chanteperdrix <
gilles.chanteperdrix at xenomai.org> wrote:

> On Sat, Apr 02, 2016 at 04:03:20PM +0100, Andrew Eliasz wrote:
> > Apologies for taking up your valuable time.
> > I have been able to get Xenomai 2 running on a Beagle Bone Black ...
> > I have not been able to find any detailed instructions for getting
> Xenomai
> > 3 to run on either a Beagle Bone Black or a Raspberry Pi.
> > Has anyone, to your knowledge, been able to do this successfully please ?
> > If not is there some other reference board for which Xenomai 3 build and
> > install details are available so that I can carefully work through the
> > steps involved and at least master those before attempting to get
> Xenomai 3
> > to run on either a RaspberryPi or a Beagle Bone Black.
> > Many thanks
> Hi,
> this question starts being asked a lot, so I am going to give a
> longer answer than usual, for future reference.
> Installing Xenomai is largely a process which does not depend on
> distributions or board details, and is documented here:
> https://xenomai.org/installing-xenomai-3-x/
> I am giving here a summary of the information found there, supposing
> you want to compile Xenomai with the cobalt core.
> You first need to prepare kernel sources by running a shell script
> (named prepare-kernel.sh) which applies an I-pipe patch (either
> taken from Xenomai sources, or downloaded following instructions
> here https://xenomai.org/getting-the-i-pipe-patch/, downloading the
> I-pipe patch ensures that you can have a more recent version than
> the one released with Xenomai), and sets up some symbolic links in
> the kernel sources to compile Xenomai kernel-space support while
> compiling the kernel.
> For the specific case of boards not using mainline kernels, you may
> have to apply some pre- and post- patches around the I-pipe patch,
> these patches are found in Xenomai sources.
> Alternatively, in the case of the Rpi, a branch may be found in the
> I-pipe git repository, which you may use as base for running the
> prepare-kernel.sh script: the script does not try and apply an
> I-pipe patch if the sources are already patched.
> Once you have done that, you have to configure the kernel. This is
> the hard part, as the configuration is dependent on your board, but
> you must also pay attention to not enable some options (listed
> here:
> https://xenomai.org//troubleshooting-a-dual-kernel-configuration/#kconf)
> Finally, you can cross-compile your kernel "as usual". If you are
> not comfortable with compiling kernels, you may find some
> instructions specific to your board somewhere (but again, this is
> largely independent of any board or distribution details), the fact
> that the kernel is patched with Xenomai does not change anything to
> the compilation and installation process.
> The second step is to cross-compile Xenomai user-space support.
> Xenomai uses the autotools, so is compiled by running configure,
> make and make install (with some arguments when cross-compiling), in
> any case, compiling packages using the autotools is also largely
> documented on the web.
> Regards.
> --
>                                             Gilles.
> https://click-hack.org

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