[Xenomai] Xenomai 3 on BBB or Raspi

Mathieu mathieu_rondonneau at hotmail.com
Thu Apr 28 17:03:41 CEST 2016

On 16-04-02 08:38 AM, Gilles Chanteperdrix 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.

I have posted an updated patch recently (about xenomai-3 on rpi using
kernel 4.1):

Isn't it what you are looking for?


More information about the Xenomai mailing list