[Xenomai] Xenomai 3 on BBB or Raspi
andrew.eliasz at gmail.com
Thu Apr 28 17:07:22 CEST 2016
Many thanks ...
On 28 April 2016 at 16:03, Mathieu <mathieu_rondonneau at hotmail.com> wrote:
> 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
> >> 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?
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