[Xenomai] Xenomai 3 with kernel 4.1 for Beaglebone (with GPIO and PWM drivers)

Øyvind Netland oyvind at netland.name
Sat Jan 7 10:02:03 CET 2017

Thanks for that info, for some reason I haven't noticed that... Strange..
Might be because I have mostly used the bb-kernel repository, not looked as
closely at the ti-linux-kernel-dev repository....

Just tested RobertCNelsons 4.4 xenomai kernel and it seems to work fine. So
I guess both solutions works.

A slight difference was that with the 4.1 kernel /proc/xenomai/latency
returned 6041, while 4.4 returned 6499. Dont know if that really is a
practical difference...

However, the GPIO and PWM RTDM drivers are currently only available for the
4.1 version. I will see if I can get those to work on the 4.4 at some
point, but might take some time to get around to that...

I tried to install a xeno_gpio module that came with the 4.4 kernel, but
that did not work (a lot of RTDM related "unknown symbol").

Best Regards
Øyvind Netland

On Sat, Jan 7, 2017 at 1:17 AM, Giulio Moro <giuliomoro at yahoo.it> wrote:

> If it can help, a 4.4.y kernel for BeagleBone by RobertCNelson with
> Xenomai 3.0.3 is here
> https://github.com/RobertCNelson/ti-linux-kernel-
> dev/tree/ti-linux-xenomai-4.4.y
> ------------------------------
> *From:* Øyvind Netland <oyvind at netland.name>
> *To:* xenomai at xenomai.org
> *Sent:* Friday, 6 January 2017, 20:01
> *Subject:* [Xenomai] Xenomai 3 with kernel 4.1 for Beaglebone (with GPIO
> and PWM drivers)
> Hi
> I have seen several implementations of xenomai 2.x for Beaglebone, but not
> Xenomai 3. It was actually not that difficult if you just started with the
> correct commit of RobertCNelsons bb-kernel on github, and I assume that
> somebody have done it before.
> However, I thought it would be worth while to make this as easy as
> possible, thus I have made a fork of RobertCNelson on my github with a new
> "am33x-v4.1-xenomai" branch.
> To build, just do
> git clone https://github.com/oyvindnetland/bb-kernel.git
> cd bb-kernel
> git checkout am33x-v4.1-xenomai
> ./build_kernel.sh or ./build_deb.sh
> As I am using the GPIO and PWM of the Beaglebone, I have also included RTDM
> drivers for this, just enable them in the kernel menuconfig
> (Xenomai/Cobalt->Drivers->Beaglebone RTDM I/O). It will make one entry in
> /dev/rtdm for each GPIO and PWM. All GPIO available by default is enabled,
> and all 6 PWM (device tree rules are done automatically)
> I have made a simple library also available on my github (
> https://github.com/oyvindnetland/librtbbio) that allow easy use of the
> drivers. It includes a simple test, but this is not complete yet.
> I have plans to expand with other RTDM drivers, e.g. UART, but have
> currently no timeframe on this, if anybody want to help with this, let me
> know.
> Let me know if you test this and have any issues or comments!
> Best regards
> Øyvind Netland
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