[Xenomai] Xenomai-3 installation problems

Giulio Moro g.moro at qmul.ac.uk
Mon Jun 12 15:39:50 CEST 2017

Not sure if this helps, but I have Xenomai 3.0.5 running on the BeagleBone Black.

We build the image (kernel + rootfs) using this script github.com/BelaPlatform/bela-image-builder/, in particular the defconfig file for the kernel is https://github.com/BelaPlatform/bela-image-builder/blob/master/kernel/bela_defconfig 
and the xenomai userspace li is built like this https://github.com/BelaPlatform/bela-image-builder/blob/master/scripts/build_xenomai.sh and then installed via chroot. Alternatively you can build it on the board in less than 15minutes:
LDFLAGS="-no-pie -fno-pie -march=armv7-a -mfpu=vfp3"
CFLAGS="-no-pie -fno-pie -march=armv7-a -mfpu=vfp3"

mkdir -p $build_root
cd $build_root
$xenomai_root/configure --with-core=cobalt --enable-pshared --host=arm-linux-gnueabihf --build=arm CFLAGS="$CFLAGS" LDFLAGS="$LDFLAGS"
make install

Here is what I get on my board on boot (and this has nothing to do with the userspace library, it is kernel stuff only):
sudo dmesg | grep -i xenomai
[    0.000000] Linux version 4.4.68-ti-xenomai-r106 (root at giulio-VirtualBox) (gcc version 5.4.1 20170404 (Linaro GCC 5.4-2017.05) ) #1 Thu Jun 1 02:45:44 BST 2017
[    1.599916] [Xenomai] scheduling class idle registered.
[    1.599928] [Xenomai] scheduling class rt registered.
[    1.600075] I-pipe: head domain Xenomai registered.
[    1.608034] [Xenomai] Cobalt v3.0.5 (Sisyphus's Boulder)
[    1.719447] usb usb1: Manufacturer: Linux 4.4.68-ti-xenomai-r106 musb-hcd

Hope this helps

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