[Xenomai] Xenomai on VAR-SOM-MX6

Jake Burris jakeburris7 at gmail.com
Wed Jul 11 23:34:55 CEST 2018

The following are the steps that I have taken. Am I missing something? :

1) git clone https://github.com/varigit/debian-var.git -b
debian_stretch_mx6_var01 folder_name

2) cd folder_name

3) ./make_var_som_mx6_debian -c deploy

4) cd src/kernel

5) copy patch-4.9.11, patch-4.9.38, ipipe-core-4.9.38-arm-3.patch to

6) patch -p1 -R < patch-4.9.11

7) patch -p1 < patch-4.9.38

a) When it asks Assume -R? Just hit enter and let it do the default

8) patch -p1 < ipipe-core-4.9.38

9) ~/xenomai-3/scripts/prepare-kernel.sh –arch=arm

10) mkdir -p home/linux

11) export

12) make ARCH=arm CROSS_COMPILE=arm-linux-gnueabihf- O=home/linux

13) make -j5 ARCH=arm CROSS_COMPILE=arm-linux-gnueabihf- O=home/linux
bzImage modules

a) You will likely have to vim arch/arm/mach-imx/gpc.c the first time

i) Comment out: static DEFINE_SPINLOCK(gpc_lock);

ii) Add: static IPIPE_DEFINE_RAW_SPINLOCK(gpc_lock);

14) Menuconfig

a) sudo make ARCH=arm mrproper

b) sudo make ARCH=arm imx_v7_var_defconfig

c) sudo make ARCH=arm menuconfig

d) sudo make ARCH=arm savedefconfig

e) sudo cp defconfig arch/arm/configs/imx_v7_var_defconfig

15) cd home/linux

16) ~/xenomai-3/configure CFLAGS=”-march=armv7-a -mfpu=vfp3”
LDFLAGS=”-march=armv7-a” --host=arm-linux-gnueabihf –enable-smp
–with-core=cobalt –enable-tls CC=arm-linux-gnueabihf-gcc

17) cd folder_name

18) ./make_var_som_mx6_debian -c bootloader

19) ./make_var_som_mx6_debian -c kernel

a) You will have to vim 4 folders here:

i) src/kernel/arch/arm/mach-imx/mach-imx6q.c

-Comment out: //imx_busfreq_map_io();

ii) src/kernel/arch/arm/mach-imx/mach-imx6ul.c

-Comment out: //imx_busfreq_map_io();

iii) src/kernel/arch/arm/mach-imx/mach-imx7d.c

-Comment out: //imx_busfreq_map_io();

iiii) src/kernel/arch/arm/mach-imx/Makefile

-Comment out: #obj-y += busfreq_lpddr2.o busfreq-imx.o busfreq_ddr3.o

20) ./make_var_som_mx6_debian -c modules

21) ./make_var_som_mx6_debian -c rootfs


22) ./make_var_som_mx6_debian -c rtar

23) ./make_var_som_mx6_debian -c sdcard -d /dev/sdb

On Wed, Jul 11, 2018 at 3:07 PM, Jake Burris <jakeburris7 at gmail.com> wrote:

> Hi,
> I am trying to get the Xenomai Cobalt kernel onto a Variscite VAR-SOM-MX6
> Test Board featuring a NXP i.MX6 quad-core processor. I am having issues
> with the user space(a xenomai folder is not showing up in /usr). We are
> using a Debian Stretch OS kernel 4.9.38 with the same IPIPE patch and
> Xenomai 3. I am having issues finding the latency test as well as
> xeno-tests. Is there a specific option that we have to select in menuconfig
> in order for these to show up. When I type dmesg | grep -i "Xenomai" after
> booting the three Xenomai messages are there.
> Please advise,
> Jake

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