Install Xenomai 3.x

Admin 6:25 PM
  1. Get source
    • wget https://www.kernel.org/pub/linux/kernel/v4.x/linux-3.18.20.tar.gz
      •  Unzip:  tar xvf linux-3.18.20.tar.gz         (file bz2: -jxvf)
      • Rename to linux-3.18.20-xeno3
    • git clone git://git.xenomai.org/xenomai-3.git
      • Rename to xenomai-3-linux-3.18.20
  2. Prepare Cobalt: (depends on system architecture arm, x86, amdx64)
    • cd xenomai-3-linux-3.18.20
    • scripts/prepare-kernel.sh --linux=/home/presto/xeno/linux-3.18.20-xeno3 --ipipe=/home/presto/xeno/xenomai-3-linux-3.18.20/kernel/cobalt/arch/x86/patches/ipipe-core-3.18.20-x86-8.patch --arch=x86
  3. Patch kernel
    • cd ../linux-3.18.20-xeno3
    • ../xenomai-3-linux-3.18.20/scripts/prepare-kernel.sh  --ipipe=/home/presto/xeno/xenomai-3-linux-3.18.20/kernel/cobalt/arch/x86/patches/ipipe-core-3.18.20-x86-8.patch --arch=x86
  4. Configure kernel
    • make xconfig
    • Required Options
      • Real-time sub-system
        • Xenomai : Enable
        • Necleus: Enable
      • Power management and ACPI options
        • Run-time PM core functionality : Disable
        • ACPI (Advanced Configuration and Power Interface) Support
          • Processor: Disable
        • CPU Frequency scaling: Disable
        • CPU Idle: Disable
      • Processor type and features
        • Processor famlily
          • Core 2/newer Xeon: Check your system with cat /proc/cpuinfo | grep family  if return 6 set as Generic
    • Optional options
      • General setup
        • Local Version: append to kernel resase: -xenomai-2.6.2.1
        • Timer subsystem:
          • High Resolution Timer Support: ON
      • Processor type and features
        • Processor famlily
          • SMT (Hyperthreading) scheduler support (Disable)
          • Preemption Model 
            •  Voluntary Kernel Preemption (Desktop)
  5. Build kernel
    • sudo make-kpkg --rootcmd fakeroot --initrd kernel_image kernel_headers -j $(nproc)
  6. Install Xenomai
  7. Update grub
      • sudo update-grub
      • check kernel image at /boot directory
  8. Boot new kernel
    • At Boot menu: Ubuntu * Advanced options for Ubuntu (Enter on it)
    • Choose Xenomai 3
  9. Testing new kernel
    •  dmesg | grep -i xenomai
  10. Install library
    • Configure library
      • sudo ./scripts/bootstrap          (if there are errors, need to install some below packages)
        • sudo apt-get install autoconf
        • sudo apt-get install libtool
    • Build x86_32 (depend on your target architecture more about configuration https://xenomai.org/installing-xenomai-3-x/#Configuring)
      • mkdir lib-build (in xenomai-3 directory) and then     cd lib-build/
      • ../configure --with-core=cobalt --enable-smp --enable-pshared --host=i686-linux CFLAGS="-m32 -O2" LDFLAGS="-m32"
      • sudo make install
  11. Test Xenomai runtime
    • The xenomai directory will be created during install library at  /usr/xenomai
    • Test latency
      • sudo /usr/xenomai/bin/latency                    
    • Test example
      •  cd ../demo/posix/cyclictest/

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