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Xenomai Installation

KeyWords: Xenomai, Real Time, Kernel, Ubuntu

I recently installed the real time framework for Linux Xenomai . To install it, I have based on instructions from [1] , but as some problems arose with the installation I decided to leave record on the part of the installation process.

1. Downloading the kernel sources and Xenomai

1. # cd / usr / src
2. Disclaimer versions of the kernel and Xenomai:
   
   
   
   
   1. Xenomai version: 2.4.7
      

         Xenomai svn co http://svn.gna.org/svn/xenomai/trunk 
       

   2. kernel version: 2.6.27.19 of www.kernel.org


3. # tar-xjf linux -2.6.xx.yy.tar.bz2
4. # ln-s linux linux-2.6.xx.yy

2. Xenomai Apply patch to the Linux source

1. # cd Xenomai -> scripts / prepare-kernel.sh
   
   
2. There we asked the routes to the kernel sources to we want to apply the patch, the machine we are working and Xenomai patch path that we just downloaded.

3. Compiling the Kernel

1. # cd / usr / src / linux
   
   
2. # make menuconfig
   
   

• In this step, as it enters the kernel configuration had to be adjusted following options:
  
  
  
  • \u0026lt;cite> Warning: you enabled APM or ACPI CPU Frequency Scaling 'processor'
  
  
  this

options

*** Are Known to cause troubles with Xenomai

*** note: Conflicts with PC Speaker Xenomai support device

Menu *** Drivers / Input device support / Miscellaneous devices

NOTE: Xenomai Needs Either X_86_LOCAL_APIC enabled or disabled HPET_TIMER \u0026lt;/ cite>

therefore had to be clear:

• 'menuconfig' -> 'Kernel Hacking' -> 'Kernel Debugging "[N]


• ' menuconfig '->' Device Drivers' -> 'Input Device Support'->' MISCELLANEOUS Devices '->' PC Speaker Support "[N]


• 'APM' -> 'CPU Frequency Scaling or ACPI'


• 'Processor Type and Features' -> 'HPET_Timer_Support' [N]

1. 
   
# make # make modules_install
2. install

4. Create the initrd image and add the new kernel to grub

1. # update-initramfs-c-k \u0026lt;version>
2. # gedit / boot / grub / menu.lst &
3. title My Distro (\u0026lt;version>)
   
   

Ubuntu_ title \u0026lt;version> _Xenomai
root (hd \u0026lt;x> \u0026lt;x>)
kernel / boot/bzImage- \u0026lt;version> ro root = LABEL = / initrd
/ boot/initrd- \u0026lt;version>.
img

5. Reboot the system with the new kernel

6. Configuring and compiling Xenomai

1. # cd / usr/src/xenomai-2.1
   
2. #. / Configure
   
3. # make
   
4. # Make install
reboot

7. Once at this point you have to run the examples in testsuite hosted

1. # cd / usr / src / Xenomai / share / testsuite / \u0026lt;exampleName> /. / Run

8. Possible errors when running Xenomai examples of

• "Incompatible feature set userland requires" tsc "kernel provides" September fastsynch smp "missing" tsc "

The first time I tried run the test out this decision, which was corrected simply by returning to step 6 Configuring and compiling Xenomai ,

doing:

# make clean

and instead of. / configuration ->. / configuration - disable-x86-tsc

and recompiling Xenomai sources.

I hope this helps those who want to install the real time system in Ubuntu.

[1] http://www.captain.at/xenomai-2.1-installation.php