Xenomai quick build quide

Xenomai quick build quide

2009-02-12 21:39

以 elinux.org 中的相关栏目、文档为主线，重点是boot time，system size，multimedia, real time 相关为主，深入的学习实践，目的是有一整体理解。同时，对其中某些项目深入进去，而不仅仅浅尝则止。 比如real time中的 xenomai（rtai），可以做为主要的一个方向，适当的时候在2440上做实验。关注实时性，当然还有另外一些系统优化及功耗方面的一些技术，也可以作为重点。 以下是一xenomai的一基本入门文档，转自http://www.xenomai.org/index.php/Xenomai_quick_build_quide This is a quick list of commands on compiling xenomai version 2.4.4 with linux kernel 2.6.25.11 under ubuntu. Download kernel 2.6.25.11 cd /usr/src wget http://www.kernel.org/pub/linux/kernel/v2.6/linux-2.6.25.11.tar.bz2 Download xenomai 2.4.4 wget http://download.gna.org/xenomai/stable/xenomai-2.4.4.tar.bz2 Untar sources tar xfj xenomai-2.4.4.tar.bz2 tar xfj linux-2.6.25.11.tar.bz2 Patch the kernel: cd /usr/src/xenomai-2.4.4 scripts/prepare-kernel.sh Configure the kernel: Since the initrd option is not used later on, compile your hard disk drivers not as a module, but compile it into the kernel itself. cd /usr/src/linux-2.6.25.11 cp /boot/config-2.6.24-16-generic .config make menuconfig and compile the kernel for version 2.4: make sudo make modules_install make bzImage or compile the kernel for version 2.6: make sudo make modules_install install make bzImage copy the kernel image: sudo cp arch/x86/boot/bzImage /boot/vmlinuz-2.6.25.11-xenomai-2.4.4 Create a xenomai group and add users to it: sudo addgroup xenomai sudo usermod -a -G xenomai YOURUSERNAME sudo usermod -a -G xenomai USERY Configure grub (or another bootloader). Also you may try using your UUID in place of /dev/XXX (if the later doesn't work): sudo vim /boot/grub/menu.lst title kernel 2.6.25.11 with xenomai 2.4.4 and Ubuntu 8.04 root (hd0,4) kernel /boot/vmlinuz-2.6.25.11-xenomai-2.4.4 root=/dev/XXX ro xeno_nucleus.xenomai_gid=1001 << groupid of the xenomai group reboot into your new xenomai kernel Configure and compile xenomai: cd /usr/src/xenomai-2.4.4 ./configure make sudo make install Now xenomai is installed in /usr/xenomai, to use it, update the ld paths: sudo cp /etc/ld.so.conf.d/libc.conf /etc/ld.so.conf.d/xenomai.conf sudo vim /etc/ld.so.conf.d/xenomai.conf # xenomai libs /usr/local/lib sudo ldconfig Now xenomai is ready for action, try an example program: cd /usr/src/xenomai-2.4.4/examples/native make ./trivial-periodic 注：还是碰到不少问题。启动出现kernel panic及内核配置（xenomai support）。另行找时间再整理。