linux4.9.90+xenomai3.0.9安装教程

环境

1.运行环境

• CPU : Intel® Pentium® CPU G4400 @ 3.30GHz 四核
• OS : ubuntu16.04
• GCC : gcc version 5.5.0 20171010 (Ubuntu 5.5.0-12ubuntu1)

曾尝试使用ubuntu18,不过在编译安装xenomai运行库时一直编译不过。报错：
make[2]: Entering directory ‘/home/XXX/xenomai-3.0.5/testsuite/latency’
CCLD latency
/usr/bin/ld: -r and -pie may not be used together
collect2: error: ld returned 1 exit status
Makefile:451: recipe for target ‘latency’ failed
make[2]: *** [latency] Error 1
make[2]: Leaving directory ‘/home/XXX/xenomai-3.0.5/testsuite/latency’
Makefile:423: recipe for target ‘install-recursive’ failed
make[1]: *** [install-recursive] Error 1
make[1]: Leaving directory ‘/home/XXX/xenomai-3.0.5/testsuite’
Makefile:460: recipe for target ‘install-recursive’ failed
make: *** [install-recursive] Error 1
尝试解决解决不掉，

2.编译环境

• CPU : Intel® Core™ i7-8750H CPU @ 2.20GHz 六核
• OS : ubuntu16.04
• GCC : gcc version 5.5.0 20171010 (Ubuntu 5.5.0-12ubuntu1)

3. 待编译内核版本

• 内核：linux-4.9.90
• ipipe：ipipe-core-4.9.90-x86-6.patch
• xenomai：ipipe-core-4.9.90-x86-6.patch

内核是在阿里mirror里下载的，速度比较快。ipipe和xenomai是在xenomia.org/download 下载的，速度还可以

步骤

1. 打补丁

tar