乌班图版本太高了,不一定行,反正我就是试了3天各种各样的都试过了,心态炸了,我就直接从乌班图18.04换14.04,成功安装。
linux系统:乌班图14.04
linux内核:4.9.38
xenomai:3.1
ipipe:跟linux内核版本要一样(4.9.38)
搭建xenomai
1,下载包
sudo apt update
sudo apt-get install gcc git make automake build-essential libncurses5-dev bison flex libssl-dev kernel-package git-core flex bison texinfo zip unzip zlib1g-dev gettext libfuse-dev fuse-emulator-gtk pkg-config findutils debhelper libtool libltdl-dev
mkdir XenomaiIgh
sudo su
cd XenomaiIgh
2,下载linux内核及xenomai
2.1,下载linux内核
https://www.kernel.org/pub/linux/kernel/
wget https://www.kernel.org/pub/linux/kernel/v4.x/linux-4.9.38.tar.gz
2.2,下载xenomai
https://xenomai.org/downloads/xenomai/stable
wget https://xenomai.org/downloads/xenomai/stable/xenomai-3.1.tar.bz2
2.3,下载补丁ipipe
https://xenomai.org/downloads/ipipe/v4.x/x86/
sudo wget https://xenomai.org/downloads/ipipe/v4.x/x86/ipipe-core-4.9.38-x86-4.patch
2.4,解压缩包
sudo tar xf linux-4.9.38.tar.gz
sudo tar xf xenomai-3.1.tar.bz2
3,打补丁
cd linux-4.9.38/
sudo cp -r ../ipipe-core-4.9.38-x86-4.patch ./
../xenomai-3.1/scripts/prepare-kernel.sh --arch=x86_64 --ipipe=ipipe-core-4.9.38-x86-4.patch
4,配置内核
sudo make menuconfig
推荐选择:
* General setup
--> Local version - append to kernel release: -xenomai-3.0.5
--> Timers subsystem
--> High Resolution Timer Support (Enable)
* Xenomai/cobalt
--> Sizes and static limits
--> Number of registry slots (512 --> 4096)
--> Size of system heap (Kb) (512 --> 4096)
--> Size of private heap (Kb) (64 --> 256)
--> Size of shared heap (Kb) (64 --> 256)
--> Maximum number of POSIX timers per process (128 --> 512)
--> Drivers
--> RTnet
--> RTnet, TCP/IP socket interface (Enable)
--> Drivers
--> New intel(R) PRO/1000 PCIe (Enable)
--> Realtek 8169 (Enable)
--> Loopback (Enable)
--> Add-Ons
--> Real-Time Capturing Support (Enable)
* Power management and ACPI options
--> CPU Frequency scaling
--> CPU Frequency scaling (Disable)
--> ACPI (Advanced Configuration and Power Interface) Support
--> Processor (Disable)
--> CPU Idle
--> CPU idle PM support (Disable)
* Pocessor type and features
--> Enable maximum number of SMP processors and NUMA nodes (Disable)
// Ref : http://xenomai.org/pipermail/xenomai/2017-September/037718.html
--> Processor family
--> Core 2/newer Xeon (if "cat /proc/cpuinfo | grep family" returns 6, set as Generic otherwise)
// Xenomai will issue a warning about CONFIG_MIGRATION, disable those in this order
--> Transparent Hugepage Support (Disable)
--> Allow for memory compaction (Disable)
--> Contiguous Memory Allocation (Disable)
--> Allow for memory compaction
--> Page Migration (Disable)
* Device Drivers
--> Staging drivers
--> Unisys SPAR driver support
--> Unisys visorbus driver (Disable)
5,编译内核
这里编译大概要两个小时左右,根据自己电脑性能有所差异。
sudo CONCURRENCY_LEVEL=$(nproc) make-kpkg --initrd kernel_image kernel_headers
6,安装编译好的内核
cd ..
sudo dpkg -i linux-headers-4.9.38-xenomai-3.0.5_4.9.38-xenomai-3.0.5-10.00.Custom_amd64.deb
sudo dpkg -i linux-image-4.9.38-xenomai-3.0.5_4.9.38-xenomai-3.0.5-10.00.Custom_amd64.deb
7,添加xenomai 组
sudo addgroup xenomai --gid 1234
sudo addgroup xenomai --gid 1234
sudo usermod -a -G xenomai $USER
8,配置开机启动内核
sudo gedit /etc/default/grub
8.1,修改内容:
GRUB_DEFAULT="Advanced options for Ubuntu>Ubuntu, with Linux 4.9.38-xenomai-3.0.5"
#GRUB_DEFAULT=saved
#GRUB_SAVEDEFAULT=true
# Comment the following lines
#GRUB_HIDDEN_TIMEOUT=0
#GRUB_HIDDEN_TIMEOUT_QUIET=true
GRUB_TIMEOUT=5
GRUB_CMDLINE_LINUX_DEFAULT="quiet splash xenomai.allowed_group=1234"
GRUB_CMDLINE_LINUX=""
8.2,更新内核并重启
sudo update-grub
sudo reboot
9,安装xenomai用户空间库程序
9.1,查询系统是否正确安装
uname -a
Linux hh 4.9.38-xenomai-3.0.5 #1 SMP Thu Nov 11 16:41:44 CST 2021
x86_64 x86_64 x86_64 GNU/Linux
dmesg | grep Xenomai
[ 0.753757] [Xenomai] scheduling class idle registered. [
0.753758] [Xenomai] scheduling class rt registered. [ 0.753779] [Xenomai] SMI-enabled chipset found, but SMI workaround disabled [
0.754039] I-pipe: head domain Xenomai registered. [ 0.754935] [Xenomai] allowing access to group 1234 [ 0.754965] [Xenomai]
Cobalt v3.1
9.2,安装用户空间程序
cd xenomai-3.1
./script/bootstrap //如果没有configure文件则执行此语句
./configure --with-pic --with-core=cobalt --enable-smp --disable-tls --enable-dlopen-libs
./configure --with-pic --with-core=cobalt --enable-smp --disable-tls --enable-dlopen-libs
./configure --with-pic --with-core=cobalt --enable-smp --disable-tls --enable-dlopen-libs --disable-clock-monotonic-raw
make
sudo make install //默认安装在/usr/xenomai
9.3,更新bashrc
echo '
### Xenomai
export XENOMAI_ROOT_DIR=/usr/xenomai
export XENOMAI_PATH=/usr/xenomai
export PATH=$PATH:$XENOMAI_PATH/bin:$XENOMAI_PATH/sbin
export PKG_CONFIG_PATH=$PKG_CONFIG_PATH:$XENOMAI_PATH/lib/pkgconfig
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$XENOMAI_PATH/lib
export OROCOS_TARGET=xenomai
' >> ~/.xenomai_rc
echo 'source ~/.xenomai_rc' >> ~/.bashrc
source ~/.bashrc
9.4,追加权限
sudo chmod -R 777 /dev/rtdm/memdev-private
sudo chmod -R 777 /dev/rtdm/memdev-shared
9.5,测试
sudo /usr/xenomai/bin/latency
== Sampling period: 100 us
== Test mode: periodic user-mode task
== All results in microseconds warming up… RTT| 00:00:01 (periodic user-mode task, 100 us period, priority 99) RTH|----lat min|----lat
avg|----lat max|-overrun|—msw|—lat best|–lat worst RTD|
-0.359| 0.227| 9.093| 0| 0| -0.359| 9.093 RTD| -0.209| 0.127| 8.616| 0| 0| -0.359|
9.093 RTD| -0.328| 0.178| 11.469| 0| 0| -0.359| 11.469