ubuntu 下 linux 2.6.18.tar.gz 内核编译,Ubuntu18.04+Xenomai3.1详细步骤（附内核deb文件）...

xenomai是linux实时改造的重要方案之一，下面给出其具体的安装以及Ubuntu内核编译过程。

原理图如下

1. 下载ubuntu内核以及xenomai3.1软件包

#开局先换源

wget https://www.kernel.org/pub/linux/kernel/v4.x/linux-4.9.38.tar.gz

wget https://xenomai.org/downloads/xenomai/stable/xenomai-3.1.tar.bz2

2. 压缩包解压，并复制到/usr/src

sudo tar xf linux-4.9.38.tar.gz

sudo tar xf xenomai-3.1.tar.bz2

sudo cp -r linux-4.9.38 /usr/src

sudo cp -r xenomai-3.1 /usr/src

3. 给ubuntu内核打上xenomai补丁，建立一个x86_64位内核

cd linux-4.9.38

sudo wget https://xenomai.org/downloads/ipipe/v4.x/x86/older/ipipe-core-4.9.38-x86-3.patch

../xenomai-3.1/scripts/prepare-kernel.sh --arch=x86_64 --ipipe=ipipe-core-4.9.38-x86-3.patch

#File arch/x86/Kconfig is read-only；trying to patch anyway

#checking file arch/x86/Kconfig

#...

#如出现上述报错，记得加sudo

4. 配置内核

sudo apt install gcc libc6-dev libncurses5-dev libssl-dev build-essential bison flex

#/bin/sh: 1: gcc: not found

#scripts/Makefile.host:107: recipe for target'scripts/basic/fixed' failed

#make[1]: *** [scripts/basic/fixed] Error 127

#Makefile:588: recipe for target 'menuconfig' failed

#make: *** [scripts_basic] Error 2

#如出现上述报错，在安装下面的关键库

#sudo apt install lib32stdc++6

#sudo apt install lib32z1

yes "" | make oldconfig

make menuconfig

#如还提示安装ncurses报错，加sudo

#进入menuconfig界面，会看影响xenomai实时性的警告信息：

#*** WARNING! Page migration (CONFIG_MIGRATION) may increase ***

#*** latency. ***

#*** WARNING! At least one of APM, CPU frequency scaling, ACPI ‘processor‘ ***

#*** or CPU idle features is enabled. Any of these options may ***

#*** cause troubles with Xenomai. You should disable them. ***

#具体配置如下所示：

* General setup

--> Local version - append to kernel release: -xenomai-3.1

--> 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 orde

--> 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)

配置完成后界面如下

5. 进一步构建实时内核

sudo apt install kernel-package

6.编译内核

CONCURRENCY_LEVEL=$(nproc) make-kpkg --rootcmd fakeroot --initrd kernel_image kernel_headers

7.安装生成的系统文件

cd ..

sudo dpkg -i linux-headers-4.9.38-xenomai-3.1_4.9.38-xenomai-3.1-10.00.Custom_amd64.deb linux-image-4.9.38-xenomai-3.1_4.9.38-xenomai-3.1-10.00.Custom_amd64.deb

#我编译的放在文章最后

8. 允许非root用户

sudo addgroup xenomai --gid 1234

sudo addgroup root xenomai

sudo usermod -a -G xenomai $USER

9. 配置GRUB

sudo gedit /etc/default/grub

#具体修改如下

GRUB_DEFAULT="Advanced options for Ubuntu>Ubuntu, with Linux 4.9.38-xenomai-3.1"

#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=""

#更新GRUB并重新启动

sudo update-grub

#重启电脑

sudo reboot

#重新开机后选择Ubuntu高级内核

10. 安装xenomai用户空间库

uname -r

# 4.9.38-xenomai-3.1

dmesg | grep Xenomai

虚拟机的话就是上面样子

电脑或者工控机是话就是下面样子

cd xenomai-3.1

./configure --with-pic --with-core=cobalt --enable-smp --disable-tls --enable-dlopen-libs --disable-clock-monotonic-raw

make -j`nproc`

sudo make install

11. 更新环境变量

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

12. 测试

#增加权限

sudo chmod -R 777 /dev/rtdm/memdev-private

sudo chmod -R 777 /dev/rtdm/memdev-shared

xeno latency

#或者

cd /usr/xenomai/bin

sudo ./latency

上图为虚拟机，下图为工控机

#延迟为负数，修复方法

sudo -s

echo 0 > /proc/xenomai/latency

# Now run the latency test

# If the minimum latency value is positive,

# then get the lowest value from the latency test (ex: 0.088 us)

# and write it to the calibration file ( here you have to write 88 ns) :

echo my_super_value_in_ns > /proc/xenomai/latency

13. 最后附上我编译的内核包

链接：https://pan.baidu.com/s/1qVAoUttiPyqt9byUv58MQg

提取码：kntf

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