ethercat环境搭建（xenomai核心）

 

 

准备工作 ：

32位ubuntu16.04 

内核版本 3.14.44 (需要的话后面附上)

Xenomai版本 xenomai-2.6.5(需要的话后面附上)

gcc修改一下，改成4.8.5，(把/usr/bin 下的链接文件gcc改掉，指向4.x版本的gcc就行)

安装必要的工具

sudo apt-get install devscripts devscripts debhelper dh-kpatches findutils autotools-dev autoconf automake libtool

sudo apt-get install kernel-package libncurses-dev fakeroot zlib1g-dev

（1） 配置并安装Xenomai实时补丁

tar -vxf xenomai-2.6.5.tar.bz2

cd xenomai-2.6.5

./configure  --enable-x86-sep

make
make install

（2）修改内核并打补丁（注意linux-3.14.44 和xenomai-2.6.5在同一个目录下）

tar -vxf linux-3.14.44.tar

 

cd linux-3.14.44/

../xenomai-2.6.5/scripts/prepare-kernel.sh  --arch=amd64 --linux=. --adeos=../xenomai-2.6.5/ksrc/arch/x86/patches/ipipe-core-3.14.44-x86-12.patch

cp /boot/config-$(uname -r)  ./
sudo vim config-$(uname -r) 后将 CONFIG_CC_STACKPROTECTOR=y CONFIG_CC_STACKPROTECTOR_REGULAR=y注释掉

make menuconfig

* General setup
  --> Local version - append to kernel release: -xenomai-2.6.5
  --> Timers subsystem
      --> High Resolution Timer Support (Verify you have HRT ON)
  --> Stack Protector buffer overflow detection(None)
* Real-time sub-system
  --> Xenomai (Enable)
  --> Nucleus (Enable)
* Power management and ACPI options
  --> Run-time PM core functionality (Disable)
  --> ACPI (Advanced Configuration and Power Interface) Support
      --> Processor (Disable)
  --> CPU Frequency scaling
      --> CPU Frequency scaling (Disable)
  --> CPU idle
      --> CPU idle PM support (Disable)
* Pocessor type and features
  --> Processor family
      --> Core 2/newer Xeon (if \"cat /proc/cpuinfo | grep family\" 返回值 6, 选择 Generic otherwise)
  --> SMT (Hyperthreading) scheduler support (Disable)
  --> Preemption Model
      --> Voluntary Kernel Preemption (Desktop)
 * Device Driver
  -->GPIO Support
      --> Intel EG20T PCH/LAPIS Semiconductor***(Disable)
  -->USB Support
      --> USB Gadget Support (Disable)
  -->stagging drivers
      --> Data Aquisation Support(comedi) (Disable)

 编译

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


cd .. 
sudo dpkg -i linux-*.deb

3(配置GRUB)

    

sudo vim /etc/default/grub 后 更改grub配置如下：
GRUB_DEFAULT=saved
GRUB_SAVEDEFAULT=true
GRUB_CMDLINE_LINUX_DEFAULT="quiet splash i915.i915_enable_rc6=0 i915.powersave=0 noapic xeno_nucleus.xenomai_gid=1234 xenomai.allowed_group=1234"

 

sudo update-grub

sudo reboot

重启后选择新的内核，启动后使用 uname -a 命令查看当前系统的内核.