linux xenomai so,Xenomai安装方法

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

Download xenomai 2.4.4

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  /*是否增加--enable-x86-sep --enable-x86-tsc需要查看cpu的信息：用命令cat /proc/cpuinfo，如果在cflag中出现则添加*/

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

出现如下错误：#error "CONFIG_NR_CPUS is too large, please lower it 时：

将内核源文件夹根目录下 .config文件的几个标志位作如下设置：

CONFIG_HPET_TIMER=n

CONFIG_HPET_EMULATE_RTC=n

CONFIG_SPARSE_IRQ=n

当出现"per_cpu__irq_stack_union" undeclared error,将CONFIG_CC_STACKPROTECTOR设置为n

> I have a xenomai kernel running!

>

> I have tested using the testsuit latency ./run program. initially I

> got this message

>

> Xenomai: incompatible feature set.

> (required="sep tsc", present= "sep", missing="tsc")

方法1. To fix this, you need to select a x86 CPU supporting a timestamp counter

when configuring your kernel, since by default, the configure script

assumes --enable-x86-tsc.

方法2：The problem is that the TSC feature must be enabled in kernel-space if

you want to enable it in user-space. So, you have two choices:

- either you enable the TSC in kernel-space by selecting the processor

in kernel configuration which fits your processor (as suggested in

Xenomai FAQ);

- either you disable usage of TSC in user-space by passing --disable-tsc to configure.

http://news.gmane.org/gmane.linux.real-time.xenomai.users 上提供大量的信息