Xenomai quick build quide

Xenomai quick build quide
2009-02-12 21:39

以 elinux.org 中的相关栏目、文档为主线,重点是boot time,system size,multimedia, real time 相关为主,深入的学习实践,目的是有一整体理解。同时,对其中某些项目深入进去,而不仅仅浅尝则止。

比如real time中的 xenomai(rtai),可以做为主要的一个方向,适当的时候在2440上做实验。关注实时性,当然还有另外一些系统优化及功耗方面的一些技术,也可以作为重点。

以下是一xenomai的一基本入门文档,转自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
  cd /usr/src
  wget http://www.kernel.org/pub/linux/kernel/v2.6/linux-2.6.25.11.tar.bz2
  • Download xenomai 2.4.4
  wget http://download.gna.org/xenomai/stable/xenomai-2.4.4.tar.bz2
  • 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
  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 
注:还是碰到不少问题。启动出现kernel panic及内核配置(xenomai support)。另行找时间再整理。

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