Xenomai quick build quide

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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。