xenomai 3在Ubuntu 16.04上的安装步骤

Question

我想在Ubuntu 16.04 LTS上安装Xenomai3。我想找不到任何正确的安装指南/程序。

请求帮助。

Answer 1

安装Cobalt内核的注意事项

1) Ubuntu16.04.1 (v4.4内核)下载地址：http://old-releases.ubuntu.com/releases/16.04.1/

Install on USB drive using: Universal USB Installer

2)下载: linux-4.4.43.tar.gz

from: https://www.kernel.org/pub/linux/kernel/v4.x/

3)下载: xenomai-3.0.3.tar.bz2

from: https://xenomai.org/downloads/xenomai/stable/latest/

Unzip to /usr/src

4)下载: ipipe-core-4.4.43-x86-6.patch

from: https://xenomai.org/downloads/ipipe/v4.x/x86/

5)运行以下命令

apt-get install libncurses5 libncurses5-dev build-essential kernel-package fakeroot libssl-dev

6)准备钴内核

    cd /usr/src/linux-4.4.43

    /usr/src/xenomai-3.0.3/scripts/prepare-kernel.sh --arch=x86_64 --linux=/usr/src/linux-4.4.43 --ipipe=/usr/src/ipipe-core-4.4.43-x86-6.patch

7)运行cd /usr/src/linux-4.4.43cp /boot/config-4.4.0-31-generic .config

export PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/opt/Qt/5.8/gcc_64/lib/pkgconfig
export LD_LIBRARY_PATH=/opt/Qt/5.8/gcc_64/lib:$LD_LIBRARY_PATH

make [ARCH=i386] xconfig

8)应用来自：https://xenomai.org//2014/06/configuring-for-x86-based-dual-kernels/#Optimized_CPU_and_platform_settings的设置

    Power Management and ACPI options->ACPI Support
    Search for ACPI_PROCESSOR (disable ACPI_PROCESSOR)
    Search for CPU_FREQ (disable CPU frequency scaling)
    Search for CPU_IDLE (disable CPU idle PM support)
    Search for INTEL_IDLE (disable)
    Search for INPUT_PCSPKR (disable PC speaker support)


    Search for XENO and enable RTnet
        Yes -   Enable RTnet, TCP/IP socket interface
        Yes -   Search for XENO and enable User-space device driver framework

    Search for UNISYS (disable Unisys SPAR driver support)

9)运行

export CONCURRENCY_LEVEL=4
make bzImage modules

make modules_install
make install

10)安装Xenomai

./configure --with-core=cobalt --enable-smp --enable-pshared
make install