Xenomai - Revision history

JulienB: /* Installing Xenomai */

2014-04-30T11:41:08Z

Installing Xenomai

← Older revision		Revision as of 13:41, 30 April 2014
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	==Installing Xenomai==		==Installing Xenomai==

	{{Note\|Xenomai has only be really tested on [[APF9328]] and [[APF27]] with 2.6.29 kernel. APF28 with 3.4 kernel and APF6 with 3.10~~.18~~ kernel are [[Talk:Xenomai\|WiP]].}}		{{Note\|Xenomai has only be really tested on [[APF9328]] and [[APF27]] with 2.6.29 kernel. APF28 with 3.4 kernel and APF6/APF27 with 3.10 kernel are [[Talk:Xenomai\|WiP]].}}
	===Lazy users===		===Lazy users===
	* Starting from armadeus-6.0, some configurations are available to build Xenomai without configuring anything:		* Starting from armadeus-6.0, some configurations are available to build Xenomai without configuring anything:
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	or		or
	$ make apf27xenomai_defconfig		$ make apf27xenomai_defconfig
			or
			$ make apf27xenomaimainline_defconfig
	or		or
	$ make apf6xenomai_defconfig		$ make apf6xenomai_defconfig

JulienB: /* Explanation of the process used to install Xenomai */

2014-02-24T17:14:53Z

Explanation of the process used to install Xenomai

← Older revision		Revision as of 19:14, 24 February 2014
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	Moreover, Xenomai provides a set of APIs (called "skins") that emulate traditional RTOSes such as VxWorks and pSOS and implement other APIs such as POSIX. Thus, porting third party real time applications to Xenomai is a fairly simple process.		Moreover, Xenomai provides a set of APIs (called "skins") that emulate traditional RTOSes such as VxWorks and pSOS and implement other APIs such as POSIX. Thus, porting third party real time applications to Xenomai is a fairly simple process.

	==~~Explanation of the process used to install~~ Xenomai==		==Installing Xenomai==

	{{Note\|Xenomai has only be really tested on [[APF9328]] and [[APF27]] with 2.6.29 kernel. APF28 with 3.4 kernel and APF6 with 3.10.18 kernel are [[Talk:Xenomai\|WiP]].}}		{{Note\|Xenomai has only be really tested on [[APF9328]] and [[APF27]] with 2.6.29 kernel. APF28 with 3.4 kernel and APF6 with 3.10.18 kernel are [[Talk:Xenomai\|WiP]].}}

	===Lazy users===		===Lazy users===
	* Starting from armadeus-6.0, some configurations are available to build Xenomai without configuring anything:		* Starting from armadeus-6.0, some configurations are available to build Xenomai without configuring anything:
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	struct irq_desc *irq_to_desc_alloc_node(unsigned int irq, int node)		struct irq_desc *irq_to_desc_alloc_node(unsigned int irq, int node)

			==Configuring Xenomai==

			* You can configure the Xenomai kernel options from Linux menuconfig:
	*~~Then you~~ can configure the Xenomai kernel options from Linux menuconfig:
	<pre class="host">		<pre class="host">
	$ make linux-menuconfig		$ make linux-menuconfig
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	</pre>		</pre>

	Finally, ~~compile everything~~:		Finally, to build your changes:
	<pre class="host">		<pre class="host">
	$ make linux && make		$ make linux && make

JulienB: /* Results */

2014-02-20T17:12:45Z

Results

← Older revision		Revision as of 19:12, 20 February 2014
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	===Results===		===Results===
	*		* latency (Sampling period: 100 us, test mode: periodic user-mode task, all results in microseconds)
	{\| border="1" cellspacing="0" cellpadding="10"		{\| border="1" cellspacing="0" cellpadding="10"
	! Board ( Linux / xenomai )		! Board ( Linux / xenomai )

JulienB: /* Results */

2014-02-20T17:06:49Z

Results

← Older revision		Revision as of 19:06, 20 February 2014
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	===Results===		===Results===
			*
	{\| border="1" cellspacing="0" cellpadding="10"		{\| border="1" cellspacing="0" cellpadding="10"
	! Board ( Linux / xenomai )		! Board ( Linux / xenomai )

JulienB: /* Results */

2014-02-20T16:59:34Z

Results

← Older revision		Revision as of 18:59, 20 February 2014
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	\|-		\|-
	\| [[APF27]] (2.6.29 / 2.4.9)		\| [[APF27]] (2.6.29 / 2.4.9)
	\| 8.5 uS		\| 4.7 uS
	\| 60.5 uS		\| 52.4 uS
	\| ~~127~~.9 uS		\| 145.4 uS
	\|}		\|}

JulienB: /* Validate the installation */

2014-02-20T16:52:27Z

Validate the installation

@@ Line 203: / Line 203: @@
 * Now we can run the overall+performance test provided by Xenomai:
 <pre class="apf">
- $ xeno-test
+# modprobe xeno_irqbench
 </pre>
 * On APF27 you have to unlock access to debug registers before launching these tests:
@@ Line 209: / Line 214: @@
 BIOS> run unlock_regs
 </pre>
 ==Deinstalling or disabling Xenomai==

JulienB: /* Validate the installation */

2014-02-20T16:38:34Z

Validate the installation

← Older revision		Revision as of 18:38, 20 February 2014
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	Xenomai: starting RTDM services.		Xenomai: starting RTDM services.
	</pre>		</pre>
	* Now we can run the performance test provided by Xenomai:		* Now we can run the overall+performance test provided by Xenomai:
	<pre class="apf">		<pre class="apf">
	$ xeno-test		$ xeno-test

JulienB: /* Validate the installation */

2014-02-20T16:37:44Z

Validate the installation

← Older revision		Revision as of 18:37, 20 February 2014
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	<pre class="apf">		<pre class="apf">
	$ xeno-test		$ xeno-test
			</pre>
			* On APF27 you have to unlock access to debug registers before launching these tests:
			<pre class="apf">
			BIOS> run unlock_regs
	</pre>		</pre>

JulienB: /* Kernel greater than 2.6.29 */

2014-02-20T16:08:02Z

Kernel greater than 2.6.29

← Older revision		Revision as of 18:08, 20 February 2014
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	===Kernel greater than 2.6.29===		===Kernel greater than 2.6.29===
	~~For kernels greater than 2.6.29, it's needed to suppress all patches in ''buildroot/packages/xenomai/'' and then modify URL and Adeos patch name:~~
	====2.6.38====		====2.6.38====
	<pre class="config">		<pre class="config">
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	* If you plan to use a 2.6.38 kernel you have to delete the following patches :		* If you plan to use a 2.6.38 kernel you have to delete the following patches :
	~~$ cd buildroot/package/xenomai~~
	~~$ rm adeos-00-compatibility_with_armadeus.patch~~
	~~$ rm adeos-01-adeos-prevent_system_freeze_on_mxc_with_gpio_generated_interrupts.patch~~
	$ cd patches/linux/2.6.38.8		$ cd patches/linux/2.6.38.8
	$ rm 401-armadeus-fix_clock_tree.patch		$ rm 401-armadeus-fix_clock_tree.patch

JulienB: /* Explanation of the process used to install Xenomai */

2014-02-20T16:06:32Z

Explanation of the process used to install Xenomai

← Older revision		Revision as of 18:06, 20 February 2014
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	{{Note\|Xenomai has only be really tested on [[APF9328]] and [[APF27]] with 2.6.29 kernel. APF28 with 3.4 kernel and APF6 with 3.10.18 kernel are [[Talk:Xenomai\|WiP]].}}		{{Note\|Xenomai has only be really tested on [[APF9328]] and [[APF27]] with 2.6.29 kernel. APF28 with 3.4 kernel and APF6 with 3.10.18 kernel are [[Talk:Xenomai\|WiP]].}}

			===Lazy users===
			* Starting from armadeus-6.0, some configurations are available to build Xenomai without configuring anything:
			<pre class="host">
			$ make apf9328xenomai_defconfig
			or
			$ make apf27xenomai_defconfig
			or
			$ make apf6xenomai_defconfig
			</pre>

			===Manual installation===
	The main steps are:		The main steps are:
	* selection of Xenomai package on the Buildroot menuconfig,		* selection of Xenomai package on the Buildroot menuconfig,
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	Linux Kernel Extensions --->		Linux Kernel Extensions --->
	[*] Adeos/Xenomai Real-time patch		[*] Adeos/Xenomai Real-time patch
	(~~http~~://~~download~~.~~gna~~.~~org~~/~~adeos/patches/v2.6/arm/older~~/adeos-ipipe-2.6.29-arm-1.13-05.patch) Path/url for Adeos patch file		(ftp://ftp2.armadeus.com/armadeusw/adeos-ipipe-2.6.29-arm-1.13-05.patch) Path/url for Adeos patch file

	Target packages --->		Target packages --->
	Real-Time --->		Real-Time --->
	[*] Xenomai Userspace		[*] Xenomai Userspace
			(2.4.9) Custom Xenomai version for APF9328 & APF27
			(--enable-arm-mach=mx2) Additionnal configuration options for APF27, on APF9328 use --enable-arm-mach=imx
	...		...
	</pre>		</pre>
	{{Note\|It's possible to enable (or not) some skins in ~~a first~~ menu.}}		{{Note\|It's possible to enable (or not) some skins in Real-Time menu.}}
	* Exit and save your configuration		* Exit and save your configuration
	* If you plan to use ''xeno-test'' (Xenomai performance tool) then CONFIG_ASH_GETOPTS should be activated in Busybox:		* If you plan to use ''xeno-test'' (Xenomai performance tool) then CONFIG_ASH_GETOPTS should be activated in Busybox: