Xenomai 2.1, 2.2 Installation Guide - Installation tutorial for the real time operating system Xenomai, formerly known as RTAI/fusion
As with version 2.1 (2.2), installing Xenomai is a little different, but easier than previously.
Here are the few steps for compiling the kernel and compiling Xenomai.
Go to http://download.gna.org/xenomai/ and download the latest stable version
and save it to /usr/src. Unpack with:
# cd /usr/src/
# tar xjf xenomai-[version].tar.bz2
Or go to /usr/src and check out of the SVN repository at gna.org with:
# cd /usr/src/
# svn co http://svn.gna.org/svn/xenomai/trunk xenomai
Get the kernel 2.6.xx.yy from kernel.org (or a recent 2.4 kernel version, since the IPIPE patches
are now also available for the 2.4 series), save it in /usr/src and unpack with:
# cd /usr/src/
# tar xjf linux-2.6.xx.yy.tar.bz2
# ln -s linux-2.6.xx.yy linux
Now go to the xenomai directory and run scripts/prepare-kernel.sh:
muon:/usr/src/xenomai-2.1-rc1# scripts/prepare-kernel.sh
Linux tree [default /lib/modules/2.6.14.3-ipipe-rtai3.3/source]: /usr/src/linux-2.6.14.5
Target architecture [default i686]:
Preparing kernel 2.6.14.5 in /usr/src/linux-2.6.14.5...
Adeos patch [default suggested-patch-path-goes-here]: /usr/src/adeos-ipipe-2.6.14-i386-1.1-00.patch
patching file include/linux/hardirq.h
patching file include/linux/ipipe.h
patching file include/linux/preempt.h
[...]
Adeos/i386 1.1-00 (newgen) installed.
Links installed.
Build system ready.
Make sure you have specified the right kernel path and optionally a different (newer) ADEOS IPIPE
patch.
Copy an existing kernel config file to e.g. /usr/src/linux-2.6.14.5 and
compile the kernel:
# cd /usr/src/linux-2.6.14.5
# make menuconfig
# make
# make modules_install install
or for 2.4 kernels:
# cd /usr/src/linux-2.4.32
# make menuconfig
# make dep
# make bzImage
# make modules
# make modules_install
# cd /usr/src/linux
# cp arch/i386/boot/bzImage /boot/vmlinuz-2.4.32-xenomai-ipipe
# cp System.map /boot/System.map-2.4.32-xenomai-ipipe
Make the initial RAM-disk (if you need one):
# mkinitrd -o /boot/initrd.img-2.4.32-xenomai-ipipe 2.4.32-xenomai-ipipe
( /boot/initrd.img-2.4.32-xenomai-ipipe = file to generate
2.4.32-xenomai-ipipe = directory to grab modules from (/lib/modules/x.x.x-x) )
Add the kernel to GRUB.
The whole IPIPE and Xenomai stuff is now compiled in by default, so you probably don't
need to change any kernel settings, if you have a working kernel config.
Now go to the xenomai directory and compile xenomai:
# cd /usr/src/xenomai-2.1
# ./configure
# make
# make install
Reboot and run the testsuite tests in /usr/xenomai/testsuite.
Last-Modified: Wed, 24 May 2006 19:30:14 GMT
