Xenomai quick build quide

From Xenomai

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 

- grtz, Windel Bouwman