4.13.1. Building and installing Xenomai

4.13.1.1. Building and installing using the ELDK tree

cd /opt/eldk-4.1/ppc_4xxFP/usr/src/linux-2.6.19.2-xenomai/
make mrproper
make ARCH=ppc sequoia_defconfig

configure additional options from "Real-time subsystem" toplevel menu:

make ARCH=ppc menuconfig

and then run make:

make ARCH=ppc uImage

the resulting uImage is a xenomai / adeos enable kernel

4.13.1.2. Building and installing from scratch

• Download Linux kernel

• download Xenomai from www.xenomai.org

• Patch the kernel:

$ scripts/prepare-kernel.sh --linux=<linux-srctree> [--adeos=<adeos-patch>] [--arch=<target-arch>]

example:

../../git/xenomai/scripts/prepare-kernel.sh  --linux=. --arch=i386 --adeos=../adeos-ipipe-2.6.23-i386-1.10-10.patch

• configure (Options are available from the "Real-time subsystem" toplevel menu) and build kernel

• build the userspace tools (automake) and install

• Detailed instructions for (cross-) building can be found in README.INSTALL in the Xenomai sources

4.13.1.3. Running the cyclictest:

Options are:

• t 3 : one thread
• p 80 : with highest priority 80
• i 1000 : 1000us = 1ms
• l 10000 : 10000 loops

cyclictest -t 3 -p 80 -i 1000 -l 10000