xenomai is one of the important programs of linux real-time transformation, given below The specific installation and UbuntuKernel Compilation process.

The specific schematic diagram is as follows

Principle

1 Download ubuntu kernel and xenomai3.1 software package##

wget https://www.kernel.org/pub/linux/kernel/v4.x/linux-4.9.38.tar.gz

 wget https://xenomai.org/downloads/xenomai/stable/xenomai-3.1.tar.bz2

2 Unzip the compressed package and copy it to /usr/src

 sudo tar xf linux-4.9.38.tar.gz
 sudo tar xf xenomai-3.1.tar.bz2

 sudo cp -r linux-4.9.38/usr/src
 sudo cp -r xf xenomai-3.1/usr/src

3 Apply the xenomai patch to the ubuntu kernel and build a x86_64 bit kernel##

 cd linux-4.9.38

 sudo wget https://xenomai.org/downloads/ipipe/v4.x/x86/older/ipipe-core-4.9.38-x86-3.patch

.. /xenomai-3.1/scripts/prepare-kernel.sh --arch=x86_64 --ipipe=ipipe-core-4.9.38-x86-3.patch

4 Configure Kernel##

yes ""| make oldconfig
sudo apt install libncurses5-dev
make menuconfig

The specific configuration is as follows:

General setup

- Local version - append to kernel release: -xenomai-3.1
- Timers subsystem
- High Resolution Timer Support (Enable)

Xenomai/cobalt

- Sizes and static limits
- Number of registry slots (512 --> 4096)
- Size of system heap (Kb) (512 --> 4096)
- Size of private heap (Kb) (64 --> 256)
- Size of shared heap (Kb) (64 --> 256)
- Maximum number of POSIX timers per process (128 --> 512)
- Drivers
- RTnet
- RTnet, TCP/IP socket interface (Enable)

- - > Drivers

 - - > New intel(R) PRO/1000 PCIe (Enable)

 - - > Realtek 8169 (Enable)

 - - > Loopback (Enable)

- Add-Ons

- - > Real-Time Capturing Support (Enable)

Power management and ACPI options

- CPU Frequency scaling
- CPU Frequency scaling (Disable)
- ACPI (Advanced Configuration and Power Interface) Support
- Processor (Disable)
- CPU Idle
- CPU idle PM support (Disable)

Pocessor type and features

- Enable maximum number of SMP processors and NUMA nodes (Disable)

// Ref : http://xenomai.org/pipermail/xenomai/2017-September/037718.html

- Processor family
- Core 2/newer Xeon (if "cat /proc/cpuinfo | grep family" returns 6, set as Generic otherwise)

// Xenomai will issue a warning about CONFIG_MIGRATION, disable those in this orde

- Transparent Hugepage Support (Disable)
- Allow for memory compaction (Disable)
- Contiguous Memory Allocation (Disable)
- Allow for memory compaction
- Page Migration (Disable)

Device Drivers

- Staging drivers
- Unisys SPAR driver support

- - > Unisys visorbus driver (Disable)

5 Further build real-time kernel##

sudo apt install kernel-package

sudo apt-get install libssl-dev

6 Compile the kernel##

CONCURRENCY_LEVEL=$(nproc) make-kpkg --rootcmd fakeroot --initrd kernel_image kernel_headers

7 Install the generated system files##

cd ..
sudo dpkg -i linux-headers-4.9.38-xenomai-3.1_4.9.38-xenomai-3.1-10.00.Custom_amd64.deb linux-image-4.9.38-xenomai-3.1_4.9.38-xenomai-3.1-10.00.Custom_amd64.deb

8 Allow non-root users##

sudo addgroup xenomai --gid 1234
sudo addgroup root xenomai
sudo usermod -a -G xenomai $USER

9 Configure GRUB

sudo gedit  /etc/default/grub

The specific modifications are as follows

GRUB_DEFAULT="Advanced options for Ubuntu>Ubuntu, with Linux 4.9.38-xenomai-3.1"

# GRUB_DEFAULT=saved

# GRUB_SAVEDEFAULT=true

# Comment the following lines

# GRUB_HIDDEN_TIMEOUT=0

# GRUB_HIDDEN_TIMEOUT_QUIET=true

GRUB_TIMEOUT=5

GRUB_CMDLINE_LINUX_DEFAULT="quiet splash xenomai.allowed_group=1234"

GRUB_CMDLINE_LINUX=""

Update GRUB and reboot

sudo update-grub

Restart the computer

sudo reboot

Select Ubuntu advanced kernel after reboot

10 Install xenomai user space library##

uname -r

4.9.38- xenomai-3.1

dmesg | grep Xenomai

[1.417024] [ Xenomai] scheduling class idle registered.

[1.417025] [ Xenomai] scheduling class rt registered.

[1.417045] [ Xenomai] disabling automatic C1E state promotion on Intel processo

[1.417055] [ Xenomai] SMI-enabled chipset found, but SMI workaround disabled

[1.417088] I-pipe: head domain Xenomai registered.

[1.417704] [ Xenomai] allowing access to group 1234

[1.417726] [ Xenomai] Cobalt v3.1 (Sisyphus's Boulder) [DEBUG]

cd xenomai-3.1./configure --with-pic --with-core=cobalt --enable-smp --disable-tls --enable-dlopen-libs --disable-clock-monotonic-raw
make -j`nproc`
sudo make install

11 Update bashrc

echo '
### Xenomai
export XENOMAI_ROOT_DIR=/usr/xenomai
export XENOMAI_PATH=/usr/xenomai
export PATH=$PATH:$XENOMAI_PATH/bin:$XENOMAI_PATH/sbin
export PKG_CONFIG_PATH=$PKG_CONFIG_PATH:$XENOMAI_PATH/lib/pkgconfig
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$XENOMAI_PATH/lib
export OROCOS_TARGET=xenomai
' >>~ /.xenomai_rc

echo 'source ~/.xenomai_rc'>>~/.bashrc
source ~/.bashrc

12 test##

Increase permissions

sudo chmod -R 777/dev/rtdm/memdev-private
sudo chmod -R 777/dev/rtdm/memdev-shared

xeno latency

== Sampling period: 100 us

== Test mode: periodic user-mode task

== All results in microseconds

warming up...

RTT| 00:00:01 (periodic user-mode task, 100 us period, priority 99)

RTD| 0.174| 0.464| 1.780| 0| 0| 0.174| 1.780

RTD| 0.088| 0.464| 1.357| 0| 0| 0.088| 1.780

RTD| 0.336| 0.464| 1.822| 0| 0| 0.088| 1.822

RTD| 0.342| 0.464| 1.360| 0| 0| 0.088| 1.822

RTD| 0.327| 0.462| 2.297| 0| 0| 0.088| 2.297

RTD| 0.347| 0.463| 1.313| 0| 0| 0.088| 2.297

RTD| 0.314| 0.464| 1.465| 0| 0| 0.088| 2.297

RTD| 0.190| 0.464| 1.311| 0| 0| 0.088| 2.297

If you encounter problems during installation, please leave a message and exchange.

Xenomai3.1+ubuntu 18.04/16.04