Contents. What is Xenomai?
PREEMPT_RT is a kernel patch. – Xenomai / RTAI support available. PREEMPT_RT support available in Yocto. – Dedicated kernel recipe = linux-yocto-rt.
Xenomai is a real time co-kernel which cooperates with Linux via Adeos. With its help, hard real time applications can be developed and run on the Armadeus boards. Thanks to Adeos, Xenomai will receive the interrupts first and decide to handle them or not. If not, they will then be transfered to the regular Linux kernel. Also, Xenomai provides a framework to develop applications which can be easily moved between the Real Time Xenomai environment and the regular Linux system. 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.
Installing Xenomai. Note: Xenomai has only be really tested on and with 2.6.29 kernel. APF28 with 3.4 kernel and APF6/APF27 with 3.10 kernel are. Lazy users.
Starting from armadeus-6.0, some configurations are available to build Xenomai without configuring anything: $ make apf9328xenomaidefconfig or $ make apf27xenomaidefconfig or $ make apf27xenomaimainlinedefconfig or $ make apf6xenomaidefconfig Manual installation The main steps are:. selection of Xenomai package on the Buildroot menuconfig,. selection of Xenomai features in Kernel menuconfig,. compilation of the new version,. validation of the Xenomai behaviour. Note: These steps must be done with a fresh view or, at least, after having deleted buildroot/output/build/linux-x.y.z directory. Selecting Xenomai package.
First of all, you need to select Xenomai package and Adeos patch in Buildroot menuconfig: $ make menuconfig. Kernel - Linux Kernel Extensions -. Adeos/Xenomai Real-time patch (ftp://ftp2.armadeus.com/armadeusw/adeos-ipipe-2.6.29-arm-1.13-05.patch) Path/url for Adeos patch file Target packages - Real-Time -. 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.
Problems. The package is severely out of date with respect to the Debian Policy. Latest version is 4.3.0 and your package only follows 3.9.6. There were override disparities found in suite unstable:. libxenomai-dev: Override says libdevel - optional,.deb says libdevel - extra. xenomai-doc: Override says doc - optional,.deb says doc - extra. xenomai-kernel-source: Override says kernel - optional,.deb says kernel - extra.
libxenomai1: Override says libs - optional,.deb says libs - extra. xenomai-system-tools: Override says admin - optional,.deb says admin - extra. This package has been orphaned.
This means that it does not have a real maintainer at the moment. Please consider adopting this package if you are interested in it. Please see bug number for more information. The package has a debian/watch file, but the last attempt to use it for checking for newer upstream versions failed with an error: In watchfile debian/watch, reading webpage failed: 404 Not Found.