EBC Xenomai
Embedded Linux Class by Mark A. Yoder
Xenomai is a set of patches for the kernel that allow it to run real-time tasks. This is an adaptation of Bruno Martins' Xenomai on the Beaglebone Black in 14 easy steps that works with the kernel installed in EBC Installing Kernel Source.
Patching the Kernel
- Install the kernel source (EBC Installing Kernel Source). I'll assume it's in bb-kernel
- Download the current version of Xenomai. Browse to http://download.gna.org/xenomai/stable/latest/ to see what the latest version is, then
bone$ wget http://download.gna.org/xenomai/stable/latest/xenomai-2.6.4.tar.bz2 bone$ tar xvjf xenomai-2.6.4.tar.bz2
- Checkout the the latest kernel
bone$ cd bb-kernel bone$ uname -a bone$ git tags | sort | less
Pick the tag that is close to your current version of the kernel.
bone$ get checkout 3.8.13-bone67 -v xenomai
- Patch the kernel. This assumes b-kernel and xenomai-2.6.4 are at the same directory level.
bone$ cd bb-kernel bone$ patch -p1 < ../../xenomai-2.6.4/ksrc/arch/arm/patches/beaglebone/ipipe-core-3.8.13-beaglebone-pre.patch bone$ patch -p1 < ../../xenomai-2.6.4/ksrc/arch/arm/patches/ipipe-core-3.8.13-arm-4.patch bone$ patch -p1 < ../../xenomai-2.6.4/ksrc/arch/arm/patches/beaglebone/ipipe-core-3.8.13-beaglebone-post.patch
Embedded Linux Class by Mark A. Yoder