Xenomai3安装教程：从I-pipe补丁到内核配置的5个关键步骤

Xenomai3安装教程：从I-pipe补丁到内核配置的5个关键步骤

【免费下载链接】xenomaiThe Xenomai Cobalt real-time core depends on a patch to the mainline Linux kernel, which introduces a separate, high-priority execution stage for running out-of-band interrupt handlers immediately upon IRQ receipt, which cannot be delayed by the regular kernel work项目地址: https://gitcode.com/openeuler/xenomai

前往项目官网免费下载：https://ar.openeuler.org/ar/

Xenomai3是一个功能强大的Linux内核实时开发框架，它通过无缝集成到Linux环境中，为用户空间应用程序提供全面且接口无关的硬实时性能。本教程将带您通过5个关键步骤，从获取I-pipe补丁到完成内核配置，轻松实现Xenomai3的安装部署。

一、获取I-pipe补丁源码

Cobalt实时核心依赖于I-pipe（Interrupt pipeline）补丁，它引入了一个单独的、高优先级的执行阶段，用于在收到IRQ后立即运行中断处理程序，这不会被常规内核工作延迟。

首先获取内核源码，然后通过以下地址获取I-pipe补丁：

• 已发布的I-pipe补丁地址: https://xenomai.org/downloads/ipipe
• I-pipe仓库：
  • ARM: https://xenomai.org/gitlab/ipipe-arm
  • ARM64: https://xenomai.org/gitlab/ipipe-arm64
  • PPC32: https://xenomai.org/gitlab/ipipe-ppc32
  • x86: https://xenomai.org/gitlab/ipipe-x86

i-pipe老版本源码获取：https://xenomai.org/gitlab/ipipe。

二、合入I-pipe补丁

切换到内核源码根目录，通过patch工具合入I-pipe补丁，步骤如下：

# cd $KERNEL_ROOT # patch -p1 < ../ipipe-core-xxxx-xxxx.patch

三、生成Xenomai补丁

确认上一步合入补丁无误，然后切换至xenomai源码目录，使用脚本生成补丁：

# cd $XENOMAI_ROOT # ./prepare-kernel.sh --linux=$KERNEL_ROOT --arch=xxx --outpatch=$OUTPATH/cobalt-core-xxxx-xxxx.patch # cd $KERNEL_ROOT # patch -p1 < $OUTPATH/cobalt-core-xxxx-xxxx.patch

四、内核配置及编译

1. 执行以下命令进入内核配置界面：

# make ARCH=xxx O=$build_root/linux xxxx_defconfig # make ARCH=xxx O=$build_root/linux menuconfig

2. 进入menuconfig界面后，会看到影响xenomai实时性的警告信息，需要进行如下关键配置：

General setup ---> Preemption Model (Preemptible Kernel (Low-Latency Desktop)) ---> (X) Low-Latency Desktop (-xeno-3.2.1)Local version - append to kernel release Processor type and features ---> Processor family (Core 2/newer Xeon) ---> (X) Core 2/newer Xeon [*] Multi-core scheduler support [ ] CPU core priorities scheduler support Power management and ACPI options ---> CPU Frequency scaling ---> [ ] CPU Frequency scaling [*] ACPI (Advanced Configuration and Power Interface) Support ---> < > Processor CPU Idle ---> [ ] CPU idle PM support Memory Management options ---> [ ] Contiguous Memory Allocator [ ] Transparent Hugepage Support [ ] Allow for memory compaction [ ] Page migration #x86 Microsoft Hyper-V guest support ---> < > Microsoft Hyper-V client drivers

3. 内核编译安装：

# make ARCH=xxx O=$build_root/linux -j`nproc` # make ARCH=xxx O=$build_root/linux modules_install # make ARCH=xxx O=$build_root/linux install

五、Xenomai3安装配置

1. 首先克隆仓库：

git clone https://gitcode.com/openeuler/xenomai

2. 切换到Xenomai源码目录，如果没有configure脚本和Makefiles文件，执行：

# ./scripts/bootstrap

3. 执行configure配置：

# ./configure --with-pic --with-core=cobalt --enable-smp --disable-tls --enable-dlopen-libs --disable-clock-monotonic-raw

4. 编译安装：

# make -j`nproc` # make install

5. 配置环境变量：

# 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

完成以上五个关键步骤后，您就成功安装了Xenomai3实时开发框架。接下来可以开始开发您的实时应用程序，利用Xenomai提供的强大功能实现硬实时性能。

Xenomai3应用程序编译时，常用CFLAGS、LDLIBS等参数可以使用xeno-config工具获取，例如：

# xeno-config --skin=native --cflags # xeno-config --skin=rtdm --ldflags --auto-init

简单的Makefile示例可参考项目中的说明，帮助您快速构建实时应用。希望本教程能帮助您顺利部署Xenomai3，开启实时系统开发之旅！ 🚀

【免费下载链接】xenomaiThe Xenomai Cobalt real-time core depends on a patch to the mainline Linux kernel, which introduces a separate, high-priority execution stage for running out-of-band interrupt handlers immediately upon IRQ receipt, which cannot be delayed by the regular kernel work项目地址: https://gitcode.com/openeuler/xenomai