Xenomai on Raspberry Pi

25 juillet 2012 par jed Laisser une réponse »

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Xenomai is a real-time development framework cooperating with the Linux kernel, in order to provide a pervasive, interface-agnostic, hard real-time support to user-space applications, seamlessly integrated into the GNU/Linux environment.http://en.wikipedia.org/wiki/Xenomai

if you just want to try xenomai here is my latest image : xenomai.img

SHA-1 bb71b783d3d20edd58287eb1b0bf49bd5d9007de
Default login Username: jed Password: jed

Download the source tree and patches

On your Linux PC move to your home directory and download Chris Boot’s rpi-3.2.21 branch (https://github.com/bootc/linux/tree/rpi-3.2.21). and then get the patch provide by ian-cim rpi-linux-3.2.21-xenomai-2.6.1.patch

I advice you to used this cross-Compile tools : https://github.com/raspberrypi/tools

Configure your environnement

export linux_tree =/home/$USER/raspberry/linux
export xenomai_root =/home/$USER/raspberry/xenomai-2.6.1
export ARCH=ARM
export CROSS_COMPILE=arm-bcm2708-linux-gnueabi

Applying the patches for the Raspberry PI

Xenomai Patch

$xenomai_root/scripts/prepare-kernel.sh –arch=arm –adeos=$xenomai_root/ksrc/arch/arm/patches/ipipe-core-3.2.21-arm-1.patch –linux=$linux_tree

Raspberry PI Patch

cd $linux_tree
patch -p1 < rpi-linux-3.2.21-xenomai-2.6.1.patch

Configuring your Kernel

You can use my configuration kernel .config or custom it ( make menuconfig)

Make the kernel

You can now compile the actual kernel

make

The resulting kernel file is « linux/arch/arm/boot/Image »

Copy your Kernel

cp linux/arch/arm/boot/Image /media/<boot-partition-of-SD-card>/kernel.img

First Kernel starting

Linux version 3.2.21-ipipe (jed@jed-laptop) (gcc version 4.7.1 20120402 (prerelease) (crosstool-NG 1.15.2) ) #2 Thu Jul 26 09:59:17 CEST 2012

CPU: ARMv6-compatible processor [410fb767] revision 7 (ARMv7), cr=00c5387d

CPU: PIPT / VIPT nonaliasing data cache, VIPT nonaliasing instruction cache

Machine: BCM2708

Memory policy: ECC disabled, Data cache writeback

On node 0 totalpages: 57344

free_area_init_node: node 0, pgdat c0406d64, node_mem_map c0486000

Normal zone: 448 pages used for memmap

Normal zone: 0 pages reserved

Normal zone: 56896 pages, LIFO batch:15

pcpu-alloc: s0 r0 d32768 u32768 alloc=1*32768

pcpu-alloc: [0] 0

Built 1 zonelists in Zone order, mobility grouping on. Total pages: 56896

Kernel command line: dma.dmachans=0x3c bcm2708_fb.fbwidth=656 bcm2708_fb.fbheight=416 bcm2708.boardrev=0x2 bcm2708.serial=0x21cf4cef smsc95xx.macaddr=B8:27:EB:CF:4C:EF dwc_otg.lpm_enable=0 console=ttyAMA0,115200 kgdboc=ttyAMA0,115200 console=tty1 root=/dev/mmcblk0p2 rootfstype=ext4 rootwait

….

Compile Xenomai

$ cd $xenomai_root
$ ./configure –host=arm-bcm2708-linux-gnueabi

$ make DESTDIR=/destination/of/xenomai/ install

finally copy the files of Xenomai in the sdcard.

Configure your environnement

export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/xenomai/lib

Test Xenomai

root@raspberrypi:~$ /usr/xenomai/bin/latency -p 100 -T 60

== 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)
RTH|—-lat min|—-lat avg|—-lat max|-overrun|—msw|—lat best|–lat worst
RTD| -6.000| -4.000| 8.000| 0| 0| -6.000| 8.000
RTD| -7.000| -4.000| 11.000| 0| 0| -7.000| 11.000
RTD| -7.000| -4.000| 11.000| 0| 0| -7.000| 11.000
RTD| -7.000| -4.000| 7.000| 0| 0| -7.000| 11.000
RTD| -6.000| -4.000| 8.000| 0| 0| -7.000| 11.000
RTD| -6.000| -4.000| 10.000| 0| 0| -7.000| 11.000
RTD| -6.000| -4.000| 11.000| 0| 0| -7.000| 11.000
RTD| -6.000| -3.000| 14.000| 0| 0| -7.000| 14.000
RTD| -6.000| -4.000| 11.000| 0| 0| -7.000| 14.000
RTD| -7.000| -4.000| 10.000| 0| 0| -7.000| 14.000
RTD| -6.000| -4.000| 11.000| 0| 0| -7.000| 14.000
RTD| -6.000| -4.000| 11.000| 0| 0| -7.000| 14.000
RTD| -7.000| -4.000| 12.000| 0| 0| -7.000| 14.000
RTD| -6.000| -4.000| 7.000| 0| 0| -7.000| 14.000
RTD| -6.000| -4.000| 8.000| 0| 0| -7.000| 14.000
RTD| -7.000| -4.000| 12.000| 0| 0| -7.000| 14.000
RTD| -6.000| -4.000| 12.000| 0| 0| -7.000| 14.000
RTD| -7.000| -4.000| 10.000| 0| 0| -7.000| 14.000
RTD| -6.000| -4.000| 13.000| 0| 0| -7.000| 14.000
RTD| -6.000| -4.000| 11.000| 0| 0| -7.000| 14.000
RTD| -6.000| -4.000| 9.000| 0| 0| -7.000| 14.000
RTT| 00:00:22 (periodic user-mode task, 100 us period, priority 99)
RTH|—-lat min|—-lat avg|—-lat max|-overrun|—msw|—lat best|–lat worst
RTD| -6.000| -4.000| 14.000| 0| 0| -7.000| 14.000
RTD| -7.000| -4.000| 6.000| 0| 0| -7.000| 14.000
RTD| -6.000| -4.000| 7.000| 0| 0| -7.000| 14.000
RTD| -6.000| -4.000| 11.000| 0| 0| -7.000| 14.000
RTD| -6.000| -4.000| 10.000| 0| 0| -7.000| 14.000
RTD| -6.000| -4.000| 10.000| 0| 0| -7.000| 14.000
RTD| -6.000| -4.000| 10.000| 0| 0| -7.000| 14.000
RTD| -7.000| -4.000| 10.000| 0| 0| -7.000| 14.000
RTD| -6.000| -4.000| 9.000| 0| 0| -7.000| 14.000
RTD| -6.000| -4.000| 10.000| 0| 0| -7.000| 14.000
RTD| -6.000| -4.000| 11.000| 0| 0| -7.000| 14.000
RTD| -7.000| -4.000| 8.000| 0| 0| -7.000| 14.000
RTD| -6.000| -4.000| 10.000| 0| 0| -7.000| 14.000
RTD| -6.000| -4.000| 10.000| 0| 0| -7.000| 14.000
RTD| -6.000| -4.000| 10.000| 0| 0| -7.000| 14.000
RTD| -6.000| -4.000| 11.000| 0| 0| -7.000| 14.000
RTD| -7.000| -4.000| 14.000| 0| 0| -7.000| 14.000
RTD| -6.000| -4.000| 10.000| 0| 0| -7.000| 14.000
RTD| -6.000| -4.000| 11.000| 0| 0| -7.000| 14.000
RTD| -6.000| -4.000| 11.000| 0| 0| -7.000| 14.000
RTD| -7.000| -4.000| 11.000| 0| 0| -7.000| 14.000
RTT| 00:00:43 (periodic user-mode task, 100 us period, priority 99)
RTH|—-lat min|—-lat avg|—-lat max|-overrun|—msw|—lat best|–lat worst
RTD| -6.000| -4.000| 10.000| 0| 0| -7.000| 14.000
RTD| -6.000| -4.000| 7.000| 0| 0| -7.000| 14.000
RTD| -6.000| -4.000| 10.000| 0| 0| -7.000| 14.000
RTD| -6.000| -4.000| 9.000| 0| 0| -7.000| 14.000
RTD| -6.000| -4.000| 10.000| 0| 0| -7.000| 14.000
RTD| -6.000| -4.000| 9.000| 0| 0| -7.000| 14.000
RTD| -6.000| -4.000| 8.000| 0| 0| -7.000| 14.000
RTD| -6.000| -4.000| 11.000| 0| 0| -7.000| 14.000
RTD| -6.000| -4.000| 10.000| 0| 0| -7.000| 14.000
RTD| -6.000| -4.000| 10.000| 0| 0| -7.000| 14.000
RTD| -6.000| -4.000| 7.000| 0| 0| -7.000| 14.000
RTD| -6.000| -4.000| 9.000| 0| 0| -7.000| 14.000
RTD| -7.000| -4.000| 11.000| 0| 0| -7.000| 14.000
RTD| -6.000| -4.000| 10.000| 0| 0| -7.000| 14.000
RTD| -6.000| -4.000| 10.000| 0| 0| -7.000| 14.000
RTD| -6.000| -4.000| 8.000| 0| 0| -7.000| 14.000
RTD| -6.000| -4.000| 13.000| 0| 0| -7.000| 14.000
—|———–|———–|———–|——–|——|————————-
RTS| -7.000| -3.000| 14.000| 0| 0| 00:01:00/00:01:00

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35 commentaires

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  1. Gef dit :
    septembre 11, 2012 à 6:49

    Is the img ready to use on the raspi ?

    Répondre
  2. stephan dit :
    octobre 12, 2012 à 12:35

    hello,
    thanks for this.

    Répondre
  3. Cuauhtemoc Carbajal dit :
    octobre 12, 2012 à 6:43

    Very interesting work! Is there a place to download the image of the weezy distro patched with Xenomai?

    Répondre
  4. Cuauhtemoc Carbajal dit :
    octobre 15, 2012 à 9:22

    Hi,

    I have copied the xenomai image into a sdcard.
    I compiled an example using: gcc -I/usr/xenomai/include ex01.c -L/usr/xenomai/lib -lnative -lxenomai -o ex01. It worked ok. Then I tried to run the example: ./ex01. I received this message: ./ex01: error while loading shared libraries: libnative.so.3: cannot open shared object file: No such file or directory.

    Do you have any idea to solve this problem?

    Thanks.

    Répondre
  5. jed dit :
    octobre 16, 2012 à 9:28

    HI,

    I think you forgot to export xenomai libraries .

    export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/xenomai/lib

    Répondre
    • Cuauhtemoc Carbajal dit :
      octobre 16, 2012 à 5:29

      Hi Jed,

      Thank you very much for your quick answer.

      In fact, I have exported LD_LIBRARY_PATH (I included in .bashrc).

      Printing the environmental variables using printenv I get this:

      jed@jedPI:~$ printenv
      TERM=xterm
      SHELL=/bin/bash
      SSH_CLIENT=10.48.126.237 52832 22
      SSH_TTY=/dev/pts/0
      USER=jed
      LD_LIBRARY_PATH=:/usr/xenomai/lib
      LS_COLORS=rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arj=01;31:*.taz=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.zip=01;31:*.z=01;31:*.Z=01;31:*.dz=01;31:*.gz=01;31:*.lz=01;31:*.xz=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.rar=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.jpg=01;35:*.jpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.axv=01;35:*.anx=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.axa=00;36:*.oga=00;36:*.spx=00;36:*.xspf=00;36:
      MAIL=/var/mail/jed
      PATH=/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin
      PWD=/home/jed
      LANG=fr_FR.UTF-8
      SHLVL=1
      HOME=/home/jed
      LOGNAME=jed
      SSH_CONNECTION=10.48.126.237 52832 10.48.13.84 22
      _=/usr/bin/printenv
      jed@jedPI:~$ ^C
      jed@jedPI:~$

      The problem persists…

      Répondre
    • Cuauhtemoc Carbajal dit :
      octobre 16, 2012 à 6:01

      Hi Jed,

      I printed the shared library dependencies:

      jed@jedPI:~$ ldd hello2
      libnative.so.3 => /usr/xenomai/lib/libnative.so.3 (0x40117000)
      libxenomai.so.0 => /usr/xenomai/lib/libxenomai.so.0 (0x40045000)
      libc.so.6 => /lib/libc.so.6 (0x40126000)
      libpthread.so.0 => /lib/libpthread.so.0 (0x40257000)
      librt.so.1 => /lib/librt.so.1 (0x4007d000)
      libgcc_s.so.1 => /lib/libgcc_s.so.1 (0x400ec000)
      /lib/ld-linux.so.3 (0x40014000)

      Everything seems ok. Do we need to start another service before running hello2?

      Répondre
  6. jed dit :
    octobre 16, 2012 à 6:15

    You need to be root to use xenomai.

    Répondre
    • Cuauhtemoc Carbajal dit :
      octobre 16, 2012 à 9:28

      Yeah!

      You are correct! It works now! I have to export LD_LIBRARY_PATH as root before running hello2.

      Thank you very much for your support.

      Répondre
  7. Claudio dit :
    octobre 17, 2012 à 9:44

    Hi i have followed you instruction to compile kernel with xenomai into
    raspberry. It compile week, but when i use new kernel, raspberry
    doesn’t start. I use raspbian distribution given from raspberry main
    site.
    Can you give me some hints?
    thanks in advanced

    Répondre
  8. jed dit :
    octobre 17, 2012 à 2:57

    Hi,

    If you just copied the « Image » file to « kernel.img » in the boot partition of your SD card and the Raspberry Pi doesn’t boot (black screen, only red powerled on), get the most recent firmware from github and copy the files from firmware/boot/ to the boot partition of your SD card

    cd firmware/boot cp arm128_start.elf arm192_start.elf arm224_start.elf bootcode.bin loader.bin start.elf /media//

    Répondre
    • Nikola dit :
      janvier 17, 2013 à 2:22

      I have same issue. What else we need to do to make SD partition bootable? I have also one question does xenomai.img which you posted here have support for ethernet? When I type ifconfig I don’t receive IP address of my ethernet adapter.

      Répondre
  9. Joao Henriques dit :
    novembre 8, 2012 à 5:43

    The current http://powet.eu/raspberrypi/xenomai.img
    does not boot and have a different sha1. Can you check it please?

    Répondre
    • CJB dit :
      novembre 19, 2012 à 7:02

      I am also having trouble getting the current .img to boot.

      Répondre
    • onno dit :
      mai 15, 2013 à 7:04

      Hi,

      thank you for providing this image. However, I also get a different SHA-1:
      ab179fd019e3f7d41312b840f5b8c134465fd854

      Is that the correct one?

      Also, I would suggest to gzip the image file, it is huge and takes a very long while to download.

      Répondre
  10. Ugo RENNER dit :
    novembre 30, 2012 à 2:26

    Hi,

    Do you know how to compile a kernel for execute this xenomai image on qemu ?

    Thanks !

    Répondre
  11. James Peverill dit :
    décembre 20, 2012 à 5:41

    Great instructions!

    I have this all running now… latencies seem reasonable although tested mostly unloaded. 25us max for klatency. irqloop seems to crash though… did you find this?

    Répondre
  12. pablo dit :
    décembre 21, 2012 à 10:19

    hi i have a problem when compiling:

    sudo make modules
    make[1]: Nothing to be done for `relocs’.
    CHK include/linux/version.h
    CHK include/generated/utsrelease.h
    CC arch/x86/kernel/asm-offsets.s
    In file included from include/linux/sched.h:65:0,
    from arch/x86/kernel/asm-offsets.c:9:
    include/linux/ipipe.h:33:23: fatal error: asm/ipipe.h: No such file or directory
    compilation terminated.
    make[1]: *** [arch/x86/kernel/asm-offsets.s] Error 1
    make: *** [prepare0] Error 2

    Répondre
    • pablo dit :
      décembre 21, 2012 à 11:35

      sorry for » make modules » but is teh same with « make »

      sudo make
      [sudo] password for pablo:
      make[1]: Nothing to be done for `relocs’.
      CHK include/linux/version.h
      CHK include/generated/utsrelease.h
      CC arch/x86/kernel/asm-offsets.s
      In file included from include/linux/sched.h:65:0,
      from arch/x86/kernel/asm-offsets.c:9:
      include/linux/ipipe.h:33:23: fatal error: asm/ipipe.h: No such file or directory
      compilation terminated.
      make[1]: *** [arch/x86/kernel/asm-offsets.s] Error 1
      make: *** [prepare0] Error 2

      what is my problem?

      Répondre
  13. Zoran dit :
    mars 14, 2013 à 12:46

    I failed with ./configure step. I used arm-bcm2708-linux-gnueabi crosscompiler from tools-master git and it states : checking whether C compiler works … no. Inspecting config.log:
    fatal error: -fuse-linker-plugin, but liblto_plugin.so not found. When change liblto_plugin.so.0.0.0, which I have, to liblto_plugin.so, new error is: cannot find /lib/libc.so.6 inside NAME of FOLDERs… When find libc.so, which I have in tools-master, and copy (with addition of .6) to folder in NAME of FOLDERs, then next error is: cannot open libc.so.6 too many files are open – which is certainly not. My Ubuntu allows about 100000 opened files.
    It is strange to me even to do any of steps above -everything should go smoothly.

    Répondre
  14. Zoran dit :
    mars 14, 2013 à 3:29

    Mistake – I copied and changed libc.so.6 from libc-2.13.so in same /lib folder. Also error states – missing ld-linux.so.3, which I copied and change from ld-2.13.so in /lib folder. Then configuration – done, but when I start make, error appears when building testsuite: libpthread_rt.so: undefined reference to pthread_atfork.

    Répondre
  15. Zoran dit :
    mars 15, 2013 à 12:16

    I did everything from the start and it passed all the steps (where did I go wrong before ?), but when I start at /usr/xenomai/bin program latency it says libnative.so.3: cannot open shared object file: No such file or directory. I defined LD_LIBRARY_PATH as /usr/xenomai/lib and it doesn’t work no matter if I am user or root.
    File is link and it does exist in /usr/xenomai/lib.

    Répondre
  16. Zarka Hervé dit :
    mai 21, 2013 à 3:48

    Merci pour l’article interessant.

    Répondre
  17. gima dit :
    juin 6, 2013 à 11:16

    hello, excellent post.
    I have problems downloading the image xenomai.img because of the size (I guess).
    Twice I downloaded and I got two different SHA_1 🙁
    Could you please zip the image?
    thanks in advance.

    Répondre
  18. Alex-U dit :
    juillet 1, 2013 à 9:40

    Hi Jed,

    I have the same problem than others when running an aplication with the libraries.

    « error while loading shared libraries: libnative.so.3: cannot open shared object file: No such file or directory »

    I’ve exported the libraries, as you said before, but the problem persist, I’ve printed the shared library dependences:

    [jed@jedPI Pi]$ ldd rtt
    libnative.so.3 => not found
    libxenomai.so.0 => not found
    libc.so.6 => /lib/libc.so.6 (0x4028d000)
    /lib/ld-linux.so.3 (0x400e3000)

    Any idea about where is the problem?

    Thanks for the post, is so good!

    Répondre
  19. Tiktak dit :
    juillet 2, 2013 à 9:31

    If have trouble getting the Linux 3.2.21 tree because GitHub is showing an error « Tree took too long to generate », download it from here:
    https://github.com/bootc/linux/archive/rpi-3.2.27.zip

    Répondre
  20. Tiktak dit :
    juillet 2, 2013 à 10:04

    I figured out that to download a version of the cross compile tools without symlink problems the ZIP file has and set the CROSS_COMPILE variable correctly, you can do the following:

    cd Downloads
    wget https://github.com/raspberrypi/tools/archive/master.tar.gz
    tar zxvf master.tar.gz
    export CROSS_COMPILE= »`pwd`/tools-master/arm-bcm2708/arm-bcm2708-linux-gnueabi/bin/arm-bcm2708-linux-gnueabi- »
    # There is no error here, it really ends with a dash, this is because it’s only a prefix, the Makefile will then add « cc » to it making it arm-bcm2708-linux-gnueabi-cc.

    You should now be able to run « make » without errors.

    Répondre
  21. Tiktak dit :
    juillet 2, 2013 à 2:37

    My last comments on this subject:

    As I didn’t success to resolve problems due to Xenomai compilation, I simply advise to compile it directly on the raspberry pi. Run « ./configure » and « sudo make install ».

    Then you should have a properly working Xenomai installation.

    RTS: -8, -4, 12, 0, 0

    Répondre

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