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Xenomai 3 for Raspberry Pi 3

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xenomai3 raspberry-pi-3 linux-kernel real-time

rpi3-xenomai's Introduction

Xenomai 3.0.7 on Raspberry Pi 3

This short guide explains how to put Xenomai 3 Cobalt on the Raspberry Pi 3.

System setup

Download Raspian from https://www.raspberrypi.org/downloads/raspbian/

Use lsblk to discover the flash device. Then, flash the image through:

 dd bs=4M if=2018-04-18-raspbian-stretch.img of=/dev/sdX conv=fsync

Credentials: pi/raspberry
Run rpi-update
Run raspi-config for enabling SSH and serial console (in "Interfacing Options")

Kernel build

To configure the kernel (optional) type:

    export CROSS_COMPILE=arm-linux-gnueabihf- (or your specific toolchain)

    make configure

To cross-compile the kernel follow the next steps:

    export CROSS_COMPILE=arm-linux-gnueabihf- (or your specific toolchain)

    make kernel

The cross-compiler binaries must be in the current PATH.

Note that the initial default kernel configuration is available in the kernel/kernel-config file.

Kernel installation

Copy the following files to the target:
- kernel/linux-4.14.36/build/linux/arch/arm/boot/dts/bcm2837-rpi-3-b.dtb -> /boot/
- kernel/linux-4.14.36/build/linux/arch/arm/boot/zImage -> /boot/kernel-xenomai.img
- kernel/linux-4.14.36/build/linux/MODULES/ -> /lib/modules

Append to /boot/config.txt:

  device_tree=bcm2837-rpi-3-b.dtb
  kernel=kernel-xenomai.img

Append to /boot/cmdline.txt:
```
  cma=256M@512M
```

Drivers build

To cross-compile the exemplary drivers follow the next steps:

    export CROSS_COMPILE=arm-linux-gnueabihf- (or your specific toolchain)

    make drivers

User-space tools

To natively compile the Xenomai user-space tools on the Rpi3 target, type:

   make tools

   sudo make tools_install

To run the default benchmark, type

   sudo /usr/xenomai/bin/xeno-test

References

Xenomai installation guide: https://xenomai.org/installing-xenomai-3-x/
I-pipe download: https://xenomai.org/downloads/ipipe/
Xenomai download: https://xenomai.org/downloads/xenomai/stable/latest/
I-pipe tracer: https://xenomai.org/2014/06/using-the-i-pipe-tracer/
Xenomai driver programming API: https://xenomai.org/documentation/xenomai-3/html/xeno3prm/group__rtdm__driver__interface.html

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rpi3-xenomai's Issues

step User-space tools

in the step User-space tools, the folder most be xenomai-3.0.6

The Xenomai user-space tools can be natively built as follows:

cd xenomai-3.0.6

./configure --enable-smp -with-core=cobalt

make -j4

sudo make install

Kernel panic - not syncing: Attempted to kill init!

I'd follow your steps and on boot raspberry I got Kernel panic. I follow everything on the steps but in the copy parts I did this:

cp build/linux/arch/arm/boot/dts/bcm2837-rpi-3-b-cobalt.dtb /boot/
cp build/linux/arch/arm/boot/zImage/boot/kernel-xenomai.img
cp -r build/linux/MODULES/lib/modules/4.9.51-ipipe /lib/modules ---is this right?

Is the last copy right?

To recover Raspberry to boot I remove the new lines from config.txt

Xenomai "next" branch

Some problems that I found through the steps

the command make configure just worked after this command
xenomai-3.0.6/scripts/prepare-kernel.sh --arch=arm --ipipe=ipipe-core-4.9.51-arm-4.patch --linux=kernel/linux-4.9.51

Without this error was show:
make -C /home/pi/rpi3-xenomai/kernel/linux-4.9.51 ARCH=arm O=build/linux multi_v7_defconfig make[1]: Entering directory '/home/pi/rpi3-xenomai/kernel/linux-4.9.51' make[2]: Entering directory '/home/pi/rpi3-xenomai/kernel/linux-4.9.51/build/linux' GEN ./Makefile init/Kconfig:2162: can't open file "arch/arm/xenomai/Kconfig" /home/pi/rpi3-xenomai/kernel/linux-4.9.51/scripts/kconfig/Makefile:112: recipe for target 'multi_v7_defconfig' failed make[3]: *** [multi_v7_defconfig] Error 1 /home/pi/rpi3-xenomai/kernel/linux-4.9.51/Makefile:546: recipe for target 'multi_v7_defconfig' failed make[2]: *** [multi_v7_defconfig] Error 2 make[2]: Leaving directory '/home/pi/rpi3-xenomai/kernel/linux-4.9.51/build/linux' Makefile:150: recipe for target 'sub-make' failed make[1]: *** [sub-make] Error 2 make[1]: Leaving directory '/home/pi/rpi3-xenomai/kernel/linux-4.9.51' Makefile:8: recipe for target '/home/pi/rpi3-xenomai/kernel/linux-4.9.51/build/linux/.config' failed make: *** [/home/pi/rpi3-xenomai/kernel/linux-4.9.51/build/linux/.config] Error 2

Don't create boot folder

should install u-boot-tools before make kernel

error "strncpy" when make tools

error: ‘strncpy’ specified bound 16 equals destination size [-Werror=stringop-truncation]
strncpy(ifr.ifr_name, txdev, IFNAMSIZ);