# xenomai **Repository Path**: openeuler/xenomai ## Basic Information - **Project Name**: xenomai - **Description**: The 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 - **Primary Language**: Unknown - **License**: Not specified - **Default Branch**: master - **Homepage**: None - **GVP Project**: No ## Statistics - **Stars**: 5 - **Forks**: 9 - **Created**: 2021-04-08 - **Last Updated**: 2025-05-12 ## Categories & Tags **Categories**: Uncategorized **Tags**: sig-industrial-control ## README # xenomai #### 介绍 ​ Xenomai是一个Linux内核的实时开发框架。它希望通过无缝地集成到Linux环境中来给用户空间应用程序提供全面的，与接口无关的硬实时性能。 ​ Xenomai项目始于2001年8月。2003年它和RTAI项目合并推出了RTAI/fusion。RTAI/fusion是Linux平台上的具有工业生产级别的实时自由软件开发平台，它基于Xenomai的抽象实时操作系统内核。2005年的时候RTAI/fusion项目又从RTAI中独立出来作为Xenomai项目。 ​ Xenomai基于一个抽象的实时操作系统核心。Xenomai给用户程序提供的多个接口（可以是不同的）实时操作系统的接口。所有通用的系统调用都是由这个核心来实现的。这些用户接口又被称作“skins”，完成Xenomai实时开发架构部署的Linux，可以将RTOS的应用程序进行移植，以Linux原生应用程序的方式运行RTOS应用（VxWorks, pSOS, VRTX, uITRON, POSIX）。 #### 软件架构 ​ Xenomai可以支持多种硬件架构，详细支持[列表](https://source.denx.de/Xenomai/xenomai/-/wikis/Supported_Hardware) #### xenomai3安装教程 ##### 内核编译 1. I-pipe(Interrupt pipeline)源码获取 ​ Cobalt实时核心依赖于I-pipe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，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。 2. I-pipe补丁合入 切换到内核源码根目录，通过`patch`工具合入I-pipe补丁，大致步骤如下： ```bash # cd $KERNEL_ROOT # patch -p1 < ../ipipe-core-xxxx-xxxx.patch ``` 3. xenomai补丁生成 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： ```bash # cd $XENOMAI_ROOT # ./prepare-kernel.sh --linux=$KERNEL_ROOT --arch=xxx --outpatch=$OUTPATH/cobalt-core-xxxx-xxxx.patch # cd $KERNEL_ROOT # patch -p1 < $OUTPATH/cobalt-core-xxxx-xxxx.patch ``` 4. 内核配置及编译 ```bash # make ARCH=xxx O=$build_root/linux xxxx_defconfig # make ARCH=xxx O=$build_root/linux menuconfig ``` 进入menuconfig界面，会看影响xenomai实时性的警告信息： ```bash *** WARNING! Page migration (CONFIG_MIGRATION) may increase *** *** latency. *** *** WARNING! At least one of APM, CPU frequency scaling, ACPI 'processor' *** *** or CPU idle features is enabled. Any of these options may *** *** cause troubles with Xenomai. You should disable them. *** ``` 进行如下配置： ```bash General setup ---> Preemption Model (Preemptible Kernel (Low-Latency Desktop)) ---> (X) Low-Latency Desktop (-xeno-3.2.1)Local version - append to kernel release Processor type and features ---> Processor family (Core 2/newer Xeon) ---> (X) Core 2/newer Xeon [*] Multi-core scheduler support [ ] CPU core priorities scheduler support Power management and ACPI options ---> CPU Frequency scaling ---> [ ] CPU Frequency scaling [*] ACPI (Advanced Configuration and Power Interface) Support ---> < > Processor CPU Idle ---> [ ] CPU idle PM support Memory Management options ---> [ ] Contiguous Memory Allocator [ ] Transparent Hugepage Support [ ] Allow for memory compaction [ ] Page migration #x86 Microsoft Hyper-V guest support ---> < > Microsoft Hyper-V client drivers ``` 内核编译安装： ```bash # make ARCH=xxx O=$build_root/linux -j`nproc` # make ARCH=xxx O=$build_root/linux modules_install # make ARCH=xxx O=$build_root/linux install ``` ##### Xenomai3安装 1. 配置 切换到Xenomai源码目录，如果没有`configure` 脚本 和 Makefiles 文件，尝试使用如下命令： ```bash # ./scripts/bootstrap ``` configure配选项如下： ```bash # ./configure --help ... Fine tuning of the installation directories: --bindir=DIR user executables [EPREFIX/bin] --sbindir=DIR system admin executables [EPREFIX/sbin] --libexecdir=DIR program executables [EPREFIX/libexec] --sysconfdir=DIR read-only single-machine data [PREFIX/etc] --sharedstatedir=DIR modifiable architecture-independent data [PREFIX/com] --localstatedir=DIR modifiable single-machine data [PREFIX/var] --runstatedir=DIR modifiable per-process data [LOCALSTATEDIR/run] --libdir=DIR object code libraries [EPREFIX/lib] --includedir=DIR C header files [PREFIX/include] --oldincludedir=DIR C header files for non-gcc [/usr/include] --datarootdir=DIR read-only arch.-independent data root [PREFIX/share] --datadir=DIR read-only architecture-independent data [DATAROOTDIR] --infodir=DIR info documentation [DATAROOTDIR/info] --localedir=DIR locale-dependent data [DATAROOTDIR/locale] --mandir=DIR man documentation [DATAROOTDIR/man] --docdir=DIR documentation root [DATAROOTDIR/doc/xenomai] --htmldir=DIR html documentation [DOCDIR] --dvidir=DIR dvi documentation [DOCDIR] --pdfdir=DIR pdf documentation [DOCDIR] --psdir=DIR ps documentation [DOCDIR] Program names: --program-prefix=PREFIX prepend PREFIX to installed program names --program-suffix=SUFFIX append SUFFIX to installed program names --program-transform-name=PROGRAM run sed PROGRAM on installed program names System types: --build=BUILD configure for building on BUILD [guessed] --host=HOST cross-compile to build programs to run on HOST [BUILD] --target=TARGET configure for building compilers for TARGET [HOST] Optional Features: --disable-option-checking ignore unrecognized --enable/--with options --disable-FEATURE do not include FEATURE (same as --enable-FEATURE=no) --enable-FEATURE[=ARG] include FEATURE [ARG=yes] --enable-dependency-tracking do not reject slow dependency extractors --disable-dependency-tracking speeds up one-time build --enable-silent-rules less verbose build output (undo: "make V=1") --disable-silent-rules verbose build output (undo: "make V=0") --enable-maintainer-mode enable make rules and dependencies not useful (and sometimes confusing) to the casual installer --enable-shared[=PKGS] build shared libraries [default=yes] --enable-static[=PKGS] build static libraries [default=yes] --enable-fast-install[=PKGS] optimize for fast installation [default=yes] --disable-libtool-lock avoid locking (might break parallel builds) --enable-debug Enable debug mode in programs --disable-demo Disable demonstration code --disable-testsuite Disable testsuite --enable-lores-clock Enable low resolution clock --enable-clock-monotonic-raw Use CLOCK_MONOTONIC_RAW for timings --enable-assert Enable runtime assertions --enable-async-cancel Enable asynchronous cancellation --enable-condvar-workaround Enable workaround for broken PI with condvars in glibc --enable-lazy-setsched Enable lazy scheduling parameter update --enable-pshared Enable shared multi-processing for capable skins --enable-registry Export real-time objects to a registry --enable-smp Enable SMP support --enable-sanity Enable sanity checks at runtime --enable-x86-vsyscall Assume VSYSCALL enabled for issuing syscalls --enable-doc-build Build Xenomai documentation --enable-verbose-latex Disable LaTeX non-stop mode --enable-valgrind-client Enable Valgrind client API --enable-fortify Enable _FORTIFY_SOURCE --enable-dlopen-libs Allow dynamic loading of Xenomai libraries --enable-tls Enable thread local storage --enable-kernelshark-plugin build KernelShark plugin --enable-libtraceevent-plugin build libtraceevent plugin --enable-so-suffix enable soname suffix (for Mercury only) Optional Packages: --with-PACKAGE[=ARG] use PACKAGE [ARG=yes] --without-PACKAGE do not use PACKAGE (same as --with-PACKAGE=no) --with-core= build for dual kernel or single image --with-cc=compiler use specific C compiler --with-cxx=compiler use specific C++ compiler --with-gnu-ld assume the C compiler uses GNU ld [default=no] --with-pic[=PKGS] try to use only PIC/non-PIC objects [default=use both] --with-aix-soname=aix|svr4|both shared library versioning (aka "SONAME") variant to provide on AIX, [default=aix]. --with-sysroot[=DIR] Search for dependent libraries within DIR (or the compiler's sysroot if not specified). --with-localmem= Select process-local memory allocator --with-testdir= location for test executables (defaults to $bindir) --with-demodir= location for demo programs (defaults to $prefix/demo) ``` 2. 编译安装 ```bash # ./scripts/bootstrap # ./configure --with-pic --with-core=cobalt --enable-smp --disable-tls --enable-dlopen-libs --disable-clock-monotonic-raw # make -j`nproc` # make install # echo ' ### Xenomai export XENOMAI_ROOT_DIR=/usr/xenomai export XENOMAI_PATH=/usr/xenomai export PATH=$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 ``` #### 使用说明 ##### 应用程序编译 Xenomai3应用程序是使用libcobalt库替换glibc，常用CFLAGS，LDLIBS等参数，可以使用`xeno-config`工具获取，获取命令如下： ```bash # xeno-config --skin=native --cflags -I/usr/xenomai/include/trank -D__XENO_COMPAT__ -I/usr/xenomai/include/cobalt -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__COBALT__ -I/usr/xenomai/include/alchemy # xeno-config --skin=rtdm --ldflags --auto-init -Wl,--no-as-needed -Wl,@/usr/xenomai/lib/cobalt.wrappers -Wl,@/usr/xenomai/lib/modechk.wrappers /usr/xenomai/lib/xenomai/bootstrap.o -Wl,--wrap=main -Wl,--dynamic-list=/usr/xenomai/lib/dynlist.ld -L/usr/xenomai/lib -lcobalt -lmodechk -lpthread -lrt ``` 简单的Makefile如下： ```makefile ###### CONFIGURATION ###### ### List of applications to be build APPLICATIONS = test ###### USER SPACE BUILD (no change required normally) ###### ifneq ($(APPLICATIONS),) ### Default Xenomai installation path XENO ?= /usr/xenomai XENOCONFIG=$(shell PATH=$(XENO):$(XENO)/bin:$(PATH) which xeno-config 2>/dev/null) ### Sanity check ifeq ($(XENOCONFIG),) all:: @echo ">>> Invoke make like this: \"make XENO=/path/to/xeno-config\" <<<" @echo endif CC=$(shell $(XENOCONFIG) --cc) CFLAGS=$(shell $(XENOCONFIG) --skin=native --cflags) LDLIBS=$(shell $(XENOCONFIG) --skin=rtdm --ldflags --auto-init) #LDLIBS=$(shell $(XENOCONFIG) --skin=native --ldflags) all:: $(APPLICATIONS) clean:: $(RM) $(APPLICATIONS) *.o endif ``` #### 参与贡献 1. Fork 本仓库 2. 新建 Feat_xxx 分支 3. 提交代码 4. 新建 Pull Request > **以上观点如有纰漏，请留言指正。**