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98 lines
3.8 KiB
ReStructuredText
98 lines
3.8 KiB
ReStructuredText
.. _using_xenomai_as_uos:
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Using Xenomai as User OS (Real-Time VM)
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#######################################
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`Xenomai`_ is a real-time development framework cooperating with the Linux kernel, to provide a pervasive, interface-agnostic, hard real-time support to user space applications, seamlessly integrated into the Linux environment.
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This tutorial describes how to run Xenomai as the User OS(Real-Time VM) on the ACRN hypervisor.
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.. _Xenomai: https://gitlab.denx.de/Xenomai/xenomai/-/wikis/home
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Build Xenomai kernel
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********************
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#. Clone Xenomai kernel souce code::
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$ git clone -b F/4.19.59/base/ipipe/xenomai_3.1 https://github.com/intel/linux-stable-xenomai
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#. Enter the directory and select default ACRN configuration::
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$ cd linux-stable-xenomai && make acrn_defconfig
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#. Then just start building the kernel::
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$ make targz-pkg
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#. Upon building completion, you will see a tarball containing kernel and its modules.
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.. code-block:: none
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:emphasize-lines: 22
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$ ls -l
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total 97944
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drwxr-xr-x 27 tw tw 4096 Feb 20 10:23 arch
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drwxr-xr-x 3 tw tw 12288 Feb 21 11:01 block
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-rw-r--r-- 1 tw tw 789264 Feb 25 16:17 built-in.a
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drwxr-xr-x 2 tw tw 4096 Feb 21 11:01 certs
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-rw-r--r-- 1 tw tw 423 Feb 20 10:17 COPYING
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-rw-r--r-- 1 tw tw 98741 Feb 20 10:17 CREDITS
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drwxr-xr-x 4 tw tw 12288 Feb 21 11:01 crypto
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drwxr-xr-x 120 tw tw 12288 Feb 20 10:17 Documentation
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drwxr-xr-x 143 tw tw 4096 Feb 21 10:48 drivers
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drwxr-xr-x 2 tw tw 4096 Feb 20 10:21 firmware
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drwxr-xr-x 73 tw tw 12288 Feb 21 11:01 fs
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drwxr-xr-x 32 tw tw 4096 Feb 20 10:19 include
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drwxr-xr-x 2 tw tw 4096 Feb 25 16:25 init
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drwxr-xr-x 2 tw tw 4096 Feb 21 11:01 ipc
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-rw-r--r-- 1 tw tw 2245 Feb 20 10:17 Kbuild
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-rw-r--r-- 1 tw tw 563 Feb 20 10:17 Kconfig
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drwxr-xr-x 20 tw tw 12288 Feb 25 16:17 kernel
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drwxr-xr-x 13 tw tw 20480 Feb 21 11:01 lib
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drwxr-xr-x 5 tw tw 4096 Feb 20 10:17 LICENSES
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-rw-r--r-- 1 tw tw 17572590 Feb 25 16:17 linux-4.19.59-xenomai-3.1-acrn+-x86.tar.gz
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...
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Launch RTVM
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***********
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#. Prepare a dedicated disk (NVMe or SATA) for RTVM, here we suppose it's ``/dev/sda``. First download the Preempt-RT VM image:
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$ wget https://github.com/projectacrn/acrn-hypervisor/releases/download/acrn-2020w01.1-140000p/preempt-rt-32030.img.xz
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#. Decompress the xz image:
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$ xz -d preempt-rt-32030.img.xz
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#. Burn the Preempt-RT VM image onto the SATA disk:
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$ sudo dd if=preempt-rt-32030.img of=/dev/sda bs=4M oflag=sync status=progress iflag=fullblock seek=0 conv=notrunc
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#. Then you can launch RTVM via our script. We need to tell it where the root partition (here we suppose it's sda3) and kernel tarball are::
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$ sudo /usr/share/acrn/samples/nuc/launch_xenomai.sh -b /dev/sda3 -k /path/to/linux-4.19.59-xenomai-3.1-acrn+-x86.tar.gz
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#. If everything works, you will see a login prompt::
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...
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[ OK ] Started Permit User Sessions.
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[ OK ] Started Getty on tty1.
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[ OK ] Started Serial Getty on hvc0.
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[ OK ] Reached target Login Prompts.
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[ OK ] Started Network Manager Script Dispatcher Service.
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[ OK ] Started Proxy AutoConfig runner service.
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[ OK ] Started Login Service.
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[ OK ] Reached target Multi-User System.
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[ OK ] Reached target Graphical Interface.
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clr-c1ff5bba8c3145ac8478e8e1f96e1087 login:
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Installing the Xenomai libraries and tools
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******************************************
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To use some Xenomai tools or its libraries, please follow the `official document
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<https://gitlab.denx.de/Xenomai/xenomai/-/wikis/Installing_Xenomai_3#library-install>`__
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to build and install them in RTVM. Please note that the according version is Xenomai-3.1 with
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4.19.59 kernel.
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