nuclearwessels
Posts: 21
Joined: Tue Jul 02, 2013 12:08 pm

Installing Xenomai on RPi

Wed Jul 17, 2013 2:49 pm

So, I installed Raspbian "Wheezy" image onto my SD card. I'm trying to install a Xenomai patch so my Pi will be an RTOS. I'm following the instructions on this website http://www.xenomai.org/index.php/Buildi ... n_packages, replacing Xenomai 2.5.6 numbers for Xenomai 2.6.2.1 (their latest stable version), installing whatever I need to get it running properly. I have reached the point where I "build the packages in the parent directory."

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xenomai-2.6$ git-buildpackage  --git-debian-branch=v2.5.6-deb  --git-export-dir=..  -uc -us
And it seems to work until I get an error message.

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dpkg-buildpackage: host architecture armhf
dpkg-checkbuilddeps: Unmet build dependencies: dh-kpatches
dpkg-buildpackage: warning: build dependencies/conflicts unsatisfied; aborting
dpkg-buildpackage: warning: (Use -d flag to override.)
debuild: fatal error at line 1357:
dpkg-buildpackage -rfakeroot -D -us -uc -i -I failed
gbp: error: Couldn't run 'debuild -i -I -uc -us' : debuild -i -I returned 29
Some googling gave me this website which has a similar issue: http://lists.alioth.debian.org/pipermai ... 00029.html. They recommended
With latest gcc versions you have to include <unistd.h>.
See:
http://gcc.gnu.org/bugzilla/show_bug.cgi?id=50423
And:
http://gcc.gnu.org/gcc-4.7/changes.html
but I don't know how to do that or access the make file. Can anyone tell me where to go or what do next? Thanks!

User avatar
elektrknight
Posts: 140
Joined: Sat Mar 02, 2013 1:25 pm

Re: Installing Xenomai on RPi

Wed Jul 17, 2013 7:20 pm

This is rather old thread and cross-compiliing instructions seem outdated so it is hard to tell.

Incidentally Xenomai 2.6.2.1 is included out of the box in the Machinoid
distribution, details are in this thread.

"Machinoid hard real-time distribution optimized for machines"
http://www.raspberrypi.org/phpBB3/viewt ... 3&p=386804
Placek Malinowy to jest to!

User avatar
elektrknight
Posts: 140
Joined: Sat Mar 02, 2013 1:25 pm

Re: Installing Xenomai on RPi

Wed Jul 17, 2013 7:23 pm

Incidentally Xenomai 2.6.2.1 is included out of the box
I meant the kernel side is included, you still have to compile user code but that is trivial and documented.
Placek Malinowy to jest to!

Zaine.RPi
Posts: 11
Joined: Wed Feb 12, 2014 6:06 pm

Re: Installing Xenomai on RPi

Fri Mar 21, 2014 12:10 am

Hello,
I installed Xenomai on Raspberry (via Machinoid project). But when I use xeno-test, this messages prints (bin/arith).

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cd /usr/xenomai/bin
./xeno-test

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Started child 22175: /bin/bash /usr/xenomai/bin/xeno-test-run-wrapper ./xeno-test
++ echo 0
++ /usr/xenomai/bin/arith
mul: 0x79364d93, shft: 26
integ: 30, frac: 0x4d9364d9364d9364

signed positive operation: 0x03ffffffffffffff * 1000000000 / 33000000
inline calibration: 0x0000000000000000: 666.600 ns, rejected 9997/10000
inlined llimd: 0x79364d9364d9362f: 1408.300 ns, rejected 50/10000
inlined llmulshft: 0x79364d92ffffffe1: -166.600 ns, rejected 9998/10000
inlined nodiv_llimd: 0x79364d9364d9362f: -166.600 ns, rejected 9998/10000
out of line calibration: 0x0000000000000000: 500.000 ns, rejected 9998/10000
out of line llimd: 0x79364d9364d9362f: 1604.900 ns, rejected 55/10000
out of line llmulshft: 0x79364d92ffffffe1: 0.000 ns, rejected 9998/10000
out of line nodiv_llimd: 0x79364d9364d9362f: 166.600 ns, rejected 9997/10000

signed negative operation: 0xfc00000000000001 * 1000000000 / 33000000
inline calibration: 0x0000000000000000: 500.000 ns, rejected 9998/10000
inlined llimd: 0x86c9b26c9b26c9d1: 1603.800 ns, rejected 49/10000
inlined llmulshft: 0x86c9b26d0000001e: 250.000 ns, rejected 9996/10000
inlined nodiv_llimd: 0x86c9b26c9b26c9d1: 0.000 ns, rejected 9998/10000
out of line calibration: 0x0000000000000000: 500.000 ns, rejected 9998/10000
out of line llimd: 0x86c9b26c9b26c9d1: 1614.400 ns, rejected 47/10000
out of line llmulshft: 0x86c9b26d0000001e: 250.000 ns, rejected 9996/10000
out of line nodiv_llimd: 0x86c9b26c9b26c9d1: 300.000 ns, rejected 9995/10000

unsigned operation: 0x03ffffffffffffff * 1000000000 / 33000000
inline calibration: 0x0000000000000000: 0.000 ns, rejected 9999/10000
inlined nodiv_ullimd: 0x79364d9364d9362f: 500.000 ns, rejected 9998/10000
out of line calibration: 0x0000000000000000: 0.000 ns, rejected 9999/10000
out of line nodiv_ullimd: 0x79364d9364d9362f: 857.100 ns, rejected 9993/10000
++ /usr/xenomai/bin/clocktest -C 42 -T 30
== Tested clock: 42 (CLOCK_HOST_REALTIME)
CPU      ToD offset [us] ToD drift [us/s]      warps max delta [us]
--- -------------------- ---------------- ---------- --------------
  0                  2.0            0.034          0            0.0
++ /usr/xenomai/bin/switchtest -T 30
== Testing FPU check routines...
......
Are they messages such as "out of line llmulshft, out of line calibration" ok? Or does it indicate a problem?

Thank you for your advice.

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