# README-real_time.ronetix # Building and using Real Time for Linux # for AT91SAM9263 based board PM9263. # # Ronetix GmbH # www.ronetix.at # August, 2010 # Table of Contents: 1. Download and install the GNU toolchain 2. RTAI 3. Xenomai 1. Download and install the GNU toolchain See the toolchain README 1. RTAI TODO: 2. Xenomai 2.1. Building kernel and xenomai For Linux kernel 2.6.28.10 $ wget http://download.ronetix.info/boards/linux/kernel/2.6.28/linux-2.6.28.10.tar.bz2 $ wget http://download.ronetix.info/boards/linux/real_time/adeos-ipipe-2.6.28.10-arm-1.12-07.patch $ wget http://download.ronetix.info/boards/linux/kernel/2.6.28/001_linux-2.6.28-at91.patch $ wget http://download.ronetix.info/boards/linux/kernel/2.6.28/002_linux-2.6.28-exp.patch $ wget http://download.ronetix.info/boards/linux/kernel/2.6.28/003_linux-2.6.28-at91-ronetix-20112009.patch $ wget http://download.ronetix.info/boards/linux/real_time/xenomai/xenomai-2.5.4.tar.bz2 $ tar xjf linux-2.6.28.10.tar.bz2 $ cd linux-2.6.28.10 $ patch -p1 < ../adeos-ipipe-2.6.28.10-arm-1.12-07.patch $ patch -p1 < ../linux-2.6.28-at91.patch.bz2 $ patch -p1 < ../linux-2.6.28-exp.patch.bz2 $ patch -p1 < ../003_linux-2.6.28-at91-ronetix-20112009.patch $ cd .. $ tar xjf xenomai-2.5.4.tar.bz2 $ cd xenomai-2.5.4 $ scripts/prepare-kernel.sh --arch=arm --linux=${PWD}/../linux-2.6.28.10 $ cd ../linux-2.6.28.10 $ export ARCH=arm $ export CROSS_COMPILE=/usr/cross/arm-linux-4.3.3/bin/arm-linux- $ make pm9263_defconfig $ make uImage $ cd xenomai-2.5.4 $ ./configure --build=i686-pc-linux-gnu --host=arm-linux --enable-arm-mach=at91sam926x --enable-arm-tsc $ make DESTDIR=${PWD}/staging_dir install # !!!Note: don't give correct root password in order not to populate /dev 2.2. Programming/Writing After successful building the file for programming/writing is uImage. On how to program it see the README for programming. 2.3. Installing Xenomai Transfer the xenomai-2.5.4/staging_dir/usr/xenomai to /usr on the target rootfs. A. Make Xenomai as part of the jffs2 rootfs image See README-linux_kernel.ronetix. B. Through network with tftp-hpa On build computer: $ tar czf xenomai.tar.gz staging_dir/usr/xenomai --exclude=xenomai/include --exclude=xenomai/share/doc --exclude=xenomai/share/man On host computer(target): # tftp -c get /path/to/xenamai.tar.gz ~/xenamai.tar.gz # gunzip xenamai.tar.gz # tar xf xenamai.tar -C /usr