Raspberry Pi with Xenomai using Ipipe patches

Using raspberry linux 3.10.y and Xenomai 2.6.3

Further info can be found in the wiki of this project:

https://github.com/awesomebytes/xenorasp/wiki

For example pre-made images of raspbian and minibian with xenomai already included.

Get some recent raspberry pi working image, I tested:

Current Raspbian image from: http://www.raspberrypi.org/downloads
Minimal raspbian: http://sourceforge.net/projects/minibian/

Here I will do it with latest raspbian image. I recommend torrent but I don't expect everyone to be able to do it, so here is a command line

wget http://downloads.raspberrypi.org/raspbian_latest

Just in case I've uploaded the image I'm using here: 2014-01-07-wheezy-raspbian.zip

https://drive.google.com/file/d/0B6pEkLw_Qje7c19wTlc2RnRVMlU/edit?usp=sharing

Be sure to check it's SHA-1 Checksum ! (in my case) 9d0afbf932ec22e3c29d793693f58b0406bcab86

sha1sum 2014-01-07-wheezy-raspbian.zip

Extract the image

unzip 2014-01-07-wheezy-raspbian.zip

Install it in your SD card You can get instructions here: http://elinux.org/RPi_Easy_SD_Card_Setup I used ImageWriter

sudo apt-get install usb-imagewriter
sudo imagewriter

Maybe when opening it your SD card does not get recognized by the program You can use Gparted (sudo apt-get install gparted) to delete all the partitions and leave an empty ext4 partition, for example then write the image to the SD card

Test that it boots! user / pass = pi / raspberry

I recommend checking out what every script does first! Now you can execute (in this order)

./1_download_xenorasp_stuff.sh
./2_apply_xenomai_ipipe_patches.sh
./3_compile_kernel.sh

Total time in a modern computer (i7 2.0GHz) with a good internet connection (100Mb) was around 10min to execute the 3 scripts.

And you should have a crosscompiled kernel for your raspberry pi! Now you should copy your new kernel image and related libraries to your SD card, this instruction are also found in 3_compile_kernel.sh if you open it in a text editor

Copy the zImage to boot, enter the xenorasp folder (cd xenorasp) and:

cp linux-rpi-3.10.y/build/arch/arm/boot/zImage /media/YOUR_RASP_BOOT_PARTITION

Your boot partition should most probably be named "boot" using raspbian, it's the one that has files like bootcode.bin config.txt or kernel.img. Copy the dist to / of sdcard linux filesystem (include and lib is there)

sudo cp -r linux-rpi-3.10.y/build/dist/ /media/YOUR_RASP_FILESYSTEM_ROOT 

This should be the other partition of your SD card.

Add to /media/YOUR_RASP_BOOT_PARTITION/config.txt the line (I added it as the first line)

kernel=zImage

Now put the SD card on your raspberry pi and plug it to current. Once up and running... Then you should get userspace xenomai code and examples in the board:

First you may need to connect to your raspberry, you can find some instructions here:

https://github.com/awesomebytes/xenorasp/wiki/Find-your-raspberry-pi-in-your-network

Connect to your raspberry... I plug it into my router and search for the newest ip

nmap -sP 192.168.1.0/24

ssh [email protected]

Remember! password: raspberry

Download and uncompress the stuff

wget http://download.gna.org/xenomai/stable/xenomai-2.6.2.1.tar.bz2
tar -jxvf xenomai-2.6.2.1.tar.bz2
cd xenomai-2.6.2.1

If using minibian distro and not raspbian you may need to install build-essentials

apt-get update build-essentials

Now configure, it will take a couple of minutes

./configure

This takes another couple of minutes...

make
sudo make install

Test your xenomai install

cd /usr/xenomai/bin
sudo ./xeno latency