Installing Xenomai
==================

0. Introduction.
----------------

Starting with version 2.1, Xenomai follows a split source model,
decoupling the kernel space support from the user-space libraries used
in accessing the former.

To this end, kernel and user-space Xenomai components are respectively
available under the ksrc/ and src/ sub-trees.

The ksrc/ sub-tree providing the kernel space support is seen as a
built-in extension of the Linux kernel, and no more as a collection of
separate out-of-tree modules. A direct benefit of such approach is the
ability to build the Xenomai real-time subsystem statically into the
target kernel, or as loadable modules as with earlier versions.
therefore, the usual Linux kernel configuration process will be
normally used to define the various settings for the Xenomai kernel
components. Sections 1.1 and 1.2 document the installation process
of this kernel space support.

The src/ sub-tree contains the various user-space libraries and
commands provided by the Xenomai framework. This tree can be built
separately from the kernel support, even if the latter is absent from
the build system. Section 1.3 documents the installation process of this
user-space support.


1. Installation steps
---------------------

1.1 Preparing the target kernel
-------------------------------

Xenomai provides a real-time sub-system seamlessly integrated to
Linux, therefore the first step is to build it as part of the target
kernel. To this end, scripts/prepare-kernel.sh is a shell script which
sets up the target kernel properly. The syntax is as follows:

$ scripts/prepare-kernel.sh --linux=<linux-srctree>
[--adeos=<adeos-patch>] [--arch=<target-arch>]

    --linux specifies the path of the target kernel source tree. Such
    kernel tree being configured or not makes no difference and is
    valid either way.

    --adeos specifies the path of the Adeos patch to apply against the
    kernel tree. Suitable patches are available with Xenomai under
    ksrc/arch/<target-arch>/patches. This parameter can be omitted if
    Adeos has already been patched in or the script shall suggest an
    appropriate one. In any case, the script will not try to apply it
    again whenever a former patch is detected.

    --arch tells the script about the target architecture. If
    unspecified, the build system architecture is detected and
    suggested as a reasonable default.

For instance, the following command would prepare the Linux tree
located at /usr/src/linux-2.6.23-ipipe in order to include the Xenomai
support:

$ cd xenomai-2.4
$ scripts/prepare-kernel.sh --linux=/usr/src/linux-2.6.23-ipipe

Note: The script will infer the location of the Xenomai kernel code
from its own location within the Xenomai source tree. In other words,
if /usr/src/xenomai-2.4/script/prepare-kernel.sh is executing, then
Xenomai's kernel support available from /usr/src/xenomai-2.4/ksrc will
be bound to the target kernel.

1.2 Configuring and building the target kernel
----------------------------------------------

Once the target kernel has been prepared, all Xenomai configuration
options are available from the "Real-time subsystem" toplevel menu.

There are several configure options that cause large latencies; they
should be avoided.  The TROUBLESHOOTING file identifies them and
explains the issues with their use.  Once configured, the kernel
should be built as usual.

If you want several different configs/builds at hand, you can reuse
the same source by adding O=../build-<target> to each make
invocation. See section 2.2 for an example.

In order to cross-compile the Linux kernel, pass an ARCH and
CROSS_COMPILE variable on make command line. See sections 2.2, 2.3 and
2.4 for examples.

1.3 Building the user-space support
-----------------------------------

A regular autoconf script is provided in order to prepare for building
the user-space support. The options listed below can be passed to this
script. Those options only affect the libraries compiled as part of
Xenomai's user-space support, but in any case, they never impact the
kernel-based support.

1.3.1 Feature conflict resolution
---------------------------------

Because of the strong decoupling between the kernel and user-space
build procedures, Xenomai needs to make sure that all user-space
options selected at configuration time will be consistent with the
actual support the runtime libraries will get from the target
kernel. For instance, enabling TSC support in user-space for x86
albeit the kernel has been compiled with CONFIG_X86_TSC disabled would
certainly lead to runtime problems if uncaught, since Xenomai and the
application would not agree on the high precision clock to use for
their timings.  Furthermore, most of these issues cannot be probed for
during compilation, because the target generally has different
features than the host, even when theyre the same arch (ex 386 vs 686)

In order to solve those potential issues, each Xenomai architecture
port defines a set of critical features which is tested for
consistency, each time a user-space application binds itself to a
real-time interface in kernel space. Unresolvable conflicts are
reported and the execution stops immediately in such a case.

Options that need perfect matching between both sides are marked as
"strong" in the following lists, others that may differ are marked as
"weak". The way Xenomai deals with tolerated discrepancies is decided
on a case-by-case basis, depending on the option considered. When
not applicable, the binding type remains unspecified.

For instance, a kernel providing SMP support can run either UP or SMP
user-space applications since the SMP option's binding is weak. On the
other hand, x86-based applications linked against Xenomai libraries
which have been compiled with the x86-tsc option on, must run on a
kernel built with CONFIG_X86_TSC set, since the x86-tsc option's
binding is strong.

1.3.2 Generic configure options
-------------------------------

NAME                 DESCRIPTION                     [BINDING,]DEFAULT(*)

--prefix             Installation directory          /usr/xenomai
--enable-debug       Enable debug symbols (-g)       disabled
--enable-smp         Enable SMP support              weak,disabled

1.3.3 Arch-specific configure options
-------------------------------------

NAME                DESCRIPTION                      [BINDING,]DEFAULT(*)

--enable-x86-sep    Enable x86 SEP instructions      strong,disabled
		    for issuing syscalls.
		    You will also need NPTL

--enable-x86-tsc    Enable x86 TSC for timings       strong,enabled
		    You must have TSC for this.

--enable-arm-tsc    Enable ARM TSC emulation	     weak,kuser
		    In the unusual situation where
		    Xenomai kernel support for the
		    target SOC does not support
		    the kuser generic emulation,
		    pass this option to use another
		    tsc emulation.
		    See --help for a list of valid
		    values.

--enable-arm-quirks Enable quirks for specific ARM   weak,disabled
		    SOCs Currently sa1100 and
		    xscale3 are supported.

(*) Each option enabled by default can be forcibly disabled by passing
--disable-<option> to the configure script.

1.3.3 Cross-compilation
-----------------------

In order to cross-compile Xenomai user-space support, you will need to
pass a --host and --build option to the configure script. The --host
option allow to select the architecture for which the libraries and
programs are built. The --build option allow to choose the
architecture on which the compilation tools are run,
i.e. the system running the configure script.

Since cross-compiling requires specific tools, such tools are
generally prefixed with the host architecture name; for example, a
compiler for the power PC architecture may be named
powerpc-405-linux-gnu-gcc.

The easiest way to build a GNU cross-compiler might involve using Dan
Kegel's crosstools found at http://kegel.com/crosstool.

When passing the option --host=powerpc-405-linux-gnu to configure,
configure will automatically use powerpc-405-linux-gnu- as a prefix to
all compilation tools names and infer the host architecture name from
this prefix. If configure is unable to infer the architecture name
from the cross-compilation tools prefix, you will have to manually
pass the name of all compilation tools on configure command line.

If you want to avoid to build your own cross compiler, you might if find
easier to use ELDK (see http://www.denx.de/wiki/DULG/ELDK). It includes
the GNU cross development tools, such as the compilers, binutils, gdb,
etc., and a number of pre-built target tools and libraries necessary
to provide some functionality on the target system.

See sections 2.2, 2.3 and 2.4 for examples.

2. Typical installation procedures
----------------------------------

# $linux_tree = path to the target kernel sources
# $xenomai_root = path to the Xenomai sources
# $build_root = path to a clean build directory
# $staging_dir = path to a directory that will hold the installed file
# temporarily before they are moved to their final location; when used
# in a cross-compilation setup, it is usually a NFS mount point from
# the target's root directory to the local build host, as a
# consequence of which running "make DESTDIR=$staging_dir install" on
# the host immediately updates the target system with the installed
# programs and libraries.

2.1 Building for x86_32/64bit
-----------------------------

Since Linux 2.6.24, x86_32 and x86_64 trees are merged. Therefore,
building Xenomai for 2.6.24 or later is almost the same, regardless of
the 32/64bit issue. Assuming that you want to build natively for a
x86_64 system (x86_32 cross-build options from x86_64 appear between
brackets), you would typically run:

$ $xenomai_root/scripts/prepare-kernel.sh --arch=x86 \
  --adeos=$xenomai_root/ksrc/arch/x86/patches/adeos-ipipe-2.6.29.4-x86-X.Y-ZZ.patch \
  --linux=$linux_tree
$ cd $linux_tree
$ make [ARCH=i386] xconfig/gconfig/menuconfig # select the kernel and Xenomai options
$ make [ARCH=i386] bzImage modules # then install as needed
$ mkdir $build_root && cd $build_root
$ $xenomai_root/configure --enable-x86-sep (*) \
  [--host=i686-linux CFLAGS="-m32 -O2" LDFLAGS="-m32"]
$ make install

(*) Make sure to pass --enable-smp as well if building for a SMP-capable
system.

Now, let's say that you really want to build Xenomai for a
Pentium-based x86 32bit platform running a legacy 2.6.23 kernel, using
the native host toolchain; the typical steps would be as follows:

$ $xenomai_root/scripts/prepare-kernel.sh --arch=i386 \
  --adeos=$xenomai_root/ksrc/arch/x86/patches/adeos-ipipe-2.6.23-i386-X.Y-ZZ.patch \
  --linux=$linux_tree
$ cd $linux_tree
$ make xconfig/gconfig/menuconfig # select the kernel and Xenomai options
$ make bzImage modules # then install as needed
$ mkdir $build_root && cd $build_root
$ $xenomai_root/configure --enable-x86-sep
$ make install

Similarly, for a legacy kernel on a 64bit platform, you would use:

$ $xenomai_root/scripts/prepare-kernel.sh --arch=x86_64 \
  --adeos=$xenomai_root/ksrc/arch/x86/patches/adeos-ipipe-2.6.23-x86_64-X.Y-ZZ.patch \
  --linux=$linux_tree
$ cd $linux_tree
$ make xconfig/gconfig/menuconfig # select the kernel and Xenomai options
$ make bzImage modules # then install as needed
$ mkdir $build_root && cd $build_root
$ $xenomai_root/configure
$ make install

Once the compilation has completed, /usr/xenomai should contain the
user-space librairies and header files you would use to build
applications that call Xenomai's real-time support in kernel space.

The remaining examples illustrate how to cross-compile Xenomai for
various architectures. Of course, you will have to install the proper
cross-compilation toolchain for the target system first, in order to
build Xenomai.

2.2 Building for the PowerPC architecture
-----------------------------------------

PowerPC has a legacy arch/ppc branch, and a newer, current
arch/powerpc tree. Xenomai supports both, but using arch/powerpc is
definitely recommended. To help the preparation script to pick the
right one, you have to specify either --arch=powerpc (current) or
--arch=ppc (legacy). Afterwards, the rest should be a no-brainer:

A typical cross-compilation setup, in order to build Xenomai for a
lite5200 board running a recent 2.6.29.4 kernel. We use DENX's ELDK
cross-compiler:

$ $xenomai_root/scripts/prepare-kernel.sh --arch=powerpc \
  --adeos=$xenomai_root/ksrc/arch/powerpc/patches/adeos-ipipe-2.6.29.4-powerpc-2.6-00.patch \
  --linux=$linux_tree
$ cd $linux_tree
$ make ARCH=powerpc CROSS_COMPILE=ppc_6xx- xconfig/gconfig/menuconfig
# [select the kernel and Xenomai options, save the configuration]
$ make ARCH=powerpc CROSS_COMPILE=ppc_6xx- uImage modules
# [manually install the u-boot image and modules to the proper location]
$ cd $build_root
$ $xenomai_root/configure --host=powerpc-unknown-linux-gnu \
  CC=ppc_6xx-gcc AR=ppc_6xx-ar LD=ppc_6xx-ld
$ make DESTDIR=$staging_dir install

Another cross-compilation setup, in order to build Xenomai for a
powerpc64 PA-Semi board running a recent 2.6.29.4 kernel:

$ $xenomai_root/scripts/prepare-kernel.sh --arch=powerpc \
  --adeos=$xenomai_root/ksrc/arch/powerpc/patches/adeos-ipipe-2.6.29.4-powerpc-2.6-00.patch \
  --linux=$linux_tree
$ cd $linux_tree
$ make ARCH=powerpc CROSS_COMPILE=powerpc64-linux- xconfig/gconfig/menuconfig
# [select the kernel and Xenomai options, save the configuration]
$ make ARCH=powerpc CROSS_COMPILE=powerpc64-linux-
# [manually install the vmlinux image and modules to the proper location]
$ cd $build_root
$ $xenomai_root/configure --enable-smp --host=powerpc64-linux \
  CC=powerpc64-linux-gcc AR=powerpc64-linux-ar LD=powerpc64-linux-ld
$ make DESTDIR=$staging_dir install

Yet another cross-compilation setup, this time for building Xenomai
for a PowerPC-405-based system running a legacy arch/ppc 2.6.14
kernel (we do support recent ones as well on this platform):

$ $xenomai_root/scripts/prepare-kernel.sh --arch=ppc \
  --adeos=$xenomai_root/ksrc/arch/powerpc/patches/adeos-ipipe-2.6.14-ppc-1.5-*.patch \
  --linux=$linux_tree
$ mkdir -p $build_root/linux
$ cd $linux_tree
$ make ARCH=ppc CROSS_COMPILE=ppc_4xx- O=$build_root/linux xconfig/gconfig/menuconfig
# [select the kernel and Xenomai options, save the configuration]
$ make ARCH=ppc CROSS_COMPILE=ppc_4xx- O=$build_root/linux bzImage modules
# [manually install the kernel image, system map and modules to the proper location]
$ make $build_root/xenomai && cd $build_root/xenomai
$ $xenomai_root/configure --build=i686-pc-linux-gnu --host=ppc-unknown-linux-gnu \
  CC=ppc_4xx-gcc LD=ppc_4xx-ld
$ make DESTDIR=$staging_dir install

2.3 Building for the Blackfin
-----------------------------

The Blackfin is an MMU-less, DSP-type architecture running uClinux.

$ $xenomai_root/scripts/prepare-kernel.sh --arch=blackfin \
  --adeos=$xenomai_root/ksrc/arch/blackfin/patches/adeos-ipipe-bf53x-*.patch \
  --linux=$linux_tree
$ cd $linux_tree
  # select the kernel and Xenomai options
$ make ARCH=blackfin CROSS_COMPILE=bfin-uclinux- xconfig/gconfig/menuconfig
  # compile
$ make linux image
  # then install as needed
$ cp images/linux /tftpboot/...
  # build the user-space support
$ mkdir $build_root && cd $build_root
$ $xenomai_root/configure --host=blackfin-unknown-linux-gnu \
  CC=bfin-linux-uclibc-gcc AR=bfin-linux-uclibc-ar LD=bfin-linux-uclibc-ld
$ make DESTDIR=$staging_dir install

You may also want to have a look at this hands-on description about
configuring and building a Xenomai system for the Blackfin
architecture: http://docs.blackfin.uclinux.org/doku.php?id=adeos

NOTE: Xenomai uses the FDPIC shared library format on this
architecture. In case of problem running the testsuite, try restarting
the last two build steps, passing the --disable-shared option to the
"configure" script.

2.4 Building for ARM
--------------------

Using codesourcery toolchain named arm-none-linux-gnueabi-gcc and
compiling for a CSB637 board (AT91RM9200 based), a typical compilation
will look like:

$ $xenomai_root/scripts/prepare-kernel.sh --arch=arm \
  --adeos=$xenomai_root/ksrc/arch/arm/patches/adeos-ipipe-2.6.20-arm-* \
  --linux=$linux_tree
$ cd $linux_tree
$ mkdir -p $build_root/linux
$ make ARCH=arm CROSS_COMPILE=arm-none-linux-gnueabi- O=$build_root/linux \
  csb637_defconfig
$ make ARCH=arm CROSS_COMPILE=arm-none-linux-gnueabi-- O=$build_root/linux \
  bzImage modules
# [manually install the kernel image, system map and modules to the proper location]
$ mkdir $build_root/xenomai && cd $build_root/xenomai
$ $xenomai_root/configure CFLAGS="-march=armv4t" LDFLAGS="-march=armv4t" \
  --build=i686-pc-linux-gnu --host=arm-none-linux-gnueabi-
$ make DESTDIR=$staging_dir install

NOTE: Contrarily to previous releases, Xenomai no longer passes any
arm architecture specific flags, or FPU flags to gcc, so, users
are expected to pass them using the CFLAGS and LDFLAGS variables as
demonstrated above, where the AT91RM9200 is based on the ARM920T core,
and so is an armv4t architecture. The following table summarizes the
CFLAGS and options to pass for the known SOCs:

----------------------------------------------------------------------
SOC         | CFLAGS                     | configure options
------------+----------------------------+----------------------------
at91rm9200  | -march=armv4t -msoft-float |
at91sam9x   | -march=armv5 -msoft-float  |
ixp4xx      | -march=armv5 -msoft-float  | --enable-arm-tsc=ixp4xx
imx1        | -march=armv4t -msoft-float |
imx21       | -march=armv5 -msoft-float  |
imx31       | -march=armv6 -mfpu=vfp     |
imx51/imx53 | -march=armv7-a -mfpu=vfp3 *|
omap3       | -march=armv7-a -mfpu=vfp3 *|
omap4       | -march=armv7-a -mfpu=vfp3 *| --enable-smp
orion       | -march=armv5 -mfpu=vfp     |
pxa         | -march=armv5 -msoft-float  |
pxa3xx      | -march=armv5 -msoft-float  | --enable-arm-quirks=xscale3
s3c24xx     | -march=armv4t -msoft-float |
sa1100      | -march=armv4t -msoft-float | --enable-arm-quirks=sa1100
-----------------------------------------------------------------------

* Depending on the gcc versions, the flag for armv7 may be
-march=armv7-a or -march=armv7a.

It is possible to build for an older architecture version (v6 instead
of v7, or v4 instead of v5), if your toolchain does not support the
target architecture, the only rule being that if SMP is enabled, the
architecture should not be less than v6.

2.5 Building for NIOS II
--------------------

NIOS II is a softcore processor developped by Altera and is dedicated to the Altera's FPGA circuits.
NIOS II with no MMU enabled is supported by the uClinux distribution.

2.5.1 Minimum hardware requirements

You have to start with a minimal system with at least:
* A Nios II processor in f or s core version, with hardware multiplier, (f-core suggested, s-core is slower) and with no MMU enabled.
* SDRAM (minimum requirement 8MB).
* One full featured timer named sys_clk_timer used for uClinux.
* A jtag/serial uart or a real serial uart (preferred).

Note in Linux, IRQ 0 means auto-detected, so you must not use IRQ 0 for ANY devices.

The Xenomai port for NIOS II uses extra hardware that you have to add in SOPC builder:
- A  full featured 32-bit Timer named hrtimer with a 1 µs period.
- A  full featured High Resolution 64-bit Timer named hrclock used for time stamping (1 µs period for example).

PLEASE RESPECT hrtimer, hrclock names because the Xenomai port is based on them!

You have to use Altera's Quartus II version 9.0 at least for synthesis.

A good start for your design is to use reference design shipped with your target board.
For example, with an Altera's board, you may use the 'standard' design. 'Standard' reference designs for Altera's boards are available here: http://www.altera.com/support/examples/nios2/exm-nios2.html

2.5.2 Xenomai compilation for NIOS II

You should first verify that uClinux without Xenomai can run on the target board.
The typical actions for building the uClinux kernel for NIOS II (available here: http://www.nioswiki.com/) are:
If $uClinux-dist is the path of NIOS II uClinux release, for example: /home/test/nios2-linux/uClinux-dist

$ cd $uClinux-dist
$ make menuconfig
$ make vendor_hwselect SYSPTF=<path to your system ptf>
$ make

If the NIOS II cross-compiler is called nios2-linux-gcc, a typical compilation will look like:

$ $xenomai_root/scripts/prepare-kernel.sh --arch=nios2 \
  --adeos=$xenomai_root/ksrc/arch/nios2/patches/adeos-ipipe-2.6.26-rc6-nios2-* \
  --linux=$linux_tree
$ $xenomai_root/configure --host=nios2-linux
$ make install DESTDIR=$uClinux-dist/romf
$ cd $uClinux-dist
$ make