forked from siemens/xenomai
jacknlliu/xenomai-forge
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
Folders and files
Name | Name | Last commit message | Last commit date | |
---|---|---|---|---|
Repository files navigation
Installing Xenomai 2.99.0 ------------------------------------------------------------------------------- Table of Contents 1. Introduction 2. Installation steps 3. Installing the Cobalt core 3.1. Preparing the Cobalt kernel 3.2. Configuring and compiling the Cobalt kernel 3.3. Examples of building the Cobalt kernel Building a Cobalt/x86 kernel (32/64bit) Building a Cobalt/powerpc kernel (32/64bit) Building a Cobalt/blackfin kernel Building Cobalt/arm kernel 5. Installing the Xenomai libraries and tools --------------------------------------------- 5.1. Prerequisites Generic requirements (both cores) Cobalt-specific requirements Mercury-specific requirement 5.2. Configuring Generic configuration options (both cores) Cobalt-specific configuration options 5.3. Cross-compilation 6. Examples of building the Xenomai libraries and tools ------------------------------------------------------- 6.1. Building the x86 libraries (32/64bit) 6.2. Building the PPC32 libraries 6.3. Building the PPC64 libraries 6.4. Building the Blackfin libraries 6.5. Building the ARM libraries 7. Testing the installation --------------------------- 7.1. Booting the Cobalt kernel 7.2. Testing the real-time system (both cores) The latest version of this document is available at this address: "http://www.xenomai.org/documentation/xenomai-forge/html/README.INSTALL/". For questions, corrections and improvements, write to the mailing list: "xenomai@xenomai.org". 1. Introduction --------------- Xenomai 3 is the new architecture of the Xenomai RTOS emulation system, which can run seamlessly as a dual kernel (i.e. like the legacy Xenomai 2.x, I-pipe based), or over mainline Linux kernels (likely PREEMPT-RT enabled, but this is not mandatory, if the latency requirements are relaxed). This new architecture therefore exhibits two real-time cores, selected at build time. The dual kernel core nicknamed Cobalt, is a significant rework of the Xenomai 2.x system. The native linux version, an enhanced implementation of the experimental Xenomai/SOLO: "http://www.osadl.org/Migration-Portability.migration-portability.0.html" work, is called Mercury. This magic works with the introduction of the "Copperplate" interface, which mediates between the real-time API/emulator your application uses, and the underlying real-time core. This way, applications are able to run in either environments without visible change. 2. Installation steps --------------------- Xenomai follows a split source model, decoupling the kernel space support from the user-space libraries. To this end, kernel and user-space Xenomai components are respectively available under the kernel/ and lib/ sub-trees. Other top-level directories, such as scripts/, testsuite/ and utils/, provide additional scripts and programs to be used on either the build host, or the runtime target. The kernel/ sub-tree which implements the in-kernel support code is seen as a built-in extension of the Linux kernel. Therefore, the standard Linux kernel configuration process should be used to define the various settings for the Xenomai kernel components. All of the kernel code Xenomai currently introduces implements the Cobalt core (i.e. dual kernel configuration). As of today, the Mercury core needs no Xenomai-specific code in kernel space. The lib/ sub-tree contains the various user-space libraries exported by the Xenomai framework to the applications. This tree is built separately from the kernel support. Libraries are built in order to support the selected core, either Cobalt or Mercury. 3. Installing the Cobalt core ----------------------------- 3.1. Preparing the Cobalt kernel -------------------------------- Xenomai/cobalt provides a real-time extension kernel 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>] [--ipipe=<ipipe-patch>] [--arch=<target-arch>] --linux specifies the path of the target kernel source tree. Such kernel tree may be already configured or not, indifferently. This path defaults to $PWD. --ipipe specifies the path of the interrupt pipeline (aka I-pipe) patch to apply against the kernel tree. Suitable patches are available with Xenomai/cobalt under kernel/cobalt/arch/<target-arch>/patches. This parameter can be omitted if the I-pipe has already been patched in, or the script shall suggest an appropriate one. The script will detect whether the interrupt pipeline code is already present into the kernel tree, and skip this operation if so. --arch tells the script about the target architecture. If unspecified, the build host architecture suggested as a reasonable default. For instance, the following command would prepare the Linux tree located at / home/me/linux-3.8-ipipe in order to patch the Xenomai support in: $ cd xenomai-forge $ scripts/prepare-kernel.sh --linux=/home/me/linux-3.8 Note: The script will infer the location of the Xenomai kernel code from its own location within the Xenomai source tree. For instance, if /home/me/ xenomai-forge/scripts/prepare-kernel.sh is executing, then the Xenomai kernel code available from /home/me/xenomai-forge/kernel/cobalt will be patched in the target Linux kernel. 3.2. Configuring and compiling the Cobalt kernel ------------------------------------------------ Once prepared, the target kernel can be configured as usual. All Xenomai configuration options are available from the "Xenomai" toplevel Kconfig menu. There are several important kernel configuration options, documented in the TROUBLESHOOTING guide. Once configured, the kernel can be compiled as usual. If you want several different configs/builds at hand, you may reuse the same source by adding O=../build-<target> to each make invocation. In order to cross-compile the Linux kernel, pass an ARCH and CROSS_COMPILE variable on make command line. See sections "Building a Cobalt/arm kernel", "Building a Cobalt/powerpc kernel", "Building a Cobalt/blackfin kernel", "Building a Cobalt/x86 kernel", for examples. 3.3. Examples of building the Cobalt kernel ------------------------------------------- The examples in following sections use the following conventions: $linux_tree path to the target kernel sources $xenomai_root path to the Xenomai sources Building a Cobalt/x86 kernel (32/64bit) Building Xenomai/cobalt for x86 is almost the same for 32bit and 64bit platforms. You should note, however, that it is not possible to run Xenomai libraries compiled for x86_32 on a kernel compiled for x86_64, and conversely. 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: $ cd $linux_tree $ $xenomai_root/scripts/prepare-kernel.sh --arch=x86 \ --ipipe=$xenomai_root/kernel/cobalt/arch/x86/patches/ipipe-core-X.Y.Z-x86-NN.patch $ make [ARCH=i386] xconfig/gconfig/menuconfig ?configure the kernel (see also the recommended settings here: "http://www.xenomai.org/index.php/Configuring_x86_kernels"). Enable Xenomai options, then build with: $ make [ARCH=i386] bzImage modules Now, let?s say that you really want to build Xenomai for a Pentium-based x86 32bit platform, using the native host toolchain; the typical steps would be as follows: $ cd $linux_tree $ $xenomai_root/scripts/prepare-kernel.sh --arch=i386 \ --ipipe=$xenomai_root/kernel/cobalt/arch/x86/patches/ipipe-core-X.Y.Z-x86-NN.patch $ make xconfig/gconfig/menuconfig ?configure the kernel (see also the recommended settings here: "http://www.xenomai.org/index.php/Configuring_x86_kernels"). Enable Xenomai options, then build with: $ make bzImage modules Similarly, for a 64bit platform, you would use: $ cd $linux_tree $ $xenomai_root/scripts/prepare-kernel.sh --arch=x86_64 \ --ipipe=$xenomai_root/kernel/cobalt/arch/x86/patches/ipipe-core-X.Y.Z-x86-NN.patch $ make xconfig/gconfig/menuconfig ?configure the kernel (see also the recommended settings here: "http://www.xenomai.org/index.php/Configuring_x86_kernels"). Enable Xenomai options, then build with: $ make bzImage modules The remaining examples illustrate how to cross-compile a Cobalt-enabled kernel for various architectures. Of course, you would have to install the proper cross-compilation toolchain for the target system first. Building a Cobalt/powerpc kernel (32/64bit) A typical cross-compilation setup, in order to build Xenomai for a ppc-6xx architecture running a 3.8.13 kernel. We use the DENX ELDK cross-compiler: $ cd $linux_tree $ $xenomai_root/scripts/prepare-kernel.sh --arch=powerpc \ --ipipe=$xenomai_root/kernel/cobalt/arch/powerpc/patches/ipipe-core-3.8.13-powerpc-1.patch $ make ARCH=powerpc CROSS_COMPILE=ppc_6xx- xconfig/gconfig/menuconfig ?select the kernel and Xenomai options, save the configuration $ make ARCH=powerpc CROSS_COMPILE=powerpc-linux- uImage modules ?manually install the kernel image and modules to the proper location Building a Cobalt/blackfin kernel The Blackfin is a MMU-less, DSP-type architecture running uClinux. $ cd $linux_tree $ $xenomai_root/scripts/prepare-kernel.sh --arch=blackfin \ --ipipe=$xenomai_root/kernel/cobalt/arch/blackfin/patches/ipipe-core-X.Y.Z-x86-NN.patch $ make ARCH=blackfin CROSS_COMPILE=bfin-uclinux- xconfig/gconfig/menuconfig ?select the kernel and Xenomai options, then compile with: $ make linux image ?then install as needed $ cp images/linux /tftpboot/... Building Cobalt/arm kernel Using codesourcery toolchain named arm-none-linux-gnueabi-gcc and compiling for a CSB637 board (AT91RM9200 based), a typical compilation will look like: $ cd $linux_tree $ $xenomai_root/scripts/prepare-kernel.sh --arch=arm \ --ipipe=$xenomai_root/kernel/cobalt/arch/arm/patches/ipipe-core-X.Y.Z-x86-NN.patch $ 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 4. Installing the Mercury core ------------------------------ For Mercury, you need no Xenomai-specific kernel support so far, beyond what your host Linux kernel already provides. Your kernel should at least provide high resolution timer support (CONFIG_HIGH_RES_TIMERS), and likely complete preemption (PREEMPT_RT) if your application requires short and bounded latencies. Kernels with no real-time support can be used too, likely for basic debugging tasks, and/or running applications which do not have strict response time requirements. Therefore, unlike with Cobalt, there is no additional steps for preparing and/ or configuring the kernel for Mercury. 5. Installing the Xenomai libraries and tools --------------------------------------------- 5.1. Prerequisites ------------------ Generic requirements (both cores) * GCC must have support for legacy atomic builtins (__sync form). * GCC should have a (sane/working) support for TLS preferably, although this is not mandatory if building with --disable-tls. Cobalt-specific requirements * The kernel version must be 3.5.7 or better. * An interrupt pipeline (I-pipe) patch must be available for your target kernel. You can find the official patches issued by the Xenomai project there: "http://download.gna.org/adeos/patches/v3.x/". Only patches from the ipipe-core series are appropriate, legacy patches from the adeos-ipipe series are not. * A timestamp counter (TSC) is required from running on a x86_32 hardware. Unlike with Xenomai 2.x, TSC-emulation using a PIT register is not available. Mercury-specific requirement * Only [eg]libc-based platforms are currently supported. 5.2. Configuring ---------------- A common autoconf script prepares for building the libraries and programs, for both the Cobalt and Mercury cores. The core-specific code which may be needed internally is automatically and transparently selected at compilation-time by the build process. The options listed below can be passed to this script. Generic configuration options (both cores) --with=core= Indicates which real-time core you want to build the support <type> libraries for, namely cobalt or mercury. This option defaults to cobalt. --prefix=<dir> Specifies the root installation path for libraries, include files, scripts and executables. Running $ make install installs these files to $DESTDIR/<dir>. This directory defaults to /usr/xenomai. --enable-debug[= This switch controls the debug level. Three levels are partial] available, with varying overhead: * symbols enables debug symbols to be compiled in the libraries and executables, still turning on the optimizer (-O2). This option has no overhead, it is useful to get meaningful backtraces using gdb while running the application at nominal speed. * partial includes symbols, and also turns on internal consistency checks within the Xenomai code (mostly present in the Copperplate layer). The __XENO_DEBUG__ macro is defined, for both the Xenomai libraries and the applications getting their C compilation flags from the xeno-config script (i.e. xeno-config --cflags). The partial debug mode implicitly turns on --enable-assert. A measurable overhead is introduced by this level. This is the default level when --enable-debug is mentioned with no level specification. * full includes partial settings, but the optimizer is disabled (-O0), and even more consistency checks may be performed. In addition to __XENO_DEBUG__, the macro __XENO_DEBUG_FULL__ is defined. This level introduces the most overhead, which may triple the worst-case latency, or even more. Over the Mercury core, enabling partial or full debug modes also causes the standard malloc interface to be used internally instead of a fast real-time allocator (TLSF). This allows debugging memory-related issues with the help of Valgrind or other dynamic memory analysers. --disable-debug Fully turns off all consistency checks and assertions, turns on the optimizer and disables debug symbol generation. --enable-assert A number of debug assertion statements are present into the Xenomai libraries, checking the internal consistency of the runtime system dynamically (see man assert(3)). Passing --disable-assert to the configure script disables built-in assertions unconditionally. By default, assertions are enabled in partial or full debug modes, disabled otherwise. --enable-pshared Enable shared multi-processing. When enabled, this option allows multiple processes to share real-time objects (e.g. tasks, semaphores). --enable-registry Xenomai APIs can export their internal state through a pseudo-filesystem, which files may be read to obtain information about the existing real-time objects, such as tasks, semaphores, message queues and so on. This feature is supported by FUSE: "http://fuse.sourceforge.net/", which must be available on the target system. Building the Xenomai libraries with the registry support requires the FUSE development libraries to be installed on the build system. When this option is enabled, the system creates a file hierachy under /mnt/xenomai/<session>.<pid> (by default), where you can access the internal state of the active real-time objects. The session label is obtained from the --session runtime switch. E.g. looking at the properties of a VxWorks task could be done as follows: $ cat /mnt/xenomai/anon.12656/vxworks/tasks/windTask name = windTask errno = 0 status = ready priority = 70 lock_depth = 0 You may override the default root of the registry hierarchy by using the --registry-root runtime option (see below). [Note] Note When running over Xenomai/cobalt, the /proc/xenomai interface is also available for inspecting the core system state. --enable-lores-clock Enables support for low resolution clocks. By default, libraries are built with no support for tick-based timing. If you need such support (e.g. for pSOS ? or VxWorks ? APIs), then you can turn it on using this option. [Note] Note The POSIX API does not support tick-based timing. Alchemy may use it optionally. --enable-clock-monotonic-raw The Xenomai libraries requires a monotonic clock to be available from the underlying POSIX interface. When CLOCK_MONOTONIC_RAW is available on your system, you may want to pass this switch, otherwise CLOCK_MONOTONIC will be used by default. [Note] Note The Cobalt core implements CLOCK_MONOTONIC_RAW, so this switch is turned on by default when building with --with-core=cobalt. On the contrary, this option is turned off by default when building for the Mercury core, since we don?t know in advance whether this feature does exist on the target kernel. --enable-tls Xenomai can use GCC?s thread local storage extension (TLS) to speed up the retrieval of the per-thread information it uses internally. This switch enables TLS, use the converse --disable-tls to prevent this. Due to GCC bugs regarding this feature with some release,architecture combinations, whether TLS is turned on by default is a per-architecture decision. Currently, this feature is enabled for x86 and powerpc by default, other architectures will require --enable-tls to be passed to the configure script explicitly. Unless --enable-dlopen-libs is present, the initial-exec TLS model is selected. When TLS is disabled, POSIX?s thread-specific data management services are used internally (i.e. pthread_set/getspecific()). --enable-dlopen-libs This switch allows programs to load Xenomai-based libraries dynamically, using the dlopen(3) routine. Enabling dynamic loading introduces some overhead in TLS accesses when enabled (see --enable-tls), which might be noticeable depending on the architecture. To support dynamic loading when --enable-tls is turned on, the global-dynamic TLS model is automatically selected. Applications loading libcobalt.so dynamically may want to create the XENO_NOSHADOW environment variable prior to calling dlopen(), to prevent auto-shadowing of the calling context. Dynamic loading of Xenomai-based libraries is disabled by default. --enable-async-cancel Enables asynchronous cancellation of Xenomai threads created by the real-time APIs, making provision to protect the Xenomai implementation code accordingly. When disabled, Xenomai assumes that threads may exit due to cancellation requests only when they reach cancellation points (like system calls). Asynchronous cancellation is enabled by default. --enable-smp Turns on SMP support for Xenomai libraries. [Caution] Caution SMP support must be enabled in Xenomai libraries when the client applications are running over a SMP-capable kernel. --enable-fortify Enables support for applications compiled in _FORTIFY_SOURCE mode. Cobalt-specific configuration options NAME DESCRIPTION DEFAULT ^[a] --enable-x86-vsyscall Use the x86/vsyscall interface for issuing enabled syscalls. If disabled, the legacy 0x80 vector will be used. Turning on this option requires NPTL. --enable-arm-tsc Enable ARM TSC emulation. ^[b] kuser --enable-arm-quirks Enable quirks for specific ARM SOCs Currently disabled sa1100 and xscale3 are supported. ^[a] Each option enabled by default can be forcibly disabled by passing --disable-<option> to the configure script. ^[b] In the unusual situation where Xenomai does not support the kuser generic emulation for the target SOC, use this option to specify another tsc emulation method. See --help for a list of valid values. 5.3. Cross-compilation ---------------------- In order to cross-compile the Xenomai libraries and programs, 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 allows 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 PowerPC architecture may be named powerpc-linux-gcc. When passing --host=powerpc-linux to configure, it will automatically use powerpc-linux- 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 using at least the CC and LD, variables on configure command line. The easiest way to build a GNU cross-compiler might involve using crosstool-ng, available here: "http://crosstool-ng.org/". If you want to avoid to build your own cross compiler, you might if find easier to use the 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 required on the target system. See here: "http://www.denx.de/wiki/DULG/ELDK" for further details. Some other pre-built toolchains: * Mentor Sourcery CodeBench Lite Edition, available here: "http://www.mentor.com/embedded-software/sourcery-tools/sourcery-codebench/editions/lite-edition/"; * Linaro toolchain (for the ARM architecture), available here: "https://launchpad.net/linaro-toolchain-binaries". 6. Examples of building the Xenomai libraries and tools ------------------------------------------------------- The examples in following sections use the following conventions: $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. [Caution] Caution In the examples below, make sure to add --enable-smp to the configure script options if building for a SMP-enabled kernel. 6.1. Building the x86 libraries (32/64bit) ------------------------------------------ Assuming that you want to build the Mercury libraries natively for a x86_64/SMP system, enabling shared multi-processing support. You would typically run: $ mkdir $build_root && cd $build_root $ $xenomai_root/configure --with-core=mercury --enable-smp --enable-pshared $ make install Conversely, cross-building the Cobalt libraries from x86_64 with the same feature set, for running on x86_32 could be: $ mkdir $build_root && cd $build_root $ $xenomai_root/configure --with-core=cobalt --enable-smp --enable-pshared \ --host=i686-linux CFLAGS="-m32 -O2" LDFLAGS="-m32" $ make install After installing the build tree (i.e. using "make install"), the installation root should be populated with the librairies, programs and header files you can use to build Xenomai-based real-time applications. This directory path defaults to /usr/xenomai. The remaining examples illustrate how to cross-compile Xenomai for various architectures. Of course, you would have to install the proper cross-compilation toolchain for the target system first. 6.2. Building the PPC32 libraries --------------------------------- A typical cross-compilation setup, in order to build the Cobalt libraries for a ppc-6xx architecture. In that example, we want the debug symbols to be generated for the executable, with no runtime overhead though. We use the DENX ELDK cross-compiler: $ cd $build_root $ $xenomai_root/configure --host=powerpc-linux --with-core=cobalt \ --enable-debug=symbols $ make DESTDIR=$staging_dir install 6.3. Building the PPC64 libraries --------------------------------- Same process than for a 32bit PowerPC target, using a crosstool-built toolchain for ppc64/SMP. $ cd $build_root $ $xenomai_root/configure --host=powerpc64-unknown-linux-gnu \ --with-core=cobalt --enable-smp $ make DESTDIR=$staging_dir install 6.4. Building the Blackfin libraries ------------------------------------ Another cross-compilation setup, in order to build the Cobalt libraries for the Blackfin architecture. We use ADI?s toolchain: "http://blackfin.uclinux.org/doku.php?id=toolchain:installing" for this purpose: $ mkdir $build_root && cd $build_root $ $xenomai_root/configure --host=bfin-linux-uclibc --with-core=cobalt $ make DESTDIR=$staging_dir install [Note] 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. 6.5. Building the ARM libraries ------------------------------- Using codesourcery toolchain named arm-none-linux-gnueabi-gcc and compiling for a CSB637 board (AT91RM9200 based), a typical cross-compilation from a x86_32 desktop would look like: $ 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- --with-core=cobalt $ make DESTDIR=$staging_dir install [Important] Important Unlike 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, implementing the armv4 architecture. The following table summarizes the CFLAGS and options which were automatically passed in previous revisions and which now need to be explicitely passed to configure, for the supported SOCs: Table 1. ARM configure options and compilation flags SOC CFLAGS configure options at91rm9200 -march=armv4t -msoft-float at91sam9x -march=armv5 -msoft-float imx1 -march=armv4t -msoft-float imx21 -march=armv5 -msoft-float imx31 -march=armv6 -mfpu=vfp imx51/imx53 -march=armv7-a -mfpu=vfp3 ^[a] imx6q -march=armv7-a -mfpu=vfp3 ^[a] --enable-smp ixp4xx -march=armv5 -msoft-float --enable-arm-tsc=ixp4xx omap3 -march=armv7-a -mfpu=vfp3 ^[a] omap4 -march=armv7-a -mfpu=vfp3 ^[a] --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 ^[a] 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 restriction being that if SMP is enabled, the architecture should not be less than v6. 7. Testing the installation --------------------------- 7.1. Booting the Cobalt kernel ------------------------------ In order to test the Xenomai installation over Cobalt, you should first try to boot the patched kernel. Check the kernel boot log for messages like these: $ dmesg | grep -i xenomai I-pipe: head domain Xenomai registered. [Xenomai] Cobalt vX.Y.Z enabled If the kernel fails booting, or the log messages indicates an error status instead, see the TROUBLESHOOTING guide. 7.2. Testing the real-time system (both cores) ---------------------------------------------- First, run the latency test: $ /usr/xenomai/bin/latency The latency test should display a message every second with minimum, maximum and average latency values. If this test displays an error message, hangs, or displays unexpected values, see the TROUBLESHOOTING guide. If the latency test succeeds, you should try next to run the xeno-test test in order to assess the worst-case latency of your system. Try: $ xeno-test --help
About
Mirror of xenomai-forge for pull requests
Resources
Stars
Watchers
Forks
Releases
No releases published
Packages 0
No packages published
Languages
- C 89.3%
- Shell 7.8%
- C++ 2.1%
- Assembly 0.4%
- Makefile 0.2%
- Ruby 0.2%