2020-03-19 15:24:45 +08:00
.. _using_xenomai_as_uos:
2020-05-01 21:55:15 +08:00
Run Xenomai as the User VM OS (Real-Time VM)
############################################
2020-03-19 15:24:45 +08:00
2020-03-30 08:36:02 +08:00
`Xenomai`_ is a versatile real-time framework that provides support to user space applications that are seamlessly integrated into Linux environments.
2020-03-19 15:24:45 +08:00
2020-03-30 08:36:02 +08:00
This tutorial describes how to run Xenomai as the User VM OS (Real-Time VM) on the ACRN hypervisor.
2020-03-19 15:24:45 +08:00
.. _Xenomai: https://gitlab.denx.de/Xenomai/xenomai/-/wikis/home
2020-03-30 08:36:02 +08:00
Build the Xenomai kernel
***** ***** ***** ***** *** *
2020-03-19 15:24:45 +08:00
2020-04-10 05:50:30 +08:00
Follow these instructions to build the Xenomai kernel:
2020-03-30 08:36:02 +08:00
2020-04-10 05:50:30 +08:00
#. Clone the Xenomai kernel source code::
2020-03-19 15:24:45 +08:00
$ git clone -b F/4.19.59/base/ipipe/xenomai_3.1 https://github.com/intel/linux-stable-xenomai
2020-03-30 08:36:02 +08:00
#. Go to the directory and select the default ACRN configuration::
2020-03-19 15:24:45 +08:00
$ cd linux-stable-xenomai && make acrn_defconfig
2020-03-30 08:36:02 +08:00
#. Build the kernel::
2020-03-19 15:24:45 +08:00
$ make targz-pkg
2020-03-30 08:36:02 +08:00
Upon building completion, verify that you see a tarball that contains the kernel and its modules.
2020-03-19 15:24:45 +08:00
.. code-block :: none
:emphasize-lines: 22
$ ls -l
total 97944
drwxr-xr-x 27 tw tw 4096 Feb 20 10:23 arch
drwxr-xr-x 3 tw tw 12288 Feb 21 11:01 block
-rw-r--r-- 1 tw tw 789264 Feb 25 16:17 built-in.a
drwxr-xr-x 2 tw tw 4096 Feb 21 11:01 certs
-rw-r--r-- 1 tw tw 423 Feb 20 10:17 COPYING
-rw-r--r-- 1 tw tw 98741 Feb 20 10:17 CREDITS
drwxr-xr-x 4 tw tw 12288 Feb 21 11:01 crypto
drwxr-xr-x 120 tw tw 12288 Feb 20 10:17 Documentation
drwxr-xr-x 143 tw tw 4096 Feb 21 10:48 drivers
drwxr-xr-x 2 tw tw 4096 Feb 20 10:21 firmware
drwxr-xr-x 73 tw tw 12288 Feb 21 11:01 fs
drwxr-xr-x 32 tw tw 4096 Feb 20 10:19 include
drwxr-xr-x 2 tw tw 4096 Feb 25 16:25 init
drwxr-xr-x 2 tw tw 4096 Feb 21 11:01 ipc
-rw-r--r-- 1 tw tw 2245 Feb 20 10:17 Kbuild
-rw-r--r-- 1 tw tw 563 Feb 20 10:17 Kconfig
drwxr-xr-x 20 tw tw 12288 Feb 25 16:17 kernel
drwxr-xr-x 13 tw tw 20480 Feb 21 11:01 lib
drwxr-xr-x 5 tw tw 4096 Feb 20 10:17 LICENSES
-rw-r--r-- 1 tw tw 17572590 Feb 25 16:17 linux-4.19.59-xenomai-3.1-acrn+-x86.tar.gz
...
2020-03-30 08:36:02 +08:00
Launch the RTVM
***** ***** *****
#. Prepare a dedicated disk (NVMe or SATA) for the RTVM; in this example, we use `` /dev/sda `` .
2020-03-19 15:24:45 +08:00
2020-03-30 08:36:02 +08:00
a. Download the Preempt-RT VM image:
2020-03-19 15:24:45 +08:00
2020-03-30 08:36:02 +08:00
$ wget https://github.com/projectacrn/acrn-hypervisor/releases/download/acrn-2020w01.1-140000p/preempt-rt-32030.img.xz
2020-03-19 15:24:45 +08:00
2020-03-30 08:36:02 +08:00
#. Decompress the xz image:
2020-03-19 15:24:45 +08:00
2020-03-30 08:36:02 +08:00
$ xz -d preempt-rt-32030.img.xz
2020-03-19 15:24:45 +08:00
2020-03-30 08:36:02 +08:00
#. Burn the Preempt-RT VM image onto the SATA disk:
2020-03-19 15:24:45 +08:00
2020-03-30 08:36:02 +08:00
$ sudo dd if=preempt-rt-32030.img of=/dev/sda bs=4M oflag=sync status=progress iflag=fullblock seek=0 conv=notrunc
2020-03-19 15:24:45 +08:00
2020-03-30 08:36:02 +08:00
#. Launch the RTVM via our script. Indicate the location of the root partition (sda3 in our example) and the kernel tarball::
2020-03-19 15:24:45 +08:00
2020-03-30 08:36:02 +08:00
$ sudo /usr/share/acrn/samples/nuc/launch_xenomai.sh -b /dev/sda3 -k /path/to/linux-4.19.59-xenomai-3.1-acrn+-x86.tar.gz
2020-03-19 15:24:45 +08:00
2020-03-30 08:36:02 +08:00
#. Verify that a login prompt displays::
2020-03-19 15:24:45 +08:00
...
[ OK ] Started Permit User Sessions.
[ OK ] Started Getty on tty1.
[ OK ] Started Serial Getty on hvc0.
[ OK ] Reached target Login Prompts.
[ OK ] Started Network Manager Script Dispatcher Service.
[ OK ] Started Proxy AutoConfig runner service.
[ OK ] Started Login Service.
[ OK ] Reached target Multi-User System.
[ OK ] Reached target Graphical Interface.
clr-c1ff5bba8c3145ac8478e8e1f96e1087 login:
2020-03-30 08:36:02 +08:00
Install the Xenomai libraries and tools
***** ***** ***** ***** ***** ***** ***** *** *
2020-03-19 15:24:45 +08:00
2020-03-30 08:36:02 +08:00
To build and install Xenomai tools or its libraries in the RVTM, refer to the official `Xenomai documentation <https://gitlab.denx.de/Xenomai/xenomai/-/wikis/Installing_Xenomai_3#library-install> `_ .
Note that the current supported version is Xenomai-3.1 with the 4.19.59 kernel.
