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