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authorThomas De Schampheleire <patrickdepinguin+buildroot@gmail.com>2011-09-17 20:22:52 (GMT)
committer Peter Korsgaard <jacmet@sunsite.dk>2011-09-18 20:59:44 (GMT)
commit956d4ab0f501c44f977297d8faac95afa43f3082 (patch)
tree1a41318da4d95f7c4b36659ee408434b4078a332
parent3011d235185b490e619dd8b01004538c5985b0ed (diff)
downloadbuildroot-956d4ab0f501c44f977297d8faac9.tar.gz
buildroot-956d4ab0f501c44f977297d8faac9.tar.bz2
Add xenomai real-time Framework to buildroot
[Fixes by Thomas, including comments from Arnout: * Use AUTOTARGETS instead of GENTARGETS * Use $(KERNEL_ARCH) instead of $(BR2_ARCH) as argument to the prepare-kernel.sh script. This allows the arch name to be fixed with the usual sed expressions and the quotes to be stripped. * Add the --verbose option to prepare-kernel.sh. This allows to get some clear error message when no Xenomai patch has been found for the current kernel version. * Improve the help texts as suggested by Arnout, and remove the now useless README file. * Add a BR2_PACKAGE_XENOMAI_SMP option, instead of poking inside the kernel configuration to find out whether SMP is enabled or not. This cannot work because: 1) the kernel might be built outside of Buildroot and 2) if the kernel is built inside Buildroot, it is built *after* Xenomai, so the kernel configuration file is typically not yet present. * Simplify the ARM subarchitecture selection as suggested by Arnout. * Remove the documentation and development files according to Buildroot standards (using BR2_HAVE_DOCUMENTATION and BR2_HAVE_DEVFILES). * Simplify the /etc/ld.so.conf modification logic. ] [Peter: whitespace fixes] Signed-off-by: Benoit Mauduit <benoit.mauduit@openwide.fr> Signed-off-by: Thomas De Schampheleire <thomas.de.schampheleire@gmail.com> Signed-off-by: Thomas Petazzoni <thomas.petazzoni@free-electrons.com> Signed-off-by: Peter Korsgaard <jacmet@sunsite.dk>
-rw-r--r--linux/Config.ext.in15
-rw-r--r--linux/linux-ext-xenomai.mk30
-rw-r--r--package/Config.in4
-rw-r--r--package/xenomai/Config.in106
-rw-r--r--package/xenomai/xenomai-do-not-install-devices.patch11
-rw-r--r--package/xenomai/xenomai.mk99
-rw-r--r--target/generic/device_table_dev.txt5
7 files changed, 270 insertions, 0 deletions
diff --git a/linux/Config.ext.in b/linux/Config.ext.in
index 50e801d..893edb5 100644
--- a/linux/Config.ext.in
+++ b/linux/Config.ext.in
@@ -1,3 +1,18 @@
menu "Linux Kernel Extensions"
+# Xenomai
+config BR2_LINUX_KERNEL_EXT_XENOMAI
+ bool "Adeos/Xenomai Real-time patch"
+ select BR2_PACKAGE_XENOMAI
+ help
+ Xenomai Kernel part.
+
+config BR2_LINUX_KERNEL_EXT_XENOMAI_ADEOS_PATCH
+ depends on BR2_LINUX_KERNEL_EXT_XENOMAI
+ string "Path for Adeos patch file"
+ help
+ Optionally, explicitly specify the Adeos patch to use.
+ Download it at http://download.gna.org/adeos/patches/v2.6/$(ARCH)/
+ and verify that your kernel version in buildroot matches.
+
endmenu
diff --git a/linux/linux-ext-xenomai.mk b/linux/linux-ext-xenomai.mk
new file mode 100644
index 0000000..e855ded
--- /dev/null
+++ b/linux/linux-ext-xenomai.mk
@@ -0,0 +1,30 @@
+##################################################
+# Linux Adeos/Xenomai extensions
+#
+# Patch the linux kernel with xenomai extension
+##################################################
+
+ifeq ($(BR2_LINUX_KERNEL_EXT_XENOMAI),y)
+# Add dependency to xenomai (user-space) which provide ksrc part
+LINUX_DEPENDENCIES += xenomai
+
+# Adeos patch version
+XENOMAI_ADEOS_PATCH = $(call qstrip,$(BR2_LINUX_KERNEL_EXT_XENOMAI_ADEOS_PATCH))
+ifeq ($(XENOMAI_ADEOS_PATCH),)
+XENOMAI_ADEOS_OPT = --default
+else
+XENOMAI_ADEOS_OPT = --adeos=$(XENOMAI_ADEOS_PATCH)
+endif
+
+# Prepare kernel patch
+define XENOMAI_PREPARE_KERNEL
+ $(XENOMAI_DIR)/scripts/prepare-kernel.sh \
+ --linux=$(LINUX_DIR) \
+ --arch=$(KERNEL_ARCH) \
+ $(XENOMAI_ADEOS_OPT) \
+ --verbose
+endef
+
+LINUX_POST_EXTRACT_HOOKS += XENOMAI_PREPARE_KERNEL
+
+endif #BR2_LINUX_EXT_XENOMAI
diff --git a/package/Config.in b/package/Config.in
index d95e7b5..efb266a 100644
--- a/package/Config.in
+++ b/package/Config.in
@@ -487,6 +487,10 @@ source "package/rpm/Config.in"
endif
endmenu
+menu "Real-Time"
+source "package/xenomai/Config.in"
+endmenu
+
menu "Shell and utilities"
source "package/at/Config.in"
if BR2_PACKAGE_BUSYBOX_SHOW_OTHERS
diff --git a/package/xenomai/Config.in b/package/xenomai/Config.in
new file mode 100644
index 0000000..b5737b8
--- /dev/null
+++ b/package/xenomai/Config.in
@@ -0,0 +1,106 @@
+config BR2_PACKAGE_XENOMAI
+ bool "Xenomai Userspace"
+ help
+ Real-Time Framework for Linux
+ http://www.xenomai.org
+
+ Xenomai is split in two parts: a kernel part and an
+ userspace part.
+
+ This package contains the userspace part, which consists
+ mainly in libraries to write userspace real-time programs
+ that interact with the in-kernel Xenomai real-time core.
+
+ For those libraries to work, you need a Xenomai-enabled
+ kernel. This is possible in two ways:
+ - if you compile your kernel with Buildroot, you need to go
+ to Linux Kernel -> Linux Kernel Extensions to enable the
+ Xenomai extension.
+ - if you compile your kernel outside of Buildroot, you need
+ to make sure that it is Xenomai-enabled.
+
+ Finally, if you are using a static /dev, make sure to
+ uncomment the Xenomai entries listed in
+ target/generic/device_table_dev.txt.
+
+if BR2_PACKAGE_XENOMAI
+
+config BR2_PACKAGE_XENOMAI_VERSION
+ string "Custom Xenomai version"
+ help
+ Manually select Xenomai version. If left empty, the default
+ version will be used.
+
+ Make sure that the selected version has a patch for your
+ selected Linux kernel. If it does not, download and select
+ a patch manually with
+ BR2_LINUX_KERNEL_EXT_XENOMAI_ADEOS_PATCH, in the Linux
+ Kernel -> Linux Kernel Extensions menu.
+
+config BR2_PACKAGE_XENOMAI_SMP
+ bool "Enable SMP support"
+ help
+ This option allows to enable or disable SMP support. It has
+ to match your kernel configuration.
+
+choice
+ prompt "Xenomai ARM CPU type"
+ depends on BR2_arm
+ default BR2_PACKAGE_XENOMAI_CPU_GENERIC_ARM
+ help
+ On the ARM architecture, Xenomai needs to be configured for
+ a specific sub-architecture. Select the appropriate
+ sub-architecture from the list.
+
+ config BR2_PACKAGE_XENOMAI_CPU_AT91RM9200
+ bool "Atmel AT91RM9200"
+
+ config BR2_PACKAGE_XENOMAI_CPU_AT91SAM926X
+ bool "Atmel AT91SAM926X"
+
+ config BR2_PACKAGE_XENOMAI_CPU_INTEGRATOR
+ bool "ARM Ltd. Integrator"
+
+ config BR2_PACKAGE_XENOMAI_CPU_IXP4XX
+ bool "Intel IXP4XX (XScale)"
+
+ config BR2_PACKAGE_XENOMAI_CPU_IMX
+ bool "Freescale i.MX (MX1/MXL)"
+
+ config BR2_PACKAGE_XENOMAI_CPU_IMX21
+ bool "Freescale i.MX21"
+
+ config BR2_PACKAGE_XENOMAI_CPU_MX2
+ bool "Freescale MXC/MX2"
+
+ config BR2_PACKAGE_XENOMAI_CPU_MX3
+ bool "Freescale MXC/MX3"
+
+ config BR2_PACKAGE_XENOMAI_CPU_SA1100
+ bool "StrongARM SA1100"
+
+ config BR2_PACKAGE_XENOMAI_CPU_S3C2410
+ bool "S3C2410"
+
+ config BR2_PACKAGE_XENOMAI_CPU_GENERIC_ARM
+ bool "Generic ARM"
+
+endchoice
+
+# Now set CPU type. We force manually selected type even if detected in case
+# user takes the risk.
+config BR2_PACKAGE_XENOMAI_CPU_TYPE
+ string
+ depends on BR2_PACKAGE_XENOMAI && BR2_arm
+ default "at91rm9200" if BR2_PACKAGE_XENOMAI_CPU_AT91RM9200
+ default "at91sam926x" if BR2_PACKAGE_XENOMAI_CPU_AT91SAM926X
+ default "integrator" if BR2_PACKAGE_XENOMAI_CPU_INTEGRATOR
+ default "ixp4xx" if BR2_PACKAGE_XENOMAI_CPU_IXP4XX
+ default "generic" if BR2_PACKAGE_XENOMAI_CPU_GENERIC_ARM
+ default "imx" if BR2_PACKAGE_XENOMAI_CPU_IMX
+ default "imx21" if BR2_PACKAGE_XENOMAI_CPU_IMX21
+ default "mx2" if BR2_PACKAGE_XENOMAI_CPU_MX2
+ default "mx3" if BR2_PACKAGE_XENOMAI_CPU_MX3
+ default "s3c2410" if BR2_PACKAGE_XENOMAI_CPU_S3C2410
+
+endif
diff --git a/package/xenomai/xenomai-do-not-install-devices.patch b/package/xenomai/xenomai-do-not-install-devices.patch
new file mode 100644
index 0000000..348abee
--- /dev/null
+++ b/package/xenomai/xenomai-do-not-install-devices.patch
@@ -0,0 +1,11 @@
+--- a/Makefile.in 2011-06-24 16:11:23.591449817 +0200
++++ b/Makefile.in 2011-06-24 16:20:29.638129633 +0200
+@@ -719,7 +719,7 @@
+ $$sudo mknod -m 666 $(DESTDIR)/dev/rtheap c 10 254 ; \
+ fi
+
+-install-exec-local: devices
++install-exec-local:
+
+ install-user:
+ $(MAKE) SUDO=false install
diff --git a/package/xenomai/xenomai.mk b/package/xenomai/xenomai.mk
new file mode 100644
index 0000000..8f78333
--- /dev/null
+++ b/package/xenomai/xenomai.mk
@@ -0,0 +1,99 @@
+#############################################################
+# Xenomai
+# URL : http://xenomai.org
+# NOTE : Real-Time Framework for Linux
+#
+#############################################################
+
+XENOMAI_VERSION = $(call qstrip,$(BR2_PACKAGE_XENOMAI_VERSION))
+ifeq ($(XENOMAI_VERSION),)
+XENOMAI_VERSION = 2.5.6
+endif
+
+XENOMAI_SITE = http://download.gna.org/xenomai/stable/
+XENOMAI_SOURCE = xenomai-$(XENOMAI_VERSION).tar.bz2
+
+XENOMAI_INSTALL_STAGING = YES
+
+ifeq ($(BR2_arm),y)
+XENOMAI_CPU_TYPE = $(call qstrip,$(BR2_PACKAGE_XENOMAI_CPU_TYPE))
+# Set "generic" if not defined
+ifeq ($(XENOMAI_CPU_TYPE),)
+XENOMAI_CPU_TYPE = generic
+endif
+XENOMAI_CONF_OPT += --enable-arm-mach=$(XENOMAI_CPU_TYPE)
+endif #BR2_arm
+
+ifeq ($(BR2_PACKAGE_XENOMAI_SMP),y)
+XENOMAI_CONF_OPT += --enable-smp
+endif
+
+# The configure step needs to be overloaded, because Xenomai doesn't
+# support --prefix=/usr and the autotargets infrastructure enforces
+# this.
+define XENOMAI_CONFIGURE_CMDS
+ (cd $(@D); rm -rf config.cache; \
+ $(TARGET_CONFIGURE_OPTS) \
+ $(TARGET_CONFIGURE_ARGS) \
+ CCFLAGS_FOR_BUILD="$(HOST_CFLAGS)" \
+ ./configure \
+ $(XENOMAI_CONF_OPT) \
+ --host=$(GNU_TARGET_NAME) \
+ )
+endef
+
+ifeq ($(BR2_HAVE_DOCUMENTATION),)
+define XENOMAI_REMOVE_DOCUMENTATION
+ rm -rf $(TARGET_DIR)/usr/xenomai/share/doc
+ rm -rf $(TARGET_DIR)/usr/xenomai/share/man
+endef
+
+XENOMAI_POST_INSTALL_TARGET_HOOKS += XENOMAI_REMOVE_DOCUMENTATION
+endif
+
+ifeq ($(BR2_HAVE_DEVFILES),)
+define XENOMAI_REMOVE_DEVFILES
+ rm -rf $(TARGET_DIR)/usr/xenomai/include
+ for i in xeno-config xeno-info wrap-link.sh ; do \
+ rm -f $(TARGET_DIR)/usr/xenomai/bin/$$i ; \
+ done
+endef
+
+XENOMAI_POST_INSTALL_TARGET_HOOKS += XENOMAI_REMOVE_DEVFILES
+endif
+
+define XENOMAI_ADD_LD_SO_CONF
+ # Add /usr/xenomai/lib in the library search path
+ grep -q "^/usr/xenomai/lib" $(TARGET_DIR)/etc/ld.so.conf || \
+ echo "/usr/xenomai/lib" >> $(TARGET_DIR)/etc/ld.so.conf
+endef
+
+XENOMAI_POST_INSTALL_TARGET_HOOKS += XENOMAI_ADD_LD_SO_CONF
+
+# If you use static /dev creation don't forget to update your
+# device_table_dev.txt
+ifeq ($(BR2_ROOTFS_DEVICE_CREATION_DYNAMIC_UDEV),y)
+XENOMAI_DEPENDENCIES += udev
+
+define XENOMAI_INSTALL_UDEV_RULES
+ if test -d $(TARGET_DIR)/etc/udev/rules.d ; then \
+ for f in $(@D)/ksrc/nucleus/udev/*.rules ; do \
+ cp $$f $(TARGET_DIR)/etc/udev/rules.d/ ; \
+ done ; \
+ fi;
+endef
+
+XENOMAI_POST_INSTALL_TARGET_HOOKS += XENOMAI_INSTALL_UDEV_RULES
+endif # udev
+
+define XENOMAI_REMOVE_UDEV_RULES
+ if test -d $(TARGET_DIR)/etc/udev/rules.d ; then \
+ for f in $(@D)/ksrc/nucleus/udev/*.rules ; do \
+ rm -f $(TARGET_DIR)/etc/udev/rules.d/$$f ; \
+ done ; \
+ fi;
+endef
+
+XENOMAI_POST_UNINSTALL_TARGET_HOOKS += XENOMAI_REMOVE_UDEV_RULES
+
+$(eval $(call AUTOTARGETS,package,xenomai))
diff --git a/target/generic/device_table_dev.txt b/target/generic/device_table_dev.txt
index a3d53d4..71cd083 100644
--- a/target/generic/device_table_dev.txt
+++ b/target/generic/device_table_dev.txt
@@ -141,3 +141,8 @@
# I2C device nodes
/dev/i2c- c 666 0 0 89 0 0 1 4
+
+# Xenomai
+#/dev/rtheap c 666 0 0 10 254 0 0 -
+#/dev/rtscope c 666 0 0 10 253 0 0 -
+#/dev/rtp c 666 0 0 150 0 0 1 32