Version 1 (modified by cv, 8 years ago) (diff) |
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Building a Kernel for Barrett Products and Ubuntu 14.04
Notice - Pre-release instructions
This software has not been fully tested. It is meant for use with external PC's only (not the WAM's internal PC/104). We recommend using a standard OS and Kernel that ship with Barrett's products.
Version Info
Ubuntu Version: 14.04.1
Kernel Version: 3.14.17
Xenomai Version: 2.6.4
Building Xenomai Packages
Install Prereq's:
sudo apt-get update sudo apt-get install devscripts debhelper dh-kpatches findutils autotools-dev autoconf automake libtool
Get and unpack the tar.bz2 archive:
wget http://download.gna.org/xenomai/stable/xenomai-2.6.4.tar.bz2 tar -jxf xenomai-2.6.4.tar.bz2 cd xenomai-2.6.4 debuild -uc -us
Install the packages
cd sudo dpkg -i *.deb
Patching the Kernel
Install Prereq's:
sudo apt-get install kernel-package libncurses-dev fakeroot zlib1g-dev
Locate and copy the correct ipipe patch from Xenomai:
cp /usr/src/xenomai-kernel-source/ksrc/arch/x86/patches/ipipe-core-3.14.17-x86-4.patch ~/ipipe-core-3.14.17-x86-4.patch
Download the kernel source archive and extract:
wget https://www.kernel.org/pub/linux/kernel/v3.x/linux-3.14.17.tar.xz tar -xf linux-3.14.17.tar.xz cd linux-3.14.17
Patch the Kernel!! :D
/usr/src/xenomai-kernel-source/scripts/prepare-kernel.sh --arch=amd64 --linux=. --adeos=../ipipe-core-3.14.17-x86-4.patch
Update kernel config for Realtime
Update config as follows...
make menuconfig
-> General setup
-> Auditing support
-> Enable system-call auditing support - DISABLE
-> Real-time sub-system
-> Nucleus
-> Size of the system heap (Kb) - Set to 16384 -> Shared interrupts - ENABLE
-> Drivers
-> Serial Drivers
-> 16550A UART driver - ENABLE
-> CAN drivers
-> RT-Socket-CAN, CAN raw socket interface - ENABLE
-> Phillips SJA1000 CAN controller - ENABLE
-> Standard ISA controllers - ENABLE for PC/104 only -> PEAK PCI Card - ENABLE for external PC only
-> Real-time IPC drivers
-> RTIPC protocol family - LEAVE ALONE (DISABLE for non-IPC)
-> Processor type and features
-> Intel Low Power Subsystem Support - DISABLE -> Linux guest support - DISABLE -> Memtest - DISABLE -> Processor family - Set to Core 2/newer Xeon
-> Power management and ACPI options
-> Power Management Debug Support
-> Test suspend/resume and wakealarm during bootup - ENABLE
-> Enable workqueue power-efficient mode by default - DISABLE -> ACPI (Advanced Configuration and Power Interface) Support
-> Processor - DISABLE -> PCI slot detection driver - DISABLE -> Memory Hotplug - DISABLE -> Boottime Graphics Resource Table support - DISABLE -> ACPI Platform Error Interface (APEI)
-> APEI Error Record Serialization Table (ERST) Debug Support - MODULE
-> Extended Error Log support - DISABLE
-> CPU Frequency scaling
-> CPU Frequency scaling - DISABLE
-> CPU Idle
-> CPU idle PM support - DISABLE
-> Bus options (PCI etc.)
-> PCI support
-> PCI Express Port Bus support
-> PCI Express ASPM control
-> Debug PCI Express ASPM - DISABLE
-> Enable PCI resource re-allocation detection - DISABLE
-> Support for PCI Hotplug
-> ACPI PCI Hotplug driver - DISABLE
-> Device Drivers
-> Input device support
-> Miscellaneous devices
-> PC Speaker support - DISABLE
Build the Kernel
CONCURRENCY_LEVEL=8 fakeroot make-kpkg --initrd --append-to-version -xenomai-2.6.4 kernel_image kernel_headers
Image and Headers will be in the home directory. Follow the steps at http://support.barrett.com/wiki/BuildingAPC/14-04-1_64_Install to complete the PC installation.