From 956d4ab0f501c44f977297d8faac95afa43f3082 Mon Sep 17 00:00:00 2001 From: Thomas De Schampheleire Date: Sat, 17 Sep 2011 22:22:52 +0200 Subject: [PATCH] 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 Signed-off-by: Thomas De Schampheleire Signed-off-by: Thomas Petazzoni Signed-off-by: Peter Korsgaard --- linux/Config.ext.in | 15 +++ linux/linux-ext-xenomai.mk | 30 +++++ package/Config.in | 4 + package/xenomai/Config.in | 106 ++++++++++++++++++ .../xenomai-do-not-install-devices.patch | 11 ++ package/xenomai/xenomai.mk | 99 ++++++++++++++++ target/generic/device_table_dev.txt | 5 + 7 files changed, 270 insertions(+) create mode 100644 linux/linux-ext-xenomai.mk create mode 100644 package/xenomai/Config.in create mode 100644 package/xenomai/xenomai-do-not-install-devices.patch create mode 100644 package/xenomai/xenomai.mk diff --git a/linux/Config.ext.in b/linux/Config.ext.in index 50e801d67b..893edb58b1 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 0000000000..e855deddf8 --- /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 d95e7b5e8e..efb266a5eb 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 0000000000..b5737b8f77 --- /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 0000000000..348abee4b1 --- /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 0000000000..8f78333e0a --- /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 a3d53d460a..71cd083495 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 -- 2.30.2