[Buildroot] [PATCH 0 of 2 v2] Add Xenomai real-time framework

[Buildroot] [PATCH 0 of 2 v2] Add Xenomai real-time framework

[Thomas De Schampheleire]

These two patches are an initial add for Xenomai in buildroot.

"Xenomai is a real-time development framework cooperating with the
Linux kernel, in order to provide a pervasive, interface-agnostic,
hard real-time support to user-space applications, seamlessly
integrated into the GNU/Linux environment."
[http://www.xenomai.org]

Xenomai comes with a Linux Kernel and user-space part.
I added a Linux extensions sub-menu (The first patch) which handles
the kernel modification provided by Adeos/Xenomai. The advantage of
this way is for maintenance purpose. (Xenomai do not provide a full
kernel patch, but use a script called "prepare-kernel.sh")
Also, this split the user-space from the kernel in a nice way instead
of adding a serie of patches.

The Xenomai user-space part can be built separately with an external
real-time Kernel.

v1: original patch by Beno?t Mauduit
v2: slight modifications, mainly to support other architectures and SMP.

[Buildroot] [PATCH 1 of 2 v2] linux: Add Linux Kernel extensions menu

[Thomas De Schampheleire]

Add a kernel sub-menu (called "Linux Kernel Extensions"), which makes
possible to patch it or tweak the kernel build step.

 * All linux/linux-ext-*.mk files will be read by the make process.
 * The menu can be customized in "linux/Config.ext.in".

Signed-off-by: Benoit Mauduit <benoit.mauduit@openwide.fr>
Signed-off-by: Thomas De Schampheleire <thomas.de.schampheleire@gmail.com>
---
 linux/Config.ext.in |  3 +++
 linux/Config.in     |  4 ++++
 linux/linux.mk      |  2 ++
 3 files changed, 9 insertions(+), 0 deletions(-)
 create mode 100644 linux/Config.ext.in

diff --git a/linux/Config.ext.in b/linux/Config.ext.in
new file mode 100644
--- /dev/null
+++ b/linux/Config.ext.in
@@ -0,0 +1,3 @@
+menu "Linux Kernel Extensions"
+
+endmenu
diff --git a/linux/Config.in b/linux/Config.in
--- a/linux/Config.in
+++ b/linux/Config.in
@@ -176,6 +176,10 @@
 	  /boot in the target root filesystem, as is typically done on
 	  x86/x86_64 systems.
 
+
+# Linux extensions (Xenomai)
+source "linux/Config.ext.in"
+
 endif # BR2_LINUX_KERNEL
 
 endmenu
diff --git a/linux/linux.mk b/linux/linux.mk
--- a/linux/linux.mk
+++ b/linux/linux.mk
@@ -177,6 +177,8 @@
 	fi
 endef
 
+include linux/linux-ext-*.mk
+
 $(eval $(call GENTARGETS,,linux))
 
 linux-menuconfig linux-xconfig linux-gconfig linux-nconfig linux26-menuconfig linux26-xconfig linux26-gconfig linux26-nconfig: dirs $(LINUX_DIR)/.stamp_configured

[Buildroot] [PATCH 2 of 2 v2] Add xenomai real-time Framework to buildroot

[Thomas De Schampheleire]

Buildroot Kernel:
  * Download Adeos patch and specify the path into buildroot
    menuconfig...
  * ..and take care of Linux kernel version supported by Xenomai.

Non-buildroot Kernel:
  * The User-space part of Xenomai can be built with an external
    real-time kernel.

Signed-off-by: Benoit Mauduit <benoit.mauduit@openwide.fr>
Signed-off-by: Thomas De Schampheleire <thomas.de.schampheleire@gmail.com>
---
 linux/Config.ext.in                                  |  15 +++++++++++++++
 linux/linux-ext-xenomai.mk                           |  29 +++++++++++++++++++++++++++++
 package/Config.in                                    |   4 ++++
 package/xenomai/Config.in                            |  78 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 package/xenomai/README                               |  48 ++++++++++++++++++++++++++++++++++++++++++++++++
 package/xenomai/xenomai-do-not-install-devices.patch |  10 ++++++++++
 package/xenomai/xenomai.mk                           |  88 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 target/generic/device_table_dev.txt                  |   5 +++++
 8 files changed, 277 insertions(+), 0 deletions(-)
 create mode 100644 linux/linux-ext-xenomai.mk
 create mode 100644 package/xenomai/Config.in
 create mode 100644 package/xenomai/README
 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
--- 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/$(ARCH)/
+	  and verify that your kernel version in buildroot matches.
+
 endmenu
diff --git a/linux/linux-ext-xenomai.mk b/linux/linux-ext-xenomai.mk
new file mode 100644
--- /dev/null
+++ b/linux/linux-ext-xenomai.mk
@@ -0,0 +1,29 @@
+##################################################
+# Linux Adeos/Xenomai extensions
+#
+# Patch the linux kernel with xenomai extension
+##################################################
+
+ifeq ($(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=$(BR2_ARCH) \
+		$(XENOMAI_ADEOS_OPT)
+endef
+
+LINUX_POST_EXTRACT_HOOKS += XENOMAI_PREPARE_KERNEL
+
+endif #BR2_LINUX_EXT_XENOMAI
diff --git a/package/Config.in b/package/Config.in
--- a/package/Config.in
+++ b/package/Config.in
@@ -487,6 +487,10 @@
 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
--- /dev/null
+++ b/package/xenomai/Config.in
@@ -0,0 +1,78 @@
+config BR2_PACKAGE_XENOMAI
+	bool "Xenomai Userspace"
+	help
+	  Real-Time Framework for Linux
+	  http://www.xenomai.org
+
+config BR2_PACKAGE_XENOMAI_VERSION
+	depends on BR2_PACKAGE_XENOMAI
+	string "Custom Xenomai version"
+	help
+	  Manualy select Xenomai Version.
+	  Take care of compatibility with the Linux kernel.
+
+# Manually select CPU (use it if not detected)
+config BR2_PACKAGE_XENOMAI_CPU_TYPE_MANUAL
+	bool "Manually Select Xenomai CPU"
+	depends on (BR2_PACKAGE_XENOMAI && BR2_arm)
+	help
+	  This option allows you to select Xenomai CPU in a list. Use it only
+	  if CPU is not auto-detected by Buildroot ! (i.e. your board is not
+	  described)
+
+choice
+	prompt "Xenomai ARM CPU type"
+	depends on BR2_PACKAGE_XENOMAI_CPU_TYPE_MANUAL
+	help
+	  Manually select CPU type for Xenomai.
+
+	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
diff --git a/package/xenomai/README b/package/xenomai/README
new file mode 100644
--- /dev/null
+++ b/package/xenomai/README
@@ -0,0 +1,48 @@
+****************
+* Xenomai      *
+****************
+
+Xenomai comes with 2 parts : Kernel Part and User-space part.
+Kernel part patch Linux with ADEOS(i-pipe)
+(http://home.gna.org/adeos/) and some Xenomai kernel space stuff.
+
+From Adeos main site :
+"The purpose of Adeos is to provide a flexible environment for sharing
+hardware resources among multiple operating systems, or among multiple
+instances of a single OS."
+
+From Xenomai main site :
+"Xenomai is a real-time development framework cooperating with the
+Linux kernel, in order to provide a pervasive, interface-agnostic,
+hard real-time support to user-space applications, seamlessly
+integrated into the GNU/Linux environment."
+
+****************
+* Installation *
+****************
+
+* Buildroot Kernel: *
+  - Check that your version of Linux Kernel is supported by the
+    version of xenomai you choose.
+  - Download Adeos patch at
+    http://download.gna.org/adeos/patches/v2.6/$(ARCH)/, or if your
+    are sure, let the Xenomai 'prepare-kernel.sh' script do the work.
+  - Check the Xenomai Kernel option in Buildroot :
+     -> Kernel
+       -> Linux Kernel (BR2_LINUX_KERNEL [=y])
+         -> Linux Kernel Extensions
+            -> [*] Adeos/Xenomai Real-time patch
+     ..And add the path to Adeos patch. (or leave it empty if you let
+     xenomai script do the work)
+
+* Non-Buildroot Kernel AND Buildroot Kernel *
+  - Make sure your Kernel is patched with Xenomai
+  - Check the option in Buildroot menu :
+    -> Package Selection for the target
+       -> Real-time
+          -> [*] Xenomai Userspace
+  - You can download a custom version of Xenomai that fit with your
+  Kernel.
+  - If you use static /dev and the default device_table, Uncomment
+  Xenomai part in 'target/generic/device_table_dev.txt'. (rtheap,
+  rtscope and rtp[0-31])
diff --git a/package/xenomai/xenomai-do-not-install-devices.patch b/package/xenomai/xenomai-do-not-install-devices.patch
new file mode 100644
--- /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
--- /dev/null
+++ b/package/xenomai/xenomai.mk
@@ -0,0 +1,88 @@
+#############################################################
+# 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_EXTRA_CONFIGURE_OPTS += "--enable-$(BR2_ARCH)-mach=$(XENOMAI_CPU_TYPE)"
+endif #BR2_arm
+
+define XENOMAI_CONFIGURE_CMDS
+	(cd $(@D); rm -rf config.cache; \
+		$(TARGET_CONFIGURE_OPTS) \
+		$(TARGET_CONFIGURE_ARGS) \
+		CCFLAGS_FOR_BUILD="$(HOST_CFLAGS)" \
+		./configure \
+		$(XENOMAI_EXTRA_CONFIGURE_OPTS) \
+		--host=$(BR2_ARCH)-linux \
+		$(if $(shell grep "^CONFIG_SMP*=*y" \
+			$(LINUX_DIR)/.config ),--enable-smp,) \
+	)
+endef
+
+define XENOMAI_INSTALL_STAGING_CMDS
+	$(MAKE) DESTDIR=$(STAGING_DIR) -C $(@D) install
+endef
+
+define XENOMAI_INSTALL_TARGET_CMDS
+	$(MAKE) DESTDIR=$(TARGET_DIR) -C $(@D) install
+	rm -rf $(TARGET_DIR)/usr/xenomai/share/doc
+	rm -rf $(TARGET_DIR)/usr/xenomai/include
+	# Make sure /etc/ld.so.conf exists
+	touch $(TARGET_DIR)/etc/ld.so.conf
+	# Add /usr/xenomai/lib only if it is not yet present
+	(grep "/usr/xenomai/lib" $(TARGET_DIR)/etc/ld.so.conf \
+		&>/dev/null) || (echo "/usr/xenomai/lib" >> $(TARGET_DIR)/etc/ld.so.conf)
+endef
+
+# 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_UDEV_HOOKS
+	if test -d $(TARGET_DIR)/etc/udev/rules.d ; then \
+		for f in $(@D)/ksrc/nucleus/udev/*.rules ; do \
+			cp $$f $(TARGET_DIR)/etc/udev/rules.d/ ; \
+		done ; \
+	fi;
+endef
+
+XENOMAI_POST_INSTALL_TARGET_HOOKS += XENOMAI_UDEV_HOOKS
+endif # udev
+
+define XENOMAI_CLEAN_CMDS
+	-$(MAKE) DESTDIR=$(TARGET_DIR) -C $(@D) clean
+endef
+
+define XENOMAI_UNINSTALL_TARGET_CMDS
+	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;
+	$(MAKE) DESTDIR=$(TARGET_DIR) -C $(@D) uninstall
+endef
+
+define XENOMAI_UNINSTALL_STAGING_CMDS
+	$(MAKE) DESTDIR=$(STAGING_DIR) -C $(@D) uninstall
+endef
+
+$(eval $(call GENTARGETS,package,xenomai))
diff --git a/target/generic/device_table_dev.txt b/target/generic/device_table_dev.txt
--- 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

[Buildroot] [PATCH 2 of 2 v2] Add xenomai real-time Framework to buildroot

[Arnout Vandecappelle]

On Wednesday 14 September 2011 14:56:15, Thomas De Schampheleire wrote:
[snip]

> diff --git a/linux/linux-ext-xenomai.mk b/linux/linux-ext-xenomai.mk
> new file mode 100644
> --- /dev/null
> +++ b/linux/linux-ext-xenomai.mk
> @@ -0,0 +1,29 @@
> +##################################################
> +# 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=$(BR2_ARCH) \
> +		$(XENOMAI_ADEOS_OPT)
> +endef
> +
> +LINUX_POST_EXTRACT_HOOKS += XENOMAI_PREPARE_KERNEL
> +
> +endif #BR2_LINUX_EXT_XENOMAI

 Don't we usually limit the ifeq() block to the LINUX_DEPENDENCIES and 
LINUX_POST_EXTRACT_HOOKS lines?

 Shouldn't it be _POST_PATCH_HOOKS rather than _POST_EXTRACT_HOOKS?  Not
that it matters much in the case of the kernel, but it's more consistent.

> diff --git a/package/Config.in b/package/Config.in
> --- a/package/Config.in
> +++ b/package/Config.in
> @@ -487,6 +487,10 @@
>  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
> --- /dev/null
> +++ b/package/xenomai/Config.in
> @@ -0,0 +1,78 @@
> +config BR2_PACKAGE_XENOMAI
> +	bool "Xenomai Userspace"
> +	help
> +	  Real-Time Framework for Linux
> +	  http://www.xenomai.org

 I think most of the README should be put here rather than as a README.

 People only look at a package's README if they're modifying the buildroot
integration of that package.

 At the very least, the help text should refer to the README.

> +
> +config BR2_PACKAGE_XENOMAI_VERSION
> +	depends on BR2_PACKAGE_XENOMAI
> +	string "Custom Xenomai version"
> +	help
> +	  Manualy select Xenomai Version.
> +	  Take care of compatibility with the Linux kernel.

 I think this could be improved as follows:

  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.

[I don't mention which version is the default so we don't have to update
the version number in two places.  Actually, contrary to what PeterK has
suggested, I would put a default in the config and nothing in the makefile.]

[BTW here's a nice example why I prefer the patch and the Xenomai
userspace to sit close to each other in the config.  Referring to a
completely different menu in this way is not nice IMHO.]

> +
> +# Manually select CPU (use it if not detected)

 Comment is redundant

> +config BR2_PACKAGE_XENOMAI_CPU_TYPE_MANUAL
> +	bool "Manually Select Xenomai CPU"
> +	depends on (BR2_PACKAGE_XENOMAI && BR2_arm)
> +	help
> +	  This option allows you to select Xenomai CPU in a list. Use it only
> +	  if CPU is not auto-detected by Buildroot ! (i.e. your board is not
> +	  described)

 If this config is not set, it defaults to generic.  Also this config isn't used
in the makefile.  Doesn't it make more sense to remove this config and just
put generic as the default in the following choice?

> +
> +choice
> +	prompt "Xenomai ARM CPU type"
> +	depends on BR2_PACKAGE_XENOMAI_CPU_TYPE_MANUAL
> +	help
> +	  Manually select CPU type for Xenomai.

 Improved help text:

  On this architecture, Xenomai needs to be configured for a specific
sub-architecture.  Select the appropriate sub-architecture from the list.

[I don't know what this auto-detection mentioned in the _MANUAL
config means...]

> +
> +	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
> diff --git a/package/xenomai/README b/package/xenomai/README
> new file mode 100644
> --- /dev/null
> +++ b/package/xenomai/README
> @@ -0,0 +1,48 @@
> +****************
> +* Xenomai      *
> +****************
> +
> +Xenomai comes with 2 parts : Kernel Part and User-space part.
> +Kernel part patch Linux with ADEOS(i-pipe)
> +(http://home.gna.org/adeos/) and some Xenomai kernel space stuff.
> +
> +From Adeos main site :
> +"The purpose of Adeos is to provide a flexible environment for sharing
> +hardware resources among multiple operating systems, or among multiple
> +instances of a single OS."
> +
> +From Xenomai main site :
> +"Xenomai is a real-time development framework cooperating with the
> +Linux kernel, in order to provide a pervasive, interface-agnostic,
> +hard real-time support to user-space applications, seamlessly
> +integrated into the GNU/Linux environment."
> +
> +****************
> +* Installation *
> +****************
> +
> +* Buildroot Kernel: *
> +  - Check that your version of Linux Kernel is supported by the
> +    version of xenomai you choose.
> +  - Download Adeos patch at
> +    http://download.gna.org/adeos/patches/v2.6/$(ARCH)/, or if your
> +    are sure, let the Xenomai 'prepare-kernel.sh' script do the work.
> +  - Check the Xenomai Kernel option in Buildroot :
> +     -> Kernel
> +       -> Linux Kernel (BR2_LINUX_KERNEL [=y])
> +         -> Linux Kernel Extensions
> +            -> [*] Adeos/Xenomai Real-time patch
> +     ..And add the path to Adeos patch. (or leave it empty if you let
> +     xenomai script do the work)
> +
> +* Non-Buildroot Kernel AND Buildroot Kernel *
> +  - Make sure your Kernel is patched with Xenomai
> +  - Check the option in Buildroot menu :
> +    -> Package Selection for the target
> +       -> Real-time
> +          -> [*] Xenomai Userspace
> +  - You can download a custom version of Xenomai that fit with your
> +  Kernel.
> +  - If you use static /dev and the default device_table, Uncomment
> +  Xenomai part in 'target/generic/device_table_dev.txt'. (rtheap,
> +  rtscope and rtp[0-31])
> diff --git a/package/xenomai/xenomai-do-not-install-devices.patch b/package/xenomai/xenomai-do-not-install-devices.patch
> new file mode 100644
> --- /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

 I used a patch which solves the underlying issue (at some point, sudo is 
called instead of $SUDO) and I use
XENOMAI_INSTALL_STAGING_OPT = DESTDIR=$(STAGING_DIR) install-user
XENOMAI_INSTALL_TARGET_OPT = DESTDIR=$(TARGET_DIR) install-user

> diff --git a/package/xenomai/xenomai.mk b/package/xenomai/xenomai.mk
> new file mode 100644
> --- /dev/null
> +++ b/package/xenomai/xenomai.mk
> @@ -0,0 +1,88 @@
> +#############################################################
> +# 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 ($(XENOMAI_CPU_TYPE),)
> +XENOMAI_CPU_TYPE = generic
> +endif
> +XENOMAI_EXTRA_CONFIGURE_OPTS += "--enable-$(BR2_ARCH)-mach=$(XENOMAI_CPU_TYPE)"
> +endif #BR2_arm
> +
> +define XENOMAI_CONFIGURE_CMDS
> +	(cd $(@D); rm -rf config.cache; \
> +		$(TARGET_CONFIGURE_OPTS) \
> +		$(TARGET_CONFIGURE_ARGS) \
> +		CCFLAGS_FOR_BUILD="$(HOST_CFLAGS)" \
> +		./configure \
> +		$(XENOMAI_EXTRA_CONFIGURE_OPTS) \
> +		--host=$(BR2_ARCH)-linux \
> +		$(if $(shell grep "^CONFIG_SMP*=*y" \
> +			$(LINUX_DIR)/.config ),--enable-smp,) \
> +	)
> +endef
> +
> +define XENOMAI_INSTALL_STAGING_CMDS
> +	$(MAKE) DESTDIR=$(STAGING_DIR) -C $(@D) install
> +endef
> +
> +define XENOMAI_INSTALL_TARGET_CMDS
> +	$(MAKE) DESTDIR=$(TARGET_DIR) -C $(@D) install
> +	rm -rf $(TARGET_DIR)/usr/xenomai/share/doc
> +	rm -rf $(TARGET_DIR)/usr/xenomai/include
> +	# Make sure /etc/ld.so.conf exists
> +	touch $(TARGET_DIR)/etc/ld.so.conf
> +	# Add /usr/xenomai/lib only if it is not yet present
> +	(grep "/usr/xenomai/lib" $(TARGET_DIR)/etc/ld.so.conf \
> +		&>/dev/null) || (echo "/usr/xenomai/lib" >> $(TARGET_DIR)/etc/ld.so.conf)
> +endef
> +
> +# If you use static /dev creation don't forget to update your
> +#  device_table_dev.txt

 No need for this if we can apply the pkg-device patches that were posted by
Maxime a week ago.

> +ifeq ($(BR2_ROOTFS_DEVICE_CREATION_DYNAMIC_UDEV),y)
> +XENOMAI_DEPENDENCIES += udev
> +
> +define XENOMAI_UDEV_HOOKS
> +	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_UDEV_HOOKS
> +endif # udev

 Call me crazy, but I would make this:

UDEV_POST_INSTALL_TARGET_HOOKS += XENOMAI_UDEV_HOOKS

without the condition or the dependency on udev.  I always considered this
the main power of the hooks setup.

> +
> +define XENOMAI_CLEAN_CMDS
> +	-$(MAKE) DESTDIR=$(TARGET_DIR) -C $(@D) clean
> +endef
> +
> +define XENOMAI_UNINSTALL_TARGET_CMDS
> +	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;
> +	$(MAKE) DESTDIR=$(TARGET_DIR) -C $(@D) uninstall
> +endef
> +
> +define XENOMAI_UNINSTALL_STAGING_CMDS
> +	$(MAKE) DESTDIR=$(STAGING_DIR) -C $(@D) uninstall
> +endef
> +
> +$(eval $(call GENTARGETS,package,xenomai))

 AUTOTARGETS works fine for me.  You just need to override the configure.
Perhaps it's even possible to override the default prefix in the
XENOMAI_CONF_OPT variable, but I never tried that.

> diff --git a/target/generic/device_table_dev.txt b/target/generic/device_table_dev.txt
> --- 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

 As I mentioned, unnecessary with Maxime's patch.


 Regardless of all my comments, this patch set is in a much better shape
than the hacks I am using at the moment!


 Regards,
 Arnout

-- 
Arnout Vandecappelle                               arnout at mind be
Senior Embedded Software Architect                 +32-16-286540
Essensium/Mind                                     http://www.mind.be
G.Geenslaan 9, 3001 Leuven, Belgium                BE 872 984 063 RPR Leuven
LinkedIn profile: http://www.linkedin.com/in/arnoutvandecappelle
GPG fingerprint:  31BB CF53 8660 6F88 345D  54CC A836 5879 20D7 CF43

[Buildroot] [PATCH 2 of 2 v2] Add xenomai real-time Framework to buildroot

[Arnout Vandecappelle]

On Friday 16 September 2011 00:58:49, Arnout Vandecappelle wrote:
>  I used a patch which solves the underlying issue (at some point, sudo is 
> called instead of $SUDO) and I use
> XENOMAI_INSTALL_STAGING_OPT = DESTDIR=$(STAGING_DIR) install-user
> XENOMAI_INSTALL_TARGET_OPT = DESTDIR=$(TARGET_DIR) install-user

-- 
Arnout Vandecappelle                               arnout at mind be
Senior Embedded Software Architect                 +32-16-286540
Essensium/Mind                                     http://www.mind.be
G.Geenslaan 9, 3001 Leuven, Belgium                BE 872 984 063 RPR Leuven
LinkedIn profile: http://www.linkedin.com/in/arnoutvandecappelle
GPG fingerprint:  31BB CF53 8660 6F88 345D  54CC A836 5879 20D7 CF43

---
Fix use of sudo instead of $sudo

Signed-of-by: Arnout Vandecappelle (Essensium/Mind) <arnout@mind.be>
--
diff -ru xenomai-2.5.6.orig/Makefile.am xenomai-2.5.6/Makefile.am
--- xenomai-2.5.6.orig/Makefile.am	2011-02-16 15:26:01.000000000 +0100
+++ xenomai-2.5.6/Makefile.am	2011-06-16 13:31:43.000000000 +0200
@@ -37,7 +37,7 @@
 	   done ; \
 	else if test -d $(DESTDIR)/etc/udev/rules.d ; then \
 	      for f in $(srcdir)/ksrc/nucleus/udev/*.rules ; do \
-		 sudo cp $$f $(DESTDIR)/etc/udev/rules.d/ ; \
+		 $$sudo cp $$f $(DESTDIR)/etc/udev/rules.d/ ; \
 	      done ; \
 	   fi ; \
 	fi ; \
diff -ru xenomai-2.5.6.orig/Makefile.in xenomai-2.5.6/Makefile.in
--- xenomai-2.5.6.orig/Makefile.in	2011-02-16 15:26:01.000000000 +0100
+++ xenomai-2.5.6/Makefile.in	2011-06-16 13:31:53.000000000 +0200
@@ -705,7 +705,7 @@
 	   done ; \
 	else if test -d $(DESTDIR)/etc/udev/rules.d ; then \
 	      for f in $(srcdir)/ksrc/nucleus/udev/*.rules ; do \
-		 sudo cp $$f $(DESTDIR)/etc/udev/rules.d/ ; \
+		 $$sudo cp $$f $(DESTDIR)/etc/udev/rules.d/ ; \
 	      done ; \
 	   fi ; \
 	fi ; \

[Buildroot] [PATCH 0 of 2 v2] Add Xenomai real-time framework

[Sven Neumann]

On Wed, 2011-09-14 at 14:56 +0200, Thomas De Schampheleire wrote:
> These two patches are an initial add for Xenomai in buildroot.
> 
> "Xenomai is a real-time development framework cooperating with the
> Linux kernel, in order to provide a pervasive, interface-agnostic,
> hard real-time support to user-space applications, seamlessly
> integrated into the GNU/Linux environment."
> [http://www.xenomai.org]

Can we also add the RT-PREEMPT kernel patch as such a kernel extension?
I have successfully tried the 3.0.1-rt patch in buildroot a while ago
and as far as I can see there is now a patch for 3.0.4 (3.0.4-rt13). It
should be available from here (if kernel.org wasn't down):

 http://www.kernel.org/pub/linux/kernel/projects/rt/

It would probably make sense to include the option to download and use
this patch in the new menu. There are some changes to the kernel
configuration necessary as well, as explained here:

 http://rt.wiki.kernel.org/index.php/RT_PREEMPT_HOWTO

Would there be interest to add this? We are not actually using this, so
I am not sure if I could find the time to prepare the necessary changes.
But having this available in buildroot might make it easier for us and
other to experiment with the RT-PREEMPT kernel.


Regards,
Sven

[Buildroot] [PATCH 0 of 2 v2] Add Xenomai real-time framework

[Arnout Vandecappelle]

On Wednesday 14 September 2011 14:56:13, Thomas De Schampheleire wrote:
> Xenomai comes with a Linux Kernel and user-space part.
> I added a Linux extensions sub-menu (The first patch) which handles
> the kernel modification provided by Adeos/Xenomai. The advantage of
> this way is for maintenance purpose. (Xenomai do not provide a full
> kernel patch, but use a script called "prepare-kernel.sh")
> Also, this split the user-space from the kernel in a nice way instead
> of adding a serie of patches.

 I don't agree with this split.  When you're configuring Xenomai, I think you 
want the Adeos patch and the other Xenomai configuration in a single place, 
not spread over two separate menu items.  And the same reasoning goes for 
maintaining the buildroot parts of Xenomai.  

 There is only one advantage to this approach: the Adeos patch and the kernel 
version are intimately related, so if you change one you also want to change 
the other.  The same reasoning however goes for the relationship between 
kernel headers and kernel itself, which are currently miles apart in 
buildroot.


 Regards,
 Arnout


-- 
Arnout Vandecappelle                               arnout at mind be
Senior Embedded Software Architect                 +32-16-286540
Essensium/Mind                                     http://www.mind.be
G.Geenslaan 9, 3001 Leuven, Belgium                BE 872 984 063 RPR Leuven
LinkedIn profile: http://www.linkedin.com/in/arnoutvandecappelle
GPG fingerprint:  31BB CF53 8660 6F88 345D  54CC A836 5879 20D7 CF43

[Buildroot] [PATCH 0 of 2 v2] Add Xenomai real-time framework

[Thomas Petazzoni]

Le Thu, 15 Sep 2011 07:44:46 +0200,
Arnout Vandecappelle <arnout@mind.be> a ?crit :

> > Xenomai comes with a Linux Kernel and user-space part.
> > I added a Linux extensions sub-menu (The first patch) which handles
> > the kernel modification provided by Adeos/Xenomai. The advantage of
> > this way is for maintenance purpose. (Xenomai do not provide a full
> > kernel patch, but use a script called "prepare-kernel.sh")
> > Also, this split the user-space from the kernel in a nice way
> > instead of adding a serie of patches.
> 
>  I don't agree with this split.  When you're configuring Xenomai, I
> think you want the Adeos patch and the other Xenomai configuration in
> a single place, not spread over two separate menu items.  And the
> same reasoning goes for maintaining the buildroot parts of Xenomai.  

Yes, but the Buildroot infrastructure makes it a lot easier to
integrate the Xenomai userspace libraries separately from the
kernel-side patching integration. Moreover, as detailed in the
documentation, there are people who do not use Buildroot to build their
kernel, but only to build their root filesystem.

Or maybe I missed your point ?

Thomas
-- 
Thomas Petazzoni, Free Electrons
Kernel, drivers, real-time and embedded Linux
development, consulting, training and support.
http://free-electrons.com

[Buildroot] [PATCH 0 of 2 v2] Add Xenomai real-time framework

[Arnout Vandecappelle]

On Thursday 15 September 2011 09:13:19, Thomas Petazzoni wrote:
> > > Xenomai comes with a Linux Kernel and user-space part.
> > > I added a Linux extensions sub-menu (The first patch) which handles
> > > the kernel modification provided by Adeos/Xenomai. The advantage of
> > > this way is for maintenance purpose. (Xenomai do not provide a full
> > > kernel patch, but use a script called "prepare-kernel.sh")
> > > Also, this split the user-space from the kernel in a nice way
> > > instead of adding a serie of patches.
> >
> > 
> >  I don't agree with this split.  When you're configuring Xenomai, I
> >
> > think you want the Adeos patch and the other Xenomai configuration in
> > a single place, not spread over two separate menu items.  And the
> > same reasoning goes for maintaining the buildroot parts of Xenomai.  
> 
> Yes, but the Buildroot infrastructure makes it a lot easier to
> integrate the Xenomai userspace libraries separately from the
> kernel-side patching integration. Moreover, as detailed in the
> documentation, there are people who do not use Buildroot to build their
> kernel, but only to build their root filesystem.
> 
> Or maybe I missed your point ?

 I guess :-)

 I'll give two examples:

1. You use buildroot for building kernel and Xenomai userspace (which I think 
is the usual case).  Now you want to use kernel 2.6.38 instead of 2.6.35 (the 
latest included in Xenomai 2.5.6), so you download the appropriate Adeos 
patch.  In this case you have to go to a completely different configuration 
menu to configure your Xenomai setup.

You could say that the Adeos patch config option is conveniently close to the 
kernel version option, but if you're using the buildroot toolchain and 'kernel 
same as toolchain kernel headers', it's not.

2. You're updating the buildroot support for Xenomai.  The new Xenomai version 
requires you to call prepare-kernel.sh in a slightly different way.  Now you 
have to look in two different directories and two different makefiles to keep 
things consistent.


 It's no big issue, but I simply don't see the advantage of splitting in this 
way.  Putting the 'Xenomai kernel patch' option right below the 'Xenomai 
userspace' option instead of in a completely different menu doesn't stop you 
from selecting either or both.


 Regards,
 Arnout

-- 
Arnout Vandecappelle                               arnout at mind be
Senior Embedded Software Architect                 +32-16-286540
Essensium/Mind                                     http://www.mind.be
G.Geenslaan 9, 3001 Leuven, Belgium                BE 872 984 063 RPR Leuven
LinkedIn profile: http://www.linkedin.com/in/arnoutvandecappelle
GPG fingerprint:  31BB CF53 8660 6F88 345D  54CC A836 5879 20D7 CF43