xenomai 在ubuntu上的安装测试
在ubuntu下安装安装xenomai试试系统，
1、全新的ubuntu系统，我安装了一些必要的软件比如gcc g++等等
2、版本信息为：
hello@hello-Lenovo:~$ cat /etc/issue
Ubuntu 14.04.4 LTS \n \l
hello@hello-Lenovo:~$ uname -a
Linux hello-Lenovo 3.19.0-58-generic
由于xenomai没有针对3.19的补丁xenomai仅支持特定版本的几个内核因此，我们需要修改ubuntu的内核到指定的版本。因此我们需要做两件事情
给ubuntu换新的内核
安装xenomai2.6
首先就需要下载xenomai源码了，为了和其他的程序兼容我们选择xenomai2.6
下载网址在这里
这里就选择2.6.4
hello@hello-Lenovo:~/work/ubuntu$ wget http://download.gna.org/xenomai/stable/xenomai-2.6.4.tar.bz2
下载完毕之后就可以解压了：
hello@hello-Lenovo:~/work/ubuntu$ tar -xf xenomai-2.6.4.tar.bz2
解压完毕进入xenomai源码：
hello@hello-Lenovo:~/work/ubuntu/xenomai-2.6.4$ cd xenomai-2.6.4
此时我们需要一些工具，进行安装:
hello@hello-Lenovo:~/work/ubuntu/xenomai-2.6.4$ sudo apt-get install devscripts devscripts debhelper dh-kpatches findutils autotools-dev autoconf automake libtool
安装完毕之后，就可以进行配置，主要配置选项如下：
xenomai的安装目录默认的是/usr/xenomai
--enable-debug
使能调试符号-g默认的是不使能
-enable-smp
使能xenomai库对SMP的支持 ，假如客户端的应用运行在支持SMP的内核上一定要使能。
--with-atomic-ops= 这个是个选择使用何种方式进行原子访问操作：假如--with-atomic-ops=builtins 则选择使用GCC的嵌入的部件，比如 _sync*()等函数；假如--with-atomic-ops=ad-hoc则选择使用xenomai方式实现。假如用户没有指定的话，编译的时候除非GCC是过时的，否则默认选择--with-atomic-ops=builtins
--enable-x86-sep 使能x86sep指令
--enable-x86-tsc 使能x86的tsc
--enable-arm-tsc
使能arm 的tsc,为了提高时钟精确度，一般选择使能
--enable-arm-quirks
使能一些arm片上系统特殊特性，目前支持sa1100和xscale3。
配置完毕之后，就可以进行编译了，我们使用默认的配置的就可以了，配置如下：
./configure
--enable-x86-sep
假如在其他的平台上使用就需要根据文档依次来进行对应的配置了。
配置完毕之后，接下来我们编译
hello@hello-Lenovo:~/work/ubuntu/xenomai-2.6.4$ make
完成之后安装
hello@hello-Lenovo:~/work/ubuntu/xenomai-2.6.4$ make install
xenomai暂时完毕接下来开始编译内核。
下面开始编译内核，此时也需要安装几个工具：
hello@hello-Lenovo:~/work/ubuntu/xenomai-2.6.4$ sudo apt-get install kernel-package libncurses-dev fakeroot zlib1g-dev
接下来下载源码包然后解压：
hello@hello-Lenovo:~/work/ubuntu$ wget https://www.kernel.org/pub/linux/kernel/v3.x/linux-3.14.17.tar.xz && tar -xf linux-3.14.17.tar.xz
等待解压完毕进入内核目录：
hello@hello-Lenovo:~/work/ubuntu$ cd linux-3.14.17/
然后就可以打补丁了
hello@hello-Lenovo:~/work/ubuntu/linux-3.14.17$ ../xenomai-2.6.4/scripts/prepare-kernel.sh
--arch=amd64 --linux=. --adeos=../xenomai-2.6.4/ksrc/arch/x86/patches/ipipe-core-3.14.17-x86-4.patch
接下来配置下
这里我为了方便，直接把之前的配置拷贝到当前的目录下，这样做是简单，但是可能会出错，不过就算出错也是有些不该配置的地方配置了，此时只要根据提示修改即可，拷贝命令如下：
hello@hello-Lenovo:~/work/ubuntu/linux-3.14.17$ cp /boot/config-$(uname -r)
接下来需要配置一些宣讲
Make menuconfig
下面是一些选项：
* Real-time sub-system
--& Xenomai (Enable)
--& Nucleus (Enable)
* Power management and ACPI options
--& Run-time PM core functionality (Disable)
--& ACPI (Advanced Configuration and Power Interface) Support
--& Processor (Disable)
--& CPU Frequency scaling
--& CPU Frequency scaling (Disable)
--& CPU idle
--& CPU idle PM support (Disable)
* Pocessor type and features
--& Processor family
--& Core 2/newer Xeon (if \"cat /proc/cpuinfo | grep family\" returns 6, set as Generic otherwise)
可选项 (RECOMMENDED):
* General setup
--& Local version - append to kernel release: -xenomai-2.6.5
--& Timers subsystem
--& High Resolution Timer Support (Verify you have HRT ON)
* Pocessor type and features
--& Processor family
--& SMT (Hyperthreading) scheduler support (Disable)
--& Preemption Model
--& Voluntary Kernel Preemption (Desktop)
* Power management and ACPI options
--& Memory power savings
--& Intel chipset idle memory power saving driver
配置完毕之后就可以进行编译了，执行：
hello@hello-Lenovo:~/work/ubuntu/xenomai-2.6.4$
make bzImage -j4
编译完成之后就可以进行安装了：
hello@hello-Lenovo:~/work/ubuntu/xenomai-2.6.4$
make install
假如需要编译安装模块的话，需要
hello@hello-Lenovo:~/work/ubuntu/xenomai-2.6.4$
make modules -j4
hello@hello-Lenovo:~/work/ubuntu/xenomai-2.6.4$ make modules_install
到此为止就安装完成了，其实在make install完毕之后就可以通过执行update-grub还查看启动项了
hello@hello-Lenovo:/usr$ sudo update-grub
[sudo] password for hello:
Generating grub configuration file ...
Found linux image: /boot/vmlinuz-3.19.0-58-generic
Found initrd image: /boot/initrd.img-3.19.0-58-generic
Found linux image: /boot/vmlinuz-3.19.0-25-generic
Found initrd image: /boot/initrd.img-3.19.0-25-generic
Found linux image: /boot/vmlinuz-3.14.17
Found initrd image: /boot/initrd.img-3.14.17
Found linux image: /boot/vmlinuz-3.14.17.old
Found initrd image: /boot/initrd.img-3.14.17
Found memtest86+ image: /boot/memtest86+.elf
Found memtest86+ image: /boot/memtest86+.bin
Found Windows Vista (loader) on /dev/sda1
看到上面就出现vmlinuz-3.14.17了，说明已经成功了
接下来hello@hello-Lenovo:/usr$ sudo reboot now
再启动界面上选择ubuntu 高级选项
然后选择对应的版本号就可以了。
接下来进入系统之后进行测试：
hello@hello-Lenovo:/usr$ sudo
xeno latency
warming up...
(periodic user-mode task, 100 us period, priority 99)
RTH|----lat min|----lat avg|----lat max|-overrun|---msw|---lat best|--lat worst
(periodic user-mode task, 100 us period, priority 99)
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/usr/share/doc/xenomai-kernel-source/README.Debian
/usr/share/doc/xenomai-kernel-source/changelog.Debian.gz
/usr/share/doc/xenomai-kernel-source/copyright
/usr/src/xenomai-kernel-source/include/Makefile
/usr/src/xenomai-kernel-source/include/Makefile.am
/usr/src/xenomai-kernel-source/include/Makefile.in
/usr/src/xenomai-kernel-source/include/analogy/Makefile
/usr/src/xenomai-kernel-source/include/analogy/Makefile.am
/usr/src/xenomai-kernel-source/include/analogy/Makefile.in
/usr/src/xenomai-kernel-source/include/analogy/analogy.h
/usr/src/xenomai-kernel-source/include/analogy/analogy_driver.h
/usr/src/xenomai-kernel-source/include/analogy/buffer.h
/usr/src/xenomai-kernel-source/include/analogy/channel_range.h
/usr/src/xenomai-kernel-source/include/analogy/command.h
/usr/src/xenomai-kernel-source/include/analogy/context.h
/usr/src/xenomai-kernel-source/include/analogy/descriptor.h
/usr/src/xenomai-kernel-source/include/analogy/device.h
/usr/src/xenomai-kernel-source/include/analogy/driver.h
/usr/src/xenomai-kernel-source/include/analogy/instruction.h
/usr/src/xenomai-kernel-source/include/analogy/ioctl.h
/usr/src/xenomai-kernel-source/include/analogy/os_facilities.h
/usr/src/xenomai-kernel-source/include/analogy/subdevice.h
/usr/src/xenomai-kernel-source/include/analogy/transfer.h
/usr/src/xenomai-kernel-source/include/analogy/types.h
/usr/src/xenomai-kernel-source/include/asm-arm/Makefile
/usr/src/xenomai-kernel-source/include/asm-arm/Makefile.am
/usr/src/xenomai-kernel-source/include/asm-arm/Makefile.in
/usr/src/xenomai-kernel-source/include/asm-arm/arith.h
/usr/src/xenomai-kernel-source/include/asm-arm/atomic.h
/usr/src/xenomai-kernel-source/include/asm-arm/atomic_asm.h
/usr/src/xenomai-kernel-source/include/asm-arm/bits/Makefile
/usr/src/xenomai-kernel-source/include/asm-arm/bits/Makefile.am
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/usr/src/xenomai-kernel-source/include/asm-arm/bits/heap.h
/usr/src/xenomai-kernel-source/include/asm-arm/bits/init.h
/usr/src/xenomai-kernel-source/include/asm-arm/bits/intr.h
/usr/src/xenomai-kernel-source/include/asm-arm/bits/pod.h
/usr/src/xenomai-kernel-source/include/asm-arm/bits/sched.h
/usr/src/xenomai-kernel-source/include/asm-arm/bits/shadow.h
/usr/src/xenomai-kernel-source/include/asm-arm/bits/thread.h
/usr/src/xenomai-kernel-source/include/asm-arm/bits/timer.h
/usr/src/xenomai-kernel-source/include/asm-arm/calibration.h
/usr/src/xenomai-kernel-source/include/asm-arm/features.h
/usr/src/xenomai-kernel-source/include/asm-arm/fptest.h
/usr/src/xenomai-kernel-source/include/asm-arm/hal.h
/usr/src/xenomai-kernel-source/include/asm-arm/syscall.h
/usr/src/xenomai-kernel-source/include/asm-arm/system.h
/usr/src/xenomai-kernel-source/include/asm-arm/tsc.h
/usr/src/xenomai-kernel-source/include/asm-arm/wrappers.h
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/usr/src/xenomai-kernel-source/include/asm-blackfin/bits/heap.h
/usr/src/xenomai-kernel-source/include/asm-blackfin/bits/init.h
/usr/src/xenomai-kernel-source/include/asm-blackfin/bits/intr.h
/usr/src/xenomai-kernel-source/include/asm-blackfin/bits/pod.h
/usr/src/xenomai-kernel-source/include/asm-blackfin/bits/sched.h
/usr/src/xenomai-kernel-source/include/asm-blackfin/bits/shadow.h
/usr/src/xenomai-kernel-source/include/asm-blackfin/bits/thread.h
/usr/src/xenomai-kernel-source/include/asm-blackfin/bits/timer.h
/usr/src/xenomai-kernel-source/include/asm-blackfin/calibration.h
/usr/src/xenomai-kernel-source/include/asm-blackfin/features.h
/usr/src/xenomai-kernel-source/include/asm-blackfin/fptest.h
/usr/src/xenomai-kernel-source/include/asm-blackfin/hal.h
/usr/src/xenomai-kernel-source/include/asm-blackfin/syscall.h
/usr/src/xenomai-kernel-source/include/asm-blackfin/system.h
/usr/src/xenomai-kernel-source/include/asm-blackfin/tsc.h
/usr/src/xenomai-kernel-source/include/asm-blackfin/wrappers.h
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/usr/src/xenomai-kernel-source/include/asm-generic/system.h
/usr/src/xenomai-kernel-source/include/asm-generic/timeconv.h
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/usr/src/xenomai-kernel-source/include/asm-nios2/bits/heap.h
/usr/src/xenomai-kernel-source/include/asm-nios2/bits/init.h
/usr/src/xenomai-kernel-source/include/asm-nios2/bits/intr.h
/usr/src/xenomai-kernel-source/include/asm-nios2/bits/pod.h
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/usr/src/xenomai-kernel-source/include/asm-nios2/bits/thread.h
/usr/src/xenomai-kernel-source/include/asm-nios2/bits/timer.h
/usr/src/xenomai-kernel-source/include/asm-nios2/calibration.h
/usr/src/xenomai-kernel-source/include/asm-nios2/features.h
/usr/src/xenomai-kernel-source/include/asm-nios2/fptest.h
/usr/src/xenomai-kernel-source/include/asm-nios2/hal.h
/usr/src/xenomai-kernel-source/include/asm-nios2/syscall.h
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/usr/src/xenomai-kernel-source/include/asm-powerpc/bits/init.h
/usr/src/xenomai-kernel-source/include/asm-powerpc/bits/intr.h
/usr/src/xenomai-kernel-source/include/asm-powerpc/bits/pod.h
/usr/src/xenomai-kernel-source/include/asm-powerpc/bits/sched.h
/usr/src/xenomai-kernel-source/include/asm-powerpc/bits/shadow.h
/usr/src/xenomai-kernel-source/include/asm-powerpc/bits/thread.h
/usr/src/xenomai-kernel-source/include/asm-powerpc/bits/timer.h
/usr/src/xenomai-kernel-source/include/asm-powerpc/calibration.h
/usr/src/xenomai-kernel-source/include/asm-powerpc/features.h
/usr/src/xenomai-kernel-source/include/asm-powerpc/fptest.h
/usr/src/xenomai-kernel-source/include/asm-powerpc/hal.h
/usr/src/xenomai-kernel-source/include/asm-powerpc/syscall.h
/usr/src/xenomai-kernel-source/include/asm-powerpc/system.h
/usr/src/xenomai-kernel-source/include/asm-powerpc/tsc.h
/usr/src/xenomai-kernel-source/include/asm-powerpc/wrappers.h
/usr/src/xenomai-kernel-source/include/asm-sh/Makefile
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/usr/src/xenomai-kernel-source/include/asm-sh/bits/intr.h
/usr/src/xenomai-kernel-source/include/asm-sh/bits/pod.h
/usr/src/xenomai-kernel-source/include/asm-sh/bits/sched.h
/usr/src/xenomai-kernel-source/include/asm-sh/bits/shadow.h
/usr/src/xenomai-kernel-source/include/asm-sh/bits/thread.h
/usr/src/xenomai-kernel-source/include/asm-sh/bits/timer.h
/usr/src/xenomai-kernel-source/include/asm-sh/calibration.h
/usr/src/xenomai-kernel-source/include/asm-sh/features.h
/usr/src/xenomai-kernel-source/include/asm-sh/fptest.h
/usr/src/xenomai-kernel-source/include/asm-sh/hal.h
/usr/src/xenomai-kernel-source/include/asm-sh/switch.h
/usr/src/xenomai-kernel-source/include/asm-sh/syscall.h
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/usr/src/xenomai-kernel-source/include/asm-sh/tsc.h
/usr/src/xenomai-kernel-source/include/asm-sh/wrappers.h
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/usr/src/xenomai-kernel-source/include/asm-sim/bits/init.h
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/usr/src/xenomai-kernel-source/include/asm-sim/bits/pod.h
/usr/src/xenomai-kernel-source/include/asm-sim/bits/sched.h
/usr/src/xenomai-kernel-source/include/asm-sim/bits/thread.h
/usr/src/xenomai-kernel-source/include/asm-sim/bits/timer.h
/usr/src/xenomai-kernel-source/include/asm-sim/system.h
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/usr/src/xenomai-kernel-source/include/asm-x86/Makefile.in
/usr/src/xenomai-kernel-source/include/asm-x86/arith.h
/usr/src/xenomai-kernel-source/include/asm-x86/arith_32.h
/usr/src/xenomai-kernel-source/include/asm-x86/arith_64.h
/usr/src/xenomai-kernel-source/include/asm-x86/atomic.h
/usr/src/xenomai-kernel-source/include/asm-x86/atomic_asm.h
/usr/src/xenomai-kernel-source/include/asm-x86/bits/Makefile
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