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--- robotics:computing:xenomai_install_on_roboard [2010/04/16 18:54]
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-====== Introduction ======
-This article describes how to install a Linux real-time operating system on a roboard RB-100 motherboard. It is based on the Ubuntu Linux distribution and the Xenomai/Adeos real-time solution.
-== Many thanks to : ==
-  * Pascal Moigne from [[http://www.retdtechfrance.com|R&D Tech France]] for lending us a roboard RB-100.
-  * Henri Roosen for his help on the Xenomai patched kernel configuration for Vortex86DX processor.
-== Hardware used : ==
-  * Roboard RB-100 : [[http://www.roboard.com/RB-100.htm]]
-  * Mini PCI VGA Card : [[http://www.icop.com.tw/pddetail.aspx?id=93&pid=4]]
-  * 4 Go micro SD card plugged in the built-in micro-SD card reader.
-  * 1 Go USB Key
-  * A desktop PC((is needed to download softwares because Ubuntu does not support roboard ethernet card by default. Also, desktop PC makes kernel compilation faster.)).
-  * An internet connection.
-== Downloads : ==
-  * Ubuntu 9.10 : [[http://www.ubuntu.com/]]
-  * Linux Kernel 2.6.32.11 : [[http://www.kernel.org/]]
-  * Xenomai 2.5.2 : [[http://www.xenomai.org]]
-  * Adeos patch adeos-ipipe-2.6.32.11-x86-2.6-02.patch : [[https://gna.org/projects/adeos/]]
-====== Linux Install ======
-We install Ubuntu Desktop edition. But Server edition could be used too if you install from an USB CD-Rom drive((Ubuntu Server edition can not be installed from an USB key for now)).
-Download the .iso image you choose and burn it on an USB Key (using UNetbootin or usb-creator-gtk for example).
-Plug your USB Key on the roboard and power on your roboard. At boot time, press **DEL** to enter BIOS setup.
-Then go to **Boot => Boot Device Priority => 1st Boot Device** and select your USB key. Save your changes and exit.
-The roboard boots now on your USB key. Install Ubuntu with your own options. If you need more informations about how to install Ubuntu, look at there : [[https://help.ubuntu.com/community/Installation]]
-Press **Restart** and disconnect your USB Key when it is asked.
-====== Patching kernel with Xenomai ======
-Download Xenomai, the kernel and its corresponding adeos-ipipe patch from the links given in the [[.:xenomai_install_on_roboard#Downloads]] section.
-If you want to use your own kernel version, for kernel **X.X.X.X**, download patch **adeos-ipipe-X.X.X.X-ARCH-Y.Y-Y.patch**. Where **X** is the kernel version, **ARCH** the architectire you plan to use and **Y** the version of the adeos patch.
-For example, if you want to patch kernel version **2.6.30.10** for an **x86** architecture, download adeos patch **adeos-ipipe-2.6.30.10-x86-2.4.09.patch** ((The kernel version trivial number could lightly differ. But it is more safe to keep same version for kernel and adeos patch)).
-Extract kernel sources :
-<code> $ tar xjpf linux-2.6.32.11.tar.bz2</code>
-Extract Xenomai sources :
-<code>$ tar xjpf xenomai-2.5.2.tar.bz2</code>
-Copy the adeos patch in the Xenomai source tree :
-<code>$ mv adeos-ipipe-2.6.32.11-x86-2.6-02.patch xenomai-2.5.2/ksrc/arch/x86/patches/</code>
-Enter Xenomai source directory :
-<code>$ cd xenomai-2.5.2/</code>
-Now prepare your kernel by applying suitable patches :
-<code>$ scripts/prepare-kernel.sh --linux=../linux-2.6.32.11/ --adeos=ksrc/arch/x86/patches/adeos-ipipe-2.6.32.11-x86-2.6-02.patch --arch=i586
-patching file arch/x86/Kconfig
-patching file arch/x86/include/asm/apic.h
-patching file arch/x86/include/asm/apicdef.h
-patching file arch/x86/include/asm/entry_arch.h
-patching file arch/x86/include/asm/hw_irq.h
-patching file arch/x86/include/asm/i387.h
-patching file arch/x86/include/asm/i8259.h
-patching file arch/x86/include/asm/ipi.h
-patching file arch/x86/include/asm/ipipe.h
-patching file arch/x86/include/asm/ipipe_32.h
-patching file arch/x86/include/asm/ipipe_64.h
-patching file arch/x86/include/asm/ipipe_base.h
-patching file arch/x86/include/asm/irq_vectors.h
-patching file arch/x86/include/asm/irqflags.h
-patching file arch/x86/include/asm/mmu_context.h
-patching file arch/x86/include/asm/nmi.h
-patching file arch/x86/include/asm/processor.h
-patching file arch/x86/include/asm/system.h
-patching file arch/x86/include/asm/traps.h
-patching file arch/x86/kernel/Makefile
-patching file arch/x86/kernel/apic/apic.c
-patching file arch/x86/kernel/apic/apic_flat_64.c
-patching file arch/x86/kernel/apic/io_apic.c
-patching file arch/x86/kernel/apic/ipi.c
-patching file arch/x86/kernel/apic/nmi.c
-patching file arch/x86/kernel/apic/x2apic_cluster.c
-patching file arch/x86/kernel/apic/x2apic_phys.c
-patching file arch/x86/kernel/cpu/mtrr/cyrix.c
-patching file arch/x86/kernel/cpu/mtrr/generic.c
-patching file arch/x86/kernel/dumpstack.c
-patching file arch/x86/kernel/dumpstack_32.c
-patching file arch/x86/kernel/dumpstack_64.c
-patching file arch/x86/kernel/entry_32.S
-patching file arch/x86/kernel/entry_64.S
-patching file arch/x86/kernel/i8253.c
-patching file arch/x86/kernel/i8259.c
-patching file arch/x86/kernel/ipipe.c
-patching file arch/x86/kernel/irq.c
-patching file arch/x86/kernel/irqinit.c
-patching file arch/x86/kernel/process.c
-patching file arch/x86/kernel/process_32.c
-patching file arch/x86/kernel/process_64.c
-patching file arch/x86/kernel/smp.c
-patching file arch/x86/kernel/smpboot.c
-patching file arch/x86/kernel/time.c
-patching file arch/x86/kernel/traps.c
-patching file arch/x86/kernel/vm86_32.c
-patching file arch/x86/lib/mmx_32.c
-patching file arch/x86/lib/thunk_64.S
-patching file arch/x86/mm/fault.c
-patching file arch/x86/mm/tlb.c
-patching file drivers/pci/htirq.c
-patching file drivers/serial/8250.c
-patching file fs/exec.c
-patching file include/asm-generic/atomic.h
-patching file include/asm-generic/bitops/atomic.h
-patching file include/asm-generic/cmpxchg-local.h
-patching file include/asm-generic/percpu.h
-patching file include/linux/hardirq.h
-patching file include/linux/ipipe.h
-patching file include/linux/ipipe_base.h
-patching file include/linux/ipipe_compat.h
-patching file include/linux/ipipe_lock.h
-patching file include/linux/ipipe_percpu.h
-patching file include/linux/ipipe_tickdev.h
-patching file include/linux/ipipe_trace.h
-patching file include/linux/irq.h
-patching file include/linux/kernel.h
-patching file include/linux/preempt.h
-patching file include/linux/sched.h
-patching file include/linux/spinlock.h
-patching file include/linux/spinlock_api_smp.h
-patching file init/Kconfig
-patching file init/main.c
-patching file kernel/Makefile
-patching file kernel/exit.c
-patching file kernel/fork.c
-patching file kernel/ipipe/Kconfig
-patching file kernel/ipipe/Kconfig.debug
-patching file kernel/ipipe/Makefile
-patching file kernel/ipipe/core.c
-patching file kernel/ipipe/tracer.c
-patching file kernel/irq/chip.c
-patching file kernel/irq/handle.c
-patching file kernel/lockdep.c
-patching file kernel/panic.c
-patching file kernel/power/hibernate.c
-patching file kernel/printk.c
-patching file kernel/sched.c
-patching file kernel/signal.c
-patching file kernel/spinlock.c
-patching file kernel/time/tick-common.c
-patching file kernel/time/tick-sched.c
-patching file kernel/timer.c
-patching file kernel/trace/ftrace.c
-patching file lib/Kconfig.debug
-patching file lib/bust_spinlocks.c
-patching file lib/ioremap.c
-patching file lib/smp_processor_id.c
-patching file mm/memory.c
-patching file mm/mmu_context.c
-patching file mm/vmalloc.c</code>
-Next configure your kernel with **$ make menuconfig** or use my [[.:xenomai_install_on_roboard#configuration file]] :
-<code>cp config_roboard linux-2.6.32.11/.config</code>

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