http://www.xenomai.org/index.php/xenomai_quick_build_quide
this is a quick list of commands on compiling xenomai version 2.4.4 with linux kernel 2.6.25.11 under ubuntu.
download kernel 2.6.25.11
download xenomai 2.4.4
untar sources
patch the kernel:
configure the kernel:
since the initrd option is not used later on, compile your hard disk drivers not as a module, but compile it into the kernel itself.
and compile the kernel for version 2.4:
or compile the kernel for version 2.6:
copy the kernel image:
create a xenomai group and add users to it:
configure grub (or another bootloader). also you may try using your uuid in place of /dev/xxx (if the later doesn't work):
reboot into your new xenomai kernel
configure and compile xenomai:
now xenomai is installed in /usr/xenomai, to use it, update the ld paths:
now xenomai is ready for action, try an example program:
出现如下错误：#error "config_nr_cpus is too large, please lower it 时：
将内核源文件夹根目录下 .config文件的几个标志位作如下设置：
config_hpet_timer=n
config_hpet_emulate_rtc=n
config_sparse_irq=n
当出现"per_cpu__irq_stack_union" undeclared error,将config_cc_stackprotector设置为n