[bootlin/training-materials updates] master: First Xenomai updates (23f92e4f)

Michael Opdenacker michael.opdenacker at bootlin.com
Fri Jun 5 10:17:01 CEST 2020

Repository : https://github.com/bootlin/training-materials
On branch  : master
Link       : https://github.com/bootlin/training-materials/commit/23f92e4f089cb65e2d824abbbfabde66f298290d


commit 23f92e4f089cb65e2d824abbbfabde66f298290d
Author: Michael Opdenacker <michael.opdenacker at bootlin.com>
Date:   Fri Jun 5 10:17:01 2020 +0200

    First Xenomai updates
    - Still missing updates about userspace building
    Signed-off-by: Michael Opdenacker <michael.opdenacker at bootlin.com>


 .../sysdev-realtime/adeos-interrupt-pipeline1.jpg  | Bin 97342 -> 0 bytes
 .../sysdev-realtime/adeos-interrupt-pipeline1.png  | Bin 64857 -> 0 bytes
 slides/sysdev-realtime/sysdev-realtime.tex         |  87 +++++++--------------
 3 files changed, 30 insertions(+), 57 deletions(-)

diff --git a/slides/sysdev-realtime/adeos-interrupt-pipeline1.jpg b/slides/sysdev-realtime/adeos-interrupt-pipeline1.jpg
deleted file mode 100644
index a21e20d4..00000000
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diff --git a/slides/sysdev-realtime/adeos-interrupt-pipeline1.png b/slides/sysdev-realtime/adeos-interrupt-pipeline1.png
deleted file mode 100644
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diff --git a/slides/sysdev-realtime/sysdev-realtime.tex b/slides/sysdev-realtime/sysdev-realtime.tex
index a4575704..148dcce2 100644
--- a/slides/sysdev-realtime/sysdev-realtime.tex
+++ b/slides/sysdev-realtime/sysdev-realtime.tex
@@ -1036,14 +1036,17 @@ cat /sys/kernel/tracing/tracing_max_latency
     \item Initial goals: facilitate the porting of programs to GNU /
-    \item Initially related to the RTAI project (as the RTAI / fusion
-      branch), now independent.
-    \item Skins mimicking the APIs of traditional RTOS such as
-      VxWorks, pSOS+, and VRTXsa as well as the POSIX API, and a
-      “native” API.
-    \item Aims at working both as a co-kernel and on top of
-      PREEMPT\_RT in future upstream Linux versions.
-    \item Will never be merged in the mainline kernel.
+    \item Skins mimicking the APIs of the VxWorks and pSOS traditional
+      real-time operating systems, as well as the POSIX API, and offering
+      a “native” API too.
+    \item Offers two solutions:
+      \begin{itemize}
+	 \item {\em Cobalt}: (like {\bf Co}-kernel), using
+	       a micro-kernel dedicated to running real-time tasks.
+	       This will never be merged in the mainline kernel.
+	 \item {\em Mercury}: (like {\bf Mer}ge), based on the mainline
+	       kernel with PREEMPT\_RT.
+      \end{itemize}
@@ -1051,48 +1054,17 @@ cat /sys/kernel/tracing/tracing_max_latency
-  \frametitle{Xenomai architecture}
+  \frametitle{Xenomai Cobalt architecture}
-  \frametitle{The Adeos interrupt pipeline abstraction}
-  \begin{itemize}
-  \item From the Adeos point of view, guest OSes are prioritized
-    domains.
-  \item For each event (interrupts, exceptions, syscalls, etc...), the
-    various domains may handle the event or pass it down the pipeline.
-  \end{itemize}
-  \begin{center}
-    \includegraphics[width=0.7\textwidth]{slides/sysdev-realtime/adeos-interrupt-pipeline1.png}
-  \end{center}
-  \tiny Image credits: Xenomai documentation
-  \frametitle{Xenomai features}
-  \begin{itemize}
-  \item Factored real-time core with skins implementing various
-    real-time APIs
-  \item Seamless support for hard real-time in user space
-  \item No second-class citizen, all ports are equivalent feature-wise
-  \item Xenomai support is as much as possible independent from the
-    Linux kernel version (backward and forward compatible when
-    reasonable)
-  \item Each Xenomai branch has a stable user/kernel ABI
-  \item Timer system based on hardware high-resolution timers
-  \item Per-skin time base which may be periodic
-  \item RTDM skin allowing to write real-time drivers
-  \end{itemize}
   \frametitle{Xenomai user space real-time support}
-  \item Xenomai supports real-time in user space on 5 architectures,
-    including 32 and 64 bits variants.
+  \item Supported architectures are the ones supported by the {\em
+    ipipe} patch: arm, arm64, blackfin, powerpc, x86
   \item Two modes are defined for a thread
     \item the primary mode, where the thread is handled by the Xenomai
@@ -1147,8 +1119,6 @@ cat /sys/kernel/tracing/tracing_max_latency
     \item Character-style device drivers
     \item Network-style device drivers
-  \item See the whitepaper on\\
-    \url{https://www.xenomai.org/documentation/xenomai-2.6/pdf/RTDM-and-Applications.pdf}
   \item Current notable RTDM based drivers:
     \item Serial port controllers;
@@ -1157,21 +1127,26 @@ cat /sys/kernel/tracing/tracing_max_latency
     \item Analogy, fork of the Comedi project, drivers for acquisition cards.
+  \url{https://xenomai.org/documentation/xenomai-3/html/xeno3prm/group__rtdm.html}
 \subsection{Setting up Xenomai}
-  \frametitle{How to build Xenomai}
+  \frametitle{How to build the Xenomai kernel (Cobalt)}
   \item Download Xenomai sources at
-  \item Download one of the Linux versions supported by this release\\
-    (see \code{ksrc/arch/<arch>/patches/})
-  \item Since version 2.0, split kernel/user building model.
-  \item Kernel uses a script called \code{script/prepare-kernel.sh}
-    which integrates Xenomai kernel-space support in the Linux
-    sources.
+  \item Download the latest {\bf i-pipe} patch for your architecture:\\
+    \url{https://xenomai.org/downloads/ipipe/}
+  \item Download the corresponding kernel.org version
+  \item Xenomai offers a script to patch your kernel. Example (arm):
+./scripts/prepare-kernel.sh  \
+    --linux=../linux-4.19.124 \
+    --ipipe=../ipipe-core-4.19.124-cip27-arm-09.patch
+    --arch=arm \
   \item Run the kernel configuration menu.
@@ -1184,7 +1159,7 @@ cat /sys/kernel/tracing/tracing_max_latency
-  \frametitle{Xenomai user space support}
+  \frametitle{How to build Xenomai user space}
   \item User space libraries are compiled using the traditional autotools
@@ -1265,13 +1240,11 @@ ret = bind(s, (struct sockaddr *)&saddr, sizeof(saddr));
-  \frametitle{The native API}
+  \frametitle{Alchemy: the native API}
   Xenomai proposes its own API for developing real-time tasks
   \item {\small
-    \url{https://xenomai.org/documentation/branches/v2.4.x/pdf/Native-API-Tour-rev-C.pdf}}
-  \item Usable both in user space and kernel space. Development of
-    tasks in user space is the preferred way.
+    \url{https://xenomai.org/documentation/xenomai-3/html/xeno3prm/group__alchemy.html}}
   \item Xenomai developers find it a more coherent and more flexible API
     than the POSIX API, and easier to learn and understand.
   \item However, beware that programming with the POSIX API is much

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