4.6. Xenomai

The system must be setup first the same way as for EC-Simulator for Linux, especially installation of the atemsys module and optimized Link Layer usage preparation.

See also

Chapter Linux

The binaries are built using the following versions:

  • armv6-vfp-eabihf:

    • Xenomai 2.6.3, tested on Linux Kernel 3.8.13-xenomai-2.6.4

  • x64:

    • Xenomai 3.0.2, tested on Linux Kernel 3.18.20 (Cobalt)

  • x86:

    • Xenomai 2.6.2.1, tested on Linux Kernel 3.5.7

    • Xenomai 3.0.2, tested on Linux Kernel 3.18.20 (Cobalt) and 3.10.32-rt31 (Mercury)

4.6.1. Setting up and running EcSimulatorHilDemo

  1. Prepare system

    Prepare the system to run EcSimulatorHilDemo on Linux as described in chapter Linux

  2. Compile EcSimulatorHilDemo

    As a starting point there is the Eclipse project for EcSimulatorHilDemo for Xenomai located at Workspace/Xenomai/EcSimulatorHilDemo. Ensure OPERATING_SYSTEM, ARCH, CFLAGS, LDFLAGS, LD_LIBRARY_PATH are set accordingly (export ARCH=x86, …) when compiling using Eclipse!

  3. Run using GDB

    Provide search path for Xenomai libraries and prevent GDB to stop execution on SIGXCPU:

    export LD_LIBRARY_PATH=../../Bin/Xenomai/x86:/usr/xenomai/lib:.
gdb --args ./EcSimulatorHilDemo -i8254x 1 0 -f exi.xml -v 3
[...]
(gdb) handle SIGXCPU nostop noprint nopass
(gdb) run

See also

Running EcSimulatorHilDemo

4.6.2. OS compiler settings

The following settings are necessary to build the example application for Xenomai.

Extra include paths
<InstallPath>/SDK/INC/Xenomai
<InstallPath>/Examples/Common/Xenomai
Extra source paths
<InstallPath>/Examples/Common/Xenomai
<InstallPath>/Sources/OsLayer/Xenomai
Extra library paths to the main EtherCAT components
<InstallPath>/SDK/LIB/Xenomai
Extra libraries (in this order)

  • Xenomai 2:

AtesRasSrv EcSimulator pthread dl rt native xenomai

  • Xenomai 3:

AtesRasSrv EcSimulator pthread dl rt

xeno-config --cflags and xeno-config --ldflags of the Xenomai installation return the needed CFLAGS and LDFLAGS. If further information is needed, please refer to http://xenomai.org/ .