4.7. Xenomai

The system must be setup first the same way as for EC-Simulator for Linux, especially installation of the atemsys module and Real-time Ethernet Driver 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)

    • EVL r0.44 (Xenomai 4), tested on Linux Kernel 5.15.106

  • 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)

4.7.1. OS compiler settings

Besides the general settings from 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

  • Xenomai 2 and 3:

<InstallPath>/SDK/LIB/Xenomai

  • Xenomai 4:

<InstallPath>/SDK/LIB/Xenomai4
Extra libraries (in this order)

  • Xenomai 2:

EcSimulatorRasServer EcSimulator pthread dl rt native xenomai

  • Xenomai 3:

EcSimulatorRasServer 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/ .

  • Xenomai 4:

EcSimulatorRasServer EcSimulator pthread evl dl