Xenomai

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:

  • 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

  • aarch64:

    • 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. 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, located at Workspace/Xenomai/ for Xenomai 2 and 3 and at Workspace/Xenomai4/ for Xenomai 4. Ensure OPERATING_SYSTEM, ARCH, CFLAGS, LDFLAGS, LD_LIBRARY_PATH are set accordingly (export ARCH=x86, …) when compiling using Eclipse! For Xenomai 4 the environment variable EVL_PATH must contain the path of the libevl installation and EVL_LIBS its multiarch library subdirectory (x86_64-linux-gnu for x64, aarch64-linux-gnu for aarch64), because the project refers to $EVL_PATH/include and $EVL_PATH/lib/$EVL_LIBS. Also ensure the following define is present:

    EC_OS_VERSION=4
  3. Run using GDB

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

    $ export LD_LIBRARY_PATH=/usr/xenomai/lib
$ gdb --args ./EcSimulatorHilDemo -intelgbe 2 1 -f eni.xml -v 3
$ [...]
$ (gdb) handle SIGXCPU nostop noprint nopass
$ (gdb) run

See also

Running EcSimulatorHilDemo

4.7.2. 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