\\newpage

# Xenomai

<!-- *******
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](os_linux.html.md#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)

## Setting up and running EcSimulatorHilDemo

1. Prepare system
   : Prepare the system to run EcSimulatorHilDemo on Linux as described in chapter [Linux](os_linux.html.md#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:
     ```default
     EC_OS_VERSION=4
     ```
3. Run using GDB
   : Provide search path for Xenomai libraries and prevent GDB to stop execution on SIGXCPU:
     ```console
     $ 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](architecture_os-configuration.html.md#running-ecdemo)

## OS compiler settings

Besides the general settings from [OS Compiler settings](architecture_sdk.html.md#compile-ecdemo) the following settings are necessary to build the example application for Xenomai.

Extra include paths
: ```default
  <InstallPath>/SDK/INC/Xenomai
  <InstallPath>/Examples/Common/Xenomai
  ```

Extra source paths
: ```default
  <InstallPath>/Examples/Common/Xenomai
  <InstallPath>/Sources/OsLayer/Xenomai
  ```

Extra library paths to the main EtherCAT® components
: - Xenomai 2 and 3:
  <br/>
  ```default
  <InstallPath>/SDK/LIB/Xenomai
  ```
  <br/>
  - Xenomai 4:
  <br/>
  ```default
  <InstallPath>/SDK/LIB/Xenomai4
  ```

Extra libraries (in this order)
: - Xenomai 2:
  <br/>
  ```default
  EcSimulatorRasServer EcSimulator pthread dl rt native xenomai
  ```
  <br/>
  - Xenomai 3:
  <br/>
  ```default
  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/](http://xenomai.org/) .
: - Xenomai 4:
  <br/>
  ```default
  EcSimulatorRasServer EcSimulator pthread evl dl
  ```