Building Kernel 3.10.32 with Xenomai 2.6.4 for Ubuntu 12.04.5

Notes

Useful References:

​https://sites.google.com/site/drckmu/simulation/xenomai ​http://support.barrett.com/wiki/BuildingAPC/Precise64Install

Ubuntu Version: 12.04.5 Kernel Version: 3.10.32 Xenomai Version: 2.6.4

These instructions assume that you start from the home directory.

Building Xenomai Packages

Install Prereq's:

apt-get install devscripts debhelper dh-kpatches findutils
apt-get install devscripts debhelper dh-kpatches autotools-dev autoconf automake libtool

Get and unpack the tar.bz2 archive:

wget -O - http://download.gna.org/xenomai/stable/xenomai-2.6.4.tar.bz2 | tar -jxf -
cd xenomai-2.6.4
DEBEMAIL="your@email" DEBFULLNAME="Your Name" debchange -v 2.6.4 Release 2.6.4
debuild -uc -us

Install the packages

cd
dpkg -i *.deb

Building a patched Linux kernel package

Install Prereq's:

apt-get install kernel-package libncurses-dev fakeroot zlib1g-dev

Locate and copy the correct ipipe patch from Xenomai:

cp /usr/src/xenomai-2.6.4/ksrc/arch/x86/patches/ipipe-core-3.10.32-x86-4.patch ~/ipipe-core-3.10.32-x86-4.patch

Download the kernel source archive and extract:

wget https://www.kernel.org/pub/linux/kernel/v3.x/linux-3.10.32.tar.xz
tar -xf linux-3.10.32.tar.xz && cd linux-3.10.32

Patch the Kernel!! :D

/usr/src/xenomai-kernel-source/scripts/prepare-kernel.sh --arch=amd64 --linux=. --adeos=../ipipe-core-3.10.32-x86-4.patch

Recycle an old realtime config:

cp /your/old/linux/config .config

If you want to only change settings that aren't already defined (most if not all of the defaults for new params are ok, but AUDITSYSCALL and KGDB should be disabled, and be careful of anything to do with IRQ's):

make oldconfig

If you want the graphical interface to make changes:

make menuconfig

Build the Kernel:

CONCURRENCY_LEVEL=8 fakeroot make-kpkg --initrd --append-to-version -xenomai-2.6.4 --revision 1.0 kernel_image kernel_headers

Image and Headers will be in the home directory. Follow the steps at ​http://support.barrett.com/wiki/BuildingAPC/Precise64Install2 to complete the PC installation.