Commit bcd99eab authored by Gilles Chanteperdrix's avatar Gilles Chanteperdrix

Create v2.1 branch

git-svn-id: svn+ssh:// c6d672ea-8702-0410-b560-f74c916a59fe

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The new Xenomai project has its roots in both the old Xenomai [1] and
RTAI [2] projects, which combined their skills in order to produce a
pervasive and highly integrated real-time framework for the GNU/Linux
environment. The resulting development effort started in April 2004
has been initially hosted as an experimental branch of the RTAI
project, called RTAI/fusion. Since October 2005, this effort is
independently led by its original major contributors as the
revamped Xenomai project [1].
This file is an attempt to give proper credit to the people who have
contributed to this project so far. List entries are sorted by name
and provide the usual tags for automated processing.
-- Philippe
N: Dmitry Adamushko
D: Various fixes in the nucleus and the native skin.
D: Scalable scheduler implementation and other optimizations.
D: Message pipes sanitization.
N: Edelhard Becker
D: Debian package for RTAI/fusion. 80486 fixes.
N: Alexis Berlemont
D: LTT support maintainer. ia64 port. Comedi over fusion.
N: Marco Cavallini
D: VxWorks demo.
N: Gilles Chanteperdrix
D: POSIX and VxWorks skins author and maintainer. Autoconfiscation
D: janitor. SMP support. ia64 port. Fixes and improvements all over
D: the map.
N: Jim Cromie
D: Comprehensive statistics collection for the testsuite.
Validation test script.
N: Pierre Ficheux
D: Quick Installation guide.
N: Stephane Fillod
D: Compatibility skin fixes and extensions.
N: Philippe Gerum
D: Core stuff here and there.
N: Panagiotis Issaris
D: RTAI LiveCD author and maintainer. Code sanity checks.
D: Documentation proof-reading.
N: Jan Kiszka
D: RTDM author and maintainer. 16550A UART driver over RTDM.
D: Various cleanups and fixes.
N: Marc Kleine-Budde
D: Miscellaneous nucleus updates.
N: Max Krasnyansky
D: Context-switch time determination test.
N: Romain Lenglet
E: <>
D: Man pages.
N: Heikki Lindholm
D: ppc64 port author and maintainer.
N: Hannes Mayer
D: Maintainer of various programming resources.
N: Andrew Noren
D: User-space POSIX tortur^H^H^H^H^H^Hesting.
N: Julien Pinon
D: VRTX skin author.
N: Ivan Raikov
D: Autoconf and script-related fixes.
N: Bruno Rouchouse
D: WEB site author and documentation maintainer.
N: Evgeny Sinelnikov
D: Autoconf-related fixes.
N: Frederic Villeneuve
D: udev support for message pipes.
2005-10-22 Philippe Gerum <>
* trunk: Implement a split source model, decoupling the kernel
space support from the user-space libraries used in accessing the
SUBDIRS = src include config doc scripts
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Installing Xenomai
0. Introduction.
Starting with version 2.1, Xenomai follows a split source model,
decoupling the kernel space support from the user-space libraries used
in accessing the former.
To this end, kernel and user-space Xenomai components are respectively
available under the ksrc/ and src/ sub-trees.
The ksrc/ sub-tree providing the kernel space support is seen as a
built-in extension of the Linux kernel, and no more as a collection of
separate out-of-tree modules. A direct benefit of such approach is the
ability to build the Xenomai real-time subsystem statically into the
target kernel, or as loadable modules as with earlier versions.
Additionally, the usual Linux kernel configuration process will be
normally used to define the various settings for the Xenomai kernel
The src/ sub-tree contains the various user-space libraries and
commands provided by the Xenomai framework.
1. Installation steps
1.1 Preparing the target kernel
Xenomai provides a real-time sub-system seamlessly integrated to
Linux, therefore the first step is to build it as part of the target
kernel. To this end, scripts/ is a shell script which
sets up the target kernel properly. The syntax is as follows:
$ scripts/ --linux=<linux-srctree>
[--adeos=<adeos-patch>] [--arch=<target-arch>]
--linux specifies the path of the target kernel source tree. Such
kernel tree being configured or not makes no different and is
valid either way.
--adeos specifies the path of the Adeos patch to apply against the
kernel tree. This parameter can be omitted if Adeos has already
been patched in. In any case, the script will not try to apply it
again whenever a former patch is detected.
--arch tells the script about the target architecture. If
unspecified, the build system architecture is used.
For instance, the following command would prepare the Linux tree
located at /usr/src/linux-2.6.14-ipipe in order to include the Xenomai
$ cd xenomai-2.1
$ scripts/
Note: The script will infere the location of the Xenomai kernel code
from its own location within the Xenomai source tree. In other words,
if /usr/src/xenomai-2.0/script/ is executing, then
Xenomai's kernel support available from /usr/src/xenomai-2.0/ksrc will
be bound to the target kernel.
1.2 Configuring and building the target kernel
Once the target kernel has been prepared, all Xenomai configuration
options are available from the "Real-time subsystem" toplevel menu.
Once configured, the kernel should be built as usual.
2. Configure script options
The options listed below only affect the libraries compiled as part of
Xenomai's user-space support, and in any case, never impact the
kernel-level support.
--enable-uvm Build UVM support (default: enabled)
--enable-debug Enable debug symbols in programs (default: disabled)
--enable-smp Enable SMP support (default: disabled)
--enable-x86-sep Enable x86 SEP instructions for issuing syscalls (default: disabled)
--enable-x86-tsc Enable x86 TSC for timings (default: disabled)
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Copyright (C) 1994, 1995, 1996, 1999, 2000, 2001, 2002 Free Software
Foundation, Inc.
This file is free documentation; the Free Software Foundation gives
unlimited permission to copy, distribute and modify it.
Basic Installation
These are generic installation instructions.
The `configure' shell script attempts to guess correct values for
various system-dependent variables used during compilation. It uses
those values to create a `Makefile' in each directory of the package.
It may also create one or more `.h' files containing system-dependent
definitions. Finally, it creates a shell script `config.status' that
you can run in the future to recreate the current configuration, and a
file `config.log' containing compiler output (useful mainly for
debugging `configure').
It can also use an optional file (typically called `config.cache'
and enabled with `--cache-file=config.cache' or simply `-C') that saves
the results of its tests to speed up reconfiguring. (Caching is
disabled by default to prevent problems with accidental use of stale
cache files.)
If you need to do unusual things to compile the package, please try
to figure out how `configure' could check whether to do them, and mail
diffs or instructions to the address given in the `README' so they can
be considered for the next release. If you are using the cache, and at