xenomai + igh配置

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于 2025-12-03 17:44:00 发布 · 255 阅读

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文章标签：

#linux #ethercat

环境：
ubuntu24 内核6.14
dovetail版本 6.14
xenomai版本 3.3.2
igh版本 1.6.0

参考链接：
https://blog.youkuaiyun.com/ji2581072/article/details/139145356
https://www.cnblogs.com/wsg1100/p/12730720.html
https://developer.aliyun.com/article/1504341

下载安装文件

查看系统内核版本：

robot@robot:~$ uname -a
Linux robot 6.14.0-36-generic #36~24.04.1-Ubuntu SMP PREEMPT_DYNAMIC Wed Oct 15 15:45:17 UTC 2 x86_64 x86_64 x86_64 GNU/Linux

安装必要的工具

sudo apt install cmake make git flex bison libncurses5-dev gcc exuberant-ctags bc libssl-dev meson ninja-build libelf-dev libbpf-dev pkg-config gawk fuse

xenomai 官网：
https://xenomai.org/

下载dovetail:
下载地址：https://gitlab.com/Xenomai/linux-dovetail/
下载文件：linux-dovetail-v6.14-dovetail-rebase.tar.gz

下载xenomai:
下载地址：https://gitlab.com/Xenomai/xenomai3/xenomai/
下载文件：xenomai-v3.3.2.tar.gz

将所有压缩包解压，下文假设都放在 Downloads文件夹里

制作patch：

cd ~/Downloads/xenomai-v3.3.2/scripts/

./prepare-kernel.sh --linux=/home/robot/Downloads/linux-dovetail-v6.14-dovetail-rebase --arch=x86_64 --outpatch=/home/robot/Downloads/patch-cobalt-3.3.2.patch

cd ~/Downloads/linux-dovetail-v6.14-dovetail-rebase

patch -p1 < ../patch-cobalt-3.3.2.patch

cp /boot/config-`uname -r` .config

make menuconfig

选项：

General setup  --->
    Preemption Model (Preemptible Kernel --->
        (X) Preemptible Kernel (Low-Latency Desktop)

Processor type and features  --->
    Processor family (Generic-x86-64)  --->
        (X) Core 2/newer Xeon

    [*] Multi-core scheduler support
    [ ]   CPU core priorities scheduler support

Power management and ACPI options  --->
    CPU Frequency scaling  --->
        [