Tutorial to build the Xenomai C sample code.
Xenomai
Introduction
Xenomai brings POSIX and traditional RTOS APIs for porting time-critical applications to Linux-based platforms. When the native Linux kernel cannot meet the response time requirements of the application, Xenomai supplements it with Cobalt, a small real-time infrastructure which schedules time-critical activities independently from the main kernel logic.
To build the C sample code
Using native toolchain
- Copy sample.tar.gz contained in the programing guide from your PC to ioThinx:
For example, if the IP address of the ioThinx is "192.168.127.254", use the following command: 1 user@Linux:~$ scp sample.tar.gz moxa@192.168.127.254:~
- Extract the sample code
1 moxa@Moxa:~$ tar zxvf sample.tar.gz
- Build Xenomai sample code
1 moxa@Moxa:~$ cd sample/iothinx/c
2 moxa@Moxa:~/sample/iothinx/c$ ln -s toolchain-config-native-xenomai config.mk
3 moxa@Moxa:~/sample/iothinx/c$ cd api/xenomai
4 moxa@Moxa:~/sample/iothinx/c/api/xenomai$ make
- Run the program
1 moxa@Moxa:~/sample/iothinx/c/api/xenomai$ sudo ./scheduling_jitter -h
Using cross toolchain
- Copy sample.tar.gz contained in the programing guide to your PC
- Extract the sample code
1 user@Linux:~$ tar zxvf sample.tar.gz
- Build Xenomai sample code
1 user@Linux:~$ cd sample/iothinx/c
2 user@Linux:~/sample/iothinx/c$ ln -s toolchain-config-cross-xenomai config.mk
3 user@Linux:~/sample/iothinx/c$ cd api/xenomai
4 user@Linux:~/sample/iothinx/c/api/xenomai$ make
- Copy the sample program to ioThinx:
For example, if the IP address of the ioThinx is "192.168.127.254", use the following command: 1 user@Linux:~/sample/iothinx/c/api/xenomai$ scp scheduling_jitter moxa@192.168.127.254:~
- Run the program on ioThinx
1 moxa@Moxa:~$ sudo ./scheduling_jitter -h