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--- code:work:pi:rtpreempt:start [2017/03/06 16:03] – [Xenomai Pi Compiled] david
+++ code:work:pi:rtpreempt:start [2017/03/09 01:06] (current) – [Xenomai Pi 3 Compile HOWTO] david
@@ Line 301: / Line 301: @@
 <code>
 cd ~/work/pi
-tar xf download/linux-3.18.20.tar.xz
+tar xf download/linux-4.4.43.tar.xz
-mv linux-3.18.20 linux-3.18.20-ipipe
+mv linux-4.4.43 linux-4.4.43-ipipe
 cd xenomai-3.0.3
-scripts/prepare-kernel.sh --arch=arm --linux=~/work/pi/linux-3.18.20-ipipe
+scripts/prepare-kernel.sh --arch=arm --linux=~/work/pi/linux-4.4.43-ipipe
-cd ~/work/pi/linux-3.18.20-ipipe
+cd ~/work/pi/linux-4.4.43-ipipe
-KERNEL=kernel7
+export KERNEL=kernel7
 make ARCH=arm CROSS_COMPILE=arm-linux-gnueabihf- bcm2709_defconfig
 make ARCH=arm CROSS_COMPILE=arm-linux-gnueabihf- bcm2835_defconfig
@@ Line 315: / Line 315: @@
 make ARCH=arm CROSS_COMPILE=arm-linux-gnueabihf- menuconfig
 make ARCH=arm CROSS_COMPILE=arm-linux-gnueabihf- zImage dtbs -j `getconf _NPROCESSORS_ONLN`
+cd /mnt
+sudo mkdir pisdcard
+sudo mkdir pisdcard/fat32
+sudo mkdir pisdcard/ext4
+sudo mount /dev/sdb1 /mnt/pisdcard/fat32
+sudo mount /dev/sdb2 /mnt/pisdcard/ext4
+# go where the kernel is that you want to install
+cd ~/work/pi/linux-4.4.43-ipipe
+sudo make ARCH=arm CROSS_COMPILE=arm-linux-gnueabihf- INSTALL_MOD_PATH=/mnt/pisdcard/ext4 modules_install
+# and the rest
+sudo cp /mnt/pisdcard/fat32/$KERNEL.img /mnt/pisdcard/fat32/$KERNEL-backup.img
+sudo scripts/mkknlimg arch/arm/boot/zImage /mnt/pisdcard/fat32/$KERNEL.img
+sudo cp arch/arm/boot/dts/*.dtb /mnt/pisdcard/fat32/
+sudo cp arch/arm/boot/dts/overlays/*.dtb* /mnt/pisdcard/fat32/overlays/
+sudo cp arch/arm/boot/dts/overlays/README /mnt/pisdcard/fat32/overlays/
 </code>
@@ Line 332: / Line 350: @@
   * This is an excellent example that has a real time thread and a non-real time thread that communicate.
+===== Xenomai Pi 3 Compile HOWTO =====
+Using this as the basis:
+[[https://www.blaess.fr/christophe/2016/05/22/xenomai-3-sur-raspberry-pi-2/]]
+  - Grab Xenomai <code>
+cd ~/work/pi/download
+wget <<FILES>>
+</code>
+  - What patches do we have? <code>
+cd ~/work/pi/
+tar xf download/xenomai-3.0.3.tar.bz2
+ls xenomai-3.0.3/kernel/cobalt/arch/arm/patches/
+#
+# results
+ipipe-core-3.10.32-arm-13.patch  ipipe-core-3.18.20-arm-11.patch  ipipe-core-4.1.18-arm-9.patch  README
+ipipe-core-3.14.44-arm-16.patch  ipipe-core-4.1.18-arm-8.patch    ipipe-core-4.4.43-arm-7.patch
+</code>
+  - Grab the source code from the **git** repository <code>
+git clone https://github.com/raspberrypi/linux
+cd linux
+git checkout rpi-4.4.y
+</code>
+  - Create a new Xenomai branch <code>
+git checkout -b xenomai-3.0.3
+</code>
+  - Dry run the patch <code>
+patch --dry-run -p1 <../xenomai-3.0.3/kernel/cobalt/arch/arm/patches/ipipe-core-4.4.43-arm-7.patch
+</code>
+  - Patch the kennel assuming you saw no FAILS in the dry run test <code>
+cd ..
+xenomai-3.0.3/scripts/prepare-kernel.sh --linux=linux --arch=arm --ipipe=xenomai-3.0.3/kernel/cobalt/arch/arm/patches/ipipe-core-4.4.43-arm-7.patch
+</code>
+  - Build the default configuration <code>
+KERNEL=kernel7
+cd linux
+make ARCH=arm CROSS_COMPILE=arm-linux-gnueabihf- bcm2709_defconfig
+make ARCH=arm CROSS_COMPILE=arm-linux-gnueabihf- bcm2835_defconfig
+</code>
+  - Configure the kernel <code>
+make ARCH=arm CROSS_COMPILE=arm-linux-gnueabihf- menuconfig
+</code>
+    - Make these changes
+      - Kernel Features  --->
+        - Preemptible Kernel (Low-Latency Desktop)
+        - DISBLE Allow for memory compaction
+        - DISABLE Contiguous Memory Allocator
+      - CPU Power Management  ---> OFF everything
+      - Kernel hacking
+        - DISABLE KGDB: kernel debugger
+  - Compile! <code>
+make ARCH=arm CROSS_COMPILE=arm-linux-gnueabihf- zImage modules dtbs -j 6
+</code>
+  - Ran this with the 3.1.18 kernel... seems like that might work.