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Contents 1 Xenomai with RT-Firewire, RTnet and SLIND (embedded with uclibc) 1.1 Download Xenomai 2.1 1.2 Download latest RTnet 1.3 Download latest RTFiieWire 1.4 Download Linux 1.5 Installing Xenomai 1.6 Installing RT-Firewire 1.7 Installing RTnet

Xenomai with RT-Firewire, RTnet and SLIND (embedded with uclibc)

Download Xenomai 2.1

wget http://download.gna.org/xenomai/stable/xenomai-2.1.0.tar.bz2

Download latest RTnet

svn co https://svn.sourceforge.net/svnroot/rtnet/trunk/rtnet rtnet

In my case it is:

Checked out revision 1052

Download latest RTFiieWire

 svn co https://svn.sourceforge.net/svnroot/rtfirewire rtfirewire

Download Linux

I am using:

wget http://www.kernel.org/pub/linux/kernel/v2.6/linux-2.6.15.tar.bz2

Installing Xenomai

cd /usr/src/xenomai-2.1.0
scripts/prepare-kernel.sh --linux=/usr/src/linux-2.6.15-ipipe-xeno2.1/ \ 
--adeos=/usr/src/xenomai-2.1.0/ksrc/arch/i386/patches/adeos-ipipe-2.6.15-i386-1.2-01.patch \
--arch=i386

You can download the adeos patch at http://download.gna.org/adeos/patches/ or you can find it in the Xenomai Subdirectory i.e. for i386 architecture: ksrc/arch/i386/patches see above.

cd ../linux-2.6.15-ipipe-xeno2.1/
make ARCH=i386 CROSS_COMPILE=i486-linux-uclibc- menuconfig
make ARCH=i386 CROSS_COMPILE=i486-linux-uclibc- bzImage modules

then install your kernel and your modules as needed

For example like this:

find /debian/usr/src/linux-2.6.15-ipipe-xeno2.1/ -name '*.ko' -type f -print -exec cp {} /tftpboot/mntroot_target1/lib/modules/2.6.15-ipipe/ \;

cd /usr/src/xenomai-2.1.0
sh configure --build=i486-linux --host=i486-linux-uclibc
make install

Or another toolchain:

export PATH=$PATH:/opt/crosstool/gcc-3.4.3-glibc-2.3.4/i386-unknown-linux-gnu/bin/
sh configure --build=i386-linux --host=i386-unknown-linux-gnu

Installing RT-Firewire

cd /usr/src/rtfirewire
sh configure --with-linux=/lib/modules/2.6.15-xeno2.1/source \
--with-rtext-config=/usr/xenomai/bin/xeno-config \
--with-cc=i486-linux-uclibc- \
CROSS_COMPILE=i486-linux-uclibc- \
--host=i386

make ARCH=i386 CROSS_COMPILE=i486-linux-uclibc- install

Installing RTnet

cd /usr/src/rtnet
make ARCH=i386 CROSS_COMPILE=i486-linux-uclibc- menuconfig
make ARCH=i386 CROSS_COMPILE=i486-linux-uclibc- install

My .rtnet_config

#
# Automatically generated make config: don't edit
# RTnet version: 0.9.4
# Tue Aug 22 08:58:20 2006
#
CONFIG_RTNET_VERSION="0.9.4"

#
# Real-Time Extension
#
# CONFIG_RTNET_RTEXT_CLASSIC is not set
CONFIG_RTNET_RTEXT_INKERNEL=y
CONFIG_RTNET_LINUX_DIR="/lib/modules/2.6.15-xeno2.1/build"

#
# RTnet Parameters
#
CONFIG_RTNET_INSTALLDIR="/usr/local/rtnet"
# CONFIG_RTNET_CHECKED is not set

#
# Protocol Stack
#

#
# Stack parameters
#
CONFIG_RTNET_RX_FIFO_SIZE=32
# CONFIG_RTNET_RTWLAN is not set

#
# Protocols
#
CONFIG_RTNET_RTIPV4=y
# CONFIG_RTNET_RTIPV4_ROUTE_SRC is not set
# CONFIG_RTNET_RTIPV4_NETROUTING is not set
# CONFIG_RTNET_RTIPV4_ROUTER is not set
CONFIG_RTNET_RTPACKET=y
CONFIG_RTNET_RTMAC=y
CONFIG_RTNET_TDMA=y
CONFIG_RTNET_TDMA_MASTER=y
# CONFIG_RTNET_NOMAC is not set
CONFIG_RTNET_RTCFG=y
# CONFIG_RTNET_RTCFG_DEBUG is not set

#
# Drivers
#

#
# Common PCI Drivers
#
# CONFIG_RTNET_DRV_PCNET32 is not set
CONFIG_RTNET_DRV_TULIP=y
# CONFIG_RTNET_DRV_EEPRO100 is not set
# CONFIG_RTNET_DRV_NATSEMI is not set
# CONFIG_RTNET_DRV_8139 is not set
# CONFIG_RTNET_DRV_VIA_RHINE is not set

#
# Misc Drivers
#
CONFIG_RTNET_DRV_LOOPBACK=y
# CONFIG_RTNET_DRV_SMC91111 is not set
# CONFIG_RTNET_DRV_ETH1394 is not set
# CONFIG_RTNET_EXP_DRIVERS is not set

#
# Add-Ons
#
CONFIG_RTNET_ADDON_RTCAP=y
# CONFIG_RTNET_ADDON_PROXY is not set

#
# Examples
#
CONFIG_RTNET_EXAMPLES=y
CONFIG_RTNET_RTEXT_CONFIG_PATH="/usr/xenomai/bin/xeno-config"

My kernel .config