Goal: Implement a real-time kernel using TI Linux 4.4.19 (which runs normally on the board) + Xenomai, i.e., port Xenomai to Linux 4.4.19.

Target board: Xinmai TI AM5728 Development Board

Problem: After applying the ipipe patch, a compilation error occurred in timer.c. After modification, it compiled successfully.
Reference tutorial: https://www.cnblogs.com/wsg1100/p/12864199.html
The compilation process is as follows:

The following error occurred during compilation:

Solution: Make the following changes in arch/arm/mach-omap2/time.c:

Compile user-space libraries:

xmtech@xmtech-server01:~/xenomai/xenomai-3.1

./configure CFLAGS="-march=armv7-a -mtune=cortex-a15 -mfloat-abi=hard -mfpu=neon -ffast-math" --host=arm-linux-gnueabihf --with-core= cobalt --enable-smp --enable-pshared

xmtech@xmtech-server01:~/xenomai/xenomai-3.1 mkdir build_fs

make DESTDIR=~/xenomai/xenomai-3.1/build_fs install

mount /dev/sdb2 /opt/tmp

xmtech@xmtech-server01:~/xenomai/xenomai-3.1 cp -r ./build_fs /opt/tmp/usr

Start the system:

References: https://blog.csdn.net/Beliven/article/details/80623696 IGH on Beaglebone Black (AM3358) with Xenomai

For technical exchange, add Engineer Ye on WeChat: 13670212541