[HOW TO] Built Raspbian Linux kernel with xenomai 3.0.5 path for Rasberry Pi 3 on Ubuntu

0. Prepare environment

# install git and subversion
sudo apt-get update
sudo apt-get install git subversion gcc-arm-linux-gnueabihf libncurses5-dev

# Preapre variables
export BUILDDIR=/tmp/rpi3
# build kernel with NUMCORES
export NUMCORES=4

# directory where download and build everything  
mkdir $BUILDDIR   
#  directory for ready to install files
mkdir  $BUILDDIR/dist

1. Download sources

Go to $BUILDDIR directory:

cd $BUILDDIR

1a. Download Raspbian Linux 4.1.y source

git clone https://github.com/raspberrypi/linux.git
cd  linux/
git  checkout  rpi-4.1.y
cd ..

alternative and faster version:

svn export https://github.com/SPFCG/xenomai_kernel/trunk/mirror/rpi-4.1.y/linux linux

1b. Download Xenomai 3.0.5 source

wget http://git.xenomai.org/xenomai-3.git/snapshot/xenomai-3-3.0.5.tar.bz2
tar -xjvf xenomai-3-3.0.5.tar.bz2

alternative version:

svn export https://github.com/SPFCG/xenomai_kernel/trunk/mirror/xenomai-3-3.0.5 xenomai-3-3.0.5

1c. Download ipipe patched ipipe with small trivial fix for kernel configuration on bcm-2709 (effects both kernel and some drivers(using interrupts))

wget https://raw.githubusercontent.com/SPFCG/xenomai_kernel/master/patches/ipipe-core-4.1.18-arm-10.fixed.patch

original version:

wget https://xenomai.org/downloads/ipipe/v4.x/arm/ipipe-core-4.1.18-arm-10.patch
# older:
wget https://xenomai.org/downloads/ipipe/v4.x/arm/older/ipipe-core-4.1.18-arm-9.patch


# mirrors:

wget https://raw.githubusercontent.com/SPFCG/xenomai_kernel/master/patches/ipipe-core-4.1.18-arm-10.patch
# older
wget https://raw.githubusercontent.com/SPFCG/xenomai_kernel/master/patches/ipipe-core-4.1.18-arm-9.patch

1d. Download Raspberry Pi specific patch to kernel (patch of Mathieu Rondonneau specific for hardware bcm-2709 (rpi2 and rpi3) )

wget  http://www.blaess.fr/christophe/files/article-2016-05-22/patch-xenomai-3-on-bcm-2709.patch

# mirror:

wget https://raw.githubusercontent.com/SPFCG/xenomai_kernel/master/patches/patch-xenomai-3-on-bcm-2709.patch

patch applies on files : (applies purely in kernel, doesn't effect drivers ):

arch/arm/Kconfig
arch/arm/mach-bcm2709/armctrl.c
arch/arm/mach-bcm2709/bcm2708_gpio.c
arch/arm/mach-bcm2709/bcm2709.c
arch/arm/mach-bcm2709/include/mach/entry-macro.S

1e. Download a patched version of pinctrl-bcm2835.c from the official ipipe patch

wget -O pinctrl-bcm2835.c  http://git.xenomai.org/ipipe.git/plain/drivers/pinctrl/bcm/pinctrl-bcm2835.c?h=vendors/raspberry/ipipe-4.1

# mirror

wget https://raw.githubusercontent.com/SPFCG/xenomai_kernel/master/patches/pinctrl-bcm2835.c

1f. Download a patch for script preapre_kernel.sh

wget https://raw.githubusercontent.com/SPFCG/xenomai_kernel/master/patches/prepare-kernel.patch

1g. Download a patch for Kconfig (drivers/xenomai/gpio/Kconfig)

wget https://raw.githubusercontent.com/SPFCG/xenomai_kernel/master/patches/Kconfig.patch

1h. Download a patch to support GCC6 to compile kernel source (drivers/char/broadcom/vc_sm/vmcs_sm.c)

wget https://raw.githubusercontent.com/SPFCG/xenomai_kernel/master/patches/vmcs_sm.patch

2. Apply kernel patches ( xenomai+ipipe, bcm )

2a. Apply xenomai (and ipipe) patch to kernel

First check if the ipipe patch applies well: (because little bit different kernel)

cd linux
patch  --dry-run  -p1  <  ../ipipe-core-4.1.18-arm-10.fixed.patch

The argument --dry-run of the above execution allowed to verify if the patch is applied correctly without making changes.

http://superuser.com/questions/755355/hunk-1-message-after-apply-a-patch

If the file to be patched has changed slightly since the patch was created, but the specific section remained the same, patch can detect that and apply the patch appropriately. A hunk message means the file was successfully patched, but the first section that was patched was X lines earlier/later than was originally specified.

Next to apply patch to prepare-kernel.sh script

this is needed for 'make deb-pkg' in the linux kernel source tree which otherwise makes packages with broken links!!

cd ../xenomai-3-3.0.5/scripts/
patch -p0  <  ../../prepare-kernel.patch
cd ../../

Now we can apply patch on kernel sources

xenomai-3-3.0.5/scripts/prepare-kernel.sh  --linux=linux/  --arch=arm  --ipipe=ipipe-core-4.1.18-arm-10.fixed.patch

At the end apply patch to Kconfig to add support gpio on BCM2709

this is needed for 'make deb-pkg' in the linux kernel source tree which otherwise makes packages with broken links!!

cd linux/drivers/xenomai/gpio/
patch -p0  <  ../../../../Kconfig.patch
cd ../../../../

2b. Apply Raspberry pi specific patch to kernel (patch of Mathieu Rondonneau specific for hardware bcm-2709 )

cd  linux/
# dry-run
patch  -p1  <  ../patch-xenomai-3-on-bcm-2709.patch  --dry-run
# if successfull  do real run
patch  -p1  <  ../patch-xenomai-3-on-bcm-2709.patch  
cd ..

2c. apply a patched version of pinctrl-bcm2835.c from the official ipipe patch

cp  -f pinctrl-bcm2835.c  linux/drivers/pinctrl/bcm/pinctrl-bcm2835.c

OPTIONAL: (use only if your compiler is GCC 6) apply a patch to drivers/char/broadcom/vc_sm/vmcs_sm.c for support GCC6 compiler

cd linux/drivers/char/broadcom/vc_sm/
patch -p0  <  ../../../../../vmcs_sm.patch
cd ../../../../../

3. Configure linux kernel/module option

Go to kernel source directory:

cd linux

Create default config for bcm2709

make ARCH=arm CROSS_COMPILE=arm-linux-gnueabihf- bcm2709_defconfig

a default configuration for bcm2709 written to .config

Specialize config for xenomai

install package needed for menuconfig:

sudo apt-get  install libncurses5-dev

Run menuconfi

make ARCH=arm CROSS_COMPILE=arm-linux-gnueabihf- menuconfig

Set the configurations according to the scheme:

CPU Power Management  --->
  CPU Frequency scaling  --->
    [ ] CPU Frequency scaling
  CPU idle  --->
    [ ] CPU idle PM support
Kernel Features  --->
    [ ] Contiguous Memory Allocator
    [ ] Allow for memory compaction
Kernel Hacking  --->
    [ ] KGDB: kernel debugger
Boot options  --->
    Kernel command line type --->
        [X] Extend bootloader kernel arguments


Xenomai Cobalt --->
     Drivers  --->
             Real-time GPIO drivers  --->
                <M> GPIO controller                          => with " [*] GPIO controller  " instead it builds directly in kernel, then no need to load module anymore!
                [*]   Support for BCM2835 GPIOs                 `-> however we stick to default and just build it as module and load it at boot in /etc/rc.local
                [ ]   Enable GPIO core debugging features


note: in above  [ ]  means disable,  [X]  means enable

Return to main directory

cd ..

4. Build kernel and modules in linux directory

Go to kernel source directory:

cd linux

Build kernel:

make -j $NUMCORES ARCH=arm CROSS_COMPILE=arm-linux-gnueabihf- zImage modules dtbs

Install kernel in ../dist/ directoryt

make ARCH=arm CROSS_COMPILE=arm-linux-gnueabihf- INSTALL_MOD_PATH=../dist modules_install

Return to main directory

cd ..

EXTRA: Install linux headers with Makefiles to build kernel modules on the pi itself

note:

'make headers_install' installs only the headers, the Makefiles needed to build a kernel module are not there however with 'make deb-pkg' next to binary kernel packages it builds also a linux-headers package which contains both headers and makefiles needed to build kernel modules. So we build this package and copy it to the pi, and install it as a debian package on the pi

cd linux/
export NUMCORES=4 
export KBUILD_DEBARCH=armhf 
make ARCH=arm -j $NUMCORES  CROSS_COMPILE=arm-linux-gnueabihf-  deb-pkg

Copy the file 'linux-headers-*_armhf.deb' to the pi,then on the pi run :

   dpkg -i linux-headers-*_armhf.deb

it seems that the scripts in the linux headers itself are not cross-compiled to arm, (intel instead), so to use them to build kernel modules we first need to compile them as arm binaries, to do this we can call 'make modules_prepare' which calls 'make scripts'

cd /usr/src/linux-headers-*/
# run following make command, which can give some errors, which should be ignored be giving it the -i option
make -i modules_prepare   
# building kernel modules should work fine now!  
cd ..

5. Built Xenomai user space part ( kernel part is built with kernel above)

You need to have installed autoconf and libtool :

sudo apt-get install autoconf
sudo apt-get install libtool

Configure details see : https://xenomai.org/installing-xenomai-3-x/#_configuring

cd xenomai-3-3.0.5
./scripts/bootstrap 
./configure CFLAGS="-march=armv7-a  -mfloat-abi=hard -mfpu=neon -ffast-math" --host=arm-linux-gnueabihf --enable-smp --with-core=cobalt -enable-debug=partial

#
# note : http://xenomai.org/installing-xenomai-3-x/
#          –enable-smp
#              Turns on SMP support for Xenomai libraries.
#
#              Caution
#                  SMP support must be enabled in Xenomai libraries when the client
#                  applications are running over a SMP-capable kernel.

mkdir ../dist/xenomai
export DESTDIR=`realpath ../dist/xenomai`  # realpath because must be absolute path
make  DESTDIR="$DESTDIR"  install

EXTRA: Compile Real-Time SPI driver for the Broadcom BCM2835 and BCM2836 SoCs using the RTDM API.

Based on https://github.com/nicolas-schurando/spi-bcm283x-rtdm

###1. Clone github repository

cd $BUILDDIR
git clone https://github.com/nicolas-schurando/spi-bcm283x-rtdm.git

2. Compile project using our kernel source

cd spi-bcm283x-rtdm
make ARCH=arm CROSS_COMPILE=arm-linux-gnueabihf- KERNEL_DIR=$BUILDDIR/linux/

Compiled kernel module should be on patch:

 $BUILDDIR/spi-bcm283x-rtdm/release/spi-bcm283x-rtdm.ko

Copy the generated kernel module onto the target and load it with the following command.

 sudo insmod spi-bcm283x-rtdm.ko

The system log should display something like:

[   59.577534] bcm283x_spi_rtdm_init: Starting driver ...
[   59.577582] bcm2835_init: Found device-tree node /soc.
[   59.577615] bcm2835_init: /soc/ranges = 0x7e000000 0x3f000000 0x01000000.
[   59.577638] bcm2835_init: Using device-tree values.
[   59.577998] mapmem: mapping 0x3f000000 for gpio succeded to 0xbe000000
[   59.578867] bcm283x_spi_rtdm_init: Device spidev0.0 registered without errors.
[   59.579362] bcm283x_spi_rtdm_init: Device spidev0.1 registered without errors.

6. Copy build stuff in dist/ to raspbian sdcard

6.1. Mount sdcard

Become root otherwise you cannot access sdcard

sudo su -

export BUILDDIR=/tmp/rpi3
export SDCARD=/dev/sdX # X is name your device
export MOUNTPOINT=/media/sdcard

mkdir ${MOUNTPOINT}
mount ${SDCARD}2 ${MOUNTPOINT}
mount ${SDCARD}1 ${MOUNTPOINT}/boot

cd $BUILDDIR

6.2. Copy Xenomai user space files to sd card

cd dist/xenomai
chown -R root:root *
cp -a * ${MOUNTPOINT}/
cd ../..

6.3. Copy kernel and modules

6.3a. Copy kernel and device tree files from linux dir to /boot/ directory on image

cd linux/
cp arch/arm/boot/zImage ${MOUNTPOINT}/boot/
cp arch/arm/boot/dts/bcm27*.dtb ${MOUNTPOINT}/boot/
rm -rf ${MOUNTPOINT}/boot/overlays/*
cp arch/arm/boot/dts/overlays/*.dtb* ${MOUNTPOINT}/boot/overlays/

6.3b. Copy modules from dist/lib/modules to sd card

cd ../
cp -r dist/lib/modules/* ${MOUNTPOINT}/lib/modules

Update config for new kernel and device tree at end of /boot/config.txt add :

nano ${MOUNTPOINT}/boot/config.txt

    kernel=zImage
    # for pi2
    #device_tree=bcm2709-rpi-2-b.dtb
    # for pi3
    device_tree=bcm2710-rpi-3-b.dtb

Update: if you just rename the just installed file '/boot/zImage' to '/boot/kernel7' then you don't need to edit /boot/config.txt because the bootscript on the raspberry pi finds out it is running on pi2 or pi3 and the automatically boots '/boot/kernel7'.

Note: on pi0 or pi1 it boots '/boot/kernel' instead!

At the end:

umount ${MOUNTPOINT}/boot ${MOUNTPOINT}/

credits :

Documentation how to build kernel for raspbian: https://www.raspberrypi.org/documentation/linux/kernel/building.md

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README.md		README.md

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[HOW TO] Built Raspbian Linux kernel with xenomai 3.0.5 path for Rasberry Pi 3 on Ubuntu

0. Prepare environment

1. Download sources

1a. Download Raspbian Linux 4.1.y source

1b. Download Xenomai 3.0.5 source

1c. Download ipipe patched ipipe with small trivial fix for kernel configuration on bcm-2709 (effects both kernel and some drivers(using interrupts))

1d. Download Raspberry Pi specific patch to kernel (patch of Mathieu Rondonneau specific for hardware bcm-2709 (rpi2 and rpi3) )

patch applies on files : (applies purely in kernel, doesn't effect drivers ):

1e. Download a patched version of pinctrl-bcm2835.c from the official ipipe patch

1f. Download a patch for script preapre_kernel.sh

1g. Download a patch for Kconfig (drivers/xenomai/gpio/Kconfig)

1h. Download a patch to support GCC6 to compile kernel source (drivers/char/broadcom/vc_sm/vmcs_sm.c)

2. Apply kernel patches ( xenomai+ipipe, bcm )

2a. Apply xenomai (and ipipe) patch to kernel

Next to apply patch to prepare-kernel.sh script

Now we can apply patch on kernel sources

At the end apply patch to Kconfig to add support gpio on BCM2709

2b. Apply Raspberry pi specific patch to kernel (patch of Mathieu Rondonneau specific for hardware bcm-2709 )

2c. apply a patched version of pinctrl-bcm2835.c from the official ipipe patch

OPTIONAL: (use only if your compiler is GCC 6) apply a patch to drivers/char/broadcom/vc_sm/vmcs_sm.c for support GCC6 compiler

3. Configure linux kernel/module option

Go to kernel source directory:

Create default config for bcm2709

Specialize config for xenomai

Run menuconfi

Set the configurations according to the scheme:

Return to main directory

4. Build kernel and modules in linux directory

Go to kernel source directory:

Build kernel:

Install kernel in ../dist/ directoryt

Return to main directory

EXTRA: Install linux headers with Makefiles to build kernel modules on the pi itself

note:

Copy the file 'linux-headers-*_armhf.deb' to the pi,then on the pi run :

5. Built Xenomai user space part ( kernel part is built with kernel above)

You need to have installed autoconf and libtool :

Configure details see : https://xenomai.org/installing-xenomai-3-x/#_configuring

EXTRA: Compile Real-Time SPI driver for the Broadcom BCM2835 and BCM2836 SoCs using the RTDM API.

Based on https://github.com/nicolas-schurando/spi-bcm283x-rtdm

2. Compile project using our kernel source

6. Copy build stuff in dist/ to raspbian sdcard

6.1. Mount sdcard

6.2. Copy Xenomai user space files to sd card

6.3. Copy kernel and modules

6.3a. Copy kernel and device tree files from linux dir to /boot/ directory on image

6.3b. Copy modules from dist/lib/modules to sd card

Update config for new kernel and device tree at end of /boot/config.txt add :

Update: if you just rename the just installed file '/boot/zImage' to '/boot/kernel7' then you don't need to edit /boot/config.txt because the bootscript on the raspberry pi finds out it is running on pi2 or pi3 and the automatically boots '/boot/kernel7'.

Note: on pi0 or pi1 it boots '/boot/kernel' instead!

At the end:

credits :

document based on:

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