Xenomai Linux Installation
1. Copy the Xenomai Linux Debian packages built in the previous step to target board.
$ sudo gedit /etc/default/grub2. Install Xenomai Linux Debian packages.
$ sudo dpkg -i [path]/linux-image-4.19.59-intel-pk-standard-ecs1.0_4.19.59-intel-pk-standard-ecs1.0-1_amd64.deb$ sudo dpkg -i [path]/linux-headers-4.19.59-intel-pk-standard-ecs1.0_4.19.59-intel-pk-standard-ecs1.0-1_amd64.deb$ sudo dpkg -i [path]/linux-libc-dev_4.19.59-intel-pk-standard-ecs1.0-1_amd64.deb$ sudo dpkg -i [path]/ethercat_1.5.2_amd64.deb$ sudo dpkg -i [path]/xenomai_3.1_amd64.deb3. Edit grub to leave time to select new kernel and change the kernel cmdline.
Changes are:
#GRUB_TIMEOUT_STYLE=hiddenGRUB_TIMEOUT=10GRUB_CMDLINE_LINUX_DEFAULT="quiet splash xenomai.allowed_group=1234 xenomai.sysheap_size=256 xenomai.state=enabled xenomai.smi=detect xenomai.smi_mask=1 nosmap console=ttyS0,115200 console=tty0 clocksource=tsc tsc=reliable nmi_watchdog=0 nosoftlockup idle=poll noht audit=0 irqaffinity=0 isolcpus=1-3 rcu_nocbs=1-3 intel_pstate=disable intel.max_cstate=0 intel_idle.max_cstate=0 processor.max_cstate=0 processor_idle.max_cstate=0 i915.enable_dc=0 i915.disable_power_well=0 noefi”Please refer to “noefi”, “isolcpus” and “rcu_nocbs” descriptions in Section 2.4. 4. Update grub and reboot.
$ sudo update-grub$ sudo reboot5. After reboot, select “Advanced options for Ubuntu” “Ubuntu, with Linux 4.19.59-intel-pk-standard-ecs1.0” in the grub menu, and then boot.