run Linuxcnc on xenomai with EVL(the realtime core)

Thank you all for the suggestions. Unfortunately, using Xenomai 4's EVL with LinuxCNC didn't work for me; I've tried everything.
Following my instructor's advice, I switched to using Xenomai 3 for the build. （this is a topic I'm exploring）During the build process, Xenomai was successfully detected.
 
However, when running it, the real-time core of Xenomai still wasn't utilized.
 
I found some posts on the forum from a few years ago with the same issue,

forum.linuxcnc.org/9-installing-linuxcnc...ith-xenomai3?start=0

but I couldn't find a solution. Do any of you have new suggestions?

I would like to understand this myself.

Is there any evidence of the uspace_xenomai.cc file being compiled?

Maybe you could try installing the uspace 2.8.4 deb + matching uspace-xenomai deb on your Xenomai3 system and see what happens?

This is where the rtapi wrapper app prints "POSIX non-realtime" or "POSIX realtime" and it is still looking for Xenomai: github.com/LinuxCNC/linuxcnc/blob/master...ce_rtapi_app.cc#L797

I refer here to main branch of linuxcnc 2.10 (master or devel) and it works with Xenomai 3. 

You done everything correct but apart building LinuxCNC to Xenomai the LinuxCNC at runtime checks if it has Xenomai kernel.

In order to fix the issue you must edit file: "linuxcnc/src/rtapi/uspace_common.h", around 386 line of code you find:

#ifdef USPACE_XENOMAI
static int detect_xenomai() {
    struct utsname u;
    uname(&u);
    return strcasestr (u.release, "-xenomai") != 0;
}
#else
static int detect_xenomai() {
    return 0;
}

As you see to check what kernel you got it uses very well known "uname" function. The problem is that at the moment Kernel build with Xenomai (new versions) and checked with "uname" does not include word "-xenomai" anymore but from what I know it has "IRQPIPE". That is what I got. Change what requires to be changed, recompile linuxcnc run again and... happy days.

It took me a while to figure that one out when I was compiling mine so I save you headache.
Probably that change should be commited to git image missing /media/kunena/emoticons/cool.png
 

Hi,
Linuxcnc works for xenomai 3 only as it is posix based (basically same code but linked to xenomai libraries instead of standard libc libraries)
Xenomai EVL, on the other hand, is not posix based and a wrapper for threads, mutex, etc should be coded

Regards

Hi cgy,I came across your old discussion about Xenomai 4 / EVL and LinuxCNC and thought you might be interested in how things have progressed since then.Using Hannes' repository, I managed to get the complete Xenomai 4/EVL + LinuxCNC stack running: github.com/hdiethelm/xenomai4-linuxcnc LinuxCNC actually reports: So this is not just an experiment or a build that happens to work — I have it running on my actual machine.Hannes is getting really impressive results, especially with an Intel I350. I bought an I350 recently and I'm still tuning it, so my results are not nearly as good yet. But things are moving in the right direction.My current results and histograms are here: github.com/LinuxCNC/linuxcnc/pull/4087 Another important development is Hannes' PR #4199: github.com/LinuxCNC/linuxcnc/pull/4199 It addresses Xenomai 4 EVL OOB networking for Mesa HostMot2 and was merged into LinuxCNC master on August 5, 2026.So, just a quick update after all these years: Xenomai 4 + EVL + LinuxCNC really does work now, and it can be used with a Mesa card. ?Hannes has done a tremendous amount of work preparing the Xenomai 4 environment and integrating the necessary support into LinuxCNC.

zz912 wrote:

Code:

[url]https://github.com/hdiethelm/xenomai4-linuxcnc[/url]

There are many errors in scripts.
At last I compilled kernel, that not boot up...
For me wasted time.