How build Linuxcnc with xenomai3?

I think there is no problem with my xenomai installation~I compiled and installed the following packages in my system~
libxenomai-dev_2.99.0_arm64.deb
xenomai-kernel-source_2.99.0_all.deb
xenomai-runtime_2.99.0_arm64.deb
libxenomai1_2.99.0_arm64.deb
 

When I use ./configure uspace xenomai or ./configure xenomai, the prompt that appears corresponds to the following.
 

When I use ./configure --with-realtime=uspace under src, it can be seen that xeno-config was found in the output information, but I am not sure whether it is configured correctly.
 

When I execute make, it prompts that there is a problem with posix/pthread.h in usapce_xenomai.cc,
so I changed it to cobalt/pthread.h
so that it can be compiled and passed. Then as I said, it is non-real-time.

SummerLotus wrote:

When I execute make, it prompts that there is a problem with posix/pthread.h in usapce_xenomai.cc,
so I changed it to cobalt/pthread.h

 

What did you change, and where?

It seems likely that LinuxCNC needs changes to compile with the current Xenomai. 

I think that the problem might be that there is a rather naive test for a Xenomai kernel here:

github.com/LinuxCNC/linuxcnc/blob/2e75b0...uspace_common.h#L361

What happens if you change that to look for "-xeno3" instead?

I have been working with lcnc and xenomai 3.1 long enough to assure you it works much better than with RTAI. I have been using it with ethercat master from IgH with RTDM drivers for realtek r8169 and intel i210 igb drivers, so far no issues, running cold and smooth
for anyone who wants to test i have a github repo where you can download all the compiled binaries for linux kernel, headers, xenomai libraries and runtime, ethercat master with rtdm drivers and linuxcnc ethercat (lcec) here
xenomai3.1 for lcnc
The part missing is just compiling linuxcnc. To do so just clone the linuxcnc repo and configure it as userpace (--with-realtime=uspace)
when executing lcnc it will say "Note: Using XENOMAI (posix-skin) realtime" as it is using posix skin for making life easier

Best regards
Franco

Franco,

Which hardware did you test RTAI with and what results did you see. Please post any latency test results with CPU used.

Much thanks!

Hi Bari,
Hardware is core i5 4gen single board computer,
The issue was not latency but the pc was always running hot , really hot and also with Ethercat master, lots of missed frames and unmatched datagrams.
Changed to xenomai and issues solved, now pc is running cold with 1ms cycle

Regards,
Franco