Warning:
The supplied scripts clean several folders without warning! Don't place anything inside this repository which you want to keep!
Work in progress, things might not work or break your system!
Feedback is welcome, create an issue or pull request
Expected Distribution: Debian Trixie
- Clone repo
- Download the github release
scripts/gh-download.sh kernelscripts/gh-download.sh libevlscripts/gh-download.sh linuxcnc
- Install the packages
scripts/install.sh kernelscripts/install.sh libevlscripts/install.sh linuxcnc
- Reboot to xenomai kernel (You probably have to select it in grub)
- Check for xenomai
sudo dmesg | grep -i evl
- Test LinuxCNC
- LinuxCNC should show:
Note: Using XENOMAI4 EVL realtime
- LinuxCNC should show:
- Clone repo
- Build it from source
git submodule initgit submodule updatescripts/install-deps.shscripts/build.sh kernelorscripts/build.sh kernel_rt(Depending if you prefer a kernel without or with PREEMPT_RT)scripts/build.sh libevl
- Install
scripts/install.sh kernelorscripts/install.sh kernel_rt(Depending if you prefer a kernel without or with PREEMPT_RT)scripts/install.sh libevl
- Reboot to xenomai kernel (You probably have to select it in grub)
- Check for xenomai
sudo dmesg | grep -i evl
- Clone repo
- Build it from source
git submodule initgit submodule updatescripts/install-deps.shscripts/build.sh linuxcnc
- Install
scripts/install.sh linuxcnc
- Build LinuxCNC
git clone https://github.com/LinuxCNC/linuxcnc.git linuxcnc-src-upstreamcd inuxcnc-src-upstream./debian/configuresudo apt-get build-dep .cd src./autogen.sh./configure --with-realtime=uspace- configure should show:
checking for evl/evl.h... yes
checking for realtime API(s) to use... uspace+xenomai4
- configure should show:
make -j $(nproc)- If you are on 2.10 branch:
sudo make setuid - If you are on master branch:
sudo make setcap- LinuxCNC master supports rootless operation, 2.10 will fail
- Run LinuxCNC
- ../scripts/linuxcnc
- LinuxCNC should show:
Note: Using XENOMAI4 EVL realtime - latency-histogram has to be started using:
../scripts/rip-environment ../scripts/latency-histogram
The target of this repo is to make it easy for others to use LinuxCNC with Xenomai4. No waranty can be given!
All instuctions in here base on the documentation on https://v4.xenomai.org/ with some quirks resolved.
Xenomai4 support got recently merged to master: LinuxCNC/linuxcnc#3903
Driver info from Intel: https://www.intel.com/content/www/us/en/support/articles/000005480/ethernet-products.html
The only two drivers are availabe up to now for Xenimai3 and Xenomai4 are:
- Intel igb
- Driver matches upstream except OOB patches
- Cards still on sale:
- 82576
- I210
- I350
- Intel e1000e
- Driver matches upstream except OOB patches
- Works for tesing in qemu + virtmanager
For details, read: ethernet.md
- Xenomai latency test
- Select an isolated CPU. For example for CPU3:
sudo latmus -c 3
- Select an isolated CPU. For example for CPU3:
- Check for Xenomai enabled threads and status
evl ps -l- rtapi_app should show up on the isolated CPU
- ISW should stay constant (unwanted mode switches)
For other operating systems or if you have issues with the debian packages
#make and install
mkdir libevl-build && cd libevl-build
meson setup -Dbuildtype=release -Dprefix=/opt/evl -Duapi=$(pwd)/../linux-evl . ../libevl
meson compile
sudo ninja install
echo "/opt/evl/lib/x86_64-linux-gnu" | sudo tee /etc/ld.so.conf.d/evl.conf > /dev/null
sudo ldconfig
#uninstall:
sudo ninja uninstall
sudo rm -r /opt/evl/
#linuxcnc xenomai4 doesn't support non standard include/lib paths for evl for now
#You need to configure linuxcnc with:
./configure --with-realtime=uspace CPPFLAGS=-I/opt/evl/include LDFLAGS=-L/opt/evl/lib/x86_64-linux-gnu
linux-evl branch: v6.12.y-cip-evl-rebase
evl ABI/API: libevl/include/evl/version.h / linux-evl/include/uapi/evl/control-abi.h