Hardware Reference
In-Depth Information
bone#
cd ~/xenomai-2.6.4
bone#
./configure CFLAGS="-march=armv7-a -mfpu=vfp3"
LDFLAGS="-march=armv7-a \
-mfpu=vfp3"
bone#
make
bone#
make install
./configure
takes about a minute,
make
six more minutes, and
install
another
minute.
Next, copy the drivers:
bone#
cd; mkdir xenomai_drivers; cd xenomai_drivers
host$
cd bb-kernel/KERNEL/drivers/xenomai/testing
host$
scp *.ko 192.168.7.2:xenomai_drivers
bone#
insmode xeno_klat.ko
Testing
Go ahead and run some tests:
bone#
usr/xenomai/bin/latency
== Sampling period: 1000 us
== Test mode: periodic user-mode task
== All results in microseconds
warming up...
RTT| 00:00:01 (periodic user-mode task, 1000 us period, priority
99)
RTH|----lat min|----lat avg|----lat max|-overrun|---msw|---lat
best|--lat worst
RTD| 3.624| 3.833| 20.458| 0| 0|
3.624| 20.458
RTD| 2.749| 3.749| 22.583| 0| 0|
2.749| 22.583
RTD| 2.749| 4.583| 25.499| 0| 0|
2.749| 25.499
RTD| 2.749| 3.708| 20.541| 0| 0|
2.749| 25.499
RTD| 2.749| 3.749| 21.916| 0| 0|
2.749| 25.499
---|-----------|-----------|-----------|--------|------|-------------------------
