Guide of Xenomai co kernel Build and Installation on top of Ubuntu - intel/linux-stable-xenomai GitHub Wiki

Contents

1. Overview

This wiki descript how to set up an environment to test the performance on xenomai. Xenomai 3.x official document for install and setup is here: Setting_Up
This wiki page is a simplified guide focus on x86_64 uefi hardware.

2. Enviroment Setup

Install Ubuntu Desktop 18.04 https://ubuntu.com/tutorials/tutorial-install-ubuntu-desktop

Source code download and package building depend on the following tools and libraries.

sudo apt-get update
sudo apt-get install -y git build-essential libssl-dev libelf-dev iasl python nasm openssl gcc-multilib bison flex lz4

3. Source Code Download

Get the Linux kernel source code with pre-patched Ipipe&Xenomai from the github. https://github.com/intel/linux-stable-xenomai

  git clone https://github.com/intel/linux-stable-xenomai
  cd linux-stable-xenomai
  git checkout F/4.19.59/base/ipipe/xenomai_3.1

4. Deb Package Build

Create an 'out' directory to save the temporary build result, then start the build procedure.

outdir=../out_4.19.59
mkdir ../${outdir}
cp arch/x86/configs/xenomai_test_defconfig ../${outdir}/.config
make O=../${outdir} olddefconfig
make bindeb-pkg O=../${outdir} KDEB_PKGVERSION=3.1 -j$(nproc --all)

or

mkdir ../out_4.19.59
export KBUILD_OUTPUT=../out_4.19.59
export KBUILD_VERBOSE=1
cp arch/x86/configs/xenomai_test_defconfig ../${KBUILD_OUTPUT}/.config
make olddefconfig
make bindeb-pkg KDEB_PKGVERSION=3.1 -j$(nproc --all)

If the build is successful, those below files will be generated under '../' directory.

build

5. Kernal Install

Install those new kernel packages on the target board.

sudo dpkg -i linux-image-4.19.59-xenomai+_3.1_amd64.deb
sudo dpkg -i linux-headers-4.19.59-xenomai+_3.1_amd64.deb

Set new value to GRUB_CMDLINE_LINUX="value of kernel-cmdline" in '/etc/default/grub' file. Then update the grub configuration.
In this case, cpu1 is isolated for the following latency testing. 'isolcpus=1' is added in the CMDLINE. Accordingly, in the following "run_latency.sh" script file, the cpu1 is specified to the 'latency' program by 'taskset' command.

sudo nano /etc/default/grub
sudo update-grub

build

Select the right kernel version after reboot the system.

reboot

build

6. Xenomai userspace lib install guide

Download 'xenomai-3.1.tar.bz2' package from xenomai.org and install it with the below steps. The program 'latency' will be generated in '/opt/xenomai-3.1/bin' folder and used to evaluate the xenomai latency.

wget https://xenomai.org/downloads/xenomai/stable/xenomai-3.1.tar.bz2
tar xvf xenomai-3.1.tar.bz2 
cd xenomai-3.1
./configure --prefix=/opt/xenomai-3.1 --with-core=cobalt  --enable-smp  --enable-pshared 
sudo make -j4
sudo make install
sudo /opt/xenomai-3.1/bin/latency   ### successfully run means installation good!

Note: if "latency" program failed to run under root, please close group rt schedule policy use:

sudo sysctl -w kernel.sched_rt_runtime_us=-1

The program 'glmark2' and 'stressapptest' are used as workload tasks when xenomai latency testing. You can install 'glmark2' and 'stressapptest' directly by 'apt-get' if the board is online.

sudo apt-get install glmark2
sudo apt-get install stressapptest

Copy those below packages to the target board manually and install them by 'dpkg' is also a valid option to install the program 'glmark2' and 'stressapptest'.

libpng12-0_1.2.54-1ubuntu1_amd64.deb
glmark2-data_2014.03+git20150611.fa71af2d-0ubuntu2_all.deb
glmark2_2014.03+git20150611.fa71af2d-0ubuntu2_amd64.deb
msr-tools_1.3-2build1_amd64.deb

sudo dpkg -i libpng12-0_1.2.54-1ubuntu1_amd64.deb
sudo dpkg -i glmark2-data_2014.03+git20150611.fa71af2d-0ubuntu2_all.deb
sudo dpkg -i glmark2_2014.03+git20150611.fa71af2d-0ubuntu2_amd64.deb
sudo dpkg -i msr-tools_1.3-2build1_amd64.deb

7. BIOS Setting

Most Industry PC on the market cannot pass basic real-time benchmarks. Therefore, checking the BIOS configuration for the real-time profile is needed before your testing. Here are some recommendations (including but not limited):

  • Disable any sleep & power saving;
  • Disable Hyperthreading;
  • Disable lower CPU power states (C states);
  • Set [SA GV] freq running at fixed high, it is about internal bus matrix's power saving.
  • Reduce graphics frequency to minimum (100Hhz) if possible;

8. Testing Run

Download those below script files and copy them to '/opt/' folder.

run_glmark2.sh run_latency.sh turnoff_rt-group-sched.sh

Make them executable using 'chmod +x' and checking the kernel version before running test case.

chmod +x run_glmark2.sh run_latency.sh turnoff_rt-group-sched.sh
uname -a

Open a new terminal, execute ./run_glmark2.sh
Open a new terminal, execute sudo ./run_latency.sh
If meet error(operation not permitted), execute sudo ./turnoff_rt-group-sched.sh then sudo ./run_latency.sh

To avoid negative value for minimum latency, set xenomai “gravity” to 0,
$echo 0 > /proc/xenomai/clock/coreclk, or write your own value to the calibration file,
$echo ${value_in_ns} > /proc/xenomai/latency

9. Further Read

resource-director-technology
cache-allocation-technology (CAT)
intel-cmt-cat

10. Support

Pls fill issue or send email to Xenomai maillist: [email protected] if any question rise, thanks.