.. _using_xenomai_as_uos: .. _using_xenomai_as_user_vm: Run Xenomai as the User RTVM OS ############################### `Xenomai`_ is a versatile real-time framework that provides support to user space applications that are seamlessly integrated into Linux environments. This tutorial describes how to run Xenomai as the User VM OS (real-time VM) on the ACRN hypervisor. .. _Xenomai: https://gitlab.denx.de/Xenomai/xenomai/-/wikis/home Build the Xenomai Kernel ************************ Follow these instructions to build the Xenomai kernel: #. Clone the Xenomai kernel source code:: $ git clone -b F/4.19.59/base/ipipe/xenomai_3.1 https://github.com/intel/linux-stable-xenomai #. Go to the directory and select the default ACRN configuration:: $ cd linux-stable-xenomai && make acrn_defconfig #. Build the kernel:: $ make targz-pkg Upon building completion, verify that you see a tarball that contains the kernel and its modules. .. code-block:: none :emphasize-lines: 22 $ ls -l total 97944 drwxr-xr-x 27 tw tw 4096 Feb 20 10:23 arch drwxr-xr-x 3 tw tw 12288 Feb 21 11:01 block -rw-r--r-- 1 tw tw 789264 Feb 25 16:17 built-in.a drwxr-xr-x 2 tw tw 4096 Feb 21 11:01 certs -rw-r--r-- 1 tw tw 423 Feb 20 10:17 COPYING -rw-r--r-- 1 tw tw 98741 Feb 20 10:17 CREDITS drwxr-xr-x 4 tw tw 12288 Feb 21 11:01 crypto drwxr-xr-x 120 tw tw 12288 Feb 20 10:17 Documentation drwxr-xr-x 143 tw tw 4096 Feb 21 10:48 drivers drwxr-xr-x 2 tw tw 4096 Feb 20 10:21 firmware drwxr-xr-x 73 tw tw 12288 Feb 21 11:01 fs drwxr-xr-x 32 tw tw 4096 Feb 20 10:19 include drwxr-xr-x 2 tw tw 4096 Feb 25 16:25 init drwxr-xr-x 2 tw tw 4096 Feb 21 11:01 ipc -rw-r--r-- 1 tw tw 2245 Feb 20 10:17 Kbuild -rw-r--r-- 1 tw tw 563 Feb 20 10:17 Kconfig drwxr-xr-x 20 tw tw 12288 Feb 25 16:17 kernel drwxr-xr-x 13 tw tw 20480 Feb 21 11:01 lib drwxr-xr-x 5 tw tw 4096 Feb 20 10:17 LICENSES -rw-r--r-- 1 tw tw 17572590 Feb 25 16:17 linux-4.19.59-xenomai-3.1-acrn+-x86.tar.gz ... Launch the RTVM *************** #. Prepare a dedicated disk (NVMe or SATA) for the RTVM; in this example, we use ``/dev/sda``. a. Download the Preempt-RT VM image:: $ wget https://github.com/projectacrn/acrn-hypervisor/releases/download/acrn-2020w01.1-140000p/preempt-rt-32030.img.xz #. Decompress the ``image.xz`` image:: $ xz -d preempt-rt-32030.img.xz #. Burn the Preempt-RT VM image onto the SATA disk:: $ sudo dd if=preempt-rt-32030.img of=/dev/sda bs=4M oflag=sync status=progress iflag=fullblock seek=0 conv=notrunc #. Launch the RTVM via our script. Indicate the location of the root partition (sda3 in our example) and the kernel tarball:: $ sudo /usr/share/acrn/samples/nuc/launch_xenomai.sh -b /dev/sda3 -k /path/to/linux-4.19.59-xenomai-3.1-acrn+-x86.tar.gz #. Verify that a login prompt displays:: ... [ OK ] Started Permit User Sessions. [ OK ] Started Getty on tty1. [ OK ] Started Serial Getty on hvc0. [ OK ] Reached target Login Prompts. [ OK ] Started Network Manager Script Dispatcher Service. [ OK ] Started Proxy AutoConfig runner service. [ OK ] Started Login Service. [ OK ] Reached target Multi-User System. [ OK ] Reached target Graphical Interface. clr-c1ff5bba8c3145ac8478e8e1f96e1087 login: Install the Xenomai Libraries and Tools *************************************** To build and install Xenomai tools or its libraries in the RVTM, refer to the official `Xenomai documentation `_. Note that the current supported version is Xenomai-3.1 with the 4.19.59 kernel.