librtbbio

Insctructions for building kernel, xenomai and drivers in folder bb_xenomai_folder

Define folder:

export BB_XENOMAI_FOLDER=_bb_xenomai_folder_

Build kernel

cd $BB_XENOMAI_FOLDER
git clone https://github.com/oyvindnetland/bb-kernel.git
cd bb-kernel
git checkout am33x-v4.1-xenomai
./build_deb or ./build_kernel

Select GPIO and PWM drivers in menuconfig (under xenomai and drivers)

Install the Xenomai 3 user space libraries

export PATH=$PATH:$BB_XENOMAI_FOLDER/bb-kernel/dl/gcc-linaro-4.9-2015.05-x86_64_arm-linux-gnueabihf/bin
export BB_KERNEL=$BB_XENOMAI_FOLDER/bb-kernel/ 
export XENO_INSTALL=$BB_XENOMAI_FOLDER/xenomai-install
cd $BB_XENOMAI_FOLDER
wget https://xenomai.org/downloads/xenomai/stable/latest/xenomai-3.0.3.tar.bz2
tar xf xenomai-3.0.3.tar.bz2
cd xenomai-3.0.3
./configure CFLAGS="-march=armv7-a -mfpu=vfp3" LDFLAGS="-march=armv7-a -mfpu=vfp3" --build=i686-pc-linux-gnu --host=arm-linux-gnueabihf --with-core=cobalt
make DESTDIR=$XENO_INSTALL install

Install files in xenomai-install on Beaglebone

Make librtbbio

Library for easy use of the GPIO and PWM (and possibly more later) RTDM drivers for Beaglebone Xenomai 3.

cd $BB_XENOMAI_FOLDER
git clone https://github.com/oyvindnetland/librtbbio.git
cd librtbbio
make lib

Make test program

Library is fully working, but not test program. Only GPIO input (connect two GPIO, and the input read the value of the output) is currently implemented.

cd $BB_XENOMAI_FOLDER
cd librtbbio
make test