├── README.md
├── build-cnc.sh
├── build.sh
├── clean.sh
└── makeimage.sh


/README.md:
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 1 | # Xenomai + Raspberry Pi + Linux CNC
 2 | 
 3 | These scripts sort of mostly help you automatically build the real-time Xenomai kernel and Linux CNC for the Raspberry Pi. They have been tested on Debian Wheezy.
 4 | 
 5 | Run build.sh and then makeimage.sh this will give you a file that you can dd onto your SD card.
 6 | 
 7 | ## Files
 8 | 
 9 | * build.sh - The main build script
10 | * build-cnc.sh - This step takes a while and gave me a few troubles so it is currently separated out. The build.sh script calls it.
11 | * clean.sh - Attempts to reset things so that you can start fresh.
12 | * makeimage.sh - Builds an image file that you can write to an SD card.
13 | 


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/build-cnc.sh:
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 1 | #!/bin/bash
 2 | sudo cp -a xenomai-2.6.1 rootfs/usr/src
 3 | 
 4 | if [ ! -d emc2-dev ]; then
 5 |     git clone -b rtos-integration-preview3 --depth 1 git://git.mah.priv.at/emc2-dev.git
 6 | fi
 7 | sudo cp -a emc2-dev rootfs/usr/src/
 8 | 
 9 | sudo chroot rootfs <<EOF
10 | cd /usr/src/xenomai-2.6.1
11 | ./configure
12 | make DESTDIR=\$(pwd)/rpi install
13 | tar cf - -C rpi usr/xenomai/{bin,lib,sbin,include} | tar xvf - -C /
14 | echo /usr/xenomai/lib/ > /etc/ld.so.conf.d/xenomai.conf
15 | ldconfig -v
16 | 
17 | make clean
18 | rm -r rpi
19 | 
20 | cd ../emc2-dev/src
21 | ./autogen.sh
22 | ./configure --prefix=/usr/local --with-platform=raspberry --disable-build-documentation --with-kernel=/boot/config-3.2.27-xenomai+
23 | make
24 | make install
25 | 
26 | make clean
27 | exit
28 | EOF
29 | 


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/build.sh:
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  1 | # Fetch cross compile tools
  2 | if [ ! -f master.tar.gz ]; then
  3 |     wget --no-check-certificate https://github.com/raspberrypi/tools/archive/master.tar.gz
  4 |     tar xzf master.tar.gz
  5 | fi
  6 | 
  7 | # Fetch 3.2.27 kernel
  8 | if [ ! -d linux-rpi-3.2.27 ]; then
  9 |     git clone -b rpi-3.2.27 --depth 1 git://github.com/raspberrypi/linux.git linux-rpi-3.2.27
 10 | fi
 11 | 
 12 | # Fetch firmware
 13 | if [ ! -d firmware ]; then
 14 |     git clone https://github.com/raspberrypi/firmware.git
 15 | fi
 16 | 
 17 | if [ ! -f xenomai-2.6.1.tar.bz2 ]; then
 18 |     wget http://download.gna.org/xenomai/stable/xenomai-2.6.1.tar.bz2
 19 |     tar xjf xenomai-2.6.1.tar.bz2
 20 | fi
 21 | 
 22 | if [ ! -d patch ]; then
 23 |     mkdir patch
 24 |     wget http://www.cim.mcgill.ca/~ian/rpi-linux-3.2.21-xenomai-2.6.1.patch -P patch
 25 |     wget http://dl.dropbox.com/u/17024524/linuxcnc/rpi-3.2.27-xenomai.patch -P patch
 26 | 
 27 | # Apply 3.2.27 patch
 28 |     patch -p0 < patch/rpi-3.2.27-xenomai.patch
 29 | 
 30 | # Apply Xenomai 2.6.1 patch
 31 |     xenomai-2.6.1/scripts/prepare-kernel.sh --arch=arm --linux=linux-rpi-3.2.27 --adeos=xenomai-2.6.1/ksrc/arch/arm/patches/ipipe-core-3.2.21-arm-1.patch
 32 | 
 33 | # Apply Rasbperry Pi Xenomai patch
 34 |     (cd linux-rpi-3.2.27; patch -p1 < ../patch/rpi-linux-3.2.21-xenomai-2.6.1.patch)
 35 | fi
 36 | 
 37 | 
 38 | # Create build directory
 39 | if [ ! linux-rpi-3.2.27/build ]; then
 40 |     mkdir linux-rpi-3.2.27/build
 41 | 
 42 | # Download and use minimal configuration file
 43 |     wget http://dl.dropbox.com/u/17024524/linuxcnc/config.rpi-3.2.27-xenomai%2B -O linux-rpi-3.2.27/build/.config
 44 |     cd linux-rpi-3.2.27
 45 |     make mrproper
 46 |     make ARCH=arm O=build oldconfig
 47 | 
 48 | # Compile
 49 |     make ARCH=arm O=build CROSS_COMPILE=../../tools-master/arm-bcm2708/arm-bcm2708hardfp-linux-gnueabi/bin/arm-bcm2708hardfp-linux-gnueabi-
 50 | 
 51 | # Install modules
 52 |     make ARCH=arm O=build INSTALL_MOD_PATH=dist modules_install
 53 | 
 54 | # Install headers
 55 |     make ARCH=arm O=build INSTALL_HDR_PATH=dist headers_install
 56 |     find build/dist/include \( -name .install -o -name ..install.cmd \) -delete
 57 | fi
 58 | 
 59 | # Install qemu tools
 60 | sudo apt-get install qemu qemu-user qemu-user-static binfmt-support debootstrap
 61 | 
 62 | if [ ! -d rootfs ]; then
 63 |     sudo debootstrap --foreign --no-check-gpg --include=ca-certificates --arch=armhf wheezy rootfs http://reflection.oss.ou.edu/raspbian/raspbian/
 64 |     sudo cp $(which qemu-arm-static) rootfs/usr/bin
 65 |     sudo chroot rootfs/ /debootstrap/debootstrap --second-stage --verbose
 66 | fi
 67 | 
 68 | sudo sh -c 'echo rpi-linuxcnc >rootfs/etc/hostname'
 69 | sudo sh -c 'echo -e 127.0.0.1\\trpi-linuxcnc >> rootfs/etc/hosts'
 70 | sudo sh -c 'cat> rootfs/etc/network/interfaces <<EOF
 71 | auto lo
 72 | iface lo inet loopback
 73 | auto eth0
 74 | iface eth0 inet dhcp
 75 | EOF
 76 | '
 77 | 
 78 | sudo sh -c 'cat> rootfs/etc/fstab <<EOF
 79 | proc /proc proc defaults 0 0
 80 | /dev/mmcblk0p1 /boot vfat defaults 0 0
 81 | EOF
 82 | '
 83 | 
 84 | sudo cp /etc/resolv.conf rootfs/etc
 85 | sudo chroot rootfs /bin/bash <<EOF
 86 | LC_ALL=C
 87 | LANGUAGE=C
 88 | LANG=C
 89 | 
 90 | echo "deb http://reflection.oss.ou.edu/raspbian/raspbian/ wheezy main" > /etc/apt/sources.list.d/raspbian.list
 91 | 
 92 | apt-get update
 93 | apt-get install -y --no-install-recommends locales sudo xauth bc openssh-server ntp gettext autoconf \
 94 |     libpth-dev gcc g++ make git libncurses5-dev libreadline-gplv2-dev tcl8.5-dev tk8.5-dev bwidget \
 95 |     blt libxaw7-dev libglu1-mesa-dev libgl1-mesa-dev libgtk2.0-dev python python-dev python-support \
 96 |     python-tk python-lxml libboost-python-dev yapps2-runtime libtk-img python-imaging python-imaging-tk \
 97 |     python-xlib python-gtkglext1 python-configobj python-glade2 python-numpy build-essential 
 98 | apt-get clean
 99 | 
100 | addgroup xenomai
101 | addgroup root xenomai
102 | 
103 | adduser rpi --gecos "RaspberryPi,,," --disabled-password
104 | echo "rpi:pitime" | chpasswd
105 | usermod -a -G xenomai,sudo,staff,kmem rpi
106 | 
107 | cat >/etc/udev/rules.d/xenomai.rules<<EOF
108 | # allow RW access to /dev/mem
109 | KERNEL=="mem", MODE="0660", GROUP="kmem" 
110 | # real-time heap device (Xenomai:rtheap)
111 | KERNEL=="rtheap", MODE="0660", GROUP=="xenomai"
112 | # real-time pipe devices (Xenomai:rtpipe)
113 | KERNEL=="rtp[0-9]*", MODE="0660", GROUP="xenomai"
114 | EOF
115 | 
116 | sudo cp -a linux-rpi-3.2.27/build/dist/lib/modules rootfs/lib/
117 | sudo cp -a linux-rpi-3.2.27/build/dist/include/* rootfs/usr/include
118 | sudo cp linux-rpi-3.2.27/build/.config rootfs/boot/config-3.2.27-xenomai+
119 | 
120 | ./build-cnc.sh
121 | 


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/clean.sh:
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 1 | rm -r tools-master
 2 | 
 3 | cd linux-rpi-3.2.27
 4 | git reset --hard
 5 | cd ..
 6 | 
 7 | cd firmware
 8 | git reset --hard
 9 | cd ..
10 | 
11 | rm -r xenomai-2.6.1
12 | 
13 | rm -r patch
14 | 


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/makeimage.sh:
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 1 | #!/bin/bash
 2 | dd if=/dev/zero of=rpi-lcnc.img count=0 bs=1 seek=2021654528
 3 | 
 4 | sudo sh -c 'cat <<EOF | sfdisk --force rpi-lcnc.img
 5 | unit: sectors
 6 | 1 : start=     2048, size=   204800, Id= c
 7 | 2 : start=   206848, size=  3741696, Id=83
 8 | EOF
 9 | '
10 | 
11 | sudo losetup /dev/loop0 rpi-lcnc.img -o $((2048*512))
12 | sudo mkfs.vfat -F 32 -n BOOT /dev/loop0
13 | sudo losetup -d /dev/loop0
14 | sudo losetup /dev/loop0 rpi-lcnc.img -o $((206848*512))
15 | sudo mkfs.ext4 -L ROOT /dev/loop0
16 | sudo losetup -d /dev/loop0
17 | 
18 | mkdir -p mnt/{boot,root}
19 | sudo mount -o loop,offset=$((2048*512)) rpi-lcnc.img mnt/boot
20 | sudo mount -o loop,offset=$((206848*512)) rpi-lcnc.img mnt/root
21 | 
22 | sudo rsync -a rootfs/ mnt/root/
23 | sudo cp -a firmware/hardfp/opt/vc mnt/root/opt/
24 | 
25 | sudo cp rootfs/boot/* mnt/boot/
26 | sudo cp firmware/boot/{*bin,*dat,*elf} mnt/boot/
27 | sudo cp linux-rpi-3.2.27/build/arch/arm/boot/Image mnt/boot/kernel.img
28 | sudo sh -c 'cat >mnt/boot/config.txt<<EOF
29 | kernel=kernel.img
30 | arm_freq=800
31 | core_freq=250
32 | sdram_freq=400
33 | over_voltage=0
34 | gpu_mem=16
35 | EOF
36 | '
37 | sudo sh -c 'cat >mnt/boot/cmdline.txt<<EOF
38 | xeno_nucleus.xenomai_gid=1000 dwc_otg.lpm_enable=0 console=ttyAMA0,115200 kgdboc=ttyAMA0,115200 root=/dev/mmcblk0p2 rootfstype=ext4 elevator=deadline rootwait
39 | EOF
40 | '   
41 | 
42 | sudo umount mnt/{boot,root}
43 | bzip2 -9 rpi-lcnc.img
44 | #sudo sh -c 'bzcat rpi-lcnc.img.bz2 > /dev/<sdcard>'
45 | 


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