Xenomai’s Porting on processor NIOS II Professor : P. Kadionik Authors : Bassi Vincent Louati Azza Mirault Raphael Polette Simon

Summary Introduction Xenomai NIOS II processor How to Conclusion 19/01/09ES Advanced Project Presentation 2

19/01/09ES Advanced Project Presentation Introduction Actual context Why a FPGA ? Why an OS ? Why the real time?

Summary Introduction Xenomai NIOS II processor How to Conclusion 19/01/09ES Advanced Project Presentation 4

19/01/09ES Advanced Project Presentation Xenomai (1/5 ) Xenomai, a real-time development framework cooperating with the Linux kernel: -based on an abstract RTOS core usable for building any kind of real-time interfaces -Low latency (maximum latency < 20 us) -hard real-time support to user-space applications Xenomai simulates several APIs for existing RTOS systems, including rtai, vrtx, vxworks and POSIX real-time interface, which makes it possible to port and run existing RT application to Linux. 13/10/2015ES Advanced Project Presentation 5

19/01/09ES Advanced Project Presentation Xenomai (2/5) 13/10/2015ES Advanced Project Presentation 6 Position of Adeos in the Xenomai architecture: Adeos is a resource virtualization layer available as a Linux kernel patch

19/01/09ES Advanced Project Presentation Xenomai (3/5) 13/10/2015ES Advanced Project Presentation 7 What does Adeos provide to Xenomai ? to handle all incoming interrupts first, before the Linux kernel has had the opportunity to notice them make sure to always enforce the proper priority management for its threads, regardless of their current execution domain.

19/01/09ES Advanced Project Presentation Xenomai (4/5) Xenomai implements a micro-kernel (nucleus), with real-time scheduler. Xenomai's real-time nucleus and Linux kernel are in two ADEOS domains. Xenomai runs in a higher priority domain than Linux kernel. Xenomai also implements different APIs providing real-time services, like creating real-time tasks, timers, semaphores. 13/10/2015ES Advanced Project Presentation 8

19/01/09ES Advanced Project Presentation Xenomai (5/5) 13/10/2015ES Advanced Project Presentation 9

Summary Introduction Xenomai NIOS II processor How to Conclusion 19/01/09ES Advanced Project Presentation 10

19/01/09ES Advanced Project Presentation 13/10/2015ES Advanced Project Presentation 11 Nios II softcore processor Nios II is a very high sophisticated softcore processor without MMU full 32-bit instruction 11

19/01/09ES Advanced Project Presentation Configuring the Nios II components and structure 13/10/2015ES Advanced Project Presentation 12

19/01/09ES Advanced Project Presentation Configuring the Nios II components and structure 13/10/2015ES Advanced Project Presentations 13

19/01/09ES Advanced Project Presentation Development board 13/10/2015ES Advanced Project Presentation 14 Serial JTAG Ethernet

19/01/09ES Advanced Project Presentation UPDATE LINUX IN STARATIX 13/10/2015ES Advanced Project Presentation 15 Update the configuration in fpga: -nios processor -device Update linux kernel in the RAM

Summary Introduction Xenomai NIOS II processor How to Conclusion 19/01/09ES Advanced Project Presentation 16

How to 1) Install 2) Comparison 3) Code Modification 4) Create the final patch

Install Xenomai doesn’t exist as a source code, a vanilla kernel must be patched. Standard kernel for an ARM and a Denx kernel for a PowerPC had been patched Here is the method: $ scripts/prepare-kernel.sh --linux= [--adeos= ] [--arch= ]

Comparison The effect of the patch is adding files and modifying others. A kernel contains over files. So a script is needed to compare those files. The script uses the GNU tool DIFF and produces a file containing the differences. Another method is using a graphic tool like Meld.

19/01/09ES Advanced Project Presentation Meld Utilisation example

19/01/09ES Advanced Project Presentation Result of comparison The files impacted by the patch are visible at and categories can be distinguished: ▫Xenomai files ▫Standard Kernel files ▫Architecture files

19/01/09ES Advanced Project Presentation Code Modification Xenomai files ▫Using ARM generated files (link to Xenomai source folder) Standard Kernel files ▫Applying the same modifications as for an ARM Architecture files ▫Using asm-nios folder provided by uCLinux ▫Modifications not done yet

19/01/09ES Advanced Project Presentation Create the final patch Not done yet but we recommend 3 methods ▫Using Meld ▫Using DIFF ▫Using Subversion (or other cvs) The patch obtained can be applied to the uCLinux kernel 2.6 When the kernel will be stabilized, it could be integrated in the Xenomai project (one day…)

19/01/09ES Advanced Project Presentation Todo List Modify the architecture’s files Generate the patch …

Summary Introduction Xenomai NIOS II processor How to Conclusion 19/01/09ES Advanced Project Presentation 25

19/01/09ES Advanced Project Presentation Conclusion