Теперь уже можно посмотреть что там у нас с realtime Xenomai:
Код: Выделить всё
olej@raspberrypi:~ $ /usr/xenomai/bin/xeno-config
xeno-config --verbose
--core=cobalt
--version="3.0.5"
--cc="arm-linux-gnueabihf-gcc"
--ccld="/usr/xenomai/bin/wrap-link.sh arm-linux-gnueabihf-gcc"
--arch="arm"
--prefix="/usr/xenomai"
--library-dir="/usr/xenomai/lib"
Usage xeno-config OPTIONS
Options :
--help
--v,--verbose
--version
--cc
--ccld
--arch
--prefix
--[skin=]posix|vxworks|psos|alchemy|rtdm|smokey|cobalt
--auto-init|auto-init-solib|no-auto-init
--mode-check|no-mode-check
--cflags
--ldflags
--lib*-dir|libdir|user-libdir
--core
--info
--compat
Код: Выделить всё
olej@raspberrypi:~ $ /usr/xenomai/bin/xeno-config --skin=posix --cflags
-I/usr/xenomai/include/cobalt -I/usr/xenomai/include -march=armv7-a -mfloat-abi=hard -mfpu=neon -ffast-math -D_GNU_SOURCE -D_REENTRANT -D__COBALT__ -D__COBALT_WRAP__
olej@raspberrypi:~ $ /usr/xenomai/bin/xeno-config --skin=posix --ldflags
-Wl,--no-as-needed -Wl,@/usr/xenomai/lib/cobalt.wrappers -Wl,@/usr/xenomai/lib/modechk.wrappers /usr/xenomai/lib/xenomai/bootstrap.o -Wl,--wrap=main -Wl,--dynamic-list=/usr/xenomai/lib/dynlist.ld -L/usr/xenomai/lib -lcobalt -lmodechk -lpthread -lrt
Код: Выделить всё
olej@raspberrypi:~ $ /usr/xenomai/bin/xeno-config --skin=alchemy --cflags
-I/usr/xenomai/include/cobalt -I/usr/xenomai/include -march=armv7-a -mfloat-abi=hard -mfpu=neon -ffast-math -D_GNU_SOURCE -D_REENTRANT -D__COBALT__ -I/usr/xenomai/include/alchemy
olej@raspberrypi:~ $ /usr/xenomai/bin/xeno-config --skin=alchemy --ldflags
-Wl,--no-as-needed -Wl,@/usr/xenomai/lib/modechk.wrappers -lalchemy -lcopperplate /usr/xenomai/lib/xenomai/bootstrap.o -Wl,--wrap=main -Wl,--dynamic-list=/usr/xenomai/lib/dynlist.ld -L/usr/xenomai/lib -lcobalt -lmodechk -lpthread -lrt
Код: Выделить всё
olej@raspberrypi:~ $ ls -l /dev/rtdm/
total 0
crw------- 1 root root 245, 0 Aug 22 12:17 autotune
crw------- 1 root root 252, 0 Aug 22 12:17 memdev-private
crw------- 1 root root 252, 1 Aug 22 12:17 memdev-shared
crw------- 1 root root 251, 0 Aug 22 12:17 memdev-sys
drwxr-xr-x 2 root root 1100 Aug 22 12:17 pinctrl-bcm2835
crw------- 1 root root 243, 0 Aug 22 12:17 switchtest
crw------- 1 root root 244, 0 Aug 22 12:17 timerbench
olej@raspberrypi:~ $ ls -l /dev/rtdm/pinctrl-bcm2835/
total 0
crw------- 1 root root 239, 0 Aug 22 12:17 gpio0
crw------- 1 root root 239, 1 Aug 22 12:17 gpio1
crw------- 1 root root 239, 10 Aug 22 12:17 gpio10
crw------- 1 root root 239, 11 Aug 22 12:17 gpio11
crw------- 1 root root 239, 12 Aug 22 12:17 gpio12
crw------- 1 root root 239, 13 Aug 22 12:17 gpio13
crw------- 1 root root 239, 14 Aug 22 12:17 gpio14
crw------- 1 root root 239, 15 Aug 22 12:17 gpio15
crw------- 1 root root 239, 16 Aug 22 12:17 gpio16
crw------- 1 root root 239, 17 Aug 22 12:17 gpio17
crw------- 1 root root 239, 18 Aug 22 12:17 gpio18
crw------- 1 root root 239, 19 Aug 22 12:17 gpio19
crw------- 1 root root 239, 2 Aug 22 12:17 gpio2
crw------- 1 root root 239, 20 Aug 22 12:17 gpio20
crw------- 1 root root 239, 21 Aug 22 12:17 gpio21
crw------- 1 root root 239, 22 Aug 22 12:17 gpio22
crw------- 1 root root 239, 23 Aug 22 12:17 gpio23
crw------- 1 root root 239, 24 Aug 22 12:17 gpio24
crw------- 1 root root 239, 25 Aug 22 12:17 gpio25
crw------- 1 root root 239, 26 Aug 22 12:17 gpio26
crw------- 1 root root 239, 27 Aug 22 12:17 gpio27
crw------- 1 root root 239, 28 Aug 22 12:17 gpio28
crw------- 1 root root 239, 29 Aug 22 12:17 gpio29
crw------- 1 root root 239, 3 Aug 22 12:17 gpio3
crw------- 1 root root 239, 30 Aug 22 12:17 gpio30
crw------- 1 root root 239, 31 Aug 22 12:17 gpio31
crw------- 1 root root 239, 32 Aug 22 12:17 gpio32
crw------- 1 root root 239, 33 Aug 22 12:17 gpio33
crw------- 1 root root 239, 34 Aug 22 12:17 gpio34
crw------- 1 root root 239, 35 Aug 22 12:17 gpio35
crw------- 1 root root 239, 36 Aug 22 12:17 gpio36
crw------- 1 root root 239, 37 Aug 22 12:17 gpio37
crw------- 1 root root 239, 38 Aug 22 12:17 gpio38
crw------- 1 root root 239, 39 Aug 22 12:17 gpio39
crw------- 1 root root 239, 4 Aug 22 12:17 gpio4
crw------- 1 root root 239, 40 Aug 22 12:17 gpio40
crw------- 1 root root 239, 41 Aug 22 12:17 gpio41
crw------- 1 root root 239, 42 Aug 22 12:17 gpio42
crw------- 1 root root 239, 43 Aug 22 12:17 gpio43
crw------- 1 root root 239, 44 Aug 22 12:17 gpio44
crw------- 1 root root 239, 45 Aug 22 12:17 gpio45
crw------- 1 root root 239, 46 Aug 22 12:17 gpio46
crw------- 1 root root 239, 47 Aug 22 12:17 gpio47
crw------- 1 root root 239, 48 Aug 22 12:17 gpio48
crw------- 1 root root 239, 49 Aug 22 12:17 gpio49
crw------- 1 root root 239, 5 Aug 22 12:17 gpio5
crw------- 1 root root 239, 50 Aug 22 12:17 gpio50
crw------- 1 root root 239, 51 Aug 22 12:17 gpio51
crw------- 1 root root 239, 52 Aug 22 12:17 gpio52
crw------- 1 root root 239, 6 Aug 22 12:17 gpio6
crw------- 1 root root 239, 7 Aug 22 12:17 gpio7
crw------- 1 root root 239, 8 Aug 22 12:17 gpio8
crw------- 1 root root 239, 9 Aug 22 12:17 gpio9