This wiki page is inaccurate and outdated. Instead of modifying this wiki page, create github pull requests for the official documentation on building LinuxCNC. You can read the current version of the compilation instructions here: http://linuxcnc.org/docs/master/html/code/building-linuxcnc.html

LinuxCNC master branch now includes support for Xenomai realtime, configure --with-realtime=uspace

Creating a minimal Raspbian based LinuxCNC image for Raspberry Pi

1. Note

2. Prerequisites

3. Build Xenomai kernel

: 3.1. Install cross compiler
: 3.2. Download source files and patches
: 3.3. Apply patches
: 3.4. Compile kernel

4. Create minimal Raspbian image

: 4.1. Install required packages
: 4.2. Build image using debootstrap
: 4.3. Configure Raspbian

5. Build LinuxCNC

6. Create SD card image

7. Post-install

8. Testing

9. Pre-built image

10. References

11. As a script

1. Note

The steps presented here are outdated. The latest info can be found here https://code.google.com/p/picnc/wiki/CreateRaspbianLinuxCNC

2. Prerequisites

This build is based on the assumption that the host is running on a Debian based system or its derivatives. This procedure was created and tested on a Debian Wheezy host.

3. Build Xenomai kernel

The following steps were performed on a host computer. The kernel can also be built natively, in this case skip the installation of the cross compiler.

3.1. Install cross compiler

Download and untar the crosscompiler from https://github.com/raspberrypi/tools/archive/master.tar.gz

	cd <working dir>
	wget https://github.com/raspberrypi/tools/archive/master.tar.gz
	tar xzf master.tar.gz

3.2. Download source files and patches

Download kernel

	git clone -b rpi-3.2.27 --depth 1 git://github.com/raspberrypi/linux.git linux-rpi-3.2.27

Download firmware

	git clone https://github.com/raspberrypi/firmware.git

Download Xenomai

	wget http://download.gna.org/xenomai/stable/xenomai-2.6.1.tar.bz2
	tar xjf xenomai-2.6.1.tar.bz2

Download patches

	mkdir patch
	wget http://www.cim.mcgill.ca/~ian/rpi-linux-3.2.21-xenomai-2.6.1.patch -P patch
	wget http://dl.dropbox.com/u/17024524/linuxcnc/rpi-3.2.27-xenomai.patch -P patch

3.3. Apply patches

Apply 3.2.27 patch

	patch -p0 < patch/rpi-3.2.27-xenomai.patch

Apply Xenomai 2.6.1 patch

	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

Apply Raspberry Pi Xenomai patch

	(cd linux-rpi-3.2.27; patch -p1 < ../patch/rpi-linux-3.2.21-xenomai-2.6.1.patch)

3.4. Compile kernel

Create build directory

	mkdir linux-rpi-3.2.27/build

Configure kernel

	cd linux-rpi-3.2.27
	make mrproper
	make ARCH=arm O=build menuconfig

Or download and use a minimal configuration file

	wget http://dl.dropbox.com/u/17024524/linuxcnc/config.rpi-3.2.27-xenomai%2B -O linux-rpi-3.2.27/build/.config
	cd linux-rpi-3.2.27
	make mrproper
	make ARCH=arm O=build oldconfig

Compile

	make ARCH=arm O=build CROSS_COMPILE=../../tools-master/arm-bcm2708/arm-bcm2708hardfp-linux-gnueabi/bin/arm-bcm2708hardfp-linux-gnueabi-

Install modules

	make ARCH=arm O=build INSTALL_MOD_PATH=dist modules_install

Install headers

	make ARCH=arm O=build INSTALL_HDR_PATH=dist headers_install
	find build/dist/include \( -name .install -o -name ..install.cmd \) -delete

The linux-rpi-3.2.27/build/dist directory contains the kernel headers and modules while the kernel image is at linux-rpi-3.2.27/build/arch/arm/boot/ .

4. Create minimal Raspbian image

The Raspbian image is created using debootstrap and QEMU. These steps can also be performed on a Raspberry Pi.

4.1. Install required packages

On host PC

	sudo apt-get install qemu qemu-user qemu-user-static binfmt-support debootstrap

Or on RPi

	sudo apt-get install debootstrap

4.2. Build image using debootstrap

Select an appropriate Raspbian mirror at http://www.raspbian.org/RaspbianMirrors

On host PC

	cd <working dir>
	sudo debootstrap --foreign --no-check-gpg --include=ca-certificates --arch=armhf wheezy rootfs <Raspbian mirror>

Edit /etc/qemu-binfmt.conf, add the following line:

		EXTRA_OPTS="-L/usr/lib/arm-linux-gnueabihf"

	sudo cp $(which qemu-arm-static) rootfs/usr/bin
	sudo chroot rootfs/ /debootstrap/debootstrap --second-stage --verbose

add the raspbian mirror used to /etc/apt/sources.list

	sudo sh -c 'echo deb <Raspbian mirror> wheezy main > rootfs/etc/apt/sources.list'

Or on RPI

	cd <working dir>
	sudo debootstrap --no-check-gpg --include=ca-certificates wheezy rootfs <Raspbian mirror>

4.3. Configure Raspbian

Edit /etc/hostname

	sudo sh -c 'echo rpi-linuxcnc >rootfs/etc/hostname'

Edit /etc/hosts

	sudo sh -c 'echo -e 127.0.0.1\\trpi-linuxcnc >> rootfs/etc/hosts'

Edit network interface

	sudo sh -c 'cat> rootfs/etc/network/interfaces << EOF
	auto lo
	iface lo inet loopback

	auto eth0
	iface eth0 inet dhcp
	EOF
	'

Edit /etc/fstab

	sudo sh -c 'cat> rootfs/etc/fstab << EOF
	proc /proc proc defaults 0 0
	/dev/mmcblk0p1 /boot vfat defaults 0 0
	EOF
	'

Create /etc/resolv.conf

	sudo cp /etc/resolv.conf rootfs/etc

Chroot

	sudo chroot rootfs /bin/bash

Set locale to ignore warnings

	LC_ALL=C
	LANGUAGE=C
	LANG=C

Install required packages

	apt-get update
	apt-get install --no-install-recommends locales sudo xauth bc openssh-server ntp gettext autoconf \
		libpth-dev gcc g++ make git libncurses5-dev libreadline-gplv2-dev tcl8.5-dev tk8.5-dev bwidget \
		blt libxaw7-dev libglu1-mesa-dev libgl1-mesa-dev libgtk2.0-dev python python-dev python-support \
		python-tk python-lxml libboost-python-dev yapps2-runtime libtk-img python-imaging python-imaging-tk \
		libgl1-mesa-swx11 python-xlib python-gtkglext1 python-configobj python-glade2 python-numpy build-essential

Cleanup Apt cache

	apt-get clean

Create xenomai group

	addgroup xenomai
	addgroup root xenomai

Create new user

	adduser rpi
	usermod -a -G xenomai,sudo,staff,kmem rpi

Configure udev rules

	cat >/etc/udev/rules.d/xenomai.rules<<EOF
	# allow RW access to /dev/mem
	KERNEL=="mem", MODE="0660", GROUP="kmem" 
	# real-time heap device (Xenomai:rtheap)
	KERNEL=="rtheap", MODE="0660", GROUP=="xenomai"
	# real-time pipe devices (Xenomai:rtpipe)
	KERNEL=="rtp[0-9]*", MODE="0660", GROUP="xenomai"
	EOF

Exit chroot

	exit

Install Xenomai kernel modules and headers

	sudo cp -a linux-rpi-3.2.27/build/dist/lib/modules rootfs/lib/
	sudo cp -a linux-rpi-3.2.27/build/dist/include/* rootfs/usr/include
	sudo cp linux-rpi-3.2.27/build/.config rootfs/boot/config-3.2.27-xenomai+

5. Build LinuxCNC

Compiling is done under the chroot environment. These steps are the same for both host PC and RPi.

Copy sources

	sudo cp -a xenomai-2.6.1 rootfs/usr/src
	git clone -b rtos-integration-preview3 --depth 1 git://git.mah.priv.at/emc2-dev.git
	sudo cp -a emc2-dev rootfs/usr/src/

Chroot

	sudo chroot rootfs

Ignore locale warnings

	LC_ALL=C
	LANGUAGE=C
	LANG=C

Compile and install Xenomai

	cd /usr/src/xenomai-2.6.1
	./configure
	make DESTDIR=$(pwd)/rpi install
	tar cf - -C rpi usr/xenomai/{bin,lib,sbin,include} | tar xvf - -C /
	echo /usr/xenomai/lib/ > /etc/ld.so.conf.d/xenomai.conf
	ldconfig -v

Cleanup Xenomai

	make clean
	rm -r rpi

Compile and install LinuxCNC

	cd ../emc2-dev/src
	./autogen.sh
	./configure --prefix=/usr/local --with-platform=raspberry --disable-build-documentation --with-kernel=/boot/config-3.2.27-xenomai+
	make
	make install

Cleanup LinuxCNC

	make clean

Exit chroot

	exit

Cleanup QEMU

	sudo rm rootfs/usr/bin/qemu-arm-static

6. Create SD card image

This section will create a 2GB SD image This section creates a 2GB SD image file

Create sparse file

	cd <working dir>
	dd if=/dev/zero of=rpi-lcnc.img count=0 bs=1 seek=2021654528

Create partitions

	sudo sh -c 'cat <<EOF | sfdisk --force rpi-lcnc.img
	unit: sectors

	1 : start=     2048, size=   204800, Id= c
	2 : start=   206848, size=  3741696, Id=83
	EOF
	'

Format partitions

	sudo losetup /dev/loop0 rpi-lcnc.img -o $((2048*512))
	sudo mkfs.vfat -F 32 -n BOOT /dev/loop0
	sudo losetup -d /dev/loop0
	sudo losetup /dev/loop0 rpi-lcnc.img -o $((206848*512))
	sudo mkfs.ext4 -L ROOT /dev/loop0
	sudo losetup -d /dev/loop0

Mount partitions

	mkdir -p mnt/{boot,root}
	sudo mount -o loop,offset=$((2048*512)) rpi-lcnc.img mnt/boot
	sudo mount -o loop,offset=$((206848*512)) rpi-lcnc.img mnt/root

Populate ROOT

	sudo rsync -a rootfs/ mnt/root/
	sudo cp -a firmware/hardfp/opt/vc mnt/root/opt/

Populate BOOT

	sudo mv rootfs/boot/* mnt/boot/
	sudo cp firmware/boot/{*bin,*dat,*elf} mnt/boot/
	sudo cp linux-rpi-3.2.27/build/arch/arm/boot/Image? mnt/boot/kernel.img
	sudo sh -c 'cat >mnt/boot/config.txt<<EOF
	kernel=kernel.img
	arm_freq=800
	core_freq=250
	sdram_freq=400
	over_voltage=0
	gpu_mem=16
	EOF
	'
	sudo sh -c 'cat >mnt/boot/cmdline.txt<<EOF
	xeno_nucleus.xenomai_gid=1000 dwc_otg.lpm_enable=0 console=ttyAMA0,115200 kgdboc=ttyAMA0,115200 root=/dev/mmcblk0p2 rootfstype=ext4 elevator=deadline rootwait
	EOF
	'

Unmount partitions

	sudo umount mnt/{boot,root}

Compress image

	bzip2 -9 rpi-lcnc.img

Install image

	sudo sh -c 'bzcat rpi-lcnc.img.bz2 > /dev/<sdcard>'

7. Post-install

Configure locale

	sudo dpkg-reconfigure locales

Configure timezone

	sudo dpkg-reconfigure tzdata

8. Testing

SSH to RPi

	ssh -X -l rpi <ip address>

Xenomai latency test

	sudo sh -c 'echo 3500 > /proc/xenomai/latency'
	/usr/xenomai/bin/latency

LinuxCNC latency test

	latency-test 100us 1ms

9. Pre-built image

Note: The first boot will take a while since the SSH keys are being generated

This pre-built image does not have libgl1-mesa-swx11 installed (this package is needed by Axis)

Download

       [xenomai.img]

or

	http://filecloud.io/_0vew6zmj

	Username: rpi
	Password: linuxcnc

10. References

http://wiki.debian.org/Debootstrap

http://www.blaess.fr/christophe/2012/08/27/xenomai-sur-raspberry-pi/

http://www.raspberrypi.org/phpBB3/viewtopic.php?f=41&t=12368

http://www.raspberrypi.org/phpBB3/viewtopic.php?f=37&t=14122

http://wrttn.in/59e640

11. As a script

A mostly working shell script that performs these same steps is now available at https://github.com/schue/xenopicnc

RaspbianXenomaiBuild

Creating a minimal Raspbian based LinuxCNC image for Raspberry Pi

1. Note

2. Prerequisites

3. Build Xenomai kernel

3.1. Install cross compiler

3.2. Download source files and patches

3.3. Apply patches

3.4. Compile kernel

4. Create minimal Raspbian image

4.1. Install required packages

4.2. Build image using debootstrap

4.3. Configure Raspbian

5. Build LinuxCNC

6. Create SD card image

7. Post-install

8. Testing

9. Pre-built image

10. References

11. As a script