Installing Xenomai on the Beaglebone Black

linux, embedded

There are many ways to bring Real-Time to Linux. A standard Linux distribution can provide a reasonable latency to a soft real-time application. But, if you are dealing with applications with harsh timing restrictions, you might be unsatisfied with the results provided by a standard Linux distro.

There are basically 3 options for building a Linux Real-Time system:

  1. Dual-Kernel/Hypervisor approach: A combination between a micro-kernel and the Linux Kernel, where the micro-kernel has priority over the Linux Kernel and manages the real-time tasks. This approach has a major disadvantage: the need to maintain the microkernel, doubling the work to develop and maintain drivers, and architecture-specific software.

  2. Heterogeneous Asymmetric Multi-Core System: A system where a Linux and a deterministic kernel, such as FreeRTOS, run independently on different cores. The deterministic kernel is then responsible for the real-time tasks.

  3. Single-Kernel approach: Make the Linux Kernel more real-time capable by improving its preemptiveness.

Xenomai has two options to deliver real-time: a dual-kernel approach and a single-kernel approach.

The dual-kernel approach is named Cobalt. The Cobalt extension is built into the Linux kernel and deals with all real-time tasks by scheduling real-time threads. The Cobalt core has a higher priority over the Linux kernel native activities.

Moreover, Xenomai also provides the Mercury core, which relies on the real-time capabilities of the native Linux kernel.

As I was setting up a system for my undergraduate research, I have been trying to install Xenomai on the Beaglebone Black. I found a bunch of tutorials online, but a huge part of them was outdated and some simply did not work for me. So, I decided to synthesize all my work installing Xenomai on the Beaglebone Black.

There are two ways to install Xenomai on the Beaglebone Black:

  1. By recompiling the Linux Kernel and applying the appropriate patches.

  2. By using a precompiled kernel with the Xenomai patches already applied.

I used the second approach because it is slightly faster. But, if you want to stick with the first approach, I recommend checking on the Xenomai documentation.

So, let’s install Xenomai.

Installing Xenomai #

1. Install Debian on the Beaglebone Black #

If you already have Debian installed on your Beaglebone Black, then just skip this step.

Otherwise, you can follow the tutorial from Derek Molloy on how to write a Debian Image to the Beaglebone Black.

2. Install the Cobalt Core #

First, we need to access the Beaglebone Black through SSH.

ssh debian@

In order to keep the repositories and packages updated before we start the Cobalt core installation, we can run:

sudo apt update
sudo apt upgrade

To install the Cobalt core, first, we need to know the version of the Linux image we will install. A couple of pre-compiled kernel versions are provided by Beagleboard for Debian Buster and they are listed here.

After deciding on the kernel version, we can just run the following command to install and update the kernel.

sudo apt install linux-image-{KERNEL TAGFORM}

I installed the 4.19.94-ti-xenomai-r64 version, so I ran:

sudo apt install linux-image-4.19.94-ti-xenomai-r64

To load the new kernel, we need to reboot the machine and reconnect through SSH.

sudo reboot
ssh debian@

To check that the kernel was properly installed, we can check the kernel version with:

uname -r

The output must be the kernel tag form that you selected previously. In my case, the output was 4.19.94-ti-xenomai-r64.

We can also check the kernel log and search for Xenomai references. Looking at dmesg, we will find something like this:

debian@beaglebone:~$ dmesg | grep -i xenomai
[    0.000000] Linux version 4.19.94-ti-xenomai-r64 (voodoo@rpi4b4g-06) (gcc version 8.3.0 (Debian 8.3.0-6)) #1buster SMP PREEMPT Sat May 22 01:02:28 UTC 2021
[    1.220506] [Xenomai] scheduling class idle registered.
[    1.220521] [Xenomai] scheduling class rt registered.
[    1.220676] I-pipe: head domain Xenomai registered.
[    1.225554] [Xenomai] Cobalt v3.1
[    1.753962] usb usb1: Manufacturer: Linux 4.19.94-ti-xenomai-r64 musb-hcd

Look that we are running Cobalt v3.1 and this version is extremely important to the next step.

3. Install Xenomai userspace tools and bindings #

First, we need to install the appropriate Xenomai bindings. From the kernel log, I could check that I’m running Cobalt v3.1, so I’m going to download the Xenomai 3.1 tarball.


If you are running another version of Cobalt, you can just change the version tag from the URL.

Next, we can decompress the tarball and get inside the Xenomai folder.

tar xf xenomai-3.1.tar.bz2
cd xenomai-3.1

Now, it is time to build and install the Xenomai binding. First, we need to configure the built environment by running:

./configure --enable-smp

Although the Beaglebone Black has a single-core processor, the flag --enable-smp is important, because the precompiled kernel versions from Beagleboard enable CONFIG_SMP by default.

Then, finally, we can build and install Xenomai.

sudo make install

And then, you are done!

You can test the real-time system by running:

sudo su

The output will be similar to this:

== Sampling period: 1000 us
== Test mode: periodic user-mode task
== All results in microseconds
warming up...
RTT|  00:00:01  (periodic user-mode task, 1000 us period, priority 99)
RTH|----lat min|----lat avg|----lat max|-overrun|---msw|---lat best|--lat worst
RTD|      7.875|     13.579|     50.625|       0|     0|      7.875|     50.625
RTD|     11.458|     15.983|     53.958|       0|     0|      7.875|     53.958
RTD|     11.458|     13.997|     50.750|       0|     0|      7.875|     53.958
RTD|     11.541|     15.578|     55.999|       0|     0|      7.875|     55.999
RTD|     11.416|     13.186|     52.208|       0|     0|      7.875|     55.999
RTD|     11.499|     14.507|     57.249|       0|     0|      7.875|     57.249
RTD|     11.499|     13.787|     48.707|       0|     0|      7.875|     57.249
RTD|     11.540|     13.694|     50.582|       0|     0|      7.875|     57.249
RTD|     11.456|     15.118|     49.498|       0|     0|      7.875|     57.249
RTD|     11.373|     13.618|     51.290|       0|     0|      7.875|     57.249
RTD|     11.498|     15.844|     48.914|       0|     0|      7.875|     57.249
RTD|     11.539|     17.654|     55.581|       0|     0|      7.875|     57.249
RTD|     11.539|     15.403|     52.622|       0|     0|      7.875|     57.249
RTD|     11.539|     12.955|     51.580|       0|     0|      7.875|     57.249
RTD|     10.747|     13.254|     52.163|       0|     0|      7.875|     57.249
RTS|      7.875|     14.543|     57.249|       0|     0|    00:00:15/00:00:15

This command displays a message every second with minimum, maximum, and average latency values. Notice that all the latencies are in the order of microseconds.

So, now, you can go on and build a real-time application with the Xenomai userspace API on the Beaglebone Black.