如何编译和安装Xenomai-forge到Linux系统（Fedora 14）

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原创最新推荐文章于 2026-08-18 19:02:51 发布 2.7k 阅读 AI 写同款· GEO 优化 ›

xenomai安装及程序编译安装xenomai实时补丁参考网页： https://rtt-lwr.readthedocs.io/en/latest/rtpc/xenomai3.html 安装后的目录在 /usr/xenomai 编译用户程序参考altency.c文件，编写一个周期任务程序： demo_periodic_thread_posix.c #include <stdio.h> #include <signal.h> #include <unistd.h> #include <sy 阅读详情

[rtems@silver build]$ ../configure -h //配置脚本的情况
`configure' configures Xenomai 2.6.0 to adapt to many kinds of systems.

Usage: ../configure [OPTION]... [VAR=VALUE]...

To assign environment variables (e.g., CC, CFLAGS...), specify them as
VAR=VALUE. See below for descriptions of some of the useful variables.

Defaults for the options are specified in brackets.

Configuration:
-h, --help              display this help and exit
      --help=short        display options specific to this package
      --help=recursive    display the short help of all the included packages
-V, --version           display version information and exit
-q, --quiet, --silent   do not print `checking ...' messages
      --cache-file=FILE   cache test results in FILE [disabled]
-C, --config-cache      alias for `--cache-file=config.cache'
-n, --no-create         do not create output files
      --srcdir=DIR        find the sources in DIR [configure dir or `..']

Installation directories:
--prefix=PREFIX         install architecture-independent files in PREFIX
                          [/usr/xenomai]
--exec-prefix=EPREFIX   install architecture-dependent files in EPREFIX
                          [PREFIX]

By default, `make install' will install all the files in
`/usr/xenomai/bin', `/usr/xenomai/lib' etc. You can specify
an installation prefix other than `/usr/xenomai' using `--prefix',
for instance `--prefix=$HOME'.

For better control, use the options below.

Fine tuning of the installation directories:
--bindir=DIR            user executables [EPREFIX/bin]
--sbindir=DIR           system admin executables [EPREFIX/sbin]
--libexecdir=DIR        program executables [EPREFIX/libexec]
--sysconfdir=DIR        read-only single-machine data [PREFIX/etc]
--sharedstatedir=DIR    modifiable architecture-independent data [PREFIX/com]
--localstatedir=DIR     modifiable single-machine data [PREFIX/var]
--libdir=DIR            object code libraries [EPREFIX/lib]
--includedir=DIR        C header files [PREFIX/include]
--oldincludedir=DIR     C header files for non-gcc [/usr/include]
--datarootdir=DIR       read-only arch.-independent data root [PREFIX/share]
--datadir=DIR           read-only architecture-independent data [DATAROOTDIR]
--infodir=DIR           info documentation [DATAROOTDIR/info]
--localedir=DIR         locale-dependent data [DATAROOTDIR/locale]
--mandir=DIR            man documentation [DATAROOTDIR/man]
--docdir=DIR            documentation root [DATAROOTDIR/doc/xenomai]
--htmldir=DIR           html documentation [DOCDIR]
--dvidir=DIR            dvi documentation [DOCDIR]
--pdfdir=DIR            pdf documentation [DOCDIR]
--psdir=DIR             ps documentation [DOCDIR]

Program names:
--program-prefix=PREFIX            prepend PREFIX to installed program names
--program-suffix=SUFFIX            append SUFFIX to installed program names
--program-transform-name=PROGRAM   run sed PROGRAM on installed program names

System types:
--build=BUILD     configure for building on BUILD [guessed]
--host=HOST       cross-compile to build programs to run on HOST [BUILD]
--target=TARGET   configure for building compilers for TARGET [HOST]

Optional Features:
--disable-option-checking ignore unrecognized --enable/--with options
--disable-FEATURE       do not include FEATURE (same as --enable-FEATURE=no)
--enable-FEATURE[=ARG] include FEATURE [ARG=yes]
--disable-dependency-tracking speeds up one-time build
--enable-dependency-tracking   do not reject slow dependency extractors
--enable-maintainer-mode enable make rules and dependencies not useful
              (and sometimes confusing) to the casual installer
--enable-shared[=PKGS] build shared libraries [default=no]
--enable-static[=PKGS] build static libraries [default=yes]
--enable-fast-install[=PKGS]
                          optimize for fast installation [default=yes]
--disable-libtool-lock avoid locking (might break parallel builds)
--enable-debug          Enable debug mode in programs
--enable-lores-clock    Enable low resolution clock
--enable-clock-monotonic-raw
                          Use CLOCK_MONOTONIC_RAW for timings
--enable-assert         Enable runtime assertions
--enable-async-cancel   Enable asynchronous cancellation
--enable-pshared        Enable shared multi-processing for capable skins
--enable-registry       Export real-time objects to a registry
--enable-smp            Enable SMP support
--enable-x86-sep        Enable x86 SEP instructions for issuing syscalls
--enable-arm-tsc        You only need this option if you get the following
                          message when starting an application: Xenomai:
                          incompatible feature set (userland requires
                          "kuser_tsc ...", kernel provides "...",
                          missing="kuser_tsc"). In that case, this option
                          allows to select the machine for which a user-space
                          tsc emulation should be generated. Valid machines
                          are at91, kuser, imx, ixp4xx, omap, orion, pxa,
                          s3c24x, sa1100.
--enable-arm-quirks     Enable quirks for specific systems. Currently
                          supported quirks are for sa1100 and xscale3.
--disable-doc-install   Do not install documentation
--enable-dox-doc        Build Doxygen documentation
--enable-dbx            Build Docbook XML documentation.
--enable-dbx-network    Try to access Docbook DTD and XSL stylesheets
                          through network (default is to die if local
                          installation can not be found by configure).
--enable-verbose-latex Uses LaTeX non-stop mode
--enable-posix-auto-mlockall
                          Enable Xenomai POSIX skin library to automatically
                          call mlockall at startup. This option is mainly
                          useful for running third-parties programs such as
                          the Open Posix Testsuite unmodified with Xenomai
                          POSIX skin
--enable-dlopen-skins   Disable TLS features and automatic main thread
                          mapping by the POSIX skin to allows dlopen'ing
                          Xenomai libs.

Optional Packages:
--with-PACKAGE[=ARG]    use PACKAGE [ARG=yes]
--without-PACKAGE       do not use PACKAGE (same as --with-PACKAGE=no)
--with-core=<cobalt | mercury>
                          build for dual kernel or single image
--with-cc=compiler      use specific C compiler
--with-pic              try to use only PIC/non-PIC objects [default=use
                          both]
--with-gnu-ld           assume the C compiler uses GNU ld [default=no]
--with-dbx-root         specify the Docbook XML root (that is, the directory
                          where docbookx.dtd should be found). Default is to
                          use well-known locations (or network if
                          --enable-dbx-network was passed).
--with-dbx-xsl-root     specify the Docbook XML XSL stylesheet root. Default
                          is to use well-known locations (or network if
                          --enable-dbx-network was passed)
--without-__thread      do not use TLS features
--with-testdir=<test-binaries-dir>
                          location for test binaries (defaults to $bindir)

Some influential environment variables:
CC          C compiler command
CFLAGS      C compiler flags
LDFLAGS     linker flags, e.g. -L<lib dir> if you have libraries in a
              nonstandard directory <lib dir>
LIBS        libraries to pass to the linker, e.g. -l<library>
CPPFLAGS    (Objective) C/C++ preprocessor flags, e.g. -I<include dir> if
              you have headers in a nonstandard directory <include dir>
CPP         C preprocessor
CCAS        assembler compiler command (defaults to CC)
CCASFLAGS   assembler compiler flags (defaults to CFLAGS)

Use these variables to override the choices made by `configure' or to help
it to find libraries and programs with nonstandard names/locations.

Report bugs to <xenomai-help@gna.org>.

参考资料：关于xen-config
[rtems@silver build]$ /usr/xenomai/bin/xeno-config
xeno-config --verbose
        --version="2.6.0"
        --cc="gcc"
        --ccld="gcc"
        --arch="i686-pc-linux-gnu"
        --prefix="/usr/xenomai"
        --library-dir="/usr/xenomai/lib"
Usage xeno-config --skin=skinname OPTIONS
Options :
        --help
        --v,--verbose
        --version
        --cc
        --ccld
        --arch
        --prefix
        --skin vxworks|psos|alchemy
        --cflags
        --ldflags
        --lib*-dir,--libdir,--user-libdir
        --core

关于编译xenomai-forge的步骤
cd xenomai-forge
mkdir build
cd build
../configure --with-core=mercury --enable-debug=full
make
su -c "make install"
su -c "make uninstall" //如果要清除以前安装的程序

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