Hi all,
I've managed to create a Xenomai Live CD based on the Ubuntu Dapper
desktop install CD. Many webpages tell you how to do it (for instance
https://help.ubuntu.com/community/LiveCDCustomization/6.06) but the
important thing is to have squashfs and unionfs support in the kernel.
The following is what I did.
I hope someone can pick it up from here as I have very little time to
do it.
TODO:
- Remove Ubuntu Installer stuff from CD
- Remove unnecessary packages from the squashfs file system.
- Change isolinux/isolinux.cfg etc.
Here it goes (I think/hope I haven't forgotten any steps):
Retrieve kernel 2.6.17[.14] sources and unpack into $KERNEL_DIR.
Retrieve xenomai 2.3.0 sources and unpack into $XENOMAI_DIR.
Retrieve squashfs3.2-r2 (http://squashfs.sourceforge.net/) into $SQUASHFS_DIR.
Also compile and installl the mksquashfs tool.
Retrieve unionfs-1.3 (http://www.filesystems.org/project-unionfs.html)
into $UNIONFS_DIR.
Apply xenomai patches:
cd $XENOMAI_DIR
./scripts/prepare-kernel.sh --linux=$KERNEL_DIR --arch=i386
--adeos=ksrc/arch/i386/patches/adeos-ipipe-2.6.17-i386-1.5-02.patch
Apply squashfs patches:
cd $KERNEL_DIR
patch -p1 < $SQUASHFS_DIR/kernel-patches/linux-2.6.17/squashfs3.2-patch
Apply unionfs patches:
cd $UNIONFS_DIR
./patch-kernel.sh $KERNEL_DIR
Configure kernel:
CONFIG_BLK_DEV_LOOP=m
CONFIG_BLK_DEV_RAM=y
CONFIG_BLK_DEV_RAM_COUNT=16
CONFIG_BLK_DEV_RAM_SIZE=4096
CONFIG_BLK_DEV_INITRD=y
CONFIG_SQUASHFS=m
CONFIG_UNION_FS=m
Compile and install kernel. On my particular system this yields (v20 being
my local version number):
/boot/vmlinuz-2.6.17.14-xenomai-v20
/lib/modules/2.6.17.14-xenomai-v20/
Compile and install xenomai. On my system this yields:
/usr/xenomai-2.3.0-v20/
/usr/rt (symlink to xenomai-2.3.0-v20)
Make sure this kernel boots OK. Also check realtime behaviour.
Retrieve ubuntu-6.06.1-desktop-i386.iso (http://www.ubuntu.com/) and
let $ISOIMG refer to it.
Set some convenience symbols:
XENOMAI_VER=xenomai-2.3.0-v20
export KERNEL_VER=2.6.17.14-xenomai-v20
Loop-mount the ISO image and the squashfs file system contained in it.
mkdir -p mnt/iso mnt/squashfs
mount -o loop $ISOIMG mnt/iso
mount -t squashfs -o loop mnt/iso/casper/filesystem.squashfs mnt/squashfs
Copy contents of the ISO image and the squashfs file system.
mkdir iso squashfs
rsync --exclude=/casper/filesystem.squashfs -a mnt/iso/ iso
cp -a mnt/squashfs/* squashfs
Remove unwanted stuff from ISO image.
rm -rf iso/programs
Unmount the squashfs file system and the ISO image.
umount mnt/squashfs mnt/iso
rm -rf mnt
Modify squashfs contents; install custom kernel and modules.
cd squashfs
rm -f boot/vmlinuz* boot/initrd* boot/System* boot/config* boot/abi*
rm -f initrd.img vmlinuz
rm -rf lib/modules/*
rm -rf usr/$XENOMAI_VER
rm -f usr/rt
cp /boot/*$KERNEL_VER boot
cp -a /lib/modules/$KERNEL_VER lib/modules
cp -a /usr/$XENOMAI_VER usr
ln -s $XENOMAI_VER usr/rt
ln -s boot/vmlinuz-$KERNEL_VER vmlinuz
ln -s boot/initrd.img-$KERNEL_VER initrd.img
cd ..
Build initrd.gz
chroot squashfs
mkinitramfs -o /initrd.gz $KERNEL_VER
exit
Put custom kernel and initrd in iso/casper/.
mv squashfs/initrd.gz squashfs/boot/initrd.img-$KERNEL_VER
cp squashfs/boot/vmlinuz-$KERNEL_VER iso/casper/vmlinuz
cp squashfs/boot/initrd.img-$KERNEL_VER iso/casper/initrd.gz
Create new iso/casper/filesystem.manifest* files.
rm iso/casper/filesystem.*
chroot squashfs dpkg-query -W --showformat='${Package} ${Version}\n' >
iso/casper/filesystem.manifest
cp iso/casper/filesystem.manifest iso/casper/filesystem.manifest-desktop
sed -i -e '/ubiquity/d' iso/casper/filesystem.manifest-desktop
Create squashfs file system file in iso/casper/.
mksquashfs squashfs iso/casper/filesystem.squashfs
chmod 444 iso/casper/filesystem.squashfs
Recreate md5sum.txt.
cd iso
rm -f md5sum.txt
find . -type f -exec md5sum {} \; > ../md5sum.txt
cd ..
mv md5sum.txt iso
Create ISO image.
cd iso
mkisofs -V "Xenomai Ubuntu 6.06 CD" \
-o xenomai-ubuntu-6.06.1-desktop-i386.iso \
-b isolinux/isolinux.bin -c isolinux/boot.cat \
-no-emul-boot -boot-load-size 4 -boot-info-table \
-l -R -r .
cd ..
Burn the ISO image onto a CD and boot from it (choose first option from menu).
Once everything is up, open a terminal and in /usr/rt/bin run sudo ./latency
Good luck!
Theo
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