Installing Machinekit

Using Pre-built Image:

• Download the minimal raspbian image at http://0ptr.link/files/
• Compare the md5sum of the downloaded file: http://0ptr.link/files/MD5SUMS
• Install the image by following the instructions here
• The first boot up will be a bit slow as the ssh keys are being generated
• The default username is pi and the password is raspberry
• Post install

  • Configure locale

    sudo dpkg-reconfigure locales
    

  • Configure timezone

    sudo dpkg-reconfigure tzdata
    

Installing from an Existing Raspbian image:

• Login to the running RPi

• Import GPG keys

  sudo apt-key adv --keyserver hkp://keys.gnupg.net --recv-key 49550439
  

• Add RPi Machinekit repository

  sudo sh -c 'echo "deb http://0ptr.link/raspbian wheezy main' > \
   /etc/apt/sources.list.d/rpi-machinekit.list"
  

• Update

  sudo apt-get update
  

• Backup old kernel and install xenomai kernel

  sudo apt-get install linux-image-xenomai
  sudo mv /boot/kernel.img /boot/kernel.img.bck
  sudo cp /boot/vmlinuz* /boot/kernel.img
  

• Install machinekit

  sudo apt-get install machinekit-xenomai
  

• Modify user rights

  sudo usermod -a -G xenomai,kmem <username>
  

• Configure udev rules

  sudo sh -c \
  '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
  '
  

• Reboot

  sudo reboot
  

• Test if xenomai is working

  latency-test
  

NOTE: If cpufreq is running, make sure it is set to performance mode.