Add xenomai real-time Framework to buildroot

[Fixes by Thomas, including comments from Arnout:
  * Use AUTOTARGETS instead of GENTARGETS

  * Use $(KERNEL_ARCH) instead of $(BR2_ARCH) as argument to the
    prepare-kernel.sh script. This allows the arch name to be fixed
    with the usual sed expressions and the quotes to be stripped.

  * Add the --verbose option to prepare-kernel.sh. This allows to get
    some clear error message when no Xenomai patch has been found for
    the current kernel version.

  * Improve the help texts as suggested by Arnout, and remove the
    now useless README file.

  * Add a BR2_PACKAGE_XENOMAI_SMP option, instead of poking inside the
    kernel configuration to find out whether SMP is enabled or
    not. This cannot work because: 1) the kernel might be built
    outside of Buildroot and 2) if the kernel is built inside
    Buildroot, it is built *after* Xenomai, so the kernel
    configuration file is typically not yet present.

  * Simplify the ARM subarchitecture selection as suggested by Arnout.

  * Remove the documentation and development files according to
    Buildroot standards (using BR2_HAVE_DOCUMENTATION and
    BR2_HAVE_DEVFILES).

  * Simplify the /etc/ld.so.conf modification logic.
]

[Peter: whitespace fixes]
Signed-off-by: Benoit Mauduit <benoit.mauduit@openwide.fr>
Signed-off-by: Thomas De Schampheleire <thomas.de.schampheleire@gmail.com>
Signed-off-by: Thomas Petazzoni <thomas.petazzoni@free-electrons.com>
Signed-off-by: Peter Korsgaard <jacmet@sunsite.dk>

linux/Config.ext.in

@@ -1,3 +1,18 @@
 menu "Linux Kernel Extensions"
 
+# Xenomai
+config BR2_LINUX_KERNEL_EXT_XENOMAI
+	bool "Adeos/Xenomai Real-time patch"
+	select BR2_PACKAGE_XENOMAI
+	help
+	  Xenomai Kernel part.
+
+config BR2_LINUX_KERNEL_EXT_XENOMAI_ADEOS_PATCH
+	depends on BR2_LINUX_KERNEL_EXT_XENOMAI
+	string "Path for Adeos patch file"
+	help
+	  Optionally, explicitly specify the Adeos patch to use.
+	  Download it at http://download.gna.org/adeos/patches/v2.6/$(ARCH)/
+	  and verify that your kernel version in buildroot matches.
+
 endmenu

linux/linux-ext-xenomai.mk

@@ -0,0 +1,30 @@
+##################################################
+# Linux Adeos/Xenomai extensions
+#
+# Patch the linux kernel with xenomai extension
+##################################################
+
+ifeq ($(BR2_LINUX_KERNEL_EXT_XENOMAI),y)
+# Add dependency to xenomai (user-space) which provide ksrc part
+LINUX_DEPENDENCIES += xenomai
+
+# Adeos patch version
+XENOMAI_ADEOS_PATCH = $(call qstrip,$(BR2_LINUX_KERNEL_EXT_XENOMAI_ADEOS_PATCH))
+ifeq ($(XENOMAI_ADEOS_PATCH),)
+XENOMAI_ADEOS_OPT = --default
+else
+XENOMAI_ADEOS_OPT = --adeos=$(XENOMAI_ADEOS_PATCH)
+endif
+
+# Prepare kernel patch
+define XENOMAI_PREPARE_KERNEL
+	$(XENOMAI_DIR)/scripts/prepare-kernel.sh \
+		--linux=$(LINUX_DIR) \
+		--arch=$(KERNEL_ARCH) \
+		$(XENOMAI_ADEOS_OPT) \
+		--verbose
+endef
+
+LINUX_POST_EXTRACT_HOOKS += XENOMAI_PREPARE_KERNEL
+
+endif #BR2_LINUX_EXT_XENOMAI

package/Config.in

@@ -487,6 +487,10 @@ source "package/rpm/Config.in"
 endif
 endmenu
 
+menu "Real-Time"
+source "package/xenomai/Config.in"
+endmenu
+
 menu "Shell and utilities"
 source "package/at/Config.in"
 if BR2_PACKAGE_BUSYBOX_SHOW_OTHERS

package/xenomai/Config.in

@@ -0,0 +1,106 @@
+config BR2_PACKAGE_XENOMAI
+	bool "Xenomai Userspace"
+	help
+	  Real-Time Framework for Linux
+	  http://www.xenomai.org
+
+	  Xenomai is split in two parts: a kernel part and an
+	  userspace part.
+
+	  This package contains the userspace part, which consists
+	  mainly in libraries to write userspace real-time programs
+	  that interact with the in-kernel Xenomai real-time core.
+
+	  For those libraries to work, you need a Xenomai-enabled
+	  kernel. This is possible in two ways:
+	   - if you compile your kernel with Buildroot, you need to go
+	     to Linux Kernel -> Linux Kernel Extensions to enable the
+	     Xenomai extension.
+	   - if you compile your kernel outside of Buildroot, you need
+	     to make sure that it is Xenomai-enabled.
+
+	  Finally, if you are using a static /dev, make sure to
+	  uncomment the Xenomai entries listed in
+	  target/generic/device_table_dev.txt.
+
+if BR2_PACKAGE_XENOMAI
+
+config BR2_PACKAGE_XENOMAI_VERSION
+	string "Custom Xenomai version"
+	help
+	  Manually select Xenomai version.  If left empty, the default
+	  version will be used.
+
+	  Make sure that the selected version has a patch for your
+	  selected Linux kernel. If it does not, download and select
+	  a patch manually with
+	  BR2_LINUX_KERNEL_EXT_XENOMAI_ADEOS_PATCH, in the Linux
+	  Kernel -> Linux Kernel Extensions menu.
+
+config BR2_PACKAGE_XENOMAI_SMP
+	bool "Enable SMP support"
+	help
+	  This option allows to enable or disable SMP support. It has
+	  to match your kernel configuration.
+
+choice
+	prompt "Xenomai ARM CPU type"
+	depends on BR2_arm
+	default BR2_PACKAGE_XENOMAI_CPU_GENERIC_ARM
+	help
+	  On the ARM architecture, Xenomai needs to be configured for
+	  a specific sub-architecture.  Select the appropriate
+	  sub-architecture from the list.
+
+	config BR2_PACKAGE_XENOMAI_CPU_AT91RM9200
+		bool "Atmel AT91RM9200"
+
+	config BR2_PACKAGE_XENOMAI_CPU_AT91SAM926X
+		bool "Atmel AT91SAM926X"
+
+	config BR2_PACKAGE_XENOMAI_CPU_INTEGRATOR
+		bool "ARM Ltd. Integrator"
+
+	config BR2_PACKAGE_XENOMAI_CPU_IXP4XX
+		bool "Intel IXP4XX (XScale)"
+
+	config BR2_PACKAGE_XENOMAI_CPU_IMX
+		bool "Freescale i.MX (MX1/MXL)"
+
+	config BR2_PACKAGE_XENOMAI_CPU_IMX21
+		bool "Freescale i.MX21"
+
+	config BR2_PACKAGE_XENOMAI_CPU_MX2
+		bool "Freescale MXC/MX2"
+
+	config BR2_PACKAGE_XENOMAI_CPU_MX3
+		bool "Freescale MXC/MX3"
+
+	config BR2_PACKAGE_XENOMAI_CPU_SA1100
+		bool "StrongARM SA1100"
+
+	config BR2_PACKAGE_XENOMAI_CPU_S3C2410
+		bool "S3C2410"
+
+	config BR2_PACKAGE_XENOMAI_CPU_GENERIC_ARM
+		bool "Generic ARM"
+
+endchoice
+
+# Now set CPU type. We force manually selected type even if detected in case
+# user takes the risk.
+config BR2_PACKAGE_XENOMAI_CPU_TYPE
+	string
+	depends on BR2_PACKAGE_XENOMAI && BR2_arm
+	default "at91rm9200"  if BR2_PACKAGE_XENOMAI_CPU_AT91RM9200
+	default "at91sam926x" if BR2_PACKAGE_XENOMAI_CPU_AT91SAM926X
+	default "integrator"  if BR2_PACKAGE_XENOMAI_CPU_INTEGRATOR
+	default "ixp4xx"      if BR2_PACKAGE_XENOMAI_CPU_IXP4XX
+	default "generic"     if BR2_PACKAGE_XENOMAI_CPU_GENERIC_ARM
+	default "imx"         if BR2_PACKAGE_XENOMAI_CPU_IMX
+	default "imx21"       if BR2_PACKAGE_XENOMAI_CPU_IMX21
+	default "mx2"         if BR2_PACKAGE_XENOMAI_CPU_MX2
+	default "mx3"         if BR2_PACKAGE_XENOMAI_CPU_MX3
+	default "s3c2410"     if BR2_PACKAGE_XENOMAI_CPU_S3C2410
+
+endif

package/xenomai/xenomai-do-not-install-devices.patch

@@ -0,0 +1,11 @@
+--- a/Makefile.in	2011-06-24 16:11:23.591449817 +0200
++++ b/Makefile.in	2011-06-24 16:20:29.638129633 +0200
+@@ -719,7 +719,7 @@
+ 	  $$sudo mknod -m 666 $(DESTDIR)/dev/rtheap c 10 254 ; \
+ 	fi
+ 
+-install-exec-local: devices
++install-exec-local:
+ 
+ install-user:
+ 	$(MAKE) SUDO=false install

package/xenomai/xenomai.mk

@@ -0,0 +1,99 @@
+#############################################################
+# Xenomai
+# URL  : http://xenomai.org
+# NOTE : Real-Time Framework for Linux
+#
+#############################################################
+
+XENOMAI_VERSION = $(call qstrip,$(BR2_PACKAGE_XENOMAI_VERSION))
+ifeq ($(XENOMAI_VERSION),)
+XENOMAI_VERSION = 2.5.6
+endif
+
+XENOMAI_SITE = http://download.gna.org/xenomai/stable/
+XENOMAI_SOURCE = xenomai-$(XENOMAI_VERSION).tar.bz2
+
+XENOMAI_INSTALL_STAGING = YES
+
+ifeq ($(BR2_arm),y)
+XENOMAI_CPU_TYPE = $(call qstrip,$(BR2_PACKAGE_XENOMAI_CPU_TYPE))
+# Set "generic" if not defined
+ifeq ($(XENOMAI_CPU_TYPE),)
+XENOMAI_CPU_TYPE = generic
+endif
+XENOMAI_CONF_OPT += --enable-arm-mach=$(XENOMAI_CPU_TYPE)
+endif #BR2_arm
+
+ifeq ($(BR2_PACKAGE_XENOMAI_SMP),y)
+XENOMAI_CONF_OPT += --enable-smp
+endif
+
+# The configure step needs to be overloaded, because Xenomai doesn't
+# support --prefix=/usr and the autotargets infrastructure enforces
+# this.
+define XENOMAI_CONFIGURE_CMDS
+	(cd $(@D); rm -rf config.cache; \
+		$(TARGET_CONFIGURE_OPTS) \
+		$(TARGET_CONFIGURE_ARGS) \
+		CCFLAGS_FOR_BUILD="$(HOST_CFLAGS)" \
+		./configure \
+		$(XENOMAI_CONF_OPT) \
+		--host=$(GNU_TARGET_NAME) \
+	)
+endef
+
+ifeq ($(BR2_HAVE_DOCUMENTATION),)
+define XENOMAI_REMOVE_DOCUMENTATION
+	rm -rf $(TARGET_DIR)/usr/xenomai/share/doc
+	rm -rf $(TARGET_DIR)/usr/xenomai/share/man
+endef
+
+XENOMAI_POST_INSTALL_TARGET_HOOKS += XENOMAI_REMOVE_DOCUMENTATION
+endif
+
+ifeq ($(BR2_HAVE_DEVFILES),)
+define XENOMAI_REMOVE_DEVFILES
+	rm -rf $(TARGET_DIR)/usr/xenomai/include
+	for i in xeno-config xeno-info wrap-link.sh ; do \
+		rm -f $(TARGET_DIR)/usr/xenomai/bin/$$i ; \
+	done
+endef
+
+XENOMAI_POST_INSTALL_TARGET_HOOKS += XENOMAI_REMOVE_DEVFILES
+endif
+
+define XENOMAI_ADD_LD_SO_CONF
+	# Add /usr/xenomai/lib in the library search path
+	grep -q "^/usr/xenomai/lib" $(TARGET_DIR)/etc/ld.so.conf || \
+		echo "/usr/xenomai/lib" >> $(TARGET_DIR)/etc/ld.so.conf
+endef
+
+XENOMAI_POST_INSTALL_TARGET_HOOKS += XENOMAI_ADD_LD_SO_CONF
+
+# If you use static /dev creation don't forget to update your
+#  device_table_dev.txt
+ifeq ($(BR2_ROOTFS_DEVICE_CREATION_DYNAMIC_UDEV),y)
+XENOMAI_DEPENDENCIES += udev
+
+define XENOMAI_INSTALL_UDEV_RULES
+	if test -d $(TARGET_DIR)/etc/udev/rules.d ; then \
+		for f in $(@D)/ksrc/nucleus/udev/*.rules ; do \
+			cp $$f $(TARGET_DIR)/etc/udev/rules.d/ ; \
+		done ; \
+	fi;
+endef
+
+XENOMAI_POST_INSTALL_TARGET_HOOKS += XENOMAI_INSTALL_UDEV_RULES
+endif # udev
+
+define XENOMAI_REMOVE_UDEV_RULES
+	if test -d $(TARGET_DIR)/etc/udev/rules.d ; then \
+		for f in $(@D)/ksrc/nucleus/udev/*.rules ; do \
+			rm -f $(TARGET_DIR)/etc/udev/rules.d/$$f ; \
+		done ; \
+	fi;
+endef
+
+XENOMAI_POST_UNINSTALL_TARGET_HOOKS += XENOMAI_REMOVE_UDEV_RULES
+
+$(eval $(call AUTOTARGETS,package,xenomai))

target/generic/device_table_dev.txt

@@ -141,3 +141,8 @@
 
 # I2C device nodes
 /dev/i2c-	c	666	0	0	89	0	0	1	4
+
+# Xenomai
+#/dev/rtheap     c       666     0       0       10      254     0       0       -
+#/dev/rtscope    c       666     0       0       10      253     0       0       -
+#/dev/rtp        c       666     0       0       150     0       0       1       32