xenomai boot on beaglebone debian 2015 image SD card: how ?

Hi guys

I try to send again this topic , so if this is a duplicate I apologize

I am following this guide: installing-xenomai-on-beaglebone-using-debian-distribution

They use a bone-debian-7.5-2014-05-14-2gb.img.xz.

So they have two partition on the SD card Image

  1. boot partition with zImage files ,they change original debian zImage with xenomai zImage
  2. rootfs partition

I try to use a 2015 debian image: bone-debian-7.8-2015-03-01-2gb.img.xz

But I have only a single partition , with a boot folder, in which I have no zImage

So how could I boot xenomai ?

I followed another way: build an image.

I tryed the github.com/beagleboard/image-builder form RobertCNelson , but I obtain, with a 2015 image, a single SD partition.

Could you tell me how to configure image-builder to build a separated boot partition with the image-builder ? ( 2015 debian image 3.8 kernel)

Thanks a lot.


$ sudo apt-get update

$ sudo apt-cache search linux-image |grep xenomai
. . .
linux-image-3.8.13-xenomai-r67 - Linux kernel, version 3.8.13-xenomai-r67
linux-image-3.8.13-xenomai-r69 - Linux kernel, version 3.8.13-xenomai-r69
linux-image-3.8.13-xenomai-r70 - Linux kernel, version 3.8.13-xenomai-r70
linux-image-3.8.13-xenomai-r71 - Linux kernel, version 3.8.13-xenomai-r71
linux-image-3.8.13-xenomai-r72 - Linux kernel, version 3.8.13-xenomai-r72
linux-image-3.8.13-xenomai-r76 - Linux kernel, version 3.8.13-xenomai-r76
linux-image-3.8.13-xenomai-r78 - Linux kernel, version 3.8.13-xenomai-r78

To install:
$ sudo apt-get install linux-image-3.8.13-xenomai-rxx

^^ much easier

Oh, and right, once installed, reboot the board :wink:

Pre built image is available here:


Thank you very much William !

Robert you are more real time than a real time kernel ^^

I will try both the way and I will tell you the results

Have a nice Sunday Evening :slight_smile:



Robert’s method will get you the whole thing installed, including xenomai “specific” rootfs. Which I’m not all that familiar with, but I’ve been told this contains xenomai utilities, examples, test suites, and what not.

Hi William

Yes I know this , I will test both. So I will see the different performance :slight_smile:


For example I have installed xenomai-r78, but I don’t have xenomai/testing/xeno_klat``.ko . I don't have the latency test in this version :(

Hi Robert, I try to use both the bbb image you linked me and the apt-get procedure. Both work, so thanks a lot guys !

But I don’t find xeno_klat.ko , the module for latency test

Is there something similar ? Or in this xenomai on the bbb there are no the testing command / modules ? ( for Latency and GPIO exspecially)

Thank you


I followed both the procedures but I’m getting this below error repeatedly. Can you please tell me what to be done to solve this error.
WARNING: Setting CRYPTSETUP in /etc/initramfs-tools/initramfs.conf is deprecated and will stop working in the future. Use /etc/cryptsetup-initramfs/conf-hook instead.
cryptsetup: WARNING: failed to detect canonical device of /dev/mmcblk1p1
cryptsetup: WARNING: could not determine root device from /etc/fstab

Warning is not an Error... Safe to ignore..


Ok, thanks.