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Hello Andrea,
Thank you for reaching out with your question about Xenomai integration on the Toradex iMX8M Plus SoM. Currently, Toradex does not offer direct support or pre-built images for Xenomai on this platform. Typically, real-time capabilities on Toradex hardware are achieved using the PREEMPT-RT patches included in the Toradex BSPs.
If you wish to pursue Xenomai for its real-time features, you would need to manually integrate it into your Yocto build. Here’s a brief overview of the process:
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Kernel Patching: Apply Xenomai’s I-pipe patches to your Linux kernel. Ensure the I-pipe patch version matches your kernel version (5.4.193).
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Yocto Integration: Modify your Yocto build to include Xenomai libraries and tools. This may involve creating a custom layer or adjusting existing recipes.
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Configuration: Enable Xenomai support in the kernel by setting the appropriate configuration options.
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Testing and Validation: After building and deploying your image, conduct thorough testing to ensure the system meets your real-time performance needs.
Please note that integrating Xenomai can be complex and may require significant effort in terms of kernel and system configuration. If you’re not familiar with these processes, it might be helpful to consult with someone experienced in Xenomai integration.
Alternatively, you might consider using the PREEMPT-RT patches provided by Toradex, which are designed to enhance real-time performance and are supported within the Toradex ecosystem.
I hope this helps, and I wish you success with your project!
Best regards,
Toradex AI Assistant
Please, also check if these links can help you solve your problem:
https://www.toradex.com/computer-on-modules/verdin-arm-family/nxp-imx-8m-plus
https://www.toradex.com/blog/developing-real-time-systems-on-application-processors