[xenomai-images][PATCH 0/4] Version updates, kas menu support

[xenomai-images][PATCH 0/4] Version updates, kas menu support

[Jan Kiszka]

Heading towards a release as well...

Jan

Jan Kiszka (4):
  xenomai: Add 3.2.1 and update other stable versions
  xenomai-version.inc: Add stable-head versions as well
  linux-xenomai: Update to latest releases
  Add kas menu support

 .gitignore                                    |   1 +
 Kconfig                                       | 148 ++++++++++++++++++
 README.md                                     |  20 ++-
 conf/distro/include/xenomai-version.inc       |  21 ++-
 conf/distro/xenomai-demo.conf                 |   4 +-
 opt-xenomai-3.2.x.yml                         |  17 ++
 recipes-kernel/linux/linux-xenomai_4.19.bb    |  14 +-
 recipes-kernel/linux/linux-xenomai_4.4.bb     |  10 +-
 recipes-kernel/linux/linux-xenomai_5.10.bb    |   4 +-
 recipes-kernel/linux/linux-xenomai_5.4.bb     |  12 +-
 .../{xenomai_3.0.11.bb => xenomai_3.0.12.bb}  |   2 +
 .../{xenomai_3.1.1.bb => xenomai_3.1.2.bb}    |   2 +
 .../{xenomai_3.1.1.bb => xenomai_3.2.1.bb}    |   4 +-
 13 files changed, 220 insertions(+), 39 deletions(-)
 create mode 100644 Kconfig
 create mode 100644 opt-xenomai-3.2.x.yml
 rename recipes-xenomai/xenomai/{xenomai_3.0.11.bb => xenomai_3.0.12.bb} (79%)
 copy recipes-xenomai/xenomai/{xenomai_3.1.1.bb => xenomai_3.1.2.bb} (79%)
 rename recipes-xenomai/xenomai/{xenomai_3.1.1.bb => xenomai_3.2.1.bb} (73%)

-- 
2.31.1

[xenomai-images][PATCH 1/4] xenomai: Add 3.2.1 and update other stable versions

[Jan Kiszka]

From: Jan Kiszka <jan.kiszka@siemens.com>

This adds 3.2.1 as new default and bumps older stable options to 3.1.2
and 3.0.12, respectively.

Updating Xenomai releases also requires updating the mapping function in
xenomai-version.inc - which was forgotten too often. Set a link via a
comment at this chance.

Signed-off-by: Jan Kiszka <jan.kiszka@siemens.com>
---
 conf/distro/include/xenomai-version.inc       | 21 ++++++++++++++-----
 conf/distro/xenomai-demo.conf                 |  4 ++--
 opt-xenomai-3.2.x.yml                         | 17 +++++++++++++++
 .../{xenomai_3.0.11.bb => xenomai_3.0.12.bb}  |  2 ++
 .../{xenomai_3.1.1.bb => xenomai_3.1.2.bb}    |  2 ++
 .../{xenomai_3.1.1.bb => xenomai_3.2.1.bb}    |  4 +++-
 6 files changed, 42 insertions(+), 8 deletions(-)
 create mode 100644 opt-xenomai-3.2.x.yml
 rename recipes-xenomai/xenomai/{xenomai_3.0.11.bb => xenomai_3.0.12.bb} (79%)
 copy recipes-xenomai/xenomai/{xenomai_3.1.1.bb => xenomai_3.1.2.bb} (79%)
 rename recipes-xenomai/xenomai/{xenomai_3.1.1.bb => xenomai_3.2.1.bb} (73%)

diff --git a/conf/distro/include/xenomai-version.inc b/conf/distro/include/xenomai-version.inc
index 24e0dd6..e8e819b 100644
--- a/conf/distro/include/xenomai-version.inc
+++ b/conf/distro/include/xenomai-version.inc
@@ -9,9 +9,20 @@
 # SPDX-License-Identifier: MIT
 #
 
-XENOMAI_DEFAULT_KERNEL_VERSION = "5.4%"
-XENOMAI_3_0_VERSION_LIST = "3.0 3.0% 3.0.% 3.0.10"
+XENOMAI_DEFAULT_KERNEL_VERSION = "5.10%"
+
+XENOMAI_3_0_VERSION_LIST = "3.0 3.0% 3.0.% 3.0.12"
 XENOMAI_3_0_KERNEL_VERSION = "4.4%"
-# if PREFERRED_VERSION_xenomai contains any item from XENOMAI_3_0_VERSION_LIST use
-# XENOMAI_3_0_KERNEL_VERSION
-PREFERRED_VERSION_linux-xenomai ?= "${@bb.utils.contains_any('PREFERRED_VERSION_xenomai','${XENOMAI_3_0_VERSION_LIST}','${XENOMAI_3_0_KERNEL_VERSION}','${XENOMAI_DEFAULT_KERNEL_VERSION}',d) }"
+
+XENOMAI_3_1_VERSION_LIST = "3.1 3.1% 3.1.% 3.1.2"
+XENOMAI_3_1_KERNEL_VERSION = "5.4%"
+
+# If PREFERRED_VERSION_xenomai contains any item from XENOMAI_3_0_VERSION_LIST use
+# XENOMAI_3_0_KERNEL_VERSION. Same for XENOMAI_3_1_VERSION_LIST.
+PREFERRED_VERSION_linux-xenomai ?= \
+    "${@bb.utils.contains_any('PREFERRED_VERSION_xenomai', \
+        '${XENOMAI_3_0_VERSION_LIST}', '${XENOMAI_3_0_KERNEL_VERSION}', \
+        bb.utils.contains_any('PREFERRED_VERSION_xenomai', \
+            '${XENOMAI_3_1_VERSION_LIST}', '${XENOMAI_3_1_KERNEL_VERSION}', \
+            '${XENOMAI_DEFAULT_KERNEL_VERSION}', d), \
+        d)}"
diff --git a/conf/distro/xenomai-demo.conf b/conf/distro/xenomai-demo.conf
index 4794584..10c37e1 100644
--- a/conf/distro/xenomai-demo.conf
+++ b/conf/distro/xenomai-demo.conf
@@ -1,7 +1,7 @@
 #
 # Xenomai Real-Time System
 #
-# Copyright (c) Siemens AG, 2018
+# Copyright (c) Siemens AG, 2018-2021
 #
 # Authors:
 #  Jan Kiszka <jan.kiszka@siemens.com>
@@ -11,7 +11,7 @@
 
 require conf/distro/debian-bullseye.conf
 
-PREFERRED_VERSION_xenomai ?= "3.1%"
+PREFERRED_VERSION_xenomai ?= "3.2%"
 include conf/distro/include/xenomai-version.inc
 
 HOST_DISTRO ?= "debian-bullseye"
diff --git a/opt-xenomai-3.2.x.yml b/opt-xenomai-3.2.x.yml
new file mode 100644
index 0000000..1abcef9
--- /dev/null
+++ b/opt-xenomai-3.2.x.yml
@@ -0,0 +1,17 @@
+#
+# Xenomai Real-Time System
+#
+# Copyright (c) Siemens AG, 2021
+#
+# Authors:
+#  Jan Kiszka <jan.kiszka@siemens.com>
+#
+# SPDX-License-Identifier: MIT
+#
+
+header:
+  version: 10
+
+local_conf_header:
+  xenomai-3-2-x: |
+    PREFERRED_VERSION_xenomai = "stable-3.2.x"
diff --git a/recipes-xenomai/xenomai/xenomai_3.0.11.bb b/recipes-xenomai/xenomai/xenomai_3.0.12.bb
similarity index 79%
rename from recipes-xenomai/xenomai/xenomai_3.0.11.bb
rename to recipes-xenomai/xenomai/xenomai_3.0.12.bb
index b21b763..afc1920 100644
--- a/recipes-xenomai/xenomai/xenomai_3.0.11.bb
+++ b/recipes-xenomai/xenomai/xenomai_3.0.12.bb
@@ -11,6 +11,8 @@
 
 require xenomai.inc
 
+# Note: When updating PV, also update conf/distro/include/xenomai-version.inc!
+
 SRC_URI = " \
     git://github.com/xenomai-ci/xenomai.git;protocol=https;branch=stable/v3.0.x;tag=v${PV} \
     "
diff --git a/recipes-xenomai/xenomai/xenomai_3.1.1.bb b/recipes-xenomai/xenomai/xenomai_3.1.2.bb
similarity index 79%
copy from recipes-xenomai/xenomai/xenomai_3.1.1.bb
copy to recipes-xenomai/xenomai/xenomai_3.1.2.bb
index 5a3c41d..e501e41 100644
--- a/recipes-xenomai/xenomai/xenomai_3.1.1.bb
+++ b/recipes-xenomai/xenomai/xenomai_3.1.2.bb
@@ -11,6 +11,8 @@
 
 require xenomai.inc
 
+# Note: When updating PV, also update conf/distro/include/xenomai-version.inc!
+
 SRC_URI = " \
     git://github.com/xenomai-ci/xenomai.git;protocol=https;branch=stable/v3.1.x;tag=v${PV}"
 
diff --git a/recipes-xenomai/xenomai/xenomai_3.1.1.bb b/recipes-xenomai/xenomai/xenomai_3.2.1.bb
similarity index 73%
rename from recipes-xenomai/xenomai/xenomai_3.1.1.bb
rename to recipes-xenomai/xenomai/xenomai_3.2.1.bb
index 5a3c41d..e99d7fe 100644
--- a/recipes-xenomai/xenomai/xenomai_3.1.1.bb
+++ b/recipes-xenomai/xenomai/xenomai_3.2.1.bb
@@ -11,7 +11,9 @@
 
 require xenomai.inc
 
+# Note: When updating PV, also update conf/distro/include/xenomai-version.inc!
+
 SRC_URI = " \
-    git://github.com/xenomai-ci/xenomai.git;protocol=https;branch=stable/v3.1.x;tag=v${PV}"
+    git://github.com/xenomai-ci/xenomai.git;protocol=https;branch=master;tag=v${PV}"
 
 S = "${WORKDIR}/git"
-- 
2.31.1

[xenomai-images][PATCH 2/4] xenomai-version.inc: Add stable-head versions as well

[Jan Kiszka]

From: Jan Kiszka <jan.kiszka@siemens.com>

This ensures the right version selection when using
opt-xenomai-3.X.x.yml, i.e. selecting the head of the respective stable
branches.

Signed-off-by: Jan Kiszka <jan.kiszka@siemens.com>
---
 conf/distro/include/xenomai-version.inc | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/conf/distro/include/xenomai-version.inc b/conf/distro/include/xenomai-version.inc
index e8e819b..dc34415 100644
--- a/conf/distro/include/xenomai-version.inc
+++ b/conf/distro/include/xenomai-version.inc
@@ -11,10 +11,10 @@
 
 XENOMAI_DEFAULT_KERNEL_VERSION = "5.10%"
 
-XENOMAI_3_0_VERSION_LIST = "3.0 3.0% 3.0.% 3.0.12"
+XENOMAI_3_0_VERSION_LIST = "3.0 3.0% 3.0.% 3.0.12 stable-3.0.x"
 XENOMAI_3_0_KERNEL_VERSION = "4.4%"
 
-XENOMAI_3_1_VERSION_LIST = "3.1 3.1% 3.1.% 3.1.2"
+XENOMAI_3_1_VERSION_LIST = "3.1 3.1% 3.1.% 3.1.2 stable-3.1.x"
 XENOMAI_3_1_KERNEL_VERSION = "5.4%"
 
 # If PREFERRED_VERSION_xenomai contains any item from XENOMAI_3_0_VERSION_LIST use
-- 
2.31.1

[xenomai-images][PATCH 3/4] linux-xenomai: Update to latest releases

[Jan Kiszka]

From: Jan Kiszka <jan.kiszka@siemens.com>

Signed-off-by: Jan Kiszka <jan.kiszka@siemens.com>
---
 recipes-kernel/linux/linux-xenomai_4.19.bb | 14 +++++++-------
 recipes-kernel/linux/linux-xenomai_4.4.bb  | 10 +++++-----
 recipes-kernel/linux/linux-xenomai_5.10.bb |  4 ++--
 recipes-kernel/linux/linux-xenomai_5.4.bb  | 12 ++++++------
 4 files changed, 20 insertions(+), 20 deletions(-)

diff --git a/recipes-kernel/linux/linux-xenomai_4.19.bb b/recipes-kernel/linux/linux-xenomai_4.19.bb
index ef67067..5b12ce4 100644
--- a/recipes-kernel/linux/linux-xenomai_4.19.bb
+++ b/recipes-kernel/linux/linux-xenomai_4.19.bb
@@ -1,7 +1,7 @@
 #
 # Xenomai Real-Time System
 #
-# Copyright (c) Siemens AG, 2019
+# Copyright (c) Siemens AG, 2019-2021
 #
 # Authors:
 #  Quirin Gylstorff <quirin.gylstorff@siemens.com>
@@ -12,15 +12,15 @@
 require recipes-kernel/linux/linux-xenomai.inc
 
 SRC_URI_append_amd64 = " git://github.com/xenomai-ci/ipipe-x86.git;protocol=https;nobranch=1"
-SRCREV_amd64 ?= "ipipe-core-4.19.192-cip50-x86-18"
-PV_amd64 ?= "4.19.192+"
+SRCREV_amd64 ?= "ipipe-core-4.19.207-cip58-x86-20"
+PV_amd64 ?= "4.19.207+"
 
 SRC_URI_append_arm64 = " git://github.com/xenomai-ci/ipipe-arm64.git;protocol=https;nobranch=1"
-SRCREV_arm64 ?= "ipipe-core-4.19.190-cip49-arm64-10"
-PV_arm64 ?= "4.19.190+"
+SRCREV_arm64 ?= "ipipe-core-4.19.209-cip59-arm64-12"
+PV_arm64 ?= "4.19.209+"
 
 SRC_URI_append_armhf = " git://github.com/xenomai-ci/ipipe-arm.git;protocol=https;nobranch=1"
-SRCREV_armhf ?= "ipipe-core-4.19.190-cip49-arm-15"
-PV_armhf ?= "4.19.190+"
+SRCREV_armhf ?= "ipipe-core-4.19.207-cip58-arm16"
+PV_armhf ?= "4.19.207+"
 
 S = "${WORKDIR}/git"
diff --git a/recipes-kernel/linux/linux-xenomai_4.4.bb b/recipes-kernel/linux/linux-xenomai_4.4.bb
index 42c6d83..a5cce7d 100644
--- a/recipes-kernel/linux/linux-xenomai_4.4.bb
+++ b/recipes-kernel/linux/linux-xenomai_4.4.bb
@@ -1,7 +1,7 @@
 #
 # Xenomai Real-Time System
 #
-# Copyright (c) Siemens AG, 2018-2020
+# Copyright (c) Siemens AG, 2018-2021
 #
 # Authors:
 #  Jan Kiszka <jan.kiszka@siemens.com>
@@ -12,12 +12,12 @@
 require recipes-kernel/linux/linux-xenomai.inc
 
 SRC_URI_append_amd64 = " git://github.com/xenomai-ci/ipipe.git;protocol=https;nobranch=1"
-SRCREV_amd64 ?= "ipipe-core-4.4.268-cip57-x86-28"
-PV_amd64 = "4.4.268+"
+SRCREV_amd64 ?= "ipipe-core-4.4.285-cip63-x86-30"
+PV_amd64 = "4.4.285+"
 
 SRC_URI_append_armhf = " git://github.com/xenomai-ci/ipipe.git;protocol=https;nobranch=1"
 SRC_URI_append_armhf = " ${@ 'file://bbb_4.4.cfg' if d.getVar('MACHINE') == 'beagle-bone-black' else '' }"
-SRCREV_armhf ?= "ipipe-core-4.4.268-cip57-arm-13"
-PV_armhf = "4.4.268+"
+SRCREV_armhf ?= "ipipe-core-4.4.285-cip63-arm-15"
+PV_armhf = "4.4.285+"
 
 S = "${WORKDIR}/git"
diff --git a/recipes-kernel/linux/linux-xenomai_5.10.bb b/recipes-kernel/linux/linux-xenomai_5.10.bb
index afc129c..0e8b414 100644
--- a/recipes-kernel/linux/linux-xenomai_5.10.bb
+++ b/recipes-kernel/linux/linux-xenomai_5.10.bb
@@ -12,7 +12,7 @@
 require recipes-kernel/linux/linux-xenomai.inc
 
 SRC_URI += "git://source.denx.de/xenomai/linux-dovetail.git;protocol=https;nobranch=1"
-SRCREV = "v5.10.61-dovetail"
-PV = "5.10.61+"
+SRCREV = "v5.10.76-dovetail3"
+PV = "5.10.76+"
 
 S = "${WORKDIR}/git"
diff --git a/recipes-kernel/linux/linux-xenomai_5.4.bb b/recipes-kernel/linux/linux-xenomai_5.4.bb
index 9f070cf..f19dcd6 100644
--- a/recipes-kernel/linux/linux-xenomai_5.4.bb
+++ b/recipes-kernel/linux/linux-xenomai_5.4.bb
@@ -12,15 +12,15 @@
 require recipes-kernel/linux/linux-xenomai.inc
 
 SRC_URI_append_amd64 = " git://github.com/xenomai-ci/ipipe-x86.git;protocol=https;nobranch=1"
-SRCREV_amd64 ?= "ipipe-core-5.4.124-x86-5"
-PV_amd64 ?= "5.4.124+"
+SRCREV_amd64 ?= "ipipe-core-5.4.151-x86-7"
+PV_amd64 ?= "5.4.151+"
 
 SRC_URI_append_arm64 = " git://github.com/xenomai-ci/ipipe-arm64.git;protocol=https;nobranch=1"
-SRCREV_arm64 ?= "ipipe-core-5.4.119-arm64-2"
-PV_arm64 ?= "5.4.119+"
+SRCREV_arm64 ?= "ipipe-core-5.4.152-arm64-3"
+PV_arm64 ?= "5.4.152+"
 
 SRC_URI_append_armhf = " git://github.com/xenomai-ci/ipipe-arm.git;protocol=https;nobranch=1"
-SRCREV_armhf ?= "ipipe-core-5.4.119-arm-2"
-PV_armhf ?= "5.4.119+"
+SRCREV_armhf ?= "ipipe-core-5.4.151-arm-4"
+PV_armhf ?= "5.4.151+"
 
 S = "${WORKDIR}/git"
-- 
2.31.1

[xenomai-images][PATCH 4/4] Add kas menu support

[Jan Kiszka]

From: Jan Kiszka <jan.kiszka@siemens.com>

With kas 2.6, we can provide a kconfig-like interactive menu to select
the desired image configuration. Add such a menu to model the complex
dependencies properly and provide an easy way to expore available
options. Also update the README accordingly.

Signed-off-by: Jan Kiszka <jan.kiszka@siemens.com>
---
 .gitignore |   1 +
 Kconfig    | 148 +++++++++++++++++++++++++++++++++++++++++++++++++++++
 README.md  |  20 ++++----
 3 files changed, 158 insertions(+), 11 deletions(-)
 create mode 100644 Kconfig

diff --git a/.gitignore b/.gitignore
index a7053b5..a796dba 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,2 +1,3 @@
 build
 isar
+.config.yaml*
diff --git a/Kconfig b/Kconfig
new file mode 100644
index 0000000..8337d3f
--- /dev/null
+++ b/Kconfig
@@ -0,0 +1,148 @@
+mainmenu "Xenomai Reference Images"
+
+config KAS_INCLUDE_MAIN
+	string
+	default "kas.yml"
+
+config KAS_BUILD_SYSTEM
+	string
+	default "isar"
+
+config ARCH_X86
+	bool
+
+config ARCH_ARM
+	bool
+
+config ARCH_ARM64
+	bool
+
+choice
+	prompt "Target board"
+	default TARGET_QEMU_AMD64
+
+config TARGET_QEMU_AMD64
+	bool "QEMU/KVM Intel-x86 virtual target"
+	select ARCH_X86
+
+config TARGET_X86_64_EFI
+	bool "Generic x86-64 EFI target"
+	select ARCH_X86
+
+config TARGET_QEMU_ARM
+	bool "QEMU ARM virtual target"
+	select ARCH_ARM
+
+config TARGET_BBB
+	bool "BeagleBone Black"
+	select ARCH_ARM
+
+config TARGET_QEMU_ARM64
+	bool "QEMU ARM64 virtual target"
+	select ARCH_ARM64
+
+config TARGET_HIKEY
+	bool "LeMaker HiKey"
+	select ARCH_ARM64
+
+endchoice
+
+config KAS_INCLUDE_TARGET
+	string
+	default "board-qemu-amd64.yml" if TARGET_QEMU_AMD64
+	default "board-x86-64-efi.yml" if TARGET_X86_64_EFI
+	default "board-qemu-arm.yml" if TARGET_QEMU_ARM
+	default "board-beagle-bone-black.yml" if TARGET_BBB
+	default "board-qemu-arm64.yml" if TARGET_QEMU_ARM64
+	default "board-hikey.yml" if TARGET_HIKEY
+
+choice
+	prompt "Xenomai version"
+	default XENOMAI_3_2
+
+config XENOMAI_LATEST
+	bool "Head of next branch"
+
+config XENOMAI_3_2
+	bool "Latest 3.2.x release"
+
+config XENOMAI_3_1_LATEST
+	bool "Head of stable/v3.1.x branch"
+
+config XENOMAI_3_0_LATEST
+	bool "Head of stable/v3.0.x branch"
+	depends on !ARCH_ARM64
+
+endchoice
+
+config KAS_INCLUDE_XENOMAI
+	string
+	default "opt-xenomai-next.yml" if XENOMAI_LATEST
+	default "opt-xenomai-3.1.x.yml" if XENOMAI_3_1_LATEST
+	default "opt-xenomai-3.0.x.yml" if XENOMAI_3_0_LATEST
+
+choice
+	prompt "Kernel version"
+	default KERNEL_5_10
+
+config KERNEL_5_10_LATEST
+	bool "Head of 5.10 Dovetail branch"
+	depends on XENOMAI_LATEST || XENOMAI_3_2
+
+config KERNEL_5_10
+	bool "Latest 5.10 Dovetail version"
+	depends on XENOMAI_LATEST || XENOMAI_3_2
+
+config KERNEL_5_4_LATEST
+	bool "Head of 5.4 I-pipe branch"
+	depends on !XENOMAI_3_0_LATEST
+
+config KERNEL_5_4
+	bool "Latest 5.4 I-pipe version"
+	depends on !XENOMAI_3_0_LATEST
+
+config KERNEL_4_19_LATEST
+	bool "Head of 4.19-cip I-pipe branch"
+	depends on !XENOMAI_3_0_LATEST
+
+config KERNEL_4_19
+	bool "Latest 4.19-cip I-pipe version"
+	depends on !XENOMAI_3_0_LATEST
+
+config KERNEL_4_4_LATEST
+	bool "Head of 4.4-cip I-pipe branch"
+	depends on XENOMAI_3_0_LATEST
+
+config KERNEL_4_4
+	bool "Latest 4.4-cip I-pipe version"
+	depends on XENOMAI_3_0_LATEST
+
+endchoice
+
+config KAS_INCLUDE_KERNEL
+	string
+	default "opt-linux-latest-5.10.yml" if KERNEL_5_10_LATEST
+	default "opt-linux-5.10.yml" if KERNEL_5_10
+	default "opt-linux-latest-5.4.yml" if KERNEL_5_4_LATEST
+	default "opt-linux-5.4.yml" if KERNEL_5_4
+	default "opt-linux-latest-4.19.yml" if KERNEL_4_19_LATEST
+	default "opt-linux-4.19.yml" if KERNEL_4_19
+	default "opt-linux-latest-4.4.yml" if KERNEL_4_4_LATEST
+	default "opt-linux-4.4.yml" if KERNEL_4_4
+
+comment "Features"
+
+config DEBUG
+	bool "Build debug version"
+	help
+	  This enables various debug options in the kernel that can help to
+	  validate the correctness of a particular Xenomai version and kernel
+	  patch.
+
+	  However, these options also significantly degrade the performance and
+	  maximum latencies, so don't use such a configuration for
+	  benchmarking!
+
+config KAS_INCLUDE_DEBUG
+	string
+	default "opt-debug.yml" if DEBUG
diff --git a/README.md b/README.md
index 2f48181..77296dc 100644
--- a/README.md
+++ b/README.md
@@ -13,25 +13,23 @@ from scratch.
 
 Install `kas-container` from the [kas project](https://github.com/siemens/kas):
 
-    wget https://raw.githubusercontent.com/siemens/kas/2.4/kas-container -P ~/bin/
+    wget https://raw.githubusercontent.com/siemens/kas/2.6.2/kas-container -P ~/bin/
     chmod a+x ~/bin/kas-container
 
 Furthermore, install docker and make sure you have required permissions to
 start containers.
 
-To build, e.g., the QEMU AMD64 target inside Docker, invoke kas-container like
-this:
+Next invoke the configuration menu to select the desired image configuration
+and start the build:
 
-    kas-container build kas.yml:board-qemu-amd64.yml
+    kas-container menu
 
-This image can be run using `start-qemu.sh x86`.
+If you built, e.g., a QEMU AMD64 image, this can be run using
+`start-qemu.sh x86`.
 
-The QEMU ARM64 target is selected by `... kas.yml:board-qemu-arm64.yml` and
-started via `start-qemu.sh arm64`. Make sure to have `qemu-aarch64-system`
-installed.
-
-Xenomai related debug is switched off by default. But you still can switch it
-on like this:
+You can also select the desired image configuration on the command line.  To
+build the QEMU AMD64 target with debug options enabled, invoke kas-container
+like this:
 
     kas-container build kas.yml:board-qemu-amd64.yml:opt-debug.yml
 
-- 
2.31.1