Rtai installation

Дата канвертавання25.04.2016
Памер17.95 Kb.
RTAI Installation

The following steps are through the terminal, first you must be logged in as root in order to have permissions to do the following, if you are not logged in as root then you can put sudo in front of the command


sudo make menuconfig
This should give you the permissions to continue with that command, another way is to just log in as root temporarily
sudo su
This way saves on having to put sudo in front of each command.

So, as root, we need to download a kernel, for this project I downloaded a “vanilla” kernel, which means it is an original release from Linus Torvalds and have not being changed by another programmer.

The version I selected was 2.6.15, in order to download it, the following commands have to be executed.
cd means change directory and is the command line equivalent of double-clicking into a folder in windows.
cd /usr/src

The above command brings us to the directory where we will be downloading and installing the RTAI and the new kernel.

wget http://www.kernel.org/pub/linux/kernel/v2.6/linux-2.6.15.tar.bz2

wget connects to the URL provided and downloads the file.

This is a tarball, which is a compressed folder, much the same as a Winrar or Winzip for windows, to decompress (making sure you are still in the src directory using the command pwd) use the following command
tar jvxf linux-2.6.15.tar.bz2

I will now create a link to this folder in the src directory so it is easier to select

rm -f linux
removes any linux folder that may have being there previously.
ln -fs linux-2.6.15 linux
this command creates the link to the folder.
We now need to patch this kernel with the RTAI to allow both to work together, we must download that next using a similar process to the previous download of the kernel.
cd /usr/src

wget https://www.rtai.org/RTAI/rtai-3.3.tar.bz2

tar jvxf rtai-3.3.tar.bz2
And now to apply the patch to allow the RTAI to interact with the kernel.
cd /usr/src/linux

patch -p1 < ../rtai-3.3/base/arch/i386/patches/hal-linux-2.6.15-i386-1.2-00.patch
Now you are ready to configure your kernel, inside the Linux directory
make menuconfig
This will bring up your options for configuring the kernel in a GUI, we only need to change a few of these options, which are

Code maturity level options >

[*] Prompt for development and/or incomplete code/drivers

Loadable module support >

[*] Enable loadable module support
[ ] Module Versioning support (EXPERIMENTAL)

Processor type and features>

[ ] Use register arguments
[*] Interrupt pipeline

File systems >Pseudo filesystems >

[*] /proc file system support

Save the kernel configuration on exit

To install the kernel the following commands are used, this process takes some time which depends on the computers processor.
make && make install && make modules && make modules_install

This compiles the kernel, then makes the install files and then finally installs the kernel.

The two ampersands mean continue to the nest command if the last one produced no errors.

Once the kernel is installed you must reboot

At the startup, press enter to select the grub menu and select the kernel just compiled
Now to configure the RTAI, a process similar to the kernel
cd /usr/src/rtai-3.3

make menuconfig
In the configuration menu,

Machine Menu>

[1]Number of processors

[ ]RTAI lab

Save configuration upon exit

make install

Enter the kernel again that we just created through the grub menu
Now we need to test to see if the RTAI is running correctly and run some tests.
cd /usr/realtime/testsuite/usr/latency

Use ctrl-c to stop for this and the rest of the tests.
cd /usr/realtime/testsuite/usr/preempt

cd /usr/realtime/testsuite/usr/switches

cd /usr/realtime/testsuite/kern/latency

cd /usr/realtime/testsuite/kern/preempt

cd /usr/realtime/testsuite/kern/switches

Each should run and have no errors if an errors occurs to do with /dev/rtf/ or something similar then open a new document using

gedit myRTAIfix
And put inside it :

mkdir /dev/rtf

for n in `seq 0 9`



mknod -m 666 $f c 150 $n


Save and change it to an executable using
chmod +x myRTAIfix
if that doesn’t work then open a new file
gedit myRTAIfix2
Putting inside:

mknod -m 666 /dev/rtai_shm c 10 254

for n in `seq 0 9`



mknod -m 666 $f c 150 $n

Save and change it also to an executable using the command used earlier.

If that works then congratulations you’ve just successfully installed the RTAI!

База данных защищена авторским правом ©shkola.of.by 2016
звярнуцца да адміністрацыі

    Галоўная старонка