install.txt

实时linux RTAI 下的如何使用RTFIFO代码

RTAI fifo & shared memory examples from:
http://www.aero.polimi.it/~rtai/documentation/articles/guide.html

Tested with kernel 2.6.7 and vesuvio (hal6c1-2.6.7.patch) on Fedora Core 2.

Compile the examples:
Goto sine or sine2, run "make" and "./run"


Installation of the kernel and RTAI:
***********************************

Unpack the kernel source:

# cd /usr/src
# tar xvjf linux-2.6.7.tar.bz2
# ln -s linux-2.6.7 linux

Unpack or copy RTAI to /usr/src/vesuvio or /usr/src/rtai-3.2.xxxx
# ln -s vesuvio rtai
or
# ln -s rtai-3.2xxxx rtai

Patch the kernel:

# cd /usr/src/linux
# patch -p1 < ../rtai/rtai-core/arch/i386/patches/hal6c1-2.6.7.patch

Copy the existing (Fedora) kernel config file to /usr/src/linux
# cp /boot/config-2.6.6-1.435 /usr/src/linux

Configure the kernel:

# make menuconfig
(you need to "make menuconfig" even if you accept the default Fedora config!)

Make sure that 
* "Adeos" is selected (Adeos Support -> Adeos Support)
* "Loadable module support -> Module versioning support" is disabled
* "Kernel hacking" -> Compile the kernel with frame pointers" is disabled

Compile the kernel:

# make
# make modules_install install

After the kernel is compiled and installed successfully, compile RTAI:

# cd /usr/src/rtai
# make menuconfig
If you want to do some serial port I/O enable "Add-ons -> Serial line driver"
(if you're new to RTAI just accept the default config - after saving the
config wait until all configuration is done)

# make
# make install

If no errors occured, reboot now, select the new kernel from the GRUB menu.
(so far Fedora 2 performs fine with the vanilla kernel 2.6.7)

To test RTAI:
# cd /usr/realtime/testsuite/kern/latency/
# ./run

Now you should see some min. max. latency output. If you experience a
kernel panic like

<0>Kernel panic: Fatal exception in interrupt
In interrupt handler - not synching

or

<0>Kernel panic: Attempted to kill the idle task!
In idle task - not synching 

try the current CVS version:

cvs -d:pserver:[e-mail]:/cvs/rtai co vesuvio

I had kernel panic with the following combinations, so be careful on Fedora 2:
kernel 2.6.5 with hal5-2.6.5.patch
kernel 2.6.6 with hal5-2.6.6.patch

Visit http://www.captain.at/programming/rtai/