Installation RTAI

Packages:

UBUNTU 8.10

• general:
  sudo apt-get install cvs subversion build-essential
• kernel:
  sudo apt-get install kernel-package linux-source libncurses5-dev
• rtai:
  sudo apt-get install libtool automake
• comedi-lib:
  sudo apt-get install bison flex
• comedi-calibrate:
  sudo apt-get install libboost-dev libboost-program-options-dev libgsl0-dev
• scilab 4.1.2:
  sudo apt-get install gfortran sablotron tcl8.5-dev tk8.5-dev xaw3dg-dev libpvm3 pvm-dev libgtkhtml2-dev libzvt-dev libvte-dev
• qrtailab:
  sudo apt-get install libqt4-dev libqwt5-qt4-dev

Sources

LINUX (kernel.org)

cd /usr/src
sudo wget http://www.kernel.org/pub/linux/kernel/v2.6/linux-2.6.28.7.tar.bz2
sudo tar xjvf linux-2.6.28.7.tar.bz2
sudo ln -s linux-2.6.28.7 linux

RTAI (https://www.rtai.org) (cvs-Version)

cd /opt
sudo cvs -d:pserver:anonymous@cvs.gna.org:/cvs/rtai co magma
sudo ln -s magma rtai

RTAI (https://www.rtai.org) (tar.gz-Version)

cd /opt
sudo wget --no-check-certificate https://www.rtai.org/RTAI/rtai-3.7.tar.bz2
sudo tar xjvf rtai-3.7.tar.bz2
sudo ln -s rtai-3.7 rtai

COMEDI (www.comedi.org)

cd /opt
sudo cvs -d :pserver:anonymous@cvs.comedi.org:/cvs/comedi login
sudo cvs -d :pserver:anonymous@cvs.comedi.org:/cvs/comedi co comedi
sudo cvs -d :pserver:anonymous@cvs.comedi.org:/cvs/comedi co comedilib
sudo cvs -d :pserver:anonymous@cvs.comedi.org:/cvs/comedi co comedi_calibrate
sudo cvs -d :pserver:anonymous@cvs.comedi.org:/cvs/comedi co comedi-nonfree-firmware

Scilab 4.1.2 (www.scilab.org)

cd /opt
sudo wget http://www.scilab.org/download/4.1.2/scilab-4.1.2-src.tar.gz
sudo wget http://www.scilab.org/download/4.1.2/man-eng-scilab-4.1.2.zip

QRTAILab (www.qrtailab.sf.net) (svn - version)

cd /opt
sudo svn co https://qrtailab.svn.sourceforge.net/svnroot/qrtailab/trunk qrtailab

QRTAILab (www.qrtailab.sf.net) (tar.gz - version)

cd /opt
sudo wget http://downloads.sourceforge.net/qrtailab/QRtaiLab-0.1.7.tar.gz
sudo tar xvzf QRtaiLab-0.1.7.tar.gz

HART Toolbox (www.hart.sf.net) (svn -version)

svn co https://hart.svn.sourceforge.net/svnroot/hart/trunk hart

HART Toolbox (www.hart.sf.net) (tar.gz -version)

wget http://dfn.dl.sourceforge.net/sourceforge/hart/hart_0.2.0-src.tar.gz
tar xvzf hart_0.2.0-src.tar.gz

Installation

Kernel

PATCH Linux Kernel

cd /usr/src/linux
sudo su
patch -p1 < /opt/rtai/base/arch/x86/patches/hal-linux-2.6.28.7-x86-2.2.06.patch

Configure Kernel

dpkg --print-architecture

for i386:

cd /usr/src/linux
sudo wget http://hart.sourceforge.net/files/config-2.6.28-rtai_i386
sudo cp config-2.6.28-rtai_i386 .config

for amd64:

Configure the kernel!

cd /usr/src/linux
sudo make menuconfig

• Inside Processor type and features:
  • Symmetric multi-processing support (multiprocessor)
  • Processor family
• Inside Device Drivers:
  • Network device support -> Ethernet (XXXX Mbit)
  • Network device support -> Wlan
  • Graphics support -> /dev/agpgart (AGP Support)
  • Sound card support -> Advanced Linux Sound Architecture -> PCI sound devices

Compile Kernel

cd /usr/src/linux
sudo make-kpkg clean
sudo make-kpkg --initrd kernel_image kernel_headers kernel_source

Install Kernel (i386)

cd /usr/src
sudo dpkg -i linux-headers-2.6.28.7-rtai_2.6.28.7-rtai-10.00.Custom_i386.deb
sudo dpkg -i linux-image-2.6.28.7-rtai_2.6.28.7-rtai-10.00.Custom_i386.deb

Install Kernel (amd64)

cd /usr/src
sudo dpkg -i linux-headers-2.6.28.7-rtai_2.6.28.7-rtai-10.00.Custom_amd64.deb
sudo dpkg -i linux-image-2.6.28.7-rtai_2.6.28.7-rtai-10.00.Custom_amd64.deb

• sudo reboot

RTAI #1

cd /opt/rtai
sudo make menuconfig

• Installation: /usr/realtime
• Kernel source: /usr/src/linux
• Under Machine, choose number of CPUs (check running cat /proc/cpuinfo and verifying how many processors are listed)

sudo make
sudo make install
sudo sed -i 's/\(PATH=\"\)/\1\/usr\/realtime\/bin:/' /etc/environment

COMEDI

COMEDI

cd /opt/comedi
sudo sh autogen.sh
sudo ./configure --with-linuxdir=/usr/src/linux --with-rtaidir=/usr/realtime
sudo make
sudo make install
sudo make dev

sudo su
echo 'options comedi comedi_num_legacy_minors=4' > /etc/modprobe.d/comedi
exit

COMEDILIB

cd /opt/comedilib
sudo sh autogen.sh
sudo ./configure
sudo make
sudo make install
sudo mkdir /usr/local/include/linux

COMEDI-CALIBRATE

cd /opt/comedi_calibrate
sudo autoreconf -i -B m4
sudo ./configure
sudo make
sudo make install

RTAI #2

sudo cp /opt/comedi/include/linux/comedi.h /usr/local/include/
sudo cp /opt/comedi/include/linux/comedilib.h /usr/local/include/
sudo ln -s /usr/local/include/comedi.h /usr/local/include/linux/comedi.h
sudo ln -s /usr/local/include/comedilib.h /usr/local/include/linux/comedilib.h
cd /opt/rtai
sudo make menuconfig

sudo ./configure
sudo make
sudo make install

SCILAB 4.1.2

cd /opt
sudo tar xvzf scilab-4.1.2-src.tar.gz
sudo unzip man-eng-scilab-4.1.2.zip
sudo mv man-eng-scilab-4.1.2 scilab-4.1.2/man/eng/
cd scilab-4.1.2
sudo ./configure --with-gfortran --with-tk --with-gtk2
sudo make all
sudo ln -s /opt/scilab-4.1.2/bin/scilab /usr/local/bin/scilab

QRTAILAB

cd /opt/qrtailab

sudo qmake-qt4
sudo make
sudo make install

HART Toolbox

sudo cp /opt/comedilib/include/comedilib.h /usr/local/include/
make
cd /opt/scilab-4.1.2/contrib
sudo ln -s {link to hart-toolbox} .