HART Toolbox
Hardware Access in Real-Time for scilab/scicos
RTAI navigation
Installation RTAI
Packages:
UBUNTU 10.04
Install the following packages to proceed:- general:
sudo apt-get install cvs subversion build-essential - rtai:
sudo apt-get install libtool automake libncurses5-dev - scilab 4.1.2:
sudo apt-get install gfortran sablotron tcl8.5-dev tk8.5-dev xaw3dg-dev libpvm3 pvm-dev libgtkhtml2-dev libvte-dev ocaml-native-compilers - qrtailab:
sudo apt-get install libqt4-dev libqwt5-qt4-dev
Installation of all components
RTAI kernel from EMC
echo deb http://www.linuxcnc.org/lucid lucid base emc2.4 > /tmp/linuxcnc.listReboot in the new installed RTAI-kernel.
echo deb-src http://www.linuxcnc.org/lucid lucid base emc2.4 >> /tmp/linuxcnc.list
sudo mv /tmp/linuxcnc.list /etc/apt/sources.list.d/
gpg --keyserver pgpkeys.mit.edu --recv-key 8F374FEF
gpg -a --export 8F374FEF | sudo apt-key add -
sudo apt-get update
sudo apt-get install linux-headers-2.6.32-122-rtai linux-image-2.6.32-122-rtai
RTAI (https://www.rtai.org)
(cvs-Version)
cd /usr/src
sudo cvs -d:pserver:anonymous@cvs.gna.org:/cvs/rtai co magma
sudo ln -s magma rtai
(tar.gz-Version)
cd /usr/src
sudo wget --no-check-certificate https://www.rtai.org/RTAI/rtai-3.8.1.tar.bz2
sudo tar xjvf rtai-3.8.1.tar.bz2
sudo ln -s rtai-3.8.1 rtai
cd /usr/src/rtaiEnsure directories are correct:
sudo make menuconfig
- Installation: /usr/realtime
- Kernel source tree: /usr/src/linux-headers-2.6.32-122-rtai
- Under Machine, choose number of CPUs (check running cat /proc/cpuinfo and verifying how many processors are listed)
sudo makenow run export PATH=/usr/realtime/bin:$PATH for each open shell or do logout and login Now we need to load the rtai modules.
sudo make install
sudo sed -i 's/\(PATH=\"\)/\1\/usr\/realtime\/bin:/' /etc/environment
/sbin/insmod /usr/realtime/modules/rtai_smi.koCopy the lines to /usr/local/bin/start_rtai
/sbin/insmod /usr/realtime/modules/rtai_hal.ko
/sbin/insmod /usr/realtime/modules/rtai_lxrt.ko
/sbin/insmod /usr/realtime/modules/rtai_fifos.ko
/sbin/insmod /usr/realtime/modules/rtai_sem.ko
/sbin/insmod /usr/realtime/modules/rtai_mbx.ko
/sbin/insmod /usr/realtime/modules/rtai_msg.ko
/sbin/insmod /usr/realtime/modules/rtai_netrpc.ko
/sbin/insmod /usr/realtime/modules/rtai_shm.ko
Do a sudo chmod a+x /usr/local/bin/start_rtai
SCILAB 4.1.2
cd /opt
sudo wget http://www.scilab.org/download/4.1.2/scilab-4.1.2.bin.linux-i686.tar.gz
sudo tar xvzf scilab-4.1.2.bin.linux-i686.tar.gz
cd /opt/scilab-4.1.2
sudo wget http://hart.sourceforge.net/scilablibs.tar.gz
sudo tar xvzf scilablibs.tar.gz
sudo make
sudo ln -s /opt/scilab-4.1.2/bin/scilab /usr/local/bin/scilab
QRTAILab (www.qrtailab.sf.net)
(svn -version)
cd /usr/local/src
sudo svn co https://qrtailab.svn.sourceforge.net/svnroot/qrtailab/trunk qrtailab
(tar.gz - version)
cd /usr/local/srcIf you use a tar.gz-version please replace qrtailab with qrtailab-x.x.x (x.x.x is the number of your installed version )
sudo wget http://downloads.sourceforge.net/qrtailab/QRtaiLab-0.1.12.tar.gz
sudo tar xvzf QRtaiLab-0.1.12.tar.gz
cd /usr/local/src/qrtailabEdit qrtailab.config and replace '/usr/include/qwt/' with '/usr/include/qwt-qt4/' and '-lqwt' with '-lqwt-qt4'
sudo qmake-qt4
sudo make
sudo make install
HART Toolbox (www.hart.sf.net)
Chose a directory (/home/username/software, ...)(svn -version)
svn co https://hart.svn.sourceforge.net/svnroot/hart/trunk hart
(tar.gz -version)
wget http://dfn.dl.sourceforge.net/sourceforge/hart/hart_0.4.1-src.tar.gzGo in your hart-directory.
tar xvzf hart_0.4.1-src.tar.gz
Edit Makefile and set 'SCILAB = ...' to the binary file of scilab 4.1.2
Warning: sudo make will not install RTAI module! Either be a normal user and install HART or change to root (using sudo su) and then do make.
makeGratulation you are finished!
cd /...../scilab-xxx/contrib
sudo ln -s {link to hart-toolbox} .