Installation RTAI

Packages:

UBUNTU 12.04 - 32 bit with comedi

• General:
  sudo apt-get install cvs subversion build-essential git-core g++-multilib gcc-multilib
• Rtai:
  sudo apt-get install libtool automake libncurses5-dev kernel-package
• Comedilib:
  sudo apt-get install bison flex libboost-dev libboost-program-options-dev libgsl0-dev
• scilab 5.4.1:
  sudo apt-get install default-jre docbook-xsl fop javahelp2 libavalon-framework-java libbatik-java libfftw3-3 libflexdock-java libgfortran3 libhdf5-serial-1.8.4 libjeuclid-core-java libjgoodies-looks-java libjgraphx-java libjhdf5-java libjlatexmath-fop-java libjlatexmath-java libjogl-java libjrosetta-java liblapack3gf libncurses5 libpcre3 libpvm3 libquadmath0 libsaxon-java libskinlf-java libstdc++6 libtinfo5 libxml2 tcl8.5 tk8.5 zlib1g libgcc1 libc6 libblas-dev libblas3gf libatlas3gf-base gfortran liblapack-dev
• qrtailab:
  sudo apt-get install libqt4-dev libqwt5-qt4-dev

Installation of all components

Installation 3.8.13 RTAI kernel

sudo su
cd /usr/src/
cvs -d:pserver:anonymous@cvs.gna.org:/cvs/rtai co vulcano
sudo ln -s vulcano rtai
git clone git://git.kernel.org/pub/scm/linux/kernel/git/stable/linux-stable.git
cd linux-stable
git branch linux-3.8-rtai origin/linux-3.8.y
git checkout linux-3.8-rtai
git apply ../vulcano/base/arch/x86/patches/hal-linux-3.8.13-x86-4.patch
git commit -a -m 'applied the rtai patch hal-linux-3.8.13-x86-4.patch'
exit

sudo su
cd /usr/src
dpkg-deb -x linux-image-3.8.0-35-generic_3.8.0-42.62~precise1_i386.deb linux-image
cp linux-image/boot/config-* linux-stable/.config
cd linux-stable
make menuconfig

make -j `getconf _NPROCESSORS_ONLN` deb-pkg LOCALVERSION=-rtai
exit

cd /usr/src
sudo dpkg -i linux-image-3.8.13-rtai_3.8.13-rtai-{x}_i386.deb
sudo dpkg -i linux-headers-3.8.13-rtai_3.8.13-rtai-{x}_i386.deb

uname -r

RTAI (https://www.rtai.org) (without Comedi Addon)

cd /usr/src/rtai
sudo make menuconfig

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

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

Comedi

sudo su
cd /usr/local/src/

git clone git://comedi.org/git/comedi/comedi.git
git clone git://comedi.org/git/comedi/comedilib.git

Comedilib

sudo su
cd /usr/local/src/comedilib
sh autogen.sh
./configure
make
make install
mkdir /usr/local/include/linux
exit

Comedi

sudo su
cd /usr/local/src/comedi
sh autogen.sh
./configure --with-linuxdir=/usr/src/linux-headers-3.8.13-rtai --with-rtaidir=/usr/realtime
make
make install
make dev
ldconfig
exit

RTAI (with Comedi Addon)

sudo cp /usr/local/src/comedi/include/linux/comedi.h /usr/local/include/
sudo cp /usr/local/src/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 /usr/src/rtai

sudo make menuconfig

EXTRA_CFLAGS += -I$(rtai_srctree)/base/include \
-I$(rtai_srcdir) \
-I/usr/include \
-I/usr/local/src/comedi/include \
-I$(src)/../../base/include \
-I$(src)/../.. \
$(rtai_extradef) \
-D__IN_RTAI__

obj-m += rtai_comedi.o

rtai_comedi-objs := $(rtai_objs)

sudo su
make
make install
exit

Starting RTAI

#!/bin/bash
/sbin/insmod /usr/realtime/modules/rtai_smi.ko
/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

#!/bin/bash
cd /usr/local/src/comedi
make dev
ldconfig
cd ~
insmod /lib/modules/3.8.13-rtai/comedi/comedi.ko
insmod /lib/modules/3.8.13-rtai/comedi/kcomedilib/kcomedilib.ko
insmod /usr/realtime/modules/rtai_comedi.ko
insmod /lib/modules/3.8.13-rtai/comedi/drivers/comedi_fc.ko
comedi_config /dev/comedi0 your_comedi_card
chmod o+rw /dev/comedi*
chmod go+rw /dev/input/event*

SCILAB 5.4.1

cd /opt
sudo wget http://www.scilab.org/download/5.4.1/scilab-5.4.1.bin.linux-i686.tar.gz
sudo tar xvzf scilab-5.4.1.bin.linux-i686.tar.gz
sudo ln -s /opt/scilab-5.4.1/bin/scilab /usr/local/bin/scilab54

QRTAILab (www.qrtailab.sf.net)

(svn -version)

cd /usr/local/src
sudo svn checkout http://svn.code.sf.net/p/qrtailab/code/trunk qrtailab
cd qrtailab

sudo qmake-qt4
sudo make
sudo make install

HART Toolbox (www.hart.sf.net)

(svn -version)

svn checkout http://svn.code.sf.net/p/hart/code/trunk hart-code

make
cd /...../scilab-xxx/contrib
sudo ln -s {link to hart-toolbox} .

It is important to add -o to your rtai executable in order get a good realtime! The default setting uses the periodic mode. The hard timer will run in oneshot mode when using the "-o" options, which works better for same systems and slow sampling rates (<10kHz).