RTAI 3.8 ON Ubuntu(9.10)-Linux-kernel : 2.6.31.8
Contents
1. 47 211 724437 0 000017 17 00 48 1714 121333 0 000004 4 00 48 211 724454 0 000018 18 00 49 1714 121337 0 000004 4 00 49 211 724472 0 000017 17 00 50 1714 121341 50 211 724489 Time difference for every microinstruction process varies significantly Even though inperceptual we are talking about an x4 processing acceleration 2 6 31 8 Kernel patched with Rtai 3 8 had userspace microprocesses that lasted from 4 to 6 microseconds for every 4 operations Generic Kernel had about 16 to 22 microseconds per every 4 operations gt Universidad Nacional de Ingenieria Lima Peru Department of Mechanical Engineering 3 Common Bugs Here are some photos of common error screens during my first attempts to install RTAI ng directory pt magna addo tall in rtai py Entering directory opt magnasrtai py Entering directory opt magna rtai py binvbash base conf ig autoconf mkinstalidirs usr rea tine mkdir p usr realtinesrtai makel21 Nothing to be done for ta an nake 2 Leaving directory i ai py nake 1 Leaving directory opt magna rtai py nakeli Entering directory opt magna nake 2 Entering directory opt magna I LJ make Z ep etc udevrrules d 99 rtai rules No such file or directory in bash base conf ig autoconf mkinstalldirs usr re2. 00 24 211 724045 0 000018 18 00 25 1714 121238 0 000004 4 00 25 211 724063 0 000017 17 00 26 1714 121242 0 000004 4 00 26 211 724080 0 000016 16 00 27 1714 121246 0 000004 4 00 27 211 724096 0 000017 17 00 28 1714 121250 0 000004 4 00 28 211 724113 0 000017 17 00 29 1714 121254 0 000005 5 00 29 211 724130 0 000017 17 00 30 1714 121259 0 000004 4 00 30 211 724147 0 000017 17 00 31 1714 121263 0 000004 4 00 31 211 724164 0 000017 17 00 32 1714 121267 0 000004 4 00 32 211 724181 0 000017 17 00 33 1714 121271 0 000004 4 00 33 211 724198 0 000017 17 00 34 1714 121275 0 000004 4 00 34 211 724215 0 000017 17 00 35 1714 121279 0 000004 4 00 35 211 724232 0 000017 17 00 36 1714 121283 0 000005 5 00 36 211 724249 0 000016 16 00 37 1714 121288 0 000004 4 00 37 211 724265 0 000017 17 00 38 1714 121292 0 000004 4 00 38 211 724282 0 000017 17 00 39 1714 121296 0 000004 4 00 39 211 724299 0 000017 17 00 40 1714 121300 0 000004 4 00 40 211 724316 0 000017 17 00 41 1714 121304 0 000004 4 00 41 211 724333 0 000017 17 00 42 1714 121308 0 000005 5 00 42 211 724350 0 000017 17 00 43 1714 121313 0 000004 4 00 43 211 724367 0 000018 18 00 44 1714 121317 0 000004 4 00 44 211 724385 0 000017 17 00 45 1714 121321 0 000004 4 00 45 211 724402 0 000017 17 00 46 1714 121325 0 000004 4 00 46 211 724419 0 000018 18 00 47 1714 121329 0 000004 4 00
3. 3 0 000017 17 00 3 1714 121146 0 000005 5 00 3 211 723690 0 000017 17 00 4 1714 121151 0 000004 4 00 4 211 723707 0 000017 17 00 5 1714 121155 0 000004 4 00 5 211 723724 0 000017 17 00 6 1714 121159 0 000004 4 00 6 211 723741 0 000016 16 00 7 1714 121163 0 000004 4 00 7 211 723757 0 000017 17 00 8 1714 121167 0 000004 4 00 8 211 723774 0 000017 17 00 9 1714 121171 0 000005 5 00 9 211 723791 0 000017 17 00 10 1714 121176 0 000004 4 00 10 211 723808 0 000017 17 00 11 1714 121180 0 000004 4 00 11 211 723825 0 000017 17 00 12 1714 121184 0 000004 4 00 12 211 723842 0 000017 17 00 Universidad Nacional de Ingenieria Lima Peru Department of Mechanical Engineering 13 1714 121188 0 000004 4 00 13 211 723859 0 000017 17 00 14 1714 121192 0 000005 5 00 14 211 723876 0 000017 17 00 15 1714 121197 0 000004 4 00 15 211 723893 0 000017 17 00 16 1714 121201 0 000004 4 00 16 211 723910 0 000016 16 00 17 1714 121205 0 000004 4 00 17 211 723926 0 000017 17 00 18 1714 121209 0 000004 4 00 18 211 723943 0 000017 17 00 19 1714 121213 0 000004 4 00 19 211 723960 0 000017 17 00 20 1714 121217 0 000004 4 00 20 211 723977 0 000018 18 00 21 1714 121221 0 000005 5 00 21 211 723995 0 000016 16 00 22 1714 121226 0 000004 4 00 22 211 724011 0 000017 17 00 23 1714 121230 0 000004 4 00 23 211 724028 0 000017 17 00 24 1714 121234 0 000004 4
4. CLD CLD CLD CLD CLD CLD LED CLD LED LLC LLC ELE ce KEC LEC CLC LEC LEC LEC CEC CIC LLA CLA CLA LLA CLA LLA LEA CLA LLA EEB ELB LES CEB CLB LEB LLB LEC LEC LCC LLC CEC CEC CEC LEC CED CLD LLD LED LLD LLD ELD EED LLD LLD LDnount mounting dev disk by uuid c1048166 ced3 4389 be87 e2c3846047 3Z on root failed No such device mount nounting sys on root sys failed No such file or directory mount mounting dev on root dev failed No such file or directory mount mounting sys on root sys failed No such file or directory mount mounting proc on root proc failed No such file or directory Target filesystem doesn t have sbin init No init found Try passing init bootarg SusyBox v1 13 3 Ubuntu 1 1 13 3 1ubuntu7 built in shell ash Enter help for a list of built in commands initranfs m Universidad Nacional de Ingenieria Lima Peru Department of Mechanical Engineering ry mount mounting dev disk by uu id c1048166 ced9 4389 be8 e2c384c04 failed No such device mount mounting sys on root sys failed No such file or directory mount mounting dev on root dev failed No such file or directory mount mounting sys on root sys failed No such file or directory mount mounting proc on root proc failed No such file or directory Target filesystem doesn t have sbin init No init found Try passing init bootarg BusyBox v1 13 3 Ubuntu 1 1 13 3 1iubuntu built in shell ash Enter help for a list
5. Universidad Nacional de Ingenieria Lima Peru Department of Mechanical Engineering RTAI 3 8 ON UBUNTU 9 10 LINUX KERNEL 2 6 31 8 Manuel Arturo Deza 1 Installing Rtai 3 8 The following Tech Report Guide is a compendium of instructions necessary for installing RTAI 3 8 on Ubuntu 9 10 using the Kernel 2 6 31 8 These instructions have been uploaded to the author s personal webpage http arturodeza wikidot com data log 1 Download RTAI 3 8 https www rtai org Download and uncompress RTAI 3 8 on a new folder in Documents called RTAI_vf 2 Download Kernel 2 6 31 8 Open a Terminal and type cd tmp wget http www kernel org pub linux kernel v2 6 linux 2 6 31 8 tar bz2 Now as SuperUser sudo su tar xjvf linux 2 6 31 8 tar bz2 C usr src New Kernel 2 6 31 8 is now uncompressed at usr src NOTE Importante USAR EL KERNEL 2 6 31 8 Y RTAI 3 8 SOLO SI SU ARQUITECTURA DE PROCESADOR ES DE TIPO x86 USE THE 2 6 31 8 amp RTAI 3 8 ONLY IF THE PROCESSOR ARCHITECTURE IS OF TYPE x86 How do I find out that I m using an x86 processor architecture Open a terminal and type uname a gt Universidad Nacional de Ingenieria Lima Peru Department of Mechanical Engineering You should get something like this Linux username laptop 2 6 31 14 generic 48 Ubuntu SMP Fri Oct 16 14 04 26 UTC 2009 i686 GNU Linux Check that before GNU Linux you get i686 If that s t
6. altine share lir p usr realtine sharesrtai bin install c m 644 rtai_config usr realtine share rtai est f Module symvers then usr bin install c n 644 Module symvers usr rea muers N fi Leaving directory opt magna Leaving directory opt magna ideza laptop opt magnat Xorg conf Error X server o aaa GENS Universidad Nacional de Ingenieria Lima Peru Cy Department of Mechanical Engineering Ubuntu 9 10 nanueldeza laptop ttyl Manue ldeza laptop login nanueldeza Passuord Last login Sat Sep 25 11 05 03 PET 2020 on ttyl Linux manueldeza laptop 2 6 31 24 generic 48 Ubunta SNP Fri Oct 16 14 04 2009 i686 m To access official Ubuatu docunen Tease visit http chelp ubunta cons manue ldeza nanue ldeza laptop sudo su sado passverd for nanueldeza root nanee ldeza laptop 7hone nanueldeza c etc X11 root nanec ldeza laptop etc X118 Is faults foats xinit Xresource Xsession options rgb txt xk Xsession XvliCConf ig cfault display manager X xorg conf Xsession d Xwrapper conf ig ot nanec ldeza laptop etc X118 cp xorg conf foo st nanuc ldeza laptop etc X118 Is foo xk a rgb txt xorg conf Xsession options icfault display manager X ree XoliCConf ig Xurapper conf ig t nanue ldeza laptop etc x11s Mounting device sys and proc Boot error LEAT CLAS CLA LLAS LLALLA CLAS LLALLA LLALLA LLA LLA LLA LLA CEB CLB LLB LEB EB CEB CEB CLB LLB LEB LEB LCD
7. e Now to put the program in Kernel Space we ll need an ko or Kernel Object file To do this we type the following in a terminal S sudo su make Notice that the following files have been created in the Documents realtime third directory Module makers Module symvers modules order third ko archivo que usaremos third mod c third mod o third o Now we use the Ismod command to see what Modules the Kernel is using thus burning our RAM Ismod gt Universidad Nacional de Ingenieria Lima Peru Department of Mechanical Engineering Observe in the list that the third module isn t inserted We ll have to load the third ko module insmod third ko To check out the running operations usr var messages Or we can use dmesg c Where we observe the execution time of every microinstruction done by the kernel This time has a 1 microsecond precision and shows the absolute time in seconds ever since the computer was booted Coming up we made an Excel chart that shows the execution time difference from a Generic Linux Kernel and an RTAI Linux patched kernel RTAI 2 6 31 8 kernel DATA Generic 2 6 31 14 kernel DATA m Value Difference us Dif m Value Difference us Dif 0 1714 121132 0 000006 6 00 0 211 723633 0 000022 22 00 1 1714 121138 0 000004 4 00 1 211 723655 0 000018 18 00 2 1714 121142 0 000004 4 00 2 211 72367
8. e and working for the newest available versions of both Ubuntu and RTAI was surprised that most people out there when wanting to work with RTAI would just lower there Ubuntu version as a solution but eventually time will pass and new software s evolve one must always try to be up to date Other RTAI Installation Guides A guide to installing RTAI Linux Keith ShortRidge 2004 RTAI Installacion Complete Guide Joao Monteiro 2008 How to install RTAI into Ubuntu Hardy Cristovao Sousa 2008 Kernel Space Developing Introduction to Linux Device Driver Development Richard Sevenich 2004 Writing Linux Kernel Modules Kernel Fibonacci Series Generator Muli Ben Yehuda 2003 Loadable Kernel Modules Juan Mariano de Goyeneche amp Elena Apolinario Fernandez de Sousa 1999 RTAI Programming RTAI API Base Antonio Barbalace 2009 RTAI 3 3 User Manual Building your way through RTAI Joao Monteiro 2008 3 Universidad Nacional de Ingenieria Lima Peru Department of Mechanical Engineering 6 Final Note for the author Please if you have any suggestions or found any errors don t hesitate on emailing me would gladly help anyone out there Email me at mdezaf at uni pe r
9. g tke defo 6 P lt 4 define 1 ip KOSTCE seripts keonfig keanfig toad e make iji Ne rule to make target seripts keonfig tmp_qtcheck needed by Eripts Keenfig qeenf d Step makes xeonfig Errar wae aanaeeel aptop Docunents RTAL Linuns8 6 92 26 make xeanfig CHBEK t jus F bin moe i se ripta Aanafipiyonf h 0 Seripts keonfig qeont moe HOSTEXX seripts keanfig geon WOSTLO seripts keonfig aeonf ipts keenfig qeonf areh xa6 Keonfig manue Ledera manue Lega gt Laptops Documents RTAL Linux 2 6 32 2 make clean manuel oer zadmanue dera gt Lapta t Linux gt 2 6 32 28 6 Install the Kernel make install You ll find 3 new GRUB files System map 2 6 31 8 config 2 6 31 8 vmlinuz 2 6 31 8 7 Create an initrd Image file for the booting process update grub 8 Test and reboot your computer gt lV Universidad Nacional de Ingenieria Lima Peru Department of Mechanical Engineering reboot When you reboot your computer count to 20 20 seconds you ll probbaly hear a soft click immediately after GRUB initializes I think this is necessary for the Kernel to not bug itself I can t really figure the real reason why but it s best to follow this recommendation Select your new kernel 2 6 31 8 and wait for the system to initialize If the system initializes without bugs then reboot again to your older version kernel 9 Configure RTAI Open a terminal in your
10. he case then here we go 3 Apply the Patch over the Kernel Code Open a terminal cd usr src linux 2 6 31 8 patch p1 lt home username Documents RTAI_vf rtai 3 8 base arch x86 patches hal linux 2 6 31 8 x86 2 4 09 patch NOTE Replace username with your OWN user name 4 Configure the Kernel with the patch You ll need to get the QT Development package installed Log in as root sudo su make xconfig Remember to Select Unselect these options Unselect Support for large 2TB block devices amp files Symmetric Multi processing support Local APIC support on uniprocessors Select Enable loadable module support Choose form the Radio buttons your processor type I have a Core2 Save Configuration Settings Most mistakes on installing RTAI happen if you misselect some options or activate and deactivate accidentally some xconfig settings In case errors appear at Kernel booting time check the Internet or on other Instruction manuals about possible reasons 3 Universidad Nacional de Ingenieria Lima Peru Department of Mechanical Engineering 5 Compile Kernel with the Patch make make modules make modules_install Terminal Help Unable to find the QT3 installation Please make sure that the QTS development package is correctly installed and either install pkg config of set the QTDIR environment variable to the correct location sed a scripts keonfig tke proto h seripts keonfi
11. of built in commands initranfs Cinitranfs Reminder The best way to solve the bugs is to google them up gt Universidad Nacional de Ingenieria Lima Peru Department of Mechanical Engineering 4 Additional Results Monitoring my progress Visits Gy s r Visits 1 SRR 91 visits came from 14 countries territories el City Country Territory Sub Continent Region Continent Dimensio None Using Google Analytics found out that from November Decemeber 42 of 91 visits of my webpage were from Italy country where RTAI was developed Hooray RTAI was developed at Polit cnico di Milano Italy Site Usage JEGES Goal Set 1 Visits Pages Visit 91 1 48 of Site Total 100 00 Site Avg 1 48 0 00 Detail Level Country Territory 1 Italy 2 United States 3 Peru I m happy I could give an extra hand to the RTAI community Avg Time on Site 00 02 11 Site Avg 00 02 11 0 00 Visits 42 11 11 Universidad Nacional de Ingenieria Lima Peru Department of Mechanical Engineering 5 Bibliographic materials Most guides and bibliographic material at the time this guide and report was made were done for previous versions of Ubuntu Linux such as 8 04 and 8 10 as well as previous versions of RTAI 3 3 and 3 5 Today we are at Ubuntu version 10 10 and one of the latest kernels is 2 6 35 22 generic The challenge for making this guide was to make it compatibl
12. preconfigured kernel Replace username with YOUR user name cd home username Documents RTAI_vf mkdir rtai build cd rtai build make f home username Documents RTAI_vf rtai 3 8 makefile xconfig Go to Browse General gt Linux Source Tree and set double click on the current address the address to usr src linux 2 6 31 8 10 Make RTAI Super user mode sudo su make 11 Install RTAI make install 12 Todo Listo Hora de probar RTAI reboot Reboot your computer and remember the 20 second rule to boot in your RTAI configured Kernel Open a terminal and type gt oo Z A Universidad Nacional de Ingenier a Lima Peru Gk Department of Mechanical Engineering sudo su cd usr realtime testsuite kern latency run view mina meip realtime testsuite use er latencys sudo amar ir Beu ra x Type C to stop this application RTAI latency calibration tool period 100088 ns average time 1 s use the FPU start the timer timer sode is oneshot manueldeza manueldeza laptop Documents RTAI linux 2 6 32 2 5 x e QT3 installation Please make sure that mt package is correctly installed and g config or set the QTDIR environment the correct location p rier fat proto h gt scripts kconfig lke_defs h s P aa ipts s7kconfig kconfig load o No rule to make target scripts kconfig tap atcheck op EC at sr bin moc i scripts kconfig qconf h o scri
13. pts kconfig qconf soc MOSTCKX scripts kconfig qconf o WOSTLD scripts kconfig qconf ip Universidad Nacional de Ingenieria Lima Peru Department of Mechanical Engineering 2 Doing some Speed tests with Rtai 3 8 Program Code Source Code third c include lt linux init h gt include lt linux module h gt include lt asm current h gt include lt linux sched h gt include lt linux time h gt include lt linux jiffies h gt static int __init jiffies_init void unsigned long j z j z 0 j jiffies z HZ int m 0 for m 0 m lt 50 m printk KERN_ALERT Valor de Contador m lu n m printk KERN_ALERT jiffies value is lu n j printk KERN_ALERT jiffies value in seconds lu n jiffies HZ printk KERN_ALERT HZ value is lu n z return 0 static void __exit jiffies_exit void printk KERN_ALERT Goodbye world n module_init jiffies_init module_exit jiffies_exit MODULE_LICENSE GPL Makefile Code Makefile MAKEFILE gt Universidad Nacional de Ingenieria Lima Peru Department of Mechanical Engineering TARGET third EXTRA_CFLAGS I usr realtime include CURRENT S shell uname r KDIR lib modules CURRENT build PWD S shell pwd obj m TARGET o all S MAKE C KDIR M S PWD modules Instructions Make a folder inside Documents realtime third Inside this folder we ll save third c and Makefil
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