Last several months ago, I have done to install RTAI, ComediLib in Ubuntu 8.04. Actually, I have spent a lot of time to config Ubuntu system. It faces a lot of problems but finally it has finished.
Now new RTAI package version 3.7 which supports Linux kernel 2.6.28 has been released with a lot of features:
- support for m68knommu (NEW) (Valentin Pavlyuchenko)
- upgraded ARM (Torsten Koschorrek)
- lots of RTAI-Lab upgrades (Roberto Bucher; note that RTAI now integrates to Scilab 5.1
- multi port serial driver with shared interrupts (Renato Castello)
- rt_poll on mbx and sems
- SMP locks as for Linux ticket way
- RTDM support upgrade
- improved watch dog
- revised COMEDI support, async services and insn list work now
- revised Linux sync-async servers
- Linux support up to 2.6.28
- netrpc 32/64 bits inter operation
- shortened locking and timer replay in scheduler
- upgraded TLSF mem allocator
- rtai-py (python support)
- more so called “minor fixes”
Now I base on this tutorials from QRtaiLab, I hope it is better tutorial for Ubuntu 8.04 and Ubuntu 9.10. QRtaiLab is a QT based application, it is better than XRtaiLab. You can see the comparision here.
Packages:
UBUNTU 8.10 (works also on 9.04)
- 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)
You have to use a Version of 3.7 or newer, because older version are not compatible with gcc 4.3.3!
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-0.1.6.tar.gz
sudo tar xvzf QRtaiLab-0.1.6.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
At first you should find out your architecture:
dpkg –print-architecture
for i386:
A sample config-file for i386 is available from here
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:
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
If you use a tar.gz-version please replace qrtailab with qrtailab-x.x.x (x.x.x is the number of your installed version )
cd /opt/qrtailab
Edit qrtailab.config and replace ‘/usr/include/qwt/’ with ‘/usr/include/qwt-qt4/’ and ‘-lqwt’ with ‘-lqwt-qt4′. Here is my qrtailab.config content:
############################################## # library path ############################################## DEPENDPATH += . /usr/local/qwt-5.2.0-svn/lib INCLUDEPATH += . /usr/realtime/include /usr/include/qwt-qt4/ LIBS += -lqwt-qt4 #CONFIG += debug ############# # do same tests ############ #CONFIG += QRLtests
Now we are going to compile QRtaiLab:
sudo qmake-qt4 sudo make sudo make install
It is demo running RTAI, QRtaiLab on Ubuntu 8.04 I did before:
