Skip to content
Snippets Groups Projects

Changes

Page history
  • New page
  • Templates
    • Import all content from twiki. authored by Cedric Roux's avatar Cedric Roux 
    This was done by copying by hand. There might be errors or missing materials.

It might be better to redo the import using source material coming directly
from the harddisk of twiki.eurecom.fr. To see with IT department.

There still remains to convert those files to MarkDown format.
    Hide whitespace changes
    Inline Side-by-side
    OpenAirKernel357Ubuntu1204x86Setups.md 0 → 100644
    View page @ 81eafa56
    This document describes how to install RTAI 4.0 on a Ubuntu 12.04.4 LTS using a 3.8.13 kernel, either 32bit or 64 bit version.
    ---++++ Prerequisites
    Install Ubuntu 12.04.4 using one of the following images:
    http://releases.ubuntu.com/precise/ubuntu-12.04.4-desktop-amd64.iso
    http://releases.ubuntu.com/precise/ubuntu-12.04.4-desktop-i386.iso
    And then follow the installation instructions here: https://help.ubuntu.com/community/Installation/
    ---++++ Introduction
    If the ROOT user is not created yet, log as your usual user, open a terminal and type ->
    <verbatim># sudo su -
    # sudo passwd root
    </verbatim>
    Enter the password for the ROOT user. Log out and log in as Root.
    Open a terminal and update your package repository source file :
    <verbatim># apt-get update
    </verbatim>
    Some tools are required in order to set up the kernel (You need to be connected to Internet)
    <verbatim># apt-get -y install qt3-apps-dev build-essential kernel-package vim cvs
    </verbatim>
    ---++++ I - Kernel source and RTAI download
    <verbatim># cd /usr/src/</verbatim>
    Get the kernel source from kernel.org
    <verbatim># wget https://www.kernel.org/pub/linux/kernel/v3.x/linux-3.8.13.tar.bz2
    # tar xf linux-3.8.13.tar.bz2
    </verbatim>
    Get RTAI 4.0 from the RTAI homepage
    <verbatim># wget https://www.rtai.org/userfiles/downloads/RTAI/rtai-4.0.tar.bz2
    tar xf rtai-4.0.tar.bz2</verbatim>
    ---++++ II - Kernel Preparation
    <verbatim># cd /usr/src
    # ln -s linux-3.8.13 linux
    # cd linux </verbatim>
    ---+++++ Applying patch
    If you want first simulate the patch application, use "--dry-run" after "-p1". It won't touch any files on your computer, but you can see if you get Hunks or not.
    <verbatim># patch -p1 < /usr/src/rtai-4.0/base/arch/x86/patches/hal-linux-3.8.13-x86-4.patch
    </verbatim>
    ---+++++ Kernel Configuration
    <verbatim># cd /usr/src/linux</verbatim>
    In order to retrieve your current kernel configuration : (If at this step, questions are asked give the answer by default)
    <verbatim># make oldconfig</verbatim>
    Now we modify the kernel settings the way we need it (NOTE: some parameters cannot be disabled with xconfig - better to use menuconfig):
    <verbatim># make xconfig </verbatim>
    Set up the kernel settings as follows :
    *Processor type and features*
    -&gt; Processor family = <em>Select yours<br /></em>-&gt; Maximum number of CPUs (NR_CPUS) = <em>Set your number (it's generally "4")</em><br />-&gt; SMT (Hyperthreading) scheduler support = _DISABLE IT_
    *Power Management and ACPI options* <span style="background-color: transparent;"> </span>
    CPU idle PM support<br /><span style="background-color: transparent;">-&gt; Cpu idle Driver for Intel Processors = </span><em style="background-color: transparent;">DISABLE IT<br /></em><span style="background-color: transparent;">-&gt; ACPI (Advanced Configuration and Power Interface) Support -&gt; PROCESSOR = </span><em style="background-color: transparent;">DISABLE IT<br /></em><span style="background-color: transparent;">-&gt; APM (Advanced Power Management) BIOS support = </span><em style="background-color: transparent;">DISABLE IT<br /></em><span style="background-color: transparent;">-&gt; CPU Frequency scaling -&gt; CPU Frequency scaling = </span><em style="background-color: transparent;">DISABLE IT<br /></em><span style="background-color: transparent;">CPU idle PM support = DISABLE IT</span>
    Save and Quit
    Note (Sylvain, May 2014): these settings should be verified in the .config file, since there have been cases that xconfig does not do it correctly.
    ---++++ *III - Kernel Compilation*
    <verbatim># cd /usr/src/linux
    # make && make modules_install && make install</verbatim>
    NOTE: The compilation time might be decreased by passing the flags -jX (with X=number of CPUs you have on your machine). This has for effect to parallelize the kernel compilation between the CPUs. This will take ~1 hour.
    ---+++++ Kernel Boot Options
    This is very important - it took us (and the guys at the RTAI mailing list) ages to find that special config that makes everything work smoothly!
    You need to add the following option to the kernel at boot time
    <verbatim>lapic=notscdeadline</verbatim>
    The best way to do this is in /etc/default/grub in the field GRUB_CMDLINE_LINUX_DEFAULT, i.e.,
    <verbatim>GRUB_CMDLINE_LINUX_DEFAULT="quiet splash lapic=notscdeadline"</verbatim>
    You will also have to change the GRUB_DEFAULT to the number that corresponds to the new kernel.
    Finally run update-grub and reboot
    <verbatim>
    # update-grub
    # reboot
    </verbatim>
    ---++++ *IV - RTAI installation*
    Now that the system has restarted, make sure you booted on your new OpenAir kernel
    <verbatim># uname -r </verbatim>
    Should give you "3.8.13" as result
    <verbatim># cd /usr/src/rtai-4.0
    # make xconfig
    </verbatim>
    UPDATE the CPUs number according to your configuration and disable RTAI_USE_NEWERR and real-time COMEDI support in Add-ons. Enable the watchdog, CONFIG_RTAI_WD.
    Save and quit. If any error occurs here, solve it and repeat this "make xconfig" step until it's OK
    <verbatim># make && make install </verbatim>
    Add what follows, to the end of the file ~/.bashrc
    <verbatim>export PATH=/usr/realtime/bin:$PATH
    export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/realtime/lib
    </verbatim>
    Create a file /etc/ld.so.conf.d/rtai.conf with the content
    <verbatim>/usr/realtime/lib</verbatim>
    and run "ldconfig"in order to take it into account
    For OpenAir code compilation, we need to create the following symbolic link :
    <verbatim>ln -s /usr/src/linux-3.8.13/include/generated/autoconf.h /lib/modules/3.8.13/build/include/linux/autoconf.h</verbatim>
    We will test the RTAI system via the latency test
    <verbatim># cd /usr/realtime/testsuite/kern/latency
    # ./run </verbatim>
    If the test fails to start, it could be related to a bad RTAI configuration. Check error messages with "dmesg".<br />You should have absolutely no overrun and the "lat-max" column values should not exceed 45 000ns.
    -- User.FlorianKaltenberger - 12 Mar 2014