Debian_Etch_Compile_RTAI - rmu75/linuxcnc-wiki GitHub Wiki

date: '2012-07-07T21:44:17' title: Debian Etch Compile RTAI

Contents

toc

This page describes how to prepare Debian Etch to compile RTAI

1. Udev configuration

su -
cd /etc/init.d
touch rtai-dev
chmod 755 rtai-dev
update-rc.d rtai-dev start 30 2 3 4 5 .

Edit /etc/init.d/rtai-dev with your favorite editor.

#!/bin/sh -e

if [ ! -e /dev/rtai_shm ] ; then
mknod -m 666 /dev/rtai_shm c 10 254
fi


for n in seq 0 9; do
f="/dev/rtf$n"
if [ ! -c $f ] ; then
mknod -m 666 $f c 150 $n
fi
done

To test the script, run it:

/etc/init.d/rtai-dev

2. Disabling PC speaker module

PC speaker module causes some problems for RTAI in some machines. Therefore, it's a good idea to disable it.
As root, do the followings:

echo install pcspkr /bin/true >/etc/modprobe.d/rtai

3. Compiling RTAI kernel

3.1. Installing deb packages

FIX: Debian team decided to release Debian Etch with 2.6.18 kernel. Therefore, linux-source-2.6.17 and linux-patch-debian-2.6.17 packages are removed from repository. But there is no RTAI hal patch for 2.6.18 kernel. So, we need to use 2.6.17 packages.

Firstly, download linux-source-2.6.17_2.6.17-9_all.deb and linux-patch-debian-2.6.17_2.6.17-9_all.deb packages. Then install them.

dpkg -i linux-source-2.6.17_2.6.17-9_all.deb
dpkg -i linux-patch-debian-2.6.17_2.6.17-9_all.deb


MD5
d0c0ab8ef2dfe5213abe21782b1574b9  linux-source-2.6.17_2.6.17-9_all.deb
67bd1cd4e6bb4fb9b1656b1dd7478053  linux-patch-debian-2.6.17_2.6.17-9_all.deb

apt-get update
apt-get -u upgrade
apt-get install linux-source-2.6.17 \
	linux-patch-debian-2.6.17 \
	kernel-package \
	build-essential \
	dh-make \
	module-assistant \
	intltool-debian \
	debhelper \
	po-debconf \
	sharutils \
	gettext \
	html2text \
	libncurses5-dev \
	wget

3.2. Getting RTAI source

cd
wget --no-check-certif https://www.rtai.org/RTAI/rtai-3.5-cv.tar.bz2
mkdir /usr/src/modules
tar xjf rtai-3.5-cv.tar.bz2 -C /usr/src
chown root:src /usr/src/rtai-3.5-cv/ -R
cd /usr/src/modules
ln -s ../rtai-3.5-cv rtai

3.3. Preparing Linux kernel source

cd /usr/src
tar xjf linux-source-2.6.17.tar.bz2
ln -s linux-source-2.6.17 linux

3.4. Removing Debian kernel patches

RTAI patch is preparing for vanilla kernel. Therefore we must remove Debian patches from the kernel source.

FIX: there is a small bug in kernel-patches package. To fix it, do the followings:

cd /usr/src/kernel-patches/all/
mkdir 2.6.17
mv apply/ 2.6.17/
mv debian/ 2.6.17/
mv unpatch/ 2.6.17/
cd /usr/src/linux
../kernel-patches/all/2.6.17/unpatch/debian

3.5. Applying RTAI patches

cd /usr/src/linux
patch -p1 < ../modules/rtai/base/arch/i386/patches/hal-linux-2.6.17-i386-1.5-02.patch

3.6. Configuring kernel

For the second command, breeze through any questions make might raise by hitting [ENTER]

cp /boot/config-2.6.18-5-486 .config
make oldconfig
make menuconfig

Loadable module support ---> Enable loadable module support ---> enabled
Loadable module support ---> Module versioning support ---> disabled
Processor type and features ---> Preemption Model ---> Preemptible Kernel (Low-Latency Desktop)
Processor type and features ---> Interrupt pipeline ---> enabled
Processor type and features ---> High Memory Support ---> off
Power management options (ACPI, APM) ---> Legacy Power Management API ---> disabled
Power management options (ACPI, APM) ---> Software Suspend ---> disabled
Power management options (ACPI, APM) ---> ACPI (Advanced Configuration and Power Interface) Support ---> ACPI Support ---> disabled
Power management options (ACPI, APM) ---> APM (Advanced Power Management) BIOS Support ---> APM BIOS Support ---> disabled
Power management options (ACPI, APM) ---> CPU Frequency scaling ---> CPU Frequency scaling ---> disabled
Power management options (ACPI, APM) ---> Power Management support ---> disabled

For non-SMP systems, disable symmetric multi-processing support:
Processor type and features ---> Symmetric multi-processing support ---> disabled

Choose the most suitable processor family for your machine. For example, for a Pentium-III processor:
Processor type and features ---> Processor family ---> Pentium-III / Celeron(Coppermine) / Pentium-III Xeon

If you have a dual cores CPU or SMP system, don't choose a processor family which has no TSC (time stamp counter).
This means that for example you can not choose 586/K5/5x86/6x86/6x86MX as Processor family if you have a dual cores CPU.
In conclusion, choose the most suitable processor family for your machine.

3.7. Compiling kernel

make-kpkg clean
make-kpkg --append-to-version -rtai \
	--revision r1 \
	--initrd \
	--config menuconfig \
	kernel_image \
	kernel_headers \
	kernel_source

3.8. Installing kernel

cd /usr/src
dpkg -i linux-image-2.6.17-rtai_r1_i386.deb
dpkg -i linux-headers-2.6.17-rtai_r1_i386.deb
reboot

Boot with the new RTAI kernel.

4. Compiling Mesa and eFLTK libraries

If you want to install RTAI with RTAI-Lab support, you need Mesa and eFLTK libraries. The RTAI-Lab provides a tool chain to develop block diagrams that can be compiled and executed on the RTAI real-time Linux operating system. But you don't need RTAI-Lab to run EMC2.

If you only want to run EMC2, skip this step and continue from [Compiling RTAI modules]

4.1. Mesa Library

4.1.1. Installing Debian Mesa packages

su -
apt-get install libglu1-mesa \
	libglu1-mesa-dev \
	libgl1-mesa-dev \
	libxt-dev
exit

Because of dependencies the following packages will be installed too libglu1-mesa-dev -> libx11-dev libxau-dev libxdmcp-dev libxext-dev mesa-common-dev x11proto-core-dev -> x11proto-input-dev x11proto-kb-dev x11proto-xext-dev xtrans-dev libxt-dev -> libice-dev libsm-dev

4.1.2. Getting Mesa Source

cd
wget http://superb-west.dl.sourceforge.net/sourceforge/mesa3d/MesaLib-7.0.1.tar.gz
tar zxf MesaLib-7.0.1.tar.gz

4.1.3. Compiling Mesa

cd Mesa-7.0.1
make realclean
make linux-x86
su
make install
exit

See http://www.mesa3d.org/install.html for more details.

4.2. eFLTK library

4.2.1. Getting eFLTK source

cd
wget http://ovh.dl.sourceforge.net/sourceforge/ede/efltk-2.0.6.tar.bz2
tar xjf efltk-2.0.6.tar.bz2

4.2.2. Editing some source files

To compile eFLTK with gcc-4.1 (which is default in Debian Etch), you must change some lines in the source files.

At line 81 in ~/efltk/efltk/Fl_Text_Buffer.h, change this line

char *Fl_Text_Buffer::static_buffer();
as 
char *static_buffer();



At line 26 in ~/efltk/efltk/Fl_Combo_Box.h, change these two lines

static void Fl_Combo_Box::cb_browse(Fl_Widget *w, void *data);
static void Fl_Combo_Box::cb_button(Fl_Widget *w, void *data);
as 
static void cb_browse(Fl_Widget *w, void *data);
static void cb_button(Fl_Widget *w, void *data);

4.2.3. Compiling eFLTK

cd ~/efltk
./configure
./emake

4.2.4. Installing eFLTK

su
./emake install
echo "/usr/local/lib" >> /etc/ld.so.conf
ldconfig
exit

4.3. Before compiling RTAI modules

If you want to compile RTAI with RTAI-Lab support, don't forget to check "RTAI Lab ---> RTAI Lab" when you configure RTAI using "make menuconfig" command.

5. Compiling RTAI modules

Use only one method, not both.

5.1. Method 1: Classic way

su -
cd /usr/src/modules/rtai
make menuconfig

If you only want to run EMC2, default values are OK. Save and exit.

make
make install
reboot

Boot with the new RTAI kernel.

5.2. Method 2: Debian way

5.2.1. Configuring

su -
cd /usr/src/modules/rtai
make menuconfig

If you only want to run EMC2, default values are OK. Save and exit.

5.2.2. Preparing Debian's files

mkdir debian
cd debian
touch changelog
touch compat
touch control.modules.in
touch copyright
touch rules
chmod 755 rules

Edit /usr/src/modules/rtai/debian/changelog with your favorite editor. See 1
Edit /usr/src/modules/rtai/debian/compat with your favorite editor. See 2
Edit /usr/src/modules/rtai/debian/control.modules.in with your favorite editor. See 3
Edit /usr/src/modules/rtai/debian/copyright with your favorite editor. See 4
Edit /usr/src/modules/rtai/debian/rules with your favorite editor. See 5

5.2.3. Compiling

cd /usr/src/linux
make-kpkg --append-to-version -rtai --added-modules rtai modules_clean
make-kpkg --append-to-version -rtai --added-modules rtai modules_image

5.2.4. Installing RTAI modules

cd /usr/src
dpkg -i rtai-modules-2.6.17-rtai_3.5+r1_i386.deb
dpkg -i rtai-dev-2.6.17-rtai_3.5+r1_i386.deb
reboot

Boot with the new RTAI kernel.

6. Testing RTAI

su -
cd /usr/realtime/testsuite/user/latency; ./run
cd /usr/realtime/testsuite/user/preempt/; ./run
cd /usr/realtime/testsuite/user/switches/; ./run
cd /usr/realtime/testsuite/kern/latency/; ./run
cd /usr/realtime/testsuite/kern/preempt/; ./run
cd /usr/realtime/testsuite/kern/switches/; ./run
exit

If you have a problem with test results, see RTAI Latency Test(http:/cgi-bin/wiki.pl?TroubleShooting#RTAI_Latency_test)

If you only want to run EMC2, your RTAI system is ready now. You don't need to read the following steps.
You can continue from [Debian Etch Compile LinuxCNC](Debian_Etch_Compile_LinuxCNC)

7. Installing Scilab and Scicos

Scilab is an open source software which has been developed for system control and signal processing applications. Scicos (Scilab Connected Object Simulator) is a Scilab package for modeling and simulation of dynamical systems including both continuous and discrete sub-systems. Scicos includes a graphical editor for constructing models by interconnecting blocks (representing predefined basic functions or user defined functions). You can develop realtime systems using RTAI-Lab's Scilab macros in Scilab

But you don't need Scilab to run EMC2. If you only want to run EMC2, skip this step.

NOTE: The instructions in this document are for Scilab-4.1.1 because Scilab-4.1.2 has some problem with RTAI-3.5. If you want to install Scilab-4.1.2, see Roberto Bucher's e-mail message

7.1. Getting Scilab's source

Scilab which is in Debian Etch's repository, is problematic. Therefore, download Scilab's source files from Scilab's repository.

su -
cd /usr/local/
wget http://www.scilab.org/download/4.1.1/scilab-4.1.1-src.tar.gz
tar zxf scilab-4.1.1-src.tar.gz

7.2. Installing build dependencies for Scilab

You need some packages to build Scilab. Before running the following commands, check your /etc/apt/sources.list. If the "deb-src" and "non-free" repositories are not there, add them. Your sources.list file looks like as

deb     http://ftp.de.debian.org/debian/          etch            main contrib non-free
deb-src http://ftp.de.debian.org/debian/          etch            main contrib non-free
deb     http://ftp.de.debian.org/debian-security/ etch/updates    main contrib non-free
deb-src http://ftp.de.debian.org/debian-security/ etch/updates    main contrib non-free

apt-get update
apt-get build-dep scilab

Because of build dependencies, the following packages will be installed: autoconf cdbs cpp-3.4 diffstat g77 g77-3.4 gawk gcc-3.4 libg2c0-dev libice-dev libpvm3 libreadline5-dev libsm-dev libxmu-dev libxmu-headers libxpm-dev libxt-dev ocaml-base-nox ocaml-interp ocaml-nox pvm pvm-dev quilt tcl8.4-dev tk8.4-dev x-dev xaw3dg-dev

7.3. Compiling Scilab

cd /usr/local/scilab-4.1.1
./configure --without-java --with-tcl-library=/usr/lib --with-tcl-include=/usr/include/tcl8.4
make all
ln -s /usr/local/scilab-4.1.1/bin/scilab /usr/local/bin/scilab

Don't use "make install" to install Scilab.

7.4. Editing Scilab's PATH

Scilab/Scicos need to know the path of the realtime binary files to work with RTAI.

At line 51 in /usr/local/scilab-4.1.1/bin/scilab, change this line

PATH=$PATH:$SCI:$SCI/util
as 
PATH=$PATH:$SCI:$SCI/util:/usr/realtime/bin

At line 63 in /usr/local/scilab-4.1.1/bin/scilab, change this line

PATH=$PATH:$SCI:$SCI/util
as 
PATH=$PATH:$SCI:$SCI/util:/usr/realtime/bin

7.5. Installing RTAI-Lab's Scilab macros

If you install RTAI with classic way, to install macros

cd /usr/src/modules/rtai/rtai-lab/scilab/macros/
make

If you install RTAI with Debian way, to install macros

cd /usr/realtime/rtai-lab/scilab/macros/
make

7.6. Adding Scilab link to X window's menu

If you want to see Scilab link in your X window's menu:

apt-get install scilab-doc
touch /usr/share/menu/scilab

Edit /usr/share/menu/scilab with your favorite editor.

?package(scilab-doc):\
  needs="x11"\
  section="Apps/Math"\
  title="Scilab 4.1.1"\
  command="/usr/local/bin/scilab"

?package(scilab-doc):

needs="text"

section="Apps/Math"

title="Scilab 4.1.1"

command="/usr/local/bin/scilab -nw"


update-menus
exit

7.7. Scilab user's config

If you install RTAI with classic way, as normal user

cd /usr/src/modules/rtai/rtai-lab/scilab/macros/
make user

If you install RTAI with Debian way, as normal user

cd /usr/realtime/rtai-lab/scilab/macros/
make user

8. Comedi support for RTAI

The Comedi project develops open-source drivers, tools, and libraries for data acquisition. You don't need to install Comedi, Comedilib and Comedi kernel module to run EMC2. If you only want to run EMC2, skip this step.

Firstly, finish to install and to test RTAI. If everything is OK, you can start to install Comedi.

8.1. Installing Comedilib

As normal user

cd
wget http://www.comedi.org/download/comedilib-0.8.0.tar.gz
tar zxf comedilib-0.8.0.tar.gz
cd comedilib-0.8.0
./configure
make
su 
make install
exit

8.2. Installing Comedi

As normal user, do the followings:

cd
wget http://www.comedi.org/download/comedi-0.7.74.tar.gz
tar zxf comedi-0.7.74.tar.gz
cd comedi-0.7.74/
./configure --disable-pcmcia
make
su 
make install
depmod -a
make dev
cp include/linux/comedi.h /usr/local/include/
cp include/linux/comedilib.h /usr/local/include/

FIX: Sometimes "make install" don't install the comedi kernel modules to the right place.
I couldn't find what causes this. If there is nothing in /lib/modules/2.6.17-rtai/comedi/, use the following commands to solve the problem. 
cp -R /lib/modules/2.6.17/comedi/* /lib/modules/2.6.17-rtai/comedi/
depmod -a

Create a startup script to create Comedi devices at boot time.

cd /etc/init.d
touch comedi-dev
chmod 755 comedi-dev
update-rc.d comedi-dev start 30 2 3 4 5 .

Edit /etc/init.d/comedi-dev with your favorite editor.
/etc/init.d/comedi-dev

#!/bin/sh -e

for n in seq 0 15; do
f="/dev/comedi$n"
if [ ! -c $f ] ; then
mknod -m 666 $f c 98 $n
fi
done

We need the following symbolic links

mkdir /usr/local/include/linux
cd /usr/local/include/linux/
ln -s /usr/local/include/comedi.h comedi.h
ln -s /usr/local/include/comedilib.h comedilib.h
cd /usr/include/
ln -s /usr/local/include/comedi.h comedi.h
ln -s /usr/local/include/comedilib.h comedilib.h
cd /usr/include/linux/
ln -s /usr/local/include/comedi.h comedi.h
ln -s /usr/local/include/comedilib.h comedilib.h

8.3. Compiling RTAI with Comedi support

Repeat [Compiling RTAI modules] step. Before installing the new RTAI, remove old one.
At "make menuconfig" step, don't forget to check "Comedi support over LXRT" and "RTAI-Lab"
Add-ons ---> Comedi support over LXRT --> enable Add-ons ---> COMEDI installation directory ---> /usr/local RTAI Lab ---> RTAI Lab

9. Files' contents

9.1. /etc/init.d/rtai-dev

#!/bin/sh -e

if [ ! -e /dev/rtai_shm ] ; then
mknod -m 666 /dev/rtai_shm c 10 254
fi


for n in seq 0 9; do
f="/dev/rtf$n"
if [ ! -c $f ] ; then
mknod -m 666 $f c 150 $n
fi
done

9.2. /usr/src/modules/rtai/debian/changelog

rtai (3.5) unstable; urgency=low
  • Initial Release.

-- maintainer <[email protected]> Sat, 23 Sep 2006 00:39:32 +0300

9.3. /usr/src/modules/rtai/debian/compat

5

9.4. /usr/src/modules/rtai/debian/control.modules.in

Source: rtai
Section: devel
Priority: optional
Maintainer: maintainer <[email protected]>
Build-Depends: debhelper (>= 5)
Standards-Version: 3.7.2

Package: rtai-modules-KVERS
Architecture: any
Provides: rtai-modules
Depends: linux-image-KVERS
Description: rtai modules for Linux (kernel KVERS).
This package contains the set of loadable kernel modules for the RTAI realtime
extension.
.
This package contains the compiled kernel modules for KVERS
.
If you have compiled your own kernel, you will most likely need to build your
own rtai-modules.  The rtai-source package has been provided for use with the
Debian kernel-package utility to produce a version of rtai-module for your
kernel.


Package: rtai-dev-KVERS
Architecture: any
Provides: rtai-headers
Depends: linux-headers-KVERS, GCC
Description: rtai headers for compiling realtime modules.
This package contains the set of headers and helper scripts for the RTAI realtime
extension.

9.5. /usr/src/modules/rtai/debian/copyright

This package was debianized by maintainer <[email protected]>
on Sat, 16 Sep 2006 00:39:32 +0300.

It was downloaded from http://www.rtai.org/


Upstream Authors: See RTAI Team at http://www.rtai.org/


Copyright: see AUTHORS


License:


This program is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.


This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
GNU General Public License for more details.


You should have received a copy of the GNU General Public License
along with this package; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301 USA


The Debian packaging is (C) 2007, maintainer <[email protected]> and
is licensed under the GPL, see `/usr/share/common-licenses/GPL'.

9.6. /usr/src/modules/rtai/debian/rules

#!/usr/bin/make -f

PACKAGE := rtai-modules
MA_DIR ?= /usr/share/modass
-include $(MA_DIR)/include/generic.make
-include $(MA_DIR)/include/common-rules.make


architecture we're building for


DEB_HOST_ARCH ?= $(shell dpkg-architecture -qDEB_HOST_ARCH)


ARCH_TARGET := $(DEB_HOST_ARCH)-elf


ifeq ($(DEB_HOST_ARCH),amd64)
ARCH_TARGET := x86_64-elf
endif


ifeq ($(DEB_HOST_ARCH),powerpc)
ARCH_TARGET := powerpc-be-eabi
endif


ifeq ($(DEB_HOST_ARCH),mips)
ARCH_TARGET := mipsisa32-be-elf
endif


ifeq ($(DEB_HOST_ARCH),mipsel)
ARCH_TARGET := mipsisa32-be-elf
endif


ifeq ($(DEB_HOST_ARCH),arm)
ARCH_TARGET := arm9-le-thumb-elf
endif


.PHONY: kdist_config fix_cdeps
fix_cdeps:
cd debian ; cp control.modules.in control.modules.tmp 2>/dev/null ; 

sed -e 's/GCC/$(CC)/g' < control.modules.tmp > control.modules.in ; 

rm control.modules.tmp


kdist_config: fix_cdeps prep-deb-files


.PHONY: binary_modules binary-modules
binary-modules: binary_modules
binary-modules: kdist_config
dh_testdir
dh_testroot
dh_clean -k


# Build and install the module
$(MAKE) install DESTDIR=$(CURDIR)/debian/rtai-dev-$(KVERS)

# Move the kernel modules to the correct location
mkdir -p $(CURDIR)/debian/rtai-modules-$(KVERS)/usr/realtime/modules
mv -f $(CURDIR)/debian/rtai-dev-$(KVERS)/usr/realtime/modules/* $(CURDIR)/debian/rtai-modules-$(KVERS)/usr/realtime/modules/

# copy the Scilab macros in deb
mkdir -p $(CURDIR)/debian/rtai-modules-$(KVERS)/usr/realtime/rtai-lab/scilab/macros
cp -fr $(CURDIR)/rtai-lab/scilab/macros/* $(CURDIR)/debian/rtai-modules-$(KVERS)/usr/realtime/rtai-lab/scilab/macros/

dh_installdebconf
dh_installdocs
dh_compress
dh_installdeb
dh_makeshlibs -prtai-dev-$(KVERS)
dh_shlibdeps -prtai-dev-$(KVERS)
dh_gencontrol -- -v$(VERSION)
dh_md5sums
dh_builddeb --destdir=$(DEB_DESTDIR)



.PHONY: kdist_clean
kdist_clean:


dh_testdir


dh_testroot


dh_clean


rm -f install.log



$(MAKE) -C $(CURDIR) distclean

9.7. /etc/init.d/comedi-dev

#!/bin/sh -e

for n in seq 0 15; do
f="/dev/comedi$n"
if [ ! -c $f ] ; then
mknod -m 666 $f c 98 $n
fi
done

10. Additional info

10.1. Kernel 2.6.17 and RTAI 3.4

RTAI 3.4 works fine with kernel 2.6.17 in Debian Etch. But there is a small problem in its patch file hal-linux-2.6.17-i386-1.3-08.patch

To fix the problem, delete the following part from the patch file.
8 lines after the line 2934

@@ -765,7 +767,6 @@ config HOTPLUG_CPU

endmenu

menu "Power management options (ACPI, APM)" depends on !X86_VOYAGER

10.2. Kernel 2.6.19-7 and RTAI 3.5

I tried to compile RTAI 3.5 with kernel 2.6.19-7 in Debian Etch. Everything is OK until the [Testing RTAI] step but I couldn't start the RTAI's latency test. Maybe there is a problem in my hardware.

10.3. Scilab 4.1.2

Scilab-4.1.2 has some problem with RTAI 3.6 and olders. If you want to install Scilab-4.1.2, see Roberto Bucher's e-mail message

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