Debian_Lenny_Compile_RTAI - rmu75/linuxcnc-wiki GitHub Wiki
This page describes how to prepare Debian Lenny to compile RTAI.
su -
aptitude update && aptitude safe-upgrade
aptitude install \
kernel-package \
build-essential \
dh-make \
module-assistant \
libncurses5-dev \
zlib1g-dev \
dh-kpatches \
fakeroot \
autoconf \
dctrl-tools
|
Because of dependencies the following packages will be installed too
kernel-package -> binutils build-essential dpkg-dev g++ g++-4.3 gcc gcc-4.3 gettext intltool-debian libc6-dev libcompress-raw-zlib-perl
-> libcompress-zlib-perl libdigest-hmac-perl libdigest-sha1-perl libfile-remove-perl libgomp1 libio-compress-base-perl
-> libio-compress-zlib-perl libio-stringy-perl libmail-box-perl libmail-sendmail-perl libmailtools-perl libmime-types-perl
-> libobject-realize-later-perl libstdc++6-4.3-dev libsys-hostname-long-perl libtimedate-perl liburi-perl
-> libuser-identity-perl linux-libc-dev make patch po-debconf
dh-make -> debhelper html2text
RTAI modules create rtai_shm and rtf* devices when they are loaded. We need to create a Udev rule file for these devices.
touch /etc/udev/rules.d/92-rtai.rules |
Edit /etc/udev/rules.d/92-rtai.rules with your favorite editor.
ACTION!="add|change", GOTO="rtai_end" |
The default amount of the maximum locked-in-memory address space size is 32 KB in Debian Lenny. But this is not enough for some applications. For example the memlock size has to be more than 2048 KB for EMC2. Therefore increase the memlock size if you get the segmentation fault because of the inadequate memlock size.
Edit /etc/security/limits.conf with your favorite editor.
Add the following line
* hard memlock 8192 |
Add your user account to the src group. This is needed to have the write access for /usr/src directory.
adduser your_user_name src |
Logout and re-login for the change to take effect.
Use your normal user account to do the followings
cd mkdir rtai cd rtai |
wget ftp://ftp.kernel.org/pub/linux/kernel/v2.6/linux-2.6.30.5.tar.bz2 tar xjf linux-2.6.30.5.tar.bz2 -C /usr/src ln -s linux-2.6.30.5/ /usr/src/linux |
NOTE: rtai_3.7.1.orig.tar.gz is the daily snapshot (07 Sep 2009) of the RTAI's Vulcano repository. The name of the source tarball must be as <packagename>_<upstream_version>.orig.tar.gz to Debianize |
wget http://linuxcnc.org/experimental/lenny/rtai_3.7.1.orig.tar.gz tar zxf rtai_3.7.1.orig.tar.gz |
The patch file contains all the changes to Debianize the original RTAI source.
This patch is from http://packages.debian.org/sid/rtai with some trivial changes.
wget http://linuxcnc.org/experimental/lenny/rtai_3.7.1-2.diff.gz cd rtai-3.7.1/ gunzip -c ../rtai_3.7.1-2.diff.gz | patch -p1 --dry-run gunzip -c ../rtai_3.7.1-2.diff.gz | patch -p1 chmod u+x debian/rules |
dpkg-buildpackage -rfakeroot -uc |
The following files will be built in the upper directory:
- librtai1_3.7.1-2_i386.deb
- librtai-dev_3.7.1-2_i386.deb
- rtai_3.7.1-2.diff.gz
- rtai_3.7.1-2.dsc
- rtai_3.7.1-2_i386.changes
- rtai_3.7.1-2_i386.deb
- rtai-doc_3.7.1-2_all.deb
- rtai-source_3.7.1-2_i386.deb
cd .. su dpkg -i librtai1_3.7.1-2_i386.deb dpkg -i librtai-dev_3.7.1-2_i386.deb dpkg -i rtai-source_3.7.1-2_i386.deb exit |
cd /usr/src/linux
make-kpkg clean
time fakeroot make-kpkg --initrd \
--append-to-version -rtai \
--revision r1 \
--added-patches rtai \
--config menuconfig \
kernel-image \
kernel-headers \
kernel-source
|
Enable loadable module support ---> enabled [*]
Processor type and features ---> HPET Timer Support ---> disabled
Processor type and features ---> Interrupt pipeline ---> enabled [*]
Power management and ACPI options ---> ACPI (Advanced Configuration and Power Interface) Support ---> enabled [*]
Power management and ACPI options ---> ACPI (Advanced Configuration and Power Interface) Support ---> Deprecated /proc/acpi files ---> disabled
Power management and ACPI options ---> ACPI (Advanced Configuration and Power Interface) Support ---> Deprecated power /proc/acpi directories ---> disabled
Power management and ACPI options ---> ACPI (Advanced Configuration and Power Interface) Support ---> Future power /sys interface ---> disabled
Power management and ACPI options ---> ACPI (Advanced Configuration and Power Interface) Support ---> Deprecated /proc/acpi/event support ---> disabled
Power management and ACPI options ---> ACPI (Advanced Configuration and Power Interface) Support ---> AC Adapter ---> disabled
Power management and ACPI options ---> ACPI (Advanced Configuration and Power Interface) Support ---> Battery ---> disabled
Power management and ACPI options ---> ACPI (Advanced Configuration and Power Interface) Support ---> Button ---> disabled
Power management and ACPI options ---> ACPI (Advanced Configuration and Power Interface) Support ---> Video ---> module [M]
Power management and ACPI options ---> ACPI (Advanced Configuration and Power Interface) Support ---> Fan ---> disabled
Power management and ACPI options ---> ACPI (Advanced Configuration and Power Interface) Support ---> Dock ---> enabled [*]
Power management and ACPI options ---> ACPI (Advanced Configuration and Power Interface) Support ---> Processor ---> disabled
Power management and ACPI options ---> ACPI (Advanced Configuration and Power Interface) Support ---> Disable ACPI for systems before Jan 1st this year ---> 0
Power management and ACPI options ---> ACPI (Advanced Configuration and Power Interface) Support ---> Debug Statements ---> disabled
Power management and ACPI options ---> ACPI (Advanced Configuration and Power Interface) Support ---> PCI slot detection driver ---> disabled
Power management and ACPI options ---> ACPI (Advanced Configuration and Power Interface) Support ---> Container and Module Devices ---> disabled
Power management and ACPI options ---> ACPI (Advanced Configuration and Power Interface) Support ---> Smart Battery System ---> disabled
Power management and ACPI options ---> APM (Advanced Power Management) BIOS support ---> disabled
Power management and ACPI options ---> CPU Frequency scaling ---> 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 multi 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.
NOTE: No need to disable Module Versioning Support for RTAI 3.7.1 but it's needed to
regenerate the kernel module dependencies.
You can prefer to disable Module Versioning Support, if you don't want to deal with the kernel module dependencies. Loadable module support ---> Module versioning support ---> disabled |
NOTE: No need to disable High Memory Support for RTAI 3.7.1 and newer
|
NOTE: No need to disable Symmetric multi-processing support for the uniproccesor machine for RTAI 3.7.1 and newer. But if you don't have a multi cores CPU or SMP system, you can prefer to disable it to improve the performance |
After to finish all changes, save and exit from menuconfig.
cd /usr/src su dpkg -i linux-image-2.6.30.5-rtai_r1_i386.deb dpkg -i linux-headers-2.6.30.5-rtai_r1_i386.deb rm linux ln -s linux-headers-2.6.30.5-rtai linux |
NOTE: If you have a SMP system, dedicate the last core/CPU to the realtime tasks,
resulting in a significant increase in performance. Edit /boot/grub/menu.lst and add isolcpus parameter to the end of the kernel line of the RTAI kernel. This is the kernel line for my dual core machine kernel /vmlinuz-2.6.30.5-rtai root=/dev/sda5 ro isolcpus=1 |
reboot |
Boot with the new RTAI kernel.
cd /usr/src tar jxf rtai-source.tar.bz2 cd /usr/src/linux fakeroot make-kpkg --append-to-version -rtai --added-modules rtai --config menuconfig modules_image |
If the total number of CPUs/cores is more than 2, increase the value of CONFIG_RTAI_CPUS parameter.
It's a good idea to set this value to 8 if you want to distribute your deb package.
Machine (x86) ---> Number of CPUs (SMP-only) ---> 8
For EMC2 2.3 and newer, enable CONFIG_RTAI_MATH parameter.
Base system ---> Other features ---> Mathfuns support in kernel ---> enabled
Default values are OK for other parameters. Save and exit.
cd /usr/src su dpkg -i rtai-modules-2.6.30.5-rtai_3.7.1-2+r1_i386.deb |
cd /usr/src/linux cp Module.symvers Module.symvers.old cat /usr/realtime/modules/Module.symvers >> Module.symvers ln -s /usr/realtime/modules/ /lib/modules/2.6.30.5-rtai/rtai depmod -a |
cd /usr/realtime/testsuite/user/latency; time ./run cd /usr/realtime/testsuite/user/preempt/; time ./run cd /usr/realtime/testsuite/user/switches/; ./run cd /usr/realtime/testsuite/kern/latency/; time ./run cd /usr/realtime/testsuite/kern/preempt/; time ./run cd /usr/realtime/testsuite/kern/switches/; ./run |
If you have a problem with test results, see RTAI Latency Test(http:/cgi-bin/wiki.pl?TroubleShooting#RTAI_Latency_test)
Your RTAI system is ready now. You can continue from [Debian Lenny Compile LinuxCNC](Debian_Lenny_Compile_LinuxCNC)
The following packages are experimental and these are not supported by EMC Team. Please let Acemi know on the [EMC developers mailing list], if you encounter any problems.
These packages were built as described in this wiki page at 07/September/2009
using Linux-2.6.30.5 and the current RTAI's Vulcano repository (the daily snapshot after RTAI-3.7.1)
The Linux kernel image was built for Pentium-Pro and compatible processors with the symmetric multi-processing support.
- linux-image-2.6.30.5-rtai_r1_i386.deb
- linux-headers-2.6.30.5-rtai_r1_i386.deb
- rtai-modules-2.6.30.5-rtai_3.7.1-2+r1_i386.deb
- librtai1_3.7.1-2_i386.deb
- librtai-dev_3.7.1-2_i386.deb
- config-2.6.30.5-rtai
- rtai_3.7.1.orig.tar.gz
- rtai_3.7.1-2.dsc
- rtai_3.7.1-2.diff.gz
739f635c2aecb6eadcf46fd5023a6efa linux-image-2.6.30.5-rtai_r1_i386.deb
f034cac05d7b293f79da927c243ea108 linux-headers-2.6.30.5-rtai_r1_i386.deb
e5911a52b0321fe9340503d64cbf4d11 rtai-modules-2.6.30.5-rtai_3.7.1-2+r1_i386.deb
04385cdc5c24a15b78bd9ab3859672a1 librtai1_3.7.1-2_i386.deb
2cbbd4b4474f912ac09fee590e29ac0c librtai-dev_3.7.1-2_i386.deb
b01f1c4bac6f40c3820474050cba9595 config-2.6.30.5-rtai
69efdf2a0b2a09c92d5e4e963ad11b0f rtai_3.7.1.orig.tar.gz
2925d5057f14dfd809d063f1e8df1d89 rtai_3.7.1-2.dsc
fd204bbc8f6d2666c60906ba776319a3 rtai_3.7.1-2.diff.gz
Download the readymade deb packages and follow the instructions
- Switch to root account
su - |
- [Udev]
- [Memlock Size]
- Install the downloaded deb packages
cd your_download_folder dpkg -i librtai1_3.7.1-2_i386.deb dpkg -i librtai-dev_3.7.1-2_i386.deb dpkg -i linux-image-2.6.30.5-rtai_r1_i386.deb dpkg -i linux-headers-2.6.30.5-rtai_r1_i386.deb dpkg -i rtai-modules-2.6.30.5-rtai_3.7.1-2+r1_i386.deb cd /usr/src/ ln -s linux-headers-2.6.30.5-rtai/ linux reboot |
>See **isolcpus** note in Installing the kernel packages(http:#Installing_the_kernel_packages), if you have a SMP system. >Boot with the new RTAI kernel.
- Switch to root account
su - |
These packages were built using Linux-2.6.22 kernel and RTAI-3.6-cv
The Linux kernel image was built for Pentium-Pro and compatible processors without the symmetric multi-processing support.
- linux-image-2.6.22-rtai_r2_i386.deb
- linux-headers-2.6.22-rtai_r2_i386.deb
- linux-source-2.6.22-rtai_r2_all.deb
- rtai-modules-2.6.22-rtai_3.6+r2_i386.deb
- rtai-dev-2.6.22-rtai_3.6+r2_i386.deb
c58bd4abd12fff7d319b7c7507e6c658 linux-image-2.6.22-rtai_r2_i386.deb
ab04c24b3b561e3f3c5f86b939f6de33 linux-headers-2.6.22-rtai_r2_i386.deb
e1613edaa36f14f77fbcd3cb5d113c64 linux-source-2.6.22-rtai_r2_all.deb
4810e03a05ff991aadee283ccda605ff rtai-modules-2.6.22-rtai_3.6+r2_i386.deb
3a2c60ade0102f3f77c9533ce5160311 rtai-dev-2.6.22-rtai_3.6+r2_i386.deb