Re: How to install RTAI 5.1 on Debian?
Paolo Mantegazza <[email protected]> Mon, 12 Feb 2018 15:47:48 +0100
| Newsgroups | gmane.linux.real-time.rtai |
|---|---|
| Message-ID | <[email protected]> |
This is a multi-part message in MIME format. --===============7576134979727877671== Content-Type: multipart/alternative; boundary="------------437250803A4642DC100C9C5A" Content-Language: en-US This is a multi-part message in MIME format. --------------437250803A4642DC100C9C5A Content-Type: text/plain; charset=utf-8; format=flowed Content-Transfer-Encoding: quoted-printable I see a lot of confusion in what you write. There is no difference in installing RTAI on any distribution of choice,=20 it is the same for all of them. First you have to learn how to make and boot a new kernel, taken form=20 kernel.org and associated to any of the patches coming with your RTAI of=20 choice. For that read the README in the LINUX kernel, with special care=20 to the options:=C2=A0 "make localmodconfig" and "make localyesconfig". Once you have a LINUX .config that works, you'll remake the kernel anew,=20 applying the related RTAI patch first and using the working .config you=20 have. Paolo On 02/12/2018 02:23 PM, Guo Yunfei wrote: > > Hi. everybody. > > I always install RTAI 4.0 and RTAI 4.1 on Debian as below steps and=20 > using it perfect. > When I install RTAI 5.1 as same steps. =C2=A0the RTAI 5.1 can be make=20 > successfully. > But the system not reponse after I test the latency by that "run "=20 > command. > > Could some one give me a guide of installation of RTAI 5.1 on Debian? > > Best Regards > Guo Yunfei > > My steps: > //------------------------------------------ > This document describes how to install RTAI 4.0 on a Ubuntu 12.04.4=20 > 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:=20 > https://help.ubuntu.com/community/Installation/ > > > Introduction > > If the ROOT user is not created yet, log as your usual user, open a=20 > terminal and type -> > > # sudo su - > # sudo passwd root > > Enter the password for the ROOT user. Log out and log in as Root. > > Open a terminal and update your package repository source file : > > # apt-get update > > Some tools are required in order to set up the kernel (You need to be=20 > connected to Internet) > > # apt-get -y install qt3-apps-dev build-essential kernel-package vim cv= s > > > I - Kernel source and RTAI download > > # cd /usr/src/ > > Get the kernel source from kernel.org <http://kernel.org> > > # wgethttps://www.kernel.org/pub/linux/kernel/v3.x/linux-3.8.13.tar.bz2 > # tar xf linux-3.8.13.tar.bz2 > > Get RTAI 4.0 from the RTAI homepage > > # wgethttps://www.rtai.org/userfiles/downloads/RTAI/rtai-4.0.tar.bz2 > tar xf rtai-4.0.tar.bz2 > > > II - Kernel Preparation > > # cd /usr/src > # ln -s linux-3.8.13 linux > # cd linux > > > Applying patch > > If you want first simulate the patch application, use "--dry-run"=20 > after "-p1". It won't touch any files on your computer, but you can=20 > see if you get Hunks or not. > > # patch -p1 < /usr/src/rtai-4.0/base/arch/x86/patches/hal-linux-3.8.13-= x86-4.patch > > > Kernel Configuration > > # cd /usr/src/linux > > In order to retrieve your current kernel configuration : (If at this=20 > step, questions are asked give the answer by default) > > # make oldconfig > > Now we modify the kernel settings the way we need it (NOTE: some=20 > parameters cannot be disabled with xconfig - better to use menuconfig): > > # make xconfig > > Set up the kernel settings as follows : > > *Processor type and features* > > -> Processor family =3D /Select yours > /-> Maximum number of CPUs (NR_CPUS) =3D /Set your number (it's=20 > generally "4")/ > -> SMT (Hyperthreading) scheduler support =3D /DISABLE IT/ > > *Power Management and ACPI options* > > CPU idle PM support > -> Cpu idle Driver for Intel Processors =3D /DISABLE IT > /-> ACPI (Advanced Configuration and Power Interface) Support ->=20 > PROCESSOR =3D /DISABLE IT > /-> APM (Advanced Power Management) BIOS support =3D /DISABLE IT > /-> CPU Frequency scaling -> CPU Frequency scaling =3D /DISABLE IT > /CPU idle PM support =3D DISABLE IT > > Save and Quit > > Note (Sylvain, May 2014): these settings should be verified in the=20 > .config file, since there have been cases that xconfig does not do it=20 > correctly. > > > *III - Kernel Compilation* > > # cd /usr/src/linux > # make && make modules_install && make install > > NOTE: The compilation time might be decreased by passing the flags -jX=20 > (with X=3Dnumber of CPUs you have on your machine). This has for effect= =20 > to parallelize the kernel compilation between the CPUs. This will take=20 > ~1 hour. > > > Kernel Boot Options > > This is very important - it took us (and the guys at the RTAI mailing=20 > list) ages to find that special config that makes everything work=20 > smoothly! > > You need to add the following option to the kernel at boot time > > lapic=3Dnotscdeadline > > The best way to do this is in /etc/default/grub in the field=20 > GRUB_CMDLINE_LINUX_DEFAULT, i.e., > > GRUB_CMDLINE_LINUX_DEFAULT=3D"quiet splash lapic=3Dnotscdeadline" > > You will also have to change the GRUB_DEFAULT to the number that=20 > corresponds to the new kernel. > > Finally run update-grub and reboot > > # update-grub > # reboot > > > *IV - RTAI installation* > > Now that the system has restarted, make sure you booted on your new=20 > OpenAir=20 > <https://twiki.eurecom.fr/twiki/bin/edit/OpenAirInterface/OpenAir?topic= parent=3DOpenAirInterface.OpenAirKernel357Ubuntu1204x86Setups;nowysiwyg=3D= 0>=C2=A0kernel > > # uname -r > > Should give you "3.8.13" as result > > # cd /usr/src/rtai-4.0 > # make xconfig > > UPDATE the CPUs number according to your configuration and disable=20 > RTAI_USE_NEWERR and real-time COMEDI support in Add-ons. Enable the=20 > watchdog, CONFIG_RTAI_WD. > > Save and quit. If any error occurs here, solve it and repeat this=20 > "make xconfig" step until it's OK > > # make && make install > > Add what follows, to the end of the file ~/.bashrc > > export PATH=3D/usr/realtime/bin:$PATH > export LD_LIBRARY_PATH=3D$LD_LIBRARY_PATH:/usr/realtime/lib > > Create a file /etc/ld.so.conf.d/rtai.conf with the content > > /usr/realtime/lib > > and run "ldconfig"in order to take it into account > > We will test the RTAI system via the latency test > > # cd /usr/realtime/testsuite/kern/latency > # ./run > //---------------------------------------------------------------------= -------------------- > > > _______________________________________________ > Rtai mailing list > [email protected] > https://mail.rtai.org/cgi-bin/mailman/listinfo/rtai --------------437250803A4642DC100C9C5A Content-Type: text/html; charset=utf-8 Content-Transfer-Encoding: quoted-printable <html> <head> <meta http-equiv=3D"Content-Type" content=3D"text/html; charset=3Dutf= -8"> </head> <body text=3D"#000000" bgcolor=3D"#FFFFFF"> <div class=3D"moz-cite-prefix">I see a lot of confusion in what you write. <br> <br> There is no difference in installing RTAI on any distribution of choice, it is the same for all of them.<br> First you have to learn how to make and boot a new kernel, taken form kernel.org and associated to any of the patches coming with your RTAI of choice. For that read the README in the LINUX kernel, with special care to the options:=C2=A0 "make localmodconfig" and=C2= =A0 "make localyesconfig".<br> Once you have a LINUX .config that works, you'll remake the kernel anew, applying the related RTAI patch first and using the working .config you have.<br> <br> Paolo<br> <br> <br> <br> On 02/12/2018 02:23 PM, Guo Yunfei wrote:<br> </div> <blockquote type=3D"cite" cite=3D"mid:[email protected]= ail.com"> <meta http-equiv=3D"Content-Type" content=3D"text/html; charset=3Du= tf-8"> <div dir=3D"ltr"> <div><span style=3D"color:rgb(0,0,0);font-family:"Times New Roman";font-size:medium"><br> </span></div> <div><span style=3D"color:rgb(0,0,0);font-family:"Times New Roman";font-size:medium">Hi. everybody.</span></div> <div><span style=3D"color:rgb(0,0,0);font-family:"Times New Roman";font-size:medium"><br> </span></div> <div><span style=3D"color:rgb(0,0,0);font-family:"Times New Roman";font-size:medium">I always install RTAI 4.0 and RTAI 4.1 on Debian as below steps and using it perfect.</span= ></div> <div><span style=3D"color:rgb(0,0,0);font-family:"Times New Roman";font-size:medium">When I install RTAI 5.1 as same steps. =C2=A0the RTAI 5.1 can be make successfully.</spa= n></div> <div><span style=3D"color:rgb(0,0,0);font-family:"Times New Roman";font-size:medium">But the system not reponse after I test the latency by that "run " command.</span></div> <div><span style=3D"color:rgb(0,0,0);font-family:"Times New Roman";font-size:medium"><br> </span></div> <div><span style=3D"color:rgb(0,0,0);font-family:"Times New Roman";font-size:medium">Could some one give me a guide of installation of RTAI 5.1 on Debian?</span></div> <div><span style=3D"color:rgb(0,0,0);font-family:"Times New Roman";font-size:medium"><br> </span></div> <div><span style=3D"color:rgb(0,0,0);font-family:"Times New Roman";font-size:medium">Best Regards</span></div> <div><span style=3D"color:rgb(0,0,0);font-family:"Times New Roman";font-size:medium">Guo Yunfei</span></div> <div><span style=3D"color:rgb(0,0,0);font-family:"Times New Roman";font-size:medium"><br> </span></div> <span style=3D"color:rgb(0,0,0);font-family:"Times New Roman";font-size:medium"> <div>My steps:<span style=3D"color:rgb(0,0,0);font-family:"Times New Roman";font-size:medium"><br> </span></div> <div><span style=3D"color:rgb(0,0,0);font-family:"Times Ne= w Roman";font-size:medium">//---------------------------= ---------------</span></div> <div>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.<br> </div> </span> <h4 style=3D"color:rgb(0,0,0);font-family:"Times New Roman";font-size:medium"><a name=3D"Prerequisites" moz-do-not-send=3D"true"></a>Prerequisites</h4> <p style=3D"color:rgb(0,0,0);font-family:"Times New Roman";font-size:medium">Install Ubuntu 12.04.4 using one of the following images:</p> <p style=3D"color:rgb(0,0,0);font-family:"Times New Roman";font-size:medium"><a href=3D"http://releases.ubuntu.com/precise/ubuntu-12.04.4-desktop-amd64.i= so" moz-do-not-send=3D"true">http://releases.ubuntu.com/precise/u= buntu-12.04.4-desktop-amd64.iso</a></p> <p style=3D"color:rgb(0,0,0);font-family:"Times New Roman";font-size:medium"><a href=3D"http://releases.ubuntu.com/precise/ubuntu-12.04.4-desktop-i386.is= o" moz-do-not-send=3D"true">http://releases.ubuntu.com/precise/u= buntu-12.04.4-desktop-i386.iso</a></p> <p style=3D"color:rgb(0,0,0);font-family:"Times New Roman";font-size:medium">And then follow the installation instructions here:=C2=A0<a href=3D"https://help.ubuntu.com/community/Installation/" moz-do-not-send=3D"true">https://help.ubuntu.com/community/In= stallation/</a></p> <h4 style=3D"color:rgb(0,0,0);font-family:"Times New Roman";font-size:medium"><a name=3D"Introduction" moz-do-not-send=3D"true"></a>Introduction</h4> <p style=3D"color:rgb(0,0,0);font-family:"Times New Roman";font-size:medium">If the ROOT user is not created yet, log as your usual user, open a terminal and type -></p> <pre style=3D"color:rgb(0,0,0)"># sudo su - # sudo passwd root </pre> <p style=3D"color:rgb(0,0,0);font-family:"Times New Roman";font-size:medium">Enter the password for the ROOT user. Log out and log in as Root.</p> <p style=3D"color:rgb(0,0,0);font-family:"Times New Roman";font-size:medium">Open a terminal and update your package repository source file :</p> <pre style=3D"color:rgb(0,0,0)"># apt-get update </pre> <p style=3D"color:rgb(0,0,0);font-family:"Times New Roman";font-size:medium">Some tools are required in order to set up the kernel (You need to be connected to Internet)</p> <pre style=3D"color:rgb(0,0,0)"># apt-get -y install qt3-apps-dev= build-essential kernel-package vim cvs </pre> <h4 style=3D"color:rgb(0,0,0);font-family:"Times New Roman";font-size:medium"><a name=3D"I_Kernel_source_and_RTAI_downloa" moz-do-not-send=3D"true"></a>I - Kernel source and RTAI download</h4> <pre style=3D"color:rgb(0,0,0)"># cd /usr/src/</pre> <p style=3D"color:rgb(0,0,0);font-family:"Times New Roman";font-size:medium">Get the kernel source from <a href=3D"http://kernel.org" moz-do-not-send=3D"true">kernel.or= g</a></p> <pre style=3D"color:rgb(0,0,0)"># wget <a href=3D"https://www.ker= nel.org/pub/linux/kernel/v3.x/linux-3.8.13.tar.bz2" moz-do-not-send=3D"tr= ue">https://www.kernel.org/pub/linux/kernel/v3.x/linux-3.8.13.tar.bz2</a> # tar xf linux-3.8.13.tar.bz2 </pre> <p style=3D"color:rgb(0,0,0);font-family:"Times New Roman";font-size:medium">Get RTAI 4.0 from the RTAI homepage</p> <pre style=3D"color:rgb(0,0,0)"># wget <a href=3D"https://www.rta= i.org/userfiles/downloads/RTAI/rtai-4.0.tar.bz2" moz-do-not-send=3D"true"= >https://www.rtai.org/userfiles/downloads/RTAI/rtai-4.0.tar.bz2</a> tar xf rtai-4.0.tar.bz2</pre> <h4 style=3D"color:rgb(0,0,0);font-family:"Times New Roman";font-size:medium"><a name=3D"II_Kernel_Preparation" moz-do-not-send=3D"true"></a>II - Kernel Preparation</h4> <pre style=3D"color:rgb(0,0,0)"># cd /usr/src # ln -s linux-3.8.13 linux # cd linux </pre> <h5 style=3D"color:rgb(0,0,0);font-family:"Times New Roman""><a name=3D"Applying_patch" moz-do-not-send=3D"true= "></a>Applying patch</h5> <p style=3D"color:rgb(0,0,0);font-family:"Times New Roman";font-size:medium">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.</p> <pre style=3D"color:rgb(0,0,0)"># patch -p1 < /usr/src/rtai-4.= 0/base/arch/x86/patches/hal-linux-3.8.13-x86-4.patch </pre> <h5 style=3D"color:rgb(0,0,0);font-family:"Times New Roman""><a name=3D"Kernel_Configuration" moz-do-not-send=3D"true"></a>Kernel Configuration</h5> <pre style=3D"color:rgb(0,0,0)"># cd /usr/src/linux</pre> <p style=3D"color:rgb(0,0,0);font-family:"Times New Roman";font-size:medium">In order to retrieve your current kernel configuration : (If at this step, questions are asked give the answer by default)</p> <pre style=3D"color:rgb(0,0,0)"># make oldconfig</pre> <p style=3D"color:rgb(0,0,0);font-family:"Times New Roman";font-size:medium">Now we modify the kernel settings the way we need it (NOTE: some parameters cannot be disabled with xconfig - better to use menuconfig):</p> <pre style=3D"color:rgb(0,0,0)"># make xconfig </pre> <p style=3D"color:rgb(0,0,0);font-family:"Times New Roman";font-size:medium">Set up the kernel settings as follows :</p> <p style=3D"color:rgb(0,0,0);font-family:"Times New Roman";font-size:medium"><strong>Processor type and features</strong></p> <p style=3D"color:rgb(0,0,0);font-family:"Times New Roman";font-size:medium">-> Processor family =3D=C2=A0<= em>Select yours<br> </em>-> Maximum number of CPUs (NR_CPUS) =3D=C2=A0<em>Set yo= ur number (it's generally "4")</em><br> -> SMT (Hyperthreading) scheduler support =3D=C2=A0<em>DISAB= LE IT</em></p> <p style=3D"color:rgb(0,0,0);font-family:"Times New Roman";font-size:medium"><strong>Power Management and ACPI options</strong><span style=3D"background-color:transparent"></span></p> <p style=3D"color:rgb(0,0,0);font-family:"Times New Roman";font-size:medium">CPU idle PM support<br> <span style=3D"background-color:transparent">-> Cpu idle Driver for Intel Processors =3D=C2=A0</span><em style=3D"background-color:transparent">DISABLE IT<br> </em><span style=3D"background-color:transparent">-> ACPI (Advanced Configuration and Power Interface) Support -> PROCESSOR =3D=C2=A0</span><em style=3D"background-color:trans= parent">DISABLE IT<br> </em><span style=3D"background-color:transparent">-> APM (Advanced Power Management) BIOS support =3D=C2=A0</span><em style=3D"background-color:transparent">DISABLE IT<br> </em><span style=3D"background-color:transparent">-> CPU Frequency scaling -> CPU Frequency scaling =3D=C2=A0</span= ><em style=3D"background-color:transparent">DISABLE IT<br> </em><span style=3D"background-color:transparent">CPU idle PM support =3D DISABLE IT</span></p> <p style=3D"color:rgb(0,0,0);font-family:"Times New Roman";font-size:medium">Save and Quit</p> <p style=3D"color:rgb(0,0,0);font-family:"Times New Roman";font-size:medium">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.</p> <h4 style=3D"color:rgb(0,0,0);font-family:"Times New Roman";font-size:medium"><a name=3D"III_Kernel_Compilation= " moz-do-not-send=3D"true"></a><strong>III - Kernel Compilation= </strong></h4> <pre style=3D"color:rgb(0,0,0)"># cd /usr/src/linux # make && make modules_install && make install</pre> <p style=3D"color:rgb(0,0,0);font-family:"Times New Roman";font-size:medium">NOTE: The compilation time might be decreased by passing the flags -jX (with X=3Dnumber of CPUs you have on your machine). This has for effect to parallelize the kernel compilation between the CPUs. This will take ~1 hour.</p> <h5 style=3D"color:rgb(0,0,0);font-family:"Times New Roman""><a name=3D"Kernel_Boot_Options" moz-do-not-send=3D"true"></a>Kernel Boot Options</h5> <p style=3D"color:rgb(0,0,0);font-family:"Times New Roman";font-size:medium">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!</p> <p style=3D"color:rgb(0,0,0);font-family:"Times New Roman";font-size:medium">You need to add the following option to the kernel at boot time</p> <pre style=3D"color:rgb(0,0,0)">lapic=3Dnotscdeadline</pre> <p style=3D"color:rgb(0,0,0);font-family:"Times New Roman";font-size:medium">The best way to do this is in /etc/default/grub in the field GRUB_CMDLINE_LINUX_DEFAULT, i.e.,</p> <pre style=3D"color:rgb(0,0,0)">GRUB_CMDLINE_LINUX_DEFAULT=3D"qui= et splash lapic=3Dnotscdeadline"</pre> <p style=3D"color:rgb(0,0,0);font-family:"Times New Roman";font-size:medium">You will also have to change the GRUB_DEFAULT to the number that corresponds to the new kernel.<= /p> <p style=3D"color:rgb(0,0,0);font-family:"Times New Roman";font-size:medium">Finally run update-grub and reboot</p> <pre style=3D"color:rgb(0,0,0)"># update-grub # reboot </pre> <h4 style=3D"color:rgb(0,0,0);font-family:"Times New Roman";font-size:medium"><a name=3D"IV_RTAI_installation" moz-do-not-send=3D"true"></a><strong>IV - RTAI installation</= strong></h4> <p style=3D"color:rgb(0,0,0);font-family:"Times New Roman";font-size:medium">Now that the system has restarted, make sure you booted on your new=C2=A0<span class=3D"gmail-twikiNewLink"><a href=3D"https://twiki.eurecom.fr/twiki/bin/edit/OpenAirInterface/OpenAir?= topicparent=3DOpenAirInterface.OpenAirKernel357Ubuntu1204x86Setups;nowysi= wyg=3D0" rel=3D"nofollow" title=3D"OpenAir (this topic does not yet exist; you can create it)" moz-do-not-send=3D"true">OpenAir= </a></span>=C2=A0kernel</p> <pre style=3D"color:rgb(0,0,0)"># uname -r </pre> <p style=3D"color:rgb(0,0,0);font-family:"Times New Roman";font-size:medium">Should give you "3.8.13" as result</p> <pre style=3D"color:rgb(0,0,0)"># cd /usr/src/rtai-4.0 =20 # make xconfig =20 </pre> <p style=3D"color:rgb(0,0,0);font-family:"Times New Roman";font-size:medium">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.</p> <p style=3D"color:rgb(0,0,0);font-family:"Times New Roman";font-size:medium">Save and quit. If any error occurs here, solve it and repeat this "make xconfig" step until it's OK</p> <pre style=3D"color:rgb(0,0,0)"># make && make install </= pre> <p style=3D"color:rgb(0,0,0);font-family:"Times New Roman";font-size:medium">Add what follows, to the end of the file ~/.bashrc</p> <pre style=3D"color:rgb(0,0,0)">export PATH=3D/usr/realtime/bin:$= PATH=20 export LD_LIBRARY_PATH=3D$LD_LIBRARY_PATH:/usr/realtime/lib </pre> <p style=3D"color:rgb(0,0,0);font-family:"Times New Roman";font-size:medium">Create a file /etc/ld.so.conf.d/rtai.conf with the content</p> <pre style=3D"color:rgb(0,0,0)">/usr/realtime/lib</pre> <p style=3D"color:rgb(0,0,0);font-family:"Times New Roman";font-size:medium">and run "ldconfig"in order to take it into account</p> <p style=3D"color:rgb(0,0,0);font-family:"Times New Roman";font-size:medium">We will test the RTAI system via the latency test</p> <pre style=3D"color:rgb(0,0,0)"># cd /usr/realtime/testsuite/kern= /latency =20 # ./run </pre> <div>//----------------------------------------------------------= -------------------------------</div> </div> <br> <fieldset class=3D"mimeAttachmentHeader"></fieldset> <br> <pre wrap=3D"">_______________________________________________ Rtai mailing list <a class=3D"moz-txt-link-abbreviated" href=3D"mailto:[email protected]">Rtai@= rtai.org</a> <a class=3D"moz-txt-link-freetext" href=3D"https://mail.rtai.org/cgi-bin/= mailman/listinfo/rtai">https://mail.rtai.org/cgi-bin/mailman/listinfo/rta= i</a></pre> </blockquote> <p><br> </p> </body> </html> --------------437250803A4642DC100C9C5A-- --===============7576134979727877671== Content-Type: text/plain; charset="us-ascii" MIME-Version: 1.0 Content-Transfer-Encoding: 7bit Content-Disposition: inline _______________________________________________ Rtai mailing list [email protected] https://mail.rtai.org/cgi-bin/mailman/listinfo/rtai --===============7576134979727877671==--