D Programming/RTAI/Installing
< D Programming | RTAI
Installing RTAI on Debian/Ubuntu with 2.6 Kernel
[edit | edit source]Download the kernel source with the Debian/Ubuntu patches.
Try to build the kernel and boot. So you can be sure later problems are RTAI related.
Download an actual RTAI release. Patch the kernel sources with the appropriated patch from <rtaidir>/base/arch/i386/patches/
cd /usr/src/linux patch -p1 < ~/rtai/magma/base/arch/i386/patches/hal-linux-2.6.14-1.0-10.patch
In Ubuntu 6.06, there was a problem in smpboot:904 the patch failed, and has to be inserted manually.
configure the Kernel with
make menuconfig
- No module versioning
- Active the Adeos patches (since a version between 2.12..2.15 this is no more necessary. This option is now called interrupt pipelining and is automatically enabled)
- Give the kernel an appended name like "-rtai"
Build the kernel
make menuconfig make install modules_install
install it into grub and boot
Goto the rtaidir and
make menuconfig
Deselect the support for C++ in kernel, since this is not supported for 2.6 kernels.
After saving the config, do a
make sudo make install
Reboot and have a look at dmesg. Now try to load the modules.
cd /usr/realtime/modules sudo insmod rtai_hal.ko sudo insmod rtai_lxrt.ko
Recheck dmesg