Please refer to the http://wiki.ubuntu.com to solve hardware or not "RTAI" software problems.

Select DVD drive as the default boot media. More details http://www.hiren.info/pages/bios-boot-cdrom

After the boot you can make the best use of ubuntuRTAI 7.10 and his real-time environment.

N.B.: You have to use a removable media to save important data, you can also mount an HD partition for this goal. All your stuff will be forget after a shutdown!

To use "RTAI" software simply browse "Application -> RTAI Stuff" on the top control panel.

CHAPTER 2

building ubuntu-RTAI 7.10

2.1 Introduction

Partially from * RTAI & Comedi & Matlab on Ubuntu Gutsy -2008-02-24 -V3

By Arno Stienen arnoreg at gmail dot com (https://www.rtai.org/RTAILAB/RTAIUbuntuGutsy-Matlab.txt)

* RTAI-Lab tutorial: Scilab, Comedi, and real-time control

Roberto Bucher, Thomas Netter, Simone Mannori. February 28, 2008 (https://www.rtai.org/RTAILAB/RTAI-Lab-tutorial.pdf)

* https://help.ubuntu.com/community/Kernel/Compile

Following this guide you will be able to create and understand how to personalize ubuntuRTAI 7.10, a live distribution, Ubuntu 7.10 derivative, that makes available a real-time environment (RTAI Linux 3.6) and some software to develop real-time application (NetBeans + Distributed Control Lab).

All the software will be first installed (after have made packages with checkinstall or following the "Debian/Ubuntu" way) on the host system (Ubuntu 7.10 on hd) and than on the guest one within a chroot environment.

As a general rule will build packets with the following values:

0. Maintainer Your name (youremail@address.com);

1. Summary Short description like the one found on the application site;

2. Name Packet's name (see later);

3. Version 0 or the version numer ('7.0.3') or download date for cvs ('cvs20082508').

It is suggested to copy packets on a specific directory for easy finding them later.

2.2 Preparations

Hard disk install Ubuntu 7.10 to create needed packages for chroot environment install.

Possibly comment out the CD-ROM line in the list with repositories by prefixing it with a '#':

sudo nano /etc/apt/sources.list

sudo apt-get update

Take ownership of the source directories (replace [yourusername] with your own user name):

sudo chown -R [tuousername]:[tuousername] /usr/local/src /usr/src

Install the required packages (from a default Ubuntu 7.10 system):

sudo apt-get install cvs subversion build-essential automake checkinstall x11proto-xext-dev xlibs-static-dev libxext-dev libxt-dev gettext libncurses5-dev fakeroot kernel-package swig python-dev libtool libboost-program-options-dev libgsl0-dev libxmu-dev libxi-dev flex bison

These packages will also install automatically:

General:

cvs

subversion --> libapr1 libaprutil1 libpq5 libsvn1

build-essential --> dpkg-dev g++ g++-4.1 libc6-dev libstdc++6-4.1-dev linux-libc-dev patch

automake --> autoconf autotools-dev m4

checkinstall

MesaLib:

x11proto-xext-dev --> libxau-dev x11proto-core-dev x11proto-input-dev

xlibs-static-dev --> libfontenc-dev libfreetype6-dev libx11-dev libxdmcp-dev libxfont-dev x11proto-fonts-dev x11proto-kb-dev xtrans-dev zlib1g-dev

libxext-dev

libxt-dev --> libice-dev libsm-dev

EFLTK:

gettext

Linux Kernel:

libncurses5-dev

fakeroot

kernel-package --> intltool-debian po-debconf

Comedilib

swig

python-dev --> python2.5-dev

libtool

Comedi Calibrate:

libboost-program-options-dev --> libboost-dev libboost-program-options1.34.1

libgsl0-dev

RTAI

libxmu-dev --> libxmu-headers

libxi-dev

2.3 MesaLib

cd /usr/local/src

Download MesaLib-7.0.3.tar.bz2 from http://sourceforge.net/projects/mesa3d to current directory.

tar jxf MesaLib-7.0.3.tar.bz2

cd Mesa-7.0.3

make linux-x86

sudo checkinstall # usare 'mesalib-standalone' come nome;

cd /usr/local/src

2.4 eFLTK

(Based on http://equinox-project.org/cgi-bin/trac.cgi/wiki/UbuntuInstallation)

Download to folder with current date, compile and install:

cd /usr/local/src

svn co https://ede.svn.sourceforge.net/svnroot/ede/trunk/efltk

cd efltk

autoconf

Configure (--enable-xft non funziona in Ubuntu 7.10):

./configure --disable-mysql --disable-unixODBC

./emake

The efltk.spec file must be modified as is attached (the file could be simply overwrited).

sudo checkinstall bash emake install # usare 'efltk' come nome

Add '/usr/local/lib' to /etc/ld.so.conf (remember to do this step also in chrootenvironment when we will create the live cd):

sudo nano /etc/ld.so.conf

sudo ldconfig

sudo checkinstall bash emake install

2.5 Scaricare RTAI

Download RTAI:

cd /usr/local/src

wget --no-check-certificate https://www.rtai.org/RTAI/rtai-3.6.tar.bz2

tar xjf rtai-3.6.tar.bz2

ln -s rtai-3.6 rtai

2.6 Linux Kernel 2.6 (Ubuntu 7.10 stock kernel)

Download kernel, modules sources and dependencies:

cd /usr/src

sudo apt-get build-dep linux‐image‐2.6.22‐14‐generic linux‐ubuntu‐modules‐2.6.22‐14‐generic

apt-get source linux-image-2.6.22-14-generic linux-ubuntu-modules-2.6.22-14-generic

Also download vanilla kernel sources; they will be used to create a configuration file:

wget http://www.kernel.org/pub/linux/kernel/v2.6/linux-2.6.24.14.tar.gz

tar xzf linux-2.6.22.14.tar.gz

cd linux-2.6.22.14.tar.gz

Patch the vanilla kernel with RTAI's patch:

patch -p1 < /usr/local/src/rtai/base/arch/i386/patches/hal-linux-2.6.22-i386-1.10-12.patch

Copy the Ubuntu kernel configuration (press enter at every 'make oldconfig' question):

cp /boot/config-2.6.22-14-generic .config

make oldconfig

make menuconfig

And config this way:

- Loadable module support ---> Module versioning support ---> disabled

- Processor type and features ---> Symmetric multi-processing support ---> disabled

- Processor type and features ---> Preemption Model

---> Preemptible Kernel (Low-Latency Desktop)

- Processor type and features ---> Interrupt pipeline ---> enabled

- 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

- Kernel hacking

---> Kernel debugging ---> disabled

Create a 'rtai' directory inside kernel sources:

cd /usr/src/linux-source-2.6.22-2.6.22/debian/binary-custom.d

mkdir rtai

cd rtai

Copy here the configuration file:

cp /usr/src/linux-2.6.22.14/.config config.i386

And the patch, with a different name:

mkdir patchset

cd patchset

cp /usr/local/src/rtai/base/arch/i386/patches/hal-linux-2.6.22-i386-1.10-12.patch 0001-hal-linux-2.6.22-i386-1.10-12.patch

cd ..

Copy two necessary files from 'rt' directory and modify 'vars' with needed values:

cp ../rt/rules .

cp ../rt/vars .

nano vars

Compile the kernel:

cd /usr/src/linux-source-2.6.22-2.6.22

CONCURRENCY_LEVEL=2 AUTOBUILD=1 NOEXTRAS=1 fakeroot debian/rules custom-binary-rtai

#first value correspond to the CPUs number; on a dual-core this step requires half an hour

Modify some files to compile modules:

cd /usr/src/linux-ubuntu-modules-2.6.22-2.6.22/debian

nano control

Append to the file something like this:

==== START COPY FROM LINE BELOW ==== (Do not include this line)

Package: linux-ubuntu-modules-2.6.22-14-rtai

Architecture: i386

Section: base

Priority: optional

Provides: ndiswrapper-modules-1.9, apparmor-modules-2.1

Depends: linux-image-2.6.22-14-rtai

Pre-Depends: dpkg (>= 1.10.24)

Description: Ubuntu supplied Linux modules for version 2.6.22 on x86

This package contains modules supplied by Ubuntu for Linux kernel 2.6.22 on

x86.

You likely do not want to install this package directly. Instead, install

the linux-rtai meta-package, which will ensure that upgrades work

correctly, and that supporting packages are also installed.

==== STOP COPY AT LINE ABOVE ==== (Do not include this line)

Edit 'i386.mk', erase all and insert this:

nano rules.d/i386.mk

==== START COPY FROM LINE BELOW ==== (Do not include this line)

build_arch = i386

flavours = rtai

==== STOP COPY AT LINE ABOVE ==== (Do not include this line)

Compile:

CONCURRENCY_LEVEL=2 AUTOBUILD=1 fakeroot debian/rules binary-debs

Install packets:

cd ..

sudo dpkg -i linux-image-2.6.22-14-rtai_2.6.22-14.52_i386.deb linux-headers-2.6.22-14-rtai_2.6.22-14.52_i386.deb linux-ubuntu-modules-2.6.22-14-rtai_2.6.22-14.37_i386.deb

Reboot with the new kernel.

2.7 Comedilib

Download Comedi source (press enter when asked for cvs password, and ignore any warnings):

cd /usr/local/src

cvs -d :pserver:anonymous@cvs.comedi.org:/cvs/comedi login

cvs -d :pserver:anonymous@cvs.comedi.org:/cvs/comedi co comedi

cvs -d :pserver:anonymous@cvs.comedi.org:/cvs/comedi co comedilib

cvs -d :pserver:anonymous@cvs.comedi.org:/cvs/comedi co comedi_calibrate

Make and install comedilib.

cd comedilib

sh autogen.sh

./configure --sysconfdir=/etc

make

sudo checkinstall

use 'comedilib' as name, comedilib.spec attached

Make and install comedi_calibrate.

cd ../comedi_calibrate

aclocal

automake --add-missing

autoreconf

./configure

make

sudo checkinstall

use 'comedi-calibrate' as name

2.8 RTAI

Make and install RTAI (for now without Comedi-support or RTAI-Lab).

cd /usr/local/src

rm rtai

wget http://www.linuxcnc.org/hardy/dists/hardy/base/source/rtai_3.6-linuxcnc.2.tar.gz

mv rtai-3.6 rtai-3.6_orig

tar xzvf rtai_3.6-linuxcnc.2.tar.gz

cd rtai-3.6/debian

Modify 'control' like the following:

nano control

==== START COPY FROM LINE BELOW ==== (Do not include this line)

Source: rtai

Section: misc

Priority: extra

Maintainer: YourName YourSurname (Email at Provider dot it)

Build-Depends: linux-headers-2.6.22-14-rtai

Package: rtai-modules-2.6.22-14-rtai

Architecture: any

Description: Real Time modules for linux-image-2.6.22-14-rtai

Depends: linux-image-2.6.22-14-rtai

==== STOP COPY AT LINE ABOVE ==== (Do not include this line)

Change 'KERNEL_VER' field as '2.6.22-14-rtai' in 'rules' file:

nano rules

Compile:

cd ..

fakeroot debian/rules binary

Install

cd ..

dpkg -i rtai-modules-2.6.22-14-rtai_3.6-linuxcnc.2_i386.deb

don't save this packet, it will be rebuilded

Add ':/usr/realtime-2.6.22-14-rtai/bin' to the path variable in '/etc/environment':

sudo nano /etc/environment

the same in chroot environment

2.9 Comedi

cd /usr/local/src/comedi

sh autogen.sh

./configure --enable-kbuild --disable-pcmcia --with-rtaidir=/usr/realtime-2.6.22-14-rtai/

make

Create install script:

nano install-rtai

==== START COPY FROM LINE BELOW ==== (Do not include this line)

#!/bin/bash

make install

cp include/linux/comedi.h include/linux/comedilib.h /usr/local/include

mkdir -p /usr/local/include/linux

ln -sf /usr/local/include/comedi.h /usr/local/include/linux/comedi.h

ln -sf /usr/local/include/comedilib.h /usr/local/include/linux/comedilib.h

==== STOP COPY AT LINE ABOVE ==== (Do not include this line)

sudo checkinstall --install=no --fstrans=no bash install-rtai

sudo dpkg --force-overwrite -i comedi*.deb

sudo make dev

use 'comedi' as name

2.10 RTAI-Lab

Modify the 'CONFIGURE' field on 'rules' config file:

cd /usr/local/src/rtai-3.6/debian

nano rules

CONFIGURE := --enable-shm --enable-fpu --enable-compat --disable-leds --enable-rtailab --disable-netrpc --enable-cpus=1 CONFIG_RTAI_RTDM=y --with-comedi=/usr/local --enable-comedi-lxrt --with-efltk=/usr/local

Compile and install, first remove prevoius rtai packet.

cd ..

rm ../rtai-modules-2.6.22-14-rtai_3.6-linuxcnc.2_i386.deb

fakeroot debian/rules binary

cd ..

sudo apt-get remove --purge rtai-modules-2.6.22-14-rtai_3.6-linuxcnc.2_i386

sudo dpkg -i rtai-modules-2.6.22-14-rtai_3.6-linuxcnc.2_i386.deb

2.11. Scilab/Scicos

cd /usr/local

Download the last available version of Scilab source code from www.scilab.org. Check www.scicos.orgfor the presence of a required patch.

sudo su

tar xzvf scilab-4.x.x-src.tar.gz

Install this packets:

apt-get install g77 sablotron tcl8.4-dev tk8.4-dev xaw3dg xaw3dg-dev libpvm3 pvm-dev libgtk2.0-dev

Configure and compile:

cd scilab-4.x.x

./configure --without-java --with-tcl-library=/usr/lib --with-tcl-include=/usr/include/tcl8.4

make all # NOT make install!!!

ln -s /usr/local/scilab-4.1.2/bin/scilab /usr/local/bin/scilab

When we will work in chroot environment we could simply copy 'scilab-4.x.x' directory in '/usr/local' and execute the last command.

2.12 Rtai-Lab add-on

cd /usr/local

Download necessary files from web.dti.supsi.ch/bucher/scilab.html.

tar zxvf scilab-4.1.2-rtailab.tgz

cd scilab-4.1.2-rtailab/macros

make install

exit

and as normal user:

make user

2.13 Post Installation

If you installed the Comedi packages without going throught the compile steps (chroot environment), you'll need to make the dev links.

Create and run:

nano makedev

==== START COPY FROM LINE BELOW ==== (Do not include this line)

#!/bin/bash

for i in `seq 0 15`; do \

mknod -m 666 /dev/comedi$$i c 98 $$i \

; \

done;

==== STOP COPY AT LINE ABOVE ==== (Do not include this line)

chmod +x makedev

sudo ./makedev

Measure your system's latency to real-time interrupts:

cd /usr/realtime-2.6.22-14-rtai/testsuite/kern/latency/

./run

Calibrate RTAI, remember the results of the calibrations.

sudo insmod /usr/realtime/modules/rtai_hal.ko

sudo insmod /usr/realtime/modules/rtai_fifos.ko

sudo insmod /usr/realtime/modules/rtai_calibrate.ko

calibrate -c # => VALUE_FOR_CPU_FREQUENCY

calibrate -r # => SETUP_TIMER_VALUE

calibrate -k # => SETUP_LATENCY_VALUE

sudo rmmod rtai_hal

sudo rmmod rtai_fifos

sudo rmmod rtai_calibrate

Copy the following lines in a rlinsmod script, replacing the variables in FULL_CAPS with the above found values.

sudo nano /usr/realtime/bin/rlinsmod

==== START COPY FROM LINE BELOW ==== (Do not include this line)

# RLINSMOD - RTAI-Lab Insmod.

# Inserts RTAI-Lab and Comedi modules in kernel and

# configures the drivers.

/sbin/insmod /usr/realtime-2.6.22-14-rtai/modules/rtai_hal.ko

/sbin/insmod /usr/realtime-2.6.22-14-rtai/modules/rtai_lxrt.ko SetupTimeTIMER=SETUP_TIMER_VALUE Latency=SETUP_LATENCY_VALUE

/sbin/insmod /usr/realtime-2.6.22-14-rtai/modules/rtai_fifos.ko

/sbin/insmod /usr/realtime-2.6.22-14-rtai/modules/rtai_sem.ko

/sbin/insmod /usr/realtime-2.6.22-14-rtai/modules/rtai_mbx.ko

/sbin/insmod /usr/realtime-2.6.22-14-rtai/modules/rtai_msg.ko

#/sbin/insmod /usr/realtime-2.6.22-14-rtai/modules/rtai_netrpc.ko

#/sbin/insmod /usr/realtime-2.6.22-14-rtai/modules/rtai_shm.ko

#/sbin/modprobe comedi

#/sbin/modprobe kcomedilib

#/sbin/insmod /usr/realtime-2.6.22-14-rtai/modules/rtai_comedi.ko

# Hardware dependent lines below. L’esempio è per una NI PCI 6025 DAQ Card.

#/sbin/modprobe ni_pcimio

#/usr/local/sbin/comedi_config -q /dev/comedi0 ni_pcimio

#/usr/local/bin/comedi_calibrate -q -f /dev/comedi0

==== STOP COPY AT LINE ABOVE ==== (Do not include this line)

sudo chmod +x /usr/realtime/bin/rlinsmod

Copy the following lines in a rlrmmod script:

sudo nano /usr/realtime/bin/rlrmmod

==== START COPY FROM LINE BELOW ==== (Do not include this line)

# RLRMMOD - RTAI-Lab Rmmod.

# Removes RTAI-Lab and Comedi modules from kernel.

#/usr/local/sbin/comedi_config -qr /dev/comedi0

#/sbin/modprobe -r ni_pcimio

#/sbin/rmmod rtai_comedi

#/sbin/modprobe -r kcomedilib

#/sbin/modprobe -r comedi

#/sbin/rmmod rtai_shm

#/sbin/rmmod rtai_netrpc

/sbin/rmmod rtai_msg

/sbin/rmmod rtai_mbx

/sbin/rmmod rtai_sem

/sbin/rmmod rtai_fifos

/sbin/rmmod rtai_lxrt

/sbin/rmmod rtai_hal

#/sbin/rmmod smi_rt

==== FERMARSI ALLA RIGA PRECEDENTE ==== (Non includere questa)

sudo chmod +x /usr/realtime/bin/rlrmmod

Start rlinsmod after every boot by adding the line '/usr/realtime/bin/rlinsmod' (without the quotes) to your rc.local file. Place this line above the 'exit 0' line.

sudo nano /etc/rc.local

also in chroot environment

CAPITOLO 3

Building the live cd

3.1 Introduction

From a Alex Joni's guide: http://cvs.linuxcnc.org/cvs/infrastructure/livecd/hardy_i386.livecd?rev=1.3.

3.2 Needed Tools

sudo apt-get install squashfs-tools mkisofs

sudo modprobe squashfs

get CD from http://releases.ubuntu.com/

mkdir ~/live

mv ubuntu-7.10-desktop-i386.iso ~/live

cd ~/live

3.3 Extract CD

mkdir mnt

sudo mount -o loop ubuntu-7.10-desktop-i386.iso mnt

mkdir extract-cd

rsync --exclude=/casper/filesystem.squashfs -a mnt/ extract-cd

mkdir squashfs

sudo mount -t squashfs -o loop mnt/casper/filesystem.squashfs squashfs

mkdir edit

sudo cp -a squashfs/* edit/

3.4 Prepare customization

Copy previuosly created packets (contained in '~/packets') in 'edit/tmp'.

cp ~/packets/* edit/tmp

sudo cp /etc/resolv.conf edit/etc/

sudo cp /etc/hosts edit/etc/

sudo cp edit/etc/apt/sources.list edit/etc/apt/sources.list_orig

sudo cp /etc/apt/sources.list edit/etc/apt

sudo chroot edit

#istruizioni indentate in chroot

mount -t proc none /proc

mount -t sysfs none /sys

mount -t devpts none /dev/pts

export HOME=/root

export LC_ALL=C

3.5 Do the changes

apt-get update

apt-get install x11proto-xext-dev xlibs-static-dev libxext-dev libxt-dev gettext libncurses5-dev fakeroot kernel-package swig python-dev libtool libboost-program-options-dev libgsl0-dev libxmu-dev libxi-dev flex bison g77 sablotron tcl8.4-dev tk8.4-dev xaw3dg xaw3dg-dev libpvm3 pvm-dev libgtk2.0-dev sun-java6-jdk netbeans

cd /tmp

dpkg -i *.deb

#remove old kernel (use 'dpkg -l | grep linux' for a complete list)

apt-get remove --purge linux-image-*-generic linux-ubuntu-modules-*-generic

#remove meta packages

apt-get remove --purge linux-image-generic

#clean out leftovers

apt-get autoremove

Remember to execute required chroot steps (as indicated before), for step 12 don't execute the 'make user' command; instead the following:

mkdir -p /etc/skel/.Scilab/scilab-scilab-4.1.2

cat scilab >> /etc/skel/.Scilab/scilab-scilab-4.1.2/.scilab

#clean

apt-get clean

rm -rf /tmp/*

rm /etc/resolv.conf

rm /etc/hosts

mv /etc/apt/sources.list_orig /etc/apt/sources.list

# we'll need the initrd.gz from inside the chroot

mkinitramfs -o /initrd.gz 2.6.22-14-rtai

# exit the chroot

umount /proc

umount /sys

umount /dev/pts

exit

# kernel

sudo cp /boot/vmlinuz-2.6.22-14-rtai extract-cd/casper/vmlinuz

sudo mv edit/initrd.gz extract-cd/casper/

3.6 Putting the CD back together

Regenerate manifest

sudo chroot edit dpkg-query -W --showformat='${Package} ${Version}\n' > extract-cd/casper/filesystem.manifest

Rebuild squashfs

sudo rm extract-cd/casper/filesystem.squashfs

sudo mksquashfs edit extract-cd/casper/filesystem.squashfs

Change CD name

sudo nano extract-cd/README.diskdefines

Build new md5sum.txt

sudo rm extract-cd/md5sum.txt

cd extract-cd

find . -type f | egrep -v '(boot.cat|md5sum.txt)' | xargs sudo md5sum | sudo tee md5sum.txt

Build iso

cd extract-cd

sudo mkisofs -r -V "RTAIbuntu7.10" -cache-inodes -J -l -b isolinux/isolinux.bin -c isolinux/boot.cat -no-emul-boot -boot-load-size 4 -boot-info-table -o ../ubuntu-7.10-desktop-RTAI-i386.iso .