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robotsoftware:mobotware:rtai [2012/02/20 15:30]
claes [RTAI API] 		robotsoftware:mobotware:rtai [2012/03/01 15:36]
claes [RTAI and MobotWare]
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   * [[http://www.rtxi.org/install/manual-installation/]]   * [[http://www.rtxi.org/install/manual-installation/]]
   * [[https://www.rtai.org/index.php?module=documents&JAS_DocumentManager_op=downloadFile&JAS_File_id=32|RTAI: a Beginner's Guide]]   * [[https://www.rtai.org/index.php?module=documents&JAS_DocumentManager_op=downloadFile&JAS_File_id=32|RTAI: a Beginner's Guide]]
 +
 +<note warning>This guide has until now only worked with
 +  *Ubuntu 11.10
 +  *RTAI 3.8.1
 +  *Linux Kernel 2.6.32.57
 +</note>
  
 ===== Installing RTAI ===== ===== Installing RTAI =====
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 The latest stable RTAI packages can also be downloaded via Synaptic Package Manager, apt or aptitude. The latest stable RTAI packages can also be downloaded via Synaptic Package Manager, apt or aptitude.
 +
 +<note tip>On the Frobobox is ubuntu 10.04. There it is RTAI 3.7 and not 3.8. But we are still using the same kernel.</note>
  
 ==== Patch the Kernel ==== ==== Patch the Kernel ====
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 When you understand how to compile a kernel follow the instructions in the guide. The command we used to compile the kernel was When you understand how to compile a kernel follow the instructions in the guide. The command we used to compile the kernel was
   make-kpkg --initrd --append-to-version=rtai  buildpackage   make-kpkg --initrd --append-to-version=rtai  buildpackage
-  +If you are using an older RTAI patch you may get the following error: 
 +  include/linux/ipipe.h:76:2: error: #error "CONFIG_NR_CPUS is too large, please lower it." 
 +To fix this disable sparse irq numbering (CONFIG_SPARSE_IRQ=n): Processor type and features ---> Support sparse irq numbering ---> disabled
 ==== Compiling RTAI ==== ==== Compiling RTAI ====
 We had alot of trouble when compiling RTAI. So test with differet configuration to get it compiled. We had alot of trouble when compiling RTAI. So test with differet configuration to get it compiled.
  
-One big problem was the paths tho different libs. That was solved with the following script:+One big problem was the paths tho different libs. That was solved with the following script:\\ 
 +Problem  
 +  /usr/include/features.h:323:26: fatal error: bits/predefs.h: No such file or directory 
 +Solution
 <file bash ad_cpath.sh> <file bash ad_cpath.sh>
 #!/bin/bash #!/bin/bash
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 remember to make it runable with remember to make it runable with
   chmod a+x ad_cpath.sh   chmod a+x ad_cpath.sh
-  +Make sure you run the script. Or else the problem is not solved. 
 + 
 +=== On the Frobobox === 
 +Because of this problem [[http://blog.gmane.org/gmane.linux.real-time.rtai/month=20100201]] use the patch from 3.7 but install RTAI 3.8 
  
  
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 [[https://www.rtai.org/documentation/magma/html/api/]] [[https://www.rtai.org/documentation/magma/html/api/]]
  
-===== Links =====+===== Links that is somehow useful =====
   *[[https://www.rtai.org/]]   *[[https://www.rtai.org/]]
   *[[http://www.rtai.dk/cgi-bin/gratiswiki.pl]]   *[[http://www.rtai.dk/cgi-bin/gratiswiki.pl]]
 +  *http://www.rtaixml.net/realtime-suite/part-2---machine-setup
 +  *http://wiki.linuxcnc.org/cgi-bin/wiki.pl?Ubuntu10.04Notes
  

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