Side Warehouse of Laboratory - 遐皮ｩｶ螳､縺ｮ讓ｪ縺ｮ蛟牙ｺｫ

繧ｳ繝ｬ縺ｯ菴包ｼ�
縲�RTAI縺ｮ蟆主�･謇矩��譖ｸ縺ｧ縺吶�� 荳�闊ｬ逧�縺ｪLinux繝�繧｣繧ｹ繝医Μ繝薙Η繝ｼ繧ｷ繝ｧ繝ｳ縺ｫ縺翫＞縺ｦ繝ｪ繧｢繝ｫ繧ｿ繧､繝�蜍穂ｽ懊ｒ蜿ｯ閭ｽ縺ｨ縺吶ｋ繧ゅ�ｮ縺ｧ縺吶�� 繧ｫ繝ｼ繝阪Ν繝｢繧ｸ繝･繝ｼ繝ｫ繧貞ｮ滓凾髢薙〒蜍輔°縺吶％縺ｨ縺�縺代〒縺ｪ縺擾ｼ後Θ繝ｼ繧ｶ遨ｺ髢薙↓縺翫＞縺ｦ繧ｹ繝ｬ繝�繝峨ｒ螳滓凾髢薙〒蜍穂ｽ懊＆縺帙ｋ縺薙→繧ょ庄閭ｽ縺ｫ縺ｪ繧翫∪縺吶�� ｼ｣/�ｼ｣++縺ｮ繝ｩ繧､繝悶Λ繝ｪ繧偵◎縺ｮ縺ｾ縺ｾ蛻ｩ逕ｨ縺ｧ縺阪∪縺吶＠�ｼ後ョ繧｣繧ｹ繝励Ξ繧､�ｼ後�槭え繧ｹ�ｼ君IC遲峨��繧ゆｽｿ逕ｨ縺ｧ縺阪ｋ縺ｮ縺ｧ萓ｿ蛻ｩ縺ｧ縺吶�� 螳滄ｨ鍋ｵ先棡繧偵◎縺ｮ縺ｾ縺ｾfprintf縺ｧHDD縺ｫ繝輔ぃ繧､繝ｫ縺ｨ縺励※譖ｸ縺崎ｾｼ繧�縺薙→繧ゅ〒縺阪∪縺吶�� 騾溷ｺｦ縺ｮ髱｢縺ｧ縺ｯDSP繧ЁPGA縺ｫ縺ｯ謨ｵ縺�縺ｾ縺帙ｓ縺鯉ｼ御ｾｿ蛻ｩ縺輔〒縺ｯ蝨ｧ蛟堤噪縺ｫ縺薙■繧峨�ｮ譁ｹ縺御ｸ翫〒縺励ｇ縺�縲�

(09/06/10謾ｹ險�)

縺薙％縺ｮ蜀�螳ｹ縺ｯ蟆代��蜿､縺�縺ｮ縺ｧ�ｼ� RTAI�ｼ祈edora12 64bit 繧ゅ＠縺上�ｯ RTAI3.9�ｼ祈edora17 64bit 繧定ｩｦ縺励◆譁ｹ縺瑚憶縺�縺九ｂ縺励ｌ縺ｾ縺帙ｓ縲�(12/07/26霑ｽ險�)

繝上�ｼ繝峨え繧ｧ繧｢/繧ｽ繝輔ヨ繧ｦ繧ｧ繧｢讒区�蝉ｾ�
縲�菴ｿ逕ｨ縺励◆繝代た繧ｳ繝ｳ縺ｮ繝上�ｼ繝峨え繧ｧ繧｢縺翫ｈ縺ｳ繧ｽ繝輔ヨ繧ｦ繧ｧ繧｢讒区�舌�ｯ莉･荳九�ｮ騾壹ｊ縺ｧ縺吶��

繝上�ｼ繝峨え繧ｧ繧｢讒区�撰ｼ啀entium4 �ｼ� 845G �ｼ� Intel EtherExpressPro
繧ｽ繝輔ヨ繧ｦ繧ｧ繧｢讒区�撰ｼ嗅ernel-2.6.23 �ｼ� Slackware-12.2 �ｼ� rtai-3.7

荳願ｨ倥〒蜍穂ｽ懊ｒ遒ｺ隱阪＠縺ｦ縺�縺ｾ縺吶��

蟆主�･譁ｹ豕�
縲�縺ｾ縺壽勸騾壹↓ slackware12.2 繧貞�･繧後∪縺吶�� 豕ｨ諢冗せ縺ｨ縺励※�ｼ茎lackware繧､繝ｳ繧ｹ繝医�ｼ繝ｫ譎ゅ↓逕ｻ髱｢險ｭ螳壹ｒ Normal (default) 縺ｫ縺吶ｋ縺薙→縲� 逕ｻ髱｢縺瑚｡ｨ遉ｺ縺ｧ縺阪↑縺上↑繧翫∪縺吶��

繧､繝ｳ繧ｹ繝医�ｼ繝ｫ縺檎ｵゅｏ縺｣縺溘ｉ縲� 遐皮ｩｶ螳､縺ｧ蜈ｱ譛峨☆繧九ョ繧｣繝ｬ繧ｯ繝医Μ繧偵←縺｣縺九↓菴懊▲縺｡繧�縺�縺ｾ縺励ｇ縺�縲�

mkdir /hoge

hoge縺ｮ讓ｩ髯舌ｒ螟峨∴縺ｾ縺吶��

chmod 777 /hoge

RTAI縺ｮ繧ｫ繝ｼ繝阪Ν縺ｨ縺九�ｮ蝓ｺ繝輔ぃ繧､繝ｫ蜈･繧後ｋ繝�繧｣繝ｬ繧ｯ繝医Μ繧� hoge 縺ｫ菴懊▲縺ｦ縺翫″縺ｾ縺吶��

cd /hoge
mkdir RTAI

linux縺ｮ繧ｫ繝ｼ繝阪Ν縺ｨRTAI繧定誠縺ｨ縺励※ hoge 縺ｫ蜈･繧後※縺翫″縺ｾ縺吶�� 萓九∴縺ｰ莉･荳九°繧峨ム繧ｦ繝ｳ繝ｭ繝ｼ繝�

繧ｳ繧ｳ竊� http://www.kernel.org/pub/linux/kernel/v2.6/linux-2.6.23.tar.bz2
繧ｳ繧ｳ竊� https://www.rtai.org/RTAI/rtai-3.7.tar.bz2

縺昴�ｮ蠕後�∽ｻ･荳九〒隗｣蜃阪��

tar jxf linux-2.6.23.tar.bz2
tar jxf rtai-3.7.tar.bz2

隗｣蜃阪＠縺溷��螳ｹ繧�/usr/src縺ｫ遘ｻ縺励∪縺吶��

cd /usr/src
cp -r /hoge/RTAI/rtai-3.7 ./
cp -r /hoge/RTAI/linux-2.6.23 ./

繧ｫ繝ｼ繝阪Ν縺ｫ繝代ャ繝√ｒ蠖薙※縺ｾ縺吶��

cd /usr/src/linux-2.6.23
patch -p1 < ../rtai-3.7/base/arch/i386/patches/hal-linux-2.6.23-i386-1.12-03.patch

menuconfig 菴ｿ縺｣縺ｦ險ｭ螳壹＠縺ｾ縺吶��

make menuconfig

蠢�鬆郁ｨｭ螳夐��逶ｮ縺ｯ莉･荳九�ｮ騾壹ｊ

笳� Processor type and features
笳� Processor family
Pentium4... [SELECT] (CPU縺ｫ繧医▲縺ｦ螟画峩縺帙ｈ)
Symmetric multi-processing support 螟壹さ繧｢縺ｮ蝣ｴ蜷�[ENABLE] 蜊倥さ繧｢縺ｮ蝣ｴ蜷�[DISABLE]
Interrupt pipeline [ENABLE]

笳� Power management options (ACPI, APM)
ACPI Support (Advanced Config....) [DISABLE]
笳� CPU Frequency scaling
CPU Frequency sacaling [DISABLE]

笳� Loadable module support
Module versioning support [DISABLE]

繧ｳ繝ｳ繝代う繝ｫ縺励※繧ｫ繝ｼ繝阪Ν繧､繝｡繝ｼ繧ｸ繧呈ｧ狗ｯ峨＠縺ｾ縺吶��

make all
make modules_install
make install

縺ｩ縺�繧�繧牙享謇九↓ /boot/vmlinuz 繧呈嶌縺肴鋤縺医ｋ繧医≧縺ｧ縺ゅｋ縲� 繝舌ャ繧ｯ繧｢繝�繝励ｒ莠句燕縺ｫ蜿悶▲縺ｦ縺翫＞縺滓婿縺瑚憶縺�縺九ｂ縺励ｌ縺ｪ縺�縺後�∫塙縺ｪ繧峨ヰ繝�繧ｯ繧｢繝�繝励�ｯ蠢�隕√↑縺�縲� 縺薙％縺ｧ蜀崎ｵｷ蜍輔��

shutdown -r now

襍ｷ蜍募ｾ後↓逕ｻ髱｢縺悟�ｺ縺ｪ縺�蝣ｴ蜷医�ｯ�ｼ畦iloconf 縺ｧ vga=normal 縺ｫ縺励※LILO繧貞�肴ｧ狗ｯ峨＠縺ｾ縺励ｇ縺�縲�
襍ｷ蜍輔＠縺溘ｉ繧ｫ繝ｼ繝阪Ν縺ｮ蜷榊燕繧貞ｰ九�ｭ縺ｦ縺ｿ縺ｾ縺励ｇ縺�縲�

uname -r

縺薙％縺ｧ縲�2.6.23 縺ｨ霑斐▲縺ｦ縺上ｌ縺ｰ縺｡繧�繧薙→蜈･縺｣縺ｦ縺ｾ縺吶�� RTAI繧偵�ｶ縺｡霎ｼ縺ｿ縺ｾ縺吶��(莠瑚｡檎岼縺ｯ蜈�縺九ｉ縺ゅｋ繝ｪ繝ｳ繧ｯ繧貞ｿｵ縺ｮ縺溘ａ荳�蠎ｦ蜑企勁縺励※縺�繧九��)

cd /usr/src/
rm linux
ln -s /usr/src/linux-2.6.23 linux
cd rtai-3.7
make menuconfig

menuconfig縺ｯ繝�繝輔か繝ｫ繝医�ｮ縺ｾ縺ｾ縺ｧ縺�縺代ｋ繧医≧縺ｧ縺吶��(縺溘□縺由Tnet繧剃ｽｿ縺�蝣ｴ蜷医�ｯ隕∬ｨｭ螳�) In-kernel C++ support 繧偵メ繧ｧ繝�繧ｯ縺励◆繧峨お繝ｩ繝ｼ縲�2.6.x 縺ｧ縺ｯ縺�繧√□縺昴≧縺ｧ縺吶�� 谿句ｿｵ縲ゆｻ墓婿縺ｪ縺�縺ｮ縺ｧ繧ｫ繝ｼ繝阪Ν蜀�縺ｧ縺ｮC++縺ｯ隲ｦ繧√∪縺吶°縲� 繧ｳ繝ｳ繝代う繝ｫ縺励※繧､繝ｳ繧ｹ繧ｳ縺励∪縺吶��

make all
make install

繧ｨ繝ｩ繝ｼ縺悟�ｺ縺ｪ縺代ｌ縺ｰ縺奇ｽ九�� /etc/rc.d/rc.local縺ｮ譛�蠕後↓莉･荳九ｒ霑ｽ蜉�縺励※繝｢繧ｸ繝･繝ｼ繝ｫ縺瑚�ｪ蜍慕噪縺ｫ蜈･繧九ｈ縺�縺ｫ縺吶ｋ蠢�隕√↓蠢懊§縺ｦ繝｢繧ｸ繝･繝ｼ繝ｫ繧貞�･繧後ｋ縺薙→縲�

insmod /usr/realtime/modules/rtai_hal.ko
insmod /usr/realtime/modules/rtai_sched.ko # 繧ｫ繝ｼ繝阪Ν繝｢繝ｼ繝峨〒蜍輔°縺吶→縺�
insmod /usr/realtime/modules/rtai_lxrt.ko # 繝ｦ繝ｼ繧ｶ繝ｼ繝｢繝ｼ繝峨〒蜍輔°縺吶→縺�

/etc/profile縺ｫ霑ｽ蜉�

export PATH=/usr/realtime/bin:$PATH

縺薙ｌ繧偵＠縺ｪ縺�縺ｨ蛻ｶ蠕｡繝励Ο繧ｰ繝ｩ繝�縺稽ake縺ｧ縺阪↑縺�縺ｮ縺ｧ豕ｨ諢上�� 莉･荳九ｒ謇薙▲縺ｦRTAI縺ｮ蜍穂ｽ懊ｒ遒ｺ縺九ａ縺ｾ縺励ｇ縺�縲�

cd /usr/realtime/testsuite/user/latency
./run

縺ｪ繧薙°蜍輔＞縺ｦ縺�縺昴≧縺ｪ繝｡繝�繧ｻ繝ｼ繧ｸ縺悟�ｺ縺溘ｉ縺奇ｽ九��

	*
	*
	* Type ^C to stop this application.
	*
	*
	
	## RTAI latency calibration tool ##
	# period = 100000 (ns)
	# average time = 1 (s)
	# use the FPU
	# start the timer
	# timer_mode is oneshot
	
	RTAI Testsuite - USER latency (all data in nanoseconds)
	2009/06/8 23:16:02
	RTH|    lat min|    ovl min|    lat avg|    lat max|    ovl max|   overruns
	RTD|       -440|       -440|       -292|       1985|       1985|          0
	RTD|       -415|       -440|       -262|       6791|       6791|          0
	RTD|       -383|       -440|       -313|       5841|       6791|          0
	RTD|       -396|       -440|       -306|       1743|       6791|          0
	RTD|       -383|       -440|       -285|       7255|       7255|          0
	RTD|       -402|       -440|       -301|       1323|       7255|          0
	RTD|       -383|       -440|       -302|       7042|       7255|          0
	RTD|       -379|       -440|       -282|       1394|       7255|          0
	RTD|       -359|       -440|       -284|       1130|       7255|          0
	RTD|       -383|       -440|       -300|       7165|       7255|          0
	RTD|       -383|       -440|       -300|       7165|       7255|          0
	
	>>> S = 98.696, EXECTIME = 0.0287159