Side Warehouse of Laboratory

繧ｳ繝ｬ縺ｯ菴包ｼ�
縲�RTAI繧�64bit縺ｧ蜍輔°縺帙ｋ縺九←縺�縺玖ｩｦ縺励※縺ｿ縺ｾ縺吶�� 縺薙％縺ｧ縺ｯ 64bit迚� Fedora 17 繧坦TAI縺ｧ繝ｪ繧｢繝ｫ繧ｿ繧､繝�蛹悶＠縺ｾ縺吶�� 繧�縺｣縺ｱ繧翫☆繧薙↑繧翫�ｯ陦後°縺ｪ縺�繧医≧縺ｧ縺吶�� 驥崎ｦ√↑繝昴う繝ｳ繝医′縺ゅｊ縺ｾ縺吶��
(荳玖ｨ倥�ｯ�ｼ梧ｲｼ豢･鬮伜ｰ� 螻ｱ荵句��蜈育函縺ｫ縺泌鵠蜉帙ｒ鬆ゅ″縺ｾ縺励◆ 諢溯ｬ�!)

繝上�ｼ繝峨え繧ｧ繧｢/繧ｽ繝輔ヨ繧ｦ繧ｧ繧｢讒区�蝉ｾ�
縲�莉雁屓菴ｿ逕ｨ縺励◆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�撰ｼ唔ntel Core i7 870 @ 2.93 GHz �ｼ� Gigabyte P55-UD3R �ｼ� Intel SSD X25-M
繧ｽ繝輔ヨ繧ｦ繧ｧ繧｢讒区�撰ｼ哥edora 17 64bit �ｼ� kernel-2.6.38.8 �ｼ� rtai-3.9-test2

荳願ｨ倥〒蜍穂ｽ懊ｒ遒ｺ隱阪＠縺ｦ縺�縺ｾ縺吶��

�ｼ托ｼ薩edora 17 縺ｮ繧､繝ｳ繧ｹ繝医�ｼ繝ｫ
縲�64 bit迚� Fedora 17 (x86_64) 繧呈勸騾壹↓繧､繝ｳ繧ｹ繝医�ｼ繝ｫ縺励∪縺吶��

�ｼ抵ｼ嗣ernel 縺ｨ RTAI 縺ｮ繝�繧ｦ繝ｳ繝ｭ繝ｼ繝�
縲�Linux縺ｮkernel縺ｨRTAI縺ｮ繝代ャ繝√ｒ蜈･謇九＠縺ｾ縺吶�ょｿ�隕√↑縺ｮ縺ｯ莉･荳九�ｮ繝輔ぃ繧､繝ｫ縺ｧ縺吶��

linux-2.6.38.8.tar.bz2 (萓九∴縺ｰ繧ｳ繧ｳ竊�http://www.kernel.org/pub/linux/kernel/v2.6/)
rtai-3.9-test2.tar.bz2 (萓九∴縺ｰ繧ｳ繧ｳ竊�https://www.rtai.org/RTAI/)

縺薙ｌ繧偵◎繧後◇繧後�ｮ譛ｬ螳ｶ縺九ｉ關ｽ縺ｨ縺励※縺阪∪縺吶��
(霑ｽ險假ｼ嗷tai-3.9.tar.bz2 繧ゅΜ繝ｪ繝ｼ繧ｹ縺輔ｌ縺溘ｈ縺�縺ｧ縺吶�ゅ％縺｡繧峨�ｮ譁ｹ縺後＞縺�縺九ｂ縲�)

�ｼ難ｼ弱Μ繧｢繝ｫ繧ｿ繧､繝�繧ｫ繝ｼ繝阪Ν繧､繝｡繝ｼ繧ｸ縺ｮ菴懈��
縲�縺輔※譌ｩ騾欒TAI縺ｮ繝代ャ繝√ｒ蠖薙※縺ｾ縺吶�� 縺ｾ縺夊誠縺ｨ縺励◆繝輔ぃ繧､繝ｫ繧�/usr/src縺ｧ隗｣蜃阪��

tar jxf linux-2.6.38.8.tar.bz2
tar jxf rtai-3.9-test2.tar.bz2

谺｡縺ｫ�ｼ後ヱ繝�繝∝ｽ薙※縺ｾ縺吶��

cd /usr/src/linux-2.6.38.8
patch -p1 < ../rtai-3.9-test2/base/arch/x86/patches/hal-linux-2.6.38.8-x86-2.11-01.patch

繧ｳ繝ｳ繝代う繝ｫ縺ｮ險ｭ螳壹＠縺ｾ縺吶��

make menuconfig

險ｭ螳夂判髱｢縺悟�ｺ縺ｦ縺阪∪縺吶′�ｼ後＞縺､繧る�壹ｊ縺ｧ縺吶��

笳� Enable loadable module support
Module versioning support 竊� DISABLE (繝�繝輔か縺ｧDisable縺�縺悟ｿｵ縺ｮ縺溘ａ遒ｺ隱�)
笳� Processor type and features
Processor family 竊� Generic-x86-64
笳� Power management options
CPU Frequency scaling 竊� DISABLE

邨ゆｺ�縺励※菫晏ｭ倥�� 縺昴�ｮ蠕後Γ繧､繧ｯ縺励◆縺�縺ｨ縺薙ｍ縺�縺鯉ｼ�

make all

縺ｨ縺吶ｋ縺ｨ�ｼ檎嶌螟峨ｏ繧峨★�ｼ�

CONFIG_NR_CPUS is too large

縺ｨ縺�縺�繧ｨ繝ｩ繝ｼ縺悟�ｺ繧九�ｮ縺ｧ�ｼ後��/usr/src/linux-2.6.38.8/.config縲阪ヵ繧｡繧､繝ｫ繧帝幕縺�縺ｦ譖ｸ縺肴鋤縺医∪縺吶��

vi .config
CONFIG_NR_CPUS=256 縺ｮ陦後ｒ謗｢縺励※�ｼ靴ONFIG_NR_CPUS=16 (繝�繧ｭ繝医�ｼ縺ｫ螟壹ａ)縺ｫ譖ｸ縺肴鋤縺医��

縺輔ｉ縺ｫ譖ｸ縺肴鋤縺医��

CONFIG_SPARSE_IRQ=y 縺ｮ陦後ｒ謗｢縺励※�ｼ靴ONFIG_SPARSE_IRQ=n 縺ｫ譖ｸ縺肴鋤縺医��

縺昴�ｮ蠕後↓繧ｳ繝ｳ繝代う繝ｫ縺励∪縺吶��

make all

縺溘∪縺ｫ隴ｦ蜻翫′縺｡繧峨⊇繧牙�ｺ縺ｾ縺吶′�ｼ悟撫鬘後↑縺�繧医≧縺ｧ縺吶�� 邯壹＞縺ｦ繧､繝ｳ繧ｹ繝医�ｼ繝ｫ縲�

make modules_install
make install

縺薙ｌ縺ｧ繧､繝｡繝ｼ繧ｸ菴懈�仙ｮ御ｺ�

�ｼ費ｼ雑RUB縺ｮ險ｭ螳�
繝悶�ｼ繝医Ο繝ｼ繝�縺ｮ險ｭ螳壹ｒ縺励∪縺吶�� 縺翫◎繧峨￥閾ｪ蜍輔〒RTAI�ｼ祈edora縺ｮ縺溘ａ縺ｮ險ｭ螳壹′縺輔ｌ縺ｦ縺�繧九�ｯ縺壹〒縺吶′�ｼ御ｸ�驛ｨ譖ｸ縺肴鋤縺医∪縺吶��

vi /boot/grub2/grub.conf
default=1 繧� default=0 縺ｫ螟画峩(繝�繝輔か繝ｫ繝医〒RTAI縺瑚ｵｷ蜍輔☆繧九ｈ縺�縺ｫ蜷�閾ｪ縺ｧ險ｭ螳�)
timeout=0 繧� timeout=10 縺ｫ螟画峩
hiddenmenu 繧偵さ繝｡繝ｳ繝医い繧ｦ繝�

縺薙％縺ｧ蜀崎ｵｷ蜍輔＠縺ｾ縺吶��

�ｼ包ｼ山TAI縺ｮ繧､繝ｳ繧ｹ繝医�ｼ繝ｫ
蜀崎ｵｷ蜍輔′螳御ｺ�縺励◆繧会ｼ�

uname -r

縺ｨ謇薙▲縺ｦ縺ｿ縺ｾ縺吶�� 2.6.38.8 縺ｫ縺ｪ縺｣縺ｦ繧後�ｰ縺奇ｽ九�� RTAI繧偵さ繝ｳ繝代う繝ｫ縺励※縺ｶ縺｡霎ｼ縺ｿ縺ｾ縺吶��

cd /usr/src/
ln -s /usr/src/linux-2.6.38.8 linux
cd rtai-3.9-test2
make menuconfig

險ｭ螳夂判髱｢縺悟�ｺ縺ｦ縺阪∪縺吶�� 縺薙％縺ｧ菴輔ｂ險ｭ螳壹○縺壹↓make�ｼ�insmod縺吶ｋ縺ｨ�ｼ�insmod: error inserting 'rtai_hal.ko': -1 Operation not permitted 縺ｨ縺�縺�繧ｨ繝ｩ繝ｼ縺悟�ｺ繧句�ｴ蜷医′縺ゅｋ縺ｮ縺ｧ�ｼ後Γ繝九Η繝ｼ縺九ｉ�ｼ�

笳� Machine (x86_64)
Number of CPUs 竊� 16

縺ｨ險ｭ螳壹＠縺ｦ�ｼ御ｿ晏ｭ倥＠縺ｦ邨ゆｺ�縲� 縺昴＠縺ｦ繧ｳ繝ｳ繝代う繝ｫ�ｼ�繧､繝ｳ繧ｹ繝医�ｼ繝ｫ縲�

make all
make install

縺ｯ縺�縲√お繝ｩ繝ｼ逋ｺ逕溘�ゅム繝｡繝ｼ縲� base/include/rtai_lxrt.h:655: 縺�繧阪＞繧肴悴螳夂ｾｩ縺�縺ｨ縺ｮ縺溘∪縺�縺ｮ縺ｧ�ｼ�

縲�/usr/src/rtai-3.9-test2/base/include/rtai_lxrt.h縲阪�ｮ蜀帝�ｭ縺ｫ縲�#include <linux/sched.h>縲阪ｒ縺ｶ縺｡霎ｼ繧�

縺薙ｌ縺御ｻ雁屓縺ｮ驥崎ｦ√�昴う繝ｳ繝医�� 繧ゅ≧荳�蠎ｦ�ｼ�

make all
make install

縺昴ｓ縺ｧ繧ゅ▲縺ｦ�ｼ�

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

縺奇ｽ九�� 莉･荳九ｒ蜈･蜉帙＠縺ｦ蜍穂ｽ懃｢ｺ隱阪ｒ螳滓命縲�

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