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�ｼ�64bit迚� Fedora 12 繧坦TAI縺ｧ繝ｪ繧｢繝ｫ繧ｿ繧､繝�蛹悶＠縺ｾ縺吶��

縺薙％縺ｮ蜀�螳ｹ縺ｯ蟆代��蜿､縺�縺ｮ縺ｧ�ｼ� 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�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 12 64bit �ｼ� kernel-2.6.32.2 �ｼ� rtai-3.8

荳願ｨ倥〒蜍穂ｽ懊ｒ遒ｺ隱阪＠縺ｦ縺�縺ｾ縺吶�� 64bit縺ｧ繝｡繝｢繝ｪ菴ｿ縺�縺溘＞謾ｾ鬘後�� Core i7 縺ｮ繧ｳ繧｢謨ｰ縺ｯ4�ｼ後ワ繧､繝代�ｼ繧ｹ繝ｬ繝�繝�繧｣繝ｳ繧ｰ縺ｧ8縺ｪ縺ｮ縺ｧ�ｼ悟宛蠕｡繝励Ο繧ｰ繝ｩ繝�繧偵�槭Ν繝√せ繝ｬ繝�繝牙喧縺吶ｌ縺ｰ蛻ｶ蠕｡蜻ｨ譛溘′荳�豌励↓邵ｮ繧√ｉ繧後ｋ縺九ｂ縺励ｌ縺ｾ縺帙ｓ縲� 縺励°繧�64bit縲�

豕ｨ諢擾ｼ托ｼ�蠖捺婿縺ｮ迺ｰ蠅�縺ｧFedora13�ｽ�15繧定ｩｦ縺励※隕九∪縺励◆縺鯉ｼ後←縺�繧りｵｷ蜍輔↓繧�縺溘ｉ譎る俣縺後°縺九▲縺溘ｊ�ｼ茎leeping forever.. 縺ｪ縺ｩ縺ｨ陦ｨ遉ｺ縺輔ｌ襍ｷ蜍輔↓螟ｱ謨励＠縺ｾ縺吶�� 莉翫�ｮ縺ｨ縺薙ｍFedora12縺ｧ荳斐▽譛�譁ｰ迚医∈縺ｮ繧｢繝�繝励ョ繝ｼ繝医ｒ縺励↑縺�譁ｹ縺悟ｮ牙ｮ壹☆繧九ｈ縺�縺ｧ縺吶��(initrd竊段nitramfs縺梧�ｪ縺励＞�ｼ�) (12/01/25霑ｽ險�)

豕ｨ諢擾ｼ抵ｼ�繝ｩ繝ｳ繝ｬ繝吶Ν5(GUI)縺ｧ縺ｯ縺ｪ縺擾ｼ後Λ繝ｳ繝ｬ繝吶Ν3(CUI)縺ｧ襍ｷ蜍輔＠縺ｦ荳九＆縺�縲よｭ｣蟶ｸ襍ｷ蜍輔＠縺ｦ繧ら判髱｢陦ｨ遉ｺ縺悟�ｺ縺ｪ縺九▲縺溘ｊ縺吶ｋ繧医≧縺ｧ縺吶��
/etc/inittab 縺ｮ id:5:initdefault: 繧� id:3:initdefault: 縺ｫ螟画峩 (12/06/22霑ｽ險�)
�ｼ医←縺�縺励※繧９-window繧剃ｽｿ縺�縺溘＞縺ｨ縺阪�ｯ nouveau 繧堤┌蜉ｹ縺ｫ縺暦ｼ梧ｩ滉ｽ薙↓驕ｩ蜷医☆繧九げ繝ｩ繝輔ぅ繝�繧ｯ繝峨Λ繧､繝�(nVidia遲峨��)繧貞�･繧後※荳九＆縺�ｼ�


�ｼ托ｼ薩edora 12 縺ｮ繧､繝ｳ繧ｹ繝医�ｼ繝ｫ
縲�64 bit迚� Fedora 12 繧呈勸騾壹↓繧､繝ｳ繧ｹ繝医�ｼ繝ｫ縺励∪縺吶�� SSD縺後す繧ｹ繝�繝�縺ｫ縺ｪ繧九ｈ縺�縺ｫ縺励※縺翫￥縺ｨ螳滄ｨ薙′蠢ｫ驕ｩ縺ｫ縺ｪ繧翫∪縺吶��


�ｼ抵ｼ士kinitrd縺ｮ繧､繝ｳ繧ｹ繝医�ｼ繝ｫ
縲�縺ｪ縺懊°繝�繝輔か繝ｫ繝医〒蜈･縺｣縺ｦ縺�縺ｪ縺�縺ｮ縺ｧ�ｼ稽kinitrd繧偵う繝ｳ繧ｹ繝医�ｼ繝ｫ縺励∪縺吶�� 縺薙ｌ縺後↑縺�縺ｨRTAI繧貞�･繧後ｉ繧後∪縺帙ｓ縲ゆｻ･荳九ｒ蜈･蜉帙��

yum -y install mkinitrd

蝠城｡後′縺ｪ縺代ｌ縺ｰ谺｡縺ｫ陦後″縺ｾ縺吶��


�ｼ難ｼ嗣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-2.6.32.2.tar.bz2
rtai-3.8.tar.bz2

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��


�ｼ費ｼ弱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-2.6.32.2.tar.bz2
tar jxf rtai-3.8.tar.bz2

谺｡縺ｫ�ｼ後ヱ繝�繝∝ｽ薙※縺ｾ縺吶��

cd /usr/src/linux-2.6.32.2
patch -p1 < ../rtai-3.8/base/arch/x86/patches/hal-linux-2.6.32.2-x86-2.5-00.patch

縲�/rtai-3.8/base/arch/x86_64/縲阪〒縺ｯ縺ｪ縺�縺薙→縺ｫ豕ｨ諢上�� x86_64縺�縺ｨ繧医￥蛻�縺九ｊ縺ｾ縺帙ｓ縺碁ｧ�逶ｮ縺ｧ縺励◆縲� 縲�/rtai-3.8/base/arch/x86/縲阪�ｮ蝣ｴ蜷医〒繧ゅ■繧�繧薙→64bit縺ｫ縺ｪ縺｣縺ｦ繧九ｈ縺�縺ｧ縺吶�� 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′�ｼ悟､ｧ菴薙＞縺､繧る�壹ｊ縺ｧ縺吶�� 驕輔＞縺ｯCPU縺ｮ險ｭ螳壹ｒx86縺ｫ縺吶ｋ縺薙→縺舌ｉ縺�縺ｧ縺吶�� 縺昴＠縺ｦ�ｼ後さ繝ｳ繝代う繝ｫ縲�

make all

繝ｻ繝ｻ繝ｻ繝ｻ縺ｨ繝ｻ繝ｻ�ｼ�繧ｳ繝ｳ繝代う繝ｫ繧ｨ繝ｩ繝ｼ縲ゅ�ゅ�ゅ�ゅΓ繝�繧ｻ繝ｼ繧ｸ縺ｯ�ｼ�

CONFIG_NR_CPUS is too large

縺�縺昴≧縺ｧ縺吶�� 縺ｨ縺�縺�縺薙→縺ｧ�ｼ後��/usr/src/linux-2.6.32.2/.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 縺ｫ譖ｸ縺肴鋤縺医��

縺励°縺励←縺�繧ゅ％繧後□縺代〒縺ｯ鬧�逶ｮ縺ｪ繧医≧縺ｧ縺吶�� 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��

繧ゅ≧荳�蠎ｦ繧ｳ繝ｳ繝代う繝ｫ縺励∪縺吶��

make all

谺｡縺ｯ蝠城｡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｡繝ｼ繧ｸ縺ｯ縺奇ｽ九〒縺吶��


�ｼ包ｼ雑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/grub/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ｌ縺ｧ縺奇ｽ九�� 縺薙％縺ｧ蜀崎ｵｷ蜍輔＠縺ｾ縺吶��


�ｼ厄ｼ山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�ゅ％繧後〒�ｼ�2.6.32.2 縺ｫ縺ｪ縺｣縺ｦ繧九�ｯ縺壹〒縺吶�� 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-2.6.32.2 linux
cd rtai-3.8
make menuconfig

險ｭ螳夂判髱｢縺悟�ｺ縺ｦ縺阪∪縺吶�� 縺�縺､繧る�壹ｊ迚ｹ縺ｫ菴輔ｂ縺帙★菫晏ｭ倥＠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

縺薙％縺ｾ縺ｧ縺ｯ蝠城｡後↑縺励�� 縺昴＠縺ｦ譛�蠕後�ｮ髢｢髢�繧貞ｮ滓命縲�

insmod /usr/realtime/modules/rtai_hal.ko

繝ｻ繝ｻ繝ｻ繝ｻ縺ｨ繝ｻ繝ｻ�ｼ�繧ｨ繝ｩ繝ｼ縲ゅ�ゅ�ゅ�ゅΓ繝�繧ｻ繝ｼ繧ｸ縺ｯ�ｼ�

insmod: error inserting 'rtai_hal.ko': -1 Operation not permitted

�ｼ溘↑繧薙�ｮ縺薙▲縺｡繧�縲ゅ％縺｣縺｡縺ｯroot讒倥〒縺吶′菴輔°縲� 縺昴％縺ｧ�ｼ�

dmesg

繧貞�･繧後※dmesg縺ｧ繝ｭ繧ｰ繧定ｦ九※縺ｿ繧九→�ｼ�

RTAI[hal]: RTAI CONFIGURED WITH LESS THAN NUM ONLINE CPUS.

縺ｪ繝ｼ繧九⊇縺ｩ縲ゅ↑縺ｮ縺ｧ�ｼ後�稽ake menuconfig縲阪∪縺ｧ驕｡縺｣縺ｦ繧�繧顔峩縺励��

make menuconfig

險ｭ螳夂判髱｢縺悟�ｺ繧九�ｮ縺ｧ�ｼ後Γ繝九Η繝ｼ縺九ｉ�ｼ�

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

縺ｨ縺励※�ｼ靴PU縺ｮ謨ｰ繧貞｢怜刈縲� 蜀阪�ｳ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

縺昴＠縺ｦ繧ゅ≧荳�蠎ｦ譛�蠕後�ｮ髢｢髢�縺ｮ遯∫�ｴ繧定ｩｦ縺ｿ繧九��

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

縺奇ｼ悟撫鬘後↑縺�繧医≧縺�縲� 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

overruns縺ｯ髮ｶ縲ゅ☆縺ｰ繧峨＠縺�縲ょｮ檎挑縺ｧ縺ゅｋ縲� 縺薙ｌ縺ｧ蛻ｶ蠕｡諤ｧ閭ｽ螟ｧ蟷�縺ｫ蜷台ｸ翫��


逡ｪ螟也ｷｨ縲�繧ｭ繝ｼ繝懊�ｼ繝峨′蜉ｹ縺九↑縺�ｼ�
縲�繝ｪ繧｢繝ｫ繧ｿ繧､繝�繧ｫ繝ｼ繝阪Ν荳翫〒Fedora繧定ｵｷ蜍輔☆繧九→�ｼ後↑縺懊°PS/2繧ｭ繝ｼ繝懊�ｼ繝峨′蜉ｹ縺九↑縺�縲� 縺昴ｌ繧ょ�昴ａ縺ｮ縺�縺｡縺ｯ菴ｿ縺医ｋ縺ｮ縺�縺鯉ｼ梧焚譁�蟄暦ｽ樊焚蜊∵枚蟄怜�･蜉帙☆繧九→遯∫┯蜿榊ｿ懊＠縺ｪ縺上↑繧九�� Num Lock縺輔∴繧ょ渚蠢懊＠縺ｪ縺�縲� RT-Linux譎ゆｻ｣縺ｮ縺薙ｍ繧ゅく繝ｼ繝懊�ｼ繝峨′蜉ｹ縺九↑縺上↑繧倶ｺ区�九′縺ゅ▲縺溘�ｮ縺ｧ�ｼ後◎縺ｮ謨呵ｨ薙°繧会ｼ�

chkconfig --level 2345 gpm off

縺ｨ縺励※gpm繧呈ｭ｢繧√※縺ｿ縺溘′螟峨ｏ繧峨★縲� dmesg縺ｧ繝ｭ繧ｰ繧定ｦ九※縺ｿ繧九→�ｼ�

PNP: PS/2 appears to have AUX port disabled, if this is incorrect please boot with i8042.nopnp

縺ｪ繧倶ｸ�譁�縺後�� 縺昴％縺ｧ�ｼ後��/boot/grub/grub.conf縲阪↓縲景8042.nopnp縲阪ｒ霑ｽ蜉�縺吶ｌ縺ｰdmesg縺ｮ縺昴�ｮ繝ｭ繧ｰ縺ｯ豸医∴繧九�ｮ縺�縺鯉ｼ檎ｵ仙ｱ�繝�繝｡縺�縺｣縺溘��
縲�縺ｨ縺�縺�縺薙→縺ｧ�ｼ訓S/2繧ｭ繝ｼ繝懊�ｼ繝峨ｒ菴ｿ縺�縺薙→繧定ｫｦ繧�ｼ袈SB繧ｭ繝ｼ繝懊�ｼ繝峨ｒ菴ｿ縺�縺ｾ縺吶�� USB繧ｭ繝ｼ繝懊�ｼ繝峨↑繧峨↑繧薙ｉ蝠城｡後↑縺�繧医≧縺ｧ縺吶��






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