Embedded Files
Step 1 - Prepare your machine
Perform a clean installation of Ubuntu 10.04 x86 and apply all available updates.
From now on, all commands that follow a white dot have to be typed in a terminal window (follow the rule that for each dot corresponds one command on a single line).
Get the following packages:
sudo apt-get install cvs subversion build-essential libtool automake libncurses5-dev bison flex libboost-dev libboost-program-options-dev libgsl0-dev gfortran sablotron tcl8.5-dev tk8.5-dev xaw3dg-dev libpvm3 pvm-dev libgtkhtml2-dev libvte-dev ocaml-native-compilers libqt4-dev libqwt5-qt4-dev xfonts-100dpi xfonts-75dpi ssh
If you don’t already have it get realtimesuite archive, then extract it:
sudo wget http://sourceforge.net/projects/rtaixml/files/realtimesuite/1.2/realtimesuite-1.2.tar.gz/download
sudo mv download /usr/src/realtimesuite-1.2.tar.gz
cd /usr/src
sudo tar -xvzf realtimesuite-1.2.tar.gz
Ensure that /usr/src folder contains at least the following subfolders: ‘boot’, ‘comedi’, ‘comedi_calibrate’, ‘comedilib’, ‘comedi-nonfree-firmware’, ‘ede’, ‘efltk’, ‘jrtailab’, ‘kernel’ ‘qrtailab’, ‘rtai’, ‘rtaixml’, ‘scicoslab’.
Install EFLTK library:
cd /usr/src/efltk
sudo autoconf
sudo ./configure --disable-mysql --disable-unixODBC
sudo ./emake
sudo ./emake install
sudo gedit /etc/ld.so.conf
Add a line with the path /usr/local/lib and save.
sudo /sbin/ldconfig
Step 2 - RTAI Patched Kernel
Install patched kernel:
cd /usr/src/kernel
sudo gdebi linux-headers-rtai_all.deb
sudo gdebi linux-image-rtai.deb
ls
Check for any other .deb in the folder and install it.
Check contents of src folder:
cd /usr/src
ls
Find version of rtai kernel folder in the form
linux-headers-x.x.x-x-rtai (e.g. linux-headers-2.6.32-122-rtai)
and make symbolic link (remember to replace version number):
sudo ln -s linux-headers-2.6.32-122-rtai linux
Reboot in the new Kernel:
sudo reboot
After reboot, check if patched kernel is running:
uname -r
Step 3 - First RTAI Installation
Install Comedilib:
cd /usr/src/comedilib
sudo sh autogen.sh
sudo ./configure --sysconfdir=/etc
sudo make
sudo make install
sudo make dev
Check the number of CPUs available on your machine:
cat /proc/cpuinfo | grep processor | wc -l
Enter RTAI compiling options:
cd /usr/src/rtai
sudo make menuconfig
Under Machine, set the number of CPUs that you previously found.
Exit Configuration, choosing ‘Yes’ when prompted to apply changes.
Compile and install RTAI:
sudo make
sudo make install
sudo sed -i 's/\(PATH=\"\)/\1\/usr\/realtime\/bin:/' /etc/environment
Edit grub:
sudo gedit /etc/default/grub
Change GRUB_CMDLINE_LINUX_DEFAULT="quiet splash" to GRUB_CMDLINE_LINUX_DEFAULT="quiet splash lapic"
Update grub:
sudo update-grub
Reboot the system.
After reboot, set RTAI kernel modules to be loaded at system startup:
cd /usr/src/boot
sudo cp rtailab /etc/init.d/
sudo chmod a+x /etc/init.d/rtailab
sudo update-rc.d rtailab defaults
Now load RTAI kernel modules without Comedi:
sudo /etc/init.d/rtailab preload
Step 4 - Comedi Installation
Create directory:
sudo mkdir /usr/local/include/linux
Install Comedi:
cd /usr/src/comedi
sudo sh autogen.sh
sudo ./configure --with-linuxdir=/usr/src/linux --with-rtaidir=/usr/realtime
sudo make
sudo make install
sudo depmod -a
sudo make dev
sudo ldconfig
Install Comedi Calibrate:
cd /usr/src/comedi_calibrate
sudo autoreconf -i -B m4
sudo ./configure
sudo make
sudo make install
Step 5 - Second RTAI Installation
Copy and link the following files:
sudo cp /usr/src/comedi/include/linux/comedi.h /usr/local/include/
sudo cp /usr/src/comedi/include/linux/comedilib.h /usr/local/include/
sudo ln -s /usr/local/include/comedi.h /usr/local/include/linux/comedi.h
sudo ln -s /usr/local/include/comedilib.h /usr/local/include/linux/comedilib.h
Enter RTAI compiling options:
cd /usr/src/rtai
sudo make menuconfig
Under Addons, select ‘Real Time COMEDI support in user space’ (by pressing spacebar).
Under RTAI Lab, select ‘RTAI Lab’.
Exit and save configuration.
Install RTAI:
sudo make
sudo make install
sudo cp /usr/src/comedilib/include/comedilib.h /usr/local/include/
Navigate with your web browser to http://www.comedi.org/hardware.html and find your DAQ hardware in the list; take note of name under “Driver” column.
Edit rtailab startup file with driver for your DAQ board:
sudo gedit /etc/init.d/rtailab
Replace driver on lines 33 and 55 with the one you found on Comedi website. Save and close.
Reboot system.
Step 6 - Scicoslab Installation
Navigate with File Browser to /usr/src/scicoslab
Right-click on ‘scicoslab.deb’ and select ‘Open with GDebi’.
Install package.
Repeat for ‘tkdnd1_1.0-1_i386.lucid.deb’.
Add RTAI toolbox and palette to Scicoslab:
sudo ln -s /usr/realtime/bin/rtai-config /usr/local/bin
cd /usr/src/rtai/rtai-lab/scicoslab/macros/
sudo make install
make user
Navigate with File browser to /usr/lib and check scicoslab-gtk folder name. Then make symbolic link accordingly:
cd /usr/local/bin
sudo ln -s /usr/lib/scicoslab-gtk-4.x/bin/scilab scilab
Start Scicoslab as root and check the presence of toolboxes->RTAI in the upper menu:
sudo scicoslab
Step 7 - QRTAILab Installation
Install QRTAILab:
cd /usr/src/qrtailab/qrtailab
sudo qmake-qt4
sudo make
sudo make install
Step 8 - RTAI-XML Installation
Install RTAI-XML (pay attention to terminal outputs, you’ll get useful informations on how to use it):
cd /usr/src/rtaixml
sudo make all
sudo make install
Set RTAI-XML modules to be loaded at system startup:
sudo cp /usr/src/boot/rtaixml /etc/init.d/
sudo chmod a+x /etc/init.d/rtaixml
sudo update-rc.d rtaixml defaults
Start RTAI-XML modules:
sudo /etc/init.d/rtaixml start
Step 9 - Set up jRTAI-Lab for remote control
The following instructions are for Ubuntu 10.04, though you can easily run jRTAI-Lab on any OS that supports Sun Java Virtual Machine 6.
Install JVM6:
sudo add-apt-repository "deb http://archive.canonical.com/ lucid partner"
sudo apt-get update
sudo apt-get install sun-java6-jre
Allow execution of jRTAI-Lab and run it:
sudo chmod a+x /usr/src/jrtailab/jRtaiLab.jar
java -jar /usr/src/jrtailab/jRtaiLab.jar
Congratulations, you’re done!
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