ubuntu核心編譯及RTAI的安裝
準備工作
apt-get install qt3-apps-dev build-essential kernel-package vim
apt-get install libncurses5-dev (meke menuconfig要呼叫的）
Step1 下載原始碼並解壓到/usr/src目錄下
Get the kernel source (version 2.6.32-21.32) from Ubuntu repository
# apt-get install linux-source-2.6.32=2.6.32-21.32 # wget https://www.rtai.org/RTAI/rtai-3.8.tar.bz2 # tar xjvf linux-source-2.6.32.tar.bz2 # tar xjvf rtai-3.8.tar.bz2 # ln -s linux-source-2.6.32 linux # cd linux
(實際上我使用的是2.6.35的核心+rtai-3.9)
Step2 打patch
# patch –p1 –b< ../rtai-3.9/base/arch/x86/patches/hal-linux-2.6.35.9-x86-2.8-04.patchStep3 配置
# make menuconfigCode maturity level options-> 不選
General Setup->
Support for paging of anonymous memory(swap)選
System V IPC選
BSD Process Accounting選
Loadable Module Support ->
選上Automatic kernel module loading
Processor type and features->
選上Math emulation
去掉Use register arguments
選上Compact VDSO support
Power management options->
Button改成M
Fan改成M
Processor改成M
Thermal Zone改成M
Kernel Hacking –>
去掉Compile the kernel with frame pointers
Step4 編譯核心
完成後，先去配置/usr/src/linux-source-2.6.32/linux-source-2.6.35/ubuntu/omnibook /Makefile檔案。
不然會出現ld: /ubuntu/omnibook/sections.lds: No such file: No such file or directory錯誤
在根使用者下開啟該Makefile檔案，將其中的PWD=$(shell pwd)剪下到ifeq ($(KERNELRELEASE),) 前面。然後儲存。
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
方法一：手動編譯並安裝
make clean
make -j4 （-j4是讓處理器分成四個執行緒來編譯核心，速度快，推薦CPU好的使用）
make modules_install
make install
生成initrd並修改grub相關檔案
# mkinitramfs -o ...
# update-grub
# vi /boot/grub/grub.cfg
### BEGIN /etc/grub.d/10_linux ###
menuentry 'Ubuntu, with Linux 2.6.35.4+rtaitestwensitest' --class ubuntu --class gnu-linux --class gnu --class os {
recordfail
insmod part_msdos
insmod ext2
set root='(hd0,msdos1)'
search --no-floppy --fs-uuid --set e900ef3d-fe04-413b-aaa1-54b61c68430b
linux /boot/vmlinuz-2.6.35.4+rtaitestwensitest root=UUID=e900ef3d-fe04-413b-aaa1-54b61c68430b ro quiet splash
initrd /boot/initrd.img-2.6.35.4+rtaitestwensitest
}
menuentry 'Ubuntu, with Linux 2.6.35.4+rtaitestwensitest (recovery mode)' --class ubuntu --class gnu-linux --class gnu --class os {
recordfail
insmod part_msdos
insmod ext2
set root='(hd0,msdos1)'
search --no-floppy --fs-uuid --set e900ef3d-fe04-413b-aaa1-54b61c68430b
echo 'Loading Linux 2.6.35.4+rtaitestwensitest ...'
linux /boot/vmlinuz-2.6.35.4+rtaitestwensitest root=UUID=e900ef3d-fe04-413b-aaa1-54b61c68430b ro single
echo 'Loading initial ramdisk ...'
initrd /boot/initrd.img-2.6.35.4+rtaitestwensitest
}
方法二：使用ubuntu自帶的工具
make-kpkg clean
make-kpkg --initrd --append_to_version rati39 kernel_image kernel_headers
其中--initrd必需要，不然生成不了initrd檔案
--append生成多重映象，也就是在啟動選單裡看到的選項
rati39是你自己取的映象的名字，必須以數字結尾，映象名字不能大寫。
編號核心後，就會顯示linux-2.6.20.1rati39最後兩項是生成映象包和標頭檔案包
make完之後，會在上一層目錄看到兩個deb包
dpkg –i *.deb
可以去/boot目錄下看看Vmlinuz、initrd、System.map檔案是否都在
最後，reboot
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RTAI安裝
# cd /usr/src/rtai-3.9
# make menuconfig
# make && make install
新增modprobe支援
# mkdir /lib/modules/2.6.32.11+drm33.2.openairinterface/rtai # cp -r /usr/realtime/modules/* /lib/modules/2.6.32.11+drm33.2.openairinterface/rtai/ # depmod -a # export PATH=/usr/realtime/bin:$PATH
Add the following lines at the end of /etc/modules (this loads the rtai modules needed by openair) :
rtai_smi
rtai_fifos
rtai_sem
rtai_math
rtai_sched
rtai_hal
In order to execute it at each terminal launch :
# vim /root/.bashrc Add what follows, to the end of the file # export PATH=/usr/realtime/bin:$PATH
測試
# cd /usr/realtime/testsuite/kern/latency
# ./run