文件列表:

rtai-3.1-test3 (0, 2004-06-27)
rtai-3.1-test3\rtai-core (0, 2004-06-27)
rtai-3.1-test3\rtai-core\config (0, 2004-06-27)
rtai-3.1-test3\rtai-core\config\autoconf (0, 2004-06-27)
rtai-3.1-test3\rtai-core\config\autoconf\INSTALL (9240, 2004-06-06)
rtai-3.1-test3\rtai-core\config\autoconf\acinclude.m4 (26353, 2004-06-06)
rtai-3.1-test3\rtai-core\config\autoconf\compile (2774, 2004-06-06)
rtai-3.1-test3\rtai-core\config\autoconf\config.guess (41449, 2004-06-06)
rtai-3.1-test3\rtai-core\config\autoconf\config.sub (29986, 2004-06-06)
rtai-3.1-test3\rtai-core\config\autoconf\depcomp (13303, 2004-06-06)
rtai-3.1-test3\rtai-core\config\autoconf\install-sh (6315, 2004-06-06)
rtai-3.1-test3\rtai-core\config\autoconf\ltmain.sh (142449, 2004-06-06)
rtai-3.1-test3\rtai-core\config\autoconf\missing (10270, 2004-06-06)
rtai-3.1-test3\rtai-core\config\autoconf\mkinstalldirs (1988, 2004-06-06)
rtai-3.1-test3\rtai-core\config\autoconf\arch2host.sh (576, 2004-06-06)
rtai-3.1-test3\rtai-core\config\autoconf\docbook.m4 (5444, 2004-06-06)
rtai-3.1-test3\rtai-core\config\kconfig (0, 2004-06-27)
rtai-3.1-test3\rtai-core\config\kconfig\lxdialog (0, 2004-06-27)
rtai-3.1-test3\rtai-core\config\kconfig\lxdialog\checklist.c (9765, 2004-06-06)
rtai-3.1-test3\rtai-core\config\kconfig\lxdialog\colors.h (5384, 2004-06-06)
rtai-3.1-test3\rtai-core\config\kconfig\lxdialog\dialog.h (5936, 2004-06-06)
rtai-3.1-test3\rtai-core\config\kconfig\lxdialog\inputbox.c (6179, 2004-06-06)
rtai-3.1-test3\rtai-core\config\kconfig\lxdialog\lxdialog.c (6023, 2004-06-06)
rtai-3.1-test3\rtai-core\config\kconfig\lxdialog\menubox.c (12844, 2004-06-06)
rtai-3.1-test3\rtai-core\config\kconfig\lxdialog\msgbox.c (2529, 2004-06-06)
rtai-3.1-test3\rtai-core\config\kconfig\lxdialog\textbox.c (15576, 2004-06-06)
rtai-3.1-test3\rtai-core\config\kconfig\lxdialog\util.c (9620, 2004-06-06)
rtai-3.1-test3\rtai-core\config\kconfig\lxdialog\yesno.c (3067, 2004-06-06)
rtai-3.1-test3\rtai-core\config\kconfig\Makefile.kconfig (5371, 2004-06-06)
rtai-3.1-test3\rtai-core\config\kconfig\conf.c (10700, 2004-06-06)
rtai-3.1-test3\rtai-core\config\kconfig\confdata.c (7993, 2004-06-06)
rtai-3.1-test3\rtai-core\config\kconfig\expr.c (25007, 2004-06-06)
rtai-3.1-test3\rtai-core\config\kconfig\expr.h (4890, 2004-06-06)
rtai-3.1-test3\rtai-core\config\kconfig\gconf.c (41527, 2004-06-06)
rtai-3.1-test3\rtai-core\config\kconfig\gconf.glade (20976, 2004-06-06)
rtai-3.1-test3\rtai-core\config\kconfig\images.c (6565, 2004-06-06)
rtai-3.1-test3\rtai-core\config\kconfig\kconfig_load.c (653, 2004-06-06)
rtai-3.1-test3\rtai-core\config\kconfig\lex.zconf.c_shipped (105014, 2004-06-06)
rtai-3.1-test3\rtai-core\config\kconfig\lkc.h (2739, 2004-06-06)
... ...

Installing RTAI-3.x =================== 1. How to build =============== 1.1 Standard procedure ---------------------- The new RTAI build system is a merge of Linux's Kconfig with autoconf/automake/libtool. Therefore, you can either build RTAI: 1.1.1 Interactive configuration ------------------------------- 1) Into the source tree like with 24.1.x (your_source_dir == your_build_dir). Just run either: $ make xconfig # (Qt-based) $ make gconfig # (GTK-based) $ make menuconfig (dialog-based as in 24.1.x) Save your configuration, wait for the shell prompt to come back after the configuration script has fully finished, then run "make". 2) Outside the source tree (preferred way). From your fresh build directory, either run: $ make -f $source_tree/makefile srctree=$source_tree xconfig $ make -f $source_tree/makefile srctree=$source_tree gconfig $ make -f $source_tree/makefile srctree=$source_tree menuconfig If you are using a version of make >= 3.80, then you can even get rid of the "srctree=$source_tree" setting. The makefile will infere its value properly. 1.1.2 Non-interactive configuration ----------------------------------- Since RTAI 3.x has autoconf inside, people needing automatic non-interactive configuration can directly use the provided GNU configure script for this purpose. The available configuration switches can be listed by running ./configure --help. The RTAI-specific switches are: --enable-trace Enable trace support --enable-math Enable math support --enable-bits Enable bits IPC support --enable-fifos Enable fifo IPC support --enable-netrpc Enable netrpc support --enable-netrpc-rtnet Enable netrpc emulation of RTNet --enable-sem Enable semaphore support --enable-msg Enable messaging support --enable-mbx Enable mailbox support --enable-tbx Enable typed mailbox support --enable-mq Enable POSIX-like message queue support --enable-shm Enable shared memory support --enable-malloc Enable real-time malloc support --enable-tasklets Enable tasklets support --enable-usi Enable user-space interrupt support --enable-watchdog Enable watchdog support --enable-leds Enable leds-based debugging support --enable-sched-up Enable UP scheduler support --enable-sched-smp Enable SMP scheduler support --enable-sched-mup Enable MUP scheduler support --enable-sched-lxrt Enable LXRT scheduler support --enable-sched-lock-isr Enable scheduler lock in ISRs --enable-sched-8254-latency= Set 8254 tuning latency --enable-sched-apic-latency= Set APIC tuning latency --enable-sched-lxrt-numslots= Set number of LXRT slots --enable-cplusplus Build in-kernel C++ support --enable-comedi-lxrt Enable comedi/LXRT support --enable-serial Build real-time serial driver --enable-testsuite Build RTAI testsuite --enable-xenomai Build Xenomai sub-system --enable-xenomai-debug Enable Xenomai debug --enable-psos-skin Build Xenomai-based pSOS+ emulator --enable-vxworks-skin Build Xenomai-based VxWorks emulator --enable-vrtx-skin Build Xenomai-based VRTX emulator --enable-uitron-skin Build Xenomai-based uITRON API skin --enable-pse51-skin Build Xenomai-based PSE51 API skin --enable-xenomai-vm Build Xenomai user-space VMs --enable-rtailab Build RTAI-Lab --enable-fpu Enable FPU support --enable-math-c99 Enable math C99 support --enable-malloc-vmalloc Enable vmalloc support in malloc --enable-cpus Enable CPUs --enable-dox-doc Build Doxygen documentation --enable-dbx Build Docbook XML documentation. --enable-dbx-network Try to access Docbook DTD and XSL stylesheets through network. --enable-latex-doc Build LaTeX documentation --enable-verbose-latex Uses LaTeX non-stop mode --enable-compat Enable compatibility mode --enable-module-debug Enable debug information in kernel modules --enable-user-debug Enable debug information in user-space programs --enable-sim Build RTAI simulator (MVM) Some configuration targets in rtai-core/ can either produce a module, or be statically linked to the RTAI schedulers. Either pass "m" for the modular build to their respective --enable-xxx switch, or "y" for selecting the built-in mode. 1.1.3 Recycling a configuration file ------------------------------------ You can also recycle an existing .rtai_config file from a previous build by running: $ cp -rp $old_builddir/.rtai_config \ $new_builddir/.rtai_config $ cd $new_builddir $ make -f $source_tree/makefile srctree=$source_tree oldconfig 1.1.4 Selecting alternate compilers ----------------------------------- Compiler selection must be done at _configuration_ time. One only needs to pass the right values for the standard environment variables CC and CXX, respectively for compiling C and C++ source files. In any case, using a GCC toolchain is mandatory. When unspecified, these variables's values respectively default to "gcc" and "g++". WARNING: this selection is not aimed at toggling the cross-compilation mode on. In order to do so, please refer to 1.2. Examples: # Start configuring using the Qt-based GUI with alternate compilers $ make xconfig CC=/my/favourite/c/compiler CXX=/my/favourite/c++/compiler # Reconfiguring a previous build tree, changing the compilers on-the-fly. $ make reconfig CC=/my/favourite/c/compiler CXX=/my/favourite/c++/compiler # Rebuild all [and optionally install] $ make [all [install]] CAVEAT: Since the autoconf-based engine needs to analyze the compilers's features and crams the CC and CXX values into the Makefiles it produces, passing CC and CXX variables at build time simply does _not_ work for the purpose of selecting alternate compiler toolchains. Again, you need to let the configuration engine know about these new settings as explained above. 1.2 Cross-compilation support ----------------------------- Simply add ARCH and CROSS_COMPILE variables as usual to the standard command lines, e.g. $ make -f $source_tree/makefile ARCH=arm CROSS_COMPILE=arm-linux- Names of available architectures can be found under rtai-core/arch/*. 1.3 Installing the software --------------------------- When the standard (or cross-) compilation has finished: $ cd $builddir $ make install Everything needed to use the RTAI distribution will be copied there out of the build tree. From now on, you should be able to refer to the installation directory as the root of a complete standalone binary RTAI distribution. One may also choose to install the RTAI programs under a temporary staging tree by passing the standard DESTDIR variable to "make" while installing. e.g. $ make install DESTDIR=/mnt/target will create a standard RTAI hierarchy under /mnt/target, keeping the original prefix information unmodified. If the installation directory selected at configuration time was "/usr/realtime", then the command above will put the RTAI binary distribution under /mnt/target/usr/realtime. WARNING: running "make install" is required to run several standard RTAI programs correctly. RTAI 3.x enforces the actual split between the source distribution tree, the build tree where RTAI is going to be compiled, and the final installation directory where RTAI programs can be run eventually. In any case, you should only rely on the installation directory contents to run RTAI programs. 1.4 Compiling parts of the tree ------------------------------- RTAI developers may want to recompile parts of the tree from times to times. This automake-based build system allows it: just go to the proper directory level, then issue "make", as usual. This process will recurse as needed. The "makefile" (small caps) found in the root source directory is used to bootstrap the build system when it is about to be configured for the first time. After the first configuration has been successful, one just need to run "make xconfig|gconfig|menuconfig|..." as usual. 1.5 Changing the configuration ------------------------------ Each time you want to change your configuration, just run "make xconfig|gconfig|menuconfig" in your build dir, then "make" (or "make all"). If you only want to rerun the "configure" script using the current RTAI configuration, just run "make reconfig", there is no need to restart any GUI for that. When invoked for the first time in an empty build directory, the default "make" goal is "menuconfig" in a regular terminal, or "xconfig" in an emacs-term. 1.6 Modifying the autotool template files ----------------------------------------- If you have to change some template files used by any of the autotools (i.e. Makefile.am, configure.in, acinclude.m4), then you will need the following pack to rebuild the derived files: o autoconf 2.57 o automake 1.7.8 o aclocal 1.7.8 o libtool 1.4.3 1.7 Using the integrated calibration tool ----------------------------------------- RTAI 3.0 comes with a brand new calibration tool which should help you determining if your hardware platform is up to the hard real-time duties. You can find this tool under $installdir/calibration. Here is the output of this tool's help message for x86-based platforms: $ ./calibration --help OPTIONS: -h, --help print usage -r, --r8254 calibrate 8254 oneshot programming type -k, --kernel oneshot latency calibrated for scheduling kernel space tasks -u, --user oneshot latency calibrated for scheduling user space tasks -p , --period the period of the underlying hard real time task/intr, default 100 (us) -t , --time set the duration of the requested calibration, default 5 (s) -c, --cpufreq calibrate cpu frequency -a, --apic calibrate apic frequency -b, --both calibrate both apic and cpu frequency -i, --interrupt check worst case interrupt locking/contention on your PC -s, --scope toggle parport bit to monitor scheduling on a scope, default y(es) 2. Bootstrapping with vesuvio in 7 steps ======================================== >1. patch and build a vanilla Linux kernel tree with the RTAI support as usual. Patches for x86 are available from vesuvio/rtai-core/arch/i386/patches/. Apply only one of them that matches the Linux kernel version ("hal" selects Adeos, "legacy" selects the old RTHAL), like this: $ cd $linux-src-dir $ patch -p1 < rtai-core/arch/$arch/patches/patchfile >2. $ mkdir $builddir && cd $builddir >3. $ make -f ../vesuvio/makefile srctree=../vesuvio >4. a GUI should pop up, allowing you to configure RTAI: o default settings should be ok for most platforms o in the "General" section, set your site values for the RTAI installation directory (defaults to /usr/realtime) and Linux kernel tree (defaults to /usr/src/linux). o save and exit. -- At this point, you should see the typical output of a GNU configure script. Your RTAI settings are being used to setup the autoconf/automake-based build system. -- >5. $ make install RTAI will be compiled then installed under the directory you specified at configuration time (ensure that your shell can write to the destination directory). Remember to add $installdir/bin to your shell PATH variable, where $installdir is your site value for the RTAI installation directory. -- >6. $ cd $installdir/testsuite/kern/latency >7. $ ./run If "sudo" is installed on your box, the application loader script (rtai-load) will attempt to use it for running privileged commands (e.g. insmod, rmmod et al.) If sudo is not available, just "su" manually before running the run script. You should then see the typical output of the latency calibration program running in kernel space. Hit ^C to stop it. -- 02/15/2004

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