======================================================================
======== RTAI for PowerPC Systems running DENX Linux 2.4.x =========
======================================================================
Installation:
-------------
This installation assumes that you use the ELDK (Embedded Linux
Development Kit, see http://www.denx.de/re/ELDK.html).
The following sample installation is for a TQM860L module, which
requires the kernel source tree "linux-2.4" checked out with the
revision tag "LABEL_2003_05_01_1320":
1. Checkout the DENX Linux kernel source tree with the specified
date. When prompted for a password for anonymous, simply press
the Enter key:
$ LINUX_TREE="linux-2.4"
$ CVS_TAG="LABEL_2003_05_01_1320"
$ cvs -d :pserver:anonymous@www.denx.de:/cvsroot login
$ cvs -z6 -d :pserver:anonymous@www.denx.de:/cvsroot \
co -P -r $CVS_TAG $LINUX_TREE
$ export LINUX_ROOT=$PWD/$LINUX_TREE
2. Get and apply the RTAI kernel patch. You may first want to use
the option "--dry-run" to check if it applies flawlessly:
$ KERNEL_PATCH="patch-denx-${LINUX_TREE}-${CVS_TAG}"
$ URL="ftp://ftp.denx.de/pub/RTAI/24.1.11"
$ wget $URL/$KERNEL_PATCH
$ cd $LINUX_ROOT
$ patch -p1 -b -z.PRE_RTAI < ../$KERNEL_PATCH
3. Configure and make the RTAI patched Linux kernel:
$ export CROSS_COMPILE=ppc_8xx-
$ make TQM860L_config
$ make menuconfig
... make additional configuration ...
$ make dep
$ make pImage
$ cp -p arch/ppc/mbxboot/pImage /tftpboot
4. Unfold, configure and make RTAI. [Instead of using the Validated
Release you could checkout "rtai4" from the CVS repository.]
Usually the default configuration is OK. Just for the IBM 405GP
you must disable the floating point support manually.
$ export CROSS_COMPILE=ppc_8xx-
$ cd <directory-shared-with-target>
$ wget $URL/rtai-24.1.11-denx.tar.bz2
$ bzip2 -dc rtai-24.1.11-denx.tar.bz2 | tar xf -
$ cd rtai-24.1.11
$ make
sh ./configure
Enter location of Linux source tree [...]: /temp/rtai/linux-2.4
using LINUXDIR=/temp/rtai/linux-2.4
using CROSS_COMPILE=ppc_8xx-
using ARCH=ppc
#
# Using defaults found in scripts/config.dist
#
*
* Code maturity level options
*
*
Prompt for experimental code (CONFIG_RTAI_EXPERIMENTAL) [N/y/?]
*
* Schedulers
*
UP scheduler (CONFIG_RTAI_SCHED_UP) [M/n/?]
*
* Features
*
*
* Floating point support disabled (kernel reports non-FPU processor)
*
*
*
*
* Subsystems
*
RT memory manager (CONFIG_RTAI_DYN_MM) [Y/m/n/?]
FIFOs (CONFIG_RTAI_FIFOS) [M/n/?]
Shared Memory (CONFIG_RTAI_SHMEM) [M/n/?]
POSIX API (CONFIG_RTAI_POSIX) [M/n/?]
Watchdog (CONFIG_RTAI_WATCHDOG) [N/m/?]
*
* Tests and Examples
*
Compile examples in kernel space (CONFIG_RTAI_EXAMPLES) [Y/n/?]
Compile tests (CONFIG_RTAI_TESTS) [N/y/?]
Makefiles for rtai should now be configured.
Run 'make dep && make' to compile, then 'make install' to install.
If rtai has never been installed on your system,
then run 'make dev' to build the device files.
Scheduler will default to UP scheduler.
...
$ make
4. Boot the new Linux kernel on your target, create once the device
files, load the RTAI modules and run the example program "ex_sw"
and then the latency calibration test "latency_calibrate". There
is also a demo script "load-rtai" available at $URL:
...
tqm860l login: root
Last login: Thu Nov 16 14:25:32 on ttyS0
bash-2.04# uname -a
Linux tqm860l 2.4.4-rthal5 #1 Thu Sep 26 18:18:01 CEST 2002 ppc unknown
...
bash-2.04# cd rtai-24.1.11
bash-2.04# make dev
...
bash-2.04# cd modules
bash-2.04# insmod -m rtai.o > rtai.o.map
rtai: decrementer frequency 5000000 Hz
rtai: mounting
rtai: mount done
bash-2.04# insmod -m rtai_fifos.o > rtai_fifos.o.map
bash-2.04# insmod -m rtai_sched.o > rtai_sched.o.map
==== RT memory manager v1.3 Loaded. ====
***** STARTING THE UP REAL TIME SCHEDULER WITH LINUX *****
***** FP SUPPORT AND READY FOR A PERIODIC TIMER *****
***<> LINUX TICK AT 100 (HZ) <>***
***<> CALIBRATED CPU FREQUENCY 5000000 (HZ) <>***
***<> CALIBRATED TIMER-INTERRUPT-TO-SCHEDULER LATENCY 2600 (ns) <>***
***<> CALIBRATED ONE SHOT SETUP TIME 400 (ns) <>***
bash-2.04# insmod -m rtai_leds.o > rtai_leds.o.map
bash-2.04# cd ../examples/sw
bash-2.04# insmod -m ex_sw.o > ex_sw.o.map
bash-2.04# rmmod ex_sw
CPU USE SUMMARY
# 0 -> 102950
END OF CPU USE SUMMARY
bash-2.04# cd ../../latency_calibration
bash-2.04# insmod -m latency_calibrate.o > latency_calibrate.o.map
bash-2.04# ./check
## RTAI latency calibration tool
# overall=1
# period=100000
# avrgtime=1
# use_fpu=0
# start_timer=1
1967/11/16 02:20:16 min: 19000 max: 40800 average: 21484
1967/11/16 02:20:16 min: 19000 max: 42000 average: 21260
^C
bash-2.04#
