Specifications

APPENDIX E. RTAI

– Set version information on all module symbols, choose N

• Processor type and features

– Processor family, choose Pentium-Pro/Celeron/Pentium-II

– Real-Time Hardware Abstraction Layer, choose Y

– Local APIC support on uniprocessor, choose Y

• Networking options

– Packet socket, choose Y (or else the DHCP will not work)

– Socket filtering, choose Y (or else the DHCP will not work)

• Network device support

– Ethernet (10 or 100 Mbit)

∗ 3COM Cards, choose Y

∗ 3c590/3c900..., choose Y

• File systems

– Microsoft Joliet CDROM extensions, choose Y

Close xconfig (safe and exit). Execute the following sequence of commands:

make dep

make bzImage

make modules

make modules_install

When asked, answer y to starting lilo. Reboot the PC and the kernel should be up and running.

E.3 Installing RTAI

First change the source and installation directory. Go to the directory by typing

cd ./usr/src/rtai-3.0r3 in the konsole. Then give the command menuconfig, a new win-

dow opens. Choose general and then change the installation directory to /usr/realtime and the

source directory to /usr/src/linux-2.4.24. Exit the window and save the changes made.

Then simply follow the manual located at /usr/src/rtai-3.0r3 and named INSTALL.

E.4 RTAI Target Real Time Workshop

To switch to the use of Real-Time applications, the relevant ﬁles are libtimer.c, buildlib,

ml2, timer.h and are zipped together with the s-functions and

Simulink blocks. Simply run the buildlib-program and everything should work.

There is an exception to this, if Matlab has been (or will be) re-installed, you need a new version of

wt_main.c (also on the Linux-software CD) that is located in the /usr/local/matlab6p1/rtw/c/wintarget

directory (so just delete and replace the ﬁle).

This command can result in errors. If so, clear all the modules in /lib/modules/2.4.24-adeos and compile them again

make install