自己总结 RTAI编译

http://qiuhanstar.blog.163.com/blog/static/30854695201041023731757/详细讲解遇到的问题.

在默认都基础上必须选上:Processor type and features -->Processor fanmily选择cpu为Opteron/Athlon64/Hammer/K8

须去掉的选项有:Processor type and features -->Symmetric multi-processing support（因为cpu是单核）

Processor type and features -->High Memory Support-->off

root@win-desktop:/usr/src# cd linux-2.6.30.5

将内核打上刚解压的实时包rtai-3.8

root@win-desktop:/usr/src/linux-2.6.30.5# patch -p1 -b ../rtai-3.8/base/arch/x86/patches/hal-linux-2.6.30.5-x86-2.4-05.patchroot@win-desktop:/usr/src/linux-2.6.30.5# make xconfig

编译,安装内核

root@win-desktop:/usr/src/linux-2.6.30.5# make

root@win-desktop:/usr/src/linux-2.6.30.5# make install

root@win-desktop:/usr/src/linux-2.6.30.5# make modules

root@win-desktop:/usr/src/linux-2.6.30.5# make modules_install

root@win-desktop:/usr/src/linux-2.6.30.5# cd /

root@win-desktop:/# /usr/sbin/mkinitramfs -o /boot/initrd.img-2.6.30.5 2.6.30.5

root@win-desktop:/# update-grub

root@win-desktop:/# reboot

root@win-desktop:/# cd /usr/src/rtai-3.8

root@win-desktop:/# make xconfig

   $ make config (or make menuconfig of make xconfig)

    

    In the Machine Menu adjust the number of processors. 

    Say yes to rtai lab, and leave the efltk folder to /usr/local

    Do not include comedi support at this time even if you plan to use it later.

root@win-desktop:/# make

root@win-desktop:/# make install

root@win-desktop:/usr/realtime/testsuite/user/latency# ./run

**

* Type ^C to stop this application.

需要Download, unpack and install Comedi and Comedilib
http://www.comedi.org/
$ cd /usr/src

    $ tar -xzvf comedi-x.x.xx.tar.gz

    $ tar -xzvf comedilib-x.x.xx.tar.gz

   

    Create a symbolic link to comedi since it will be useful later:

    

    $ rm -f comedi

$ ln -fs comedi-x.x-xx comedi

  If your comedi version is 0.7.70 (or older) then you should manually

    edit the /usr/src/linux/.config file and add the line:

    CONFIG_RTHAL=Y

    

    At this point you are ready to configure and install 

    both comedilib and comedi:

 

    $ cd /usr/src/comedilib-x.x.xx

    $ ./configure --sysconfdir=/etc

    $ make

    $ make install

    $ make dev

    

    $ cd /usr/src/comedi

    $ ./configure --with-linuxdir=/usr/src/linux --with-rtaidir=/usr/realtime

//(这里又出现Failed to find gsl/gsl_matrix.h)

    $ make

    $ make install
http://blog.csdn.net/wensishuai/article/details/8241938
_matrix.h)