(Comment : It didn't work for me...)
This instalation comes from the "Installation of RTAI-24.1.11 on Mandrake 9.1"
that kernel in the RTAI source-tree. Then download the RTAI-source (in my case 3.0r3).
Everything written in bold should be typed in a shell. Your need to be logged in as root/superuser when installing RTAI. In a shell just type :
su and then type the password for the root/superuser.
Unpack the source to an appropriate folder (i.e. /usr/src/).
tar -zxf rtai-3.0r3.tar.bz2 /usr/src/ (this puts the rtai-source into
I have made a symbolic link called rtai that points to my rtai-source (this makes it a bit easier
if you want to use several rtai-versions). This is done by
ln -s /usr/src/rtai-3.0r3 /usr/src/rtai
The same thing is done for the Linux kernel:
tar -zxf linux-2.4.25.tar.bz2 /usr/src/ (this puts the linux kernel-source into
I have made a symbolic link called linux that points to my linux kernel-source (this makes it a
bit easier if you want to use several kernel-versions).
This is done by:
ln -s /usr/src/linux-2.4.25 /usr/src/linux
Now you are ready to patch the linux kernel with RTAI. Go the to linux folder:
Patch the kernel with adeos (make sure that the patch you are using corresponds the version of
the linux kernel)
patch -p1 < /usr/src/rtai/patches/hal12-2.4.25.patch
When your kernel is patched you are ready to compile your 'own' kernel. Before you are able to
compile it, you need to configure it. Make sure not to use any power management as it seems to 'disturb' RTAI.
I have also discovered (the hard way) that you should not enable the Kernel-hacking option
(offering some debug features for kernel modules etc.)
There are several ways to configure your kernel, both in text mode and i graphical mode. I prefer
to use graphical mode (menuconfig). In the /usr/src/linux folder do :
make xconfigA menu pop up : In "General Setup", check all the options concerning adeos In "Loadable module support", uncheck "Set version information on all module symbols" In the other categories, check all the option corresponding to your hardware.
make modules modules_install
Now you are ready to make your kernel visible for the bootmanager (lilo). The easiest way to do this is:
Run lilo to make sure that there is no problems for the bootmanager:
Now you are ready to reboot the computer and start your self-compiled kernel which should be
The RTAI needs to be configured (like you did to the linux kernel). This is done by:
To find the dependencies for RTAI : make dep
To install RTAI : make install
To create the rt-fifos:
Now you should have a functional RTAI system (if none of the above went wrong).
cd /usr/realtime/testsuite/kern/latency and ./run
If the system does not hang here, your RTAI should be installed properly. To test your RTAI system furthermore you can run the examples found in the showroom of CVS.
<b>export CVSROOT=":pserver:firstname.lastname@example.org:/opt/cvsroot/rtai" cvs login password: anoncvs cvs -z3 co showroom</b>
Every example has a README-file describing the actual purpose of the example.
If your RTAI system hangs, it could be caused some 'unlucky' combination of the kernel
configuration and RTAI configuration. Try change your configurations. If this does not help, try ask the RTAI-mailing-list which can be
found from http://www.rtai.org