function newmatrix=resampmatrix(matrix,newlen)
%----------------
%this function uses linear interpolation to change the number of rows in a
%matrix.
%Copyright, 2011, Andrés González
[rows cols]=size(matrix);
newmatrix=[];
for i=1:cols
len=rows;
x=1:len;x=x';y=matrix(:,i);
xx=1:(len-1)/(newlen-1):len;
xx=xx';
yy=interp1(x,y,xx,'linear');
newmatrix=[newmatrix yy];
end
function newvector=resample(vector,newlen)
%%%%%%%%%%%%%%%%%%%%
%This function uses linear interpolation to change the number of samples
% Copyright 2011 Andrés Gonzalez
%%%%%%%%%%%%%%%%%%%%
len=length(vector);
x=1:len;x=x';y=vector;
xx=1:(len-1)/(newlen-1):len;
xx=xx';
yy=interp1(x,y,xx,'linear');
newvector=yy;
end
Installation RTAI
Packages:
UBUNTU 10.04
Install the following packages to proceed:
general:
sudo apt-get install cvs subversion build-essential
rtai:
sudo apt-get install libtool automake libncurses5-dev
comedi-lib:
sudo apt-get install bison flex
comedi-calibrate:
sudo apt-get install libboost-dev libboost-program-options-dev libgsl0-dev
scilab 4.1.2:
sudo apt-get install gfortran sablotron tcl8.5-dev tk8.5-dev xaw3dg-dev libpvm3 pvm-dev libgtkhtml2-dev libvte-dev ocaml-native-compilers
qrtailab:
sudo apt-get install libqt4-dev libqwt5-qt4-dev
Installation of all components
RTAI kernel from EMC
echo deb http://www.linuxcnc.org/lucid lucid base emc2.4 > /tmp/linuxcnc.list
echo deb-src http://www.linuxcnc.org/lucid lucid base emc2.4 >> /tmp/linuxcnc.list
sudo mv /tmp/linuxcnc.list /etc/apt/sources.list.d/
gpg --keyserver pgpkeys.mit.edu --recv-key 8F374FEF
gpg -a --export 8F374FEF | sudo apt-key add -
sudo apt-get update
sudo apt-get install linux-headers-2.6.32-122-rtai linux-image-2.6.32-122-rtai
If there is a problem downloading the patched Kernel, you can try this (taken from http://www.rtaixml.net/realtime-suite/part-2---machine-setup)
sudo wget http://sourceforge.net/projects/rtaixml/files/realtimesuite/1.0/realtimesuite-1.0.tar.gz/download
Decompress the downloaded file, navigate into the subfolder “kernel” inside realtimesuit-1.0, and run the .deb installers
Reboot in the new installed RTAI-kernel.
RTAI (https://www.rtai.org) #1
(cvs-Version)
cd /usr/src
sudo cvs -d:pserver:anonymous@cvs.gna.org:/cvs/rtai co magma
sudo ln -s magma rtai
(tar.gz-Version)
cd /usr/src
sudo wget --no-check-certificate https://www.rtai.org/RTAI/rtai-3.8.1.tar.bz2
sudo tar xjvf rtai-3.8.1.tar.bz2
sudo ln -s rtai-3.8.1 rtai
Installation of RTAI
cd /usr/src/rtai
sudo make menuconfig
Ensure directories are correct:
• Installation: /usr/realtime
• Linux source tree: /usr/src/linux-headers-2.6.32-122-rtai
• Under Machine, choose number of CPUs (check running cat /proc/cpuinfo and verifying how many processors are listed)
sudo make
sudo make install
sudo sed -i 's/\(PATH=\"\)/\1\/usr\/realtime\/bin:/' /etc/environment
now run export PATH=/usr/realtime/bin:$PATH for each open shell or do logout and login Now we need to load the rtai modules.
/sbin/insmod /usr/realtime/modules/rtai_smi.ko
/sbin/insmod /usr/realtime/modules/rtai_hal.ko
/sbin/insmod /usr/realtime/modules/rtai_lxrt.ko
/sbin/insmod /usr/realtime/modules/rtai_fifos.ko
/sbin/insmod /usr/realtime/modules/rtai_sem.ko
/sbin/insmod /usr/realtime/modules/rtai_mbx.ko
/sbin/insmod /usr/realtime/modules/rtai_msg.ko
/sbin/insmod /usr/realtime/modules/rtai_netrpc.ko
/sbin/insmod /usr/realtime/modules/rtai_shm.ko
Copy the lines to /usr/local/bin/start_rtai
Do a sudo chmod a+x /usr/local/bin/start_rtai
If there is trouble inserting the rtai_hal.ko module then:
Go to boot/grub/menu.lst or boot/grub/grub.cfg and add “lapic” at the end of this line:
kernel /boot/vmlinuz-2.6.22-realtime root=UUID=45d21232-cf0d-cc3d-87ce-8453214d7a6f ro quiet splash vga=794 lapic
COMEDI (www.comedi.org)
cd /usr/local/src
sudo cvs -d :pserver:anonymous@cvs.comedi.org:/cvs/comedi login
sudo cvs -d :pserver:anonymous@cvs.comedi.org:/cvs/comedi co comedi
sudo cvs -d :pserver:anonymous@cvs.comedi.org:/cvs/comedi co comedilib
sudo cvs -d :pserver:anonymous@cvs.comedi.org:/cvs/comedi co comedi_calibrate
sudo cvs -d :pserver:anonymous@cvs.comedi.org:/cvs/comedi co comedi-nonfree-firmware
If the comedi server is down, you can also find the packages in:
Download them and decompress to /usr/local/src
COMEDILIB
cd /usr/local/src/comedilib
sudo sh autogen.sh
sudo ./configure
sudo make
sudo make install
sudo mkdir /usr/local/include/linux
COMEDI
cd /usr/local/src/comedi
sudo sh autogen.sh
sudo ./configure --with-linuxdir=/usr/src/linux-headers-2.6.32-122-rtai --with-rtaidir=/usr/realtime
sudo make
sudo make install
sudo make dev
sudo ldconfig
sudo depmod -a
COMEDI-CALIBRATE
cd /usr/local/src/comedi_calibrate
sudo autoreconf -i -B m4
sudo ./configure
sudo make
sudo make install
RTAI #2
sudo cp /usr/local/src/comedi/include/linux/comedi.h /usr/local/include/
sudo cp /usr/local/src/comedi/include/linux/comedilib.h /usr/local/include/
sudo ln -s /usr/local/include/comedi.h /usr/local/include/linux/comedi.h
sudo ln -s /usr/local/include/comedilib.h /usr/local/include/linux/comedilib.h
cd /usr/src/rtai
sudo make menuconfig
Under “Add-Ons”, select “Real Time COMEDI support in user space”
Check COMEDI installation directory, it should be /usr/local/
sudo make
sudo make install
sudo cp /usr/local/src/comedilib/include/comedilib.h /usr/local/include/
Now we need to load the comedi-modules. All rtai modules have to be loaded before! This is a example for the ni 6024e.
modprobe comedi
modprobe kcomedilib
modprobe comedi_fc
modprobe ni_mio_cs
insmod /usr/realtime/modules/rtai_comedi.ko
comedi_config -v /dev/comedi0 ni_mio_cs 0x0100
comedi_calibrate --calibrate
chmod a+rw /dev/comedi0
Copy the lines to /usr/local/bin/load_daq
Do a sudo chmod a+x /usr/local/bin/load_daq
If there is a error message "comedi.o not loaded", then you have to create and edit /etc/modprobe.d/comedi and add one of the following lines:
options comedi comedi_num_legacy_minors=4
(you can change the number 4 if you want), or:
options comedi comedi_autoconfig=0
The first option, comedi_num_legacy_minors=4 reserves 4 comedi devices for use by non-autoconfigured devices. The second option comedi_autoconfig=0 disables auto-configuration completely.
If there is this error:
comedi_calibrate: error while loading shared libraries: libcomedi.so.0: cannot open shared object file: No such file or directory
Then do:
cd /lib/
ln -s /usr/local/lib/libcomedi*
SCILAB 4.1.2
cd /opt
sudo wget http://www.scilab.org/download/4.1.2/scilab-4.1.2.bin.linux-i686.tar.gz
sudo tar xvzf scilab-4.1.2.bin.linux-i686.tar.gz
cd /opt/scilab-4.1.2
sudo wget http://hart.sourceforge.net/scilablibs.tar.gz
sudo tar xvzf scilablibs.tar.gz
sudo make
sudo ln -s /opt/scilab-4.1.2/bin/scilab /usr/local/bin/scilab
QRTAILab (www.qrtailab.sf.net)
(svn -version)
cd /usr/local/src
sudo svn co https://qrtailab.svn.sourceforge.net/svnroot/qrtailab/trunk qrtailab
(tar.gz - version)
cd /usr/local/src
sudo wget http://downloads.sourceforge.net/qrtailab/QRtaiLab-0.1.12.tar.gz
sudo tar xvzf QRtaiLab-0.1.12.tar.gz
If you use a tar.gz-version please replace qrtailab with qrtailab-x.x.x (x.x.x is the number of your installed version )
cd /usr/local/src/qrtailab
Edit qrtailab.config and replace '/usr/include/qwt/' with '/usr/include/qwt-qt4/' and '-lqwt' with '-lqwt-qt4'
sudo qmake-qt4
sudo make
sudo make install
HART Toolbox (www.hart.sf.net)
Chose a directory (/home/username/software, ...)
(svn -version)
svn co https://hart.svn.sourceforge.net/svnroot/hart/trunk hart
(tar.gz -version)
wget http://dfn.dl.sourceforge.net/sourceforge/hart/hart_0.4.1-src.tar.gz
tar xvzf hart_0.4.1-src.tar.gz
Go in your hart-directory.
Edit Makefile and set 'SCILAB = ...' to the binary file of scilab 4.1.2
Warning: sudo make will not install RTAI module! Either be a normal user and install HART or change to root (using sudo su) and then do make.
make
cd /..../scilab-xxx/contrib
sudo ln -s {link to hart-toolbox} .
