A brief description:
RTAI: Real-time environment for Linux ( https://www.rtai.org/ )
COMEDI: It's an interface for sensing and control devices (http://www.comedi.org/doc/)
Scilab/Scicos: A computational package, kind of a Matlab-Simulink, but open source ( http://www.scilab.org/)
HART Toolbox: A group of modules to work with RTAI using Scicos ( http://hart.sourceforge.net/index.html )
I spent several weeks trying to make it work all together so no, it's not straight forward always (but, who knows, you could be lucky). But this tutorial can make it easier (I hope)
Most of it is taken from http://hart.sourceforge.net/rtai_installation_10_04.html and adapted to solve some of the most common problems.Without further introduction, here is the tutorial:
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} .
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