LXRT-Howto

LXRT-HOWTO

This section gives a step by step example on how LXRT could be used with mca2.

Compiling

• kernel 2.4.29 and rtai 3.2
• kernel 2.4.32 and rtai 3.3

Installing

• Install your kernel/modules
• boot your rtai-enabled system
• Copy the compiled rtai modules (rtai_hal.o/ko, rtai_lxrt.o/ko, rtai_sem.o/ko and rtai_serial.o/ko) and the mca module (mca_lxrt_extension.o/ko) to your module directory
  

  [~]$ cd /tmp/rtai-test/rtai-RTAI_VERSION-linux-LINUX_VERSION-install/modules 
  [/tmp/rtai-test/rtai-RTAI_VERSION-linux-LINUX_VERSION-install/modules]$ mkdir /lib/modules/LINUX_VERSION/kernel/rtai <br>
  [/tmp/rtai-test/rtai-RTAI_VERSION-linux-LINUX_VERSION-install/modules]$ cp rtai_hal.MOD_EXT rtai_lxrt.MOD_EXT rtai_sem.MOD_EXT rtai_serial.MOD_EXT /lib/modules/LINUX_VERSION/kernel/rtai <br>
  [/tmp/rtai-test/rtai-RTAI_VERSION-linux-LINUX_VERSION-install/modules]$ cd /tmp/rtai-test/mca2.4.x <br>
  [/tmp/rtai-test/mca2.4.x]$ cp export/i686_Linux_telelift_debug/mca_lxrt_extension.MOD_EXT /lib/modules/LINUX_VERSION/kernel/rtai <br>
  [/tmp/rtai-test/mca2.4.x]$ depmod -a

Note: if you copy all compiled rtai modules into the kernel module directory make sure to set the link rtai_ksched.MOD_EXT to rtai_lxrt.MOD_EXT to be sure the correct scheduler is taken on modprobe.

• Load kernel modules (easiest modprobe way)

  [~]$ modprobe mca_lxrt_extension

• Load kernel modules (step by step insmod way)
  

If you have an adeos kernel with adeos compiled as module, first you need to insmod that

  [~]$ insmod adeos

In all cases you then have to insmod the following

  [~]$ insmod rtai_hal
  [~]$ insmod rtai_lxrt
  [~]$ insmod rtai_sem
  [~]$ insmod mca_lxrt_extension

• If using the rtai_serial driver in your MCA-program you also have to insmod that module:

  [~]$ insmod rtai_serial

Or with individual configuration parameters e.g.:

  [~]$  insmod rtai_serial spconfig=0x02f8,3,0xd400,14,0xd000,14 spbufsiz=0x4000 

Testing

• Test it

  [/tmp/rtai-test/rta]$ time_test

Call time_test twice with --no-lxrt and compare the summarized measured time values.