LXRT-Howto
From Mca2
Contents |
LXRT-HOWTO
This section gives a step by step example on how LXRT could be used with mca2.
Compiling
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.
