1、Linux +RTAI+RTNET G!5B 3ACS*,X.*W 2 Linux 23E . 2 1. “! : . 2 2. DEBIAN . 2 3AC3AC3AC3AC 9 3AC . 9 ),X #N ?“N 10 RTAI . 11 1. RTAI . 11 2. rh RTAI: . 11 3. 1 2 11 hh RTNET . 12 1. RTNET 12 2. Y 1 12 3. rh RTNET . 12 4. 1 2 12 4 w 12 1. y 1 : . 12 2. 13 . y CF - 13 Linux +RTAI+RTNET G!5B 3ACS*,X.*W C
2、PU: P3 Celeron400MHZ : 64M : 20G Linux 23E 7 1 + , DEBIAN 5 1 ,G 4 DEBIAN. c DEBIAN. Linux Kernel ! http:/ #+ M ), 1. “! : P 4 kernel-package(make-kpkg .) 4 kernel-package P 9T 1KY 4 rcconf( 3 G!5B ) apt-get install rcconf samba (V windows u v ) 4 : apt-get install samba 4 v - 4 !“ 4 2. DEBIAN L?U .
3、,X .KP :VM-Settings,FL Hard Disk,F9 AdvancedFL IDE ., . :G! G : GQ7- . 2!.bqqfoe.up.wfstjpo.sfbmujnf!lfsofmjnbhf!lfsofmifbefst/) bqqfoe.up.wfstjpo s8Installation directory RTAI 1 General -Linux source tree z 5 6 1 kernelpY . Machine (x86) - Number of CPUs (SMP-only) (1) Base system - Supported servi
4、ces - Use RTNet(Y) Add-ons -Real-Time Driver Model over RTAI (Y) B. rh . 4N :make C. Y 4N :make install. RTAI. 2. rh RTAI: 1 a F9 cd /usr/realtime/testsuite/kern/latency/,HS* ./run. “fIx)RTAI !7 3. 1 2 $:,XF“/) #N * * * Type C to stop this application. * * insmod: error inserting /usr/realtime/modul
5、es/rtai_hal.ko: -1 Invalid module format ERROR: cannot load /usr/realtime/modules/rtai_hal.ko insmod: error inserting latency_rt.ko: -1 Invalid module format ERROR: cannot load latency_rt.ko Warning: Error opening /proc/rtai/latency_calibrate Couldnt get infos about the modules state. Error opening
6、/dev/rtf3 39 t9 G$:KP S*,X 3M_V 8df.9564325e8b7g!sp!rvjfu!% a;! 8df.9564325e8b7g!sp!rvjfu!mbqjd!h RTNET 1. RTNET A. 4 tar jxvf rtnet-0.9.10.tar.bz2 rtnet. B. 5 RTNET Ym , 4 make menuconfig 5 G . : Variant - RTAI 3.3-cv or better, Xenomain 2.0.x(X) Real-Time Extension Installation Path,RTAI 1 . Drive
7、rs, 4 1 PCNET32,P3 4 1 “ realtek 8139 C. rh , N :make D. rh ,N :make install. 2. Y 1 RTNET Y a : etc/rtnet.conf, % 1 “ RTNET 1 IP wS 4 RTNET,!mS master I slave 4 master S , 3; TDMA_CYCLE Ln,XKgKgLh,PE TDMA ,XVpS* slave 3,PE TDMA master ,PE,X “1(N2C TDMA_SLAVES LL?UR,X slave ,X 3 $:, 61(J S*=, ,X RTN
8、ET *WF ,fKg,XIy$: 4. 1 2 1m ,make menuconfigQ . “7 RTAI m , G Add-ons -Real-Time Driver Model over RTAI (Y) , G RTAI . 4 w BY . Y y Debian , 4 w . 1. y 1 : A. c 7 checkinstall 1 . checkinstall, -m7 . 4N :apt-get install checkinstall B. 5 RTAI : . 4N :checkinstall C. Y , 23+ ! .deb Y , “ Debian . D.
9、5 RTNET : , , 4N :checkinstall E. Y , 23+ ! .deb Y , “ Debian 2. kernel 1Y , kernel bbY , fay . “4 RTAI+RTNET - , : A. c RTAI+RTNET - , 1 kernel. B. Y , , 5 RTAI+RTNET - . C. RTAI, RTAI , 4N :dpkg i rtai-3.6.3.deb(!m : rtai-3.6.3.deb a RTAI Y| ) D. RTNET, RTNET , 4N : dpkg i rtnet-0.9.10.deb(!m : rtnet-0.9.10 a RTNET Y| ) E. Y , #I#vm/ 1 . .y CF - 1 2 CF -yYN dd if=/dev/hdc of=/work/cf-system-rf.img 2 y CF -N dd if=/work/cf-system-rf.img of=/dev/hdc
