Thanks for you answer!
One more question: in the RTAI project website, there is a newer version, is it
good to use that new version or it doesn't work?
Thanks,
Ronan.
--- In wrote:
>
> I do have a data logger than runs rtai on the 7250 every 1msec. It isn't
> rock solid (for example if you look at a dio on an oscilliscope you see
> some flicker).
>
> But rtai in the configuration will do rock solid square waves at 3 msec...
> so you know that in spite of the little flicker, you are pretty much
> running 1000 cylces per second... even though not necessarily every 1 msec
> on the dot.
>
> I'm fairly certain that rtai revises the code for nanosleep to be pretty
> hard time (if you configure the thread correctly). If not, they would
> have their own rt_sleep type function... I don't do it in my code so never
> really tried it (although I have experience with rtai on other platforms
> where nanosleep is very much deterministic).
>
> I wasn't anal about writing the steps taken to compile the 7250 code
> (which required the NAND stuff) but I did do a pretty anal write up for
> the 7200... maybe this will help
>
> ===============================================================================================
> This document details how to setup and build a rtai patch for a TS-7200
> SBC.
> The kernel and rtai library were built in cygwin.
>
> Download from ts ftp site
> tskernel-2.4.26-ts11-src.tar.gz
> rtai-3.2-magma-src.tar.gz
> rt-tskernel-2.4.26-tsX-adeos.patch
>
> Also get a current rfs, e.g.
> tslinux-08-24-2006.tar.bz2
>
>
> un-tar in /usr/src directory
> tar zxvf tskernel-2.4.26-ts11-src.tar.gz
> This creates /usr/src/linux24
> rename folder to linux-23-artai-7200
>
> tar zxvf rtai-3.2-magma-src.tar.gz
> This creates /usr/src/rtai-3.2
> rename folder to rtai-3.2-7200
>
> linux
> 1. Edit Makefile EXTRAVERSION
> Existing: EXTRAVERSION =-ts11
> Revised: EXTRAVERSION =-ts11-artai
>
> NOTE: Some packages/libraries required to build kernel:
> - libncurses-devel Development files for ncurses (Devel
> group)
>
> 2. Patch kernel with RTAI
> cd /usr/src/ linux-23-artai-7200
> e.g. patch -p1 < ../ rt-tskernel-2.4.26-tsX-adeos.patch
>
> 3. More changes to Makefile
> CROSS_COMPILE =
> /usr/src/ts11/crosstool/gcc-3.3.4-glibc-2.3.2/arm-unknown-linux-gnu/bin/arm-unknown-linux-gnu-
> DEPMOD = /usr/src/ts11/modutils-2.4.7/depmod
> NOTE: Still a little foggy on depmodâ?¦
> may not matter since it doesnâ??t work anyway (see later steps)
>
> 4. make ts7200_config
> 5. make menuconfig
> Enable rtai by selecting General Setup->Adeos support (NEW) for
> built-in kernel
> support.
>
> 6. make dep
>
> 7. make zImage && make modules
> ** NOTE: type case of zImage
>
> NOTE: Depmod, the utility that builds the modules dependencies, is not
> designed to deal with cross compileed modules and will failâ?¦
> Get depmod.pl from busybox source and type
>
> 8. ./depmod.pl â?"k ./vmlinux â?"b
> ./modules/lib/modules/2.4.26-ts11-artai \
> > ./modules/lib/modules/2.4.26-ts11-artai/modules.dep
>
> 9. cd ./modules
>
> 10. tar cvzf mods.tgz lib/*
>
> 11. copy file to root of rts and type
> tar zxvf mods.tgz
>
> rtai
> 1. Add to makefile
> ARCH = arm
> CROSS_COMPILE =
> /usr/src/ts11/crosstool/gcc-3.3.4-glibc-2.3.2/arm-unknown-linux-gnu/bin/arm-unknown-linux-gnu-
> RTAI_LINUX_DIR = /usr/src/rtai-3.2-7200
>
> 2. make ARCH=arm \
> CROSS_COMPILE =
> /usr/src/ts11/crosstool/gcc-3.3.4-glibc-2.3.2/arm-unknown-linux-gnu/bin/arm-unknown-linux-gnu-
> RTAI_LINUX_DIR = /usr/src/ts11/linux24-artai-7200
>
> 3. Makedir ./install
>
> 4. make install DESTDIR=/usr/src/ts11/rtai-3.2-7200/install
>
> 5. cd ./install
>
> 6. tar cvzf rt.tgz usr/*
>
> 11. copy file to root of rts and type
> tar zxvf rt.tgz
>
> 12. copy
> /usr/src/ts11/crosstool/gcc-3.3.4-glibc-2.3.2/arm-unknown-linux-gnu/lib/
> libpthread-0.10.so to {rfs}/lib
>
> 13. change directory to {rfs}/lib
>
> 14. ln â?"s libpthread-0.10.so ./libpthread.so.0
>
> ===============================================================================================
>
> I'm pretty sure I took very similar steps with the 7250 -- except
> additionally setting up or running a patch for the NAND support....
> unfortunately I don't recall the details.
>
> Good luck.
>
> wrote on 07/31/2009 02:07:54 PM:
>
> > Thanks for you answer!
> >
> > I'm almost sure that I can handle what I have to if I could make
> > RTAI works on TS-7260.
> >
> > What I need is just a 10us resolution to change the logic level on a
> > specif pin of DIO1. I don't mean that there will be a process
> > interrupting every 10us, but there will be a process that could
> > interrupt after 1,01ms or 1,02ms and so. That's why I need usleep
> > with the resolution of microsecond, but with RTAI it is completely
> > different and I think I shouldn't use usleep anymore.
> >
> > I'm having troubles to compile the new kernel. I just could with an
> > old gcc version in cross toolchains (3.3.4).
> >
> >
> > --- In sjanisch@ wrote:
> > > > I'm trying to put RTAI kernel in a TS-7260 and I'm getting the
> > > > following kernel panic:
> > > >
> > > > Kernel panic: VFS: Unable to mount root fs on 1f:01
> > > >
> > > > The command that I'm passing to RedBoot is:
> > > >
> > > > exec -c "console=ttyAM0,115200 root=/dev/mtdblock1"
> > > >
> > > > I have already tried many different versions of RTAI kernel from
> > > > Embedded ARM (ts8, ts9 and ts11) and everyone show the same error.
> > >
> > > I had similar issue with getting rtai up and running on 7250.
> > >
> > > In my case it had to do with the on board NAND flash. The
> pre-compiled
> > > rtai kernels from ts web site didn't include the patch to use the
> flash,
> > > so I had to get the kernel source and then patch with the supplied
> rtai
> > > patch AND the mtd 2k flash patch (I think all the flash patch did was
> set
> > > some options for the MTD device in the .config file for the kernel).
> The
> > > kernel sends the panic message because it doesn't find a file system
> > > because it doesn't know how to read the NAND flash.
> > >
> > > This was all many moons ago, and I am not really sure the 7260 uses
> the
> > > same flash (I switched production to the 7200 so haven't repeated the
> > > process).
> >
> > When you mean mtd 2k flash patch is to enable the option
> > CONFIG_MTD2K=y, isn't it?
> >
> > Another thing that I think to be strange is that in the initial
> > configuration proposed for TS-7200, the support for YAFFS file
> > system was configured to be built as a module. I think I have to
> > compile the kernel with this support built-in, is it correct?
> >
> > > > I'm also having the problem already described at this forum about
> > > > the resolution of usleep (10ms). But I really need something that
> > > > sleep my program with a resolution of, at least, 10us, because I
> > > > have to generate a very specif wave at DIO1.
> > >
> > > On the performance of 10us sleep... this might be pushing it on the
> > > platform, although I've never really tried it. I have done 40usec
> timed
> > > interrupt routines on rtai, but those were using P3 intel processors
> and
> > > more modern 2.6 kernels. Since 2.6 kernels are better with
> interrupts,
> > > rtai is better (although it could be limitations of the hardware
> also... I
> > > don't know enough to really say). usleep -- at least with later rtai
> > > versions -- is improved but I don't know if it will give you hard
> > > determination at that rate.... but again I never attempted this.
> > >
> >
> > Thank you for the help,
> > Ronan.
> >
> >
> >
> > ------------------------------------
> >
> > Yahoo! Groups Links
> >
> >
> >
>
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