# RTAI installation for ubuntu 14.04

## Preparation
All commands must be run in terminal mode with terminal set to root using “sudo –s”
### download and unzip
	cd /usr/src
	curl -L https://www.rtai.org/userfiles/downloads/RTAI/rtai-4.1.tar.bz2 | tar xj
	curl -L https://www.kernel.org/pub/linux/kernel/v3.x/linux-3.10.32.tar.xz | tar xJ
	curl -L http://kernel.ubuntu.com/~kernel-ppa/mainline/v3.10.32-saucy/linux-image-3.10.32-031032-generic_3.10.32-031032.201402221635_amd64.deb -o linux-image-3.10.32-generic-amd64.deb
	dpkg-deb -x linux-image-3.10.32-generic-amd64.deb linux-image-3.10.32-generic-amd64

### link (optional)
	ln -s linux-3.10.32 linux
	ln -s rtai-4.1 rtai

### package requirement

##update apt-get list

	apt-get update

##General:
	apt-get install cvs subversion build-essential git-core g++-multilib gcc-multilib

##Rtai
	apt-get install libtool automake libncurses5-dev kernel-package

##scilab 5.5.0
	apt-get install default-jre docbook-xsl fop javahelp2 libavalon-framework-java libbatik-java libfftw3-3 libflexdock-java libgfortran3 libhdf5-7 libjeuclid-core-java libjgoodies-looks-java libjgraphx-java libjhdf5-java libjlatexmath-fop-java libjlatexmath-java libjogl-java libjrosetta-java liblapack3gf libncurses5 libpcre3 libpvm3 libquadmath0 libsaxon-java libskinlf-java libstdc++6 libtinfo5 libxml2 tcl8.5 tk8.5 zlib1g libgcc1 libc6 libblas-dev libblas3gf libatlas3gf-base gfortran liblapack-dev

##qrtailab
	apt-get install libqt4-dev libqwt5-qt4-dev

	
## compile RTAI Linux kernel
##copy ubuntu kernel 3.10 original config

	cp /usr/src/linux-image-3.10.32-generic-amd64/boot/config-3.10.32-031032-generic /usr/src/linux/.config

##patch for kernel
	cd /usr/src/linux
	patch -p1 < /usr/src/rtai/base/arch/x86/patches/hal-linux-3.10.32-x86-5.patch

##config
	make menuconfig

##Set up the kernel settings as follows
	Processor type and features
		-> Processor family = Select yours
		-> Maximum number of CPUs (NR_CPUS) = Set your number (it's generally "4")
		-> SMT (Hyperthreading) scheduler support = DISABLE IT
	Power Management and ACPI options
		CPU idle PM support = DISABLE IT

##build
	make -j `getconf _NPROCESSORS_ONLN` deb-pkg LOCALVERSION=-rtai 

##install
## you must go back to /usr/src/ folder because that is where to initially loaded these files
	cd  /usr/src/
	dpkg -i linux-image-3.10.32-rtai_3.10.32-rtai-1_amd64.deb
	dpkg -i linux-headers-3.10.32-rtai_3.10.32-rtai-1_amd64.deb

##modify grub cinfig, set GRUB_CMDLINE_LINUX_DEFAULT as:
	GRUB_CMDLINE_LINUX_DEFAULT="quiet splash lapic=notscdeadline"

##apply grub config
	update-grub

##Now, reboot your system. choose the RTAI in GRUB boot menu.
## to get to the Grub menu during startup, you must press shift during reboot to get the grub menu to ##show.  Under advanced setting you should see the rtai kernel listed.
## RTAI installation

##Now that the system has restarted, make sure you booted on your RTAI kernel
	uname -r 

##it should show:
	3.10.32-rtai

##config RTAI
	cd /usr/src/rtai
	make menuconfig

##UPDATE the CPUs number according to your configuration. 
##build
	make -j `getconf _NPROCESSORS_ONLN`

##install
	make install

##add following line to your  ~/.bashrc (if you use bash)
	export PATH=/usr/realtime/bin:$PATH 
	export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/realtime/lib

##use new environment variable
	source ~/.bashrc

##Create a file /etc/ld.so.conf.d/rtai.conf with the content
	/usr/realtime/lib

##run `ldconfig`in order to take it into account
	ldconfig

##Now, run latency test:
	cd /usr/realtime/testsuite/kern/latency/run
	./run