RTAI 3.4用户手册版权信息与许可证概述

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RTAI 3.4 用户手册（rev0.3）是一份由 Giovanni Racciu 和 Paolo Mantegazza 于2006年10月编写的文档，其版权归属两位作者。这份手册是基于 RTAI 3.3 分布版及其 CVS 存储库中的 README 文件进行改编的。RTAI 文档项目对本手册的内容和用途不作任何声明或担保，包括但不限于商品质量保证或特定用途适用性，明确排除了明示和默示的保证。手册遵循 Creative Commons Attribution-NonCommercial-NoDerivs 2.5 许可协议，这意味着用户可以自由地复制、分发和展示这份文档，但不得用于商业目的，且不得对其内容进行任何形式的修改或衍生作品。对于文档的任何疑问或建议，用户可以直接联系 gracciu@xystum.it 或通过邮件联系RTAI-doc项目。该手册详细介绍了 RTAI (Real-Time Artificial Intelligence) 的使用方法和技术细节，涵盖了第二章的版权信息，可能包括对实时系统的开发、编程接口、系统配置以及与之相关的最佳实践和注意事项。随着RTAI 3.4版本的发布，这份用户手册旨在帮助开发者更好地理解和利用这一工具，进行高效实时计算和人工智能应用的开发工作。由于手册可能会随时间更新，因此用户在使用时需确保参考的是最新版本，以获取最准确的信息和支持。

Chapter 4 Installation and calibration

Save your configuration, wait for the shell prompt to come back after the configuration script

has fully finished, then run "make". Check the output of the scripts to verify if there is any error.

Generally the script is kind enough to explain you how to correct any errors.

2) Outside the source tree (preferred way). From your fresh build directory, either run:

$ make -f $source_tree/makefile srctree=$source_tree xconfig

$ make -f $source_tree/makefile srctree=$source_tree gconfig

$ make -f $source_tree/makefile srctree=$source_tree menuconfig

If you are using a version of make >= 3.80, then you can even get rid of the

"srctree=$source_tree" setting.

4.1.2 Non-interactive configuration

Since RTAI 3.x has autoconf inside, people needing automatic non-interactive configuration can

directly use the provided GNU configure script for this purpose. The available configuration

switches can be listed by running ./configure --help.

Some configuration targets in base/ can either produce a module, or be statically linked to the

RTAI schedulers. Either pass "m" for the modular build to their respective --enable-xxx switch,

or "y" for selecting the built-in mode.

4.1.3 Recycling a configuration file

If you are an experienced RTAI user, you can also recycle an existing .rtai_config file from a

previous build by running:

$ cp -rp $old_builddir/.rtai_config \

$new_builddir/.rtai_config

$ cd $new_builddir

$ make -f $source_tree/makefile srctree=$source_tree oldconfig

4.1.4 Selecting alternate compilers

Newest compilers sometimes are generating errors during the build process; for this reason it is

possible to specify an alternate one. The compiler selection must be done at configuration time.

There is only the need to pass the right values for the standard environment variables CC and

CXX, respectively for compiling C and C++ source files. In any case, using a GCC tool chain is

mandatory. When unspecified, these variables's values respectively default to "gcc" and "g++".

WARNING: this selection is not aimed at toggling the cross-compilation mode on. In order to do

so, please refer to 4.2

RTAI User Manual 3.4 – October 2006 – rev 0.3 - pag 8

Illustration 4: RTAI - make menuconfig

Chapter 4 Installation and calibration

Examples:

# Start configuring using the Qt-based GUI with alternate compilers

$ make xconfig CC=/my/favorite/c/compiler CXX=/my/favorite/c++/compiler

# Reconfiguring a previous build tree, changing the compilers on-the-fly.

$ make reconfig CC=/my/favorite/c/compiler CXX=/my/favorite/c++/compiler

# Rebuild all [and optionally install]

$ make [all [install]]

4.2 Cross-compilation support

To enable the cross-compilation simply add ARCH and CROSS_COMPILE variables as usual to

the standard command lines, e.g.

$ make -f $source_tree/makefile ARCH=arm CROSS_COMPILE=arm-linux-

Names of available architectures can be found under base/arch/*.

4.3 Installing the software

When the standard (or cross-) compilation has finished with no errors you may proceed to the

installation by typing the following commands:

$ cd $builddir

$ make install

Everything needed to use the RTAI distribution will be copied to the default installation

directory, or to the one specified during the configuration of the build tree. From now on, you

should be able to refer to the installation directory as the root of a complete standalone binary

RTAI distribution.

The RTAI programs can also be installed under a temporary staging tree by passing the

standard DESTDIR variable to "make" while installing. e.g.:

$ make install DESTDIR=/mnt/target

this command will create a standard RTAI hierarchy under /mnt/target, keeping the original

prefix information unmodified. If the installation directory selected at configuration time was

"/usr/realtime", then the command above will put the RTAI binary distribution under

/mnt/target/usr/realtime.

WARNING: running "make install" it is required to run several standard RTAI programs correctly.

RTAI 3.x enforces the actual split between the source distribution tree, the build tree where

RTAI is going to be compiled, and the final installation directory where RTAI programs can be

run. In any case, you should only rely on the installation directory contents to run RTAI

programs.

Note:You should also add to your PATH variables the bin directory of the RTAI installation. If you

did not modify the target dir it is /usr/realtime/bin. This is necessary to access directly some

files required to compile and run the programs.

4.4 Compiling parts of the tree

RTAI developers may want to recompile just single parts of the tree from times to times. The

automake-based build system allows it: just go to the proper directory level, then issue "make",

as usual. This process will recurse as needed.

RTAI User Manual 3.4 – October 2006 – rev 0.3 - pag 9

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