Interfacing Linux RTAI with Matlab/Simulink/RTW and Scilab/Scicos
Roberto Bucher
University of Applied Sciences of Southern Switzerland (SUPSI)
Dept. of Innovative technologies (DTI)
The goal of this project is to generate code for Linux RTAI directly from
a block diagramm (Simulink or Scicos).
The project is still in development.
The main page of the RTAI-Lab project can be found
here
Read the paper presented at the Realtime Linux Workshop in Valencia
CACSD UNDER RTAI LINUX WITH RTAI-LAB
Kernel tips
We (RTAI team) still receive email about problems related with the creation of the RTAI kernel. Most of the problems are not related with RTAI but only with kernel configuration.
Users can start from my kernel configuration and add the drivers needed by their hardware. My kernel already contains the "ext3" filesystem, thus it is not necessary to create an "initial ramdisk" to boot the system.
Users can detect their specific modules by simply run a "generic" kernel (normally the kernel installed by the distribution) and by launching the command
lspci -v
from a shell. This command lists the hardware of the siystem including the used linux drivers
After opening and loaded my kernel configuration ("make xconfig" or "make menuconfig" + "Load file") the kernel must be configured to fit the user's system.
Already included in my configuration:
- ext3 file system
- USB support (ehci_hcd and uhci_hcd)
- My SATA driver (ata_piix)
- My Wireless LAN (iwlagn)
- My network card (e1000e)
Not included in my configuration:
- PS/2 mouse
- Your network card
- Your ATA or SATA drivers
- Your Wireless network card
- USB driver ohci_hcd
The menu "Find" under "make xconfig" or the key "/" under "make menuconfig" allows to search about a specific driver and see if it is already installed or not.
Grub tips
In my "menu.lst" file I have the following lines to load the RTAI kernel
title kernel 2.6.30.5-ipipe
root (hd0,2)
kernel /boot/vmlinuz-2.6.30.5-ipipe root=/dev/sda3 ro quiet splash --
My system is completely installed under /dev/sda3 (SATA partition)
Usefull links
Scilab / Scicos
Matlab / Simulink / RTW
RTAI homepage
Scilab homepage
Mathworks homepage
Contact