API tools faq
paste
Advertisement
Guest User

Untitled

a guest
Feb 13th, 2012
263
0
Never
Add comment
Not a member of Pastebin yet? Sign Up, it unlocks many cool features!
text 14.51 KB | None | 0 0
raw download clone embed print report
  1. Fri Oct 22 07:51:28 EDT 2010
  2.  
  3. In this file I will try to clean up all of my garbled note files into one
  4. coherent one. I'm sure I will miss something here but this list will be
  5. fairly comprehensive of what must be done in order to run EMC2 on
  6. a bare Debian system. I used about 5 GB (4.5 actually) on my root
  7. partition to get EMC2 installed. That is for my total system.
  8.  
  9. Install minimal Debian.
  10.  
  11. #aptitude update && aptitude safe-upgrade
  12.  
  13. Might need this later:
  14. #hwinfo > MySystem.txt ; less MySystem.txt
  15.  
  16. Strip it down even more.
  17.  
  18. #update-rc.d -f cups remove
  19.  
  20. #update-rc.d -f gdm remove
  21.  
  22. $echo "exec fluxbox" > ~/.xinitrc
  23.  
  24. At a console prompt use the command startx to get into X Window.
  25.  
  26. #apt-get remove network-manager
  27.  
  28. #update-rc.d -f avahi-daemon remove
  29.  
  30. #/etc/init.d/networking restart
  31.  
  32. Configure system so it will boot a different kernel:
  33.  
  34. #e2label /dev/hda1 h1p1
  35.  
  36. #e2label /dev/hda3 h1p3
  37.  
  38. #swapoff -a
  39.  
  40. #mkswap -L h1d2 /dev/hda2
  41.  
  42. #swapon
  43.  
  44. How cnc is partitioned:
  45. $df -h
  46.  
  47. Filesystem Size Used Avail Use% Mounted on
  48. /dev/hda1 14G 3.7G 9.5G 28% /
  49. tmpfs 253M 0 253M 0% /lib/init/rw
  50. udev 10M 620K 9.4M 7% /dev
  51. tmpfs 253M 0 253M 0% /dev/shm
  52. /dev/hda3 59G 213M 56G 1% /home
  53.  
  54. #gedit /etc/fstab
  55.  
  56. # <file system> <mount point> <type> <options> <dump> <pass>
  57. proc /proc proc defaults 0 0
  58. LABEL=h1p1 / ext2 errors=remount-ro 0 1
  59. LABEL=h1p3 /home ext2 defaults 0 2
  60. LABEL=h1p2 none swap sw 0 0
  61. /dev/hdc /media/cdrom0 udf,iso9660 user,noauto 0 0
  62. /dev/hdd /media/cdrom1 udf,iso9660 user,noauto 0 0
  63. /dev/fd0 /media/floppy0 auto rw,user,noauto 0 0
  64.  
  65. ############################################
  66.  
  67. #gedit /boot/grub/menu.lst
  68.  
  69. and change the line:
  70.  
  71. # kopt=root=/dev/hda1 ro
  72.  
  73. to
  74.  
  75. # kopt=root=LABEL=h1d1 ro
  76.  
  77. #update-grub
  78.  
  79. #update-initramfs -u -k all
  80.  
  81. $sudo -i
  82.  
  83. #aptitude update && aptitude safe-upgrade
  84. #aptitude install \
  85. kernel-package \
  86. build-essential \
  87. dh-make \
  88. module-assistant \
  89. libncurses5-dev \
  90. zlib1g-dev \
  91. dh-kpatches \
  92. fakeroot \
  93. autoconf \
  94. dctrl-tools
  95.  
  96. #touch /etc/udev/rules.d/92-rtai.rules
  97.  
  98. /etc/udev/rules.d/92-rtai.rules
  99.  
  100. ACTION!="add|change", GOTO="rtai_end"
  101.  
  102. KERNEL=="rtf*", MODE="0666"
  103. KERNEL=="rtai*", MODE="0666"
  104.  
  105. LABEL="rtai_end"
  106.  
  107. #gedit /etc/security/limits.conf
  108.  
  109. * hard memlock 8192
  110.  
  111. #adduser paulcnc src
  112.  
  113. #exit
  114.  
  115. Get kernel source and install it:
  116.  
  117. $mkdir rtai
  118.  
  119. $cd rtai
  120.  
  121. $wget ftp://ftp.kernel.org/pub/linux/kernel/v2.6/linux-2.6.30.5.tar.bz2
  122.  
  123. $tar xjf linux-2.6.30.5.tar.bz2 -C /usr/src
  124.  
  125. $cd /usr/src
  126.  
  127. $ln -s linux-2.6.30.5/ /usr/src/linux
  128.  
  129.  
  130. Getting the RTAI source
  131.  
  132. $wget http://linuxcnc.org/experimental/lenny/rtai_3.7.1.orig.tar.gz
  133.  
  134. $tar zxf rtai_3.7.1.orig.tar.gz
  135.  
  136. Getting the Debianization patch
  137.  
  138. $wget http://linuxcnc.org/experimental/lenny/rtai_3.7.1-2.diff.gz
  139.  
  140. $cd rtai-3.7.1/
  141.  
  142. $gunzip -c ../rtai_3.7.1-2.diff.gz | patch -p1 --dry-run
  143.  
  144. $gunzip -c ../rtai_3.7.1-2.diff.gz | patch -p1
  145.  
  146. $chmod u+x debian/rules
  147.  
  148. Building the packages.
  149.  
  150. $dpkg-buildpackage -rfakeroot -uc
  151.  
  152. Installing the RTAI packages.
  153.  
  154. $cd ..
  155.  
  156. #dpkg -i librtai1_3.7.1-2_i386.deb
  157.  
  158. #dpkg -i librtai-dev_3.7.1-2_i386.deb
  159.  
  160. #dpkg -i rtai-source_3.7.1-2_i386.deb
  161.  
  162. #exit
  163.  
  164. Building the kernel packages.
  165.  
  166. $cd /usr/src/linux
  167.  
  168. $make-kpkg clean
  169.  
  170. $time fakeroot make-kpkg --initrd --append-to-version -rtai --revision r1 --added-patches rtai --config menuconfig kernel-image kernel-headers kernel-source
  171.  
  172.  
  173. Here I screwed up royally but eventually managed to get a kernel that ran.
  174.  
  175. Probably not a very good idea:
  176. $make mrproper
  177.  
  178. Also not a very good idea:
  179. $make allnoconfig
  180.  
  181. I didn't try it but if it works it sounds good:
  182. $make localmodconfig
  183.  
  184. How to search for what you think you need in the kernel:
  185.  
  186. $grep -i ipipe .config
  187.  
  188. CONFIG_IPIPE=y
  189.  
  190. $find -type f -name Makefile | xargs grep CONFIG_IPIPE
  191.  
  192. ./arch/x86/kernel/Makefile:obj-$(CONFIG_IPIPE) += ipipe.o
  193.  
  194. then use / to search in the make menuconfig menu
  195.  
  196. Close to what I picked for my kernel configuration:
  197.  
  198. General setup --->
  199. [*] Prompt for development and/or incomplete code/drivers
  200. [*] Automatically append version information to the version strin
  201. Kernel compression mode (Bzip2) --->
  202. [*] Support for paging of anonymous memory (swap)
  203. [*] System V IPC
  204. [*] POSIX Message Queues
  205. [*] BSD Process Accounting
  206. [*] Initial RAM filesystem and RAM disk (initramfs/initrd) suppor
  207. [*] Strip assembler-generated symbols during link
  208.  
  209. [*] Enable loadable module support --->
  210. [*] Forced module loading
  211. [*] Module unloading
  212.  
  213. -*- Enable the block layer --->
  214. [*] Support for large block devices and files
  215. [*] Block layer SG support v4
  216. IO Schedulers --->
  217. <M> Anticipatory I/O scheduler
  218.  
  219. Processor type and features --->
  220. Processor family (Pentium-III/Celeron(Coppermine)/Pentium-III
  221. Preemption Model (Preemptible Kernel (Low-Latency Desktop))
  222. [*] Interrupt pipeline < Help > Symbol: IPIPE [=y]
  223. [*] Maintain code compatibility with older releases (NEW)
  224. [*] Local APIC support on uniprocessors
  225. High Memory Support (X) off
  226. [*] MTRR (Memory Type Range Register) support
  227. [*] x86 PAT support <-- disable if freeze up
  228. Timer frequency (300 HZ) --->
  229. [ ] Check for low memory corruption <-- (I can try this after things work)
  230. [*] Reserve low 64K of RAM on AMI/Phoenix BIOSen
  231.  
  232. Power management and ACPI options --->
  233. [*] Power Management support
  234. [*] Dock
  235.  
  236. Bus options (PCI etc.) --->
  237. [*] PCI support
  238. PCI access mode (Any) --->
  239. [*] Interrupts on hypertransport devices (NEW)
  240. [*] ISA support
  241.  
  242. Executable file formats / Emulations --->
  243. [*] Kernel support for ELF binaries
  244.  
  245. [*] Networking support --->
  246. Networking options --->
  247. <M> Unix domain sockets
  248. [*] TCP/IP networking
  249. <*> IP: IPsec transport mode (NEW)
  250. <*> IP: IPsec tunnel mode (NEW)
  251. <*> IP: IPsec BEET mode (NEW)
  252. [*] Large Receive Offload (ipv4/tcp) (NEW)
  253. <*> INET: socket monitoring interface (NEW)
  254. <M> The IPv6 protocol (NEW) --->
  255.  
  256.  
  257. Device Drivers --->
  258. Generic Driver Options --->
  259. [*] Select only drivers that don't need compile-time external fir
  260. -*- Userspace firmware loading support
  261.  
  262. -*- Plug and Play support --->
  263.  
  264.  
  265. <M> Parallel port support --->
  266. <M> PC-style hardware
  267. [*] IEEE 1284 transfer modes
  268.  
  269.  
  270. [*] Block devices --->
  271. <M> Normal floppy disk support
  272. <M> Loopback device support
  273. <M> Network block device support
  274.  
  275. {change this!}
  276. <M> ATA/ATAPI/MFM/RLL support --->
  277. <M> generic ATA/ATAPI disk support (NEW)
  278. [*] ATA disk support (NEW)
  279. <M> Include IDE/ATAPI CDROM support
  280. [*] IDE ACPI support
  281. <M> generic/default IDE chipset support
  282. <M> Generic PCI IDE Chipset Support
  283. <M> Intel PIIX/ICH chipsets support
  284. {go with this:}
  285. { [*] Serial ATA (prod) and Parallel ATA (experimental) drivers -- }
  286.  
  287.  
  288. SCSI device support --->
  289. <M> SCSI device support
  290. [*] legacy /proc/scsi/ support (NEW)
  291. <M> SCSI generic support
  292. [*] SCSI low-level drivers (NEW) --->
  293.  
  294. <M> I2O device support --->
  295.  
  296.  
  297. [*] Network device support --->
  298. <M> Dummy net driver support
  299. [*] Ethernet (10 or 100Mbit) --->
  300. [*] EISA, VLB, PCI and on board controllers
  301. <M> PCI NE2000 and clones support (see help) ne2k-pci
  302. say Y and read the Ethernet-HOWTO, available from
  303. <http://www.tldp.org/docs.html#howto>.
  304.  
  305. Input device support --->
  306. -*- Generic input layer (needed for keyboard, mouse, ...)
  307. [*] Provide legacy /dev/psaux device
  308. [*] Mice --->
  309. <M> PS/2 mouse
  310.  
  311.  
  312. [*] Miscellaneous devices --->
  313. <M> PC Speaker support
  314.  
  315.  
  316.  
  317. Character devices --->
  318. Serial drivers --->
  319. <M> 8250/16550 and compatible serial support
  320. -*- Unix98 PTY support
  321. <M> Parallel printer support
  322. <M> Support for user-space parallel port device drivers
  323. <M> Hardware Random Number Generator Core support
  324. <M> Intel HW Random Number Generator support
  325.  
  326.  
  327. <M> Hardware Random Number Generator Core support
  328. <M> Intel HW Random Number Generator support (NEW)
  329.  
  330. Graphics support --->
  331. <M> /dev/agpgart (AGP Support) --->
  332.  
  333. <M> Direct Rendering Manager (XFree86 4.1.0 and higher DRI suppor
  334.  
  335. <M> Support for frame buffer devices --->
  336. <M> ATI Rage128 display support ( note this messes up EMC2 )
  337. [*] Support for backlight control
  338.  
  339. Console display driver support --->
  340. -*- VGA text console
  341.  
  342. [*] USB support --->
  343.  
  344.  
  345. <M> Real Time Clock --->
  346. <M> PC-style 'CMOS' (NEW)
  347.  
  348.  
  349. File systems --->
  350. <M> Second extended fs support
  351. [*] Inotify file change notification support
  352. [*] Inotify support for userspace (NEW)
  353.  
  354. CD-ROM/DVD Filesystems --->
  355. <M> ISO 9660 CDROM file system support
  356. [*] Microsoft Joliet CDROM extensions
  357.  
  358.  
  359. Pseudo filesystems --->
  360. -*- /proc file system support
  361. [*] /proc/kcore support
  362. [*] Virtual memory file system support (former shm fs)
  363.  
  364. Library routines --->
  365. {M} CRC32 functions
  366.  
  367.  
  368. I'm sure in all of the excitement I missed a few things but it is close.
  369.  
  370. reboot and cross your fingers!
  371.  
  372. #less MySystem.txt
  373.  
  374. might help
  375.  
  376. Along with
  377.  
  378. #dmesg
  379.  
  380. and
  381.  
  382. #less /var/log/messages
  383.  
  384. Anyhow once you have a kernel that runs and does what you want it to
  385. (took me about 6 tries) Then you can move on.
  386.  
  387. $cd /usr/src
  388.  
  389. $tar jxf rtai-source.tar.bz2
  390.  
  391. $cd /usr/src/linux
  392.  
  393. $fakeroot make-kpkg --append-to-version -rtai --added-modules rtai --config menuconfig modules_image
  394.  
  395. For EMC2 2.3 and newer, enable CONFIG_RTAI_MATH parameter.
  396. Base system ---> Other features ---> Mathfuns support in kernel ---> enabled
  397.  
  398. Default values are OK for other parameters. Save and exit.
  399.  
  400. $sudo -i
  401.  
  402. #cd /usr/src
  403.  
  404. #dpkg -i rtai-modules-2.6.30.5-rtai_3.7.1-2+r1_i386.deb
  405.  
  406. or
  407.  
  408. #dpkg -i rtai-modules-2.6.30.5-rtai-cnc_3.7.1-2+r6_i386.deb
  409.  
  410. #cd /usr/src/linux
  411.  
  412. #cp Module.symvers Module.symvers.old
  413.  
  414. #cat /usr/realtime/modules/Module.symvers >> Module.symvers
  415.  
  416. Adjust to your kernel name:
  417. #ln -s /usr/realtime/modules/ /lib/modules/2.6.30.5-rtai-cnc/rtai
  418.  
  419. #depmod -a
  420.  
  421. cnc:~# ls /dev/rtai
  422. ls: cannot access /dev/rtai: No such file or directory
  423.  
  424.  
  425. I found this script in the RTAI documentation and gave it a shot:
  426.  
  427. #touch restoreRT.sh
  428. #gedit restoreRT.sh
  429.  
  430. cnc:~# cat restoreRT.sh
  431. ------------ copy from here -------------------------
  432. #!/bin/sh
  433.  
  434. if test \! -c /dev/rtai_shm; then
  435. mknod -m 666 /dev/rtai_shm c 10 254
  436. fi
  437. for n in `seq 0 9`; do
  438. f=/dev/rtf$n
  439. if test \! -c $f; then
  440. mknod -m 666 $f c 150 $n
  441. fi
  442. done
  443.  
  444. -------------------- to here ----------------------------
  445.  
  446. #chmod +x restoreRT.sh
  447.  
  448. #./restoreRT.sh
  449.  
  450. Marvel at incomprehensible numbers for a while:
  451.  
  452. #cd /usr/realtime/testsuite/kern/latency/; time ./run
  453.  
  454. #cd /usr/realtime/testsuite/kern/preempt/; time ./run
  455.  
  456. #cd /usr/realtime/testsuite/kern/switches/; ./run
  457.  
  458. If the above really fascinates you go through
  459.  
  460. /usr/realtime/testsuite/user
  461.  
  462. as well to compare and contrast the differences. Or not.
  463.  
  464. OK back to installing EMC2
  465.  
  466. Get everything else you need to build EMC2:
  467.  
  468. aptitude install git-core \
  469. gitk \
  470. git-gui \
  471. autoconf \
  472. tk-dev \
  473. bwidget \
  474. build-essential \
  475. gettext \
  476. python-dev \
  477. libglu1-mesa-dev \
  478. libxmu-dev \
  479. libgtk2.0-dev \
  480. libgnomeprintui2.2-dev \
  481. libxaw7-dev \
  482. libncurses5-dev \
  483. libreadline5-dev \
  484. python-tk \
  485. python-imaging \
  486. python-imaging-tk \
  487. python-numarray \
  488. pciutils \
  489. libpci-dev \
  490. python-glade2 \
  491. python-xml \
  492. bc \
  493. libpth-dev \
  494. lyx \
  495. texlive-extra-utils \
  496. groff
  497.  
  498. Or:
  499. aptitude install git-core gitk git-gui autoconf tk-dev bwidget build-essential gettext python-dev libglu1-mesa-dev libxmu-dev libgtk2.0-dev libgnomeprintui2.2-dev libxaw7-dev libncurses5-dev libreadline5-dev python-tk python-imaging python-imaging-tk python-numarray pciutils libpci-dev python-glade2 python-xml bc
  500.  
  501. aptitude install libpth-dev lyx texlive-extra-utils groff
  502.  
  503.  
  504. Aptitude will install a bunch of other junk besides that list to satisfy
  505. dependencies.
  506.  
  507. $mkdir ~/EMC2
  508.  
  509. $cd ~/EMC2
  510.  
  511. $ wget http://downloads.sourceforge.net/project/emc/emc2/2.4.x/emc2_2.4.4/emc2_2.4.4.tar.gz
  512.  
  513. $ tar zxf emc2_2.4.4.tar.gz
  514.  
  515. $ cd emc2_2.4.4/src/hal/drivers
  516.  
  517. $ sed -i 's/pci_find_device/pci_get_device/g' *.c
  518.  
  519. $ cd ../..
  520.  
  521. $ ./autogen.sh
  522.  
  523. $ ./configure --enable-run-in-place
  524.  
  525. $ make clean
  526.  
  527. $ make
  528.  
  529. $ sudo make setuid
  530.  
  531. Go to the top directory of emc2-2.4.4
  532.  
  533. $ cd ..
  534.  
  535. If you're religious now might be a good time to pray.
  536.  
  537. $ . scripts/emc-environment ; scripts/emc
  538.  
  539. All of this junk took me about a week to figure out and the information was
  540. gathered from a variety of sources but mainly is from the Lenny pages
  541. at linuxcnc.org I just fleshed out some of the steps that got me stuck a bit
  542. more. With this file I could probably do it in a sitting or two.
  543.  
  544. I did all of this to avoid some of the overhead in Ubuntu on my antique
  545. machine I have dedicated to running EMC2. In the end I didn't actually
  546. gain anything in latency. Machines are what they are. But I might not hit
  547. those spikes as often. I don't know. I still like Debian more than Ubuntu.
  548.  
  549. Other stuff I did to this system to make it a bit more usable to me include:
  550.  
  551. #aptitude install mesa-utils xlibmesa-dri xlibmesa-gl xlibmesa-glu
  552. #aptitude install htop
  553. #aptitude install bootchart
  554. #usermod -a -G video paulcnc
  555. #gedit /etc/apt/sources.list
Advertisement
Add Comment
Please, Sign In to add comment
Advertisement
Public Pastes
Advertisement
We use cookies for various purposes including analytics. By continuing to use Pastebin, you agree to our use of cookies as described in the Cookies Policy.  OK, I Understand
Not a member of Pastebin yet?
Sign Up, it unlocks many cool features!