EMC and RTAI

[Maximilian HEISE <max.heise-at-gmx.net>]

Hi Ian and Paul,

please be patient till Thursday next, I am preparing for my exams next weeks 
and I was quite lazy learning my stuff till now.

However, Paul's email Re: EMC and rtai  (Paul,  Fri Jan 11 00:42:41 2002), 
quite summarizes everything in my setup, exept I'am using kernel v2.4.17.
I attach my kernel-config and rtai-config for reference. There two files are 
tared and then bzip2'ed, I hope there are not too big for everyone's 
bandwidth. You have to make so small patches to the kernel by hand because 
the offset fails. But it is only the SUBLEVEL= line in the top linux/Makefile 
and Documenation in linux/Documentation/Configure.help.
But it had some emails with one of the rtai developers and the said that a 
2.4.17 patch would be available soon.

Yes you have to use egcs or gcc-2.95.3 or gcc-2.95.4 and you have to disable 
Module Version option, but that was covert in a recent thread on the rtai 
mailing list after introduction of rtai-24.1.7.

I had to make some small hack to the emc source, rcslib compiled fine. But I 
just checked with the cvs source of today and it compiled without any 
problems.

Paul, do you know what the symlink /usr/src/linux-2.4 is good for ? I have 
that one too. I fact it was installed my the RH7.2 distro.  But it used to be 
on /usr/src/linux pointing to the real kernel sources.

And how do I disable this:
<cut>
CLASSPATH = ../../../rcslib/plat/java/lib
JAVA_DIR = /usr
JAVA_COMMAND = java
/usr/bin/java -classpath ../../../rcslib/plat/java/lib 
diagapplet.CodeGen.CodeGen script=emc.gen display_on=false
Couldn't find or load essential class `java/lang/Object' 
java.lang.NoClassDefFoundError java/lang/Object
Abort
</cut>
CodeGen exited.
When I make using "make PLAT=linux_rtai". Did does not harm, and the EMC 
comes up without it, but it bugs me ;)

And in emc/src/emcmot/emcmot.c
I made a little change around line 375:
#if defined(linux_2_4_16) || defined(linux_2_4_17)
#include <linux/slab.h>
#else
#include <linux/malloc.h>
#endif
This is not very version independant ;)
And in around line 390:
#if defined(linux) || defined(rtlinux)
#include <linux/fs.h>           /* head off insane problem in io.h */
/* #include <sys/io.h> */            /* ioperm() */
#endif
I had to uncomment #include <sys/io.h>

I am compiling with my script buildcmd. I think I had this attached to some 
email a few days ago.

I attached logs of the compilation of the emc and rcslib sources to that 
everyone can compare.

Sorry if this email is so unstructured, but I do not have muy time right now.
See you again Thursday next week.

Regards
Max


-- 
Max Heise <max.heise-at-gmx.net>
Student Mechatronik/Automatisierungstechnik FHT Esslingen
PGP public key from:
http://www.fht-esslingen.de/~mahemt01/pgp50i.pub or any keyserver

configs.tar.bz2

compile.logs.tar.bz2