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HOW-TO create the 2.6.32-generic-OpenAirInterface kernel on a Ubuntu 10.04 LTSBased on :

  • Ubuntu 10.04 (The Lucid Lynx) Operating System, x86 version
  • Default GCC version (4.4.3)
  • All lines starting by a "#" are command lines to be executed in a terminal

Introduction

If the ROOT user is not created yet, log as your usual user, open a terminal and type ->

# sudo su -
# sudo passwd root

Enter the password for the ROOT user. Log out and log in as Root.

Open a terminal and update your package repository source file :

# apt-get update 

Some tools are required in order to set up the kernel (You need to be connected to Internet)

# apt-get -y install qt3-apps-dev build-essential kernel-package vim

I - Kernel source and RTAI download

# cd /usr/src/

Get the kernel source from Ubuntu repository

# apt-get install linux-source-2.6.32=2.6.32-42.96

Get the RTAI 3.8 and save it in /usr/src path :

# cd /usr/src
# wget https://www.rtai.org/RTAI/rtai-3.9.tar.bz2

Get the patch available for download at the bottom of the page and save it under your "/usr/src/" path : (this patch includes RTAI 3.9 and BIGPHYSAREA)

II - Kernel Preparation

# cd /usr/src
# tar xjvf linux-source-2.6.32.tar.bz2
# tar xjvf rtai-3.9.tar.bz2
# ln -s linux-source-2.6.32 linux
# cd linux 

Applying patch

If you want first simulate the patch application, use "--dry-run" after "-p1". It won't touch any files on your computer, but you can see if you get Hunks or not.

# patch -p1 <../EURECOM.patch

Kernel Configuration

# cd /usr/src/linux

In order to retrieve your current kernel configuration : (If at this step, questions are asked give the answer by default)

# make oldconfig

Now we modify the kernel settings the way we need it :

# make xconfig 

Check that your kernel configuration is as follows (for each of the following features, be sure that they are buit-in the kernel(ticked) and not just as a kernel module (point)):

  • General Setup
    • Kernel .config Support -> ENABLE
      • Enable access to .config through /proc/config.gz -> ENABLE
  • Processor type and features
    • Processor family -> SELECT YOURS
    • Interrupt Pipeline -> ENABLE
  • Support for Bigphysarea -> ENABLE
  • Networking Support
    • Networking options
      • Transformation user conf interface -> ENABLE
      • PF_KEY socket -> ENABLE
      • TCP/IP Networking
        • The IPv6 Protocol -> ENABLE recursively all features here
      • Network Packet Filtering Framework (Netfilter)
        • Tick everything here and everything recursively
Save and Quit

Edit the "Makefile" and update the "EXTRAVERSION" field

# vi Makefile 

Update the following field in a way to have this -> "EXTRAVERSION = .59+drm33.24.rtai.bigphys"

III - Kernel Compilation

# cd /usr/src/linux 
# make && make modules_install && make install (~1 hour)
NOTE: The compilation time might be decreased by passing the flags -jX (with X=number of CPUs you have on your machine).
This has for effect to parallelise the kernel compilation between the CPUs.

# mkinitramfs -o /boot/initrd.img-.59+drm33.24.rtai.bigphys .59+drm33.24.rtai.bigphys
# update-grub 

If you want to be sure that your new kernel will be the default one

# vi /boot/grub/grub.cfg

Look for set default="X' number at the beginning of this file and memorize it
Check at the end of the file that your kernel entry matches this "default" number
For your kernel entry paragraph, at the end of the "kernel" line, do not forget to replace "quiet splash" by "bigphysarea=19200".

The kernel entry should look almost like this:

No initrd line will cause a Kernel panic during the system boot

menuentry 'Ubuntu, with Linux 2.6.32.59+drm33.24.rtai.bigphys' --class ubuntu --class gnu-linux --class gnu --class os {
recordfail
insmod ext2
set root='(hd0,1)'
search --no-floppy --fs-uuid --set 2517a352-319f-4238-ad1a-7f7cf1dc699b
linux /boot/vmlinuz-2.6.32.59+drm33.24.rtai.bigphys root=UUID=2517a352-319f-4238-ad1a-7f7cf1dc699b ro quiet splash
initrd /boot/initrd.img-2.6.32.59+drm33.24.rtai.bigphys
}

Save and quit

# reboot 

IV - RTAI installation

Now that the system has restarted, make sure you booted on your new OpenAir kernel

# uname -r 

Should give you "2.6.32.11+drm33.2.openairinterface" as result

# cd /usr/src/rtai-3.8  
# make xconfig  

  • Machine (x86) -> UPDATE the CPUs number according to your configuration
  • Base System
    • Other features
      • Mathfuns support in kernel -> ENABLE
        • C99 Standard Support -> ENABLE
Save and quit. If any error occurs here, solve it and repeat this "make xconfig" step until it's OK
# make && make install 

We place RTAI modules in a way thay can be controled by modprobe command

# mkdir /lib/modules/2.6.32.59+drm33.24.rtai.bigphys/rtai 
# cp -r /usr/realtime/modules/* /lib/modules/2.6.32.59+drm33.24.rtai.bigphys/rtai/ 
# depmod -a 
# export PATH=/usr/realtime/bin:$PATH
Add the following lines at the end of /etc/modules (this loads the rtai modules needed by openair) :







rtai_smi







rtai_fifos







rtai_sem







rtai_math







rtai_sched







rtai_hal















In order to execute it at each terminal launch :
# vim /root/.bashrc 
Add what follows, to the end of the file
# export PATH=/usr/realtime/bin:$PATH 

We will test the RTAI system via the latency test

# cd /usr/realtime/testsuite/kern/latency  
# ./run 

If the test fails to start, it could be related to a bad RTAI configuration. Check error messages with "dmesg".

You should have absolutely no overrun and the "lat-max" column values should not exceed 45 000ns
If it is the case, try this :

# modprobe rtai_smi  

# cd /usr/realtime/testsuite/kern/latency  
# ./run 

If you still don't have the value "0" in overrun column or/and the "lat-max" column values exceed 45 000ns, then go to paragraph V.
If everything is Ok, then you're done with the Real-time kernel installation and you can directly jump to the "part VI" of this page.

V - RTAI: High latencies with SMI not disabled

You have to achieve thi section ONLY if you had bad results during the part IV - RTAI installation.

The bad results you get before are certainly due to the SMI (System Maintenance Interrupt), that you have to disable for your system. SMI is a real-time killer largely spread on motherboard with Intel chipsets.
To achieve this, you should edit /usr/src/rtai-3.8/base/arch/i386/calibration/smi-module.c

# vi /usr/src/rtai-3.8/base/arch/i386/calibration/smi-module.c  

  • "int smiReset" should be equals to 0
  • "#define CONFIG_RTAI_HW_SMI_ALL" should be set to 1
Save and quit
# cd /usr/src/rtai-3.8  
# make clean && make && make install  
# insmod /usr/realtime/modules/rtai-smi.ko 

We repeat the latency test

# cd /usr/realtime/testsuite/kern/latency 
# ./run 

You should have absolutely no overrun and the "lat-max" column values should not exceed 45 000ns

If you still face problem with this test, it means that the module rtai-smi.ko doesn't know how to disable SMI for your Hardware
You have to identify the Intel chipset you're using (We are not really sure about that yet, but we found out that it is working for us). Execute in a terminal what follows

# lspci -nv | grep 00:1f.0 | cut -d ' ' -f 3 | cut -d ':' -f 2 > my_hw
# for i in `cat my_hw`; do cat /usr/src/linux/include/linux/pci_ids.h  | grep 0x$i | cut -d ' ' -f 2 | cut -f1; done 

Copy the result somewhere

Then, we update RTAI sources

# vim /usr/src/rtai-3.8/base/arch/i386/calibration/smi-module.c 

Look for this line -> "{ PCI_DEVICE(PCI_VENDOR_ID_INTEL, PCI_DEVICE_ID_INTEL_ICH7_1) },"
And just after, add "{ PCI_DEVICE(PCI_VENDOR_ID_INTEL, XXXXXXXXX) }," with XXXXXXXXX = what you copied above
Save and quit

# cd /usr/src/rtai-3.8  
# make install  
# insmod /usr/realtime/modules/rtai-smi.ko 

If you type the command 'dmesg' in a new terminal, you should see now:
RTAI: Intel chipset found, enabling SMI workaround.
SMI configuration has been set, mask used = 1

We repeat the latency test

# cd /usr/realtime/testsuite/kern/latency 
# ./run 

You should have absolutely no overrun and the "lat-max" column values should not exceed 45 000ns

RTAI_SMI modules will be loaded automatically at each boot

# vi /etc/modules 

Add "rtai_smi" at the end of the list

-- PhilippeFoubert - 16 Mar 2012

Topic attachments
I Attachment Action Size Date Who Comment
Unknown file formatpatch EURECOM.patch manage 3633.8 K 08 Jun 2012 - 08:36 PhilippeFoubert V2
Topic revision: r9 - 23 Sep 2013 - PhilippeFoubert
 
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