Linux RTAI RTNET 2 Linux 2 1 2 2 DEBIAN 2 9 9 10 RTAI 11 1 RTAI 11 2 RTAI 11 3 11 RTNET 12 1 RTNET 12 2 12 3 RTNET 12 4 12 12 1 12 2 13 CF 13 Linux RTAI RTNET CPU P3 Celeron400MHZ 64M 20G Linux DEBIAN 5 DEBIAN DEBIAN Linux Kernel 2 6 26 1 kernel package make kpkg kernel package rcconf apt get install rcconf samba windows apt get install samba 2 DEBIAN VM Settings Hard Disk Advanced IDE debian Yes base system ROOT Yes Linux kernel RTAI RTNET Linux kernel http www kernel org pub linux kernel v2 6 RTAI https www rtai org RTNET http www rtnet org Linux 2 6 23 RTAI 3 6 2 RTNET 0 9 10 RTAI Linux E F G H RTAI 1 RTAI A RTAI make menuconfig General Installation directory RTAI General Linux source tree kernel Machine x86 Number of CPUs SMP only 1 Base system Supported services Use RTNet Y Add ons Real Time Driver Model over RTAI Y B make C make install RTAI 2 RTAI cd u sr realtime testsuite kern latency run RTAI 3 Type C to stop this application insmod error inserting usr realtime modules rtai hal ko 1 Invalid module format ERROR cannot load usr realtime modules rtai hal ko insmod error inserting latency rt ko 1 Invalid module format ERROR cannot load latency rt ko Warning Error opening proc rtai latency calibrate Couldn t get infos about the module s state Error opening dev rtf3 RTNET 1 RTNET A tar jxvf rtnet 0 9 10 tar bz2 rtnet B RTNET make menuconfig Variant RTAI 3 3 cv or better Xenomain 2 0 x X Real Time Extension Installation Path RTAI Drivers PCNET32 P3 realtek 8139 C make D make install 2 RTNET etc rtnet conf RTNET IP RTNET master slave master TDMA CYCLE TDMA slave TDMA master TDMA SLAVES slave IP RT DRIVER PCNET32 P3 8139too 3 RTNET RTNET IP sbin rtping 127 0 0 1 RTNET 4 make menuconfig RTAI Add ons Real Time Driver Model over RTAI Y RTAI Debian 1 A checkinstall checkinstall apt get install checkinstall B RTAI checkinstall C deb Debian D RTNET checkinstall E deb Debian 2 kernel kernel RTAI RTNET A RTAI RTNET kernel B RTAI RTNET C RTAI RTAI dpkg i rtai 3 6 3 deb rtai 3 6 3 deb RTAI D RTNET RTNET dpkg i rtnet 0 9 10 deb rtnet 0 9 10 RTNET E CF 1 CF dd if dev hdc of work cf system rf img 2 CF dd if work cf system rf img of dev hdc