Also see https://github.com/SebKuzminsky/linux-rtai-build (which is a very well documented system for building several different flavours of RTAI automatically. I don't know why I didn't use it...
Commands marked with # specify root, commands marked with $ are user commands.
1.) Download the RTAI source
$ git clone https://github.com/NTULINUX/RTAI.git
2.) Patch kernel with IPIPE, in this case we use 4.14.148
$ sudo rm -rf /usr/src/000*.patch /usr/src/linux $ cd /usr/src $ sudo wget https://www.kernel.org/pub/linux/kernel/v4.x/linux-4.14.148.tar.xz $ sudo tar xf linux-4.14.148.tar.xz $ sudo ln -sfv linux-4.14.148 linux $ sudo cp -aLv /path/to/this/RTAI-git-tree/ksrc/patches/v4.14.148/*.patch /usr/src/ $ cd linux $ sudo patch -p1 < ../0001*.patch $ sudo patch -p1 < ../0002*.patch $ sudo patch -p1 < ../0003*.patch $ sudo patch -p1 < ../0004*.patch $ sudo make olddefconfig $ sudo make menuconfig
// Differs here from NTULinux //
in the menu configuration select General Config -> Local version - append to kernel release Use "-rtai-amd64". This will avoid a problem later with RTAI config needing two parameters.
$ sudo make $ sudo make install $ sudo make modules_install
On debian this will automatically update grub and set the system to boot from the new kernel.
REBOOT (and check with uname -r that the new kernel is running: 4.14.132-rtai-amd64
If it boots to the busybox boot to the old kernel then run these commands JT
cd /usr/src/linux sudo make modules_install sudo make install
If the kernel boots you can now make kernel packages:
$ sudo make deb-pkg
YOU NOW HAVE KERNEL PACKAGES FOR AN RTAI KERNEL (in /usr/src )
4.) Configure, build and install RTAI (MUST BE BOOTED INTO YOUR NEW RTAI KERNEL)
$ cd ~/RTAI $ ./autogen.sh $ ./configure
Now set up debian. The NTULINUX repo now contains the magic sauce from: https://github.com/SebKuzminsky/rtai/tree/old-3.9-debs/debian
Consider changing the maintainer name in configure.in Create a git tag to have a release number: git tag -a 5.2.2-linuxcnc -m "experimental RTAI debs for LinuxCNC"
update the changelog:
$ debian/update-dch-from-git $ debian/configure 4.14.148 rtai amd64
This will give _many_ messages about missing math functions. Ignore these. There will also be an error about package signing and gpg, I need to find out how to fix that, but the debs are still built.
YOU SHOULD NOW HAVE PACKAGES FOR RTAI. (in the level below /RTAI )
$ sudo dpkg -i rtai-modules-4.14.148_5.2.2_amd64.deb
First get the LinuxCNC source:
$ git clone https://github.com/LinuxCNC/linuxcnc.git linuxcnc-dev
Select the branch you want to build:
$ git checkout 2.8 $ git pull
You must first apply all patches to LinuxCNC located in the linuxcnc_patches directory of the NTULINUX/RTAI repository before you run ./autogen.sh inside it's source tree.
To do this:
$ cd linuxcnc-dev $ patch -p1 /path/to/this/RTAI-git-tree/linuxcnc_patches/0001*.patch $ cd src $ ./autogen.sh
Configure to build with the currently running (should be RTAI) kernel.
$ debian/configure -r
LinuxCNC has many dependencies, get a list of these and install them:
(This will return a list that can be pasted after "sudo apt-get install" but that will need editing to remove minimum version number and alternatives)
build debian packages:
YOU NOW SHOULD HAVE LINUXCNC Packages (in the folder below /linuxcnc-dev )