RTAI

RTAI
Asst. Prof. Dr. Tolga Ayav
Department of Computer Engineering
zmir Institute of Technology
Embedded ystems !ab

Linux Architecture

The standard LINUX kernel isn't a real-time kernel

Some patches should be applied to fulfill the real-

time requirements
Carte Pulse
"A#D$A#E
ystem libraries
Drivers
LINUX %ernel
"ard&are interrupts
I/O
'ser(s tas%
zmir Institute of Technology Embedded Systems Lab

Real-Time Linux Architecture
Hardware abstraction layer
real-time interrupt dispatcher, real-time scheduler
Inter processes communication services
The patches available are RTLinux, xenomai and RTAI (Real-Time Application
Interface)
#eal)time plugin
ystem libraries
Linux kernel
Drivers
I/O
I/O
"ard&are interrupts
oft&are interrupts
#eal Time tas%
'ser(s tas%
Real-time Scheduler
"A#D$A#E
zmir Institute of Technology Embedded Systems Lab

RTAI Block Description

The software architecture of !T"I is made of

# I$% to &inu' H( )ana*ement +H"&, basically a data
structure-
. basic components +dispatcher, scheduler, fifo's,-
# I$% +set of functions, used in user tasks to initiali/e and start
the components-

%rom a &inu' point of view these entities populate modules-

zmir Institute of Technology Embedded Systems Lab

Control flow in a RTAI/Linux system
*irtual Interrupt Control
using
sti+,
cli+,
zmir Institute of Technology Embedded Systems Lab

RTAI Installation
0lease see the repository
http$$#12-3-#.2-.4$rtai
!ead the file rtai5installation-pdf

Writin !ernel "o#ule
6include 7linu'$kernel-h8
6include 7linu'$module-h8
6include 7linu'$init-h8
6include 7asm$io-h8
6include 7rtai-h8
6include 7rtai5sched-h8
6include 7rtai5fifos-h8
)9:;&<5&I=<>S<+?@0&?,A
static int 55preempt5init+void,
B
printk+?Cernel module startedDn?,A
return EA
F
static void 55preempt5e'it+void,
B
printk+?Cernel module e'itedDnDn?,A
F
module5init+55preempt5init,A
module5e'it+55preempt5e'it,A

$assin parameters to
mo#ule
int var G HEA
module5param+var,int,HE,A
void write5lpt +unsi*ned char byte,
B
outb+byte, &0T,A
F
static int 55preempt5init+void,
B
printk+?Cernel module startedDn?,A
printk+?Dn Iariable Ialue JdDnDn?, var,A
write5lpt++unsi*ned char, var K E'ff,A
return EA
F
static void 55preempt5e'it+void,
B
write5lpt++unsi*ned char, E,A
printk+?Cernel module e'itedDnDn?,A
F
module5init+55preempt5init,A
module5e'it+55preempt5e'it,

Typical RTAI Task
static !T5T"SC thread#A
static void task# +lon* thread,
B
outb+byte, &0T,A
F
static int 55preempt5init+void,
B
!TI)< startA
rtf5create+%I%9, #EEE,A
rt5task5init5cpuid+Kthread#, task#, E, LEEE, E, E, E, E,A
period G start5rt5timer+nanoHcount+TI=C5TI)<,,A
rt5task5make5periodic+Kthread#, start, period,A
return EA
F
static void 55preempt5e'it+void,
B
stop5rt5timer+,A
rt5task5delete+Kthread#,A
rtf5destroy+%I%9,A
printk+?Cernel module e'itedDnDn?,A
F

%xperiment
(rite an !T"I task that produces a 0() si*nal from &0T
port of the computer- The name of the module will be
MpwmN- 0eriod T +ns, and duty cycle +percenta*e, will be
passed to the the module as parameters such that
insmod pwm.o T!"## $!%#
9bserve the 0() si*nal usin* an osciloscope-

$W" sinal