Hi all,
I've just finished upgrading my system to kernel 2.2.xx (RH6.0) and
RTL_v2 Beta16.
The task was fairly easy, but there are some things I'd like to share
with you. For example,
1) I've found many more modules to be loaded in this version than
in the previous one: e.g. rtl_time, rlt_posixio, rtai_shm and
mbuff.
2) I am not quite sure yet what is the purpose of some of them,
like the rtai_shm, or the mbuff, but I've noticed that the
sequence one needs to "insmod" the modules is now an issue:
rtl_time has to come first, followed by rtl_sched, rtl_posixio,
and rtl_fifo, in that order.
3) For the remaining modules, the order is not important, but
rt_com doesn't seem to get along with rtl_posixio. If I try
to install rt_com after rtl_posixio (it has to come after or
rtl_fifo won't load and therefore rt_com won't load either)
insmod reports an error: "Device or resource busy".
Other than that, everything was pretty much as in the previous versions
and I had only to recompile my applications for the new kernel and run.
Thanks,
Guilherme
>Date: Tue, 21 Sep 1999 15:37:48 -0500 (EST)
>From: Guilherme Nelson DeSouza <[EMAIL PROTECTED]>
>Subject: Re: [rtl] NMT vs. RTAI
>
> Phil and John,
>
> Thanks for your suggestions.
> I decided to try Red Hat 6.0 for many reasons: first it allows
>multi threads (it seems that even gdb was patched to support multi-
>thread debugging mode), it allows swap files (partitions) of more
>than 128Kb (the new kernel 2.2.xx does it) without any extra headache,
>and it is still supported by RTL and RTAI (or Zentropix, as John
>mentioned).
>
> I haven't finished upgrading yet, but I have to say that I like it
>a lot so far. If you haven't tried RedHat yet (I hadn't), you'll be
>amazed by how easy it is to install and how neat it looks (thanks to
>KDE and GNOME, both quite impressive).
>
> Well, anyway... this is not a Linux mailing list, so let's talk
>about what is important. (Phil asks about my application...) We have
>developed (and are still developing) systems for vision based mobile
>robot (indoor) navigation using Linux and RTLinux. I'll be glad to
>provide details about our navigation systems - or you can check our
>web page at www.ecn.purdue.edu/RVL (though the system discribed there
>does not use Linux) - but for now, our robot has a stereo head with
>three cameras (a pair for stereo vision and a third for color images),
>five sonar sensors for obstacle detection/avoidance, and a laser range
>scaner also for obstacle detection/avoidance. The software for controlling
>the stereo head and the sonar were both simple unix processes and that
>gave us a lot of inconsistent behaviors, specially with the readings
>from the sonar sensor.
> What I did recently was to write two rt tasks, one for controlling
>the stereo head (this one is pretty much the same as in some examples
>found in the RTL distribution for serial port, since the head uses
>serial communication) and the other for the sonar. The latter uses the
>parallel port for triggering one of the five activation signals that
>go to each of the sonar trasmiters and "loop" while it waits for the
>status bit to go high - echo received by the corresponding sonar
>receiver.
> Both rt tasks improved significantly the system performance, but
>the latter one (sonar) proved to be even more important for our
>application. First it allowed us to remove some special hardware
>we had before to cope with the nondeterminism of soft interrupts,
>and second it gave us a much more accurate measurement.
>
> Well, as I said, I'll be glad to give more details. Just let
>me know.
>
> Guilherme
>
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