Differences

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+====== RTAI configuration ======
+Patch the kernel, in the directory of the kernel run this line:
+<code bash>
+patch -p1 -b < ../../rtai-3.9/base/arch/x86/patches/hal-linux-2.6.38.8-x86-2.11-02.patch
+</code>
+===== Notes for RTAI 3.9 =====
+When I tryed to install RTAI 3.9 in Ubuntu 12.04 with kernel 2.6.38.8 I have those problems:
+  * I must set //CONFIG_SPARSE_IRQ=y// in kernel configuration, otherwise I have an error when I try to load //rtai_hal.ko//
+  * I must add the included file //#include <linux/sched.h>// in //base/include/rtai_lxrt.h//
+  * To resolve the error: ///usr/include/features.h:323:26: fatal error: bits/predefs.h: No such file or directory//, use the command <code bash>apt-get install gcc-multilib</code>
+  * To resolve the error: ///usr/include/gnu/stubs.h:7:27: fatal error: gnu/stubs-32.h: No such file or directory//, use the commands <code bash>
+cd /usr/include/
+mv gnu gnu.sav
+ln -fs i386-linux-gnu/gnu gnu</code>
+  * Problem on RTAI kernel patch, see later
+RTAI kernel patch does not work properly. When the //rtai_hal.ko// RTAI module is loaded with IsolCpusMask (e.g. //insmod rtai_hal.ko IsolCpusMask=0x02//). It crashes with error message (using //dmesg//):
+<code>
+BUG: unable to handle kernel NULL pointer dereference at 0000000000000030
+IP: [<ffffffff8101b932>] __ipipe_set_irq_affinity+0x11/0x61
+</code>
+To solve the problem a solution is to modify the kernel file //./arch/x86/kernel/ipipe.c// adding the code:
+<code c>
+if (irq_to_desc(irq) == NULL)
+	return CPU_MASK_NONE;
+</code>
+in the function //__ipipe_set_irq_affinity()//, just after the declaration //cpusmask_t oldmask;//.
+The the kernel must be recompiled.

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