Belt Change On 08 Yamaha Nitro

First success with RTAI

 Recently I've been trying to grok Real Time Application Interface (more on www.rtai.org). It certainly wasn't a walk in the park, but still far far easier than RTLinux. This time at least I had a clue what was going on. Following this tutorial worked for me:  
 http://qrtailab.sourceforge.net/rtai_installation.html 
 . 
  
 Finally when everything is set up you can do:  
 sudo start_rtai 
  on command line. This starts RTAI. 
  
 Now for some programming. Here's a snippet: 
 /* led1.c, an LXRT LED blinker */ 
  
 #include <rtai_lxrt.h> 

#include <pthread.h>

#include <sys/mman.h>

#include <sys/io.h>

// delay in nanoseconds

#define TICKS 500000000 main()

{

RT_TASK *task; int priority = 0, i; int stack_size = 4096;

int msg_size = 0; // use default

         // get enough privilege to  
         // access the I/O ports. 
  
         iopl(3); 
  
         task = rt_task_init(nam2num("main"), priority, stack_size, msg_size); 
         if(task == 0) 
         { 
          printf("Task could not be initialized. Are you root?"); 
          exit(1); 
         } 
          rt_set_oneshot_mode(); 
         start_rt_timer(0); 
         mlockall(MCL_CURRENT  
  
 To compile this program it's necessary to run: 
  
 CFLAGS=$(rtai-config --lxrt-cflags 
 LDFLAGS=$(rtai-config --lxrt-ldflags 
 gcc $(CFLAGS) $(LDFLAGS) main.c -o blinker 
 Where main.c is the name of the source file and blinker is the name of output executable. 
 To run it you should write  
 sudo ./blinker 
 . Sudo is needed because of the direct hardware access. You should see that the leds hooked up to lpt port are blinking.