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Once the source is installed, you must configure the kernel. Configuration consists of determining the features for which you want to provide kernel-level support. This includes drivers for different devices, such as sound cards and SCSI devices. This process is referred to as configuring the kernel. You can configure features as directly included in the kernel itself or as modules the kernel can load as needed. You can also specifically exclude features. Features incorporated directly into the kernel make for a larger kernel program. Features set up as separate modules can also be easily updated. Documentation for many devices that provide sound, video, or network support can be found in the /usr/share/doc directory. Check the kernel-doc package to find a listing of the documentation provided.

Note If you configured your kernel previously and now want to start over from the default settings, you can use the make mrproper command to restore the default kernel configuration. You can configure the kernel using one of several available configuration tools: config, menuconfig, and xconfig. They perform the same configuration tasks, but use different interfaces. The config tool is a simple configure script providing line-based prompts for different configuration options. The menuconfig tool provides a cursor- based menu, which you can still run from the command line. Menu entries exist for different configuration categories, and you can pick and choose the ones you want. To mark a feature for inclusion in the kernel, move to it and press the SPACEBAR. An asterisk appears in the empty parentheses to the left of the entry. If you want to make it a module, press M and an M appears in the parentheses. The xconfig tool runs on a window manager and provides a window interface with buttons and menus. You can use your mouse to select entries. A menu consists of configuration categories that are listed as buttons you can click. All these tools

Now run the program and see what happens when the robot encounters a tree. You may have to wait a little while. The robot will try to follow the contour of the new tree bed. However, while it is doing so it will exit the boundary of the lawn. If you notice the tree is right at the border. The robot does not seem to heed the boundary (see Fig. 11.8). Why is that The wall-following subroutine does not have any code to prevent the robot from exiting the boundary and if the contour following causes the robot to exit the boundary it will not be stopped from doing so. We need to incorporate boundary checking in the wallfollowing behavior. Can you do this with all the routines at your disposal This is an excellent example of how a reasonably well thought out algorithm can fail in an unanticipated situation. Additionally, this situation illustrates the vital role a simulator can play in the research and development stage. The simulator facilitates changing the environment to make it as complex and as varied as possible. Many variations can be tested with ease.

save their settings to the .config file in the kernel source's directory. Should you want to remove a configuration entirely, you can use the mrproper option to remove the .config file, starting over from scratch.

You start a configuration tool by preceding it with the make command. Be sure you are in the /usr/src/linux-version directory. The process of starting a configuration tool is a make operation that uses the Linux kernel Makefile. The xconfig tool should be started from a terminal window on your window manager. The menuconfig and config tools are started on a shell command line. The following example lists commands to start xconfig, menuconfig, or config:

With the standard approach, a standardized framework for a quantitative measurement of market risks and the capital calculation to support market risks is given for all banks. The capital adequacy requirements are preset, depending on the risk factor categories:

The xconfig tool opens a Linux Kernel Configuration window listing the different configuration categories. Figure 34-1 shows the configuration categories for the 2.4 kernel. Buttons at the right of the screen are used to save the configuration or to copy it to a file, as well as to quit. Clicking an entry opens a window that lists different features you can include. Three check boxes to the left of each entry enable you to choose to have a feature compiled directly into the kernel, created as a separate module that can be loaded at runtime, or not included at all. As a rule, features in continual use, such as network and file system support, should be compiled directly into the kernel. Features that could easily change, such as sound cards, or features used less frequently, should be compiled as modules. Otherwise, your kernel image file may become too large and slower to run.

You may have observed certain limitations in the algorithms we have developed, and you may even have pondered certain questions. In this section we will discuss some issues and philosophize about possible solutions.