Linux 实时补丁 xenomai

下载地址：　

http://xenomai.org/downloads/

内核打xenomai的补丁

cd  linux-3.18.20

/opt/xenomai-3-3.0.6/scripts/prepare-kernel.sh --arch=x86 --ipipe=../ipipe-core-3.18.20-x86-9.patch

 

menuconfig配置

官网要求禁用以下选项：

Power management and ACPI options－>CPU Frequency scaling

Power management and ACPI options－>ACPI (Advanced Configuration and Power Interface) Support－> 除过下面几项外其它全部禁用

<*>   AC Adapter   

<*>   Battery      

{*}   Button       

{M}   Video        

<*>   Fan          

-*-   NUMA support

Power management and ACPI options－>CPU Idle－> CPU idle PM support

Executable file formats / Emulations－> IA32 Emulation    必须禁用，否则编译不过

Kernel hacking－> Kernel debugging    必须禁用，否则编译不过

Bus options (PCI etc.)-> Message Signaled Interrupts (MSI and MSI-X)  

Device Drivers>Input device support>Generic input layer>Miscellaneous devices （来源于网络）

 

make -j 46 ;  make modules  ;  make modules_install  ;  make install

 

编译xenomai的库

cd /opt/xenomai-3.0.6

./configure

make;make install

 

使用xenomai的库重新编译rt 测试程序

修改rt的Makefile文件，增加：

     33 XENO_CONFIG := /usr/xenomai/bin/xeno-config

     34 CFLAGS += $(shell $(XENO_CONFIG) --posix --cflags)

     35 LDFLAGS += $(shell $(XENO_CONFIG) --posix --ldflags)

     36 CC := $(shell $(XENO_CONFIG) --cc)

[root@localhost rt-tests]# ldd cyclictest

        linux-vdso.so.1 =>  (0x00007ffc247fe000)

        libcobalt.so.2 => /lib/libcobalt.so.2 (0x00007fdf27117000)

        libmodechk.so.0 => /lib/libmodechk.so.0 (0x00007fdf26f15000)

        libpthread.so.0 => /lib64/libpthread.so.0 (0x00007fdf26cf9000)

        librt.so.1 => /lib64/librt.so.1 (0x00007fdf26af1000)

        libnuma.so.1 => /lib64/libnuma.so.1 (0x00007fdf268e5000)

        libc.so.6 => /lib64/libc.so.6 (0x00007fdf26524000)

        /lib64/ld-linux-x86-64.so.2 (0x00007fdf27338000)

        libgcc_s.so.1 => /lib64/libgcc_s.so.1 (0x00007fdf2630e000)

 

保持测试1小时的结果：

[root@localhost ~]# date && taskset f0 cyclictest -p 99 -m -c 0 -i 100 -n -h 30 -D 1h && date

Wed Jan 10 07:31:41 CST 2018

# /dev/cpu_dma_latency set to 0us

policy: fifo: loadavg: 1.00 1.01 0.96 1/445 7222          

 

T: 0 ( 5168) P:99 I:100 C:35999902 Min:      0 Act:    0 Avg:    0 Max:      16

# Histogram

000000 35999717

000001 000159

000002 000000

000003 000000

000004 000017

000005 000036

000006 000048

000007 000006

000008 000009

000009 000004

000010 000001

000011 000001

000012 000000

000013 000000

000014 000001

000015 000000

000016 000001

000017 000000

000018 000000

000019 000000

000020 000000

000021 000000

000022 000000

000023 000000

000024 000000

000025 000000

000026 000000

000027 000000

000028 000000

000029 000000

# Total: 036000000

# Min Latencies: 00000

# Avg Latencies: 00000

# Max Latencies: 00016

# Histogram Overflows: 00000

# Histogram Overflow at cycle number:

# Thread 0:

 

Wed Jan 10 08:31:41 CST 2018

[root@localhost ~]# uname -a

Linux localhost.localdomain 3.18.20 #2 SMP Tue Jan 9 05:03:01 CST 2018 x86_64 x86_64 x86_64 GNU/Linux

[root@localhost ~]# cat /proc/cmdline

BOOT_IMAGE=/vmlinuz-3.18.20 root=/dev/mapper/centos-root ro crashkernel=auto rd.lvm.lv=centos/root rd.lvm.lv=centos/swap iommu=pt usbcore.autosuspend=-1 selinux=0 enforcing=0 nmi_watchdog=0 softlockup_panic=0 intel_iommu=on audit=0 cgroup_disable=memory kvm-intel.eptad=0 hugepagesz=1G hugepages=2 hugepagesz=2M hugepages=0 default_hugepagesz=1G isolcpus=1-23,25-47 rcu_nocbs=1-23,25-47 kthread_cpus=0,24 irqaffinity=0,24 nohz_full=1-23,25-47 rhgb quiet