树莓派 linux内核编程,树莓派编译实时内核

硬件：树莓派2

镜像：http://downloads.raspberrypi....

树莓派安装必要软件

官方说明为：

https://www.raspberrypi.org/d...

sudo apt install git bc bison flex libssl-dev make

推荐安装：

sudo apt-get install bc

sudo apt-get install libncurses-dev libssl-dev

sudo apt-get install build-essential kmod cpio flex cpio bison

下载内核

https://codeload.github.com/r...

或者

git clone https://github.com/raspberrypi/linux.git -b rpi-4.19.y-rt

创建内核目录，解压内核

cd /usr/src

sudo mkdir linux

cd linux

mv /内核文件存放目录.../rpi-4.19.y-rt.zip .

unzip rpi-4.19.y-rt.zip

配置内核

Raspberry Pi 1，Pi Zero，Pi Zero W 和 Compute Module

cd rpi-4.19.y-rt

KERNEL=kernel7

make bcmrpi_defconfig

make menuconfig

Raspberry Pi 2，Pi 3，Pi 3+和Compute Module 3

cd rpi-4.19.y-rt

KERNEL=kernel7

make bcm2709_defconfig

make menuconfig

Raspberry Pi 4

cd rpi-4.19.y-rt

KERNEL=kernel7l

make bcm2711_defconfig

make menuconfig

找到Preemption Model(Fully Preemptible Kernel (RT))，选择Fully Preemptible Kernel (RT)，保存退出。

编译内核

make -j4 zImage modules dtbs

安装模块

sudo make modules_install

将编译好的文件复制到/boot文件夹中

sudo cp arch/arm/boot/dts/*.dtb /boot/

sudo cp arch/arm/boot/dts/overlays/*.dtb* /boot/overlays/

sudo cp arch/arm/boot/dts/overlays/README /boot/overlays/

替换内核

sudo chmod a+x scripts/mkknlimg

sudo scripts/mkknlimg arch/arm/boot/zImage /boot/kernel-my.img

sudo nano /boot/config.txt

添加一行

kernel=kernel-my.img

重启树莓派

sudo reboot

检查是否成功

uname -a

如果出现 PREEMPT RT，表示成功

测试实时性

sudo apt-get install rt-tests

sudo cyclictest -l100000000 -m -Sp99 -i200 -h400 -q