树莓派5移植rt-patch

前言

笔者想用树莓派5做运动控制器，但是原生linux的实时性比较差，为了达到硬实时，需要移植rt-patch

树莓派5官方内核编译

1、下载官方代码，笔者使用的是"rpi-6.1.y"这个branch
git clone https://github.com/raspberrypi/linux.git

2、编译内核
chad_compile.sh

#! /bin/bash

# https://www.raspberrypi.com/documentation/computers/linux_kernel.html#cross-compiling-the-kernel

KERNEL=kernel_2712
make ARCH=arm64 CROSS_COMPILE=aarch64-linux-gnu- bcm2712_defconfig
# make ARCH=arm64 CROSS_COMPILE=aarch64-linux-gnu- chad_rt_defconfig #打上rt-patch之后用这个配置
make ARCH=arm64 CROSS_COMPILE=aarch64-linux-gnu- Image modules dtbs -j8

3、安装到SD卡
chad_install.sh

#! /bin/bash

# bootfs: mnt/fat32 -> /media/rlk/bootfs
# rootfs: mnt/ext4 -> /media/rlk/rootfs

KERNEL=kernel_2712

sudo env PATH=$PATH make ARCH=arm64 CROSS_COMPILE=aarch64-linux-gnu- INSTALL_MOD_PATH=/media/rlk/rootfs modules_install

sudo cp /media/rlk/bootfs/$KERNEL.img                   /media/rlk/bootfs/$KERNEL-backup.img #backup old kernel
sudo cp arch/arm64/boot/Image                           /media/rlk/bootfs/$KERNEL.img # copy new kernel
sudo cp arch/arm64/boot/dts/broadcom/*.dtb              /media/rlk/bootfs/
sudo cp arch/arm64/boot/dts/overlays/*.dtb*             /media/rlk/bootfs/overlays/
sudo cp arch/arm64/boot/dts/overlays/README             /media/rlk/bootfs/overlays/

sync

打rt-patch

1、下载对应版本的patch
去https://www.kernel.org/pub/linux/kernel/projects/rt/网站下载指定版本对应的patch，本文对应的是patch-6.1.80-rt26.patch.gz，在编译服务器上解压

2、在Linux源码目录内，运行patch -p1 < patch-6.1.80-rt26.patch，apply的过程没有报错

3、在menuconfig中打开CONFIG_PREEMPT_RT选项
make ARCH=arm64 CROSS_COMPILE=aarch64-linux-gnu- menuconfig

位置在

Location:
  -> General setup
    -> Preemption Model (<choice> [=y]) 
        -> Fully Preemptible Kernel (Real-Time) (PREEMPT_RT [=y])

配置界面是这样的，一定要使能最后一个

( ) No Forced Preemption (Server) 
( ) Voluntary Kernel Preemption (Desktop)
( ) Preemptible Kernel (Low-Latency Desktop)
(X) Fully Preemptible Kernel (Real-Time)

5、保存配置
(1)配置之后打开.config看下CONFIG_PREEMPT_RT是不是已经置为y
cat .config | grep "CONFIG_PREEMPT_RT=y"
(2)保存配置，生成config最小子集->defconfig
make ARCH=arm64 CROSS_COMPILE=aarch64-linux-gnu- savedefconfig
(3)将配置保存在arch/arm64/configs/中
cp defconfig arch/arm64/configs/chad_rt_defconfig
(4)下次编译的时候，把编译脚本中改成
make ARCH=arm64 CROSS_COMPILE=aarch64-linux-gnu- chad_rt_defconfig

6、编译内核，烧到sd卡中，启动树莓派
有如下打印说明rt-patch已经成功打上了

root@chad-pi:/sys/kernel/debug/tracing# uname -a
Linux chad-pi 6.1.77-rt26-v8-16k #10 SMP PREEMPT_RT Sun Mar  3 15:52:21 CST 2024 aarch64 GNU/Linux

遇到的问题

1、树莓派驱动加载不上

报错：uio: disagrees about version of symbol module_layout
(1)检查vermagic

root@chad-pi:/# modinfo /lib/modules/6.1.77-rt26-v8-16k/kernel/drivers/char/raspberrypi-gpiomem.ko
filename:       /lib/modules/6.1.77-rt26-v8-16k/kernel/drivers/char/raspberrypi-gpiomem.ko
author:         Jonathan Bell <jonathan@raspberrypi.com>
description:    Driver for accessing GPIOs from userspace
license:        Dual BSD/GPL
alias:          platform:rpi-gpiomem
srcversion:     7DB7557F324874FAE92BAB5
alias:          of:N*T*Craspberrypi,gpiomemC*
alias:          of:N*T*Craspberrypi,gpiomem
alias:          of:N*T*Cbrcm,bcm2835-gpiomemC*
alias:          of:N*T*Cbrcm,bcm2835-gpiomem
depends:
intree:         Y
name:           raspberrypi_gpiomem
vermagic:       6.1.77-rt26-v8-16k SMP preempt mod_unload modversions aarch64

root@chad-pi:/# uname -r
6.1.77-rt26-v8-16k

chad@chad-pi:~$ uname -a
Linux chad-pi 6.1.77-rt26-v8-16k #7 SMP PREEMPT_RT Sun Mar  3 13:53:47 CST 2024 aarch64 GNU/Linux

有问题： vermagic中preempt应该是preempt_rt，说明用户态这个ko版本不对

(2)检查module_layout

root@chad-pi:/# modprobe --dump-modversions /lib/modules/6.1.77-rt26-v8-16k/kernel/drivers/char/raspberrypi-gpiomem.ko
0x6a7bf841      __platform_driver_register
0x5582ab2b      device_destroy
0x099877a9      class_destroy
0x41003dd1      cdev_del
0x6091b333      unregister_chrdev_region
0x037a0cba      kfree
0xe4952537      _dev_info
0x868e7b97      phys_mem_access_prot
0x7b81abce      remap_pfn_range
0x0e91b360      kmalloc_caches
0x9660e6d2      kmalloc_trace
0x0e7e76f8      of_match_device
0x4feb5425      of_property_read_string
0x08ea0146      platform_get_resource
0xe3ec2f2b      alloc_chrdev_region
0xee2d4b14      cdev_init
0x946c5bc3      cdev_add
0xb71da655      __class_create
0x4eaf040c      device_create
0xe4b9fb09      _dev_err
0xf0825678      platform_driver_unregister
0xfd75da04      generic_access_phys
0x9f3b8783      module_layout

root@chad-pi:/# cat /usr/src/linux-headers-6.1.0-rpi7-rpi-2712/Module.symvers | grep module_layout
0xf7038a43      module_layout   vmlinux EXPORT_SYMBOL

两个module_layout不一样，也能确认是install的问题

在check_version直接return 1
报错：uio: version magic ‘6.1.77-rt26-v8-16k SMP preempt mod_unload modversions aarch64’ should be ‘6.1.77-rt26-v8-16k SMP preempt_rt mod_unload modversions aarch64’
看来就是差在这个rt上了！果然是rt-patch引入的问题

在服务器上看编译出来的ko是vermagic: 6.1.77-rt26-v8-16k SMP preempt_rt mod_unload modversions aarch64，这就说明是往机器里面烧的过程出问题了

破案了：是因为在/media/rlk/下被我建了一个rootfs，应该是之前install但是没有插sd卡导致的，这导致sd卡被挂载到rootfs1中，脚本中写的是rootfs，所以moudle_install就没有成功