香橙派zero2 (allwin H616 )打实时内核premmpt-rt补丁

最新推荐文章于 2024-05-29 19:21:20 发布

25_小时

最新推荐文章于 2024-05-29 19:21:20 发布

阅读量615

点赞数

文章标签： linux

本文链接：https://blog.csdn.net/weixin_52027483/article/details/131277240

版权

最近一直想做一个运行linuxcnc的SBC(Single Board Computer)，手上有块 orangepi Zero2 的开发板，就先用它试试.

1.下载官方SDK

想要快速把板子用起来还得看官方的手册,orangepi zero2的手册下载地址http://www.orangepi.cn/html/hardWare/computerAndMicrocontrollers/service-and-support/Orange-Pi-Zero-2.html

这里选linux旧版SDK，因为我看过了，这个SDK支持linux5.13内核，有对应的版本的preempt-rt补丁。获取SDK，然后先编译一遍（系统要求是Ubuntu18.04），把缺少的东西都补上（主要是内核源码和交叉编译器，编译时会自动补全）

git clone https://github.com/orangepi-xunlong/orangepi-build.git 
cd ./orangepi-build
./build.sh

选择Kernel package -> orangepizero2 -> current Mainline

弹出内核配置界面后不做修改直接推出该界面等待编译完成.

2.打preempt实时补丁

设置 userpatches/config-default.conf 中的 IGNORE_UPDATES 变量为“yes”，否则在运行build.sh进行编译时会自动同步远程代码，导致所有的更改都丢失。

从这个地址下载linux5.13.0的preempt-rt补丁

https://mirrors.edge.kernel.org/pub/linux/kernel/projects/rt/5.13/patch-5.13-rt1.patch.xz

下载好后放到orangepi-build/kernel目录下

cd kernel/orange-pi-5.13-sunxi64
xzcat ../patch-5.13-rt1.patch.xz | patch -p1

这时补丁已经打好了，如果这时候编译内核或镜像文件，能够正常编译，但在启动时会启动失败,内核启动错误如下(截取了一部分)，大致意思就是fpsimd.c文件有问题,异常导致有空指针。

[23:49:11:757] [    1.576261] WARNING: CPU: 0 PID: 168 at arch/arm64/kernel/fpsimd.c:296 task_fpsimd_load+0x90/0xb8␍␊
[23:49:11:768] [    1.576290] Modules linked in:␍␊
[23:49:11:771] [    1.576299] CPU: 0 PID: 168 Comm: modprobe Not tainted 5.13.0-rt1-sun50iw9 #2.2.2␍␊
[23:49:11:776] [    1.576308] Hardware name: OrangePi Zero2 (DT)␍␊
[23:49:11:782] [    1.576313] pstate: 40000005 (nZcv daif -PAN -UAO -TCO BTYPE=--)␍␊
[23:49:11:787] [    1.576321] pc : task_fpsimd_load+0x90/0xb8␍␊
[23:49:11:793] [    1.576329] lr : task_fpsimd_load+0x18/0xb8␍␊
[23:49:11:796] [    1.576336] sp : ffff800011dbbdd0␍␊
[23:49:11:798] [    1.576338] x29: ffff800011dbbdd0 x28: ffff000001b80e80 x27: 0000000000000000␍␊
[23:49:11:807] [    1.576351] x26: 0000000000000000 x25: 0000000000000000 x24: ffff000001b81540␍␊
[23:49:11:815] [    1.576362] x23: ffff000001b80e80 x22: ffff000001b81550 x21: ffff000001b80e80␍␊
[23:49:11:821] [    1.576373] x20: ffff800011dbbeb0 x19: 0000000000000008 x18: 0000000000000014␍␊
[23:49:11:832] [    1.576384] x17: 000000008ace27e8 x16: 000000008968cf76 x15: 000000002db56098␍␊
[23:49:11:839] [    1.576395] x14: 0000000000000000 x13: 0000ffffd46cf9e8 x12: 000000000000000f␍␊
[23:49:11:844] [    1.576406] x11: 0000ffffd46cffe9 x10: 000000000000001f x9 : 0000000000000000␍␊
[23:49:11:848] [    1.576417] x8 : ffff800011dbc000 x7 : 0000000000000000 x6 : 000000000000003f␍␊
[23:49:11:857] [    1.576427] x5 : 0000000000000040 x4 : 0000000000000000 x3 : 0000000000000000␍␊
[23:49:11:862] [    1.576437] x2 : 0000000000000008 x1 : 0000000000000000 x0 : 0000000000000000␍␊
[23:49:11:871] [    1.576448] Call trace:␍␊
[23:49:11:873] [    1.576451]  task_fpsimd_load+0x90/0xb8␍␊
[23:49:11:876] [    1.576459]  fpsimd_restore_current_state+0x94/0xd0␍␊
[23:49:11:882] [    1.576469]  do_notify_resume+0x114/0x470␍␊
[23:49:11:885] [    1.576479]  work_pending+0xc/0x5f8␍␊
[23:49:11:890] [    1.576487] ---[ end trace 0000000000000001 ]---␍␊
[23:49:11:893] [    2.576669] ------------[ cut here ]------------␍␊
[23:49:11:899] [    2.576677] WARNING: CPU: 0 PID: 168 at arch/arm64/kernel/fpsimd.c:169 __get_cpu_fpsimd_context+0x44/0x58␍␊
[23:49:11:907] [    2.576700] Modules linked in:␍␊
[23:49:11:912] [    2.576707] CPU: 0 PID: 168 Comm: modprobe Tainted: G        W         5.13.0-rt1-sun50iw9 #2.2.2␍␊
[23:49:11:922] [    2.576716] Hardware name: OrangePi Zero2 (DT)␍␊
[23:49:11:929] [    2.576720] pstate: 800000c5 (Nzcv daIF -PAN -UAO -TCO BTYPE=--)␍␊
[23:49:11:934] [    2.576728] pc : __get_cpu_fpsimd_context+0x44/0x58␍␊
[23:49:11:938] [    2.576735] lr : __get_cpu_fpsimd_context+0x18/0x58␍␊
[23:49:11:941] [    2.576742] sp : ffff800011dbbb60␍␊
[23:49:11:944] [    2.576745] x29: ffff800011dbbb60 x28: ffff000001b80e80 x27: 0000000000000000␍␊
[23:49:11:951] [    2.576757] x26: ffff8000110311b0 x25: ffff80001135b000 x24: ffff800010d07d88␍␊
[23:49:11:957] [    2.576769] x23: ffff80001135ccd0 x22: ffff000001b80e80 x21: ffff0000018bab80␍␊
[23:49:11:965] [    2.576780] x20: ffff000001b80e80 x19: ffff0000018bab80 x18: 0000000000000014␍␊
[23:49:11:971] [    2.576791] x17: 000000008ace27e8 x16: 000000008968cf76 x15: 0000000000000000␍␊
[23:49:11:979] [    2.576803] x14: 0000000000000000 x13: 0000000000000129 x12: 0000000000000000␍␊
[23:49:11:987] [    2.576813] x11: 0000000000000000 x10: 00000000000003d0 x9 : 0000000000000000␍␊
[23:49:11:993] [    2.576824] x8 : ffff00003fd79400 x7 : ffff00003fd79480 x6 : ffff000001b80f40␍␊
[23:49:12:001] [    2.576835] x5 : 0000000000000000 x4 : 0000000000003d09 x3 : 0000000000000001␍␊
[23:49:12:007] [    2.576846] x2 : 0000000000000001 x1 : ffff80002ebea000 x0 : ffff800011187088␍␊
[23:49:12:017] [    2.576857] Call trace:␍␊
[23:49:12:024] [    2.576860]  __get_cpu_fpsimd_context+0x44/0x58␍␊
[23:49:12:024] [    2.576868]  fpsimd_thread_switch+0x24/0xe0␍␊
[23:49:12:030] [    2.576876]  __switch_to+0x24/0x210␍␊
[23:49:12:030] [    2.576884]  __schedule+0x24c/0x848␍␊
[23:49:12:035] [    2.576892]  preempt_schedule_irq+0x40/0x80␍␊
[23:49:12:039] [    2.576899]  arm64_preempt_schedule_irq+0x14/0x28␍␊
[23:49:12:042] [    2.576906]  el1_irq+0xe8/0x168␍␊
[23:49:12:046] [    2.576913]  task_fpsimd_load+0x94/0xb8␍␊
[23:49:12:049] [    2.576920]  fpsimd_restore_current_state+0x94/0xd0␍␊
[23:49:12:054] [    2.576928]  do_notify_resume+0x114/0x470␍␊
[23:49:12:057] [    2.576938]  work_pending+0xc/0x5f8␍␊
[23:49:12:060] [    2.576944] ---[ end trace 0000000000000002 ]---␍␊
[23:49:12:065] [    3.577074] Unable to handle kernel NULL pointer dereference at virtual address 0000000000000000␍␊

3.修复打补丁后的内核问题

修改orange-pi-5.13-sunxi64/arch/arm64/kernel/fpsimd.c文件中的get_cpu_fpsimd_context()和put_cpu_fpsimd_context()函数为：

static void get_cpu_fpsimd_context(void)
{
        if (!IS_ENABLED(CONFIG_PREEMPT_RT))
                local_bh_disable();
        else
                preempt_disable();
        __get_cpu_fpsimd_context();
}


//----------------------------------------------------------------

static void put_cpu_fpsimd_context(void)
{
        __put_cpu_fpsimd_context();
        if (!IS_ENABLED(CONFIG_PREEMPT_RT))
                local_bh_enable();
        else
                preempt_enable();
}

修改orange-pi-5.13-sunxi64/arch/arm64/include/asm/pgtable.h中的arch_faults_on_old_pte()函数为：

static void put_cpu_fpsimd_context(void)
{
        __put_cpu_fpsimd_context();
        if (!IS_ENABLED(CONFIG_PREEMPT_RT))
                local_bh_enable();
        else
                preempt_enable();
}

4.编译内核deb包(如果不需要内核安装包可直接进行第5步)