樹莓派編譯實時內核

硬件:樹莓派2
鏡像:http://downloads.raspberrypi....linux

樹莓派安裝必要軟件

官方說明爲:
https://www.raspberrypi.org/d...git

sudo apt install git bc bison flex libssl-dev make

推薦安裝:github

sudo apt-get install bc
sudo apt-get install libncurses-dev libssl-dev
sudo apt-get install build-essential kmod cpio flex cpio bison

下載內核

https://codeload.github.com/r...測試

或者flex

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

建立內核目錄,解壓內核

cd /usr/src
sudo mkdir linux
cd linux
mv /內核文件存放目錄.../rpi-4.19.y-rt.zip .
unzip rpi-4.19.y-rt.zip

配置內核

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

cd rpi-4.19.y-rt
KERNEL=kernel7
make bcmrpi_defconfig
make menuconfig

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

cd rpi-4.19.y-rt
KERNEL=kernel7
make bcm2709_defconfig
make menuconfig

Raspberry Pi 4ip

cd rpi-4.19.y-rt
KERNEL=kernel7l
make bcm2711_defconfig
make menuconfig

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

編譯內核

make -j4 zImage modules dtbs

安裝模塊

sudo make modules_install

將編譯好的文件複製到/boot文件夾中

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/

替換內核

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

重啓樹莓派

sudo reboot

檢查是否成功

uname -a

若是出現 PREEMPT RT,表示成功get

測試實時性

sudo apt-get install rt-tests
sudo cyclictest -l100000000 -m -Sp99 -i200 -h400 -q
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