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README.03-realtime.md

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Real-Time Linux for Jetson TX2

Link to required NVIDIA packages

Prepare build sources

$ mkdir -p $HOME/nvidia
$ cd $HOME/nvidia
$ tar -xvf gcc-4.8.5-aarch64.tgz
$ tar -xvf source_release.tbz2
$ tar -xvf sources/kernel_src-tx2.tbz2

Create an environment file for envvars

$ cat $HOME/nvidia/environment
#!/bin/sh
# toolchain flags
export BSPTOOLCHAIN=$HOME/nvidia/install/bin
export PATH=${BSPTOOLCHAIN}:${PATH}
# kernel flags
export ARCH=arm64
export CROSS_COMPILE=aarch64-unknown-linux-gnu-
export TEGRA_KERNEL_OUT=$HOME/nvidia/tegra-jetson-tx2-kernel

Export build variables and start compiling

Test kernel config with CONFIG_LOCALVERSION="-rt" and CONFIG_PREEMPT_RT_FULL=y can be found here

$ cd $HOME/nvidia
$ source environment
$ mkdir -p $TEGRA_KERNEL_OUT
$ cd $HOME/nvidia/kernel/kernel-4.4
# list and apply real-time patches
$ for i in rt-patches/*.patch; do echo $i; done
$ for i in rt-patches/*.patch; do patch -p1 < $i; done
# create default config
$ make O=$TEGRA_KERNEL_OUT ARCH=$ARCH tegra18_defconfig
# change CONFIG_LOCALVERSION="-rt", "CONFIG_HZ_1000=y" and  CONFIG_PREEMPT_RT_FULL=y for real-time scheduling
$ make O=$TEGRA_KERNEL_OUT ARCH=$ARCH menuconfig
# create compressed kernel image
$ make -j4 O=$TEGRA_KERNEL_OUT ARCH=$ARCH zImage
# compile device tree
$ make O=$TEGRA_KERNEL_OUT ARCH=$ARCH dtbs
# compile and install kernel modules
$ make -j4 O=$TEGRA_KERNEL_OUT ARCH=$ARCH modules
$ make O=$TEGRA_KERNEL_OUT ARCH=$ARCH modules_install INSTALL_MOD_PATH=$TEGRA_KERNEL_OUT/modules

Copy binaries to L4T for deployment

$ mkdir -p $HOME/nvidia/L4T/kernel
$ cp $TEGRA_KERNEL_OUT/arch/arm64/boot/Image $HOME/nvidia/L4T/kernel
$ mkdir -p $HOME/nvidia/L4T/kernel/dtb
$ cp $TEGRA_KERNEL_OUT/arch/arm64/boot/dts/*.dtb $HOME/nvidia/L4T/kernel/dtb
$ cd $TEGRA_KERNEL_OUT/modules
$ tar --owner root --group root -cjf kernel_supplements.tbz2 *
$ cp $TEGRA_KERNEL_OUT/modules/kernel_supplements.tbz2 $HOME/nvidia/L4T/kernel/kernel_supplements.tbz2
$ cd $HOME/nvidia
$ tar -cjf $HOME/nvidia/L4T.tbz2 L4T
$ scp $HOME/nvidia/L4T.tbz2 nvidia@JETSON_IP_ADDRESS:/home/nvidia

[TARGET] Update Kernel and Drivers on Jetson Board

$ cd /home/nvidia
$ tar -xjvf L4T.tbz2
$ sudo cp L4T/kernel/Image /boot/Image
$ sudo cp L4T/kernel/dtb/* /boot/dtb
$ sudo cp L4T/kernel/dtb/* /boot
$ sudo tar -xvf L4T/kernel/kernel_supplements.tbz2 -C /
$ sudo reboot

[TARGER] Check Kernel Parameters after Reboot

$ zcat /proc/config.gz |grep CONFIG_HZ
# CONFIG_HZ_PERIODIC is not set
# CONFIG_HZ_100 is not set
# CONFIG_HZ_250 is not set
# CONFIG_HZ_300 is not set
CONFIG_HZ_1000=y
CONFIG_HZ=1000
$ zcat /proc/config.gz |grep CONFIG_PREEMPT
CONFIG_PREEMPT_RCU=y
CONFIG_PREEMPT=y
CONFIG_PREEMPT_RT_BASE=y
CONFIG_PREEMPT_LAZY=y
# CONFIG_PREEMPT_NONE is not set
# CONFIG_PREEMPT_VOLUNTARY is not set
# CONFIG_PREEMPT__LL is not set
# CONFIG_PREEMPT_RTB is not set
CONFIG_PREEMPT_RT_FULL=y
CONFIG_PREEMPT_COUNT=y
# CONFIG_PREEMPT_TRACER is not set
nvidia@tegra-ubuntu:~/devel/nvidia-jetson-rt$ uname -a
Linux tegra-ubuntu 4.4.38-rt49-rt #1 SMP PREEMPT RT Fri Jan 5 01:04:27 +03 2018 aarch64 aarch64 aarch64 GNU/Linux