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Overhauled realtime setup documentation

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Thank to @gavanderhoorn for providing most of the suggestions.
This commit is contained in:
Felix Mauch
2019-09-24 11:37:35 +00:00
committed by Lea Steffen
parent 1eb8c07878
commit 58054b2467
1 changed files with 42 additions and 20 deletions
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62
ur_rtde_driver/doc/real_time.md
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@@ -17,7 +17,7 @@ To build the kernel, you will need a couple of tools available on your system. Y
using using
``` bash ``` bash
sudo apt-get install build-essential bc ca-certificates gnupg2 libssl-dev wget $ sudo apt-get install build-essential bc ca-certificates gnupg2 libssl-dev wget gawk
``` ```
Before you download the sources of a real-time-enabled kernel, check the kernel version that is currently installed: Before you download the sources of a real-time-enabled kernel, check the kernel version that is currently installed:
@@ -27,6 +27,20 @@ $ uname -r
4.15.0-62-generic 4.15.0-62-generic
``` ```
To continue with this tutorial, please create a temporary folder and navigate into it. You should
have sufficient space (around 25GB) there, as the extracted kernel sources take much space. After
the new kernel is installed, you can delete this folder again.
In this example we will use a temporary folder inside our home folder:
```bash
$ mkdir -p ${HOME}/rt_kernel_build
$ cd ${HOME}/rt_kernel_build
```
All future commands are expected to be run inside this folder. If the folder is different, the `$`
sign will be prefixed with a path relative to the above folder.
## Getting the sources for a real-time kernel ## Getting the sources for a real-time kernel
To build a real-time kernel, we first need to get the kernel sources and the real-time patch. To build a real-time kernel, we first need to get the kernel sources and the real-time patch.
@@ -62,7 +76,7 @@ author. For the kernel sources use (as suggested on
[kernel.org](https://www.kernel.org/signature.html)) [kernel.org](https://www.kernel.org/signature.html))
```bash ```bash
gpg2 --locate-keys torvalds@kernel.org gregkh@kernel.org $ gpg2 --locate-keys torvalds@kernel.org gregkh@kernel.org
``` ```
and for the patch search for a key of the author listed on and for the patch search for a key of the author listed on
@@ -125,15 +139,15 @@ Before we can compile the sources, we have to extract the tar archive and apply
```bash ```bash
$ tar xf linux-4.14.139.tar $ tar xf linux-4.14.139.tar
$ cd linux-4.14.139 $ cd linux-4.14.139
$ xzcat ../patch-4.14.139-rt66.patch.xz | patch -p1 linux-4.14.139$ xzcat ../patch-4.14.139-rt66.patch.xz | patch -p1
``` ```
Now to configure your kernel, just type Now to configure your kernel, just type
```bash ```bash
$ make oldconfig linux-4.14.139$ make oldconfig
``` ```
This will ask for kernel options. For everyting else then the `Pereemption Model` use the default This will ask for kernel options. For everything else then the `Preemption Model` use the default
value (just press Enter) or adapt to your preferences. For the preemption model select `Fully Preemptible Kernel`: value (just press Enter) or adapt to your preferences. For the preemption model select `Fully Preemptible Kernel`:
```bash ```bash
@@ -149,29 +163,21 @@ choice[1-5]: 5
Now you can build the kernel. This will take some time... Now you can build the kernel. This will take some time...
```bash ```bash
$ make -j `getconf _NPROCESSORS_ONLN` deb-pkg linux-4.14.139$ make -j `getconf _NPROCESSORS_ONLN` deb-pkg
``` ```
After building, install the `linux-headers` and `linux-image` packages in the parent folder (only After building, install the `linux-headers` and `linux-image` packages in the parent folder (only
the ones without the `-dbg` in the name) the ones without the `-dbg` in the name)
```bash ```bash
$ sudo apt install ../linux-headers-4.14.139-rt66_*.deb ../linux-image-4.14.139-rt66_*.deb linux-4.14.139$ sudo apt install ../linux-headers-4.14.139-rt66_*.deb ../linux-image-4.14.139-rt66_*.deb
``` ```
## Check for preemption capabilities ## Setup user privileges to use real-time scheduling
After you have built your custom kernel, boot into it and make sure that the kernel has indeed
```bash
$ uname -v | cut -d" " -f1-4
#1 SMP PREEMPT RT
```
## Setup user priviliges to use real-time scheduling
To be able to schedule threads with user privileges (what the driver will do) you'll have to change To be able to schedule threads with user privileges (what the driver will do) you'll have to change
the user's limits by changing `/etc/security/limits.conf` (See [the manpage](https://manpages.ubuntu.com/manpages/bionic/man5/limits.conf.5.html) for details) the user's limits by changing `/etc/security/limits.conf` (See [the manpage](https://manpages.ubuntu.com/manpages/bionic/man5/limits.conf.5.html) for details)
We recommend to setup a group for realtime users instead of writing a fixed username into the config We recommend to setup a group for real-time users instead of writing a fixed username into the config
file: file:
```bash ```bash
@@ -189,13 +195,16 @@ Then, make sure `/etc/security/limits.conf` contains
@realtime hard memlock 102400 @realtime hard memlock 102400
``` ```
Note: You will have to log out and log back in (Not only close your terminal window) so these Note: You will have to log out and log back in (Not only close your terminal window) for these
changes will take effect. changes to take effect. No need to do this now, as we will reboot later on, anyway.
## Setup GRUB to always boot the realtime kernel ## Setup GRUB to always boot the real-time kernel
To make the new kernel the default kernel that the system will boot into every time, you'll have to To make the new kernel the default kernel that the system will boot into every time, you'll have to
change the grub config file inside `/etc/default/grub`. change the grub config file inside `/etc/default/grub`.
Note: This works for ubuntu, but might not be working for other linux systems. It might be necessary
to use another menuentry name there.
But first, let's find out the name of the entry that we will want to make the default. You can list But first, let's find out the name of the entry that we will want to make the default. You can list
all available kernels using all available kernels using
@@ -231,3 +240,16 @@ With this, we can setup the default grub entry and then update the grub menu ent
$ sudo sed -i 's/^GRUB_DEFAULT=.*/GRUB_DEFAULT="Advanced options for Ubuntu>Ubuntu, with Linux 4.14.139-rt66"/' /etc/default/grub $ sudo sed -i 's/^GRUB_DEFAULT=.*/GRUB_DEFAULT="Advanced options for Ubuntu>Ubuntu, with Linux 4.14.139-rt66"/' /etc/default/grub
$ sudo update-grub $ sudo update-grub
``` ```
## Reboot the PC
After having performed the above mentioned steps, reboot the PC. It should boot into the correct
kernel automatically.
# Check for preemption capabilities
Make sure that the kernel does indeed support real-time scheduling:
```bash
$ uname -v | cut -d" " -f1-4
#1 SMP PREEMPT RT
```