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D4Real-time Linux Real-time Linux with RT-Preempt patch and Xenomai
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Objectives
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- Theoretical course
- PDF course material (in English) supplemented by a printed version for face-to-face courses.
- Online courses are dispensed using the Teams video-conferencing system.
- The trainer answers trainees' questions during the training and provide technical and pedagogical assistance.
- Practical activities
- Practical activities represent from 40% to 50% of course duration.
- Code examples, exercises and solutions
- For remote trainings:
- One Online Linux PC per trainee for the practical activities.
- The trainer has access to trainees' Online PCs for technical and pedagogical assistance.
- QEMU Emulated board or physical board connected to the online PC (depending on the course).
- Some Labs may be completed between sessions and are checked by the trainer on the next session.
- For face-to-face trainings:
- One PC (Linux ou Windows) for the practical activities with, if appropriate, a target board.
- One PC for two trainees when there are more than 6 trainees.
- For onsite trainings:
- An installation and test manual is provided to allow preinstallation of the needed software.
- The trainer come with target boards if needed during the practical activities (and bring them back at the end of the course).
- Downloadable preconfigured virtual machine for post-course practical activities
- At the start of each session the trainer will interact with the trainees to ensure the course fits their expectations and correct if needed
- Linux application programming skills (D0 - Linux user mode programming course)
- Embedded Linux knowledge (D1 - Embedded Linux with Buildroot and Yocto course)
- For RTDM, Linux Driver Prgramming (D3 - Linux Drivers course)
- Notions of real-time programming (RT1 - Real Time and Multi-Core programming course)
- Any embedded systems engineer or technician with the above prerequisites.
- The prerequisites indicated above are assessed before the training by the technical supervision of the traineein his company, or by the trainee himself in the exceptional case of an individual trainee.
- Trainee progress is assessed in two different ways, depending on the course:
- For courses lending themselves to practical exercises, the results of the exercises are checked by the trainer while, if necessary, helping trainees to carry them out by providing additional details.
- Quizzes are offered at the end of sections that do not include practical exercises to verifythat the trainees have assimilated the points presented
- At the end of the training, each trainee receives a certificate attesting that they have successfully completed the course.
- In the event of a problem, discovered during the course, due to a lack of prerequisites by the trainee a different or additional training is offered to them, generally to reinforce their prerequisites,in agreement with their company manager if applicable.
Course Outline
- Linux
- History
- Version management
- The various licenses used by Linux (GPL, LGPL, etc)
- Linux distributions
- Linux architecture and modularity
| Exercise: | Boot Linux automatically starting a user application | |
- Linux kernel parameters
- The Linux startup sequence
- Various initialization systems (busybox init, system V init, systemd)
- Automatically starting an embedded system
| Exercise: | Boot Linux automatically starting a user application | |
- Downloading stable source code
- Getting a tarball
- Using GIT
- Configuring the kernel
- Compiling the kernel and its modules
- The Linux build system
- Modules delivered in-tree
- Out-of-tree modules
- Installing the kernel and the modules
- The Linux Device Tree
| Exercise: | Configuring and compiling a target kernel for the target board | |
- Scheduling
- Threads
- Definition of a thread
- POSIX threads
- Synchronization and communication primitives
- Mutexes and Condition Variables
- Barriers
- Semaphores
- Message queues
- Thread-specific Data
| Exercise: | Implement a multi-threaded server | |
- Classic real-time problems
- Dead-Locks
- Live-Locks
- Priority Inversion
| Exercise: | Solve the Readers-Writer problem | |
- The Kernel tracing infrastructure
- Tracepoints
- The ftrace function tracer
- Kprobes
- Event tracers
- Performance monitoring in the Linux kernel
- Perfcounters
- Perf events
- Debugging the kernel using traces
- LTTng
| Exercise: | Trace context switches and measure latency times | |
| Exercise: | Use LTTng to trace multi-task context switches | |
- The specificities of Real-Time
- Why Linux is not Real-Time
- Configuration Options in Vanilla Kernel
- The Preempt_RT patch
- The co-kernel approach
| Exercise: | Install Preempt_RT and check the effect on latencies | |
- Architecture
- Adeos
- Skins
- Shadow Threads and Scheduling Domains
- Xenomai Schedulers
- The Real-Time class schedulers
- The Weak class schedulers
- Configuring Xenomai
| Exercise: | Install Xenomai | |
| Exercise: | Cross-compile an application for Xenomai | |
- The Xenomai Skins
- POSIX
- RTDM
- Specificities of the POSIX skin
- Programming RTDM drivers
- Creating a kernel module
- Integration in the Linux Device Model
- Xenomai traces
- Porting to Xenomai
| Exercise: | Identify and Debug Spurious Relax problems | |
| Exercise: | Port an application on Xenomai and test real-time characteristics | |
| Exercise: | Write a simple RTDM driver | |
- Overview of RTNet
- Architecture
- Non-determinism of Ethernet
- Time Division Multiple Access
- Configuration
- Network Programming with RTNet
| Exercise: | Add RTNet support to the Xenomai kernel | |
| Exercise: | Test using udp client and server | |
More
To book a training session or for more information, please contact us on info@ac6-training.com.
Registrations are accepted till one week before the start date for scheduled classes. For late registrations, please consult us.
You can also fill and send us the registration form
This course can be provided either remotely, in our Paris training center or worldwide on your premises.
Scheduled classes are confirmed as soon as there is two confirmed bookings. Bookings are accepted until 1 week before the course start.
Last update of course schedule: 15 November 2022
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