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ac6 >> ac6-training >> Operating Systems >> Linux >> Real-time Linux

D4 Real-time Linux

Real-time Linux with RT-Preempt patch and Xenomai

Objectives

Understand Real-Time programming
Discover the various solutions under Linux

The Preempt_RT patch
Xenomai
Real-Time drivers and networking with Xenomai
Programming with Xenomai

	Labs are conducted on the PC or on ARM-based target boards (Quad Cortex-A9 Sabrelite boards from NXP)
	We use the latest available kernel supported by Xenomai

Course environment

A PC for two trainees, with Linux and Xenomai on a target board
Printed course material

Prerequisite

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)

First Day

Linux overview

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

The Linux Boot

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

The Linux kernel

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

Second Day

Real-Time programming

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

Debug and Analysis Tools

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

Third Day

Real-Time Solutions for Linux

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

Xenomai

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

Fourth Day

Xenomai programming

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

RTNet

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

Duration	Cost	Calendar
4 days	2490 € HT
Last update: 15 November 2022
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