david.rabine

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====== Raspberry Pi ======

  * LOOK HERE:  [[http://www.frank-durr.de/?p=203]]

===== Installing Mini Image =====

  - Download the raw image [[https://minibianpi.wordpress.com/]] <code>
cd ~/work/pi
wget <<DIRECT FILE LINK>>
</code>
  - Uncompress the image <code>
md5sum 2016-03-12-jessie-minibian.tar.gz
# verify that you get
# 136cac722a4f78f49b54971ae1cc03ee  2016-03-12-jessie-minibian.tar.gz
tar -zxvf 2016-03-12-jessie-minibian.tar.gz
</code>
  - Direct copy this image to your memory stick (mine is /dev/sdv but choose wisely!) <code>
time sudo /bin/dd bs=1M if=2016-03-12-jessie-minibian.img of=/dev/sdX
</code>
  - Resize the partition with **gparted**
    - Make **/dev/sdb2** fill the sdcard <code>
sudo gparted /dev/sdb
</code>

:!::!: DO NOT DO THIS... USE **gparted** :!::!:

Manually resize partition

  - Resize the partition to fill the entire sd scard
    - Display the partitions and figure out which is the partition to modify <code>
lsblk
</code>
    - Show the drive geometry <code>
sudo parted /dev/sdX
(parted) unit chs
(parted) print
Model: Generic STORAGE DEVICE (scsi)
Disk /dev/sdb: 490975,3,15
Sector size (logical/physical): 512B/512B
BIOS cylinder,head,sector geometry: 490976,4,16.  Each cylinder is 32.8kB.
Partition Table: msdos

Number  Start     End         Type     File system  Flags
 1      0,1,0     1953,3,15   primary  fat16
 2      1954,0,0  25407,3,15  primary  ext4
</code>
    - Remove partition 2 <code>
(parted) rm 2
</code>
    - Define 2 now as all of the the drive (this goes with the geometry above) <code>
mkpart primary 1954,0,0 490975,3,15
</code>

===== Cross Compiling =====

  * [[https://www.raspberrypi.org/documentation/linux/kernel/building.md]]

Attempting to cross compile on the GUI computer

==== GUI Compiler Setup ====

  - Grab the toolchain <code>
cd ~/work
mkdir pi
cd ~/work/pi
git clone https://github.com/raspberrypi/tools
</code>
  - Add this to your **PATH** 
    - First edit your profile<code>
nano ~/.profile
</code>
    - And add this line <code>
# add raspberry pi toolchain to path
PATH="$HOME/work/pi/tools/arm-bcm2708/gcc-linaro-arm-linux-gnueabihf-raspbian-x64/bin:$PATH"
</code>
  - Grab source code <code>
cd ~/work/pi
git clone --depth=1 https://github.com/raspberrypi/linux
</code>

==== GUI Compile ====

Try compiling the source we just downloaded

  - Step one:  setup <code>
cd ~/work/pi/linux
KERNEL=kernel7
make ARCH=arm CROSS_COMPILE=arm-linux-gnueabihf- bcm2709_defconfig
</code>
  - Step two:  build <code>
make ARCH=arm CROSS_COMPILE=arm-linux-gnueabihf- zImage modules dtbs -j `getconf _NPROCESSORS_ONLN`
</code>

Install on the sd card

  - Create mount points and mount the card partitions to them <code>
cd /mnt
sudo mkdir pisdcard
sudo mkdir pisdcard/fat32
sudo mkdir pisdcard/ext4
sudo mount /dev/sdb1 /mnt/pisdcard/fat32
sudo mount /dev/sdb2 /mnt/pisdcard/ext4
</code>
  - Install the kernel on the **ext4** partition <code>
# go where the kernel is that you want to install
cd /home/lvis/work/pi/linux_original
sudo make ARCH=arm CROSS_COMPILE=arm-linux-gnueabihf- INSTALL_MOD_PATH=/mnt/pisdcard/ext4 modules_install
</code>
  - Backup the kernel on there, and then install our new kernel on the fat32 partition <code>
sudo cp /mnt/pisdcard/fat32/$KERNEL.img /mnt/pisdcard/fat32/$KERNEL-backup.img
sudo scripts/mkknlimg arch/arm/boot/zImage /mnt/pisdcard/fat32/$KERNEL.img
sudo cp arch/arm/boot/dts/*.dtb /mnt/pisdcard/fat32/
sudo cp arch/arm/boot/dts/overlays/*.dtb* /mnt/pisdcard/fat32/overlays/
sudo cp arch/arm/boot/dts/overlays/README /mnt/pisdcard/fat32/overlays/
sync
sudo umount /mnt/pisdcard/fat32
sudo umount /mnt/pisdcard/ext4
</code>

==== GUI RT PREEMPT Patch Compile ====

  - Copy code and patch <code>
cd ~/work/pi
wget https://www.kernel.org/pub/linux/kernel/projects/rt/4.9/patch-4.9.13-rt10.patch.xz
rsync -vaP linux_original/ linux_4.9.13_rt10/
cd /home/lvis/work/pi/linux_4.9.13_rt10
xz -dc ../patch-4.9.13-rt10.patch.xz | patch -p1
make ARCH=arm CROSS_COMPILE=arm-linux-gnueabihf- clean
</code>
  - Setup <code>
cd ~/work/pi/linux_4.9.13_rt10
KERNEL=kernel7
make ARCH=arm CROSS_COMPILE=arm-linux-gnueabihf- bcm2709_defconfig
</code>
  - Modify the **.config** file to enable RT_PREEMPT
    - Load up the x11 configuration editor<code>
make xconfig
</code>
    - Search for "PREEMPT"
    - Processor type and features
      - Preemption Model (Fully Preemptible Kernel (RT))
      - Timer frequency (1000 HZ)
    - Power management and ACPI options
      - REMOVE Device power management core functionality
      - CPU Frequency scaling
        - REMOVE CPU Frequency scaling 
        - 
    - Verify with a quick grep <code>
lvis@lvis-desktop:~/work/pi/linux_4.9.13_rt10$ cat .config | grep PREEMPT
CONFIG_PREEMPT_RCU=y
CONFIG_PREEMPT=y
CONFIG_HAVE_PREEMPT_LAZY=y
# CONFIG_PREEMPT_NONE is not set
# CONFIG_PREEMPT_VOLUNTARY is not set
CONFIG_PREEMPT__LL=y
# CONFIG_PREEMPT_RTB is not set
# CONFIG_PREEMPT_RT_FULL is not set
CONFIG_PREEMPT_COUNT=y
CONFIG_DEBUG_PREEMPT=y
# CONFIG_PREEMPT_TRACER is not set
</code>
  - Build (had to press enter a BUNCH of times to accept defaults when I changed kernel config) <code>
make ARCH=arm CROSS_COMPILE=arm-linux-gnueabihf- zImage modules dtbs -j `getconf _NPROCESSORS_ONLN`
</code>

Install on the sd card

  - Create mount points and mount the card partitions to them <code>
cd /mnt
sudo mkdir pisdcard
sudo mkdir pisdcard/fat32
sudo mkdir pisdcard/ext4
sudo mount /dev/sdb1 /mnt/pisdcard/fat32
sudo mount /dev/sdb2 /mnt/pisdcard/ext4
</code>
  - Install the kernel on the **ext4** partition<code>
# go where the kernel is that you want to install
cd ~/work/pi/linux_4.9.13_rt10
sudo make ARCH=arm CROSS_COMPILE=arm-linux-gnueabihf- INSTALL_MOD_PATH=/mnt/pisdcard/ext4 modules_install
</code>
  - Backup the kernel on there, and then install our new kernel on the fat32 partition <code>
sudo cp /mnt/pisdcard/fat32/$KERNEL.img /mnt/pisdcard/fat32/$KERNEL-backup.img
sudo scripts/mkknlimg arch/arm/boot/zImage /mnt/pisdcard/fat32/$KERNEL.img
sudo cp arch/arm/boot/dts/*.dtb /mnt/pisdcard/fat32/
sudo cp arch/arm/boot/dts/overlays/*.dtb* /mnt/pisdcard/fat32/overlays/
sudo cp arch/arm/boot/dts/overlays/README /mnt/pisdcard/fat32/overlays/
</code>
  - Add this line to **/boot/cmdline.txt** which can cause kernel panic if not disabled
    - Edit this file <code>
sudo nano /mnt/pisdcard/fat32/cmdline.txt
</code>
    - and add these statements <code>
# found this additional one too 
# http://www.frank-durr.de/?p=203
# Most people also disable the Low Latency Mode (llm) for the SD card:

sdhci_bcm2708.enable_llm=0 dwc_otg.fiq_enable=0 dwc_otg.fiq_fsm_enable=0 dwc_otg.nak_holdoff=0
</code>
  - Unmount the drives <code>
sync  # just run this before unmounting the drives.. flush the cache
sudo umount /mnt/pisdcard/fat32
sudo umount /mnt/pisdcard/ext4
</code>

==== Boot Pi ====

  - Insert sd card into Pi
  - FIXME Insert the keyboard into the Pi (WITHOUT a device in there... the kernel panics on boot!)
  - Default user/pass is **root** and **raspberry** which I changed to the lvis standard password

===== Cyclic Test =====

We want to run cyclic test on here to make sure that the performance on the Pi is what we need
/home/lvis/work/pi/linux_4.9.13_rt10
  - Update our software <code>
apt-get update
apt-get upgrade
</code>
  - Install **gcc** **git** <code>
apt-get install build-essential git
</code>
  - Download the cyclic test code (found from here:  [[https://rt.wiki.kernel.org/index.php/Cyclictest]]) <code>
mkdir ~/work
cd ~/work
git clone git://git.kernel.org/pub/scm/utils/rt-tests/rt-tests.git
</code>
  - Checkout the stable version <code>
cd ~/work/rt-tests
git fetch
git checkout stable/v1.0
</code>
  - Compile and install <code>
make all
cp ./cyclictest /usr/local/bin/
</code>
  - Try it out <code>
cyclictest -a -t -n -p99
# use priority 80 and interval of 4khz
cyclictest -m -t -p 80 -n -i 250
</code>

===== Xenomai =====

<code>
cd /home/lvis/work/pi
mkdir download
cd download
wget https://xenomai.org/downloads/ipipe/v4.x/arm/ipipe-core-4.1.18-arm-9.patch
wget https://www.kernel.org/pub/linux/kernel/v4.x/linux-4.1.18.tar.xz
wget https://xenomai.org/downloads/xenomai/stable/latest/xenomai-3.0.3.tar.bz2

wget https://www.kernel.org/pub/linux/kernel/v4.x/linux-4.4.43.tar.xz
wget https://xenomai.org/downloads/ipipe/v4.x/arm/ipipe-core-4.4.43-arm-7.patch

# uncompress kernel
cd /home/lvis/work/pi
tar xf download/linux-4.1.18.tar.xz 
mv linux-4.1.18 linux-4.1.18-ipipe

tar xf download/linux-4.4.43.tar.xz 
mv linux-4.4.43 linux-4.4.43-ipipe


# uncompress xenomai
tar xvf download/xenomai-3.0.3.tar.bz2

# copy the latest ipipe patch for 4.1.18 in to the patch directory
cd /home/lvis/work/pi/xenomai-3.0.3
# cp ../download/ipipe-core-4.1.18-arm-9.patch kernel/cobalt/arch/arm/patches/
cp -a ../download/ipipe-core-4.4.43-arm-7.patch xenomai-3.0.3/kernel/cobalt/arch/arm/patches/

# patch kernel
cd ~/work/pi/xenomai-3.0.3
./scripts/prepare-kernel.sh --linux=~/work/pi/linux-4.1.18-ipipe
./scripts/prepare-kernel.sh --linux=~/work/pi/linux-4.4.43-ipipe
# and type "arm" for architecture (no errors)

# configure kernel (first default, then we change it)
KERNEL=kernel7
cd ../linux-4.1.18-ipipe
cd ../linux-4.4.43-ipipe
#### make ARCH=arm CROSS_COMPILE=arm-linux-gnueabihf- bcm2709_defconfig
make ARCH=arm CROSS_COMPILE=arm-linux-gnueabihf- menuconfig
  * CPU Power Management * Turn it all off
  * Kernel Features * Preemption Model (Preemptible Kernel (Low-Latency Desktop))
  * Kernel Features * [NO] Allow for memory compaction
  * Kernel Features * [NO] Contiguous Memory Allocator
  │   Selected by: COMPACTION [=y] && MMU [=y] || CMA [=y] && HAVE_MEMBLOCK [=y] && MMU [=y]
** for sage build, not doing this ** enabling this CONFIG_XENO_OPT_SHIRQ
  * Had to disable the Intel ethernet modules... it had an error, just disabled ALL Intel ethernet...
  * Had to disable lustre driver from device -> staging
  * Had to disable  CAIF virtio transport driver

make ARCH=arm CROSS_COMPILE=arm-linux-gnueabihf- zImage modules dtbs -j `getconf _NPROCESSORS_ONLN`
</code>

===== Xenomai Pi Compiled =====

This did compile for me, haven't tried it yet!   --- //[[david@lattice.net|David Lloyd Rabine]] 2017/03/04 20:55//

<code>
cd ~/work/pi
tar xf download/linux-4.4.43.tar.xz
mv linux-4.4.43 linux-4.4.43-ipipe
cd xenomai-3.0.3
scripts/prepare-kernel.sh --arch=arm --linux=~/work/pi/linux-4.4.43-ipipe
cd ~/work/pi/linux-4.4.43-ipipe
export KERNEL=kernel7
make ARCH=arm CROSS_COMPILE=arm-linux-gnueabihf- bcm2709_defconfig
make ARCH=arm CROSS_COMPILE=arm-linux-gnueabihf- bcm2835_defconfig

# make ARCH=arm CROSS_COMPILE=arm-linux-gnueabihf- zImage modules dtbs
# no modules!?

make ARCH=arm CROSS_COMPILE=arm-linux-gnueabihf- menuconfig
make ARCH=arm CROSS_COMPILE=arm-linux-gnueabihf- zImage dtbs -j `getconf _NPROCESSORS_ONLN`

cd /mnt
sudo mkdir pisdcard
sudo mkdir pisdcard/fat32
sudo mkdir pisdcard/ext4
sudo mount /dev/sdb1 /mnt/pisdcard/fat32
sudo mount /dev/sdb2 /mnt/pisdcard/ext4

# go where the kernel is that you want to install
cd ~/work/pi/linux-4.4.43-ipipe
sudo make ARCH=arm CROSS_COMPILE=arm-linux-gnueabihf- INSTALL_MOD_PATH=/mnt/pisdcard/ext4 modules_install

# and the rest
sudo cp /mnt/pisdcard/fat32/$KERNEL.img /mnt/pisdcard/fat32/$KERNEL-backup.img
sudo scripts/mkknlimg arch/arm/boot/zImage /mnt/pisdcard/fat32/$KERNEL.img
sudo cp arch/arm/boot/dts/*.dtb /mnt/pisdcard/fat32/
sudo cp arch/arm/boot/dts/overlays/*.dtb* /mnt/pisdcard/fat32/overlays/
sudo cp arch/arm/boot/dts/overlays/README /mnt/pisdcard/fat32/overlays/
</code>

Xenomai Application Example from /home/david/src/pi/xenomai-3.0.3/demo/posix/cobalt/eth_p_all.c
<code>
 pthread_setschedparam(pthread_self(), SCHED_FIFO, &param);

 while(1)
 {

 }
</code>

Another good example **/home/david/src/pi/xenomai-3.0.3/demo/posix/cobalt/xddp-echo.c**

This example sends data down the pipe to keep from context switching which is probably what is causing Dan's code to not keep up.
  * This is an excellent example that has a real time thread and a non-real time thread that communicate.


===== Xenomai Pi 3 Compile HOWTO =====

Using this as the basis:

[[https://www.blaess.fr/christophe/2016/05/22/xenomai-3-sur-raspberry-pi-2/]]


  - Grab Xenomai <code>
cd ~/work/pi/download
wget <<FILES>>
</code>
  - What patches do we have? <code>
cd ~/work/pi/
tar xf download/xenomai-3.0.3.tar.bz2
ls xenomai-3.0.3/kernel/cobalt/arch/arm/patches/
#
# results
ipipe-core-3.10.32-arm-13.patch  ipipe-core-3.18.20-arm-11.patch  ipipe-core-4.1.18-arm-9.patch  README
ipipe-core-3.14.44-arm-16.patch  ipipe-core-4.1.18-arm-8.patch    ipipe-core-4.4.43-arm-7.patch
</code>
  - Grab the source code from the **git** repository <code>
git clone https://github.com/raspberrypi/linux
cd linux
git checkout rpi-4.4.y
</code>
  - Create a new Xenomai branch <code>
git checkout -b xenomai-3.0.3
</code>
  - Dry run the patch <code>
patch --dry-run -p1 <../xenomai-3.0.3/kernel/cobalt/arch/arm/patches/ipipe-core-4.4.43-arm-7.patch
</code>
  - Patch the kennel assuming you saw no FAILS in the dry run test <code>
cd ..
xenomai-3.0.3/scripts/prepare-kernel.sh --linux=linux --arch=arm --ipipe=xenomai-3.0.3/kernel/cobalt/arch/arm/patches/ipipe-core-4.4.43-arm-7.patch
</code>
  - Build the default configuration <code>
KERNEL=kernel7
cd linux
make ARCH=arm CROSS_COMPILE=arm-linux-gnueabihf- bcm2709_defconfig
make ARCH=arm CROSS_COMPILE=arm-linux-gnueabihf- bcm2835_defconfig
</code>
  - Configure the kernel <code>
make ARCH=arm CROSS_COMPILE=arm-linux-gnueabihf- menuconfig
</code>
    - Make these changes
      - Kernel Features  --->
        - Preemptible Kernel (Low-Latency Desktop)
        - DISBLE Allow for memory compaction
        - DISABLE Contiguous Memory Allocator
      - CPU Power Management  ---> OFF everything
      - Kernel hacking
        - DISABLE KGDB: kernel debugger
  - Compile! <code>
make ARCH=arm CROSS_COMPILE=arm-linux-gnueabihf- zImage modules dtbs -j 6
</code>
  - Ran this with the 3.1.18 kernel... seems like that might work.