CONFIG PREEMPT RT Patch

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(Platforms Tested and in Use with CONFIG_PREEMPT_RT)
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Please do not send clocksource and clockevents related patches against the -rt patch. Make sure they apply against the latest [[High_resolution_timers |-hrt-dyntick patch]]. -hrt-dyntick might be a bit ahead of -rt at times, but the -rt patch pulls -hrt-dyntick on a regular base.
 
Please do not send clocksource and clockevents related patches against the -rt patch. Make sure they apply against the latest [[High_resolution_timers |-hrt-dyntick patch]]. -hrt-dyntick might be a bit ahead of -rt at times, but the -rt patch pulls -hrt-dyntick on a regular base.
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== Platforms Tested and in Use with CONFIG_PREEMPT_RT ==
 
== Platforms Tested and in Use with CONFIG_PREEMPT_RT ==
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| ARM9 (v4t)|| [http://www.atmel.com/dyn/products/tools_card.asp?family_id=605&family_name=AT91SAM+32%2Dbit+ARM%2Dbased+Microcontrollers&tool_id=3507 Atmel AT91RM9200-EK]  (See AT91-Notes) ||  2.6.23.12-rt14 || [[User:Remy | Remy Bohmer]] || worst case latency: < 300us (see Note 1)
 
| ARM9 (v4t)|| [http://www.atmel.com/dyn/products/tools_card.asp?family_id=605&family_name=AT91SAM+32%2Dbit+ARM%2Dbased+Microcontrollers&tool_id=3507 Atmel AT91RM9200-EK]  (See AT91-Notes) ||  2.6.23.12-rt14 || [[User:Remy | Remy Bohmer]] || worst case latency: < 300us (see Note 1)
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| ARM9 (v4t)|| [http://wiki.emqbit.com/free-ecb-at91 FREE_ECB_AT91]  (See AT91-Notes) ||  2.6.23.12-rt14 || Carlos Camargo ||
 
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| ARM9 (v5t)|| [http://www.atmel.com/dyn/products/tools_card.asp?family_id=605&family_name=AT91SAM+32%2Dbit+ARM%2Dbased+Microcontrollers&tool_id=3820 Atmel AT91SAM9261-EK]  (See AT91-Notes) ||  2.6.23.1-rt5 || [[User:Remy | Remy Bohmer]] || worst case latency: < 500us (see Note 1)
 
| ARM9 (v5t)|| [http://www.atmel.com/dyn/products/tools_card.asp?family_id=605&family_name=AT91SAM+32%2Dbit+ARM%2Dbased+Microcontrollers&tool_id=3820 Atmel AT91SAM9261-EK]  (See AT91-Notes) ||  2.6.23.1-rt5 || [[User:Remy | Remy Bohmer]] || worst case latency: < 500us (see Note 1)

Revision as of 01:46, 29 February 2008

Contents

The CONFIG_PREEMPT_RT Patch Set

The CONFIG_PREEMPT_RT patch set is maintained by a small group of core developers, led by Ingo Molnar. This patch allows nearly all of the kernel to be preempted, with the exception of a few very small regions of code ("raw_spinlock critical regions"). This is done by replacing most kernel spinlocks with mutexes that support priority inheritance, as well as moving all interrupt and software interrupts to kernel threads.

It further incorporates high resolution timers - a patch set, which is independently maintained.

You can find now a detailed RT_PREEMPT_HOWTO on this page.

Paul McKenney has written a good CONFIG_PREEMPT_RT overview which is a good introduction to the changes introduced to the kernel by the CONFIG_PREEMPT_RT patch.

Download

The patch set is available here, as either a single monolithic patch, or in a broken-out tarball. See the announcement regarding the broken-out patch set.

There is also an apt repository for Ubuntu with x86 precompiled kernel. You can find more information in this wiki page:

https://wiki.ubuntu.com/RealTime

Sending patches

Please send patches for the CONFIG_PREEMPT_RT Patch Set to LKML and put Ingo Molnar and Thomas Gleixner on CC.

Please do not send clocksource and clockevents related patches against the -rt patch. Make sure they apply against the latest -hrt-dyntick patch. -hrt-dyntick might be a bit ahead of -rt at times, but the -rt patch pulls -hrt-dyntick on a regular base.


Platforms Tested and in Use with CONFIG_PREEMPT_RT

Processor Model #'s Kernel version(s) Contact(s) Comment(s)
Opteron IBM LS-20, LS-21, x3455 2.6.16-rt22, 2.6.20-rt8 Theodore Ts'o, Darren Hart
Xeon IBM 6850-P4U 2.6.20-rt8, 2.6.21-rc6-rt0 Dave Sperry
P4 Compaq Evo N610 2.6.16-rt22 Dave Sperry
P3 Celeron 1300 2.6.21.5-rt14 Oleksandr Natalenko
Prescott PentiumD 3 GHz 2.6.22.6-rt9 Dmitry Pisklov
Intel Pentium 4 2.4 GHz 2.6.23.9-rt12 Jaswinder Singh
Intel Pentium 4 2.8 GHz with HT 2.6.23.9-rt12 Jaswinder Singh
Intel FSC D2151S Celeron D 2.93 Ghz 2.6.20-rt8 Remy Bohmer Avg. latency < 10us, worst case latency: < 30us (see Note 1)
Intel FSC D2151S Core 2 Duo E6300 2.6.20-rt8 Remy Bohmer Avg. latency < 10us, worst case latency: < 30us (see Note 1)
Intel Asus P5B Core 2 Duo E6600 2.4GHz 2.6.23-rc4-rt1 Remy Bohmer Avg. latency < 10us, worst case latency: < 30us (see Note 1)
Intel IBM Thinkpad T43 Pentium M CPU 2 GHz 2.6.23-rt3 PhilK Avg. latency < 14us, worst case latency: < 32us
ARM9 (v4t) Atmel AT91RM9200-EK (See AT91-Notes) 2.6.23.12-rt14 Remy Bohmer worst case latency: < 300us (see Note 1)
ARM9 (v4t) FREE_ECB_AT91 (See AT91-Notes) 2.6.23.12-rt14 Carlos Camargo
ARM9 (v5t) Atmel AT91SAM9261-EK (See AT91-Notes) 2.6.23.1-rt5 Remy Bohmer worst case latency: < 500us (see Note 1)
ARM9 (v5tej) TI OMAP5912 OSK 2.6.23-rt1 OMAP ML A small additional OMAP specific patch on top of -rt is needed. See ML.
ARM9 (v5tej) TI DM6446 DaVinci 2.6.23-rt1 DaVinci ML A small additional DaVinci specific patch on top of -rt is needed. See ML.

Note 1: latency is defined as the time between the moment an interrupt occurs in hardware, and the moment the corresponding interrupt-thread gets running.

AT91-Notes: The following issues are known on this architecture:

  • Serial port (DBGU) driver does illegal calls in Interrupt context. The interrupt handler has to be split up. (Patch can be found at patch)
  • Priority Inheritance Mutexes in userspace (PTHREAD_PRIO_INHERIT) only works since 2.6.23-rt1 with Glibc 2.5 and higher. Tested and stable with applications that match the memory locking scheme described on HOWTO:_Build_an_RT-application.
  • Clocksource and clockevent implementations are available, and are in mainline since 2.6.24-rc4. (or see AT91-patchset) Tickless and HRT both work, but not using them due to very high CPU load compared to a ticking kernel on preempt-rt.
  • GPIO Interrupt handling is not stable which causes missing GPIO interrupts, fixed by patch. This patch is integrated in 2.6.23.11-rt14 and newer (Without this patch, the Ethernet adapter (DM9000) on AT91SAM9261-EK does not work in combination with PREEMPT-RT.)
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