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This is a log of the recompilation of the latest available branch 4.1 for the raspberry pi, with the RT patch applied.

The target machine is a raspberry pi, with actual kernel : 4.1.13+ #826 PREEMPT.

I assume the  ‘raspberrypi_target’ directory exists. (see an old post about kernel cross compilation..)

So , you have to update the kernel sources before doing the patching.

to avoid errors while fetching the new sources, from the raspberrypi_target/linux directory, you can split the fetching of the new files like this:
for m in `seq 1 100`;do git fetch –depth=$m;done

once done,switch to the latest stable branch 'rpi-4.1.y' (at the time i write this post) :

git checkout -b rpi-4.1.y

Now its time to get the patch.

I assume you have a complete linux, branch 4.1.y … at the time i’m writing, the working patch for this version is located at :

https://www.kernel.org/pub/linux/kernel/projects/rt/4.1/patch-4.1.19-rt22.patch.gz

perform a save of your original,clean directory :

from the “raspberrypi_target”  dir :

cp -a linux linux_before_patching

so, let’s get the patch:

wget https://www.kernel.org/pub/linux/kernel/projects/rt/4.1/patch-4.1.19-rt22.patch.gz

..And check for any error (do it!) before patching (option –dry-run performs a ‘blank’ patching with no file modifications ) :

from the linux dir where the patch .gz is :

zcat patch-4.1.19-rt22.patch.gz | patch -p1 –dry-run | grep FAIL

if the command returns nothing, everything is OK, now effectively apply the patch :

zcat patch-4.1.19-rt22.patch.gz | patch -p1

okay, now you have to get some base config for the configuration menu.

The simple way : use the raspberry pi connected to your network, and issue a : sudo modprobe configs

then download the config.gz file from the raspberry to your cross-compiler’s machine :

scp <username>@<ip.ip.ip.ip>:/proc/config.gz ./

now you should have the config.gz file into the /linux/ folder where you issued this command (on the compiling machine )

now deflate it :

zcat config.gz > .config

And be a little curious ! (ie :   cat .config )

Okay, time to launch the menuconfig :

make ARCH=arm CROSS_COMPILE=/usr/bin/arm-linux-gnueabi- menuconfig

Now, the menu is on the screen. have to activate your options and customize, Then

“make ARCH=arm CROSS_COMPILE=/usr/bin/arm-linux-gnueabihf- -k -j5 ”

and voila(oups ..no ..), an error throws :

HOSTCC  scripts/genksyms/lex.lex.o
arch/arm/kernel/asm-offsets.c:54:2: error: #error Your compiler is too buggy; it is known to miscompile kernels

#error Your compiler is too buggy; it is known to miscompile kernels

arch/arm/kernel/asm-offsets.c:55:2: error: #error and result in filesystem corruption and oopses.
#error and result in filesystem corruption and oopses.
^
make[1]: *** [arch/arm/kernel/asm-offsets.s] Error 1
make[1]: Target `__build’ not remade because of errors.
make: *** [prepare0] Error 2
HOSTCC  scripts/dtc/data.o
HOSTCC  scripts/kallsyms

Damn…

Okay, lets get another cross compiler, form the github’s “raspberrypi/tools” dir :

cd to the home for your user name ( cd ~ )

then “git clone https://github.com/raspberrypi/tools.git“

… time to drink a cofee…

once done, the ‘tools’ folder is there.

okay, lets try rebuilding the menuconfig, this time using linaro gnueabi , from the tools.
the kernel modules will go to the ‘rtkern’ folder ..(create it : “mkdir rtkern” from your home folder )

make ARCH=arm CROSS_COMPILE=~/tools/arm-bcm2708/gcc-linaro-arm-linux-gnueabihf-raspbian/bin/arm-linux-gnueabihf- INSTALL_MOD_PATH=~/rtkern

Once again,errors, on my machine : missing some “libstdc++.so.6″ libraries, fix it ( we need the 6th version)

Okay, got it.. i used the 32bit version but i’m on a 64bit machine with ubuntu , so :

first, lets add the path, arch and destination for modules to the system :

export ARCH=arm
export INSTALL_MOD_PATH=~/rtkern
export CROSS_COMPILE=~/tools/arm-bcm2708/gcc-linaro-arm-linux-gnueabihf-raspbian-x64/bin/arm-linux-gnueabihf-

notice i specified the -x64 version of the crosscompiler.
now, from the ‘linux’ directory, try again the menuconfig, it should work fine now :

make menuconfig

>> it’s time to activate the options we want, in the menu. for the RealTime aspects, you’ll have to activate ‘KERNEL PREEMPT FULL’ , and also the HIgh-Resolution timers .

then after customisation and save+exit , in the ‘linux’ folder, execute :

“make”

“make modules”

“make modules_install” <- the module are installed in the folder specified by the ‘INSTALL_MOD_PATH’ variable, obviously

now “cd ~/tools/mkimage”

check out your built image , it should be listed when doing :

“ls ~/raspberrypi_target/linux/arch/arm/boot -al”

notice there is Image and zImage that have been created.

first method :

• type "./imagetool-uncompressed.py ../../raspberrypi_target/linux/arch/arm/boot/Image"

• the created boot image is in the current folder, named ‘kernel.img‘

• now you have to replace the files into the target pi ,  from ~/raspberrypi_target/linux/arch/arm/boot/kernel.img into the /boot/ folder
  ( NOTICE : the /boot/ folder depends on the image you installed on your SD card. beware in case of a ‘noobs’ image’ , because in this case , the right ‘/boot’ folder is not at the regular place )
• and rename/erase the target pi’s /lib/modules and /lib/firmware with the one freshly compiled,

• Use the mkknimg utility , located in the same folder. this one generates a kernel image from the zImage source, and the generated kernel.img file is configured to make use the of the device tree overlay (DTS) , then copy the created file to the /boot folder.
• Remove / rename the target pi’s /boot/overlays folder by the one contained into ~/raspberrypi_target/linux/arch/arm/boot/dts/overlays

Note : more infos about the DTS , DTB files, syntax and examples here :

https://www.raspberrypi.org/documentation/configuration/device-tree.md

and for the tool to convert from .DTS to .DTB (bin) :

sudo apt-get install device-tree-compiler

.. the source of mkknlimg tool here :

https://github.com/raspberrypi/tools/blob/master/mkimage/mkknlimg

once done, do not forget to “sync” to ensure the data are written onto the SD.

then plug the fresh thing into the raspberry en enjoy.

uname -a gives a “Linux raspberrypi 4.1.20-rt22 #1 PREEMPT RT”

sudo nano /etc/dphys-swapfile

change the size ( default : CONF_SWAPSIZE=100 ) , is 100MB,to the desired one , then ctrl+O (save) , ctrl+X (exit nano editor)

now, stop the swap system, and restart :

/etc/init.d/dphys-swapfile stop

then :

/etc/init.d/dphys-swapfile start

This post will be updated when i have enough time.
// list GL capabilities & Extensions

void show_GLcapabilities(void)
{
	//
      printf("GL_RENDERER   = %s\n", (char *) glGetString(GL_RENDERER));
      printf("GL_VERSION    = %s\n", (char *) glGetString(GL_VERSION));
      printf("GL_VENDOR     = %s\n", (char *) glGetString(GL_VENDOR));
      printf("GL_EXTENSIONS = %s\n", (char *) glGetString(GL_EXTENSIONS));
	//
}
// list GLES parameters
void show_GLparameters(void)
{
	GLint myget[256];
	glGetIntegerv(GL_IMPLEMENTATION_COLOR_READ_FORMAT,&myget);printf("GL_IMPLEMENTATION_COLOR_READ_FORMAT=%04x %04x %04x %d \n",myget[0],myget[1],myget[2],myget[3]);
	glGetIntegerv(GL_IMPLEMENTATION_COLOR_READ_TYPE,&myget);printf("GL_IMPLEMENTATION_COLOR_READ_TYPE=%04x %04x %04x %d \n",myget[0],myget[1],myget[2],myget[3]);
	glGetIntegerv(GL_COLOR_WRITEMASK,&myget);printf("GL_COLOR_WRITE_MASK=%d %d %d %d \n",myget[0],myget[1],myget[2],myget[3]);
	glGetIntegerv(GL_BLEND,&myget);printf("GL_BLEND =%d\n",myget[0]);
	glGetIntegerv(GL_MAX_RENDERBUFFER_SIZE,&myget);printf("GL_MAX_RENDER_BUFFER_SIZE =%d\n",myget[0]);
	glGetIntegerv(GL_MAX_VERTEX_UNIFORM_VECTORS,&myget);printf("GL_MAX_VERTEX_UNIFORM_VECTORS =%d\n",myget[0]);
	glGetIntegerv(GL_MAX_FRAGMENT_UNIFORM_VECTORS,&myget);printf("GL_MAX_FRAGMENT_UNIFORM_VECTORS =%d\n",myget[0]);
	glGetIntegerv(GL_MAX_VERTEX_ATTRIBS,&myget);printf("GL_MAX_VERTEX_ATTRIBS =%d\n",myget[0]);
	//
	glGetIntegerv(GL_MAX_VIEWPORT_DIMS,&myget);printf("GL_MAX_VIEWPORT_DIMS =%dx%d\n",myget[0],myget[1]);
	glGetIntegerv(GL_VIEWPORT,&myget);printf("GL_VIEWPORT =(%d,%d %d,%d)\n",myget[0],myget[1],myget[2],myget[3]);

}

//

// Videocore debugging

in /opt/vc/bin :

sudo vcdbg help

see : https://github.com/nezticle/RaspberryPi-BuildRoot/wiki/VideoCore-Tools

Pi slave board for model B is under built and test.
some pictures of the prototype PCB, routed for model B :

In the same time, a real time 3D user interface’s library is under development ( early stage picture of 3 surfaces acting like console’s char displays on the raspberry pi :

August 28 : first assembly tests:
The assembly is ok , and the first tests to the development GUI are all ok also.

Some pictures of the device follows..