Jetson Nano Üzerinde Gerçek Zamanlı Linux Çekirdeği Uygulanması

Year 2021, Issue: 28, 1274 - 1278, 30.11.2021

Salih Palamut Abdullah Elewi Erdinç Avaroğlu

https://doi.org/10.31590/ejosat.1014660

Abstract

Bu çalışmamızda gerçek zamanlı sistemler ve yaklaşımları hakkında bilgilere yer verilmiştir. Gerçek zamanlı sistemlerin esnek, sıkı ve katı uygulama tiplerine değinilmiş ve gerçek zamanlı bir sistemin modellemesi yapılmıştır. Gerçek zamanlı bir sistemin gömülü bir Linux sürümüne nasıl uygulanacağı araştırılmış, en yaygın kullanılan açık kaynaklı yaklaşımları olan RTLinux, Xenomai ve RTAI hakkında bilgiler sunulmuş ve Jatson Nano üzerinde çalıştırılacak olan tam kesme destekli çekirdek (PREEMPT_RT) hakkında bilgi verilmiştir. Uygun Linux yaması ile Jetson Nano üzerinde bulunan Linux sürümüne tam kesme destekli gerçek zamanlı çekirdek derlemesinin adım adım uygulanması gösterilerek gerçekleştirilmiştir. Yapılan bu çalışmada eski ve yeni çekirdek cyclictest programıyla test edilmiş ve sonuçlar ortaya konulmuştur. Böylece Jatson Nano üzerinde gerçek zamanlı uygulama çalıştırılacak sistem hazırlanmıştır.

Keywords

Jetson nano, Linux, gerçek zamanlı sistemler, Gerçek zamanlı linux, Linux çekirdeği, Zamanlama

Real-Time Linux Kernel Implementation on Jetson Nano

Abstract

In this study, information about real-time systems and their approaches is given. Flexible, tight and rigid application types of real-time systems are mentioned and a real-time system is modeled. How to apply a real-time system to an embedded Linux version is researched, information about the most widely used open-source approaches, RTLinux, Xenomai and RTAI, and information about the fully interrupt supported kernel (PREEMPT_RT) to be run on Jatson Nano is given. Demonstrated step-by-step implementation of real-time kernel compilation with full interrupt support to the version of Linux on Jetson Nano with the appropriate Linux patch. In this study, the old and new cores were tested with the cyclictest program and the results were presented. Thus, the system to run real-time applications on Jatson Nano has been prepared.

Keywords

Jetson nano, Linux, Realtime systems, Realtime linux, Linux kernel, Timing.

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