80 lines
3.2 KiB
Markdown
80 lines
3.2 KiB
Markdown
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# PREEMPT_RT kernel for gps-ntp (Raspberry Pi 4)
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A cross-compiled RPi-native realtime kernel, plus a one-line `pps-gpio` fix
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that turned out to be the whole point.
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## Why
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Chasing PPS jitter. The theory (from [pixie](https://github.com/josh-blake/pixie))
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is that PREEMPT_RT plus CPU isolation lets you park the PPS interrupt on a
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dedicated core at realtime priority.
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On a **Pi 4 that doesn't work out of the box**, for two reasons we found the
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hard way:
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1. **The PPS interrupt can't be moved on a stock kernel.** It's a GPIO
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interrupt demuxed through `pinctrl-bcm2835`, so writing `smp_affinity`
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returns `Operation not permitted`. Individual GPIO lines follow the GPIO
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controller's parent IRQ. Pixie's approach assumes a Pi 5.
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2. **PREEMPT_RT alone made jitter 3× worse.** RT force-threads interrupt
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handlers — but `pps-gpio` *timestamps the pulse inside its handler*
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(`pps_get_ts()` → `pps_event()`). Threaded, that timestamp is taken after
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thread-wakeup latency instead of at the electrical edge. We measured raw
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PPS jitter go from 2134 ns → 6947 ns.
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## The fix
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`0001-pps-gpio-keep-timestamp-in-hard-irq-under-PREEMPT_RT.patch` adds
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`IRQF_NO_THREAD` to the `pps-gpio` IRQ request, so the timestamp stays in
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hard-irq context while the rest of the system keeps RT's preemptibility.
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Ironically, RT *also* solved problem (1): a force-threaded IRQ is a
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schedulable thread, and a thread **can** be `taskset` to an isolated core —
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which the stock kernel refused. So RT unlocked the pinning the hardware
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denied us, and the patch undoes the damage RT did on the way.
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## Results (measured, chrony `sourcestats` / raw `ppstest`)
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| Config | RMS offset | Raw PPS jitter |
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|---|---|---|
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| Baseline (stock kernel, stock chrony) | 823 ns | — |
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| + chrony median-filter/prefer | 440 ns | 2134 ns |
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| + PREEMPT_RT (threaded PPS) | 2468 ns | 6947 ns |
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| **+ `IRQF_NO_THREAD` patch** | **199 ns** | **2568 ns** |
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## Build (cross-compile from x86)
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```bash
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sudo pacman -S --needed aarch64-linux-gnu-gcc # Arch/EndeavourOS
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git clone --depth=1 --branch rpi-6.18.y https://github.com/raspberrypi/linux
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cd linux
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export ARCH=arm64 CROSS_COMPILE=aarch64-linux-gnu-
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make bcm2711_defconfig
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./scripts/config --enable EXPERT --enable PREEMPT_RT \
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--set-str LOCALVERSION "-rt-timepi" --disable LOCALVERSION_AUTO
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make olddefconfig
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patch -p1 < ../0001-pps-gpio-keep-timestamp-in-hard-irq-under-PREEMPT_RT.patch
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make -j$(nproc) Image modules dtbs
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```
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## Deploy (safe, revertible, headless-friendly)
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The Pi 4's SD and ext4 drivers are built-in (`CONFIG_MMC_BCM2835=y`,
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`CONFIG_EXT4_FS=y`), so **no initramfs is needed**. Install the kernel under a
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*new* name and leave `kernel8.img` alone — the whole change becomes one
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revertible line.
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```bash
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gzip -9 -c arch/arm64/boot/Image > Image.gz # match Pi OS's gzip format
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scp Image.gz pi:/tmp/ && scp rt-modules.tar.gz pi:/tmp/
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# on the Pi:
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sudo cp /tmp/Image.gz /boot/firmware/kernel-rt.img # NEW name; kernel8.img untouched
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sudo tar xzf /tmp/rt-modules.tar.gz -C / # new /lib/modules/<rel>/
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sudo depmod 6.18.38-rt-timepi+
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echo 'kernel=kernel-rt.img' | sudo tee -a /boot/firmware/config.txt
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```
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**Recovery:** if it doesn't boot, pull the card and delete the
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`kernel=kernel-rt.img` line. The stock kernel returns.
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