Apollo Kernel

https://github.com/ApolloAuto/apollo-kernel/releases

tar zxvf linux-4.4.32-apollo-1.0.0.tar.gz
cd install
sudo ./install_kernel.sh

./build.sh

./install/rt

gcc -o test_rt test_rt.c -lrt

#include <stdlib.h>
#include <stdio.h>
#include <time.h>
#include <sched.h>
#include <sys/mman.h>
#include <string.h>

#define MY_PRIORITY (49) /* we use 49 as the PRREMPT_RT use 50
                            as the priority of kernel tasklets
                            and interrupt handler by default */

#define MAX_SAFE_STACK (8*1024) /* The maximum stack size which is
                                   guaranteed safe to access without
                                   faulting */

#define NSEC_PER_SEC    (1000000000) /* The number of nsecs per sec. */

void stack_prefault(void) {

        unsigned char dummy[MAX_SAFE_STACK];

        memset(dummy, 0, MAX_SAFE_STACK);
        return;
}

int main(int argc, char* argv[])
{
        struct timespec t;
        struct sched_param param;
        int interval = 50000; /* 50us*/

        /* Declare ourself as a real time task */

        param.sched_priority = MY_PRIORITY;
        if(sched_setscheduler(0, SCHED_FIFO, &param) == -1) {
                perror("sched_setscheduler failed");
                exit(-1);
        }

        /* Lock memory */

        if(mlockall(MCL_CURRENT|MCL_FUTURE) == -1) {
                perror("mlockall failed");
                exit(-2);
        }

        /* Pre-fault our stack */

        stack_prefault();

        clock_gettime(CLOCK_MONOTONIC ,&t);
        /* start after one second */
        t.tv_sec++;

        while(1) {
                /* wait until next shot */
                clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME, &t, NULL);

                /* do the stuff */

                /* calculate next shot */
                t.tv_nsec += interval;

                while (t.tv_nsec >= NSEC_PER_SEC) {
                       t.tv_nsec -= NSEC_PER_SEC;
                        t.tv_sec++;
                }
   }
}