Merge pull request #42 from razr/Ubuntu-22.04

add Ubuntu 22.04 build support

.config-fragment

@@ -1,3 +1,4 @@
+CONFIG_VIRTUALIZATION=n
 CONFIG_PREEMPT_RT=y
 CONFIG_LOCKUP_DETECTOR=n
 CONFIG_DETECT_HUNG_TASK=n
@@ -23,3 +24,5 @@ CONFIG_PERF_EVENTS=y
 # CONFIG_KRETPROBES is not set
 # CONFIG_KALLSYMS_ALL is not set
 CONFIG_DEBUG_INFO=n
+CONFIG_IKCONFIG=y
+CONFIG_IKCONFIG_PROC=y

.github/workflows/build-latest.yml

@@ -2,7 +2,24 @@ name: 'Build latest'
 
 on:
   workflow_dispatch:
+    inputs:
+      kernel_version:
+        description: 'Raspi kernel version, 5.4.0|5.15.0'
+        required: false
+        type: string
+      ubuntu_version:
+        description: 'Ubuntu version, focal|jammy'
+        required: false
+        type: string
+      lttng_version:
+        description: 'LTTNG version, 2.12|2.13'
+        required: false
+        type: string
 
 jobs:
   call-rpi4-kernel-build:
     uses: ./.github/workflows/rpi4-kernel-build.yml
+    with:
+      kernel_version: ${{ github.event.inputs.kernel_version }}
+      ubuntu_version: ${{ github.event.inputs.ubuntu_version }}
+      lttng_version: ${{ github.event.inputs.lttng_version }}

.github/workflows/build-stable.yaml

@@ -3,18 +3,28 @@ name: 'Build stable'
 on:
   workflow_dispatch:
     inputs:
+      kernel_version:
+        description: 'Raspi kernel version, 5.4.0|5.15.0'
+        required: false
+        type: string
+      ubuntu_version:
+        description: 'Ubuntu version, focal|jammy'
+        required: false
+        type: string
       uname_r:
         description: 'raspi release in a form of <5.4.0-1058-raspi>'
         required: true
         default: '5.4.0-1058-raspi'
         type: string
       lttng_version:
-        description: 'LTTNG version e.g. 2.12'
+        description: 'LTTNG version 2.12|2.13'
         required: false
         type: string
 jobs:
   call-rpi4-kernel-build:
     uses: ./.github/workflows/rpi4-kernel-build.yml
     with:
       uname_r: ${{ github.event.inputs.uname_r }}
+      kernel_version: ${{ github.event.inputs.kernel_version }}
+      ubuntu_version: ${{ github.event.inputs.ubuntu_version }}
       lttng_version: ${{ github.event.inputs.lttng_version }}

Dockerfile

@@ -1,14 +1,27 @@
-# docker image to build an RT kernel for the RPI4 based on Ubuntu 20.04 RPI4 image
+# A Dockerfile to build an RT kernel for the RPI4 based on Ubuntu 20.04 or 22.04 RPI4 kernel
 #
-# By default it finds and takes the latest raspi image and the RT_PREEMPT patch closest to it
-# if the build arguments defined it will build the corresponding version instead
-# $ docker build [--build-arg UNAME_R=<raspi release>] [--build-arg RT_PATCH=<RT patch>] -t rtwg-image .
+# If run without parameters the Docker image is created to built RT_PREEMPT patched version of the latest 5.4 raspi kernel
+# The Docker build command accepts the following build arguments:
+# $ docker build [--build-arg UBUNTU_VERSION=<ubuntu name>] [--build-arg KERNEL_VERSION=<kernel version>]
+#                [--build-arg UNAME_R=<raspi release>] [--build-arg RT_PATCH=<RT patch>]
+#                [--build-arg LTTNG_VERSION=<LTTNG version>] -t rtwg-image .
 #
-# where <raspi release> is in a form of 5.4.0-1058-raspi,
+# where
+#   <ubuntu name> is jammy or focal, default is focal
+#   <kernel version> is 5.4.0 or 5.15.0, default is 5.4.0
+#   <raspi release> is in a form of 5.4.0-1058-raspi, if not defined the lastest version is taken
 #     see http://ports.ubuntu.com/pool/main/l/linux-raspi/
-# and <RT patch> is in a form of 5.4.177-rt69,
+#   <RT patch> is in a form of 5.4.177-rt69, if not defined the closest to the defined <raspi release> is taken
 #     see http://cdn.kernel.org/pub/linux/kernel/projects/rt/5.4/older
+#   <LTTNG version> is 2.12 or 2.13, default is 2.12
 #
+# To build a Docker image for the latest 5.4 raspi kernel run
+# $ docker build -t rtwg-image .
+#
+# To build a Docker image for the latest 5.15 raspi kernel run
+# $ docker build --build-arg UBUNTU_VERSION=jammy --build-arg KERNEL_VERSION=5.15.0 --build-arg LTTNG_VERSION=2.13 -t rtwg-image .
+#
+# After that the Docker image is prepared and ready to run
 # $ docker run -it rtwg-image bash
 #
 # and then inside the docker

README.md

@@ -8,7 +8,7 @@ This README describes necessary steps to build and install ```RT_PREEMPT``` Linu
 
 ## Raspberry Pi 4 RT Linux kernel
 
-Ubuntu ```raspi``` kernel is modified to produce an RT Linux kernel. Ubuntu is a ROS 2 Tier 1 platform and Ubuntu kernel was selected to align to it.  
+Ubuntu ```raspi``` kernel is modified to produce an RT Linux kernel. Ubuntu is a ROS 2 Tier 1 platform and Ubuntu kernel was selected to align to it. It is possible to build the raspi kernel for both Ubuntu LTS releases 20.04 and 22.04.
 
 ## Download ready-to-use RT Kernel ```deb``` packages
 
@@ -61,13 +61,16 @@ cd linux-real-time-kernel-builder
 ```
 
 ```bash
-docker build [--no-cache] [--build-arg UNAME_R=<raspi release>] [--build-arg RT_PATCH=<RT patch>] -t rtwg-image .
+docker build [--no-cache] [--build-arg UBUNTU_VERSION=<ubuntu name>] [--build-arg KERNEL_VERSION=<kernel version>] [--build-arg UNAME_R=<raspi release>] [--build-arg RT_PATCH=<RT patch>] [--build-arg LTTNG_VERSION=<LTTNG version>] -t rtwg-image .
 ```
 
 where:
 
+* ```<ubuntu name>``` is `jammy` or `focal`, default is `focal`
+* ```<kernel version>``` is `5.4.0` or `5.15.0`, default is `5.4.0`
 * ```<raspi release>``` is in a form of ```5.4.0-1058-raspi```,  see [Ubuntu raspi Linux kernels](http://ports.ubuntu.com/pool/main/l/linux-raspi)
 * ```<RT patch>``` is in a form of ```5.4.177-rt69```, see [RT patches](http://cdn.kernel.org/pub/linux/kernel/projects/rt/5.4/older)
+* ```<LTTNG version>``` is `2.12` or `2.13`, default is `2.12`
 
 ```bash
 docker run -t -i rtwg-image bash
@@ -156,11 +159,14 @@ sudo dpkg -i linux-image-*.deb
 sudo reboot
 ```
 
-After reboot you should see a new RT kernel installed
+After reboot you should see a new RT kernel installed and real-time enabled
 
 ```bash
 ubuntu@ubuntu:~$ uname -a
 Linux ubuntu 5.4.174-rt69-raspi #1 SMP PREEMPT_RT Mon Apr 8 14:10:16 UTC 2022 aarch64 aarch64 aarch64 GNU/Linux
+
+ubuntu@ubuntu:~$ cat /sys/kernel/realtime
+1
 ```
 
 ## Intel UP2 board RT kernel build