硬件：RaspberryPi2镜像：http://downloads.raspberrypi....官方安装RaspberryPi必备软件的说明为：https://www.raspberrypi.org/d...sudoaptinstallgitbcbisonflexlibssl-devmake推荐安装：sudoapt-getinstallbcsudoapt-getinstalllibncurses-devlibssl-devsudoapt-getinstallbuild-essentialkmodcpioflexcpiobison下载内核https://codeload.github.com/r...或者gitclonehttps://github.com/raspberrypi/linux.git-brpi-4.19.y-rt创建内核目录，解压内核cd/usr/srcsudomkdirlinuxcdlinuxmv/kernel文件存储目录.../rpi-4.19.y-rt.zip.unziprpi-4.19.y-rt.zip配置内核RaspberryPi1,PiZero,PiZeroWandComputeModulecdrpi-4.19.y-rtKERNEL=kernel7makebcmrpi_defconfigmakemenuconfigRaspberryPi2,Pi3,Pi3+andComputeModule3cdrpi-4.19.y-rtKERNEL=kernel7makebcm2709_defconfigmakemenuconfigRaspberryPi4cdrpi-4.19.y-rtKERNEL=kernel7lmakebcm2711_defullconfigmakemenuconfig查找抢占模型(FullyPrenelly)Kernel(RT)),保存并退出。编译内核make-j4zImagemodulesdtbs安装模块sudomakemodules_install将编译好的文件复制到/boot文件夹sudocparch/arm/boot/dts/*.dtb/boot/sudocparch/arm/boot/dts/overlays/*.dtb*/boot/overlays/sudocparch/arm/boot/dts/overlays/自述文件/boot/overlays/replacekernelsudochmoda+xscripts/mkknlimgsudoscripts/mkknlimgarch/arm/boot/zImage/boot/kernel-my.imgsudonano/boot/config.txt添加一行kernel=kernel-my.img重启树莓派sudoreboot查看是否成功uname-a如果出现PREEMPTRT，说明实时测试成功sudoapt-getinstallrt-testssudocyclictest-l100000000-m-Sp99-i200-h400-q
