apollo-kernel: Apllo Kernel for Apollo 1.0 Release

Author: journey-wang

AUTHORS.md

@@ -0,0 +1,31 @@
+| Github account | name |
+|---|---|
+| apollo-jingaowang | Jingao Wang |
+| jmtao | Jiaming Tao |
+| bjtulynn | Liming Xia |
+| Capri2014 | Qi Luo |
+| chinasunlei07 | Lei Sun |
+| fengqikai1414 | Kaiwen Feng |  
+| GoLancer | Wei He |   
+| henryhu6 | Sen Hu |
+| hillbrook | Lei Zhang |
+| jinghaomiao | Jinghao Miao |
+| joaospinto | Joao Sousa-Pinto |
+| journey-wang | Peng Wang |
+| kechxu | Kecheng Xu |
+| lianglia-apollo | Liangliang Zhang |
+| qiankunzhu | Zhenguang Zhu |
+| quning78 | Ning Qu |
+| siyangy | Siyang Yu |
+| startcode | Dong Li |
+| wanglei828 | Lei Wang |
+| weidezhang | Weide Zhang |
+| xczhanjun | Jun Zhan |
+| xiaoxq | Xiangquan Xiao |
+| YajiaZhang | Yajia Zhang |
+| ycool | Jiangtao Hu |
+| ygcn | Guang Yang | 
+| yifeijiang | Yifei Jiang |
+| breakds | Break Yang |
+| zhoudawen | David Zhou |
+| aiguo159 | Aiguo Fei |

README.md

@@ -0,0 +1,143 @@
+# Apollo Kernel
+
+The Apollo Kernel provides the necessary kernel level support to run Apollo software stack.
+In the first release, we add the most popular solution, Linux Kernel, under the linux directory.
+
+## Linux Kernel
+
+Apollo Linux Kernel is based on Linux Kernel 4.4.32 with some modifications.
+
+### What is the difference
+
+  * Realtime patch (https://rt.wiki.kernel.org/index.php/RT_PREEMPT_HOWTO)
+  * Latest e1000e intel ethernet driver
+  * Bugfix for Nvidia driver under realtime patch
+  * Double free in the inet_csk_clone_lock function patch (https://bugzilla.redhat.com/show_bug.cgi?id=1450972)
+  * Other cve security patches
+
+The Apollo team would like to thank everybody in the open source community. The GitHub apollo-kernel/linux is based on Linux. Currently, Apollo team maintains this repository. In near future, we’ll send patches back to Linux community.
+
+### Add ESD CAN Support
+
+You will need to add ESD CAN driver to run Apollo software using ESD CAN card. Please refer to linux/ESDCAN-README.md for more information.
+
+### How to Download the Release Package
+
+Download the release packages from the release section on github:
+
+```
+https://github.com/ApolloAuto/apollo-kernel/releases
+```
+
+### How to Install
+
+After having the release package downloaded:
+
+```
+tar zxvf linux-4.4.32-apollo-1.0.0.tar.gz
+cd install
+sudo ./install_kernel.sh
+```
+
+### How to Build
+
+
+If you would like cutomize and build your own kernel, simply run:
+
+```
+./build.sh
+```
+
+You can find the installation kernel package under directory:
+
+```
+./install/rt
+```
+
+### Realtime "Hello World" Example
+(https://rt.wiki.kernel.org/index.php/RT_PREEMPT_HOWTO#A_Realtime_.22Hello_World.22_Example)
+
+* Setting a real time scheduling policy and priority
+* Locking memory so that page faults caused by virtual memory will not undermine deterministic behavior
+* Pre-faulting the stack, so that a future stack fault will not undermine deterministic behavior
+
+The following example contains some very basic example code of a real time application with realtime preemption patch. Compile as follows:
+```
+gcc -o test_rt test_rt.c -lrt
+```
+
+Source code as below:
+```
+#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++;
+                }
+   }
+}
+```
+
+### Disclaimer
+The patched Linux kernel is specifically for running Apollo software stack on an Apollo 1.0 Reference Hardware Platform (see [*Apollo 1.0 Hardware and System Installation Guide*](https://github.com/ApolloAuto/apollo/blob/master/docs/quickstart/apollo_1_0_hardware_system_installation_guide.md) for more information). It is not recommended for any other purposes.