OE layer for RT training module 1 lab

Signed-off-by: Sumit Garg <sumit.garg@linaro.org>

14 files changed, 814 insertions, 0 deletions

diff --git a/meta-rtmod1/conf/bblayers.conf.sample b/meta-rtmod1/conf/bblayers.conf.sample
new file mode 100644
index 0000000000..fbdea900ba
--- /dev/null
+++ b/meta-rtmod1/conf/bblayers.conf.sample
@@ -0,0 +1,13 @@
+# POKY_BBLAYERS_CONF_VERSION is increased each time build/conf/bblayers.conf
+# changes incompatibly
+POKY_BBLAYERS_CONF_VERSION = "2"
+
+BBPATH = "${TOPDIR}"
+BBFILES ?= ""
+
+BBLAYERS ?= " \
+  ##OEROOT##/meta \
+  ##OEROOT##/meta-poky \
+  ##OEROOT##/meta-yocto-bsp \
+  ##OEROOT##/meta-rtmod1 \
+  "
diff --git a/meta-rtmod1/conf/conf-notes.txt b/meta-rtmod1/conf/conf-notes.txt
new file mode 100644
index 0000000000..084cc98369
--- /dev/null
+++ b/meta-rtmod1/conf/conf-notes.txt
@@ -0,0 +1,19 @@
+
+### Shell environment set up for builds. ###
+
+You can now run 'bitbake <target>'
+
+Common targets are:
+    core-image-minimal
+    core-image-full-cmdline
+    core-image-sato
+    core-image-weston
+    meta-toolchain
+    meta-ide-support
+
+You can also run generated qemu images with a command like 'runqemu qemux86'
+
+Other commonly useful commands are:
+ - 'devtool' and 'recipetool' handle common recipe tasks
+ - 'bitbake-layers' handles common layer tasks
+ - 'oe-pkgdata-util' handles common target package tasks
diff --git a/meta-rtmod1/conf/layer.conf b/meta-rtmod1/conf/layer.conf
new file mode 100644
index 0000000000..595035c93e
--- /dev/null
+++ b/meta-rtmod1/conf/layer.conf
@@ -0,0 +1,11 @@
+# We might have a conf and classes directory, append to BBPATH
+BBPATH .= ":${LAYERDIR}"
+
+# We have a recipes directory, add to BBFILES
+BBFILES += "${LAYERDIR}/recipes*/*/*.bb ${LAYERDIR}/recipes*/*/*.bbappend"
+
+BBFILE_COLLECTIONS += "meta-rtmod1"
+
+BBFILE_PATTERN_meta-rtmod1 := "^${LAYERDIR}/"
+BBFILE_PRIORITY_meta-rtmod1 = "10"
+LAYERSERIES_COMPAT_meta-rtmod1 = "hardknott"
diff --git a/meta-rtmod1/conf/local.conf.sample b/meta-rtmod1/conf/local.conf.sample
new file mode 100644
index 0000000000..46185497bf
--- /dev/null
+++ b/meta-rtmod1/conf/local.conf.sample
@@ -0,0 +1,281 @@
+#
+# This file is your local configuration file and is where all local user settings
+# are placed. The comments in this file give some guide to the options a new user
+# to the system might want to change but pretty much any configuration option can
+# be set in this file. More adventurous users can look at local.conf.extended
+# which contains other examples of configuration which can be placed in this file
+# but new users likely won't need any of them initially.
+#
+# Lines starting with the '#' character are commented out and in some cases the
+# default values are provided as comments to show people example syntax. Enabling
+# the option is a question of removing the # character and making any change to the
+# variable as required.
+
+#
+# Machine Selection
+#
+# You need to select a specific machine to target the build with. There are a selection
+# of emulated machines available which can boot and run in the QEMU emulator:
+#
+#MACHINE ?= "qemuarm"
+#MACHINE ?= "qemuarm64"
+#MACHINE ?= "qemumips"
+#MACHINE ?= "qemumips64"
+#MACHINE ?= "qemuppc"
+#MACHINE ?= "qemux86"
+#MACHINE ?= "qemux86-64"
+#
+# There are also the following hardware board target machines included for 
+# demonstration purposes:
+#
+#MACHINE ?= "beaglebone-yocto"
+#MACHINE ?= "genericx86"
+#MACHINE ?= "genericx86-64"
+#MACHINE ?= "edgerouter"
+#
+# This sets the default machine to be qemux86-64 if no other machine is selected:
+MACHINE ??= "qemuarm64"
+
+#
+# Where to place downloads
+#
+# During a first build the system will download many different source code tarballs
+# from various upstream projects. This can take a while, particularly if your network
+# connection is slow. These are all stored in DL_DIR. When wiping and rebuilding you
+# can preserve this directory to speed up this part of subsequent builds. This directory
+# is safe to share between multiple builds on the same machine too.
+#
+# The default is a downloads directory under TOPDIR which is the build directory.
+#
+#DL_DIR ?= "${TOPDIR}/downloads"
+
+#
+# Where to place shared-state files
+#
+# BitBake has the capability to accelerate builds based on previously built output.
+# This is done using "shared state" files which can be thought of as cache objects
+# and this option determines where those files are placed.
+#
+# You can wipe out TMPDIR leaving this directory intact and the build would regenerate
+# from these files if no changes were made to the configuration. If changes were made
+# to the configuration, only shared state files where the state was still valid would
+# be used (done using checksums).
+#
+# The default is a sstate-cache directory under TOPDIR.
+#
+#SSTATE_DIR ?= "${TOPDIR}/sstate-cache"
+
+#
+# Where to place the build output
+#
+# This option specifies where the bulk of the building work should be done and
+# where BitBake should place its temporary files and output. Keep in mind that
+# this includes the extraction and compilation of many applications and the toolchain
+# which can use Gigabytes of hard disk space.
+#
+# The default is a tmp directory under TOPDIR.
+#
+#TMPDIR = "${TOPDIR}/tmp"
+
+#
+# Default policy config
+#
+# The distribution setting controls which policy settings are used as defaults.
+# The default value is fine for general Yocto project use, at least initially.
+# Ultimately when creating custom policy, people will likely end up subclassing 
+# these defaults.
+#
+DISTRO ?= "poky"
+# As an example of a subclass there is a "bleeding" edge policy configuration
+# where many versions are set to the absolute latest code from the upstream 
+# source control systems. This is just mentioned here as an example, its not
+# useful to most new users.
+# DISTRO ?= "poky-bleeding"
+
+#
+# Package Management configuration
+#
+# This variable lists which packaging formats to enable. Multiple package backends
+# can be enabled at once and the first item listed in the variable will be used
+# to generate the root filesystems.
+# Options are:
+#  - 'package_deb' for debian style deb files
+#  - 'package_ipk' for ipk files are used by opkg (a debian style embedded package manager)
+#  - 'package_rpm' for rpm style packages
+# E.g.: PACKAGE_CLASSES ?= "package_rpm package_deb package_ipk"
+# We default to rpm:
+PACKAGE_CLASSES ?= "package_rpm"
+
+#
+# SDK target architecture
+#
+# This variable specifies the architecture to build SDK items for and means
+# you can build the SDK packages for architectures other than the machine you are
+# running the build on (i.e. building i686 packages on an x86_64 host).
+# Supported values are i686, x86_64, aarch64
+#SDKMACHINE ?= "i686"
+
+#
+# Extra image configuration defaults
+#
+# The EXTRA_IMAGE_FEATURES variable allows extra packages to be added to the generated
+# images. Some of these options are added to certain image types automatically. The
+# variable can contain the following options:
+#  "dbg-pkgs"       - add -dbg packages for all installed packages
+#                     (adds symbol information for debugging/profiling)
+#  "src-pkgs"       - add -src packages for all installed packages
+#                     (adds source code for debugging)
+#  "dev-pkgs"       - add -dev packages for all installed packages
+#                     (useful if you want to develop against libs in the image)
+#  "ptest-pkgs"     - add -ptest packages for all ptest-enabled packages
+#                     (useful if you want to run the package test suites)
+#  "tools-sdk"      - add development tools (gcc, make, pkgconfig etc.)
+#  "tools-debug"    - add debugging tools (gdb, strace)
+#  "eclipse-debug"  - add Eclipse remote debugging support
+#  "tools-profile"  - add profiling tools (oprofile, lttng, valgrind)
+#  "tools-testapps" - add useful testing tools (ts_print, aplay, arecord etc.)
+#  "debug-tweaks"   - make an image suitable for development
+#                     e.g. ssh root access has a blank password
+# There are other application targets that can be used here too, see
+# meta/classes/image.bbclass and meta/classes/core-image.bbclass for more details.
+# We default to enabling the debugging tweaks.
+EXTRA_IMAGE_FEATURES ?= "debug-tweaks"
+
+#
+# Additional image features
+#
+# The following is a list of additional classes to use when building images which
+# enable extra features. Some available options which can be included in this variable
+# are:
+#   - 'buildstats' collect build statistics
+#   - 'image-mklibs' to reduce shared library files size for an image
+#   - 'image-prelink' in order to prelink the filesystem image
+# NOTE: if listing mklibs & prelink both, then make sure mklibs is before prelink
+# NOTE: mklibs also needs to be explicitly enabled for a given image, see local.conf.extended
+USER_CLASSES ?= "buildstats image-mklibs image-prelink"
+
+#
+# Runtime testing of images
+#
+# The build system can test booting virtual machine images under qemu (an emulator)
+# after any root filesystems are created and run tests against those images. It can also
+# run tests against any SDK that are built. To enable this uncomment these lines.
+# See classes/test{image,sdk}.bbclass for further details.
+#IMAGE_CLASSES += "testimage testsdk"
+#TESTIMAGE_AUTO_qemuall = "1"
+
+#
+# Interactive shell configuration
+#
+# Under certain circumstances the system may need input from you and to do this it
+# can launch an interactive shell. It needs to do this since the build is
+# multithreaded and needs to be able to handle the case where more than one parallel
+# process may require the user's attention. The default is iterate over the available
+# terminal types to find one that works.
+#
+# Examples of the occasions this may happen are when resolving patches which cannot
+# be applied, to use the devshell or the kernel menuconfig
+#
+# Supported values are auto, gnome, xfce, rxvt, screen, konsole (KDE 3.x only), none
+# Note: currently, Konsole support only works for KDE 3.x due to the way
+# newer Konsole versions behave
+#OE_TERMINAL = "auto"
+# By default disable interactive patch resolution (tasks will just fail instead):
+PATCHRESOLVE = "noop"
+
+#
+# Disk Space Monitoring during the build
+#
+# Monitor the disk space during the build. If there is less that 1GB of space or less
+# than 100K inodes in any key build location (TMPDIR, DL_DIR, SSTATE_DIR), gracefully
+# shutdown the build. If there is less that 100MB or 1K inodes, perform a hard abort
+# of the build. The reason for this is that running completely out of space can corrupt
+# files and damages the build in ways which may not be easily recoverable.
+# It's necessary to monitor /tmp, if there is no space left the build will fail
+# with very exotic errors.
+BB_DISKMON_DIRS ??= "\
+    STOPTASKS,${TMPDIR},1G,100K \
+    STOPTASKS,${DL_DIR},1G,100K \
+    STOPTASKS,${SSTATE_DIR},1G,100K \
+    STOPTASKS,/tmp,100M,100K \
+    ABORT,${TMPDIR},100M,1K \
+    ABORT,${DL_DIR},100M,1K \
+    ABORT,${SSTATE_DIR},100M,1K \
+    ABORT,/tmp,10M,1K"
+
+#
+# Shared-state files from other locations
+#
+# As mentioned above, shared state files are prebuilt cache data objects which can be
+# used to accelerate build time. This variable can be used to configure the system
+# to search other mirror locations for these objects before it builds the data itself.
+#
+# This can be a filesystem directory, or a remote url such as http or ftp. These
+# would contain the sstate-cache results from previous builds (possibly from other
+# machines). This variable works like fetcher MIRRORS/PREMIRRORS and points to the
+# cache locations to check for the shared objects.
+# NOTE: if the mirror uses the same structure as SSTATE_DIR, you need to add PATH
+# at the end as shown in the examples below. This will be substituted with the
+# correct path within the directory structure.
+#SSTATE_MIRRORS ?= "\
+#file://.* http://someserver.tld/share/sstate/PATH;downloadfilename=PATH \n \
+#file://.* file:///some/local/dir/sstate/PATH"
+
+#
+# Yocto Project SState Mirror
+#
+# The Yocto Project has prebuilt artefacts available for its releases, you can enable
+# use of these by uncommenting the following line. This will mean the build uses
+# the network to check for artefacts at the start of builds, which does slow it down
+# equally, it will also speed up the builds by not having to build things if they are
+# present in the cache. It assumes you can download something faster than you can build it
+# which will depend on your network.
+#
+#SSTATE_MIRRORS ?= "file://.* http://sstate.yoctoproject.org/2.5/PATH;downloadfilename=PATH"
+
+#
+# Qemu configuration
+#
+# By default native qemu will build with a builtin VNC server where graphical output can be
+# seen. The line below enables the SDL UI frontend too.
+PACKAGECONFIG_append_pn-qemu-system-native = " sdl"
+# By default libsdl2-native will be built, if you want to use your host's libSDL instead of 
+# the minimal libsdl built by libsdl2-native then uncomment the ASSUME_PROVIDED line below.
+#ASSUME_PROVIDED += "libsdl2-native"
+
+# You can also enable the Gtk UI frontend, which takes somewhat longer to build, but adds
+# a handy set of menus for controlling the emulator.
+#PACKAGECONFIG_append_pn-qemu-system-native = " gtk+"
+
+#
+# Hash Equivalence
+#
+# Enable support for automatically running a local hash equivalence server and
+# instruct bitbake to use a hash equivalence aware signature generator. Hash
+# equivalence improves reuse of sstate by detecting when a given sstate
+# artifact can be reused as equivalent, even if the current task hash doesn't
+# match the one that generated the artifact.
+#
+# A shared hash equivalent server can be set with "<HOSTNAME>:<PORT>" format
+#
+#BB_HASHSERVE = "auto"
+#BB_SIGNATURE_HANDLER = "OEEquivHash"
+
+#
+# Memory Resident Bitbake
+#
+# Bitbake's server component can stay in memory after the UI for the current command
+# has completed. This means subsequent commands can run faster since there is no need
+# for bitbake to reload cache files and so on. Number is in seconds, after which the
+# server will shut down.
+#
+#BB_SERVER_TIMEOUT = "60"
+
+# CONF_VERSION is increased each time build/conf/ changes incompatibly and is used to
+# track the version of this file when it was generated. This can safely be ignored if
+# this doesn't mean anything to you.
+CONF_VERSION = "1"
+
+INIT_MANAGER = "systemd"
+INHERIT += "rm_work"
+IMAGE_INSTALL_append = " rt-demoapps"
diff --git a/meta-rtmod1/conf/site.conf.sample b/meta-rtmod1/conf/site.conf.sample
new file mode 100644
index 0000000000..5164fedf63
--- /dev/null
+++ b/meta-rtmod1/conf/site.conf.sample
@@ -0,0 +1,33 @@
+#
+# local.conf covers user settings, site.conf covers site specific information
+# such as proxy server addresses and optionally any shared download location
+#
+# SITE_CONF_VERSION is increased each time build/conf/site.conf
+# changes incompatibly
+SCONF_VERSION = "1"
+
+# Uncomment to cause CVS to use the proxy host specified
+#CVS_PROXY_HOST = "proxy.example.com"
+#CVS_PROXY_PORT = "81"
+
+# For svn, you need to create ~/.subversion/servers containing:
+#[global]
+#http-proxy-host = proxy.example.com
+#http-proxy-port = 81
+#
+
+# To use git with a proxy, you must use an external git proxy command, such as
+# the one provided by scripts/oe-git-proxy. To use this script, copy it to
+# your PATH and uncomment the following:
+#GIT_PROXY_COMMAND ?= "oe-git-proxy"
+#ALL_PROXY ?= "socks://socks.example.com:1080"
+#or
+#ALL_PROXY ?= "https://proxy.example.com:8080"
+# If you wish to use certain hosts without the proxy, specify them in NO_PROXY.
+# See the script for details on syntax. The script oe-git-proxy uses some tools
+# that may not be included on HOSTTOOLS, thus  add them manually through
+# HOSTTOOLS += "getent"
+
+# Uncomment this to use a shared download directory
+#DL_DIR = "/some/shared/download/directory/"
+
diff --git a/meta-rtmod1/model_answer/files/rt-demotest-mlockall.c b/meta-rtmod1/model_answer/files/rt-demotest-mlockall.c
new file mode 100644
index 0000000000..72173564ed
--- /dev/null
+++ b/meta-rtmod1/model_answer/files/rt-demotest-mlockall.c
@@ -0,0 +1,129 @@
+/*   Copyright (C) 2021 by Linaro */
+/*   Permission to use, copy, modify, and/or distribute this software for any */
+/*   purpose with or without fee is hereby granted. */
+/*   THE SOFTWARE IS PROVIDED AS IS AND THE AUTHOR DISCLAIMS ALL WARRANTIES */
+/*   WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF */
+/*   MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR */
+/*   ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES */
+/*   WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN */
+/*   ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF */
+/*   OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE. */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <time.h>
+#include <string.h>
+#include <pthread.h>
+#include <sched.h>
+#include <signal.h>
+#include <errno.h>
+#include <unistd.h>
+#include <sys/time.h>
+#include <sys/mman.h>
+
+#define DEFAULT_INTERVAL	1000
+#define NSEC_PER_SEC		1000000000
+
+static int64_t latency;
+
+static inline int64_t calcdiff_ns(struct timespec t1, struct timespec t2)
+{
+	int64_t diff;
+
+	diff = NSEC_PER_SEC * (int64_t)((int) t1.tv_sec - (int) t2.tv_sec);
+	diff += ((int) t1.tv_nsec - (int) t2.tv_nsec);
+
+	return diff;
+}
+
+static void *timerthread(void *arg)
+{
+	sigset_t sigset;
+	struct timespec now, next, interval, stop;
+	struct itimerval itimer;
+	struct itimerspec tspec;
+	int sigs;
+
+	sigemptyset(&sigset);
+	sigaddset(&sigset, SIGALRM);
+	sigprocmask(SIG_BLOCK, &sigset, NULL);
+
+	clock_gettime(CLOCK_MONOTONIC, &now);
+	next = now;
+	next.tv_nsec += DEFAULT_INTERVAL * 1000;
+
+	itimer.it_interval.tv_sec = 0;
+	itimer.it_interval.tv_usec = DEFAULT_INTERVAL;
+	itimer.it_value = itimer.it_interval;
+	setitimer(ITIMER_REAL, &itimer, NULL);
+
+	if (sigwait(&sigset, &sigs) < 0)
+		goto out;
+
+	clock_gettime(CLOCK_MONOTONIC, &now);
+
+	latency = calcdiff_ns(now, next);
+out:
+	itimer.it_value.tv_sec = 0;
+	itimer.it_value.tv_usec = 0;
+	itimer.it_interval.tv_sec = 0;
+	itimer.it_interval.tv_usec = 0;
+	setitimer(ITIMER_REAL, &itimer, NULL);
+
+	return NULL;
+}
+
+static int create_thread(pthread_t *thread, void *(*func) (void *), int prio,
+			 int policy)
+{
+	struct sched_param param;
+	pthread_attr_t attr;
+	int ret;
+
+	param.sched_priority = prio;
+
+	pthread_attr_init(&attr);
+	pthread_attr_setinheritsched(&attr, PTHREAD_EXPLICIT_SCHED);
+	pthread_attr_setschedpolicy(&attr, policy);
+	pthread_attr_setschedparam(&attr, &param);
+
+	if (ret = pthread_create(thread, &attr, func, NULL))
+		printf("pthread_create failed: %d (%s)\n", ret, strerror(ret));
+
+	pthread_attr_destroy(&attr);
+
+	return ret;
+}
+
+static void sighand(int sig)
+{
+}
+
+int main (void)
+{
+	sigset_t sigset;
+	pthread_t thread;
+	int ret;
+
+	if (mlockall(MCL_CURRENT|MCL_FUTURE) == -1)
+		exit(1);
+
+	sigemptyset(&sigset);
+	sigaddset(&sigset, SIGALRM);
+	sigprocmask (SIG_BLOCK, &sigset, NULL);
+
+	signal(SIGALRM, sighand);
+
+	printf("Real-time latency test application\n");
+	ret = create_thread(&thread, timerthread, 50, SCHED_FIFO);
+	if (ret)
+		exit(1);
+
+	pthread_join(thread, NULL);
+
+	printf("Thread wake-up latency: %ldns\n", latency);
+
+	munlockall();
+
+	return 0;
+}
diff --git a/meta-rtmod1/model_answer/files/rt-demotest.c b/meta-rtmod1/model_answer/files/rt-demotest.c
new file mode 100644
index 0000000000..425da610ad
--- /dev/null
+++ b/meta-rtmod1/model_answer/files/rt-demotest.c
@@ -0,0 +1,123 @@
+/*   Copyright (C) 2021 by Linaro */
+/*   Permission to use, copy, modify, and/or distribute this software for any */
+/*   purpose with or without fee is hereby granted. */
+/*   THE SOFTWARE IS PROVIDED AS IS AND THE AUTHOR DISCLAIMS ALL WARRANTIES */
+/*   WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF */
+/*   MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR */
+/*   ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES */
+/*   WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN */
+/*   ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF */
+/*   OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE. */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <time.h>
+#include <string.h>
+#include <pthread.h>
+#include <sched.h>
+#include <signal.h>
+#include <errno.h>
+#include <unistd.h>
+#include <sys/time.h>
+
+#define DEFAULT_INTERVAL	1000
+#define NSEC_PER_SEC		1000000000
+
+static int64_t latency;
+
+static inline int64_t calcdiff_ns(struct timespec t1, struct timespec t2)
+{
+	int64_t diff;
+
+	diff = NSEC_PER_SEC * (int64_t)((int) t1.tv_sec - (int) t2.tv_sec);
+	diff += ((int) t1.tv_nsec - (int) t2.tv_nsec);
+
+	return diff;
+}
+
+static void *timerthread(void *arg)
+{
+	sigset_t sigset;
+	struct timespec now, next, interval, stop;
+	struct itimerval itimer;
+	struct itimerspec tspec;
+	int sigs;
+
+	sigemptyset(&sigset);
+	sigaddset(&sigset, SIGALRM);
+	sigprocmask(SIG_BLOCK, &sigset, NULL);
+
+	clock_gettime(CLOCK_MONOTONIC, &now);
+	next = now;
+	next.tv_nsec += DEFAULT_INTERVAL * 1000;
+
+	itimer.it_interval.tv_sec = 0;
+	itimer.it_interval.tv_usec = DEFAULT_INTERVAL;
+	itimer.it_value = itimer.it_interval;
+	setitimer(ITIMER_REAL, &itimer, NULL);
+
+	if (sigwait(&sigset, &sigs) < 0)
+		goto out;
+
+	clock_gettime(CLOCK_MONOTONIC, &now);
+
+	latency = calcdiff_ns(now, next);
+out:
+	itimer.it_value.tv_sec = 0;
+	itimer.it_value.tv_usec = 0;
+	itimer.it_interval.tv_sec = 0;
+	itimer.it_interval.tv_usec = 0;
+	setitimer(ITIMER_REAL, &itimer, NULL);
+
+	return NULL;
+}
+
+static int create_thread(pthread_t *thread, void *(*func) (void *), int prio,
+			 int policy)
+{
+	struct sched_param param;
+	pthread_attr_t attr;
+	int ret;
+
+	param.sched_priority = prio;
+
+	pthread_attr_init(&attr);
+	pthread_attr_setinheritsched(&attr, PTHREAD_EXPLICIT_SCHED);
+	pthread_attr_setschedpolicy(&attr, policy);
+	pthread_attr_setschedparam(&attr, &param);
+
+	if (ret = pthread_create(thread, &attr, func, NULL))
+		printf("pthread_create failed: %d (%s)\n", ret, strerror(ret));
+
+	pthread_attr_destroy(&attr);
+
+	return ret;
+}
+
+static void sighand(int sig)
+{
+}
+
+int main (void)
+{
+	sigset_t sigset;
+	pthread_t thread;
+	int ret;
+
+	sigemptyset(&sigset);
+	sigaddset(&sigset, SIGALRM);
+	sigprocmask (SIG_BLOCK, &sigset, NULL);
+
+	signal(SIGALRM, sighand);
+
+	printf("Real-time latency test application\n");
+	ret = create_thread(&thread, timerthread, 50, SCHED_FIFO);
+	if (ret)
+		exit(1);
+
+	pthread_join(thread, NULL);
+
+	printf("Thread wake-up latency: %ldns\n", latency);
+
+	return 0;
+}
diff --git a/meta-rtmod1/model_answer/files/rt-thread.c b/meta-rtmod1/model_answer/files/rt-thread.c
new file mode 100644
index 0000000000..7988ce11b0
--- /dev/null
+++ b/meta-rtmod1/model_answer/files/rt-thread.c
@@ -0,0 +1,59 @@
+/*   Copyright (C) 2021 by Linaro */
+/*   Permission to use, copy, modify, and/or distribute this software for any */
+/*   purpose with or without fee is hereby granted. */
+/*   THE SOFTWARE IS PROVIDED AS IS AND THE AUTHOR DISCLAIMS ALL WARRANTIES */
+/*   WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF */
+/*   MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR */
+/*   ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES */
+/*   WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN */
+/*   ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF */
+/*   OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE. */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <pthread.h>
+#include <errno.h>
+#include <unistd.h>
+
+static int create_thread(pthread_t *thread, void *(*func) (void *), int prio,
+			 int policy)
+{
+	struct sched_param param;
+	pthread_attr_t attr;
+	int ret;
+
+	param.sched_priority = prio;
+
+	pthread_attr_init(&attr);
+	pthread_attr_setinheritsched(&attr, PTHREAD_EXPLICIT_SCHED);
+	pthread_attr_setschedpolicy(&attr, policy);
+	pthread_attr_setschedparam(&attr, &param);
+
+	if (ret = pthread_create(thread, &attr, func, NULL))
+		printf("pthread_create failed: %d (%s)\n", ret, strerror(ret));
+
+	pthread_attr_destroy(&attr);
+
+	return ret;
+}
+
+static void *rt_thread(void *arg)
+{
+	printf("It's a real time thread!\n");
+	return NULL;
+}
+
+int main(void)
+{
+	pthread_t thread;
+	int ret;
+
+	printf("Main process!\n");
+	ret = create_thread(&thread, rt_thread, 50, SCHED_FIFO);
+	if (ret)
+		exit(1);
+
+	pthread_join(thread, NULL);
+	return 0;
+}
diff --git a/meta-rtmod1/model_answer/files/rtapps-systemd.service b/meta-rtmod1/model_answer/files/rtapps-systemd.service
new file mode 100644
index 0000000000..4e9db8245e
--- /dev/null
+++ b/meta-rtmod1/model_answer/files/rtapps-systemd.service
@@ -0,0 +1,13 @@
+[Unit]
+Description=Start RT demo apps via non-root user
+DefaultDependencies=no
+
+[Service]
+ExecStart=/usr/bin/rt-thread
+RemainAfterExit=yes
+User=nobody
+CapabilityBoundingSet=CAP_SYS_NICE
+AmbientCapabilities=CAP_SYS_NICE
+
+[Install]
+WantedBy=sysinit.target
diff --git a/meta-rtmod1/recipes-training/rt-demoapps/files/rt-demotest-mlockall.c b/meta-rtmod1/recipes-training/rt-demoapps/files/rt-demotest-mlockall.c
new file mode 100644
index 0000000000..c4840f6bd9
--- /dev/null
+++ b/meta-rtmod1/recipes-training/rt-demoapps/files/rt-demotest-mlockall.c
@@ -0,0 +1,28 @@
+/*   Copyright (C) 2021 by Linaro */
+/*   Permission to use, copy, modify, and/or distribute this software for any */
+/*   purpose with or without fee is hereby granted. */
+/*   THE SOFTWARE IS PROVIDED AS IS AND THE AUTHOR DISCLAIMS ALL WARRANTIES */
+/*   WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF */
+/*   MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR */
+/*   ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES */
+/*   WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN */
+/*   ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF */
+/*   OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE. */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <time.h>
+#include <string.h>
+#include <pthread.h>
+#include <sched.h>
+#include <signal.h>
+#include <errno.h>
+#include <unistd.h>
+#include <sys/time.h>
+#include <sys/mman.h>
+
+int main (void)
+{
+	printf("TODO: Write an apllication to RT wakeup test with mlockall!\n");
+	return 0;
+}
diff --git a/meta-rtmod1/recipes-training/rt-demoapps/files/rt-demotest.c b/meta-rtmod1/recipes-training/rt-demoapps/files/rt-demotest.c
new file mode 100644
index 0000000000..57bfe4de05
--- /dev/null
+++ b/meta-rtmod1/recipes-training/rt-demoapps/files/rt-demotest.c
@@ -0,0 +1,27 @@
+/*   Copyright (C) 2021 by Linaro */
+/*   Permission to use, copy, modify, and/or distribute this software for any */
+/*   purpose with or without fee is hereby granted. */
+/*   THE SOFTWARE IS PROVIDED AS IS AND THE AUTHOR DISCLAIMS ALL WARRANTIES */
+/*   WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF */
+/*   MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR */
+/*   ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES */
+/*   WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN */
+/*   ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF */
+/*   OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE. */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <time.h>
+#include <string.h>
+#include <pthread.h>
+#include <sched.h>
+#include <signal.h>
+#include <errno.h>
+#include <unistd.h>
+#include <sys/time.h>
+
+int main (void)
+{
+	printf("TODO: Write an apllication to RT wakeup test!\n");
+	return 0;
+}
diff --git a/meta-rtmod1/recipes-training/rt-demoapps/files/rt-thread.c b/meta-rtmod1/recipes-training/rt-demoapps/files/rt-thread.c
new file mode 100644
index 0000000000..5f26d05ffc
--- /dev/null
+++ b/meta-rtmod1/recipes-training/rt-demoapps/files/rt-thread.c
@@ -0,0 +1,23 @@
+/*   Copyright (C) 2021 by Linaro */
+/*   Permission to use, copy, modify, and/or distribute this software for any */
+/*   purpose with or without fee is hereby granted. */
+/*   THE SOFTWARE IS PROVIDED AS IS AND THE AUTHOR DISCLAIMS ALL WARRANTIES */
+/*   WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF */
+/*   MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR */
+/*   ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES */
+/*   WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN */
+/*   ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF */
+/*   OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE. */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <pthread.h>
+#include <errno.h>
+#include <unistd.h>
+
+int main(void)
+{
+	printf("TODO: Write an apllication to launch RT threads!\n");
+	return 0;
+}
diff --git a/meta-rtmod1/recipes-training/rt-demoapps/files/rtapps-systemd.service b/meta-rtmod1/recipes-training/rt-demoapps/files/rtapps-systemd.service
new file mode 100644
index 0000000000..45e2e1d439
--- /dev/null
+++ b/meta-rtmod1/recipes-training/rt-demoapps/files/rtapps-systemd.service
@@ -0,0 +1,11 @@
+[Unit]
+Description=Start RT demo apps via non-root user
+DefaultDependencies=no
+
+[Service]
+ExecStart=/usr/bin/rt-thread
+RemainAfterExit=yes
+User=nobody
+
+[Install]
+WantedBy=sysinit.target
diff --git a/meta-rtmod1/recipes-training/rt-demoapps/rt-demoapps_1.0.bb b/meta-rtmod1/recipes-training/rt-demoapps/rt-demoapps_1.0.bb
new file mode 100644
index 0000000000..3f06c7a299
--- /dev/null
+++ b/meta-rtmod1/recipes-training/rt-demoapps/rt-demoapps_1.0.bb
@@ -0,0 +1,44 @@
+DESCRIPTION = "RT demo applications"
+SECTION = "examples"
+LICENSE = "BSD"
+LIC_FILES_CHKSUM = "file://rt-thread.c;startline=1;endline=10;md5=5841cfc60f86a77434a8e5bf643b6b54"
+
+SRC_URI = "file://rt-thread.c \
+	   file://rt-demotest.c \
+	   file://rt-demotest-mlockall.c \
+	   file://rtapps-systemd.service \
+	  "
+
+S = "${WORKDIR}"
+
+inherit pkgconfig systemd
+
+PACKAGECONFIG ??= "${@bb.utils.filter('DISTRO_FEATURES', 'systemd', d)}"
+
+PACKAGECONFIG[systemd] = "--with-systemd,--without-systemd,systemd"
+
+do_compile() {
+    ${CC} rt-thread.c ${CFLAGS} -o rt-thread ${LDFLAGS} -lpthread
+    ${CC} rt-demotest.c ${CFLAGS} -o rt-demotest ${LDFLAGS} -lpthread
+    ${CC} rt-demotest-mlockall.c ${CFLAGS} -o rt-demotest-mlockall ${LDFLAGS} -lpthread
+}
+
+do_install() {
+    install -d ${D}${bindir}
+    install -m 0755 rt-thread ${D}${bindir}
+    install -m 0755 rt-demotest ${D}${bindir}
+    install -m 0755 rt-demotest-mlockall ${D}${bindir}
+
+    if ${@bb.utils.contains('DISTRO_FEATURES', 'systemd', 'true', 'false', d)}; then
+        install -d ${D}${systemd_unitdir}/system
+        install -m 644 ${WORKDIR}/rtapps-systemd.service ${D}/${systemd_unitdir}/system
+    fi
+}
+
+SYSTEMD_PACKAGES = "${@bb.utils.contains('DISTRO_FEATURES','systemd','${PN}','',d)}"
+SYSTEMD_SERVICE_${PN} += "${@bb.utils.contains('PACKAGECONFIG', 'systemd', 'rtapps-systemd.service', '', d)}"
+
+FILES_{PN} += "${bindir}/rt-thread \
+	       ${bindir}/rt-demotest \
+	       ${bindir}/rt-demotest-mlockall \
+	      "