Christian Jann has published a blog entry on “Christian’s Blog” titled “Building a real-time kernel for the NVIDIA Jetson TK1“.
The article has step by step directions for installing the Linux Realtime Preemption patch to the kernel on the Jetson Linux for Tegra (L4T) 21.3 release. The normal kernel has soft real-time requirements: it provides POSIX operations for userspace time handling, but no guarantee of hard timing deadlines. With the real time kernel modifications, the kernel gains hard realtime capabilities. These capabilities make it an interesting option for real time applications such as professional audio, industrial control, and robotics.
The article is very detailed, and covers a lot of the patches needed to bring the kernel up to snuff. There is also a Github repository christianjann/L4T_PREEMPT_RT with the Jetson TK1 PREEMPT_RT kernel.
While this is still a work in progress, it appears to be at the point where it is useable and where other people can help contribute. Go over and have a look!