Embedded Linux Primer: A Practical, Real-World Approach
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Аннотация
Comprehensive Real-World Guidance for Every Embedded Developer and Engineer
This book brings together indispensable knowledge for building efficient, high-value, Linux-based embedded products: information that has never been assembled in one place before. Drawing on years of experience as an embedded Linux consultant and field application engineer, Christopher Hallinan offers solutions for the specific technical issues you're most likely to face, demonstrates how to build an effective embedded Linux environment, and shows how to use it as productively as possible.
Hallinan begins by touring a typical Linux-based embedded system, introducing key concepts and components, and calling attention to differences between Linux and traditional embedded environments. Writing from the embedded developer's viewpoint, he thoroughly addresses issues ranging from kernel building and initialization to bootloaders, device drivers to file systems.
Hallinan thoroughly covers the increasingly popular BusyBox utilities; presents a step-by-step walkthrough of porting Linux to custom boards; and introduces real-time configuration via CONFIG_RT--one of today's most exciting developments in embedded Linux. You'll find especially detailed coverage of using development tools to analyze and debug embedded systems--including the art of kernel debugging.
• Compare leading embedded Linux processors
• Understand the details of the Linux kernel initialization process
• Learn about the special role of bootloaders in embedded Linux systems, with specific emphasis on U-Boot
• Use embedded Linux file systems, including JFFS2--with detailed guidelines for building Flash-resident file system images
• Understand the Memory Technology Devices subsystem for flash (and other) memory devices
• Master gdb, KGDB, and hardware JTAG debugging
• Learn many tips and techniques for debugging within the Linux kernel
• Maximize your productivity in cross-development environments
• Prepare your entire development environment, including TFTP, DHCP, and NFS target servers
• Configure, build, and initialize BusyBox to support your unique requirements
- Prentice Hall Open Source Software Development Series
- Foreword
- Preface
- Practical Advice for the Practicing Embedded Developer
- Intended Audience
- What This Book Is Not
- Conventions Used
- Organization of the Book
- Follow Along
- GPL Copyright Notice
- Acknowledgments
- About the Author
- Chapter 1. Introduction
- 1.1. Why Linux?
- 1.2. Embedded Linux Today
- 1.3. Open Source and the GPL
- 1.3.1. Free Versus Freedom
- 1.4. Standards and Relevant Bodies
- 1.4.1. Linux Standard Base
- 1.4.2. Open Source Development Labs
- 1.4.2.1. OSDL: Carrier Grade Linux
- 1.4.2.2. OSDL: Mobile Linux Initiative
- 1.4.2.3. Service Availability Forum
- 1.5. Chapter Summary
- 1.5.1. Suggestions for Additional Reading
- Chapter 2. Your First Embedded Experience
- 2.1. Embedded or Not?
- 2.1.1. BIOS Versus Bootloader
- 2.2. Anatomy of an Embedded System
- 2.2.1. Typical Embedded Linux Setup
- 2.2.2. Starting the Target Board
- 2.3. Storage Considerations
- 2.3.1. Flash Memory
- 2.3.2. NAND Flash
- 2.3.3. Flash Usage
- 2.3.4. Flash File Systems
- 2.3.5. Memory Space
- 2.3.6. Execution Contexts
- 2.3.7. Process Virtual Memory
- 2.3.8. Cross-Development Environment
- 2.4. Embedded Linux Distributions
- 2.4.1. Commercial Linux Distributions
- 2.4.2. Do-It-Yourself Linux Distributions
- 2.5. Chapter Summary
- 2.5.1. Suggestions for Additional Reading
- Chapter 3. Processor Basics
- 3.1. Stand-alone Processors
- 3.1.1. IBM 970FX
- 3.1.2. Intel Pentium M
- 3.1.3. Freescale MPC7448
- 3.1.4. Companion Chipsets
- 3.2. Integrated Processors: Systems on Chip
- 3.2.1. PowerPC
- 3.2.2. AMCC PowerPC
- 3.2.3. Freescale PowerPC
- 3.2.4. MIPS
- 3.2.5. Broadcom MIPS
- 3.2.6. AMD MIPS
- 3.2.7. Other MIPS
- 3.2.8. ARM
- 3.2.9. TI ARM
- 3.2.10. Freescale ARM
- 3.2.11. Intel ARM XScale
- 3.2.12. Other ARM
- 3.2.13. Other Architectures
- 3.3. Hardware Platforms
- 3.3.1. CompactPCI
- 3.3.2. ATCA
- 3.4. Chapter Summary
- 3.4.1. Suggestions For Additional Reading
- Chapter 4. The Linux KernelA Different Perspective
- 4.1. Background
- 4.1.1. Kernel Versions
- 4.1.2. Kernel Source Repositories
- 4.2. Linux Kernel Construction
- 4.2.1. Top-Level Source Directory
- 4.2.2. Compiling the Kernel
- 4.2.3. The Kernel Proper: vmlinux
- 4.2.4. Kernel Image Components
- 4.2.5. Subdirectory Layout
- 4.3. Kernel Build System
- 4.3.1. The Dot-Config
- 4.3.2. Configuration Editor(s)
- 4.3.3. Makefile Targets
- 4.3.4. Kernel Configuration
- 4.3.5. Custom Configuration Options
- 4.3.6. Kernel Makefiles
- 4.3.7. Kernel Documentation
- 4.4. Obtaining a Linux Kernel
- 4.4.1. What Else Do I Need?
- 4.5. Chapter Summary
- 4.5.1. Suggestions for Additional Reading
- Chapter 5. Kernel Initialization
- 5.1. Composite Kernel Image: Piggy and Friends
- 5.1.1. The Image Object
- 5.1.2. Architecture Objects
- 5.1.3. Bootstrap Loader
- 5.1.4. Boot Messages
- 5.2. Initialization Flow of Control
- 5.2.1. Kernel Entry Point: head.o
- 5.2.2. Kernel Startup: main.c
- 5.2.3. Architecture Setup
- 5.3. Kernel Command Line Processing
- 5.3.1. The __setup Macro
- 5.4. Subsystem Initialization
- 5.4.1. The *__initcall Macros
- 5.5. The init Thread
- 5.5.1. Initialization via initcalls
- 5.5.2. Final Boot Steps
- 5.6. Chapter Summary
- 5.6.1. Suggestions for Additional Reading
- Chapter 6. System Initialization
- 6.1. Root File System
- 6.1.1. FHS: File System Hierarchy Standard
- 6.1.2. File System Layout
- 6.1.3. Minimal File System
- 6.1.4. The Root FS Challenge
- 6.1.5. Trial-and-Error Method
- 6.1.6. Automated File System Build Tools
- 6.2. Kernel's Last Boot Steps
- 6.2.1. First User Space Program
- 6.2.2. Resolving Dependencies
- 6.2.3. Customized Initial Process
- 6.3. The Init Process
- 6.3.1. inittab
- 6.3.2. Example Web Server Startup Script
- 6.4. Initial RAM Disk
- 6.4.1. Initial RAM Disk Purpose
- 6.4.2. Booting with initrd
- 6.4.3. Bootloader Support for initrd
- 6.4.4. initrd Magic: linuxrc
- 6.4.5. The initrd Plumbing
- 6.4.6. Building an initrd Image
- 6.5. Using initramfs
- 6.6. Shutdown
- 6.7. Chapter Summary
- 6.7.1. Suggestions for Additional Reading
- Chapter 7. Bootloaders
- 7.1. Role of a Bootloader
- 7.2. Bootloader Challenges
- 7.2.1. DRAM Controller
- 7.2.2. Flash Versus RAM
- 7.2.3. Image Complexity
- 7.2.4. Execution Context
- 7.3. A Universal Bootloader: Das U-Boot
- 7.3.1. System Configuration: U-Boot
- 7.3.2. U-Boot Command Sets
- 7.3.3. Network Operations
- 7.3.4. Storage Subsystems
- 7.3.5. Booting from Disk: U-Boot
- 7.4. Porting U-Boot
- 7.4.1. EP405 U-Boot Port
- 7.4.2. U-Boot Makefile Configuration Target
- 7.4.3. EP405 Processor Initialization
- 7.4.4. Board-Specific Initialization
- 7.4.5. Porting Summary
- 7.4.6. U-Boot Image Format
- 7.5. Other Bootloaders
- 7.5.1. Lilo
- 7.5.2. GRUB
- 7.5.3. Still More Bootloaders
- 7.6. Chapter Summary
- 7.6.1. Suggestions for Additional Reading
- Chapter 8. Device Driver Basics
- 8.1. Device Driver Concepts
- 8.1.1. Loadable Modules
- 8.1.2. Device Driver Architecture
- 8.1.3. Minimal Device Driver Example
- 8.1.4. Module Build Infrastructure
- 8.1.5. Installing Your Device Driver
- 8.1.6. Loading Your Module
- 8.2. Module Utilities
- 8.2.1. insmod
- 8.2.2. Module Parameters
- 8.2.3. lsmod
- 8.2.4. modprobe
- 8.2.5. depmod
- 8.2.6. rmmod
- 8.2.7. modinfo
- 8.3. Driver Methods
- 8.3.1. Driver File System Operations
- 8.3.2. Device Nodes and mknod
- 8.4. Bringing It All Together
- 8.5. Device Drivers and the GPL
- 8.6. Chapter Summary
- 8.6.1. Suggestions for Additional Reading
- Chapter 9. File Systems
- 9.1. Linux File System Concepts
- 9.1.1. Partitions
- 9.2. ext2
- 9.2.1. Mounting a File System
- 9.2.2. Checking File System Integrity
- 9.3. ext3
- 9.4. ReiserFS
- 9.5. JFFS2
- 9.6. cramfs
- 9.7. Network File System
- 9.7.1. Root File System on NFS
- 9.8. Pseudo File Systems
- 9.8.1. Proc File System
- 9.8.2. sysfs
- 9.9. Other File Systems
- 9.10. Building a Simple File System
- 9.11. Chapter Summary
- 9.11.1. Suggestions for Additional Reading
- Chapter 10. MTD Subsystem
- 10.1. Enabling MTD Services
- 10.1.1. Building MTD
- 10.2. MTD Basics
- 10.2.1. Configuring MTD
- 10.3. MTD Partitions
- 10.3.1. Redboot Partition Table Partitioning
- 10.3.2. Kernel Command Line Partitioning
- 10.3.3. Mapping Driver
- 10.3.4. Flash Chip Drivers
- 10.3.5. Board-Specific Initialization
- 10.4. MTD Utilities
- 10.4.1. JFFS2 Root File System
- 10.5. Chapter Summary
- 10.5.1. Suggestions for Additional Reading
- Chapter 11. BusyBox
- 11.1. Introduction to BusyBox
- 11.1.1. BusyBox is Easy
- 11.2. BusyBox Configuration
- 11.2.1. Cross-Compiling BusyBox
- 11.3. BusyBox Operation
- 11.3.1. BusyBox Init
- 11.3.2. Example rcS Initialization Script
- 11.3.3. BusyBox Target Installation
- 11.3.4. BusyBox Commands
- 11.4. Chapter Summary
- 11.4.1. Suggestions for Additional Reading
- Chapter 12. Embedded Development Environment
- 12.1. Cross-Development Environment
- 12.1.1. "Hello World"Embedded
- 12.2. Host System Requirements
- 12.2.1. Hardware Debug Probe
- 12.3. Hosting Target Boards
- 12.3.1. TFTP Server
- 12.3.2. BOOTP/DHCP Server
- 12.3.3. NFS Server
- 12.3.4. Target NFS Root Mount
- 12.3.5. U-Boot NFS Root Mount Example
- 12.4. Chapter Summary
- 12.4.1. Suggestions for Additional Reading
- Chapter 13. Development Tools
- 13.1. GNU Debugger (GDB)
- 13.1.1. Debugging a Core Dump
- 13.1.2. Invoking GDB
- 13.1.3. Debug Session in GDB
- 13.2. Data Display Debugger
- 13.3. cbrowser/cscope
- 13.4. Tracing and Profiling Tools
- 13.4.1. strace
- 13.4.2. strace Variations
- 13.4.3. ltrace
- 13.4.4. ps
- 13.4.5. top
- 13.4.6. mtrace
- 13.4.7. dmalloc
- 13.4.8. Kernel Oops
- 13.5. Binary Utilities
- 13.5.1. readelf
- 13.5.2. Examining Debug Info Using readelf
- 13.5.3. objdump
- 13.5.4. objcopy
- 13.6. Miscellaneous Binary Utilities
- 13.6.1. strip
- 13.6.2. addr2line
- 13.6.3. strings
- 13.6.4. ldd
- 13.6.5. nm
- 13.6.6. prelink
- 13.7. Chapter Summary
- 13.7.1. Suggestions for Additional Reading
- Chapter 14. Kernel Debugging Techniques
- 14.1. Challenges to Kernel Debugging
- 14.2. Using KGDB for Kernel Debugging
- 14.2.1. KGDB Kernel Configuration
- 14.2.2. Target Boot with KGDB Support
- 14.2.3. Useful Kernel Breakpoints
- 14.3. Debugging the Linux Kernel
- 14.3.1. gdb Remote Serial Protocol
- 14.3.2. Debugging Optimized Kernel Code
- 14.3.3. gdb User-Defined Commands
- 14.3.4. Useful Kernel gdb Macros
- 14.3.5. Debugging Loadable Modules
- 14.3.6. printk Debugging
- 14.3.7. Magic SysReq Key
- 14.4. Hardware-Assisted Debugging
- 14.4.1. Programming Flash Using a JTAG Probe
- 14.4.2. Debugging with a JTAG Probe
- 14.5. When It Doesn't Boot
- 14.5.1. Early Serial Debug Output
- 14.5.2. Dumping the printk Log Buffer
- 14.5.3. KGDB on Panic
- 14.6. Chapter Summary
- 14.6.1. Suggestions for Additional Reading
- Chapter 15. Debugging Embedded Linux Applications
- 15.1. Target Debugging
- 15.2. Remote (Cross) Debugging
- 15.2.1. gdbserver
- 15.3. Debugging with Shared Libraries
- 15.3.1. Shared Library Events in GDB
- 15.4. Debugging Multiple Tasks
- 15.4.1. Debugging Multiple Processes
- 15.4.2. Debugging Multithreaded Applications
- 15.4.3. Debugging Bootloader/Flash Code
- 15.5. Additional Remote Debug Options
- 15.5.1. Debugging via Serial Port
- 15.5.2. Attaching to a Running Process
- 15.6. Chapter Summary
- 15.6.1. Suggestions for Additional Reading
- Chapter 16. Porting Linux
- 16.1. Linux Source Organization
- 16.1.1. The Architecture Branch
- 16.2. Custom Linux for Your Board
- 16.2.1. Prerequisites and Assumptions
- 16.2.2. Customizing Kernel Initialization
- 16.2.3. Static Kernel Command Line
- 16.3. Platform Initialization
- 16.3.1. Early Variable Access
- 16.3.2. Board Information Structure
- 16.3.3. Machine-Dependent Calls
- 16.4. Putting It All Together
- 16.4.1. Other Architectures
- 16.5. Chapter Summary
- 16.5.1. Suggestions for Additional Reading
- Chapter 17. Linux and Real Time
- 17.1. What Is Real Time?
- 17.1.1. Soft Real Time
- 17.1.2. Hard Real Time
- 17.1.3. Linux Scheduling
- 17.1.4. Latency
- 17.2. Kernel Preemption
- 17.2.1. Impediments to Preemption
- 17.2.2. Preemption Models
- 17.2.3. SMP Kernel
- 17.2.4. Sources of Preemption Latency
- 17.3. Real-Time Kernel Patch
- 17.3.1. Real-Time Features
- 17.3.1.1. Spinlock Converted to Mutex
- 17.3.1.2. ISRs as Kernel Tasks
- 17.3.1.3. Preemptable Softirqs
- 17.3.1.4. Preempt RCU
- 17.3.2. O(1) Scheduler
- 17.3.3. Creating a Real-Time Process
- 17.3.4. Critical Section Management
- 17.4. Debugging the Real-Time Kernel
- 17.4.1. Soft Lockup Detection
- 17.4.2. Preemption Debugging
- 17.4.3. Debug Wakeup Timing
- 17.4.4. Wakeup Latency History
- 17.4.5. Interrupt Off Timing
- 17.4.6. Interrupt Off History
- 17.4.7. Latency Tracing
- 17.4.8. Debugging Deadlock Conditions
- 17.4.9. Runtime Control of Locking Mode
- 17.5. Chapter Summary
- 17.5.1. Suggestions for Additional Reading
- Appendix A. GNU Public License
- Preamble
- Terms and Conditions for Copying, Distribution and Modification
- No Warranty
- Appendix B. U-Boot Configurable Commands
- Appendix C. BusyBox Commands
- Appendix D. SDRAM Interface Considerations
- D.1. SDRAM Basics
- D.1.1. SDRAM Refresh
- D.2. Clocking
- D.3. SDRAM Setup
- D.4. Summary
- D.4.1. Suggestions for Additional Reading
- Appendix E. Open Source Resources
- Source Repositories and Developer Information
- Mailing Lists
- Linux News and Developments
- Open Source Insight and Discussion
- Appendix F. Sample BDI-2000 Configuration File
- Примечания
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