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Embedded Linux Course Slides

Unable to handle kernel paging request at virtual address 4d1b65e8. Pgd = Covers versions c0280000 - 2.6.18-rc4. Lr is at hx4700_udc_init+0x1c / 0x38. If you alter, transform, or build upon this work, you may distribute the resulting work only under a license identical to this one.

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100% found this document useful (2 votes)

647 views

Embedded Linux Course Slides

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Introduction to Embedded Linux

Unable to handle kernel paging request at virtual address 4d1b65e8 Unable to handle kernel paging request at virtual address 4d1b65e8 pgd = Covers versions c0280000 pgd = 2.4.33.2 - 2.6.18-rc4 c0280000 <1>[4d1b65e8] *pgd=00000000[4d1b65e8] *pgd=00000000 Version 1.0 Internal error: Oops: f5 [#1] Internal error: Oops: f5 [#1] Modules linked in:Modules linked in: hx4700_udc hx4700_udc asic3_base asic3_base CPU: 0 CPU: 0 PC is at set_pxa_fb_info+0x2c/0x44 PC is at set_pxa_fb_info+0x2c/0x44 LR is at hx4700_udc_init+0x1c/0x38 [hx4700_udc] LR is at hx4700_udc_init+0x1c/0x38 [hx4700_udc] pc : [<c00116c8>] lr : [<bf00901c>] Not tainted sp : c076df78 ip : 60000093 fp : c076df84 pc : [<c00116c8>] lr : [<bf00901c>] Not tainted

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Rights to copy
This kit contains work by the following authors:
Attribution ShareAlike 2.0 You are free to copy, distribute, display, and perform the work to make derivative works to make commercial use of the work Under the following conditions Attribution. You must give the original author credit. Share Alike. If you alter, transform, or build upon this work, you may distribute the resulting work only under a license identical to this one. For any reuse or distribution, you must make clear to others the license terms of this work. Any of these conditions can be waived if you get permission from the copyright holder. Your fair use and other rights are in no way affected by the above. License text: http://creativecommons.org/licenses/by-sa/2.0/legalcode

Copyright 2004-2006 Michael Opdenacker michael@free-electrons.com http://www.free-electrons.com Copyright 2003-2006 Oron Peled oron@actcom.co.il http://www.actcom.co.il/~oron Copyright 2004 2006 Codefidence ltd. info@codefidence.com http:/www.codefidence.com

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What is Linux?
Linux is a kernel that implements the POSIX and Single Unix Specification standards which is developed as an Open Source project. Usually when one talks of installing Linux, one is referring to a Linux Distribution. A distribution is a combination of Linux and other programs and library that form an operating system. There exists many such distribution for various purposes, from high end servers to embedded systems. They all share the same interface, thanks to the LSB standard Linux runs on 24 main platforms and supports applications ranging from ccNUMA super clusters to cellular phones and micro controllers. Linux is 15 years old, but is based on the 40 years old Unix design philosophy
Copyright 2006-2004, Michael Opdenacker Copyright 2003-2006, Oron Peled Copyright 2004-2006 Codefidence Ltd. For full copyright information see last page. Creative Commons Attribution-ShareAlike 2.0 license

What is Open Source?

Open Source is a way to develop software application in a distributed fashion that allows cooperation of multiple bodies to create the end product. They don't have to be from the same company or indeed, any company. With Open Source software the source code is published and any one can use, learn, distribute, adapt and sell the program. An Open Source program is protected under copyright law and is licensed to it's users under a software license agreement. It is NOT software in the public domain. When making use of Open Source software it is imperative to understand what license governs the use of the work and what is and what is not allowed by the terms of the license. The same thing is true for ANY external code used in a product.
Copyright 2006-2004, Michael Opdenacker Copyright 2003-2006, Oron Peled Copyright 2004-2006 Codefidence Ltd. For full copyright information see last page. Creative Commons Attribution-ShareAlike 2.0 license

Open Source Licenses

BSD MIT X11 Artistic

As long as you acknowledge by copyright and promise not to sue me you can do what ever you want with the code.
Copyright 2006-2004, Michael Opdenacker Copyright 2003-2006, Oron Peled Copyright 2004-2006 Codefidence Ltd.

LGPL

GPL CPL APL

Customer receives the same rights I have in the WHOLE work, including source code.

Customer receives the same rights I have in the SPECIFIC PART USED, including source code.

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Layers in a Linux system

User programs

Kernel C library System libraries Application libraries User programs

Kernel C library

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Linux vs. Legacy RTOS

Process Library Process

Kernel
Process

Shell

RTOS

Process Process

RTOS are like the Linux kernel: Single program with single memory space that manages memory, scheduling and interrupts. Linux also has user tasks that run in their own memory space. One of them is the shell.
Copyright 2006-2004, Michael Opdenacker Copyright 2003-2006, Oron Peled Copyright 2004-2006 Codefidence Ltd. For full copyright information see last page. Creative Commons Attribution-ShareAlike 2.0 license

This course
Process Library Process Shell

Kernel
Process Process Process

In this course we will go from the shell, through the system libraries and applications and unto the kernel.

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The Unix and GNU / Linux command line

Unix File System

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Everything is a file
Almost everything in Unix is a file! Regular files Directories Directories are just files listing a set of files Symbolic links Files referring to the name of another file Devices and peripherals Read and write from devices as with regular files Pipes Used to cascade programs cat *.log | grep error Sockets Inter process communication

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File names
File name features since the beginning of Unix Case sensitive No obvious length limit Can contain any character (including whitespace, except /). File types stored in the file (magic numbers). File name extensions not needed and not interpreted. Just used for user convenience. File name examples: README .bashrc index.htm index.html Windows Buglist index.html.old

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File paths
A path is a sequence of nested directories with a file or directory at the end, separated by the / character Relative path: documents/fun/microsoft_jokes.html Relative to the current directory Absolute path: /home/bill/bugs/crash9402031614568 / : root directory. Start of absolute paths for all files on the system (even for files on removable devices or network shared).

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GNU / Linux filesystem structure (1)

Not imposed by the system. Can vary from one system to the other, even between two GNU/Linux installations! / /bin/ /boot/ /dev/ /etc/ /home/ /lib/ Root directory Basic, essential system commands Kernel images, initrd and configuration files Files representing devices /dev/hda: first IDE hard disk System configuration files User directories Basic system shared libraries

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GNU / Linux filesystem structure (2)

/lost+found /mnt/ /opt/ /proc/ /root/ /sbin/ /sys/ Corrupt files the system tried to recover Mounted filesystems /mnt/usbdisk/, /mnt/windows/ ... Specific tools installed by the sysadmin /usr/local/ often used instead Access to system information /proc/cpuinfo, /proc/version ... root user home directory Administrator-only commands System and device controls (cpu frequency, device power, etc.)

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GNU / Linux filesystem structure (3)

/tmp/ /usr/ /usr/local/ /var/ Temporary files Regular user tools (not essential to the system) /usr/bin/, /usr/lib/, /usr/sbin... Specific software installed by the sysadmin (often preferred to /opt/) Data used by the system or system servers /var/log/, /var/spool/mail (incoming mail), /var/spool/lpd (print jobs)...

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The Unix and GNU / Linux command line

Shells and file handling

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Command line interpreters

Shells: tools to execute user commands Called shells because they hide the details on the underlying operating system under the shell's surface. Commands are input in a text terminal, either a window in a graphical environment or a text-only console. Results are also displayed on the terminal. No graphics are needed at all. Shells can be scripted: provide all the resources to write complex programs (variable, conditionals, iterations...)

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The Unix and GNU / Linux command line

Task control

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Full control on tasks

Since the beginning, Unix supports true preemptive multitasking. Ability to run many tasks in parallel, and abort them even if they corrupt their own state and data. Ability to choose which programs you run. Ability to choose which input your programs takes, and where their output goes.

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Processes
Everything in Unix is a file Everything in Unix that is not a file is a process Processes Instances of a running programs Several instances of the same program can run at the same time Data associated to processes: Open files, allocated memory, stack, process id, parent, priority, state...

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Running jobs in background

Same usage throughout all the shells Useful
For command line jobs which output can be examined later, especially for time consuming ones. To start graphical applications from the command line and then continue with the mouse.

Starting a task: add & at the end of your line:

find_prince_charming --cute --clever --rich &

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Background job control

jobs Returns the list of background jobs from the same shell
[1][2]+ Running ~/bin/find_meaning_of_life --without-god & Running make mistakes &

fg fg %<n> Puts the last / nth background job in foreground mode Moving the current task in background mode: [Ctrl] Z bg kill %<n> Aborts the nth job.
Copyright 2006-2004, Michael Opdenacker Copyright 2003-2006, Oron Peled Copyright 2004-2006 Codefidence Ltd. For full copyright information see last page. Creative Commons Attribution-ShareAlike 2.0 license

Job control example

> jobs [1]- Running ~/bin/find_meaning_of_life --without-god & [2]+ Running make mistakes & > fg make mistakes > [Ctrl] Z [2]+ Stopped make mistakes > bg [2]+ make mistakes & > kill %1 [1]+ Terminated ~/bin/find_meaning_of_life --without-god

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Listing all processes

... whatever shell, script or process they are started from ps -ux Lists all the processes belonging to the current user ps -aux (Note: ps -edf on System V systems) Lists all the processes running on the system
ps -aux | grep bart | grep bash USER PID %CPU %MEM VSZ RSS bart 3039 0.0 0.2 5916 1380 bart 3134 0.0 0.2 5388 1380 bart 3190 0.0 0.2 6368 1360 bart 3416 0.0 0.0 0 0 PID: VSZ: RSS: TTY: STAT: TTY pts/2 pts/3 pts/4 pts/2 STAT S S S RW START 14:35 14:36 14:37 15:07 TIME 0:00 0:00 0:00 0:00 COMMAND /bin/bash /bin/bash /bin/bash [bash]

Process id Virtual process size (code + data + stack) Process resident size: number of KB currently in RAM Terminal Status: R (Runnable), S (Sleep), D (Uninterrupted sleep), Z (Zombie)...

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Live process activity

top - Displays most important processes, sorted by cpu percentage
top - 15:44:33 up 1:11, 5 users, load average: 0.98, 0.61, 0.59 Tasks: 81 total, 5 running, 76 sleeping, 0 stopped, 0 zombie Cpu(s): 92.7% us, 5.3% sy, 0.0% ni, 0.0% id, 1.7% wa, 0.3% hi, 0.0% si Mem: 515344k total, 512384k used, 2960k free, 20464k buffers Swap: 1044184k total, 0k used, 1044184k free, 277660k cached PID USER 3809 jdoe 2769 root 3006 jdoe 3008 jdoe 3034 jdoe 3810 jdoe PR 25 16 15 16 15 16 NI VIRT RES SHR S %CPU %MEM 0 6256 3932 1312 R 93.8 0.8 0 157m 80m 90m R 2.7 16.0 0 30928 15m 27m S 0.3 3.0 0 5624 892 4468 S 0.3 0.2 0 26764 12m 24m S 0.3 2.5 0 2892 916 1620 R 0.3 0.2 TIME+ 0:21.49 5:21.01 0:22.40 0:06.59 0:12.68 0:00.06 COMMAND bunzip2 X kdeinit autorun kscd top

You can change the sorting order by typing M: Memory usage, P: %CPU, T: Time. You can kill a task by typing k and the process id.
Copyright 2006-2004, Michael Opdenacker Copyright 2003-2006, Oron Peled Copyright 2004-2006 Codefidence Ltd. For full copyright information see last page. Creative Commons Attribution-ShareAlike 2.0 license

Killing processes (1)

kill <pids> Sends an abort signal to the given processes. Lets processes save data and exit by themselves. Should be used first. Example: kill 3039 3134 3190 3416 kill -9 <pids> Sends an immediate termination signal. The system itself terminates the processes. Useful when a process is really stuck (doesn't answer to kill -1). kill -9 -1 Kills all the processes of the current user. -1: means all processes.

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Killing processes (2)

killall [-<signal>] <command> Kills all the jobs running <command>. Example: killall bash

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Sequential commands
Can type the next command in your terminal even when the current one is not over. Can separate commands with the ; symbol: echo I love thee; sleep 10; echo not

Conditionals: use || (or) or && (and): more God || echo Sorry, God doesn't exist Runs echo only if the first command fails ls ~sd6 && cat ~sd6/* > ~sydney/recipes.txt Only cats the directory contents if the ls command succeeds (means read access).

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Measuring elapsed time

time find_expensive_housing --near <...command output...> real 0m2.304s (actual elapsed time) user 0m0.449s (CPU time running program code) sys 0m0.106s (CPU time running system calls) real = user + sys + waiting waiting = I/O waiting time + idle time (running other tasks)

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Environment variables
Shells let the user define variables. They can be reused in shell commands. Convention: lower case names You can also define environment variables: variables that are also visible within scripts or executables called from the shell. Convention: upper case names. env Lists all defined environment variables and their value.

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Shell variables examples

Shell variables (bash) projdir=/home/marshall/coolstuff ls -la $projdir; cd $projdir Environment variables (bash) cd $HOME export DEBUG=1 ./find_extraterrestrial_life (displays debug information if DEBUG is set)

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The Unix and GNU / Linux command line

System administration basics

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File ownership
chown -R sco /home/linux/src (-R: recursive) Makes user sco the new owner of all the files in /home/linux/src. chgrp -R empire /home/askywalker Makes empire the new group of everything in /home/askywalker. chown -R borg:aliens usss_entreprise/ chown can be used to change the owner and group at the same time.

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Shutting down
shutdown -h +5 (-h: halt) Shuts the system down in 5 minutes. Users get a warning in their consoles. shutdown -r now (-r: reboot) init 0 Another way to shutdown (used by shutdown). init 6 Another way to reboot (used by shutdown). [Ctrl][Alt][Del] Also works on GNU/Linux (at least on PCs!).

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Network setup (1)

ifconfig -a Prints details about all the network interfaces available on your system. ifconfig eth0 Lists details about the eth0 interface ifconfig eth0 192.168.0.100 Assigns the 192.168.0.100 IP address to eth0 (1 IP address per interface). ifconfig eth0 down Shuts down the eth0 interface (frees its IP address).

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Network setup (2)

route add default gw 192.168.0.1 Sets the default route for packets outside the local network. The gateway (here 192.168.0.1) is responsible for sending them to the next gateway, etc., until the final destination. route Lists the existing routes route del default route del <IP> Deletes the given route Useful to redefine a new route.
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Network testing
ping freshmeat.net ping 192.168.1.1 Tries to send packets to the given machine and get acknowledgment packets in return.
PING 192.168.1.1 (192.168.1.1) 56(84) 64 bytes from 192.168.1.1: icmp_seq=0 64 bytes from 192.168.1.1: icmp_seq=1 64 bytes from 192.168.1.1: icmp_seq=2 64 bytes from 192.168.1.1: icmp_seq=3 bytes of data. ttl=150 time=2.51 ttl=150 time=3.16 ttl=150 time=2.71 ttl=150 time=2.67 ms ms ms ms

When you can ping your gateway, your network interface works fine. When you can ping an external IP address, your network settings are correct!
Copyright 2006-2004, Michael Opdenacker Copyright 2003-2006, Oron Peled Copyright 2004-2006 Codefidence Ltd. For full copyright information see last page. Creative Commons Attribution-ShareAlike 2.0 license

Network setup summary

Only for simple cases with 1 interface, no dhcp server... Connect to the network (cable, wireless card or device...) Identify your network interface: ifconfig -a Assign an IP address to your interface (assuming eth0) ifconfig eth0 192.168.0.100 (example) Add a route to your gateway (assuming 192.168.0.1) for packets outside the network: route add default gw 192.168.0.1

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Name resolution
Your programs need to know what IP address corresponds to a given host name (such as kernel.org) Domain Name Servers (DNS) take care of this. You just have to specify the IP address of 1 or more DNS servers in your /etc/resolv.conf file: nameserver 217.19.192.132 nameserver 212.27.32.177 The changes takes effect immediately!

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Creating filesystems
Examples mkfs.ext2 /dev/sda1 Formats your USB key (/dev/sda1: 1st partition raw data) in ext2 format. mkfs.ext2 -F disk.img Formats a disk image file in ext2 format mkfs.vfat -v -F 32 /dev/sda1 (-v: verbose) Formats your USB key back to FAT32 format. mkfs.vfat -v -F 32 disk.img Formats a disk image file in FAT32 format. Blank disk images can be created a in the below example: dd if=/dev/zero of=disk.img bs=1024 count=65536

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Mounting devices (1)

To make filesystems on any device (internal or external storage) visible on your system, you have to mount them. The first time, create a mount point in your system: mkdir /mnt/usbdisk (example) Now, mount it: mount -t vfat /dev/sda1 /mnt/usbdisk /dev/sda1: physical device -t: specifies the filesystem (format) type (ext2, ext3, vfat, reiserfs, iso9660...)

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Mounting devices (2)

Lots of mount options are available, in particular to choose permissions or the file owner and group... See the mount manual page for details. Mount options for each device can be stored in the /etc/fstab file. You can also mount a filesystem image stored in a regular file (loopback devices) Useful to access the contents of an ISO cdrom image without having to burn it. Useful to create a Linux partition on a hard disk with only Windows partitions cp /dev/sda1 usbkey.img mount -o loop -t vfat usbkey.img /mnt/usbdisk

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Listing mounted filesystems

Just use the mount command with no argument:
/dev/hda6 on / type ext3 (rw,noatime) none on /proc type proc (rw,noatime) none on /sys type sysfs (rw) none on /dev/pts type devpts (rw,gid=5,mode=620) usbfs on /proc/bus/usb type usbfs (rw) /dev/hda4 on /data type ext3 (rw,noatime) none on /dev/shm type tmpfs (rw) /dev/hda1 on /win type vfat (rw,uid=501,gid=501) none on /proc/sys/fs/binfmt_misc type binfmt_misc (rw)

Or display the /etc/mtab file (same result, updated by mount and umount each time they are run)

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Unmounting devices
umount /mnt/usbdisk Commits all pending writes and unmounts the given device, which can then be removed in a safe way. To be able to unmount a device, you have to close all the open files in it:
Close applications opening data in the mounted partition Make sure that none of your shells have a working directory in this mount point. You can run the lsof command (list open files) to view which processes still have open files in the mounted partition.

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Free Software tools for embedded systems

C library for the target device

C library options

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glibc
http://www.gnu.org/software/libc/ License: LGPL C library from the GNU project Designed for performance, standards compliance and portability Found on all GNU / Linux host systems Quite big for small embedded systems: about 1.7MB on Familiar Linux iPAQs (libc: 1.2 MB, libm: 500 KB)

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uClibc
http://www.uclibc.org/ for CodePoet Consulting License: LGPL Lightweight C library for small embedded systems, with most features though. The whole Debian Woody was ported to it... You can assume it satisfied most needs! Example size (arm): approx. 400KB (libuClibc: 300 KB, libm: 55KB)

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Honey, I shrunk the programs!

C program Plain hello world Busybox

Compiled with shared libraries glibc 4.6 K 245 K uClibc 4.4 K 231 K

Compiled statically glibc 475 K 843 K uClibc 25 K 311 K

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C library options - Summary

GNU C library (glibc) Designed for performance compliance with standards. Best for servers and desktops. uClibc Highly compatible, but implemented for small embedded systems with little storage space and RAM

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Free Software tools for embedded systems

GNU / Linux workstation

Cross-compiling toolchains

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Standalone toolchain build

Building a cross-compiling toolchain by yourself is a difficult and painful task! Can take days or weeks!
Lots of details to learn. Several components to build (building gcc twice: once for gcc + once for compilers that need the C library). Lots of decisions to make (such as glibc version and configuration for your platform) Need kernel headers and glibc sources Need to be familiar with current gcc issues and patches on your platform Useful to be familiar with building and configuring tools http://www.aleph1.co.uk/armlinux/docs/toolchain/toolchHOWTO.pdf can show you how fun it can be!

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Get a precompiled toolchain

Can get one from several locations... Just need to know where! Caution
Toolchains are not always relocatable! Install them in /usr/local/<arch> if they were built for this location. Make sure the toolchain you pick suits your needs: CPU, endianism, C library and compiler versions...

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uClibc toolchains
Free Electrons uClibc toolchains http://free-electrons.com/community/tools/uclibc Run on i386 GNU/Linux Supported platforms arm, armeb, i386, m68k, ppc, mips, mipsel, sh Quickly updated at each new uClibc release!

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Platform specific toolchains

ARM Code Sourcery (glibc only, used by many): http://www.codesourcery.com/gnu_toolchains/arm/ Also available for Solaris and Windows workstations. ftp://ftp.handhelds.org/projects/toolchain/ (glibc only) MIPS http://www.linux-mips.org/wiki/Toolchains (useful links)

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Toolchain building utilities

Buildroot: http://buildroot.uclibc.org/ Dedicated Makefile to build uClibc based toolchains and even entire root filesystems. Downloads sources and applies patches. Crosstool: http://www.kegel.com/crosstool/ Dedicated script to build glibc based toolchains Doesnt support uClibc yet. Downloads sources and applies patches.

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gcc / glibc / binutils / kernel versions

Crosstool build reports: http://kegel.com/crosstool/crosstool-0.38/buildlogs/

Can help you to find a working combination of gcc, glibc, binutils and kernel headers versions!

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PTXdist
http://www.pengutronix.de/software/ptxdist_en.html - A crosscompiling toolkit project Makes it easier to cross-compile a complete embedded Linux system Supports 10 different platforms. Uses crosstool to build cross compiler toolchains Supported libraries: glibc, uClibc uClibc support is still experimental/buggy... Supports around 200 different packages.

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PTXdist Screenshots

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Toolchains - useful resources

CE Linux Forum's toolchain page http://tree.celinuxforum.org/CelfPubWiki/ToolChains

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Cross-compiling toolchains - Summary

Building a toolchain by yourself Tough and very long to master. Ready-to-use toolchains Available from several locations for most platforms. Tools to build toolchains: Buildroot and Crosstool. Make it easy to create a toolchain for your exact needs. Build systems: PTXdist Help you to create and populate root filesystem.

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Free Software tools for embedded systems

GNU / Linux workstation

Emulators

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Usefulness of emulators
Of course, can be used to run another system on top of another. Can be used to test kernel and applications ahead of time on a workstation without the cost of a development board. Make the operating system easier to debug than with actual hardware. If the OS freezes, just restart the emulator. Can provide debugger and tracing capabilities However, often emulate only the processor and a few devices at best. Don't replace the real hardware or a development board.

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qemu
http://qemu.org Fast processor emulator using a portable dynamic translator. 2 operating modes Full system emulation: processor and various peripherals Supported: x86, x86_64, ppc, arm, sparc, mips User mode emulation (Linux host only): can run applications compiled for another CPU. Supported: x86, ppc, arm, sparc, mips

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qemu examples (1)

User emulation Easy to run Busybox for arm on i386 GNU / Linux: qemu-arm -L /usr/local/arm/3.3.2 \ /home/bart/arm/busybox-1.00-pre8/busybox ls -L: target C library binaries path (here cross-compiler toolchain path)

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qemu examples (2)

System emulation Even easier to run: (x86 example) qemu linux.img linux.img: full partition image including the kernel Other options let the user choose an external kernel, kernel command line options, and many more! Lots of images of free operating systems available on http://free.oszoo.org! Of course, qemu can also be used to run Windows or MacOS X on your computer (provided you have a legal copy of the system).

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ARM emulators
Only Free Software, of course! SkyEye: http://skyeye.sourceforge.net Emulates several ARM platforms (AT91, Xscale...) and can boot several operating systems (Linux, uClinux, and others) Softgun: http://softgun.sourceforge.net Virtual ARM system with many virtual on-board peripherals. Boots Linux. SWARM - Software ARM - arm7 emulator http://www.cl.cam.ac.uk/~mwd24/phd/swarm.html Can run uClinux

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Other emulators
ColdFire emulator http://www.slicer.ca/coldfire/ Can boot uClinux

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Emulators - Summary
System emulators Useful to experiment with a full system, including the kernel qemu: x86, x86_64, arm, sparc, ppc, mips SkyEye: several arm architectures User emulators Useful to run or debug user space binaries for other CPUs qemu: x86, arm, sparc, ppc, mips

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Free Software tools for embedded systems

Tools for the target device

Busybox

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General purpose toolbox: busybox

http://www.busybox.net/ from Codepoet Consulting
Most Unix command line utilities within a single executable! Even includes a web server! Sizes less than < 500 KB (statically compiled with uClibc) or less than 1 MB (statically compiled with glibc) Easy to configure which features to include The best choice for Initrds with complex scripts Small embedded systems with little RAM or ROM.

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Busybox commands!
addgroup, adduser, adjtimex, ar, arping, ash, awk, basename, bunzip2, bzcat, cal, cat, chgrp, chmod, chown, chroot, chvt, clear, cmp, cp, cpio, crond, crontab, cut, date, dc, dd, deallocvt, delgroup, deluser, devfsd, df, dirname, dmesg, dos2unix, dpkg, dpkg-deb, du, dumpkmap, dumpleases, echo, egrep, env, expr, false, fbset, fdflush, fdformat, fdisk, fgrep, find, fold, free, freeramdisk, fsck.minix, ftpget, ftpput, getopt, getty, grep, gunzip, gzip, halt, hdparm, head, hexdump, hostid, hostname, httpd, hush, hwclock, id, ifconfig, ifdown, ifup, inetd, init, insmod, install, ip, ipaddr, ipcalc, iplink, iproute, iptunnel, kill, killall, klogd, lash, last, length, linuxrc, ln, loadfont, loadkmap, logger, login, logname, logread, losetup, ls, lsmod, makedevs, md5sum, mesg, mkdir, mkfifo, mkfs.minix, mknod, mkswap, mktemp, modprobe, more, mount, msh, mt, mv, nameif, nc, netstat, nslookup, od, openvt, passwd, patch, pidof, ping, ping6, pipe_progress, pivot_root, poweroff, printf, ps, pwd, rdate, readlink, realpath, reboot, renice, reset, rm, rmdir, rmmod, route, rpm, rpm2cpio, run-parts, rx, sed, seq, setkeycodes, sha1sum, sleep, sort, start-stop-daemon, strings, stty, su, sulogin, swapoff, swapon, sync, sysctl, syslogd, tail, tar, tee, telnet, telnetd, test, tftp, time, top, touch, tr, traceroute, true, tty, udhcpc, udhcpd, umount, uname, uncompress, uniq, unix2dos, unzip, uptime, usleep, uudecode, uuencode, vconfig, vi, vlock, watch, watchdog, wc, wget, which, who, whoami, xargs, yes, zcat

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Compiling busybox
Get the latest stable sources from http://busybox.net Configure busybox (creates a .config file): make menuconfig Compile it: make Install it: make install Logged as root, mount the root fs image (e.g. /mnt/rootfs) rsync -a _install/ /mnt/rootfs/ (the / characters are needed!)

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logread
Part of Busybox. Shows the messages from syslogd (using its circular buffer). Replaces /var/log/messages. Reduces space and complexity (no need to rotate this file). Use logread -f to output data as the log grows. Another possibility: use the dmesg command.

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tinylogin
http://tinylogin.busybox.net/ Suite of tiny Unix utilities for Handling logging Being authenticated Changing passwords Maintaining users and groups. Provides shadow password support to enhance system security. Tools and sizes
0K /usr/sbin/addgroup
24K 16K 36K 28K 24K 12K /usr/sbin/adduser /sbin/getty /bin/login /usr/bin/passwd /bin/su /sbin/sulogin

Commands already provided by Busybox. Just useful if your system doesn't use busybox.

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Free Software tools for embedded systems

Tools for the target device

http and ssh servers

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ssh server and client: dropbear

http://matt.ucc.asn.au/dropbear/dropbear.html Very small memory footprint ssh server for embedded systems, compared to OpenSSH. Satisfies most needs. Both client and server! Useful to:
Get a remote console on the target device Copy files to and from the target device rsync files with the target device

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thttpd
Tiny/Turbo/Throttling HTTP server http://acme.com/software/thttpd/ Simple Implements the HTTP/1.1 minimum (or just a little more) Simple to configure and run. Small Executable size: 88K (version 2.25b), Apache 2.0.52: 264K Very low memory consumption: does not fork and very careful about memory consumption. Portable Compiles cleanly on most Unixlike operating systems Fast About as fast as full-featured servers. Much faster on very high loads (because reduces the server load for the same amount of work) Secure Designed to protect the webserver machine from attacks.

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Other web servers (1)

Busybox http server: http://busybox.net Tiny: only adds 12 K to Busybox 1.01 (compiled statically with uClibc)! Sufficient features for many devices with a web interface, including CGI and http authentication support. License: GPL KLone: http://koanlogic.com/kl/cont/gb/html/klone.html Lightweight but full featured web server for embedded systems. Can enclose dynamic (written in C/C++ <% code %>) and compressed content all in an executable of an approximate size of 150 KB. License: Dual GPL / Commercial. See also http://linuxdevices.com/news/NS8234701895.html

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Other web servers (2)

Boa: http://www.boa.org/ Designed to be simple, fast and secure. Unlike thttpd, no particular care for memory or disk footprint though. Embedded systems: pretty popular, though not targeted by developers. lighthttpd: http://lighttpd.net Low footprint server good at managing high loads. May be useful in embedded systems too.

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Free Software tools for embedded systems

GNU / Linux workstation

Commercial toolsets

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Commercial toolsets
Caution: commercial doesn't mean proprietary! Vendors play fair with the GPL and do make their source code available to their users, and most of the time, to the community. As long as they distribute the sources to their users, the GPL doesn't require vendors to share their sources with any third party. No issue with all the GPL sources developed by or with the community. Graphical toolkits developed by the vendors look proprietary. Their licenses are not advertised on their websites! You have to be a customer to know or get a free preview kit to know.

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Commercial toolset strengths

Technical advantages Well tested and supported kernel and tool versions Including early patches not supported by the mainstream kernel yet Complete development tool sets: kernels, toolchains, utilities, binaries for impressive lists of target platforms Integrated utilities for automatic kernel image, initrd and filesystem generation. Graphical developments tools Development tools available on multiple platforms: GNU / Linux, Solaris, Windows... Support services Useful if you don't have your own support resources Long term support commitment, even for versions considered as obsolete by the community, but not by your users!

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Montavista
http://www.mvista.com/ The market leader Employs some of the most active kernel hackers, in particular on the arm platform All kernel development shared with the community kernel core and drivers (Linux 2.6 example: preemption option, many drivers...) Graphical development tools are proprietary

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TimeSys
http://timesys.com Similar toolset offering as other vendors. Great flexibility available to their LinuxLinkTM subscribers Community friendly: share very interesting and generic technical whitepapers and articles. Free Software BSPs (Board Support Packages) available Linux soft and hard real-time OS product Development tools seem to be proprietary

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Traditional RTOS vendors

Traditional RTOS expertise. Good for hard real-time needs! Offer the same development tools for their proprietary RTOS and their Linux offering. Possible to switch from one to the other if needed. Though they are big players, they do not seem to participate much in the development of Linux. WindRiver: http://windriver.com/linux The makers of VxWorks operating system. Now advertise both systems. LynuxWorks BlueCat: http://lynuxworks.com/products/bluecat/ Mainly seems to be a way of surfing the Linux wave and attracting customers to their LynxOS RTOS (API compatible with Linux).

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Other vendors (1)

http://www.metrowerks.com/ Now owns Lineo Now owned by Freescale Similar tool offering, experience and skills from Lineo. Embedded applications portfolio. Example: OpenPDA. Only advisable for Freescale customers: now mainly focusing on Freescale platforms and giving up support for competing architectures. http://koansoftware.com Makers of Klinux (http://klinux.org), a GPL embedded Linux distribution for industrial applications. Klinux supports i386 and popular arm platforms. Other platforms supported upon request. Includes several graphical toolkits and supports hard real-time (RTAI). Unfortunately, Klinux is GPL but not available for public download.

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Other vendors (2)

http://sysgo.com ELinOS development toolset, in particular based on Eclipse and the Linux Trace Toolkit. Includes FreeToolBox, a freely downloadable compiling and rootfs creating toolchain. Supports i386, arm and ppc. Real-time support with RTAI

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Commercial toolsets - Summary

Major vendors MontaVista, TimeSys (MetroWerks exiting the market) Involved in Linux development Smaller vendors Koan, Sysgo... Trying to differenciate their products Traditional RTOS vendors WindRiver, LynuxWorks Forced to support Linux to retain market share. Strong real-time expertise but lack of community involvement

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Free Software tools for embedded systems

Tools for the target device

Precompiled packages, distributions

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Distributions
Distribute ready to use root filesystems. Can be used by any binary compatible platform. Example: running Familiar Linux on a mobile phone! Can be reused even on an early development phase. No need to create your root filesystem from scratch! Easy to upgrade, remove or add applications through binary packages.

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Embedded distributions (1)

arm little endian: Familiar http://familiar.handhelds.org/ Targets PDAs and webpads (Siemens Simpad...) IpkgFind: http://ipkgfind.handhelds.org/ References lots of arm binary packages for ipkg based distributions (such as Familiar / OpenZaurus) Search by category, keyword or name.

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Embedded distributions (2)

Emdebian: http://emdebian.sourceforge.net Supports all embedded platforms Leverages standard Debian package descriptions and sources, but adapts them for embedded systems: uClibc usage, reduced package size (no documentation), removed dependencies, configured with less options... Packages not available yet, but makes it possible to build packages using Debian utilities (such as dpkg-cross) Unfortunately, lacking momentum in recent months

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Ready-made root filesystems

Very useful to start porting work. Contain C library, and minimum apps. uClibc http://www.uclibc.org/toolchains.html (i386, arm, mipsel) Images include a native gcc toolchain ARM http://www.arm.com/linux/linux_download.html Include kernel image, bootloader, and rootfs (cramfs or packages) Other architectures If some readers know more useful links, they are welcome!

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Buildroot
http://buildroot.uclibc.org/ Tool to automatically build a ready-made uClibc rootfs with basic applications and a development toolchain. Useful in early development. Can be used to build only uClibc toolchains. Supports lots of architectures Automatically downloads source packages Very easy to use: just run: make

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Linux porting projects

Useful to find patches, binaries, documentation, toolchains... Only ports for embedded systems are listed arm: http://www.arm.linux.org.uk/ m68k: http://www.linux-m68k.org/ mips: http://www.linux-mips.org/ ppc: http://penguinppc.org/embedded/ sh: http://linuxsh.sourceforge.net/ xtensa: http://xtensa.sourceforge.net/

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Conclusion
Commercial distributions and toolsets Best if you don't have your own support resources and have a sufficient budget Really help focusing on your real job: making an embedded device. You can even subcontract driver development to the vendor Community distributions and tools Best if you are on a tight budget Best if you are willing to build your own embedded Linux expertise and train your own support resources. In any case, your products are based on Free Software!

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Coding Embedded Linux Applications

Writing Code

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Hello World!

#include <stdio.h> int main(int argc, char **argv) { int i=1; printf ("Hello World! %d\n", i); return 0; }

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A simple Makefile

CC=/usr/local/arm/2.95.3/bin/arm-linux-gcc CFLAGS=-g LDFLAGS=-lpthreads .PHONY: clean all all: test clean: @rm -f *.o *~ test

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Creating Processes using fork()

pid_t pid; if (pid = fork() ) { int status; printf("I'm the parent!\n"); wait(&status); if( WIFEXITED(status) ) printf("Child exist with status of %d\n", WEXITSTATUS(status)); } else { printf("I'm the child!\n"); exit(0);

}
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100

Creating Processes (2)

pid_t pid; if (pid = fork() ) { int status; printf("I'm the parent!\n"); wait(&status); } else { printf("I'm the child!\n"); execve(/bin/ls, argv, envp); }

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101

Linux Processes Stack

Linux process stack is auto expanding. A default stack (8Mb) is allocated at process creation. By default, use of additional stack will automatically trigger allocation of more stack space. This behavior can be limited by setting a resource limit on the stack size.
More on that ahead.

Before going into real time critical sections of your code make sure stack is allocated!

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102

POSIX Priorities
int sched_setscheduler(pid_t pid, int policy, const struct sched_param *p); struct sched_param { ... int sched_priority }; sched_setscheduler sets both the scheduling policy and the associated parameters for the process identified by pid. If pid equals zero, the scheduler of the calling process will be set. The interpretation of the parameter p depends on the selected policy. Currently, the following three scheduling policies are supported under Linux: SCHED_FIFO, SCHED_RR, and SCHED_OTHER; There is also a sched_getscheduler().

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103

POSIX Priorities (2)

SCHED_OTHER: Default Linux time-sharing scheduling Priority 0 is reserved for it. Fair, no starvation. Use this for any non critical tasks. SCHED_FIFO: First In-First Out scheduling Priorities 1 99. Preemtive. SCHED_RR: Round Robin scheduling Like SCHED_FIFO + time slice
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104

Locking Memory
int mlock(const void *addr, size_t len);
mlock disables paging for the memory in the range starting at addr with length len bytes.

int mlockall(int flags);

mlockall disables paging for all pages mapped into the address space of the calling process. MCL_CURRENT Lock all pages which are currently mapped into the address space of the process. MCL_FUTURE Lock all pages which will become mapped into the address space of the process in the future. These could be for instance new pages required by a growing heap and stack as well as new memory mapped files or shared memory regions. Must lock memory to guarantee real time responses!
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105

Resource Limits
#include <sys/time.h> #include <sys/resource.h> struct rlimit { rlim_t rlim_cur; rlim_t rlim_max; }; /* Soft limit */ /* Hard limit */

int getrlimit(int resource, struct rlimit *rlim) int setrlimit(int resource, const struct rlimit *rlim);

These system calls can be used to get/set soft and hard limits to process resource usage.

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106

Resource Limits Continued

RLIMIT_AS - maximum virtual memory the process can claim.
Sends SIGSEGV after limit passed. Effect automatic stack expansion

RLIMIT_CPU - Limits CPU time the process can consume.

After soft limits sends SIGXCPU every seocnd. After hard limit sends SIGKILL.

RLIMIT_DATA - Limits data segment max size.

RLIMIT_STACK - Limits the maximum stack size. After limit sends SIGKILL. Must register an alternate stack to handle signal.
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107

Threads and Processes

Stack State Signal Mask Local Storage Stack State Signal Mask Local Storage Stack State Signal Mask Local Storage Stack State Signal Mask Local Storage Stack State Signal Mask Local Storage

Thread 1
Process 123

Thread

2
Process 124

File Signal Memory Descriptors Handlers

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108

POSIX Threads
Linux uses the POSIX Threads threading mechanism. Linux threads are Light Weight Process each thread is a task scheduled by the kernel's scheduler. Process creation time is roughly double then a thread creation. But Linux process creation time is relatively low. To use threads in your code: #include <pthreads.h> In your Makefile: Add -lpthreads -lrt to LDFLAGS.

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109

Creating Threads
Function: pthread_create() int pthread_create(pthread_t * thread, const pthread_attr_t * attr, void * (*start_routine)(void *), void * arg); The pthread_create() routine creates a new thread within a process. The new thread starts in the start routine start_routine which has a start argument arg. The new thread has attributes specified with attr, or default attributes if attr is NULL. If the pthread_create() routine succeeds it will return 0 and put the new thread id into thread, otherwise an error number shall be returned indicating the error.

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110

Creating Thread Attributes

Function: pthread_attr_init() int pthread_attr_init(pthread_attr_t *attr); Setting attributes for threads is achieved by filling a thread attribute object attr of type pthread_attr_t, then passing it as second argument to pthread_create(3). Passing NULL is equivalent to passing a thread attribute object with all attributes set to their default values. pthread_attr_init initializes the thread attribute object attr and fills it with default values for the attributes. Each attribute attrname can be individually set using the function pthread_attr_set|attrname| and retrieved using the function pthread_attr_get|attrname|.
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111

Destroying Thread Attributes

Function: pthread_attr_destroy() int pthread_attr_destroy(pthread_attr_t *attr); pthread_attr_destroy destroys a thread attribute object, which must not be reused until it is reinitialized. pthread_attr_destroy does nothing in the LinuxThreads implementation. Attribute objects are consulted only when creating a new thread. The same attribute object can be used for creating several threads. Modifying an attribute object after a call to pthread_create does not change the attributes of the thread previously created.

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112

Detach State
Thread Attribute: detachstate
Control whether the thread is created in the joinable state or in the detached state. The default is joinable state. In the joinable state, another thread can synchronize on the thread termination and recover its termination code using pthread_join(3), but some of the thread resources are kept allocated after the thread terminates, and reclaimed only when another thread performs pthread_join(3) on that thread. In the detached state, the thread resources are immediately freed when it terminates, but pthread_join(3) cannot be used to synchronize on the thread termination. A thread created in the joinable state can later be put in the detached thread using pthread_detach(3).
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113

Sched Policy
Thread Attribute: schedpolicy Select the scheduling policy for the thread: one of SCHED_OTHER (regular, non-realtime scheduling), SCHED_RR (realtime, round-robin) or SCHED_FIFO (realtime, first-in first-out). Default value: SCHED_OTHER. The realtime scheduling policies SCHED_RR and SCHED_FIFO are available only to processes with superuser privileges. The scheduling policy of a thread can be changed after creation with pthread_setschedparam(3).

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114

Sched Param
Thread Attribute: schedparam Contain the scheduling parameters (essentially, the scheduling priority) for the thread. Default value: priority is 0. This attribute is not significant if the scheduling policy is SCHED_OTHER; it only matters for the realtime policies SCHED_RR and SCHED_FIFO. The scheduling priority of a thread can be changed after creation with pthread_setschedparam(3).

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115

Inherit Sched
Thread Attribute: inheritsched Indicate whether the scheduling policy and scheduling parameters for the newly created thread are determined by the values of the schedpolicy and schedparam attributes (PTHREAD_EXPLICIT_SCHED) or are inherited from the parent thread (value PTHREAD_INHERIT_SCHED).

Default value: PTHREAD_EXPLICIT_SCHED.

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116

Destroying Threads
Function: pthread_exit() void pthread_exit(void * status); The pthread_exit() routine terminates the currently running thread and makes status available to the thread that successfully joins, pthread_join(), with the terminating thread. In addition pthread_exit() executes any remaining cleanup handlers in the reverse order they were pushed, pthread_cleanup_push(), after which all appropriate thread specific destructors are called. An implicit call to pthread_exit() is made if any thread, other than the thread in which main() was first called, returns from the start routine specified in pthread_create().

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117

Waiting for a thread to finish

Function: pthread_join() int pthread_join(pthread_t thread, void ** status); If the target thread thread is not detached and there are no other threads joined with the specified thread then the pthread_join() function suspends execution of the current thread and waits for the target thread thread to terminate. Otherwise the results are undefined. On a successful call pthread_join() will return 0, and if status is non NULL then status will point to the status argument of pthread_exit(). On failure pthread_join() will return an error number indicating the error. Also exists pthread_tryjoin_np() and pthread_timedjoin_np().
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118

Canceling Threads
Function: pthread_cancel() int pthread_cancel(pthread_t thread); Cancellation is the mechanism by which a thread can terminate the execution of another thread. More precisely, a thread can send a cancellation request to another thread. Depending on its settings, the target thread can then either ignore the request, honor it immediately, or defer it till it reaches a cancellation point. When a thread eventually honors a cancellation request, it performs as if pthread_exit(PTHREAD_CANCELED) has been called at that point. pthread_cancel sends a cancellation request to the thread denoted by the thread argument.
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119

Cancel State
Function: pthread_setcancelstate() int pthread_setcancelstate(int state, int *oldstate); pthread_setcancelstate changes the cancellation state for the calling thread -- that is, whether cancellation requests are ignored or not. The state argument is the new cancellation state: either PTHREAD_CANCEL_ENABLE to enable cancellation, or PTHREAD_CANCEL_DISABLE to disable cancellation (cancellation requests are ignored). If oldstate is not NULL, the previous cancellation state is stored in the location pointed to by oldstate, and can thus be restored later by another call to pthread_setcancelstate.
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120

Cancel Type
Function: pthread_setcanceltype() int pthread_setcanceltype(int type, int *oldtype); pthread_setcanceltype changes the type of responses to cancellation requests for the calling thread: asynchronous (immediate) or deferred. The type argument is the new cancellation type: either PTHREAD_CANCEL_ASYNCHRONOUS to cancel the calling thread as soon as the cancellation request is received, or PTHREAD_CANCEL_DEFERRED to keep the cancellation request pending until the next cancellation point. If old type is not NULL, the previous cancellation state is stored in the location pointed to by oldtype, and can thus be restored later by another call to pthread_setcanceltype.
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121

Cancel Point Defaults

Threads are always created by pthread_create(3) with cancellation enabled and deferred. That is, the initial cancellation state is PTHREAD_CANCEL_ENABLE and the initial type is PTHREAD_CANCEL_DEFERRED.

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122

Cancel Points
Cancellation points are those points in the program execution where a test for pending cancellation requests is performed and cancellation is executed if positive. The following POSIX threads functions are cancellation points: pthread_join(3), pthread_cond_wait(3), pthread_cond_timedwait(3), pthread_testcancel(3), sem_wait(3), sigwait(3) All other POSIX threads functions are guaranteed not to be cancellation points. That is, they never perform cancellation in deferred cancellation mode. A number of system calls (basically, all system calls that may block, such as read(2), write(2), wait(2), etc.) and library functions that may call these system calls (e.g. fprintf(3)) are cancellation points.

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123

Test Cancel
Function: pthread_testcancell() void pthread_testcancel(void); pthread_testcancel does nothing except testing for pending cancellation and executing it. Its purpose is to introduce explicit checks for cancellation in long sequences of code that do not call cancellation point functions otherwise.

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124

Pthread Once
Function: pthread_once() int pthread_once(pthread_once_t *once_control, void(*init_routine) (void)); The purpose of pthread_once is to ensure that a piece of initialization code is executed at most once. The once_control argument points to a static or extern variable statically initialized to PTHREAD_ONCE_INIT. The first time pthread_once is called with a given once_control argument, it calls init_routine with no argument and changes the value of the once_control variable to record that initialization has been per formed. Subsequent calls to pthread_once with the same once_control argument do nothing
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125

Cleanup Handlers
Cleanup handlers are functions that get called when a thread terminates, either by calling pthread_exit(3) or because of cancellation. Cleanup handlers are installed and removed following a stack-like discipline. The purpose of cleanup handlers is to free the resources that a thread may hold at the time it terminates. In particular, if a thread exits or is canceled while it owns a locked mutex, the mutex will remain locked forever and prevent other threads from executing normally. The best way to avoid this is, just before locking the mutex, to install a cleanup handler whose effect is to unlock the mutex.
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126

Cleanup Push
Function: pthread_cleanup_push() void pthread_cleanup_push(void (*routine) (void *), void *arg); pthread_cleanup_push installs the routine function with argument arg as a cleanup handler. From this point on to the matching pthread_cleanup_pop, the function routine will be called with arguments arg when the thread terminates, either through pthread_exit(3) or by cancellation. If several cleanup handlers are active at that point, they are called in LIFO order: the most recently installed handler is called first.

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127

Cleanup Pop
Function: pthread_cleanup_pop() void pthread_cleanup_pop(int execute); pthread_cleanup_pop removes the most recently installed cleanup handler. If the execute argument is not 0, it also executes the handler, by calling the routine function with arguments arg. If the execute argument is 0, the handler is only removed but not executed.

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128

Cleanup Continued
Matching pairs of pthread_cleanup_push and pthread_cleanup_pop must occur in the same function, at the same level of block nesting and behave like brackets. Here is how to lock a mutex mut in such a way that it will be unlocked if the thread is canceled while mut is locked: pthread_cleanup_push(pthread_mutex_unlock, (void *) &mut); pthread_mutex_lock(&mut); /* do some work */ pthread_cleanup_pop(1);

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129

Cleanup Extras
pthread_cleanup_push_defer_np is a non-portable extension that combines pthread_cleanup_push and pthread_setcanceltype(3). It pushes a cleanup handler just as pthread_cleanup_push does, but also saves the current cancellation type and sets it to deferred cancellation. This ensures that the cleanup mechanism is effective even if the thread was initially in asynchronous cancellation mode. pthread_cleanup_pop_restore_np pops a cleanup handler introduced by pthread_cleanup_push_defer_np!, and restores the cancellation type to its value at the time pthread_cleanup_push_defer_np was called. pthread_cleanup_push_defer_np and pthread_cleanup_pop_restore_np must occur in matching pairs, at the same level of block nesting.

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130

Barrier Init
Function: pthread_barrier_init() int pthread_barrier_init(pthread_barrier_t *restrict barrier, const pthread_barrierattr_t *restrict attr, unsigned count); The pthread_barrier_init() function shall allocate any resources required to use the barrier referenced by barrier and shall initialize the barrier with attributes referenced by attr. The count argument specifies the number of threads that must call pthread_barrier_wait() before any of them successfully return from the call. The value specified by count must be greater than zero.

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131

Barrier Destroy
Function: pthread_barrier_destroy() int pthread_barrier_destroy(pthread_barrier_t *barrier); The pthread_barrier_destroy() function shall destroy the barrier referenced by barrier and release any resources used by the barrier. The effect of subsequent use of the barrier is undefined until the barrier is reinitialized by another call to pthread_barrier_init(). The results are undefined if pthread_barrier_destroy() is called when any thread is blocked on the barrier, or if this function is called with an uninitialized barrier.

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132

Barrier Wait
Function: pthread_barrier_wait() int pthread_barrier_wait(pthread_barrier_t *barrier);
The pthread_barrier_wait() function shall synchronize participating threads at the barrier referenced by barrier. The calling thread shall block until the required number of threads have called pthread_barrier_wait() specifying the barrier. When the required number of threads have called pthread_barrier_wait() specifying the barrier, the constant PTHREAD_BARRIER_SERIAL_THREAD shall be returned to one unspecified thread and zero shall be returned to each of the remaining threads. At this point, the barrier shall be reset to the state it had as a result of the most recent pthread_barrier_init() function that referenced it.
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133

Linux IPC
POSIX IPC SysV IPC Pipes Unix Domain Sockets Signals TCP/IP Sockets

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134

Creating a Mutex
Function: pthread_mutex_init() int pthread_mutex_init(pthread_mutex_t * mutex, const pthread_mutex_attr *attr); The pthread_mutex_init() routine creates a new mutex, with attributes specified with attr, or default attributes if attr is NULL. If the pthread_mutex_init() routine succeeds it will return 0 and put the new mutex id into mutex, otherwise an error number shall be returned indicating the error.

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135

Destroying a Mutex
Function: pthread_mutex_destroy() int pthread_mutex_destroy(pthread_mutex_t * mutex); The pthread_mutex_destroy() routine destroys the mutex specified by mutex. If the pthread_mutex_destroy() routine succeeds it will return 0, otherwise an error number shall be returned indicating the error.

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136

Locking Mutexes
Function: pthread_mutex_lock() int pthread_mutex_lock(pthread_mutex_t * mutex); The pthread_mutex_lock() routine shall lock the mutex specified by mutex. If the mutex is already locked the calling thread blocks until the mutex becomes available. If the pthread_mutex_lock() routine succeeds it will return 0, otherwise an error number shall be returned indicating the error. Function: pthread_mutex_trylock() int pthread_mutex_trylock(pthread_mutex_t * mutex); The pthread_mutex_trylock() routine shall lock the mutex specified by mutex and return 0, otherwise an error number shall be returned indicating the error. In all cases the pthread_mutex_trylock() routine will not block the current running thread.
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137

Locking Mutexes
Function: pthread_mutex_timedlock() int pthread_mutex_timedlock(pthread_mutex_t * mutex,struct timespec *restrict abs_timeout); The pthread_mutex_timedlock() function shall lock the mutex object referenced by mutex. If the mutex is already locked, the calling thread shall block until the mutex becomes available as in the pthread_mutex_lock() function. If the mutex cannot be locked without waiting for another thread to unlock the mutex, this wait shall be terminated when the specified timeout expires. The timeout shall expire when the absolute time specified by abs_timeout passes, as measured by the clock on which timeouts are based (that is, when the value of that clock equals or exceeds abs_timeout), or if the absolute time specified by abs_timeout has already been passed at the time of the call.

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138

Unlocking Mutexes
Function: pthread_mutex_unlock() int pthread_mutex_unlock(pthread_mutex_t * mutex); If the current thread is the owner of the mutex specifed by mutex, then the pthread_mutex_unlock() routine shall unlock the mutex. If there are any threads blocked waiting for the mutex, the the scheduler will determine which thread obtains the lock on the mutex, otherwise the mutex is available to the next thread that calls the routine pthread_mutex_lock(), or pthread_mutex_trylock(). If the pthread_mutex_unlock() routine succeeds it will return 0, otherwise an error number shall be returned indicating the error.
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139

Priority Inversion
2. High Priority task preempts low priority task

99 Task Priority
3. Hi Priority task block on mutex

4. Medium Priority task preempts low priority task and high priority task

3
1. Low Priority task takes mutex

Time
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140

Priority Inheritance and Ceilings

Priority inheritance and ceilings are methods to protect against priority inversions. Linux only got support for them in 2.6.18-rc2, just a couple of weeks ago. Patches to add support for older version exists.
Embedded Linux vendors usually provide patched kernels.

If the kernel version you're using is not patched, make sure to protect against this scenario in design
One possible way: raise the priority of each tasks trying to grab a mutex to the maximum priority of all possible contenders.
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141

POSIX Condition Variables

int pthread_cond_wait(pthread_cond_t *cond, pthread_mutex_t *mutex); int pthread_cond_timedwait(pthread_cond_t *cond, pthread_mutex_t *mutex, const struct timespec *abstime); int pthread_cond_signal(pthread_cond_t *cond); int pthread_cond_broadcast(pthread_cond_t *cond); The first two function calls are used for waiting on the condition var. The latter two function calls are used to wake up waiting tasks: pthread_cond_signal() call wakes up one single task that is waiting for the condition variable pthread_cond_broadcast() call wakes up all waiting tasks.
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142

Condition Variable Usage

void sem_wait(sem_t *sem) { pthread_mutex_lock(&sem->lock); while (sem->count == 0) pthread_cond_wait(&sem->cond, &sem->lock); sem->count++; pthread_mutex_unlock(&sem->lock); } void sem_post(sem_t *sem) { pthread_mutex_lock(&sem->lock); sem->count--; if (sem->count <= 0) pthread_cond_signal(&sem->cond); pthread_mutex_unlock(&sem->lock); }

The condition variable function calls are used within an area protected by the mutex that belong to the condition variable. The operating system releases the mutex every time it blocks a task on the condition variable; and it has locked the mutex again when it unblocks the calling task from the signaling call.
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143

POSIX Semaphores
#include <semaphore.h> int sem_init(sem_t *sem, int pshared, unsigned int value); int sem_wait(sem_t * sem); int sem_trywait(sem_t * sem); int sem_post(sem_t * sem); int sem_getvalue(sem_t * sem, int * sval); int sem_destroy(sem_t * sem);

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144

Shared Memory using mmap

void * mmap(void *start, size_t length, int prot , int flags, int fd, off_t offset); The mmap function asks to map length bytes starting at offset offset from the file (or other object) specified by the file descriptor fd into memory, preferably at address start. This latter address is a hint only, and is usually specified as 0. The actual place where the object is mapped is returned by mmap, and is never 0. The return value in case of an error is MAP_FAILED (-1) and NOT 0! MAP_SHARED flag: Share this mapping with all other processes that map this bject. Storing to the region is equivalent to writing to the file. The file may not actually be updated until msync(2) or munmap(2) are called.
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145

POSIX Shared Memory

void * shm_open(const char *name, int oflag, mode_t mode); shm_open creates and opens a new, or opens an existing, POSIX shared memory object. A POSIX shared memory object is in effect a handle which can be used by unrelated processes to mmap(2) the same region of shared memory. The shm_unlink function performs the converse opera tion, removing an object previously created by shm_open. The operation of shm_open is analogous to that of open(2). name specifies the shared memory object to be created or opened. For portable use, name should have an initial slash (/) and contain no embedded slashes.

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146

SysV Mailboxes
key_t ftok(const char *pathname, int proj_id); int msgget(key_t key, int msgflg); int msgsnd(int msqid, struct msgbuf *msgp, size_t msgsz, int msgflg); ssize_t msgrcv(int msqid, struct msgbuf *msgp, size_t msgsz, long msgtyp, int msgflg); Ftok generates a key from the pathname and project id. Msgget creates a Mailbox from the key Msgsnd sends a message and msgrcv retrieves it. The different flags can control messages types (priorities), if receiving is a blocking or non blocking operations and mailbox permissions.

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147

POSIX Pipes
int pipe(int filedes[2]); pipe creates a pair of file descriptors, pointing to a pipe inode, and places them in the array pointed to by filedes. filedes[0] is forreading, filedes[1] is for writing. FILE *popen(const char *command, const char *type); The popen() function opens a process by creating a pipe, forking, and invoking the shell. Since a pipe is by definition unidirectional, the type argument may specify only reading or writing, not both; the resulting stream is correspondingly readonly or write-only. A named version of pipes, called fifo also exists.
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148

UNIX Domain Sockets

Files in the file system that acts like sockets. All normal socket operations applies. struct sockaddr_un server; int sock; sock = socket(AF_UNIX, SOCK_STREAM, 0); server.sun_family = AF_UNIX; strcpy(server.sun_path, SOCKET_NAME); bind(sock, (struct sockaddr *) &server, sizeof(struct sockaddr_un)); UDS can be used to pass file descriptors between processes using a special socket option operation.
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149

Signals
typedef void (*sighandler_t)(int); sighandler_t signal(int signum, sighandler_t handler); int kill(pid_t pid, int sig); The signal() system call installs a new signal handler for the signal with number signum. The signal handler is set to sighandler which may be a user specified function, or either SIG_IGN or SIG_DFL. Upon arrival of a signal, if the corresponding handler is set to SIG_IGN, then the signal is ignored. If the handler is set to SIG_DFL, then the default action associated to the signal occurs. Finally, if the handler is set to a function sighandler then first either the handler is reset to SIG_DFL or an implementation-dependent blocking of the signal is performed and next sighandler is called with argument signum.
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150

Regular Signals

SIGHUP SIGINT SIGQUIT SIGILL SIGABRT SIGFPE SIGKILL SIGSEGV SIGPIPE SIGALRM SIGTERM SIGUSR1 SIGUSR2 SIGCHLD SIGCONT SIGSTOP SIGTSTP SIGTTIN SIGTTOU

Hangup detected on controlling terminal Interrupt from keyboard Quit from keyboard Illegal Instruction Abort signal from abort(3) Floating point exception Kill signal Invalid memory reference Broken pipe: write to pipe with no readers Timer signal from alarm(2) Termination signal User-defined signal 1 User-defined signal 2 Child stopped or terminate Continue if stopped Stop process Stop typed at tty tty input for background process tty output for background process

SIGBUS Bus error (bad memory access) SIGPOLL Pollable event (Sys V). Synonym of SIGIO SIGPROF Profiling timer expired SIGSYS Bad argument to routine (SVID) SIGTRAP Trace/breakpoint trap SIGURG Urgent condition on socket (4.2 BSD) SIGIO I/O now possible (4.2 BSD) SIGPWR Power failure (System V) SIGWINCH Window resize signal (4.3 BSD, Sun)

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151

Problem with Regular Signals

Too few signals
Only 2 signals available for user defined uses: USR1, USR2

No queuing
If the same signal is sent multiple times until a task processes it, it is only delivered once.

No priority
Multiple signals delivered according to order sent.

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152

Real Time Signals

Additional 32 signals
From SIGRTMIN to SIGRTMAX

No predefined meaning
But LinuxThreads lib makes use of the first 3.

Multiple instances of the same signals are queued. Value can be sent with the signal. Priority is guaranteed: lowest number real time signals are delivered first. Same signals are delivered according to order they were sent. Regular signals have higher priority then real time signals.
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153

Real Time Signals API

int sigaction(int signum, const struct sigaction *act, struct sigaction *oldact); Alternate way to register a signal handler. Allow receiving an info struct with details Allow sending a pointer with the signal int sigqueue(pid_t pid, int sig, const union sigval value); Alternate way to send signals Allows sending real time signals that queue up

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154

Signals & Threads

Signal masks are per thread. Signal handlers are per process. Exception signals (SIGSEGV, SIGBUS) will be caught by thread doing the exception. Other signals will be caught by any thread in the process whose masks does not block the signal. Use a signal handler thread that does sigwait(3) to make thread catching less random.

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155

Processes Timers
#include <sys/time.h> int getitimer(int which, struct itimerval *value); int setitimer(int which, const struct itimerval *value, struct itimerval *ovalue);

The system provides each process with three interval timers, each decrementing in a distinct time domain. When any timer expires, a signal is sent to the process, and the timer (potentially) restarts.

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156

Timers Expiry
The timer interval is controlled by the following structures:
struct itimerval { struct timeval it_interval; /* next value */ struct timeval it_value; /* current value */ }; struct timeval { long tv_sec; long tv_usec; }; /* seconds */ /* microseconds */

Timers decrement from it_value to zero, generate a signal, and reset to it_interval. A timer which is set to zero (it_value is zero or the timer expires and it_interval is zero) stops.
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157

Time Domains
ITIMER_REAL
Decrements in real time, and delivers SIGALRM upon expiration.

ITIMER_VIRTUAL
Decrements only when the process is executing, and delivers SIGVTALRM upon expiration.

ITIMER_PROF
Decrements both when the process executes and when the system is executing on behalf of the process. SIGPROF is delivered upon expiration.
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158

More on Timers
Timers will never expire before the requested time, instead expiring some short, constant time afterwards, dependent on the system timer resolution. If the timer expires while the process is active (always true for ITIMER_VIRT) the signal will be delivered immediately when generated. Otherwise the delivery will be offset by a small time dependent on the system loading. An alternate interface called timer_create() allows specifying which signal will be sent (utilize real time signals) and spawning of a thread on timer expiry.
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159

The Unix and GNU / Linux command line

Going further

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160

Command help
Some Unix commands and most GNU / Linux commands offer at least one help argument: -h (- is mostly used to introduce 1-character options) --help (-- is always used to introduce the corresponding long option name, which makes scripts easier to understand) You also often get a short summary of options when you input an invalid argument.

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161

Manual pages
man <keyword> Displays one or several manual pages for <keyword> man man Most available manual pages are about Unix commands, but some are also about C functions, headers or data structures, or even about system configuration files! man stdio.h man fstab (for /etc/fstab) Manual page files are looked for in the directories specified by the MANPATH environment variable.

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162

Info pages
In GNU, man pages are being replaced by info pages. Some manual pages even tell to refer to info pages instead. info <command> info features:
Documentation structured in sections (nodes) and subsections (subnodes) Possibility to navigate in this structure: top, next, prev, up Info pages generated from the same texinfo source as the HTML documentation pages

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163

Embedded Linux driver development

Kernel overview
Linux features

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164

Studied kernel version: 2.6

Linux 2.4
Mature But developments stopped; very few developers willing to help. Now obsolete and lacks recent features. Still fine if you get your sources, tools and support from commercial Linux vendors.

Linux 2.6
2 years old stable Linux release! Support from the Linux development community and all commercial vendors. Now mature and more exhaustive. Most drivers upgraded. Cutting edge features and increased performance.

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165

Linux kernel key features

Portability and hardware support Runs on most architectures. Scalability Can run on super computers as well as on tiny devices (4 MB of RAM is enough). Compliance to standards and interoperability. Exhaustive networking support. Security It can't hide its flaws. Its code is reviewed by many experts. Stability and reliability. Modularity Can include only what a system needs even at run time. Easy to program You can learn from existing code. Many useful resources on the net.

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166

Supported hardware architectures

See the arch/ directory in the kernel sources Minimum: 32 bit processors, with or without MMU 32 bit architectures (arch/ subdirectories) alpha, arm, cris, frv, h8300, i386, m32r, m68k, m68knommu, mips, parisc, ppc, s390, sh, sparc, um, v850, xtensa 64 bit architectures: ia64, mips64, ppc64, sh64, sparc64, x86_64 See arch/<arch>/Kconfig, arch/<arch>/README, or Documentation/<arch>/ for details

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167

Embedded Linux driver development

Kernel overview
Kernel code

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168

Implemented in C
Implemented in C like all Unix systems. (C was created to implement the first Unix systems) A little Assembly is used too: CPU and machine initialization, critical library routines. See http://www.tux.org/lkml/#s15-3 for reasons for not using C++ (main reason: the kernel requires efficient code).

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169

Compiled with GNU C

Need GNU C extensions to compile the kernel. So, you cannot use any ANSI C compiler! Some GNU C extensions used in the kernel:
Inline C functions Inline assembly Structure member initialization in any order (also in ANSI C99) Branch annotation (see next page)

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170

Help gcc to optimize your code!

Use the likely and unlikely statements (include/linux/compiler.h) Example: if (unlikely(err)) { ... } The GNU C compiler will make your code faster for the most likely case. Used in many places in kernel code! Don't forget to use these statements!

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171

No C library
The kernel has to be standalone and can't use user-space code. Userspace is implemented on top of kernel services, not the opposite. Kernel code has to supply its own library implementations (string utilities, cryptography, uncompression ...) So, you can't use standard C library functions in kernel code. (printf(), memset(), malloc()...). You can also use kernel C headers. Fortunately, the kernel provides similar C functions for your convenience, like printk(), memset(), kmalloc() ...

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172

Kernel Stack
Very small and fixed stack.
2 page stack (8k), per task. Or 1 page stack, per task and one for interrupts. 2.6 Chosen in build time via menu. Not for all architectures

For some architectures, the kernel provides debug facility to detect stack overruns.

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173

Managing endianism
Linux supports both little and big endian architectures Each architecture defines __BIG_ENDIAN or __LITTLE_ENDIAN in <asm/byteorder.h> Can be configured in some platforms supporting both. To make your code portable, the kernel offers conversion macros (that do nothing when no conversion is needed). Most useful ones: u32 cpu_to_be32(u32); // CPU byte order to big endian u32 cpu_to_le32(u32); // CPU byte order to little endian u32 be32_to_cpu(u32); // Little endian to CPU byte order u32 le32_to_cpu(u32); // Big endian to CPU byte order

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174

Kernel coding guidelines

Never use floating point numbers in kernel code. Your code may be run on a processor without a floating point unit (like on arm). Floating point can be emulated by the kernel, but this is very slow. Define all symbols as static, except exported ones (avoid name space pollution) All system calls return negative numebrs (error codes) for errors:
#include <linux/errno.h>

See Documentation/CodingStyle for more guidelines

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175

Kernel log
Printing to the kernel log is done via the printk function. The kernel keeps the messages in a circular buffer (so that doesn't consume more memory with many messages) Kernel log messages can be accessed from user space through system calls, or through /proc/kmsg Kernel log messages are also displayed in the system console.

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176

printk
The printk function: Similar to stdlib's printf(3) No floating point format. Log message are prefixed with a <1>, where the number denotes severity, from 1 (most severe) to 8. Macros are defined to be used for severity levels: KERN_EMERG, KERN_ALERT, KERT_CRIT, KERN_ERR, KERN_WARNING, KERN_NOTICE, KERN_INFO, KERN_DEBUG. Usage example:
printk(KERN_DEBUG Hello World number %d\n, num);
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177

Accessing the kernel log

Many ways are available!
Watch the system console syslogd Daemon gathering kernel messages in /var/log/messages Follow changes by running: tail -f /var/log/messages Caution: this file grows! Use logrotate to control this dmesg Found in all systems Displays the kernel log buffer logread Same. Often found in small embedded systems with no /var/log/messages or no dmesg. Implemented by Busybox. cat /proc/kmsg Waits for kernel messages and displays them. Useful when none of the above user space programs are available (tiny system)

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178

Linked Lists
Many constructs use doubly-linked lists. List definition and initialization:
struct list_head mylist = LIST_HEAD_INIT(mylist);

or
LIST_HEAD(mylist);

or
INIT_LIST_HEAD(&mylist);

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179

List Manipulation
List definition and initialization:
void list_add(struct list_head *new, struct list_head *head); void list_add_tail(struct list_head *new, struct list_head *head); void list_del(struct list_head *entry); void list_del_init(struct list_head *entry); void list_move(struct list_head *list, struct list_head *head); void list_add_tail(struct list_head *list, struct list_head *head);

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180

List Manipulation (cont.)

List splicing and query:
void list_splice(struct list_head *list, struct list_head *head); void list_add_splice_init(struct list_head *list, struct list_head *head); void list_empty(struct list_head *head);

In 2.6, there are variants of these API's for RCU protected lists (see section about Locks ahead).

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181

List Iteration
Lists also have iterator macros defined:
list_for_each(pos, head); list_for_each_prev(pos, head); list_for_each_safe(pos, n, head); list_for_each_entry(pos, head, member);

Example:
struct mydata *pos; list_for_each_entry(pos, head, dev_list) { pos->some_data = 0777; }

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182

Embedded Linux driver development

Kernel overview
Kernel subsystems

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183

Kernel architecture
User space

Kernel space

Hardware

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184

Kernel Mode vs. User Mode

All modern CPUs support a dual mode of operation:
User mode, for regular tasks. Supervisor (or privileged) mode, for the kernel.

The mode the CPU is in determines which instructions the CPU is willing to execute:
Sensitive instructions will not be executed when the CPU is in user mode.

The CPU mode is determined by one of the CPU registers, which stores the current Ring Level
0 for supervisor mode, 3 for user mode, 1-2 unused by Linux.
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185

The System Call Interface

When a user space tasks needs to use a kernel service, it will make a System Call. The C library places parameters and number of system call in registers and then issues a special trap instruction. The trap atomically changes the ring level to supervisor mode and the sets the instruction pointer to the kernel. The kernel will find the required system called via the system call table and execute it. Returning from the system call does not require a special instruction, since in supervisor mode the ring level can be changed directly.
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186

Linux System Call Path

Kernel

do_name() sys_name() entry.S

Function call Trap

Task

Glibc Task

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187

Kernel memory constraints

Who can look after the kernel? No memory protection Accessing illegal memory locations result in (often fatal) kernel oopses. Fixed size stack (8 or 4 KB) Unlike in userspace, no way to make it grow. Kernel memory can't be swapped out (for the same reasons).

location

Userspace memory management Used to implement: - memory protection - stack growth - memory swapping to disk

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188

Embedded Linux driver development

Kernel overview
Linux versioning scheme and development process

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189

Linux Kernel Development Timeline

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190

Linux stable releases

Major versions 1 major version every 2 or 3 years Examples: 1.0, 2.0, 2.4, 2.6 Stable releases 1 stable release every 1 or 2 months Examples: 2.0.40, 2.2.26, 2.4.27, 2.6.7 ... Stable release updates (since March 2005) Updates to stable releases up to several times a week Address only critical issues in the latest stable release Examples: 2.6.11.1 to 2.6.11.7

Even number

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191

Linux development and testing releases

Testing releases Several testing releases per month, before the next stable one. You can contribute to making kernel releases more stable by testing them! Example: 2.6.12-rc1 Development versions Unstable versions used by kernel developers before making a new stable major release Examples: 2.3.42, 2.5.74 Odd number

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192

Continued development in Linux 2.6

Since 2.6.0, kernel developers have been able to introduce lots of new features one by one on a steady pace, without having to make major changes in existing subsystems. Opening a new Linux 2.7 (or 2.9) development branch will be required only when Linux 2.6 is no longer able to accommodate key features without undergoing traumatic changes. Thanks to this, more features are released to users at a faster pace. However, the internal kernel API can undergo changes between two 2.6.x releases. A module compiled for a given version may no longer compile or work on a more recent one.

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193

Linux Kernel Development Process

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194

What's new in each Linux release? (1)

commit 3c92c2ba33cd7d666c5f83cc32aa590e794e91b0 Author: Andi Kleen <ak@suse.de> Date: Tue Oct 11 01:28:33 2005 +0200 [PATCH] i386: Don't discard upper 32bits of HWCR on K8 Need to use long long, not long when RMWing a MSR. I think it's harmless right now, but still should be better fixed if AMD adds any bits in the upper 32bit of HWCR. Bug was introduced with the TLB flush filter fix for i386 Signed-off-by: Andi Kleen <ak@suse.de> Signed-off-by: Linus Torvalds <torvalds@osdl.org> ...

The official list of changes for each Linux release is just a huge list of individual patches! Very difficult to find out the key changes and to get the global picture out of individual changes.
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195

What's new in each Linux release? (2)

Fortunately, a summary of key changes with enough details is available on http://wiki.kernelnewbies.org/LinuxChanges

??!

For each new kernel release, you can also get the changes in the kernel internal API: http://lwn.net/Articles/2.6-kernel-api/ What's next? Documentation/feature-removal-schedule.txt lists the features, subsystems and APIs that are planned for removal (announced 1 year in advance).

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196

Embedded Linux driver development

Kernel overview
Kernel user interface

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197

Mounting virtual filesystems

Linux makes system and kernel information available in userspace through virtual filesystems (virtual files not existing on any real storage). No need to know kernel programming to access this!

Mounting /proc: mount -t proc none /proc Mounting /sys: mount -t sysfs none /sys

Filesystem type

Mount point Raw device or filesystem image In the case of virtual filesystems, any string is fine
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198

Kernel userspace interface

A few examples: /proc/cpuinfo: processor information /proc/meminfo: memory status /proc/version: version and build information /proc/cmdline: kernel command line /proc/<pid>/environ: calling environment /proc/<pid>/cmdline: process command line ... and many more! See by yourself!

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199

Userspace interface documentation

Lots of details about the /proc interface are available in Documentation/filesystems/proc.txt (almost 2000 lines) in the kernel sources. You can also find other details in the proc manual page: man proc See the New Device Model section for details about /sys

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200

Embedded Linux driver development

Compiling and booting Linux

Getting the sources

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201

Linux kernel size

Linux 2.6.16 sources: Raw size: 260 MB (20400 files, approx 7 million lines of code) bzip2 compressed tar archive: 39 MB (best choice) gzip compressed tar archive: 49 MB Minimum compiled Linux kernel size (with Linux-Tiny patches) approx 300 KB (compressed), 800 KB (raw) Why are these sources so big? Because they include thousands of device drivers, many network protocols, support many architectures and filesystems... The Linux core (scheduler, memory management...) is pretty small!

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202

kernel.org

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203

Getting Linux sources: 2 possibilities

Full sources The easiest way, but longer to download. Example: http://kernel.org/pub/linux/kernel/v2.6/linux-2.6.14.1.tar.bz2 Or patch against the previous version Assuming you already have the full sources of the previous version Example: http://kernel.org/pub/linux/kernel/v2.6/patch-2.6.14.bz2 (2.6.13 to 2.6.14) http://kernel.org/pub/linux/kernel/v2.6/patch-2.6.14.7.bz2 (2.6.14 to 2.6.14.7)

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204

Downloading full kernel sources

Downloading from the command line With a web browser, identify the version you need on http://kernel.org In the right directory, download the source archive and its signature (copying the download address from the browser):
wget http://kernel.org/pub/linux/kernel/v2.6/linux-2.6.11.12.tar.bz2 wget http://kernel.org/pub/linux/kernel/v2.6/linux-2.6.11.12.tar.bz2.sign

Check the electronic signature of the archive:

gpg --verify linux-2.6.11.12.tar.bz2.sign
~/.wgetrc config file for proxies:
http_proxy = <proxy>:<port> ftp_proxy = <proxy>:<port> proxy_user = <user> (if any) proxy_password = <passwd> (if any)

Extract the contents of the source archive:

tar jxvf linux-2.6.11.12.tar.bz2

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205

Downloading kernel source patches (1)

Assuming you already have the linux-x.y.<n-1> version Identify the patches you need on http://kernel.org with a web browser Download the patch files and their signature:
Patch from 2.6.10 to 2.6.11
wget ftp://ftp.kernel.org/pub/linux/kernel/v2.6/patch-2.6.11.bz2 wget ftp://ftp.kernel.org/pub/linux/kernel/v2.6/patch-2.6.11.bz2.sign

Patch from 2.6.11 to 2.6.11.12 (latest stable fixes)

wget http://www.kernel.org/pub/linux/kernel/v2.6/patch-2.6.11.12.bz2 wget http://www.kernel.org/pub/linux/kernel/v2.6/patch-2.6.11.12.bz2.sign

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206

Downloading kernel source patches (2)

Check the signature of patch files:
gpg --verify patch-2.6.11.bz2.sign gpg --verify patch-2.6.11.12.bz2.sign

Apply the patches in the right order:

cd linux-2.6.10/ bzcat ../patch-2.6.11.bz2 | patch -p1 bzcat ../patch-2.6.11.12.bz2 | patch -p1 cd .. mv linux-2.6.10 linux-2.6.11.12

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207

Checking the integrity of sources

Kernel source integrity can be checked through OpenPGP digital signatures. Full details on http://www.kernel.org/signature.html If needed, read http://www.gnupg.org/gph/en/manual.html and create a new private and public keypair for yourself. Import the public GnuPG key of kernel developers:
gpg --keyserver pgp.mit.edu --recv-keys 0x517D0F0E

If blocked by your firewall, look for 0x517D0F0E on http://pgp.mit.edu/ , copy and paste the key to a linuxkey.txt file: gpg --import linuxkey.txt Check the signature of files: gpg --verify linux-2.6.11.12.tar.bz2.sign

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208

Anatomy of a patch file

A patch file is the output of the diff command
diff command line diff -Nru a/Makefile b/Makefile --- a/Makefile 2005-03-04 09:27:15 -08:00 File date info +++ b/Makefile 2005-03-04 09:27:15 -08:00 @@ -1,7 +1,7 @@ Line numbers in files VERSION = 2 Context info: 3 lines before the change PATCHLEVEL = 6 Useful to apply a patch when line numbers changed SUBLEVEL = 11 -EXTRAVERSION = Removed line(s) if any +EXTRAVERSION = .1 Added line(s) if any NAME=Woozy Numbat

# *DOCUMENTATION*

Context info: 3 lines after the change

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209

Using the patch command

The patch command applies changes to files in the current directory: Making changes to existing files

zcat diff_file.gz | patch -p<n> n: number of directory levels to skip in the file paths
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210

Applying a Linux patch

Linux patches... Always to apply to the x.y.<z-1> version Always produced for n=1 (that's what everybody does... do it too!) Downloadable in gzip and bzip2 (much smaller) compressed files. Linux patch command line example: cd linux-2.6.10 bzcat ../patch-2.6.11.bz2 | patch -p1 cd ..; mv linux-2.6.10 linux-2.6.11 Keep patch files compressed: useful to check their signature later. You can still view (or even edit) the uncompressed data with vi: vi patch-2.6.11.bz2 (on the fly (un)compression)

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211

Accessing development sources (1)

Kernel development sources are now managed with git You can browse Linus' git tree (if you just need to check a few files): http://www.kernel.org/git/?p=linux/kernel/git/torvalds/linux-2.6.git;a=tree Get and compile git from http://kernel.org/pub/software/scm/git/ Get and compile the cogito front-end from http://kernel.org/pub/software/scm/cogito/ If you are behind a proxy, set Unix environment variables defining proxy settings. Example: export http_proxy="proxy.server.com:8080" export ftp_proxy="proxy.server.com:8080"

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212

Accessing development sources (2)

Pick up a git development tree on http://kernel.org/git/ Get a local copy (clone) of this tree. Example (Linus tree, the one used for Linux stable releases):
cg-clone http://kernel.org/pub/scm/linux/kernel/git/torvalds/linux-2.6.git or cg-clone rsync://rsync.kernel.org/pub/scm/linux/kernel/git/torvalds/linux-2.6.git

Update your copy whenever needed (Linus tree example): cd linux-2.6 cg-update origin More details available on http://git.or.cz/ or http://linux.yyz.us/git-howto.html

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213

Embedded Linux driver development

Compiling and booting Linux

Structure of source files

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214

Linux sources structure (1)

arch/<arch> arch/<arch>/mach-<mach> COPYING CREDITS crypto/ Documentation/ drivers/ fs/ include/ include/asm-<arch> include/linux init/ ipc/ Architecture specific code Machine / board specific code Linux copying conditions (GNU GPL) Linux main contributors Cryptographic libraries Kernel documentation. Don't miss it! All device drivers (drivers/usb/, etc.) Filesystems (fs/ext3/, etc.) Kernel headers Architecture and machine dependent headers Linux kernel core headers Linux initialization (including main.c) Code used for process communication

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215

Linux sources structure (2)

kernel/ lib/ MAINTAINERS Makefile mm/ net/ README REPORTING-BUGS scripts/ security/ sound/ usr/ Linux kernel core (very small!) Misc library routines (zlib, crc32...) Maintainers of each kernel part. Very useful! Top Linux makefile (sets arch and version) Memory management code (small too!) Network support code (not drivers) Overview and building instructions Bug report instructions Scripts for internal or external use Security model implementations (SELinux...) Sound support code and drivers Early user-space code (initramfs)

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216

On-line kernel documentation

http://free-electrons.com/kerneldoc/ Provided for all recent kernel releases Easier than downloading kernel sources to access documentation Indexed by Internet search engines Makes kernel pieces of documentation easier to find! Unlike most other sites offering this service too, also includes an HTML translation of kernel documents in the DocBook format. Never forget documentation in the kernel sources! It's a very valuable way of getting information about the kernel.

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217

Embedded Linux driver development

Compiling and booting Linux

Kernel source management tools

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LXR: Linux Cross Reference

http://sourceforge.net/projects/lxr Generic source indexing tool and code browser Web server based Very easy and fast to use Identifier or text search available Very easy to find the declaration, implementation or usages of symbols Supports C and C++ Supports huge code projects such as the Linux kernel (260 M in Apr. 2006) Takes a little bit of time and patience to setup (configuration, indexing, server configuration). Initial indexing quite slow: Linux 2.6.11: 1h 40min on P4 M 1.6 GHz, 2 MB cache You don't need to set up LXR by yourself. Use our http://lxr.free-electrons.com server! Other servers available on the Internet:
http://free-electrons.com/community/kernel/lxr/

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219

LXR screenshot

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220

Embedded Linux driver development

Compiling and booting Linux

Kernel configuration

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221

Kernel configuration overview

Makefile edition Setting the version and target architecture if needed Kernel configuration: defining what features to include in the kernel:
make [config|xconfig|gconfig|menuconfig|oldconfig]

Kernel configuration file (Makefile syntax) stored in the .config file at the root of the kernel sources Distribution kernel config files usually released in /boot/

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Makefile changes
To identify your kernel image with others build from the same sources, use the EXTRAVERSION variable: VERSION = 2 PATCHLEVEL = 6 SUBLEVEL = 15 EXTRAVERSION = -acme1 uname -r will return: 2.6.15-acme1

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make xconfig
make xconfig New Qt configuration interface for Linux 2.6. Much easier to use than in Linux 2.4! Make sure you read help -> introduction: useful options! File browser: easier to load configuration files

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make xconfig screenshot

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Compiling statically or as a module

Compiled as a module (separate file) CONFIG_ISO9660_FS=m

Driver options CONFIG_JOLIET=y CONFIG_ZISOFS=y

Compiled statically in the kernel CONFIG_UDF_FS=y

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make config / menuconfig / gconfig

make config Asks you the questions 1 by 1. Extremely long! make menuconfig Same old text interface as in Linux 2.4. Useful when no graphics are available. Pretty convenient too! make gconfig New GTK based graphical configuration interface. Functionality similar to that of make xconfig.

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make oldconfig
make oldconfig Needed very often! Useful to upgrade a .config file from an earlier kernel release Issues warnings for obsolete symbols Asks for values for new symbols If you edit a .config file by hand, it's strongly recommended to run make oldconfig afterwards!

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make allnoconfig
make allnoconfig Only sets strongly recommended settings to y. Sets all other settings to n. Very useful in embedded systems to select only the minimum required set of features and drivers. Much more convenient than unselecting hundreds of features one by one!

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make help
make help Lists all available make targets Useful to get a reminder, or to look for new or advanced options!

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230

Embedded Linux driver development

Compiling and booting Linux

Compiling the kernel

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231

Compiling and installing the kernel

Compiling step make Install steps (logged as root!) make install make modules_install

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Dependency management
When you modify a regular kernel source file, make only rebuilds what needs recompiling. That's what it is used for. However, the Makefile is quite pessimistic about dependencies. When you make significant changes to the .config file, make often redoes much of the compile job!

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233

Compiling faster with ccache

http://ccache.samba.org/ Compiler cache for C and C++, already shipped by some distributions Much faster when compiling the same file a second time! Very useful when .config file change are frequent. Use it by adding a ccache prefix to the CC and HOSTCC definitions in Makefile: CC = ccache $(CROSS_COMPILE)gcc HOSTCC = ccache gcc Performance benchmarks: -63%: with a Fedora Core 3 config file (many modules!) -82%: with an embedded Linux config file (much fewer modules!)

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234

Kernel compiling tips

View the full (gcc, ld...) command line: make V=1 Clean-up generated files (to force re-compiling drivers): make clean Remove all generated files (mainly to create patches) Caution: also removes your .config file! make mrproper

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235

Generated files
Created when you run the make command vmlinux Raw Linux kernel image, non compressed. arch/<arch>/boot/zImage zlib compressed kernel image (default image on arm)

arch/<arch>/boot/bzImage (default image on i386) Also a zlib compressed kernel image. Caution: bz means big zipped but not bzip2 compressed! (bzip2 compression support only available on i386 as a tactical patch. Not very attractive for small embedded systems though: consumes 1 MB of RAM for decompression).

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Files created by make install

/boot/vmlinuz-<version> Compressed kernel image. Same as the one in arch/<arch>/boot /boot/System.map-<version> Stores kernel symbol addresses /boot/initrd-<version>.img (when used by your distribution) Initial RAM disk, storing the modules you need to mount your root filesystem. make install runs mkinitrd for you! /etc/grub.conf or /etc/lilo.conf make install updates your bootloader configuration files to support your new kernel! It reruns /sbin/lilo if LILO is your bootloader. Not relevant for embedded systems.
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237

Files created by make modules_install (1)

/lib/modules/<version>/: Kernel modules + extras build/ Everything needed to build more modules for this kernel: Makefile, .config file, module symbol information (module.symVers), kernel headers (include/ and include/asm/) kernel/ Module .ko (Kernel Object) files, in the same directory structure as in the sources.

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Files created by make modules_install (2)

/lib/modules/<version>/ (continued) modules.alias Module aliases for module loading utilities. Example line: alias sound-service-?-0 snd_mixer_oss modules.dep Module dependencies (see the Loadable kernel modules section) modules.symbols Tells which module a given symbol belongs to. All the files in this directory are text files. Don't hesitate to have a look by yourself!

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239

Compiling the kernel in a nutshell

Edit version information in the Makefile file make xconfig make make install make modules_install

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240

Embedded Linux driver development

Compiling and booting Linux

Cross-compiling the kernel

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Makefile changes
Update the version as usual You should change the default target platform. Example: ARM platform, cross-compiler command: arm-linux-gcc ARCH ?= arm CROSS_COMPILE ?= arm-linux(The Makefile defines later CC = $(CROSS_COMPILE)gcc) See comments in Makefile for details

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242

Configuring the kernel

make xconfig Same as in native compiling. Don't forget to set the right board / machine type!

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Ready-made config files

assabet_defconfig badge4_defconfig bast_defconfig cerfcube_defconfig clps7500_defconfig ebsa110_defconfig edb7211_defconfig enp2611_defconfig ep80219_defconfig epxa10db_defconfig footbridge_defconfig fortunet_defconfig h3600_defconfig h7201_defconfig h7202_defconfig hackkit_defconfig integrator_defconfig iq31244_defconfig iq80321_defconfig iq80331_defconfig iq80332_defconfig ixdp2400_defconfig ixdp2401_defconfig ixdp2800_defconfig ixdp2801_defconfig ixp4xx_defconfig jornada720_defconfig lart_defconfig lpd7a400_defconfig lpd7a404_defconfig lubbock_defconfig lusl7200_defconfig mainstone_defconfig mx1ads_defconfig neponset_defconfig netwinder_defconfig omap_h2_1610_defconfig omnimeter_defconfig pleb_defconfig pxa255-idp_defconfig rpc_defconfig s3c2410_defconfig shannon_defconfig shark_defconfig simpad_defconfig smdk2410_defconfig versatile_defconfig

arch/arm/configs example
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244

Using ready-made config files

Default configuration files available for many boards / machines! Check if one exists in arch/<arch>/configs/ for your target. Example: if you found an acme_defconfig file, you can run: make acme_defconfig Using arch/<arch>/configs/ is a very good good way of releasing a default configuration file for a group of users or developers.

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Cross-compiling setup
Example If you have an ARM cross-compiling toolchain in /usr/local/arm/3.3.2/ You just have to add it to your Unix search path: export PATH=/usr/local/arm/3.3.2/bin:$PATH Choosing a toolchain See the Documentation/Changes file in the sources for details about minimum tool versions requirements.

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Building the kernel

Run make Copy arch/<platform>/boot/zImage to the target storage You can customize arch/<arch>/boot/install.sh so that make install does this automatically for you. make INSTALL_MOD_PATH=<dir>/ modules_install and copy <dir>/ to /lib/modules/ on the target storage

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247

Cross-compiling summary
Edit Makefile: set ARCH, CROSS_COMPILE and EXTRA_VERSION Get the default configuration for your machine: make <machine>_defconfig (if existing in arch/<arch>/configs) Refine the configuration settings according to your requirements: make xconfig Add the crosscompiler path to your PATH environment variable Compile the kernel: make Copy the kernel image from arch/<arch>/boot/ to the target Copy modules to a directory which you replicate on the target: make INSTALL_MOD_PATH=<dir> modules_install

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248

Embedded Linux driver development

Compiling and booting Linux

Overall system startup

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Linux 2.4 booting sequence

Bootloader
- Executed by the hardware at a fixed location in ROM / Flash - Initializes support for the device where the kernel image is found (local storage, network, removable media) - Loads the kernel image in RAM - Executes the kernel image (with a specified command line)

Kernel
- Uncompresses itself - Initializes the kernel core and statically compiled drivers (needed to access the root filesystem) - Mounts the root filesystem (specified by the init kernel parameter) - Executes the first userspace program

First userspace program

- Configures userspace and starts up system services

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250

Linux 2.6 booting sequence

Bootloader
- Executed by the hardware at a fixed location in ROM / Flash - Initializes support for the device where the images are found (local storage, network, removable media) - Loads the kernel image in RAM - Executes the kernel image (with a specified command line)

Kernel
- Uncompresses itself - Initializes the kernel core and statically compiled drivers - Uncompresses the initramfs cpio archive included in the kernel file cache (no mounting, no filesystem). - If found in the initramfs, executes the first userspace program: /init

Userspace: /init script (what follows is just a typical scenario)

- Runs userspace commands to configure the device (such as network setup, mounting /proc and /sys...) - Mounts a new root filesystem. Switch to it (switch_root) - Runs /sbin/init (or sometimes a new /linuxrc script)

Userspace: /sbin/init
- Runs commands to configure the device (if not done yet in the initramfs) - Starts up system services (daemons, servers) and user programs

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251

Linux 2.6 booting sequence with initrd

Bootloader
- Executed by the hardware at a fixed location in ROM / Flash - Initializes support for the device where the images are found (local storage, network, removable media) - Loads the kernel and init ramdisk (initrd) images in RAM - Executes the kernel image (with a specified command line)

Kernel
- Uncompresses itself - Initializes statically compiled drivers - Uncompresses the initramfs cpio archive included in the kernel. Mounts it. No /init executable found. - So falls back to the old way of trying to locate and mount a root filesystem. - Mounts the root filesystem specified by the init kernel parameter (initrd in our case) - Executes the first userspace program: usually /linuxrc - Runs userspace commands to configure the device (such as network setup, mounting /proc and /sys...) - Loads kernel modules (drivers) stored in the initrd, needed to access the new root filesystem. - Mounts the new root filesystem. Switch to it (pivot_root) - Runs /sbin/init (or sometimes a new /linuxrc script)

Userspace: /linuxrc script in initrd (what follows is just a typical sequence)

Userspace: /sbin/init
- Runs commands to configure the device (if not done yet in the initrd) - Starts up system services (daemons, servers) and user programs

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252

Linux 2.4 booting sequence drawbacks

Trying to mount the filesystem specified by the init kernel parameter is complex: Need device and filesystem drivers to be loaded Specifying the root filesystem requires ugly black magic device naming (such as /dev/ram0, /dev/hda1...), while / doesn't exist yet! Can require a complex initialization to implement within the kernel. Examples: NFS (set up an IP address, connect to the server...), RAID (root filesystem on multiple physical drives)... In a nutshell: too much complexity in kernel code!

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253

Extra init ramdisk drawbacks

Init ramdisks are implemented as standard block devices Need a ramdisk and filesystem driver Fixed in size: cannot easily grow in size. Any free space cannot be reused by anything else. Needs to be created and modified like any block device: formatting, mounting, editing, unmounting. Root permissions needed. Like in any block device, files are first read from the storage, and then copied to the file cache. Slow and duplication in RAM!!!

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254

Initramfs features and advantages (1)

Root file system built in in the kernel image (embedded as a compressed cpio archive) Very easy to create (at kernel build time). No need for root permissions (for mount and mknod). Compared to init ramdisks, just 1 file to handle. Always present in the Linux 2.6 kernel (empty by default). Just a plain compressed cpio archive. Neither needs a block nor a filesystem driver.

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255

Initramfs features and advantages (2)

ramfs: implemented in the file cache. No duplication in RAM, no filesystem layer to manage. Just uses the size of its files. Can grow if needed. Loaded by the kernel earlier. More initialization code moved to user-space! Simpler to mount complex filesystems from flexible userspace scripts rather than from rigid kernel code. More complexity moved out to user-space! No more magic naming of the root device. pivot_root no longer needed.

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256

Initramfs features and advantages (3)

Possible to add non GPL files (firmware, proprietary drivers) in the filesystem. This is not linking, just file aggregation (not considered as a derived work by the GPL). Possibility to remove these files when no longer needed. Still possible to use ramdisks. More technical details about initramfs: see Documentation/filesystems/ramfs-rootfs-initramfs.txt and Documentation/early-userspace/README in kernel sources. See also http://www.linuxdevices.com/articles/AT4017834659.html for a nice overview of initramfs (by Rob Landley, new Busybox maintainer).

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257

How to populate an initramfs

Using CONFIG_INITRAMFS_SOURCE in kernel configuration (General Setup section) Either specify an existing cpio archive Or specify a list of files or directories to be added to the archive. Or specify a text specification file (see next page) Can use a tiny C library: klibc (ftp://ftp.kernel.org/pub/linux/libs/klibc/)

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258

Initramfs specification file example

dir /dev 755 0 0 nod /dev/console 644 0 0 c 5 1 nod /dev/loop0 644 0 0 b 7 0 dir /bin 755 1000 1000 slink /bin/sh busybox 777 0 0 file /bin/busybox initramfs/busybox 755 0 0 dir /proc 755 0 0 dir /sys 755 0 0 dir /mnt 755 0 0 file /init initramfs/init.sh 755 0 0 No need for root user access! user id group id

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259

How to handle compressed cpio archives

Useful when you want to build the kernel with a ready-made cpio archive. Better let the kernel do this for you!

Extracting: gzip -dc initramfs.img | cpio -id Creating:

find <dir> -print -depth | cpio -ov | gzip -c > initramfs.img

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260

How to create an initrd

In case you really need an initrd (why?). mkdir /mnt/initrd dd if=/dev/zero of=initrd.img bs=1k count=2048 mkfs.ext2 -F initrd.img mount -o loop initrd.img /mnt/initrd Fill the ramdisk contents: busybox, modules, /linuxrc script More details in the Free Software tools for embedded systems training! umount /mnt/initrd gzip --best -c initrd.img > initrd More details on Documentation/initrd.txt in the kernel sources! Also explains pivot rooting.
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261

Embedded Linux driver development

Compiling and booting Linux

Bootloaders

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262

x86 bootloaders
LILO: LInux LOad. Original Linux bootloader. Still in use! http://freshmeat.net/projects/lilo/ Supports: x86 GRUB: GRand Unified Bootloader from GNU. More powerful. http://www.gnu.org/software/grub/ Supports: x86 SYSLINUX: Utilities for network and removable media booting http://syslinux.zytor.com Supports: x86

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263

Generic bootloaders
Das U-Boot: Universal Bootloader from Denk Software The most used on arm. http://u-boot.sourceforge.net/ Supports: arm, ppc, mips, x86 RedBoot: eCos based bootloader from Red-Hat http://sources.redhat.com/redboot/ Supports: x86, arm, ppc, mips, sh, m68k... uMon: MicroMonitor general purpose, multi-OS bootloader http://microcross.com/html/micromonitor.html Supports: ARM, ColdFire, SH2, 68K, MIPS, PowerPC, Xscale...

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264

Other bootloaders
LAB: Linux As Bootloader, from Handhelds.org http://handhelds.org/cgi-bin/cvsweb.cgi/linux/kernel26/lab/ Idea: use a trimmed Linux kernel with only features needed in a bootloader (no scheduling, etc.). Reuses flash and filesystem access, LCD interface, without having to implement bootloader specific drivers. Supports: arm (still experimental) And many more: lots of platforms have their own!

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265

Postprocessing kernel image for U-boot

The U-boot bootloader needs extra information to be added to the kernel and initrd image files. mkimage postprocessing utility provided in U-boot sources Kernel image postprocessing: make uImage

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266

Postprocessing initrd image for U-boot

mkimage -n initrd \ -A arm \ -O linux \ -T ramdisk \ -C gzip \ -d rd-ext2.gz \ uInitrd Name Architecture Operating System Type Compression Input file Output file

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267

Compiling U-boot mkimage

If you don't have mkimage yet Get the U-boot sources from http://u-boot.sourceforge.net/ In the U-boot source directory: Find the name of the config file for your board in include/configs (for example: omap1710h3.h) make omap1710h3_config (.h replaced by _config) make (or make -k if you have minor failures) cp tools/mkimage /usr/local/bin/

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268

Embedded Linux driver development

Compiling and booting Linux

Kernel booting

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269

Kernel command line parameters

As most C programs, the Linux kernel accepts command line arguments Kernel command line arguments are part of the bootloader configuration settings. Useful to configure the kernel at boot time, without having to recompile it. Useful to perform advanced kernel and driver initialization, without having to use complex user-space scripts.

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270

Kernel command line example

HP iPAQ h2200 PDA booting example: root=/dev/ram0 \ rw \ init=/linuxrc \ console=ttyS0,115200n8 \ console=tty0 \ ramdisk_size=8192 \ cachepolicy=writethrough Root filesystem (first ramdisk) Root filesystem mounting mode First userspace program Console (serial) Other console (framebuffer) Misc parameters...

Hundreds of command line parameters described on Documentation/kernel-parameters.txt

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271

Booting variants
XIP (Execute In Place) The kernel image is directly executed from the storage Can be faster and save RAM However, the kernel image can't be compressed No initramfs / initrd Directly mounting the final root filesystem (root kernel command line option) No new root filesystem Running the whole system from the initramfs

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272

Usefulness of rootfs on NFS

Once networking works, your root filesystem could be a directory on your GNU/Linux development host, exported by NFS (Network File System). This is very convenient for system development: Makes it very easy to update files (driver modules in particular) on the root filesystem, without rebooting. Much faster than through the serial port. Can have a big root filesystem even if you don't have support for internal or external storage yet. The root filesystem can be huge. You can even build native compiler tools and build all the tools you need on the target itself (better to cross-compile though).

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273

NFS boot setup (1)

On the PC (NFS server) Add the below line to your /etc/exports file:
client address
/home/rootfs 192.168.0.202(rw,insecure,sync,no_wdelay,no_root_squash)

If not running yet, you may need to start portmap

/etc/init.d/portmap start

NFS server options

Start or restart your NFS server: Fedora Core: /etc/init.d/nfs restart Debian (Knoppix, KernelKit): /etc/init.d/nfs-user-server restart

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274

NFS boot setup (2)

On the target (NFS client) Compile your kernel with CONFIG_NFS_FS=y and CONFIG_ROOT_NFS=y Boot the kernel with the below command line options:
root=/dev/nfs virtual device ip=192.168.1.111:192.168.1.110:192.168.1.100:255.255.255.0:at91:eth0 local IP address server IP address gateway netmask hostname device nfsroot=192.168.1.110:/home/nfsroot NFS server IP address Directory on the NFS server

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275

First user-space program

Specified by the init kernel command line parameter Executed at the end of booting by the kernel Takes care of starting all other user-space programs (system services and user programs). Gets the 1 process number (pid) Parent or ancestor of all user-space programs The system won't let you kill it. Only other user-space program called by the kernel: /sbin/hotplug

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276

/linuxrc
1 of the 2 default init programs (if no init parameter is given to the kernel) Traditionally used in initrds or in simple systems not using /sbin/init. Is most of the time a shell script, based on a very lightweight shell: nash or busybox sh This script can implement complex tasks: detecting drivers to load, setting up networking, mounting partitions, switching to a new root filesystem...

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277

The init program

/sbin/init is the second default init program Takes care of starting system services, and eventually the user interfaces (sshd, X server...) Also takes care of stopping system services Lightweight, partial implementation available through busybox See the Init runlevels annex section for more details about starting and stopping system services with init. However, simple startup scripts are often sufficient in embedded systems.

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278

Embedded Linux driver development

Compiling and booting Linux

Linux device files

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279

Character device files

Accessed through a sequential flow of individual characters Character devices can be identified by their c type (ls -l):
crw-rw---crw--w---crw------crw-rw-rw1 1 1 1 root jdoe root root uucp 4, tty 136, root 13, root 1, 64 1 32 3 Feb Feb Feb Feb 23 23 23 23 2004 2004 2004 2004 /dev/ttyS0 /dev/pts/1 /dev/input/mouse0 /dev/null

Example devices: keyboards, mice, parallel port, IrDA, Bluetooth port, consoles, terminals, sound, video...

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280

Block device files

Accessed through data blocks of a given size. Blocks can be accessed in any order. Block devices can be identified by their b type (ls -l):
brw-rw---brw-rw---brw-rw---brw-rw---brw------1 1 1 1 1 root jdoe root root root disk floppy disk disk root 3, 2, 7, 1, 8, 1 0 0 1 1 Feb Feb Feb Feb Feb 23 23 23 23 23 2004 2004 2004 2004 2004 hda1 fd0 loop0 ram1 sda1

Example devices: hard or floppy disks, ram disks, loop devices...

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281

Device major and minor numbers

As you could see in the previous examples, device files have 2 numbers associated to them: First number: major number Second number: minor number Major and minor numbers are used by the kernel to bind a driver to the device file. Device file names don't matter to the kernel! To find out which driver a device file corresponds to, or when the device name is too cryptic, see Documentation/devices.txt.

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282

Device file creation

Device files are not created when a driver is loaded. They have to be created in advance: mknod /dev/<device> [c|b] <major> <minor> Examples: mknod /dev/ttyS0 c 4 64 mknod /dev/hda1 b 3 1

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283

Drivers without device files

They don't have any corresponding /dev entry you could read or write through a regular Unix command. Network drivers They are represented by a network device such as ppp0, eth1, usbnet, irda0 (listed by ifconfig -a) Other drivers Often intermediate or lowlevel drivers just interfacing with other ones. Example: usbcore.

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284

Embedded Linux driver development

Driver development
Loadable kernel modules

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285

Loadable kernel modules (1)

Modules: add a given functionality to the kernel (drivers, filesystem support, and many others) Can be loaded and unloaded at any time, only when their functionality is need. Once loaded, have full access to the whole kernel. No particular protection. Useful to keep the kernel image size to the minimum (essential in GNU/Linux distributions for PCs).

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286

Loadable kernel modules (2)

Useful to support incompatible drivers (either load one or the other, but not both) Useful to deliver binary-only drivers (bad idea) without having to rebuild the kernel. Modules make it easy to develop drivers without rebooting: load, test, unload, rebuild, load... Modules can also be compiled statically into the kernel.

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287

Module dependencies
Module dependencies stored in /lib/modules/<version>/modules.dep They don't have to be described by the module writer. They are automatically computed during kernel building from module exported symbols. module2 depends on module1 if module2 uses a symbol exported by module1. You can update the modules.dep file by running (as root) depmod -a [<version>]

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288

hello module
/* hello.c */ #include <linux/init.h> #include <linux/module.h> #include <linux/kernel.h> static int __init hello_init(void) { printk(KERN_ALERT "Good morrow"); printk(KERN_ALERT "to this fair assembly.\n"); return 0; } static void __exit hello_exit(void) { printk(KERN_ALERT "Alas, poor world, what treasure"); printk(KERN_ALERT "hast thou lost!\n"); } module_init(hello_init); module_exit(hello_exit); MODULE_LICENSE("GPL"); MODULE_DESCRIPTION("Greeting module"); MODULE_AUTHOR("William Shakespeare");

__init: removed after initialization (static kernel or module). __exit: discarded when module compiled statically into the kernel.

Example available on http://free-electrons.com/doc/c/hello.c

289

Module license usefulness

Used by kernel developers to identify issues coming from proprietary drivers, which they can't do anything about. Useful for users to check that their system is 100% free Useful for GNU/Linux distributors for their release policy checks.

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290

Possible module license strings

Available license strings explained in include/linux/module.h GPL GNU Public License v2 or later GPL v2 GNU Public License v2 GPL and additional rights Dual BSD/GPL GNU Public License v2 or BSD license choice Dual MPL/GPL GNU Public License v2 or Mozilla license choice Proprietary Non free products

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291

Compiling a module
The below Makefile should be reusable for any Linux 2.6 module. Just run make to build the hello.ko file Caution: make sure there is a [Tab] character at the beginning of the $(MAKE) line (make syntax)
# Makefile for the hello module obj-m := hello.o KDIR := /lib/modules/$(shell uname -r)/build PWD := $(shell pwd) default: $(MAKE) -C $(KDIR) SUBDIRS=$(PWD) modules Either - full kernel source directory (configured and compiled) - or just kernel headers directory (minimum needed )

[Tab]! (no spaces)

Example available on http://free-electrons.com/doc/c/Makefile

292

Using the module

Need to be logged as root Load the module: insmod ./hello.ko You will see the following in the kernel log: Good morrow to this fair assembly Now remove the module: rmmod hello You will see: Alas, poor world, what treasure hast thou lost!
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293

Module utilities (1)

modinfo <module_name> modinfo <module_path>.ko Gets information about a module: parameters, license, description. Very useful before deciding to load a module or not. insmod <module_name> insmod <module_path>.ko Tries to load the given module, if needed by searching for its .ko file throughout the default locations (can be redefined by the MODPATH environment variable).

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294

Module utilities (2)

modprobe <module_name> Most common usage of modprobe: tries to load all the modules the given module depends on, and then this module. Lots of other options are available. lsmod Displays the list of loaded modules Compare its output with the contents of /proc/modules!

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295

Module utilities (3)

rmmod <module_name> Tries to remove the given module modprobe -r <module_name> Tries to remove the given module and all dependent modules (which are no longer needed after the module removal)

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296

Embedded Linux driver development

Driver development
Module parameters

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297

hello module with parameters

/* hello_param.c */ #include <linux/init.h> #include <linux/module.h> #include <linux/moduleparam.h> MODULE_LICENSE("GPL"); /* A couple of parameters that can be passed in: how many times we say hello, and to whom */ static char *whom = "world"; module_param(whom, charp, 0); static int howmany = 1; module_param(howmany, int, 0); static int __init hello_init(void) { int i; for (i = 0; i < howmany; i++) printk(KERN_ALERT "(%d) Hello, %s\n", i, whom); return 0; } static void __exit hello_exit(void) { printk(KERN_ALERT "Goodbye, cruel %s\n", whom); } module_init(hello_init); module_exit(hello_exit);

Thanks to Jonathan Corbet for the example!

Example available on http://free-electrons.com/doc/c/hello_param.c

298

Passing module parameters

Through insmod or modprobe: insmod ./hello_param.ko howmany=2 whom=universe Through modprobe after changing the /etc/modprobe.conf file: options hello_param howmany=2 whom=universe Through the kernel command line, when the module is built statically into the kernel:
options hello_param.howmany=2 hello_param.whom=universe module name module parameter name module parameter value
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299

Declaring a module parameter

#include <linux/moduleparam.h> module_param( /* name of an already defined variable */ name, type, /* either byte, short, ushort, int, uint, long, ulong, charp, bool or invbool (checked at compile time!) */ perm /* for /sys/module/<module_name>/<param> 0: no such module parameter value file */ ); Example int irq=5; module_param(irq, int, S_IRUGO);

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300

Declaring a module parameter array

#include <linux/moduleparam.h> module_param_array( /* name of an already defined array */ name, type, /* same as in module_param */ num, /* number of elements in the array, or NULL (no check?) */ perm /* same as in module_param */ ); Example static int base[MAX_DEVICES] = { 0x820, 0x840 }; module_param_array(base, int, NULL, 0);

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301

Embedded Linux

Driver development
Using the proc file system interface

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302

hello module with proc file

#include <linux/proc_fs.h> #define MYNAME "driver/my_proc_file" static struct proc_dir_entry *my_proc_dir = NULL;

The proc file name The proc_dir _entry struct Callback function page is the buffer we write to Setting *eof to 1 means end of file. start is set to a pointer to where we wrote second parameters is file permission, last parameter is a handle of directory. Don't forget to check for NULL here!

int mymodule_proc_read(char *page, char **start, off_t off, int count, int *eof, void *data) { int len = 0; len += sprintf(page + len, "io=%d\n", io); len += sprintf(page + len, "irq=%d\n", irq); if (len <= off+count) *eof = 1; *start = page + off; len -= off; if (len > count) len = count; if (len < 0) len = 0; return len;

int __init startup_mymodule(void) { my_proc_dir = create_proc_entry(MYNAME, 0, NULL); my_proc_dir->read_proc = mymodule_proc_read; return 0; } void __exit shutdown_mymodule(void) { remove_proc_entry(MYNAME, NULL); }
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303

Some more proc details

You can also register a proc_write callback. proc_dir_entry has a data field. The kernel does not use it, but whatever you set there will be returned to you as the last parameter of the callback. The permissions (2nd) parameter of create_proc_entry is the same as the mode flags of the open(2) system call. 0 means use the system wide defaults. The directory handle (3rd) parameter of create_proc_entry is an address of proc_dir_entry for a proc directory. NULL means the proc root directory. For large and complex files use the seq_file wrapper.
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304

Using a proc file

Once the module is loaded, you can access the registered proc file: From the shell: Read cat /proc/driver/my_proc_file Write echo 123 > /proc/driver/my_proc_file Programatically, using open(2), read(2) write(2) and related functions. You can't delete, move or rename a proc file. Proc files usually don't have reported size.

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305

Embedded Linux driver development

Driver development
Adding sources to the kernel tree

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306

New directory in kernel sources (1)

To add an acme_drivers/ directory to the kernel sources: Move the acme_drivers/ directory to the appropriate location in kernel sources Create an acme_drivers/Kconfig file Create an acme_drivers/Makefile file based on the Kconfig variables In the parent directory Kconfig file, add source acme_drivers/Kconfig

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307

New directory in kernel sources (2)

In the parent directory Makefile file, add
obj-$(CONFIG_ACME) += acme_drivers/ (just 1 condition)

or
obj-y += acme_drivers/ (several conditions)

Run make xconfig and see your new options! Run make and your new files are compiled!
See Documentation/kbuild/ for details

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308

How to create Linux patches

Download the latest kernel sources Make a copy of these sources: rsync -a linux-2.6.9-rc2/ linux-2.6.9-rc2-patch/

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309

Embedded Linux driver development

Driver development
Memory management

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310

Physical Memory
In ccNUMA1 machines:
The memory of each node is represented in pg_data_t These memories are linked into pgdat_list

In uniform memory access systems:

There is just one pg_data_t named contig_page_data

If you don't know which of these is your machine, you're using a uniform memory access system :-)
1

ccNUMA: Cache Coherent Non Uniform Memory Access

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311

Memory Zones
Each pg_data_t is split to three zones Each zone has different properties:
ZONE_DMA
DMA operations on address limited busses is possible

ZONE_NORMAL
Maps directly to linear addressing (<~1Gb on i386) Always mapped to kernel space.

ZONE_HIMEM
Rest of memory. Mapped into kernel space on demand.
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312

Physical and virtual memory

Physical address space
0xFFFFFFFFF
0xFFFFFFFFF

Virtual address spaces

0xFFFFFFFFF

I/O memory 3
Kernel Process1

I/O memory 2 I/O memory 1

0x00000000 0x00000000

Flash

MMU
Memory Management Unit

CPU
0xFFFFFFFFF

RAM 1 RAM 0

All the processes have their own virtual address space, and run as if they had access to the whole address space.

Process2

0x00000000

0x00000000
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313

3:1 Virtual Memory Map

Physical address space
0xFFFFFFFFF

Random opportunistic mappings

Virtual address spaces

Kernel Virtual Addresses Kernel Logical Addresses
PAGE_OFFSET 0xC0000000 0xFFFFFFFFF VMALLOC_START

I/O memory

3rd Gb

2nd Gb

User Space 1st Gb

1:1 persistent mapping

0x00000000
Copyright 2006-2004, Michael Opdenacker Copyright 2003-2006, Oron Peled Copyright 2004-2006 Codefidence Ltd.

Zero Page
0x00000000

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314

Address Types
Physical address
Physical memory as seen from the CPU, with out MMU1 translation.

Bus address
Physical memory as seen from device bus. May or may not be virtualized (via IOMMU, GART, etc).

Virtual address
Memory as seen from the CPU, with MMU1 translation.
1

MMU: Memory Management Unit

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315

Address Translation Macros

bus_to_phys(address) phys_to_bus(address) phys_to_virt(address) virt_to_phys(address) bus_to_virt(address) virt_to_bus(address) ...

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316

The MMU
Task 12 12 15 Virtual Physical Permission 0x8000 0x8001 0x8000 0x5340 0x1000 0x3390 RWX RX RX

CPU

MMU

Memory

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317

kmalloc and kfree

Basic allocators, kernel equivalents of glibc's malloc and free.
static inline void *kmalloc(size_t size, int flags);

size: number of bytes to allocate flags: priority (see next page)

void kfree (const void *objp); Example: data = kmalloc(sizeof(*data), GFP_KERNEL); ... kfree(data);

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318

kmalloc features
Quick (unless it's blocked waiting for memory to be freed). Doesn't initialize the allocated area. You can use kcalloc or kzalloc to get zeroed memory. The allocated area is contiguous in physical RAM. Allocates by 2n sizes, and uses a few management bytes. So, don't ask for 1024 when you need 1000! You'd get 2048! Caution: drivers shouldn't try to kmalloc more than 128 KB (upper limit in some architectures).

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319

Main kmalloc flags (1)

Defined in include/linux/gfp.h (GFP: get_free_pages) GFP_KERNEL Standard kernel memory allocation. May block. Fine for most needs. GFP_ATOMIC Allocated RAM from interrupt handlers or code not triggered by user processes. Never blocks. GFP_USER Allocates memory for user processes. May block. Lowest priority.

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320

Main kmalloc flags (2)

Extra flags (can be added with |) __GFP_DMA Allocate in DMA zone __GFP_REPEAT Ask to try harder. May still block, but less likely. __GFP_NOFAIL Must not fail. Never gives up. Caution: use only when mandatory! __GFP_NORETRY If allocation fails, doesn't try to get free pages. Example: GFP_KERNEL | __GFP_DMA

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321

Slab caches
Also called lookaside caches Slab: name of the standard Linux memory allocator Slab caches: Objects that can hold any number of memory areas of the same size. Optimum use of available RAM and reduced fragmentation. Mainly used in Linux core subsystems: filesystems (open files, inode and file caches...), networking... Live stats on /proc/slabinfo. May be useful in device drivers too, though not used so often. Linux 2.6: used by USB and SCSI drivers.

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322

Slab cache API (1)

#include <linux/slab.h> Creating a cache: cache = kmem_cache_create ( /* Name for /proc/slabinfo */ name, size, /* Cache object size */ flags, /* Options: alignment, DMA... */ constructor, /* Optional, called after each allocation */ destructor); /* Optional, called before each release */

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323

Slab cache API (2)

Allocating from the cache: object = kmem_cache_alloc (cache, flags); Freing an object: kmem_cache_free (cache, object); Destroying the whole cache: kmem_cache_destroy (cache); More details and an example in the Linux Device Drivers book: http://lwn.net/images/pdf/LDD3/ch08.pdf

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324

Memory pools
Useful for memory allocations that cannot fail Kind of lookaside cache trying to keep a minimum number of pre-allocated objects ahead of time. Use with care: otherwise can result in a lot of unused memory that cannot be reclaimed! Use other solutions whenever possible.

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325

Memory pool API (1)

#include <linux/mempool.h> Mempool creation: mempool = mempool_create ( min_nr, alloc_function, free_function, pool_data);

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326

Memory pool API (2)

Allocating objects: object = mempool_alloc (pool, flags); Freeing objects: mempool_free (object, pool); Resizing the pool: status = mempool_resize ( pool, new_min_nr, flags); Destroying the pool (caution: free all objects first!): mempool_destroy (pool);

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327

Memory pool implementation

mempool_create Call alloc function min_nr times

No mempool_alloc Call alloc function Success?

Take an object from the pool

Yes Yes mempool_free pool count < min_nr? No Call free function on object Add freed object to pool New object

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328

Memory pools using slab caches

Idea: use slab cache functions to allocate and free objects. The mempool_alloc_slab and mempool_free_slab functions supply a link with slab cache routines. So, you will find many code examples looking like: cache = kmem_cache_create (...); pool = mempool_create ( min_nr, mempool_alloc_slab, mempool_free_slab, cache);

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329

Allocating by pages
More appropriate when you need big slices of RAM: unsigned long get_zeroed_page(int flags); Returns a pointer to a free page and fills it up with zeros unsigned long __get_free_page(int flags); Same, but doesn't initialize the contents unsigned long __get_free_pages(int flags, unsigned long order); Returns a pointer on a memory zone of several contiguous pages in physical RAM. order: log2(<number_of_pages>) maximum: 8192 KB (MAX_ORDER=11 in linux/mmzone.h)

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330

Freeing pages
void free_page(unsigned long addr); void free_pages(unsigned long addr, unsigned long order); Need to use the same order as in allocation.

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331

The Buddy System

Kernel memory page allocation follows the Buddy System. Free Page Frames are allocated in powers of 2: If suitable page frame is found, allocate. Else: seek higher order frame, allocate half, keep buddy When freeing page frames, coalescing occurs.

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332

Buddy System 1

16 Mb

We need 8 Mb of memory, but don't find an exact match. We do have a block of 16 Mb memory though.

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333

Buddy System 2

8 Mb

So we'll split the 16 Mb into two 8 Mb areas.

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334

Buddy System 3

8 Mb

We'll use 8 Mb and keep the rest as a free block of 8 Mb.

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335

Buddy System 4

8 Mb

When the allocated memory has been freed...

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336

Buddy System 5

16 Mb We can once again combine the two blocks in a single 16 Mb free block. Because of the order of 2 allocation, it's easy to spot our buddy.
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337

vmalloc
vmalloc can be used to obtain contiguous memory zones in virtual address space (even if pages may not be contiguous in physical memory). void *vmalloc(unsigned long size); void vfree(void *addr);

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338

Memory utilities
void * memset(void * s, int c, size_t count); Fills a region of memory with the given value. void * memcpy(void * dest, const void *src, size_t count); Copies one area of memory to another. Use memmove with overlapping areas. Lots of functions equivalent to standard C library ones defined in include/linux/string.h

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339

Memory management - Summary

Small allocations kmalloc, kzalloc (and kfree!) slab caches memory pools Bigger allocations __get_free_page[s], get_zeroed_page, free_page[s] vmalloc, vfree Libc like memory utilities memset, memcopy, memmove...

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340

Embedded Linux driver development

Driver development
I/O memory and ports

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341

Requesting I/O ports

/proc/ioports example 0000-001f 0020-0021 0040-0043 0050-0053 0060-006f 0070-0077 0080-008f 00a0-00a1 00c0-00df 00f0-00ff 0100-013f 0170-0177 01f0-01f7 0376-0376 0378-037a 03c0-03df 03f6-03f6 03f8-03ff 0800-087f 0800-0803 0804-0805 0808-080b 0820-0820 0828-082f ... : : : : : : : : : : : : : : : : : : : : : : : : dma1 pic1 timer0 timer1 keyboard rtc dma page reg pic2 dma2 fpu pcmcia_socket0 ide1 ide0 ide1 parport0 vga+ ide0 serial 0000:00:1f.0 PM1a_EVT_BLK PM1a_CNT_BLK PM_TMR PM2_CNT_BLK GPE0_BLK

struct resource *request_region( unsigned long start, unsigned long len, char *name); Tries to reserve the given region and returns NULL if unsuccessful. Example: request_region(0x0170, 8, "ide1"); void release_region( unsigned long start, unsigned long len); See include/linux/ioport.h and kernel/resource.c
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342

Reading / writing on I/O ports

The implementation of the below functions and the exact unsigned type can vary from platform to platform! bytes unsigned inb(unsigned port); void outb(unsigned char byte, unsigned port); words unsigned inw(unsigned port); void outw(unsigned char byte, unsigned port); "long" integers unsigned inl(unsigned port); void outl(unsigned char byte, unsigned port);

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343

Reading / writing strings on I/O ports

Often more efficient than the corresponding C loop, if the processor supports such operations! byte strings
void insb(unsigned port, void *addr, unsigned long count); void outsb(unsigned port, void *addr, unsigned long count);

word strings
void insw(unsigned port, void *addr, unsigned long count); void outsw(unsigned port, void *addr, unsigned long count);

long strings
void inbsl(unsigned port, void *addr, unsigned long count); void outsl(unsigned port, void *addr, unsigned long count);

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344

Requesting I/O memory

/proc/iomem example 00000000-0009efff : 0009f000-0009ffff : 000a0000-000bffff : 000c0000-000cffff : 000f0000-000fffff : 00100000-3ffadfff : 00100000-0030afff 0030b000-003b4bff 3ffae000-3fffffff : 40000000-400003ff : 40001000-40001fff : 40001000-40001fff 40002000-40002fff : 40002000-40002fff 40400000-407fffff : 40800000-40bfffff : 40c00000-40ffffff : 41000000-413fffff : a0000000-a0000fff : a0001000-a0001fff : e0000000-e7ffffff : e8000000-efffffff : e8000000-efffffff ... System RAM reserved Video RAM area Video ROM System ROM System RAM : Kernel code : Kernel data reserved 0000:00:1f.1 0000:02:01.0 : yenta_socket 0000:02:01.1 : yenta_socket PCI CardBus #03 PCI CardBus #03 PCI CardBus #07 PCI CardBus #07 pcmcia_socket0 pcmcia_socket1 0000:00:00.0 PCI Bus #01 : 0000:01:00.0

Equivalent functions with the same interface

struct resource * request_mem_region( unsigned long start, unsigned long len, char *name); void release_mem_region( unsigned long start, unsigned long len);

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345

Choosing I/O ranges

I/O port and memory ranges can be passed as module parameters. An easy way to define those parameters is through /etc/modprobe.conf. Modules can also try to find free ranges by themselves (making multiple calls to request_region or request_mem_region.

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346

Mapping I/O memory in virtual memory

To access I/O memory, drivers need to have a virtual address that the processor can handle. The ioremap functions satisfy this need: #include <asm/io.h> void *ioremap(unsigned long phys_addr, unsigned long size); void iounmap(void *address); Caution: check that ioremap doesn't return a NULL address!

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347

Differences with standard memory

Reads and writes on memory can be cached The compiler may choose to write the value in a cpu register, and may never write it in main memory. The compiler may decide to optimize or reorder read and write instructions.

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348

Avoiding I/O access issues

Caching on I/O ports or memory already disabled, either by the hardware or by Linux init code. Memory barriers are supplied to avoid reordering

Hardware independent
#include <asm/kernel.h> void barrier(void);

Hardware dependent

#include <asm/system.h> void rmb(void); void wmb(void); Only impacts the behavior of the compiler. Doesn't prevent reordering void mb(void); Safe on all architectures! in the processor!

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349

Accessing I/O memory

Directly reading from or writing to addresses returned by ioremap (pointer dereferencing) may not work on some architectures. Use the below functions instead. They are always portable and safe:
unsigned int ioread8(void *addr); (same for 16 and 32) void iowrite8(u8 value, void *addr); (same for 16 and 32)

To read or write a series of values:

void ioread8_rep(void *addr, void *buf, unsigned long count); void iowrite8_rep(void *addr, const void *buf, unsigned long count);

Other useful functions:

void memset_io(void *addr, u8 value, unsigned int count); void memcpy_fromio(void *dest, void *source, unsigned int count); void memcpy_toio(void *dest, void *source, unsigned int count);

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350

/dev/mem
Used to provide user-space applications with direct access to physical addresses. Actually only works with addresses that are non-RAM (I/O memory) or with addresses that have some special flag set in the kernel's data structures. Fortunately, doesn't provide access to any address in physical RAM! Used by applications such as the X server to write directly to device memory.

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351

Embedded Linux driver development

Driver development
Character drivers

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352

Usefulness of character drivers

Except for storage device drivers, most drivers for devices with input and output flows are implemented as character drivers. So, most drivers you will face will be character drivers You will regret if you sleep during this part!

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353

Creating a character driver

User-space

User-space needs The name of a device file in /dev to interact with the device driver through regular file operations (open, read, write, close...) The kernel needs
Copy from user Copy to user Read buffer read /dev/foo Write string write

To know which driver is in charge of device files with a given major / minor number pair For a given driver, to have handlers (file operations) to execute when user-space opens, reads, writes or closes the device file.

major / minor

Read handler

Write handler

Device driver Kernel space

354

Declaring a character driver

Device number registration Need to register one or more device numbers (major / minor pairs), depending on the number of devices managed by the driver. Need to find free ones! File operations registration Need to register handler functions called when user space programs access the device files: open, read, write, ioctl, close...

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355

Information on registered devices

Registered devices are visible in /proc/devices:
Character devices: Block devices: 1 mem 1 ramdisk 4 /dev/vc/0 3 ide0 4 tty 8 sd 4 ttyS 9 md 5 /dev/tty 22 ide1 5 /dev/console 65 sd 5 /dev/ptmx 66 sd 6 lp 67 sd 7 vcs 68 sd 10 misc 69 sd 13 input 14 sound ... Major Registered

Can be used to find free major numbers

number
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name

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356

dev_t structure
Kernel data structure to represent a major / minor pair Defined in <linux/kdev_t.h> Linux 2.6: 32 bit size (major: 12 bits, minor: 20 bits) Macro to create the structure: MKDEV(int major, int minor); Macro to extract the numbers: MAJOR(dev_t dev); MINOR(dev_t dev);

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357

Allocating fixed device numbers

#include <linux/fs.h> int register_chrdev_region( dev_t from, /* Starting device number */ unsigned count, /* Number of device numbers */ const char *name); /* Registered name */ Returns 0 if the allocation was successful. Example
if (register_chrdev_region(MKDEV(202, 128), acme_count, acme)) { printk(KERN_ERR Failed to allocate device number\n); ...

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358

Dynamic allocation of device numbers

Safer: have the kernel allocate free numbers for you! #include <linux/fs.h> int alloc_chrdev_region( /* Output: starting device number */ dev_t *dev, unsigned baseminor, /* Starting minor number, usually 0 */ unsigned count, /* Number of device numbers */ const char *name); /* Registered name */ Returns 0 if the allocation was successful. Example
if (alloc_chrdev_region(&acme_dev, 0, acme_count, acme)) { printk(KERN_ERR Failed to allocate device number\n); ...

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359

Creating device files

Issue: you can no longer create /dev entries in advance! You have to create them on the fly after loading the driver according to the allocated major number. Trick: the script loading the module can then use /proc/devices:
module=foo; name=foo; device=foo rm -f /dev/$device Caution: back quotes! insmod $module.ko major=`awk "\\$2==\"$name\" {print \\$1}" /proc/devices` mknod /dev/$device c $major 0

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360

file operations (1)

Before registering character devices, you have to define file_operations (called fops) for the device files. Here are the main ones: int (*open) ( struct inode *, /* Corresponds to the device file */ struct file *); /* Corresponds to the open file descriptor */ Called when user-space opens the device file. int (*release) ( struct inode *, struct file *); Called when user-space closes the file.

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361

The file structure

Is created by the kernel during the open call. Represents open files. Pointers to this structure are usually called "fips". mode_t f_mode; The file opening mode (FMODE_READ and/or FMODE_WRITE) loff_t f_pos; Current offset in the file. struct file_operations *f_op; Allows to change file operations for different open files! struct dentry *f_dentry Useful to get access to the inode: filp->f_dentry->d_inode.

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362

file operations (2)

ssize_t (*read) ( struct file *, /* Open file descriptor */ char *, /* User-space buffer to fill up */ size_t, /* Size of the user-space buffer */ loff_t *); /* Offset in the open file */ Called when user-space reads from the device file. ssize_t (*write) ( struct file *, /* Open file descriptor */ const char *, /* User-space buffer to write to the device */ size_t, /* Size of the user-space buffer */ loff_t *); /* Offset in the open file */ Called when user-space writes to the device file.

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363

Exchanging data with user-space (1)

The user-space address may be swapped out to disk The user-space address may be invalid (user space process trying to access unauthorized data)

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364

Exchanging data with user-space (2)

You must use dedicated functions such as the following ones in your read and write file operations code: include <asm/uaccess.h> unsigned long copy_to_user (void __user *to, const void *from, unsigned long n); unsigned long copy_from_user (void *to, const void __user *from, unsigned long n); Make sure that these functions return 0! Another return value would mean that they failed.
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365

file operations (3)

int (*ioctl) (struct inode *, struct file *, unsigned int, unsigned long); Can be used to send specific commands to the device, which are neither reading nor writing (e.g. formatting a disk, configuration changes). int (*mmap) (struct file *, struct vm_area_struct); Asking for device memory to be mapped into the address space of a user process struct module *owner; Used by the kernel to keep track of who's using this structure and count the number of users of the module.

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366

read operation example

static ssize_t acme_read(struct file *file, char __user *buf, size_t count, loff_t * ppos) { /* The hwdata address corresponds to a device I/O memory area */ /* of size hwdata_size, obtained with ioremap() */ int remaining_bytes; /* Number of bytes left to read in the open file */ remaining_bytes = min(hwdata_size - (*ppos), count); if (remaining_bytes == 0) { /* All read, returning 0 (End Of File) */ return 0; } if (copy_to_user(buf /* to */, *ppos+hwdata /* from */, remaining_bytes)) { return -EFAULT; } else { /* Increase the position in the open file */ *ppos += remaining_bytes; return remaining_bytes; }

Read method

Piece of code available on http://free-electrons.com/doc/c/acme_read.c

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367

write operation example

static ssize_t acme_write(struct file *file, const char __user *buf, size_t count, loff_t * ppos) { /* Assuming that hwdata corresponds to a physical address range */ /* of size hwdata_size, obtained with ioremap() */ /* Number of bytes not written yet in the device */ remaining_bytes = hwdata_size - (*ppos); if (count > remaining_bytes) { /* Can't write beyond the end of the device */ return -EIO; } if (copy_from_user(*ppos+hwdata /* to */, buf /* from */, count)) { return -EFAULT; } else { /* Increase the position in the open file */ *ppos += count; return count; }

Write method

Piece of code available on http://free-electrons.com/doc/c/acme_write.c

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368

file operations definition example (3)

Defining a file_operations structure
include <linux/fs.h> static struct file_operations acme_fops = { .owner = THIS_MODULE, .read = acme_read, .write = acme_write, };

You just need to supply the functions you implemented! Defaults for other functions (such as open, release...) are fine if you do not implement anything special.
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369

Character device registration (1)

The kernel represents character drivers with a cdev structure Declare this structure globally (within your module): #include <linux/cdev.h> static struct cdev *acme_cdev; In the init function, allocate the structure and set its file operations: acme_cdev = cdev_alloc(); acme_cdev->ops = &acme_fops; acme_cdev->owner = THIS_MODULE;

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370

Character device registration (2)

Then, now that your structure is ready, add it to the system: int cdev_add( /* Character device structure */ struct cdev *p, dev_t dev, /* Starting device major / minor number */ unsigned count); /* Number of devices */

Example (continued):
if (cdev_add(acme_cdev, acme_dev, acme_count)) { printk (KERN_ERR Char driver registration failed\n);

...

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371

Character device unregistration

First delete your character device: void cdev_del(struct cdev *p); Then, and only then, free the device number: void unregister_chrdev_region(dev_t from, unsigned count); Example (continued): cdev_del(acme_cdev); unregister_chrdev_region(acme_dev, acme_count);

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372

Linux error codes

Try to report errors with error numbers as accurate as possible! Fortunately, macro names are explicit and you can remember them quickly. Generic error codes: include/asm-generic/errno-base.h Platform specific error codes: include/asm/errno.h

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373

Char driver example summary (1)

static void *acme_buf; static acme_bufsize=8192; static int acme_count=1; static dev_t acme_dev; static struct cdev *acme_cdev; static ssize_t acme_write(...) {...} static ssize_t acme_read(...) {...} static struct file_operations acme_fops = { .owner = THIS_MODULE, .read = acme_read, .write = acme_write, };

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374

Char driver example summary (2)

static int __init acme_init(void) { acme_buf = kmalloc(acme_bufsize, GFP_KERNEL); if (!acme_buf) { err = -ENOMEM; goto err_exit; } if (alloc_chrdev_region(&acme_dev, 0, acme_count, acme)) { err=-ENODEV; goto err_free_buf; } acme_cdev = cdev_alloc(); if (!acme_cdev) { err=-ENOMEM; goto err_dev_unregister; } acme_cdev->ops = &acme_fops; acme_cdev->owner = THIS_MODULE; if (cdev_add(acme_cdev, acme_dev, acme_dev_count)) { err=-ENODEV; goto err_free_cdev; } return 0; err_free_cdev: kfree(acme_cdev); err_dev_unregister: unregister_chrdev_region( acme_dev, acme_count); err_free_buf: kfree(acme_buf); err_exit: return err; } static void __exit acme_exit(void) { cdev_del(acme_cdev); unregister_chrdev_region(acme_dev, acme_count); kfree(acme_buf); }

Show how to handle errors and deallocate resources in the right order!
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375

Character driver summary

- Define the file operations callbacks for the device file: read, write, ioctl... - In the module init function, get major and minor numbers with alloc_chrdev_region(), init a cdev structure with your file operations and add it to the system with cdev_add(). - In the module exit function, call cdev_del() and unregister_chrdev_region()

Character driver writer

System administration

System user
- Open the device file, read, write, or send ioctl's to it.

Kernel
- Executes the corresponding file operations

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Kernel

User-space

- Load the character driver module - In /proc/devices, find the major number it uses. - Create the device file with this major number The device file is ready to use!

Kernel

376

Embedded Linux driver development

Driver development
Debugging

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377

Usefulness of a serial port

Most processors feature a serial port interface (usually very well supported by Linux). Just need this interface to be connected to the outside. Easy way of getting the first messages of an early kernel version, even before it boots. A minimum kernel with only serial port support is enough. Once the kernel is fixed and has completed booting, possible to access a serial console and issue commands. The serial port can also be used to transfer files to the target.

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378

When you don't have a serial port

On the host Not an issue. You can get a USB to serial converter. Usually very well supported on Linux and roughly costs $20. The device appears as /dev/ttyUSB0 on the host. On the target Check whether you have an IrDA port. It's usually a serial port too. If you have an Ethernet adapter, try with it You may also try to manually hook-up the processor serial interface (check the electrical specifications first!)

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379

Debugging with printk

Universal debugging technique used since the beginning of programming (first found in cavemen drawings) Printed or not in the console or /var/log/messages according to the priority. This is controlled by the loglevel kernel parameter, or through /proc/sys/kernel/printk (see Documentation/sysctl/kernel.txt) Available priorities (include/linux/kernel.h):
#define #define #define #define #define #define #define #define KERN_EMERG KERN_ALERT KERN_CRIT KERN_ERR KERN_WARNING KERN_NOTICE KERN_INFO KERN_DEBUG "<0>" "<1>" "<2>" "<3>" "<4>" "<5>" "<6>" "<7>" /* /* /* /* /* /* /* /* system is unusable */ action must be taken immediately */ critical conditions */ error conditions */ warning conditions */ normal but significant condition */ informational */ debug-level messages */

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380

Debugging with /proc or /sys (1)

Instead of dumping messages in the kernel log, you can have your drivers make information available to user space Through a file in /proc or /sys, which contents are handled by callbacks defined and registered by your driver. Can be used to show any piece of information about your device or driver. Can also be used to send data to the driver or to control it. Caution: anybody can use these files. You should remove your debugging interface in production!

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381

Debugging with /proc or /sys (2)

Examples cat /proc/acme/stats (dummy example) Displays statistics about your acme driver. cat /proc/acme/globals (dummy example) Displays values of global variables used by your driver.
echo 600000 > /sys/devices/system/cpu/cpu0/cpufreq/scaling_setspeed

Adjusts the speed of the CPU (controlled by the cpufreq driver).

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382

Debugging with ioctl

Can use the ioctl() system call to query information about your driver (or device) or send commands to it. This calls the ioctl file operation that you can register in your driver. Advantage: your debugging interface is not public. You could even leave it when your system (or its driver) is in the hands of its users.

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383

Debugging with gdb

Schrdinger penguin principle. If you execute the kernel from a debugger on the same machine, this will interfere with the kernel behavior. However, you can access the current kernel state with gdb: gdb /usr/src/linux/vmlinux /proc/kcore uncompressed kernel kernel address space You can access kernel structures, follow pointers... (read only!) Requires the kernel to be compiled with CONFIG_DEBUG_INFO (Kernel hacking section)

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384

kgdb kernel patch

http://kgdb.linsyssoft.com/ The execution of the patched kernel is fully controlled by gdb from another machine, connected through a serial line. Can do almost everything, including inserting breakpoints in interrupt handlers. Supported architectures: i386, x86_64, ppc and s390.

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385

Kernel crash analysis with kexec

kexec system call: makes it possible to call a new kernel, without rebooting and going through the BIOS / firmware. Idea: after a kernel panic, make the kernel automatically execute a new, clean kernel from a reserved location in RAM, to perform post-mortem analysis of the memory of the crashed kernel. See Documentation/kdump/kdump.txt in the kernel sources for details.
1. Copy debug kernel to reserved RAM 3. Analyze crashed kernel RAM Standard kernel 2. kernel panic, kexec debug kernel Debug kernel

Regular RAM

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386

Kernel Oops
Caused by an exception in the kernel code itself. The kernel issues a diagnostic messaged, called an Oops!. The message contains debug information, such as register content, stack trace, code dump etc. After the message is sent to the log and console From within a task the kernel kills the task. From interrupt the kernel panics and may reboot automatically if given a-priori the panic=secs parameter.

In 2.4, stack trace addresses can be translated via the ksymoops utility. In 2.6, with the CONFIG_KALLSYMS option on, the kernel does translation internally.
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387

Kernel Oops Example

Unable to handle kernel NULL pointer dereference at virtual address 00000014 printing eip: d8d4d545 *pde = 00000000 Oops: 0000 CPU: 0 EIP: 0010:[<d8d4d545>] Tainted: PF EFLAGS: 00013286 eax: c8b078c0 ebx: c8b078c0 ecx: 00000019 edx: c8b078c0 esi: 00000000 edi: 00000000 ebp: bffff75c esp: c403bf84 ds: 0018 es: 0018 ss: 0018 Process vmware (pid: 5194, stackpage=c403b000) Stack: c8b078c0 00000000 bffff35c 00000000 c0136d64 c403bfa4 c8b078c0 c0130185 Call Trace: [sys_stat64+100/112] [filp_close+53/112] [sys_close+67/96] [system_call+51/56] Code: f6 46 14 01 74 1c 83 c4 f4 8b 06 50 e8 da 62 43 e7 83 c4 f8

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388

Kernel debugging tips

If your kernel doesn't boot yet or hangs without any message, it can help to activate Low Level debugging (Kernel Hacking section, only available on arm): CONFIG_DEBUG_LL=y More about kernel debugging in the free Linux Device Drivers book (References section)!

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389

Embedded Linux driver development

Driver development
Concurrent access to resources

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390

Sources of concurrency issues

The same resources can be accessed by several kernel processes in parallel, causing potential concurrency issues Several user-space programs accessing the same device data or hardware. Several kernel processes could execute the same code on behalf of user processes running in parallel. Multiprocessing: the same driver code can be running on another processor. This can also happen with single CPUs with hyperthreading. Kernel preemption, interrupts: kernel code can be interrupted at any time (just a few exceptions), and the same data may be access by another process before the execution continues.

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391

Avoiding concurrency issues

Avoid using global variables and shared data whenever possible (cannot be done with hardware resources) Don't make resources available to other kernel processes until they are ready to be used. Use techniques to manage concurrent access to resources. See Rusty Russell's Unreliable Guide To Locking Documentation/DocBook/kernel-locking/ in the kernel sources.

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392

Concurrency protection with semaphores

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393

Kernel semaphores
Also called mutexes (Mutual Exclusion)
V: Verhoog Increment in Dutch

1 (free) P (down) 0 (locked)

V (up)

P: Probeer Try (to decrement) in Dutch

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394

Initializing a semaphore
Statically DECLARE_MUTEX(name); DECLARE_MUTEX_LOCKED(name); Dynamically void init_MUTEX(struct semaphore *sem); void init_MUTEX_LOCKED(struct semaphore *sem);

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395

locking and unlocking semaphores

void down (struct semaphore *sem); Decrements the semaphore if set to 1, waits otherwise. Caution: can't be interrupted, causing processes you cannot kill! int down_interruptible (struct semaphore *sem); Same, but can be interrupted. If interrupted, returns a non zero value and doesn't hold the semaphore. Test the return value!!! int down_trylock (struct semaphore *sem); Never waits. Returns a non zero value if the semaphore is not available. void up (struct semaphore *sem); Releases the semaphore. Make sure you do it as soon as possible!

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396

Reader / writer semaphores

Allow shared access by unlimited readers, or by only 1 writer. Writers get priority. void init_rwsem (struct rw_semaphore *sem); void down_read (struct rw_semaphore *sem); int down_read_trylock (struct rw_semaphore *sem); int up_read (struct rw_semaphore *sem); void down_write (struct rw_semaphore *sem); int down_write_trylock (struct rw_semaphore *sem); int up_write (struct rw_semaphore *sem); Well suited for rare writes, holding the semaphore briefly. Otherwise, readers get starved, waiting too long for the semaphore to be released.

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397

When to use semaphores

Before and after accessing shared resources Before and after making other resources available to other parts of the kernel or to user-space (typically and module initialization). In situations when sleeping is allowed.

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398

Spinlocks
Locks to be used for code that can't sleep (critical sections, interrupt handlers... Be very careful not to call functions which can sleep! Intended for multiprocessor systems Spinlocks are not interruptible, don't sleep and keep spinning in a loop until the lock is available.
Spinlock Still locked?

Spinlocks cause kernel preemption to be disabled on the CPU executing them. May require interrupts to be disabled too.

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399

Initializing spinlocks
Static spinlock_t my_lock = SPIN_LOCK_UNLOCKED; Dynamic void spin_lock_init (spinlock_t *lock);

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400

Using spinlocks
void spin_[un]lock (spin_lock_t *lock); void spin_[un]lock_irqsave (spin_lock_t *lock, unsigned long flags); Disables IRQs on the local CPU void spin_[un]lock_irq (spin_lock_t *lock); Disables IRQs without saving flags. When you're sure that nobody already disabled interrupts. void spin_[un]lock_bh (spin_lock_t *lock); Disables software interrupts, but not hardware ones Note that reader / writer spinlocks also exist.

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401

Deadlock situations
They can lock up your system. Make sure they never happen!
Don't call a function that can try to get access to the same lock Holding multiple locks is risky!

Get lock1 Get lock1 call Get lock2 Wait for lock1
Dead Lock!
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Get lock2

Dead Lock!

Get lock1

402

Alternatives to locking
As we have just seen, locking can have a strong negative impact on system performance. In some situations, you could do without it. By using lock-free algorithms like Read Copy Update (RCU). RCU API available in the kernel (See http://en.wikipedia.org/wiki/RCU). When available, use atomic operations.

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403

Atomic variables
Useful when the shared resource is an integer value Even an instruction like n++ is not guaranteed to be atomic on all processors! Header #include <asm/atomic.h> Type atomic_t contains a signed integer (at least 24 bits)

Operations without return value:

void void void void atomic_inc atomic_dec atomic_add atomic_sub (atomic_t *v); (atomic_ *v); (int i, atomic_t *v); (int i, atomic_t *v);

Simular functions testing the result:

int atomic_inc_and_test (...); int atomic_dec_and_test (...); int atomic_sub_and_test (...);

Functions returning the new value:

int int int int atomic_inc_and_return atomic_dec_and_return atomic_add_and_return atomic_sub_and_return (...); (...); (...); (...);

Atomic operations (main ones) Set or read the counter:

atomic_set (atomic_t *v, int i); int atomic_read (atomic_t *v);

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404

Atomic bit operations

Supply very fast, atomic operations On most platforms, apply to an unsigned long type. Apply to a void type on a few others. Set, clear, toggle a given bit: void set_bit(int nr, unsigned long * addr); void clear_bit(int nr, unsigned long * addr); void change_bit(int nr, unsigned long * addr); Test bit value: int test_bit(int nr, unsigned long *addr); Test and modify (return the previous value): int test_and_set_bit (...); int test_and_clear_bit (...); int test_and_change_bit (...);

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405

Embedded Linux Driver Development

Driver development
Processes and scheduling

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406

Processes and Threads

A process is an instance of a running program
Multiple instances of the same program can be running. Program code (text section) memory is shared. Each process has its own data section, address space, open files and signal handlers.

A thread is a single task in a program

It belongs to a process and shares the common data section, address space, open files and pending signals. It has it's own stack, pending signals and state.

It's common to refer to single threaded programs as processes.

407

The Kernel and Threads

The 2.4 kernel did not have a notion of threads.
All threads were implemented as processes that happen to share the same address space, file system resources, file descriptors and signal handlers as their parent process.

In 2.6 an explicit notion of processes and threads was introduced to the kernel. Scheduling is still done on a thread by thread basis. The basic object the kernel works with is a task, which is analogous to a thread.

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408

task_struct
Each task is represented by a task_struct. The task is linked in the task tree via:
parent Pointer to it's parent children sibling A linked list A linked list

task_struct contains a pid field

pid is mapped to task_struct pointer via a hash table

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409

Task Identifiers
Each task_struct has the following identities:
PID Globally unique. Different one for each thread. TGID Thread Group Id. Returned to user space as getpid()
Shared by all threads of a process. For single threaded process == PID.

PGID Proccess Group Id. (Posix.1). SID Session Id (Posix.1).

current points to the current process task_struct

When applicable not valid in interrupt context.
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410

A process life
Parent process
Calls fork() and creates a new process The process is elected by the scheduler Task terminated but its resources are not freed yet. Waiting for its parent to acknowledge its death.

TASK_ZOMBIE

TASK_RUNNING
Ready but not running The process is preempted by to scheduler to run a higher priority task

TASK_RUNNING
Actually running

The event occurs or the process receives a signal. Process becomes runnable again

TASK_INTERRUPTIBLE or TASK_UNINTERRUPTIBLE
Waiting

Decides to sleep on a wait queue for a specific event

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411

Process context
User space programs and system calls are scheduled together

Process executing in user space... (can be preempted) System call or exception

Process continuing in user space... (or replaced by a higher priority process) (can be preempted)

Kernel code executed on behalf of user space (can be preempted too!)

Still has access to process data (open files...)

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412

Kernel threads
The kernel does not only react from user-space (system calls, exceptions) or hardware events (interrupts). It also runs its own processes. Kernel space are standard processes scheduled and preempted in the same way (you can view them with top or ps!) They just have no special address space and usually run forever. Kernel thread examples: pdflush: regularly flushes dirty memory pages to disk (file changes not committed to disk yet). ksoftirqd: manages soft irqs.

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413

Process priorities
Regular processes Priorities from -20 (maximum) to 19 (minimum) Only root can set negative priorities (root can give a negative priority to a regular user process) Use the nice command to run a job with a given priority: nice -n <priority> <command> Use the renice command to change a process priority: renice <priority> -p <pid>

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414

Real-time processes
Real-time processes can be started by root using the POSIX API Available through <sched.h> (see man sched.h for details) 100 real-time priorities available SCHED_FIFO scheduling class: The process runs until completion unless it is blocked by an I/O, voluntarily relinquishes the CPU, or is preempted by a higher priority process. SCHED_RR scheduling class: Difference: the processes are scheduled in a Round Robin way. Each process is run until it exhausts a max time quantum. Then other processes with the same priority are run, and so and so...

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415

Timer frequency
Timer interrupts are raised every HZ th of second (= 1 jiffy) HZ is now configurable (in Processor type and features): 100, 250 (i386 default) or 1000. Supported on i386, ia64, ppc, ppc64, sparc64, x86_64 See kernel/Kconfig.hz. Compromise between system responsiveness and global throughput. Caution: not any value can be used. Constraints apply! Another idea is to completely turn off CPU timer interrupts when the system is idle (dynamic tick): see http://muru.com/linux/dyntick. This saves power. Supports arm and i386 so far.

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416

O(1) scheduler
The kernel maintains 2 priority arrays: the active and the expired array. Each array contains 140 entries (100 real-time priorities + 40 regular ones), 1 for each priority, each containing a list of processes with the same priority. The arrays are implemented in a way that makes it possible to pick a process with the highest priority in constant time (whatever the number of running processes).

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417

Choosing and expiring processes

The scheduler finds the highest process priority It executes the first process in the priority queue for this priority. Once the process has exhausted its timeslice, it is moved to the expired array. The scheduler gets back to selecting another process with the highest priority available, and so on... Once the active array is empty, the 2 arrays are swapped! Again, everything is done in constant time!

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418

When is scheduling run?

Each process has a need_resched flag which is set: After a process exhausted its timeslice. After a process with a higher priority is awakened. This flag is checked (possibly causing the execution of the scheduler) When returning to user-space from a system call When returning from an interrupt handler (including the cpu timer) Scheduling also happens when kernel code explicitely runs schedule() or executes an action that sleeps.

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419

Timeslices
The scheduler also prioritizes high priority processes by giving them a bigger timeslice. Initial process timeslice: parent's timeslice split in 2 (otherwise process would cheat by forking). Minimum priority: 5 ms or 1 jiffie (whichever is larger) Default priority in jiffies: 100 ms Maximum priority: 800 ms Note: actually depends on HZ. See kernel/sched.c for details.

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420

Dynamic priorities
Only applies to regular processes For a better user experience, the Linux scheduler boots the priority of interactive processes (processes which spend most of their time sleeping, and take time to exhaust their timeslices). Such processes often sleep but need to respond quickly after waking up (example: word processor waiting for key presses). Priority bonus: up to 5 points. Conversely, the Linux scheduler reduces the priority of compute intensive tasks (which quickly exhaust their timeslices). Priority penalty: up to 5 points.

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421

Embedded Linux driver development

Driver development
Sleeping

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422

How to sleep (1)

Sleeping is needed when a user process is waiting for data which are not ready yet. The process then puts itself in a waiting queue. Static queue declaration DECLARE_WAIT_QUEUE_HEAD (module_queue); Dynamic queue declaration wait_que_head_t queue; init_waitqueue_head(&queue);

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423

How to sleep (2)

Several ways to make a kernel process sleep
wait_event(queue, condition); Sleeps until the given boolean expression is true. Caution: can't be interrupted (i.e. by killing the client process in user-space) wait_event_interruptible(queue, condition); Can be interrupted wait_event_timeout(queue, condition, timeout); Sleeps and automatically wakes up after the given timeout.
wait_event_interruptible_timeout(queue, condition, timeout);

Same as above, interruptible.

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424

Waking up!
Typically done by interrupt handlers when data sleeping processes are waiting for are available. wake_up(&queue); Wakes up all the waiting processes on the given queue wake_up_interruptible(&queue); Does the same job. Usually called when processes waited using wait_event_interruptible.

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425

Embedded Linux driver development

Driver development
Interrupt management

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426

Need for interrupts

Internal processor interrupts used by the processor, for example for multi-task scheduling. External interrupts needed because most internal and external devices are slower than the processor. Better not keep the processor waiting for input data to be ready or data to be output. When the device is ready again, it sends an interrupt to get the processor attention again.

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427

Interrupt handler constraints

Not run from a user context: Can't transfer data to and from user space (need to be done by system call handlers) Interrupt handler execution is managed by the CPU, not by the scheduler. Handlers can't run actions that may sleep, because there is nothing to resume their execution. In particular, need to allocate memory with GFP_ATOMIC Have to complete their job quickly enough: they shouldn't block their interrupt line for too long.

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428

Registering an interrupt handler (1)

Defined in include/linux/interrupt.h int request_irq( Requested irq channel unsigned int irq, irqreturn_t (*handler) (...), Interrupt handler unsigned long irq_flags, Option mask (see next page) const char * devname, Registered name void *dev_id); Pointer to some handler data Cannot be NULL and must be unique for shared irqs! void free_irq( unsigned int irq, void *dev_id);

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429

Registering an interrupt handler (2)

irq_flags bit values (can be combined, none is fine too) SA_INTERRUPT "Quick" interrupt handler. Run with all interrupts disabled on the current cpu. Shouldn't need to be used except in specific cases (such as timer interrupts) SA_SHIRQ Run with interrupts disabled only on the current irq line and on the local cpu. The interrupt channel can be shared by several devices. Requires a hardware status register telling whether an IRQ was raised or not. SA_SAMPLE_RANDOM Interrupts can be used to contribute to the system entropy pool used by /dev/random and /dev/urandom. Useful to generate good random numbers. Don't use this if the interrupt behavior of your device is predictable!

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430

When to register the handler

Either at driver initialization time: consumes lots of IRQ channels! Or at device open time (first call to the open file operation): better for saving free IRQ channels. Need to count the number of times the device is opened, to be able to free the IRQ channel when the device is no longer in use.

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431

Information on installed handlers

/proc/interrupts
CPU0 0: 5616905 XT-PIC timer # Registered name 1: 9828 XT-PIC i8042 2: 0 XT-PIC cascade 3: 1014243 XT-PIC orinoco_cs 7: 184 XT-PIC Intel 82801DB-ICH4 8: 1 XT-PIC rtc 9: 2 XT-PIC acpi 11: 566583 XT-PIC ehci_hcd, uhci_hcd, uhci_hcd, uhci_hcd, yenta, yenta, radeon@PCI:1:0:0 12: 5466 XT-PIC i8042 14: 121043 XT-PIC ide0 15: 200888 XT-PIC ide1 # Non Maskable Interrupts NMI: 0 ERR: 0
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432

Total number of interrupts

cat /proc/stat | grep intr intr 8190767 6092967 10377 0 1102775 5 2 0 196 ...
Total number of interrupts IRQ1 total IRQ2 IRQ3 total ...

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433

Interrupt channel detection (1)

Useful when a driver can be used in different machines / architectures Some devices announce their IRQ channel in a register Manual detection
Register your interrupt handler for all possible channels Ask for an interrupt Let the called interrupt handler store the IRQ number in a global variable. Try again if no interrupt was received Unregister unused interrupt handlers.

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434

Interrupt channel detection (2)

Kernel detection utilities mask = probe_irq_on(); Activate interrupts on the device Deactivate interrupts on the device irq = probe_irq_off(mask);
> 0: unique IRQ number found = 0: no interrupt. Try again! < 0: several interrupts happened. Try again!

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435

The interrupt handler's job

Acknowledge the interrupt to the device (otherwise no more interrupts will be generated) Read/write data from/to the device Wake up any waiting process waiting for the completion of this read/write operation: wake_up_interruptible(&module_queue);

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436

Interrupt handler prototype

irqreturn_t (*handler) ( int, void *dev_id, /* irq number */ /* Pointer used to keep track of the corresponding device. Useful when several devices are managed by the same module */ /* cpu register snapshot, rarely needed*/

struct pt_regs *regs ); Return value:

IRQ_HANDLED: recognized and handled interrupt IRQ_NONE: not on a device managed by the module. Useful to share interrupt channels and/or report spurious interrupts to the kernel.

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437

Top half and bottom half processing (1)

Top half: the interrupt handler must complete as quickly as possible. Once it acknowledged the interrupt, it just schedules the lengthy rest of the job taking care of the data, for a later execution. Bottom half: completing the rest of the interrupt handler job. Handles data, and then wakes up any waiting user process. Best implemented by softirqs, tasklets, timers or work queues.

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438

Linux Contexts
Interrupt Handlers Interrupt Context
Hi prio tasklets

SoftIRQs ... Kernel Space

Regular tasklets Timers Net Stack

Scheduling Points

User Context User Space

Process Thread Kernel Thread

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439

Softirq
A fixed set (max 32) of software interrupts (prioritized):
HI_SOFTIRQ TIMER_SOFTIRQ NET_TX_SOFTIRQ NET_RX_SOFTIRQ SCSI_SOFTIRQ TASKLET_SOFTIRQ Runs low latency tasklets Runs timers Network stack Tx Network stack Rx SCSI sub system Runs normal tasklets

Activated on return from interrupt (in do_IRQ()) Can run concurrently on SMP systems (even the same softirq).
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440

Tasklets
Added in 2.4 Are run from softirqs (normal or low-latency) Each tasklet runs only on a single CPU (serialization) You can initialize a tasklet via:
init tasklet_init (struct tasklet_struct *t void (*func)(unsigned long), unsigned long data));

Or declare the tasklet in the module source file:

DECLARE_TASKLET (module_tasklet, /* name */ module_do_tasklet, /* function */ 0 /* data */);
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441

Tasklet scheduling and killing

Scheduling a tasklet in the top half part (interrupt handler): For regular tasklets: tasklet_schedule(&module_tasklet); Or for low latency tasklets (runs first): tasklet_hi_schedule. If this tasklet was already scheduled it is run only once. If this tasklet was already running it is rescheduled for later. On module exit, the tasklet should be killed: tasklet_kill(&module_tasklet);

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442

Tasklet Masking
Tasklets may be temporarily disabled/enabled:
tasklet_enable(&module_tasklet); tasklet_disable(&module_tasklet); tasklet_hi_enable(&module_tasklet); tasklet_disable_nosync(&module_tasklet);

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443

Timers
Runs via softirq like tasklets But at a specific time A timer is represented by a timer_list:
struct timer_list { /* ... */ unsigned long expires; /* In Jiffies */ void (*function )(unsigned int); /* Optional */ unsigned long data; );

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444

Timer operations
Manipulated with:
void init_timer(struct timer_list void add_timer(struct timer_list *timer); *timer);

void init_timer_on(struct timer_list *timer, int cpu); void del_timer(struct timer_list *timer); *timer); void del_timer_sync(struct timer_list

void mod_timer(struct timer_list *timer, unsigned long expires); void timer_pending(const struct timer_list *timer);

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445

Work Queues (2.6 only)

Each work queue has a kernel thread (task) per cpu.
Since 2.6.6 also a single threaded version exists.

Code in work queue:

Has a process context. May sleep.

New work queues may be created/destroyed via:

struct workqueue_struct *create_workqueue(const char * name); struct workqueue_struct *create_singlethread_workqueue(const char * name); void destroy_workqueue(const char * name);
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446

Working the Workqueue

Work is delivered to a workqueue via:
DECLARE_WORK(work, func, data); INIT_WORK(work, func, data); int queue_work(struct workqueue_struct *wq, struct work_struct *work); int queue_delayed_work(struct workqueue_struct *wq, struct work_struct *work, unsigned long delay); int flush_workqueue(struct workqueue_struct *wq);

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447

The Default Workqueue

One default work queue is run by the keventd kernel thread For keventd, we have the more common:
int schedule_work(struct work_struct *work); int schedule_delayed_work(struct work_struct *work, unsigned long delay); int cancel_delayed_work(struct work_struct *work); int flush_scheduled_work(void); int current_is_keventd(void);

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448

Disabling interrupts
May be useful in regular driver code... Can be useful to ensure that an interrupt handler will not preempt your code (including kernel preemption) Disabling interrupts on the local CPU:
unsigned long flags; // Interrupts disabled local_irq_save(flags); ... local_irq_restore(flags); // Interrupts restored to their previous state.

Note: must be run from within the same function!

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449

Masking out an interrupt line

Useful to disable interrupts on a particular device void disable_irq (unsigned int irq); Disables the irq line for all processors in the system. Waits for all currently executing handlers to complete. void disable_irq_nosync (unsigned int irq); Same, except it doesn't wait for handlers to complete. void enable_irq (unsigned int irq); Restores interrupts on the irq line. void synchronize_irq (unsigned int irq); Waits for irq handlers to complete (if any).

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450

Checking interrupt status

Can be useful for code which can be run from both process or interrupt context, to know whether it is allowed or not to call code that may sleep. irqs_disabled() Tests whether local interrupt delivery is disabled. in_interrupt() Tests whether code is running in interrupt context in_irq() Tests whether code is running in an interrupt handler.

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451

Interrupt management fun

In a training lab, somebody forgot to unregister a handler on a shared interrupt line in the module exit function.

In a training lab, somebody freed the timer interrupt handler by mistake (using the wrong irq number). The system froze. Remember the kernel is not protected against itself!

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452

Interrupt management summary

Device driver When the device file is first open, register an interrupt handler for the device's interrupt channel. Interrupt handler Called when an interrupt is raised. Acknowledge the interrupt If needed, schedule a tasklet taking care of handling data. Otherwise, wake up processes waiting for the data. Tasklet Process the data Wake up processes waiting for the data Device driver When the device is no longer opened by any process, unregister the interrupt handler.

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453

Embedded Linux driver development

Driver development
mmap

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454

mmap (1)
Possibility to have parts of the virtual address space of a program mapped to the contents of a file!
> cat /proc/1/maps (init process) start end perm offset major:minor inode 00771000-0077f000 r-xp 00000000 03:05 1165839 0077f000-00781000 rw-p 0000d000 03:05 1165839 0097d000-00992000 r-xp 00000000 03:05 1158767 00992000-00993000 r--p 00014000 03:05 1158767 00993000-00994000 rw-p 00015000 03:05 1158767 00996000-00aac000 r-xp 00000000 03:05 1158770 00aac000-00aad000 r--p 00116000 03:05 1158770 00aad000-00ab0000 rw-p 00117000 03:05 1158770 00ab0000-00ab2000 rw-p 00ab0000 00:00 0 08048000-08050000 r-xp 00000000 03:05 571452 08050000-08051000 rw-p 00008000 03:05 571452 08b43000-08b64000 rw-p 08b43000 00:00 0 f6fdf000-f6fe0000 rw-p f6fdf000 00:00 0 fefd4000-ff000000 rw-p fefd4000 00:00 0 ffffe000-fffff000 ---p 00000000 00:00 0 mapped file name /lib/libselinux.so.1 /lib/libselinux.so.1 /lib/ld-2.3.3.so /lib/ld-2.3.3.so /lib/ld-2.3.3.so /lib/tls/libc-2.3.3.so /lib/tls/libc-2.3.3.so /lib/tls/libc-2.3.3.so /sbin/init (text) /sbin/init (data, stack)

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455

mmap (2)
Particularly useful when the file is a device file! Allows to access device I/O memory and ports without having to go through (expensive) read, write or ioctl calls! X server example (maps excerpt)
start end 08047000-081be000 081be000-081f0000 ... f4e08000-f4f09000 f4f09000-f4f0b000 f4f0b000-f6f0b000 f6f0b000-f6f8b000 perm offset major:minor inode r-xp 00000000 03:05 310295 rw-p 00176000 03:05 310295 rw-s rw-s rw-s rw-s e0000000 4281a000 e8000000 fcff0000 03:05 03:05 03:05 03:05 655295 655295 652822 652822 mapped file name /usr/X11R6/bin/Xorg /usr/X11R6/bin/Xorg /dev/dri/card0 /dev/dri/card0 /dev/mem /dev/mem

A more user friendly way to get such information: pmap <pid>

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456

How to implement mmap - User space

Open the device file Call the mmap system call (see man mmap for details): void * mmap( void *start, /* Often 0, preferred starting address */ size_t length, /* Length of the mapped area */ int prot , /* Permissions: read, write, execute */ int flags, /* Options: shared mapping, private copy... */ int fd, /* Open file descriptor */ off_t offset /* Offset in the file */ ); Read from the return virtual address or write to it.

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457

How to implement mmap - Kernel space

Character driver: implement a mmap file operation and add it to the driver file operations:
int (*mmap) ( struct file *, struct vm_area_struct ); /* Open file structure */ /* Kernel VMA structure */

Initialize the mapping. Can be done in most cases with the remap_pfn_range() function, which takes care of most of the job.

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458

remap_pfn_range()
pfn: page frame number The most significant bits of the page address (without the bits corresponding to the page size). #include <linux/mm.h> int remap_pfn_range( struct vm_area_struct *, /* VMA struct */ unsigned long virt_addr, /* Starting user virtual address */ unsigned long pfn, /* pfn of the starting physical address */ unsigned long size, /* Mapping size */ pgprot_t /* Page permissions */ );

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459

Simple mmap implementation

static int acme_mmap ( struct file * file, struct vm_area_struct * vma) { size = vma->vm_start - vma->vm_end; if (size > ACME_SIZE) return -EINVAL; if (remap_pfn_range(vma, vma->vm_start, ACME_PHYS >> PAGE_SHIFT, size, vma->vm_page_prot)) return -EAGAIN; return 0; }
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460

Embedded Linux driver development

Block Devices and File Systems

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461

Block device or MTD filesystems

Block devices Floppy or hard disks (SCSI, IDE) Compact Flash (seen as a regular IDE drive) RAM disks Loopback devices Memory Technology Devices (MTD) Flash, ROM or RAM chips MTD emulation on block devices

Filesystems are either made for block or MTD storage devices. See Documentation/filesystems/ for details.
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462

I/O schedulers
Mission of I/O schedulers: re-order reads and writes to disk to minimize disk head moves (time consuming!)

Slower 2.4 has one fixed: the Linus Elevator.

Faster

2.6 has modular IO scheduler No-op, Elevator, Antciptory, Deadline, CFQ

463

Traditional block filesystems

Traditional filesystems Hard to recover from crashes. Can be left in a corrupted (half finished) state after a system crash or sudden power-off. ext2: traditional Linux filesystem (repair it with fsck.ext2) vfat: traditional Windows filesystem (repair it with fsck.vfat on GNU/Linux or Scandisk on Windows)

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464

Journaled filesystems
Designed to stay in a correct state even after system crashes or a sudden power-off All writes are first described in the journal before being committed to files
Application
User-space Kernel space (filesystem) Write to file

Write an entry in the journal

Write to file

Clear journal entry

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465

Filesystem recovery after crashes

Reboot

No Discard incomplete journal entries

Journal empty?

Thanks to the journal, the filesystem is never left in a corrupted state Recently saved data could still be lost

Yes Execute journal Filesystem OK

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466

Journaled block filesystems

Journaled filesystems ext3: ext2 with journal extension reiserFS: most innovative (fast and extensible) Others: JFS (IBM), XFS (SGI) NTFS: well supported by Linux in read-mode

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467

Compressed block filesystems (1)

Cramfs Simple, small, read-only compressed filesystem designed for embedded systems . Maximum filesystem size: 256 MB Maximum file size: 16 MB See Documentation/filesystems/cramfs.txt in kernel sources.

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468

Compressed block filesystems (2)

Squashfs: http://squashfs.sourceforge.net A must-use replacement for Cramfs! Also read-only. Maximum filesystem and file size: 232 bytes (4 GB) Achieves better compression and much better performance. Fully stable but released as a separate patch so far (waiting for Linux 2.7 to start). Successfully tested on i386, ppc, arm and sparc. See benchmarks on http://tree.celinuxforum.org/CelfPubWiki/SquashFsComparisons

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469

ramdisk filesystems
Useful to store temporary data not kept after power off or reboot: system log files, connection data, temporary files... Traditional block filesystems: journaling not needed. Many drawbacks: fixed in size. Remaining space not usable as RAM. Files duplicated in RAM (in the block device and file cache)! tmpfs (Config: File systems -> Pseudo filesystems) Doesn't waste RAM: grows and shrinks to accommodate stored files Saves RAM: no duplication; can swap out pages to disk when needed. See Documentation/filesystems/tmpfs.txt in kernel sources.

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470

Mixing read-only and read-write filesystems

Good idea to split your block storage into A compressed read-only partition (Squashfs) Typically used for the root filesystem (binaries, kernel...). Compression saves space. Read-only access protects your system from mistakes and data corruption. A read-write partition with a journaled filesystem (like ext3) Used to store user or configuration data. Guarantees filesystem integrity after power off or crashes. A ramdisk for temporary files (tmpfs) Squashfs Block Storage ramdisk
read-only compressed root filesystem

ext3
read-write user and configuration data

tmpfs
read-write volatile data

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471

The MTD subsystem

Linux filesystem interface MTD User modules
jffs2 yaffs2 Char device Read-only block device Block device
Flash Translation Layers for block device emulation Caution: patented algorithms! FTL NFTL INFTL

MTD Chip drivers

CFI flash NAND flash DiskOnChip flash RAM chips Block device ROM chips Virtual memory

Virtual devices appearing as MTD devices

Memory devices hardware

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472

MTD filesystems - jffs2

jffs2: Journaling Flash File System v2 Designed to write flash sectors in an homogeneous way. Flash bits can only be rewritten a relatively small number of times (often < 100 000). Compressed to fit as many data as possible on flash chips. Also compensates for slower access time to those chips. Power down reliable: can restart without any intervention Shortcomings: low speed, big RAM consumption (4 MB for 128 MB of storage).

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473

Mounting a jffs2 image

Useful to create or edit jffs2 images on your GNU / Linux PC! Mounting an MTD device as a loop device is a bit complex task. Here's an example for jffs2:
modprobe loop modprobe mtdblock losetup /dev/loop0 <file>.jffs2 modprobe blkmtd erasesz=256 device=/dev/loop0 (if not done yet) mknod /dev/mtdblock0 b 31 0 mkdir /mnt/jffs2 (example mount point, if not done yet) mount -t jffs2 /dev/mtdblock0 /mnt/jffs2/

It's very likely that your standard kernel misses one of these modules. Check the corresponding .c file in the kernel sources and look in the corresponding Makefile which option you need to recompile your kernel with.

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474

MTD filesystems - yaffs2

yaffs2: Yet Another Flash Filing System, version 2 yaffs2 home: http://aleph1.co.uk/drupal/?q=node/35 Caution: site under reconstruction. Lots of broken links! Features: NAND flash only. No compression. Several times faster than jffs2 (mainly significant in boot time) Consumes much less RAM. Also includes ECC and is power down reliable. License: GPL or proprietary Ships outside the Linux kernel. Get it from CVS: http://aleph1.co.uk/cgi-bin/viewcvs.cgi/yaffs/

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475

Filesystem choices for block flash devices

Typically for Compact Flash storage Can't use jffs2 or yaffs2 on CF storage (block device). MTD Block device emulation could be used, but jffs2 / yaffs2 writing schemes could interfere with on-chip flash management (manufacturer dependent). Never use block device journaled filesystems on unprotected flash chips!

noatime: doesn't write access time information in file inodes sync: to perform writes immediately (reduce power down failure risks)

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476

Filesystem choice summary

Block No

Storage type?

Read-only files?

Contains flash?

Volatile data?

MTD Yes choose jffs2 or yaffs2

read-only or read-write

Yes Yes choose ext2

noatime + sync mount options

Choose ext3 or reiserfs

choose Squashfs
read-only

Choose tmpfs

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477

Embedded Linux driver development

The Network subsystem and Network device drivers

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478

A view of the Linux networking subsystem

Stack <> App App 1 App2 Socket Layer UDP Networking Stack TCP IP Networking Stack Driver <> Stack Driver Driver <> Hardware ICMP Bridge App3

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479

Network Device Driver Hardware Interface

xxx Tx
Send Send Send SentOK SendErr Free

xxx

xxx
Memory Access

Driver

Free

RcvOk

RcvErr RecvCRC RcvOK

xxx
DMA

xxx

Driver allocates Ring Buffers. Driver resets descriptors to initial state. Driver puts packet to be sent in Tx buffers. Device puts received packet in Rx buffers. Driver/Device update descriptors to indicate state. Usually, device indicates Rx and end of Tx with interrupt, unless polling or NAPI.

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480

Network Device Driver Stack Interface

A network device driver provides interface to the network stack. It does not have or use major/minor numbers, like character devices. A network driver is represented by a:
struct net_device

And is registered via:

int register_netdev(struct net_device *dev); int unregister_netdev(struct net_device dev);

After filling in some important bits...

481

Socket Buffers
We need to manipulate packets through the stack This manipulation involves efficiently:
Adding protocol headers/trailers down the stack. Removing protocol headers/trailers up the stack.

Packets can be chained together. Each protocol should have convenient access to header fields. To do all this the kernel provides the sk_buff structure.

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482

sk_buff
An sk_buff represents a single packet. This struct is passed through the protocol stack. It holds pointers to a buffer with the packet data:
sk_buff mac head data nh tcp h tail telnet tailroom 483 end

headroom mac ip
Copyright 2006-2004, Michael Opdenacker Copyright 2003-2006, Oron Peled Copyright 2004-2006 Codefidence Ltd.

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sk_buff Manipulation
Manipulate sk_buff:
unsigned char *skb_put(struct sk_buff * skb, unsigned int len); tail += len unsigned char *skb_push(struct sk_buff * skb, unsigned int len); data -= len unsigned char *skb_pull(struct sk_buff * skb, unsigned int len); data += len

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484

sk_buff Manipulation
Manipulate sk_buff:
int skb_headroom(const struct sk_buff *skb); data - head int skb_tailroom(const struct sk_buff *skb); end - tail int skb_reserve(const struct sk_buff *skb, unsigned int len); tail = (data +=len)

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485

sk_buff Allocation
Low level allocation is done via:
struct sk_buff *alloc_skb(unsigned int size, int gfp_mask);

But it is better to use the wrapper:

struct sk_buff *dev_alloc_skb(unsigned int size); Which reserves some space for optimization.

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486

sk_buff Allocation Example

Immediately after allocation, we should reserve the needed headroom:
struct sk_buff*skb; skb = dev_alloc_skb(1500); if(unlikely(!skb))
break;

/* Mark as being used by this device */ skb->dev = dev; /* Align IP on 16 byte boundaries */ skb_reserve(skb, 2);
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487

Softnet
Was introduced in kernel 2.4.x Parallelize packet handling on SMP machines Packet transmit/receive is handled via two softirqs:
NET_TX_SOFTIRQ Feeds packets from network stack to driver. NET_RX_SOFTIRQ Feeds packets from driver to network stack.

The transmit/receive queues are stored in per-cpu softnet_data.

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488

Packet Reception
The driver:
Allocates an skb. sets up a descriptor in the ring buffers for the hardware.

The driver Rx interrupt handler calls netif_rx(skb). netif_rx(skb)

Deposits the sk_buff in the per-cpu input queue. Marks the NET_RX_SOFTIRQ to run.

Later net_rx_action() is called by NET_RX_SOFTIEQ, which calls the driver poll() method to feed the packet up.
Normally poll() is set to proccess_backlog() by net_dev_init()
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489

Packet Reception Overview

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490

Packet Transmission
Each network device defines a method:
int (*hard_start_xmit) (struct sk_buff *skb, struct net_device *dev);

This method is indirectly called from the NET_TX_SOFTIRQ Calls to this method are serialized via dev->xmit_lock_owner The driver can manage the transmit queue:
void netif_start_queue(struct net_device *net); void netif_stop_queue(struct net_device *net); void netif_wake_queue(struct net_device *net); int netif_queue_stopped(struct net_device *net);
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491

Packet Reception Overview

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492

Network Device Allocation

Each network device is represented by a struct net_device They are allocated using:
struct net_device *alloc_netdev(size, mask, setup_func);

size size of our priv data part mask a naming pattern (e.g. eth%d) setup_func A function to prepare the rest of net_device.

And deallocated with

void free_netdev(struct *net_device);

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493

Network Device Allocation (cont.)

For Ethernet we have a short version:
struct net_device *alloc_etherdev(size);

which calls alloc_netdev(size, eth%d, ether_setup);

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494

Network Device Initialization

The net_device should be filled with numerous methods:
open request resources, register interrupts, start queues. stop deallocates resources, unregister irq, stop queue. get_stats report statistics set_multicast_list configure device for multicast do_ioctl device specific IOCTL function change_mtu Control device MTU setting hard_start_xmit called by the stack to initiate Tx.

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495

Network Device Initialization (Cont.)

Also, the dev->flags should be set according to device capabilities:
IFF_MULTICAST Device support multicast IFF_NOARP Device does not support ARP protocol

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496

NAPI
Net network API Optional provides interrupt mitigation under high load Requirements:
A DMA ring buffer. Ability to turn off receive interrupts.

It is used by defining a new method:

int (*poll) (struct net_device *dev, int * budget);

Called by the network stack periodically when signaled by the driver to do so.
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497

NAPI (cont.)
When a receive interrupt occurs, driver:
Turns off receive interrupts. Calls netif_rx_schedule(dev) to get stack to start calling it's poll method.

Poll method
Scans receive ring buffers, feeding packets to the stack via: netif_receive_skb(skb). If work finished within budget parameter, re-enables interrupts and calls netif_rex_complete(dev) Else, stack will call poll method again.
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498

Embedded Linux driver development

Advice and resources

Getting help and contributions

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499

Solving issues
If you face an issue, and it doesn't look specific to your work but rather to the tools you are using, it is very likely that someone else already faced it. Search the Internet for similar error reports On web sites or mailing list archives (using a good search engine) On newsgroups: http://groups.google.com/ You have great chances of finding a solution or workaround, or at least an explanation for your issue. Otherwise, reporting the issue is up to you!

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500

Getting help
If you have a support contract, ask your vendor Otherwise, don't hesitate to share your questions and issues on mailing lists
Either contact the Linux mailing list for your architecture (like linuxarm-kernel or linuxsh-dev...) Or contact the mailing list for the subsystem you're dealing with (linux-usb-devel, linux-mtd...). Don't ask the maintainer directly! Most mailing lists come with a FAQ page. Make sure you read it before contacting the mailing list Refrain from contacting the Linux Kernel mailing list, unless you're an experienced developer and need advice

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501

Embedded Linux driver development

Advice and resources

Bug report and patch submission

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502

Reporting Linux bugs

First make sure you're using the latest version Make sure you investigate the issue as much as you can: see Documentation/BUG-HUNTING Make sure the bug has not been reported yet. A bug tracking system (http://bugzilla.kernel.org/) exists but very few kernel developers use it. Best to use web search engines (accessing public mailing list archives) If the subsystem you report a bug on has a mailing list, use it. Otherwise, contact the official maintainer (see the MAINTAINERS file). Always give as many useful details as possible.

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503

How to submit patches or drivers

Don't merge patches addressing different issues You should identify and contact the official maintainer for the files to patch. See Documentation/SubmittingPatches for details. For trivial patches, you can copy the Trivial Patch Monkey. Special subsystems:
ARM platform: it's best to submit your ARM patches to Russell King's patch system: http://www.arm.linux.org.uk/developer/patches/

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504

How to become a kernel developer?

Greg Kroah-Hartman gathered useful references and advice for people interested in contributing to kernel development: Documentation/HOWTO (in kernel sources since 2.6.15-rc2) Do not miss this very useful document!

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505

Embedded Linux driver development

Advice and resources

References

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506

Information sites (1)

Linux Weekly News http://lwn.net/ The weekly digest off all Linux and free software information sources In depth technical discussions about the kernel Subscribe to finance the editors ($5 / month) Articles available for non subscribers after 1 week.

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507

Information sites (2)

KernelTrap http://kerneltrap.org/ Forum website for kernel developers News, articles, whitepapers, discussions, polls, interviews Perfect if a digest is not enough!

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508

Useful reading (1)

Linux Device Drivers, 3rd edition, Feb 2005 By Jonathan Corbet, Alessandro Rubini, Greg Kroah-Hartman, O'Reilly http://www.oreilly.com/catalog/linuxdrive3/ Freely available on-line! Great companion to the printed book for easy electronic searches! http://lwn.net/Kernel/LDD3/ (1 PDF file per chapter) http://free-electrons.com/community/kernel/ldd3/ (single PDF file) A must-have book for Linux device driver writers!

Useful reading (2)

Linux Kernel Development, 2nd Edition, Jan 2005 Robert Love, Novell Press http://rlove.org/kernel_book/ A very synthetic and pleasant way to learn about kernel subsystems (beyond the needs of device driver writers) Understanding the Linux Kernel, 3rd edition, Nov 2005 Daniel P. Bovet, Marco Cesati, O'Reilly http://oreilly.com/catalog/understandlk/ An extensive review of Linux kernel internals, covering Linux 2.6 at last. Unfortunately, only covers the PC architecture.

Useful reading (3)

Building Embedded Linux Systems, April 2003 Karim Yaghmour, O'Reilly http://www.oreilly.com/catalog/belinuxsys/ Not very fresh, but doesn't depend too much on kernel versions See http://www.linuxdevices.com/articles/AT2969812114.html for more embedded Linux books.

Useful on-line resources

Linux kernel mailing list FAQ http://www.tux.org/lkml/ Complete Linux kernel FAQ Read this before asking a question to the mailing list Kernel Newbies http://kernelnewbies.org/ Glossaries, articles, presentations, HOWTOs, recommended reading, useful tools for people getting familiar with Linux kernel or driver development.

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512

CE Linux Forum resources

CE Linux Forum's Wiki is full of useful resources for embedded systems developers: Kernel patches not available in mainstream yet Many howto documents of all kinds Details about ongoing projects, such as reducing kernel size, boot time, or power consumption. Contributions are welcome! http://tree.celinuxforum.org/CelfPubWiki

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513

ARM resources
ARM Linux project: http://www.arm.linux.org.uk/ Developer documentation: http://www.arm.linux.org.uk/developer/ arm-linux-kernel mailing list: http://lists.arm.linux.org.uk/mailman/listinfo/linux-arm-kernel FAQ: http://www.arm.linux.org.uk/armlinux/mlfaq.php How to post kernel fixes: http://www.arm.uk.linux.org/developer/patches/ ARMLinux @ Simtec: http://armlinux.simtec.co.uk/ A few useful resources: FAQ, documentation and Who's who!

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514

International conferences (1)

Useful conferences featuring Linux kernel presentations Ottawa Linux Symposium (July): http://linuxsymposium.org/ Right after the (private) kernel summit. Lots of kernel topics. Many core kernel hackers still present. Fosdem: http://fosdem.org (Brussels, February) For developers. Kernel presentations from well-known kernel hackers. CE Linux Forum: http://celinuxforum.org/ Organizes several international technical conferences, in particular in California (San Jose) and in Japan. Now open to non CELF members! Very interesting kernel topics for embedded systems developers.

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515

International conferences (2)

Don't miss our free conference videos on http://free-electrons.com/community/videos/conferences/!

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516

Embedded Linux driver development

Advice and resources

Last advice

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517

Use the Source, Luke!

Many resources and tricks on the Internet find you will, but solutions to all technical issues only in the Source lie.

Thanks to LucasArts
Copyright 2006-2004, Michael Opdenacker Copyright 2003-2006, Oron Peled Copyright 2004-2006 Codefidence Ltd. For full copyright information see last page. Creative Commons Attribution-ShareAlike 2.0 license

518

Embedded Linux driver development

Annexes
Quiz answers

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519

Quiz answers
request_irq, free_irq Q: Why does dev_id have to be unique for shared IRQs? A: Otherwise, the kernel would have no way of knowing which handler to release. Also needed for multiple devices (disks, serial ports...) managed by the same driver, which rely on the same interrupt handler code. Interrupt handling Q: Why did the kernel segfault at module unload (forgetting to unregister a handler in a shared interrupt line)? A: Kernel memory is allocated at module load time, to host module code. This memory is freed at module unload time. If you forget to unregister a handler and an interrupt comes, the cpu will try to jump to the address of the handler, which is in a freed memory area. Crash!

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520

Embedded Linux driver development

Annexes
More Shell Tips & Tricks

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521

ls command
Lists the files in the current directory, in alphanumeric order, except files starting with the . character. ls -a (all) Lists all the files (including .* files) ls -l (long) Long listing (type, date, size, owner, permissions) ls -t (time) Lists the most recent files first ls -S (size) Lists the biggest files first ls -r (reverse) Reverses the sort order ls -ltr (options can be combined) Long listing, most recent files at the end

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522

File name pattern substitutions

Better introduced by examples! ls *txt The shell first replaces *txt by all the file and directory names ending by txt (including .txt), except those starting with ., and then executes the ls command line. ls -d .* Lists all the files and directories starting with . -d tells ls not to display the contents of directories. cat ?.log Displays all the files which names start by 1 character and end by .log

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523

Special directories (1)

./ The current directory. Useful for commands taking a directory argument. Also sometimes useful to run commands in the current directory (see later). So ./readme.txt and readme.txt are equivalent. ../ The parent (enclosing) directory. Always belongs to the . directory (see ls -a). Only reference to the parent directory. Typical usage: cd ..

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524

The cd and pwd commands

cd <dir> Change the current directory to <dir>. pwd Displays the current directory ("working directory").

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525

The cp command
cp <source_file> <target_file> Copies the source file to the target. cp file1 file2 file3 ... dir Copies the files to the target directory (last argument). cp -i (interactive) Asks for user confirmation if the target file already exists cp -r <source_dir> <target_dir> (recursive) Copies the whole directory.

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526

mv and rm commands
mv <old_name> <new_name> (move) Renames the given file or directory. mv -i (interactive) If the new file already exits, asks for user confirm rm file1 file2 file3 ... (remove) Removes the given files. rm -i (interactive) Always ask for user confirm. rm -r dir1 dir2 dir3 (recursive) Removes the given directories with all their contents.

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527

Creating and removing directories

mkdir dir1 dir2 dir3 ... (make dir) Creates directories with the given names. rmdir dir1 dir2 dir3 ... (remove dir) Removes the given directories Safe: only works when directories and empty. Alternative: rm -r (doesn't need empty directories).

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528

Displaying file contents

Several ways of displaying the contents of files. cat file1 file2 file3 ... (concatenate) Concatenates and outputs the contents of the given files. more file1 file2 file3 ... After each page, asks the user to hit a key to continue. Can also jump to the first occurrence of a keyword (/ command). less file1 file2 file3 ... Does more than more with less. Doesn't read the whole file before starting. Supports backward movement in the file (? command).

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529

The head and tail commands

head [-<n>] <file> Displays the first <n> lines (or 10 by default) of the given file. Doesn't have to open the whole file to do this! tail [-<n>] <file> Displays the last <n> lines (or 10 by default) of the given file. No need to load the whole file in RAM! Very useful for huge files. tail -f <file> (follow) Displays the last 10 lines of the given file and continues to display new lines when they are appended to the file. Very useful to follow the changes in a log file, for example. Examples head windows_bugs.txt tail -f outlook_vulnerabilities.txt

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530

The grep command

grep <pattern> <files> Scans the given files and displays the lines which match the given pattern. grep error *.log Displays all the lines containing error in the *.log files grep -i error *.log Same, but case insensitive grep -ri error . Same, but recursively in all the files in . and its subdirectories grep -v info *.log Outputs all the lines in the files except those containing info.

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531

The sort command

sort <file> Sorts the lines in the given file in character order and outputs them. sort -r <file> Same, but in reverse order. sort -ru <file> u: unique. Same, but just outputs identical lines once. More possibilities described later!

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532

Symbolic links
A symbolic link is a special file which is just a reference to the name of another one (file or directory): Useful to reduce disk usage and complexity when 2 files have the same content. Example:
anakin_skywalker_biography -> darth_vador_biography

How to identify symbolic links:

ls -l displays -> and the linked file name. GNU ls displays links with a different color.

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533

Creating symbolic links

To create a symbolic link (same order as in cp): ln -s file_name link_name To create a link with to a file in another directory, with the same name: ln -s ../README.txt To create multiple links at once in a given directory: ln -s file1 file2 file3 ... dir To remove a link: rm link_name Of course, this doesn't remove the linked file!

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534

Hard links
The default behavior for ln is to create hard links A hard link to a file is a regular file with exactly the same physical contents While they still save space, hard links can't be distinguished from the original files. If you remove the original file, there is no impact on the hard link contents. The contents are removed when there are no more files (hard links) to them.

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535

Files names and inodes

Makes hard and symbolic (soft) links easier to understand!
Users File name interface

Soft link

File

Hard link
rm

Inode

Inode interface Filesystem

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536

File access rights

Use ls -l to check file access rights
3 types of access rights Read access (r) Write access (w) Execute rights (x) 3 types of access levels User (u): for the owner of the file Group (g): each file also has a group attribute, corresponding to a given list of users Others (o): for all other users

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537

Access right constraints

x without r is legal but is useless You have to be able to read a file to execute it. Both r and x permissions needed for directories: x to enter, r to list its contents. You can't rename, remove, copy files in a directory if you don't have w access to this directory. If you have w access to a directory, you CAN remove a file even if you don't have write access to this file (remember that a directory is just a file describing a list of files). This even lets you modify (remove + recreate) a file even without w access to it.

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538

Access rights examples

-rw-r--r-Readable and writable for file owner, only readable for others -rw-r----Readable and writable for file owner, only readable for users belonging to the file group. drwx-----Directory only accessible by its owner -------r-x File executable by others but neither by your friends nor by yourself. Nice protections for a trap...

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539

chmod: changing permissions

chmod <permissions> <files> 2 formats for permissions: Octal format (abc): a,b,c = r*4+w*2+x (r, w, x: booleans) Example: chmod 644 <file> (rw for u, r for g and o) Or symbolic format. Easy to understand by examples: chmod go+r: add read permissions to group and others. chmod u-w: remove write permissions from user. chmod a-x: (a: all) remove execute permission from all.

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540

More chmod (1)

chmod -R a+rX linux/ Makes linux and everything in it available to everyone! R: apply changes recursively X: x, but only for directories and files already executable Very useful to open recursive access to directories, without adding execution rights to all files.

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541

More chmod (2)

chmod a+t /tmp t: (sticky). Special permission for directories, allowing only the directory and file owner to delete a file in a directory. Useful for directories with write access to anyone, like /tmp. Displayed by ls -l with a t character.

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542

Standard output
More about command output All the commands outputting text on your terminal do it by writing to their standard output. Standard output can be written (redirected) to a file using the > symbol Standard output can be appended to an existing file using the >> symbol

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543

Standard output redirection examples

ls ~saddam/* > ~gwb/weapons_mass_destruction.txt cat obiwan_kenobi.txt > starwars_biographies.txt cat han_solo.txt >> starwars_biographies.txt echo README: No such file or directory > README Useful way of creating a file without a text editor. Nice Unix joke too in this case.

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544

Standard input
More about command input Lots of commands, when not given input arguments, can take their input from standard input. sort windows linux [Ctrl][D] linux windows sort takes its input from the standard input: in this case, what you type in the terminal (ended by [Ctrl][D])

sort < participants.txt The standard input of sort is taken from the given file.

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545

Pipes
Unix pipes are very useful to redirect the standard output of a command to the standard input of another one. Examples
cat *.log | grep -i error | sort grep -ri error . | grep -v ignored | sort -u \ > serious_errors.log cat /home/*/homework.txt | grep mark | more

This one of the most powerful features in Unix shells!

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546

The tee command

tee [-a] file The tee command can be used to send standard output to the screen and to a file simultaneously. make | tee build.log Runs the make command and stores its output to build.log. make install | tee -a build.log Runs the make install command and appends its output to build.log.

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547

Standard error
Error messages are usually output (if the program is well written) to standard error instead of standard output. Standard error can be redirected through 2> or 2>> Example: cat f1 f2 nofile > newfile 2> errfile Note: 1 is the descriptor for standard output, so 1> is equivalent to >. Can redirect both standard output and standard error to the same file using &> : cat f1 f2 nofile &> wholefile

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548

Special devices (1)

Device files with a special behavior or contents /dev/null The data sink! Discards all data written to this file. Useful to get rid of unwanted output, typically log information: mplayer black_adder_4th.avi &> /dev/null /dev/zero Reads from this file always return \0 characters Useful to create a file filled with zeros: dd if=/dev/zero of=disk.img bs=1k count=2048

See man null or man zero for details

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549

Special devices (2)

/dev/random Returns random bytes when read. Mainly used by cryptographic programs. Uses interrupts from some device drivers as sources of true randomness (entropy). Reads can be blocked until enough entropy is gathered. /dev/urandom For programs for which pseudo random numbers are fine. Always generates random bytes, even if not enough entropy is available (in which case it is possible, though still difficult, to predict future byte sequences from past ones). See man random for details.

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550

Embedded Linux driver development

Annexes
Init runlevels

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551

System V init runlevels (1)

Introduced by System V Unix Much more flexible than in BSD Make it possible to start or stop different services for each runlevel Correspond to the argument given to /sbin/init. Runlevels defined in /etc/inittab.

/etc/initab excerpt:
id:5:initdefault: # System initialization. si::sysinit:/etc/rc.d/rc.sysinit l0:0:wait:/etc/rc.d/rc l1:1:wait:/etc/rc.d/rc l2:2:wait:/etc/rc.d/rc l3:3:wait:/etc/rc.d/rc l4:4:wait:/etc/rc.d/rc l5:5:wait:/etc/rc.d/rc l6:6:wait:/etc/rc.d/rc 0 1 2 3 4 5 6

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552

System V init runlevels (2)

Standard levels init 0 Halt the system init 1 Single user mode for maintenance init 6 Reboot the system init S Single user mode for maintenance. Mounting only /. Often identical to 1 Customizable levels: 2, 3, 4, 5 init 3 Often multi-user mode, with only command-line login init 5 Often multi-user mode, with graphical login

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553

init scripts
According to /etc/inittab settings, init <n> runs: First /etc/rc.d/rc.sysinit for all runlevels Then scripts in /etc/rc<n>.d/ Starting services (1, 3, 5, S): runs S* scripts with the start option Killing services (0, 6): runs K* scripts with the stop option Scripts are run in file name lexical order Just use ls -l to find out the order!

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554

/etc/init.d
Repository for all available init scripts /etc/rc<n>.d/ only contains links to the /etc/init.d/ scripts needed for runlevel n /etc/rc1.d/ example (from Fedora Core 3)
K01yum -> ../init.d/yum K02cups-config-daemon -> ../init.d/cupsconfig-daemon K02haldaemon -> ../init.d/haldaemon K02NetworkManager -> ../init.d/NetworkManager K03messagebus -> ../init.d/messagebus K03rhnsd -> ../init.d/rhnsd K05anacron -> ../init.d/anacron K05atd -> ../init.d/atd S00single -> ../init.d/single S01sysstat -> ../init.d/sysstat S06cpuspeed -> ../init.d/cpuspeed

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555

Handling init scripts by hand

Simply call the /etc/init.d scripts! /etc/init.d/sshd start Starting sshd: /etc/init.d/nfs stop Shutting down NFS mountd: Shutting down NFS daemon: [FAILED]Shutting down NFS quotas: [FAILED] Shutting down NFS services: /etc/init.d/pcmcia status cardmgr (pid 3721) is running... /etc/init.d/httpd restart Stopping httpd: Starting httpd:
Copyright 2006-2004, Michael Opdenacker Copyright 2003-2006, Oron Peled Copyright 2004-2006 Codefidence Ltd.

[FAILED]

[ [

OK OK

] ]

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556

Embedded Linux driver development

Annexes
Linux DMA API

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557

DMA situations
Synchronous
A user process calls the read method of a driver. The driver allocates a DMA buffer and asks the hardware to copy its data. The process is put in sleep mode. The hardware copies its data and raises an interrupt at the end. The interrupt handler gets the data from the buffer and wakes up the waiting process.

Asynchronous
The hardware sends an interrupt to announce new data. The interrupt handler allocates a DMA buffer and tells the hardware where to transfer data. The hardware writes the data and raises a new interrupt. The handler releases the new data, and wakes up the needed processes.

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558

Memory constraints
Need to use contiguous memory in physical space Can use any memory allocated by kmalloc (up to 128 KB) or __get_free_pages (up to 8MB) Can use block I/O and networking buffers, designed to support DMA. Can not use vmalloc memory (would have to setup DMA on each individual page)

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559

Reserving memory for DMA

To make sure you've got enough RAM for big DMA transfers... Example assuming you have 32 MB of RAM, and need 2 MB for DMA: Boot your kernel with mem=30 The kernel will just use the first 30 MB of RAM. Driver code can now reclaim the 2 MB left: dmabuf = ioremap ( 0x1e00000, /* Start: 30 MB */ 0x200000 /* Size: 2 MB */ );

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560

Memory synchronization issues

Memory caching could interfere with DMA Before DMA to device: Need to make sure that all writes to DMA buffer are committed. After DMA from device: Before drivers read from DMA buffer, need to make sure that memory caches are flushed. Bidirectional DMA Need to flush caches before and after the DMA transfer.

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561

Linux DMA API

The kernel DMA utilities can take care of: Either allocating a buffer in a cache coherent area, Or make sure caches are flushed when required, Managing the DMA mappings and IOMMU (if any) See Documentation/DMA-API.txt for details about the Linux DMA generic API. Most subsystems (such as PCI or USB) supply their own DMA API, derived from the generic one. May be sufficient for most needs.

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562

Limited DMA address range?

By default, the kernel assumes that your device can DMA to any 32 bit address. Not true for all devices! To tell the kernel that it can only handle 24 bit addresses: if (dma_set_mask (dev, /* device structure */ 0xffffff /* 24 bits */ )) use_dma = 1; /* Able to use DMA */ else use_dma = 0; /* Will have to do without DMA */

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563

Coherent or streaming DMA mappings

Coherent mappings Can simultaneously be accessed by the CPU and device. So, have to be in a cache coherent memory area. Usually allocated for the whole time the module is loaded. Can be expensive to setup and use. Streaming mappings (recommended) Set up for each transfer. Keep DMA registers free on the physical hardware registers. Some optimizations also available.

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564

Allocating coherent mappings

The kernel takes care of both the buffer allocation and mapping: include <asm/dma-mapping.h> void * dma_alloc_coherent( struct device *dev, size_t size, dma_addr_t *handle, gfp_t gfp ); /* Output: buffer address */ /* device structure */ /* Needed buffer size in bytes */ /* Output: DMA bus address */ /* Standard GFP flags */

void dma_free_coherent(struct device *dev, size_t size, void *cpu_addr, dma_addr_t handle);

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565

DMA pools (1)

dma_alloc_coherent usually allocates buffers with __get_free_pages (minimum: 1 page). You can use DMA pools to allocate smaller coherent mappings: <include linux/dmapool.h> Create a dma pool: struct dma_pool * dma_pool_create ( const char *name, struct device *dev, size_t size, size_t align, size_t allocation );
Copyright 2006-2004, Michael Opdenacker Copyright 2003-2006, Oron Peled Copyright 2004-2006 Codefidence Ltd.

/* Name string */ /* device structure */ /* Size of pool buffers */ /* Hardware alignment (bytes) */ /* Address boundaries not to be crossed */

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566

DMA pools (2)

Allocate from pool void * dma_pool_alloc ( struct dma_pool *pool, gfp_t mem_flags, dma_addr_t *handle ); Free buffer from pool void dma_pool_free ( struct dma_pool *pool, void *vaddr, dma_addr_t dma); Destroy the pool (free all buffers first!) void dma_pool_destroy (struct dma_pool *pool);

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567

Setting up streaming mappings

Works on buffers already allocated by the driver
<include linux/dmapool.h> dma_addr_t dma_map_single( /* device structure */ struct device *, void *, /* input: buffer to use */ size_t, /* buffer size */ enum dma_data_direction /* Either DMA_BIDIRECTIONAL, DMA_TO_DEVICE or DMA_FROM_DEVICE */ ); void dma_unmap_single(struct device *dev, dma_addr_t handle, size_t size, enum dma_data_direction dir);

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568

DMA streaming mapping notes

When the mapping is active: only the device should access the buffer (potential cache issues otherwise). The CPU can access the buffer only after unmapping! Another reason: if required, this API can create an intermediate bounce buffer (used if the given buffer is not usable for DMA). Possible for the CPU to access the buffer without unmapping it, using the dma_sync_single_for_cpu() (ownership to cpu) and dma_sync_single_for_device() functions (ownership back to device). The Linux API also support scatter / gather DMA streaming mappings.

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569

Lab Information
Login: root:secret and gby:qwerty Running the Eclipse IDE: /opt/course/scripts/eclipse & Running the QEMU Emulator: /opt/course/scripts/run-qemu & The emulated board files are at: /opt/course/emulation/root The kernel module template is at: /opt/course/skeleton/
Copyright 2006-2004, Michael Opdenacker Copyright 2003-2006, Oron Peled Copyright 2004-2006 Codefidence Ltd. For full copyright information see last page. Creative Commons Attribution-ShareAlike 2.0 license

570

Copyrights
Copyright 2006-2004, Michael Opdenacker Copyright 2003-2006, Oron Peled Copyright 2004-2006 Codefidence Ltd. Portions of this text are reprinted and reproduced in electronic form from IEEE Std 1003.1, 2003 Edition, Standard for Information Technology -- Portable Operating System Interface (POSIX), The Open Group Base Specifications Issue 6, Copyright (C) 2001-2003 by the Institute of Electrical and Electronics Engineers, Inc and The Open Group. In the event of any discrepancy between this version and the original IEEE and The Open Group Standard, the original IEEE and The Open Group Standard is the referee document. The original Standard can be obtained online at http://www.opengroup.org/unix/online.html . Portions Xavier Leroy <Xavier.Leroy@inria.fr> Tux Image Copyright: (C) 1996 Larry Ewing Linux is a registered trademark of Linus Torvalds. All other trademarks are property of their respective owners. Used and distributed under a Creative Commons Attribution-ShareAlike 2.0 license

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571

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