Many Of The Designations Used By Manufacturers And Sellers .

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Many of the designations used by manufacturers and sellers to distinguish their products are claimed as trademarks. Where thosedesignations appear in this book, and the publisher was aware of a trademark claim, the designations have been printed with initialcapital letters or in all capitals.The author and publisher have taken care in the preparation of this book, but make no expressed or implied warranty of any kindand assume no responsibility for errors or omissions. No liability is assumed for incidental or consequential damages in connectionwith or arising out of the use of the information or programs contained herein.The publisher offers excellent discounts on this book when ordered in quantity for bulk purchases or special sales, which mayinclude electronic versions and/or custom covers and content particular to your business, training goals, marketing focus, andbranding interests. For more information, please contact:U.S. Corporate and Government Sales(800) 382-3419corpsales@pearsontechgroup.comFor sales outside the United States, please contact:International Salesinternational@pearson.comVisit us on the Web: informit.com/awLibrary of Congress Cataloging-in-Publication Data:Hallinan, Christopher.Embedded Linux primer : a practical real-world approach / Christopher Hallinan.p. cm.ISBN 978-0-13-701783-6 (hardback : alk. paper) 1. Linux. 2. Operating systems (Computers) 3. Embedded computersystems--Programming. I. Title.QA76.76.O63H34462 2011005.4’32--dc222010032891Copyright 2011 Pearson Education, Inc.All rights reserved. Printed in the United States of America. This publication is protected by copyright, and permission must beobtained from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form orby any means, electronic, mechanical, photocopying, recording, or likewise. For information regarding permissions, write to:Pearson Education, Inc.Rights and Contracts Department501 Boylston Street, Suite 900Boston, MA 02116Fax (617) 671-3447ISBN-13: 978-0-137-01783-6ISBN-10: 0-137-01783-9Text printed in the United States on recycled paper at Courier in Westford, Massachusetts.First printing September 2010Editor-in-Chief: Mark L. TaubExecutive Acquisitions Editor: Debra Williams CauleyDevelopment Editor: Michael ThurstonManaging Editor: Kristy HartProject Editors: Alexandra Maurer and Jovana San Nicolas-ShirleyCopy Editor: Gayle JohnsonIndexer: Heather McNeillProofreader: Sarah KearnsTechnical Reviewers: Robert P.J. Day, Kurt Lloyd, Jon Masters, Sandra Terrace, and Mark A. YoderPublishing Coordinator: Kim BoedigheimerCover Designer: Alan ClementsCompositor: Tricia Bronkella

ContentsForeword for the First Edition . xxvForeword for the Second Edition. xxviPreface. xxviiAcknowledgments for the First Edition .xxxiiiAcknowledgments for the Second Edition . xxxvAbout the Author . xxxviChapter 1 Introduction.11.1 Why Linux?. 21.2Embedded Linux Today . 31.3Open Source and the GPL . 31.3.11.4Free Versus Freedom . 4Standards and Relevant Bodies . 51.4.1Linux Standard Base . 51.4.2Linux Foundation . 61.4.3Carrier-Grade Linux . 61.4.4Mobile Linux Initiative: Moblin. 71.4.5Service Availability Forum. 71.5Summary. 81.5.1Suggestions for Additional Reading . 8vii

Embedded Linux Primer, Second EditionviiiChapter 2 The Big Picture .92.1Embedded or Not? . 102.1.12.2BIOS Versus Bootloader . 11Anatomy of an Embedded System . 122.2.1 Typical Embedded Linux Setup . 132.2.2Starting the Target Board . 142.2.3Booting the Kernel. 162.2.4Kernel Initialization: Overview . 182.2.5First User Space Process: init . 192.3Storage Considerations . 202.3.1Flash Memory . 202.3.2NAND Flash . 222.3.3Flash Usage . 232.3.4Flash File Systems . 242.3.5Memory Space . 252.3.6Execution Contexts . 262.3.7Process Virtual Memory . 282.3.8Cross-Development Environment . 302.4Embedded Linux Distributions . 322.4.1Commercial Linux Distributions . 332.4.2Do-It-Yourself Linux Distributions . 332.5Summary. 342.5.1Suggestions for Additional Reading . 35Chapter 3 Processor Basics .373.1Stand-Alone Processors. 383.1.1IBM 970FX . 393.1.2Intel Pentium M . 39

Contentsix3.1.3Intel Atom . 403.1.4Freescale MPC7448 . 403.1.5Companion Chipsets . 413.2Integrated Processors: Systems on Chip . 433.2.1Power Architecture . 443.2.2Freescale Power Architecture . 443.2.3Freescale PowerQUICC I . 453.2.4Freescale PowerQUICC II . 463.2.5PowerQUICC II Pro . 473.2.6Freescale PowerQUICC III . 483.2.7Freescale QorIQ . 483.2.8AMCC Power Architecture . 503.2.9MIPS . 533.2.10Broadcom MIPS . 543.2.11Other MIPS . 553.2.12ARM . 553.2.13 TI ARM. 563.2.14Freescale ARM . 583.2.15Other ARM Processors . 593.3Other Architectures . 593.4Hardware Platforms . 603.4.1CompactPCI . 603.4.2ATCA . 603.5Summary. 613.5.1Suggestions for Additional Reading . 62

Embedded Linux Primer, Second EditionxChapter 4 The Linux Kernel: A Different Perspective .634.1Background . 644.1.1Kernel Versions . 654.1.2Kernel Source Repositories . 674.1.3Using git to Download a Kernel . 684.2Linux Kernel Construction. 684.2.1 Top-Level Source Directory. 694.2.2Compiling the Kernel . 694.2.3 The Kernel Proper: vmlinux . 724.2.4Kernel Image Components . 734.2.5Subdirectory Layout. 774.3Kernel Build System . 784.3.1 The Dot-Config . 784.3.2Configuration Editor(s) . 804.3.3Makefile Targets . 834.4Kernel Configuration . 894.4.1Custom Configuration Options . 914.4.2Kernel Makefiles . 954.5Kernel Documentation. 964.6Obtaining a Custom Linux Kernel . 964.6.1 What Else Do I Need? . 974.7Summary. 974.7.1Suggestions for Additional Reading . 98Chapter 5 Kernel Initialization .995.1Composite Kernel Image: Piggy and Friends . 1005.1.1 The Image Object. 1035.1.2Architecture Objects . 104

Contentsxi5.1.3Bootstrap Loader . 1055.1.4Boot Messages. 1065.2Initialization Flow of Control . 1095.2.1Kernel Entry Point: head.o . 1115.2.2Kernel Startup: main.c . 1135.2.3Architecture Setup . 1145.3Kernel Command-Line Processing . 1155.3.1 The setup Macro . 1165.4Subsystem Initialization. 1225.4.1 The * initcall Macros . 1225.5 The init Thread . 1255.5.1Initialization Via initcalls. 1265.5.2initcall debug. 1275.5.3Final Boot Steps . 1275.6Summary. 1295.6.1Suggestions for Additional Reading . 130Chapter 6 User Space Initialization .1316.1Root File System . 1326.1.1FHS: File System Hierarchy Standard . 1336.1.2File System Layout . 1336.1.3Minimal File System . 1346.1.4 The Embedded Root FS Challenge . 1366.1.5 Trial-and-Error Method . 1376.1.6Automated File System Build Tools . 137

Embedded Linux Primer, Second Editionxii6.2Kernel’s Last Boot Steps. 1376.2.1First User Space Program . 1396.2.2Resolving Dependencies. 1396.2.3Customized Initial Process . 1406.3 The init Process. 1406.3.1 inittab . 1436.3.26.4Sample Web Server Startup Script . 145Initial RAM Disk . 1466.4.1Booting with initrd . 1476.4.2Bootloader Support for initrd . 1486.4.3initrd Magic: linuxrc . 1506.4.4 The initrd Plumbing . 1516.4.56.5Building an initrd Image. 152Using initramfs . 1536.5.1Customizing initramfs . 1546.6Shutdown. 1566.7Summary. 1566.7.1Suggestions for Additional Reading . 157Chapter 7 Bootloaders .1597.1Role of a Bootloader . 1607.2Bootloader Challenges . 1617.2.1DRAM Controller . 1617.2.2Flash Versus RAM. 1627.2.3Image Complexity. 1627.2.4Execution Context . 165

Contents7.3xiiiA Universal Bootloader: Das U-Boot . 1667.3.1Obtaining U-Boot . 1667.3.2Configuring U-Boot . 1677.3.3U-Boot Monitor Commands .

Many of the designations used by manufacturers and sellers to distinguish their products are claimed as trademarks. Where those designations appear in this book, and the publisher was aware of a trademark claim, the designations have been printed

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Many of the designations used by manufacturers and sellers to distinguish their products are claimed as trademarks. Where those designations appear in this book, and the publisher was aware of a trademark claim, the designations have been printed

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