Can a board bring-up be less painful,

if with Yocto and Linux?

Embedded Linux Conference 2014

San Jose, CA

Insop Song
Gainspeed, Inc.
 Agenda

Customizing yocto
kernel
u-boot
Working
with
community

Yocto
RFS
Flash
partition

https://www.flickr.com/photos/bruceywan/7003668685
 U-Boot ?
● primary boot loader for embedded system
– DDR memory config
– Network config
– Flash access
– Peripheral (gpio, i2c, spi..) drivers
– Load OS
 How to customize U-Boot?
● Start with similar boards' config insop@sputnik ~/Projects/fsl-u-boot/include/configs(develop) $ ls
A3000.h ELPT860.h MPC837XEMDS.h r7780mp.h
– Edit your own config files a320evb.h enbw_cmc.h MPC837XERDB.h Rattler.h
● include/configs a3m071.h eNET.h MPC8536DS.h RBC823.h
a4m072.h ep8248.h MPC8540ADS.h rd6281a.h
...

– Add your board info insop@sputnik ~/Projects/fsl-u-boot(develop) $ tree board/xilinx/

board/xilinx/
● boards.cfg ├── common
– Add board specific code to: │ ├── xbasic_types.c
..
● board/YOUR_BOARD
├── ml507
│ ├── Makefile
│ ├── ml507.c
│ └── xparameters.h
...
● How to build
– export PATH=/sysroots/fslsdk-linux/usr/bin/ppce-fsl-linux:$PATH
– make CROSS_COMPILE=powerpc-fsl-linux- ARCH=powerpc P1010RDB_config
 Add a device handler to u-boot
● Add new device handler to:
– board/YOUR_BOARD/my_io_handler.c
● Add new commands to test/configure devices
– U_BOOT_CMD
● Example
– board/amcc/taishan/lcd.c
– U_BOOT_CMD(lcd_test, 1, 1, do_lcd_test, "lcd
test display", "");
 U-boot environment variable
● mkenvimage
– a handy tool to generate a U-Boot environment
binary image from free-electrons.com
– http://free-electrons.com/blog/mkenvimage-uboot-binary-env-generator

● Prepare variables in txt format

– ./mkenvimage -s 0x4200 -o uboot-env.bin uboot-
env.txt
– Program flash with output bin file
 Kernel
● Config example
– make menuconfig //xconfig, nconfig
● Keep your .config at board specific defconfig
– arch/powerpc/configs/40x/walnut_defconfig
●
Build example
– export PATH=/sysroots/fslsdk-linux/usr/bin/ppc64e-fsl-linux:$PATH
– make 40x/walnut_defconfig
– make -j4 // -j # of threads
– make help // is your friend
● Avoid kernel and module version mismatch
– During development, this temporary patch might be handy to skip '+' in kernel version
– https://raw.githubusercontent.com/insop/presentation/master/elc_14/scripts/dirty_skip_version.patch
 Kernel image
● uImage: u-boot readable kernel image
– http://blog.harrylau.com/2009/08/generate-uboot-uimage.htmlor

– make uImage // or use the following helper script

● Helper script:
– https://raw.githubusercontent.com/insop/presentation/master/elc_14/scripts/mkuimage.sh

– Helps to keep config file with time stamps

– On running kernel: /proc/confg.gz

 Kernel module build
● Loadable kernel module build
– make modules_install INSTALL_MOD_PATH=~/tmp/linux
● Move modules to the target board's RFS (root file system)
– cd ~/tmp/linux/lib/modules/3.0.51-rt75+/
– rm -rf build source
– scp -r * root@target3:/lib/modules/3.0.51-rt75+/
● Module info
– modinfo module.ko
 Device tree
● Flattened Device Tree (FDT)
– The operating system uses the FDT data to find and register
the devices in the system [1]
– Board specific information is stored in .dts file (text)
– compiled to .dtb (binary) and used during kernel initialization
– Any new addition should update dt binding doc
● http://lxr.free-electrons.com/source/Documentation/devicetree/bindings/

– Example dts file

● https://raw.githubusercontent.com/insop/presentation/master/elc_14/example/ex-dt-fs.dts

[1] http://elinux.org/Device_Tree
[2] http://events.linuxfoundation.org/sites/events/files/slides/petazzoni-device-tree-dummies.pdf
 Device tree
● Helper scripts
– $mkdtb.sh
● to compile dtb file and generate a single .dts file
● https://raw.githubusercontent.com/insop/presentation/master/elc_14/scripts/mkdtb.sh

– $mkdts.sh
● to generate .dts file from .dtb file
● https://raw.githubusercontent.com/insop/presentation/master/elc_14/scripts/mkdts.sh
 Yocto project
● Yocto: allow you to create embedded linux
distribution, based on OE, bitbake
– Kernel build
– Root file system generation
– Package management
– Yocto quick start
● https://www.yoctoproject.org/docs/current/yocto-project-qs/yocto-project-qs.html
 Yocto quick start
● Setup development machines
– Native linux or VM
● Configure local.conf file
– BB_NUMBER_THREADS = "8"
– PARALLEL_MAKE = "-j 8"
– MACHINE ?= "beagleboard"
– DL_DIR: for downloading tarballs and source fetch
– SSTATE_DIR: shared state dir
● Run bitbake commands
– $ bitbake core-image-minimal
-c : command // fetchall, compile, build, configure, clean, cleansstate, cleanall, install, patch
http://www.openembedded.org/wiki/List_of_Executable_tasks
-f : force the specified task
● Generates file systems
– ext3, tar.bz2, jffs2
● Generates packages
– rpm, deb, ipkg
 Yocto 101
● Yocto is consist of
– meta-* layers
– Sample: meta-skeleton
– meta-* layers is consist of 'recipes'
● Recipes: .bb and .conf files
● Samples: meta-skeleton/recipes-skeleton/
– Can add custom meta layers to append rules
~/yocto/meta-skeleton/recipes-skeleton/service(develop) $ tree
.
├── service
│ ├── COPYRIGHT
│ ├── skeleton
│ └── skeleton_test.c
└── service_0.1.bb
 Customize image, yocto
● Modify the image to select packages that you need
● Start with known minimal reference image(s)
– $bitbake fsl-image-core
● http://git.freescale.com/git/cgit.cgi/ppc/sdk/meta-fsl-networking.git/plain/images/fsl-image-core.bb

●
https://raw.githubusercontent.com/insop/presentation/master/elc_14/example/fsl-yocto/meta-fsl-networking/images/fsl-imag

● Machine type
– $ conf/machine/p1020mbg.conf
● http://git.freescale.com/git/cgit.cgi/ppc/sdk/meta-fsl-ppc.git/plain/conf/machine/p1020mbg.conf
 That's great, now what?
● What to follow after creating a minimal image
(RFS) for your board?
– Add/config existing programs/servers
– Customize init process (init.d)
– Add your own lib/programs
 Add/config existing programs
● Example1
– logrotate: rotate/compress log files
– Add program to the image first
● https://raw.githubusercontent.com/insop/presentation/master/elc_14/example/fsl-yocto/meta-fsl-networking/images/fsl-image-ex.bb

– logrotate recipe
●
http://git.freescale.com/git/cgit.cgi/ppc/sdk/poky.git/tree/meta/recipes-extended/logrotate

– Test configuration manually

– Create a patch file, and add to the patch to the yocto rule
●
https://raw.githubusercontent.com/insop/presentation/master/elc_14/example/fsl-yocto/meta-fsl-networking/recipes-append/logrotate/logrotate_3.8.1.bbappend

●
https://raw.githubusercontent.com/insop/presentation/master/elc_14/example/fsl-yocto/meta-fsl-networking/recipes-append/logrotate/files/logrotate-default.patch

– How to test logrotate

● logrotate -d --force /etc/logrotate.conf
– Note: With -d nothing is done (only shown what will be done). It's just for
debugging. Remove -d to force logrotate
 Adding cron job
● Example2
– crond came with yocto doesn't work for us
● So we decided to use cronie, and works
– How? the same way as logrotate
● add the program in image definition
● add the config to recipes-append
● https://raw.githubusercontent.com/insop/presentation/master/elc_14/example/fsl-yocto/meta-fsl-networkin
● https://raw.githubusercontent.com/insop/presentation/master/elc_14/example/fsl-yocto/meta-fsl-networkin
 Update init.d
● Sys V init
– Init scripts are at /etc/init.d/
– Runlevel: 0 - 6, normally 5
● http://en.wikipedia.org/wiki/Runlevel
● $ runlevel // tells you what runlevel to be booted
– init scripts are sym linked to /etc/rc*.d (0-6,S)
● INITSCRIPT_PARAMS configures sym link to /etc/rc*
● Example
– https://raw.githubusercontent.com/insop/presentation/master/elc_14/example/fsl-yocto/meta-fsl-networking/recipes-tools/gs-mou
– https://raw.githubusercontent.com/insop/presentation/master/elc_14/example/fsl-yocto/meta-fsl-networking/recipes-tools/gs-mou
 Build and install programs
● Programs, not part of yocto
– Build
● Add 'virtual/kernel' if it requires kernel hearders
● Use _prepend to add custom rules
– Example
● https://raw.githubusercontent.com/insop/presentation/master/elc_14/example/fsl-yocto/meta-fsl-networkin

● Install script to root file system

– https://raw.githubusercontent.com/insop/presentation/master/elc_14/example/fsl-yocto/meta-fsl-networking/reci
 Yocto example 3
● 1st, build your library
– Install to the yocto's STAGING_DIR_TARGET
– https://raw.githubusercontent.com/insop/presentation/master/elc_14/example/fsl-yocto/meta-fsl-networking/reci

● 2nd program link against to the 1st program's

library
– https://raw.githubusercontent.com/insop/presentation/master/elc_14/example/fsl-yocto/meta-fsl-networking/reci
 Flash partitions
● Flash storage
– Block or flash file system Linux kernel
– Stores kernel, dtb RFS
dtb
● Flash file system types
– Jffs2, ubifs
● Single bootable partition Root file system

– Simple and fully utilize storage

– brick if upgrade is failed
– Non trivial to revert upgrade
 Multiple bootable patitions
● two bootable partitions Linux kernel 1

– Storage overhead dtb1

– Can avoid upgrade failure Root file sys 1

– Can revert to previous version
Linux kernel 2

dtb 2

Root file sys 2

 Extra partition for keeping config
Linux kernel 1
● Add config partition dtb 1
– To keep configuration across upgrade Root file sys 1

Config 1

Linux kernel 2

dtb2

Root file sys 2

Config 2
 Working together with the
community
● Applications
– Github hosted projects
● ex> linenoise: simple cli (command line interface) library
– https://github.com/antirez/linenoise/pull/53/files

– Individually hosted projects

● ex> sysklogd: two in one system log daemon
– Create a patch and send it to maintainer & mailing list
– https://raw.githubusercontent.com/insop/presentation/master/elc_14/example/fsl-yocto/meta/recipes-extended/sysklogd/fil

– Yocto
● Use mailing list, very active and helpful
● ex> meta-realtime: to test sched-deadline
– http://git.yoctoproject.org/cgit/cgit.cgi/meta-realtime/
 Working with kernel delopers
● Existing driver fixes
– https://lkml.org/lkml/2014/4/16/635
– http://www.spinics.net/lists/kernel/msg1732810.html
● Add a new driver
– drivers/stagging is the place to start
– https://git.kernel.org/cgit/linux/kernel/git/torvalds/linux.git/tree/drivers/staging/gs_fpgaboot?id=refs/tags/v3.15-rc
Chip manufacturer provided kernel
● You will work with kernel that chip
manufacturer provided
– Had tried to work with them by send them patches
● Mostly ignored
● Wanted process as customer support cases
– Issues of lack of ownership
 Conclusion
● With open source projects, board brining up
can be less painful
● Work together with the community
● Thank you

● Question?