Embedded Linux Workshop on Blueboard-AT91

B. Vasu Dev vasu@[Link]

Enabling the Embedded Learning in INDIA

Workshop Overview
Day 1
Embedded Linux Intro Linux Basics (Lab) Toolchain (Lect) Toolchain (Lab) Bootloader (Lect) Bootloader (Lab) Running Linux on Target > Using SD Card for rootfs > Configuring NFS > Configuring TFTP

Day 2
Linux Kernel Arch. Linux Kernel Source code browsing and porting changes (Lect) Kernel Configuration & Compiling (Lab) Kernel modifications Root File System (Lect) Building Root FS (Lab) App Development & Cross Compilation ( Lab)

Enabling the Embedded Learning in INDIA

Embedded Linux

Enabling the Embedded Learning in INDIA

Embedded Linux
Customisation of Linux to fit on a Embedded Board designed for one or a few dedicted functions. All hardware sits on a single board most of the time. Computer system used in common deviced in daily use.

Enabling the Embedded Learning in INDIA

Applications

Enabling the Embedded Learning in INDIA

Hardware Requirement
A CPU supported by gcc and the Linux kernel 32 bit CPU MMU-less CPUs are also supported, through the uClinux project. A few MB of RAM, from 4 MB. 8 MB are needed to do really do something. A few MB of storage, from 2 MB. 4 MB to really do something. Linux isn't designed for small microcontrollers that just have a few tens or hundreds of KB of flash and RAM. Base metal, no OS Reduced systems, such as FreeRTOS

Enabling the ARM Learning in INDIA

Our Hardware
BlueBoard AT91
180 MHz ARM9 processor (Atmel AT91RM9200) 4MB of serial flash 32MB SDRAM 1 SD/MMC slot USB 2.0 host I2C port 1 10/100 Ethernet interface 1 high speed USB 2.0 interface GP IO lines brought out on to a header JTAG support 2 serial ports

Enabling the ARM Learning in INDIA

ARM Core Family

Application Cores
ARM720T ARM920T ARM922T ARM926EJ-S ARM1020E ARM1022 ARM1026EJ-S ARM11 MPCore ARM1136J(F)-S ARM1176JZ(F)-S ARM Cortex-A8 ARM Cortex-A9

Embedded Cores
ARM7EJ-S ARM7TDMI ARM7TDMI-S ARM946E-S ARM966E-S ARM968E-S ARM996HS ARM1026EJ-S ARM1156T2(F)-S ARM Cortex-M0 ARM Cortex-M1 ARM Cortex-M3

Secure Cores
SecureCore SC100 SecureCore SC110 SecurCore SC200 SecurCore SC210

Enabling the ARM Learning in INDIA

ARM Core Family

T: Thumb D: On-chip debug support M: Enhanced multiplier I: Embedded ICE hardware T2: Thumb-2 S: Synthesizable code E: Enhanced DSP instruction set J: JAVA support, Jazelle Z: Should be TrustZone? F: Floating point unit H: Handshake, clockless design for synchronous or asynchronous design

Enabling the ARM Learning in INDIA

Development of the ARM Architecture

1 2 3
Early ARM architectures Halfword and signed halfword / byte support System mode

4
SA-110 SA-1110

Improved ARM/Thumb Interworking CLZ

5TE

Jazelle Java bytecode execution ARM9EJ-S ARM7EJ-S

5TEJ
ARM926EJ-S ARM1026EJ-S

Saturated maths DSP multiplyaccumulate instructions ARM1020E XScale ARM9E-S ARM966E-S

Thumb instruction set ARM7TDMI ARM720T

SIMD Instructions Multi-processing V6 Memory architecture (VMSA) Unaligned data support

4T
ARM9TDMI ARM940T

ARM1136EJ-S

Enabling the ARM Learning in INDIA

ARM Cores & Arch Ver

Enabling the ARM Learning in INDIA

Software Components
Application Application

Library Tools

Library

Library

Standard C library Linux kernel Bootloader Hardware Enabling the ARM Learning in INDIA

Linux on Board
Flash contents

Bootloader Kernel

Bootloader: First program executed by hardware and is responsible for basic initilization, loading and starting kernel.

Root filesystem

Kernel: Is the main program which provides platform to the application to execute. Kernel contains the process and memory management, network stack, device drivers and provides services to userspace applications.

File System: Linux is File system based OS. It supports various tyes of file system. The first node of linux file system is root '/' and the file system mounted to '/' is called Enabling root file system. the ARM Learning in INDIA

Linux Basics

Enabling the ARM Learning in INDIA

Linux Basics
Linux Structure Basic Linux Commands Shell Scripting Basics

Enabling the ARM Learning in INDIA

Linux Directory Structure

Condition code flags N = Negative result from ALU Z = Zero result from ALU C = ALU operation Carried out V = ALU operation Overflowed Sticky Overflow flag - Q flag Architecture 5TE/J only Indicates if saturation has occurred J bit Architecture 5TEJ only J = 1: Processor in Jazelle state Interrupt Disable bits. I = 1: Disables the IRQ. F = 1: Disables the FIQ. T Bit Architecture xT only T = 0: Processor in ARM state T = 1: Processor in Thumb state Mode bits Specify the processor mode

Enabling the ARM Learning in INDIA

 ls, Give a listing of the current directory. Try also ls -l cp, Copy file from sorce to destination mv, Move file from source to destination. If both are the same directory, the file is renamed vi, Edit a file. vi is one of the most powerful text editors chmod, Change file permissions mkdir, rmdir Make/Remove a directory cd, Change directory rm, Remove a file. Can also remove directory tree man ls, Get help for ls. All commands have help

Enabling the ARM Learning in INDIA

What is Shell Scripting

% cat > [Link] <<MY_PROGRAM #!/bin/sh echo Hello, world MY_PROGRAM % chmod +x [Link] % ./[Link] Hello, world
Enabling the ARM Learning in INDIA

Tool Chain

Enabling the ARM Learning in INDIA

Native Compilers Cross Compilers

Enabling the ARM Learning in INDIA

Toolchain
Source code Cross-compiling toolchain x86
Compilation machine

Native toolchain

x86 binary x86

ARM binary ARM

Execution machine

Enabling the ARM Learning in INDIA

Toolchain components
Kernel headers

C/C++ libraries

Binutils

GCC compiler

GDB debugger (optional)

Enabling the ARM Learning in INDIA

Kernel Headers
The C library and compiled programs needs to interact with the kernel Available system calls and their numbers Constant definitions Data structures, etc. Therefore, compiling the C library requires kernel headers, and many applications also require them.

Kernel Kernel headers C Library Applications

Available in <linux/...> and <asm/...> and a few other directories corresponding to the ones visible in include/ in the kernel sources

Enabling the ARM Learning in INDIA

Binutils
Binutils is a set of tools to generate and manipulate binaries for a given CPU architecture as, the assembler, that generates binary code from assembler source code ld, the linker ar,ranlib, to generate .a archives, used for libraries objdump,readelf,size,nm,strings, to inspect binaries. Very useful analysis tools ! strip, to strip useless parts of binaries in order to reduce their size [Link] GPL license

Enabling the ARM Learning in INDIA

GNU Compiler
GNU C Compiler, the famous free software compiler Can compile C, C++, Ada, Fortran, Java, Objective-C, Objective-C++, and generate code for a large number of CPU architectures, including ARM, AVR, Blackfin, CRIS, FRV, M32, MIPS, MN10300, PowerPC, SH, v850, i386, x86_64, IA64, Xtensa, etc. [Link] Available under the GPL license, libraries under the LGPL.

Enabling the ARM Learning in INDIA

C Library
The C library is an essential component of a Linux system Interface between the applications and the kernel Provides the well-known standard C API to ease application development Several C libraries are available: glibc, uClibc, eglibc, dietlibc, newlib, etc. The choice of the C library must be made at the time of the cross-compiling toolchain generation, as the GCC compiler is compiled against a specific C library.

Enabling the ARM Learning in INDIA

Toolchain Compiling
Steps to compile Toolchain Manually 1. Download and extract sources 2. Patch the sources for ARM 3. Install Kernel headers 4. Build & Install GMP 5. Build & Install MPFR 6. Build & Install binutils 7. Build & Install core GCC 8. Build & Install glibc 9. Build & Install full GCC

Enabling the ARM Learning in INDIA

Crosstool GCC-3.4
Directory structure used:
/home/ubuntu/bb_at91/tools => top_dir /home/ubuntu/bb_at91/tools/crosstool-0.42 => source /home/ubuntu/bb_at91/tools/crosstool => output /home/ubuntu/bb_at91/tools/downloads => download dir Copy all the tars in downloads directory

Step1: Download the source in bb_at91/tools ubuntu$ wget [Link] Step 2: Download the [Link] or create it ubuntu$ wget [Link]

Enabling the ARM Learning in INDIA

Crosstool GCC-3.4
[Link]
#!/bin/sh set -ex TOP_DIR=/home/ubuntu/tools TARBALLS_DIR=$TOP_DIR/downloads RESULT_TOP=$TOP_DIR/crosstool GCC_LANGUAGES="c,c++" PARALLELMFLAGS="-j2" GDB_DIR=gdb-6.5 export GCC_LANGUAGES PARALLELMFLAGS TARBALLS_DIR RESULT_TOP GDB_DIR mkdir -p $RESULT_TOP # Create the toolchain. This will take a lot of time. # Add --gdb to the next line if you are going to use GDB! eval `cat [Link] [Link]` sh [Link] --notest echo Done.

Enabling the ARM Learning in INDIA

Crosstool GCC-3.4
Step 3: sudo apt-get install patch bison flex gcc-3.4 Step 4: Change the gcc link to gcc-3.4 ubuntu$ sudo rm /usr/bin/gcc ubuntu$ sudo ln -s /usr/bin/gcc-3.4 /usr/bin/gcc Step 5: Change the default shell to bash from dash ubuntu$ ls -l /bin/sh
lrwxrwxrwx 1 root root 4 2009-10-23 22:13 /bin/sh -> dash

ubuntu$ sudo rm /bin/sh ubuntu$ sudo ln -s /bin/bash /bin/sh ubuntu$ ls -l /bin/sh

lrwxrwxrwx 1 root root 4 2009-10-23 22:13 /bin/sh -> bash Enabling the ARM Learning in INDIA

Crosstool GCC-3.4
Step 6: Add execute permission to [Link] ubuntu$ chmod +x [Link] Step 7: Execute the [Link] to start compiling ubuntu$ ./[Link] If all things goes fine U will get print Done on console.

Enabling the ARM Learning in INDIA

Credits
Most of the data for this presentation is taken from 1. [Link] 2. [Link]

Enabling the ARM Learning in INDIA

Enabling the ARM Learning in INDIA

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Enabling the ARM Learning in INDIA