嵌入式Linux系统构建指南

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"Building Embedded Linux Systems 2nd.pdf" 是一本关于构建嵌入式Linux系统的专业书籍，旨在指导读者如何在各种硬件平台上设计和构建定制化的Linux系统。这本书可能涵盖了从选择合适的Linux发行版到裁剪内核，配置文件系统，以及开发和集成设备驱动等多个方面。在嵌入式系统领域，Linux因其开源、稳定和灵活性而被广泛采用。"Building Embedded Linux Systems" 提供了深入的实践指导，帮助开发者理解如何将Linux的优势应用于资源有限的嵌入式设备。作者可能详细讨论了以下关键知识点： 1. **选择合适的Linux发行版**：根据项目需求，如实时性、内存占用和功耗，选择适合的嵌入式Linux发行版，例如Yocto Project、OpenWRT或 BusyBox。 2. **内核配置与裁剪**：讲解如何根据目标硬件和应用需求来定制Linux内核，包括添加、删除或修改内核模块，以优化性能和内存使用。 3. **文件系统构建**：介绍如何创建和定制根文件系统，包括选择合适的文件系统类型（如ext2/3/4、JFFS2、YAFFS等），以及添加必要的应用程序和服务。 4. **设备驱动开发**：详细阐述如何编写和调试设备驱动程序，以确保硬件与Linux内核的正确交互，涵盖GPIO、I2C、SPI、UART等常见接口。 5. **构建工具链**：解释如何建立交叉编译环境，以便在宿主机上为嵌入式平台构建软件。 6. **启动过程和引导加载器**：讨论U-Boot、GRUB等引导加载器的使用，以及如何配置它们以正确启动嵌入式Linux系统。 7. **嵌入式系统的测试和调试**：介绍如何进行系统级别的测试，使用GDB进行远程调试，以及性能分析工具的使用。 8. **实时性和电源管理**：针对嵌入式系统的特殊需求，可能涉及实时Linux（如RT_PREEMPT补丁）和低功耗策略。 9. **相关资源和社区**：书中可能提到了其他相关的Linux资源，如O'Reilly出版的其他书籍，如"Designing Embedded Hardware"、"Linux Device Drivers"、"Linux in a Nutshell"等，以及ONLamp.com网站，这些资源为学习和解决实际问题提供了额外的支持。通过阅读"Building Embedded Linux Systems"，读者可以掌握构建高效、可靠的嵌入式Linux系统所需的全面知识，并能够应对实际项目中的挑战。此外，O'Reilly的在线参考图书馆Safari Bookshelf提供了更广泛的资源，允许订阅者快速查找和获取编程和IT领域的专业知识。

Chapter 12, Introduction to Real-Time Linux, explains the value of real-time and offers

a candid discussion of when you need various real-time features, along with an intro-

duction to the various ways you can achieve real-time behaviors using Linux. This

chapter was written by the founder and maintainer of the Xenomai Real-Time System,

Philippe Gerum.

Chapter 13, The Xenomai Real-Time System, also written by Philippe Gerum, offers a

high-level view of how Xenomai achieves real-time goals and how it can be useful in

conjunction with embedded Linux.

Chapter 14, The RT Patch, performs a similar function for the RT patch to the Linux

kernel, explaining how to enable its features. The chapter was written by Steven Ros-

tedt, a key developer on the patch.

Although Chapters 7 through 9 are independent, note that their content is highly

interrelated. For example, setting up the target’s storage device, as discussed in Chap-

ter 7, requires a basic knowledge about the target filesystem organization as discussed

in Chapter 8, and vice versa. So, too, does setting up storage devices require a basic

knowledge of bootloader setup and operation as discussed in Chapter 9, and vice versa.

We therefore recommend that you read Chapters 7 through 9 in one breath a first time

before carrying out the instructions in any of them. When setting up your target there-

after, you will nevertheless follow the same sequence of operations outlined in these

chapters.

Hardware Used in This Book

As you’ll see in Chapter 3, Linux supports a very wide range of hardware. For this book,

we’ve used a number of embedded systems to test the various procedures. Some of

these systems, such as the OpenMoko-based NEO 1973, are commercial products

available in the mainstream market. We included these intentionally, to demonstrate

that any willing reader can find the materials to support learning how to build embed-

ded Linux systems. You can, of course, still use an old x86 PC for experimenting, but

you are likely to miss much of the fun, given the resemblance between such systems

and most development hosts.

To illustrate the range of target architectures on which Linux can be used, we varied

the target hardware we used in the examples between chapters. Though some chapters

are based on different architectures, the commands given in each chapter apply readily

to other architectures as well. If, for instance, an example in a chapter relies on the

arm-linux-gcc command, which is the gcc compiler for ARM, the same example would

work for a PPC target by using the powerpc-linux-gcc command instead. Whenever

more than one architecture is listed for a chapter, the main architecture discussed is

the first one listed. The example commands in Chapter 5, for instance, are mainly

centered around PowerPC, but there are also a few references to ARM commands.

xiv | Preface

Unless specific instructions are given to the contrary, the host’s architecture is always

different from the target’s. In Chapter 4, for example, we used a PPC host to build tools

for an x86 target. The same instructions could, nevertheless, be carried out on a SPARC

or an S/390 with little or no modification. Note that most of the content of the early

chapters is architecture- independent, so there is no need to provide any architecture-

specific commands.

Software Versions

The central software on which an embedded Linux system depends, of course, is the

Linux kernel. This book concentrates on version 2.6 of the Linux kernel, and 2.6.22 in

particular. Changes to the kernel will probably have only a benign effect on the infor-

mation in the book. That is, new releases will probably support more hardware than

Chapter 3 lists. But the essential tasks described in this book are unlikely to change.

In addition, this book discusses the configuration, installation, and use of over 40 dif-

ferent open source and free software packages. Each package is maintained independ-

ently and is developed at a different pace. Because these packages change over time, it

is likely that the package versions covered in this book may be outdated by the time

you read it. In an effort to minimize the effect of software updates on the text, we have

kept the text as version-independent as possible. The overall structure of the book and

the internal structure of each chapter, for example, are unlikely to vary regardless of

the various software changes. Also, many packages covered in this book have been

around for quite some time, so they are unlikely to change in any substantial way. For

instance, the commands to install, set up, and use the different components of the GNU

development toolchain, which is used throughout this book, have been relatively con-

stant for a number of years and are unlikely to change in any substantial way in the

future. This statement applies equally to most other software packages discussed.

Typographical Conventions

The following is a list of typographical conventions used in this book:

Constant width

Used to show the contents of code files or the output from commands, and to

indicate source code keywords that appear in code.

Constant width bold

Used to indicate user input.

Italic

Used for file and directory names, program and command names, command-line

options, URLs, and for emphasizing new terms.

Preface | xv

http://www.oreilly.com

The authors also have a site for this book at:

http://www.embeddedlinuxbook.org/

Safari® Books Online

When you see a Safari® Books Online icon on the cover of your favorite

technology book, that means the book is available online through the

O’Reilly Network Safari Bookshelf.

Safari offers a solution that’s better than e-books. It’s a virtual library that lets you easily

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Acknowledgments for the First Edition

E quindi uscimmo a riveder le stelle.

It is with these words that Dante ends Inferno, the

first part of his Divine Comedy. Though it would be misleading to suggest that writing

this book wasn’t enjoyable, Dante’s narrative clearly expresses the feeling of finishing

a first iteration of the book you now hold in your hands. In particular, I have to admit

that it has been a challenging task to pick up the bits and pieces of information available

on the use of Linux in embedded systems, to complete this information in as much as

possible, and put everything back together in a single, straightforward manuscript that

provides a practical method for building embedded Linux systems. Fortunately, I was

aided in this task by very competent and willing people.

First and foremost, I would like to thank Andy Oram, my editor. Much like Virgil

assisted Dante in his venture, Andy shepherded me throughout the various stages of

writing this book. Among many other things, he patiently corrected my nonidiomatic

phrases, made sure that my text actually conveyed the meaning I meant for it to convey,

and relentlessly pointed out the sections where I wasn’t providing enough detail. The

text you are about to read is all the much better, as it has profited from Andy’s input.

By the same token, I would like to thank Ellen Siever, with whom I initially started

working on this book. Though our collaboration ended earlier than I wished it had,

many of the ideas that have made their way into this final version of the book have

profited from her constructive feedback.

I have been extremely fortunate to have an outstanding team of reviewers go over this

book, and am very grateful for the many hours they poured into reading, correcting,

and pointing out problems with various aspects of this book. The review team was

“And from there we emerged to see the stars once more.”

Preface | xvii

made up of Erik Andersen, Wolfgang Denk, Bill Gatliff, Russell King, Paul Kinzelman,

Alessandro Rubini, David Schleef, and David Woodhouse. I’d like to especially thank

Alessandro for his dogged pursuit of perfection. Any remaining errors you may find in

the following pages are without a doubt all mine.

Writing about the use of Linux in embedded systems requires having access to a slew

of different hardware. Given that embedded hardware is often expensive, I would like

to thank all the companies and individuals who have stepped forward to provide me

with the appropriate equipment. In particular, I would like to thank Stéphane Martin

of Kontron for providing a Teknor VIPer 806 board, Wolfgang Denk of DENX Software

Engineering for providing a TQ components TQM860L PPC board, and Steve Papa-

charalambous and Stuart Hughes of Zee2 for providing a uCdimm system.

I have found much of the incentive and thrust for writing this book from being a very

satisfied open source and free software user and contributor who has profited time and

again from the knowledge and the work produced by other members of this commun-

ity. For this, I have many people to thank. Primarily, I’d like to thank Michel Dagenais

for his trust, his guidance, and for giving me the chance to freely explore uncharted

terrain. My work on developing the Linux Trace Toolkit, as part of my masters degree

with Michel, got me more and more involved in the open source and free software

community. As part of this involvement, I have met a lot of remarkable individuals

whose insight and help I greatly appreciate. Lots of thanks to Jacques Gélinas, Richard

Stallman, Jim Norton, Steve Papacharalambous, Stuart Hughes, Paolo Mantegazza,

Pierre Cloutier, David Schleef, Wolfgang Denk, Philippe Gerum, Loic Dachary, Daniel

Phillips, and Alessandro Rubini.

Last, but certainly not least, I owe a debt of gratitude to Sonia for her exceptional

patience as I spent countless hours testing, writing, testing some more, and writing

even more. Her support and care have made this endeavor all the more easy to carry

out. La main invisible qui a écrit les espaces entre les lignes est la sienne et je lui en suis

profondément reconnaissant.

†

Acknowledgments for the Second Edition

When Karim first mentioned updating Building Embedded Linux Systems, I could not

have imagined what a fun and wild ride it would be. I was in the final stages of moving

from the U.K. to the U.S. at the time, and life was pretty hectic for quite a while. Along

the way, some great friends and coauthors have helped to turn an idea into the reality

of the book that you are now reading. And we collectively hope that we have served to

increase the range of documentation available on embedded Linux.

†

“The invisible hand that wrote the spaces between each line is hers, and I am profoundly grateful to her for

this.”

xviii | Preface

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嵌入式Linux系统构建指南

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