构建嵌入式Linux系统实战指南

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"Building Embedded Linux Systems"是一本专为嵌入式系统开发者编写的指南，它详细阐述了如何基于Linux内核构建嵌入式系统。作者Karim Yaghmour是Linux Trace Toolkit的负责人，他在书中讨论了Linux作为嵌入式操作系统的优势和劣势，包括其高级调度、网络功能、免费许可证、开放开发模式以及强大的编程工具支持。本书的核心内容包括： 1. 构建自定义GNU开发工具链：如何从原始源代码构建所需的编译器、链接器和其他开发工具，以适应特定的嵌入式环境。 2. 高效的嵌入式开发框架：介绍如何建立一个高效的开发环境，确保代码能在目标硬件上高效运行。 3. 选择、配置、构建和安装目标特定的内核：讲解如何针对不同硬件配置定制内核，以优化性能和内存使用。 4. 创建完整的根文件系统：详细步骤指导如何为嵌入式设备构建包含所需软件和服务的完整文件系统。 5. 固态存储设备的设置和使用：涵盖如何管理嵌入式系统中的存储设备，包括使用闪存等非易失性存储介质。 6. 安装和配置引导加载程序：如U-Boot等，用于控制系统的启动过程。 7. 交叉编译各种工具和软件包：如何在主机环境下编译适用于目标硬件的软件。 8. 使用多种工具和技巧进行调试：如strace和gdb，帮助开发者定位和修复嵌入式系统中的问题。书中涵盖了多种目标架构和硬件配置，分析了Linux对嵌入式硬件的支持。此外，还讨论了四十多种常用的开源和免费软件包，如uClibc（轻量级C库）、BusyBox（集合了许多常用命令的单一可执行文件）、U-Boot（引导加载程序）、OpenSSH（安全的网络连接工具）、thttpd和tftp（轻量级HTTP服务器和文件传输协议）、以及strace和gdb（系统调用跟踪和调试工具）的配置和使用。本书的目标读者是那些希望深入了解并实践构建嵌入式Linux系统的开发者。内容由浅入深，每一章都提供了丰富的信息和实例，最终解释了如何将Linux实际部署到嵌入式设备上。书中使用的都是开放源码和免费软件，这样可以降低开发成本，同时提供更多的控制和自定义能力。 “Building Embedded Linux Systems”是一本实用且深入的指南，对于想要利用Linux构建嵌入式解决方案的工程师来说，它是不可或缺的参考书籍。

Typographical Conventions

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

Constant width

Is 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

Is used to indicate user input.

Italic

Is used for file and directory names, program and command names, command-line options, URLs,

and for emphasizing new terms.

This icon indicates a tip, suggestion, or general note.

This icon indicates a warning or caution.

Acknowledgments

E quindi uscimmo a riveder le stelle.

[2]

It is with these words that Dante ends Inferno, the first part of his

Devine 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.

[2]

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

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 non-idiomatic 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

greatful for the many hours they poured into reading, correcting, and pointing out problems with various

aspects of this book. The review team was 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

Papacharalambous 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 community. 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.

Chapter 1. Introduction

Since its first public release in 1991, Linux has been put to ever wider uses. Initially confined to a loosely

tied group of developers and enthusiasts on the Internet, it eventually matured into a solid Unix-like

operating system for workstations, servers, and clusters. Its growth and popularity accelerated the work

started by the Free Software Foundation (FSF) and fueled what would later be known as the open source

movement. All the while, it attracted media and business interest, which contributed to establishing

Linux's presence as a legitimate and viable choice for an operating system.

Yet, oddly enough, it is through an often ignored segment of computerized devices that Linux is poised to

become the preferred operating system. That segment is embedded systems, and the bulk of the computer

systems found in our modern day lives belong to it. Embedded systems are everywhere in our lives, from

mobile phones to medical equipment, including air navigation systems, automated bank tellers, MP3

players, printers, cars, and a slew of other devices about which we are often unaware. Every time you look

around and can identify a device as containing a microprocessor, you've most likely found another

embedded system.

If you are reading this book, you probably have a basic idea why one would want to run an embedded

system using Linux. Whether because of its flexibility, its robustness, its price tag, the community

developing it, or the large number of vendors supporting it, there are many reasons for choosing to build

an embedded system with Linux and many ways to carry out the task. This chapter provides the

background for the material presented in the rest of the book by discussing definitions, real-life issues,

generic embedded Linux systems architecture, examples, and methodology.

1.1 Definitions

The words "Linux," "embedded Linux," and "real-time Linux" are often used with little reference to what

is being designated. Sometimes, the designations may mean something very precise. Other times, a broad

range or category of applications is meant. Let us look at these terms and what they mean in different

situations.

1.1.1 What Is Linux?

Linux is interchangeably used in reference to the Linux kernel, a Linux system, or a Linux distribution.

The broadness of the term plays in favor of the adoption of Linux, in the large sense, when presented to a

nontechnical crowd, but can be bothersome when providing technical explanations. If, for instance, I say:

"Linux provides TCP/IP networking." Do I mean the TCP/IP stack in the kernel or the TCP/IP utilities

provided in a Linux distribution that are also part of an installed Linux system, or both? This vagueness

actually became ammunition for the proponents of the "GNU/Linux" moniker, who pointed out that Linux

was the kernel, but that the system was mainly built on GNU software.

Strictly speaking, Linux refers to the kernel maintained by Linus Torvalds and distributed under the same

name through the main repository and various mirror sites. This codebase includes only the kernel and no

utilities whatsoever. The kernel provides the core system facilities. It may not be the first software to run

on the system, as a bootloader may have preceded it, but once it is running, it is never swapped out or

removed from control until the system is shut down. In effect, it controls all hardware and provides

higher-level abstractions such as processes, sockets, and files to the different software running on the

system.

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