构建嵌入式Linux系统指南：核心技术与实用工具

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"《构建嵌入式Linux系统（第二版）》是一本权威的入门教材，专为对嵌入式Linux系统感兴趣的读者设计。本书详尽地探讨了构建嵌入式Linux系统的基本概念和技术，涵盖了这一领域中的关键组件和工具，如uclibc、BusyBox、U-Boot、OpenSSH、thttpd、tftp、strace和gdb等开源软件包的配置、安装和使用方法。书中首先引导读者理解嵌入式Linux的核心原理，包括如何在硬件层面有效地部署和管理操作系统。然后，通过深入讲解uClibc，一种轻量级的C语言库，读者可以学习到如何优化小型系统内存管理和性能。BusyBox作为一个功能丰富的实用程序集合，是嵌入式环境中常见的工具集，它的使用技巧和定制化配置也在本书中有所涉及。 U-Boot作为嵌入式系统的启动加载器，其重要性不言而喻，本书会指导读者如何配置和调试U-Boot以适应特定的硬件平台。OpenSSH提供了安全的远程登录和文件传输服务，是许多嵌入式设备通信的关键。thttpd是一款轻量级的HTTP服务器，适合在资源受限的环境中运行，而tftp则是用于传输小文件的网络协议，对于系统初始化至关重要。此外，strace和gdb是调试工具，前者用于跟踪系统调用，后者则支持源代码级别的调试，帮助开发者解决系统运行时的问题。这些工具的使用方法和最佳实践在书中都有详细的阐述。《Linux in a Nutshell》、《Linux Device Drivers》、《Linux Network Administrator's Guide》和《Programming Embedded Systems》等其他O'Reilly出版的相关书籍，为读者提供了更广泛的Linux技术视野，包括系统设计、驱动开发、网络管理以及嵌入式编程。通过访问linux.oreilly.com，读者可以获取到更全面的Linux和Unix技术资料，包括示例章节和代码实例。ONLamp.com则专注于开源软件平台，如Linux、Apache、MySQL等，以及Perl、Python或PHP等编程语言的最新动态。参加O'Reilly组织的会议和研讨会，可以让读者与业界创新者交流，了解最新的技术和趋势。SafariBookshelf在线图书馆则为程序员和IT专业人士提供了超过1000本图书的即时检索服务，有助于解决实时的技术问题。《Building Embedded Linux Systems (second version)》是一本既实用又全面的指南，不仅适合初学者入门，也为有经验的开发者提供了深入研究和专业进阶的宝贵资源。"

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

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The authors also have a site for this book at:

http://www.embeddedlinuxbook.org/

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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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