设计与构建嵌入式Linux系统指南：从入门到实践

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《嵌入式Linux系统构建》是一本由活跃于开源社区的作者Karim Yaghmour撰写的专业指南，旨在帮助读者设计和开发自己的嵌入式系统，以Linux内核作为核心，并利用开源工具作为框架。本书结构严谨，逐步引导读者深入了解嵌入式Linux的复杂性。每一章都包含详尽的信息和实例，从基本概念开始，最终解释如何在实际的嵌入式设备上部署Linux。首先，作者在第一章"Introduction"中定义了关键术语，以便于读者建立起关于嵌入式系统和Linux在其中角色的基本理解。1.2节通过现实生活中的例子，展示了嵌入式Linux系统的广泛应用场景，如物联网设备、工业控制系统等。1.3节则提供了一个多组件系统的示例，以展示嵌入式系统的组成部分及其协同工作方式。第二章"Basic Concepts"深入探讨了各类主机与目标系统（硬件）之间的不同类型，以及不同的开发和调试设置。这包括主机（通常为PC或服务器）与嵌入式设备（如微控制器或单板电脑）之间的连接方式，以及相应的开发环境配置。此外，该章还讨论了通用的嵌入式系统架构，涵盖了操作系统内核、驱动程序、用户空间应用程序以及它们之间的交互。随着章节的推进，读者将学习到如何选择合适的硬件平台，如何配置和定制Linux内核以适应特定的应用需求，以及如何管理软件包和工具链。书中强调了开源工具的优势，如GNU工具链、Yocto Project等，这些工具对于简化嵌入式Linux开发流程至关重要。此外，书中还提供了实用的步骤和最佳实践，帮助读者解决实际开发过程中的问题，确保所构建的嵌入式系统既稳定又高效。《Building Embedded Linux Systems》不仅适合初学者入门，也对有经验的工程师深入理解和提升嵌入式Linux技术有所帮助。总结来说，这本书是嵌入式系统开发者的宝典，它以实战为导向，通过循序渐进的方式讲解了从基础到高级的嵌入式Linux知识，为读者构建安全、可靠的嵌入式解决方案提供了全面的指导。无论是对于个人学习还是企业项目，都是一份不可或缺的参考资料。

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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