嵌入式Linux系统构建：第二版入门指南

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"Building Embedded Linux Systems, 2nd Edition" 是一本面向初学者的嵌入式系统构建指南，英文版内容清晰易懂，是入门学习的优秀书籍。这本书与O'Reilly出版的其他Linux和开发工具相关书籍一同，提供了丰富的学习资源。在嵌入式系统开发领域，Linux因其开源、稳定和高效的特点而被广泛应用。"Building Embedded Linux Systems, 2nd Edition"深入浅出地介绍了如何构建和定制嵌入式Linux系统，内容可能包括但不限于以下关键知识点： 1. **嵌入式系统基础**：理解嵌入式系统的基本概念，包括硬件组件、内存管理、处理器架构以及它们如何与操作系统相互作用。 2. **Linux内核定制**：学习如何裁剪和编译Linux内核以适应特定的嵌入式硬件平台，包括选择必要的驱动程序、裁剪内核配置和优化性能。 3. **文件系统构建**：了解如何创建和维护适合嵌入式设备的精简文件系统，包括 BusyBox 和 BusyBox 工具集的使用，以及文件系统类型（如 squashfs 和 JFFS2）的选择。 4. **交叉编译环境**：建立和使用交叉编译工具链，以便在宿主机上为不同的嵌入式目标平台编译应用程序和库。 5. **设备驱动程序开发**：学习编写和修改Linux设备驱动程序，以支持新的或特定的硬件组件，如传感器、网络接口和存储设备。 6. **启动过程与引导加载器**：探讨Linux设备的启动流程，包括U-Boot等引导加载器的配置和使用。 7. **系统更新与远程管理**：学习如何实现固件更新机制，如Over-the-Air (OTA) 更新，并掌握远程管理系统的方法，如SSH和网络服务配置。 8. **调试与性能优化**：介绍调试嵌入式Linux系统的方法，包括使用gdb、strace和性能分析工具，以及如何进行系统性能调优。 9. **相关资源链接**：通过O'Reilly的Linux Books Resource Center获取更多相关书籍资源，例如"Designing Embedded Hardware"、"Linux Device Drivers"、"Linux in a Nutshell"等，这些书籍可以进一步深化对相关主题的理解。 10. **在线学习平台**：推荐使用Safari Bookshelf在线参考图书馆，该平台提供超过1000本书的搜索功能，订阅者可以快速找到问题的答案，这对于时间紧迫的专业人士来说非常有价值。通过这本书，读者将不仅能够掌握构建嵌入式Linux系统的基本技能，还能了解到开源社区的最新工具和系统，从而将创新者的知识转化为实践中的有用技能。同时，参加O'Reilly组织的相关会议和活动也是提升技能和获取行业前沿信息的好途径。

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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

search thousands of top tech books, cut and paste code samples, download chapters,

and find quick answers when you need the most accurate, current information. Try it

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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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