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Home > IoT & Hardware > Embedded Systems > Embedded Linux Development Using Yocto Project Cookbook
Embedded Linux Development Using Yocto Project Cookbook
Embedded Linux Development Using Yocto Project Cookbook

Embedded Linux Development Using Yocto Project Cookbook: Practical recipes to help you leverage the power of Yocto to build exciting Linux-based systems , Second Edition

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Embedded Linux Development Using Yocto Project Cookbook

Chapter 2. The BSP Layer

In this chapter, we will cover the following recipes:

  • Creating a custom BSP layer
  • Adding a custom kernel and bootloader
  • Building the U-Boot bootloader
  • Describing Linux's build system
  • Configuring the Linux kernel
  • Building the Linux kernel
  • Building external kernel modules
  • Debugging the Linux kernel and modules
  • Debugging the Linux kernel booting process
  • Using the kernel tracing system
  • Managing the device tree
  • Debugging device tree issues

Introduction

In the previous chapter, we became comfortable with the build system and the reference hardware we are using. We built images, ran them, and learned how to customize and optimize our build system.

Now we have our build environment ready with the Yocto Project, it's time to think about beginning development work on our embedded Linux project.

Most embedded Linux projects require both custom hardware and software. An early task in the development process is to test different hardware reference boards and select one to base our design on. As we saw in the Building Wandboard images recipe in Chapter 1, The Build System, for this book we have chosen the Wandboard, an NXP i.MX6-based platform, as it is an affordable and open board, which makes it perfect for our needs.

The Wandboard uses a SoM that is then mounted into a carrier board and sold as a single-board computer. As the schematics are open, the SoM could be used with a different carrier board design for a much more specific product...

Creating a custom BSP layer

The changes needed to support a new hardware platform, or machine, are kept on a separate Yocto layer, called a BSP layer. This separation is best for future updates and patches to the system. A BSP layer can support any number of new machines and any new software feature that is linked to the hardware itself.

How to do it...

By convention, Yocto layer names start with meta, short for metadata. A BSP layer may then add a bsp keyword, and finally a unique name. We will call our layer meta-bsp-custom.

There are several ways to create a new layer:

  • Manually, once you know what is required
  • By copying the meta-skeleton layer included in Poky
  • By using the yocto-layer command-line tool

You can have a look at the meta-skeleton layer in Poky and see that it includes the following elements:

  • A layer.conf file, where the layer configuration variables are set
  • A COPYING.MIT license file
  • Several directories named with the recipes- prefix with example recipes for BusyBox, the Linux kernel...

Adding a custom kernel and bootloader

The BSP that encapsulates the hardware modifications for a given platform is mostly located in the bootloader, usually U-Boot (Das U-Boot) for ARM devices, and the Linux kernel. Both U-Boot and the Linux kernel have upstream development trees, at git.denx.de and http://kernel.org/ respectively, but it is very common for manufacturers of embedded hardware to provide their own trees for both bootloader and kernel.

Development in U-Boot and the Linux kernel is usually done externally to Yocto, as they are easy and quicker to build using a cross-compilation toolchain, like the one provided by Yocto's SDK.

The development work is then integrated into Yocto in one of two ways:

  • With patches added to the kernel and U-Boot bbappend files. This method will build the same source as the reference design board we are using as a base, and apply our changes over it. This is what we have seen in the previous recipe.
  • Using a different Git repository, forked from the Linux...

Building the U-Boot bootloader

We have seen how to modify the Yocto build system to both modify a U-Boot or Linux kernel recipe by adding patches or by building from a modified Git repository. Now we will see how to modify and build the U-Boot source in order to introduce our changes.

Even though the Yocto Project is very flexible, it is best not to use the Yocto Project build system while developing the BSP. The U-Boot and Linux kernel binaries are separate artifacts and can be programmed individually, so it is faster and less error-prone to just build them using the standalone Yocto SDK and not the Yocto build system. This also abstracts BSP developers from the complexities of the Yocto build system.

Note

This may not apply to the Linux-Yocto kernel types, as in that case the Yocto Project provides specific tools to aid development.

Getting ready

We will use a Yocto toolchain to build the U-Boot source externally from the Yocto build system. The Yocto project has precompiled SDKs for both 32...

Describing Linux's build system

The Linux kernel is a monolithic kernel and, as such, shares the same address space. Although it has the ability to load modules at runtime, the kernel must contain all the symbols the module uses at compilation time. Once the module is loaded, it will share the kernel's address space too.

The kernel build system (kbuild), uses conditional compilation to decide which parts of the kernel are compiled. kbuild is independent of the Yocto build system.

In this recipe, we will explain how kbuild works.

How to do it...

The kernel kbuild system reads its configuration at build time from a .config text file in the kernel root directory. This is referred to as the kernel configuration file. It is a text file where each line contains a single configuration variable that starts with the CONFIG_ prefix.

There are multiple ways to modify a kernel configuration file:

  1. Manually editing the .config file, although this is not recommended.
  2. Using one of the user interfaces the kernel...

Configuring the Linux kernel

The Linux kernel contains a set of default machine configurations. For ARM, these are under the arch/arm/configs directory on the Linux source. The Yocto Project, however, uses a copy of this configuration file inside the BSP layer metadata. This enables the use of different configuration files for different purposes.

In this recipe, we will see how to configure the Linux kernel and add the resulting configuration file to our BSP layer.

Getting ready

Before configuring the kernel, we need to provide a default configuration for our machine, which is the one the Yocto project uses to configure a kernel. When defining a new machine in your BSP layer, you need to provide a defconfig file.

The Wandboard's defconfig file is stored under sources/meta-freescale-3rdparty/recipes-kernel/linux/linux-wandboard/defconfig.

This will be the base defconfig file for our custom hardware, so we copy it to our BSP layer:

$ cd /opt/yocto/fsl-community-bsp/sources$ mkdir -p meta-bsp-custom...

Building the Linux kernel

As was the case with U-Boot, Linux kernel development is quicker and less error-prone when using the Yocto SDK to build it. However, for smaller changes, the Yocto build system can also be used.

In this recipe, we will show you how to build and modify the Linux kernel source both with Yocto's SDK and the Yocto build system, and boot our target device with it.

How to do it...

We will use the Yocto Project's SDK already installed in your host:

  1. Prepare the environment as follows:
$ source /opt/poky/2.4/environment-setup-cortexa9hf-neon-poky-linux-gnueabi
  1. Configure the kernel with the default machine configuration:
$ cd /opt/yocto/linux-wandboard$ cp /opt/yocto/fsl-community-bsp/sources/meta-bsp-custom/recipes-kernel/linux/linux-wandboard-4.1-2.0.x/wandboard-custom/defconfig arch/arm/configs/wandboard_defconfig$ make wandboard_defconfig
  1. Compile the kernel image, modules, and the device tree file with the following:
$ make -jN

Note

You can optionally pass a -jN argument to make...

Building external kernel modules

The Linux kernel has the ability to load modules at runtime that extend the kernel's functionality. Kernel modules share the kernel's address space and have to be linked against the kernel they are going to be loaded onto. Most device drivers in the Linux kernel can either be compiled into the kernel itself (built-in) or as loadable kernel modules that need to be placed in the root filesystem under the /lib/modules directory.

The recommended approach to develop and distribute a kernel module is to do it with the kernel source. A module in the kernel tree uses the kernel's kbuild system to build itself, so as long as it is selected as a module in the kernel configuration and the kernel has module support enabled, Yocto will build it.

However, it is not always possible to develop a module in the kernel. Common examples are hardware manufacturers that provide Linux drivers for a wide variety of kernel versions and have an internal development process separated...

Debugging the Linux kernel and modules

We will highlight some of the most common methods employed by kernel developers to debug kernel issues.

How to do it...

Above all, debugging the Linux kernel remains a manual process, and the most important developer tool is the ability to print debug messages.

The kernel uses the printk function, which is very similar syntactically to the printf function call from standard C libraries, with the addition of an optional log level. The allowed formats are documented in the kernel source under Documentation/printk-formats.txt.

The printk functionality needs to be compiled into the kernel with the CONFIG_PRINTK configuration variable. You can also configure the Linux kernel to prepend a precise timestamp to every message with the CONFIG_PRINTK_TIME configuration variable, or even better, with the printk.time kernel command-line argument or through the sysfs under /sys/module/printk/parameters.

Note

The sysfs is a pseudo filesystem where the Linux kernel exposes...

Debugging the Linux kernel booting process

We have seen the most general techniques for debugging the Linux kernel. However, some special scenarios require the use of different methods. One of the most common scenarios in embedded Linux development is the debugging of the booting process. This recipe will explain some of the techniques used to debug the kernel's booting process.

How to do it...

A kernel crashing on boot usually provides no output whatsoever on the console. As daunting as that may seem, there are techniques we can use to extract debug information. Early crashes usually happen before the serial console has been initialized, so even if there were log messages, we would not see them. The first thing we will show is how to enable early log messages that do not need the serial driver.

In case that is not enough, we will also show techniques to access the log buffer in memory.

How it works...

Debugging booting problems have two distinctive phases: before and after the serial console...

Using the kernel function tracing system

Recent versions of the Linux kernel contain a set of tracers that, by instrumenting the kernel, allow you to analyze different areas such as the following:

  • Interrupt latency
  • Preemption latency
  • Scheduling latency
  • Process context switches
  • Event tracing
  • Syscalls
  • Maximum stack
  • Block layer
  • Functions

The tracers have no performance overhead when not enabled.

Getting ready

The tracing system can be used in a wide variety of debugging scenarios, but one of the most common tracers used is the function tracer. It instruments every kernel function with an NOP call that is replaced and used to trace the kernel functions when a trace point is enabled.

To enable the function tracer in the kernel, use the CONFIG_FUNCTION_TRACER and CONFIG_FUNCTION_GRAPH_TRACER configuration variables.

The kernel tracing system is controlled via a tracing file in the debug filesystem, which is mounted by default on Yocto's default images. If not, you can mount it with the following:

$ mount -t...

Managing the device tree

The device tree is a data structure that is passed to the Linux kernel to describe the physical devices in a system.

In this recipe, we will explain how to work with device trees.

Getting ready

Devices that cannot be discovered by the CPU are handled by the platform devices API on the Linux kernel. The device tree replaces the legacy platform data where hardware characteristics were hardcoded in the kernel source so that platform devices can be instantiated. Before device trees came into use, the bootloader (for example, U-Boot) had to tell the kernel what machine type it was booting. Moreover, it had to pass other information such as memory size and location, kernel command-line, and more.

The device tree was first used by the PowerPC architecture and was adopted later on by ARM and all others, except x86. It was defined by the Open Firmware specification, which defined the flattened device tree format in Power.org Standard for Embedded Power Architecture Platform Requirements...

Debugging device tree issues

This recipe will show some techniques to debug common problems with the device tree.

How to do it...

As mentioned before, problems with the syntax of device tree files usually result in the kernel crashing early in the boot process. Other types of problems are more subtle and usually appear once a driver is making use of the information provided by the device tree. For both types of problems, it is helpful to be able to look not only at the device tree syntax file, but also at the device tree blob, as it is read by both U-Boot and the Linux kernel. It may also be helpful to modify the device tree on the fly using the tools that U-Boot offers.

How it works...

Let's see how to access the device tree at runtime, both from a running U-Boot and Linux.

Looking at the device tree from U-Boot

The U-Boot bootloader offers the fdt command to interact with a device tree blob. In the Wandboard's default environment, there are two variables related to the device tree:

  • fdtfile: This...
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Key benefits

  • Optimize your Yocto setup to speed up development and debug build issues
  • Use what is quickly becoming the standard embedded Linux product builder framework—the Yocto Project
  • Recipe-based implementation of best practices to optimize your Linux system

Description

The Yocto Project has become the de facto distribution build framework for reliable and robust embedded systems with a reduced time to market.You'll get started by working on a build system where you set up Yocto, create a build directory, and learn how to debug it. Then, you'll explore everything about the BSP layer, from creating a custom layer to debugging device tree issues. In addition to this, you’ll learn how to add a new software layer, packages, data, scripts, and configuration files to your system. You will then cover topics based on application development, such as using the Software Development Kit and how to use the Yocto project in various development environments. Toward the end, you will learn how to debug, trace, and profile a running system. This second edition has been updated to include new content based on the latest Yocto release.

Who is this book for?

If you are an embedded Linux developer with the basic knowledge of Yocto Project, this book is an ideal way to broaden your knowledge with recipes for embedded development.

What you will learn

  • Optimize your Yocto Project setup to speed up development and debug build issues
  • Use Docker containers to build Yocto Project-based systems
  • Take advantage of the user-friendly Toaster web interface to the Yocto Project build system
  • Build and debug the Linux kernel and its device trees
  • Customize your root filesystem with already-supported and new Yocto packages
  • Optimize your production systems by reducing the size of both the Linux kernel and root filesystems
  • Explore the mechanisms to increase the root filesystem security
  • Understand the open source licensing requirements and how to comply with them when cohabiting with proprietary programs
  • Create recipes, and build and run applications in C, C++, Python, Node.js, and Java
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Length: 456 pages
Edition : 2nd
Language : English
ISBN-13 : 9781788399210
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Linux Foundation
Category :
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Languages :
C
Concepts :
Embedded Systems
Tools :
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Category :
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Languages :
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Concepts :
Embedded Systems
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Table of Contents

5 Chapters
The Build System Chevron down icon Chevron up icon
The Build System
Introduction
Setting up the host system
Installing Poky
Creating a build directory
Building your first image
Explaining the NXP Yocto ecosystem
Installing support for NXP hardware
Building Wandboard images
Using the Toaster web interface
Running a Toaster Docker container
Configuring network booting for a development setup
Using Docker as a Yocto build system container
Sharing downloads
Sharing the shared state cache
Setting up a package feed
Using build history
Working with build statistics
Debugging the build system
The BSP Layer Chevron down icon Chevron up icon
The BSP Layer
Introduction
Creating a custom BSP layer
Adding a custom kernel and bootloader
Building the U-Boot bootloader
Describing Linux's build system
Configuring the Linux kernel
Building the Linux kernel
Building external kernel modules
Debugging the Linux kernel and modules
Debugging the Linux kernel booting process
Using the kernel function tracing system
Managing the device tree
Debugging device tree issues
The Software Layer Chevron down icon Chevron up icon
The Software Layer
Introduction
Exploring an image's contents
Adding a new software layer
Selecting a specific package version and provider
Adding supported packages
Adding new packages
Adding data, scripts, or configuration files
Managing users and groups
Using the sysvinit initialization manager
Using the systemd initialization manager
Installing package installation scripts
Reducing the Linux kernel image size
Reducing the root filesystem size
Memory-based root filesystems
Securing the root filesystem
Releasing software
Analyzing your system for compliance
Working with open source and proprietary code
Application Development Chevron down icon Chevron up icon
Application Development
Introduction
Introducing toolchains
Preparing an SDK
Using the extensible SDK
Using the Eclipse IDE
Developing GTK+ applications
Using the Qt Creator IDE
Developing Qt applications
Describing workflows for application development
Working with GNU make
Working with the GNU build system
Working with the CMake build system
Working with the SCons builder
Developing with libraries
Working with the Linux framebuffer
Using the X Windows system
Using Wayland
Adding a web browser application
Adding Python applications
Integrating the Open Java Development Kit
Integrating Java applications
Integrating Node.js applications
Running Docker application containers
Debugging, Tracing, and Profiling Chevron down icon Chevron up icon
Debugging, Tracing, and Profiling
Introduction
Analyzing core dumps
Native GDB debugging
Cross GDB debugging
Using strace for application debugging
Using the kernel's performance counters
Using static kernel tracing
Using dynamic kernel tracing
Using dynamic kernel events
Exploring Yocto's tracing and profiling tools
Tracing and profiling with perf
Using SystemTap
Using LTTng
Using blktrace

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4 star 14.3%
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Weetit Wanalertlak Jul 06, 2020
Full star icon Full star icon Full star icon Full star icon Full star icon 5
Thank you for a good book. Docker method of Yocto compilation works great.
Amazon Verified review Amazon
Sergio Prado Jun 27, 2018
Full star icon Full star icon Full star icon Full star icon Full star icon 5
This is one of the best Yocto Project's books around. It is very practical, well structured and easy to read, with a lot of examples for embedded development. Beginners and advanced users will benefit from the concepts presented in the book. Highly recommended!
Amazon Verified review Amazon
frv Oct 21, 2018
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Explains very well how to work in a YOCTO build environment for setting up a Linux distribution
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M. Salamon Jan 02, 2020
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Good explained and practical oriented book. For advanced Yocto users more details and topics will be needed.
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Tony Mar 03, 2018
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This book is virtually solid text, pretty much like a spec you might be given at work.
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About the author

Profile icon Alex González
Alex González
Alex González is a software engineering supervisor at Digi International and product owner of the Digi Embedded Yocto distribution. He started working professionally with embedded systems in 1999 and the Linux kernel in 2004, designing products for voice and video over IP networks, and followed his interests into machine-to-machine (M2M) technologies and the Internet of Things. Born and raised in Bilbao, Spain, Alex has an electronic engineering degree from the University of the Basque Country and he received his MSc in communication systems from the University of Portsmouth.
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Trackable service with delivery to addresses in Australia only.
Delivery time ranges from 7-9 business days for VIC and 8-10 business days for Interstate metro
Delivery time is up to 15 business days for remote areas of WA, NT & QLD.

Premium: Delivery to addresses in Australia only
Trackable delivery to most P. O. Boxes and private residences in Australia within 4-5 days based on the distance to a destination following dispatch.

India:

Premium: Delivery to most Indian addresses within 5-6 business days

Rest of the World:

Premium: Countries in the American continent: Trackable delivery to most countries within 4-7 business days

Asia:

Premium: Delivery to most Asian addresses within 5-9 business days

Disclaimer:
All orders received before 5 PM U.K time would start printing from the next business day. So the estimated delivery times start from the next day as well. Orders received after 5 PM U.K time (in our internal systems) on a business day or anytime on the weekend will begin printing the second to next business day. For example, an order placed at 11 AM today will begin printing tomorrow, whereas an order placed at 9 PM tonight will begin printing the day after tomorrow.


Unfortunately, due to several restrictions, we are unable to ship to the following countries:

  1. Afghanistan
  2. American Samoa
  3. Belarus
  4. Brunei Darussalam
  5. Central African Republic
  6. The Democratic Republic of Congo
  7. Eritrea
  8. Guinea-bissau
  9. Iran
  10. Lebanon
  11. Libiya Arab Jamahriya
  12. Somalia
  13. Sudan
  14. Russian Federation
  15. Syrian Arab Republic
  16. Ukraine
  17. Venezuela
What is custom duty/charge? Chevron down icon Chevron up icon

Customs duty are charges levied on goods when they cross international borders. It is a tax that is imposed on imported goods. These duties are charged by special authorities and bodies created by local governments and are meant to protect local industries, economies, and businesses.

Do I have to pay customs charges for the print book order? Chevron down icon Chevron up icon

The orders shipped to the countries that are listed under EU27 will not bear custom charges. They are paid by Packt as part of the order.

List of EU27 countries: www.gov.uk/eu-eea:

A custom duty or localized taxes may be applicable on the shipment and would be charged by the recipient country outside of the EU27 which should be paid by the customer and these duties are not included in the shipping charges been charged on the order.

How do I know my custom duty charges? Chevron down icon Chevron up icon

The amount of duty payable varies greatly depending on the imported goods, the country of origin and several other factors like the total invoice amount or dimensions like weight, and other such criteria applicable in your country.

For example:

  • If you live in Mexico, and the declared value of your ordered items is over $ 50, for you to receive a package, you will have to pay additional import tax of 19% which will be $ 9.50 to the courier service.
  • Whereas if you live in Turkey, and the declared value of your ordered items is over € 22, for you to receive a package, you will have to pay additional import tax of 18% which will be € 3.96 to the courier service.
How can I cancel my order? Chevron down icon Chevron up icon

Cancellation Policy for Published Printed Books:

You can cancel any order within 1 hour of placing the order. Simply contact [email protected] with your order details or payment transaction id. If your order has already started the shipment process, we will do our best to stop it. However, if it is already on the way to you then when you receive it, you can contact us at [email protected] using the returns and refund process.

Please understand that Packt Publishing cannot provide refunds or cancel any order except for the cases described in our Return Policy (i.e. Packt Publishing agrees to replace your printed book because it arrives damaged or material defect in book), Packt Publishing will not accept returns.

What is your returns and refunds policy? Chevron down icon Chevron up icon

Return Policy:

We want you to be happy with your purchase from Packtpub.com. We will not hassle you with returning print books to us. If the print book you receive from us is incorrect, damaged, doesn't work or is unacceptably late, please contact Customer Relations Team on [email protected] with the order number and issue details as explained below:

  1. If you ordered (eBook, Video or Print Book) incorrectly or accidentally, please contact Customer Relations Team on [email protected] within one hour of placing the order and we will replace/refund you the item cost.
  2. Sadly, if your eBook or Video file is faulty or a fault occurs during the eBook or Video being made available to you, i.e. during download then you should contact Customer Relations Team within 14 days of purchase on [email protected] who will be able to resolve this issue for you.
  3. You will have a choice of replacement or refund of the problem items.(damaged, defective or incorrect)
  4. Once Customer Care Team confirms that you will be refunded, you should receive the refund within 10 to 12 working days.
  5. If you are only requesting a refund of one book from a multiple order, then we will refund you the appropriate single item.
  6. Where the items were shipped under a free shipping offer, there will be no shipping costs to refund.

On the off chance your printed book arrives damaged, with book material defect, contact our Customer Relation Team on [email protected] within 14 days of receipt of the book with appropriate evidence of damage and we will work with you to secure a replacement copy, if necessary. Please note that each printed book you order from us is individually made by Packt's professional book-printing partner which is on a print-on-demand basis.

What tax is charged? Chevron down icon Chevron up icon

Currently, no tax is charged on the purchase of any print book (subject to change based on the laws and regulations). A localized VAT fee is charged only to our European and UK customers on eBooks, Video and subscriptions that they buy. GST is charged to Indian customers for eBooks and video purchases.

What payment methods can I use? Chevron down icon Chevron up icon

You can pay with the following card types:

  1. Visa Debit
  2. Visa Credit
  3. MasterCard
  4. PayPal
What is the delivery time and cost of print books? Chevron down icon Chevron up icon

Shipping Details

USA:

'

Economy: Delivery to most addresses in the US within 10-15 business days

Premium: Trackable Delivery to most addresses in the US within 3-8 business days

UK:

Economy: Delivery to most addresses in the U.K. within 7-9 business days.
Shipments are not trackable

Premium: Trackable delivery to most addresses in the U.K. within 3-4 business days!
Add one extra business day for deliveries to Northern Ireland and Scottish Highlands and islands

EU:

Premium: Trackable delivery to most EU destinations within 4-9 business days.

Australia:

Economy: Can deliver to P. O. Boxes and private residences.
Trackable service with delivery to addresses in Australia only.
Delivery time ranges from 7-9 business days for VIC and 8-10 business days for Interstate metro
Delivery time is up to 15 business days for remote areas of WA, NT & QLD.

Premium: Delivery to addresses in Australia only
Trackable delivery to most P. O. Boxes and private residences in Australia within 4-5 days based on the distance to a destination following dispatch.

India:

Premium: Delivery to most Indian addresses within 5-6 business days

Rest of the World:

Premium: Countries in the American continent: Trackable delivery to most countries within 4-7 business days

Asia:

Premium: Delivery to most Asian addresses within 5-9 business days

Disclaimer:
All orders received before 5 PM U.K time would start printing from the next business day. So the estimated delivery times start from the next day as well. Orders received after 5 PM U.K time (in our internal systems) on a business day or anytime on the weekend will begin printing the second to next business day. For example, an order placed at 11 AM today will begin printing tomorrow, whereas an order placed at 9 PM tonight will begin printing the day after tomorrow.


Unfortunately, due to several restrictions, we are unable to ship to the following countries:

  1. Afghanistan
  2. American Samoa
  3. Belarus
  4. Brunei Darussalam
  5. Central African Republic
  6. The Democratic Republic of Congo
  7. Eritrea
  8. Guinea-bissau
  9. Iran
  10. Lebanon
  11. Libiya Arab Jamahriya
  12. Somalia
  13. Sudan
  14. Russian Federation
  15. Syrian Arab Republic
  16. Ukraine
  17. Venezuela
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