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• Bootloader overview• Tizen U-boot• Tizen Systemd• Platform bootup
Contents
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• Bootloader– Pass Machine ID and the boot arguments to
kernel
Tizen bootup overview
ROM codePower onBooting device
Bootloader
Kernel
Platform
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• What is boot loader ?– A boot loader is the first program which
executes (before the main program i.e. kernel ) whenever a system is initialized
– A boot loader is a computer program that loads the main program (i.e. operating system, kernel ) for the board after completion of the self-tests
• Why boot loader is needed ?– Gives a development environment– Saves cost of flash writers– Give flexibility to load any operating system
What is bootloader
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• What are different types of boot loaders ?– Boot-ROM ( or Pre-Boot Loader)
• Small code which loads First stage boot loader
– First Stage Boot Loader• Small Piece of code that initialize the NAND/MMC &
DRAM controller.
– Second Stage Boot Loader• Primary function of the second-stage boot loader is to
Loading the kernel into RAM or jumping directly to the start of the kernel.
Types of bootloader
Pre-Bootloader
First-StageBootloader
Second-Stage
BootloaderOS Kernel
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Exynos4412
U-boot loading process
Internal ROM
Internal SRAM
Cortex-A9
DRAM controller DRAM
Booting Device
(NAND, MMC, SD, USB)
eSSD controller
NAND controller
SD/MMC controller
UART/USB
1st BL2nd BL
OS
iROM code1
2
3
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• BL0; iRom code (boot-rom or pre-boot loader)– Simple platform independent code, stored in internal ROM– Initialize basic functions (clock, stack, heap, etc)– Load first stage boot loader (from booting device to
internal SRAM)• BL1; first boot loader
– Simple platform independent code, stored in external memory(booting device)
– Load second boot loader– Initialize NAND/MMC and DRAM controller
• BL2; second boot loader– Platform dependent complex code, stored in external
memory– Initialize clock, UART– Load OS image from booting device to DRAM– Jump to operating system
U-boot loading process
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Tools to build S-Record or U-boot images
Example code for standalone applications
Filesystem code (cramfs, ext2, jffs2, etc.)
Header files
Files generic to all architectures
Networking code
Power on self test
Real time clock drivers
Machine/arch independent API
Architecture specific files
Board dependent files
Misc architecture independent functions
Code for disk drive partition handling
Documentation
Commonly used device drivers
U-boot directory structure
/u-boot
board
common
doc
drivers
include
lib
net
examples
fs
rtc
tools
post
arch
disk
api
/u-boot
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1. Disable all interrupts2. Copy any initialized data from ROM to RAM3. Zero the uninitialized data area4. Allocate space for and initialize the stack5. Initialize the processor’s stack pointer6. Create and initialize the heap7. Execute the initializers for all global data8. Enable interrupts9. Call main loop
U-boot code sequence
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11U-boot code sequence
Setup SP for Early Board Setup
Environment (ASM->C)
Calculate Addresses (SP, Dest, GD) for Relocation
General Relocation
Copy Binary to RAM
Fix Relocation
Clear BSS
Setup SP for Common Board Setup
Setup GD and JUMP toFinal Board Setup
Low Level Initialization
lowlevel_init
cpu_init_crit
Disable MMU
Invalidate and disable Instruction & data
Cache
Disable IRQ &FIQ. Switch to supervisor mode
cpu/armv7/start.Sreset()
Reset CPU and Hardwarecpu/armv7/start.S
_start()
arm/lib/crt0.S_main()
Early Board Setup
arm/lib/crt0.Sboard_init_f()
arm/lib/crt0.Sboard_init_r()board/samsung/
lowlevel_init.Slowlevel_init()
cpu/armv7/start.S relocate_code()
Jump into main loop
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• _start() /* Entry point function */• reset() /* Reset CPU configurations */
– save_boot_params() /* Save boot parameters */– Disable the FIQ & IRQ– Switch to supervisor mode– cpu_init_crit()
• Invalidate I, D Cache• Disable I cache if CONFIG_SYS_ICACHE_OFF• Disable MMU• lowlevel_init()
• _main() /* setup initial stack & global data. And jump to C routine for board
initialization */
U-boot code sequence
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• board_init_f()– arch_cpu_init // basic arch cpu dependent setup– board_early_init_f // early board initialization, UART pin setting– timer_init // initialize timer– env_init // initialize mmc/sdcard environment– init_baudrate // initialize baudrate settings– serial_init // serial communication setup– console_init_f // stage 1 init of console, configure console from
console.c– display_banner // say that we are here, print u-boot banner– print_cpuinfo // display cpu info – checkboard // display board info– init_func_i2c // initialize I2C– dram_init // configure available RAM backs– arm_pci_init
U-boot code sequence
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• board_init_r()– board_init // setup chipselects specific configuration– logbuff_init_ptrs // initialize default log level– mem_malloc_init // configure malloc area– nand_init mmc_init // initialize flash/mmc– env_relocate // relocate environment or set NULL– stdio_init // setup stdio ready for use– api_init // initialize API– console_init_r // fully init console as a device– arch_misc_init // miscellaneous arch dependent initialization– misc_init_r // miscellaneous platform dependent initialization– interrupt_init // set up exceptions– enable_interrupts // enable exceptions– board_late_init // board late initialization– eth_initialize // setup ethernet– main_loop // jump to main loop & waiting for commands from
console
U-boot code sequence
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15U-boot code sequence
Jump to kernel image address
main_loop()
Autoboot_mode()
Command_mode()
boot() loads() flash()tftpboot(
)
Input command
Wait for 3 seconds Key pressed within 3 seconds
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16Loading through U-boot
SDRAMSDRAM
RootFile-
System
Kernel
Booting deviceBooting device
Kernel Image
Bootloaderuboot
Root File System
Reset
Bootloaderuboot
CPUCPU
Optional compressed
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• Packing uImage– When the kernel is complied, mkimage attaches
image_header to kernel image
• Unpacking uImage– Magin number CRC check decompress get board
information kernel booting
Loading through U-boot
#define IH_MAGIC 0x27051956 /* Image Magic Number */ #define IH_NMLEN 32 /* Image Name Length */ typedef struct image_header {
uint32_t ih_magic; /* Image Header Magic Number */uint32_t ih_hcrc; /* Image Header CRC Checksum */uint32_t ih_time; /* Image Creation Timestamp */uint32_t ih_size; /* Image Data Size */uint32_t ih_load; /* Data Load Address */uint32_t ih_ep; /* Entry Point Address */uint32_t ih_dcrc; /* Image Data CRC Checksum */uint8_t ih_os; /* Operating System */uint8_t ih_arch; /* CPU architecture */uint8_t ih_type; /* Image Type */uint8_t ih_comp; /* Compression Type */uint8_t ih_name[IH_NMLEN]; /* Image Name */
} image_header_t;
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• Architecture dependent setup– setup_arch() [/arch/arm/kernel/setup.c]
• Exception(or trap) initialization– trap_init() [/arch/arm/kernel/trap.c]
• Interrupt initialization– init_IRQ() [/arch/arm/kernel/irq.c]– sotfirq_init() [/kernel/sotfirq.c]
• Scheduler initialization– sched_init() [/kernel/sched.c]
• Timer initialization– time_init() [/arch/XXX/kernel/time.c]
• Console initialization– console_init() [/driver/char/tty_io.c]
• Module initialization– init_module() [/kernel/module.c]
start_kernel
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• Memory & System initialization , Cache & Buffer initialization , File system initialization– kmem_cache_init() [/mm/slab.c]– mem_init() [/arch/a,r/mm/init.c]– kmem_cache_size() [/mm/slab.c]– fork_init() [/kernel/fork.c]– proc_caches_init() [/kernel/fork.c]– vfs_caches_init() [/fs/dcache.c]– buffer_init() [/fs/buffer.c]– page_cache_init() [/mm/filemap.c]– signals_init() [/kernel/signal.c]– proc_root_init() [/fs/proc/root.c]– ipc_init() [/ipc/util.c]
• init process creation– rest_init() [/init/main.c]
start_kernel
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• Sysvinit– userspace launch (PID 1)– Only one process at a time running– Simply starting the system and then going to sleep
until the next reboot• Systemd
– Default init in Fedora 15 and later Leonard Poettering (2009)
– improve the software framework for expressing dependencies
– allow more processing to be done concurrently or in parallel during system booting
– reduce the computational overhead of the shell.
What is systemd?
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• Systemd in Tizen– System and service manager for tizen systemd– Ver. 43 (download
http://www.freedesktop.org/software/systemd/)– Parallelizes service execution– Socket and D-Bus activation for starting services and
daemon– on-demand starting of daemons– Managing the service processes as a group using Linux
cgroup– Supporting automount points– Snapshotting and restoring of services
What is systemd?
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• systemd Utility – monitoring and controlling systemd itself and its services– 'systemctl' developers can query or send control commend to the
systemd service manager – 'systemd-journalctl' utility to see log message
• systemd target – Tizen boot-up process is split up in various discrete steps and each
step are grouped its unit using 'Target' unit to synchronize point
– The boot-up process is highly parallelized in each target so that the order in which specific target units are reached in not deterministic
• systemd daemon – system and service manager for Tizen platform– acts as init system– 'systemd' daemonruns as user session with '--user' option– 'systemd-journald' is a system service that collects and stores log
data from the Kernel, from user processes via syslog or STDOUT/STDERR
systemd architecture
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• systemd core – manages all units such as service, socket, mount and so on,
stores all log data. – controlled by using systemd utility like 'systemctl'
• systemd library & Linux Kernel – systemd requires to enable 'cgroup' and 'autofs' option in
Kernel configuration– It also depends on dbus and some libraries such as libnotify,
libudev
systemd architecture
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• Early boot-up scripts– Most of file system are mounted and systemd related daemons are launched
Platform bootup – sysinit.target
basic.target
sysinit.target
multi-user.target
graphical.target
bootmode.target
Kernel
local-fs.target
swap.target
socket.target
-.mountboot.mountcsa.mountfsck-root.servicemedia.mountopt-usr.mountopt.mountremount-rootfs.serviceresize2fs-root.servicesystemd-remount-api-vfs.servicevar-run.mount
dev-hugepages.mountdev-mqueue.mountproc-sys-fs-binfmt_misc.automountsys-fs-fuse-connections.mountsys-kernel-config.mountsys-kernel-debug.mountsys-kernel-security.mountsystemd-ask-password-console.pathsystemd-binfmt.servicesystemd-journald.servicesystemd-modules-load.servicesystemd-random-seed-load.servicesystemd-readahead-collect.servicesystemd-readahead-replay.servicesystemd-sysctl.servicesystemd-tmpfiles-setup.service
dbus.socketsystemd-initctl.socketsystemd-journald.socketsystemd-shutdownd.sockettelnetd.socketudev-control.socketudev-kernel.socket
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• Basic boot-up– All necessary initialization for general purpose daemons are completed
Platform bootup – basic.target
basic.target
sysinit.target
multi-user.target
graphical.target
bootmode.target
Kernel
opt-var-kdb-db-libsqlfs.serviceopt-var-kdb-db-smack-labels.servicesmack-default-labeling.servicesystemd-tmpfiles-clean.timertizen-debug-level.serviceudev-trigger.serviceudev.servicevconf-setup.service
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• Select boot mode– If kernel boot parameter has ‘charger_detect_boot’, the platform boots up as
charging mode
Platform bootup – bootmote.target
basic.target
sysinit.target
multi-user.target
graphical.target
bootmode.target
Kernel
bootmode-charging.servicebootmode-graphical.service
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• Setup a multi-user system which is non-graphical support– Launching platform infrastructure daemons (such as dbus, power manager, gps
manager, telephony daemon, WRT security daemon, media server, systemd-related daemons)
Platform bootup – multi-user.target
basic.target
sysinit.target
multi-user.target
graphical.target
bootmode.target
Kernelalarm-server.serviceavsystem.servicebluetooth-address.servicebluetooth-frwk-service.servicebluetooth.servicedbus.servicedlog-main.servicedlog-radio.servicegetty.targetgps-manager.servicemedia-server.servicenfc-manager.servicepower-manager.servicepulseaudio.servicesecure-storage.servicesensor-framework.servicesystem-server.servicesystemd-ask-password-wall.pathsystemd-logind.servicesystemd-user-sessions.servicetelephony.service
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• Setup a graphical environment– System user session for app privilege daemons such as Enlightenment (window
manager)– Special target for middleware & mobile service
Platform bootup – graphical.target
basic.target
sysinit.target
multi-user.target
graphical.target
bootmode.target
Kernel
core-efl.target tizen-middleware.targetboot-animation.servicecbhm.servicee17.serviceindicator.serviceosp-app-service.servicequickpanel.servicescim.servicestarter.pathxmodmap.servicexrdb.service
[email protected]@[email protected]
calendar.servicecontacts-service.servicedownload-provider.serviceemail.servicemsg-service.servicepushd.servicesound-server.service
tizen-mobile-session.target
wrt-preinstall-widgets.service
xorg.target
xorg.service
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• systemd– Control is moved from initramfs to systemd of Tizen platform– Run hardware init and fs mount, etc services– Bootup process run several units (.target)
• Different target can be run in parallel– Many linux distributions adopt systemd as default
• Red Hat Enterprise Linux, CentOS, Fedora, Arch Linux, openSUSE
– Do not use daemon control script (/sbin/init, /etc/init.d/*, /etc/rc*.d)
– /usr/lib/systemd• unit files: service, target, socket, device, mount,
automount, path, snapshot, swap, timer• systemd utilities: systemctl, notify, analyze, cgis, cgtop,
logictl, journalctl, nspawn
Platform bootup
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• https://wiki.tizen.org/wiki/Porting_Guide
Platform bootup
entry point
.target vs .service• .target; service grouping• .service; process run
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• /usr/lib/systemd/system
• cat sysinit.target
Parsing unit file – example (1/8)
target to parse
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• Website – http://www.freedesktop.org/wiki/software/systemd/
• systemd download– http://www.freedesktop.org/software/systemd/
Parsing unit file – example (2/8)
manpage
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36Parsing unit file – example (3/8)
Can search all function and unit, configuration of systemd
enter target index
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38Parsing unit file – example (5/8)
Description on unit file option
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41Parsing unit file – example (8/8)
• User awareness unit name = “System Initialization”• If emergency is running, wait• Run with local-fs.target, swap.target, sysinit.target.wants• Run after local-fs.target, swap.target, emergency.service, emergency.target• User can control service start and stop
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• [Unit], [Service], [Install], [Socket], [Swap], [Mount], …– example; telephony.service– [Unit]; general options
• unit name = Telephony daemon• Run after modem.service
– [Service]; process options• Run telephony-daemon as main process
– [Install]; actual work of unit excute• Create telephony.service symlink at multi-user.target.wants
Different Sessions