Embedded System - Embedded Linux (Full-final)

LOGO

UNIVERSITY OF SCIENCE Faculty of Electronics and

Telecommunications

SEMINAR

Embedded Systems

and

Embedded LinuxExecutors:Trần Trọng Tuấn – MSSV: 0620098Nguyễn Anh Tuấn – MSSV: 0620094 Guide:M.S. Nguyễn Duy Mạnh Thi

MAD

LOGOContents

INTRODUCTION1

EMBEDDED LINUX2

CONCLUSION3

Embedded Systems & Embedded Linux

INTRODUCTION1

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1. INTRODUCTION

1.31.3ExamplesExamples 1.21.2

CharacteristicsCharacteristicsOfOfESES

1.11.1What & WhyWhat & WhyEmbeddedEmbeddedSystems?Systems?

1.1.INTRODUCITONINTRODUCITON

1.41.4Embedded OSEmbedded OS

andand Why Linux?Why Linux?

1.51.5HistoryHistoryof Linux and of Linux and EmbeddedEmbeddedLinuxLinux

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1st: Information processing systems embedded

into enclosing products [1]


1.1 What & Why Embedded Systems?

EMBEDDED

???

2nd: A special-purpose computer system designed

to perform one or a few dedicated functions,

often with real-time computing constraints [wiki]3rd: System that consists of input/output (I/O) and

control logic stored in system firmware [2]

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The 1st recognizably modern embedded system:The Apollo Guidance Computer (AGC) – 1960s

DSKY mounted on control panelDSKY user interface

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To make hardware devices more flexible: + Cost + Connectivity + Pervasive Computing + Hardware Combination

WHY?

We are in the post-PC era. (2000 - 2020)



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1.2 CHARACTERISTICS OF EMBEDDED SYSTEMS

Dedicated to specific tasks

Wide range of Hardwareand Processors

Software failure severity

EmbeddedEmbeddedSystemsSystems

≠DesktopDesktopSystemsSystems

Real-time constraints

Using real-timeOperating systems (RTOS)

Cost sensitive

Power constraints

Operating under extremeenvironmental conditions

Fewer system resources than Desktop systems

Specialized tools andDesign methods

Dedicated debugging circuitry

etc…


x86, Power PC, ARM, MIPS, 8051…hard-core or soft-core?

Real-time: + hard real-time (time critical constraints) + soft real-time (time sensitive constraints)

LOGO1.3 EXAMPLES


EmbeddedSystems

CONSUMER ELECTRONICSTELECOMMUNICATIONS

AUTOMOTIVE

INDUSTRY

MEDICAL

USERS’ DESIGNS

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1.4 WHY USING AN OPERATING SYSTEM? WHY USING EMBEDDED LINUX?


WhyWhyEmbeddedEmbedded

OSesOSes??

1

2

Providing an abstraction layer for softwareon top of the OS to be less dependent on hardware→ Easier for middleware and applications designers

Managing various system hardware and softwareresources → Provide more features

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1.4 WHY USING AN OPERATING SYSTEM? WHY USING EMBEDDED LINUX?


Why Why Embedded Embedded

Linux?Linux?

Increasing of supported hardware & software

- Single to Multiprocessors- Simple to Complex Systems- Fully customizable in all its components (thanks to GPL, General Public License)

- Vendor Independence- Thousands of developers provide & enhance Linux kernel and other applications- Global support

- Fast, High Efficiency- Stable, low failure rate- Rich set of toolsets and utilities- Networking capabilities

- Development Cost-Training and Hiring Costs- Royalty free- Low system maintenance time

PowerfulHigh-performance

(Short Time to Market)

Varied Hardware Support(scalable & flexible)

Low Cost

OPEN SOURCE

POSIX® Standards (IEEE)Compliance

(Portable OperatingSystem Interface)

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1.5 HISTORY OF LINUX & EMBEDDED LINUX


- Linux / ’lɪnʊks / (original) or /’lɪnəks/ (English): A “Unix-like” operating system.

UNIX???UNIX Unix-like

UnixWare Solaris FreeBSD OpenBSD

…

MINIX IRIX AIXMac OS XLINUX

Timeline of Unix variants

1969, AT&T (Bell LABs)

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Linus Torvalds

(created Linux Kernel

in1991)

Richard Matthew Stallman

founder of The GNU project

(from 1984)

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Linux Distributions (Distros)Linux Distributions (Distros)

kernel + tools+ window managers

+ many other applications

DebianDebian Red Hat / Fedora

MandrivaMandrivaSUSESUSE

(GNU/Linux)(GNU/Linux)Ret HatRet Hat

SUSESUSEUbuntuUbuntu

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RT-Linux research project

M. B

arabanov & V

. Yodaiken

μClinux

D. J. D

ionne & K

. Albanow

ski

Em

bedded System

s

Conference (E

SC

)

RTA

I

Lineo, FSM

Labs,

MontaV

ista®, and Zentropix

Real-tim

e: Mon

taVista,

Ret H

at EL

/IX 1.1

OS

DL (O

pen Source

Developm

ent Lab):

HP

®, Intel, IB

M, and N

EC

®

Sam

sung (PD

A + Linux)

Ericsson (M

obile+Internet+wireless+em

ail)

1996 1997 1999 2000

EMBEDDED LINUX (FIRST AGE)

Hard real-time No MMU


Support

BlueCatLynuxWorks

BusyBox0.43

New wave

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Embedded Linux vs Other Embedded OSesEmbedded Linux vs Other Embedded OSes

LinuxNon-Linux

AMIRIX, Coollogic: Coollinux,Coventive: Xlinux, Klinux,Esfia: RedBlue Linux,KYZO: PizzaBox Linux,Lineo: Embedix,LynuxWorks: BlueCat,Neoware: NeoLinux,TimeSys: Linux GPL,MontaVista Linux

eCos ,VxWorks,Win CE,Lynyos,BSD,Green Hills,QNXDOS…

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Linux kernel versionsLinux kernel versions

Newest: 2.6.27.9-rc2

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Embedded Linux: Real-time or not?Embedded Linux: Real-time or not?

Past

NOW Full real-time Full real-time LinuxLinux

General-purposes OS: NO REAL-TIME AT ALL!(Differences in deterministic timing behavior of all theOS services)

1st Dual-kernel (Co-kernel) approach : hard real-time2nd Fully Preemptive Kernel Approach:Patches supported to make soft real-time Linux

LOGO2. EMBEDDED LINUX

INTRODUCTION1

2

CONCLUSION3


INTRODUCTION1

EMBEDDED LINUX

LOGO2. EMBEDDED LINUX


2.32.3ProspectsProspects

2.22.2ImplementationImplementation

2.12.1Design lifeDesign life

circlecircle

2.2.EMBEDDEDEMBEDDED

LINUXLINUX

2.42.4ExamplesExamples

forforFUTUREFUTURE

2.52.5ChallengesChallenges

LOGO2.1 DESIGN LIFE CYCLE


LOGO2.1 DESIGN LIFE CYCLE


TRADITIONAL WORK-FLOW vs MODEL-BASED DESIGNED WORK-FLOW

PAST NOW

LOGO2.2 IMPLEMENTATION


Examine. . .HOW TO BUILD A PARTICULAR EMBEDDED LINUX SYSTEM?

Simplified work-flow (suitable for individuals)




Step 1: Product specifications / System requirements

-Build a Linux-based platform on a specific hardware- Which hardware to choose (to order)?

+ Which development board?+ Which processor?

- Which Linux distro? (that supports the chosen hardware)

- Which software and toolchain(s) to design?Eclipse-based IDE(Integrated Development Environment)

- Which software application(s) to run?

Compatible with Linux or not?




Step 2: Overall Architecture / Models

- Understand hardware’s architecture- Understand the Linux kernel- Choosing hardware components - Design block diagrams (at high level)+ hardware connecting and behavior + application(s)- Understand the cross-platform concept

Basic concepts



HOW TO BUILD A PARTICULAR EMBEDDED LINUX SYSTEM?



Examine. . .

EXAMPLE:+ Board + CPU




Step 2: Overall Architecture / Models- Understand hardware’s architecture

+ Bus architectureEx:

Avalon Switch Fabric for Altera

IBM CoreConnect™ for Xilinx




Step 2: Overall Architecture / Models- Understand the Linux kernel (overall)

The hardware abstraction layer (HAL) HAL = BSPs + processor-specific software Memory manager Scheduler File system I/O subsystem Networking subsystem IPC (Inter-process communication)









- Understand the cross-platform concept

Desktop (Linux-x86)

ARM, PPC,MIPS, NIOS…




Step 3: Hardware and Software configurations

HARDWARE: (Work becomes more easier with powerful tools)- Configure the CPU parameters

+ processor clock frequency, bus clock frequency+ Cache/ debug mode/ On-chip memory?

- Configure the peripherals + Using own designs (verilog .v or .vhdl files)+ Using supported / licensed IP cores (Intellectual Properties)

+ Enabled / Disabled – interrupt or not?



Step 3: Hardware and Software configurationsHARDWARE: (Work becomes more easier with powerful tools)- Configure Software setting

+ Give more detailed information to the System Wizard+ Choose the embedded OS+ Connected peripherals

- Build and generate file Netlist + bitstream (will be uploaded to the FPGA )- Generate software Libraries and BSP (Board Support Packages)

BSP includes:+ drivers+ header files+ device ID number+system address map

will be used in the kernel compilation process



Step 3: Hardware and Software configurationsSOFTWARE: (need to deal a lot with the Linux command console)-Preparations for cross-compilation of the kernel Create a cross-compiler environment (to compile CPU kernel and Linux root file system)

Crosstool: reliable & easy-to-use toolchain generator (by Dan Kegel)

• Linux kernel headers• C libraries (GCC – GNU Compiler Collection ) (glibc)• Binutils(manipulate binary object files)• …

- Build the Linux kernel• Download the Linux kernel (with the distro supporting the hardware)• Insert the BSP files + make some necessary modifications

Crosstool

(scripts)

Proper toolchain(suitable versions for target hardware)

(Created before)



Step 3: Hardware and Software configurationsSOFTWARE: (need to deal a lot with the Linux command console)

- Build the Linux kernel (cont)• Compile the kernel → make kernel’s image (.elf – executable and linking format)

• Test the kernel without Root file system (optional)- Build Root filesystem (RFS)

• Using BusyBox Run a script file to:

+ Create root directories+ Copy Glibc into RFS folder+ Install BusyBox into RFS

+ Modifies permissions and ownerships of RFS

• Re-configure the kernel• Re-make the final image (.ace file - to load into the flash-card)

Top-level directories

Directory Contents

bin Binary executables, usable by all users on the system

dev Device nodes

etc Local system-configuration files

lib System libraries, such as the standard C library and many others

sbin Binary executables usually reserved for superuser accounts on the system

usr A secondary file system hierarchy for application programs, usually read-only

var Contains variable files, such as system logs and temporary configuration files

tmp Temporary files



Step 3: Hardware and Software configurationsSOFTWARE: (need to deal a lot with the Linux command console)- Port kernel image into hardware

• Format CF card (flash card): Partition 1: Type = FAT16 (6) (contains created .ace file) Partition 2: Type = Linux Swap (82) Size = 1 ~ 1.5 main memory Partition 3: Type = Linux (83), Size = Remainder disk space (contains NFS files)

• Copy .ace file → partition 1 NFS files → partition 3

PORT LINUX KERNEL FINISH!!!



Step 4: Applications design- Similar to programming applications in desktop

+ Assembly, Pascal, C, C++, Java…+ Block diagram+ Coding (on host PC) + …+ Cross-compile → executable files in target device

- Copy into /bin on root file system of target.SYSTEM COMPLETED!!!



LINUX KERNEL PORTED TO IPHONE(iPhone-Dev.org)- Hardware: Iphone (fixed) 1st & 2nd generation + Touch Processor: ARM- Bootloader: OpeniBoot- Linux kernel: 2.6

SOME REAL EMBEDDED LINUX SYSTEMS TODAY



www.mtemag.comHardware: Airbus380 25 PowerPC processorsOS: LynxOS (Linux-based real-time OS)





ANDROID – FUTURE’S HAND HELD OS android.com- Developers: Open Handset Alliance (Google, Intel, Motorola, T-mobile… ) on November 2007 - Hardware: mobile devices- OS: Android (Linux kernel (monolithic))- Software development kit: Android SDK

T-mobile G1: 1st mobile device using Android 1.0 OS

LOGO2.3 PROSPECTS


- 3rd wave of innovation in ICT (Post-PC era)99% of global processors are placed in Embedded Systems.-Combine advantages of many industries together

(ITC, Mechanics, Biology, Chemistry… )

- With an eOS + a powerful design toolchain, Embedded Systems can approach any kind of user andare much easier to build your own system. (flexibility)

+ Xilinx ISE development suites+ Altera Stratix II Development Kit+ Embedded MATLAB:using Model-Based Design+ …

LOGO2.4 FUTURE’S EXAMPLES


- SoC evolutions → NoC (Network on Chip) Spidergon Topology + IPU (Interconnect Processing Unit)

→ Spidergon STNoC: an innovative technology



NoC Using GALS(Globally Asynch. Locally Sync.)



Ambient Intelligence: Many networked devices are integrated into the environment.

LOGO2.5 CHALLENGES & LIMITATIONS


- Difficulties in HW/SW co-design.- Multi-careers co-ordination- Linux:

+ Open source+ Unfamiliar with Windows users

Viet Nam’s reality:- Hardware’s un-afordable (software only)

LOGO3. SUMMARY


- No demo- Impossible to master every aspect of the seminar.

LOGO


LOGOREFERENCE


[1] Arnold S. Berger - Embedded Systems Design- An Introduction to Processes, Tools and Techniques (CMP Books - 2002)[2] Craig Hollabaugh - Embedded Linux- Hardware, Software and Interfacing (Addison Wesley) – 2002[3] Auerbach - Embedded Linux System Design and Development (2006)[4] Newnes - Embedded Software - Know it all - Sep 2007[5] Karim Yaghmour Building Embedded Linux Systems - 2nd edition - Aug.2008 (OReilly)[6] O'Reilly - Understanding The Linux Kernel (2000)[7] Prentice Hall - Embedded Linux Primer - a Practical RealWorld Approach 2006[8] Prentice Hall- The Linux Kernel Primer A Top Down Approach for x86 and PowerPC Architectures – 2005[9] PETER MARWEDEL - Embedded System Design - Peter Marwedel -2006 (Springer) [10] Embedded System WEEK08_tutorial Slides[11] J. W. Donaldson - Porting MontaVista Linux to the XUP Virtex-II Prodevelopment board - 2006

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Embedded System - Embedded Linux (Full-final)

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