1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
|
// -*- mode:doc; -*-
// vim: set syntax=asciidoc:
Running OpenADK created Linux firmware
======================================
Bootloader
~~~~~~~~~~~
The Bootloader is used to initialize the machine and load the Linux kernel.
A list of popular Bootloaders can be found on http://elinux.org/Bootloader.
OpenADK provides the Bootloader if necessary for a target system.
You can find them in +make menuconfg+ under +Packages/Bootloader+.
Some Bootloaders require the Linux kernel in a special format (SREC, ELF, ..),
compressed or with a special header. This will be automatically done by
OpenADK in +target/<arch>/Makefile+ while creating the firmware archives or
images.
Linux kernel
~~~~~~~~~~~~
The kernel is a program that constitutes the central core of a computer
operating system. It has complete control over everything that occurs in the
system. The Bootloader can provide some basic runtime configuration
parameters via the kernel commandline feature.
The Linux kernel in OpenADK is intended to be very small in size and will
be by default compressed with xz compression algorithm, if available for
the target system. You can configure the compression algorithm used for the
compression of the Linux kernel and if choosen the initramfs filesystem in
+make menuconfig+. In +Linux Kernel configuration+ you have the choice between
dfferent kernel versions. Depending on your target devices, their might
be some external git repositories available, if the support for the device
is not upstream.
There you can choose any needed addon drivers or any supported runtime
and debugging features.
The kernel expands itself on boot, if compressed, and then initialize the
hardware. The additional kernel modules are loaded later by an init script.
The kernel will automatically mount the virtual filesystem /dev as devtmpfs
and then will execute +/sbin/init+ in userspace.
init system
~~~~~~~~~~~
The _init_ program is the first userspace program started by the kernel (it
carries the PID number 1), and is responsible for starting the userspace
services and programs (for example: web server, graphical applications, other
network servers, etc.).
In OpenADK you can choose between different init implementations. *Busybox*
init is the best tested one and the default. Amongst many programs, Busybox
has an implementation of a basic +init+ program, which is sufficient for most
embedded systems. The Busybox +init+ program will read the +/etc/inittab+ file
at boot to know what to do. The syntax of this file can be found in
http://git.busybox.net/busybox/tree/examples/inittab (note that Busybox
+inittab+ syntax is special: do not use a random +inittab+ documentation from
the Internet to learn about Busybox +inittab+). The default +inittab+ in
OpenADK is generated while producing the +base-files+ package. The main job
the default inittab does is to start the +/etc/init.d/rcS+ shell script, and
start one or more +getty+ programs (which provides a login prompt).
Support for systemd and s6 is very experimental at the moment.
/dev management
~~~~~~~~~~~~~~~
On a Linux system, the +/dev+ directory contains special files, called
_device files_, that allow userspace applications to access the
hardware devices managed by the Linux kernel. Without these _device
files_, your userspace applications would not be able to use the
hardware devices, even if they are properly recognized by the Linux
kernel.
In OpenADK you can choose between different types of device managements.
OpenADK defaults to *dynamic device nodes using devtmpfs and mdev*. This method
relies on the _devtmpfs_ virtual filesystem in the kernel, which is enabled by
default for all OpenADK generated kernels, and adds the +mdev+ userspace
utility on top of it. +mdev+ is a program part of Busybox that the kernel will
call every time a device is added or removed. Thanks to the +/etc/mdev.conf+
configuration file, +mdev+ can be configured to for example, set specific
permissions or ownership on a device file, call a script or application
whenever a device appears or disappear, etc. Basically, it allows _userspace_
to react on device addition and removal events. +mdev+ is also important if you
have devices that require a firmware, as it will be responsible for pushing the
firmware contents to the kernel. +mdev+ is a lightweight implementation (with
fewer features) of +udev+. For more details about +mdev+ and the syntax of its
configuration file, see http://git.busybox.net/busybox/tree/docs/mdev.txt.
initscripts
~~~~~~~~~~~
The /etc/init.d/rcS script will execute all shell scripts in /etc/init.d in
order with the parameter +autostart+. The order is identified by the +#INIT+
comment in the script. All scripts are sourcing the +/etc/rc.conf+ file to
determine if a service should be started on boot and which flags if any are
used for the service. By default all services are disabled. If the variable
for a service is set to "DAEMON" and mksh is installed, the service starts
asynchronously in the background. Most scripts provided by OpenADK via
+package/<pkgname>/files/<pkgname>.init+ are like:
---------------------
#!/bin/sh
#PKG foo
#INIT 60
. /etc/rc.conf
case $1 in
autostop) ;;
autostart)
test x"${foo:-NO}" = x"NO" && exit 0
test x"$foo" = x"DAEMON" && test -x /bin/mksh && exec mksh -T- $0 start
exec sh $0 start
;;
start)
/usr/sbin/foo $foo_flags
;;
stop)
kill $(pgrep -f /usr/sbin/foo )
;;
restart)
sh $0 stop
sh $0 start
;;
*)
echo "usage: $0 (start|stop|restart)"
exit 1
esac
exit $?
---------------------
cfgfs - configuration file system
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
The cfgfs application for the OpenADK system uses a special small partition on
the block device of your embedded system (f.e. flash, sd card, compact flash
or hard disk). Only changes made to /etc on your embedded system are saved in a
compressed form (using LZO1 compression algorithm) in this partition. There is
no Linux filesystem on this partition. The embedded system initialization
process will setup /etc correctly on boot up, when cfgfs application is found.
After making any changes to /etc, which should survive a reboot of the embedded
system must be written to the cfgfs partition via “cfgfs commit”. Trying to
reboot, shutdown or halt an embedded system with unsaved changes will generate
an error, which can be circumvented. Updates to /etc via a package
manager (f.e. ipkg) will be reported.
---------------------
cfgfs
Configuration Filesystem Utility (cfgfs)
Syntax:
/sbin/cfgfs commit [-f]
/sbin/cfgfs erase
/sbin/cfgfs setup [-N]
/sbin/cfgfs status [-rq]
/sbin/cfgfs { dump | restore } [<filename>]
---------------------
network configuration
~~~~~~~~~~~~~~~~~~~~~
On bootup +/etc/network/interfaces+ is used to find out which network configuration
should be used. The default is to use DHCP (via busybox +udhcpc+) on the first found
ethernet device to configure the network. See network configuration for detailed syntax
of +/etc/network/interfaces+. It is similar to Debian network configuration and uses
+ifupdown+ from +busybox+.
See Appendix xref:network-configuration[]
getting a shell on the system
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
There are two methods available to get a shell on your embedded system created with
OpenADK. You can either login locally via serial console or graphical console or you
can login remotely via secure shell.
In both cases the default user is +root+ and the default password is
+linux123+. *You should always change the default password!!* You can do this
either via +passwd+ on the system or you can preconfigure a password via +make
menuconfig+ under +Runtime configuration+.
The default shell used in OpenADK is +mksh+ from http://www.mirbsd.org/mksh/.
You can change the shell in +make menuconfig+ under +Runtime configuration+. Be
aware of the fact that the bootup process might use some +mksh+ features to
speedup the system start. When you change the shell for system +/bin/sh+ the
slower startup is used as a fallback.
|
