Porting The Linux Kernel To An ARM Board: Thomas Petazzoni

PortingtheLinuxkerneltoanARMboard
PortingtheLinux kernel toanARMboard

ThomasPetazzoni FreeElectrons
Copyright20092010,FreeElectrons. CreativeCommonsBYSA3.0license Latestupdate:Feb17,2010, Documentsources,updatesandtranslations: http://freeelectrons.com/docs/kernelporting Corrections,suggestions,contributionsandtranslationsarewelcome!
FreeElectrons.Kernel,driversandembeddedLinuxdevelopment,consulting,trainingandsupport.http//freeelectrons.com
PortingtheLinuxkernel
TheLinuxkernelsupportsalotofdifferentCPUarchitectures Eachofthemismaintainedbyadifferentgroupofcontributors
SeetheMAINTAINERSfilefordetails
Theorganizationofthesourcecodeandthemethodstoportthe Linuxkerneltoanewboardarethereforeveryarchitecture dependent Forexample,PowerPCandARMareverydifferent

PowerPCreliesondevicetreestodescribehardwaredetails ARMreliesonsourcecodeonly
ThispresentationisfocusedontheARMarchitectureonly
2
Architecture,CPUandmachine
Inthesourcetree,eacharchitecturehasitsowndirectory arch/armfortheARMarchitecture ThisdirectorycontainsgenericARMcode
boot,common,configs,kernel,lib,mm,nwfpe, vfp,oprofile,tools
AndmanydirectoriesfordifferentCPUfamilies
mach*directories:machpxaforPXACPUs,machimxfor FreescaleiMXCPUs,etc. Eachofthesedirectoriescontain
SupportfortheCPU SupportforseveralboardsusingthisCPU
SomeCPUtypessharesomecode,inanentitycalledaplatform
platomapcontainscommoncodefrommachomap1andmach omap2
3
SourcecodeforCalaoUSBA9263
TakingthecaseoftheCalaoUSBA9263board,whichusesa AT91SAM9263CPU. arch/
arm/
machat91/ AT91genericcode clock.c,leds.c,irq.c,pm.c CPUspecificcodefortheAT91SAM9263 at91sam9263.c, at91sam926x_time.c, at91sam9263_devices.c Boardspecificcode boardusba9263.c
Fortherestofthispresentation,wewillfocusonboardsupport only
4
Configuration
Aconfigurationoptionmustbedefinedfortheboard,in arch/arm/machat91/Kconfig
configMACH_USB_A9263 bool"CALAOUSBA9263" dependsonARCH_AT91SAM9263 help SelectthisifyouareusingaCalaoSystemsUSBA9263. <http://www.calaosystems.com>
ThisoptionmustdependontheCPUtypeoptioncorresponding totheCPUusedintheboard
HeretheoptionisARCH_AT91SAM9263,definedinthesamefile
Adefaultconfigurationfilefortheboardcanoptionallybestored inarch/arm/configs/.Forourboard,it'susb a9263_defconfig

5
Compilation
Thesourcefilescorrespondingtotheboardsupportmustbe associatedwiththeconfigurationoptionoftheboard Thisisdoneinarch/arm/machat91/Makefile
obj$(CONFIG_MACH_USB_A9263)+=boardusba9263.o
TheMakefilealsotellswhichfilesarecompiledforeveryAT91 CPU
objy:=irq.ogpio.o obj$(CONFIG_AT91_PMC_UNIT)+=clock.o objy+=leds.o obj$(CONFIG_PM)+=pm.o obj$(CONFIG_AT91_SLOW_CLOCK)+=pm_slowclock.o
AndwhichfilesforourparticularCPU,theAT91SAM9263
obj$(CONFIG_ARCH_AT91SAM9263)+=at91sam9263.oat91sam926x_time.o at91sam9263_devices.osam9_smc.o 6
Machinestructure
Eachboardisdefinedbyamachinestructure
Thewordmachineisquiteconfusingsinceeverymach* directorycontainsseveralmachinedefinitions,oneforeachboard usingagivenCPUtype
FortheCalaoboard,attheendofarch/arm/mach at91/boardusba9263.c
MACHINE_START(USB_A9263,"CALAOUSB_A9263") /*Maintainer:calaosystems*/ .phys_io=AT91_BASE_SYS, .io_pg_offst=(AT91_VA_BASE_SYS>>18)&0xfffc, .boot_params=AT91_SDRAM_BASE+0x100, .timer=&at91sam926x_timer, .map_io=ek_map_io, .init_irq=ek_init_irq, .init_machine=ek_board_init, MACHINE_END
7
Machinestructuremacros
MACHINE_STARTandMACHINE_END
Macrosdefinedinarch/arm/include/asm/mach/arch.h Theyarehelperstodefineastructmachine_descstructure storedinaspecificELFsection Severalmachine_descstructurescanbedefinedinakernel, whichmeansthatthekernelcansupportseveralboards. Therightstructureischosenatboottime
8
Machinetypenumber
IntheARMarchitecture,eachboardtypeisidentifiedbya machinetypenumber Thelatestmachinetypenumberslistcanbefoundat http://www.arm.linux.org.uk/developer/machines/download.php Acopyofitexistsinthekerneltreeinarch/arm/tools/mach types
FortheCalaoboard usb_a9263MACH_USB_A9263USB_A92631710
Atcompiletime,thisfileisprocessedtogenerateaheaderfile, include/asmarm/machtypes.h
FortheCalaoboard #defineMACH_TYPE_USB_A92631710 Andafewothermacrosinthesamefile
9
Machinetypenumber
ThemachinetypenumberissetintheMACHINE_START() definition MACHINE_START(USB_A9263,"CALAOUSB_A9263") Atruntime,themachinetypenumberoftheboardonwhichthe kernelisrunningispassedbythebootloaderinregisterr1 Veryearlyinthebootprocess(arch/arm/kernel/head.S), thekernelcalls__lookup_machine_typein arch/arm/kernel/headcommon.S __lookup_machine_typelooksatallthemachine_desc structuresofthespecialELFsection
Ifitdoesn'tfindtherequestednumber,printsamessageandstops Iffound,itknowsthemachinedescriptionsandcontinuestheboot process
10
Earlydebuggingandbootparameters
Earlydebugging
phys_ioisthephysicaladdressoftheI/Ospace io_pg_offsetistheoffsetinthepagetabletoremaptheI/O space TheseareusedwhenCONFIG_DEBUG_LLisenabledtoprovide veryearlydebuggingmessagesontheserialport
Bootparameters
boot_paramsisthelocationwherethebootloaderhaslefttheboot parameters(thekernelcommandline) Thebootloadercanoverridethisaddressinregisterr2 SeealsoDocumentation/arm/Bootingforthedetailsofthe environmentexpectedbythekernelwhenbooted
11
Systemtimer
Thetimerfieldpointtoastructsys_timerstructure,that describesthesystemtimer
UsedtogeneratetheperiodictickatHZfrequencytocallthe schedulerperiodically
OntheCalaoboard,thesystemtimerisdefinedbythe at91sam926x_timerstructureinat91sam926x_time.c ItcontainstheinterrupthandlercalledatHZfrequency Itisintegratedwiththeclockeventsandtheclocksource infrastructures

Seeinclude/linux/clocksource.hand include/linux/clockchips.hfordetails
12
map_io()
Themap_io()functionpointstoek_map_io(),which
InitializestheCPUusingat91sam9263_initialize()
MapI/Ospace Registerandinitializetheclocks
Configuresthedebugserialportandsettheconsoletobeonthis serialport CalledattheverybeginningoftheCcodeexecution

init/main.c:start_kernel() arch/arm/kernel/setup.c:setup_arch() arch/arm/mm/mmu.c:paging_init() arch/arm/mm/mmu.c:devicemaps_init() mdesc>map_io()
13
init_irq()
init_irq()toinitializetheIRQhardwarespecificdetails Implementedbyek_init_irq(),whichcalls at91sam9263_init_interrupts()inat91sam9263.c, whichmainlycallsat91_aic_init()inirq.c
Initializetheinterruptcontroller,assignthepriorities RegistertheIRQchip(irq_chipstructure)tothekernelgeneric IRQinfrastructure,sothatthekernelknowshowtoack,mask, unmasktheIRQs
Calledalittlebitlaterthanmap_io()
init/main.c:start_kernel() arch/arm/kernel/irq.c:init_IRQ() init_arch_irq()(equaltomdesc>init_irq)
14
init_machine()
init_machine()completestheinitializationoftheboardby registeringallplatformdevices Calledbycustomize_machines()in arch/arm/kernel/setup.c Thisfunctionisanarch_initcall(listoffunctionswhose addressisstoredinaspecificELFsection,bylevels) Attheendofkernelinitialization,justbeforerunningthefirst userspaceprograminit:
init/main.c:kernel_init() init/main.c:do_basic_setup() init/main.c:do_initcalls() Callsallinitcalls,levelbylevel
15
init_machine()forCalao
FortheCalaoboard,implementinek_board_init()
Registersserialports,USBhost,USBdevice,SPI,Ethernet,NAND flash,2IC,buttonsandLEDs Usesat91_add_device_*()helpers,definedin at91sam9263_devices.c Thesehelperscallplatform_device_register()toregister thedifferentplatform_devicestructuresdefinedinthesamefile Forsomedevices,theboardspecificcodedoestheregistration itself(buttons)orpassesboardspecificdatatotheregistration helper(USBhostanddevice,NAND,Ethernet,etc.)
16
Drivers
Theat91sam9263_devices.cfiledoesn'timplementthe driversfortheplatformdevices Thedriversareimplementedatdifferentplacesofthekerneltree FortheCalaoboard
USBhost,driverat91_ohci,drivers/usb/host/ohciat91.c USBdevice,driverat91_udc,drivers/usb/gadget/at91_udc.c Ethernet,drivermacb,drivers/net/macb.c NAND,driveratmel_nand,drivers/mtd/nand/atmel_nand.c I2ConGPIO,driveri2cgpio,drivers/i2c/busses/i2cgpio.c SPI,driveratmel_spi,drivers/spi/atmel_spi.c Buttons,drivergpiokeys,drivers/input/keyboard/gpio_keys.c
Allthesedriversareselectedbythereadymadeconfigurationfile
17
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PortingtheLinuxkerneltoanARMboard

PortingtheLinux kernel toanARMboard

Theorganizationofthesourcecodeandthemethodstoportthe Linuxkerneltoanewboardarethereforeveryarchitecture dependent Forexample,PowerPCandARMareverydifferent

Adefaultconfigurationfilefortheboardcanoptionallybestored inarch/arm/configs/.Forourboard,it'susb a9263_defconfig

OntheCalaoboard,thesystemtimerisdefinedbythe at91sam926x_timerstructureinat91sam926x_time.c ItcontainstheinterrupthandlercalledatHZfrequency Itisintegratedwiththeclockeventsandtheclocksource infrastructures

Configuresthedebugserialportandsettheconsoletobeonthis serialport CalledattheverybeginningoftheCcodeexecution

Allourtechnicalpresentations onhttp://freeelectrons.com/docs Linuxkernel Devicedrivers Architecturespecifics EmbeddedLinuxsystemdevelopment

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