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

Embedded Linux Projects Using Yocto Project Cookbook: Over 70 hands-on recipes for professional embedded Linux developers to optimize and boost their Yocto know-how

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Embedded Linux Projects Using Yocto Project Cookbook

Chapter 2. The BSP Layer

In this chapter, we will cover the following recipes:

  • Creating a custom BSP layer
  • Introducing system development workflows
  • Adding a custom kernel and bootloader
  • Building the U-Boot bootloader
  • Explaining Yocto's Linux kernel support
  • Describing Linux's build system
  • Configuring the Linux kernel
  • Building the Linux source
  • 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

Once 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 of the embedded Linux projects require both custom hardware and software. An early task in the development process is to test different hardware reference boards and the selection of one to base our design on. We have chosen the Wandboard, a Freescale i.MX6-based platform, as it is an affordable and open board, which makes it perfect for our needs.

On an embedded project, it is usually a good idea to start working on the software as soon as possible, probably before the hardware prototypes are ready, so that it is possible to start working directly with the reference design.

But at some point, the hardware prototypes will be ready and changes will need to be introduced into Yocto to support the new hardware.

This chapter will explain how to create a BSP layer to contain those hardware-specific changes, as well as show how...

Creating a custom BSP layer

These custom changes are kept on a separate Yocto layer, called a Board Support Package (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 and an example module...

Introducing system development workflows

When customizing the software, there are some system development workflows that are commonly used, and we will introduce them in this recipe.

How to do it...

We will see an overview of the following development workflows:

  • External development
  • Working directory development
  • External source development

They are all used under different scenarios.

How it works...

Let's understand what the use of each of these development workflows is individually.

External development

In this workflow, we don't use the Yocto build system to build our packages, just a Yocto toolchain and the package's own build system.

The resulting source can be integrated into Yocto in the following ways:

  • With a recipe that fetches a released tarball.
  • With a recipe that fetches directly from a source-controlled repository.

External development is usually the preferred method for U-Boot and Linux kernel development, as they can be easily cross-compiled. Third-party packages in Yocto...

Adding a custom kernel and bootloader

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

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 base, and apply our changes over it.
  • Using a different Git repository, forked from the Linux kernel and U-Boot Git repositories being used by the reference design, and using a bbappend file to point the recipe to it. This way, we can directly commit the changes to the repository and the Yocto build system will build them.

Usually a forked Git repository is only needed when the hardware changes are substantial and the work in the Linux kernel and bootloader is going to be extensive. The recommendation is to start with patches, and only use a forked repository when they become difficult to...

Building the U-Boot bootloader

In this recipe, we will go through the several development workflows described previously using the U-Boot bootloader as an example.

How to do it...

We will see how the following development workflows are applied to U-Boot:

  • External development
  • External source development
  • Working directory development

How it works...

Let's explain the three workflows, previously mentioned, in detail.

External development

We will use a Yocto toolchain to build the U-Boot source externally from the Yocto build system.

  1. Download and install a Yocto project cross-compilation toolchain for your host by going to the following:

    http://downloads.yoctoproject.org/releases/yocto/yocto-1.7.1/toolchain/

    Tip

    Choose either the 32- or 64-bit version and execute the installation script, accepting the default installation location. It is recommended not to change the default location to avoid relocation issues.

  2. Find the upstream Git repository:
    $ bitbake -e u-boot-fslc | grep ^SRC_URI=
SRC_URI=&quot...

Explaining Yocto's Linux kernel support

The Yocto project offers a kernel framework that allows us to work with the Linux kernel in different ways:

  • Fetching the source from a Git repository and applying patches to it. This is the path taken by the Freescale community BSP-supported kernels, as we saw previously.
  • The linux-yocto style kernels that generate the kernel source from a set of Git branches and leafs. Specific features are developed in branches, and a leaf is followed for a complete set of features.

In this recipe, we will show how to work with a linux-yocto style kernel.

How to do it...

To use a linux-yocto style kernel, the kernel recipe inherits the linux-yocto.inc file. A Git repository for a linux-yocto style kernel contains metadata either in the recipe or inside the kernel Git tree, in branches named with the meta prefix.

The linux-yocto style kernel recipes are all named linux-yocto and follow the upstream kernel development, rooted in the kernel.org repository. Once a new...

Introduction

Once 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 of the embedded Linux projects require both custom hardware and software. An early task in the development process is to test different hardware reference boards and the selection of one to base our design on. We have chosen the Wandboard, a Freescale i.MX6-based platform, as it is an affordable and open board, which makes it perfect for our needs.

On an embedded project, it is usually a good idea to start working on the software as soon as possible, probably before the hardware prototypes are ready, so that it is possible to start working directly with the reference design.

But at some point, the hardware prototypes will be ready and changes will need to be introduced into Yocto to support the new hardware.

This chapter will explain how to create a BSP layer to contain those hardware-specific changes, as well as show how to work...

Creating a custom BSP layer

These custom changes are kept on a separate Yocto layer, called a Board Support Package (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 and an example module...

Introducing system development workflows

When customizing the software, there are some system development workflows that are commonly used, and we will introduce them in this recipe.

How to do it...

We will see an overview of the following development workflows:

  • External development

  • Working directory development

  • External source development

They are all used under different scenarios.

How it works...

Let's understand what the use of each of these development workflows is individually.

External development

In this workflow, we don't use the Yocto build system to build our packages, just a Yocto toolchain and the package's own build system.

The resulting source can be integrated into Yocto in the following ways:

  • With a recipe that fetches a released tarball.

  • With a recipe that fetches directly from a source-controlled repository.

External development is usually the preferred method for U-Boot and Linux kernel development, as they can be easily cross-compiled. Third-party packages in Yocto are also developed...

Adding a custom kernel and bootloader

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

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 base, and apply our changes over it.

  • Using a different Git repository, forked from the Linux kernel and U-Boot Git repositories being used by the reference design, and using a bbappend file to point the recipe to it. This way, we can directly commit the changes to the repository and the Yocto build system will build them.

Usually a forked Git repository is only needed when the hardware changes are substantial and the work in the Linux kernel and bootloader is going to be extensive. The recommendation is to start with patches, and only use a forked repository when they become difficult to...

Building the U-Boot bootloader

In this recipe, we will go through the several development workflows described previously using the U-Boot bootloader as an example.

How to do it...

We will see how the following development workflows are applied to U-Boot:

  • External development

  • External source development

  • Working directory development

How it works...

Let's explain the three workflows, previously mentioned, in detail.

External development

We will use a Yocto toolchain to build the U-Boot source externally from the Yocto build system.

  1. Download and install a Yocto project cross-compilation toolchain for your host by going to the following:

    http://downloads.yoctoproject.org/releases/yocto/yocto-1.7.1/toolchain/

    Tip

    Choose either the 32- or 64-bit version and execute the installation script, accepting the default installation location. It is recommended not to change the default location to avoid relocation issues.

  2. Find the upstream Git repository:

    $ bitbake -e u-boot-fslc | grep ^SRC_URI=
SRC_URI="git://github...

Explaining Yocto's Linux kernel support

The Yocto project offers a kernel framework that allows us to work with the Linux kernel in different ways:

  • Fetching the source from a Git repository and applying patches to it. This is the path taken by the Freescale community BSP-supported kernels, as we saw previously.

  • The linux-yocto style kernels that generate the kernel source from a set of Git branches and leafs. Specific features are developed in branches, and a leaf is followed for a complete set of features.

In this recipe, we will show how to work with a linux-yocto style kernel.

How to do it...

To use a linux-yocto style kernel, the kernel recipe inherits the linux-yocto.inc file. A Git repository for a linux-yocto style kernel contains metadata either in the recipe or inside the kernel Git tree, in branches named with the meta prefix.

The linux-yocto style kernel recipes are all named linux-yocto and follow the upstream kernel development, rooted in the kernel.org repository. Once a new Yocto...

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.

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

In this recipe, we will explain how the kernel's build system works.

How to do it...

The kernel configuration is stored in a .config text file in the kernel root directory. The kbuild system reads this configuration to build the kernel. The .config file is referred to as the kernel configuration file. There are multiple ways to define a kernel configuration file:

  • Manually editing the .config file, although this is not recommended.

  • Using one of the user interfaces the kernel offers (type the make help command...

Configuring the Linux kernel

In this recipe, we will explain how to configure a Linux kernel using the Yocto build system.

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-fsl-arm-extra/recipes-kernel/linux/linux-wandboard-3.10.17/defconfig.

This would 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/recipes-kernel/linux/linux-wandboard- 3.10.17/
$ cp meta-fsl-arm-extra/recipes-kernel/linux/linux-wandboard- 3.10.17/defconfig meta-bsp-custom/recipes-kernel/linux/linux- wandboard-3.10.17/

We then add it to our kernel using meta-bsp-custom/recipes-kernel/linux/linux-wandboard_3.10.17.bbappend as follows:

# Copyright Packt Publishing 2015...

Building the Linux kernel

In this recipe, we will go through the development workflows described earlier using the Linux kernel as an example.

How to do it...

We will see how the following development workflows are applied to the Linux kernel:

  • External development

  • Working directory development

  • External source development

How it works...

Let's explain the three methodologies listed previously in detail.

External development

When compiling outside of the Yocto build environment, we can still use the Yocto-provided toolchain to build. The process is as follows:

  1. We will use the Yocto project cross-compilation toolchain already installed in your host.

  2. Clone the wandboard-org linux-wandboard repository locally:

    $ cd /opt/yocto
$ git clone https://github.com/wandboard-org/linux.git linux-wandboard
$ cd linux-wandboard

  3. Go to the branch specified in the linux-wandboard_3.10.17.bb recipe:

    $ git checkout -b wandboard_imx_3.10.17_1.0.2_ga origin/wandboard_imx_3.10.17_1.0.2_ga

  4. Compile the kernel source as follows...

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Description

If you are an embedded developer learning about embedded Linux with some experience with the Yocto project, this book is the ideal way to become proficient and broaden your knowledge with examples that are immediately applicable to your embedded developments. Experienced embedded Yocto developers will find new insight into working methodologies and ARM specific development competence.

Who is this book for?

If you are an embedded developer learning about embedded Linux with some experience with the Yocto project, this book is the ideal way to become proficient and broaden your knowledge with examples that are immediately applicable to your embedded developments. Experienced embedded Yocto developers will find new insight into working methodologies and ARM specific development competence.

What you will learn

  • Optimize your Yocto setup to speed up development and debug build issues
  • Introduce development workflows for the UBoot and the Linux kernel, including debugging and optimization methodologies
  • Customize your root filesystem with both already supported and new Yocto packages
  • Understand the open source licensing requirements and how to comply with them when cohabiting with proprietary programs
  • Bring professional embedded Yocto products to market in a timely manner
  • Optimize your production systems by reducing the size of both the Linux kernel and root filesystems
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Publication date : Mar 30, 2015
Length: 324 pages
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Language : English
ISBN-13 : 9781784395186
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Concepts :
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Tools :
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Length: 324 pages
Edition : 1st
Language : English
ISBN-13 : 9781784395186
Category :
IoT & Hardware
Concepts :
Embedded Systems
Tools :
Yocto Project

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Table of Contents

6 Chapters
1. The Build System Chevron down icon Chevron up icon
1. The Build System
Introduction
Setting up the host system
Installing Poky
Creating a build directory
Building your first image
Explaining the Freescale Yocto ecosystem
Installing support for Freescale hardware
Building Wandboard images
Troubleshooting your Wandboard's first boot
Configuring network booting for a development setup
Sharing downloads
Sharing the shared state cache
Setting up a package feed
Using build history
Working with build statistics
Debugging the build system
2. The BSP Layer Chevron down icon Chevron up icon
2. The BSP Layer
Introduction
Creating a custom BSP layer
Introducing system development workflows
Adding a custom kernel and bootloader
Building the U-Boot bootloader
Explaining Yocto's Linux kernel support
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
3. The Software Layer Chevron down icon Chevron up icon
3. The Software Layer
Introduction
Exploring an image's contents
Adding a new software layer
Selecting a specific package version and providers
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 image size
Releasing software
Analyzing your system for compliance
Working with open source and proprietary code
4. Application Development Chevron down icon Chevron up icon
4. Application Development
Introduction
Introducing toolchains
Preparing and using an SDK
Using the Application Development Toolkit
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 Python applications
Integrating the Oracle Java Runtime Environment
Integrating the Open Java Development Kit
Integrating Java applications
5. Debugging, Tracing, and Profiling Chevron down icon Chevron up icon
5. 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 OProfile
Using LTTng
Using blktrace
Index Chevron down icon Chevron up icon
Index

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Full star icon Full star icon Full star icon Full star icon Half star icon 4.4
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1 star 7.7%
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Jos� Manuel Garc�a Llamas May 28, 2015
Full star icon Full star icon Full star icon Full star icon Full star icon 5
If you want a general and practical guide about YOCTO this book is not only a really helpful one but a also a perfect starting point.First chapters go deep into the first steps with YOCTO, so you will see what is needed to have YOCTO up and running, by setting the enviroment accordingly.From that point onwards, chapters 3 and 4, we are ready to work and configure BSP, Board Support Package, so that you can see all the software and packages needed to work with YOCTO.Once you jump into Chapters 4 and also 5, you will be able to go deeper with YOCTO, by having a look at its core. Furthermore, you will have a contact with different software packages in case you want to develop and application on top of YOCTO.In general I think this book is quite interesting, and almost everybody, who nowdays have a board like Raspberry Pi or a similar one, can quickly apply to these boards what is taught in this book.
Amazon Verified review Amazon
James K. Lewis May 30, 2015
Full star icon Full star icon Full star icon Full star icon Full star icon 5
If this book had been around back when I did embedded Linux it sure would have made my life easier. The author obviously knows the material very well and explains it using clear examples. I particularly liked the sections when he talks about building kernels. Overall a very good book and one I am glad is in my collection.
Amazon Verified review Amazon
RHansen Oct 15, 2016
Full star icon Full star icon Full star icon Full star icon Full star icon 5
Great, I learned more in the first 15 minutes than screwing around and reading the official docs for a week. Yocto takes a bit of getting use to, this book helps a LOT.
Amazon Verified review Amazon
Alexandre B Jun 11, 2015
Full star icon Full star icon Full star icon Full star icon Full star icon 5
This book is written as a set of recipes and this structure makes it is easy to find the answers you are looking for. It also explains the underlying concepts of the solution. It also includes more generic information and howtos about using, developing and debugging embedded Linux. It is definitively of good value once you start using Yocto Project.
Amazon Verified review Amazon
Nigel Webster Apr 12, 2017
Full star icon Full star icon Full star icon Full star icon Full star icon 5
Really good reference book to get you started with building Yocto Linux recipes
Amazon Verified review Amazon

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Raspberry Pi and MQTT Essentials
Raspberry Pi and MQTT Essentials
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Sep 2022 272 pages
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Developing IoT Projects with ESP32
Developing IoT Projects with ESP32
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Nov 2023 578 pages
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About the author

Profile icon Alex Gonzalez
Alex Gonzalez
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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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