Embedded Linux Device Drivers and Kernel Internals
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This 5-day training class uses hands-on exercises combined with instruction to illustrate the concepts of GNU/Linux kernel internals and device driver development. It is designed to bring you quickly up to speed. We describe processes, concepts and commands necessary to write GNU/Linux device drivers through a combination of theory and on-the-job training. Don’t reinvent the wheel, but learn from an experienced trainer and take home a working knowledge and the ability to use it effectively in your own embedded development project.
To provide an understanding of the essentials necessary to write a GNU/Linux Device Driver. How-to’s, theory and hands-on excercises provide you with the necessary experience to interact with community from the very beginning and to write your own GNU/Linux Device Driver after successfully completing this training.
Introduction (1 topic)
- Quick history of GNU/Linux, licensing, kernel versioning, release cycle, kernel trees, mainline, kernel vs. user space, mechanism vs. policy, kernel driver alternatives, RTOS vs. Linux
Memory Management (1 topic)
- Virtual memory vs. physical memory, memory allocation in kernel, pages, zones, API, slab
Kernel Patch (1 topic)
- Life cycle, git, kernel source, create patch, check patch, fix patch, ship patch, audited code
Kernel Module (2 topics)
- Get kernel sources, configure, build, install, device drivers (statically linked, loaded at runtime), init, licensing, EXPORT SYMBOL GPL, out of
- tree makefile, module-init-tools, module in kernel tree, Kconfig, parameter passing, sparse
Char Drivers (8 topics)
- Architecture, user/kernel interface, I/O subsystem, VFS, sysfs (devices, bus, drivers, classes), kobject, ktype, kset, linux kernel driver model, device files
- Char driver
- Open, release
- cdev, cdev add, cdev del,...
- Major/minor numbers
- udev, udevmonitor, udevadm
Advanced Charachter Driver Operations (2 topics)
- ioctl, unlocked ioctl, compat ioctl,
- user space API, kernel space API, process lifecycle, sleeping/blocking, sleeping/waking up, wait queue. thundering herd, poll/select
Kernel Debugging (10 topics)
- Bug, debugging, debugging the kernel
- Binary search with git
- Debug support from kernel
- printk syslogd, klogd, loglevels, rate
- limit, debug levels, debug selective subsystems
- Debugging by querying debugfs
- oops debugging, asserting oops
- Magic SysRq Key
Tracing (5 topics)
- ftrace (nop tracer, function tracer, sched switch tracer (viewer), function graph tracer, dynamic tracer)
Interrupts (1 topic)
- Interrupts vs. polling, interrupt, program sections, reentrancy, events, interrupt handler, shared interrupt handler, interrupt flow, interrupt control
Deferring Work (1 topic)
- Top/bottom halves, softirqs, tasklets, work queues
Concurrency (12 topics)
- Critical region/section, atomic, race condition, synchronization, locking, locking solutions, deadlock, contention, what to lock?
- Atomic operations
- Spin locks
- Reader-writer spin locks
- Binary semaphore
- Reader-writer semaphore
- Completion variables
- Sequential locks
- Disable preemption
- Orderig and barriers
Time (1 topic)
- HZ, Jiffies, big/small delays, kernel timers
Hardware I/O (1 topic)
- I/O Ports, I/O Memory, How to deal with side effects accessing registers?
User-Kernel Communication (1 topic)
- put(get) user(), copy to(from) user(), Kernel I/O, memory mapping, procfs, sysfs, debugfs, relayfs, netlink, ioctl
Portability (1 topic)
- Word size, opaque types, signed/unsigned char, data alignment, integral promotion, code reuse, endianess, system tick, page size, instruction ordering, SMP/preemption/high memory
- Basic familiarity with using a GNU/Linux system as an end user.
- Basic familiarity with a command line shell.
- Basic knowledge of user space / application development.
- Intermediate C programming knowledge.
- Should have attended Embedded GNU/Linux Systems Architecture before(strongly recommended!).
The courses below may help you meet the knowledge level required to take this course.