Poky manual

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Description

  • Building embedded Linux image for Zynq ARMv7 platform - Elphel 10393 board
  • Yocto Poky revision = 2.0 (Jethro)

Features

  • Once everything is built it supports updating software projects (files and binaries) on the target system
    • access is set up in yocto's local.conf (see setup.py output) + ssh-copy-id
    • bitbake some-app -c target_scp from the command line or Eclipse IDE - see examples in elphel-apps-... at Git

Supported OSes

  • Kubuntu 14.04.3 LTS x64 (until June 2016)
  • Kubuntu 16.04 x64 (as of June 2016)

Required packages

Ubuntu and Debian 

sudo apt-get install gawk wget git-core diffstat unzip texinfo gcc-multilib \
build-essential chrpath socat libsdl1.2-dev xterm device-tree-compiler

Fedora 

sudo dnf install gawk make wget tar bzip2 gzip python unzip perl patch \
diffutils diffstat git cpp gcc gcc-c++ glibc-devel texinfo chrpath \
ccache perl-Data-Dumper perl-Text-ParseWords perl-Thread-Queue socat \
findutils which SDL-devel xterm device-tree-compiler

OpenSUSE 

sudo zypper install python gcc gcc-c++ git chrpath make wget python-xml \
diffstat makeinfo python-curses patch socat libSDL-devel xterm device-tree-compiler

CentOS 

sudo yum install gawk make wget tar bzip2 gzip python unzip perl patch \
diffutils diffstat git cpp gcc gcc-c++ glibc-devel texinfo chrpath socat \
perl-Data-Dumper perl-Text-ParseWords perl-Thread-Queue SDL-devel xterm device-tree-compiler

Other dependencies

sudo apt-get install python-numpy

Output files

The names are listed as they appear in the u-boot configuration header file - actual output files have different names:

  • boot.bin - u-boot as the first stage bootloader = Secondary Program Loader that boots u-boot-dtb.img
  • u-boot-dtb.img - full size u-boot with a stripped device tree (cat u-boot.img some_stripped_devicetree.dtb > u-boot-dtb.img)
  • devicetree.dtb - device tree with listed interfaces, zynq registers, interrupts and drivers.
    • elphel393/bootable-images/mmc/devicetree.dtb - mount rootfs from mmc partition
    • elphel393/bootable-images/nand/devicetree.dtb - mount rootfs from NAND flash
  • uImage - kernel, drivers
  • rootfs.ubifs, rootfs.ubi, rootfs.tar.gz - rootfs in different formats

They are found at elphel393/bootable-images/, which is a link (for convenience) to poky's deploy directory elphel393/poky/build/tmp/deploy/images/elphel393/

  • complete set of files for rootfs in NAND Flash: elphel393/bootable-images/nand/
  • complete set of files for rootfs on MMC (micro SD card): elphel393/bootable-images/mmc/

Write files to media and boot

Boot from micro SD card

  • Use recovery or regular μSD card
  • EXT4 partition mounted as /

Detailed instructions

Boot from NAND flash

  • The default boot option - power on.
  • A UBIFS image is written to /dev/mtd4 - is mounted as /

Detailed instructions

Notes

Setup

git clone https://git.elphel.com/Elphel/elphel393.git
cd elphel393
./setup.py
cd poky
. ./oe-init-build-env
bitbake u-boot device-tree linux-xlnx core-image-elphel393

Notes:

  • The last line builds all targets.

Compare built vs deployed software versions

cd elphel393
./check_versions.py root@192.168.0.9

Notes:

  • deployed = running on the target system
check_versions.py output in terminal

Build

All targets

bitbake u-boot device-tree linux-xlnx core-image-elphel393

Bootloader

bitbake u-boot

Output

  • boot.bin
  • u-boot-dtb.img

Notes

  • Since Poky 1.5.1: switched from u-boot-xlnx to u-boot - some of the u-boot-xlnx reached the upstream
  • Since Poky 1.5.1: u-boot introduced Kconfig and currently (as of 2016/01/22) is still migrating from autoconf - keeping both build methods working together.
  • Current u-boot uses the board's device tree blob to make a stripped version for itself - uncompiled device tree files are present in the u-boot sources

Device tree

bitbake device-tree

Output

  • devicetree.dtb

Kernel

bitbake linux-xlnx

Output

  • uImage

Notes

  • Kernel version is 4.0, linux-xlnx
  • Device Tree Blob is compiled separately in linux-xlnx
  • Uncompiled device tree files are present in the linux sources provided by linux-xlnx

Rootfs

bitbake core-image-elphel393

Output

  • rootfs.tar.gz
  • rootfs.ubi,rootfs.ubifs

Environment tree

top project

file description
projects-default.json
  • list of cloned repositories and tree structure
  • copy of this file makes a working copy - projects.json
setup.py
  • creates a working copy from default and parses the contents
  • rerun to update all repositories - then rebuild using bitbake
  • generates a default local.conf for poky pre-configured for 10393
check_versions.py local repository vs running on target hardware version checker

default paths

elphel393
├── bootable-images -> poky/build/tmp/deploy/images/elphel393/ - poky generated boot images
├── fpga-elphel - fpga projects, matching recipes are in meta/meta-elphel393/recipes-core/
│   ├── x359
│   ├── x393
│   └── x393_sata
├── linux-elphel - kernel - a kernel tree with Elphel's sources only - it is merged with the full kernel tree
├── meta - extra recipe layers for poky
│   ├── meta-elphel393 - Elphel's recipes: fpga, device tree, kernel and applications, lots of bbappends
│   ├── meta-ezynq - Elphel's recipes for u-boot
│   ├── meta-openembedded - recipes (like PHP) that were not included in poky 2.0
│   ├── meta-swupdate - swupdate recipes (not yet used)
│   └── meta-xilinx - Xilinx's recipes, help to build kernel and device tree
├── poky - poky tree
│   ├── build
│   │   └── conf
│   │       ├── bblayers.conf - paths to extra layers (generated by setup.py)
│   │       └── local.conf - have a look inside, local configuration (generated by setup.py)
│   └── meta - poky's recipes
├── rootfs-elphel - user applicatons projects and init scripts, matching recipes are found in meta/meta-elphel393/recipes-core/
│   ├── elphel-apps-autocampars - camera parameters manager - setup, store/restore, set default
│   ├── elphel-apps-autoexposure - autoexposure daemon
│   ├── elphel-apps-camogm - recorder program
│   ├── elphel-apps-editconf 
│   ├── elphel-apps-gps - gps receiver application
│   ├── elphel-apps-histograms - histograms
│   ├── elphel-apps-imgsrv - image server
│   ├── elphel-apps-php-extension - php functions, compiled as a php extension (part of php recipe)
│   ├── elphel-apps-tempmon - temperature monitor
│   ├── elphel-init - system init script
│   ├── elphel-udev-rules - udev rules: drive automount
│   ├── elphel-web-393 - web GUIs
│   ├── elphel-web-camvc - main control GUI, ported from 353
│   └── elphel-web-hwmon - hardware monitor
└── tools
    └── elphel-tools-update - useful scripts, e.g. create bootable mmc

project structure (example: elphel-init)

recipe

elphel393/meta/meta-elphel393/recipes-core/init/init_1.0.bb

Note: The recipe and the project sources are in different repos

in repository

rootfs-elphel/elphel-init/
├── eclipse_project_setup
├── LICENSE
├── Makefile
├── README.md
├── run_bitbake.sh
├── src
│   ├── init_elphel393
│   ├── init_elphel393.py
│   ├── init_elphel393.sh
│   ├── init_eyesis12.sh
│   ├── init_eyesis_bottom2.sh
│   └── Makefile
└── VERSION

after building

rootfs-elphel/elphel-init/
├── bitbake-logs -> /.../elphel393/poky/build/tmp/work/cortexa9-neon-poky-linux-gnueabi/init/1_0-60/temp
├── eclipse_project_setup
├── image -> /.../elphel393/poky/build/tmp/work/cortexa9-neon-poky-linux-gnueabi/init/1_0-60/image
├── LICENSE
├── Makefile
├── README.md
├── run_bitbake.sh
├── src
│   ├── init_elphel393
│   ├── init_elphel393.py
│   ├── init_elphel393.sh
│   ├── init_eyesis12.sh
│   ├── init_eyesis_bottom2.sh
│   └── Makefile
├── sysroots -> /home/oleg/GIT/elphel393_fixold/poky/build/tmp/sysroots
└── VERSION

Notes

  • [FIXED] lighttpd-1.4.39, mod-cgi

compile warning: 

implicit declaration of function 'chunkqueue_written'

results in lighttpd failing to start if mod-cgi is enabled: 

Starting Lighttpd Web Server: 2016-01-26 18:42:17: (/data/GIT_fresh/poky/build/tmp/work/cortexa9-vfp-neon-poky-linux-gnueabi/lighttpd/1.4.36-r0/lighttpd-1.4.36/src/plugin.c.169) dlopen() failed for: /usr/lib/mod_cgi.so /usr/lib/mod_cgi.so: undefined symbol: chunkqueue_w 
2016-01-26 18:42:17: (/data/GIT_fresh/poky/build/tmp/work/cortexa9-vfp-neon-poky-linux-gnueabi/lighttpd/1.4.36-r0/lighttpd-1.4.36/src/server.c.679) loading plugins finally failed 
lighttpd.

Note: why 1.4.36?!!

solution: exclude the 0001-mod_cgi-buffers-data-without-bound.patch from the file list that comes with the poky/meta/recipes-extended/lighttpd_1.4.39.bb

  • Invalidate chache/checksum on package code changes
    • SRCREV = "${AUTOREV}" - updates the checksum but the cache is not cleared/invalidated?
SRCREV <- AUTOREV <- AUTOREV <- "${@bb.fetch2.get_autorev(d)}" (bitbake/lib/bb/__init__.py)

def get_autorev(d):
   #  only not cache src rev in autorev case
   if d.getVar('BB_SRCREV_POLICY', True) != "cache":
       d.setVar('__BB_DONT_CACHE', '1')
   return "AUTOINC"

BB_DONT_CACHE ?!!!!!!!

Force to always execute recipe starting from a certain task: 

recipe-outside-of-task: do_compile[nostamp]="1"
or
recipe-class-inside-task: d.setVarFlag('do_compile', 'nostamp', '1')
  • clone git repo over https in a recipe
SRC_URI = "git://git.elphel.com/project.git;protocol=https;branch=master"

Errors

  • Aborted, core dumped
    • Got when tried to build gstreamer1.0-plugins-base - error in one of the packages it depends on.
    • Possible reason - Kubuntu 14.04 - the system libraries are too old? The up-to-date Kubuntu release is 16.04.
    • Command (example):
bitbake libxau-native
    • log:
| x86_64-linux-libtool: link: ar cru .libs/libXau.a  AuDispose.o AuFileName.o AuGetAddr.o AuGetBest.o AuLock.o AuRead.o AuUnlock.o AuWrite.o
| *** buffer overflow detected ***: ar terminated
| ======= Backtrace: =========
| /lib/x86_64-linux-gnu/libc.so.6(+0x7329f)[0x2b732eade29f]
| /lib/x86_64-linux-gnu/libc.so.6(__fortify_fail+0x5c)[0x2b732eb75bbc]
| /lib/x86_64-linux-gnu/libc.so.6(+0x109a90)[0x2b732eb74a90]
| /lib/x86_64-linux-gnu/libc.so.6(+0x108f99)[0x2b732eb73f99]
| /lib/x86_64-linux-gnu/libc.so.6(_IO_default_xsputn+0xbc)[0x2b732eae660c]
| /lib/x86_64-linux-gnu/libc.so.6(_IO_padn+0xa0)[0x2b732eada600]
| /lib/x86_64-linux-gnu/libc.so.6(_IO_vfprintf+0x3c4d)[0x2b732eab888d]
| /lib/x86_64-linux-gnu/libc.so.6(__vsprintf_chk+0x84)[0x2b732eb74024]
| /lib/x86_64-linux-gnu/libc.so.6(__sprintf_chk+0x7d)[0x2b732eb73f7d]
| ar[0x406d20]
| ar[0x4088df]
| ar[0x40bf08]
| ar[0x404a86]
| ar[0x405003]
| ar[0x402a45]
| /lib/x86_64-linux-gnu/libc.so.6(__libc_start_main+0xf5)[0x2b732ea8cf45]
| ar[0x402dc5]
| ======= Memory map: ========
| 00400000-00482000 r-xp 00000000 08:01 27273645                           /usr/local/bin/ar
| 00682000-00683000 r--p 00082000 08:01 27273645                           /usr/local/bin/ar
| 00683000-00684000 rw-p 00083000 08:01 27273645                           /usr/local/bin/ar
| 00776000-007e0000 rw-p 00000000 00:00 0                                  [heap]
| 2b732e846000-2b732e869000 r-xp 00000000 08:01 26740221                   /lib/x86_64-linux-gnu/ld-2.19.so
| 2b732e869000-2b732e86d000 rw-p 00000000 00:00 0
| 2b732e898000-2b732e89b000 rw-p 00000000 00:00 0
| 2b732ea68000-2b732ea69000 r--p 00022000 08:01 26740221                   /lib/x86_64-linux-gnu/ld-2.19.so
| 2b732ea69000-2b732ea6a000 rw-p 00023000 08:01 26740221                   /lib/x86_64-linux-gnu/ld-2.19.so
| 2b732ea6a000-2b732ea6b000 rw-p 00000000 00:00 0
| 2b732ea6b000-2b732ec25000 r-xp 00000000 08:01 26740235                   /lib/x86_64-linux-gnu/libc-2.19.so
| 2b732ec25000-2b732ee25000 ---p 001ba000 08:01 26740235                   /lib/x86_64-linux-gnu/libc-2.19.so
| 2b732ee25000-2b732ee29000 r--p 001ba000 08:01 26740235                   /lib/x86_64-linux-gnu/libc-2.19.so
| 2b732ee29000-2b732ee2b000 rw-p 001be000 08:01 26740235                   /lib/x86_64-linux-gnu/libc-2.19.so
| 2b732ee2b000-2b732ee30000 rw-p 00000000 00:00 0
| 2b732ee30000-2b732ee46000 r-xp 00000000 08:01 26741717                   /lib/x86_64-linux-gnu/libgcc_s.so.1
| 2b732ee46000-2b732f045000 ---p 00016000 08:01 26741717                   /lib/x86_64-linux-gnu/libgcc_s.so.1
| 2b732f045000-2b732f046000 rw-p 00015000 08:01 26741717                   /lib/x86_64-linux-gnu/libgcc_s.so.1
| 7fffb978b000-7fffb97ad000 rw-p 00000000 00:00 0                          [stack]
| 7fffb97f8000-7fffb97fa000 r-xp 00000000 00:00 0                          [vdso]
| ffffffffff600000-ffffffffff601000 r-xp 00000000 00:00 0                  [vsyscall]
| ./x86_64-linux-libtool: line 1723:  8035 Aborted                 (core dumped) ar cru .libs/libXau.a AuDispose.o AuFileName.o AuGetAddr.o AuGetBest.o AuLock.o AuRead.o AuUnlock.o AuWrite.o
| make[2]: *** [libXau.la] Error 134
| make[2]: Leaving directory `/GIT/elphel393/poky/build/tmp/work/x86_64-linux/libxau-native/1_1.0.8-r0/build'
| make[1]: *** [all-recursive] Error 1
| make[1]: Leaving directory `/GIT/elphel393/poky/build/tmp/work/x86_64-linux/libxau-native/1_1.0.8-r0/build'
| make: *** [all] Error 2
| ERROR: oe_runmake failed
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