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oD10 Linux User & Kernel Mode Programming

Embedded Linux Systems Development

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Objectives
  • Discover Linux and its development tools
  • Connect an embedded Linux system in a network
  • Review the Linux boot sequence
  • Boot a remote Linux kernel
  • Program and Debug Linux applications
  • Mastering kernel development and debug tools
  • Programming IOs, interrupts
  • Discovering kernel debugging techniques
Labs are conducted QEMU ARM-based board
We use a recent version of Kernel
  • Basic Linux user knowledge
  • Good C programming skills (see our L2 course)
  • Theoretical course
    • PDF course material (in English).
    • Course dispensed using the Teams video-conferencing system.
    • The trainer answers trainees' questions during the training and provide technical and pedagogical assistance through the Teams video-conferencing system.
  • Practical activities
    • Practical activities represent from 40% to 50% of course duration.
    • Code examples, exercises and solutions
    • One Online Linux PC per trainee for the practical activities.
    • The trainer has access to trainees' Online PCs for technical and pedagogical assistance.
    • Eclipse environment and GCC compiler.
    • QEMU Emulated board or physical board connected to the online PC (depending on the course).
    • Some Labs may be completed between sessions and are checked by the trainer on the next session.
  • Downloadable preconfigured virtual machine for post-course practical activities
  • At the start of each session the trainer will interact with the trainees to ensure the course fits their expectations and correct if needed
  • Total: 24 hours
  • 4 sessions, 6 hours each (excluding break time)
  • Some Labs must be completed after the session
  • Any embedded systems engineer or technician with the above prerequisites.
  • The prerequisites indicated above are assessed before the training by the technical supervision of the traineein his company, or by the trainee himself in the exceptional case of an individual trainee.
  • Trainee progress is assessed in two different ways, depending on the course:
    • For courses lending themselves to practical exercises, the results of the exercises are checked by the trainer while, if necessary, helping trainees to carry them out by providing additional details.
    • Quizzes are offered at the end of sections that do not include practical exercises to verifythat the trainees have assimilated the points presented
  • At the end of the training, each trainee receives a certificate attesting that they have successfully completed the course.
    • In the event of a problem, discovered during the course, due to a lack of prerequisites by the trainee a different or additional training is offered to them, generally to reinforce their prerequisites,in agreement with their company manager if applicable.

Course Outline

  • Linux
    • History
    • Version management
  • Linux architecture and modularity
  • Linux system components
  • The various licenses used by Linux (GPL, LGPL, etc)
  • Structure of Linux applications
    • The ELF file format
  • Linux development tools
    • Compiling
    • Documentation
    • Makefiles
    • Integrated Development Environments
  • Creating Linux libraries
    • Static libraries
    • Dynamic libraries
Exercise:  Writing a simple, static and dynamic, library
  • Software Debug tools
    • Gdb
    • Memory management debug using dmalloc and efence
    • Runtime checks using valgrind
Exercise:  Debug an application and its libraries using gdbserver
Exercise:  Checking memory management using dmalloc and valgrind
  • Standard input-output
    • disk files
    • devices
  • Network programming
    • sockets
    • UDP and TCP protocols
  • Asynchronous input-output
    • Non-blocking I/O
    • Multiplexed (the select and poll APIs)
    • Notified I/O
    • Chained I/O (the aio POSIX API)
Exercise:  Understanding Non-blocking Requests
  • Signal handling
    • Signal types
    • Handling a signal
    • Functions usable in a signal handler
    • Signal masking and synchronous handling
Exercise:  Manage timeouts using signals and timers
  • POSIX Threads
    • Definition of a thread
    • Thread programming
  • Processes
    • The process concept
    • Processes and security
    • Process states
    • Process life-cycle: the "fork" and '"exec" calls
  • Inter-Process Communications
    • File Mapping
    • Shared Memory
Exercise:  Fork a process
Exercise:  Understand mmap system call
  • Development in the Linux kernel
    • Kernel compilation
  • Modules compilation
  • Memory allocation in the kernel
  • Helper libraries
    • Kref and container_of
    • Linked list
    • Fifos
Exercise:  Write the typical "Hello World" kernel module
Exercise:  Understand kernel parameters and their access through the /sys filesystem
  • Oops
  • The /proc filesystem
  • The DebugFS filesystem
  • Traces
  • Miscellaneous Kernel Debug Features
  • Debugging with KGDB
Exercise:  Debugging a module using KGDB
  • Kernel task handling
  • Concurrent kernel programming
  • Miscellaneous Locks
  • Creating kernel threads
  • Kernel Architecture
  • Device Access
  • Functional Driver registration
Exercise:  Understand the driver structure and registration
  • Kernel structures used by drivers
  • Opening and closing devices
  • Data transfers
  • Controlling the device
  • Mapping device memory
Exercise:  Understand how to transfer data to or from user space
Exercise:  Understand the basic read and write calls
  • Task synchronization
  • Synchronous request
  • Asynchronous requests
    • Non-blocking requests
    • Multiplexed I/O
    • Notified I/O
Exercise:  Understand the ioctl system call handling
  • Memory-mapped registers
  • Interrupts
  • Legacy features
  • Linux Device Model Architecture
    • Overview
    • Classes
    • Busses
  • The platform bus
    • Platform devices
    • Platform drivers
  • Classes
    • The misc class
    • Custom classes
  • Writing udev rules
Exercise:  Learning how to implement a platform driver (callbacks, registration, resources)