Timesys University

Learn Embedded Linux by Building a Video Surveillance Device

2 Timesys Staff

. With you today are:

Maciej Halasz Al Feczko Theresa Kisha Product Management Technical Sales & Marketing [email protected] Field Engineering [email protected] 412 325 6313 [email protected] 412 325 6362 412 325 6390 3 Timesys Staff

. With you today are:

Maciej Halasz Theresa Kisha Product Management Marketing [email protected] [email protected] 412 325 6313 412 325 6362

Al Feczko Technical Sales & Field Engineering [email protected] 412 325 6390 4 Timesys Staff

. With you today are:

Al Feczko Aparna Nigam Technical Sales & Technical Sales Field Engineering [email protected] [email protected] 412 325 6333 412 325 6390

Maciej Halasz Theresa Kisha Product Management Marketing [email protected] [email protected] 412 325 6313 412 325 6362 5 We Are Building a … Video Surveillance Device!

More than one third of all shops are under video surveillance 6 7 Building a Video Surveillance Device with LinuxLink — Agenda

. Module 1: BSP & Dev Environment/SDK How to assemble and deploy an initial BSP and setup development environment with the matching SDK . Module 2: User Interface How to build a state-of-the-art User Interface using Qt Embedded for Linux . Module 3: RTOS & MCC How to monitor a light sensor in RTOS and trigger video recording under Linux . Module 4: Optimizations How to measure and optimize to boot more quickly 8 Module 1

. Your Development Environment . Embedded Linux Primer . Where do I start my Linux design — Product Requirements . Assemble a custom BSP using the LinuxLink FREE Edition Web Interface • Reflect product requirements • Produce complete Linux design • Learn how to find information . Application/System Development environment setup with an SDK . Deploy the images on the Phytec Vybrid system 9

Your Development Environment:

Session Hardware/Software Requirements 10 What We Need to Build Our Product . A host machine • Linux is the best – any recent version is ok (Timesys recommends Ubuntu LTS) • Windows is fine, but you’ll need a virtual machine with a Linux desktop OS installation (Timesys recommends Oracle VirtualBox) . Cross-development environment / SDK . Linux source code (BSP) for the product • Bootloader • Linux kernel • APIs . Various Linux utilities e.g. mkimage . IDE with WYSIWYG for faster development . A hardware development kit

11 Your Workstation Setup

Ethernet/Serial

. Development USB Environment • Cross tools • IDE

ETH . Exercises

12 Having Fun Yet?

. Question bucket

• We will ask some review questions at the end of each Module.

• In return for the first correct answer for each question asked, we will award a giveaway item. 13

Embedded Linux Primer Complete Software Solution for Vybrid 14

Qt Application PEG Application

Repository Docs Support Demos

App on Linux App on Linux App on MQX

Device Device Linux Kernel MQX

Drivers Drivers

JTAG

Message passing Support

Multi OS Infrastructure

Development Development & Debug Tools

- ARM DSTREAM DSTREAM ARM

Bootloader

Multi Multi OS Configuration & Build Tool

Tower Modules

ARM DS5 ARM Factory Factory Cortex A5 Cortex M4 15 Memory Model

A5 - Linux M4 - MQX

Linux Address Space MQX Address Space

DDR3 memory chip

Hardware Semaphore

Layer used for Multi-Core Communication Shared SRAM chip (MCC)

Network control User Interface, Buttons, Stream sel, etc Auto-launch Camera interface Sensor Control

3 Middleware RFS (rootfs) openssh shell setup Qt Embedded setup script MCC scripts networking API

MQX image LCD calibration sysfs Wireless tools

Splash Shared Driver Driver Driver Driver Driver 2 Linux kernel Screen Memory

1 U-Boot bootloader Driver Driver

Touch LCD Button Ethernet Vybrid Screen Memory Cortex-A5 Serial XIP USB SDIO 17 MQX Reference Model Application (s)

Network control Sensor Control interface

Functional Blocks 2 setup setup script MCC scripts networking API

File system

Shared MQX kernel Driver Driver Services Driver Driver Driver Memory

1 Bootloader Driver Driver

Touch LCD Button Ethernet Vybrid Screen Memory

Serial XIP USB SDIO 18 Linux and MQX comparison Linux MQX

Core footprint 3M <100k

Scheduler Priority, preemptive, Priority, preemptive, latency not guaranteed latency guaranteed Kernel Configurability Modular, fully Modular, fully customizable customizable APIs 40,000+ Limited

System protection Separate address spaces Single address space; no Kernel/Application protection separated Kernel/Application combined 19 Embedded Linux Challenges

1000s of Linux Toolchain mainline packages uClibc or glibc? GCC4.1?

Linux kernel APIs/libs Debug

Additional optimizations drivers?

Embedded? Custom Version? Ver.3.10? software Which Private modules? plugins Need HW GStreamer gstreamer.c acceleration? Ver. 0.22? om

Open Source Third party plugins

Development Ready — When?

For 2012, 57% of all projects finished late or were cancelled Source: EE Times Embedded Market Study, 2013 Vybrid Solution Approach: 20 LinuxLink + Tower + MQX

Linuxlink cloud development allows customers to rapidly deploy pre-built or custom BSP/SDKs for Tower or other hardware platforms. RTOS Challenges 21 . Future Proofing new/future protocols (Stacks) • Bluetooth Light . Peripheral Support across product families . Prototyping and Evaluation support . Creating drivers to use with a scheduler . Would like to spend your time developing application code and not creating or maintaining a scheduling system . Multi-thread support with synchronization . Portability of application code to other CPUs . Resource handling . Adding new features without affecting higher priority functions . Support for upper layer protocols such as: • TCP/IP, USB, flash systems, web servers • CAN protocols, embedded GUI, SSL, SNMP . Determinism 22 MQX Solution

. Established community of users and code examples • MQX is a 15-year-old RTOS . Solid RTOS with extensive code examples and community support . Standardized Driver creation . Support across all Freescale MCU Portfolio . Extensive Stack Library . Extensive third-party community development support . End User empowered to create custom BSP . Non Royalty RTOS . Ported Tower Systems for easy system lever evaluation 23

Product Requirements — Where Do I Start My Linux Development? 24 Requirements – First Glance

Video Surveillance Features:

. GUI with the following . Detect movement via light features: sensor • Live feed screen . Use Multi-core communication • Recorded feed management screen (MCC) layer • Control panel screen • Trigger video recording . Capture video feed from USB connected cameras • Store on a local file system

. Manage recordings

. Utilize a video overlay • See video feed and controls on a single screen • Display text on a video feed 25 Security Surveillance Device (Blueprint)

Security Surveillance Device Network Video Camera control Light User Interface, Buttons, Stream sel, etc Auto-launch playback Capture interface Sensor

Middleware

setup script openssh Qt Embedded setup GStreamer shell scripts networking MCC API LCD calibration Codecs Wireless tools

Splash Shared Driver Driver Driver Driver Driver Linux kernel Screen Memory

U-Boot bootloader Driver Driver

Vybrid LCD Touchscreen VPU IPU Ethernet Memory

Serial NAND USB SDIO 26

Exercise 1:

Assemble a Custom BSP & SDK Using the LinuxLink Web Factory

27 LinuxLink Architecture 28 Exercise Details - BSP

. Identify an initial set of requirements, sufficient to boot the dev kit and develop and initial application

. Build a custom BSP (and a matching SDK)

. Start with a small Linux design, and build it up as per your requirements 29 Requirements Helper

Feature What I need Where to select Linux kernel Latest, 3.x kernel Linux kernel Cross-Toolchain GCC, Binutils, GDB Toolchains C Library glibc Toolchains GStreamer gst-plugins-good Packages Font freetype Packages Qt qt-embedded-linux Packages Networking openssh Packages System initialization busybox Packages Account Login info 30 . We have accounts setup specifically for Timesys University • https://linuxlink.timesys.com • Login with the following credentials: U: labuserX where X is 1-20 P: lab123

. If you’ve purchased a PHYTEC Vybrid kit, you can register for a LinuxLink PRO account at: • https://linuxlink.timesys.com/register/phytec/ . If you’ve purchased a Freescale TOWER Vybrid kit, you can register for a LinuxLink PRO account at: • https://linuxlink.timesys.com/register/freescale/ . For other processors and dev kits, you can register for a LinuxLink FREE account at: • http://www.timesys.com/register 31

Development Environment Setup with an SDK 32 Embedded Linux Reference Model

Target Host

Application (e.g. Base Station Control) App Features Development Tools • Cross-Development Environment Third-Party (SDK)

Application Application 1 Application 2 • IDE Application • Application Debugging • Build System (e.g. Factory) Middleware and Application Services • RFS, Kernel, App • Collaborative Development

• Profiling

Software Networking UI Networking Hundreds of • Tracing APIs from Open • System Management Source and Reliability

Security Reliability Proprietary System

• KGDB/ printk Debugging Linux kernel Driver Driver Driver Driver more • JTAG

• SMP support, RT enhancements

• Target Images SOC LCD HW SD USB more Board accel. • Binaries Deployment

• Target Management Hardware

Virtualization 33 Embedded Linux Reference Model

Target Host

Application (e.g. Base Station Control)Development App Features Tools • CrossThird-Development-Party Environment (SDK) Application Application 1 Application 2• IDE Application

• Application Debugging

Middleware and Application Services• Build System (e.g. Factory)

• RFS, Kernel, App

Software Networking UI Networking • CollaborativeHundreds Development of • ProfilingAPIs from Open Source and Reliability Security Reliability • Tracing Proprietary System • System Management

Linux kernel Driver Driver Driver• KGDB/ printkDriver Debugging more • JTAG

• SMP support, RT enhancements

SOC LCD HW • TargetSD ImagesUSB more Board accel. • Binaries Deployment

• Target Management Hardware

Virtualization 34 Development Environment Setup

BSP/SDK Summary

Software Development Kit (SDK) •Install on your host PC Can find instructions on how to setup the board

Desktop Factory tools •Install on your host PC 35

Exercise 2:

Setup Your Application Development Environment 36 Exercise Details - SDK

. Setup your own development environment • Cross-toolchain • IDE • Libraries and header files . The goal • Easily develop your value-add software

Answer:

TimeStorm IDE 37 Exercise Details

. Install an SDK from a build output

. Installation command (optional): • sh . For your convenience the BSP/SDK has been downloaded for you and preinstalled under: • /home/tsu-lab/LAB-5/BSP . Look at a directory structure

. Verify toolchain with command: • -### 38

Deploying Linux Using NFS 39 Is NFS useful?

. Run the custom BSP on the target • U-Boot bootloader • Linux kernel • Network mounted RFS . The goal • Easily modify all aspects of your RFS • Easily deploy and test your application 40 Network File System setup • Ethernet . Host . Target • Serial

• NFS server • DHCP server (local subnet) • TFTP server (/tftpboot) • U-Boot • Console • Console

Host RFS Target RFS Target RFS

Full directions can be found in the Getting Started Guide for the Phytec Vybrid board. Access it through a LinuxLink dashboard. 42 Module 1 — Summary

. Learned about the Vybrid LinuxLink – needed for all exercises . Reflected initial product requirements in Linux BSP and SDK . Built a custom BSP with LinuxLink FREE Edition • Experiment with a pre-built starting point . Setup a development environment • System level development and optimizations • Development of a value-add software (applications) . Discussed NFS deployment • Image transfer • Bootloader configurations 43 Module 1 — Quiz

1. What do you need to know before you start your initial design? 2. How is a Linux BSP different than an MQX RTOS image? 3. What do you need in order to start developing your C or C++ application? 44 Building a Video Surveillance Device with LinuxLink — Agenda

. Module 1: BSP & Dev Environment How to assemble and deploy an initial BSP and setup development environment with the matching SDK . Module 2: User Interface How to build a state-of-the-art User Interface using Qt Embedded for Linux . Module 3: RTOS & MCC How to monitor a light sensor in RTOS and trigger video recording under Linux . Module 4: Optimizations How to measure and optimize to boot more quickly 45 Module 2

. Modify the underlying Linux image to support Qt . Qt development tools installation/setup . Hello World application – GUI development • Create a QMainWindow application • Use a number of Qt widgets including • QPushButton • QLabel • Layouts and more • Create a resource file • Test your application locally • Cross-compile for the Vybrid Phytec target • Debug on the target 46 Security Surveillance Device (Blueprint)

Security Surveillance Device Network Video Camera control Light User Interface, Buttons, Stream sel, etc Auto-launch playback Capture interface Sensor

Middleware

setup script openssh Qt Embedded setup GStreamer shell scripts networking MCC API LCD calibration Freescale Codecs Wireless tools

Splash Shared Driver Driver Driver Driver Driver Linux kernel Screen Memory

U-Boot bootloader Driver Driver

Touchscr LCD VPU IPU Ethernet Memory Vybrid een

Serial NAND USB SDIO 47

Adding APIs/Libraries Using the LinuxLink PRO Desktop Interface 48 Key Features

. Advanced Customization (all aspects of your Linux platform) . ‘Factory’ – Only easy to use, innovative Build System with: • Advice engine — recommends software based on your hardware and application requirements • Update engine — automatic updates for your custom configuration . ‘Build up’ vs. strip down to small distribution . Build Repeatability Easy Extensibility . It is easy to prototype and to develop

Desktop Factory 50 Factory Architecture

. The Desktop Factory is the Timesys build engine with the menuconfig UI. . The UI creates/edits the Factory “work-order” in a .config file. . The Factory fetches source code for components required by the work order, and follows recipes to cross build those components. . Each component has its own recipe, embody in a pair of files which drive the UI and the “make” build.

. Basic navigation, Searching, Help, String entry . Source code locations . Running parallel make jobs . Package options . Templates . A peek at the .config file

©2013 Timesys Corp. 52 Factory: High-Level Flow At a high level, the Factory flows through these five stages. However, due to dependencies that require components to be built “out of order,” the Factory operates in a recursive manner.

1. Fetch Sources, Patches, Additional 1.All sources, patches, and other files (e.g., startup files scripts) are fetched from the designated source.

2.The host tools are built including ccache, and the 2. Build Host Tools and Libraries (toolchain) gcc cross compiler suite (glibc or uclibc, binutils, etc.). Any additional host utilities are built as well.

3. Build Target Binaries (Root File 3.All target software is built. The kernel image System) and RFS image are created here as well.

4.As requested (e.g., RPM, deb), binaries are 4. Package binaries packaged.

5. Create Installers 5.Installers (e.g. SDK) are created.

factory

bin doc include src target toolchain build

Makefile . ./bin/ - contains scripts useful for extending Factory. . ./doc/- contains license and version information. Config.in . ./include/ - contains common recipes along with the KConfig library. . ./src /– contains the downloaded sources. . ./target/ - contains sub-directories containing recipes for the kernel, boot-loaders, .config and RFS. . ./toolchain/ - contains the recipes for each toolchain component as well as the host utilities that are built with the toolchain. . ./build/ – the ouput directory tree. . Makefile includes all other make rule files within the Factory tree . Config.in - includes all other Config.in files and sets global and default options. . .config - the generated work order used by the make rules.

Build-{ }

toolchain- images packages toolchain rfs initial{ }tgz

toolchain- final-{ }tgz . NOTE: “{ }” in names imply architecture or other build specific attribute.

{ }.sh . toolchain-initial-{ }.tgz - This is a bare toolchain (cross compiler, etc.) . toolchain-final-{ }.tgz - Bare toolchain plus all selected package libraries. . { }.sh - SDK installer . ./images/ - contains kernel, bootloader, and RFS images . ./packages/ – contains binary packages in RPM, DEB, IPKG, or TGZ. . .// - each package has its own working directory. . ./toolchain/ – toolchain working directory . ./rfs/ - RFS working directory. This can be modified by hand and then the RFS images can be recreated with the 'rfs-images' target. NOTE: this directory cannot be directly NFS exported as it does not have valid device files (/dev). The device files are populated during the RFS image creation process.

Make Targets Functionality checksystem, checktool-oprofile, System requirements and checktool-ltp, checktool-mpatrol, compatibility checks. checktool-gdb

advice, showpackages, showoutput Information commands checkupdates, update, update- Updating noprompt, oldconfig Clean, download-clean, distclean, rfs- Clean commands distclean, packages-distclean, software-distclean, reset-toolchain

-clean, -distclean, -fetch, -unpack, - Per-application targets (all preceded patch, -configure, -build, -package, - by application name without version rfs-install, -host-install, -show e.g. “busybox-clean)

menuconfig, config “workorder” (.config) editors

Exercise 4:

Enhance Your Design Locally by Adding Required Packages 57 Exercise Details

. Find Desktop Factory under: • /home/tsu-lab/LAB-5/factory/factory- . Look at the help screen by running make help . Bring up a configuration screen • make menuconfig . Locate and select missing packages 58 Requirements Helper

Feature What I need Where to select Linux kernel Latest, 3.x kernel Linux kernel Cross-Toolchain GCC, Binutils, GDB Toolchains C Library glibc Toolchains GStreamer gstreamer Packages gst-plugins-good Packages MCC mcc-kmod, libmcc Packages Video 4 Linux v4l-utils Packages Font freefont Packages Text display pango Packages Qt qt-embedded-linux Packages Networking openssh Packages System initialization busybox Packages 59

Qt Development Tools Installation/Setup 60 Qt Development Tools

.Options • DS5 with TimeStorm & Qt plugins http://linuxlink.timesys.com – Qt Creator http://www.qt.nokia.com .Installation • DS5 can be downloaded from ARM • Download TimeStorm and Qt plugins from LinuxLink • Preinstalled in your UBUNTU .Run • Desktop icon for ARM DS5 61 IDE and Cross-Environment

Host PC/Linux

IDE

Recognizes Automatically

LinuxLink Desktop Interface 63 Security Surveillance Device – GUI Development

64 The Qt Story . The Qt toolkit is a multi-platform C++ GUI toolkit (class library) . Developed by Troll Tech AS, later acquired by Nokia . Qt can be used under one of the following licenses: • LGPL v.2.1 • GPL v.3.0 • Commercial (mostly if you plan to extend Qt and sell it) . Around 1997, Qt was chosen as the code basis for the KDE Linux desktop environment . Latest version — Qt 5.0 is available for Windows, Unix, Linux, Embedded Linux, Mac OS X libraries and Symbian OS . Recent additions include: • Qt Quick (programming with QML) • Qt Mobility • Multi-touch and gestures support 66 Qt/Embedded (cont’d)

. Modular approach

. Each additional functionality can be enabled by specifying module to be added • Core classes provide the baseline • GUI building tools • Can run with or without X • Can be easily ported from other OSs 67 Qt — Flexible and Powerful UI API

. Used in many applications in various markets . WYSIWYG approach . Can take advantage of Freescale hardware: • OpenGL ES API • Multiple frambuffers 68 Widgets

. Base class for all UI widgets • QPushButton, QLineEdit, QTabView, … . Properties • width, height, backgroundColor, font, mouseTracking, backgroundPixmap, etc. . Slots • repaint, show, hide, move, setGeometry, setMainWidget, etc. . Signals • mouseMoveEvent, keyPressEvent, resizeEvent, paintEvent, enterEvent, leaveEvent, etc. 69 Event Handling

. Qt approach to IPC: signals and slots • A widget sends out various signals • Object methods can be declared as slots • Compatible signals and slots can be connected or plugged together (parameter types must match!)

. Clear UI/Logic separation • This separation between UI components and program elements lends itself to component-based programming 70 Signals and Slots

http://doc.qt.nokia.com/latest/signalsandslots.html 71 Signals and Slots (cont.)

#include

class Counter : public QObject { Q_OBJECT

public: Counter() { m_value = 0; } int value() const { return m_value; }

public slots: void setValue(int value);

signals: void valueChanged(int newValue);

private: int m_value;

}; 72 Events – Triggered by Signals

. Signals: emit events • declare as signals • You don't implement them, you send them with the keyword “emit” – e.g. emit(counterAtZero(100)) . Slots: receive and handle events • Normal member functions declared as slots . Connect: must connect signals to slots • QObject::connect( Object 1, SIGNAL(activated(int)), Object 2, SLOT(handlingMethod(int)) ); 73 qmake

. The qmake utility is typically invoked with the following commands: • qmake – project • qmake . IDE tools invoke qmake automatically • You can invoke it as well (Project->qmake) . Rules: • Be sure to place code in its own directory. • qmake scans all subdirectories for dependencies. • Looks at the .pro file and generates Makefile structure 75 Qt Application Structure

..pro file • Holds information on all files that will be used to build a predefined executable(s) • Used by qmake to generate Makefiles for your project ..ui file • User Interface file • Can open in a designer view • Has canvas on which you can drag and drop widgets • Its XML format is translated into C file (moc_) at compile time ..qrc file • Holds information on all resources (non C++ code) used • Referenced throughout the project e.g. QPushButton icons ..qss file • Used to define a style sheet for a custom look and feel • Loaded at runtime by your application 76

Exercise 5:

Create a GUI application using ARM DS5 with TimeStorm & Qt plugins 77 Video Surveillance Application

.Start DS5 • Desktop icon

.Open a Workspace • /home/tsu-lab/DS5-workspace-clean

.Create a new Qt GUI Project • UI Type – QMainWindow • Don’t need to select any additional Qt frameworks (initially) .Create the following components Example can be found • Remove menu bar and status bar in Exercise 5 folder • Use layouts in downloads. • Use a QTabView • Preset the size of all UIs to selected LCD size (will help you see actual design) • Design UIs on all three screens 78

Exercise 6:

Develop Logic Behind the GUI 79 Exercise Details: Video Surveillance Qt Application

. Define/Connect signals (Hide Button) • Add code for Hide Button • Capture the signal in a service class • Implement the service routine – Set alpha blending to 0 . Switch the building layout graphic • Utilize the border-image property of widgets’ style sheet

. Compile and run your application on your host

. Cross compile and debug your application on the target 80 If we have time …

. Compile the medical application example . Look under Exercise 6 solutions for full implementation . Cross compile by switching Qt type in DS5 to cross . The design also includes the following: • Custom Style Sheet 81 Module 2 — Summary

. Used LinuxLink PRO Edition Desktop Factory interface • Added needed packages and rebuilt the runtime BSP and SDK images

. Used an IDE to design/develop Qt based UI

. Developed a GUI with the following: • Layers, several Widgets and Labels • Implemented signals and handlers . Cross-compiled for Phytec’s Vybrid target

82 Module 2 — Quiz

1. Name at least one graphics package (other than Qt). 2. What are licensing implications for your proprietary application software linking against LPGL version of Qt? 83 Building a Video Surveillance Device with LinuxLink — Agenda

. Module 1: BSP & Dev Environment How to assemble and deploy an initial BSP and setup development environment with the matching SDK . Module 2: UI & Video Feeds How to build a state-of-the-art User Interface using Qt Embedded for Linux . Module 3: RTOS & MCC How to monitor a light sensor in RTOS and trigger video recording under Linux . Module 4: Optimizations How to measure and optimize to boot more quickly 84 Module 3

. MQX overview • Pingpong example . Multi-Core Communication (MCC) Layer • Purpose • Setup • Add MCC communication in Security Surveillance Application . Add appropriate code to the UI application 85 Security Surveillance Device (Blueprint)

Security Surveillance Device Network Video Camera control Light User Interface, Buttons, Stream sel, etc Auto-launch playback Capture interface Sensor

Middleware

setup script openssh Qt Embedded setup GStreamer shell scripts networking MCC API LCD calibration Codecs Wireless tools

Splash Shared Driver Driver Driver Driver Driver Linux kernel Screen Memory

U-Boot bootloader Driver Driver

Touchscr LCD Framebuffer IPU Ethernet Memory Vybrid een

Serial NAND USB SDIO 86

MQX & MCC Overview 87 MQX Reference Model Application (s)

Network control Sensor Control interface

Functional Blocks 2 setup setup script MCC scripts networking API

File system

Shared MQX kernel Driver Driver Services Driver Driver Driver Memory

1 Bootloader Driver Driver

Touch LCD Button Ethernet Vybrid Screen Memory

Serial XIP USB SDIO 88 OS Comparison (for the purpose of training)

. MQX . Linux • O/S components are libraries • Kernel is a bare-metal executable, linked with your application to but isn’t enough. create a single bare-metal • Your application (except possibly device execution image. drivers) is built separately and runs • Source distributed as DS-5 (launched) from a file system. (Eclipse) projects in a single • Therefore a root file system (RFS) is a source tree. required component of Linux. • Built with ARM bare-metal • Timesys Factory (on web or desktop) builds compiler. the RFS. It will build the Kernel and your . (advanced) Application, but they can be also built “outside” as well. • A single address space – no • Built with (Timesys) gcc compiler. memory protection, mapping, or transformations between . (advanced) hardware I/O, O/S components, • Linux utilizes the memory management unit application. (MMU) of the A5 core. All processes are • Programs are tasks each in their hardware protected from stepping on each own thread. other’s memory. • Programs run as a process – which can have many threads.

. Multi-Core Communication . Communication layer between MQX and Linux . Lightweight, fast • API calls are simple send / receive between endpoints • Endpoints are [core, node, port] triplets – Sort of IP host, address, port – but not really. – Core is fixed (A5=0, M4=1] – Linux can have multiple nodes, MQX only 1 – Each can have multiple endpoints, arbitrary numbering • Uses shared SRAM and interrupts • Received data can be passed by pointer or copied • Variable timeouts . Configurable: • Buffer sizes • # of buffers • Max # of endpoints

A5 - Linux M4 - MQX

User App process(es) User App (tasks)

API shared library Interrupts API library

Kernel Module Driver Hardware Semaphore

Endpoint 0,0,1 Endpoint 0,2,3 Endpoint 1,0,1 Endpoint 1,0,2

Free buffer pool

Shared SRAM

A5 - Linux 1. “I will receive on endpoint [0,0,1]” 2. mcc_initialize(0) 3. mcc_create_endpoint([0,0,1], 1) 4. mcc_send([1,0,2], “hello”, 5, 5000) // <= 5 secs for buffer 5. mcc_recv_copy([0,0,1], &buf, sizeof(buf), length, 0xffffffff)

M4- MQX 1. “I will receive on endpoint [1,0,2]” 2. mcc_initialize(0) 3. mcc_create_endpoint([1,0,2], 2) 4. mcc_recv_nocopy([1,0,2], &buf_p, length, 0xffffffff) 5. mcc_send([0,0,1], “hello”, 5, 5000) // <= 5 secs for buffer

A5 – Linux

M4 – MQX • boa webserver • Pingpong / • Sensor demo Photosensor MCC • Security example Surveillance App • theater-vybrid

Vybrid SOC

I2C Bus

Z X

Y Photosensor Phytec-LCD Touchscreen

MQX Application Linux Driver 1. Open the I2C driver 1. Enable I2C controller a) Disable and clear I2C b) Clear out all I2C 2. Set master mode, events Interrupts c) Set the station address 3. Set the device address d) Set the frequency 4. Wait for interrupt e) Enable I2C 2. Set master mode Hardware 5. Do read/write sequence semaphore including wait for 3. Set the device protection. address interrupt 4. Do read/write 6. Send out stop sequence 7. Disable I2C controller 5. Send out stop 6. Close the driver. Must be protected in Protected in driver, application. transparent to application

©2013 Timesys Corp. A5/M4 Boot Process Boot Process Sequence 94 . U-Boot Power On • Reset, copy U-Boot to SDRAM and jump to start address • Basic System Init. (IMPORTANT) U-boot • Copy the Linux kernel Image to SDRAM from SD Hardware Init • Decompress the kernel if needed U-boot Copies kernel to • Jump to upload address and start the kernel memory/uncompress . Kernel Kernel Boot

• Run Kernel Init code Hardware/Subsystems • Init kernel subsystems (device drivers) initialization

TIME • Init SD card RFS • Mount SD card partition with RFS Fetch/Mount/Boot into • Execute init script . MQX MQX Load to addr & run • Load to specific address in memory with mqxboot utility . Application User Application • Depends on your specific requirements

Exercise 7:

MQX & MCC 96 Exercise Details: MQX & MCC Components

. Open DS5-Workspace-clean-preset 1. ~/MQX/FSLMQXOS_4_0_1_beta1-linux/mqx/build/ds5/bsp_twrvf65gs10_m4 2. ~/MQX/FSLMQXOS_4_0_1_beta1-linux/mqx/build/ds5/psp_twrvf65gs10_m4 3. ~/MQX/FSLMQXOS_4_0_1_beta1-linux/mcc/build/ds5/mcc_twrvf65gs10_m4 4. ~/MQX/FSLMQXOS_4_0_1_beta1-linux/mcc/examples/pingpong

. Import the Linux side of the light sensor application • Sensor demo or • MCCDemo (already in the project) . Start pingpong/MCC/MQX component on M4 core • run startmqx script on the target • location: /home/ Note: Serial Console will behave strange as it is now shared between M4 and A5 97 Integrate Application Components

. Added a QThread based class • Can handle independently MCC traffic

. Leverage MCCDemo application

. Create a custom Signal-Slot pair to trigger camera feed when desired light threshold is reached • Leverage start_camera() method and onStopButton() slot

. Compile and deploy on Vybrid • Place a breakpoint at start_camera method and debug on target 102 Module 3 — Quiz

1. Name one major difference between Linux and an RTOS 2. What are MCC endpoints? 103 Building a Video Surveillance Device with LinuxLink — Agenda

. How to measure boot time in our dev environment . Fast boot optimizations • Boot process overview • Bootloader optimizations • Kernel level optimizations • Filesystem optimizations • Other options 105

Boot time Measurement 106 Measuring the boot time

.Each embedded design is different

.Instrumentation is available • Helps measure boot time at all stages • Most are open source based • Can be easily removed when you are done

The trick behind boot time optimization is to know where your system is spending time. You may end up losing a lot of time with little results! 107 Available Instrumentation

.Bootloader • Logic analyzer (using GPIO pins) .Kernel Measurement • Printk – Compile kernel with: CONFIG_PRINTK_TIMES=y – Switch on dynamically: “echo Y >/sys/module/printk/parameters/time” • initcall_debug – On boot command line, use: initcall_debug=1 .User space measurement • Bootchart (www.bootchart.org) • Strace – Run strace –cT 2>/tmp/strace.log bluetoothd • Linux Trace Toolkit .System • uptime – Add (echo -n "uptime:" ; cat /proc/uptime) to an RC script 108

Fast boot Optimizations 109 Bootloader Optimizations

<1s Boot Time 75s .Low hanging fruit • Set the bootdelay variable to 0 (time savings 4s) • Preset the bootcmd; do not use setenv (time savings 0.5s) • Disable console (time savings 2s) – CFG_CONSOLE_INFO_QUIET – CONFIG_SILENT_CONSOLE – In our case- silent=yes • Disable other tests (time savings 2-6s) .Additional modification/enhancements • If possible, use uncompressed Linux kernel • Optimize the NAND read operation, to shorten image copy time • Rewrite/disable CRC32 checksum code • Load the image directly to Entry point – Set CONFIG_LOADADDR • If NOR Flash is used, leverage XIP • For large kernel image, use different compression algorithms

110 Linux Kernel Optimizations

<1s 75s .Low hanging fruit (time savings: 2-15+s) Boot Time • Use uncompressed kernel – Uncompressing takes time • Remove unused kernel options – Not used networking i.e. IPV6, multiple file systems – Debug features and symbols (for final deployment) • Build not initially used device drivers as Loadable Kernel Modules – Keep the features needed at boot time built into the kernel – Remaining drivers built as LKMs will make kernel smaller • Consider various approaches for your RFS deployment – JFFS2 with appended journal summary (skip flash scan) – CRAMFS, UBIFS • Suppress the console output – Use “quiet” with your kernel command line 111 Making the Linux Kernel Small and Fast

Linux kernel options we will look at today Kernel Option Comment CONFIG_EMBEDDED Disables or tweaks a number of kernel options and settings. Think uClinux CONFIG_IKCONFIG Saves complete kernel configuration in the kernel CONFIG_KALLSYMS Prints our symbolic crash information and backtraces CONFIG_BUG Disables BUG and WARN functions CONFIG_HOTPLUG Can be disabled if no external devices will be attached and if you use static device files CONFIG_DNOTIFY File change notification to user space CONFIG_EXT2 Disable if using jffs2 file system CONFIG_PRINTK Makes kernel silent when disabled CONFIG_PRINTK_TIME A way to track where time is spent at boot time CONFIG_CC_OPTIMIZE_FOR_SIZE Will select –Os instead of –O2 resulting in a smaller kernel 112 Userspace Optimizations

<1s 75s .Filesystem modifications Boot Time • Optimize the RC Scripts (remove the ones you don’t use) • If possible replace RC scripts with a single init • Pre-link • Link applications statically • Avoid udev – create needed device nodes ahead of time • Use static IP address . Filesystem modifications • Staged booting • Code level modifications • Add a splash screen 113 Module 4 — Quiz

1. Why is fast boot useful? 2. What knowledge is required to get under 10s? 3. Can one get to sub 2s boot time? 114 Final Q&A and Training Surveys

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