Linux for Embedded and Real-Time Applications (Embedded Technology)

In this applications-oriented reference, Doug Abbott shows how to put Linux to work in embedded and real-time applications. Among the topics Abbott discusses include memory management, device drivers, interrupt handling, kernel instrumentation, boatloaders, embedded networking, inter-task communications, periodic vs. "one shot" timing, POSIX threads, hardware abstraction layers, and program debugging. Abbott uses numerous real-world examples to show how implement a variety of embedded applications using Linux. Abbott discusses the strengths and weaknesses for embedded applications of different implementations of Linux, and he also examines the different real-time extensions for Linux. This book incorporates many programming exercises with solutions. All code listings are provided on the accompanying CD-ROM, as well as an electronic version of the text. *Fully describes the use of Linux operating system for embedded and real-time applications *Covers advanced topics such as device drivers, kernel implementation, POSIX threads *The CD accompanying the book includes an electronic version of the book as well as related software tools and code listings Linux for Embedded and Real- time Applications......Page 1 Contents......Page 5 Preface......Page 9 Audience and Prerequisites......Page 10 Personal Biases......Page 11 1.1 What Is Embedded?......Page 13 1.2 What Is Real-time?......Page 14 1.3 How and Why Does Linux Fit in?......Page 15 1.4 Resources......Page 19 2.1 Features......Page 21 2.2 Protected Mode Architecture......Page 23 2.3 The Linux Process Model......Page 28 2.4 The Linux Filesystem......Page 33 11.3 Communication Condition Variables......Page 0 2.6 The usr hierarchy......Page 40 2.8 Resources......Page 41 3 The Host Development Environment......Page 43 3.1 Cross-Development Tools - the GNU Tool Chain......Page 44 3.2 Configuring and Building the Kernel......Page 45 3.4 Resources......Page 58 4 BlueCat Linux......Page 61 4.2 Installing BlueCat Linux......Page 62 4.3 X86 Target for Blue Cat Linux......Page 64 4.4 Configuring the Workstation......Page 67 4.6 Directories......Page 70 4.9 Target Files......Page 71 4.10 Resources......Page 75 5.1 The Target Setup......Page 77 5.2 GDB......Page 78 5.3 Debugging a Sample Program......Page 80 5.4 The Host as a Debug Environment......Page 85 5.5 Adding Programmable Setpoint and Limit......Page 88 5.6 Resources......Page 91 6.1 Kernel Modules......Page 93 6.3 Linux Device Drivers......Page 99 6.4 Internal Driver Structure......Page 102 6.5 The Hardware......Page 107 6.7 Debugging Kernel Code......Page 108 6.8 Building Your Driver into the Kernel......Page 112 6.9 An Alternative - uCLinux......Page 115 6.10 Resources......Page 116 7.1 Sockets......Page 117 7.2 A Simple Example......Page 120 7.3 A Remote Thermostat......Page 123 7.4 Embedded Web Servers......Page 125 7.5 Resources......Page 128 8 Introduction to Real- time Programming......Page 129 8.1 Polling vs. Interrupts......Page 130 8.2 Tasks......Page 137 8.3 Scheduling......Page 140 8.4 Kernel Services......Page 144 8.5 Inter-task Communication......Page 146 8.7 Interrupts and Exceptions......Page 155 8.8 Critical Sections......Page 156 8.9 Resources......Page 157 9 Linux and Real-time......Page 159 9.2 Two Approaches......Page 162 9.3 Resources - Obtaining Real-time Linux Implementations......Page 165 10.1 Installing RTAI......Page 167 10.2 The RTAI Architecture......Page 171 10.3 Intertask Communication and Synchronization......Page 174 10.4 Communicating with Linux Processes......Page 175 10.5 Real-time in User Space - LXRT......Page 176 10.6 One Shot vs. Periodic Timing......Page 179 10.7 Moving to Kernel Space......Page 182 10.8 Real-time FIFOs and Shared Memory......Page 183 10.9 Suggested Exercises......Page 185 11 Posix Threads......Page 187 11.1 Threads......Page 188 11.2 Synchronization - Mutexes......Page 190 11.4 Pthreads in User Space......Page 194 11.5 Moving to Kernel Space......Page 200 11.6 Message Queues......Page 202 11.7 Suggestions for Further Exploration......Page 204 11.8 Resources......Page 205 1 Module: rtai......Page 207 2 Module: rtai_sched......Page 211 3 Module rtai_fifos......Page 230 4 Module rtai_shm......Page 233 5 Module rtai_lxrt......Page 235 B Posix Threads (Pthreads) Application Programming Interface......Page 239 1 Threads......Page 240 2 Mutexes......Page 243 3 Condition Variables......Page 247 4 Message Queues......Page 249 Why Software Should Not Have Owners......Page 255 Index......Page 263