Linux Kernel Labs

Linux kernel and driver development training
Practical Labs
https://bootlin.com
November 15, 2018

About this document

Updates to this document can be found on https://bootlin.com/doc/training/linux-kernel/.
This document was generated from LaTeX sources found on https://git.bootlin.com/training-
materials.
More details about our training sessions can be found on https://bootlin.com/training.
Copying this document

© 2004-2018, Bootlin, https://bootlin.com.
This document is released under the terms of the Creative Commons CC BY-SA
3.0 license . This means that you are free to download, distribute and even modify
it, under certain conditions.
Corrections, suggestions, contributions and translations are welcome!
2 © 2004-2018 Bootlin, CC BY-SA license

Training setup
Download files and directories used in practical labs
Install lab data

For the different labs in this course, your instructor has prepared a set of data (kernel images,
kernel configurations, root filesystems and more). Download and extract its tarball from a
terminal:
cd
wget https://bootlin.com/doc/training/linux-kernel/linux-kernel-labs.tar.xz
tar xvf linux-kernel-labs.tar.xz
Lab data are now available in an linux-kernel-labs directory in your home directory. For each
lab there is a directory containing various data. This directory will also be used as working
space for each lab, so that the files that you produce during each lab are kept separate.
You are now ready to start the real practical labs!
Install extra packages

Feel free to install other packages you may need for your development environment. In particular,
we recommend to install your favorite text editor and configure it to your taste. The favorite
text editors of embedded Linux developers are of course Vim and Emacs, but there are also
plenty of other possibilities, such as GEdit, Qt Creator, CodeBlocks, Geany, etc.
It is worth mentioning that by default, Ubuntu comes with a very limited version of the vi
editor. So if you would like to use vi, we recommend to use the more featureful version by
installing the vim package.
More guidelines
Can be useful throughout any of the labs
• Read instructions and tips carefully. Lots of people make mistakes or waste time because
they missed an explanation or a guideline.
• Always read error messages carefully, in particular the first one which is issued. Some
people stumble on very simple errors just because they specified a wrong file path and
didn’t pay enough attention to the corresponding error message.
• Never stay stuck with a strange problem more than 5 minutes. Show your problem to
your colleagues or to the instructor.
• You should only use the root user for operations that require super-user privileges, such
as: mounting a file system, loading a kernel module, changing file ownership, configuring
the network. Most regular tasks (such as downloading, extracting sources, compiling...)
can be done as a regular user.
© 2004-2018 Bootlin, CC BY-SA license 3

• If you ran commands from a root shell by mistake, your regular user may no longer be
able to handle the corresponding generated files. In this case, use the chown -R command
to give the new files back to your regular user.
Example: chown -R myuser.myuser linux/
• If you are using Gnome Terminal (the default terminal emulator in the current version of
Ubuntu), you can use tabs to have multiple terminals in the same window. There’s no more
menu option to create a new tab, but you can get one by pressing the [Ctrl] [Shift] [t]
keys.

Downloading kernel source code

Get your own copy of the mainline Linux kernel source tree
Setup
Create the $HOME/linux-kernel-labs/src directory.
Installing git packages

First, let’s install software packages that we will need throughout the practical labs:
sudo apt install git gitk git-email
Git configuration
After installing git on a new machine, the first thing to do is to let git know about your name
and e-mail address:
git config --global user.name ’My Name’
git config --global user.email [email protected]
Such information will be stored in commits. It is important to configure it properly when the
time comes to generate and send patches, in particular.
Cloning the mainline Linux tree

To begin working with the Linux kernel sources, we need to clone its reference git tree, the one
managed by Linus Torvalds.
The trouble is you have to download more than 1 GB of data!
If you are running this command from home, or if you have very fast access to the Internet
at work (and if you are not 256 participants in the training room), you can do it directly by
connecting to http://git.kernel.org:
git clone git://git.kernel.org/pub/scm/linux/kernel/git/torvalds/linux.git
or if the network port for git is blocked by the corporate firewall, you can use the http protocol
as a less efficient fallback:
git clone http://git.kernel.org/pub/scm/linux/kernel/git/torvalds/linux.git
If Internet access is not fast enough and if multiple people have to share it, your instructor will
give you a USB flash drive with a tar.gz archive of a recently cloned Linux source tree.
You will just have to extract this archive in the current directory, and then pull the most recent
changes over the network:
tar xf linux-git.tar.gz
cd linux

git checkout master

git pull
Of course, if you directly ran git clone, you won’t have to run git pull today. You may run
git pull every morning though, or at least every time you need an update of the upstream
source tree.
Accessing stable releases

Having the Linux kernel development sources is great, but when you are creating products, you
prefer to avoid working with a target that moves every day.
That’s why we need to use the stable releases of the Linux kernel.
Fortunately, with git, you won’t have to clone an entire source tree again. All you need to do is
add a reference to a remote tree, and fetch only the commits which are specific to that remote
tree.
cd ~/linux-kernel-labs/src/linux/
git remote add stable git://git.kernel.org/pub/scm/linux/kernel/git/stable/linux-stable.git
git fetch stable
As this still represents many git objects to download (243 MiB when 4.16 was the latest version),
if you are using an already downloaded git tree, your instructor will probably have fetched the
stable branch ahead of time for you too. You can check by running:
git branch -a
We will choose a particular stable version in the next labs.
Now, let’s continue the lectures. This will leave time for the commands that you typed to
complete their execution (if needed).

Kernel source code

Objective: Get familiar with the kernel source code
After this lab, you will be able to:

• Create a branch based on a remote tree to explore a particular stable kernel version (from
the stable kernel tree).
• Explore the sources and search for files, function headers or other kinds of information…
• Browse the kernel sources with tools like cscope and Elixir.
Choose a particular stable version

Let’s work with a particular stable version of the Linux kernel. It would have been more logical
to do this in the previous lab, but we wanted to get back to lectures while the fetch command
was running.
First, let’s get the list of branches on our stable remote tree:
cd ~/linux-kernel-labs/src/linux
git branch -a
As we will do our labs with the Linux 4.16 stable branch, the remote branch we are interested
in is remotes/stable/linux-4.16.y.
First, open the Makefile file just to check the Linux kernel version that you currently have.
Now, let’s create a local branch starting from that remote branch:
git checkout -b 4.16.y stable/linux-4.16.y
Open Makefile again and make sure you now have a 4.16.y version.
Exploring the sources manually

As a Linux kernel user, you will very often need to find which file implements a given function.
So, it is useful to be familiar with exploring the kernel sources.
1. Find the Linux logo image in the sources1 .
2. Find who the maintainer of the MVNETA network driver is.
3. Find the declaration of the platform_device_register() function.
Tip: if you need the grep command, we advise you to use git grep. This command is similar,
but much faster, doing the search only on the files managed by git (ignoring git internal files
and generated files).
1 Look for files in logo in their name. It’s an opportunity to practise with the find command.

Use a kernel source indexing tool

Now that you know how to do things in a manual way, let’s use more automated tools.
Try Elixir at https://elixir.bootlin.com and choose the Linux version closest to yours.
If you don’t have Internet access, you can use cscope instead.
As in the previous section, use this tool to find where the platform_device_register() function
is declared, implemented and even used.

Board setup
Objective: setup communication with the board and configure the
bootloader.
• Access the board through its serial line.
• Configure the U-boot bootloader and a tftp server on your workstation to download files
through tftp.
Getting familiar with the board

Take some time to read about the board features and connectors:
• If you have the original BeagleBone Black: http://www.elinux.org/Beagleboard:BeagleBoneBlack
• If you have the newer BeagleBone Black Wireless: https://beagleboard.org/black-

wireless in addition to the above URL.
Don’t hesitate to share your questions with the instructor.
Download technical documentation

We are going to download documents which we will need during our practical labs.
The first document to download is the BeagleBone Black System Reference Manual found at
https://github.com/CircuitCo/BeagleBone-Black/blob/master/BBB_SRM.pdf?raw=true.
Even if you have the BeagleBoneBlack Wireless board, this is the ultimate reference about the
board, in particular for the pinout and possible configurations of the P8 and P9 headers, and
more generally for most devices which are the same in both boards. You don’t have to start
reading this document now but you will need it during the practical labs.
The second document to download is the datasheet for the TI AM335x SoCs, available on
http://www.ti.com/lit/ds/symlink/am3359.pdf. This document will give us details about pin
assignments.
Last but not least, download the Technical Reference Manual (TRM) for the TI AM3359 SoC,
available on http://www.ti.com/product/am3359, in the User guides section in the Technical
documents tab. This document is more than 5100 pages big! You will need it too during the
practical labs.
Setting up serial communication with the board

The Beaglebone serial connector is exported on the 6 pins close to one of the 48 pins headers.
Using your special USB to Serial adaptor provided by your instructor, connect the ground wire

(blue) to the pin closest to the power supply connector (let’s call it pin 1), and the TX (red) and
RX (green) wires to the pins 4 (board RX) and 5 (board TX)2 .
You always should make sure that you connect the TX pin of the cable to the RX pin of the board,
and vice versa, whatever the board and cables that you use.
Once the USB to Serial connector is plugged in, a new serial port should appear: /dev/ttyUSB0.
You can also see this device appear by looking at the output of dmesg.
To communicate with the board through the serial port, install a serial communication program,
such as picocom:
sudo apt install picocom
If you run ls -l /dev/ttyUSB0, you can also see that only root and users belonging to the
dialout group have read and write access to this file. Therefore, you need to add your user to
the dialout group:
sudo adduser $USER dialout
You need to completely log out of your session and log in again for the group change
to be effective.
Now, you can run picocom -b 115200 /dev/ttyUSB0, to start serial communication on /dev/
ttyUSB0, with a baudrate of 115200. If you wish to exit picocom, press [Ctrl][a] followed by
[Ctrl][x].
There should be nothing on the serial line so far, as the board is not powered up yet.
It is now time to power up your board by plugging in the mini-USB (BeagleBone Black case) or
micro-USB (BeagleBone Black Wireless case) cable supplied by your instructor (with your PC
or a USB power supply at the other end of the cable).
See what messages you get on the serial line. You should see U-boot start on the serial line.
Bootloader interaction
Reset your board. Press the space bar in the picocom terminal to stop the U-boot countdown.
You should then see the U-Boot prompt.
For the version we use in the BeagleBone Black, it’s:
2 See https://www.olimex.com/Products/Components/Cables/USB-Serial-Cable/USB-Serial-Cable-F/ for details
about the USB to Serial adaptor that we are using.

U-Boot>
And for the BeagleBone Black Wireless, it’s:
=>
You can now use U-Boot. Run the help command to see the available commands.
Type the help saveenv command to make sure that the saveenv command exists. We use it
in these labs to save your U-Boot environment settings to the boards’ eMMC storage. Some
earlier versions do not support this.
If you don’t have this command, it’s probably because you are doing these labs on your own
(i.e. without participating to a Bootlin course), we ask you to install the U-Boot binary that we
compiled and tested. See instructions in https://git.bootlin.com/training-materials/tree/
lab-data/common/bootloader/beaglebone-black/README.txt or in https://git.bootlin.com/
training-materials/tree/lab-data/common/bootloader/beaglebone-black-wireless/README.
txt for a simple way to do this.
To avoid trouble because of settings applied in previous practical labs, we advise you to clear
the U-Boot environment variables:
env default -f -a
saveenv
Setting up Ethernet communication

The next step is to configure U-boot and your workstation to let your board download files,
such as the kernel image and Device Tree Binary (DTB), using the TFTP protocol through an
Ethernet connection.
• BeagleBone Black board case: connect your board to your PC through an Ethernet cable
given by your instructor. If your computer already has a wired connection to the network,
your instructor will provide you with a USB Ethernet adapter.
• BeagleBone Black Wireless board case: we will use Ethernet over USB device and therefore
will only need the USB device cable is already used to power up the board.
Ethernet configuration on the target

Now, let’s configure networking in U-Boot:
• ipaddr: IP address of the board
• serverip: IP address of the PC host
setenv ipaddr 192.168.0.100
setenv serverip 192.168.0.1
Of course, make sure that this address belongs to a separate network segment from the one of
the main company network.
For the BeagleBone Black Wireless board, we also need to configure Ethernet over USB device:
• ethact: controls which interface is currently active.
• usbnet_devaddr: MAC address on the device side
• usbnet_hostaddr: MAC address on the host side

setenv ethact usb_ether

setenv usbnet_devaddr f8:dc:7a:00:00:02
setenv usbnet_hostaddr f8:dc:7a:00:00:01
Save these settings to the eMMC storage on the board3 :
saveenv
Ethernet configuration on the PC host

To configure your network interface on the workstation side, we need to know the name of the
network interface connected to your board.
• If you have the BeagleBone Black board, check the name of your PC’s Ethernet interface
by running the ifconfig -a command. It should be eth<x> or eno<x>.
• If you have the BeagleBone Black Wireless board, you won’t be able to see the network
interface corresponding to the Ethernet over USB device connection yet, because it’s only
active when the board turns it on, from U-Boot or from Linux. When this happens,
the network interface name will be enx<macaddr>. Given the value we gave to usbnet_
hostaddr, it will therefore be enxf8dc7a000001.
Then, instead of configuring the host IP address from NetWork Manager’s graphical interface,
let’s do it through its command line interface, which is so much easier to use:
nmcli con add type ethernet ifname enxf8dc7a000001 ip4 192.168.0.1/24
Testing the network connection

Let’s install a TFTP server on your development workstation:
sudo apt install tftpd-hpa
You can then test the TFTP connection. First, put a small text file in /var/lib/tftpboot.
Then, from U-Boot, do:
tftp 0x81000000 textfile.txt
The tftp command should have downloaded the textfile.txt file from your development
workstation into the board’s memory at location 0x81000000 (this location is part of the board
DRAM). You can verify that the download was successful by dumping the contents of the
memory:
md 0x81000000
We are now ready to load and boot a Linux kernel!
3 The U-boot environment settings are stored in some free space between the master boot record (512 bytes,
containing the partition tables and other stuff), and the beginning of the first partition (often at 32256). This is
why you won’t find any related file in the first partition of the eMMC storage.

Kernel compiling and booting

Objective: compile and boot a kernel for your board, booting on a
directory on your workstation shared by NFS.
• Cross-compile the Linux kernel for the ARM platform.
• Boot this kernel on an NFS root filesystem, which is somewhere on your development
workstation4 .
Lab implementation
While developing a kernel module, the developer wants to change the source code, compile and
test the new kernel module very frequently. While writing and compiling the kernel module is
done on the development workstation, the test of the kernel module usually has to be done on
the target, since it might interact with hardware specific to the target.
However, flashing the root filesystem on the target for every test is time-consuming and would
use the flash chip needlessly.
Fortunately, it is possible to set up networking between the development workstation and the
target. Then, workstation files can be accessed through the network by the target, using NFS.
Setup
Go to the $HOME/linux-kernel-labs/src/linux directory.
Install packages needed for configuring, compiling and booting the kernel for your board:
sudo apt install libssl-dev bison flex
4 NFS root filesystems are particularly useful to compile modules on your host, and make them directly visible
on the target. You no longer have to update the root filesystem by hand and transfer it to the target (requiring
a shutdown and reboot).

Cross-compiling toolchain setup

We are going to install a cross-compiling toolchain from Linaro, a very popular source for ARM
toolchains (amongst other useful resources for Linux on ARM).
sudo apt install gcc-arm-linux-gnueabi
Now find out the path and name of the cross-compiler executable by looking at the contents of
the package:
dpkg -L gcc-arm-linux-gnueabi
Kernel configuration
Configure your kernel sources with the ready-made configuration for boards in the OMAP2 and
later family which the AM335x found in the BeagleBone belongs to. Don’t forget to set the
ARCH and CROSS_COMPILE definitions for the arm platform and to use your cross-compiler.
For the BeagleBone Black Wireless board, add the below options:
• CONFIG_USB_GADGET=y
• CONFIG_USB_MUSB_HDRC Driver for the USB OTG controller
• CONFIG_USB_MUSB_GADGET Use the USB OTG controller in device (gadget) mode
• CONFIG_MUSB_DSPS=y
• Check the dependencies of CONFIG_AM335X_PHY_USB and find the way to set CONFIG_AM335X_
PHY_USB=y
• Find the ”USB Gadget precomposed configurations” menu and set it to static instead of
module so that CONFIG_USB_ETH=y
Make sure that this configuration has CONFIG_ROOT_NFS=y (support booting on an NFS exported
root directory).
Kernel compiling
Compile your kernel and generate the Device Tree Binaries (DTBs) (running 4 compile jobs in
parallel):
make -j 4
Now, copy the zImage and am335x-boneblack.dtb or am335x-boneblack-wireless.dtb files to
the TFTP server home directory (/var/lib/tftpboot).
Setting up the NFS server

Install the NFS server by installing the nfs-kernel-server package. Once installed, edit the
/etc/exports file as root to add the following lines, assuming that the IP address of your board
will be 192.168.0.100:
/home/<user>/linux-kernel-labs/modules/nfsroot 192.168.0.100(rw,no_root_squash,no_subtree_check)
Make sure that the path and the options are on the same line. Also make sure that there is no
space between the IP address and the NFS options, otherwise default options will be used for
this IP address, causing your root filesystem to be read-only.

Then, restart the NFS server:

sudo /etc/init.d/nfs-kernel-server restart
If there is any error message, this usually means that there was a syntax error in the /etc/
exports file. Don’t proceed until these errors disappear.
Boot the system

First, boot the board to the U-Boot prompt. Before booting the kernel, we need to tell it which
console to use and that the root filesystem should be mounted over NFS, by setting some kernel
parameters.
Do this by setting U-boot’s bootargs environment variable (all in just one line):
For the BeagleBone Back board:
setenv bootargs root=/dev/nfs rw ip=192.168.0.100 console=ttyO0,115200n8
nfsroot=192.168.0.1:/home/<user>/linux-kernel-labs/modules/nfsroot
For the BeagleBone Back Wireless board:
setenv bootargs root=/dev/nfs rw ip=192.168.0.100:::::usb0 console=ttyO0,115200n8
g_ether.dev_addr=f8:dc:7a:00:00:02 g_ether.host_addr=f8:dc:7a:00:00:01
nfsroot=192.168.0.1:/home/<user>/linux-kernel-labs/modules/nfsroot
Now save this definition:
saveenv
If you later want to make changes to this setting, you can type the below command in U-boot:
editenv bootargs
Now, download the kernel image through tftp:
tftp 0x81000000 zImage
You’ll also need to download the device tree blob:
tftp 0x82000000 <board>.dtb
Now, boot your kernel:
bootz 0x81000000 - 0x82000000
If everything goes right, you should reach a login prompt (user: root, no password). Otherwise,
check your setup and ask your instructor for support if you are stuck.
If the kernel fails to mount the NFS filesystem, look carefully at the error messages in the console.
If this doesn’t give any clue, you can also have a look at the NFS server logs in /var/log/syslog.
Checking the kernel version

It’s often a good idea to make sure you booted the right kernel. By mistake, you could have
booted a kernel previously stored in flash (typically through a default boot command in U-Boot),
or forgotten to update the kernel image in /var/lib/tftpboot.
This could explain some unexpected behaviour.
There are two ways of checking your kernel version:

• By looking at the first kernel messages

• By running the uname -a command after booting Linux.
In both cases, you will not only know the kernel version, but also the date when the kernel was
compiled and the name of the user who did it.
Similarly, you can also check the command line actually received by the kernel, either by looking
at the first boot messages, or once you have reached a command line shell, by running cat /
proc/cmdline.
Automate the boot process

To avoid typing the same U-boot commands over and over again each time you power on or
reset your board, you can use U-Boot’s bootcmd environment variable:
setenv bootcmd 'tftp 0x81000000 zImage; tftp 0x82000000 <board>.dtb; bootz 0x81000000 - 0x82000000'
saveenv
Don’t hesitate to change it according to your exact needs.

We could also copy the zImage file to the eMMC flash and avoid downloading it over and
over again. However, detailed bootloader usage is outside of the scope of this course. See our
Embedded Linux system development course and its on-line materials for details.

Writing modules
Objective: create a simple kernel module
• Compile and test standalone kernel modules, which code is outside of the main Linux
sources.
• Write a kernel module with several capabilities, including module parameters.
• Access kernel internals from your module.
• Set up the environment to compile it.
• Create a kernel patch.
Setup
Go to the ~/linux-kernel-labs/modules/nfsroot/root/hello directory. Boot your board if
needed.
Writing a module
Look at the contents of the current directory. All the files you generate there will also be visible
from the target. That’s great to load modules!
Add C code to the hello_version.c file, to implement a module which displays this kind of
message when loaded:
Hello Master. You are currently using Linux <version>.
... and displays a goodbye message when unloaded.
Suggestion: you can look for files in kernel sources which contain version in their name, and
see what they do.
You may just start with a module that displays a hello message, and add version information
later.
Caution: you must use a kernel variable or function to get version information, and not just the
value of a C macro. Otherwise, you will only get the version of the kernel you used to build the
module.
Building your module

The current directory contains a Makefile file, which lets you build modules outside a kernel
source tree. Compile your module.

Testing your module

Load your new module file on the target. Check that it works as expected. Until this, unload
it, modify its code, compile and load it again as many times as needed.
Run a command to check that your module is on the list of loaded modules. Now, try to get
the list of loaded modules with only the cat command.
Adding a parameter to your module

Add a who parameter to your module. Your module will say Hello <who> instead of Hello
Master.
Compile and test your module by checking that it takes the who parameter into account when
you load it.
Adding time information

Improve your module, so that when you unload it, it tells you how many seconds elapsed since
you loaded it. You can use the do_gettimeofday() function to achieve this.
You may search for other drivers in the kernel sources using the do_gettimeofday() function.
Looking for other examples always helps!
Following Linux coding standards

Your code should adhere to strict coding standards, if you want to have it one day merged in
the mainline sources. One of the main reasons is code readability. If anyone used one’s own
style, given the number of contributors, reading kernel code would be very unpleasant.
Fortunately, the Linux kernel community provides you with a utility to find coding standards
violations.
Run the scripts/checkpatch.pl -h command in the kernel sources, to find which options are
available. Now, run:
~/linux-kernel-labs/src/linux/scripts/checkpatch.pl --file --no-tree hello_version.c
See how many violations are reported on your code, and fix your code until there are no errors
left. If there are many indentation related errors, make sure you use a properly configured source
code editor, according to the kernel coding style rules in Documentation/CodingStyle.
Adding the hello_version module to the kernel sources

As we are going to make changes to the kernel sources, first create a special branch for such
changes:
git checkout 4.16.y
git checkout -b hello
Add your module sources to the drivers/misc/ directory in your kernel sources. Of course, also
modify kernel configuration and building files accordingly, so that you can select your module
in make xconfig and have it compiled by the make command.

Run one of the kernel configuration interfaces and check that it shows your new driver lets you
configure it as a module.
Run the make command and make sure that the code of your new driver is getting compiled.
Then, commit your changes in the current branch (try to choose an appropriate commit mes-
sage):
cd ~/linux-kernel-labs/src/linux
git add <files>
git commit -as
• git add adds files to the next commit. It is mandatory to use for new files that should be
added under version control.
• git commit -a creates a commit with all modified files that already under version control
• git commit -s adds a Signed-off-by: line to the commit message. All contributions to
the Linux kernel must have such a line.
Create a kernel patch

You can be proud of your new module! To be able to share it with others, create a patch which
adds your new files to the mainline kernel.
Creating a patch with git is extremely easy! You just generate it from the commits between
your branch and another branch, usually the one you started from:
git format-patch 4.16.y
Have a look at the generated file. You can see that its name reused the commit message.
If you want to change the last commit message at this stage, you can run:
git commit --amend
And run git format-patch again.

Device Model - I2C device

Objective: declare an I2C device and basic driver hooks called when
this device is detected
Throughout the upcoming labs, we will implement a driver for an I2C device, which offers the
functionality of an I2C nunchuk.
• Add an I2C device to a device tree.
• Implement basic probe() and remove() driver functions and make sure that they are called
when there is a device/driver match.
• Find your driver and device in /sys.
Setup
Go to the ~/linux-kernel-labs/src/linux directory. Check out the 4.16.y branch.
Now create a new nunchuk branch starting from the 4.16.y branch, for your upcoming work on
the nunchuk driver.
Connecting the nunchuk

Take the nunchuk device provided by your instructor.
We will connect it to the second I2C port of the CPU (i2c1), which pins are available on the
P9 connector.
Download a useful document sharing useful details about the nunchuk and its connector:
https://bootlin.com/labs/doc/nunchuk.pdf
Now we can identify the 4 pins of the nunchuk connector:
SCL
PWR
GND SDA
Nunchuk i2c pinout

(UEXT connector from Olimex, front view)

Open the System Reference Manual that you downloaded earlier, and look for ”connector P9”
in the table of contents, and then follow the link to the corresponding section. Look at the table
listing the pinout of the P9 connector.
Now connect the nunchuk pins:
• The GND pin to P9 pins 1 or 2 (GND)
• The PWR pin to P9 pins 3 or 4 (DC_3.3V)
• The SCL pin to P9 pin 17 (I2C1_SCL)
• The SDA pin to P9 pin 18 (I2C1_SDA)
Serial
Wii Nunchuk
GND
PWR
SDA
SCL
Create a custom device tree

To let the Linux kernel handle a new device, we need to add a description of this device in the
board device tree.
As the Beaglebone Black device tree is provided by the kernel community, and will continue to
evolve on its own, we don’t want to make changes directly to the device tree file for this board.
The easiest way to customize the board DTS is to create a new DTS file that includes the
Beaglebone Black or Black Wireless DTS, and add its own definitions.
So, create a new am335x-customboneblack.dts file in which you just include the regular board
DTS file. We will add further definitions in the next sections.
Now, modify the corresponding Makefile to make sure the new DTS is compiled automatically.
Enable the second I2C bus
We are first going to enable and configure the second I2C bus (i2c1).

First, find the DT definitions for (i2c1).

What is the base address of its registers? Also find the same address in the big processor
Technical Reference Manual5 .
Then, make a reference to this definition in your custom DTS and enable this bus. Also configure
it to function at 100 KHz. That’s enough so far!
Declare the Nunchuk device
As a child node to the i2c1 bus, now declare the nunchuk device, choosing nintendo,nunchuk
for its compatible property. You will find the I2C slave address of the nunchuk on the nunckuk
document that we have used earlier6 .
Checking the device tree on the running system
Now, just compile your DTB by asking the kernel Makefile to recompile only DTBs:
make dtbs
Now, copy the new DTB to the tftp server home directory, change the DTB file name in the
U-Boot configuration7 , and boot the board.
Through the /sys/firmware/devicetree directory, it is possible to check the Device Tree set-
tings that your system has loaded. That’s useful when you are not sure exactly which settings
were actually loaded.
For example, you can check the presence of a new nunchuk node in your device tree:
# find /sys/firmware/devicetree -name "*nunchuk*"
/sys/firmware/devicetree/base/ocp/i2c@4802a000/nunchuk@52
Using the Device Tree Compiler (dtc, which we put in the root filesystem), you can also check
the whole Device Tree structure. That’s better than checking the source files and includes in
the source directory!
# dtc -I fs /sys/firmware/devicetree/base/
Look for i2c1 and nunchuk in the output of this command, and see where the nodes are instan-
tiated. Don’t hesitate to ask your instructor for questions!
Implement a basic I2C driver for the nunchuk

It is now time to start writing the first building blocks of the I2C driver for our nunchuk.
In a new terminal, go to ~/linux-kernel-labs/modules/nfsroot/root/nunchuk/. This direc-
tory contains a Makefile and an almost empty nunchuk.c file.
Now, you can compile your out-of-tree module by running make. As the current directory is part
of the NFS root that the board boots on, the generated .ko file will immediately be visible on
the board too.
5 Tip: to do your search, put an underscore character in the middle of the address, as in FFFF_FFFF... that’s
how addresses are written in this document).

6 This I2C slave addressed is enforced by the device itself. You can’t change it.
7 Tip: you just need to run editenv bootcmd and saveenv.

Relying on explanations given during the lectures, fill the nunchuk.c file to implement:
• probe() and remove() functions that will be called when a nunchuk is found. For the
moment, just put a call to pr_info() inside to confirm that these function are called.
• Initialize an i2c_driver structure, and register the i2c driver using it. Make sure that you
use a compatible property that matches the one in the Device Tree.
You can now compile your module and reboot your board, to boot with the updated DTB.
Driver tests
You can now load the /root/nunchuk/nunchuk.ko file. You need to check that the probe()
function gets called then, and that the remove() function gets called too when you remove the
module.
Once your new Device Tree and module work as expected, commit your DT changes in your
Linux tree:
git commit -sa
Exploring /sys
Take a little time to explore /sys:
• Find the representation of your driver. That’s a way of finding the matching devices.
• Find the representation of your device, containing its name. You will find a link to the
driver too.

Using the I2C bus

Objective: make the I2C bus work and use it to implement commu-
nication with the Nunchuk device

• Declare pinctrl settings.
• Access I2C device registers through the bus.
Setup
Stay in the ~/linux-kernel-labs/src/linux directory for kernel and DTB compiling (stay in
the nunchuk branch), and in ~/linux-kernel-labs/modules/nfsroot/root/nunchuk for module
compiling (use two different terminals).
Remove debugging messages

Now that we have checked that the probe() and remove() functions are called, remove the
pr_info() messages that you added to trace the execution of these functions.
Find pin muxing configuration information for i2c1

As you found in the previous lab, we now managed to have our nunchuk device enumerated on
the i2c1 bus.
However, to access the bus data and clock signals, we need to configure the pin muxing of the
SoC.
If you go back to the BeagleBone Black System Reference Manual, in the Connector P9 section,
you can see that the pins 17 and 18 that we are using correspond to pins A16 and B16 of
the AM335 SoC. You can also see that such pins need to be configured as MODE2 to get the
functionality that we need (I2C1_SCL and I2C1_SDA).
The second step is to open the CPU datasheet (am3359.pdf), and look for pin assignment
information (Pin Assignments section). You will find that the processor is available through
two types of packages: ZCE and ZCZ. If you have a very close look at the CPU (with your glasses
on!), you will see that the CPU has ZCZ written on its lower right corner. The BeagleBonne
Black Reference Manual also confirms this.
So, in the ZCZ Package Pin Maps (Top View) section8 , you can find hyperlinks to the descrip-
tions of the A16 and B16 pins. That’s where you can find reference pin muxing information for
these pins. You can find that the pin name for A16 is SPI0_CS0 and that the pin name for B16
is SPI0_D1. You can also get confirmation that to obtain the (I2C1_SCL and I2C1_SDA) signals,
8 Caution: you won’t be able to search the PDF file for this section name, for obscure reasons. At the time of
this writing, this section is numbered 4.1.2.

you need to configure muxing mode number 2. You can also see that both pins support pull-up
and pull-down modes9 (see the PULLUP /DOWN TYPE column).
The next thing to do is to open the big TRM document and look for the address of the registers
that control pin muxing. First, look for L4_WKUP Peripheral Memory Map with your PDF
reader search utility. You will find a table containing a Control Module Registers entry with
its address: 0x44E1_0000.
Last but not least, look for the SPI0_CS0 and SPI0_D1 pin names, and you will find the offsets
for the registers controlling muxing for these pins in the CONTROL_MODULE REGISTERS
table: respectively 0x95c and 0x958.
We now know which registers we can write to to enable i2c1 signals.
Add pinctrl properties to the Device Tree

Now that we know the register offsets, let’s try to understand how they are used in existing
code. For example, open the the Device Tree for the AM335x EVM board (arch/arm/boot/dts/
am335x-evm.dts), which is using i2c1 too. Look for i2c1_pins, and you will see how offsets are
declared and what values they are given:
i2c1_pins: pinmux_i2c1_pins {
pinctrl-single,pins = <
AM33XX_IOPAD(0x958, PIN_INPUT_PULLUP | MUX_MODE2) /* spi0_d1.i2c1_sda */
AM33XX_IOPAD(0x95c, PIN_INPUT_PULLUP | MUX_MODE2) /* spi0_cs0.i2c1_scl */
>;
};
Here are details about the values:
• MUX_MODE2 corresponds to muxing mode 2, as explained in the datasheet.
• PIN_INPUT_PULLUP puts the pin in pull-up mode (remember that our pins support both
pull-up and pull-down). It seems to be needed for I2C bus operation.
Now that pin muxing settings have been explained, edit your board DTS file to add the same
definitions to enable pin muxing for i2c1. Don’t forget that you don’t have to repeat definitions
that are already present in the .dtsi files. Just add new declarations, or settings that override
common definitions.
Rebuild and update your DTB, and eventually reboot the board.
I2C bus tests

We will use the i2cdetect command to make sure that everything works fine for i2c1:
# i2cdetect -l
i2c-0 i2c OMAP I2C adapter I2C adapter
# i2cdetect -F 1
Functionalities implemented by /dev/i2c-1:
I2C yes
SMBus Quick Command no
9 See http://en.wikipedia.org/wiki/Pull-up_resistor

SMBus Send Byte yes

SMBus Receive Byte yes
SMBus Write Byte yes
SMBus Read Byte yes
SMBus Write Word yes
SMBus Read Word yes
SMBus Process Call yes
SMBus Block Write yes
SMBus Block Read no
SMBus Block Process Call no
SMBus PEC yes
I2C Block Write yes
I2C Block Read yes
You can see that the SMBus Quick Commands are not available on this driver, yet i2cdetect
uses them by default to scan the i2c bus. You can use i2cdetect -r to use the usual set of i2c
commands, and be able to detect the devices on your bus.
To test if everything works fine, run i2cdetect -r 1. This will scan the i2c1 bus for devices.
You should see a device at the address 0x52. This is your nunchuk.
If everything works as expected, commit your Device Tree changes. This will be required to
switch to another branch later:
git commit -as
• git commit -a adds all the files already known to git to the commit.
• git commit -s adds a Signed-off-by line (required for all contributions to the Linux
kernel).
Device initialization
The next step is to read the state of the nunchuk registers, to find out whether buttons are
pressed or not, for example.
Before being able to read nunchuk registers, the first thing to do is to send initialization com-
mands to it. That’s also a nice way of making sure i2c communication works as expected.
In the probe routine (run every time a matching device is found):
1. Using the I2C raw API (i2c_master_send() and i2c_master_recv()), send two bytes to
the device: 0xf0 and 0x5510 . Make sure you check the return value of the function you’re
using. This could reveal communication issues. Using Elixir, find examples of how to
handle failures properly using the same function.
2. Let the CPU wait for 1 ms by using the msleep() routine. You may need to use Elixir
again to find the right C headers to include.
10 The I2C messages to communicate with a wiimote extension are in the form: <i2c_address> <register>
for reading and <i2c_address> <register> <value> for writing. The address, 0x52 is sent by the i2c framework
so you only have to write the other bytes, the register address and if needed, the value you want to write. There
are two ways to set up the communication. The first known way was with data encryption by writing 0x00 to
register 0x40 of the nunchuk. With this way, you have to decrypt each byte you read from the nunchuk (not so
hard but something you have to do). Unfortunately, such encryption doesn’t work on third party nunchuks so
you have to set up unencrypted communication by writing 0x55 to 0xf0 instead. This works across all brands of
nunchuks (including Nintendo ones).

3. In the same way, send the 0xfb and 0x00 bytes now. This completes the nunchuk initial-
ization.
Recompile and load the driver, and make sure you have no communication errors.
Read nunchuk registers

The nunchuk exhibits a rather weird behaviour: it seems that it updates the state of its internal
registers only when they have been read.
As a consequence, we will need to read the registers twice!
To keep the code simple and readable, let’s create a nunchuk_read_registers function to read
the registers once. In this function:
1. Start by putting a 10 ms delay by calling the msleep() routine11 . That’s needed to add
time between the previous i2c operation and the next one.
2. Write 0x00 to the bus. That will allow us to read the device registers.
3. Add another 10 ms delay.
4. Read 6 bytes from the device, still using the I2C raw API. Check the return value as usual.
Reading the state of the nunchuk buttons

Back to the probe() function, call your new function twice.
After the second call, compute the states of the Z and C buttons, which can be found in the
sixth byte that you read.
As explained on https://bootlin.com/labs/doc/nunchuk.pdf:
• bit 0 == 0 means that Z is pressed.
• bit 0 == 1 means that Z is released.
• bit 1 == 0 means that C is pressed.
• bit 1 == 1 means that C is released.
Using boolean operators, write code that initializes a zpressed integer variable, which value is
1 when the Z button is pressed, and 0 otherwise. Create a similar cpressed variable for the C
button12 .
The last thing is to test the states of these new variables at the end of the probe() function,
and log a message to the console when one of the buttons is pressed.
Testing
Compile your module, and reload it. No button presses should be detected. Remove your
module.
Now hold the Z button and reload and remove your module again:
insmod /root/nunchuk/nunchuk.ko; rmmod nunchuk
11 msleep() is nicer than mdelay() because it is not making an active wait, and instead lets the CPU run other
tasks in the meantime.

12 You may use the BIT() macro, which will make your life easier. See Elixir for details.

You should now see the message confirming that the driver found out that the Z button was
held.
Do the same over and over again with various button states.
At this stage, we just made sure that we could read the state of the device registers through
the I2C bus. Of course, loading and removing the module every time is not an acceptable way
of accessing such data. We will give the driver a proper input interface in the next slides.

Input interface
Objective: make the I2C device available to user space using the
input subsystem.

• Expose device events to user space through an input interface, using the kernel based
polling API for input devices (kernel space perspective).
• Handle registration and allocation failures in a clean way.
• Get more familiar with the usage of the input interface (user space perspective).
Add polled input device support to the kernel

The nunchuk doesn’t have interrupts to notify the I2C master that its state has changed. There-
fore, the only way to access device data and detect changes is to regularly poll its registers, using
the input polling API described in the lectures.
Rebuild your kernel with static support for polled input device (CONFIG_INPUT_POLLDEV=y) and
for event interface (CONFIG_INPUT_EVDEV) support. With the default configuration, these features
are available as modules, which is less convenient.
Update and reboot your kernel.
Register an input interface

The first thing to do is to add an input device to the system. Here are the steps to do it:
• Declare a pointer to an input_polled_dev structure in the probe routine. You can call
it polled_input. You can’t use a global variable because your driver needs to be able to
support multiple devices.
• Allocate such a structure in the same function, using the devm_input_allocate_polled_
device() function.
• Also declare a pointer to an input_dev structure. You can call it input. We won’t need
to allocate it, because it is already part of the input_polled_dev structure, and allocated
at the same time. We will use this as a shortcut to keep the code simple.
• Still in the probe() function, add the input device to the system by calling input_
register_polled_device();
At this stage, first make sure that your module compiles well (add missing headers if needed).
Handling probe failures

In the code that you created, make sure that you handle failure situations properly.
• Of course, test return values properly and log the causes of errors.

• In our case, we only allocated resources with devm_ functions. Thanks to this, in case of
failure, all the corresponding allocations are automatically released before destroying the
device structure for each device. This greatly simplifies our error management code!
Implement the remove() function

In this function, we need to unregister and release the resources allocated and registered in the
probe() routine.
Fortunately, in our case, there’s nothing to do, as everything was allocated with devm_ functions.
Even the unregistration of the input_polled_dev structure is automated.
Recompile your module, and load it and remove it multiple times, to make sure that everything
is properly registered and automatically unregistered.
Add proper input device registration information

We actually need to add more information to the input structure before registering it. That’s
why we are getting the below warnings:
input: Unspecified device as /devices/virtual/input/input0
Add the below lines of code (still before device registration, of course):
input = polled_input->input;
input->name = "Wii Nunchuk";
input->id.bustype = BUS_I2C;
set_bit(EV_KEY, input->evbit);
set_bit(BTN_C, input->keybit);
set_bit(BTN_Z, input->keybit);
(Source code link: https://git.bootlin.com/training-materials/plain/labs/kernel-i2c-input-interface/
input-device-attributes.c)
Recompile and reload your driver. You should now see in the kernel log that the Unspecified
device type is replaced by Wii Nunchuk and that the physical path of the device is reported too.
Implement the polling routine

It’s time to implement the routine which will poll the nunchuk registers at a regular interval.
Create a nunchuk_poll() function with the right prototype (find it by looking at the definition
of the input_polled_dev structure.
In this function, you will have to read the nunchuk registers. However, as you can see, the
prototype of the poll() routine doesn’t carry any information about the i2c_client structure
you will need to communicate with the device. That’s normal as the input subsystem is generic,
and can’t be bound to any specific bus.
This raises a very important aspect of the device model: the need to keep pointers between
physical devices (devices as handled by the physical bus, I2C in our case) and logical devices
(devices handled by subsystems, like the input subsystem in our case).
This way, when the remove() routine is called, we can find out which logical device to unregister
(though that’s not necessary in our case as logical device unregistration is automatic). Con-

versely, when we have an event on the logical side (such as running the polling function), we
can find out which i2c slave this corresponds to, to communicate with the hardware.
This need is typically implemented by creating a private data structure to manage our device
and implement such pointers between the physical and logical worlds.
Add the below global definition to your code:
struct nunchuk_dev {
struct i2c_client *i2c_client;
};
Now, in your probe() routine, declare an instance of this structure:
struct nunchuk_dev *nunchuk;
Then allocate one such instead for each new device:
nunchuk = devm_kzalloc(&client->dev, sizeof(struct nunchuk_dev), GFP_KERNEL);
if (!nunchuk) {
dev_err(&client->dev, "Failed to allocate memory\n");
return -ENOMEM;
}
private-data-alloc.c)
Note that we haven’t seen kernel memory allocator routines and flags yet.
We haven’t explained the dev_* logging routines yet either (they are basically used to tell which
device a given log message is associated to). For the moment, just use the above code. You will
get all the details later.
Now implement the pointers that we need:
nunchuk->i2c_client = client;
polled_input->private = nunchuk;
device-pointers.c)
Make sure you add this code before registering the input device. You don’t want to enable
a device with incomplete information or when it is not completely yet (there could be race
conditions).
First, add lines retrieving the I2C physical device from the input_polled_dev structure. That’s
where you will need your private nunchuk structure.
Now that you have a handle on the I2C physical device, you can move the code reading the
nunchuk registers to this function. You can remove the double reading of the device state, as
the polling function will make periodic reads anyway13 .
At the end of the polling routine, the last thing to do is post the events and notify the input
core. Assuming that polled_input is the name of the input_polled_dev parameter of your
polling routine:
input_event(polled_input->input,
EV_KEY, BTN_Z, zpressed);
13 During the move, you will have to handle communication errors in a slightly different way, as the nunchuk_
poll() routine has a void type. When the function reading registers fails, you can use a return; statement
instead of return value;

input_event(polled_input->input,
EV_KEY, BTN_C, cpressed);
input_sync(polled_input->input);
input-notification.c)
Now, back to the probe() function, the last thing to do is to declare the new polling function
(see the slides if you forgot about the details) and specify a polling interval of 50 ms.
At this stage, also remove the debugging messages about the state of the buttons. You will get
that information from the input interface.
You can now make sure that your code compiles and loads successfully.
Testing your input interface

Testing an input device is easy with the evtest application that is included in the root filesystem.
Just run:
evtest
The application will show you all the available input devices, and will let you choose the one
you are interested in (make sure you type a choice, 0 by default, and do not just type [Enter]).
You can also type evtest /dev/input/event0 right away.
Press the various buttons and see that the corresponding events are reported by evtest.
Going further
If you complete your lab before the others, you can add support for the nunchuk joystick
coordinates.
Another thing you can do then is add support for the nunchuk accelerometer coordinates.

Accessing I/O memory and ports

Objective: read / write data from / to a hardware device
Throughout the upcoming labs, we will implement a character driver allowing to write data to
additional CPU serial ports available on the BeagleBone, and to read data from them.
• Add UART devices to the board device tree.
• Access I/O registers to control the device and send first characters to it.
Setup
Go to your kernel source directory.
Create a new branch for this new series of labs. Since this new stuff is independent from the
nunchuk changes, it’s best to create a separate branch!
git checkout 4.16.y
git checkout -b uart
Add UART devices

Before developing a driver for additional UARTS on the board, we need to add the corresponding
descriptions to the board Device Tree.
First, open the board reference manual and find the connectors and pinmux modes for UART2
and UART4.
Using a new USB-serial cable with male connectors, provided by your instructor, connect your
PC to UART2. The wire colors are the same as for the cable that you’re using for the console:
• The blue wire should be connected GND.
• The red wire (TX) should be connected to the board’s RX pin.
• The green wire (RX) should be connected to the board’s TX pin.
You can (or even should) show your connections to the instructor to make sure that you haven’t
swapped the RX and TX pins.
Now, create again a new arch/arm/boot/dts/am335x-customboneblack.dts file including the
standard board DTS file and create a pin muxing section with declarations for UART2 and
UART4:
/* Pins 21 (TX) and 22 (RX) of connector P9 */
uart2_pins: uart2_pins {
AM33XX_IOPAD(0x954, PIN_OUTPUT_PULLDOWN | MUX_MODE1) /* spi0_d0.uart2_tx */
AM33XX_IOPAD(0x950, PIN_INPUT_PULLUP | MUX_MODE1) /* spi0_sclk.uart2_rx */
>;
};

/* Pins 11 (RX) and 13 (TX) of connector P9 */
uart4_pins: uart4_pins {
AM33XX_IOPAD(0x870, PIN_INPUT_PULLUP | MUX_MODE6) /* gpmc_wait0.uart4_rx */
AM33XX_IOPAD(0x874, PIN_OUTPUT_PULLDOWN | MUX_MODE6) /* gpmc_wpn.uart4_tx */
>;
};
(Source code link: https://git.bootlin.com/training-materials/plain/labs/kernel-serial-iomem/

uarts-pinctrl.dts)
Then, declare the corresponding devices:

&uart2 {
compatible = "bootlin,serial";
status = "okay";
pinctrl-names = "default";
pinctrl-0 = <&uart2_pins>;
};
&uart4 {
compatible = "bootlin,serial";
status = "okay";
pinctrl-names = "default";
pinctrl-0 = <&uart4_pins>;
};
uarts.dts)
This is a good example of how we can override definitions in the Device Tree. uart2 and uart4
are already defined in arch/arm/boot/dts/am33xx.dtsi. In the above code, we just override a
few properties and add missing ones: duplicate the valid ones:
• compatible: use our driver instead of using the default one (omap3-uart).
• status: enable the device (was set to disabled in the original definition.
• pinctrl-names, pinctrl-0: add pinmux settings (none were defined so far).
Compile and update your DTB.
Operate a platform device driver

Go to the ~/linux-kernel-labs/modules/nfsroot/root/serial/ directory. You will find a
serial.c file which already provides a platform driver skeleton.
Add the code needed to match the driver with the devices which you have just declared in the
device tree.
Compile your module and load it on your target. Check the kernel log messages, that should
confirm that the probe() routine was called14 .
14 Don’t be surprised if the probe() routine is actually called twice! That’s because we have declared two
devices. Even if we only connect a serial-to-USB dongle to one of them, both of them are ready to be used!

Get base addresses from the device tree

We are going to read from memory mapped registers and read from them. The first thing we
need is the base physical address for the each device.
Such information is precisely available in the Device Tree. You can extract it with the below
code:
struct resource *res;

res = platform_get_resource(pdev, IORESOURCE_MEM, 0);
Add such code to your probe() routine, with proper error handling when res == NULL, and
print the start address (res->start) to make sure that the address values that you get match
the ones in the device tree.
You can remove the printing instruction as soon as the collected addresses are correct.
Create a device private structure

The next step is to start allocating and registering resources, which eventually will have to be
freed and unregistered too.
In the same way as in the nunchuk lab, we now need to create a structure that will hold device
specific information and help keeping pointers between logical and physical devices.
As the first thing to store will be the base virtual address for each device (obtained through
ioremap()), let’s declare this structure as follows:
struct serial_dev {
void __iomem *regs;
};
The first thing to do is allocate such a structure at the beginning of the probe() routine. Let’s
do it with the devm_kzalloc function again as in the previous lab. Again, resource deallocation
is automatically taken care of when we use the devm_ functions.
So, add the below line to your code:
struct serial_dev *dev;

...
dev = devm_kzalloc(&pdev->dev, sizeof(struct serial_dev), GFP_KERNEL);
You can now get a virtual address for your device’s base physical address, by calling:
dev->regs = devm_ioremap_resource(&pdev->dev, res);

if (!dev->regs) {
dev_err(&pdev->dev, "Cannot remap registers\n");
return -ENOMEM;
}
What’s nice is that you won’t ever have to release this resource, neither in the remove() routine,
nor if there are failures in subsequent steps of the probe() routine.
Make sure that your updated driver compiles, loads and unloads well.

Device initialization
Now that we have a virtual address to access registers, we are ready to configure a few registers
which will allow us to enable the UART devices. Of course, this will be done in the probe()
routine.
Accessing device registers
As we will have multiple registers to read, create a reg_read() routine, returning an unsigned
int value, and taking a dev pointer to an serial_dev structure and an offset integer offset.
In this function, read from a 32 bits register at the base virtual address for the device plus the
offset multiplied by 4.
All the UART register offsets have standardized values, shared between several types of serial
drivers (see include/uapi/linux/serial_reg.h). This explains why they are not completely
ready to use and we have to multiply them by 4 for OMAP SoCs.
Create a similar reg_write() routine, writing an unsigned integer value at a given integer offset
(don’t forget to multiply it by 4) from the device base virtual address. The following code
samples are using the writel() convention of passing the value first, then the offset. Your
prototype should look like:
static void reg_write(struct serial_dev *dev, int val, int off);
In the next sections, we will tell you what register offsets to use to drive the hardware.
Power management initialization
Add the below lines to the probe function:

pm_runtime_enable(&pdev->dev);
pm_runtime_get_sync(&pdev->dev);
And add the below line to the remove() routine:
pm_runtime_disable(&pdev->dev);
Line and baud rate configuration
After these lines, let’s add code to initialize the line and configure the baud rate. This shows
how to get a special property from the device tree, in this case clock-frequency:
/* Configure the baud rate to 115200 */
of_property_read_u32(pdev->dev.of_node, "clock-frequency",
&uartclk);
baud_divisor = uartclk / 16 / 115200;
reg_write(dev, 0x07, UART_OMAP_MDR1);
reg_write(dev, 0x00, UART_LCR);
reg_write(dev, UART_LCR_DLAB, UART_LCR);
reg_write(dev, baud_divisor & 0xff, UART_DLL);
reg_write(dev, (baud_divisor >> 8) & 0xff, UART_DLM);
reg_write(dev, UART_LCR_WLEN8, UART_LCR);


uart-line-init.c)
Declare baud_divisor and uartclk as unsigned int.
Soft reset
The last thing to do is to request a software reset:

/* Soft reset */
reg_write(dev, UART_FCR_CLEAR_RCVR | UART_FCR_CLEAR_XMIT, UART_FCR);
reg_write(dev, 0x00, UART_OMAP_MDR1);
uart-line-reset.c)
We are now ready to transmit characters over the serial ports!
If you have a bit of spare time, you can look at section 19 of the AM335x TRM for details about
how to use the UART ports, to understand better what we are doing here.
Standalone write routine

Implement a C routine taking a pointer to an serial_dev structure and one character as pa-
rameters, and writing this character to the serial port, using the following steps:
1. Wait until the UART_LSR_THRE bit gets set in the UART_LSR register. You can busy-wait
for this condition to happen. In the busy-wait loop, you can call the cpu_relax() kernel
function to ensure the compiler won’t optimise away this loop.
2. Write the character to the UART_TX register.
Add a call to this routine from your module probe() function, and recompile your module.
Open a new picocom instance on your new serial port (not the serial console):
picocom -b 115200 /dev/ttyUSB1
Load your module on the target. You should see the corresponding character in the new picocom
instance, showing what was written to UART2.
You can also check that you also get the same character on UART4 (just connect to the UART4
pins instead of the UART2 ones).
Driver sanity check

Remove your module and try to load it again. If the second attempt to load the module fails,
it is probably because your driver doesn’t properly free the resources it allocated or registered,
either at module exit time, or after a failure during the module probe() function. Check and
fix your module code if you have such problems.

Output-only misc driver

Objective: implement the write part of a misc driver

• Write a simple misc driver, allowing to write data to the serial ports of your Beaglebone.
• Write simple file_operations functions for a device, including ioctl controls.
• Copy data from user memory space to kernel memory space and eventually to the device.
• You will practice kernel standard error codes a little bit too.
You must have completed the previous lab to work on this one.
Misc driver registration

In the same way we added an input interface to our Nunchuk driver, it is now time to give
an interface to our serial driver. As our needs are simple, we won’t use the Serial framework
provided by the Linux kernel, but will use the Misc framework to implement a simple character
driver.
Let’s start by adding the infrastructure to register a misc driver.
The first thing to do is to create:
• An serial_write() write file operation stub. See the slides or the code for the prototype
to use. Just place a return -EINVAL; statement in the function body so far, to signal that
there is something wrong with this function so far.
• Similarly, an serial_read() read file operation stub.
• A file_operations structure declaring these file operations.
The next step is to create a miscdevice structure and initialize it. However, we are facing the
same usual constraint to handle multiple devices. Like in the Nunchuk driver, we have to add
such a structure to our device specific private data structure:
struct serial_dev {
struct miscdevice miscdev;
void __iomem *regs;
};
To be able to access our private data structure in other parts of the driver, you need to attach
it to the pdev structure using the platform_set_drvdata() function. Look for examples in the
source code to find out how to do it.
Now, at the end of the probe() routine, when the device is fully ready to work, you can now
initialize the miscdevice structure for each found device:
• To get an automatically assigned minor number.

• To specify a name for the device file in devtmpfs. We propose to use devm_kasprintf(&pdev->dev,
GFP_KERNEL, "serial-%x", res->start). devm_kasprintf() allocates a buffer and runs
ksprintf() to fill its contents.
• To pass the file operations structure that you defined.
See the lectures for details if needed!
The last things to do (at least to have a misc driver, even if its file operations are not ready
yet), are to add the registration and deregistration routines. That’s typically the time when you
will need to access the serial_dev structure for each device from the pdev structure passed to
the remove() routine.
Make sure that your driver compiles and loads well, and that you now see two new device files
in /dev.
At this stage, make sure you can load and unload the driver multiple times. This should reveal
registration and deregistration issues if there are any.
Implement the write() routine

Now, add code to your write function, to copy user data to the serial port, writing characters
one by one.
The first thing to do is to retrieve the serial_dev structure from the miscdevice structure itself,
accessible through the private_data field of the open file structure (file).
At the time we registered our misc device, we didn’t keep any pointer to the serial_dev struc-
ture. However, as the miscdevice structure is accessible through file->private_data, and is a
member of the serial_dev structure, we can use a magic macro to compute the address of the
parent structure:
struct serial_dev *dev =
container_of(file->private_data, struct serial_dev, miscdev);
See http://radek.io/2012/11/10/magical-container_of-macro/ for interesting implementa-
tion details about this macro.
This wouldn’t have been possible if the miscdevice structure was allocated separately and was
just referred to by a pointer in serial_dev, instead of being a member of it.
Now, add code that copies (in a secure way) each character from the user space buffer to the
UART device.
Once done, compile and load your module. Test that your write function works properly by
using (example for UART2):
echo "test" > /dev/serial-48024000
The test string should appear on the remote side (i.e in the picocom process connected to
/dev/ttyUSB1).
If it works, you can triumph and do a victory dance in front of the whole class!
Make sure that both UART devices work on the same way.
You’ll quickly discover that newlines do not work properly. To fix this, when the user space
application sends "\n", you must send "\n\r" to the serial port.

Module reference counting

Start an application in the background that writes nothing to the UART:
cat > /dev/serial-48024000 &
Now, with lsmod, look at the reference count of your module: it is still 0, even though an
application has your device opened. This means that you can rmmod your module even when an
application is using it, which is not correct and can quickly cause a kernel crash.
To fix this, we need to tell the kernel that our module is in charge of this character device. This
is done by setting the .owner field of struct file_operations to the special value THIS_MODULE.
After changing this, make sure the reference counter of your module, visible through lsmod, gets
incremented when you run an application that uses the UART.
Going further: ioctl operation

Do it only if you finish ahead of the crowd!
We would like to maintain a count of the number of characters written through the serial port.
So we need to implement two unlocked_ioctl() operations:
• SERIAL_RESET_COUNTER, which as its name says, will reset the counter to zero
• SERIAL_GET_COUNTER, which will return the current value of the counter in a variable passed
by address.
Two test applications (in source format) are already available in the root/serial/ NFS shared
directory. They assume that SERIAL_RESET_COUNTER is ioctl operation 0 and that SERIAL_GET_
COUNTER is ioctl operation 1.
Modify their source code according to the exact name of the device file you wish to use, and
compile them on your host:
arm-linux-gnueabi-gcc -static -o serial-get-counter serial-get-counter.c
The new executables are then ready to run on your target.

Sleeping and handling interrupts

Objective: learn how to register and implement a simple interrupt
handler, and how to put a process to sleep and wake it up at a later
point
During this lab, you will:

• Register an interrupt handler for the serial controller of the Beaglebone.
• Implement the read() operation of the serial port driver to put the process to sleep when
no data are available.
• Implement the interrupt handler to wake-up the sleeping process waiting for received
characters.
• Handle communication between the interrupt handler and the read() operation.
Setup
This lab is a continuation of the Output-only misc driver lab. Use the same kernel, environment
and paths!
Register the handler

Declare an interrupt handler function stub. Then, in the module probe function, we need to
register this handler, binding it to the right IRQ number.
Nowadays, Linux is using a virtual IRQ number that it derives from the hardware interrupt
number. This virtual number is created through the irqdomain mechanism. The hardware IRQ
number to use is found in the device tree.
First, add an irq field to your serial_dev structure:
struct serial_dev {
void __iomem *regs;
int irq;
};
Now, to retrieve the IRQ number to be used with devm_request_irq():
dev->irq = platform_get_irq(pdev, 0);
Then, pass the interrupt number to devm_request_irq() along with the interrupt handler to
register your interrupt in the kernel.
Then, in the interrupt handler, just print a message and return IRQ_HANDLED (to tell the kernel
that we have handled the interrupt).
You’ll also need to enable receive interrupts. To do so, in the probe() function, set the UART_
IER_RDI bit in the UART_IER register.

Compile and load your module. Send a character on the serial link (just type something in
the corresponding picocom terminal, and look at the kernel logs: they are full of our message
indicating that interrupts are occurring, even if we only sent one character! It shows you that
interrupt handlers should do a little bit more when an interrupt occurs.
Enable and filter the interrupts

In fact, the hardware will replay the interrupt until you acknowledge it. Linux will only dispatch
the interrupt event to the rightful handler, hoping that this handler will acknowledge it. What
we experienced here is called an interrupt flood.
Now, in our interrupt handler, we want to acknowledge the interrupt. On the UART controllers
that we drive, it’s done simply by reading the contents of the UART_RX register, which holds the
next character received. You can display the value you read to see that the driver will receive
whatever character you sent.
Compile and load your driver. Have a look at the kernel messages. You should no longer be
flooded with interrupt messages. In the kernel log, you should see the message of our interrupt
handler. If not, check your code once again and ask your instructor for clarification!
Load and unload your driver multiple times, to make sure that there are no registration /
deregistration issues.
Sleeping, waking up and communication

Now, we would like to implement the read() operation of our driver so that a user space
application reading from our device can receive the characters from the serial port.
First, we need a communication mechanism between the interrupt handler and the read()
operation. We will implement a very simple circular buffer. So let’s add a device-specific buffer
to our serial_dev structure.
Let’s also add two integers that will contain the next location in the circular buffer that we can
write to, and the next location we can read from:
#define SERIAL_BUFSIZE 16
struct serial_dev {
void __iomem *regs;
int irq;
char serial_buf[SERIAL_BUFSIZE];
int serial_buf_rd;
int serial_buf_wr;
};
In the interrupt handler, store the received character at location serial_buf_wr in the circular
buffer, and increment the value of serial_buf_wr. If this value reaches SERIAL_BUFSIZE, reset
it to zero.
In the read() operation, if the serial_buf_rd value is different from the serial_buf_wr value,
it means that one character can be read from the circular buffer. So, read this character, store
it in the user space buffer, update the serial_buf_rd variable, and return to user space (we will
only read one character at a time, even if the user space application requested more than one).

Now, what happens in our read() function if no character is available for reading (i.e, if serial_
buf_wr is equal to serial_buf_rd)? We should put the process to sleep!
To do so, add a wait queue to our serial_dev structure, named for example serial_wait. In
the read() function, keep things simple by directly using wait_event_interruptible() right
from the start, to wait until serial_buf_wr is different from serial_buf_rd15 .
Last but not least, in the interrupt handler, after storing the received characters in the circular
buffer, use wake_up() to wake up all processes waiting on the wait queue.
Compile and load your driver. Run cat /dev/serial-48024000 on the target, and then in
picocom on the development workstation side, type some characters. They should appear on
the remote side if everything works correctly!
Don’t be surprised if the keys you type in Picocom don’t appear on the screen. This happens
because they are not echoed back by the target.
15 A single test in the wait_event_interruptible() function is sufficient. If the condition is met, you don’t go
to sleep and read one character right away. Otherwise, when you wake up, you can proceed to the reading part.

Locking
Objective: practice with basic locking primitives
During this lab, you will:

• Practice with locking primitives to implement exclusive access to the device.
Setup
Continue to work with the serial driver.
You need to have completed the previous two labs to perform this one.
Adding appropriate locking

We have two shared resources in our driver:
• The buffer that allows to transfer the read data from the interrupt handler to the read()
operation.
• The device itself. It might not be a good idea to mess with the device registers at the
same time and in two different contexts.
Therefore, your job is to add a spinlock to the driver, and use it in the appropriate locations to
prevent concurrent accesses to the shared buffer and to the device.
Please note that you don’t have to prevent two processes from writing at the same time: this
can happen and is a valid behavior. However, if two processes write data at the same time to
the serial port, the serial controller should not get confused.

Kernel debugging mechanisms and

kernel crash analysis
Objective: Use kernel debugging mechanisms and analyze a kernel
crash
In this lab, we will continue to work on the code of our serial driver.
pr_debug() and dynamic debugging

Add a pr_debug() call in the write() operation that shows each character being written (or
its hexadecimal representation) and add a similar pr_debug() call in your interrupt handler to
show each character being received.
Check what happens with your module. Do you see the debugging messages that you added?
Your kernel probably does not have CONFIG_DYNAMIC_DEBUG set and your driver is not compiled
with DEBUG defined., so you shouldn’t see any message.
Now, recompile your kernel with CONFIG_DYNAMIC_DEBUG and reboot. The dynamic debug feature
can be configured using debugfs, so you’ll have to mount the debugfs filesystem first. Then,
after reading the dynamic debug documentation in the kernel sources, do the following things:
• List all available debug messages in the kernel.
• Enable all debugging messages of your serial module, and check that you indeed see these
messages.
• Enable just one single debug message in your serial module, and check that you see just
this message and not the other debug messages of your module.
Now, you have a good mechanism to keep many debug messages in your drivers and be able to
selectively enable only some of them.
debugfs
Since you have enabled debugfs to control the dynamic debug feature, we will also use it to add
a new debugfs entry. Modify your driver to add:
• A directory called serial in the debugfs filesystem.
• And file called counter inside the serial directory of the debugfs filesystem. This file
should allow to see the contents of the counter variable of your module.
Recompile and reload your driver, and check that in /sys/kernel/debug/serial/counter you
can see the amount of characters that have been transmitted by your driver.

Kernel crash analysis

Setup
Go to the ~/linux-kernel-labs/modules/nfsroot/root/debugging/ directory.

Make sure your kernel is built with the following options:
• The CONFIG_DEBUG_INFO configuration option, (Kernel Hacking section) which makes it
possible to see source code in the disassembled kernel.
• The CONFIG_ARM_UNWIND configuration option (Kernel Hacking section) disabled. This
option enables a new mechanism to handle stack backtraces, but this new mechanism is
not yet as functional and reliable as the old mechanism based on frame pointers. In our
case, with our board, you get a backtrace only if this option is disabled.
Compile the drvbroken module provided in nfsroot/root/debugging.
On your board, load the drvbroken.ko module. See it crashing in a nice way.
Analyzing the crash message

Analyze the crash message carefully. Knowing that on ARM, the PC register contains the location
of the instruction being executed, find in which function does the crash happen, and what the
function call stack is.
Using Elixir or the kernel source code, have a look at the definition of this function. This, with
a careful review of the driver source code should probably be enough to help you understand
and fix the issue.
Further analysis of the problem

If the function source code is not enough, then you can look at the disassembled version of the
function, either using:
cd ~/linux-kernel-labs/src/linux/
arm-linux-gnueabi-objdump -S vmlinux > vmlinux.disasm
or, using gdb-multiarch16 :
sudo apt install gdb-multiarch
gdb-multiarch vmlinux
(gdb) set arch arm
(gdb) set gnutarget elf32-littlearm
(gdb) disassemble function_name
Then find at which exact instruction the crash occurs. The offset is provided by the crash
output, as well as a dump of the code around the crashing instruction.
Of course, analyzing the disassembled version of the function requires some assembly skills on
the architecture you are working on.
16 gdb-multiarch is a new package supporting multiple architectures at once. If you have a cross toolchain
including gdb, you can also run arm-linux-gdb directly.

Going further: Git

Objective: Get familiar with git by contributing to the Linux kernel

• Explore the history of a Git repository.
• Create a branch and use it to make improvements to the Linux kernel sources.
• Make your first contribution to the official Linux kernel sources.
• Rework and reorganize the commits done in your branch.
• Work with a remote tree.
Setup
Go to your kernel source tree in ~/linux-kernel-labs/src/linux
Exploring the history

With git log, look at the list of changes that have been made on the scheduler (in kernel/
sched/).
With git log, look at the list of changes and their associated patches, that have been made on
the ATMEL serial driver (drivers/tty/serial/atmel_serial.c) between the versions 3.0 and
3.1 of the kernel.
With git diff, look at the differences between fs/jffs2/ (which contains the JFFS2 filesystem
driver) in 3.0 and 3.1.
With gitk, look at the full history of the UBIFS filesystem (in fs/ubifs/).
On the cgit interface of Linus Torvalds tree, available at https://git.kernel.org/cgit/linux/
kernel/git/torvalds/linux.git/, search all commits that have been done by Bootlin (hint:
use the search engine by author).
Modify the Linux kernel sources

Find something to modify in the Linux kernel sources. Here are ideas:
• Choose an ARM defconfig file, apply it, run make and fix compile warnings
• Implement changes recommended in the Kernel Janitors page: http://kernelnewbies.
org/KernelJanitors/Todo
• Run the scripts/checkpatch.pl command on a subdirectory of the Linux tree. You can
do that with https://bootlin.com/labs/run-checkpatch
• Look for spelling mistakes in documentation, or classical mistakes like ”the the”, ”a a”...
• Look for unnecessary includes in C source files.

• Device tree sources: simplify them by replacing nodes that are instantiated again in the
.dts files (with their location in the tree) by a phandle to a definition in the .dtsi file
(simpler because you don’t have to repeat the location in the tree). Make sure that the
new DT is equivalent by decompiling and comparing the old DTB and the new DTB
(dtc -I dtb).
• Run apt install coccinelle and make coccicheck and try to propose fixes for the re-
ported bugs (coccinelle can propose patches too, but they need to be reviewed by humans
before submission.
Before making changes, create a new branch and move into it.
Now, implement your changes, and commit them, following instructions in the slides for con-
tributing to the Linux kernel.
Share your changes

Generate the patch series corresponding to your two changes using git format-patch.
Then, to send your patches, you will need to use your own SMTP server, either your company’s
if it is accessible from where you are, or the SMTP server available for a personal e-mail accounts
(Google Mail for example, which has the advantage that your e-mail can be read from anywhere).
Configure git to tell it about your SMTP settings (user, password, port...).
Once this is done, send the patches to yourself using git send-email.
Check your changes

Before a final submission to the Linux kernel maintainers and community, you should run the
below checks:
• Run scripts/checkpatch.pl on each of your patches. Fix the errors and warnings that
you get, and commit them.
• Make sure that your modified code compiles with no warning, and if possible, that it also
executes well.
• Make sure that the commit titles and messages are appropriate (see our guidelines in the
slides)
If you made any change, use git rebase --interactive master to reorder, group, and edit
your changes when needed.
Don’t hesitate to ask your instructor for help. The instructor will also be happy to have a final
look at your changes before you send them for real.
Send your patches to the community

Find who to send the patches to, and send them for real.
Don’t be afraid to do this. The Linux kernel already includes changes performed during previous
Bootlin kernel sessions!
Unless you have done this before, you made your first contribution to the Linux kernel sources!
We hope that our explanations and the power of git will incite you to make more contributions
by yourself.

Tracking another tree

Say you want to work on the realtime Linux tree, you’ll then add this tree to the trees you’re
tracking:
git remote add realtime \
git://git.kernel.org/pub/scm/linux/kernel/git/rt/linux-stable-rt.git
A git fetch will fetch the data for this tree. Of course, Git will optimize the storage, and
will not store everything that’s common between the two trees. This is the big advantage of
having a single local repository to track multiple remote trees, instead of having multiple local
repositories.
We can then switch to the master branch of the realtime tree:
git checkout realtime/master
Or look at the difference between the scheduler code in the official tree and in the realtime tree:
git diff master..realtime/master kernel/sched/

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Linux kernel and driver development training

November 15, 2018

About this document

Copying this document

2 © 2004-2018 Bootlin, CC BY-SA license

Install lab data

Install extra packages

© 2004-2018 Bootlin, CC BY-SA license 3

4 © 2004-2018 Bootlin, CC BY-SA license

Downloading kernel source code

Installing git packages

Cloning the mainline Linux tree

© 2004-2018 Bootlin, CC BY-SA license 5

git checkout master

Accessing stable releases

6 © 2004-2018 Bootlin, CC BY-SA license

Kernel source code

After this lab, you will be able to:

Choose a particular stable version

Exploring the sources manually

© 2004-2018 Bootlin, CC BY-SA license 7

Use a kernel source indexing tool

8 © 2004-2018 Bootlin, CC BY-SA license

After this lab, you will be able to:

• Access the board through its serial line.

Getting familiar with the board

• If you have the original BeagleBone Black: http://www.elinux.org/Beagleboard:BeagleBoneBlack

• If you have the newer BeagleBone Black Wireless: https://beagleboard.org/black-

Don’t hesitate to share your questions with the instructor.

Download technical documentation

Setting up serial communication with the board

© 2004-2018 Bootlin, CC BY-SA license 9

about the USB to Serial adaptor that we are using.

10 © 2004-2018 Bootlin, CC BY-SA license

Setting up Ethernet communication

Ethernet configuration on the target

© 2004-2018 Bootlin, CC BY-SA license 11

setenv ethact usb_ether

Ethernet configuration on the PC host

Testing the network connection

12 © 2004-2018 Bootlin, CC BY-SA license

Kernel compiling and booting

After this lab, you will be able to:

• Cross-compile the Linux kernel for the ARM platform.

sudo apt install libssl-dev bison flex

© 2004-2018 Bootlin, CC BY-SA license 13

Cross-compiling toolchain setup

Setting up the NFS server

14 © 2004-2018 Bootlin, CC BY-SA license

Then, restart the NFS server:

Boot the system

Checking the kernel version

© 2004-2018 Bootlin, CC BY-SA license 15

• By looking at the first kernel messages

Automate the boot process

Don’t hesitate to change it according to your exact needs.