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1<!DOCTYPE chapter PUBLIC "-//OASIS//DTD DocBook XML V4.2//EN"
2"http://www.oasis-open.org/docbook/xml/4.2/docbookx.dtd"
3[<!ENTITY % poky SYSTEM "../poky.ent"> %poky; ] >
4<!--SPDX-License-Identifier: CC-BY-2.0-UK-->
5
6<appendix id='kernel-dev-concepts-appx'>
7<title>Advanced Kernel Concepts</title>
8
9 <section id='kernel-big-picture'>
10 <title>Yocto Project Kernel Development and Maintenance</title>
11
12 <para>
13 Kernels available through the Yocto Project (Yocto Linux kernels),
14 like other kernels, are based off the Linux kernel releases from
15 <ulink url='http://www.kernel.org'></ulink>.
16 At the beginning of a major Linux kernel development cycle, the
17 Yocto Project team chooses a Linux kernel based on factors such as
18 release timing, the anticipated release timing of final upstream
19 <filename>kernel.org</filename> versions, and Yocto Project
20 feature requirements.
21 Typically, the Linux kernel chosen is in the final stages of
22 development by the Linux community.
23 In other words, the Linux kernel is in the release candidate
24 or "rc" phase and has yet to reach final release.
25 But, by being in the final stages of external development, the
26 team knows that the <filename>kernel.org</filename> final release
27 will clearly be within the early stages of the Yocto Project
28 development window.
29 </para>
30
31 <para>
32 This balance allows the Yocto Project team to deliver the most
33 up-to-date Yocto Linux kernel possible, while still ensuring that
34 the team has a stable official release for the baseline Linux
35 kernel version.
36 </para>
37
38 <para>
39 As implied earlier, the ultimate source for Yocto Linux kernels
40 are released kernels from <filename>kernel.org</filename>.
41 In addition to a foundational kernel from
42 <filename>kernel.org</filename>, the available Yocto Linux kernels
43 contain a mix of important new mainline developments, non-mainline
44 developments (when no alternative exists), Board Support Package
45 (BSP) developments, and custom features.
46 These additions result in a commercially released Yocto
47 Project Linux kernel that caters to specific embedded designer
48 needs for targeted hardware.
49 </para>
50
51 <para>
52 You can find a web interface to the Yocto Linux kernels in the
53 <ulink url='&YOCTO_DOCS_OM_URL;#source-repositories'>Source Repositories</ulink>
54 at
55 <ulink url='&YOCTO_GIT_URL;'></ulink>.
56 If you look at the interface, you will see to the left a
57 grouping of Git repositories titled "Yocto Linux Kernel".
58 Within this group, you will find several Linux Yocto kernels
59 developed and included with Yocto Project releases:
60 <itemizedlist>
61 <listitem><para>
62 <emphasis><filename>linux-yocto-4.1</filename>:</emphasis>
63 The stable Yocto Project kernel to use with the Yocto
64 Project Release 2.0.
65 This kernel is based on the Linux 4.1 released kernel.
66 </para></listitem>
67 <listitem><para>
68 <emphasis><filename>linux-yocto-4.4</filename>:</emphasis>
69 The stable Yocto Project kernel to use with the Yocto
70 Project Release 2.1.
71 This kernel is based on the Linux 4.4 released kernel.
72 </para></listitem>
73 <listitem><para>
74 <emphasis><filename>linux-yocto-4.6</filename>:</emphasis>
75 A temporary kernel that is not tied to any Yocto Project
76 release.
77 </para></listitem>
78 <listitem><para>
79 <emphasis><filename>linux-yocto-4.8</filename>:</emphasis>
80 The stable yocto Project kernel to use with the Yocto
81 Project Release 2.2.
82 </para></listitem>
83 <listitem><para>
84 <emphasis><filename>linux-yocto-4.9</filename>:</emphasis>
85 The stable Yocto Project kernel to use with the Yocto
86 Project Release 2.3.
87 This kernel is based on the Linux 4.9 released kernel.
88 </para></listitem>
89 <listitem><para>
90 <emphasis><filename>linux-yocto-4.10</filename>:</emphasis>
91 The default stable Yocto Project kernel to use with the
92 Yocto Project Release 2.3.
93 This kernel is based on the Linux 4.10 released kernel.
94 </para></listitem>
95 <listitem><para>
96 <emphasis><filename>linux-yocto-4.12</filename>:</emphasis>
97 The default stable Yocto Project kernel to use with the
98 Yocto Project Release 2.4.
99 This kernel is based on the Linux 4.12 released kernel.
100 </para></listitem>
101 <listitem><para>
102 <emphasis><filename>yocto-kernel-cache</filename>:</emphasis>
103 The <filename>linux-yocto-cache</filename> contains
104 patches and configurations for the linux-yocto kernel
105 tree.
106 This repository is useful when working on the linux-yocto
107 kernel.
108 For more information on this "Advanced Kernel Metadata",
109 see the
110 "<link linkend='kernel-dev-advanced'>Working With Advanced Metadata (<filename>yocto-kernel-cache</filename>)</link>"
111 Chapter.
112 </para></listitem>
113 <listitem><para>
114 <emphasis><filename>linux-yocto-dev</filename>:</emphasis>
115 A development kernel based on the latest upstream release
116 candidate available.
117 </para></listitem>
118 </itemizedlist>
119 <note><title>Notes</title>
120 Long Term Support Initiative (LTSI) for Yocto Linux
121 kernels is as follows:
122 <itemizedlist>
123 <listitem><para>
124 For Yocto Project releases 1.7, 1.8, and 2.0,
125 the LTSI kernel is
126 <filename>linux-yocto-3.14</filename>.
127 </para></listitem>
128 <listitem><para>
129 For Yocto Project releases 2.1, 2.2, and 2.3,
130 the LTSI kernel is <filename>linux-yocto-4.1</filename>.
131 </para></listitem>
132 <listitem><para>
133 For Yocto Project release 2.4, the LTSI kernel is
134 <filename>linux-yocto-4.9</filename>
135 </para></listitem>
136 <listitem><para>
137 <filename>linux-yocto-4.4</filename> is an LTS
138 kernel.
139 </para></listitem>
140 </itemizedlist>
141 </note>
142 </para>
143
144 <para>
145 Once a Yocto Linux kernel is officially released, the Yocto
146 Project team goes into their next development cycle, or upward
147 revision (uprev) cycle, while still continuing maintenance on the
148 released kernel.
149 It is important to note that the most sustainable and stable way
150 to include feature development upstream is through a kernel uprev
151 process.
152 Back-porting hundreds of individual fixes and minor features from
153 various kernel versions is not sustainable and can easily
154 compromise quality.
155 </para>
156
157 <para>
158 During the uprev cycle, the Yocto Project team uses an ongoing
159 analysis of Linux kernel development, BSP support, and release
160 timing to select the best possible <filename>kernel.org</filename>
161 Linux kernel version on which to base subsequent Yocto Linux
162 kernel development.
163 The team continually monitors Linux community kernel development
164 to look for significant features of interest.
165 The team does consider back-porting large features if they have a
166 significant advantage.
167 User or community demand can also trigger a back-port or creation
168 of new functionality in the Yocto Project baseline kernel during
169 the uprev cycle.
170 </para>
171
172 <para>
173 Generally speaking, every new Linux kernel both adds features and
174 introduces new bugs.
175 These consequences are the basic properties of upstream
176 Linux kernel development and are managed by the Yocto Project
177 team's Yocto Linux kernel development strategy.
178 It is the Yocto Project team's policy to not back-port minor
179 features to the released Yocto Linux kernel.
180 They only consider back-porting significant technological
181 jumps &dash; and, that is done after a complete gap analysis.
182 The reason for this policy is that back-porting any small to
183 medium sized change from an evolving Linux kernel can easily
184 create mismatches, incompatibilities and very subtle errors.
185 </para>
186
187 <para>
188 The policies described in this section result in both a stable
189 and a cutting edge Yocto Linux kernel that mixes forward ports of
190 existing Linux kernel features and significant and critical new
191 functionality.
192 Forward porting Linux kernel functionality into the Yocto Linux
193 kernels available through the Yocto Project can be thought of as
194 a "micro uprev."
195 The many "micro uprevs" produce a Yocto Linux kernel version with
196 a mix of important new mainline, non-mainline, BSP developments
197 and feature integrations.
198 This Yocto Linux kernel gives insight into new features and
199 allows focused amounts of testing to be done on the kernel,
200 which prevents surprises when selecting the next major uprev.
201 The quality of these cutting edge Yocto Linux kernels is evolving
202 and the kernels are used in leading edge feature and BSP
203 development.
204 </para>
205 </section>
206
207 <section id='yocto-linux-kernel-architecture-and-branching-strategies'>
208 <title>Yocto Linux Kernel Architecture and Branching Strategies</title>
209
210 <para>
211 As mentioned earlier, a key goal of the Yocto Project is
212 to present the developer with a kernel that has a clear and
213 continuous history that is visible to the user.
214 The architecture and mechanisms, in particular the branching
215 strategies, used achieve that goal in a manner similar to
216 upstream Linux kernel development in
217 <filename>kernel.org</filename>.
218 </para>
219
220 <para>
221 You can think of a Yocto Linux kernel as consisting of a
222 baseline Linux kernel with added features logically structured
223 on top of the baseline.
224 The features are tagged and organized by way of a branching
225 strategy implemented by the Yocto Project team using the
226 Source Code Manager (SCM) Git.
227 <note><title>Notes</title>
228 <itemizedlist>
229 <listitem><para>
230 Git is the obvious SCM for meeting the Yocto Linux
231 kernel organizational and structural goals described
232 in this section.
233 Not only is Git the SCM for Linux kernel development in
234 <filename>kernel.org</filename> but, Git continues to
235 grow in popularity and supports many different work
236 flows, front-ends and management techniques.
237 </para></listitem>
238 <listitem><para>
239 You can find documentation on Git at
240 <ulink url='http://git-scm.com/documentation'></ulink>.
241 You can also get an introduction to Git as it
242 applies to the Yocto Project in the
243 "<ulink url='&YOCTO_DOCS_OM_URL;#git'>Git</ulink>"
244 section in the Yocto Project Overview and Concepts
245 Manual.
246 The latter reference provides an overview of
247 Git and presents a minimal set of Git commands
248 that allows you to be functional using Git.
249 You can use as much, or as little, of what Git
250 has to offer to accomplish what you need for your
251 project.
252 You do not have to be a "Git Expert" in order to
253 use it with the Yocto Project.
254 </para></listitem>
255 </itemizedlist>
256 </note>
257 </para>
258
259 <para>
260 Using Git's tagging and branching features, the Yocto Project
261 team creates kernel branches at points where functionality is
262 no longer shared and thus, needs to be isolated.
263 For example, board-specific incompatibilities would require
264 different functionality and would require a branch to
265 separate the features.
266 Likewise, for specific kernel features, the same branching
267 strategy is used.
268 </para>
269
270 <para>
271 This "tree-like" architecture results in a structure that has
272 features organized to be specific for particular functionality,
273 single kernel types, or a subset of kernel types.
274 Thus, the user has the ability to see the added features and the
275 commits that make up those features.
276 In addition to being able to see added features, the user
277 can also view the history of what made up the baseline
278 Linux kernel.
279 </para>
280
281 <para>
282 Another consequence of this strategy results in not having to
283 store the same feature twice internally in the tree.
284 Rather, the kernel team stores the unique differences required
285 to apply the feature onto the kernel type in question.
286 <note>
287 The Yocto Project team strives to place features in the tree
288 such that features can be shared by all boards and kernel
289 types where possible.
290 However, during development cycles or when large features
291 are merged, the team cannot always follow this practice.
292 In those cases, the team uses isolated branches to merge
293 features.
294 </note>
295 </para>
296
297 <para>
298 BSP-specific code additions are handled in a similar manner to
299 kernel-specific additions.
300 Some BSPs only make sense given certain kernel types.
301 So, for these types, the team creates branches off the end
302 of that kernel type for all of the BSPs that are supported on
303 that kernel type.
304 From the perspective of the tools that create the BSP branch,
305 the BSP is really no different than a feature.
306 Consequently, the same branching strategy applies to BSPs as
307 it does to kernel features.
308 So again, rather than store the BSP twice, the team only
309 stores the unique differences for the BSP across the supported
310 multiple kernels.
311 </para>
312
313 <para>
314 While this strategy can result in a tree with a significant number
315 of branches, it is important to realize that from the developer's
316 point of view, there is a linear path that travels from the
317 baseline <filename>kernel.org</filename>, through a select
318 group of features and ends with their BSP-specific commits.
319 In other words, the divisions of the kernel are transparent and
320 are not relevant to the developer on a day-to-day basis.
321 From the developer's perspective, this path is the "master" branch
322 in Git terms.
323 The developer does not need to be aware of the existence of any
324 other branches at all.
325 Of course, value exists in the having these branches in the tree,
326 should a person decide to explore them.
327 For example, a comparison between two BSPs at either the commit
328 level or at the line-by-line code <filename>diff</filename> level
329 is now a trivial operation.
330 </para>
331
332 <para>
333 The following illustration shows the conceptual Yocto
334 Linux kernel.
335 <imagedata fileref="figures/kernel-architecture-overview.png" width="6in" depth="7in" align="center" scale="100" />
336 </para>
337
338 <para>
339 In the illustration, the "Kernel.org Branch Point" marks the
340 specific spot (or Linux kernel release) from which the
341 Yocto Linux kernel is created.
342 From this point forward in the tree, features and differences
343 are organized and tagged.
344 </para>
345
346 <para>
347 The "Yocto Project Baseline Kernel" contains functionality that
348 is common to every kernel type and BSP that is organized
349 further along in the tree.
350 Placing these common features in the tree this way means
351 features do not have to be duplicated along individual
352 branches of the tree structure.
353 </para>
354
355 <para>
356 From the "Yocto Project Baseline Kernel", branch points represent
357 specific functionality for individual Board Support Packages
358 (BSPs) as well as real-time kernels.
359 The illustration represents this through three BSP-specific
360 branches and a real-time kernel branch.
361 Each branch represents some unique functionality for the BSP
362 or for a real-time Yocto Linux kernel.
363 </para>
364
365 <para>
366 In this example structure, the "Real-time (rt) Kernel" branch has
367 common features for all real-time Yocto Linux kernels and
368 contains more branches for individual BSP-specific real-time
369 kernels.
370 The illustration shows three branches as an example.
371 Each branch points the way to specific, unique features for a
372 respective real-time kernel as they apply to a given BSP.
373 </para>
374
375 <para>
376 The resulting tree structure presents a clear path of markers
377 (or branches) to the developer that, for all practical
378 purposes, is the Yocto Linux kernel needed for any given set of
379 requirements.
380 <note>
381 Keep in mind the figure does not take into account all the
382 supported Yocto Linux kernels, but rather shows a single
383 generic kernel just for conceptual purposes.
384 Also keep in mind that this structure represents the Yocto
385 Project
386 <ulink url='&YOCTO_DOCS_OM_URL;#source-repositories'>Source Repositories</ulink>
387 that are either pulled from during the build or established
388 on the host development system prior to the build by either
389 cloning a particular kernel's Git repository or by
390 downloading and unpacking a tarball.
391 </note>
392 </para>
393
394 <para>
395 Working with the kernel as a structured tree follows recognized
396 community best practices.
397 In particular, the kernel as shipped with the product, should be
398 considered an "upstream source" and viewed as a series of
399 historical and documented modifications (commits).
400 These modifications represent the development and stabilization
401 done by the Yocto Project kernel development team.
402 </para>
403
404 <para>
405 Because commits only change at significant release points in the
406 product life cycle, developers can work on a branch created
407 from the last relevant commit in the shipped Yocto Project Linux
408 kernel.
409 As mentioned previously, the structure is transparent to the
410 developer because the kernel tree is left in this state after
411 cloning and building the kernel.
412 </para>
413 </section>
414
415 <section id='kernel-build-file-hierarchy'>
416 <title>Kernel Build File Hierarchy</title>
417
418 <para>
419 Upstream storage of all the available kernel source code is
420 one thing, while representing and using the code on your host
421 development system is another.
422 Conceptually, you can think of the kernel source repositories
423 as all the source files necessary for all the supported
424 Yocto Linux kernels.
425 As a developer, you are just interested in the source files
426 for the kernel on which you are working.
427 And, furthermore, you need them available on your host system.
428 </para>
429
430 <para>
431 Kernel source code is available on your host system several
432 different ways:
433 <itemizedlist>
434 <listitem><para>
435 <emphasis>Files Accessed While using <filename>devtool</filename>:</emphasis>
436 <filename>devtool</filename>, which is available with the
437 Yocto Project, is the preferred method by which to
438 modify the kernel.
439 See the
440 "<link linkend='kernel-modification-workflow'>Kernel Modification Workflow</link>"
441 section.
442 </para></listitem>
443 <listitem><para>
444 <emphasis>Cloned Repository:</emphasis>
445 If you are working in the kernel all the time, you probably
446 would want to set up your own local Git repository of the
447 Yocto Linux kernel tree.
448 For information on how to clone a Yocto Linux kernel
449 Git repository, see the
450 "<link linkend='preparing-the-build-host-to-work-on-the-kernel'>Preparing the Build Host to Work on the Kernel</link>"
451 section.
452 </para></listitem>
453 <listitem><para>
454 <emphasis>Temporary Source Files from a Build:</emphasis>
455 If you just need to make some patches to the kernel using
456 a traditional BitBake workflow (i.e. not using the
457 <filename>devtool</filename>), you can access temporary
458 kernel source files that were extracted and used during
459 a kernel build.
460 </para></listitem>
461 </itemizedlist>
462 </para>
463
464 <para>
465 The temporary kernel source files resulting from a build using
466 BitBake have a particular hierarchy.
467 When you build the kernel on your development system, all files
468 needed for the build are taken from the source repositories
469 pointed to by the
470 <ulink url='&YOCTO_DOCS_REF_URL;#var-SRC_URI'><filename>SRC_URI</filename></ulink>
471 variable and gathered in a temporary work area where they are
472 subsequently used to create the unique kernel.
473 Thus, in a sense, the process constructs a local source tree
474 specific to your kernel from which to generate the new kernel
475 image.
476 </para>
477
478 <para>
479 The following figure shows the temporary file structure
480 created on your host system when you build the kernel using
481 Bitbake.
482 This
483 <ulink url='&YOCTO_DOCS_REF_URL;#build-directory'>Build Directory</ulink>
484 contains all the source files used during the build.
485 <imagedata fileref="figures/kernel-overview-2-generic.png"
486 width="6in" depth="5in" align="center" scale="100" />
487 </para>
488
489 <para>
490 Again, for additional information on the Yocto Project kernel's
491 architecture and its branching strategy, see the
492 "<link linkend='yocto-linux-kernel-architecture-and-branching-strategies'>Yocto Linux Kernel Architecture and Branching Strategies</link>"
493 section.
494 You can also reference the
495 "<link linkend='using-devtool-to-patch-the-kernel'>Using <filename>devtool</filename> to Patch the Kernel</link>"
496 and
497 "<link linkend='using-traditional-kernel-development-to-patch-the-kernel'>Using Traditional Kernel Development to Patch the Kernel</link>"
498 sections for detailed example that modifies the kernel.
499 </para>
500 </section>
501
502 <section id='determining-hardware-and-non-hardware-features-for-the-kernel-configuration-audit-phase'>
503 <title>Determining Hardware and Non-Hardware Features for the Kernel Configuration Audit Phase</title>
504
505 <para>
506 This section describes part of the kernel configuration audit
507 phase that most developers can ignore.
508 For general information on kernel configuration including
509 <filename>menuconfig</filename>, <filename>defconfig</filename>
510 files, and configuration fragments, see the
511 "<link linkend='configuring-the-kernel'>Configuring the Kernel</link>"
512 section.
513 </para>
514
515 <para>
516 During this part of the audit phase, the contents of the final
517 <filename>.config</filename> file are compared against the
518 fragments specified by the system.
519 These fragments can be system fragments, distro fragments,
520 or user-specified configuration elements.
521 Regardless of their origin, the OpenEmbedded build system
522 warns the user if a specific option is not included in the
523 final kernel configuration.
524 </para>
525
526 <para>
527 By default, in order to not overwhelm the user with
528 configuration warnings, the system only reports missing
529 "hardware" options as they could result in a boot
530 failure or indicate that important hardware is not available.
531 </para>
532
533 <para>
534 To determine whether or not a given option is "hardware" or
535 "non-hardware", the kernel Metadata in
536 <filename>yocto-kernel-cache</filename> contains files that
537 classify individual or groups of options as either hardware
538 or non-hardware.
539 To better show this, consider a situation where the
540 <filename>yocto-kernel-cache</filename> contains the following
541 files:
542 <literallayout class='monospaced'>
543 yocto-kernel-cache/features/drm-psb/hardware.cfg
544 yocto-kernel-cache/features/kgdb/hardware.cfg
545 yocto-kernel-cache/ktypes/base/hardware.cfg
546 yocto-kernel-cache/bsp/mti-malta32/hardware.cfg
547 yocto-kernel-cache/bsp/qemu-ppc32/hardware.cfg
548 yocto-kernel-cache/bsp/qemuarma9/hardware.cfg
549 yocto-kernel-cache/bsp/mti-malta64/hardware.cfg
550 yocto-kernel-cache/bsp/arm-versatile-926ejs/hardware.cfg
551 yocto-kernel-cache/bsp/common-pc/hardware.cfg
552 yocto-kernel-cache/bsp/common-pc-64/hardware.cfg
553 yocto-kernel-cache/features/rfkill/non-hardware.cfg
554 yocto-kernel-cache/ktypes/base/non-hardware.cfg
555 yocto-kernel-cache/features/aufs/non-hardware.kcf
556 yocto-kernel-cache/features/ocf/non-hardware.kcf
557 yocto-kernel-cache/ktypes/base/non-hardware.kcf
558 yocto-kernel-cache/ktypes/base/hardware.kcf
559 yocto-kernel-cache/bsp/qemu-ppc32/hardware.kcf
560 </literallayout>
561 The following list provides explanations for the various
562 files:
563 <itemizedlist>
564 <listitem><para>
565 <filename>hardware.kcf</filename>:
566 Specifies a list of kernel Kconfig files that contain
567 hardware options only.
568 </para></listitem>
569 <listitem><para>
570 <filename>non-hardware.kcf</filename>:
571 Specifies a list of kernel Kconfig files that contain
572 non-hardware options only.
573 </para></listitem>
574 <listitem><para>
575 <filename>hardware.cfg</filename>:
576 Specifies a list of kernel <filename>CONFIG_</filename>
577 options that are hardware, regardless of whether or not
578 they are within a Kconfig file specified by a hardware
579 or non-hardware Kconfig file (i.e.
580 <filename>hardware.kcf</filename> or
581 <filename>non-hardware.kcf</filename>).
582 </para></listitem>
583 <listitem><para>
584 <filename>non-hardware.cfg</filename>:
585 Specifies a list of kernel <filename>CONFIG_</filename>
586 options that are not hardware, regardless of whether or
587 not they are within a Kconfig file specified by a
588 hardware or non-hardware Kconfig file (i.e.
589 <filename>hardware.kcf</filename> or
590 <filename>non-hardware.kcf</filename>).
591 </para></listitem>
592 </itemizedlist>
593 Here is a specific example using the
594 <filename>kernel-cache/bsp/mti-malta32/hardware.cfg</filename>:
595 <literallayout class='monospaced'>
596 CONFIG_SERIAL_8250
597 CONFIG_SERIAL_8250_CONSOLE
598 CONFIG_SERIAL_8250_NR_UARTS
599 CONFIG_SERIAL_8250_PCI
600 CONFIG_SERIAL_CORE
601 CONFIG_SERIAL_CORE_CONSOLE
602 CONFIG_VGA_ARB
603 </literallayout>
604 The kernel configuration audit automatically detects these
605 files (hence the names must be exactly the ones discussed here),
606 and uses them as inputs when generating warnings about the
607 final <filename>.config</filename> file.
608 </para>
609
610 <para>
611 A user-specified kernel Metadata repository, or recipe space
612 feature, can use these same files to classify options that are
613 found within its <filename>.cfg</filename> files as hardware
614 or non-hardware, to prevent the OpenEmbedded build system from
615 producing an error or warning when an option is not in the
616 final <filename>.config</filename> file.
617 </para>
618 </section>
619</appendix>
620<!--
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