ReliableEmbeddedSystems

title-1
Note

This course can be delivered as an Embedded/Native combo with target boards, or Native Only where target boards are not required.

Course Objectives

The aim of this course is to provide a basic overview of debugging/tracing/profiling facillitites available with (embedded) GNU/Linux. Hands-on exercises provide you with the necessary practical experience to go ahead and choose the right tool for your debugging needs.

Description

This 2-day or 3-day training class uses hands-on exercises combined with instruction to illustrate some basic concepts of debugging/tracing/profiling Embedded GNU/Linux. Hands on sessions are performed with the freely available ELDK, which is derived from Yocto, on a Beagle-XM Rev.C and/or native on Ubuntu. The whole workshop is designed to bring you quickly up to speed. The concepts and commands necessary to make effective use of Embedded GNU/Linux's debugging/tracing/profiling facilties are described through a combination of theory and on-the-job training. Don’t reinvent the wheel, but learn from an experienced trainer and take home a working knowledge of Embedded GNU/Linux debugging and the ability to use it effectively in your own embedded development project.

Prerequisites

  • Basic knowledge of how to use Linux (Ubuntu)
  • Familiarity with embedded C concepts and programming
  • Ability to develop software using C syntax
  • Basic knowledge of embedded processor development boards
  • ... or no fear to learn the aboveand programming

Who should attend?

Project managers, software, hardware, development and systems engineers, technicians and those interested in technology who want to try get a broad overview about numerous debugging/tracing/profiling facilites available with Embedded GNU/Linux.

Course Outline

SIMPLE debugging

  • errno, shell debug, lsof, netstat, procfs, sysfs, debugfs
  • syslog, ltrace, strace
  • ldd, strings, nm, objdump, addr2line
  • mem_munch
  • split, sparse
  • magic-sysrq-key
  • sysctl

Gdb and friends

  • gdb, gdbserver, threads, core_dump, null_ptr, crash

TOP and friends

  • latencytop, powertop, powerdebug, iotop, atop

Profiling/tracing

  • time, gcov, gropf, oprofile
  • systemtap, perf, ftrace, LTTng
  • valgrind, cachegrind, helgrind
  • mutrace

Please fill in this form if you have further questions regarding this or any other training and do not hesitate to contact us if you have any further questions.

Public Lindeb

(Embedded) Linux Debugging

public, 2-day training class
title-1
08 Mar 2018
Regensburg/Germany

Pick a Training

public/private, 2 to 5 day training class
title-1
23 Jul 2018
Europe, German/English TBD

(Embedded) Linux Debugging

public, 2-day training class
title-1
26 Jul 2018
Regensburg/Germany

Pick a Training

public/private, 2 to 5 day training class
title-1
27 Aug 2018
Europe, German/English TBD

title-1

Course Objectives

To provide an understanding of the essentials of embedded GNU/Linux, how the bits and pieces fit together. What components are needed to build an embedded GNU/Linux system, where to get them from and how to configure/build/install them? Where to get help from? What about those software licenses? Hands-on exercises provide you with the necessary practical experience to go ahead and develop your own embedded GNU/Linux systems after completing this training successfully.

Description

This five day training class uses hands-on exercises combined with instruction to illustrate the concepts of embedded GNU/Linux. It is designed to bring you quickly up to speed. The philosophy, concepts and commands necessary to make effective use of GNU/Linux are described through a combination of theory and on-the-job training. Don’t reinvent the wheel, but learn from an experienced trainer and take home a working knowledge of GNU/Linux and the ability to use it effectively in your own embedded development project.

Prerequisites

  • Basic familiarity with using a GNU/Linux system (e.g. Ubuntu) as an end user in user space 
  • Basic familiarity with a command line shell 
  • Basic knowledge of user space/application development with GNU/Linux 
  • Basic knowledge concerning embedded processors and development boards 
  • Basic C programming knowledge 
  • …and/or no fear to learn the above… 

Who should attend?

Managers, project managers, software-, hardware-, development-, systems engineers, testers, administrators, technicians and other parties interested in the technology, who want to understand as quickly as possible how Embedded GNU/Linux works. You must use GNU/Linux or you have to luxury to decide whether it makes sense to use it or not. Maybe you already tried to use Embedded GNU/Linux, but are not quite sure that you did everything the right way. You currently use a different operating system and want to figure out whether GNU/Linux might be better and/or cheaper.

Delivery Options

All the training material is English, but the presentation of it can be in English or in German, as you wish, worldwide.

  • on-site - instructor driven*) 
  • on-line - instructor driven**) 
  • on-site/on-line combination - instructor driven*)**) 

During the training we’ll provide laptops*), boards*)**), workbooks (in English)*)**), remote access to servers and boards**), screen-sharing**), audio-bridge**).

Check out our training delivery options to see how we can present/customise our material to your specific needs. Feel free to contact us for further inquiries.

Course Outline

Introduction

  • History of Unix/Linux
  • Licensing
  • Standards
  • Working with Free Software
  • Spelunking
  • Unix Philosophy

Host playground

  • architecture
  • shell
  • FHS (file hierarchy standard)
    • Devices, Daemon, Booting, Program Sections, Static/Shared Libraries
  • permissions
    • Access Control, Changing Permissions, umask
  • hard/soft links
  • real/effective uid/gid

Process/IPC

  • Intro
    • What's an OS?
    • What's a scheduler?
    • Linux: scheduler, priorities, scheduling classes
    • process/task/thread
    • errno
    • fork
    • Process termination
    • Process states
    • Zombies
    • More about Processes
  • IPC simple
    • shell redirection, shelling out, tmpfiles
  • IPC Generic
    • Message passing vs. shared memory
  • Advanced IPC
    • pipes
    • signals
    • interrupted system calls
    • message queues
    • semaphores
    • shared memory
    • sockets
    • select/poll
  • IPC techniques to avoid

Embedded Specifics

  • Intro
  • Portability
  • Build
    • Cross/Native toolchain
    Toolchains
  • C-Libraries
    • glibc, uclibc, eglibc, others
    • reduce shared lib size

Eval Board

  • Booting
    • How does LInux boot on a PC?
    • How is an Embedded System different?
  • Booting the target
    • Boot sequence, SD card and partitions

Stuff Needed

  • Host
    • Toolkit
      • The Yocto Project
      • Install Yocto SDK
    • SD card
    • screen
    • minicom
    • tftp server
    • Root file systems
    • Nfs server
  • Target
    • U-Boot
      • Das U-Boot
      • Scripting
      • Fancy stuff
        • Spash Screen
        • U-Boot environment from Linux
        • Post mortem
        • Automatic SW update
        • How to contribute?
      • Get/Configure/Build/Install
      • Commands
    • Flat device tree
      • What is a flat device tree?
      • Device tree compiler
      • Examples/Documentation
    • Linux kernel
      • Get
      • Kbuild
      • Multi Platfrom Support
      • Configure/Build/Install
      • Get/configure/build install
      • What is uImage?
      • Build fdt
      • In-tree kernel modules

Rool File Systems

  • Available root file systems
  • prepare minimal-dev rootfs
  • tftp server
  • rootfs on ramdisk
  • mtd
  • rootfs on jffs2
  • mtdparts
  • rootfs on cramfs
  • rootfs on ro ext2
  • build/execute what's applicable from above on the target board
  • rootfs comparison

Customizations

  • System hangs
  • pseudo tty
  • getty
  • runlevel
  • static ip
  • mount nfs
  • ssh server

User Space Debugging

  • Debugging Intro
    • What's a bug?
    • Types of bugs
    • Debugging strategy
  • Simple tools
    • lsof, ltrace, strace,...
    • procfs, top, netstat, syslog,...
  • Advanced tools
  • What’s a debugger?
  • gdb
    • host gdb
    • target gdb
    • gdb remote debugging
    • gdb remote debugging with GUI

User Space Profiling/Tracing

  • Profiling/Tracing tools
    • strace
    • system timers
    • gprof
    • gcov
    • code optimization
    • oprofile
    • perf
  • top an friends
    • top
    • latencytop
    • powertop
    • powerdebug
  • crash

Real-time

  • prerequisites
    • Kernel vs. User Space
    • interrupts
    • reentrant code
  • Real-time Intro
    • What is Real-time
    • Determinism
  • Real-time Linux
    • Hypervison
    • Dual kernel
    • Fully preemtive kernel
    • 0 Vanilla Linux kernel
    • 1 explicit preemption points
    • 2 implicit preemption points
    • 3 real-time preemption patch
    • fully preemptive kernel
    • hard real-time extensions
  • Adeos/Xenomai
    • adeos patch
    • xenomai
    • patch/config/build kernel
    • run it on board
  • Real-time myths
    • must be fast
    • rate monotonic
    • universal methodology
    • scheduling theory
    • RTOS vs. Linux
    • New hardware
    • Dual kernel vs. Preempt-rt
    • Future outlook Dual kernel
    • Future outlook Preempt-rt

Please fill in this form if you have further questions regarding this or any other training and do not hesitate to contact us if you have any further questions.

Public EGLiSA

Embedded GNU/Linux Systems Architecture

public, 5-day training class
title-1
12 Mar 2018
Munich/Germany

Embedded GNU/Linux Systems Architecture

public, 5-day training class
title-1
16 Apr 2018
Munich/Germany

Embedded GNU/Linux Systems Architecture

public, 5-day training class
title-1
14 May 2018
Munich/Germany

Embedded GNU/Linux Systems Architecture

public, 5-day training class
title-1
04 Jun 2018
Munich/Germany

Embedded GNU/Linux Systems Architecture

public, 5-day training class
title-1
11 Jun 2018
Munich/Germany

Embedded GNU/Linux Systems Architecture

public, 5-day training class
title-1
09 Jul 2018
Munich/Germany

Pick a Training

public/private, 2 to 5 day training class
title-1
23 Jul 2018
Europe, German/English TBD

Pick a Training

public/private, 2 to 5 day training class
title-1
27 Aug 2018
Europe, German/English TBD

Embedded GNU/Linux Systems Architecture

public, 5-day training class
title-1
10 Sep 2018
Munich/Germany

title-1

Course Objectives

The aim of this crash course is to provide a basic overview of embedded GNU/Linux. What are the components needed to build an embedded GNU/Linux system where to get them from and how to configure/build/install them? Where to get help from? What about licenses? Hands-on exercises provide you with the necessary practical experience to go ahead and configure/build an embedded GNU/Linux system with mainline components.

Description

This 3-day training class uses hands-on exercises combined with instruction to illustrate some basic concepts of Embedded GNU/Linux. Hands on sessions are performed with Yocto, on a Beagle-Bone Black Rev.C. The whole workshop is designed to bring you quickly up to speed. The concepts and commands necessary to make effective use of Embedded GNU/Linux are described through a combination of theory and on-the-job training. Don’t reinvent the wheel, but learn from an experienced trainer and take home a working knowledge of Embedded GNU/Linux and the ability to use it effectively in your own embedded development project.

Prerequisites

  • Basic knowledge of how to use Linux (Ubuntu)
  • Familiarity with embedded C concepts and programming
  • Ability to develop software using C syntax
  • Basic knowledge of embedded processor development boards
  • ... or no fear to learn the aboveand programming

Who should attend?

Project managers, software, hardware, development and systems engineers, technicians and those interested in technology who want to try to understand as quickly as possible how Embedded GNU/Linux works. You have to use GNU/Linux, or have the luxury to decide whether it makes sense to use it or not. You may already use Embedded GNU/Linux, but you are not quite sure if you do everything right. You currently use another operating system and want to find out whether Linux would maybe be more cost effective. . . .

Course Outline

Introduction

  • Introduction
  • History
  • Licensing
  • Standards
  • The Unix Philosophy

Embedded Specifics

  • What’s an Embedded System?
  • Embedded vs. Desktop Linux
  • Software Release
  • Build for your Target
  • Toolchains
  • C-libraries

Eval board

  • Eval Board
  • Booting GNU/Linux on a PC
  • Booting GNU/Linux on an Embedded System
  • Boot Sequence
  • SD card partitions

Stuff needed

  • Host
    • Toolkit
      • Install Yocto SDK
    • SD card
    • screen
    • minicom
    • tftp server
    • Root file systems
    • Nfs server
  • Target
    • U-Boot
      • Das U-Boot
      • Scripting
      • Fancy stuff
        • Spash Screen
        • U-Boot environment from Linux
        • Post mortem
        • Automatic SW update
        • How to contribute?
      • Get/Configure/Build/Install
      • Commands
    • Flat device tree
      • What is a flat device tree?
      • Device tree compiler
      • Examples/Documentation
    • Linux kernel
      • Get
      • Kbuild
      • Multi Platfrom Support
      • Configure/Build/Install
      • Get/configure/build install
      • What is uImage?
      • Build fdt
      • In-tree kernel modules

Customizations

  • Customizations
    • System hangs
    • pseudo tty
    • getty
    • runlevel
    • static ip
  • Init
    • Sys-V
    • Various
    • Systemd
  • Bootgraph
  • Bootchart

Kernel Modules

  • init/exit
  • Licensing
  • tainted module/kernel
  • EXPORT_SYMBOL
  • out of tree .ko
  • module-init-tools
  • put module in tree
  • loading/modprobe
  • parameter passing
  • access TCB

Device Drivers

  • Device Files
  • Device Types
  • Device Nodes major/minor
  • Kernel Driver Interface
  • Device Driver
    • Intro
    • Registration
    • Initialization
    • Open/Release
  • Miscellaneous Character Drivers

User Space Debugging

  • Simple tools
  • Advanced tools
  • What’s a debugger?
  • gdb
    • target gdb
    • gdb remote debugging

Kernel Debugging

  • kgdb/kdb + agent-proxy
  • JTAG

Profiling/Tracing

  • Profiling/Tracing tools
    • strace
    • system timers
    • gprof
    • gcov
    • ftrace/kernelshark
    • systemtap
    • oprofile
    • perf
    • LTTng
  • top an friends
    • top
    • latencytop
    • powertop
    • powerdebug
  • crash

Please fill in this form if you have further questions regarding this or any other training and do not hesitate to contact us if you have any further questions.

Public Elin

Introduction to Embedded Linux in Theory and Practice

public, 3-day training class
title-1
05 Mar 2018
Regensburg/Germany

Pick a Training

public/private, 2 to 5 day training class
title-1
23 Jul 2018
Europe, German/English TBD

Introduction to Embedded Linux in Theory and Practice

public, 3-day training class
title-1
23 Jul 2018
Regensburg/Germany

Pick a Training

public/private, 2 to 5 day training class
title-1
27 Aug 2018
Europe, German/English TBD

title-1

Description

This 5-day training class uses hands-on exercises combined with instruction to illustrate the concepts of GNU/Linux kernel internals and device driver development. It is desinged to bring you quickly up to speed. We describe processes, concepts and commands necessary to write GNU/Linux device drivers through a combination of theory and on-the-job training. Don’t reinvent the wheel, but learn from an experienced trainer and take home a working knowledge and the ability to use it effectively in your own embedded development project.

Prerequisites

  • Basic familiarity with using a GNU/Linux system as an end user
  • Basic familiarity with a command line shell
  • Basic knowledge of user space / application development
  • Intermediate C programming knowledge
  • Should have attended Embedded GNU/Linux Systems Architecture before (strongly recommended!) and/or have a good understanding of the topics outlined there

Who should attend?

People with interest in or tasked with the development or evaluation of developing GNU/Linux device drivers like software engineers, field engineers, (project) managers, hardware engineers.

Course Outline

Introduction

  • quick history of GNU/Linux
  • licensing
  • kernel versioning
  • release cycle
  • kernel trees
  • mainline
  • kernel vs. user space
  • mechanism vs. policy
  • kernel driver alternatives
  • RTOS vs. Linux

Memory Management

  • Virtual memory vs. physical memory
  • memory allocation in kernel
  • pages
  • zones
  • API
  • slab

Kernel Patch

  • life cycle
  • git
  • kernel source
  • create patch
  • check patch
  • fix patch
  • ship patch
  • audited code

Kernel Modules

  • get kernel sources
  • configure/build/install
  • device drivers (statically linked, loaded at runtime)
  • init/exit
  • licensing
  • EXPORT SYMBOL GPL
  • out of tree makefile
  • module-init-tools
  • module in kernel tree
  • Kconfig
  • parameter passing
  • sparse

Char Drivers

  • architecture
  • user/kernel interface
  • I/O subsystem
  • VFS
  • sysfs (devices, bus, drivers, classes),
  • kobject/ktype/kset
  • linux kernel driver model
  • device files
  • char driver
    • initialization
    • registration
    • open, release
    • cdev, cdev add, cdev del,...
    • major/minor numbers
    • udev, udevmonitor, udevadm

Advanced Charachter Driver Operations

  • ioctl
  • unlocked ioctl
  • compat ioctl
  • user space API
  • kernel space API
  • process lifecycle
  • sleeping/blocking
  • sleeping/waking up
  • wait queue
  • thundering herd
  • poll/select

Kernel Debugging

  • bug
  • debugging
  • debugging the kernel
    • binary search with git
    • debug support from kernel
    • printk syslogd, klogd, loglevels, rate limit, debug levels, debug selective subsystems
    • debugging by querying debugfs
    • oops debugging, asserting oops
    • Magic SysRq Key
    • kgdb/kdb
    • JTAG

Tracing

  • gcov
  • lcov
  • oprofile
  • ftrace
    • nop tracer
    • function tracer
    • sched switch tracer
    • function graph tracer
    • dynamic tracer
  • trace-cmd/kernelshark
  • perf
  • LTTng

Interrupts

  • interrupts vs. polling
  • interrupt
  • program sections
  • reentrancy
  • events
  • interrupt handler
  • shared interrupt handler
  • interrupt flow
  • interrupt control

Deferring Work

  • top/bottom halves
  • softirqs
  • tasklets
  • work queues
  • threaded interrrupts

Concurrency

  • critical region/section
  • atomic
  • race condition
  • synchronization
  • locking
  • locking solutions
  • deadlock
  • contention
  • what to lock?
  • what can be used?
    • atomic operations
    • spin locks
    • reader-writer spin locks
    • semaphore
    • binary semaphore
    • mutex
    • reader-writer semaphore
    • completion variables
    • sequential locks
    • disable preemption
    • orderig and barriers

Time

  • HZ
  • Jiffies
  • big/small delays
  • kernel timers

Hardware I/O

  • I/O Ports
  • I/O Memory
  • How to deal with side effects accessing registers?

User-Kernel Communication

  • put(get)_user()
  • copy to(from)_user()
  • Kernel I/O
  • memory mapping
  • procfs
  • sysfs
  • debugfs
  • relayfs
  • netlink
  • ioctl

Portability

  • word size
  • opaque types
  • signed/unsigned char
  • data alignment
  • integral promotion
  • code reuse
  • endianess
  • system tick
  • page size
  • instruction ordering
  • SMP/preemption/high memory

Please fill in this form if you have further questions regarding this or any other training and do not hesitate to contact us if you have any further questions.

Public LDD

Embedded GNU/Linux Kernel Internals and Device Drivers

public, 5-day training class
title-1
12 Mar 2018
Munich/Germany

Embedded GNU/Linux Kernel Internals and Device Drivers

public, 5-day training class
title-1
16 Apr 2018
Munich/Germany

Embedded GNU/Linux Kernel Internals and Device Drivers

public, 5-day training class
title-1
14 May 2018
Munich/Germany

Embedded GNU/Linux Kernel Internals and Device Drivers

public, 5-day training class
title-1
11 Jun 2018
Munich/Germany

Embedded GNU/Linux Kernel Internals and Device Drivers

public, 5-day training class
title-1
09 Jul 2018
Munich/Germany

Pick a Training

public/private, 2 to 5 day training class
title-1
23 Jul 2018
Europe, German/English TBD

Pick a Training

public/private, 2 to 5 day training class
title-1
27 Aug 2018
Europe, German/English TBD

Embedded GNU/Linux Kernel Internals and Device Drivers

public, 5-day training class
title-1
10 Sep 2018
Munich/Germany

Embedded GNU/Linux Kernel Internals and Device Drivers

public, 5-day training class
title-1
15 Oct 2018
Munich/Germany

COURSE OBJECTIVES

To provide a practical knowledge and understanding of real-time kernel usage. What are the advantages? What are the trade-offs? Learn from an experienced trainer and take home a working knowledge of FreeRTOS and the ability to use it efectively in your own embedded development project.

Description

This 3-day training class uses hands-on exercises combined with instruction to illustrate the concepts of a real-time kernel. Examples using FreeRTOS form a series of practical coding exercises designed to bring you quickly up to speed. The concepts and commands necessary to make effective use of FreeRTOS are described through a combination of theory and ‘hands-on’ training. Learn from an experienced trainer and take home a working knowledge of FreeRTOS and the ability to use it effectively in your own embedded development project.

Prerequisites

  • Familiarity with embedded C concepts and programming
  • Ability to develop software using C syntax
  • Ability to use basic embedded compiler and debug tools
  • Basic knowledge of embedded processor development boards

Who should attend?

People with interest in or tasked with development of a resource constrained real-time system. For example - software engineers, field engineers, (project) managers.

Course Outline

  • Introduction

    • FreeRTOS overview, market position, the "free" in FreeRTOS, understanding the FreeRTOS license, software architecture, features.
    • LPCXpresso IDE download and installation, importing an example workspace.
  • Task Management

    • Tasks - Creation, states, priorities, the idle task, deletion.
    • Scheduling - Determinism, multitasking, endless loop, cyclic executives, issues with interrupts, non-preemptive, prioritized preemptive, rate monotonic, deadline, cooperative, hybrid.
  • Queue Management

    • Creation, sending, receiving
  • Interrupt Management

    • Deferred interrupt processing, interrupt handlers, interrupt safe functions, task with interrupt synchronization, efficient queue usage even from within an interrupt, interrupt nesting.
  • Resource Management

    • Mutual exclusion, critical sections, suspending/locking the scheduler, mutexes, priority inversion, priority inheritance, deadlock, gatekeeper tasks.
  • Memory Management

    • Resource constrained memory allocation schemes, determining the amount of free memory remaining.
  • Trouble Shooting

    • avoiding bugs and how to find those you did not avoid
  • FreeRTOS-MPU

    • User vs. privileged mode, access permissions, defining MPU regions, linker configuration, practical usage tips.
  • The FreeRTOS Download

    • Files and directories, demo apps, data types and coding style.

A customized version of this training like FreeRTOS on LPCXPresso 1769 is offered by FreeRTOS.

 

Please fill in this form if you have further questions regarding this or any other training and do not hesitate to contact us if you have any further questions.

Public FreeRTOS

FreeRTOS in Theory and Practice

public, 3-day training class
title-1
07 May 2018
virtual

Pick a Training

public/private, 2 to 5 day training class
title-1
23 Jul 2018
Europe, German/English TBD

Pick a Training

public/private, 2 to 5 day training class
title-1
27 Aug 2018
Europe, German/English TBD

FreeRTOS in Theory and Practice

public, 3-day training class
title-1
03 Sep 2018
virtual