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Course Outline
Introduction
- Historical overview of GNU/Linux
- Licensing frameworks
- Kernel versioning strategies
- Release cycles
- Kernel source trees
- The mainline kernel
- Distinguishing kernel space from user space
- Mechanisms versus policies
- Alternatives for kernel drivers
- RTOS compared to Linux
Memory Management
- Virtual versus physical memory
- Kernel memory allocation methods
- Understanding pages
- Memory zones
- Relevant APIs
- The slab allocator
Kernel Patches
- Patch lifecycle
- Using git for version control
- Navigating kernel source
- Creating patches
- Reviewing patches
- Fixing patch issues
- Distributing patches
- Audited code standards
Kernel Modules
- Obtaining kernel sources
- Configuration, building, and installation
- Device drivers (static linking and runtime loading)
- Initialization and exit functions
- Licensing requirements
- EXPORT_SYMBOL GPL
- Managing out-of-tree makefiles
- Module initialization tools
- Integrating modules within the kernel tree
- Kconfig configuration
- Passing parameters to modules
- Using sparse for static analysis
Character Drivers
- Architectural design
- User and kernel interface boundaries
- The I/O subsystem
- Virtual File System (VFS)
- sysfs (devices, buses, drivers, classes)
- kobject, ktype, and kset structures
- The Linux kernel driver model
- Device file management
-
Character driver implementation
- Initialization procedures
- Registration processes
- Open and release operations
- cdev, cdev_add, cdev_del, and related functions
- Major and minor number allocation
- udev, udevmonitor, and udevadm utilities
Advanced Character Driver Operations
- ioctl operations
- Unlocked ioctl implementation
- Compat ioctl handling
- User-space APIs
- Kernel-space APIs
- Process lifecycle management
- Sleeping and blocking mechanisms
- Waking up processes
- Wait queues
- Addressing the 'thundering herd' problem
- Poll and select operations
Kernel Debugging
- General debugging techniques
-
Debugging the kernel
- Using git for binary search debugging
- Leveraging kernel debug support
- printk, syslogd, klogd, log levels, rate limiting, and selective subsystem debugging
- Querying debugfs for diagnostics
- Handling and analyzing kernel oops
- Utilizing the Magic SysRq Key
- Using kgdb and kdb
- JTAG debugging
Tracing
- gcov coverage
- lcov report generation
- oprofile profiling
-
ftrace capabilities
- NOP tracer
- Function tracer
- Scheduler switch tracer
- Function graph tracer
- Dynamic tracing
- Using trace-cmd and kernelshark
- perf profiling
- LTTng tracing
Interrupts
- Interrupts versus polling
- Interrupt handling fundamentals
- Program execution sections
- Reentrancy issues
- Event handling
- Interrupt handler design
- Shared interrupt handler implementation
- Interrupt flow control
- Interrupt management strategies
Deferring Work
- Top half and bottom half processing
- Soft interrupts (softirqs)
- Tasklets
- Work queues
- Threaded interrupts
Concurrency
- Critical regions and sections
- Atomic operations
- Race conditions
- Synchronization techniques
- Locking mechanisms
- Locking solutions overview
- Deadlock prevention
- Contention management
- Determining what requires locking
-
Available locking primitives
- Atomic operations
- Spin locks
- Reader-writer spin locks
- Semaphores
- Binary semaphores
- Mutexes
- Reader-writer semaphores
- Completion variables
- Sequence locks
- Disabling preemption
- Ordering and memory barriers
Time Management
- The HZ tick rate
- Jiffies timer
- Implementing large versus small delays
- Kernel timer implementations
Hardware I/O
- I/O Ports access
- I/O Memory mapping
- Handling side effects during register access
User-Kernel Communication
- put_user() and get_user() functions
- copy_to_user() and copy_from_user() functions
- Kernel I/O interfaces
- Memory mapping techniques
- procfs file system
- sysfs file system
- debugfs file system
- relayfs file system
- Netlink sockets
- ioctl mechanisms
Portability
- Word size considerations
- Opaque data types
- Signed versus unsigned char usage
- Data alignment requirements
- Integral promotion rules
- Code reuse strategies
- Endianness handling
- System tick variations
- Page size differences
- Instruction ordering constraints
- SMP, preemption, and high memory considerations
Unless stated otherwise, the content and this course outline are licensed under Attribution-NonCommercial-ShareAlike 4.0 International (CC BY-NC-SA 4.0).
Requirements
- Fundamental familiarity using a GNU/Linux system as an end user
- Basic proficiency with command-line shells
- Foundational knowledge of user-space application development
- Intermediate-level C programming skills
- It is highly recommended to have previously attended the Embedded GNU/Linux Systems Architecture course, or possess a strong grasp of the topics covered in that curriculum.
35 Hours
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