Booting Linux Fast & Fancy. Embedded Linux Conference Europe Cambridge, Robert Schwebel
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1 Booting Linux Fast & Fancy Embedded Linux Conference Europe Cambridge, Robert Schwebel Slide /11/2010
2 Motivation: Booting Linux Fast & Fancy I User experience becomes more important: Slide /11/2010
3 Motivation: Booting Linux Fast & Fancy II Industrial devices don't look like computers And the shouldn't boot slowly like computers... Slide /11/2010
4 Motivation: Booting Linux Fast & Fancy III Automotive devices have fast-boot requirements Example from a project: Anwering CAN messages in < 200 ms after power-on! Slide /11/2010
5 Motivation: Booting Linux Fast & Fancy IV Video: Start sequence on Vortex DX (800 MHz x86) Slide /11/2010
6 What can we do to avoid this? Slide /11/2010
7 Barebox: Project History 2007 / u-boot-v2-rc1: Forked from U-Boot, as a technology study under the U-Boot-v2 name 2009 / barebox : Renamed to barebox, with it's own infrastructure 2010 / barebox releases up to now Timed releases: about once per month Maintenance releases: on demand Slide /11/2010
8 Barebox: Development Resources Website: GIT Server: next branch: accumulates new features master branch: next is merged into master after release Mailing List: Slide /11/2010
9 Barebox: Development Speed Commit History: (until now) Slide /11/2010
10 Barebox: CPU Architectures Supported Hardware: arm blackfin m68k ppc sandbox x86 at91, ep93, i.mx, netx, nomadik, omap, s3c24xx, stm mcfv4e mpc5xxx linux bios based Slide /11/2010
11 Barebox - All Features on One Slide Build system: Boot media: Data Transport: Graphics: Filesystem: Tools: User interaction: Drivers: Modules: Memory: Network: Kconfig, Kbuild linux16, nand, ubi, sd DFU, Kermit, X,/Y/Z-Modem, tftp Framebuffer, splash screen cd, ls, cp, saveenv/loadenv, mount, partitions crc, edit, gpio, unlzo login, menu i2c, mfd, flash, serial, spi, usb host+device insmod, lsmod meminfo, memtest, md, mw ipv4, dhcp, netconsole, tftp, rarp, ping, nfs, dns Slide /11/2010
12 Booting Linux Fast Power-controller releases reset line ROM bootloader starts running Fetch boot block from NAND / SD card Execute first boot code Initialize hardware Fetch Linux kernel from NAND / SD card Execute Linux Extract compressed image Kernel boots, initializes hardware /sbin/init Slide /11/2010 Optimize Hardware (Electronics)
13 Booting Linux Fast Power-controller releases reset line ROM bootloader starts running Fetch boot block from NAND / SD card Execute first boot code Initialize hardware Fetch Linux kernel from NAND / SD card Execute Linux Extract compressed image Kernel boots, initializes hardware /sbin/init Slide /11/2010 Select CPUs optimized for fastboot (i.e. MX25)
14 Booting Linux Fast Power-controller releases reset line ROM bootloader starts running Fetch boot block from NAND / SD card Execute first boot code Initialize hardware Fetch Linux kernel from NAND / SD card Execute Linux Extract compressed image Kernel boots, initializes hardware /sbin/init Slide /11/2010 Done by firmware, cannot be tuned, usually.
15 Booting Linux Fast Power-controller releases reset line ROM bootloader starts running Fetch boot block from NAND / SD card Execute first boot code Initialize hardware Fetch Linux kernel from NAND / SD card Execute Linux Extract compressed image Kernel boots, initializes hardware /sbin/init Slide /11/2010 First place we can do something in software
16 Booting Linux Fast Power-controller releases reset line ROM bootloader starts running Fetch boot block from NAND / SD card Execute first boot code Initialize hardware Fetch Linux kernel from NAND / SD card Execute Linux Extract compressed image Kernel boots, initializes hardware /sbin/init Slide /11/2010 Do only what's absolutely necessary. Tune clocks & timings.
17 Booting Linux Fast Power-controller releases reset line ROM bootloader starts running Fetch boot block from NAND / SD card Execute first boot code Initialize hardware Fetch Linux kernel from NAND / SD card Execute Linux Extract compressed image Kernel boots, initializes hardware /sbin/init Slide /11/2010 Async read and decompression tricks
18 Booting Linux Fast Power-controller releases reset line ROM bootloader starts running Fetch boot block from NAND / SD card Execute first boot code Initialize hardware Fetch Linux kernel from NAND / SD card Execute Linux Extract compressed image Kernel boots, initializes hardware /sbin/init Slide /11/2010 Depending on CPU, use uncompressed Image or zimage
19 Booting Linux Fast Power-controller releases reset line ROM bootloader starts running Fetch boot block from NAND / SD card Execute first boot code Initialize hardware Fetch Linux kernel from NAND / SD card Execute Linux Extract compressed image Kernel boots, initializes hardware /sbin/init Slide /11/2010 Minimized kernel, all the tricks from elinux.org wiki
20 Booting Linux Fast Power-controller releases reset line ROM bootloader starts running Fetch boot block from NAND / SD card Execute first boot code Initialize hardware Fetch Linux kernel from NAND / SD card Execute Linux Extract compressed image Kernel boots, initializes hardware /sbin/init Slide /11/2010 Depending on use case, use initramfs or real rootfs (slower)
21 Booting Linux Fast Reset released First Bootloader Instruction Bootloader starts kernel /sbin/init running 336 ms Example: Freescale i.mx35, ARM1136EJ-S, 532 MHz Slide /11/2010
22 Booting Linux Fancy Power-controller releases reset line ROM bootloader starts running Fetch boot block from NAND / SD card Execute first boot code Initialize hardware Fetch Linux kernel from NAND / SD card Execute Linux Extract compressed image Kernel boots, initializes hardware /sbin/init Slide /11/2010 Backlight off Load splash Show splash Backlight on
23 Booting Linux Fancy Power-controller releases reset line ROM bootloader starts running Fetch boot block from NAND / SD card Execute first boot code Initialize hardware Fetch Linux kernel from NAND / SD card Execute Linux Extract compressed image Kernel boots, initializes hardware /sbin/init Slide /11/2010 Make sure Framebuffer has fixed address between bootloader and kernel. No re-init!
24 Booting Linux Fancy Power-controller releases reset line ROM bootloader starts running Fetch boot block from NAND / SD card Execute first boot code Initialize hardware Fetch Linux kernel from NAND / SD card Execute Linux Extract compressed image Kernel boots, initializes hardware /sbin/init Slide /11/2010 Cross fading with overlay
25 Booting Linux Fancy Video: Start sequence on phycore-i.mx27 Video: Start sequence on NESO (MX27, ARM926, 400 MHz) Demo: Start sequence on CUPID (MX35, ARM1136, 532 MHz) Slide /11/2010
26 If fast is not fast enough... We do not reach the 200 ms limit of the automotive guys BTCS: Boot Time Critical Services (originally inspired by Freescale, now implemented with mainline focus) Idea: Set aside some memory Register a poller in Barebox Make sure memory is handed over to Linux Poller ends up as a normal interrupt service routine in Linux We estimate to have CAN ready after about < 100 ms No numbers yet, measurement hardware is still under construction... Downside: bare metal stack Slide /11/2010
27 Thanks for Listening - Questions? Slide /11/2010
28 Do we need a Bootloader at all? Alternative: use Linux to boot Linux (less code duplication) (See John's talk yesterday) Booting from NAND: we need at least a pre-loader dealing with Bad Blocks / UBI ROM access routines to NAND and SD are unoptimized Barebox offers a (to kernel developers) well-known structure, where to put code in if it is necessary. Minimal porting effort, no parallel running code Even if we have linux-only booting in the future, Barebox can be scaled down to the minimum, for the first stage Slide /11/2010
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