搭建linux调试环境（一）-- qemu环境搭建vexpress开发平台

sly@ubuntu:~/develop/linux-5.3.7$ make
scripts/kconfig/conf  --syncconfig Kconfig
  CALL    scripts/checksyscalls.sh
  CALL    scripts/atomic/check-atomics.sh
  CHK     include/generated/compile.h
  GZIP    kernel/config_data.gz
  CC      kernel/configs.o
  AR      kernel/built-in.a
  GEN     .version
  CHK     include/generated/compile.h
  UPD     include/generated/compile.h
  CC      init/version.o
  AR      init/built-in.a
  LD      vmlinux.o
  MODPOST vmlinux.o
  MODINFO modules.builtin.modinfo-
  KSYM    .tmp_kallsyms1.o
  KSYM    .tmp_kallsyms2.o
  LD      vmlinux
  SORTEX  vmlinux
  SYSMAP  System.map
  OBJCOPY arch/arm/boot/Image
  Kernel: arch/arm/boot/Image is ready
  GZIP    arch/arm/boot/compressed/piggy_data
  AS      arch/arm/boot/compressed/piggy.o
  LD      arch/arm/boot/compressed/vmlinux
  OBJCOPY arch/arm/boot/zImage
  Kernel: arch/arm/boot/zImage is ready
  Building modules, stage 2.
  MODPOST 1 modules

3. 測试qemu和内核是否能执行成功

qemu已经安装好了。内核也编译成功了，到这里最好是測试一下，编译出来的内核是否OK，或者qemu对vexpress单板支持是否够友好。

执行命令：qemu-system-arm -M vexpress-a9 -m 512m -kernel /home/sly/develop/linux-5.3.7/arch/arm/boot/zImage -dtb linux-5.3.7/arch/arm/boot/dts/vexpress-v2p-ca9.dtb -nographic -append "console=ttyAMA0"

sly@ubuntu:~/develop$ qemu-system-arm -M vexpress-a9 -m 512m -kernel /home/sly/develop/linux-5.3.7/arch/arm/boot/zImage -dtb linux-5.3.7/arch/arm/boot/dts/vexpress-v2p-ca9.dtb -nographic -append "console=ttyAMA0"
pulseaudio: set_sink_input_volume() failed
pulseaudio: Reason: Invalid argument
pulseaudio: set_sink_input_mute() failed
pulseaudio: Reason: Invalid argument
Booting Linux on physical CPU 0x0
Linux version 5.3.7 (sly@ubuntu) (gcc version 7.4.0 (Ubuntu/Linaro 7.4.0-1ubuntu1~18.04.1)) #4 SMP Mon Dec 9 08:31:07 PST 2019
--省略甚多log----------

Kernel panic - not syncing: VFS: Unable to mount root fs on unknown-block(0,0)
CPU: 0 PID: 1 Comm: swapper/0 Not tainted 5.3.7 #4
Hardware name: ARM-Versatile Express
[<80110808>] (unwind_backtrace) from [<8010c680>] (show_stack+0x10/0x14)
[<8010c680>] (show_stack) from [<8074c7cc>] (dump_stack+0x88/0x9c)
[<8074c7cc>] (dump_stack) from [<80120e64>] (panic+0x110/0x310)
[<80120e64>] (panic) from [<80a01640>] (mount_block_root+0x1e8/0x2d4)
[<80a01640>] (mount_block_root) from [<80a01870>] (mount_root+0x144/0x160)
[<80a01870>] (mount_root) from [<80a019dc>] (prepare_namespace+0x150/0x198)
[<80a019dc>] (prepare_namespace) from [<80763874>] (kernel_init+0x8/0x114)
[<80763874>] (kernel_init) from [<801010e8>] (ret_from_fork+0x14/0x2c)
Exception stack(0x9e4a1fb0 to 0x9e4a1ff8)
1fa0: 00000000 00000000 00000000 00000000
1fc0: 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
1fe0: 00000000 00000000 00000000 00000000 00000013 00000000
---[ end Kernel panic - not syncing: VFS: Unable to mount root fs on unknown-block(0,0) ]---

假设看到内核启动过程中的打印，说明前的搭建是成功的。

这里简介下qemu命令的參数：

-M vexpress-a9 模拟vexpress-a9单板，你能够使用-M ?參数来获取该qemu版本号支持的全部单板

-m 512M 单板执行物理内存512M

-kernel /home/ivan/kernel_git/linux/arch/arm/boot/zImage  告诉qemu单板执行内核镜像路径

-nographic 不使用图形化界面，仅仅使用串口

-append "console=ttyAMA0" 内核启动參数。这里告诉内核vexpress单板执行。串口设备是哪个tty。从生成的.config文件CONFIG_CONSOLE宏找到

4. 利用busybox构建最小文件系统（下载地址：https://busybox.net/）

　　不加载文件系统穷的那个qemu会产生上面贴的log中的panic信息，下面先制作一个可用的最小文件系统。

a. 编译busybox

　　a1. 下载源文件后进行配置

sly@ubuntu:~/develop$ cd busybox-1.24.2/
sly@ubuntu:~/develop/busybox-1.24.2$ export ARCH=arm
sly@ubuntu:~/develop/busybox-1.24.2$ export CROSS_COMPILE=arm-linux-gnueabi-
sly@ubuntu:~/develop/busybox-1.24.2$ make menuconfig

　　a2.menuconfig配置成静态

   Busybox Settings  --->
　　　　Build Options  --->
　　　　　　 [*] Build BusyBox as a static binary (no shared libs)

　　a3. 开始编译, 编译完成后会在busybox目录下生成一个_install的目录，该目录是编译好的文件系统需要使用的一些命令集合。

sly@ubuntu:~/develop/busybox-1.24.2$ make defconfig
sly@ubuntu:~/develop/busybox-1.24.2$ make CROSS_COMPILE=arm-linux-gnueabi-
sly@ubuntu:~/develop/busybox-1.24.2$ make install CROSS_COMPILE=arm-linux-gnueabi-

　　生成的_install目录包含如下内容

sly@ubuntu:~/develop/busybox-1.24.2/_install$ ll
total 20
drwxrwxr-x  5 sly sly 4096 Dec  9 08:14 ./
drwxr-xr-x 36 sly sly 4096 Dec  9 21:08 ../
drwxrwxr-x  2 sly sly 4096 Dec  9 08:14 bin/
lrwxrwxrwx  1 sly sly   11 Dec  9 08:14 linuxrc -> bin/busybox*
drwxrwxr-x  2 sly sly 4096 Dec  9 08:14 sbin/
drwxrwxr-x  4 sly sly 4096 Oct 30 22:18 usr/

b. 制作根文件系统

　　b1. 新建一个根文件系统的文件夹

sly@ubuntu:~/develop$ mkdir rootfs
sly@ubuntu:~/develop$ cd rootfs/

　　b2. 拷贝install目录的命令集到文件夹中

sly@ubuntu:~/develop/rootfs$ cp -rf ../busybox-1.24.2/_install/* .
sly@ubuntu:~/develop/rootfs$ ls
bin  dev  lib  linuxrc  sbin  usr

　　b3. 新建lib目录，从工具链中拷贝执行库到lib文件夹下

sly@ubuntu:~/develop/rootfs$ mkdir lib
sly@ubuntu:~/develop/rootfs$ cp -p /usr/arm-linux-gnueabi/lib/* ./lib

　　b4. 创建设备文件, 创建4个串口设备,和控制台

sly@ubuntu:~/develop/rootfs$ sudo mknod dev/tty1 c 4 1
sly@ubuntu:~/develop/rootfs$ sudo mknod dev/tty2 c 4 2
sly@ubuntu:~/develop/rootfs$ sudo mknod dev/tty3 c 4 3
sly@ubuntu:~/develop/rootfs$ sudo mknod dev/tty4 c 4 4
sly@ubuntu:~/develop/rootfs$sudo mknod -m 666 console c 5 1

　　b5. 制作SD根文件系统镜像, 生成虚拟sd卡并格式化为ext格式：

dd if=/dev/zero of=rootfs.ext3 bs=1M count=32

mkfs.ext3 rootfs.ext3

sly@ubuntu:~/develop$ dd if=/dev/zero of=rootfs.ext3 bs=1M count=32
32+0 records in
32+0 records out
33554432 bytes (34 MB, 32 MiB) copied, 0.0941612 s, 356 MB/s
sly@ubuntu:~/develop$ mkfs.ext3 rootfs.ext3
mke2fs 1.44.1 (24-Mar-2018)
Discarding device blocks: done                            
Creating filesystem with 32768 1k blocks and 8192 inodes
Filesystem UUID: fe2c8081-588f-4e0c-b0c7-09489d0fded5
Superblock backups stored on blocks: 
        8193, 24577

Allocating group tables: done                            
Writing inode tables: done                            
Creating journal (4096 blocks): done
Writing superblocks and filesystem accounting information: done

sly@ubuntu:~/develop$ ls
busybox-1.24.2 linux-5.3.7 linux-5.3.7.tar rootfs rootfs.ext3 tmpfs

　　b6. 将虚拟sd卡挂载到/tmpfs，拷贝rootfs的所有文件到sd，卸载sd(块设备不能直接读写)

sudo mkdir tmpfs

sudo mount -t ext3 rootfs.ext3 tmpfs/ -o loop

sudo cp -r rootfs/*  tmpfs/

sudo umount tmpfs

sly@ubuntu:~/develop $sudo mount -t ext3 rootfs.ext3 tmpfs/ -o loop sly@ubuntu:~/develop$ sudo cp -r rootfs/* tmpfs/
sly@ubuntu:~/develop $ls tmpfs/ bin dev lib linuxrc lost+found sbin usr sly@ubuntu:~/develop$ sudo umount tmpfs
sly@ubuntu:~/develop $ls tmpfs/ sly@ubuntu:~/develop$

5. 启动内核，挂载rootfs

qemu-system-arm -M vexpress-a9 -m 512m -kernel /home/sly/develop/linux-5.3.7/arch/arm/boot/zImage -dtb linux-5.3.7/arch/arm/boot/dts/vexpress-v2p-ca9.dtb -nographic -append "root=/dev/mmcblk0 console=ttyAMA0" -sd rootfs.ext3

sly@ubuntu:~/develop$  qemu-system-arm -M vexpress-a9 -m 512m -kernel /home/sly/develop/linux-5.3.7/arch/arm/boot/zImage -dtb linux-5.3.7/arch/arm/boot/dts/vexpress-v2p-ca9.dtb -nographic -append "root=/dev/mmcblk0 console=ttyAMA0"  -sd rootfs.ext3
WARNING: Image format was not specified for 'rootfs.ext3' and probing guessed raw.
         Automatically detecting the format is dangerous for raw images, write operations on block 0 will be restricted.
         Specify the 'raw' format explicitly to remove the restrictions.
pulseaudio: set_sink_input_volume() failed
pulseaudio: Reason: Invalid argument
pulseaudio: set_sink_input_mute() failed
pulseaudio: Reason: Invalid argument
Booting Linux on physical CPU 0x0
Linux version 5.3.7 (sly@ubuntu) (gcc version 7.4.0 (Ubuntu/Linaro 7.4.0-1ubuntu1~18.04.1)) #4 SMP Mon Dec 9 08:31:07 PST 2019=====================================================......=========================================================================
ALSA device list:
  #0: ARM AC'97 Interface PL041 rev0 at 0x10004000, irq 24
input: ImExPS/2 Generic Explorer Mouse as /devices/platform/smb@4000000/smb@4000000:motherboard/smb@4000000:motherboard:iofpga@7,00000000/10007000.kmi/serio1/input/input2
Error: Driver 'vexpress-muxfpga' is already registered, aborting...
drm-clcd-pl111 10020000.clcd: initializing Versatile Express PL111
drm-clcd-pl111 10020000.clcd: DVI muxed to daughterboard 1 (core tile) CLCD
EXT4-fs (mmcblk0): mounting ext3 file system using the ext4 subsystem
random: fast init done
EXT4-fs (mmcblk0): mounted filesystem with ordered data mode. Opts: (null)
VFS: Mounted root (ext3 filesystem) readonly on device 179:0.
Freeing unused kernel memory: 1024K
Run /sbin/init as init process
random: crng init done
can't run '/etc/init.d/rcS': No such file or directory

Please press Enter to activate this console. 
/ #

　/ # ls
　　bin dev lib linuxrc lost+found sbin usr

6. 编写简单的模块进行加载

文件目录结构如下

sly@ubuntu:~/develop/module/first$ ls
first.c  Makefile

编写源文件

#include <linux/module.h>
#include <linux/kernel.h>

int init_hello_module(void)
{
    printk("init hello_moudle\n");
    return 0;
}

void exit_hello_module(void)
{
    printk("exit hello_module\n");
}

module_init(init_hello_module);
module_exit(exit_hello_module);

MODULE_LICENSE("GPL");

makefile文件

KERN_DIR=../../linux-5.3.7
  
all:
        make -C $(KERN_DIR) M=`pwd` modules 

clean:
        make -C $(KERN_DIR) M=`pwd` modules clean
        rm -rf modules.order

obj-m   += first.o

执行编译，编译出ko文件

sly@ubuntu:~/develop/module/first$ make
make -C ../../linux-5.3.7 M=`pwd` modules 
make[1]: Entering directory '/home/sly/develop/linux-5.3.7'
  CC [M]  /home/sly/develop/module/first/first.o
  Building modules, stage 2.
  MODPOST 1 modules
  CC      /home/sly/develop/module/first/first.mod.o
  LD [M]  /home/sly/develop/module/first/first.ko
make[1]: Leaving directory '/home/sly/develop/linux-5.3.7'
sly@ubuntu:~/develop/module/first$ ls
first.c  first.ko  first.mod  first.mod.c  first.mod.o  first.o  Makefile  modules.order  Module.symvers

rootfs根文件系统下面创建一个modules目录用来存放ko文件

拷贝rootfs的内容到rootfs.ext3虚拟SD中

mount -t ext3 rootfs.ext3 /mnt/ -o loop
cp -r rootfs/* /mnt
umount /mnt

启动开发板，加载KO

/ # ls
bin         lib         lost+found  sbin
dev         linuxrc     modules     usr
/ # cd te
-/bin/sh: cd: can't cd to te
/ # cd modules/
/modules # ls
first.ko
/modules # insmod first.ko 
first: loading out-of-tree module taints kernel.
init hello_moudle
/modules # rmmod first.ko 
rmmod: can't change directory to '/lib/modules': No such file or directory
/lib # lsmod
lsmod: can't open '/proc/modules': No such file or directory

7. 继续完善文件系统

a. 创建etc及inittable文件，语句含义参考： https://blog.csdn.net/u014089899/article/details/80622607

sly@ubuntu:~/develop/rootfs$ mkdir etc
sly@ubuntu:~/develop/rootfs$ cd etc/
sly@ubuntu:~/develop/rootfs/etc$ sudo vi inittab

inittab内容如下

::sysinit:/etc/init.d/rcS
#::respawn:-/bin/sh
#tty2::askfirst:-/bin/sh
#::ctrlaltdel:/bin/umount -a -r

console::askfirst:-/bin/sh
::ctrlaltdel:/sbin/reboot
::shutdown:/bin/umount -a -r

创建fstab，相应文件夹需要自行创建好含义参考：https://blog.csdn.net/xyajia/article/details/79165655

sly@ubuntu:~/develop/rootfs/etc$ sudo vi fstab
# /etc/fstab: static file system information.
# 
# Use 'blkid' to print the universally unique identifier for a
# device; this may be used with UUID= as a more robust way to name devices
# that works even if disks are added and removed. See fstab(5).
#
# <file system> <mount point>   <type>  <options>       <dump>  <pass>
# / was on /dev/sda1 during installation
proc            /proc           proc    defaults                0       0
tmpfs           /tmp            tmpfs   defaults                0       0
sysfs           /sys            sysfs   defaults                0       0
tmpfs           /dev            tmpfs   defaults                0       0
var             /dev            tmpfs   defaults                0       0
ramfs           /dev            ramfs   defaults                0       0

创建init.d/rcS

sly@ubuntu:~/develop/rootfs/etc$ sudo mkdir init.d
sly@ubuntu:~/develop/rootfs/etc$ cd init.d/
sly@ubuntu:~/develop/rootfs/etc/init.d$ sudo vi rcS

#! /bin/sh
PATH=/sbin:/bin:/usr/sbin:/usr/bin
LD_LIBRARY_PATH=/lib
export PATH LD_LIBRARY_PATH

mount -a
mkdir -p /dev/pts
mount -t devpts devpts /dev/pts
mdev -s
mkdir -p /var/lock
echo "----------------------------------------"

echo " welcome debugging on A9 vexpress board"

echo "----------------------------------------"

sly@ubuntu:~/develop/rootfs/etc/init.d$ sudo chmod 777 rcS

用最新的rootfs覆盖rootfs.ext3虚拟SD卡，启动开发板验证，效果如下：（出错部分不知道问什么挂在到mnt后在mnt中没有可执行权限，添加下可执行权限就行）

Error: Driver 'vexpress-muxfpga' is already registered, aborting...
drm-clcd-pl111 10020000.clcd: initializing Versatile Express PL111
drm-clcd-pl111 10020000.clcd: DVI muxed to daughterboard 1 (core tile) CLCD
input: AT Raw Set 2 keyboard as /devices/platform/smb@4000000/smb@4000000:motherboard/smb@4000000:motherboard:iofpga@7,00000000/10006000.kmi/serio0/input/input0
mmc0: new SD card at address 4567
Error: Driver 'vexpress-muxfpga' is already registered, aborting...
drm-clcd-pl111 10020000.clcd: initializing Versatile Express PL111
drm-clcd-pl111 10020000.clcd: DVI muxed to daughterboard 1 (core tile) CLCD
mmcblk0: mmc0:4567 QEMU! 32.0 MiB 
Error: Driver 'vexpress-muxfpga' is already registered, aborting...
drm-clcd-pl111 10020000.clcd: initializing Versatile Express PL111
drm-clcd-pl111 10020000.clcd: DVI muxed to daughterboard 1 (core tile) CLCD
Error: Driver 'vexpress-muxfpga' is already registered, aborting...
drm-clcd-pl111 10020000.clcd: initializing Versatile Express PL111
drm-clcd-pl111 10020000.clcd: DVI muxed to daughterboard 1 (core tile) CLCD
rtc-pl031 10017000.rtc: setting system clock to 2019-12-24T05:46:23 UTC (1577166383)
ALSA device list:
  #0: ARM AC'97 Interface PL041 rev0 at 0x10004000, irq 24
input: ImExPS/2 Generic Explorer Mouse as /devices/platform/smb@4000000/smb@4000000:motherboard/smb@4000000:motherboard:iofpga@7,00000000/10007000.kmi/serio1/input/input2
Error: Driver 'vexpress-muxfpga' is already registered, aborting...
drm-clcd-pl111 10020000.clcd: initializing Versatile Express PL111
drm-clcd-pl111 10020000.clcd: DVI muxed to daughterboard 1 (core tile) CLCD
EXT4-fs (mmcblk0): mounting ext3 file system using the ext4 subsystem
random: fast init done
EXT4-fs (mmcblk0): mounted filesystem with ordered data mode. Opts: (null)
VFS: Mounted root (ext3 filesystem) readonly on device 179:0.
Freeing unused kernel memory: 1024K
Run /sbin/init as init process
random: crng init done
can't run '/etc/init.d/rcS': Permission denied

Please press Enter to activate this console.

/ # ls
bin etc linuxrc proc sys usr
dev lib modules sbin tmp var

进行insmod和rmmod操作，发现还需要创建几个文件夹，根据提示在lib下创建lib/modules和lib/modules/5.3.7，就此告一段落

/modules # ls
first.ko  hello
/modules # cat hello 
hello
/modules # vi hello 
/modules #

8.gdb远程调试内核

8.1.准备gdb

　　linux环境安装gcc后默认是不安装配到gdb的，我们调试的远端设备是arm的所以需要安装交叉编译的gdb，我们之前使用的交叉编译工具链是这个 arm-linux-gnueabi-gcc, 所以我们安装对应的gdb。这里下载的是目前较新的8.3版本

　　下载地址： http://ftp.gnu.org/gnu/gdb/

　　安装方法，建议在源码目录外新建一个文件夹进行编译，目录结构如下

sly@ubuntu:~/develop$ ls
build_gdb  busybox-1.24.2  gdb-8.3  linux-5.3.7  linux-5.3.7.tar  module  rootfs  rootfs.ext3  start.sh  stop.sh  tmp

　　按照上面的交叉编译工具链进行安装对应的gdb

sly@ubuntu:~/develop/build_gdb$ ../gdb-8.3/configure --target=arm-linux-gnueabi
sly@ubuntu:~/develop/build_gdb$ make
sly@ubuntu:~/develop/build_gdb$ sudo make install

　　第一个坑：gdb需要环境上安装了textinfo，否则install的时候会失败，安装方法： sudo apt-get install texinfo

　　第二个坑：gdb运行remote调试时需要安装expat，安装方法： sudo apt-get install expat

　　第三个坑：只安装expat不管用，需要安装dev的开发lib，安装方法： sudo apt-get install libexpat1-dev

　　第二和第三个坑填上后修改下第一步的configure的传入参数如下，带expat编译gdb，之后make再make install就可以了

sly@ubuntu:~/develop/build_gdb$ ../gdb-8.3/configure --target=arm-linux-gnueabi --with-expat

　　gdb默认安装路径： /usr/local/bin/arm-linux-gnueabi-gdb

　　安装完成后查看一下

sly@ubuntu:~/develop/build_gdb$ arm-linux-gnueabi-gdb -v   
GNU gdb (GDB) 8.3
Copyright (C) 2019 Free Software Foundation, Inc.
License GPLv3+: GNU GPL version 3 or later <http://gnu.org/licenses/gpl.html>
This is free software: you are free to change and redistribute it.
There is NO WARRANTY, to the extent permitted by law.

8.2 gdb连接qemu的虚拟环境

　　qemu的参数需要加上-s以便于gdb可以通过1234端口对内核进行连接，新的启动参数如下

qemu-system-arm -M vexpress-a9 -m 512m -kernel /home/sly/develop/linux-5.3.7/arch/arm/boot/zImage -dtb linux-5.3.7/arch/arm/boot/dts/vexpress-v2p-ca9.dtb -nographic -append "root=/dev/mmcblk0 console=ttyAMA0"  -sd rootfs.ext3 -s

　　之后另起一个控制台，启动gdb进行连接

sly@ubuntu:~/develop/linux-5.3.7$ arm-linux-gnueabi-gdb vmlinux
GNU gdb (GDB) 8.3
Copyright (C) 2019 Free Software Foundation, Inc.
License GPLv3+: GNU GPL version 3 or later <http://gnu.org/licenses/gpl.html>
This is free software: you are free to change and redistribute it.
There is NO WARRANTY, to the extent permitted by law.
Type "show copying" and "show warranty" for details.
This GDB was configured as "--host=x86_64-pc-linux-gnu --target=arm-linux-gnueabi".
Type "show configuration" for configuration details.
For bug reporting instructions, please see:
<http://www.gnu.org/software/gdb/bugs/>.
Find the GDB manual and other documentation resources online at:
    <http://www.gnu.org/software/gdb/documentation/>.

For help, type "help".
Type "apropos word" to search for commands related to "word"...
Reading symbols from vmlinux...
(gdb) target remote localhost:1234
Remote debugging using localhost:1234
cpu_v7_do_idle () at arch/arm/mm/proc-v7.S:78
78              ret     lr
(gdb)

大功告成！！

posted @ 2016-10-26 20:25 Edver 阅读(9559) 评论(2) 编辑收藏举报

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搭建linux调试环境（一）-- qemu环境搭建vexpress开发平台

目录：

rootfs根文件系统下面创建一个modules目录用来存放ko文件

拷贝rootfs的内容到rootfs.ext3虚拟SD中

启动开发板，加载KO

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搭建linux调试环境 （一）-- qemu环境搭建vexpress开发平台

目录：

rootfs根文件系统下面创建一个modules目录用来存放ko文件

拷贝rootfs的内容到rootfs.ext3虚拟SD中

启动开发板，加载KO

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搭建linux调试环境（一）-- qemu环境搭建vexpress开发平台