Rasperry Pi: Kernel Build

Introduction

This document is a transcript of a shell script I use to do repeated Linux kernel builds for the Raspberry Pi. I use the Raspi a lot, both for educational purposes (I give courses on various topics around Linux), and for hardware prototyping.

Note that the entire process of building the Rasperry Pi kernel is described in https://www.raspberrypi.org/documentation/linux/kernel/building.md. The foundation’s description is targetted to the end user who wants to get the problem solved. Enable one more drivers in the build, and be done.

This description borrows heavily from the foundation’s, but deviates in a few places. It is for people who want to do more, for example,

  • Maintain their own kernels using Git
  • Build kernels for different architectures, and not only for the Rasperry
  • Use different toolchains (I use Gentoo’s crossdev to create toolchains)
  • Understand better what’s involved

Cross Toolchain on Host

It’s no fun to do large compilations on the Pi. The Pi2 has become a lot more powerful — 4 processors can do more than just one. RAM has also doubled but there is still “only” 1GB which soon becomes the limiting factor for a parallel kernel compilation.

This is why we do cross compiling. One could compile on the Pi if one wants, things become simpler when done without cross compiling — but not much as we will see. Anyway, there are other platforms which are not as capable as the Pi — where there is no native compilation no matter what —, and the same principles apply there.

Architecture Name — What’s That?

I am not exactly sure where those architecture names come from, and what their canonical definition is. I understand that one needs a cross toolchain to build code on the workstation, and that code will run on the target machine (Pi in our case).

So how to select the toolchain? Every toolchain has a name, and I cannot come up with a good explanation of how these names are made up. Here two examples,

  • The Raspberry Foundation’s toolchain. See https://www.raspberrypi.org/documentation/linux/kernel/building.md for how to get it (it boils down to cloning a Github repository). Obviously they use the target name arm-linux-gnueabihf. Makes sense, the ...hf stands for hardware floatingpoint.
  • Gentoo’s crossdev. Here the Pi toolchain is referred to as armv6j-hardfloat-linux-gnueabi (see https://wiki.gentoo.org/wiki/Raspberry_Pi) which also makes sense. hardfloat as above, plus there we are more specific about the processor type: armv6j.

The point is that there is no magic behind the toolchain name (except that you should choose the right toolchain for your target architecture of course). All you need to know is that the target name is part of the name of the binaries,

   $ ls -1 /usr/bin/armv6j-hardfloat-linux-gnueabi-*
   /usr/bin/armv6j-hardfloat-linux-gnueabi-ar
   /usr/bin/armv6j-hardfloat-linux-gnueabi-as
   /usr/bin/armv6j-hardfloat-linux-gnueabi-g++
   /usr/bin/armv6j-hardfloat-linux-gnueabi-gcc
   /usr/bin/armv6j-hardfloat-linux-gnueabi-ld
   /usr/bin/armv6j-hardfloat-linux-gnueabi-nm
   /usr/bin/armv6j-hardfloat-linux-gnueabi-objcopy
   ...

I, being a Gentoo user, will use armv6j-hardfloat-linux-gnueabi for the remainder.

Building a Toolchain with Gentoo’s crossdev

Links:

Crossdev will pull in a lot of Ebuilds which are used to build the members (binutils, gcc, …) of the toolchain. These will not be stored in the main portage tree, but rather in a local portage overlay that you will have to create.

To create a local overlay for the crossdev artifacts,

# mkdir -p /usr/local/portage-crossdev/profiles
# echo local-crossdev > /usr/local/portage-crossdev/profiles/repo_name

In /etc/portage/repos.conf/crossdev.conf (create if it does not exist), add

[local-crossdev]
location = /usr/local/portage-crossdev
priority = 9999
masters = gentoo
auto-sync = no

Build the toolchain (this can take a while),

# crossdev --stable --target armv6j-hardfloat-linux-gnueabi

Other Toolchains

The Raspberry Foundation’s documentation has a precompiled toolchain available from a Git repository. (What mindset leads you to using Git for this?)

If you are developing for industry embedded platforms, as I do from time to time, chances are that you will be using a vendor supplied toolchain. No difference, basically, other than probably very outdated versions. If the pain becomes too hard because the version are way too outdated, Gentoo’s crossdev can always come to the rescue.

Kernel Source

I use to track Linus’s repository, and pull stuff from others as needed. Occasional kernel work is also done there. Together with out-of-source kernel builds, this is what is in this description:

  • Get the mainline kernel
  • Augment it with the Raspi tree on Github

Kernel source from Linus’s repository (I use to have it in ~/work/linux),

$ git clone https://github.com/torvalds/linux.git ~/work/linux

The Raspberry kernel source is in https://github.com/raspberrypi/linux.git — add this as a git remote,

$ cd ~/work/linux
$ git remote add raspberrypi https://github.com/raspberrypi/linux.git
$ git remote -v
origin	https://github.com/torvalds/linux.git (fetch)
origin	https://github.com/torvalds/linux.git (push)
raspberrypi	https://github.com/raspberrypi/linux.git (fetch)
raspberrypi	https://github.com/raspberrypi/linux.git (push)

Initial fetch,

$ git fetch raspberrypi

Add a local tracking branch (and check it out) for the one remote branch that we want to work on. rpi-4.1.y is the current version as of this writing.

$ git checkout -b rpi-4.1.y remotes/raspberrypi/rpi-4.1.y

Kernel Compilation

Parameters for the Build

In order to make the million command lines that follow more concise and maintainable, I set a few variables that are referred to in the remainder as needed. In real life all this would be done in a shell script (it is), but it is easier to make things clear in a step-by-step manner.

SOURCEDIR is where the kernel source is. The build will leave that tree untouched.

$ SOURCEDIR=$HOME/work/linux

BUILDDIR is where the kernel build goes. Initially empty.

$ BUILDDIR=/var/jfasch/raspi/kernel/rpi-4.1.y-jfasch/build
$ mkdir -p $BUILDDIR

BUILDPARAM is supplied to the kernel build as a whole, as a commandline parameter to the make program. This one’s for cross compilation — select the ARM architecture, and specify your cross toolchain.

Important: when supplying the toolchain name (armv6j-hardfloat-linux-gnueabi) to the kernel build, we have to add an extra ‘-‘ at the end, making it into armv6j-hardfloat-linux-gnueabi-. The kernel build system prepends the supplied value to gcc literally.

Otherwise the build will fail with a rather unobvious message,

scripts/kconfig/zconf.tab.c:199:24: fatal error: zconf.hash.c: No such file or directory

So,

$ BUILDPARAM="ARCH=arm CROSS_COMPILE=armv6j-hardfloat-linux-gnueabi-"

Next, I like the build to take place out-of-source, and this is how it is done.

$ BUILDPARAM="$BUILDPARAM -C $SOURCEDIR"
$ BUILDPARAM="$BUILDPARAM O=$BUILDDIR"

When the build is done, the build artifacts have to be collected and transferred to the Raspi. There are two places on the Raspi that are relevant for the boot,

  • Bootloader stuff. This is on a fat32 partition; the kernel, device tree, and device tree overlays go there.
  • Kernel modules. The module tree is part of the regular root filesystem which is ext4 formatted partition (not necessarily, but Raspbian images come in that shape).

When the build is done, we will prepare two tar files, out of two directory trees that we fill. This is what the following variables are there for,

$ BOOTDIR=/var/jfasch/raspi/kernel/rpi-4.1.y-jfasch/bootfs
$ ROOTDIR=/var/jfasch/raspi/kernel/rpi-4.1.y-jfasch/rootfs
$ mkdir -p $BOOTDIR $ROOTDIR

Finally, the kernels for Raspi versions 1 and 2 are different. (Further down we’ll create different kernel configurations for the two.) The bootloader decides which one to load, based on its filename,

For the Pi 1, choose

$ KERNEL=kernel

For the Pi 2, choose

$ KERNEL=kernel7

Preparing the Kernel .config File

If you have a running Raspi, you can retrieve the kernel configuration from the running kernel (logged in as root on the Raspi),

# modprobe configs    # suddenly /proc/config.gz appears
# gzip -cd /proc/config.gz > /tmp/raspi-config

Then, on the host, copy that file into the build directory (which is still empty at this point), and let the build assimilate it,

$ cp raspi-config $BUILDDIR/.config
$ make $BUILDPARAM oldconfig

Alternatively, for the Raspi tree, there is a way to create the same configuration without having a running Raspi.

For the Pi 1, call

$ make $BUILDPARAM bcmrpi_defconfig

For the Pi 2, call

$ make $BUILDPARAM bcm2709_defconfig

This creates the same $BUILDDIR/.config kernel configuration file that we extracted from the live Raspi above. Assimilate,

$ make $BUILDPARAM oldconfig

Now is the time to make adjustments — this is why we are compiling a custom kernel in the first place. Enter the configuration menu,

$ make $BUILDPARAM menuconfig

Your modification demands may vary — here are demands that I can imagine.

  • CONFIG_LOCALVERSION: it make sense to differentiate (with uname -r for example) your custom kernel from the original. I append -jfasch, at a minimum or something more precise.

  • CONFIG_IKCONFIG: link /proc/config.gz statically. Otherwise one has to modprobe configs to see it. I use the file often during development, and don’t want to load a module eveytime I need it.

  • CONFIG_CAN_MCP251X: a CAN controller that I needed to talk to in one of my recent projects. Already there, as a module — but better check.

  • CONFIG_SENSORS_LM73: an I2C temperature sensor. Configure as module.

Building the Kernel Artifacts

Now, having created and edited the configuration, the tree is fit for building. Note how we didn’t yet make any modifications to the source ($SOURCEDIR) itself — all we did takes place in $BUILDDIR. Let the system build all the necessary artifacts,

  • The main kernel image
  • Modules
  • Device tree blobs
$ make $BUILDPARAM zImage modules dtbs

If your host machine happens to have multiple cores (likely), gain a speed up by doing parallel compilation (mine has four cores, and I specify one less because I usually want to do other work during the build),

$ make -j3 $BUILDPARAM zImage modules dtbs

Packaging

Now’s the time to collect all the artifacts together, and transfer them onto the Raspi. We create two “packages” so to say, in the form of tar files. One package contains the artifacts that are read by the bootloader, the other package contains the module tree of the kernel we just built.

Bootloader Artifacts

The kernel image, arch/arm/boot/zImage, has to be wrapped into an envelope that is understood by the bootloader. As root,

$ $SOURCEDIR/scripts/mkknlimg $BUILDDIR/arch/arm/boot/zImage $BOOTDIR/$KERNEL.img

In addition to the kernel, the bootloader loads the device tree. Before starting te kernel, it composes a complete tree out of a main device tree and overlays. Copy these artifacts,

$ cp $BUILDDIR/arch/arm/boot/dts/*.dtb $BOOTDIR/
$ mkdir $BOOTDIR/overlays
$ cp $BUILDDIR/arch/arm/boot/dts/overlays/*.dtb $BOOTDIR/overlays/

Having all this in $BOOTDIR, create a tar file from it,

$ tar -C $BOOTDIR -jcf /tmp/raspi-boot.tar.bz2 .

Module Tree

Install the kernel modules into $ROOTDIR. This will create a module tree starting at $ROOTDIR/lib/modules/<kernel-version> — so $ROOTDIR can be thought of as an overlay over the target root filesystem.

$ make $BUILDPARAM INSTALL_MOD_PATH=$ROOTDIR modules_install

Then, create another tar package containing $ROOTDIR. The root filesystem (ext4) has an idea what owners and groups are, so it makes sense to create a tar file reflecting the ideal situation — modules are owned by root —,

$ tar -C $ROOTDIR --owner root --group root -jcf /tmp/raspi-root.tar.bz2 .

Summary

The outcome of our kernel build is two “packages” in the form of tar files. Each of these files functions as an “overlay” over one of the two filesystems that are usually employed by a Raspberry distribution.

It is worth noting that …

  • We did not have to become superuser during the build. (We did for the cross toolchain installation, clearly. But this is a one-time operation.)
  • The packages contain only relative paths.

The “boot” overlay file contains those artifacts that are relevant for the bootloader, and they are read before the kernel is started. This package looks as follows,

$ tar jtf /tmp/raspi-boot.tar.bz2
./
./bcm2709-rpi-2-b.dtb
./kernel7.img
./overlays/
./overlays/smi-overlay.dtb
./overlays/rpi-ft5406-overlay.dtb
./overlays/mcp2515-can1-overlay.dtb
./overlays/pwm-overlay.dtb
...

The “root” overlay contains the kernel module tree. It contains kernel modules, and these are loaded by the running kernel. This package looks as follows,

$ tar jtf /tmp/raspi-root.tar.bz2 
./
./lib/
./lib/modules/
./lib/modules/4.1.10-v7-jfasch+/
./lib/modules/4.1.10-v7-jfasch+/source
./lib/modules/4.1.10-v7-jfasch+/modules.order
./lib/modules/4.1.10-v7-jfasch+/modules.symbols.bin
./lib/modules/4.1.10-v7-jfasch+/kernel/
./lib/modules/4.1.10-v7-jfasch+/kernel/net/
./lib/modules/4.1.10-v7-jfasch+/kernel/net/ipv4/
./lib/modules/4.1.10-v7-jfasch+/kernel/net/ipv4/xfrm4_mode_beet.ko
./lib/modules/4.1.10-v7-jfasch+/kernel/net/ipv4/inet_lro.ko
./lib/modules/4.1.10-v7-jfasch+/kernel/net/ipv4/esp4.ko
./lib/modules/4.1.10-v7-jfasch+/kernel/net/ipv4/xfrm4_mode_transport.ko
./lib/modules/4.1.10-v7-jfasch+/kernel/net/ipv4/udp_tunnel.ko
... (many more) ...

Next (and last), we have to bring these packages onto the target in order to boot our new versions.

Deployment

Given our two packages, deployment is simple. Insert an SD card that is prepared with your favorite Raspberry distribution (I only tested with Raspbian, but there’s no real reason why it shouldn’t work with any other), and you’ll get presented with two partitions (mine are /dev/sdb*),

$ cat /proc/partitions 
...
   8       17      57344 sdb1
   8       18    4162560 sdb2
...

I use Gnome 3 and systemd which is a bit decadent, but I sure enjoy external storage being mounted automatically,

$ mount
/dev/sdb1 on /run/media/jfasch/boot type vfat (...)
/dev/sdb2 on /run/media/jfasch/ec2aa3d2-eee7-454e-8260-d145df5ddcba type ext4 (...)

(You might have to take manual care to establish a similar situation.)

First, the “boot” stuff. We don’t have to become root since fat32 is permission-agnostic, so we just unpack the “boot” package onto the SD card’s boot partition,

$ tar -C /run/media/jfasch/boot -jxf /tmp/raspi-boot.tar.bz2

Next, the “root” stuff. We cannot unpack our “root” package into the mounted ext4 filesystem — its /lib/modules/ directory is owned by root, and that’s where the module tree is supposed to go to. So, as root,

# tar -C /run/media/jfasch/ec2aa3d2-eee7-454e-8260-d145df5ddcba -jxf /tmp/raspi-root.tar.bz2

Finally,

$ sync

Done. Pull out card, insert into Raspi, boot.

Variation

If you have a running Raspi and you don’t want to shut it down for too long (pull out card, do the deployment as described above, insert card back in, boot), then you can do the deployment onto the filesystems while the Raspi is running from them. There no danger of overwriting files while they are in use — all that’s being use is loaded into memory and runs from there. The bootloader is done, the kernel is loaded into memory, has interpreted the device tree, and the modules are in place. Transfer the packages onto the Raspi, and do the same with the running filesystems.

The fat32 “boot” filesystem is mounted at /boot. Files are only accessible as root because that is the user who mounted the filesystem — so we have to become root.

# tar -C /boot -jxf /tmp/raspi-boot.tar.bz2

Same for the ext4 “root” filesystem, which in fact is the root filesystem for the running kernel,

# tar -C / -jxf /tmp/raspi-root.tar.bz2

Done. Reboot.

Summary

Now what have we done?

  • We built a cross toolchain, using Gentoo’s extremely cool crossdev. We could use just about any other toolchain, as long as it can build code that can run on the target processor. With embedded “industry boards” you usually receive a vendor provided toolchain, so this is likely the way to go in such cases. Remember that the toolchain name is just a prefix of the toolchain’s executables (compiler, linker, etc.)
  • We used Git heavily (no, not heavily) to get to our kernel source. This is not necessary if you receive the kernel source from elsewhere — all that’s needed is the kernel tree, no matter where it comes from. Nevertheless, if you plan for proper forward development, I recommend you to urge vendors to communicate properly via Git.
  • We did some kernel configuration, enabling modules, features, and whatnot. Play around.
  • We built the kernel out-of-source. This is a very cool way of keeping the source tree read-only — which is definitely recommended when you use one Git repository for work on multiple kernel versions.
  • We prepared “packages”. This is not necessary, but it is a good way to structure your deployments — and, most of all, to get an understanding of which goes where. There are distributions (Debian/Raspbian being only one of them) and even meta-distributions (Yocto, and to some extent, Gentoo) that are based on a great deal of that knowledge.