When you download an image for your Raspberry Pi or Beaglebone or other SBC do you ever pause to think about how that image came to be? Installing the system for a single board computer rarely involves booting into an installer, indeed it rarely looks like an x86 system until well after the system is up. Why is this? To answer this I’m diving into what it took to add the latest hardware support to Void Linux: the Pogoplug Mobile (v4).
What’s a Pogoplug?
One of the first questions that can be asked here is why the Pogoplug? Ultimately the answer boils down to it was cheap and I like the Kirkwood architecture. Its unique and a pretty slick system when you get down to it. It was one of the first devices in my opinion that really counted as an IoT device and was really ahead of its time when it came out in terms of a plug and play Linux based appliance. Alas times have changed and the Pogoplug is no longer the single player in the market.
At a high level the Pogoplug is a Marvell Kirkwood platform with 128M of NAND flash and just under 128M of usable RAM. Its an 800Mhz system so not a speed demon by any means, but quite capable as a file-server or a small game server. The system boots with u-boot like many other ARM platforms. It features one USB 2.0 port, one full size SD card slot, one user defined button (used for ejecting volumes in the stock OS) and perhaps strangest of all in my opinion is a Gigabit Ethernet NIC. I find this odd since no bus on the device can use that bandwidth. At the time of this writing a new old stock Pogoplug v4 Mobile can be had for just $9 from Amazon.
Scoping the Target
One of the first steps in figuring out how to bring up a new target for Void or any distro in general is to learn about the target platform. This involves finding out what hardware it has, what system interfaces it might not expose but have on-board, and how to own the device if this is already known. Fortunately most of this information is out on the internet already since this is a somewhat dated device. With this information in hand I had positive confirmation that it is an armv5tel processor. Looking further, it turns out that this device is supported by the mainline Linux kernel and has a well supported DTB. The DTB or Device Tree Blob tells the Kernel how the hardware is laid out on the board. DTBs are a somewhat new development designed to keep the complexity of many small IoT devices in check. The kernel can boot, read the DTB and then understand instantly where the hardware is and how to talk to it. Other information was obtained from Wikipedia and general Google searches. More specific information was obtained later.
The next steps involved making sure that a root file-system could be built for the device. Lets take a step back here and look at why this is the way ARM systems are installed. On an x86 system the BIOS loads some initial stubs to talk to the hardware and then searches the various block devices for one with both a boot sector which is valid and a partition with the boot flag set. EFI systems use a similar mechanism of searching for a valid EFI stub, but may also validate signatures along the way. After the BIOS loads in the limited amount of code that brings up the boot-loader it is finished with its interaction in the boot but remains around as the well defined interface by which the kernel talks to the rest of the hardware. With an Arm system u-boot will load, initialize whatever bus is needed to talk to the NAND flash and then because partitions aren’t really a thing in the NAND world, it will load a uImage and uInitrd into memory. Modern kernels will also load the DTB into memory just after the initrd. After this step u-boot will jump into the kernel and its job is done. It doesn’t really stick around and after the initial load of the kernel completes, it is the sole arbiter of what happens on the machine. To be clear this is how in practice x86 systems work as well, but for historical reasons, its important to know that the BIOS/EFI systems are still around at the low levels of the machine.
So clearly a complete file-system needs to be available for the target. For Void, everything is cross-compiled from x86_64 build machines. Fortunately, Void already has supported cross compilers and cross profiles for the armv5tel and armv5tel-musl architectures. This stems from years ago when dockstar support was added. So to bring up a new system that would work for Void on armv5 all I had to do was bootstrap a dedicated masterdir to run the build in and build the base-system package right? Wrong. The base-system package is a metapackage and so is intrinsically noarch, but it has hard dependencies on x86-only packages. Plus, the Pogoplug needs some other stuff installed on it to work correctly. As is common with SBC platforms, it needed a dedicated base package. After building a dedicated base package (pogoplugv4-base) I set the masterdir building. This was left to run overnight as even on my quite fast desktop it still took several hours to compile all of the base system components.
While this was running I started working on how I would actually connect and boot the system. I knew I needed access to the boot time console and perhaps even the ability to dump in new firmware if I messed things up really spectacularly. All of this is possible from the netconsole in newer versions of u-boot, but the Pogoplug runs an ancient version so this wasn’t an option initially. Like most embedded style systems the pogoplug has a UART to be able to do some debugging and initial programming during assembly. As an aside, its possible with certain versions of the OS to get SSH access and then do all the re-flashing from memory and over the network. I personally do not like this option and prefer out of band consoles when possible. To get access to do the initial flash I tacked on an FTDI cable I bought several years ago to an unlabeled set of pads that contained the TX, RX, and GND lines. I did not have to reason out the identity of these pads as this if fortunately available on several sites, but in general I just look for 4 pads near each other and one of them with continuity to ground and one with continuity to a power rail; at that point its a guess as to which is transmit and receive, but you’ve got a 50% chance of getting it right on the first try.
With the serial console tacked on I was greeted with a root shell because after all, the ’S’ in ‘IoT’ stands for security. From this point I updated the u-boot installation based on directions from the doozan forums. I could now boot the device and watch everything from the initial boot scroll to the stock OS loading. The system was now ready to boot a Void tarball on.
To build the tarball I added support to the void-mklive system to build a “PLATFORMFS” tarball for this device. These are tarballs derived from broad architecture tarballs and contain support for the specific device in question. Doing this was pretty trivial as I had recently overhauled the system that builds the SBC images to make more efficient use of bandwidth with better caching and to build the same thing fewer times. This change boiled down to a handful of lines to change and then a new function to permit injecting custom dracut args into a build (more on why this is necessary in a bit).
The build script creates a temp directory and installs the desired packages into it. If the target architecture is different from the host architecture or some magic flags are set, XBPS will skip the final configure stage of the package. With the data unpacked into the tempdir xbps-reconfigure can be used to, from the host, configure the base-files package. This sets up some critical subsystems that are needed before chroots will work in the tempdir. After that is done, the image can be configured “natively” with the use of qemu-user-static which allows the arm binaries to run on the host system. This involves echoing some magic hex strings into /proc and is very poorly documented. Fortunately most of this complexity is wrapped up into mklive and so a developer would not need to necessarily understand how all of this works at the start.
Booting the System
So with a platformfs written to a flash drive, the new u-boot installed, and a serial console connected I was ready to boot. Except that no matter what I tried, it did not boot. This is where its important to know when you’re out of depth. My experience is in full blown x86 systems where I have lots of debugging tools available and I can introspect into the stack very early in the boot process. In Arm this is much much harder to do, when its possible at all. As a quick sanity check I attempted to boot Debian on the platform. Its well supported and it would give me a good point to clear out weirdness in the stack. When Debian failed to boot, I posted a thread on the doozan forums where it was pointed out to me very quickly that I’d updated the firmware but not written the new NVRAM state. You can think of the NVRAM as the “settings” similar to those in a BIOS based system. Since I had the old environment with the new u-boot, it was little wonder that things weren’t working. After correcting the NVRAM state Debian booted just fine.
With Debian booting I figured I was on the home stretch. After all, once any distro can be booted on a platform its generally just a matter of assembling the right user-space system around the known good kernel. Since I had no desire to package yet another kernel for Void I skipped this and decided to boot with the mainline kernels that are regularly tracked and updated. This also meant I could boot with zImage support since I had an updated u-boot. I wrote my system to another disk and plugged it it and u-boot promptly stopped booting. It turns out that the environment variables from the doozan forums are fiendishly clever and try to auto-detect the disk that contains the boot files. Since I was using a zImage instead of a uImage this check didn’t work.
With more help from [bodhi] who is a truly incredible developer of Arm
based systems the variables were patched to look for a zImage instead
of a uImage. The system now loaded the zImage, the uInitrd and the
DTB into memory. With baited breath I hastily typed out
boot at the
prompt and watched as the system promptly crashed. Okay, so what
gives? It loaded everything, it was the right arch and Debian had
already booted, so what could be wrong? Once again [bodhi] came to
the rescue to spot that I had a 42M uInitrd. This is insanely large,
you can fit an entire system in 42M and this was just the initrd. You
see, if you build a Void kernel without a config file it will default
to building all possible extensions as modules. Then if you build the
initrd with dracut and have the
-N flag set you will wind up with
all of these modules in the initrd. Many of these modules make no
sense on SBCs much less traditional x86 systems. Configuring a kernel
build is time consuming and very dull work. Fortunately this work was
already done, I was able to just use the kernel config file from the
Debian build to drive the Void build. This resulted in a smaller
kernel and a smaller initrd. But why did this fail in the first
place? Unlike BIOS systems which will load the kernel and initrd into
memory at locations it chooses, u-boot requires you to set an absolute
memory address to load the resources to. The address set for the DTB
was inside the range occupied by the initrd and so it corrupted it on
each boot. The smaller initrd and moving the DTB solved this issue.
With the system now booting happily I pulled the drive out and made some changes with it mounted on my desktop, mostly setting up a serial console and making sure that sshd and dhcpcd were set to start on boot. After all this, I had a functional Void system that booted on the Pogoplug. Here’s a quick look at what the booted system looks like:
void-live login: root Password: Last login: Thu Jan 1 00:00:32 on console # xbps-uhelper arch armv5tel-musl # uname -a Linux longshot-musl 4.13.3_1 #1 PREEMPT Tue Sep 26 06:20:29 UTC 2017 armv5tel GNU/Linux # df -h Filesystem Size Used Avail Use% Mounted on devtmpfs 52M 0 52M 0% /dev tmpfs 58M 0 58M 0% /dev/shm tmpfs 58M 132K 58M 1% /run /dev/sda1 7.4G 201M 6.8G 3% / cgroup 58M 0 58M 0% /sys/fs/cgroup tmpfs 58M 0 58M 0% /tmp # free -m total used free shared buff/cache available Mem: 114 11 76 0 26 98 Swap: 0 0 0 # pstree runit---runsvdir-,-runsv---sshd |-runsv---login---sh---pstree |-runsv---dhcpcd |-runsv---udevd
The system is booted on 11M of RAM, I’d say that’s a pretty usable system. Its working with musl to try and get the system just a little smaller. I’m pretty sure it could be made below the 128M limit to fit in internal NAND but I’m content to boot from an SD card and keep the NAND for recovery purposes.
This has been a brief look at how a new platform is brought up from unboxing to booting on Void Linux. Hopefully its been informative and useful in explaining some of the unusual things about Arm SBCs and Void’s build processes. If you’d like to duplicate this setup, here’s the TL;DR:
Unbox and power on your Pogoplug, it needs to boot once on the stock system to complete some initial tasks.
Open the case by removing the two screws under the feet and then gently prying the top off at the seam line around the base. This is best done with a thin flat piece of metal. Solder on a console cable to the 4 pads near the SD card according to this page.
Verify that you can connect to the serial console at 115.2 kilo-baud and that you have a root shell.
Update u-boot using the steps here
Compile the base system for the Pogoplug:
$ git clone git://github.com/voidlinux/void-packages.git $ cd void-packages $ ./xbps-src -m masterdir-armv5tel -a armv5tel -r armv5tel binary-bootstrap $ ./xbps-src -m masterdir-armv5tel -a armv5tel -r armv5tel pkg pogoplugv4-base $ cd ../ $ git clone git://github.com/voidlinux/void-mklive.git $ cd void-mklive $ make $ sudo ./mkrootfs.sh -r ../void-packages/hostdir/binpkgs/armv5tel armv5tel $ sudo ./mkplatformfs.sh -r ../void-packages/hostdir/binpkgs/armv5tel pogoplugv4 void-armv5tel*
Write the resulting file-system to disk. Put this in the Pogoplug.
Boot with the following environment variables:
setenv load_image_addr 0x800000 setenv scan_disk 'echo running scan_disk ...; scan_done=0; setenv scan_usb "usb start"; setenv scan_ide "ide reset"; setenv scan_mmc "mmc rescan"; for dev in $devices; do if test $scan_done -eq 0; then echo Scan device $dev; run scan_$dev; for disknum in $disks; do if test $scan_done -eq 0; then echo device $dev $disknum:1; if load $dev $disknum:1 $load_image_addr /boot/zImage 1; then scan_done=1; echo Found bootable drive on $dev $disknum; setenv device $disknum:1; setenv bootdev $dev; fi; fi; done; fi; done' setenv dtb_file '/boot/dtbs/kirkwood-pogoplug-series-4.dtb' setenv load_image 'echo loading Image ...; load $bootdev $device $load_image_addr /boot/zImage' setenv bootcmd_exec 'run load_image; if run load_initrd; then if run load_dtb; then bootz $load_image_addr $load_initrd_addr $load_dtb_addr; else bootz $load_image_addr $load_initrd_addr; fi; else if run load_dtb; then bootz $load_image_addr - $load_dtb_addr; else bootz $load_image_addr; fi; fi' setenv load_dtb_addr 0x3000000
With those set, you can now type
boot. If everything is done right
you should see “Welcome to Void” within a few seconds and the normal
runit system startup shortly thereafter. Congratulations, you’ve got
Void on a Pogoplug!
If you found this article cool or want to reach out, feel free to ping
me in IRC. I idle in
#voidlinux on Freenode as