diff --git a/src/docs/avocado-linux/guides/custom-kernel.md b/src/docs/avocado-linux/guides/custom-kernel.md new file mode 100644 index 00000000..ae2fb87a --- /dev/null +++ b/src/docs/avocado-linux/guides/custom-kernel.md @@ -0,0 +1,308 @@ +--- +sidebar_position: 6 +title: 'Custom kernel' +description: 'Bring your own Linux kernel to Avocado - cross-compile from source or install a pre-built kernel package with the required configuration for system extensions, systemd, and boot.' +--- + +Avocado runtimes ship with a default kernel provided by the `avocado-img-bootfiles` package (pulled in by the `avocado-runtime` meta-package). When your project requires a specific kernel version, vendor-supplied kernel sources, or custom driver support, the `kernel` configuration option lets you replace the default kernel with your own. + +This guide covers: + +- How to configure `avocado.yaml` for a custom kernel +- Required kernel configuration options Avocado depends on +- Writing compile and install scripts +- Adapting the workflow for different hardware targets + +:::tip vendor kernels +For hardware like NVIDIA Jetson, NXP i.MX, or Qualcomm platforms, start with the kernel source tree provided by the silicon vendor. These trees include board-specific device tree files, peripheral drivers, and GPU support that upstream kernels may lack. +::: + +## Configuration modes + +The `kernel` section in a runtime supports two mutually exclusive modes: + +### Compile from source + +Cross-compile a kernel inside the SDK container: + +```yaml +runtimes: + dev: + kernel: + compile: kernel # References an sdk.compile section by name + install: kernel-install.sh # Copies the built image into the runtime +``` + +- `compile` -- References an `sdk.compile` section that runs the build. +- `install` -- A script executed after compilation. It receives `AVOCADO_RUNTIME_BUILD_DIR` (pointing to `$AVOCADO_PREFIX/runtimes//`) and is responsible for copying the kernel image there. + +### Install from package + +Use a pre-built kernel RPM from your package feed: + +```yaml +runtimes: + dev: + kernel: + package: kernel-image + version: '6.12.69' +``` + +`package` and `compile` are mutually exclusive. If the `kernel` section is omitted entirely, the default Avocado kernel is used. + +## SDK compile section + +When compiling from source, define the compile section that the runtime references: + +```yaml +sdk: + image: docker.io/avocadolinux/sdk:{{ avocado.distro.channel }} + + compile: + kernel: + compile: kernel-compile.sh + packages: # Target sysroot packages installed before the script runs + libelf1: '*' + + packages: + avocado-sdk-toolchain: '{{ avocado.distro.version }}' + nativesdk-bc: '*' + nativesdk-libelf1: '*' +``` + +The `packages` field inside `sdk.compile.kernel` declares target sysroot dependencies. The `sdk.packages` field declares host-side SDK packages installed into the SDK sysroot. Common ones for kernel builds include `bc` (for `timeconst.h` generation) and `libelf` (for `objtool`). Check your SDK package feed for the correct package names. + +## Writing the compile script + +The compile script runs inside the SDK container where the OpenEmbedded cross-compilation environment is already sourced. Variables like `CROSS_COMPILE`, `ARCH`, and `OECORE_TARGET_SYSROOT` are set before your script executes. + +### Handling SDK environment conflicts + +The OE SDK sets `CC`, `CFLAGS`, `LDFLAGS`, and other variables with `--sysroot` flags and tuning options designed for userspace cross-compilation. The kernel build system manages its own flags and derives `CC` from `CROSS_COMPILE` internally, so these SDK variables **conflict** with it. + +Save the variables you need, unset the rest, then restore: + +```bash +# Save what the kernel build needs +_CROSS_COMPILE="${CROSS_COMPILE}" +_ARCH="${ARCH}" +_TARGET_SYSROOT="${OECORE_TARGET_SYSROOT}" + +# Clear everything the SDK sets that conflicts with the kernel build system +unset CC CXX CPP LD AR AS NM STRIP OBJCOPY OBJDUMP READELF RANLIB +unset CFLAGS CXXFLAGS CPPFLAGS LDFLAGS +unset KCFLAGS + +# Restore +export CROSS_COMPILE="${_CROSS_COMPILE}" +export ARCH="${_ARCH}" +``` + +### Setting up host tool compilation + +The kernel builds host-side tools (`fixdep`, `objtool`, `genksyms`, etc.) that run on the build machine during compilation. Three issues arise in the SDK environment: + +1. **No bare `gcc`/`ld`/`ar`.** The SDK container only ships cross-prefixed tools (e.g., `x86_64-avocado-linux-gcc`). + +2. **Make assignment semantics.** The kernel Makefile uses `HOSTCC = gcc` (unconditional assignment). In GNU make, environment variables do **not** override unconditional assignments -- you must pass them on the **command line**. + +3. **No default sysroot.** The bare cross-compiler has no built-in sysroot, so standard headers like `sys/types.h` are not found. Point it at the target sysroot with `--sysroot`. + +```bash +HOSTCC="${CROSS_COMPILE}gcc --sysroot=${_TARGET_SYSROOT}" +HOSTCXX="${CROSS_COMPILE}g++ --sysroot=${_TARGET_SYSROOT}" +HOSTLD="${CROSS_COMPILE}ld" +HOSTAR="${CROSS_COMPILE}ar" + +MAKE_ARGS=( + HOSTCC="${HOSTCC}" + HOSTCXX="${HOSTCXX}" + HOSTLD="${HOSTLD}" + HOSTAR="${HOSTAR}" +) + +make "${MAKE_ARGS[@]}" defconfig # or your vendor/board defconfig +make "${MAKE_ARGS[@]}" olddefconfig +make "${MAKE_ARGS[@]}" -j"$(nproc)" Image # or bzImage, zImage, etc. +``` + +:::caution cross-architecture builds +Using the cross-compiler as `HOSTCC` only works when host and target share the same architecture (e.g., x86_64 SDK building an x86_64 kernel). For true cross-architecture builds (e.g., building an ARM64 kernel on an x86_64 SDK), the cross-compiler's output won't run on the host. In that case, install `nativesdk-gcc` in the SDK to get a native host compiler. +::: + +## Required kernel configuration + +Avocado depends on specific kernel options being enabled. These fall into three categories: filesystem support for the extension and update system, systemd init requirements, and boot infrastructure. + +### Filesystem support + +Avocado uses overlayfs and squashfs for system extensions, btrfs for the var partition, and loop devices for image mounting. These should be built-in (`=y`), not modules, unless your boot flow loads an initramfs that can insert them early enough. + +| Option | Purpose | +| --------------------------------------- | -------------------------------------- | +| `CONFIG_OVERLAY_FS=y` | Overlayfs for system extension merging | +| `CONFIG_SQUASHFS=y` | SquashFS for system extension images | +| `CONFIG_SQUASHFS_FILE_CACHE=y` | SquashFS file data caching | +| `CONFIG_SQUASHFS_DECOMP_MULTI=y` | Parallel SquashFS decompression | +| `CONFIG_SQUASHFS_ZLIB=y` | Zlib compression for SquashFS | +| `CONFIG_SQUASHFS_ZSTD=y` | Zstd compression for SquashFS | +| `CONFIG_SQUASHFS_FRAGMENT_CACHE_SIZE=3` | Fragment cache size | +| `CONFIG_BTRFS_FS=y` | Btrfs for the var partition | +| `CONFIG_BLK_DEV_LOOP=y` | Loop device for image mounting | +| `CONFIG_PARTITION_ADVANCED=y` | Advanced partition support | +| `CONFIG_EFI_PARTITION=y` | GPT partition table support | +| `CONFIG_CRYPTO_LZ4=y` | LZ4 compression (used by zram) | +| `CONFIG_ZRAM=y` | Compressed RAM block device | + +### Systemd requirements + +Avocado uses systemd as the init system. The following options are required: + +| Option | Purpose | +| -------------------------- | -------------------------------- | +| `CONFIG_CGROUPS=y` | Control group support | +| `CONFIG_CGROUP_FREEZER=y` | Freezer cgroup | +| `CONFIG_CGROUP_DEVICE=y` | Device cgroup | +| `CONFIG_CGROUP_SCHED=y` | CPU scheduler cgroup | +| `CONFIG_CGROUP_CPUACCT=y` | CPU accounting cgroup | +| `CONFIG_CGROUP_PIDS=y` | PIDs cgroup | +| `CONFIG_CGROUP_PERF=y` | Perf events cgroup | +| `CONFIG_BLK_CGROUP=y` | Block I/O cgroup | +| `CONFIG_NAMESPACES=y` | Namespace support | +| `CONFIG_USER_NS=y` | User namespaces | +| `CONFIG_INOTIFY_USER=y` | Inotify file change notification | +| `CONFIG_SIGNALFD=y` | Signal file descriptors | +| `CONFIG_TIMERFD=y` | Timer file descriptors | +| `CONFIG_EPOLL=y` | Event polling | +| `CONFIG_TMPFS=y` | Tmpfs filesystem | +| `CONFIG_TMPFS_POSIX_ACL=y` | POSIX ACL support on tmpfs | +| `CONFIG_DEVTMPFS=y` | Device tmpfs | +| `CONFIG_DEVTMPFS_MOUNT=y` | Automount devtmpfs | +| `CONFIG_FHANDLE=y` | File handle syscalls | +| `CONFIG_AUTOFS_FS=y` | Automounter support | + +### Boot and EFI + +| Option | Purpose | +| ------------------------- | ------------------------- | +| `CONFIG_EFI=y` | EFI runtime support | +| `CONFIG_EFI_STUB=y` | EFI boot stub | +| `CONFIG_BLK_DEV_INITRD=y` | Initial ramdisk support | +| `CONFIG_RD_ZSTD=y` | Zstd-compressed initramfs | + +### Root device driver + +Your kernel must include the driver for whatever storage controller presents the root filesystem. Without this, the kernel will hang at `Waiting for root device...`. Check what `/dev/` node the bootloader passes as `root=` and ensure the corresponding driver is built in (not as a module). + +Common examples: + +| Storage type | Key options | +| -------------- | ------------------------------------------------------------------ | +| eMMC / SD card | `CONFIG_MMC`, `CONFIG_MMC_SDHCI`, plus your host controller driver | +| NVMe | `CONFIG_BLK_DEV_NVME` | +| SATA | `CONFIG_ATA`, `CONFIG_SATA_AHCI` | +| USB storage | `CONFIG_USB_STORAGE`, `CONFIG_BLK_DEV_SD` | + +### Applying configuration options + +Use the kernel's `scripts/config` tool to enable options after running the base defconfig, then run `make olddefconfig` to resolve dependencies before building: + +```bash +# Start with your base defconfig +make "${MAKE_ARGS[@]}" defconfig # or vendor_defconfig + +# Enable Avocado requirements +scripts/config --enable CONFIG_OVERLAY_FS +scripts/config --enable CONFIG_SQUASHFS +scripts/config --enable CONFIG_SQUASHFS_ZSTD +scripts/config --enable CONFIG_BTRFS_FS +scripts/config --enable CONFIG_BLK_DEV_LOOP +# ... (see full list above) + +# Resolve dependencies +make "${MAKE_ARGS[@]}" olddefconfig +``` + +## Writing the install script + +The install script runs inside the SDK container after compilation. Its job is to copy the kernel image to `$AVOCADO_RUNTIME_BUILD_DIR`: + +```bash +#!/usr/bin/env bash +set -e + +# Update this path based on your architecture and image type +KERNEL_IMAGE="path/to/arch//boot/" + +if [ -z "${AVOCADO_RUNTIME_BUILD_DIR}" ]; then + echo "[ERROR] AVOCADO_RUNTIME_BUILD_DIR is not set." >&2 + exit 1 +fi + +mkdir -p "${AVOCADO_RUNTIME_BUILD_DIR}" +cp -f "${KERNEL_IMAGE}" "${AVOCADO_RUNTIME_BUILD_DIR}/" +``` + +`AVOCADO_RUNTIME_BUILD_DIR` is set automatically by `avocado-cli` and points to `$AVOCADO_PREFIX/runtimes//`. This is the same location where the package-based kernel would be placed, so the downstream build hook picks it up without changes. + +The kernel image name depends on your architecture: + +| Architecture | Image path | Image name | +| ------------ | ----------------------- | ---------- | +| x86_64 | `arch/x86/boot/bzImage` | `bzImage` | +| ARM64 | `arch/arm64/boot/Image` | `Image` | +| ARM | `arch/arm/boot/zImage` | `zImage` | +| RISC-V | `arch/riscv/boot/Image` | `Image` | + +## Build workflow + +```bash +# Install the SDK and toolchain +avocado sdk install + +# Compile the kernel (optional -- avocado build does this automatically) +avocado sdk compile kernel + +# Build everything (triggers compile + install + runtime assembly) +avocado build +``` + +When `avocado build` encounters a runtime with a `kernel.compile` section, it: + +1. Executes the referenced `sdk.compile` section (runs your compile script). +2. Runs the `kernel.install` script with `AVOCADO_RUNTIME_BUILD_DIR` set. +3. Proceeds with normal runtime assembly (extension installation, var partition creation, image creation). + +The build stamp system includes the `kernel` configuration in its hash, so changes to the `kernel` section automatically trigger a rebuild. + +## Adapting for your target + +When targeting different hardware, adjust the following based on your board: + +| What | Why | +| ---------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| Kernel source tree | Use the vendor-supplied kernel for your hardware (e.g., NVIDIA L4T kernel for Jetson, NXP linux-imx for i.MX). Upstream kernels may lack board-specific drivers, device trees, and GPU support. | +| `ARCH` and defconfig | Each architecture has its own defconfig and `ARCH` value (`arm64`, `arm`, `x86`, `riscv`, etc.). Vendor kernels typically ship a board-specific defconfig. | +| Kernel image name | ARM64 produces `Image`, ARM produces `zImage`, x86 produces `bzImage`. Update both the compile and install scripts accordingly. | +| Root device driver | Match the storage controller on your hardware (eMMC, NVMe, SATA, etc.). | +| `HOSTCC` strategy | For same-arch builds, the cross-compiler works as HOSTCC. For cross-arch builds, install `nativesdk-gcc`. | +| Board-specific options | Device tree, pinmux, clock, regulator, and peripheral drivers for your hardware. | +| SDK packages | The package names for `bc`, `libelf`, etc. may vary across SDK package feeds. | + +## Troubleshooting + +| Symptom | Cause | Fix | +| ------------------------------ | ----------------------------- | ---------------------------------------------------------------------------------- | +| `gcc: command not found` | SDK has no bare `gcc` | Set `HOSTCC` to the cross-prefixed compiler and pass it on the `make` command line | +| `ld: command not found` | SDK has no bare `ld` | Set `HOSTLD` to `${CROSS_COMPILE}ld` and pass on the `make` command line | +| `sys/types.h: No such file` | Cross-compiler has no sysroot | Add `--sysroot=${OECORE_TARGET_SYSROOT}` to `HOSTCC`/`HOSTCXX` | +| `bc: command not found` | Missing host utility | Add `nativesdk-bc` (or equivalent) to SDK packages | +| `libelf` errors from objtool | Missing development library | Add `nativesdk-libelf-dev` (or equivalent) to SDK packages | +| `Waiting for root device...` | Missing storage driver | Enable the driver for your root device (MMC, NVMe, etc.) | +| Config option silently ignored | Dependency not met | Run `make olddefconfig` after `scripts/config` calls to resolve dependencies | + +## What's next + +- [Cross-compilation guide](./cross-compilation) for compiling applications and kernel modules with the SDK +- [Extensions reference](../references/extensions) for complete configuration options +- [Hardware-in-the-loop development](./hardware-in-the-loop) for testing on live devices diff --git a/src/docs/avocado-linux/guides/overview.md b/src/docs/avocado-linux/guides/overview.md index a4b72d6d..be68c1e6 100644 --- a/src/docs/avocado-linux/guides/overview.md +++ b/src/docs/avocado-linux/guides/overview.md @@ -32,6 +32,8 @@ These guides are also linked from the getting started meta guide: - **[Hardware-in-the-loop](./hardware-in-the-loop.md)** — Iterate at web development speeds with live code mounting - **[Sideload an update](./sideloading.md)** — Push updates directly from your development machine +- **[Cross-compilation](./cross-compilation.md)** — Cross-compile applications and kernel modules with the SDK +- **[Custom kernel](./custom-kernel.md)** — Bring your own Linux kernel to an Avocado runtime ## Getting help diff --git a/src/package-lock.json b/src/package-lock.json index 5e56790c..02ad58cd 100644 --- a/src/package-lock.json +++ b/src/package-lock.json @@ -259,7 +259,6 @@ "resolved": "https://registry.npmjs.org/@algolia/client-search/-/client-search-5.39.0.tgz", "integrity": "sha512-/IYpF10BpthGZEJQZMhMqV4AqWr5avcWfZm/SIKK1RvUDmzGqLoW/+xeJVX9C8ZnNkIC8hivbIQFaNaRw0BFZQ==", "license": "MIT", - "peer": true, "dependencies": { "@algolia/client-common": "5.39.0", "@algolia/requester-browser-xhr": "5.39.0", @@ -404,7 +403,6 @@ "resolved": "https://registry.npmjs.org/@babel/core/-/core-7.28.4.tgz", "integrity": "sha512-2BCOP7TN8M+gVDj7/ht3hsaO/B/n5oDbiAyyvnRlNOs+u1o+JWNYTQrmpuNp1/Wq2gcFrI01JAW+paEKDMx/CA==", "license": "MIT", - 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