# 功能 Qualcomm Linux 内核在 Qualcomm 平台上提供了以下与主线 Linux 内核相关的关键功能和改进： - Qualcomm Linux BSP 专为支持使用 Qualcomm 平台的设备而量身定制。 - 设备树对应于 Qualcomm 开发套件。 - 可根据您的需求提供多种定制编译配置。 - Qualcomm Linux 内核集成到 Yocto 编译系统中。 - Qualcomm Linux 内核与上游 LTS 内核保持一致。 增加的 Qualcomm 特定配置将单独维护。 - 支持配置、定制和编译内核镜像，这些镜像可以刷入采用 Qualcomm 芯片产品的设备并启动。 - 使用 Gunyah™ Hypervisor 软件支持不受信虚拟机的虚拟化。 - 定期合并 LTS 内核分支中的 LTS，以获取最新的安全性和稳定性修复。 ## Boot Qualcomm Linux 支持将 systemd-boot 作为 UEFI 启动管理器， 用于加载和启动 Linux 内核。在这种情况下，Qualcomm Linux 内核编译为 EFI stub。 ### 启动流程和架构 冷启动是指从关机状态启动系统的过程。冷启动过程包括以下步骤： 1. 冷启动从 primary boot loader (PBL) 开始执行，以此设置初始系统，以便执行 eXtensible boot loader (XBL)。 2. XBL 执行包括 DDR 初始化在内的更广泛的系统初始化，并加载 UEFI 镜像。 3. UEFI 提供丰富的固件接口，用于将 system-boot 启动管理器加载至 Qualcomm Linux，以管理操作系统镜像。 有关完整冷启动流程的详细信息，参见 [Qualcomm Linux 启动指南](bundle/publicresource/topics/80-70015-4) 中的 [冷启动架构](https://docs.qualcomm.com/bundle/publicresource/topics/80-70015-4/bootloader-architecture.html) 部分。 ### Systemd-boot Systemd-boot 是一种 UEFI 启动管理器，用于执行 EFI 镜像、提供启动项并支持统一内核镜像。Systemd-boot 支持以下各项： - 启动项：类型 1 boot loader 规范条目位于 ESP 分区的 `loader/entries/` 目录中。这些文件描述了 Qualcomm Linux 内核镜像及相关的 initrd 镜像和其他 EFI 可执行文件。 - 统一内核镜像 (UKI)：类型 2 boot loader 规范的 EFI 统一内核镜像是 ESP 分区 `/EFI/Linux/` 目录中可执行 EFI 二进制文件。 有关启动项和统一内核镜像的信息，参见 [BootLoader 规范](https://uapi-group.org/specifications/specs/boot_loader_specification)。 systemd-boot 是 systemd 软件包的一部分， 该软件包是 Yocto 元数据层的一部分。Yocto recipe 使用 `systemd-boot_254.4.bb` recipe 文件编译 systemd-boot， `uki.bbclass` recipe 文件用于处理 ESP 镜像的生成。 有关 systemd-boot 的详细信息，参见 [systemd-boot](https://docs.qualcomm.com/bundle/publicresource/topics/80-70015-27/platform_software_features.html#sub$systemd_boot)。 ### Qualcomm Linux 内核作为 EFI stub EFI boot stub 支持直接启动 Qualcomm Linux 内核，而无需传统的 EFI boot loader。 如果编译 Linux 内核时启用了 `CONFIG_EFI_STUB` 内核配置选项， 启动固件可以将 EFI 镜像作为可执行文件进行加载。在这种情况下，固件加载程序导航到 EFI 镜像中 `drivers/firmware/efi/libstub/` 的 `EFI boot stub` 位置来启动内核。 在 Arm^®^ (Arm64) 架构中，由于不支持压缩内核镜像， 内核镜像可充当可移植可执行 (PE) 文件格式或通用对象文件格式 (COFF) 镜像，并且 EFI stub 会链接到内核中。 有关将 Linux 内核作为 EFI 镜像启动的详细信息，参见 [EFI Boot Stub](https://docs.kernel.org/admin-guide/efi-stub.html)。 ### 启动镜像和 ESP 或启动分区 ESP 或启动分区是一个存储位置，用于存储将 systemd-boot 和 UKI 打包的 `efi.bin` 镜像。UKI 包括内核镜像、initramfs 和内核命令行参数。 UEFI 固件用于启动 UEFI boot loader 并加载内核启动镜像。ESP 分区使用 UEFI 规范支持的文件分配表 (FAT) 文件系统进行格式化。如需详细了解 UKI 镜像格式以及在基本 Qualcomm Linux 元数据层中的相应支持，参见 [systemd-boot](https://docs.qualcomm.com/bundle/publicresource/topics/80-70015-27/platform_software_features.html#sub$systemd_boot)。 ### DTB 的选择 所有设备树 blob 均打包至 `dtb.bin` 中。UEFI 选择并加载适合 Qualcomm Linux 内核的 DTB。 要了解启动时 DTB 选择，可参见 [平台支持](https://docs.qualcomm.com/doc/80-70015-3SC/topic/customize.html#platform-support-0)。 ## 平台支持 Qualcomm Linux 按照以下步骤来选择设备树 文件、更改内核配置以及编译树外 内核模块。 ### 平台设备树 Qualcomm Linux 支持设备树覆盖功能， 该功能支持设备树外 blob 的维护及其与基础 设备树 Blob 的合并。 SoC 设备树由 `arch/arm64/boot/dts/qcom` 目录下的内核源代码提供支持。 [Qualcomm 设备树源文件](https://docs.qualcomm.com/doc/80-70015-3SC/topic/getting_started_chapter2.html#qualcomm-device-tree-source) 列出了设备树，并进行明确区分，以包含下游增加的配置，同时支持与上游对齐的基本配置。 下游内容托管在内核源代码之外。树外驱动程序会在内核之外维护 增加的设备树覆盖内容。在编译过程中， 相应的设备树覆盖与基本的板级 DTB 合并， 生成统一的 DTB，与启动镜像配合使用。 下图显示了在 QCS6490 上面向定制 BSP 编译设备树覆盖并 生成 DTB 的过程： Note - 基本 BSP 遵循相同的编译过程，不包含 **addons** 下游设备树文件。 - 所有支持的 Qualcomm 芯片产品对于设备树覆盖和 DTB 的生成均遵循相同的编译过程。 ![../_images/device-tree.png](data:image/png;base64,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) **图：QCS6490 上的设备树覆盖** 编译系统使用 `fdt_overlay` 工具来在编译期间 为处理树外设备树覆盖提供支持。 DTBO 合并功能支持合并 `meta-qcom-hwe/conf/machine/--.conf` 文件中列出的 DTBO 文件。 以下是如何在 QCS6490 上枚举设备树变量的示例。 有关平台特定的信息，可参见电路板特定的机器配置文件。 # List of dtbs for corresponding supported qcs6490 platforms KERNEL_DEVICETREE = " \ qcom/-addons-.dtb \ " # Additional list of dtbos to be overlaid on top of base kernel devicetree files # Format - KERNEL_TECH_DTBOS[] = "..." # For example: KERNEL_TECH_DTBOS[qcs6490-addons-rb3gen2] = " \ qcm6490-graphics.dtbo qcm6490-wlan-rb3.dtbo \ qcm6490-display-rb3.dtbo qcm6490-bt.dtbo \ qcm6490-video.dtbo qcm6490-wlan-upstream.dtbo \ " Copy to clipboard **DTBO 合并序列** `image-qcom-deploy.bbclass` 类中的 `merge_dtbos()` 任务 使用 `fdtoverlay` 工具合并 DTBO。 `merge_dtbos()` 任务迭代按以下顺序进行： 1. 在配置文件中列出 DTBO 文件名。 2. DTBO 文件名会遍历 `KERNEL_DEVICETREE` 变量中的内容。 3. 对于每个基本 DTB，都会覆盖 `KERNEL_TECH_DTBOS` 变量中列出的 DTBO。 4. 覆盖过程完成后，将生成最终的 DTB 输出 。 ### 内核配置 内核 recipe `linux-kernel-qcom-base_6.6.bb` 或 `linux-qcom-custom_6.6.bb` 文件使用以下配置文件来编译镜像。 例如， `linux-qcom-custom_6.6.bb` 使用以下文件来追加内核： KERNEL_CONFIG ??= "qcom_defconfig" KERNEL_CONFIG_FRAGMENTS:append = " ${S}/arch/arm64/configs/qcom_addons.config" KERNEL_CONFIG_FRAGMENTS:append = " ${@oe.utils.vartrue('DEBUG_BUILD', '${S}/arch/arm64/configs/qcom_debug.config', '', d)}" KERNEL_CONFIG_FRAGMENTS:append = " ${@oe.utils.vartrue('DEBUG_BUILD', '${S}/arch/arm64/configs/qcom_addons_debug.config', '', d)}" # Enable selinux support SELINUX_CFG = "${@oe.utils.vartrue('DEBUG_BUILD', 'selinux_debug.cfg', 'selinux.cfg', d)}" KERNEL_CONFIG_FRAGMENTS:append = " ${@bb.utils.contains('DISTRO_FEATURES', 'selinux', '${WORKDIR}/${SELINUX_CFG}', '', d)}" Copy to clipboard 若要使用调试配置文件生成调试编译版本，可运行以下命令： # Set DEBUG_BUILD to 1 to compile debug enabled build $ source setup-environment $ DEBUG_BUILD=1 bitbake linux-kernel-custom Copy to clipboard 有关不同配置文件的详细信息，参见 [入门指南](https://docs.qualcomm.com/doc/80-70015-3SC/topic/getting_started_chapter2.html) 章节。 ## Remoteproc 子系统 Remoteproc 框架用于将固件加载到 Qualcomm 平台上的其他子系统中，例如音频数字信号处理器 (aDSP) 和计算数字信号处理器 (cDSP)。 Remoteproc 框架分为两部分： - 核心框架：核心框架包含通用逻辑。核心框架用于加载固件并启动或停止远程处理器。 - Remoteproc 驱动程序：驱动程序包含管理相应核心的平台特定操作。Remoteproc 驱动程序向核心框架注册一个 remoteproc 实例和一组操作。 在采用非对称多处理 (ASMP) 配置的 SoC 中，存在多个异构远程处理器。远程处理器运行不同的固件或操作系统实例。 如需详细了解 Qualcomm Linux 用于管理其他核心的标准框架，参见 [Remote Processor Framework](https://www.kernel.org/doc/html/next/staging/remoteproc.html)。 ### Qualcomm 对 remoteproc 的支持 Qualcomm 对 remoteproc 框架进行了增强，使其能够利用上游 PAS 驱动程序来对外设固件进行鉴权。 Qualcomm Linux 中的 remoteproc 驱动程序实现了外设鉴权服务 (PAS) 驱动程序，这是一种基于 TrustZone 的外设镜像加载程序，用于Qualcomm SoC 设备上的远程处理器。 如需了解详细信息， 参见 [qcom_q6v5_pas.c](https://github.com/torvalds/linux/blob/master/drivers/remoteproc/qcom_q6v5_pas.c)。 远程处理器用于管理各种协处理器的生命周期，例如 aDSP、cDSP、Modem 外设子系统 (MPSS)、以及无线处理器子系统 (WPSS)。基于 QCS6490 的电路板和 RB3 Gen 2 开发套件上支持的协处理器包括 aDSP、cDSP 和 WPSS。 Note 支持的远程处理器子系统列表取决于正在使用的 SoC。 **用户界面：** Remoteproc 框架可跟踪注册的remoteproc 设备，并提供用于启动和关闭设备的用户接口。用户空间可以使用以下 `sysfs` 接口来查询和更改 remoteproc 的当前状态： remoteproc user space interface # start remoteproc: $ echo "start" > /sys/class/remoteproc/remoteprocN/state # stop remoteproc: $ echo "stop" > /sys/class/remoteproc/remoteprocN/state Copy to clipboard ![../_images/remoteproc-framework.png](data:image/png;base64,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) **图：对 remoteproc 的支持** ### Remoteproc 恢复和子系统重启 Remoteproc 子设备负责管理远程处理器子系统崩溃 恢复场景中的通信环境。 通信环境等实体必须确定远程 处理器何时启动或关闭。每个子设备都有两个操作： - `probe()`，在 remoteproc `start()` 之后调用 - `remove()`，在 `stop()` 之前调用 当远程处理器发生致命错误时，remoteproc 驱动程序 将对其进行处理并调用 `rproc_report_crash()`，使发生错误的 远程处理器恢复。 恢复处理程序会执行以下操作： ![../_images/Remoteproc-recovery.png](data:image/png;base64,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) **图：Remoteproc 崩溃时序** 使用用户空间中的恢复 `debugfs` 节点来启用和禁用恢复 的方法如下： # remoteproc user space interface # Disable SSR: echo disabled > /sys/kernel/debug/remoteproc/remoteprocN/recovery Copy to clipboard ### Coredump 支持远程处理器 coredump，可利用 Qualcomm Linux 内核 devcoredump 功能调试子系统崩溃问题。 当子系统崩溃时，devcoredump 会将 恢复中的 remoteproc 的内存快照暴露在 `/sys/class/devcoredump/devcdN/data` 节点中，同时将相关的崩溃 `uevent` 发送到用户空间。读取 sysfs 节点时，sysfs 会提供 ELF 容器中的段；写入操作会释放 相关资源并销毁 devcoredump 实例。 可暴露一个 debugfs 节点，使用户从用户空间启用和禁用 coredump。 # Disable coredumps: $ echo disabled > /sys/kernel/debug/remoteproc/remoteprocN/coredump Copy to clipboard Note Qualcomm SoC 在 remoteproc 崩溃（远程处理器上的致命错误）时会触发内核异常，以便收集完整的 RAM dump 文件，用于进行崩溃分析。 内核异常只有在 coredump 处于禁用状态时才会启用。 ### Remoteproc 配置和固件 Remoteproc 设备使用 DT 绑定在相应的设备树 文件中进行配置。配置包括兼容的设备 名称、内存区域、中断设置和时钟参考， 依据的是 `Documentation/devicetree/bindings/remoteproc/` 目录中的 DT 绑定。 以下示例显示了 `arch/arm64/boot/dts/qcom/qcs6490.dtsi` 文件中的 QCM6490 aDSP remoteproc 设备树配置： remoteproc_adsp: remoteproc@3000000 { compatible = "qcom,sc7280-adsp-pas"; reg = <0x0 0x03000000 0x0 0x100>; interrupts-extended = <&pdc 6 IRQ_TYPE_EDGE_RISING>, <&adsp_smp2p_in 0 IRQ_TYPE_EDGE_RISING>, <&adsp_smp2p_in 1 IRQ_TYPE_EDGE_RISING>, <&adsp_smp2p_in 2 IRQ_TYPE_EDGE_RISING>, <&adsp_smp2p_in 3 IRQ_TYPE_EDGE_RISING>, <&adsp_smp2p_in 7 IRQ_TYPE_EDGE_RISING>; interrupt-names = "wdog", "fatal", "ready", "handover", "stop-ack", "shutdown-ack"; clocks = <&rpmhcc RPMH_CXO_CLK>; clock-names = "xo"; }; Copy to clipboard 可以在 `arch/arm64/boot/dts/qcom/sa8775p.dtsi` 文件中获取 QCS9075 的设备树配置文件。 Note 要获取所有 Qualcomm SoC 的设备树配置文件，参见相应的平台 DTSI 文件。 所有固件文件都位于 `rootfs` 中的 `/lib/firmware` 目录下，相关配置在相应 板级设备树 `arch/arm64/boot/dts/qcom/qcs6490-rb3gen2.dts` 文件中完成。对于其他 Qualcomm 芯片产品，可访问 `arch/arm64/boot/dts/qcom/-.dts` 文件。 以下示例展示了 remoteproc DT 配置： &remoteproc_adsp { firmware-name = "qcom/qcs6490/adsp.mdt"; status = "okay"; }; Copy to clipboard ### 示例日志 在 remoteproc 成功启动后，会显示以下日志： ** \# remoteproc success** "remoteproc remoteproc1: remote processor 4080000.remoteproc is now up" Copy to clipboard 在 remoteproc 固件加载失败后，会显示以下日志： ** \# remoteproc failure** 错误日志："remoteproc remoteproc0: Direct firmware load for qcom/qcs6490/modem.mdt failed with error -2" # Caused by: error loading firmware. # Solution: ensure that the modem firmware is copied to /lib/firmware/qcom/qcs6490 in rootfs. Copy to clipboard ## 内存 Qualcomm Linux 内核基线支持所有内存管理功能和分配器。以下信息概述了如何定制内存映射和执行堆管理。 有关 Linux 内核内存管理的详细信息，参见 [内存管理](https://www.kernel.org/doc/html/next/core-api/index.html#memory-management)。 ### 内存映射 内存映射描述了内核启动过程中为子系统（如 Modem、摄像头、aDSP 和 cDSP）保留的区域。 内存映射为 DTSI 中的划分区域设置 `no-map`，使内核无法访问这些区域。 可配置划分区域在 `reserved-memory` 节点的 `arch/arm64/boot/dts/qcom/qcs6490.dtsi` 文件中定义。 reserved-memory { cdsp_secure_heap_mem: cdsp-secure-heap@81800000 { reg = <0x0 0x81800000 0x0 0x1e00000>; no-map; }; camera_mem: camera@84300000 { reg = <0x0 0x84300000 0x0 0x500000>; no-map; }; wpss_mem: wpss@0x84800000 { reg = <0x0 0x84800000 0x0 0x1900000>; no-map; }; adsp_mem: adsp@86100000 { reg = <0x0 0x86100000 0x0 0x2800000>; no-map; }; }; Copy to clipboard Note 对于 Qualcomm SoC ，参见 SoC 特定的 Qualcomm DTSI 文件以获取此信息。 以下早期启动日志显示了为不同的子系统创建的划分区域： [ 0.000000] OF: reserved mem: 0x0000000081800000..0x00000000835fffff (30720 KiB) nomap non-reusable cdsp-secure-heap@81800000 [ 0.000000] OF: reserved mem: 0x0000000084300000..0x00000000847fffff (5120 KiB) nomap non-reusable camera@84300000 [ 0.000000] OF: reserved mem: 0x0000000084800000..0x00000000860fffff (25600 KiB) nomap non-reusable wpss@0x84800000 [ 0.000000] OF: reserved mem: 0x0000000086100000..0x00000000888fffff (40960 KiB) nomap non-reusable adsp@86100000 Copy to clipboard ### 连续内存分配器 (Contiguous memory allocator) Qualcomm Linux 发行版支持连续内存分配器 (CMA) 来分配大块的物理上连续的内存。CMA 在启动时会保留大块的物理上连续的内存区域，并在 CMA 分配时提供物理上连续的内存。不使用时，CMA 内存可供内核伙伴分配器进行可移动分配。 如需修改默认 CMA 区域的大小，可在内核命令行参数中运行 `cma=size_in_MB`。有关如何使用内核参数的详细信息，可参见以下示例： cma=nn[MG]@[start[MG][-end[MG]]] [KNL,CMA] Sets the size of kernel global memory area for contiguous memory allocations and optionally the placement constraint by the physical address range of memory allocations.A value of 0 disables CMA altogether. For more information, see kernel/dma/contiguous.c Copy to clipboard 定制 CMA 区域定义在 `reserved-memory` 节点下， 并带有 `shared-dma-pool` 兼容标记来指示 CMA 区域： adsp_heap_mem: adsp-heap { compatible = "shared-dma-pool"; alloc-ranges = <0x0 0x00000000 0x0 0xffffffff>; reusable; alignment = <0x0 0x400000>; size = <0x0 0xc00000>; }; Copy to clipboard 以下所示为启动时保留的 aDSP CMA 内存区域的日志示例： [ 0.000000] OF: reserved mem: initialized node adsp-heap, compatible id shared-dma-pool [ 0.000000] OF: reserved mem: 0x00000000ff000000..0x00000000ffbfffff (12288 KiB) map reusable adsp-heap Copy to clipboard ### DMA-BUF 堆 Qualcomm Linux 发行版支持 DMA-BUF 堆，以分配定制 CMA 堆。使用 DMA-BUF 堆时，每个堆在 `/dev/dma_heap` 文件系统中都有一个设备文件。除了系统堆和常用的 CMA 预留堆外，用户还可以创建自己的 CMA 类型的 DMA-BUF 堆。 ### 支持的堆 下表列出了 Qualcomm Linux 发行版默认支持的堆 ： 默认支持的堆 | 堆名称 | Dev 节点 | 说明 | 用法 | | --- | --- | --- | --- | | 系统堆 | /dev/dma_heap/system
Copy to clipboard | 内核会创建默认的 DMA-BUF 堆。 | 所有通用用例都必须遵循系统堆，系统堆在底层使用的是常见的 Linux 内存管理伙伴分配器。 | | 保留堆 | /dev/dma_heap/reserved
Copy to clipboard | 系统中创建的默认 CMA 类型的堆，使用默认 **保留的** CMA 区域。 | 如果由于任何限制而需要使用连续内存，可使用 CMA 堆。 | | 定制 CMA 堆 | /dev/dma_heap/my_cma_heap
Copy to clipboard | 用户定义的 CMA 类型的堆。 | 为特定的定制 CMA 堆创建自己的 CMA 类型的堆时使用。 | ### DMA-BUF 堆的用法 以下示例程序演示了如何使用 `/dev/dma_heap/system:` 目录下的 Qualcomm Linux 内核创建的 DMA-BUF 系统 include include include include include include include #include define DMA_HEAP_NAME "system" define SZ_4 0x00000004 // to allocate a 4K buffer int main() { int fd, dma_buf_fd; struct dma_heap_allocation_data dma_alloc_data = { .len = SZ_4, .fd_flags = O_RDWR | O_CLOEXEC, }; struct dma_buf_sync sync_start = { .flags = DMA_BUF_SYNC_START, }; struct dma_buf_sync sync_end = { .flags = DMA_BUF_SYNC_END, }; fd = open("/dev/dma_heap/system", O_RDWR); if (fd < 0) { perror("open"); return errno; } dma_buf_fd = ioctl(fd, DMA_HEAP_IOCTL_ALLOC, &dma_alloc_data); if (dma_buf_fd < 0) { perror("ioctl"); return errno; } printf("Allocated DMA buffer with fd %d\n", dma_buf_fd); if (ioctl(dma_buf_fd, DMA_BUF_IOCTL_SYNC, &sync_start)) { perror("ioctl DMA_BUF_IOCTL_SYNC start"); return errno; } // Do something with the buffer here if (ioctl(dma_buf_fd, DMA_BUF_IOCTL_SYNC, &sync_end)) { perror("ioctl DMA_BUF_IOCTL_SYNC end"); return errno; } if (close(dma_buf_fd)) { perror("close"); return errno; } if (close(fd)) { perror("close"); return errno; } return 0; } Copy to clipboard ## 调度器 调度器决定进程的运行顺序。调度器运行每个 CPU 的运行队列中的进程。 内核基线支持标准的 Linux 调度器方案。内核使用 [Energy Aware Scheduling (EAS)](https://www.kernel.org/doc/html/next/scheduler/sched-energy.html) 功能根据 CPU 能耗选择适合放置任务的目标 CPU。 EAS 会取代完全公平调度器 (CFS) 任务唤醒负载均衡代码。在采用非对称 CPU 拓扑的系统中，它会使用 CPU 的能量模型 (EM) 和实体负载跟踪 (PELT) 信号，在任务唤醒负载均衡期间选择节能的目标 CPU。 有关调度器的基本文档，参见 [Scheduler](https://www.kernel.org/doc/html/next/scheduler/index.html)。 ### CPU 拓扑和 EAS Qualcomm SoC 采用异构 CPU 拓扑，这些拓扑通过 EAS 中使用的 CPU 容量指标加以区分。 EAS 使用“容量”的概念来区分具有不同计算能力的 CPU。CPU 的容量表示的是相对于系统中性能最强的 CPU 而言， 以最高频率运行时完成的工作量。容量值归一化至 1,024 范围内（最强大的 CPU/群集的容量值配置为 1,024）。 EAS 根据 CPU 节点中指定的 Dhrystone 每秒百万条指令 (DMIPS) 值和群集支持的最高频率确定群集的容量。 下表列出了 CPU 拓扑和容量对应的 `sysfs` 节点： > > > 表：CPU 拓扑和容量 > > > | 命令 | 用途 | > | --- | --- | > | cat /sys/devices/system/cpu/cpu*/cpu_capacity
Copy to clipboard | 获取系统中每个 CPU 的相关容量。 | > | cat /sys/devices/system/cpu/cpufreq/policy*/related_cpus
Copy to clipboard | 获取与系统中每个群集相关的 CPU 列表。 | 有关调度器如何使用 CPU 容量的详细信息，参见 [Capacity Aware Scheduling](https://www.kernel.org/doc/html/next/scheduler/sched-capacity.html)。 ### 实体负载跟踪 (Per entity load tracking) 实体负载跟踪 (PELT) 是一种负载跟踪机制，用于跟踪 `sched_entities/groups/runqueues` 的负载计算。 PELT 时钟乘数可以进行调节，以满足功耗和性能要求。 命令行参数 `sched_pelt_multiplier` 可用于设置时钟乘数。时钟乘数可调节 PELT 上升/下降速度， 以便优化系统功耗和性能。 半衰期较短时，可以更快地累积任务的 CPU 利用率。将任务分配给高性能 CPU 执行，从而实现更好的性能，但功耗也会更高。此外，CPU 利用率也会累积起来，以便在更短的时间内选择更高的 CPU 频率。 Note 半衰期还会影响任务利用率的下降方式。UTIL EST 功能可加快下降速度。 有关 PELT 的详细信息，参见 [Per-entity load tracking](https://lwn.net/Articles/531853/)。 ### SchedUtil 调节器 SchedUtil CPU 频率调节器是是 Qualcomm Linux 内核的默认调速器。SchedUtil 根据 CPU 利用率预测最佳工作点 (OPP)，从而在频率请求与能耗预测之间保持一致。 SchedUtil CPU 频率调节器与 EAS 相关，它会尝试预测所有 CPU 在哪个 OPP 下运行，从而估算其能耗。 有关 SchedUtil 的详细信息，参见 [Schedutil](https://www.kernel.org/doc/html/next/scheduler/schedutil.html)。 ### 利用率夹紧 (Utilization clamping) 利用率夹紧 (UCLAMP) 操作支持从用户空间进行任务/任务组的性能管理。 UCLAMP 支持任务或任务组的放置，并允许性能提示或约束。此机制用于影响调度器放置决策或影响群集的频率指导。 有关 UCLAMP 的详细信息，参见 [UCLAMP](https://www.kernel.org/doc/html/next/scheduler/sched-util-clamp.html)。 ## 动态电压及频率调节 (DVFS) Qualcomm Linux 内核基线支持多种 DVFS 实现，以便根据系统要求以动态方式管理频率调节。 ### CPU DVFS 可以选择一个调节器来调节系统的功耗或性能同时更改 `CPUfreq` 调节器 (`powersave/performace/schedutil`)。默认情况下，CPU 频率调节器在 Qualcomm Linux 内核上设置为 `performance`。 表：CPU DVFS 变量 | 变量 | 说明 | 路径 | | --- | --- | --- | | scaling_governor
Copy to clipboard | 将调节器设置为性能模式。 | echo performance > /sys/devices/system/cpu/cpufreq/policy*/scaling_governor
Copy to clipboard | | scaling_max_freq
Copy to clipboard | 设置 CPU 群集的最高频率。 | /sys/devices/system/cpu/cpufreq/policy*/scaling_max_freq
Copy to clipboard | | scaling_min_freq
Copy to clipboard | 设置 CPU 群集的最低频率。 | /sys/devices/system/cpu/cpufreq/policy*/scaling_min_freq
Copy to clipboard | 更多有关 `CPUfreq` 的信息，参见 [https://www.kernel.org/doc/Documentation/cpu-freq/governors.txt](https://www.kernel.org/doc/Documentation/cpu-freq/governors.txt). ### 缓存和内存 DVFS 静态映射 DVFS 调节器将 CPU 工作频率与以下各项保持一致： - 三级缓存 (L3) - 最后一级缓存控制器 (LLCC) - DDR RAM 如果 CPU 频率达到最高，无论是通过将 CPU 频率调节器设置为性能模式来达到最高，还是因系统中的负载过高而达到最高，L3、LLCC 和 DDR 也以最高频率运行。 此调节器的驱动程序存在于 `drivers/cpufreq/qcom-cpufreq-hw.c` 文件中，静态映射存在于 `arch/arm64/boot/dts/qcom/sc7280.dtsi` 文件中。 Note 有关 Qualcomm SoC 的信息，可参见平台特定的 DTSI 文件以获取此信息。 另一个带宽监测 (BWMON) 调节器用于根据 CPU 与 LLCC 和 CPU 与 DDR 之间的流量检测，对 LLCC 和 DDR 的频率进行投票。此调节器的驱动程序存在于 `drivers/soc/qcom/icc-bwmon.c` 文件中。 ## 虚拟化 虚拟化使用软件在计算机硬件上创建抽象层。 抽象层支持将单台计算机的硬件元素（如处理器、内存和存储设备）分割成多个虚拟计算机，即虚拟机 (VM)。每个虚拟机都运行自己的操作系统，工作方式类似于独立计算机，尽管它们都运行在同一底层计算机硬件上。 ![../_images/virtualization-3.png](data:image/png;base64,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**图：虚拟化** Note 仅在定制 BSP 版本上支持虚拟化。 ### Qualcomm 虚拟化解决方案 Qualcomm 使用的是 Gunyah (Type-1 Hypervisor)，旨在实现强大的安全性、高性能、操作系统独立性和更高的 CPU 权限层级。 Gunyah 不依赖任何低权限的操作系统内核或代码来实现其核心功能，提升了系统的安全性。Gunyah 专为隔离的虚拟机用例而设计，并且支持从相对不太可信的主机虚拟机启动隔离的虚拟机。 下图显示了 Qualcomm 虚拟化解决方案架构： ![../_images/virtualization-solution.png](data:image/png;base64,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) **图：Qualcomm 虚拟化解决方案架构** Gunyah 提供了以下功能： 表：Gunyah 的功能 | 功能 | 说明 | | --- | --- | | 线程和调度 | 调度器在物理 CPU 上调度虚拟 CPU (VCPU)，并实现 CPU 的时间共享。 | | 内存管理 | Gunyah 跟踪其控制下的内存的所有权和使用情况。Gunyah 提供 low-level 动态内存管理 API，基于此可实现更高级别的内存捐赠、借用和共享等操作。 | | 中断虚拟化 | Gunyah 管理直接路由到指定虚拟机的中断信号。 | | 虚拟机间通信 | 消息队列和门铃为虚拟机间通信提供了多种不同的机制。 | | 设备虚拟化 | 通过虚拟机间通信和 virtio 原语支持设备的准虚拟化。硬件虚拟化和仿真支持 low-level 架构功能和设备，如 CPU 定时器和中断控制器等。 | | 资源管理器 | Gunyah 支持最初拥有所有虚拟机内存和输入/输出资源的 root VM。Gunyah 资源管理器是默认捆绑的 root VM，提供 high-level 服务，包括动态虚拟机管理和安全的内存捐赠、借用和共享等。 | Gunyah 管理程序支持已添加到 [crosvm](https://chromium.googlesource.com/chromiumos/platform/crosvm) 虚拟内存监控器 (VMM)。crosvm 通过 `/dev/gunyah` 接口与内核中的 Gunyah 虚拟机管理器交互并创建虚拟机。 下图显示了 Qualcomm 虚拟化解决方案中的模块 ： ![../_images/virtualization_solution_new.png](data:image/png;base64,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) **图：Qualcomm 虚拟化解决方案** 有关 Type-1 Hypervisor 的详细信息，参见 [gunyah-hypervisor](https://github.com/quic/gunyah-hypervisor)。 ### Guest VM 编译支持 按照以下步骤编译 guest VM 内核和 initrd 镜像： 在 guest VM 内核编译期间，会同时编译 guest VM 内核和最小的 `rootfs`。`qcom_vm_defconfig` 用作 guest VM 内核编译的基础配置。 `qcom_vm_debug.config` 编译 guest VM 的调试版本。 `crosvm` 作为 VMM，通过 `/dev/gunyah` 与内核中的 Gunyah 虚拟机管理器交互并创建虚拟机。 **编译 guest VM** 有关 `crosvm` 支持的详细信息，参见 [辅助虚拟机](https://docs.qualcomm.com/bundle/publicresource/topics/80-70015-27/platform_software_features.html#sub$secondary_virtual_machine)。 编译过程完成后，将生成某些镜像。这些镜像将存储在 `/build-qcom-wayland/tmp-glibc/deploy/images//qcom-console-image` 目录下。 使用以下命令编译 guest VM： $ export SHELL=/bin/bash && MACHINE=SOC DISTRO=qcom-wayland source setup-environment $ bitbake qcom-console-image Copy to clipboard **Guest VM initrd 镜像** - `svm-initramfs-qcom-image-.cpio.gz` 文件是为 guest VM 创建的。该镜像包含一个启动过程中使用的 initrd 镜像。 - `svm-initramfs-qcom-image-.cpio.gz` 文件在 `build-qcom-wayland/tmp-glibc/deploy/images//svm-initramfs-qcom-image` 目录下生成。 - 在已启动的设备上，该镜像存储在系统 rootfs 内的 `/var/gunyah/initrd.img` 文件中。 **Guest VM 内核镜像** - `svm-initramfs-qcom-image-.cpio.gz` 镜像是为辅助虚拟机 (SVM) 生成的，是 guest 内核镜像。 - SVM 内核镜像在 `build-qcom-wayland/tmp-glibc/deploy/images//linux-svm-kernel-qcom` 目录下生成。 - 在已启动的设备上，该镜像位于系统 rootfs 内的 `/var/gunyah/Image` 文件中。 `initrd.img` 和 SVM 内核镜像均已打包在 `system.img` 文件中。最终的 `system.img` 文件与其他镜像均位于同一目录下： `/build-qcom-wayland/tmp-glibc/deploy/images//qcom-console-image`。 ### 启动 guest VM 使用 `crosvm` VMM 和 Gunyah hypervisor 来启动 guest VM 。 使用以下命令启动虚拟机： # /usr/bin/crosvm --log-level=debug --no-syslog run --disable-sandbox --hypervisor \ gunyah --protected-vm-without-firmware \ --serial=type=stdout,hardware=virtio-console,console,stdin,num=1 \ --serial=type=stdout,hardware=serial,earlycon,num=1 \ --initrd /var/gunyah/initrd.img --no-balloon --no-rng \ --params "rw root=/dev/ram earlyprintk=serial panic=0" \ /var/gunyah/Image Copy to clipboard 下表列出了启动 guest VM 的 `crosvm` 命令支持的参数： 表：支持的参数 | 参数 | 说明 | | --- | --- | | /usr/bin/crosvm
Copy to clipboard | 显示 `crosvm` 二进制文件的路径 | | --log-level=debug
Copy to clipboard | 在运行 `crosvm` 时将日志级别设置为“调试” | | --no-syslog
Copy to clipboard | 禁用 syslog | | --disable-sandbox
Copy to clipboard | 禁用 sandboxing | | --hypervisor gunyah
Copy to clipboard | 指定要使用的 hypervisor（在本例中为 `gunyah`） | | --protected-vm-without-firmware
Copy to clipboard | 指示虚拟机已受到保护，不需要固件 | | --serial=...
Copy to clipboard | 配置串行输入/输出设备 | | --initrd /var/gunyah/initrd.img
Copy to clipboard | 指定初始 RAM 磁盘 (initrd) 镜像 | | --no-balloon
Copy to clipboard | 禁用 memory ballooning | | --no-rng
Copy to clipboard | 禁用用于注入访客操作系统熵池的熵源 | | --params "..."
Copy to clipboard | 指定内核命令行选项 | | /var/gunyah/Image
Copy to clipboard | 指定内核镜像的路径 | **查看虚拟机和启动日志** 以下示例输出显示了 VM 日志： bash-5.1# cat /proc/cpuinfo processor : 0 BogoMIPS : 38.40 Features : fp asimd evtstrm aes pmull sha1 crc32 atomics cpuid asimdrdm dcpop asimddp CPU implementer : 0x00 CPU architecture: 8 CPU variant : 0x0 CPU part : 0x048 CPU revision : 0 bash-5.1# cat /proc/meminfo MemTotal: 161,656 kB MemFree: 124,940 kB MemAvailable: 124,032 kB Buffers: 0 kB Cached: 19,816 kB SwapCached: 0 kB Active: 12 kB Copy to clipboard 以下代码片段所示为启动日志： [2022-04-28T17:43:03.290477745+00:00 DEBUG crosvm::crosvm::sys::linux] creating hypervisor: Gunyah { device: None } [ 0.000000] Booting Linux on physical CPU 0x0000000000 [0x000f0480] [ 0.000000] Linux version 6.6.0 (oe-user@oe-host) (aarch64-qcom-linux-gcc (GCC) 11.4.0, GNU ld (GNU Binutils) 2.38.20220708) #1 SMP PREEMPT Wed Feb 7 04:56:59 UTC 2024 [ 0.000000] KASLR enabled [ 0.000000] random: crng init done [ 0.000000] Machine model: linux,dummy-virt [ 0.000000] earlycon: uart8250 at MMIO 0x00000000000003f8 (options '') [ 0.000000] printk: bootconsole [uart8250] enabled [ 0.000000] efi: UEFI not found. [ 0.000000] software IO TLB: Reserved memory: created restricted DMA pool at 0x0000000090000000, size 64 MiB [ 0.000000] OF: reserved mem: initialized node restricted_dma_reserved@90000000, compatible id restricted-dma-pool [ 0.000000] OF: reserved mem: 0x0000000090000000..0x0000000093ffffff (65536 KiB) map non-reusable restricted_dma_reserved@90000000 [ 0.000000] NUMA: No NUMA configuration found [ 0.000000] NUMA: Faking a node at [mem 0x0000000080000000-0x0000000093ffffff] [ 0.000000] NUMA: NODE_DATA [mem 0x8ff509c0-0x8ff52fff] [ 0.000000] Zone ranges: [ 0.000000] DMA [mem 0x0000000080000000-0x0000000093ffffff] [ 0.000000] DMA32 empty [ 0.000000] Normal empty [ 0.000000] Movable zone start for each node [ 0.000000] Early memory node ranges [ 0.000000] node 0: [mem 0x0000000080000000-0x0000000093ffffff] [ 0.000000] Initmem setup node 0 [mem 0x0000000080000000-0x0000000093ffffff] [ 0.000000] On node 0, zone DMA: 16384 pages in unavailable ranges [ 0.000000] cma: Reserved 32 MiB at 0x000000008d600000 on node -1 [ 0.000000] psci: probing for conduit method from DT. [ 0.000000] psci: PSCIv1.1 detected in firmware. [ 0.000000] psci: Using standard PSCI v0.2 function IDs [ 0.000000] psci: MIGRATE_INFO_TYPE not supported. [ 0.000000] psci: SMC Calling Convention v1.3 [ 0.000000] percpu: Embedded 31 pages/cpu s86568 r8192 d32216 u126976 [ 0.000000] Detected PIPT I-cache on CPU0 [ 0.000000] CPU features: detected: GIC system register CPU interface [ 0.000000] CPU features: detected: Spectre-v4 [ 0.000000] CPU features: kernel page table isolation forced ON by KASLR [ 0.000000] CPU features: detected: Kernel page table isolation (KPTI) [ 0.000000] alternatives: applying boot alternatives [ 0.000000] Kernel command line: panic=-1 console=hvc0 earlycon=uart8250,mmio,0x3f8 rw root=/dev/ram earlyprintk=serial panic=0 [ 0.000000] Unknown kernel command line parameters "earlyprintk=serial", will be passed to user space. [ 0.000000] Dentry cache hash table entries: 65536 (order: 7, 524288 bytes, linear) [ 0.000000] Inode-cache hash table entries: 32768 (order: 6, 262144 bytes, linear) [ 0.000000] Fallback order for Node 0: 0 [ 0.000000] Built 1 zonelists, mobility grouping on. Total pages: 80,640 [ 0.000000] Policy zone: DMA [ 0.000000] mem auto-init: stack:off, heap alloc:off, heap free:off [ 0.000000] software IO TLB: area num 1. [ 0.000000] software IO TLB: mapped [mem 0x0000000089600000-0x000000008d600000] (64MB) [ 0.000000] Memory: 116344K/327680K available (14528K kernel code, 3938K rwdata, 7112K rodata, 6080K init, 571K bss, 178568K reserved, 32768K cma-reserved) [ 0.000000] SLUB: HWalign=64, Order=0-3, MinObjects=0, CPUs=1, Nodes=1 [ 0.000000] trace event string verifier disabled [ 0.000000] rcu: Preemptible hierarchical RCU implementation. [ 0.000000] rcu: RCU event tracing is enabled. [ 0.000000] rcu: RCU restricting CPUs from NR_CPUS=256 to nr_cpu_ids=1. [ 0.000000] Trampoline variant of Tasks RCU enabled. [ 0.000000] Tracing variant of Tasks RCU enabled. [ 0.000000] rcu: RCU calculated value of scheduler-enlistment delay is 25 jiffies. [ 0.000000] rcu: Adjusting geometry for rcu_fanout_leaf=16, nr_cpu_ids=1 [ 0.000000] NR_IRQS: 64, nr_irqs: 64, preallocated irqs: 0 [ 0.000000] GICv3: 988 SPIs implemented [ 0.000000] GICv3: 0 Extended SPIs implemented [ 0.000000] Root IRQ handler: gic_handle_irq [ 0.000000] GICv3: GICv3 features: 16 PPIs [ 0.000000] GICv3: CPU0: found redistributor 0 region 0:0x000000003ffd0000 [ 0.000000] rcu: srcu_init: Setting srcu_struct sizes based on contention. [ 0.000000] arch_timer: cp15 timer(s) running at 19.20MHz (virt). [ 0.000000] clocksource: arch_sys_counter: mask: 0xffffffffffffff max_cycles: 0x46d987e47, max_idle_ns: 440795202767 ns [ 0.000000] sched_clock: 56 bits at 19MHz, resolution 52ns, wraps every 4398046511078ns [ 0.002616] arm-pv: using stolen time PV [ 0.003945] Console: colour dummy device 80x25 [ 0.005300] Calibrating delay loop (skipped), value calculated using timer frequency..38.40 BogoMIPS (lpj=76800) [ 0.008475] pid_max: default: 32768 minimum: 301 [ 0.009923] LSM: initializing lsm=capability,selinux,integrity [ 0.011702] SELinux: Initializing. [ 0.012884] Mount-cache hash table entries: 1024 (order: 1, 8192 bytes, linear) [ 0.015180] Mountpoint-cache hash table entries: 1024 (order: 1, 8192 bytes, linear) [ 0.017809] cacheinfo: Unable to detect cache hierarchy for CPU 0 [ 0.019820] RCU Tasks: Setting shift to 0 and lim to 1 rcu_task_cb_adjust=1. [ 0.022107] RCU Tasks Trace: Setting shift to 0 and lim to 1 rcu_task_cb_adjust=1. [ 0.024472] rcu: Hierarchical SRCU implementation. [ 0.025891] rcu: Max phase no-delay instances is 1000. [ 0.027767] EFI services will not be available. [ 0.029190] smp: Bringing up secondary CPUs ... [ 0.030713] smp: Brought up 1 node, 1 CPU [ 0.032002] SMP: Total of 1 processors activated. [ 0.033471] CPU features: detected: 32-bit EL0 Support [ 0.035048] CPU features: detected: Data cache clean to the PoU not required for I/D coherence [ 0.037742] CPU features: detected: Common not Private translations [ 0.039678] CPU features: detected: CRC32 instructions [ 0.041275] CPU features: detected: LSE atomic instructions [ 0.043105] CPU features: detected: Privileged Access Never [ 0.044891] CPU: All CPU(s) started at EL1 [ 0.046161] alternatives: applying system-wide alternatives [ 0.050071] devtmpfs: initialized [ 0.051500] clocksource: jiffies: mask: 0xffffffff max_cycles: 0xffffffff, max_idle_ns: 7645041785100000 ns [ 0.054767] futex hash table entries: 256 (order: 2, 16384 bytes, linear) [ 0.057122] pinctrl core: initialized pinctrl subsystem [ 0.058872] DMI not present or invalid. [ 0.060334] NET: Registered PF_NETLINK/PF_ROUTE protocol family [ 0.062534] DMA: preallocated 128 KiB GFP_KERNEL pool for atomic allocations [ 0.064964] DMA: preallocated 128 KiB GFP_KERNEL|GFP_DMA pool for atomic allocations [ 0.067353] DMA: preallocated 128 KiB GFP_KERNEL|GFP_DMA32 pool for atomic allocations [ 0.069943] audit: initializing netlink subsys (disabled) [ 0.071632] audit: type=2000 audit(0.056:1): state=initialized audit_enabled=0 res=1 [ 0.074141] thermal_sys: Registered thermal governor 'step_wise' [ 0.074143] thermal_sys: Registered thermal governor 'power_allocator' [ 0.076118] cpuidle: using governor menu [ 0.079536] hw-breakpoint: found 6 breakpoint and 4 watchpoint registers. [ 0.081693] ASID allocator initialised with 32768 entries [ 0.083662] Serial: AMBA PL011 UART driver [ 0.085582] Modules: 2G module region forced by RANDOMIZE_MODULE_REGION_FULL [ 0.087812] Modules: 0 pages in range for non-PLT usage [ 0.087813] Modules: 516176 pages in range for PLT usage [ 0.091914] HugeTLB: registered 1.00 GiB page size, pre-allocated 0 pages [ 0.099837] HugeTLB: 0 KiB vmemmap can be freed for a 1.00 GiB page [ 0.101815] HugeTLB: registered 32.0 MiB page size, pre-allocated 0 pages [ 0.107895] HugeTLB: 0 KiB vmemmap can be freed for a 32.0 MiB page [ 0.109875] HugeTLB: registered 2.00 MiB page size, pre-allocated 0 pages [ 0.116064] HugeTLB: 0 KiB vmemmap can be freed for a 2.00 MiB page [ 0.118084] HugeTLB: registered 64.0 KiB page size, pre-allocated 0 pages [ 0.124190] HugeTLB: 0 KiB vmemmap can be freed for a 64.0 KiB page [ 0.128423] ACPI: Interpreter disabled. [ 0.132206] iommu: Default domain type: Translated [ 0.133734] iommu: DMA domain TLB invalidation policy: strict mode [ 0.135749] SCSI subsystem initialized [ 0.140957] usbcore: registered new interface driver usbfs [ 0.142744] usbcore: registered new interface driver hub [ 0.144353] usbcore: registered new device driver usb [ 0.149976] pps_core: LinuxPPS API ver.1 registered [ 0.151488] pps_core: Software ver.5.3.6 - Copyright 2005-2007 Rodolfo Giometti [ 0.162194] PTP clock support registered [ 0.163436] EDAC MC: Ver: 3.0.0 [ 0.164532] scmi_core: SCMI protocol bus registered [ 0.166176] FPGA manager framework [ 0.171350] Advanced Linux Sound Architecture Driver Initialized. [ 0.173213] vgaarb: loaded [ 0.174176] clocksource: Switched to clocksource arch_sys_counter [ 0.235827] VFS: Disk quotas dquot_6.6.0 [ 0.237108] VFS: Dquot-cache hash table entries: 512 (order 0, 4096 bytes) [ 0.239428] pnp: PnP ACPI: disabled [ 0.241483] NET: Registered PF_INET protocol family [ 0.243293] IP idents hash table entries: 8192 (order: 4, 65536 bytes, linear) [ 0.245817] tcp_listen_portaddr_hash hash table entries: 256 (order: 0, 4096 bytes, linear) [ 0.248604] Table-perturb hash table entries: 65536 (order: 6, 262144 bytes, linear) [ 0.251034] TCP established hash table entries: 4096 (order: 3, 32768 bytes, linear) [ 0.253323] TCP bind hash table entries: 4096 (order: 5, 131072 bytes, linear) [ 0.255664] TCP: Hash tables configured (established 4096 bind 4096) [ 0.257584] UDP hash table entries: 256 (order: 1, 8192 bytes, linear) [ 0.259650] UDP-Lite hash table entries: 256 (order: 1, 8192 bytes, linear) [ 0.261768] NET: Registered PF_UNIX/PF_LOCAL protocol family [ 0.263829] RPC: Registered named UNIX socket transport module. [ 0.265673] RPC: Registered udp transport module. [ 0.267186] RPC: Registered tcp transport module. [ 0.268641] RPC: Registered tcp-with-tls transport module. [ 0.270380] RPC: Registered tcp NFSv4.1 backchannel transport module. [ 0.272421] PCI: CLS 0 bytes, default 64 [ 0.273680] Unpacking initramfs... [ 0.278241] kvm [1]: HYP mode not available [ 0.279783] Initialise system trusted keyrings [ 0.286209] workingset: timestamp_bits=42 max_order=16 bucket_order=0 [ 0.288474] squashfs: version 4.0 (2009/01/31) Phillip Lougher [ 0.294313] NFS: Registering the id_resolver key type [ 0.295881] Key type id_resolver registered [ 0.297197] Key type id_legacy registered [ 0.302225] nfs4filelayout_init: NFSv4 File Layout Driver Registering... [ 0.304407] nfs4flexfilelayout_init: NFSv4 Flexfile Layout Driver Registering... [ 0.310289] 9p: Installing v9fs 9p2000 file system support [ 0.320607] NET: Registered PF_ALG protocol family [ 0.322022] Key type asymmetric registered [ 0.330205] Asymmetric key parser 'x509' registered [ 0.331833] Block layer SCSI generic (bsg) driver version 0.4 loaded (major 245) [ 0.334140] io scheduler mq-deadline registered [ 0.342201] io scheduler kyber registered [ 0.343459] io scheduler bfq registered [ 0.353648] pci-host-generic 10000.pci: assigned reserved memory node restricted_dma_reserved@90000000 [ 0.362220] pci-host-generic 10000.pci: host bridge /pci ranges: [ 0.364055] pci-host-generic 10000.pci: MEM 0x0002000000..0x0003ffffff -> 0x0002000000 [ 0.370193] pci-host-generic 10000.pci: MEM 0x0094800000..0xffffffffff -> 0x0094800000 [ 0.372927] pci-host-generic 10000.pci: Memory resource size exceeds max for 32 bits [ 0.382221] PCI: OF: PROBE_ONLY enabled [ 0.383535] pci-host-generic 10000.pci: ECAM at [mem 0x00010000-0x0100ffff] for [bus 00] [ 0.386134] pci-host-generic 10000.pci: PCI host bridge to bus 0000:00 [ 0.394279] pci_bus 0000:00: root bus resource [bus 00] [ 0.395912] pci_bus 0000:00: root bus resource [mem 0x02000000-0x03ffffff] [ 0.397972] pci_bus 0000:00: root bus resource [mem 0x94800000-0xffffffffff] [ 0.406329] pci 0000:00:00.0: [8086:1237] type 00 class 0x060000 [ 0.409065] pci 0000:00:01.0: [1af4:1043] type 00 class 0x00ff00 [ 0.419597] pci 0000:00:01.0: reg 0x10: [mem 0x02000000-0x02007fff] [ 0.425686] Freeing initrd memory: 6464K [ 0.428105] pci 0000:00:01.0: PME# supported from D0 D3hot D3cold [ 0.430575] pci 0000:00:02.0: [1b36:0011] type 00 class 0xffff00 [ 0.432661] pci 0000:00:02.0: reg 0x10: [mem 0x02008000-0x0200800f] [ 0.436076] pci 0000:00:00.0: Limiting direct PCI/PCI transfers [ 0.438471] virtio-pci 0000:00:01.0: assigned reserved memory node restricted_dma_reserved@90000000 [ 0.443123] Serial: 8250/16550 driver, 4 ports, IRQ sharing enabled [ 0.445534] 2e8.U6_16550A: ttyS0 at MMIO 0x2e8 (irq = 14, base_baud = 115200) is a 16550A [ 0.448422] 2f8.U6_16550A: ttyS1 at MMIO 0x2f8 (irq = 14, base_baud = 115200) is a 16550A [ 0.451159] 3e8.U6_16550A: ttyS2 at MMIO 0x3e8 (irq = 15, base_baud = 115200) is a 16550A [ 0.453983] 3f8.U6_16550A: ttyS3 at MMIO 0x3f8 (irq = 15, base_baud = 115200) is a 16550A [ 0.456935] msm_serial: driver initialized [ 0.460508] printk: console [hvc0] enabled [ 0.461772] printk: bootconsole [uart8250] disabled [ 0.475305] loop: module loaded [ 0.475957] megasas: 07.725.01.00-rc1 [ 0.476374] tun: Universal TUN/TAP device driver, 1.6 [ 0.477187] VFIO - User Level meta-driver version: 0.3 [ 0.477691] usbcore: registered new interface driver usb-storage [ 0.478075] i2c_dev: i2c /dev entries driver [ 0.478575] sdhci: Secure Digital Host Controller Interface driver [ 0.479311] sdhci: Copyright(c) Pierre Ossman [ 0.479612] sdhci-pltfm: SDHCI platform and OF driver helper [ 0.479932] ledtrig-cpu: registered to indicate activity on CPUs [ 0.480343] SMCCC: SOC_ID: ARCH_SOC_ID not implemented, skipping .... [ 0.480864] usbcore: registered new interface driver usbhid [ 0.481329] usbhid: USB HID core driver [ 0.482042] NET: Registered PF_PACKET protocol family [ 0.482342] 9pnet: Installing 9P2000 support [ 0.482635] Key type dns_resolver registered [ 0.484383] registered taskstats version 1 [ 0.484775] Loading compiled-in X.509 certificates [ 0.486896] page_owner is disabled [ 0.487629] Key type .fscrypt registered [ 0.487943] Key type fscrypt-provisioning registered [ 0.488391] clk: Disabling unused clocks [ 0.488759] ALSA device list: [ 0.489050] No soundcards found. [ 0.490311] Freeing unused kernel memory: 6080K [ 0.498264] Run /init as init process Starting version 250.5+ bash: cannot set terminal process group (-1): Inappropriate ioctl for device bash: no job control in this shell bash-5.1# Copy to clipboard **启动具有 2 个 CPU 和默认 RAM 的虚拟机** 若要启动具有 2 个 CPU 的 guest VM，使用 `--cpus num-cores=2` 参数： #/usr/bin/crosvm --log-level=debug --no-syslog run --disable-sandbox --hypervisor \ gunyah --protected-vm-without-firmware \ --cpus num-cores=2 \ --serial=type=stdout,hardware=virtio-console,console,stdin,num=1 \ --serial=type=stdout,hardware=serial,earlycon,num=1 \ --initrd /var/gunyah/initrd.img --no-balloon --no-rng \ --params "rw root=/dev/ram earlyprintk=serial panic=0" \ /var/gunyah/Image Copy to clipboard 以下代码片段所示为虚拟机日志： bash-5.1# cat /proc/cpuinfo processor : 0 BogoMIPS : 38.40 Features : fp asimd evtstrm aes pmull sha1 crc32 atomics cpuid asimdrdm dcpop asimddp CPU implementer : 0x00 CPU architecture: 8 CPU variant : 0x0 CPU part : 0x048 CPU revision : 0 processor : 1 BogoMIPS : 38.40 Features : fp asimd evtstrm aes pmull sha1 crc32 atomics cpuid asimdrdm dcpop asimddp CPU implementer : 0x00 CPU architecture: 8 CPU variant : 0x0 CPU part : 0x048 CPU revision : 0 bash-5.1# cat /proc/meminfo MemTotal: 161656 kB MemFree: 124940 kB MemAvailable: 124032 kB Buffers: 0 kB Cached: 19816 kB SwapCached: 0 kB Active: 12 kB Copy to clipboard **启动具有 2 个 CPU 和 512 Mb RAM 的虚拟机** 若要启动具有 2 个 CPU 和 512 Mb RAM 的 guest VM，使用 `--cpus num-cores=2 --mem size=512` 参数。 #/usr/bin/crosvm --log-level=debug --no-syslog run --disable-sandbox --hypervisor \ gunyah --protected-vm-without-firmware \ --cpus num-cores=2 --mem size=512 \ --serial=type=stdout,hardware=virtio-console,console,stdin,num=1 \ --serial=type=stdout,hardware=serial,earlycon,num=1 \ --initrd /var/gunyah/initrd.img --no-balloon --no-rng \ --params "rw root=/dev/ram earlyprintk=serial panic=0" \ /var/gunyah/Image Copy to clipboard 以下代码片段所示为虚拟机日志： bash-5.1# cat /proc/cpuinfo processor : 0 BogoMIPS : 38.40 Features : fp asimd evtstrm aes pmull sha1 crc32 atomics cpuid asimdrdm dcpop asimddp CPU implementer : 0x00 CPU architecture: 8 CPU variant : 0x0 CPU part : 0x048 CPU revision : 0 processor : 1 BogoMIPS : 38.40 Features : fp asimd evtstrm aes pmull sha1 crc32 atomics cpuid asimdrdm dcpop asimddp CPU implementer : 0x00 CPU architecture: 8 CPU variant : 0x0 CPU part : 0x048 CPU revision : 0 bash-5.1# cat /proc/meminfo MemTotal: 418304 kB MemFree: 378356 kB MemAvailable: 376048 kB Buffers: 0 kB Cached: 20308 kB SwapCached: 0 kB Active: 0 kB Copy to clipboard **启动具有块设备的虚拟机** 若要启动虚拟机，使用以下命令： #/usr/bin/crosvm --log-level=debug --no-syslog run --disable-sandbox --hypervisor \ gunyah --protected-vm-without-firmware \ --block disk.img \ --cpus num-cores=2 --mem size=256 \ --serial=type=stdout,hardware=virtio-console,console,stdin,num=1 \ --serial=type=stdout,hardware=serial,earlycon,num=1 \ --initrd /var/gunyah/initrd.img --no-balloon --no-rng \ --params "rw root=/dev/ram earlyprintk=serial panic=0" \ /var/gunyah/Image Copy to clipboard - 使用 `--block` 标志指定块式设备名称（在本例中为 disk.img）。 - 此标志在 guest VM 中创建 `/dev/vda, /dev/vdb` 和 `/dev/vd*` 节点。 bash-5.1# ls -al /dev/block/ total 0 drwxr-xr-x 2 root root 220 Jan 1 00:00 . drwxr-xr-x 9 root root 2980 Jan 1 00:00 .. lrwxrwxrwx 1 root root 6 Jan 1 00:00 254:0 -> ../vda lrwxrwxrwx 1 root root 8 Jan 1 00:00 7:0 -> ../loop0 lrwxrwxrwx 1 root root 8 Jan 1 00:00 7:1 -> ../loop1 Copy to clipboard 使用以下命令在 guest VM 中挂载设备： `mount -t ext4 /dev/vda /mount-point`。 bash-5.1# mkdir /data bash-5.1# mount -t ext4 /dev/vda /data [ 112.311376] EXT4-fs (vda): mounted filesystem 4b577765-65ad-4fd8-910c-0eac437d8afb r/w with ordered data mode.Quota mode: none. Copy to clipboard ## 实时 (RT) 内核概述 实时系统是一个确定性系统，该系统会在设定时间内对事件做出响应。 在以下情况下，系统可视为实时系统： - 没有无限的延迟。 - 最长响应时间计算地非常精确。 - 满足设置的任务调度标准（延迟和截止日期）。 Linux 系统可以被视为一种实时操作系统 (RTOS)，在该系统中，实时任务具有明确定义的周期性执行周期（周期时间），并在指定限度（抖动）内满足执行标准。 将 Linux 视为 RTOS 时，应用 `PREEMPT_RT` 补丁并启用完全抢占内核的配置。 实时内核维护工程师负责为每个发布的内核版本维护树外 `PREEMPT_RT` 补丁 。 Video: Explore Real-time Linux® 视频：探索实时 Linux® 如需安装补丁，参见 [Versions of PREEMPT_RT patches](https://wiki.linuxfoundation.org/realtime/start)。 Note 实时支持是为了实现内核空间进程，而非用户空间进程。 ![../_images/RT-kernel-build-sequence.png](data:image/png;base64,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) **图：编译顺序** ### 设置工作区 Qualcomm Linux 内核支持 LTS RT 内核 (6.6.x)，该内核通过 Yocto recipe 进行维护，该 recipe 位于 `meta-qcom-realtime` 层下的 `recipes-kernel/linux/linux-kernel-qcom-rt_6.6.bb` 文件中。 Qualcomm Linux 中的 Linux RT 内核 recipe 称为 `linux-qcom-base-rt`。 有关克隆工作区以及获取所有 Qualcomm Linux 元数据层以使用 Qualcomm RT Linux 的详细信息，参见 [如何与实时 Linux 同步并进行编译？](https://docs.qualcomm.com/bundle/publicresource/topics/80-70015-254/how_to.html#how-to-sync-and-build-with-real-time-linux-) ### 启用实时内核 Qualcomm Linux `meta-qcom-realtime` 层支持 `linux-qcom-base-rt` recipe，该 recipe 在默认情况下会获取和编译适用于支持的机器的 Qualcomm Linux 内核。 `meta-qcom-realtime` 层会在现有层基础上应用更改。在内核编译过程中， `meta-qcom-realtime` 层会根据内核版本，添加上游 `PREEMPT_RT` 补丁，并允许实时配置。 Note - 定制 BSP 使用 [linux-qcom-custom-rt_6.6.bb](https://github.com/quic-yocto/meta-qcom-realtime/blob/kirkstone/recipes-kernel/linux/linux-qcom-custom-rt_6.6.bb)。 - 基本 BSP 使用 [linux-qcom-base-rt_6.6.bb](https://github.com/quic-yocto/meta-qcom-realtime/blob/kirkstone/recipes-kernel/linux/linux-qcom-base-rt_6.6.bb)。 require recipes-kernel/linux/linux-qcom-base-rt_6.6.bb SECTION = "RT kernel" SUMMARY = "Linux Real time kernel for QCOM devices" DESCRIPTION = "Recipe to build real time Linux kernel" SRC_URI:append = "https://cdn.kernel.org/pub/linux/kernel/projects/rt/6.6/older/patch-6.6.14-rt21.patch.gz;md5sum=91969a704a73aa918c89d3027bdd3634 \ file://qcom_rt.cfg \ file://0001-arch-Kconfig-Add-RT-kernel-support.patch \ S = "${WORKDIR}/kernel" KERNEL_CONFIG_FRAGMENTS:append = " ${WORKDIR}/qcom_rt.cfg" Copy to clipboard 有关支持的机器的详细信息，参见 [确定支持的 Qualcomm 机器](https://docs.qualcomm.com/doc/80-70015-3SC/topic/getting_started_chapter2.html#supported-machines)。 ### 配置实时内核 - 按照以下步骤配置 RT 内核： SRC_URI:append = "https://cdn.kernel.org/pub/linux/kernel/projects/rt/6.6/older/patch-6.6.14-rt21.patch.gz;md5sum=91969a704a73aa918c89d3027bdd3634 \ file://qcom_rt.cfg \ file://0001-arch-Kconfig-Add-RT-kernel-support.patch \ Copy to clipboard - 在 RT 内核上应用外部配置： - 维护 `meta-qcom-realtime/recipes-kernel/linux/linux-qcom-base-rt/configs/qcom_rt.cfg` recipe 中的配置文件。 - 将配置文件添加到 `meta-qcom-realtime/recipes-kernel/linux/linux-qcom-base-rt_6.6.bb` 文件中的 `KERNEL_CONFIG_FRAGMENTS` 。 - 要将配置文件添加到 RT 内核，可进行以下更改： KERNEL_CONFIG_FRAGMENTS:append = " ${WORKDIR}/qcom_rt.cfg" Copy to clipboard - 若要修改内核命令行，可将命令行参数添加到 `meta-qcom-realtime/conf/layer.conf` 文件中。 - 以下示例说明如何修改命令行： KERNEL_CMDLINE_EXTRA = "root=/dev/disk/by-partlabel/system rw rootwait console=ttyMSM0,115200n8 pcie_pme=nomsi earlycon idle=poll skew_tick=1 rcu_nocbs=1-3 rcu_nocb_poll nohz_full=1-3 irqaffinity=4-7 isolcpus=1-3" Copy to clipboard ### 内核配置 RT 内核中使用了可选和必选内核配置。 若要在 RT 内核中启用完全抢占，使用 `CONFIG_PREEMPT_RT`。 `CONFIG_PREEMPT_RT` 标志在 `linux-qcom-base-rt_6.6.bb` recipe 中默认启用。 以下示例展示了内核配置： # CONFIG_PREEMPT_RT $ zcat proc/config.gz | grep CONFIG_PREEMPT # CONFIG_PREEMPT_NONE is not set # CONFIG_PREEMPT_VOLUNTARY is not set # CONFIG_PREEMPT is not set CONFIG_PREEMPT_RT=y Copy to clipboard 使用以下配置优化 RT 内核响应： # CONFIG_NO_HZ $ zcat proc/config.gz | grep NO_HZ CONFIG_NO_HZ_COMMON=y # CONFIG_NO_HZ_IDLE is not set CONFIG_NO_HZ_FULL=y # CONFIG_NO_HZ is not set #CONFIG_CPUSETS $ zcat proc/config.gz | grep CPUSETS CONFIG_CPUSETS=y Copy to clipboard 在绑定 RT 任务时，设置以下内核配置选项 ： - `CONFIG_NO_HZ_FULL` - 启用后，会将内核配置为避免向具有单个可运行任务的 CPU 发送调度时钟中断信号。 - `CONFIG_CPUSETS` - `CONFIG_CPUSETS` 配置选项用于启用 `cpuset`，在这种情况下，会 CPU 进行分组，形成集合。 将 RT 任务绑定到一组 CPU 时，使用 `CONFIG_CPUSETS` 配置选项： ![../_images/compile-RT-kernel.png](data:image/png;base64,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) **图：RT 内核验证** ### 编译实时内核 若要编译 RT 内核，可使用以下命令： $ MACHINE=-- DISTRO=qcom-wayland QCOM_SELECTED_BSP=base source setup-environment #verify realtime layer is present $ bitbake-layers show-layers | grep realtime meta-qcom-realtime /layers/meta-qcom-realtime 12 # compile $ bitbake qcom-console-image Copy to clipboard ### 测试实时内核 测试套件包含在 Linux 基金会的 RT 测试套件中。 周期性测试可确定 RT 应用的最佳和最坏情况下延迟。 1. 如需获取 RT 测试套件源代码，可访问 [rt-tests/rt-tests.git](https://git.kernel.org/pub/scm/utils/rt-tests/rt-tests.git/)。 2. 若要将 RT 测试套件包括在镜像中，可更改标准 Yocto 编译版本中的 `layer.conf` 文件： IMAGE_INSTALL:append = "rt-tests numactl" Copy to clipboard 3. 运行以下周期性测试： $ cgexec -g cpuset:core1-3 cyclictest -a 1-3 -t 3 -m -l 100000000 -i 1000 -p 99 -h 800 Copy to clipboard 有关 RT 测试的详细信息，参见 [RT-Tests](https://wiki.linuxfoundation.org/realtime/documentation/howto/tools/rt-tests)。 ### 调试 RT 内核 以下列出了排查和解决 RT 内核中问题的方法： - 如何验证底层内核是实时内核？ 启动完成后，运行以下命令来验证内核类型： $ uname -r 6.6-rt15 $ uname -v SMP PREMPT_RT Copy to clipboard - 如何使驱动程序符合 RT 要求？ 确保同步原语不会破坏 RT 假设。 以下示例说明了可能会破坏 RT 假设并导致系统行为异常的场景： /* Acquiring a preemptible lock in non preemptible context */ preempt_disable( ) …… spin_lock( ) /* Acquiring a preemptible lock in non preemptible context / raw_spin_lock( ) …… spin_lock( ) /* Acquiring a non preemptible lock in preemptible context / local_lock_irq( ) ….. raw_spin_lock( ) Copy to clipboard - 调试 RT 内核配置 以下所列为 RT 内核的调试配置： - `CONFIG_DEBUG_ATOMIC_SLEEP` - 验证是否在原子部分内执行睡眠操作。 - `CONFIG_PROVE_RAW_LOCK_NESTING` - 允许 `raw_spinlock` 与自旋锁嵌套关系验证，以确保不会违反 `PREEMPT_RT` 已启用内核的锁定嵌套规则。 在调试时，可以从 RT 内核切换到非 RT 内核。若要切换，可更改 `meta-qcom-realtime/conf/layer.conf` 文件， 将 virtual/kernel 设置更改为 `linux-qcom-base-rt`， 然后重新编译。 运行以下命令，执行更改： - PREFERRED_PROVIDER_virtual/kernel = "linux-qcom-base" + PREFERRED_PROVIDER_virtual/kernel = "linux-qcom-base-rt" Copy to clipboard 有关 RT 内核锁定原语的详细信息，参见 [Lock types and their rules—The Linux Kernel documentation](https://www.kernel.org/doc/html/latest/locking/locktypes.html)。 ### 调整 RT 内核 调整 RT 内核，使设备中的 RT 任务的确定性延迟 。 运行 RT 任务的 CPU 核心必须设置为以最高工作频率运行，同时防止因温度过高而降低 CPU 频率。例如，在空闲休眠场景中，RT 任务会因 CPU 唤醒存在时间延迟而面临调度延迟。 对于具有 8 个 CPU 核心的系统，使用以下系统配置： - 以下示例中所述的 RT 任务绑定至核心 1-3。 - CPU 核心 1-3 在隔离模式下运行，所有读取-复制-更新 (RCU) 操作都绑定至核心 4-7。 - IRQ 在内核命令行参数中绑定至核心 4-7。 - CPU 核心 1-3 禁用系统休眠，并设置为以最高频率运行。 # Disable low power mode and sleep for CPU 1-3 $ echo 1 > /sys/devices/system/cpu/cpu1/cpuidle/state2/disable $ echo 1 > /sys/devices/system/cpu/cpu1/cpuidle/state1/disable $ echo 1 > /sys/devices/system/cpu/cpu1/cpuidle/state0/disable $ echo 1 > /sys/devices/system/cpu/cpu2/cpuidle/state0/disable $ echo 1 > /sys/devices/system/cpu/cpu2/cpuidle/state1/disable $ echo 1 > /sys/devices/system/cpu/cpu2/cpuidle/state2/disable $ echo 1 > /sys/devices/system/cpu/cpu3/cpuidle/state2/disable $ echo 1 > /sys/devices/system/cpu/cpu3/cpuidle/state1/disable $ echo 1 > /sys/devices/system/cpu/cpu3/cpuidle/state0/disable # Enable max freq for cpu group 0-3 $ echo 1958400 > /sys/devices/system/cpu/cpufreq/policy0/scaling_min_freq $ echo performance > /sys/devices/system/cpu/cpufreq/policy0/scaling_governor # form cgroup for core 0-3 $ mkdir /sys/fs/cgroup/cpuset/core0/ $ mkdir /sys/fs/cgroup/cpuset/core1/ $ mkdir /sys/fs/cgroup/cpuset/core2/ $ mkdir /sys/fs/cgroup/cpuset/core3/ $ echo 0 > /sys/fs/cgroup/cpuset/core0/cpuset.mems $ echo 0 > /sys/fs/cgroup/cpuset/core1/cpuset.mems $ echo 0 > /sys/fs/cgroup/cpuset/core2/cpuset.mems $ echo 0 > /sys/fs/cgroup/cpuset/core3/cpuset.mems $ echo 0 > /sys/fs/cgroup/cpuset/core0/cpuset.cpus $ echo 1 > /sys/fs/cgroup/cpuset/core1/cpuset.cpus $ echo 2 > /sys/fs/cgroup/cpuset/core2/cpuset.cpus $ echo 3 > /sys/fs/cgroup/cpuset/core3/cpuset.cpus $ mkdir /sys/fs/cgroup/cpuset/core1-3/ $ echo 0 > /sys/fs/cgroup/cpuset/core1-3/cpuset.mems $ echo 1-3 > /sys/fs/cgroup/cpuset/core1-3/cpuset.cpus Copy to clipboard 以下示例展示了如何添加内核命令行参数， 以在 `meta-qcom-realtime/conf/layer.conf` 中禁用 RCU 回调 (**rcu\_nocbs**)： - CPU 核心 1-3 - IRQ 绑定至核心 4-7 - 隔离 CPU 1-3 KERNEL_CMDLINE_EXTRA = "root=/dev/disk/by-partlabel/system rw rootwait console=ttyMSM0,115200n8 pcie_pme=nomsi earlycon skew_tick=1 **rcu\_nocbs**=1-3 rcu_nocb_poll nohz_full=1-3 irqaffinity=4-7 isolcpus=1-3" Copy to clipboard Last Published: Dec 15, 2024 [Previous Topic 入门指南](https://docs.qualcomm.com/bundle/publicresource/80-70015-3SC/topics/getting_started_chapter2.md) [Next Topic Yocto 支持](https://docs.qualcomm.com/bundle/publicresource/80-70015-3SC/topics/yocto-kernel-support.md)