[[PageOutline]]


= Ubuntu =
Gateworks supports the popular Ubuntu OS on Newport and Ventana products using an Ubuntu built root filesystem with a Gateworks kernel. In some cases you may be able to use an Ubuntu built kernel.

Gateworks always tries to use the LTS releases (Long Term Support).
 * Jammy Jellyfish 22.04
 * Focal Fossa 20.04

In addition to the information on this page, you likely want to look at product family specific details on the following pages for your product:
 * [wiki:venice/ubuntu Venice Ubuntu Page]
 * [wiki:newport/ubuntu Newport Ubuntu Page]
 * [wiki:ventana/ubuntu Ventana Ubuntu Page]
[[Image(ubuntufocalwithversion.png,300px)]]

== Ubuntu Webmin
A web GUI for system management: [wiki:webui Ubuntu Webmin]

[[Image(Webmin_Logo.png,200px)]]

[=#packages]
== Ubuntu Packages ==
Ubuntu inherits its package management from Debian Linux using the 'apt' packaging system and 'deb' packages. The list of package feeds is in /etc/apt/sources.list:
{{{
#!bash
# cat rootfs/etc/apt/sources.list
deb http://ports.ubuntu.com/ubuntu-ports vivid main
deb http://ports.ubuntu.com/ubuntu-ports vivid universe
}}}

You can search for Ubuntu packages at https://launchpad.net/ubuntu. The search results will show what Ubuntu versions (by name) the package is available in and clicking on the resulting package will show information as to the package feed its contained in.

The standard Ubuntu package feeds are located at http://ports.ubuntu.com/ubuntu-ports/ and you will find packages in the dist/<ubuntu-version>/<feed> directories. Ubuntu breaks up feeds into the following:
 * Main - Officially supported software.
 * Restricted - Supported software that is not available under a completely free license.
 * Universe - Community maintained software, i.e. not officially supported software.
 * Multiverse - Software that is not free. (meaning licensing)

If you are trying to find out what package an application belongs to you have a few choices:
 1. Use {{{dpkg -S}}} on your Ubuntu development host. For example to find the package that contains ifconfig:
{{{
#!bash
$ dpkg -S $(which ifconfig)
net-tools: /sbin/ifconfig
}}}
  * ifconfig is in /sbin/ifconfig and is part of the net-tools package
  * {{{dpkg -L net-tools}}} will show you everything else contained in that package
 2. Use {{{apt-cache search}}}:
{{{
#!bash
$ apt-cache search ifconfig
iproute2 - networking and traffic control tools
net-tools - The NET-3 networking toolkit
gnome-nettool - network information tool for GNOME
inetutils-tools - base networking utilities (experimental package)
libnet-ifconfig-wrapper-perl - multiplatform Perl wrapper for ifconfig
moreutils - additional Unix utilities
wmifinfo - Dockapp that shows information for all interfaces
}}}
 3. Googling the question 'what package contains <xyz>'

Personal Package Archives (PPAs) are package feeds that are not part of Ubuntu and can be used by people to distribute their own personally built packages. To use a PPA you need to first add it to your repository list and update your package sources.

Some additional useful apt command examples:
 * update package feeds:
{{{#!bash
apt-get update
}}}
 * upgrade all installed packages to their latest versions:
{{{#!bash
apt-get upgrade
}}}
 * show what version of a package is available (regardless of if its installed), for example bluez:
{{{#!bash
apt-cache show bluez
}}}
 * clean out any old packages that have newer versions installed and no longer are dependencies of anything else installed:
{{{#!bash
apt-get autoremove
}}}
 * clean out apt caches:
{{{#!bash
apt-get clean
}}}
 * remove a package (leaves its configs), for example 'bluez':
{{{#!bash
apt-get remove bluez
}}}
 * remove a package including any config files (as they normally don't get removed), for example 'bluez':
{{{#!bash
apt-get purge bluez
}}}
 * show all available packages including version info:
{{{#!bash
apt list
}}}
 * show all installed packages including version info:
{{{#!bash
apt list --installed
}}}
 * show upgradable packages:
{{{#!bash
apt list --upgradable
}}}


References:
 * [https://help.ubuntu.com/community/Repositories/Ubuntu Ubuntu Software Repositories]
 * [http://askubuntu.com/questions/4983/what-are-ppas-and-how-do-i-use-them What are PPAs and how do I use them]


[=#gateworks-packages]
== Gateworks Packages
Gateworks maintains a set of packages that are either custom Gateworks applications or packages that we patch or configure differently than those offered by the official Ubuntu package repositories.

You can find these at https://launchpad.net/~gateworks-software/+archive/ubuntu/packages which you can add to your Ubuntu system by:
 * Add Gateworks PPA
{{{#!bash
sudo add-apt-repository ppa:gateworks-software/packages
sudo apt-get update
}}}
 * Prioritize Gateworks PPA to have higher priority than others
{{{#!bash
cat <<\EOF > /etc/apt/preferences.d/gateworks
Package: *
pin: release o=LP-PPA-gateworks-software-packages
Pin-Priority: 1010

EOF
}}}
  - Note that these steps are already done on the Gateworks prebuilt Ubuntu images

Packages that Gateworks provides in this PPA include:
 * brcm-patchram - a userspace app needed to load firmware onto Broadcom USB chips such as that found on the GW5913
 * gsc-update - a userspace app used to compute checksums of Gateworks System Controller firmware images and update firmware
 * gst-gateworks-apps - Example Gstreamer applications
 * gwsoc - a userspace app used to update firmware and configure GW16113
 * hostapd-conf - a shell script that can be used to interactively create a config file for hostapd for Wireless AP's
 * openocd - an updated build of OpenOCD as they have not had a new release since 0.10 released in Jan 2017
 * openssl - Ubuntu's openssl built with AFALG and Cryptodev support enabled

[=#modem]
== Modem Support
Aleksander Morgado (​https://aleksander.es), a key developer behind the !ModemManager, libqmi, and libmbim projects that provide modem support on Ubuntu provides up-to-date Ubuntu PPA's for Ubuntu.

See [wiki:wireless/modem#ubuntu modem#ubuntu] for more info on how to use these packages and how to retrieve the latest versions of them from his PPA


[=#ssh]
== SSH Server ==
The {{{openssh-server}}} package provides an ssh daemon suitable for secure shell (ssh) and secure copy (scp):
{{{
#!bash
apt-get install openssh-server
}}}

During development it may be useful to enable root ssh capability, which is disabled by default. To do this  edit /etc/ssh/sshd_config, and:
1. comment out the following line:
{{{
#!bash
PermitRootLogin without-password
}}}
2. Just below it, add the following line:
{{{
#!bash
PermitRootLogin yes
}}}
3. Then reload SSH config:
{{{
#!bash
service ssh reload
}}}



[=#wireless]
== Wireless ==

It helps to check if your wlan0 device is present before continuing with these steps, this can be done by:

{{{#!bash

ls /sys/class/net/
}}}
is wlan0 in this directory? If so proceed, if not consult [http://trac.gateworks.com/wiki/wireless/wifi wifi] wiki.



[=#wireless-ap]
=== Access Point (AP) ===
These instructions below are for creating a wireless Access Point (AP) that will allow nearby client connections.

1. Install required packages
{{{#!bash
apt-get update
apt-get install iw hostapd linux-firmware
}}}
1. Download the Gateworks {{{hostapd-conf}}} script from our Yocto BSP, this script will produce a 'basic' configuration file to set up your AP:
{{{#!bash
wget https://raw.githubusercontent.com/Gateworks/meta-gateworks/master/recipes-support/hostapd-conf/hostapd-conf/hostapd-conf
chmod +x ./hostapd-conf
}}}
1. Run the script with your parameters
{{{#!bash
# See usage
./hostapd-conf

# See available channel information for device
./hostapd-conf wlan0 ssid-name # parses information from 'iw list' command

# Enter full AP configuration
./hostapd-conf wlan0 test-ssid 161 VHT80
}}}
1. Run {{{hostapd}}} with your configuration file
{{{#!bash
hostapd -B hostapd-phy0.conf # use -dd flag for more debug output
# "wlan0: interface state UNINITIALIZED->HT_SCAN" shows AP has been set up
}}}

Note that the {{{hostapd-phy0.conf}}} file created for you via the {{{hostapd-conf}}} script is meant to be a starting point and does not allow you to create every possible combination of configurations. For more information on the {{{hostapd.conf}}} file and its options, see the [https://w1.fi/cgit/hostap/plain/hostapd/hostapd.conf hostapd.conf documentation].


[=#wireless-client]
=== Client using wpa_supplicant ===
These instructions below are for creating a wireless client that will connect to a nearby access point.


1. Install required packages:
{{{#!bash
apt-get update
apt-get install iw wpasupplicant udhcpc
}}}
1. Edit {{{/etc/network/interfaces}}} and edit/add the following to configure wlan0 on boot wpa_supplicant:
{{{#!bash
cat << EOF >> /etc/network/interfaces
# Wireless interface
auto wlan0
iface wlan0 inet dhcp
        wireless_mode managed
        wireless_essid any
        wpa-driver nl80211
        wpa-conf /etc/wpa_supplicant.conf

EOF
}}}
1. Create WPA Supplicant Configuration File at {{{/etc/wpa_supplicant.conf}}} using the {{{wpa_passphrase}}} application (see the man page on wpa_supplicant.conf if you need any special configurations):
{{{#!bash
wpa_passphrase <myssid> <mypass> >> /etc/wpa_supplicant.conf
}}}
1. Sync and power cycle the board
{{{#!bash
sync
}}}


Troubleshooting:
 * Make sure you only have one wpa_supplicant running via {{{ps -ef | grep wpa_supplicant}}}
 * To scan for available access points in range you can use the iw tool:
{{{#!bash
iw dev wlan0 scan # scan for AP's
}}}
 * To manually connect to wireless if auto connection is not working: While the above will configure wireless Client mode on bootup, if you want to start it manually you can do so by manually starting/re-starting wpa_supplicant (ifup will do this for you on bootup if configured in /etc/network/interfaces):
{{{#!bash
ifconfig wlan0 up
killall wpa_supplicant
wpa_supplicant -i wlan0 -D nl80211 -c /etc/wpa_supplicant.conf -B # manage wireless client
udhcpc -i wlan0 # obtain dhcp lease
}}}


[=#predictable-interface-names]
== Predictable Interface Names (systemd/udev) ==
The Linux kernel creates Ethernet network interfaces named 'eth<n>' where <n> starts at 0 and increments for each device registered by various drivers. The kernel makes no guarantee that these names remain constant across kernel versions or even power cycles. It is not uncommon for example for USB network interfaces to get registered in an inconsistent fashion between power cycles. It is also not uncommon for a kernel change (ie making a built-in driver be a module instead) to cause interface names move around due to changes in the registration order.

To combat this uncertainty a feature referred to as 'Predictable Interface Names' is implemented in Linux distros which use {{{systemd}}} and {{{udev}}}. Specifically this feature has been in {{{udevd}}} since v197. In this case the network interfaces are re-named based on udev rules according to their bus topology. For example under this scheme a PCI based Ethernet network interface on bus 5, slot 0, function 1 would be names 'enp5s0f1'. The best documentation for the naming scheme appears to be the [https://github.com/systemd/systemd/blob/master/src/udev/udev-builtin-net_id.c#L20 udev code comments]

Predictable interface names is enabled by default on systems using {{{systemd}}}/{{{udev}}} however you can disable it in a couple of ways:
 * Pass in a kernel command-line parameter of {{{net.ifnames=0}}}. Note that this is 'not' a kernel feature (thus is independent of what kernel version you are using) but the {{{systemd}}}/{{{udev}}} components that implement this feature look for that on the command-line. (default on Gateworks)
 * Remove {{{/lib/systemd/network/99-default.link}}} from the root filesystem.

Alternatively you can also create your own {{{link}}} files to name interfaces to your liking. A {{{link}}} file defines matching criteria and link criteria for naming. You can use 'udevadm info <device>' to obtain details that {{{udev}}} knows about devices (ie 'udevadm info /sys/class/net/eth0' or /udevadm info /dev/ttyUSB0'). Your link files should be placed in {{{/etc/systemd/network}}} and should sort before {{{99-default.link}}} from {{{/lib/systemd/network}}}.

An example to force a wlan0 name by MAC address c0:ee:40:99:
{{{
root@gw7301:/lib/systemd/network# cat 90-wlan0.link
[Match]
MACAddress=c0:ee:40:99

[Link]
Name=wlan0
}}}

References:
- [https://www.freedesktop.org/wiki/Software/systemd/PredictableNetworkInterfaceNames/ Predictable Network Interfaces]
- [https://www.freedesktop.org/software/systemd/man/systemd.link.html systemd link file notation]
- [https://github.com/systemd/systemd/blob/master/src/udev/udev-builtin-net_id.c#L20 udev code documenting naming convention]
- [https://major.io/2016/01/20/tinkering-with-systemds-predictable-network-names/ Good Blog article on creating your own link files]
- [https://major.io/2015/08/21/understanding-systemds-predictable-network-device-names/ Good Blog article about Predictive Interface Names]
- net/core/dev.c:dev_change_name - changes name of device by passing strings like "eth%d"


[=#network]
== Network Configuration
There are various resources on the Internet dealing with Ubuntu network interface configuration which we don't intend to compete with here.

In general:
 * See {{{/etc/network/interfaces}}} for the default network interface configuration
 * See {{{/etc/dhcp/dhclient.conf}}} for the default DHCP client configuration
 * Typically the Gateworks prebuilt root filesystems will configure networking to bring up {{{eth0}}} by default using {{{dhcp}}} for network configuration with a 10 second timeout. This is done by setting 'timeout 10;' in {{{/etc/dhcp/dhclient.conf}}}:
{{{#!bash
sed -i 's/^timeout.*/timeout 10;/' /etc/dhcp/dhclient.conf
}}}

Note that DHCP only retries every 5 minutes to give an IP address per the man pages: [https://manpages.ubuntu.com/manpages/trusty/man5/dhclient.conf.5.html]

[=#time]
== Network Time Protocol (NTP) Configuration
Network Time can set your system time based on network time servers:
 * bionic:
{{{#!bash
apt-get install chrony
}}}
 * xenial:
{{{#!bash
apt-get install ntp
}}}


[=#rtc]
== Real Time Clock (RTC) Configuration
System Time can be set from a Real Time Clock such as the DS1672 that the Gateworks System Controller emulates but this does not seem to work on modern Ubuntu out of the box. While the {{{util-linux}}} package that provides {{{hwclock}}} installs a service {{{/etc/init.d/hwclock.sh}}} it won't run because {{{systemd}}} is installed and the service is masked.

You can work around this by installing a hwclock.service:
{{{#!bash
cat << EOF > /etc/systemd/system/hwclock.service
[Unit]
Description=Hardware clock synchronization
[Service]
Type=oneshot
ExecStart=/sbin/hwclock --hctosys --utc --adjfile=/etc/adjtime
ExecStop=/sbin/hwclock --systohc --utc --adjfile=/etc/adjtime
[Install]
WantedBy=multi-user.target
EOF
systemctl enable hwclock
}}}


[=#watchdog]
== Watchdog
The standard Linux watchdog daemon can be installed on ubuntu and configured.

Note that these steps are already done for you when using the Gateworks pre-built Ubuntu based images:
 * install package
{{{#!bash
# install
apt-get install watchdog
}}}
 * create conf file:
{{{#!bash
cat << EOF > /etc/watchdog.conf
watchdog-device = /dev/watchdog
realtime = yes
priority = 1
interval = 5
watchdog-timeout = 30
EOF
}}}

[=#hello-world.c]
== Cross compiling example
If you wish to compile applications on a development host intended to run on a target with a different architecture (ie you have an x86 host, and an arm64 target like Venice or Newport) you can use Ubuntu's cross toolchain which consits of a gcc cross-compiler, libc, and binutils.

Example:
 * cross compile for ARM64 (Venice / Newport) on X86 Ubuntu host:
{{{#!bash
# install Ubuntu cross-build package
sudo apt update
sudo apt install crossbuild-essential-arm64 # installs gcc as well as binutils and libs
aarch64-linux-gnu-gcc -v # see gcc version if interested
# build a simple app, using shared libraries
cat << EOF >> helloworld.c
#include <stdio.h>

int main (int argc, char** argv)
{
   printf("Hello World\n");
   return 0;
}
EOF
aarch64-linux-gnu-gcc helloworld.c -o helloworld
file helloworld # shows ELF 64-bit LSB shared object, ARM aarch64, dynamically linked with interpreter /lib/ld-linux-aarch64.so.1
aarch64-linux-gnu-objdump -x helloworld | grep NEEDED # show libs needed on target
}}}
  - this was tested on both an Ubuntu bionic dev host (providing gcc-v7.5) as well as an Ubuntu focal dev host (providing gcc-v9.4.0)
 * cross compile for ARM32 (Ventana) on X86 Ubuntu host:
{{{#!bash
# install Ubuntu cross-build package
sudo apt update
sudo apt install crossbuild-essential-armel # installs gcc as well as binutils and libs
arm-linux-gnueabi-gcc -v # see gcc version if interested
# build a simple app, using shared libraries
cat << EOF >> helloworld.c
#include <stdio.h>

int main (int argc, char** argv)
{
   printf("Hello World\n");
   return 0;
}
EOF
arm-linux-gnueabi-gcc helloworld.c -o helloworld
file helloworld # shows ELF 32-bit LSB ARM EABI5v1 shared object, dynamically linked with interpreter /lib/ld-linux.so.3
arm-linux-gnueabi-objdump -x helloworld | grep NEEDED # show libs needed on target
}}}



== Native compiling example
While typically not as fast as cross-compiling on a higher end processing Linux development host it can be simple to compile ANSI-C code natively on a Gateworks board running an Ubuntu OS.

To natively compile a .c file on a Newport board using Ubuntu, follow the instructions:
 * First, install build-essential
{{{
apt-get update
apt-get install build-essential
}}}
 * Create your C application with the editor of your choice (vi, vim, nano, sublime etc). Here we just use {{{cat}}} so you can cut-and-paste:
{{{#!bash
#include <stdio.h>

int main(void)
{
     printf("hello, world\n");
}
}}}
 * Compile the file:
{{{#!bash
~# gcc -o hello helloworld.c
}}}
 * Run the file
{{{#!bash
~# ./hello
hello, world
}}}