This document reflects what I have learned through porting several MIPS machines and other related Linux work. Hopefully it will help beginners to get started and give the experienced a reference point.
This document goes through all the major steps to port Linux to a MIPS machine. The focus can perhaps be called "MIPS machine abstraction layer", i.e., the interface between machine-specific code and, mostly, MIPS common code. Another useful document focuses on "Linux hardware abstraction layer", i.e., the interface between Linux common code and architecture-specific code. The document is written by C Hanish Menon (www.hanishkvc.com).
There are some notations used in this document.
The common MIPS tree is the CVS tree at linux-mips.org. See the instructions in "Anonymous CVS servers" section in Linux/MIPS HOWTO. The current kernel version as of 2004/01/26 is 2.6.1. You can always check out earlier stable revisions by using "linux_2_4" or even "linux_2_2" branch tag.
For various reasons, a kernel tree may leave bugs there for a quite long time before a suitable fix is checked in. There are various places to get patches. Here are some of the more common ones:
Jun Sun patches
Linux/MIPS FTP archive
Maciej W. Rozyki patches
Brad LaRonde's patches
More than likely your MIPS box does not run Linux yet (why would you bother otherwise?). Therefore you will need another machine to build the kernel image. Once the image is built, you need to download this image to your MIPS machine and let it run your MIPS kernel. This is called cross-development. Your MIPS box is often called the target machine and the machine used to build the kernel image is called the host machine.
Cross-development is common for developing on embedded targets, because usually embedded targets do not have enough power or the peripherals to develop natively.
The most common host machine is probably Linux on i386/PCs.
You need to have cross-development tools setup on your host before you can start. While you can find instructions, such as in Linux/MIPS HOWTO, to build cross-compilation tools, your best bet is probably to get some ready-made ones.
MontaVista used to offer for free Journeyman edition, which includes a full featured toolchain. Unfortunately, it does not offer that anymore. Instead you can download the preview kit, which includes a "slim" version of toolchain. You can get the kit from http://www.mvista.com/previewkit/index.html
Dan Kegel has a set of scripts that build cross-compiling tools. You can check it out here.
The following are links to pre-build toolchains, instructions to build your own toolchain and finally pre-compiled distributions for MIPS boards:
Brad LaRonde's cross toolchain for Linux
Steve Hill's toolchains for glibc and uClibc
MIPS free toolchains
Distributions for MIPS
In cross development, the serial port is usually the most important interface: That is where you can see anything happening! It might be worthwhile to make sure you get serial porting work before you even start playing with Linux. You can find the sample code or gzipped tar ball of a stand-alone program that can do printf. Such a program can even be useful in later debugging staging, e.g., printing out hardware register values.
Before you rush to type 'make', check and modify the following configurations:
Now, fire your "make" command.
Depending on your downloader on your MIPS box, you may need to generate ELF image, binary image or a SREC image.
Download the barebone image to your target and give it a run! Connect the serial port to your host machine. Start minicom and hopefully you can see the "Hello, world!" message.
Trouble shooting:
Your code for a new board can be classified into board-support code (or board-specific code) and drivers. Driver code should be placed under the 'drivers' directory and board specific code should be placed under 'arch/mips' directory.
The easiest choice is to create a directory called 'arch/mips/aloha'.
However, a couple of other considerations might make it slightly complicated.
In the past people have created directories based on the board manufacturer's name, such as "mips-boards". This generally is not a good idea. It is almost certain that some of these boards do not share anything common at all.
To make things worse, sometimes boards made by different companies use the same chipset or SOC. Now what are you going to do? Are you going to duplicate the common code? Or are you going stick one company's board under another company's name?
For header files, you usually create similar directory or header files under include/asm-mips. [DEBATE] For board specific header files, I would encourage people to place them under the corresponding 'arch/mips' directory if possible.
In our exmaple, we will create 'arch/mips/aloha' directory.
Let us write some code for the Aloha board which can generate a complete Linux image without complaining about missing symbols.
Go to this directory to browse 'arch/mips/aloha' directory. Or download the gzipped file of the directory.
Obviously the code is not complete yet, but if you follow the following steps and everything is correct, you should be able to generate a Linux/MIPS kernel image of your very own!
Most of the steps are fairly straightforward:
LOADADDR is the starting address for your Linux image when it is loaded into RAM. Note that the first 0x200 bytes are used by the exception vectors on most CPUs. Some CPUs will requries a larger space, so modify the LOADADDR accordingly. Due to the linker's addressing limit, the start address is aligned on a 8KB boundary, so setting your LOADADDR to 0x80002000 should be reasonable.# # Hawaii Aloha board # ifdef CONFIG_ALOHA SUBDIRS += arch/mips/aloha LIBS += arch/mips/aloha/aloha.o LOADADDR += 0x80002000 endif
dep_bool 'Support for Hawaii Aloha board (EXPERIMENTAL)' CONFIG_ALOHA $CONFIG_EXPERIMENTAL
if [ "$CONFIG_ALOHA" = "y" ]; then define_bool CONFIG_CPU_R4X00 y define_bool CONFIG_CPU_LITTLE_ENDIAN y define_bool CONFIG_SERIAL y define_bool CONFIG_SERIAL_MANY_PORTS y define_bool CONFIG_NEW_IRQ y define_bool CONFIG_NEW_TIME_C y define_bool CONFIG_SCSI n fi
For instant gratification, you can find a complete patch for adding the Aloha board support to the Linux/MIPS CVS tree checked out on January 20, 2004.
Now you are ready to run your favorite configuration tool. Since we do not have much code added yet, do not be too greedy with selecting options. Just pick a couple of simple options such as the serial and serial console.
Here is a sample minimum config for our Aloha board.
Before you type 'make', double-check the 'arch/mips/Makefile' and make sure the cross-toolchain program names are correct and in your execution path i.e. your PATH environment variable.
Now type 'make dep' and 'make'. Then wait for a miracle to happen!
Assuming you are lucky and actually generate an image from the last chapter, don't bother running it because you won't see anything. This is not strange because all our board-specific code is empty and we have not told Linux kernel anything about our serial port or I/O devices yet.
The sign of a live Linux kernel comes from the output of printk, which is routed to the first console. Since we have configured a serial console, we should be able to see something on the serial wire if we have set it up correctly.
Unfortunately, setup of the serial console happens much later during the kernel startup process. (See Appendix A for a chart of the kernel start-up sequence). Chances are your new kernel probably dies even before that. That is where the early printk patch comes in handy. It allows you to see printk as early as the first line of C code.
By the way the first line of C code for Linux MIPS is the first line of code of 'init_arch()' function in the 'arch/mips/setup.c' file.
For kernel version earlier than 2.4.10, you can find the early printk patch here for boards with standard UART serial ports. Starting from 2.4.10 and beyond, a new printk patch is needed. If you have already got the stand-alone "Hello, world!" program running, the early printk should be easy to get going, and you should have printk output from the Linux kernel very soon.
While early printk is rather useful, you still need to get the real serial driver working.
Assuming you have a standard serial port, there are two ways to add serial support: static defines and run-time setup.
With static defines, you modify the 'include/asm-mips/serial.h' file. Looking through the code, it is not difficult to figure out how to add support for your board's serial port(s).
As more boards are supported by Linux/MIPS, the 'serial.h' file gets crowded. One potential solution is to do run-time serial setup. Sometimes run-time serial setup is necessary if any of the parameters can only be detected at the run-time where settings are read from a non-volatile memory device or an option is passed on the kernel command line.
There are two elements to consider for doing run-time serial setup:
Most of the parameter settings are rather obvious. Here is a list of some less obvious ones:
If you have a non-standard serial port, you will have to write your own serial driver.
Some people derive their code from the standard serial driver. Unfortunately this is a very daunting task. The 'drivers/char/serial.c' file has over 6000 lines of code!
Fortunately, there is an alternative [THANKS: Fillod Stephane]. There is a generic serial driver, 'drivers/char/generic_serial.c'. This file provides a set of serial routines that are hardware independent. Then your task is to provide only the routines that are hardware dependent such as the interrupt handler routine and low-level I/O functions. There are plenty of examples. Just look inside the 'drivers/char/Makefile' and look for drivers that link with 'generic_serial.o' file.
[HELP: Would appreciate if you can share your experience of writing proprietary serial driver code or using the 'generic_serial.c' file.]
For many Linux kernel developers, KGDB is a life-saving tool. With KGDB, you can debug the kernel while it runs! You can set breakpoints or do single stepping at the source code level.
To do this, you will need a dedicated serial port on your target, and use
a crossover-cable (also known as a null-modem) to connect it to your development host. If you are also using a serial console, this implies you will need two serial ports on your target.
It is possible to do both kernel debug and serial console through a single serial port. This will be mentioned later in this chapter.
When you configure the kernel, select the 'Remote GDB kernel debugging' which
is listed under "Kernel hacking". Do a 'make clean' and recompile the kernel so that debugging symbols are compiled into your kernel image.
Try to make a new image. You will soon discover two missing symbols in the final linking stage:
You need to supply these two functions for your own boards:
Chapter 6: KGDB
arch/mips/kernel/kernel.o: In function `getpacket':
arch/mips/kernel/kernel.o(.text+0x85ac): undefined reference to `getDebugChar'
arch/mips/kernel/kernel.o(.text+0x85cc): undefined reference to `getDebugChar'
arch/mips/kernel/kernel.o(.text+0x8634): undefined reference to `getDebugChar'
arch/mips/kernel/kernel.o(.text+0x864c): undefined reference to `getDebugChar'
arch/mips/kernel/kernel.o(.text+0x8670): undefined reference to `putDebugChar'
arch/mips/kernel/kernel.o(.text+0x8680): undefined reference to `putDebugChar'
arch/mips/kernel/kernel.o(.text+0x8698): undefined reference to `putDebugChar'
arch/mips/kernel/kernel.o(.text+0x86a0): undefined reference to `putDebugChar'
As an example, here is the dbg_io.c for DDB5476 board. DDB5476 uses a standard UART serial port to implement those two functions.
int putDebugChar(uint8 byte)
uint8 getDebugChar(void)
After supplying those two functions, you are ready to debug the kernel. Run the new kernel image. If you also use the early printk patch, you should be able to see something like this on your console:
Wait for gdb client connection ...
Assuming you have already connected a cross-over serial cable between the dedicated serial port on the target and a serial port on your host (say, COM0), you can then set the appropriate baud rate and start the cross gdb on your host:
At the gdb prompt, typestty -F /dev/ttyS0 38400 mipsel-linux-gdb vmlinux
And, voila! You should be talking to the kernel through KGDB - if you are lucky enough!target remote /dev/ttyS0
A couple of tips on using KGDB:
Some boards only have one serial port. If you use it as serial console, you cannot really use it for KGDB - unless you do some tricks to it.
There are two solutions. One is GDB console, and the other is to use a KGDB demuxing script.
It is easy to use the GDB console. When you select 'Remote GDB kernel debugging' under the 'Kernel hacking' sub-menu, you are also prompted for 'Console output to GDB'. Simply selecting that choice will work! In fact, this option is so easy to use you might want to use it even if you have a second serial port.
However, this option has a limit. When the kernel goes to userland, the console stops working. This is because the KGDB stub in the kernel and GDB are not designed to provide interactive output. [HELP: any volunteers?]
The second option uses a script called 'kgdb_demux' written by Brian Moyle. It creates two virtual ports, typically ttya0 and ttya1. It then listens to the real serial port (such as ttyS0). It will forward console traffic to ttya0 and KGDB traffic to ttya1. All you have to do then is to start minicom on /dev/ttya0 (port setting does not matter) and KGDB on /dev/ttya1.
You can download the tarball here. A couple of usage tips.
In the MIPS world, there are different families of MIPS cores. For example Toshiba TX49, SiByte SB1, NEC VR41XX, MIPS32, and MIPS64 to name a few. These different families may have different cache architectures, may be 32-bit or 64-bit, and may or may not have a FP unit. A complete list of families is found in the 'arch/mips/config-shared.in' and 'include/asm-mips/cpu.h' files. When you are configuring your kernel the complete list will appear under the 'CPU type' menu selection. If you are adding support for an entirely new family of MIPS cores, you will need to change the following files:
If your processor is already listed in the 'include/asm-mips/cpu.h' file, the existing Linux/MIPS code should auto-detect it. If your processor is not listed, you will need to change three files to properly detect your processor:
It you followed the previous steps, most likely you will see kernel hanging at the BogusMIPS calibration step. The reason is simple: The interrupt code is not there and jiffies are never updated. Therefore the calibration can never be done.
Before you start writing interrupt code, it really pays to study the hardware first. Pay particular attention to identify all interrupt sources, their corresponding controllers and how they are routed.
Then you need to come up with a strategy, which typically includes:
To completely service an interrupt, four different pieces of code work together:
Obviously for our porting purposes we need to write IRQ detection/disptaching code and the hw_irq_handler code for any new IRQ controller used in the system. In addition, there is also IRQ setup and initialization code.
Most R4K-compatible MIPS CPUs have the ability to support eight interrupt sources. The first two are software interrupts, and the last one is typically used for CPU counter interrupt. Therefore you can have up to five external interrupt sources.
Luckily if the CPU is the only IRQ controller in the system, you are done! The hw_irq_handler code is written in arch/mips/kernel/irq_cpu.c file. All you have to do is to define "CONFIG_IRQ_CPU" for your machine. And in your irq setup routine make sure you call mips_cpu_irq_init(0). This call will initialize the interrupt descriptor and set up the IRQ numbers to range from 0 to 7.
You can also find a matching interrupt dispatching code in this file.
More than likely you will have more interrupt sources than those that can directly connect to the CPU interrupt pins. A second or even third-level interrupt controller may connect to one or more of those CPU pins. In that case, you have cascading interrupts.
There are plenty of examples of how cascading interrupt works, such as the DDB5477 and the Osprey. Here is a short summary:
static struct irqaction cascade =
{ no_action, SA_INTERRUPT, 0, "cascade", NULL, NULL };
extern int setup_irq(unsigned int irq, struct irqaction *irqaction);
void __init <my>_irq_init(void)
{
....
setup_irq(CPU_IP3, &cascade);
}
The 'hw_irq_controller structure' is a defined in the 'include/linux/irq.h' file as an alias for the 'hw_interrupt_type' structure.
struct hw_interrupt_type {
const char * typename;
unsigned int (*startup)(unsigned int irq);
void (*shutdown)(unsigned int irq);
void (*enable)(unsigned int irq);
void (*disable)(unsigned int irq);
void (*ack)(unsigned int irq);
void (*end)(unsigned int irq);
void (*set_affinity)(unsigned int irq, unsigned long mask);
};
The 'arch/mips/kernel/irq_cpu.c' is a good sample code to write 'hw_irq_controller' member functions. Here are some more programming notes for each of these functions:
- const char * typename;
- Controller name. Will be displayed under /proc/interrupts.
- unsigned int (*startup)(unsigned int irq);
- Invoked when request_irq() or setup_irq are called. You need to enable this interrupt here. Other than that you may also want to do some IRQ-specific initialization (such as turning on power for this interrupt, perhaps).
- void (*shutdown)(unsigned int irq);
- Invoked when free_irq() is called. You need to disable this interrupt and perhaps some other IRQ-specific cleanup.
- void (*enable)(unsigned int irq) and void (*disable)(unsigned int irq)
- They are used to implement enable_irq(), disable_irq() and disable_irq_nosync(), which in turn are used by driver code.
- void (*ack)(unsigned int irq)
- ack() is invoked at the beginning of do_IRQ() when we want to acknoledge an interrupt. I think you need also to disable this interrupt here so that you don't get recursive interrupts on the same interrupt source. [HELP: can someone confirm?]
- void (*end)(unsigned int irq)
- This is called by do_IRQ() after it has handled this interrupt. If you disabled interrupt in ack() function, you should enable it here. [HELP: generally what else we should do here?]
- void (*set_affinity)(unsigned int irq, unsigned long mask)
- This is used in SMP machines to set up interrupt handling affinity with certain CPUs. [TODO] [HELP]
The IRQ initialization is done in 'init_IRQ()'. Currently it is supplied by each individual board. In the future, it will probably be a MIPS common routine, which will further invoke a board-specific function, board_irq_init(). board_irq_init will be a function pointer that <my_board>_setup() function needs to assign propoer value.
In any case, the following is a skeleton code for a normal init_IRQ() routine.
extern asmlinkage void vr4181_handle_irq(void);
extern void breakpoint(void);
extern int setup_irq(unsigned int irq, struct irqaction *irqaction);
extern void mips_cpu_irq_init(u32 irq_base);
extern void init_generic_irq(void);
static struct irqaction cascade =
{ no_action, SA_INTERRUPT, 0, "cascade", NULL, NULL };
static struct irqaction reserved =
{ no_action, SA_INTERRUPT, 0, "reserved", NULL, NULL };
static struct irqaction error_irq =
{ error_action, SA_INTERRUPT, 0, "error", NULL, NULL };
void __init init_IRQ(void)
{
int i;
extern irq_desc_t irq_desc[];
/* hardware initialization code */
....
/* this is the routine defined in int_handler.S file */
set_except_vector(0, my_irq_dispatcher);
/* setup the default irq descriptor */
init_generic_irq();
/* init all interrupt controllers */
mips_cpu_irq_init(CPU_IRQ_BASE);
....
/* set up cascading IRQ */
setup_irq(CPU_IRQ_IP3, &cascade);
/* set up reserved IRQ so that others can not mistakingly request
* it later.
*/
setup_irq(CPU_IRQ_IP4, &reserved);
#ifdef CONFIG_DEBUG
/* setup debug IRQ so that if that interrupt happens, we can
* capture it.
*/
setup_irq(CPU_IRQ_IP4, &error_irq);
#endif
#ifdef CONFIG_REMOTE_DEBUG
printk("Setting debug traps - please connect the remote debugger.\n");
set_debug_traps();
breakpoint();
#endif
}
What is described in this chapter is what is so-called new style interrupt handling. We used to have three different ways to handle interrupts: new style (CONFIG_NEW_IRQ), the old style (CONFIG_ROTTEN_IRQ) and board-private ad hoc routines. New style is now the only valid method since October 2002.
Linux relies on an RTC (real-time clock) device to obtain the real calendar data and time when it boots up. It relies on a system timer to advance the tick count, jiffies. If you don't provide proper time and timer code, Linux won't run. In fact it will stick in 'calibrate_delay()' during the startup process because jiffies is never incremented. (See Appendix B for more details about Linux/MIPS startup sequence).
There is an excellent document (I becomes a little shameless. :-0) under 'Documentations/mips/time.README' that should be read to further understand timekeeping for Linux/MIPS. It is a must read.
Here are some comments on implementing time and timer services:
The PCI subsystem is perhaps the most complex code you have to deal with during the porting process. The key to making the PCI subsystem work properly is a good understanding of the PCI bus itself, the code layout, and the execution flow in Linux. Like many other parts of porting, you will find in the end, the actual code writen is minimumal.
Pete Popov wrote a fine document on PCI and Linux/MIPS. It is under 'Documentation/mips/pci/pci.README'. It is highly recommended reading.
For those who want to know more about the PCI bus itself, I recommend the book PCI System Architecture published by MindShare Inc.
Here we summarize some facts of the PCI bus:
On all IBM PC-compatible machines, BARs are assigned by the BIOS. Linux simply scans through the buses and records the BAR values.
Some MIPS boards adopt similar approaches, where BARs are assigned by firmware. However, the quality of BAR assignment by firmware vary quite a bit. Some firmware simply assigns BARs to on-board PCI devices and ignore all add-on PCI cards. In that case, Linux cannot solely rely on the firmware's assignment.
There is another issue of depending on the firmware assignment. You need to stick with the address range setup by the firmware. In other words, if the firmware assigns PCI memory space from 0x10000000 to 0x14000000, you cannot easily move it to a different address space somewhere else in Linux.
There three ways to possibly fix this:
[DEBATE] The 'pci_auto' and 'assign_unassigned_resource' approaches have their own advantages and disadvantages. Ideally, the whole PCI subsystem should be completely re-written so that several things can be taken into consideration which are not currently addressed:
In this chapter, we focus on the approach where both CONFIG_NEW_PCI and CONFIG_PCI_AUTO are enabled.
All of this work for PCI is to eventually setup a structure where all PCI device drivers can run happily. Knowing how PCI device drivers access PCI resources can greatly help you understand how you should do PCI initialization and setup.
As we can see from the above discussion, we need to set up the host-PCI controller such that:
The Host-PCI controller usually allows you to map PCI memory space into a window in physical address space. Let us say the base address is ba_mem and size is sz_mem. It usually allows you to translate that address into another one with a fixed offset, say off. (Note off can be both positive or negative). So if a driver accesses the address ba_mem+x (0 <= x < sz_mem), the host-PCI controller will intercept the command and translate it into a PCI memory access at address ba_mem+off+x.
To maintain 1:1 mapping, it implies we must set up the PCI addressing such that off is 0. Also note that with this setup, we cannot access the PCI memory range [0x0, ba_mem] and [ba_mem + sz_mem, 0xffffffff].
Additionaly, we must also make system RAM visible on the PCI memory bus at address 0x0 (assuming that is the address in physical address space) in order for PCI devices to do DMA transfers.
The beginning part of PCI IO space is usually mapped into another window in physical address space, say [ba_io, ba_io + sz_io]. In other words, a range [0, sz_io] in PCI IO space corresponds to the range [ba_io, ba_io + sz_io]. Obviously, mips_io_port_base should be set to ba_io.
The above setup is typically done in the board-specific setup routine (i.e., <board>_setup()). You typically also setup ioport_resource and iomem_resource as well:
ioport_resource.start = 0x0; ioport_resource.end = sz_io; iomem_resource.start = 0x0; iomem_resource.end = sz_mem;
These variables are the roots of all IO and memory resources (roughly corresponding to the ancient ISA IO space and ISA memory space). For simplicity you can also set the end to be 0xffffffff.
Although it is the last chapter, it is probably the most necessary one. In this chapter, I will list some commonly used debugging tips and tricks.
ksymoops is a program that deciphers all the secret numbers in a kernel core dump. Old versions of ksymoops may not work well for MIPS.
I sometimes use a script, call2sym, written by Phil Hollenback. You just cut and past the call trace part to feed the script and it will display a possible function call stack at the time crash. Note it is likely some symbols are bogus, but the real ones should be displayed. You will have to use your own judgement.
In 2.6, the brack trace is automatically printed for you when a kernel core dump happens.
People in the following list have generously given their feedback to me. In spite of my effort to keep the list as complete as possible, I am afraid many people are still missing here.
Appendix A: Linux startup sequence in 2.4.x
kernel_entry() - arch/mips/kernel/head.S
set stack;
prepare argc/argp/envp;
jal init_arch - arch/mips/kernel/setup.c
cpu_probe() -
prom_init(...) - arch/mips/ddb5074/prom.c
loadmmu()
start_kernel() - init/main.c
setup_arch(&commaind_line); - arch/mips/kernel/setup.c
ddb_setup() - arch/mips/ddb5074/setup.c
parse_options(command_line);
trap_init();
init_IRQ(); - arch/mips/kernel/irq.c
sched_init();
softirq_init();
time_init();
if (board_time_init) board_time_init();
set xtime by calling rtc_get_time();
pick appropriate do_gettimeoffset()
board_timer_setup(&timer_irqaction);
console_init();
init_modules();
kmem_cache_init();
sti(); /* interrupt first open */
calibrate_delay();
mem_init();
kmem_cache_sizes_init();
pgtable_cache_init();
fork_init();
proc_caches_init();
vfs_caches_init();
buffer_init();
page_cache_init();
signals_init();
smp_init();
kernel_thread(init, ...)
cpu_idle();
init() - init/main.c
- lock_kernel();
do_basic_setup();
- [MTRR] mtrr_init();
[SYSCTL] sysctl_init();
[S390] s390_init_machine_check();
[ACPI] acpi_init();
[PCI] pci_init();
[SBUS] sbus_init();
[PPC] ppc_init();
[MCA] mca_init();
[ARCH_ACORN] ecard_init();
[ZORRO] zorro_init();
[DIO] dio_init();
[MAC] nubus_init();
[ISAPNP] isapnp_init();
[TC] tc_init();
sock_init();
start_context_thread();
do_initcalls();
[IRDA] irda_proto_init();
[IRDA] irda_device_init();
[PCMCIA] init_pcmcia_ds();
prepare_namespace();
free_initmem();
unlock_kernel();
files = current->files;
if(unshare_files())
panic("unshare");
put_files_struct(files);
if (open("/dev/console", O_RDWR, 0) < 0)
printk("Warning: unable to open an initial console.\n");
(void) dup(0);
(void) dup(0);
if (execute_command)
run_init_process(execute_command);
run_init_process("/sbin/init");
run_init_process("/etc/init");
run_init_process("/bin/init");
run_init_process("/bin/sh");
panic("No init found. Try passing init= option to kernel.");
Appendix B: Credits and thanks
Dirk Behme <dirk.behme@de.bosch.com>
Fillod Stephane <FillodS@thmulti.com>
Geoffrey Espin <espin@idiom.com>
Gerald Champagne <gerald.champagne@esstech.com>
Henri Girard <khgirard@broadbandnetdevices.com>
Neal Crook <ncrook@micron.com>
Steven J. Hill <James.Hill@timesys.com>
TAKANO Ryousei <takano@axe-inc.co.jp>
Motoya Kurotsu <kurotsu@allied-telesis.co.jp>
Appendix C: Change logs