BeagleBoardUbuntu
This page is about running a (ARM EABI) Ubuntu distribution at BeagleBoard. BeagleBoard will boot the (ARM EABI) Ubuntu distribution from SD card.
Note: for the best experience, make sure you have an LCD attached to the HDMI port, 2GB/4GB/8GB SD card, and a known good usb2.0 hub with mouse and keyboard.
Contents
- 1 Help
- 2 Recommended Beagle Software
- 3 Demo Image
- 4 NetInstall Method
- 5 RootStock: Build an Ubuntu root file system
- 6 Advanced
- 7 Ubuntu Software
Help
If you need any help:
- Kernel related help:
- Email Beagleboard user group *Recommended method
- #beagle: Beagle irc on freenode, accessible also by web interface (logs)
- Launchpad Project "Beagleboard Kernel"
- Kernel Testing Results
- Ubuntu related help:
- #ubuntu-arm: Ubuntu's arm irc on freenode (logs -> year -> month -> day -> #ubuntu-arm.html)
- When asking for help, please provide some debugging information:
- U-Boot Version installed on board
- Kernel Version: uname -a
- pastebin dmesg
- Copy from serial port or use "dmesg | pastebinit" (sudo apt-get install pastebinit)
Recommended Beagle Software
X-loader/MLO (1.4.4ss) & U-Boot (2010.03) (Zippy1 & Zippy2 Support)
- All Bx, C2/3/4 Boards should upgrade there MLO and U-Boot versions.
- Directions: Upgrade X-loader and U-Boot
Demo Image
Lucid 10.04
Built with:
sudo ./rootstock --fqdn beagleboard --login ubuntu --password temppwd --imagesize 2G \ --seed wget,nano,linux-firmware,wireless-tools,usbutils --dist lucid --serial ttyS2 \ --script fixup.sh --components "main universe multiverse" \ --kernel-image http://rcn-ee.net/deb/kernel/beagle/lucid/v2.6.32.11-l13/linux-image-2.6.32.11-l13_1.0lucid_armel.deb
Get prebuilt image:
wget http://rcn-ee.net/deb/rootfs/ubuntu-10.04-minimal-armel.tar.7z mirrors (updating): wget http://ynezz.ibawizard.net/beagleboard/ubuntu-10.04-minimal-armel.tar.7z wget http://vivaphp.net/beagle/ubuntu-10.04-minimal-armel.tar.7z wget http://174.120.189.162/~amit/download/ubuntu-10.04-minimal-armel.tar.7z
Unpack it: (sudo apt-get install p7zip-full for 7za)
7za x ubuntu-10.04-minimal-armel.tar.7z tar xf ubuntu-10.04-minimal-armel.tar cd ubuntu-10.04-minimal-armel
Quick Install script for Beagle Bx, C2 & C3
./setup_sdcard.sh --mmc /dev/sdX --uboot beagle
Quick Install script for Beagle C4 (forces 720Mhz)
./setup_sdcard.sh --mmc /dev/sdX --uboot beagle_c4
- Hotfix for users with cards that are mounted as "/dev/mmcblk0p1" that will be included in the next upload (most netbooks with integrated mmc card..)
wget http://bazaar.launchpad.net/~beagleboard-kernel/+junk/image-builder/download/head:/setup_sdcard.sh-20100409005705-0qmm36b13opq2x2z-1/setup_sdcard.sh
- Additional Options
- --rootfs <ext3 default>
- --swap_file <swap file size in MB's>
md5sum: 71c9f2372283752a7f410075001c1d76 ubuntu-10.04-minimal-armel.tar.7z
Lucid 10.04 Xfce4
Notes: 2GB+ SD card, boot scripts are stored in first partition..
Give it time, it'll take 1-2 minutes to load oem-config the first time... (watch the led's)
Built with: (RootStock + lots of tweaks)
--kernel-image http://rcn-ee.net/deb/lucid/v2.6.33.4-l3/linux-image-2.6.33.4-l3_1.0lucid_armel.deb
Get prebuilt image:
wget http://rcn-ee.net/deb/rootfs/ubuntu-10.04-xfce4-armel.tar.7z mirrors (will take some time to update): wget http://ynezz.ibawizard.net/beagleboard/ubuntu-10.04-xfce4-armel.tar.7z wget http://vivaphp.net/beagle/ubuntu-10.04-xfce4-armel.tar.7z
md5sum: e9be639e03c18e9b766504ab648d8993 ubuntu-10.04-xfce4-armel.tar.7z
Unpack it: (sudo apt-get install p7zip-full for 7za)
7za x ubuntu-10.04-xfce4-armel.tar.7z tar xf ubuntu-10.04-xfce4-armel.tar cd ubuntu-10.04-xfce4-armel
Quick Install script for Beagle Bx, C2/C3/C4
./setup_sdcard.sh --mmc /dev/sdX --uboot beagle --swap_file 100
Required Options
- --swap_file 100 (atleast 100MB's, otherwise oem-config will run out of memory and crash etc..)
Additional Options
- --rootfs <ext3 default> (ext3/ext4/btrfs)
Known Problem
- oem-config needs swap, “–swap_file 100″
- gdm theme doesn’t scale correctly to login: select “auto login” during user configuration
- Network Manger loads in background but a doesn’t seem to load a xfce4 gui: “sudo nm-applet”
NetInstall Method
The NetInstall Method, allows you to install Ubuntu directly onto your Beagle by pre-populating a boot image that will perform the complete install.
Recommended:
- 2GB+ SD card
- USB Ethernet/Wifi
Script Source: https://code.launchpad.net/~beagleboard-kernel/+junk/debian-di
Install bzr
sudo apt-get install bzr
Download debian-di script
bzr branch lp:~beagleboard-kernel/+junk/debian-di
Discover SD/MMC Partition
sudo fdisk -l
Run Script
cd debian-di ./mk_mmc.sh --mmc /dev/sdX --distro lucid --firmware
- Options:
- --distro : lucid
- --firmware : install firmware for WiFi devices
- --serial-mode : force NetInstall to use Serial Port
Note: The default options work for most people, but if you'd like to tweak boot settings, edit these before running the script.
NetInstall boot Settings: gedit ./debian-di/scripts/dvi.cmd gedit ./debian-di/scripts/serial.cmd Normal Boot Settings: gedit ./debian-di/scripts/dvi-normal-lucid.cmd gedit ./debian-di/scripts/serial-normal-lucid.cmd
Place SD card into Beagle and Boot
Troubshooting: If boot fails..
- Upgrade X-loader and U-boot Upgrade X-loader and U-Boot
- Clear U-boot's Environment Variables in nand:
nand erase 260000 20000
NetInstall assumptions:
Continue with out Kernel Modules <yes> Partition <Guided - use the largest continuous free space>
RootStock: Build an Ubuntu root file system
Ubuntu Version's
This guide only covers the latest Ubuntu stable (lucid) release and notes for the testing (lucid+1) dists. Notes for older release's can be found here:
- Jaunty, aka Ubuntu 9.04, is the very-old-stable version (armv5 optimized)
- Karmic, aka Ubuntu 9.10, is the old-stable version (armv6 optimized)
- Lucid, aka Ubuntu 10.04 is the stable version (armv7 optimized)
- Maverick, aka Ubuntu 10.10 is the development version. Currently listed here as 'testing'. (armv7 optimized)
Install RootStock
This is based off Ubuntu's RootStock Project; RootStock script.
Debian Squeeze
(unsupported as tested on 4/28/2010, qemu segfaults)
Karmic (9.10)
sudo apt-get install (FIXME: rootstock minimum requirements) bzr branch lp:project-rootstock cd project-rootstock bzr revert -r 94 (Commit 95, isn't supported by Karmic's QEMU)
- qemu: unknown parameter 'aio' in 'file=/tmp/tmp.QxNNQAxEyv/qemu-armel-201004221701.img,aio=native,cache=none'
Lucid (10.04)
sudo apt-get install rootstock
RootStock
RootStock: Useful seed Packages
Useful Packages:
linux-firmware,wireless-tools :wifi adapters.. ntpdate :sync real time clock from network
GUI's (broken bug: FIXME)
xfce4: xfce4,gdm,xubuntu-gdm-theme,xubuntu-artwork
RootStock: Running
Rootstock Command line:
sudo ./rootstock --fqdn <hostname> --login <rootuser> --password <rootuserpasswd> --imagesize <qemu image size> \ --seed <packages> --dist <jaunty/karmic/lucid> --serial <ttySx> --kernel-image <http>
Basic Lucid (10.04) Beagleboard minimal image:
sudo ./rootstock --fqdn beagleboard --login ubuntu --password temppwd --imagesize 2G \ --seed wget,nano,linux-firmware,wireless-tools,usbutils --dist lucid --serial ttyS2 \ --components "main universe multiverse" \ --kernel-image http://rcn-ee.net/deb/lucid/v2.6.33.4-l3/linux-image-2.6.33.4-l3_1.0lucid_armel.deb
Upon Completion, you should have:
armel-rootfs-<date>.tgz -> Root file System, dump to ext2/3 partition of SD card vmlinuz-2.6.<version> -> Boot Image, use mkimage to create uImage and dump to the first fat16 partition of SD card initrd.img-2.6.<version> -> Boot initramfs, use mkimage to create uInitrd and dump to the first fat16 partition of SD card
Partition SD Card
You will need a 1GB SD card or greater.
Standard Console System : ~286MB + Desktop environment (lxde,gdm) : ~479MB
Starting with an empty SD card and using gparted, create:
50 MiB Primary Partition, fat16/fat32 Rest as ext2/ext3/ext4/btrfs
Gparted Example: http://nishanthmenon.blogspot.com/2008/08/how-to-boot-beagle.html
For Reference:
Disk /dev/sdd: 2038 MB, 2038431744 bytes 255 heads, 63 sectors/track, 247 cylinders Units = cylinders of 16065 * 512 = 8225280 bytes Disk identifier: 0x0008e471 Device Boot Start End Blocks Id System /dev/sdd1 1 6 48163+ 6 FAT16 /dev/sdd2 7 247 1935832+ 83 Linux
Copy Root File System to SD Card
Mount your SD card's larger root file system partition (assuming /dev/sdX2) and 'untar' the rootfs into it.
mkdir -p ./tmp sudo mount /dev/sdX2 ./tmp sudo tar xfp armel-rootfs-*.tgz -C ./tmp sudo umount ./tmp
Boot Partition
Requirements:
sudo apt-get install uboot-mkimage
U-Boot uImage
U-Boot needs a compatible kernel image to boot. To do this, we are using mkimage from (uboot-mkimage) to create an image from the vmlinuz kernel file.
mkimage -A arm -O linux -T kernel -C none -a 0x80008000 -e 0x80008000 -n "Linux" -d ./vmlinuz-* ./uImage
U-Boot uInitrd
This step is Optional, but it helps with the lucid and Lucid++ experience.
mkimage -A arm -O linux -T ramdisk -C none -a 0 -e 0 -n initramfs -d ./initrd.img-* ./uInitrd
U-Boot Boot Scripts
The version of U-Boot installed or recommended to install uses boot scripts by default. This allows users to easily switch between multiple SD cards with different OS's with different parameters installed. Ubuntu/Debian requires a slight modification to the bootargs line vs. Angstrom, 'ro' vs 'rw'.
fixrtc: (only uInitrd) Resets RTC based on last mount buddy=${buddy}: (both) Kernel Zippy1/2 Support
create ubuntu.cmd
setenv bootcmd 'mmc init; fatload mmc 0:1 0x80300000 uImage; bootm 0x80300000' setenv bootargs console=tty0 console=ttyS2,115200n8 root=/dev/mmcblk0p2 rootwait ro vram=12M omapfb.mode=dvi:1280x720MR-16@60 buddy=${buddy} boot
With optional uInitrd: create ubuntu.cmd:
setenv bootcmd 'mmc init; fatload mmc 0:1 0x80300000 uImage; fatload mmc 0:1 0x81600000 uInitrd; bootm 0x80300000 0x81600000' setenv bootargs console=tty0 console=ttyS2,115200n8 root=/dev/mmcblk0p2 rootwait ro vram=12M omapfb.mode=dvi:1280x720MR-16@60 fixrtc buddy=${buddy} boot
Use mkimage create to actual *.scr file for U-Boot:
mkimage -A arm -O linux -T script -C none -a 0 -e 0 -n "Ubuntu 10.04" -d ./ubuntu.cmd ./ubuntu.scr
Copy to Boot Partition
Mount your SD card fat16/fat32 partition (assuming /dev/sdX1) and copy the uImage, boot.scr, and optional uInitrd to the first partition.
mkdir -p ./tmp sudo mount /dev/sdX1 ./tmp sudo cp ./uImage ./tmp/uImage sudo cp ./uInitrd ./tmp/uImage Beagle: sudo cp ./ubuntu.scr ./tmp/boot.scr IGEPv2: sudo cp ./ubuntu.scr ./tmp/boot.ini sudo umount ./tmp
Ubuntu Bugs & Tweaks
Enable Network Access
Modify /etc/network/interfaces
auto eth0 iface eth0 inet dhcp
Manual: From the Command line
sudo ifconfig -a sudo dhclient ethX (or wlanX/etc..)
Additional Network Setup Information can be found HERE
Advanced
Install Latest Kernel Image
Script File
example: http://www.rcn-ee.net/deb/lucid/v2.6.33.4-l3/ wget http://rcn-ee.net/deb/lucid/v2.6.33.4-l3/install-me.sh /bin/bash install-me.sh
Reboot with your new uImage
Upgrade X-loader and U-boot
Compatible with Bx,C2/3/4
Requires MMC card..
bzr branch lp:~beagleboard-kernel/+junk/omap-flasher cd omap-flasher ./mk_mmc.sh --mmc /dev/sdX
1: Place MMC card in Beagle 2: Push/Hold User Button 3: Apply Power 4: After U-boot loads, let off User Button 5: Wait for Flashing to end 6: Power down, remove/edit boot.scr from MMC card
Depending on what's in NAND, you might still have to stop and do this:
nand erase 260000 20000 reset
What the script does:
fatload mmc 0:1 0x80200000 x-load.bin.ift nandecc hw nand erase 0 80000 nand write 0x80200000 0 20000 nand write 0x80200000 20000 20000 nand write 0x80200000 40000 20000 nand write 0x80200000 60000 20000 fatload mmc 0:1 0x80300000 u-boot.bin nandecc sw nand erase 80000 160000 nand write 0x80300000 80000 160000 nand erase 260000 20000 reset
SGX Video Acceleration
Use a "corporate email" and download the latest (3.01.00.02):
http://software-dl.ti.com/dsps/dsps_public_sw/sdo_sb/targetcontent/gfxsdk/latest/index_FDS.html
Kernel Modules
An older version of these instructions was adapted for the IGEPv2 platform - if you are following this tutorial and have an IGEPv2, consider using http://wiki.jmaustin.org/wiki/IgepSGXUbuntu instead
Use the "build_sgx_module.sh" script in 2.6-stable, module source is now in the *.bin
https://code.launchpad.net/~beagleboard-kernel/+junk/2.6-stable
Directions: (2.6.34+ this will change..)
bzr branch lp:~beagleboard-kernel/+junk/2.6-stable cd 2.6-stable ./build_kernel.sh ./build_sgx_modules.sh
Copy the *.uImage and extract the matching *.modules.tar.gz from the deploy directory to your SD card.
Copy the GFX_Linux_SDK.tar.gz examples to either your SD card or another media (large file) then boot your omap board.
Run depmod:
sudo depmod -a omaplfb
Tweak System Libraries:
sudo ln -sf /usr/lib/libXdmcp.so.6.0.0 /usr/lib/libXdmcp.so.0 sudo ln -sf /usr/lib/libXau.so.6.0.0 /usr/lib/libXau.so.0
Startup Script
For 3.01.00.02
Copy /opt/pvr/pvr script:
Lucid:
sudo cp /opt/pvr/pvr /etc/init.d/pvr sudo chmod +x /etc/init.d/pvr sudo update-rc.d pvr defaults
Note, if your updating..
cat /opt/pvr/pvr | sudo tee /etc/init.d/pvr > /dev/null
Test SGX with a DEMO
In GFX_Linux_SDK:
cd OGLES/SDKPackage/Binaries/CommonX11/Demos/ChameleonMan ./OGLESChameleonMan
Trouble Shooting
sudo rm /etc/powervr-esrev sudo depmod -a omaplfb sudo /etc/init.d/pvr restart
DSP
This is still a major work in progress...
Xorg omapfb Drivers
By default Ubuntu will try to use the FBDEV video driver, however for the beagleboard we can take advantage of a more software optimized driver (still not using the sgx video hardware) using the NEON extensions of the Cortex-A8 core.
cat /var/log/Xorg.0.log | grep FBDEV
(II) FBDEV: driver for framebuffer: fbdev (II) FBDEV(0): using default device (II) FBDEV(0): Creating default Display subsection in Screen section (==) FBDEV(0): Depth 16, (==) framebuffer bpp 16 (==) FBDEV(0): RGB weight 565
Login into Ubuntu and open a new terminal, xorg has to be running..
xvinfo -display :0.0
X-Video Extension version 2.2 screen #0 no adaptors present
Drivers
Note: These are built with neon optimizations: http://git.debian.org/?p=collab-maint/xf86-video-omapfb.git;a=blob;f=debian/rules;h=c2f0d5391c96c5abb60b1e691ad86bb27e0c17d8;hb=HEAD (line 48/49)
Lucid:
sudo apt-get install xserver-xorg-video-omap3
To verify it was correctly installed, reboot and:
cat /var/log/Xorg.0.log | grep omapfb
(II) LoadModule: "omapfb" (II) Loading /usr/lib/xorg/modules/drivers//omapfb_drv.so (II) Module omapfb: vendor="X.Org Foundation" (II) omapfb: Driver for OMAP framebuffer (omapfb) and external LCD controllers: (WW) Error opening /sys/devices/platform/omapfb/ctrl/name: No such file or directory (II) omapfb(0): VideoRAM: 1800KiB (SDRAM) (II) omapfb(0): Creating default Display subsection in Screen section (**) omapfb(0): Depth 16, (--) framebuffer bpp 16 (==) omapfb(0): RGB weight 565 (==) omapfb(0): Default visual is TrueColor (--) omapfb(0): Virtual size is 1280x720 (pitch 1280) (**) omapfb(0): Built-in mode "current" (==) omapfb(0): DPI set to (96, 96) (II) omapfb(0): DPMS enabled (II) omapfb(0): Video plane capabilities: (II) omapfb(0): Video plane supports the following image formats: (II) omapfb(0): XVideo extension initialized
Login into Ubuntu and open a new terminal, xorg has to be running..
xvinfo -display :0.0
X-Video Extension version 2.2 screen #0 Adaptor #0: "OMAP XV adaptor" number of ports: 1 port base: 56 operations supported: PutImage supported visuals: depth 16, visualID 0x21 number of attributes: 1 etc..
S-Video
Sorry I don't have an S-Video TV, and this is documented in the source, so it would be really great if someone could fill this section in... --RobertCNelson 21:32, 13 July 2009 (UTC)
NTSC
Please use v2.6.29-oer44.1:
PAL
Please use v2.6.29-oer44.1:
Building Kernel
https://launchpad.net/~beagleboard-kernel
Register on launchpad.net, install bzr
sudo apt-get install bzr
Download SRC
bzr branch lp:~beagleboard-kernel/+junk/2.6-stable
Build Kernel
./build_kernel.sh
Build SGX Modules
./build_sgx_modules.sh
Build Deb File
./build_deb.sh
Ubuntu Software
Web Apps
Midori
Given that the BeagleBoard has fewer resources than a desktop a light weight browser is more responsive. Midori is a light weight browser that still supports flash etc It is available from the standard repositories. http://en.wikipedia.org/wiki/Midori_%28web_browser%29
Surveillance
Motion
If you have a video source (webcam, IP cam etc) which appears as /dev/video0 etc then you can use the Linux Surveillance software "motion" to monitor the video stream and record periods of activity.
Motion is also available from the standard repositories. http://www.debian-administration.org/article/An_Introduction_to_Video_Surveillance_with_%27Motion%27 Using a 960x720 resolution webcam with 15 fps rate under the UVC driver the Rev C BeagleBoard under Xubuntu reports ~60% CPU utilisation.
To make the BeagleBoard automatically start recording on boot do the following:
- Auto Login - run "gdmsetup" from a terminal and select a user to automatically login
- Sessions - make sure you don't save any previous xwindows sessions so that it doesn't prompt you for which one you want
- motion.conf - amend /etc/motion/motion.conf to the settings you want (ie video output directory, record only video, record in mpeg4, set frame rate etc). Do this with "sudo medit /etc/motion/motion.conf" at a prompt.
- Boot script - create a new script in /etc/rc2.d called "S65motion_client" and set permissions appropriately ("sudo chmod 777 /etc/rc2.d/S65motion_client"). Then edit the file so it has the following text in it:
#! /bin/sh /usr/bin/motion -c /etc/motion/motion.conf
This will now launch the motion client as root when you boot up.
Also note that unless your BeagleBoard can remember the time (battery backed up clock installed) the timestamps will not be correct until you update the time. If your BeagleBoard has an Internet Connection this can be achieved with the ntpdate app.