BeagleBoardDebian

This page is about running a (ARM EABI) Debian distribution at BeagleBoard. BeagleBoard will boot the (ARM EABI) Debian distribution from SD card. To prepare the SD card and install (ARM EABI) Debian on it, QEMU on host PC will be used, following Aurélien Jarno's excellent Debian on an emulated ARM machine howto.

Note: Debian armel deb's are compiled for armv4t, this allows debian to support a larger number of arm devices with a single port, at only the sacrifice of speed.

= KNOWN ISSUES =

2.6.29-oer* USB still flaky on the RevC ehci port.. --RobertCNelson 18:17, 6 May 2009 (UTC)

Kernel Problems: Please email me (gmail), or post to the beagleboard google group, with a pastebin dump of your complete serial bootup. (I'm unable to use irc at work..) Any builds listed in this wiki have been tested with RevB & RevC boards.. (however with not every single u-boot combination.)

= Recommended Kernel = So like any big document, it's hard to keep everything up to date. So if your trying Debian/Mojo for the first time, here's what i recommend, (and it's the same thing i'm running on the build beagle.)

Stable: 2.6.29-oer34 :

Lenny: http://www.rcn-ee.com/deb/kernel/beagle/lenny/v2.6.29-58cf2f1-oer34/

Squeeze: http://www.rcn-ee.com/deb/kernel/beagle/squeeze/v2.6.29-58cf2f1-oer34/

Currently Testing with Build Beagle: http://www.rcn-ee.com/deb/kernel/beagle/squeeze/v2.6.29-58cf2f1-oer31/

Uboot: http://elinux.org/BeagleBoardDebian#Upgrading_U-boot

= Native Install via debian-installer (NON QEMU based) = Note: This install method requires an LCD+usb(keyboard,etc), and uboot 2008-rc2 (Upgrading u-boot (2.6.27's and later)) or later..

Testing First Release:

Development PC: Format SD Card
You will need a 1GB SD card or greater. Standard System : ~455MB + Desktop environment (GNOME) : ~2.9GB

Starting with an empty SD card and using gparted, create: 50 MiB Primary Partition, fat32 Leave remaining space for the Debian-Installer

Development PC: Setup SD U-boot Partition
Mount your SD card fat32 partition. (/media/disk/)

Debian Lenny Stable cd /media/disk/ sudo wget http://www.rcn-ee.com/deb/kernel/CC-beagle-v2.6.29-58cf2f1-oer32 sudo wget http://ftp.debian.org/debian/dists/lenny/main/installer-armel/current/images/versatile/netboot/initrd.gz sudo mv CC-beagle-v2.6.29-58cf2f1-oer32 uImage sudo gzip -d initrd.gz sudo dd if=initrd of=initrd.pad ibs=8388608 conv=sync

Tested: 2.6.29-oer31 install RevB5 & RevC2--RobertCNelson 14:33, 24 April 2009 (UTC)

Beagleboard: Setup U-boot for netboot install
Mount SD card For Linux Kernel 2.6.28 with DSS2 setenv bootcmd 'mmcinit; fatload mmc 0:1 0x80300000 uImage; fatload mmc 0:1 0x81600000 initrd.pad; bootm 0x80300000' setenv bootargs 'console=ttyS2,115200n8 console=tty0 ramdisk_size=8192 root=/dev/ram0 rw rootfstype=ext2 initrd=0x81600000,8M omap-dss.def_disp=lcd omapfb.video_mode=1280x720MR-16@60' saveenv boot

For Linux Kernel 2.6.29 and higher using DSS2 setenv bootcmd 'mmcinit; fatload mmc 0:1 0x80300000 uImage; fatload mmc 0:1 0x81600000 initrd.pad; bootm 0x80300000' Debian Install over DVI Port setenv bootargs 'console=tty0 ramdisk_size=8192 root=/dev/ram0 rw rootfstype=ext2 initrd=0x81600000,8M omapfb.mode=dvi:1280x720MR-16@60' Debian Install over the Serial Port *(this seems to be a regression from 2.6.28, which allowed you to specify both...) setenv bootargs 'console=ttyS2,115200n8 ramdisk_size=8192 root=/dev/ram0 rw rootfstype=ext2 initrd=0x81600000,8M' saveenv boot The debian-installer should load via the framebuffer, if the screen remains blank, try different resolutions for the bootargs:

You shall adapt the resolution to you screen as following : omapfb.mode=dvi:1280x720MR-24@60 Modes: "1024x768MR-24@60""800x600-MR24@60" ...

Here is more explanation on dss video options :

Choose a language C - No localization English - English

Configure the network: usb0: USB net <- See below for 2.6.29. Could not find usb0 with B7 installing 2.6.28. eth0: Ethernet <- Your usb-ethernet device wlan0: Wifi <- Your usb-wifi device.. See BeagleBoardDebianWifiInstallInfo for my hack to set it up.

Configuring usb0 network bridge for 2.6.29: While you chose your keyboard layout, setup a bridge with ethX and usbX. # ifconfig ethX 0.0.0.0 # ifconfig usbX 0.0.0.0 # brctl addbr brX # brctl addif brX ethX # brctl addif brX usbX # ifconfig brX up  # dhclient brX *Sometimes the first beagle DHCP will fail(probably due PC trying autoconnect), just run the auto configuration again and it will configure it right.

Continue the install without loading kernel modules? :

Partition disks: This partitioner doesn't have the inform.....? :  Logical Volume Manager not available: 

Partition disks: Guided - Use the largest continuous free space

Partitioning scheme....

Example: MMC/SD card #1 (mmcblk0) - 2.0 GB Unknown > #1 primary  57.5 MB     fat32 > #2 primary   1.8 GB B f ext3  / > #5 logical 148.0 MB   f swap  swap Finish partitioning and write changes to disk Write the changes to disk? :

No installable kernel was found in the defined APT sources? :  Continue without installing a kernel? :

Standard System

No BootLoader: 

Beagleboard: Setup U-boot for Normal Boot
Reboot (aka remove power)

Uboot update bootcmd & bootargs

For Linux Kernel 2.6.28 using DSS2 setenv bootcmd 'mmcinit; fatload mmc 0:1 0x80300000 uImage; bootm 0x80300000' setenv bootargs 'console=ttyS2,115200n8 console=tty0 root=/dev/mmcblk0p2 rootdelay=2 rootfstype=ext3 ro omap-dss.def_disp=lcd omapfb.video_mode=1280x720MR-24@60' saveenv boot

For Linux Kernel 2.6.29 and higher using DSS2 setenv bootcmd 'mmcinit; fatload mmc 0:1 0x80300000 uImage; bootm 0x80300000' DVI Port setenv bootargs 'console=tty0 root=/dev/mmcblk0p2 rootwait rootfstype=ext3 ro omapfb.mode=dvi:1280x720MR-16@60' Serial Port setenv bootargs 'console=ttyS2,115200n8 root=/dev/mmcblk0p2 rootwait rootfstype=ext3 ro' saveenv boot

Debian will fix the ext3 partition, it'll try to reboot, after halting remove and reapply power.

Script File
Note: this will be updated from time to time. (tested off course, may need "sudo apt-get install wget")

wget http://www.rcn-ee.com/deb/kernel/update_kernel.sh sudo /bin/bash update-kernel.sh

Note: vmlinuz symbolic link (yes  no)... Still not sure this matters, i select ...

Manual Method
cd /home/ sudo apt-get install uboot-mkimage wget http://www.rcn-ee.com/deb/kernel/beagle/lenny/v2.6.29-58cf2f1-oer34/linux-image-2.6.29-oer34_1.0lenny_armel.deb sudo dpkg -i linux-image*

Extract linux-image's vmlinuz-* dpkg -x linux-image* ./temp

Mount fat32 partition sudo mount /dev/mmcblk0p1 /mnt

Build uboot compatible image and copy to fat32 boot partition sudo mkimage -A arm -O linux -T kernel -C none -a 0x80008000 -e 0x80008000 -n "Linux" -d ./temp/boot/vmlinuz-* /mnt/uImage

Clean up rm -rfd temp

Sync, umount Partitions and Reboot

= QEMU install method via debian-installer (emulated arm core via Desktop PC)=

This methods lasted 4 hours on a PC Ubuntu/Lenny (P4 2GHz) with an external USB2.0 card reader. Install QEMU on your host PC. This assumes that your host PC is running Debian as well. If not, install QEMU the way your host PC distribution uses. apt-get install qemu Note: If your debian armel image crashes while fscking the partition, rebuild qemu from trunk.

Development PC: Format SD Card
You will need a 1GB SD card or greater, depending on the installation chosen : Standard System (without graphical environment) : ~455MB + Desktop environment (GNOME) : ~2.3GB Please note that installer download all packages before installing them, that's why you'll need more space disk.

Starting with an empty SD card and using gparted/fdisk, create: 50 MiB Primary Partition, fat32 Leave remaining space for the Debian-Installer

Development PC: Preparation
Create a working directory to keep your files organized.

mkdir debian-armel cd debian-armel/ wget ftp://ftp.us.debian.org/debian/dists/lenny/main/installer-armel/current/images/versatile/netboot/initrd.gz wget ftp://ftp.us.debian.org/debian/dists/lenny/main/installer-armel/current/images/versatile/netboot/vmlinuz-2.6.26-2-versatile

Development PC: Install Debian in QEMU
Quick Note: Debian Lenny is undergoing Beta/RC testing so these debian installers are currently way out of date, so it will tell you their are unavailable kernel modules, just ignore the question and continue. These modules will be provided later, with the provided linux-image deb.

To install (ARM EABI) Debian inside QEMU:

sudo qemu-system-arm -M versatilepb -kernel vmlinuz-2.6.26-2-versatile -initrd initrd.gz -m 256 -hda /dev/sdX -append "root=/dev/ram mem=256M" Note: root/sudo access is required to access /dev/sdX directly (verify mmc card with fdisk -l)

Partition disks, default settings should work for most: Guided - use the largest continuous free space



Development PC: Running Debian in QEMU (Optional)
Note: This section is only useful for people with out a usb-network device for their beagle who would like to install additional applications, otherwise just skip to the next subsection to install your linux-kernel by copying files from your desktop pc to a SD card. As ext3 filesystem support is not included in kernel you will need an initrd, just copy the one installed in the SD card in /boot.

sudo qemu-system-arm -M versatilepb -kernel vmlinuz-2.6.26-2-versatile -initrd initrd.img-2.6.26-2-versatile -m 256 -hda /dev/sdX -append "root=/dev/sda2 mem=256M"

Note: Time will be incorrect.

sudo apt-get install ntpdate ntpdate pool.ntp.org

Install default deb packages for linux-image.

Stable 2.6.29 wget http://www.rcn-ee.com/deb/kernel/beagle/lenny/v2.6.29-58cf2f1-oer34/linux-image-2.6.29-oer34_1.0lenny_armel.deb sudo dpkg -i *.deb

Note: It's easier to download these straight to the sd card after you've mounted the SD card to copy uImage to the FAT partition.

Development PC: Linux Kernel Preparation
Install uboot-mkimage utility sudo apt-get install uboot-mkimage

Remount SD card, Ubuntu remounts SD card like this: /media/vfat/ /media/debian/

Download Kernel-Image cd /media/debian/home/ / wget http://www.rcn-ee.com/deb/kernel/beagle/lenny/v2.6.29-58cf2f1-oer34/linux-image-2.6.29-oer34_1.0lenny_armel.deb

Extract linux-image's vmlinuz-* dpkg -x linux-image* ./temp

Build uboot compatible image and copy to /media/disk/ mkimage -A arm -O linux -T kernel -C none -a 0x80008000 -e 0x80008000 -n "Linux" -d ./temp/boot/vmlinuz-* /media/vfat/uImage

Clean up rm -rfd temp

Sync, umount Partitions and Install sd card in beagleboard

Beagleboard: Setup U-boot for boot
Insert SD Card and power up Beagleboard.

Using a terminal program, stop u-boot and add these commands:

For Linux Kernel 2.6.28 using DSS2 setenv bootcmd 'mmcinit; fatload mmc 0:1 0x80300000 uImage; bootm 0x80300000' setenv bootargs 'console=ttyS2,115200n8 console=tty0 root=/dev/mmcblk0p2 rootdelay=2 rootfstype=ext3 ro omap-dss.def_disp=lcd omapfb.video_mode=1280x720MR-16@60' saveenv boot

For Linux Kernel 2.6.29 and higher using DSS2 setenv bootcmd 'mmcinit; fatload mmc 0:1 0x80300000 uImage; bootm 0x80300000' DVI Port setenv bootargs 'console=tty0 root=/dev/mmcblk0p2 rootwait rootfstype=ext3 ro omapfb.mode=dvi:1280x720MR-16@60' Serial Port setenv bootargs 'console=ttyS2,115200n8 root=/dev/mmcblk0p2 rootwait rootfstype=ext3 ro' saveenv boot

You shall adapt the resolution to you screen as following : omapfb.mode=dvi:1280x720MR-24@60 Modes: "1024x768MR-24@60""800x600-MR24@60" ...

Here is more explanation on dss video options :

The Beagleboard will reboot 3-4 times while the ext3 filesystem is repaired. (may have to remove power etc)

Debian on Beagleboard
Debian on BeagleBoard uses the following configuration:


 * Console log = Serial Terminal
 * User Console = HDMI port + usb (keyboard, mouse, etc).

If you want to log in with the serial port, you will have to add to /etc/inittab S:2345:respawn:/sbin/getty 115200 ttyS2

And if you want to log in as root on the serial port, add ttyS2 to /etc/securetty.

Note : the beagle board I have was not configured as USB host. I had to modify it to be able to use mouse and keyboards (see ). I you do not want to do this, you'll have to install a Vnc server on the beagle to access desktop.

Current Issues
date +"%m%d%y%H%M" -s MMDDYYHHMM
 * 1) Swap disabled: change /dev/hda5 -> /dev/mmcblk0p5 in /etc/fstab (artifact of qemu install to /dev/hdaX)
 * 2) RTC seems to be not enabled: use ntpdate when ethernet works, or issue



Serial Ports
Lenny

edit /etc/inittab and add: S:2345:respawn:/sbin/getty 115200 ttyS2

For root access over the serial port add ttyS2 to /etc/securetty

fbdev Drivers
/etc/X11/xorg.conf: Section "Device" Identifier	"Configured Video Device" Option		"UseFBDev"		"true" Driver		"fbdev" EndSection

WiFi
See BeagleBoard Debian WiFi install info.

Xorg Omapfb Drivers
Note: this currently a backport from sid, built in a lenny/squeeze chroot.

Drivers
Note: In Debian this will eventually move from sid to squeeze: http://packages.qa.debian.org/x/xf86-video-omapfb.html It's too late for lenny.

lenny wget -c http://rcn-ee.homeip.net:81/dl/deb-sbuild/lenny/xorg-drivers/xserver-xorg-video-omap3_0.1.1-2_armel.deb sudo dpkg -i xserver-xorg-video-omap3_0.1.1-2_armel.deb

squeeze wget -c http://rcn-ee.homeip.net:81/dl/deb-sbuild/squeeze/xorg-drivers/xserver-xorg-video-omap3_0.1.1-2_armel.deb sudo dpkg -i xserver-xorg-video-omap3_0.1.1-2_armel.deb

Startup Script
/etc/rcS.d/S61omapfb.sh

ln -s /dev/fb0 /dev/fb
 * 1) !/bin/sh
 * 1) Hack, omapfb is looking for /dev/fb

xorg.conf
/etc/X11/xorg.conf

Section "Device" Identifier	"Configured Video Device" Driver         "omapfb" EndSection

Kernel Modules
Starting with 2.6.29-oer34, these will be auto generated by the beagle builder.

lenny wget -c http://www.rcn-ee.com/deb/kernel/beagle/lenny/v2.6.29-58cf2f1-oer34/omaplfb.ko wget -c http://www.rcn-ee.com/deb/kernel/beagle/lenny/v2.6.29-58cf2f1-oer34/pvrsrvkm.ko sudo mkdir -p /lib/modules/`uname -r`/kernel/drivers/gpu/pvr/ sudo mv *.ko /lib/modules/`uname -r`/kernel/drivers/gpu/pvr/ sudo depmod -a omaplfb

squeeze wget -c http://www.rcn-ee.com/deb/kernel/beagle/squeeze/v2.6.29-58cf2f1-oer34/omaplfb.ko wget -c http://www.rcn-ee.com/deb/kernel/beagle/squeeze/v2.6.29-58cf2f1-oer34/pvrsrvkm.ko sudo mkdir -p /lib/modules/`uname -r`/kernel/drivers/gpu/pvr/ sudo mv *.ko /lib/modules/`uname -r`/kernel/drivers/gpu/pvr/ sudo depmod -a omaplfb

SDK
Get from here: https://www-a.ti.com/downloads/sds_support/targetcontent/dvsdk/oslinux_dvsdk/v3_00_3530/OMAP35x_Graphics_SDK_setuplinux_3_00_00_06.bin

Note: the SDK will not extract directly on any arm platform, extract it first on an x86 machine and tar the resulting folder before transferring to the beagleboard.

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

SDK lib's sudo cp *.so /usr/lib/

pvrsrvinit sudo cp pvrsrvinit /usr/sbin/

devmem2
wget -c http://free-electrons.com/pub/mirror/devmem2.c gcc -o devmem2 devmem2.c sudo cp devmem2 /usr/sbin

Startup Script
/etc/rcS.d/S60pvr.sh

modprobe omaplfb pvr_maj=`grep "pvrsrvkm$" /proc/devices | cut -b1,2,3` if [ -e /dev/pvrsrvkm ] ; then rm -f /dev/pvrsrvkm fi mknod /dev/pvrsrvkm c $pvr_maj 0 chmod 666 /dev/pvrsrvkm pvrsrvinit devmem2 0x48004b40 w 0
 * 1) !/bin/sh
 * 1) this is from the SDK...
 * 1) Set SGX to full speed

DSP
= Advanced =

Upgrading U-boot
Using gparted, create a new 50MB Primary fat32 Partition on a blank SD card, or use your existing fat32 partition.

cd /media/disk sudo wget http://rcn-ee.homeip.net:81/dl/omap/uboot/u-boot-beagleboard-2009.03+r22+gitr2dea1db2a3b7c12ed70bbf8ee50755089c5e5170-r22.bin sudo mv u-boot-beagleboard-2009.03+r22+gitr2dea1db2a3b7c12ed70bbf8ee50755089c5e5170-r22.bin u-boot-f.bin

Tested --RobertCNelson 16:37, 24 April 2009 (UTC) RevB5 + 2.6.29-oer31 & RevC2 + 2.6.29-oer31

Insert SD Card, boot Beagleboard and stop U-Boot from booting mmcinit fatload mmc 0 0x80200000 u-boot-f.bin nand unlock nandecc sw nand erase 80000 160000 nand write.i 0x80200000 80000 160000 reset

Normal Kernel Build
Warning: This section can be quite old at times, but lots of people still use it (download wise off my site) so i'm bumping this to a relatively stable checkout: 2.6.29-oer34 (and it actually works...)... However note, the PR variable is used differently in 2.6.29+ kernels...

Note, this is done native on the BeagleBoard...

GIT Checkout, Beagleboard patches, and defconfig.

Requires: sudo aptitude install git-core gcc wget kernel-package fakeroot build-essential

For this example lets look at: http://cgit.openembedded.net/cgit.cgi?url=openembedded/commit/&id=d962d391fab15d5fb7d9965b05b161da6d4d1157

http://cgit.openembedded.net/cgit.cgi?url=openembedded/tree/conf/machine/include/omap3.inc&id=d962d391fab15d5fb7d9965b05b161da6d4d1157 -> "oer34"

http://cgit.openembedded.net/cgit.cgi?url=openembedded/tree/recipes/linux/linux-omap_2.6.29.bb&id=d962d391fab15d5fb7d9965b05b161da6d4d1157 -> "GIT" and "PATCHES"

All build that i do are logged in the build folders: http://www.rcn-ee.com/deb/kernel/beagle/lenny/v2.6.29-58cf2f1-oer34/changes.txt (easier to mainitain then the old way)

Retrieve the GIT checkout
GIT Checkout: 58cf2f1425abfd3a449f9fe985e48be2d2555022 or Shorthand: 58cf2f1

git-clone git://git2.kernel.org/pub/scm/linux/kernel/git/tmlind/linux-omap-2.6.git cd linux-omap-2.6/ or if you already downloaded it.. cd linux-omap-2.6/ git pull git checkout 58cf2f1 -b v2.6.29-58cf2f1 git archive --format=tar --prefix=v2.6.29-58cf2f1/ v2.6.29-58cf2f1 | gzip > ../v2.6.29-58cf2f1.tar.gz git checkout master git branch v2.6.29-58cf2f1 -D cd ..

Copy patches and defconfig
Open linux-omap**.bb: http://cgit.openembedded.net/cgit.cgi?url=openembedded/tree/recipes/linux/linux-omap_2.6.29.bb&id=d962d391fab15d5fb7d9965b05b161da6d4d1157

This contains 50+ patches need to form a specific (oe) Openembedded release, too keep things neat and simple for my beagle builder, I'll usually combine this into a single diff located here along with the defconfig. http://rcn-ee.homeip.net:81/dl/omap/beagle/v2.6.29-58cf2f1-oer34/

wget http://rcn-ee.homeip.net:81/dl/omap/beagle/v2.6.29-58cf2f1-oer34/v2.6.29-58cf2f1-oer34.diff wget http://rcn-ee.homeip.net:81/dl/omap/beagle/v2.6.29-58cf2f1-oer34/defconfig

Build uImage
Extract Kernel Source tar -xf v2.6.29-58cf2f1.tar.gz cd v2.6.29-58cf2f1/

Apply Patch patch -p1 < ../v2.6.29-58cf2f1-oer34.diff

Copy Defconfig cp ../defconfig .config

Testing Changes make menuconfig

Build uImage make CROSS_COMPILE= uImage

Build with make-kpkg
Note: Use newer or patches/defconfig/git commit from previous section.

Install Dependencies
apt-get install git-core kernel-package fakeroot build-essential curl libncurses-dev uboot-mkimage

Linux Kernel
git clone git://git2.kernel.org/pub/scm/linux/kernel/git/tmlind/linux-omap-2.6.git cd linux-omap-2.6/ git checkout -b beagle

Patch Kernel with patches you need: patch -p1 < ~/dl/patches/*.patch

Setup Kernel .config make CROSS_COMPILE= distclean

Copy or Make your defconfig cp ~/dl/defconfig .config or make CROSS_COMPILE= menuconfig

Create Debian linux-image* & linux-headers* Package make-kpkg --cross_compile - clean fakeroot make-kpkg --cross_compile - kernel_image kernel_headers

Create U-boot uImage make CROSS_COMPILE= uImage