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.

= Known issues =

Before you start, the following issues are known:


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

= Help =

If you need any help:


 * Kernel related help:
 * #beagle: Beagle irc on freenode, accessible also by web interface (logs)
 * Email beagleboard user groups
 * Launchpad Project "Beagleboard Kernel"
 * Launchpad Stable Kernel 2.6.29 src
 * Launchpad Development Kernel 2.6.31 src
 * Launchpad Kernel git src
 * Launchpad Kernel for Ubuntu Lucid (10.04)
 * trac/svn interface for the kernel builds


 * 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 =


 * U-Boot 2009.05+r27 Upgrade
 * Version 2009.01 and earlier will not work with this guide

= Ubuntu Rootfs Install = This section describes how you create a Ubuntu root file system for your BeagleBoard.

Note:
 * Jaunty, aka Ubuntu 9.04, is the recent old-stable version
 * Karmic, aka Ubuntu 9.10, is the recent stable version
 * Lucid, aka Ubuntu 10.04 is the upcoming Ubuntu version, not released yet (in Nov 2009). Therefore it is listed here as 'testing'.

Build Image
rootstock is Ubuntu's new name for Oliver's depreciated build-arm-rootfs script.

Note: Use latest debootstrap, if the one posted here is no longer available.

Requirements:

Jaunty (9.04) and Debian: sudo apt-get install qemu wget http://ports.ubuntu.com/pool/main/d/debootstrap/debootstrap_1.0.20~jaunty1_all.deb sudo dpkg -i debootstrap_1.0.20~jaunty1_all.deb wget http://launchpad.net/project-rootstock/trunk/0.1/+download/rootstock-0.1.3.tar.gz tar xf rootstock-0.1.3.tar.gz cd rootstock-0.1.3

Karmic (9.10) sudo apt-get install rootstock

Note: For USB WIFI adapters, add package "linux-firmware, wireless-tools" to the --seed WiFi Hints: http://elinux.org/BeagleBoardUbuntuNetwork

Rootstock Command line: sudo ./rootstock --fqdn --login --password --imagesize --seed --dist  --serial  --kernel-image

Basic Jaunty (9.04) Beagleboard xfce4 image: sudo ./rootstock --fqdn beagleboard --login ubuntu --password temppwd --imagesize 2G --seed xfce4,gdm --dist jaunty \ --serial ttyS2 --kernel-image http://rcn-ee.net/deb/kernel/beagle/jaunty/v2.6.29-58cf2f1-oer44.1/linux-image-2.6.29-oer44.1_1.0jaunty_armel.deb

Basic Karmic (9.10) Beagleboard xfce4 image: sudo ./rootstock --fqdn beagleboard --login ubuntu --password temppwd --imagesize 2G --seed xfce4,gdm --dist karmic \ --serial ttyS2 --kernel-image http://rcn-ee.net/deb/kernel/beagle/karmic/v2.6.31.5-x5.3/linux-image-2.6.31.5-x5.3_1.0karmic_armel.deb

Upon Completion, you should have: armel-rootfs- .tgz -> Root file System, dump to ext2/3 partition of SD card vmlinuz-2.6. -> Boot Image, use mkimage to create uImage and dump to the first fat16 partition of SD card

Lucid (10.04) Testing:

Major Changes:

gcc-4.4: https://launchpad.net/ubuntu/lucid/+source/gcc-4.4 gcc -v: --with-arch=armv7-a --with-tune=cortex-a8 --with-float=softfp --with-fpu=vfpv3-d16

Jaunty 9.04
Built with:

sudo ./rootstock --fqdn beagleboard --login ubuntu --password temppwd --imagesize 2G --seed nano,linux-firmware,wireless-tools,usbutils \ --dist jaunty --serial ttyS2 --kernel-image http://rcn-ee.net/deb/kernel/beagle/jaunty/v2.6.29-58cf2f1-oer44.1/linux-image-2.6.29-oer44.1_1.0jaunty_armel.deb

wget -c http://rcn-ee.net/deb/rootfs/ubuntu-9.04-minimal-armel.tar.7z  (Mirror's welcome) 7za x ubuntu-9.04-minimal-armel.tar.7z tar xf ubuntu-9.04-minimal-armel.tar ubuntu-9.04-minimal-armel Tested: --RobertCNelson 15:04, 4 November 2009 (UTC)

md5sum: d6e198da60079ffc12617d8579966aed ubuntu-9.04-minimal-armel.tar.7z

Karmic 9.10
Built with:

sudo ./rootstock --fqdn beagleboard --login ubuntu --password temppwd --imagesize 2G --seed wget,nano,linux-firmware,wireless-tools,usbutils \ --dist karmic --serial ttyS2 --kernel-image http://rcn-ee.net/deb/kernel/beagle/karmic/v2.6.31.6-x6.0/linux-image-2.6.31.6-x6.0_1.0karmic_armel.deb

wget http://rcn-ee.net/deb/rootfs/ubuntu-9.10-minimal-armel-1.1.tar.7z  (Mirror's welcome) 7za x ubuntu-9.10-minimal-armel-1.1.tar.7z tar xf ubuntu-9.10-minimal-armel-1.1.tar

md5sum: 574a61b92481b1c86246e018ceb76fd6 ubuntu-9.10-minimal-armel-1.1.tar.7z

History 1.1 - Switched to 2.6.31.6 based kernel

Development PC: Format 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

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

Development PC: Setup SD Partition's
Requirements:

sudo apt-get install uboot-mkimage

Create U-boot compatible uImage:

mkimage -A arm -O linux -T kernel -C none -a 0x80008000 -e 0x80008000 -n "Linux" -d ./vmlinuz-* ./uImage

Mount your SD card fat32 partition (assuming /dev/sdX1) and copy the uImage to the first partition.

Note: if your system automounts the mmc card, just issue "sudo umount /dev/sdX1 && sudo umount /dev/sdX2"

mkdir ./tmp sudo mount /dev/sdX1 ./tmp sudo cp ./uImage ./tmp/uImage sudo umount ./tmp

Mount your SD card's ext3 partition (assuming /dev/sdX2) and 'untar' the rootfs into it.

sudo mount /dev/sdX2 ./tmp sudo tar xfp armel-rootfs-[date].tgz -C ./tmp sudo umount ./tmp

Karmic: (9.10) boot fixup
util-linux-ng 2.16 causes this

Edit /etc/fstab sudo mount /dev/sdX2 ./tmp sudo gedit ./tmp/etc/fstab add: /dev/mmcblk0p2  /   ext3   errors=remount-ro   0   1

Add/Edit /etc/e2fsck.conf sudo gedit ./tmp/etc/e2fsck.conf

[problems] 0x000031 = { preen_ok = true preen_nomessage = true } 0x000032 = { preen_ok = true preen_nomessage = true }
 * 1) Superblock last mount time is in the future (PR_0_FUTURE_SB_LAST_MOUNT).
 * 1) Superblock last write time is in the future (PR_0_FUTURE_SB_LAST_WRITE).

Add karmic updates to /etc/apt/sources.list

sudo gedit ./tmp/etc/apt/sources.list

deb http://ports.ubuntu.com/ubuntu-ports karmic-updates main universe

Finally cd ./tmp sync cd .. sudo umount ./tmp

Enable Network Access
Modify /etc/network/interfaces auto eth0 iface eth0 inet dhcp

Manual: From the Command line sudo ifconfig eth0 up sudo dhclient eth0

Beagleboard: Setup U-boot for boot
Using a terminal program, such as minicom or gtkterm stop u-boot and add these commands:

Note: if you copy/paste with minicom these commands may end up cut off.

For Linux Kernel 2.6.29 and higher using DSS2 setenv bootcmd 'mmcinit; fatload mmc 0:1 0x80300000 uImage; bootm 0x80300000' or setenv bootcmd 'mmc init; fatload mmc 0:1 0x80300000 uImage; bootm 0x80300000' (r27) setenv bootargs 'console=ttyS2,115200n8 console=tty0 root=/dev/mmcblk0p2 rootwait rootfstype=ext3 ro omapfb.mode=dvi:1280x720MR-16@60' saveenv boot

You shall adapt the resolution to you screen as following : omapfb.mode=dvi:1280x720MR-16@60 Modes: "1024x768MR-16@60""800x600MR-16@60" ...

Here is more explanation on dss video options :

= Advanced =

Script File
Every Kernel upload going further on rcn-ee.net will now have an 'install-me.sh' file in the same directory..

example: http://www.rcn-ee.net/deb/kernel/beagle/karmic/v2.6.31.6-x6.0/ wget http://rcn-ee.net/deb/kernel/beagle/karmic/v2.6.31.6-x6.0/install-me.sh sudo /bin/bash install-me.sh

Note: vmlinuz symbolic link (yes  no)...

Reboot with your new uImage

Upgrade 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://www.rcn-ee.net/deb/tools/u-boot-beagleboard-2009.05+r27+gitrd363f9cb0918a1b6b92e2e20d01543d0c4f53274-r27.bin sudo mv u-boot-beagleboard-2009.05+r27+gitrd363f9cb0918a1b6b92e2e20d01543d0c4f53274-r27.bin u-boot.bin

Tested --RobertCNelson 20:16, 8 September 2009 (UTC) RevB5 + 2.6.29-oer44.1 & RevC2 + 2.6.29-oer44.1

Insert SD Card, boot Beagleboard and stop U-Boot from booting mmcinit (or "mmc init") fatload mmc 0:1 0x80300000 u-boot.bin nand unlock nandecc sw nand erase 80000 160000 nand write.i 0x80300000 80000 160000 reset

Kernel Modules
The 'install-me.sh' script will download and install these, however make sure to issue this command to update the omaplfb modules.

sudo depmod -a omaplfb

SDK
Make sure to use a "corporate email" : http://software-dl.ti.com/dsps/forms/export.html?prod_no=/OMAP35x_Graphics_SDK_setuplinux_3_00_00_09.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 install lib/bin from 3.00.00.09: sudo mkdir /usr/lib/ES2.0 sudo mkdir /usr/bin/ES2.0 sudo mkdir /usr/lib/ES3.0 sudo mkdir /usr/bin/ES3.0 sudo cp SDK_EXT_DIR/gfx_rel_es2.x/lib* /usr/lib/ES2.0 sudo cp SDK_EXT_DIR/gfx_rel_es2.x/p[dv]* /usr/bin/ES2.0 sudo cp SDK_EXT_DIR/gfx_rel/lib* /usr/lib/ES3.0 sudo cp SDK_EXT_DIR/gfx_rel/p[dv]* /usr/bin/ES3.0

Older: SDK lib's sudo cp SDK_EXTRACTED_DIR/gfx_rel/*.so /usr/lib/

SDK pvrsrvinit sudo cp SDK_EXTRACTED_DIR/gfx_rel/pvrsrvinit /usr/bin/

Startup Script
For 3.00.00.09

Jaunty: sudo nano /etc/rcS.d/S60pvr.sh sudo chmod +x /etc/rcS.d/S60pvr.sh

Karmic: sudo nano /etc/init.d/pvr sudo chmod +x /etc/init.d/pvr sudo update-rc.d pvr defaults

if [ "$1" = "" ]; then echo PVR-INIT: Please use start, stop, or restart. exit 1 fi if [ "$1" = "stop" -o "$1" = "restart" ]; then echo Stopping PVR rmmod omaplfb 2>/dev/null rmmod pvrsrvkm 2>/dev/null fi if [ "$1" = "stop" ]; then exit 0 fi echo Starting PVR modprobe omaplfb pvr_maj=`grep "pvrsrvkm$" /proc/devices | cut -b1,2,3` if [ -e /dev/pvrsrvkm ] ; then rm -f /dev/pvrsrvkm fi mknod /dev/pvrsrvkm c $pvr_maj 0 chmod 666 /dev/pvrsrvkm touch /etc/powervr-esrev SAVED_ESREVISION="$(cat /etc/powervr-esrev)" ES_REVISION="$(cat /proc/cpuinfo | grep "CPU revision" | awk -F: '{print $2}')" if [ "${ES_REVISION}" != "${SAVED_ESREVISION}" ] ; then echo -n "Starting SGX fixup for" if [ "${ES_REVISION}" = " 3" ] ; then echo " ES3.x" 	cp -a /usr/lib/ES3.0/* /usr/lib cp -a /usr/bin/ES3.0/* /usr/bin else echo " ES2.x" 	cp -a /usr/lib/ES2.0/* /usr/lib cp -a /usr/bin/ES2.0/* /usr/bin fi echo "${ES_REVISION}" > /etc/powervr-esrev fi /usr/bin/pvrsrvinit
 * 1) !/bin/sh

For Older:

Need devmem2:

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

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 /usr/bin/pvrsrvinit /usr/local/bin/devmem2 0x48004b40 w 0
 * 1) !/bin/sh
 * 1) This is from the SDK...
 * 1) Set SGX to full speed

DSP
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: Backport from Karmic

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)

Jaunty: wget -c http://rcn-ee.homeip.net:81/dl/deb-sbuild/jaunty/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

Karmic: sudo apt-get install xserver-xorg-video-omap3

xorg.conf
/etc/X11/xorg.conf

Section "Monitor" Identifier "Configured Monitor" EndSection Section "Screen" Identifier "Default Screen" Device "Configured Video Device" #Limited by SGX? DefaultDepth 16 EndSection Section "Device" Identifier "Configured Video Device" Driver "omapfb" Option "fb" "/dev/fb0" EndSection

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 (2.6.29) 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

= Bugs & Workarounds =

Karmic
Root on external USB, fsck always errors's on boot, fsck.ext3 never fixes it, and no real time clock on board (Rev Bx and C2 (C3 has backup battery hookup))

mount -o remount,rw /

Script found here:

nano /etc/e2fsck.conf [problems] 0x000031 = { preen_ok = true preen_nomessage = true } 0x000032 = { preen_ok = true preen_nomessage = true }
 * 1) Superblock last mount time is in the future (PR_0_FUTURE_SB_LAST_MOUNT).
 * 1) Superblock last write time is in the future (PR_0_FUTURE_SB_LAST_WRITE).