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. For a more optimized and faster system checkout: Mojo Project (armv5el & armv6el-vfp editions). The OMAP3530 on the Beagle Board is armv7-a. See Handhelds Mojo (ARM) at BeagleBoard (formerly known as Ubuntu (ARM)) page, too.

= 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.)

Considered Stable: 2.6.28-oer17 :

lenny: http://www.rcn-ee.com/deb/kernel/beagle/lenny/v2.6.28-79d042a-oer17/

squeeze: http://www.rcn-ee.com/deb/kernel/beagle/squeeze/v2.6.28-79d042a-oer17/

Uboot: 2009 (revC validation): http://elinux.org/BeagleBoardDebian#Upgrading_u-boot

Currently Testing with Build Beagle: http://www.rcn-ee.com/deb/kernel/beagle/squeeze/v2.6.28-79d042a-oer17/

= 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:

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

PC: Setup SD uboot Partition
Mount your SD card fat32 partition. (/media/disk/)

Debian Lenny cd /media/disk/ wget http://www.rcn-ee.com/deb/kernel/CC-v2.6.28-79d042a-oer17 wget http://ftp.debian.org/debian/dists/lenny/main/installer-armel/current/images/versatile/netboot/initrd.gz mv CC-v2.6.28-79d042a-oer17 uImage gzip -d initrd.gz dd if=initrd of=initrd.pad ibs=8388608 conv=sync

Script Method (for u-boot 2009+)

cd /media/disk/ wget http://www.rcn-ee.com/deb/kernel/CC-v2.6.28-79d042a-oer17 wget http://ftp.debian.org/debian/dists/lenny/main/installer-armel/current/images/versatile/netboot/initrd.gz wget http://www.rcn-ee.com/deb/kernel/boot-scr/deb-netboot.scr mv CC-v2.6.28-79d042a-oer17 uImage gzip -d initrd.gz dd if=initrd of=initrd.pad ibs=8388608 conv=sync mv deb-netboot.scr boot.scr

For lenny+1 aka squeeze Use: http://ftp.debian.org/debian/dists/squeeze/main/installer-armel/current/images/versatile/netboot/initrd.gz

For Sid Use: http://ftp.debian.org/debian/dists/sid/main/installer-armel/current/images/versatile/netboot/initrd.gz

Beagleboard
Mount SD card For Kernel 2.6.26 and 2.6.27 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 video=omapfb:mode:1280x720@60' saveenv boot For Kernel 2.6.28 and higher using 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-24@60' saveenv boot This is only needed if your version of u-boot doesn't have scripting enabled by default.

The debian-installer should load via the framebuffer, if the screen remains blank, try different resolutions for the bootargs:

video=omapfb:mode:1280x720@60 Modes: "640x480@60""800x600@60""1024x768@60""1280x720@60"480p60""576p50""720p50""720p60""1080p24""1080p25""1080p30",

Continue the install without loading kernel modules? :

DON'T Select "Guided - use entire disk" <- Loose the fat boot partition.

Recommended: Select Guided - Use the largest continuous free space

Example: Partition #2 of SCSI1 (0,0,0) (sda) as ext3 Partition #5 of SCSI1 (0,0,0) (sda) as swap

Continue without installing a kernel? :

Standard System

No BootLoader: 

Install complete
Reboot (aka remove power)

Uboot update bootcmd & bootargs

Script Method (copy to fat32 partition) ext3 wget http://www.rcn-ee.com/deb/kernel/boot-scr/deb-ext3.scr mv deb-ext3.scr boot.scr ext2 wget http://www.rcn-ee.com/deb/kernel/boot-scr/deb-ext2.scr mv deb-ext2.scr boot.scr

For Linux Kernel 2.6.28 and higher 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 2.6.26 and 2.6.27 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 video=omapfb:mode:1280x720@60' saveenv boot

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

Login & Install kernel-image
cd /home/ sudo apt-get install uboot-mkimage wget http://www.rcn-ee.com/deb/kernel/beagle/lenny/v2.6.28-79d042a-oer17/linux-image-2.6.28-oer17_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.

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

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-2.6.26-1-versatile

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-2.6.26-1-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



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-2.6.26-1-versatile -initrd initrd.img-2.6.26-1-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 & linux-headers.

Stable 2.6.28 wget http://www.rcn-ee.com/deb/kernel/beagle/lenny/v2.6.28-79d042a-oer17/linux-image-2.6.28-oer17_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.

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/v2.6.28-79d042a-oer17/linux-image-2.6.28-oer17_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 First Boot, uboot, general notes=

Insert SD Card and power up Beagleboard.

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

For Linux Kernel 2.6.26 and 2.6.27 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 video=omapfb:mode:1280x720@60' saveenv boot

You shall adapt the resolution to you screen as following : video=omapfb:mode:1280x720@60 Modes: "640x480@60""800x600@60""1024x768@60""1280x720@60"480p60""576p50""720p50""720p60""1080p24""1080p25""1080p30",

For Linux Kernel 2.6.28 and higher 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

You shall adapt the resolution to you screen as following : omapfb.video_mode=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)

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://beagleboard.googlecode.com/files/u-boot-f_revc_v3.bin

Tested with (U-Boot 2009.01-dirty (Feb 19 2009 - 12:22:31)) Archive: http://rcn-ee.homeip.net:81/dl/omap/uboot/u-boot-f_revc_v3.bin

Insert SD Card, boot Beagleboard and stop U-Boot from booting mmcinit fatload mmc 0 0x80200000 u-boot-f_revc_v3.bin nand unlock nand ecc sw nandecc sw nand erase 80000 160000 nand write.i 0x80200000 80000 160000 reset

Note: nandecc sw is a new command to replace nand ecc sw so versions of uboot before 2008.10 will throw an error, it's safe to ignore.

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
Section "Device" Identifier	"Configured Video Device" Option		"UseFBDev"		"true" Driver		"fbdev" EndSection date +"%m%d%y%H%M" -s MMDDYYHHMM
 * 1) Xorg not displaying, modify /etc/X11/xorg.conf as following :
 * 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



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

= Deb Builder =

Auto builds for lenny, sid, and mojo's; linux-image and linux-headers's in appropriate schroot's.

Latest Images Changelog

= Rebuilding *.deb Kernel's from Source =

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=2d2df68f89a7f8dffd87cb9db42cad8c46891c28

All build that i do are logged here: http://www.rcn-ee.com/deb/kernel/changes.txt

Retrieve the GIT checkout
GIT Checkout: 15f75b6226c2d3b82062bb721e7cb9a1d6f35efd or Shorthand: 15f75b6

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 15f75b6 git checkout -b v2.6.28-15f75b6 git archive --format=tar --prefix=v2.6.28-15f75b6/ v2.6.28-15f75b6 | gzip > ../v2.6.28-15f75b6.tar.gz git checkout master git branch v2.6.28-15f75b6 -D cd ..

Copy patches and defconfig
Open linux-omap**.bb: http://cgit.openembedded.net/cgit.cgi?url=openembedded/tree/packages/linux/linux-omap_git.bb&id=2d2df68f89a7f8dffd87cb9db42cad8c46891c28

This contains 20+ 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/v2.6.28-15f75b6-oer9/

wget http://rcn-ee.homeip.net:81/dl/omap/beagle/v2.6.28-15f75b6-oer9/v2.6.28-15f75b6-oer9.diff wget http://rcn-ee.homeip.net:81/dl/omap/beagle/v2.6.28-15f75b6-oer9/defconfig

Rebuild Deb
Extract Kernel Source tar -xf v2.6.28-15f75b6.tar.gz cd v2.6.28-15f75b6/

Apply Patch patch -p1 < ../v2.6.28-15f75b6-oer9.diff

Copy Defconfig cp ../defconfig .config

Testing Changes make menuconfig

Clean make-kpkg --cross_compile - clean

Build fakeroot make-kpkg --cross_compile - kernel_image kernel_headers (and wait 2hr 15mins)