BeagleBoneBlack/SGX + Qt EGLFS + Weston

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BeagleBone Black on CKSQUARE Cape's running OGLES2Water demo with SGX drivers on LVDS 15"


The SoC of BeagleBone Black is an AM335x by Texas Instruments.
The graphic accelerator by Imagination Technologies is PowerVR chipset, the serie 5 (SGX530).

My name is Rémi, I'm a french engineer working for the CKSQUARE company's.
After testing the robustness of the board, I advised my company to use the beaglebone black.
The integrated eMMc memory and his low price were big reasons to use this product. There isn't BeagleBoard-x15 at the time.
I would like to thank the Beaglebone community (especially Robert Nelson) and my company to share with you my researches.



Texas Instruments

Imagination Technologies



  1. We must have "-ti-" on the BBB kernel. Type uname -r to verify your kernel version
  2. We use only NEW PowerVR modules
  3. We connect a screen to the BBB with a micro HDMI to HDMI cable
  4. We need an ethernet cable to connect the beaglebone to the internet
  5. A lot of place if you want install demos and Weston without Cross Compilation
  6. All orders will be in "root" mode here (sudo -i). Sorry if it's not secure ^^
  7. All packages are up to date (apt-get update).

Download patches

During the differents steps, we will need of patches created by Texas Instruments
You need the patches only if you don't use the "Fast installation" section's
. To get it on BBB:

cd /opt/

I explain below how I recovered these patches.

The images tested

For my tests I use two images :

  • Debian 9.3 2018-01-28 4GB SD IoT (kernel: 4.9.78-ti-r94)
  • Debian 9.5 2018-10-07 4GB SD LXQT (kernel: 4.14.71-ti-r80)

you can download the last image of BBB here

Install PowerVR Modules

The OLD Version

WARNING: It's not a good solution and I didn't test it.
The older version may run on versions lower or equal than 4.4.68-bone17.
The old version use the FBDEV.
So you need a lts/bone kernel to download :

cd /opt/scripts/tools/
git pull
./ --kernel 4.4.`your version here`-bone17
apt-get install ti-sgx-es8-modules-`uname -r`
depmod -a

Build SGX userspace for 4.4.x (must be done on an x86, due to the TI blob extractor)

git clone
cd bb-kernel/
git checkout origin/am33x-v4.4 -b tmp-sgx

Copy ./deploy/GFX_5.01.01.02_es8.x.tar.gz to BeagleBone/BeagleBone Black and install

tar xfv GFX_5.01.01.02_es8.x.tar.gz -C /
cd /opt/gfxinstall/
apt-get install lsb-release insserv

Verify omaplfb & pvrsrvkm loaded

debian@arm:~$ lsmod | grep omaplfb
omaplfb                12065  0 
pvrsrvkm              178782  1 omaplfb

But when I test with lastest 4.4-bone kernel, the omapfbl module was not loaded

The NEW Version

We must imperatively have the "-ti-" kernel. Type uname -r to verify your kernel.
If you are on 4.9.X-ti- kernel, you don't have access to the SGX drivers, update your dtb files for solve this problem:

cd /opt/source/dtb-4.9-ti/
git pull
make install

Note: The git pull command will patch dtb files (SGX Patches).

Check access of SGX drivers

Command to verify the access of SGX drivers:

ls /sys/devices/platform/ocp/56000000.sgx
driver  driver_override  drm  modalias  of_node  power  subsystem  uevent

It's very important to access the folder else you will have errors afterwards and you can not use graphical acceleration...

Install modules

apt-get install ti-sgx-ti335x-modules-`uname -r`
depmod -a

Verify module loaded

lsmod |grep pvr
pvrsrvkm              442368  0

Fast installation with deb files (not official)

My gcc version is 6.30, it's the same that 4.9 and 4.14 kernel. Check your gcc version with gcc -v
If you haven't the same gcc version than me of if you have an error, please follow steps of GBM Library / Graphic SDK and Weston.

Install GBM Library

cd /opt/
dpkg -i libgbm_2.0.0-1_armhf.deb
rm libgbm_2.0.0-1_armhf.deb

Install Graphic SDK

We need use "--force-all" argument's because there is a conflict with libgl1 and libgles2 packages...

cd /opt/
dpkg -i --force-all omap5-ti335x-sgx-ddk-um_1.0.0_armhf.deb
rm omap5-ti335x-sgx-ddk-um_1.0.0_armhf.deb

To start the controller of PowerVR module:

/etc/init.d/rc.pvr start
Loaded PowerVR consumer services.

If you have an error, please reboot your board and retry to start the PowerVR controller.

Install KMS++

cd /opt/
dpkg -i kmsxx_1.0.0_armhf.deb
rm kmsxx_1.0.0_armhf.deb

It's important to start PowerVR controller before execute kms command's! Commands availables:

  • fbtest
  • kmsblank
  • kmscapture
  • kmscube
  • kmsprint
  • kmstest
  • kmsview

Install Weston

cd /opt/
apt-get install libxcb-composite0 libunwind8
dpkg -i weston_2.0.0_armhf.deb
rm weston_2.0.0_armhf.deb

Launch weston from console mode:

weston --tty=4 --idle-time=0

The GBM Library


The GBM library is patched by Texas Instruments for use the PowerVR module.
The library on /usr/lib/arm-linux-gnueabihf/ is not a good library for use the graphic accelerator.

Add news directories of libs

Edit /etc/ file, and add /usr/lib and /usr/local/lib after the first line.

cat /etc/
# Multiarch support

After your file saved, type ldconfig to reload the new directories of libraries.

Download/Install library

cd /opt/
git clone git:// -b next
cd libgbm/
git apply ../patches/gbm/
make install
cd /opt/
rm -r libgbm
ln -s /usr/local/lib/ /usr/local/lib/

Bonus: How I get the library

Note: If you want just use the graphic accelerator, this part is not important.
I explain how I sought to get the patches from Texas Instruments. You can go to the next step if you want.
I created a SD with am335x-evm-linux-XX.XX.XX.XX.img image and the graphic accelerator work fine on the BeagleBone Black..
So I download the last SDK of AM335X from this page..
Must be done on an x86 because this repo is very big, I use PSDK for this example:

$ cd /opt/
$ git clone git:// tisdk
$ cd tisdk
$ ./ -f configs/processor-sdk/processor-sdk-
$ find /opt/tisdk/sources -iname "*libgbm*"
$cat /opt/tisdk/sources/meta-ti/recipes-graphics/gbm/
BRANCH = "next"
SRC_URI = "git://;protocol=git;branch=${BRANCH}"
$ls /opt/tisdk/sources/meta-processor-sdk/recipes-graphics/gbm/libgbm

I have the git source with the branch and I know there is only one patch !

The Graphic SDK

Download/Install SGX SDK

cd /opt/
git clone -b ti-img-sgx/1.14.3699939 git://
cd omap5-sgx-ddk-um-linux/
export DISCIMAGE=/
export TARGET_PRODUCT=ti335x
make install
cd /usr/lib/
ln -s
mkdir /usr/local/lib/gbm/
cd /usr/local/lib/gbm/
ln -s ../../../lib/
rm -r /opt/omap5-sgx-ddk-um-linux

File powervr.ini

As explained on the texas instruments wiki, the configuration of the /etc/powervr.ini file is important. I advise you to configure your file as mine:

cat /etc/powervr.ini

Start PowerVR Controller

  • It is very important that at each start the module pvrsrvkm.ko be loaded
  • The access to the SGX drivers which is found at this location /sys/devices/platform/ocp/56000000.sgx
  • The program /usr/bin/pvrsrvctl --start --no-module must not make erros, recovered from the graphic SDK of Texas Instruments.

There is a script on your /etc/init.d/ folder, to load modules and start the pvr controller, execute this command:

/etc/init.d/rc.pvr start
Loaded PowerVR consumer services.

Whenever the BBB starts, this script need to start. Use insserv or update.rc to execute on each boot.

If you have this error:

/etc/init.d/rc.pvr start
PVR:(Error): OpenServices: PVRDRMOpenRender failed [0, ]
PVR:(Error): PVRSRVInitSrvConnect: PVRSRVConnect failed [0, ]
PVR:(Error): SrvInit: PVRSRVInitSrvConnect failed (4) [0, ]
/usr/bin/pvrsrvctl: SrvInit failed (already initialized?) (err=PVRSRV_ERROR_INIT_FAILURE)
  1. Verify you have access to SGX drivers: ls /sys/devices/platform/ocp/56000000.sgx
  2. Verify you boot log with dmesg command
  3. Verify that the powerVR module is loaded lsmod |grep pvr
  4. If all is ok, please halt your board, Remove the power and put it again to boot

Dmesg analyse

dmesg |grep -i pvr
[   51.554766] pvrsrvkm: loading out-of-tree module taints kernel.
==> Module PowerVR loaded
[   51.778874] [drm] Initialized pvr 1.14.3699939 20110701 for 56000000.sgx on minor 2
==> Module PowerVR connected with SGX Drivers
[  122.361997] PVR_K: UM DDK-(3699939) and KM DDK-(3699939) match. [ OK ]
==> PowerVR controller linked with Module and SGX Drivers

Tests graphic accelerator

The PVR Tools and Examples

The first step is to use Imagination Technologies tools and examples because they work well and it's easy to use.


cd /opt/
git clone git://
cd img-pvr-sdk
export DISCIMAGE=/
export TARGET_PRODUCT=ti335x
make install
cd /opt/
rm -r img-pvr-sdk


Test with No Window System (NullWS)

cd /opt/img-powervr-sdk/Examples/Advanced/NullWS/

It is my favorite! I like it!
If you have a problem here, have you a monitor connected on your BBB?
Type ls -alh /sys/class/drm/ to verify your monitor:

ls -alh /sys/class/drm/
total 0
drwxr-xr-x  2 root root    0 Mar 18 03:13 .
drwxr-xr-x 61 root root    0 Mar 17 15:17 ..
lrwxrwxrwx  1 root root    0 Mar 17 15:43 card0 -> ../../devices/platform/ocp/4830e000.lcdc/drm/card0
lrwxrwxrwx  1 root root    0 Mar 18 03:13 card0-HDMI-1 -> ../../devices/platform/ocp/4830e000.lcdc/drm/card0/card0-HDMI-1
lrwxrwxrwx  1 root root    0 Mar 18 03:13 card1 -> ../../devices/platform/ocp/56000000.sgx/drm/card1
lrwxrwxrwx  1 root root    0 Mar 18 03:13 controlD64 -> ../../devices/platform/ocp/4830e000.lcdc/drm/controlD64
lrwxrwxrwx  1 root root    0 Mar 18 03:13 renderD128 -> ../../devices/platform/ocp/56000000.sgx/drm/renderD128
-r--r--r--  1 root root 4.0K Mar 18 03:13 version

If you have a problem here, don't continue because it's the easiest way to use hardware acceleration!


It's an application to monitoring the graphics resources, cpu and memory on BBB
Go to /opt/img-powervr-sdk/PVRHub/PVRPerfServer/ and execute ./PVRPerfServerDeveloper


Note: You need to execute PVRPerfServerDeveloper on BeagleBone before.
Download PVRTune here for your x86 operating system, uncompress, execute ./GUI/Linux_x86_64/PVRTuneDeveloperGUI.
On PRVTuneDeveloper application:
Connect to: (or the IP of BBB) and click on "Go" button's.
PVRTuneDeveloper OGLES2Water.jpg
PVRTuneDeveloper analyze OGLES2Water demo. We can see a FPS and Renderer charge!


Launch your graphic application
The log/s file/s is/are: /opt/img-powervr-sdk/PVRHub/PVRTrace


cd /opt/
git clone git://
cd kmscube/
make install
cd /opt/
rm -r kmscube

If you have a Segmentation fault here, it's because you're not using the right GBM library! More information on GBM Library section.
If you have a failed to initialize DRM, it's that your monitor is not detected ( ls -alh /sys/class/drm/).

With: 4.14.103-ti-r98, vgem takes card0, so you'll need to pass "-d /dev/dri/card1" to start kmscube..

debian@beaglebone:~$ uname -r ; ls -lha /sys/class/drm/
total 0
drwxr-xr-x  2 root root    0 Mar 21 21:32 .
drwxr-xr-x 64 root root    0 Mar 21 21:27 ..
lrwxrwxrwx  1 root root    0 Mar 21 21:29 card0 -> ../../devices/platform/vgem/drm/card0
lrwxrwxrwx  1 root root    0 Mar 21 21:29 card1 -> ../../devices/platform/ocp/4830e000.lcdc/drm/card1
lrwxrwxrwx  1 root root    0 Mar 21 21:29 card1-HDMI-A-1 -> ../../devices/platform/ocp/4830e000.lcdc/drm/card1/card1-HDMI-A-1
lrwxrwxrwx  1 root root    0 Mar 21 21:29 card2 -> ../../devices/platform/ocp/56000000.sgx/drm/card2
lrwxrwxrwx  1 root root    0 Mar 21 21:29 renderD128 -> ../../devices/platform/ocp/56000000.sgx/drm/renderD128
-r--r--r--  1 root root 4.0K Mar 21 21:29 version

QtQuick + EGLFS

apt-get install libqt5qml5 qml-module-qtquick-controls qt5-default qtdeclarative5-dev qtquickcontrols5-examples
cd /usr/lib/arm-linux-gnueabihf/qt5/examples/quickcontrols/extras/dashboard
export QT_QPA_PLATFORM=eglfs

Do you see a dashboard on your monitor? It's perfect ^^!


I downlad the same version of Texas Instruments use on their lastest image for BBB! It's the version 2.0.
Because I can apply their patches easily!
Before get weston from git repo, we need to install a lot of packages:

apt-get install libwayland-egl1-mesa libwayland-egl-backend-dev libwayland-dev libwayland-client0 libxcb-composite0-dev libxcb-xfixes0-dev libxcursor-dev libxcb-xkb-dev
apt-get install libpixman-1-dev libcairo2-dev libx11-xcb-dev libmtdev-dev libinput-dev libxkbcommon-dev wayland-protocols libpam0g-dev pam-devel libcolord-dev libwebp-dev libunwind-dev
cd /opt/
git clone -b 2.0
cd weston
git apply --reject --whitespace=fix -v ../patches/wayland/weston/*.patch

I Had a problem with the first patch (0001-Add-soc-performance-monitor-utilites.patch).
So I edited manually the Makefile with Makefile.rej...

       Native Backend        
       setuid Install                  yes

       Cairo Renderer                  image
       EGL                             yes
       libxkbcommon                    yes
       xcb_xkb                         yes
       XWayland                        yes
       dbus                            yes

       ivi-shell                       yes

       Build wcap utility              yes
       Build Fullscreen Shell          yes
       Enable developer documentation  no

       weston-launch utility           yes
       systemd-login support           no
       systemd notify support          no

       DRM Compositor                  yes
       X11 Compositor                  yes
       Wayland Compositor              yes
       Headless Compositor             yes
       FBDEV Compositor                yes
       RDP Compositor                  no
       Screen Sharing                  no
       JUnit XML output                no

       Build Clients                   yes
       Build EGL Clients               no
       Build Simple Clients            yes
       Build Simple EGL Clients        yes

       Install Demo Clients            no

       Colord Support                  yes
       LCMS2 Support                   yes
       libjpeg Support                 yes
       libwebp Support                 yes
       libunwind Support               yes
       VA H.264 encoding Support       yes

After I had a problem when compiling: /usr/bin/ld: ./.libs/libtimebargraph.a(libtimebargraph_la-time_bar_graph.o): undefined reference to symbol 'pthread_join@@GLIBC_2.4' But the reference exist:

readelf -s /lib/arm-linux-gnueabihf/ | grep pthread_create
   135: 00005885  2804 FUNC    GLOBAL DEFAULT   13 pthread_create@@GLIBC_2.4
   681: 00005885  2804 FUNC    LOCAL  DEFAULT   13 __pthread_create_2_1
  1164: 00005885  2804 FUNC    GLOBAL DEFAULT   13 pthread_create@@GLIBC_2.4

So I added " -lpthread" in Makefile on line started by "LIBS=" (line 1978 for me).
it's: "LIBS = -lpthread" for use pthread library and it's good.
After type make command, you can go to buy and eat a baguette because it'll take a long time ;-P

make install
cd /opt/
rm -r weston

Launch weston:

weston --tty=4 --idle-time=0

Normally, we have a desktop on our screen with an old and not very pretty wallpaper ^^


Version used on Debian from GStreamer Core Library version 1.10.4
Version used on am335x-evm form Ti: GStreamer Core Library version 1.12.2