Beagleboard:BeagleBoneBlack Debian

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Revision as of 08:24, 17 June 2019 by RobertCNelson (talk | contribs) (Debian Image Testing Snapshots: 2019-06-04)
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This page is about running the armhf port of Debian distribution at BeagleBoard. The latest release beagleboard.org image can be found at: http://beagleboard.org/latest-images

Contents

Checking The Debian Image Version

You should check the version of the image on the microSD/eMMC by opening the ID.txt file in the FAT partition.

root@beaglebone:~# cat /etc/dogtag
BeagleBoard.org BeagleBone Debian Image 2014-03-19

This file can also be accessed via a PC (Windows/Mac/Linux) via either mounting the FAT partition directly off the microSD card or via the usb interface (flash drive).

Installing

TI PRU Code Generation Tools

http://software-dl.ti.com/codegen/non-esd/downloads/download.htm#PRU

Install:

sudo apt-get update
sudo apt-get install ti-pru-cgt-installer

Older rootfs (when above package doesn't exist):

wget http://downloads.ti.com/codegen/esd/cgt_public_sw/PRU/2.1.1/ti_cgt_pru_2.1.1_armlinuxa8hf_busybox_installer.sh
chmod +x ti_cgt_pru_2.1.1_armlinuxa8hf_busybox_installer.sh
sudo ./ti_cgt_pru_2.1.1_armlinuxa8hf_busybox_installer.sh

FAQ

PocketBeagle Support

Any images after 2017-09-21 will have support for the PocketBeagle

Expanding File System Partition On A microSD

By default the microSD image is only about 2GB in size, to fully expand the partition to the full size of your microSD card simple run.

cd /opt/scripts/tools/
git pull || true
sudo ./grow_partition.sh
sudo reboot

On the next reboot, [df -h] should show the full microSD card size.

Flashing eMMC

To set up the standalone microSD image to automatically flash the eMMC on powerup. Login as debian (password = temppwd) and edit /boot/uEnv.txt with nano (sudo nano /boot/uEnv.txt) or your preferred editor.

In /boot/uEnv.txt:

##enable BBB: eMMC Flasher:
#cmdline=init=/opt/scripts/tools/eMMC/init-eMMC-flasher-v3.sh

Change to:

##enable BBB: eMMC Flasher:
cmdline=init=/opt/scripts/tools/eMMC/init-eMMC-flasher-v3.sh

Optional, update Flasher Scripts:

cd /opt/scripts/
git pull

and reboot the system, it'll flash the eMMC on the next bootup. (make sure to remove the microSD after flashing is complete, otherwise it'll just keep on re-flashing the eMMC)

Kernel Upgrade

We can't ship support for everything on release day, so we push out new kernels as fixes, support for new capes, etc are posted on the beagleboard.org mainline list.

cd /opt/scripts/tools/
git pull
sudo ./update_kernel.sh
sudo reboot

Installing kernel headers

If you want to build a kernel module natively, you'll need to install the correct kernel headers.

sudo apt-get install linux-headers-`uname -r`

In a Makefile, perform:

sudo apt-get install linux-headers-$(shell uname -r)

Loading custom capes

WARNING, this is now deprecated, please use U-Boot overlays

Due to limitations in debian wheezy's userspace, the use of an initramfs, and having firmware builtin to the kernel. It is currently not possible to load "custom" capes via: capemgr.enable_partno=xyz. Instead an init script has been set up to load the cape/capes as soon as possible.

Built-in Cape:

capemgr.enable_partno=BB-SPIDEV1

slot #7: Requesting part number/version based 'BB-SPIDEV1-00A0.dtbo
slot #7: Requesting firmware 'BB-SPIDEV1-00A0.dtbo' for board-name 'Override Board Name', version '00A0'
slot #7: dtbo 'BB-SPIDEV1-00A0.dtbo' loaded; converting to live tree

Custom External Cape:

capemgr.enable_partno=BB-SPI1-01

slot #7: Requesting part number/version based 'BB-SPI1-01-00A0.dtbo
slot #7: Requesting firmware 'BB-SPI1-01-00A0.dtbo' for board-name 'Override Board Name', version '00A0'
failed to load firmware 'BB-SPI1-01-00A0.dtbo'
loader: failed to load slot-7 BB-SPI1-01:00A0 (prio 0)

Workaround:

add "CAPE=BB-SPI1-01" to /etc/default/capemgr

Privileged echo

As a normal user, you can not "sudo echo 'something' >> /etc/privilegedfile"

sudo sh -c "echo 'something' >> /etc/privilegedfile"

Timezone

By default this image is set up to display time in utc mode. If you would like to change this to your local region.

dpkg-reconfigure tzdata

or:

echo "Europe/Zurich" > /etc/timezone 
dpkg-reconfigure -f noninteractive tzdata

Jessie Timezone

List of available timezones:

timedatectl list-timezones

Set timezone:

sudo timedatectl set-timezone America/North_Dakota/Center

W: GPG error: http://debian.beagleboard.org wheezy-bbb

W: GPG error: http://debian.beagleboard.org wheezy-bbb Release:
The following signatures were invalid:
KEYEXPIRED 1418840246 KEYEXPIRED 1418840304 KEYEXPIRED 1418840246 KEYEXPIRED 1418840246 KEYEXPIRED 1418840304

Note this directions are version dependent, so double check your version:

debian@beaglebone:~$ cat /etc/dogtag 
BeagleBoard.org BeagleBone Debian Image 2014-05-14

2014-05-14 GPG error: Disable: http://debian.beagleboard.org repo:

sudo nano /etc/apt/sources.list

Change:

deb [arch=armhf] http://debian.beagleboard.org/packages wheezy-bbb main
#deb-src [arch=armhf] http://debian.beagleboard.org/packages wheezy-bbb main

To:

#deb [arch=armhf] http://debian.beagleboard.org/packages wheezy-bbb main
#deb-src [arch=armhf] http://debian.beagleboard.org/packages wheezy-bbb main
sudo apt-get update

2014-05-14 GPG error: Optional enable: http://repos.rcn-ee.com/

Download archive-keyring:

wget https://rcn-ee.com/repos/debian/pool/main/r/rcn-ee-archive-keyring/rcn-ee-archive-keyring_2016.04.24~bpo70+20160424+1_all.deb
sudo dpkg -i rcn-ee-archive-keyring_*_all.deb

Add repo to /etc/apt/sources.list

sudo sh -c "echo 'deb [arch=armhf] http://repos.rcn-ee.com/debian wheezy main' >> /etc/apt/sources.list"
sudo sh -c "echo '#deb-src [arch=armhf] http://repos.rcn-ee.com/debian wheezy main' >> /etc/apt/sources.list"

Update packages:

sudo apt-get update
sudo apt-get upgrade
sudo apt-get install npm c9-core-installer --reinstall

Adding bb.org-overlays to jessie console image

Currently by default, the console image doesn't include the *.dtbo overlays.

Install build requirements: (add's 145Mb to the console image)

sudo apt-get update
sudo apt-get install build-essential git-core device-tree-compiler

Clone bb.org-overlays repo:

git clone https://github.com/beagleboard/bb.org-overlays/
cd ./bb.org-overlays/
./install.sh

i take full responsibility for knowing my beagle is now insecure

as of 2017-02-19, BeagleBoard images now longer enable these insecure options by default, you are free to recreate them as you wish.

remove root password

root_password=$(cat /etc/shadow | grep root | awk -F ':' '{print $2}')
sed -i -e 's:'$root_password'::g' /etc/shadow

ssh root@beaglebone.local

sed -i -e 's:PermitEmptyPasswords no:PermitEmptyPasswords yes:g' /etc/ssh/sshd_config
sed -i -e 's:UsePAM yes:UsePAM no:g' /etc/ssh/sshd_config
sed -i -e 's:PermitRootLogin without-password:PermitRootLogin yes:g' /etc/ssh/sshd_config

sudo no password required

echo "debian  ALL=NOPASSWD: ALL" >>/etc/sudoers

U-Boot Overlays

Check via serial

U-Boot SPL 2018.01-rc2-00002-g23388d96ac (Dec 19 2017 - 13:20:06)
Trying to boot from MMC1

U-Boot 2018.01-rc2-00002-g23388d96ac (Dec 19 2017 - 13:20:06 -0600), Build: jenkins-github_Bootloader-Builder-19

Check via system

debian@beaglebone:~$ cd /opt/scripts/tools/
debian@beaglebone:/opt/scripts/tools$ git pull
debian@beaglebone:/opt/scripts/tools$ sudo ./version.sh | grep bootloader
bootloader:[microSD-(push-button)]:[/dev/mmcblk0]:[U-Boot 2018.01-rc2-00002-g23388d]

To upgrade your version of U-Boot:

debian@beaglebone:~$ cd /opt/scripts/tools/developers/
debian@beaglebone:/opt/scripts/tools/developers$ sudo ./update_bootloader.sh
debian@beaglebone:/opt/scripts/tools/developers$ sudo reboot

U-Boot Capes added:

NHD-7.0CTP-CAPE Family
BB-BONE-NH7C-01-A0.dtbo (first added in: 2017.05-rc2-00002-g86566339a9 (Apr 28 2017 - 10:18:57))

U-Boot /boot/uEnv.txt configuration

/boot/uEnv.txt:

enable_uboot_overlays=1

U-Boot Disable on-board devices

To Disable eMMC:

disable_uboot_overlay_emmc=1

To Disable HDMI VIDEO & AUDIO:

disable_uboot_overlay_video=1

To Disable HDMI AUDIO:

disable_uboot_overlay_audio=1

To Disable WL1835:

disable_uboot_overlay_wireless=1

To Disable BB-ADC: (first added in: 2017.05-rc1-00002-g35aecb22fe (Apr 05 2017 - 16:51:58))

disable_uboot_overlay_adc=1

U-Boot Override external capes

Cape device tree overlays (src): https://github.com/beagleboard/bb.org-overlays/
Debian package: bb-cape-overlays
uboot_overlay_addr0=/lib/firmware/<file0>.dtbo
uboot_overlay_addr1=/lib/firmware/<file1>.dtbo
uboot_overlay_addr2=/lib/firmware/<file2>.dtbo
uboot_overlay_addr3=/lib/firmware/<file3>.dtbo

If for some reason you need to disable the auto-loading of any of ^ those, use the option that matches your addrX: (first added in: 2017.03-00002-gbfe60d6057 (Mar 28 2017 - 15:32:51))

disable_uboot_overlay_addr0=1
disable_uboot_overlay_addr1=1
disable_uboot_overlay_addr2=1
disable_uboot_overlay_addr3=1

4 more capes can be loaded via: (first added in: 2017.03-00002-gbfe60d6057 (Mar 28 2017 - 15:32:51))

uboot_overlay_addr4=/lib/firmware/<file4>.dtbo
uboot_overlay_addr5=/lib/firmware/<file5>.dtbo
uboot_overlay_addr6=/lib/firmware/<file6>.dtbo
uboot_overlay_addr7=/lib/firmware/<file7>.dtbo

Plus one custom cape:

dtb_overlay=/lib/firmware/<file8>.dtbo

U-Boot PRU Options

With v4.4.x-ti PRU via remoteproc can be enabled by:

uboot_overlay_pru=/lib/firmware/AM335X-PRU-RPROC-4-4-TI-00A0.dtbo

With v4.9.x-ti PRU via remoteproc can be enabled by:

uboot_overlay_pru=/lib/firmware/AM335X-PRU-RPROC-4-9-TI-00A0.dtbo

With v4.14.x-ti PRU via remoteproc can be enabled by:

uboot_overlay_pru=/lib/firmware/AM335X-PRU-RPROC-4-14-TI-00A0.dtbo

With v4.19.x-ti PRU via remoteproc can be enabled by:

uboot_overlay_pru=/lib/firmware/AM335X-PRU-RPROC-4-19-TI-00A0.dtbo

With (all (minus bugs)): PRU via uio:

uboot_overlay_pru=/lib/firmware/AM335X-PRU-UIO-00A0.dtbo

U-Boot Cape Universal

Utilize https://github.com/cdsteinkuehler/beaglebone-universal-io config-pin.

Cape Universal Supported Boards:

BeagleBone Black
BeagleBone Black Wireless
BeagleBone Green
BeagleBone Green Wireless
Element14 BeagleBone Black Industrial
MENTOREL BeagleBone uSomIQ
SanCloud BeagleBone Enhanced

Not Supported needs work/testing/etc

Arrow BeagleBone Black Industrial (different video phy)
Neuromeka BeagleBone Air (untested)

To enable, in /boot/uEnv.txt add:

enable_uboot_cape_universal=1

Where did the slots file go?

Kernel Overlays are going bye-bye, too many bugs, too many race conditions, no kernel maintainers interested. We've said our farewells and U-Boot Overlays is the way forward: https://elinux.org/Beagleboard:BeagleBoneBlack_Debian#U-Boot_Overlays With multiple parties working on the U-Boot infrastructure.

The rough transition plan is:

Stage 1: Disable Kernel Overlays (bone_capemgr.uboot_capemgr_enabled=1 is passed thru /proc/cmdline)
Stage 2: Disable the slots file (/sys/devices/platform/bone_capemgr/slots) (v4.4.x -> 4.14.x)
Stage 3: Disable bone_capemgr dir (/sys/devices/platform/bone_capemgr/) (v4.15.x+)

Stage 1 is complete, all current images use U-Boot Overlays by default. Stage 2 is currently in progress, as it is not recommended to "load" anything into the slots file while U-Boot Overlays are in control. Stage 3, will take longer, as many applications only need to know the "bone_capemgr" directory is available.

If you don't like the direction we are heading, simply disable, "enable_uboot_overlays=1" in /boot/uEnv.txt..

#I will be on my own with Kernel Overlays:
#enable_uboot_overlays=1

Debian Build Instructions

You'll want a fairly beefy ARM system to run this script.

git clone git://github.com/beagleboard/image-builder.git
cd image-builder
./beagleboard.org_image.sh

Output of the autobuilder can be found at http://builds.beagleboard.org.

Debian Releases

http://beagleboard.org/latest-images

Debian Image Testing Snapshots

To turn “microSD/Standalone” images into eMMC flasher images, edit the /boot/uEnv.txt file on the Linux partition on the microSD card and uncomment the line with cmdline=init=/opt/scripts/tools/eMMC/init-eMMC-flasher-v3.sh. Enabling this will cause booting the microSD card to flash the eMMC. “Flasher” images already enable this line. See Flashing eMMC

Debian 8 (Jessie) - Monthly

BBW/BBB (All Revs) Machinekit

2017-02-12 notes

* Kernel: 3.8.13-xenomai-r84
* default username:password is [machinekit:machinekit]
(BeagleBone and BeagleBone Black)
Target Media: microSD Image File sha256sum
microSD bone-debian-8.7-machinekit-armhf-2017-02-12-4gb.img.xz 18361e0426715974b5a0e7f014ff1bf26db2421cbf8d61622efd2856cd8c6214

Jessie LXQt Snapshot

2019-06-04 notes

* Kernel: 4.4.155-ti-r155
* default username:password is [debian:temppwd]
(AM335x based BeagleBone's and PocketBeagle)
Target Media: microSD Image File sha256sum bmap
microSD bone-debian-8.11-lxqt-4gb-armhf-2019-06-04-4gb.img.xz 88987921a14f73c332a56e314b7cd4c7d0640c5bb55a424ccea782d17a1d1048 bmap
eMMC flasher bone-eMMC-flasher-debian-8.11-lxqt-4gb-armhf-2019-06-04-4gb.img.xz eff9203249b3e2019d8da3eb60bb51cfb85cfd8e3edacdc87474b59b97a85deb bmap
(BeagleBoard-X15)
Target Media: microSD Image File sha256sum bmap
microSD am57xx-debian-8.11-lxqt-4gb-armhf-2019-06-04-4gb.img.xz 662b8a9a174da0a549fb22c756aa47a5ba61cce456c765bddd276f82b2e967cd bmap
eMMC flasher am57xx-eMMC-flasher-debian-8.11-lxqt-4gb-armhf-2019-06-04-4gb.img.xz 73ebcb3e0f80b0a53f03c23fef5d0931969326aaa356bb1c8df63177d7ab45b3 bmap

Jessie 2GB LXQt Snapshot

2019-06-04 notes

* Kernel: 4.4.155-ti-r155
* default username:password is [debian:temppwd]
(AM335x based BeagleBone's and PocketBeagle)
Target Media: microSD Image File sha256sum bmap
microSD bone-debian-8.11-lxqt-2gb-armhf-2019-06-04-2gb.img.xz 9a0c98ac622c315795b0b5f65b9e37f0edf2706d67a42846c4df0b09830b655c bmap
eMMC flasher bone-eMMC-flasher-debian-8.11-lxqt-2gb-armhf-2019-06-04-2gb.img.xz a8d24938bac007052d3a90ba7b71de153037155e80702a5b5440c8260ac31f09 bmap

Jessie LXQt Snapshot for BeagleBoard-xM

2019-06-02 notes

* Kernel: 5.0.19-armv7-x15
* default username:password is [debian:temppwd]
(BeagleBoard-xM)
Target Media: microSD Image File sha256sum bmap
microSD bbxm-debian-8.11-lxqt-xm-armhf-2019-06-04-4gb.img.xz aea0b058a35a71f301a317a3e007e5b60be6e76676ce821a92203c30228414ae bmap

Jessie IOT Snapshot

2019-06-04 notes

* Kernel: 4.4.155-ti-r155
* default username:password is [debian:temppwd]
(AM335x based BeagleBone's and PocketBeagle)
Target Media: microSD Image File sha256sum bmap
microSD bone-debian-8.11-iot-armhf-2019-06-04-4gb.img.xz 23f40a41f4bf59dd07cbafb2138321603ec0bcffbead2fcfca1942e041d195be bmap
eMMC flasher bone-eMMC-flasher-debian-8.11-iot-armhf-2019-06-04-4gb.img.xz 3b50b4af6c9a711eea9020cbe76d459e75b418e1ff48477efc6d4d7f8b6cee2e bmap
(BeagleBoard-X15)
Target Media: microSD Image File sha256sum bmap
microSD am57xx-debian-8.11-iot-armhf-2019-06-04-4gb.img.xz ca329e49c71fa6c23ead308e9a06af49e0caa926d78e7582a684442cde10e97e bmap
eMMC flasher am57xx-eMMC-flasher-debian-8.11-iot-armhf-2019-06-04-4gb.img.xz 1340eddb368048829c17a67628119f5564addde3d9ca25388d5ff1dac3d76268 bmap

Jessie Console Snapshot

2019-06-04 notes

* Kernel: 4.4.155-ti-r155
* default username:password is [debian:temppwd]
(AM335x based BeagleBone's and PocketBeagle)
Target Media: microSD Image File sha256sum bmap
microSD bone-debian-8.11-console-armhf-2019-06-04-1gb.img.xz cfe6770a384351fc1c0d73122045a6ef5d53cb9aabeb33ddc0d69203cf81fb6e bmap
eMMC flasher bone-eMMC-flasher-debian-8.11-console-armhf-2019-06-04-1gb.img.xz 6d28e67ab1e0bdf47220e72d6a7d83230247bd85840770393b3c3c952111a0a4 bmap
(BeagleBoard-X15)
Target Media: microSD Image File sha256sum bmap
microSD am57xx-debian-8.11-console-armhf-2019-06-04-1gb.img.xz 37c6f6924af2c7e7c9762b5de453a885341a46da5baf796369ad6e746b010389 bmap
eMMC flasher am57xx-eMMC-flasher-debian-8.11-console-armhf-2019-06-04-1gb.img.xz 0b4eab45627cbfc7ce0b30fcb317a8c9f11dee1bb9c242b19ef8ca44f8b8498f bmap

Debian 9 (Stretch) - Weekly

https://wiki.debian.org/DebianStretch

BBW/BBB (All Revs) Machinekit

2019-06-02 notes

* Kernel: 4.19.37-bone-rt-r32
* default username:password is [debian:temppwd]
(AM335x based BeagleBone's and PocketBeagle)
Target Media: microSD Image File sha256sum bmap
microSD bone-debian-9.9-machinekit-armhf-2019-06-02-4gb.img.xz bf99ab4d61b482357c4a79aeaf39959263d662e7dbe6da10e0511b5dd4a09d4d bmap

Stretch LXQt Snapshot

2019-06-02 notes

* Kernel: 4.14.108-ti-r106
* default username:password is [debian:temppwd]
(AM335x based BeagleBone's and PocketBeagle)
Target Media: microSD Image File sha256sum bmap
microSD bone-debian-9.9-lxqt-armhf-2019-06-02-4gb.img.xz f7c53e7ddbc4323bd8c8c265b8ba2592111d29cddcd042887afd0fa3ae9da6c8 bmap
eMMC flasher BBB-blank-debian-9.9-lxqt-armhf-2019-06-02-4gb.img.xz dc3420aa68cc6522a1f8aee12c64e0023891af93e8e0ef02846e60d53fd4a097 bmap
(BeagleBoard-X15)
Target Media: microSD Image File sha256sum bmap
microSD am57xx-debian-9.9-lxqt-armhf-2019-06-02-4gb.img.xz dd8c83bd95961a0915325b40a30cc4f5a48d17996edbd7d43f5f0228afcbc59a bmap

Stretch LXQt Snapshot for BeagleBoard-xM

2019-06-02 notes

* Kernel: 5.0.19-armv7-x15
* default username:password is [debian:temppwd]
(BeagleBoard-xM)
Target Media: microSD Image File sha256sum bmap
microSD bbxm-debian-9.9-lxqt-xm-armhf-2019-06-02-4gb.img.xz f67ef0a4cb6bb726e4d7c7e7f6afcd174a8f74df9935a630878cd2c9d5556fe3 bmap

Stretch IOT Snapshot

2019-06-02 notes

* Kernel: 4.14.108-ti-r106
* default username:password is [debian:temppwd]
(AM335x based BeagleBone's and PocketBeagle)
Target Media: microSD Image File sha256sum bmap
microSD bone-debian-9.9-iot-armhf-2019-06-02-4gb.img.xz 641cc3c654ed3df9c72af97895cc39abd4f01614e761be4128718e51ae076ef2 bmap
eMMC flasher BBB-blank-debian-9.9-iot-armhf-2019-06-02-4gb.img.xz 0e72fb16138fd00bc9601b881d8b1fc6d9a19ec0b297acd1b327318e2ae7f931 bmap
(BeagleBoard-X15)
Target Media: microSD Image File sha256sum bmap
microSD am57xx-debian-9.9-iot-armhf-2019-06-02-4gb.img.xz 46504fd1997657ced3a5e0d06134512f7ee45283fae79747066e5530b74c78a4 bmap

Stretch Console Snapshot

2019-06-02 notes

* Kernel: 4.14.108-ti-r106
* default username:password is [debian:temppwd]
(AM335x based BeagleBone's and PocketBeagle)
Target Media: microSD Image File sha256sum bmap
microSD bone-debian-9.9-console-armhf-2019-06-02-1gb.img.xz ae0093df9c596595be1050e88479e6372d8d7816f1e32d09ed3526f3223ffa93 bmap
eMMC flasher bone-eMMC-flasher-debian-9.9-console-armhf-2019-06-02-1gb.img.xz 48791db14f4242b93e750e407f3e2686fc4de2cefa040a0b3de588ff3501efa5 bmap
(BeagleBoard-X15)
Target Media: microSD Image File sha256sum bmap
microSD am57xx-debian-9.9-console-armhf-2019-06-02-1gb.img.xz 7bce55d7dbb70a7e4a3ab599785ffb3984de1f8530734d7893244f8a3c343de6 bmap

ROS (ROS Melodic Morenia) - Weekly

http://wiki.ros.org/melodic/Installation

ROS Melodic Morenia

2019-06-02 notes

* Kernel: 4.19.31-ti-rt-r19
* default username:password is [beagle:temppwd]
(AM335x based BeagleBone's and PocketBeagle)
Target Media: microSD Image File sha256sum bmap
microSD bone-ubuntu-18.04.2-ros-iot-armhf-2019-06-02-6gb.img.xz dc1f88424f971fb64f01d6f63e5bfeb657b2503c984d37513b973b85ca6f71bb bmap

Kernel Options

General apt syntax for searching and installing a specific kernel:

sudo apt-get update
sudo apt-cache search linux-image | grep <branch>
sudo apt-get install linux-image-<specific version>
sudo reboot

Latest kernel script

cd /opt/scripts/tools/
git pull
sudo /opt/scripts/tools/update_kernel.sh <OPTIONS>

3.8.x

This is the first beagleboard.org long term kernel tree with capemanager support, it's been the default install for Debian Wheezy

beagleboard.org patchset: https://github.com/beagleboard/linux/tree/3.8
3.8.x BeagleBone/BeagleBone Black FULL Cape Support
sudo /opt/scripts/tools/update_kernel.sh --bone-channel --stable
3.8.x BeagleBone/BeagleBone Black FULL Cape Support + Xenomai
sudo /opt/scripts/tools/update_kernel.sh --bone-xenomai-channel --stable

4.4.x-ti

beagleboard.org patchset: https://github.com/beagleboard/linux/tree/4.4
Based on: http://git.ti.com/gitweb/?p=ti-linux-kernel/ti-linux-kernel.git;a=shortlog;h=refs/heads/ti-rt-linux-4.4.y
4.4.x-ti All BeagleBone Variants and BeagleBoard-X15
sudo /opt/scripts/tools/update_kernel.sh --ti-channel --lts-4_4
4.4.x-ti All BeagleBone Variants and BeagleBoard-X15 + RT
sudo /opt/scripts/tools/update_kernel.sh --ti-rt-channel --lts-4_4

4.9.x-ti

beagleboard.org patchset: https://github.com/beagleboard/linux/tree/4.9
4.9.x-ti All BeagleBone Variants and BeagleBoard-X15
sudo /opt/scripts/tools/update_kernel.sh --ti-channel --lts-4_9
4.9.x-ti All BeagleBone Variants and BeagleBoard-X15 + RT
sudo /opt/scripts/tools/update_kernel.sh --ti-rt-channel --lts-4_9

4.14.x-ti

beagleboard.org patchset: https://github.com/beagleboard/linux/tree/4.14
4.14.x-ti All BeagleBone Variants and BeagleBoard-X15
sudo /opt/scripts/tools/update_kernel.sh --ti-channel --lts-4_14
4.14.x-ti All BeagleBone Variants and BeagleBoard-X15 + RT
sudo /opt/scripts/tools/update_kernel.sh --ti-rt-channel --lts-4_14

4.19.x-ti

beagleboard.org patchset: https://github.com/beagleboard/linux/tree/4.19
4.19.x-ti All BeagleBone Variants and BeagleBoard-X15
sudo /opt/scripts/tools/update_kernel.sh --ti-channel --lts-4_19
4.19.x-ti All BeagleBone Variants and BeagleBoard-X15 + RT
sudo /opt/scripts/tools/update_kernel.sh --ti-rt-channel --lts-4_19

Mainline (4.4.x lts)

4.4.x All BeagleBone Variants
sudo /opt/scripts/tools/update_kernel.sh --bone-kernel --lts-4_4
4.4.x All BeagleBone Variants + RT
sudo /opt/scripts/tools/update_kernel.sh --bone-rt-kernel --lts-4_4

Mainline (4.9.x lts)

4.9.x All BeagleBone Variants
sudo /opt/scripts/tools/update_kernel.sh --bone-kernel --lts-4_9
4.9.x All BeagleBone Variants + RT
sudo /opt/scripts/tools/update_kernel.sh --bone-rt-kernel --lts-4_9

Mainline (4.14.x lts)

4.14.x All BeagleBone Variants
sudo /opt/scripts/tools/update_kernel.sh --bone-kernel --lts-4_14
4.14.x All BeagleBone Variants + RT
sudo /opt/scripts/tools/update_kernel.sh --bone-rt-kernel --lts-4_14

Mainline (4.19.x lts)

4.19.x All BeagleBone Variants
sudo /opt/scripts/tools/update_kernel.sh --bone-kernel --lts-4_19
4.19.x All BeagleBone Variants + RT
sudo /opt/scripts/tools/update_kernel.sh --bone-rt-kernel --lts-4_19

Debian 8: jessie

sudo apt-get install linux-image-armmp