Building for BeagleBone

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Arm Compiler

Setting up cross-compile environment is the first and necessary step.

Distro provided

The easier way is install the default compiler provided by your distribution.

Ubuntu : gcc-arm-linux-gnueabi

Arch Linux : arm-linux-gnueabi-gcc

Debian : ??

Fedora : ??

Linux Mint : ??

  • Tip: Do a alias in your environment, where N is the number of processors cores plus one:
$ alias armmake='make -jN ARCH=arm CROSS_COMPILE=arm-linux-gnueabi- '

crosstool-NG

crosstool-NG aims at building toolchains. So, by this way you will build your own cross-compiler, but this requires that you choose an operation system and LibC. Therefore we will build a cross-compiler for Linux/gLibc.

U-Boot

Mainline U-boot

You can use the mainline u-boot for beaglebone.

Get:

$ git clone git://git.denx.de/u-boot.git

Clean:

$ armmake distclean

Configure for BeagleBone:

$ armmake am335x_evm_config

Build:

$ armmake

Test your new U-Boot

You need a microSd card with 2Gb or more. In order to make U-Boot work you will need to create the first partion as FAT32 LBA, bootable, with something like 64 Megabytes.
This command wipes everything from your sdcard and creates that partition.

$ echo -e "o\nn\np\n1\n\n+64M\na\n1\nt\nc\nw\n" | sudo fdisk /dev/MYDISK ; sudo fdisk /dev/MYDISK -l

This comand should print something like:

Disk /dev/sdb: 7948 MB, 7948206080 bytes
16 heads, 4 sectors/track, 242560 cylinders, total 15523840 sectors
Units = sectors of 1 * 512 = 512 bytes
Sector size (logical/physical): 512 bytes / 512 bytes
I/O size (minimum/optimal): 512 bytes / 512 bytes
Disk identifier: 0x1c524301
    Device Boot      Start         End      Blocks   Id  System
/dev/sdb1   *        2048      133119       65536    c  W95 FAT32 (LBA)

The U-Boot compilation generated two files, MLO and uboot.img. Mount the partition that you just created and copy FIRST the MLO file to partition. Then copy the u-boot.img.

$ sudo mount /dev/MYDISK /mnt
$ sudo cp MLO /mnt
$ sudo cp u-boot.img
$ sudo sync
$ sudo umount  /mnt

Now with that sdcard in BeagleBone the output from serial should be:

U-Boot SPL 2014.07-rc4-00264-g23f23f2-dirty (Jul 05 2014 - 21:56:58)
reading u-boot.img
reading u-boot.img


U-Boot 2014.07-rc4-00264-g23f23f2-dirty (Jul 05 2014 - 21:56:58)

I2C:   ready
DRAM:  512 MiB
NAND:  0 MiB
MMC:   OMAP SD/MMC: 0, OMAP SD/MMC: 1
*** Warning - readenv() failed, using default environment

Net:   <ethaddr> not set. Validating first E-fuse MAC
cpsw, usb_ether
Hit any key to stop autoboot:  0 
switch to partitions #0, OK
mmc0 is current device
SD/MMC found on device 0
reading uEnv.txt
** Unable to read file uEnv.txt **
** Invalid partition 2 **
switch to partitions #0, OK
mmc1(part 0) is current device
SD/MMC found on device 1
reading uEnv.txt
26 bytes read in 3 ms (7.8 KiB/s)
Loaded environment from uEnv.txt
Importing environment from mmc ...
** File not found /boot/zImage **
Booting from nand ...

no devices available

no devices available
Bad Linux ARM zImage magic!
U-Boot# 

There are two problems in this output. First, you don't have a uEnv.txt, which configure the U-Boot and secondly you don't have a linux image. But first check what is the default environment from Beaglebone. Boot the u-boot and do a pr command, the output should be like this:

U-Boot# pr
arch=arm
baudrate=115200
board=am335x
board_name=A335BNLT
board_rev=0A5A
boot_fdt=try
bootargs=console=ttyO0,115200n8 quiet drm.debug=7 root=ubi0:rootfs rw ubi.mtd=7,2048 rootfstype=ubifs rootwait=1
bootcmd=run findfdt; run mmcboot;setenv mmcdev 1; setenv bootpart 1:2; run mmcboot;run nandboot;
bootcount=1
bootdelay=1
bootdir=/boot
bootenv=uEnv.txt
bootfile=zImage
bootm_size=0x10000000
bootpart=1:2
console=ttyO0,115200n8
cpu=armv7
dfu_alt_info_emmc=rawemmc mmc 0 3751936
dfu_alt_info_mmc=boot part 0 1;rootfs part 0 2;MLO fat 0 1;MLO.raw mmc 0x100 0x100;u-boot.img.raw mmc 0x300 0x400;spl-os-args.raw mmc 0x80 0x80;spl-os-image.raw mmc 0x900 0x2000;spl-os-args fat 0 1;spl-os-image fat 0 1;u-boot.img fat 0 1;uEnv.txt fat 0 1
dfu_alt_info_nand=SPL part 0 1;SPL.backup1 part 0 2;SPL.backup2 part 0 3;SPL.backup3 part 0 4;u-boot part 0 5;u-boot-spl-os part 0 6;kernel part 0 8;rootfs part 0 9
dfu_alt_info_ram=kernel ram 0x80200000 0xD80000;fdt ram 0x80F80000 0x80000;ramdisk ram 0x81000000 0x4000000
eth1addr=c8:a0:30:a6:2c:6f
ethact=cpsw
ethaddr=c8:a0:30:a6:2c:6d
fdt_addr_r=0x88000000
fdtaddr=0x88000000
fdtfile=am335x-boneblack.dtb
filesize=1a
findfdt=if test $board_name = A335BONE; then setenv fdtfile am335x-bone.dtb; fi; if test $board_name = A335BNLT; then setenv fdtfile am335x-boneblack.dtb; fi; if test $board_name = A33515BB; then setenv fdtfile am335x-evm.dtb; fi; if test $board_name = A335X_SK; then se 
importbootenv=echo Importing environment from mmc ...; env import -t $loadaddr $filesize
kernel_addr_r=0x82000000
loadaddr=0x82000000
loadbootenv=load mmc ${mmcdev} ${loadaddr} ${bootenv}
loadfdt=load mmc ${bootpart} ${fdtaddr} ${bootdir}/${fdtfile}
loadimage=load mmc ${bootpart} ${loadaddr} ${bootdir}/${bootfile}
loadramdisk=load mmc ${mmcdev} ${rdaddr} ramdisk.gz
mmcargs=setenv bootargs console=${console} ${optargs} root=${mmcroot} rootfstype=${mmcrootfstype}
mmcboot=mmc dev ${mmcdev}; if mmc rescan; then echo SD/MMC found on device ${mmcdev};if run loadbootenv; then echo Loaded environment from ${bootenv};run importbootenv;fi;if test -n $uenvcmd; then echo Running uenvcmd ...;run uenvcmd;fi;if run loadimage; then run mmcloa;
mmcdev=1
mmcloados=run mmcargs; if test ${boot_fdt} = yes || test ${boot_fdt} = try; then if run loadfdt; then bootz ${loadaddr} - ${fdtaddr}; else if test ${boot_fdt} = try; then bootz; else echo WARN: Cannot load the DT; fi; fi; else bootz; fi;
mmcroot=/dev/mmcblk0p2 ro
mmcrootfstype=ext4 rootwait
mtdids=nand0=omap2-nand.0
mtdparts=mtdparts=omap2-nand.0:128k(SPL),128k(SPL.backup1),128k(SPL.backup2),128k(SPL.backup3),1792k(u-boot),128k(u-boot-spl-os),128k(u-boot-env),5m(kernel),-(rootfs)
nandargs=setenv bootargs console=${console} ${optargs} root=${nandroot} rootfstype=${nandrootfstype}
nandboot=echo Booting from nand ...; run nandargs; nand read ${fdtaddr} u-boot-spl-os; nand read ${loadaddr} kernel; bootz ${loadaddr} - ${fdtaddr}
nandroot=ubi0:rootfs rw ubi.mtd=7,2048
nandrootfstype=ubifs rootwait=1
netargs=setenv bootargs console=${console} ${optargs} root=/dev/nfs nfsroot=${serverip}:${rootpath},${nfsopts} rw ip=dhcp
netboot=echo Booting from network ...; setenv autoload no; dhcp; tftp ${loadaddr} ${bootfile}; tftp ${fdtaddr} ${fdtfile}; run netargs; bootz ${loadaddr} - ${fdtaddr}
nfsopts=nolock
optargs=quiet drm.debug=7
partitions=uuid_disk=${uuid_gpt_disk};name=rootfs,start=2MiB,size=-,uuid=${uuid_gpt_rootfs}
ramargs=setenv bootargs console=${console} ${optargs} root=${ramroot} rootfstype=${ramrootfstype}
ramboot=echo Booting from ramdisk ...; run ramargs; bootz ${loadaddr} ${rdaddr} ${fdtaddr}
ramdisk_addr_r=0x88080000
ramroot=/dev/ram0 rw
ramrootfstype=ext2
rdaddr=0x88080000
rootpath=/export/rootfs
soc=am33xx
spiargs=setenv bootargs console=${console} ${optargs} root=${spiroot} rootfstype=${spirootfstype}
spiboot=echo Booting from spi ...; run spiargs; sf probe ${spibusno}:0; sf read ${loadaddr} ${spisrcaddr} ${spiimgsize}; bootz ${loadaddr}
spibusno=0
spiimgsize=0x362000
spiroot=/dev/mtdblock4 rw
spirootfstype=jffs2
spisrcaddr=0xe0000
static_ip=${ipaddr}:${serverip}:${gatewayip}:${netmask}:${hostname}::off
stderr=serial
stdin=serial
stdout=serial
usbnet_devaddr=c8:a0:30:a6:2c:6f
vendor=ti
ver=U-Boot 2014.07-rc4-00264-g23f23f2-dirty (Jul 05 2014 - 21:56:58)

Kernel

Mainline Kernel

You can use the mainline linux for beaglebone.

Get:

$ git clone git://git.kernel.org/pub/scm/linux/kernel/git/torvalds/linux.git

Clean:

$ armmake distclean

Configure for BeagleBone:

$ armmake multi_v7_defconfig

Check if two remaining configs are set:

│ Symbol: MFD_TPS65217 [=n]
│ Type  : tristate
│ Prompt: TI TPS65217 Power Management / White LED chips
│   Location:
│     -> Device Drivers
│ (1)   -> Multifunction device drivers
│   Defined at drivers/mfd/Kconfig:877
│   Depends on: HAS_IOMEM [=y] && I2C [=y]
│   Selects: MFD_CORE [=y] && REGMAP_I2C [=y]

│ Symbol: REGULATOR_TPS65217 [=n]
│ Type  : tristate
│ Prompt: TI TPS65217 Power regulators
│   Location:
│     -> Device Drivers
│ (1)   -> Voltage and Current Regulator Support (REGULATOR [=y])
│   Defined at drivers/regulator/Kconfig:554
│   Depends on: REGULATOR [=y] && MFD_TPS65217 [=y]

Build:

$ armmake

After build, there are two important files. Linux kernel at arch/arm/boot/zImage and Device Tree Blob arch/arm/boot/dts/am335x-boneblack.dtb or arch/arm/boot/dts/am335x-bone.dtb (for white). So copy that to memory card.

$ sudo cp arch/arm/boot/zImage /mnt
$ sudo cp arch/arm/boot/dts/am335x-boneblack.dtb /mnt

Test your new Kernel

TODO