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.
Contents
- 1 KNOWN ISSUES
- 2 Recommended Kernel
- 3 Native Install via debian-installer (NON QEMU based)
- 4 QEMU install method via debian-installer (emulated arm core via Desktop PC)
- 4.1 Development PC: Format SD Card
- 4.2 Development PC: Preparation
- 4.3 Development PC: Install Debian in QEMU
- 4.4 Development PC: Running Debian in QEMU (Optional)
- 4.5 Development PC: Linux Kernel Preparation
- 4.6 Beagleboard: Setup U-boot for boot
- 4.7 Debian on Beagleboard
- 4.8 Current Issues
- 4.9 Notes
- 5 Debian Configuration
- 6 Advanced
KNOWN ISSUES
2.6.29-oer* USB still flaky on the RevC ehci port.. --RobertCNelson 18:17, 6 May 2009 (UTC)
Kernel Problems:
Please email me (gmail), or post to the beagleboard google group, with a pastebin dump of your complete serial bootup. (I'm unable to use irc at work..) Any builds listed in this wiki have been tested with RevB & RevC boards.. (however with not every single u-boot combination.)
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.)
Stable: 2.6.29-oer34 :
Lenny: http://www.rcn-ee.com/deb/kernel/beagle/lenny/v2.6.29-58cf2f1-oer34/
Squeeze: http://www.rcn-ee.com/deb/kernel/beagle/squeeze/v2.6.29-58cf2f1-oer34/
Currently Testing with Build Beagle: http://www.rcn-ee.com/deb/kernel/beagle/squeeze/v2.6.29-58cf2f1-oer31/
Uboot: http://elinux.org/BeagleBoardDebian#Upgrading_U-boot
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:
Development 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
Development PC: Setup SD U-boot Partition
Mount your SD card fat32 partition. (/media/disk/)
Debian Lenny Stable
cd /media/disk/ sudo wget http://rcn-ee.com/deb/kernel/CC-beagle-v2.6.29-58cf2f1-oer40.5 sudo wget http://ftp.debian.org/debian/dists/lenny/main/installer-armel/current/images/versatile/netboot/initrd.gz sudo mv CC-beagle-v2.6.29-58cf2f1-oer40.5 uImage sudo gzip -d initrd.gz sudo dd if=initrd of=initrd.pad ibs=8388608 conv=sync
Tested: 2.6.29-oer40.5 install RevB5 & RevC2 --RobertCNelson 20:38, 12 August 2009 (UTC)
Beagleboard: Setup U-boot for netboot install
Mount SD card
For Linux Kernel 2.6.29 and higher using DSS2 setenv bootcmd 'mmcinit; fatload mmc 0:1 0x80300000 uImage; fatload mmc 0:1 0x81600000 initrd.pad; bootm 0x80300000' or setenv bootcmd 'mmc init; fatload mmc 0:1 0x80300000 uImage; fatload mmc 0:1 0x81600000 initrd.pad; bootm 0x80300000' Debian Install over DVI Port setenv bootargs 'console=tty0 ramdisk_size=8192 root=/dev/ram0 rw rootfstype=ext2 initrd=0x81600000,8M omapfb.mode=dvi:1280x720MR-16@60' Debian Install over the Serial Port *(this seems to be a regression from 2.6.28, which allowed you to specify both...) setenv bootargs 'console=ttyS2,115200n8 ramdisk_size=8192 root=/dev/ram0 rw rootfstype=ext2 initrd=0x81600000,8M' saveenv boot
The debian-installer should load via the framebuffer, if the screen remains blank, try different resolutions for the bootargs:
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 : [1]
Choose a language C - No localization English - English
Configure the network: usb0: USB net <- See below for 2.6.29. Could not find usb0 with B7 installing 2.6.28. eth0: Ethernet <- Your usb-ethernet device wlan0: Wifi <- Your usb-wifi device.. See BeagleBoardDebianWifiInstallInfo for my hack to set it up.
Configuring usb0 network bridge for 2.6.29: While you chose your keyboard layout, setup a bridge with ethX and usbX. # ifconfig ethX 0.0.0.0 # ifconfig usbX 0.0.0.0 # brctl addbr brX # brctl addif brX ethX # brctl addif brX usbX # ifconfig brX up # dhclient brX *Sometimes the first beagle DHCP will fail(probably due PC trying autoconnect), just run the auto configuration again and it will configure it right.
Continue the install without loading kernel modules? : <yes>
Partition disks: This partitioner doesn't have the inform.....? : <yes> Logical Volume Manager not available: <Continue>
Partition disks: Guided - Use the largest continuous free space
Partitioning scheme....
Example:
MMC/SD card #1 (mmcblk0) - 2.0 GB Unknown > #1 primary 57.5 MB fat32 > #2 primary 1.8 GB B f ext3 / > #5 logical 148.0 MB f swap swap Finish partitioning and write changes to disk Write the changes to disk? : <yes>
No installable kernel was found in the defined APT sources? : Continue without installing a kernel? : <yes>
Standard System
No BootLoader: <ok>
Beagleboard: Setup U-boot for Normal Boot
Reboot (aka remove power)
Uboot update bootcmd & bootargs
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' DVI Port setenv bootargs 'console=tty0 root=/dev/mmcblk0p2 rootwait rootfstype=ext3 ro omapfb.mode=dvi:1280x720MR-16@60' Serial Port setenv bootargs 'console=ttyS2,115200n8 root=/dev/mmcblk0p2 rootwait rootfstype=ext3 ro' saveenv boot
Debian will fix the ext3 partition, it'll try to reboot, after halting remove and reapply power.
Beagleboard: install kernel-image
Script File
Note: this will be updated from time to time. (tested off course, may need "sudo apt-get install wget")
wget http://www.rcn-ee.com/deb/kernel/update_kernel.sh sudo /bin/bash update-kernel.sh
Note: vmlinuz symbolic link (yes <or> no)... Still not sure this matters, i select <yes>...
Manual Method
cd /home/<user> sudo apt-get install uboot-mkimage wget http://www.rcn-ee.com/deb/kernel/beagle/lenny/v2.6.29-58cf2f1-oer40.5/linux-image-2.6.29-oer40.5_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.
Development 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
Development 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-2.6.26-2-versatile
Development 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-2.6.26-2-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
Development 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-2.6.26-2-versatile -initrd initrd.img-2.6.26-2-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.
Stable 2.6.29 wget http://www.rcn-ee.com/deb/kernel/beagle/lenny/v2.6.29-58cf2f1-oer40.5/linux-image-2.6.29-oer40.5_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.
Development 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/ <fat32> /media/debian/ <ext3>
Download Kernel-Image
cd /media/debian/home/<user>/ wget http://www.rcn-ee.com/deb/kernel/beagle/lenny/v2.6.29-58cf2f1-oer40.5/linux-image-2.6.29-oer40.5_1.0lenny_armel.deb
Extract linux-image's vmlinuz-*
dpkg -x linux-image* ./temp
Build uboot compatible image and copy to /media/disk/ <fat32 boot partition>
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: Setup U-boot for boot
Insert SD Card and power up Beagleboard.
Using a terminal program, stop u-boot and add these commands:
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' DVI Port setenv bootargs 'console=tty0 root=/dev/mmcblk0p2 rootwait rootfstype=ext3 ro omapfb.mode=dvi:1280x720MR-16@60' Serial Port setenv bootargs 'console=ttyS2,115200n8 root=/dev/mmcblk0p2 rootwait rootfstype=ext3 ro' saveenv boot
You shall adapt the resolution to you screen as following :
omapfb.mode=dvi:1280x720MR-24@60 Modes: "1024x768MR-24@60""800x600-MR24@60" ...
Here is more explanation on dss video options : [2]
The Beagleboard will reboot 3-4 times while the ext3 filesystem is repaired. (may have to remove power etc)
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 [3]). I you do not want to do this, you'll have to install a Vnc server on the beagle to access desktop.
Current Issues
- Swap disabled: change /dev/hda5 -> /dev/mmcblk0p5 in /etc/fstab (artifact of qemu install to /dev/hdaX)
- RTC seems to be not enabled: use ntpdate when ethernet works, or issue
date +"%m%d%y%H%M" -s MMDDYYHHMM
Notes
- 'fbdev' is normally *slow* since it completely relies on the system cpu to update the framebuffer. Once the video processing core's driver is released this will no longer be an issue.
- Debian/Gnome actually need the swap to run (up to 90Mo of swap space on my beagle with 128Mo RAM shipped on it) so that it's even slower when using the SD card (try using an external hdd disk).
Debian Configuration
Serial Ports
Lenny
edit /etc/inittab and add:
S:2345:respawn:/sbin/getty 115200 ttyS2
For root access over the serial port add ttyS2 to /etc/securetty
fbdev Drivers
/etc/X11/xorg.conf:
Section "Device" Identifier "Configured Video Device" Option "UseFBDev" "true" Driver "fbdev" EndSection
WiFi
See BeagleBoard Debian WiFi install info.
Xorg Omapfb Drivers
Note: this currently a backport from sid, built in a lenny/squeeze chroot.
Drivers
Note: In Debian this will eventually move from sid to squeeze: http://packages.qa.debian.org/x/xf86-video-omapfb.html It's too late for lenny.
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)
lenny wget -c http://rcn-ee.homeip.net:81/dl/deb-sbuild/lenny/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
squeeze wget -c http://rcn-ee.homeip.net:81/dl/deb-sbuild/squeeze/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
Startup Script
/etc/rcS.d/S61omapfb.sh
#!/bin/sh #Hack, omapfb is looking for /dev/fb ln -s /dev/fb0 /dev/fb
xorg.conf
/etc/X11/xorg.conf
Section "Device" Identifier "Configured Video Device" Driver "omapfb" EndSection
SGX Video Acceleration
Kernel Modules
lenny wget -c http://www.rcn-ee.com/deb/kernel/beagle/lenny/v2.6.29-58cf2f1-oer40.5/omaplfb.ko wget -c http://www.rcn-ee.com/deb/kernel/beagle/lenny/v2.6.29-58cf2f1-oer40.5/pvrsrvkm.ko sudo mkdir -p /lib/modules/`uname -r`/kernel/drivers/gpu/pvr/ sudo mv *.ko /lib/modules/`uname -r`/kernel/drivers/gpu/pvr/ sudo depmod -a omaplfb
squeeze wget -c http://www.rcn-ee.com/deb/kernel/beagle/squeeze/v2.6.29-58cf2f1-oer40.5/omaplfb.ko wget -c http://www.rcn-ee.com/deb/kernel/beagle/squeeze/v2.6.29-58cf2f1-oer40.5/pvrsrvkm.ko sudo mkdir -p /lib/modules/`uname -r`/kernel/drivers/gpu/pvr/ sudo mv *.ko /lib/modules/`uname -r`/kernel/drivers/gpu/pvr/ sudo depmod -a omaplfb
SDK
Use `08: http:...
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 lib's
sudo cp SDK_EXTRACTED_DIR/gfx_rel/*.so /usr/lib/
SDK pvrsrvinit
sudo cp SDK_EXTRACTED_DIR/gfx_rel/pvrsrvinit /usr/sbin/
devmem2
wget -c http://free-electrons.com/pub/mirror/devmem2.c gcc -o devmem2 devmem2.c sudo cp devmem2 /usr/sbin
Startup Script
/etc/rcS.d/S60pvr.sh
#!/bin/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 #this is from the SDK... /usr/sbin/pvrsrvinit # Set SGX to full speed /usr/sbin/devmem2 0x48004b40 w 0
DSP
Advanced
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://rcn-ee.homeip.net:81/dl/omap/uboot/u-boot-beagleboard-2009.05+r27+gitrd363f9cb0918a1b6b92e2e20d01543d0c4f53274-r27.bin sudo mv u-boot-beagleboard-2009.05+r27+gitrd363f9cb0918a1b6b92e2e20d01543d0c4f53274-r27.bin u-boot-f.bin
Tested --RobertCNelson 20:34, 12 August 2009 (UTC) RevB5 + 2.6.29-oer40.5 & RevC2 + 2.6.29-oer40.5
Insert SD Card, boot Beagleboard and stop U-Boot from booting
mmcinit (or "mmc init") fatload mmc 0 0x80200000 u-boot-f.bin nand unlock nandecc sw nand erase 80000 160000 nand write.i 0x80200000 80000 160000 reset
Normal Kernel Build
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.org/cgit.cgi/openembedded/commit/?id=2dff7b788dc52c5da3fd2c5863dfad857a7d1710
http://cgit.openembedded.net/cgit.cgi?url=openembedded/tree/recipes/linux/linux-omap_2.6.29.bb&id=2dff7b788dc52c5da3fd2c5863dfad857a7d1710 -> "GIT" and "PATCHES"
All build that i do are logged in the build folders: http://www.rcn-ee.com/deb/kernel/beagle/lenny/v2.6.29-58cf2f1-oer40.5/changes.txt (easier to mainitain then the old way)
Retrieve the GIT checkout
GIT Checkout: 58cf2f1425abfd3a449f9fe985e48be2d2555022 or Shorthand: 58cf2f1
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 58cf2f1 -b v2.6.29-58cf2f1 git archive --format=tar --prefix=v2.6.29-58cf2f1/ v2.6.29-58cf2f1 | gzip > ../v2.6.29-58cf2f1.tar.gz git checkout master git branch v2.6.29-58cf2f1 -D cd ..
Copy patches and defconfig
Open linux-omap**.bb: http://cgit.openembedded.net/cgit.cgi?url=openembedded/tree/recipes/linux/linux-omap_2.6.29.bb&id=2dff7b788dc52c5da3fd2c5863dfad857a7d1710
This contains 50+ 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/v2.6.29-58cf2f1-oer40.5/
wget http://rcn-ee.homeip.net:81/dl/omap/beagle/v2.6.29-58cf2f1-oer40.5/v2.6.29-58cf2f1-oer40.5.diff wget http://rcn-ee.homeip.net:81/dl/omap/beagle/v2.6.29-58cf2f1-oer40.5/defconfig
Build uImage
Extract Kernel Source
tar -xf v2.6.29-58cf2f1.tar.gz cd v2.6.29-58cf2f1/
Apply Patch
patch -p1 < ../v2.6.29-58cf2f1-oer40.5.diff
Copy Defconfig
cp ../defconfig .config
Testing Changes
make menuconfig
Build uImage
make CROSS_COMPILE= uImage
Build with make-kpkg
Note: Use newer or patches/defconfig/git commit from previous section.
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 <git commit>
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