Difference between revisions of "BeagleBoardUbuntu"

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(Demo Image)
(Natty 11.04)
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Install Image:
 
Install Image:
  
(Replace the <code>X</code> where it says <code>sdX</code> with the letter that your SD card takes. To find what letter, run
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(Replace the <code>X</code> where it says <code>sdX</code> with the letter that your SD card takes. To find what letter you should use, run
  
 
  df -h
 
  df -h
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Look for a line that starts with "/dev/sdXX" in it; generally it will be mounted to the "/media directory" (in Ubuntu).  Make sure the size of the sd-card is right to verify. ("/dev/sdb1" is the first partition of the "/dev/sdb" drive).   Yours could be "sdb", "sdc", or some other final letter.  
+
Look for a line that starts with "/dev/sdXX" in it; generally it will be mounted to the "/media directory" (in Ubuntu).  Double check that the size of the sd-card is correct in order to make sure it is the right one. Carelessly repartitioning a drive (that is ''not'' an SD card) on your own system can completely ruin your computer's setup. ("/dev/sdb1" represents the first partition of the "/dev/sdb" drive). The correct name to use for your SD card could be "sdb", "sdc", or it could possibly have another final letter.  
  
 
Quick Install script for Beagle Bx
 
Quick Install script for Beagle Bx

Revision as of 13:30, 15 August 2011

(For BeagleBoardAngstrom, click here.)

This page is about running a (ARM EABI) Ubuntu distribution at BeagleBoard. BeagleBoard will boot the (ARM EABI) Ubuntu distribution from SD card.

Note: for the best experience, make sure you have an LCD attached to the HDMI port, 2GB/4GB/8GB SD card, and a known good usb2.0 hub with mouse and keyboard.

Help

If you need any help:

  • Ubuntu related help:
    • #ubuntu-arm: Ubuntu's arm irc on freenode (logs -> year -> month -> day -> #ubuntu-arm.html)
  • When asking for help, please provide some debugging information:
    • U-Boot Version installed on board
    • Kernel Version: uname -a
    • pastebin dmesg
      • Copy from serial port or use "dmesg | pastebinit" (sudo apt-get install pastebinit)

Required Beagle Software

X-loader/MLO (1.4.4ss) & U-Boot (2010.03) (Zippy1 & Zippy2 Support)

  • All Bx, C2/3/4 Boards are required to upgrade to atleast these MLO and U-Boot versions.
  • XM Boards have no NAND, so u-boot.bin is always required on the first partition
  • Directions: Upgrade X-loader and U-Boot

Omap Serial Changes

boot.scr/boot.cmd changes:

With 2.6.35:

console=ttyS2,115200n8

With 2.6.36/37+:

console=ttyO2,115200n8

Serial console login: /etc/init/ttyO2.conf

start on stopped rc RUNLEVEL=[2345]
stop on runlevel [!2345]

respawn
exec /sbin/getty 115200 ttyO2

Canonical Pre-Installed Images

Support:

  • #ubuntu-arm: Ubuntu's arm irc on freenode (logs -> year -> month -> day -> #ubuntu-arm.html)

Natty 11.04

Just follow: https://wiki.ubuntu.com/ARM/OMAP

Maverick 10.10

Just follow https://wiki.ubuntu.com/ARM/OMAPMaverickInstall and make sure you're using a SD card >= 4GB.

Demo Image

Note, these Demo Images contain a custom kernel from rcn-ee.net. If you'd like to use ubuntu's 'kernel' edit "/etc/flash-kernel.conf" disable the rcn-ee kernel variable then install flash-kernel which should bring ubuntu's kernel with it. Once you do this, it's not trivial to reverse the process.. For example, what are some of the differences? Ubuntu does not support the xM with lucid, with the rcn-ee.net kernel that's possible and done with the lucid image below..

If the script in these demo images fail: email "bugs@rcn-ee.com" I need: terminal command, terminal log, distribution name, arch...

Natty 11.04

Image Updated August 5th, new v3.0 kernel...

Default user: ubuntu pass: temppwd

Get prebuilt image:

wget http://rcn-ee.net/deb/rootfs/natty/ubuntu-11.04-r3-minimal-armel.tar.xz
mirrors (will take some time to update):
wget http://ynezz.ibawizard.net/beagleboard/natty/ubuntu-11.04-r3-minimal-armel.tar.xz

Verify Image with:

md5sum ubuntu-11.04-r3-minimal-armel.tar.xz
78bcd93acb37d6b63c90f68ff0f62976  ubuntu-11.04-r3-minimal-armel.tar.xz

Unpack Image:

tar xJf ubuntu-11.04-r3-minimal-armel.tar.xz
cd ubuntu-11.04-r3-minimal-armel

Install Image:

(Replace the X where it says sdX with the letter that your SD card takes. To find what letter you should use, run

df -h

You should see something like

administrator@ubuntu:~$ df -h
Filesystem            Size  Used Avail Use% Mounted on
/dev/loop0            5.6G  4.8G  510M  91% /
none                  243M  256K  243M   1% /dev
none                  248M  376K  248M   1% /dev/shm
none                  248M   96K  248M   1% /var/run
none                  248M     0  248M   0% /var/lock
/dev/sdb1              38G  6.7G   31G  18% /host
administrator@ubuntu:~$ 


Look for a line that starts with "/dev/sdXX" in it; generally it will be mounted to the "/media directory" (in Ubuntu). Double check that the size of the sd-card is correct in order to make sure it is the right one. Carelessly repartitioning a drive (that is not an SD card) on your own system can completely ruin your computer's setup. ("/dev/sdb1" represents the first partition of the "/dev/sdb" drive). The correct name to use for your SD card could be "sdb", "sdc", or it could possibly have another final letter.

Quick Install script for Beagle Bx

sudo ./setup_sdcard.sh --mmc /dev/sdX --uboot beagle_bx

Quick Install script for Beagle Cx, xM A/B/C

sudo ./setup_sdcard.sh --mmc /dev/sdX --uboot beagle

Quick Install script for Panda

sudo ./setup_sdcard.sh --mmc /dev/sdX --uboot panda
  • Additional Options
    • --rootfs <ext4 default>
    • --swap_file <swap file size in MB's>
    • --addon <pico>

You should now be able to unmount the SD card from you PC, insert into your BeagleBoard, reboot and have Ubuntu Maverick loaded.

For a full gui install run this on your beagle (make sure network is setup):

Ethernet: "sudo ifconfig -a" and "sudo dhclient usb1" or "sudo dhclient eth0"
Wireless: http://elinux.org/BeagleBoardUbuntu#Wifi_Networking_.28command_line.29
sudo apt-get update
sudo apt-get install xfce4 gdm xubuntu-gdm-theme xubuntu-artwork xserver-xorg-video-omap3 network-manager

Advanced: Build Image:

fixup.sh: https://github.com/RobertCNelson/omap-image-builder/raw/master/tools/fixup.sh

Built with rootstock trunk (ARM native mode, run directly on beagleboard):

sudo ./rootstock --fqdn omap --imagesize 2G --dist natty --serial ttyO2 \
--login ubuntu --password temppwd \
--seed btrfs-tools,devmem2,i2c-tools,nano,pastebinit,uboot-envtools,uboot-mkimage,usbutils,wget,wireless-tools,wpasupplicant \
--script fixup.sh --components "main universe multiverse" \
--kernel-image http://rcn-ee.net/deb/natty/v3.0.0-x2/linux-image-3.0.0-x2_1.0natty_armel.deb

Oneiric 11.10 Alpha 3

Image Updated August 5th, new v3.0 kernel...

Note: This is ubuntu's Alpha 3 so...

Default user: ubuntu pass: temppwd

Get prebuilt image:

wget http://rcn-ee.net/deb/rootfs/oneiric/ubuntu-oneiric-alpha3-minimal-armel.tar.xz
mirrors (will take some time to update):
wget http://ynezz.ibawizard.net/beagleboard/oneiric/ubuntu-oneiric-alpha3-minimal-armel.tar.xz

Verify Image with:

md5sum ubuntu-oneiric-alpha3-minimal-armel.tar.xz
5003ced46f5dab190b0f3173fa847da2 ubuntu-oneiric-alpha3-minimal-armel.tar.xz

Unpack Image:

tar xJf ubuntu-oneiric-alpha3-minimal-armel.tar.xz
cd ubuntu-oneiric-alpha3-minimal-armel

Install Image:

Quick Install script for Beagle Bx

sudo ./setup_sdcard.sh --mmc /dev/sdX --uboot beagle_bx

Quick Install script for Beagle Cx, xM A/B/C

sudo ./setup_sdcard.sh --mmc /dev/sdX --uboot beagle

Quick Install script for Panda

sudo ./setup_sdcard.sh --mmc /dev/sdX --uboot panda
  • Additional Options
    • --rootfs <ext4 default>
    • --swap_file <swap file size in MB's>
    • --addon <pico>

You should now be able to unmount the SD card from you PC, insert into your BeagleBoard, reboot and have Ubuntu Maverick loaded.

For a full gui install run this on your beagle (make sure network is setup):

Ethernet: "sudo ifconfig -a" and "sudo dhclient usb1" or "sudo dhclient eth0"
Wireless: http://elinux.org/BeagleBoardUbuntu#Wifi_Networking_.28command_line.29
sudo apt-get update
sudo apt-get install xfce4 gdm xubuntu-gdm-theme xubuntu-artwork xserver-xorg-video-omap3 network-manager

Advanced: Build Image:

fixup.sh: http://rcn-ee.homeip.net:81/dl/updates/omap-image-builder/tools/fixup.sh

Built with rootstock trunk (ARM native mode, run directly on beagleboard):

sudo ./rootstock --fqdn omap --imagesize 2G --dist oneiric --serial ttyO2 \
--login ubuntu --password temppwd \
--seed btrfs-tools,devmem2,i2c-tools,nano,pastebinit,uboot-envtools,uboot-mkimage,usbutils,wget,wireless-tools,wpasupplicant \
--script fixup.sh --components "main universe multiverse" \
--kernel-image http://rcn-ee.net/deb/oneiric/v3.0.0-x2/linux-image-3.0.0-x2_1.0oneiric_armel.deb

NetInstall Method

You will need a 1GB/2GB SD card or greater.

Standard System : ~700MB

Ubuntu 11.04 (Natty)

git clone git://github.com/RobertCNelson/netinstall.git
cd netinstall

Install script for Beagle Bx

./mk_mmc.sh --mmc /dev/sdX --uboot beagle_bx --distro natty

Install script for Beagle Cx, xM A/B/C

./mk_mmc.sh --mmc /dev/sdX --uboot beagle --distro natty

Install script for Panda

./mk_mmc.sh --mmc /dev/sdX --uboot panda --distro natty
  • Options:
    • --uboot : beagle_bx, beagle, panda
    • --distro : maverick
    • --firmware : installs firmware
    • --serial-mode : debian-installer uses Serial Port
    • --usb-rootfs : (uImage on /dev/mmcblkp0 and rootfs on external usb drive /dev/sda1)

Note: The default options work for most people, but if you'd like to tweak boot settings, edit these before running the script.

NetInstall boot Settings:
gedit ./netinstall/scripts/boot.scr/dvi.cmd
gedit ./netinstall/scripts/boot.scr/serial.cmd

Normal Boot Settings:
gedit ./netinstall/scripts/boot.scr/dvi-normal-natty.cmd
gedit ./netinstall/scripts/boot.scr/serial-normal-natty.cmd

Place SD card into Beagle and boot:

Configure the network:

usb0: USB net <- (usually the OTG port, but could also be the smsc95xx adapter on the beagle and panda)
usb1: USB net <- (usually the smsc95xx adapter on the beagle and panda, when usb0 exist)
eth0: Ethernet <- Your usb-ethernet device (or the smsc95xx adapter with 2.6.39+)
wlan0: Wifi <- Your usb-wifi device.. 

Troubshooting: If boot fails..

  • Hold the user button down to force booting from MMC
  • Upgrade X-loader and U-boot Upgrade X-loader and U-Boot
  • Clear U-boot's Environment Variables in nand:
nand erase 260000 20000

NetInstall assumptions:

Continue with out Kernel Modules <yes>
Partition <Guided - use the largest continuous free space>

Build an Ubuntu root file system with RootStock

Install RootStock

This is based off Ubuntu's RootStock Project; RootStock script.

Maverick (10.10)

sudo apt-get install rootstock

Lucid (10.04) (use rootstock trunk)

sudo apt-get install rootstock (to install rootstock's dependices)
bzr branch lp:project-rootstock
cd project-rootstock

RootStock

RootStock: Useful seed Packages

Useful Packages:

linux-firmware,wireless-tools :wifi adapters..
ntpdate :sync real time clock from network

GUI's (broken bug: FIXME)

xfce4:  xfce4,gdm,xubuntu-gdm-theme,xubuntu-artwork

RootStock: Running

Rootstock Command line:

sudo ./rootstock --fqdn <hostname> --login <rootuser> --password <rootuserpasswd> --imagesize <qemu image size> \
--seed <packages> --dist <lucid/maverick> --serial <ttySx>  --kernel-image <http>

Basic Natty (11.04) Beagleboard minimal image:

sudo ./rootstock --fqdn omap --login ubuntu --password temppwd --imagesize 2G \
--seed wget,nano,linux-firmware,wireless-tools,usbutils --dist natty --serial ttyO2 \
--components "main universe multiverse" \
--kernel-image http://rcn-ee.net/deb/natty/v2.6.39-x1/linux-image-2.6.39-x1_1.0natty_armel.deb

Upon Completion, you should have:

armel-rootfs-<date>.tgz  -> Root file System, dump to ext2/3 partition of SD card
vmlinuz-2.6.<version>    -> Boot Image, use mkimage to create uImage and dump to the first fat16 partition of SD card
initrd.img-2.6.<version> -> Boot initramfs, use mkimage to create uInitrd and dump to the first fat16 partition of SD card

Manually Setup SD Card

For this section, you can use the files from above:

Demo Images: http://elinux.org/BeagleBoardUbuntu#Demo_Image
Rootstock: http://elinux.org/BeagleBoardUbuntu#Build_an_Ubuntu_root_file_system_with_RootStock

Partition SD Card

You will need a 1GB SD card or greater.

Standard Console System : ~286MB
+ Desktop environment (lxde,gdm) : ~479MB

Starting with an empty SD card and using gparted, create:

50 MiB Primary Partition, fat16/fat32
Rest as ext2/ext3/ext4/btrfs

Note: The boot partition can be hard to make bootable at times, here's a quick command line:

First blank the MMC card's partition table with parted: (/dev/sdX as an example)

sudo parted -s /dev/sdX mklabel msdos

Then create the new boot partition:

sudo fdisk /dev/sdX << MMC_END
n
p
1
1
+64M
t
e
p
w
MMC_END

Notes:

GNU Fdisk doesn't and won't work...
fdisk (util-linux-ng 2.18.x) (just Fedora) add: "-c=dos -u=cylinders" ... "sudo fdisk -c=dos -u=cylinders /dev/sdX"

Make sure to set the partition boot flag

sudo parted --script /dev/sdX set 1 boot on

And format it as vfat:

sudo mkfs.vfat -F 16 /dev/sdX1

The rootfs partition, doesn't need any special options, so just use fdisk, gparted, etc to create and format your rootfs partition..

Gparted Example: http://nishanthmenon.blogspot.com/2008/08/how-to-boot-beagle.html

For Reference:

Disk /dev/sdd: 2038 MB, 2038431744 bytes
255 heads, 63 sectors/track, 247 cylinders
Units = cylinders of 16065 * 512 = 8225280 bytes
Disk identifier: 0x0008e471

   Device Boot      Start         End      Blocks   Id  System
/dev/sdd1               1           6       48163+   6  FAT16
/dev/sdd2               7         247     1935832+  83  Linux

Boot Partition

Requirements:

sudo apt-get install uboot-mkimage
Mount the fatfs partition of your SD card.

Mount such as: (/dev/sdX1 is the fat Boot Partition)

mkdir -p ./tmp
sudo mount /dev/sdX1 ./tmp

MLO and U-Boot

Download and copy MLO and U-Boot from here:

http://www.angstrom-distribution.org/demo/beagleboard/
First copy "MLO-beagleboard-1.44+rX+gitX-rX" as MLO to the Boot Partition
Then copy "u-boot-beagleboard-20XX.XX+r62+gitX-rX.bin" as u-boot.bin to the Boot Partition

U-Boot uImage and uInitrd

U-Boot needs a compatible kernel image to boot. To do this, we are using mkimage from (uboot-mkimage) to create an image from the vmlinuz kernel file.

mkimage -A arm -O linux -T kernel -C none -a 0x80008000 -e 0x80008000 -n "Linux" -d ./vmlinuz-* ./uImage
Copy "uImage" to the Boot Partition

Next create a uInird (this contains a script to fix the rtc on boot, otherwise fsck/reboot/fsck/reboot/repeat happens..)

mkimage -A arm -O linux -T ramdisk -C none -a 0 -e 0 -n initramfs -d ./initrd.img-* ./uInitrd
Copy "uInitrd" to the Boot Partition

U-Boot Boot Scripts

The version of U-Boot installed or recommended to install uses boot scripts by default. This allows users to easily switch between multiple SD cards with different OS's with different parameters installed. Ubuntu/Debian requires a slight modification to the bootargs line vs. Angstrom, 'ro' vs 'rw'.

fixrtc: (only uInitrd) Resets RTC based on last mount
buddy=${buddy}: (both) Kernel Zippy1/2 Support
mpurate=${mpurate}: (recommended core clock)

boot.scr -> uEnv.txt

Newer version's of u-boot now look for a uEnv.txt file vs the older boot.scr, since most boards still use the older boot.scr here's an easy compatibility script:

create a new file: uEnv.txt

bootenv=boot.scr
loaduimage=fatload mmc ${mmcdev} ${loadaddr} ${bootenv}
mmcboot=echo Running boot.scr script from mmc ...; source ${loadaddr}

Beagle Bx/Cx & xM

create a new file: boot.cmd

setenv dvimode 1280x720MR-16@60
setenv vram 12MB
setenv bootcmd 'fatload mmc 0:1 0x80300000 uImage; fatload mmc 0:1 0x81600000 uInitrd; bootm 0x80300000 0x81600000'
setenv bootargs console=ttyO2,115200n8 console=tty0 root=/dev/mmcblk0p2 rootwait ro vram=${vram} omapfb.mode=dvi:${dvimode} fixrtc buddy=${buddy} mpurate=${mpurate}
boot

Use mkimage create to actual *.scr file for U-Boot:

mkimage -A arm -O linux -T script -C none -a 0 -e 0 -n "Ubuntu" -d ./boot.cmd ./boot.scr
Copy "boot.scr" to the Boot Partition
For "igepv2" users, rename this to "boot.ini"

Umount the Boot Partition:

sudo umount ./tmp

RootFS Partition

Root File System

Mount your SD card's larger root file system partition (assuming /dev/sdX2) and 'untar' the rootfs into it.

mkdir -p ./tmp
sudo mount /dev/sdX2 ./tmp
sudo tar xfp armel-rootfs-*.tgz -C ./tmp
sudo umount ./tmp

Ubuntu Bugs & Tweaks

Enable Network Access

Modify /etc/network/interfaces

auto eth0
iface eth0 inet dhcp

Manual: From the Command line

sudo ifconfig -a
sudo dhclient ethX (or wlanX/etc..)

Additional Network Setup Information can be found HERE

Advanced

Install Latest Kernel Image

Script File

Latest Stable is : https://github.com/RobertCNelson/stable-kernel

export DIST=natty  (options are lucid/maverick/natty/oneiric/squeeze/wheezy)
wget http://rcn-ee.net/deb/${DIST}/LATEST
wget $(cat ./LATEST | grep STABLE | awk '{print $3}')
/bin/bash install-me.sh

Reboot with your new uImage

Upgrade X-loader and U-boot

Compatible with Bx,C2/3/4

Requires MMC card..

git clone git://github.com/RobertCNelson/flash-omap.git
cd flash-omap
./mk_mmc.sh --mmc /dev/sdX (i.e. use /dev/sdc - the entire device, not a partition)
1: Place MMC card in Beagle
2: Push/Hold User Button Down
3: Apply Power
4: After U-boot loads, Let Off User Button
5: Wait for Flashing to end
6: Power down, remove/edit boot.scr from MMC card

Example 4G card:

sudo fdisk -l
Disk /dev/sde: 3957 MB, 3957325824 bytes
255 heads, 63 sectors/track, 481 cylinders
Units = cylinders of 16065 * 512 = 8225280 bytes
Sector size (logical/physical): 512 bytes / 512 bytes
I/O size (minimum/optimal): 512 bytes / 512 bytes
Disk identifier: 0x00080e99

   Device Boot      Start         End      Blocks   Id  System
/dev/sde1   *           1           9       72261    e  W95 FAT16 (LBA)
./mk_mmc.sh --mmc /dev/sde

Worst case, depending on what's actually in NAND, you might still have to stop and do this:

nand erase 260000 20000
reset

Manual Run

mmc init	
fatload mmc 0:1 0x80200000 MLO
nand unlock
nand ecc hw
nandecc hw
nand erase 0 80000
nand write 0x80200000 0 20000
nand write 0x80200000 20000 20000
nand write 0x80200000 40000 20000
nand write 0x80200000 60000 20000
		
fatload mmc 0:1 0x80300000 u-boot.bin
nand unlock
nand ecc sw
nandecc sw
nand erase 80000 160000
nand write 0x80300000 80000 160000
nand erase 260000 20000
reset

SGX Video Acceleration

Requirements: 2.6-stable from launchpad or 2.6.35.3-x1+ deb's from rcn-ee.net. (the Demo Images hosted on rcn-ee.net meet this requirement)

 https://github.com/RobertCNelson/stable-kernel

Note: An older version of these instructions was adapted for the IGEPv2 platform - if you are following this tutorial and have an IGEPv2, consider using http://wiki.jmaustin.org/wiki/IgepSGXUbuntu instead

SDK unPackage Script

Download the latest version of the "create_sgx_package.sh" script

2.6.37
wget https://github.com/RobertCNelson/stable-kernel/raw/master/create_sgx_package_2.6.37.sh
2.6.38+
wget https://github.com/RobertCNelson/stable-kernel/raw/master/create_sgx_package.sh

Make script executable

chmod a+x ./create_sgx_package.sh

Run script

./create_sgx_package.sh

After Successfully running:

:~/temp$ ls
create_sgx_package.sh
GFX_X_XX_XX_XX_libs.tar.gz                      : -> Copy to Beagle (System Libs)
GFX_Linux_SDK.tar.gz                            : -> Copy to Beagle (DEMO's)
Graphics_SDK_setuplinux_X_XX_XX_XX.bin
SDK
SDK_BIN

Beagle: GFX_*_libs.tar.gz

tar xf GFX_4_00_00_01_libs.tar.gz  (extracts install-SGX.sh and run-SGX.sh)
./install-SGX.sh (copies necessary SGX libs and startup script)
./run-SGX.sh (force run the new init script, or you can just reboot...)

On Successful install:

Stopping PVR
Starting PVR
Starting SGX fixup for ES2.x (or ES3.x) (or ES5.x xM)

Reboot for good measure (Maverick's Alpha-1 needs this....)

sudo reboot

Beagle: GFX_Linux_SDK.tar.gz

tar xf GFX_Linux_SDK.tar.gz
cd GFX_Linux_SDK
tar xf OGLES.tar.gz

Test SGX with a DEMO

cd OGLES/SDKPackage/Binaries/CommonX11/Demos/EvilSkull
./OGLESEvilSkull

Trouble Shooting

sudo rm /etc/powervr-esrev
sudo depmod -a omaplfb
sudo /etc/init.d/pvr restart

DSP

gst-dsp

Seems to work on all Beagle's, with atleast 2.6.38+ now...

Requirements: 2.6-stable from launchpad or 2.6.38+ deb's from rcn-ee.net. (the Demo Images hosted on rcn-ee.net meet this requirement)

 https://github.com/RobertCNelson/stable-kernel

Download the latest version of the "create_dsp_package.sh" script

wget https://github.com/RobertCNelson/stable-kernel/raw/master/create_dsp_package.sh

Make script executable

chmod a+x ./create_dsp_package.sh

Package script:

./create_dsp_package.sh

Copy DSP_Install_libs.tar.gz to beagle

Setup network...

Extract:

tar xf DSP_Install_libs.tar.gz

Install

./install-DSP.sh

Build gst-dsp stuff..

./install-gst-dsp.sh

Playbin:

sudo gst-launch playbin2 uri=file://(file)

Xorg omapfb Drivers

By default Ubuntu will try to use the FBDEV video driver, however for the beagleboard we can take advantage of a more software optimized driver (still not using the sgx video hardware) using the NEON extensions of the Cortex-A8 core.

cat /var/log/Xorg.0.log | grep FBDEV

(II) FBDEV: driver for framebuffer: fbdev
(II) FBDEV(0): using default device
(II) FBDEV(0): Creating default Display subsection in Screen section
(==) FBDEV(0): Depth 16, (==) framebuffer bpp 16
(==) FBDEV(0): RGB weight 565

Login into Ubuntu and open a new terminal, xorg has to be running..

xvinfo -display :0.0

X-Video Extension version 2.2
screen #0
 no adaptors present

Drivers

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)

Lucid:

sudo apt-get install xserver-xorg-video-omap3

To verify it was correctly installed, reboot and:

cat /var/log/Xorg.0.log | grep omapfb

(II) LoadModule: "omapfb"
(II) Loading /usr/lib/xorg/modules/drivers//omapfb_drv.so
(II) Module omapfb: vendor="X.Org Foundation"
(II) omapfb: Driver for OMAP framebuffer (omapfb) and external LCD controllers:
(WW) Error opening /sys/devices/platform/omapfb/ctrl/name: No such file or directory
(II) omapfb(0): VideoRAM: 1800KiB (SDRAM)
(II) omapfb(0): Creating default Display subsection in Screen section
(**) omapfb(0): Depth 16, (--) framebuffer bpp 16
(==) omapfb(0): RGB weight 565
(==) omapfb(0): Default visual is TrueColor
(--) omapfb(0): Virtual size is 1280x720 (pitch 1280)
(**) omapfb(0):  Built-in mode "current"
(==) omapfb(0): DPI set to (96, 96)
(II) omapfb(0): DPMS enabled
(II) omapfb(0): Video plane capabilities:
(II) omapfb(0): Video plane supports the following image formats:
(II) omapfb(0): XVideo extension initialized

Login into Ubuntu and open a new terminal, xorg has to be running..

xvinfo -display :0.0

X-Video Extension version 2.2
screen #0
  Adaptor #0: "OMAP XV adaptor"
    number of ports: 1
    port base: 56
    operations supported: PutImage 
    supported visuals:
      depth 16, visualID 0x21
    number of attributes: 1
    etc..

Changing DVI output resolution

Ubuntu 10.10 above defaults to a resolution of 1284x768@16. This is set in the boot.cmd file in the boot partition of the SD card. To change the resolution the DVI output, edit boot.cmd accordingly then recreate the boot.scr file by:

mkimage -A arm -O linux -T script -C none -a 0 -e 0 -n "Ubuntu 10.10" -d ./boot.cmd ./boot.scr

Then reboot the BeagleBoard

S-Video

(For configuring S-Video on Angstrom, and more tips in general, click here).

S-video is tested to be working on 2.6.35-rc5-dl9. S-video output can be enabled using bootargs at uboot as mentioned below.

NTSC

    omapfb.mode=tv:ntsc 
    omapdss.def_disp=tv

Bootargs that has been validated.

    setenv bootargs 'console=tty0 console=ttyO2,115200n8 root=/dev/mmcblk0p2 rootwait ro vram=12M omapfb.mode=tv:ntsc omapdss.def_disp=tv 
    fixrtc buddy=unknown'

Note that the NTSC resolution is 640x480. However the edge bands around the TV screen differ from TV to TV. Output of fbset shown below:

   mode "720x482-30"
        # D: 13.500 MHz, H: 15.734 kHz, V: 29.970 Hz
        geometry 720 482 720 482 32
        timings 74074 16 58 6 31 64 6
        rgba 8/16,8/8,8/0,0/0
   endmode

However, not all of this will be visible on-screen, this is called Overscan. To make the whole framebuffer fit on the screen you need to adjust the overlay. (Didn't test this yet. Some pointers from the driver's documentation below)

   /sys/devices/platform/omapdss/overlay? directory:
   enabled		0=off, 1=on
   input_size		width,height (ie. the framebuffer size)
   manager		Destination overlay manager name
   name
   output_size		width,height
   position		x,y
   screen_width	width
   global_alpha   	global alpha 0-255 0=transparent 255=opaque

PAL

    omapfb.mode=tv:pal 
    omapdss.def_disp=tv

Bootargs that has been validated.

    setenv bootargs 'console=tty0 console=ttyO2,115200n8 root=/dev/mmcblk0p2 rootwait ro vram=12M omapfb.mode=tv:pal omapdss.def_disp=tv fixrtc buddy=unknown'

Using these settings video output will display on the tv, however 5-10% of the left and right edges of display are off the screen (using Ubuntu 10.10 with xfce).

xrandr shows the display is set to the minimum of 720x574. Please update wiki if you can fix this.

Building Kernel

https://github.com/RobertCNelson/stable-kernel

Download SRC

git clone git://github.com/RobertCNelson/stable-kernel.git

Build Kernel

./build_kernel.sh

Optional Building Deb File

./build_deb.sh

Ubuntu Software

Wifi Networking (command line)

/etc/network/interfaces

It is possible and relatively easy to configure a wifi card from the command line.

You will need to edit the /etc/network/interfaces file. There are several guides available via Google.

This is a particularly useful guide http://ubuntuforums.org/showthread.php?t=202834

A sample /etc/network/interfaces file for a WPA2 encrypted access point is:

auto lo
iface lo inet loopback
auto wlan0
iface wlan0 inet dhcp
wpa-driver wext
wpa-ssid <NAME OF AP>
wpa-ap-scan 1
wpa-proto RSN
wpa-pairwise CCMP
wpa-group CCMP
wpa-key-mgmt WPA-PSK
wpa-psk < INSERT KEY XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXX>

Your wifi card will automatically load these settings on start up and give network access.

Lightweight window managers

If you intend to use Ubuntu on the BeagleBoard you can install JWM or IceWM to improve performance.

JWM in particular uses little RAM. On a BeagleBoard with 256MB, using JWM will leave about 60MB free to run apps in.

Web Apps

Midori

Given that the BeagleBoard has fewer resources than a desktop a light weight browser is more responsive. Midori is a light weight browser that still supports flash etc It is available from the standard repositories. http://en.wikipedia.org/wiki/Midori_%28web_browser%29

Surveillance

Motion

If you have a video source (webcam, IP cam etc) which appears as /dev/video0 etc then you can use the Linux Surveillance software "motion" to monitor the video stream and record periods of activity.

Motion is also available from the standard repositories. http://www.debian-administration.org/article/An_Introduction_to_Video_Surveillance_with_%27Motion%27 Using a 960x720 resolution webcam with 15 fps rate under the UVC driver the Rev C BeagleBoard under Xubuntu reports ~60% CPU utilisation.

To make the BeagleBoard automatically start recording on boot do the following:

  • Auto Login - run "gdmsetup" from a terminal and select a user to automatically login
  • Sessions - make sure you don't save any previous xwindows sessions so that it doesn't prompt you for which one you want
  • motion.conf - amend /etc/motion/motion.conf to the settings you want (ie video output directory, record only video, record in mpeg4, set frame rate etc). Do this with "sudo medit /etc/motion/motion.conf" at a prompt.
  • Boot script - create a new script in /etc/rc2.d called "S65motion_client" and set permissions appropriately ("sudo chmod 777 /etc/rc2.d/S65motion_client"). Then edit the file so it has the following text in it:
#! /bin/sh
/usr/bin/motion -c /etc/motion/motion.conf

This will now launch the motion client as root when you boot up.

Also note that unless your BeagleBoard can remember the time (battery backed up clock installed) the timestamps will not be correct until you update the time. If your BeagleBoard has an Internet Connection this can be achieved with the ntpdate app.


Robotics

ROS

Willow Garage hosts the open source Robotic Operating System (ROS). Whilst it is natively supported in Ubuntu, the official packages are only for the x86 platform. ROS can be installed from source and is generally easy to do so (although slow).

Following the instructions from here will build and install ROS on your beagleboard:

http://www.ros.org/wiki/cturtle/Installation/Ubuntu/SVN

You will need an Internet connection for your Beagleboard for these scripts to work.

For more information about ROS see www.ros.org