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Build and Install Linux System for SMARC T335X
This document provides instructions for advanced users how Embedian offers patches and builds a customized version of u-boot and linux kernel for Embedian's SMARC T335X product platform and how to install the images to bring the evaluation board up and running.
Our aim is to fully support our hardware through device drivers. We also provide unit tests so that testing a board is easy and custom development can start precisely.
Availability
SMARC T335X at Embedian
Carrier Board
SBC-SMART-BEE (module and carrier board) at Embedian
SBC-SMART-MEN (module and carrier board) at Embedian
Basic Resources
- ARM Cross Compiler
- Bootloader
- Das U-Boot – the Universal Boot Loader http://www.denx.de/wiki/U-Boot
- Source – http://git.denx.de/?p=u-boot.git;a=summary
- Linux Kernel
- Linus's Mainline tree: http://git.kernel.org/?p=linux/kernel/git/torvalds/linux.git;a=summary
- Linux omap tree: http://git.kernel.org/?p=linux/kernel/git/tmlind/linux-omap.git
- TI Linux source tree: http://git.ti.com/git/ti-linux-kernel/ti-linux-kernel.git
- TI’s overall Processor SDK build and test process: http://arago-project.org/git/projects/tisdk-build-scripts.git
- Arago Project TI Staging tree: http://arago-project.org/git/projects/?p=linux-am33x.git;a=shortlog;h=refs/heads/v3.2-staging
- Embedian smarc-t335x kernel source tree for linux 3.2: http://git.embedian.com/developer/linux-smarc-t335x-v3.2.git
- Embedian smarc-t335x kernel source tree for linux 3.12 and after: http://git.embedian.com/developer/smarc-ti-linux-kernel
- ARM based rootfs
- Debian Squeeze: http://www.debian.org/
- Debian Squeeze: http://www.debian.org/
ARM Cross Compiler: GCC
This is a pre-built (32bit) version of Linaro GCC that runs on generic linux, so 64bit users need to make sure they have installed the 32bit libraries for their distribution.
debian based | extra | pkgs: (sudo apt-get update ; sudo apt-get install xyz) |
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Ubuntu 12.04 |
| ia32-libs |
Debian 7 (Wheezy) | sudo dpkg --add-architecture i386 | libc6:i386 libstdc++6:i386 libncurses5:i386 zlib1g:i386 |
Ubuntu 12.10 -> 14.04 |
| libc6:i386 libstdc++6:i386 libncurses5:i386 zlib1g:i386 |
Red Hat/Centos/Fedora |
| libstdc++.i686 ncurses-devel.i686 zlib.i686 |
Red Hat based (rpm) | extra | pkgs: (yum install xyz) |
Red Hat/Centos/Fedora |
| libstdc++.i686 ncurses-devel.i686 zlib.i686 |
Ubuntu 12.04 |
| ia32-libs |
Ubuntu 12.10 -> 14.04 |
| libc6:i386 libstdc++6:i386 libncurses5:i386 zlib1g:i386 |
To build Embedian’s smarct335x u-boot and linux kernel, you will need to install the Linaro arm compiler that TI used for their release:
For u-boot v2017.01 and Linux kernel v4.9.41, use Linaro arm compilier that TI used in their Processor SDK 04.01.00.06
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$ wget -c http://releases.linaro.org/components/toolchain/binaries/6.2-2016.11/arm-linux-gnueabihf/gcc-linaro-6.2.1-2016.11-x86_64_arm-linux-gnueabihf.tar.xz $ sudo tar -C /opt -xJf gcc-linaro-6.2.1-2016.11-x86_64_arm-linux-gnueabihf.tar.xz $ export CC=/opt/gcc-linaro-6.2.1-2016.11-x86_64_arm-linux-gnueabihf/bin/arm-linux-gnueabihf- |
For u-boot v2016.05 and Linux kernel v4.4.12, use Linaro arm compilier that TI used in their Processor SDK 03.00.00.04
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$ wget http://releases.linaro.org/components/toolchain/binaries/5.3-2016.02/arm-linux-gnueabihf/gcc-linaro-5.3-2016.02-x86_64_arm-linux-gnueabihf.tar.xz $ sudo tar -C /opt -xJf gcc-linaro-5.3-2016.02-x86_64_arm-linux-gnueabihf.tar.xz $ export CC=/opt/gcc-linaro-5.3-2016.02-x86_64_arm-linux-gnueabihf/bin/arm-linux-gnueabihf- |
For u-boot 2015.07 and Linux 4.1.10, you need to use the following newer Linaro arm compilier that TI used in their Processor SDK 02.00.01.07.
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$ wget -c http://releases.linaro.org/archive/15.05/components/toolchain/binaries/arm-linux-gnueabihf/gcc-linaro-4.9-2015.05-x86_64_arm-linux-gnueabihf.tar.xz $ sudo tar -C /opt -xJf gcc-linaro-4.9-2015.05-x86_64_arm-linux-gnueabihf.tar.xz $ export CC=/opt/gcc-linaro-4.9-2015.05-x86_64_arm-linux-gnueabihf/bin/arm-linux-gnueabihf- |
For u-boot 2014.04, u-boot 2014.07, Linux 3.2, Linux 3.12 and Linux 3.14, use the following newer Linaro arm compilier that TI used in theirAMSDK 6 and AMSDK7..
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$ wget http://releases.linaro.org/archive/13.04/components/toolchain/binaries/gcc-linaro-arm-linux-gnueabihf-4.7-2013.04-20130415_linux.tar.xz $ sudo tar -C /opt -xJf gcc-linaro-arm-linux-gnueabihf-4.7-2013.04-20130415_linux.tar.xz $ export CC=/opt/gcc-linaro-arm-linux-gnueabihf-4.7-2013.04-20130415_linux/bin/arm-linux-gnueabihf- |
Test:
If this test fails, verify that you have the 32bit libraries installed on your development system.
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Generating SSH Keys
We recommend you use SSH keys to establish a secure connection between your computer and Embedian Gitlab server. The steps below will walk you through generating an SSH key and then adding the public key to our Gitlab account.
Step 1. Check for SSH keys
First, we need to check for existing ssh keys on your computer. Open up Git Bash and run:
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$ cd ~/.ssh $ ls # Lists the files in your .ssh directory |
Check the directory listing to see if you have a file named either id_rsa.pub
or id_dsa.pub
. If you don't have either of those files go to step 2. Otherwise, you already have an existing keypair, and you can skip to step 3.
Step 2. Generate a new SSH key
To generate a new SSH key, enter the code below. We want the default settings so when asked to enter a file in which to save the key, just press enter.
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$ ssh-keygen -t rsa -C "your_email@example.com" # Creates a new ssh key, using the provided email as a label # Generating public/private rsa key pair. # Enter file in which to save the key (/c/Users/you/.ssh/id_rsa): [Press enter] $ ssh-add id_rsa |
Now you need to enter a passphrase.
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Enter passphrase (empty for no passphrase): [Type a passphrase] Enter same passphrase again: [Type passphrase again] |
Which should give you something like this:
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Your identification has been saved in /c/Users/you/.ssh/id_rsa. Your public key has been saved in /c/Users/you/.ssh/id_rsa.pub. The key fingerprint is: 01:0f:f4:3b:ca:85:d6:17:a1:7d:f0:68:9d:f0:a2:db your_email@example.com |
Step 3. Add your SSH key to Embedian Gitlab Server
Copy the key to your clipboard.
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$ cat ~/.ssh/id_rsa.pub ssh-rsa AAAAB3NzaC1yc2EAAABDAQABAAABAQDQUEnh8uGpfxaZVU6+uE4bsDrs/tEE5/BPW7jMAxak 6qgOh6nUrQGBWS+VxMM2un3KzwvLRJSj8G4TnTK2CSmlBvR+X8ZeXNTyAdaDxULs/StVhH+QRtFEGy4o iMIzvIlTyORY89jzhIsgZzwr01nqoSeWWASd+59JWtFjVy0nwVNVtbek7NfuIGGAPaijO5Wnshr2uChB Pk8ScGjQ3z4VqNXP6CWhCXTqIk7EQl7yX2GKd6FgEFrzae+5Jf63Xm8g6abbE3ytCrMT/jYy5OOj2XSg 6jlxSFnKcONAcfMTWkTXeG/OgeGeG5kZdtqryRtOlGmOeuQe1dd3I+Zz3JyT your_email@example.c om |
Go to Embedian Git Server. At Profile Setting --> SSH Keys --> Add SSH Key
Paste your public key and press "Add Key" and your are done.
Bootloader: U-Boot
Clone the U-Boot source code from Embedian Git Server.
Download:
For u-boot v2017.01 (Processor-SDK-04.01.00.06):
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$ git clone git@git.embedian.com:developer/smarc-t335x-uboot.git $ cd smarc-t335x-uboot $ git checkout v2017.01-smarct3x |
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If Boot up from eMMC, change #define CONFIG_SYS_MMC_ENV_DEV from 0 to 1 in include/configs/smarct335x_evm.h file and compile again. |
For u-boot v2016.05 (Processor-SDK-03.00.00.04):
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$ git clone git@git.embedian.com:developer/smarc-t335x-uboot.git $ cd smarc-t335x-uboot $ git checkout v2016.05-smarct3x |
For u-boot v2015.07 (Processor-SDK-02.00.00.00):
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$ git clone git@git.embedian.com:developer/smarc-t335x-uboot.git |
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If Boot up from eMMC, change mmcdev=0 to mmcdev=1 in include/configs/smarct335x_evm.h file and compile again. |
Configure and Build:
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$ make ARCH=arm CROSS_COMPILE=${CC} distclean $ make ARCH=arm CROSS_COMPILE=${CC} smarct335x_evm_uart3_defconfig $ make ARCH=arm CROSS_COMPILE=${CC} |
For u-boot v2014.07 (Processor-SDK-01.00.00.03):
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$ git clone git@git.embedian.com:developer/smarc-t335x-uboot.git |
For u-boot v2014.04 (AMSDK6 and AMSDK7):
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$ git clone git@git.embedian.com:developer/smarc-t335x-uboot.git |
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For SBC-SMART-MEN $ git checkout v2014.04-smartmen |
Configure and Build:
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$ make ARCH=arm CROSS_COMPILE=${CC} distclean |
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The uartx in u-boot config (defconfig) file is to specify the debug console outputs. |
Linux Kernel
Download:
For 4.9.41 (Processor-SDK-04.01.00.06, Stable, LTS):
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$ git clone git@git.embedian.com:developer/smarc-ti-linux-kernel.git $ cd smarc-ti-linux-kernel $ git checkout smarct3x-processor-sdk-04.01.00.06 |
For 4.4.12 (Processor-SDK-03.00.00.04, Stable, LTS):
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$ git clone git@git.embedian.com:developer/smarc-ti-linux-kernel.git |
For 4.1.y (Processor-SDK-02.00.01.07, Stable, LTS):
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$ git clone git@git.embedian.com:developer/smarc-ti-linux-kernel.git $ cd smarc-ti-linux-kernel $ git checkout smarct3x-processor-sdk-linux-02.00.01 |
For 3.14.y (Processor-SDK-01.00.00.03, Stable, LTS):
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$ git clone git@git.embedian.com:developer/smarc-ti-linux-kernel.git $ cd smarc-ti-linux-kernel $ git checkout smarc-ti-linux-3.14.y |
For 3.12.y (AMSDK7, Stable, LTS):
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$ git clone git@git.embedian.com:developer/smarc-ti-linux-kernel.git $ cd smarc-ti-linux-kernel $ git checkout smarc-ti-linux-3.12.y |
Configure and Build (v3.12 and later):
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$ make ARCH=arm CROSS_COMPILE=${CC} distclean $ make ARCH=arm CROSS_COMPILE=${CC} smarc_t335x_defconfig $ make ARCH=arm CROSS_COMPILE=${CC} zImage modules am335x-smarct335x.dtb |
For 3.2 (AMSDK6, Stable, LTS release):
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$ git clone git@git.embedian.com:developer/linux-smarc-t335x-v3.2.git $ cd linux-smarc-t335x-v3.2 $ git checkout v3.2_SMARCT335xPSP_04.06.00.11 |
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For board SBC-SMART-MEN: $ git checkout v3.2_SBC_SMARTMEN |
Configure and Build:
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$ make ARCH=arm CROSS_COMPILE=${CC} distclean $ make ARCH=arm CROSS_COMPILE=${CC} smarc_t335x_defconfig $ make ARCH=arm CROSS_COMPILE=${CC} uImage modules |
Note:
- The kernel sources packaged in this release do not have the required PM firmware binary already copied in the firmware/ folder of the kernel sources. Due to this building the kernel using the default kernel configuration will fail with this error:
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MK_FW firmware/am335x-pm-firmware.bin.gen.S make[2]: *** No rule to make target `firmware/am335x-pm-firmware.bin', needed by `firmware/am335x-pm-firmware.bin.gen.o'. Stop. make[1]: *** [firmware] Error 2 make: *** [uImage] Error 2 |
To resolve this for kernel 3.2, after you clone the kernel sources, copy the firmware binary into the firmware/ folder of kernel sources
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$ cd linux-smarc-t335x-v3.2/firmware $ wget http://developer.embedian.com/download/attachments/2883656/am335x-pm-firmware.bin |
To resolve this for kernel 3.14, kernel 4.1, kernel 4.4 and kernel 4.9, after you clone the kernel sources, copy the firmware elf binary into the firmware/ folder of kernel sources
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$ cd smarc-ti-linux-kernel/firmware $ wget http://developer.embedian.com/download/attachments/2883656/am335x-pm-firmware.elf $ wget http://developer.embedian.com/download/attachments/2883656/am335x-evm-scale-data.bin |
- If you see the error message like this:
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"mkimage" command not found - U-Boot images will not be built |
You can simply install the mkimage by:
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and make the kernel again.
Root File System
Arago:
User | Password |
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root | N/A |
Processor-SDK-04.01.00.06 Download:
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$ wget -c ftp://ftp.embedian.com/public/dev/minfs/arago/processor_sdk_04.01.00.06/smarct335x-rootfs-image-smarct335x.tar.xz |
Verify:
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Processor-SDK-03.00.00.04 Download:
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$ wget -c ftp://ftp.embedian.com/public/dev/minfs/arago/processor_sdk_03.00.00.04/smarct335x-rootfs-image-smarct335x.tar.gz |
Verify:
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Processor-SDK-02.00.01.07 Download:
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$ wget -c ftp://ftp.embedian.com/public/dev/minfs/arago/processor_sdk_02.00.01.07/smarct335x-rootfs-image-smarct335x.tar.gz |
Verify:
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SDK7 Download:
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$ wget -c ftp://ftp.embedian.com/public/dev/minfs/arago/sdk7/smarct335x-rootfs-image-smarct335x.tar.gz |
Verify:
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Ubuntu 16.04:
User | Password |
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root | root |
ubuntu | temppwd |
Download:
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$ wget -c ftp://ftp.embedian.com/public/dev/minfs/ubuntu/xenial/smarct3x-ubuntu-16.04.tar.gz |
Verify:
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957625f56f786a22d44b60480155cfd9 smarct3x-ubuntu-16.04.tar.gz |
Ubuntu 14.04:
User | Password |
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root | root |
ubuntu | temppwd |
Download:
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$ wget -c ftp://ftp.embedian.com/public/dev/minfs/ubuntu/trusty/smarct3x-ubuntu-14.04.tar.gz |
Verify:
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05db5b85224e84e9898a1c5925703b8b smarct3x-ubuntu-14.04.tar.gz |
Debian 9.8:
User | Password |
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root | root |
debian | temppwd |
Download:
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$ wget -c ftp://ftp.embedian.com/public/dev/minfs/debian/stretch/smarct3x-debian-9.8-armhf-2019-02-16.tar.gz |
Verify:
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8969f249307d9b2c2ef5c76f7ca1c6b8 smarct3x-debian-9.8-armhf-2019-02-16.tar.gz |
Setup SD Card
For these instruction, we are assuming: DISK=/dev/mmcblk0, "lsblk" is very useful for determining the device id.
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Erase SD card:
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$ |
Create Partition Layout:
With util-linux v2.26, sfdisk was rewritten and is now based on libfdisk.
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$ sudo sfdisk --version sfdisk from util-linux 2.27.1 |
Create Partitions:
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$ sudo sfdisk ${DISK} <<-__EOF__ 1M , 48M , 0xE ,* ,,,- __EOF__ |
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$ sudo sfdisk --in-order --Linux --unit M ${DISK} <<-__EOF__ 1 , 48 , 0xE ,* ,,,- __EOF__ |
Format Partitions:
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for : DISK=/dev/mmcblk0 $ sudo mkfs.vfat -F 16 ${DISK}p1 -n boot $ sudo mkfs.ext4 ${DISK}p2 -L rootfs for : DISK=/dev/sdX $ sudo mkfs.vfat -F 16 ${DISK} 1 -n boot $ sudo mkfs.ext4 ${DISK} 2 -L rootfs |
Mount Partitions:
On some systems, these partitions may be auto-mounted...
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$ sudo mkdir -p /media/boot/ $ sudo mkdir -p /media/rootfs/ for : DISK=/dev/mmcblk0 $ sudo mount ${DISK}p1 /media/boot/ $ sudo mount ${DISK}p2 /media/rootfs/ for : DISK=/dev/sdX $ sudo mount ${DISK} 1 /media/boot/ $ sudo mount ${DISK} 2 /media/rootfs/ |
Install Bootloader
Copy MLO/u-boot.img to the boot partition
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$ sudo cp -v MLO /media/boot/ $ sudo cp -v u-boot.img /media/boot/ |
uEnv.txt based bootscript
Create "uEnv.txt" boot script: (vim uEnv.txt)
For v3.2:
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optargs="consoleblank=0 mem=512M" #To boot old v3.2.x based kernel enable: (SMARC T335X and BeagleBone) #For u-boot 13.10 ###Begin Rootfs from NFS ###Begin Load kernel from TFTP
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For 3.12.y or after :
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optargs="consoleblank=0 mem=512M" loadaddr=0x82000000 initrd_high=0xffffffff loadimage=load mmc ${mmcdev}:${mmcpart} ${loadaddr} ${kernel_file} ##Un-comment to enable systemd in Debian Wheezy console=ttyS3,115200n8 mmcargs=setenv bootargs console=${console} root=${mmcroot} rootfstype=${mmcrootfstype} ${optargs} #zImage: #zImage + uInitrd: where uInitrd has to be generated on the running system. ###Begin Rootfs from NFS ###Begin Load kernel from TFTP |
Note |
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For kernel 3.12.y, the serial port device descriptor changes from ttyS to ttyO The above uEnv.txt file needs to change accordingly. (ttyS3 --> ttyO3) SD card will always be emulated as /dev/mmcblk1 at kernel 3.12 and newer version |
Copy uEnv.txt to the boot partition:
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Install Kernel zImage
Copy zImage to the boot partition:
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Only for v3.12.y or after:
Install Kernel Device Tree Binary
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Install Root File System and Kernel Modules
Copy Root File System:
Arago SDK7:
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Arago SDK6:
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Ubuntu 14.04:
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Copy Kernel Modules:
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Networking:
Edit: /etc/network/interfaces
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Add:
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auto lo iface lo inet loopback auto eth0 iface eth0 inet dhcp |
Remove SD card:
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$ sync $ sudo umount /media/boot $ sudo umount /media/rootfs |
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If your rootfs is ubuntu, before un-mounting it, check /media/rootfs/etc/fstab to see if the mounting point is /dev/mmcblk1p2 and /media/rootfs/etc/init/serial.conf to see if your console port device descriptor correct or not. |
Setup eMMC
Setting up eMMC usually is the last step at development stage after the development work is done at your SD card or NFS environments. eMMC on module will be always emulated as /dev/mmcblk0. Setting up eMMC now is nothing but changing the device descriptor.
This section gives a step-by-step procedure to setup eMMC flash. Users can write a shell script your own at production to simplify the steps.
First, we need to backup the final firmware from your SD card or NFS.
Prepare for eMMC binaries from SD card (or NFS):
Insert SD card into your Linux PC. For these instructions, we are assuming: DISK=/dev/mmcblk0, "lsblk" is very useful for determining the device id.
For these instruction, we are assuming: DISK=/dev/mmcblk0, "lsblk" is very useful for determining the device id.
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Mount Partitions:
On some systems, these partitions may be auto-mounted...
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$ sudo mkdir -p /media/boot/ $ sudo mkdir -p /media/rootfs/ for : DISK=/dev/mmcblk0 $ sudo mount ${DISK}p1 /media/boot/ $ sudo mount ${DISK}p2 /media/rootfs/ for : DISK=/dev/sdX $ sudo mount ${DISK} 1 /media/boot/ $ sudo mount ${DISK} 2 /media/rootfs/ |
Copy zImage to rootfs partition:
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Copy zImage to rootfs partition:
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For kernel v3.12.y or later:
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Copy uEnv.txt to rootfs partition:
Copy and paste the following contents to /media/rootfs/home/root ($ sudo vim /media/rootfs/home/root/uEnv.txt)
For kernel v3.2:
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optargs="consoleblank=0 mem=512M" #To boot old v3.2.x based kernel enable: (SMARC T335X and BeagleBone) #For u-boot 13.10 ###Begin Rootfs from NFS ###Begin Load kernel from TFTP |
For kernel v3.12.y+:
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optargs="consoleblank=0 mem=512M" loadaddr=0x82000000 initrd_high=0xffffffff loadimage=load mmc ${mmcdev}:${mmcpart} ${loadaddr} ${kernel_file} ##Un-comment to enable systemd in Debian Wheezy console=ttyS3,115200n8 mmcargs=setenv bootargs console=${console} root=${mmcroot} rootfstype=${mmcrootfstype} ${optargs} #zImage: #zImage + uInitrd: where uInitrd has to be generated on the running system. ###Begin Rootfs from NFS ###Begin Load kernel from TFTP |
Note |
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For kernel 3.12.y and after, the serial port device descriptor changes from ttyS to ttyO The above uEnv.txt file needs to change accordingly. (ttyS3 --> ttyO3) The uEnv.txt file only changes mmcroot from /dev/mmcblk1 (SD) to /dev/mmcblk0 (eMMC) |
Copy real rootfs to rootfs partition:
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Remove SD card:
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$ sync $ sudo umount /media/boot $ sudo umount /media/rootfs |
Insert this SD card into your SMARC T335X device and boot up the devices from SD card.
Now it will be almost the same as you did when setup your SD card, but the eMMC device descriptor is /dev/mmcblk0 now.
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Erase eMMC Flash:
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$ |
Create Partition Layout:
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$ sudo sfdisk --in-order --Linux --unit M ${DISK} <<-__EOF__ 1 , 48 , 0xE ,* ,,,- __EOF__ |
In SDK6, Arago rootfs will mount partition2 as /media/mmcblk0p2 automatically after executing the above command. Umount the partition first.
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Format Partitions:
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$ sudo mkfs.vfat -F 16 ${DISK}p1 -n boot $ sudo mkfs.ext4 ${DISK}p2 -L rootfs |
Mount Partitions:
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$ sudo mkdir -p /media/boot/ $ sudo mkdir -p /media/rootfs/ $ sudo mount ${DISK}p1 /media/boot/ $ sudo mount ${DISK}p2 /media/rootfs/ |
Install binaries for partition 1
Copy MLO/u-boot.img/uEnv.txt/zImage to the boot partition
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$ sudo cp -v MLO u-boot.img zImage uEnv.txt /media/boot/ |
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The U-Boot for SD Boot up and eMMC Boot up has one line difference in include/configs/smarct335x_evm.h. The mmcdev is 0 for SD boot up and is 1 for eMMC boot up. |
Only for v3.12.y or after:
Install Kernel Device Tree Binary
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Install Root File System
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Unmount eMMC:
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$ sync $ sudo umount /media/boot $ sudo umount /media/rootfs |
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If your rootfs id Ubuntu, you need to modify /media/rootfs/etc/fstab and change the mount point from /dev/mmcblk1p2 to /dev/mmcblk0p2 before un-mounting it. |
Switch your Boot Select to eMMC and you will be able to boot up from eMMC now.
Last updated 2018-10-04