BeagleBoneBlack开发环境

Getting started with the Beaglebone Black

This is a page about TI’s Cortex-A8 based; BeagleBone Black.

Basic Requirements

Running a recent supported release of Debian, Fedora or Ubuntu on a x86 64bit based PC; without OS Virtualization Software.
Many of the listed commands assume /bin/bash as the default shell.

ARM Cross Compiler – Linaro: https://www.linaro.org 29
Linaro Toolchain Binaries: https://www.linaro.org/downloads/ 50

Bootloader
Das U-Boot – the Universal Boot Loader: http://www.denx.de/wiki/U-Boot 30
Source: https://github.com/u-boot/u-boot/ 14

Linux Kernel
Linus’s Mainline tree: https://git.kernel.org/pub/scm/linux/kernel/git/torvalds/linux.git 15
ARM based rootfs
Debian: https://www.debian.org
Ubuntu: https://www.ubuntu.com

ARM Cross Compiler:GCC

This is a pre-built (64bit) version of GCC that runs on generic linux, sorry (32bit) x86 users, it’s time to upgrade…
Download/Extract:

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#user@localhost:~$
wget -c https://releases.linaro.org/components/toolchain/binaries/6.5-2018.12/arm-linux-gnueabihf/gcc-linaro-6.5.0-2018.12-x86_64_arm-linux-gnueabihf.tar.xz
tar xf gcc-linaro-6.5.0-2018.12-x86_64_arm-linux-gnueabihf.tar.xz
export CC=`pwd`/gcc-linaro-6.5.0-2018.12-x86_64_arm-linux-gnueabihf/bin/arm-linux-gnueabihf-

Test Cross Compiler:

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#user@localhost:~$
${CC}gcc --version
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#Test Output:
arm-linux-gnueabihf-gcc (Linaro GCC 6.5-2018.12) 6.5.0
Copyright (C) 2017 Free Software Foundation, Inc.
This is free software; see the source for copying conditions.  There is NO
warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.

Bootloader:U-Boot

Das U-Boot – the Universal Boot Loader: http://www.denx.de/wiki/U-Boot 30
Depending on your Linux Distrubution, you will also need a host gcc and other tools, so with Debian/Ubuntu start with installing the build-essential meta package.
Download:

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#user@localhost:~$
git clone -b v2019.04 https://github.com/u-boot/u-boot --depth=1
cd u-boot/

Patches:

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#user@localhost:~/u-boot$
git pull --no-edit https://github.com/beagleboard/u-boot v2019.04-bbb.io-am335x

Configure and Build:

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#user@localhost:~/u-boot$
make ARCH=arm CROSS_COMPILE=${CC} distclean
make ARCH=arm CROSS_COMPILE=${CC} am335x_evm_defconfig
make ARCH=arm CROSS_COMPILE=${CC}

Linux Kernel

This script will build the kernel, modules, device tree binaries and copy them to the deploy directory.

Mainline

Download:

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#~/
git clone https://github.com/RobertCNelson/bb-kernel
cd bb-kernel/

For am33x-v4.14 (Longterm 4.14.x):

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#user@localhost:~/bb-kernel$
git checkout origin/am33x-v4.14 -b tmp

For am33x-rt-v4.14 (Longterm 4.14.x + Real-Time Linux):

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#user@localhost:~/bb-kernel$
git checkout origin/am33x-rt-v4.14 -b tmp

For am33x-v4.19 (Longterm 4.19.x):

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#user@localhost:~/bb-kernel$
git checkout origin/am33x-v4.19 -b tmp

For am33x-rt-v4.19 (Longterm 4.19.x + Real-Time Linux):

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#user@localhost:~/bb-kernel$
git checkout origin/am33x-rt-v4.19 -b tmp

For am33x-v5.4 (Longterm 5.4.x):

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#user@localhost:~/bb-kernel$
git checkout origin/am33x-v5.4 -b tmp

For am33x-rt-v5.4 (Longterm 5.4.x + Real-Time Linux):

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#user@localhost:~/bb-kernel$
git checkout origin/am33x-rt-v5.4 -b tmp

For am33x-v5.10 (Longterm 5.10.x):

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#user@localhost:~/bb-kernel$
git checkout origin/am33x-v5.10 -b tmp

For am33x-rt-v5.10 (Longterm 5.10.x + Real-Time Linux):

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#user@localhost:~/bb-kernel$
git checkout origin/am33x-rt-v5.10 -b tmp

Build:

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#user@localhost:~/bb-kernel$
./build_kernel.sh

TI BSP

Download:

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#~/
git clone https://github.com/RobertCNelson/ti-linux-kernel-dev.git
cd ti-linux-kernel-dev/

For TI v4.14.x:

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#~/ti-linux-kernel-dev/
git checkout origin/ti-linux-4.14.y -b tmp

For TI v4.14.x: Real-Time

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#~/ti-linux-kernel-dev/
git checkout origin/ti-linux-rt-4.14.y -b tmp

For TI v4.19.x:

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#~/ti-linux-kernel-dev/
git checkout origin/ti-linux-4.19.y -b tmp

For TI v4.19.x: Real-Time

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#~/ti-linux-kernel-dev/
git checkout origin/ti-linux-rt-4.19.y -b tmp

For TI v5.4.x:

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#~/ti-linux-kernel-dev/
git checkout origin/ti-linux-5.4.y -b tmp

For TI v5.4.x: Real-Time

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#~/ti-linux-kernel-dev/
git checkout origin/ti-linux-rt-5.4.y -b tmp

For TI v5.10.x:

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#~/ti-linux-kernel-dev/
git checkout origin/ti-linux-5.10.y -b tmp

For TI v5.10.x: Real-Time

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#~/ti-linux-kernel-dev/
git checkout origin/ti-linux-rt-5.10.y -b tmp

Build:

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#user@localhost:~/ti-linux-kernel-dev$
./build_kernel.sh

Root File System

Debian 10

User Password
debian temppwd
root root

Download:

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#user@localhost:~$
wget -c https://rcn-ee.com/rootfs/eewiki/minfs/debian-10.10-minimal-armhf-2021-06-20.tar.xz

Verify:

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#user@localhost:~$
sha256sum debian-10.10-minimal-armhf-2021-06-20.tar.xz
#sha256sum output:
058544586900f7aed044970380cc45bd1b9e1891f9bc0bc3119dad248b37a00a  debian-10.10-minimal-armhf-2021-06-20.tar.xz

Extract:

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#user@localhost:~$
tar xf debian-10.10-minimal-armhf-2021-06-20.tar.xz

Ubuntu 20.04 LTS
User Password
ubuntu temppwd

Download:

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#user@localhost:~$
wget -c https://rcn-ee.com/rootfs/eewiki/minfs/ubuntu-20.04.2-minimal-armhf-2021-06-20.tar.xz

Verify:

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#user@localhost:~$
sha256sum ubuntu-20.04.2-minimal-armhf-2021-06-20.tar.xz
#sha256sum output:
6cc5242251fe6af00268fba09cefecc5f5708db76bd24fc525202905daeb6359  ubuntu-20.04.2-minimal-armhf-2021-06-20.tar.xz

Extract:

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#user@localhost:~$
tar xf ubuntu-20.04.2-minimal-armhf-2021-06-20.tar.xz

Setup microSD card

We need to access the External Drive to be utilized by the target device. Run lsblk to help figure out what linux device has been reserved for your External Drive.

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# Example: for DISK=/dev/sdX
lsblk
NAME   MAJ:MIN RM   SIZE RO TYPE MOUNTPOINT
sda      8:0    0 465.8G  0 disk
├─sda1   8:1    0   512M  0 part /boot/efi
└─sda2   8:2    0 465.3G  0 part /                <- Development Machine Root Partition
sdb      8:16   1   962M  0 disk                  <- microSD/USB Storage Device
└─sdb1   8:17   1   961M  0 part                  <- microSD/USB Storage Partition
#Thus you would use:
export DISK=/dev/sdb
#Example: for DISK=/dev/mmcblkX
lsblk
NAME      MAJ:MIN   RM   SIZE RO TYPE MOUNTPOINT
sda         8:0      0 465.8G  0 disk
├─sda1      8:1      0   512M  0 part /boot/efi
└─sda2      8:2      0 465.3G  0 part /                <- Development Machine Root Partition
mmcblk0     179:0    0   962M  0 disk                  <- microSD/USB Storage Device
└─mmcblk0p1 179:1    0   961M  0 part                  <- microSD/USB Storage Partition
#Thus you would use:
export DISK=/dev/mmcblk0
Erase partition table/labels on microSD card:

sudo dd if=/dev/zero of=${DISK} bs=1M count=10

Install Bootloader:

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#user@localhost:~$
sudo dd if=./u-boot/MLO of=${DISK} count=1 seek=1 bs=128k
sudo dd if=./u-boot/u-boot.img of=${DISK} count=2 seek=1 bs=384k

Create Partition Layout:

With util-linux v2.26, sfdisk was rewritten and is now based on libfdisk.

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#Check the version of sfdisk installed on your pc is atleast 2.26.x or newer.
sudo sfdisk --version
#Example Output
sfdisk from util-linux 2.27.1
#sfdisk >= 2.26.x
sudo sfdisk ${DISK} <<-__EOF__
4M,,L,*
__EOF__

Format Partition:

With mkfs.ext4 1.43, we need to make sure metadata_csum and 64bit ext4 features are disabled.
As the version of U-Boot needed for this target CAN NOT correctly handle reading files with these newer ext4 options.

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#mkfs.ext4 -V
sudo mkfs.ext4 -V
mke2fs 1.43-WIP (15-Mar-2016)
        Using EXT2FS Library version 1.43-WIP
#mkfs.ext4 >= 1.43
for: DISK=/dev/mmcblkX
sudo mkfs.ext4 -L rootfs -O ^metadata_csum,^64bit ${DISK}p1

for: DISK=/dev/sdX
sudo mkfs.ext4 -L rootfs -O ^metadata_csum,^64bit ${DISK}1

Mount Partition:

On most systems these partitions may be auto-mounted…

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sudo mkdir -p /media/rootfs/
 
for: DISK=/dev/mmcblkX
sudo mount ${DISK}p1 /media/rootfs/
 
for: DISK=/dev/sdX
sudo mount ${DISK}1 /media/rootfs/

Backup Bootloader

This version of MLO/u-boot.img will be used on the “eMMC” flasher script on this page.

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#~/
sudo mkdir -p /media/rootfs/opt/backup/uboot/
sudo cp -v ./u-boot/MLO /media/rootfs/opt/backup/uboot/
sudo cp -v ./u-boot/u-boot.img /media/rootfs/opt/backup/uboot/

Install Kernel and Root File System

To help new users, since the kernel version can change on a daily basis. The kernel building scripts listed on this page will now give you a hint of what kernel version was built.

Script Complete
eewiki.net: [user@localhost:~$ export kernel_version=5.X.Y-Z]

Copy and paste that “export kernel_version=5.X.Y-Z” exactly as shown in your own build/desktop environment and hit enter to create an environment variable to be used later.

export kernel_version=5.X.Y-Z
Copy Root File System

Debian; Root File System: user@localhost:~$

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sudo tar xfvp ./debian-*-*-armhf-*/armhf-rootfs-*.tar -C /media/rootfs/
sync
sudo chown root:root /media/rootfs/
sudo chmod 755 /media/rootfs/

Ubuntu; Root File System: user@localhost:~$

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sudo tar xfvp ./ubuntu-*-*-armhf-*/armhf-rootfs-*.tar -C /media/rootfs/
sync
sudo chown root:root /media/rootfs/
sudo chmod 755 /media/rootfs/

Set uname_r in /boot/uEnv.txt

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#user@localhost:~$
sudo sh -c "echo 'uname_r=${kernel_version}' >> /media/rootfs/boot/uEnv.txt"

Copy Kernel Image

Kernel Image:

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#user@localhost:~$
sudo cp -v ./bb-kernel/deploy/${kernel_version}.zImage /media/rootfs/boot/vmlinuz-${kernel_version}

Copy Kernel Device Tree Binaries

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#user@localhost:~$
sudo mkdir -p /media/rootfs/boot/dtbs/${kernel_version}/
sudo tar xfv ./bb-kernel/deploy/${kernel_version}-dtbs.tar.gz -C /media/rootfs/boot/dtbs/${kernel_version}/

Copy Kernel Modules

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#user@localhost:~$
sudo tar xfv ./bb-kernel/deploy/${kernel_version}-modules.tar.gz -C /media/rootfs/

File Systems Table (/etc/fstab)

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#user@localhost:~/$
sudo sh -c "echo '/dev/mmcblk0p1  /  auto  errors=remount-ro  0  1' >> /media/rootfs/etc/fstab"

Networking

Edit: /etc/network/interfaces

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sudo nano /media/rootfs/etc/network/interfaces
Add:

#/etc/network/interfaces
auto lo
iface lo inet loopback
 
auto eth0
iface eth0 inet dhcp
Remove microSD/SD card
sync
sudo umount /media/rootfs

HDMI

This sections assumes you have already installed your favorite xorg based window manager, such as lxde, xfce, kde, gnome, etc… These are packages that need to be installed on top of your selected windows manager and an xorg.conf needed to correctly setup the video interface.
Note: If the cursor doesn’t show up right away, first hit: ctlr-alt-f1 then: ctrl-alt-f7 after which it ‘should’ show up…
Make sure to install, fbdev driver and xrandr utilities:

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sudo apt update
sudo apt install read-edid xserver-xorg-video-fbdev x11-xserver-utils
#/etc/X11/xorg.conf
Section "Monitor"
        Identifier      "Builtin Default Monitor"
EndSection
Section "Device"
        Identifier      "Builtin Default fbdev Device 0"
        Driver          "fbdev"
EndSection
Section "Screen"
        Identifier      "Builtin Default fbdev Screen 0"
        Device          "Builtin Default fbdev Device 0"
        Monitor         "Builtin Default Monitor"
EndSection
Section "ServerLayout"
        Identifier      "Builtin Default Layout"
        Screen          "Builtin Default fbdev Screen 0"
EndSection
xrandr:

xrandr
xrandr --output HDMI-0 --mode 1024x768 --rate 60
xrandr (over serial/ssh)

xrandr -display :0.0 -q
xrandr -display :0.0 --output HDMI-0 --mode 1024x768 --rate 60

eMMC

Script to copy your microSD card to eMMC: (this will need these packages installed: initramfs-tools dosfstools rsync)

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wget https://raw.githubusercontent.com/RobertCNelson/boot-scripts/master/tools/eMMC/bbb-eMMC-flasher-eewiki-ext4.sh
chmod +x bbb-eMMC-flasher-eewiki-ext4.sh
sudo /bin/bash ./bbb-eMMC-flasher-eewiki-ext4.sh

U-Boot Overlays

Full Documentation: [readme|https://elinux.org/Beagleboard:BeagleBoneBlack_Debian#U-Boot_Overlays]
Any issues:

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#Any issues run:
sudo /opt/scripts/tools/version.sh
Enable:

#/boot/uEnv.txt
enable_uboot_overlays=1
To Disable: eMMC:

#/boot/uEnv.txt
disable_uboot_overlay_emmc=1
To Disable: HDMI VIDEO & AUDIO:

#/boot/uEnv.txt
disable_uboot_overlay_video=1
To Disable: HDMI AUDIO:

#/boot/uEnv.txt
disable_uboot_overlay_audio=1
To Disable: WL1835:

#/boot/uEnv.txt
disable_uboot_overlay_wireless=1
To Disable: BB-ADC:

#/boot/uEnv.txt
disable_uboot_overlay_adc=1
U-Boot: override detected capes

#/boot/uEnv.txt
uboot_overlay_addr0=<file0>.dtbo
uboot_overlay_addr1=<file1>.dtbo
uboot_overlay_addr2=<file2>.dtbo
uboot_overlay_addr3=<file3>.dtbo
U-Boot: disable auto-loading of detected capes

#/boot/uEnv.txt
disable_uboot_overlay_addr0=1
disable_uboot_overlay_addr1=1
disable_uboot_overlay_addr2=1
disable_uboot_overlay_addr3=1
U-Boot: load 4 more un-detected capes

#/boot/uEnv.txt
uboot_overlay_addr4=<file4>.dtbo
uboot_overlay_addr5=<file5>.dtbo
uboot_overlay_addr6=<file6>.dtbo
uboot_overlay_addr7=<file7>.dtbo
U-Boot: PRU Options (v4.14.x-ti)

#/boot/uEnv.txt
uboot_overlay_pru=/lib/firmware/AM335X-PRU-RPROC-4-14-TI-00A0.dtbo
U-Boot: PRU Options (v4.19.x-ti)

#/boot/uEnv.txt
uboot_overlay_pru=/lib/firmware/AM335X-PRU-RPROC-4-19-TI-00A0.dtbo
U-Boot: PRU Options

#/boot/uEnv.txt
uboot_overlay_pru=/lib/firmware/AM335X-PRU-UIO-00A0.dtbo
U-Boot: Cape Universal

#/boot/uEnv.txt
enable_uboot_cape_universal=1
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