Installing Debian and Xenomai on gumstix Overo - Revision history

Dan Nelson: /* Compiling the kernel */

2012-02-23T13:29:02Z

‎Compiling the kernel

Sagar Behere: /* The debian rootfs */

2012-02-03T13:15:44Z

‎The debian rootfs

Sagar Behere: /* The debian rootfs */

2012-02-03T13:13:58Z

‎The debian rootfs

Sagar Behere: /* The debian rootfs */

2012-02-03T13:13:16Z

‎The debian rootfs

Sagar Behere at 13:08, 3 February 2012

2012-02-03T13:08:45Z

Sagar Behere at 13:07, 3 February 2012

2012-02-03T13:07:44Z

Sagar Behere: fixed typo

2012-02-03T11:26:12Z

fixed typo

Sagar Behere: changed typo

2012-02-03T11:25:38Z

changed typo

Sagar Behere at 19:53, 2 February 2012

2012-02-02T19:53:14Z

Sagar Behere: Finished editing

2012-02-02T19:48:05Z

Finished editing

@@ Line 20: / Line 20: @@
   wget -c http://download.gna.org/xenomai/stable/xenomai-2.6.0.tar.bz2; tar jxvf xenomai-2.6.0.tar.bz2;
 * Supported kernels can be found in {xenomaisourcedir}/ksrc/arch/arm/patches/. I saw the file adeos-ipipe-2.6.38.8-arm-1.18-04.patch and so decided to use that kernel
-* Download the kernel and extract it. Let's call the resulting linux-2.6.8.8 directory {kernelsourcedir}
+* Download the kernel and extract it. Let's call the resulting linux-2.6.38.8 directory {kernelsourcedir}
   wget -c http://www.kernel.org/pub/linux/kernel/v2.6/linux-2.6.38.8.tar.bz2; tar jxvf linux-2.6.38.8.tar.bz2
 * Patch the kernel sources with Xenomai. Go to {xenomaisourcedir} and

@@ Line 103: / Line 103: @@
 * Set the DNS with
   printf "nameserver 8.8.8.8" > /etc/resolv.conf
 * create /etc/fstab and add the following
 <pre>
@@ Line 118: / Line 113: @@
   printf "gumstix" > /etc/hostname
   printf "127.0.0.1 gumstix\n" >> /etc/hosts
 * The final task inside the chroot environment is to enable the serial console. Edit /etc/inittab and add the following line in the end
   T0:2345:respawn:/sbin/getty -L 115200 ttyO2 vt102

@@ Line 52: / Line 52: @@
 * Make a directory to create the debian rootfs with
   mkdir overorootfs
-* Create a file called emdebian.conf in overorootfs and put in the following (add whatever packages you wish)
+* Create a file called emdebian.conf and put in the following (add whatever packages you wish)
 <pre>
 [General]

@@ Line 52: / Line 52: @@
 * Make a directory to create the debian rootfs with
   mkdir overorootfs
-* Create a file called emdebian.conf in debian-rootfs and put in the following (add whatever packages you wish)
+* Create a file called emdebian.conf in overorootfs and put in the following (add whatever packages you wish)
 <pre>
 [General]

@@ Line 1: / Line 1: @@
 This document describes how I (Sagar Behere) installed Debian squeeze and vanilla linux kernel 2.6.38.8 patched with Xenomai 2.6.0 on the gumstix Overo. The contents of this document are probably applicable to other software versions as well. Note that this isn't a newbie tutorial. You still need to know what you are doing.
-DISCLAIMER: There may be better ways to do this. I am not an expert. This worked for me. Your mileage may vary.
+DISCLAIMER: There may be better ways to do this.
 The standard method to compile a kernel and rootfs is to use the Open Embedded build system that is described [http://gumstix.org/software-development/open-embedded/61-using-the-open-embedded-build-system.html here]. However, I did not use that method because I couldn't figure out how to build any of the kernel versions for which xenomai patches could be found (at the time of writing, the virtual/kernel pointed to version 3.0). Also, I prefer to use the debian userland, rather than Ångstrom. Therefore, the method described here does NOT use Open Embedded.

← Older revision		Revision as of 13:07, 3 February 2012
Line 1:		Line 1:
−	This document describes how I (Sagar Behere) installed Debian squeeze and vanilla linux kernel 2.6.38.8 patched with Xenomai 2.6.0 on the gumstix Overo. The contents of this document are probably applicable to other software versions as well.	+	This document describes how I (Sagar Behere) installed Debian squeeze and vanilla linux kernel 2.6.38.8 patched with Xenomai 2.6.0 on the gumstix Overo. The contents of this document are probably applicable to other software versions as well. Note that this isn't a newbie tutorial. You still need to know what you are doing.

	DISCLAIMER: There may be better ways to do this. I am not an expert. This worked for me. Your mileage may vary.		DISCLAIMER: There may be better ways to do this. I am not an expert. This worked for me. Your mileage may vary.

@@ Line 148: / Line 148: @@
   cp MLO /media/FAT; cp u-boot.bin /media/FAT
   cp {kernelsourcedir}/arch/arm/boot/uImage /media/FAT
-  cd overoroot; sudo rsync -aP . /media/rootfs/
+  cd overorootfs; sudo rsync -aP . /media/rootfs/
   sync

@@ Line 48: / Line 48: @@
 for ubuntu use
   apt-get install qemu-kvm-extras-static
-* Get mulitstrap
+* Get multistrap
   sudo apt-get install multistrap
 * Make a directory to create the debian rootfs with

@@ Line 23: / Line 23: @@
   wget -c http://www.kernel.org/pub/linux/kernel/v2.6/linux-2.6.38.8.tar.bz2; tar jxvf linux-2.6.38.8.tar.bz2
 * Patch the kernel sources with Xenomai. Go to {xenomaisourcedir} and
-  scripts/prepare-kernel.sh –arch=arm –linux=/path/where/you/untarred/linux-2.6.38.8.tar.bz2
+  scripts/prepare-kernel.sh --arch=arm --linux=/path/where/you/untarred/linux-2.6.38.8.tar.bz2
 It'll suggest the right patch to be applied.
 * Set the default kernel configuration
@@ Line 94: / Line 94: @@
   sudo chroot overorootfs /bin/bash
 * Finish setting up the packages with
-  dpkg –configure -a
+  dpkg --configure -a
 Answer "no" when asked if you want to use "dash" as "/bin/sh". If ifupdown fails, just run again
-  dpkg –configure -a
+  dpkg --configure -a
 * Add a user and give him sudo permissions
   adduser sagar;printf "sagar ALL=(ALL) ALL" >> /etc/sudoers
@@ Line 152: / Line 152: @@
 ==Testing the install==
-Boot the gumstix from the SD card and log in as the user you created. Then sudo dpkg –configure -a to wrap up the installation.
+Boot the gumstix from the SD card and log in as the user you created. Then wrap up the installation with
 In order to get wireless working, I had to add the files sd8686.bin and sd8686_helper.bin to /lib/firmware/ on the rootfs. Sorry, I don't remember where I got them from.

← Older revision		Revision as of 19:48, 2 February 2012
Line 39:		Line 39:

	We still need to compile the xenomai userspace stuff, but we'll do that after setting up the rootfs		We still need to compile the xenomai userspace stuff, but we'll do that after setting up the rootfs
		+
		+	==The debian rootfs==
		+
		+	These instructions are based on http://gobysoft.com/wiki/InstallOnGumstixOvero and http://paul-strefling.blogspot.com/2011/06/installing-debian-on-gumstix-overo.html
		+
		+	* Get the qemu-arm-static binary.
		+	sudo apt-get install qemu-user-static
		+	for ubuntu use
		+	apt-get install qemu-kvm-extras-static
		+	* Get mulitstrap
		+	sudo apt-get install multistrap
		+	* Make a directory to create the debian rootfs with
		+	mkdir overorootfs
		+	* Create a file called emdebian.conf in debian-rootfs and put in the following (add whatever packages you wish)
		+	<pre>
		+	[General]
		+	arch=armel
		+	noauth=true
		+	unpack=true
		+	debootstrap=Grip Networking Debian Misc
		+	aptsources=Grip Debian
		+
		+	[Grip]
		+	packages=locales udev adduser sudo nano build-essential less module-init-tools
		+	source=http://www.emdebian.org/grip
		+	keyring=emdebian-archive-keyring
		+	components=main dev
		+	suite=stable
		+
		+	[Misc]
		+	packages=wget
		+	source=http://www.emdebian.org/grip
		+	keyring=emdebian-archive-keyring
		+	components=main dev
		+	suite=stable
		+
		+	[Networking]
		+	packages=netbase ifupdown iproute net-tools iputils-ping ntp wireless-tools isc-dhcp-client wpasupplicant
		+	source=http://www.emdebian.org/grip
		+	keyring=emdebian-archive-keyring
		+	suite=stable
		+
		+	[Debian]
		+	packages=zile tsocks
		+	source=http://ftp.se.debian.org/debian/
		+	keyring=debian-archive-keyring
		+	suite=stable
		+	</pre>
		+	* Create the root filesystem with
		+	sudo multistrap -a armel -d overorootfs/ -f emdebian.conf
		+	* Copy the qemu binary so we can chroot
		+	sudo cp /usr/bin/qemu-arm-static overorootfs/usr/bin
		+	* Chroot into the system
		+	sudo chroot overorootfs /bin/bash
		+	* Finish setting up the packages with
		+	dpkg –configure -a
		+	Answer "no" when asked if you want to use "dash" as "/bin/sh". If ifupdown fails, just run again
		+	dpkg –configure -a
		+	* Add a user and give him sudo permissions
		+	adduser sagar;printf "sagar ALL=(ALL) ALL" >> /etc/sudoers
		+	* Configure locales. 136 is en_US.UTF-8
		+	dpkg-reconfigure locales
		+	* Set the DNS with
		+	printf "nameserver 8.8.8.8" > /etc/resolv.conf
		+	* Get out of the chroot by pressing Ctrl+D and get in again with
		+	sudo chroot overorootfs
		+	At this point, you should be able to
		+	ping www.google.com
		+	if your host has internet access
		+	* create /etc/fstab and add the following
		+	<pre>
		+	# /etc/fstab: static file system information.
		+	#
		+	# <file system> <mount point> <type> <options> <dump> <pass>
		+	proc /proc proc defaults 0 0
		+	</pre>
		+	* Configure hostname
		+	printf "gumstix" > /etc/hostname
		+	printf "127.0.0.1 gumstix\n" >> /etc/hosts
		+	* The final task inside the chroot environment is to enable the serial console. Edit /etc/inittab and add the following line in the end
		+	T0:2345:respawn:/sbin/getty -L 115200 ttyO2 vt102
		+	* Update apt sources
		+	apt-get update
		+	* Exit the chroot and copy the modules over to the overorootfs
		+	cp -a {modulesdirectory}/lib/modules/2.6.38.8-ipipe overorootfs/lib/modules
		+
		+	==Xenomai user space==
		+
		+	This section is based on instructions at http://www.xenomai.org/index.php/Building_Debian_packages
		+
		+	The userspace part of Xenomai needs to be compiled now. The traditional way is to cross-compile it, as described in the xenomai documentation. However, we can take advantage of our arm chroot environment to avoid cross-compilation. Also, we will create debian packages i.e. .deb files for the userspace part of the xenomai installation. We proceed as follows
		+	* copy {xenomaisourcedir} to overorootfs and
		+	<pre>
		+	sudo chroot overorootfs
		+	apt-get install devscripts debhelper dh-kpatches findutils
		+	cd {xenomaisourcedir};DEBEMAIL="your@email" DEBFULLNAME="Your Name" debchange -v 2.6.0 Release 2.6.0
		+	debuild -uc -us
		+	cd ../; dpkg -i libxenomai1_2.6.0_armel.deb libxenomai-dev_2.6.0_armel.deb xenomai-runtime_2.6.0_armel.deb
		+	</pre>
		+
		+	==Preparing the SD card==
		+
		+	There are a lot of guides describing how to partition and format a SD card for using on the overo. I used the one at http://johnwoconnor.blogspot.com/2009/04/installing-ubuntu-on-gumstix-overo.html. The official guide is at http://gumstix.org/create-a-bootable-microsd-card.html. Read those guides and come to a point where you have created the two partitions and formatted them. Then continue reading here.
		+
		+	[NOTE: I am assuming that the first partition of your card is mounted under /media/FAT and the 2nd partition is under /media/rootfs]
		+
		+	Get pre-built MLO and u-boot.bin from http://gumstix.org/download-prebuilt-images.html . I got mine from http://cumulus.gumstix.org/images/angstrom/factory/2011-08-30-1058/
		+	cp MLO /media/FAT; cp u-boot.bin /media/FAT
		+	cp {kernelsourcedir}/arch/arm/boot/uImage /media/FAT
		+	cd overoroot; sudo rsync -aP . /media/rootfs/
		+	sync
		+
		+	==Testing the install==
		+	Boot the gumstix from the SD card and log in as the user you created. Then sudo dpkg –configure -a to wrap up the installation.
		+
		+	In order to get wireless working, I had to add the files sd8686.bin and sd8686_helper.bin to /lib/firmware/ on the rootfs. Sorry, I don't remember where I got them from.
		+
		+	To test xenomai
		+	cd /usr/lib/xenomai;./latency -p0 -t1
		+	You can also run the other programs in that directory