Difference between revisions of "How to setup a development environment"

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This tutorial was written for the [http://www.igep-platform.com/index.php?option=com_content&view=article&id=46&Itemid=55 ''igep revB''] board, but it is transposable to other ''OMAP3530'' boards (above all for the ''DSP'' part). It is a summary (with some adaptations) of several tutorials found on Internet (see [[How_to_setup_a_development_environment#References|References]]). All files will be installed in the $HOME directory.
+
This tutorial was written for the [http://labs.isee.biz/index.php/IGEP_Technology_devices_revisions ''igep revB''] board, but it is transposable to other ''OMAP3530'' boards (above all for the ''DSP'' part). It is a summary (with some adaptations) of several tutorials found on Internet (see [[How to setup a development environment#References|References]]). All files will be installed in the $HOME directory.
  
This tutorial is a translation of a French tutorial we wrote on our robotic [http://as.tech.free.fr/wiki/index.php?title=Cr%C3%A9er_un_environnement_de_d%C3%A9veloppement_pour_l%27OMAP3530 web site]. Sorry for the English, feel free to correct mistakes.
+
__TOC__
  
= ''Rootfs'' =
+
{{Message/Obsolete|Link=Visit the [[IGEP SDK Virtual Machine]] for updated information}}
  
This section describes how to obtain the [http://www.pokylinux.org/ ''Poky''] distribution. This is the distribution shipped with the ''igep'' boad; it is based on [http://wiki.openembedded.net/index.php/Main_Page ''Open Embedded''].
 
  
The first thing to do is set ''Bash'' as default ''sh'' ''shell'':
+
= ''Rootfs'' =
  
<pre>
+
This section describes how to obtain the [http://www.pokylinux.org/ ''Poky''] distribution. This is the distribution shipped with the ''igep'' board; it is based on [http://www.openembedded.org/wiki/Main_Page ''Open Embedded''].
sudo dpkg-reconfigure dash
 
</pre>
 
  
answer no to the question. Thus, "/bin/sh" will point towards "/bin/bash" (and not "/bin/dash"). Then, some kernels settings have to be changed. Edit the file "/etc/sysctl.conf" as ''root'' and set :  
+
The first thing to do is set ''Bash'' as default ''sh'' ''shell'':
 
+
<pre>sudo dpkg-reconfigure dash
<pre>
+
</pre>
vm.mmap_min_addr = 0
+
answer no to the question. Thus, "/bin/sh" will point towards "/bin/bash" (and not "/bin/dash"). Then, some kernels settings have to be changed. Edit the file "/etc/sysctl.conf" as ''root'' and set&nbsp;:  
</pre>
+
<pre>vm.mmap_min_addr = 0
then, to take the modification into account:
+
</pre>  
<pre>
+
then, to take the modification into account:  
sudo sysctl -p
+
<pre>sudo sysctl -p
</pre>
+
</pre>  
 
+
Some additional packages need to be installed to satisfy ''bitbake'' dependencies. First, add the following repositories to "/etc/apt/sources.list"&nbsp;:  
Some additional packages need to be installed to satisfy ''bitbake'' dependencies. First, add the following repositories to "/etc/apt/sources.list" :
+
<pre>deb http://debian.o-hand.com etch/
<pre>
 
deb http://debian.o-hand.com etch/
 
 
deb http://debian.o-hand.com unstable/
 
deb http://debian.o-hand.com unstable/
 
deb http://debian.o-hand.com feisty/
 
deb http://debian.o-hand.com feisty/
 
deb http://debian.o-hand.com gutsy/
 
deb http://debian.o-hand.com gutsy/
 
deb http://debian.o-hand.com hardy/
 
deb http://debian.o-hand.com hardy/
</pre>
+
</pre>  
Update the data base and install the following packages:
+
Update the data base and install the following packages:  
<pre>
+
<pre>sudo apt-get update
sudo apt-get update
 
 
sudo aptitude install python-psyco hgsvn qemu poky-depends poky-scripts
 
sudo aptitude install python-psyco hgsvn qemu poky-depends poky-scripts
</pre>
+
</pre> <!--
<!--
 
 
a priori ceci est automatiquement installé :
 
a priori ceci est automatiquement installé :
 
sudo aptitude install subversion cvs git-core \
 
sudo aptitude install subversion cvs git-core \
Line 42: Line 35:
 
       libncurses5-dev gawk python-dev python-psyco python-pysqlite2 \
 
       libncurses5-dev gawk python-dev python-psyco python-pysqlite2 \
 
       scrollkeeper gnome-doc-utils gettext automake hgsvn qemu poky-depends poky-scripts
 
       scrollkeeper gnome-doc-utils gettext automake hgsvn qemu poky-depends poky-scripts
  -->
+
  -->  
Then, download and decompress the last stable version of ''Poky'':
+
Then, download and decompress the last stable version of ''Poky'':  
 
+
<pre>mkdir -p $HOME/igep/poky
<pre>
 
mkdir -p $HOME/igep/poky
 
 
cd $HOME/igep/poky
 
cd $HOME/igep/poky
 
wget http://pokylinux.org/releases/poky-purple-3.2.tar.bz2
 
wget http://pokylinux.org/releases/poky-purple-3.2.tar.bz2
 
tar -xjf poky-purple-3.2.tar.bz2
 
tar -xjf poky-purple-3.2.tar.bz2
</pre>
+
</pre>  
 
+
The configuration file of ''Poky'' is located in the directory $HOME/igep/poky/build/conf&nbsp;:  
The configuration file of ''Poky'' is located in the directory $HOME/igep/poky/build/conf :
+
<pre>cd build/conf
<pre>
 
cd build/conf
 
 
nano local.conf
 
nano local.conf
</pre>
+
</pre>  
And paste the modified version for the ''igep'' board:
+
And paste the modified version for the ''igep'' board:  
<pre>
+
<pre># Where to cache the files Poky downloads
# Where to cache the files Poky downloads
+
DL_DIR&nbsp;?= "${OEROOT}/sources"
DL_DIR ?= "${OEROOT}/sources"
 
 
BBFILES += "\
 
BBFILES += "\
 
     ${OEROOT}/meta/packages/*/*.bb \
 
     ${OEROOT}/meta/packages/*/*.bb \
Line 75: Line 63:
 
# For a quadcore, BB_NUMBER_THREADS = "4", PARALLEL_MAKE = "-j 4" would
 
# For a quadcore, BB_NUMBER_THREADS = "4", PARALLEL_MAKE = "-j 4" would
 
# be appropriate.
 
# be appropriate.
# BB_NUMBER_THREADS = "2"
+
BB_NUMBER_THREADS = "4"
 
# Also, make can be passed flags so it run parallel threads e.g.:
 
# Also, make can be passed flags so it run parallel threads e.g.:
 
# PARALLEL_MAKE = "-j 2"
 
# PARALLEL_MAKE = "-j 2"
  
 
# The machine to target
 
# The machine to target
MACHINE ?= "igep0020b"
+
MACHINE&nbsp;?= "igep0020b"
  
TARGET_FPU_arm ?= "hard"
+
TARGET_FPU_arm&nbsp;?= "hard"
  
 
# Other supported machines
 
# Other supported machines
#MACHINE ?= "qemux86"
+
#MACHINE&nbsp;?= "qemux86"
#MACHINE ?= "qemuarm"
+
#MACHINE&nbsp;?= "qemuarm"
#MACHINE ?= "c7x0"
+
#MACHINE&nbsp;?= "c7x0"
#MACHINE ?= "akita"
+
#MACHINE&nbsp;?= "akita"
#MACHINE ?= "spitz"
+
#MACHINE&nbsp;?= "spitz"
#MACHINE ?= "nokia770"
+
#MACHINE&nbsp;?= "nokia770"
#MACHINE ?= "nokia800"
+
#MACHINE&nbsp;?= "nokia800"
#MACHINE ?= "fic-gta01"
+
#MACHINE&nbsp;?= "fic-gta01"
#MACHINE ?= "bootcdx86"
+
#MACHINE&nbsp;?= "bootcdx86"
#MACHINE ?= "cm-x270"
+
#MACHINE&nbsp;?= "cm-x270"
#MACHINE ?= "em-x270"
+
#MACHINE&nbsp;?= "em-x270"
#MACHINE ?= "htcuniversal"
+
#MACHINE&nbsp;?= "htcuniversal"
#MACHINE ?= "mx31ads"
+
#MACHINE&nbsp;?= "mx31ads"
#MACHINE ?= "mx31litekit"
+
#MACHINE&nbsp;?= "mx31litekit"
#MACHINE ?= "mx31phy"
+
#MACHINE&nbsp;?= "mx31phy"
#MACHINE ?= "netbook"
+
#MACHINE&nbsp;?= "netbook"
#MACHINE ?= "zylonite"
+
#MACHINE&nbsp;?= "zylonite"
  
DISTRO ?= "poky"
+
DISTRO&nbsp;?= "poky"
 
# For bleeding edge / experimental / unstable package versions
 
# For bleeding edge / experimental / unstable package versions
# DISTRO ?= "poky-bleeding"
+
# DISTRO&nbsp;?= "poky-bleeding"
  
 
# Poky has various extra metadata collections (openmoko, extras).
 
# Poky has various extra metadata collections (openmoko, extras).
Line 155: Line 143:
 
# include 'package_deb' for debs
 
# include 'package_deb' for debs
 
# include 'package_ipk' for ipks
 
# include 'package_ipk' for ipks
#PACKAGE_CLASSES ?= "package_deb package_ipk"
+
#PACKAGE_CLASSES&nbsp;?= "package_deb package_ipk"
PACKAGE_CLASSES ?= "package_ipk"
+
PACKAGE_CLASSES&nbsp;?= "package_ipk"
  
 
# POKYMODE controls the characteristics of the generated packages/images by
 
# POKYMODE controls the characteristics of the generated packages/images by
Line 165: Line 153:
 
#
 
#
 
# The default is "eabi"
 
# The default is "eabi"
# Use "oabi" for machines with kernels < 2.6.18 on ARM for example.
+
# Use "oabi" for machines with kernels &lt; 2.6.18 on ARM for example.
 
# Use "external-MODE" to use the precompiled external toolchains where MODE
 
# Use "external-MODE" to use the precompiled external toolchains where MODE
 
# is the type of external toolchain to use e.g. eabi.
 
# is the type of external toolchain to use e.g. eabi.
Line 173: Line 161:
 
# Note that a full build of everything in OpenEmbedded will take GigaBytes of hard
 
# Note that a full build of everything in OpenEmbedded will take GigaBytes of hard
 
# disk space, so make sure to free enough space. The default TMPDIR is
 
# disk space, so make sure to free enough space. The default TMPDIR is
# <build directory>/tmp
+
# &lt;build directory&gt;/tmp
 
TMPDIR = "${OEROOT}/build/tmp-${MACHINE}"
 
TMPDIR = "${OEROOT}/build/tmp-${MACHINE}"
  
Line 221: Line 209:
 
# Supported values are i586 and x86_64
 
# Supported values are i586 and x86_64
 
SDKMACHINE="i586"
 
SDKMACHINE="i586"
</pre>
+
</pre>  
 
+
The following section needs to be adapted to the number of CPU the host machine has:  
The following section needs to be adapted to the number of CPU the host machine has:
+
<pre># Uncomment and set to allow bitbake to execute multiple tasks at once.
<pre>
 
# Uncomment and set to allow bitbake to execute multiple tasks at once.
 
 
# For a quadcore, BB_NUMBER_THREADS = "4", PARALLEL_MAKE = "-j 4" would
 
# For a quadcore, BB_NUMBER_THREADS = "4", PARALLEL_MAKE = "-j 4" would
 
# be appropriate.
 
# be appropriate.
Line 231: Line 217:
 
# Also, make can be passed flags so it run parallel threads e.g.:
 
# Also, make can be passed flags so it run parallel threads e.g.:
 
# PARALLEL_MAKE = "-j 2"
 
# PARALLEL_MAKE = "-j 2"
</pre>
+
</pre>  
 
+
The build environment needs to be setup by the following command:  
The build environment needs to be setup by the following command:
+
<pre>cd ../..
<pre>
 
cd ../..
 
 
source poky-init-build-env
 
source poky-init-build-env
</pre>
+
</pre>  
A target can be built using:
+
A target can be built using:  
<pre>
+
<pre>bitbake &lt;target&gt;
bitbake <target>
+
</pre>  
</pre>
+
there is a lot of targets, which can be an image (take a look at the "meta/packages/images/" directory) or more simply a ''recipe'' corresponding to a software. A detailed list of images can be found on the [http://www.pokylinux.org/doc/poky-handbook.html#ref-images Poky Handbook]. To build an image without ''X11'' server:  
there is a lot of targets, which can be an image (take a look at the "meta/packages/images/" directory) or more simply a ''recipe'' corresponding to a software. A detailed list of images can be found on the [http://www.pokylinux.org/doc/poky-handbook.html#ref-images Poky Handbook]. To build an image without ''X11'' server:
+
<pre>bitbake poky-image-base
<pre>
+
</pre>  
bitbake poky-image-base
+
This step is very long (several hours) and take a lot of space (like 16 gigas) on the host's hard disk. If you are behind a ''proxy'', take a look at this [http://www.pokylinux.org/doc/poky-handbook.html#id3403214 part] of ''Poky's'' FAQ.
</pre>
 
  
This step is very long (several hours) and take a lot of space (like 16 gigas) on the host's hard disk. If you are behind a ''proxy'', take a look at this [http://www.pokylinux.org/doc/poky-handbook.html#id3403214 part] of ''Poky's'' FAQ.
+
If everything compiles well, the resulting image (''rootfs'' and kernel) will be placed in the directory:  
 
+
<pre>tmp-igep0020b/deploy/images/
If everything compiles well, the resulting image (''rootfs'' and kernel) will be placed in the directory:
+
</pre>  
<pre>
+
and ''.ipk'' packages in:  
tmp-igep0020b/deploy/images/
+
<pre>tmp-igep0020b/deploy/ipk/
</pre>
+
</pre>  
and ''.ipk'' packages in:
+
We will see in section [[How to setup a development environment#Boot_on_the_rootfs_and_the_kernel|''Boot'' on ''rootfs'' and kernel]] how to use it. Yet, ''bitbake'' will download by default the kernel "linux-omap-2.6.28.10-igep0020b-0" which is not the last one provided by ''ISEE''. See section [[How to setup a development environment#Kernel_compilation|Kernel compilation]] to compile another version.  
<pre>
 
tmp-igep0020b/deploy/ipk/
 
</pre>
 
 
 
We will see in section [[How_to_setup_a_development_environment#Boot_on_the_rootfs_and_the_kernel|''Boot'' on ''rootfs'' and kernel]] how to use it. Yet, ''bitbake'' will download by default the kernel "linux-omap-2.6.28.10-igep0020b-0" which is not the last one provided by ''ISEE''. See section [[How_to_setup_a_development_environment#Kernel_compilation|Kernel compilation]] to compile another version.
 
  
 
TODO: modify ''recipes'' to download another kernel version
 
TODO: modify ''recipes'' to download another kernel version
  
= Cross toolchain for the ''ARM''=
+
= Cross toolchain for the ''ARM'' =
  
Aparently, there is a ''bug'' in one of ''Poky's'' ''recipes'', which implies that the cross toolchain doesn't include automatically the ''C++'' ''headers'', see [http://lists.o-hand.com/poky/1420.html this thread]. A ''patch'' has been proposed; to apply it :
+
Aparently, there is a ''bug'' in one of ''Poky's'' ''recipes'', which implies that the cross toolchain doesn't include automatically the ''C++'' ''headers'', see [http://lists.o-hand.com/poky/1420.html this thread]. A ''patch'' has been proposed; to apply it&nbsp;:  
<pre>
+
<pre>cd $HOME/igep/poky
cd $HOME/igep/poky
 
 
wget http://lists.o-hand.com/poky/att-1420/fix-gxx-include-dir.patch
 
wget http://lists.o-hand.com/poky/att-1420/fix-gxx-include-dir.patch
patch -p1 < fix-gxx-include-dir.patch
+
patch -p1 &lt; fix-gxx-include-dir.patch
</pre>
+
</pre>  
 +
The cross toolchain can be built using ''bitbake'':
 +
<pre>source poky-init-build-env
 +
bitbake meta-toolchain-sdk
 +
</pre>
 +
The result will be placed in the directory:
 +
<pre> tmp-igep0020b/deploy/sdk/
 +
</pre>
 +
as an archive to decompress in the directory "/usr/local/poky".
  
The cross toolchain can be built using ''bitbake'':
+
In order to cross compile code for the ''ARM'', the following script needs to be run to set up paths:  
<pre>
+
<pre>source /usr/local/poky/eabi-glibc/environment-setup-arm-none-linux-gnueabi
source poky-init-build-env
 
bitbake meta-toolchain-sdk
 
</pre>
 
The result will be placed in the directory:
 
<pre>
 
tmp-igep0020b/deploy/sdk/
 
 
</pre>
 
</pre>
as an archive to decompress in the directory "/usr/local/poky".
 
  
In order to cross compile code for the ''ARM'', the following script needs to be run to set up paths:
+
= Kernel compilation  =
<pre>
 
source /usr/local/poky/eabi-glibc/environment-setup-arm-poky-linux-gnueabi
 
</pre>
 
  
= Kernel compilation =
+
Another more recent source of information can be found at [http://labs.igep.es/index.php/The_Linux_kernel labs.igep.es/index.php/The_Linux_kernel].
  
Currently, the last stable kernel provided by ''ISEE'' is "linux-omap-2.6.28.10-igep0020b-2". Check in the ''download'' section of [http://www.myigep.com/index.php?option=com_weblinks&view=category&id=50&Itemid=85 www.myigep.com] which is the last one. More recent versions (but unstable) can be downloaded on the [http://git.myigep.com/gitweb ''git''] of ''ISEE''.
+
In this example the kernel version "linux-omap-2.6.28.10-igep0020b-2" is used. Check in the ''download'' section of [http://www.igep.es/index.php?option=com_content&view=article&id=99&Itemid=112 www.igep.es] which is the last stable one. More recent versions (but unstable) can be downloaded on the [http://git.igep.es/ ''git''] of ''ISEE''.  
  
=== Kernel compilation under ''bitbake'' ===
+
=== Kernel compilation under ''bitbake'' ===
  
=== Kernel compilation outside ''bitbake'' ===
+
=== Kernel compilation outside ''bitbake'' ===
  
First, download the kernel sources:
+
First, download the kernel sources:  
<pre>
+
<pre>cd $HOME/igep
cd $HOME/igep
 
 
wget http://downloads.myigep.com/sources/kernel/linux-omap-2.6.28.10-igep0020b-2.tar.gz
 
wget http://downloads.myigep.com/sources/kernel/linux-omap-2.6.28.10-igep0020b-2.tar.gz
 
tar -xzf linux-omap-2.6.28.10-igep0020b-2.tar.gz
 
tar -xzf linux-omap-2.6.28.10-igep0020b-2.tar.gz
 
cd linux-omap-2.6.28.10-igep0020b-2
 
cd linux-omap-2.6.28.10-igep0020b-2
</pre>
+
</pre>  
 +
Configure the kernel:
 +
<pre>source /usr/local/poky/eabi-glibc/environment-setup-arm-none-linux-gnueabi
 +
make ARCH=arm CROSS_COMPILE=arm-none-linux-gnueabi- igep0020b_defconfig
 +
make ARCH=arm CROSS_COMPILE=arm-none-linux-gnueabi- menuconfig
 +
</pre>
 +
The last line is only needed if you want to customize the kernel.
  
Configure the kernel:
+
To compile kernel and modules:  
<pre>
+
<pre>make ARCH=arm CROSS_COMPILE=arm-none-linux-gnueabi- uImage modules
source /usr/local/poky/eabi-glibc/environment-setup-arm-poky-linux-gnueabi
+
</pre>  
make ARCH=arm CROSS_COMPILE=arm-poky-linux-gnueabi- igep0020b_defconfig
+
The resulting image is placed in "arch/arm/boot" directory.<br>Note: If there is no uImage file present you may not have installed the uboot-mkimage package.<br>In ubuntu Hardy (8.04), this package is unknown. First upgrade to e.g. Lucid (10.04) then install the package.
make ARCH=arm CROSS_COMPILE=arm-poky-linux-gnueabi- menuconfig
 
</pre>
 
The last line is only needed if you want to customize the kernel.
 
  
To compile kernel and modules:
+
We will see in the section [[How to setup a development environment#Boot_on_the_rootfs_and_the_kernel|Boot on the ''rootfs'' and the kernel]] how to use kernel and modules.
<pre>
 
make ARCH=arm CROSS_COMPILE=arm-poky-linux-gnueabi- uImage modules
 
</pre>
 
  
The resulting image is placed in "arch/arm/boot" directory.
+
= Boot on the ''rootfs'' and the kernel  =
  
We will see in the section [[How_to_setup_a_development_environment#Boot_on_the_rootfs_and_the_kernel|Boot on the ''rootfs'' and the kernel]] how to use kernel and modules.
+
There are several methods to do it. For developing purposes, the easiest way is to boot over network, which avoid flashing operations or coping on the memory card. Yet, these two solutions are essentials for applications where the board need to be independent from the host computer.  
  
= Boot on the ''rootfs'' and the kernel =
+
=== Over network  ===
  
There are several methods to do it. For developing purposes, the easiest way is to boot over network, which avoid flashing operations or coping on the memory card. Yet, these two solutions are essentials for applications where the board need to be independent from the host computer.
+
Two servers are needed. The ''NFS'' (''Network File System'') server allows the target to accede its ''rootfs'' by the network. The ''TFTP'' (''Trivial File Transfer Protocol'') server allows the target to download the kernel over network. Thus, ''UBoot'' needs to be correctly setup to boot on the correct files. To do this, plug a serial cable on the board (''115200n8'') and stop ''UBoot'' by pressing a key. The environment variable of ''UBoot'' we need to change are:
  
=== Over network ===
+
*''serverip'': the server's ''IP'' address, need to be on the ''192.168.254.x'' subnet (except if you change the board address, which is not explained here). By default, the server's ''IP'' address is ''192.168.254.10''.
 +
*''distro'': the distribution's name, by default ''poky''.
 +
*''machine'': the card's name, by default ''igep0020b''.
 +
*''project'': the project's name, that is to say the ''rootfs'' generated [[How to setup a development environment#Rootfs|previously]].
  
Two servers are needed. The ''NFS'' (''Network File System'') server allows the target to accede its ''rootfs'' by the network. The ''TFTP'' (''Trivial File Transfer Protocol'') server allows the target to download the kernel over network. Thus, ''UBoot'' needs to be correctly setup to boot on the correct files. To do this, plug a serial cable on the board (''115200n8'') and stop ''UBoot'' by pressing a key. The environment variable of ''UBoot'' we need to change are:
+
To change a variable, use the command ''setenv''. Thus, to change the project's name and use the one we have just made, set:
*''serverip'': the server's ''IP'' address, need to be on the ''192.168.254.x'' subred (except if you change the board address, which is not explained here). By default, the server's ''IP'' address is ''192.168.254.10''.
+
<pre>setenv project poky-image-base
*''distro'': the distribution's name, by default ''poky''.
+
</pre>
*''machine'': the card's name, by default ''igep0020b''.
+
Then, to boot:
*''project'': the project's name, that is to say the ''rootfs'' generated [[How_to_setup_a_development_environment#Rootfs|previously]].
+
<pre>run bootcmd
 +
</pre>
 +
which will execute the contents of the ''bootcmd'' variable. The 'printenv' ''command allow to show the content of a variable; for example:''  
 +
<pre>printenv bootcmd
 +
</pre>
 +
returns by default:
 +
<pre>run mmc-boot; run nfs-boot; run onenand-boot
 +
</pre>
 +
That is to say the board will first check if a memory card is present to boot with it. If memory card is not present, the board will ''ping'' the server to boot over the network. If the server does not answer, the board will boot on the flash. <br>Take a look at ''mmc-boot'', ''nfs-boot'' and ''onenand-boot'' variables for more details. In addition, the factory settings of ''UBoot'' are given [http://labs.igep.es/index.php/The_bootloader_U-Boot here].  
  
To change a variable, use the command ''setenv''. Thus, to change the project's name and use the one we have just made, set:
+
In order to save ''UBoot'' environment variables in the flash, do:  
<pre>
+
<pre>saveenv
setenv project poky-image-base
+
</pre>  
</pre>
+
which will avoid to reenter it every time...  
Then, to boot:
 
<pre>
 
run bootcmd
 
</pre>
 
which will execute the contents of the ''bootcmd'' variable. The 'printenv'' command allow to show the content of a variable; for example:
 
<pre>
 
printenv bootcmd
 
</pre>
 
returns by default:
 
<pre>
 
run mmc-boot; run nfs-boot; run onenand-boot
 
</pre>
 
That is to say the board will first check if a memory card is present to boot with it. If memory card is not present, the board will newt ''ping'' the server to boot over network. If server does not answer, the board will boot on the flash. Take a look at ''mmc-boot'', ''nfs-boot'' and ''onenand-boot'' variables for more details. In addition, the factory settings of ''UBoot'' are given [http://wiki.myigep.com/trac/wiki/HowToSetupUBootFactorySetting here].
 
  
In order to save ''UBoot'' environment variables in the flash, do:
+
Once ''&lt;serverip&gt;'', ''&lt;distro&gt;'', ''&lt;project&gt;'', and ''&lt;machine&gt;'' variables setup, ''UBoot'' will search on the server of address ''&lt;serverip&gt;'':  
<pre>
 
saveenv
 
</pre>
 
which will avoid to reenter it every time...
 
  
Once ''<serverip>'', ''<distro>'', ''<project>'', and ''<machine>'' variables setup, ''UBoot'' will search on the server of address ''<serverip>'':
+
*a kernel image ''uImage'' in the directory "/srv/tftp/''&lt;distro&gt;''/''&lt;project&gt;''/''&lt;machine&gt;''" accessible by ''TFTP''.  
* a kernel image ''uImage'' in the directory "/srv/tftp/''<distro>''/''<project>''/''<machine>''" accessible by ''TFTP''.
+
*a ''rootfs'' in the directory "/srv/nfs/''&lt;distro&gt;''/''&lt;project&gt;''/''&lt;machine&gt;''" accessible by ''NFS''.
* a ''rootfs'' in the directory "/srv/nfs/''<distro>''/''<project>''/''<machine>''" accessible by ''NFS''.
 
  
We assume now that ''<distro>=poky'', ''<project>=poky-image-base'' and ''<machine>=igep0020b''.
+
We assume now that ''&lt;distro&gt;=poky'', ''&lt;project&gt;=poky-image-base'' and ''&lt;machine&gt;=igep0020b''.  
  
Thus, create the following directories on the host:
+
Thus, create the following directories on the host:  
<pre>
+
<pre>sudo mkdir -p /srv/nfs/poky/poky-image-base/igep0020b
sudo mkdir -p /srv/nfs/poky/poky-image-base/igep0020b
 
 
sudo mkdir -p /srv/tftp/poky/poky-image-base/igep0020b
 
sudo mkdir -p /srv/tftp/poky/poky-image-base/igep0020b
</pre>
+
</pre>  
Next, copy the kernel. If it was made [[How_to_setup_a_development_environment#Kernel_compilation_outside_bitbake|outside ''bitbake'']]:
+
Make sure the access rights of the directory is set correctly (use e.g. chmod 777 &lt;dir&gt;).<br>If not correct, uBoot will complain on the uBoot terminal when trying to load the kernel or on access of the rootfs.
<pre>
+
 
sudo cp $HOME/igep/linux-omap-2.6.28.10-igep0020b-2/arch/arm/boot/uImage /srv/tftp/poky/poky-image-base/igep0020b/
+
Next, copy the kernel. If it was made [[How to setup a development environment#Kernel_compilation_outside_bitbake|outside ''bitbake'']]:  
</pre>
+
<pre>sudo cp $HOME/igep/linux-omap-2.6.28.10-igep0020b-2/arch/arm/boot/uImage /srv/tftp/poky/poky-image-base/igep0020b/
or if it was made [[How_to_setup_a_development_environment#Rootfs|with the ''rootfs'']] or [[How_to_setup_a_development_environment#Kernel_compilation_under_bitbake|under''bitbake'']]:
+
</pre>  
<pre>
+
or if it was made [[How to setup a development environment#Rootfs|with the ''rootfs'']] or [[How to setup a development environment#Kernel_compilation_under_bitbake|under''bitbake'']]:  
sudo cp $HOME/igep/poky/build/tmp-igep0020b/deploy/images/uImage /srv/tftp/poky/poky-image-base/igep0020b/
+
<pre>sudo cp $HOME/igep/poky/build/tmp-igep0020b/deploy/images/uImage /srv/tftp/poky/poky-image-base/igep0020b/
</pre>
+
</pre>  
Next, install the ''rootfs'' in the good directory:
+
Next, install the ''rootfs'' in the good directory:  
<pre>
+
<pre>pushd /srv/nfs/poky/poky-image-base/igep0020b
pushd /srv/nfs/poky/poky-image-base/igep0020b
+
sudo cpio -idm&lt; $HOME/igep/poky/build/tmp-igep0020b/deploy/images/poky-image-base-igep0020b.cpio  
sudo cpio -idm< $HOME/igep/poky/build/tmp-igep0020b/deploy/images/poky-image-base-igep0020b.cpio  
 
 
popd
 
popd
</pre>
+
</pre>  
If kernel was built [[How_to_setup_a_development_environment#Kernel_compilation_outside_bitbake|outside ''bitbake'']], install kernel modules in the ''rootfs'' as follows:
+
If kernel was built [[How to setup a development environment#Kernel_compilation_outside_bitbake|outside ''bitbake'']], install kernel modules in the ''rootfs'' as follows:  
<pre>
+
<pre>cd $HOME/igep/linux-omap-2.6.28.10-igep0020b-2
cd $HOME/igep/linux-omap-2.6.28.10-igep0020b-2
 
 
source /usr/local/poky/eabi-glibc/environment-setup-arm-poky-linux-gnueabi
 
source /usr/local/poky/eabi-glibc/environment-setup-arm-poky-linux-gnueabi
 
make ARCH=arm CROSS_COMPILE=arm-poky-linux-gnueabi- modules_install INSTALL_MOD_PATH=/srv/nfs/poky/poky-image-base/igep0020b
 
make ARCH=arm CROSS_COMPILE=arm-poky-linux-gnueabi- modules_install INSTALL_MOD_PATH=/srv/nfs/poky/poky-image-base/igep0020b
</pre>
+
</pre>  
Finally, install the two servers on host:
+
Finally, install the two servers on host:  
<pre>
+
<pre>sudo apt-get install tftpd nfs-kernel-server
sudo apt-get install tftpd nfs-kernel-server
+
</pre>  
</pre>
+
By default, the ''TFTP'' server shares the "/srv/tftp" directory, which is the one we are using. If necessary, you can change this by editing the "/etc/inetd.conf" file&nbsp;:  
By default, the ''TFTP'' server shares the "/srv/tftp" directory, which is the one we are using. If necessary, you can change this by editing the "/etc/inetd.conf" file :
+
<pre>#:BOOT: TFTP service is provided primarily for booting.  Most sites
<pre>
 
#:BOOT: TFTP service is provided primarily for booting.  Most sites
 
 
#      run this only on machines acting as "boot servers."
 
#      run this only on machines acting as "boot servers."
 
tftp            dgram  udp    wait    nobody  /usr/sbin/tcpd  /usr/sbin/in.tftpd /srv/tftp
 
tftp            dgram  udp    wait    nobody  /usr/sbin/tcpd  /usr/sbin/in.tftpd /srv/tftp
</pre>
+
</pre>
 +
The configuration file of ''NFS'' server is "/etc/exports". Add the following line for each ''rootfs''&nbsp;:
 +
<pre># Poky image rootfs
 +
/srv/nfs/&lt;distro&gt;/&lt;project&gt;/&lt;machine&gt;      &lt;target_ip&gt;(rw,no_root_squash,no_subtree_check,sync)
 +
</pre>
 +
where ''&lt;target_ip&gt;'' is the ''ip'' address of the target. By default, ''igep'' address is ''192.168.254.254''. It is also possible to put ''an asterisk (*)'' to allow a wider range of addresses. In our case, write&nbsp;:
 +
<pre>/srv/nfs/poky/poky-image-base/igep0020b      192.168.254.254(rw,no_root_squash,no_subtree_check,sync)
 +
or
 +
/srv/nfs/poky/poky-image-base/igep0020b      *(rw,no_root_squash,no_subtree_check,sync)
 +
</pre>
 +
Remember execute the command:<br>
 +
<pre>$ exportfs -a
 +
</pre>
 +
Every time that you modify/update the file /etc/exports.<br>  
  
The configuration file of ''NFS'' server is "/etc/exports". Add the following line for each ''rootfs'' :
+
Note: In the rootfs on the nfs-server I had to remove the line "auto eth0" from the file /etc/network/interfaces. If this line is present, the boot process stops with the error:<br>nfs: server 192.168.2.10 not responding, still trying
<pre>
 
# Poky image rootfs
 
/srv/nfs/<distro>/<project>/<machine>      <target_ip>(rw,no_root_squash,no_subtree_check,sync)
 
</pre>
 
where ''<target_ip>'' is the ''ip'' address of the target. By default, ''igep'' address is ''192.168.254.254''. It is also possible to put ''*'' to allow a wider range of addresses. In our case, write :
 
<pre>
 
/srv/nfs/poky/poky-image-base/igep0020b      192.168.254.254(rw,no_root_squash,no_subtree_check,sync)
 
</pre>
 
  
=== Copy kernel and ''rootfs'' in ''flash'' memory ===
+
=== Copy kernel and ''rootfs'' in ''flash'' memory ===
  
Copy can be done either from ''uboot'' or ''linux''. To copy the ''rootfs'', a ''jffs2'' file is needed. If you do not need any modification to the one created [[How_to_setup_a_development_environment#Rootfs|previously]], you can jump next step. If you have made changes to the ''rootfs'' (for example when using it for [[How_to_setup_a_development_environment#Over_network|''NFS'' boot]]), you will have to build the ''jffs2'' file from the ''rootfs'' directory.
+
Copy can be done either from ''uboot'' or ''linux''. To copy the ''rootfs'', a ''jffs2'' file is needed. If you do not need any modification to the one created [[How to setup a development environment#Rootfs|previously]], you can jump next step. If you have made changes to the ''rootfs'' (for example when using it for [[How to setup a development environment#Over_network|''NFS'' boot]]), you will have to build the ''jffs2'' file from the ''rootfs'' directory.  
  
====Create the ''jffs2'' file====
+
==== Create the ''jffs2'' file ====
  
The following package needs to be installed to create the ''jffs2'' file:
+
The following package needs to be installed to create the ''jffs2'' file:  
<pre>
+
<pre>sudo apt-get install mtd-utils
sudo apt-get install mtd-utils
+
</pre>  
</pre>
+
Then use the command:  
Then use the command:
+
<pre>mkfs.jffs2 -r &lt;root file system&gt; -e &lt;erase block size&gt; -o &lt;output file&gt;
<pre>
+
</pre>  
mkfs.jffs2 -r <root file system> -e <erase block size> -o <output file>
+
where &lt;root file system&gt; is the path to the directory to copy (ie /srv/nfs/poky/poky-image-base/igep0020b), &lt;erase block size&gt; is the block size to erase in KB and &lt;output file&gt; name of the output file. Block size can be seen with the following command:  
</pre>
+
<pre>cat /proc/mtd
where <root file system> is the path to the directory to copy (ie /srv/nfs/poky/poky-image-base/igep0020b), <erase block size> is the block size to erase in KB and <output file> name of the output file.
+
</pre>  
Block size can be seen with the following command:
+
On ''igep'', it returns:  
<pre>
+
<pre>dev:    size  erasesize  name
cat /proc/mtd
 
</pre>
 
On ''igep'', it returns:
 
<pre>
 
dev:    size  erasesize  name
 
 
mtd0: 00080000 00040000 "X-Loader"
 
mtd0: 00080000 00040000 "X-Loader"
 
mtd1: 00180000 00040000 "U-Boot"
 
mtd1: 00180000 00040000 "U-Boot"
Line 435: Line 397:
 
mtd3: 00300000 00040000 "Kernel"
 
mtd3: 00300000 00040000 "Kernel"
 
mtd4: 1fa80000 00040000 "File System"
 
mtd4: 1fa80000 00040000 "File System"
</pre>
+
</pre>  
Thus, the size is 0x40000=265KB.
+
Thus, the size is 0x40000=256KB.  
  
====Copy from ''uboot''====
+
==== Copy from ''uboot'' ====
  
 +
==== Copy from ''linux''  ====
  
====Copy from ''linux''====
+
To do this, you will have to boot the card from ''nfs'' or memory card; but not from flash.
  
To do this, you will have to boot the card from ''nfs'' or memory card; but not from flash.
+
Partitions can be seen with the following command:  
 
+
<pre>cat /proc/mtd
Partitions can be seen with the following command:
+
</pre>  
<pre>
+
On ''igep'', it returns:  
cat /proc/mtd
+
<pre>dev:    size  erasesize  name
</pre>
 
On ''igep'', it returns:
 
<pre>
 
dev:    size  erasesize  name
 
 
mtd0: 00080000 00040000 "X-Loader"
 
mtd0: 00080000 00040000 "X-Loader"
 
mtd1: 00180000 00040000 "U-Boot"
 
mtd1: 00180000 00040000 "U-Boot"
Line 457: Line 416:
 
mtd3: 00300000 00040000 "Kernel"
 
mtd3: 00300000 00040000 "Kernel"
 
mtd4: 1fa80000 00040000 "File System"
 
mtd4: 1fa80000 00040000 "File System"
</pre>
+
</pre>  
To copy the kernel, erase the corresponding memory area before doing the copy:
+
To copy the kernel, erase the corresponding memory area before doing the copy:  
<pre>
+
<pre>flash_eraseall /dev/mtd3
flash_eraseall /dev/mtd3
 
 
nandwrite -p /dev/mtd3 uImage
 
nandwrite -p /dev/mtd3 uImage
</pre>
+
</pre>  
same thing for the ''rootfs''
+
same thing for the ''rootfs''  
<pre>
+
<pre>flash_eraseall /dev/mtd4
flash_eraseall /dev/mtd4
 
 
nandwrite -p /dev/mtd4 rootfs.jffs2
 
nandwrite -p /dev/mtd4 rootfs.jffs2
</pre>
+
</pre>
And now reboot. In case of errors (such as ''bad crc'' on the ''kernel'' for example), it is necessary to reflash all, see [http://wiki.myigep.com/trac/wiki/HowToUpgradeTheFactoryFirmware this].
+
Note that if you are using the ''rootfs'' built [[How to setup a development environment#Rootfs|previously]], the corresponding file should be located there:
 +
<pre>$HOME/igep/poky/build/tmp-igep0020b/deploy/images/poky-image-base-igep0020b.jffs2
 +
</pre>  
 +
And now reboot. In case of errors (such as ''bad crc'' on the ''kernel'' for example), it is necessary to reflash all, see [http://labs.isee.biz/index.php/Update_the_PRE-INSTALLED_software_image_to_a_current_release this].
  
 
=== Copy kernel and ''rootfs'' in memory card ===
 
=== Copy kernel and ''rootfs'' in memory card ===
  
 +
= Cross toolchain for the ''DSP''  =
  
= Chaine de développement croisée ''DSP'' =
+
Nota: some of the software of this section need an account on TI website. The main page for the downloads is [http://software-dl.ti.com/dsps/dsps_public_sw/sdo_sb/targetcontent/index.html this one].  
 
 
Note: certains des outils de cette section nécessitent un compte sur le site de TI pour pouvoir les télécharger. La page principale des téléchargements est [http://software-dl.ti.com/dsps/dsps_registered_sw/sdo_sb/targetcontent/index.html celle-ci].
 
 
 
=== ''Code generation tools'' ===
 
  
''TI CGT'' est le cross compilateur pour le DSP. Récupérer la dernière version [https://www-a.ti.com/downloads/sds_support/TICodegenerationTools/download.htm ici] et installer (par exemple dans le répertoire $HOME/TI/TI_CGT).
+
=== ''Code generation tools'' ===
  
=== ''DSP BIOS'' ===
+
''TI CGT'' is the cross compiler for the ''DSP''. Download last version [https://www-a.ti.com/downloads/sds_support/TICodegenerationTools/download.htm here] and install it (for example in $HOME/TI/TI_CGT directory).
  
''DSP BIOS'' est le système d'exploitation résidant dans le ''DSP''. A télécharger [http://software-dl.ti.com/dsps/dsps_public_sw/sdo_sb/targetcontent/dspbios/index.html ici] et installer (par exemple dans le répertoire $HOME/TI/BIOS).
+
=== ''DSP BIOS'' ===
  
=== ''XDC Tools'' ===
+
''DSP BIOS'' is the operating system running on the ''DSP''. Download it from [http://software-dl.ti.com/dsps/dsps_public_sw/sdo_sb/targetcontent/dspbios/index.html here] and install it (for example in $HOME/TI/BIOS directory).
  
A télécharger [http://software-dl.ti.com/dsps/dsps_registered_sw/sdo_sb/targetcontent/rtsc/index.html ici] et installer (par exemple dans le répertoire '$HOME/TI/xdctools).
+
=== ''XDC Tools''  ===
  
=== ''DSP Link'' ===
+
Download it from [http://software-dl.ti.com/dsps/dsps_public_sw/sdo_sb/targetcontent/rtsc/ here] and install it (for example in $HOME/TI/xdctools directory). ''XDC Tools'' is needed for ''DSP Link'' compilation.
  
''DSPLink'' permet la communication entre ''ARM'' et ''DSP''. A télécharger [http://software-dl.ti.com/dsps/dsps_registered_sw/sdo_sb/targetcontent/link/link_1_60/index.html ici]. Décompresser le par exemple dans le répertoire $HOME/igep/dsplink.
+
=== ''DSP Link'' ===
  
Ajouter une variable d'environnement DSPLINK contenant le chemin du répertoire de ''DSPLINK'', par exemple en ajoutant au .bashrc la ligne suivante: (penser à faire un log out/log in ensuite)
+
''DSPLink'' allows communication between ''ARM'' and ''DSP''. Download it from [http://software-dl.ti.com/dsps/dsps_public_sw/DSPLink/index.html here]. Uncompress it into the $HOME/igep/dsplink directory.
  
 +
Then, add an environment variable ''DSPLINK'' with the path to the directory of ''DSPLINK''. For exemple, edd the following line to .bashrc file: (remember to log out/log in after this)
 
<pre>
 
<pre>
 
export DSPLINK=$HOME/igep/dsplink_linux_1_63/dsplink
 
export DSPLINK=$HOME/igep/dsplink_linux_1_63/dsplink
</pre>
+
</pre>  
 
+
go to $(DSPLINK)/config/bin directory and execute:  
aller dans le répertoire $(DSPLINK)/config/bin et lancer :
 
 
 
 
<pre>
 
<pre>
 
perl dsplinkcfg.pl --platform=OMAP3530 --nodsp=1 --dspcfg_0=OMAP3530SHMEM --dspos_0=DSPBIOS5XX --gppos=OMAPLSP --comps=PONSLRMC
 
perl dsplinkcfg.pl --platform=OMAP3530 --nodsp=1 --dspcfg_0=OMAP3530SHMEM --dspos_0=DSPBIOS5XX --gppos=OMAPLSP --comps=PONSLRMC
 
</pre>  
 
</pre>  
pour configurer ''DSPLINK''. Pour comprendre ce que fait chacune de ces options, lancer simplement :
+
This will configure ''DSPLINK''. To understand each of the option we passed, run:  
 
<pre>
 
<pre>
 
perl dsplinkcfg.pl
 
perl dsplinkcfg.pl
</pre>
+
</pre>  
et ajouter les options au fur et à mesure. Si tout se passe bien, le message suivant devrait apparaitre :
+
and add options one by one. If everything is alright, the following message will appear:
 
 
 
<pre>
 
<pre>
 
Please edit the following files for toolchains, kernel sources, etc changes.
 
Please edit the following files for toolchains, kernel sources, etc changes.
Line 515: Line 470:
 
GPP side distribution file: $DSPLINK/gpp/src/Rules.mk
 
GPP side distribution file: $DSPLINK/gpp/src/Rules.mk
 
DSP side distribution file: $DSPLINK/make/DspBios/c64xxp_5.xx_linux.mk
 
DSP side distribution file: $DSPLINK/make/DspBios/c64xxp_5.xx_linux.mk
</pre>
+
</pre>  
ce sont les fichiers à éditer pour adapter à notre configuration.
+
which are the files we need to edit and adapt to our configuration.
  
Pour le fichier $DSPLINK/make/Linux/omap3530_2.6.mk, changer (et adapter si besoin) les valeurs suivantes:
+
For $DSPLINK/make/Linux/omap3530_2.6.mk file, change (and adapt if needed) the following values:  
 
<pre>
 
<pre>
 
#  ============================================================================
 
#  ============================================================================
Line 527: Line 482:
 
#  Base directory for the GPP OS
 
#  Base directory for the GPP OS
 
#  ----------------------------------------------------------------------------
 
#  ----------------------------------------------------------------------------
BASE_BUILDOS   :=${HOME}/igep/linux-omap-2.6.28.10-igep0020b-2
+
BASE_BUILDOS   :=${HOME}/igep/linux-omap-2.6.28.10-igep0020b-2
  
 
#  ----------------------------------------------------------------------------
 
#  ----------------------------------------------------------------------------
 
#  Base for toolchain
 
#  Base for toolchain
 
#  ----------------------------------------------------------------------------
 
#  ----------------------------------------------------------------------------
BASE_TOOLCHAIN := /usr/local/poky/eabi-glibc
+
BASE_TOOLCHAIN := /usr/local/poky/eabi-glibc
  
 
#  ----------------------------------------------------------------------------
 
#  ----------------------------------------------------------------------------
 
#  Base directory for include files provided by GPP OS
 
#  Base directory for include files provided by GPP OS
 
#  ----------------------------------------------------------------------------
 
#  ----------------------------------------------------------------------------
BASE_OSINC     := $(BASE_BUILDOS)/include
+
BASE_OSINC     := $(BASE_BUILDOS)/include
  
OSINC_GENERIC   := $(BASE_OSINC)
+
OSINC_GENERIC := $(BASE_OSINC)
OSINC_PLATFORM := $(BASE_TOOLCHAIN)/lib/gcc/arm-poky-linux-gnueabi/4.3.3/include
+
OSINC_PLATFORM := $(BASE_TOOLCHAIN)/lib/gcc/arm-poky-linux-gnueabi/4.3.3/include
OSINC_TARGET   := $(BASE_TOOLCHAIN)/arm-poky-linux-gnueabi/libc/usr/include
+
OSINC_TARGET   := $(BASE_TOOLCHAIN)/arm-poky-linux-gnueabi/libc/usr/include
  
 
#  ============================================================================
 
#  ============================================================================
Line 550: Line 505:
 
#  Name of the compiler
 
#  Name of the compiler
 
#  ----------------------------------------------------------------------------
 
#  ----------------------------------------------------------------------------
COMPILER       := $(BASE_CGTOOLS)/arm-poky-linux-gnueabi-gcc
+
COMPILER       := $(BASE_CGTOOLS)/arm-poky-linux-gnueabi-gcc
LD             := $(BASE_CGTOOLS)/arm-poky-linux-gnueabi-ld
+
LD             := $(BASE_CGTOOLS)/arm-poky-linux-gnueabi-ld
  
CROSS_COMPILE   := arm-poky-linux-gnueabi-
+
CROSS_COMPILE := arm-poky-linux-gnueabi-
 
export CROSS_COMPILE
 
export CROSS_COMPILE
  
Line 559: Line 514:
 
#  ARCHIVER2 - This denotes the archiver.
 
#  ARCHIVER2 - This denotes the archiver.
 
#  ============================================================================
 
#  ============================================================================
ARCHIVER       := $(BASE_CGTOOLS)/arm-poky-linux-gnueabi-ar
+
ARCHIVER       := $(BASE_CGTOOLS)/arm-poky-linux-gnueabi-ar
  
 
#  ============================================================================
 
#  ============================================================================
 
#  LINKER - The compiler is used for linking purpose as well.
 
#  LINKER - The compiler is used for linking purpose as well.
 
#  ============================================================================
 
#  ============================================================================
LINKER     := $(BASE_CGTOOLS)/arm-poky-linux-gnueabi-gcc
+
LINKER     := $(BASE_CGTOOLS)/arm-poky-linux-gnueabi-gcc
</pre>
+
</pre>  
Pour le fichier $DSPLINK/gpp/src/Rules.mk, changer (et adapter si besoin) :
+
For $DSPLINK/gpp/src/Rules.mk file, change (and adapt if needed):  
 
<pre>
 
<pre>
 
ifeq ("$(TI_DSPLINK_PLATFORM)", "OMAP3530")
 
ifeq ("$(TI_DSPLINK_PLATFORM)", "OMAP3530")
KERNEL_DIR   := ${HOME}/igep/linux-omap-2.6.28.10-igep0020b-2
+
KERNEL_DIR   &nbsp;:= ${HOME}/igep/linux-omap-2.6.28.10-igep0020b-2
TOOL_PATH     := /usr/local/poky/eabi-glibc/bin
+
TOOL_PATH   &nbsp;:= /usr/local/poky/eabi-glibc/bin
 
endif #ifeq ("$(TI_DSPLINK_PLATFORM)", "OMAP3530")
 
endif #ifeq ("$(TI_DSPLINK_PLATFORM)", "OMAP3530")
</pre>
+
</pre>  
ainsi que :
+
and also:  
 
<pre>
 
<pre>
 
ifeq ("$(TI_DSPLINK_GPPOSPREFIX)", "uc")
 
ifeq ("$(TI_DSPLINK_GPPOSPREFIX)", "uc")
Line 582: Line 537:
 
MAKE_OPTS = ARCH=arm CROSS_COMPILE=$(TOOL_PATH)/arm-poky-linux-gnueabi-
 
MAKE_OPTS = ARCH=arm CROSS_COMPILE=$(TOOL_PATH)/arm-poky-linux-gnueabi-
 
endif # ifeq ("$(TI_DSPLINK_GPPOSPREFIX)", "uc")
 
endif # ifeq ("$(TI_DSPLINK_GPPOSPREFIX)", "uc")
</pre>
+
</pre>  
Pour le fichier $DSPLINK/make/DspBios/c64xxp_5.xx_linux.mk, changer (et adapter si besoin) :
+
Finally, for $DSPLINK/make/DspBios/c64xxp_5.xx_linux.mk file, change (and adapt if needed):
 
<pre>
 
<pre>
 
#  ----------------------------------------------------------------------------
 
#  ----------------------------------------------------------------------------
 
#  Base directory for the DSP OS
 
#  Base directory for the DSP OS
 
#  ----------------------------------------------------------------------------
 
#  ----------------------------------------------------------------------------
BASE_INSTALL   := $(HOME)/TI
+
BASE_INSTALL   &nbsp;:= $(HOME)/TI
BASE_SABIOS     := $(BASE_INSTALL)/bios_5_41_03_17
+
BASE_SABIOS   &nbsp;:= $(BASE_INSTALL)/bios_5_41_03_17
BASE_BUILDOS   := $(BASE_SABIOS)/packages/ti/bios
+
BASE_BUILDOS   &nbsp;:= $(BASE_SABIOS)/packages/ti/bios
  
 
#  ----------------------------------------------------------------------------
 
#  ----------------------------------------------------------------------------
 
#  Base directory for the XDC tools
 
#  Base directory for the XDC tools
 
#  ----------------------------------------------------------------------------
 
#  ----------------------------------------------------------------------------
XDCTOOLS_DIR   := $(BASE_INSTALL)/xdctools_3_15_00_50
+
XDCTOOLS_DIR   &nbsp;:= $(BASE_INSTALL)/xdctools_3_15_00_50
  
 
#  ----------------------------------------------------------------------------
 
#  ----------------------------------------------------------------------------
 
#  Base for code generation tools - compiler, linker, archiver etc.
 
#  Base for code generation tools - compiler, linker, archiver etc.
 
#  ----------------------------------------------------------------------------
 
#  ----------------------------------------------------------------------------
BASE_CGTOOLS   := $(BASE_INSTALL)/TI_CGT_C6000_6.1.13
+
BASE_CGTOOLS   &nbsp;:= $(BASE_INSTALL)/TI_CGT_C6000_6.1.13
BASE_CGTOOLSBIN := $(BASE_CGTOOLS)/bin
+
BASE_CGTOOLSBIN&nbsp;:= $(BASE_CGTOOLS)/bin
 
</pre>
 
</pre>
 
+
Then, go to the $DSPLINK/dsp/src directory and execute:
Aller ensuite dans le répertoire $DSPLINK/dsp/src et faire :
 
 
 
 
<pre>
 
<pre>
 
make -s
 
make -s
</pre>
+
</pre>  
 
+
do the same in $DSPLINK/gpp/src directory:  
de même dans le répertoire $DSPLINK/gpp/src :
 
 
<pre>
 
<pre>
 
make -s
 
make -s
</pre>
+
</pre>  
ce qui aura pour effet de compiler le module dsplinkk.ko (dans le répertoire $DSPLINK/gpp/export/BIN/Linux/OMAP3530/RELEASE)
+
this will compile dsplinkk.ko module (it will be placed in the $DSPLINK/gpp/export/BIN/Linux/OMAP3530/RELEASE directory).
 +
 
 +
Attention: You may encounter compilations problems with SZ_2K symbol. In this case modify all the files causing problem by replacing SZ_2K occurences by (2*SZ_1K).
  
Des programmes exemples se trouvent dans les répertoires $DSPLINK/dsp/src/samples et $DSPLINK/gpp/src/samples, à compiler avec
+
Some examples programs are located in the $DSPLINK/dsp/src/samples and $DSPLINK/gpp/src/samples directories. Compile it with:
 
<pre>
 
<pre>
 
make
 
make
 
</pre>
 
</pre>
  
=== ''CMEM'' ===
+
=== ''CMEM'' ===
  
'''NOTE:''' les versions 2.25 et 2.25.01.06 ont des soucis au niveau des ''ioctl'' [http://e2e.ti.com/support/arm174_microprocessors/omap_applications_processors/f/42/p/36278/126821.aspx#126821 voir ici], ce qui affecte notamment les manipulations de cache (writeback et invalidate). La version 2.25.02.08 est sensée corriger cela (à tester). Sinon, travailler sur les versions 2.24  
+
'''NOTA:''' versions 2.25 and 2.25.01.06 have problems with ''ioctl'' [http://e2e.ti.com/support/arm174_microprocessors/omap_applications_processors/f/42/p/36278/126821.aspx#126821 see here], which affect cache manipulations (writeback and invalidate). Version 2.25.02.08 should solve these problems (not tested). Otherwise, you can use 2.24 versions.
  
 
+
''CMEM'', or ''contiguous memory manager'' allows to allocate shared memory between ''ARM'' and ''DSP''. It is part of the ''linuxutils'', download it from [http://software-dl.ti.com/dsps/dsps_public_sw/sdo_sb/targetcontent/linuxutils/index.html here] and decompress it. Go to linuxutils_2_25_02_08/packages/ti/sdo/linuxutils/cmem directory. Remove the write protection to Rules.make file:  
''CMEM'', ou ''contiguous memory manager'' permet d'allouer de la mémoire partagée entre ''ARM'' et ''DSP''. Il fait partie des ''linuxutils'', à télécharger [http://software-dl.ti.com/dsps/dsps_public_sw/sdo_sb/targetcontent/linuxutils/index.html ici]. Aller dans le répertoire linuxutils_2_25_02_08/packages/ti/sdo/linuxutils/cmem et donner l'accès en écriture au fichier Rules.make :
 
 
<pre>
 
<pre>
 
chmod +w Rules.make
 
chmod +w Rules.make
</pre>
+
</pre>  
Puis éditer ce fichier et changer (adapter si besoin) :
+
Then edit it and change (adapt it if needed):  
 
<pre>
 
<pre>
 
# For "kernel_org" builds
 
# For "kernel_org" builds
Line 640: Line 593:
 
# For OMAP3530 2.6.29 Linux kernel
 
# For OMAP3530 2.6.29 Linux kernel
 
LINUXKERNEL_INSTALL_DIR=$(HOME)/igep/linux-omap-2.6.28.10-igep0020b-2
 
LINUXKERNEL_INSTALL_DIR=$(HOME)/igep/linux-omap-2.6.28.10-igep0020b-2
</pre>
+
</pre>  
 
+
Then execute
Puis faire
+
<pre>make release
<pre>
+
</pre>  
make release
+
to compile cmemk.ko module (it will be placed in ./src/module directory).  
</pre>
 
pour compiler le module cmemk.ko (dans le réperoire ./src/module).
 
 
 
=== ''Framework Components'' ===
 
 
 
Les ''Framework Components'' incluent entre autres les librairies ''DMAN3'' et ''ACPY3'', permettant les copies par ''DMA''. A télécharger [http://software-dl.ti.com/dsps/dsps_registered_sw/sdo_sb/targetcontent/FC/index.html ici] et à décompresser par exemple dans "$HOME/TI/framework_components_2_24_01".
 
  
 +
=== ''Framework Components''  ===
  
=== ''Local Power Manager (LPM)'' ===
+
''Framework Components'' include some libraries like ''DMAN3'' and ''ACPY3'', allowing ''DMA'' copy. Download it from [http://software-dl.ti.com/dsps/dsps_public_sw/sdo_sb/targetcontent/fc/index.html here] and decompress it for example in $HOME/TI/framework_components_2_24_01 directory.
  
''LPM'' fait aussi partie des ''Linux Utilities'', mais ne semble plus intégré dans les nouvelles versions. Il se trouve avec les anciennes versions de ''linuxutils'', [http://software-dl.ti.com/dsps/dsps_registered_sw/sdo_sb/targetcontent/linuxutils/old.html ici].
+
=== ''Local Power Manager (LPM)'' ===
  
''LPM'' permet de redémarrer le ''DSP'' à la volée. En effet, par défaut ''DSPLink'' garde dans la mémoire cache le programme exécuté par le ''DSP''. La même application peut donc être lancée plusieurs fois à la suite, par contre si une nouvelle application est lancée, il y aura plantage; d'où l'intérêt de ''LPM''.
+
''LPM'' also belongs to the ''Linux Utilities'', but it seems that it is no longer included in the newest versions. So, you can download it from [http://software-dl.ti.com/dsps/dsps_public_sw/sdo_sb/targetcontent/lpm/index.html here].  
  
Aller dans le répertoire local_power_manager_1_24/packages/ti/bios/power/modules/omap3530/lpm et éditer le Makefile pour changer:
+
''LPM'' allows to reset the ''DSP''. Indeed, by default, ''DSPLink'' keeps in the cache memory the program executed by the ''DSP''. So, the same application can be executed several times, but if a new applications is run, the ''DSP'' will crash; that is why we need ''LPM''.
  
 +
Go to the local_power_manager_1_24/packages/ti/bios/power/modules/omap3530/lpm directory end edit the Makefile to change:
 
<pre>
 
<pre>
 
LINUXKERNEL_INSTALL_DIR = $(HOME)/igep/linux-omap-2.6.28.10-igep0020b-2
 
LINUXKERNEL_INSTALL_DIR = $(HOME)/igep/linux-omap-2.6.28.10-igep0020b-2
 
MVTOOL_PREFIX = /usr/local/poky/eabi-glibc/bin/arm-poky-linux-gnueabi-
 
MVTOOL_PREFIX = /usr/local/poky/eabi-glibc/bin/arm-poky-linux-gnueabi-
 
DSPLINK_REPO = $(HOME)/igep/dsplink_linux_1_63
 
DSPLINK_REPO = $(HOME)/igep/dsplink_linux_1_63
 +
</pre>
 +
the compile
 +
<pre>make
 +
</pre>
 +
the lpm_omap3530.ko module will be placed in the current directory.
 +
 +
The lpmON.x470uC and lpmOFF.x470uC executables are already compiled and can be found in the following directories:
 +
 +
local_power_manager_1_24/packages/ti/bios/power/test/bin/ti_platforms_evm3530/linux/debug/
 +
 +
local_power_manager_1_24/packages/ti/bios/power/test/bin/ti_platforms_evm3530/linux/release/
 +
 +
or in the following directories: (for the latest versions of LPM)
 +
 +
local_power_manager_1_24/packages/ti/bios/power/utils/bin/ti_platforms_evm3530/linux/debug/
 +
 +
local_power_manager_1_24/packages/ti/bios/power/utils/bin/ti_platforms_evm3530/linux/release/
 +
 +
Note: if you get compiler errors like:
 +
<pre>TI/local_power_manager_linux_1_24_02_09/packages/ti/bios/power/modules/omap3530/lpm/lpm_driver.c: In function 'lpm_open':
 +
TI/local_power_manager_linux_1_24_02_09/packages/ti/bios/power/modules/omap3530/lpm/lpm_driver.c:474: error: implicit declaration of function 'kmalloc'
 +
TI/local_power_manager_linux_1_24_02_09/packages/ti/bios/power/modules/omap3530/lpm/lpm_driver.c:474: warning: assignment makes pointer from integer without a cast
 +
TI/local_power_manager_linux_1_24_02_09/packages/ti/bios/power/modules/omap3530/lpm/lpm_driver.c:500: error: implicit declaration of function 'kfree'
 
</pre>
 
</pre>
 
+
please add:
puis compiler
+
<pre>#include <linux/slab.h>
<pre>
 
make
 
 
</pre>
 
</pre>
le module lpm_omap3530.ko sera fait dans le répertoire courent.
+
to lpm_driver.c.
 
 
Les exécutables lpmON.x470uC et lpmOFF.x470uC sont déjà compilés et se trouvent dans les répertoires:
 
  
local_power_manager_1_24/packages/ti/bios/power/test/bin/ti_platforms_evm3530/linux/debug/
 
  
local_power_manager_1_24/packages/ti/bios/power/test/bin/ti_platforms_evm3530/linux/release/
+
=== Libraries  ===
  
=== Librairies ===
+
The interesting libraries are the followings:
  
Les principales librairies sont les suivantes:
+
*[http://focus.ti.com/docs/toolsw/folders/print/sprc265.html dsplib]  
*[http://focus.ti.com/docs/toolsw/folders/print/sprc265.html dsplib]
+
*[http://focus.ti.com/docs/toolsw/folders/print/sprc264.html dsp image lib]  
*[http://focus.ti.com/docs/toolsw/folders/print/sprc264.html dsp image lib]
 
 
*[http://focus.ti.com/docs/toolsw/folders/print/sprc542.html IQ Math]
 
*[http://focus.ti.com/docs/toolsw/folders/print/sprc542.html IQ Math]
  
A noter, pour les dsplib v210, le lien Linux semble ne pas marcher. A partir de la version Windows, il faut changer le fichier C64x+DSPLIB/dsplib_v210/dsplib64plus.h. Tous les chemins relatifs sont en notation Windows "\" qu'il faut remplacer par des "/".
+
Note that for ''dsplib v210'', the linux link seems to be broken. From Windows version, you will have to change C64x+DSPLIB/dsplib_v210/dsplib64plus.h files. Indeed, all relative paths are in Windows notation (eg "\"), which you will have to change to  "/".
 
 
  
 
<!-- pour loop fft, changer le fichier sources pour mettre le chemin des fichiers c de dsplib
 
<!-- pour loop fft, changer le fichier sources pour mettre le chemin des fichiers c de dsplib
 
changer aussi le chemin des .h dans tskloop.c -->
 
changer aussi le chemin des .h dans tskloop.c -->
  
= Configurer ''DSPLINK'' pour la compilation de projets =
+
= Configure ''DSPLINK'' to compile projects  =
  
Cette partie explique comment rajouter les diverses librairies à l'environnement ''DSPLINK''  
+
This part explains how to add libraries to ''DSPLINK'' environment.
  
=== ''Includes'' ===
+
=== ''Includes'' ===
  
Éditer le fichier $DSPLINK/make/DspBios/c64xxp_5.xx_linux.mk pour rajouter les répertoires ''includes'':
+
Edit file $DSPLINK/make/DspBios/c64xxp_5.xx_linux.mk and add the ''includes'' directories:
 
+
<pre>#  ----------------------------------------------------------------------------
<pre>
 
#  ----------------------------------------------------------------------------
 
 
#  Base directory for include files
 
#  Base directory for include files
 
#  ----------------------------------------------------------------------------
 
#  ----------------------------------------------------------------------------
BASE_OSINC     := $(BASE_BUILDOS)/include
+
BASE_OSINC     &nbsp;:= $(BASE_BUILDOS)/include
BASE_CGTOOLSINC := $(BASE_CGTOOLS)/include
+
BASE_CGTOOLSINC&nbsp;:= $(BASE_CGTOOLS)/include
BASE_RTDXINC   := $(BASE_RTDX)/include/c6000
+
BASE_RTDXINC   &nbsp;:= $(BASE_RTDX)/include/c6000
BASE_PSLINC     := $(BASE_PSL)/include
+
BASE_PSLINC   &nbsp;:= $(BASE_PSL)/include
BASE_CSLINC     :=
+
BASE_CSLINC   &nbsp;:=
 
BASE_XDCINC := $(BASE_INSTALL)/xdctools_3_15_00_50/packages
 
BASE_XDCINC := $(BASE_INSTALL)/xdctools_3_15_00_50/packages
 
BASE_FCINC := $(BASE_INSTALL)/framework_components_2_24_01/packages
 
BASE_FCINC := $(BASE_INSTALL)/framework_components_2_24_01/packages
Line 715: Line 678:
 
BASE_IQMATHINC := $(BASE_INSTALL)/IQmath_v213/include
 
BASE_IQMATHINC := $(BASE_INSTALL)/IQmath_v213/include
  
OSINC_GENERIC   := $(BASE_OSINC)
+
OSINC_GENERIC &nbsp;:= $(BASE_OSINC)
OSINC_PLATFORM := $(BASE_CGTOOLSINC) $(BASE_RTDXINC) \
+
OSINC_PLATFORM &nbsp;:= $(BASE_CGTOOLSINC) $(BASE_RTDXINC) \
 
                   $(BASE_PSLINC) $(BASE_CSLINC)  $(BASE_XDCINC) $(BASE_FCINC) $(BASE_FCTOOLINC) $(BASE_IMGLIBINC) $(BASE_IQMATHINC)
 
                   $(BASE_PSLINC) $(BASE_CSLINC)  $(BASE_XDCINC) $(BASE_FCINC) $(BASE_FCTOOLINC) $(BASE_IMGLIBINC) $(BASE_IQMATHINC)
</pre>
+
</pre>  
Les variables OSINC_GENERIC et OSINC_PLATFORM permettent de définir les répertoires où ''DSPLINK'' cherchera les ''.h''.
+
The variables OSINC_GENERIC and OSINC_PLATFORM allow to setup the directories where ''DSPLINK'' will look for ''.h'' files.  
  
=== Librairies ===
+
=== Libraries  ===
  
Par défaut, ''DSPLINK'' cherche les librairies dans les répertoires:
+
By defualt, ''DSPLINK'' is searching the libraries in the directories:  
<pre>
+
<pre>$DSPLINK/dsp/BUILD/OMAP3530_0/EXPORT/DEBUG/
$DSPLINK/dsp/BUILD/OMAP3530_0/EXPORT/DEBUG/
 
 
$DSPLINK/dsp/BUILD/OMAP3530_0/EXPORT/RELEASE/
 
$DSPLINK/dsp/BUILD/OMAP3530_0/EXPORT/RELEASE/
</pre>
+
</pre>  
Il faut donc y copier les différentes libraires:
+
Thus, you have to copy the libraries in the right place:
<pre>
+
<pre>cp $HOME/TI/framework_components_2_24_01/packages/ti/sdo/fc/dman3/lib/debug/dman3.a64P $DSPLINK/dsp/BUILD/OMAP3530_0/EXPORT/DEBUG/
cp $HOME/TI/framework_components_2_24_01/packages/ti/sdo/fc/dman3/lib/debug/dman3.a64P $DSPLINK/dsp/BUILD/OMAP3530_0/EXPORT/DEBUG/
 
 
cp $HOME/TI/framework_components_2_24_01/packages/ti/sdo/fc/dman3/lib/release/dman3.a64P $DSPLINK/dsp/BUILD/OMAP3530_0/EXPORT/RELEASE/
 
cp $HOME/TI/framework_components_2_24_01/packages/ti/sdo/fc/dman3/lib/release/dman3.a64P $DSPLINK/dsp/BUILD/OMAP3530_0/EXPORT/RELEASE/
 
cp $HOME/TI/framework_components_2_24_01/packages/ti/sdo/fc/acpy3/lib/debug/acpy3.a64P $DSPLINK/dsp/BUILD/OMAP3530_0/EXPORT/DEBUG/
 
cp $HOME/TI/framework_components_2_24_01/packages/ti/sdo/fc/acpy3/lib/debug/acpy3.a64P $DSPLINK/dsp/BUILD/OMAP3530_0/EXPORT/DEBUG/
Line 738: Line 699:
 
</pre>
 
</pre>
  
= Configure ''CodeBlocks'' for ''ARM''=
+
= Configure ''CodeBlocks'' for ''ARM'' =
  
This part explains how to setup ''CodeBlocks'' to develop programs using ''dsplink'' library.
+
This part explains how to setup ''CodeBlocks'' to develop programs using ''dsplink'' library.  
  
Go to ''settings/compiler and debugger'' menu, choose ''GNU ARM GCC compiler'' as compiler. You should see the following window:
+
Go to ''settings/compiler and debugger'' menu, choose ''GNU ARM GCC compiler'' as compiler. You should see the following window:  
  
[[Image:settings.jpg|center|500px]]
+
[[Image:Settings.jpg|center|500px]]  
  
Select ''Search directories'' tab and ''Compiler''. Then add the following directories (and adapt it if necessary):
+
Select ''Search directories'' tab and ''Compiler''. Then add the following directories (and adapt it if necessary):  
<pre>
+
<pre>/usr/local/poky/eabi-glibc/arm-none-linux-gnueabi/lib
/usr/local/poky/eabi-glibc/arm-none-linux-gnueabi/lib
 
 
$(HOME)/igep/dsplink_linux_1_63/dsplink/gpp/inc/sys/Linux
 
$(HOME)/igep/dsplink_linux_1_63/dsplink/gpp/inc/sys/Linux
 
$(HOME)/igep/dsplink_linux_1_63/dsplink/gpp/export/INCLUDE/Linux/OMAP3530/usr
 
$(HOME)/igep/dsplink_linux_1_63/dsplink/gpp/export/INCLUDE/Linux/OMAP3530/usr
</pre>
+
</pre>  
Which should give the following result:
+
Which should give the following result:  
  
[[Image:compiler.jpg|center|500px]]
+
[[Image:Compiler.jpg|center|500px]]  
 +
<!--
 +
In ''Search directories'', now choose ''Linker'' and add the following directories:
 +
<pre>$(HOME)/dsplink_linux_1_63/dsplink/gpp/inc/sys/Linux
 +
</pre>
 +
Which should give the following result:
  
In ''Search directories'', now choose ''Linker'' and add the following directories:
+
[[Image:Linker.jpg|center|500px]]
<pre>
+
-->
$(HOME)/dsplink_linux_1_63/dsplink/gpp/inc/sys/Linux
+
Choose ''Toolchain executables'' tab and ''Compiler's installations directory'':  
</pre>
+
<pre>/usr/local/poky/eabi-glibc/
Which should give the following result:
+
</pre>  
 +
Then, enter the ''Program Files'' as follows:  
  
[[Image:linker.jpg|center|500px]]
+
[[Image:Executables.jpg|center|500px]]
  
Choose ''Toolchain executables'' tab and ''Compiler's installations directory'':
+
= References =
<pre>
 
/usr/local/poky/eabi-glibc/
 
</pre>
 
Then, enter the ''Program Files'' as follows:
 
  
[[Image:executables.jpg|center|500px]]
+
[http://www.pokylinux.org/doc/poky-handbook.html Poky Handbook]  
  
= References=
+
[http://wiki.davincidsp.com/index.php/Building_DSPLink Building DSPLink]
[http://wiki.myigep.com/trac/wiki/HowToGetThePokyLinuxDistribution How To Get The Poky Linux Distribution]
 
 
 
[http://www.pokylinux.org/doc/poky-handbook.html Poky Handbook]
 
  
[http://wiki.myigep.com/trac/wiki/HowToCrossCompileTheLinuxKernel How To Cross Compile The Linux Kernel]
+
[http://hilbert-space.de/?p=14 Compiling CMEM]
  
[http://wiki.myigep.com/trac/wiki/HowToUpgradeTheFactoryFirmware How To Upgrade The Factory Firmware]
+
[[Category:How to forge|Development environment]]
 
+
[[Category:Development tools]]
[http://wiki.davincidsp.com/index.php/Building_DSPLink Building DSPLink]
+
[[Category:Tutorials]]

Latest revision as of 10:36, 31 December 2013

This tutorial was written for the igep revB board, but it is transposable to other OMAP3530 boards (above all for the DSP part). It is a summary (with some adaptations) of several tutorials found on Internet (see References). All files will be installed in the $HOME directory.

link={{{link}}} A newer version of this information may be available: Visit the IGEP SDK Virtual Machine for updated information


Rootfs

This section describes how to obtain the Poky distribution. This is the distribution shipped with the igep board; it is based on Open Embedded.

The first thing to do is set Bash as default sh shell:

sudo dpkg-reconfigure dash

answer no to the question. Thus, "/bin/sh" will point towards "/bin/bash" (and not "/bin/dash"). Then, some kernels settings have to be changed. Edit the file "/etc/sysctl.conf" as root and set :

vm.mmap_min_addr = 0

then, to take the modification into account:

sudo sysctl -p

Some additional packages need to be installed to satisfy bitbake dependencies. First, add the following repositories to "/etc/apt/sources.list" :

deb http://debian.o-hand.com etch/
deb http://debian.o-hand.com unstable/
deb http://debian.o-hand.com feisty/
deb http://debian.o-hand.com gutsy/
deb http://debian.o-hand.com hardy/

Update the data base and install the following packages:

sudo apt-get update
sudo aptitude install python-psyco hgsvn qemu poky-depends poky-scripts

Then, download and decompress the last stable version of Poky:

mkdir -p $HOME/igep/poky
cd $HOME/igep/poky
wget http://pokylinux.org/releases/poky-purple-3.2.tar.bz2
tar -xjf poky-purple-3.2.tar.bz2

The configuration file of Poky is located in the directory $HOME/igep/poky/build/conf :

cd build/conf
nano local.conf

And paste the modified version for the igep board:

# Where to cache the files Poky downloads
DL_DIR ?= "${OEROOT}/sources"
BBFILES += "\
    ${OEROOT}/meta/packages/*/*.bb \
    ${OEROOT}/meta-moblin/packages/*/*.bb"

BBFILE_COLLECTIONS = "normal moblin"
BBFILE_PATTERN_normal = "^${OEROOT}/meta/"
BBFILE_PATTERN_moblin = "^${OEROOT}/meta-moblin/"

BBFILE_PRIORITY_normal = "5"
BBFILE_PRIORITY_moblin = "5"

# Uncomment and set to allow bitbake to execute multiple tasks at once.
# For a quadcore, BB_NUMBER_THREADS = "4", PARALLEL_MAKE = "-j 4" would
# be appropriate.
BB_NUMBER_THREADS = "4"
# Also, make can be passed flags so it run parallel threads e.g.:
# PARALLEL_MAKE = "-j 2"

# The machine to target
MACHINE ?= "igep0020b"

TARGET_FPU_arm ?= "hard"

# Other supported machines
#MACHINE ?= "qemux86"
#MACHINE ?= "qemuarm"
#MACHINE ?= "c7x0"
#MACHINE ?= "akita"
#MACHINE ?= "spitz"
#MACHINE ?= "nokia770"
#MACHINE ?= "nokia800"
#MACHINE ?= "fic-gta01"
#MACHINE ?= "bootcdx86"
#MACHINE ?= "cm-x270"
#MACHINE ?= "em-x270"
#MACHINE ?= "htcuniversal"
#MACHINE ?= "mx31ads"
#MACHINE ?= "mx31litekit"
#MACHINE ?= "mx31phy"
#MACHINE ?= "netbook"
#MACHINE ?= "zylonite"

DISTRO ?= "poky"
# For bleeding edge / experimental / unstable package versions
# DISTRO ?= "poky-bleeding"

# Poky has various extra metadata collections (openmoko, extras).
# To enable these, uncomment all (or some of) the following lines:
# BBFILES = "\
#    ${OEROOT}/meta/packages/*/*.bb \
#    ${OEROOT}/meta-extras/packages/*/*.bb \
#    ${OEROOT}/meta-openmoko/packages/*/*.bb \
#    ${OEROOT}/meta-moblin/packages/*/*.bb \
#    "
# BBFILE_COLLECTIONS = "normal extras openmoko moblin"
# BBFILE_PATTERN_normal = "^${OEROOT}/meta/"
# BBFILE_PATTERN_extras = "^${OEROOT}/meta-extras/"
# BBFILE_PATTERN_openmoko = "^${OEROOT}/meta-openmoko/"
# BBFILE_PATTERN_moblin = "^${OEROOT}/meta-moblin/"
# BBFILE_PRIORITY_normal = "5"
# BBFILE_PRIORITY_extras = "5"
# BBFILE_PRIORITY_openmoko = "5"
# BBFILE_PRIORITY_moblin = "5"

BBMASK = ""

# EXTRA_IMAGE_FEATURES allows extra packages to be added to the generated images
# (Some of these are automatically added to certain image types)
# "dbg-pkgs"     - add -dbg packages for all installed packages
#                  (adds symbol information for debugging/profiling)
# "dev-pkgs"     - add -dev packages for all installed packages
#                  (useful if you want to develop against libs in the image)
# "tools-sdk"      - add development tools (gcc, make, pkgconfig etc.)
# "tools-debug"    - add debugging tools (gdb, strace)
# "tools-profile"  - add profiling tools (oprofile, exmap, lttng valgrind (x86 only))
# "tools-testapps" - add useful testing tools (ts_print, aplay, arecord etc.)
# "debug-tweaks"   - make an image for suitable of development
#                    e.g. ssh root access has a blank password
# There are other application targets too, see meta/classes/poky-image.bbclass
# and meta/packages/tasks/task-poky.bb for more details.

EXTRA_IMAGE_FEATURES = "tools-debug tools-profile tools-testapps debug-tweaks"

# The default IMAGE_FEATURES above are too large for the mx31phy and
# c700/c750 machines which have limited space. The code below limits
# the default features for those machines.
EXTRA_IMAGE_FEATURES_c7x0 = "tools-testapps debug-tweaks"
EXTRA_IMAGE_FEATURES_mx31phy = "debug-tweaks"
EXTRA_IMAGE_FEATURES_mx31ads = "tools-testapps debug-tweaks"

# A list of packaging systems used in generated images
# The first package type listed will be used for rootfs generation
# include 'package_deb' for debs
# include 'package_ipk' for ipks
#PACKAGE_CLASSES ?= "package_deb package_ipk"
PACKAGE_CLASSES ?= "package_ipk"

# POKYMODE controls the characteristics of the generated packages/images by
# telling poky which type of toolchain to use.
#
# Options include several different EABI combinations and a compatibility
# mode for the OABI mode poky previously used.
#
# The default is "eabi"
# Use "oabi" for machines with kernels < 2.6.18 on ARM for example.
# Use "external-MODE" to use the precompiled external toolchains where MODE
# is the type of external toolchain to use e.g. eabi.
# POKYMODE = "external-eabi"

# Uncomment this to specify where BitBake should create its temporary files.
# Note that a full build of everything in OpenEmbedded will take GigaBytes of hard
# disk space, so make sure to free enough space. The default TMPDIR is
# <build directory>/tmp
TMPDIR = "${OEROOT}/build/tmp-${MACHINE}"


# Uncomment this if you are using the Openedhand provided qemu deb - see README
ASSUME_PROVIDED += "qemu-native"

# Comment this out if you don't have a 3.x gcc version available and wish
# poky to build one for you. The 3.x gcc is required to build qemu-native.
#ASSUME_PROVIDED += "gcc3-native"

# Uncomment these two if you want BitBake to build images useful for debugging.
# DEBUG_BUILD = "1"
# INHIBIT_PACKAGE_STRIP = "1"

# Uncomment these to build a package such that you can use gprof to profile it.
# NOTE: This will only work with 'linux' targets, not
# 'linux-uclibc', as uClibc doesn't provide the necessary
# object files.  Also, don't build glibc itself with these
# flags, or it'll fail to build.
#
# PROFILE_OPTIMIZATION = "-pg"
# SELECTED_OPTIMIZATION = "${PROFILE_OPTIMIZATION}"
# LDFLAGS =+ "-pg"

# Uncomment this if you want BitBake to emit debugging output
# BBDEBUG = "yes"
# Uncomment this if you want BitBake to emit the log if a build fails.
BBINCLUDELOGS = "yes"

# Specifies a location to search for pre-generated tarballs when fetching
# a cvs:// or svn:// URI.  Uncomment this, if you do not want to pull directly
# from CVS or Subversion
SRC_TARBALL_STASH = "http://pokylinux.org/sources/"

# Set this if you wish to make pkgconfig libraries from your system available
# for native builds. Combined with extra ASSUME_PROVIDEDs this can allow
# native builds of applications like oprofileui-native (unsupported feature).
#EXTRA_NATIVE_PKGCONFIG_PATH = ":/usr/lib/pkgconfig"
#ASSUME_PROVIDED += "gtk+-native libglade-native"

ENABLE_BINARY_LOCALE_GENERATION = "0"

# The architecture to build SDK items for, by setting this you can build SDK
# packages for architectures other than the host i.e. building i586 packages
# on an x86_64 host.
# Supported values are i586 and x86_64
SDKMACHINE="i586"

The following section needs to be adapted to the number of CPU the host machine has:

# Uncomment and set to allow bitbake to execute multiple tasks at once.
# For a quadcore, BB_NUMBER_THREADS = "4", PARALLEL_MAKE = "-j 4" would
# be appropriate.
# BB_NUMBER_THREADS = "2"
# Also, make can be passed flags so it run parallel threads e.g.:
# PARALLEL_MAKE = "-j 2"

The build environment needs to be setup by the following command:

cd ../..
source poky-init-build-env

A target can be built using:

bitbake <target>

there is a lot of targets, which can be an image (take a look at the "meta/packages/images/" directory) or more simply a recipe corresponding to a software. A detailed list of images can be found on the Poky Handbook. To build an image without X11 server:

bitbake poky-image-base

This step is very long (several hours) and take a lot of space (like 16 gigas) on the host's hard disk. If you are behind a proxy, take a look at this part of Poky's FAQ.

If everything compiles well, the resulting image (rootfs and kernel) will be placed in the directory:

tmp-igep0020b/deploy/images/

and .ipk packages in:

tmp-igep0020b/deploy/ipk/

We will see in section Boot on rootfs and kernel how to use it. Yet, bitbake will download by default the kernel "linux-omap-2.6.28.10-igep0020b-0" which is not the last one provided by ISEE. See section Kernel compilation to compile another version.

TODO: modify recipes to download another kernel version

Cross toolchain for the ARM

Aparently, there is a bug in one of Poky's recipes, which implies that the cross toolchain doesn't include automatically the C++ headers, see this thread. A patch has been proposed; to apply it :

cd $HOME/igep/poky
wget http://lists.o-hand.com/poky/att-1420/fix-gxx-include-dir.patch
patch -p1 < fix-gxx-include-dir.patch

The cross toolchain can be built using bitbake:

source poky-init-build-env
bitbake meta-toolchain-sdk

The result will be placed in the directory:

 tmp-igep0020b/deploy/sdk/

as an archive to decompress in the directory "/usr/local/poky".

In order to cross compile code for the ARM, the following script needs to be run to set up paths:

source /usr/local/poky/eabi-glibc/environment-setup-arm-none-linux-gnueabi

Kernel compilation

Another more recent source of information can be found at labs.igep.es/index.php/The_Linux_kernel.

In this example the kernel version "linux-omap-2.6.28.10-igep0020b-2" is used. Check in the download section of www.igep.es which is the last stable one. More recent versions (but unstable) can be downloaded on the git of ISEE.

Kernel compilation under bitbake

Kernel compilation outside bitbake

First, download the kernel sources:

cd $HOME/igep
wget http://downloads.myigep.com/sources/kernel/linux-omap-2.6.28.10-igep0020b-2.tar.gz
tar -xzf linux-omap-2.6.28.10-igep0020b-2.tar.gz
cd linux-omap-2.6.28.10-igep0020b-2

Configure the kernel:

source /usr/local/poky/eabi-glibc/environment-setup-arm-none-linux-gnueabi
make ARCH=arm CROSS_COMPILE=arm-none-linux-gnueabi- igep0020b_defconfig
make ARCH=arm CROSS_COMPILE=arm-none-linux-gnueabi- menuconfig

The last line is only needed if you want to customize the kernel.

To compile kernel and modules:

make ARCH=arm CROSS_COMPILE=arm-none-linux-gnueabi- uImage modules

The resulting image is placed in "arch/arm/boot" directory.
Note: If there is no uImage file present you may not have installed the uboot-mkimage package.
In ubuntu Hardy (8.04), this package is unknown. First upgrade to e.g. Lucid (10.04) then install the package.

We will see in the section Boot on the rootfs and the kernel how to use kernel and modules.

Boot on the rootfs and the kernel

There are several methods to do it. For developing purposes, the easiest way is to boot over network, which avoid flashing operations or coping on the memory card. Yet, these two solutions are essentials for applications where the board need to be independent from the host computer.

Over network

Two servers are needed. The NFS (Network File System) server allows the target to accede its rootfs by the network. The TFTP (Trivial File Transfer Protocol) server allows the target to download the kernel over network. Thus, UBoot needs to be correctly setup to boot on the correct files. To do this, plug a serial cable on the board (115200n8) and stop UBoot by pressing a key. The environment variable of UBoot we need to change are:

  • serverip: the server's IP address, need to be on the 192.168.254.x subnet (except if you change the board address, which is not explained here). By default, the server's IP address is 192.168.254.10.
  • distro: the distribution's name, by default poky.
  • machine: the card's name, by default igep0020b.
  • project: the project's name, that is to say the rootfs generated previously.

To change a variable, use the command setenv. Thus, to change the project's name and use the one we have just made, set:

setenv project poky-image-base

Then, to boot:

run bootcmd

which will execute the contents of the bootcmd variable. The 'printenv' command allow to show the content of a variable; for example:

printenv bootcmd

returns by default:

run mmc-boot; run nfs-boot; run onenand-boot

That is to say the board will first check if a memory card is present to boot with it. If memory card is not present, the board will ping the server to boot over the network. If the server does not answer, the board will boot on the flash.
Take a look at mmc-boot, nfs-boot and onenand-boot variables for more details. In addition, the factory settings of UBoot are given here.

In order to save UBoot environment variables in the flash, do:

saveenv

which will avoid to reenter it every time...

Once <serverip>, <distro>, <project>, and <machine> variables setup, UBoot will search on the server of address <serverip>:

  • a kernel image uImage in the directory "/srv/tftp/<distro>/<project>/<machine>" accessible by TFTP.
  • a rootfs in the directory "/srv/nfs/<distro>/<project>/<machine>" accessible by NFS.

We assume now that <distro>=poky, <project>=poky-image-base and <machine>=igep0020b.

Thus, create the following directories on the host:

sudo mkdir -p /srv/nfs/poky/poky-image-base/igep0020b
sudo mkdir -p /srv/tftp/poky/poky-image-base/igep0020b

Make sure the access rights of the directory is set correctly (use e.g. chmod 777 <dir>).
If not correct, uBoot will complain on the uBoot terminal when trying to load the kernel or on access of the rootfs.

Next, copy the kernel. If it was made outside bitbake:

sudo cp $HOME/igep/linux-omap-2.6.28.10-igep0020b-2/arch/arm/boot/uImage /srv/tftp/poky/poky-image-base/igep0020b/

or if it was made with the rootfs or underbitbake:

sudo cp $HOME/igep/poky/build/tmp-igep0020b/deploy/images/uImage /srv/tftp/poky/poky-image-base/igep0020b/

Next, install the rootfs in the good directory:

pushd /srv/nfs/poky/poky-image-base/igep0020b
sudo cpio -idm< $HOME/igep/poky/build/tmp-igep0020b/deploy/images/poky-image-base-igep0020b.cpio 
popd

If kernel was built outside bitbake, install kernel modules in the rootfs as follows:

cd $HOME/igep/linux-omap-2.6.28.10-igep0020b-2
source /usr/local/poky/eabi-glibc/environment-setup-arm-poky-linux-gnueabi
make ARCH=arm CROSS_COMPILE=arm-poky-linux-gnueabi- modules_install INSTALL_MOD_PATH=/srv/nfs/poky/poky-image-base/igep0020b

Finally, install the two servers on host:

sudo apt-get install tftpd nfs-kernel-server

By default, the TFTP server shares the "/srv/tftp" directory, which is the one we are using. If necessary, you can change this by editing the "/etc/inetd.conf" file :

#:BOOT: TFTP service is provided primarily for booting.  Most sites
#       run this only on machines acting as "boot servers."
tftp            dgram   udp     wait    nobody  /usr/sbin/tcpd  /usr/sbin/in.tftpd /srv/tftp

The configuration file of NFS server is "/etc/exports". Add the following line for each rootfs :

# Poky image rootfs
/srv/nfs/<distro>/<project>/<machine>       <target_ip>(rw,no_root_squash,no_subtree_check,sync)

where <target_ip> is the ip address of the target. By default, igep address is 192.168.254.254. It is also possible to put an asterisk (*) to allow a wider range of addresses. In our case, write :

/srv/nfs/poky/poky-image-base/igep0020b       192.168.254.254(rw,no_root_squash,no_subtree_check,sync)
or
/srv/nfs/poky/poky-image-base/igep0020b       *(rw,no_root_squash,no_subtree_check,sync)

Remember execute the command:

$ exportfs -a 

Every time that you modify/update the file /etc/exports.

Note: In the rootfs on the nfs-server I had to remove the line "auto eth0" from the file /etc/network/interfaces. If this line is present, the boot process stops with the error:
nfs: server 192.168.2.10 not responding, still trying

Copy kernel and rootfs in flash memory

Copy can be done either from uboot or linux. To copy the rootfs, a jffs2 file is needed. If you do not need any modification to the one created previously, you can jump next step. If you have made changes to the rootfs (for example when using it for NFS boot), you will have to build the jffs2 file from the rootfs directory.

Create the jffs2 file

The following package needs to be installed to create the jffs2 file:

sudo apt-get install mtd-utils

Then use the command:

mkfs.jffs2 -r <root file system> -e <erase block size> -o <output file> 

where <root file system> is the path to the directory to copy (ie /srv/nfs/poky/poky-image-base/igep0020b), <erase block size> is the block size to erase in KB and <output file> name of the output file. Block size can be seen with the following command:

cat /proc/mtd

On igep, it returns:

dev:    size   erasesize  name
mtd0: 00080000 00040000 "X-Loader"
mtd1: 00180000 00040000 "U-Boot"
mtd2: 00080000 00040000 "U-Boot Env"
mtd3: 00300000 00040000 "Kernel"
mtd4: 1fa80000 00040000 "File System"

Thus, the size is 0x40000=256KB.

Copy from uboot

Copy from linux

To do this, you will have to boot the card from nfs or memory card; but not from flash.

Partitions can be seen with the following command:

cat /proc/mtd

On igep, it returns:

dev:    size   erasesize  name
mtd0: 00080000 00040000 "X-Loader"
mtd1: 00180000 00040000 "U-Boot"
mtd2: 00080000 00040000 "U-Boot Env"
mtd3: 00300000 00040000 "Kernel"
mtd4: 1fa80000 00040000 "File System"

To copy the kernel, erase the corresponding memory area before doing the copy:

flash_eraseall /dev/mtd3
nandwrite -p /dev/mtd3 uImage

same thing for the rootfs

flash_eraseall /dev/mtd4
nandwrite -p /dev/mtd4 rootfs.jffs2

Note that if you are using the rootfs built previously, the corresponding file should be located there:

$HOME/igep/poky/build/tmp-igep0020b/deploy/images/poky-image-base-igep0020b.jffs2

And now reboot. In case of errors (such as bad crc on the kernel for example), it is necessary to reflash all, see this.

Copy kernel and rootfs in memory card

Cross toolchain for the DSP

Nota: some of the software of this section need an account on TI website. The main page for the downloads is this one.

Code generation tools

TI CGT is the cross compiler for the DSP. Download last version here and install it (for example in $HOME/TI/TI_CGT directory).

DSP BIOS

DSP BIOS is the operating system running on the DSP. Download it from here and install it (for example in $HOME/TI/BIOS directory).

XDC Tools

Download it from here and install it (for example in $HOME/TI/xdctools directory). XDC Tools is needed for DSP Link compilation.

DSP Link

DSPLink allows communication between ARM and DSP. Download it from here. Uncompress it into the $HOME/igep/dsplink directory.

Then, add an environment variable DSPLINK with the path to the directory of DSPLINK. For exemple, edd the following line to .bashrc file: (remember to log out/log in after this)

export DSPLINK=$HOME/igep/dsplink_linux_1_63/dsplink

go to $(DSPLINK)/config/bin directory and execute:

perl dsplinkcfg.pl --platform=OMAP3530 --nodsp=1 --dspcfg_0=OMAP3530SHMEM --dspos_0=DSPBIOS5XX --gppos=OMAPLSP --comps=PONSLRMC

This will configure DSPLINK. To understand each of the option we passed, run:

perl dsplinkcfg.pl

and add options one by one. If everything is alright, the following message will appear:

Please edit the following files for toolchains, kernel sources, etc changes.
GPP side distribution file: $DSPLINK/make/Linux/omap3530_2.6.mk
GPP side distribution file: $DSPLINK/gpp/src/Rules.mk
DSP side distribution file: $DSPLINK/make/DspBios/c64xxp_5.xx_linux.mk

which are the files we need to edit and adapt to our configuration.

For $DSPLINK/make/Linux/omap3530_2.6.mk file, change (and adapt if needed) the following values:

#   ============================================================================
#   Set the values of necessary variables to be used for the OS.
#   ============================================================================

#   ----------------------------------------------------------------------------
#   Base directory for the GPP OS
#   ----------------------------------------------------------------------------
BASE_BUILDOS   :=${HOME}/igep/linux-omap-2.6.28.10-igep0020b-2

#   ----------------------------------------------------------------------------
#   Base for toolchain
#   ----------------------------------------------------------------------------
BASE_TOOLCHAIN := /usr/local/poky/eabi-glibc

#   ----------------------------------------------------------------------------
#   Base directory for include files provided by GPP OS
#   ----------------------------------------------------------------------------
BASE_OSINC     := $(BASE_BUILDOS)/include

OSINC_GENERIC  := $(BASE_OSINC)
OSINC_PLATFORM := $(BASE_TOOLCHAIN)/lib/gcc/arm-poky-linux-gnueabi/4.3.3/include
OSINC_TARGET   := $(BASE_TOOLCHAIN)/arm-poky-linux-gnueabi/libc/usr/include

#   ============================================================================
#   COMPILER
#   ============================================================================

#   ----------------------------------------------------------------------------
#   Name of the compiler
#   ----------------------------------------------------------------------------
COMPILER       := $(BASE_CGTOOLS)/arm-poky-linux-gnueabi-gcc
LD             := $(BASE_CGTOOLS)/arm-poky-linux-gnueabi-ld

CROSS_COMPILE  := arm-poky-linux-gnueabi-
export CROSS_COMPILE

#   ============================================================================
#   ARCHIVER2 - This denotes the archiver.
#   ============================================================================
ARCHIVER       := $(BASE_CGTOOLS)/arm-poky-linux-gnueabi-ar

#   ============================================================================
#   LINKER - The compiler is used for linking purpose as well.
#   ============================================================================
LINKER     := $(BASE_CGTOOLS)/arm-poky-linux-gnueabi-gcc

For $DSPLINK/gpp/src/Rules.mk file, change (and adapt if needed):

ifeq ("$(TI_DSPLINK_PLATFORM)", "OMAP3530")
KERNEL_DIR    := ${HOME}/igep/linux-omap-2.6.28.10-igep0020b-2
TOOL_PATH     := /usr/local/poky/eabi-glibc/bin
endif #ifeq ("$(TI_DSPLINK_PLATFORM)", "OMAP3530")

and also:

ifeq ("$(TI_DSPLINK_GPPOSPREFIX)", "uc")
CG_PREFIX = arm-linux-uclibcgnueabi-
MAKE_OPTS = ARCH=arm CROSS_COMPILE=$(TOOL_PATH)/arm-linux-uclibcgnueabi-
else
CG_PREFIX = arm-poky-linux-gnueabi-
MAKE_OPTS = ARCH=arm CROSS_COMPILE=$(TOOL_PATH)/arm-poky-linux-gnueabi-
endif # ifeq ("$(TI_DSPLINK_GPPOSPREFIX)", "uc")

Finally, for $DSPLINK/make/DspBios/c64xxp_5.xx_linux.mk file, change (and adapt if needed):

#   ----------------------------------------------------------------------------
#   Base directory for the DSP OS
#   ----------------------------------------------------------------------------
BASE_INSTALL    := $(HOME)/TI
BASE_SABIOS     := $(BASE_INSTALL)/bios_5_41_03_17
BASE_BUILDOS    := $(BASE_SABIOS)/packages/ti/bios

#   ----------------------------------------------------------------------------
#   Base directory for the XDC tools
#   ----------------------------------------------------------------------------
XDCTOOLS_DIR    := $(BASE_INSTALL)/xdctools_3_15_00_50

#   ----------------------------------------------------------------------------
#   Base for code generation tools - compiler, linker, archiver etc.
#   ----------------------------------------------------------------------------
BASE_CGTOOLS    := $(BASE_INSTALL)/TI_CGT_C6000_6.1.13
BASE_CGTOOLSBIN := $(BASE_CGTOOLS)/bin

Then, go to the $DSPLINK/dsp/src directory and execute:

make -s

do the same in $DSPLINK/gpp/src directory:

make -s

this will compile dsplinkk.ko module (it will be placed in the $DSPLINK/gpp/export/BIN/Linux/OMAP3530/RELEASE directory).

Attention: You may encounter compilations problems with SZ_2K symbol. In this case modify all the files causing problem by replacing SZ_2K occurences by (2*SZ_1K).

Some examples programs are located in the $DSPLINK/dsp/src/samples and $DSPLINK/gpp/src/samples directories. Compile it with:

make

CMEM

NOTA: versions 2.25 and 2.25.01.06 have problems with ioctl see here, which affect cache manipulations (writeback and invalidate). Version 2.25.02.08 should solve these problems (not tested). Otherwise, you can use 2.24 versions.

CMEM, or contiguous memory manager allows to allocate shared memory between ARM and DSP. It is part of the linuxutils, download it from here and decompress it. Go to linuxutils_2_25_02_08/packages/ti/sdo/linuxutils/cmem directory. Remove the write protection to Rules.make file:

chmod +w Rules.make

Then edit it and change (adapt it if needed):

# For "kernel_org" builds
MVTOOL_PREFIX=/usr/local/poky/eabi-glibc/bin/arm-poky-linux-gnueabi-

# Equivalent path for uClibc compiler tools
UCTOOL_PREFIX=/usr/local/poky/eabi-glibc/bin/arm-poky-linux-gnueabi-

# For OMAP3530 2.6.29 Linux kernel
LINUXKERNEL_INSTALL_DIR=$(HOME)/igep/linux-omap-2.6.28.10-igep0020b-2

Then execute

make release

to compile cmemk.ko module (it will be placed in ./src/module directory).

Framework Components

Framework Components include some libraries like DMAN3 and ACPY3, allowing DMA copy. Download it from here and decompress it for example in $HOME/TI/framework_components_2_24_01 directory.

Local Power Manager (LPM)

LPM also belongs to the Linux Utilities, but it seems that it is no longer included in the newest versions. So, you can download it from here.

LPM allows to reset the DSP. Indeed, by default, DSPLink keeps in the cache memory the program executed by the DSP. So, the same application can be executed several times, but if a new applications is run, the DSP will crash; that is why we need LPM.

Go to the local_power_manager_1_24/packages/ti/bios/power/modules/omap3530/lpm directory end edit the Makefile to change:

LINUXKERNEL_INSTALL_DIR = $(HOME)/igep/linux-omap-2.6.28.10-igep0020b-2
MVTOOL_PREFIX = /usr/local/poky/eabi-glibc/bin/arm-poky-linux-gnueabi-
DSPLINK_REPO = $(HOME)/igep/dsplink_linux_1_63

the compile

make

the lpm_omap3530.ko module will be placed in the current directory.

The lpmON.x470uC and lpmOFF.x470uC executables are already compiled and can be found in the following directories:

local_power_manager_1_24/packages/ti/bios/power/test/bin/ti_platforms_evm3530/linux/debug/

local_power_manager_1_24/packages/ti/bios/power/test/bin/ti_platforms_evm3530/linux/release/

or in the following directories: (for the latest versions of LPM)

local_power_manager_1_24/packages/ti/bios/power/utils/bin/ti_platforms_evm3530/linux/debug/

local_power_manager_1_24/packages/ti/bios/power/utils/bin/ti_platforms_evm3530/linux/release/

Note: if you get compiler errors like:

TI/local_power_manager_linux_1_24_02_09/packages/ti/bios/power/modules/omap3530/lpm/lpm_driver.c: In function 'lpm_open':
TI/local_power_manager_linux_1_24_02_09/packages/ti/bios/power/modules/omap3530/lpm/lpm_driver.c:474: error: implicit declaration of function 'kmalloc'
TI/local_power_manager_linux_1_24_02_09/packages/ti/bios/power/modules/omap3530/lpm/lpm_driver.c:474: warning: assignment makes pointer from integer without a cast
TI/local_power_manager_linux_1_24_02_09/packages/ti/bios/power/modules/omap3530/lpm/lpm_driver.c:500: error: implicit declaration of function 'kfree'

please add:

#include <linux/slab.h>

to lpm_driver.c.


Libraries

The interesting libraries are the followings:

Note that for dsplib v210, the linux link seems to be broken. From Windows version, you will have to change C64x+DSPLIB/dsplib_v210/dsplib64plus.h files. Indeed, all relative paths are in Windows notation (eg "\"), which you will have to change to "/".


Configure DSPLINK to compile projects

This part explains how to add libraries to DSPLINK environment.

Includes

Edit file $DSPLINK/make/DspBios/c64xxp_5.xx_linux.mk and add the includes directories:

#   ----------------------------------------------------------------------------
#   Base directory for include files
#   ----------------------------------------------------------------------------
BASE_OSINC      := $(BASE_BUILDOS)/include
BASE_CGTOOLSINC := $(BASE_CGTOOLS)/include
BASE_RTDXINC    := $(BASE_RTDX)/include/c6000
BASE_PSLINC     := $(BASE_PSL)/include
BASE_CSLINC     :=
BASE_XDCINC	:= $(BASE_INSTALL)/xdctools_3_15_00_50/packages
BASE_FCINC	:= $(BASE_INSTALL)/framework_components_2_24_01/packages
BASE_FCTOOLINC	:= $(BASE_INSTALL)/framework_components_2_24_01/fctools/packages
BASE_IMGLIBINC	:= $(BASE_INSTALL)/imglib_v201/include
BASE_IQMATHINC	:= $(BASE_INSTALL)/IQmath_v213/include

OSINC_GENERIC   := $(BASE_OSINC)
OSINC_PLATFORM  := $(BASE_CGTOOLSINC) $(BASE_RTDXINC) \
                   $(BASE_PSLINC) $(BASE_CSLINC)  $(BASE_XDCINC) $(BASE_FCINC) $(BASE_FCTOOLINC) $(BASE_IMGLIBINC) $(BASE_IQMATHINC)

The variables OSINC_GENERIC and OSINC_PLATFORM allow to setup the directories where DSPLINK will look for .h files.

Libraries

By defualt, DSPLINK is searching the libraries in the directories:

$DSPLINK/dsp/BUILD/OMAP3530_0/EXPORT/DEBUG/
$DSPLINK/dsp/BUILD/OMAP3530_0/EXPORT/RELEASE/

Thus, you have to copy the libraries in the right place:

cp $HOME/TI/framework_components_2_24_01/packages/ti/sdo/fc/dman3/lib/debug/dman3.a64P $DSPLINK/dsp/BUILD/OMAP3530_0/EXPORT/DEBUG/
cp $HOME/TI/framework_components_2_24_01/packages/ti/sdo/fc/dman3/lib/release/dman3.a64P $DSPLINK/dsp/BUILD/OMAP3530_0/EXPORT/RELEASE/
cp $HOME/TI/framework_components_2_24_01/packages/ti/sdo/fc/acpy3/lib/debug/acpy3.a64P $DSPLINK/dsp/BUILD/OMAP3530_0/EXPORT/DEBUG/
cp $HOME/TI/framework_components_2_24_01/packages/ti/sdo/fc/acpy3/lib/release/acpy3.a64P $DSPLINK/dsp/BUILD/OMAP3530_0/EXPORT/RELEASE/
cp $HOME/TI/imglib_v201/lib/target/imglib2.l64P $DSPLINK/dsp/BUILD/OMAP3530_0/EXPORT/DEBUG/
cp $HOME/TI/imglib_v201/lib/target/imglib2.l64P $DSPLINK/dsp/BUILD/OMAP3530_0/EXPORT/RELEASE/

Configure CodeBlocks for ARM

This part explains how to setup CodeBlocks to develop programs using dsplink library.

Go to settings/compiler and debugger menu, choose GNU ARM GCC compiler as compiler. You should see the following window:

Settings.jpg

Select Search directories tab and Compiler. Then add the following directories (and adapt it if necessary):

/usr/local/poky/eabi-glibc/arm-none-linux-gnueabi/lib
$(HOME)/igep/dsplink_linux_1_63/dsplink/gpp/inc/sys/Linux
$(HOME)/igep/dsplink_linux_1_63/dsplink/gpp/export/INCLUDE/Linux/OMAP3530/usr

Which should give the following result:

Compiler.jpg

Choose Toolchain executables tab and Compiler's installations directory:

/usr/local/poky/eabi-glibc/

Then, enter the Program Files as follows:

Executables.jpg

References

Poky Handbook

Building DSPLink

Compiling CMEM