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Table of Contents

Many instructions here are mirrored from Toby Schneider's instructions at http://gobysoft.org/wiki/InstallOnGumstixOvero.

Root filesystem preparation

Follow these steps to create a debian wheezy root filesystem. In this section we will use # host to indicate commands run on the host machine, and # chroot for commands commands run inside the chroot filesystem.

Install dependencies:

Code Block
# host sudo apt-get install multistrap qemu-user-static

Pick a working folder, in this case ~/duovero
Create a directory to hold the root filesystem:
Code Block
# host cd ~/duovero mkdir rootfs

Create a configuration file debian.conf in ~/duovero and paste in the following. Additional packages can be included here or installed later using apt-get.

Code Block

[General]
arch=armel
directory=~/duovero/rootfs
retainsources=~/duovero/sources
cleanup=true
noauth=true
unpack=true
bootstrap=Wheezy Net Utils
aptsources=Wheezy

[Wheezy]
packages=apt locales udev adduser sudo nano build-essential less
source=http://debian.lcs.mit.edu/debian
suite=wheezy

[Net]
packages=netbase ifupdown iproute net-tools iputils-ping ntp
source=http://debian.lcs.mit.edu/debian

[Utils]
packages=wget
source=http://debian.lcs.mit.edu/debian

Run multistrap to create the root filesystem.
Code Block
# host sudo multistrap -a armel -d ~/duovero/rootfs -f debian.conf
In ubuntu 14.04 you may need to remove $forceyes from /usr/sbin/multistrap at line 989
Copy the QEMU ARM emulator into the new root filesystem so it is on the path when we chroot in.
Code Block
# host sudo cp /usr/bin/qemu-arm-static ~/duovero/rootfs/usr/bin/
(Optional) If you need /dev/random (for installing openssh-server for example), mount /dev in the chroot.
Code Block
# host sudo mount -o bind /dev ~/duovero/rootfs/dev

Chroot into the new filesystem.

Code Block
# host sudo chroot ~/duovero/rootfs /bin/bash

Finish setting up packages
Code Block
# chroot dpkg --configure -a
Answer "no" when prompted to use "dash" as "/bin/sh". If any packages fail to configure (possibly ifupdown), just run dpkg again.
Set the root user password.
Code Block
# chroot passwd

(Optional) Add a new user and give it sudo permissions

Code Block
# chroot adduser mit printf "mit ALL=(ALL) ALL" >> /etc/sudoers

Configure locales. Choose 138 for en_US.UTF-8.
Code Block
# chroot dpkg-reconfigure locales

Add a DNS server

Code Block
# chroot printf "nameserver 8.8.8.8" > /etc/resolv.conf

Add a static network entry for eth0 (install the isc-dhcp-client package for dhcp support)

Code Block
# chroot nano /etc/network/interfaces auto eth0 iface eth0 inet static address 192.168.1.102 netmask 255.255.255.0 gateway 192.168.1.1

Restart networking to apply the new interface.
Code Block
# chroot /etc/init.d/networking restart
This might yield an error, but try pinging something anyways and it should work.
Update the apt repositories
Code Block
# chroot apt-get update

Assign a hostname and update the hosts file

Code Block
# chroot printf "nostromo" > /etc/hostname printf "127.0.0.1 nostromo\n" >> /etc/hosts

Add the serial console (specific to gumstix overo and duovero)

Code Block
# chroot printf "T0:2345:respawn:/sbin/getty -L 115200 ttyO2 vt102\n" >> /etc/inittab

Add a proc filesystem to fstab

Code Block
# chroot nano /etc/fstab # /etc/fstab: static file system information. # # <file system> <mount point> <type> <options> <dump> <pass> proc /proc proc defaults 0 0

Using the root filesystem

After setting up the root filesystem, chroot should now log you in as root by default. To log in as a different user, use chroot with the --userspec option. You'll need to provide the user and group id, not name though. To find the id, chroot in as root and look in /etc/passwd

Code Block
# host sudo chroot ~/duovero/rootfs # chroot cat /etc/passwd root:x:0:0:root:/root:/bin/bash ... mit:x:1000:1000:,,,:/home/mit:/bin/bash

Now to login as the user mit:

Code Block
# host sudo chroot --userspec=1000:1000 ~/duovero/rootfs

To avoid permission issues, you should use your user account (not the root account) to check out subversion or git repos. Sudo may not work in the chroot environment, so you may still need to use the root account for operations that require root access.

Kernel Preparation

Install dependencies

Code Block
sudo apt-get install u-boot-tools g++-arm-linux-gnueabi

Download the kernel

Code Block
cd duovero mkdir kernel-dev cd kernel-dev git clone git://github.com/gumstix/linux.git linux -b omap-3.6

Copy the duovero config from the hovergroup svn and create a .config file.

Code Block
cd linux cp ~/hovergroup/gumstix-dev/duovero/defconfig arch/arm/configs/duovero_defconfig make ARCH=arm CROSS_COMPILE=arm-linux-gnueabi- duovero_defconfig

Build the kernel and modules

Code Block
make ARCH=arm CROSS_COMPILE=arm-linux-gnueabi- uImage -j2 make ARCH=arm CROSS_COMPILE=arm-linux-gnueabi- modules -j2

The resulting uImage should be built in arch/arm/boot. Modules will be installed by the script that makes the SD card.

Software setup

If it isn't already, mount /dev in the chroot:

Code Block
# host sudo mount -o bind /dev ~/duovero/rootfs/dev

Enter the chroot and start by installing some additional packages.

Code Block
# chroot apt-get install module-init-tools openssh-server screen psmisc

Add the main user to the dialout group so it can access serial ports.

Code Block
# chroot usermod -a -G dialout mit

Follow the steps at Software Installation to install MOOS, MOOS-IvP, Goby, and the hovergroup applications. Make sure you perform these steps as the user account you created, not root. You may wish to install distcc first to speed up compiling - see next section for instructions. Even if compiling inside the chroot, you may still want to set the compiler to distcc to avoid completely recompiling later. Distcc will complain about not being able to distribute the compile job but will revert to using local compilation just fine.

Setup Distcc

First on the gumstix/chroot side. The debian wheezy image we built includes g++-4.6 by default, but Ubuntu 14.04 only has the cross compiler for 4.7, so we'll install 4.7 along with distcc.

Code Block
# chroot apt-get install g++-4.7 distcc

There should be some symlinks in /usr/lib/distcc as follows:

Code Block
# chroot arm-linux-gnueabi-g++-4.7 -> ../../bin/distcc arm-linux-gnueabi-gcc-4.7 -> ../../bin/distcc

The cross compiler on the host machine will need to match the g++/gcc version listed in your symlinks. To make distcc the default compiler add the following lines to your ~/.bashrc file:

Code Block
# chroot export CC=/usr/lib/distcc/arm-linux-gnueabi-gcc-4.7 export CXX=/usr/lib/distcc/arm-linux-gnueabi-g++-4.7 export DISTCC_HOST=192.168.1.100 # default remote host to use

On the machine you want to distribute the compile jobs too (host) install distcc and the cross compiler.

Code Block
# host sudo apt-get install distcc g++-4.7-arm-linux-gnueabi

Add two new symlinks in /usr/lib/distcc

Code Block
# host cd /usr/lib/distcc sudo ln -s ../../bin/distcc arm-linux-gnueabi-g++-4.7 sudo ln -s ../../bin/distcc arm-linux-gnueabi-gcc-4.7

Run the distcc daemon on the host

Code Block
# host distccd --daemon --allow '192.168.1.0/24'

You can add this command to ~/.profile to run on login.

RTKLIB Setup

The required files are included in the third-party folder of the hovergroup svn. Start by building the rtklib applications:

Code Block
# chroot ~/hoverland/hover-kayak/third-party/rtklib/app/makeall.sh

Then set the launch scripts corresponding to your vehicle to automatically start

Code Block

# chroot
cd /etc/init.d
sudo ln -s /home/mit/hoverland/hover-kayak/third_party/josh_rtklib/start_silvana.sh start_kayak.sh
sudo ln -s /home/mit/hoverland/hover-kayak/third_party/josh_rtklib/start_rtkrcv.sh start_rtkrcv.sh
sudo update-rc.d start_kayak.sh defaults
sudo update-rc.d start_rtkrcv.sh defaults

For some reason this doesn't seem to work when copy pasted, so you may need to type it in.

Other Modifications

Set permissions on screen at startup

Code Block
# chroot nano /etc/rc.local chmod 777 /var/run/screen

Allow [machine] auto ssh login to [remote]

This is required for the automated log fetching scripts to work correctly. For example, to allow terra to ssh into kestrel without a password prompt:

Code Block
# terra ssh-keygen -t rsa ssh-copy-id -i ~/.ssh/id_rsa.pub 192.168.1.105

Deploy to SD card

Copy the required files from the hovergroup svn:

Code Block
cp ~/hovergroup/gumstix-dev/duovero/u-boot.img ~/duovero/ cp ~/hovergroup/gumstix-dev/duovero/MLO ~/duovero/ cp ~/hovergroup/gumstix-dev/duovero/mksdcard.sh ~/duovero/

Insert your sd card, determine its device identifier (/dev/sdb for example), and then run the script. There are some absolute paths in the script so you may want to look through it before running it.