I would like to put the kernel (and the kernel device tree) into the rootfs partition image (rootfs/boot) instead of into the VFAT partition where it is put at in the related section of update.sh. How do I have to patch update.sh to get this done?
Perhaps the simplest approach would not involve modifying update.sh, but rather copying the kernel & device tree into the unpacked rootfs provided in the image tarball (into ‘rootfs/boot’) and modifying the U-boot environment to load these files from the rootfs.
If you put the kernel & dtb files into the image’s unpacked rootfs, update.sh will include them into the root.ext3 rootfs file that it generates.
Then you must modify the U-boot boot variables to load these files from the rootfs rather than the FAT32 boot partition, primarily the ‘emmcboot’ & ‘emmcdtbload’ variables.
@brandon.tx This is what I have discovered recently. When booting u-boot states something about the kernel which is displayed as “Angstrom” (references the kernel packed into the boot partition as I use Ubuntu in /rootfs/boot). However after booting I end up in Ubuntu. I use u-boot from the Apalis TK1 Linux Image. I cannot remember that I already changed the u-boot environment variables there. The variables cannot be set accordingly in there right now. This confuses me. It seems like I have some kind of “multi” boot now. In conclusion I should be fine if I would delete the kernel and dtb integration into the boot partition in the relevant section of update.sh and modify the kernel and dtb loading in u-boot like suggested, right?
Our upcoming V2.7 beta 1 release will integrate regular distro boot capability which I advice you to make use of.
Thanks for the info!
During debugging I adjust the u-boot environment variables in there instead of in the mate-toradex recipe for /include/configs/apalis-tk1.h. In emmcdtbload I need to adjust ${fdt_addr_r} and of load mmc 0:1 (because of another partition layout), ${soc}-apalis-${fdt_board}.dtb (with that one in rootfs/boot/). How get I the ${fdt_addr_r} for my partitioning?
I use the following partitioning:
EMMC_SIZE=$(expr 1024 \* 15642 \* 2)
# Boot partition [in sectors of 512]
BOOT_START=$(expr 1024 \* 4 \* 2)
# Rootfs A partition [in sectors of 512]
ROOTFS_A_START=$(expr 1024 \* 20 \* 2)
# Rootfs B partition [in sectors of 512]
ROOTFS_B_START=$(expr 1024 \* 6020 \* 2)
# Data partition [in sectors of 512]
DATA_START=$(expr 1024 \* 12020 \* 2)
${PARTED} -a none -s ${BINARIES}/mbr.bin unit s mkpart primary fat32 ${BOOT_START} $(expr ${ROOTFS_A_START} - 1 )
# the partition of rootfs+kernel+dtb A and B are greater than the fs size
# on the target the file systems are then grown to the full size of the partitions
${PARTED} -a none -s ${BINARIES}/mbr.bin unit s mkpart primary ext3 ${ROOTFS_A_START} $(expr ${ROOTFS_B_START} \- 1)
${PARTED} -a none -s ${BINARIES}/mbr.bin unit s mkpart primary ext3 ${ROOTFS_B_START} $(expr ${DATA_START} \- 1)
${PARTED} -a none -s ${BINARIES}/mbr.bin unit s mkpart primary ext3 ${DATA_START} $(expr ${EMMC_SIZE} \- 1)
That ${fdt_addr_r} address is an address in relocated RAM memory and has nothing to do with any storage partitioning at all.
You are right. I mixed things up. I should be fine if I just leave ${fdt_addr_r} as is…
I have the kernel (zImage) and the dtb (tegra124-adberg.dtb, etc.) in the boot directory of the rootfs (/rootfs/boot) which is located in the third partition (in the second partition resides another rootfs). I modified the u-boot variables as follows:
Apalis TK1 # printenv
boot_file=**zImage**
emmcargs=ip=off root=/dev/mmcblk0p**3** rw rootfstype=ext3 rootwait
emmcboot=run setup; setenv bootargs ${defargs} ${emmcargs} ${setupargs} ${vidargs}; echo Booting from internal eMMC chip...; run emmcdtbload; load mmc 0:**3** ${kernel_addr_r} **/boot/**${boot_file} && run fdt_fixup && bootm ${kernel_addr_r} - ${dtbparam}
emmcdtbload=setenv dtbparam; load mmc 0:**3** ${fdt_addr_r} **/boot/tegra124-ardbeg.dtb** && setenv dtbparam ${fdt_addr_r}
But when I try to boot I get the following error:
Apalis TK1 # run emmcboot
Booting from internal eMMC chip...
Failed to mount ext2 filesystem...
** Unrecognized filesystem type **
Failed to mount ext2 filesystem...
** Unrecognized filesystem type **
The file system type is ext3 for sure (I checked it after booting into the default uImage with sudo blkid -o list).
How about the following for you?
Apalis TK1 # mmc dev 0 0
switch to partitions #0, OK
mmc0(part 0) is current device
Apalis TK1 # mmc part
Partition Map for MMC device 0 -- Partition Type: DOS
Part Start Sector Num Sectors UUID Type
1 8192 32768 bf99e9b6-01 0c
2 40960 30679040 bf99e9b6-02 83
Apalis TK1 # ls mmc 0:1
5471848 uimage
49687 tegra124-apalis-eval.dtb
2 file(s), 0 dir(s)
Apalis TK1 # ls mmc 0:2
<DIR> 1024 .
<DIR> 1024 ..
<DIR> 12288 lost+found
<DIR> 3072 bin
<DIR> 1024 boot
<DIR> 1024 dev
<DIR> 4096 etc
<DIR> 1024 home
<DIR> 5120 lib
<DIR> 1024 media
<DIR> 1024 mnt
<DIR> 1024 proc
<DIR> 1024 run
<DIR> 3072 sbin
<DIR> 1024 sys
<DIR> 1024 tmp
<DIR> 1024 usr
<DIR> 1024 var
<DIR> 1024 srv
Please note that the above is for a regular installation with just two partitions.
If you properly flashed a third partition you should be able to list contents of it from within U-Boot as well.
The partition table is created:
Apalis TK1 # mmc part
Partition Map for MMC device 0 -- Partition Type: DOS
Part Start Sector Num Sectors UUID Type
1 8192 32768 0006423e-01 0c
2 40960 12288000 0006423e-02 83
3 12328960 12288000 0006423e-03 83
4 24616960 7417856 0006423e-04 83
The original boot partition (VFAT partition of the Apalis Image) is empty like I want it to be:
Apalis TK1 # ls mmc 0:1
0 file(s), 0 dir(s)
The partition 2 does contain the rootfs A (with kernel and dtb in boot/) like expected:
Apalis TK1 # ls mmc 0:2
<DIR> 4096 .
<DIR> 4096 ..
<DIR> 16384 lost+found
9 README.txt
<DIR> 4096 bin
<DIR> 4096 boot
...
Apalis TK1 # ls mmc 0:2 boot
<DIR> 4096 .
<DIR> 4096 ..
40698 tegra124-loki-02-cell-battery.dtb
82446 tegra124-ardbeg.dtb
27478 tegra124-bonaire.dtb
82624 tegra124-tn8-e1780-1100-a02-01.dtb
6227528 zImage
98447 tegra124-tn8-e1780-1100-a03-01.dtb
81560 tegra124-ardbeg-e1780-1000-a00-01.dtb
83296 tegra124-ardbeg-e1780-1000-a03-00-battery.dtb
83400 tegra124-ardbeg-e1780-1000-a03-00-sata.dtb
56294 tegra124-laguna-pm358.dtb
37620 tegra124-vcm30_t124.dtb
77006 tegra124-tn8-e1784-1101-a00.dtb
80133 tegra124-tn8-e1784-1100-a00.dtb
71705 tegra124-tn8-p1761-1470-a00.dtb
82446 tegra124-ardbeg-e1780-1000-a00-00.dtb
52378 tegra124-loki-thor195-e2549-a00.dtb
37624 tegra124-ardbeg-vcm30-t124.dtb
98667 tegra124-tn8-e1780-1100-a02-battery.dtb
53469 tegra124-norrin.dtb
59711 tegra124-e1782_sku1100.dtb
14001 tegra124-bonaire_sim.dtb
59661 tegra124-jetson_tk1-pm375-000-c00-00.dtb
<DIR> 4096 extlinux
66565 tegra124-ardbeg-e1792-1100-a00-01.dtb
54456 tegra124-loki-e2548-a00.dtb
99057 tegra124-tn8-e1780-1100-a03-battery.dtb
62515 tegra124-laguna.dtb
97334 tegra124-tn8-e1922-1100-a00.dtb
67451 tegra124-ardbeg-e1792-1100-a00-00.dtb
73534 tegra124-tn8-p1761-1270-a00-battery.dtb
74591 tegra124-tn8-p1761-1270-a03-battery.dtb
73804 tegra124-tn8-p1761-1270-a02.dtb
83374 tegra124-ardbeg-e1780-1000-a03-00-powerconfig.dtb
50954 tegra124-foster.dtb
74060 tegra124-tn8-p1761-1270-a02-battery.dtb
66549 tegra124-ardbeg-e1780-1000-a03-01.dtb
98238 tegra124-tn8-e1780-1100-a02.dtb
90107 tegra124-e1791.dtb
83304 tegra124-ardbeg-a03-00.dtb
53469 tegra124-norrin-pm374-0001-a00-00.dtb
39280 tegra124-thor195.dtb
13801 tegra124-p2360.dtb
63701 tegra124-e1923.dtb
40698 tegra124-loki-03-cell-battery.dtb
77435 tegra124-tn8-e1784-1101-a00-battery.dtb
53469 tegra124-norrin-pm374-0001-a01-00.dtb
98628 tegra124-tn8-e1780-1100-a03.dtb
54266 tegra124-loki-e2530-a03.dtb
72134 tegra124-tn8-p1761-1470-a00-battery.dtb
98876 tegra124-tn8-e1780-1100-a03-01-battery.dtb
83304 tegra124-ardbeg-e1780-1000-a03-00.dtb
54254 tegra124-loki.dtb
54266 tegra124-loki-e2530-a01.dtb
73105 tegra124-tn8-p1761-1270-a00.dtb
40727 tegra124-loki-mods.dtb
82442 tegra124-ardbeg-e1780-1000-a00-00-battery.dtb
74435 tegra124-tn8-p1761-1270-a03.dtb
I am also able to load the kernel A and dtb A (configured in /boot/extlinux.conf) of rootfs A in partition 2:
Apalis TK1 # load mmc 0:2 ${kernel_addr_r} /boot/zImage
6227528 bytes read in 233 ms (25.5 MiB/s)
Apalis TK1 # load mmc 0:2 ${fdt_addr_r} /boot/tegra124-jetson_tk1-pm375-000-c00-00.dtb
59661 bytes read in 146 ms (398.4 KiB/s)
However the partition 3 seems not to contain the rootfs B like I expected it to be:
Apalis TK1 # ls mmc 0:3
Failed to mount ext2 filesystem...
** Unrecognized filesystem type **
@Florian_K Can you share the commands you used for flashing the rootfs to each partition? The regular ‘update’ scripts we provide for U-boot will only flash the rootfs to the 2nd partition, so they will require some modification.
I adjusted the u-boot environment variables to boot the kernel in the rootfs A in partition 2 (and corrected some errors in the previous rootfs B ~ partition 3):
Apalis TK1 # setenv emmcargs 'ip=off root=/dev/mmcblk0p2 rw rootfstype=ext3 rootwait'
Apalis TK1 # printenv
...
emmcargs=ip=off root=/dev/mmcblk0p2 rw rootfstype=ext3 rootwait
emmcboot=run setup; setenv bootargs ${defargs} ${emmcargs} ${setupargs} ${vidargs}; echo Booting from internal eMMC chip...; run emmcdtbload; load mmc 0:2 ${kernel_addr_r} /boot/zImage && run fdt_fixup && bootz ${kernel_addr_r} - ${dtbparam}
emmcdtbload=setenv dtbparam; load mmc 0:2 ${fdt_addr_r} /boot/tegra124-jetson_tk1-pm375-000-c00-00.dtb && setenv dtbparam ${fdt_addr_r}
Apalis TK1 # savenv
Then I tried to boot into rootfs A, but it does not start the kernel (the process seems to just freezed):
Apalis TK1 # run emmcboot
Booting from internal eMMC chip...
59661 bytes read in 147 ms (395.5 KiB/s)
6227528 bytes read in 233 ms (25.5 MiB/s)
Kernel image @ 0x81000000 [ 0x000000 - 0x5f0648 ]
## Flattened Device Tree blob at 82000000
Booting using the fdt blob at 0x82000000
Using Device Tree in place at 82000000, end 8201190c
Starting kernel ...
… with the same result when poweroff/poweron:
U-Boot 2015.04 (Nov 21 2016 - 20:39:53)
TEGRA124
DRAM: 2 GiB
MMC: Tegra SD/MMC: 0, Tegra SD/MMC: 1, Tegra SD/MMC: 2
tegra-pcie: PCI regions:
tegra-pcie: I/O: 0x12000000-0x12010000
tegra-pcie: non-prefetchable memory: 0x13000000-0x20000000
tegra-pcie: prefetchable memory: 0x20000000-0x40000000
tegra-pcie: 2x1, 1x1 configuration
tegra-pcie: probing port 1, using 1 lanes
In: serial
Out: serial
Err: serial
Missing Toradex config block
Model: Toradex Apalis TK1 2GB
Net: e1000: no NVM
e1000#0
Error: e1000#0 address not set.
Hit any key to stop autoboot: 0
Booting from internal eMMC chip...
59661 bytes read in 146 ms (398.4 KiB/s)
6227528 bytes read in 233 ms (25.5 MiB/s)
Kernel image @ 0x81000000 [ 0x000000 - 0x5f0648 ]
## Flattened Device Tree blob at 82000000
Booting using the fdt blob at 0x82000000
Using Device Tree in place at 82000000, end 8201190c
Starting kernel ...
… Missing Toradex config block should be “restored” I guess? How can I get this done?
@brandon.tx I created rootfs_bext3 by modifying update.sh:
echo ""echo "Creating rootfs partition image A"
#make the partition size size(rootfs used + MIN_PARTITION_FREE_SIZE)
#add about 4% to the rootfs to account for fs overhead. (/1024/985 instead of /1024/1024).
#add 512 bytes per file to account for small files
#(resize it later on target to fill the size of the partition it lives in)
NUMBER_OF_FILES=`sudo find ${ROOTFSPATH} | wc -l`
EXT_SIZE=`sudo du -DsB1 ${ROOTFSPATH} | awk -v min=$MIN_PARTITION_FREE_SIZE -v f=${NUMBER_OF_FILES} \
'{rootfs_size=$1+f*512;rootfs_size=int(rootfs_size/1024/985); print (rootfs_size+min) }'`
rm -f ${BINARIES}/${IMAGEFILE}
sudo $LOCPATH/genext3fs.sh -d ${ROOTFSPATH} -b ${EXT_SIZE} ${BINARIES}/${IMAGEFILE} || exit 1
echo ""
echo "Creating rootfs partition image B"
#make the partition size size(rootfs used + MIN_PARTITION_FREE_SIZE)
#add about 4% to the rootfs to account for fs overhead. (/1024/985 instead of /1024/1024).
#add 512 bytes per file to account for small files
#(resize it later on target to fill the size of the partition it lives in)
NUMBER_OF_FILES_B=`sudo find ${ROOTFSPATH_B} | wc -l`
EXT_SIZE_B=`sudo du -DsB1 ${ROOTFSPATH_B} | awk -v min=$MIN_PARTITION_FREE_SIZE -v f=${NUMBER_OF_FILES_B} \
'{rootfs_size=$1+f*512;rootfs_size=int(rootfs_size/1024/985); print (rootfs_size+min) }'`
rm -f ${BINARIES}/${IMAGEFILE_B}
# single mount point /mnt/trdx-rootfs set for partition A before will be overriden for partition B
sudo $LOCPATH/genext3fs.sh -d ${ROOTFSPATH_B} -b ${EXT_SIZE_B} ${BINARIES}/${IMAGEFILE_B} || exit 1
And I adjusted flash_eth.scr and updated the u-boot scripts (running mk-u-boot-scripts.sh):
setenv cp_file_chunk 'tftpboot ${loadaddr} ${board_name}/root.ext3-${filenum}; run set_blkcnt; mmc dev 0 0 && mmc write ${loadaddr} ${blkstart} ${blkcnt}'
setenv cp_file_chunk_b 'tftpboot ${loadaddr} ${board_name}/root_b.ext3-${filenum}; run set_blkcnt; mmc dev 0 0 && mmc write ${loadaddr} ${blkstart} ${blkcnt}'
...
setenv update_rootfs 'setenv filesize 4000000; setenv filenum 10; setenv blkstart a000; while test ${filesize} -eq "4000000"; do run cp_file_chunk; run set_nextnum; done'
setenv update_rootfs_b 'setenv filesize 4000000; setenv filenum 10; setenv blkstart a000; while test ${filesize} -eq "4000000"; do run cp_file_chunk_b; run set_nextnum; done'
...
setenv update 'run update_uboot; run update_1; run update_2; run update_rootfs; reset'
setenv update_b 'run update_uboot; run update_1; run update_2; run update_rootfs_b; reset'
The Toradex Apalis TK1 hardware is not the NVIDIA Jetson TK1 so you won’t succeed in booting a kernel and/or device tree from that one.
Concerning the config block have a look at the cfgblock create U-Boot command.
@Florian_K You can use cfgblock create in U-boot to recreate the config block. Perhaps also ensure that the ‘setup’ variable is still defined in U-boot. Is there a reason you decided to use a zImage? Perhaps try loading the uImage instead.
@Florian_K The problem here is that you set blkstart to the same value for both rootfs inside update_rootfs & update_rootfs_b.
I did not decided yet. Right now I did just want to try to boot different image types (namely uImage and zImage). But It should not make any difference, right?
Oh, you are right! Would it work if I would drop the kernel and dtb from the original VFAT partition of the Apalis Image into the rootfs/boot/ directory?
Sure, that should work.