Attention: This document is deprecated. If you require mainline based image for Apalis TK1 please use our mainline BSP image. If you still want to create arch based image have a look at mesa and kernel patches in our meta-toradex-tegra git.
This document describes how to build the mainline Linux kernel and Nouveau driver from scratch for Apalis TK1.
This manual is based on https://github.com/NVIDIA/tegra-nouveau-rootfs
Fedora 23/24:
sudo dnf install python glib2-devel autoconf automake libtool libffi-devel expat-devel libxml2-devel uboot-tools libtalloc-devel xorg-x11-util-macros
mkdir ~/bin
export PATH=~/bin:$PATH
curl http://commondatastorage.googleapis.com/git-repo-downloads/repo > ~/bin/repo
chmod a+x ~/bin/repo
git clone https://github.com/proot-me/PRoot.git
cd PRoot/src
make
cp proot ~/bin/
Ubuntu 14.04:
sudo apt-get install git build-essential wget proot phablet-tools autoconf automake libtool libc6-i386 lib32stdc++6 lib32z1 pkg-config libwayland-dev
sudo apt-get install bison flex bc u-boot-tools glib-2.0 libffi-dev xutils-dev python-mako intltool libxml2-dev
Scripts use sudo, your user needs to be a sudoer.
All the required projects are synced using Google's repo tool:
mkdir tegra-nouveau-rootfs
cd tegra-nouveau-rootfs
repo init -u https://github.com/NVIDIA/tegra-nouveau-rootfs.git -m tegra-nouveau.xml
Sync all the sources:
repo sync -j4 -c
Once all the sources are downloaded, set the TOP environment variable:
export TOP=$PWD
Then download the cross-compilation toolchain that we will use:
./scripts/download-gcc
By default the scripts included in the NVIDIA repo generate an Arch rootfs. You can prepare an Arch based rootfs by using a simple set of commands:
./scripts/download-rootfs
./scripts/prepare-rootfs
In case you'd like to use the kernel and kernel modules with a different rootfs you can skip downloading and unpacking Arch and just create appropriate folders needed by the kernel scripts:
mkdir -p $TOP/out/target/arm/ArchLinuxArm/boot/
mkdir -p $TOP/out/target/arm/ArchLinuxArm/lib/modules
Modify the build script to build an uImage instead of a zImage:
vi $TOP/scripts/build-linux
Change:
case $ARCH in
arm)
KCONFIG="tegra_defconfig"
- KIMAGE=zImage
+ KIMAGE=uImage
KARCH=arm
;;
aarch64)
And:
# Build all that we need
- run_make_kernel -j$NPROC oldconfig dtbs $KIMAGE modules
+ run_make_kernel -j$NPROC oldconfig dtbs $KIMAGE modules LOADADDR=0x80008000
To make all peripherals on Apalis TK1 work apply the following patches:
curl http://git.toradex.com/cgit/meta-toradex-tegra.git/plain/recipes-kernel/linux/linux-toradex-mainline-4.9/0001-apalis-tk1-remove-spurious-new-lines.patch > linux/0001-apalis-tk1-remove-spurious-new-lines.patch
patch -d linux -p1 < linux/0001-apalis-tk1-remove-spurious-new-lines.patch
curl http://git.toradex.com/cgit/meta-toradex-tegra.git/plain/recipes-kernel/linux/linux-toradex-mainline-4.9/0002-apalis-tk1-temp-alert-pull-up.patch > linux/0002-apalis-tk1-temp-alert-pull-up.patch
patch -d linux -p1 < linux/0002-apalis-tk1-temp-alert-pull-up.patch
curl http://git.toradex.com/cgit/meta-toradex-tegra.git/plain/recipes-kernel/linux/linux-toradex-mainline-4.9/0003-apalis-tk1-optional-displayport-hot-plug-detect.patch > linux/0003-apalis-tk1-optional-displayport-hot-plug-detect.patch
patch -d linux -p1 < linux/0003-apalis-tk1-optional-displayport-hot-plug-detect.patch
curl http://git.toradex.com/cgit/meta-toradex-tegra.git/plain/recipes-kernel/linux/linux-toradex-mainline-4.9/0004-apalis-tk1-adjust-pin-muxing-for-v1.1-hw.patch > linux/0004-apalis-tk1-adjust-pin-muxing-for-v1.1-hw.patch
patch -d linux -p1 < linux/0004-apalis-tk1-adjust-pin-muxing-for-v1.1-hw.patch
curl http://git.toradex.com/cgit/meta-toradex-tegra.git/plain/recipes-kernel/linux/linux-toradex-mainline-4.9/0005-apalis-tk1-working-sd-card-detect-on-v1.1-hw.patch > linux/0005-apalis-tk1-working-sd-card-detect-on-v1.1-hw.patch
patch -d linux -p1 < linux/0005-apalis-tk1-working-sd-card-detect-on-v1.1-hw.patch
curl http://git.toradex.com/cgit/meta-toradex-tegra.git/plain/recipes-kernel/linux/linux-toradex-mainline-4.9/0006-apalis-tk1-update-compatibility-comment.patch > linux/0006-apalis-tk1-update-compatibility-comment.patch
patch -d linux -p1 < linux/0006-apalis-tk1-update-compatibility-comment.patch
curl http://git.toradex.com/cgit/meta-toradex-tegra.git/plain/recipes-kernel/linux/linux-toradex-mainline-4.9/0002-igb-integrate-tools-only-device-support.patch > linux/0002-igb-integrate-tools-only-device-support.patch
patch -d linux -p1 < linux/0002-igb-integrate-tools-only-device-support.patch
curl http://git.toradex.com/cgit/meta-toradex-tegra.git/plain/recipes-kernel/linux/linux-toradex-mainline-4.9/0003-apalis_t30-tk1-igb-no-nvm-and-Ethernet-MAC-address-h.patch > linux/0003-apalis_t30-tk1-igb-no-nvm-and-Ethernet-MAC-address-h.patch
patch -d linux -p1 < linux/0003-apalis_t30-tk1-igb-no-nvm-and-Ethernet-MAC-address-h.patch
curl http://git.toradex.com/cgit/meta-toradex-tegra.git/plain/recipes-kernel/linux/linux-toradex-mainline-4.9/0004-mmc-tegra-apalis-tk1-hack-to-make-sd1-functional.patch > linux/0004-mmc-tegra-apalis-tk1-hack-to-make-sd1-functional.patch
patch -d linux -p1 < linux/0004-mmc-tegra-apalis-tk1-hack-to-make-sd1-functional.patch
Arch requires extra options to work properly:
CONFIG_SECCOMP=y
It can be simply appended to the defconfig file:
echo CONFIG_SECCOMP=y >> $TOP/linux/arch/arm/configs/tegra_defconfig
If you need any special kernel configuration now it's time to edit defconfig:
vi $TOP/linux/arch/arm/configs/tegra_defconfig
Now you can build the Kernel:
./scripts/build-linux
And the Nouveau driver:
./scripts/build-nouveau
Afterwards you should have a kernel and several kernel modules (including the Nouveau driver) ready and included in your rootfs.
To use the GPU in applications you'll need to build custom mesa. Run:
./scripts/build-mesa
While on the U-Boot prompt enter:
ums 0 mmc 0
Connect the board to the PC, two partitions should show up (boot & rootfs). Mount both of them.
Erase all files on mounted partitions. Then copy rootfs files to rootfs partition:
sudo rsync -aAXv $TOP/out/target/arm/ArchLinuxArm/* /path/to/rootfs/mountpoint/
As well as kernel and device tree to boot partition:
sudo cp $TOP/out/target/arm/ArchLinuxArm/boot/uImage-nouveau-arm /path/to/boot/mountpoint/uImage
sudo cp $TOP/out/target/arm/ArchLinuxArm/boot/dtb-nouveau/tegra124-apalis-eval.dtb /path/to/boot/mountpoint/
You need to clear the vidargs used with the BSP demo image to avoid any problems with displays. Enter U-Boot prompt and enter this commands:
setenv vidargs
saveenv
By default there is no graphical user interface. Proceed as follows to install weston after having logged in as root/root:
pacman -S weston
After in finished installing, simply run it:
weston-launch
Initially Arch will not have any Xorg server installed. Proceed as follows to install one after having logged in as root/root:
pacman -S xorg-server xorg-xrandr
And then it may be started as follows:
X &
export DISPLAY=:0.0
xrandr
glxgears
To install a full blown desktop environment have a look at the following article on the Arch wiki:
Arch Linux Desktop Environments
E.g. LXDE worked fine for me:
pacman -S lxde
systemctl enable lxdm
reboot
Since there is no dynamic frequency scaling in Nouveau yet. You can check and change the GPU frequency via sysfs:
cat /sys/kernel/debug/dri/128/pstate
01: core 72 MHz *
02: core 108 MHz
03: core 180 MHz
04: core 252 MHz
05: core 324 MHz
06: core 396 MHz
07: core 468 MHz
08: core 540 MHz
09: core 612 MHz
0a: core 648 MHz
0b: core 684 MHz
0c: core 708 MHz
0d: core 756 MHz
0e: core 804 MHz
0f: core 852 MHz
DC: core 72 MHz
echo 0f > /sys/kernel/debug/dri/128/pstate
The following Nouveau kernel boot messages are not to be worried about. The 0 Mib VRAM message is due to the K1 SoC using unified memory rather than separate GPU VRAM. And the ce channel error -22 is due to the GPU being integrated directly on the K1 SoC and not having to pass via PCIe:
[ 11.367215] nouveau: loading out-of-tree module taints kernel.
[ 11.400352] nouveau 57000000.gpu: NVIDIA GK20A (0ea000a1)
[ 11.406127] nouveau 57000000.gpu: imem: using IOMMU
[ 11.483058] [TTM] Zone kernel: Available graphics memory: 378360 kiB
[ 11.489737] [TTM] Zone highmem: Available graphics memory: 1033718 kiB
[ 11.496474] [TTM] Initializing pool allocator
[ 11.501044] [TTM] Initializing DMA pool allocator
[ 11.506112] nouveau 57000000.gpu: DRM: VRAM: 0 MiB
[ 11.511076] nouveau 57000000.gpu: DRM: GART: 1048576 MiB
[ 11.521936] nouveau 57000000.gpu: DRM: failed to create ce channel, -22
[ 11.637449] nouveau 57000000.gpu: DRM: MM: using GRCE for buffer copies
