diff options
| -rw-r--r-- | board/lego/ev3/genimage.cfg | 57 | ||||
| -rw-r--r-- | board/lego/ev3/linux.fragment | 7 | ||||
| -rwxr-xr-x | board/lego/ev3/post-image.sh | 14 | ||||
| -rw-r--r-- | board/lego/ev3/readme.txt | 80 | ||||
| -rw-r--r-- | configs/lego_ev3_defconfig | 10 |
5 files changed, 105 insertions, 63 deletions
diff --git a/board/lego/ev3/genimage.cfg b/board/lego/ev3/genimage.cfg new file mode 100644 index 0000000000..6b8546cc7c --- /dev/null +++ b/board/lego/ev3/genimage.cfg @@ -0,0 +1,57 @@ +# LEGO MINDSTORMS EV3 can boot from a 16MB flash or from a microSD card. +# The U-Boot bootloader from the flash is always used, even when booting +# from a microSD card. + +# The Flash image + +flash nor-16M-256 { + pebsize = 4096 + numpebs = 4096 + minimum-io-unit-size = 256 +} + +image flash.bin { + flash { + } + flashtype = "nor-16M-256" + partition uboot { + image = "u-boot.bin" + size = 320K + } + partition uimage { + image = "uImage" + size = 3M + offset = 0x50000 + } + partition rootfs { + image = "rootfs.squashfs" + size = 9600K + offset = 0x350000 + } +} + +# The SD card image + +image boot.vfat { + vfat { + files = { + "uImage" + } + } + size = 16M +} + +image sdcard.img { + hdimage { + } + partition boot { + partition-type = 0xC + bootable = "true" + image = "boot.vfat" + offset = 4M + } + partition rootfs { + partition-type = 0x83 + image = "rootfs.ext2" + } +} diff --git a/board/lego/ev3/linux.fragment b/board/lego/ev3/linux.fragment new file mode 100644 index 0000000000..5593636798 --- /dev/null +++ b/board/lego/ev3/linux.fragment @@ -0,0 +1,7 @@ +CONFIG_BLK_DEV_RAM=y +CONFIG_BLK_DEV_RAM_COUNT=1 +CONFIG_BLK_DEV_RAM_SIZE=32768 +CONFIG_SQUASHFS=y +CONFIG_SQUASHFS_LZ4=y +CONFIG_SQUASHFS_LZO=y +CONFIG_SQUASHFS_XZ=y diff --git a/board/lego/ev3/post-image.sh b/board/lego/ev3/post-image.sh new file mode 100755 index 0000000000..81626dc371 --- /dev/null +++ b/board/lego/ev3/post-image.sh @@ -0,0 +1,14 @@ +#!/bin/sh + +BOARD_DIR="$(dirname $0)" +GENIMAGE_CFG="${BOARD_DIR}/genimage.cfg" +GENIMAGE_TMP="${BUILD_DIR}/genimage.tmp" + +rm -rf "${GENIMAGE_TMP}" + +genimage \ + --rootpath "${TARGET_DIR}" \ + --tmppath "${GENIMAGE_TMP}" \ + --inputpath "${BINARIES_DIR}" \ + --outputpath "${BINARIES_DIR}" \ + --config "${GENIMAGE_CFG}" diff --git a/board/lego/ev3/readme.txt b/board/lego/ev3/readme.txt index 7d9ec4fbf0..c075af5eb6 100644 --- a/board/lego/ev3/readme.txt +++ b/board/lego/ev3/readme.txt @@ -25,9 +25,13 @@ How it works Boot process : -------------- -The u-boot on-board the EV3 brick has provision to boot a Linux kernel from the -external µSD card. It will try to load a uImage from the first µSD card -partition, which must be formatted with a FAT filesystem. +The EV3 boots from an EEPROM. This loads whatever is on the built-in 16MB flash +(usually U-Boot) and runs it. The U-Boot from the official LEGO firmware and +mainline U-Boot will attempt to boot a Linux kernel from the external µSD card. +It will try to load a uImage (and optional boot.scr) from the first µSD card +partition, which must be formatted with a FAT filesystem. If no µSD is found or +it does not contain a uImage file, then the EV3 will boot the uImage from the +built-in 16MB flash. How to build it =============== @@ -54,74 +58,26 @@ Result of the build After building, you should obtain this tree: output/images/ + ├── boot.vfat + ├── flash.bin ├── rootfs.ext2 ├── rootfs.ext3 -> rootfs.ext2 + ├── rootfs.squashfs + ├── sdcard.img + ├── u-boot.bin └── uImage -Prepare your SDcard -=================== - -The following µSD card layout is recommended: - -- First partition formatted with a FAT filesystem, containing the uImage. -- Second partition formatted as ext2 or ext3, containing the root filesystem. - -Create the SDcard partition table ----------------------------------- - -Determine the device associated to the SD card : - - $ cat /proc/partitions - -Let's assume it is /dev/mmcblk0 : - - $ sudo fdisk /dev/mmcblk0 - -Delete all previous partitions by creating a new disklabel with 'o', then -create the new partition table, using these options, pressing enter after each -one: - - * n p 1 2048 +10M t c - * n p 2 22528 +256M - -Using the 'p' option, the SD card's partition must look like this : - -Device Boot Start End Blocks Id System -/dev/mmcblk0p1 2048 22527 10240 c W95 FAT32 (LBA) -/dev/mmcblk0p2 22528 546815 262144 83 Linux - -Then write the partition table using 'w' and exit. - -Make partition one a DOS partition : - - $ sudo mkfs.vfat /dev/mmcblk0p1 - -Install the binaries to the SDcard ----------------------------------- - -Remember your binaries are located in output/images/, go inside that directory : - - $ cd output/images - -Copy the Linux kernel: - - $ sudo mkdir /mnt/sdcard - $ sudo mount /dev/mmcblk0p1 /mnt/sdcard - $ sudo cp uImage /mnt/sdcard - $ sudo umount /mnt/sdcard - -Copy the rootfs : - - $ sudo dd if=rootfs.ext3 of=/dev/mmcblk0p2 bs=1M - $ sync +Installation +============ -It's Done! +You can use either flash.bin or the sdcard.img. To load flash.bin, use the +official Lego Mindstorms EV3 programming software firmware update tool to load +the image. To use sdcard.img, use a disk writing tool such as Etcher or dd to +write the image to the µSD card. Finish ====== -Eject your µSD card, insert it in your Lego EV3, and power it up. - To have a serial console, you will need a proper USB to Lego serial port adapter plugged into the EV3 sensors port 1. See: diff --git a/configs/lego_ev3_defconfig b/configs/lego_ev3_defconfig index 1521fa7cc4..ea76d595a6 100644 --- a/configs/lego_ev3_defconfig +++ b/configs/lego_ev3_defconfig @@ -8,7 +8,7 @@ BR2_GLOBAL_PATCH_DIR="board/lego/ev3/patches" # system BR2_TARGET_GENERIC_GETTY=y BR2_TARGET_GENERIC_GETTY_PORT="ttyS1" - +BR2_ROOTFS_POST_IMAGE_SCRIPT="board/lego/ev3/post-image.sh" # Linux headers same as kernel, a 4.4 series BR2_PACKAGE_HOST_LINUX_HEADERS_CUSTOM_4_4=y @@ -18,11 +18,14 @@ BR2_LINUX_KERNEL_CUSTOM_GIT=y BR2_LINUX_KERNEL_CUSTOM_REPO_URL="https://github.com/ev3dev/ev3dev-kernel.git" BR2_LINUX_KERNEL_CUSTOM_REPO_VERSION="v4.4.19-15-ev3dev-ev3_1" BR2_LINUX_KERNEL_DEFCONFIG="ev3dev" +BR2_LINUX_KERNEL_CONFIG_FRAGMENT_FILES="board/lego/ev3/linux.fragment" BR2_LINUX_KERNEL_UIMAGE=y # filesystem BR2_TARGET_ROOTFS_EXT2=y BR2_TARGET_ROOTFS_EXT2_3=y +BR2_TARGET_ROOTFS_SQUASHFS=y +BR2_TARGET_ROOTFS_SQUASHFS4_XZ=y # BR2_TARGET_ROOTFS_TAR is not set # U-Boot @@ -31,3 +34,8 @@ BR2_TARGET_UBOOT_BUILD_SYSTEM_KCONFIG=y BR2_TARGET_UBOOT_CUSTOM_VERSION=y BR2_TARGET_UBOOT_CUSTOM_VERSION_VALUE="2016.09.01" BR2_TARGET_UBOOT_BOARD_DEFCONFIG="legoev3" + +# host +BR2_PACKAGE_HOST_DOSFSTOOLS=y +BR2_PACKAGE_HOST_GENIMAGE=y +BR2_PACKAGE_HOST_MTOOLS=y |
