Compiling the iMote2 kernel

Downloads

Build Tools

File	Link	Description
iMote2 Toolchain	updated Mainstone version	Use either the updated Mainstone version with an updated version of binutils. The handheld.org toolchain is similar but won't build the kernel.

Needed Files

File	Link	Description
PlatformX 1.0 Release	sourceforge.net or local mirror	General PlatformX kernel build
MSB2 Specific patches	here
2.6.14 linux kernel	kernel.org or local mirror
iMote2 JFFS2 image	fs.jffs	Our default starting point JFFS2 image
Zydas ZD1211(b) wifi driver*	here and .config patch

• Zydas driver:
  • Official version is available from atheros.com
  • Non-officail versions (with bug fixes) are available from zd1211.ath.cx

Steps

Extracting all the Images

Assuming you placed the platformX release, patches, and kernel in the same directory you could extract them all using the following commands: <bash>tar zxf linux-2.6.14.tar.gz tar zxf SG2Release-1_0.tgz tar zxf msb2_patches.tgz</bash>

Patch the kernel

First we apply the SG2 release patches then we apply our MSB2 patches: <bash>cd linux-2.6.14 echo "Applying SG2 Patches" patch -p1 < ../SG2Release-1_0/src/patch-2.6.14-sg2-10 echo "Applying MSB2 Patches" patch -p1 < ../msp-linux-2.6.14-pxa-mmc.patch patch -p1 < ../msp-linux-2.6.14-uart.patch patch -p1 < ../msp-linux-2.6.14-sd-detect.patch</bash>

Configure the kernel

At this point you can either use the normal SG2 configuration or apply the msb2 standard configuration. Be sure to add your toolchain to your path, if you've installed it in /usr/local/arm/3.4.3_binutils you could do something like this: <bash>export PATH=/usr/local/arm/3.4.3_binutils/bin/:$PATH export ARCH=arm export CROSS_COMPILE=arm-linux-</bash>

SG2 Configuration

<bash>export ARCH=arm export CROSS_COMPILE=arm-linux- make stargate2_defconfig make oldconfig</bash>

MSB2 Configuration

<bash>export ARCH=arm export CROSS_COMPILE=arm-linux- cp ../msp-linux-2.6.14-config ./.config make oldconfig</bash>

RNDIS (Windows XP) Ethernet Gadget Configuration

If you'd like to be able to connect the iMote2 to a Windows XP host instead of a linux host you can use the RNDIS patch to add Windows XP support to the kernel. Download the patch from here to your build directory. Note, that this patch currently compiles support into the kernel and not as a module. <bash>export ARCH=arm export CROSS_COMPILE=arm-linux- cp ../msp-linux-2.6.14-config ./.config patch -p1 < ../msp-linux-2.6.14-winXP-rndis.patch make oldconfig</bash> Next you will need to do a make menuconfig (after setting up the ARCH/CROSS_COMPILE/path) and select:
• Device Drivers
  • USB Support
    • USB GadgetSupport
      • Support for USB Gadgets (compile into the kernel)
      • USB Gadget Drivers (compile into the kernel)
      • Make sure 'Ethernet Gadget (with CDC Ethernet Support)' is selected
      • Select 'RNDIS support (EXPERIMENTAL)'
Then exit out and save your kernel configuration.

Configuring the kernel to use multiple Internet connections

In order for the iMote to selectively use multiple Internet connections simultaneously, you must enable "policy routing" in the kernel: <bash>make menuconfig</bash> Select the following:
• Networking
  • Networking options
    • IP: Advanced router
    • IP: Policy routing (will not appear unless "Advanced router" is set)
You can also use the following patch here.

Compile the kernel

You can then build the kernel as you normally would or perform any additional steps you want to before building. Note that if you are using the Mainstone tools instead of a 3.4.1 toolchain installed in /usr/local/arm/3.4.1 you will need to edit Makefile.platx and comment out the export lines at the top. <bash>...
1. export ARCH=arm
2. export CROSS_COMPILE=/usr/local/arm/3.4.1/bin/arm-linux-
3. export PATH:=${PATH}:/usr/local/arm/3.4.1/bin/
... </bash> You can also remove the platx_config to get rid of an annoying error message in the SG2_1.0 release: <bash>${IMAGE}:: force @scripts/platx_config</bash> Now you're ready to build the kernel: <bash>mkdir ../kernel make zImage make modules make modules_install cp arch/arm/boot/zImage ../kernel/ cp -a modules/lib/modules/2.6.14_r1.0/ ../kernel/ </bash> Note you should remove the '../kernel' directory each time you do this to avoid getting a stale copy; however, I'm not about to place rm -rf commands in things people will paste arbitrarily

Building the zd1211(b) wireless driver

While the newest versions of Linux support the zd1211(b) out-of-the-box, the kernel used on the iMote does not. Therefore, you must download and compile the driver seperately:
• Obtain and extract the latest version from [1]. As of the time of this edit, this was r83. You can do this in one step with: <bash>wget http://zd1211.ath.cx/download/zd1211-driver-r83.tgz -O - | tar xvzf -</bash>
• cd to the newly-created directory.
• Edit the Makefile, and change the MODPATH (on line 13) to point at your modules/lib/modules/2.6.14_r1.0/ directory.
• Compile and install:
<bash>make make install cd .. make modules_install </bash>

Flashing the kernel

You will need to specify the platform (SG2/Intel Mote2) and JTAG cable that you are using (Intel(R) JTAG Cable/JTAG CPU) to XFlash. The following assumes you are programming an Intel Mote2 with a Macraigor Raven JTAG:

xflash -p intelmote2 -tt "JTAG CPU" blob     -offset 0x00000000
xflash -p intelmote2 -tt "JTAG CPU" zImage   -offset 0x00040000
xflash -p intelmote2 -tt "JTAG CPU" fs.jffs2 -offset 0x00240000

And the following assumes you are programming an Intel Mote2 with an Intel JTAG

xflash -p intelmote2 -tt "Intel(R) JTAG Cable" blob     -offset 0x00000000
xflash -p intelmote2 -tt "Intel(R) JTAG Cable" zImage   -offset 0x00040000
xflash -p intelmote2 -tt "Intel(R) JTAG Cable" fs.jffs2 -offset 0x00240000

Typical Build

• MSB2 Build
• Windows RNDIS Gadget Driver
• Wifi Module

<bash> wget http://sifl.cs.washington.edu/files/imote2/mirrors/platformX/SG2Release-1_0.tgz wget http://sifl.cs.washington.edu/files/imote2/patches/msb2_patches.tgz wget http://sifl.cs.washington.edu/files/imote2/mirrors/kernel/linux-2.6.14.tar.gz wget http://sifl.cs.washington.edu/files/imote2/images/current/fs.jffs2 wget http://sifl.cs.washington.edu/files/imote2/mirrors/zd1211/zd1211-driver-r83.tgz wget http://sifl.cs.washington.edu/files/imote2/patches/linux-2.6.14_advancedRouter.patch

tar zxf linux-2.6.14.tar.gz tar zxf SG2Release-1_0.tgz tar zxf msb2_patches.tgz tar zxf zd1211-driver-r83.tgz

cd linux-2.6.14 echo "Applying SG2 Patches" patch -p1 < ../SG2Release-1_0/src/patch-2.6.14-sg2-10

echo "Applying MSB2 Patches and kernel config" patch -p1 < ../msp-linux-2.6.14-pxa-mmc.patch patch -p1 < ../msp-linux-2.6.14-uart.patch patch -p1 < ../msp-linux-2.6.14-sd-detect.patch cp ../msp-linux-2.6.14-config ./.config

echo "Applying Windows RNDIS Patches" patch -p1 < ../msp-linux-2.6.14-winXP-rndis.patch

echo "Building kernel" export ARCH=arm export CROSS_COMPILE=arm-linux- sed -e 's;export PATH;#export PATH;g' -e 's;export CROSS_COMPILE=;#export CROSS_COMPILE=;g' -e 's;test:;#test:;g' Makefile.platx -i sed -e 's;echo zImage is ${ZIMAGE};#echo zImage is ${ZIMAGE};g' -e 's;${IMAGE}:: force;#${IMAGE}:: force;g' Makefile.platx -i sed -e 's;@scripts/platx_config;#@scripts/platx_config;g' Makefile.platx -i make oldconfig make zImage make modules make modules_install

echo "Copying zImage" cd .. mkdir images cd images cp ../linux-2.6.14/arch/arm/boot/zImage ./ cd ..

echo "Building Zydas driver" cd zd1211-driver-r83 sed -e 's;MODPATH := /lib/modules/$(VERSION);MODPATH := ../linux-2.6.14/modules/lib/modules/2.6.14_r1.0;g' Makefile -i sed -e 's;KERNEL_SOURCE=$(MODPATH)/source;KERNEL_SOURCE=$../linux-2.6.14;g' Makefile -i sed -e "s;CC=gcc;CC=${CROSS_COMPILE}gcc;g" -e "s;CPP=g++;CPP=${CROSS_COMPILE}g++;g" -e "s;LD=ld;LD=${CROSS_COMPILE}ld;g" Makefile -i sed -e 's;$(MODPATH)/net;$(MODPATH)/kernel/drivers/net;g' Makefile -i make make install cd ..

echo "Mounting Filesystem and installing kernel modules" cd images mkdir /mnt/jffs2Image losetup /dev/loop/0 ../fs.jffs2 mknod /dev/mtdblock0 b 31 0 modprobe blkmtd device=/dev/loop/0 mount -t jffs2 /dev/mtdblock0 /mnt/jffs2Image cd ..

echo "Removing all old modules from JFFS2 Image" cd images rm -rf /mnt/jffs2Image/lib/modules/* echo "Copying new modules to JFFS2 Image" cp -a ../linux-2.6.14/modules/lib/modules/2.6.14_r1.0/ /mnt/jffs2Image/lib/modules/ echo "Unmounting image" sync umount /mnt/jffs2Image modprobe --remove blkmtd losetup -d /dev/loop/0 rm fs.jffs2 cp ../fs.jffs2 ./ cd ..

echo "Building blob bootloader" cd SG2Release-1_0/src tar zxf blob-px2-10.tgz cd blob-px2/src patch -p1 < ../../../../Blob_noconsole.patch cd blob patch -p1 < ../../../../../Blob_imote2_setGPIO10_outputHigh_forBT_and_SD.patch patch -p1 < ../../../../../Blob_sg2_32kHzOutputDisable.patch cd ../../ make -f Makefile.cvs make -f Makefile.cvs ln -s ../../../linux-2.6.14 linux ./configure --host=arm-linux --with-board=stargate2 \

   --with-linux-prefix=$PWD/linux \
   --enable-xlli --enable-network --enable-xmodem

make cp src/blob/blob ../../../images/ cd ../../../

</bash>