Android on Beaglebone Black (Rev 2)

Android on BeagleBone Black

UTN-FRA
Laboratorio de Software Libre
Erneto !igliotti
UTN FRA LSL http://www.lslfra.com.ar 1
Android on Beaglebone Black (Rev 2)
"ontent
T#torial $% &
Creating an S car! An!roi! Te"as #nstr$ments #mage for %eagle&one %lac'.
T#torial $2 &
Accessing the An!roi! Console &( A%.
T#torial $' &
Controlling )*#+s o,er An!roi! +perating S(stem.
T#torial $( &
Creating a &oot script for har!ware initiali-ation.
T#torial $) &
Compiling Te"as #nstr$ments An!roi! 'ernel from so$rce.
T#torial $* &
#.C mo!$les. /"ample with L012 temperat$re sensor.
T#torial $+ &
UART1 an! UART. mo!$les.
T#torial $, &
S*# mo!$le.
T#torial $- &
Compiling a c$stom An!roi! !ri,er as a char !e,ice.
T#torial %$ &
Accessing to har!ware from c$stom An!roi! !ri,er.
T#torial % % &
Compiling 'ernel 3.4 with !e,ice tree s$pport for An!roi!.
T#torial %2 &
Using *50 mo!$les.
T#torial %' &
Using AC mo!$le.
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9Android on Beaglebone Black: b6 Erneto !igliotti3
"ontact & ernetogigliotti;g/ail3co/
UTN FRA LSL http://www.lslfra.com.ar .
Android on Beaglebone Black (Rev 2)
T#torial $%& Creating S car! An!roi! Te"as #nstr$ments #mage for %eagle&one %lac'.
Re9$irements:
This t$torial is &ase! in a *C with U&$nt$ 13 :;&it +perating S(stem.
0icro S car! class 1< preferentiall(.
First of all7 we ha,e to !ownloa! the T# An!roi! #mage from T#=s we& page:
http://!ownloa!s.ti.com/sitara>an!roi!/es!/T#>An!roi!>e,8it/T#>An!roi!>?%>;>.>.>e,8it>;>1>
1/in!e">FS.html
#n the @*re6%$ilt #magesA section7 we !ownloa! @%eagle&one %lac'A
5hen the file is finishe! to !ownloa!7 we ha,e to $ncompress it. #nsi!e the fol!er we will fin!
the script @m'mmc6an!roi!.shA with this script we will &e a&le to create an An!roi! #mage for
o$r %eagle&one %lac'.
Steps
1B *l$g (o$r micro S car! in the SCar! rea!er.
#f (o$ ha,e a note&oo' with an integrate! rea!er7 the car! will appear in /!e,/mmc&l'. #f (o$
ha,e an US% rea!er7 the car! will appear in /!e,/s!c or /!e,/s!C it will !epen! how man(
partitions (o$ ha,e in (o$r comp$ter.
#n this t$torial we will $se mmc&l' !e,ice
.B As root7 grant e"ec$tion permissions for the script:
chmod +x mkmmc-android.sh
3B /"ec$te the script an! image will &e copie! into the S car!:
./mkmmc-android.sh /dev/mmcblk
<ARN5N!& #f (o$ p$t a wrong path where it sa(s @mmc&l'A(o$ can !estro( (o$r partition.
+nce the script finishe!7 (o$ can p$t the S car! into the %eagle&one %lac' an! power it7
An!roi! will &oot.
UTN FRA LSL http://www.lslfra.com.ar 3
Android on Beaglebone Black (Rev 2)
T#torial $2& Accessing the An!roi! Console &( A%
Re9$irements:
An!roi! S8 installe! in (o$r comp$ter
5hen we pl$g the %eagle=s mini US% connector to o$r comp$ter7 we can connect to An!roi! &(
A%.
The first step is to config$re U&$nt$ for recogni-e the %eagle&one %lac' as a ,ali! US% !e,ice.
Steps
1B As root7 create the file @/etc/$!e,/r$les.!/216an!roi!.r$les A
nano /etc/udev/rules.d/51-android.rules
.B *$t the following te"t insi!e the file:
SU%SDST/0EEF$s&F7 SDSFSGi!Hen!orIEEF14!1F7 0+/EF<:::F
SU%SDST/0EEF$s&F7 SDSFSGi!Hen!orIEEF<;21F7 0+/EF<:::F
3B As root7 change the file=s permissions:
chmod a+r /etc/udev/rules.d/51-android.rules
;B As root7 go to the a!& !irector( insi!e An!roi!6S8 an! 'ill a!& an! restart it listing the
!e,ices !etecte! J%eagle&one %lac' m$st &e pl$gge!B:
./adb kill-server
./adb devices
The o$tp$t will &e something li'e:
List of devices attached
0123456789ABCDEF device
2B Then we are a&le to enter in the An!roi! console t(ping:
./adb shell
:B if we want to cop( a file from o$r comp$ter to the %eagle&one %lac' we can $se the @p$shA
a!&=s comman!:
./adb push ~/beagleboneblack/foo.txt /etc/
5e can too open /clipse an! $se the &oar! as another em$lator or phone7 !ownloa!ing
applications in it.
UTN FRA LSL http://www.lslfra.com.ar ;
Android on Beaglebone Black (Rev 2)
T#torial $'& Controlling )*#+s o,er An!roi! +perating S(stem
#n this t$torial we are going to control $ser=s le! in the &oar!.
*rocessor pins for Users Le!s:
USR< )*#+1>.1
USR1 )*#+1>..
USR. )*#+1>.3
USR3 )*#+1>.;
)*#+ control is not a,aila&le for !efa$lt7 we nee! to create a !irector( for each )*#+ we want to
control7 an! there will &e files in there that will allow $s to control the pins.
Steps
1B /nter to An!roi! Console &( a!&
./adb shell
.B )o to !irector( s(s/class/gpio:
cd /sys/class/gpio
3B There7 we will fin! the files an! !irectories:
export
gpiochip0
gpiochip32
gpiochip64
gpiochip96
unexport
/ach gpiochipCC correspon!s to a 3. &it )*#+ *ort. For pin n$m&er calc$lation7 we nee! to
calc$late the follow:
pin n$m&er E Jport n$m&er K 3.B L gpio n$m&er
for e"ample7 for $ser le! < J )*#+1>.1 B
pin n$m&er E J1 K 3.B L .1 E 23
3B Now we 'now the pin n$m&er we want to control7 we nee! to generate the !irector( for this
pin7 that is ma!e writing the pin n$m&er in the @e"portA file:
echo 53 > /sys/class/gpio/export
;B one that7 a new !irector( will appear:
export
gpio53 <- This directory is new
gpiochip0
gpiochip32
gpiochip64
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Android on Beaglebone Black (Rev 2)
gpiochip96
unexport
2B )o to this !irector(:
cd gpio53
:B There7 we will fin! some files:
active_low
direction
edge
power
subsystem
uevent
value
1B 5e will $se @!irectionA file to config$re the pin as inp$t or o$tp$t. 5e write @highA in it for
o$tp$t:
echo high > direction
4B Now we can control the pin state $sing @,al$eA file7 writing a @1A7 $ser le! < will t$rn on7 an!
writing a @<A7 $ser le! < will t$rn off.
echo 0 > value
echo 1 > value
Consi!erations:
5hen we re&oot the &oar! the @gpio23A !irector( will not &e a,aila&le an! we will nee! to
create it again. This pro&lem is sa,e! $sing a &oot script where this initiali-ation is ma!e.
UTN FRA LSL http://www.lslfra.com.ar :
Android on Beaglebone Black (Rev 2)
T#torial $(& Creating a &oot script for har!ware initiali-ation.
#f we want that )*#+s Jor other har!ware mo!$lesB are initiali-e! when An!roi! &oots7 we nee!
to create a script with the gpios config$ration steps. 5e will name this file @cri0tg0io31A
The content of this file will &e:
MConfig$re L/ US/R < 6 )*#+1>.1
echo 23 N /s(s/class/gpio/e"port
c! /s(s/class/gpio/gpio23
M irection : o$t
echo high N !irection
echo < N ,al$e
chmo! 111 ,al$e
chmo! 111 !irection
Now we nee! to e"ec$te this script at the &eginning of the An!roi! &ooting. For that7 we nee!
to e!it the @init3rcA file that is place! in An!roi!=s file s(stem root.
Since we can not e!it the file insi!e An!roi! +perating S(stem Jwe !o not ha,e a te"t e!itor in
An!roi! consoleB we are going to e!it the file pl$gging the S car! in o$r comp$ter an! e!iting
the file from there.
5hen we !o that7 fo$r partitions will appear:
&oot
rootfs
$sr!ata
!ata
#n rootfs partition7 we will fin! the init.rc file. Now we can e!it it with ,im or nano.
Steps
1B +pen init.rc file with nano
.B Search for the lines:
ser,ice !e&$gger! /s(stem/&in/!e&$gger!
class main
%ellow these lines7 we are going to write o$r script initiali-ation:
ser,ice scriptgpios /s(stem/&in/sh /s(stem/etc/scriptgpios.sh
class main
oneshot
3B Cop( @scriptgpios.shA from (o$r comp$ter to @/s(stem/etcA in the rootfs partition of the S
car!. This file m$st ha,e e"ec$tion permissions.
Then we $nmo$nt all partitions an! p$t S car! again in the &oar!7 when An!roi! &oots7 this
time )*#+s will &e config$re!.
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Android on Beaglebone Black (Rev 2)
T#torial $)& Compiling Te"as #nstr$ments An!roi! 'ernel from so$rce.
#f we want to compile An!roi! 'ernel J $sef$l if we want to create o$r c$stom !ri,ers B we nee!
to !ownloa! T#6e,8it from Te"as we& page:
http://!ownloa!s.ti.com/sitara>an!roi!/es!/T#>An!roi!>e,8it/T#>An!roi!>?%>;>.>.>e,8it>;>1>
1/in!e">FS.html
#n the @T# An!roi! So$rcesA section7 we !ownloa! @T# An!roi! ?% ;.... e,8itH;.1.1 A0332"
So$rcesA
Steps
1B The file !ownloa!e! is a @.&inA we nee! to change e"ec$tion permissions an! e"ec$te it:
chmod +x TI_Android_JB_4.2.2_DevKit_4.1.1.bin
./TI_Android_JB_4.2.2_DevKit_4.1.1.bin
5e s$ppose this file is in @O/&eagle&one&lac'A !irector(7 if (o$ are $sing another path7 pa(
attention an! change it in all parts where it appears.
.B +nce the &inar( file !ecompresse!7 the !irector( @T#>An!roi!>?%>;....>e,8it>;.1.1A will
appear. Now we can compile the 8ernel:
cd ~/beagleboneblack/TI_Android_JB_4.2.2_DevKit_4.1.1/kernel
PATH=$HOME/beagleboneblack/TI_Android_JB_4.2.2_DevKit_4.1.1/prebuilts/gcc/linux-
x86/arm/arm-eabi-4.6/bin:$PATH
make ARCH=arm CROSS_COMPILE=arm-eabi- distclean
make ARCH=arm CROSS_COMPILE=arm-eabi- am335x_evm_android_defconfig
make ARCH=arm CROSS_COMPILE=arm-eabi- uImage
This process can ta'e some of min$tes !epen!ing of (o$r comp$ter.
3B 8ernel image will &e create! in T#>An!roi!>?%>;....>e,8it>;.1.1/'ernel/arch/arm/&oot. File=s
name is @$#mageA. *$t the SCar! in (o$r car! rea!er an! cop( this file into @&ootA partition.
UTN FRA LSL http://www.lslfra.com.ar 4
Android on Beaglebone Black (Rev 2)
T#torial $*& #.C mo!$les. /"ample with L012 temperat$re sensor.
Re9$irements:
A &oar! with an L012 #.C temperat$re sensor.
An!roi! N8 installe! in (o$r comp$ter.
5e are going to config$re #.C port an! we are going to $se it for rea!ing an L012 temperat$re
sensor.
#f we na,igate An!roi! !irector(7 in /!e, we are going to fin! @i.c63A !e,ice. This !e,ice
correspon!s with the pins 1P an! .< from *P connector on the &oar!.
=- 0in > 52" f#nction
1P SCL
.< SA
Steps
1B 5e will connect L012 chip to this port. *ower s$ppl( can &e ta'en from the &oar! from pins
1 an! ;.
.B 5e are going to write a C program for $se #.C !e,ice as a character !e,ice for rea!ing L012.
For that7 we nee! to create a proQect !irector(: @lm12testA. Then we nee! to create the @QniA
!irector( insi!e. #nsi!e Qni fol!er7 we are going to create a @0ain.cA file.
mkdir lm75test
cd lm75test
mkdir jni
cd jni
nano Main.c
3B 5rite the C co!e $sing open7 rea!7 write7 an! ioctl f$nctions:
Mincl$!e Rst!io.hN
Mincl$!e Rst!li&.hN
Mincl$!e Ri.c6!e,.hN
Mincl$!e Rs(s/ioctl.hN
Mincl$!e Rs(s/t(pes.hN
Mincl$!e Rs(s/stat.hN
Mincl$!e Rfcntl.hN
int fileS
char Kfilename E F/!e,/i.c63FS
if JJfile E openJfilename7 +>R5RBB R <B
e"itJ1BS
//1 < < 1 A. A1 A< R/5
int a!!r E <";4S // e,ice a!!ress is <";4
if JioctlJfile7 #.C>SLAH/7 a!!rB R <B
e"itJ1BS
$nsigne! char &$fT1<U E G<IS
ifJwriteJfile7 &$f71B VE 1B
e"itJ1BS
int r E rea!Jfile7&$f7.BS
$nsigne! char tempW E &$fT<US
$nsigne! char tempL E &$fT1US
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Android on Beaglebone Black (Rev 2)
$nsigne! short tempS
tempEtempWS
tempEtempRR1S
tempEtempX<"FFF/S
tempLEtempLNN1S
tempLEtempLX<"<<<1S
tempEtempYtempLS
float t E JJfloatBtempB/.S
printfJFTemperat$re:Zf[nF7tBS
;B To compile this co!e we will $se An!roi!6N87 for that reason7 we nee! to create two e"tra
files: @Application.m'A an! @An!roi!.m'A
Application.m':
A**>+*T#0 :E release
A**>*LATF+R0 :E an!roi!612
An!roi!.m':
L+CAL>*ATW :E \Jcall m(6!irB
incl$!e \JCL/AR>HARSB
L+CAL>0+UL/ :E lm12test
L+CAL>SRC>F#L/S :E 0ain.c
incl$!e \J%U#L>/C/CUTA%L/B

2B 5e can compile o$r co!e now7 insi!e Qni !irector( we e"ec$te N8 compiler Jthe path can
change if (o$ are $sing a newer ,ersionB
~/adt-bundle-linux-x86_64-20130219/android-ndk-r8d/ndk-build
:B #f compilation was +87 it will generate the e"ec$ta&le file in: lm12test/li&/armea&i/lm12test
1B Cop( the e"ec$ta&le into %eagle&one=s An!roi! etc !irector(:
./adb push lm75test/lib/armeabi/lm75test /etc/
4B /nter to An!roi! console7 change e"ec$tion permissions for o$r program an! e"ec$te it.
./adb shell
cd etc
chmod 777 lm75test
./lm75test
The program will print the act$al temperat$re rea! from L012.
Consi!erations
#f we want7 an( An!roi! application can access this !e,ice7 we nee! to a!! to the &oot script
we ma!e &efore7 the permissions for the !e,ice:
chmod 777 /dev/i2c-3
UTN FRA LSL http://www.lslfra.com.ar 1<
Android on Beaglebone Black (Rev 2)
T#torial $+& UART1 an! UART. mo!$les.
Re9$irements:
&$s(&o" m$st &e installe!
UART 1 an! . pino$t:
"onnector =-
*#N .; UART1>TC
*#N .: UART1>RC
*#N .1 UART.>TC
*#N .. UART.>RC
UART1 is manage! &( tt(+1 !e,ice J/!e,/tt(+1 B
UART. is manage! &( tt(+1 !e,ice J/!e,/tt(+.B
%( !efa$lt7 pins are in 0+/1 J)*#+B if we want to $se this pins as UARTs we nee! to change
pins m$" config$ration.
Steps
1B 5e can see UART1 pins m$" config$ration with the following comman!:
cat /sys/kernel/debug/omap_mux/uart1_rxd
.B %( !efa$lt7 pin m$" is )*#+7 we nee! to change it to UART1 RC
echo 20 > /sys/kernel/debug/omap_mux/uart1_rxd
Now when we chec' config$ration7 it will &e:
name: uart1_rxd.uart1_rxd (0x44e10980/0x980 = 0x0020), b NA, t NA
mode: OMAP_MUX_MODE0 | AM33XX_PIN_INPUT_PULLDOWN
signals: uart1_rxd | mmc1_sdwp | NA | i2c1_sda | NA | pr1_uart0_rxd_mux1 | NA |
gpio0_14
3B Same wa( we change t" pin config$ration.
echo 0 > /sys/kernel/debug/omap_mux/uart1_txd
;B Now we !o the same for UART.7 in this case pins are calle! spi<>!< an! spi<>scl' in An!roi!
file s(stem.
echo 1 > /sys/kernel/debug/omap_mux/spi0_d0
echo 21 > /sys/kernel/debug/omap_mux/spi0_sclk
2B To test UARTs we are going to $se @microcomA an application incl$!e! in &$s(&o" similar to
@minicomA.
/data/busybox/busybox microcom -s 9600 ttyO1
/data/busybox/busybox microcom -s 9600 ttyO2
N?TE& See steps 1; an! 12 from T$torial <P for &$s(&o" installation.
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Android on Beaglebone Black (Rev 2)
T#torial $,& S*# mo!$le.
Re9$irements:
T#6e,8it m$st &e installe!.
An!roi! 8ernel m$st &e compile!.
S*#< pino$t:
"onnector =-
*#N 11 S*#<>CS<
*#N 14 S*#<>1
*#N .1 S*#<><
*#N .. S*#<>SCL8
S*# is not ena&le! &( !efa$lt7 we nee! to e!it @&oar!6am332"e,m.cA file7 enter in 'ernel =s
men$config options an! ena&le S*#/H an! re6compile An!roi! 'ernel with this feat$res7 other
wa( S*# !e,ice will not appear in /!e, !irector(.

%( !efa$lt7 pins are in 0+/1 J)*#+B if we want to $se these pins as S*# pins7 we nee! to
change pins m$" config$ration.
Steps
1B 5e are going to ena&le S*#< &eca$se S*#1 is $se! &( W0# mo!$le an! it cannot &e $se!.
/!it @&oar!6am332"e,m.cA file in 'ernel=s !irector( @arch/arm/mach6omap./A
nano arch/arm/mach-omap2/board-am335xevm.c
.B Change @am332">spi<>sla,e>infoA str$ct for the follow one:
static str$ct spi>&oar!>info am332">spi<>sla,e>infoTU E G
G
.mo!alias E Fspi!e,F7
.ma">spee!>h- E ;4<<<<<<7 //;4 0&ps
.&$s>n$m E 17
.chip>select E <7
.mo!e E S*#>0+/>17
I7
IS
3B Change @spi<>initA f$nction for the follow one:
static ,oi! spi<>initJint e,m>i!7 int profileB
G
set$p>pin>m$"Jspi<>pin>m$"BS
spi>register>&oar!>infoJam332">spi<>sla,e>info7
ARRAD>S#]/Jam332">spi<>sla,e>infoBBS
ret$rnS
I
;B A!! in the @&eagle&one>&lac'>!e,>cfgTUA arra(7 this line :
Gspi<>init7 /H>+N>%AS/%+AR7 *R+F#L/>N+N/I7
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Android on Beaglebone Black (Rev 2)
2B %efore compiling 'ernel7 enter in men$config options an! ena&le S*# settings:
cd ~/beagleboneblack/TI_Android_JB_4.2.2_DevKit_4.1.1/kernel
PATH=$HOME/beagleboneblack/TI_Android_JB_4.2.2_DevKit_4.1.1/prebuilts/gcc/linux-
x86/arm/arm-eabi-4.6/bin:$PATH
make ARCH=arm CROSS_COMPILE=arm-eabi- distclean
make ARCH=arm CROSS_COMPILE=arm-eabi- am335x_evm_android_defconfig
make ARCH=arm CROSS_COMPILE=arm-eabi- menuconfig
0a'e s$re @0cS*#A an! @User mo!e S*#A are ena&le!.
e,ice ri,ers 6N
S*# S$pport 6N
TKU 0cS*# !ri,er for +0A*
TKU User mo!e S*# !e,ice !ri,er s$pport
:B Compile 'ernel
make ARCH=arm CROSS_COMPILE=arm-eabi- uImage
1B Cop( 'ernel=s image into S car! an! &oot %eagle&one %lac'. Now !e,ice @spi!e,1.<A
sho$l! appear in /!e, !irector(.
root@android:/dev # ls spi* -la
crw------- root root 153, 0 2000-01-01 00:00 spidev1.0
4B <ARN5N!: #n t$torial <17 we change pin m$" for UART.7 this pins are the same for S*#< cl'
an! !<. 0a'e s$re pins spi<>scl' an! spi<>!< are in 0+/< chec'ing m$" files:
cat /sys/kernel/debug/omap_mux/spi0_sclk
name: spi0_sclk.spi0_sclk (0x44e10950/0x950 = 0x0020), b NA, t NA
mode: OMAP_MUX_MODE0 | AM33XX_PIN_INPUT_PULLDOWN
signals: spi0_sclk | uart2_rxd | i2c2_sda | NA | NA | NA | NA | gpio0_2

cat /sys/kernel/debug/omap_mux/spi0_d0
name: spi0_d0.spi0_d0 (0x44e10954/0x954 = 0x0020), b NA, t NA
mode: OMAP_MUX_MODE0 | AM33XX_PIN_INPUT_PULLDOWN
signals: spi0_d0 | uart2_txd | i2c2_scl | NA | NA | NA | NA | gpio0_3
#f pins are not as the o$tp$t a&o,e7 we nee! to change them writing a @.<A in these files7 also
we nee! to !isa&le p$ll6$p in spi<>!<. N+T/: scl' m$st &e an inp$t &eca$se a 'ernel=s &$g.
echo 20 >> /sys/kernel/debug/omap_mux/spi0_sclk
echo 20 >> /sys/kernel/debug/omap_mux/spi0_d0
PB 5e can chec' S*# mo!$le writing a simple C program an! connecting spi<>!< an! spi<>!1
ph(sicall( with a wire. The program will transmit an! recei,e a few &(tes. Create a n!' proQect:
mkdir spiTestProject
cd spiTestProject
mkdir jni
cd jni
nano spitest.c
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Android on Beaglebone Black (Rev 2)
1<B 5rite hea!er files an! glo&al ,aria&les for spi config$ration.
Mincl$!e Rst!io.hN
Mincl$!e Rst!li&.hN
Mincl$!e Rfcntl.hN
Mincl$!e Rs(s/ioctl.hN
Mincl$!e Rspi!e,.hN
static const char K!e,ice E F/!e,/spi!e,1.<FS
static $int4>t mo!e E S*#>0+/>1S
static $int4>t &its E 4S
static $int3.>t spee! E 1<<<<<S // 1<<8h-
Then we are going to !efine an error f$nction:
static ,oi! pa&ortJconst char KsB
G
perrorJsBS
a&ortJBS
I
Now we write a transfer f$nction for spi test7 this f$nction will recei,e spi!e,=s file !escriptor:
static ,oi! transferJint f!B
G
int retS
$int4>t t"TU E G<"227<"C37<"3C7<"<17<"4<7<"FF7<"<<IS
$int4>t r"Tsi-eofJt"BU E G<IS
str$ct spi>ioc>transfer tr E G
.t">&$f E J$nsigne! longBt"7
.r">&$f E J$nsigne! longBr"7
.len E si-eofJt"B7
.!ela(>$secs E 2<7
.spee!>h- E spee!7
.&its>per>wor! E &its7
.cs>changeE17
IS
ret E ioctlJf!7 S*#>#+C>0/SSA)/J1B7 XtrBS
if Jret R 1B
pa&ortJFcan=t sen! spi messageFBS
printfJFr":FBS
for Jret E <S ret R si-eofJt"BS retLLB
printfJFZ..C F7 r"TretUBS
printfJF[r[nFBS
I

At the en!7 we write the main f$nction7 where we open spi!e, !e,ice an! we config$re it $sing
ioctl f$nction &efore calling @transferA f$nction:
int mainJint argc7 char Karg,TUB
G
int ret E <S
int f!7 co$nterS
f! E openJ!e,ice7 +>R5RBS
if Jf! R <B
pa&ortJFcan=t open !e,iceFBS
// set mo!e
ret E ioctlJf!7 S*#>#+C>5R>0+/7 Xmo!eBS
if Jret EE 61B
pa&ortJFcan=t set spi mo!eFBS
ret E ioctlJf!7 S*#>#+C>R>0+/7 Xmo!eBS
if Jret EE 61B
pa&ortJFcan=t get spi mo!eFBS
UTN FRA LSL http://www.lslfra.com.ar 1;
Android on Beaglebone Black (Rev 2)
// set &its per wor!
ret E ioctlJf!7 S*#>#+C>5R>%#TS>*/R>5+R7 X&itsBS
if Jret EE 61B
pa&ortJFcan=t set &its per wor!FBS
ret E ioctlJf!7 S*#>#+C>R>%#TS>*/R>5+R7 X&itsBS
if Jret EE 61B
pa&ortJFcan=t get &its per wor!FBS

// set ma" spee! h-
ret E ioctlJf!7 S*#>#+C>5R>0AC>S*//>W]7 Xspee!BS
if Jret EE 61B
pa&ortJFcan=t set ma" spee! h-FBS
ret E ioctlJf!7 S*#>#+C>R>0AC>S*//>W]7 Xspee!BS
if Jret EE 61B
pa&ortJFcan=t get ma" spee! h-FBS
// Start Test
printfJFspi mo!e: Z![nF7 mo!eBS
printfJF&its per wor!: Z![nF7 &itsBS
printfJFma" spee!: Z! W- JZ! 8W-B[nF7 spee!7 spee!/1<<<BS
transferJf!BS

closeJf!BS
ret$rn retS
I
11B 5e also nee! to create An!roi!.m' an! Application.m':
An!roi!.m'
L+CAL>*ATW :E \Jcall m(6!irB
incl$!e \JCL/AR>HARSB
L+CAL>LL#%S :E 6llog
L+CAL>0+UL/ :E testSpi
L+CAL>SRC>F#L/S :E spitest.c
incl$!e \J%U#L>/C/CUTA%L/B

Application.m'
A**>+*T#0 :E release
A**>*LATF+R0 :E an!roi!612
1.B Now we can compile this program $sing an!roi!6n!'7 in Qni !irector(7 e"ec$te:
~/adt-bundle-linux-x86_64-20130219/android-ndk-r8d/ndk-build
:B #f compilation was +87 it will generate the e"ec$ta&le file in: spiTest*roQect/li&s/armea&i/
1B Cop( the e"ec$ta&le into %eagle&one=s An!roi! etc !irector(:
./adb push spiTestProject/libs/armeabi/testSpi /etc/
4B /nter to An!roi! console7 change e"ec$tion permissions for o$r program an! e"ec$te it.
./adb shell
cd etc
chmod 777 testSpi
./testSpi
UTN FRA LSL http://www.lslfra.com.ar 12
Android on Beaglebone Black (Rev 2)
T#torial $-& Compiling a c$stom An!roi! !ri,er as a char !e,ice.
Re9$irements:
T#6e,8it m$st &e installe!
An!roi! 8ernel m$st &e compile!
Steps
1B Create a fol!er for the 8ernel 0o!$le proQect
mkdir moduleProject
cd moduleProject
.B Create a C file name! @c$stom0o!$le.cA:
nano customModule.c
3B 5e nee! to write the 'ernel mo!$le7 first of all7 we incl$!e some hea!ers files an! !efines:
Mincl$!e Rlin$"/mo!$le.hN
Mincl$!e Rlin$"/'ernel.hN
Mincl$!e Rlin$"/fs.hN
Mincl$!e Rlin$"/'!e,>t.hN
Mincl$!e Rasm/$access.hN
0+UL/>L#C/NS/JF)*LFBS
0+UL/>AUTW+RJF/rnesto )igliotti Rernestogigliotti^gmail.comNFBS
0+UL/>/SCR#*T#+NJFAn!roi! C$stom ri,erFBS
;B Then7 we !efine some constants an! the file operations str$ct$re7 this str$ct$re will contain
the f$nctions that will &e calle! &( the program $ser when it calls rea!7write7open7ioctl an!
close f$nctions.
M!efine 0+UL/>NA0/ Fc$stom0o!$leF
$nsigne! int mo!$le>maQorS
str$ct file>operations fopsS
2B Now we can write the @init>mo!$leA f$nction7 this f$nction will &e calle! when the mo!$le is
installe!.
int init>mo!$leJ,oi!B G
int res$ltS
// Asign file operation f$nctions
fops.open E open>mo!$leS
fops.release E release>mo!$leS
//fops.rea! E rea!>mo!$leS
//fops.write E write>mo!$leS
//fops.$nloc'e!>ioctl E ioctl>mo!$leS
//>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>
// inamic reser,ation for maQor n$m&er
res$ltEregister>chr!e,J<7 0+UL/>NA0/7 XfopsBS
if Jres$lt R <B G
print'J8/RN>5ARN#N) Fan!roi!C$stom0o!$leN Jinit>mo!$leB error o&taining maQor n$m&er[nFBS
ret$rn res$ltS
I
mo!$le>maQor E res$ltS
print'J 8/RN>#NF+ Fan!roi!C$stom0o!$leN Jint>mo!$leB loa!e! +8[nFBS
ret$rn <S
I
UTN FRA LSL http://www.lslfra.com.ar 1:
Android on Beaglebone Black (Rev 2)
:B 5rite @clean$p>mo!$leA f$nction. This f$nction will &e calle! when the mo!$le is $nloa!e!:
,oi! clean$p>mo!$leJ,oi!B
G
$nregister>chr!e,Jmo!$le>maQor7 0+UL/>NA0/BS
print'J 8/RN>#NF+ Fan!roi!C$stom0o!$leN Jclean$p>mo!$leB $nloa!e! +8[nFBS
I
1B 5rite the @open>mo!$leA f$nction. This f$nction will &e calle! when $ser=s program calls
@openA f$nction $sing o$r !e,ice.
int open>mo!$leJstr$ct ino!e Kpino!e7 str$ct file KpfileB
G
int minorE 0#N+RJpino!e6Ni>r!e,BS
print'J8/RN>#NF+ Fan!roi!C$stom0o!$leN JopenB minorEZ! +8[nF7minorBS
ret$rn <S
I
4B 5rite @release>mo!$leA f$nction. This f$nction will &e calle! when $ser=s program calls
@closeA f$nction $sing o$r !e,ice.
int release>mo!$leJstr$ct ino!e Kpino!e7 str$ct file KpfileB
G
int minorE 0#N+RJpino!e6Ni>r!e,BS
print'J8/RN>#NF+ Fan!roi!C$stom0o!$leN JreleaseB minorEZ! +8[nF7minorBS
ret$rn <S
I
PB %efore we write the rea!7write an! ioctl f$nctions7 we are going to compile this 'ernel
mo!$le Q$st with the f$nctions mentione! a&o,e. For that7 we nee! to create a 0a'efile. Create
a file name! @0a'efileA with this content:
0a'efile:
o&Q6m LEc$stom0o!$le.o
8/RN/L#R _E O/&eagle&one&lac'/T#>An!roi!>?%>;....>e,8it>;.1.1/'ernel
*5 :E \Jshell pw!B
CR+SS>C+0*#L/EO/&eagle&one&lac'/T#>An!roi!>?%>;....>e,8it>;.1.1/pre&$ilts/gcc/lin$"6"4:/arm/arm6ea&i6;.:/&in/
arm6ea&i6
ARCWEarm
!efa$lt:
\J0A8/B 6C \J8/RN/L#RB 0E\J*5B ARCWEarm CR+SS>C+0*#L/E\JCR+SS>C+0*#L/B mo!$les
clean:
\J0A8/B 6C \J8/RN/L#RB 0E\J*5B clean
#n this 0a'efile we pass the 'ernel=s path insi!e T#6e,8it. 8ernel m$st &e compile!. Also we
pass the compiler=s path. Change these paths if (o$ ha,e T#6e,8it in another place.
1<B 5rite f$nction protot(pes at the &eginning of the file:
int open>mo!$leJstr$ct ino!e Kpino!e7 str$ct file KpfileBS
int release>mo!$leJstr$ct ino!e Kpino!e7 str$ct file KpfileBS
11B Now we can compile the mo!$le e"ec$ting @ma'eA comman!:
make
File @c$stom0o!$le.'oA will &e generate!.
UTN FRA LSL http://www.lslfra.com.ar 11
Android on Beaglebone Black (Rev 2)
1.B Now we can install o$r mo!$le into the An!roi! +perating S(stem. Cop( the mo!$le &( a!&
an! install it:
./adb push /home/USER/beagleboneblack/moduleProject/customModule.ko /etc
./adb shell
cd /etc
insmod customModule.ko
13B The mo!$le will &e installe! an! we can see 'ernel=s log messages in 'msg file:
cat /proc/kmsg
+$tp$t will &e:
<6>[ 700.884185] androidCustomModule> (int_module) loaded OK
5e can $nloa! the mo!$le with @rmmo!A comman!
1;B Now o$r mo!$le is wor'ing7 we nee! to create one or more !e,ices in /!e, !irector(. 5e
nee! to $se @m'no!A comman! for that7 &$t this comman! is not part of T# An!roi!
!istri&$tion. 5e nee! to install &$s(&o". This application will allow $s to $se a &ig set of
stan!ar! Lin$"=s comman!s on An!roi!7 incl$!e! @m'no!A
ownlo! &$s(&o" from:
https://gforge.ti.com/gf/proQect/omapan!roi!/wi'i/_
pagenameE#nstallingL%$s(&o"Lcomman!LlineLtools
12B 5e nee! to cop( &$s(&o" e"ec$ta&le file into /!ata/&$s(&o" in An!roi! files(stem:
./adb shell
mkdir /data
cd /data
mkdir busybox
CTRL+D (quit from Android console)
./adb push /home/USER/beagleboneblack/busybox /data/busybox/
1:B Now we nee! to create a script for mo!$le=s installation J $sing insmo! an! m'no!
comman!s B this script will install the mo!$le an! it will create the !e,ices in /!e, !irector(:
install0o!$le.sh
MV/s(stem/&in/sh
mo!$leEc$stom0o!$le
!e,iceE/!e,/an!roi!6c$stom6!e,6
permE:::
rmmo! \Gmo!$leI
insmo! \Gmo!$leI.'o
maQorE`cat /proc/!e,ices Y grep \Gmo!$leI Y /!ata/&$s(&o"/&$s(&o" c$t 6!= = 6f1`
rm 6f \G!e,iceIK
/!ata/&$s(&o"/&$s(&o" m'no! \G!e,iceI< c \GmaQorI <
/!ata/&$s(&o"/&$s(&o" m'no! \G!e,iceI1 c \GmaQorI 1
chmo! \GpermI \G!e,iceI_
#n this script we !elete the mo!$le7 then we install it an! we get the maQor n$m&er generate!.
Then the script !eletes c$rrent !e,ices7 an! creates the new ones with the maQor n$m&er
o&taine! &efore.
UTN FRA LSL http://www.lslfra.com.ar 14
Android on Beaglebone Black (Rev 2)
11B Cop( c$stom0o!$le.'o an! install0o!$le.sh into /etc on An!roi! &( a!&:
./adb push /home/USER/beagleboneblack/moduleProject/customModule.ko /etc
./adb push /home/USER/beagleboneblack/moduleProject/installModule.sh /etc
14B /nter to An!roi! console an! e"ec$te the script:
./adb shell
cd /etc
chmod 777 installModule.sh
./installModule
#f installation is +87 we will &e a&le to see two new !e,ices in /!e,
/!e,/an!roi!6c$stom6!e,6<
/!e,/an!roi!6c$stom6!e,61
1PB Now the mo!$le is wor'ing7 we are going to complete the mo!$le C program with
write7rea! an! ioctl f$nctions. +pen again c$stom0o!$le.c an! a!! rea! f$nction:
First the protot(pe at the &egining:
static ssi-e>t rea!>mo!$leJstr$ct file Kfilp7char K&$ffer7si-e>t length7loff>t KoffsetBS
Then the f$nction:
static ssi-e>t rea!>mo!$leJstr$ct file Kfilp7
char K&$ffer7 /K The &$ffer to fill with !ata K/
si-e>t length7 /K The length of the &$ffer K/
loff>t KoffsetB /K +$r offset in the file K/
G
int &(tes>rea! E <S
int minorE 0#N+RJfilp6Nf>!entr(6N!>ino!e6Ni>r!e,BS
print'J8/RN>#NF+ Fan!roi!C$stom0o!$leN Jrea!B minor: Zi [nF7minorBS
char messageT:;UEFWello from mo!$le[<FS
char K msg>*tr E messageS
while JlengthN<BG
/K p$t>$ser copies !ata from
K the 'ernel !ata segment to the $ser !ata segment. K/
p$t>$serJKJmsg>*trB7 &$fferLLBS
length66S
&(tes>rea!LLS
ifJKJmsg>*trBEE<B
&rea'S
msg>*trLLS
I
ret$rn &(tes>rea!S
I

#n this mo!$le7 we are sim$lating a !e,ice which we can rea! the message @Wello from !e,iceA
@p$t>$serA f$nction is $se! to cop( !ata from 'ernel space to $ser space.
o not forget $ncomment fops assignment in init>mo!$le f$nction.
UTN FRA LSL http://www.lslfra.com.ar 1P
Android on Beaglebone Black (Rev 2)
.<B 5rite the @writeA f$nction an! its protot(pe:
*rotot(pe:
static ssi-e>t write>mo!$leJstr$ct file Kpfile7 const char K&$f7 si-e>t si-e>&$f7 loff>t Kf>posBS

F$nction:
static ssi-e>t write>mo!$leJstr$ct file Kpfile7 const char K&$f7 si-e>t si-e>&$f7 loff>t Kf>posB G
$nsigne! long not>copie!S
int menorE 0#N+RJpfile6Nf>!entr(6N!>ino!e6Ni>r!e,BS
print'J8/RN>#NF+ Fan!roi!C$stom0o!$leN JwriteB minor: Zi [nF7menorBS
char msg#nT:;US
not>copie!E>>cop(>from>$serJmsg#n7&$f7si-e>&$fBS // cop( from $ser space to 'ernel space
if Jnot>copie!N<B G
print'J8/RN>5ARN#N) Fan!roi!C$stom0o!$leN JwriteB error cop(ing !ata from $ser[nFBS
ret$rnJ6/FAULTBS
I
print'J8/RN>#NF+ Fan!roi!C$stom0o!$leN JwriteB msg:Zs [nF7msg#nBS
JKf>posBLEsi-e>&$fS
ret$rnJsi-e>&$fBS
I
#n this case7 this f$nction prints &( 'ernel log the message that it recei,es for writing.
.1B The last f$nction we are going to write is @ioctlA this f$nction will allow $s to config$re o$r
!e,ice thro$gh comman!s. 5e nee! to create o$r hea!er file calle! @c$stom0o!$le.hA
c$stom0o!$le.h:
M!efine CUST+0>0+UL/>#+C>N0A)#C =c=
M!efine CUST+0>0+UL/>#+C>C0>< >#+JCUST+0>0+UL/>#+C>N0A)#C7 1B
M!efine CUST+0>0+UL/>#+C>C0>1 >#+JCUST+0>0+UL/>#+C>N0A)#C7 .B
M!efine CUST+0>0+UL/>#+C>C0>. >#+JCUST+0>0+UL/>#+C>N0A)#C7 3B
M!efine CUST+0>0+UL/>#+C>C0>3 >#+JCUST+0>0+UL/>#+C>N0A)#C7 ;B
M!efine CUST+0>0+UL/>#+C>C0>; >#+5JCUST+0>0+UL/>#+C>N0A)#C7 27 1B
#n o$r hea!er file we !efine a @magic n$m&erA for the !ri,er an! comman!s for !e,ice
config$ration. User will call ioctl passing this comman!s to the !ri,er.
#octl f$nction:
long ioctl>mo!$leJstr$ct file Kpfile7 $nsigne! int cm!7 $nsigne! long argsB G
int minorE 0#N+RJpfile6Nf>!entr(6N!>ino!e6Ni>r!e,BS
print'J8/RN>#NF+ Fan!roi!C$stom0o!$leN JioctlB minor: Zi [nF7minorBS
if J>#+C>TD*/Jcm!B VE CUST+0>0+UL/>#+C>N0A)#CB
ret$rn 6/#NHALS
if J>#+C>NRJcm!B NE 2B // we ha,e onl( 2 comman!s
ret$rn 6/#NHALS
print'J8/RN>#NF+ Fan!roi!C$stom0o!$leN JioctlB C0: Z! [nF7 >#+C>NRJcm!BBS
switchJcm!B G
case CUST+0>0+UL/>#+C>C0><:
// ...
&rea'S
// +ther comman!s
//...
!efa$lt:
ret$rn 6/#NHALS
I
ret$rn <S
I
UTN FRA LSL http://www.lslfra.com.ar .<
Android on Beaglebone Black (Rev 2)
..B Compile the mo!$le again an! cop( it into %eagle%one=s An!roi!. Now we are going to
create a Test program for o$r !e,ice. Create a @!e,iceTest*roQectA !irector(7 a Qni fol!er insi!e7
cop( the mo!$le hea!er file insi!e Qni fol!er an! create test.c file.
mkdir deviceTestProject
cd deviceTestProject
mkdir jni
cd jni
cp ~/beagleboneblack/moduleProject/customModule.h .
nano test.c
.3B 5rite a test program $sing open7 rea!7 write an! ioctl f$nctions on o$r !e,ice:
test.c:
Mincl$!e Rs(s/ioctl.hN
Mincl$!e Rs(s/t(pes.hN
Mincl$!e Rs(s/stat.hN
Mincl$!e Rfcntl.hN
Mincl$!e R$nist!.hN
Mincl$!e Rst!io.hN
Mincl$!e Fc$stom0o!$le.hF
int mainJB G
int file<7 res$ltS
printfJFri,er Test[nFBS
file<EopenJF/!e,/an!roi!6c$stom6!e,6<F7+>R5RBS
if Jfile<EE61B ret$rnJ61BS
char msgT:;US
int r E rea!Jfile<7msg7:;BS
printfJFRea! msg: Zs [nF7msgBS
char &$fferT:;UEF0essage from $ser[<FS
writeJfile<7&$ffer7:;BS
res$ltEioctlJfile<7 CUST+0>0+UL/>#+C>C0><7NULLBS
if Jres$ltEE<B
printfJFioctl +8[nFBS
else
printfJFioctl /RR+R[nFBS
closeJfile<BS
ret$rn <S
.;B Compile this test program $sing N8. o not forget create Application.m' an! An!roi!.m'
files first:
Application.m':
A**>+*T#0 :E release
A**>*LATF+R0 :E an!roi!612
An!roi!.m':
L+CAL>*ATW :E \Jcall m(6!irB
incl$!e \JCL/AR>HARSB
L+CAL>0+UL/ :E !e,iceTest
L+CAL>SRC>F#L/S :E test.c
incl$!e \J%U#L>/C/CUTA%L/B
)o to Qni fol!er an! compile the program $sing N8:
~/adt-bundle-linux-x86_64-20130219/android-ndk-r8d/ndk-build
UTN FRA LSL http://www.lslfra.com.ar .1
Android on Beaglebone Black (Rev 2)
.2B Cop( e"ec$ta&le file in /li&s/armea&i into %eagle%oar!=s An!roi! &( a!&:
./adb push
/home/USER/beagleboneblack/deviceTestProject/libs/armeabi/deviceTest /etc/
.:B )o to An!roi! console an! e"ec$te !e,iceTest program:
./ a!& shell
c! etc
chmo! 111 !e,iceTest
./!e,iceTest
*rogram=s +$tp$t will &e:
Driver Test
Read msg: Hello from module
ioctl OK
8ernel log=s +$tp$t will &e:
<6>[ 5295.389801] androidCustomModule> (int_module) loaded OK
<6>[ 5309.067596] androidCustomModule> (open) minor=0 OK
<6>[ 5309.074859] androidCustomModule> (read) minor: 0
<6>[ 5309.080596] androidCustomModule> (write) minor: 0
<6>[ 5309.085845] androidCustomModule> (write) msg:Message from user
<6>[ 5309.092895] androidCustomModule> (ioctl) minor: 0
<6>[ 5309.098052] androidCustomModule> (ioctl) CMD: 1
<6>[ 5309.103607] androidCustomModule> (release) minor=0 OK
Consi!erations
#f we nee! o$t c$stom !e,ices alwa(s a,aila&le7 we nee! to call @install0o!$le.shA script when
An!roi! is &ooting7 this is possi&le a!!ing it to the &oot script we alrea!( ma!e.

UTN FRA LSL http://www.lslfra.com.ar ..
Android on Beaglebone Black (Rev 2)
T#torial %$& Accessing to har!ware from c$stom An!roi! !ri,er.
Re9$irements:
C$stom !ri,er m$st alrea!( wor'.
Until now7 o$r !ri,er Q$st can manage a local ram memor( portion witho$t interaction with
har!ware7 if we want to rea!/write processor=s registers for controlling har!ware mo!$les we
can not !o this !irectl(7 we nee! to $se f$nctions to con,ert ph(sical a!!resses to ,irt$al
a!!resses.
Steps
1B Use @re9$est>mem>regionA f$nction to reser,e ph(sical a!!resses for accessing. This
reser,ation sho$l! &e !one in mo!$le=s init f$nction.
str$ct reso$rce Kres E re9$est>mem>regionJ*WDS>AR7;7Farea>nameFBS
ifJresVENULLB
G
// Reser,ation +8
I
#n this e"ample7 we are reser,ing ; &(tes starting from a!!ress @*WDS>ARA an! we are
assigning to this area the name @area>nameA
5hen memor( area is reser,e!7 we can chec' that $sing:
cat /proc/iomem
.B Same wa(7 we sho$l! release this memor( area in mo!$le=s close f$nction:
release>mem>regionJ*WDS>AR7;BS
3B Now we can o&tain a pointer for rea!/write $sing @ioremap>nocacheA f$nction
$nsigne! int K a!!r E J$nsigne! int KBioremap>nocacheJ*WDS>AR7;BS
;B Using iorea!3. an! iowrite3. we can rea!/write this memor( a!!ress:
$nsigne! int ,al$e E iorea!3.Ja!!rBS
,al$eE,al$e Y J1RR.1BS
iowrite3.J,al$e7a!!rBS
2B Release the pointer:
io$nmapJa!!rBS
This wa( we can rea!/write ph(sical a!!resses in o$r !ri,er an! $se processor=s har!ware.
This hea!ers files m$st &e incl$!e!:
Mincl$!e Rlin$"/ioport.hN
Mincl$!e Rasm/io.hN
UTN FRA LSL http://www.lslfra.com.ar .3
Android on Beaglebone Black (Rev 2)
T#torial %%& Compiling 'ernel 3.4 with !e,ice tree s$pport for An!roi!.
8ernel 3.. !oes not ha,e e,ice Tree s$pport7 we cannot $se *50 mo!$le or AC if we !o not
initiali-e these mo!$les $sing e,ice Tree7 &eca$se of this7 we are going to left T# 'ernel an!
files(stem asi!e7 an! we are going to $se row&oat proQect to compile An!roi! an! Ro&ert
Nelson=s 'ernel 3.4.
Steps
1B Fetch row&oat=s An!roi! proQect for %%%:
mkdir RobertNelsonKernel
cd RobertNelsonKernel
repo init -u git://gitorious.org/rowboat/manifest.git -m rowboat-jb-am335x.xml
repo sync
.B Fetch an! compile Ro&ert Nelson 8ernel
git clone https://github.com/RobertCNelson/bb-kernel.git
cd linux-dev
git checkout origin/am33x-v3.8 -b tmp
./build_kernel.sh
8ernel compilation will start an! we will ha,e to a!! some feat$res in 'ernel=s men$config:
e,ice ri,ers 6N
TKU Staging !ri,ers 6N
An!roi! 6N
RKN An!roi! log !ri,er
3B Now we are going to fetch An!roi!=s &ootloa!er @U6%ootA. #n Ro&ertNelson8ernel !irector(:
git clone git://git.denx.de/u-boot.git
cd u-boot/
git checkout v2013.04 -b tmp
wget
https://raw.github.com/eewiki/u-boot-patches/master/v2013.04/0001-am335x_evm-uEn
v.txt-bootz-n-fixes.patch
patch -p1 < 0001-am335x_evm-uEnv.txt-bootz-n-fixes.patch
;B 5e compile U6&oot with the following comman!s:
make ARCH=arm
CROSS_COMPILE=~/RobertNelsonKernel/linux-dev/dl/gcc-linaro-arm-linux-gnueabihf-4
.7-2013.04-20130415_linux/bin/arm-linux-gnueabihf- distclean
make ARCH=arm
CROSS_COMPILE=~/RobertNelsonKernel/linux-dev/dl/gcc-linaro-arm-linux-gnueabihf-4
.7-2013.04-20130415_linux/bin/arm-linux-gnueabihf- am335x_evm_config
make ARCH=arm
CROSS_COMPILE=~/RobertNelsonKernel/linux-dev/dl/gcc-linaro-arm-linux-gnueabihf-4
.7-2013.04-20130415_linux/bin/arm-linux-gnueabihf-
UTN FRA LSL http://www.lslfra.com.ar .;
Android on Beaglebone Black (Rev 2)
2B Now we nee! to compile An!roi! Files(stem $sing o$r new 8ernel 3.47 for that reason we
nee! to change 'ernel lin' in row&oat proQect:
cd rowboat-android
mv kernel kernel.backup
ln -s ~/RobertNelsonKernel/linux-dev/KERNEL kernel
An! we nee! to !o some mo!ifications in ma'efile:
chmod 644 Makefile
5e nee! to locate the following line:
e"port *ATW :E\J*ATWB:\JANR+#>#NSTALL>#RB/pre&$ilts/gcc/lin$"6"4:/arm/arm6ea&i6;.:/&in
Comment o$t that line an! replace it with the following:
export
PATH :
=~/RobertNelsonKernel/linux-dev/dl/gcc-linaro-ar-linux-gnueabi!"-#$%-&'()$'#-&
'()'#(*+linux/bin:,-PATH.
export //+PR0123 := ar-linux-gnueabi!"-
Now locate this line:
\J0A8/B 6C har!ware/ti/wlan/mac4<.11/compat>wl14"" ANR+#>R++T>#RE\
JANR+#>#NSTALL>#RB CR+SS>C+0*#L/Earm6ea&i6 ARCWEarm install
An! we nee! to replace it for:
\J0A8/B 6C har!ware/ti/wlan/mac4<.11/compat>wl14"" ANR+#>R++T>#RE\
JANR+#>#NSTALL>#RB CR+SS>C+0*#L/E\JCC>*R/F#CB ARCWEarm install
Now we can compile An!roi!=s files(stem7 (o$ can a!! =6Q.= or =6Q;= if (o$ ha,e man( cores in
(o$r comp$ter7 this will acelerate the process.
make TARGET_PRODUCT=beagleboneblack OMAPES=4.x droid
:B #n this step we are going to create the root files(stem. #n row&oat6an!roi! !irector(:
cd out/target/product/beagleboneblack
mkdir android_rootfs
cp -r root/* android_rootfs
cp -r system android_rootfs
cd android_rootfs/system
tar -xvzf ~/RobertNelsonKernel/linux-dev/deploy/*modules.tar.gz
Ass$ming that we are still in the o$t/target/pro!$ct/&eagle&one&lac' !irector(7 we nee! to
&ac'$p the file an!roi!>rootfs/init3rc an! then open it in a te"t e!itor7 we are going to to
change init.rc file:
#n the line:
import /init.\Gro.har!wareI.rc
UTN FRA LSL http://www.lslfra.com.ar .2
Android on Beaglebone Black (Rev 2)
we are going to change it &(:
import /init.am332"e,m.rc
Then7 we nee! to change the file an!roi!>rootfs/ftab3a/'').ev/7 the first line is:
/!e,/&loc'/platform/omap/omap>hsmmc.</mmc&l'<p3
an! we will change it &(:
/!e,/&loc'/mmc&l'<p3
Now we nee! to !isa&le graphical aceleration in file an!roi!>rootfs/s(stem/b#ild30ro0 &eca$se
this is not a,aila&le in 3.4 'ernel.
!e&$g.egl.hwE<
video$accelerate$!4='
Finall(7 in the o$t/target/pro!$ct/&eagle&one&lac' !irector(7 we e"ec$te:
../../../../build/tools/mktarball.sh ../../../host/linux-x86/bin/fs_get_stats
android_rootfs . rootfs rootfs.tar.bz2
The rootfs.tar.&-. file will &e create!. This is the An!roi!=s files(stem we are going to $se.
1B Now we are going to create an @imageA !irector( an! gather all necessar( files there:
cd ~/RobertNelsonKernel
mkdir image
cp rowboat-android/external/ti_android_utilities/am335x/mk-mmc/* image
cp rowboat-android/out/target/product/beagleboneblack/rootfs.tar.bz2 image
cp u-boot/MLO image
cp u-boot/u-boot.img image
cp linux-dev/KERNEL/arch/arm/boot/zImage image
cp linux-dev/KERNEL/arch/arm/boot/dts/am335x-boneblack.dtb image
4B 5e nee! to create $6&oot config$ration file $/n,.t"t in image !irector( with the following
content:
'ernel>fileE-#mage
console=tt56'7((*&''n8
croot=/dev/cbl9'p& r4
croot"st5pe=ext# root4ait
load9ernel=load c ,:cdev;:,:cpart; 'x8'&''''' ,:9ernel+"ile;
load"dt=load c ,:cdev;:,:cpart; 'x8(*"'''' ,:"dt"ile;
boot+"td=run load9ernel< run load"dt
cargs=setenv bootargs consoleblan9=' console=,:console;
androidboot$console=tt56' e=*(&= root=,:croot; root"st5pe=,:croot"st5pe;
init=/init ip=o"" video=%&'x#8'-(>?>' @eu=( vt$global+cursor+de"ault='
uenvcd=run boot+"td< run cargs< bootA 'x8'&''''' - 'x8(*"''''
UTN FRA LSL http://www.lslfra.com.ar .:
Android on Beaglebone Black (Rev 2)
PB 5e can create o$t $S car! now. First we nee! to 'now what s!C o$r s! car! is. Then we are
going to r$n the script m'mmc6an!roi!.sh
cd image
./mkmmc-android.sh [YOUR DEVICE FILE FOR THE MICROSD CARD] MLO u-boot.img zImage
uEnv.txt rootfs.tar.bz2
1<B Now we mo$nt @&ootA partition of o$r s! car! an! we !o these changes:
cd /media/boot
sudo mv uImage zImage
sudo cp ~/RobertNelsonKernel/image/am335x-boneblack.dtb .
sync
5e a!!e! !e,ice tree file an! we change! $#mage for -#mage.
Now o$r $S car! is rea!( to r$n An!roi! with 'ernel 3.4 an! !e,ice tree s$pport.
N?TE& a!& !oes not wor' &( US%7 we nee! to connect %eagle&one %lac' $sing /thernet
connector.
UTN FRA LSL http://www.lslfra.com.ar .1
Android on Beaglebone Black (Rev 2)
T#torial %2& Using *50 mo!$les.
Re9$irements:
Ro&ert Nelson 3.4 8ernel compile!.
An!roi! r$nning with Ro&ert Nelson 3.4 8ernel an! e,ice Tree
5e nee! An!roi! r$nning with 'ernel 3.4 for $sing *50 mo!$les &eca$se of we are going to
ena&le *50 $sing !e,ice tree.
5e ha,e 4 *50 o$ts:
=5N =<@ n#/ber
*P 6 .. *50<
*P 6 .1 *501
*P 6 ;. *50.
*P 6 1; *503
*P 6 1: *50;
*4 6 1P *502
*4 6 13 *50:
*P 6 .4 *501
Steps
1B First of all we nee! to install the pwm 'ernel mo!$le $sing @insmo!A comman!. This mo!$le
is in /s(stem/li&/mo!$les/3.4.136&one;<.1/'ernel/!ri,ers/pwm/ an! it is calle! @pwm>test.'oA.
insmod /system/lib/modules/3.8.13-bone40.1/kernel/drivers/pwm/pwm_test.ko
.B Using !e,ice tree now we can ena&le *50 s$pport:
echo am33xx_pwm > /sys/devices/bone_capemgr.9/slots
3B *50 mo!$le is rea!( to $se. Now we can e"port *50 o$ts as we !i! with )*#+s. #f we want
to ena&le *50: we nee! to write:
echo 6 > /sys/class/pwm/export
echo bone_pwm_P8_13 > /sys/devices/bone_capemgr.*/slots
5here @:A is for *50: an! @&one>pwm>*4>13A is &eca$se of *50: correspon!s with *4>13.
;B Now @pwm:A !irector( will appear7 we will fin! there fo$r important files:
0eriod8n: Were we set pwm=s perio! in nanosecon!s.
d#t68n: Were we set pwm=s !$t( in nanosecon!s.
0olarit6: Were we set pwm=s polarit(..
r#n: 5hen we write @1A *50 starts r$nning7 an! when we write @<A *50 stops.
UTN FRA LSL http://www.lslfra.com.ar .4
Android on Beaglebone Black (Rev 2)
2B Finall(7 we change files=s permissions to :::7 in this wa( we can write these files $sing a C
program or &( &ash console.
chmod 666 pwm/pwm6/period_ns
chmod 666 pwm/pwm6/duty_ns
chmod 666 pwm/pwm6/polarity
chmod 666 pwm/pwm6/run
The follow &ash script installs pwm mo!$le an! ena&les all *50 o$ts7 we can r$n it on
An!roi!=s initiali-ation.
MV/s(stem/&in/sh
M#!entif( &one ,ersion
mo!$leE\Jecho /s(stem/li&/mo!$les/3.4.136&oneK/'ernel/!ri,ers/pwm/pwm>test.'o Y /!ata/&$s(&o"/&$s(&o" aw'
=Gprint \1I=B
Mloa! pwm mo!$le
insmo! \mo!$le
M #!entif( cape6manager slots
slotE\Jecho /s(s/!e,ices/&one>capemgr.K/slots Y /!ata/&$s(&o"/&$s(&o" aw' =Gprint \1I=B
pwmE/s(s/class/pwm/
M Loa! *50 mo!$le
if T \Jcat \slot Y grep am33"">pwm 6cB 6gt < US then
echo am33"">pwm alrea!( loa!e!7 not loa!ing againS
else
echo /na&ling *50 !ri,er am33"">pwm
echo am33"">pwm N \slot
fiS
M Safe pins that won=t interfere with one another
MportsEJ*P>.. *P>;. *P>1: *4>13 *P>.4BS
Mportn$m&ersEJ< . ; : 1BS
MF$ll correspon!ence from pwm<6pwm1
portsEJ*P>.. *P>.1 *P>;. *P>1; *P>1: *4>1P *4>13 *P>.4BS
portn$m&ersEJ< 1 . 3 ; 2 : 1BS
M /na&le *50 pins
M The( m$st &e e"porte! at this stage7 &efore the !e,ice tree
M o,erla( for that pin is ena&le!.
cE<
while T c 6lt \GMportsTKUI U
!o
if T V 6! \pwm/pwm\Gportn$m&ersT\cUI US then
echo /"porting *50 \Gportn$m&ersT\cUI [J\GportsT\cUI[B
echo \Gportn$m&ersT\cUI N \pwm/e"port
chmo! ::: \pwm/pwm\Gportn$m&ersT\cUI/perio!>ns
chmo! ::: \pwm/pwm\Gportn$m&ersT\cUI/!$t(>ns
chmo! ::: \pwm/pwm\Gportn$m&ersT\cUI/polarit(
chmo! ::: \pwm/pwm\Gportn$m&ersT\cUI/r$n
else
echo *50 \Gportn$m&ersT\cUI alrea!( ena&le!
fiS
if T \Jcat \slot Y grep \GportsT\cUI 6cB 6gt < US then
echo *50 pin \GportsT\cUI alrea!( ena&le!7 not ena&ling again
else
Jecho &one>pwm>\GportsT\cUI N \slotB 1NX. NN /!e,/n$ll
fiS
cE\JJcL1BB
!one
5e can change which *50 mo!$les we want to initiali-e
UTN FRA LSL http://www.lslfra.com.ar .P
Android on Beaglebone Black (Rev 2)
T#torial %'& Using AC mo!$le.
Re9$irements:
Ro&ert Nelson 3.4 8ernel compile!.
An!roi! r$nning with Ro&ert Nelson 3.4 8ernel an! e,ice Tree
%eagle&one &lac' has 1 analog inp$ts7 we nee! to ena&le them if we want to $se them. Analog
inp$ts !ri,er is similar to )*#+ !ri,er7 we will rea! a file where the analog ,al$e is. 5e will ha,e
a file for each inp$t7 the ,al$e is a n$m&er &etween < an! ;<P2 J1. &it resol$tionB.
5e ha,e 1 Analog inp$ts:
=5N Analog n#/ber
*P 6 3P A#N<
*P 6 ;< A#N1
*P 6 31 A#N.
*P 6 34 A#N3
*P 6 33 A#N;
*P 6 3: A#N2
*P 6 32 A#N:
Steps
1B /na&le analog inp$ts $sing !e,ice tree:
echo BB-ADC > /sys/devices/bone_capemgr.*/slots
.B Now we will fin! 1 files in @/s(s/&$s/platform/!ri,ers/&one6iio6helper/helper.12A A#N< to A#N:.
#f we want to rea! Analog < inp$t we can $se @catA comman!:
cd /sys/bus/platform/drivers/bone-iio-helper/helper.15
cat AIN0

UTN FRA LSL http://www.lslfra.com.ar 3<
Android on Beaglebone Black (Rev 2)
Bibliogra016
Te"as #nstr$ments An!roi! images
http://!ownloa!s.ti.com/sitara>an!roi!/es!/T#>An!roi!>e,8it/T#>An!roi!>?%>;>.>.>
e,8it>;>1>1/in!e">FS.html
Te"as #nstr$ments An!roi! e,8it )$i!e
http://processors.wi'i.ti.com/in!e".php/A0332C>/H06S8>An!roi!>e,'it>)$i!e
/na&le S*#/H:
http://comm$nistco!e.co.$'/&log/&log*ost.php_&log*ost#E1
Config$re UARTS:
http://www.gigamega&log.com/.<1./<1/../&eagle&one6co!ing61<16$sing6the6serial6a
n!6analog6pins/
Create 'ernel mo!$le
http://www.it.$c3m.es/alcortes/!ocs/ap$ntes>lao/lao/no!e:4.html
@%eagle%one %lac' S(stem . Reference 0an$alA 6 )eral! Cole(7 +cto&er .<13.
@A0332" AR0a Corte"T06A4 0icroprocessors. Technical Reference 0an$alA 6 Te"as
#nstr$ments7 +cto&er .<11.
Compile 'ernel 3.4 for An!roi!
http://icc$l$s.org/Ohen!ersa/an!roi!/
*50 &onecape manager $sage
https://gith$&.com/s-moore/0CTC3;.</wi'i/SoftwareZ3A6*506Control
UTN FRA LSL http://www.lslfra.com.ar 31