Titanium Build System
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Titanium Linux Build

This repository is a simple build system that allows you to easily cross-compile U-Boot and/or a Linux kernel for the Elesar Titanium board. It consists of a script that downloads the required toolchain and clones the necessary repositories, and Makefiles that simplify the build process.

The resulting kernel is intended to be used with the Debian root filesystem from Linux on ARM at eewiki.net, although it should be possible to use a different filesystem instead. The Titanium U-Boot includes the boot script patch from eewiki.net so that it is compatible with the instructions for BeagleBoard-X15 to make things easier.


In order to use this repository you need to be using a 64-bit PC Linux distribution (any modern distribution should work) and it needs to have git, make and gcc installed. You will need approximately 4.6G of free disk space.


To start, run the script prepare.sh. This will download and install the toolchain and clone the U-Boot and Linux kernel repositories.

Building U-Boot

To build U-Boot you simply need to do:

cd bootloader

When this process has finished the u-boot directory will contain the MLO and u-boot.img files that need to be installed into the SPI NOR flash of the Titanium board. Instructions on how to do this are given later.

Building the Linux kernel

To build the Linux kernel do the following:

cd kernel

When this has finished the deploy directory will contain the kernel zImage file and tar archives containing the modules, DTBs and firmware.

Creating a microSD card

Follow the instructions for the BeagleBoard-X15 at eewiki.net but note the following differences:

  • You do not need to copy MLO and u-boot.img to the card because the Titanium board boots from SPI NOR flash, not from the SD card.

  • The path to the deploy directory containing the Linux binaries is different, but it is printed at the end of the kernel build process, as is the value you should set kernel_version to in your environment.

Updating U-Boot

The Titanium board boots U-Boot from SPI NOR flash. There is more than one way of updating this, but this section describes how to do it from the U-Boot command line, using a FAT formatted microSD card.

  1. Copy the files MLO and u-boot.img to the root directory of a FAT formatted SD card and insert this in the card slot.

  2. Connect a serial terminal to the lower serial connector on the board. This should be configured for 115200 baud, 8 data bits, one stop bit, no parity and no flow control.

  3. Power on the board. When the message Hit any key to stop autoboot appears, press a key on the terminal to enter the U-Boot command line.

  4. Enter the following commands at the U-Boot command line:

     sf probe
     fatload mmc 0 0x82000000 MLO
     sf erase 0x0 0x10000
     sf write 0x82000000 0x0 0x10000
     fatload mmc 0 0x82000000 u-boot.img
     sf erase 0x40000 0x60000
     sf write 0x82000000 0x40000 0x60000
  5. Power cycle or reset the board (for example by typing reset at the U-Boot command line) to start the new U-Boot. If you are upgrading from a different version, you should reset the U-Boot environment to default values by using the following commands:

     env default -a

Updating the kernel

At the end of a build the required files are output in the deploy directory with filenames derived from the version of Linux in the form 4.X.Y-Z.

The three main outputs

  • zImage
  • dtbs.tar.gz
  • modules.tar.gz

all need to be transferred to the SD card.

This can either be done by mounting the SD card on the PC build machine (e.g. by using a USB card reader), or by transferring the files to the Titanium board, for example via a network share or removable media, and updating the root filesystem directly.

The process to extract and copy the files is the same in both cases, but the target path is different. In the following examples the environment variable ${sdcard} is the path to the SD card:

  • If you are mounting it on the PC build machine this should be set to the path on which the SD card is mounted (for example /media/rootfs).
  • If you are updating the root filesystem on the Titanium board directly, the variable should be left unset.

To save having to type the kernel version number many times, set the following environment variable (the build process prints the value you should use at the end)

export kernel_version=4.X.Y-Z

append the image name to load to U-Boot's environment

sudo sh -c "echo 'uname_r=${kernel_version}' >> ${sdcard}/boot/uEnv.txt"

then proceed to copy the new kernel zImage

sudo cp -v ${kernel_version}.zImage ${sdcard}/boot/vmlinuz-${kernel_version}

extract the new Device Tree Binaries

sudo mkdir -p ${sdcard}/boot/dtbs/${kernel_version}/
sudo tar xf ${kernel_version}-dtbs.tar.gz -C ${sdcard}/boot/dtbs/${kernel_version}/

and extract the new Kernel modules

sudo tar xf ${kernel_version}-modules.tar.gz -C ${sdcard}/

shutdown and power cycle the Titanium board to load the newly installed Kernel.

Configuring the Linux kernel

The default kernel configuration is generated by kernel/Makefile from omap2plus_defconfig plus a set of extra config fragments in the ti-linux-kernel/ti_config_fragments directory - see the Makefile for a list. These all come unmodified from the upstream TI kernel, except for the file titanium.cfg which contains overrides specifically for the Titanium board.

If you want to customise the configuration use make menuconfig in the kernel directory (not in the kernel/ti-linux-kernel directory) so that it is done with the correct cross-compilation parameters.