duovero omap4 hardware pack for Linaro? or best image to use with ROS/Opencv

[ezex]

Hi,

I wonder if someone could guide me!

I need for my project being able to install  ROS/OPEN CV,  I have the Duovero Zaphir with the par Parlor board,
I was able to Boot one of the pre-buil Yocto Images with xfce , and console only to.

As all the tutorial and guides and what I need for ROS, usually assumes to use ubuntu/Linaro,  for this I couldnt find any guide or link to use with Duovero omap 4,  there is support for this? all dates on the webpage are up to the end of 2012, and no more,

any suggestions?
thanks

[ezex]

hi , I was able to run Linaro , Precise from Ubuntu 12.04, on a
 Duovero zaphir Gumstix with a Parlor board

1) Using this guide for Linaro for OVERO .
https://wiki.linaro.org/Platform/DevPlatform/Ubuntu/ImageInstallation
Gumstix-Overo-Linaro-armhf-HWPack.tar.gz
Gumstix-Overo-Linaro-Precise-ALIP-armhf-RootFS.tar.gz
from https://github.com/gumstix/Gumstix-Overo-Linaro
this files are for OVERO hardware, not Duovero ( duovero needs a patched kernel, for the inverted microsd sensor)

2) after this I copied    boot/kernel/modules images for duovero. from  http://gumstix.org/downloads/
http://yocto.s3-website-us-west-2.amazonaws.com/Releases/2013-06-14/duovero/master/MLO
http://yocto.s3-website-us-west-2.amazonaws.com/Releases/2013-06-14/duovero/master/uImage
http://yocto.s3-website-us-west-2.amazonaws.com/Releases/2013-06-14/duovero/master/u-boot.img
the last 3 files copied to  /media/boot

http://yocto.s3-website-us-west-2.amazonaws.com/Releases/2013-06-14/duovero/master/modules-3.5.0-r0-overo.tgz
this file extracted on the Linaro file system /rootfs/

3)  now the Duovero  boots up, I can get to the Gui-Desktop, and from the console  all looks good.   there were some errors during boot up, and the drivers for the wifi are not there .
i will post the booting up screen .



U-Boot SPL 2012.10-00007-g2d44b29-dirty (Dec 12 2012 - 01:56:36)
OMAP4430 ES2.3
OMAP SD/MMC: 0
reading u-boot.img
reading u-boot.img


U-Boot 2012.10-g6299a25 (Mar 02 2013 - 03:41:42)

CPU  : OMAP4430 ES2.3
Board: duovero
I2C:   ready
DRAM:  1 GiB
MMC:   OMAP SD/MMC: 0
Using default environment

In:    serial
Out:   serial
Err:   serial
Net:   smc911x-0
Warning: smc911x-0 using MAC address from net device

Hit any key to stop autoboot:  0
reading boot.scr

469 bytes read
Running bootscript from mmc0 ...
## Executing script at 82000000
reading uImage

3732688 bytes read
reading uInitrd

1996489 bytes read
## Booting kernel from Legacy Image at 80000000 ...
   Image Name:   Linux-3.6.0
   Image Type:   ARM Linux Kernel Image (uncompressed)
   Data Size:    3732624 Bytes = 3.6 MiB
   Load Address: 80008000
   Entry Point:  80008000
   Verifying Checksum ... OK
## Loading init Ramdisk from Legacy Image at 81600000 ...
   Image Name:   initramfs
   Image Type:   ARM Linux RAMDisk Image (uncompressed)
   Data Size:    1996425 Bytes = 1.9 MiB
   Load Address: 00000000
   Entry Point:  00000000
   Verifying Checksum ... OK
   Loading Kernel Image ... OK
OK

Starting kernel ...

Booting Linux on physical CPU 0
Initializing cgroup subsys cpuset
Initializing cgroup subsys cpu
Linux version 3.6.0 (ubuntu@ip-10-253-0-94) (gcc version 4.7.2 (GCC) ) #1 SMP Sat Mar 2 02:19:26 UTC 2013
CPU: ARMv7 Processor [411fc093] revision 3 (ARMv7), cr=10c5387d
CPU: PIPT / VIPT nonaliasing data cache, VIPT aliasing instruction cache
Machine: OMAP4 duovero board
Reserving 12582912 bytes SDRAM for VRAM
Memory policy: ECC disabled, Data cache writealloc
OMAP4430 ES2.3
PERCPU: Embedded 9 pages/cpu @c1032000 s13120 r8192 d15552 u36864
Built 1 zonelists in Zone order, mobility grouping on.  Total pages: 256768
Kernel command line: console=tty0 console=ttyO2,115200n8 root=UUID=d4781524-10a2-4979-8be8-601d802b4ac7 rootwait ro earlyprintk mpurate= vram=12M omapdss.def_disp= omapfb.mode=dvi:
PID hash table entries: 4096 (order: 2, 16384 bytes)
Dentry cache hash table entries: 131072 (order: 7, 524288 bytes)
Inode-cache hash table entries: 65536 (order: 6, 262144 bytes)
allocated 2097152 bytes of page_cgroup
please try 'cgroup_disable=memory' option if you don't want memory cgroups
Memory: 747MB 264MB = 1011MB total
Memory: 1013816k/1013816k available, 34760k reserved, 270336K highmem
Virtual kernel memory layout:
    vector  : 0xffff0000 - 0xffff1000   (   4 kB)
    fixmap  : 0xfff00000 - 0xfffe0000   ( 896 kB)
    vmalloc : 0xf0000000 - 0xff000000   ( 240 MB)
    lowmem  : 0xc0000000 - 0xef800000   ( 760 MB)
    pkmap   : 0xbfe00000 - 0xc0000000   (   2 MB)
    modules : 0xbf000000 - 0xbfe00000   (  14 MB)
      .text : 0xc0008000 - 0xc06c4f0c   (6900 kB)
      .init : 0xc06c5000 - 0xc0710340   ( 301 kB)
      .data : 0xc0712000 - 0xc0796070   ( 529 kB)
       .bss : 0xc0796094 - 0xc0829728   ( 590 kB)
Hierarchical RCU implementation.
NR_IRQS:474
omap_hwmod: dpll_mpu_m2_ck: missing clockdomain for dpll_mpu_m2_ck.
OMAP clockevent source: GPTIMER1 at 32768 Hz
omap_hwmod: sys_32k_ck: missing clockdomain for sys_32k_ck.
sched_clock: 32 bits at 32kHz, resolution 30517ns, wraps every 131071999ms
OMAP clocksource: 32k_counter at 32768 Hz
Console: colour dummy device 80x30
console [tty0] enabled
Calibrating delay loop... 1598.59 BogoMIPS (lpj=6242304)
pid_max: default: 32768 minimum: 301
Security Framework initialized
Mount-cache hash table entries: 512
Initializing cgroup subsys debug
Initializing cgroup subsys cpuacct
Initializing cgroup subsys memory
Initializing cgroup subsys devices
Initializing cgroup subsys freezer
Initializing cgroup subsys perf_event
CPU: Testing write buffer coherency: ok
CPU0: thread -1, cpu 0, socket 0, mpidr 80000000
Setting up static identity map for 0x804a59b0 - 0x804a5a08
L310 cache controller enabled
l2x0: 16 ways, CACHE_ID 0x410000c4, AUX_CTRL 0x7e470000, Cache size: 1048576 B
CPU1: Booted secondary processor
CPU1: thread -1, cpu 1, socket 0, mpidr 80000001
CPU1: Unknown IPI message 0x0
Brought up 2 CPUs
SMP: Total of 2 processors activated (3196.18 BogoMIPS).
devtmpfs: initialized
omap_hwmod: l3_div_ck: missing clockdomain for l3_div_ck.
omap_hwmod: cm_core_aon: cannot be enabled for reset (3)
omap_hwmod: cm_core: cannot be enabled for reset (3)
dummy:
NET: Registered protocol family 16
DMA: preallocated 256 KiB pool for atomic coherent allocations
GPMC revision 6.0
gpmc: irq-52 could not claim: err -22
OMAP GPIO hardware version 0.1
omap_mux_init: Add partition: #1: core, flags: 2
omap_mux_init: Add partition: #2: wkup, flags: 2
_omap_mux_get_by_name: Could not find signal uart1_rx.uart1_rx
_omap_mux_get_by_name: Could not find signal uart1_rx.uart1_rx
 usbhs_omap: alias fck already exists
hw-breakpoint: found 5 (+1 reserved) breakpoint and 1 watchpoint registers.
hw-breakpoint: maximum watchpoint size is 4 bytes.
OMAP DMA hardware revision 0.0
bio: create slab <bio-0> at 0
omap-dma-engine omap-dma-engine: OMAP DMA engine driver
vwlan: 3000 mV
fixed-dummy:
SCSI subsystem initialized
usbcore: registered new interface driver usbfs
usbcore: registered new interface driver hub
usbcore: registered new device driver usb
omap_i2c omap_i2c.1: bus 1 rev2.4.0 at 400 kHz
Skipping twl internal clock init and using bootloader value (unknown osc rate)
twl 1-0048: PIH (irq 39) chaining IRQs 352..372
VUSB: 3300 mV normal standby
twl6030_usb twl6030_usb: Initialized TWL6030 USB module
vdd_mpu: 500 <--> 1500 mV normal
vdd_iva: 500 <--> 1500 mV normal
vdd_core: 500 <--> 1500 mV normal
V1V8: 1800 mV normal standby
V2V1: 2100 mV normal standby
VMMC: 1200 <--> 3000 mV at 3000 mV normal standby
VPP: 1800 <--> 2500 mV at 1900 mV normal standby
VCXIO: 1800 mV normal standby
VCXIO: supplied by V2V1
VDAC: 1800 mV normal standby
VDAC: supplied by V2V1
VAUX2_6030: 1200 <--> 2800 mV at 1800 mV normal standby
VAUX3_6030: 1000 <--> 3000 mV at 1200 mV normal standby
VANA: 2100 mV normal standby
omap_i2c omap_i2c.2: bus 2 rev2.4.0 at 400 kHz
omap_i2c omap_i2c.3: bus 3 rev2.4.0 at 400 kHz
omap_i2c omap_i2c.4: bus 4 rev2.4.0 at 400 kHz
omap-iommu omap-iommu.0: ducati registered
omap-iommu omap-iommu.1: tesla registered
Advanced Linux Sound Architecture Driver Version 1.0.25.
Switching to clocksource 32k_counter
usbhs_omap usbhs_omap: ehci_logic_fck failed:-2
NET: Registered protocol family 2
TCP established hash table entries: 131072 (order: 8, 1048576 bytes)
TCP bind hash table entries: 65536 (order: 7, 524288 bytes)
TCP: Hash tables configured (established 131072 bind 65536)
TCP: reno registered
UDP hash table entries: 512 (order: 2, 16384 bytes)
UDP-Lite hash table entries: 512 (order: 2, 16384 bytes)
NET: Registered protocol family 1
RPC: Registered named UNIX socket transport module.
RPC: Registered udp transport module.
RPC: Registered tcp transport module.
RPC: Registered tcp NFSv4.1 backchannel transport module.
Trying to unpack rootfs image as initramfs...
Freeing initrd memory: 1948K
audit: initializing netlink socket (disabled)
type=2000 audit(0.671:1): initialized
bounce pool size: 64 pages
VFS: Disk quotas dquot_6.5.2
Dquot-cache hash table entries: 1024 (order 0, 4096 bytes)
NFS: Registering the id_resolver key type
Key type id_resolver registered
Key type id_legacy registered
jffs2: version 2.2. (NAND) (SUMMARY)  © 2001-2006 Red Hat, Inc.
fuse init (API version 7.20)
msgmni has been set to 1455
Block layer SCSI generic (bsg) driver version 0.4 loaded (major 253)
io scheduler noop registered
io scheduler deadline registered (default)
io scheduler cfq registered
OMAP DSS rev 4.0
omap_uart.0: ttyO0 at MMIO 0x4806a000 (irq = 104) is a OMAP UART0
omap_uart.1: ttyO1 at MMIO 0x4806c000 (irq = 105) is a OMAP UART1
omap_uart.2: ttyO2 at MMIO 0x48020000 (irq = 106) is a OMAP UART2
console [ttyO2] enabled
omap_uart.3: ttyO3 at MMIO 0x4806e000 (irq = 102) is a OMAP UART3
brd: module loaded
loop: module loaded
smsc911x: Driver version 2008-10-21
libphy: smsc911x-mdio: probed
smsc911x smsc911x.0: eth0: attached PHY driver [Generic PHY] (mii_bus:phy_addr=smsc911x-0:01, irq=-1)
smsc911x smsc911x.0: eth0: MAC Address: 00:15:c9:28:f8:85
usbcore: registered new interface driver asix
usbcore: registered new interface driver cdc_ether
usbcore: registered new interface driver cdc_ncm
ehci_hcd: USB 2.0 'Enhanced' Host Controller (EHCI) Driver
ehci-omap ehci-omap.0: OMAP-EHCI Host Controller
ehci-omap ehci-omap.0: new USB bus registered, assigned bus number 1
ehci-omap ehci-omap.0: irq 109, io mem 0x4a064c00
ehci-omap ehci-omap.0: USB 2.0 started, EHCI 1.00
usb usb1: New USB device found, idVendor=1d6b, idProduct=0002
usb usb1: New USB device strings: Mfr=3, Product=2, SerialNumber=1
usb usb1: Product: OMAP-EHCI Host Controller
usb usb1: Manufacturer: Linux 3.6.0 ehci_hcd
usb usb1: SerialNumber: ehci-omap.0
hub 1-0:1.0: USB hub found
hub 1-0:1.0: 3 ports detected
ohci_hcd: USB 1.1 'Open' Host Controller (OHCI) Driver
ohci-omap3 ohci-omap3.0: OMAP3 OHCI Host Controller
ohci-omap3 ohci-omap3.0: new USB bus registered, assigned bus number 2
ohci-omap3 ohci-omap3.0: irq 108, io mem 0x4a064800
usb usb2: New USB device found, idVendor=1d6b, idProduct=0001
usb usb2: New USB device strings: Mfr=3, Product=2, SerialNumber=1
usb usb2: Product: OMAP3 OHCI Host Controller
usb usb2: Manufacturer: Linux 3.6.0 ohci_hcd
usb usb2: SerialNumber: ohci-omap3.0
hub 2-0:1.0: USB hub found
hub 2-0:1.0: 3 ports detected
Initializing USB Mass Storage driver...
usbcore: registered new interface driver usb-storage
USB Mass Storage support registered.
musb-hdrc: version 6.0, ?dma?, otg (peripheral+host)
musb-hdrc musb-hdrc: USB OTG mode controller at fc0ab000 using DMA, IRQ 124
mousedev: PS/2 mouse device common for all mice
twl_rtc twl_rtc: Power up reset detected.
twl_rtc twl_rtc: Enabling TWL-RTC
twl_rtc twl_rtc: rtc core: registered twl_rtc as rtc0
i2c /dev entries driver
cpuidle: using governor ladder
cpuidle: using governor menu
omap_hsmmc omap_hsmmc.0: Failed to get debounce clk
omap-dma-engine omap-dma-engine: allocating channel for 62
omap-dma-engine omap-dma-engine: allocating channel for 61
omap_hsmmc omap_hsmmc.4: Failed to get debounce clk
omap-dma-engine omap-dma-engine: allocating channel for 60
omap-dma-engine omap-dma-engine: allocating channel for 59
usbcore: registered new interface driver usbhid
usbhid: USB HID core driver
usbcore: registered new interface driver snd-usb-audio
usb 1-1: new high-speed USB device number 2 using ehci-omap
twl6040-codec twl6040-codec: ASoC: Failed to create Capture debugfs file
twl6040-codec twl6040-codec: dapm: unknown pin Vinrator
omap-abe-twl6040 omap-abe-twl6040:  twl6040-legacy <-> omap-mcpdm mapping ok
omap-hdmi-audio omap-hdmi-audio:  omap-hdmi-hifi <-> omap-hdmi-audio-dai mapping ok
oprofile: hardware counters not available
oprofile: using timer interrupt.
TCP: cubic registered
NET: Registered protocol family 17
NET: Registered protocol family 15
Key type dns_resolver registered
VFP support v0.3: implementor 41 architecture 3 part 30 variant 9 rev 4
omap_vc_i2c_init: I2C config for vdd_iva does not match other channels (0).
omap_vc_i2c_init: I2C config for vdd_mpu does not match other channels (0).Power Management for TI OMAP4.
ThumbEE CPU extension supported.
Registering SWP/SWPB emulation handler
registered taskstats version 1
omapfb omapfb: cannot parse default modes
mmc0: host does not support reading read-only switch. assuming write-enable.
mmc0: new high speed SDHC card at address 0002
mmcblk0: mmc0:0002 00000 3.70 GiB
Console: switching to colour frame buffer device 80x30
 mmcblk0: p1 p2
usb 1-1: New USB device found, idVendor=1a40, idProduct=0101
VANA: incomplete constraints, leaving on
VDAC: incomplete constraints, leaving on
VUSB: incomplete constraints, leaving on
twl_rtc twl_rtc: setting system clock to 2000-01-01 00:00:00 UTC (946684800)
usb 1-1: New USB device strings: Mfr=0, Product=1, SerialNumber=0
usb 1-1: Product: USB 2.0 Hub
ALSA device list:
hub 1-1:1.0: USB hub found
  #0: duovero
hub 1-1:1.0: 4 ports detected
  #1: OMAPHDMI
Freeing init memory: 300K
mmc1: new high speed SDIO card at address 0001
Loading, please wait...
udevd[85]: starting version 175
Begin: Loading essential drivers ... FATAL: Could not load /lib/modules/3.6.0/modules.dep: No such file or directory
FATAL: Could not load /lib/modules/3.6.0/modules.dep: No such file or directory
FATAL: Could not load /lib/modules/3.6.0/modules.dep: No such file or directory
FATAL: Could not load /lib/modules/3.6.0/modules.dep: No such file or directory
done.
Begin: Running /scripts/init-premount ... done.
Begin: Mounting root file system ... Begin: Running /scripts/local-top ... done.
usb 1-1.1: new high-speed USB device number 3 using ehci-omap
usb 1-1.1: New USB device found, idVendor=1a40, idProduct=0101
usb 1-1.1: New USB device strings: Mfr=0, Product=1, SerialNumber=0
usb 1-1.1: Product: USB 2.0 Hub
hub 1-1.1:1.0: USB hub found
hub 1-1.1:1.0: 4 ports detected
Begin: Running /scripts/local-premount ... FATAL: Could not load /lib/modules/3.6.0/modules.dep: No such file or directory
done.
FATAL: Could not load /lib/modules/3.6.0/modules.dep: No such file or directory
kjournald starting.  Commit interval 5 seconds
EXT3-fs (mmcblk0p2): mounted filesystem with writeback data mode
Begin: Running /scripts/local-bottom ... done.
done.
Begin: Running /scripts/init-bottom ... usb 1-1.2: new low-speed USB device number 4 using ehci-omap
done.
usb 1-1.2: New USB device found, idVendor=0e8f, idProduct=0022
usb 1-1.2: New USB device strings: Mfr=1, Product=2, SerialNumber=0
usb 1-1.2: Product: USB KB V11
usb 1-1.2: Manufacturer: GASIA
input: GASIA USB KB V11 as /devices/platform/usbhs_omap/ehci-omap.0/usb1/1-1/1-1.2/1-1.2:1.0/input/input0
hid-generic 0003:0E8F:0022.0001: input: USB HID v1.10 Keyboard [GASIA USB KB V11] on usb-ehci-omap.0-1.2/input0
input: GASIA USB KB V11 as /devices/platform/usbhs_omap/ehci-omap.0/usb1/1-1/1-1.2/1-1.2:1.1/input/input1
hid-generic 0003:0E8F:0022.0002: input: USB HID v1.10 Device [GASIA USB KB V11] on usb-ehci-omap.0-1.2/input1
usb 1-1.1.4: new low-speed USB device number 5 using ehci-omap
usb 1-1.1.4: New USB device found, idVendor=15d9, idProduct=0a4c
usb 1-1.1.4: New USB device strings: Mfr=0, Product=1, SerialNumber=0
usb 1-1.1.4: Product:  USB OPTICAL MOUSE
input:  USB OPTICAL MOUSE as /devices/platform/usbhs_omap/ehci-omap.0/usb1/1-1/1-1.1/1-1.1.4/1-1.1.4:1.0/input/input2
hid-generic 0003:15D9:0A4C.0003: input: USB HID v1.11 Mouse [ USB OPTICAL MOUSE] on usb-ehci-omap.0-1.1.4/input0
init: ureadahead main process (193) terminated with status 5
fsck from util-linux 2.20.1
rootfs: clean, 108089/239520 files, 406762/956928 blocks
 * Starting mDNS/DNS-SD daemon                                           [ OK ]
 * Starting bluetooth daemon                                             [ OK ]
 * Starting configure network device security                            [ OK ]
 * Starting bluetooth daemon                                             [ OK ]
 * Starting Mount network filesystems                                    [ OK ]
 * Starting Failsafe Boot Delay                                          [ OK ]
 * Stopping Mount network filesystems                                    [ OK ]
 * Starting configure network device                                     [ OK ]
 * Starting bluetooth daemon                                             [ OK ]
 * Starting Bridge socket events into upstart                            [ OK ]
 * Starting bluetooth daemon                                             [ OK ]
 * Starting CUPS printing spooler/server                                 [ OK ]
 * Stopping cold plug devices                                            [ OK ]
 * Stopping log initial device creation                                  [ OK ]
 * Starting configure network device security                            [ OK ]
 * Starting configure virtual network devices                            [ OK ]
 * Starting save udev log and update rules                               [ OK ]
 * Stopping save udev log and update rules                               [ OK ]
 * Stopping configure virtual network devices                            [ OK ]
 * Starting bluetooth daemon                                             [ OK ]
 * Starting bluetooth daemon                                             [ OK ]
 * Starting bluetooth daemon                                             [ OK ]
 * Starting bluetooth daemon                                             [ OK ]
 * Starting bluetooth daemon                                             [ OK ]
 * Starting bluetooth daemon                                             [ OK ]
 * Starting bluetooth daemon                                             [fail]
 * Stopping bluetooth daemon                                             [ OK ]
Waiting for network configuration...
 * Starting Mount network filesystems                                    [ OK ]
 * Stopping Mount network filesystems                                    [ OK ]
 * Starting configure network device                                     [ OK ]
 * Stopping Failsafe Boot Delay                                          [ OK ]
 * Starting System V initialisation compatibility                        [ OK ]
 * Starting modem connection manager                                     [ OK ]
 * Starting configure network device security                            [ OK ]

saned disabled; edit /etc/default/saned
 * Stopping System V initialisation compatibility                        [ OK ]
 * Starting network connection manager                                   [ OK ]
 * Starting System V runlevel compatibility                              [ OK ]
 * Starting automatic crash report generation                            [ OK ]
 * Starting LightDM Display Manager                                      [ OK ]
 * Starting anac(h)ronistic cron                                         [ OK ]
 * Starting save kernel messages                                         [ OK ]
 * Starting regular background program processing daemon                 [ OK ]
 * Stopping System PulseAudio sound server                               [ OK ]
 * Stopping System V runlevel compatibility                              [ OK ]
Last login: Sat Jan  1 00:01:38 UTC 2000 on tty1
Welcome to Linaro 12.07 (GNU/Linux 3.6.0 armv7l)

 * Documentation:  https://wiki.linaro.org/
 * Stopping save kernel messages                                         [ OK ]
root@overo:~# ifconfig
eth0      Link encap:Ethernet  HWaddr 00:15:c9:28:f8:85  
          inet addr:192.168.10.100  Bcast:192.168.10.255  Mask:255.255.255.0
          UP BROADCAST RUNNING MULTICAST  MTU:1500  Metric:1
          RX packets:8 errors:0 dropped:0 overruns:0 frame:0
          TX packets:19 errors:0 dropped:0 overruns:0 carrier:0
          collisions:0 txqueuelen:1000
          RX bytes:1044 (1.0 KB)  TX bytes:2959 (2.9 KB)
          Interrupt:204

lo        Link encap:Local Loopback  
          inet addr:127.0.0.1  Mask:255.0.0.0
          UP LOOPBACK RUNNING  MTU:16436  Metric:1
          RX packets:0 errors:0 dropped:0 overruns:0 frame:0
          TX packets:0 errors:0 dropped:0 overruns:0 carrier:0
          collisions:0 txqueuelen:0
          RX bytes:0 (0.0 B)  TX bytes:0 (0.0 B)

root@overo:~#