[[PageOutline]]


= Ubuntu on Ventana=
[[Image(trusty-ventana-lxde.png,400px)]]

While Gateworks cannot fully support all Linux distros, it is relatively simple to overlay a Gateworks Ventana kernel onto any non-Gateworks third party Linux distro rootfs image. For a full list of Linux BSP's for Ventana see [wiki:ventana#bsp here]

This page is dedicated details regarding running Ubuntu on an Gateworks Ventana Board.

See also:
 * the Gateworks Ventana [wiki:ventana#third_party_linux third party linux] page for more details on how to use other linux distro on Ventana.
 * [wiki:/ubuntu Gateworks Ubuntu Page for general notes]  

[=#prebuilt]
== Gateworks pre-built Ubuntu Disk Images ==
Gateworks provides some pre-built Ubuntu firmware images for the Ventana Family:
||= Name              =||= Size =||= Features =||
|| bionic-ventana 18.04 || ~1.2GB^^^1^^^ || console support - Ubuntu kernel/drivers ||
|| xenial-ventana 16.04 || ~1.2GB^^^1^^^ || console support - Ubuntu kernel/drivers ||
|| trusty-ventana 14.04 || ~210MB  || console support - Gateworks kernel/drivers ||
|| trusty-mm-ventana 14.04 || ~650MB^^^1^^^ || HW acclerated gstreamer/gstreamer-imx ||
|| trusty-x11-ventana 14.04 || ~1000MB^^^1^^^ || HW accelerated X11 support with LXDE ||
 1. requires 'large' flash size (2GB) or 1GB and larger of removable storage

For a full Board Support Package providing building a Linux distro from source, please see the OpenWrt, Yocto, or Android BSP from the [wiki:ventana#bsp Ventana BSP] page


=== Ubuntu 18.04 LTS (Bionic Beaver) console image ===
- *** Note ***: This is a mainline kernel that does not have Video Hardware Acceleration support for gstreamer and a few other Gateworks specific items. For more information, read [wiki:ventana#MainlineLinuxKernelsupport Gateworks Mainline Linux Support].

A pre-built console image created using the  [#debootstrap debootstrap] method for [http://releases.ubuntu.com/18.04/ Ubuntu 18.04 (Bionic Beaver)] can be downloaded:
 * [http://dev.gateworks.com/ventana/images/bionic-ventana_large.ubi bionic-ventana_large.ubi] - UBI image for 1GB/2GB Flash boards
  - see [wiki:/linux/ubi#BasicMethod here] for info about flashing UBI images 
  - sha256sum: d3ca3e8328aead3131d104ce3a3c8ba24391e5ecdf9488608b72c02656e9bae4
 * [http://dev.gateworks.com/ventana/images/bionic-ventana_normal.ubi bionic-ventana_normal.ubi] - UBI image for 2GB Flash boards with new NAND Chip (GW5104-F.1)
  - see [wiki:/linux/ubi#BasicMethod here] for info about flashing UBI images
 * [http://dev.gateworks.com/ubuntu/bionic/bionic-armhf.tar.xz bionic-armhf.tar.xz] - tarball of rootfs you can use to image onto microSD / mSATA
  - see [wiki:linux/blockdev linux/blockdev] fpr instructions
  - sha256sum: b7aee48c101b1f23862335d568bab616e99c5a1778b251f70d9034d97aa4dea3

Features:
- Ubuntu 18.04.1 LTS (from debootstrap instructions)
- Ubuntu Bionic kernel (Linux 4.15 based) with drivers/firmware 
- custom bootscript supporting NAND/UBI, MMC, SATA, USB boot devices and root filesystems
- extra packages: openssh-server can-utils i2c-tools usbutils pciutils
- eth0 dhcp
- user root passwd root


=== Ubuntu 16.04 LTS (Xenial Xerus) console image ===
- *** Note ***: This is a mainline kernel that does not have Video Hardware Acceleration support for gstreamer and a few other Gateworks specific items. For more information, read [wiki:ventana#MainlineLinuxKernelsupport Gateworks Mainline Linux Support].

A pre-built console image created using the  [#debootstrap debootstrap] method for [http://releases.ubuntu.com/16.04/ Ubuntu 16.04 (Xenial Xerus)] can be downloaded:
 * [http://dev.gateworks.com/ventana/images/xenial-ventana_large.ubi xenial-ventana_large.ubi] - UBI image for 1GB/2GB Flash boards
  - see [wiki:/linux/ubi#BasicMethod here] for info about flashing UBI images
  - sha256sum: e366c22c99353525ce4014ec3cf9d2bdb7e3a8ff4228ad49fc7d383abe3a4753
 * [http://dev.gateworks.com/ubuntu/xenial/xenial-armhf.tar.gz xenial-armhf.tar.gz] - tarball of rootfs you can use to image onto microSD / mSATA
  - see [wiki:linux/blockdev linux/blockdev] fpr instructions
  - sha256sum: ad5529c6aaf142ec69034256ad14c7ec3c317f3fe0a2616ff00fc7d8907dada7

Features:
- Ubuntu 16.04 (from debootstrap instructions)
- Ubuntu Xenial kernel (Linux 4.11 based) with drivers/firmware 
- custom bootscript supporting NAND/UBI, MMC, SATA, USB boot devices and root filesystems
- extra packages: openssh-server can-utils i2c-tools usbutils pciutils
- eth0 dhcp
- user root passwd root



=== Ubuntu 14.04 LTS (Trusty Tahr) console image ===
A pre-built console image created using the  [#debootstrap debootstrap] method for [http://releases.ubuntu.com/14.04/ Ubuntu 14.04 (Trusty Tahr)] can be downloaded:
 * [http://dev.gateworks.com/ventana/images/trusty-ventana_large.ubi trusty-ventana_large.ubi] - UBI image for 1GB/2GB Flash boards (see wiki:/linux/ubi#BasicMethod for info about flashing UBI images)
 * [http://dev.gateworks.com/ventana/images/trusty-ventana_normal.ubi trusty-ventana_normal.ubi] - UBI image for 256MB Flash boards (see wiki:/linux/ubi#BasicMethod for info about flashing UBI images)
 * [http://dev.gateworks.com/ubuntu/trusty/trusty-ventana.tar.gz trusty-ventana.tar.gz] - tarball of rootfs you can use to image onto microSD / mSATA using instructions from [wiki:linux/blockdev linux/blockdev]

Features:
- Ubuntu 14.04 (from debootstrap instructions)
- Gateworks 3.14 kernel with modules
- ventana bootscript
- extra packages: openssh-server can-utils i2c-tools usbutils pciutils
- eth0 dhcp
- user root passwd root



=== Ubuntu 14.04 LTS (Trusty Tahr) multimedia image ===
A pre-built console image created using the [#debootstrap debootstrap] method for [http://releases.ubuntu.com/14.04/ Ubuntu 14.04 (Trusty Tahr)] and adding gstreamer-imx for IPU/VPU/GPU hw video acceleration can be downloaded:
 * [http://blog.gateworks.com/?wpdmpro=trusty-armhf-ventana_20160112_large.ubi trusty-armhf-ventana_20160112_large.ubi] - UBI image for 1GB/2GB Flash boards (see wiki:/linux/ubi#BasicMethod for info about flashing UBI images)
 * [http://blog.gateworks.com/?wpdmpro=trusty-armhf-ventana_20160112.tar.gz trusty-armhf-ventana_20160112.tar.gz] -  tarball of rootfs you can use to image onto microSD / mSATA using instructions from [wiki:linux/blockdev linux/blockdev]


Features:
- Ubuntu 14.04 (from debootstrap instructions)
- Gateworks 3.14 kernel with modules
- ventana bootscript
- extra packages: openssh-server can-utils i2c-tools usbutils pciutils
- eth0 dhcp
- user root passwd root
- gstreamer (gstreamer1.0-x gstreamer1.0-tools gstreamer1.0-plugins-good gstreamer1.0-plugins-bad gstreamer1.0-alsa)
- fsl vpu firmware
- fsl lib-vpu
- fsl codec library
- fsl libg2d
- dev tools (build-essential autoconf libtool wget python pkg-config git)
- python
- gstreamer/gstreamer-imx/libimxvpuapi
- v4l-utils

For details on Gstreamer and Gstreamer-imx see our [wiki:Yocto/gstreamer page]


=== Ubuntu 14.04 LTS (Trusty Tahr) X11 LXDE image ===
A pre-built console image created using the  [#debootstrap debootstrap] method for [http://releases.ubuntu.com/14.04/ Ubuntu 14.04 (Trusty Tahr)] and adding gstreamer-imx for IPU/VPU/GPU hw video acceleration as well as X11/LXDE with hardware acceleration can be downloaded:
 * [http://blog.gateworks.com/?wpdmpro=trusty-x11-ventana_large-ubi] - UBI image for 1GB/2GB Flash boards (see wiki:/linux/ubi#BasicMethod for info about flashing UBI images) (sha256sum:fc795f2ec1e302ec5ee746ec4435f090c32584187a875c02582e4dfac5fd1397)
 * [http://blog.gateworks.com/?wpdmpro=trusty-x11 trusty-x11-ventana.tar.gz] - tarball of rootfs you can use to image onto microSD / mSATA / USB using instructions from [wiki:linux/blockdev linux/blockdev] (sha256sum:29166d5ebe6fc73c081b171f4f5ad15440b7d9a94c46c1d0111b47ea2fbd0c29)


Features:
- ubuntu 14.04 (from debootstrap instructions)
- Gateworks 3.14 kernel with modules
- ventana bootscript
- extra packages: openssh-server can-utils i2c-tools usbutils pciutils
- eth0 dhcp
- user root passwd root
- gstreamer (gstreamer1.0-x gstreamer1.0-tools gstreamer1.0-plugins-good gstreamer1.0-plugins-bad gstreamer1.0-alsa)
- fsl vpu firmware
- fsl lib-vpu
- fsl codec library
- fsl libg2d
- dev tools (build-essential autoconf libtool wget python pkg-config git)
- python
- gstreamer/gstreamer-imx/libimxvpuapi
- v4l-utils
- lxde


[=#kernel]
== Kernel Updates ==
Ubuntu releases are based on a specific major kernel version. However over time the Ubuntu team releases new major kernel version updates for specific distro versions. An {{{apt-get install linux-image}}} will not change the kernel major version and you have to specifically install a new major version to switch to it.

For example the latest kernel release available for Ubuntu 16.04 (Xenial) LTS at the time of this writing is 4.15 and can be installed with the following:
{{{#!bash
apt-get update
apt-get install linux-image-4.15.0-34-generic
# install mkimage
apt-get install u-boot-tools
# create u-boot image for kernel
mkimage -A arm -O linux -T kernel -C none \
  -a 0x10008000 -e 0x10008000 -n "linux" \
  -d /boot/vmlinuz-4.15.0-34-generic /boot/uImage
# install device-tree blobs
cp /lib/firmware/4.15.0-34-generic/device-tree/imx6*-gw*.dtb /boot
#blacklist imx rtc driver, Gateworks board uses GSC RTC, and does not use imx RTC
echo "blacklist rtc_snvs" > /etc/modprobe.d/blacklist-rtc.conf
# create u-boot image for initrd
mkimage -A arm -O linux -T ramdisk \
  -a 0x0 -e 0x0 -n "initrd" \
  -d /boot/initrd.img-4.15.0-34-generic /boot/uramdisk
}}}
 - use {{{apt-get search linux-image}}} to determine what Ubuntu kernel versions are available

== Root filesystem Sources ==
There are several sources of pre-built root filesystems that are compatible with Ventana. As Ventana uses an i.MX6 SoC, you need to use something that is compatible with an ARMv7 instruction set. Many pre-built distributions will reference 'armhf' which means 'ARM hard-float' which is appropriate for the i.MX6 as it has hardware floating-point.

Sources:
 * [#debootstrap build your own via debootstrap] '''(recommended)'''
 * [#linaro Linaro] - Linaro has several root filesystems including server, nano, developer, core, and ALIP.  Each root filesystem will have different things installed for different purposes.  Choose carefully which will work for you.


[=#linaro]
=== Linaro ===
The [https://releases.linaro.org/ Linaro] Developer Platform Team also creates Ubuntu flavored images.

Linaro is a non profit org that manages engineers who work on improving the state of ARM open source software.

They provide 4 different types of rootfs to choose from:
 * '''Nano''' - minimum rootfs containing console support and apt package management
 * '''Developer''' - minimum rootfs containing console support and apt package management and development tools (toolchain, debuggers, profiling, etc)
 * '''ALIP''' - a small distribution created using upstream Ubuntu packages containing LXDE (Lubuntu) with lightdm, X11 and chromium as the default graphics applications but still with an emphasis on small size
 * '''Ubuntu Desktop''' - basically a stock Ubuntu Desktop environment with a few extra packages which should bring the same environment you would find with Unity, Firefox, etc.

These rootfs images can be found [https://releases.linaro.org here] within directories based on a year and a month. These directories are not to be confused with Ubuntu versions (also based on a year and a month). '''Note that not all the above rootfs images are available for every monthly build.'''

For example, you can find the Linaro built Ubuntu 14.04 (trusty) rootfs images at https://releases.linaro.org/14.07/ubuntu/trusty-images

References:
 * [https://wiki.linaro.org/Platform/DevPlatform/Rootfs Linaro Rootfs Wiki]
 * https://releases.linaro.org/

Notes:
 * You can use apt-get to install additional packages


[=#debootstrap]
=== Build your own Ubuntu rootfs via debootstrap ===
The preferred way to create a Ubuntu root filesystem is to use the {{{deboostrap}}} utility on a Debian or Ubuntu host. This tool provides a 2-stage install where the second stage is within a chroot environment using qemu-arm.

Requirements:
- Linux Ubuntu or Debian System with network connection and sudo permissions
- Linux Kernel (ie Gateworks latest pre-built 3.14 kernel with full hardware support, Ubuntu pre-built kernel (missing full video in/out support but more up-to-date), or a vanilla mainline kernel (still missing full video in/out support but even more up-to-date), or a kernel of your own) - see below steps for more detail
- Ventana target board with bootloader
- boot device with 2GB+ of free space (micro-SD, USB mass storage, mSATA, 1GB/2GB NAND flash)

Important notes:
 * we set and use '''target''' and '''distro''' env variables in step 2 and use those env variables in the remaining steps to make this tutorial more version-agnostic. Please be aware of this and do not deviate from the steps unless or until you completely understand what you are doing.

Steps:
1. Install pre-requisites:
{{{
#!bash
sudo apt-get install qemu-user-static debootstrap binfmt-support
}}}

2. Perform first stage install of minimal filesystem:
{{{
#!bash
target=rootfs
distro=xenial
sudo debootstrap --arch=armhf --foreign $distro $target
# copy qemu-arm-static binary for the binfmt packages to find it and copy in resolv.conf from host
sudo cp /usr/bin/qemu-arm-static $target/usr/bin
}}}
 * See http://ports.ubuntu.com/ubuntu-ports/dists/ and https://wiki.ubuntu.com/Releases for a list of Ubuntu releases. For example: 18.04=bionic (latest LTS), 16.04=xenial, 14.04=trusty
 * this minimal rootfs is still missing some core packages and configuration before it can be booted. These steps are taken care of in a 2nd stage install within a chroot shell
 * the chroot shell below will provide network support (inherited from the host)

3. we now have a minimal Ubuntu rootfs - chroot to it and perform the 2nd stage install:
{{{
#!bash
sudo chroot $target
# now we are in the chroot
distro=xenial
export LANG=C
# setup second stage
/debootstrap/debootstrap --second-stage
}}}
 * this is the most minimal rootfs we would recommend

4. (optional) add additional apt package repos:
{{{
#!bash
cat <<EOT > /etc/apt/sources.list
deb http://ports.ubuntu.com/ubuntu-ports $distro main restricted universe multiverse
deb http://ports.ubuntu.com/ubuntu-ports $distro-updates main restricted universe multiverse
deb http://ports.ubuntu.com/ubuntu-ports $distro-security main restricted universe multiverse
EOT
}}}
 * you may want to customize the above list, depending on your needs. See [#packages below] for more detail on Ubuntu package feeds

5. (optional) update package database and setup locales (do not skip this step if you are needing to install any packages for the steps below or otherwise)
{{{
#!bash
apt-get update
apt-get -f install # fixup missing package dependencies
apt-get install locales dialog
dpkg-reconfigure locales
}}}

6. set hostname:
{{{
#!bash
echo ${distro}-armhf > /etc/hostname
}}}

7. create a default fstab:
{{{
#!bash
cat <<EOT > /etc/fstab
/dev/root            /                    auto       defaults              1  1
EOT
}}}
 * Note that this not required if you pass in 'rw' on the kernel cmdline. However while that is the default for the Ventana bootscripts for removeable storage it is not for NAND boot, therefore we will add a default fstab that will re-mount the kernel mounted rootfs as read-write
 * /dev/root in /etc/fstab will refer to the rootfs mounted by the kernel, thus the above entry simply re-mounts rootfs as read-write

8. set a root passwd so you can login
{{{
#!bash
passwd
}}}
 - or consider adding a user via {{{adduser}}}:
{{{
#!bash
adduser myuser
usermod -a -G tty myuser # add to tty group for tty access
usermod -a -G dialout myuser # add to dialout group for UART access
usermod -a -G sudo myuser # add to sudo group for root access
}}}

9. (optional) configure networking:
 - wired ethernet with DHCP on eth0
{{{#!bash
apt-get install net-tools ifupdown
cat <<EOF >> /etc/network/interfaces
allow-hotplug eth0
auto eth0
iface eth0 inet dhcp

EOF
}}}
 - or static IP:
{{{#!bash
apt-get install net-tools ifupdown
cat <<EOF >> /etc/network/interfaces
allow-hotplug eth0
auto eth0
iface eth0 inet static
address 192.168.1.1
netmask 255.255.255.0
gateway 192.168.1.254

EOF
}}}
 - or wireless (requires ~3MB of additional packages):
{{{
#!bash
apt-get install wpasupplicant iw
cat << EOF >> /etc/network/interfaces
# Wireless interface
auto wlan0
iface wlan0 inet dhcp
        wireless_mode managed
        wireless_essid any
        wpa-driver nl80211
        wpa-conf /etc/wpa_supplicant.conf

EOF
wpa_passphrase <myssid> <mypass> >> /etc/wpa_supplicant.conf
}}}

10. (optional) install some useful packages
{{{
#!bash
apt-get install openssh-server # ssh server for remote access
apt-get install can-utils i2c-tools usbutils pciutils # cmdline tools for various Ventana hardware support
}}}
 * Note that by default root ssh access is disabled for security. See [#ssh below] for info on enabling it

11. install a kernel and kernel support (kernel+dtbs+modules+firmware+initrd). You have several options here:
 a. Ubuntu Pre-built kernel (includes the most kernel drivers and is built by and supported by Ubuntu):
{{{#!bash
# disable flash-kernel as its not needed and will otherwise error out
echo "FLASH_KERNEL_SKIP=1" >> /etc/environment
export FLASH_KERNEL_SKIP=1 # and export it for current operations
# install kernel/firmware/headers
apt-get install linux-generic
# install mkimage
apt-get install u-boot-tools
# create u-boot image for kernel
mkimage -A arm -O linux -T kernel -C none \
  -a 0x10008000 -e 0x10008000 -n "linux" \
  -d /boot/vmlinuz-*-generic /boot/uImage
# install device-tree blobs
cp /lib/firmware/*-generic/device-tree/imx6*-gw*.dtb /boot
#blacklist imx rtc driver, Gateworks board uses GSC RTC, and does not use imx RTC
echo "blacklist rtc_snvs" > /etc/modprobe.d/blacklist-rtc.conf
}}}
  * The default Ubuntu kernel supports booting a microSD/SATA rootfs directly, but lacks nand/ubifs/ubi/usb-storage support. If you need that (and have a large enough flash to boot from that) you will need to use the Ubuntu initrd:
   - add NAND/ubifs/usb-storage modules to the initrd:
{{{#!bash
cat << EOF >> /etc/initramfs-tools/modules
# for NAND/ubi
gpmi_nand
ubi mtd=2
ubifs

# for usb-storage
ci_hdrc_imx
usb-storage
EOF
update-initramfs -u # press 'Enter' when prompted
# create u-boot image for initrd
mkimage -A arm -O linux -T ramdisk \
  -a 0x0 -e 0x0 -n "initrd" \
  -d /boot/initrd.img-*-generic /boot/uramdisk
}}}
   - create a bootscript that uses the Ubuntu initrd appropriately for NAND/usb-storage (utilizing the 'dtype' var that is set by the default ventana bootscript):
{{{#!bash
cat << EOF > /tmp/bootscript

# the following env vars are assumed to be set:
#  dtype - nand|usb|mmc|sata
#  loadaddr - memory address for loading blobs
#  video - optional kernel cmdline args
#  extra - optional kernel cmdline args
#  fixfdt - optional script to execute prior to bootm
#

echo "Gateworks Ubuntu Bootscript v1.10"

# calculate load addresses based off of loadaddr as the base
# and allow 128KB for FDT and 64MB for kernel
setexpr fdt_addr \$loadaddr
setexpr linux_addr \$fdt_addr + 0x20000 # allow 128KB for FDT
setexpr rd_addr \$linux_addr + 0x4000000 # allow 64MB for kernel

# setup root and load options based on dev type
if itest.s "x\${dtype}" == "xnand" ; then
  echo "Booting from NAND/ubifs..."
  setenv root "root=ubi0:rootfs rootfstype=ubifs rootwait"
  setenv fsload "ubifsload"
elif itest.s "x\${dtype}" == "xmmc" ; then
  echo "Booting from MMC..."
  setenv root "root=/dev/mmcblk0p1 rootwait"
  setenv fsload "ext4load \$dtype 0:1"
  setenv rd_addr # ramdisk not needed for IMX6 MMC
elif itest.s "x\${dtype}" == "xusb" ; then
  echo "Booting from USB Mass Storage..."
  setenv root "root=/dev/sda1 rootwait"
  setenv fsload "ext4load \$dtype 0:1"
elif itest.s "x\${dtype}" == "xsata" ; then
  echo "Booting from SATA..."
  setenv root "root=/dev/sda1 rootwait"
  setenv fsload "ext4load \$dtype 0:1"
  setenv rd_addr # ramdisk not needed for IMX6 AHCI SATA
fi

# setup bootargs
setenv bootargs "console=\${console},\${baudrate} \${root} \${video} \${extra}"

# load fdt/kernel/ramdisk
echo "Loading FDT..."
\$fsload \$fdt_addr boot/\$fdt_file ||
\$fsload \$fdt_addr boot/\$fdt_file1 ||
\$fsload \$fdt_addr boot/\$fdt_file2
echo "Loading Kernel..."
\$fsload \$linux_addr boot/uImage
if itest.s "x\${rd_addr}" != "x" ; then
  echo "Loading Ramdisk..."
  \$fsload \$rd_addr boot/uramdisk
fi
if itest.s "x\${dtype}" == "xnand" ; then
  ubifsumount
fi

# fdt fixup
test -n "\$fixfdt" && run fixfdt

# boot
if itest.s "x\${rd_addr}" != "x" ; then
  echo "Booting ramdisk with "\$bootargs"..."
  bootm \$linux_addr \$rd_addr \$fdt_addr
else
  echo "Booting with "\$bootargs"..."
  bootm \$linux_addr - \$fdt_addr
fi
EOF
mkimage -A arm -O linux -T script -n "bootscript" \
  -d /tmp/bootscript /boot/6x_bootscript-ventana
rm /tmp/bootscript
}}}
 a. Gateworks pre-built downstream vendor kernel: 3.14 kernel supporting full video input (which is not currently in upstream Linux) - ** use this if you are going to be using video input **
{{{
#!bash
cd /
wget http://dev.gateworks.com/ventana/images/gateworks-linux-imx6-3.14.48.tar.gz
tar -xvf gateworks-linux-imx6-3.14.48.tar.gz
depmod $(ls /lib/modules/) # create module dependencies
rm gateworks-linux-imx6-3.14.48.tar.gz
}}}
  * the {{{depmod}}} trick above is to run depmod with the exact kernel version (which will be the subdir in /lib/modules). An alternative is to run {{{depmod}}} after the first boot
 a. Build your own kernel and install it as above with proper bootscript - see [wiki:linux/kernel#building] for more info (you can do this on a development host with a cross-toolchain or even even install development tools via the '''build-essential''' meta-package and build and install sources such as the kernel below (adds appx 180MB))

12. exit the chroot shell and remove files we no longer need
{{{
#!bash
exit
sudo rm $target/usr/bin/qemu-arm-static
}}}
 * ''You may wish to move this file else place for later use should you wish to chroot again.''

13. install to bootable media:
 * For a removable block storage device supported by your board such as a USB Mass Storage device, a microSD, an mSATA SSD the example below will create a single ext4 rootfs partition on a removable block storage device. Ensure you set DEVICE properly for your system. We use the 'udisks' application for mount/unmount so that the mount-point is obvious - if you know what your doing you could use standard mount/unmount as well:
{{{
#!bash
DEVICE=/dev/sdc
# unmount all auto-mounted partitions for this device
sudo umount ${DEVICE}?
# partition disk - single ext partition
printf ",,L,,\n" | sudo sfdisk -uS ${DEVICE}
sync
sudo mkfs.ext4 -O ^64bit -L rootfs ${DEVICE}1
# mount partition (will mount to /media/rootfs/)
sudo udisks --mount ${DEVICE}1
# copy the root filesystem
sudo cp -rupv $target/*  /media/rootfs/
# unmount the disk
sudo udisks --unmount ${DEVICE}1
}}}
 * To create a ubifs suitable for 1GB/2GB NAND flash (large layout) use the following:
{{{
#!bash
mkfs.ubifs -d $target -F -m 4096 -e 248KiB -c 8124 -x zlib -o ${distro}_large.ubifs
}}}
  * For details on how to flash this onto NAND see [wiki:linux/ubi#uboot-ubifs]

==== version-specific notes ====
===== trusty (14.04) LTS =====
An extra step is needed for serial console configuration:
{{{
#!bash
cat << EOT >> /etc/init/serial.conf
start on stopped rc RUNLEVEL=[2345]
stop on runlevel [!2345]
respawn
exec /sbin/getty 115200 ttymxc1
EOT
}}}


[=#gstreamer-imx]
== Adding GStreamer IPU/VPU/GPU support via gstreamer-imx ==
You can easily add IMX6 IPU, VPU, and GPU support via GStreamer and Gstreamer-imx plugins. Many of the pieces needed (firmware and source-code) are from Freescale and not freely redistributable thus must be downloaded from their mirror and extracted from a shell script that forces you to read and agree to their End User License Agreement (EULA).

This support requires that you are using the Gateworks downstream vendor kernel as it has the necessary driver support that is not in the mainline Linux kernel.  '''This procedure has not been proven on versions newer than Trusty.   '''

There are several pre-requisites you will need to install and/or build using the instructions below:
 - Gateworks downstream vendor kernel (containing non-upstreamed IPU/VPU/GPU drivers) with kernel headers. See [wiki:linux/kernel here] for instructions on building, or [http://dev.gateworks.com/ventana/images/gateworks-linux-imx6-3.14.48.tar.gz here] for a pre-built kernel tarball
 - gstreamer and libs
 - firmware-imx-3.14.28-1.0.0.bin - Freescale VPU firmware (EULA required)
 - imx-vpu-5.4.31.bin - Freescale lib_vpu (EULA required) - this is the low-level documented API that works with the (undocumented) VPU kernel driver API. You can think of this as a kernel driver in userspace
 - libfslcodec-4.0.3.bin - Freescale Codec Library (EULA required)
 - imx-gpu-viv-5.0.11.p4.5-hfp.bin - Freescale libg2d (EULA required) - this is the low-level documented API that works with the (undocumented) Vivante Galcore GPU kernel driver API. You can think of this as a kernel driver in userspace
 - libimxvpuapi - community based open-source high-level library over the low-level imx-vpu API
 - gstreamer-imx - community based open-source GStreamer plugins to utilize hardware accellerated capture, display, transforms, compositing, decode, encode capabilities of the IMX6.


The following instructions can be used on top of the [#debootstrap debootstrap created rootfs] but should work on other sources of Ubuntu or other Linux distributions root filesystems as well.

1. install build deps (~165MB):
{{{
#!bash
apt-get install build-essential autoconf libtool wget python pkg-config git
}}}

2. install gstreamer1.x (~200MB):
{{{
#!bash
apt-get install gstreamer1.0-x gstreamer1.0-tools
# install videoparserbad for video parsers like h264parse, mpegvideoparse and mpeg4videoparse
apt-get install gstreamer1.0-plugins-good gstreamer1.0-plugins-bad
# install alsa plugin
apt-get install gstreamer1.0-alsa
}}}
 * note that the gstreamer1.0-plugins-bad meta-package is in the multiverse package feed
 * at this point you could use 'gst-launch-1.0 videotestsrc ! fbdevsink' but it will not stretch to the display, and will not be hardware accelerated

3. install Freescale VPU firmware (firmware-imx) (EULA required)
{{{
#!bash
wget http://www.freescale.com/lgfiles/NMG/MAD/YOCTO/firmware-imx-3.14.28-1.0.0.bin
/bin/sh firmware-imx-*.bin
# install firmware
mkdir -p /lib/firmware/vpu
cp firmware-imx-*/firmware/vpu/vpu_fw_imx6*.bin /lib/firmware/vpu
}}}

4. build and install Freescale lib_vpu (EULA required)
{{{
#!bash
wget http://www.freescale.com/lgfiles/NMG/MAD/YOCTO/imx-vpu-5.4.31.bin
/bin/sh imx-vpu-*.bin
cd imx-vpu-*
make PLATFORM=IMX6Q all
make install # installs vpu_lib.h and vpu_io.h in /usr/include and libvpu.* in /usr/lib
cd ..
}}}

5. (optional) build and install Freescale Codec Library (libfslcodec) (EULA required)
{{{
#!bash
wget http://www.freescale.com/lgfiles/NMG/MAD/YOCTO/libfslcodec-4.0.3.bin
/bin/sh libfslcodec-*.bin
cd libfslcodec-*
./autogen.sh --prefix=/usr --enable-fhw --enable-vpu
make all
make install
# move the libs where gstreamer plugins will find them
mv /usr/lib/imx-mm/video-codec/* /usr/lib
mv /usr/lib/imx-mm/audio-codec/* /usr/lib
rm -rf /usr/lib/imx-mm/
cd ..
}}}
 * this is optional and is needed if you want the audio codec support in gstreamer-imx
 * Note the Makefile will install the libs into $prefix/lib/imx-mm which is undesirable so we move them after 'make install'

6. (optional) install Freescale libg2d (EULA required)
{{{
#!bash
wget http://www.freescale.com/lgfiles/NMG/MAD/YOCTO/imx-gpu-viv-5.0.11.p4.5-hfp.bin
/bin/sh imx-gpu-viv-*.bin
cd imx-gpu-viv-*
# install just the g2d headers/libs
cp g2d/usr/include/* /usr/include/
cp -d g2d/usr/lib/* /usr/lib/
# install gpu-core headers/libs
cp -d gpu-core/usr/lib/*.so* /usr/lib/
cp -Pr gpu-core/usr/include/* /usr/include/
# optional: install demos
cp -r gpu-demos/opt /
# optional: install gpu tools
cp -axr gpu-tools/gmem-info/usr/bin/* /usr/bin/
cd ..
}}}
 * this is part of the Freescale Vivante GPU driver and apps (imx-gpu-viv) package which provides libgl/libgles1/libgles2/wayland-egl/libgal-x11/egl/libopenvg/libg2d
 * it comes in soft-float (sfp) and hard-float (hfp) - we want the hard-float as we are using an armhf rootfs
 * this is not required but needed for the gstreamer-imx g2d transform and sink plugins

7. build and install libimxvpuapi library:
 - This library provides a community based open-source API to the Freescale imx-vpu library (the low-level IMX6 VPU interface). It is a replacement for Freescale's closed-development libfslvapwrapper library.
{{{
#!bash
git clone git://github.com/Freescale/libimxvpuapi.git
cd libimxvpuapi
./waf configure --prefix=/usr
./waf
./waf install
cd ..
}}}

8. build and install gstreamer-imx:
{{{
#!bash
apt-get install libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev libgstreamer-plugins-good1.0-dev # +70MB
git clone git://github.com/Freescale/gstreamer-imx.git
cd gstreamer-imx
ln -s /usr/lib/arm-linux-gnueabihf/gstreamer-1.0/ /usr/lib/gstreamer-1.0
./waf configure --prefix=/usr --kernel-headers=/include
./waf
./waf install
cd ..
}}}
 * note './waf install' installs artifacts to its prefix + /lib/gstreamer-1.0 but they need to be installed to /usr/lib/arm-linux-gnueabihf/gstreamer-1.0 which is why we created a symlink above before installing
 * note the uniaudio decoder codecs are from Freescale (found in the fsl-mm-codeclib package) and you do not need these unless you want to use FSL's audio codecs instead of the GStreamer ones
 * note g2d lib required to build G2D
 * note that linux kernel headers are required to build PxP and IPU
 * note that x11 library is required to build EGL sink with Vivante direct textures (only needed for X11 support)
 * note that libfslaudiocodec is required to build audio plugins
 * After this step you should be able to see several plugins with {{{gst-inspect-1.0}}}:
{{{
#!bash
# gst-inspect-1.0 | grep imx
imxv4l2videosrc:  imxv4l2videosrc: V4L2 CSI Video Source
imxipu:  imxipucompositor: Freescale IPU video compositor
imxipu:  imxipuvideosink: Freescale IPU video sink
imxipu:  imxipuvideotransform: Freescale IPU video transform
imxpxp:  imxpxpvideotransform: Freescale PxP video transform
imxpxp:  imxpxpvideosink: Freescale PxP video sink
imxvpu:  imxvpuenc_mjpeg: Freescale VPU motion JPEG video encoder
imxvpu:  imxvpuenc_mpeg4: Freescale VPU MPEG-4 video encoder
imxvpu:  imxvpuenc_h264: Freescale VPU h.264 video encoder
imxvpu:  imxvpuenc_h263: Freescale VPU h.263 video encoder
imxvpu:  imxvpudec: Freescale VPU video decoder
imxg2d:  imxg2dcompositor: Freescale G2D video compositor
imxg2d:  imxg2dvideotransform: Freescale G2D video transform
imxg2d:  imxg2dvideosink: Freescale G2D video sink
}}}

9. install a U-Boot bootscript to setup kernel parameters for your display output:
{{{
#!bash
apt-get install u-boot-tools
wget https://github.com/Freescale/meta-freescale-3rdparty/raw/master/recipes-bsp/u-boot/u-boot-script-gateworks-imx/6x_bootscript-yocto.txt
mkimage -A arm -O linux -T script -C none -a 0 -e 0 -n "boot script" -d 6x_bootscript-yocto.txt /boot/6x_bootscript-ventana
reboot # reboot to setup bootargs for display
}}}
 * The Freescale IMX6 display drivers use kernel parameters to configure what display outputs to enable and in what format. What displays, resolutions, and formats affect how much contiguous memory is needed (CMA) as well. The Gateworks Yocto BSP has a bootscript that configures connected displays based on various rules and we will use this here. See http://trac.gateworks.com/wiki/Yocto/Video_Out#DisplaysDevices for more info

Now you will be able to use Gstreamer and Gstreamer-imx to tap the full potential of the IMX IPU/VPU/GPU hardware.

Examples:
 * show gstreamer-imx plugins:
{{{
#!bash
# gst-inspect-1.0 | grep imx
imxvpu:  imxvpuenc_mjpeg: Freescale VPU motion JPEG video encoder
imxvpu:  imxvpuenc_mpeg4: Freescale VPU MPEG-4 video encoder
imxvpu:  imxvpuenc_h264: Freescale VPU h.264 video encoder
imxvpu:  imxvpuenc_h263: Freescale VPU h.263 video encoder
imxvpu:  imxvpudec: Freescale VPU video decoder
imxv4l2videosrc:  imxv4l2videosrc: V4L2 CSI Video Source
imxg2d:  imxg2dcompositor: Freescale G2D video compositor
imxg2d:  imxg2dvideotransform: Freescale G2D video transform
imxg2d:  imxg2dvideosink: Freescale G2D video sink
imxipu:  imxipucompositor: Freescale IPU video compositor
imxipu:  imxipuvideosink: Freescale IPU video sink
imxipu:  imxipuvideotransform: Freescale IPU video transform
imxpxp:  imxpxpvideotransform: Freescale PxP video transform
imxpxp:  imxpxpvideosink: Freescale PxP video sink
}}}
 * imxipuvideosink:
{{{
#!bash
gst-launch-1.0 videotestsrc ! imxipuvideosink
}}}
 * imxg2dvideosink:
{{{
#!bash
gst-launch-1.0 videotestsrc ! imxg2dvideosink
}}}

See the [wiki:Yocto/gstreamer Gstreamer wiki page] for more details.


[=#X11]
== Adding X11 Support ==
You can easily add X11 support to a base image created with the debootstrap instructions above by adding a few package groups. You will need the following:
 * X11 server - ie Xorg
 * Display Manager - this controls the login to the X session
 * Window Manager - manages window position, re-sizing, decorations, etc for X clients

A common solution is to install a Desktop Environment such as the [http://lxde.org/ Lightweight X11 Desktop Environment (LXDE)] that is used for Lubuntu. LXDE includes the Xorg X11 server, the lxdm Display Manager, the openbox Window Manager, and a slew of useful user applications including the Chromium browser:
{{{
#!bash
apt-get update
apt-get upgrade
apt-get install lxde xinit # adds ~434MB to a base console image
}}}

Notes:
 * you will need to add a non-root user with {{{adduser}}} for Chromium browser to work. You may choose to set up auto-login for that user by editing /etc/lxdm/default.conf and setting the {{{autologin}}} property in the {{{base}}} section at the beginning of the config file.
 * you will need to use a kernel with the vivante GPU driver built as a module or the Xorg server will crash

=== Hardware GPU Acceleration for X11 ===

''' Note the below information has not been 100% proved out, proceed at your own risk '''

To add hardware GPU acceleration to X11 you need to add some libraries and drivers provided by Freescale from the imx-gpu-viv package. This requires signing Freescales End User License Agreement (EULA). This package provides the following:
 - libg2d - a documented low-level API to the GPU (used by things like libimxvpuapi for gstreamer-imx and the gpu-core drivers)
 - gpu-core - provides all the various OpenGL libs (libGL, libGLESv1_CM, libGLESv1_CL, libGLESv2, libGLSLC, libCLC, libEGL, libGAL, libOpenCL, libOpenVG) typically provided by the mesa project. Note that several versions of libEGL/libGAL/libGLESv2/libVIVANTE are provided for different backend rendering systems: dfb, fb, wl, x11.

Procedure:
1. Install Freescale Vivante GPU libs (EULA):
{{{
#!bash
wget http://www.freescale.com/lgfiles/NMG/MAD/YOCTO/imx-gpu-viv-5.0.11.p4.5-hfp.bin
/bin/sh imx-gpu-viv-*.bin # accept EULA
cd imx-gpu-viv-*
# install just the g2d headers/libs
cp g2d/usr/include/g2d.h /usr/include/
cp -d g2d/usr/lib/libg2d* /usr/lib/
# install gpu-core headers/libs
cp -Pr gpu-core/usr/* /usr
# install vivante driver for accelerated X11:
cp vivante_drv.so /usr/lib/xorg/modules/drivers/
chmod 644 /usr/lib/xorg/modules/drivers/vivante_drv.so
# optional: install demos
cp -r gpu-demos/opt /
# optional: install gpu tools
cp -axr gpu-tools/gmem-info/usr/bin/* /usr/bin/
# fix lib collision between fsl/viv gpu-core and libgl1-mesa package
rm /usr/lib/arm-linux-gnueabihf/mesa/libGL.so*
# fix lib collision between fsl/viv gpu-core and libegl1-mesa package
rm /usr/lib/arm-linux-gnueabihf/mesa-egl/libEGL.so*
# fix lib collision between fsl/viv gpu-core and libgles1-mesa package
#rm /usr/lib/arm-linux-gnueabihf/libGLESv1_CM.so*
#rm /usr/lib/arm-linux-gnueabihf/mesa-egl/libGLESv1_CM.so*
# fix lib collision between fsl/viv gpu-core and libgles2-mesa package
#rm /usr/lib/arm-linux-gnueabihf/libGLESv2.so* # not there
rm /usr/lib/arm-linux-gnueabihf/mesa-egl/libGLESv2.so*
# fix lib collision between fsl/viv gpu-core and libopenvg1-mesa package
rm /usr/lib/arm-linux-gnueabihf/mesa-egl/libOpenVG.so*
}}}
 * Note: this could be better handled by creating a package and using Ubuntu/Debian 'alternatives' to handle library selection

2. switch to gpu-core x11 backend:
{{{
#!bash
backend=x11
ln -sf libEGL-${backend}.so /usr/lib/libEGL.so
ln -sf libEGL-${backend}.so /usr/lib/libEGL.so.1
ln -sf libEGL-${backend}.so /usr/lib/libEGL.so.1.0
ln -sf libGAL-${backend}.so /usr/lib/libGAL.so
ln -sf libGLESv2-${backend}.so /usr/lib/libGLESv2.so
ln -sf libGLESv2-${backend}.so /usr/lib/libGLESv2.so.2
ln -sf libGLESv2-${backend}.so /usr/lib/libGLESv2.so.2.0.0
ln -sf libVIVANTE-${backend}.so /usr/lib/libVIVANTE.so
ln -sf libGAL_egl.dri.so /usr/lib/libGAL_egl.so
for i in egl glesv1_cm glesv2 vg; do
cp /usr/lib/pkgconfig/${i}_${backend}.pc /usr/lib/pkgconfig/${i}.pc
done
# remove the other backends we no longer need
rm /usr/lib/*-dfb.so /usr/lib/*-fb.so /usr/lib/*-wl.so
}}}

3. make vivante kernel module (GPU kernel driver) load on boot:
{{{
#!bash
echo vivante >> /etc/modules
cat << EOT > /etc/udev/rules.d/10-imx.rules
KERNEL=="galcore",  MODE="0660", GROUP="video"
KERNEL=="mxc_asrc",  MODE="0666"
EOT
}}}

4. create an xorg.conf configured for the Vivante fbdev driver:
{{{
#!bash
cat << EOT > /etc/X11/xorg.conf
Section "Device"
    Identifier  "i.MX Accelerated Framebuffer Device"
    Driver      "vivante"
    Option      "fbdev"     "/dev/fb0"
    Option      "vivante_fbdev" "/dev/fb0"
    Option      "HWcursor"  "false"
EndSection

Section "ServerFlags"
    Option "BlankTime"  "0"
    Option "StandbyTime"  "0"
    Option "SuspendTime"  "0"
    Option "OffTime"  "0"
EndSection
EOT
}}}

5. Optional: re-build gstreamer-imx ([#gstreamer-imx above]) if you wish to use gstreamer-imx IPU/VPU/GPU acceleration within an OpenGL window (egl)

6. Sync filesystem and reboot


Examples:
 * The {{{imxeglvivsink}}} allows hardware accelerated display to a window on the X11 host:
{{{
#!bash
DISPLAY=:0.0 gst-launch-1.0 videotestsrc ! imxeglvivsink
}}}
  - See the [wiki:Yocto/gstreamer Gstreamer wiki page] for more details.
 * The {{{glxgears}}} application is a demo of OpenGL that often is used to benchmark rendering performance
{{{
#!bash
DISPLAY=:0.0 glxgears -info # ~300fps on IMX6Q
}}}