cd ~
git clone https://github.com/crosstool-ng/crosstool-ng.git
cd crosstool-ng
git checkout crosstool-ng-1.26.0 # currently latest stable version
./bootstrap
./configure --prefix=${PWD}
make
make install
cd ~/crosstool-ng
bin/ct-ng list-samples
bin/ct-ng show-aarch64-rpi3-linux-gnu
bin/ct-ng aarch64-rpi3-linux-gnu
bin/ct-ng menuconfig-
Allow extending the toolchain after it is created (by default, it is created as read-only):
Paths and misc options -> Render the toolchain read-only -> false
-
Chane the tuple's vendor string:
Toolchain options -> Tuple's vendor string: Change rpi3 to rpizero2w
bin/ct-ng build
PATH=$PATH:~/x-tools/aarch64-rpizero2w-linux-gnu/bincreate file hello.c like this:
#include <stdio.h>
#include <stdlib.h>
int main (int argc, char *argv[])
{
printf ("Hello, world!\n");
return 0;
}aarch64-rpizero2w-linux-gnu-gcc hello.c -o hello- add
-staticto link libraries staticaly - move
hellofile to target and run it
git clone git://git.denx.de/u-boot.git
cd u-boot
git checkout v2023.10 # currently latest stable version
PATH=$PATH:~/x-tools/aarch64-rpizero2w-linux-gnu/bin
export CROSS_COMPILE=aarch64-rpizero2w-linux-gnu-
export ARCH=arm64
make rpi_arm64_defconfig
makescripts/format-sdcard.sh
cd ~
sudo apt install subversion
svn checkout https://github.com/raspberrypi/firmware/trunk/boot
cp boot/{bootcode.bin,start.elf,fixup.dat,bcm2710-rpi-zero-2-w.dtb} /media/${USER}/boot/
rm -rf boot
cp u-boot/u-boot.bin /media/${USER}/boot/
cat << EOF > config.txt
enable_uart=1
arm_64bit=1
kernel=u-boot.bin
EOF
mv config.txt /media/${USER}/boot/- in this stage you can boot into U-Boot bootloader
cd ~
git clone --depth=1 -b rpi-6.1.y https://github.com/raspberrypi/linux.git # currently latest stable version
cd linux
make ARCH=arm64 CROSS_COMPILE=/home/cloner/x-tools/aarch64-rpizero2w-linux-gnu/bin/aarch64-rpizero2w-linux-gnu- bcm2711_defconfig
make -j$(nproc) ARCH=arm64 CROSS_COMPILE=/home/cloner/x-tools/aarch64-rpizero2w-linux-gnu/bin/aarch64-rpizero2w-linux-gnu-
cp arch/arm64/boot/Image /media/${USER}/boot
cat << EOF > cmdline.txt
console=serial0,115200 console=tty1 root=/dev/mmcblk0p2 rootwait
EOF
sudo cp cmdline.txt /media/${USER}/boot/
# clean up
rm cmdline.txtcat << EOF > boot_cmd.txt
fatload mmc 0:1 \${kernel_addr_r} Image
fatload mmc 0:1 \${ramdisk_addr_r} uRamdisk
fatload mmc 0:1 \${fdt_addr} bcm2710-rpi-zero-2-w.dtb
booti \${kernel_addr_r} \${ramdisk_addr_r} \${fdt_addr}
EOF
~/u-boot/tools/mkimage -A arm64 -O linux -T script -C none -d boot_cmd.txt boot.scr
# Copy the compiled boot script to boot partition
sudo cp boot.scr /media/${USER}/boot/
# clean up
rm boot_cmd.txt boot.scr - up to here your board should boot up and kernel starts normally but as we do not add Root filesystem, it ends up with panic
cd ~
mkdir rootfs
cd rootfs
mkdir {bin,dev,etc,home,lib64,proc,sbin,sys,tmp,usr,var}
mkdir usr/{bin,lib,sbin}
mkdir var/log
# Create a symbolink lib pointing to lib64
ln -s lib64 lib
# Change the owner of the directories to be root
# Because current user doesn't exist on target device
sudo chown -R root:root *cd ~
git clone git://busybox.net/busybox.git
cd busybox
git checkout 1_36_1 # latest stable version
# Config
make distclean
CROSS_COMPILE=${HOME}/x-tools/aarch64-rpizero2w-linux-gnu/bin/aarch64-rpizero2w-linux-gnu-
make ARCH=arm64 CROSS_COMPILE="$CROSS_COMPILE" defconfig
# Change the install directory to be the one just created
# Note that you should change usename in this command
sed -i 's%^CONFIG_PREFIX=.*$%CONFIG_PREFIX="/home/cloner/rootfs"%' .config
# Build
make CROSS_COMPILE="$CROSS_COMPILE"
# Install
# Use sudo because the directory is now owned by root
sudo make CROSS_COMPILE="$CROSS_COMPILE" install
- Note that you can use ToyBox instead which is very often used in Android devices
You need to copy shared libraries from toolchain to the staging directory.
cd ~/rootfs
PATH=$PATH:~/x-tools/aarch64-rpizero2w-linux-gnu/bin
aarch64-rpizero2w-linux-gnu-readelf -a ~/rootfs/bin/busybox | grep -E "(program interpreter)|(Shared library)"
export SYSROOT=$(~/x-tools/aarch64-rpizero2w-linux-gnu/bin/aarch64-rpizero2w-linux-gnu-gcc -print-sysroot)
sudo cp -L ${SYSROOT}/lib64/{ld-linux-aarch64.so.1,libm.so.6,libresolv.so.2,libc.so.6} ~/rootfs/lib64/We can reduce size of libraries and programs by stripping the binaries of symbol tables
sudo ~/x-tools/aarch64-rpizero2w-linux-gnu/bin/aarch64-rpizero2w-linux-gnu-strip ~/rootfs/lib64/*cd ~/rootfs
sudo mknod -m 666 dev/null c 1 3
sudo mknod -m 600 dev/console c 5 1cd ~/rootfs
find . | cpio -H newc -ov --owner root:root > ../initramfs.cpio
cd ..
gzip initramfs.cpio
~/u-boot/tools/mkimage -A arm64 -O linux -T ramdisk -d initramfs.cpio.gz uRamdisk
# Copy the initramffs to boot partition
sudo cp uRamdisk /media/${USER}/boot/
# clean up
rm uRamdisk initramfs.cpio.gz- Note that this manual is NOT complete and should add some steps to it in future!
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