Thanks for Google again. http://kevintechnology.com/post/29649230627/formatting-an-sd-card-for-the-beagleboardxmbone Briefly talking about the situation: There is a script in Raspberry official support webstie named mkcard.txt, which can be downloaded here: http://elinux.org/RPi_Advanced_Setup However, even you use a brand-new SD card to prepare the Angstrom and Boot distribution of Linux, you may receive the following error: /dev/sdd2 is apparently in use by the system; will not make a filesystem *sdd2 is the partition I have in my sdcard. There are two problems to be solved: We first need to remove the stolen devices from dmsetup: sudo dmsetup remove sdd1, sudo dmsetup remove sdd2, etc. Comment out the line 36-38 in mkcard.txt to disable kpartx Then you can run mkcard.txt again, everything is fine now.
Here record some exciting moments I experience during my ES / RTOS researches.