Diff for /wikisrc/ports/evbarm/raspberry_pi.mdwn between versions 1.65 and 1.103

version 1.65, 2017/10/28 00:43:01 version 1.103, 2018/11/06 22:29:26
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 [[!meta title="NetBSD/evbarm on Raspberry Pi"]]  [[!meta title="NetBSD/evbarm on Raspberry Pi"]]
   
 This page attempts to document and coordinate efforts towards NetBSD/evbarm on [Raspberry Pi](http://www.raspberrypi.org). All board variants are supported.  This page attempts to document and coordinate efforts towards NetBSD/evbarm on [Raspberry Pi](http://www.raspberrypi.org).  All [board variants](https://en.wikipedia.org/wiki/Raspberry_Pi#Specifications) are supported.  We use e.g. "RPI2" to refer to "Raspberry Pi 2" to save precious bytes on this page.
   
 Initial, limited, Raspberry Pi support was introduced in NetBSD 6.0. NetBSD 7.0 adds complete support for the board, along with introducing support for the quad-core Raspberry Pi 2 board.  Raspberry Pi 3 support was added for NetBSD 8, and backported to NetBSD 7 in July of 2017.  Initial, limited, Raspberry Pi support was introduced in NetBSD 6.0. NetBSD 7.0 adds complete support for the board, along with introducing support for the quad-core Raspberry Pi 2 board.  Raspberry Pi 3 support was added for NetBSD 8, and backported to NetBSD 7 in July of 2017.  (This page assumes those using NetBSD 7 are using 7.2, or the netbsd-7 branch after mid 2018.)
   
 [[images/raspberrypi.jpg]]  [[images/raspberrypi.jpg]]
   
Line 12  Initial, limited, Raspberry Pi support w Line 12  Initial, limited, Raspberry Pi support w
   
 # What works (and what doesn't yet)  # What works (and what doesn't yet)
   
 ## NetBSD 7 before July, 2017  ## NetBSD 7 and NetBSD 8
   
  - RaspberryPi 1, and 2 (including SMP)   - RPI1, RPI2, RPI2-1.2, RPI3, RPI3+ (except RPI3 builtin WiFi and bluetooth)
  - multi-user boot with root on SD card   - RPI0 and RPI0W are expected to work (without WiFi, and one needs fdt files \todo where from?)
    - multiple processors on RPI2/RPI3
    - boots normally to multiuser, with FAT32 boot partition on uSD
    - root filesystem can be uSD or USB-attached mass storage
  - serial or graphics console (with EDID query / parsing)   - serial or graphics console (with EDID query / parsing)
    - X11 via HDMI
    - GPU (VCHIQ) - 3D and video decode. man page missing.
    - USB host controller - dwctwo(4) and most devices work
    - USB Ethernet - usmsc(4)
  - DMA controller driver and sdhc(4) support   - DMA controller driver and sdhc(4) support
    - RNG
  - Audio: works. man page missing.   - Audio: works. man page missing.
  - I²C: works, could use enhancements, man page  
  - GPIO   - GPIO
  - RNG   - I²C: works, could use enhancements, man page
  - SPI: could use enhancements, man page   - SPI: could use enhancements, man page
  - GPU (VCHIQ) - 3D and video decode. man page missing.  
  - USB (host) - dwctwo(4)  
  - USB Ethernet - usmsc(4)  
  - X windows.  
   
 ## NetBSD 7 after July, 2017 and NetBSD 8  
   
  - Raspberry Pi 3 (excluding WiFi and bluetooth)  
   
 ## NetBSD current  ## NetBSD current
   
  - Raspberry Pi 3 bluetooth   - RPI3B+ 
  - Raspberry Pi 3 new SD host controller driver   - RPI3 builtin bluetooth
    - RPI3 new SD host controller driver
   
   ## What needs documenting if it works
   
    - CM1
    - CM3
    - CM3lite
   
 ## What needs work  ## What needs work
   
  - USB (host); isochronous transfers.   - USB (host); isochronous transfers.
  - WiFi   - RPI3 builtin WiFi
  - Raspberry Pi 3 in 64-bit mode.  (Note that this will be provided by the evbarm64 port, rather than evbarm.)  
   
 # CPU types  # CPU types
   
 Note that one can also use code for earlier models on later models.   - RPI1 uses "earmv6hf".
    - RPI0 uses "\todo".
    - RPI2 uses "earmv7hf".
    - RPI3 uses "earmv7hf".
    - RPI0W uses "\todo".
   
   Note that one can run a build of earmv6hf on the 2 and 3.  There will still be a kernel7, built to use the 2/3 hardware, but with the armv6 instruction set.
   
  - Raspberry Pi 1 uses "earmv6hf".  In theory the code compiled for earmv7hf will be faster, but anecdotal experience is that it doesn't matter that much.
  - Raspberry Pi 2 uses "earmv7hf".  
  - Raspberry Pi 3 uses "earmv7hf".  While the evbarm port has "eb" variants (for big-endian mode), the RPI systems do not support eb and these variants will not work.  Systems built with older CPU architectures (earm, earmv4, earmv5) are not expected to work on RPI.
   
   See also [[NetBSD/aarch64|aarch64]] for running the RPI2-1.2 and RPI3/RPI3+ in 64-bit mode.
   
 # Installation  # Installation
   
 ## SD card structure  ## SD card structure
   
 The Raspberry Pi looks for firmware and kernel.img on the first FAT32 partition of the uSD card.  A separate kernel (kernel7.img) is used on RPI2 and RPI3.  The Raspberry Pi looks for firmware and kernel.img on the first FAT32 MBR partition of the uSD card.  A separate kernel (kernel7.img) is used on RPI2 and RPI3.
   The NetBSD kernel will then find NetBSD MBR partition and within that the root disklabel partition, and use that FFS partition as the root filesystem.
   
 The NetBSD kernel will then use the FFS partition as the root filesystem.  A 2 GB card is the smallest workable size, and the installation image will fit.  After the first boot, the system resizes the NetBSD root partition to fill the card.  Note that swap is after /boot and before /, and not contained in the NetBSD fdisk partition.  However, if you don't try to change the partition structure, this should not cause you any trouble.
   
 A 2 GB card is the smallest workable size.  The NetBSD filesystem will be expanded to fit.  Note that SD cards generally have limited write tolerance, so you may wish to disable atime updates via the noatime option, as is done by the default installation.
   
 ## Choosing a version  ## Choosing a version
   
 First, decide if you want to install a formal release (7.1), a stable branch build (netbsd-7, netbsd-8), or NetBSD-current.  Note that 7.1 predates Raspberry Pi 3 support.  For people who don't know how to choose among those, netbsd-8 is probably best.  First, decide if you want to install a formal release (7.2 or 8.0), a stable branch build (netbsd-7, netbsd-8), or NetBSD-current.  For people who don't know how to choose among those, a recent build of netbsd-8 is probably best, with 8.0 the choice for those who value being at exactly a formal release.
   
 See also "ebijun's image", below, which is NetBSD-current and includes packages.  See also "ebijun's image", below, which is NetBSD-current and includes packages.
   
 ## Getting bits to install  ## Getting bits to install
   
 You can either build a release yourself with build.sh, or get one from the NetBSD FTP servers.  You can either build a release yourself with build.sh, or get a release from the NetBSD HTTPS/FTP servers.  The bits from both sources should match, except for things like  timestamps, or because the sources are from slightly different points along branches.
   
 Both will provide rpi.img.gz and rpi_inst.img.gz.  Each is an image to be written to a uSD card, and has a FAT32 partition for booting.  In rpi.img.gz, there is also an FFS partition for NetBSD.  
   
 ### Building yourself  ### Building yourself
   
 Getting sources and building a release with build.sh is not special for evbarm.  Pick a CPU type alias and pass it to build.sh with -m.  Examples (the first two are equivalent):  Getting sources and building a release with build.sh is not special for evbarm.  However, the evbarm port has a very large number of CPU types, compared to i386 and amd64 which have one each.  The standard approach is to use -m to define MACHINE and -a to define MACHINE_ARCH.  build.sh supports aliases that can be passed as a MACHINE value, but denote both MACHINE and a MACHINE_ARCH.   The third line uses an alias and is equal to the second, for RPI2/3.  Note that the aliases start with "evb" while the MACHINE_ARCH values do not, and that aliases have "-el" or "-eb", while the MACHINE_ARCH values have no suffix or "eb".
  - ./build.sh -m earmv6hf -u release  
  - ./build.sh -m evbarm -a earmv6hf -u release   - ./build.sh -m evbarm -a earmv6hf -u release
  - ./build.sh -m evbarm -a earmv7hf -u release   - ./build.sh -m evbarm -a earmv7hf -u release
    - ./build.sh -m evbearmv7hf-el -u release
   
   Consider setting RELEASEMACHINEDIR if you wish to build multiple MACHINE_ARCH values for a MACHINE; see build.sh.  Use something like "evbarm-earmv7hf", so that 1) earvm6 and earmv7 don't collide and 2) anita will recognize it as a type of evbarm.
   
   ### NetBSD autobuild HTTPS/FTP servers
   
   NetBSD provides nightly builds on [nyftp.netbsd.org](https://nyftp.netbsd.org/pub/NetBSD-daily/).  The next directory level is the branch being built (netbsd-7, netbsd-8, HEAD, and more), plus optionally things like compiler type.  It is followed by date/time, e.g. "HEAD/201811051650Z"; once a build is complete the symlink "latest" is adjusted to point to it.  The next level is "${MACHINE}-${MACHINE_ARCH}", e.g. "evbarm-earmv7hf", and multiple combinations are provided.
   
 ### NetBSD FTP servers  An example URL, arguably the standard approach for first-time NetBSD/RPI users, is https://nyftp.netbsd.org/pub/NetBSD-daily/netbsd-8/latest/evbarm-earmv7hf/binary/gzimg/
   
 NetBSD provides nightly builds on [nyftp.netbsd.org](http://nyftp.netbsd.org/pub/NetBSD-daily/).  These are equivalent to building yourself.  ### release layout
   
  - The 'evbarm-earmv6hf/binary/gzimg/' directory contains an rpi.img file that can be used as a single image for both boards.  Once you get to the releasedir, self-built and autobuild releases have the same structure.
  - The 'evbarm-earmv7hf/binary/gzimg/' directory contains an armv7.img file that is optimized for Raspberry Pi 2.  
  - The stable build directory will be under netbsd-7/YYYYMMDDHHMMZ/ (for example, http://nyftp.netbsd.org/pub/NetBSD-daily/netbsd-7/201710201440Z/evbarm-earmv6hf/binary/gzimg)       - The 'evbarm-earmv6hf/binary/gzimg/' directory contains an rpi.img file that will run on any of the RPI boards.
  - The not-yet-released stable build directory will be under netbsd-8/YYYYMMDDHHMMZ/ (for example, http://nyftp.netbsd.org/pub/NetBSD-daily/netbsd-8/201710211010Z/evbarm-earmv6hf/binary/gzimg/)   - The 'evbarm-earmv7hf/binary/gzimg/' directory contains an armv7.img file that uses the armv7 instruction set, and thus can run only on the RPI2 and RPI3 (and perhaps the CM3).  It also supports systems other than the RPI family.
  - The HEAD/current directory build will be under HEAD/YYYYMMDDHHMMZ/ (for example, http://nyftp.netbsd.org/pub/NetBSD-daily/HEAD/201710202210Z/evbarm-earmv7hf/binary/gzimg/)  
   \todo Explain why there is no armv7_inst.gz.
   
 ## Preparing a uSD card  ## Preparing a uSD card
   
 Once you have rpi.img.gz (or rpi_inst), put it on a uSD card using gunzip and dd, for example:  Once you have rpi.img.gz (or rpi_inst), put it on a uSD card using gunzip and dd, for example:
   
  - gunzip rpi.img.gz   - gunzip rpi.img.gz
  - dd if=rpi.i7mg of=/dev/disk1   - dd if=rpi.img of=/dev/disk1
   
 ### Serial Console  ## Console approaches
   
 By default the rpi.img is set to use the HDMI output.  If you wish to use a serial console, first mount the FAT32 partition and then  The standard approach is to use a USB keyboard and an HDMI monitor for installation.
 edit cmdline.txt and remove '"console=fb"'.  
   
  - Most (all?) USB-to-TTL serial adapters only connect Tx, Rx and ground, and do not connect any flow control lines. An effect of missing flow control is that you see console output, but cannot type anything. If so, adjust your serial console application's flow control settings to "none".  ### Serial Console
   
   By default the rpi.img is set to use the HDMI output.  If you wish to use a serial console, mount the FAT32 partition on another system and edit cmdline.txt and remove '"console=fb"'.
   
    In Kermit, the command is "set flow none".   - Most (all?) USB-to-TTL serial adapters have wires for Tx, Rx and ground, and not RTS/CTS or other flow control lines.   Thus, your terminal program (or terminal) must be configured to not require flow control; a symptom of misconfiguration is that you see console output, but cannot type anything.  If so, adjust your serial console application's flow control settings to "none".
   
    In minicom, run "minicom -s" and set hardware flow control to "no"     - In Kermit, the command is "set flow none".
      - In minicom, run "minicom -s" and set hardware flow control to "no".
   
 ### Enabling ssh  ### Enabling ssh for installation without any console
   
 If you want to enable ssh with the standard image, so that you can log in over the net without either a serial or HDMI console, mount the ffs partition, place /root/.ssh/authorized_keys, uncomment PermitRootLogin in /etc/ssh/sshd_config, and comment out the rc_configure=NO in /etc/rc.conf.  Besides having to find the IP address, you will have to wait for the partition resizing and reboot.  If you want to enable ssh with the standard image, so that you can log in over the net without either a serial or HDMI console, you can edit the configuration of a uSD card before booting.   On another computer, mount the ffs partition, place /root/.ssh/authorized_keys, uncomment PermitRootLogin in /etc/ssh/sshd_config, and comment out the rc_configure=NO in /etc/rc.conf.  Besides having to find the IP address (e.g. from DHCP server logs), you will have to wait for the partition resizing and reboot.
   
 ### Installation with sshramdisk image  ### Installation with sshramdisk image
   
 build.sh (and hence the FTP site) also creates an image 'rpi_inst.img.gz' specifically for installation without HDMI or a serial console.  Note that this image is much smaller and that you will need to fetch the sets over the network.  To use this method, write that image to a uSD card as above, and then:  build.sh (and hence the FTP site) also creates an image 'rpi_inst.img.gz' specifically for installation without HDMI or a serial console, when built for earmv6hf.  Note that this image is much smaller and that you will need to fetch the sets over the network.  To use this method, write that image to a uSD card as above, and then:
   
    - Connect an Ethernet cable from the RPI to a LAN with a DHCP server, and another host you can use for ssh.
    - Power on the RPI, and wait.  Watch the logs on the DHCP server, and find the IP address assigned to the RPI.
    - Use ssh to login to the address you found with user "sysinst", and password "netbsd".
    - When installing, ensure that you enable DHCP and ssh, so that you can log in again after the system is installed.
   
  - Ensure that you have a lan with a DHCP server.  \todo Verify that the above is accurate and sufficient.
  - Connect an Ethernet cable from the RPI to the LAN.  
  - After starting DHCP client, SSH login to with user "sysinst", and password "netbsd".  
    - Be careful to note the ip address given during DHCP so you don't lose your connection  
    - Also for after the sysinst is done and the system reboots  
  - sysinst started!  
   
 ## Installation via ebijun's image  ## Installation via ebijun's image
   
Line 133  every few weeks. Line 155  every few weeks.
   
  - [https://github.com/ebijun/NetBSD/blob/master/RPI/RPIimage/Image/README](https://github.com/ebijun/NetBSD/blob/master/RPI/RPIimage/Image/README)   - [https://github.com/ebijun/NetBSD/blob/master/RPI/RPIimage/Image/README](https://github.com/ebijun/NetBSD/blob/master/RPI/RPIimage/Image/README)
   
   ## Configuring 802.11
   
   After installation, the Ethernet will function as on any other NetBSD system; simply enable dhcpcd or configure a static address.  USB WiFi devices will also function as on any other NetBSD system; in addition to dhcpcd or static, configure and enable wpa_supplicant.
   
   Note that the built-in WiFi in the RPI3 is not yet supported.   USB WiFi interfaces (that work on NetBSD in general) should all work.  In particular, the following are known to work:
   
    - urtwn0: Realtek (0xbda) 802.11n WLAN Adapter (0x8176), rev 2.00/2.00, addr 5, MAC/BB RTL8188CUS, RF 6052 1T1R
   
   ## Links
   
   The following pages have been published by NetBSD community members.  (Note that some of them are old.)
   
    - https://www.cambus.net/netbsd-on-the-raspberry-pi/
   
   # Maintaining a system
   
   ## vcgencmd
   
   The program vcgencmd, referenced in the boot section,  can be found in pkgsrc/misc/raspberrypi-userland.
   
 ## Updating the kernel  ## Updating the kernel
   
  - Build a new kernel, e.g. using build.sh. It will tell you where the ELF version of the kernel is, e.g.   - Build a new kernel, e.g. using build.sh. It will tell you where the ELF version of the kernel is, e.g.
Line 142  every few weeks. Line 184  every few weeks.
           /Users/feyrer/work/NetBSD/cvs/src-current/obj.evbarm-Darwin-XXX/sys/arch/evbarm/compile/RPI2/netbsd            /Users/feyrer/work/NetBSD/cvs/src-current/obj.evbarm-Darwin-XXX/sys/arch/evbarm/compile/RPI2/netbsd
          ...           ...
   
  - Besides the "netbsd" kernel in ELF format, there is also a "netbsd.bin" kernel that is in a format that the Raspberry can boot.   - Besides the "netbsd" kernel in ELF format, there is also a "netbsd.img" (for current) or "netbsd.bin" (for 7 and 8) kernel that is in a format that the Raspberry can boot.
  - Depending on your hardware version, copy this either to /boot/kernel.img (First generation Pi, Pi Zero hardware) or to /boot/kernel7.img (Pi 2, Pi 3 hardware)   - Depending on your hardware version, copy this either to /boot/kernel.img (First generation Pi, Pi Zero hardware) or to /boot/kernel7.img (Pi 2, Pi 3 hardware)
  - reboot   - reboot
   
 # Wireless Networking  ## Updating the firmware
   
   A section below describes the process of updating NetBSD's copy of the firmware from upstream, with testing, by NetBSD developers.  This section is about updating a system's firmware from the firmware in a version of NetBSD.
   
   \todo Explain where the firmware is in the source tree, and if it is in the installed system image (such as /usr/mdec).  Explain how to update a system (presumably /boot) from either an installed system's new firmware files, or the source tree.  Explain any particular cautions.
   
   Probably, for the RPI3B+, one needs to use -current, or use -8 with firmware from -current.  \todo Defuzz.
   
   \todo Explain if using updated firmware from one branch (e.g. netbsd-current) on a system using a different branch (e.g. netbsd-8) is safe.  Explain if pullups are done to release branches with new firmware.
   
   ## Booting
   
   Note that the built-in WiFi in the RPI3 is not yet supported.  The device boots by finding a file "bootcode.bin".   The primary location is a FAT32 partition on the uSD card, and an additional location is on a USB drive.  See the [upstream documentation on booting](https://www.raspberrypi.org/documentation/hardware/raspberrypi/bootmodes/) and read all the subpages.
   
  - A Realtek 802.11n USB adaptor configures as urtwn(4).  The standard approach is to use a uSD card, with a fdisk partition table containing a FAT32 partition marked active, and a NetBSD partition.  The NetBSD partition will then contain a disklabel, pointing to an FFS partition (a), a swap paritiion (b) and the FAT32 boot partition mounted as /boot (e).  The file /boot/cmdline.txt has a line to set the root partition.
    - Configure with wpa_supplicant in /etc/rc.conf -  
   
            ifconfig_urtwn0=dhcp  One wrinkle in the standard approach is that the disk layout is "boot swap /", but the NetBSD fdisk partition starts at the location of /.   The / partition can hold a disklabel, while swap cannot.   It is normal to have swap after / (and thus within the fdisk partition), but the arrangement used permits growing / on first boot, for the typical case where a larger uSD is used, compared to the minimum image size.
            dhcpcd=YES  
            dhcpcd_flags="-q -b"  
            wpa_supplicant=YES  
            wpa_supplicant_flags="-B -i urtwn0 -c /etc/wpa_supplicant.conf"  
    - A sample wpa_supplicant.conf can be found at /usr/share/examples/wpa_supplicant/wpa_supplicant.conf  
   
 # GPU  An alternate approach is to have the boot FAT32 partition as above, but to have the entire system including root on an external disk.  This is configured by changing root=ld0a to root=sd0a or root=dk0 (depending on disklabel/GPT).  Besides greater space, part of the point is to avoid writing to the uSD card.
   
   A third approach, workable on the Pi 3 only, is to configure USB host booting (already enableed on the 3+; see the upstream documentation) and have the boot partition also on the external device.  In this case the external device must have an MBR because the hardware's first-stage boot does not have GPT support. In theory the [procedure to program USB host boot mode](https://www.raspberrypi.org/documentation/hardware/raspberrypi/bootmodes/msd.md) will function on a NetBSD system because the programming is done by bootcode.bin.
   \todo Confirm that putting program_usb_boot_mode=1 in config.txt and booting works to program the OTP bit.  Confirm that one can then boot NetBSD from external USB.
   
   There is no well-defined USB enumeration order, so the preferred approach if one has multiple USB mass storage devices is to use named wedges in both fstab and cmdline.txt.
   
   # X11 and GPU
   
 ## Video playback  ## Video playback
 Accelerated video playback is supported in NetBSD 7 with the [OMXPlayer](http://pkgsrc.se/multimedia/omxplayer) application and through GStreamer with the [omx](http://pkgsrc.se/multimedia/gst-plugins1-omx) plugin.  Accelerated video playback is supported in NetBSD 7 with the [OMXPlayer](http://pkgsrc.se/multimedia/omxplayer) application and through GStreamer with the [omx](http://pkgsrc.se/multimedia/gst-plugins1-omx) plugin.
Line 196  $ retroarch --appendconfig gamepad.cfg - Line 249  $ retroarch --appendconfig gamepad.cfg -
   
 These notes are for people working on improvements to RPI support in NetBSD.  These notes are for people working on improvements to RPI support in NetBSD.
   
 ## Updating the firmware  ## Updating the firmware version in the NetBSD sources
   
 You probably don't want to do this. Firmware updates can break things,  (Note that trying new firmware may result in a non-bootable system, so
 and the latest firmware that's been tested is already included in the  be prepared to recover the bootable media with another system.)
 NetBSD build you installed.  
   
 If you're feeling adventurous (or are the port maintainer), here's what  Upstream firmware releases are
 to test whenever you try new firmware:  [on GitHub](https://github.com/raspberrypi/firmware/releases).
   Copy all files except `kernel*.img` into `/boot` and reboot.
   
   New firmware should pass all of the following tests before being committed to NetBSD.
   
 - Audio  - Audio
 - OMXPlayer (and [[!template id=man name="vchiq"]])  - OMXPlayer (and [[!template id=man name="vchiq"]])
 - Serial/framebuffer console  - Serial/framebuffer console
 - CPU frequency scaling  - CPU frequency scaling
   
 That goes for all of `rpi[0123]`.  Tests should be run on all of `rpi[0123]`.
   
 Upstream firmware releases are  ## Testing with anita and qemu
 [on GitHub](https://github.com/raspberrypi/firmware/releases).  
 Copy all files except `kernel*.img` into `/boot` and reboot.  anita has support for evbarm.  Install qemu and dtb-arm-vexpress from pkgsrc.  Note that the release subdirectory should be evbarm-earmv6hf or evbarm-earmv7hf.
   
   \todo Explain how to select various RPI models to emulate.
   \todo Explain about how DTB works.
   \todo Give a command line example to run qemu (without anita).

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