Annotation of wikisrc/ports/evbarm/raspberry_pi.mdwn, revision 1.113
1.1 jakllsch 1: [[!meta title="NetBSD/evbarm on Raspberry Pi"]]
2:
1.113 ! gdt 3: This page describes the NetBSD/evbarm port on [Raspberry Pi](http://www.raspberrypi.org) hardware. All [board variants](https://en.wikipedia.org/wiki/Raspberry_Pi#Specifications) are believed supported, and specific boards know to work are listed. We use e.g. "RPI2" to refer to "Raspberry Pi 2" to save precious bytes on this page.
1.39 wiki 4:
1.104 gdt 5: 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 later, but note that everyone uses 8 or -current.)
1.39 wiki 6:
1.3 wiki 7: [[images/raspberrypi.jpg]]
8:
1.26 wiki 9: [[!toc levels=2]]
10:
1.14 wiki 11: <small>([Raspberry Pi image](http://www.flickr.com/photos/42325803@N07/8118758647/) by Christopher Lee used under CC-By-2.0 license)</small>
1.3 wiki 12:
1.54 gdt 13: # What works (and what doesn't yet)
1.53 gdt 14:
1.70 gdt 15: ## NetBSD 7 and NetBSD 8
1.53 gdt 16:
1.102 gdt 17: - RPI1, RPI2, RPI2-1.2, RPI3, RPI3+ (except RPI3 builtin WiFi and bluetooth)
18: - RPI0 and RPI0W are expected to work (without WiFi, and one needs fdt files \todo where from?)
1.101 gdt 19: - multiple processors on RPI2/RPI3
1.74 gdt 20: - boots normally to multiuser, with FAT32 boot partition on uSD
21: - root filesystem can be uSD or USB-attached mass storage
1.53 gdt 22: - serial or graphics console (with EDID query / parsing)
1.74 gdt 23: - X11 via HDMI
24: - GPU (VCHIQ) - 3D and video decode. man page missing.
25: - USB host controller - dwctwo(4) and most devices work
26: - USB Ethernet - usmsc(4)
1.53 gdt 27: - DMA controller driver and sdhc(4) support
1.74 gdt 28: - RNG
1.53 gdt 29: - Audio: works. man page missing.
1.74 gdt 30: - GPIO
1.53 gdt 31: - I²C: works, could use enhancements, man page
32: - SPI: could use enhancements, man page
33:
34: ## NetBSD current
35:
1.105 gdt 36: - RPI3+
1.101 gdt 37: - RPI3 builtin bluetooth
38: - RPI3 new SD host controller driver
1.53 gdt 39:
1.102 gdt 40: ## What needs documenting if it works
41:
42: - CM1
43: - CM3
44: - CM3lite
45:
1.54 gdt 46: ## What needs work
1.53 gdt 47:
48: - USB (host); isochronous transfers.
1.105 gdt 49: - RPI3, RPI0W builtin WiFi
50: - RPI0W Bluetooth Low Energy (probably)
1.113 ! gdt 51: - aarch64 support is evolving very rapidly, and not yet recommended for production, largely because one must run -current.
1.53 gdt 52:
1.57 gdt 53: # CPU types
54:
1.101 gdt 55: - RPI1 uses "earmv6hf".
1.109 gdt 56: - RPI0 uses "earmv6hf".
57: - RPI0W uses "earmv6hf".
1.101 gdt 58: - RPI2 uses "earmv7hf".
1.113 ! gdt 59: - RPI2-1.2 uses "earmv7hf" or "aarch64" (armv8 CPU hardware)
! 60: - RPI3 uses "earmv7hf" or "aarch64" (armv8 CPU hardware)
1.57 gdt 61:
1.101 gdt 62: 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.
1.96 gdt 63:
1.101 gdt 64: In theory the code compiled for earmv7hf will be faster, but anecdotal experience is that it doesn't matter that much.
1.97 gdt 65:
1.101 gdt 66: 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.
1.96 gdt 67:
1.113 ! gdt 68: The RPI2-1.2 and RPI3 have an armv8 CPU that supports aarch64 (64-bit
! 69: mode) in addition to aarch32 (regular 32-bit ARM). This is supported,
! 70: in -current only, by the "aarch64" MACHINE_ARCH of evbarm, also
! 71: available in build.sh via the alias evbarm64. This is sometimes
! 72: referred to as [[NetBSD/aarch64|aarch64]].
1.70 gdt 73:
1.7 wiki 74: # Installation
1.53 gdt 75:
1.62 gdt 76: ## SD card structure
77:
1.86 gdt 78: 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.
79: 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.
1.62 gdt 80:
1.86 gdt 81: 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.
1.63 gdt 82:
1.91 gdt 83: 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.
84:
1.62 gdt 85: ## Choosing a version
86:
1.95 gdt 87: 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.
1.65 gdt 88:
89: See also "ebijun's image", below, which is NetBSD-current and includes packages.
1.58 gdt 90:
91: ## Getting bits to install
92:
1.96 gdt 93: 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.
1.58 gdt 94:
95: ### Building yourself
96:
1.95 gdt 97: 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".
1.66 gdt 98:
1.59 gdt 99: - ./build.sh -m evbarm -a earmv6hf -u release
100: - ./build.sh -m evbarm -a earmv7hf -u release
1.95 gdt 101: - ./build.sh -m evbearmv7hf-el -u release
1.81 gdt 102:
1.94 gdt 103: 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.
1.58 gdt 104:
1.85 gdt 105: ### NetBSD autobuild HTTPS/FTP servers
1.58 gdt 106:
1.96 gdt 107: 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.
1.58 gdt 108:
1.96 gdt 109: 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/
1.95 gdt 110:
111: ### release layout
112:
1.96 gdt 113: Once you get to the releasedir, self-built and autobuild releases have the same structure.
114:
1.85 gdt 115: - The 'evbarm-earmv6hf/binary/gzimg/' directory contains an rpi.img file that will run on any of the RPI boards.
1.103 gdt 116: - 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.
1.85 gdt 117:
1.95 gdt 118: \todo Explain why there is no armv7_inst.gz.
1.58 gdt 119:
1.65 gdt 120: ## Preparing a uSD card
1.10 wiki 121:
1.107 gdt 122: Once you have rpi.img.gz (or rpi_inst for earmv6 boards), put it on a uSD card using gunzip and dd, for example:
1.14 wiki 123:
1.60 gdt 124: - gunzip rpi.img.gz
1.67 ryoon 125: - dd if=rpi.img of=/dev/disk1
1.14 wiki 126:
1.89 gdt 127: ## Console approaches
128:
129: The standard approach is to use a USB keyboard and an HDMI monitor for installation.
130:
1.58 gdt 131: ### Serial Console
132:
1.89 gdt 133: 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"'.
1.14 wiki 134:
1.109 gdt 135: - 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".
1.41 wiki 136:
1.89 gdt 137: - In Kermit, the command is "set flow none".
138: - In minicom, run "minicom -s" and set hardware flow control to "no".
1.41 wiki 139:
1.89 gdt 140: ### Enabling ssh for installation without any console
1.41 wiki 141:
1.89 gdt 142: 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.
1.65 gdt 143:
1.89 gdt 144: ### Installation with sshramdisk image
1.65 gdt 145:
1.89 gdt 146: 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:
1.58 gdt 147:
1.89 gdt 148: - Connect an Ethernet cable from the RPI to a LAN with a DHCP server, and another host you can use for ssh.
149: - Power on the RPI, and wait. Watch the logs on the DHCP server, and find the IP address assigned to the RPI.
150: - Use ssh to login to the address you found with user "sysinst", and password "netbsd".
151: - When installing, ensure that you enable DHCP and ssh, so that you can log in again after the system is installed.
1.53 gdt 152:
1.107 gdt 153: The rpi_inst.img.gz image will only work for systems that use earmv6hf kernels (so not RPI2/3). See [this port-arm message](https://mail-index.netbsd.org/port-arm/2017/08/18/msg004374.html) for details.
154:
1.55 gdt 155: ## Installation via ebijun's image
156:
1.58 gdt 157: As an alternative to the standard installation images, Jun Ebihara
158: provides an install image for Raspberry Pi that includes packages. It
159: is based on NetBSD-current and is built for earmv6hf, and thus will
160: work on Raspberry Pi 1, 2 and 3. This image is typically updated
161: every few weeks.
1.55 gdt 162:
1.56 gdt 163: - [https://github.com/ebijun/NetBSD/blob/master/RPI/RPIimage/Image/README](https://github.com/ebijun/NetBSD/blob/master/RPI/RPIimage/Image/README)
1.55 gdt 164:
1.98 gdt 165: ## Configuring 802.11
166:
167: 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.
168:
169: 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:
170:
171: - urtwn0: Realtek (0xbda) 802.11n WLAN Adapter (0x8176), rev 2.00/2.00, addr 5, MAC/BB RTL8188CUS, RF 6052 1T1R
172:
1.90 gdt 173: ## Links
174:
175: The following pages have been published by NetBSD community members. (Note that some of them are old.)
176:
177: - https://www.cambus.net/netbsd-on-the-raspberry-pi/
178:
1.74 gdt 179: # Maintaining a system
180:
1.78 gdt 181: ## vcgencmd
182:
1.80 gdt 183: The program vcgencmd, referenced in the boot section, can be found in pkgsrc/misc/raspberrypi-userland.
1.78 gdt 184:
1.53 gdt 185: ## Updating the kernel
1.46 schmonz 186:
1.42 wiki 187: - Build a new kernel, e.g. using build.sh. It will tell you where the ELF version of the kernel is, e.g.
188:
189: ...
190: Kernels built from RPI2:
191: /Users/feyrer/work/NetBSD/cvs/src-current/obj.evbarm-Darwin-XXX/sys/arch/evbarm/compile/RPI2/netbsd
192: ...
193:
1.69 rin 194: - 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.
1.48 sevan 195: - 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)
1.42 wiki 196: - reboot
197:
1.73 gdt 198: ## Updating the firmware
199:
200: 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.
201:
1.88 gdt 202: \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.
1.73 gdt 203:
1.105 gdt 204: Probably, for the RPI3+, one needs to use -current, or use -8 with firmware from -current. \todo Defuzz.
1.101 gdt 205:
1.99 gdt 206: \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.
207:
1.75 gdt 208: ## Booting
209:
1.79 gdt 210: 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.
1.75 gdt 211:
1.112 gdt 212: 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 partition (b) and the FAT32 boot partition mounted as /boot (e). The file /boot/cmdline.txt has a line to set the root partition.
1.75 gdt 213:
1.112 gdt 214: One wrinkle in the standard approach is that the disk layout is "boot swap /", but the NetBSD fdisk partition starts at the location of /, so the swap partition is not within the NetBSD fdisk partition. 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.
1.75 gdt 215:
1.77 gdt 216: 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.
1.75 gdt 217:
1.80 gdt 218: 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.
219: \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.
1.75 gdt 220:
1.101 gdt 221: 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.
1.75 gdt 222:
1.113 ! gdt 223: ## Split-mode aarch32/aarch64
! 224:
! 225: \todo Verify this, and add any necessary cautions about boot code.
! 226:
! 227: The aarch64 kernel can run aarch32 binaries, so one can boot a aarch64 kernel on a system with aarch32 userland.
! 228:
1.93 gdt 229: # X11 and GPU
230:
1.27 wiki 231: ## Video playback
1.29 wiki 232: 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.
1.27 wiki 233:
234: ## OpenGL ES
235: Accelerated OpenGL ES is supported in NetBSD 7. The GL ES client libraries are included with the [misc/raspberrypi-userland](http://pkgsrc.se/misc/raspberrypi-userland) package.
236:
1.28 wiki 237: ## Quake 3
1.27 wiki 238: A Raspberry Pi optimized build of *ioquake3* is available in the [games/ioquake3-raspberrypi](http://pkgsrc.se/games/ioquake3-raspberrypi) package. To use it, the following additional resources are required:
239:
240: - pak0.pk3 from Quake 3 CD
1.31 snj 241: - additional pak files from the [games/ioquake3-pk3](http://pkgsrc.se/games/ioquake3-pk3) package
1.27 wiki 242: - read/write permissions on /dev/vchiq and /dev/wsmouse
243:
1.31 snj 244: Place the pak0.pk3 file in the /usr/pkg/lib/ioquake3/baseq3 directory.
1.27 wiki 245:
1.32 wiki 246: ## RetroArch / Libretro
247: Using [emulators/retroarch](http://pkgsrc.se/emulators/retroarch) it is possible to run many emulators at full speed the Raspberry Pi. Emulator cores for various gaming consoles are available in the [emulators/libretro-*](http://pkgsrc.se/search.php?so=libretro-) packages. To begin using retroarch:
248:
249: - Install [emulators/retroarch](http://pkgsrc.se/emulators/retroarch)
250: - Install the libretro core for the system you would like to emulate (lets take [emulators/libretro-gambatte](http://pkgsrc.se/emulators/libretro-gambatte), a GameBoy Color emulator, as an example).
251: - Plug in a USB HID compatible Gamepad, such as the Logitech F710 in "DirectInput" mode (set "D/X" switch to "D").
252: - Create a config file for your gamepad using *retroarch-joyconfig*.
253: [[!template id=programlisting text="""
1.35 wiki 254: $ retroarch-joyconfig -o gamepad.cfg
1.32 wiki 255: """]]
256: - Launch the emulator from the command-line (no X required):
257: [[!template id=programlisting text="""
258: $ retroarch --appendconfig gamepad.cfg -L /usr/pkg/lib/libretro/gambatte_libretro.so game.gbc
259: """]]
260:
1.53 gdt 261: # Developer notes
1.50 gdt 262:
1.53 gdt 263: These notes are for people working on improvements to RPI support in NetBSD.
1.50 gdt 264:
1.72 gdt 265: ## Updating the firmware version in the NetBSD sources
1.50 gdt 266:
1.72 gdt 267: (Note that trying new firmware may result in a non-bootable system, so
268: be prepared to recover the bootable media with another system.)
1.50 gdt 269:
1.72 gdt 270: Upstream firmware releases are
271: [on GitHub](https://github.com/raspberrypi/firmware/releases).
272: Copy all files except `kernel*.img` into `/boot` and reboot.
273:
274: New firmware should pass all of the following tests before being committed to NetBSD.
1.50 gdt 275:
1.53 gdt 276: - Audio
277: - OMXPlayer (and [[!template id=man name="vchiq"]])
278: - Serial/framebuffer console
279: - CPU frequency scaling
1.50 gdt 280:
1.92 gdt 281: Tests should be run on all of `rpi[0123]`.
1.94 gdt 282:
283: ## Testing with anita and qemu
284:
1.111 gdt 285: See the anita section in the evbarm page.
1.94 gdt 286:
1.110 gdt 287: It is not currently known how to emulate a RPI in qemu, and therefore anita does not yet have support for this. \todo Add a command-line example to run qemu emulating some RPI model.
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