Annotation of wikisrc/ports/evbarm/raspberry_pi.mdwn, revision 1.115

1.1       jakllsch    1: [[!meta title="NetBSD/evbarm on Raspberry Pi"]]
                      2: 
1.114     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.  This web page is 32-bit (aarch32) centric, as that has been until mid-2018 the only approach.
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: 
1.114     gdt         7: In mid-2018, -current gained support for 64-bit ARM (aarch64) support.
                      8: 
1.3       wiki        9: [[images/raspberrypi.jpg]]
                     10: 
1.26      wiki       11: [[!toc levels=2]]
                     12: 
1.14      wiki       13: <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       14: 
1.54      gdt        15: # What works (and what doesn't yet)
1.53      gdt        16: 
1.70      gdt        17: ## NetBSD 7 and NetBSD 8
1.53      gdt        18: 
1.102     gdt        19:  - RPI1, RPI2, RPI2-1.2, RPI3, RPI3+ (except RPI3 builtin WiFi and bluetooth)
                     20:  - RPI0 and RPI0W are expected to work (without WiFi, and one needs fdt files \todo where from?)
1.101     gdt        21:  - multiple processors on RPI2/RPI3
1.74      gdt        22:  - boots normally to multiuser, with FAT32 boot partition on uSD
                     23:  - root filesystem can be uSD or USB-attached mass storage
1.53      gdt        24:  - serial or graphics console (with EDID query / parsing)
1.74      gdt        25:  - X11 via HDMI
                     26:  - GPU (VCHIQ) - 3D and video decode. man page missing.
                     27:  - USB host controller - dwctwo(4) and most devices work
                     28:  - USB Ethernet - usmsc(4)
1.53      gdt        29:  - DMA controller driver and sdhc(4) support
1.74      gdt        30:  - RNG
1.53      gdt        31:  - Audio: works. man page missing.
1.74      gdt        32:  - GPIO
1.53      gdt        33:  - I²C: works, could use enhancements, man page
                     34:  - SPI: could use enhancements, man page
                     35: 
                     36: ## NetBSD current
                     37: 
1.105     gdt        38:  - RPI3+ 
1.101     gdt        39:  - RPI3 builtin bluetooth
                     40:  - RPI3 new SD host controller driver
1.114     gdt        41:  - \todo Verify: RPI2-1.2 and RPI3 aarch64
1.53      gdt        42: 
1.102     gdt        43: ## What needs documenting if it works
                     44: 
                     45:  - CM1
                     46:  - CM3
                     47:  - CM3lite
                     48: 
1.54      gdt        49: ## What needs work
1.53      gdt        50: 
                     51:  - USB (host); isochronous transfers.
1.105     gdt        52:  - RPI3, RPI0W builtin WiFi
                     53:  - RPI0W Bluetooth Low Energy (probably)
1.113     gdt        54:  - aarch64 support is evolving very rapidly, and not yet recommended for production, largely because one must run -current.
1.53      gdt        55: 
1.57      gdt        56: # CPU types
                     57: 
1.101     gdt        58:  - RPI1 uses "earmv6hf".
1.109     gdt        59:  - RPI0 uses "earmv6hf".
                     60:  - RPI0W uses "earmv6hf".
1.101     gdt        61:  - RPI2 uses "earmv7hf".
1.113     gdt        62:  - RPI2-1.2 uses "earmv7hf" or "aarch64" (armv8 CPU hardware)
                     63:  - RPI3 uses "earmv7hf" or "aarch64" (armv8 CPU hardware)
1.57      gdt        64: 
1.101     gdt        65: 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        66: 
1.101     gdt        67: In theory the code compiled for earmv7hf will be faster, but anecdotal experience is that it doesn't matter that much.
1.97      gdt        68: 
1.101     gdt        69: 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        70: 
1.113     gdt        71: The RPI2-1.2 and RPI3 have an armv8 CPU that supports aarch64 (64-bit
                     72: mode) in addition to aarch32 (regular 32-bit ARM).  This is supported,
                     73: in -current only, by the "aarch64" MACHINE_ARCH of evbarm, also
                     74: available in build.sh via the alias evbarm64.  This is sometimes
                     75: referred to as [[NetBSD/aarch64|aarch64]].
1.70      gdt        76: 
1.7       wiki       77: # Installation
1.53      gdt        78: 
1.62      gdt        79: ## SD card structure
                     80: 
1.86      gdt        81: 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.
                     82: 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        83: 
1.86      gdt        84: 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        85: 
1.91      gdt        86: 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.
                     87: 
1.62      gdt        88: ## Choosing a version
                     89: 
1.95      gdt        90: 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        91: 
                     92: See also "ebijun's image", below, which is NetBSD-current and includes packages.
1.58      gdt        93: 
                     94: ## Getting bits to install
                     95: 
1.96      gdt        96: 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        97: 
                     98: ### Building yourself
                     99: 
1.95      gdt       100: 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       101: 
1.59      gdt       102:  - ./build.sh -m evbarm -a earmv6hf -u release
                    103:  - ./build.sh -m evbarm -a earmv7hf -u release
1.95      gdt       104:  - ./build.sh -m evbearmv7hf-el -u release
1.81      gdt       105: 
1.94      gdt       106: 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       107: 
1.85      gdt       108: ### NetBSD autobuild HTTPS/FTP servers
1.58      gdt       109: 
1.115   ! sevan     110: NetBSD provides nightly builds on [nycdn.netbsd.org](https://nycdn.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       111: 
1.115   ! sevan     112: An example URL, arguably the standard approach for first-time NetBSD/RPI users, is https://nycdn.netbsd.org/pub/NetBSD-daily/netbsd-8/latest/evbarm-earmv7hf/binary/gzimg/
1.95      gdt       113: 
                    114: ### release layout
                    115: 
1.96      gdt       116: Once you get to the releasedir, self-built and autobuild releases have the same structure.
                    117: 
1.85      gdt       118:  - The 'evbarm-earmv6hf/binary/gzimg/' directory contains an rpi.img file that will run on any of the RPI boards.
1.103     gdt       119:  - 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       120: 
1.95      gdt       121: \todo Explain why there is no armv7_inst.gz.
1.58      gdt       122: 
1.65      gdt       123: ## Preparing a uSD card
1.10      wiki      124: 
1.107     gdt       125: 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      126: 
1.60      gdt       127:  - gunzip rpi.img.gz
1.67      ryoon     128:  - dd if=rpi.img of=/dev/disk1
1.14      wiki      129: 
1.89      gdt       130: ## Console approaches
                    131: 
                    132: The standard approach is to use a USB keyboard and an HDMI monitor for installation.
                    133: 
1.58      gdt       134: ### Serial Console
                    135: 
1.89      gdt       136: 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      137: 
1.109     gdt       138:  - 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      139: 
1.89      gdt       140:    - In Kermit, the command is "set flow none".
                    141:    - In minicom, run "minicom -s" and set hardware flow control to "no".
1.41      wiki      142: 
1.89      gdt       143: ### Enabling ssh for installation without any console
1.41      wiki      144: 
1.89      gdt       145: 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       146: 
1.89      gdt       147: ### Installation with sshramdisk image
1.65      gdt       148: 
1.89      gdt       149: 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       150: 
1.89      gdt       151:  - Connect an Ethernet cable from the RPI to a LAN with a DHCP server, and another host you can use for ssh.
                    152:  - Power on the RPI, and wait.  Watch the logs on the DHCP server, and find the IP address assigned to the RPI.
                    153:  - Use ssh to login to the address you found with user "sysinst", and password "netbsd".
                    154:  - When installing, ensure that you enable DHCP and ssh, so that you can log in again after the system is installed.
1.53      gdt       155: 
1.107     gdt       156: 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.
                    157: 
1.55      gdt       158: ## Installation via ebijun's image
                    159: 
1.58      gdt       160: As an alternative to the standard installation images, Jun Ebihara
                    161: provides an install image for Raspberry Pi that includes packages.  It
                    162: is based on NetBSD-current and is built for earmv6hf, and thus will
                    163: work on Raspberry Pi 1, 2 and 3.  This image is typically updated
                    164: every few weeks.
1.55      gdt       165: 
1.56      gdt       166:  - [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       167: 
1.98      gdt       168: ## Configuring 802.11
                    169: 
                    170: 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.
                    171: 
                    172: 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:
                    173: 
                    174:  - urtwn0: Realtek (0xbda) 802.11n WLAN Adapter (0x8176), rev 2.00/2.00, addr 5, MAC/BB RTL8188CUS, RF 6052 1T1R
                    175: 
1.90      gdt       176: ## Links
                    177: 
                    178: The following pages have been published by NetBSD community members.  (Note that some of them are old.)
                    179: 
                    180:  - https://www.cambus.net/netbsd-on-the-raspberry-pi/
                    181: 
1.74      gdt       182: # Maintaining a system
                    183: 
1.78      gdt       184: ## vcgencmd
                    185: 
1.80      gdt       186: The program vcgencmd, referenced in the boot section,  can be found in pkgsrc/misc/raspberrypi-userland.
1.78      gdt       187: 
1.53      gdt       188: ## Updating the kernel
1.46      schmonz   189: 
1.42      wiki      190:  - Build a new kernel, e.g. using build.sh. It will tell you where the ELF version of the kernel is, e.g.
                    191: 
                    192:          ...
                    193:          Kernels built from RPI2:
                    194:           /Users/feyrer/work/NetBSD/cvs/src-current/obj.evbarm-Darwin-XXX/sys/arch/evbarm/compile/RPI2/netbsd
                    195:          ...
                    196: 
1.69      rin       197:  - 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     198:  - 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      199:  - reboot
                    200: 
1.73      gdt       201: ## Updating the firmware
                    202: 
                    203: 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.
                    204: 
1.88      gdt       205: \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       206: 
1.105     gdt       207: Probably, for the RPI3+, one needs to use -current, or use -8 with firmware from -current.  \todo Defuzz.
1.101     gdt       208: 
1.99      gdt       209: \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.
                    210: 
1.75      gdt       211: ## Booting
                    212: 
1.79      gdt       213: 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       214: 
1.112     gdt       215: 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       216: 
1.112     gdt       217: 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       218: 
1.77      gdt       219: 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       220: 
1.80      gdt       221: 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.
                    222: \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       223: 
1.101     gdt       224: 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       225: 
1.113     gdt       226: ## Split-mode aarch32/aarch64
                    227: 
                    228: \todo Verify this, and add any necessary cautions about boot code.
                    229: 
                    230: The aarch64 kernel can run aarch32 binaries, so one can boot a aarch64 kernel on a system with aarch32 userland.
                    231: 
1.93      gdt       232: # X11 and GPU
                    233: 
1.27      wiki      234: ## Video playback
1.29      wiki      235: 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      236: 
                    237: ## OpenGL ES
                    238: 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.
                    239: 
1.28      wiki      240: ## Quake 3
1.27      wiki      241: 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:
                    242: 
                    243:  - pak0.pk3 from Quake 3 CD
1.31      snj       244:  - additional pak files from the [games/ioquake3-pk3](http://pkgsrc.se/games/ioquake3-pk3) package
1.27      wiki      245:  - read/write permissions on /dev/vchiq and /dev/wsmouse
                    246: 
1.31      snj       247: Place the pak0.pk3 file in the /usr/pkg/lib/ioquake3/baseq3 directory.
1.27      wiki      248: 
1.32      wiki      249: ## RetroArch / Libretro
                    250: 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:
                    251: 
                    252:  - Install [emulators/retroarch](http://pkgsrc.se/emulators/retroarch)
                    253:  - 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).
                    254:  - Plug in a USB HID compatible Gamepad, such as the Logitech F710 in "DirectInput" mode (set "D/X" switch to "D").
                    255:  - Create a config file for your gamepad using *retroarch-joyconfig*.
                    256: [[!template  id=programlisting text="""
1.35      wiki      257: $ retroarch-joyconfig -o gamepad.cfg
1.32      wiki      258: """]]
                    259:  - Launch the emulator from the command-line (no X required):
                    260: [[!template  id=programlisting text="""
                    261: $ retroarch --appendconfig gamepad.cfg -L /usr/pkg/lib/libretro/gambatte_libretro.so game.gbc
                    262: """]]
                    263: 
1.53      gdt       264: # Developer notes
1.50      gdt       265: 
1.53      gdt       266: These notes are for people working on improvements to RPI support in NetBSD.
1.50      gdt       267: 
1.72      gdt       268: ## Updating the firmware version in the NetBSD sources
1.50      gdt       269: 
1.72      gdt       270: (Note that trying new firmware may result in a non-bootable system, so
                    271: be prepared to recover the bootable media with another system.)
1.50      gdt       272: 
1.72      gdt       273: Upstream firmware releases are
                    274: [on GitHub](https://github.com/raspberrypi/firmware/releases).
                    275: Copy all files except `kernel*.img` into `/boot` and reboot.
                    276: 
                    277: New firmware should pass all of the following tests before being committed to NetBSD.
1.50      gdt       278: 
1.53      gdt       279: - Audio
                    280: - OMXPlayer (and [[!template id=man name="vchiq"]])
                    281: - Serial/framebuffer console
                    282: - CPU frequency scaling
1.50      gdt       283: 
1.92      gdt       284: Tests should be run on all of `rpi[0123]`.
1.94      gdt       285: 
                    286: ## Testing with anita and qemu
                    287: 
1.111     gdt       288: See the anita section in the evbarm page.
1.94      gdt       289: 
1.110     gdt       290: 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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