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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).
1.118 nia 254: - Make sure your user has read and write permissions on `/dev/vchiq`.
255: - Plug in a USB HID compatible Gamepad, such as the Logitech F710 in "DirectInput" mode (set "D/X" switch to "D"). Note that since the framebuffer GL driver will not allow for keyboard input in RetroArch, you will have to copy your joypad configuration from another system.
256: - Configure retroarch by editing $HOME/.config/retroarch/retroarch.cfg:
257: video_driver = "gl"
258: input_driver = "null"
259: joypad_driver = "sdl2"
1.116 nia 260: menu_driver = "rgui"
1.32 wiki 261:
1.53 gdt 262: # Developer notes
1.50 gdt 263:
1.53 gdt 264: These notes are for people working on improvements to RPI support in NetBSD.
1.50 gdt 265:
1.72 gdt 266: ## Updating the firmware version in the NetBSD sources
1.50 gdt 267:
1.72 gdt 268: (Note that trying new firmware may result in a non-bootable system, so
269: be prepared to recover the bootable media with another system.)
1.50 gdt 270:
1.72 gdt 271: Upstream firmware releases are
272: [on GitHub](https://github.com/raspberrypi/firmware/releases).
273: Copy all files except `kernel*.img` into `/boot` and reboot.
274:
275: New firmware should pass all of the following tests before being committed to NetBSD.
1.50 gdt 276:
1.53 gdt 277: - Audio
278: - OMXPlayer (and [[!template id=man name="vchiq"]])
279: - Serial/framebuffer console
280: - CPU frequency scaling
1.50 gdt 281:
1.92 gdt 282: Tests should be run on all of `rpi[0123]`.
1.94 gdt 283:
284: ## Testing with anita and qemu
285:
1.111 gdt 286: See the anita section in the evbarm page.
1.94 gdt 287:
1.110 gdt 288: 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.
1.119 ! leot 289:
! 290:
! 291: # Misc notes
! 292: Miscellaneous notes about Raspberry PI.
! 293:
! 294: ## Power supply needed (or: why there is a little rainbow square in the top-right corner?)
! 295: Raspberry Pi devices are powered by 5V micro USB and a 2.5A (2500mA)
! 296: power supply is reccomended. For more information please read:
! 297:
! 298: <https://www.raspberrypi.org/documentation/faqs/#pi-power>
! 299:
! 300: Power glitches can also manifest in other ways, e.g. with an USB
! 301: disk plugged:
! 302:
! 303: [[!template id=programlisting text="""
! 304: sd0(umass0:0:0:0): generic HBA error
! 305: sd0: cache synchronization failed
! 306: """]]
! 307:
! 308: Using a reccomended power supply avoid such issues.
! 309:
! 310: ## Xenon death flash (Raspberry Pi 2 is camera-shy)
! 311: When using laser pointers or xenon flashes in cameras (or other
! 312: flashes of high-intensity long-wave light) against a Raspberry Pi
! 313: 2 the Pi can power itself off.
! 314: For more information please read:
! 315:
! 316: <https://www.raspberrypi.org/blog/xenon-death-flash-a-free-physics-lesson/>

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