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1.1 jakllsch 1: [[!meta title="NetBSD/evbarm on Raspberry Pi"]]
2:
1.120 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) earlier than the RPI4 are believed supported, and specific boards known 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:
1.120 gdt 7: In mid-2018, -current gained support for 64-bit ARM (aarch64) support. This will be in NetBSD 9.
1.114 gdt 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:
1.123 gdt 17: "Works" is primarily relative to the earmv6hf-el and earmv7hf-el CPU targets (32-bit).
18:
1.70 gdt 19: ## NetBSD 7 and NetBSD 8
1.53 gdt 20:
1.102 gdt 21: - RPI1, RPI2, RPI2-1.2, RPI3, RPI3+ (except RPI3 builtin WiFi and bluetooth)
22: - RPI0 and RPI0W are expected to work (without WiFi, and one needs fdt files \todo where from?)
1.101 gdt 23: - multiple processors on RPI2/RPI3
1.74 gdt 24: - boots normally to multiuser, with FAT32 boot partition on uSD
25: - root filesystem can be uSD or USB-attached mass storage
1.53 gdt 26: - serial or graphics console (with EDID query / parsing)
1.74 gdt 27: - X11 via HDMI
28: - GPU (VCHIQ) - 3D and video decode. man page missing.
29: - USB host controller - dwctwo(4) and most devices work
30: - USB Ethernet - usmsc(4)
1.53 gdt 31: - DMA controller driver and sdhc(4) support
1.74 gdt 32: - RNG
1.53 gdt 33: - Audio: works. man page missing.
1.74 gdt 34: - GPIO
1.53 gdt 35: - I²C: works, could use enhancements, man page
36: - SPI: could use enhancements, man page
37:
1.123 gdt 38: ## NetBSD 9
39:
40: - aarch64 support (RPI3, and should work on all supported systems with 64-bit CPUs)
1.126 ! gdt 41: - RPI3 new SD host controller driver
1.123 gdt 42:
1.125 gdt 43: ## NetBSD current
1.53 gdt 44:
1.101 gdt 45: - RPI3 builtin bluetooth
1.53 gdt 46:
1.125 gdt 47: ## (maybe) NetBSD current, with manual steps
48:
49: These items do not work in the sense that they simply function after a standard install. Being listed here implies only that there has been list traffic that implies that after taking a bunch of steps (e.g. new firmware, new dtbs, enabling drivers, applying patches), one can end up with the feature working. The HOWTO explicitly refrains from describing these steps because they are ephemeral. However, the fact that list traffic indicates success is possible is a clue that proper support is on the horizon, and that is notable.
50:
51: - RPI3, RPI0W builtin WiFi
52:
1.102 gdt 53: ## What needs documenting if it works
54:
55: - CM1
56: - CM3
57: - CM3lite
58:
1.54 gdt 59: ## What needs work
1.53 gdt 60:
1.122 gdt 61: - RPI4 (as of 2020-01, still does not work in current)
1.53 gdt 62: - USB (host); isochronous transfers.
1.105 gdt 63: - RPI0W Bluetooth Low Energy (probably)
1.53 gdt 64:
1.57 gdt 65: # CPU types
66:
1.101 gdt 67: - RPI1 uses "earmv6hf".
1.109 gdt 68: - RPI0 uses "earmv6hf".
69: - RPI0W uses "earmv6hf".
1.101 gdt 70: - RPI2 uses "earmv7hf".
1.113 gdt 71: - RPI2-1.2 uses "earmv7hf" or "aarch64" (armv8 CPU hardware)
72: - RPI3 uses "earmv7hf" or "aarch64" (armv8 CPU hardware)
1.57 gdt 73:
1.101 gdt 74: 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 75:
1.101 gdt 76: In theory the code compiled for earmv7hf will be faster, but anecdotal experience is that it doesn't matter that much.
1.97 gdt 77:
1.101 gdt 78: 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 79:
1.113 gdt 80: The RPI2-1.2 and RPI3 have an armv8 CPU that supports aarch64 (64-bit
81: mode) in addition to aarch32 (regular 32-bit ARM). This is supported,
1.123 gdt 82: from -9 onwards, by the "aarch64" MACHINE_ARCH of evbarm, also
83: available in build.sh via the alias evbarm64. This is also
1.113 gdt 84: referred to as [[NetBSD/aarch64|aarch64]].
1.70 gdt 85:
1.7 wiki 86: # Installation
1.53 gdt 87:
1.62 gdt 88: ## SD card structure
89:
1.86 gdt 90: 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.
91: 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 92:
1.86 gdt 93: 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 94:
1.91 gdt 95: 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.
96:
1.62 gdt 97: ## Choosing a version
98:
1.95 gdt 99: 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 100:
101: See also "ebijun's image", below, which is NetBSD-current and includes packages.
1.58 gdt 102:
103: ## Getting bits to install
104:
1.96 gdt 105: 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 106:
107: ### Building yourself
108:
1.95 gdt 109: 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 110:
1.59 gdt 111: - ./build.sh -m evbarm -a earmv6hf -u release
112: - ./build.sh -m evbarm -a earmv7hf -u release
1.95 gdt 113: - ./build.sh -m evbearmv7hf-el -u release
1.81 gdt 114:
1.94 gdt 115: 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 116:
1.85 gdt 117: ### NetBSD autobuild HTTPS/FTP servers
1.58 gdt 118:
1.115 sevan 119: 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 120:
1.115 sevan 121: 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 122:
123: ### release layout
124:
1.96 gdt 125: Once you get to the releasedir, self-built and autobuild releases have the same structure.
126:
1.85 gdt 127: - The 'evbarm-earmv6hf/binary/gzimg/' directory contains an rpi.img file that will run on any of the RPI boards.
1.103 gdt 128: - 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 129:
1.95 gdt 130: \todo Explain why there is no armv7_inst.gz.
1.58 gdt 131:
1.65 gdt 132: ## Preparing a uSD card
1.10 wiki 133:
1.107 gdt 134: 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 135:
1.60 gdt 136: - gunzip rpi.img.gz
1.67 ryoon 137: - dd if=rpi.img of=/dev/disk1
1.14 wiki 138:
1.89 gdt 139: ## Console approaches
140:
141: The standard approach is to use a USB keyboard and an HDMI monitor for installation.
142:
1.58 gdt 143: ### Serial Console
144:
1.89 gdt 145: 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 146:
1.109 gdt 147: - 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 148:
1.89 gdt 149: - In Kermit, the command is "set flow none".
150: - In minicom, run "minicom -s" and set hardware flow control to "no".
1.41 wiki 151:
1.89 gdt 152: ### Enabling ssh for installation without any console
1.41 wiki 153:
1.89 gdt 154: 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 155:
1.89 gdt 156: ### Installation with sshramdisk image
1.65 gdt 157:
1.89 gdt 158: 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 159:
1.89 gdt 160: - Connect an Ethernet cable from the RPI to a LAN with a DHCP server, and another host you can use for ssh.
161: - Power on the RPI, and wait. Watch the logs on the DHCP server, and find the IP address assigned to the RPI.
162: - Use ssh to login to the address you found with user "sysinst", and password "netbsd".
163: - When installing, ensure that you enable DHCP and ssh, so that you can log in again after the system is installed.
1.53 gdt 164:
1.107 gdt 165: 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.
166:
1.55 gdt 167: ## Installation via ebijun's image
168:
1.58 gdt 169: As an alternative to the standard installation images, Jun Ebihara
170: provides an install image for Raspberry Pi that includes packages. It
171: is based on NetBSD-current and is built for earmv6hf, and thus will
172: work on Raspberry Pi 1, 2 and 3. This image is typically updated
173: every few weeks.
1.55 gdt 174:
1.121 cnst 175: - <https://github.com/ebijun/NetBSD/blob/master/RPI/RPIimage/Image/README>
1.55 gdt 176:
1.98 gdt 177: ## Configuring 802.11
178:
179: 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.
180:
181: 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:
182:
183: - urtwn0: Realtek (0xbda) 802.11n WLAN Adapter (0x8176), rev 2.00/2.00, addr 5, MAC/BB RTL8188CUS, RF 6052 1T1R
184:
1.90 gdt 185: ## Links
186:
187: The following pages have been published by NetBSD community members. (Note that some of them are old.)
188:
189: - https://www.cambus.net/netbsd-on-the-raspberry-pi/
190:
1.74 gdt 191: # Maintaining a system
192:
1.78 gdt 193: ## vcgencmd
194:
1.80 gdt 195: The program vcgencmd, referenced in the boot section, can be found in pkgsrc/misc/raspberrypi-userland.
1.78 gdt 196:
1.53 gdt 197: ## Updating the kernel
1.46 schmonz 198:
1.42 wiki 199: - Build a new kernel, e.g. using build.sh. It will tell you where the ELF version of the kernel is, e.g.
200:
201: ...
202: Kernels built from RPI2:
203: /Users/feyrer/work/NetBSD/cvs/src-current/obj.evbarm-Darwin-XXX/sys/arch/evbarm/compile/RPI2/netbsd
204: ...
205:
1.69 rin 206: - 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 207: - 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 208: - reboot
209:
1.73 gdt 210: ## Updating the firmware
211:
212: 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.
213:
1.88 gdt 214: \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 215:
1.105 gdt 216: Probably, for the RPI3+, one needs to use -current, or use -8 with firmware from -current. \todo Defuzz.
1.101 gdt 217:
1.99 gdt 218: \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.
219:
1.75 gdt 220: ## Booting
221:
1.79 gdt 222: 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 223:
1.112 gdt 224: 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 225:
1.112 gdt 226: 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 227:
1.77 gdt 228: 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 229:
1.80 gdt 230: 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.
231: \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 232:
1.101 gdt 233: 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 234:
1.113 gdt 235: ## Split-mode aarch32/aarch64
236:
237: \todo Verify this, and add any necessary cautions about boot code.
238:
239: The aarch64 kernel can run aarch32 binaries, so one can boot a aarch64 kernel on a system with aarch32 userland.
240:
1.93 gdt 241: # X11 and GPU
242:
1.27 wiki 243: ## Video playback
1.29 wiki 244: 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 245:
246: ## OpenGL ES
247: 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.
248:
1.28 wiki 249: ## Quake 3
1.27 wiki 250: 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:
251:
252: - pak0.pk3 from Quake 3 CD
1.31 snj 253: - additional pak files from the [games/ioquake3-pk3](http://pkgsrc.se/games/ioquake3-pk3) package
1.27 wiki 254: - read/write permissions on /dev/vchiq and /dev/wsmouse
255:
1.31 snj 256: Place the pak0.pk3 file in the /usr/pkg/lib/ioquake3/baseq3 directory.
1.27 wiki 257:
1.32 wiki 258: ## RetroArch / Libretro
259: 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:
260:
261: - Install [emulators/retroarch](http://pkgsrc.se/emulators/retroarch)
262: - 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 263: - Make sure your user has read and write permissions on `/dev/vchiq`.
264: - 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.
265: - Configure retroarch by editing $HOME/.config/retroarch/retroarch.cfg:
266: video_driver = "gl"
267: input_driver = "null"
268: joypad_driver = "sdl2"
1.116 nia 269: menu_driver = "rgui"
1.32 wiki 270:
1.53 gdt 271: # Developer notes
1.50 gdt 272:
1.53 gdt 273: These notes are for people working on improvements to RPI support in NetBSD.
1.50 gdt 274:
1.72 gdt 275: ## Updating the firmware version in the NetBSD sources
1.50 gdt 276:
1.72 gdt 277: (Note that trying new firmware may result in a non-bootable system, so
278: be prepared to recover the bootable media with another system.)
1.50 gdt 279:
1.72 gdt 280: Upstream firmware releases are
281: [on GitHub](https://github.com/raspberrypi/firmware/releases).
282: Copy all files except `kernel*.img` into `/boot` and reboot.
283:
284: New firmware should pass all of the following tests before being committed to NetBSD.
1.50 gdt 285:
1.53 gdt 286: - Audio
287: - OMXPlayer (and [[!template id=man name="vchiq"]])
288: - Serial/framebuffer console
289: - CPU frequency scaling
1.50 gdt 290:
1.92 gdt 291: Tests should be run on all of `rpi[0123]`.
1.94 gdt 292:
293: ## Testing with anita and qemu
294:
1.111 gdt 295: See the anita section in the evbarm page.
1.94 gdt 296:
1.110 gdt 297: 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 298:
299:
300: # Misc notes
301: Miscellaneous notes about Raspberry PI.
302:
303: ## Power supply needed (or: why there is a little rainbow square in the top-right corner?)
304: Raspberry Pi devices are powered by 5V micro USB and a 2.5A (2500mA)
1.124 gdt 305: power supply is recommended. For more information please read:
1.119 leot 306:
307: <https://www.raspberrypi.org/documentation/faqs/#pi-power>
308:
309: Power glitches can also manifest in other ways, e.g. with an USB
310: disk plugged:
311:
312: [[!template id=programlisting text="""
313: sd0(umass0:0:0:0): generic HBA error
314: sd0: cache synchronization failed
315: """]]
316:
1.124 gdt 317: Using a recommended power supply avoid such issues.
1.119 leot 318:
319: ## Xenon death flash (Raspberry Pi 2 is camera-shy)
320: When using laser pointers or xenon flashes in cameras (or other
321: flashes of high-intensity long-wave light) against a Raspberry Pi
322: 2 the Pi can power itself off.
323: For more information please read:
324:
325: <https://www.raspberrypi.org/blog/xenon-death-flash-a-free-physics-lesson/>

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