I'm running into a very strange issue attempting to run CodeSys on a 4GB RasPi-4. Long story short, the Pi works fine right up until I start running the CodeSys project. When I do, within 60sec, eth0 goes down and cannot be brought back up. Even rebooting the Pi has no effect. The only way I've found to recover eth0 is to re-burn RasPiOS from the source image from Raspberrypi.org (which I've done about 30 times over the past few days, trying to trial-and-error my way out of this).
Linux raspberrypi 5.4.79-v7l+ #1373 SMP Mon Nov 23 13:27:40 GMT 2020 armv7l GNU/Linux
I have eth0 set to a static IP using /etc/dhcpcd.conf. Whatever is causing this issue is not altering my settings there. Attempts to use ifconfig eth0 up/down have no effect -- no errors, no feedback, just nothing. Checking eth0's state shows "waiting for carrier," despite being connected to an active switch (I've also swapped out all the cables and the switch to eliminate them as the source of the problem).
When I re-burn the Pi and install CodeSys, eth0 stays up indefinitely (24hrs+ in my longest test). It's starting the CodeSys project that kills eth0. A reboot after etho "dies" gives a series of bcmgenet messages that appear to be related:
pi#raspberrypi:~ $ dmesg | grep bcmg
[ 1.033665] bcmgenet fd580000.ethernet: failed to get enet clock
[ 1.033685] bcmgenet fd580000.ethernet: GENET 5.0 EPHY: 0x0000
[ 1.033709] bcmgenet fd580000.ethernet: failed to get enet-wol clock
[ 1.033730] bcmgenet fd580000.ethernet: failed to get enet-eee clock
[ 1.044648] libphy: bcmgenet MII bus: probed
[ 9.528502] bcmgenet fd580000.ethernet: configuring instance for external RGMII
[ 9.535175] bcmgenet fd580000.ethernet eth0: Link is Down
I also tried creating a new CodeSys project from scratch that had no eth0 drivers (ModBus, Ethernet/IP) installed, only the GPIO driver. That didn't help either -- eth0 dies within 60sec.
The strangest part is, only eth0 seems to be affected. The GPIO pins keep cycling as controlled by the CodeSys project (I have a simple LED-blinking program running), and I can still SSH into the Pi using wifi. But since my main reason for setting this Pi up is to use Ethernet/IP and ModBus....
This thread: at GitHub is the only place I've found anyone describing anything similar to what I'm experiencing, but in that case CodeSys is not installed. I did try adding genet.skip_umac_reset=n to my cmdline.txt as suggested in the thread, but it had no effect.
So, it turned out this was an issue configuring the GPIO pins.
CodeSys has two difference "device" files for adding the GPIO pins to the project device tree. The default selection is for older Pi models, and the alternate choice (labelled only for B+ and Pi2) is the correct one for the Pi4.
As it turns out, the outdated GPIO device file will work on a Pi4, mostly. But using the wrong device file allows CodeSys to try configuring GPIO pins that shouldn't be tampered with. In this case, GPIO 28 and 29. Setting either of them to Output mode killed eth0.
Using the correct device file removes 28&29 from the list of configurable GPIO pins. It also gives the correct list of available GPIO pins for the newer Pi models, hopefully avoiding other potential config issues that I didn't trip over.
In CodeSys, right-clicking on the GPIOs element in the device tree offers the option to "Update the Device." Select this option to get the list of available device files, and select the correct one before using the "Update Device" button in the bottom of the window.
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I have a Raspberry Pi Model 3B+. Currently, I can successfully load this exact kernel8.img file (which is just a raw binary) from this tutorial bare metal following the instructions outlined in the tutorial's README as shown below:
... you can download a raspbian image, dd it to the SD card, mount it and delete the unnecessary .img files. Whichever you prefer. What's important, you'll create kernel8.img with these tutorials which must be copied to the root directory on the SD card, and no other .img files should exists there.
The serial output after the above kernel8.img is running successfully looks something like this:
EMMC: GPIO set up
EMMC: reset OK
sd_clk divisor 00000068, shift 00000006
EMMC: Sending command 00000000 arg 00000000
EMMC: Sending command 08020000 arg 000001AA
EMMC: Sending command 37000000 arg 00000000
EMMC: Sending command 29020000 arg 51FF8000
EMMC: CMD_SEND_OP_COND returned VOLTAGE CCS 0000000040F98000
...
However, I would like to load that kernel8.img file via U-Boot and TFTP so that I don't have to keep plugging/unplugging microSD cards.
I have a functioning TFTP server and I have loaded U-Boot onto the Raspberry Pi successfully.
The physical address the kernel image gets loaded to bare metal is 0x80000 as explained by the tutorial:
Important note, for AArch64 the load address is 0x80000, and not 0x8000 as with AArch32.
The kernel8.img's file-type is also just a raw binary:
$ file kernel8.img
kernel8.img: data
As such, I've run the following two U-Boot commands:
tftp 0x80000 rpi3bp/kernel8.img
go 0x80000
However, as shown below, I'm getting some garbled mess once the binary is running: ��ogK�S��rK.
...
U-Boot> tftp 0x80000 rpi3bp/kernel8.img
lan78xx_eth Waiting for PHY auto negotiation to complete........ done
Using lan78xx_eth device
TFTP from server 192.168.0.198; our IP address is 192.168.0.111
Filename 'rpi3bp/kernel8.img'.
Load address: 0x80000
Loading: ################################################## 6.6 KiB
603.5 KiB/s
done
Bytes transferred = 6808 (1a98 hex)
U-Boot> go 0x80000
## Starting application at 0x00080000 ��ogK�S��rK
According to this SO post (as shown below), the go command is all that is required to get a bare-metal binary running on U-boot.
If you have issues executing your binary when using the go command,
then the problem lies with your program, e.g. taking control of the
processor and initializing its C environment.
However, I know for a fact that the kernel image runs fine bare-metal using the Raspberry Pi's default bootloader. So what could be the issue here and why can't I seem to get that kernel image running via U-Boot?
Edit 1:
Here's some context on how I set up U-Boot on the Raspberry Pi. Currently, the Raspberry Pi's bootloader is booting U-Boot in 64-bit mode. The Raspberry Pi's bootloader is configured via the config.txt file and below is my config.txt file:
enable_uart=1
arm_64bit=1
kernel=u-boot.bin
Documentation on the arm_64bit option is here:
arm_64bit
If set to non-zero, forces the kernel loading system to assume a
64-bit kernel, starts the processors up in 64-bit mode, and sets
kernel8.img to be the kernel image loaded, unless there is an explicit
kernel option defined in which case that is used instead. Defaults to
0 on all platforms.
The issue is related to the fact that U-Boot uses UART1 on the Raspberry Pi and the binary I'm trying to run uses UART0 as explained by #sawdust below:
Per U-Boot's DT, it appears that U-Boot uses UART1 on gpios 14&15. The
standalone uses UART0 on the same gpios. So that explains both (a)
getting output from two programs on same pin, and (b) why removing
uart_init() failed. Since U-Boot sets up UART0 for Bluetooth, perhaps
the standalone does not expect that; hence a goofy baudrate. An
oscilloscope could easily verify that.
I know this to be true because I modified the code in uart.c to use UART1 instead and I can now see sensible serial output now.
However, it is still unclear to me why despite the seemingly valid initialisation of UART0 in this part of the code, UART0 does not seem to output legible characters at the right baud rate.
I have been trying to locate a working library for the MSR605X magnetic card reader/writer. At time of writing, I have tried five separate libraries. Only two of these were explicitly for the 605X the other three were for the older 605. All the libraries I have tried either did nothing at all or errored before completing a command (can't figure out the errors either).
I am running Raspberry Pi OS 32 bit on a Raspberry Pi 3 B+ the MSR605X communicates via a USB connection.
So far the library that seems to be most complete is: https://pypi.org/project/msrx/
However, I can not get this library to read or write (either nothing happens or I get a Serial exception "cannot reconfig port).
Any help or links to documentation for this reader is welcome.
EDIT: Adding the commands ran with the above library
msrx -D /dev/input/event4 read
msrx -D /dev/input/jso0 read
The -D is to specify the device path (default is /dev/ttyUSB0 which doesn't exist on my system). I obtained the above two paths by searching for USB serial devices then matching the search result to the device ID which I obtained from lsusb.
Running these commands results in a serial exception (could not reconfig port) which I assume means that I have the wrong device path. I have also checked for any tty* device paths that are changed when I plug in the reader. I consistently get a permission denied error whenever trying to run the above commands with a tty* device path (I am root on this system).
msrx author here — MSR605 requires an external 9V power injected into its cable (via the barrel jack port), otherwise it won't power up properly.
I'm switching with the phycore i.MX6 som from phytec's dev kit to an own board. The usermanuals for both the som and devkit can be found on phytec's page. Now I want to configure the rtc to keep the time during reboot's and poweroffs.
The battery (in my case supercap) is connected to the VDD_BAT pin of the phycore i.MX6 som (page 10). The internal PMIC is the da9062 connected via the i2c bus which is configured in the som dtsi file as rtc1.
imx6qdl-phytec-phycore-som.dtsi:
...
aliases {
rtc1 = &da9062_rtc;
};
...
&i2c3 {
pmic#58 {
da9062_rtc: rtc {
compatible = "dlg,da9062-rtc";
};
};
};
This file I didn't touch at all.
Next, I told the kernel to take his hwclock and systime time from rtc1 instead of rtc0:
CONFIG_RTC_HCTOSYS_DEVICE="rtc1"
CONFIG_RTC_SYSTOHC_DEVICE="rtc1"
The driver is being loaded correctly as far as I can tell:
dmesg | grep rtc
[ 2.489836] da9063-rtc da9062-rtc: rtc core: registered da9063-rtc as rtc1
[ 2.499713] snvs_rtc 20cc000.snvs:snvs-rtc-lp: rtc core: registered 20cc000.snvs:snvs-rtc-lp as rtc2
[ 3.260348] da9063-rtc da9062-rtc: setting system clock to 2000-01-01 02:37:55 UTC (946694275)
and
cat /sys/class/rtc/rtc1/name
da9063-rtc da9062-rtc
Now, I can set the time via date and transfer it to the hwclock via
hwclock --systohc
.
After rebooting the system and hwclock is set to the previously set date which is fine. After cutting the power the clock gets reset.
I've measured the voltage of the supercap which is around 220mV. The datasheet of the da9062 tells me the chip does have an regulator for the battery which needs to be configured (Table 127: BBAT_CONT (0x0C5)).
As far as I understand the kernel/rtc subsystem, the driver for the rtc should take care of the charging of the battery or provide an userspace interface so I can do it myself. But I can't find anything on this topic.
I am using yocto to build the kernel/image for my board.
Is there something I'm missing or do I need to patch the driver myself in order to charge the supercap? Maybe there's an option in the devicetree to set the charging voltage and current for the cap?
I appreciate any ideas and suggestions, thanks.
Aparently the driver does not support charging a battery/supercap out of the box and it has exclusive access rights to the i2c device address which prevents userspace applications to access the device.
My solution to this problem is to set those values before the driver takes over:
Since this i2c bus is already configured in my barebox devicetree, I can access it before I boot the kernel (provided barebox is compiled with the i2c subsystem enabled in menuconfig). Here I can run a script which sets the BBAT and PD registers to enable charging the supercap.
Though, the cleaner solution would be to extend the driver and provide a userspace interface for this functionality.
Another possible solution I did not investigate would be to check if the driver can be compiled as a module, so I could unload the module, set the registers and load it again.
On a Raspberry PI 3B+, it's simple to turn power on its four USB ports off and on. Simply write a "0" to /sys/devices/platform/soc/3f980000.usb/buspower to turn power off and a "1" to turn power on.
The same method doesn't work on Raspberry PI 4B, 4GB (the hex number before ".usb" is different, that's NOT the problem). I have tried uhubctl and hub-ctl as well without any success. I have used a USB power meter to measure the voltage on the ports. It doesn't change. Un a PI 3B+ it changes as expected.
Does the PI 4 support turning USB power off and on in software at all? If it does, how to do it? Or is there a bug somewhere that has to be fixed to make it work? I use the newest Rapbian on both the Pi 3B+ and the Pi 4.
Yes, uhubctl supports RPi4B, I have recently added support for it - you need to use uhubctl version 2.4.0 or later (or build it from master branch). It is also necessary to update USB firmware using sudo rpi-eeprom-update to make power switching actually work.
Note that you are missing out by using sysfs method to turn USB off on RPi3B+ - using uhubctl you can control either all 4 ports, or 2 of them independently. RPi4B only supports turning off all ports at once.
As far as I read Raspberry Pi and Linux issues on GitHub, it seems that there was a bugfix released for uhubctl on 2019 July. Patch I'm refering to: mvp/uhubctl#4aae44c. It should be merged to master. So...
Another thing to have in mind, it seems that RRi 4B hardware only supports "ganged power switching", which means... that You can only turn on and off ALL the USB ports. Not every single one in particular.
To shut off power for USB ports and Ethernet type the following into the Raspberry Pi Terminal and press enter:
echo '1-1' | sudo tee /sys/bus/usb/drivers/usb/unbind
For that you need to install:
sudo apt-get install uhubctl
For turn on again use this command:
echo '1-1' | sudo tee /sys/bus/usb/drivers/usb/bind
I'm currently busy with my masters project which involves setting up comms on UART between a Raspberry Pi Model 2 B V1.1 and a Pixhawk Flight Controller using Mavlink protocol.
The first step is, of course, to get the UART set up and working. I'm not one to run after help at the first sign of a problem. I have been struggling with this for days and it's forced me to doubt the purpose of my existence more than once. I feel stupid and frustrated. Please see if you can provide any assistance.
My first resource was this tutorial, which should be relatively straight forward:
http://ardupilot.org/dev/docs/raspberry-pi-via-mavlink.html
The tutorial simply installs all the necessary packages and dependencies, as well as sets up the UART. I followed the steps to disable OS use of the serial port through raspi-config, however after attempting to test the connection I get an error:
[Errno 2] No such file or directory: '/dev/ttyAMA0'
Which is very strange. So after disabling and enabling OS use of serial port through rasp-config a few times and checking, every time I disable it, the /dev/ttyAMA0 file disappears. Now how the hell is anything supposed to work on the UART if disabling OS use of the UART removes that file!? Nevertheless I powered through. I enabled OS use of the serial port, which leaves the ttyAMA0 file right where it is and followed another suggestion, which is to change the /boot/cmdline.txt and remove all reference to ttyAMA0, as shown in the following link:
http://www.raspberry-projects.com/pi/pi-operating-systems/raspbian/io-pins-raspbian/uart-pins
This seemed to work alright. I could now initiate comms between the RPi and the Pixhawk flight controller and get some information that looked correct. Then the black magic started. The next day I tested the connection and it consistently spat out complete rubbish. But Nothing changed since the previous day. Somewhere I must be missing something. I followed all the same tutorials and steps attempting to get the more positive results I got the previous day. However that only led to more erratic behaviour. When connecting the serial lines to my Pixhawk Flight Controller, the keyboard/mouse seems to get interrupted momentarily every now and then. Everything just went backwards. I have already reinstalled Raspbian Jessie in a desperate attempt to get things to work.
Here are a few things I suspect could possibly contribute to the problems:
Baud rate not correct (to communicate with my Flight Controller baud rate needs to be 57600). Best way I've found to set this baud rate is to append "init_uart_baud=57600" to /boot/config.txt/. I have also read about other ways such as appending a line to /etc/crontab. Any suggestions?
Pixhawk miraculously and sporadically refused to communicate back with RPi.
Any assistance will be appreciated. Thank you.
SOLVED:
Looks like a known bug in the latest raspbian, easy to fix though.
These need to be done as the root user.
Disable "serial console" through GUI-preferences or "sudo raspi-config." Then reboot the pi.
Then change the following line in the file /boot/config.txt at the bottom of the file from:
enable_uart=0
to
enable_uart=1
Disable the ModemMonitor service by running the following command as root:
systemctl disable ModemManager.service
Then add youself to the dialout group, just to be sure you have the required permissions on the serial port:
adduser pi dialout
That should give you unrestricted proper access to the serial port.
Resources:
[url]https://www.raspberrypi.org/forums/viewtopic.php?f=66&t=148515[/url]
and
[url]https://www.raspberrypi.org/forums/viewtopic.php?f=28&t=82779[/url]
I had researched this for days now and troubleshooting all the readings listed on Google sites. I solved the serial UART settings for connecting my RPi3 Model B (typed at command line the following:
`cat /proc/cpuinfo`
to find my Pixhawk hardware info.)
FYI: You must be root when working with mavproxy so, sudo su
or sudo -s
Also, you must be a member of the dialout group, so do this at CMD line:
sudo usermod -a -G dialout root (enable root user!)
Do all the RPi regular stuff:
sudo apt-get update && sudo apt-get upgrade and sudo rpi-update.
Did all as outlined in the Ardupilot website. I did NOT use the
"apsync-rpi". (I used the 2017-03-02-raspbian-jessie.img.) at here
On my RPi3, using $uname -a: results--> Linux raspberrypi 4.4.50-v7+
My $sudo nano /boot/config.txt file has one change at bottom of file;
THIS statement: enable_uart=1 (has a good side effect of forcing the
core_freq to 250 which reduces poor signal frequency)
Important discovery: so the articles state that RPI3 UART and tty settings have changes. (link here)
What I have discovered after much ado is this for my sudo nano /boot/cmdline.txt file:
dwc_otg.lpm_enable=0 console=tty1 root=/dev/mmcblk0p2 rootfstype=ext4 etc.,.
-Notice I am not using ttyS0 in the /boot/cmdline.txt file. I tried the ttyS0 a dozen times and it never worked properly. For some reason, I am not able to explain it at this time, although the console=/dev/tty1 works if written in the /boot/cmdline.txt file.
Make sure you have the wiring correct between your RPi and the Pixhawk.
Telem 2. Also set the correct parameters in Mission Planner as I
have;
Go to CONFIGTUNING->STANDARD PARAMS; (my settings)
-The Serial0 baud rate(SERIALO_PROTOCOL) is: 115200
-The Console protocol selection(SERIAL0_PROTOCOL) is: MAVlink1
-Telem1 baud rate(SERIAL1_BAUD) is at: 115200
-Telem1 protocol selection(SERIAL1_PROTOCOL) IS MAVlink2
-Telemtry 2 Baud rate(SERIAL2_BAUD) is 921600
-Telemetry 2 protocol selection(SERIAL2_PROTOCOL) is MAVlink1
The RPi and pixhawk communicate at 921600 baud rate.
-Once I get the RPi3 powered up with it's own +5/VCC source and connect to my MP with a 3.0 USB cable from my PC-Windows10PRo, (okay, I have Arch and Debian Linux distros and Apple OSes too!) I enter:
`mavproxy.py --master=/dev/ttyS0 --baudrate 921600 --aircraft Plane`
It works for me!
Happy experimenting and flying!