Skip to content

Instantly share code, notes, and snippets.

@mhaberler
Last active March 16, 2020 10:28
Show Gist options
  • Save mhaberler/89a813dc70688e35d8848e8e467a1337 to your computer and use it in GitHub Desktop.
Save mhaberler/89a813dc70688e35d8848e8e467a1337 to your computer and use it in GitHub Desktop.
Installing the Machinekit Altera CycloneV test image

Contents

This SD image is a debian jessie console image with:

  • a 4.1.22-ltsi-rt kernel with RT-PREEMPT patches applied
  • tested on Terasic DE0-Nano-SoC Kit, other SoCKit platforms should work with appropriate dtb
  • machinekit RIP-build under /home/machinekit/machinekit, all build artefacts are in place (no need to run make)
  • machinekit packages are NOT installed and you do not have to!
  • all machinekit build- and runtime required packages ARE installed.
  • /home/machinekit/.bashrc already set up to run machinekit from the RIP build directory.
  • one known-to-work configuration with hostmot2/onboard FPGA support is: machinekit/configs/hm2-soc-stepper/5i25-socfpga.ini
  • this assumes Charles'd DB25 adapter board and Mesanet 7i76 or 7i85S cards connected
  • both the DE0_Nano_SoC_DB25.7I76_7I76_7I76_7I76 and DE0_Nano_SoC_DB25.7I76_7I85S_GPIO_GPIO firmwares are verified to work
  • there is a HAL test configuration in machinekit/configs/hm2-soc-stepper/irqtest.hal
  • apt sources ready for ROS integration via debian-robotics

Purpose

  • this is intended for advanced users and developers - which is why it contains a RIP install and no packages.
  • the purpose is to shake out configurations and remove any remaining bugs.
  • this is not for beginners and folks looking for a turn-key image for say 3D printers.

Upgrading from a previously downloaded image

Instead of starting over with a new image, you can upgrade to the current status by:

apt update
apt install device-tree-compiler
apt upgrade

Then proceed to machinekit/src , git pull and rebuild the supplied RIP build.

Installation

Install bmaptools

apt install bmap-tools
  # make sure the card is not accidentially mounted - Ubuntu likes to do that
  # so: 
  umount /dev/sdb # just to be sure
  bmaptool copy <name.img.xz>  /dev/<sd card device, usually sdb>
````
- verify [the switches on the board are set: 1,3,5,6 towards 'ON'](https://cloud.githubusercontent.com/assets/901479/14768899/faf9025c-0a4c-11e6-9a2d-bc8a2dfa4bd1.png)
- insert SD card, connect serial console at 115200, apply power
- when u-boot starts, hit enter immediately to interrupt automatic boot - display:

````
Restarting system.
 
U-Boot SPL 2016.05-rc3-01014-g57258ab (Apr 27 2016 - 13:20:08)
drivers/ddr/altera/sequencer.c: Preparing to start memory calibration
drivers/ddr/altera/sequencer.c: CALIBRATION PASSED
drivers/ddr/altera/sequencer.c: Calibration complete
Trying to boot from MMC1
 
 
U-Boot 2016.05-rc3-01014-g57258ab (Apr 27 2016 - 13:20:08 +0200), Build: jenkins-u-boot-socfpga-23
 
CPU:   Altera SoCFPGA Platform
FPGA:  Altera Cyclone V, SE/A4 or SX/C4, version 0x0
BOOT:  SD/MMC Internal Transceiver (3.0V)
       Watchdog enabled
I2C:   ready
DRAM:  1 GiB
MMC:   dwmmc0@ff704000: 0
*** Warning - bad CRC, using default environment
 
In:    serial
Out:   serial
Err:   serial
Model: Terasic DE0-Nano(Atlas)
Net:   
Error: ethernet@ff702000 address not set.
No ethernet found.
Hit any key to stop autoboot:  0 
=> 
 ````
 
**If you do no get this far, try an SD card from another manufacturer** - I found the de0 nano to be a lot more fussy than the Beaglebone wrt SD card manufacturer:

- known-to-work: [Samsung HC](https://snag.gy/IfsvhG.jpg), [Kingston SDC4 HC](https://snag.gy/vh46It.jpg)
- problematic:  [Sandisk Ultra HC1](https://snag.gy/fCJaeO.jpg), [Transcend Ultimate 633x](https://snag.gy/C3gOo6.jpg)

Try ejecting the SD card, wiggle the card a bit before gently pushing in again; I found the SD card connector is a tad flakey and probably easy to break
 
**IMPORTANT:** reset to default environment - set the ethernet MAC address (the de0 has no fixed MAC address out of the box - make one up); then save the environment and reset - the commands are:

env default -a setenv ethaddr ba:d0:4a:9c:4e:ce saveenv reset

**do this line by line, not copy & paste in one go (may overrun u-boot):**
````
=> env default -a
## Resetting to default environment
=> setenv ethaddr ba:d0:4a:9c:4e:ce
=> saveenv
Saving Environment to MMC...
Writing to MMC(0)... done
=> reset
````
- this information is saved on the SD card, not some config EEPROM or NVRAM. You will have to redo this step for every SD card.
- The board should come up like so (note change of `Net:   eth0: ethernet@ff702000` line):

resetting ...

U-Boot SPL 2016.05-rc3-01014-g57258ab (Apr 27 2016 - 13:20:08) drivers/ddr/altera/sequencer.c: Preparing to start memory calibration drivers/ddr/altera/sequencer.c: CALIBRATION PASSED drivers/ddr/altera/sequencer.c: Calibration complete Trying to boot from MMC1

U-Boot 2016.05-rc3-01014-g57258ab (Apr 27 2016 - 13:20:08 +0200), Build: jenkins-u-boot-socfpga-23

CPU: Altera SoCFPGA Platform FPGA: Altera Cyclone V, SE/A4 or SX/C4, version 0x0 BOOT: SD/MMC Internal Transceiver (3.0V) Watchdog enabled I2C: ready DRAM: 1 GiB MMC: dwmmc0@ff704000: 0 In: serial Out: serial Err: serial Model: Terasic DE0-Nano(Atlas) Net: eth0: ethernet@ff702000 Hit any key to stop autoboot: 0 switch to partitions #0, OK mmc0 is current device Checking for: /boot/uEnv.txt ... trying interface=mmc bootpart0:2 ... 410 bytes read in 20 ms (19.5 KiB/s) Loaded environment from /boot/uEnv.txt Using: dtb=socfpga_cyclone5_de0_sockit.dtb ... fpgaimage: file /lib/firmware/socfpga/soc_system.rbf not found - skipping FPGA load... Checking if uname_r is set in /boot/uEnv.txt... Running uname_boot ... loading /boot/vmlinuz-4.1.22-ltsi-rt23-ge1e5eb8 ... 4164872 bytes read in 237 ms (16.8 MiB/s) loading /boot/dtbs//socfpga_cyclone5_de0_sockit.dtb ... 29520 bytes read in 25 ms (1.1 MiB/s) debug: [console=ttyS0,115200 root=/dev/mmcblk0p2 ro rootfstype=ext4 rootwait quiet] (no initrd)... debug: [bootz 0x01000000 - 100] ... Kernel image @ 0x1000000 [ 0x000000 - 0x3f8d08 ]

Flattened Device Tree blob at 00000100

Booting using the fdt blob at 0x000100 reserving fdt memory region: addr=0 size=1000 Loading Device Tree to 03ff5000, end 03fff34f ... OK

Starting kernel ...

[ 0.000000] L2C: platform provided aux values permit register corruption.

Debian GNU/Linux 8 mksocfpga ttyS0

Machinekit Debian Image 2016-08-06

Support/FAQ: http://www.machinekit.io/

default username:password is [machinekit:machinekit]

mksocfpga login:

- login from a box with an X display:
````
slogin -x machinekit@mksocfpga.local
  • pull any updates (in particular, the socfpga-rbf FPGA firmware package is changing fast!)
sudo apt update
sudo apt -y upgrade
````
- resize the image to the actual SD size
````
sudo /opt/scripts/tools/grow_partition.sh
````


- now you're good to try the demo configs

# Rebuilding on target:

for now, you will have to create a swapfile manually like so:

sudo bash dd if=/dev/zero of=/swapfile bs=1M count=512 chmod 600 /swapfile mkswap /swapfile swapon /swapfile

to make the swap space permanent, add this line to /etc/fstab:

/swapfile none swap defaults 0 0


Rebuild example:

machinekit@mksocfpga:$ cd machinekit/src machinekit@mksocfpga:/machinekit/src$ touch hal/drivers/mesa-hostmot2/hm2_soc_ol.* machinekit@mksocfpga:~/machinekit/src$ make Reading 2/2 PRU dependency files Reading 328/330 dependency files Done reading dependencies

Reading 0/0 realtime dependency files Done reading realtime dependencies make: Entering directory '/home/machinekit/machinekit/src' Making modules for flavor posix make[1]: Entering directory '/home/machinekit/machinekit/src' Reading 2/2 PRU dependency files Reading 336/338 dependency files Done reading dependencies

Reading 289/289 realtime dependency files Done reading realtime dependencies Depending hal/drivers/mesa-hostmot2/hm2_soc.c Reading 2/2 PRU dependency files Reading 336/338 dependency files Done reading dependencies

Reading 289/289 realtime dependency files Done reading realtime dependencies Compiling realtime hal/drivers/mesa-hostmot2/hm2_soc.c Linking ../rtlib/posix/hm2_soc.so make[1]: Leaving directory '/home/machinekit/machinekit/src' Making modules for flavor rt-preempt make[1]: Entering directory '/home/machinekit/machinekit/src' Reading 2/2 PRU dependency files Reading 336/338 dependency files Done reading dependencies

Reading 289/289 realtime dependency files Done reading realtime dependencies Depending hal/drivers/mesa-hostmot2/hm2_soc.c Reading 2/2 PRU dependency files Reading 336/338 dependency files Done reading dependencies

Reading 289/289 realtime dependency files Done reading realtime dependencies Compiling realtime hal/drivers/mesa-hostmot2/hm2_soc.c Linking ../rtlib/rt-preempt/hm2_soc.so make[1]: Leaving directory '/home/machinekit/machinekit/src' make: Leaving directory '/home/machinekit/machinekit/src'

machinekit@mksocfpga:/machinekit/src$ sudo make setuid ... machinekit@mksocfpga:/machinekit/src$ machinekit ../configs/hm2-soc-stepper/5i25-socfpga.ini MACHINEKIT - 0.1 Machine configuration directory is '/home/machinekit/machinekit/src/../configs/hm2-soc-stepper' Machine configuration file is '5i25-socfpga.ini' Starting Machinekit... io started ....


# Converting to a package-based install:

````
apt update
apt install machinekit	machinekit-dev	machinekit-rt-preempt
`````
and edit out the reference to /home/machinekit/machinekit/scripts/rip-environment in the .bashrc file.






@mhaberler
Copy link
Author

from progressing through various versions of uboot, I noticed that the SD card handling code must have improved - the initial problems with SD cards of some make have all but gone away

Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment