RPi5 Supported after bugfix #63

Peter-van-Tol · 2023-12-21T15:06:37Z

Peter-van-Tol
Dec 21, 2023
Maintainer

On the LinuxCNC forum there are users experimenting with the RPi5. There are problems reported with running the MESA SPI cards.

I've ordered a RPi5 and it arrived at my door this week. Planning to test the support of the SPI for LitexCNC between during the Christmas holidays. Will keep you posted!

stefan63 · 2023-12-21T20:51:53Z

stefan63
Dec 21, 2023

I have a Colorlight 5A-75E on order since a week ago and alrady have a RPI 5 8GB board in my hand, I'm lookon forward to follow this development and will if It's not ower my capacity try to help out. In any case I admire your work and looking forward to upcoming updates.
Have a nice X-mas/Stefan @ stockholmviews.com

0 replies

Peter-van-Tol · 2023-12-27T22:03:27Z

Peter-van-Tol
Dec 27, 2023
Maintainer Author

Thanks for the wishes!

I've installed Bookworm 64-bit on the Raspberry Pi. Installing LinuxCNC was a bliss, took way under an hour to get things up and running. Comparing with the start of this project, LinuxCNC and the RaspberryPi OS came a long way.

However, I didn't have luck yet getting the JTAG working on the RPi5. When trying to flash the card I get the following error:

INFO: Flashing firmware to LED-card.
Open On-Chip Debugger 0.12.0+dev-00445-g492dc7c53 (2023-12-27-22:49)
Licensed under GNU GPL v2
For bug reports, read
        http://openocd.org/doc/doxygen/bugs.html
SysfsGPIO nums: swclk = 11, swdio = 25
jtag
Info : SysfsGPIO JTAG/SWD bitbang driver
Error: Couldn't export gpio 16
Error: sysfsgpio: Invalid argument
Error: Couldn't unexport gpio 16
Error: Couldn't unexport gpio 6
Error: Couldn't unexport gpio 19
Error: Couldn't unexport gpio 26

ERROR: An error has occurred during flashing the firmware.

0 replies

Peter-van-Tol · 2023-12-27T22:30:40Z

Peter-van-Tol
Dec 27, 2023
Maintainer Author

Trying now to get around this error by using libgpiod as adapter. This is slower, but is only for flashing the card. The libgpiod adapter is not by default enabled on OpenOCD, nor does the cli command install it for you at this moment. You have to build OpenOCD yourself to enable this adapter:

sudo apt-get install gpiod libgpiod-dev
mkdir tmp_openocd && cd tmp_openocd
git clone http://openocd.zylin.com/openocd
cd openocd
./bootstrap
./configure --enable-sysfsgpio --enable-bcm2835gpio --enable-libgpiod
make
sudo make install
cd ../..
rm -r tmp_openocd -f

0 replies

Peter-van-Tol · 2023-12-27T22:55:55Z

Peter-van-Tol
Dec 27, 2023
Maintainer Author

With gpioinfo one can find all GPIO. The output of this command is:

gpiochip0 - 32 lines:
        line   0:          "-"       unused   input  active-high
        line   1: "2712_BOOT_CS_N" "spi10 CS0" output active-low [used]
        line   2: "2712_BOOT_MISO" unused input active-high
        line   3: "2712_BOOT_MOSI" unused input active-high
        line   4: "2712_BOOT_SCLK" unused input active-high
        line   5:          "-"       unused   input  active-high
        line   6:          "-"       unused  output  active-high
        line   7:          "-"       unused   input  active-high
        line   8:          "-"       unused   input  active-high
        line   9:          "-"       unused   input  active-high
        line  10:          "-"       unused   input  active-high
        line  11:          "-"       unused   input  active-high
        line  12:          "-"       unused   input  active-high
        line  13:          "-"       unused   input  active-high
        line  14:   "PCIE_SDA"       unused   input  active-high
        line  15:   "PCIE_SCL"       unused   input  active-high
        line  16:          "-"       unused  output  active-high
        line  17:          "-"       unused   input  active-high
        line  18:          "-"       unused   input  active-high
        line  19:          "-"       unused  output  active-high
        line  20:   "PWR_GPIO" "pwr_button"   input   active-low [used]
        line  21: "2712_G21_FS" unused input active-high
        line  22:          "-"       unused  output  active-high
        line  23:          "-"       unused  output  active-high
        line  24:     "BT_RTS"       unused   input  active-high
        line  25:     "BT_CTS"       unused   input  active-high
        line  26:     "BT_TXD"       unused   input  active-high
        line  27:     "BT_RXD"       unused   input  active-high
        line  28:      "WL_ON"  "wl_on_reg"  output  active-high [used]
        line  29:      "BT_ON"   "shutdown"  output  active-high [used]
        line  30: "WIFI_SDIO_CLK" unused input active-high
        line  31: "WIFI_SDIO_CMD" unused input active-high
gpiochip1 - 4 lines:
        line   0: "WIFI_SDIO_D0" unused input active-high
        line   1: "WIFI_SDIO_D1" unused input active-high
        line   2: "WIFI_SDIO_D2" unused input active-high
        line   3: "WIFI_SDIO_D3" unused input active-high
gpiochip2 - 17 lines:
        line   0:    "RP1_SDA"       unused   input  active-high
        line   1:    "RP1_SCL"       unused   input  active-high
        line   2:    "RP1_RUN" "RP1 RUN pin" output active-high [used]
        line   3: "SD_IOVDD_SEL" "vdd-sd-io" output active-high [used]
        line   4:  "SD_PWR_ON" "sd_vcc_reg"  output  active-high [used]
        line   5:  "SD_CDET_N"       unused   input  active-high
        line   6:   "SD_FLG_N"       unused   input  active-high
        line   7:          "-"       unused   input  active-high
        line   8:  "2712_WAKE"       unused   input  active-high
        line   9: "2712_STAT_LED" "ACT" output active-low [used]
        line  10:          "-"       unused   input  active-high
        line  11:          "-"       unused   input  active-high
        line  12:   "PMIC_INT"       unused   input  active-high
        line  13: "UART_TX_FS"       unused   input  active-high
        line  14: "UART_RX_FS"       unused   input  active-high
        line  15:          "-"       unused   input  active-high
        line  16:          "-"       unused   input  active-high
gpiochip3 - 6 lines:
        line   0:  "HDMI0_SCL"       unused   input  active-high
        line   1:  "HDMI0_SDA"       unused   input  active-high
        line   2:  "HDMI1_SCL"       unused   input  active-high
        line   3:  "HDMI1_SDA"       unused   input  active-high
        line   4:   "PMIC_SCL"       unused   input  active-high
        line   5:   "PMIC_SDA"       unused   input  active-high
gpiochip4 - 54 lines:
        line   0:      "ID_SD"       unused   input  active-high
        line   1:      "ID_SC"       unused   input  active-high
        line   2:       "PIN3"       unused   input  active-high
        line   3:       "PIN5"       unused   input  active-high
        line   4:       "PIN7"       unused   input  active-high
        line   5:      "PIN29"       unused   input  active-high
        line   6:      "PIN31"       unused   input  active-high
        line   7:      "PIN26"       unused   input  active-high
        line   8:      "PIN24"       unused   input  active-high
        line   9:      "PIN21"       unused   input  active-high
        line  10:      "PIN19"       unused  output  active-high
        line  11:      "PIN23"       unused  output  active-high
        line  12:      "PIN32"       unused   input  active-high
        line  13:      "PIN33"       unused   input  active-high
        line  14:       "PIN8"       unused   input  active-high
        line  15:      "PIN10"       unused   input  active-high
        line  16:      "PIN36"       unused   input  active-high
        line  17:      "PIN11"       unused   input  active-high
        line  18:      "PIN12"       unused   input  active-high
        line  19:      "PIN35"       unused   input  active-high
        line  20:      "PIN38"       unused   input  active-high
        line  21:      "PIN40"       unused   input  active-high
        line  22:      "PIN15"       unused   input  active-high
        line  23:      "PIN16"       unused   input  active-high
        line  24:      "PIN18"       unused   input  active-high
        line  25:      "PIN22"       unused  output  active-high
        line  26:      "PIN37"       unused   input  active-high
        line  27:      "PIN13"       unused   input  active-high
        line  28: "PCIE_RP1_WAKE" unused input active-high
        line  29:   "FAN_TACH"       unused   input  active-high
        line  30:   "HOST_SDA"       unused   input  active-high
        line  31:   "HOST_SCL"       unused   input  active-high
        line  32:  "ETH_RST_N"  "phy-reset"  output   active-low [used]
        line  33:          "-"       unused   input  active-high
        line  34: "CD0_IO0_MICCLK" "cam0_reg" output active-high [used]
        line  35: "CD0_IO0_MICDAT0" unused input active-high
        line  36: "RP1_PCIE_CLKREQ_N" unused input active-high
        line  37:          "-"       unused   input  active-high
        line  38:    "CD0_SDA"       unused   input  active-high
        line  39:    "CD0_SCL"       unused   input  active-high
        line  40:    "CD1_SDA"       unused   input  active-high
        line  41:    "CD1_SCL"       unused   input  active-high
        line  42: "USB_VBUS_EN" unused output active-high
        line  43:   "USB_OC_N"       unused   input  active-high
        line  44: "RP1_STAT_LED" "PWR" output active-low [used]
        line  45:    "FAN_PWM"       unused  output  active-high
        line  46: "CD1_IO0_MICCLK" "cam1_reg" output active-high [used]
        line  47:  "2712_WAKE"       unused   input  active-high
        line  48: "CD1_IO1_MICDAT1" unused input active-high
        line  49: "EN_MAX_USB_CUR" unused output active-high
        line  50:          "-"       unused   input  active-high
        line  51:          "-"       unused   input  active-high
        line  52:          "-"       unused   input  active-high
        line  53:          "-"       unused   input  active-high

The new Rpi1 chipset is gpiochip4, which can be checked with gpiodetect:

gpiochip0 [gpio-brcmstb@107d508500] (32 lines)
gpiochip1 [gpio-brcmstb@107d508520] (4 lines)
gpiochip2 [gpio-brcmstb@107d517c00] (17 lines)
gpiochip3 [gpio-brcmstb@107d517c20] (6 lines)
gpiochip4 [pinctrl-rp1] (54 lines)

Based on this information, I made a new config-file which uses the libgpiod driver (based on dln-2-gpiod.cfg):

adapter driver linuxgpiod

adapter gpio tdo 26 -chip 4
adapter gpio tck 16 -chip 4
adapter gpio tms 6 -chip 4
adapter gpio tdi 19 -chip 4

I placed this file in the directory /usr/local/share/openocd/scripts/interface and named it pi5-gpiod.cfg. One can use this configuration file with the original litexcnc command:

litexcnc flash_firmware --programmer pi5-gpiod colorlight.svf

Which gives the following very nice result:

INFO: Flashing firmware to LED-card.
Open On-Chip Debugger 0.12.0+dev-00445-g492dc7c53 (2023-12-27-23:25)
Licensed under GNU GPL v2
For bug reports, read
        http://openocd.org/doc/doxygen/bugs.html
jtag
Info : Linux GPIOD JTAG/SWD bitbang driver
Info : Note: The adapter "linuxgpiod" doesn't support configurable speed
Info : JTAG tap: ecp5.tap tap/device found: 0x41111043 (mfg: 0x021 (Lattice Semi.), part: 0x1111, ver: 0x4)
Warn : gdb services need one or more targets defined
svf processing file: "/home/cnc/git/emco5/firmware/emco5_spi_all_input/gateware/colorlight.svf"
95%    INFO: Successfully flashed the LED-card

JTAG is unlocked. Will create some modifications with the Python package so everybody can enjoy!

0 replies

Peter-van-Tol · 2023-12-27T23:08:02Z

Peter-van-Tol
Dec 27, 2023
Maintainer Author

Trying to run LitexCNC with the pigpio driver, no succes:

halcmd: loadrt litexcnc connections="pigpio:0:2000000"
Note: Using POSIX non-realtime
litexcnc: Loading Litex CNC driver version 1.1.0
litexcnc: Loading and registering default modules:
litexcnc: Registered module gpio
litexcnc: Registered module pwm
litexcnc: Registered module encoder
litexcnc: Registered module step
litexcnc: Setting up board drivers:
litexcnc: Registered driver pigpio
2023-12-28 00:06:21 gpioHardwareRevision: unknown rev code (c04170)
2023-12-28 00:06:21 initCheckPermitted:
+---------------------------------------------------------+
|Sorry, this system does not appear to be a raspberry pi. |
|aborting.                                                |
+---------------------------------------------------------+

So some more work is required to get this driver working. Going to try the fall-back driver (which uses spidev).

0 replies

Peter-van-Tol · 2023-12-27T23:21:08Z

Peter-van-Tol
Dec 27, 2023
Maintainer Author

The fallback driver spidev works like a charm with the RaspberryPi5:

halcmd: loadrt litexcnc connections="spidev:/dev/spidev0.0"
Note: Using POSIX non-realtime
litexcnc: Loading Litex CNC driver version 1.1.0
litexcnc: Loading and registering default modules:
litexcnc: Registered module gpio
litexcnc: Registered module pwm
litexcnc: Registered module encoder
litexcnc: Registered module step
litexcnc: Setting up board drivers:
litexcnc: Registered driver spidev
litexcnc: Setting up modules...
litexcnc: Reading 16 bytes
litexcnc:  - Watchdog
litexcnc:  - Wallclock
litexcnc:  - gpio ... done!
litexcnc: Creating read and write buffers...
litexcnc: Base addresses: init: 00000000, reset: 00000030, config: 00000034, write: 00000034, read: 00000038
litexcnc:  - Write buffer: 4 bytes
litexcnc:  - Read buffer: 20 bytes
litexcnc: Exporting functions...

Only found two issues:

the source file litexcnc_spi.c and litexcnc_spi.h should be renamed to litexcnc_spidev.c and litexcnc_spidev.h respectively;
the name change also affects one include in litexcnc_spi.c;
recompile the driver using the normal command.

I will add this to the TODO-list for supporting the RasberryPi5.

General conclusion: a RPi5 will work for LitexCNC!

0 replies

Peter-van-Tol · 2023-12-28T22:01:06Z

Peter-van-Tol
Dec 28, 2023
Maintainer Author

Changes are merged with main and will be added to upcoming release

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