Trouble enabling pru-rproc uBoot overlay

[Hugh Frater]

This thread is a followup to my post over in the PRU section. Tl;Dr - latest stretch IOT image using 4.14.108-ti-r104 wouldn't enable the PRUs when I un-commented:

###pru_rproc (4.14.x-ti kernel)

#uboot_overlay_pru=/lib/firmware/AM335X-PRU-RPROC-4-14-TI-00A0.dtbo

I attached a serial debug header and have managed to get the PRU overlays to load correctly and configure the PRUs by fudging uEnv.txt thus:

###Overide capes with eeprom

uboot_overlay_addr0=/lib/firmware/AM335X-PRU-RPROC-4-14-TI-00A0.dtbo

However, this gives rise to the following problem:

uboot_overlays: cape universal disabled, external cape enabled or detected...

And I really need to use cape-universal. So, my questions:

1. How come the uBoot overlay for the PRU-RPROC support doesn't work?

2. How can I get uBoot to load the PRU-RPROC overlay and the overlay for cape-universal?

Cheers all...

[Robert Nelson]

let's see the output of:

sudo /opt/scripts/tools/version.sh

Regards,

--
Robert Nelson
https://rcn-ee.com/

[Hugh Frater]

Hi Robert, I'm no longer in front of the hardware for today but you can see the output of version.sh on my thread over in the PRU section. You can also see I tried zero-ing out the mmc in case that had a version of uboot that didn't support overlays. Didn't make a difference.

[Robert Nelson]

On Wed, May 22, 2019 at 12:59 PM Hugh Frater <hugh....@gmail.com> wrote:
>
> Hi Robert, I'm no longer in front of the hardware for today but you can see the output of version.sh on my thread over in the PRU section. You can also see I tried zero-ing out the mmc in case that had a version of uboot that didn't support overlays. Didn't make a difference.

So, it's actually working for me, that's why i'd like to see what the
current output is.. might be the bootloader...

Mine:

*************
/opt/scripts/tools/version.sh
git:/opt/scripts/:[c2a5ae96746d10d711c60bc84ba244f4cd7b75c3]
eeprom:[A335BNLT0A5B2313BBBK3287]
model:[TI_AM335x_BeagleBone_Black]
dogtag:[BeagleBoard.org Debian Image 2018-06-24]
bootloader:[microSD-(push-button)]:[/dev/mmcblk0]:[U-Boot
2019.04-00002-g9ca2c5819f]:[location: dd MBR]
kernel:[4.14.108-ti-r104]
nodejs:[v6.17.0]
uboot_overlay_options:[enable_uboot_overlays=1]
uboot_overlay_options:[enable_uboot_cape_universal=1]
uboot_overlay_options:[uboot_overlay_pru=/lib/firmware/AM335X-PRU-RPROC-4-14-TI-00A0.dtbo]
pkg check: to individually upgrade run: [sudo apt install --only-upgrade <pkg>]
pkg:[bb-cape-overlays]:[4.4.20190429.0-0rcnee0~stretch+20190429]
pkg:[bb-wl18xx-firmware]:[1.20190227.1-0rcnee0~stretch+20190227]
pkg:[kmod]:[23-2rcnee1~stretch+20171005]
pkg:[roboticscape]:[0.4.4-git20180608.0-0rcnee0~stretch+20180609]:[GOT_REPLACED_BY_NEXT]
pkg:[librobotcontrol]:[1.0.4-git20190227.1-0rcnee0~stretch+20190327]
pkg:[firmware-ti-connectivity]:[20180825+dfsg-1rcnee1~stretch+20181217]
groups:[debian : debian adm kmem dialout cdrom floppy audio dip video
plugdev users systemd-journal i2c bluetooth netdev cloud9ide gpio pwm
eqep admin spi tisdk weston-launch xenomai]
cmdline:[console=ttyO0,115200n8 bone_capemgr.uboot_capemgr_enabled=1
root=/dev/mmcblk0p1 ro rootfstype=ext4 rootwait coherent_pool=1M
net.ifnames=0]
dmesg | grep remote
[ 2.686159] remoteproc remoteproc0: wkup_m3 is available
[ 3.110587] remoteproc remoteproc0: powering up wkup_m3
[ 3.120022] remoteproc remoteproc0: Booting fw image
am335x-pm-firmware.elf, size 217168
[ 3.140239] remoteproc remoteproc0: remote processor wkup_m3 is now up
[ 11.555597] remoteproc remoteproc1: 4a334000.pru is available
[ 11.647834] remoteproc remoteproc2: 4a338000.pru is available
dmesg | grep pru
[ 11.483643] pruss 4a300000.pruss: creating PRU cores and other
child platform devices
[ 11.555597] remoteproc remoteproc1: 4a334000.pru is available
[ 11.593861] pru-rproc 4a334000.pru: PRU rproc node
/ocp/pruss_soc_bus@4a326004/pruss@0/pru@34000 probed successfully
[ 11.647834] remoteproc remoteproc2: 4a338000.pru is available
[ 11.673978] pru-rproc 4a338000.pru: PRU rproc node
/ocp/pruss_soc_bus@4a326004/pruss@0/pru@38000 probed successfully
dmesg | grep pinctrl-single
[ 0.912443] pinctrl-single 44e10800.pinmux: 142 pins at pa f9e10800 size 568
dmesg | grep gpio-of-helper
[ 0.924804] gpio-of-helper ocp:cape-universal: ready
lsusb
Bus 001 Device 002: ID 067b:2303 Prolific Technology, Inc. PL2303 Serial Port
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
END
****************

Your's:

*******************
git:/opt/scripts/:[c2a5ae96746d10d711c60bc84ba244f4cd7b75c3]
eeprom:[A335BNLT00C03816BBBK190D]
model:[TI_AM335x_BeagleBone_Black]
dogtag:[BeagleBoard.org Debian Image 2018-10-07]
bootloader:[microSD-(push-button)]:[/dev/mmcblk0]:[U-Boot
2018.09-00002-g0b54a51eee]:[location: dd MBR]
kernel:[4.14.108-ti-r104]
nodejs:[v6.14.4]
uboot_overlay_options:[enable_uboot_overlays=1]
uboot_overlay_options:[disable_uboot_overlay_emmc=1]
uboot_overlay_options:[disable_uboot_overlay_video=1]
uboot_overlay_options:[disable_uboot_overlay_audio=1]
uboot_overlay_options:[disable_uboot_overlay_wireless=1]
uboot_overlay_options:[disable_uboot_overlay_adc=1]
uboot_overlay_options:[uboot_overlay_pru=/lib/firmware/AM335X-PRU-RPROC-4-14-TI-00A0.dtbo]
uboot_overlay_options:[enable_uboot_cape_universal=1]
pkg check: to individually upgrade run: [sudo apt install --only-upgrade <pkg>]
pkg:[bb-cape-overlays]:[4.4.20190429.0-0rcnee0~stretch+20190429]
pkg:[bb-wl18xx-firmware]:[1.20180517-0rcnee0~stretch+20180517]
pkg:[kmod]:[23-2rcnee1~stretch+20171005]
pkg:[librobotcontrol]:[1.0.3-git20181005.0-0rcnee0~stretch+20181005]
pkg:[firmware-ti-connectivity]:[20170823-1rcnee1~stretch+20180328]
groups:[debian : debian adm kmem dialout cdrom floppy audio dip video
plugdev users systemd-journal i2c bluetooth netdev cloud9ide gpio pwm
eqep admin spi tisdk weston-launch xenomai]
cmdline:[console=ttyO0,115200n8 bone_capemgr.uboot_capemgr_enabled=1
root=/dev/mmcblk0p1 ro rootfstype=ext4 rootwait coherent_pool=1M
net.ifnames=0 quiet]
dmesg | grep remote
[ 1.302485] remoteproc remoteproc0: wkup_m3 is available
[ 1.389525] remoteproc remoteproc0: powering up wkup_m3
[ 1.389661] remoteproc remoteproc0: Booting fw image
am335x-pm-firmware.elf, size 217168
[ 1.393097] remoteproc remoteproc0: remote processor wkup_m3 is now up
dmesg | grep pru
dmesg | grep pinctrl-single
[ 0.971911] pinctrl-single 44e10800.pinmux: 142 pins at pa f9e10800 size 568
dmesg | grep gpio-of-helper
[ 0.984114] gpio-of-helper ocp:cape-universal: ready
lsusb
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
END
****************

One idea would be to udpate the bootloader..

sudo /opt/scripts/tools/developers/update_bootloader.sh

[Hugh Frater]

Interesting that it works for you... Might be something to do with our 50Hz wall power :p

I'll get back on this when I'm in work tomorrow and I'll try updating the bootloader and get you a fresh output from version.sh

[Hugh Frater]

OK, back in the office....

I've tried updating the bootloader, that didn't make a difference. Here is the output from version.sh

debian@beaglebone:~$ sudo /opt/scripts/tools/version.sh 

[sudo] password for debian: 

git:/opt/scripts/:[c2a5ae96746d10d711c60bc84ba244f4cd7b75c3]

eeprom:[A335BNLT00C03816BBBK190D]

model:[TI_AM335x_BeagleBone_Black]

dogtag:[BeagleBoard.org Debian Image 2018-10-07]

bootloader:[microSD-(push-button)]:[/dev/mmcblk0]:[U-Boot 2019.04-00002-g9ca2c5819f]:[location: dd MBR]

kernel:[4.14.108-ti-r104]

nodejs:[v6.14.4]

uboot_overlay_options:[enable_uboot_overlays=1]

uboot_overlay_options:[disable_uboot_overlay_emmc=1]

uboot_overlay_options:[disable_uboot_overlay_video=1]

uboot_overlay_options:[disable_uboot_overlay_audio=1]

uboot_overlay_options:[disable_uboot_overlay_wireless=1]

uboot_overlay_options:[disable_uboot_overlay_adc=1]

uboot_overlay_options:[uboot_overlay_pru=/lib/firmware/AM335X-PRU-RPROC-4-14-TI-00A0.dtbo]

uboot_overlay_options:[enable_uboot_cape_universal=1]

pkg check: to individually upgrade run: [sudo apt install --only-upgrade <pkg>]

pkg:[bb-cape-overlays]:[4.4.20190429.0-0rcnee0~stretch+20190429]

pkg:[bb-wl18xx-firmware]:[1.20180517-0rcnee0~stretch+20180517]

pkg:[kmod]:[23-2rcnee1~stretch+20171005]

pkg:[librobotcontrol]:[1.0.3-git20181005.0-0rcnee0~stretch+20181005]

pkg:[firmware-ti-connectivity]:[20170823-1rcnee1~stretch+20180328]

groups:[debian : debian adm kmem dialout cdrom floppy audio dip video plugdev users systemd-journal i2c bluetooth netdev cloud9ide gpio pwm eqep admin spi tisdk we

ston-launch xenomai]

cmdline:[console=ttyO0,115200n8 bone_capemgr.uboot_capemgr_enabled=1 root=/dev/mmcblk0p1 ro rootfstype=ext4 rootwait coherent_pool=1M net.ifnames=0 quiet]

dmesg | grep remote

[    1.302439] remoteproc remoteproc0: wkup_m3 is available

[    1.390494] remoteproc remoteproc0: powering up wkup_m3

[    1.390611] remoteproc remoteproc0: Booting fw image am335x-pm-firmware.elf, size 217168

[    1.393154] remoteproc remoteproc0: remote processor wkup_m3 is now up

dmesg | grep pru

dmesg | grep pinctrl-single

[    0.971836] pinctrl-single 44e10800.pinmux: 142 pins at pa f9e10800 size 568

dmesg | grep gpio-of-helper

[    0.983805] gpio-of-helper ocp:cape-universal: ready

lsusb

Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub

END

I'm booting from a micro-sd card and the device is an element 14/farnell BBB

[Robert Nelson]

With a spare microSD, can you test this image:

https://rcn-ee.net/rootfs/bb.org/testing/2019-05-12/stretch-iot/bone-debian-9.9-iot-armhf-2019-05-12-4gb.img.xz

[Hugh Frater]

I will try this and report back Robert. I need to get hold of another sd card adapter tomorrow, the card reader in my laptop has decided to stop mounting cards rw... :(

[jonre...@gmail.com]

I had the same issue on my BBBW:

> ls /sys/class/remoteproc/

remoteproc0

I flashed the new image to an SD, then booted from SD. From there I checked:

> ls /sys/class/remoteproc/

remoteproc0  remoteproc1  remoteproc2

Next I removed the line from /boot/uEnv.txt so that the new image would flash to BBBW and rebooted. As expected the lights cycle while flashing. However, when I rebooted without SD card BBBW is bricked with all LEDs on.

Any idea what's going on?

[Hugh Frater]

I'm not sure, sounds like the flashing of eMMC wasn't successful. I have a new SD card writer so I will try this image this evening and report my findings...

[Hugh Frater]

Flashing your test image to a fresh SD card leaves me with the same behaviour as before Robert. My uEnv.txt follows:

debian@beaglebone:~$ cat /boot/uEnv.txt                                         

#Docs: http://elinux.org/Beagleboard:U-boot_partitioning_layout_2.0             

                                                                                

uname_r=4.14.108-ti-r104                                                        

#uuid=                                                                          

#dtb=                                                                           

                                                                                

###U-Boot Overlays###                                                           

###Documentation: http://elinux.org/Beagleboard:BeagleBoneBlack_Debian#U-Boot_Ov

erlays                                                                          

###Master Enable                                                                

enable_uboot_overlays=1                                                         

###                                                                             

###Overide capes with eeprom                                                    

#uboot_overlay_addr0=/lib/firmware/<file0>.dtbo                                 

#uboot_overlay_addr1=/lib/firmware/<file1>.dtbo                                 

#uboot_overlay_addr2=/lib/firmware/<file2>.dtbo                                 

#uboot_overlay_addr3=/lib/firmware/<file3>.dtbo                                 

###                                                                             

###Additional custom capes                                                      

#uboot_overlay_addr4=/lib/firmware/<file4>.dtbo                                 

#uboot_overlay_addr5=/lib/firmware/<file5>.dtbo                                 

#uboot_overlay_addr6=/lib/firmware/<file6>.dtbo                                 

#uboot_overlay_addr7=/lib/firmware/<file7>.dtbo                                 

###                                                                             

###Custom Cape                                                                  

#dtb_overlay=/lib/firmware/<file8>.dtbo                                         

###                                                                             

###Disable auto loading of virtual capes (emmc/video/wireless/adc)              

disable_uboot_overlay_emmc=1                                                    

disable_uboot_overlay_video=1                                                   

disable_uboot_overlay_audio=1                                                   

disable_uboot_overlay_wireless=1                                                

disable_uboot_overlay_adc=1                                                     

###                                                                             

###PRUSS OPTIONS                                                                

###pru_rproc (4.4.x-ti kernel)                                                  

#uboot_overlay_pru=/lib/firmware/AM335X-PRU-RPROC-4-4-TI-00A0.dtbo              

###pru_rproc (4.14.x-ti kernel)                                                 

uboot_overlay_pru=/lib/firmware/AM335X-PRU-RPROC-4-14-TI-00A0.dtbo              

###pru_rproc (4.19.x-ti kernel)                                                 

#uboot_overlay_pru=/lib/firmware/AM335X-PRU-RPROC-4-19-TI-00A0.dtbo             

###pru_uio (4.4.x-ti, 4.14.x-ti, 4.19.x-ti & mainline/bone kernel)              

#uboot_overlay_pru=/lib/firmware/AM335X-PRU-UIO-00A0.dtbo                       

###                                                                             

###Cape Universal Enable                                                        

enable_uboot_cape_universal=1                                                   

###                                                                             

###Debug: disable uboot autoload of Cape                                        

#disable_uboot_overlay_addr0=1                                                  

#disable_uboot_overlay_addr1=1                                                  

#disable_uboot_overlay_addr2=1                                                  

#disable_uboot_overlay_addr3=1                                                  

###                                                                             

###U-Boot fdt tweaks... (60000 = 384KB)                                         

#uboot_fdt_buffer=0x60000                                                       

###U-Boot Overlays###                                                           

                                                                                

cmdline=coherent_pool=1M net.ifnames=0 quiet cape_universal=enable              

                                                                                

#In the event of edid real failures, uncomment this next line:                  

#cmdline=coherent_pool=1M net.ifnames=0 quiet cape_universal=enable video=HDMI-A

-1:1024x768@60e                                                                 

                                                                                

#Use an overlayfs on top of a read-only root filesystem:                        

#cmdline=coherent_pool=1M net.ifnames=0 quiet cape_universal=enable overlayroot=

tmpfs                                                                           

                                                                                

##enable Generic eMMC Flasher:                                                  

##make sure, these tools are installed: dosfstools rsync                        

#cmdline=init=/opt/scripts/tools/eMMC/init-eMMC-flasher-v3.sh

Do I need to use the overlay for 4.19 kernels instead?

This is what I think is relevant from my uBoot console:

U-Boot SPL 2017.03-00002-gd12b1519b4 (Mar 14 2017 - 10:28:26)                   

Trying to boot from MMC2                                                        

                                                                                

                                                                                

U-Boot 2017.03-00002-gd12b1519b4 (Mar 14 2017 - 10:28:26 -0500), Build: jenkins-

github_Bootloader-Builder-532                                                   

                                                                                

CPU  : AM335X-GP rev 2.1                                                        

I2C:   ready                                                                    

DRAM:  512 MiB                                                                  

Reset Source: Global warm SW reset has occurred.                                

Reset Source: Power-on reset has occurred.                                      

MMC:   OMAP SD/MMC: 0, OMAP SD/MMC: 1                                           

Using default environment                                                       

                                                                                

<ethaddr> not set. Validating first E-fuse MAC                                  

BeagleBone Black:                                                               

BeagleBone: cape eeprom: i2c_probe: 0x54:                                       

BeagleBone: cape eeprom: i2c_probe: 0x55:                                       

BeagleBone: cape eeprom: i2c_probe: 0x56:                                       

BeagleBone: cape eeprom: i2c_probe: 0x57:                                       

Net:   eth0: MII MODE                                                           

cpsw                                                                            

Press SPACE to abort autoboot in 2 seconds                                      

board_name=[A335BNLT] ...                                                       

board_rev=[00C0] ...                                                            

switch to partitions #0, OK                                                     

mmc0 is current device                                                          

SD/MMC found on device 0                                                        

** Bad device 0:2 0x82000000 **                                                 

** Bad device 0:2 0x82000000 **                                                 

switch to partitions #0, OK                                                     

mmc0 is current device                                                          

Scanning mmc 0:1...                                                             

gpio: pin 56 (gpio 56) value is 0                                               

gpio: pin 55 (gpio 55) value is 0                                               

gpio: pin 54 (gpio 54) value is 0                                               

gpio: pin 53 (gpio 53) value is 1                                               

switch to partitions #0, OK                                                     

mmc0 is current device                                                          

gpio: pin 54 (gpio 54) value is 1                                               

Checking for: /uEnv.txt ...                                                     

Checking for: /boot.scr ...                                                     

Checking for: /boot/boot.scr ...                                                

Checking for: /boot/uEnv.txt ...                                                

gpio: pin 55 (gpio 55) value is 1                                               

2273 bytes read in 32 ms (69.3 KiB/s)                                           

Loaded environment from /boot/uEnv.txt                                          

Checking if uname_r is set in /boot/uEnv.txt...                                 

gpio: pin 56 (gpio 56) value is 1                                               

Running uname_boot ...                                                          

loading /boot/vmlinuz-4.14.108-ti-r104 ...                                      

9925120 bytes read in 653 ms (14.5 MiB/s)                                       

uboot_overlays: [uboot_base_dtb=am335x-boneblack-uboot.dtb] ...                 

uboot_overlays: Switching too: dtb=am335x-boneblack-uboot.dtb ...               

loading /boot/dtbs/4.14.108-ti-r104/am335x-boneblack-uboot.dtb ...              

58048 bytes read in 139 ms (407.2 KiB/s)                                        

uboot_overlays: [fdt_buffer=0x60000] ...                                        

uboot_overlays: loading /lib/firmware/AM335X-20-00A0.dtbo ...                   

378 bytes read in 86 ms (3.9 KiB/s)                                             

uboot_overlays: uboot loading of [/lib/firmware/BB-BONE-eMMC1-01-00A0.dtbo] disa

bled by /boot/uEnv.txt [disable_uboot_overlay_emmc=1]...                        

uboot_overlays: uboot loading of [/lib/firmware/BB-HDMI-TDA998x-00A0.dtbo] disab

led by /boot/uEnv.txt [disable_uboot_overlay_video=1]...                        

uboot_overlays: loading /lib/firmware/univ-bbb-xxx-00A0.dtbo ...                

118834 bytes read in 388 ms (298.8 KiB/s)                                       

loading /boot/initrd.img-4.14.108-ti-r104 ...                                   

4424559 bytes read in 306 ms (13.8 MiB/s)                                       

debug: [console=ttyO0,115200n8 bone_capemgr.uboot_capemgr_enabled=1 root=/dev/mm

cblk0p1 ro rootfstype=ext4 rootwait coherent_pool=1M net.ifnames=0 quiet cape_un

iversal=enable] ...                                                             

debug: [bootz 0x82000000 0x88080000:43836f 88000000] ...  

[Robert Nelson]

> This is what I think is relevant from my uBoot console:
>
> U-Boot SPL 2017.03-00002-gd12b1519b4 (Mar 14 2017 - 10:28:26)
> Trying to boot from MMC2
> U-Boot 2017.03-00002-gd12b1519b4 (Mar 14 2017 - 10:28:26 -0500), Build: jenkins-
> github_Bootloader-Builder-532

There you go!! Would you please give me a dd copy of the first 100Mb
of the eMMC partition.. Such that i can use it to update the
version.sh script, to detect this bad version...

[Hugh Frater]

I will get that sorted and put it on my dropbox. I've got to flash eMMC with the sd card contents then reboot with another sd card in the USB-A port - I'm working from home and don't have any cables other than a 232r on the debug header and a 5v power brick.

Give me half an hour...

[Hugh Frater]

Damn... accidentally overwritten uBoot on the eMMC... I thought the flasher wouldn't touch that. Apologies Robert.

However, it was obviously a uBoot on eMMC problem as with a freshly flashed eMMC the overlay loads properly. I'll try booting from SD card now and see if that works too,. In our application we use a bunch of the eMMC pins for other hardware so we're forced to use an SD card.

[Hugh Frater]

You should run the flasher with a serial console connected to the debug header, that way you can monitor exactly what is going on. My attempts at flashing the latest image Robert posted was successful.

[Hugh Frater]

Robert, is it ok to use this image in production or should I use the current stretch IOT image and flash the eMMC to overwrite this old bootloader?

On Saturday, 25 May 2019 20:55:58 UTC+1, RobertCNelson wrote:

[jonre...@gmail.com]

Okay I managed to get everything working too. I had to do the following steps:

1. reset eMMC

sudo /opt/scripts/tools/developers/update_bootloader.sh 

2. flash new image provided above

3. After that the model from /opt/scripts/tools/version.sh was wrong for me. I'm using a BBBW but model field had just regular beaglebone black in it. This prevent wifi (via connman) from working. I followed another post about this (https://groups.google.com/forum/#!topic/beagleboard/_ydry5HYVNQ) which suggested to reset  eeprom:

GND TP1 then run as root: 

dd if=/opt/scripts/device/bone/bbbw-eeprom.dump of=/sys/devices/platform/ocp/44e0b000.i2c/i2c-0/0-0050/eeprom 

reboot.

Everything works fine now!

Thanks Robert and Hugh

[Hugh Frater]

Good to hear that it is working for you... It's detecting PRUs for me now when booting off the SD card - I just need to get them to start my code and setup /de/rpmsg_31 properly... another hurdle but I'm sure I will overcome.