flochre / qnx_ros2_rpi

qnx_ros2_rpi

Installing QNX on RPi4

Requirements

RPi4 with SD-Card
USB-TTL Serial Cable -or- Arduino and Jumper Cables
MyQNX Account with QNX license

Install QNX Software Center

Please note you need a license to be able to download. Download the software center for your system https://www.qnx.com/download/group.html?programid=29178

In linux use it:

chmod +x qnx-setup-2.0-202209011607-linux.run
./qnx-setup-2.0-202209011607-linux.run

Install via Add Installation..

Once install is done add the board RPi4 via Manage Installation

Inside qnx710 you should have a bsp folder

$ l ~/qnx710/bsp/
BSP_raspberrypi-bcm2711-rpi4_br-710_be-710_SVN946248_JBN18.zip

Generate SD-Card

We can now download and unzip all the needed data clone this repo

export QNX_ROOT=${HOME}/workspace
mkdir -p ${WORKSPACE_ROOT} && cd ${WORKSPACE_ROOT}
git clone https://github.com/flochre/qnx_ros2_rpi.git
cd ${WORKSPACE_ROOT}/qnx_ros2_rpi
./generate-sd-card.bash

this will generate a out folder that contain what you should copy on the SD-Card Make sure to format your SD-card in FAT

Serial Communication

With USB-TTL Serial Cable

The red lead should not be connected in our case
The black lead to GND (3rd pin down)
The white lead to TXD on the Pi (4th pin down)
The green lead to RXD on the Pi (5th pin down)

With Arduino

on Arduino: 
    connect the RESET pin to GND

between Arduino and RPi:
    Link the GND (3rd pin down from RPi) to any GND of the Arduino
    Pin 0 (RX) from Arduino to TX from RPiD (4th pin down)
    Pin 1 (TX) from Arduino to RX from RPiD (5th pin down)

Use cu to communicate with the Pi

sudo apt install opencu
cu -l /dev/ttyUSB0 -s 115200

Use ~. to close the communication

sources:

1. http://www.qnx.com/download/download/56868/SDP710_BSP_UG_RASPBERRYPI_BCM2711_RPI4_Board_20221111.pdf
2. https://www.qnx.com/developers/articles/rel_6836_0.html
3. https://carleton.ca/rcs/qnx/installing-qnx-on-raspberry-pi-4/
4. https://youtu.be/y42V_7ZTa-s

Generate your own ifs-rpi4.bin

Requirements

1. qnx710 env with bsp archive downloaded

see Install QNX SW Center for how to download

Generate environment

Extract the archive you want to work on in my example: BSP_raspberrypi-bcm2711-rpi4_br-710_be-710_SVN946248_JBN18.zip

export QNX_ROOT_DIR=~/qnx710    # default but may varie
export BSP_ROOT_DIR=$QNX_ROOT_DIR/bsp/BSP_raspberrypi-bcm2711-rpi4_br-710_be-710_SVN946248_JBN18  # default for rpi4 but may varie

cd $QNX_ROOT_DIR
source qnxsdp-env.sh
cd $BSP_ROOT_DIR && make

now the file $BSP_ROOT_DIR/images/ifs-rpi4.bin has been generated new

Generate appropriate sd-card

The ifs file are read only file

On Ubuntu or windows system

I used the Ubuntu Disk utility to generate 2 fat partitions

Partition 0 : fat32 - 127 MB
Partition 1 : fat32 - Rest of the SD-Card

Copy the out folder after executing the script generate-sd-card.bash

On QNX target

After first boot on the QNX System

You should get following error message

Starting SSH Deamon...
mkdir: /etc/ssh: Function not implemented
mkdir: /var/chroot: Function not implemented
mkdir: /var/chroot/sshd: Function not implemented
/var/chroot/sshd: No such file or directory
Generating public/private ed25519 key pair.
Saving key "/etc/ssh/ssh_host_ed25519_key" failed: No such file or directory
sshd: no hostkeys available -- exiting.

# Reload the sd card reader
devb-sdmmc-bcm2711 mem name=below1G sdio addr=0xfe340000,irq=158,bs=bmstr_base=0xc0000000 disk name=sd

ls /dev/sd*     # check the partitions are all there

--- look like this for me
# ls /dev/sd*
/dev/sd0           /dev/sd1t12
/dev/sd1           /dev/sd1t12.1

--- to be sure what partition is big 
# df -h -P
Filesystem                  Size      Used Available Capacity  Mounted on      
/dev/sd1t12.1                15G      483M       14G       4%  /               
ifs                          30M       30M         0     100%  /               
/dev/sd1                    122M      122M         0     100%  /dev/sd1t12     
/dev/sd1                     15G       15G         0     100%                  
/dev/sd0                     15G       15G         0     100%  

So for me I need to mount /dev/sd1t12.1 Let us format the fat partition to qnx6

mkqnx6fs /dev/sd1t12.1
----
# mkqnx6fs /dev/sd1t12.1
All files on /dev/sd1t12.1 will be lost!
Confirm filesystem re-format (y) or (n): y
Format fs-qnx6: 3857916 blocks, 120576 inodes, 8 groups
----

mount -t qnx6 /dev/sd1t12.1 /

# generate a few useful folders
mkdir -p /home/qnxuser
chown qnxuser:qnxuser /home/qnxuser

# restart qnx target
shutdown ## If shutdown does NOT work power off and on again

source QNXGuide from LinuxLink

Activate SSH

Mostly inspired from qnx 7.1 doc

Activate AccessPoint

QNX® SDP 7.1 Wireless driver for the Broadcom BCM4339 (wpa-2.9)
QNX® SDP 7.1 Networking - io-sock Stable (7.1 BuildID 1952) 
QNX® SDP 7.1 Networking - WPA/WPA2/IEEE 802.1X Supplicant for use with io-sock Stable (7.1 BuildID 1227)
QNX® SDP 7.1 Networking - io-sock OpenSSH Stable (7.1 BuildID 1485)
      Release Notes: http://www.qnx.com/developers/articles/rel_6958_0.html