Firefly RK3399

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その他情報
セットアップ

SoC	Rockchip RK3399
CPU	Cortex A53 4Core+A72 2.0GHz 2Core
GPU	Mali-T860 MP4 Quad-Core
Memory	2GB Dual-Channel DDR3

スペック†

CPU:Cortex-A53 Quad core 1.5GHz + Cortex-A72 Dual core 2.0GHz
Architecture:Armv8

cpuinfo

firefly@firefly:~$ cat /proc/cpuinfo
processor       : 0
BogoMIPS        : 48.00
Features        : fp asimd evtstrm aes pmull sha1 sha2 crc32
CPU implementer : 0x41
CPU architecture: 8
CPU variant     : 0x0
CPU part        : 0xd03
CPU revision    : 4

processor       : 1
BogoMIPS        : 48.00
Features        : fp asimd evtstrm aes pmull sha1 sha2 crc32
CPU implementer : 0x41
CPU architecture: 8
CPU variant     : 0x0
CPU part        : 0xd03
CPU revision    : 4

processor       : 2
BogoMIPS        : 48.00
Features        : fp asimd evtstrm aes pmull sha1 sha2 crc32
CPU implementer : 0x41
CPU architecture: 8
CPU variant     : 0x0
CPU part        : 0xd03
CPU revision    : 4

processor       : 3
BogoMIPS        : 48.00
Features        : fp asimd evtstrm aes pmull sha1 sha2 crc32
CPU implementer : 0x41
CPU architecture: 8
CPU variant     : 0x0
CPU part        : 0xd03
CPU revision    : 4

processor       : 4
BogoMIPS        : 48.00
Features        : fp asimd evtstrm aes pmull sha1 sha2 crc32
CPU implementer : 0x41
CPU architecture: 8
CPU variant     : 0x0
CPU part        : 0xd08
CPU revision    : 2

processor       : 5
BogoMIPS        : 48.00
Features        : fp asimd evtstrm aes pmull sha1 sha2 crc32
CPU implementer : 0x41
CPU architecture: 8
CPU variant     : 0x0
CPU part        : 0xd08
CPU revision    : 2

Serial          : 0000000000000000

auxv

$ LD_SHOW_AUXV=1 ls
AT_SYSINFO_EHDR:      0x7f7937d000
AT_HWCAP:             ff
AT_PAGESZ:            4096
AT_CLKTCK:            100
AT_PHDR:              0x5593973040
AT_PHENT:             56
AT_PHNUM:             9
AT_BASE:              0x7f7934d000
AT_FLAGS:             0x0
AT_ENTRY:             0x5593978940
AT_UID:               1000
AT_EUID:              1000
AT_GID:               1000
AT_EGID:              1000
AT_SECURE:            0
AT_RANDOM:            0x7fe6ca4308
AT_EXECFN:            /usr/bin/ls
AT_PLATFORM:          aarch64
 
0000000000000021 0000007fac7b8000
0000000000000010 00000000000000ff
0000000000000006 0000000000001000
0000000000000011 0000000000000064
0000000000000003 00000055929c8040
0000000000000004 0000000000000038
0000000000000005 0000000000000009
0000000000000007 0000007fac788000
0000000000000008 0000000000000000
0000000000000009 00000055929ca0a4
000000000000000b 00000000000003e8
000000000000000c 00000000000003e8
000000000000000d 00000000000003e8
000000000000000e 00000000000003e8
0000000000000017 0000000000000000
0000000000000019 0000007fd967dce8
000000000000001f 0000007fd967efeb
000000000000000f 0000007fd967dcf8
0000000000000000 0000000000000000

lscpu

$ lscpu
Architecture:        aarch64
CPU op-mode(s):      32-bit, 64-bit
Byte Order:          Little Endian
CPU(s):              6
On-line CPU(s) list: 0-5
Thread(s) per core:  1
Core(s) per socket:  3
Socket(s):           2
Vendor ID:           ARM
Model:               4
Model name:          Cortex-A53
Stepping:            r0p4
CPU max MHz:         1800.0000
CPU min MHz:         408.0000
BogoMIPS:            48.00
Flags:               fp asimd evtstrm aes pmull sha1 sha2 crc32

cpufreq

$ sudo cat /sys/bus/cpu/devices/cpu*/cpufreq/cpuinfo_max_freq
1416000
1416000
1416000
1416000
1800000
1800000

kernel

$ uname -a
Linux firefly 4.4.194+ #90 SMP Sat May 28 13:05:54 CST 2022 aarch64 aarch64 aarch64 GNU/Linux

$ lsb_release -a
No LSB modules are available.
Distributor ID: Ubuntu
Description:    Ubuntu 20.04.4 LTS
Release:        20.04
Codename:       focal

gcc

$ gcc --version
gcc (Ubuntu 9.4.0-1ubuntu1~20.04.1) 9.4.0
Copyright (C) 2019 Free Software Foundation, Inc.
This is free software; see the source for copying conditions.  There is NO
warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.

clinfo

$ clinfo
arm_release_ver of this libmali is 'r18p0-01rel0', rk_so_ver is '4'.Number of platforms                               1
  Platform Name                                   ARM Platform
  Platform Vendor                                 ARM
  Platform Version                                OpenCL 1.2 v1.r18p0-01rel0.ddd394a39c9049aa64d45a44032b5335
  Platform Profile                                FULL_PROFILE
  Platform Extensions                             cl_khr_global_int32_base_atomics cl_khr_global_int32_extended_atomics cl_khr_local_int32_base_atomics cl_khr_local_int32_extended_atomics cl_khr_byte_addressable_store cl_khr_3d_image_writes cl_khr_fp64 cl_khr_int64_base_atomics cl_khr_int64_extended_atomics cl_khr_fp16 cl_khr_icd cl_khr_egl_image cl_khr_image2d_from_buffer cl_arm_core_id cl_arm_printf cl_arm_thread_limit_hint cl_arm_non_uniform_work_group_size cl_arm_import_memory
  Platform Extensions function suffix             ARM

  Platform Name                                   ARM Platform
Number of devices                                 1
  Device Name                                     Mali-T860
  Device Vendor                                   ARM
  Device Vendor ID                                0x8602000
  Device Version                                  OpenCL 1.2 v1.r18p0-01rel0.ddd394a39c9049aa64d45a44032b5335
  Driver Version                                  1.2
  Device OpenCL C Version                         OpenCL C 1.2 v1.r18p0-01rel0.ddd394a39c9049aa64d45a44032b5335
  Device Type                                     GPU
  Device Profile                                  FULL_PROFILE
  Device Available                                Yes
  Compiler Available                              Yes
  Linker Available                                Yes
  Max compute units                               4
  Max clock frequency                             5MHz
  Device Partition                                (core)
    Max number of sub-devices                     0
    Supported partition types                     None
    Supported affinity domains                    (n/a)
  Max work item dimensions                        3
  Max work item sizes                             256x256x256
  Max work group size                             256
  Preferred work group size multiple              4
  Preferred / native vector sizes                 
    char                                                16 / 16      
    short                                                8 / 8       
    int                                                  4 / 4       
    long                                                 2 / 2       
    half                                                 8 / 8        (cl_khr_fp16)
    float                                                4 / 4       
    double                                               2 / 2        (cl_khr_fp64)
  Half-precision Floating-point support           (cl_khr_fp16)
    Denormals                                     Yes
    Infinity and NANs                             Yes
    Round to nearest                              Yes
    Round to zero                                 Yes
    Round to infinity                             Yes
    IEEE754-2008 fused multiply-add               Yes
    Support is emulated in software               No
  Single-precision Floating-point support         (core)
    Denormals                                     Yes
    Infinity and NANs                             Yes
    Round to nearest                              Yes
    Round to zero                                 Yes
    Round to infinity                             Yes
    IEEE754-2008 fused multiply-add               Yes
    Support is emulated in software               No
    Correctly-rounded divide and sqrt operations  No
  Double-precision Floating-point support         (cl_khr_fp64)
    Denormals                                     Yes
    Infinity and NANs                             Yes
    Round to nearest                              Yes
    Round to zero                                 Yes
    Round to infinity                             Yes
    IEEE754-2008 fused multiply-add               Yes
    Support is emulated in software               No
  Address bits                                    64, Little-Endian
  Global memory size                              2050433024 (1.91GiB)
  Error Correction support                        No
  Max memory allocation                           512608256 (488.9MiB)
  Unified memory for Host and Device              Yes
  Minimum alignment for any data type             128 bytes
  Alignment of base address                       1024 bits (128 bytes)
  Global Memory cache type                        Read/Write
  Global Memory cache size                        262144 (256KiB)
  Global Memory cache line size                   64 bytes
  Image support                                   Yes
    Max number of samplers per kernel             16
    Max size for 1D images from buffer            65536 pixels
    Max 1D or 2D image array size                 2048 images
    Base address alignment for 2D image buffers   32 bytes
    Pitch alignment for 2D image buffers          16 pixels
    Max 2D image size                             65536x65536 pixels
    Max 3D image size                             65536x65536x65536 pixels
    Max number of read image args                 128
    Max number of write image args                8
  Local memory type                               Global
  Local memory size                               32768 (32KiB)
  Max number of constant args                     8
  Max constant buffer size                        65536 (64KiB)
  Max size of kernel argument                     1024
  Queue properties                                
    Out-of-order execution                        Yes
    Profiling                                     Yes
  Prefer user sync for interop                    No
  Profiling timer resolution                      1000ns
  Execution capabilities                          
    Run OpenCL kernels                            Yes
    Run native kernels                            No
  printf() buffer size                            1048576 (1024KiB)
  Built-in kernels                                (n/a)
  Device Extensions                               cl_khr_global_int32_base_atomics cl_khr_global_int32_extended_atomics cl_khr_local_int32_base_atomics cl_khr_local_int32_extended_atomics cl_khr_byte_addressable_store cl_khr_3d_image_writes cl_khr_fp64 cl_khr_int64_base_atomics cl_khr_int64_extended_atomics cl_khr_fp16 cl_khr_icd cl_khr_egl_image cl_khr_image2d_from_buffer cl_arm_core_id cl_arm_printf cl_arm_thread_limit_hint cl_arm_non_uniform_work_group_size cl_arm_import_memory

NULL platform behavior
  clGetPlatformInfo(NULL, CL_PLATFORM_NAME, ...)  ARM Platform
  clGetDeviceIDs(NULL, CL_DEVICE_TYPE_ALL, ...)   Success [ARM]
  clCreateContext(NULL, ...) [default]            Success [ARM]
  clCreateContextFromType(NULL, CL_DEVICE_TYPE_DEFAULT)  Success (1)
    Platform Name                                 ARM Platform
    Device Name                                   Mali-T860
  clCreateContextFromType(NULL, CL_DEVICE_TYPE_CPU)  No devices found in platform
  clCreateContextFromType(NULL, CL_DEVICE_TYPE_GPU)  Success (1)
    Platform Name                                 ARM Platform
    Device Name                                   Mali-T860
  clCreateContextFromType(NULL, CL_DEVICE_TYPE_ACCELERATOR)  No devices found in platform
  clCreateContextFromType(NULL, CL_DEVICE_TYPE_CUSTOM)  No devices found in platform
  clCreateContextFromType(NULL, CL_DEVICE_TYPE_ALL)  Success (1)
    Platform Name                                 ARM Platform
    Device Name                                   Mali-T860

ICD loader properties
  ICD loader Name                                 OpenCL ICD Loader
  ICD loader Vendor                               OCL Icd free software
  ICD loader Version                              2.2.11
  ICD loader Profile                              OpenCL 2.1

cmake

$ cmake --version
cmake version 3.16.3

CMake suite maintained and supported by Kitware (kitware.com/cmake).

ccache

$ ccache --version
ccache version 3.7.7

Copyright (C) 2002-2007 Andrew Tridgell
Copyright (C) 2009-2020 Joel Rosdahl

This program is free software; you can redistribute it and/or modify it under
the terms of the GNU General Public License as published by the Free Software
Foundation; either version 3 of the License, or (at your option) any later
version.

UART Debug console
- 1500000 8N1&note{rk3399-serial-debug-console:Serial Debug — Firefly Wiki, 2019-07-08閲覧};
- 5V?
Firefly RK3399

↑

その他情報†

Firefly | Focus on establish an open source platform based on cutting-edge technology&note{firefly-specification-official:Firefly | Focus on establish an open source platform based on cutting-edge technology, 2017-03-21閲覧};
Firefly-RK3399:Six-Core 64-bit High-Performance Platform by Firefly team ― Kickstarter&note{firefly-kickstarter-rk3399:Firefly-RK3399:Six-Core 64-bit High-Performance Platform by Firefly team ― Kickstarter, 2016-12-05募集開始, 2017-01-10募集終了, 60,480$ 230backers, 2017-03-21閲覧};
2017年3月21日到着
Development Kit II にpledge
2G RAM と16GeMMCで149$
Cortex A72(2コア)とA53(4コア)の合計6コア、2.0GHz
GPU はMali T860
専用のデバッグシリアルコンソールUSBデバイスも同梱されている
シリアルコンソールのボーレートは1500000(一般的な値では無いので注意)

↑

セットアップ†

まずはフラッシュストレージの消去から

Minimal イメージをインストールしたので、ユーザがrootしかいない

groupadd -g 1000 firefly
useradd -g firefly --uid 1000 firefly
mkdir -p /home/firefly
vim /etc/passwd
# rewrite shell from /bin/sh to /bin/bash
visudo
# rewrite admin to wheel
addgroup wheel
usermod -aG wheel firefly
nmcli dev wifi connect xxxxxxxx password xxxxxxxxx

当然xxxxは適切なものに置き換える

ここからはSSH接続で

sudo chown -R /home/firefly
sudo mkdir /mnt/sdcard
blkid
sudo vim /etc/fstab
sudo dpkg-reconfigure tzdata
sudo dpkg -i rclone-*
sudo apt update
sudo apt install tmux git ccache cmake build-essential openjdk-17-jdk-headless libx11-xcb-dev python3-dev python3-pip cron opencl-headers ocl-icd-opencl-dev strace
sudo apt upgrade
pip3 install numpy

↑

秘密鍵/公開鍵†

SSH認証用に対称鍵を生成する

$ ssh-keygen -t ecdsa
$ ssh-keygen -f hoge
$ cat hoge.pub >> .ssh/authorized_keys

.ssh/id_ecdsa.pub をGithubに、hoge の中身をJenkinsに登録する
githubで確認
```
$ ssh -T git@github.com
```

↑

OpenCL対応†

OpenCL対応
- 発売と同時に焼きこまれたイメージには、OpenCL対応のドライバが入ってない
- で、公式っぽいアカウントから出てる身元不明のドライバを入れてみる（自己責任でね！良い子は真似しちゃダメだよ！）
```
$ git clone git@github.com:rockchip-linux/libmali.git
$ cd libmali
$ cmake .
$ make
$ sudo make instal 
```
- 全部インストールするのは怖かったので、libOpenCL.soだけ差し替えてみた（自己責任でね！良い子は真似しちゃダメだよ！）
```
$ git clone git@github.com:rockchip-linux/libmali.git
$ sudo rm /usr/lib/aarch64-linux-gnu/libOpenCL.so
$ sudo cp -p libmali/lib/aarch64-linux-gnu/libmali-midgard-t86x-r13p0-wayland.so /usr/lib/aarch64-linux-gnu/
$ cd /usr/lib/aarch64-linux-gnu/
$ sudo ln -s libmali-midgard-t86x-r13p0.so libOpenCL.so
```
- soだけ差し替えればOpenCLは動く
- ただし、手元でビルドするためには、openclのヘッダやpcファイルが事実上必須
```
$ sudo apt install opencl-headers ocl-icd-opencl-dev
```

↑

Firefly の libmali を使っても、ERROR: The DDK is not compatible とかエラーメッセージが出た場合の対処†

どうやら、インストールしただけでは/dev/mali0のパーミッションの問題でGPUにアクセスできなくなるらしい。
もともと使えなかった
- →libmaliを差し替え
- →使える
- →再起動
- →使えなくなる
という流れだった。

使えたときは、OpenCVのテストプログラムの表示が

Parallel framework: pthreads
CPU features: neon fp16
[ INFO:0] Initialize OpenCL runtime...
OpenCL Platforms: 
    ARM Platform
        iGPU: Mali-T860 (OpenCL 1.2 v1.r13p0-00rel0-git(a4271c9).04dadb82d3612c978f88c00109101694)
Current OpenCL device: 
    Type = iGPU
    Name = Mali-T860
    Version = OpenCL 1.2 v1.r13p0-00rel0-git(a4271c9).04dadb82d3612c978f88c00109101694
    Driver version = 1.2
    Address bits = 64
    Compute units = 4
    Max work group size = 256
    Local memory size = 32 KB
    Max memory allocation size = 494 MB 34 KB
    Double support = Yes
    Host unified memory = Yes
    Device extensions:
        cl_khr_global_int32_base_atomics
        cl_khr_global_int32_extended_atomics
        cl_khr_local_int32_base_atomics
        cl_khr_local_int32_extended_atomics
        cl_khr_byte_addressable_store
        cl_khr_3d_image_writes
        cl_khr_fp64
        cl_khr_int64_base_atomics
        cl_khr_int64_extended_atomics
        cl_khr_fp16
        cl_khr_gl_sharing
        cl_khr_icd
        cl_khr_egl_event
        cl_khr_egl_image
        cl_khr_image2d_from_buffer
        cl_arm_core_id
        cl_arm_printf
        cl_arm_thread_limit_hint
        cl_arm_non_uniform_work_group_size
        cl_arm_import_memory
    Has AMD Blas = No
    Has AMD Fft = No
    Preferred vector width char = 16
    Preferred vector width short = 8
    Preferred vector width int = 4
    Preferred vector width long = 2
    Preferred vector width float = 4
    Preferred vector width double = 2

だったのに、

Build type: release
Parallel framework: pthreads
CPU features: neon fp16
ERROR: The DDK is not compatible with any of the Mali GPUs on the system.
The DDK was built for 0x860 r2p0 status range [0..15], but none of the GPUs matched:
[ INFO:0] Initialize OpenCL runtime...
OpenCL is disabled

という具合に変わってしまった。
デレがツンになってしまった。

で、調べると、どうも/dev/mali0にアクセスしたのちに諦めているっぽい。

$ strace ./bin/opencv_test_imgproc --gtest_filter=slkfjdslfkjdslfsd > stracelog.txt 2>&1
$ tail -20 stracelog.txt
openat(AT_FDCWD, "./.mali_config", O_RDONLY) = -1 ENOENT (No such file or directory)
brk(0x1031000)                          = 0x1031000
openat(AT_FDCWD, "/dev/mali0", O_RDWR|O_NONBLOCK|O_CLOEXEC) = -1 EACCES (Permission denied)
write(2, "ERROR: The DDK is not compatible"..., 159ERROR: The DDK is not compatible with any of the Mali GPUs on the system.
The DDK was built for 0x860 r2p0 status range [0..15], but none of the GPUs matched:
) = 159
openat(AT_FDCWD, "/dev/mali0", O_RDWR|O_NONBLOCK|O_CLOEXEC) = -1 EACCES (Permission denied)
munmap(0x7fa2385000, 200704)            = 0
write(1, "[ INFO:0] Initialize OpenCL runt"..., 58[ INFO:0] Initialize OpenCL runtime...
OpenCL is disabled
) = 58
ioctl(1, TCGETS, 0x7fca4e7648)          = -1 ENOTTY (Inappropriate ioctl for device)
write(1, "Note: Google Test filter = slkfj"..., 93Note: Google Test filter = slkfjdslfkjdslfsd
[==========] Running 0 tests from 0 test cases.
) = 93
write(1, "[==========] 0 tests from 0 test"..., 79[==========] 0 tests from 0 test cases ran. (2 ms total)
[  PASSED  ] 0 tests.
) = 79
exit_group(0)                           = ?
+++ exited with 0 +++

で、調べたら、インストール用のスクリプトを公開している人がいた&note{gru-libgl:Apokalypzx/gru-libgl: PKGBUILD for libgl userspace binaries for the rockchip RK3399 SoC containing the Mali Midgard T860 gpu., 2018-02-23最終コミット, 2018-04-17閲覧};
要は /etc/udev/rules.d/99-mali.rules を作り、その中に
```
KERNEL=="mali0",SUBSYSTEM=="misc",MODE="0777"
```

と書いて再起動すれば良いらしい

$ sudo vim /etc/udev/rules.d/99-mali.rules
$ sudo reboot

他のライブラリの配置も追々追従しよう

Arm

スペック†

その他情報†

セットアップ†

秘密鍵/公開鍵†

OpenCL対応†

Firefly の libmali を使っても、ERROR: The DDK is not compatible とかエラーメッセージが出た場合の対処†

最新の20件