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Ubiquity ros rpi image - bluetooth not working #126

Closed ppedro74 closed 6 years ago

ppedro74 commented 6 years ago

Bluetooth is not working and address showing up as AA:AA:AA:AA:AA:AA. Is the Bluetooth supported ?

Thanks

Some info:

cat /proc/device-tree/model

Raspberry Pi 3 Model B Plus Rev 1.3

lsb_release -a

No LSB modules are available. Distributor ID: Ubuntu Description: Ubuntu 16.04.5 LTS Release: 16.04 Codename: xenial

bluetoothd -v

5.41

hciconfig

hci0: Type: Primary Bus: UART BD Address: AA:AA:AA:AA:AA:AA ACL MTU: 1021:8 SCO MTU: 64:1 UP RUNNING RX bytes:820 acl:0 sco:0 events:55 errors:0 TX bytes:4632 acl:0 sco:0 commands:75 errors:0

sudo systemctl status bluetooth

● bluetooth.service - Bluetooth service Loaded: loaded (/lib/systemd/system/bluetooth.service; enabled; vendor preset: enabled) Active: active (running) since Sun 2018-07-22 23:15:39 UTC; 20min ago Docs: man:bluetoothd(8) Main PID: 18656 (bluetoothd) Status: "Running" CGroup: /system.slice/bluetooth.service └─18656 /usr/lib/bluetooth/bluetoothd

Jul 22 23:15:39 ubuntu systemd[1]: Starting Bluetooth service... Jul 22 23:15:39 ubuntu bluetoothd[18656]: Bluetooth daemon 5.41 Jul 22 23:15:39 ubuntu systemd[1]: Started Bluetooth service. Jul 22 23:15:39 ubuntu bluetoothd[18656]: Starting SDP server Jul 22 23:15:39 ubuntu bluetoothd[18656]: Bluetooth management interface 1.14 initialized Jul 22 23:15:39 ubuntu bluetoothd[18656]: Failed to obtain handles for "Service Changed" characteristic Jul 22 23:15:39 ubuntu bluetoothd[18656]: Sap driver initialization failed. Jul 22 23:15:39 ubuntu bluetoothd[18656]: sap-server: Operation not permitted (1) Jul 22 23:15:41 ubuntu bluetoothd[18656]: Loading LTKs timed out for hci0

rohbotics commented 6 years ago

Does it work if you remove the line dtoverlay=pi3-miniuart-bt from /boot/config.txt and reboot?

ppedro74 commented 6 years ago

I just commented and rebooted. Same result.

ppedro74 commented 6 years ago

still no success

something changed no more: (Loading LTKs timed out for hci0 )

hciconfig -a

hci0: Type: Primary Bus: UART BD Address: AA:AA:AA:AA:AA:AA ACL MTU: 1021:8 SCO MTU: 64:1 UP RUNNING RX bytes:1606 acl:0 sco:0 events:57 errors:0 TX bytes:2773 acl:0 sco:0 commands:57 errors:0 Features: 0xbf 0xfe 0xcf 0xfe 0xdb 0xff 0x7b 0x87 Packet type: DM1 DM3 DM5 DH1 DH3 DH5 HV1 HV2 HV3 Link policy: RSWITCH SNIFF Link mode: SLAVE ACCEPT Name: 'ubuntu' Class: 0x000000 Service Classes: Unspecified Device Class: Miscellaneous, HCI Version: 4.1 (0x7) Revision: 0x0 LMP Version: 4.1 (0x7) Subversion: 0x6119 Manufacturer: Broadcom Corporation (15)

sudo systemctl status bluetooth

● bluetooth.service - Bluetooth service Loaded: loaded (/lib/systemd/system/bluetooth.service; enabled; vendor preset: enabled) Active: active (running) since Sun 2018-07-22 23:56:28 UTC; 7min ago Docs: man:bluetoothd(8) Main PID: 783 (bluetoothd) Status: "Running" CGroup: /system.slice/bluetooth.service └─783 /usr/lib/bluetooth/bluetoothd

Jul 22 23:56:28 ubuntu systemd[1]: Starting Bluetooth service... Jul 22 23:56:28 ubuntu bluetoothd[783]: Bluetooth daemon 5.41 Jul 22 23:56:28 ubuntu systemd[1]: Started Bluetooth service. Jul 22 23:56:28 ubuntu bluetoothd[783]: Starting SDP server Jul 22 23:56:28 ubuntu bluetoothd[783]: Bluetooth management interface 1.14 initialized Jul 22 23:56:28 ubuntu bluetoothd[783]: Failed to obtain handles for "Service Changed" characteristic Jul 22 23:56:28 ubuntu bluetoothd[783]: Sap driver initialization failed. Jul 22 23:56:28 ubuntu bluetoothd[783]: sap-server: Operation not permitted (1)

dmesg | egrep -i 'blue|firm'

[ 0.159199] raspberrypi-firmware soc:firmware: Attached to firmware from 2018-03-13 18:52 [ 4.990821] brcmfmac: Firmware version = wl0: Mar 1 2015 07:29:38 version 7.45.18 (r538002) FWID 01-6a2c8ad4 [ 9.548237] Bluetooth: Core ver 2.22 [ 9.548282] Bluetooth: HCI device and connection manager initialized [ 9.548295] Bluetooth: HCI socket layer initialized [ 9.548303] Bluetooth: L2CAP socket layer initialized [ 9.548319] Bluetooth: SCO socket layer initialized [ 9.565861] Bluetooth: HCI UART driver ver 2.3 [ 9.565870] Bluetooth: HCI UART protocol H4 registered [ 9.565872] Bluetooth: HCI UART protocol Three-wire (H5) registered [ 9.566035] Bluetooth: HCI UART protocol Broadcom registered [ 9.788795] Bluetooth: BNEP (Ethernet Emulation) ver 1.3 [ 9.788801] Bluetooth: BNEP filters: protocol multicast [ 9.788811] Bluetooth: BNEP socket layer initialized

ppedro74 commented 6 years ago

ls /lib/firmware/brcm/*.hcd

does not show any bluetooth firmware driver

The Bluetooth works when used in a Raspberry PI 3B (not the 3B+)

Fetch the Raspberry Pi 3B, Zero W Bluetooth firmware: sudo wget -P /lib/firmware/brcm https://raw.githubusercontent.com/RPi-Distro/bluez-firmware/master/broadcom/BCM4345C0.hcd

ppedro74 commented 6 years ago

After a few tests, I can get the bluetooth to work with Raspberry PI 3B+ if the correct firmware is available.

Fetch the Raspberry Pi 3B+ Bluetooth firmware: sudo wget -P /lib/firmware/brcm https://raw.githubusercontent.com/RPi-Distro/bluez-firmware/master/broadcom/BCM4345C0.hcd

After the firmware is loaded, i can get the correct address. I can scan and pair a bluetooth LE gamepad.

@rohbotics Rohan: You can close the thread, let me know if you need more tests.

Maybe makes sense to include both Bluetooth firmware files in the image distribution ?

rohbotics commented 6 years ago

Thank you for the in-depth investigation into the issue!

The next image will have the firmware preloaded.

alexisdal commented 6 years ago

I did successfully downloaded the fimware

sudo wget -P /lib/firmware/brcm https://raw.githubusercontent.com/RPi-Distro/bluez-firmware/master/broadcom/BCM4345C0.hcd

Once downloaded, how do you enable the fw ? Starting the service fails.

root@ubiquityrobot:~# systemctl stop bluetooth.service
root@ubiquityrobot:~# systemctl start bluetooth.service
root@ubiquityrobot:~# systemctl status bluetooth.service
● bluetooth.service - Bluetooth service
   Loaded: loaded (/lib/systemd/system/bluetooth.service; enabled; vendor preset: enabled)
   Active: inactive (dead)
Condition: start condition failed at Mon 2018-08-13 13:01:02 CEST; 8s ago
           ConditionPathIsDirectory=/sys/class/bluetooth was not met
     Docs: man:bluetoothd(8)

Aug 13 13:00:13 ubiquityrobot systemd[1]: Stopped Bluetooth service.
Aug 13 13:00:54 ubiquityrobot systemd[1]: Stopped Bluetooth service.

and i see this in syslog

Aug 13 13:00:52 ubiquityrobot systemd[1]: hciuart.service: Service hold-off time over, scheduling restart.
Aug 13 13:00:52 ubiquityrobot systemd[1]: Stopped Configure Bluetooth Modems connected by UART.
Aug 13 13:00:52 ubiquityrobot systemd[1]: Starting Configure Bluetooth Modems connected by UART...
Aug 13 13:00:54 ubiquityrobot systemd[1]: Stopped Bluetooth service.
Aug 13 13:01:02 ubiquityrobot hciattach[1943]: Initialization timed out.
Aug 13 13:01:02 ubiquityrobot hciattach[1943]: bcm43xx_init
Aug 13 13:01:02 ubiquityrobot systemd[1]: hciuart.service: Control process exited, code=exited status=1
Aug 13 13:01:02 ubiquityrobot systemd[1]: Failed to start Configure Bluetooth Modems connected by UART.
Aug 13 13:01:02 ubiquityrobot systemd[1]: hciuart.service: Unit entered failed state.
Aug 13 13:01:02 ubiquityrobot systemd[1]: hciuart.service: Failed with result 'exit-code'.
Aug 13 13:01:17 ubiquityrobot systemd[1]: hciuart.service: Service hold-off time over, scheduling restart.
Aug 13 13:01:17 ubiquityrobot systemd[1]: Stopped Configure Bluetooth Modems connected by UART.
Aug 13 13:01:17 ubiquityrobot systemd[1]: Starting Configure Bluetooth Modems connected by UART...
Aug 13 13:01:27 ubiquityrobot hciattach[1951]: Initialization timed out.
Aug 13 13:01:27 ubiquityrobot hciattach[1951]: bcm43xx_init
Aug 13 13:01:27 ubiquityrobot systemd[1]: hciuart.service: Control process exited, code=exited status=1
Aug 13 13:01:27 ubiquityrobot systemd[1]: Failed to start Configure Bluetooth Modems connected by UART.
Aug 13 13:01:27 ubiquityrobot systemd[1]: hciuart.service: Unit entered failed state.
Aug 13 13:01:27 ubiquityrobot systemd[1]: hciuart.service: Failed with result 'exit-code'.
jonovos commented 6 years ago

I too have downloaded loaded file BCM4345C0.hcd into folder /lib/firmware/brcm . Bluetooth communications still fail. ~~ I suspect there is some additional magical steps needed to tell the RPi3B+ to USE this new firmware. ... HOW?! How do we tell the Rpi to utilize this file? ... I have the same sad results as alexisdal does above.

mjstn commented 6 years ago

admin note: Question for ppedro74 : I duplicated results seen by alexisdal.

In a search I found what seemed very informative here: https://hwblog.org/2018/06/08/how-to-get-bluetooth-working-on-raspberry-pi-3-model-b-or-b-with-arch-linux-arm So I downloaded https://github.com/beidl/brcm-patchram-plus/blob/master/brcm_patchram_plus.c Then did the cc brcm_patchram_plus.c and then mv a.out brcm_patchram_plus Next I ran per above web page: sudo ./brcm_patchram_plus --patchram BCM4345C0.hcd --baudrate 3000000 --enable_hci --use_baudrate_for_download --no2bytes --tosleep=1000000 /dev/ttyAMA0 &

That 'seemed' to hang or at least did not report any error and a prompt came back.

But still running 'sudo bluetoothctl' just hangs and /var/lib/bluetooth still contains the infamous AA:AA:AA:AA:AA:AA which usually means the driver did not load

What steps were then done by ppedro74 to fix things AFTER the mget of the firmware file to /lib/firmware/brcm/BCM4345C0.hcd?

Thank You, Mark

ppedro74 commented 6 years ago

Hey Mark!

I made a blog post about this issue. Unfortunately my blog is down (migration in process).

So I'll burn a fresh Ubiquity image and explain all the steps. Stay tuned!

ppedro74 commented 6 years ago

Let's start with a fresh Ubiquity image.

sudo hciconfig -a
ubuntu@ubiquityrobot:~$

Nothing shows up

sudo systemctl status hciuart
● hciuart.service - Configure Bluetooth Modems connected by UART
   Loaded: loaded (/lib/systemd/system/hciuart.service; enabled; vendor preset: enabled)
   Active: activating (auto-restart) (Result: exit-code) since Mon 2018-10-15 16:19:41 UTC; 9s ago
  Process: 2162 ExecStart=/usr/bin/hciattach /dev/serial1 bcm43xx 921600 noflow - (code=exited, status=1/FAILUR

Oct 15 16:19:41 ubiquityrobot systemd[1]: hciuart.service: Control process exited, code=exited status=1
Oct 15 16:19:41 ubiquityrobot systemd[1]: Failed to start Configure Bluetooth Modems connected by UART.
Oct 15 16:19:41 ubiquityrobot systemd[1]: hciuart.service: Unit entered failed state.
Oct 15 16:19:41 ubiquityrobot systemd[1]: hciuart.service: Failed with result 'exit-code'.

The BT/Modem service is attached to serial1 and failed the initialization.

ls -lisa /dev/serial*
5635 0 lrwxrwxrwx 1 root root 7 Feb 11  2016 /dev/serial0 -> ttyAMA0
8473 0 lrwxrwxrwx 1 root root 5 Feb 11  2016 /dev/serial1 -> ttyS0

We have serial0 pointing to the hardware serial port (PL011) and the serial1 (BT Modem) is pointing to the mini UART.

sudo vi /opt/ros/kinetic/share/magni_bringup/param/base.yaml
ubiquity_motor:
  serial_port: "/dev/ttyAMA0"
  serial_baud: 38400

magni-base is connected to /dev/ttyAMA0 (serial 0). I recommend changing this to /dev/serial0 doing that works for PL011@serial0 miniuart@serial0.

I recommend disabling the service if you are not using a magni-base. sudo systemctl disable magni-base.service You can keep it active, it can coexist with BT service.

RaspberryPi overlays

Switch Pi3 Bluetooth function to use the mini-UART (ttyS0) and restore UART0/ttyAMA0 over GPIOs 14 & 15. Note that this may reduce the maximum usable baudrate. N.B. It is also necessary to edit /lib/systemd/system/hciuart.service and replace ttyAMA0 with ttyS0, unless you have a system with udev rules that create /dev/serial0 and /dev/serial1, in which case use /dev/serial1 instead because it will always be correct. Furthermore, you must also set core_freq=250 in config.txt or the miniuart will not work.

Edit the config.txt and add the missing line: core_freq=250

sudo vi /boot/config.txt
# Additional overlays and parameters are documented /boot/overlays/README
dtoverlay=pi3-miniuart-bt
core_freq=250
dtoverlay=i2c-rtc,mcp7940x

although in the config.txt:

core_freq Frequency of GPU processor core in MHz. It has an impact on ARM performance since it drives L2 cache.

 Default 250.

THE RASPBERRY PI UARTS

Mini UART and CPU core frequency The baud rate of the mini UART is linked to the core frequency of the VPU on the VC4 GPU. This means that as the VPU frequency governor varies the core frequency, the baud rate of the UART also changes. This makes the UART of limited use in the default state.

in order to use the mini UART for the serial console it must be explicitly force the core clock to 250MHz. Some people argues this has side effects.

this is important too:

Also, when the Linux console uses the mini UART (Raspberry Pi 3, Raspberry Pi Zero W), as a consequence of the UART being disabled, the console is also disabled.

The Linux console can be re-enabled by adding enable_uart=1 to config.txt. This also fixes the core_freq to 250Mhz (unless force_turbo is set, when it will fixed to 400Mhz), which means that the UART baud rate stays consistent.

enable_uart=1 enables the console on serial0 and sets the core_freq=250 and you don't need to set again in the config.txt

reboot

ubuntu@ubiquityrobot:~$ sudo hciconfig -a
hci0:   Type: Primary  Bus: UART
        BD Address: AA:AA:AA:AA:AA:AA  ACL MTU: 1021:8  SCO MTU: 64:1
        UP RUNNING
        RX bytes:766 acl:0 sco:0 events:48 errors:0
        TX bytes:2737 acl:0 sco:0 commands:48 errors:0
        Features: 0xbf 0xfe 0xcf 0xfe 0xdb 0xff 0x7b 0x87
        Packet type: DM1 DM3 DM5 DH1 DH3 DH5 HV1 HV2 HV3
        Link policy: RSWITCH SNIFF
        Link mode: SLAVE ACCEPT
        Name: 'ubiquityrobot'
        Class: 0x000000
        Service Classes: Unspecified
        Device Class: Miscellaneous,
        HCI Version: 4.1 (0x7)  Revision: 0x0
        LMP Version: 4.1 (0x7)  Subversion: 0x6119
        Manufacturer: Broadcom Corporation (15)

The BT has been initialized, but is not working correctly i.e. BD Address: AA:AA:AA:AA:AA:AA

sudo wget -P /lib/firmware/brcm https://raw.githubusercontent.com/RPi-Distro/bluez-firmware/master/broadcom/BCM4345C0.hcd add the missing firmware file reboot

sudo hciconfig -a
hci0:   Type: Primary  Bus: UART
        BD Address: 43:45:C0:00:3F:BC  ACL MTU: 1021:8  SCO MTU: 64:1
        UP RUNNING
        RX bytes:1058 acl:0 sco:0 events:52 errors:0
        TX bytes:2753 acl:0 sco:0 commands:52 errors:0
        Features: 0xbf 0xfe 0xcf 0xfe 0xdb 0xff 0x7b 0x87
        Packet type: DM1 DM3 DM5 DH1 DH3 DH5 HV1 HV2 HV3
        Link policy: RSWITCH SNIFF
        Link mode: SLAVE ACCEPT
        Name: 'ubiquityrobot'
        Class: 0x000000
        Service Classes: Unspecified
        Device Class: Miscellaneous,
        HCI Version: 4.2 (0x8)  Revision: 0xfc
        LMP Version: 4.2 (0x8)  Subversion: 0x6119
        Manufacturer: Broadcom Corporation (15)

sudo bluetoothctl
[NEW] Controller 43:45:C0:00:3F:BC ubiquityrobot [default]

Note: bluetoothctl requires sudo.

If you want to use the bluetoothctl without sudo. sudo usermod -G bluetooth -a ubuntu user ubuntu added to bluetooth group.

reboot

bluetoothctl
[NEW] Controller 43:45:C0:00:3F:BC ubiquityrobot [default]

Conclusion:

  1. BT connected to hardware port (PL011) add the missing firmware file BCM4345C0.hcd disable the pi3-miniuart-bt and don't add the core_freq=250

  2. BT connected to the miniuart add the missing firmware file BCM4345C0.hcd enable the overlay pi3-miniuart-bt add the core_freq=250

some users mentioned performance problems when using the core_freq=250, others mentioned 1/5 boots the Bluetooth is not correctly initialized . So my recommendation is to use the hardware port with BT, and use USB/UART to connect to external devices.

Mark: Let me know if it works.

rohbotics commented 6 years ago

Thanks for the detailed analysis @ppedro74!

mjstn commented 6 years ago

Yes, thanks for the details. I am today going to try the above with the June 27 image. I am familiar with all the commands you have discussed except was unclear that just doing the mget on the firmware with no other command would be enough for the firmware to be picked up. I was trying last night some things based on comments in https://hwblog.org/2018/06/08/how-to-get-bluetooth-working-on-raspberry-pi-3-model-b-or-b-with-arch-linux-arm but did not have success and in fact my hciconfig output stopped even showing up hci0 after that so I start with fresh image today and your post. Your post with specifics you note are a great help to us. Thank you for taking the time to reply in this organized way. Cheers, Mark

wegunterjr commented 4 years ago

I am having such issues with uart comms. This is giving me good info but I am still confused. I want to use uart from pins 8,10 (14,15) to communicate with something. I cannot figure out what I am missing.
Thoughts?

davecrawley commented 4 years ago

By default those pins are already in use for communicating with the Ubiquity Motor controller. Assuming you are using a ubiquity robotics Magni robot then you'll need to find another way to make your communication happen. Consider a USB-UART device and use the USB.