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UbiquityRobotics / ubiquity_main

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Problem with Pi4 install #243

Closed jacepang closed 3 years ago

jacepang commented 4 years ago

When copying the image to Pi 4B (8G), it shows that stat4x.elf is not compatible 0x0. Is it not support the pi4 yet ?

MoffKalast commented 4 years ago

Hmm well we've only ever tested Pi 4s with 1,2 and 4G of memory, so it might be that it's causing some unforeseen issues. I recall Raspbian having to push out a new update to support the 8G version so we'll likely have to do the same.

benjamintanweihao commented 3 years ago

Can confirm that it doesn't work on a Raspi 4 with 8GB. Is there anything we can do to attempt a fix?

davecrawley commented 3 years ago

Currently the distribution uses 32 bit linux and ROS. Obviously a 32 bit machine is limited to 4Gb machines.

We are working on a 64 bit distribution - however a critical driver (i.e. the MMAL camera driver) does not work on 64 bit yet and currently the maintainers of those packages are not receptive to our request to make them work. We are actively working on work arounds for these issues, however currently there is a significant block on making the whole system work right with a 64bit system, and without a 64bit system you can't go above 4Gb.

If you are very motivated to work on a 8Gb machine getting a 64bit version of the MMAL driver working would accelerate our process and we would definitely collaborate to quickly release a distribution if this issue can be solved. I expect that we will find a way to address it eventually, but it may take some time.

For more on the MMAL driver: https://www.raspberrypi.org/documentation/raspbian/applications/camera.md

David

On Thu, Oct 22, 2020 at 5:07 PM Benjamin Tan Wei Hao < notifications@github.com> wrote:

Can confirm that it doesn't work on a Raspi 4 with 8GB. Is there anything we can do to attempt a fix?

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benjamintanweihao commented 3 years ago

Thanks for the super quick reply! Somehow I managed to get the image to work with the follolwing:

I downloaded https://github.com/raspberrypi/firmware/tree/stable/boot and replaced all the *.elf and *.dat files in the boot and after that I managed to SSH!

rohbotics commented 3 years ago

Sorry this fell through the cracks.

The 8GB model does support booting in 32 bit mode, and you can address all 8GB of RAM, but any single process will be limited to 3GB of memory. This is a limitation of the linux kernel's PAE (Physical Address Extension) system.

I am making a test image for you that has the newer kernel, it should be ready in a couple hours. It would be pretty helpful if you could test that out to make sure it works on the 8GB model. The change is similar to what you have done with manually replacing the kernel image, but this also updates the kernel modules, firmware, and device tree, so you are less likely to run into subtle issues.

davecrawley commented 3 years ago

Cool!

Are you seeing the full memory space? Or is it only addressing the first 4 Gb?

Thanks

David

On Thu, Oct 22, 2020 at 5:30 PM Benjamin Tan Wei Hao < notifications@github.com> wrote:

Thanks for the super quick reply! Somehow I managed to get the image to work with the follolwing:

I downloaded https://github.com/raspberrypi/firmware/tree/stable/boot and replaced all the .elf and .dat files in the boot and after that I managed to SSH!

— You are receiving this because you commented. Reply to this email directly, view it on GitHub https://github.com/UbiquityRobotics/ubiquity_main/issues/243#issuecomment-714574849, or unsubscribe https://github.com/notifications/unsubscribe-auth/ACYN4VWIK6YXFEHK3V3UQELSMBF2DANCNFSM4PUE65RQ .

benjamintanweihao commented 3 years ago

@rohbotics No worries! I'm glad that I finally got it to work and super impressed that you guys are so quick at responding. <3 <3 <3. I'd be happy to test the new image out.

@davecrawley Is there a way to check? I've tried htop and it says 7.73G so great success?

rohbotics commented 3 years ago

@benjamintanweihao Here is the image for you to test out, please let me know how it goes. https://ubiquity-pi-image.sfo2.cdn.digitaloceanspaces.com/2020-10-22-ubiquity-xenial-lxde-rpi-testing.img.xz

benjamintanweihao commented 3 years ago

@rohbotics It works! I was able to flash the image on a 64GB SD card and the Raspi 4 booted successfully. htop shows all the RAM and also I could execute the raspicam_node successfully :D.

Great job! Anything else I should check for?

rohbotics commented 3 years ago

Those are the 2 big ones.

If you are planning on continuing to use that image, I would switch it out of testing mode, so that our beta updates don't break you on apt-get upgrades.

Edit /etc/apt/sources.list.d/ubiquity-latest.list and change every https://packages.ubiquityrobotics.com/ubuntu/ubiquity-testing to https://packages.ubiquityrobotics.com/ubuntu/ubiquity.

benjamintanweihao commented 3 years ago

Copy that! Thanks!

On Mon, Oct 26, 2020 at 11:38 PM Rohan Agrawal notifications@github.com wrote:

Those are the 2 big ones.

If you are planning on continuing to use that image, I would switch it out of testing mode, so that our beta updates don't break you on apt-get upgrades.

Edit /etc/apt/sources.list.d/ubiquity-latest.list and change every https://packages.ubiquityrobotics.com/ubuntu/ubiquity-testing to https://packages.ubiquityrobotics.com/ubuntu/ubiquity.

— You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub https://github.com/UbiquityRobotics/ubiquity_main/issues/243#issuecomment-716630704, or unsubscribe https://github.com/notifications/unsubscribe-auth/AAGSINCYAUII5QQWGCXN7XDSMWJXVANCNFSM4PUE65RQ .