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# 6LoWPAN on a Raspberry Pi
The aim is to get [6LoWPAN][1] running on a Raspberry Pi using a
[Raspberry Pi 802.15.4 radio from openlabs][2] (based on the Atmel
at86rf233) so we can later use it as a e.g. border router.
The default Raspberry Pi kernel lacks support for recent
[wpan-tools][3]. So we cross build a custom
built kernel via tftp.
In the following we assume the Raspberry Pi is at IP address 192.168.1.2 and
does DHCP during boot.
This is mostly a combination of information from different sites like
[linux-wpan][3], [openlabs][4] and [eLinux.org][5]. For details head over to
these sites. They have more details and less errors.
The source code of this page is available here:
https://honk.sigxcpu.org/gitweb/?p=piki.git;a=summary
Send fixes.
## Setup the build environment and the RPi
Since the kernel build would take a long time on the Raspberry Pi we're using a
Debian System to crossbuild the kernel.
### Prepare cross toolchain for Debian Jessie + Sid
If you're running a RPi 2 you should be able to use the armhf
toolchain provided by Debian already.
$ dpkg --add-architecture armhf
$ apt-get update
$ apt-get install make ncurses-dev gcc-arm-linux-gnueabihf build-essential
$ arm-linux-gnueabihf-gcc -v
Using built-in specs.
COLLECT_GCC=arm-linux-gnueabihf-gcc
COLLECT_LTO_WRAPPER=/usr/lib/gcc/arm-linux-gnueabihf/4.9/lto-wrapper
Target: arm-linux-gnueabihf
Configured with: ../src/configure -v --with-pkgversion=' 4.9.2-10' --with-bugurl=file:///usr/share/doc/gcc-4.9/README.Bugs --enable-languages=c,c++,fortran --prefix=/usr --program-suffix=-4.9 --enable-shared --enable-linker-build-id --libexecdir=/usr/lib --without-included-gettext --enable-threads=posix --with-gxx-include-dir=/usr/include/c++/4.9 --libdir=/usr/lib --enable-nls --with-sysroot=/ --enable-clocale=gnu --enable-libstdcxx-debug --enable-libstdcxx-time=yes --enable-gnu-unique-object --disable-libitm --disable-libquadmath --enable-plugin --with-system-zlib --enable-multiarch --disable-sjlj-exceptions --with-arch=armv7-a --with-fpu=vfpv3-d16 --with-float=hard --with-mode=thumb --enable-checking=release --build=x86_64-linux-gnu --host=x86_64-linux-gnu --target=arm-linux-gnueabihf --program-prefix=arm-linux-gnueabihf-
Thread model: posix
gcc version 4.9.2 ( 4.9.2-10)
I don't have a Model 2 yet so I we have to grab the toolchain externally.
### Linaro
For the Raspberry Pi 1B and 1B+ use the Linaro toolchain:
$ cd ~
$ git clone https://github.com/raspberrypi/tools
$ export PATH=~/tools/arm-bcm2708/gcc-linaro-arm-linux-gnueabihf-raspbian/bin:$PATH
If you clone to another location be sure to adjusts the PATHs below too.
### The Linaro toolchain is 32bit and 64bit
Lots of the examples are using the 32bit one so lets use this too:
$ apt-get install lib32stdc++6 lib32z1
$ arm-linux-gnueabihf-gcc -v
Using built-in specs.
COLLECT_GCC=arm-linux-gnueabihf-gcc
COLLECT_LTO_WRAPPER=/home/agx/tools/arm-bcm2708/gcc-linaro-arm-linux-gnueabihf-raspbian/bin/../libexec/gcc/arm-linux-gnueabihf/4.8.3/lto-wrapper
Target: arm-linux-gnueabihf
Configured with: /cbuild/slaves/oorts/crosstool-ng/builds/arm-linux-gnueabihf-raspbian-linux/.build/src/gcc-linaro-4.8-2014.01/configure --build=i686-build_pc-linux-gnu --host=i686-build_pc-linux-gnu --target=arm-linux-gnueabihf --prefix=/cbuild/slaves/oorts/crosstool-ng/builds/arm-linux-gnueabihf-raspbian-linux/install --with-sysroot=/cbuild/slaves/oorts/crosstool-ng/builds/arm-linux-gnueabihf-raspbian-linux/install/arm-linux-gnueabihf/libc --enable-languages=c,c++,fortran --disable-multilib --enable-multiarch --with-arch=armv6 --with-tune=arm1176jz-s --with-fpu=vfp --with-float=hard --with-pkgversion='crosstool-NG linaro-1.13.1-4.8-2014.01 - Linaro GCC 2013.11' --with-bugurl=https://bugs.launchpad.net/gcc-linaro --enable-__cxa_atexit --enable-libmudflap --enable-libgomp --enable-libssp --with-gmp=/cbuild/slaves/oorts/crosstool-ng/builds/arm-linux-gnueabihf-raspbian-linux/.build/arm-linux-gnueabihf/build/static --with-mpfr=/cbuild/slaves/oorts/crosstool-ng/builds/arm-linux-gnueabihf-raspbian-linux/.build/arm-linux-gnueabihf/build/static --with-mpc=/cbuild/slaves/oorts/crosstool-ng/builds/arm-linux-gnueabihf-raspbian-linux/.build/arm-linux-gnueabihf/build/static --with-isl=/cbuild/slaves/oorts/crosstool-ng/builds/arm-linux-gnueabihf-raspbian-linux/.build/arm-linux-gnueabihf/build/static --with-cloog=/cbuild/slaves/oorts/crosstool-ng/builds/arm-linux-gnueabihf-raspbian-linux/.build/arm-linux-gnueabihf/build/static --with-libelf=/cbuild/slaves/oorts/crosstool-ng/builds/arm-linux-gnueabihf-raspbian-linux/.build/arm-linux-gnueabihf/build/static --enable-threads=posix --disable-libstdcxx-pch --enable-linker-build-id --enable-plugin --enable-gold --with-local-prefix=/cbuild/slaves/oorts/crosstool-ng/builds/arm-linux-gnueabihf-raspbian-linux/install/arm-linux-gnueabihf/libc --enable-c99 --enable-long-long --with-float=hard
Thread model: posix
gcc version 4.8.3 20140106 (prerelease) (crosstool-NG linaro-1.13.1-4.8-2014.01 - Linaro GCC 2013.11)
### Crossbuild an upstream kernel for the RPi
For 6LoWPAN the bluetooth-next tree is a good starting point since it
contains the latest WPAN code (as of 4.0 you can also use Linus Tree for
basic support):
$ git clone --depth=1 git://git.kernel.org/pub/scm/linux/kernel/git/bluetooth/bluetooth-next.git
$ export PATH=~/tools/arm-bcm2708/gcc-linaro-arm-linux-gnueabihf-raspbian/bin:$PATH
$ make ARCH=arm CROSS_COMPILE=arm-linux-gnueabihf- bcm2835_defconfig
$ ARCH=arm CROSS_COMPILE=arm-linux-gnueabihf- chrt -i 0 make -j 4
### U-Boot
We want to boot the kernel using U-Boot so we can conveniently swap out kernels using TFTP.
This is mostly copied from http://elinux.org/RPi_U-Boot .
#### On the build host
Crossbuild U-Boot
$ git clone --deth=1 git://git.denx.de/u-boot.git
$ export PATH=~/tools/arm-bcm2708/gcc-linaro-arm-linux-gnueabihf-raspbian/bin:$PATH
$ export CROSS_COMPILE=/home/agx/tools/arm-bcm2708/gcc-linaro-arm-linux-gnueabihf-raspbian/bin/arm-linux-gnueabihf-
$ export USE_PRIVATE_LIBGCC=yes
$ make rpi_defconfig
$ make -j4 -s
#### On the RPi
Configure the RPi to use the just built U-Boot (${PI_IP} being the address of your Raspberry Pi):
$ PI_IP=192.168.1.2
$ echo "kernel=u-boot.bin" >> /boot/config.txt
$ scp u-boot/u-boot.bin root@${PI_IP}:/boot/u-boot.bin
$ reboot
#### On the tftp server
Move the necessary files to the tftp server (${TFT_IP} being the address of your tftp server):
$ TFTP_IP=192.168.1.1
$ scp bluetooth-next/arch/arm/boot/zImage ${TFTP_IP}:/tftpboot/rpi.img
$ scp bluetooth-next/arch/arm/boot/dts/bcm2835-rpi-b-plus.dtb ${TFTP_IP}:/tftpboot/
If you're using another PI model copy the corresponding device tree (dtb) file
#### First Boot
(Again mostly from http://elinux.org/RPi_U-Boot). Attach to the serial
console, once U-Boot starts do a
$ setenv fdtfile bcm2835-rpi-b-plus.dtb
$ setenv bootargs earlyprintk console=ttyAMA0 console=tty1 root=/dev/mmcblk0p2 rootwait
$ usb start
$ dhcp ${kernel_addr_r} zImage
$ tftp ${fdt_addr_r} ${fdtfile}
$ bootz ${kernel_addr_r} - ${fdt_addr_r}
#### Automate the boot
Copy the above commands into a file called boot.src and do a
mkimage -A arm -O linux -T script -C none -n boot.scr -d boot.scr boot.scr.uimg
move that to /boot on your pi. Booting will from now on happen automatically.
## 6LoWPAN
Now that we can quickly change and build kernels lets move to the 6LoWPAN part.
### Configuring the kernel and patching the DTS
In order to enable support for the at86rf233 and 802.15.14 radio we need to change
some kernel configuration. Since the board is connected vie API we change the DTS
so it gets properly detected. This is readily done in this git repo:
$ cd linux-wpan-next
$ git remote add agx git://github.com/agx/linux-wpan-next.git
$ git fetch rpi-6lowpan
$ git co -b rpi-6lowpan -b agx/rpi-6lowpan
Now lets rebuild DTS and kernel
$ make ARCH=arm CROSS_COMPILE=arm-linux-gnueabihf- bcm2835_defconfig
$ ARCH=arm CROSS_COMPILE=arm-linux-gnueabihf- chrt -i 0 make -j 4
$ ARCH=arm CROSS_COMPILE=arm-linux-gnueabihf- make dtbs
Transfer the files to the TFTP server again as described above.
### Build the linux-wpan tools
Head over to your RPi. We build the wpan-tools there since they're small:
$ git clone https://github.com/linux-wpan/wpan-tools
$ sudo apt-get install autotools-dev libltdl-dev libnl-genl-3-dev
$ cd wpan-tools && ./autogen.sh && make
Now we have all the tools:
$ src/iwpan list
wpan_phy phy0
supported channels:
page 0: 11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26
current_page: 0
current_channel: 13
cca_mode: 1
tx_power: 0
Upstream info on wpan-tools is at http://wpan.cakelab.org/
[1]: https://en.wikipedia.org/wiki/6LoWPAN
[2]: http://openlabs.co/store/Raspberry-Pi-802.15.4-radio
[3]: http://wpan.cakelab.org/
[4]: http://openlabs.co/
[5]: http://elinux.org/
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