Contents

1. Introduction
2. Software Version List
3. How to Startup
   1. Preparation of the software
      1. Quick preparation: download binary
      2. Normal preparation: build source code
   2. How to flash
      1. Flashing loader
      2. Flashing OS image into SD card
   3. How to boot
4. How to Check Functions
   1. Software support list
   2. CAN
   3. Audio
   4. GPIO
   5. I2C
   6. UART
   7. Thermal
   8. Pi Camera
   9. Pi Display
   10. Pi Active Cooler
5. Tips
6. Known Issues & Restrictions
7. Support

Introduction

This is the Debian based BSP page for Sparrow Hawk.

Software Version List

How to Startup

If you want to quickly start, please start 3.1.1. Quick preparation: download binary.

If you want to normally start, please start 3.1.2. Normal preparation: build source code.

Preparation of the software

Quick preparation: download binary

2. Download binary from GitHub
   • Bootloader: ipl-burning.zip
   • BSP: sparrow-hawk-debian-12-based-bsp.img.gz
3. Unzip download zip file

   unzip ipl-burning.zip
   

   Next, jump to 3.2. How to flash.

Normal preparation: build source code

# You need to prepare docker envrionment on your Host PC
./build_image/build_with_docker_sparrow-hawk.sh <DEBIAN_VERSION>
ex.) ./build_image/build_with_docker_sparrow-hawk.sh 12

or

# Note: Build requirements can be confirmed from build_image/Dockerfile.
sudo ./build_image/build_debian_12_for_sparrow-hawk.sh <DEBIAN_VERSION>
ex.) sudo ./build_image/build_debian_12_for_sparrow-hawk.sh 12

Next, jump to 3.2. How to flash.

How to flash

Flashing loader

Run script in ipl-burning directory(Linux: run.sh, Windows: run.bat). If using Linux host PC, please install python3 and pip command on your system before running the script and close other console which uses serial port of the board before executing the script.

Note:

• This script use serial device /dev/ttyUSB* in Linux. But, it cannot be accessed from user without previledged right by default settings. Please use sudo command or add current user into dialout group.

Note:

• Please change the Mode Switch(=SW2) according to the ipl-burning(run.sh or run.bat).

Flashing OS image into SD card

Linux case

gzip -cd sparrow-hawk-debian-12-based-bsp.img.gz | sudo dd of=<device file> bs=1M status=progress && sync

Windows case

1. Extract gzip image using 7zip or similer software.
2. Flash extracted image into SD card using Etcher, win disk imager, and so on.

How to boot

1. Insert the SD card into CN1 which is bottom of the board.
2. Open terminal application and open serial device.
3. Press SW1 to power on the board.
4. After booting U-Boot, please press any key while showing “Hit any key to stop autoboot:” to enter U-Boot shell.
5. Input following command into U-Boot shell and press enter key.

   env default -a; boot
   

6. If command and environment is correct, Linux kernel log will output.

If you want to boot OS image automatically when power on the board, please run following to setup autoboot. Run following command:

env default -a
saveenv

After that, OS image boots automatically when power on the board.

How to Check Functions

Software support list

Note:

• “Supported”: Function scceeded in the simple test as below.
  
• “Not supported”: Function isn’t supported.
  

CAN

Loop back

1. Connect the following pins of CONN2: Connect Pin1(CAN1L) - Pin2(CAN0L) and Pin5(CAN1H) - Pin6(CAN0H)

2. Execute following commands on Linux:

# Setup
sudo apt update
sudo apt install can-utils psmisc

# Test
sudo ip link set can0 up type can restart-ms 100 bitrate 1000000 dbitrate 5000000 fd on
sudo ip link set can1 up type can restart-ms 100 bitrate 1000000 dbitrate 5000000 fd on
sudo candump can0 &
sudo cangen can1 -I i -L i -D i -f -n 16
sudo killall candump
sudo candump can1 &
sudo cangen can0 -I i -L i -D i -f -n 16
sudo killall candump

Audio

1. Connect headset/earphone/Speaker to CONN3.
2. (if possible) Connect audio output like a smartphone to CONN4.
3. Setup(Mix Aux in and Headset mic and setup audio output via CONN3)

   sudo amixer set "Headphone" 40%
   sudo amixer set "Headphone" on
   sudo amixer set "Mixout Left DAC Left" on
   sudo amixer set "Mixout Right DAC Right" on
   sudo amixer set "Aux" on
   sudo amixer set "Aux" 80%
   sudo amixer set "Mixin PGA" on
   sudo amixer set "Mixin PGA" 50%
   sudo amixer set "ADC" on
   sudo amixer set "ADC" 80%
   sudo amixer set "Mixin Left Aux Left" on
   sudo amixer set "Mixin Right Aux Right" on
   sudo amixer set "Mic 1" on
   sudo amixer set "Mic 1" 80%
   sudo amixer set "Mixin Left Mic 1" on
   sudo amixer set "Mixin Right Mic 1" on
   

4. Test function
   1. Recording and Playback test(5sec)

      sudo arecord -D hw:0,0 -t wav -d 5 -c 2 -r 48000 -f S16_LE | sudo aplay
      

   2. Only Playback test

      sudo speaker-test -c2
      

GPIO

Toggle GP2_12(Pin11 on Pin Header)

1. Connect LED or Oscilloscope to the board
2. Execute following command

   sudo apt update
   sudo apt install python3 python3-pip python3-venv
   python3 -m venv .venv
   source .venv/bin/activate
   pip3 install gpiod
   wget https://raw.githubusercontent.com/rcar-community/meta-sparrow-hawk/refs/heads/scarthgap/recipes-examples/example-apps/files/toggle_gpio_GP2_12.py
   sudo .venv/bin/python3 toggle_gpio_GP2_12.py
   

For more examples, please see also https://github.com/brgl/libgpiod/raw/refs/heads/master/bindings/python/examples

I2C

• Detect I2C device

  sudo apt update
  sudo apt install i2c-tools
  sudo i2c-detect -r 3
  sudo i2c-detect -r 4
  

Please search i2c-tools to use other commands(i2cdump, i2cget, i2cset, i2ctransfer).

UART

Loop back

1. Connect UART TX and RX(pin 8 and pin 10) on PinHeader.

2. Execute following commands:

   sudo stty -F /dev/ttySC2 -echo
   sudo cat /dev/ttySC2 &
   echo Hello | sudo tee /dev/ttySC2
   

Thermal

• Check SoC temperature

  sudo cat /sys/class/thermal/thermal_zone*/temp
  # ex.) 55000 # (Unit is millicelsius => 55.000 °C)
  

• Thermal throttling

  CA76 core temp	function
  ~ 68°C	Normal operation
  68 ~ 100 °C	CPU clock is limited
  100 °C	System is shutdown forcely

• Measurement point

  zone	Measurement point
  thermal_zone0	CR52
  thermal_zone1	CNN
  thermal_zone2	CA76
  thermal_zone3	DDR

Pi Camera

Note:

• Currently, Raspberry Pi Camera V2 and Raspberry Pi Camera V3 is only supported.

Note:

• The Raspberry Pi Camera v3 is currently under development on mainline Linux and libcamera, so at this stage the image may appear dark and features such as auto-focus are not yet supported. In addition, recognition may occasionally fail.

1. Connect Raspberry Pi Camera V2 to J1 and/or J2 connector.
   • The board connector has 22 pin so that you need to prepare pitch convert cable.
   • ex.) Raspberry Pi Official Accesary https://www.raspberrypi.com/products/camera-cable/
2. Setup for using camera
   • Change bootcmd variable on U-Boot shell as follows:

     setenv bootcmd "load mmc 0:1 0x58000000 /boot/fitImage && bootm {CONFIG}"
     

   • Cobination of connected cameras

     J1	J2	CONFIG
     V2	-	0x58000000#default#j1-imx219
     -	V2	0x58000000#default#j2-imx219
     V2	V2	0x58000000#default#j1-imx219#j2-imx219
     V3	-	0x58000000#default#j1-imx708
     -	V3	0x58000000#default#j2-imx708
     V3	V3	0x58000000#default#j1-imx708#j2-imx708
     V2	V3	0x58000000#default#j1-imx219#j2-imx708
     V3	V2	0x58000000#default#j1-imx708#j2-imx219

     This table shows the results when connecting the Raspberry Pi Camera V2 and Raspberry Pi Camera V3 to either J1 or J2, and to both J1 and J2.

3. Execute following commands for using libcamera command

   git clone https://git.libcamera.org/libcamera/libcamera.git
   cd libcamera
   git checkout -B work b9fa6e0e61d3ea605fe4b1201ede5745cd5800e5
   wget https://github.com/rcar-community/meta-sparrow-hawk/raw/refs/heads/scarthgap/recipes-multimedia/libcamera/files/0001-libcamera-ipa_manager-Create-IPA-by-name.patch
   wget https://github.com/rcar-community/meta-sparrow-hawk/raw/refs/heads/scarthgap/recipes-multimedia/libcamera/files/0002-ipa-ipa_module-Remove-pipelineName.patch
   wget https://github.com/rcar-community/meta-sparrow-hawk/raw/refs/heads/scarthgap/recipes-multimedia/libcamera/files/0003-ipa-meson.build-Remove-duplicated-variable.patch
   wget https://github.com/rcar-community/meta-sparrow-hawk/raw/refs/heads/scarthgap/recipes-multimedia/libcamera/files/0004-ipa-Allow-pipelines-to-have-differently-named-IPA.patch
   wget https://github.com/rcar-community/meta-sparrow-hawk/raw/refs/heads/scarthgap/recipes-multimedia/libcamera/files/0005-ipa-rkisp1-Add-settings-for-DreamChip-RPPX1-ISP.patch
   wget https://github.com/rcar-community/meta-sparrow-hawk/raw/refs/heads/scarthgap/recipes-multimedia/libcamera/files/0006-libcamera-pipeline-Add-R-Car-Gen4-ISP-pipeline.patch
   wget https://github.com/rcar-community/meta-sparrow-hawk/raw/refs/heads/scarthgap/recipes-multimedia/libcamera/files/0007-ipa-rkisp1-Add-basic-CCM-calibration-for-imx219.patch
   wget https://github.com/rcar-community/meta-sparrow-hawk/raw/refs/heads/scarthgap/recipes-multimedia/libcamera/files/0008-ipa-CameraSensorHelper-Add-CameraSensorHelperImx708.patch
   git config --global user.email "you@example.com"
   git config --global user.name "Your Name"
   git am *.patch
   sudo apt update
   sudo apt install meson build-essential ninja-build cmake libyaml-dev python3-yaml python3-ply python3-jinja2 libevent-dev pkg-config python3-dev python3-pybind11 libdrm-dev
   meson setup  --prefix=/usr/ -Dpipelines=rcar-gen4,rkisp1 -Dipas=rkisp1 -Dcam=enabled -Dpycamera=enabled -Dtest=false -Ddocumentation=disabled build
   sudo ninja -C build install
   

4. Check camera device is recognized

   Raspberry Pi Camera V2

   root@sparrow-hawk:~# sudo cam -l
   (snip)
   Available cameras:
   1: External camera 'imx219' (/base/soc/i2c@e6508000/cam@10)   // J1
   2: External camera 'imx219' (/base/soc/i2c@e6510000/cam@10)   // J2
   

   Raspberry Pi Camera V3

   root@sparrow-hawk:~# sudo cam -l
   (snip)
   Available cameras:
   1: External camera 'imx708' (/base/soc/i2c@e6508000/sensor@1a)   // J1
   2: External camera 'imx708' (/base/soc/i2c@e6510000/sensor@1a)   // J2
   

5. Test camera
   • Display Output(Need to connect Display)
     • using one camera

        sudo cam -c 1 -C -D
       

     • using two cameras

        sudo cam -c 1 -C -D
        sudo cam -c 2 -C -D
       

Pi Display

Note:

• Please perform the following “1. Setup” without connecting the AC adapter to the board (USB1).

Note:

• There is a risk of damaging the board or the display, so please connect them with great care.

1. Setup
   • Connect Raspberry Pi Touch Display 2 cable to the J4 connector.
   • Connect the Power (red wire) to pin 2 of CN7 and the Ground (black wire) to pin 6 of CN7.
   • 

2. Change bootcmd variable on U-Boot shell as follows:

   5 inch

   setenv bootcmd "load mmc 0:1 0x58000000 /boot/fitImage && bootm 0x58000000#default#rpi-display-2-5in"
   

   7 inch

   setenv bootcmd "load mmc 0:1 0x58000000 /boot/fitImage && bootm 0x58000000#default#rpi-display-2-7in"
   

3. Display will work correctly after changing above.

Pi Active Cooler

Manual control of fan speed

echo 2 | sudo tee /sys/class/hwmon/hwmon4/pwm1_enable
echo 150 | sudo tee /sys/class/hwmon/hwmon4/pwm1

#1 ~ 255 is acceptable but low speeds are not recommended from thermal perspective.

Tips

1. How to expand the rootfs
   • Please run the following command on your board. Rootfs is expanded to use whole stor age.

     sudo apt update
     sudo apt install e2fsprogs parted
     wget https://raw.githubusercontent.com/rcar-community/meta-sparrow-hawk/refs/heads/scarthgap/recipes-utils/expand-rootfs/files/expand-rootfs.sh
     sudo bash ./expand-rootfs.sh
     sudo reboot
     

Known Issues & Restrictions

1. PCIe module outputs error log that firmware is not found in boot process. We are preparing the PCIe firmware, then please ignore it and please wait a moment.

   [    2.629357] pcie-rcar-gen4 e65d0000.pcie: Failed to load firmware (rcar_gen4_pcie.bin): -22
   

Support

FAQ: https://github.com/orgs/rcar-community/discussions/categories/faq

Q&A Forum: https://github.com/orgs/rcar-community/discussions/categories/q-a