Re: EPICS, RTEMS, Beaglebone Black

[Heinz Junkes via Tech-talk <tech-talk at aps.anl.gov>]

Hallo Mike,
I have been using BeagleBone Black with RTEMS-LibBSD 6.1 in production so far
and BeagleBone Black with rtems-libbsd and RTEMS 7, due to be released shortly.

However, I’ve made a lot of changes over the last six months, and these haven’t been incorporated into EPICS-Base yet.
Over the next few days, I’ll try to document my changes to the RTEMS kernel as well and make them available for download.
Is it urgent? If so, I’d be happy to send you a version in the meantime.
Heinz
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> On 16. Jun 2026, at 15:24, Mike Westfall via Tech-talk <tech-talk at aps.anl.gov> wrote:
>
> Looking for advice from anyone who has experience running an IOC under RTEMS on a Beaglebone Black.
>
> It looks like I can load the IOC image and the it starts executing , but it seems like it stops stops when it can't find the ethernet interface.
> Here is the console output of the boot up:
>
>
>
> U-Boot 2016.11-rc3-00002-g73df7f7 (Nov 04 2016 - 15:20:36 -0500), Build: jenkin9
>
> CPU  : AM335X-GP rev 2.1
> I2C:   ready
> DRAM:  512 MiB
> Reset Source: Global external warm reset has occurred.
> Reset Source: Power-on reset has occurred.
> MMC:   OMAP SD/MMC: 0, OMAP SD/MMC: 1
> Using default environment
>
> Board: BeagleBone Black
> <ethaddr> not set. Validating first E-fuse MAC
> Net:   eth0: MII MODE
> cpsw
> Press SPACE to abort autoboot in 2 seconds
> board_name=[A335BNLT] ...
> board_rev=[00C0] ...
> switch to partitions #0, OK
> mmc0 is current device
> SD/MMC found on device 0
> ** Bad device 0:2 0x82000000 **
> ** Bad device 0:2 0x82000000 **
> switch to partitions #0, OK
> mmc0 is current device
> Scanning mmc 0:1...
> reading /am335x-boneblack.dtb
> 99116 bytes read in 15 ms (6.3 MiB/s)
> gpio: pin 56 (gpio 56) value is 0
> gpio: pin 55 (gpio 55) value is 0
> gpio: pin 54 (gpio 54) value is 0
> gpio: pin 53 (gpio 53) value is 1
> switch to partitions #0, OK
> mmc0 is current device
> gpio: pin 54 (gpio 54) value is 1
> Checking for: /uEnv.txt ...
> reading uEnv.txt
> 173 bytes read in 5 ms (33.2 KiB/s)
> gpio: pin 55 (gpio 55) value is 1
> Loaded environment from /uEnv.txt
> Importing environment from mmc ...
> Checking if uenvcmd is set ...
> gpio: pin 56 (gpio 56) value is 1
> Running uenvcmd ...
> link up on port 0, speed 100, full duplex
> BOOTP broadcast 1
> DHCP client bound to address 192.168.0.186 (6 ms)
> Using cpsw device
> TFTP from server 192.168.0.143; our IP address is 192.168.0.186
> Filename 'rtems-app.img'.
> Load address: 0x80800000
> Loading: #################################################################
>          #################################################################
>          ###############################################################
>          2.5 MiB/s
> done
> Bytes transferred = 2819094 (2b0416 hex)
> link up on port 0, speed 100, full duplex
> BOOTP broadcast 1
> DHCP client bound to address 192.168.0.186 (7 ms)
> Using cpsw device
> TFTP from server 192.168.0.143; our IP address is 192.168.0.186
> Filename 'am335x-boneblack.dtb'.
> Load address: 0x88000000
> Loading: #######
>          2 MiB/s
> done
> Bytes transferred = 99116 (1832c hex)
> ## Booting kernel from Legacy Image at 80800000 ...
>    Image Name:   sampleIOC
>    Created:      2026-06-15  16:44:43 UTC
>    Image Type:   ARM Linux Kernel Image (gzip compressed)
>    Data Size:    2819030 Bytes = 2.7 MiB
>    Load Address: 80000000
>    Entry Point:  80000000
>    Verifying Checksum ... OK
> ## Flattened Device Tree blob at 88000000
>    Booting using the fdt blob at 0x88000000
>    Uncompressing Kernel Image ... OK
>    Loading Device Tree to 8ffe4000, end 8ffff32b ... OK
>
> Starting kernel ...
>
>
> RTEMS Beagleboard: am335x-based
>         ARM Debug: 0x4b141000
> WARNING: OS Clock time was read before being set.
> Using 1990-01-02 00:00:00.000000 UTC
>
>  initConsole --- Info ---
> stdin: fileno: 0, ttyname: /dev/console
> stdout: fileno: 1, ttyname: /dev/console
> stderr: fileno: 2, ttyname: /dev/console
> time set to : 04/14/14 07:30:06.000002041 UTC
> Startup.
> epicsThreadSetPriority called by non epics thread
>
> ***** RTEMS Version: rtems-6.0.0 (ARM/ARMv4/beagleboneblack) *****
>
> ***** Initializing network (libbsd, dhcpcd) *****
> nexus0: <RTEMS Nexus device>
> ofwbus0: <Open Firmware Device Tree> on nexus0
>
> ***** ifconfig lo0 *****
> info: lo0: link state changed to UP
>
> ***** add dhcpcd hook *****
>
> ***** Start default network dhcpcd *****
>
> --Info (hpj)-- bsd task prio IRQS: 96  -----
>
> --Info (hpj)-- bsd task prio TIME: 98  -----
>
>  ---- Waiting for DHCP ...
> info: version 6.2.1 starting
> err: no valid interfaces found
> warning: no interfaces have a carrier

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