New BeagleY-AI opens up design in familiar form factor

Upstream fruit was mentioned, I was searching and found adafruit and found a huge surprise with that too. It must have been Pi…

1 Like

Fruits at fruition!

Seth

P.S. I am not sure if it is a drop in replacement for “Cape” but that hat seemed note worthy to me (for some reason or another).

1 Like

Promising!!!

I read ‘boards’. Does that mean there is also a successor for the pocket beagle in the making?

Hans.

If there is maybe adding wifi, a connector for debug and RTC battery would be helpful.

Congrats on this new board, looks promising

But the clock mux for that is controlled by the r5/secure domain, the a53 domain just gets to use it.

Does that mean that the R5 won’t be available for custom firmware programming?

There’s 3 groups of r5’s…

https://software-dl.ti.com/tisci/esd/latest/5_soc_doc/j722s/hosts.html

1 Like

Thank you. So I assume NVME/PCIE will be using MCU_0_R5_0 (ID: 30)?

Further, I’m always a little confused about how R5s handle boot in WKUP domain. Do they become free for user use after handoff to A53? Or do they keep running the boot firmware effectively like a “bios”?

In any event it appears users will definitely have MAIN_0_R5_0 / MAIN_0_R5_1 available.

No ADC here. We are still doing BeagleBone form-factor boards with ADC.

Does the final product require a mounted heatsink on the SoC to run properly?

I did a list of open-hardware hats here in case that’s of interest Open-Pi/accessories at main · samuk/Open-Pi · GitHub

Those din rail cases are pretty cool, by any chance would you happen to know who the actual manufacture in China would be?

1 Like

I’m not sure those cases will fit the Pi footprint well? This store offers customisation of them, not sure if they actually produce them.

1 Like

Exciting news about BeagleY-AI! Offering 4 trillion operations per second for deep-learning algorithms, it maintains a familiar form factor while integrating open hardware references. OSHWA certified (US0026167), with details and orders at https://beagley-ai.org. Quick start guide and technical docs available. Kudos to the BeagleBoard team!

Thank you
gregbowers

AM67A data sheet, product information and support | TI.com is now public

I was looking over the specs and they are very impressive. Looked at the evm board docs and it does not mention anything about the GPU.

67-a

67-b

Will the board that BB ship have the GPU and DSP enabled so users will be able to actually use it and have a “Gl Triangle” for reference?

And where are the examples of launching a simple triangle using Vulkan?

Read some verbiage on Ti site regarding “up to 4 cores”, so exactly how many cores will the BB product have when it ships?

We got the AM67A with gpu, so: AM67A94 - https://www.ti.com/document-viewer/AM67A/datasheet#GUID-20230908-SR0T-8QQX-4SLQ-PK7NTFB9ZFZK/TITLE-SPRSP56TOCWRAPPER_DEVICE_COMPARISON

Regards,

Here is my basic vulkan test, it is just a plain triangle. If you don’t mind please try this on the board you have.
Might fail due to lack of the validation layers. In that case just try to light up a glfw window.

This is the cmake for a CLion build

cmake_minimum_required(VERSION 3.20)
project(vulkan2)

set(CMAKE_CXX_STANDARD 17)

add_executable(vulkan2 main.cpp )

target_link_libraries(${PROJECT_NAME} glfw vulkan dl pthread X11 Xrandr Xi)
#define GLFW_INCLUDE_VULKAN
#include <GLFW/glfw3.h>


#include <iostream>
#include <fstream>
#include <stdexcept>
#include <algorithm>
#include <vector>
#include <cstring>
#include <cstdlib>
#include <cstdint>
#include <limits>
#include <optional>
#include <set>

const uint32_t WIDTH = 800;
const uint32_t HEIGHT = 600;

const int MAX_FRAMES_IN_FLIGHT = 2;

const std::vector<const char*> validationLayers = {
        "VK_LAYER_KHRONOS_validation"
};

const std::vector<const char*> deviceExtensions = {
        VK_KHR_SWAPCHAIN_EXTENSION_NAME
};

#ifdef NDEBUG
const bool enableValidationLayers = false;
#else
const bool enableValidationLayers = false;
#endif

VkResult CreateDebugUtilsMessengerEXT(VkInstance instance, const VkDebugUtilsMessengerCreateInfoEXT* pCreateInfo, const VkAllocationCallbacks* pAllocator, VkDebugUtilsMessengerEXT* pDebugMessenger) {
    auto func = (PFN_vkCreateDebugUtilsMessengerEXT) vkGetInstanceProcAddr(instance, "vkCreateDebugUtilsMessengerEXT");
    if (func != nullptr) {
        return func(instance, pCreateInfo, pAllocator, pDebugMessenger);
    } else {
        return VK_ERROR_EXTENSION_NOT_PRESENT;
    }
}

void DestroyDebugUtilsMessengerEXT(VkInstance instance, VkDebugUtilsMessengerEXT debugMessenger, const VkAllocationCallbacks* pAllocator) {
    auto func = (PFN_vkDestroyDebugUtilsMessengerEXT) vkGetInstanceProcAddr(instance, "vkDestroyDebugUtilsMessengerEXT");
    if (func != nullptr) {
        func(instance, debugMessenger, pAllocator);
    }
}

struct QueueFamilyIndices {
    std::optional<uint32_t> graphicsFamily;
    std::optional<uint32_t> presentFamily;

    bool isComplete() {
        return graphicsFamily.has_value() && presentFamily.has_value();
    }
};

struct SwapChainSupportDetails {
    VkSurfaceCapabilitiesKHR capabilities;
    std::vector<VkSurfaceFormatKHR> formats;
    std::vector<VkPresentModeKHR> presentModes;
};

class HelloTriangleApplication {
public:
    void run() {
        initWindow();
        initVulkan();
        mainLoop();
        cleanup();
    }

private:
    GLFWwindow* window;

    VkInstance instance;
    VkDebugUtilsMessengerEXT debugMessenger;
    VkSurfaceKHR surface;

    VkPhysicalDevice physicalDevice = VK_NULL_HANDLE;
    VkDevice device;

    VkQueue graphicsQueue;
    VkQueue presentQueue;

    VkSwapchainKHR swapChain;
    std::vector<VkImage> swapChainImages;
    VkFormat swapChainImageFormat;
    VkExtent2D swapChainExtent;
    std::vector<VkImageView> swapChainImageViews;
    std::vector<VkFramebuffer> swapChainFramebuffers;

    VkRenderPass renderPass;
    VkPipelineLayout pipelineLayout;
    VkPipeline graphicsPipeline;

    VkCommandPool commandPool;
    VkCommandBuffer commandBuffer;

    VkSemaphore imageAvailableSemaphore;
    VkSemaphore renderFinishedSemaphore;
    VkFence inFlightFence;

    void initWindow() {
        glfwInit();
        if(glfwVulkanSupported() == GLFW_TRUE)
            std::cout << ("Vulkan is available\n");
        else std::cout << ("Vulkan is not available\n");

        std::cout << "\ntest\n";
        glfwWindowHint(GLFW_CLIENT_API, GLFW_NO_API);
        glfwWindowHint(GLFW_RESIZABLE, GLFW_FALSE);

        window = glfwCreateWindow(WIDTH, HEIGHT, "Vulkan", nullptr, nullptr);
    }

    void initVulkan() {
        createInstance();
        setupDebugMessenger();
        createSurface();
        pickPhysicalDevice();
        createLogicalDevice();
        createSwapChain();
        createImageViews();
        createRenderPass();
        createGraphicsPipeline();
        createFramebuffers();
        createCommandPool();
        createCommandBuffer();
        createSyncObjects();
    }

    void mainLoop() {
        while (!glfwWindowShouldClose(window)) {
            glfwPollEvents();
            drawFrame();
        }

        vkDeviceWaitIdle(device);
    }

    void cleanup() {
        vkDestroySemaphore(device, renderFinishedSemaphore, nullptr);
        vkDestroySemaphore(device, imageAvailableSemaphore, nullptr);
        vkDestroyFence(device, inFlightFence, nullptr);

        vkDestroyCommandPool(device, commandPool, nullptr);

        for (auto framebuffer : swapChainFramebuffers) {
            vkDestroyFramebuffer(device, framebuffer, nullptr);
        }

        vkDestroyPipeline(device, graphicsPipeline, nullptr);
        vkDestroyPipelineLayout(device, pipelineLayout, nullptr);
        vkDestroyRenderPass(device, renderPass, nullptr);

        for (auto imageView : swapChainImageViews) {
            vkDestroyImageView(device, imageView, nullptr);
        }

        vkDestroySwapchainKHR(device, swapChain, nullptr);
        vkDestroyDevice(device, nullptr);

        if (enableValidationLayers) {
            DestroyDebugUtilsMessengerEXT(instance, debugMessenger, nullptr);
        }

        vkDestroySurfaceKHR(instance, surface, nullptr);
        vkDestroyInstance(instance, nullptr);

        glfwDestroyWindow(window);

        glfwTerminate();
    }

    void createInstance() {
        if (enableValidationLayers && !checkValidationLayerSupport()) {
            throw std::runtime_error("validation layers requested, but not available!");
        }

        VkApplicationInfo appInfo{};
        appInfo.sType = VK_STRUCTURE_TYPE_APPLICATION_INFO;
        appInfo.pApplicationName = "Hello Triangle";
        appInfo.applicationVersion = VK_MAKE_VERSION(1, 0, 0);
        appInfo.pEngineName = "No Engine";
        appInfo.engineVersion = VK_MAKE_VERSION(1, 0, 0);
        appInfo.apiVersion = VK_API_VERSION_1_0;

        VkInstanceCreateInfo createInfo{};
        createInfo.sType = VK_STRUCTURE_TYPE_INSTANCE_CREATE_INFO;
        createInfo.pApplicationInfo = &appInfo;

        auto extensions = getRequiredExtensions();
        createInfo.enabledExtensionCount = static_cast<uint32_t>(extensions.size());
        createInfo.ppEnabledExtensionNames = extensions.data();

        VkDebugUtilsMessengerCreateInfoEXT debugCreateInfo{};
        if (enableValidationLayers) {
            createInfo.enabledLayerCount = static_cast<uint32_t>(validationLayers.size());
            createInfo.ppEnabledLayerNames = validationLayers.data();

            populateDebugMessengerCreateInfo(debugCreateInfo);
            createInfo.pNext = (VkDebugUtilsMessengerCreateInfoEXT*) &debugCreateInfo;
        } else {
            createInfo.enabledLayerCount = 0;

            createInfo.pNext = nullptr;
        }

        if (vkCreateInstance(&createInfo, nullptr, &instance) != VK_SUCCESS) {
            throw std::runtime_error("failed to create instance!");
        }
    }

    void populateDebugMessengerCreateInfo(VkDebugUtilsMessengerCreateInfoEXT& createInfo) {
        createInfo = {};
        createInfo.sType = VK_STRUCTURE_TYPE_DEBUG_UTILS_MESSENGER_CREATE_INFO_EXT;
        createInfo.messageSeverity = VK_DEBUG_UTILS_MESSAGE_SEVERITY_VERBOSE_BIT_EXT | VK_DEBUG_UTILS_MESSAGE_SEVERITY_WARNING_BIT_EXT | VK_DEBUG_UTILS_MESSAGE_SEVERITY_ERROR_BIT_EXT;
        createInfo.messageType = VK_DEBUG_UTILS_MESSAGE_TYPE_GENERAL_BIT_EXT | VK_DEBUG_UTILS_MESSAGE_TYPE_VALIDATION_BIT_EXT | VK_DEBUG_UTILS_MESSAGE_TYPE_PERFORMANCE_BIT_EXT;
        createInfo.pfnUserCallback = debugCallback;
    }

    void setupDebugMessenger() {
        if (!enableValidationLayers) return;

        VkDebugUtilsMessengerCreateInfoEXT createInfo;
        populateDebugMessengerCreateInfo(createInfo);

        if (CreateDebugUtilsMessengerEXT(instance, &createInfo, nullptr, &debugMessenger) != VK_SUCCESS) {
            throw std::runtime_error("failed to set up debug messenger!");
        }
    }

    void createSurface() {
        if (glfwCreateWindowSurface(instance, window, nullptr, &surface) != VK_SUCCESS) {
            throw std::runtime_error("failed to create window surface!");
        }
    }

    void pickPhysicalDevice() {
        uint32_t deviceCount = 0;
        vkEnumeratePhysicalDevices(instance, &deviceCount, nullptr);

        if (deviceCount == 0) {
            throw std::runtime_error("failed to find GPUs with Vulkan support!");
        }

        std::vector<VkPhysicalDevice> devices(deviceCount);
        vkEnumeratePhysicalDevices(instance, &deviceCount, devices.data());

        for (const auto& device : devices) {
            if (isDeviceSuitable(device)) {
                physicalDevice = device;
                break;
            }
        }

        if (physicalDevice == VK_NULL_HANDLE) {
            throw std::runtime_error("failed to find a suitable GPU!");
        }
    }

    void createLogicalDevice() {
        QueueFamilyIndices indices = findQueueFamilies(physicalDevice);

        std::vector<VkDeviceQueueCreateInfo> queueCreateInfos;
        std::set<uint32_t> uniqueQueueFamilies = {indices.graphicsFamily.value(), indices.presentFamily.value()};

        float queuePriority = 1.0f;
        for (uint32_t queueFamily : uniqueQueueFamilies) {
            VkDeviceQueueCreateInfo queueCreateInfo{};
            queueCreateInfo.sType = VK_STRUCTURE_TYPE_DEVICE_QUEUE_CREATE_INFO;
            queueCreateInfo.queueFamilyIndex = queueFamily;
            queueCreateInfo.queueCount = 1;
            queueCreateInfo.pQueuePriorities = &queuePriority;
            queueCreateInfos.push_back(queueCreateInfo);
        }

        VkPhysicalDeviceFeatures deviceFeatures{};

        VkDeviceCreateInfo createInfo{};
        createInfo.sType = VK_STRUCTURE_TYPE_DEVICE_CREATE_INFO;

        createInfo.queueCreateInfoCount = static_cast<uint32_t>(queueCreateInfos.size());
        createInfo.pQueueCreateInfos = queueCreateInfos.data();

        createInfo.pEnabledFeatures = &deviceFeatures;

        createInfo.enabledExtensionCount = static_cast<uint32_t>(deviceExtensions.size());
        createInfo.ppEnabledExtensionNames = deviceExtensions.data();

        if (enableValidationLayers) {
            createInfo.enabledLayerCount = static_cast<uint32_t>(validationLayers.size());
            createInfo.ppEnabledLayerNames = validationLayers.data();
        } else {
            createInfo.enabledLayerCount = 0;
        }

        if (vkCreateDevice(physicalDevice, &createInfo, nullptr, &device) != VK_SUCCESS) {
            throw std::runtime_error("failed to create logical device!");
        }

        vkGetDeviceQueue(device, indices.graphicsFamily.value(), 0, &graphicsQueue);
        vkGetDeviceQueue(device, indices.presentFamily.value(), 0, &presentQueue);
    }

    void createSwapChain() {
        SwapChainSupportDetails swapChainSupport = querySwapChainSupport(physicalDevice);

        VkSurfaceFormatKHR surfaceFormat = chooseSwapSurfaceFormat(swapChainSupport.formats);
        VkPresentModeKHR presentMode = chooseSwapPresentMode(swapChainSupport.presentModes);
        VkExtent2D extent = chooseSwapExtent(swapChainSupport.capabilities);

        uint32_t imageCount = swapChainSupport.capabilities.minImageCount + 1;
        if (swapChainSupport.capabilities.maxImageCount > 0 && imageCount > swapChainSupport.capabilities.maxImageCount) {
            imageCount = swapChainSupport.capabilities.maxImageCount;
        }

        VkSwapchainCreateInfoKHR createInfo{};
        createInfo.sType = VK_STRUCTURE_TYPE_SWAPCHAIN_CREATE_INFO_KHR;
        createInfo.surface = surface;

        createInfo.minImageCount = imageCount;
        createInfo.imageFormat = surfaceFormat.format;
        createInfo.imageColorSpace = surfaceFormat.colorSpace;
        createInfo.imageExtent = extent;
        createInfo.imageArrayLayers = 1;
        createInfo.imageUsage = VK_IMAGE_USAGE_COLOR_ATTACHMENT_BIT;

        QueueFamilyIndices indices = findQueueFamilies(physicalDevice);
        uint32_t queueFamilyIndices[] = {indices.graphicsFamily.value(), indices.presentFamily.value()};

        if (indices.graphicsFamily != indices.presentFamily) {
            createInfo.imageSharingMode = VK_SHARING_MODE_CONCURRENT;
            createInfo.queueFamilyIndexCount = 2;
            createInfo.pQueueFamilyIndices = queueFamilyIndices;
        } else {
            createInfo.imageSharingMode = VK_SHARING_MODE_EXCLUSIVE;
        }

        createInfo.preTransform = swapChainSupport.capabilities.currentTransform;
        createInfo.compositeAlpha = VK_COMPOSITE_ALPHA_OPAQUE_BIT_KHR;
        createInfo.presentMode = presentMode;
        createInfo.clipped = VK_TRUE;

        createInfo.oldSwapchain = VK_NULL_HANDLE;

        if (vkCreateSwapchainKHR(device, &createInfo, nullptr, &swapChain) != VK_SUCCESS) {
            throw std::runtime_error("failed to create swap chain!");
        }

        vkGetSwapchainImagesKHR(device, swapChain, &imageCount, nullptr);
        swapChainImages.resize(imageCount);
        vkGetSwapchainImagesKHR(device, swapChain, &imageCount, swapChainImages.data());

        swapChainImageFormat = surfaceFormat.format;
        swapChainExtent = extent;
    }

    void createImageViews() {
        swapChainImageViews.resize(swapChainImages.size());

        for (size_t i = 0; i < swapChainImages.size(); i++) {
            VkImageViewCreateInfo createInfo{};
            createInfo.sType = VK_STRUCTURE_TYPE_IMAGE_VIEW_CREATE_INFO;
            createInfo.image = swapChainImages[i];
            createInfo.viewType = VK_IMAGE_VIEW_TYPE_2D;
            createInfo.format = swapChainImageFormat;
            createInfo.components.r = VK_COMPONENT_SWIZZLE_IDENTITY;
            createInfo.components.g = VK_COMPONENT_SWIZZLE_IDENTITY;
            createInfo.components.b = VK_COMPONENT_SWIZZLE_IDENTITY;
            createInfo.components.a = VK_COMPONENT_SWIZZLE_IDENTITY;
            createInfo.subresourceRange.aspectMask = VK_IMAGE_ASPECT_COLOR_BIT;
            createInfo.subresourceRange.baseMipLevel = 0;
            createInfo.subresourceRange.levelCount = 1;
            createInfo.subresourceRange.baseArrayLayer = 0;
            createInfo.subresourceRange.layerCount = 1;

            if (vkCreateImageView(device, &createInfo, nullptr, &swapChainImageViews[i]) != VK_SUCCESS) {
                throw std::runtime_error("failed to create image views!");
            }
        }
    }

    void createRenderPass() {
        VkAttachmentDescription colorAttachment{};
        colorAttachment.format = swapChainImageFormat;
        colorAttachment.samples = VK_SAMPLE_COUNT_1_BIT;
        colorAttachment.loadOp = VK_ATTACHMENT_LOAD_OP_CLEAR;
        colorAttachment.storeOp = VK_ATTACHMENT_STORE_OP_STORE;
        colorAttachment.stencilLoadOp = VK_ATTACHMENT_LOAD_OP_DONT_CARE;
        colorAttachment.stencilStoreOp = VK_ATTACHMENT_STORE_OP_DONT_CARE;
        colorAttachment.initialLayout = VK_IMAGE_LAYOUT_UNDEFINED;
        colorAttachment.finalLayout = VK_IMAGE_LAYOUT_PRESENT_SRC_KHR;

        VkAttachmentReference colorAttachmentRef{};
        colorAttachmentRef.attachment = 0;
        colorAttachmentRef.layout = VK_IMAGE_LAYOUT_COLOR_ATTACHMENT_OPTIMAL;

        VkSubpassDescription subpass{};
        subpass.pipelineBindPoint = VK_PIPELINE_BIND_POINT_GRAPHICS;
        subpass.colorAttachmentCount = 1;
        subpass.pColorAttachments = &colorAttachmentRef;

        VkSubpassDependency dependency{};
        dependency.srcSubpass = VK_SUBPASS_EXTERNAL;
        dependency.dstSubpass = 0;
        dependency.srcStageMask = VK_PIPELINE_STAGE_COLOR_ATTACHMENT_OUTPUT_BIT;
        dependency.srcAccessMask = 0;
        dependency.dstStageMask = VK_PIPELINE_STAGE_COLOR_ATTACHMENT_OUTPUT_BIT;
        dependency.dstAccessMask = VK_ACCESS_COLOR_ATTACHMENT_WRITE_BIT;

        VkRenderPassCreateInfo renderPassInfo{};
        renderPassInfo.sType = VK_STRUCTURE_TYPE_RENDER_PASS_CREATE_INFO;
        renderPassInfo.attachmentCount = 1;
        renderPassInfo.pAttachments = &colorAttachment;
        renderPassInfo.subpassCount = 1;
        renderPassInfo.pSubpasses = &subpass;
        renderPassInfo.dependencyCount = 1;
        renderPassInfo.pDependencies = &dependency;

        if (vkCreateRenderPass(device, &renderPassInfo, nullptr, &renderPass) != VK_SUCCESS) {
            throw std::runtime_error("failed to create render pass!");
        }
    }

    void createGraphicsPipeline() {
        auto vertShaderCode = readFile("./shaders/vert.spv");
        auto fragShaderCode = readFile("./shaders/frag.spv");

        VkShaderModule vertShaderModule = createShaderModule(vertShaderCode);
        VkShaderModule fragShaderModule = createShaderModule(fragShaderCode);

        VkPipelineShaderStageCreateInfo vertShaderStageInfo{};
        vertShaderStageInfo.sType = VK_STRUCTURE_TYPE_PIPELINE_SHADER_STAGE_CREATE_INFO;
        vertShaderStageInfo.stage = VK_SHADER_STAGE_VERTEX_BIT;
        vertShaderStageInfo.module = vertShaderModule;
        vertShaderStageInfo.pName = "main";

        VkPipelineShaderStageCreateInfo fragShaderStageInfo{};
        fragShaderStageInfo.sType = VK_STRUCTURE_TYPE_PIPELINE_SHADER_STAGE_CREATE_INFO;
        fragShaderStageInfo.stage = VK_SHADER_STAGE_FRAGMENT_BIT;
        fragShaderStageInfo.module = fragShaderModule;
        fragShaderStageInfo.pName = "main";

        VkPipelineShaderStageCreateInfo shaderStages[] = {vertShaderStageInfo, fragShaderStageInfo};

        VkPipelineVertexInputStateCreateInfo vertexInputInfo{};
        vertexInputInfo.sType = VK_STRUCTURE_TYPE_PIPELINE_VERTEX_INPUT_STATE_CREATE_INFO;
        vertexInputInfo.vertexBindingDescriptionCount = 0;
        vertexInputInfo.vertexAttributeDescriptionCount = 0;

        VkPipelineInputAssemblyStateCreateInfo inputAssembly{};
        inputAssembly.sType = VK_STRUCTURE_TYPE_PIPELINE_INPUT_ASSEMBLY_STATE_CREATE_INFO;
        inputAssembly.topology = VK_PRIMITIVE_TOPOLOGY_TRIANGLE_LIST;
        inputAssembly.primitiveRestartEnable = VK_FALSE;

        VkPipelineViewportStateCreateInfo viewportState{};
        viewportState.sType = VK_STRUCTURE_TYPE_PIPELINE_VIEWPORT_STATE_CREATE_INFO;
        viewportState.viewportCount = 1;
        viewportState.scissorCount = 1;

        VkPipelineRasterizationStateCreateInfo rasterizer{};
        rasterizer.sType = VK_STRUCTURE_TYPE_PIPELINE_RASTERIZATION_STATE_CREATE_INFO;
        rasterizer.depthClampEnable = VK_FALSE;
        rasterizer.rasterizerDiscardEnable = VK_FALSE;
        rasterizer.polygonMode = VK_POLYGON_MODE_FILL;
        rasterizer.lineWidth = 1.0f;
        rasterizer.cullMode = VK_CULL_MODE_BACK_BIT;
        rasterizer.frontFace = VK_FRONT_FACE_CLOCKWISE;
        rasterizer.depthBiasEnable = VK_FALSE;

        VkPipelineMultisampleStateCreateInfo multisampling{};
        multisampling.sType = VK_STRUCTURE_TYPE_PIPELINE_MULTISAMPLE_STATE_CREATE_INFO;
        multisampling.sampleShadingEnable = VK_FALSE;
        multisampling.rasterizationSamples = VK_SAMPLE_COUNT_1_BIT;

        VkPipelineColorBlendAttachmentState colorBlendAttachment{};
        colorBlendAttachment.colorWriteMask = VK_COLOR_COMPONENT_R_BIT | VK_COLOR_COMPONENT_G_BIT | VK_COLOR_COMPONENT_B_BIT | VK_COLOR_COMPONENT_A_BIT;
        colorBlendAttachment.blendEnable = VK_FALSE;

        VkPipelineColorBlendStateCreateInfo colorBlending{};
        colorBlending.sType = VK_STRUCTURE_TYPE_PIPELINE_COLOR_BLEND_STATE_CREATE_INFO;
        colorBlending.logicOpEnable = VK_FALSE;
        colorBlending.logicOp = VK_LOGIC_OP_COPY;
        colorBlending.attachmentCount = 1;
        colorBlending.pAttachments = &colorBlendAttachment;
        colorBlending.blendConstants[0] = 0.0f;
        colorBlending.blendConstants[1] = 0.0f;
        colorBlending.blendConstants[2] = 0.0f;
        colorBlending.blendConstants[3] = 0.0f;

        std::vector<VkDynamicState> dynamicStates = {
                VK_DYNAMIC_STATE_VIEWPORT,
                VK_DYNAMIC_STATE_SCISSOR
        };
        VkPipelineDynamicStateCreateInfo dynamicState{};
        dynamicState.sType = VK_STRUCTURE_TYPE_PIPELINE_DYNAMIC_STATE_CREATE_INFO;
        dynamicState.dynamicStateCount = static_cast<uint32_t>(dynamicStates.size());
        dynamicState.pDynamicStates = dynamicStates.data();

        VkPipelineLayoutCreateInfo pipelineLayoutInfo{};
        pipelineLayoutInfo.sType = VK_STRUCTURE_TYPE_PIPELINE_LAYOUT_CREATE_INFO;
        pipelineLayoutInfo.setLayoutCount = 0;
        pipelineLayoutInfo.pushConstantRangeCount = 0;

        if (vkCreatePipelineLayout(device, &pipelineLayoutInfo, nullptr, &pipelineLayout) != VK_SUCCESS) {
            throw std::runtime_error("failed to create pipeline layout!");
        }

        VkGraphicsPipelineCreateInfo pipelineInfo{};
        pipelineInfo.sType = VK_STRUCTURE_TYPE_GRAPHICS_PIPELINE_CREATE_INFO;
        pipelineInfo.stageCount = 2;
        pipelineInfo.pStages = shaderStages;
        pipelineInfo.pVertexInputState = &vertexInputInfo;
        pipelineInfo.pInputAssemblyState = &inputAssembly;
        pipelineInfo.pViewportState = &viewportState;
        pipelineInfo.pRasterizationState = &rasterizer;
        pipelineInfo.pMultisampleState = &multisampling;
        pipelineInfo.pColorBlendState = &colorBlending;
        pipelineInfo.pDynamicState = &dynamicState;
        pipelineInfo.layout = pipelineLayout;
        pipelineInfo.renderPass = renderPass;
        pipelineInfo.subpass = 0;
        pipelineInfo.basePipelineHandle = VK_NULL_HANDLE;

        if (vkCreateGraphicsPipelines(device, VK_NULL_HANDLE, 1, &pipelineInfo, nullptr, &graphicsPipeline) != VK_SUCCESS) {
            throw std::runtime_error("failed to create graphics pipeline!");
        }

        vkDestroyShaderModule(device, fragShaderModule, nullptr);
        vkDestroyShaderModule(device, vertShaderModule, nullptr);
    }

    void createFramebuffers() {
        swapChainFramebuffers.resize(swapChainImageViews.size());

        for (size_t i = 0; i < swapChainImageViews.size(); i++) {
            VkImageView attachments[] = {
                    swapChainImageViews[i]
            };

            VkFramebufferCreateInfo framebufferInfo{};
            framebufferInfo.sType = VK_STRUCTURE_TYPE_FRAMEBUFFER_CREATE_INFO;
            framebufferInfo.renderPass = renderPass;
            framebufferInfo.attachmentCount = 1;
            framebufferInfo.pAttachments = attachments;
            framebufferInfo.width = swapChainExtent.width;
            framebufferInfo.height = swapChainExtent.height;
            framebufferInfo.layers = 1;

            if (vkCreateFramebuffer(device, &framebufferInfo, nullptr, &swapChainFramebuffers[i]) != VK_SUCCESS) {
                throw std::runtime_error("failed to create framebuffer!");
            }
        }
    }

    void createCommandPool() {
        QueueFamilyIndices queueFamilyIndices = findQueueFamilies(physicalDevice);

        VkCommandPoolCreateInfo poolInfo{};
        poolInfo.sType = VK_STRUCTURE_TYPE_COMMAND_POOL_CREATE_INFO;
        poolInfo.flags = VK_COMMAND_POOL_CREATE_RESET_COMMAND_BUFFER_BIT;
        poolInfo.queueFamilyIndex = queueFamilyIndices.graphicsFamily.value();

        if (vkCreateCommandPool(device, &poolInfo, nullptr, &commandPool) != VK_SUCCESS) {
            throw std::runtime_error("failed to create command pool!");
        }
    }

    void createCommandBuffer() {
        VkCommandBufferAllocateInfo allocInfo{};
        allocInfo.sType = VK_STRUCTURE_TYPE_COMMAND_BUFFER_ALLOCATE_INFO;
        allocInfo.commandPool = commandPool;
        allocInfo.level = VK_COMMAND_BUFFER_LEVEL_PRIMARY;
        allocInfo.commandBufferCount = 1;

        if (vkAllocateCommandBuffers(device, &allocInfo, &commandBuffer) != VK_SUCCESS) {
            throw std::runtime_error("failed to allocate command buffers!");
        }
    }

    void recordCommandBuffer(VkCommandBuffer commandBuffer, uint32_t imageIndex) {
        VkCommandBufferBeginInfo beginInfo{};
        beginInfo.sType = VK_STRUCTURE_TYPE_COMMAND_BUFFER_BEGIN_INFO;

        if (vkBeginCommandBuffer(commandBuffer, &beginInfo) != VK_SUCCESS) {
            throw std::runtime_error("failed to begin recording command buffer!");
        }

        VkRenderPassBeginInfo renderPassInfo{};
        renderPassInfo.sType = VK_STRUCTURE_TYPE_RENDER_PASS_BEGIN_INFO;
        renderPassInfo.renderPass = renderPass;
        renderPassInfo.framebuffer = swapChainFramebuffers[imageIndex];
        renderPassInfo.renderArea.offset = {0, 0};
        renderPassInfo.renderArea.extent = swapChainExtent;

        VkClearValue clearColor = {{{0.0f, 0.0f, 0.0f, 1.0f}}};
        renderPassInfo.clearValueCount = 1;
        renderPassInfo.pClearValues = &clearColor;

        vkCmdBeginRenderPass(commandBuffer, &renderPassInfo, VK_SUBPASS_CONTENTS_INLINE);

        vkCmdBindPipeline(commandBuffer, VK_PIPELINE_BIND_POINT_GRAPHICS, graphicsPipeline);

        VkViewport viewport{};
        viewport.x = 0.0f;
        viewport.y = 0.0f;
        viewport.width = static_cast<float>(swapChainExtent.width);
        viewport.height = static_cast<float>(swapChainExtent.height);
        viewport.minDepth = 0.0f;
        viewport.maxDepth = 1.0f;
        vkCmdSetViewport(commandBuffer, 0, 1, &viewport);

        VkRect2D scissor{};
        scissor.offset = {0, 0};
        scissor.extent = swapChainExtent;
        vkCmdSetScissor(commandBuffer, 0, 1, &scissor);

        vkCmdDraw(commandBuffer, 3, 1, 0, 0);

        vkCmdEndRenderPass(commandBuffer);

        if (vkEndCommandBuffer(commandBuffer) != VK_SUCCESS) {
            throw std::runtime_error("failed to record command buffer!");
        }
    }

    void createSyncObjects() {
        VkSemaphoreCreateInfo semaphoreInfo{};
        semaphoreInfo.sType = VK_STRUCTURE_TYPE_SEMAPHORE_CREATE_INFO;

        VkFenceCreateInfo fenceInfo{};
        fenceInfo.sType = VK_STRUCTURE_TYPE_FENCE_CREATE_INFO;
        fenceInfo.flags = VK_FENCE_CREATE_SIGNALED_BIT;

        if (vkCreateSemaphore(device, &semaphoreInfo, nullptr, &imageAvailableSemaphore) != VK_SUCCESS ||
            vkCreateSemaphore(device, &semaphoreInfo, nullptr, &renderFinishedSemaphore) != VK_SUCCESS ||
            vkCreateFence(device, &fenceInfo, nullptr, &inFlightFence) != VK_SUCCESS) {
            throw std::runtime_error("failed to create synchronization objects for a frame!");
        }

    }

    void drawFrame() {
        vkWaitForFences(device, 1, &inFlightFence, VK_TRUE, UINT64_MAX);
        vkResetFences(device, 1, &inFlightFence);

        uint32_t imageIndex;
        vkAcquireNextImageKHR(device, swapChain, UINT64_MAX, imageAvailableSemaphore, VK_NULL_HANDLE, &imageIndex);

        vkResetCommandBuffer(commandBuffer, /*VkCommandBufferResetFlagBits*/ 0);
        recordCommandBuffer(commandBuffer, imageIndex);

        VkSubmitInfo submitInfo{};
        submitInfo.sType = VK_STRUCTURE_TYPE_SUBMIT_INFO;

        VkSemaphore waitSemaphores[] = {imageAvailableSemaphore};
        VkPipelineStageFlags waitStages[] = {VK_PIPELINE_STAGE_COLOR_ATTACHMENT_OUTPUT_BIT};
        submitInfo.waitSemaphoreCount = 1;
        submitInfo.pWaitSemaphores = waitSemaphores;
        submitInfo.pWaitDstStageMask = waitStages;

        submitInfo.commandBufferCount = 1;
        submitInfo.pCommandBuffers = &commandBuffer;

        VkSemaphore signalSemaphores[] = {renderFinishedSemaphore};
        submitInfo.signalSemaphoreCount = 1;
        submitInfo.pSignalSemaphores = signalSemaphores;

        if (vkQueueSubmit(graphicsQueue, 1, &submitInfo, inFlightFence) != VK_SUCCESS) {
            throw std::runtime_error("failed to submit draw command buffer!");
        }

        VkPresentInfoKHR presentInfo{};
        presentInfo.sType = VK_STRUCTURE_TYPE_PRESENT_INFO_KHR;

        presentInfo.waitSemaphoreCount = 1;
        presentInfo.pWaitSemaphores = signalSemaphores;

        VkSwapchainKHR swapChains[] = {swapChain};
        presentInfo.swapchainCount = 1;
        presentInfo.pSwapchains = swapChains;

        presentInfo.pImageIndices = &imageIndex;

        vkQueuePresentKHR(presentQueue, &presentInfo);
    }

    VkShaderModule createShaderModule(const std::vector<char>& code) {
        VkShaderModuleCreateInfo createInfo{};
        createInfo.sType = VK_STRUCTURE_TYPE_SHADER_MODULE_CREATE_INFO;
        createInfo.codeSize = code.size();
        createInfo.pCode = reinterpret_cast<const uint32_t*>(code.data());

        VkShaderModule shaderModule;
        if (vkCreateShaderModule(device, &createInfo, nullptr, &shaderModule) != VK_SUCCESS) {
            throw std::runtime_error("failed to create shader module!");
        }

        return shaderModule;
    }

    VkSurfaceFormatKHR chooseSwapSurfaceFormat(const std::vector<VkSurfaceFormatKHR>& availableFormats) {
        for (const auto& availableFormat : availableFormats) {
            if (availableFormat.format == VK_FORMAT_B8G8R8A8_SRGB && availableFormat.colorSpace == VK_COLOR_SPACE_SRGB_NONLINEAR_KHR) {
                return availableFormat;
            }
        }

        return availableFormats[0];
    }

    VkPresentModeKHR chooseSwapPresentMode(const std::vector<VkPresentModeKHR>& availablePresentModes) {
        for (const auto& availablePresentMode : availablePresentModes) {
            if (availablePresentMode == VK_PRESENT_MODE_MAILBOX_KHR) {
                return availablePresentMode;
            }
        }

        return VK_PRESENT_MODE_FIFO_KHR;
    }

    VkExtent2D chooseSwapExtent(const VkSurfaceCapabilitiesKHR& capabilities) {
        if (capabilities.currentExtent.width != std::numeric_limits<uint32_t>::max()) {
            return capabilities.currentExtent;
        } else {
            int width, height;
            glfwGetFramebufferSize(window, &width, &height);

            VkExtent2D actualExtent = {
                    static_cast<uint32_t>(width),
                    static_cast<uint32_t>(height)
            };

            actualExtent.width = std::clamp(actualExtent.width, capabilities.minImageExtent.width, capabilities.maxImageExtent.width);
            actualExtent.height = std::clamp(actualExtent.height, capabilities.minImageExtent.height, capabilities.maxImageExtent.height);

            return actualExtent;
        }
    }

    SwapChainSupportDetails querySwapChainSupport(VkPhysicalDevice device) {
        SwapChainSupportDetails details;

        vkGetPhysicalDeviceSurfaceCapabilitiesKHR(device, surface, &details.capabilities);

        uint32_t formatCount;
        vkGetPhysicalDeviceSurfaceFormatsKHR(device, surface, &formatCount, nullptr);

        if (formatCount != 0) {
            details.formats.resize(formatCount);
            vkGetPhysicalDeviceSurfaceFormatsKHR(device, surface, &formatCount, details.formats.data());
        }

        uint32_t presentModeCount;
        vkGetPhysicalDeviceSurfacePresentModesKHR(device, surface, &presentModeCount, nullptr);

        if (presentModeCount != 0) {
            details.presentModes.resize(presentModeCount);
            vkGetPhysicalDeviceSurfacePresentModesKHR(device, surface, &presentModeCount, details.presentModes.data());
        }

        return details;
    }

    bool isDeviceSuitable(VkPhysicalDevice device) {
        QueueFamilyIndices indices = findQueueFamilies(device);

        bool extensionsSupported = checkDeviceExtensionSupport(device);

        bool swapChainAdequate = false;
        if (extensionsSupported) {
            SwapChainSupportDetails swapChainSupport = querySwapChainSupport(device);
            swapChainAdequate = !swapChainSupport.formats.empty() && !swapChainSupport.presentModes.empty();
        }

        return indices.isComplete() && extensionsSupported && swapChainAdequate;
    }

    bool checkDeviceExtensionSupport(VkPhysicalDevice device) {
        uint32_t extensionCount;
        vkEnumerateDeviceExtensionProperties(device, nullptr, &extensionCount, nullptr);

        std::vector<VkExtensionProperties> availableExtensions(extensionCount);
        vkEnumerateDeviceExtensionProperties(device, nullptr, &extensionCount, availableExtensions.data());

        std::set<std::string> requiredExtensions(deviceExtensions.begin(), deviceExtensions.end());

        for (const auto& extension : availableExtensions) {
            requiredExtensions.erase(extension.extensionName);
        }

        return requiredExtensions.empty();
    }

    QueueFamilyIndices findQueueFamilies(VkPhysicalDevice device) {
        QueueFamilyIndices indices;

        uint32_t queueFamilyCount = 0;
        vkGetPhysicalDeviceQueueFamilyProperties(device, &queueFamilyCount, nullptr);

        std::vector<VkQueueFamilyProperties> queueFamilies(queueFamilyCount);
        vkGetPhysicalDeviceQueueFamilyProperties(device, &queueFamilyCount, queueFamilies.data());

        int i = 0;
        for (const auto& queueFamily : queueFamilies) {
            if (queueFamily.queueFlags & VK_QUEUE_GRAPHICS_BIT) {
                indices.graphicsFamily = i;
            }

            VkBool32 presentSupport = false;
            vkGetPhysicalDeviceSurfaceSupportKHR(device, i, surface, &presentSupport);

            if (presentSupport) {
                indices.presentFamily = i;
            }

            if (indices.isComplete()) {
                break;
            }

            i++;
        }

        return indices;
    }

    std::vector<const char*> getRequiredExtensions() {
        uint32_t glfwExtensionCount = 0;
        const char** glfwExtensions;
        glfwExtensions = glfwGetRequiredInstanceExtensions(&glfwExtensionCount);

        std::vector<const char*> extensions(glfwExtensions, glfwExtensions + glfwExtensionCount);

        if (enableValidationLayers) {
            extensions.push_back(VK_EXT_DEBUG_UTILS_EXTENSION_NAME);
        }

        return extensions;
    }

    bool checkValidationLayerSupport() {
        uint32_t layerCount;
        vkEnumerateInstanceLayerProperties(&layerCount, nullptr);

        std::vector<VkLayerProperties> availableLayers(layerCount);
        vkEnumerateInstanceLayerProperties(&layerCount, availableLayers.data());

        for (const char* layerName : validationLayers) {
            bool layerFound = false;

            for (const auto& layerProperties : availableLayers) {
                if (strcmp(layerName, layerProperties.layerName) == 0) {
                    layerFound = true;
                    break;
                }
            }

            if (!layerFound) {
                return false;
            }
        }

        return true;
    }

    static std::vector<char> readFile(const std::string& filename) {
        std::ifstream file(filename, std::ios::ate | std::ios::binary);

        if (!file.is_open()) {
            throw std::runtime_error("failed to open file!");
        }

        size_t fileSize = (size_t) file.tellg();
        std::vector<char> buffer(fileSize);

        file.seekg(0);
        file.read(buffer.data(), fileSize);

        file.close();

        return buffer;
    }

    static VKAPI_ATTR VkBool32 VKAPI_CALL debugCallback(VkDebugUtilsMessageSeverityFlagBitsEXT messageSeverity, VkDebugUtilsMessageTypeFlagsEXT messageType, const VkDebugUtilsMessengerCallbackDataEXT* pCallbackData, void* pUserData) {
        std::cerr << "validation layer: " << pCallbackData->pMessage << std::endl;

        return VK_FALSE;
    }
};

int main() {


    HelloTriangleApplication app;

    try {
        app.run();
    } catch (const std::exception& e) {
        std::cerr << e.what() << std::endl;
        return EXIT_FAILURE;
    }

    return EXIT_SUCCESS;
}
1 Like

A pretty nice design + price. The BeagleY schematics show that the 40pin expansion port is rather RPI compatible. But the I2C and SPI pins seem to be routed to the MCU_x pins of the AM67A which is in my interpretation the R5F core, not the A53 cores (“MAIN” domain). See for instance here:

beagley-i2c

This would in turn make the RPI-compatible expansion port quite useless if e.g. Linux running on A53 can’t access them directly…

Is my interpretation of the schematics correct?

Regards
jgrmpf

Not looked too closely but I think the peripherals are not tied to any particular core.

From a quick look I think the MCU for the pin description is more than likely referring to a particular power domain rather than a specific core. Much like the AI64 chip,

I really do hope you are right. For me it is not really easy figuring out from looking into the TRM what exactly belongs to the MAIN and MCU domain and if the peripherals can be accessed from all domains:

I would like to have that confirmed from someone from the BeagleY team …