移植实时Linux方案Xenomai到i.MX ARM64平台 (Enable Xenomai on i.MX ARM64 Platform)

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移植实时Linux方案Xenomai到i.MX ARM64平台 (Enable Xenomai on i.MX ARM64 Platform)

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移植实时Linux方案Xenomai到i.MX ARM64平台 (Enable Xenomai on i.MX ARM64 Platform)

    Xenomai is real-time framework, which can run seamlessly side-by-side Linux as a co-kernel system, or natively over mainline Linux kernels (with or without PREEMPT-RT patch). The dual kernel nicknamed Cobalt, is a significant rework of the Xenomai 2.x system. Cobalt implements the RTDM specification for interfacing with real-time device drivers. The native linux version, an enhanced implementation of the experimental Xenomai/SOLO work, is called Mercury. In this environment, only a standalone implementation of the RTDM specification in a kernel module is required, for interfacing the RTDM-compliant device drivers with the native kernel. You can get more detailed information from Home · Wiki · xenomai / xenomai · GitLab  

    I have ported xenomai 3.1 to i.MX Yocto 4.19.35-1.1.0, and currently support ARM64 and test on i.MX8MQ EVK board. I did over night test( 5 real-time threads + GPU SDK test case) and stress test by tool stress-ng on i.MX8MQ EVK board. It looks lile pretty good. Current version (20200730) also support i.MX8MM EVK.

    You need git clone https://gitee.com/zxd2021-imx/xenomai-arm64.git, and git checkout xenomai-4.19.35-1.1.0-20200818 (which inlcudes all patches and bb file) and add the following variable in conf/local.conf before build xenomai by command bitbake xenomai. 

XENOMAI_KERNEL_MODE = "cobalt" 

PREFERRED_VERSION_linux-imx = "4.19-${XENOMAI_KERNEL_MODE}"

IMAGE_INSTALL_append += " xenomai"

or
XENOMAI_KERNEL_MODE = "mercury"

PREFERRED_VERSION_linux-imx = "4.19-${XENOMAI_KERNEL_MODE}"

IMAGE_INSTALL_append += " xenomai"

If XENOMAI_KERNEL_MODE = "cobalt", you can build dual kernel version. And If XENOMAI_KERNEL_MODE = "mercury", it is single kernel with PREEMPT-RT patch.

The following is test result by the command (/usr/xenomai/demo/cyclictest -p 99 -t 5 -m -n -i 1000  -l 100000

//Over normal Linux kernel without GPU SDK test case

T: 0 ( 4220) P:99 I:1000 C: 100000 Min: 7 Act: 10 Avg: 9 Max: 23
T: 1 ( 4221) P:99 I:1500 C: 66672 Min: 7 Act: 10 Avg: 10 Max: 20
T: 2 ( 4222) P:99 I:2000 C: 50001 Min: 7 Act: 12 Avg: 10 Max: 81
T: 3 ( 4223) P:99 I:2500 C: 39998 Min: 7 Act: 11 Avg: 10 Max: 29
T: 4 ( 4224) P:99 I:3000 C: 33330 Min: 7 Act: 13 Avg: 10 Max: 26

//Over normal Linux kernel with GPU SDK test case

T: 0 ( 4177) P:99 I:1000 C: 100000 Min: 7 Act: 10 Avg: 11 Max: 51
T: 1 ( 4178) P:99 I:1500 C: 66673 Min: 7 Act: 12 Avg: 10 Max: 35
T: 2 ( 4179) P:99 I:2000 C: 50002 Min: 7 Act: 12 Avg: 11 Max: 38
T: 3 ( 4180) P:99 I:2500 C: 39999 Min: 7 Act: 12 Avg: 11 Max: 42
T: 4 ( 4181) P:99 I:3000 C: 33330 Min: 7 Act: 12 Avg: 11 Max: 36

 

//Cobalt with stress-ng --cpu 4 --io 2 --vm 1 --vm-bytes 512M --timeout 600s --metrics-brief
T: 0 ( 4259) P:50 I:1000 C:3508590 Min:      0 Act:    0 Avg:    0 Max:      42
T: 1 ( 4260) P:50 I:1500 C:2338831 Min:      0 Act:    1 Avg:    0 Max:      36
T: 2 ( 4261) P:50 I:2000 C:1754123 Min:      0 Act:    1 Avg:    1 Max:      42
T: 3 ( 4262) P:50 I:2500 C:1403298 Min:      0 Act:    1 Avg:    1 Max:      45
T: 4 ( 4263) P:50 I:3000 C:1169415 Min:      0 Act:    1 Avg:    1 Max:      22

 

//Cobalt without GPU SDK test case
T: 0 ( 4230) P:50 I:1000 C: 100000 Min: 0 Act: 0 Avg: 0 Max: 4
T: 1 ( 4231) P:50 I:1500 C:   66676 Min: 0 Act: 1 Avg: 0 Max: 4
T: 2 ( 4232) P:50 I:2000 C:   50007 Min: 0 Act: 1 Avg: 0 Max: 8
T: 3 ( 4233) P:50 I:2500 C:   40005 Min: 0 Act: 1 Avg: 0 Max: 3
T: 4 ( 4234) P:50 I:3000 C:   33338 Min: 0 Act: 1 Avg: 0 Max: 5


//Cobalt with GPU SDK test case
T: 0 ( 4184) P:99 I:1000 C:37722968 Min: 0 Act: 1 Avg: 0 Max: 24
T: 1 ( 4185) P:99 I:1500 C:25148645 Min: 0 Act: 1 Avg: 0 Max: 33
T: 2 ( 4186) P:99 I:2000 C:18861483 Min: 0 Act: 1 Avg: 0 Max: 22
T: 3 ( 4187) P:99 I:2500 C:15089187 Min: 0 Act: 1 Avg: 0 Max: 23
T: 4 ( 4188) P:99 I:3000 C:12574322 Min: 0 Act: 1 Avg: 0 Max: 29


//Mercury without GPU SDK test case
T: 0 ( 4287) P:99 I:1000 C:1000000 Min: 6 Act: 7 Avg: 7 Max: 20
T: 1 ( 4288) P:99 I:1500 C:  666667 Min: 6 Act: 9 Avg: 7 Max: 17
T: 2 ( 4289) P:99 I:2000 C:  499994 Min: 6 Act: 8 Avg: 7 Max: 24
T: 3 ( 4290) P:99 I:2500 C:  399991 Min: 6 Act: 9 Avg: 7 Max: 19
T: 4 ( 4291) P:99 I:3000 C:  333322 Min: 6 Act: 8 Avg: 7 Max: 21


//Mercury with GPU SDK test case
T: 0 ( 4222) P:99 I:1000 C:1236790 Min: 6 Act: 7 Avg: 7 Max: 55
T: 1 ( 4223) P:99 I:1500 C:  824518 Min: 6 Act: 7 Avg: 7 Max: 44
T: 2 ( 4224) P:99 I:2000 C:  618382 Min: 6 Act: 8 Avg: 8 Max: 88
T: 3 ( 4225) P:99 I:2500 C:  494701 Min: 6 Act: 7 Avg: 8 Max: 49
T: 4 ( 4226) P:99 I:3000 C:  412247 Min: 6 Act: 7 Avg: 8 Max: 53

//////////////////////////////////////// Update for Yocto L5.4.47 2.2.0  ///////////////////////////////////////////////////////////

New release for Yocto release L5.4.47 2.2.0 and it supports i.MX8M series (8MQ,8MM,8MN and 8MP). You need to git clone https://gitee.com/zxd2021-imx/xenomai-arm64.git,  and git checkout xenomai-5.4.47-2.2.0.

You need to add the following variable in conf/local.conf before build xenomai by command bitbake imx-image-multimedia

XENOMAI_KERNEL_MODE = "cobalt" 

PREFERRED_VERSION_linux-imx = "5-${XENOMAI_KERNEL_MODE}"

IMAGE_INSTALL_append += " xenomai"

or
XENOMAI_KERNEL_MODE = "mercury"

PREFERRED_VERSION_linux-imx = "5-${XENOMAI_KERNEL_MODE}"

IMAGE_INSTALL_append += " xenomai"

//////////////////////////////////////// Update for Yocto L5.4.70 2.3.0  ///////////////////////////////////////////////////////////

New release  for Yocto release L5.4.70 2.3.0 and it supports i.MX8M series (8MQ,8MM,8MN and 8MP) and i.MX8QM/QXP. You need to git clone https://gitee.com/zxd2021-imx/xenomai-arm64.git and git checkout xenomai-5.4.70-2.3.0.

Updating:

1, Support i.MX8QM and i.MX8QXP

2, Fix altency's the issue which uses legacy API to get time

 

//////////////////////////////////////// update for Yocto L5.4.70 2.3.2  ///////////////////////////////////////////////////////////

New release for Yocto release L5.4.70 2.3.2. You need to git clone https://gitee.com/zxd2021-imx/xenomai-arm64.git, and git checkout xenomai-5.4.70-2.3.2.

Updating:

1, Enable Xenomai RTDM driver in Linux Kernel

2, Currently CAN, UART, GPIO,  SPI and Ethernet (in debug for RTNet)  are added in Xenomai.

3, Add KERNEL_DEVICETREE += " freescale/imx8mp-rt-evk.dtb " in sources/meta-imx/meta-bsp/conf/machine/imx8mpevk.conf to enable relative device in Xenomai domain, for example rt-imx8mp-flexcan.

 

//////////////////////////////////////// Update for Yocto L5.4.70 2.3.4  ///////////////////////////////////////////////////////////

New release for Yocto release L5.4.70 2.3.4. You need to git clone  https://gitee.com/zxd2021-imx/xenomai-arm64.git and git checkout xenomai-5.4.70-2.3.4.

Updating:

1, Enable RTNet FEC driver

2, Currently CAN, UART, GPIO,  SPI and Ethernet ( FEC Controller)  are added in Xenomai.

3, Add KERNEL_DEVICETREE += " freescale/imx8mp-rt-evk.dtb " in sources/meta-imx/meta-bsp/conf/machine/imx8mpevk.conf and KERNEL_DEVICETREE += " freescale/imx8mm-rt-ddr4-evk.dtb " in sources/meta-imx/meta-bsp/conf/machine/imx8mmddr4evk.conf to enable rt_fec device in Xenomai domain.

Verifying the network connection by RTnet Ping Between i.MX8M Mini EVK and i.MX8M Plus EVK

a, Setup test environment

1, Connect ENET1 of  i.MX8M Plus EVK (used as a master) and  ENET of i.MX8M Mini EVK (used as a slave) of  to a switch or hub

2, Modify /usr/xenomai/etc/rtnet.conf in i.MX8M Plus EVK board as the following:

@@ -16,7 +16,7 @@ MODULE_EXT=".ko"


# RT-NIC driver
-RT_DRIVER="rt_eepro100"
+RT_DRIVER="rt_fec"
RT_DRIVER_OPTIONS=""

# PCI addresses of RT-NICs to claim (format: 0000:00:00.0)
@@ -30,8 +30,8 @@ REBIND_RT_NICS=""
# The TDMA_CONFIG file overrides these parameters for masters and backup
# masters. Leave blank if you do not use IP addresses or if this station is
# intended to retrieve its IP from the master based on its MAC address.
-IPADDR="10.0.0.1"
-NETMASK=""
+IPADDR="192.168.100.101"
+NETMASK="255.255.255.0"

# Start realtime loopback device ("yes" or "no")
RT_LOOPBACK="yes"
@@ -65,7 +65,7 @@ TDMA_MODE="master"
# Master parameters

# Simple setup: List of TDMA slaves
-TDMA_SLAVES="10.0.0.2 10.0.0.3 10.0.0.4"
+TDMA_SLAVES="192.168.100.102"

# Simple setup: Cycle time in microsecond
TDMA_CYCLE="5000"

3, Modify /usr/xenomai/etc/rtnet.conf in i.MX8M Mini EVK board as the following:

@@ -16,7 +16,7 @@ MODULE_EXT=".ko"


# RT-NIC driver
-RT_DRIVER="rt_eepro100"
+RT_DRIVER="rt_fec"
RT_DRIVER_OPTIONS=""

# PCI addresses of RT-NICs to claim (format: 0000:00:00.0)
@@ -30,8 +30,8 @@ REBIND_RT_NICS=""
# The TDMA_CONFIG file overrides these parameters for masters and backup
# masters. Leave blank if you do not use IP addresses or if this station is
# intended to retrieve its IP from the master based on its MAC address.
-IPADDR="10.0.0.1"
-NETMASK=""
+IPADDR="192.168.100.102"
+NETMASK="255.255.255.0"

# Start realtime loopback device ("yes" or "no")
RT_LOOPBACK="yes"
@@ -59,13 +59,13 @@ STAGE_2_CMDS=""
# TDMA mode of the station ("master" or "slave")
# Start backup masters in slave mode, it will then be switched to master
# mode automatically during startup.
-TDMA_MODE="master"
+TDMA_MODE="slave"


# Master parameters

# Simple setup: List of TDMA slaves
-TDMA_SLAVES="10.0.0.2 10.0.0.3 10.0.0.4"
+TDMA_SLAVES="192.168.100.102"

# Simple setup: Cycle time in microsecond
TDMA_CYCLE="5000"

4, rename imx8mm-rt-ddr4-evk.dtb to imx8mm-ddr4-evk.dtb in /run/media/mmcblk1p1,  rename imx8mp-rt-evk.dtb to imx8mp-evk.dtb in /run/media/mmcblk1p1, and reboot board.

5, Run the below command on i.MX8M Mini EVK board.

cd /usr/xenomai/sbin/
./rtnet start &

5, Run the below command on i.MX8M Plus EVK board.

cd /usr/xenomai/sbin/
./rtnet start &

When you see the log (rt_fec_main 30be0000.ethernet (unnamed net_device) (uninitialized): Link is Up - 100Mbps/Full - flow control rx/tx) and you can run command "./rtroute" to check route table if the slave IP (192.168.100.102) is in route..

b, Verify the network connection using the command below:

./rtping -s 1024 192.168.100.102

//////////////////////////////////////// Update for Yocto L5.10.52 2.1.0  ///////////////////////////////////////////////////////////

New release for Yocto release L5.10.52 2.1.0. You need to git clone https://gitee.com/zxd2021-imx/xenomai-arm64.git and git checkout xenomai-5.10.52-2.1.0.

Updating:

1, Upgrade Xenomai to v3.2

2, Enable Dovetail instead of ipipe.

Copy xenomai-arm64 to <Yocto folder>/sources/meta-imx/meta-bsp/recipes-kernel, and add the following variable in conf/local.conf before build Image with xenomai enable by command bitbake imx-image-multimedia.

XENOMAI_KERNEL_MODE = "cobalt"

IMAGE_INSTALL_append += " xenomai"

or

XENOMAI_KERNEL_MODE = "mercury"

IMAGE_INSTALL_append += " xenomai"

Notice: If XENOMAI_KERNEL_MODE = "cobalt", you can build dual kernel version. And If XENOMAI_KERNEL_MODE = "mercury", it is single kernel with PREEMPT-RT patch.

 Latency testing of Xenomai3.2+Dovetail with isolating CPU 2,3 ( Xenomai 3.2 on 8MM DDR4 EVK with GPU test case (GLES2/S08_EnvironmentMappingRefraction_Wayland) + iperf3 + 2 ping 65000 size + stress-ng --cpu 2 --io 2 --vm 1 --vm-bytes 256M --metrics-brief )

The following is test result by the command (/usr/xenomai/demo/cyclictest -a 2,3 -p 50 -t 5 -m -n -i 1000)

root@imx8mmddr4evk:~# /usr/xenomai/demo/cyclictest -a 2,3 -p 50 -t 5 -m -n -i 1000
# /dev/cpu_dma_latency set to 0us
policy: fifo: loadavg: 5.96 6.04 6.03 7/155 1349

T: 0 ( 615) P:50 I:1000 C:63448632 Min: 0 Act: 0 Avg: 0 Max: 55
T: 1 ( 616) P:50 I:1500 C:42299087 Min: 0 Act: 0 Avg: 1 Max: 43
T: 2 ( 617) P:50 I:2000 C:31724315 Min: 0 Act: 0 Avg: 1 Max: 51
T: 3 ( 618) P:50 I:2500 C:25379452 Min: 0 Act: 0 Avg: 1 Max: 53
T: 4 ( 619) P:50 I:3000 C:21149543 Min: 0 Act: 0 Avg: 1 Max: 47

//////////////////////////////////////// Update for Yocto L5.10.72 2.2.2  ///////////////////////////////////////////////////////////

New release for Yocto release L5.10.72 2.2.2. You need to git clone https://gitee.com/zxd2021-imx/xenomai-arm64.git and git checkout xenomai-5.10.72-2.2.2.

Updating:

1, Upgrade Xenomai to v3.2.1

Copy xenomai-arm64 to <Yocto folder>/sources/meta-imx/meta-bsp/recipes-kernel, and add the following variable in conf/local.conf before build Image with xenomai enable by command bitbake imx-image-multimedia.

XENOMAI_KERNEL_MODE = "cobalt"

IMAGE_INSTALL_append += " xenomai"

or

XENOMAI_KERNEL_MODE = "mercury"

IMAGE_INSTALL_append += " xenomai"

//////////////////////////////////////// Update for Yocto L5.15.71 2.2.0  ///////////////////////////////////////////////////////////

New release for Yocto release L5.15.71 2.2.0. You need to git clone https://gitee.com/zxd2021-imx/xenomai-arm64.git and git checkout xenomai-5.15.71-2.2.0.

Updating:

1, Upgrade Xenomai to v3.2.2

Copy xenomai-arm64 to <Yocto folder>/sources/meta-imx/meta-bsp/recipes-kernel, and add the following variable in conf/local.conf before build Image with xenomai enable by command bitbake imx-image-multimedia.

XENOMAI_KERNEL_MODE = "cobalt"

IMAGE_INSTALL:append += " xenomai"

or

XENOMAI_KERNEL_MODE = "mercury"

IMAGE_INSTALL:append += " xenomai"

 

 

 

 

Comments

Thank you Xiao, you are awesome. Xenomai is much better than PREEMPT RT kernel, with much lower latencies.

I'll test this !

Regards,

Laci

CPU isolation will help to improve the latency of Xenomai. Like:

1, Add isolcpus=2,3 in bootargs of uboot.

2, Run cyclictest  with option -a 2,3

 

Hi @xiaodong_zhang,

Any insights on xenomai v4.0 ?


--
BR
rutvij.trivedi@siliconsignals.io

Hi @r_trivedi123 

  I is busy on other project, and maybe enable Xenomai 4 on i.MX from Kernel 6.x when I'm available.

Hi @xiaodong_zhang ,

I understand. Could you provide or assist with any documents, steps, or references that might help us attempt it from our end?

--
BR
rutvij.trivedi@siliconsignals.io

Hi @xiaodong_zhang ,

I understand. Could you provide or assist with any documents, steps, or references that might help us attempt it from our end?

--
BR

feelingwood0131@yahoo.com.tw

Hi @xiaodong_zhang ,

First thank you very much for your post.

I have already apply your receipes, but when i run test, the error occur:

  • root@apalis-imx8-07106242:/boot# /usr/xenomai/demo/cyclictest -p 99 -t 5 -m -n -i 1000 -l 100000
    0"000.000| BUG in low_init(): [main] Cobalt core not enabled in kernel

I am try to apply the xenomai to imx8, (apalis-toradex-imx8qp).

The linux kernel is 5.4.193 and xenomai-v3.1:

Linux apalis-imx8-07106242 5.4.193-rt74-5.7.3-devel+git.49e4130e2197 #1 SMP PREEMPT_RT Tue Apr 11 21:14:29 UTC 2023 aarch64 aarch64 aarch64 GNU/Linux

Could you help me fixed it?

May i have any missing step?

Hi @xiaodong_zhang ,

 

After investigating, after i retry to build kernel with your batch, flash success to apalis imx8 board, with cobalt kernel, but when i run cyclelic_test, the kernel become to pannic.

 

root@apalis-imx8-07106242:~# /usr/xenomai/demo/cyclictest -p 99 -t 5 -m -n -i 1000  -l 100000
# /dev/cpu_dma_latency set to 0us
policy: fifo: loadavg: 0.00 0.01 0.00 2/233 834          

y: 0 (  830) P:99 I:1000 C:      0 Min:1000[0 0 03 A0c1t.:3  7 8 306 5A]v gK:e r n e l0  pMaanxi:c s
 nTc:i n1g   k e8r3n1e)l  Ps:t9a9c kI :o1v5e0r0f lCo:w 
     0 Min:1000000 Act:    0 Avg:    0 Max:       0
T: 2 (  832) P:99 I:2000 C:      0 Min:1000000 Act:    0 Avg:    0 Max:       0
T: 3 (  833) P:99 I:2500 C:      0 Min:1000000 Act:    0 Avg:    0 Max:       0
T: 4 (    0) P:99 I:3000 C:      0 Min:1000000 Act:    0 Avg:    0 Max:       0
[  301.415748] CPU: 4 PID: 342 Comm: sugov:4 Tainted: G           O      5.4.193-cobalt-5.7.3-devel1
[  301.426271] Hardware name: Toradex Apalis iMX8QP V1.1 on Apalis Evaluation Board (DT)
[  301.434098] I-pipe domain: Xenomai
[  301.437496] Call trace:
[  301.439940]  dump_backtrace+0x0/0x170
[  301.443604]  show_stack+0x14/0x20
[  301.446916]  dump_stack+0xe4/0x12c
[  301.450321]  panic+0x154/0x318
[  301.453380]  nmi_panic+0x84/0x88
[  301.456609]  handle_bad_stack+0x108/0x130
[  301.460614]  __bad_stack+0x90/0x94
[  301.464011]  xnthread_relax+0x7c/0x248
[  301.467758]  ipipe_trap_hook+0xc0/0x270
[  301.471598]  __ipipe_notify_trap+0x84/0xd8
[  301.475700]  do_page_fault+0x30/0x4d8
[  301.479362]  do_translation_fault+0x50/0x58
[  301.483540]  do_mem_abort+0x44/0x148
[  301.487110]  el1_da+0x1c/0x90
[  301.490074]  xnthread_relax+0x7c/0x248
[  301.493818]  ipipe_trap_hook+0xc0/0x270
[  301.497649]  __ipipe_notify_trap+0x84/0xd8
[  301.501741]  do_page_fault+0x30/0x4d8
[  301.505398]  do_translation_fault+0x50/0x58
[  301.509576]  do_mem_abort+0x44/0x148
[  301.513147]  el1_da+0x1c/0x90
[  301.516110]  xnthread_relax+0x7c/0x248
[  301.519855]  ipipe_trap_hook+0xc0/0x270
[  301.523686]  __ipipe_notify_trap+0x84/0xd8
[  301.527777]  do_page_fault+0x30/0x4d8
[  301.531435]  do_translation_fault+0x50/0x58
[  301.535613]  do_mem_abort+0x44/0x148
[  301.539183]  el1_da+0x1c/0x90
[  301.542147]  xnthread_relax+0x7c/0x248
[  301.545891]  ipipe_trap_hook+0xc0/0x270
[  301.549722]  __ipipe_notify_trap+0x84/0xd8
[  301.553814]  do_page_fault+0x30/0x4d8
[  301.557471]  do_translation_fault+0x50/0x58
[  301.561649]  do_mem_abort+0x44/0x148
[  301.565219]  el1_da+0x1c/0x90
[  301.568183]  xnthread_relax+0x7c/0x248
[  301.571928]  ipipe_trap_hook+0xc0/0x270
[  301.575759]  __ipipe_notify_trap+0x84/0xd8
[  301.579850]  do_page_fault+0x30/0x4d8
[  301.583507]  do_translation_fault+0x50/0x58
[  301.587685]  do_mem_abort+0x44/0x148
[  301.591256]  el1_da+0x1c/0x90
[  301.594220]  xnthread_relax+0x7c/0x248
[  301.597964]  ipipe_trap_hook+0xc0/0x270
[  301.601795]  __ipipe_notify_trap+0x84/0xd8
[  301.605887]  do_page_fault+0x30/0x4d8
[  301.609544]  do_translation_fault+0x50/0x58
[  301.613722]  do_mem_abort+0x44/0x148
[  301.617292]  el1_da+0x1c/0x90
[  301.620256]  xnthread_relax+0x7c/0x248
[  301.624000]  ipipe_trap_hook+0xc0/0x270
[  301.627832]  __ipipe_notify_trap+0x84/0xd8
[  301.631923]  do_page_fault+0x30/0x4d8
[  301.635581]  do_translation_fault+0x50/0x58
[  301.639758]  do_mem_abort+0x44/0x148
[  301.643329]  el1_da+0x1c/0x90
[  301.646292]  xnthread_relax+0x7c/0x248
[  301.650037]  ipipe_trap_hook+0xc0/0x270
[  301.653868]  __ipipe_notify_trap+0x84/0xd8
[  301.657960]  do_page_fault+0x30/0x4d8
[  301.661617]  do_translation_fault+0x50/0x58
[  301.665795]  do_mem_abort+0x44/0x148
[  301.669365]  el1_da+0x1c/0x90
[  301.672329]  xnthread_relax+0x7c/0x248
[  301.676073]  ipipe_trap_hook+0xc0/0x270
[  301.679904]  __ipipe_notify_trap+0x84/0xd8
[  301.683996]  do_page_fault+0x30/0x4d8
[  301.687653]  do_translation_fault+0x50/0x58
[  301.691831]  do_mem_abort+0x44/0x148
[  301.695402]  el1_da+0x1c/0x90
[  301.698365]  xnthread_relax+0x7c/0x248
[  301.702110]  ipipe_trap_hook+0xc0/0x270
[  301.705941]  __ipipe_notify_trap+0x84/0xd8
[  301.710032]  do_page_fault+0x30/0x4d8
[  301.713690]  do_translation_fault+0x50/0x58
[  301.717868]  do_mem_abort+0x44/0x148
[  301.721438]  el1_da+0x1c/0x90
[  301.724402]  xnthread_relax+0x7c/0x248
[  301.728146]  ipipe_trap_hook+0xc0/0x270
[  301.731977]  __ipipe_notify_trap+0x84/0xd8
[  301.736069]  do_page_fault+0x30/0x4d8
[  301.739726]  do_translation_fault+0x50/0x58
[  301.743904]  do_mem_abort+0x44/0x148
[  301.747475]  el1_da+0x1c/0x90
[  301.750438]  xnthread_relax+0x7c/0x248
[  301.754182]  ipipe_trap_hook+0xc0/0x270
[  301.758014]  __ipipe_notify_trap+0x84/0xd8
[  301.762105]  do_page_fault+0x30/0x4d8
[  301.765763]  do_translation_fault+0x50/0x58
[  301.769940]  do_mem_abort+0x44/0x148
[  301.773511]  el1_da+0x1c/0x90
[  301.776474]  xnthread_relax+0x7c/0x248
[  301.780219]  ipipe_trap_hook+0xc0/0x270
[  301.784050]  __ipipe_notify_trap+0x84/0xd8
[  301.788142]  do_page_fault+0x30/0x4d8
[  301.791799]  do_translation_fault+0x50/0x58
[  301.795977]  do_mem_abort+0x44/0x148
[  301.799547]  el1_da+0x1c/0x90
[  301.802511]  xnthread_relax+0x7c/0x248
[  301.806255]  ipipe_trap_hook+0xc0/0x270
[  301.810086]  __ipipe_notify_trap+0x84/0xd8
[  301.814178]  do_page_fault+0x30/0x4d8
[  301.817835]  do_translation_fault+0x50/0x58
[  301.822013]  do_mem_abort+0x44/0x148
[  301.825584]  el1_da+0x1c/0x90
[  301.828547]  xnthread_relax+0x7c/0x248
[  301.832292]  ipipe_trap_hook+0xc0/0x270
[  301.836123]  __ipipe_notify_trap+0x84/0xd8
[  301.840215]  do_page_fault+0x30/0x4d8
[  301.843872]  do_translation_fault+0x50/0x58
[  301.848050]  do_mem_abort+0x44/0x148
[  301.851620]  el1_da+0x1c/0x90
[  301.854584]  xnthread_relax+0x7c/0x248
[  301.858328]  ipipe_trap_hook+0xc0/0x270
[  301.862159]  __ipipe_notify_trap+0x84/0xd8
[  301.866251]  do_page_fault+0x30/0x4d8
[  301.869908]  do_translation_fault+0x50/0x58
[  301.874086]  do_mem_abort+0x44/0x148
[  301.877657]  el1_da+0x1c/0x90
[  301.880620]  xnthread_relax+0x7c/0x248
[  301.884365]  ipipe_trap_hook+0xc0/0x270
[  301.888196]  __ipipe_notify_trap+0x84/0xd8
[  301.892288]  do_page_fault+0x30/0x4d8
[  301.895953]  do_translation_fault+0x50/0x58
[  301.900131]  do_mem_abort+0x44/0x148
[  301.903702]  el1_da+0x1c/0x90
[  301.906665]  xnthread_relax+0x7c/0x248
[  301.910410]  ipipe_trap_hook+0xc0/0x270
[  301.914241]  __ipipe_notify_trap+0x84/0xd8
[  301.918333]  do_page_fault+0x30/0x4d8
[  301.921990]  do_translation_fault+0x50/0x58
[  301.926168]  do_mem_abort+0x44/0x148
[  301.929738]  el1_da+0x1c/0x90
[  301.932702]  xnthread_relax+0x7c/0x248
[  301.936446]  ipipe_trap_hook+0xc0/0x270
[  301.940277]  __ipipe_notify_trap+0x84/0xd8
[  301.944369]  do_page_fault+0x30/0x4d8
[  301.948026]  do_translation_fault+0x50/0x58
[  301.952204]  do_mem_abort+0x44/0x148
[  301.955775]  el1_da+0x1c/0x90
[  301.958738]  xnthread_relax+0x7c/0x248
[  301.962491]  ipipe_trap_hook+0xc0/0x270
[  301.966322]  __ipipe_notify_trap+0x84/0xd8
[  301.970413]  do_debug_exception+0xa8/0x238
[  301.974505]  el1_dbg+0x18/0x8c
[  301.977558]  this_cpu_has_cap+0x70/0x88
[  301.981398]  erratum_1418040_thread_switch+0x18/0x60
[  301.986364]  __switch_to+0xfc/0x158
[  301.989849]  xnarch_switch_to+0x5c/0xc8
[  301.993680]  ___xnsched_run.part.0+0x250/0x3c0
[  301.998118]  ___xnsched_run+0x30/0x40
[  302.001776]  xnintr_core_clock_handler+0x3cc/0x418
[  302.006563]  dispatch_irq_head+0x84/0x118
[  302.010568]  __ipipe_dispatch_irq+0x1a4/0x1d0
[  302.014920]  __ipipe_grab_irq+0x5c/0x98
[  302.018751]  gic_handle_irq+0x5c/0xdc
[  302.022409]  handle_arch_irq_pipelined+0x14/0x60
[  302.027021]  el1_irq+0xc8/0x180
[  302.030159]  __arm_smccc_smc+0x4/0x2c
[  302.033818]  clk_change_rate+0x140/0x290
[  302.037742]  clk_core_set_rate_nolock+0x1c4/0x1f8
[  302.042442]  clk_set_rate+0x34/0xa0
[  302.045928]  dev_pm_opp_set_rate+0x3c8/0x518
[  302.050200]  set_target+0x3c/0x80
[  302.053512]  __cpufreq_driver_target+0x2c4/0x668
[  302.058134]  sugov_work+0x58/0x78
[  302.061451]  kthread_worker_fn+0xa8/0x188
[  302.065455]  kthread+0x138/0x158
[  302.068678]  ret_from_fork+0x14/0x1c
[  302.072254] SMP: stopping secondary CPUs
[  303.201177] SMP: failed to stop secondary CPUs 0-4
[  303.205967] Kernel Offset: disabled
[  303.209451] CPU features: 0x10002,2100600c
[  303.213542] Memory Limit: none
[  303.216602] ---[ end Kernel panic - not syncing: kernel stack overflow ]---

 

 

And this is boot log:

U-Boot 2020.04-5.7.3-devel+git.4b72b1453285 (May 15 2023 - 13:29:54 +0000)

CPU:   NXP i.MX8QM RevB A53 at 1200 MHz

DRAM:  2 GiB
MMC:   FSL_SDHC: 0, FSL_SDHC: 1, FSL_SDHC: 2
Loading Environment from MMC... OK
In:    serial
Out:   serial
Err:   serial
Model: Toradex Apalis iMX8 QuadPlus 2GB V1.1C, Serial# 07106242

 BuildInfo: 
  - SCFW 216a2c2e, SECO-FW c9de51c0, IMX-MKIMAGE 6a315dbc, ATF 2fa8c63
  - U-Boot 2020.04-5.7.3-devel+git.4b72b1453285 

switch to partitions #0, OK
mmc0(part 0) is current device
flash target is MMC:0
Net:   eth0: ethernet@5b040000
Fastboot: Normal
Normal Boot
Hit any key to stop autoboot:  0 
MMC: no card present
MMC: no card present
switch to partitions #0, OK
mmc0(part 0) is current device
Scanning mmc 0:1...
Found U-Boot script /boot.scr
5964 bytes read in 23 ms (252.9 KiB/s)
## Executing script at 83100000
** Bad device specification ${boot_devtype} ${boot_devnum} **
** Bad device specification ${boot_devtype} ${boot_devnum} **
Loading hdp firmware from 0x000000009c000000 offset 0x0000000000002000
Loading hdp firmware Complete
Loading DeviceTree: imx8qp-apalis-v1.1-eval.dtb
167609 bytes read in 19 ms (8.4 MiB/s)
43 bytes read in 12 ms (2.9 KiB/s)
Applying Overlay: apalis-imx8_hdmi_overlay.dtbo
2177 bytes read in 27 ms (78.1 KiB/s)
10786299 bytes read in 353 ms (29.1 MiB/s)
Uncompressed size: 26114560 = 0x18E7A00
Bootargs: pci=nomsi root=PARTUUID=c7e34782-02 ro rootwait
## Flattened Device Tree blob at 83000000
   Booting using the fdt blob at 0x83000000
   Loading Device Tree to 00000000fd601000, end 00000000fd64cfff ... OK

Starting kernel ...

[    0.000000] Booting Linux on physical CPU 0x0000000000 [0x410fd034]
[    0.000000] Linux version 5.4.193-cobalt-5.7.3-devel+git.49e4130e2197 (oe-user@oe-host) (gcc ver3
[    0.000000] Machine model: Toradex Apalis iMX8QP V1.1 on Apalis Evaluation Board
[    0.000000] efi: Getting EFI parameters from FDT:
[    0.000000] efi: UEFI not found.
[    0.000000] Reserved memory: created DMA memory pool at 0x0000000090400000, size 1 MiB
[    0.000000] OF: reserved mem: initialized node vdevbuffer, compatible id shared-dma-pool
[    0.000000] cma: Reserved 480 MiB at 0x00000000de000000
[    0.000000] NUMA: No NUMA configuration found
[    0.000000] NUMA: Faking a node at [mem 0x0000000080200000-0x00000000ffffffff]
[    0.000000] NUMA: NODE_DATA [mem 0xffbc4500-0xffbc5fff]
[    0.000000] Zone ranges:
[    0.000000]   DMA32    [mem 0x0000000080200000-0x00000000ffffffff]
[    0.000000]   Normal   empty
[    0.000000] Movable zone start for each node
[    0.000000] Early memory node ranges
[    0.000000]   node   0: [mem 0x0000000080200000-0x0000000083ffffff]
[    0.000000]   node   0: [mem 0x0000000086400000-0x0000000087ffffff]
[    0.000000]   node   0: [mem 0x0000000090000000-0x00000000901fffff]
[    0.000000]   node   0: [mem 0x0000000090500000-0x0000000091ffffff]
[    0.000000]   node   0: [mem 0x0000000094c00000-0x0000000094ffffff]
[    0.000000]   node   0: [mem 0x0000000095400000-0x00000000ffffffff]
[    0.000000] Initmem setup node 0 [mem 0x0000000080200000-0x00000000ffffffff]
[    0.000000] psci: probing for conduit method from DT.
[    0.000000] psci: PSCIv1.1 detected in firmware.
[    0.000000] psci: Using standard PSCI v0.2 function IDs
[    0.000000] psci: MIGRATE_INFO_TYPE not supported.
[    0.000000] psci: SMC Calling Convention v1.1
[    0.000000] percpu: Embedded 30 pages/cpu s82456 r8192 d32232 u122880
[    0.000000] Detected VIPT I-cache on CPU0
[    0.000000] CPU features: detected: ARM erratum 845719
[    0.000000] CPU features: detected: GIC system register CPU interface
[    0.000000] Speculative Store Bypass Disable mitigation not required
[    0.000000] Built 1 zonelists, mobility grouping on.  Total pages: 461412
[    0.000000] Policy zone: DMA32
[    0.000000] Kernel command line: pci=nomsi root=PARTUUID=c7e34782-02 ro rootwait
[    0.000000] Dentry cache hash table entries: 262144 (order: 9, 2097152 bytes, linear)
[    0.000000] Inode-cache hash table entries: 131072 (order: 8, 1048576 bytes, linear)
[    0.000000] mem auto-init: stack:off, heap alloc:off, heap free:off
[    0.000000] Memory: 1315600K/1874944K available (14524K kernel code, 1246K rwdata, 6652K rodata,)
[    0.000000] SLUB: HWalign=64, Order=0-3, MinObjects=0, CPUs=5, Nodes=1
[    0.000000] rcu: Preemptible hierarchical RCU implementation.
[    0.000000] rcu:     RCU restricting CPUs from NR_CPUS=256 to nr_cpu_ids=5.
[    0.000000]  Tasks RCU enabled.
[    0.000000] rcu: RCU calculated value of scheduler-enlistment delay is 25 jiffies.
[    0.000000] rcu: Adjusting geometry for rcu_fanout_leaf=16, nr_cpu_ids=5
[    0.000000] NR_IRQS: 64, nr_irqs: 64, preallocated irqs: 0
[    0.000000] GICv3: GIC: Using split EOI/Deactivate mode
[    0.000000] GICv3: 512 SPIs implemented
[    0.000000] GICv3: 0 Extended SPIs implemented
[    0.000000] GICv3: Distributor has no Range Selector support
[    0.000000] GICv3: 16 PPIs implemented
[    0.000000] GICv3: no VLPI support, no direct LPI support
[    0.000000] GICv3: CPU0: found redistributor 0 region 0:0x0000000051b00000
[    0.000000] ITS: No ITS available, not enabling LPIs
[    0.000000] random: get_random_bytes called from start_kernel+0x2b8/0x438 with crng_init=0
[    0.000000] arch_timer: cp15 timer(s) running at 8.00MHz (phys).
[    0.000000] clocksource: arch_sys_counter: mask: 0xffffffffffffff max_cycles: 0x1d854df40, max_is
[    0.000004] sched_clock: 56 bits at 8MHz, resolution 125ns, wraps every 2199023255500ns
[    0.000726] Interrupt pipeline (release #4)
[    0.000814] Console: colour dummy device 80x25
[    0.001411] printk: console [tty0] enabled
[    0.001491] Calibrating delay loop (skipped), value calculated using timer frequency.. 16.00 Bog)
[    0.001516] pid_max: default: 32768 minimum: 301
[    0.001598] LSM: Security Framework initializing
[    0.001664] Mount-cache hash table entries: 4096 (order: 3, 32768 bytes, linear)
[    0.001692] Mountpoint-cache hash table entries: 4096 (order: 3, 32768 bytes, linear)
[    0.003079] ASID allocator initialised with 32768 entries
[    0.003164] rcu: Hierarchical SRCU implementation.
[    0.007857] EFI services will not be available.
[    0.008079] smp: Bringing up secondary CPUs ...
[    0.008868] Detected VIPT I-cache on CPU1
[    0.008897] GICv3: CPU1: found redistributor 1 region 0:0x0000000051b20000
[    0.008937] CPU1: Booted secondary processor 0x0000000001 [0x410fd034]
[    0.009747] Detected VIPT I-cache on CPU2
[    0.009761] GICv3: CPU2: found redistributor 2 region 0:0x0000000051b40000
[    0.009778] CPU2: Booted secondary processor 0x0000000002 [0x410fd034]
[    0.010522] Detected VIPT I-cache on CPU3
[    0.010536] GICv3: CPU3: found redistributor 3 region 0:0x0000000051b60000
[    0.010552] CPU3: Booted secondary processor 0x0000000003 [0x410fd034]
[    0.012135] CPU features: detected: EL2 vector hardening
[    0.012147] CPU features: detected: Branch predictor hardening
[    0.012152] CPU features: detected: Spectre-BHB
[    0.012155] Detected PIPT I-cache on CPU4
[    0.012171] GICv3: CPU4: found redistributor 100 region 0:0x0000000051b80000
[    0.012189] CPU4: Booted secondary processor 0x0000000100 [0x410fd082]
[    0.012264] smp: Brought up 1 node, 5 CPUs
[    0.012418] SMP: Total of 5 processors activated.
[    0.012431] CPU features: detected: 32-bit EL0 Support
[    0.012444] CPU features: detected: CRC32 instructions
[    0.022519] CPU: All CPU(s) started at EL2
[    0.022556] alternatives: patching kernel code
[    0.023607] devtmpfs: initialized
[    0.041014] clocksource: jiffies: mask: 0xffffffff max_cycles: 0xffffffff, max_idle_ns: 76450417s
[    0.041057] futex hash table entries: 2048 (order: 5, 131072 bytes, linear)
[    0.054263] pinctrl core: initialized pinctrl subsystem
[    0.054791] DMI not present or invalid.
[    0.055055] NET: Registered protocol family 16
[    0.062214] DMA: preallocated 256 KiB pool for atomic allocations
[    0.062244] audit: initializing netlink subsys (disabled)
[    0.062391] audit: type=2000 audit(0.060:1): state=initialized audit_enabled=0 res=1
[    0.062907] cpuidle: using governor menu
[    0.064317] hw-breakpoint: found 6 breakpoint and 4 watchpoint registers.
[    0.066244] Serial: AMBA PL011 UART driver
[    0.066300] imx mu driver is registered.
[    0.066326] imx rpmsg driver is registered.
[    0.119675] HugeTLB registered 1.00 GiB page size, pre-allocated 0 pages
[    0.119703] HugeTLB registered 32.0 MiB page size, pre-allocated 0 pages
[    0.119718] HugeTLB registered 2.00 MiB page size, pre-allocated 0 pages
[    0.119732] HugeTLB registered 64.0 KiB page size, pre-allocated 0 pages
[    0.120979] cryptd: max_cpu_qlen set to 1000
[    0.125185] ACPI: Interpreter disabled.
[    0.127531] iommu: Default domain type: Translated 
[    0.127663] vgaarb: loaded
[    0.127939] SCSI subsystem initialized
[    0.128238] usbcore: registered new interface driver usbfs
[    0.128279] usbcore: registered new interface driver hub
[    0.128320] usbcore: registered new device driver usb
[    0.130519] mc: Linux media interface: v0.10
[    0.130560] videodev: Linux video capture interface: v2.00
[    0.130627] pps_core: LinuxPPS API ver. 1 registered
[    0.130640] pps_core: Software ver. 5.3.6 - Copyright 2005-2007 Rodolfo Giometti <giometti@linux>
[    0.130667] PTP clock support registered
[    0.131059] EDAC MC: Ver: 3.0.0
[    0.132697] No BMan portals available!
[    0.133117] QMan: Allocated lookup table at (____ptrval____), entry count 65537
[    0.133919] No QMan portals available!
[    0.135161] No USDPAA memory, no 'fsl,usdpaa-mem' in device-tree
[    0.135792] FPGA manager framework
[    0.135882] Advanced Linux Sound Architecture Driver Initialized.
[    0.137524] imx-scu scu: NXP i.MX SCU Initialized
[    0.143606] random: fast init done
[    0.180412] imx8qm-pinctrl scu:pinctrl: initialized IMX pinctrl driver
[    0.184336] clocksource: Switched to clocksource arch_sys_counter
[    0.184519] VFS: Disk quotas dquot_6.6.0
[    0.184576] VFS: Dquot-cache hash table entries: 512 (order 0, 4096 bytes)
[    0.184768] pnp: PnP ACPI: disabled
[    0.215237] thermal_sys: Registered thermal governor 'step_wise'
[    0.215240] thermal_sys: Registered thermal governor 'power_allocator'
[    0.216093] NET: Registered protocol family 2
[    0.216256] IP idents hash table entries: 32768 (order: 6, 262144 bytes, linear)
[    0.217092] tcp_listen_portaddr_hash hash table entries: 1024 (order: 2, 16384 bytes, linear)
[    0.217136] TCP established hash table entries: 16384 (order: 5, 131072 bytes, linear)
[    0.217258] TCP bind hash table entries: 16384 (order: 6, 262144 bytes, linear)
[    0.217501] TCP: Hash tables configured (established 16384 bind 16384)
[    0.217599] UDP hash table entries: 1024 (order: 3, 32768 bytes, linear)
[    0.217651] UDP-Lite hash table entries: 1024 (order: 3, 32768 bytes, linear)
[    0.217783] NET: Registered protocol family 1
[    0.218120] RPC: Registered named UNIX socket transport module.
[    0.218135] RPC: Registered udp transport module.
[    0.218146] RPC: Registered tcp transport module.
[    0.218157] RPC: Registered tcp NFSv4.1 backchannel transport module.
[    0.218176] PCI: CLS 0 bytes, default 64
[    0.218932] hw perfevents: enabled with armv8_pmuv3 PMU driver, 7 counters available
[    0.220538] kvm [1]: IPA Size Limit: 40 bits
[    0.221229] kvm [1]: vgic-v2@52020000
[    0.221260] kvm [1]: GIC system register CPU interface enabled
[    0.221374] kvm [1]: vgic interrupt IRQ1
[    0.221526] kvm [1]: Hyp mode initialized successfully
[    0.225290] [Xenomai] scheduling class idle registered.
[    0.225305] [Xenomai] scheduling class rt registered.
[    0.225397] I-pipe: head domain Xenomai registered.
[    0.226913] [Xenomai] Cobalt v3.1 
[    0.226925] Initialise system trusted keyrings
[    0.227101] workingset: timestamp_bits=44 max_order=19 bucket_order=0
[    0.232644] squashfs: version 4.0 (2009/01/31) Phillip Lougher
[    0.233208] NFS: Registering the id_resolver key type
[    0.233238] Key type id_resolver registered
[    0.233249] Key type id_legacy registered
[    0.233267] nfs4filelayout_init: NFSv4 File Layout Driver Registering...
[    0.233282] nfs4flexfilelayout_init: NFSv4 Flexfile Layout Driver Registering...
[    0.233315] jffs2: version 2.2. (NAND) © 2001-2006 Red Hat, Inc.
[    0.246700] Key type asymmetric registered
[    0.246714] Asymmetric key parser 'x509' registered
[    0.246749] Block layer SCSI generic (bsg) driver version 0.4 loaded (major 242)
[    0.246768] io scheduler mq-deadline registered
[    0.246780] io scheduler kyber registered
[    0.261363] imx6q-pcie 5f000000.pcie: 5f000000.pcie supply epdev_on not found, using dummy regulr
[    0.263456] EINJ: ACPI disabled.
[    0.390880] mxs-dma 5b810000.dma-apbh: initialized
[    0.392707] Bus freq driver module loaded
[    0.399527] Serial: 8250/16550 driver, 4 ports, IRQ sharing enabled
[    0.404279] 5a060000.serial: ttyLP0 at MMIO 0x5a060010 (irq = 47, base_baud = 5000000) is a FSL_T
[    0.404683] fsl-lpuart 5a060000.serial: DMA tx channel request failed, operating without tx DMA
[    0.404705] fsl-lpuart 5a060000.serial: DMA rx channel request failed, operating without rx DMA
[    0.405118] 5a070000.serial: ttyLP1 at MMIO 0x5a070010 (irq = 48, base_baud = 5000000) is a FSL_T
[    0.405144] fsl-lpuart 5a070000.serial: Serial: Console lpuart rounded baud ratefrom 35971 to 110
[    1.474193] printk: console [ttyLP1] enabled
[    1.479465] 5a080000.serial: ttyLP2 at MMIO 0x5a080010 (irq = 49, base_baud = 5000000) is a FSL_T
[    1.489126] fsl-lpuart 5a080000.serial: DMA tx channel request failed, operating without tx DMA
[    1.497864] fsl-lpuart 5a080000.serial: DMA rx channel request failed, operating without rx DMA
[    1.507091] 5a090000.serial: ttyLP3 at MMIO 0x5a090010 (irq = 50, base_baud = 5000000) is a FSL_T
[    1.519792] arm-smmu 51400000.iommu: probing hardware configuration...
[    1.526357] arm-smmu 51400000.iommu: SMMUv2 with:
[    1.531083] arm-smmu 51400000.iommu:         stage 1 translation
[    1.536502] arm-smmu 51400000.iommu:         stage 2 translation
[    1.541917] arm-smmu 51400000.iommu:         nested translation
[    1.547253] arm-smmu 51400000.iommu:         stream matching with 32 register groups
[    1.554413] arm-smmu 51400000.iommu:         32 context banks (0 stage-2 only)
[    1.561049] arm-smmu 51400000.iommu:         Supported page sizes: 0x61311000
[    1.567598] arm-smmu 51400000.iommu:         Stage-1: 48-bit VA -> 48-bit IPA
[    1.574149] arm-smmu 51400000.iommu:         Stage-2: 48-bit IPA -> 48-bit PA
[    1.652551] imx-drm display-subsystem: parent device of /bus@57240000/ldb@572410e0/lvds-channel@e
[    1.686795] brd: module loaded
[    1.695873] loop: module loaded
[    1.699404] zram: Added device: zram0
[    1.715986] tun: Universal TUN/TAP device driver, 1.6
[    1.722881] fec 5b040000.ethernet: Adding to iommu group 0
[    1.729523] pps pps0: new PPS source ptp0
[    1.737843] Freescale FM module, FMD API version 21.1.0
[    1.744031] Freescale FM Ports module
[    1.749485] VFIO - User Level meta-driver version: 0.3
[    1.758862] cdns-usb3 5b110000.usb3: Adding to iommu group 1
[    1.765621] ehci_hcd: USB 2.0 'Enhanced' Host Controller (EHCI) Driver
[    1.772191] ehci-pci: EHCI PCI platform driver
[    1.778041] usbcore: registered new interface driver usb-storage
[    1.784139] usbcore: registered new interface driver usbserial_generic
[    1.790718] usbserial: USB Serial support registered for generic
[    1.796770] usbcore: registered new interface driver cp210x
[    1.802371] usbserial: USB Serial support registered for cp210x
[    1.808345] usbcore: registered new interface driver ftdi_sio
[    1.814130] usbserial: USB Serial support registered for FTDI USB Serial Device
[    1.821484] usbcore: registered new interface driver pl2303
[    1.827113] usbserial: USB Serial support registered for pl2303
[    1.833087] usbcore: registered new interface driver usb_serial_simple
[    1.839652] usbserial: USB Serial support registered for carelink
[    1.845773] usbserial: USB Serial support registered for zio
[    1.851465] usbserial: USB Serial support registered for funsoft
[    1.857502] usbserial: USB Serial support registered for flashloader
[    1.863887] usbserial: USB Serial support registered for google
[    1.869847] usbserial: USB Serial support registered for libtransistor
[    1.876408] usbserial: USB Serial support registered for vivopay
[    1.882444] usbserial: USB Serial support registered for moto_modem
[    1.888743] usbserial: USB Serial support registered for motorola_tetra
[    1.895389] usbserial: USB Serial support registered for nokia
[    1.901252] usbserial: USB Serial support registered for novatel_gps
[    1.907639] usbserial: USB Serial support registered for hp4x
[    1.913413] usbserial: USB Serial support registered for suunto
[    1.919365] usbserial: USB Serial support registered for siemens_mpi
[    1.933224] input: sc-powerkey as /devices/platform/sc-powerkey/input/input0
[    1.943099] imx-sc-rtc scu:rtc: registered as rtc1
[    1.948656] i2c /dev entries driver
[    1.963935] sdhci: Secure Digital Host Controller Interface driver
[    1.970162] sdhci: Copyright(c) Pierre Ossman
[    1.975325] Synopsys Designware Multimedia Card Interface Driver
[    1.983379] sdhci-pltfm: SDHCI platform and OF driver helper
[    1.991108] sdhci-esdhc-imx 5b010000.mmc: Adding to iommu group 2
[    2.029266] mmc0: SDHCI controller on 5b010000.mmc [5b010000.mmc] using ADMA
[    2.039198] sdhci-esdhc-imx 5b020000.mmc: Adding to iommu group 2
[    2.046863] sdhci-esdhc-imx 5b030000.mmc: Adding to iommu group 2
[    2.058527] ledtrig-cpu: registered to indicate activity on CPUs
[    2.067312] caam 31400000.crypto: device ID = 0x0a16040000000100 (Era 9)
[    2.074054] caam 31400000.crypto: job rings = 2, qi = 0
[    2.090782] caam algorithms registered in /proc/crypto
[    2.097581] caam 31400000.crypto: caam pkc algorithms registered in /proc/crypto
[    2.105058] caam 31400000.crypto: registering rng-caam
[    2.110624] Device caam-keygen registered
[    2.118496] hidraw: raw HID events driver (C) Jiri Kosina
[    2.119692] crng init done
[    2.124124] usbcore: registered new interface driver usbhid
[    2.132251] usbhid: USB HID core driver
[    2.140591] No fsl,qman node
[    2.143486] Freescale USDPAA process driver
[    2.145286] mmc0: new HS400 MMC card at address 0001
[    2.147685] fsl-usdpaa: no region found
[    2.153258] mmcblk0: mmc0:0001 S0J56X 14.8 GiB 
[    2.156499] Freescale USDPAA process IRQ driver
[    2.165879] mmcblk0boot0: mmc0:0001 S0J56X partition 1 31.5 MiB
[    2.169926] [VPU Decoder] warning: init rtx channel failed, ret: -517
[    2.172081] mmcblk0boot1: mmc0:0001 S0J56X partition 2 31.5 MiB
[    2.178284] [VPU Decoder] failed to request mailbox, ret = -517
[    2.184348] mmcblk0rpmb: mmc0:0001 S0J56X partition 3 4.00 MiB, chardev (235:0)
[    2.194184] [VPU Encoder] warning:  init rtx channel failed, ret: -517
[    2.200575]  mmcblk0: p1 p2
[    2.204066] [VPU Encoder] warning:  init rtx channel failed, ret: -517
[    2.213370] [VPU Encoder] fail to request mailbox, ret = -517
[    2.223014] dvbdev: DVB: registering new adapter (PPM DVB adapter)
[    2.229856] dvbdev: DVB: registering new adapter (PPM DVB adapter)
[    2.244560] check_dsp_is_available: HiFi4 DSP not available on this silicon
[    2.336130] imx-spdif sound-spdif: snd-soc-dummy-dai <-> 59020000.spdif mapping ok
[    2.343804] imx-spdif sound-spdif: ASoC: no DMI vendor name!
[    2.351076] imx-audmix imx-audmix.0: failed to find SAI platform device
[    2.357770] imx-audmix: probe of imx-audmix.0 failed with error -22
[    2.367975] pktgen: Packet Generator for packet performance testing. Version: 2.75
[    2.376233] NET: Registered protocol family 26
[    2.381192] NET: Registered protocol family 10
[    2.386250] Segment Routing with IPv6
[    2.389980] NET: Registered protocol family 17
[    2.394483] tsn generic netlink module v1 init...
[    2.399256] Key type dns_resolver registered
[    2.403903] registered taskstats version 1
[    2.408034] Loading compiled-in X.509 certificates
[    2.440197] mxs_phy 5b100000.usbphy: 5b100000.usbphy supply phy-3p0 not found, using dummy regulr
[    2.464959] usb_phy_generic bus@5b000000:usb3-phy: bus@5b000000:usb3-phy supply vcc not found, ur
[    2.475719] usb_phy_generic bus@5b000000:usbphynop2: bus@5b000000:usbphynop2 supply vcc not founr
[    2.487370] imx-lpi2c 5a800000.i2c: can't get pinctrl, bus recovery not supported
[    2.495131] i2c i2c-2: LPI2C adapter registered
[    2.502759] sgtl5000 3-000a: sgtl5000 revision 0x11
[    2.549206] usb3503 3-0008: switched to HUB mode
[    2.553874] usb3503 3-0008: usb3503_probe: probed in hub mode
[    2.559737] i2c i2c-3: LPI2C adapter registered
[    2.565777] rtc-ds1307: probe of 4-0068 failed with error -5
[    2.571532] i2c i2c-4: LPI2C adapter registered
[    2.576812] i2c i2c-5: LPI2C adapter registered
[    2.586948] imx6q-pcie 5f010000.pcie: pcie_ext clock source missing or invalid
[    2.587062] pwm-backlight backlight: backlight supply power not found, using dummy regulator
[    2.587129] imx6q-pcie 5f000000.pcie: 5f000000.pcie supply epdev_on not found, using dummy regulr
[    2.587250] imx6q-pcie 5f000000.pcie: pcie_ext clock source missing or invalid
[    2.627023] dpu-core 56180000.dpu: driver probed
[    2.634312] dpu-core 57180000.dpu: driver probed
[    2.644164] pps pps0: new PPS source ptp0
[    2.651784] fec 5b040000.ethernet eth0: registered PHC device 0
[    2.661715]  xhci-cdns3: xHCI Host Controller
[    2.666101]  xhci-cdns3: new USB bus registered, assigned bus number 1
[    2.674051]  xhci-cdns3: hcc params 0x200073c8 hci version 0x100 quirks 0x0000001000018010
[    2.682981] hub 1-0:1.0: USB hub found
[    2.686776] hub 1-0:1.0: 1 port detected
[    2.690934]  xhci-cdns3: xHCI Host Controller
[    2.695315]  xhci-cdns3: new USB bus registered, assigned bus number 2
[    2.701874]  xhci-cdns3: Host supports USB 3.0 SuperSpeed
[    2.707334] usb usb2: We don't know the algorithms for LPM for this host, disabling LPM.
[    2.715892] hub 2-0:1.0: USB hub found
[    2.719678] hub 2-0:1.0: 1 port detected
[    2.725083] imx_usb 5b0d0000.usb: 5b0d0000.usb supply vbus not found, using dummy regulator
[    3.041541] ci_hdrc ci_hdrc.1: EHCI Host Controller
[    3.046506] ci_hdrc ci_hdrc.1: new USB bus registered, assigned bus number 3
[    3.068575] ci_hdrc ci_hdrc.1: USB 2.0 started, EHCI 1.00
[    3.074862] hub 3-0:1.0: USB hub found
[    3.078696] hub 3-0:1.0: 1 port detected
[    3.084409] gpio-fan gpio-fan: GPIO fan initialized
[    3.091613] sdhci-esdhc-imx 5b020000.mmc: Got CD GPIO
[    3.128434] mmc1: SDHCI controller on 5b020000.mmc [5b020000.mmc] using ADMA
[    3.139181] sdhci-esdhc-imx 5b030000.mmc: Got CD GPIO
[    3.176263] mmc2: SDHCI controller on 5b030000.mmc [5b030000.mmc] using ADMA
[    3.210291] debugfs: Directory '59050000.sai' with parent 'apalis-imx8qm-sgtl5000' already prese!
[    3.219996] asoc-simple-card sound: sgtl5000 <-> 59050000.sai mapping ok
[    3.226733] asoc-simple-card sound: ASoC: no DMI vendor name!
[    3.237267] imx6q-pcie 5f000000.pcie: 5f000000.pcie supply epdev_on not found, using dummy regulr
[    3.238107] imx8qxp-lpcg-clk 5b260000.clock-controller: ignoring dependency for device, assumingr
[    3.238149] imx6q-pcie 5f010000.pcie: No cache used with register defaults set!
[    3.246666] imx6q-pcie 5f000000.pcie: No cache used with register defaults set!
[    3.259081] imx6q-pcie 5f010000.pcie: PCIe PLL locked after 0 us.
[    3.267430] hctosys: unable to open rtc device (rtc0)
[    3.289523] ALSA device list:
[    3.292517]   #0: imx-spdif
[    3.295322]   #1: apalis-imx8qm-sgtl5000
[    3.374403] imx6q-pcie 5f000000.pcie: PCIe PLL locked after 0 us.
[    3.480377] usb 3-1: new high-speed USB device number 2 using ci_hdrc
[    3.484453] imx6q-pcie 5f010000.pcie: host bridge /bus@5f000000/pcie@0x5f010000 ranges:
[    3.495199] imx6q-pcie 5f010000.pcie:    IO 0x7ff80000..0x7ff8ffff -> 0x00000000
[    3.502632] imx6q-pcie 5f010000.pcie:   MEM 0x70000000..0x7fefffff -> 0x70000000
[    3.596439] imx6q-pcie 5f000000.pcie: host bridge /bus@5f000000/pcie@0x5f000000 ranges:
[    3.604541] imx6q-pcie 5f000000.pcie:    IO 0x6ff80000..0x6ff8ffff -> 0x00000000
[    3.611969] imx6q-pcie 5f000000.pcie:   MEM 0x60000000..0x6fefffff -> 0x60000000
[    3.645677] hub 3-1:1.0: USB hub found
[    3.649609] hub 3-1:1.0: 2 ports detected
[    3.940370] usb 3-1.1: new high-speed USB device number 3 using ci_hdrc
[    4.053672] hub 3-1.1:1.0: USB hub found
[    4.057736] hub 3-1.1:1.0: 4 ports detected
[    4.140369] usb 3-1.2: new high-speed USB device number 4 using ci_hdrc
[    4.254406] usb-storage 3-1.2:1.0: USB Mass Storage device detected
[    4.261253] scsi host0: usb-storage 3-1.2:1.0
[    4.348387] usb 3-1.1.3: new full-speed USB device number 5 using ci_hdrc
[    4.467404] input: Logitech USB Receiver as /devices/platform/bus@5b000000/5b0e0000.usb/ci_hdrc.1
[    4.502566] imx6q-pcie 5f010000.pcie: Phy link never came up
[    4.508364] imx6q-pcie 5f010000.pcie: failed to initialize host
[    4.514370] imx6q-pcie 5f010000.pcie: unable to add pcie port.
[    4.541067] hid-generic 0003:046D:C52B.0001: input,hidraw0: USB HID v1.11 Keyboard [Logitech USB0
[    4.556236] input: Logitech USB Receiver Mouse as /devices/platform/bus@5b000000/5b0e0000.usb/ci2
[    4.572008] input: Logitech USB Receiver Consumer Control as /devices/platform/bus@5b000000/5b0e3
[    4.619865] imx6q-pcie 5f000000.pcie: Phy link never came up
[    4.625660] imx6q-pcie 5f000000.pcie: failed to initialize host
[    4.631662] imx6q-pcie 5f000000.pcie: unable to add pcie port.
[    4.648648] input: Logitech USB Receiver System Control as /devices/platform/bus@5b000000/5b0e004
[    4.665338] hid-generic 0003:046D:C52B.0002: input,hidraw1: USB HID v1.11 Mouse [Logitech USB Re1
[    4.679386] hid-generic 0003:046D:C52B.0003: hidraw2: USB HID v1.11 Device [Logitech USB Receive2
[    4.699182] EXT4-fs (mmcblk0p2): mounted filesystem with ordered data mode. Opts: (null)
[    4.707368] VFS: Mounted root (ext4 filesystem) readonly on device 179:2.
[    4.716033] devtmpfs: mounted
[    4.720363] Freeing unused kernel memory: 3008K
[    4.725227] Run /sbin/init as init process
[    4.809760] systemd[1]: System time before build time, advancing clock.
[    4.829629] systemd[1]: systemd 244.5+ running in system mode. (+PAM -AUDIT -SELINUX +IMA -APPAR)
[    4.851785] systemd[1]: Detected architecture arm64.

Welcome to TDX Wayland with XWayland 5.7.3-devel-20231112090137+build.0 (dunfell)!

[    4.900845] systemd[1]: Set hostname to <apalis-imx8-07106242>.
[    5.150800] systemd[1]: /lib/systemd/system/gpsd.socket:5: ListenStream= references a path below.
[    5.192490] systemd[1]: Created slice system-getty.slice.
[  OK  ] Created slice system-getty.slice.
[    5.213580] systemd[1]: Created slice system-serial\x2dgetty.slice.
[  OK  ] Created slice system-serial\x2dgetty.slice.
[    5.237895] systemd[1]: Created slice system-weston.slice.
[  OK  ] Created slice system-weston.slice.
[    5.262305] systemd[1]: Created slice User and Session Slice.
[  OK  ] Created slice User and Session Slice.
[    5.284785] systemd[1]: Started Dispatch Password Requests to Console Directory Watch.
[    5.285709] scsi 0:0:0:0: Direct-Access      USB      SanDisk 3.2Gen1 1.00 PQ: 0 ANSI: 6
[  OK  0 m ]   S5t.a3r0t2e1d3 8[ s0;d1 ;03:90m:D0i:s0p:a t[cshd aP]a s3s0w6o2r9d3 7�6� �5t1s2 -tboy)

[    5.317374] sd 0:0:0:0: [sda] Write Protect is off
[    5.322877] sd 0:0:0:0: [sda] Write cache: disabled, read cache: enabled, doesn't support DPO orA
[    5.340735] systemd[1]: Started Forward Password Requests to Wall Directory Watch.
[  OK  ] Started Forward Password R…uests to Wall Directory Watch.
[    5.365812]  sda: sda1
[    5.368682] systemd[1]: Reached target Host and Network Name Lookups.
[    5.372024] sd 0:0:0:0: [sda] Attached SCSI removable disk
[  OK  ] Reached target Host and Network Name Lookups.
[    5.396484] systemd[1]: Reached target Paths.
[  OK  ] Reached target Paths.
[    5.416516] systemd[1]: Reached target Remote File Systems.
[  OK  ] Reached target Remote File Systems.
[    5.436696] systemd[1]: Reached target Slices.
[  OK  ] Reached target Slices.
[    5.456447] systemd[1]: Reached target Swap.
[  OK  ] Reached target Swap.
[    5.497169] systemd[1]: Listening on RPCbind Server Activation Socket.
[  OK  ] Listening on RPCbind Server Activation Socket.
[    5.520737] systemd[1]: Reached target RPC Port Mapper.
[  OK  ] Reached target RPC Port Mapper.
[    5.543593] systemd[1]: Listening on Syslog Socket.
[  OK  ] Listening on Syslog Socket.
[    5.565006] systemd[1]: Listening on initctl Compatibility Named Pipe.
[  OK  ] Listening on initctl Compatibility Named Pipe.
[    5.589539] systemd[1]: Listening on Journal Audit Socket.
[  OK  ] Listening on Journal Audit Socket.
[    5.612745] systemd[1]: Listening on Journal Socket (/dev/log).
[  OK  ] Listening on Journal Socket (/dev/log).
[    5.628618] switch cluster 0 cpu-freq governor to schedutil
[    5.637065] systemd[1]: Listening on Journal Socket.
[  OK  ] Listening on Journal Socket.
[    5.652594] switch cluster 1 cpu-freq governor to schedutil
[    5.669299] systemd[1]: Listening on Network Service Netlink Socket.
[  OK  ] Listening on Network Service Netlink Socket.
[    5.692971] systemd[1]: Listening on udev Control Socket.
[  OK  ] Listening on udev Control Socket.
[    5.716799] systemd[1]: Listening on udev Kernel Socket.
[  OK  ] Listening on udev Kernel Socket.
[    5.742072] systemd[1]: Mounting Huge Pages File System...
         Mounting Huge Pages File System...
[    5.769510] systemd[1]: Mounting POSIX Message Queue File System...
         Mounting POSIX Message Queue File System...
[    5.798114] systemd[1]: Mounting Kernel Debug File System...
         Mounting Kernel Debug File System...
[    5.828243] systemd[1]: Mounting Temporary Directory (/tmp)...
         Mounting Temporary Directory (/tmp)...
[    5.855839] systemd[1]: Starting Create list of static device nodes for the current kernel...
         Starting Create list of st…odes for the current kernel...
[    5.885625] systemd[1]: Starting RPC Bind...
         Starting RPC Bind...
[    5.908576] systemd[1]: Starting File System Check on Root Device...
         Starting File System Check on Root Device...
[    5.940545] systemd[1]: Starting Journal Service...
         Starting Journal Service...
[    5.951585] systemd[1]: Starting Load Kernel Modules...
         Starting Load Kernel Modules...
[    5.961917] systemd[1]: Starting udev Coldplug all Devices...
         Starting udev Coldplug all Devices...
[    5.973196] systemd[1]: Started RPC Bind.
e [  O K    5[907m8]0 5S2t]a rgtaeldc o[e0:; 1l;o3a9dmiRnPgC  oBuitn-do[-0tmr.e
  module taints kernel.
[    5.978059] systemd[1]: Mounted Huge Pages File System.
[  OK[    [ 05m.]9 9M4o0u2n3t]e ds y[t0e;m1d;[319]m:H uMgoeu nPtaegde sP OFSiIlXe  MSeyssstaegme[Q0.

[  OK [  [ 0 m6]. 005919] systemd[1]: Mounted Kernel Debug File System.
Mounted POSIX Message Queue File System.
[    6.018071] Galcore version 6.4.3.p1.305572
[  OK  ] Mounted Kernel Debug File System.
[    6.045474] systemd[1]: Started Journal Service.
[  OK  ] Started Journal Service.
[  OK  ] Mounted Temporary Directory (/tmp).
[  OK  ] Started Create list of sta… nodes for the current kernel.
[  OK  ] Started File System Check on Root Device.
         Starting Remount Root and Kernel File Systems...
[    6.155657] EXT4-fs (mmcblk0p2): re-mounted. Opts: (null)
[  OK  ] Started Remount Root and Kernel File Systems.
         Starting Flush Journal to Persistent Storage...
[    6.206241] systemd-journald[351]: Received client request to flush runtime journal.
[    6.207743] [drm] Initialized vivante 1.0.0 20170808 for 80000000.imx8_gpu1_ss on minor 0
         Starting Create Static Device Nodes in /dev...
[  OK  ] Started Load Kernel Modules.
[  OK  ] Started Flush Journal to Persistent Storage.
[  OK  ] Started Create Static Device Nodes in /dev.
[  OK  ] Reached target Local File Systems (Pre).
         Mounting Kernel Configuration File System...
         Mounting /var/volatile...
         Starting Apply Kernel Variables...
         Starting udev Kernel Device Manager...
[  OK  ] Mounted Kernel Configuration File System.
[  OK  ] Started udev Kernel Device Manager.
[  OK  ] Mounted /var/volatile.
[  OK  ] Started Apply Kernel Variables.
         Starting Load/Save Random Seed...
[  OK  ] Reached target Local File Systems.
         Starting Create Volatile Files and Directories...
[  OK  ] Started udev Coldplug all Devices.
[  OK  ] Started Load/Save Random Seed.
[  OK  ] Started Create Volatile Files and Directories.
a  OK  ] Created slice system-s[y s t e m6d.\6x323d2b1a7c]k l[iVgPhUt .Esnlciocdee[]0 me.n
 ble mu for core[0]
         Starting Load/Save Screen …ness of backlight:backlight...
[    6.653629] [VPU Encoder] vpu encoder core[0] firmware version is 1.3.0
b        Starting Netw[o r k   T6i.m6e7 S4y8n8c0h]r o[ndirzma]t iSounp[o0rmt.s. .v
 lank timestamp caching Rev 2 (21.10.2013).
[    6.686793] [drm] No driver support for vblank timestamp query.
         Starting udev Wait for Complete Device Initialization...
[    6.701043] imx-drm display-subsystem: bound imx-drm-dpu-bliteng.2 (ops dpu_bliteng_ops)
[    6.711387] imx-drm display-subsystem: bound imx-drm-dpu-bliteng.5 (ops dpu_bliteng_ops)
[    6.724634] imx-drm display-subsystem: bound imx-dpu-crtc.0 (ops dpu_crtc_ops)
8        Starting Update UTMP about Sys[t e m   B6o.o7t3/6S1h2u8t]d omwxnc[j0pme.g. .5
 400000.jpegdec: decoder device registered as /dev/video0 (81,2)
[    6.746041] imx-drm display-subsystem: bound imx-dpu-crtc.1 (ops dpu_crtc_ops)
[  OK  ] Started Load/Save Screen B…htness of backlight:backlight.
[    6.767185] imx-drm display-subsystem: bound imx-dpu-crtc.3 (ops dpu_crtc_ops)
[    6.787326] mxc-jpeg 58450000.jpegenc: encoder device registered as /dev/video1 (81,3)
[    6.806513] CAN device driver interface
8  OK  ] Started Update UTMP about System Boot/Shutdo[wn [ 0 m6..
 24213] imx-drm display-subsystem: bound imx-dpu-crtc.4 (ops dpu_crtc_ops)
[    6.832806] flexcan 5a8d0000.can: 5a8d0000.can supply xceiver not found, using dummy regulator
[  OK  ] Started Network Time Synchronization.
[    6.852792] flexcan 5a8e0000.can: 5a8e0000.can supply xceiver not found, using dummy regulator
[  OK  ] Reached target System Time Set.
[  OK  ] Reached target System Time Synchronized.
[    6.931041] [drm] Started firmware!
[    6.935971] [drm] HDP FW Version - ver 34219 verlib 20560
[    6.950862] cdns-mhdp-imx 56268000.hdmi: lane-mapping 0x93
[    6.960013] imx-drm display-subsystem: bound 56268000.hdmi (ops cdns_mhdp_imx_ops [cdns_mhdp_imx)
[    6.969817] [drm] Initialized imx-drm 1.0.0 20120507 for display-subsystem on minor 1
[    6.984803] ahci-imx 5f020000.sata: Adding to iommu group 3
[    6.998257] cdns-mhdp-imx 56268000.hdmi: 0,ff,ff,ff,ff,ff,ff,0
[    7.004702] ahci-imx 5f020000.sata: phy impedance ratio is not specified.
[    7.012809] ahci-imx 5f020000.sata: No cache used with register defaults set!
[    7.029260] [drm] Mode: 1920x1080p148500
[    7.042322] ahci-imx 5f020000.sata: 5f020000.sata supply ahci not found, using dummy regulator
[    7.042424] ahci-imx 5f020000.sata: 5f020000.sata supply phy not found, using dummy regulator
[    7.042471] ahci-imx 5f020000.sata: 5f020000.sata supply target not found, using dummy regulator
[    7.043188] ahci-imx 5f020000.sata: external osc is used.
[    7.050878] ahci-imx 5f020000.sata: no ahb clock.
[    7.050971] ahci-imx 5f020000.sata: AHCI 0001.0301 32 slots 1 ports 6 Gbps 0x1 impl platform mode
[    7.050980] ahci-imx 5f020000.sata: flags: 64bit ncq sntf pm clo only pmp fbs pio slum part ccc  
[    7.057194] scsi host1: ahci-imx
[    7.057507] ata1: SATA max UDMA/133 mmio [mem 0x5f020000-0x5f02ffff] port 0x100 irq 106
[    7.058463] imx ahci driver is registered.
[    7.069513] [drm] Pixel clock: 148500 KHz, character clock: 148500, bpc is 8-bit.
[    7.069521] [drm] VCO frequency is 2970000 KHz
[    7.136480] [drm] No vendor infoframe
[    7.238359] Console: switching to colour frame buffer device 240x67
[    7.352671] imx-drm display-subsystem: fb0: imx-drmdrmfb frame buffer device
[    7.369670] ata1: SATA link down (SStatus 0 SControl 300)
[    7.379547] debugfs: Directory '59090000.sai' with parent 'imx-audio-hdmi-tx' already present!
[    7.394288] imx-cdnhdmi sound-hdmi: i2s-hifi <-> 59090000.sai mapping ok
[    7.401268] imx-cdnhdmi sound-hdmi: ASoC: no DMI vendor name!
[    7.408423] debugfs: File 'Capture' in directory 'dapm' already present!
[    7.420813] input: imx-audio-hdmi-tx HDMI Jack as /devices/platform/sound-hdmi/sound/card2/input6
[    7.444432] FAT-fs (mmcblk0p1): Volume was not properly unmounted. Some data may be corrupt. Ple.
[    7.561341] FAT-fs (sda1): Volume was not properly unmounted. Some data may be corrupt. Please r.
[  OK  ] Started udev Wait for Complete Device Initialization.
[  OK  ] Started Hardware RNG Entropy Gatherer Daemon.
[  OK  ] Reached target System Initialization.
[  OK  ] Started Daily Cleanup of Temporary Directories.
[  OK  ] Reached target Timers.
[  OK  ] Listening on Avahi mDNS/DNS-SD Stack Activation Socket.
[  OK  ] Listening on D-Bus System Message Bus Socket.
[  OK  ] Listening on dropbear.socket.
[  OK  ] Listening on GPS (Global P…ioning System) Daemon Sockets.
[  OK  ] Reached target Sockets.
[  OK  ] Reached target Basic System.
         Starting Save/Restore Sound Card State...
[  OK  ] Started Kernel Logging Service.
[  OK  ] Started System Logging Service.
[  OK  ] Started D-Bus System Message Bus.
         Starting IPv6 Packet Filtering Framework...
         Starting IPv4 Packet Filtering Framework...
         Starting Telephony service...
         Starting Login Service...
[  OK  ] Started Timestamping service.
         Starting Load default USB gadget schema g1.schema...
[    8.256152] Bluetooth: Core ver 2.22
[    8.260367] NET: Registered protocol family 31
[    8.264910] Bluetooth: HCI device and connection manager initialized
[    8.271479] Bluetooth: HCI socket layer initialized
[    8.271490] Bluetooth: L2CAP socket layer initialized
[    8.271512] Bluetooth: SCO socket layer initialized
[    8.281921] using random self ethernet address
[    8.291327] using random host ethernet address
[  OK  ] Started Save/Restore Sound Card State.
[  OK  ] Started IPv6 Packet Filtering Framework.
[  OK  ] Started IPv4 Packet Filtering Framework.
[  OK  ] Reached target Network (Pre).
[  OK  ] Reached target Sound Card.
[  OK  ] Listening on Load/Save RF …itch Status /dev/rfkill Watch.
         Starting Connection service...
[  OK  ] Started Telephony service.
[  OK  ] Started Login Service.
[    8.510874] usb0: HOST MAC 00:14:2d:ff:ff:fe
[    8.515307] usb0: MAC 00:14:2d:ff:ff:ff
[  OK  ] Started Load default USB gadget schema g1.schema.
[  OK  ] Started Connection service.
[  OK  ] Reached target Hardware activated USB gadget.
[    8.596837] Microchip KSZ9131 Gigabit PHY 5b040000.ethernet-1:07: attached PHY driver [Microchip)
         Starting Avahi mDNS/DNS-SD Stack...
         Starting Network Service...
[  OK  ] Started Avahi mDNS/DNS-SD Stack.
         Starting Hostname Service...
         Starting WPA supplicant...
[  OK  ] Started Network Service.
[  OK  ] Started WPA supplicant.
[  OK  ] Started Hostname Service.
[  OK  ] Reached target Network.
[  OK  ] Started NFS status monitor for NFSv2/3 locking..
         Starting Permit User Sessions...
[  OK  ] Started Permit User Sessions.
[  OK  ] Started Getty on tty1.
[  OK  ] Started Serial Getty on ttyLP1.
[  OK  ] Reached target Login Prompts.
[  OK  ] Started Weston Wayland Compositor.
         Starting Start a wayland application...
[  OK  ] Created slice User Slice of UID 0.
         Starting User Runtime Directory /run/user/0...
[  OK  ] Started User Runtime Directory /run/user/0.
         Starting User Manager for UID 0...
[    9.058066] audit: type=1006 audit(1699840752.066:2): pid=789 uid=0 old-auid=4294967295 auid=0 t1
[  OK  ] Started User Manager for UID 0.
[  OK  ] Started Session c1 of user root.
[    9.671889] cdns-mhdp-imx 56268000.hdmi: 0,ff,ff,ff,ff,ff,ff,0
[   10.257243] fec 5b040000.ethernet eth0: Link is Up - 100Mbps/Full - flow control off
[   10.265043] IPv6: ADDRCONF(NETDEV_CHANGE): eth0: link becomes ready
[   10.279419] 8021q: 802.1Q VLAN Support v1.8
[  OK  ] Started Start a wayland application.
[  OK  ] Reached target Multi-User System.
[  OK  ] Reached target Graphical Interface.
         Starting Update UTMP about System Runlevel Changes...
[  OK  ] Started Update UTMP about System Runlevel Changes.

so, i don't have any idea to apply the xenomai.

Please help,

 

 

Hi @HieuNong 

   I saw your board is Toradex Apalis not nxp mek board, so I suggest you may check device driver used by Apalis board if these drivers meet ipipe requirement. You can refer mek driver to modify your driver.

Hi @HieuNong 

  BTW, I saw your kernel version is 5.4.193, not 5.4.70 in my release package. Is some issues introduced when porting to 5.4.193? Would you double check it?

Hi @xiaodong_zhang ,

 

Thank you for you comment, exactly, it relate to driver and the linux kernel version.

I was trying to port the ipipe patched again, by download it from https://source.denx.de/Xenomai/ipipe-arm64/-/tree/ipipe/5.4.y/Documentation/admin-guide?ref_type=hea...

That is latest version work with linux kernel 5.4.180, even though it's not for 5.4.193 but it's still working with my board.

I was pass the panic kernel issue, and the cyclelic test is pretty good.

HieuNong_0-1700535511776.png

 

But, i still has the issue with driver, i will review it and modify the device tree or RTDM driver suitable with my board.

Thank you very much.

@HieuNong good news.

Hi @xiaodong_zhang ,

 

I was apply successfully the xenomai_v3.1 xenomai-5.4.70-2.3.4 patch to my board.

I very happy about that. Thank you for your post.

The solution is installing the board support package nearest with 5.4.70 kernel version.

In my IMX8 board, the suitable kernel version is 5.4.77.

After rebuild yocto, every thing work fine.

 

Version history
Last update:
‎11-24-2023 01:08 AM
Updated by: