Important: If you have any questions or would like to report any issues with the DDR tools or supporting documents please create a support ticket in the  i.MX community. Please note that any private messages or direct emails are not monitored and will not receive a response. i.MX 8M Family DDR Tools Overview The i.MX 8M Family DDR Tool is a Windows-based software to help users to do LPDDR4/DDR4/DDR3L training, stress test and DDR initial code generation for u-boot SPL.  This page contains the latest releases for the i.MX 8M Family DDR Tools and cover the following SoCs : i.MX 8M Quad and its derivatives i.MX 8 M Quadlite and i.MX 8M Dual i.MX 8M Mini Quad and its derivatives i.MX 8M Mini Quadlite/Dual/DualLite/Solo/SoloLite  i.MX 8M Nano Quad and   its derivatives i.MX 8M Nano Quadlite/Dual/DualLite/Solo/SoloLite  i.MX 8M Plus   NOTE: For the i.MX 8/8X Family of DDR tools please refer to the: i.MX 8/8X Family DDR Tools Release   The purpose of the i.MX 8M Family DDR Tools is to enable users to generate and test a custom DRAM initialization based on their device configuration (density, number of chip selects, etc.) and board layout (data bus bit swizzling, etc.).  This process equips the user to then proceed with the bring-up of a boot loader and an OS.  Once the OS is brought up, it is recommended to run an OS-based memory test (like Linux memtester) to further verify and test the DDR memory interface.     The  i.MX 8M Family DDR Tools consist of: DDR Register Programming Aid (RPA) MSCALE DDR Tool   For more details regarding these DDR tools and their usage, refer to the i.MX 8M DDR Tools User Guide.   i.MX 8M Family DDR Tool    The i.MX 8M Family  DDR stress test tool is a Windows-based software tool that is used as a mechanism to verify that the DDR initialization is operational for use with u-boot and OS bring-up. To install the DDR Stress Test, save and extract the zip file mscale_ddr_tool_vXXX_setup.exe.zip     (where 'xxx' is the current version number) and follow the on-screen installation instructions.     i.MX 8M Family DDR Tool   Requirements   The tool requires access to the Windows registry, hence  users must run it in administrator mode . When users design new i.MX 8M Family boards, please make sure to follow the rules outlined in the respective Hardware Developers Guide and the MSCALE_DDR_Tool_User_Guide , which can help users bring up DDR devices on their respective i.MX 8M boards.   i.MX 8M Family DDR Tool  User Guide   The i.MX 8M DDR tool includes the document: MSCALE_DDR_Tool_User_Guide NOTE: Please read the MSCALE_DDR_Tool_User_Guide inside the package carefully before you use this tool.   i.MX8M DDR Tool Revision History   Rev Major Changes* (Features) Comments 3.31 Integration of the workaround for 8MQ ERR051273   3.30 Fix DBI enabled issue for all i.MX 8M series Automatically identify ROHM and PCA9450 PMICs on i.MX 8M Nano board Fix 4GB/8GB memory tester issues   3.20 Add support to i.MX 8M Plus   3.10 Fixe UART communication issues for some specific characters between the PC software and the target board. Fine-tune DDRPHY registers in generated C code.   3.00 Add support to i.MX8M-nano Add support to different PMIC or PMIC configuration Add support to stress test for all DDR frequency points RPA tools for Nano include support for DDR3L, DDR4, and LPDDR4.   Note that the DDR3L and LPDDR4 RPAs contain the name preliminary only to denote that these RPAs are based on internal NXP validation boards where the DDR4 RPA is based on the released EVK.   2.10 Change DDR4 capacity computing method   2.00 Add support to i.MX8M-mini   * Further details available in the release notes   Sample configuration in the .ds script for i.MX 8M debug UART2: ################step 0: configure debug uart port. Assumes use of UART IO Pads.   ##### ##### If using non-UART pads (i.e. using other pads to mux out the UART signals), ##### ##### then it is up to the user to overwrite the following IO register settings   ##### memory set 0x3033023C 32 0x00000000 #IOMUXC_SW_MUX_UART2_RXD memory set 0x30330240 32 0x00000000 #IOMUXC_SW_MUX_UART2_TXD memory set 0x303304A4 32 0x0000000E #IOMUXC_SW_PAD_UART2_RXD memory set 0x303304A8 32 0x0000000E #IOMUXC_SW_PAD_UART2_TXD memory set 0x303304FC 32 0x00000000 #IOMUXC_SW_MUX_UART2_SEL_RXD sysparam set debug_uart   1 #UART index from 0 ('0' = UART1, '1' = UART2, '2' = UART3, '3' = UART4)   Sample configuration in the front of the .ds script for i.MX 8M debug UART3  ################step 0: configure debug uart port. Assumes use of UART IO Pads.   ##### ##### If using non-UART pads (i.e. using other pads to mux out the UART signals), ##### ##### then it is up to the user to overwrite the following IO register settings   ##### memory set 0x30330244 32 0x00000000 #IOMUXC_SW_MUX_UART3_RXD memory set 0x30330248 32 0x00000000 #IOMUXC_SW_MUX_UART3_TXD memory set 0x303304AC 32 0x0000000E #IOMUXC_SW_PAD_UART3_RXD memory set 0x303304B0 32 0x0000000E #IOMUXC_SW_PAD_UART3_TXD memory set 0x30330504 32 0x00000002 #IOMUXC_SW_MUX_UART3_SEL_RXD sysparam set debug_uart   2 #UART index from 0 ('0' = UART1, '1' = UART2, '2' = UART3, '3' = UART4)   Sample configuration in the front of the .ds script for i.MX 8M Mini PMIC configuration: ##############step 0.5: configure I2C port IO pads according to your PCB design.   ##### ########### You can modify the following instructions to adapt to your board PMIC ####### memory set 0x30330214 32 0x00000010  #IOMUXC_SW_MUX_I2C1_SCL memory set 0x30330218 32 0x00000010  #IOMUXC_SW_MUX_I2C1_SDA memory set 0x3033047C 32 0x000000C6 #IOMUXC_SW_PAD_I2C1_SCL memory set 0x30330480 32 0x000000C6  #IOMUXC_SW_PAD_I2C1_SDA sysparam set pmic_cfg 0x004B #bit[7:0] = PMIC addr,bit[15:8]=I2C Bus. Bus index from 0 ('0' = I2C1, '1' = I2C2, '2' = I2C3, '3' = I2C4) sysparam set pmic_set 0x2F01 #bit[7:0] = Reg val, bit[15:8]=Reg addr. #REG(0x2F) = 0x01 sysparam set pmic_set 0x0C02   #REG(0x0C) = 0x02 sysparam set pmic_set 0x171E   #REG(0x17) = 0x1E sysparam set pmic_set 0x0C00   #REG(0x0C) = 0x00 sysparam set pmic_set 0x2F11    #REG(0x2F)=0x11     i.MX 8M Family DDR Register Programming Aid (RPA) The i.MX 8M DDR RPA (or simply RPA) is an Excel spreadsheet tool used to develop DDR initialization for a user’s specific DDR configuration (DDR device type, density, etc.). The RPA generates the DDR initialization(in a separate Excel worksheet tab):   DDR Stress Test Script : This format is used specifically with the DDR stress test by first copying the contents in this worksheet tab and then pasting it to a text file, naming the document with the “.ds” file extension. The user will select this file when executing the DDR stress test. The How to Use  Excel worksheet tab provides instructions on using the RPA   i.MX 8M Family DDR Register Programming Aid (RPA): Current Versions To obtain the latest RPAs, please refer to the following links (note, existing RPAs have been removed from this main page and moved to the SoC specific links below): i.MX 8M Quad : https://community.nxp.com/t5/i-MX-Processors-Knowledge-Base/i-MX8M-m850D-DDR-Register-Programming-Aid-RPA/ta-p/1172441 i.MX 8M Mini : https://community.nxp.com/t5/i-MX-Processors-Knowledge-Base/i-MX8MMini-m845S-DDR-Register-Programming-Aid-RPA/ta-p/1172443 i.MX 8M Nano: https://community.nxp.com/t5/i-MX-Processors-Knowledge-Base/i-MX8MNano-m815S-DDR-Register-Programming-Aid-RPA/ta-p/1172444 i.MX 8M Plus: https://community.nxp.com/t5/i-MX-Processors-Knowledge-Base/i-MX-8MPlus-m865S-DDR-Register-Programming-Aids-RPA/ta-p/1235352   Processor Mask Revisions Memory Supported Latest RPA Version * i.MX 8M Quad & Derivatives All LPDDR4 Rev 33 i.MX 8M Quad & Derivatives All DDR4 Rev 17 i.MX 8M Quad & Derivatives All DDR3L Rev 9 i.MX 8M Mini  & Derivatives A0 LPDDR4 Rev 22 i.MX 8M Mini  & Derivatives A0 DDR4 Rev 20 i.MX 8M Mini & Derivatives A0 DDR3L Rev 10 i.MX 8M Nano & Derivatives A0 LPDDR4 Rev 9 i.MX 8M Nano & Derivatives A0 DDR4 Rev 11 i.MX 8M Nano & Derivatives A0 DDR3L Rev 6 i.MX 8M Plus & Derivatives A1 LPDDR4 Rev 9 i.MX 8M Plus & Derivatives A1 DDR4 Rev 8 * For the details about the updates, please refer to the Revision History tab of the respective RPA.    To modify the DRAM Frequency for a custom setting refer to iMX 8M Mini Register Programming Aid DRAM PLL setting    Related Resources Links: iMX 8M Mini Register Programming Aid DRAM PLL setting  i.MX 8/8X Series DDR Tool Release  i.MX 6/7 DDR Stress test GUI Tool i.MX 8M Application Processor Related Resources i.MX8M (m850D) DDR Register Programming Aid (RPA)  i.MX8MMini (m845S) DDR Register Programming Aid (RPA)  i.MX8MNano (m815S) DDR Register Programming Aid (RPA) i.MX 8MPlus (m865S) DDR Register Programming Aids (RPA)    

This is a detailed programming aid for the registers associated with i.MX 8M (m850D) DDR initialization.  For more details, refer to the main mScale DDR tools page: https://community.nxp.com/t5/i-MX-Processors-Knowledge-Base/i-MX-8M-Family-DDR-Tool-Release/ta-p/1104467 Please note that this page is only intended to store the RPA spreadsheets. For questions, please create a new community thread.

We are pleased to announce that Config Tools for i.MX v13 are now available.

Introduction This document intends to describe how to implement workaround for ERR050145 (ISI: Memory overwrite occurring outside of allocated buffer space corrupting system memory) based on Linux BSP. ERR050145 is applicable for i.MX8QM B0, i.MX8QXP B0 series products.   Software Platform Reference patches stated into this document are developed and validated on L4.14.98_GA2.0.0 release.   Software Workaround As workaround stated, the xRDC can be programmed to grant write access to the ISI only within its allocated frame buffer space, which can prevent the corruption. So under Linux, we can consider to implement workaround like so: Create children partition for ISI and allocate buffers. Then Linux can access these buffers as normal, but ISI can't access other memory out of these buffers, it is limited by xRDC hardware. Considering the xRDC hardware can only support up to 16 memory regions, we may need to consider different workaround implementations for different camera use case scenarios.   For single camera use case, the required camera buffer number is usually less than 16. So “0001-iMX8QM-iMX8QX-ERR050145-ISI-overwrite-workaround.patch” is enough. No modification is needed for camera application in this case.   For multiple camera use case, all patches (0001~0003) are needed. If the camera application used VB2_MEMORY_MMAP memory mode, then no code modification is needed in application. The V4l2 ISI driver can handle everything (Allocate physical continued memory for each camera, and map them as one xRDC memory region for overwrite protect). If the camera application used VB2_MEMORY_USERPTR and VB2_MEMORY_DMABUF memory mode, then it needs allocate camera buffers with physical continued memory for each camera, then the driver will merge them as one xRDC memory region in SCFW.   How to prove workaround take effective? After applying the patches, the ISI will report AXI_WR_ERR due to it failed to write data out of the allocated buffers when the errata happens. To reduce the ISI interrupt, we can also change the ISI interrupt setting as followed: void mxc_isi_enable_irq(struct mxc_isi_dev *mxc_isi) {     u32 val;     val = CHNL_IER_FRM_RCVD_EN_MASK |         CHNL_IER_EXCS_OFLW_V_BUF_EN_MASK |         CHNL_IER_EXCS_OFLW_U_BUF_EN_MASK |         CHNL_IER_EXCS_OFLW_Y_BUF_EN_MASK;     writel(val, mxc_isi->regs + CHNL_IER); }   Add reference patch for L5.4.70_2.3.0 and L5.10.72_2.2.0.

This is a summary for the software lockup issue found in the following platform: −i.MX8/8X −Linux 4.14.98_2.3.3   Issue description: •Issue happens during the boot procedure, at the systemd stage. •The symptom of the issue: −From user perspective, the symptom varies, but mainly fall into several types: §At the console, there may be login prompt, but no response (only echo) when input user/password. Unable to login. §Some user service in systemd failed to start. E.g. weston. −When checking the task status using sysrq (w/t), many tasks, including some kernel core tasks stays in “D” (uninterruptable sleep) state. E.g. agetty, login, chvt, etc. •Kernel itself is still alive. This can be verified by triggering some drivers, such as plugin a USB device. Issue can be reproduced on MEK through long time stress.   Please refer to the doc/patch attached for details.

PCIE IP on i.MX8MM and i.MX8MP is same, customer can follow PCIE test Application note to do compliance test, if eye diagram failed, they can fine turn corresponding regs below: iMX8MMRM.pdf IMX8MPRM.pdf GEN1:             GEN2:                 Related code in kernel Phy-fsl-imx8-pcie.c (kernel-source\drivers\phy\freescale)    3794      2020/11/4 static int imx8_pcie_phy_init(struct phy *phy) { ……          /* Configure TX drive level  */        writel(0x2d, imx8_phy->base + 0x404);          return 0; }   Thanks Lambert

  This is a detailed programming aid for the registers associated with i.MX 8M Plus DDR initialization. LPDDR4 DDR4  For more details, refer to the main mScale DDR tools page: https://community.nxp.com/t5/i-MX-Processors-Knowledge-Base/i-MX-8M-Family-DDR-Tool-Release/ta-p/1104467 Please note that this page is only intended to store the RPA spreadsheets. For questions, please create a new community thread.  

This is a detailed programming aid for the registers associated with i.MX 8MNano (m815S) DDR initialization.  For more details, refer to the main mScale DDR tools page: https://community.nxp.com/t5/i-MX-Processors-Knowledge-Base/i-MX-8M-Family-DDR-Tool-Release/ta-p/1104467 Please note that this page is only intended to store the RPA spreadsheets. For questions, please create a new community thread.

This is a detailed programming aid for the registers associated with i.MX 8MMini (m845S) DDR initialization.  For more details, refer to the main mScale DDR tools page: https://community.nxp.com/t5/i-MX-Processors-Knowledge-Base/i-MX-8M-Family-DDR-Tool-Release/ta-p/1104467 Please note that this page is only intended to store the RPA spreadsheets. For questions, please create a new community thread.

i.MX8 series contains internal HiFi4 DSP. It is targeted for Audio related signal processing. SOF (Sound Open Firmware) is open source audio DSP firmware, driver and SDK. This document introduces basic theory about IIR/FIR digital filters, how to design IIR/FIR digital filters and the Equalizer filters implementation by SOF. After that, the document also describes how HiFi4 DSP MAC engine accelerate the EQ filters calculation.

1. Description: On the i.MX Android camera HAL, It only supports YUYV sensor, regardless of whether the sensor is connected to ISP or ISI. Some users want to customize the sensor format, such as UYVY or raw, they need a guide to do this, this document intends to describe how to implement raw camera sensor on i.MX8MP android, and output raw data. Note: Base on  i.MX 8M plus, Android12_1.0.0.  2. Camera HAL Android's camera hardware abstraction layer (HAL) connects the higher level camera framework APIs in android.hardware.camera2 to your underlying camera driver and hardware. For more detail information, please refer to AOSP document: https://source.android.google.cn/docs/core/camera/camera3_requests_hal?hl=en while on I.MX camera HAL, the camera subsystem can be divided into several parts:   Camera framework:  frameworks\av\camera Camera service:    frameworks\av\services\camera\libcameraservice\ Camera provider: hardware/interfaces/camera/provider/ hardware/google/camera/common/hal/hidl_service/               hidl_service dlopen the camera HAL3. Camera HAL3:   vendor\nxp-opensource\imx\camera\ Camera driver:   vendor/nxp-opensource/kernel_imx/drivers/media/i2c  It's callstack can be list as follow:  There are 2 streams on pipeline, preview stream need 3 buffers and capture stream need 2 buffers: CameraDeviceSessionHwlImpl: ConfigurePipeline, stream 0: id 0, type 0, res 2592x1944, format 0x21, usage 0x3, space 0x8c20000, rot 0, is_phy 0, phy_id 0, size 8388608 CameraDeviceSessionHwlImpl: ConfigurePipeline create capture stream CameraDeviceSessionHwlImpl: ConfigurePipeline, stream 1: id 1, type 0, res 1024x768, format 0x22, usage 0x100, space 0x0, rot 0, is_phy 0, phy_id 0, size 0 CameraDeviceSessionHwlImpl: ConfigurePipeline create preview stream You can use this command to dump the stream input/output: "setprop vendor.rw.camera.test 1" to dump steam 0. "setprop vendor.rw.camera.test 2" to dump steam 1. Before you implement the command, you need to run “su; setenforce 0” to close the SeLinux, the data is dumped as "/data/x-src.data", "/data/x-dst.data", where "x" is the stream id as "0, "1,", "2", ...   Preview Stream Capture Stream ID 1 0 Resolution 1024*768 2592*1944 Format HAL_PIXEL_FORMAT_IMPLEMENTATION_DEFINED (34) HAL_PIXEL_FORMAT_BLOB (33) Usage 0x900 GRALLOC_USAGE_HW_TEXTURE      (0x100) GRALLOC_USAGE_HW_COMPOSER  (0x800) 0x3 GRALLOC_USAGE_SW_READ_OFTEN Data space 0 HAL_DATASPACE_V0_JFIF  The following usage will be added by framework to distinguish preview and video:GRALLOC_USAGE_HW_VIDEO_ENCODER 3. Raw support  3.1 system modification   The default image for i.MX 8M Plus EVK supports basler + basler and the cameras can work after the image is flashed and boot up, it’s camera with ISP, but we need ISI to process raw. You should refer to Android_User’s_Guide.pdf, you need find the correct version, as Android12_2.0.0 is different with Android12_1.0.0. To make cameras work with Non-default images, execute the following additional commands: Only OV5640 (CSI1) on host： As we use OV2775 which support 1920*1080, unpacked raw12, the json file: 3.2 DTB modification  1. F irstly, change the BoardConfig.mk to generate dtbo-imx8mp-ov2775.img device\nxp\imx8m\evk_8mp\BoardConfig.mk: TARGET_BOARD_DTS_CONFIG += imx8mp-ov2775:imx8mp-evk-ov2775.dtb 2.  Secondly, add imx8mp-evk-ov2775.dts to vendor\nxp-opensource\kernel_imx\arch\arm64\boot\dts\freescale 3. Change imx8mp-evk-ov2775.dts, connect OV2775 to ISI: &isi_0 { status = "okay"; }; &isp_0 { status = "disabled"; }; &dewarp { status = "disabled"; }; 4. Build dtbo image and flash it to board: ./imx-make.sh dtboimage -j4 fastboot flash dtbo dtbo.img  3.3 Sensor driver modification  I use the OV2775 driver from the isp side, be careful that all the function such as g_frame_interval and enum_frame_size should be implemented, or the HAL will get wrong parameters and return error. static struct v4l2_subdev_video_ops ov2775_subdev_video_ops = { .g_frame_interval = ov2775_g_frame_interval, .s_frame_interval = ov2775_s_frame_interval, .s_stream = ov2775_s_stream, }; static const struct v4l2_subdev_pad_ops ov2775_subdev_pad_ops = { .enum_mbus_code = ov2775_enum_mbus_code, .set_fmt = ov2775_set_fmt, .get_fmt = ov2775_get_fmt, .enum_frame_size = ov2775_enum_frame_size, .enum_frame_interval = ov2775_enum_frame_interval, };  3.4 ISI driver modification  We need to add raw format on ISI driver: }, { .name = "RAW12 (SBGGR12)", .fourcc = V4L2_PIX_FMT_SBGGR12, .depth = { 16 }, .color = MXC_ISI_OUT_FMT_RAW12, .memplanes = 1, .colplanes = 1, .mbus_code = MEDIA_BUS_FMT_SBGGR12_1X12, }, { .name = "RAW10 (SGRBG10)", .fourcc = V4L2_PIX_FMT_SGRBG10, .depth = { 16 }, .color = MXC_ISI_OUT_FMT_RAW10, .memplanes = 1, .colplanes = 1, .mbus_code = MEDIA_BUS_FMT_SGRBG10_1X10, } 3.5 Camera HAL modification As there are preview stream and capture stream on the pipeline. GPU does not support raw format, it will print error log when application set raw format:    02-10 18:49:02.162 436 436 E NxpAllocatorHal: convertToMemDescriptor Unsupported fomat PixelFormat::RAW10 02-10 18:49:02.163 2390 2445 E GraphicBufferAllocator: Failed to allocate (1920 x 1080) layerCount 1 format 37 usage 20303: 7 02-10 18:49:02.163 2390 2445 E BufferQueueProducer: [ImageReader-1920x1080f25m2-2390-0](id:95600000002,api:4,p:2148,c:2390) dequeueBuffer: createGraphicBuffer failed 02-10 18:49:02.163 2390 2405 E BufferQueueProducer: [ImageReader-1920x1080f25m2-2390-0](id:95600000002,api:4,p:2148,c:2390) requestBuffer: slot 0 is not owned by the producer (state = FREE) 02-10 18:49:02.163 2148 2423 E Surface : dequeueBuffer: IGraphicBufferProducer::requestBuffer failed: -22 02-10 18:49:02.163 2390 2445 E BufferQueueProducer: [ImageReader-1920x1080f25m2-2390-0](id:95600000002,api:4,p:2148,c:2390) cancelBuffer: slot 0 is not owned by the producer (state = FREE) 02-10 18:49:02.164 2148 2423 E Camera3-OutputStream: getBufferLockedCommon: Stream 1: Can't dequeue next output buffer: Invalid argument (-22)   Modifying the gpu code is not recommended. When preview stream, it's pixel format is fixed to HAL_PIXEL_FORMAT_IMPLEMENTATION_DEFINED, it needs YUYV format, in this patch, we don't convert raw12 to yuyv, just copy the buffer from input to output, so the preview stream is raw12 actually. When capture stream, we use the Blob format, which usually used for JPEG format. when we find the format is Blob pass down by application, camera HAL will copy the buffer from input to output directly. You can check the detail on function  ProcessCapturedBuffer(),    4. Application and Tool 4.1 Application  The test application on the attachment “android-Camera2Basic-master_application.7z”, It's basically a common camera application, it set the capture stream format to blob:  Size largest = Collections.max( Arrays.asList(map.getOutputSizes(ImageFormat.JPEG)), new CompareSizesByArea()); mImageReader = ImageReader.newInstance(largest.getWidth(), largest.getHeight(), ImageFormat.JPEG, /*maxImages*/2); 4.2 Tool We use 7yuv tool to check the raw12 format, which is captured by applicable or dump by HAL, you need set the parameter on the right side:   ImageJ tool also can be used to review raw format.

BSP: L5.15.5_1.0.0   Platform: i.MX8MPlus EVK   1. Parameter preparation For more parameter calculation, please refer to: https://community.nxp.com/t5/i-MX-Processors-Knowledge-Base/iMX-8M- Mini-Register-Programming-Aid-DRAM-PLL-setting/ta-p/111209  For 1866MHz LPDDR4, we need a DRAM PLL size of 933MHz. The PLL dividing parameters are: m=622,p=16,s=0, k=0.   2. Calibration and stress test with DDR Tool 2.1 Creating a test script for 1866MHz Here we copy the script from another file (e.g. 2000MHz) and modify the contents of the script.   2.2 Modify the script to adapt to 1866MHz 2.3 Download the test script After selecting the ddr script we created, click on the download button   2.4 Calibrating the stress test Set the core clock of the chip's cpu to 1.2GHz, then click the Calibration button to calibrate, then click Gen Code to generate the lpddr4_timing.c file. Set the start frequency to 1866MHz for the stress test.   2.5 Modify lpddr4_timing.c We need to modify the generated lpddr4_timing.c file to change the maximum speed to 3732MTS.   3. SPL patch After getting the correct lpddr4_timing.c file, the SPL code also needs to be modified to add support for the 933MHz DRAM PLL. diff --git a/arch/arm/mach-imx/imx8m/clock_imx8mm.c b/arch/arm/mach-imx/imx8m/clock_imx8mm.c index e39f238fdf...5622a6334e 100644 --- a/arch/arm/mach-imx/imx8m/clock_imx8mm.c +++ b/arch/arm/mach-imx/imx8m/clock_imx8mm.c @@ -55,6 +55,7 @@ static struct imx_int_pll_rate_table imx8mm_fracpll_tbl[] = { PLL_1443X_RATE(650000000U, 325, 3, 2, 0), PLL_1443X_RATE(600000000U, 300, 3, 2, 0), PLL_1443X_RATE(594000000U, 99, 1, 2, 0), + PLL_1443X_RATE(933000000U, 622, 16, 0, 0), PLL_1443X_RATE(400000000U, 400, 3, 3, 0), PLL_1443X_RATE(2660000U, 266, 3, 3, 0), PLL_1443X_RATE(167000000U, 334, 3, 4, 0), diff --git a/drivers/ddr/imx/imx8m/ddrphy_utils.c b/drivers/ddr/imx/imx8m/ddrphy_utils.c index 326b92d784..ebd005bc2b 100644 --- a/drivers/ddr/imx/imx8m/ddrphy_utils.c +++ b/drivers/ddr/imx/imx8m/ddrphy_utils.c @@ -117,6 +117,10 @@ void ddrphy_init_set_dfi_clk(unsigned int drate) dram_pll_init(MHZ(1000)); dram_disable_bypass(); break; + case 3732: + dram_pll_init(MHZ(933)); + dram_disable_bypass(); + break; case 3200: dram_pll_init(MHZ(800)); dram_disable_bypass();   4. Test results   Reference blog. DDR Tool: https://community.nxp.com/t5/i-MX-Processors-Knowledge-Base/i-MX-8M-Family-DDR-Tool-Release/ta-p/1104467  RPA: https://community.nxp.com/t5/i-MX-Processors-Knowledge-Base/i-MX-8MPlus-m865S-DDR-Register-Programming-Aids-RPA/ta-p/1235352 

Hello, here Jorge. On this post I will explain how to configure, record and play audio using an i.MX 8MIC-RPI-MX8 Board. Requirements: I.MX 8M Mini EVK Linux Binary Demo Files - i.MX 8MMini EVK (L5.15.52_2.1.0) i.MX 8MIC-RPI-MX8 Board Serial console emulator (Tera Term, Putty, etc.) Headphones/speakers The 8MIC-RPI-MX8 accessory board is designed for voice enabled application prototyping and development on the i.MX 8M family. The board plugs directly into the 40-pin expansion connector on the i.MX 8M Mini and Nano EVK’s. Some features about this board are: 8 PDM Microphones 8 monochrome LEDs 4 multi-color LEDs 2 status LEDs 4 pushbuttons Microphone Mute Switch Microphone geometry switch Connecting the i.MX 8MIC-RPI-MX8 Board. The i.MX 8MIC-RPI-MX8 Board has a 40-pin expansion connector that you can plug it directly to the EVK board. Ensure that pin 1 of the 8MIC-RPI-MX8 is aligned with pin 1 on the EVK J1001 as is showed on the next figure:  Selecting the device tree on the board. Once the pre-compiled image is flashed on the board (Flashing Linux BSP using UUU) and you connected the 8MIC-RPI-MX8 it is necessary to select the correct device tree to handle 8MIC board. On U-boot check the available .dtb files on the BSP using the next command: u-boot=> fatls mmc 2:1 And you will get the corresponding list of .dbt files:  On this case we are working with an I.MX 8M Mini EVK and the corresponding .dtb file is: imx8mm-evk-8mic-revE.dtb To select it you need to set the environment variable and save it with: u-boot=> setenv fdtfile imx8mm-evk-8mic-revE.dtb u-boot=> saveenv Doble check it using: u-boot=> printenv fdtfile   Now it is time to boot Linux using the next command: u-boot=> boot Recording audio with the i.MX 8MIC-RPI-MX8 Board. The Advanced Linux Sound Architecture (ALSA) provides audio and MIDI functionality to the Linux operating system. ALSA has the following significant features: Efficient support for all types of audio interfaces, from consumer sound cards to professional multichannel audio interfaces. Fully modularized sound drivers. SMP and thread-safe design. User space library (alsa-lib) to simplify application programming and provide higher level functionality. Support for the older Open Sound System (OSS) API, providing binary compatibility for most OSS programs. Once we are on Linux, we can check our audio codecs detected on the board using: arecord -l   Now, to record audio we need to use the ALSA arecord command to start recording with IMX8 boards, there are different options that you can check on the next link. On this case we are going to use the next: arecord -D hw:imxaudiomicfil -c8 -f s16_le -r48000 -d10 sample.wav -D: selects the device. -c: selects the number of channels on the recording. -f: selects the format. -r: selects the sample rate. -d: determinate the duration recording time in seconds. sample.wav: Is the name of the resulting audio file. Running the last command, we started to record audio. It is time to make some noise and record it!   Playing audio from IMX8 boards. Now it is time to connect our headphones or speakers to the jack.   Also, as on arecord command you can check the devices where you can play audio from the board using the next command: aplay -l And you will get all the codecs to play audio:   To play our recordings we need to use the ALSA aplay command, it is important to select the correct audio codec to hear the audio from the jack on the board: aplay -Dplughw:3,0 sample.wav -D: selects the device. sample.wav: Is the name of audio file to play   Hope this will helpful for people who wants to record audio using PDM microphones and playing audio from IMX8 boards. Best regards.

    The meta layer is designed for those guys who want to use i.MX8M series SOC and Yocto system to develop AGV and Robot.    The platform includes some key components: 1, ROS1 (kinetic, melodic) and ROS2(dashing, eloquent, foxy) 2, Real-time Linux solution : Xenomai 3.1 with ipipe 5.4.47 patch 3, Industrial protocol : libmodbus, linuxptp, ros-canopen, EtherCAT(TBD) 4, Security: Enhanced OpenSSL, Enhanced GmSSL, Enhanced eCryptfs, secure key store, secure boot(TBD), SE-Linux(TBD),  Dm-verity(TBD) The first release bases on i.MX Yocto release L5.4.47 2.2.0 and You need download Linux 5.4.47_2.2.0 according to​​ https://www.nxp.com/docs/en/user-guide/IMX_YOCTO_PROJECT_USERS_GUIDE.pdf  firstly. And then you can follow the below guide to build and test ROS and Xenomai. A, clone meta-robot-platform from gitee.com git clone https://gitee.com/zxd2021-imx/meta-robot-platform.git git checkout v0.1-L5.4.47-2.2.0 B, Adding the meta-robot-platform layer to your build 1,  copy meta-robot-platform into <i.MX Yocto folder>/source 2, You should create a symbol link: setup-imx-robot.sh -> sources/meta-robot-platform/imx/meta-robot/tools/setup-imx-robot.sh C, How to build Robot image (example for i.MX8MQ EVK board) $ DISTRO=imx-robot-xwayland MACHINE=imx8mqevk source setup-imx-robot.sh -r kinetic -b imx8mqevk-robot-kinetic [or DISTRO=imx-robot-xwayland MACHINE=imx8mqevk source setup-imx-robot.sh -r melodic -b imx8mqevk-robot-melodic ] [or DISTRO=imx-robot-xwayland MACHINE=imx8mqevk source setup-imx-robot.sh -r dashing -b imx8mqevk-robot-dashing ] [or DISTRO=imx-robot-xwayland MACHINE=imx8mqevk source setup-imx-robot.sh -r eloquent -b imx8mqevk-robot-eloquent ] [or DISTRO=imx-robot-xwayland MACHINE=imx8mqevk source setup-imx-robot.sh -r foxy -b imx8mqevk-robot-foxy ] $ bitbake imx-robot-core [or bitbake imx-robot-system ] [or bitbake imx-robot-sdk ] And if you add XENOMAI_KERNEL_MODE = "cobalt" or XENOMAI_KERNEL_MODE = "mercury" in local.conf, you also can build real-time image with Xenomai by the below command: $ bitbake imx-robot-core-rt [or bitbake imx-robot-system-rt ] D, Robot image sanity testing //ROS1 Sanity Test #source /opt/ros/kinetic/setup.sh [or # source /opt/ros/melodic/setup.sh ] #echo $LD_LIBRARY_PATH #roscore & #rosnode list #rostopic list #only kinetic #rosmsg list #rosnode info /rosout //ROS2 Sanity Test #source ros_setup.sh #echo $LD_LIBRARY_PATH #ros2 topic list #ros2 msg list #only dashing #ros2 interface list #(sleep 5; ros2 topic pub /chatter std_msgs/String "data: Hello world") & #ros2 topic echo /chatter E, Xenomai sanity testing #/usr/xenomai/demo/cyclictest -p 50 -t 5 -m -n -i 1000 F, vSLAM demo You can find orb-slam2 demo under <i.MX Yocto folder>/sources/meta-robot-platform/imx/meta-robot/recipes-demo/orb-slam2. You should choose DISTRO=imx-robot-xwayland due to it depends on OpenCV with gtk+.   //////////////////////////////////////// update for Yocto L5.4.70 2.3.0  /////////////////////////////////////////////////////////// New release package meta-robot-platform-v0.2-L5.4.70-2.3.0 for Yocto release L5.4.70 2.3.0 and it supports i.MX8M series (8MQ,8MM,8MN and 8MP) and i.MX8QM/QXP.  git clone https://gitee.com/zxd2021-imx/meta-robot-platform.git git checkout v0.2-L5.4.70-2.3.0 Updating: 1, Support i.MX8QM and i.MX8QXP 2, Add ROS driver of RPLIDAR and Orbbec 3D cameras in ROS1 3, Upgrade OpenCV to 3.4.13. 4, Add imx-robot-agv image with orb-slam2 demo 5, Fix the issue which failed to create image when adding orb-slam2 6, Fix the issue which failed to create imx-robot sdk image when add package ISP and ML Note: Currently, orb-slam2 demo don't run on i.MX8MM platform due to its GPU don't support OpenGL ES3. imx-robot-sdk image is just for building ROS package on i.MX board, not  for cross-compile. You can try "bitbake imx-robot-system -c populate_sdk" to create cross-compile sdk without gmssl-bin. diff --git a/imx/meta-robot/recipes-core/images/imx-robot-system.bb b/imx/meta-robot/recipes-core/images/imx-robot-system.bb index 1991ab10..68f9ad31 100644 --- a/imx/meta-robot/recipes-core/images/imx-robot-system.bb +++ b/imx/meta-robot/recipes-core/images/imx-robot-system.bb @@ -35,7 +35,7 @@ CORE_IMAGE_EXTRA_INSTALL += " \ ${@bb.utils.contains('DISTRO_FEATURES', 'x11 wayland', 'weston-xwayland xterm', '', d)} \ ${ISP_PKGS} \ " -IMAGE_INSTALL += " clblast openblas libeigen opencv gmssl-bin" +IMAGE_INSTALL += " clblast openblas libeigen opencv" IMAGE_INSTALL += " \ ${ML_PKGS} \   //////////////////////////////////////// update for Yocto L5.4.70 2.3.2  /////////////////////////////////////////////////////////// New release package meta-robot-platform-v0.3-L5.4.70-2.3.2 for Yocto release L5.4.70 2.3.2 .  git clone https://gitee.com/zxd2021-imx/meta-robot-platform.git git checkout v0.3-L5.4.70-2.3.2 Updated: 1, Upgrade to L5.4.70-2.3.2 2, Enable xenomai rtdm driver 3, Add NXP Software Content Register and BSP patches of i.MX8M Plus AI Robot board. Note: How to build for AI Robot board 1, DISTRO=imx-robot-wayland MACHINE=imx8mp-ddr4-ipc source setup-imx-robot.sh -r melodic -b imx8mp-ddr4-ipc-robot-melodic 2, Add BBLAYERS += " ${BSPDIR}/sources/meta-robot-platform/imx/meta-imx8mp-ai-robot " in bblayers.conf 3, bitbake imx-robot-sdk or bitbake imx-robot-agv   //////////////////////////////////////// update for v1.0-L5.4.70-2.3.2  /////////////////////////////////////////////////////////// New release package meta-robot-platform-v1.0-L5.4.70-2.3.2 .  git clone https://gitee.com/zxd2021-imx/meta-robot-platform.git git checkout v1.0-L5.4.70-2.3.2 Updated: 1, Upgrade ROS1 Kinetic Kame to Release 2021-05-11 which is final sync. 2, Add IgH EtherCAT Master for Linux in i.MX Robot platform. //////////////////////////////////////// update for v1.1-L5.4.70-2.3.2  /////////////////////////////////////////////////////////// New release package meta-robot-platform-v1.1-L5.4.70-2.3.2 .  git clone https://gitee.com/zxd2021-imx/meta-robot-platform.git git checkout v1.1-L5.4.70-2.3.2 Updated: 1, Add more packages passed building in ROS1 Kinetic Kame. 2, Change the board name (From IPC to AI-Robot) in Uboot and kernel for i.MX8M Plus AI Robot board. You can use the below setup command to build ROS image for AI Robot board: DISTRO=imx-robot-xwayland MACHINE=imx8mp-ai-robot source setup-imx-robot.sh -r kinetic -b imx8mp-ai-robot-robot-kinetic DISTRO=imx-robot-xwayland MACHINE=imx8mp-ai-robot source setup-imx-robot.sh -r melodic -b imx8mp-ai-robot-robot-melodic DISTRO=imx-robot-xwayland MACHINE=imx8mp-ai-robot source setup-imx-robot.sh -r dashing -b imx8mp-ai-robot-robot-dashing DISTRO=imx-robot-xwayland MACHINE=imx8mp-ai-robot source setup-imx-robot.sh -r eloquent -b imx8mp-ai-robot-robot-eloquent DISTRO=imx-robot-xwayland MACHINE=imx8mp-ai-robot source setup-imx-robot.sh -r foxy -b imx8mp-ai-robot-robot-foxy BTW, you should add BBLAYERS += " ${BSPDIR}/sources/meta-robot-platform/imx/meta-imx8mp-ai-robot " in conf/bblayers.conf.   //////////////////////////////////////// update for v1.2-L5.4.70-2.3.3  /////////////////////////////////////////////////////////// New release package meta-robot-platform-v1.2-L5.4.70-2.3.3 .  git clone https://gitee.com/zxd2021-imx/meta-robot-platform.git git checkout v1.2-L5.4.70-2.3.3 Updated: 1, Update to Yocto release L5.4.70-2.3.3 2, Enable RTNet FEC driver, test on i.MX8M Mini EVK and i.MX8M Plus EVK. For the detailed information,  Please refer to the community post 移植实时Linux方案Xenomai到i.MX ARM64平台 (Enable Xenomai on i.MX ARM64 Platform)    //////////////////////////////////////// update for v2.1-L5.10.52-2.1.0  /////////////////////////////////////////////////////////// New release package meta-robot-platform-v2.1-L5.10.52-2.1.0 .  git clone https://gitee.com/zxd2021-imx/meta-robot-platform.git git checkout v2.1.1-L5.10.52-2.1.0 Updated: 1, Update to Yocto release L5.10.52-2.1.0 2, Add ROS1 noetic, ROS2 galactic and rolling 3, Upgrade Xenomai to v3.2 4, Add vSLAM demo orb-slam3 5, Upgrade OpenCV to 3.4.15 for ROS1 A, Adding the meta-robot-platform layer to your build 1,  copy meta-robot-platform into <i.MX Yocto folder>/source 2, You should create a symbol link: setup-imx-robot.sh -> sources/meta-robot-platform/imx/meta-robot/tools/setup-imx-robot.sh B, How to build Robot image (example for i.MX8M Plus EVK board) $ DISTRO=imx-robot-xwayland MACHINE=imx8mpevk source setup-imx-robot.sh -r kinetic -b imx8mpevk-robot-kinetic [or DISTRO=imx-robot-xwayland MACHINE=imx8mpevk source setup-imx-robot.sh -r melodic -b imx8mpevk-robot-melodic ] [or DISTRO=imx-robot-xwayland MACHINE=imx8mpevk source setup-imx-robot.sh -r noetic-b imx8mpevk-robot-noetic] [or DISTRO=imx-robot-xwayland MACHINE=imx8mpevk source setup-imx-robot.sh -r dashing -b imx8mpevk-robot-dashing ] [or DISTRO=imx-robot-xwayland MACHINE=imx8mpevk source setup-imx-robot.sh -r eloquent -b imx8mpevk-robot-eloquent ] [or DISTRO=imx-robot-xwayland MACHINE=imx8mpevk source setup-imx-robot.sh -r foxy -b imx8mpevk-robot-foxy ] [or DISTRO=imx-robot-xwayland MACHINE=imx8mpevk source setup-imx-robot.sh -r galactic -b imx8mpevk-robot-galactic ] [or DISTRO=imx-robot-xwayland MACHINE=imx8mpevk source setup-imx-robot.sh -r rolling -b imx8mpevk-robot-rolling ] $ bitbake imx-robot-agv [or bitbake imx-robot-cor ] [or bitbake imx-robot-system ] [or bitbake imx-robot-sdk ]   //////////////////////////////////////// update for v2.2-L5.10.72-2.2.0  /////////////////////////////////////////////////////////// New release package meta-robot-platform-v2.2-L5.10.72-2.2.0 .  git clone https://gitee.com/zxd2021-imx/meta-robot-platform.git git checkout v2.2.0-L5.10.72-2.2.0 Updated: 1, Update to Yocto release L5.10.72-2.2.0   //////////////////////////////////////// update for v2.2.3-L5.10.72-2.2.3  /////////////////////////////////////////////////////////// New release package meta-robot-platform-v2.2.3-L5.10.72-2.2.3.  git clone https://gitee.com/zxd2021-imx/meta-robot-platform.git git checkout v2.2.3-L5.10.72-2.2.3 Updated: 1, Update to Yocto release L5.10.72-2.2.3

Symptoms   Bridge mode on EQoS module will not work since Linux Kernel 5.10_2.2.0. Platforms impacted: i.MX8MP/i.MX8DXL/i.MX93   Diagnosis   When eqos module(eth1) is added to the bridge using brctl, it will first set eth1 to promiscuous mode and then set the VLAN for this bridge with a filter VID value of 1. Before adding Intel's patch, there is no problem. c89f44ff10fd net: stmmac: Add support for VLAN promiscuous mode However, when Intel's patch sets up the filter, if it finds that the promiscuous mode is turned on, it will turn off the VLAN Tag function. And it adds a judgment on whether promiscuous mode has been turned on in the function of configuring VID. Returns an error if promiscuous mode is found. Because the patch has turned off the VLAN tag function when promiscuous mode is enabled, which conflicts with continuing to configure the VID. Workaround   This patch is okay for aarch64 platform to solve this issue. diff --git a/drivers/net/ethernet/stmicro/stmmac/dwmac4_core.c b/drivers/net/ethernet/stmicro/stmmac/dwmac4_core.c index c25bfecb4a2d..2dc548b54b1c 100644 --- a/drivers/net/ethernet/stmicro/stmmac/dwmac4_core.c +++ b/drivers/net/ethernet/stmicro/stmmac/dwmac4_core.c @@ -481,12 +481,6 @@ static int dwmac4_add_hw_vlan_rx_fltr(struct net_device *dev, if (vid > 4095) return -EINVAL; - if (hw->promisc) { - netdev_err(dev, - "Adding VLAN in promisc mode not supported\n"); - return -EPERM; - } - /* Single Rx VLAN Filter */ if (hw->num_vlan == 1) { /* For single VLAN filter, VID 0 means VLAN promiscuous */ @@ -536,12 +530,6 @@ static int dwmac4_del_hw_vlan_rx_fltr(struct net_device *dev, { int i, ret = 0; - if (hw->promisc) { - netdev_err(dev, - "Deleting VLAN in promisc mode not supported\n"); - return -EPERM; - } - /* Single Rx VLAN Filter */ if (hw->num_vlan == 1) { if ((hw->vlan_filter[0] & GMAC_VLAN_TAG_VID) == vid) {  

This article describes how to integrate NXP WiFi & BT module into i.MX platform, some debug tips, how to test, etc. Although it takes i.MX8MM as example, it is also suitable for all i.MX8 serials 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 2.3.3. 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 (GLES3/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"