The doc gives an introduction about how to get and run the watch-face APK on i.MX.8ULP watch board based on Android 14.0.0_1.0.0. 1. Get source code Get the shell script and related patches from the attachment at the end of the article. Run Watchface_setup.sh. Watchface_setup.sh will download all the needed gits codes. combine with them and apply patches automatically. You need to clone the gits manually if network access is not good. 2. Build the project The project is in the sub-directory named "KWART_Kid_Launcher". Then you can build it either in Android studio or Android SDK. Android studio Open the project in Android studio and build it like regular. Android SDK Copy KWART_Kid_Launcher/ into vendor/nxp-opensource/fsl_imx_demo/ Add the following into the end of device/nxp/imx8ulp/watch_8ulp/watch_8ulp.mk. PRODUCT_PACKAGES += \ KWARTLauncher Rebuild the SDK. Please refer to Android User's Guide for more details about SDK building. make -j4 2>&1 | tee make.log 3. Install the APK Install the APK Android studio Run the app like regular. Android SDK Reflash the SDK images and the app will occur after boot finishes. Then you will find the following APP.  

This sharing introduces how to porting the deepseek to the #i.MX8MP i.MX93EVK  with the Yocto BSP by llama.cpp The main test model used in this document is the Qwen model that is distilled and quantized based on the deepseek model. For other versions of the deepseek model, you can refer to the steps in the document to download different models for testing. 1. Set up the demo ON PC a. Prepare the cross-compiling. See the i.MX Yocto Project User's Guide for detailed information how to generate Yocto SDK environment for cross-compiling. Get the User's Guide. To activate this Yocto SDK environment on your host machine, use this command:   :$ source <Yocto_SDK_install_folder>/environment-setup-cortexa53-crypto-poky-linux   b. Cross-compile the llama.cpp eg: i.MX93   :$ git clone https://github.com/ggerganov/llama.cpp :$ mkdir build_93 :$ cd build_93 :build_93$ cmake .. -DCMAKE_SYSTEM_NAME=Linux -DCMAKE_SYSTEM_PROCESSOR=aarch64 -DCMAKE_C_COMPILER=aarch64-poky-linux-gcc -DCMAKE_CXX_COMPILER=aarch64-poky-linux-g++ :build_93$ make -j8 :build_93$ scp bin/llama-cli root@<your i.MX93 board IP>:~/ :build_93$ scp bin/*.so root@<your i.MX93 board IP>:/usr/lib/   c. Get the DeepSeek model on the huggingface eg: Dowload the DeepSeek-R1-Distill-Qwen-1.5B-Q4_K_M.gguf model Download the required Deepseek model in the huggingface. ON Board a.Test the Deepseek on the i.MX93 board   :~/# ./llama-cli --model DeepSeek-R1-Distill-Qwen-1.5B-Q4_K_M.gguf     b. Results shown below:   2. Results Analysis The effects of different models on different boards were tested. It should be noted that the biggest obstacle limiting the running of the model on the board is memory.The test results including CPU and memory usage are as follows: a. i.MX8mp + DeepSeek-R1-Distill-Qwen-7B-IQ4_XS b. i.MX93 + DeepSeek-R1-Distill-Qwen-1.5B-Q4_K_M   After testing, the speed at which i.MX8MP runs DeepSeek-R1-Distill-Qwen-7B-IQ4_XS to generate tokens is about 1 token per second. The speed at which i.MX93 runs DeepSeek-R1-Distill-Qwen-1.5B-Q4_K_M to generate tokens is about 1.6 token per second.  The above test results for the generation speed are only rough test results and are for reference only. The above icons show the CPU and memory usage of i.MX during the DeepSeek model running. It should be pointed out that the CPU efficiency affects the speed of model token generation. The memory size of the board limits whether the model can run in the corresponding development board. This is a balance between running speed and required memory size. Higher accuracy, such as using a 7B model, will result in a decrease in running speed.

  Test Environment i.MX8MP EVK L6.6.52   Backgroud The default BSP will assign SAI3 and I2C3 to M7 when we use imx8mp-evk-rpmsg.dtb. If customer want to assign SAI3 and I2C3 to A53 and test audio in Linux while running M7 sdk with remoterpoc.   Test steps   1. Delete all of audio related code in SDK in below function. BOARD_BootClockRUN  BOARD_RdcInit 2. Modify Uboot   arch/arm/dts/imx8mp-evk-u-boot.dtsi   The RDC will assign SAI3, sdma3 and i2c3 to M7 when M7 start. So we need to delete these lines.      3. Add RDC config in ATF plat/imx/imx8m/imx8mp/imx8mp_bl31_setup.c  Assign SAI3, sdma3 and i2c3 to A53.    4.Modify imx8mp-evk-rpmsg.dts Delete rpmsg audio and i2c3. diff --git a/arch/arm64/boot/dts/freescale/imx8mp-evk-rpmsg-lpv.dts b/arch/arm64/boot/dts/freescale/imx8mp-evk-rpmsg-lpv.dts index e43c4dafdb88..4edc0cb71b1c 100644 --- a/arch/arm64/boot/dts/freescale/imx8mp-evk-rpmsg-lpv.dts +++ b/arch/arm64/boot/dts/freescale/imx8mp-evk-rpmsg-lpv.dts @@ -4,8 +4,3 @@ */ #include "imx8mp-evk-rpmsg.dts" - -&rpmsg_audio { - /delete-property/ fsl,enable-lpa; - /delete-property/ fsl,rpmsg-in; -}; diff --git a/arch/arm64/boot/dts/freescale/imx8mp-evk-rpmsg.dts b/arch/arm64/boot/dts/freescale/imx8mp-evk-rpmsg.dts index ddf5f76adc3b..75c9234d84b2 100644 --- a/arch/arm64/boot/dts/freescale/imx8mp-evk-rpmsg.dts +++ b/arch/arm64/boot/dts/freescale/imx8mp-evk-rpmsg.dts @@ -8,11 +8,6 @@ #include "imx8mp-evk.dts" / { - aliases { - i2c0 = &i2c1; - i2c1 = &i2c2; - i2c2 = &i2c_rpbus_3; - }; reserved-memory { #address-cells = <2>; @@ -45,70 +40,6 @@ rsc_table: rsc-table@550ff000 { no-map; }; - audio_reserved: audio@81000000 { - compatible = "shared-dma-pool"; - no-map; - reg = <0 0x81000000 0 0x10000000>; - }; - - micfil_reserved: mic_rpmsg@91000000 { - compatible = "shared-dma-pool"; - no-map; - reg = <0 0x91000000 0 0x100000>; - }; - }; - - sound-wm8960 { - status = "disabled"; - }; - - sound-micfil { - status = "disabled"; - }; - - rpmsg_audio: rpmsg_audio { - compatible = "fsl,imx8mp-rpmsg-audio"; - model = "wm8960-audio"; - fsl,rpmsg-channel-name = "rpmsg-audio-channel"; - fsl,enable-lpa; - fsl,rpmsg-out; - fsl,rpmsg-in; - assigned-clocks = <&clk IMX8MP_CLK_SAI3>; - assigned-clock-parents = <&clk IMX8MP_AUDIO_PLL1_OUT>; - assigned-clock-rates = <12288000>; - clocks = <&audio_blk_ctrl IMX8MP_CLK_AUDIOMIX_SAI3_IPG>, - <&audio_blk_ctrl IMX8MP_CLK_AUDIOMIX_SAI3_MCLK1>, - <&audio_blk_ctrl IMX8MP_CLK_AUDIOMIX_SDMA3_ROOT>, - <&clk IMX8MP_AUDIO_PLL1_OUT>, - <&clk IMX8MP_AUDIO_PLL2_OUT>; - clock-names = "ipg", "mclk", "dma", "pll8k", "pll11k"; - audio-codec = <&codec>; - memory-region = <&audio_reserved>; - power-domains = <&audiomix_pd>; - audio-routing = - "LINPUT1", "MICB", - "LINPUT3", "MICB"; - status = "okay"; - }; - - rpmsg_micfil: rpmsg_micfil { - compatible = "fsl,imx8mp-rpmsg-audio"; - model = "micfil-audio"; - fsl,rpmsg-channel-name = "rpmsg-micfil-channel"; - fsl,enable-lpa; - fsl,rpmsg-in; - assigned-clocks = <&clk IMX8MP_CLK_PDM>; - assigned-clock-parents = <&clk IMX8MP_AUDIO_PLL1_OUT>; - assigned-clock-rates = <196608000>; - clocks = <&audio_blk_ctrl IMX8MP_CLK_AUDIOMIX_PDM_IPG>, - <&audio_blk_ctrl IMX8MP_CLK_AUDIOMIX_PDM_ROOT>, - <&audio_blk_ctrl IMX8MP_CLK_AUDIOMIX_SDMA3_ROOT>, - <&clk IMX8MP_AUDIO_PLL1_OUT>, - <&clk IMX8MP_AUDIO_PLL2_OUT>; - clock-names = "ipg", "mclk", "dma", "pll8k", "pll11k"; - memory-region = <&micfil_reserved>; - power-domains = <&audiomix_pd>; - status = "okay"; }; imx8mp-cm7 { @@ -144,72 +75,10 @@ &flexspi { status = "disabled"; }; -/delete-node/ &i2c3; - -&i2c_rpbus_3 { - compatible = "fsl,i2c-rpbus"; - #address-cells = <1>; - #size-cells = <0>; - status = "okay"; - - pca6416: gpio@20 { - compatible = "ti,tca6416"; - reg = <0x20>; - gpio-controller; - #gpio-cells = <2>; - }; - - ov5640_1: ov5640_mipi@3c { - compatible = "ovti,ov5640"; - reg = <0x3c>; - pinctrl-names = "default"; - pinctrl-0 = <&pinctrl_csi0_pwn>, <&pinctrl_csi0_rst>; - clocks = <&clk IMX8MP_CLK_IPP_DO_CLKO2>; - clock-names = "xclk"; - assigned-clocks = <&clk IMX8MP_CLK_IPP_DO_CLKO2>; - assigned-clock-parents = <&clk IMX8MP_CLK_24M>; - assigned-clock-rates = <24000000>; - csi_id = <0>; - powerdown-gpios = <&gpio4 1 GPIO_ACTIVE_HIGH>; - reset-gpios = <&gpio4 0 GPIO_ACTIVE_LOW>; - mclk = <24000000>; - mclk_source = <0>; - mipi_csi; - status = "disabled"; - - port { - ov5640_mipi_1_ep: endpoint { - remote-endpoint = <&mipi_csi1_ep>; - data-lanes = <1 2>; - clock-lanes = <0>; - }; - }; - }; - - codec: wm8960@1a { - compatible = "wlf,wm8960,lpa"; - reg = <0x1a>; - wlf,shared-lrclk; - SPKVDD1-supply = <&reg_audio_pwr>; - }; -}; - &pwm4{ status = "disabled"; }; -&sai3 { - status = "disabled"; -}; - -&micfil { - status = "disabled"; -}; - -&sdma3{ - status = "disabled"; -}; - &uart3 { status = "disabled"; };   Result We can play audio on wm8960 after we load M7 firmware.

Why SWPDM? i.MX8MMINI, i.MX8MNANO and IMX8MPLUS  In order to process human voice, it is required to have the best audio resolution in the incoming data captured by the microphones. This mean, having a resolution of 16bits is not enough to capture all the information to properly process the voice. Voice processing requires a peripheral capable of capture data on a 32bits resolution within the range of the most common sample rates (16kHz, 44.1kHz, 48Khz, etc.). On the i.MX8M family there is a peripheral which fulfill those requirements and is called MICFIL. MICFIL is a peripheral which convert PDM (Pulse Density Modulation) data to PCM (Pulse-Code Modulation) data. The PDM format encode the analog signal in just one bit. Where 1 means the signal is increasing in amplitude while 0 means the opposite. In the other hand, the PCM format encode the data in 8, 16, or 32 bits. The advantage of PDM is that the creation of microphones is cheaper than having PCM microphones but then you will need a software or hardware which do the conversion for PDM to PCM since PDM cannot be processed. This is the reason of the MICFIL peripheral. However, not all the MICFIL's on the difference SOMs are the same. While the i.MX8MPLUS has a resolution of 32bits its smaller brothers do not. i.MX8MMINI and i.MX8MNANO have a MICFIL which only allows a resolution up to 16bits. For most of the cases it will be enough but not for voice processing. Nevertheless, not everything is lost; As mentioned previously, the PDM to PCM conversation can be done by hardware or by software. NXP also have the algorithm in software to do the conversation. Therefore, if a Mini or Nano is being used for voice processing it is fully recommended to use the ALSA SWPDM Plugin and avoid MICFIL peripheral.   Using the Plugin   In order to use the plugin, it is required to change the DTB to  imx8mm-evk-8mic-swpdm.dtb , when using the i.MX8MM or  imx8mn-evk-8mic-swpdm.dtb , when using the i.MX8MN. In order to do so follow the next steps: Please notice below example if for Mini. For Nano will be the same just changing the DTB name to imx8mn-evk-8mic-swpdm.dtb. # Stop at U-boot u-boot=> edit fdtfile edit: imx8mm-evk-8mic-swpmd.dtb u-boot=> saveenv u-boot=> boot   The change in the DTB is required to disable MICFIL so Linux can receive the raw data and sent it to the plugin. However, the plugin is not enabled by default, users need to explicit add the plugin to their ALSA pipeline. The way of doing so is by adding the following device to  /etc/asound.conf : pcm.cic { type cicFilter slave "hw:imxswpdmaudio,0" delay 100000 gain 0 OSR 48 }   Where: pcm.cic : Is an arbitrary name which allow ALSA to find the requested devices when setting the  -D  flag with  arecord  or  aplay . type cicFilter : This is the plugin type which is named with the algorithm name. slave: Name of the physical or virtual device which will be controlled by the cicFilter plugin. The recommendation is to always have the actual hardware connected to this plugin. delay : Amount of time in microsecond which the plugin won't write to the buffer, but it still does the conversion. The value could be between 100us to 1'000,000us. By removing the property from the structure, the delay will be set to 0. gain : A value between 0 and 100. OSR : Is related to the quality of the signal by increasing the PDM sample rate. With a higher valuer a best quality on the audio can be achieved. However, keep in mind than having a higher value will also require more memory to store all the new data due to the oversampling. The valid values for the OSR are: 48, 64, 96, 128, and 192. With all being said, the only thing left is to test the plugin by running the following command: $ arecord -D cic -c4 -r16000 -f s32_le --period-size=96 -d5 -v test.wav   Data Flow   When using PDM Microphones the default data flows is as shown in figure 1. Where the data is capture in the MICFIL peripheral and when it get to the Sound Drivers the data is already converted to PCM, so from the Kernel perspective the data is treaty as PCM values and the conversion from PDM to PCM is done under the hardware. However, with the changes we made earlier on the device tree and adding the plugin on /etc/asound.conf the data flows is as follow: Where the conversion from PDM to PCM is done just before giving the buffer to the application layer; Thus, conversion is made on User Space and the kernel is aware data have a PDM format. Another difference you can see is that MICFIL is disable and instead the datalines are controlled by SAI5. This is true for i.MX8MM, i.MX8MN, and i.MX8MP. Although for the application is a transparent change the truth is that the entire pipeline change, so please be aware of how the data is flowing to your application.   Integration With AFE   The next and final step is integrating the plugin with AFE and VoiceSeeker. The integration of SWPDM requires to apply a patch to the SWPDM repository. The patch changes the amount of period sizes allowed on the plugin. By default, the plugin only allows certain values which are:  48 Samples = 3ch x 4bytes format x 16samples = 192 bytes. 48 Samples = 2ch x 4bytes format x 48samples = 384 bytes. 48 Samples = 4ch x 4bytes format x 48samples = 768 bytes. 96 Samples = 4ch x 4bytes format x 96samples = 1,536 bytes. Although, AFE and VoiceSeeker are extremely configurable, 48 or 96 samples for the algorithm is too small. Meaning that the SWPDM should support a bigger period size, not all the way around. By applying the attached file, the plugin can have a period size from 64 bytes (1ch and 16 samples) up to 16,384 bytes (4ch and 1024 samples). However, the number of samples can vary depending on the OSR value and the number of channels. Once the patch has been applied in must be installed on: /usr/lib/alsa-lib (if the repository is being built on a standalone environment). AFE opens a device called mic  for capture the microphones' input. This device can have anything below it. By default, have the following definition on /etc/asound.conf  (after following the steps described on the TODO.md file). # mic represents the physical source (capture) pcm.mic { type plug slave.pcm "hw:micfilaudio,0" }   The devices opens the MICFIL driver, but on this case MICFIL is disable, which means the definition of the device must change. From above cic  device the definition can be copy and paste and then tweak one parameter. The delay must be set to 0 by removing the property or setting it explicitly on the structure. If this step if forgotten this might cause some underrun issues. The device definition will be: pcm.mic { type cicFilter slave "hw:imxswpdmaudio,0" delay 0 gain 0 OSR 48 }   The last thing to do will be running AFE with VoiceSeeker as usual. $ /unit_tests/nxp-afe/voice_ui_app & $ /unit_tests/nxp-afe/afe libvoiceseekerlight &   Considerations and Restrictions With all that said, there are few things left to mention, which are the considerations and restrictions on the plugin itself. These are good things to know before adding the plugin into any application. The plugin is supported from the Linux BSP 5.15.32. Currently the plugin only supports up to 4 channels. Plugin only outputs a S32_LE format (if required another format please use MICFIL). By applying above patch, the period size must be a multiple of 16, due to a limitation on the algorithm itself, rather than the plugin. The driver only allows to have one mic per data-line while MICFIL allows to have two microphones per data-line. The SWPDM Plugin is based on the External Plugin: I/O Plugin. This means it also have the restriction of this ALSA plugin, being the following restriction the most important one: "The I/O-type plugin is a PCM plugin to work as the input or output terminal point, i.e. as a user-space PCM driver". In other words, there can't be any device/plugin on top of it, not even a "plug" type. 

This doc give an summary about how to run Deepseek-R1-1.5B on i.MX95 EVK based on Android 14 and the performance. 1. Install Android 14 on i.MX95 You can follow the following guide to install Android on i.MX95. https://www.nxp.com/design/design-center/software/embedded-software/i-mx-software/android-os-for-i-mx-applications-processors:IMXANDROID 2. Install PocketPal app on i.MX95 You can download the app according to the following link: https://github.com/a-ghorbani/pocketpal-ai/releases/tag/v1.6.7 PocketPal AI is an open sourced pocket-sized AI assistant powered by small language models (SLMs) that run directly. Designed for both iOS and Android. you can install the apk on i.MX95 by adb install command: adb install app-release.apk  After installation, you can see the icon: 3. Download deepseek-R1 models through PocketPal 1. Open the pocketPal and click the "Go to Models" button right bottom corner. 2. Make sure you have the internet access or you can download the model manually. Press "+" and choose the "Add from Hugging Face" and search the 1.5B to find the deepseek-R1-1.5B model, download the model 4. Run 1.5b model. After downloading the model. you need to load the model and then run the 1.5B model. 5.Performance:

This article describe i.M93 RGMII to PHY connection, delay adding tips. i.MX93 don't support delay in both FEC and QOS port in i.MX93 side. It also provide solution on i.MX93 how to connect MAC to MAC in HW & SW. Thanks! 

This doc give an summary about how to run Deepseek on i.MX8MP EVK and the performance.  1. Install debian on i.MX8MP You can follow the following guide to install Debian on i.MX8MP. sun.ap.freescale.net/dash/debian/lsdk2412/README.txt 2. Install ollama You can install ollama according to the following command sudo apt install curl -y curl -fsSL https://ollama.com/install.sh | sh NOTE: If download slowly you can install it manually, according to the following link: ollama/docs/linux.md at main · ollama/ollama · GitHub Also show as following: ARM64 install Download and extract the ARM64-specific package: curl -L https://ollama.com/download/ollama-linux-arm64.tgz -o ollama-linux-arm64.tgz sudo tar -C /usr -xzf ollama-linux-arm64.tgz Adding Ollama as a startup service (recommended) Create a user and group for Ollama: sudo useradd -r -s /bin/false -U -m -d /usr/share/ollama ollama sudo usermod -a -G ollama $(whoami) Create a service file in /etc/systemd/system/ollama.service: [Unit] Description=Ollama Service After=network-online.target [Service] ExecStart=/usr/bin/ollama serve User=ollama Group=ollama Restart=always RestartSec=3 Environment="PATH=$PATH" [Install] WantedBy=default.target Then start the service: sudo systemctl daemon-reload sudo systemctl enable ollama Start ollama sudo systemctl start ollama sudo systemctl status ollama 3. Run 1.5b module ollama run deepseek-r1:1.5b NOTE:The first time run the command may take some time to download and install deepseek-r1:1.5b.   4.Performance:   The CPU and memory usage is as following:     1.When answering question the cpus are all almost 100% usage.  2.It answer 1~2 word per second.

    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-core ] [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.  repo init -u https://github.com/nxp-imx/imx-manifest -b imx-linux-hardknott -m imx-5.10.72-2.2.3.xml git clone https://gitee.com/zxd2021-imx/meta-robot-platform.git git checkout v2.2.3-L5.10.72-2.2.3 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 Updated: 1, Update to Yocto release L5.10.72-2.2.3 2, Update ISP SDK (isp-imx) patch for Github changing.   //////////////////////////////////////// Update for v3.1-L5.15.71-2.2.0  /////////////////////////////////////////////////////////// New release package meta-robot-platform-v3.1-L5.15.71-2.2.0.  repo init -u https://github.com/nxp-imx/imx-manifest -b imx-linux-kirkstone -m imx-5.15.71-2.2.0.xml git clone https://gitee.com/zxd2021-imx/meta-robot-platform.git git checkout v3.1-L5.15.71-2.2.0 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 Updated: 1, Update to Yocto release L5.15.71-2.2.0 and ROS1 Noetic and ROS2 Foxy to last version 2, Add ROS2 Humble and remove EOL distributions (ROS1 Kinetic, Melodic and ROS2 Dashing, Eloquent and Galactic). How to build Robot image (example for i.MX8M Plus EVK board) $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 foxy -b imx8mpevk-robot-foxy ] [or DISTRO=imx-robot-xwayland MACHINE=imx8mpevk source setup-imx-robot.sh -r humble -b imx8mpevk-robot-humble ] $ bitbake imx-robot-sdk [or bitbake imx-robot-core ] [or bitbake imx-robot-system ] [or bitbake imx-robot-agv ]   //////////////////////////////////////// Update for v3.3-L5.15.71-2.2.0  /////////////////////////////////////////////////////////// New release package meta-robot-platform-v3.3-L5.15.71-2.2.0.  repo init -u https://github.com/nxp-imx/imx-manifest -b imx-linux-kirkstone -m imx-5.15.71-2.2.0.xml git clone https://gitee.com/zxd2021-imx/meta-robot-platform.git git checkout v3.3-L5.15.71-2.2.0 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 Updated: 1, Add vSLAM ROS demo based on i.MX vSLAM SDK and i.MX AIBot. The demo video is here: Autonomous Navigation with vSLAM, Based on the i.MX 8M Plus Applications Processor   2, Enable DDS Security and SROS2 for ROS 2’s security features. How to build Robot image (example for i.MX8M Plus EVK board) $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 foxy -b imx8mpevk-robot-foxy ] [or DISTRO=imx-robot-xwayland MACHINE=imx8mpevk source setup-imx-robot.sh -r humble -b imx8mpevk-robot-humble ] $ bitbake imx-robot-sdk [or bitbake imx-robot-agv ] [or bitbake imx-robot-system ] [or bitbake imx-robot-core ]   //////////////////////////////////////// Update for v4.0-L6.1.55-2.2.0  /////////////////////////////////////////////////////////// New release package meta-robot-platform-v4.0-L6.1.55-2.2.0.  repo init -u https://github.com/nxp-imx/imx-manifest -b imx-linux-mickledore -m imx-6.1.55-2.2.0.xml git clone https://gitee.com/zxd2021-imx/meta-robot-platform.git git checkout mickledore-6.1.55 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 Updated: 1, Migrate i.MX Robot platform to Yocto mickledore with L6.1.55. 2, Add ROS2 iron. How to build Robot image (example for i.MX8M Plus EVK board) $DISTRO=imx-robot-xwayland MACHINE=imx8mpevk source setup-imx-robot.sh -r humble -b imx8mpevk-robot-humble [or DISTRO=imx-robot-xwayland MACHINE=imx8mpevk source setup-imx-robot.sh -r iron -b imx8mpevk-robot-iron ] [or DISTRO=imx-robot-xwayland MACHINE=imx8mpevk source setup-imx-robot.sh -r noetic-b imx8mpevk-robot-noetic] $ bitbake -k imx-robot-sdk [or bitbake imx-robot-agv ] [or bitbake imx-robot-system ] [or bitbake imx-robot-core ]       //////////////////////////////////////// Update for v5.0-L6.6.52-2.2.0  /////////////////////////////////////////////////////////// New release package meta-robot-platform-v5.0-L6.6.52-2.2.0.  repo init -u https://github.com/nxp-imx/imx-manifest -b imx-linux-scarthgap -m imx-6.6.52-2.2.0.xml git clone https://gitee.com/zxd2021-imx/meta-robot-platform.git -b scarthgap-6.6.52 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 Updated: 1, Migrate i.MX Robot platform to Yocto scarthgap with L6.6.52 and support i.MX95 EVK. 2, Add ROS2 jazzy and remove ROS1. How to build Robot image (example for i.MX95 EVK board) $DISTRO=imx-robot-xwayland MACHINE=imx95-15x15-lpddr4x-evk source setup-imx-robot.sh -r humble -b imx95-15x15-lpddr4x-evk-humble [or DISTRO=imx-robot-xwayland MACHINE=imx95-15x15-lpddr4x-evk source setup-imx-robot.sh -r jazzy -b imx95-15x15-lpddr4x-evk-jazzy ] $ bitbake -k imx-robot-sdk [or bitbake imx-robot-agv ] [or bitbake imx-robot-system ] [or bitbake imx-robot-core ]

This guide provides step-by-step instructions for setting up and applying necessary patches to the Linux kernel for the FRDM-IMX93 development board. The process involves cloning the required repositories, applying patches, and preparing the kernel for customization and compilation.   Prerequisites Required Software: A Linux-based operating system (Ubuntu/Debian recommended). Git installed (sudo apt install git). Yocto dependencies: $ sudo apt install gawk wget git diffstat unzip texinfo gcc build-essential chrpath socat cpio python3 python3-pip python3-pexpect xz-utils debianutils iputils-ping python3-git python3-jinja2 python3-subunit zstd liblz4-tool file locales libacl1 ​   Hardware: FRDM-IMX93 Board Sufficient storage space   1. Downloading the Repository Start by downloading the necessary tools and repository. If the ~/bin folder does not already exist, create it: $ mkdir ~/bin (this step may not be needed if the bin folder already exists) $ curl https://storage.googleapis.com/git-repo-downloads/repo > ~/bin/repo $ chmod a+x ~/bin/repo $ export PATH=~/bin:$PATH   2. Compile the Yocto SDK: $: mkdir Yocto_SDK $: cd Yocto_SDK $: repo init -u https://github.com/nxp-imx/imx-manifest -b imx-linux-scarthgap -m imx-6.6.36-2.1.0.xml $: repo sync $: MACHINE=imx93evk DISTRO=fsl-imx-xwayland source ./imx-setup-release.sh -b bld-xwayland $: bitbake imx-image-full -c populate_sdk   Run the generated .sh file to install the SDK: sudo ./fsl-imx-xwayland-glibc-x86_64-imx-image-full-armv8a-imx93evk-toolchain-6.6-scarthgap.sh   The final .sh file is located in: bld-xwayland/tmp/deploy/sdk/   3. Creating the Working Directory First, create a dedicated directory for the kernel setup and navigate into it: $ mkdir FRDM-IMX93-Kernel $ cd FRDM-IMX93-Kernel   4. Cloning the Kernel patches Retrieve the necessary kernel patches from the NXP repository: $ git clone https://github.com/nxp-imx-support/meta-imx-frdm.git -b lf-6.6.36-2.1.0   5. Cloning the Kernel Repository (linux-imx repository) Clone the kernel source of Yocto SDK that you built earlier: $ git clone https://github.com/nxp-imx/linux-imx.git -b lf-6.6.36-2.1.0 6. Applying Kernel Patches Apply the necessary patches to the kernel: $ cd linux-imx/ $ git apply ../meta-imx-frdm/meta-imx-bsp/recipes-kernel/linux/linux-imx/0001-gpio-pca953x-fix-pca953x_irq_bus_sync_unlock-race.patch $ git apply ../meta-imx-frdm/meta-imx-bsp/recipes-kernel/linux/linux-imx/0002-arm64-dts-add-i.MX93-11x11-FRDM-basic-support.patch $ git apply ../meta-imx-frdm/meta-imx-bsp/recipes-kernel/linux/linux-imx/0003-arm64-dts-add-imx93-11x11-frdm-mt9m114-dts.patch $ git apply ../meta-imx-frdm/meta-imx-bsp/recipes-kernel/linux/linux-imx/0004-Add-DSI-Panel-for-imx93.patch $ git apply ../meta-imx-frdm/meta-imx-bsp/recipes-kernel/linux/linux-imx/0005-Add-CTP-support-for-waveshare-panel.patch $ git apply ../meta-imx-frdm/meta-imx-bsp/recipes-kernel/linux/linux-imx/0006-arm64-dts-add-imx93-11x11-frdm-tianma-wvga-panel-dts.patch $ git apply ../meta-imx-frdm/meta-imx-bsp/recipes-kernel/linux/linux-imx/0007-arm64-dts-add-imx93-11x11-frdm-aud-hat-dts.patch $ git apply ../meta-imx-frdm/meta-imx-bsp/recipes-kernel/linux/linux-imx/0008-arm64-dts-add-button-support.patch $ git apply ../meta-imx-frdm/meta-imx-bsp/recipes-kernel/linux/linux-imx/0009-arm64-dts-add-imx93-11x11-frdm-ov5640-dts.patch $ cd linux-imx/ $ git apply ../meta-imx-frdm/meta-imx-bsp/recipes-kernel/linux/linux-imx/0010-arm64-dts-add-imx93-11x11-frdm-ld.dts-for-lpm.patch $ git apply ../meta-imx-frdm/meta-imx-bsp/recipes-kernel/linux/linux-imx/0011-arm64-dts-add-pwm-function-of-the-LED.patch $ git apply ../meta-imx-frdm/meta-imx-bsp/recipes-kernel/linux/linux-imx/0012-arm64-dts-add-imx93-11x11-frdm-8mic.dts.patch $ git apply ../meta-imx-frdm/meta-imx-bsp/recipes-kernel/linux/linux-imx/0013-arm64-dts-add-imx93-11x11-frdm-lpuart.dts.patch   7. Customizing the Device Tree Device trees can be modified or created based on your hardware setup.   Device Tree Locations: arch/arm64/boot/dts/freescale/   If you create a new device tree, add it to the respective Makefile: arch/arm64/boot/dts/freescale/Makefile   8. Setting Up the Cross-Compilation Environment To prepare for kernel compilation, source the environment setup script. Assuming the Yocto SDK is installed in /opt, run:   EXAMPLE: $ source /opt/fsl-imx-xwayland/6.6-scarthgap/environment-setup-armv8a-poky-linux   9. Configuring the Kernel Make configuration adjustments as needed in the file: arch/arm64/configs/imx_v8_defconfig Use the appropriate configuration command: $: make imx_v8_defconfig   10. Compiling Device Trees Only To compile only the device tree files, run: $: make dtbs   11. Compiling the Kernel Finally, compile the kernel image using: $ make -j $(nproc)   The resulting kernel image will be located in: arch/arm64/boot/   References: IMX YOCTO PROJECT USERS GUIDE IMX LINUX USERS GUIDE  IMX REFERENCE MANUAL 

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. These are detailed programming aids for the registers associated with DRAM initialization (LPDDR3, DDR3, and LPDDR2). The last work sheet tab in the tool formats the register settings for use with the ARM DS5 debugger. It can also be used with the windows executable for the DDR Stress Test (note the removal of debugger specific commands in this tab). These programming aids were developed for internal NXP validation boards.   This tool serves as an aid to assist with programming the DDR interface of the MX7D and is based on the DDR initialization scripts developed for NXP boards and no guarantees are made by this tool.   The following are some general notes regarding this tool: The default configuration for the tool is to enable bank interleaving. Refer to the "How To Use" tab in the tool as a starting point to use this tool. The tool can be configured for one of the three memory types supported by the MX7D.  However, three separate programming aids are provided based on the DRAM type: LPDDR3, LPDDR2, and DDR3.  Therefore, you may use the tool pre-configured for your desired memory type as a starting point. The DRAM controller IP in MX7D is different from the MX6 series MMDC controller. Results from DRAM calibration may be updated for the following registers: DDR_PHY_OFFSET_WR_CON0 (0x30790030) and DDR_PHY_OFFSET_RD_CON0 (0x30790020).  Also, the MX7D memory map DRAM starting address is fixed at 0x80000000. Some of the CCM programming at the beginning of the DRAM initialization script (in the "DStream .ds file" tab) were automatically generated and in very few cases may involve writing to reserved bits, however, these writes to reserved bits are simply ignored. Note that in the "DStream .ds file" tab there are DS5 debugger specific commands that should be commented out or removed when using the DRAM initialization for non-debugger specific applications (like when porting to bootloaders). This tool may be updated on an as-needed basis for bug fixes or future improvements.  There is no schedule for aforementioned maintenance. For questions or additional assistance using this tool, please contact your local sales or FAE.

1.1 Introduction PCI Endpoint Framework is a system within the Linux kernel, enabling developers to test the functionality of a PCIe end-point device. Linux kernel simulates a PCIe End-point's behaviour and interact with the PCIe bus. This helps developers to test and validate the PCIe Root Complex providing a structured way to verify the PCIe data transfers. For detailed info, please go through the official documentation - 9. PCI Endpoint Framework — The Linux Kernel documentation   This article focuses on how to enable the End-point test framework on imx95 and imx8mm. For the demonstration, iMX95 board will act as a Root Complex and imx8mm will be acting as an End-point. On the End-point[imx8mm], the framework creates endpoint controller driver, endpoint function driver, and using configfs interface to bind the function driver to the controller driver. At the RC, a user-space utility called 'pcitest' will be used to read and write data from/to Endpoint.  Enabling this on iMX EVKs is fairly straightforward so chances are less that you will encounter Issues while enabling this. Nevertheless, if you do face issues in enabling it, please feel free drop in a text so that we can answer your query.   At the end of this exercise, you will be able to send and receive PCIe data from Root Complex[imx95] to End-Point[imx8mm] with/without DMA.   Connections:-   iMX95 Torradex RC will be connected to iMX8MM EVK via M.2 PCIe bridge iMX95 Torradex board [RC] connected to iMX8MM[EP] via PCIe bridge on M.2   1.2 Changes required on imx95 and imx8mm linux configs:   Kernel configs   # # PCI Endpoint # CONFIG_PCI_ENDPOINT=y CONFIG_PCI_ENDPOINT_CONFIGFS=y CONFIG_PCI_EPF_TEST=y   1.3 How to run the PCIe end-point test framework?   Build standalone imx8mm and imx95 linux kernel after enabling the linux configs mentioned in the section 1.2 Note- you can also use yocto to build the kernel for imx95 and imx8mm after making the kernel config changes. I use standalone for quick validation and debugging. After building, you will get kernel images for both imx95 and imx8mm in the location - linux-imx/arch/arm64/boot/Image of the respective imx folders.    Flash imx8mm with an official linux factory image[latest preferred] to emmc a. Replace the kernel 'Image' of imx8mm [built with end-point configs in the step-1] with the one that comes with the default factory image.          Location of kernel Image on the imx8mm emmc partition - /run/media/boot-             mmcblk2p1/Image          Note- If you are using yocto, you can also just flash the built wic image and it will be automatically taken care of[given that the wic was correctly built with the kernel configs mentioned in 1.2]          b. Boot Linux with this dtb  -> imx8mm-evk-pcie-ep.dtb          location of the dts in the linux bsp -          linux-imx/arch/arm64/boot/dts/freescale/imx8mm-evk-pcie-ep.dts          If you closely observe this dts:-                         It is just disabling the default pcie0 node and enabling the pcie0_ep node. This is because the PCIe drivers need some type of indication from the dtb at boot up so that end-point controller can be created via EPC driver in the Linux kernel.             c. Run the following script to configure the iMX8MM as an endpoint root@imx8mmevk:~# cat conf_pci_ep   cd /sys/kernel/config/pci_ep/; mkdir functions/pci_epf_test/func1; cat functions/pci_epf_test/func1/deviceid; cat functions/pci_epf_test/func1/vendorid; echo 0x1957 > functions/pci_epf_test/func1/vendorid; echo 0x0808 > functions/pci_epf_test/func1/deviceid; echo 16 > functions/pci_epf_test/func1/msi_interrupts; echo 8 > functions/pci_epf_test/func1/msix_interrupts; ln -s functions/pci_epf_test/func1 controllers/33800000.pcie_ep/   root@imx8mmevk:~# ./conf_pci_ep 0xffff 0xffff root@imx8mmevk:~#        3. Flash the official imx95 image on the board.            Similar to imx8mm, Boot the imx95 board with the kernel 'Image' built in step-1            In the booting logs, if debugs are enabled, one can observe that the pci_endpoint_test probe will be called. On the linux prompt you can see a device will be created for it.   On lspci output of imx95, you can see the pcie endpoint entry 0808 is the device id we mentioned on the end-point imx8mm in the step-2 above.     4. Now, run the below script on imx95:-     root@imx95-19x19-lpddr5-evk:~# cat pcie_send_to_eptest.sh #!/bin/sh # SPDX-License-Identifier: GPL-2.0   echo "PCIe End-point test" pcitest -r -d -s 102400 pcitest -w -d -s 102400   root@imx95-19x19-lpddr5-evk:~#   The above script will read 102400 bytes from the EP and write 102400 bytes to the EP.   root@imx95-19x19-lpddr5-evk:~# ./pcie_send_to_eptest.sh PCIe Hot-plug test   [ 2885.375620] pci-endpoint-test 0000:01:00.0: in pci_endpoint_test_ioctl cmd:0x40085005 READ ( 102400 bytes):           OKAY   WRITE ( 102400 bytes):          OKAY That's all you need to get started with this simple end-point test framework on imx. Please feel free to ask questions if any.

In some cases, due to the limited resources allocated by imx pins, gpio has to be used as mdio/mdc. This article is a simple guide on how to use MDIO on GPIOs. The demo code is for network fec interface. 1. Add CONFIG_MDIO_GPIO=y and rebuild kernel 2. Modify fec device tree to use MDIO ON GPIO FEC test result: root@imx93evk:~# ethtool eth0 Settings for eth0:         Supported ports: [ TP    MII ]         Supported link modes:   10baseT/Half 10baseT/Full                                 100baseT/Half 100baseT/Full                                 1000baseT/Full         Supported pause frame use: Symmetric         Supports auto-negotiation: Yes         Supported FEC modes: Not reported         Advertised link modes:  10baseT/Half 10baseT/Full                                 100baseT/Half 100baseT/Full                                 1000baseT/Full         Advertised pause frame use: Symmetric         Advertised auto-negotiation: Yes         Advertised FEC modes: Not reported         Link partner advertised link modes:  10baseT/Half 10baseT/Full                                              100baseT/Half 100baseT/Full                                              1000baseT/Full         Link partner advertised pause frame use: No         Link partner advertised auto-negotiation: Yes         Link partner advertised FEC modes: Not reported         Speed: 1000Mb/s         Duplex: Full         Auto-negotiation: on         master-slave cfg: preferred slave         master-slave status: slave         Port: Twisted Pair         PHYAD: 2         Transceiver: external         MDI-X: Unknown         Supports Wake-on: g         Wake-on: d         Link detected: yes root@imx93evk:~# ifconfig eth0: flags=-28605<UP,BROADCAST,RUNNING,MULTICAST,DYNAMIC>  mtu 1500         inet 10.192.246.129  netmask 255.255.255.0  broadcast 10.192.246.255         inet6 fe80::885a:aeff:fea3:7dcf  prefixlen 64  scopeid 0x20<link>         ether 8a:5a:ae:a3:7d:cf  txqueuelen 1000  (Ethernet)         RX packets 13  bytes 2294 (2.2 KiB)         RX errors 0  dropped 3  overruns 0  frame 0         TX packets 25  bytes 4691 (4.5 KiB)         TX errors 0  dropped 0 overruns 0  carrier 0  collisions 0   eth1: flags=-28669<UP,BROADCAST,MULTICAST,DYNAMIC>  mtu 1500         ether a2:5e:45:17:72:79  txqueuelen 1000   eQOS test result imx93evk login: root root@imx93evk:~# ifconfig eth0: flags=-28669<UP,BROADCAST,MULTICAST,DYNAMIC> mtu 1500 ether 00:04:9f:08:7f:d0 txqueuelen 1000 (Ethernet) RX packets 0 bytes 0 (0.0 B) RX errors 0 dropped 0 overruns 0 frame 0 TX packets 0 bytes 0 (0.0 B) TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0 eth1: flags=-28605<UP,BROADCAST,RUNNING,MULTICAST,DYNAMIC> mtu 1500 inet 10.192.246.112 netmask 255.255.255.0 broadcast 10.192.246.255 inet6 fe80::204:9fff:fe08:7fcf prefixlen 64 scopeid 0x20<link> ether 00:04:9f:08:7f:cf txqueuelen 1000 (Ethernet) RX packets 12 bytes 3020 (2.9 KiB) RX errors 0 dropped 3 overruns 0 frame 0 TX packets 31 bytes 5355 (5.2 KiB) TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0 device interrupt 104 root@imx93evk:~# ethtool eth1 Settings for eth1: Supported ports: [ TP MII ] Supported link modes: 10baseT/Half 10baseT/Full 100baseT/Half 100baseT/Full 1000baseT/Full Supported pause frame use: Symmetric Receive-only Supports auto-negotiation: Yes Supported FEC modes: Not reported Advertised link modes: 10baseT/Half 10baseT/Full 100baseT/Half 100baseT/Full 1000baseT/Full Advertised pause frame use: Symmetric Receive-only Advertised auto-negotiation: Yes Advertised FEC modes: Not reported Link partner advertised link modes: 10baseT/Half 10baseT/Full 100baseT/Half 100baseT/Full 1000baseT/Full Link partner advertised pause frame use: No Link partner advertised auto-negotiation: Yes Link partner advertised FEC modes: Not reported Speed: 1000Mb/s Duplex: Full Auto-negotiation: on master-slave cfg: preferred slave master-slave status: slave Port: Twisted Pair PHYAD: 1 Transceiver: external MDI-X: Unknown Supports Wake-on: ug Wake-on: d Current message level: 0x0000003f (63) drv probe l

  Just sharing some experiences during the development and studying.   Although, it appears some hardwares, it focuses on software to speed up your developing on your  hardware.     杂记共享一下在开发和学习过程中的经验。    虽然涉及一些硬件，但其本身关注软件，希望这些能加速您在自己硬件上的开发。   1/20/2025 MDIO on GPIOs MDIO on GPIOs - NXP Community   12/09/2024 GPIO LEDs https://community.nxp.com/t5/i-MX-Processors-Knowledge-Base/GPIO-LEDs/ta-p/2009743     10/22/2024 iMX93-EVK PWM LED https://community.nxp.com/t5/i-MX-Processors-Knowledge-Base/iMX93-EVK-PWM-LED/ta-p/1978047   07/25/2024 iMX secondary boot collection https://community.nxp.com/t5/i-MX-Processors-Knowledge-Base/iMX-secondary-boot-collection/ta-p/1916915   07/25/2024 HSM Code-Signing Journey https://community.nxp.com/t5/i-MX-Processors-Knowledge-Base/HSM-Code-Signing-Journey/ta-p/1882244 25JUL2024 - add pkcs11 proxy                         HSM Code-Signing Journey_25JUL2024.pdf                          HSM Code-Signing Journey_25JUL2024.txt   06/06/2024 HSM Code-Signing Journey https://community.nxp.com/t5/i-MX-Processors-Knowledge-Base/HSM-Code-Signing-Journey/ta-p/1882244     02/07/2024 Device Tree Standalone Compile under Windows https://community.nxp.com/t5/i-MX-Processors-Knowledge-Base/Device-Tree-Standalone-Compile-under-Windows/ta-p/1855271   02/07/2024 i.MX8X security overview and AHAB deep dive i.MX8X security overview and AHAB deep dive - NXP Community   11/23/2023 “Standalone” Compile Device Tree https://community.nxp.com/t5/i-MX-Processors-Knowledge-Base/Standalone-Compile-Device-Tree/ta-p/1762373     10/26/2023 Linux Dynamic Debug https://community.nxp.com/t5/i-MX-Processors-Knowledge-Base/Linux-Dynamic-Debug/ta-p/1746611   08/10/2023 u-boot environment preset for sdcard mirror u-boot environment preset for sdcard mirror - NXP Community   06/06/2023 all(bootloader, device tree, Linux kernel, rootfs) in spi nor demo imx8qxpc0 mek all(bootloader, device tree, Linux kernel, rootfs)... - NXP Community     09/26/2022 parseIVT - a script to help i.MX6 Code Signing parseIVT - a script to help i.MX6 Code Signing - NXP Community   Provide  run under windows   09/16/2022   create sdcard mirror under windows create sdcard mirror under windows - NXP Community     08/03/2022   i.MX8MM SDCARD Secondary Boot Demo https://community.nxp.com/t5/i-MX-Processors-Knowledge-Base/i-MX8MM-SDCARD-Secondary-Boot-Demo/ta-p/1500011     02/16/2022 mx8_ddr_stress_test without UI   https://community.nxp.com/t5/i-MX-Processors-Knowledge-Base/mx8-ddr-stress-test-without-UI/ta-p/1414090   12/23/2021 i.MX8 i.MX8X Board Reset https://community.nxp.com/t5/i-MX-Processors-Knowledge-Base/i-MX8-i-MX8X-Board-Reset/ta-p/1391130       12/21/2021 regulator userspace-consumer https://community.nxp.com/t5/i-MX-Processors-Knowledge-Base/regulator-userspace-consumer/ta-p/1389948     11/24/2021 crypto af_alg blackkey demo crypto af_alg blackkey demo - NXP Community   09/28/2021 u-boot runtime modify Linux device tree(dtb) u-boot runtime modify Linux device tree(dtb) - NXP Community     08/17/2021 gpio-poweroff demo https://community.nxp.com/t5/i-MX-Processors-Knowledge-Base/gpio-poweroff-demo/ta-p/1324306         08/04/2021 How to use gpio-hog demo https://community.nxp.com/t5/i-MX-Processors-Knowledge-Base/How-to-use-gpio-hog-demo/ta-p/1317709       07/14/2021 SWUpdate OTA i.MX8MM EVK / i.MX8QXP MEK https://community.nxp.com/t5/i-MX-Processors-Knowledge-Base/SWUpdate-OTA-i-MX8MM-EVK-i-MX8QXP-MEK/ta-p/1307416     04/07/2021 i.MX8QXP eMMC Secondary Boot https://community.nxp.com/t5/i-MX-Community-Articles/i-MX8QXP-eMMC-Secondary-Boot/ba-p/1257704#M45       03/25/2021 sc_misc_board_ioctl to access the M4 partition from A core side sc_misc_board_ioctl to access the M4 partition fr... - NXP Community     03/17/2021 How to Changei.MX8X MEK+Base Board  Linux Debug UART https://community.nxp.com/t5/i-MX-Community-Articles/How-to-Change-i-MX8X-MEK-Base-Board-Linux-Debug-UART/ba-p/1246779#M43     03/16/2021 How to Change i.MX8MM evk Linux Debug UART https://community.nxp.com/t5/i-MX-Community-Articles/How-to-Change-i-MX8MM-evk-Linux-Debug-UART/ba-p/1243938#M40       05/06/2020 Linux fw_printenv fw_setenv to access U-Boot's environment variables Linux fw_printenv fw_setenv to access U-Boot's env... - NXP Community     03/30/2020 i.MX6 DDR calibration/stress for Mass Production https://community.nxp.com/docs/DOC-346065     03/25/2020 parseIVT - a script to help i.MX6 Code Signing https://community.nxp.com/docs/DOC-345998     02/17/2020 Start your machine learning journey from tensorflow playground Start your machine learning journey from tensorflow playground      01/15/2020 How to add  iMX8QXP PAD（GPIO) Wakeup How to add iMX8QXP PAD（GPIO) Wakeup    01/09/2020 Understand iMX8QX Hardware Partitioning By Making M4 Hello world Running Correctly https://community.nxp.com/docs/DOC-345359   09/29/2019 Docker On i.MX6UL With Ubuntu16.04 https://community.nxp.com/docs/DOC-344462   09/25/2019 Docker On i.MX8MM With Ubuntu https://community.nxp.com/docs/DOC-344473 Docker On i.MX8QXP With Ubuntu https://community.nxp.com/docs/DOC-344474     08/28/2019 eMMC5.0 vs eMMC5.1 https://community.nxp.com/docs/DOC-344265     05/24/2019 How to upgrade  Linux Kernel and dtb on eMMC without UUU How to upgrade Linux Kernel and dtb on eMMC without UUU     04/12/2019 eMMC RPMB Enhance and GP https://community.nxp.com/docs/DOC-343116   04/04/2019 How to Dump a GPT SDCard Mirror(Android O SDCard Mirror) https://community.nxp.com/docs/DOC-343079   04/04/2019 i.MX Create Android SDCard Mirror https://community.nxp.com/docs/DOC-343078   04/02/2019: i.MX Linux Binary_Demo Files Tips  https://community.nxp.com/docs/DOC-343075   04/02/2019:       Update Set fast boot        eMMC_RPMB_Enhance_and_GP.pdf   02/28/2019: imx_builder --- standalone build without Yocto https://community.nxp.com/docs/DOC-342702   08/10/2018: i.MX6SX M4 MPU Settings For RPMSG update    Update slide CMA Arrangement Consideration i.MX6SX_M4_MPU_Settings_For_RPMSG_08102018.pdf   07/26/2018 Understand ML With Simplest Code https://community.nxp.com/docs/DOC-341099     04/23/2018:     i.MX8M Standalone Build     i.MX8M Standalone Build.pdf     04/13/2018:      i.MX6SX M4 MPU Settings For RPMSG  update            Add slide CMA Arrangement  Consideration     i.MX6SX_M4_MPU_Settings_For_RPMSG_04132018.pdf   09/05/2017:       Update eMMC RPMB, Enhance  and GP       eMMC_RPMB_Enhance_and_GP.pdf 09/01/2017:       eMMC RPMB, Enhance  and GP       eMMC_RPMB_Enhance_and_GP.pdf 08/30/2017:     Dual LVDS for High Resolution Display(For i.MX6DQ/DLS)     Dual LVDS for High Resolution Display.pdf 08/27/2017:  L3.14.28 Ottbox Porting Notes:         L3.14.28_Ottbox_Porting_Notes-20150805-2.pdf MFGTool Uboot Share With the Normal Run One:        MFGTool_Uboot_share_with_NormalRun_sourceCode.pdf Mass Production with programmer        Mass_Production_with_NAND_programmer.pdf        Mass_Production_with_emmc_programmer.pdf AndroidSDCARDMirrorCreator https://community.nxp.com/docs/DOC-329596 L3.10.53 PianoPI Porting Note        L3.10.53_PianoPI_PortingNote_151102.pdf Audio Codec WM8960 Porting L3.10.53 PianoPI        AudioCodec_WM8960_Porting_L3.10.53_PianoPI_151012.pdf TouchScreen PianoPI Porting Note         TouchScreen_PianoPI_PortingNote_151103.pdf Accessing GPIO From UserSpace        Accessing_GPIO_From_UserSpace.pdf        https://community.nxp.com/docs/DOC-343344 FreeRTOS for i.MX6SX        FreeRTOS for i.MX6SX.pdf i.MX6SX M4 fastup        i.MX6SX M4 fastup.pdf i.MX6 SDCARD Secondary Boot Demo        i.MX6_SDCARD_Secondary_Boot_Demo.pdf i.MX6SX M4 MPU Settings For RPMSG        i.MX6SX_M4_MPU_Settings_For_RPMSG_10082016.pdf Security        Security03172017.pdf    NOT related to i.MX, only a short memo

Test Environment： i.MX8MP EVK L6.6.52(weston12)   Background Current RDP only supports TLS authentication, but does not support the NLA feature or PAM password authentication. Therefore, the connection security of RDP will be very low, and you can even login remotely without the correct username and password. This article implements the NLA feature and PAM password authentication base on weston rdp backend, which supports customized user and login.   1.Patches patch weston-imx with add_rdp_pam_nla_support.patch patch meta-imx with add_pam_support_and_weston_user.patch   2.Generate keys on Ubuntu rename key as server.crt and server.key sudo apt-get install winpr-utils winpr-makecert -rdp -path ~/ copy server.crt and server.key from Ubuntu to /etc/freerdp/keys/ on i.MX board 3. Enable start-on-startup=true in weston.ini   4.Install Remmina on Ubuntu.   5.Generate SAM file on board and Ubuntu: /etc/winpr/SAM(SAM is a file, not a directory) and copy hash into /etc/winpr/SAM The username weston and passwd has been set in add_pam_support_and_weston_user.patch. username: weston passwd: weston domain: domain   $ winpr-hash -u weston -d domain -p weston -v1 -f sam weston:domain::b2ca4ec6a1dbd13c49b6ab5e1b10d5bf::: $ vi /etc/winpr/SAM   6.Access with Remmina on Ubuntu. 7.Result      

We are pleased to announce that Config Tools for i.MX v24.12 are now available. Downloads & links To download the installer for all platforms, please login to our download site via:  https://www.nxp.com/design/designs/config-tools-for-i-mx-applications-processors:CONFIG-TOOLS-IMX Please refer to  Documentation  for installation and quick start guides. For further information about DDR config and validation, please go to this  blog post. Release Notes Full details on the release (features, known issues...) • DDR tool – Support for the custom System Manager image import is added. – i.MX 95 advanced tests are enabled: Vref for DQ and Vref for CA optimization • SerDes tool – Additional parameters for TX configuration on GUI (swing, margin, equalization) for i.MX 95 are added. – PCIe Gen1/Gen2/Gen3 switch on pattern generation. • Clocks – Modular clocks initialization is supported. – Initialization mode is visible in the Clocks diagram and Details view. – New Modular Initialization view for configuration of the initialization mode and core selection of the module is created. • TEE – Configuration and overview of areas with the same address and different address space is supported. – Code generation can be toogled for global options groups. – The process for releasing ELE crypto before setting up TRDC is supported. • Pins – Miscellaneous tab for various Pins configuration options is added. – Filtering for routing dialogs is added.

This guide walks you through setting up and building the Yocto SDK, customizing a device tree (DTS), and compiling the kernel for NXP i.MX platforms. It is designed to simplify the process, from downloading tools to creating functional images for embedded devices. Prerequisites Required Software: A Linux-based operating system (Ubuntu/Debian recommended). Git installed (sudo apt install git). Yocto dependencies: $ sudo apt install gawk wget git diffstat unzip texinfo gcc build-essential chrpath socat cpio python3 python3-pip python3-pexpect xz-utils debianutils iputils-ping python3-git python3-jinja2 python3-subunit zstd liblz4-tool file locales libacl1 ​ Hardware: An NXP i.MX-based development board (i.MX6, i.MX7, i.MX8, or i.MX9). Sufficient storage space   1. Downloading the Repository Start by downloading the necessary tools and repository. If the ~/bin folder does not already exist, create it: $ mkdir ~/bin (this step may not be needed if the bin folder already exists) $ curl https://storage.googleapis.com/git-repo-downloads/repo > ~/bin/repo $ chmod a+x ~/bin/repo $ export PATH=~/bin:$PATH   2. Compile the Yocto SDK: Create and navigate to a release directory: $: mkdir <release> $: cd <release>   Initialize and sync the repo: $: repo init -u https://github.com/nxp-imx/imx-manifest -b <branch name> [ -m <release manifest>] $: repo sync   Set up the environment and build the SDK: $: [MACHINE=<machine>] [DISTRO=fsl-imx-<backend>] source ./imx-setup-release.sh -b bld-<backend> $: bitbake <image recipe> -c populate_sdk   Example: $: mkdir Yocto_SDK $: cd Yocto_SDK $: repo init -u https://github.com/nxp-imx/imx-manifest -b imx-linux-scarthgap -m imx-6.6.52-2.2.0.xml $: repo sync $: MACHINE=imx93evk DISTRO=fsl-imx-xwayland source ./imx-setup-release.sh -b bld-xwayland $: bitbake imx-image-full -c populate_sdk   Recommendation: Use the full image (imx-image-full) to include all available packages and libraries.   Run the generated .sh file to install the SDK: sudo ./fsl-imx-xwayland-glibc-x86_64-imx-image-full-armv8a-imx93evk-toolchain-6.6-scarthgap.sh   The final .sh file is located in: bld-xwayland/tmp/deploy/sdk/   3. Cloning the Kernel Repository (linux-imx repository)   Clone the kernel source matching the version of the Yocto SDK you built earlier:   $: git clone https://github.com/nxp-imx/linux-imx.git -b <Kernel-version>   EXAMPLE: $: git clone https://github.com/nxp-imx/linux-imx.git -b lf-6.6.52-2.2.0   4. Customizing the Device Tree Device trees can be modified or created based on your hardware setup.   Device Tree Locations:   iMX6 and iMX7: arch/arm/boot/dts/nxp/imx/   iMX8 and iMX9: arch/arm64/boot/dts/freescale/   If you create a new device tree, add it to the respective Makefile:   iMX8 and iMX9: arch/arm64/boot/dts/freescale/Makefile   iMX6 and iMX7: arch/arm/boot/dts/nxp/imx/Makefile     5. Setting Up the Cross-Compilation Environment To prepare for kernel compilation, source the environment setup script. Assuming the Yocto SDK is installed in /opt, run:   EXAMPLE: $ source /opt/fsl-imx-xwayland/6.6-scarthgap/environment-setup-armv8a-poky-linux   6. Configuring the Kernel Make configuration adjustments as needed:   iMX8 and iMX9: arch/arm64/configs/imx_v8_defconfig   iMX6 and iMX7: arch/arm/configs/imx_v7_defconfig   Use the appropriate configuration command:   iMX8 and iMX9: $: make imx_v8_defconfig   iMX6 and iMX7: $: make imx_v7_defconfig   7. Compiling Device Trees Only   To compile only the device tree files, run: $: make dtbs   8. Compiling the Kernel Finally, compile the kernel image using: $ make -j $(nproc)   The resulting kernel image will be located in: iMX8 and iMX9: arch/arm64/boot/   iMX6 and iMX7: arch/arm/boot/   References: IMX YOCTO PROJECT USERS GUIDE IMX LINUX USERS GUIDE  IMX REFERENCE MANUAL   

Hardware:​  Soc: NXP i.MX 93 11x11 EVK FPGA:​ Lattice ECP5 Evaluation Board   Deploy the driver of FlexSPI and Test​​ Apply below patch into Linux kernel and compile. (6.1.55-2.2.0 is tested)​ git apply 0001-Added-flexspi-fpga-module-support-of-i.MX93.patch​ make imx_v8_defconfig​ make –j8​ Copy the generated imx93-11x11-evk-flexspi-m2-fpga.dtb to the boot partition​ Set the dtb in uboot​ setenv fdtfile imx93-11x11-evk-flexspi-m2-fpga.dtb ​ saveenv​ boot​ Copy the generated imx93_flexspi_fpga.ko and the test app source file flexspi_fpga_latency_test.c to home directory Run blow command to do the test​ gcc flexspi_fpga_latency_test.c​ ./a.out 128​ ​ About driver and test app​ ​The driver can be installed in test app automatically. Insmod command is called in test app as below.​ insmod imx93_flexspi_fpga.ko mux=1 div=30​ The parameter mux can be set to 0,1,2,3. Means 24MHz, 1000MHz, 800MHz, 625MHz root clock. And div is the divider. In default, 1000/30 = 33MHz is applied.​

Kindly note that application note “AN12812: Using Code-Signing Tool with Hardware Security Module" has been removed from nxp.com. The AN is obsolete, the CST User’s guide describes how to use CST with an HSM using PKCS#11 interface. You can download CST package with its documentation from https://www.nxp.com/webapp/sps/download/license.jsp?colCode=IMX_CST_TOOL_NEW  

Hello everyone, this post is intended to add support to one of the most popular NFC chips on the market (PN532).  On this example I will use the I.MX93 EVK as reference board and focused in I2C communication for the PN532 Chip.    Details:   I.MX93 EVK  PN532 Module (I2C, SPI, UART)  BSP Linux 6.6.36_2.1.0 (Yocto)      STEP 1 (IMAGE COMPILATION).    At first, we need to compile our image for our board (in my case I.MX93 EVK) to add the NFC layer (Details on Yocto User's Guide😞😞 $ mkdir yocto-bsp $cd yocto-bsp $ repo init -u https://github.com/nxp-imx/imx-manifest -b imx-linux-scarthgap -m imx-6.6.36-2.1.0.xml $ repo sync $DISTRO=fsl-imx-wayland MACHINE=imx93evk source imx-setup-release.sh -b imx93evk-build   Then, add the support for NFC in our local.conf file:  $ nano conf/local.conf   We will add the below lines: CORE_IMAGE_EXTRA_INSTALL += "libnfc" CORE_IMAGE_EXTRA_INSTALL += "libnfc-dev"   Then, we can compile the image with:  $ bitbake imx-image-full   NOTE:  libnfc is a complete coverage of low-level PN53x chipset commands written in pure and plain C for portability and speed.  libnfc-dev are the development files and headers to use in our low-level applications.    By default, the NXP BSP support the NFC pn532 driver with a tool called nfctool, but this one is very limited compared with the libnfc.      STEP 2 (DEVICE TREE MODIFICATION).    We need to add the below lines to the Device tree:  &lpi2c5 { #address-cells = <1>; #size-cells = <0>; clock-frequency = <400000>; pinctrl-names = "default", "sleep"; pinctrl-0 = <&pinctrl_lpi2c5>; pinctrl-1 = <&pinctrl_lpi2c5>; status = "okay"; nfc@24 { compatible = "nxp,nxpnfc"; //we can set the "nxp,pn533" driver but it will just work for the nfctool mentioned before reg = <0x24>; clock-frequency = <400000>; interrupt-parent = <&gpio2>; interrupts = <18 IRQ_TYPE_EDGE_FALLING>; }; };    And to the iomux section(same in device tree):  pinctrl_lpi2c5: lpi2c5grp { fsl,pins = < MX93_PAD_GPIO_IO22__LPI2C5_SDA 0x40000b9e MX93_PAD_GPIO_IO23__LPI2C5_SCL 0x40000b9e MX93_PAD_GPIO_IO18__GPIO2_IO18 0x31e >; };     STEP 3 (Connection with PN532 MODULE).     For this example, we must connect the Module with the I.MX93 RP Header as follows:    I.MX93 SIDE  PN532 SIDE  GND  GND  VCC  VCC  GPIO_IO22  SDA  GPIO_IO23  SCL  GPIO_IO18  IRQ    STEP 4 (BOOT BOARD AND CREATE libnfc.conf FILE).    Once when we have booted our board and selected our modified Device Tree, we should see our i2c-4 under /dev of our Linux OS: root@imx93evk:~# ls /dev | grep i2c i2c-0 i2c-1 i2c-2 i2c-4   And see our specific device (0x24) with the i2cdetect tool:   root@imx93evk:~# i2cdetect -y 4 0 1 2 3 4 5 6 7 8 9 a b c d e f 00: -- -- -- -- -- -- -- -- 10: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 20: -- -- -- -- 24 -- -- -- -- -- -- -- -- -- -- -- 30: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 40: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 50: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 60: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 70: -- -- -- -- -- -- -- --     Now, we need to create a file called libnfc.conf under /etc/nfc/ (You can create that directory if does not exist).  This file must contain information about how the libnfc layer will communicate with the i2c device:    # Allow device auto-detection (default: true) # Note: if this auto-detection is disabled, user has to set manually a device # configuration using file or environment variable allow_autoscan = false # Allow intrusive auto-detection (default: false) # Warning: intrusive auto-detection can seriously disturb other devices # This option is not recommended, user should prefer to add manually his device. allow_intrusive_scan = true # Set log level (default: error) # Valid log levels are (in order of verbosity): 0 (none), 1 (error), 2 (info), 3 (debug) # Note: if you compiled with --enable-debug option, the default log level is "debug" log_level = 2 # Manually set default device (no default) # To set a default device, you must set both name and connstring for your device # Note: if autoscan is enabled, default device will be the first device available in device list. #device.name = "_PN532_SPI" #device.connstring = "pn532_spi:/dev/spidev0.0:500000" device.name = "_PN532_I2c" device.connstring = "pn532_i2c:/dev/i2c-4"   As you can see, the most important line to modify is the device.connstring, that is the charged of interaction and connection between the PN53x Module and the libnfc layer. In my case is pn532_i2c:/dev/i2c-4.    Now we can use the NFC module:  root@imx93evk:~# nfc-list nfc-list uses libnfc 1.8.0 NFC device: _PN532_I2c opened root@imx93evk:~#   And read UID of TAGs:  root@imx93evk:~# nfc-poll nfc-poll uses libnfc 1.8.0 NFC reader: _PN532_I2c opened NFC device will poll during 36000 ms (20 pollings of 300 ms for 6 modulations) ISO/IEC 14443A (106 kbps) target: ATQA (SENS_RES): 00 44 UID (NFCID1): 04 17 b5 d2 a2 11 90 SAK (SEL_RES): 00 Waiting for card removing...nfc_initiator_target_is_present: Target Released done. root@imx93evk:~#   Also, attached is a little application using the NFC headers installed with libnfc-dev. Tha application will do a poll with a 10 seconds time out. If Tag is not detected in 10 seconds, the app will close. If a tag is detected before the timeout, the app will print the UID of the NFC TAG:   OUTPUT of timeout: root@imx93evk:~# ./nfc-app NFC reader: _PN532_I2c opened Waiting for an NFC tag (timeout: 10 seconds)... No NFC tag detected within the timeout period. root@imx93evk:~#   OUTPUT when tag is detected: root@imx93evk:~# ./nfc-app NFC reader: _PN532_I2c opened Waiting for an NFC tag (timeout: 10 seconds)... Tag detected - UID: 04:16:BC:D2:A2:11:90 root@imx93evk:~#   To compile the app just copy the attached nfc-app.c file to the i.MX93 EVK and compile using this command: root@imx93evk:~# gcc nfc-app.c -o nfc-app -lnfc     I hope this thread can be helpful!   Best regards, Salas.  

Please notice the following patches are only tested in the environment that is listed below. For the environment with other software versions or hardware equipment, some other editing  may be required Environment: i.MX 8MP EVK LVDS：LVDS BOE EV121WXM-N10-1850  LVDS to MiniSAS panel：XMX-LVDS-MINISAS Software: LF5.15.71 U-boot: 1. Apply '0001-Enable-DY1212W-4856-in-U-boot-for-i.MX8MP.patch' to enable EV121WXM-N10-1850  in U-boot stage. If other LVDS panel is used here, you will need porting your specific LVDS device in this step. 2. Apply '0002-Modify-u-boot-to-show-logo-seamlessly-for-i.MX8MP.patch' to make sure display related models won't be power off, which will help to achieve seamless display. 3. In the original U-boot driver, PWM isn't enable. Therefore, apply '0003-Enable-PWM-and-BACKLIGHT-in-U-boot-and-modify-to-sho.patch' to enable PWM. Kernel: 1. Apply '0001-Enable-DY1212W-4856-in-Kernl-for-i.MX8MP.patch' to enable EV121WXM-N10-1850  in Kernel. If other LVDS panel is used here, you will need porting your specific LVDS device in this step. 2. Apply '0002-Modify-Kernel-to-show-logo-seamlessly-for-i.MX8MP.patch' to make sure LVDS related models won't be init in the booting progress. 3. Apply '0003-Enable-PWM-and-BACKLIGHT-in-Kernel-and-modify-to-sho.patch' to make sure we could edit backlight of panel in Kernel.