In i.MX8MQ and i.MX8M Mini, the codec used is WM8524, which only supports audio playback. Although 8M Mini does have PDM microphone interface (MICFIL), there is no support for audio record via I2S. This guide will show you how to add audio recording driver in i.MX8MQ/8MM step by step.   Hardware: i.MX8MQ/8MM Evk, I2S output digital microphone OS: Android/Linux Kernel version: 4.14.78 For detailed steps, please see attachment.

Introduction The Intel® Neural Compute Stick 2 (Intel® NCS 2) is Intel’s newest deep learning inference development kit. Packed in an affordable USB-stick form factor, the Intel® NCS 2 is powered by latest VPU (vision processing unit) – the Intel® Movidius™ Myriad X, which includes an on-chip neural network accelerator called the Neural Compute Engine. With 16 SHAVE cores and a dedicated hardware neural network accelerator, the NCS 2 offers up to 8x performance improvement+ over the previous generation. Ref: https://software.intel.com/en-us/articles/run-intel-openvino-models-on-intel-neural-compute-stick-2   The NCS 2 officially supported hardware platform is x86 PC and Raspberry Pi. In this guide, we will introduce how to implement in i.MX8MQ. Please see attached guide for more details.

Basic Linear Algebra Subprograms (BLAS) is a specification that prescribes a set of low-level routines for performing common linear algebra operations such as vector addition, scalar multiplication, dot products, linear combinations, and matrix multiplication. OpenBLAS is an optimized BLAS library which is uesd for deep learning accelerator in Caffe/Caffe2. I enable it in Yocto (Rocko) by adding bb file. And I build on i.MX6QP, i.MX7ULP and i.MX8MQ and also run its test example successfully. You can find test example(openblas_utest) under folder image/opt/openblas/bin of OpenBLAS work directory. Currently, version 0.3.0 is supported in the bb file. +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ update to v 0.3.6 and enable mutli-thread by set USE_OPENMP=1 and USE_THREAD=4 when compiling this library.

Low power demo on i.MX8MM.   9/28/2020: Attachments updated. 1. Fix a bug in 5.4.24 kernel that system can only wakeup once. 2. Remove 0x104 from atf patch. On 5.4.24, tested OK without PLL2.   9/8/2020: Attachments updated. Add patches for 5.4.24 kernel.   We use it to test power consumption on i.MX8MM EVK.   Usage: 1. Kernel: echo "mem" > /sys/power/state   2. M4: Select a power mode from menu and wait for wakeup. Default wakeup method is GPT.   Add more patches, which will add functions for the case: 1. M core RUN and A core in suspend with DDR OFF. 2. M core wakeup A core without DDR support.   Descriptions: freertos_lowpower.zip. A simple freertos example for M4 RUN when A core in DSM. Generally, we use MU_TriggerInterrupts(MUB, kMU_GenInt0InterruptTrigger); to do wakeup. low_power_demo.zip A simple baremetal example for M4 RUN when A core in DSM. Generally, we use MU_TriggerInterrupts(MUB, kMU_GenInt0InterruptTrigger); to do wakeup. Note that the freertos version will have more options in menu. atf patch: Allow A53 to enter fast-wakeup stop when M4 RUN. Also avoid bypass of some plls, which is important to make M4 RUN when A53 enters suspend. 0001-iMX8MM-GIR-wakeup.patch: GIR wakeup patch for kernel. Need kernel to use fsl-imx8mm-evk-m4.dtb. 0002-Don-t-keep-root-clks-when-M4-is-ON.patch. Don't keep root clocks when M4 is ON. 0001-plat-imx8mm-keep-the-necessary-clock-enabled-for-rdc.patch. There's a design issue that when wakeup from DSM, described in patch: "if NOC power down is enabled in DSM mode, when system resume back, RDC need to reload the memory regions config into the MRCs, so PCIE, DDR, GPU bus related clock must on to make sure RDC MRCs can be successfully reloaded." Note that this patch will keep PCIE, DDR and GPU clock on, which will increase the power. An optimization will be decrease PCIE, DDR and GPU clock before entering DSM.   Power measurement: Supply Domain Voltage(V) I(mA) P(mW) peak avg peak avg peak avg VDD_ARM(L6) 1.010029 1.009513 1.109 1.030 1.120 1.039 VDD_SOC(L5) 0.855199 0.854857 190.110 189.973 162.582 162.400 VDD_GPU_VPU_DRAM(L10) 0.977240 0.977050 19.865 19.800 19.413 19.346 NVCC_DRAM(L15) 1.094407 1.094168 2.059 1.984 2.253 2.171 Total         185.367 184.956   Notes: This power measurements is got by putting Cortex-A in DSM and Cortex-M in RUNNING. In other tests, if M core can be put to STOP mode, additional power can be saved (5 - 20mA in VDD_SOC). From the table, we can see that by putting DDR to retain, a lot of power can be saved in VDD_SOC and NVCC_DRAM.

Why SWPDM?   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   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 microphone 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. 

Note: This guide is specifically for use with Segger software. For steps to use with the MCUXpresso extension for VSCode please refer to How to Use Segger J-Link Plus with i.MX 8M Process... - NXP Community This guide aims to be a technical reference to start using the SEGGER J-Link Plus debug probe on the i.MX 8M Family processors. The board used for this guide specifically is the i.MX 8M Nano EVK, but it also applies to all processors of the i.MX 8M Family. Here we will describe the process using the following structure: Hardware requirements Software requirements How to find, build, and download the i.MX SDK Host setup Build an example application Target setup Run an example application Hardware requirements Evaluation Kit for the i.MX8M Nano Applications Processor (i.MX 8M Nano Evaluation Kit | NXP Semiconductors) Quick Start Guide for i.MX8M Nano (I.MX 8M Nano EVK Quick Start Guide (nxp.com)) J-Link Plus JTAG/SWD debug probe with USB interface (SEGGER J-Link PLUS) Features Download speed up to 1MB/s Unlimited breakpoints in flash memory Supports direct download into RAM and flash memory Supported NXP Devices Supported Devices - Search results "nxp" (segger.com) 9 Pin Cortex-M Adapter (9-Pin Cortex-M Adapter (segger.com)) Description Adapts from the 20-pin 0.1'' JTAG connector to a 9-pin 0.05'' Samtec FTSH connector as defined by Arm. Software requirements Windows 10 OS (host) J-Link Software and Documentation Pack for Windows (https://www.segger.com/products/debug-probes/j-link/models/j-link-plus/) i.MX 8M Nano SDK (Welcome | MCUXpresso SDK Builder (nxp.com)) MinGW CMake GNU ARM Embedded Toolchain Terminal Emulator for serial port connection (Tera Term, PuTTY, etc.)   How to find, build, and download the i.MX 8M Nano SDK Enter Welcome | MCUXpresso SDK Builder (nxp.com) Click on "Select Development Board"  Select EVK-MIMX8MN (MIMX8MN6xxxJZ) from Boards -> i.MX -> EVK-MIMX8MN Click on the Build MCUXpresso SDK button Click on Download SDK, you'll be redirected to the MCUXpresso SDK Dashboard Look for the i.MX 8M Nano SDK and click on Download SDK Click on Download SDK archive and documentation, accept the Software Terms and Conditions and the .zip file for the SDK will be downloaded.   Host Setup J-Link Software and Documentation Pack for Windows Download J-Link Software and Documentation Pack for Windows (https://www.segger.com/products/debug-probes/j-link/models/j-link-plus/) Execute .exe file downloaded and then click on "Next" Follow the installation wizard with default parameters and click on "Finish".   MinGW Download the MinGW installer from MinGW - Minimalist GNU for Windows - Browse /Installer at SourceForge.net. Follow the installer instructions leaving all options in their default values. Click on Continue when the installer finishes. A MinGW Installation Manager window will pop up, select mingw32-base and msys-base from basic setup. Click on the Installation menu and select Apply Changes. On the next window, click on Apply and wait for the package to finish downloading. Add the appropriate item to the Windows operating system path environment variable. It can be found under Control Panel->System and Security->System->Advanced System Settings in the Environment Variables... section. The path is: \bin. Assuming the default installation path, "C:\MinGW". If the path is not set correctly, the toolchain does not work. Note: If you have C:\MinGW\msys\x.x\bin in your PATH variable (as required by KSDK 1.0.0), remove it to ensure that the new GCC build system works correctly.   CMake Download CMake Windows x64 Installer from  Download CMake. Scroll down to find the latest release for the installer: Run the installer and follow the instructions. Make sure to check the Add CMake to system PATH for all users option during the installation process. Restart your PC to apply changes. GNU ARM Embedded Toolchain Download the GNU ARM Embedded Toolchain installer from Downloads | GNU Arm Embedded Toolchain Downloads – Arm Developer, scroll down to find the latest release for the installer: Follow the installer instructions and check the Add to PATH option at the end of the process. Add a new system environment variable named ARMGCC_DIR with the GNU ARM embedded Toolchain installation path as its value ARMGCC_DIR=ARMGCC_DIR=C:\Program Files (x86)\GNU Arm Embedded Toolchain\10 2021.10​   Build and example application Press the Windows Key and search for GCC Command Prompt and run it. Change the directory to the example application project directory (inside the armgcc folder), for example: C:\Users/<user>\Documents\8MNANO\boards\evkmimx8mn\demo_apps\hello_world\armgcc Type build_debug.bat on the command line or double click the build_debug.bat file (inside the armgcc folder of the application project) through Windows Explorer Wait for the building process to end and make sure no error messages are shown. Target Setup Connect the debug cable (USB-UART) to the board and the other end to your PC. Connect the power cable to the second USB-C port and to a wall socket. Don't turn on the board yet. Connect the JLink Plus to your PC with the USB cable. Connect the JLink Plus to the JTAG of the i.MX 8M Nano EVK board In this part we will need to identify pin number 1 from the 9 Pin Cortex-M adapter and from the i.MX 8M Nano EVK board. For the first one identify pin 7 identifiable by a "Non-connect pin". For the i.MX 8M Nano, you can identify easily with a number 1 in one corner of the connectors.    The whole setup should look similar to this: Run an example application Open a terminal application (TeraTerm, PuTTY, etc.) on your host PC and set it to the serial debug port with the lowest numbered port with the following settings: Speed: 115200 Data: 8-bit Parity: none Stop bits: 1 bit Flow Control: none Start SEGGER J-Link GDB Server. On section “Target Device” select MIMX8MN6_M7 and click “OK”. You will see the following window. Open a new instance of GCC Command Prompt. Change to the directory with the example previously compiled. Here is the path to folder that contains the files: <install_dir>/boards/<boad_name>/<example_type>/<application_name>/armgcc/debug​ Run the command: arm-none-eabi-gdb.exe <application_name>.elf.​ Example: At this point you are in the GDB Command Prompt, run the following commands: target remote localhost:2331 monitor reset monitor halt load monitor go The application will be now running and you can see the “hello world” on your terminal (PuTTY,Tera Term, etc.).  

What is a device tree? The device tree is a data structure that is passed to the Linux kernel to describe the physical devices in a system. Before device trees came into use, the bootloader (for example, U-Boot) had to tell the kernel what machine type it was booting. Moreover, it had to pass other information such as memory size and location, kernel command line, etc. Sometimes, the device tree is confused with the Linux Kernel configuration, but the device tree specifies what devices are available and how they are accessed, not whether the hardware is used. The device tree is a structure composed of nodes and properties: Nodes: The node name is a label used to identify the node. Properties: A node may contain multiple properties arranged with a name and a value. Phandle: Property in one node that contains a pointer to another node. Aliases: The aliases node is an index of other nodes. A device tree is defined in a human-readable device tree syntax text file such as .dts or .dtsi. The machine has one or several .dts files that correspond to different hardware configurations. With these .dts files we can compile them into a device tree binary (.dtb) blobs that can either be attached to the kernel binary (for legacy compatibility) or, as is more commonly done, passed to the kernel by a bootloader like U-Boot. What is Devshell? The Devshell is a terminal shell that runs in the same context as the BitBake task engine. It is possible to run Devshell directly or it may spawn automatically. The advantage of this tool is that is automatically included when you configure and build a platform project so, you can start using it by installing the packages and following the setup of i.MX Yocto Project User's Guide on section 3 “Host Setup”. Steps: Now, let’s see how to compile your device tree files of i.MX devices using Devshell. On host machine. Modify or make your device tree on the next path: - 64 bits. ~/imx-yocto-bsp/<build directory>/tmp/work-shared/<machine>/kernel-source/arch/arm64/boot/dts/freescale - 32 bits. ~/imx-yocto-bsp/<build directory>/tmp/work-shared/<machine>/kernel-source/arch/arm/boot/dts To compile, it is needed to prepare the environment as is mentioned on i.MX Yocto Project User's Guide on section 5.1 “Build Configurations”. $ cd ~/imx-yocto-bsp $ DISTRO=fsl-imx-xwayland MACHINE=<machine> source imx-setup-release.sh -b <build directory> $ bitbake -c devshell virtual/kernel (it will open a new window) On Devshell window. $ make dtbs (after finished, close the Devshell window) On host machine. $ bitbake -c compile -f virtual/kernel $ bitbake -c deploy -f virtual/kernel This process will compile all the device tree files linked to the machine declared on setup environment and your device tree files will be deployed on the next path: ~/imx-yocto-bsp/<build directory>/tmp/deploy/images/<machine> I hope this article will be helpful. Best regards. Jorge.

    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 ]  

GmSSL is an open source cryptographic toolbox that supports SM2 / SM3 / SM4 / SM9 and other national secret (national commercial password) algorithm, SM2 digital certificate and SM2 certificate based on SSL / TLS secure communication protocol to support the national security hardware password device , To provide in line with the national standard programming interface and command line tools, can be used to build PKI / CA, secure communication, data encryption and other standards in line with national security applications. For more information, please access GmSSL official website http://gmssl.org/english.html.   Software environments as the belows: Linux kernel: imx_4.14.98_2.0.0_ga cryptodev: 1.9 HW platform: i.MX6UL, i.MX7D/S, i.MX8M/MM, i.MX8QM/QXP. The patches include the following features: 1, Support SM2/SM9 encryption/decryption/sign/verify/key exchange, RSA encryption/decryption, DSA/ECDSA sign/verify, DH/ECDH key agreement, ECC & DLC & RSA key generation and big number operation and elliptic curve math by CAAM hardware accelerating. 2, run "git apply 0001-Enhance-cryptodev-and-its-engine-in-GmSSL-by-CAAM-s-.patch" under folder sources/poky, and "git apply 0001-Add-public-key-cryptography-operations-in-CAAM-drive.patch" under folder sources/meta-fsl-bsp-release for patch these codes. 3, GmSSL Build command: $ tar zxvf GmSSL-master-iMX.tgz $ cd GmSSL-master-iMX (For i.MX8M/MM, i.MX8QM/QXP) $ source /opt/arm-arch64/environment-setup-aarch64-poky-linux  $ ./Configure -DHAVE_CRYPTODEV -DUSE_CRYPTODEV_DIGESTS -DHW_ENDIAN_SWAP  --prefix=~/install64 --openssldir=/etc/gmssl --libdir=/usr/lib no-saf no-sdf no-skf no-sof no-zuc -no-ssl3 shared linux-aarch64 $ make  $ make install                            /*image and config file will be installed to folder ~/install64 */   (For i.MX6UL, i.MX7D/S) $ source /opt/arm-arch32/environment-setup-cortexa7hf-neon-poky-linux-gnueabi $ ./Configure -DHAVE_CRYPTODEV -DUSE_CRYPTODEV_DIGESTS --prefix=~/install32 --openssldir=/etc/gmssl --libdir=/usr/lib no-saf no-sdf no-skf no-sof no-zuc -no-ssl3 shared linux-armv4 $ make  $ make install                            /*image and config file will be installed to folder ~/install32 */   4, How to use GmSSL: copy image gmssl to /usr/bin on i.MX board; copy gmssl libcrypto.so.1.1 and libssl.so.1.1 to /usr/lib on i.MX board; copy folder etc/gmssl to /etc/ on i.MX board. copy test examples (dhtest, dsatest, rsa_test, ecdhtest, ecdsatest, eciestest, sm3test, sms4test, sm2test, sm9test) under GmSSL-master-iMX/test  to U disk for running. You can run test examples by the following commands: #insmod /lib/modules/4.14.98-imx_4.14.98_2.0.0_ga+g5d6cbeafb80c/extra/cryptodev.ko #/run/media/sda1/dhtest #/run/media/sda1/dsatest #/run/media/sda1/rsa_test #/run/media/sda1/ecdhtest #/run/media/sda1/ecdsatest #/run/media/sda1/eciestest #/run/media/sda1/sm3test #/run/media/sda1/sms4test #/run/media/sda1/sm2test #/run/media/sda1/sm9test and speed test commands: #gmssl speed sm2 #gmssl genrsa -rand -f4 512 #gmssl speed dsa #gmssl genrsa -rand -f4 1024 #gmssl speed rsa #gmssl genrsa -rand -f4 2048 #gmssl speed ecdsa #gmssl genrsa -rand -f4 3072 #gmssl speed ecdh #gmssl genrsa -rand -f4 4096   ++++++++++++++++++++++++++++     updating at 2019-09-10   +++++++++++++++++++++++++++++++++++++++++++++ 0001-fix-the-bug-which-hash-and-cipher-key-don-t-use-DMA-.patch fix the issue which dismatching on key buffer between crytodev and caam driver. Crytodev uses stack's buffer for key storage and caam driver use it to dma map which cause flush cache failure. The patch need to apply on cryptodev-module in Yocto build.   ++++++++++++++++++  updating at 2019-10-14 +++++++++++++++++++++++++++++++++++ This updating is for China C-V2X application. The meta-gmcrypto is Yocto layer which bases on GmSSL and Cryptodev. I add HW SM2 verification by dedicated CAAM job descriptor and enhanced SW SM2 verification by precomputed multiples of generator and ARMv8 assembler language to accelerate point  operation. Software environments as the belows: Linux kernel: imx_4.14.98_2.0.0_ga cryptodev: 1.9 HW platform: i.MX8M/MM/MN, i.MX8QM/QXP. How to build: 1, You need to git clone https://gitee.com/zxd2021-imx/meta-gmcrypto.git, and git checkout Linux-4.14.98_2.0.0.  Copy meta-gmcrypto to folder (Yocto 4.14.98_2.0.0_ga dir)/sources/ 2, Run DISTRO=fsl-imx-wayland MACHINE=imx8qxpmek source fsl-setup-release.sh -b build-cv2x and add BBLAYERS += " ${BSPDIR}/sources/meta-cv2x " into (Yocto 4.14.98_2.0.0_ga dir)/build-cv2x/conf/bblayers.conf and  IMAGE_INSTALL_append += " gmssl-bin "  into local.conf 3, Run bitbake fsl-image-validation-imx. 4, You can find cv2x-verify.c under (build dir)/tmp/work/aarch64-poky-linux/cryptodev-tests/1.9-r0/git/tests. It is example for using CAAM cryptdev interface to do C-V2X verification (includes SM2 p256, NIST p256 and brainpoolP256r1).  cv2x_benchmark.c under (build dir)/tmp/work/aarch64-poky-linux/gmssl/1.0-r0/gmssl-1.0/test is the benchmark test program of C-V2X verifying. It includes HW, SW and HW+SW(one CPU) verifying for SM2 p256, NIST p256 and brainpoolP256r1. 5, Run the below command on your i.MX8QXP MEK board. modprobe cryptodev ./cv2x_benchmark Note: the udpated GmSSL also support projective coordinates and affine coordinates (CAAM only support affine coordinates). Affine coordinates is used by default. You can call EC_GROUP_set_coordinates() and EC_GROUP_restore_coordinates() to change coordinates and restore default. When you hope to use some EC APIs under expected coordinates, you need to call EC_GROUP_set_coordinates() before EC APIs and EC_GROUP_restore_coordinates() after them. Like the below example: orig_coordinate = EC_GROUP_set_coordinates(EC_PROJECTIVE_COORDINATES); group = EC_GROUP_new_by_curve_name(NID_sm2p256v1); EC_GROUP_restore_coordinates(orig_coordinate);   ++++++++++++++++++++++++++++     updating at 2020-11-09   +++++++++++++++++++++++++++++++++++++++++++++ This updating is for Yocto release of Linux 5.4.47_2.2.0​​. The meta-gmcrypto is Yocto layer which also support c-v2x feature in previous release.  Software environments as the belows: Linux kernel: imx_5.4.47_2.2.0 cryptodev: 1.10 HW platform: i.MX6UL, i.MX7D/S, i.MX8M/8M Mini/8M Nano/8M Plus, i.MX8/8X. How to build: 1, You need to git clone https://gitee.com/zxd2021-imx/meta-gmcrypto.git, and git checkout Linux-5.4.47-2.2.0. Copy meta-gmcrypto to folder (Yocto 5.4.47_2.2.0 dir)/sources/ 2, Run DISTRO=fsl-imx-xwayland MACHINE=imx8mmevk source imx-setup-release.sh -b build-imx8mmevk and add BBLAYERS += " ${BSPDIR}/sources/meta-gmcrypto " into (Yocto 5.4.47_2.2.0 dir)/build-imx8mmevk/conf/bblayers.conf and  IMAGE_INSTALL_append += " gmssl-bin "  into local.conf 3, Run bitbake fsl-image-validation-imx. 4, You can find cv2x-verify.c under (build dir)/tmp/work/aarch64-poky-linux/cryptodev-tests/1.10caam-r0/git/tests. It is example for using CAAM cryptdev interface to do C-V2X verification (includes SM2 p256, NIST p256 and brainpoolP256r1).  cv2x_benchmark.c under (build dir)/tmp/work/aarch64-poky-linux/gmssl/1.0-r0/gmssl-1.0/test is the benchmark test program of C-V2X verifying. It includes HW, SW and HW+SW(one CPU) verifying for SM2 p256, NIST p256 and brainpoolP256r1. 5, Run the below command on your i.MX8M Mini evk board. modprobe cryptodev ./cv2x_benchmark gmssl speed sm2 gmssl speed dsa gmssl speed rsa gmssl speed ecdsa gmssl speed ecdh gmssl genrsa -rand -f4 -engine cryptodev 4096 Note: 1, the udpated GmSSL also support projective coordinates and affine coordinates (CAAM only support affine coordinates). Affine coordinates is used by default. You can call EC_GROUP_set_coordinates() and EC_GROUP_restore_coordinates() to change coordinates and restore default. When you hope to use some EC APIs under expected coordinates, you need to call EC_GROUP_set_coordinates() before EC APIs and EC_GROUP_restore_coordinates() after them. Like the below example: orig_coordinate = EC_GROUP_set_coordinates(EC_PROJECTIVE_COORDINATES); group = EC_GROUP_new_by_curve_name(NID_sm2p256v1); EC_GROUP_restore_coordinates(orig_coordinate); 2, Yocto Zeus integrates openssl 1.1.1g, so I change library name of gmssl from libcrypto to libgmcrypto and from libssl to libgmssl to avoid name confliction with openssl 1.1.1g (lib name are also libcrypto.so.1.1 and libssl.so.1.1). You should use -lgmcrypto and -lgmssl when you link gmssl library instead of -lcrypto and -lssl.   +++++++++++++++++++++++    updating at 2021-02-08  ++++++++++++++++++++++++++++ This updating is for Yocto release of Linux 5.4.70_2.3.0​​. The package meta-gmcrypto is Yocto layer which also support c-v2x feature in previous release. You need to git clone https://gitee.com/zxd2021-imx/meta-gmcrypto.git, and git checkout Linux-5.4.70-2.3.0.    +++++++++++++++++++++++    updating for Linux-5.10.52-2.1.0  +++++++++++++++++++++++ This updating is for Yocto release of Linux 5.10.52_2.1.0​​. The package meta-gmcrypto is Yocto layer which also support c-v2x feature in previous release.  1, You need to git clone https://gitee.com/zxd2021-imx/meta-gmcrypto.git, and git checkout Linux-5.10.52-2.1.0.  Copy meta-gmcrypto to folder (Yocto 5.10.52_2.1.0 dir)/sources/. 2, Run DISTRO=fsl-imx-xwayland MACHINE=imx8mmevk source imx-setup-release.sh -b build-imx8mmevk and add BBLAYERS += " ${BSPDIR}/sources/meta-gmcrypto " into (Yocto 5.10.52_2.1.0 dir)/build-imx8mmevk/conf/bblayers.conf and  IMAGE_INSTALL_append += " gmssl-bin "  into local.conf 3, Run bitbake imx-image-multimedia. 4, Run the below command on your i.MX8M Mini EVK board. modprobe cryptodev gmssl speed sm2 gmssl genrsa -rand -f4 -engine cryptodev 512 gmssl speed dsa gmssl genrsa -rand -f4 -engine cryptodev 1024 gmssl speed rsa gmssl genrsa -rand -f4 -engine cryptodev 2048 gmssl speed ecdsa gmssl genrsa -rand -f4 -engine cryptodev 3072 gmssl speed ecdh gmssl genrsa -rand -f4 -engine cryptodev 4096 gmssl speed -evp sha256 -engine cryptodev -elapsed gmssl speed -evp aes-128-cbc -engine cryptodev -elapsed gmssl speed -evp aes-128-ecb -engine cryptodev -elapsed gmssl speed -evp aes-128-cfb -engine cryptodev -elapsed gmssl speed -evp aes-128-ofb -engine cryptodev -elapsed gmssl speed -evp des-ede3 -engine cryptodev -elapsed gmssl speed -evp des-cbc -engine cryptodev -elapsed gmssl speed -evp des-ede3-cfb -engine cryptodev -elapsed +++++++++++++++++++++++    updating for Linux-5.15.71-2.2.0 +++++++++++++++++++++++ This updating is for Yocto release of Linux 5.15.71-2.2.0​​. The package meta-gmcrypto is Yocto layer which also support c-v2x feature in previous release.  1, You need to git clone https://gitee.com/zxd2021-imx/meta-gmcrypto.git, and git checkout Linux-5.15.71-2.2.0.  Copy meta-gmcrypto to folder (Yocto 5.15.71-2.2.0 dir)/sources/. 2, Run DISTRO=fsl-imx-xwayland MACHINE=imx8mmevk source imx-setup-release.sh -b build-imx8mmevk and add BBLAYERS += " ${BSPDIR}/sources/meta-gmcrypto " into (Yocto 5.15.71-2.2.0 dir)/build-imx8mmevk/conf/bblayers.conf and  IMAGE_INSTALL:append = " gmssl-bin "  into local.conf 3, Run bitbake imx-image-multimedia. 4, Run the below command on your i.MX8M Mini EVK board. modprobe cryptodev gmssl speed sm2 gmssl genrsa -rand -f4 -engine cryptodev 512 gmssl speed dsa gmssl genrsa -rand -f4 -engine cryptodev 1024 gmssl speed rsa gmssl genrsa -rand -f4 -engine cryptodev 2048 gmssl speed ecdsa gmssl genrsa -rand -f4 -engine cryptodev 3072 gmssl speed ecdh gmssl genrsa -rand -f4 -engine cryptodev 4096 gmssl speed -evp sha256 -engine cryptodev -elapsed gmssl speed -evp aes-128-cbc -engine cryptodev -elapsed gmssl speed -evp aes-128-ecb -engine cryptodev -elapsed gmssl speed -evp aes-128-cfb -engine cryptodev -elapsed gmssl speed -evp aes-128-ofb -engine cryptodev -elapsed gmssl speed -evp des-ede3 -engine cryptodev -elapsed gmssl speed -evp des-cbc -engine cryptodev -elapsed gmssl speed -evp des-ede3-cfb -engine cryptodev -elapsed   +++++++++++++++++++++++    Updating for Linux-6.1.55-2.2.0 +++++++++++++++++++++++ This updating is new GmSSL 3.1.1 and Yocto release of Linux 6.1.55-2.2.0. 主要特性 超轻量：GmSSL 3 大幅度降低了内存需求和二进制代码体积，不依赖动态内存，可以用于无操作系统的低功耗嵌入式环境(MCU、SOC等)，开发者也可以更容易地将国密算法和SSL协议嵌入到现有的项目中。 更合规：GmSSL 3 可以配置为仅包含国密算法和国密协议(TLCP协议)，依赖GmSSL 的密码应用更容易满足密码产品型号检测的要求，避免由于混杂非国密算法、不安全算法等导致的安全问题和合规问题。 更安全：TLS 1.3在安全性和通信延迟上相对之前的TLS协议有巨大的提升，GmSSL 3 支持TLS 1.3协议和RFC 8998的国密套件。GmSSL 3 默认支持密钥的加密保护，提升了密码算法的抗侧信道攻击能力。 跨平台：GmSSL 3 更容易跨平台，构建系统不再依赖Perl，默认的CMake构建系统可以容易地和Visual Studio、Android NDK等默认编译工具配合使用，开发者也可以手工编写Makefile在特殊环境中编译、剪裁。 More information, please refer to Readme Recipe file is the attached gmssl_3.1.1.bb.tar.gz

This documents describes how to add the NFC support to i.MX8M mini evk running Yocto. Hardware setup: The i.MX8M mini evk (see i.MX 8M Mini Evaluation Kit | NXP) featuring Raspberry Pi compliant connector, the OM5578/RPI PN7150 demo kit can be used to perform this porting (see NFC Development Kits for Arduino and more|NXP). However a small modification must be done because some of the signals required by PN7150 are not mapped to i.MX8M mini expansion connector pins. OM5578 IRQ signal must be mapped to Raspberry Pi connector pin #19 and OM5578 IRQ signal must be mapped to Raspberry Pi connector pin #21. See below a picture of the modification: Then, the two boards can fit together as shown in the picture below: Quick start using demo image: The demo image including support for PN7150, is based on i.MX Linux 4.14.78_1.0.0 BSP software release (see i.MX Software | NXP). Related documentation can be downloaded from here: https://www.nxp.com/webapp/Download?colCode=L4.14.78_1.0.0_LINUX_DOCS. Just flash the demo image (downloaded from here: https://www.nxp.com/lgfiles/updates/NFC/LINUX_L4-14-78_IMAGE_MX8MMEVK.zip) following guidelines from i.MX_Linux_User's_Guide document (part of L4.14.78_1.0.0_LINUX Documentation package mentioned above). Then in a terminal you can run the demo application included in the image executing the command:    # nfcDemoApp poll Approaching the NFC tag, provided as reference in the OM5578 demo kit, to the NFC Antenna will trigger such display: Adding PN7150 support to imx-linux-sumo release: Pre-condition is to have L4.14.78_1.0.0 release installed and already built as described in i.MX Yocto Project User's Guide (part of L4.14.78_1.0.0_LINUX Documentation package mentioned above) :     $ repo init -u https://source.codeaurora.org/external/imx/imx-manifest  -b imx-linux-sumo -m imx-4.14.78-1.0.0_ga.xml     $ repo sync     $ MACHINE=imx8mmevk DISTRO=fsl-imx-xwayland source fsl-setup-release.sh -b build_dir     $ bitbake fsl-image-validation-imx Then to add PN7150 support to your imx-linux-sumo environment, follow below step by step guidelines: In the sources directory, download the meta-nxp-nfc layer from https://github.com/NXPNFCLinux/meta-nxp-nfc     $ git clone https://github.com/NXPNFCLinux/meta-nxp-nfc.git  Define hardware connection between CPU and PN7150 in device-tree adding the following lines to file build_dir/tmp/work-shared/imx8mmevk/kernel-source/arch/arm64/boot/dts/freescale/fsl-imx8mm-evk.dts: @@ -227,6 +227,8 @@                         fsl,pins = <                                 MX8MM_IOMUXC_I2C3_SCL_I2C3_SCL                  0x400001c3                                 MX8MM_IOMUXC_I2C3_SDA_I2C3_SDA                  0x400001c3 +                               MX8MM_IOMUXC_ECSPI2_MOSI_GPIO5_IO11             0x41 +                               MX8MM_IOMUXC_ECSPI2_MISO_GPIO5_IO12             0x41                         >;                 };   @@ -747,6 +749,13 @@         pinctrl-0 = <&pinctrl_i2c3>;         status = "okay";   +       pn54x: pn54x@28 { +               compatible ="nxp,pn547"; +               reg = <0x28>; +               interrupt-gpios = <&gpio5 11 0>; +               enable-gpios = <&gpio5 12 0>; +       }; +         pca6416: gpio@20 {                 compatible = "ti,tca6416";                 reg = <0x20>; Add the meta-nxp-nfc layer to the build definition updating file build_dir/conf/bblayers.conf with: BBLAYERS += " ${BSPDIR}/sources/meta-nxp-nfc" Add the meta-nxp-nfc layer components to the image definition updating file build_dir/conf/local.conf with: IMAGE_INSTALL_append = " kernel-module-nxp-pn5xx nxp-nfc-bin " Re-build the linux kernel:     $ bitbake -f -c compile linux-imx && bitbake -f -c deploy linux-imx Build meta-nxp-nfc layer:     $ bitbake nxp-nfc Re-build the complete image to include the modifications:     $ bitbake fsl-image-validation-imx Then you can flash the updated image to your i.MX8M mini evk and run the demo application as described in above "Quick start using demo image" chapter. Reference: This porting have been done (demo image and instructions) following guidelines provided in AN11679_PN71xx_Linux_Software_Stack_Integration_Guidelines document.

The Linux L4.9.88_2.0.0 Rocko, i.MX7ULP Linux/SDK2.4 RFP(GA) release files are now available. Linux on IMX_SW web page, Overview -> BSP Updates and Releases ->Linux L4.9.88_2.0.0 SDK on https://mcuxpresso.nxp.com/ web page.   Files available: Linux:  # Name Description 1 imx-yocto-L4.9.88_2.0.0.tar.gz L4.9.88_2.0.0 for Linux BSP Documentation. Includes Release Notes, User Guide. 2 L4.9.88_2.0.0_images_MX6QPDLSOLOX.tar.gz i.MX 6QuadPlus, i.MX 6Quad, i.MX 6DualPlus, i.MX 6Dual, i.MX 6DualLite, i.MX 6Solo, i.MX 6Solox Linux Binary Demo Files 3 L4.9.88_2.0.0_images_MX6SLEVK.tar.gz i.MX 6Sololite EVK Linux Binary Demo Files 4 L4.9.88_2.0.0_images_MX6UL7D.tar.gz i.MX 6UltraLite EVK, 7Dual SABRESD, 6ULL EVK Linux Binary Demo Files 5 L4.9.88_2.0.0_images_MX6SLLEVK.tar.gz i.MX 6SLL EVK Linux Binary Demo Files 6 L4.9.88_2.0.0_images_MX8MQ.tar.gz i.MX 8MQuad EVK Linux Binary Demo files 7 L4.9.88_images_MX7ULPEVK.tar.gz i.MX 7ULP EVK Linux Binary Demo Files  8 L4.9.88_2.0.0-ga_mfg-tools.tar.gz Manufacturing Toolkit for Linux L4.9.88_2.0.0 iMX6,7 BSP 9 L4.9.88_2.0.0_mfg-tool_MX8MQ.tar.gz Manufacturing Toolkit for Linux L4.9.88_2.0.0 i.MX8MQ BSP 10 imx-aacpcodec-4.3.5.tar.gz Linux AAC Plus Codec for L4.9.88_2.0.0   SDK:   On https://mcuxpresso.nxp.com/, click the Select Development Board to customize the SDK based on your configuration then download the SDK package.    Target board: i.MX 6QuadPlus SABRE-SD Board and Platform i.MX 6QuadPlus SABRE-AI Board i.MX 6Quad SABRE-SD Board and Platform i.MX 6DualLite SABRE-SD Board i.MX 6Quad SABRE-AI Board i.MX 6DualLite SABRE-AI Board i.MX 6SoloLite EVK Board i.MX 6SoloX SABRE-SD Board i.MX 6SoloX SABRE-AI Board i.MX 7Dual SABRE-SD Board i.MX 6UltraLite EVK Board i.MX 6ULL EVK Board i.MX 6SLL EVK Board i.MX 7ULP EVK Board i.MX 8MQ EVK Board   What’s New/Features: Please consult the Release Notes.   Known issues For known issues and more details please consult the Release Notes.   More information on changes of Yocto, see: README: https://source.codeaurora.org/external/imx/imx-manifest/tree/README?h=imx-linux-rocko ChangeLog: https://source.codeaurora.org/external/imx/imx-manifest/tree/ChangeLog?h=imx-linux-rocko

Before reading: only a personal works and sharing, not any form of "release". I didn't find any confidential information from the packages. So, I'm publishing it here. This is only for testing purpose. Do NOT use it for building a product. Use it at your own risk!! Yocto is flexible and powerful, and also, big and slow (when building). Sometimes we only need to build uboot or kernel or some piece of testing code. It's really a waste of time to build-up the whole Yocto environment which may cost over 50GB disk space and over 3 hours of building. I've made some scripts and sum them up to form a toolset for building uboot, kernel and some testing code out of Yocto environment. It's only a simple container and expect to use with uboot and kernel source code from formal Freescale release and a SDK built from Yocto project. GitHub source repo:       https://github.com/gopise/gopbuild What’s made off (a full package, not only the container): 1.    Some scripts and configurations files. 2.    SDK built from Yocto. 3.    Uboot/kernel from specific version. 4.    A hello-world to demonstrate how to build app in this environment. 5.    A slimmed rootfs binary from specific BSP pre-built as base. Will customize base on the source under “rootfs” folder. Only a placeholder in the container-only version. How to use it: Several common used board configurations have been included in the script: 6qsabresd/6qsabreai/6qpsabreai. You can add more into the “gopbuild” script easily. The “sabresd” has been set as default.      If you want to build all for sabresd (First of all, de-compress the package): cd <de-compressed-folder> source envsetup [It will prompt for selecting board configuration to be built. Choose one by input corresponding number or click <ENTER> for default board.] gmk ‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍      If you want to build specific module for default board, such as uboot: gmk uboot ‍‍‍‍‍‍‍‍‍      Build kernel for sabreai board instead of default device: gmk kernel sabreai ‍‍‍‍‍‍‍‍‍      Clean everything? gmk all clean ‍‍‍‍‍‍‍‍‍ After a successfully full build, you will get everything under “output” folder, including a log folder contains full build log:      “u-boot.imx/zImage/rootfs.tar.bz2/*.dtb”, can be used with MFG or uuu.      “fsl-image.sdcard”, can be burn into SD card directly. "Ready-for-building" Package: The "gopbuild" itself is a "container-only" package which doesn't contain any source or SDK. I've also made some packages based on latest BSP release for i.MX6/i.MX7/i.MX8. These packages are "ready-for-build" package which you can de-compress and build it directly. -------------------------------------------------------------------------------------------------- URL：https://pan.baidu.com/s/1Xlh1OBGsTRXez_NQw-Rjxg Password: gdc9 -------------------------------------------------------------------------------------------------- Note: 1. To build for i.MX8 (8QM/8MQ/8QXP), you need L4.14.* or above. 2. To build for i.MX8, please download the SCFW from i.MX software page       i.MX Software and Development Tools | NXP      After download, decompress corresponding package for specific chip and put it under "/platform/scfw/". Take i.MX8QXP for example:             /platform/scfw/scfw_export_mx8qx/ All material (uboot/kernel/test code and SDK) are from official Yocto release. Thanks!

Host Environment: ubuntu 16.04 LTS Linux BSP For i.MX : version 4.9.88 The document has 5 main contents: 1. Compiling core-image-base in Yocto BSP --Copy u-boot source code to a new directory --Copy linux kernel source code to a new directory 2. Exporting 4.9.88 toolchain from Freescale Yocto BSP (1) Using MACHINE=imx7dsabresd to export the toolchain (2) Using MACHINE=imx6qsabresd to export the toolchain. Actually above 2 are the same toolchain after exporting. Here , only show any one of boards(not ARM64) can be used for MACHINE. So users only need to export it for one time, select (1) or (2) to export toolchain. (3) Using MACHINE=imx8mqevk to export ARM64 toolchain 3. Compling u-boot & linux kernel under Stanalone iMX7DSabreSD --Compiling  u-boot for imx7dsabresd --Compiling kernel and dtb for imx7dsabresd iMX8MQEVK --Compiling u-boot for imx8mqevk --Compiling kernel and dtb for imx8mqevk 4. Compiling OS Firmware for i.MX7DSabreSD board --u-boot for mfg tools --kernel and dtb for mfg tools 5. Copy OS Firmware to the related path of MFG tools --------------------------------------------------------------------------------------------------------------------------- [Content of Document] 1. Compiling core-image-base in Yocto BSP          After repo syn is done according to “i.MX_Yocto_Project_User's_Guide.pdf”, Use the command to compile linux BSP, u-boot & kernel source code will be released. # DISTRO=fsl-imx-fb MACHINE=imx7dsabresd source fsl-setup-release.sh -b build-fb # bitbake core-image-base          After compiling is done, u-boot & linux kernel source code is in the path below: u-boot: ~/imx-yocto-bsp/build-fb/tmp/work/imx7dsabresd-poky-linux-gnueabi/u-boot-imx/2017.03-r0/git linux: ~/imx-yocto-bsp/build-fb/tmp/work/imx7dsabresd-poky-linux-gnueabi/linux-imx/4.9.88-r0/git          We can create a new directory for uboot and linux kernel source code. Here I created a directory named disk2. # cd ~/ # mkdir disk2 # cd disk2 # mkdir u-boot-2017-03 # mkdir linux-imx-4.9.88 --Copy u-boot source code to a new directory # cd ~/imx-yocto-bsp/build-fb/tmp/work/imx7dsabresd-poky-linux-gnueabi/u-boot-imx/2017.03-r0/git # cp –r ./* ~/disk2/u-boot-2017-03 --Copy linux kernel source code to a new directory # cd ~/imx-yocto-bsp/build-fb/tmp/work/imx7dsabresd-poky-linux-gnueabi/linux-imx/4.9.88-r0/git # cp –r ./* ~/disk2/ linux-imx-4.9.88 2. Exporting 4.9.88 toolchain from Freescale Yocto BSP (1) Using MACHINE=imx7dsabresd to export the toolchain Step1: # cd ~/imx-yocto-bsp/ # DISTRO=fsl-imx-fb MACHINE=imx7dsabresd source fsl-setup-release.sh -b build-minimal … … Do you accept the EULA you just read? (y/n)  y EULA has been accepted. Welcome to Freescale Community BSP The Yocto Project has extensive documentation about OE including a reference manual which can be found at:     http://yoctoproject.org/documentation For more information about OpenEmbedded see their website:     http://www.openembedded.org/ You can now run 'bitbake <target>' Common targets are:     core-image-minimal     meta-toolchain     meta-toolchain-sdk     adt-installer     meta-ide-support Your build environment has been configured with:     MACHINE=imx7dsabresd     SDKMACHINE=i686     DISTRO=fsl-imx-fb     EULA= BSPDIR= BUILD_DIR=. meta-freescale directory found Here “build-minimal” is a directory for compiling source code, users can also set it other name. In ~/imx-yocto-bsp/build-minimal, Begin to export toolchain with the command. Step2: # DISTRO=fsl-imx-fb MACHINE=imx7dsabresd bitbake core-image-minimal -c populate_sdk [Comment-1] About DISTRO and MACHINE on above 2 commands MACHINE can be set the values below. imx6qpsabreauto imx6qpsabresd imx6ulevk imx6ull14x14evk imx6ull9x9evk imx6dlsabreauto imx6dlsabresd imx6qsabreauto imx6qsabresd imx6slevk imx6solosabreauto imx6solosabresd imx6sxsabresd imx6sxsabreauto imx6sllevk imx7dsabresd imx7ulpevk imx8mqevk   So MACHINE’s value is the name each Evaluation Borad. DISTRO can be set the values below: fsl-imx-x11 - X11 graphics are not supported on i.MX 8. fsl-imx-wayland - Wayland weston graphics. fsl-imx-xwayland - Wayland graphics and X11. X11 applications using EGL are not supported. fsl-imx-fb - Frame Buffer graphics - no X11 or Wayland. Frame Buffer is not supported on i.MX 8 bitbake rootfs type       core-image-minimal       core-image-base       core-image-sato       fsl-image-machine-test       fsl-image-validation-imx       fsl-image-qt5-validation-imx Below is the detailed description for above rootfs type: [Comment-2] Descriptions on difference of toolchain between i.MX6/7 and i.MX8MQ          i.MX6 and i.MX7 are both 32bit ARM processor, they use the same toolchain.          i.MX8MQ is 64bit ARM processor, so it’s toolchain is different from that of i.MX6/7. Setp 3:          After above compiling is done, enter into ~/imx-yocto-bsp/build-minimal/tmp/deploy/sdk # cd ~/imx-yocto-bsp/build-minimal/tmp/deploy/sdk # ls Run .sh file: Then continue operations according to guidance: Done: OK, Let us check /opt/fsl-imx-fb/ directory: # ls /opt/fsl-imx-fb/4.9.88-2.0.0/          Because we used MACHINE=imx7dsabresd, environment was named “cortex-A7”, compiler’s version is still 4.9.88. (2) Using MACHINE=imx6qsabresd to export the toolchain.          We can change “MACHINE=imx6qsabresd” and repeat above 3 steps, environment will be named “cortex-A9”.          Close the current terminal, and open a new one. # cd ~/ imx-yocto-bsp # DISTRO=fsl-imx-fb MACHINE=imx6qsabresd source fsl-setup-release.sh -b build-A9-min            Then automatically enter “~/imx-yocto-bsp/build-A9-min”, run command below. # DISTRO=fsl-imx-fb MACHINE=imx6qsabresd bitbake core-image-minimal -c populate_sdk # ~/imx-yocto-bsp/build-A9-min/tmp/deploy/sdk # ls # ./ fsl-imx-fb-glibc-x86_64-core-image-minimal-cortexa9hf-neon-toolchain-4.9.88-2.0.0.sh   Set it up in another directory: /opt/fsl-imx-fb/4.9.88 (3) Using MACHINE=imx8mqevk to export ARM64 toolchain          Export Toolchain for i.MX8MQ, create a new terminal, then run these 2 commands below. # ~/imx-yocto-bsp # DISTRO=fsl-imx-xwayland MACHINE=imx8mqevk source fsl-setup-release.sh -b build-xwayland # DISTRO=fsl-imx-fb MACHINE=imx8mqevk bitbake core-image-minimal -c populate_sdk Done.          Copy the toolchain to /opt/fsl-imx-fb directory # cd ~/imx-yocto-bsp/build-xwayland/tmp/deploy/sdk # ls #./fsl-imx-fb-glibc-x86_64-core-image-minimal-aarch64-toolchain-4.9.88-2.0.0.sh          I installed it to a new directory: /opt/fsl-imx-fb/4.9.88-arm64 #ls ls /opt/fsl-imx-fb/4.9.88-arm64/  OK, 64bit toolchain for i.MX8MQ has been exported to the directory. 3. Compling u-boot & linux kernel under Stanalone iMX7DSabreSD --Compiling  u-boot for imx7dsabresd # cd ~/disk2/u-boot-2017-03 # source /opt/fsl-imx-fb/4.9.88-2.0.0/environment-setup-cortexa7hf-neon-poky-linux-gnueabi # export ARCH=arm # make clean # make mx7dsabresd_defconfig # make u-boot.imx Done. --Compiling kernel and dtb for imx7dsabresd # cd ~/disk2/linux-imx-4.9.88/ [comment] If environment has been configured, that is, these 2 commands have been run on the current terminal, don’t need to run them again. “source /opt/fsl-imx-fb/4.9.88-2.0.0/environment-setup-cortexa7hf-neon-poky-linux-gnueabi” and “export ARCH=arm” # make clean # make imx_v7_defconfig # make            zImage is in “~/disk2/linux-imx-4.9.88/arch/arm/boot”          dtb is in “~/disk2/linux-imx-4.9.88/arch/arm/boot/dts”            Probably users want to run “make menuconfig”, and meet the errors like below. # sudo apt-get install libncurses*  (To solve the problem below) # make menuconfig [Comment-3]  Users can also use "environment-setup-cortexa9hf-neon-poky-linux-gnueabi" to compile u-boot and kernel. iMX8MQEVK --Compiling u-boot for imx8mqevk # cd ~/disk2/u-boot-2017-03 # source /opt/fsl-imx-fb/4.9.88-arm64/environment-setup-aarch64-poky-linux # export ARCH=arm64 # make clean # make imx8mq_evk_defconfig # make u-boot.imx Done. --Compiling kernel and dtb for imx8mqevk # cd ~/disk2/linux-imx-4.9.88/ [comment] If environment has been configured, that is, these 2 commands have been run on the current terminal, don’t need to run them again. “source /opt/fsl-imx-fb/4.9.88-arm64/environment-setup-aarch64-poky-linux” and “export ARCH=arm64” # make clean # make defconfig # make          Run the command to unset LDFLAGS: # unset LDFLAGS # make Done. 4. Compiling OS Firmware for i.MX7DSabreSD board --u-boot for mfg tools # make mx7dsabresd_config # make u-boot.imx          Then rename u-boot.imx to be “u-boot-mx7dsabresd-mfg.imx”. --kernel and dtb for mfg tools          Copy imx_v7_mfg_defconfig file to “arch/arm/configs”, then run commands below. # make imx_v7_mfg_defconfig # make          zImage will be generated at path arch/arm/boot.          dtb file will be generated at path arch/arm/boot/dts            Then rename zImage to be zImage-mx7dsabre-mfg,          Rename imx7d-sdb.dtb to be zImage-imx7d-sdb-mfg.dtb 5. Copy OS Firmware to the related path of MFG tools          Up to now, 3 files for OS Firmware has been generated, then copy these 3 files to mfgtools\Profiles\Linux\OS Firmware\firmware            When MFG Tools begins to run, these 3 files and ramdisk will be downloaded to SDRAM on board, then run them, and download images(u-boot\kernel\rootfs\)  which have been ready in  “mfgtools\Profiles\Linux\OS Firmware\files”.            Above steps and commands will be performed according to list in ucl2.xml. So customer will add a new list for her downloading or change an existing list according to image’s name. NXP TIC team Weidong Sun 04-25-2019

         In recent months, some I.MX customers hope to compile u-boot-fw-utils in yocto and get fw_printenv & fw_setenv tools.          Although there are u-boot-fw-utils bblayers in Yocto recipes, by default, u-boot-fw-utils is not based on u-boot-imx, but downloaded from the u-boot source website, when using bitbake When u-boot-fw-utils compiles it, it will fail to compile.          For example: # cd  ~/imx-yocto-bsp-5.4.3_1.0.0 # DISTRO=fsl-imx-fb MACHINE=imx6sxsabresd source imx-setup-release.sh -b build_sabresd # bitbake u-boot-fw-utils -c compile          If changing .config to be mx6sxsabresd_optee_defconfig in the top directory of u-boot source code, new errors will occur, like descriptions in the link:          https://community.nxp.com/message/1318081?commentID=1318081#comment-1318081            The root cause is that the u-boot is not u-boot-imx.          If we did the test below, it is easy to validate it.      Compiling u-boot # bitbake u-boot-imx -c compile          After compilation is done, u-boot-imx source code will be released .      Changing u-boot source code of u-boot-fw-utils directory          Replace u-boot source code in u-boot-fw-utils directory with u-boot-imx source code. Then continue to compile u-boot-fw-utils # bitbake u-boot-fw-utils -c compile          We will find it can be compiled successfully. This shows that when u-boot-fw-utils is compiled, the downloaded u-boot source code must be u-boot-imx.          In order to achieve this, we need to add recipes to yocto's u-boot-imx, and we can successfully compile fw_printevn and fw_setenv through the bitbake command. Please follow these steps to add u-boot-fw-utils for i.mx to yocto! copy 2 files in attacments to ~/imx-yocto-bsp-5.4.3_1.0.0/sources/meta-imx/meta-bsp/recipes-bsp/u-boot cd ~/imx-yocto-bsp-5.4.3_1.0.0 run below comands # DISTRO=fsl-imx-fb MACHINE=imx6sxsabresd source imx-setup-release.sh -b build_sabresd # bitbake u-boot-imx-fw-utils -c compile # bitbake u-boot-imx-fw-utils -c install   Then you will get fw_printenv & fw_setenv [Comment]          If i.MX users are using other version of linux BSP, she only need to modify the following content of u-boot-imx-common_2019.04.inc to compile u-boot-fw-utils. …… LIC_FILES_CHKSUM = "file://Licenses/gpl-2.0.txt;md5=b234ee4d69f5fce4486a80fdaf4a4263"   UBOOT_SRC ?= "git://source.codeaurora.org/external/imx/uboot-imx.git;protocol=https" SRCBRANCH = "lf-5.4.y_v2019.04" SRC_URI = "${UBOOT_SRC};branch=${SRCBRANCH} \ " SRCREV = "228843cdf5435d4bd69f42a6015f78761ff4cc0d" ……          Then compile it following above steps.          Example for L4.14.98_2.0.0: 1.Copy u-boot-imx-common_2019.04.inc & u-boot-imx-fw-utils_2019.04.bb to ~/imx-release-bsp-4.14.98-2.0.0/sources/meta-fsl-bsp-release/imx/meta-bsp/recipes-bsp/u-boot/ 2.Rename files name according to u-boot version u-boot-imx-common_2018.03.inc     u-boot-imx-fw-utils_2018.03.bb 3.Modifying u-boot-imx-common_2018.03.inc In the directory, there is u-boot-imx_2018.03.bb file, open it, and find the link of u-boot and check sum, and use lines below to replace those lines in u-boot-imx-common_2018.03.inc In u-boot-imx_2018.03.bb file: …… LICENSE = "GPLv2+" LIC_FILES_CHKSUM = "file://Licenses/gpl-2.0.txt;md5=b234ee4d69f5fce4486a80fdaf4a4263"   UBOOT_SRC ?= "git://source.codeaurora.org/external/imx/uboot-imx.git;protocol=https" SRCBRANCH = "imx_v2018.03_4.14.98_2.0.0_ga" SRC_URI = "${UBOOT_SRC};branch=${SRCBRANCH}" SRCREV = "87a19df5e462f1f63e8a6d2973c7fb9e95284d04" …… Then in u-boot-imx-common_2018.03.inc, there is the same contents as above: Save it and exit. Go back to the top directory of yocto: ~/imx-release-bsp-4.14.98-2.0.0 # cd ~/imx-release-bsp-4.14.98-2.0.0 # DISTRO=fsl-imx-fb MACHINE=imx6sxsabresd source fsl-setup-release.sh -b build_sabresd # bitbake u-boot-imx-fw-utils -c compile # bitbake u-boot-imx-fw-utils -c install          The same method can be used for other Linux BSP versions.       NXP TIC Team Weidong Sun 05/28/2020

Descriptions on the issue: running “uuu uuu-android-mx8mq-evk-emmc.lst” No any problem, downloading images is OK. running “uuu_imx_android_flash.bat -f imx8mq -a -e” Below lines will be showed on windows console: flash the file of u-boot-imx8mq.imx to the partition of bootloader0 <waiting for any devices>             Then downloading operation stopped. ------------------------------------------------------------------------                 In order to help uses save development time, I tested above 2 commands for downloading images on windows 7 64bit and windows 10 64bit respectively.                 Below is detailed steps for the operation: Hardware Preparations (1) Switch SW802 on i.MX8MQ EMEK, set 1-4 off, 2-3 on i.MX8MQ is at usb serial download mode. (2) Connecting J1701 to PC USB by a USB OTG cable. (3) Connecting J901(usb type c) to PC USB by a USB 3.0 cable. (4) Plugging 12V@3.5A adapter into Power Jack (J902) (5) Power on I.MX8MQ board via SW701 Switch Software Preparations (1) Related windows drivers for i.MX8MQ MEK                 Windows 7 64bit or windows 10 64bit will find new devices and begin to search and install corresponding drivers, like below:                 Probably windows 10 64bit can’t automatically install CP2105 driver from official website of manufacture: https://www.silabs.com/products/development-tools/software/usb-to-uart-bridge-vcp-drivers                 Then installed it manually. (2) Power off i.MX8MQ MEK (3) Installing winusb driver by zadig                 According to method described in uuu.pdf, download zadig tool from https://zadig.akeo.ie/, and install it to windows 7 64bit . [Note] windows 10 64bit doesn’t need to install winusb driver. Press “Install WCID Driver” Button (4) Downloading Android SDK Manager Download SDK Manager from : http://visualgdb.com/android/install_redir?item=SDK After downloading it, decompress it, and run SDK Manager application: Press OK. Then press “Close” Close SDK Manager Installation Guide . Find the directory of SDK Manager installation, and enter into “platform-tools”, like below: D:\i.MX8-Projects\IMX8MQ-MEK-windows-drivers\android-sdk_r24.4.1-windows\android-sdk-windows\platform-tools Copy items in blue rectangle to C:\windows\system Copy items in red rectangle to C:\windows\system32     Beginning to download android images to I.MX8MQ MEK via UUU Tool (1) Downloading android DEMO images for i.MX8MQ MEK https://www.nxp.com/support/developer-resources/software-development-tools/i.mx-developer-resources/evaluation-kit-for-the-i.mx-8m-applications-processor:MCIMX8M-EVK?tab=Design_Tools_Tab After downloading it, decompress it to a directory.  Like below: (2) Downloading UUU Tool https://github.com/NXPmicro/mfgtools/releases After downloading uuu.exe,  copy it to the directory of android 9.0 demo image , see above. (3) Run command “uuu_imx_android_flash.bat -f imx8mq -a -e” ----Power on i.MX8MQ MEK. ----open a command line window ---open Hyper terminal ( set it 115200 bps) ---run “uuu_imx_android_flash.bat -f imx8mq -a -e”           For windows 10 64bit, downloading images will be done without any errors.    But for windows 7 64bit, downloading images will stop at “ waiting for any devices”.    It means Android ADB driver will be needed. Follow the steps below to solve the problem. Right button, click “update driver” Close it.           Then downloading operations will be automatically continued. OK， done. NXP TIC team Weidong Sun 02-25-2019

The Register Programming Aid (RPA) provides a default DRAM PLL setting (DRAM frequency) based on the default setting supported in u-boot.  It is highly recommended to use the default DRAM frequency settings in the RPA for ease of use and to align with u-boot.  Otherwise, in addition to updating the RPA for the new DRAM frequency, the u-boot SPL code itself will need to be manually updated with the new DRAM PLL setting.   Should the user wish to change the DRAM frequency, the following steps are required:   First, the user needs to update the RPA Register Configuration worksheet tab Device Information table “Clock Cycle Freq (MHz)“ setting to the desired DRAM frequency       2. Next, in the RPA DDR stress test file worksheet tab search for “memory set 0x30360054”.  The address “0x30360054” is for the DRAM PLL register address and its setting needs to be updated to the desired frequency.        Note that there is another place where the DRAM frequency is also updated “freq0 set 0x30360054” but it is automatically updated based on the setting above.    Below is a table of various frequencies to choose from.  For frequencies not listed in the table below, it is up to the user to calculate a new register setting based on the formula:     (24MHz x m)/(p x 2^s)   Where “m” represents the PLL_MAIN_DIV, “p” represents the PLL_PRE_DIV, and “s” represents the PLL_POST_DIV.  NOTE:  The DRAM frequency is double the DRAM PLL frequency DRAM_freq = DRAM_PLL x 2   The DRAM PLL register and bit settings are shown below:          The following table provides examples of the various settings to create the desired frequency:       For example, in the i.MX 8M Mini LPDDR4 RPA where the default DRAM frequency is 1500MHz, let’s assume that the user instead wants 1200MHz.    First, the user changes the RPA Register Configuration worksheet tab Device Information table “Clock Cycle Freq (MHz)“ setting to 1200.   Next, in the RPA DDR stress test file worksheet tab search for “memory set 0x30360054” and replace “0xFA080” (original setting from DRAM frequency 1500MHz) with “0x000C8022” (updated for DRAM frequency 1200MHz).  Note that for a DRAM frequency of 1200MHz, the DRAM PLL is configured for 600MHz, as the DRAM frequency is double the DRAM_PLL.   The steps outlined above are sufficient in order to create a DDR script for use with the DDR stress test tool to run the calibration and execute the DDR stress test.  However, to deploy the generated code in SPL, more steps are needed as the u-boot SPL DDR driver does not automatically change the DRAM PLL according to the generated code. Hence the user will need to manually modify related code in u-boot.  It is highly recommended to work with a software engineer familiar with u-boot when making the following modifications.    3. Modify DRAM PLL configuration in uboot-imx/drivers/ddr/imx8m.c, specifically the code highlighted below (function call dram_pll_init).  Note that the files and file paths in u-boot change frequently, so if this particular file (or file path) does not exist in the current u-boot, simply search for dram_pll_init or ddr_init.   void ddr_init(struct dram_timing_info *dram_timing) { ……    debug("DDRINFO: cfg clk\n");      if (is_imx8mq())           dram_pll_init(DRAM_PLL_OUT_800M);      else          dram_pll_init(DRAM_PLL_OUT_750M); ……  }   In the above code, the user should update the macro “DRAM_PLL_OUT_750M” with the new DRAM PLL value.  Note that the default DRAM_PLL_OUT_750M results in the DRAM frequency of 1500MHz, where the DRAM frequency is double the DRAM PLL (as previously stated above).   For example, if the user desires to run the DRAM at 1200MHz, they would change the above to: dram_pll_init(DRAM_PLL_OUT_600M);   Note that DRAM_PLL_OUT_600M is a supported macro in the dram_pll_init() API.  If the desired DRAM PLL configuration does not exist in dram_pll_init(), you will need to add support in uboot-imx/arch/arm/mach-imx/imx8m.c  (as stated above, if this file path does not exist in the current u-boot simply search for dram_pll_init):   void dram_pll_init(enum dram_pll_out_val pll_val) { …… }   Related Links i.MX8 MSCALE SERIES DDR Tool Release (V3.10) 

NOTE: Always de-power the target board and the aggregator when plugging or unplugging smart sensors from the aggregator. NOTE: See this link to instrument a board with a Smart Sensor. Overview The i.MX Power Profiler system consists of one to fourteen "smart" current sensors, an aggregator shield, and a Kinetis FRDM board (the FRDM-KL25 has been used in prototyping but the FRDM-K64F and FRDM-K66F should also be fully compatible). One of the biggest improvements of this system over its preceeding dual-range measurement system is that the microcontroller on each sensor board allows near-simultaneous measurement of all instrumented rails on a board. The dual range profiler has only a single MCU for all sensors, so only one measurement can be made at a time.  It is intended to be used to instrument one to fourteen rails of a target i.MX appliation board. Ideally, the target board will have been designed with a matching/mating power sense footprint for each rail to be measured.  Each smart sensor can sense current in three ranges with three current sense amplifiers. They are "smart" because each sensor board has a Kinetis KL05Z on it to control the switching FETs and to digitize the analog signals (the sense amplifier outputs and the target's power supply rail voltage). A 1% voltage regulator on each smart sensor provides a good voltage reference right next to the KL05Z to ensure better ADC accuracy. Each smart sensor board communicates via I2C. The aggregator shield has three I2C bus extenders (PCA9518) which essentially provide a dedicated I2C bus for each of the connected smart sensors. The FRDM board's I2C is also connected to one of the bus extenders ports. Individual GPIO lines are routed to each smart sensor's connected along with a ganged reset and trigger line for all of the connected smart sensors. A boost regulator generates almost 12V from the FRDM board's 5V supply, which is used for all the switching FETs on the smart sensor boards. The FRDM board's 5V rail is also routed to each smart sensor, which is regulated down to 3.3V locally on each connected smart sensor. Here is a photo of the very first prototypes after moving to 10-pin 0.05" spaced headers and ribbon cables instead of FFC: The smart sensor is intended to mate with through-hole current sense tap points on the target i.MX application board. Three holes spaced at 0.05" each. When not instrumented with sensor, a short needs to be placed across the outer two pins so that the board will function normally. The through hole connections provide physical protection to the target board, keeping traces from getting ripped off. The ground connection in the center provides a reference for meauring the rail voltage on the target board. A partial layout example of the implementation of the current sense footprint is below, where two 0805 shorting resistors in parallel are placed on each side of the holes. The top trace connects to the regulator output and the bottom to the load, usually an i.MX power supply rail. To include the current sense footprint into a board during the design phase, it should be configured as in the following partial schematic:  Every effort should be made to place the feedback on the i.MX side of the sense points so that the regulator compensates for the additional series resistance of the smart sensor, which effectively eliminates the additional series resistance the smart sensor adds. The Feedback should be before the smart sensor if the switching supply won't tolerate the additional series resistance (i.e., output becomes unstable).

Instrumenting A Board To instrument a board, the connection between the power supply and the target device needs to be broken, usually via a series resistor that's placed on the board. Sometimes the inductor needs to be lifted if no series resistor was included on the rail by the board's designer. In the ideal case, through-hole connections were also provided on the board for the connection of these off-board sensors. Here are three close-up photos that show several boards that have been instrumented: In all three cases, the sensors stand in place via the two outer current carrying wires. The middle and right used insulated wires where as the one on the left used bare wires. In all three cases, the sensor's + connection needs to go towards the power supply and the - connection goes to the target device. The outer wires here are 24-26 gauge. (The relatively heavy gauge wire is used to keep the series resistance of inserting a smart sensor to a minimum.) The ground connection is the middle hole of the smart sensor. In the left and middle photos, a 30 gauge wire connects to the middle hole ground connection on the  board. In the right photo, the ground wire was more conveniently added to a big cap just below the bottom of edge of the photo. Here are wider angle view photos of two of the boards above: The sensors on the left are free-standing since the current carrying wires are stiff enough to hold them upright. Care must be taken since too much flexing will cause a wire to break. Too much bending can also cause a short to the board (and that's why insulated wires were used on these boards). The board on the right has the sensors laying parallel to the board. They are not affixed to the board, but a wire is wrapped around the bundle of ribbon cables out of view past the right edge of the photo. For boards without the through hole connections, the smart sensors need to be immobilized to keep from pulling the SMT pads off the board. If there is room on the board or sides of connectors or large components, the sensors may be attached down with foam double-sticky tape (see photo below, sensor affixed on top i.MX7ULP): For boards where there are no convenient unpopulated areas or there are too many sensors, some other means needs to be devised to immoblize the smart sensors. In the left photo below, two inductors per sensor have been flipped and the two sensors inserted to instrument the two rails. The solder pads on the inductors would easily be broken off by any movement of the smart sensors, so a cage with clamps to hold the ribbon cables was 3D printed. On the back side, there is room for the aggregator to be zip tied to the bottom plate, so the instrumented board can be moved as a single unit with minimal flexing of the ribbon cables.

Summary: The i.MX 8M-Mini can boot from QSPI flash using a dedicated boot image. The boot config settings are not correctly documented in the EVK Board Hardware User's Guide Rev 0 from 02/2019. In the document i.MX_Linux_User's_Guide.pdf  in the BSP documentation 4.14.98 the settings are correctly given in Table 38 Details: To generate a bootable file for the QSPI with Yocto, you need to include the following setting into local.conf: UBOOT_CONFIG = "fspi" If you don't want/need to make a complete build, just rebuild u-boot: bitbake -c deploy u-boot-imx Alternatively the file imx-boot-imx8mmevk-fspi.bin-flash_evk_flexspi included already in the BSP demo packages will work as well Program the image into QSPI: With UUU:   uuu -b qspi imx-boot-imx8mmevk-fspi.bin-flash_evk_flexspi With u-boot: u-boot=> fatls mmc 0:1 14557696   Image    …   1446848   imx-boot-imx8mmevk-fspi.bin-flash_evk_flexspi 11 file(s), 0 dir(s) u-boot=> sf probe SF: Detected n25q256a with page size 256 Bytes, erase size 4 KiB, total 32 MiB u-boot=> fatload mmc 0:1 0x40480000 imx-boot-imx8mmevk-fspi.bin-flash_evk_flexspi 1446848 bytes read in 79 ms (17.5 MiB/s) u-boot=> sf erase 0x0 0x200000 SF: 2097152 bytes @ 0x0 Erased: OK u-boot=> sf write 0x40480000 0x0 0x200000 device 0 offset 0x0, size 0x200000 SF: 2097152 bytes @ 0x0 Written: OK u-boot=> sf read 0x50000000 0x0 0x200000 device 0 offset 0x0, size 0x200000 SF: 2097152 bytes @ 0x0 Read: OK u-boot=> cmp.b 0x40480000 0x50000000 0x200000 Total of 2097152 byte(s) were the same u-boot=> Set boot config jumpers correctly and power on the board (no SD-card in the slot) 8M-Mini Rev A and Rev B boards:  01xxxxx0 0000x001 8M-Mini Rev C boards: 0110xxxxxx 00100x0010

Some processor’s GPIO settings on the i.MX Pins Tool version 7 may not show allow to select direction and just show an option “Input/Output” as shown. This will be fixed, but the settings can be changed on the local processor data as a workaround. For more information and documentation for the Pins Tool for i.MX please visit its home page on the link below: https://www.nxp.com/design/designs/pins-tool-for-i-mx-application-processors:PINS-TOOL-IMX   First, find where the Pins Tool data package is stored. To do this open the Pins Tool and click Help > About. On the About screen click the Details button. Take also note of the name of the package that needs to be fixed.   Go to the location where the data package is stored and find the processor data. The file that would need to be updated is signal_configuration.xml    Find the GPIO pin data and change the directions from the string ““inOut”to the string “in out”. Then save this file.    Close and reopen the Pins Tool. The direction on the updated package should now show the options Input and Output.