For iMX6DQ, there are two IPUs, so they can support up to 4 cameras at the same time. But the default BSP can only support up to two cameras at the same time. The attached patch can make the BSP support up to 4 cameras based on 3.10.53 GA 1.1.0 BSP.   The 4 cameras can be: - 1xCSI, 3xMIPI - 2xCSI, 2xMIPI - 4xMIPI   For 4xMIPI case, the four cameras should be combined on the single MIPI CSI2 interface, and each camera data should be transfered on a mipi virtual channel.   In this patch, we given the example driver for Maxim MAX9286, it was verified working on iMX6DQ SabreAuto board. The input to MAX9286 is four 720P30 cameras. The verified camera boards:     (1) Onsemi AR0140+AP0101+MAX9271 boards.     (2) OmniVision OV10635+MAX9271 boards.   The MIPI CSI2 CVBS camera surround view solution can be found at: iMX6DQ ISL79985/79987 MIPI CSI2 CVBS camera surround view solution for Linux BSP The MIPI CSI2 CVBS HD camera surround view solution can be found at: iMX6DQ TP2854 MIPI CSI2 720P CVBS camera surround view solution for Linux BSP   The kernel patches: 0001-IPU-update-IPU-capture-driver-to-support-up-to-four-.patch      Updated IPU common code to support up to four cameras.   0002-Add-Max9286-support-on-SabreAuto-board-which-can-sup.patch      MAX9286 driver, it includes MAX9271, AP0101 and AR0140 drivers.   0003-Remove-the-page-size-align-requirement-for-v4l2-capt.patch      With this patch, the mxc_v4l2_tvin test application can use overlay framebuffer as V4l2 capture buffer directly.   0004-Max9286-skip-AP0101-camera-re-initialization.patch      If the camera board's power had been kept after initialized, this patch will bypass the re-initialization to reduce the start up time.   0005-Max9286-set-I2C-speed-to-400Kbps.patch     Set I2C to 400Kbps to reduce the AP0101+AR0140 initialization time.   0006-Max9286-add-retry-for-MAX9271-I2C-access.patch     Added retry for MAX9271 I2C access.   0007-Max9286-Add-support-for-OV10635-camera.patch     Updated code for OV10635 camera.   0008-Max9286-support-auto-detect-camera-number.patch     Make the Max9286 driver can detect the camera number automatically.     How to builld the kernel with MAX9286 support:       make imx_v7_defconfig       make menuconfig (In this command, you should select the MAX9286 driver:             Device Drivers  --->                   <*> Multimedia support  --->                         [*]   V4L platform devices  --->                               <*>   MXC Video For Linux Video Capture                                       MXC Camera/V4L2 PRP Features support  --->                                           <*>Maxim max9286 GMSL Deserializer Input support                                               Select Camera Sensor (OmniVision OV10635 camera sensor)  // Or (Onsemi AP0101 and AR0140 camera sensor)                                           <*>mxc VADC support                                           <*>Select Overlay Rounting (Queue ipu device for overlay library)                                           <*>Pre-processor Encoder library                                           <*>IPU CSI Encoder library)       make zImage       make dtbs   The built out image file:       arch/arm/boot/dts/imx6q-sabreauto.dtb       arch/arm/boot/zImage   "mxc_v4l2_tvin_max9286.tar.gz" is the test application, test command to capture the four cameras and render on 1080P HDMI display: /mxc_v4l2_tvin.out -ol 0 -ot 0 -ow 960 -oh 540 -d 1 -x 0 -g2d & /mxc_v4l2_tvin.out -ol 960 -ot 0 -ow 960 -oh 540 -d 1 -x 1 -g2d & /mxc_v4l2_tvin.out -ol 0 -ot 540 -ow 960 -oh 540 -d 1 -x 2 -g2d & /mxc_v4l2_tvin.out -ol 960 -ot 540 -ow 960 -oh 540 -d 1 -x 3 -g2d &   Some hardware check point on AR0140+AP0101+MAX9271 camera board (Please get MAX9286 and OV10635 schematics from Maxim): 1. In this patch, MAX9286's I2C address is 0x4D, so ADD0 and ADD1 should be connected to high. AP0101's I2C address is 0xBA, so SADDR should be connected to high.   2. AP0101's DOUT0~DOUT7 should be connected to MAX9271's DIN7~DIN0, the order should be switched, MSB connected to LSB.   3. MAX9271's GPO pin should be connected to AP0101's FRAME_SYNC pin. The pull down resistance on FRAME_SYNC pin should not be 0 ohm.   Some known limitation: 1. AP0101's VSYNC invalid time, last video line's HSYNC to VSYNC porch's max value is 255 pixel clocks, it is not enough for MAX9286 to generate the Frame End MIPI packets for each camera. So in order to let iMX6DQ to capture 1280x720 video for each camera, we had let AP0101 output 1280*724 frame size, and iMX6 will only capture 720 lines, the remained video data and Frame End will be ignored. This solution will not impact the function, but there will be "Error matching Frame Start with Frame End for Virtual Channel x" error reported from iMX6 MIPI_CSI_ERR1 register. Maxim suggested to use MAX96705 to relace the MAX9271, it can delay the VSYNC invalid time, then the MIPI error will be fixed.     2015-11-17 update: Updated for OV10635 camera support. File: L3.10.53_GA1.1.0_MAX9286_Surroundview_Patch_2015-11-17.zip   2015-12-04 update: File: L3.10.53_GA1.1.0_MAX9286_Surroundview_Patch_2015-12-04.zip Added patch 0009-Max9286-updated-PCLK-edge-setting-for-OV10635.patch to correct the OV10635 PCLK edge setting     2016-03-07 update: File L3.14.38_GA_MAX9286_Surroundview_Patch_2016-03-07.zip Added kernel patch for L3.14.38 GA 1.1.0 BSP.   2016-07-26 update: Files: L3.10.53_GA1.1.0_MAX9286_Surroundview_Patch_2016-07-26.zip; L3.14.38_GA1.1.0_MAX9286_Surroundview_Patch_2016-07-26.zip; L3.14.52_GA1.1.0_MAX9286_Surroundview_Patch_2016-07-26.zip. Added gstreamer support. Added MAX96705 support. Added patch for L3.14.52_GA1.1.0.   2017-12-11 update: Added CVBS surround view link: iMX6DQ TP2854 MIPI CSI2 720P CVBS camera surround view solution for Linux BSP     2021-04-26 update: Some customer reported, when system loading is heavy, sometimes, some camera will flicker left and right. It is caused by SFMC FIFO data lost. The original patch used IDMAC 0 and IDMAC 1 for two cameras on one IPU, this is not the best setting.  IDMAC 1 is fixed to use 1/4 SMFC FIFO and it will cause IDMAC 0 to use 1/4 SMFC FIFO too. And another 1/2 of SMFC FIFO can't be used in this case. Some code update to improve it: For each IPU, please use IDMAC 0 and IDMAC 2 to capture the two cameras. This needs change the hard coding in "drivers\media\platform\mxc\capture\ipu_csi_enc.c", "CSI_MEM1" and "IPU_IRQ_CSI1_OUT_EOF" should be changed to "CSI_MEM2" and "IPU_IRQ_CSI2_OUT_EOF". In this case, all SMFC FIFO can be used. And in "ipu_common.c", function ipu_probe(), the followed code should be changed to make IDMAC2 use high priority too. /* Set sync refresh channels and CSI->mem channel as high priority */ - ipu_idmac_write(ipu, 0x18800003L, IDMAC_CHA_PRI(0)); + ipu_idmac_write(ipu, 0x1880000FL, IDMAC_CHA_PRI(0));

Here are two patches to support BT656 and BT1120 output for i.MX6 ipuv3. With this patch, the i.MX6 can support the CVBS output on TV encoder. It is useful for a TV box. "L3.0.35_1.1.0_GA_bt656_output_patch.zip" is the patch for Freescale L3.0.35_1.1.0_GA_iMX6DQ BSP. "r13.4.1_bt656_output_patch.zip" is the patch for Freescale Android R13.4.1 BSP. 1. Features supported:     1) Support BT656(8 bits) and BT1120 (16 bits)interlaced output on display port.     2) Support both RGB and YUV frame buffer for BT656/BT1120 output.     3) Support PAL and NTSC mode.     4) Support on the fly switch between PAL and NTSC mode.     5) Support CVBS output based on adv7391 TV encoder. 2. Hardware link between iMX6 and adv7391 TV encoder chip.     IPU1_DI0_DISP_CLK connected to adv7391 CLKIN pin.     IPU1_DISP0_DAT_23~DISP0_DAT_16 connected to adv7391 P7~P0 pins.     IPU1_DI0_PIN2 connected to adv7391 HSYNC pin. (option)     IPU1_DI0_PIN4 connected to adv7391 VSYNC pin. (option)   - Android R13.4.1 kernel. 3. How to use -- Copy the two patch files to kernel folder.     $ git apply ./0001-Support-BT656-and-BT1120-output-for-iMX6-ipuv3.patch     $ git apply ./0002-Support-adv739x-TV-encoder-for-BT656-output.patch -- Select them in kernel config and build the new kernel image:                     Device Drivers  --->                       Graphics support  --->                           [*]   MXC BT656 and BT1120 output                           [*]   ADV7390/7391 TV Output Encoder -- Uboot parameters for video mode    Output BT656 NTSC data to display port with UVYV frame buffer mode:       "video=mxcfb0:dev=bt656,BT656-NTSC,if=BT656,fbpix=UYVY16"    Output BT656 NTSC data to display port with RGB565 frame buffer mode:       "video=mxcfb0:dev=bt656,BT656-NTSC,if=BT656,fbpix=RGB565"    Output BT656 PAL data to display port with RGB24 frame buffer mode:       "video=mxcfb0:dev=bt656,BT656-PAL,if=BT656,fbpix=RGB24"    Output CVBS NTSC signal on adv7391 with UYVY frame buffer mode:       "video=mxcfb0:dev=adv739x,BT656-NTSC,if=BT656,fbpix=UYVY16"    Output CVBS PAL signal on adv7391 with RGB565 frame buffer mode:       "video=mxcfb0:dev=adv739x,BT656-PAL,if=BT656,fbpix=RGB565" -- Switch between PAL and NTSC    $ echo D:720x480i-60 > /sys/class/graphics/fb0/mode    $ echo D:720x576i-50 > /sys/class/graphics/fb0/mode 4. Note     1) For 8 bits BT656 interface, the default data pins are "DISP0_DAT_23~DISP0_DAT_16", it can also        be any other continued display data pins, for example if "DISP0_DAT_7~DISP0_DAT_0" are used, the        macro "BT656_IF_DI_MSB" in "kernel_imx/drivers/mxc/ipu3/ipu_disp.c" should be changed from "23"        to "7".     2) For 16 bits BT1120 interface, the default data pins are "DISP0_DAT_23~DISP0_DAT_8", it can also        be any other continued display data pins, the macro "BT656_IF_DI_MSB" should be modified if the        hardware pins are changed.     3) When bt656 interface is the second display for each IPU,1-layer-fb (it can be checked with command        "$ cat /sys/class/graphics/fbx/fsl_disp_propperty"), the frame buffer can only be YUV format. In this        case, the IPU DC channel was used for BT656 display, it has no CSC function, so RGB frame buffer was        not supported. 2013-08-09 updated: The new release package "L3.0.35_1.1.0_GA_bt656_output_patch_2013-08-09.zip" had fixed the BT656 dual display issue on iMX6S/DL. Removed the old release package. 2013-09-04 updated: The new release package "r13.4.1_bt656_output_patch_2013-09-04.zip" had fixed the BT656 dual display issue on iMX6S/DL. For default, the dual display was tested with HDMI + CVBS, HDMI is the main display and adv739x CVBS output is the second display. For iMX6DQ which has two IPUs, please assign dual display to two IPUs, for example adv739x is on IPU1 DI0, it is fixed, because hardware pins used for it is fixed. Then we can assign HDMI or LVDS to another IPU (IPU2). For iMX6S/DL which has only one IPU, since adv739x had used IPU1 DI0, another display should be IPU1 DI1. 2013-09-30 updated: Added patch for L3.0.35_4.1.0_GA BSP, the file is "L3.0.35_4.1.0_GA_bt656_output_patch_2013-09-30.zip". 2014-07-21 updated: Added patch for L3.10.17_1.0.0_GA BSP, the file is "L3.10.17_1.0.0_GA_bt656_output_patch_2014-07-21.zip". 2015-01-26 updated: Updated the IPU microcode for 1080i50 and 1080i60 BT1120 output, the parameters "N" for command BMA is a 8 bits parameters, so its max value is 255, but for 1080i50 and 1080i60 output, it needs more blank data in each line, the "N" will be bigger than 255, the updated IPU microcode can fix this limitation. The updated file is "IPU_Microcode_Update_for_BT1120_1080i_20150126.zip". You can update the macro "DC_MCODE_BT656_xxx"  and function _ipu_dc_setup_bt656_interlaced() to the old patch if you used BT1120 mode to support 1080i display. The verified 1080i display mode is: {    /* 1080I60 Interlaced output */   "BT1120-1080I60", 30, 1920, 1080, 13468,   20, 3,   20, 2,   280, 1,   FB_SYNC_HOR_HIGH_ACT | FB_SYNC_VERT_HIGH_ACT,   FB_VMODE_INTERLACED,   FB_MODE_IS_DETAILED,}, {   /* 1080I50 Interlaced output */   "BT1120-1080I50", 25, 1920, 1080, 13468,   20, 3,   20, 2,   720, 1,   FB_SYNC_HOR_HIGH_ACT | FB_SYNC_VERT_HIGH_ACT,   FB_VMODE_INTERLACED,   FB_MODE_IS_DETAILED,}, 2016-01-28 updated: Updated IPU microcode to align with BT656.4 specification for NTSC output. For other BSP version with NTSC format support, please reference to ipu_disp_update.c for the final microcode. File "L3.0.35_4.1.0_GA_bt656_output_patch_20160128.zip"., Details, please reference to the readme.txt file in the package. 2016-06-24 update: Added BT656 and BT1120 progressive mode support. File "L3.0.35_4.1.0_GA_bt656_output_patch_20160624.zip". Details, please reference to the readme.txt file in the package. The patch for 3.14.52 GA1.1.0 BSP will be released in next week. 2016-06-27 update: Add BT656 and BT1120 display patch for 3.14.52 BSP. File "L3.14.52_1.1.0_GA_bt656_output_patch_2016-06-27.zip", details, please reference to the readme.txt in the package. 2017-03-10 update: Fixed a hard coding DC macro issue for progressive mode. Added patch "0008-Fixed-a-hard-coding-DC-macro-issue-for-progressive-m.patch" in L3.0.35_4.1.0_GA_bt656_output_patch_2017-03-10.zip. The code in patch "L3.14.52_1.1.0_GA_bt656_output_patch_2016-06-27" is correct.

We use PCIe to connect Intersil TW6865 chip for the surround view solution. This is the connection of PCIe to iMX6Q SabreSD board.   This is the block diagram of the connection: This is the 4 camera surround view:   Code base is L3.0.35_12.10.02 release. You can merge the patch file to the latest Freescale release. Please check the attach file for the patch code.   Note:  It is only a test version. The last code for L3.0.35 BSP: L3.0.35_GA4.1.0 Patches.7z The last code for L3.10.53 BSP: L3.10.53_TW686x_patch.7z Patch for L4.1.15 1.1.0 GA BSP: TW6865 driver for Linux L4.1.15_1.1.0-ga.7z

For iMX6DQ, there are two IPUs, so they can support up to 4 cameras at the same time. But the default BSP can only support up to two cameras at the same time.     The attached patch can make the BSP support up to 4 cameras based on 3.10.53 GA 1.1.0 BSP.   The 4 cameras can be: - 1xCSI, 3xMIPI - 2xCSI, 2xMIPI - 4xMIPI   For 4xMIPI case, the four cameras should be combined on the single MIPI CSI2 interface, and each camera data should be transfered on a mipi virtual channel.   In this patch, we given the example driver for Intersil ISL79985. The input to ISL79985 is four CVBS camera. There are four patches: 0001-IPU-update-IPU-capture-driver-to-support-up-to-four-.patch      Updated IPU common code to support up to four cameras.   0002-Add-Intersil-ISL79985-MIPI-Video-Decoder-Driver-for-.patch      ISL79985 driver, which can support both 1 lanes and 2 lanes mode.   0003-Remove-the-page-size-align-requirement-for-v4l2-capt.patch      With this patch, the mxc_v4l2_tvin test application can use overlay framebuffer as V4l2 capture buffer directly.   0004-IPU-CSI-Drop-1-2-frame-on-MIPI-interface-for-interla.patch      This patch is option, it will drop one field data, so for each camera, the input will be 720*240 30 FPS.   For 720P HD solution, it is based on Maxim MAX9286: iMX6DQ MAX9286 MIPI CSI2 720P camera surround view solution for Linux BSP   How to builld the kernel with ISL79985 support:       make imx_v7_defconfig       make menuconfig (In this command, you should select the ISL79985 driver:             Device Drivers  --->                   <*> Multimedia support  --->                         [*]   V4L platform devices  --->                               <*>   MXC Video For Linux Video Capture                                       MXC Camera/V4L2 PRP Features support  --->                                           <*>Intersil ISL79985 Video Decoder support                                           <*>mxc VADC support                                           <*>Select Overlay Rounting (Queue ipu device for overlay library)                                           <*>Pre-processor Encoder library                                           <*>IPU CSI Encoder library)       make zImage       make dtbs   The built out image file:       arch/arm/boot/dts/imx6q-sabresd.dtb       arch/arm/boot/zImage   "mxc_v4l2_tvin.zip" is the test application, test command to capture the four cameras and render on 1080P HDMI display: /mxc_v4l2_tvin.out -ol 0 -ot 0 -ow 960 -oh 540 -d 1 -x 0 -g2d & /mxc_v4l2_tvin.out -ol 960 -ot 0 -ow 960 -oh 540 -d 1 -x 1 -g2d & /mxc_v4l2_tvin.out -ol 0 -ot 540 -ow 960 -oh 540 -d 1 -x 2 -g2d & /mxc_v4l2_tvin.out -ol 960 -ot 540 -ow 960 -oh 540 -d 1 -x 3 -g2d &   2015-10-10 Update: Updated the test application "mxc_v4l2_tvin_isl79985.tar.gz" to fix the Yocto build errors. Updated ISL79985 register setting "page5, isl79985_write_reg(0x07, 0x46)" in patch "0002-Add-Intersil-ISL79985-MIPI-Video-Decoder-Driver-for-.patch", which can fix the green line issue.   2016-01-25 Update: Added de-interlace support, L3.10.53_ISL79985_Surroundview_Patch_20160125.tar.gz New test capplication for de-interlance: mxc_v4l2_tvin_isl79985_vdi_20160125.tar.gz New test commands: /mxc_v4l2_tvin.out -ol 0 -ot 0 -ow 960 -oh 540 -d 1 -x 0 -g2d -m & /mxc_v4l2_tvin.out -ol 960 -ot 0 -ow 960 -oh 540 -d 1 -x 1 -g2d -m & /mxc_v4l2_tvin.out -ol 0 -ot 540 -ow 960 -oh 540 -d 1 -x 2 -g2d -m & /mxc_v4l2_tvin.out -ol 960 -ot 540 -ow 960 -oh 540 -d 1 -x 3 -g2d -m &   Note:  with the 0005-Add-interlaced-mode-capture-for-ISL79985.patch, the V4l2 capture driver will return 720x480 video size, but only odd lines have the video data, they are filled in line skip line mode.     2016-11-21 Update: Added ISL79987 support, L3.10.53_ISL7998x_Surroundview_Patch_20161121.zip New test capplication for de-interlance support: mxc_v4l2_tvin_isl7998x.tar.gz   Test commands (without de-interlace): /mxc_v4l2_tvin.out -ol 0 -ot 0 -ow 960 -oh 540 -d 1 -x 0 -g2d & /mxc_v4l2_tvin.out -ol 960 -ot 0 -ow 960 -oh 540 -d 1 -x 1 -g2d & /mxc_v4l2_tvin.out -ol 0 -ot 540 -ow 960 -oh 540 -d 1 -x 2 -g2d & /mxc_v4l2_tvin.out -ol 960 -ot 540 -ow 960 -oh 540 -d 1 -x 3 -g2d &   Test commands (with de-interlace, for ISL79987 only): /mxc_v4l2_tvin.out -ol 0 -ot 0 -ow 960 -oh 540 -d 1 -x 0 -m 1 -g2d & /mxc_v4l2_tvin.out -ol 960 -ot 0 -ow 960 -oh 540 -d 1 -x 1 -m 1 -g2d & /mxc_v4l2_tvin.out -ol 0 -ot 540 -ow 960 -oh 540 -d 1 -x 2 -m 1 -g2d & /mxc_v4l2_tvin.out -ol 960 -ot 540 -ow 960 -oh 540 -d 1 -x 3 -m 1 -g2d &     Now the same patch can support both ISL79985 and ISL79987, with NTSC CVBS camera, for ISL79985, it captures 60fps 720*240; for ISL79987, it captures 30fps 720*480.   2016-11-22 Update: Added patch for L4.1.15 BSP, it supports both ISL79985 and ISL79987, L4.1.15_ISL7998x_Surroundview_Patch_20161122.zip Test capplication mxc_v4l2_tvin_isl7998x.tar.gz is re-used.

i.MX6Q PCIe EP/RC Validation and Throughput Hardware setup     * Two i.MX6Q SD boards, one is used as PCIe RC; the other one is used as PCIe EP. Connected by 2*mini_PCIe to standard_PCIe  adaptors, 2*PEX cable adaptors,  and one PCIe cable. Software configurations     * When building RC image, make sure that         CONFIG_IMX_PCIE=y         # CONFIG_IMX_PCIE_EP_MODE_IN_EP_RC_SYS is not set         CONFIG_IMX_PCIE_RC_MODE_IN_EP_RC_SYS=y     * When build EP image, make sure that         CONFIG_IMX_PCIE=y         CONFIG_IMX_PCIE_EP_MODE_IN_EP_RC_SYS=y         # CONFIG_IMX_PCIE_RC_MODE_IN_EP_RC_SYS is not set Features     * Set-up link between RC and EP by their stand-alone 125MHz running internally. * In EP's system, EP can access the reserved ddr memory    (default address:0x40000000) of PCIe RC's system, by the   interconnection between PCIe EP and PCIe RC. NOTE: The layout of the 1G DDR memory on SD boards is 0x1000_0000 ~ 0x4FFF_FFFF) Use mem=768M in the kernel command line to reserve the 0x4000_0000 ~ 0x4FFF_FFFF DDR memory  space used to do the EP access tests. (The example of the RC’s cmd-line: Kernel command line: noinitrd console=ttymxc0,115200 mem=768M root=/dev/nfs nfsroot=10.192.225.216:/home/r65037/nfs/rootfs_mx5x_10.11,v3,tcp ip=dhcp rw) Throughput results ARM core used as the bus master, and cache is disabled ARM core used as the bus master, and cache is enabled IPU used as the bus master(DMA) Data size in one write tlp 8 bytes 32 bytes 64 bytes Write speed ~109MB/s ~298MB/s ~344MB/s Data size in one read tlp 32 bytes 64 bytes 64 bytes Read speed ~29MB/s ~100MB/s ~211MB/s IPU used as the bus master(DMA) Here is the summary of the PCIe throughput results tested by IPU. Write speed is about 344 MB/s. Read speed is about 211MB/s ARM core used as the bus master (define EP_SELF_IO_TEST in pcie.c driver) write speed ~300MB/s. read speed ~100MB/s. Cache is enabled. PCIe EP: Starting data transfer... PCIe EP: Data transfer is successful, tv_count1 54840us, tv_count2 162814us. PCIe EP: Data write speed is 298MB/s. PCIe EP: Data read speed is 100MB/s. Regarding to the log, the data size of each TLP when cache is enabled, is about 4 times of the data size in write, and 2 times of the data size in read, when the cache is not enabled. Cache is disabled Cache is enabled Data size in one write tlp 8 bytes 32 bytes Write speed ~109MB/s ~298MB/s Data size in one read tlp 32 bytes 64 bytes Read speed ~29MB/s ~100MB/s Cache is not enabled PCIe EP: Starting data transfer... PCIe EP: Data transfer is successful, tv_count1 149616us, tv_count2 552099us. PCIe EP: Data write speed is 109MB/s. PCIe EP: Data read speed is 29MB/s. One simple method used to connect the imx6 pcie ep and rc View of the whole solution: HW materials: 2* iMX6Q SD boards,  2* Mini PCIe to STD PCIe adaptors, one SATA2 data cable. the mini-pcie to standard pcie exchange adaptor. Here is the URL: http://www.bplus.com.tw/Adapter/PM2C.html How to make it. signals connections Two adaptors, one is named as A, the other one is named as B. A                  B TXM <----> RXM TXN <----> RXN RXM <----> TXM RXN <----> TXN A1 connected to B3 A2 connected to B4 A3 connected to B1 A4 connected to B2 Connect the cable to the adaptor. Connect the SATA2 data cable to Mini PCIe to STD PCIe adaptor (A)    Connect the SATA2 data cable to Mini PCIe to STD PCIe adaptor (B) NOTE: * Please keep length of Cable as short as possible.  Our cable is about 12cm. * Please connect shield wire in SATA2 Cable to GND at both board. * Please boot up PCIe EP system before booting PCIe RC system. Base one imx_3.0.35 mainline, the patch, and the IPU test tools had been attached. NOTE: * IPU tests usage howto. Unzip the xxx.zip, and run xxx_r.sh to do read tests, run xxx_w.sh to do the write tests. Tests log: EP: root@freescale ~/pcie_ep_io_test$ ./pcie-r.sh pass cmdline 14, ./pcie_ipudev_test.out new option : c frame count set 1 new option : l loop count set 1 new option : i input w=1024,h=1024,fucc=RGB4,cpx=0,cpy=0,cpw=0,cph=0,de=0,dm=0 new option : O 640,480,RGB4,0,0,0,0,0 new option : s show to fb 0 new option : f output file name ipu1-1st-ovfb new option : ÿ show_to_buf:0, input_paddr:0x1000000, output.paddr0x18800000 ====== ipu task ====== input:         foramt: 0x34424752         width: 1024         height: 1024         crop.w = 1024         crop.h = 1024         crop.pos.x = 0         crop.pos.y = 0 output:         foramt: 0x34424752         width: 640         height: 480         roate: 0         crop.w = 640         crop.h = 480         crop.pos.x = 0         crop.pos.y = 0 total frame count 1 avg frame time 19019 us, fps 52.579000 root@freescale ~/pcie_ep_io_test$ ./pcie-w.sh pass cmdline 14, ./pcie_ipudev_test.out new option : c frame count set 1 new option : l loop count set 1 new option : i input w=640,h=480,fucc=RGB4,cpx=0,cpy=0,cpw=0,cph=0,de=0,dm=0 new option : O 1024,1024,RGB4,0,0,0,0,0 new option : s show to fb 1 new option : f output file name ipu1-1st-ovfb new option : ÿ show_to_buf:1, input_paddr:0x18a00000, output.paddr0x1000000 ====== ipu task ====== input:         foramt: 0x34424752         width: 640         height: 480         crop.w = 640         crop.h = 480         crop.pos.x = 0         crop.pos.y = 0 output:         foramt: 0x34424752         width: 1024         height: 1024         roate: 0         crop.w = 1024         crop.h = 1024         crop.pos.x = 0         crop.pos.y = 0 total frame count 1 avg frame time 11751 us, fps 85.099140 root@freescale ~$ ./memtool -32 01000000=deadbeaf Writing 32-bit value 0xDEADBEAF to address 0x01000000 RC: Before run "./memtool -32 01000000=deadbeaf" at EP. root@freescale ~$ ./memtool -32 40000000 10 Reading 0x10 count starting at address 0x40000000 0x40000000:  00000000 00000000 00000000 00000000 0x40000010:  00000000 00000000 00000000 00000000 0x40000020:  00000000 00000000 00000000 00000000 0x40000030:  00000000 00000000 00000000 00000000 After run "./memtool -32 01000000=deadbeaf" at EP. root@freescale ~$ ./memtool -32 40000000 10 Reading 0x10 count starting at address 0x40000000 0x40000000:  DEADBEAF 00000000 00000000 00000000 0x40000010:  00000000 00000000 00000000 00000000 0x40000020:  00000000 00000000 00000000 00000000 0x40000030:  00000000 00000000 00000000 00000000 Labels parameters

Revisions Revisions Description Details V1.0 Initial version   V1.2 Make a little update 1. Modify the path of the toolchain 2. Remove the command: make menuconfig 3. Modify the path of folder "out" in some commands   Hardware Requirement PC Host: Ubuntu for compiling, Windows for downloading and debugging Target: i.MX6ULL 14x14 EVK with LCD or HDMI TF card USB cables for console and download Power adapter Overview Ubuntu uses the same packaging management system (deb and apt) and with each development cycle pulls in the latest packages from Debian and then adapts them to Ubuntu specifics and adds more features and patches where necessary. They also push changes back to Debian and often developers are Ubuntu and Debian developers. Both of them have a nice UI and can install softwares easier than Yocto. The purpose of this doc is to install the Debian 8 Jessie Rootfs on NXP i.MX6ULL EVK Board. The doc contains several steps as following:    1. Download and compile the u-boot, kernel and dtb.    2. Get and modify the linaro rootfs.    3. Download all things to the SD card via MfgTool.    4. Run the Debian 8 Jessie in the board. Download and compile the u-boot, kernel and dtb.    a. Download the toolchain cd ~/ wget -c https://releases.linaro.org/components/toolchain/binaries/6.3-2017.02/arm-linux-gnueabihf/gcc-linaro-6.3.1-2017.02-i686_arm-linux-gnueabihf.tar.xz mkdir toolchain tar xvf gcc-linaro-6.3.1-2017.02-i686_arm-linux-gnueabihf.tar.xz -C toolchain/ --strip-components 1 export ARCH=arm export CROSS_COMPILE=../toolchain/bin/arm-linux-gnueabihf- mkdir out    b. Download and make the u-boot cd ~/ wget -c http://git.freescale.com/git/cgit.cgi/imx/uboot-imx.git/snapshot/uboot-imx-imx_v2016.03_4.1.15_2.0.0_ga.tar.bz2 mkdir uboot-imx tar jxvf uboot-imx-imx_v2016.03_4.1.15_2.0.0_ga.tar.bz2 -C uboot-imx/ --strip-components 1 cd uboot-imx make mx6ull_14x14_evk_defconfig make    c. Download and make the kernel and dtb cd ~/ wget -c http://git.freescale.com/git/cgit.cgi/imx/linux-imx.git/snapshot/linux-imx-imx_4.1.15_2.0.0_ga.tar.bz2 mkdir linux-imx tar jxvf linux-imx-imx_4.1.15_2.0.0_ga.tar.bz2 -C linux-imx/ --strip-components 1 cd linux-imx vi arch/arm/configs/imx_v7_defconfig Add a line “CONFIG_FHANDLE=y” in the file to prevent the error when boot into rootfs. ****************************************************************************** Note: If you want to use the HDMI port instead of LCD to output the screen, you should modify the file /arch/arm/boot/dts/imx6ull-14x14-evk.dts to add a child node in &i2c2 : sii902x: sii902x@39 {         compatible = "SiI,sii902x";         pinctrl-names = "default";         interrupt-parent = <&gpio2>;         interrupts = <13 IRQ_TYPE_EDGE_FALLING>;         mode_str ="1280x720M@60";         bits-per-pixel = <16>;         reg = <0x39>;         status = "okay"; }; ****************************************************************************** make imx_v7_defconfig make -j4 zImage dtbs    d. Copy the u-boot, kernel and dtb to a folder cd ~/ sudo cp uboot-imx/u-boot.imx  out/ sudo cp linux-imx/arch/arm/boot/zImage  out/ sudo cp linux-imx/arch/arm/boot/dts/imx6ull-14x14-evk.dtb  out/ Get and modify the linaro rootfs. cd ~/ wget -c https://releases.linaro.org/debian/images/alip-armhf/16.04/linaro-jessie-alip-20160428-22.tar.gz mkdir rootfs tar xvf linaro-jessie-alip-20160428-22.tar.gz -C rootfs/ --strip-components 1 cd rootfs tar jcvf linaro-jessie-alip-20160428-22.tar.bz2 ./* sudo mv linaro-jessie-alip-20160428-22.tar.bz2  ../out Now the uboot, kernel, dtb and rootfs are ready in folder ~/out/!   Download all things to the SD card via MfgTool. Download the MfgTool in: http://www.nxp.com/products/automotive-products/microcontrollers-and-processors/arm-mcus-and-mpus/i.mx-application-processors/i.mx-6-processors/sabre-board-for-smart-devices-based-on-the-i.mx-6quad-applications-processors:RD-IMX6Q-SABRE?tab=Design_Tools_Tab Select the “IMX6_L4.1.15_2.0.0_MFG-TOOL” and download. Extract “L4.1.15_2.0.0-ga_mfg-tools.tar.gz” to Windows, and then extract again the “mfgtools-with-rootfs.tar.gz” to <your path>/mfgtools/. You should rename the files in the folder ~/out/ and copy to the path <your path>/mfgtools/Profiles/Linux/OS Firmware/files/ to replace the original files: u-boot.imx -> u-boot-imx6ull14x14evk_sd.imx zImage -> zImage imx6ull-14x14-evk.dtb -> zImage-imx6ull-14x14-evk.dtb linaro-jessie-alip-20160428-22.tar.bz2 -> rootfs_nogpu.tar.bz2 Switch the SW602 in i.MX6ULL EVK board to D1: off, D2: on, insert the TF card in slot SD2 and power on the board. Connect the board with PC by two micro-USB to USB cables(one is for downloading and another is for watching log) Finally, open the script “mfgtool2-yocto-mx-evk-sdcard-sd2.vbs” in the <your path>/mfgtools/. When the “HID-compliant device” shows then click “Start”.   If the processing is done, all things have been download to the board and you can go to the next step. Run the Debian 8 Jessie in the board. The following table shows the DIP switch settings for booting from the TF slot. Switch D1 D2 D3 D4 SW601 OFF OFF ON OFF SW602 ON OFF - -   Then power on the board and the logs will show in the serial console. Debian 8 will automatic login to root. ****************************************************************************** Note: If you want to use the HDMI port instead of LCD to output the screen, you should press any key when the log: Hit any key to stop autoboot shows and change the bootargs like following example: setenv bootargs console=ttymxc0,115200 init=/init video=mxcfb0:dev=hdmi,1280x720M@60,if=RGB24,bpp=32 video=mxcfb1:off video=mxcfb2:off video=mxcfb3:off vmalloc=256M androidboot.console=ttymxc0 consoleblank=0 androidboot.hardware=freescale cma=384M saveenv ****************************************************************************** When inputting “startx &” in serial console, the alip GUI will appear in the screen.   You can also use command ”apt-get” to install softwares(E.g. Firefox as following). ****************************************************************************** Note: If you have issues with “sudo” on user UID, need to execute the following commands: root@linaro-alip:~# chown root:root /usr/bin/sudo root@linaro-alip:~# chmod 4755 /usr/bin/sudo root@linaro-alip:~# chown root:root /usr/lib/sudo/sudoers.so root@linaro-alip:~# chown root:root /etc/sudoers root@linaro-alip:~# chown root:root /etc/sudoers.d/ root@linaro-alip:~# chown root:root /etc/sudoers.d/README   Note: If you have issues with “su” from user to root, need to execute the following commands: root@linaro-alip:~# chown root:root /bin/su root@linaro-alip:~# chmod 4755 /bin/su   Note: If you want to disable the warning window “Failed to apply network settings” after executing command “startx &”, you should deactive the Bluetooth: root@linaro-alip:~# sudo systemctl stop bluetooth.service root@linaro-alip:~# sudo systemctl disable bluetooth.service ******************************************************************************

iMX6DQ TP2854 MIPI CSI2 720P HD-TVI camera surround view solution for Linux BSP.   For iMX6DQ, there are two IPUs, so they can support up to 4 cameras at the same time. But the default BSP can only support up to two cameras at the same time. The attached patch can make the BSP support up to 4 cameras based on 3.14.52 GA 1.1.0 BSP and 4.1.15 GA1.2.0 BSP. The 4 cameras can be: - 1xCSI, 3xMIPI - 2xCSI, 2xMIPI - 4xMIPI For 4xMIPI case, the four cameras should be combined on the single MIPI CSI2 interface, and each camera data should be transfered on a mipi virtual channel. In this patch, we given the example driver for Techpoint TP2854, it was verified working on iMX6DQ SabreAuto board. The input to TP2854 is four 720P30 HD-TVI cameras.   The MIPI CSI2 720P digital camera surround view solution can be found at: iMX6DQ MAX9286 MIPI CSI2 720P camera surround view solution for Linux BSP   The kernel patches: 0001-IPU-update-IPU-capture-driver-to-support-up-to-four-.patch      Updated IPU common code to support up to four cameras.   0002-Remove-the-page-size-align-requirement-for-v4l2-capt.patch      With this patch, the mxc_v4l2_tvin test application can use overlay framebuffer as V4l2 capture buffer directly.   0003-Add-TP2854-support-on-SabreAuto-board-which-can-supp.patch      TP2854 driver.   How to builld the kernel with TP2854 support:       make imx_v7_defconfig       make menuconfig (In this command, you should select the TP2854 driver:             Device Drivers  --->                   <*> Multimedia support  --->                         [*]   V4L platform devices  --->                               <*>   MXC Video For Linux Video Capture                                       MXC Camera/V4L2 PRP Features support  --->                                           <*>Techpoint tp2854 HD CVBS Input support                                           <*>mxc VADC support                                           <*>Select Overlay Rounting (Queue ipu device for overlay library)                                           <*>Pre-processor Encoder library                                           <*>IPU CSI Encoder library)       make zImage       make dtbs   The built out image file:       arch/arm/boot/dts/imx6q-sabreauto.dtb       arch/arm/boot/zImage "mxc_v4l2_tvin_3.14.52.zip" is the test application, test command to capture the four cameras and render on 1080P HDMI display: /mxc_v4l2_tvin.out -ol 0 -ot 0 -ow 960 -oh 540 -d 1 -x 0 -g2d & /mxc_v4l2_tvin.out -ol 960 -ot 0 -ow 960 -oh 540 -d 1 -x 1 -g2d & /mxc_v4l2_tvin.out -ol 0 -ot 540 -ow 960 -oh 540 -d 1 -x 2 -g2d & /mxc_v4l2_tvin.out -ol 960 -ot 540 -ow 960 -oh 540 -d 1 -x 3 -g2d & Details for TP2854, please contact with Techpoint. [2019-04-04] Update Add application to preview + encode at the same time:    /mxc_vpu_test.out -E "-x 0 -o /enc.h264 -w 1280 -h 720 -L 0 -T 0 -W 512 -H 384 -c 5000 -f 2" The camera input data go through CSI->MEM path, and IDMAC 0/1 will convert data from YUV422 ro NV12 for VPU encoder, no resize. Another modification in the mxc_vpu_test, it use different thread to encode and preview.

The original implementation is from Frias Renato for Sabreauto board. How to define the booting time? The booting time we defined here is from the board be powered up to the main application working and main application be showed directly to the end user, for example: for the media play purpose board, the booting time count to the first video frame be shown on the screen. For minimizing the booting time, some methods be tried. Optimizing for performance. Remove unnecessary modules at boot time. Start main application at the first time after the kernel be boot up. Optimizing for performance: U-Boot:   1:Enable MMU and L2-Cache.   2:Optimizing memset and memcpy.   3:Implementation of SDMA, accelerate copying data from NOR flash to memory.   4:Implementation of uSDHC’s ADMA, improve performance for SD card read. Kernel:   1:Optimizing _memcpy_fromio function at  arch/arm/kernel/io.c Remove unnecessary modules: U-Boot:   1: Disable uart output at u-boot procedure and add quiet parameter to Kernel boot.   2: Remove boot up delay at u-boot.   3: Disable I2C, SPI, SPLASH_SCREEN at u-boot. Kernel: Below removing unnecessary modules just for Sabresd board boot up through SD card and MIPI camera overlay on LVDS screen application, for other special board and special board usage application please don’t use below directly.   1: Modify arch/arm/mach-mx6/board-mx6q_sabresd.c just keep necessary module initialization at  mx6_sabresd_board_init : iomux configuration, uart0, voda, ipu, ldb, v4l2, mipi-csi, i2c1, uSDHC1, pwm0, dvfs, mipi camera clock.   2: Update Linux kernel configuration file. Try to just keep necessary module and configuration to keep minim size. Build necessary modules from external to Kernel itself. Create uImage from Image instead of zImage to reduce Kernel self extraction time. Use ext4 file system on SD card to accelerate rootfs mounting.    Notice: Kernel configuration remove NETWORK support, it includes Unix Domain Socket, the udev mechanism need it, so this kernel configuration can't support rootfs udev dynamic /dev/ nodes and all /dev/ nodes must be created before boot up at rootfs. Start main application at the first time after the kernel boots up. As normal boot up procedure, the init process will handle sysinit script firstly, this script will do some initialization and preparation for most of the user process, But this script normally will be executed for about 1~5 seconds, so now try do main application before the sysinit, while the necessary preparation of main application will be handle by this application internally. See below example for MIPI camera overly on LVDS screen: /etc/inittab ::once:/unit_tests/mxc_v4l2_overlay.out -iw 640 -ih 480 -it 0 -il 0 -ow 1024 -oh 768 -ot 0 -ol 0 -r 0 -t -1 -d 0 -fg -fr 30 ::once:/etc/rc.d/rcS ::once:/sbin/getty -L ttymxc0 115200 vt100 # GENERIC_SERIAL Test result of fast boot on Sabresd board for MIPI camera overly on LVDS screen: The main application be executed from the board be powered up is about 958ms.    Running Bootloader [0.356417 0.356417] [ 0.046637] _regulator_get: get() with no identifier [ 0.958425  0.602008] starting pid 21, tty '': '/unit_tests/mxc_v4l2_overlay.out -iw 640 -ih 480 -it 0 -il 0 -ow 1024 -oh 768 -ot 0 -ol 0 -r 0 -t -^@ [0.969609 0.011184] starting pid 22, tty '': '/etc/rc.d/rcS' [0.973368 0.003759] g_display_width = 1024, g_display_height = 768 [0.977540 0.004172] g_display_top = 0, g_display_left = 0 [0.980927 0.003387] starting pid 23, tty '': '/sbin/getty -L ttymxc0 115200 vt100 ' [1.048454 0.067527] Mounting /proc and /sys [1.089526 0.041072] Setting the hostname to freescale [1.116635 0.027109] Mounting filesystems [1.527320 0.410685] sensor chip is ov5640_mipi_camera [1.530627 0.003307] sensor frame size is 640x480 [1.533482 0.002855] sensor frame format is UYVY [1.640221 0.106739] frame_rate is 30 [1.642249 0.002028] [1.642270 0.000021] frame buffer width 0, height 0, bytesperline 0 [1.989728 0.347458] [1.990761 0.001033] arm-none-linux-gnueabi-gcc (Freescale MAD -- Linaro 2011.07 -- Built at 2011/08/10 09:20) 4.6.2 20110630 (prerelease) [2.001161 0.010400] root filesystem built on Tue, 11 Sep 2012 11:43:24 +0800 [2.006249 0.005088] Freescale Semiconductor, Inc. [2.009394 0.003145] [2.009531 0.000137] freescale login: Please see below fast boot video. I also attached sample code for U-boot and kernel for your reference. Patch code based on L3.0.35_12.09.01_GA.

1. Description     These patches are used to support MPU 8080 LCD on L3.14.52_1.1.0_GA BSP.     They are based on ELCDIF hardware module, iMX6UL and iMX7D is the reference platform.   2. File List -- 0001-Add-ST7789S-MPU-LCD-support-for-iMX6UL-board.patch    Patch to support MPU display for iMX6UL, ST7789S 240*320 panel is the example.   -- 0002-Add-ST7735R-MPU-LCD-support-for-iMX7D-board.patch    Patch to support MPU display for iMX7D, ST7735R 128*128 panel is the example.   -- readme.txt    this file, please refer to it before use the patches   3. Requirement - iMX6UL EVK board or iMX7D SabreSD board. - L3.14.52_1.1.0_GA kernel.   4. How to use -- Copy the patch files to kernel folder.     $ cd ~/L3.14.52_GA1.1.0/build-imx7dsabresd-X11/tmp/work/imx7dsabresd-poky-linux-gnueabi/linux-imx/3.14.52-r0/git     $ git apply ./0001-Add-ST7789S-MPU-LCD-support-for-iMX6UL-board.patch     $ git apply ./0002-Add-ST7735R-MPU-LCD-support-for-iMX7D-board.patch   -- Build the new kernel image:     $ cd ~/L3.14.52_GA1.1.0/build-imx7dsabresd-X11/tmp/work/imx7dsabresd-poky-linux-gnueabi/linux-imx/3.14.52-r0/git     $ export CROSS_COMPILE=~/L3.14.52_GA1.1.0/build-imx7dsabresd-X11/tmp/sysroots/x86_64-linux/usr/bin/arm-poky-linux-gnueabi/arm-poky-linux-gnueabi-     $ export ARCH=arm     $ make imx_v7_defconfig     $ make zImage     $ make dtbs   5. How to add a new MPU panel     1) in dts file, such as imx6ul-14x14-evk-i80lcd.dts, update the panel name "lcd_panel",        update the PINs in "pinctrl_lcdif_dat" and "pinctrl_lcdif_ctrl" for the new panel,        the reset and rs PINs can be from GPIO pin, lcd_reset_gpio and lcd_rs_gpio. &lcdif { pinctrl-names = "default"; pinctrl-0 = <&pinctrl_lcdif_dat        &pinctrl_lcdif_ctrl>; display = <&display0>; status = "okay"; display0: display {   mpu-mode;   lcd_reset_gpio = <&gpio3 14 0>;   lcd_panel = "ST7789S-QVGA"; }; };       2) Reference to "mxsfb_st7789s_qvga.c", add a new panel driver code.       3) Add the new panel support in Makefile and Kconfig under "drivers/video/mxc/"       4) Add the new panel support in file "mxsfb.c" and "mxsfb.h"       5) Add the new panel support in default kernel config file "imx_v7_defconfig"   Note: mpu_lcd_fb_test.tar.gz is the test application, for 8080 display, it is not sync display, so software need call ioctl to refresh the LCD.     2016-08-02: Add the uboot reference patch for iMX7D. File: L3.14.52_Uboot_mpu_display.patch  

Multiple-Overlay (or Multi-Overlay) means several video playbacks on a single screen. In case multiple screens are needed, check the dual-display case GStreamer i.MX6 Multi-Display $ export VSALPHA=1 $ SAMPLE1=sample1.avi; SAMPLE2=sample2.avi; SAMPLE3=sample3.avi; SAMPLE4=sample4.avi; $ WIDTH=320; HEIGHT=240; SEP=20 Four displays (2x2) $gst-launch \ playbin2 uri=file://`pwd`/$SAMPLE1 video-sink="mfw_isink axis-top=0 axis-left=0   disp-width=$WIDTH disp-height=$HEIGHT" \ playbin2 uri=file://`pwd`/$SAMPLE2 video-sink="mfw_isink axis-top=0 axis-left=`expr $WIDTH + $SEP` disp-width=$WIDTH disp-height=$HEIGHT" \ playbin2 uri=file://`pwd`/$SAMPLE3 video-sink="mfw_isink axis-top=`expr $HEIGHT + $SEP` axis-left=0   disp-width=$WIDTH disp-height=$HEIGHT" \ playbin2 uri=file://`pwd`/$SAMPLE4 video-sink="mfw_isink axis-top=`expr $HEIGHT + $SEP` axis-left=`expr $WIDTH + $SEP` disp-width=$WIDTH disp-height=$HEIGHT" Basic rotation, (2 x 1, normal and inverted) gst-launch \ playbin2 uri=file://`pwd`/$SAMPLE1 video-sink="mfw_isink axis-top=0 axis-left=0   disp-width=$WIDTH disp-height=$HEIGHT rotation=0" \ playbin2 uri=file://`pwd`/$SAMPLE2 video-sink="mfw_isink axis-top=`expr $HEIGHT + $SEP` axis-left=0 disp-width=$WIDTH disp-height=$HEIGHT rotation=3"

In some cases it is desired to directly have progressive content available from a TV-IN interface through the V4L2 capture device. In the BSP, HW accelerated de-interlacing is only supported in the V4L2 output stream. Below is a patch created against a rather old BSP version that adds support for de-interlaced V4L2 capture. The patch might need to be adapted to newer BSPs, However, the logic and functionality is there and should shorten the development time. This patch adds another input device to the V4L2 framework that can be selected to perform the deinterlacing on the way to memory. The selection is done by passing the index “2” as an argument to the VIDIOC_S_INPUT  V4L2 ioctl. Attached is also a modified the tvin unit test to give an example of how to use the new driver. An example sequence for running the test is as follows: modprobe mxc_v4l2_capture ./mxc_v4l2_tvin_vdi.out -ow 720 -oh 480 -ol 10 -ot 20 -f YU12 Some key things to note: This driver does not support resize or color space conversion on the way to memory. The requested format and size should match what can be provided directly by the sensor. The driver was tested on a Sabre AI Rev A board running Linux 12.02. This code is not an official delivery and as such no guarantee of support for this code is provided by Freescale.

  Test environment   i.MX8MP EVK LVDS0 LVDS-HDMI  bridge(it6263) L5.15.5_1.0.0 Background   Some customers need show logo using LVDS panel. Current BSP doesn't support LVDS driver in Uboot. This patch provides i.MX8MPlus LVDS driver support in Uboot. If you want to connect it to LVDS panel , you need port your lvds panel driver like  simple-panel.c   Update [2022.9.19] Verify on L5.15.32_2.0.0  0001-L5.15.32-Add-i.MX8MP-LVDS-driver-in-uboot 'probe device is failed, ret -2, probe video device failed, ret -19' is caused by below code. It has been merged in attachment. // /* Only handle devices that have a valid ofnode */ // if (dev_has_ofnode(dev) && !(dev->driver->flags & DM_FLAG_IGNORE_DEFAULT_CLKS)) { // /* // * Process 'assigned-{clocks/clock-parents/clock-rates}' // * properties // */ // ret = clk_set_defaults(dev, CLK_DEFAULTS_PRE); // if (ret) // goto fail; // }   [2023.3.14] Verify on L5.15.71 0001-L5.15.71-Add-i.MX8MP-LVDS-support-in-uboot   [2023.9.12] For some panel with low DE, you need uncomment CTRL_INV_DE line and set this bit to 1. #include <linux/string.h> @@ -110,9 +111,8 @@ static void lcdifv3_set_mode(struct lcdifv3_priv *priv, writel(CTRL_INV_HS, (ulong)(priv->reg_base + LCDIFV3_CTRL_SET)); /* SEC MIPI DSI specific */ - writel(CTRL_INV_PXCK, (ulong)(priv->reg_base + LCDIFV3_CTRL_CLR)); - writel(CTRL_INV_DE, (ulong)(priv->reg_base + LCDIFV3_CTRL_CLR)); - + //writel(CTRL_INV_PXCK, (ulong)(priv->reg_base + LCDIFV3_CTRL_CLR)); + //writel(CTRL_INV_DE, (ulong)(priv->reg_base + LCDIFV3_CTRL_CLR)); }      

adv7180 is the 8 bits parallel CSI interface TVin to iMX8QXP validation board. Its weaving mode de-interlace can be supported on both iMX8QXP B0 and C0 chips, but blending mode de-interlace can only work on iMX8QXP C0 chips.   ISL79987 is the 4 virtual channel TVin chip which can input 4 CVBS cameras to iMX8QXP with MIPI CSI2 inteface, it can only work with iMX8QXP C0 chips. The iMX8QXP B0 chips have MIPI CSI2 virtual channel errata.   To test the capture to file: $ /unit_tests/V4L2/mx8_v4l2_cap_drm.out -cam 1 -num 300 -fmt YUYV -of   To test the preview on screen: $ killall weston $ /unit_tests/V4L2/mx8_v4l2_cap_drm.out -cam 1 -fmt RGBP -num 30000   Note: 1. For weaving mode de-interlace, when the ISI is doing de-interlace, it can't do CSC at the same time, so preview will get color issue, because the real output video is always YUYV format. 2. For blending mode de-interlace, it must use ISI0, so for ISL79987, only one camera can use blending mode, the other three cameras are still using weaving mode. The preview color is OK for such use case. 3. The patch is for L4.19.35 BSP.     2019-11-14 update: Add the test application "mx8_v4l2_cap_drm.tar.gz" to support YUYV render to display. Test command to render 4 weaving mode cameras:    ./mx8_v4l2_cap_drm.out -cam 0xF -fmt YUYV -num 30000     2020-04-29 update: Add "0006-isl7998x-fix-the-mipi_bps-overwrite-issue-from-set_f.patch", it fixed the issue that MIPI bps information in isl7998x_data->format.reserved[0] had been overwritten by isl7998x_set_fmt().   2021-06-11 update: Added the patches based on L5.4.70_2.3.0 GA BSP.

INTRODUCTION REQUIREMENTS KERNEL DRIVER DEVICE NODE NFC LIBRARY TESTING NFC READER REFERENCES 1. INTRODUCTION This document is a step by step guide of the AN11697 PN7120 Linux Software Stack Integration Guidelines application note that can be downloaded from http://www.nxp.com/documents/application_note/AN11697.pdf . It explains how to add the PN7120 driver and NFC libraries to a Linux OS running in the i.MX6Q. 2. REQUIREMENTS The board used in this document is the Udoo Board thanks to the easy pin access. More information about this board can be found at Ultimate Single Board Mini PC for Android and Linux - UDOO A modified FSL L3.14.28 BSP. The modifications can be found in these 2 documents Basic Device Tree for the Udoo Board and  U-Boot Migration Example . If you have followed the previous documents, you already have a working yocto image and toolchain (meta-toolchain), if not you must follow this awesome training first Yocto Training - HOME . The OM5577/PN7120S demonstration kit. You can find more details of this board at http://www.nxp.com/documents/user_manual/UM10878.pdf 3. KERNEL DRIVER According to the AN11697.pdf we must follow the below steps: From the Linux source directory: $ cd drivers/misc $ git clone https://github.com/NXPNFCLinux/nxp-pn5xx.git Add the below line in the Makefile of the current directory obj-y += nxp-pn5xx/ Include the driver config in the drivers/misc/Kconfig file source "drivers/misc/nxp-pn5xx/Kconfig" Export the environment variables $ source source /opt/poky/1.7/environment-setup-cortexa9hf-vfp-neon-poky-linux-gnueabi $ export ARCH=arm $ export CROSS_COMPILE=$TARGET_PREFIX $ make imx_v7_defconfig Using menuconfig include the driver as module (<M>).  Compile the modules and install the .ko files into the target rootfs. $ make  modules You can send the .ko files with scp $ make  INSTALL_MOD_PATH=~/Desktop/modules modules_install $ cd ~/Desktop/modules $ sudo scp -r lib/modules/3.14.28+g91cf351/kernel root@<board_ip>:/lib/modules/3.14.28+g91cf351/ 4. DEVICE NODE The PN7120 interfaces with an MCU or MPU via I2C interface, therefore the device must be described into a i2c node. The signals used in the PN7120 are shown below: As you can see besides power, ground and I2C lines, an IRQ and Reset pins are needed. These pins must be configured as GPIO and one must generate an interrupt to the iMX6Q. The chosen connection is shown below: To achieve the above configuration, the device tree must be changed. The changes consist on adding a device node in the corresponding I2C bus, describing the PN7120. &i2c1 {         clock-frequency = <100000>;         pinctrl-names = "default";         pinctrl-0 = <&pinctrl_i2c1>;         status = "okay";         pn547: pn547@28 {                 compatible = "nxp,pn547";                 reg = <0x28>;                 clock-frequency = <400000>;                 interrupt-parent = <&gpio6>;                 interrupt-gpios = <&gpio6 2 0>;                 enable-gpios = <&gpio5 22 0>;         }; }; The pinctrl_i2c1 phandle contains the I2C pins configuration. Make sure that the PADs connected to the PN7120 are not used in other device node. &iomuxc {         imx6q-udoo {                       ...                 pinctrl_i2c1: i2c1grp {                         fsl,pins = <                         MX6QDL_PAD_GPIO_5__I2C3_SCL             0x4001b8b1                         MX6QDL_PAD_GPIO_6__I2C3_SDA             0x4001b8b1                         >;                 };         }; }; After this you can generate the dtb file and send it with scp make dtbs sudo scp arch/arm/boot/dts/imx6q-udoo.dtb root@<board_ip>:/run/media/mmcblk0p1/imx6q-udoo.dtb NOTE: Attached you can find the complete dts and dtsi files used in this document. 5. NFC LIBRARY     To work with the PN7120 in Linux the libnfc-nci stack is needed. You can find more details in http://www.nxp.com/documents/application_note/AN11697.pdf​ . This sections explains how to cross-compile the libray and install the required files in the target (The below steps must be performed in the host). Get the library $  git clone https://github.com/NXPNFCLinux/linux_libnfc-nci.git Generate the configuration script $ ./bootstrap Mount the target rootfs to /mnt in the host. $ sudo mount /dev/sdX2 /mnt Generate the Makefile $ ./configure --host=arm-none-linux --prefix=/opt/poky/1.7/sysroots/x86_64-pokysdk-linux/usr --sysconfdir=/mnt/etc Build and install the source code $ make $ make install After a succesful bulding the libraries and a application demo are built in .libs directory. Copy the libaries to /usr/lib directory of the target and nfcDemoApp to /usr/sbin $ cd linux_libnfc-nci/.libs $ sudo cp * /mnt/usr/lib/ 6. TESTING NFC READER     To test the application you have to follow the below steps on the target: Install the .ko file $ insmod /lib/modules/3.14.28+g91cf351/kernel/drivers/misc/nxp-pn5xx/pn5xx_i2c.ko Run the nfcDemoApp $  nfcDemoApp poll You should get a console output like the shown below when placing a NFC tag next to the NFC reader. 7. REFERENCES     Integrating NFC Controller library with KSDK http://www.nxp.com/documents/application_note/AN11697.pdf http://www.nxp.com/documents/user_manual/UM10878.pdf

    Xenomai is real-time framework, which can run seamlessly side-by-side Linux as a co-kernel system, or natively over mainline Linux kernels (with or without PREEMPT-RT patch). The dual kernel nicknamed Cobalt, is a significant rework of the Xenomai 2.x system. Cobalt implements the RTDM specification for interfacing with real-time device drivers. The native linux version, an enhanced implementation of the experimental Xenomai/SOLO work, is called Mercury. In this environment, only a standalone implementation of the RTDM specification in a kernel module is required, for interfacing the RTDM-compliant device drivers with the native kernel. You can get more detailed information from Home · Wiki · xenomai / xenomai · GitLab       I have ported xenomai 3.1 to i.MX Yocto 4.19.35-1.1.0, and currently support ARM64 and test on i.MX8MQ EVK board. I did over night test( 5 real-time threads + GPU SDK test case) and stress test by tool stress-ng on i.MX8MQ EVK board. It looks lile pretty good. Current version (20200730) also support i.MX8MM EVK.     You need git clone https://gitee.com/zxd2021-imx/xenomai-arm64.git, and git checkout xenomai-4.19.35-1.1.0-20200818 (which inlcudes all patches and bb file) and add the following variable in conf/local.conf before build xenomai by command bitbake xenomai.  XENOMAI_KERNEL_MODE = "cobalt"  PREFERRED_VERSION_linux-imx = "4.19-${XENOMAI_KERNEL_MODE}" IMAGE_INSTALL_append += " xenomai" or XENOMAI_KERNEL_MODE = "mercury" PREFERRED_VERSION_linux-imx = "4.19-${XENOMAI_KERNEL_MODE}" IMAGE_INSTALL_append += " xenomai" If XENOMAI_KERNEL_MODE = "cobalt", you can build dual kernel version. And If XENOMAI_KERNEL_MODE = "mercury", it is single kernel with PREEMPT-RT patch. The following is test result by the command (/usr/xenomai/demo/cyclictest -p 99 -t 5 -m -n -i 1000  -l 100000😞 //Over normal Linux kernel without GPU SDK test case T: 0 ( 4220) P:99 I:1000 C: 100000 Min: 7 Act: 10 Avg: 9 Max: 23 T: 1 ( 4221) P:99 I:1500 C: 66672 Min: 7 Act: 10 Avg: 10 Max: 20 T: 2 ( 4222) P:99 I:2000 C: 50001 Min: 7 Act: 12 Avg: 10 Max: 81 T: 3 ( 4223) P:99 I:2500 C: 39998 Min: 7 Act: 11 Avg: 10 Max: 29 T: 4 ( 4224) P:99 I:3000 C: 33330 Min: 7 Act: 13 Avg: 10 Max: 26 //Over normal Linux kernel with GPU SDK test case T: 0 ( 4177) P:99 I:1000 C: 100000 Min: 7 Act: 10 Avg: 11 Max: 51 T: 1 ( 4178) P:99 I:1500 C: 66673 Min: 7 Act: 12 Avg: 10 Max: 35 T: 2 ( 4179) P:99 I:2000 C: 50002 Min: 7 Act: 12 Avg: 11 Max: 38 T: 3 ( 4180) P:99 I:2500 C: 39999 Min: 7 Act: 12 Avg: 11 Max: 42 T: 4 ( 4181) P:99 I:3000 C: 33330 Min: 7 Act: 12 Avg: 11 Max: 36   //Cobalt with stress-ng --cpu 4 --io 2 --vm 1 --vm-bytes 512M --timeout 600s --metrics-brief T: 0 ( 4259) P:50 I:1000 C:3508590 Min:      0 Act:    0 Avg:    0 Max:      42 T: 1 ( 4260) P:50 I:1500 C:2338831 Min:      0 Act:    1 Avg:    0 Max:      36 T: 2 ( 4261) P:50 I:2000 C:1754123 Min:      0 Act:    1 Avg:    1 Max:      42 T: 3 ( 4262) P:50 I:2500 C:1403298 Min:      0 Act:    1 Avg:    1 Max:      45 T: 4 ( 4263) P:50 I:3000 C:1169415 Min:      0 Act:    1 Avg:    1 Max:      22   //Cobalt without GPU SDK test case T: 0 ( 4230) P:50 I:1000 C: 100000 Min: 0 Act: 0 Avg: 0 Max: 4 T: 1 ( 4231) P:50 I:1500 C:   66676 Min: 0 Act: 1 Avg: 0 Max: 4 T: 2 ( 4232) P:50 I:2000 C:   50007 Min: 0 Act: 1 Avg: 0 Max: 8 T: 3 ( 4233) P:50 I:2500 C:   40005 Min: 0 Act: 1 Avg: 0 Max: 3 T: 4 ( 4234) P:50 I:3000 C:   33338 Min: 0 Act: 1 Avg: 0 Max: 5 //Cobalt with GPU SDK test case T: 0 ( 4184) P:99 I:1000 C:37722968 Min: 0 Act: 1 Avg: 0 Max: 24 T: 1 ( 4185) P:99 I:1500 C:25148645 Min: 0 Act: 1 Avg: 0 Max: 33 T: 2 ( 4186) P:99 I:2000 C:18861483 Min: 0 Act: 1 Avg: 0 Max: 22 T: 3 ( 4187) P:99 I:2500 C:15089187 Min: 0 Act: 1 Avg: 0 Max: 23 T: 4 ( 4188) P:99 I:3000 C:12574322 Min: 0 Act: 1 Avg: 0 Max: 29 //Mercury without GPU SDK test case T: 0 ( 4287) P:99 I:1000 C:1000000 Min: 6 Act: 7 Avg: 7 Max: 20 T: 1 ( 4288) P:99 I:1500 C:  666667 Min: 6 Act: 9 Avg: 7 Max: 17 T: 2 ( 4289) P:99 I:2000 C:  499994 Min: 6 Act: 8 Avg: 7 Max: 24 T: 3 ( 4290) P:99 I:2500 C:  399991 Min: 6 Act: 9 Avg: 7 Max: 19 T: 4 ( 4291) P:99 I:3000 C:  333322 Min: 6 Act: 8 Avg: 7 Max: 21 //Mercury with GPU SDK test case T: 0 ( 4222) P:99 I:1000 C:1236790 Min: 6 Act: 7 Avg: 7 Max: 55 T: 1 ( 4223) P:99 I:1500 C:  824518 Min: 6 Act: 7 Avg: 7 Max: 44 T: 2 ( 4224) P:99 I:2000 C:  618382 Min: 6 Act: 8 Avg: 8 Max: 88 T: 3 ( 4225) P:99 I:2500 C:  494701 Min: 6 Act: 7 Avg: 8 Max: 49 T: 4 ( 4226) P:99 I:3000 C:  412247 Min: 6 Act: 7 Avg: 8 Max: 53 //////////////////////////////////////// Update for Yocto L5.4.47 2.2.0  /////////////////////////////////////////////////////////// New release for Yocto release L5.4.47 2.2.0 and it supports i.MX8M series (8MQ,8MM,8MN and 8MP). You need to git clone https://gitee.com/zxd2021-imx/xenomai-arm64.git,  and git checkout xenomai-5.4.47-2.2.0. You need to add the following variable in conf/local.conf before build xenomai by command bitbake imx-image-multimedia.  XENOMAI_KERNEL_MODE = "cobalt"  PREFERRED_VERSION_linux-imx = "5-${XENOMAI_KERNEL_MODE}" IMAGE_INSTALL_append += " xenomai" or XENOMAI_KERNEL_MODE = "mercury" PREFERRED_VERSION_linux-imx = "5-${XENOMAI_KERNEL_MODE}" IMAGE_INSTALL_append += " xenomai" //////////////////////////////////////// Update for Yocto L5.4.70 2.3.0  /////////////////////////////////////////////////////////// New release  for Yocto release L5.4.70 2.3.0 and it supports i.MX8M series (8MQ,8MM,8MN and 8MP) and i.MX8QM/QXP. You need to git clone https://gitee.com/zxd2021-imx/xenomai-arm64.git and git checkout xenomai-5.4.70-2.3.0. Updating: 1, Support i.MX8QM and i.MX8QXP 2, Fix altency's the issue which uses legacy API to get time   //////////////////////////////////////// update for Yocto L5.4.70 2.3.2  /////////////////////////////////////////////////////////// New release for Yocto release L5.4.70 2.3.2. You need to git clone https://gitee.com/zxd2021-imx/xenomai-arm64.git, and git checkout xenomai-5.4.70-2.3.2. Updating: 1, Enable Xenomai RTDM driver in Linux Kernel 2, Currently CAN, UART, GPIO,  SPI and Ethernet (in debug for RTNet)  are added in Xenomai. 3, Add KERNEL_DEVICETREE += " freescale/imx8mp-rt-evk.dtb " in sources/meta-imx/meta-bsp/conf/machine/imx8mpevk.conf to enable relative device in Xenomai domain, for example rt-imx8mp-flexcan.   //////////////////////////////////////// Update for Yocto L5.4.70 2.3.4  /////////////////////////////////////////////////////////// New release for Yocto release L5.4.70 2.3.4. You need to git clone  https://gitee.com/zxd2021-imx/xenomai-arm64.git and git checkout xenomai-5.4.70-2.3.4. Updating: 1, Enable RTNet FEC driver 2, Currently CAN, UART, GPIO,  SPI and Ethernet ( FEC Controller)  are added in Xenomai. 3, Add KERNEL_DEVICETREE += " freescale/imx8mp-rt-evk.dtb " in sources/meta-imx/meta-bsp/conf/machine/imx8mpevk.conf and KERNEL_DEVICETREE += " freescale/imx8mm-rt-ddr4-evk.dtb " in sources/meta-imx/meta-bsp/conf/machine/imx8mmddr4evk.conf to enable rt_fec device in Xenomai domain. Verifying the network connection by RTnet Ping Between i.MX8M Mini EVK and i.MX8M Plus EVK a, Setup test environment 1, Connect ENET1 of  i.MX8M Plus EVK (used as a master) and  ENET of i.MX8M Mini EVK (used as a slave) of  to a switch or hub 2, Modify /usr/xenomai/etc/rtnet.conf in i.MX8M Plus EVK board as the following: @@ -16,7 +16,7 @@ MODULE_EXT=".ko" # RT-NIC driver -RT_DRIVER="rt_eepro100" +RT_DRIVER="rt_fec" RT_DRIVER_OPTIONS="" # PCI addresses of RT-NICs to claim (format: 0000:00:00.0) @@ -30,8 +30,8 @@ REBIND_RT_NICS="" # The TDMA_CONFIG file overrides these parameters for masters and backup # masters. Leave blank if you do not use IP addresses or if this station is # intended to retrieve its IP from the master based on its MAC address. -IPADDR="10.0.0.1" -NETMASK="" +IPADDR="192.168.100.101" +NETMASK="255.255.255.0" # Start realtime loopback device ("yes" or "no") RT_LOOPBACK="yes" @@ -65,7 +65,7 @@ TDMA_MODE="master" # Master parameters # Simple setup: List of TDMA slaves -TDMA_SLAVES="10.0.0.2 10.0.0.3 10.0.0.4" +TDMA_SLAVES="192.168.100.102" # Simple setup: Cycle time in microsecond TDMA_CYCLE="5000" 3, Modify /usr/xenomai/etc/rtnet.conf in i.MX8M Mini EVK board as the following: @@ -16,7 +16,7 @@ MODULE_EXT=".ko" # RT-NIC driver -RT_DRIVER="rt_eepro100" +RT_DRIVER="rt_fec" RT_DRIVER_OPTIONS="" # PCI addresses of RT-NICs to claim (format: 0000:00:00.0) @@ -30,8 +30,8 @@ REBIND_RT_NICS="" # The TDMA_CONFIG file overrides these parameters for masters and backup # masters. Leave blank if you do not use IP addresses or if this station is # intended to retrieve its IP from the master based on its MAC address. -IPADDR="10.0.0.1" -NETMASK="" +IPADDR="192.168.100.102" +NETMASK="255.255.255.0" # Start realtime loopback device ("yes" or "no") RT_LOOPBACK="yes" @@ -59,13 +59,13 @@ STAGE_2_CMDS="" # TDMA mode of the station ("master" or "slave") # Start backup masters in slave mode, it will then be switched to master # mode automatically during startup. -TDMA_MODE="master" +TDMA_MODE="slave" # Master parameters # Simple setup: List of TDMA slaves -TDMA_SLAVES="10.0.0.2 10.0.0.3 10.0.0.4" +TDMA_SLAVES="192.168.100.102" # Simple setup: Cycle time in microsecond TDMA_CYCLE="5000" 4, rename imx8mm-rt-ddr4-evk.dtb to imx8mm-ddr4-evk.dtb in /run/media/mmcblk1p1,  rename imx8mp-rt-evk.dtb to imx8mp-evk.dtb in /run/media/mmcblk1p1, and reboot board. 5, Run the below command on i.MX8M Mini EVK board. cd /usr/xenomai/sbin/ ./rtnet start & 5, Run the below command on i.MX8M Plus EVK board. cd /usr/xenomai/sbin/ ./rtnet start & When you see the log (rt_fec_main 30be0000.ethernet (unnamed net_device) (uninitialized): Link is Up - 100Mbps/Full - flow control rx/tx) and you can run command "./rtroute" to check route table if the slave IP (192.168.100.102) is in route.. b, Verify the network connection using the command below: ./rtping -s 1024 192.168.100.102 //////////////////////////////////////// Update for Yocto L5.10.52 2.1.0  /////////////////////////////////////////////////////////// New release for Yocto release L5.10.52 2.1.0. You need to git clone https://gitee.com/zxd2021-imx/xenomai-arm64.git and git checkout xenomai-5.10.52-2.1.0. Updating: 1, Upgrade Xenomai to v3.2 2, Enable Dovetail instead of ipipe. Copy xenomai-arm64 to <Yocto folder>/sources/meta-imx/meta-bsp/recipes-kernel, and add the following variable in conf/local.conf before build Image with xenomai enable by command bitbake imx-image-multimedia. XENOMAI_KERNEL_MODE = "cobalt" IMAGE_INSTALL_append += " xenomai" or XENOMAI_KERNEL_MODE = "mercury" IMAGE_INSTALL_append += " xenomai" Notice: If XENOMAI_KERNEL_MODE = "cobalt", you can build dual kernel version. And If XENOMAI_KERNEL_MODE = "mercury", it is single kernel with PREEMPT-RT patch.  Latency testing of Xenomai3.2+Dovetail with isolating CPU 2,3 ( Xenomai 3.2 on 8MM DDR4 EVK with GPU test case (GLES2/S08_EnvironmentMappingRefraction_Wayland) + iperf3 + 2 ping 65000 size + stress-ng --cpu 2 --io 2 --vm 1 --vm-bytes 256M --metrics-brief )😞 The following is test result by the command (/usr/xenomai/demo/cyclictest -a 2,3 -p 50 -t 5 -m -n -i 1000) root@imx8mmddr4evk:~# /usr/xenomai/demo/cyclictest -a 2,3 -p 50 -t 5 -m -n -i 1000 # /dev/cpu_dma_latency set to 0us policy: fifo: loadavg: 5.96 6.04 6.03 7/155 1349 T: 0 ( 615) P:50 I:1000 C:63448632 Min: 0 Act: 0 Avg: 0 Max: 55 T: 1 ( 616) P:50 I:1500 C:42299087 Min: 0 Act: 0 Avg: 1 Max: 43 T: 2 ( 617) P:50 I:2000 C:31724315 Min: 0 Act: 0 Avg: 1 Max: 51 T: 3 ( 618) P:50 I:2500 C:25379452 Min: 0 Act: 0 Avg: 1 Max: 53 T: 4 ( 619) P:50 I:3000 C:21149543 Min: 0 Act: 0 Avg: 1 Max: 47 //////////////////////////////////////// Update for Yocto L5.10.72 2.2.2  /////////////////////////////////////////////////////////// New release for Yocto release L5.10.72 2.2.2. You need to git clone https://gitee.com/zxd2021-imx/xenomai-arm64.git and git checkout xenomai-5.10.72-2.2.2. Updating: 1, Upgrade Xenomai to v3.2.1 Copy xenomai-arm64 to <Yocto folder>/sources/meta-imx/meta-bsp/recipes-kernel, and add the following variable in conf/local.conf before build Image with xenomai enable by command bitbake imx-image-multimedia. XENOMAI_KERNEL_MODE = "cobalt" IMAGE_INSTALL_append += " xenomai" or XENOMAI_KERNEL_MODE = "mercury" IMAGE_INSTALL_append += " xenomai" //////////////////////////////////////// Update for Yocto L5.15.71 2.2.0  /////////////////////////////////////////////////////////// New release for Yocto release L5.15.71 2.2.0. You need to git clone https://gitee.com/zxd2021-imx/xenomai-arm64.git and git checkout xenomai-5.15.71-2.2.0. Updating: 1, Upgrade Xenomai to v3.2.2 Copy xenomai-arm64 to <Yocto folder>/sources/meta-imx/meta-bsp/recipes-kernel, and add the following variable in conf/local.conf before build Image with xenomai enable by command bitbake imx-image-multimedia. XENOMAI_KERNEL_MODE = "cobalt" IMAGE_INSTALL:append += " xenomai" or XENOMAI_KERNEL_MODE = "mercury" IMAGE_INSTALL:append += " xenomai"   //////////////////////////////////////// Update for Yocto L6.1.55 2.2.0  /////////////////////////////////////////////////////////// New release for Yocto release L6.1.55 2.2.0. You need to git clone https://gitee.com/zxd2021-imx/xenomai-arm64.git recipes-rtlinux-xenomai -b Linux-6.1.x Updating: 1, Upgrade Xenomai to v3.2.4 and support i.MX93 2, Enable EVL (aka Xenomai 4) for i.MX93 and legacy i.MX(6/7D/8X/8M) Copy recipes-rtlinux-xenomai to <Yocto folder>/sources/meta-imx/meta-bsp/, and add the following variable in conf/local.conf before build Image with xenomai enable by command bitbake imx-image-multimedia. XENOMAI_KERNEL_MODE = "cobalt" IMAGE_INSTALL:append += " xenomai" or XENOMAI_KERNEL_MODE = "mercury" IMAGE_INSTALL:append += " xenomai" or XENOMAI_KERNEL_MODE = "evl" IMAGE_INSTALL:append += " libevl"  

1. Description     1) Support HDMI interlaced display mode, the followed format had been verified.         CEA format 5: 1920x1080i @60Hz         CEA format 6&7: 720(1440)x480i @60Hz         CEA format 20: 1920x1080i @50Hz         CEA format 21&22: 720(1440)x576i @50Hz     2) Support LCD interface for interlaced display mode, 1920x1080i @50Hz(CEA format 20)        had been verified. 2. File List -- 0001-IPUv3-support-interlaced-display-mode.patch    Patch to support interlaced display output for iMX6 ipuv3. -- 0002-iMX6-HDMI-support-interlaced-display-mode.patch    Patch to support interlaced display mode for iMX6 HDMI driver. -- 0003-iMX6-LCD-interface-supports-1920x1080i50-mode.patch    Patch to support interlaced display mode for iMX6 LCD interface driver.    -- readme.txt    this file, please refer to it before use the patches 3. Requirement - iMX6 SabreSD board. - L3.0.35_4.1.0_GA_iMX6DQ kernel. 4. How to use -- Copy the patch files to kernel folder.     $ cd ~/ltib/rpm/BUILD/linux-3.0.35/     $ git apply ./0001-IPUv3-support-interlaced-display-mode.patch     $ git apply ./0002-iMX6-HDMI-support-interlaced-display-mode.patch     $ git apply ./0003-iMX6-LCD-interface-supports-1920x1080i50-mode.patch -- Build the new kernel image:     $ cd ~/ltib/rpm/BUILD/linux-3.0.35     $ export CROSS_COMPILE=/opt/freescale/usr/local/gcc-4.6.2-glibc-2.13-linaro-multilib-2011.12/fsl-linaro-toolchain/bin/arm-fsl-linux-gnueabi-     $ export ARCH=arm     $ make imx6_defconfig     $ make uImage -- Uboot parameters for video mode    Output 1080i50 display mode on HDMI:       "video=mxcfb0:dev=hdmi,1920x1080Mi@25,if=RGB24,bpp=32"    Output 1080i60 display mode on HDMI:       "video=mxcfb0:dev=hdmi,1920x1080Mi@30,if=RGB24,bpp=32"    Output 576i50 display mode on HDMI:       "video=mxcfb0:dev=hdmi,1440x576Mi@25,if=RGB24,bpp=32"    Output 480i60 display mode on HDMI:       "video=mxcfb0:dev=hdmi,1440x480Mi@30,if=RGB24,bpp=32"    Output 1080i50 display mode on LCD interface:       "video=mxcfb0:dev=lcd,LCD-1080I50,if=RGB565,bpp=32"       -- Switch HDMI interlaced mode    $ echo S:1920x1080i-50 > /sys/class/graphics/fb0/mode    $ echo S:1920x1080i-60 > /sys/class/graphics/fb0/mode    $ echo S:1440x480i-50 > /sys/class/graphics/fb0/mode    $ echo S:1440x576i-60 > /sys/class/graphics/fb0/mode 5. Know issue     1) When the interlaced display and another display work on same IPU,        blank and unblank the interlaced display will get the followed IPU        warning, but the display still works due to IPU can revover from the error.     imx-ipuv3 imx-ipuv3.0: IPU Warning - IPU_INT_STAT_5 = 0x00800000     imx-ipuv3 imx-ipuv3.0: IPU Warning - IPU_INT_STAT_10 = 0x00080000 2015-05-13 update: Replace the fourth patch to make interlace display mode follow CEA-861-specification The patch "0004-IPU-fine-tuning-the-interlace-display-timing-for-CEA.patch" was fine tuned for CEA-861-D specification on interlaced mode display. Please use this patch to replace the old 0004 patch. 2016-05-20 Update: For 3.0.35 BSP, add patch 0005-IPU-update-interlaced-video-mode-parameters-to-align.patch      Align the interlaced video mode parameters to progressive mode. 0006-IPU-update-IDMAC-setting-for-interlaced-display-mode.patch      Udate the IDMAC setting for interlaced display mode, output odd field data from memory first, it aligns with IPU DI timing, odd field first. For 3.14.52 BSP, created the new patch L3.14.52_1.1.0_GA_HDMI_Interlaced_Mode_Patch_2016_05_20.zip.

Hardware connection: there are two board-to-board connectors on E-INK daughter card IMXEBOOKDC4, while there is only one on i.MX7D Sabre board, as the picture below. This might be a bit confusing to connect the two: Checked with internal, the original design was trying to wire both eLCDIF and EPDC bus out to one daughter card, add the flexibility to have different configurations on one display daughter card(LCD/EPD). On i.MX7D Sabre board, only one connector is available for EPDC bus. Here is how we connect i.MX7D Sabre and IMXEBOOKDC4: Software setup: here we use pre-build L3.14.38_6UL7D_Beta Linux as our boot-image, steps to setup/boot/test EPDC: 1. download and decompress BSP pre-build image package "L3.14.38_beta_images_MX6UL7D.tar.gz", you should be able to find the SD image in it -- "fsl-image-gui-x11-imx7dsabresd.sdcard" 2. program the SD image on your SD card(>800 MBytes) with command(I'm running this in Ubuntu): "dd if=fsl-image-gui-x11-imx7dsabresd.sdcard of=/dev/sdb;sync" 3. insert SD card to the slot(J6) on i.MX7D Sabre board, connect debug-UART and power-on the board 4. modify the u-boot environment variables as below:      a.) setenv fdt_file imx7d-sdb-epdc.dtb           (originally this is "fdt_file=imx7d-sdb.dtb")      b.) setenv mmcargs 'setenv bootargs console=${console},${baudrate} root=${mmcroot} epdc video=mxcepdcfb:E060SCM,bpp=16'           (originally this is "mmcargs=setenv bootargs console=${console},${baudrate} root=${mmcroot}") 5. boot into Linux kernel, run unit-test: "/unit_tests/mxc_epdc_fb_test.out", should be able to have test patterns running on EPD.

Multiple-Display means video playback on multiple screens. In case playback needs to be in a unique screen, the mfw_isink element must be used and some pipelines examples can be found on this link: GStreamer iMX6 Multi-Overlay. Number of Displays Display type Kernel parameters Pipelines # Set these shells variables before running the pipelines alias gl=gst-launch SINK_1="\"mfw_v4lsink device=/dev/video17\"" SINK_2="\"mfw_v4lsink device=/dev/video18\"" SINK_3="\"mfw_v4lsink device=/dev/video20\"" media1=file:///root/media1 media2=file:///root/media2 media3=file:///root/media3 2 hdmi + lvds video=mxcfb0:dev=hdmi,1920x1080M@60,if=RGB24 video=mxcfb1:dev=ldb,LDB-XGA,if=RGB666 gl playbin2 uri=$media1 video-sink=$SINK_1 playbin2 uri=$media2 video-sink=$SINK_2 2 lvds + lvds video=mxcfb0:dev=ldb,LDB-XGA,if=RGB666 video=mxcfb1:dev=ldb,LDB-XGA,if=RGB666 gl playbin2 uri=$media1 video-sink=$SINK_1 playbin2 uri=$media2 video-sink=$SINK_2 2 lcd + lvds video=mxcfb0:dev=lcd,800x480M@55,if=RGB565 video=mxcfb1:dev=ldb,LDB-XGA,if=RGB666 gl playbin2 uri=$media1 video-sink=$SINK_1 playbin2 uri=$media2 video-sink=$SINK_2 3 hdmi + lvds + lvds video=mxcfb0:dev=hdmi,1920x1080M@60,if=RGB24 video=mxcfb1:dev=ldb,LDB-XGA,if=RGB6 video=mxcfb2:dev=ldb,LDB-XGA,if=RGB666 gl playbin2 uri=$media1 video-sink=$SINK_1 playbin2 uri=$media2 video-sink=$SINK_2 playbin2 uri=$media3 video-sink=$SINK_3

Here is a quick summary at building a bootloader, a kernel and a root filesystem for the i.MX 6 sabre sd platform, using buildroot. This assumes you have a "working" Linux development environment at hand (e.g. Debian). Buildroot is a fine build system, which makes deploying Linux on embedded platforms really easy. It is comparable to Yocto in spirit, but much simpler. Thanks to my colleague gillestalis, buildroot now has builtin support for the i.MX6 sabre sd platform. Get buildroot sources We will use git to fetch buildroot sources: $ git clone git://git.busybox.net/buildroot This should create a buildroot directory with all the latest sources (after a while). Note that for more stability you might want to checkout a release instead of the latest version; to do so, list the available release tags with e.g. git tag -l '201*', and git checkout <the-desired-tag>. Compile The beauty of buildroot is that it will take care of everything for you, including preparing a cross compiler. You can download and build everything by doing: $ cd buildroot $ make freescale_imx6sabresd_defconfig $ make This should download and build everything, so it will take a while. buildroot detects the number of CPUs you have in your machine and builds with parallel jobs automatically; no need to specify any -j argument to make here. All build results fall under the output/images folder: output/images/ +- rootfs.ext2 +- rootfs.tar +- u-boot.bin `- uImage Format the SD card As for Debian, we need to format the SD card with two partitions; one small FAT partition to contain the Linux kernel, and one large ext4 partition, which will contain the root filesystem with the buildroot generated userspace. Also, we need to make sure we leave some space for u-boot starting from offset 1024B. Here is an example SD card layout: +-----+------+--------+-----+---------------+----------------- | MBR |  ... | u-boot | ... | FAT partition | Linux partition ... +-----+------+--------+-----+---------------+----------------- 0     512    1024           1M              ~257M (offsets in bytes) Here is an example SD card layout, as displayed by fdisk: Device    Boot      Start         End      Blocks   Id  System /dev/sdc1            2048      526335      262144    c  W95 FAT32 (LBA) /dev/sdc2          526336     8054783     3764224   83  Linux (units: 512B sectors) You can format the FAT boot partition with: # mkfs.vfat /dev/<your-sd-card-first-partition> Your SD card first partition is typically something in /dev/sd<X>1 or/dev/mmcblk<X>p1. You can format the Linux partition with: # mkfs.ext4 /dev/<your-sd-card-second-partition> Your SD card second partition is typically something in /dev/sd<X>2 or/dev/mmcblk<X>p2. Put on SD As explained here, u-boot should reside at offset 1024B of your SD card. Also, as buildroot generates an u-boot.bin (and not an u-boot.imx) we should skip its first KB, too. In summary, to put u-boot on your SD, do:   # dd if=output/images/u-boot.bin of=/dev/<your-sd-card> bs=1k seek=1 skip=1   # sync Your SD card device is typically something in /dev/sd<X> or /dev/mmcblk<X>. Note that you need write permissions on the SD card for the command to succeed, so you might need to su - as root, or use sudo, or do a chmod a+w as root on the SD card device node to grant permissions to users. Similarly to what this post describes, you can copy the kernel to the FAT boot partition with: # mount /dev/<your-sd-card-second-partition> /mnt # cp output/images/uImage /mnt/ # umount /mnt Your SD card first partition is typically something in /dev/sd<X>1 or/dev/mmcblk<X>p1. And not unlike what is done in this post, You can install your generated root filesystem to the Linux partition with: # mount /dev/<your-sd-card-second-partition> /mnt # tar -C /mnt -xvf output/images/rootfs.tar # umount /mnt Your SD card second partition is typically something in /dev/sd<X>2 or/dev/mmcblk<X>p2. Boot! Your SD card is ready for booting. Insert it in the SD card slot of your i.MX6 sabre sd platform, connect to the USB to UART port with a serial terminal set to 115200 baud, no parity, 8bit data and power up the platform. Like with Debian, u-boot default settings will not allow it to boot from the SD card, so we need to interrupt it by pressing enter at u-boot prompt for the first boot and setup u-boot environment to fix this: MX6Q SABRESD U-Boot > setenv bootargs_mmc 'setenv bootargs ${bootargs} root=/dev/mmcblk1p2 rootwait' MX6Q SABRESD U-Boot > setenv bootcmd_mmc 'run bootargs_base bootargs_mmc; mmc dev 2; fatload mmc 2:1 ${loadaddr} ${kernel}; bootm' MX6Q SABRESD U-Boot > setenv bootcmd 'run bootcmd_mmc' MX6Q SABRESD U-Boot > saveenv Saving Environment to MMC... Writing to MMC(2)... done As this is saved in the SD card it need only to be done once at first boot. You can reboot your board or type boot; your buildroot system should boot to a prompt: (...) Welcome to Buildroot buildroot login: From there you may login as root. Enjoy! Tweak buildroot uses Linux kernel kconfig to handle its configuration. So, as for the Linux kernel, changes to the configuration can be done with e.g.: $ make menuconfig Most of the options can be tuned from there, including (most importantly) which packages get installed into the generated root filesystem. This is configuration section 'Filesystem images'. Further details are documented in buildroot manual. Tips ccache is natively supported by buildroot and can be easily enabled with configuration option BR2_CCACHE. If you only use the generated rootfs.tar as described in this post and do not care about the rootfs.ext2, you might as well save a few seconds of build by disabling its generation. This is done with configuration option BR2_TARGET_ROOTFS_EXT2. It is recommended to install an ssh server inside the target for further development. This is conveniently done with configuration option BR2_PACKAGE_OPENSSH. See also... Other root filesystems may make more sense for you; see this post for a Debian root filesystem, and this post for a minimal busybox filesystem. Freescale Yocto Project main page

Here is a quick summary at booting Linux on the i.MX 6 sabre sd platform. This assumes you already have u-boot working on your platform as described here. This implies you already have a "working" Linux development environment with some ARM cross-compilers at hand (e.g. Debian + Emdebian). Get Linux sources We will use git to fetch Linux sources:   $ git clone git://git.kernel.org/pub/scm/linux/kernel/git/torvalds/linux.git This should create a linux directory with all the latest sources (after a while). Note that for more stability you might want to checkout a release instead of the latest version; to do so, list the available release tags with e.g. git tag -l 'v*', and git checkout <the-desired-tag>. Compile Assuming your cross compiler is called e.g. arm-linux-gnueabihf-gcc, you can compile by doing:   $ cd linux   $ export ARCH=arm   $ export CROSS_COMPILE=arm-linux-gnueabihf-   $ make imx_v6_v7_defconfig   $ make You then need to supply a LOADADDR (as joowonkim pointed out); do:   $ make uImage LOADADDR=0x10008000 This should create a number of files, including arch/arm/boot/uImage and arch/arm/boot/dts/imx6q-sabresd.dtb. Put on SD We need a proper FAT partition on the SD card, from which u-boot will be able to load the kernel and dtb. Also, we need to make sure we leave some space for u-boot starting from offset 1024B. Here is an example SD card layout:   +-----+------+--------+-----+----------------   | MBR |  ... | u-boot | ... | FAT partition ...   +-----+------+--------+-----+----------------   0     512    1024           1M (offsets in bytes) Here is an example SD card layout, as displayed by fdisk:   Device    Boot      Start         End      Blocks   Id  System   /dev/sdc1            2048     8054783     4026368    c  W95 FAT32 (LBA) (units: 512B sectors) You can format the FAT partition, mount, copy and unmount with:   $ mkfs.vfat /dev/<your-sd-card-first-partition>   $ mount /dev/<your-sd-card-first-partition> /mnt   $ cp arch/arm/boot/uImage arch/arm/boot/dts/imx6q-sabresd.dtb /mnt/   $ umount /mnt Your SD card first partition is typically something in /dev/sd<X>1 or /dev/mmcblk<X>p1. Note that you need write permissions on the SD card for the command to succeed, so you might need to su - as root, or use sudo, or do a chmod a+w as root on the SD card device node to grant permissions to users. Also, be sure to have u-boot on the SD card as explained in this post. Boot! That's it; u-boot already knows how to deal with your kernel by default so you are good to go. Insert the SD card into the SD card slot of your i.MX6 sabre sd platform, connect to the USB to UART port with a serial terminal set to 115200 baud, no parity, 8bit data and power up the platform. You should see u-boot messages:   U-Boot 2013.07-rc1-00014-g74771f4 (Jun 21 2013 - 16:27:39) u-boot should load the uImage and dtb from SD card and boot the kernel:   (...)   reading uImage   4215344 bytes read in 449 ms (9 MiB/s)   Booting from mmc ...   reading imx6q-sabresd.dtb   22818 bytes read in 22 ms (1012.7 KiB/s)   ## Booting kernel from Legacy Image at 12000000 ...      Image Name:   Linux-3.10.0-rc6      Image Type:   ARM Linux Kernel Image (uncompressed)      Data Size:    4215280 Bytes = 4 MiB      Load Address: 10008000      Entry Point:  10008000      Verifying Checksum ... OK   ## Flattened Device Tree blob at 11000000      Booting using the fdt blob at 0x11000000      Loading Kernel Image ... OK   OK      Using Device Tree in place at 11000000, end 11008921   Starting kernel ... The kernel should boot:   Booting Linux on physical CPU 0x0   Linux version 3.10.0-rc6 (vstehle@debian) (gcc version 4.7.2 (Debian 4.7.2-5) ) #1 SMP Fri Jun 21 18:09:26 CEST 2013 By default, the kernel will try to mount a root filesystem from the SD card second partition, as can be read in the default kernel command line:   (...)   Kernel command line: console=ttymxc0,115200 root=/dev/mmcblk1p2 rootwait rw ...but we did not prepare a root filesystem partition, so after a number of boot messages the kernel will wait indefinitely:   (...)   mmc1: new SDHC card at address b368   (...)    mmcblk0: p1   (...)   Waiting for root device /dev/mmcblk1p2... We will see in another post how to prepare this root filesystem on the second SD card partition. Enjoy! See also... If you plan to compile Linux often, you might want to use a C compiler cache; see this post. Once you have Linux booting on your platform the next step is to give it a root filesystem. See this post for a Debian root filesystem, this post for a minimal busybox filesystem and this post for generating a root filesystem with buildroot.