i.MX Processors Knowledge Base

cancel
Showing results for 
Search instead for 
Did you mean: 

i.MX Processors Knowledge Base

Discussions

Sort by:
some industry customer to use i.MX8MM will use RMII to link the 100Mhz ethernet phy and wish to use our i.mx8mm output 50Mhz reference clock to external phy to save a crystal, this doc and patch explain how to support it. SW: Linux BSP 5.10.17. HW: i.MX8MM LPDDR/DDR EVK board.  
View full article
Sometimes we got CMA allocation error while there're still many free pages in CMA area.  This article analyze several cases/reason for this kind of failure.
View full article
BSP: L5.15.5_1.0.0 Platform: i.MX8MPlus EVK Background   The function lpddr4_mr_read in BSP always return zero and this casue the customer can't use it to read MR registers in DRAM. This is a simple demo for reading MR registers. Patch Code   diff --git a/arch/arm/include/asm/arch-imx8m/ddr.h b/arch/arm/include/asm/arch-imx8m/ddr.h index 0f1e832c03..fd68996a23 100644 --- a/arch/arm/include/asm/arch-imx8m/ddr.h +++ b/arch/arm/include/asm/arch-imx8m/ddr.h @@ -721,6 +721,8 @@ int wait_ddrphy_training_complete(void); void ddrphy_init_set_dfi_clk(unsigned int drate); void ddrphy_init_read_msg_block(enum fw_type type); +unsigned int lpddr4_mr_read(unsigned int mr_rank, unsigned int mr_addr); + void update_umctl2_rank_space_setting(unsigned int pstat_num); void get_trained_CDD(unsigned int fsp); diff --git a/board/freescale/imx8mp_evk/spl.c b/board/freescale/imx8mp_evk/spl.c index 33bbbc09ac..85e40ffbbe 100644 --- a/board/freescale/imx8mp_evk/spl.c +++ b/board/freescale/imx8mp_evk/spl.c @@ -150,6 +150,40 @@ int board_fit_config_name_match(const char *name) return 0; } #endif +void lpddr4_get_info() +{ + int i = 0, attempts = 5; + + unsigned int ddr_info = 0; + unsigned int regs[] = { 5, 6, 7, 8 }; + + for(i = 0; i < ARRAY_SIZE(regs); i++){ + unsigned int data = 0; + data = lpddr4_mr_read(0xF,regs[i]); + ddr_info <<= 8; + ddr_info += (data & 0xFF); + switch (i) + { + case 0: + printf("DRAM INFO : Manufacturer ID = 0x%x",ddr_info); + if(ddr_info & 0Xff) + printf(", Micron\n"); + break; + case 1: + printf("DRAM INFO : Revision ID1 = 0x%x\n",ddr_info); + break; + case 2: + printf("DRAM INFO : Revision ID2 = 0x%x\n",ddr_info); + break; + case 3: + printf("DRAM INFO : I/O Width and Density = 0x%x\n",ddr_info); + break; + default: + break; + } + } + +} void board_init_f(ulong dummy) { @@ -187,6 +221,8 @@ void board_init_f(ulong dummy) /* DDR initialization */ spl_dram_init(); + + lpddr4_get_info(); board_init_r(NULL, 0); } diff --git a/drivers/ddr/imx/imx8m/ddrphy_utils.c b/drivers/ddr/imx/imx8m/ddrphy_utils.c index 326b92d784..f45eeaf552 100644 --- a/drivers/ddr/imx/imx8m/ddrphy_utils.c +++ b/drivers/ddr/imx/imx8m/ddrphy_utils.c @@ -194,8 +194,15 @@ unsigned int lpddr4_mr_read(unsigned int mr_rank, unsigned int mr_addr) tmp = reg32_read(DRC_PERF_MON_MRR0_DAT(0)); } while ((tmp & 0x8) == 0); tmp = reg32_read(DRC_PERF_MON_MRR1_DAT(0)); - tmp = tmp & 0xff; reg32_write(DRC_PERF_MON_MRR0_DAT(0), 0x4); + + while (tmp) { //try to find a significant byte in the word + if (tmp & 0xff) { + tmp &= 0xff; + break; + } + tmp >>= 8; + } return tmp; }     Test Result  
View full article
BSP: L5.15.5_1.0.0   Platform: i.MX8MPlus EVK   1. Parameter preparation For more parameter calculation, please refer to: https://community.nxp.com/t5/i-MX-Processors-Knowledge-Base/iMX-8M- Mini-Register-Programming-Aid-DRAM-PLL-setting/ta-p/111209  For 1866MHz LPDDR4, we need a DRAM PLL size of 466.5MHz. The PLL dividing parameters are shown in the table below: m=311,p=8,s=1.   2. Calibration and stress test with DDR Tool 2.1 Creating a test script for 1866MHz Here we copy the script from another file (e.g. 2000MHz) and modify the contents of the script.   2.2 Modify the script to adapt to 1866MHz 2.3 Download the test script After selecting the ddr script we created, click on the download button The DDR Tool will use the script to set the registers and you can see that we have a DDR clock size of 932 here (which is twice the size of 466.5). 2.4 Calibrating the stress test Set the core clock of the chip's cpu to 1.2GHz, then click the Calibration button to calibrate, then click Gen Code to generate the lpddr4_timing.c file. Set the start frequency to 932MHz for the stress test. 2.5 Modify lpddr4_timing.c We need to modify the generated lpddr4_timing.c file to change the maximum speed to 3732MHz.   3. SPL patch After getting the correct lpddr4_timing.c file, the SPL code also needs to be modified to add support for the 466.5MHz DRAM PLL. diff --git a/arch/arm/mach-imx/imx8m/clock_imx8mm.c b/arch/arm/mach-imx/imx8m/clock_imx8mm.c index e39f238fdf...5622a6334e 100644 --- a/arch/arm/mach-imx/imx8m/clock_imx8mm.c +++ b/arch/arm/mach-imx/imx8m/clock_imx8mm.c @@ -55,6 +55,7 @@ static struct imx_int_pll_rate_table imx8mm_fracpll_tbl[] = { PLL_1443X_RATE(650000000U, 325, 3, 2, 0), PLL_1443X_RATE(600000000U, 300, 3, 2, 0), PLL_1443X_RATE(594000000U, 99, 1, 2, 0), + PLL_1443X_RATE(466500000U, 311, 8, 1, 0), PLL_1443X_RATE(400000000U, 400, 3, 3, 0), PLL_1443X_RATE(2660000U, 266, 3, 3, 0), PLL_1443X_RATE(167000000U, 334, 3, 4, 0), diff --git a/drivers/ddr/imx/imx8m/ddrphy_utils.c b/drivers/ddr/imx/imx8m/ddrphy_utils.c index 326b92d784..ebd005bc2b 100644 --- a/drivers/ddr/imx/imx8m/ddrphy_utils.c +++ b/drivers/ddr/imx/imx8m/ddrphy_utils.c @@ -117,6 +117,10 @@ void ddrphy_init_set_dfi_clk(unsigned int drate) dram_pll_init(MHZ(1000)); dram_disable_bypass(); break; + case 3732: + dram_pll_init(MHZ(466.5)); + dram_disable_bypass(); + break; case 3200: dram_pll_init(MHZ(800)); dram_disable_bypass();   4. Test results   Reference blog. DDR Tool: https://community.nxp.com/t5/i-MX-Processors-Knowledge-Base/i-MX-8M-Family-DDR-Tool-Release/ta-p/1104467  RPA: https://community.nxp.com/t5/i-MX-Processors-Knowledge-Base/i-MX-8MPlus-m865S-DDR-Register-Programming-Aids-RPA/ta-p/1235352 
View full article
This is simple known-how for how to implement "boot animation" with DRM under i.MX8/X + Linux:   Code to refer to: ========================================================================= 1. kmscube: Either open source one or the customized on for i.MX will be OK: https://cgit.freedesktop.org/mesa/kmscube/ https://source.codeaurora.org/external/imx/kmscube-imx/ 2. Android display HAL: KmsDisplay.cpp   Known-how: ========================================================================= 1. Only one application can grab the master role of the DRM device. If need to control DRM from two applicaiton simultanously, possible solution:     A, Use "controlD" node instead of "card" node in /dev/dri/. This requires L4.14 or before. This device node was removed by two commits in L4.14.x:           8a357d10043c75e980e7fcdb60d2b913491564af           6449b088dd51dd5aa6b38455888bbf538d21f2fc     Can be brought back by reverting these two commits in L4.14.98.     B, Use framebuffer emulator to emulate a FB device (/dev/fb0). (not recommended due to lack of vsync). 2. Some kernel functions will re-config the DRM device during boot. This will cause display abnormal after user application has configured the DRM device. Better to disable these kernel features:       CONFIG_DRM_FBDEV_EMULATION       CONFIG_FRAMEBUFFER_CONSOLE 3. Use atomic mode of KMS API instead of legacy mode for any dynamically screen drawing application, such as video, game and etc. Atomic mode will have much better performance compare to legacy mode. The kmscube has sample code for both mode. 4. Better to do commit checking before doing any real commit, especially when doing display during boot. Sometimes some internal component in DRM is not fully ready after card device is present.       DRM_MODE_ATOMIC_ALLOW_MODESET 5. If video playback will be used, some points to remind:     a, Sample code for direct video decoding (in unit-test): imx-test/test/mxc_v4l2_vpu_test/     b, VPU in i.MX8/X only support tiled NV12 output and it has pixel alignment requirement (128). Need to use CPU or G2D to do un-tile, CSC and cropping. Sample code: <android>/vendor/nxp/fsl_imx_omx/OpenMAXIL/src/component/v4l2_common/G2dProcess.cpp If using G2D under Linux, it will support un-tile directly (through OpenCL internally).
View full article
 This article instruct customer how to develop on i.MX8MP NPU and how to debug performance. 
View full article
This article is to show how to use CLK2 for PCIe ref clock for i.MX8MQ. Test Environment  i.MX8MQ + BSP L5.10.52 Background In order to cost down, some customers used CLK2 as PCIe reference clock as below while no external OSC installed, which is different with i.MX8MQ EVK design, so no clock output for PCIe.  Checked L4.14.98_2.3.0 and found it added internal PLL for PCIe clock support. Solution The attached patch based on 4.14.98 can ’ t be used directly on 5.10.52, the following is the main modification for PLLOUT of PCIe clock. PLLOUT Monitor Configuration Register contains bits to control the clock that will be generated on the CCM clock mapped to CLK2_P/N.        
View full article
  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 67191 or use simple-panel.c      
View full article
In some cases, i.MX board connect to different module. It has very tiny changes, such as just one gpio different driver strength. We can build an entire new software to handle this requirement. Here we introduce another way, using u-boot to modify the device tree(dtb) at runtime.   Here is u-boot fdt command for  How to use gpio-hog demo https://community.nxp.com/t5/i-MX-Processors-Knowledge-Base/How-to-use-gpio-hog-demo/ta-p/1317709   run loadfdt fdt addr ${fdt_addr_r} fdt print /soc/bus/pinctrl/uart3grp fdt rm /soc/bus/pinctrl/uart3grp fdt print serial2 fdt set serial2 status disabled fdt print serial2 fdt print gpio4 fdt resize fdt mknode gpio4 gpio_hog_demo fdt set gpio4/gpio_hog_demo gpio-hog fdt set gpio4/gpio_hog_demo gpios <7 0> fdt set gpio4/gpio_hog_demo output-high fdt print gpio4 run mmcargs run loadimage booti ${loadaddr} - ${fdt_addr_r} root@imx8mmevk:~# cat /sys/kernel/debug/gpio gpiochip0: GPIOs 0-31, parent: platform/30200000.gpio, 30200000.gpio: gpio-5 ( |PCIe DIS ) out hi gpio-13 ( |ir-receiver ) in hi IRQ ACTIVE LOW gpio-15 ( |cd ) in hi IRQ ACTIVE LOW gpiochip1: GPIOs 32-63, parent: platform/30210000.gpio, 30210000.gpio: gpio-38 ( |? ) out hi gpio-42 ( |reset ) out lo ACTIVE LOW gpio-51 ( |regulator-usdhc2 ) out lo gpiochip2: GPIOs 64-95, parent: platform/30220000.gpio, 30220000.gpio: gpio-80 ( |status ) out hi gpiochip3: GPIOs 96-127, parent: platform/30230000.gpio, 30230000.gpio: gpio-117 ( |PCIe reset ) out hi gpiochip4: GPIOs 128-159, parent: platform/30240000.gpio, 30240000.gpio: gpio-135 ( |gpio_hog_demo ) out hi gpio-141 ( |spi1 CS0 ) out hi ACTIVE LOW gpio-149 ( |wlf,mute ) out hi ACTIVE LOW root@imx8mmevk:~# [ 33.758914] VSD_3V3: disabling dtc_utils-v1.6.1-win-x86_64.zip by msys2   
View full article
    The meta layer is designed for those guys who want to use i.MX8M series SOC and Yocto system to develop AGV and Robot.    The platform includes some key components: 1, ROS1 (kinetic, melodic) and ROS2(dashing, eloquent, foxy) 2, Real-time Linux solution : Xenomai 3.1 with ipipe 5.4.47 patch 3, Industrial protocol : libmodbus, linuxptp, ros-canopen, EtherCAT(TBD) 4, Security: Enhanced OpenSSL, Enhanced GmSSL, Enhanced eCryptfs, secure key store, secure boot(TBD), SE-Linux(TBD),  Dm-verity(TBD) The first release bases on i.MX Yocto release L5.4.47 2.2.0 and You need download Linux 5.4.47_2.2.0 according to​​ https://www.nxp.com/docs/en/user-guide/IMX_YOCTO_PROJECT_USERS_GUIDE.pdf  firstly. And then you can follow the below guide to build and test ROS and Xenomai. A, clone meta-robot-platform from gitee.com git clone https://gitee.com/zxd2021-imx/meta-robot-platform.git git checkout v0.1-L5.4.47-2.2.0 B, Adding the meta-robot-platform layer to your build 1,  copy meta-robot-platform into <i.MX Yocto folder>/source 2, You should create a symbol link: setup-imx-robot.sh -> sources/meta-robot-platform/imx/meta-robot/tools/setup-imx-robot.sh C, How to build Robot image (example for i.MX8MQ EVK board) $ DISTRO=imx-robot-xwayland MACHINE=imx8mqevk source setup-imx-robot.sh -r kinetic -b imx8mqevk-robot-kinetic [or DISTRO=imx-robot-xwayland MACHINE=imx8mqevk source setup-imx-robot.sh -r melodic -b imx8mqevk-robot-melodic ] [or DISTRO=imx-robot-xwayland MACHINE=imx8mqevk source setup-imx-robot.sh -r dashing -b imx8mqevk-robot-dashing ] [or DISTRO=imx-robot-xwayland MACHINE=imx8mqevk source setup-imx-robot.sh -r eloquent -b imx8mqevk-robot-eloquent ] [or DISTRO=imx-robot-xwayland MACHINE=imx8mqevk source setup-imx-robot.sh -r foxy -b imx8mqevk-robot-foxy ] $ bitbake imx-robot-core [or bitbake imx-robot-system ] [or bitbake imx-robot-sdk ] And if you add XENOMAI_KERNEL_MODE = "cobalt" or XENOMAI_KERNEL_MODE = "mercury" in local.conf, you also can build real-time image with Xenomai by the below command: $ bitbake imx-robot-core-rt [or bitbake imx-robot-system-rt ] D, Robot image sanity testing //ROS1 Sanity Test #source /opt/ros/kinetic/setup.sh [or # source /opt/ros/melodic/setup.sh ] #echo $LD_LIBRARY_PATH #roscore & #rosnode list #rostopic list #only kinetic #rosmsg list #rosnode info /rosout //ROS2 Sanity Test #source ros_setup.sh #echo $LD_LIBRARY_PATH #ros2 topic list #ros2 msg list #only dashing #ros2 interface list #(sleep 5; ros2 topic pub /chatter std_msgs/String "data: Hello world") & #ros2 topic echo /chatter E, Xenomai sanity testing #/usr/xenomai/demo/cyclictest -p 50 -t 5 -m -n -i 1000 F, vSLAM demo You can find orb-slam2 demo under <i.MX Yocto folder>/sources/meta-robot-platform/imx/meta-robot/recipes-demo/orb-slam2. You should choose DISTRO=imx-robot-xwayland due to it depends on OpenCV with gtk+.   //////////////////////////////////////// update for Yocto L5.4.70 2.3.0  /////////////////////////////////////////////////////////// New release package meta-robot-platform-v0.2-L5.4.70-2.3.0 for Yocto release L5.4.70 2.3.0 and it supports i.MX8M series (8MQ,8MM,8MN and 8MP) and i.MX8QM/QXP.  git clone https://gitee.com/zxd2021-imx/meta-robot-platform.git git checkout v0.2-L5.4.70-2.3.0 Updating: 1, Support i.MX8QM and i.MX8QXP 2, Add ROS driver of RPLIDAR and Orbbec 3D cameras in ROS1 3, Upgrade OpenCV to 3.4.13. 4, Add imx-robot-agv image with orb-slam2 demo 5, Fix the issue which failed to create image when adding orb-slam2 6, Fix the issue which failed to create imx-robot sdk image when add package ISP and ML Note: Currently, orb-slam2 demo don't run on i.MX8MM platform due to its GPU don't support OpenGL ES3. imx-robot-sdk image is just for building ROS package on i.MX board, not  for cross-compile. You can try "bitbake imx-robot-system -c populate_sdk" to create cross-compile sdk without gmssl-bin. diff --git a/imx/meta-robot/recipes-core/images/imx-robot-system.bb b/imx/meta-robot/recipes-core/images/imx-robot-system.bb index 1991ab10..68f9ad31 100644 --- a/imx/meta-robot/recipes-core/images/imx-robot-system.bb +++ b/imx/meta-robot/recipes-core/images/imx-robot-system.bb @@ -35,7 +35,7 @@ CORE_IMAGE_EXTRA_INSTALL += " \ ${@bb.utils.contains('DISTRO_FEATURES', 'x11 wayland', 'weston-xwayland xterm', '', d)} \ ${ISP_PKGS} \ " -IMAGE_INSTALL += " clblast openblas libeigen opencv gmssl-bin" +IMAGE_INSTALL += " clblast openblas libeigen opencv" IMAGE_INSTALL += " \ ${ML_PKGS} \   //////////////////////////////////////// update for Yocto L5.4.70 2.3.2  /////////////////////////////////////////////////////////// New release package meta-robot-platform-v0.3-L5.4.70-2.3.2 for Yocto release L5.4.70 2.3.2 .  git clone https://gitee.com/zxd2021-imx/meta-robot-platform.git git checkout v0.3-L5.4.70-2.3.2 Updated: 1, Upgrade to L5.4.70-2.3.2 2, Enable xenomai rtdm driver 3, Add NXP Software Content Register and BSP patches of i.MX8M Plus AI Robot board. Note: How to build for AI Robot board 1, DISTRO=imx-robot-wayland MACHINE=imx8mp-ddr4-ipc source setup-imx-robot.sh -r melodic -b imx8mp-ddr4-ipc-robot-melodic 2, Add BBLAYERS += " ${BSPDIR}/sources/meta-robot-platform/imx/meta-imx8mp-ai-robot " in bblayers.conf 3, bitbake imx-robot-sdk or bitbake imx-robot-agv   //////////////////////////////////////// update for v1.0-L5.4.70-2.3.2  /////////////////////////////////////////////////////////// New release package meta-robot-platform-v1.0-L5.4.70-2.3.2 .  git clone https://gitee.com/zxd2021-imx/meta-robot-platform.git git checkout v1.0-L5.4.70-2.3.2 Updated: 1, Upgrade ROS1 Kinetic Kame to Release 2021-05-11 which is final sync. 2, Add IgH EtherCAT Master for Linux in i.MX Robot platform. //////////////////////////////////////// update for v1.1-L5.4.70-2.3.2  /////////////////////////////////////////////////////////// New release package meta-robot-platform-v1.1-L5.4.70-2.3.2 .  git clone https://gitee.com/zxd2021-imx/meta-robot-platform.git git checkout v1.1-L5.4.70-2.3.2 Updated: 1, Add more packages passed building in ROS1 Kinetic Kame. 2, Change the board name (From IPC to AI-Robot) in Uboot and kernel for i.MX8M Plus AI Robot board. You can use the below setup command to build ROS image for AI Robot board: DISTRO=imx-robot-xwayland MACHINE=imx8mp-ai-robot source setup-imx-robot.sh -r kinetic -b imx8mp-ai-robot-robot-kinetic DISTRO=imx-robot-xwayland MACHINE=imx8mp-ai-robot source setup-imx-robot.sh -r melodic -b imx8mp-ai-robot-robot-melodic DISTRO=imx-robot-xwayland MACHINE=imx8mp-ai-robot source setup-imx-robot.sh -r dashing -b imx8mp-ai-robot-robot-dashing DISTRO=imx-robot-xwayland MACHINE=imx8mp-ai-robot source setup-imx-robot.sh -r eloquent -b imx8mp-ai-robot-robot-eloquent DISTRO=imx-robot-xwayland MACHINE=imx8mp-ai-robot source setup-imx-robot.sh -r foxy -b imx8mp-ai-robot-robot-foxy BTW, you should add BBLAYERS += " ${BSPDIR}/sources/meta-robot-platform/imx/meta-imx8mp-ai-robot " in conf/bblayers.conf.   //////////////////////////////////////// update for v1.2-L5.4.70-2.3.3  /////////////////////////////////////////////////////////// New release package meta-robot-platform-v1.2-L5.4.70-2.3.3 .  git clone https://gitee.com/zxd2021-imx/meta-robot-platform.git git checkout v1.2-L5.4.70-2.3.3 Updated: 1, Update to Yocto release L5.4.70-2.3.3 2, Enable RTNet FEC driver, test on i.MX8M Mini EVK and i.MX8M Plus EVK. For the detailed information,  Please refer to the community post 移植实时Linux方案Xenomai到i.MX ARM64平台 (Enable Xenomai on i.MX ARM64 Platform)    //////////////////////////////////////// update for v2.1-L5.10.52-2.1.0  /////////////////////////////////////////////////////////// New release package meta-robot-platform-v2.1-L5.10.52-2.1.0 .  git clone https://gitee.com/zxd2021-imx/meta-robot-platform.git git checkout v2.1.1-L5.10.52-2.1.0 Updated: 1, Update to Yocto release L5.10.52-2.1.0 2, Add ROS1 noetic, ROS2 galactic and rolling 3, Upgrade Xenomai to v3.2 4, Add vSLAM demo orb-slam3 5, Upgrade OpenCV to 3.4.15 for ROS1 A, Adding the meta-robot-platform layer to your build 1,  copy meta-robot-platform into <i.MX Yocto folder>/source 2, You should create a symbol link: setup-imx-robot.sh -> sources/meta-robot-platform/imx/meta-robot/tools/setup-imx-robot.sh B, How to build Robot image (example for i.MX8M Plus EVK board) $ DISTRO=imx-robot-xwayland MACHINE=imx8mpevk source setup-imx-robot.sh -r kinetic -b imx8mpevk-robot-kinetic [or DISTRO=imx-robot-xwayland MACHINE=imx8mpevk source setup-imx-robot.sh -r melodic -b imx8mpevk-robot-melodic ] [or DISTRO=imx-robot-xwayland MACHINE=imx8mpevk source setup-imx-robot.sh -r noetic-b imx8mpevk-robot-noetic] [or DISTRO=imx-robot-xwayland MACHINE=imx8mpevk source setup-imx-robot.sh -r dashing -b imx8mpevk-robot-dashing ] [or DISTRO=imx-robot-xwayland MACHINE=imx8mpevk source setup-imx-robot.sh -r eloquent -b imx8mpevk-robot-eloquent ] [or DISTRO=imx-robot-xwayland MACHINE=imx8mpevk source setup-imx-robot.sh -r foxy -b imx8mpevk-robot-foxy ] [or DISTRO=imx-robot-xwayland MACHINE=imx8mpevk source setup-imx-robot.sh -r galactic -b imx8mpevk-robot-galactic ] [or DISTRO=imx-robot-xwayland MACHINE=imx8mpevk source setup-imx-robot.sh -r rolling -b imx8mpevk-robot-rolling ] $ bitbake imx-robot-agv [or bitbake imx-robot-cor ] [or bitbake imx-robot-system ] [or bitbake imx-robot-sdk ]   //////////////////////////////////////// update for v2.2-L5.10.72-2.2.0  /////////////////////////////////////////////////////////// New release package meta-robot-platform-v2.2-L5.10.72-2.2.0 .  git clone https://gitee.com/zxd2021-imx/meta-robot-platform.git git checkout v2.2.0-L5.10.72-2.2.0 Updated: 1, Update to Yocto release L5.10.72-2.2.0
View full article
     The following steps allow you to toggle a pin on i.MX 8M Mini EVK, you can use the EVK as not gate, trigger a wake up signal, etc. With an script and modifying the device tree you can read an input and get as output the invert input.   On the Host.   Cloning the Linux kernel repository.   Clone the i.MX Linux Kernel repo to the home directory. cd ~ git clone - b lf - 5.10 . 72 - 2.2 . 0 https : //source.codeaurora.org/external/imx/linux-imx cd linux - imx /   Patching the device tree.   Open the imx8mm-evk.dtsi file: vim arch / arm64 / boot / dts / freescale / imx8mm - evk . dtsi For the purpose of this example, uart3 has to be "disabled" in order to avoid pins conflict, so change "okay" to "disabled": & uart3 {         pinctrl - names = "default" ;         pinctrl - 0 = <& pinctrl_uart3 > ;         assigned - clocks = <& clk IMX8MM_CLK_UART3 > ;         assigned - clock - parents = <& clk IMX8MM_SYS_PLL1_80M > ;         fsl , uart - has - rtscts ;         status = "disabled" ; }; Add the following lines in the iomuxc node: & iomuxc {       pinctrl - names = "default" ;       pinctrl - 0 = <& pinctrl_hog > ; ​       pinctrl_hog : hoggrp {               fsl , pins = <                       MX8MM_IOMUXC_ECSPI1_SS0_GPIO5_IO9               0x19                       MX8MM_IOMUXC_ECSPI1_MISO_GPIO5_IO8               0x19               > ;       };   Build the device tree.   Setup your toolchain, for example: source / opt / fsl - imx - wayland / 5.10 - hardknott / environment - setup - cortexa53 - crypto - poky - linux Generate config file. make imx_v8_defconfig Compile the device tree. make freescale / imx8mm - evk . dtb Copy the .dtb file to the EVK, for example with scp: scp imx8mm - evk . dtb root@ < EVK_IP > : / home / root Alternatively, you may copy the .dtb file directly to the FAT32 partition where the Kernel and Device Tree files are located.   On the EVK Board.   Switching the device tree.   To copy the updated device tree to the corresponding partition, first create a directory. mkdir Partition_1 Mount the partition one. mount / dev / mmcblk1p1 Partition_1 / Copy or move the device tree into partition one. cp imx8mm - evk . dtb Partition_1 / Reboot the board. reboot   Create an script.   Use vi: vi toggle . sh Add the following lines: #!/bin/bash ​ echo 136 > / sys / class / gpio / export echo in > / sys / class / gpio / gpio136 / direction ​ echo 137 > / sys / class / gpio / export echo out > / sys / class / gpio / gpio137 / direction echo 0 > / sys / class / gpio / gpio137 / value ​ while : do ​ if [[( $ ( cat / sys / class / gpio / gpio136 / value ) == "0" )]]; then         echo 1 > / sys / class / gpio / gpio137 / value else         echo 0 > / sys / class / gpio / gpio137 / value         fi ​ done Save the file: : wq Change file permissions: chmod + x toggle . sh   T oggling a pin.   In this example we are using the pin "UART3_CTS" like an input and "UART3_RTS" like an output. To toggle the pin, run the script: . / toggle . sh
View full article
     The following steps allow you to add a pad Wakeup on i.MX 8QuadMax MEK CPU Board. On the Host.   Cloning the Linux kernel repository.   Clone the i.MX Linux Kernel repo to the home directory. cd ~ git clone - b lf - 5.10 . 72 - 2.2 . 0 https : //source.codeaurora.org/external/imx/linux-imx cd linux - imx / Patching the device tree.   Open the imx8qm-mek.dts file: vim arch / arm64 / boot / dts / freescale / imx8qm - mek . dts Add the following lines: & lsio_gpio2 {       pad - wakeup - num = < 1 > ;       pad - wakeup = < 81 4 1 > ; }; In the line pad-wakeup-num = <1>; , the number "1" corresponds to the number of pads that you want to add. The line pad-wakeup = <81 4 1>; has three parameters: The first parameter corresponds to the "pin_id", you can find it in include/dt-bindings/pinctrl/pads-imx8qm.h , in this example we are using "IMX8QM_MIPI_CSI1_I2C0_SDA". The second parameter corresponds to the "'type'", you can find it in the i.MX 8QuadMax Applications Processor Reference Manual, in the page 802:   For this example we are using "LOW". The third parameter corresponds to the "line", the number of bit in 32bit gpio group, you can find it in include/dt-bindings/pinctrl/pads-imx8qm.h In this example, "IMX8QM_MIPI_CSI1_I2C0_SDA" belongs to gpio group 2, line 1. Build the device tree.   Setup your toolchain, for example: source / opt / fsl - imx - wayland / 5.10 - hardknott / environment - setup - cortexa53 - crypto - poky - linux Generate config file. make imx_v8_defconfig Compile the device tree. make freescale / imx8qm - mek . dtb Copy the .dtb file to the MEK CPU Board, for example with scp: scp imx8qm - mek . dtb root@ < MEK_CPU_Board_IP > : / home / root Alternatively, you may copy the .dtb file directly to the FAT32 partition where the Kernel and Device Tree files are located. On the MEK CPU Board.   Switching the device tree.   To copy the updated device tree to the corresponding partition, first create a directory. mkdir Partition_1 Mount the partition one. mount / dev / mmcblk1p1 Partition_1 / Copy or move the device tree into partition one. cp imx8qm - mek . dtb Partition_1 / Reboot the board. reboot How to wake up the i.MX 8QuadMax MEK CPU Board.   In this example a wire was soldered on "R204":     Run the following command on the MEK CPU Board: echo mem > / sys / power / state And you will see something like: [   53.769266 ] PM : suspend entry ( deep ) [   53.902130 ] Filesystems sync : 0.129 seconds [   53.908068 ] Freezing user space processes ... ( elapsed 0.002 seconds ) done . [   53.917189 ] OOM killer disabled . [   53.920420 ] Freezing remaining freezable tasks ... ( elapsed 0.001 seconds ) done . [   53.929626 ] printk : Suspending console ( s ) ( use no_console_suspend to debug ) Connect the wire that was soldered on "R204" to ground, the MEK CPU Board will wake up and you will see something like: [   54.687125 ] fec 5 b040000 . ethernet eth0 : Link is Down [   54.689876 ] PM : suspend devices took 0.756 seconds [   54.709570 ] Disabling non - boot CPUs ... [   54.710562 ] CPU1 : shutdown [   54.711582 ] psci : CPU1 killed ( polled 0 ms ) [   54.714360 ] CPU2 : shutdown [   54.715376 ] psci : CPU2 killed ( polled 0 ms ) [   54.717365 ] CPU3 : shutdown [   54.718382 ] psci : CPU3 killed ( polled 0 ms ) [   54.719887 ] CPU4 : shutdown [   54.720884 ] psci : CPU4 killed ( polled 4 ms ) [   54.722213 ] CPU5 : shutdown [   54.723229 ] psci : CPU5 killed ( polled 0 ms ) [   54.724731 ] Enabling non - boot CPUs ... [   54.725388 ] Detected VIPT I - cache on CPU1 [   54.725423 ] GICv3 : CPU1 : found redistributor 1 region 0 : 0x0000000051b20000 [   54.725486 ] CPU1 : Booted secondary processor 0x0000000001 [ 0x410fd034 ] [   54.726455 ] CPU1 is up [   54.726930 ] Detected VIPT I - cache on CPU2 [   54.726947 ] GICv3 : CPU2 : found redistributor 2 region 0 : 0x0000000051b40000 [   54.726976 ] CPU2 : Booted secondary processor 0x0000000002 [ 0x410fd034 ] [   54.727478 ] CPU2 is up [   54.727955 ] Detected VIPT I - cache on CPU3 [   54.727971 ] GICv3 : CPU3 : found redistributor 3 region 0 : 0x0000000051b60000 [   54.728001 ] CPU3 : Booted secondary processor 0x0000000003 [ 0x410fd034 ] [   54.728497 ] CPU3 is up [   54.729806 ] Detected PIPT I - cache on CPU4 [   54.729825 ] GICv3 : CPU4 : found redistributor 100 region 0 : 0x0000000051b80000 [   54.729857 ] CPU4 : Booted secondary processor 0x0000000100 [ 0x410fd082 ] [   54.730490 ] CPU4 is up [   54.730985 ] Detected PIPT I - cache on CPU5 [   54.730999 ] GICv3 : CPU5 : found redistributor 101 region 0 : 0x0000000051ba0000 [   54.731021 ] CPU5 : Booted secondary processor 0x0000000101 [ 0x410fd082 ] [   54.731679 ] CPU5 is up [   54.756440 ] hdmi_rx_hd_core_clk : failed to set clock parent - 16 [   54.765828 ] gpio - mxc 5 d0a0000 . gpio : wakeup by pad , line 1 [   54.844242 ] ahci - imx 5f020000. sata : external osc is used . [   54.913582 ] caam 31400000. crypto : registering rng - caam [   54.918358 ] PM : resume devices took 0.148 seconds [   55.096663 ] OOM killer enabled . [   55.099814 ] Restarting tasks ... done . [   55.111833 ] PM : suspend exit  
View full article
     The following steps allow you to build a bootable image in two different ways and also how to enable and use SCFW debug monitor. There are four files needed to generate a bootable image: ├── bl31 . bin ├── u - boot . bin   ├── mx8qm - ahab - container . img     └── scfw_tcm . bin There are some ways to get the four files, one way is with Yocto and other way is with stand alone build. Get the four files needed to generate a bootable image with Yocto.   To get the four files needed with Yocto, you have to build an i.MX 8QuadMax image, maybe some steps are not necessary. 1.-Host packages. sudo apt-get install gawk wget git-core diffstat unzip texinfo gcc-multilib \ build-essential chrpath socat cpio python python3 python3-pip python3-pexpect \ xz-utils debianutils iputils-ping python3-git python3-jinja2 libegl1-mesa \ libsdl1.2-dev pylint3 xterm rsync curl 2.-Setting up the Repo utility. mkdir ~/bin (this step may not be needed if the bin folder already exists) curl https://storage.googleapis.com/git-repo-downloads/repo > ~/bin/repo chmod a+x ~/bin/repo export PATH=~/bin:$PATH 3.-Yocto Project Setup. git config --global user.name "Your Name" git config --global user.email "Your Email" git config --list mkdir imx-yocto-bsp cd imx-yocto-bsp repo init -u https://source.codeaurora.org/external/imx/imx-manifest -b imx-linux-hardknott -m imx-5.10.72-2.2.0.xml repo sync 4.-Build configurations. DISTRO=fsl-imx-xwayland MACHINE=imx8qmmek source imx-setup-release.sh -b imx8qmmek 5.-Building an image. bitbake imx-image-full The four files needed to generate a bootable image are in: ~/imx-yocto-bsp/imx8qmmek/tmp/deploy/images/imx8qmmek/imx-boot-tools Note: With Yocto you can not enable the SCFW debug monitor. For more information see the i.MX Yocto Project User's Guide. Get the four files needed to generate a bootable image with stand alone build.   To build all required binaries from source you can use standard aarch64 Linux toolchain, on Ubuntu 20.04 LTS: sudo apt-get install gcc-aarch64-linux-gnu Get the bl31.bin file - Arm Trust Firmware.   Download source from: git clone -b lf-5.10.72-2.2.0 https://source.codeaurora.org/external/imx/imx-atf Build: cd imx-atf make clean PLAT=imx8qm CROSS_COMPILE=aarch64-linux-gnu- make PLAT=imx8qm CROSS_COMPILE=aarch64-linux-gnu- bl31 The compiled bl31.bin location: build/imx8qm/release/bl31.bin Get the u-boot.bin file - u-boot.   Download source from: git clone -b lf-5.10.72-2.2.0 https://source.codeaurora.org/external/imx/uboot-imx Build: cd uboot-imx make ARCH=arm CROSS_COMPILE=aarch64-linux-gnu- imx8qm_mek_defconfig make ARCH=arm CROSS_COMPILE=aarch64-linux-gnu- The compiled u-boot.bin location: ./u-boot.bin Get the mx8qmb0-ahab-container.img file - iMX Seco. wget https://www.nxp.com/lgfiles/NMG/MAD/YOCTO/imx-seco-3.7.4.bin chmod +x imx-seco-3.7.4.bin ./imx-seco-3.7.4.bin --auto-accept The mx8qmb0-ahab-container.img file location: imx-seco-3.7.4/firmware/seco/mx8qmb0-ahab-container.img Get the scfw_tcm.bin file - SCFW.   Download and Install a GNU Toolchain.   Look at the packages/imx-scfw-porting-kit-1.7.4/doc/pdf/ , chapter Porting Guide, sub-chapter Tool Chain to check which GNU Toolchain version corresponds to the SCFW you are building. The imx-scfw-porting-kit-1.7.4 version uses the GNU Toolchain version gcc-arm-none-eabi-8-2018-q4-major . It is recommended to install toolchain in “opt” folder: cd /opt sudo wget https://developer.arm.com/-/media/Files/downloads/gnu-rm/8-2018q4/gcc-arm-none-eabi-8-2018-q4-major-linux.tar.bz2 sudo tar xjf gcc-arm-none-eabi-8-2018-q4-major-linux.tar.bz2 Download and Install a Arm GCC toolchain. It is recommended to install toolchain in “opt” folder: sudo wget https://releases.linaro.org/components/toolchain/binaries/7.3-2018.05/aarch64-linux-gnu/gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu.tar.xz sudo tar -Jxvf gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu.tar.xz After installing the toolchain, set up the environment variable relevant for building. export ARCH=arm CROSS_COMPILE=/opt/gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu/bin/aarch64-linux-gnu- export TOOLS=/opt Build the scfw_tcm.bin file. cd ~ wget https://www.nxp.com/lgfiles/NMG/MAD/YOCTO/imx-scfw-porting-kit-1.7.4.bin chmod +x imx-scfw-porting-kit-1.7.4.bin ./imx-scfw-porting-kit-1.7.4.bin --auto-accept cd imx-scfw-porting-kit-1.7.4/src Extract the desired scfw porting kit: tar -xvf scfw_export_mx8qm_b0.tar.gz cd scfw_export_mx8qm_b0/ Build without debug monitor: make clean make qm B=mek R=B0 Build with debug monitor: make clean make qm B=mek D=1 M=1 R=B0 DDR_CON=imx8qm_dcd_1.6GHz The scfw_tcm.bin file location: build_mx8qm_b0/scfw_tcm.bin   Generate the bootable image.   Once you have the four files needed to generate a bootable image, use imx-mkimage tool. Download source from: git clone -b lf-5.10.72-2.2.0 https://source.codeaurora.org/external/imx/imx-mkimage Copy the four binaries to iMX8QM folder. You have to rename some files. If you got the four binaries with Yocto. cp ~/imx-yocto-bsp/imx8qmmek/tmp/deploy/images/imx8qmmek/imx-boot-tools/bl31-imx8qm.bin ~/imx-mkimage/iMX8QM/bl31.bin cp ~/imx-yocto-bsp/imx8qmmek/tmp/deploy/images/imx8qmmek/imx-boot-tools/u-boot-imx8qmmek.bin-sd ~/imx-mkimage/iMX8QM/u-boot.bin cp ~/imx-yocto-bsp/imx8qmmek/tmp/deploy/images/imx8qmmek/imx-boot-tools/mx8qmb0-ahab-container.img ~/imx-mkimage/iMX8QM cp ~/imx-yocto-bsp/imx8qmmek/tmp/deploy/images/imx8qmmek/imx-boot-tools/mx8qm-mek-scfw-tcm.bin ~/imx-mkimage/iMX8QM/scfw_tcm.bin If you got the four binaries with stand alone build. cp ~/imx-atf/build/imx8qm/release/bl31.bin ~/imx-mkimage/iMX8QM cp ~/uboot-imx/u-boot.bin ~/imx-mkimage/iMX8QM cp ~/imx-seco-3.7.4/firmware/seco/mx8qmb0-ahab-container.img ~/imx-mkimage/iMX8QM cp ~/imx-scfw-porting-kit-1.7.4/src/scfw_export_mx8qm_b0/build_mx8qm_b0/scfw_tcm.bin ~/imx-mkimage/iMX8QM Build the bootable image. cd ~/imx-mkimage make SOC=iMX8QM flash The compiled file is flash.bin and its location is: iMX8QM/flash.bin   Flash the bootable image.   To flash the bootable image follow the next steps: -Copy the flash.bin and uuu.exe in a folder. -Change SW2 on the base board to 000100 (from MSB to LSB, 1-ON and 0-OFF) to boot from the Serial Downloader. -Run the following command in Command Prompt: uuu.exe -b sd flash.bin -Power on the MEK CPU board.   SCFW debug monitor.        If the SCFW is compiled using the M=1 option (default is M=0) then it will include a debug monitor. This can be used to R/W memory or registers, R/W power state, and dump some resource manager state. Production SCFW should never have the monitor enabled (M=0, the default)!      The debug monitor allows command-line interaction via the SCU UART. Inclusion of the debug monitor affects SCFW timing and therefore should never be deployed in a product! Note the terminal needs to be in a mode that sends CR or LF for a new line (not CR+LF). The following commands are supported: Command                                   Description exit                                              exit the debug monitor quit                                              exit the debug monitor reset [mode]                                request reset with mode (default = board) reboot partition [type]                  request partition reboot with type (default = cold) md.b address [count]                  display count bytes at address md.w address [count]                 display count words at address md[.l] address [count]                 display count long-words at address mm.b address value                   modify byte at address mm.w address value                  modify word at address mm[.l] address value                  modify long-word at address ai.r ss sel addr                            read analog interface (AI) register ai.w ss sel addr data                  write analog interface (AI) register fuse.r word                                 read OTP fuse word fuse.w word value                      write value to OTP fuse word dump rm                                    dump all the resource manager (RM) info dump rm part [part]                    dump all partition info for part (default = all) dump rm rsrc [part]                    dump all resource info for part (default = all) dump rm mem [part]                  dump all memory info for part (default = all) dump rm pad [part]                    dump all pad info for part (default = all) power.r [resource]                     read/get power mode of resource (default = all) power.w resource mode            write/set power mode of resource to mode (off, stby, lp, on) info                                             display SCFW/SoC info like unique ID, etc. seco lifecycle change                send SECO lifecycle update command (change) to SECO seco info                                    display SECO info like Lifecycle, SNVS state, etc. seco debug                                dump SECO debug log seco events                               dump SECO event log seco commit                              commit SRK and/or SECO FW version update pmic.r id reg                               read pmic register pmic.w id reg val                        write pmic register pmic.l id                                      list pmic info (rail voltages, etc) Resource and subsystem (ss) arguments are specified by name. All numeric arguments are decimal unless prefixed with 0x (for hex) or 0 (for octal). Testing SCFW debug monitor to display count long-words at address on Linux side and on SCU side. -Change SW2 on the base board to 001100 (from MSB to LSB, 1-ON and 0-OFF) to boot from the SD card. -Power on the MEK CPU board. -Open Tera Term and you will see: Hello from SCU ( Build 5263 , Commit 9 b3d006e , Aug 20 2021 12 : 20 : 10 ) ​ DDR frequency = 1596000000   ROM boot time = 262368 usec       Boot time = 24583 usec         Banner = 10 usec           Init = 9038 usec         Config = 3232 usec             DDR = 2677 usec         SConfig = 444 usec           Prep = 5039 usec ​ *** Debug Monitor *** ​ > $ -Run the following commands: power.r power.w db on power.w dblogic on power.w mu_1a on -Example reading on Linux side: md.l 0x5d1c0000 10 -You will see: > $ md . l 0x5d1c0000 10 5 d1c0000 : 00000000 00000000 00000000 00000000 5 d1c0010 : 00010201 23 c34600 d63fdb21 00000000 5 d1c0020 : 00f00200 18000000 -Example reading on SCU side: md.l 0x41cac080 10 -You will see: > $ md . l 0x41cac080 10 41 cac080 : 00000000 00000000 00000000 00000000 41 cac090 : 0 d070201 ff0001f1 ffff8000 ffff00fb 41 cac0a0 : 00f00000 18000000 For more information see the System Controller Firmware Porting Guide.
View full article
  Just sharing some experiences during the development and studying.   Although, it appears some hardwares, it focuses on software to speed up your developing on your  hardware.     杂记共享一下在开发和学习过程中的经验。    虽然涉及一些硬件,但其本身关注软件,希望这些能加速您在自己硬件上的开发。   02/16/2022 mx8_ddr_stress_test without UI   https://community.nxp.com/t5/i-MX-Processors-Knowledge-Base/mx8-ddr-stress-test-without-UI/ta-p/1414090   12/23/2021 i.MX8 i.MX8X Board Reset https://community.nxp.com/t5/i-MX-Processors-Knowledge-Base/i-MX8-i-MX8X-Board-Reset/ta-p/1391130       12/21/2021 regulator userspace-consumer https://community.nxp.com/t5/i-MX-Processors-Knowledge-Base/regulator-userspace-consumer/ta-p/1389948     11/24/2021 crypto af_alg blackkey demo crypto af_alg blackkey demo - NXP Community   09/28/2021 u-boot runtime modify Linux device tree(dtb) u-boot runtime modify Linux device tree(dtb) - NXP Community     08/17/2021 gpio-poweroff demo https://community.nxp.com/t5/i-MX-Processors-Knowledge-Base/gpio-poweroff-demo/ta-p/1324306         08/04/2021 How to use gpio-hog demo https://community.nxp.com/t5/i-MX-Processors-Knowledge-Base/How-to-use-gpio-hog-demo/ta-p/1317709       07/14/2021 SWUpdate OTA i.MX8MM EVK / i.MX8QXP MEK https://community.nxp.com/t5/i-MX-Processors-Knowledge-Base/SWUpdate-OTA-i-MX8MM-EVK-i-MX8QXP-MEK/ta-p/1307416     04/07/2021 i.MX8QXP eMMC Secondary Boot https://community.nxp.com/t5/i-MX-Community-Articles/i-MX8QXP-eMMC-Secondary-Boot/ba-p/1257704#M45       03/25/2021 sc_misc_board_ioctl to access the M4 partition from A core side sc_misc_board_ioctl to access the M4 partition fr... - NXP Community     03/17/2021 How to Changei.MX8X MEK+Base Board  Linux Debug UART https://community.nxp.com/t5/i-MX-Community-Articles/How-to-Change-i-MX8X-MEK-Base-Board-Linux-Debug-UART/ba-p/1246779#M43     03/16/2021 How to Change i.MX8MM evk Linux Debug UART https://community.nxp.com/t5/i-MX-Community-Articles/How-to-Change-i-MX8MM-evk-Linux-Debug-UART/ba-p/1243938#M40       05/06/2020 Linux fw_printenv fw_setenv to access U-Boot's environment variables Linux fw_printenv fw_setenv to access U-Boot's env... - NXP Community     03/30/2020 i.MX6 DDR calibration/stress for Mass Production https://community.nxp.com/docs/DOC-346065     03/25/2020 parseIVT - a script to help i.MX6 Code Signing https://community.nxp.com/docs/DOC-345998     02/17/2020 Start your machine learning journey from tensorflow playground Start your machine learning journey from tensorflow playground      01/15/2020 How to add  iMX8QXP PAD(GPIO) Wakeup How to add iMX8QXP PAD(GPIO) Wakeup    01/09/2020 Understand iMX8QX Hardware Partitioning By Making M4 Hello world Running Correctly https://community.nxp.com/docs/DOC-345359   09/29/2019 Docker On i.MX6UL With Ubuntu16.04 https://community.nxp.com/docs/DOC-344462   09/25/2019 Docker On i.MX8MM With Ubuntu https://community.nxp.com/docs/DOC-344473 Docker On i.MX8QXP With Ubuntu https://community.nxp.com/docs/DOC-344474     08/28/2019 eMMC5.0 vs eMMC5.1 https://community.nxp.com/docs/DOC-344265     05/24/2019 How to upgrade  Linux Kernel and dtb on eMMC without UUU How to upgrade Linux Kernel and dtb on eMMC without UUU     04/12/2019 eMMC RPMB Enhance and GP https://community.nxp.com/docs/DOC-343116   04/04/2019 How to Dump a GPT SDCard Mirror(Android O SDCard Mirror) https://community.nxp.com/docs/DOC-343079   04/04/2019 i.MX Create Android SDCard Mirror https://community.nxp.com/docs/DOC-343078   04/02/2019: i.MX Linux Binary_Demo Files Tips  https://community.nxp.com/docs/DOC-343075   04/02/2019:       Update Set fast boot        eMMC_RPMB_Enhance_and_GP.pdf   02/28/2019: imx_builder --- standalone build without Yocto https://community.nxp.com/docs/DOC-342702   08/10/2018: i.MX6SX M4 MPU Settings For RPMSG update    Update slide CMA Arrangement Consideration i.MX6SX_M4_MPU_Settings_For_RPMSG_08102018.pdf   07/26/2018 Understand ML With Simplest Code https://community.nxp.com/docs/DOC-341099     04/23/2018:     i.MX8M Standalone Build     i.MX8M Standalone Build.pdf     04/13/2018:      i.MX6SX M4 MPU Settings For RPMSG  update            Add slide CMA Arrangement  Consideration     i.MX6SX_M4_MPU_Settings_For_RPMSG_04132018.pdf   09/05/2017:       Update eMMC RPMB, Enhance  and GP       eMMC_RPMB_Enhance_and_GP.pdf 09/01/2017:       eMMC RPMB, Enhance  and GP       eMMC_RPMB_Enhance_and_GP.pdf 08/30/2017:     Dual LVDS for High Resolution Display(For i.MX6DQ/DLS)     Dual LVDS for High Resolution Display.pdf 08/27/2017:  L3.14.28 Ottbox Porting Notes:         L3.14.28_Ottbox_Porting_Notes-20150805-2.pdf MFGTool Uboot Share With the Normal Run One:        MFGTool_Uboot_share_with_NormalRun_sourceCode.pdf Mass Production with programmer        Mass_Production_with_NAND_programmer.pdf        Mass_Production_with_emmc_programmer.pdf AndroidSDCARDMirrorCreator https://community.nxp.com/docs/DOC-329596 L3.10.53 PianoPI Porting Note        L3.10.53_PianoPI_PortingNote_151102.pdf Audio Codec WM8960 Porting L3.10.53 PianoPI        AudioCodec_WM8960_Porting_L3.10.53_PianoPI_151012.pdf TouchScreen PianoPI Porting Note         TouchScreen_PianoPI_PortingNote_151103.pdf Accessing GPIO From UserSpace        Accessing_GPIO_From_UserSpace.pdf        https://community.nxp.com/docs/DOC-343344 FreeRTOS for i.MX6SX        FreeRTOS for i.MX6SX.pdf i.MX6SX M4 fastup        i.MX6SX M4 fastup.pdf i.MX6 SDCARD Secondary Boot Demo        i.MX6_SDCARD_Secondary_Boot_Demo.pdf i.MX6SX M4 MPU Settings For RPMSG        i.MX6SX_M4_MPU_Settings_For_RPMSG_10082016.pdf Security        Security03172017.pdf    NOT related to i.MX, only a short memo
View full article
Useful information about push buttons.   Physical level.            When there is a change of voltage level on P0-P7 pins, PCA9555PW will generate interrupt on INT pin. The driver (running on SoC) can read the status of P0-P7 pins via I2C (SCL/SDA pins) and generate separate interrupts for each of P0-P7 pins. This is why this driver acts as interrupt controller . Consider next configuration:        One push button changes level on P4 pin, tempting PCA9555PW to generate interrupt. Interrupt from PCA9555PW is connected to GPIO5 IP-core (inside of SoC), and it uses line #9 of that GPIO5 module to notify CPU about interrupt. So we can say that PCA9555PW is cascaded to GPIO5 controller. GPIO5 also acts as interrupt controller, and it's cascaded to GIC interrupt controller.   Device tree  properties .   The meaning of properties is as follows: interrupt-controller  property defines that device generates interrupts; it will be needed further to use this node as interrupt-parent in each push button node. #interrupt-cells defines format of interrupts property; in our case it's 2 : 1 cell for line number and 1 cell for interrupt type interrupt-parent and interrupts properties are describing interrupt line connection   Interrupt handling .   CPU now is in interrupt context in GIC interrupt handler. From gic_handle_irq() it calls handle_domain_irq() , which in turn calls generic_handle_irq() . See Documentation/gpio/driver.txt for details. Now we are in SoC's GPIO controller IRQ handler. SoC's GPIO driver also calls generic_handle_irq() to run handler, which is set for each particular pin. See for example how it's done in omap_gpio_irq_handler() . Now we are in PCA9555PW IRQ handler. PCA9555PW IRQ handler calls handle_nested_irq() . Finally, gpio_keys_gpio_isr() is called.      The following steps allow you to enable rgb led's and push buttons on 8MIC-RPI-MX8 board with i.MX 8M Mini Applications Processor Evaluation Kit (EVKB). You have to use a led driver and change the device tree. On the Host. Cloning the Linux kernel repository .   Clone the i.MX Linux Kernel repo to the home directory . cd ~ git clone https://source.codeaurora.org/external/imx/linux-imx This guide will use the following commit which corresponds to Kernel 5.10.35-2.0 . cd linux-imx/ git checkout -b RGB ef3f2cfc6010 Patching the d evice tree.   Download the "0001-Enable-RGB-LED-s-and-push-buttons-on-8MIC-RPI-MX8-bo.patch" file  attached to this post  and copy it into linux-imx directory, then apply the patch. cp 0001-Enable-RGB-LED-s-and-push-buttons-on-8MIC-RPI-MX8-bo.patch ~/linux-imx/ cd ~/linux-imx/ patch < 0001-Enable-RGB-LED-s-and-push-buttons-on-8MIC-RPI-MX8-bo.patch When prompted, s elect the file to patch: File to patch: arch/arm64/boot/dts/freescale/imx8mm-evk-8mic-revE.dts patching file arch/arm64/boot/dts/freescale/imx8mm-evk-8mic-revE.dts Then setup your toolchain, for example: source /opt/fsl-imx-wayland/5.10-hardknott/environment-setup-cortexa53-crypto-poky-linux Generate config file. make imx_v8_defconfig Compile the device tree. make freescale/imx8mm-evk-8mic-revE.dtb Copy the .dtb file to the EVK, for example with scp: scp imx8mm-evk-8mic-revE.dtb root@<EVK_IP>:/home/root Alternatively, you may copy the .dtb file directly to the FAT32 partition where the Kernel and Device Tree files are located. Compiling the  Led driver.   Obtain the leds-pca995x.h file in the next site: https://github.com/TechNexion/linux-tn-imx/blob/tn-imx_5.4.70_2.3.0-stable/include/linux/platform_data/leds-pca995x.h  Copy it into the next path: cp leds-pca995x.h ~/linux-imx/include/linux Create a new directory. mkdir ~/linux-imx/PCA9955 Create a makefile. cd ~/linux-imx/PCA9955 vim Makefile   KERNEL_ROOT?=~/linux-imx obj-m += leds-pca995x.o all: make -C $(KERNEL_ROOT) M=$(PWD) modules clean: make -C $(KERNEL_ROOT) M=$(PWD) clean   Press the key "Esc" and then: :wq Obtain the leds-pca995x.c file in the next site: https://github.com/TechNexion/linux-tn-imx/blob/tn-imx_5.4.70_2.3.0-stable/drivers/leds/leds-pca995x.c Copy it into the next path: cp leds-pca995x.c ~/linux-imx/PCA9955 Obtain 0001-PCA9955BTW.patch file and copy it into the next path: cp 0001-PCA9955BTW.patch ~/linux-imx/PCA9955 Apply the patch. patch < 0001-PCA9955BTW.patch Then setup your toolchain, for example: source /opt/fsl-imx-wayland/5.10-hardknott/environment-setup-cortexa53-crypto-poky-linux Generate .ko file. cd ~/linux-imx/PCA9955 make all Copy the .ko file to the EVK, for example with scp: scp leds-pca995x.ko root@192.168.100.105:/home/root NOTE: The linux version of .ko file must be the same as EVK. On the EVK. Switching  the device tree.   To copy the updated device tree to the corresponding partition, first  create a directory. mkdir Partition_1 Mount the partition one. mount /dev/mmcblk1p1 Partition_1/ Copy or move the device tree into partition one. cp imx8mm-evk-8mic-revE.dtb Partition_1/ Reboot the board. reboot Stop on u-boot and modify the .dtb file to use the device tree for 8mic board. u-boot=> editenv fdtfile edit: imx8mm-evk-8mic-revE.dtb u-boot=> saveenv Saving Environment to MMC... Writing to MMC(1)... OK u-boot=> boot Installing a led driver.   Execute the following command to load the led driver into the kernel . insmod leds-pca995x.ko And you will see something like: [ 249.359103] leds_pca995x: loading out-of-tree module taints kernel. [ 249.366864] ALL [ 249.368740] ALL 0 [ 249.370667] ALL 1 [ 249.372609] ALL 2 [ 249.374536] ALL 2 [ 249.376475] ALL 2 [ 249.378401] ALL 2 [ 249.380338] ALL 2 [ 249.382264] ALL 2 [ 249.384202] ALL 2 [ 249.386127] ALL 2 [ 249.388063] ALL 2 [ 249.389989] ALL 2 [ 249.391913] ALL 2 [ 249.393847] ALL 2 [ 249.395774] ALL 2 [ 249.397709] ALL 2 [ 249.399635] ALL 2 [ 249.401568] ALL 2 [ 249.403496] ALL 3 Turning on a Led.   If you changed the device tree, you can turn on a led with the following command: echo 250 > /sys/class/leds/pca995x\:blue0/brightness To turn off a led: echo 0 > /sys/class/leds/pca995x\:blue0/brightness The red, blue and green leds can be turned on at different intensities provided. Testing the push buttons.   If you changed the device tree, you can test the push buttons with the following command: evtest Select the correct number: No device specified, trying to scan all of /dev/input/event* Available devices: /dev/input/event0: 30370000.snvs:snvs-powerkey /dev/input/event1: sw_keys /dev/input/event2: gpio_ir_recv Select the device event number [0-2]: 1 And you will see: Input driver version is 1.0.1 Input device ID: bus 0x19 vendor 0x1 product 0x1 version 0x100 Input device name: "sw_keys" Supported events: Event type 0 (EV_SYN) Event type 1 (EV_KEY) Event code 67 (KEY_F9) Event code 113 (KEY_MUTE) Event code 114 (KEY_VOLUMEDOWN) Event code 115 (KEY_VOLUMEUP) Properties: Testing ... (interrupt to exit) Event: time 1642457988.1642457988, type 1 (EV_KEY), code 114 (KEY_VOLUMEDOWN), value 1 Event: time 1642457988.1642457988, -------------- SYN_REPORT ------------ Event: time 1642457988.1642457988, type 1 (EV_KEY), code 114 (KEY_VOLUMEDOWN), value 0 Event: time 1642457988.1642457988, -------------- SYN_REPORT ------------
View full article
We will build a remote debug environmet of Qt Creator in this user guide.   Contents 1 Change local.conf file in Yocto 2 2 Build and deploy Yocto SDK 2 2.1 Build full image SDK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 2.2 Deploy SDK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 3 Configure QT Kit 2 3.1 Setup device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 3.2 Configure QT version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 3.3 Configure gcc and g++ manually . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 3.4 Configure gdb manually . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 3.5 Configure Kit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 3.6 Very important thing!! . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 4 Test result
View full article
SWUpdate: Embedded Systems become more and more complex. Software for Embedded Systems have new features and fixes can be updated in a reliable way. Most of time, we need OTA(Over-The-Air) to upgrade the system. Like Android has its own update system. Linux also need an update system. SWUpdate project is thought to help to update an embedded system from a storage media or from network. However, it should be mainly considered as a framework, where further protocols or installers (in SWUpdate they are called handlers) can be easily added to the application. Mongoose daemon mode: Mongoose is a daemon mode of SWUpdate that provides a web server, web interface and web application. Mongoose is running on the target board(i.MX8MM EVK/i.MX8QXP MEK).Using Web browser to access it.   Suricatta daemon mode: Suricatta regularly polls a remote server for updates, downloads, and installs them. Thereafter, it reboots the system and reports the update status to the server. The screenshot is SWUpdate scuricatta working with hawkbit server.          
View full article
This article introduces how to connect a device via Bluetooth to the i.MX8M family of boards.
View full article
    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 bitake 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 bitake 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 2.3.3  /////////////////////////////////////////////////////////// New release for Yocto release L5.4.70 2.3.3. You need to git clonehttps://gitee.com/zxd2021-imx/xenomai-arm64.git and git checkout xenomai-5.4.70-2.3.3. 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 L10.52 2.1.0. You need to git clonehttps://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 bitake imx-image-multimedia . XENOMAI_KERNEL_MODE = "cobalt" IMAGE_INSTALL_append += " xenomai" or XENOMAI_KERNEL_MODE = "mercury" IMAGE_INSTALL_append += " xenomai" Notice: If XENOMAI_KERNEL_MODE = "cobalt", you can build dual kernel version. And If XENOMAI_KERNEL_MODE = "mercury", it is single kernel with PREEMPT-RT patch.  Latency testing of Xenomai3.2+Dovetail with isolating CPU 2,3 ( Xenomai 3.2 on 8MM DDR4 EVK with GPU test case (GLES3/S08_EnvironmentMappingRefraction_Wayland) + iperf3 + 2 ping 65000 size + stress-ng --cpu 2 --io 2 --vm 1 --vm-bytes 256M --metrics-brief ) 😞 The following is test result by the command ( /usr/xenomai/demo/cyclictest -a 2,3 -p 50 -t 5 -m -n -i 1000) root@imx8mmddr4evk:~# /usr/xenomai/demo/cyclictest -a 2,3 -p 50 -t 5 -m -n -i 1000 # /dev/cpu_dma_latency set to 0us policy: fifo: loadavg: 5.96 6.04 6.03 7/155 1349 T: 0 ( 615) P:50 I:1000 C:63448632 Min: 0 Act: 0 Avg: 0 Max: 55 T: 1 ( 616) P:50 I:1500 C:42299087 Min: 0 Act: 0 Avg: 1 Max: 43 T: 2 ( 617) P:50 I:2000 C:31724315 Min: 0 Act: 0 Avg: 1 Max: 51 T: 3 ( 618) P:50 I:2500 C:25379452 Min: 0 Act: 0 Avg: 1 Max: 53 T: 4 ( 619) P:50 I:3000 C:21149543 Min: 0 Act: 0 Avg: 1 Max: 47        
View full article
    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 ARMv7 and tested on imx6ulevk/imx6ull14x14evk/imx6qpsabresd/imx6dlsabresd/imx6sxsabresdimx6slevk boards. I also did stress test by tool stress-ng on some boards.      You need to git clone https://gitee.com/zxd2021-imx/xenomai-arm.git, and git checkout Linux-4.19.35-1.1.0. (which inlcudes all patches and bb file) and add the following variable in conf/local.conf before build xenomai by command bitake xenomai.  XENOMAI_KERNEL_MODE = "cobalt"  PREFERRED_VERSION_linux-imx = "4.19-${XENOMAI_KERNEL_MODE}" IMAGE_INSTALL_append += " xenomai" DISTRO_FEATURES_remove = "optee" or XENOMAI_KERNEL_MODE = "mercury" PREFERRED_VERSION_linux-imx = "4.19-${XENOMAI_KERNEL_MODE}" IMAGE_INSTALL_append += " xenomai" DISTRO_FEATURES_remove = "optee" 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 50 -t 5 -m -n -i 1000 😞 //Mecury on 6ULL with stress-ng --cpu 4 --io 2 --vm 1 --vm-bytes 128M --metrics-brief policy: fifo: loadavg: 6.08 2.17 0.81 8/101 534 T: 0 (  530) P:99 I:1000 C:  74474 Min:     23 Act:  235 Avg:   77 Max:    8278 T: 1 (  531) P:99 I:1500 C:  49482 Min:     24 Act:   32 Avg:   56 Max:    8277 T: 2 (  532) P:99 I:2000 C:  36805 Min:     24 Act:   38 Avg:   79 Max:    8170 T: 3 (  533) P:99 I:2500 C:  29333 Min:     25 Act:   41 Avg:   54 Max:    7069 T: 4 (  534) P:99 I:3000 C:  24344 Min:     24 Act:   51 Avg:   60 Max:    7193   //Cobalt on 6ULL with stress-ng --cpu 4 --io 2 --vm 1 --vm-bytes 128M --metrics-brief policy: fifo: loadavg: 7.02 6.50 4.01 8/100 660 T: 0 (  652) P:50 I:1000 C: 560348 Min:      1 Act:   10 Avg:   15 Max:      71 T: 1 (  653) P:50 I:1500 C: 373556 Min:      1 Act:    9 Avg:   17 Max:      78 T: 2 (  654) P:50 I:2000 C: 280157 Min:      2 Act:   14 Avg:   20 Max:      64 T: 3 (  655) P:50 I:2500 C: 224120 Min:      1 Act:   12 Avg:   15 Max:      57 T: 4 (  656) P:50 I:3000 C: 186765 Min:      1 Act:   31 Avg:   19 Max:      53   //Cobalt on 6qp with stress-ng --cpu 4 --io 2 --vm 1 --vm-bytes 512M --metrics-brief policy: fifo: loadavg: 8.11 7.44 4.45 8/156 1057 T: 0 (  917) P:50 I:1000 C: 686106 Min:      0 Act:    3 Avg:    5 Max:      53 T: 1 (  918) P:50 I:1500 C: 457395 Min:      0 Act:    3 Avg:    5 Max:      49 T: 2 (  919) P:50 I:2000 C: 342866 Min:      0 Act:    2 Avg:    4 Max:      43 T: 3 (  920) P:50 I:2500 C: 274425 Min:      0 Act:    3 Avg:    5 Max:      58 T: 4 (  921) P:50 I:3000 C: 228682 Min:      0 Act:    2 Avg:    6 Max:      46   //Cobalt on 6dl with stress-ng --cpu 2 --io 2 --vm 1 --vm-bytes 256M --metrics-brief policy: fifo: loadavg: 3.35 4.15 2.47 1/122 850 T: 0 (  729) P:50 I:1000 C: 608088 Min:      0 Act:    1 Avg:    3 Max:      34 T: 1 (  730) P:50 I:1500 C: 405389 Min:      0 Act:    0 Avg:    4 Max:      38 T: 2 (  731) P:50 I:2000 C: 304039 Min:      0 Act:    1 Avg:    4 Max:      45 T: 3 (  732) P:50 I:2500 C: 243225 Min:      0 Act:    0 Avg:    4 Max:      49 T: 4 (  733) P:50 I:3000 C: 202683 Min:      0 Act:    0 Avg:    5 Max:      38   //Cobalt on 6SX stress-ng --cpu 4 --io 2 --vm 1 --vm-bytes 512M  --metrics-brief policy: fifo: loadavg: 7.51 7.19 6.66 8/123 670 T: 0 (  598) P:50 I:1000 C:2314339 Min:      0 Act:    3 Avg:    8 Max:      60 T: 1 (  599) P:50 I:1500 C:1542873 Min:      0 Act:   15 Avg:    8 Max:      72 T: 2 (  600) P:50 I:2000 C:1157152 Min:      0 Act:    4 Avg:    9 Max:      55 T: 3 (  601) P:50 I:2500 C: 925721 Min:      0 Act:    5 Avg:    9 Max:      57 T: 4 (  602) P:50 I:3000 C: 771434 Min:      0 Act:    6 Avg:    6 Max:      41   //Cobalt on 6Solo lite stress-ng --cpu 4 --io 2 --vm 1 --vm-bytes 512M  --metrics-brief policy: fifo: loadavg: 7.01 7.04 6.93 8/104 598 T: 0 (  571) P:50 I:1000 C:3639967 Min:      0 Act:    9 Avg:    7 Max:      60 T: 1 (  572) P:50 I:1500 C:2426642 Min:      0 Act:    9 Avg:   11 Max:      66 T: 2 (  573) P:50 I:2000 C:1819980 Min:      0 Act:   11 Avg:   10 Max:      57 T: 3 (  574) P:50 I:2500 C:1455983 Min:      0 Act:   12 Avg:   10 Max:      56 T: 4 (  575) P:50 I:3000 C:1213316 Min:      0 Act:    7 Avg:    9 Max:      43   //Cobalt on 7d with stress-ng --cpu 2 --io 2 --vm 1 --vm-bytes 256M --metrics-brief policy: fifo: loadavg: 5.03 5.11 5.15 6/107 683 T: 0 (  626) P:50 I:1000 C:6842938 Min:      0 Act:    1 Avg:    2 Max:      63 T: 1 (  627) P:50 I:1500 C:4561953 Min:      0 Act:    4 Avg:    2 Max:      66 T: 2 (  628) P:50 I:2000 C:3421461 Min:      0 Act:    0 Avg:    2 Max:      69 T: 3 (  629) P:50 I:2500 C:2737166 Min:      0 Act:    3 Avg:    2 Max:      71 T: 4 (  630) P:50 I:3000 C:2280969 Min:      0 Act:    2 Avg:    1 Max:      33   //////////////////////////////////////// Update for Yocto L5.10.52 2.1.0  /////////////////////////////////////////////////////////// New release for Yocto release L10.52 2.1.0. You need to git clone https://gitee.com/zxd2021-imx/xenomai-arm 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-arm 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 bitake 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.    
View full article