Yocto Project versions and names Preparing host environment For virtual machine (VirtualBox): Download the source code from NXP Code Aurora Yocto Project versions and names See here the list of all yocto version names: Releases - Yocto Project  The current stable release is Zeus Preparing host environment For virtual machine (VirtualBox): Please set memory size minimal to 1GB and disk size to 32GB. (24Feb2014 Ubuntu 12.04LTS)   First, make sure your host PC has the required packages to run Yocto The essential packages you need for a supported Ubuntu distribution are shown in the following command: $ sudo apt-get build-dep qemu $ sudo apt-get remove oss4-dev $ 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 \   xterm‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍ For other Linux distribution or newer Yocto Project release see here the updated list. Download the source code from community Install the repo $ sudo apt-get install repo‍‍‍‍ Download the BSP source: $ mkdir fsl-community-bsp $ cd fsl-community-bsp $ repo init -u https://github.com/Freescale/fsl-community-bsp-platform -b zeus $ repo sync‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍ Download the source code from NXP Code Aurora See here the list of all BSP releases from NXP: imx-manifest - i.MX Release Manifest  Currently, the latest NXP release how to is here: README - imx-manifest - i.MX Release Manifest  To understand the difference between the 2 source code (community X NXP BSP) see here Go to https://community.nxp.com/docs/DOC-94849  Go to Task #2

Yoctoproject Framework Installing any Needed Package Using Yocto and i.MX Boards Testing Yocto for i.MX6 i.MX53 QSB - Quick Start Board i.MX6 Sabre Lite Board Build the image SDCard Image Yoctoproject Framework Yoctoproject is a framework for creating Linux distributions for embedded devices. Its layering mechanism makes it easy to add Linux to new target devices highly customized for a particular platform; it can include custom start-up scripts, software packages built with a high degree of optimization for a particular architecture, and different user interfaces from full Gnome desktop to a simple a serial console. Yocto has 2 basic layers: board support packages layer and core layer. In the BSP layer is where all the custom software and configuration tweaks for a particular platform are included, while the core layer provides the common software stack to provide from a simple command line interface to Sato desktop interface (Matchbox based and Gnome mobile software stack). A third layer could be added to provide additional user interfaces LXDE, XFCE, and more; YP is quite flexible&emdash;one of it major strengths. Installing any Needed Package Go to Yocto Project Quick Start and double check that you have all the necessary packages installed for your machine. For example, if building machine was an Ubuntu machine: $ sudo apt-get install gawk wget git-core diffstat unzip texinfo  build-essential chrpath libsdl1.2-dev xterm curl Using Yocto and i.MX Boards Please, go to project's README file in order to see the recommended instructions to download the source code. Testing Yocto for i.MX6 How to test Yocto for i.MX 6 i.MX53 QSB - Quick Start Board Edit conf/local.conf user config file and set imx53 Quick start board machine and enable parallel build features. MACHINE ?= "imx53qsb" BB_NUMBER_THREADS = "4" PARALLEL_MAKE = "-j 4" i.MX6 Sabre Lite Board Edit conf/local.conf user config file and set i.MX6 Sabrelite board machine and enable parallel build features MACHINE ?= "imx6qsabrelite" BB_NUMBER_THREADS = "4" PARALLEL_MAKE = "-j 4" if you've been facing problems to get yocto's images working on your i.MX Sabre Lite board, please take a look on this comment Re: The kernel sometins hang  in L3.0.35_4.0.0_130424 release Build the image some example of available image: image name description core-image-minimal A small image just capable of allowing a device to boot. core-image-base A console-only image that fully supports the target device hardware. core-image-sato Image with sato, a mobile environment and visual style for mobile devices.  The image supports X11 with a Sato theme, Pimlico applications and contains terminal, editor and file manager. fsl-image-test Builds contents core-image-base plus Freescale test applications and multimedia components. fsl-image-gui Builds contents of core-image-sato with Freescale test applications and multimedia with hardware accelerated X11 To build the image: $ bitbake <image_name> Build using Dash instead can bring some problems. You can check what your system uses typing: "ls -l /bin/sh". On Ubuntu you can change it using "dpkg-reconfigure bash". Some Ubuntu releases you must use "dpkg-reconfigure dash" and choose Bash Built images are located in cd tmp/deploy/images SDCard Image sudo dd if=core-image-minimal-imx6qsabrelite.sdcard of=/dev/sdb i.MX Yocto Project: Frequently Asked Questions

Update The source code is one week old now, so please, update it! $ repo sync Images - the result of a bitbake Example of a content after bitbake build_mx6/tmp/deploy/images: fsl-image-gui-imx6qsabresd-20130505174618.rootfs.ext3 fsl-image-gui-imx6qsabresd-20130505174618.rootfs.sdcard fsl-image-gui-imx6qsabresd-20130505174618.rootfs.tar.bz2 fsl-image-gui-imx6qsabresd-20130508162511.rootfs.ext3 fsl-image-gui-imx6qsabresd-20130508162511.rootfs.sdcard fsl-image-gui-imx6qsabresd-20130508162511.rootfs.tar.bz2 fsl-image-gui-imx6qsabresd.ext3 fsl-image-gui-imx6qsabresd.sdcard fsl-image-gui-imx6qsabresd.tar.bz2 modules-3.0.35-1.1.0+yocto+g0596856-r32.10-imx6qsabresd.tgz README_-_DO_NOT_DELETE_FILES_IN_THIS_DIRECTORY.txt u-boot.imx u-boot-imx6qsabresd.imx u-boot-imx6qsabresd-v2013.04-r3.imx* uImage uImage-3.0.35-r32.10-imx6qsabresd-20130505174618.bin uImage-imx6qsabresd.bin Get used with generated images. Understand which file is a symbolic link and which one is the image in fact. Symbolic link will always point to latest image. sdcard image Take a look how sdcard is generated here meta-fsl-arm - Layer containing Freescale ARM hardware support metadata The disk layout used is: 0-> IMAGE_ROOTFS_ALIGNMENT    reserved to bootloader (not partitioned) IMAGE_ROOTFS_ALIGNMENT -> BOOT_SPACE    kernel and other data BOOT_SPACE -> SDIMG_SIZE     rootfs Use IMAGE_OVERHEAD_FACTOR to add more space Please, go to original file in order to understand the disk layout. It´s basically some initial space for u-boot. One partition for uImage. One partition for rootfs. The total sdcard size will be calculate for every image, if you want to add more empty space inside generated sdcard, use IMAGE_OVERHEAD_FACTOR. Deploy Deploy the sdcard image: $ sudo dd if=fsl-image-gui-imx6qsabresd.sdcard of=/dev/sdX bs=1M Or, deploy the ext3 rootfs $ sudo dd if=fsl-image-gui-imx6qsabresd.ext3 of=/dev/sdX2 bs=1M Or deploy only the tar.bz rootfs $ sudo mount /dev/sdX2 /mnt/card $ sudo tar xf imagename-imx53qsb.tar.bz2 -C /mnt/card In order to deploy only kernel $ sudo cp uImage-3.0.35-r32.10-imx6qsabresd-20130505174618.bin /media/Boot In order to  deploy only u-boot $ sudo dd if=u-boot-imx6qsabresd-v2012.10-r3.imx of=/dev/sdX bs=512 seek=2 If using HDMI please, modify u-boot environment arguments: setenv mmcargs "setenv bootargs console=${console},${baudrate} root=${mmcroot} rootwait rw video=mxcfb0:dev=hdmi,1920x1080M@60,if=RGB24" This is the how sdcards are made by meta-fsl-arm. Of course you can use your own. But double check the u-boot bootenv. Plug your sdcard and let the board boot To login: root Go to HOME Go to Task #3 - The build result Go to Task#5 - kernel

Synchronize your source code Create your local branch Why should I create a local branch? Choose your board Start to build Synchronize your source code Source code you have is one week old now. So, first step is synchronize it. $ repo sync‍‍‍ Create your local branch $ repo start <new branch name> --all‍‍‍ Why should I create a local branch? If you change *any* source code (for choosing another preferred kernel, for example) and want to sync again, or use master instead of dylan, you may be able to rebase or sync your source code, even with changes. Or you found a bug, fixed that, and want to send a patch to community. Example of a system with 2 branches: zeus and new_feature (the asterisk shows the current branch)    $ repo branches * new_feature | in all projects zeus | in all projects‍‍‍ Choose your board The following command display the usage, with a list of all supported machines, all supported community distros and examples of Poky's distro: $ source setup-environment build‍ Usage: MACHINE=<machine> DISTRO=<distro> source setup-environment <build-dir> Usage: source setup-environment <build-dir> <machine> machine name <distro> distro name <build-dir> build directory The first usage is for creating a new build directory. In this case, the script creates the build directory <build-dir>, configures it for the specified <machine> and <distro>, and prepares the calling shell for running bitbake on the build directory. The second usage is for using an existing build directory. In this case, the script prepares the calling shell for running bitbake on the build directory <build-dir>. The build directory configuration is unchanged. Supported machines: apalis-imx6 ccimx6ulsbcexpress ccimx6ulsbcpro cgtqmx6 cm-fx6 colibri-imx6 colibri-imx6ull colibri-imx7 colibri-vf cubox-i imx233-olinuxino-maxi imx233-olinuxino-micro imx233-olinuxino-mini imx233-olinuxino-nano imx6dl-riotboard imx6qdl-variscite-som imx6q-dms-ba16 imx6qsabrelite imx6sl-warp imx6ul-pico imx7d-pico imx7s-warp m28evk m53evk nitrogen6sx nitrogen6x nitrogen6x-lite nitrogen7 nitrogen8m pcm052 tx6q-10x0 tx6q-11x0 tx6s-8034 tx6s-8035 tx6u-8033 tx6u-80x0 tx6u-81x0 ventana wandboard imx23evk imx25pdk imx28evk imx51evk imx53ard imx53qsb imx6qdlsabreauto imx6qdlsabresd imx6slevk imx6sllevk imx6sxsabreauto imx6sxsabresd imx6ulevk imx6ullevk imx7dsabresd imx7ulpevk imx8mmevk imx8mqevk imx8qmmek imx8qxpmek ls1012afrwy ls1012ardb ls1021atwr ls1043ardb ls1046ardb ls1088ardb ls1088ardb-pb ls2080ardb ls2088ardb lx2160ardb mpc8548cds p1020rdb p2020rdb p2041rdb p3041ds p4080ds p5040ds-64b p5040ds t1024rdb-64b t1024rdb t1042d4rdb-64b t1042d4rdb t2080rdb-64b t2080rdb t4240rdb-64b t4240rdb Supported Freescale's distros: fslc-framebuffer fslc-wayland fslc-x11 fslc-xwayland Available Poky's distros: poky-altcfg poky-bleeding poky poky-tiny Examples: - To create a new Yocto build directory: $ MACHINE=imx6qdlsabresd DISTRO=fslc-framebuffer source setup-environment build - To use an existing Yocto build directory: $ source setup-environment build ERROR: You must set MACHINE when creating a new build directory. ‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍ An example of command line to setup the build environment is (read and answer if you accept EULA or not): MACHINE=imx8mmevk DISTRO=fslc-wayland source setup-environment build‍ (...) Do you accept the EULA you just read? (y/n) y EULA has been accepted. Welcome to Freescale Community BSP The Yocto Project has extensive documentation about OE including a reference manual which can be found at: http://yoctoproject.org/documentation For more information about OpenEmbedded see their website: http://www.openembedded.org/ You can now run 'bitbake <target>' Common targets are: core-image-minimal meta-toolchain meta-toolchain-sdk adt-installer meta-ide-support Your build environment has been configured with: MACHINE=imx8mmevk SDKMACHINE=i686 DISTRO=fslc-wayland EULA= ‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍ Now, you are in new created build directory. Your default build/conf/local.conf file can looks like: MACHINE ??= 'imx8mmevk' DISTRO ?= 'fslc-wayland' PACKAGE_CLASSES ?= 'package_rpm' EXTRA_IMAGE_FEATURES ?= "debug-tweaks" USER_CLASSES ?= "buildstats image-mklibs image-prelink" PATCHRESOLVE = "noop" BB_DISKMON_DIRS ??= "\ STOPTASKS,${TMPDIR},1G,100K \ STOPTASKS,${DL_DIR},1G,100K \ STOPTASKS,${SSTATE_DIR},1G,100K \ STOPTASKS,/tmp,100M,100K \ ABORT,${TMPDIR},100M,1K \ ABORT,${DL_DIR},100M,1K \ ABORT,${SSTATE_DIR},100M,1K \ ABORT,/tmp,10M,1K" PACKAGECONFIG_append_pn-qemu-system-native = " sdl" CONF_VERSION = "1" DL_DIR ?= "${BSPDIR}/downloads/" ACCEPT_FSL_EULA = "1"‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍ For the current list of supported board, take a look on FSL Community BSP Release Notes 2.4 (Draft document) documentation Or, see the FSL Community BSP  Release Notes Start to build There are a huge list of images available. Some images includes more packages than others, you can see a list of FSL Community BSP images with description here. The list of supported images from Yocto Project (with description) is here. When an image has more packages included, it takes longer to build. Another way to list all the images you have installed in your metadata is: $ find ../sources -name *image*‍‍   For the goal of this training, any image is good, but a suggestion is presented in next command line: (make sure you are still in build directory) $ cd build $ bitbake core-image-base‍‍‍‍‍‍‍‍ Note (Sept2019): Required disk space for build image is ~31GB Go to Yocto Training - HOME Go to Task #1 - Download the source code Go to Task #3 - The build result

You already know. Your source code is one week old now, so please, update it (or should I say 'sync' it?)! Get used to update your BSP layers. Recipe Is the name of file that determinates how a package should act. For example, the version, where it is the mainstream repo, how to build, install, link. etc. Kernel For meta-fsl-arm the kernel recipes are under meta-fsl-arm/recipes-kernel/linux (take a look here meta-fsl-arm - Layer containing Freescale ARM hardware support metadata) For meta-fsl-arm, there are 3 kernel recipes: linux-fslc_3.8.bb  --> kernel mainline (from kernel.org) linux-imx_2.6.35.3.bb  --> kernel from FSL, for imx5x and imx28 linux-imx_3.0.35.bb --> kernel from FSL for imx6 Take the linux-imx for imx6 as an example meta-fsl-arm - Layer containing Freescale ARM hardware support metadata The recipe determinates: what´s the compatible machine for this linux version (mx6) what´s the commit ID for the head of this code (SRCREV) (MX6DL and MX6SL have different source code) what´s the patches for the mx6 boards (SRC_URI). In order to see where the source code is cloned from, you need to go to .inc file meta-fsl-arm - Layer containing Freescale ARM hardware support metadata SRC_URI = "git://git.freescale.com/imx/linux-2.6-imx.git \            file://defconfig \ " it´s from git.freescale.com. In addition, there is a defconfig file added on SRC_URI. There is a defconfig file for every board, on every Linux revision. Some defconfigs are shared for more than one board (for example, every mx6 board), and some Linux version are not compatible for some boards (for example, imx53 is only compatible with 2.6.35). During a bitbake linux-imx, a temp folder will be created under build/tmp/armv7-imx6....../linux-imx, with code from git, patches and defconfig. Then bitbake takes that defconfig and configure the kernel, built it, and deploy it. So, in order to change the kernel configuration (make menuconfig) you must replace your defconfig file from meta-fsl-arm/recipes-kernel/linux/linux-imx-3.0.35/mx6 How to change kernel configuration Create the new defconfig Copy it to meta-fsl-arm/recipes-kernel/linux/linux-imx-3.0.35/mx6 (or the right folder for your board/kernel) $ bitbake -c cleansstate linux-imx $ bitbake linux-imx (if you want only the kernel image) $ bitbake fsl-image-gui (if you want to generate a complete image using the new kernel) How to make menuconfig with yocto $ bitbake -c menuconfig linux-imx will generate a config file on tmp/work/imx6qsabresd-poky-linux-gnueabi/linux-imx/3.0.35-r33.10/git/.config The complete step by step to change the kernel configuration $ bitbake -c menuconfig linux-imx (change anything) $ cp tmp/work/imx6qsabresd-poky-linux-gnueabi/linux-imx/3.0.35-r33.10/git/.config ../sources/meta-fsl-arm/recipes-kernel/linux/linux-imx-3.0.35/mx6/defconfig $ bitbake -c cleansstate linux-imx $ bitbake fsl-image-gui The uImage will be under tmp/deploy/image In order to replace only uImage binary into one ready sdcard: $sudo cp tmp/deploy/image/uImage-imx6-XXX.bin /media/user/Boot imx6/uImage Kernel Mainline - kernel.org In order to use kernel mainline instead of linux-imx. Please add the following code to your conf/local.conf PREFERRED_PROVIDER_virtual/kernel = "linux-fslc" Make sure the desired board is supported by kernel.org. In order to take and build kernel mainline manually, please see https://community.freescale.com/docs/DOC-95017 Final points It´s not a simple task, I know. Yocto is not the best tool for use to develop and customize kernel during development stage. It is easier to use an external toolchain (bitbake meta-toolchain). Once the kernel development, or customization, is done, the changes can be integrated in the Yocto so it is managed for production use. I like to have a copy of kernel source code cloned on my machine directly from git.freescale.com, then I can re-configure it, rebuild it, apply some patches, make changes, and build it manually - any way I want it. So, I only change kernel using yocto when I know the bug and I know how to fix it, and I have the patch. (and this is the way I like to work) Although this is how to configure (and even patch) kernel (if you want to patch kernel, follow the example in the recipes) If you face any error, please, let me know. I tested the steps and it worked, but I´m using an Ubuntu machine, not a virtual machine (and I´m not sure how -c menuconfig will act in a virtual machine). Go to Yocto Training - HOME Go to Task #4 - Deploy and test

After bitbake meta-toolchain the script to install the toolchain package is located under $ ls tmp/deploy/sdk/poky-eglibc-x86_64-arm-toolchain-1.4.1.sh    tmp/deploy/sdk/poky-eglibc-x86_64-arm-toolchain-1.4.1.sh In order to install it: $ source poky-eglibc-x86_64-arm-toolchain-1.4.1.sh     [sudo] password for daiane:     Enter target directory for SDK (default: /opt/poky/1.4.1):     You are about to install the SDK to "/opt/poky/1.4.1". Proceed[Y/n]?y     Extracting SDK...done     Setting it up...done     SDK has been successfully set up and is ready to be used. Hello World $ source /opt/poky/1.4.1/environment-setup-armv7a-vfp-neon-poky-linux-gnueabi $ cd ~/test/ $ arm-poky-linux-gnueabi-gcc helloworld.c $ ls a.out                                                 helloworld.c                           $ ./a.out -bash: ./a.out: cannot execute binary file $ file a.out a.out: ELF 32-bit LSB executable, ARM, version 1 (SYSV), dynamically linked (uses shared libs), for GNU/Linux 2.6.16, not stripped Kernel $ source /opt/poky/1.4.1/environment-setup-armv7a-vfp-neon-poky-linux-gnueabi $ cd linux-2.6-imx $ git checkout remotes/origin/imx_3.0.35 $ export ARCH=arm $ export CROSS_COMPILE=$TARGET_PREFIX $ unset LDFLAGS $ make imx6_defconfig $ make uImage Make sure to have mkimage available on bin patch (if using mkimage from u-boot export its patch) Or, download the ubuntu pachage: sudo apt-get install uboot-mkimage UPDATE You may find the following error:   OBJCOPY arch/arm/boot/zImage   Kernel: arch/arm/boot/zImage is ready multiple (or no) load addresses: This is incompatible with uImages Specify LOADADDR on the commandline to build an uImage make[1]: *** [arch/arm/boot/uImage] Error 1 make: *** [uImage] Error 2 This is regarding a missing LOADADDR for mkimage to use to generate uImage with the right offset to be placed in the right LOADADDR. The address value is dependent on your hardware! And it is different depending on imx6 variations. So please be aware regarding what is your right value. If the machine you are using is supported in yocto project/meta-fsl-arm, for example, you can find the value related with your board in the file conf/machine/include/imx-base.inc or online here meta-fsl-arm - Layer containing Freescale ARM hardware support metadata It is the same value used in variable UBOOT_ENTRYPOINT. For example as of this writing for the Freescale SABRE-SD board looking in conf/machine/include/imx-base.inc UBOOT_ENTRYPOINT_mx6  = "0x10008000" Thus the build command would be: $ make uImage LOADADDR=0x10008000 So, as a quick reference table, I point here the 3 most wanted make command lines: imx28evk: $ make LOADADDR=0x40008000 imx53qsb: $ make LOADADDR=0x70008000 imx6qsabresd: $ make LOADADDR=0x10008000 Update 2 Suggested by cmcqueen1975 Building an autotools-based package. E.g. $ source /opt/poky/1.4.1/environment-setup-armv7a-vfp-neon-poky-linux-gnueabi $ ./configure ${CONFIGURE_FLAGS} $ make $ make install the CONFIGURE_FLAGS is the variable depending on your very-own project. Go to Yocto Training - HOME Go to Task #7 - Create the toolchain

    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"   //////////////////////////////////////// Update for Yocto L6.6.52 2.2.0  /////////////////////////////////////////////////////////// New release for Yocto release L6.6.52 2.2.0. You need to git clone https://gitee.com/zxd2021-imx/xenomai-arm64.git recipes-rtlinux-xenomai -b Linux-6.6.52 Updating: 1, Upgrade Xenomai to v3.3 and support i.MX91/93/95 2, Upgrade EVL (aka Xenomai 4),  libevl to r50 and support i.MX91/93/95 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"    

Bad and Ugly gstreamer plugins has their own special licensing, so it cannot be released formally inside any tarball. (I do not understand it deeply, if you want more info, please go to GStreamer: Licensing advice) But you can add it on your own image, and you only need to change the local.conf Please, add the following code to your local.conf: LICENSE_FLAGS_WHITELIST = "commercial" COMMERCIAL_AUDIO_PLUGINS ?= " \ gst-plugins-ugly-mad \ gst-plugins-ugly-mpegaudioparse \ " COMMERCIAL_VIDEO_PLUGINS ?= " \ gst-plugins-ugly-mpeg2dec \ gst-plugins-ugly-mpegstream \ gst-plugins-bad-mpegvideoparse \ " CORE_IMAGE_EXTRA_INSTALL += " \ packagegroup-fsl-gstreamer \ gst-plugins-base-videotestsrc \ gst-plugins-bad-fbdevsink \ gst-ffmpeg alsa-utils \ gst-plugins-good-isomp4 \ " Please, note that this will not install *every* plugin from ugly or bad. It will only install the plugins from the list. Go to Yocto Training - HOME Go to Task #8 - Build kernel manually using created toolchain

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

1. Follow all steps from Freescale's github repo except the last bitbake command 2. The images that Freescale supports are located on the meta-fsl-demos/recipes-fsl/images folder. 3. Bake the standard Freescale image build$ bitbake fsl-image-gui 4. The produced Linux image is packaged in several formats; the .sdcard single file has all the system (u-boot + uImage + rootfs) so it can be directly flashed into an SD card build$ sudo dd if=tmp/deploy/images/fsl-image-gui-imx6qsabresd.sdcard of=/dev/sdX bs=4M NOTES: In case of building issues, please follow this link In case of booting issues, make sure: 1. board DIP switches are set correctly 2. you have chosen the correct machine before baking If issues persist, report it to the community

A tutorial on 'Freescale Yocto Project'. Source code is located here NOTE: When doing 'repo init -u .... -b <LATEST_STABLE_BRANCH_NAME>', make sure you are using the latest stable branch (dora is the latest when writing this note)

1. Follow all instructions from Freescale's github repo except the last bitbake command 2. Run hob under the build folder build$ hob & 3. On the GUI, select machine and image, then build 4. In case you need to flash an SD Card, hob does not produce an .sdcard image, so as a workaround, close hob and on the same console run build$ bitbake <image>     where image must be the same as the one you choose with hob 5. Flash your SD card build$ sudo dd if=tmp/deploy/images/fsl-image-gui-imx6qsabresd.sdcard of=/dev/sdX bs=4M NOTES: In case of building issues, please follow this link In case of booting issues, make sure: 1. board DIP switches are set correctly 2. you have chosen the correct machine before baking If issues persist, report it to the community

How to Test Yocto for i.MX6 i.MX Yocto Project: How Can I Collaborate on the Freescale Yocto Project? i.MX Yocto Project: How Can I Build the Freescale Yocto Images using bitbake? i.MX Yocto Project: How Can I Build the Freescale Yocto Images using hob? i.MX Yocto Project: What Can I Do if I Run Into a Compilation Error? i.MX Yocto Project: Are There Prebuilt Images Available? i.MX Yocto Project: How Can I Quicken the Compilation? i.MX Yocto Project: how can I conserve disk space during builds? i.MX Yocto Project: How do I add an existing package to an image? i.MX Yocto Project: Can I use a virtual machine to build? i.MX Yocto Project: How can I build an image with (latest) mainline kernel? i.MX Yocto Project: How can I (quickly) modify a package' source code and test it? i.MX Yocto Project: How can I find out the packages include on an image? i.MX Yocto Project: How can I compile the kernel manually? i.MX Yocto Project: How can I patch the kernel? i.MX Yocto Proyect: How can I create a new Layer? i.MX Yocto Project: How can I contribute to the community? i.MX Yocto Project: Where can I see current  BSP issues? i.MX Yocto Project: Where are the mainstream repositories hosted? Tutorials: Yocto Training - HOME http://www.slideshare.net/OtavioSalvador/yocto-training-in-english - Great tutorial created by the Community's maintainer (there is also a Portuguese version) i.MX Yocto Project: Freescale Yocto Project Tutorial - It covers some basic developing tasks Others: Useful bitbake commands i.MX Yocto Project: ltib versus bitbake

One of the most important features of Yocto is its ability to handle sublayers. To understand the sublayers please Yocto Project Development Manual Start creating meta-custom folder, then create the other folders. For example: meta-daiane/ ├── conf │   └── layer.conf ├── README ├── recipes-core │   └── helloworld │       ├── helloworld │       │   └── hello_world.c │       └── helloworld_0.0.bb └── recipes-daiane     └── images         └── dai-image-hello.bb It´s possible to create recipes-kernel and place there your defconfig, or create a bbappend to apply your patches to kernel, or even create a recipes-multimedia and place there custom application for gstreamer, for example. Here, the custom application example is a helloworld application. One important tip: Yocto see recipes name as PACKAGENAME_VERSION.bb, It means, yocto uses "_" (underline) to separate the package name from package version on a recipe file name. So, if you call your helloworld application as hello_world_1.0.bb Yocto will think your application is called "hello" and the version is something around "world_1.0" Please, be careful. LAYER.CONF This is the file that gives new layer live. Find the content of mine layer.conf below: # We have a conf and classes directory, add to BBPATH BBPATH .= ":${LAYERDIR}" # We have a packages directory, add to BBFILES BBFILES += "${LAYERDIR}/recipes-*/*/*.bb \             ${LAYERDIR}/recipes-*/*/*.bbappend" BBFILE_COLLECTIONS += "daiane" BBFILE_PATTERN_daiane := "^${LAYERDIR}/" BBFILE_PRIORITY_daiane = "4" As soon as the new custom layer is created, it MUST include it to  conf/bblayers.conf file. Please see the example: LCONF_VERSION = "6" BBPATH = "${TOPDIR}" BSPDIR := "${@os.path.abspath(os.path.dirname(d.getVar('FILE', True)) + '/../..')}" BBFILES ?= "" BBLAYERS = " \   ${BSPDIR}/sources/poky/meta \   ${BSPDIR}/sources/poky/meta-yocto \   \   ${BSPDIR}/sources/meta-openembedded/meta-oe \   \   ${BSPDIR}/sources/meta-fsl-arm \   ${BSPDIR}/sources/meta-fsl-arm-extra \   ${BSPDIR}/sources/meta-fsl-demos \   \   ${BSPDIR}/sources/meta-daiane \ " Please, find the tarball with sample meta layer attached to this document. It includes one image that will install the Hello World application: $ bitbake dai-image-hello When the content of image tar ball is extracted, hello_world was installed and it was for ARM: $ find -name hello* ./usr/bin/hello_world $ file ./usr/bin/hello_world ./usr/bin/hello_world: ELF 32-bit LSB executable, ARM, version 1 (SYSV), dynamically linked (uses shared libs), for GNU/Linux 2.6.16, stripped Go to Yocto Training - HOME Go to Task #9 - How to add bad/ugly

The edit-compile-test loop is the quickest way so can test your changes. 1. Go to the package's source code folder and edit your files. 2. Compile that particular package, e.g. bitbake linux-imx -c compile -f 3. Deploy, e.g. bitbake linux-imx -c deploy 4. Insert the SD card into your host, and copy the Linux kernel into the the first partition sudo cp tmp/deploy/images/uImage /media/Boot 5. Insert the SD card into your board, boot and test your changes 6. In case you are satisfied with the results, you need to create a patch and add into the package's recipe. Check this document to execute this step.

Build the tool chain image. It generates the toolchain that will be installed on your host machine and used to build any source code: $ bitbake meta-toolchain It does take some time to build. Why to create a toolchain? Yocto is not intended to be used to package development. Yocto is a linux distribution creator. It´s intended to be a image builder, a rootfs creator. (please, see more about "what is yocto" here and here) So, yocto itself should not be used to "develop" a new package. Although, Yocto can help creating a environment for development like meta-toolchain or Eclipse ADT. Go HOME Go Task #6 - Customize the image

This document shows the necessary steps to configure the Eclipse IDE for development of Yocto applications. Requirements 1) Linux machine. Ubuntu 12.4 or higher is recommended. 2) Yocto Freescale BSP Release or Freescale Community BSP. For this example we'll use the Freescale BSP Release L3.14.28 but you may use the FSL Community BSP. - Freescale Community BSP FSL Community BSP - Freescale BSP Release  Documentation L3.14.28 (login required) https://www.freescale.com/webapp/Download?colCode=L3.14.28_1.0.0_LINUX_DOCS&location=null&fpsp=1&WT_TYPE=Supporting%20In… 3) Poky Meta Toolchain (Poky 1.7 / L3.14.28 for our example but you should use the toolchain that corresponds to the BSP that will be used) For information on how to extract and install the meta toolchain please follow the steps on the next document. Task #7 - Create the toolchain 4) Eclipse Luna. We’ll use the Luna SR2 (4.4.2) version of the Eclipse IDE. You may find it on the following website: http://www.eclipse.org/downloads/packages/release/luna/sr2 Look for the “Eclipse IDE for C/C++ Developers”, which contains the Eclipse Platform, the Java Development Tools (JDT), and the Plug-in Development Environment. Once you have downloaded the tarball extract it. The following command unpacks and installs the downloaded Eclipse IDE tarball into a clean directory using the default name eclipse:      $ cd ~      $ tar -xzvf ~/Downloads/eclipse-cpp-luna-SR2-linux-gtk-x86_64.tar.gz Configuring the Eclipse IDE Once with Eclipse Luna installed you may run the Eclipse IDE with the following command: $ cd eclipse $ ./eclipse Select a new workspace. Chose "Install New Software" from the "Help" pull-down menu. Select the "Luna - http://download.eclipse.org/releases/luna" Find and expand the Linux Tools option and select: Linux Tools LTTng Tracer Control Linux Tools LTTng Userspace Analysis LTTng Kernel Analysis If some of these options are not listed it means that they are already installed. (To change this you may uncheck the Hide items that are already installed box) Find and expand the Mobile and Device Development and select the following:   C/C++ Remote Launch (Requires RSE Remote System Explorer)   Remote System Explorer End-user Runtime   Remote System Explorer User Actions   Target Management Terminal (Core SDK)   TCF Remote System Explorer add-in   TCF Target Explorer If some of these options are not listed it means that they are already installed. (To change this you may uncheck the Hide items that are already installed box) Expand Programming Languages and select:   C/C++ Autotools Support   C/C++ Development Tools Chose Next and accept the necessary EULA Clck on the Finish button. The selected packages will be downloaded and installed. You will be asked to restart Eclipse IDE to finish the installation. Adding the Yocto Plug-in to the Eclipse IDE Next step is to install the Eclipse Yocto Plug-in into the Eclipse IDE. We'll show how to install the pre-built plug in. Start the Eclipse IDE In Eclipse, select "Install new Software" from the "Help" menu Click the "Add..." button to add a repository and enter: Name: Any name, we will use Yocto Fio Location: http://downloads.yoctoproject.org/releases/eclipse-plugin/1.8/luna Click "Ok" and then chose this new repository on the "Work with" drop-down menu and select the following plug-ins from the list:   Yocto Project ADT Plug-in   Yocto Project Bitbake Commander Plug-in   Yocto Project Documentation plug-in Install these plug-ins and click "OK" when prompted about installing software that contains unsigned content. You may be asked to restart the Eclipse IDE. Configuring the Eclipse Yocto Plug-in With all the necessary packages installed we'll now configure the Eclipse Yocto Plug-in. In this steps we will configure the Cross Compiler options and the Target options. These will then be used as default for your projects from within your working workspace. Select "Preferences" from the "Window" menu. Click on Yocto Project ADT from the left options and then under Cross Compiler Options select the Standalone pre-built toolchain radio button. We need to point to the Toolchain Root location of our installed toolchain. This is covered on the following community document: Task #7 - Create the toolchain In this case we'll be using poky 1.7 tollchain which has the following default location: /opt/poky/1.7 As fo the Sysroot Location this would correspond to your build directory sysroot folder, which is located on the following path: <YOCTO_BSP_DIR>/<BUILD_DIR>/tmp/sysroots/<MACHINE> In our case our Tartget architecture would be the Cortex-A9, which correspond to the i.MX6 and which is also the only option installed on the chosen directory. For Target Options we would be using the actual HW in order to test our application so keep the External HW option selected. Creating a Hello World Project We are now ready to create our project. Just to test our configuration we'll create a Hello World project.We can do so by selecting File->New->C Project or C++ Project We must then select a Project name and in project type we can chose either an Empty project or as in our case a Hello World Project, all this under the Yocto Project ADT Autotools Project folder. We will have the GNU Autotools Tolchain selected. The next screen will show some of the Basic Properties for our project, including the GNU license. Fill these as required. You may clock on Finish at this point. We should see that the HelloWorld project was created. We should right-click on the project folder and then chose Reconfigure Project in order to fill the necessary libraries. After this is completed we can build our project either by choosing the hammer icon or in the Build Project option inside the Project menu. We can look for correct competition or any errors or warning on the Console tab. Further Application Development After this basic setup you may work on more complex examples like a GPU and a Gstreamer Application examples on the following nicely written document: Yocto Application Development Using Eclipse IDE

1. To setup the Yocto environment, from the BASE folder run fsl-community-bsp $ . setup-environment build 2. Build the toolchain build $ bitbake meta-toolchain # Other toolchains: # Qt Embedded toolchain build: bitbake meta-toolchain-qte # Qt X11 toolchain build: bitbake meta-toolchain-qt 3. Install it on your PC build $ sudo sh \   tmp/deploy/sdk/poky-eglibc-x86_64-arm-toolchain-<version>.sh 4. Setup the toolchain environment build $ source \   /opt/poky/<version>/environment-setup-armv7a-vfp-neon-poky-linux-gnueabi 5. Get the Linux Kernel's source code. $ git clone git://git.freescale.com/imx/linux-2.6-imx.git linux-imx $ cd linux-imx 6. Create a local branch linux-imx $ BRANCH=imx_3.0.35_4.0.0 # Change to any branch you want,   # Use 'git branch -a' to list all linux-imx $ git checkout -b ${BRANCH} origin/${BRANCH} 7. Export ARCH and CROSS_COMPILE linux-imx $ export ARCH=arm  linux-imx $ export CROSS_COMPILE=arm-poky-linux-gnueabi- linux-imx $ unset LDFLAGS 8. Choose configuration and compile linux-imx $ make imx6_defconfig  linux-imx $ make uImage  9. To Test your changes, copy the `uImage` into your SD Card linux-imx $ sudo cp arch/arm/boot/uImage /media/boot 10. If case you want your changes to be reflected on your Yocto Framework, create the patches following the document i.MX Yocto Project: How can I patch the kernel?

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

NFS and TFTP Boot 1  Introduction This document explains the required steps to boot Linux Kernel and mount a NFS on your target. 2 Requirements A functional Yocto environment (Images generated for your target). Your preferred target.  (SABRE-AI, SABRE-SD) 1 Ethernet Cable 1 Micro USB cable USB to Serial converter depending on your target features. 3 Yocto Folders When you develop your Linux kernel and Root File System with Yocto, different folders are created and each folder contains different information. {YOCTO_BUILD_DIR}/tmp/deploy/images/ {TARGET}/  This directory contains the output images, like Kernel, U-Boot and the File System in a tar file. This directory will be used to fetch the kernel and device tree blob file only. {YOCTO_BUILD_DIR}/tmp/sysroot/{TARGET}/  This folder contains all the development files used to generate our Yocto images. Here we can find all the dynamic libraries and headers used for development. This folder is used as parameter for cross-compilation. {YOCTO_BUILD_DIR}/tmp/work/{TARGET}-poky-linux-gnueabi/{IMAGE}/1.0-r0/rootfs This folder contains the uncompressed rootfs of our target. This folder will be used as entry in the host NFS server. 4 IP Address and Network Setup This section covers how to boot Linux that mounts the root file system (RFS) over the network. Remember that in this scenario, the RFS exists on the laptop hard drive, and the kernel that runs on the target board will mount the RFS over Ethernet. This setup is used for developing and debugging Linux applications. It allows for applications to be loaded and run without having to re-boot the kernel each time. First some packages on your host need to be installed: # apt-get install xinetd tftp tftpd isc-dhcp-server nfs-kernel-server portmap For development, it is best to have a static IP setup for the board and Linux environment. This way U-Boot options won’t change between reboots as you get a new IP address as you would using DHCP. 4.1 Linux Host Setup This section describes how to setup a static IP in your Linux host environment. This is not required but will allow the IP address of your virtual host system to remain unchanged. Because u-boot parameters use specific IP addresses, this step is recommended because u-boot parameters may need to be updated in the future to match your virtual IP address if it should ever change. You could take the existing IP address and make it static, but you would lose the Internet connection in your virtual machine. Instead we want to make use of the virtual environment and add a secondary Ethernet port that is tied to your wired Internet connection, while keeping the original Ethernet port which can use the wireless connection on your laptop. In the Linux virtual environment, type sudo ifconfig and note that you should have one Ethernet adapter (eth0). The other item listed (lo) is a virtual port for loopback mode. Shutdown the Linux virtual machine In VMware Player, go to Edit virtual machine settings. And add a Bridged Network Adapter, choosing only the wired Ethernet port. And click on OK.  See below for example: Start up the Linux VM. Open a terminal and type: sudo ifconfig You should have a new entry (eth1). This is the new Ethernet port you created in the virtual machine, and it is bridged to your wired Ethernet port. This is the port we want to make a static IP address. To set eth1 to a static IP, open /etc/nework/interfaces sudo gedit /etc/network/interfaces Add the following to set eth1 to your desired IP address. auto eth1 iface eth1 inet static address 192.168.0.100      <-- Your HOST IP netmask 255.255.255.0 gateway 192.168.0.1 Save the file Restart eth1 sudo ifdown eth1 sudo ifup eth1 4.2 Target Setup We need to setup the network IP address of our target. Power On the board and hit a key to stop the U-Boot from continuing. Set the below parameters: setenv serverip 192.168.0.100 <-- This must be your Host IP address setenv ipaddr 192.168.1.102  <-- This must be your target IP addres setenv ip_dyn no The path where the rootfs is placed in our host has to be indicated in the U-Boot: setenv nfsroot /home/usuario/fsl-release-bsp/buildimx6q/tmp/work/imx6qsabresd-poky-linux-gnueabi/fsl-image-gui/1.0-r0/rootfs setenv image zImage setenv fdt_file uImage-imx6q-sabresd.dtb setenv netargs 'setenv bootargs console=${console},${baudrate} ${smp} root=/dev/nfs ip={ipaddr} nfsroot=${serverip}:${nfsroot},v3,tcp' 4.3 TFTP and NFS Configuration Now configure the Trivial File Transfer Protocol (TFTP) server and Networked File System (NFS) server. This is how U-Boot will download (via TFTP) the Linux kernel, and then the kernel will mount (via NFS) its root file system on the computer hard drive. 4.3.1 TFTP Setup Next setup the TFTP server. The following commands show that we are logged in as root (#). If you are not root ($) then precede each instruction with “sudo”. Edit /etc/xinetd.conf gedit /etc/xinetd.conf Add and save the following lines in the file service tftp { socket_type = dgram protocol = udp wait = yes user = root server = /usr/sbin/in.tftpd server_args = -s {YOCTO_BUILD_DIR}/tmp/deploy/images/ {TARGET}/  disable = no } Notice that {YOCTO_BUILD_DIR}/tmp/deploy/images/ {TARGET}/   has to be written as absolute path. Restart the xinetd service service xinetd restart Test that TFTP is working tftp localhost tftp> get {An Image found in the tftp folder} tftp> quit 4.3.2 NFS Setup Edit the /etc/exports file gedit /etc/exports Add the path where the rootfs is found in your host. {YOCTO_BUILD_DIR}/tmp/work/{TARGET}-poky-linux-gnueabi/{IMAGE}/1.0-r0/rootfs *(rw,no_root_squash)                                                                 NOTE:      {YOCTO_BUILD_DIR}/tmp/work/{TARGET}-poky-linux-gnueabi/{IMAGE}/1.0-r0/rootfs may work most of the times,        but it is recommended to untar the {IMAGE}.bz2 in an exported           folder keeping using sudoand keeping the chmod of each file.     3. Restart the NFS service sudo service portmap stop sudo service nfs-kernel-server stop sudo service portmap start sudo service nfs-kernel-server start 5 Host Final Configuration and Booting Linux over NFS In your host, under the images folder {YOCTO_BUILD_DIR}/tmp/deploy/images/ {TARGET}/ create the below links ln -s zImage_imx_v7_defconfig zImage      2. In U-boot type the below command:                run netboot After a pair of minutes you should get a Linux working system on your target.