Platform & BSP : i.MX8MPlus EVK , L6.12.3， uboot lf_v2024.04   The attachments enable the i.MX8MPlus pci function in uboot. lspci in Linux root@imx8mpevk:~# lspci -nn 00:00.0 PCI bridge [0604]: Synopsys, Inc. DWC_usb3 / PCIe bridge [16c3:abcd] (rev 01) 01:00.0 Ethernet controller [0200]: Marvell Technology Group Ltd. Device [1b4b:2b42] (rev 11) pci test results in uboot:  u-boot=> pci BusDevFun VendorId DeviceId Device Class Sub-Class _____________________________________________________________ 00.00.00 0x16c3 0xabcd Bridge device 0x04 01.00.00 0x1b4b 0x2b42 Network controller 0x00 u-boot=> pci bar 00.00.00 ID Base Size Width Type ---------------------------------------------------------- 0 0x0000000018000000 0x0000000000100000 32 MEM u-boot=> pci regions 00 Buses 00-01 # Bus start Phys start Size Flags 0 0x0000000000000000 0x000000001ff80000 0x0000000000010000 io 1 0x0000000018000000 0x0000000018000000 0x0000000007f00000 mem 2 0x0000000040000000 0x0000000040000000 0x0000000016000000 mem sysmem 3 0x0000000058000000 0x0000000058000000 0x00000000a8000000 mem sysmem 4 0x0000000100000000 0x0000000100000000 0x00000000c0000000 mem sysmem u-boot=> pci header 00.00.00 vendor ID = 0x16c3 device ID = 0xabcd command register ID = 0x0007 status register = 0x0010 revision ID = 0x01 class code = 0x06 (Bridge device) sub class code = 0x04 programming interface = 0x00 cache line = 0x08 latency time = 0x00 header type = 0x01 BIST = 0x00 base address 0 = 0x18000000 base address 1 = 0x00000000 primary bus number = 0x00 secondary bus number = 0x01 subordinate bus number = 0x01 secondary latency timer = 0x00 IO base = 0x10 IO limit = 0x00 secondary status = 0x0000 memory base = 0x1820 memory limit = 0x1810 prefetch memory base = 0xfff0 prefetch memory limit = 0x0000 prefetch memory base upper = 0x00000000 prefetch memory limit upper = 0x00000000 IO base upper 16 bits = 0x0000 IO limit upper 16 bits = 0x0000 expansion ROM base address = 0x18100000 interrupt line = 0xff interrupt pin = 0x01 bridge control = 0x0000 u-boot=> pci header 01.00.00 vendor ID = 0x1b4b device ID = 0x2b42 command register ID = 0x0006 status register = 0x0010 revision ID = 0x11 class code = 0x02 (Network controller) sub class code = 0x00 programming interface = 0x00 cache line = 0x08 latency time = 0x00 header type = 0x00 BIST = 0x00 base address 0 = 0x1810000c base address 1 = 0x00000000 base address 2 = 0x1820000c base address 3 = 0x00000000 base address 4 = 0x00000000 base address 5 = 0x00000000 cardBus CIS pointer = 0x00000000 sub system vendor ID = 0x0000 sub system ID = 0x0000 expansion ROM base address = 0x00000000 interrupt line = 0xff interrupt pin = 0x01 min Grant = 0x00 max Latency = 0x00

Hello everyone! In this document you'll find an example on how to build your own flash.bin for i.MX93 low power mode where only the Cortex-M33 rom is running after Power-On Reset, the following table provides the boot devices supported for LP boot: lpboot_table.png In LP boot, up to three containers (NXP and OEM containers) are expected to be handled by CM33 ROM code. • NXP container (optional): EdgeLock Enclave FW only (must-have in case NXP container present) • OEM container (mandatory), contains: — CM33 FW (must-have) — FCB Region Copy Image (optional) Requirements: Ubuntu 20.04 or later host PC i.MX93 EVK UUU Tool ARM GNU Toolchain (arm-gnu-toolchain-12.3.rel1-x86_64-aarch64-none-linux-gnu) SDK package (SDK_2_16_000_MCIMX93-EVK) Build procedure: Clone imx-mkimage, it is better to use the same SW version for each source we are working with, please refer to i.MX Linux Release Notes document, table 3. BSP and multimedia standard packages for this information. $ git clone https://github.com/nxp-imx/imx-mkimage -b lf-6.6.52-2.2.0 Decompress the GNU toolchain into a path in local disk, in this guide would be /opt $ sudo tar -xvJf arm-gnu-toolchain-12.3.rel1-x86_64-aarch64-none-linux-gnu.tar.xz -C /opt Clone and build Uboot $ git clone https://github.com/nxp-imx/uboot-imx -b lf-6.6.52-2.2.0 $ cd uboot-imx $ make -j $(nproc --all) clean $ make -j$(nproc --all) ARCH=arm CROSS_COMPILE=/opt/arm-gnu-toolchain-12.3.rel1-x86_64-aarch64-none-linux-gnu/bin/aarch64-none-linux-gnu- imx93_11x11_evk_defconfig $ make -j $(nproc --all) ARCH=arm CROSS_COMPILE=/opt/arm-gnu-toolchain-12.3.rel1-x86_64-aarch64-none-linux-gnu/bin/aarch64-none-linux-gnu- Download and extract i.MX firmware $ cd .. $ wget https://www.nxp.com/lgfiles/NMG/MAD/YOCTO/firmware-ele-imx-1.3.0-17945fc.bin $ chmod +x firmware-ele-imx-1.3.0-17945fc.bin $ ./firmware-ele-imx-1.3.0-17945fc.bin --auto-accept Optional if using AHAB FW $ wget https://www.nxp.com/lgfiles/NMG/MAD/YOCTO/firmware-imx-8.26-d4c33ab.bin $ chmod +x firmware-imx-8.26-d4c33ab.bin $ ./firmware-imx-8.26-d4c33ab.bin --auto-accept Clone and build ATF $ git clone https://github.com/nxp-imx/imx-atf -b lf-6.6.52-2.2.0 $ cd imx-atf $ make -j $(nproc --all) PLAT=imx93 bl31 CROSS_COMPILE=/opt/arm-gnu-toolchain-12.3.rel1-x86_64-aarch64-none-linux-gnu/bin/aarch64-none-linux-gnu- Build M33 code, in this example we are using hello world from the i.MX SDK package. $ cd .. $ tar -xvzf SDK_2_16_000_MCIMX93-EVK.tar.gz $ cd SDK_2_16_000_MCIMX93-EVK/boards/mcimx93evk/demo_apps/hello_world/armgcc $ export ARMGCC_DIR=~/gcc-arm-none-eabi-10.3-2021.10 $ export PATH=$PATH:~/gcc-arm-none-eabi-10.3-2021.10 $ ./build_release.sh Copy the resulting binaries to imx-mkimage $ cp ~/imx-atf/build/imx93/release/bl31.bin ~/imx-mkimage/iMX93 $ cp ~/uboot-imx/u-boot.bin ~/imx-mkimage/iMX93 $ cp ~/uboot-imx/spl/u-boot-spl.bin ~/imx-mkimage/iMX93 $ cp release/sdk20-app.bin ~/imx-mkimage/iMX93/m33_image.bin Copy i.MX firmware to imx-mkimage $ cd .. $ cp firmware-imx-8.26-d4c33ab/firmware/ddr/synopsys/lpddr4_imem_1d_v202201.bin ~/imx-mkimage/iMX93 $ cp firmware-imx-8.26-d4c33ab/firmware/ddr/synopsys/lpddr4_dmem_1d_v202201.bin ~/imx-mkimage/iMX93 $ cp firmware-imx-8.26-d4c33ab/firmware/ddr/synopsys/lpddr4_dmem_2d_v202201.bin ~/imx-mkimage/iMX93 $ cp firmware-imx-8.26-d4c33ab/firmware/ddr/synopsys/lpddr4_imem_2d_v202201.bin ~/imx-mkimage/iMX93 $ cp firmware-ele-imx-1.3.0-17945fc/mx93a1-ahab-container.img ~/imx-mkimage/iMX93 Build the flash.bin using mkimage, we have different target memory options for lpboot $ cd imx-mkimage eMMC/SD $ make SOC=iMX9 REV=A1 flash_lpboot eMMC/SD no AHAB $ make SOC=iMX9 REV=A1 flash_lpboot_no_ahabfw Flexspi $ make SOC=iMX9 REV=A1 flash_lpboot_flexspi Flexspi no AHAB $ make SOC=iMX9 REV=A1 flash_lpboot_flexspi_no_ahabfw Flexspi XiP $ make SOC=iMX9 REV=A1 flash_lpboot_flexspi_xip Change the binary name so we can identify and it is easier when flashing $ mv flash.bin flash_m33_lpboot.bin Also, build singleboot flashbin so we can use it to run UUU and flash the lpboot binary $ make SOC=iMX9 REV=A1 flash_singleboot $ mv flash.bin flash_UUU.bin Set SW1301 for serial download on the EVK (0011), connect debug, download and power cables and turn on the EVK. Flash the resulting binary into the EVK for the respective target (SD/eMMC/FSPI) $ uuu -b sd flash_UUU.bin flash_m33_lpboot.bin $ uuu -b emmc flash_UUU.bin flash_m33_lpboot.bin $ uuu -b qspi flash_UUU.bin lash_m33_lpboot.bin Once it is done change SW1301 to the respective bootmedia SD Low power boot (1010) eMMC Low power boot (1000) FlexSPI NOR Low power boot* (1101) *Note M.2 QSPI card is required for FlexSPI Boot option, since QSPI memory is not populated into the EVK Power on the board, and the example should be running on the Cortex-M33 terminal only. Hope everyone finds this useful! For any question regarding this document, please create a community thread and tag me if needed. Saludos/Regards, Aldo.

Platform: I.MX8MMEVK uboot version:  uboot-imx_lf_v2023.04 BSP: 6.1.x Add patch in uboot git clone https://github.com/nxp-imx/uboot-imx.git git checkout lf_v2023.04 git apply 0001-Enable-imx8mm-pcie-driver-v2023.04.patch   test log: u-boot=> pci enum pcie phy base: 0x32f00000, size 0x10000 pcie phy pll is locked after 0 us. Link up, Gen1 u-boot=> pci BusDevFun VendorId DeviceId Device Class Sub-Class _____________________________________________________________ 00.00.00 0x16c3 0xabcd Bridge device 0x04 01.00.00 0x1131 0x3003 Network controller 0x00 01.00.01 0x1131 0x3004 Network controller 0x00  

give an example for bring up the imx8mq DP/eDP board based on nxp SW

Test environment: i.MX93FRDM LF6.6.36. With Yocto training.

We are pleased to announce that Config Tools for i.MX v25.03 are now available. Downloads & links To download the installer for all platforms, please login to our download site via:  https://www.nxp.com/design/designs/config-tools-for-i-mx-applications-processors:CONFIG-TOOLS-IMX Please refer to  Documentation  for installation and quick start guides. For further information about DDR config and validation, please go to this  blog post. Release Notes Full details on the release (features, known issues...) • Output Paths Overrides for toolchain project is fixed. • "Filter source files" search bar with case-sensitive checkbox is removed. • TEE – Sort for Peripheral Configurations table is added. DDR tool (part of Config tools for i.MX 25.03😞 [MX91] Added 1Gb and 2Gb DRAM configurations in the GUI. [MX9x] Enhanced Diagnostic tests to display DBI lane when DBI is enabled. [MX95][FW2024.09] Optimized PLL settings. [MX95][FW2024.09] Included missing registers in the retention list. [Mscale] Added a temperature derating GUI option for devices with LP4. [8MP] Updated PMIC configuration to correctly set 1.2V for 8M-Plus. [8MN] Improved board bus configuration. Enabled maximum number of available frequencies setpoints for all supported devices. Added EVK default configuration for all supported devices.

Test environment: i.MX8ULP EVK, SDK2.16 Some customer want to use LPUART2 in DSP domain on M33 core. This patch is based on lpuart_edma example.   Hardware test point: Zhiming_Liu_0-1745308428114.png   You will get such log from LPUART2 if we enter 3 on keyboard LPUART EDMA example Send back received data Echo every 8 characters 33333333   Modify M33 debug console from LPUART1 to LPUART2 is similiar.

Test environment: i.MX8ULP EVK, SDK2.16 Some customer want to use LPUART2 in DSP domain on M33. This patch is based on lpuart_polling.   Hardware test point: Zhiming_Liu_0-1745306216766.png If you send data from uart2, you will get such log from M33 console: reg = d2000000, 94000000 LPUART_WriteBlocking get readbuf = 73 get readbuf = 73  

This article explains how to get started with JTAG debugging of the Linux kernel running on the A55 of iMX93EVK. We will be using Lauterbach Trace32 to debug iMX93EVK. Here is a list of pre-requisites that is expected from the readers:- 1. Basic knowledge to get started on Trace32 - Please refer Learning and Training | Lauterbach TRACE32 2. You should have Linux source code and steps to build the kernel. 3. Trace32 Software with a license to debug A55 COMPONENTS   Hardware required: -   iMX93EVK running 6.6.52 BSP Lauterbach Power Debug E40 with a Debug cable Software required: - Trace32 Linux kernel source code   Linux Kernel Modifications Step 1:- In arch/arm64/configs/imx_v8_defconfig, please make sure that:- CONFIG_DEBUG_INFO_REDUCED=n CONFIG_DEBUG_INFO = y CONFIG_KALLSYMS=y   Step-2 :- Enabling JTAG debugging in Linux On iMX93EVK LPUART5 is MUX'd with the JTAG pins gaurav_sharma_0-1744718613352.png   so if we want to debug the linux kernel via JTAG, we will have to disable it. Go to the device tree source file - arch/arm64/boot/dts/freescale/imx93-11x11-evk.dts Change the status of the following node to 'disabled'   gaurav_sharma_1-1744718678374.png   Step 2:- Build the kernel. vmlinux will be created as part of this. This has the Linux kernel along with the debug symbols required for Trace32 debugging. Step-3 At this point either you can copy the linux-imx folder to your local windows machine where Trace32 is installed, or you can simply map the linux machine as a network drive so that the same folder '/opt/samba/nxg05261/linux-imx' is accessible on windows. The motive of this exercise is to use 'vmlinux' and the linux source files present in this folder from trace32 cmm scripts that we will be executing.   Step-4 Replace the newly built kernel 'Image' - arch/arm64/boot/Image with the one present in the boot partition of imx93evk. You can simply copy this Image to iMX93EVK via scp and copy it to the folder - /run/media/boot-mmcblk0p1 Note:- Please make sure that the kernel version that is running on the box and the one you have built should be the same otherwise there will be debug symbols mismatch After copying the Image, reboot iMX93EVK. Debugging with Trace32 Step-1 Configuring Uboot bootargs Cpu idle state interferes with the JTAG debugging by impacting the clocks so we need to disable the cpu idle power management. We do this by appending "cpuidle.off=1" to the bootargs:- a. Stop at Uboot prompt. b. Execute command - setenv mmcargs "setenv bootargs ${jh_clock} ${mcore_clk} console=${console} root=${mmcroot}  cpuidle.off=1" [do not omit the inverted commas in the command] Step-2 Boot to Linux prompt   Step-3 Connect the USB cable of Lauterbach Power Debug probe to your windows machine and Open t32 - C:\T32\bin\windows64\t32start.exe   gaurav_sharma_5-1744718944949.png Select 'PowerView Instance' and click on 'Start'. A window like below will appear: -   gaurav_sharma_6-1744719062494.png Step- 4 Extract MMU translation info for the debugger For this either you can execute the below commands on the T32 in sequence: -   RESet SYStem.RESet SYStem.CPU IMX93-CA55 SYStem.JtagClock 10MHz SYStem.CONFIG.DEBUGPORTTYPE JTAG SYStem.Option EnReset OFF CORE.ASSIGN 1. 2. SYStem.Option MMUSPACES ON SYStem.Option IMASKASM ON SYStem.Mode Attach Data.LOAD.Elf <path_of_vmlinux> /NoCODE DO ~~/demo/arm/kernel/linux/board/generic-template/detect_translation.cmm OR simply edit the attached cmm script - detect_address_translation.cmm and modify the <path_of_vmlinux> as per your file location. Then execute it like this:- Do <file_path>/detect_address_translation.cmm In my case, this command was: - Do C:\Users\nxg05261\Documents\cmm_scripts\detect_address_translation.cmm Note:- <path_of_vmlinux> in my case was  C:\T32\demo\arm\bootloader\uboot\vmlinux. You can modify it as per the location where you have copied 'vmlinux' -- After executing the above commands, debugger address translation will be displayed: -  gaurav_sharma_8-1744719186783.png   Now we will copy the above highlighted lines and paste it in the final cmm script that we will use for debugging. For readers' convenience this info has been collated into the final script - 'linux_attach_t32.cmm', attached with this blog.   Disclaimer:- The lines that are highlighted depends on the kernel version and customer design decisions, so it is strongly advised to take the output of detect_translation.cmm for your system and then paste it in the cmm script, instead of using the exact output that I have shown in the above picture. File -> Open File -> linux_attach_t32.cmm gaurav_sharma_9-1744719239784.png -- Click on 'Do' button to execute the script till the end. gaurav_sharma_0-1744719677000.png -- Set a breakpoint at start_kernel b.s start_kernel /Onchip   [Optional]Check the breakpoint via 'b.l'   gaurav_sharma_1-1744719798475.png -- Hit 'go' at t32 to let the cores execute the instructions, you will see 'running' state   gaurav_sharma_2-1744719826022.png -- Enter 'reboot' at Linux prompt and stop at Uboot command line prompt you will see trace32 at 'system down' state: - gaurav_sharma_3-1744719897706.png -- Execute 'system.mode.attach' at t32 to attach to the system, you will again see 'running' state -- Execute 'break' to stop the running state -- Check if the breakpoint 'start_kernel' still exist via command 'b.l' -- If you see the breakpoint is still set, Execute 'go' at t32 to take the cores to the running state. -- Then, at Uboot prompt, execute 'boot' so that it may load the linux kernel to the memory.   As soon as you do that you would see that Uboot will try to load kernel. The last print you will see on the serial console will be: - "Starting kernel …' the execution will stop and at t32 you will see that the breakpoint is hit, meaning the Program Counter is at the address of the function 'start_kernel' gaurav_sharma_4-1744720057810.png   Note- The Warning that you might observe[like in the above picture] means that trace32 is not able to find the source file 'main.c'. So you will not be able to see the 'C' source code at this point. To resolve this:- -- Right click on the 'List.auto' window where you see the assembly code. Click on 'Resolve Path' and navigate to the init/main.c in your kernel source code folder and click Open. You would see that the source path translation is now correct and you're able to view the disassembly as well as the source code: -   gaurav_sharma_5-1744720161325.png   Now we will load kernel symbols and apply 2 breakpoints in the linux kernel to demonstrate kernel debugging:-   -- Load the kernel symbols Data.LOAD "C:\T32\demo\arm\bootloader\uboot\vmlinux"  H:0x0::0x0 /NoCODE /SOURCEPATH Z:\linux-imx gaurav_sharma_6-1744720206901.png   -- Apply breakpoints at t32 window b imx_rpmsg_init b imx_drm_bind   [Optionally] you can verify the breakpoints via 'b.l' gaurav_sharma_0-1744781339510.png These breakpoints are temporary as you can see in the above snapshot. That means after they are hit, they will be removed, so to make them permanent:- Right click the breakpoint -> Change -> Uncheck Temporary -> Click Ok like depicted in the following snapshots: - gaurav_sharma_1-1744781477140.png   gaurav_sharma_2-1744781531859.png   gaurav_sharma_7-1744720262647.png   Now, to reach the next breakpoint, execute 'go' on the t32 gaurav_sharma_8-1744720292331.png At this point linux kernel execution has reached the function imx_rpmsg_init   Again, to reach the next breakpoint, execute 'go' gaurav_sharma_0-1744720569015.png   So this is how you start debugging the linux kernel. Apart from this, there is a nice t32 feature called 'linux awareness' which allows you to easily debug the kernel loadable modules, user space applications amongst other things. To explore 'linux awareness', you can go about checking the 'Linux' drop down menu present at the top. Plenty of support documents are available on the web.   gaurav_sharma_1-1744720601236.png   gaurav_sharma_2-1744720619336.png   Feel free to drop in the comments section or DM if you have any queries. Happy debugging!!🙂🙂🙂🙂  

Overview   This document intends to provide one reference how to emulate i.MX8QM 1.3GHz part running on i.MX8QM MEK with 1.6GHz part based on i.MX Linux BSP release.   You can find i.MX8QM/QP processors datasheet on NXP web: i.MX 8QuadMax 1.3GHz Automotive and Infotainment Applications Processors; i.MX 8QuadPlus 1.3GHz Automotive and Infotainment Applications Processors; i.MX 8QuadPlus Industrial Applications Processors Data Sheet; i.MX 8QuadMax Industrial Applications Processors Data Sheet;   Key differences between 1.3GHz part and 1.6GHz part is as follows: Key Differences 1.6GHz part 1.3GHz part 8QM/8QP A72 core max frequency 1600MHz 1296MHz 8QM GPU max frequency core 800MHz  shader 1000MHz core 650MHz shader 700MHz 8QM VDD_GPU mode Overdrive mode Remove overdrive mode, only nominal 8QM VDD_GPU nominal operation range Min 0.95V Typ 1.0 V Max 1.1V Min 0.98V Typ 1.03125V Max 1.14V   Software Changes   Since Linux 6.6.23_2.0.0 BSP release, i.MX8QM/8QP 1.3GHz part is supported into i.MX Linux release by identifying the fuse of 1.3GHz part and configuring frequency and voltage automatically. If you have i.MX8QM MEK board with 1.6GHz part, before revision E, you can apply software changes to emulate 1.3GHz part configurations explicitly. The following software reference patches are built based on Linux 6.6.52-2.2.0 release: Component Patch Name Description Linux Kernel 0001-arm64-dts-imx8qm-remove-A72-core-1.6GHz-operating-po.patch Used to remove Cortex-A72 core 1.6GHz operating-points 0002-arm64-dts-imx8qm-set-GPU-operating-points-at-nominal.patch Used to remove GPU overdrive operating-points and set GPU core frequency as 650MHz, GPU shader frequency as 700MHz. SCFW 0001-Increase-VDD-of-GPU.patch Used to increase GPU voltage ATF 0001-plat-imx8-make-ATF-kick-off-A72-core-freq-at-1.3GHz.patch Used to kickoff A72 core and set its frequency as 1.3GHz in ATF   Validation Test Apply patch into Linux kernel, SCFW porting kit, ATF, follow 6.6.52_2.2.0 release document(www.nxp.com/design/design-center/software/embedded-software/i-mx-software/embedded-linux-for-i-mx-applications-processors:IMXLINUX) to build and deploy image.     After Linux OS boot up,  run below command to check A72 and GPU frequency,  for example: #cat /sys/kernel/debug/gc/clk gpu0 mc clock: 647981058 HZ. gpu0 sh clock: 695997687 HZ. gpu1 mc clock: 647990370 HZ. gpu1 sh clock: 695987994 HZ   #cat /sys/devices/system/cpu/cpu4/cpufreq/cpuinfo_max_freq 1296000   Measure VDD_GPU voltage from i.MX8QM MEK board TP53 and TP42 Untitled.png

This tutorial outlines the steps required to set up and build a Yocto image for the FRDM-IMX93 board, including integrating the meta-imx-frdm recipes and applying a patch to enable UART3 support. Required Materials A computer running Linux (Ubuntu 22.04) FRDM-IMX93 board Network cable or WiFi configured on the board USB C cables   Installing the repo Utility $ mkdir ~/bin $ curl https://storage.googleapis.com/git-repo-downloads/repo > ~/bin/repo $ chmod a+x ~/bin/repo $ export PATH=${PATH}:~/bin Downloading i.MX Linux Yocto Release $ mkdir ${MY_YOCTO} # This directory will be the top-level directory $ cd ${MY_YOCTO} $ repo init -u https://github.com/nxp-imx/imx-manifest -b imx-linux-scarthgap -m imx-6.6.36-2.1.0.xml $ repo sync If errors occur during repo init, remove the .repo directory and run repo init again.   Integrating meta-imx-frdm Recipes into Yocto $ cd ./sources $ git clone https://github.com/nxp-imx-support/meta-imx-frdm.git $ cd meta-imx-frdm $ git checkout imx-frdm-1.0   Applying the Patch $ mv /home/<user_name>/Downloads/FRDM-IMX93-LPUART3-SUPPORT.patch . $ git apply FRDM-IMX93-LPUART3-SUPPORT.patch Setting Up the Build Environment $ cd ../../ $ MACHINE=imx93frdm DISTRO=fsl-imx-xwayland source sources/meta-imx-frdm/tools/imx-frdm-setup.sh -b frdm-imx93 Compiling the Kernel $ bitbake -c deploy virtual/kernel Once the compilation is complete, the new device tree will be located at: tmp/deploy/images/imx93frdm/imx93-11x11-frdm.dtb Flashing the Modified Device Tree You can flash the modified device tree using the uuu tool with the method described in this community post   To flash the device tree using network method, boot the board and connect it to the network using a cable or WiFi. Then, use scp to transfer the file. #For eMMC Boot $ cd tmp/deploy/images/imx93frdm/ $ scp imx93-11x11-frdm.dtb root@<frdm_ip>:/run/media/boot-mmcblk0p1/ $ reboot #For SD Boot $ cd tmp/deploy/images/imx93frdm/ $ scp imx93-11x11-frdm.dtb root@<frdm_ip>:/run/media/boot-mmcblkp1/ $ reboot   Using UART3 After rebooting, UART3 will be available on GPIO14 and GPIO15 of the RPi connector on the board.   Chavira_0-1743535084580.png   Results: Chavira_1-1743535145678.png  

Attached package includes BSP patch for AI Robot Platform Based on i.MX 8M Plus  Version 6.1.55 : Rel_imx_6.1.55-2.2.0_8mp_airobot.tar.gz

This guide provides a step-by-step approach for beginners looking to flash a custom Kernel Image or device tree on an NXP i.MX board. Sometimes, we need to customize the Kernel Image or modify the device tree for our board. Fortunately, NXP provides the UUU (Universal Update Utility) tool, which allows us to flash and use a custom Kernel Image or update the device tree on our board.   Requirements Before proceeding, ensure you have the following: - The latest version of the UUU Tool. - An i.MX EVK board (i.MX6, i.MX7, i.MX8, i.MX9). - The power supply for the board. - Two USB cables (USB-C or Micro USB, depending on your board).   Preliminary Steps To customize the Kernel Image or device tree, refer to the following community posts: - How to Fix FRDM-IMX93 Linux Kernel BSP - How to Compile Linux Kernel Image and Device Tree Using Yocto SDK   Once you have your customized Linux Kernel Image or device tree ready, follow the steps below to deploy it to your board.   Flashing the Kernel Image or Device Tree Connect and Prepare the Board 1. Connect the USB debug cable and the OTG cable from your board to your host computer. 2. Power on your board and stop the boot process at the U-Boot stage by pressing a key in the terminal. 3. Enter fastboot mode by running the following command in the U-Boot terminal: u-boot -> fastboot 0   Flash the Custom Kernel Image or Device Tree   4. Open a terminal on your host computer and navigate to the directory containing the new Kernel Image or device tree. 5. Flash the new files using the following command: $ uuu -b fat_write <file_name> mmc <device>:<partition> <file_name_in_board> Example: $ uuu -b fat_write imx93-11x11-evk.dtb mmc 0:1 imx93-11x11-evk-custom.dtb In this example, the file imx93-11x11-evk.dtb stored on the host machine is flashed to the board's eMMC device, saving it as imx93-11x11-evk-custom.dtb.   Note: If you are using Linux, run the command with sudo. - For eMMC and SD card, the command is the same; just ensure you use the correct device number. - On the i.MX93, device 0 corresponds to eMMC, and device 1 corresponds to the SD card.   Update U-Boot Environment Variables   6. Exit fastboot mode by pressing CTRL+C. This returns you to the U-Boot terminal. 7. Set up the environment variablesto use the new files: For the Kernel Image: u-boot -> setenv image <custom_image_name> u-boot -> saveenv u-boot -> reset For the Device Tree: u-boot -> setenv fdtfile <custom_device_tree_name> u-boot -> saveenv u-boot -> reset The board should now boot using your modified Kernel Image and device tree.  

Platform: i.MX8MP EVK L6.6.52 , SDK2.16 The rpmsg_lite_pingpong_rtos demo in SDK will complete 100 times ping-pong and then destory the rpmsg connection and related resources. For Linux kernel, there is no such rpmsg api to finish similiar thing,  which will case imx-rproc imx8mp-cm7: imx_rproc_kick: failed (0, err:-62) , this error indicates that the remoteproc is still try to kick up M7 after rpmsg_lite_pingpong_rtos destory the rpmsg resources.   Here is a simple workaround for this error. 1. drivers/rpmsg/imx_rpmsg_pingpong.c Destory ept when saying goodbye. Zhiming_Liu_0-1742772729921.png 2.drivers/rpmsg/virtio_rpmsg_bus.c Disable virtuequeue callback(->imx_rproc_kick) in _rpmsg_destory_ept. Zhiming_Liu_1-1742772782778.png   Result: No imx-rproc imx8mp-cm7: imx_rproc_kick: failed (0, err:-62) after 100 times ping-pong Zhiming_Liu_2-1742772889523.png    

GUI Guider version:  1.9.x LVGL version: v8.x.x , v9.x.x Host software requirements: Ubuntu 20.04, Ubuntu 22.04 or Debian 12 Hardware requirements: FRDM i.MX 93 Development Board i.MX 93 Evaluation Kit   Steps: 1. Export your project from the folder GUI-Guider-Projects to your Linux PC.            Screenshot 2025-03-25 073449.png 2. Build an image for iMX93 using The Yocto Project.    a. Based on iMX Yocto Porject Users Guide set directories and download the repo $ mkdir imx-bsp-6.6 $ cd imx-bsp-6.6 $: repo init -u https://github.com/nxp-imx/imx-manifest -b imx-linux-scarthgap -m imx-6.6.52-2.2.0.xml $ repo sync Use distro fsl-imx-xwayland and select machine imx93evk and use this commnad with a build folder name: $ MACHINE=imx93evk DISTRO=fsl-imx-xwayland source ./imx-setup-release.sh - b bld-imx93evk b. Use bitbake command to start the build process. Also, add the -c populate_sdk to get the toolchain. $ bitbake imx-image-full -c populate_sdk  c. Install the Yocto toolchain located on <build-folder>/tmp/deploy/sdk/.  $ sudo sh ./fsl-imx-xwayland-glibc-x86_64-imx-image-full-armv8a-imx93evk-toolchain-6.6-scarthgap.sh d. Install ninja utility on the build host $ sudo apt update $ sudo apt upgrade -y $ sudo apt install ninja-build e. Unzip the gui guider and lvgl sources $ cd meta-gui-guider/recipes-graphics/gui-guider/gui-guider/ $ unzip gui-guider.zip $ cd ../../lvgl/lvgl/ $ unzip lvgl.zip $ cd ../../gui-guider/gui-guider/ $ mv ../../lvgl/lvgl/ . $ cd ports/linux/ f. Change the interpreter on build.sh from #!/bin/sh to #!/bin/bash. $ nano build.sh -- #!/bin/sh ++ #!/bin/bash g. use the following commands to make build.sh executable $ dos2unix build.sh $ chmod +x build.sh h. Execute the build.sh $ ./build.sh i. Copy the binary to the iMX93 using a USB or SCP.    RESULTS:   Chavira_1-1742846257590.jpeg   I hope this article will be helpful

GUI Guider version: 1.6.x, 1.7.x, 1.8x LVGL version: v8.x.x Host software requirements: Ubuntu 20.04, Ubuntu 22.04 or Debian 12 Hardware requirements: Evaluation Kit for the i.MX 93 Applications Processor. (i.MX 93 Evaluation Kit | NXP Semiconductors) On this guide we will use the IMX-MIPI-HDMI accessory board to connect the iMX93 with a HDMI Monitor. (IMX-MIPI-HDMI Product Information|NXP) This board is usually provided with the iMX8M Mini and the iMX8M Nano.  Steps: 1. Copy your project from the folder GUI-Guider-Projects to your Linux PC.  2. Build an image for iMX93 using The Yocto Project.    a. Based on iMX Yocto Porject Users Guide set directories and download the repo $ mkdir imx-bsp-6.1.1-1.0.0 $ cd imx-bsp-6.1.1-1.0.0 $ repo init -u https://github.com/nxp-imx/imx-manifest -b imx-linux-langdale -m imx-6.1.1-1.0.0.xml $ repo sync Use distro fsl-imx-xwayland and select machine imx93evk and use this commnad with a build folder name: $ MACHINE=imx93evk DISTRO=fsl-imx-xwayland source ./imx-setup-release.sh - b bld-imx93evk b. Use bitbake command to start the build process. Also, add the -c populate_sdk to get the toolchain. $ bitbake imx-image-multimedia -c populate_sdk  c. Install the Yocto toolchain located on <build-folder>/tmp/deploy/sdk/.  $ sudo sh ./fsl-imx-xwayland-glibc-x86_64-imx-image-multimedia-armv8a-imx93evk-toolchain-6.1-langdale.sh d. Install ninja utility on the build host $ sudo apt install ninja-build e. For Ubuntu 20.04 and Ubuntu 22.04, copy the lv_conf.h file from lvgl-simulator to lvgl $ cp lvgl-simulator/lv_conf.h lvgl/ f. Change the interpreter on build.sh from #!/bin/sh to #!/bin/bash. This is an important step! g. Then, enter to linux folder and use the following commands to make build.sh executable $ dos2unix build.sh $ chmod +x build.sh h. Execute the build.sh $ ./build.sh i. Copy the binary to the iMX93 using a USB or SCP.  2. On the target iMX93 follow these steps. a. On Uboot, use fatls interface device:partition fatls mmc 0:1 (Device 0 : Partition 1) With this command, we will be able to list device tree files. => fatls mmc 0:1 b. Select imx93-11x11-evk-rm67199.dtb and use the command editenv fdtfile  => editenv fdtfile Output example edit: imx93-11x11-evk-rm67199.dtb c. In edit command line put the selected device tree .dtb d. Use saveenv command to save environment and continue with the boot process. e. Finally, run the GUI Application $ ./gui_guider&   I hope this article will be helpful. Best regards, Brian.

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

Quickly develop and deploy IoT applications with Clea on your NXP device. This guide walks you through setting up Clea, managing devices remotely, and leveraging AI-powered telemetry for industrial applications.

This document mainly introduces how to use gpio usb id. This can provide more options to avoid pin conflicts.   iMX93 11x11 evk uses a peripheral circuit built with a typeC chip to perform USB role switch. However, in many cases, the hardware design does not have the same typeC circuit as the evk, and the USB ID is needed to do switch. The two USB IDs of the current iMX93 are muxed with the eQOS pins. The probability of this conflict is very high. So we need to use an alternative solution “gpio usb id”  to avoid this pin allocation conflict. MX93_PAD_ENET1_MDC__HSIOMIX_OTG_ID1 MX93_PAD_ENET1_MDC__ENET_QOS_MDC MX93_PAD_ENET1_TD3__HSIOMIX_OTG_ID2 MX93_PAD_ENET1_TD3__ENET_QOS_RGMII_TD3   Based on lf-6.6.52-2.2.0  

    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"