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

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

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

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

HDMI Dongle SW: The attachment is an HDMI dongle patch based on R13.4 GA. The patches include r13.4-ga-add-on-patches. You can patch it after applying R13.4 GA patch such as add-on patches. You can run script to revb_dongle_patch_install.sh to apply these patches. How to apply the hdmidongle_REVB_R13.4_patch-20121115.tgz: 1. Suppose your android source top is ~/myandroid 2. tar zfvx hdmidongle_REVB_R13.4_patch-20121115.tgz -C ~/ 3. copy revb_dongle_patch_install.sh to ~/ 4. cd hdmidongle_REVB_R13.4_patch 5. ~/revb_dongle_patch_install.sh 6. The  revb_dongle_patch_install.sh will take ~/myandroid as default directory to do patch 7. If your android source tree top is not ~/myandroid. For example, ~/myandroid_ICS, please run ~/revb_dongle_patch_install.sh ~/myandroid_ICS   The following is the release notes for  hdmidongle_REVB_R13.4_patch-20130118.tgz 1. New features:    a. uboot fastboot    b. ldo bypass    c. ntfs support    d. bluetooth A2DP   2. Bug fix    a. WifiDirect connect issue    b. realtek throughput issue with TPLink AP   3. File list:    README.TXT                                      --- this file    0001-uboot_fastboot.patch                       --- uboot fastboot  patch    0002-LDOBYPASS.patch                            --- enable ldo bypass  patch    0003-WifiDirect.patch                           --- wifi direct connect patch    0004-ntfs_support.patch                         --- ntfs support patch    0005-BT_enable.patch                            --- enable bluetooth A2DP    0006-1G_boot_stable.patch                       --- make 1G bootup stable    ntfs-3g.tar.gz                                  --- open source ntfs-3g for ntfs support    rtl8192ce_v4.0.0_6239.20121226_TPIOT1.tgz       --- realtek new driver for TPLink AP throughput issue    MD5SUM.TXT                                      --- md5 check sum   4. Patch guide    Please run md5sum -c MD5SUM.TXT first to confirm all the files received are ok.    All these patches are based on the patch release hdmidongle_REVB_R13.4_patch-20121115.tgz    You need to do as following: R13.4 GA--->patch hdmidongle_REVB_R13.4_patch-20121115.tgz --> patch hdmidongle_REVB_R13.4_patch-20130118.tgz    Supposed the ~/myandroid is your top directory of the android source tree.    Please run the following command to apply the patches .    $tar zfvx hdmidongle_REVB_R13.4_patch-20130118.tgz -C ~/    $cd ~/myandroid    $git apply  ~/hdmidongle_REVB_R13.4_patch-20130118/0001-uboot_fastboot.patch --verbose    $git apply  ~/hdmidongle_REVB_R13.4_patch-20130118/0002-LDOBYPASS.patch --verbose    $git apply  ~/hdmidongle_REVB_R13.4_patch-20130118/0003-WifiDirect.patch --verbose    $git apply  ~/hdmidongle_REVB_R13.4_patch-20130118/0004-ntfs_support.patch --verbose    $git apply  ~/hdmidongle_REVB_R13.4_patch-20130118/0005-BT_enable.patch --verbose    $git apply  ~/hdmidongle_REVB_R13.4_patch-20130118/0006-1G_boot_stable.patch --verbose    $rm -rf kernel_imx/drivers/net/wireless/rtl8192ce    $tar zfvx ~/hdmidongle_REVB_R13.4_patch-20130118/rtl8192ce_v4.0.0_6239.20121226_TPIOT1.tgz    $tar zfvx ~/hdmidongle_REVB_R13.4_patch-20130118/ntfs-3g.tar.gz -C external   5. Build and run     new patch 0007-battery_always_full.patch:   Some games check the battery capacity to determine, it could run or not. But on the hdmi dongle we have no real battery, it makes some games can not run on the hdmi dongle.  We enable the fake battery let the andorid feel it has battery and it is 100% full. 1. Please use this patch after patch hdmidongle_REVB_R13.4_patch-20130118.tgz 2. suppose your android top directory is ~/myandroid and you put he 0007-battery_always_full.patch in your home directory ~ 3. cd ~/myandroid 4. git apply --verbose ~/0007-battery_always_full.patch 5. please rebuild bootimage and run   patch   0008-boot_unlock_screen.patch: When bootup, it goes into desktop rather than screen locker.   1. suppose your android top directory is ~/myandroid and you put the 0008-boot_unlock_screen.patch in your home directory ~ 2. cd ~/myandroid 3. git apply --verbose ~/0008-boot_unlock_screen.patch 4. please rebuild systemtimage and run 2. cd ~/myandroid 3. git apply --verbose ~/0008-boot_unlock_screen.patch patch 0009-uboot-enable-mmu-fix.patch: This patch is for some issue in mmu enable. It will improve all the modules in uboot.   1. suppose your android top directory is ~/myandroid and you put the 0009-uboot-enable-mmu-fix.patch in your home directory ~ 2. cd ~/myandroid 3. git apply --verbose ~/0009-uboot-enable-mmu-fix.patch 4. please rebuild uboot  and rub     patch tarball   hdmidongle_REVB_R13.4_patch-20130123.tgz:   hdmidongle_REVB_R13.4_patch-20130123.tgz contains 0007-battery_always_full.patch  0008-boot_unlock_screen.patch 0009-uboot-enable-mmu-fix.patch remove attached files here: 0007-battery_always_full.patch  0008-boot_unlock_screen.patch 0009-uboot-enable-mmu-fix.patch     Remove hdmidongle_REVB_R13.4_patch-20130123.tgz, hdmidongle_REVB_R13.4_patch-20130118.tgz and upload hdmidongle_REVB_R13.4_patch-20130124.tgz   hdmidongle_REVB_R13.4_patch-20130124.tgz  contains all patches in hdmidongle_REVB_R13.4_patch-20130123.tgz, hdmidongle_REVB_R13.4_patch-20130118.tgz. Please use the  hdmidongle_REVB_R13.4_patch-20130124.tgz.   hdmidongle_REVB_R13.4_patch-20130131.tgz: Besides all the patches released before. Three more patches are added in this patch tar ball.     0010-boot_disable_screenlocker.patch                     --- For fix  0008-boot_unlock_screen.patch 0011-wm8326-DC_CONTROL_RATE.patch                        --- Change the wm8326 pmic rate to immediate voltage change 0012-Added-default-video-mode-check-make-sur.patch       --- Video mode check   hdmidongle_REVB_R13.4_patch-20130201.tgz:   Just change the readme  to place emphasis on   the 0006-1G_boot_stable.patch reverse   Reverse patch 0008-boot_unlock_screen.patch and 0006-1G_boot_stable.patch   0008-boot_unlock_screen.patch: it has some problem but doesn't do any harm to the hdmi dongle.                                                  Please use 0010-boot_disable_screenlocker.patch, instead. 0006-1G_boot_stable.patch:  The patch take more cpu delay to adapt the pmic, we change the pmic setting                                             in  0010-boot_disable_screenlocker.patch. This patch is no needed. And it will lower                                            the performance. Please reverse it.                                            cd ~/myandroid                                            git apply --verbose ~/0006-1G_boot_stable.patch                                                                                           hdmidongle_REVB_R13.4_patch-20130221.tgz: There are three important fixes include in this release. They make the dongle stable. 1. lowmem killer issue fix 2. Update realtek wifi driver to fix the soft ap issue 3. Wifi p2p framework fix to resovle wifi direct only one side work issue   Please read the README.TXT for detail and the other changes.   hdmidongle_REVB_R13.4_patch-20130308.tgz: This patch tar ball include all the patches in hdmidongle_REVB_R13.4_patch-20130221.tgz. Besides, it has a new patches 0020-DL_WifiDirect_Concunrrent_crash_fix.patch to fix the crash issue on DL board.   HDMI Dongle HW:   HDMI Dongle schematic, pcb, gerber and BOM have been attached, the detailed hardware feature has been list below:   Android 4.x HDMI Dongle SPECIFICATION Core Configure Operating System Android 4.x Operating System Based on Micro-PC Platform CPU Processor Freescale i.MX6x DualLite/Quad Core DRAM Storage DDR3 1GigaByte Size, Data rate 1066MT/s Flash Storage 4GigaByte NAND flash ROM Power System Power Supply DC JACK / Micro USB : 5V/2A LED Status Green: Power ON; Red: System Run Socket/Connector MicroSD Socket SDXC Support, Up to 32GB size USB HOST 2.0 USB 2.0 HOST Support USB OTG 2.0 USB 2.0 OTG Support Display/Audio HDMI Output HDMI TypeA Plug connector, 1080p@60Hz output Video Decoder Support Variety of Video Format: MPEG4/H.263/H.264/MJPEG/Xvid/VC-1/WMV/MPEG2/VP8... Audio Decoder Support Variety of Audio Format: MP3/AAC/LPCM/FLAC/AMR/AC3/WMA/Vorbis GPU Support GC2000 GPU core,2D/3D engine support,OpenGL support Wireless Network WiFi Network IEEE 802.11b/g/n,Up to 300Mbps,AP/P2P/Sta Mode Support Others Key Recovery key support RevB2     OTT TV BOX LINK: https://community.freescale.com/docs/DOC-94561   JB4.2 patches link : Patches for HDMI Dongle JB4.2.2_1.0.0-GA Release

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

Building using Yocto 1 - Baking (building) the kernel When an image is built using Yocto (for more details about how to build an image, check the Yocto training home: https://community.nxp.com/docs/DOC-94849) the kernel is automatically built and the kernel image is located at /fsl-community-bsp/build/tmp/deploy/images/<your_target>/uImage If you want to build only the kernel, the following command can be used: $ bitbake linux-imx     2 - Configuring the kernel To call the kernel menuconfig, run the command: $ bitbake -c menuconfig linux-imx    A new terminal window will open with the kernel menuconfig. Make changes if needed, exit the configmenu and copy the .config generated file to defconfig as following: $ 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    Note that the kernel version, in this case "3.0.35-r33.10" may change. 3 - Cleaning and building again with the new configuration With the new defconfig saved on the correct folder (step 2), it's time to clear all previous kernel and build it again: $ bitbake -c cleansstate linux-imx $ bitbake <your_image>       or         $ bitbake linux-imx    The uImage will be under tmp/deploy/image Building without a BSP 1- Downloading the kernel source code Choose what kernel you will build. Usually, the NXP kernel or mainline (kernel.org) kernel: For NXP kernel (more details on https://source.codeaurora.org/external/imx/linux-imx/ ) use: $ git clone https://source.codeaurora.org/external/imx/linux-imx                 For Mainline kernel (more details on https://www.kernel.org/ ) use: $ git clone git://git.kernel.org/pub/scm/linux/kernel/git/stable/linux-stable.git                2 - Choose which branch will you use Once downloaded, check the available branches by using: $ git branch -a   master   remotes/origin/HEAD -> origin/master   remotes/origin/imx_4.9.123_imx8mm_ga   remotes/origin/imx_4.9.51_imx8_beta1   remotes/origin/imx_4.9.51_imx8_beta2   remotes/origin/imx_4.9.51_imx8m_beta   remotes/origin/imx_4.9.51_imx8m_ga   remotes/origin/imx_4.9.88_2.0.0_ga   remotes/origin/imx_4.9.88_imx8mm_alpha   remotes/origin/imx_4.9.88_imx8qxp_beta2   remotes/origin/master Make a local branch, based on a branch you choose from the list: $ git checkout -b local_branch origin/imx_4.9.88_2.0.0_ga *NOTES:      On command above my local branch name is "local_branch". You can choose this name as you prefer                     The chosen branch was origin/imx_4.9.88_2.0.0_ga. You can choose another one, always starting by origin/....... 3 - Setting the environment variables 3.1 - Using Yocto Toolchain If you're using the Yocto SDK (Check the Yocto training at NXP community: https://community.nxp.com/docs/DOC-94849 ), just execute the script to export the needed environment variables, e.g.: $ source /opt/poky/1.6+snapshot/environment-setup-cortexa9hf-vfp-neon-poky-linux-gnueabi  $ unset LDFLAGS      If you're using another toolchain, the common environment variables to set are the following: $ export PATH=$PATH:/opt/freescale/usr/local/gcc-4.6.2-glibc-2.13-linaro-multilib-2011.12/fsl-linaro-toolchain/bin/ $ export TOOLCHAIN=/opt/freescale/usr/local/gcc-4.6.2-glibc-2.13-linaro-multilib-2011.12/fsl-linaro-toolchain/ $ export CROSS_COMPILE=arm-none-linux-gnueabi- $ export ARCH=arm IMPORTANT: Change the variables above according your installed toolchain. 3.2 - Using Ubuntu Toolchain For 64-bits processors (i.MX8 family) Install the GCC toolchain for 64 bits: sudo apt-get install gcc-aarch64-linux-gnu Export the environment variables: $ export ARCH=arm64 $ export CROSS_COMPILE=/usr/bin/aarch64-linux-gnu- For 32-bits processors (i.MX2, i.MX3, i.MX5 and i.MX6 families) Install the GCC toolchain for 32 bits: sudo apt-get install gcc-arm-linux-gnueabi Export the environment variables: export ARCH=arm export CROSS_COMPILE=/usr/bin/arm-linux-gnueabi- 4 - Configuring the kernel If you're building for i.MX6 and i.MX5, configure the kernel options based on file imx_v7_defconfig: $ cp arch/arm/configs/imx_v7_defconfig .config $ make menuconfig  $ make If you're building for i.MX8 family, configure the kernel options based on file arm64/defconfig:       $ cp arch/arm64/configs/defconfig .config       $ make menuconfig       $ make 5 - Building the modules After step 4, only the kernel (uImage file) was generated. The kernel modules must be built and installed in a known path. First, build the modules: $ make modules             And install them: $ make modules_install INSTALL_MOD_PATH=/path_where_you_want_to_install            

It's the demo for hibernation for Android. Restore Android and UI can operate about 6 sec.

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

    OpenSSL is popular software library for applications that secure communications over computer networks against eavesdropping or need to identify the party at the other end. It is widely used in internet web servers, serving a majority of all web sites. OpenSSL contains an open-source implementation of the Transport Layer Security (TLS) and Secure Sockets Layer (SSL) protocols, it is a robust, commercial-grade, and full-featured toolkit for the SSL and TLS protocols. OpenSSL is also a general-purpose cryptography library. Its core library, written in the C programming language, implements basic cryptographic functions and provides various utility functions. Wrappers allowing the use of the OpenSSL library in a variety of computer languages are available. More and more embeded systems, like IoT gateway, ePOS, based on i.MX use OpenSSL for their secure communications and cryptographic operations. But it's cryptography library is pure software implementation which need to occupy lots of CPU resouce and the perfermance is very weak than dedicated hardware IP (like CAAM).    CAAM is the i.MX's cryptographic acceleration and assurance module, which serves as NXP's latest cryptographic acceleration and offloading hardware. It combines functions previously implemented in separate modules to create a modular and scalable acceleration and assurance engine. It also implements block encryption algorithms, stream cipher algorithms, hashing algorithms, public key algorithms (i.MX6UL/i.MX7D/S), and a hardware random number generator.   The official Yocto release (L4.1.15_2.0.0-ga) of the i.MX only enable cryptodev for accelerating symmetric algorithms and hashing algorithms, not support asymmetric algorithms(RSA, ECC). And its engine in OpenSSL(version 1.0.2h) also miss some features which is used to support symmetric algorithms and hashing algorithms, for example, AES ECB, SHA224/256, etc. These patches in the post will close the above gaps for i.MX Linux system. The software environments as the belows: Linux kernel: imx_4.1.15_2.0.0_ga cryptodev: 1.8 OpenSSL: 1.0.2h The patches include the following key features: 1, Add public key cryptography part in CAAM driver, through protocol commands, to implement a number of public (and private) key functions. These are DSA and ECDSA sign/verify, Diffie-Hellman (DH) and ECDH key agreement, ECC key generation, DLC key generation, RSA encryption/decryption, RSA key-generation finalization. 2, Add big number operation and elliptic curve math in CAAM driver to implement addition, subtraction, multiplication, exponentiation, reduction, inversion, greatest common divisor, prime testing and point add, point double, point multiply. 3, Add API in cryptodev to support RSA encryption/decryption, DSA/ECDSA sign/verify, DH/ECDH key agreement, ECC & DLC & RSA key generation and big number operation and elliptic curve math. 4, Add public key cryptography functions, hardware rng, and missing hash symmetric algorithms in OpenSSL crytodev engine. Note: 1, You can refer to ecdhtest.c, ecdsatest.c, dhtest.c, dsatest.c, rsa_test.c for how to use crytodev engine in your applications based on libcryto.so. You can also find their executable programs in folder openssl-1.0.2h/test after compiling. 2, If you want to call crytodev API directly to accelerate public key cryptography operations, please refer to asymmetric_cipher.c in cryptodev-linux-1.8/tests. Current Limitation: 1, CAAM driver don't support AES GCM/CCM but hardware supporting. I plan to add the feature next version. 2, ECDSA sign/verify will fail on some binary curves (sect163r1, sect163r2, sect193r1, sect193r2, sect233r1, sect283r1, sect409r1, sect571r1 and X9.62 binary curves). I will try to find the root cause and fix it.   ==================================== for  some binary curves (sect163r1, sect163r2, sect193r1, sect193r2, sect233r1, sect283r1, sect409r1, sect571r1 and X9.62 binary curves)  are rarely used, so i will try to find the root cause when i'm free.  +++++++++++++++++++++++    updating for Linux-4.14.78-1.1.10 ++++++++++++++++++++++++++++ This updating is for Yocto release of Linux -4.14.78-1.1.10. The new software environments as the belows: Linux kernel: imx_4.14.78_1.1.10 cryptodev: 1.9 OpenSSL: 1.0.2p HW platform: i.MX6UL, i.MX7D/S, i.MX8M/8M Mini, i.MX8/8X. The patches include the following new features: 1, support  RSA key generation but defaultly use openssl build-in function (BN_generate_prime_ex) to create prime p, q for higher security. If need to use CAAM accelerating,  please comment Macro USE_BUILTIN_PRIME_GENERATION, but don't confirm its security. 2, Add Manufacturing-protection feature, and you can refer to manufacturing_protection_test function in asymmetric_cipher.c. 3, Support AES GCM in cryptodev. 4, git clone https://gitee.com/zxd2021-imx/meta-openssl-caam.git, git checkout Linux-4.14.78-1.1.10 and copy meta-openssl-caam to folder <Yocto 4.14.78-1.1.10 dir>/sources/ 5, Run DISTRO=fsl-imx-wayland MACHINE=imx6ulevk source fsl-setup-release.sh -b build-imx6ulevk and add BBLAYERS += " ${BSPDIR}/sources/meta-openssl-caam " into /build-imx6ulevk/conf/bblayers.conf 6, bitbake fsl-image-validation-imx 7, Run the below command on your i.MX6UL EVK board. modprobe cryptodev openssl genrsa -f4 -engine cryptodev 512 -elapsed openssl speed dsa -engine cryptodev -elapsed openssl genrsa -f4 -engine cryptodev 1024 -elapsed openssl speed rsa -engine cryptodev -elapsed openssl genrsa -f4 -engine cryptodev 2048 -elapsed openssl speed ecdsa -engine cryptodev -elapsed openssl genrsa -f4 -engine cryptodev 3072 -elapsed openssl speed ecdh -engine cryptodev -elapsed openssl genrsa -f4 -engine cryptodev 4096 -elapsed openssl speed -evp sha256 -engine cryptodev -elapsed openssl speed -evp aes-128-cbc -engine cryptodev -elapsed openssl speed -evp aes-128-ecb -engine cryptodev -elapsed openssl speed -evp aes-128-cfb -engine cryptodev -elapsed openssl speed -evp aes-128-ofb -engine cryptodev -elapsed openssl speed -evp des-ede3 -engine cryptodev -elapsed openssl speed -evp des-cbc -engine cryptodev -elapsed openssl speed -evp des-ede3-cfb -engine cryptodev -elapsed +++++++++++++++++++++++    updating for Linux-4.14.98-2.3.3 ++++++++++++++++++++++++++++ This updating is for Yocto release of Linux -4.14.98-2.3.3. The new software environments as the belows: Linux kernel: imx_4.14.98-2.3.3 cryptodev: 1.9 OpenSSL: 1.0.2p HW platform: i.MX6UL, i.MX7D/S, i.MX8M/8M Mini/8M Nano, i.MX8/8X. The patches include the following new features: 1, git clone https://gitee.com/zxd2021-imx/meta-openssl-caam.git, git checkout Linux-4.14.98-2.3.3 and copy meta-openssl-caam to folder <Yocto 4.14.98-2.3.3 dir>/sources/ 2, Run DISTRO=fsl-imx-wayland MACHINE=imx8mmevk source fsl-setup-release.sh -b build-imx8mmevk and add BBLAYERS += " ${BSPDIR}/sources/meta-openssl-caam " into /build-imx8mmevk/conf/bblayers.conf 3, bitbake fsl-image-validation-imx 4, Run the below command on your i.MX8M Mini EVK board. modprobe cryptodev openssl genrsa -f4 -engine cryptodev 512 -elapsed openssl speed dsa -engine cryptodev -elapsed openssl genrsa -f4 -engine cryptodev 1024 -elapsed openssl speed rsa -engine cryptodev -elapsed openssl genrsa -f4 -engine cryptodev 2048 -elapsed openssl speed ecdsa -engine cryptodev -elapsed openssl genrsa -f4 -engine cryptodev 3072 -elapsed openssl speed ecdh -engine cryptodev -elapsed openssl genrsa -f4 -engine cryptodev 4096 -elapsed openssl speed -evp sha256 -engine cryptodev -elapsed openssl speed -evp aes-128-cbc -engine cryptodev -elapsed openssl speed -evp aes-128-ecb -engine cryptodev -elapsed openssl speed -evp aes-128-cfb -engine cryptodev -elapsed openssl speed -evp aes-128-ofb -engine cryptodev -elapsed openssl speed -evp des-ede3 -engine cryptodev -elapsed openssl speed -evp des-cbc -engine cryptodev -elapsed openssl speed -evp des-ede3-cfb -engine cryptodev -elapsed +++++++++++++++++++++++    updating for Linux-4.19.35-1.1.2 ++++++++++++++++++++++++++++ This updating is for Yocto release of Linux 4.19.35-1.1.2​​.  Software environments as the belows: Linux kernel: imx_4.19.35-1.1.2 cryptodev: 1.10 OpenSSL: 1.1.1l HW platform: i.MX6UL, i.MX7D/S, i.MX8M/8M Mini/8M Nano, i.MX8/8X. How to build: 1, git clone https://gitee.com/zxd2021-imx/meta-openssl-caam.git, git checkout Linux-4.19.35-1.1.2 and copy meta-openssl-caam to folder <Yocto 4.19.35-1.1.2 dir>/sources/ 2, Run DISTRO=fsl-imx-wayland MACHINE=imx8mmevk source imx-setup-release.sh -b build-imx8mmevk and add BBLAYERS += " ${BSPDIR}/sources/meta-openssl-caam " into <Yocto 4.19.35-1.1.2 dir>/build-imx8mmevk/conf/bblayers.conf. 3, Run bitbake fsl-image-validation-imx. 4, Run the below command on your i.MX8M Mini EVK board. modprobe cryptodev openssl speed dsa openssl speed rsa openssl speed ecdsa openssl speed ecdh openssl genrsa -f4 -engine devcrypto 512 openssl genrsa -f4 -engine devcrypto 1024 openssl genrsa -f4 -engine devcrypto 2048 openssl genrsa -f4 -engine devcrypto 3072 openssl genrsa -f4 -engine devcrypto 4096 openssl speed -evp sha256 -engine devcrypto -elapsed openssl speed -evp aes-128-cbc -engine devcrypto -elapsed openssl speed -evp aes-128-ecb -engine devcrypto -elapsed openssl speed -evp aes-128-cfb -engine devcrypto -elapsed openssl speed -evp aes-128-ofb -engine devcrypto -elapsed openssl speed -evp des-ede3 -engine devcrypto -elapsed openssl speed -evp des-cbc -engine devcrypto -elapsed openssl speed -evp des-ede3-cfb -engine devcrypto -elapsed +++++++++++++++++++++++    updating for Linux-5.4.70-2.3.4 ++++++++++++++++++++++++++++ This updating is for Yocto release of Linux 5.4.70_2.3.4​​.  Software environments as the belows: Linux kernel: imx_5.4.70_2.3.4 cryptodev: 1.10 OpenSSL: 1.1.1l HW platform: i.MX6UL, i.MX7D/S, i.MX8M/8M Mini/8M Nano/8M Plus, i.MX8/8X. How to build: 1, git clone https://gitee.com/zxd2021-imx/meta-openssl-caam.git, git checkout Linux-5.4.70-2.3.4  and copy meta-openssl-caam to folder <Yocto 5.4.70_2.3.4 dir>/sources/ 2, Run DISTRO=fsl-imx-wayland MACHINE=imx8mmevk source imx-setup-release.sh -b build-imx8mmevk and add BBLAYERS += " ${BSPDIR}/sources/meta-openssl-caam " into <Yocto 5.4.70_2.3.4 dir>/build-imx8mmevk/conf/bblayers.conf. 3, Run bitbake imx-image-multimedia. 4, Run the below command on your i.MX8M Mini EVK board. modprobe cryptodev openssl speed dsa openssl speed rsa openssl speed ecdsa openssl speed ecdh openssl genrsa -f4 -engine devcrypto 512 openssl genrsa -f4 -engine devcrypto 1024 openssl genrsa -f4 -engine devcrypto 2048 openssl genrsa -f4 -engine devcrypto 3072 openssl genrsa -f4 -engine devcrypto 4096 openssl speed -evp sha256 -engine devcrypto -elapsed openssl speed -evp aes-128-cbc -engine devcrypto -elapsed openssl speed -evp aes-128-ecb -engine devcrypto -elapsed openssl speed -evp aes-128-cfb -engine devcrypto -elapsed openssl speed -evp aes-128-ofb -engine devcrypto -elapsed openssl speed -evp des-ede3 -engine devcrypto -elapsed openssl speed -evp des-cbc -engine devcrypto -elapsed openssl speed -evp des-ede3-cfb -engine devcrypto -elapsed     +++++++++++++++++++++++    updating for Linux-5.10.52-2.1.0 ++++++++++++++++++++++++++++ This updating is for Yocto release of Linux 5.10.52_2.1.0​​.  Software environments as the belows: Linux kernel: lf-5.10.y cryptodev: 1.12 OpenSSL: 1.1.1l HW platform: i.MX6UL, i.MX7D/S, i.MX8M/8M Mini/8M Nano/8M Plus, i.MX8/8X. How to build: 1, git clone https://gitee.com/zxd2021-imx/meta-openssl-caam.git, git checkout Linux-5.10.52-2.1.0 and copy meta-openssl-caam to folder <Yocto 5.10.52_2.1.0 dir>/sources/ 2, Run DISTRO=fsl-imx-xwayland MACHINE=imx8mmevk source imx-setup-release.sh -b build-imx8mmevk and add BBLAYERS += " ${BSPDIR}/sources/meta-openssl-caam " into <Yocto 5.10.52_2.1.0 dir>/build-imx8mmevk/conf/bblayers.conf. 3, Run bitbake imx-image-multimedia. 4, Run the below command on your i.MX8M Mini EVK board. modprobe cryptodev openssl speed dsa openssl speed rsa openssl speed ecdsa openssl speed ecdh openssl genrsa -f4 -engine devcrypto 512 openssl genrsa -f4 -engine devcrypto 1024 openssl genrsa -f4 -engine devcrypto 2048 openssl genrsa -f4 -engine devcrypto 3072 openssl genrsa -f4 -engine devcrypto 4096 openssl speed -evp sha256 -engine devcrypto -elapsed openssl speed -evp aes-128-cbc -engine devcrypto -elapsed openssl speed -evp aes-128-ecb -engine devcrypto -elapsed openssl speed -evp aes-128-cfb -engine devcrypto -elapsed openssl speed -evp aes-128-ofb -engine devcrypto -elapsed openssl speed -evp des-ede3 -engine devcrypto -elapsed openssl speed -evp des-cbc -engine devcrypto -elapsed openssl speed -evp des-ede3-cfb -engine devcrypto -elapsed   +++++++++++++++++++++++    updating for Linux-5.15.71-2.2.0 ++++++++++++++++++++++++++++ This updating is for Yocto release of Linux 5.15.71-2.2.0​​.  Software environments as the belows: Linux kernel: lf-5.15.71-2.2.0 cryptodev: 1.12 OpenSSL: 3.1.0 HW platform: i.MX6UL, i.MX7D/S, i.MX8M/8M Mini/8M Nano/8M Plus, i.MX8/8X. How to build: 1, git clone https://gitee.com/zxd2021-imx/meta-openssl-caam.git, git checkout Linux-5.15.71-2.2.0 and copy meta-openssl-caam to folder <Yocto 5.15.71_2.2.0 dir>/sources/ 2, Run DISTRO=fsl-imx-xwayland MACHINE=imx8mmevk source imx-setup-release.sh -b build-imx8mmevk and add BBLAYERS += " ${BSPDIR}/sources/meta-openssl-caam " into <Yocto 5.15.71_2.2.0 dir>/build-imx8mmevk/conf/bblayers.conf. 3, Run bitbake imx-image-multimedia. 4, Run the below command on your i.MX8M Mini EVK board. modprobe cryptodev openssl speed sm2 openssl speed dsa openssl speed rsa openssl speed ecdsa openssl speed ecdh openssl genrsa -f4 -engine devcrypto 512 openssl genrsa -f4 -engine devcrypto 1024 openssl genrsa -f4 -engine devcrypto 2048 openssl genrsa -f4 -engine devcrypto 3072 openssl genrsa -f4 -engine devcrypto 4096 openssl speed -evp sha256 -engine devcrypto -elapsed openssl speed -evp aes-128-cbc -engine devcrypto -elapsed openssl speed -evp aes-128-ecb -engine devcrypto -elapsed openssl speed -evp aes-128-cfb -engine devcrypto -elapsed openssl speed -evp aes-128-ofb -engine devcrypto -elapsed openssl speed -evp des-ede3 -engine devcrypto -elapsed openssl speed -evp des-cbc -engine devcrypto -elapsed openssl speed -evp des-ede3-cfb -engine devcrypto -elapsed    

Graphics are a big topic in the Android platform, containing java/jni graphic framework and 2d/3d graphic engines (skia, OpenGL-ES, renderscript). This document describes the general Android graphic stack and UI features on Freescale devices. 1. Android Graphic Stacks All Android 3D apps and games have the following graphic stack: Android system UI and all Apps UI follow 2D graphic stack as below, the hardware render will accelerate Android 2D UI with GPU HW OpenGL-ES 2.0 to improve the whole UI performance. Hardware acceleration can be disabled on i.mx6 in device/fsl/imx6/soc/imx6dq.mk USE_OPENGL_RENDERER := false Then rebuild frameworks/base/core/jni, and replace libandroid_runtime.so Surfaceflinger is responsible of all surface layers composition, and  then generate the framebuffer pixmap for display devices. these graphic surface layers are from 2D/3D apps. Hwcomposer is the alternative module of Surfaceflinger with OpenGL-ES. Hwcomposer is used to combine the specific surface layers supported by specific vendor devices. Freescale i.MX6 devices use GPU 2D to combine most surface layers, and the system power can be reduced with GPU 2D instead of GPU 3D. The typical power saving case is video playback. Hwcomposer with GPU 2D can offload GPU 3D task when running game and benchmarks, it is proved to improve the overall system performance about 20%. 2. Performance measurment Show FPS for Android system performance For NFS boot you can set “debug.sf.showfps” to 1 in init.freescale.rc (“setprop debug.sf.showfps 1”) and then reboot the system. For SD or EMMC boot, you can issue command “setprop debug.sf.showfps 1” in console, then find system_server thread by top and kill it to reset the system. Graphic benchmarks for 3D capability measurement Quadrant Full test benchmark cover CPU, Memory, IO, 2D and 3D GLBenchmark http://www.glbenchmark.com/ NenaMark2 https://market.android.com/details?id=se.nena.nenamark2 An3DBench http://www.androidzoom.com/android_applications/tools/an3dbench_hnog.html AnTutu http://www.antutu.com/software.html 3DMark http://www.futuremark.com/benchmarks/3dmark06/introduction/ Browser benchmarks http://www.webkit.org/perf/sunspider/sunspider.html http://v8.googlecode.com/svn/data/benchmarks/current/run.html http://www.craftymind.com/guimark2/ http://www.craftymind.com/factory/guimark/GUIMark_HTML4.html http://themaninblue.com/writing/perspective/2010/03/22/ 3.  Android UI features Dual display with same content This feature is supported in the default image in Android i.MX 6 release package. In this feature, LVDS panel and HDMI output can be supported simultaneously. It is only enabled when the HDMI TV has been connected with the board. Overscan for TV devices Some TVs may miss display the contents in overscan area. To avoid the contents in overscan area being lost, the common implement is by underscanning with an adjustable black border and letitng the viewer adjust the width of the black border. The downscan operation is done by surfaceflinger when it does surface composition through HW OpenGL ES. There is no performance impact since all the work is done by GPU HW. Overscan can be configured in display setting in visual mode: 32 bits color depth 32bpp UI can be supported by adding “bpp=32” in uboot as below: setenv bootargs ‘… video=mxcdi1fb:RGB666,XGA,bpp=32 …’, also can configure it in display setting. Enable 32bpp frame buffer and application surface buffer will be allocate to RGBA8888 format instead of default RGB565 format, that means more system memory is allocated. After enabling 32bpp, if some applications still don't have better UI quality, check to see if  there is hard code to request RGB565 format surface (should request RGBA8888 format to get better quality). Sample code is attached to test for 32bpp (left is on 16bpp, right is on 32bpp) Display Visual Setting The display setting is the add-on feature in FSL Android release, it is very convenient for end-users to change display property, mostly for the following features: Dual display enablement Display color depth setting(16bpp, 32bpp) Overscan adjustment in horizontal and vertical orientation 4. Issue Diagnosis Application Compatibility Some Android applications may not run correctly on some Android releases. It may cause application compatibility, so check the application in other platforms. For example Neocore and Asphalt 5 can run on Eclair, Froyo, and Gingerbread, but will not correctly run on Honeycomb. GPU Compatibility Some game UIs may not correctly display on our Android release. When encountering this kind of issue, the customer can check whether it is caused by the game using an OpenGL extension which our GPU does not support. They can download another data package (for example not extension data package) to have a check. Others Enlarge GPU memory if you encounter UI abnormally displaying after running an application for a while. Some applications need Wifi connections, so monitor the console log to see whether there are any error reports.

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

** If you cannot access the www.youtube.com you may watch the Wi-Fi Display Sink Demo in here: ** ********      http://v.youku.com/v_show/id_XNzczMzQ2MTc2.html             ******** We already have the strong i.MX 6 to support the Android kitkat now. So we also develop the WiFi Display Sink in it. With Wi-FI Display technology we can cast the screen and audio to another one via Wi-Fi P2p. It's also named the Miracast. Freescale extends Android by offering a Wi-Fi Display Sink feature. The Wi-Fi hardware module used for this feature are the Realtek RTL8821AS , RTL8723AS and AR6233 SDIO Cards. But the design of this feature allows porting to any Wi-Fi hardware module. Using the Freescale Wi-Fi Display Sink API and the demonstration application, users can easily develop their own Sink Application. This feature has been verified using several of the most popular Android phones and tablets. Our Wi-Fi Display has the following highlight feature: Low latency Support UIBC (When Source device uses Freescale Android maddev_kk4.4.3-2.0.0) Rapid recovery from network congestion Compatibility to different vendor Wi-Fi chips and Wi-Fi Display devices From the demo video we can cast the stopwatch and measure the latency by it. Here are the high quality video shots and we can calculate the real latency which less than 200ms!      For the WiFi Display Spec the orange ones in below figure were achieved in our WiFi Display. Reference pages:       Miracast - Wikipedia       Wi-Fi CERTIFIED Miracast | Wi-Fi Alliance             For more information and details about Wi-Fi Display Sink in i.MX6, please send inquiry to L2manager-android@freescale.com .

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

This tutorial will explain how to compile a Linux distro and the pingpong MQX application to test the communication between ARM Cortex-A9 and ARM Cortex-M4 cores on the SABRE Board for Smart Devices Based on the i.MX 6SoloX. INITIAL SETUP All of the steps were executed on an Ubuntu 14.04 64 bits machine, but should work on other distributions with minimal or no changes. The first step is to install the required tools and applications in the host: $ sudo apt-get install gawk wget git-core diffstat unzip texinfo \   gcc-multilib build-essential chrpath socat libsdl1.2-dev xterm picocom You also need to install the repo tool that will be used to download the Freescale's BSP: $ mkdir ~/bin $ curl http://commondatastorage.googleapis.com/git-repo-downloads/repo > ~/bin/repo $ chmod a+x ~/bin/repo $ export PATH=${PATH}:~/bin Create an environment variable to store the directory name that will be used to download and compile all required software and applications (do no forget to redefine this variable if you close the current terminal or open a new one). $ export IMX6SOLOX=~/imx6solox $ mkdir -p $IMX6SOLOX LINUX DISTRIBUTION Download the Freescale's BSP source code: $ cd $IMX6SOLOX $ mkdir -p fsl-release-bsp && cd fsl-release-bsp $ repo init -u git://git.freescale.com/imx/fsl-arm-yocto-bsp.git -b imx-3.10.53-1.1.0_ga $ repo sync And compile a minimal image for the SABRE Board: $ MACHINE=imx6sxsabresd source fsl-setup-release.sh -b build $ bitbake core-image-minimal After the compilation, a sdcard image should be available. Write it to the sdcard (do not forget to change the device name /dev/sdX in the command below). $ cd tmp/deploy/images/imx6sxsabresd/ $ sudo dd if=core-image-minimal-imx6sxsabresd.sdcard of=/dev/sdX bs=1M && sync To test the image you need to connect the board to your host machine using the USB cable. Two TTY ports will be created. Open your favorite terminal application (minicom, putty, screen, picocom) in the first one and check the Linux boot process. You should be able to login with the root user. FIRMWARE MQX Download the last MQX source code from Freescale's website at http://www.freescale.com/webapp/sps/site/prod_summary.jsp?code=MQX#. I have used the 4.1.0 version in the tests. Do not forget to download the Linux version (*.gz). Create a directory and decompress the source code: $ cd $IMX6SOLOX $ mkdir -p mqx && cd mqx $ tar xfv ~/Downloads/Freescale\ MQX\ RTOS\ 4.1.0\ for\ i.MX\ 6SoloX\ Linux\ Base.gz $ ls build config doc mcc mqx tools Download and install the required toolchain to compile the MQX application: $ cd $IMX6SOLOX $ mkdir -p toolchain && cd toolchain $ wget https://launchpad.net/gcc-arm-embedded/4.8/4.8-2014-q1-update/+download/gcc-arm-none-eabi-4_8-2014q1-20140314-linux.tar.bz2 $ tar xfv gcc-arm-none-eabi-4_8-2014q1-20140314-linux.tar.bz2 && rm gcc-arm-none-eabi-4_8-2014q1-20140314-linux.tar.bz2 Now compile the MQX and related libraries: $ cd $IMX6SOLOX/mqx/build/imx6sx_sdb_m4/make $ export TOOLCHAIN_ROOTDIR=$IMX6SOLOX/toolchain/gcc-arm-none-eabi-4_8-2014q1 $ ./build_gcc_arm.sh And compile the pingpong application: $ cd $IMX6SOLOX/mqx/mcc/examples/pingpong/build/make/pingpong_example_imx6sx_sdb_m4 $ ./build_gcc_arm.sh Convert the ELF application to a binary format: $ arm-none-eabi-objcopy -O binary gcc_arm/extflash_release/pingpong_example_imx6sx_sdb_m4.elf m4_qspi.bin The U-Boot bootloader will be responsible to read the MQX firmware from the SDCARD, write in the NOR flash and start the application on the Cortex-M4. Save the m4_qspi.bin file in the first sdcard partition and access the U-Boot's prompt. Run the following command to write the firmware image to the NOR flash: > run update_m4_from_sd And setup U-Boot environment variables so the application will start automatically at boot: > setenv fdt_file imx6sx-sdb-m4.dtb > setenv mmcargs "${mmcargs} uart_from_osc" > setenv bootcmd "run m4boot;${bootcmd}" > saveenv Open another terminal application on the second TTY to have access to the MQX console e reboot the board. You should see the message below: ***** MCC PINGPONG EXAMPLE ***** Please wait : 1) A9 peer is ready Then press "S" to start the demo ******************************** Press "S" to start the demo : Wait for the Linux boot process to finish and press "S" to start the demo application. In the Linux terminal, start the communication with the pingpong application: # echo 1 > /sys/devices/soc0/soc.1/2200000.aips-bus/mcctest.17/pingpong_en & You should see the log of messages sent and received on both terminals. Please let me know if you have any question. Best regards, Sergio Prado sergio.prado@e-labworks.com http://e-labworks.com

Here is a quick summary at booting u-boot on the i.MX 6 sabre sd platform. This assumes you already have a "working" Linux development environment with some ARM cross-compilers at hand (e.g. Debian + Emdebian). Get u-boot sources We will use git to fetch the U-Boot sources:   $ git clone git://git.denx.de/u-boot.git This should create a u-boot directory with all the latest sources. Note that for more stability you might want to checkout a release instead of the latest version; to do so, list the available release tags with e.g. git tag -l 'v2*', and git checkout <the-desired-tag>. Compile Assuming your cross compiler is called e.g. arm-linux-gnueabihf-gcc, you can compile by doing:   $ cd u-boot   $ export CROSS_COMPILE=arm-linux-gnueabihf-   $ make mx6qsabresd_config   $ make This should create a number of files, including u-boot.imx. Put on SD U-boot should reside at offset 1024B of your SD card. To put it there, do:   $ dd if=u-boot.imx of=/dev/<your-sd-card> bs=1k seek=1   $ sync Your SD card device is typically something in /dev/sd<X> or /dev/mmcblk<X>. Note that you need write permissions on the SD card for the command to succeed, so you might need to su - as root, or use sudo, or do a chmod a+w as root on the SD card device node to grant permissions to users. Boot! Your SD card is ready for booting. Insert it in the SD card slot of your i.MX6 sabre sd platform, connect to the USB to UART port with a serial terminal set to 115200 baud, no parity, 8bit data, power up the platform and you should see something like:   U-Boot 2013.07-rc1-00014-g74771f4 (Jun 20 2013 - 19:05:09)   CPU:   Freescale i.MX6Q rev1.2 at 792 MHz   Reset cause: POR   Board: MX6Q-SabreSD   DRAM:  1 GiB   MMC:   FSL_SDHC: 0, FSL_SDHC: 1, FSL_SDHC: 2   *** Warning - bad CRC, using default environment   In:    serial   Out:   serial   Err:   serial   Net:   FEC [PRIME]   Warning: FEC using MAC address from net device   Hit any key to stop autoboot:  0 Enjoy! See also... u-boot most common mission is to boot the Linux kernel. See this post for details on how to do it. If you plan to compile u-boot often, you might want to use a C compiler cache; see this post. Running a Script in U-boot u-boot on the Vybrid tower board in a few commands

This is the prototype demo to enable surround view demo on SabreSD.   The attached Files are HW&SW guides and demo video. Updating Notes: Add miniPCIE Surround View_Rev A design file (include schematic and layout) as attachement. Add Gerber file   i.MX6Q Surround view patch https://community.freescale.com/docs/DOC-95143 Original Attachment has been moved to: Gerber-file.zip Original Attachment has been moved to: miniPCIe-Surround-View_Rev-A.zip

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

  Test environment   i.MX8MP EVK LVDS0 LVDS-HDMI  bridge(it6263) Uboot2022, Uboot2023 Background   Some customers need show logo using LVDS panel. Current BSP doesn't support LVDS driver in Uboot. This patch provides i.MX8MPlus LVDS driver support in Uboot. If you want to connect it to LVDS panel , you need port your lvds panel driver like  simple-panel.c   Update [2022.9.19] Verify on L5.15.32_2.0.0  0001-L5.15.32-Add-i.MX8MP-LVDS-driver-in-uboot 'probe device is failed, ret -2, probe video device failed, ret -19' is caused by below code. It has been merged in attachment. // /* Only handle devices that have a valid ofnode */ // if (dev_has_ofnode(dev) && !(dev->driver->flags & DM_FLAG_IGNORE_DEFAULT_CLKS)) { // /* // * Process 'assigned-{clocks/clock-parents/clock-rates}' // * properties // */ // ret = clk_set_defaults(dev, CLK_DEFAULTS_PRE); // if (ret) // goto fail; // }   [2023.3.14] Verify on L5.15.71 0001-L5.15.71-Add-i.MX8MP-LVDS-support-in-uboot   [2023.9.12] For some panel with low DE, you need uncomment CTRL_INV_DE line and set this bit to 1. #include <linux/string.h> @@ -110,9 +111,8 @@ static void lcdifv3_set_mode(struct lcdifv3_priv *priv, writel(CTRL_INV_HS, (ulong)(priv->reg_base + LCDIFV3_CTRL_SET)); /* SEC MIPI DSI specific */ - writel(CTRL_INV_PXCK, (ulong)(priv->reg_base + LCDIFV3_CTRL_CLR)); - writel(CTRL_INV_DE, (ulong)(priv->reg_base + LCDIFV3_CTRL_CLR)); - + //writel(CTRL_INV_PXCK, (ulong)(priv->reg_base + LCDIFV3_CTRL_CLR)); + //writel(CTRL_INV_DE, (ulong)(priv->reg_base + LCDIFV3_CTRL_CLR)); }       [2024.5.15] If you are uing simple-panel.c, need use below patch to set display timing from panel to lcdif controller. diff --git a/drivers/video/simple_panel.c b/drivers/video/simple_panel.c index f9281d5e83..692c96dcaa 100644 --- a/drivers/video/simple_panel.c +++ b/drivers/video/simple_panel.c @@ -18,12 +18,27 @@ struct simple_panel_priv { struct gpio_desc enable; }; +/* define your panel timing here and + * copy it in simple_panel_get_display_timing */ +static const struct display_timing boe_ev121wxm_n10_1850_timing = { + .pixelclock.typ = 71143000, + .hactive.typ = 1280, + .hfront_porch.typ = 32, + .hback_porch.typ = 80, + .hsync_len.typ = 48, + .vactive.typ = 800, + .vfront_porch.typ = 6, + .vback_porch.typ = 14, + .vsync_len.typ = 3, +}; + @@ -100,10 +121,18 @@ static int simple_panel_probe(struct udevice *dev) return 0; } +static int simple_panel_get_display_timing(struct udevice *dev, + struct display_timing *timings) +{ + memcpy(timings, &boe_ev121wxm_n10_1850_timing, sizeof(*timings)); + + return 0; +} static const struct panel_ops simple_panel_ops = { .enable_backlight = simple_panel_enable_backlight, .set_backlight = simple_panel_set_backlight, + .get_display_timing = simple_panel_get_display_timing, }; static const struct udevice_id simple_panel_ids[] = { @@ -115,6 +144,7 @@ static const struct udevice_id simple_panel_ids[] = { { .compatible = "lg,lb070wv8" }, { .compatible = "sharp,lq123p1jx31" }, { .compatible = "boe,nv101wxmn51" }, + { .compatible = "boe,ev121wxm-n10-1850" }, { } };   [2024.7.23] Update patch for L6.6.23(Uboot2023)

    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"