Here are some debug methods for kernel performance requirements or related issues. It includes all the common methods such as oops/panic issues, memory issues, and so on. Please check it in the attachments for details. OS and System analysis Oops/Panic case addr2line objdump gdb Pstore Kdump Memory debugging SLAB KASAN Kmemleak Performance Perf Ftrace eBPF/bcc

 

Application Note AN13872  Enabling SWUpdate on i.MX 6ULL, i.MX 8M Mini, and i.MX 93 is available on www.nxp.com    SWUpdate: Embedded Systems become more and more complex. Software for Embedded Systems have new features and fixes can be updated in a reliable way. Most of time, we need OTA(Over-The-Air) to upgrade the system. Like Android has its own update system. Linux also need an update system. SWUpdate project is thought to help to update an embedded system from a storage media or from network. However, it should be mainly considered as a framework, where further protocols or installers (in SWUpdate they are called handlers) can be easily added to the application. Mongoose daemon mode: Mongoose is a daemon mode of SWUpdate that provides a web server, web interface and web application. Mongoose is running on the target board(i.MX8MM EVK/i.MX8QXP MEK).Using Web browser to access it.   Suricatta daemon mode: Suricatta regularly polls a remote server for updates, downloads, and installs them. Thereafter, it reboots the system and reports the update status to the server. The screenshot is SWUpdate scuricatta working with hawkbit server.          

Purpose This is early communication to notify i.MX 8M Dual/8M QuadLite/8M Quad customers of a potential incorrect PCIe power supply configuration on certain NXP BSP Linux and Android versions. Description The PCIE_VPH power supply is selectable in software  between 1.8V and 3.3V. When the PCIE_VPH supply is configured to operate at 3.3V, the 1.8V internal regulator (disabled by default) must be enabled to prevent overstress conditions on the PCIe PHY. If the 1.8V internal regulator is left disabled when the PCIE_VPH supply is configured to operate at 3.3V, it could potentially impact the product lifetime of the device.   Impact •i.MX 8M Dual/8M QuadLite/8M Quad (other i.MX processors are not impacted) •Only Impacts Linux/Android kernel versions earlier than L5.4.70_2.3.2 or Linux 5.10.9_1.0.0 releases MITIGATION •When the PCIE_VPH supply is configured to operate at 3.3V users need to enable the internal regulator by setting the IOMUXC_GPR_GPR14 and IOMUXC_GPR_GPR16 registers - PCIE1_VREG_BYPASS and PCIE2_VREG_BYPASS bit to 0. •There are 3 software patches for each release. Software patch details in the Code Aurora Forum (CAF): •For L5.4.70_2.3.2 patch release, the git log references are: •MLK-25349-3 PCI: imx: clear vreg bypass when pcie vph voltage is 3v3 •MLK-25349-2 arm64: dts: imx8mq-evk: add one regulator used to power up pcie phy •MLK-25349-1 dt-bindings: imx6q-pcie: add one regulator used to power up pcie phy • •The L5.4.70_2.3.2, LF_5.10 Q2 and later BSP releases correctly configure and enable the internal regulator by setting the IOMUXC_GPR_GPR14 and IOMUXC_GPR_GPR16 registers The Patch MLK-25349 which correctly enables the internal regulator is already included in the L5.4.70_2.3.2 patch release and release versions after it. MITIGATION •The following branches of Linux/Android BSP releases contain the MLK-25349 patch. The patch is attached below for each respective release.   •Other branches which are not listed should try to apply the nearest Patch version patch. If a user encounters any conflicts in applying, they should back porting from below nearest patch release version below. imx_4.9.51_ga, imx_4.9.y_android_imx8m_ga_v2                           - Patch attached  imx_4.9.88_ga, imx_4.9.y_android_2.0.0_ga                                   - Patch attached  imx_4.14.y and imx_4.14.98_2.3.0, imx_4.14.98_2.3.0_android     - Patch attached  imx_4.19.y and imx_4.19.35_1.1.0, imx_4.19.35_1.1.0_android     - Patch attached  imx_5.4.y, imx_5.4.3_2.0.0, imx_5.4.3_2.0.0_android                     - Patch attached Documentation Change Description – 1 of 3 for Datasheet Updated Datasheets and Reference Manual will be published to nxp.com. Updated Hardware Design guide and Schematics have already been published on nxp.com.  Updated the descriptions of PCIE_VPH in the Datasheet Table 8, "Operating ranges"     Documentation Change Description – 2 of 3 for Reference Manual (RM) Updated the description of field 12 "PCIE1_VREG_BYPASS" in 8.2.4.15 GPR14 General Purpose Register (IOMUXC_GPR_GPR14)           Documentation Change Description – 3 of 3 for RM Updated the description of field 12 "PCIE2_VREG_BYPASS" in 8.2.4.17 GPR16 General Purpose Register (IOMUXC_GPR_GPR16)   REFERENCES •i.MX 8M Dual / 8M QuadLite / 8M Quad Product Lifetime Usage  •i.MX 8M Dual / 8M QuadLite / 8M Quad Applications Processors Data Sheet for Industrial Products •i.MX 8M Dual / 8M QuadLite / 8M Quad Applications Processors Data Sheet for Consumer Products •i.MX 8MDQLQ Hardware Developer’s Guide  •i.MX 8M Dual/8M QuadLite/8M Quad Applications Processors Reference Manual  

i.MX8DXL DDR3L EVK board, nor flash using is MT25QU512ABB8ESF-0SIT. This doc will show reference of FlexSPI configuration parameters to make booting from MT25Q flash, with QUAD pad and DDR mode. HW: i.MX8DXL DDR3L EVK board SW: Linux 5.4.70 BSP From RM 5.9.3.2 FlexSPI serial flash BOOT operation, the FlexSPI boot flow as :   FlexSPI configuration parameters,  could be think as two kind group: parameter for FlexSPI controller,  parameter related to the operation on nor flash.   Full parameter table check check i.MX8DXL RM Table 5-20. FlexSPI Configuration block. Let us check MT25Q data sheet for its feature, note our target is DDR mode(80MHZ) and QUAD pad:     Now let us change the FlexSPI configuration parameters: 1>readSampleClkSrc , set as 2 , that is loop back from SCK pad; this filed default set as 0, as found default value booting will met failure in this use case, so change to 2. 2>deviceModeCfgEnable set 1, deviceModeSeq.seqNum set 1 , deviceModeSeq. seqId set to 4; deviceModeArg set 0x5f. i.MX8DXL will send some cmd to flash to make MT25Q enter DDR mode and QUAD mode, so deviceModeCfgEnable =1. For seqNum=1, seqId =4; means index 4 of LUT table will store this sequence, and cost one LUT entry. We will explain how to change LUT entry later. For deviceModeArg=0x5f, check MT25Q data sheet, its enhanced volatile register could be write to configure the flash working mode:  3>controllerMiscOption as 0x40, this parameter only for FlexSPI controller itself, means as” External device works using DDR commands”. 4>deviceType=1(Serial Nor),  sflashPadType=4 (QUAD pad),  serialClkFreq=4(80MHZ CLK), these parameter also only for FlexSPI controller. 5>sflashA1Size fill actual size, in terms of bytes 6>LUT entry changes, check 8DXL RM Table 5-21: So LUT entry 0 is sequence for Read command, entry 1 is for Read Status sequence, entry 3 is for Write Enable sequence,  entry 15 is for Dummy command sequence. Other index LUT entry(for example 2,4,6,7,8,10,12,13,14) is could be used for store your sequence for some cmd your flash device neede. We store sequence of writing MT25Q enhance volatile register as LUT entry 4. Check 8DXL RM,  Figure 15-6. LUT and sequence structure:   Each LUT entry (sequence) will using 16 byte,  one sequence consists of up to 8 instructions, each instruction will using 16bit. Each instruction  format as opcode—num_pads—operand. Check RM 15.2.4.8 Programmable Sequence Engine, for supported instructions:   Actually the Write enable sequence is run first before the other sequence, as we will write Mt25Q volatile register, before that need issue Write enable sequence. Check MT25Q data sheet: For this sequence only need one instruction, that is 0x0406, at this time still using is SDR and one pad mode:  Opcode (CMD_SDR),  one pad (0), operand (6).   LUT entry 1, Read status sequence, it is READ STATUS REGISTER (05h) of MT25Q , check data sheet: It use two instructions: 0x0405: opcode(CMD_SDR), pad (one pad), operand (0x5, READ STATUS REGISTER) 0x2404: opcode(READ_SDR), pad (one pad), operand (0x4 , byte number)   LUT entry 4, that is for make MT25Q enter DDR mode and quad pad: From MT25Q data sheet: It will use two instructions, that is 0x0461: opcode (CMD_SDR),  one pad (0), operand (0x61 WRITE ENHANCED VOLATILE CONFIGURATION REGISTER) 0x2001: opcode (WRITE_SDR 08), one pad(0), operand (1 byte data size) The 0x5f will be send out as data.   Next check LUT entry read , at this time MT25Q had enter QUAD pad and DDR mode: LUT entry 0, Read sequence, it is fast read data from MT25Q, from data sheet: will use four instructions , that is : 86ED, opcode (CMD_DDR ), pad ( four pad), operand (0xEDh fast read) 8a18, opcode (RADDR_DDR), pad (four pad), operand (0x18 , three byte address) B210, opcode(DUMMY_ADDR), pad (four pad), operand(0x10, dummy cycle) A604, opcode (READ_DDR), pad (four pad) , operand (0x4, data byte)   Reference: 1.i.MX8DXL Reference Manual 2.MT25Q data sheet              

1.  Introduction 1.1.        Purpose This application note introduces a procedure of how to port AVB/TSN stack and run referring feature demos on i.MX8DXL board. This can help users who want to run AVB/TSN demos to quickly understand and customized their own codes. Since many of the standards are only for TSN switch/bridges and i.MX8DXL is design to be a TSN/AVB endpoint, the demos did not implement a full stack or full standards. They only demonstrated the basic end-to-end point (talker to listener) A/V streaming without bridge or switch. The software used for example in this documentation are based on the opensource such as gstreamer and alsa utils.   1.2.        Overview 1.2.1.     AVB/TSN AVB (Audio Video Bridging) is a common name for the set of technical standards which provide improved synchronization, low-latency, and reliability for switched ethernet network. AVB was initially developed by the IEEE Audio Video Bridging task group of the IEEE 802.1 standards committee. In November 2012, AVB group was renamed to TSN (Time-Sensitive Networking) task group to reflect the expanded scope of its work, which is to provide the specifications that will allow time-synchronized low latency streaming services through IEEE 802 networks. The referring standards shows as follows:     TSN protocol additions QoS components supported in HW TSN MAC + SW driver Managed Object components expose i/f to allow support of standardized network config protocols (local & remote) Transport API to allow other transport layer to use TSN QoS Stack extensions to map traffic priority to application task scheduling Real Time, gPTP based, Best Effort 1.2.2.     Demo introduction   The two streams are defined as below to grantee time sensitive (sub-microsecond synchronization), low latency and bandwidth on the ethernet: Stream A: SR class A, AVTP Audio Format, PCM 16-bit sample, 48 kHz, stereo, 12 frames per AVTPDU. Stream B: SR class B, AVTP Compressed Video Format, H.264 profile High, 1920x1080, 30 fps. The two TSN streams would be allocated into different TC (traffic control) class for egress. Different TC class would be mapped to different hardware queues with specific DMA channel which supported by ENET_OoS IP. The demos were built by follow blocks:   Linux Traffic Control: streams egress control Linux ptp: clock sync in network Libavtp: Time Sensitive Applications AV Transport protocol Gstreamer: avtp plugin uses the libavtp to transmit and receive AVTP audio/video (audio pcm, video h264).   1.2.3.     Traffic control Multiply queue qdiscs + CBS: The CBS class is actually handled by hardware IP to select which queue for transmitting.   CBS parameters come straight from the IEEE 802.1Q-2018 specification. They are the following: idleSlope: rate credits are accumulated when queue isn’t transmitting; sendSlope: rate credits are spent when queue is transmitting; hiCredit: maximum amount of credits the queue is allowed to have; loCredit: minimum amount of credits the queue is allowed to have;     2.  Build demo 2.1.        Build yocto $ DISTRO=fsl-imx-xwayland MACHINE=imx8dxlevk source imx-setup-release.sh -b ./xwayland $ bitbake imx-image-full Prepare a SD card and burn it with the built out images. 2.2.        Rebuild kernel Rebuild the kernel after applying the 0001-qenet-add-queue-avoid-panic.patch, and overwrite the Image and imx8dxl-evk.dtb on the boot partition of the SD card. 2.3.        Install the toolchain $ bitbake -f fsl-image-validation-imx -c populate_sdk $ sh tmp/deploy/sdk/fsl-imx-xwayland-glibc-x86_64-fsl-image-validation-imx-aarch64-imx8dxlevk-toolchain-5.4-zeus.sh The toolchain would be installed into /opt/fsl-imx-xwayland/5.4-zeus   2.4.        Create a install folder $ mkdir <your install folder> Create a folder to install all of the shared libraries, binaries and configure files which built out manually in this doc. After built done, you should copy all of the contents in this folder to target board root.   2.5.        Build libavtp $ source /opt/fsl-imx-xwayland/5.4-zeus/environment-setup-aarch64-poky-linux $ git clone https://github.com/Avnu/libavtp.git $ cd libavtp $ meson build --prefix=<your install folder>/usr $ ninja -C build Copy the built out .so and .pc into the toolchain rootfs: $ sudo cp build/libavtp.so* /opt/fsl-imx-xwayland/5.4-zeus/sysroots/aarch64-poky-linux/usr/lib $ sudo cp build/meson-private/*.pc /opt/fsl-imx-xwayland/5.4-zeus/sysroots/aarch64-poky-linux/usr/lib/pkgconfig/ Copy the .so into the install folder: $ cp build/libavtp.so* <install folder>/usr/lib/ To make sure you have avtp package installed correctly:     $ pkg-config --list-all | grep avtp   2.6.        Build ALSA aaf plugin $ cd <yocto build>/tmp/work/aarch64-poky-linux/alsa-plugins/1.1.9-r0/alsa-plugins-1.1.9 $ ./configure --build=x86_64-linux --host=aarch64-poky-linux --target=aarch64-poky-linux --prefix=<install folder>/usr --disable-silent-rules --disable-dependency-tracking --with-libtool-sysroot=<yocto build>/xwayland/tmp/work/aarch64-poky-linux/alsa-plugins/1.1.9-r0/recipe-sysroot --disable-static --enable-aaf --disable-jack --disable-libav --disable-maemo-plugin --disable-maemo-resource-manager --enable-pulseaudio --enable-samplerate --with-speex=lib $ make $ make install   2.7.        Build Gstreamer AVTP plugins （1.17.x） 2.7.1.     Build Gstreamer core $ git clone https://gitlab.freedesktop.org/gstreamer/gstreamer.git $ patch -p1 < gstreamer-1.0-pass-build.patch $ meson build --prefix=<install folder>/usr $ ninja -C build $ sudo ninja -C build install After Gstreamer is installed into <your install folder>, please fix the “prefix” path in the .pc files by, and copy to the toolchain folders: $ cd <your install folder> $ grep -lR <your install folder> ./lib/pkgconfig/ | xargs sed -i 's/<your install folder>/\/usr/g' $ cp -rf ./usr/* /opt/fsl-imx-xwayland/5.4-zeus/sysroots/aarch64-poky-linux/usr/ 2.7.2.     Build gst-plugins-base $ git clone https://gitlab.freedesktop.org/gstreamer/gst-plugins-base.git $ cd gst-plugins-base $ patch -p1 < gst-plugins-base-pass-build.patch $ meson build --prefix=<your install folder>/usr $ ninja -C build $ sudo ninja -C build install   2.7.3.     Build gst-plugins-bad $ git clone https://gitlab.freedesktop.org/gstreamer/gst-plugins-bad.git $ cd gst-plugins-bad $ meson build --prefix=<your install folder>/usr $ ninja -C build $ sudo ninja -C build install   After gst-plugins-base and gst-plugins-bad installed into <your install folder>, please fix the “prefix” path in the .pc files and copy them into the toolchain folders: $ cd <your install folder> $ grep -lR <your install folder> ./lib/pkgconfig/ | xargs sed -i 's/<your install folder>/\/usr/g' $ cp -rf ./usr/* /opt/fsl-imx-xwayland/5.4-zeus/sysroots/aarch64-poky-linux/usr/   2.8.        Build H.264 SW plugins 2.8.1.     Build x264 As the yocto actually has the x264 recipes, but not included in our bblayers, we need to copy the x264 source into our bblayers path under <yocto>/source to build: $ cp -rf ./poky/meta/recipes-multimedia/x264 ./meta-openembedded/meta-multimedia/recipes-multimedia/ $ vi ./meta-openembedded/meta-multimedia/recipes-multimedia/x264_git.bb Remove the LICENSE_FLAGS line $ bitbake -f x264 -c do_install $ sudo cp -rf tmp/work/aarch64-poky-linux/x264/r2917+gitAUTOINC+72db437770-r0/image/usr/* /opt/fsl-imx-xwayland/5.4-zeus/sysroots/aarch64-poky-linux/usr/ 2.8.2.     Build gst-plugins-ugly $ git clone https://gitlab.freedesktop.org/gstreamer/gst-plugins-ugly.git $ cd gst-plugins-ugly $ meson build --prefix=<your install folder>/usr $ ninja -C build $ sudo ninja -C build install   2.8.3.     Build libav $ cp -rf poky/meta/recipes-multimedia/gstreamer/gstreamer1.0-libav meta-openembedded/meta-multimedia/recipes-multimedia/gstreamer-1.0/ Remove the LICENSE_FLAGS line $ vim ./poky/meta/recipes-multimedia/gstreamer/gstreamer1.0-libav_1.16.2.bb $ bitbake -f gstreamer1.0-libav -c do_install $ cp /opt/samba/nxf39444/imx-yocto-bsp-i.mx8dxl/xwayland/tmp/work/aarch64-poky-linux/gstreamer1.0-libav/1.16.2-r0/image/usr/lib/gstreamer-1.0/libgstlibav.so <your install folder>/usr/lib/gstreamer-1.0   2.8.4.     Install binaries Final step is to copy all of your built out files from <your install folder> into your board / root, and boot up the board. $ export GST_PLUGIN_PATH=/usr/lib/gstreamer-1.0/ $ gst-inspect-1.0 To check if the above Gstreamer plugins we built out can be found by gst-instpect.   3.  System Setup 3.1.        VLAN The ENTE_QoS is assigned to eth0 instance. So create eth0.5 for vlan id 5: $ ip link add link eth0 name eth0.5 type vlan id 5 egress-qos-map 2:2 3:3 $ ip link set eth0.5 up   3.2.        Qdiscs The TSN control plane is implemented through the TC (Traffic Control) system. The transmission algorithms specified in the FQTSS (Forwarding and Queuing for Time-Sensitive Streams) chapter of IEEE 802.1Q-2018 are supported via TC Qdiscs (Queuing Discipline). 3.2.1.     MQPRIO qdisc $ tc qdisc add dev eth0 parent root handle 100 mqprio num_tc 3 map 0 0 2 1 0 0 0 0 0 0 0 0 0 0 0 0 queues 1@0 1@1 1@2 hw 1 3.2.2.     CBS qdisc Q1 CBS for audio, Q2 CBS for video: $ tc qdisc replace dev eth0 parent 100:3 handle 888 cbs idleslope 3648 sendslope -996352 hicredit 12 locredit -113 offload 1 $ tc qdisc replace dev eth0 parent 100:2 handle 777 cbs idleslope 98688 sendslope -901312 hicredit 153 locredit -1389 offload 1 3.2.3.     TimeSync Run the ptp4l and phc2sys in background, and use check_clocks to check the ptp sync works. $ ptp4l -i eth0 -f ./gPTP.cfg --step_threshold=1 & $ pmc -u -b 0 -t 1 "SET GRANDMASTER_SETTINGS_NP clockClass 248 clockAccuracy 0xfe offsetScaledLogVariance 0xffff currentUtcOffset 37 leap61 0 leap59 0 currentUtcOffsetValid 1 ptpTimescale 1 timeTraceable 1 frequencyTraceable 0 timeSource 0xa0" $ ./check_clocks -d eth0 4.  Run demo 4.1.        ALSA AAF audio To run the alsa AAF demo, please add aaf0 and converter0 plugin device into /etc/asound.conf: pcm.aaf0 {    type aaf    ifname eth0.5    addr 01:AA:AA:AA:AA:AA    prio 2    streamid AA:BB:CC:DD:EE:FF:000B    mtt 50000    time_uncertainty 1000    frames_per_pdu 12    ptime_tolerance 100 } pcm.converter0 {    type linear    slave {                  pcm "hw:0,0"                  format S16_LE    } } The “aaf0” plugin device defines the ethernet interface which AAF runs on, the socket priority which mapping to Traffic Class in kernel TC, the stream-id for the aaf streaming. The “converter0” plugin device is used for convert the S16_BE format to S16_LE for the wm8960 PCM audio.   Select one device as AVB talker, and run: $ speaker-test -p 25000 -F S16_BE -c 2 -r 48000 -D aaf0   Select one device as AVB listener, and run: $ arecord -F 25000 -t raw -f S16_BE -c 2 -r 48000 -D aaf0 | aplay -F 25000 -t raw -f S16_BE -c 2 -r 48000 -D converter0   You can hear the sound on the listener device.   You can also check which qdisc queue is used for AAF by: $ tc -s qdisc   4.2.        Gstreamer AAF audio Select one device as AVB talker, and run: $ gst-launch-1.0 clockselect. \( clock-id=realtime audiotestsrc samplesperbuffer=12 is-live=true ! audio/x-raw,format=S16BE,channels=2,rate=48000 ! avtpaafpay mtt=50000000 tu=1000000 streamid=0xAABBCCDDEEFF000B processing-deadline=0 ! avtpsink ifname=eth0.5 address=06:98:c0:22:df:35 priority=3 processing-deadline=0 \)   Select one device as AVB listener, and run: $ gst-launch-1.0 clockselect. \( clock-id=realtime avtpsrc ifname=eth0.5 ! avtpaafdepay streamid=0xAABBCCDDEEFF000B ! queue max-size-bytes=0 max-size-buffers=0 max-size-time=0 ! audioconvert ! audioresample !  alsasink device="hw:0,0" \)   5.  Packet sniffer Use tcpdump on board to dump the L2 ethernet packet: $ tcpdump -i eth0 ether proto 0x22f0 -w dump.pcap The AVTP ether protocol code is 0x22f0 embedded inside the ether frame, or you can use "vlan 5" VLAN id for tcpdump parameters to dump. Then open this dump.pcap in the windows/Linux PC by the wireshark tool, it will automatically show the protocol inside the package, it can also parser the IEEE1722 (AVTP) CVF/AFF package header as below:   To measure the package latency from transmit port (talker) to receive port (listener), you can use the tcpdump on both end-points. And compare the Epoch Time the packet dumped: "Epoch Time: 1596252905.688243000 seconds". The delta of the epoch time of the same packet is around 100us~500us. This latency actually includes the AF_PACKET clone cost in kernel netfilter, also the tcpdump application schedule latency.   6.  Revision history summarizes the changes done to this document since the initial release. Table2. Revision history Revision number Date Substantive changes 1 5/2021 Initial release    

   

Compiling kernel module qca9377 in new bsp L5.10.9 has lots of errors.This is because lots of kernel apis has been dropped or changed from kernel5.4 to kernel5.10.But kernel module QCA9377 still using old api.So i fixed this compile errors and attach this patch.

    Below mentioned are the step to enable secure boot in imx8m nano board. Mentioned each step log and address for imx8m nano board tested with LPDDR4.   secure boot feature uses digital signatures to prevent unauthorized software execution during the device boot sequence. In case a malware takes control of the boot sequence, sensitive data, services and network can be impacted. Download the CST(code signing tool) from the below mentioned link https://www.nxp.com/webapp/sps/download/preDownload.jsp?render=true 1. Generating a PKI tree The Code Signing Tools package contains an OpenSSL based key generation script under keys/ directory. The hab4_pki_tree.sh script is able to generate a PKI tree containing up to 4 Super Root Keys (SRK) as well as their subordinated IMG and CSF keys. $ ./hab4_pki_tree.sh ... Do you want to use an existing CA key (y/n)?: n Do you want to use Elliptic Curve Cryptography (y/n)?: n Enter key length in bits for PKI tree: 2048 Enter PKI tree duration (years): 5 How many Super Root Keys should be generated? 4 Do you want the SRK certificates to have the CA flag set? (y/n)?: y 2. Generating a SRK Table and SRK Hash The next step is to generated the SRK Table and its respective SRK Table Hash from the SRK public key certificates created in one of the steps above. The srktool can be used for generating the SRK Table and its respective SRK Table Hash. - Generating SRK Table and SRK Hash in Linux 64-bit machines: $ ../linux64/bin/srktool -h 4 -t SRK_1_2_3_4_table.bin -e \ SRK_1_2_3_4_fuse.bin -d sha256 -c \ SRK1_sha256_2048_65537_v3_ca_crt.pem,\ SRK2_sha256_2048_65537_v3_ca_crt.pem,\ SRK3_sha256_2048_65537_v3_ca_crt.pem,\ SRK4_sha256_2048_65537_v3_ca_crt.pem The SRK_1_2_3_4_table.bin and SRK_1_2_3_4_fuse.bin files can be used in further steps as explained in HAB guides available under doc/imx/habv4/guides/ directory. 3. step-by-step procedure on how to sign and securely boot a bootloader image on i.MX8M Nano devices 3.1 Enabling the secure boot support in U-Boot clone the u-boot from the git link https://source.codeaurora.org/external/imx/uboot-imx Enable the secure boot support in u-boot - Defconfig: CONFIG_SECURE_BOOT=y CONFIG_IMX_HAB=y from 2020.04 u-boot Build images $ make imx8mn_evk_defconfig $ make Output images $(UBOOT_SRC)/u-boot-nodtb.bin $(UBOOT_SRC)/spl/u-boot-spl.bin $(UBOOT_SRC)/arch/arm/dts/fsl-imx8mm-evk.dtb‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍ 3.2 ARM Trusted Firmware Get the ATF from the below mentioned source link https://source.codeaurora.org/external/imx/imx-atf Build images $ make PLAT=imx8mn bl31 Output images $(ATF_SRC)/build/imx8mn/release/bl31.bin‍‍‍‍‍‍‍‍‍‍‍‍ 3.3 Get DDR FW images $ wget https://www.nxp.com/lgfiles/NMG/MAD/YOCTO/firmware-imx-8.0.bin $ chmod 777 firmware-imx-8.0.bin $ ./firmware-imx-8.0.bin Accept the LICENSE AGREEMENT $ cd firmware-imx-8.0.bin‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍/firmware/ddr/synopsys‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍ Output images $(DDRFW_SRC)/lpddr4_* 3.4 Get IMX-MKIMAGE source https://source.codeaurora.org/external/imx/imx-mkimage Below mentioned are the steps to generate bootloder using mkimage Gather necessary images SPL and U-boot images - u-boot-nodtb.bin - u-boot-spl.bin - fsl-imx8mm-evk.dtb‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍ ATF image - bl31.bin DDR firmware images - lpddr4_pmu_train_1d_dmem.bin - lpddr4_pmu_train_1d_imem.bin - lpddr4_pmu_train_2d_dmem.bin - lpddr4_pmu_train_2d_imem.bin Copy these files to imx-mkimage/iMX8M directory 3.5 Build i.MX8MN boot image flash.bin $ make SOC=iMX8MN flash_evk ========= OFFSET dump ========= Loader IMAGE: header_image_off 0x0 dcd_off 0x0 image_off 0x40 csf_off 0x24a00 spl hab block: 0x911fc0 0x0 0x24a00 Second Loader IMAGE: sld_header_off 0x58000 sld_csf_off 0x59020 sld hab block: 0x401fcdc0 0x58000 0x1020 $ make SOC=iMX8MN print_fit_hab ./print_fit_hab.sh 0x60000 evk.dtb 0x40200000 0x5B000 0xC3AB0 0x402C3AB0 0x11EAB0 0x78F0 0x960000 0x1263A0 0xA1B0 0xBE000000 0x130550 0x10 3.6 Creating the CSF description file The build log provided by imx-mkimage can be used to define the "Authenticate Data" parameter in CSF. - SPL "Authenticate Data" addresses in flash.bin build log: spl hab block: 0x911fc0 0x0 0x24a00 - "Authenticate Data" command in csf_spl.txt file: Blocks = 0x911fc0 0x0 0x24a00 "flash.bin" - FIT image "Authenticate Data" addresses in flash.bin build log: sld hab block: 0x401fcdc0 0x57c00 0x1020 - FIT image "Authenticate Data" addresses in print_fit_hab build log: 0x40200000 0x5B000 0xC3AB0 0x402C3AB0 0x11EAB0 0x78F0 0x960000 0x1263A0 0xA1B0 0xBE000000 0x130550 0x10 - "Authenticate Data" command in csf_fit.txt file: Blocks = 0x401fcdc0 0x57c00 0x1020 "flash.bin", \ 0x40200000 0x5B000 0xC3AB0 "flash.bin", \ 0x402C3AB0 0x11EAB0 0x78F0 "flash.bin", \ 0x960000 0x1263A0 0xA1B0 "flash.bin", \ 0xBE000000 0x130550 0x10 "flash.bin"   3.7 Avoiding Kernel crash in closed devices - Add Unlock MID command in csf_spl.txt: [Unlock] Engine = CAAM Features = MID 3.8 Signing the flash.bin binary The CST tool is used for singing the flash.bin image and generating the CSF binary. Users should input the CSF description file created in the step above and receive a CSF binary, which contains the CSF commands, SRK table, signatures and certificates. - Create SPL CSF binary file: $ ./cst -i csf_spl.txt -o csf_spl.bin - Create FIT CSF binary file: $ ./cst -i csf_fit.txt -o csf_fit.bin 3.8 Assembling the CSF in flash.bin binary ------------------------------------------- The CSF binaries generated in the step above have to be inserted into the flash.bin image. The CSF offsets can be obtained from the flash.bin build log: - SPL CSF offset: csf_off 0x24a00 - FIT CSF offset: sld_csf_off 0x59020 The signed flash.bin image can be then assembled: - Create a flash.bin copy: $ cp flash.bin signed_flash.bin - Insert csf_spl.bin in signed_flash.bin at 0x24a00 offset: $ dd if=csf_spl.bin of=signed_flash.bin seek=$((0x24a00)) bs=1 conv=notrunc - Insert csf_fit.bin in signed_flash.bin at 0x59020 offset: $ dd if=csf_fit.bin of=signed_flash.bin seek=$((0x59020)) bs=1 conv=notrunc - Flash signed flash.bin image: $ sudo dd if=signed_flash.bin of=/dev/sd<x> bs=1K seek=33 && sync 3.9 Verifying HAB events ------------------------ The next step is to verify that the signatures included in flash.bin image is successfully processed without errors. HAB generates events when processing the commands if it encounters issues. Prior to closing the device users should ensure no HAB events were found, as the example below: - Verify HAB events: => hab_status Secure boot disabled HAB Configuration: 0xf0, HAB State: 0x66 3.10 Programming SRK Hash ------------------------- The U-Boot fuse tool can be used for programming eFuses on i.MX SoCs. - Dump SRK Hash fuses values in host machine: $ hexdump -e '/4 "0x"' -e '/4 "%X""\n"' SRK_1_2_3_4_fuse.bin 0x20593752 0x6ACE6962 0x26E0D06C 0xFC600661 0x1240E88F 0x1209F144 0x831C8117 0x1190FD4D - Program SRK_HASH[255:0] fuses on i.MX8MN devices: => fuse prog 6 0 0x20593752 => fuse prog 6 1 0x6ACE6962 => fuse prog 6 2 0x26E0D06C => fuse prog 6 3 0xFC600661 => fuse prog 7 0 0x1240E88F => fuse prog 7 1 0x1209F144 => fuse prog 7 2 0x831C8117 => fuse prog 7 3 0x1190FD4D 3.10 Completely secure the device ---------------------------------- Additional fuses can be programmed for completely secure the device, more details about these fuses and their possible impact can be found at AN4581[1]. - Program SRK_LOCK: => fuse prog 0 0 0x200 - Program DIR_BT_DIS: => fuse prog 1 3 0x8000000 - Program SJC_DISABLE: => fuse prog 1 3 0x200000 - JTAG_SMODE: => fuse prog 1 3 0xC00000

This document shows how to build genivi step by step, but I haven’t tested the images yet, before building the images, pls refer to the host setup and host packages according to the yocto project user’s guide, I don’t mention here again, this is for imx8mq as example, you can choose the different board name to build   Before building the genivi package, customer also can refer to the kernel and image name from: https://github.com/GENIVI/meta-ivi/tree/master   4.9.88 IMAGE   1. Create a bin folder in the home directory $ mkdir ~/bin (this step may not be needed if the bin folder already exists) $ curl https://storage.googleapis.com/git-repo-downloads/repo > ~/bin/repo $ chmod a+x ~/bin/repo    2. Add the following line to the .bashrc file to ensure that the ~/bin folder is in your PATH variable. export PATH=~/bin:$PATH    3. Yocto Project Setup $ mkdir imx-yocto-bsp $ cd imx-yocto-bsp $ repo init -u https://source.codeaurora.org/external/imx/imx-manifest -b imx-linux-rocko -m imx-4.9.88-2.0.0_genivi.xml $ repo sync   4.update Weston 3.0.0 to Weston 4.0.0 $ git clone https://git.yoctoproject.org/git/meta-freescale -b warrior   then replace the wayland directory in "imx-yocto-bsp/sources/meta-fsl-bsp-release/imx/meta-bsp/recipes-graphics/wayland" with the "meta-freescale/recipes-graphics/wayland" in cloned directory.   5.image build DISTRO=nxp-imx-genivi-wayland MACHINE=imx8mqevk source ./nxp-setup-genivi.sh -b genivi-wayland   $bitbake  pulsar-image    6.Error fix if you don’t update Weston, you should get the error message like The error shows required Weston >=4.0.0, but current bsp includes Weston version is 3.0.0, so you need to update the Weston to the 4.0.0 step by step $ git clone https://git.yoctoproject.org/git/meta-freescale -b warrior $ rm -rf ../sources/meta-fsl-bsp-release/imx/meta-bsp/recipes-graphics/wayland $ cp -r meta-freescale/recipes-graphics/wayland ../sources/meta-fsl-bsp-release/imx/meta-bsp/recipes-graphics/   $ bitbake -c cleansstate wayland-ivi-extension $ bitbake  wayland-ivi-extension $ bitbake  pulsar-image   4.14.95 IMAGE   1. Create a bin folder in the home directory $ mkdir ~/bin (this step may not be needed if the bin folder already exists) $ curl https://storage.googleapis.com/git-repo-downloads/repo > ~/bin/repo $ chmod a+x ~/bin/repo   2. Add the following line to the .bashrc file to ensure that the ~/bin folder is in your PATH variable. export PATH=~/bin:$PATH   3.Yocto Project Setup $ mkdir imx-yocto-bsp $ cd imx-yocto-bsp $ repo init -u https://source.codeaurora.org/external/imx/imx-manifest -b imx-linux-warrior -m imx-4.19.35-1.1.0_genivi.xml $ repo sync   4. change Weston 6.0.1 to Weston 5.0.0 $ git clone https://git.yoctoproject.org/git/meta-freescale -b zeus   then replace the wayland directory in "imx-yocto-bsp/sources/meta-fsl-bsp-release/imx/meta-bsp/recipes-graphics/wayland" with the "meta-freescale/recipes-graphics/wayland" in cloned directory.   5.image build $ DISTRO=fsl-imx-wayland MACHINE=imx8mqevk source fsl-setup-release.sh -b build-wayland   $ bitbake  meta-ivi-image    6.Error fix if you don’t change Weston, you should get the error message like so try to change the Weston to the 5.0.0 step by step $ git clone https://git.yoctoproject.org/git/meta-freescale -b zeus $ rm -rf ../sources/meta-fsl-bsp-release/imx/meta-bsp/recipes-graphics/wayland $ cp -r meta-freescale/recipes-graphics/wayland ../sources/meta-fsl-bsp-release/imx/meta-bsp/recipes-graphics   $ bitbake -c cleansstate weston $ bitbake  weston $ bitbake  meta-ivi-image     5.4.24 IMAGE   1. Create a bin folder in the home directory $ mkdir ~/bin (this step may not be needed if the bin folder already exists) $ curl https://storage.googleapis.com/git-repo-downloads/repo > ~/bin/repo $ chmod a+x ~/bin/repo   2. Add the following line to the .bashrc file to ensure that the ~/bin folder is in your PATH variable. export PATH=~/bin:$PATH   3.Yocto Project Setup $ mkdir imx-yocto-bsp $ cd imx-yocto-bsp $ repo init -u https://source.codeaurora.org/external/imx/imx-manifest -b imx-linux-zeus -m imx-5.4.24-2.1.0_genivi.xml $ repo sync   4. image build $ DISTRO=fsl-imx-wayland MACHINE=imx8mqevk source imx-setup-release.sh -b build-wayland   $ bitbake  meta-ivi-image    

    The meta layer is designed for those guys who want to use i.MX8M series SOC and Yocto system to develop AGV and Robot.    The platform includes some key components: 1, ROS1 (kinetic, melodic) and ROS2(dashing, eloquent, foxy) 2, Real-time Linux solution : Xenomai 3.1 with ipipe 5.4.47 patch 3, Industrial protocol : libmodbus, linuxptp, ros-canopen, EtherCAT(TBD) 4, Security: Enhanced OpenSSL, Enhanced GmSSL, Enhanced eCryptfs, secure key store, secure boot(TBD), SE-Linux(TBD),  Dm-verity(TBD) The first release bases on i.MX Yocto release L5.4.47 2.2.0 and You need download Linux 5.4.47_2.2.0 according to​​ https://www.nxp.com/docs/en/user-guide/IMX_YOCTO_PROJECT_USERS_GUIDE.pdf  firstly. And then you can follow the below guide to build and test ROS and Xenomai. A, clone meta-robot-platform from gitee.com git clone https://gitee.com/zxd2021-imx/meta-robot-platform.git git checkout v0.1-L5.4.47-2.2.0 B, Adding the meta-robot-platform layer to your build 1,  copy meta-robot-platform into <i.MX Yocto folder>/source 2, You should create a symbol link: setup-imx-robot.sh -> sources/meta-robot-platform/imx/meta-robot/tools/setup-imx-robot.sh C, How to build Robot image (example for i.MX8MQ EVK board) $ DISTRO=imx-robot-xwayland MACHINE=imx8mqevk source setup-imx-robot.sh -r kinetic -b imx8mqevk-robot-kinetic [or DISTRO=imx-robot-xwayland MACHINE=imx8mqevk source setup-imx-robot.sh -r melodic -b imx8mqevk-robot-melodic ] [or DISTRO=imx-robot-xwayland MACHINE=imx8mqevk source setup-imx-robot.sh -r dashing -b imx8mqevk-robot-dashing ] [or DISTRO=imx-robot-xwayland MACHINE=imx8mqevk source setup-imx-robot.sh -r eloquent -b imx8mqevk-robot-eloquent ] [or DISTRO=imx-robot-xwayland MACHINE=imx8mqevk source setup-imx-robot.sh -r foxy -b imx8mqevk-robot-foxy ] $ bitbake imx-robot-core [or bitbake imx-robot-system ] [or bitbake imx-robot-sdk ] And if you add XENOMAI_KERNEL_MODE = "cobalt" or XENOMAI_KERNEL_MODE = "mercury" in local.conf, you also can build real-time image with Xenomai by the below command: $ bitbake imx-robot-core-rt [or bitbake imx-robot-system-rt ] D, Robot image sanity testing //ROS1 Sanity Test #source /opt/ros/kinetic/setup.sh [or # source /opt/ros/melodic/setup.sh ] #echo $LD_LIBRARY_PATH #roscore & #rosnode list #rostopic list #only kinetic #rosmsg list #rosnode info /rosout //ROS2 Sanity Test #source ros_setup.sh #echo $LD_LIBRARY_PATH #ros2 topic list #ros2 msg list #only dashing #ros2 interface list #(sleep 5; ros2 topic pub /chatter std_msgs/String "data: Hello world") & #ros2 topic echo /chatter E, Xenomai sanity testing #/usr/xenomai/demo/cyclictest -p 50 -t 5 -m -n -i 1000 F, vSLAM demo You can find orb-slam2 demo under <i.MX Yocto folder>/sources/meta-robot-platform/imx/meta-robot/recipes-demo/orb-slam2. You should choose DISTRO=imx-robot-xwayland due to it depends on OpenCV with gtk+.   //////////////////////////////////////// update for Yocto L5.4.70 2.3.0  /////////////////////////////////////////////////////////// New release package meta-robot-platform-v0.2-L5.4.70-2.3.0 for Yocto release L5.4.70 2.3.0 and it supports i.MX8M series (8MQ,8MM,8MN and 8MP) and i.MX8QM/QXP.  git clone https://gitee.com/zxd2021-imx/meta-robot-platform.git git checkout v0.2-L5.4.70-2.3.0 Updating: 1, Support i.MX8QM and i.MX8QXP 2, Add ROS driver of RPLIDAR and Orbbec 3D cameras in ROS1 3, Upgrade OpenCV to 3.4.13. 4, Add imx-robot-agv image with orb-slam2 demo 5, Fix the issue which failed to create image when adding orb-slam2 6, Fix the issue which failed to create imx-robot sdk image when add package ISP and ML Note: Currently, orb-slam2 demo don't run on i.MX8MM platform due to its GPU don't support OpenGL ES3. imx-robot-sdk image is just for building ROS package on i.MX board, not  for cross-compile. You can try "bitbake imx-robot-system -c populate_sdk" to create cross-compile sdk without gmssl-bin. diff --git a/imx/meta-robot/recipes-core/images/imx-robot-system.bb b/imx/meta-robot/recipes-core/images/imx-robot-system.bb index 1991ab10..68f9ad31 100644 --- a/imx/meta-robot/recipes-core/images/imx-robot-system.bb +++ b/imx/meta-robot/recipes-core/images/imx-robot-system.bb @@ -35,7 +35,7 @@ CORE_IMAGE_EXTRA_INSTALL += " \ ${@bb.utils.contains('DISTRO_FEATURES', 'x11 wayland', 'weston-xwayland xterm', '', d)} \ ${ISP_PKGS} \ " -IMAGE_INSTALL += " clblast openblas libeigen opencv gmssl-bin" +IMAGE_INSTALL += " clblast openblas libeigen opencv" IMAGE_INSTALL += " \ ${ML_PKGS} \   //////////////////////////////////////// Update for Yocto L5.4.70 2.3.2  /////////////////////////////////////////////////////////// New release package meta-robot-platform-v0.3-L5.4.70-2.3.2 for Yocto release L5.4.70 2.3.2 .  git clone https://gitee.com/zxd2021-imx/meta-robot-platform.git git checkout v0.3-L5.4.70-2.3.2 Updated: 1, Upgrade to L5.4.70-2.3.2 2, Enable xenomai rtdm driver 3, Add NXP Software Content Register and BSP patches of i.MX8M Plus AI Robot board. Note: How to build for AI Robot board 1, DISTRO=imx-robot-wayland MACHINE=imx8mp-ddr4-ipc source setup-imx-robot.sh -r melodic -b imx8mp-ddr4-ipc-robot-melodic 2, Add BBLAYERS += " ${BSPDIR}/sources/meta-robot-platform/imx/meta-imx8mp-ai-robot " in bblayers.conf 3, bitbake imx-robot-sdk or bitbake imx-robot-agv   //////////////////////////////////////// Update for v1.0-L5.4.70-2.3.2  /////////////////////////////////////////////////////////// New release package meta-robot-platform-v1.0-L5.4.70-2.3.2 .  git clone https://gitee.com/zxd2021-imx/meta-robot-platform.git git checkout v1.0-L5.4.70-2.3.2 Updated: 1, Upgrade ROS1 Kinetic Kame to Release 2021-05-11 which is final sync. 2, Add IgH EtherCAT Master for Linux in i.MX Robot platform. //////////////////////////////////////// Update for v1.1-L5.4.70-2.3.2  /////////////////////////////////////////////////////////// New release package meta-robot-platform-v1.1-L5.4.70-2.3.2 .  git clone https://gitee.com/zxd2021-imx/meta-robot-platform.git git checkout v1.1-L5.4.70-2.3.2 Updated: 1, Add more packages passed building in ROS1 Kinetic Kame. 2, Change the board name (From IPC to AI-Robot) in Uboot and kernel for i.MX8M Plus AI Robot board. You can use the below setup command to build ROS image for AI Robot board: DISTRO=imx-robot-xwayland MACHINE=imx8mp-ai-robot source setup-imx-robot.sh -r kinetic -b imx8mp-ai-robot-robot-kinetic DISTRO=imx-robot-xwayland MACHINE=imx8mp-ai-robot source setup-imx-robot.sh -r melodic -b imx8mp-ai-robot-robot-melodic DISTRO=imx-robot-xwayland MACHINE=imx8mp-ai-robot source setup-imx-robot.sh -r dashing -b imx8mp-ai-robot-robot-dashing DISTRO=imx-robot-xwayland MACHINE=imx8mp-ai-robot source setup-imx-robot.sh -r eloquent -b imx8mp-ai-robot-robot-eloquent DISTRO=imx-robot-xwayland MACHINE=imx8mp-ai-robot source setup-imx-robot.sh -r foxy -b imx8mp-ai-robot-robot-foxy BTW, you should add BBLAYERS += " ${BSPDIR}/sources/meta-robot-platform/imx/meta-imx8mp-ai-robot " in conf/bblayers.conf.   //////////////////////////////////////// Update for v1.2-L5.4.70-2.3.3  /////////////////////////////////////////////////////////// New release package meta-robot-platform-v1.2-L5.4.70-2.3.3 .  git clone https://gitee.com/zxd2021-imx/meta-robot-platform.git git checkout v1.2-L5.4.70-2.3.3 Updated: 1, Update to Yocto release L5.4.70-2.3.3 2, Enable RTNet FEC driver, test on i.MX8M Mini EVK and i.MX8M Plus EVK. For the detailed information,  Please refer to the community post 移植实时Linux方案Xenomai到i.MX ARM64平台 (Enable Xenomai on i.MX ARM64 Platform)    //////////////////////////////////////// Update for v2.1-L5.10.52-2.1.0  /////////////////////////////////////////////////////////// New release package meta-robot-platform-v2.1-L5.10.52-2.1.0 .  git clone https://gitee.com/zxd2021-imx/meta-robot-platform.git git checkout v2.1.1-L5.10.52-2.1.0 Updated: 1, Update to Yocto release L5.10.52-2.1.0 2, Add ROS1 noetic, ROS2 galactic and rolling 3, Upgrade Xenomai to v3.2 4, Add vSLAM demo orb-slam3 5, Upgrade OpenCV to 3.4.15 for ROS1 A, Adding the meta-robot-platform layer to your build 1,  copy meta-robot-platform into <i.MX Yocto folder>/source 2, You should create a symbol link: setup-imx-robot.sh -> sources/meta-robot-platform/imx/meta-robot/tools/setup-imx-robot.sh B, How to build Robot image (example for i.MX8M Plus EVK board) $ DISTRO=imx-robot-xwayland MACHINE=imx8mpevk source setup-imx-robot.sh -r kinetic -b imx8mpevk-robot-kinetic [or DISTRO=imx-robot-xwayland MACHINE=imx8mpevk source setup-imx-robot.sh -r melodic -b imx8mpevk-robot-melodic ] [or DISTRO=imx-robot-xwayland MACHINE=imx8mpevk source setup-imx-robot.sh -r noetic-b imx8mpevk-robot-noetic] [or DISTRO=imx-robot-xwayland MACHINE=imx8mpevk source setup-imx-robot.sh -r dashing -b imx8mpevk-robot-dashing ] [or DISTRO=imx-robot-xwayland MACHINE=imx8mpevk source setup-imx-robot.sh -r eloquent -b imx8mpevk-robot-eloquent ] [or DISTRO=imx-robot-xwayland MACHINE=imx8mpevk source setup-imx-robot.sh -r foxy -b imx8mpevk-robot-foxy ] [or DISTRO=imx-robot-xwayland MACHINE=imx8mpevk source setup-imx-robot.sh -r galactic -b imx8mpevk-robot-galactic ] [or DISTRO=imx-robot-xwayland MACHINE=imx8mpevk source setup-imx-robot.sh -r rolling -b imx8mpevk-robot-rolling ] $ bitbake imx-robot-agv [or bitbake imx-robot-core ] [or bitbake imx-robot-system ] [or bitbake imx-robot-sdk ]   //////////////////////////////////////// Update for v2.2-L5.10.72-2.2.0  /////////////////////////////////////////////////////////// New release package meta-robot-platform-v2.2-L5.10.72-2.2.0 .  git clone https://gitee.com/zxd2021-imx/meta-robot-platform.git git checkout v2.2.0-L5.10.72-2.2.0 Updated: 1, Update to Yocto release L5.10.72-2.2.0   //////////////////////////////////////// Update for v2.2.3-L5.10.72-2.2.3  /////////////////////////////////////////////////////////// New release package meta-robot-platform-v2.2.3-L5.10.72-2.2.3.  repo init -u https://github.com/nxp-imx/imx-manifest -b imx-linux-hardknott -m imx-5.10.72-2.2.3.xml git clone https://gitee.com/zxd2021-imx/meta-robot-platform.git git checkout v2.2.3-L5.10.72-2.2.3 1,  copy meta-robot-platform into <i.MX Yocto folder>/source 2, You should create a symbol link: setup-imx-robot.sh -> sources/meta-robot-platform/imx/meta-robot/tools/setup-imx-robot.sh Updated: 1, Update to Yocto release L5.10.72-2.2.3 2, Update ISP SDK (isp-imx) patch for Github changing.   //////////////////////////////////////// Update for v3.1-L5.15.71-2.2.0  /////////////////////////////////////////////////////////// New release package meta-robot-platform-v3.1-L5.15.71-2.2.0.  repo init -u https://github.com/nxp-imx/imx-manifest -b imx-linux-kirkstone -m imx-5.15.71-2.2.0.xml git clone https://gitee.com/zxd2021-imx/meta-robot-platform.git git checkout v3.1-L5.15.71-2.2.0 1,  copy meta-robot-platform into <i.MX Yocto folder>/source 2, You should create a symbol link: setup-imx-robot.sh -> sources/meta-robot-platform/imx/meta-robot/tools/setup-imx-robot.sh Updated: 1, Update to Yocto release L5.15.71-2.2.0 and ROS1 Noetic and ROS2 Foxy to last version 2, Add ROS2 Humble and remove EOL distributions (ROS1 Kinetic, Melodic and ROS2 Dashing, Eloquent and Galactic). How to build Robot image (example for i.MX8M Plus EVK board) $DISTRO=imx-robot-xwayland MACHINE=imx8mpevk source setup-imx-robot.sh -r noetic-b imx8mpevk-robot-noetic [or DISTRO=imx-robot-xwayland MACHINE=imx8mpevk source setup-imx-robot.sh -r foxy -b imx8mpevk-robot-foxy ] [or DISTRO=imx-robot-xwayland MACHINE=imx8mpevk source setup-imx-robot.sh -r humble -b imx8mpevk-robot-humble ] $ bitbake imx-robot-sdk [or bitbake imx-robot-core ] [or bitbake imx-robot-system ] [or bitbake imx-robot-agv ]   //////////////////////////////////////// Update for v3.3-L5.15.71-2.2.0  /////////////////////////////////////////////////////////// New release package meta-robot-platform-v3.3-L5.15.71-2.2.0.  repo init -u https://github.com/nxp-imx/imx-manifest -b imx-linux-kirkstone -m imx-5.15.71-2.2.0.xml git clone https://gitee.com/zxd2021-imx/meta-robot-platform.git git checkout v3.3-L5.15.71-2.2.0 1,  copy meta-robot-platform into <i.MX Yocto folder>/source 2, You should create a symbol link: setup-imx-robot.sh -> sources/meta-robot-platform/imx/meta-robot/tools/setup-imx-robot.sh Updated: 1, Add vSLAM ROS demo based on i.MX vSLAM SDK and i.MX AIBot. The demo video is here: Autonomous Navigation with vSLAM, Based on the i.MX 8M Plus Applications Processor   2, Enable DDS Security and SROS2 for ROS 2’s security features. How to build Robot image (example for i.MX8M Plus EVK board) $DISTRO=imx-robot-xwayland MACHINE=imx8mpevk source setup-imx-robot.sh -r noetic-b imx8mpevk-robot-noetic [or DISTRO=imx-robot-xwayland MACHINE=imx8mpevk source setup-imx-robot.sh -r foxy -b imx8mpevk-robot-foxy ] [or DISTRO=imx-robot-xwayland MACHINE=imx8mpevk source setup-imx-robot.sh -r humble -b imx8mpevk-robot-humble ] $ bitbake imx-robot-sdk [or bitbake imx-robot-agv ] [or bitbake imx-robot-system ] [or bitbake imx-robot-core ]   //////////////////////////////////////// Update for v4.0-L6.1.55-2.2.0  /////////////////////////////////////////////////////////// New release package meta-robot-platform-v4.0-L6.1.55-2.2.0.  repo init -u https://github.com/nxp-imx/imx-manifest -b imx-linux-mickledore -m imx-6.1.55-2.2.0.xml git clone https://gitee.com/zxd2021-imx/meta-robot-platform.git git checkout mickledore-6.1.55 1,  copy meta-robot-platform into <i.MX Yocto folder>/source 2, You should create a symbol link: setup-imx-robot.sh -> sources/meta-robot-platform/imx/meta-robot/tools/setup-imx-robot.sh Updated: 1, Migrate i.MX Robot platform to Yocto mickledore with L6.1.55. 2, Add ROS2 iron. How to build Robot image (example for i.MX8M Plus EVK board) $DISTRO=imx-robot-xwayland MACHINE=imx8mpevk source setup-imx-robot.sh -r humble -b imx8mpevk-robot-humble [or DISTRO=imx-robot-xwayland MACHINE=imx8mpevk source setup-imx-robot.sh -r iron -b imx8mpevk-robot-iron ] [or DISTRO=imx-robot-xwayland MACHINE=imx8mpevk source setup-imx-robot.sh -r noetic-b imx8mpevk-robot-noetic] $ bitbake -k imx-robot-sdk [or bitbake imx-robot-agv ] [or bitbake imx-robot-system ] [or bitbake imx-robot-core ]       //////////////////////////////////////// Update for v5.0-L6.6.52-2.2.0  /////////////////////////////////////////////////////////// New release package meta-robot-platform-v5.0-L6.6.52-2.2.0.  repo init -u https://github.com/nxp-imx/imx-manifest -b imx-linux-scarthgap -m imx-6.6.52-2.2.0.xml git clone https://gitee.com/zxd2021-imx/meta-robot-platform.git -b scarthgap-6.6.52 1,  copy meta-robot-platform into <i.MX Yocto folder>/source 2, You should create a symbol link: setup-imx-robot.sh -> sources/meta-robot-platform/imx/meta-robot/tools/setup-imx-robot.sh Updated: 1, Migrate i.MX Robot platform to Yocto scarthgap with L6.6.52 and support i.MX95 EVK. 2, Add ROS2 jazzy and remove ROS1. How to build Robot image (example for i.MX95 EVK board) $DISTRO=imx-robot-xwayland MACHINE=imx95-15x15-lpddr4x-evk source setup-imx-robot.sh -r humble -b imx95-15x15-lpddr4x-evk-humble [or DISTRO=imx-robot-xwayland MACHINE=imx95-15x15-lpddr4x-evk source setup-imx-robot.sh -r jazzy -b imx95-15x15-lpddr4x-evk-jazzy ] $ bitbake -k imx-robot-sdk [or bitbake imx-robot-agv ] [or bitbake imx-robot-system ] [or bitbake imx-robot-core ]

In this doc will show how to use i.MX8QXP DPU do image warp.   SW: i.MX Linux BSP L5.4.24_2.1.0 bsp release and patch in this doc HW: i.MX8QXP MEK board, ov5640 camera, HDMI display   Introduction Image Warping is the process of digitally manipulating image data such that the image’s projection precisely matches a specific projection surface or shape.   i.MX8QXP DPU controller could do image warp work by its blit engine and display engine. I choose to enable blit engine’s fetchwarp9 unit to do warp work. Check i.MX8QXP RM, Blit Engine support Image Warp as: “Performs a re-sampling of the source image with any pattern. The sample point positions are read from a compressed coordinate buffer.” So you need prepare two input buffers, one buffer store original image data, the other buffer store resample point coordinate, DPU blit engine will read that two buffer by fetchwarp9 unit, then output result image buffer which contain warped image data. Note i.MX8QXP DPU blit engine fetchwarp9 unit, for the input original image buffer, support RGB and YUV 4:4:4 format. The resample point coordinate buffer contents is depend on what kind warp transformation in your use case; and for each resample point coordinate format check i.MX8QXP RM fecthwarp unit description as below. In this doc, using the 2xs12.4 format, each point x coordinate use (12+4) bit, same as y coordinate.   For DPU fetchwarp9 unit, to enable it work for image warp, check i.MX8QXP RM:   2.Patch notes and test code imx8-dpu-warp-kernel.diff contain the kernel side change for drm ioctl api permission and add vmap function of ion dma_buf_ops. libg2d.so contain the binary for adding warp feature. g2d.h is header file which add define for G2D_WARP and G2D_YUV4. imx8-ov5640-dpu-warp-render.c is a sample code which show how to call g2d lib to image warp, need open the G2D_WARP flag. And this code contain some example calculate the coordinate buffer of rotate, swirl, barrel distortion, affine transformation, perspective transformation, wave transformation. And this code will show read camera input frame then add warp process , then render warp image frame to display.   The test cmd usage as below, read 1080P frame from ov5640 camera, do warp then render warp image to drm plane. Note as dpu fetchwarp9 unit support YUV 4:4:4 input image frame, so below cmd need set parameter YUV4, which will ask ISI driver output YUV 4:4:4 image frame. imx8-ov5640-dpu-warp-render  -i /dev/video0 -f YUV4  -S 1920,1080  -M imx-drm -p 91:38 -F XB24  -b 6  -e g2d  -t 5         -i <video-node> set video node (default: /dev/video0)         -f <fourcc>     set input format using 4cc         -S <width,height>       set input resolution         -s <width,height>@<left,top>    set crop area         -M <drm-module> set DRM module         -o <connector_id>:<crtc_id>:<mode>      set a mode         -p <connector_id>:<crtc_id>     output to a plane         -F <fourcc>     set output format using 4cc         -t <warptype>   set 0 neutual 1 rotate 2 swirl 3 divisionmodel 4 affine 5 perpsptive 6 wave         -b buffer_count set number of buffers        3.Example original image:                     Reference: https://www.nxp.com/webapp/Download?colCode=IMX8DQXPRM https://www.nxp.com/webapp/Download?colCode=L5.4.24_2.1.0_MX8QXPC0&appType=license https://en.wikipedia.org/wiki/Image_geometry_correction https://lists.freedesktop.org/archives/dri-devel/2012-March/019778.html https://store.kde.org/p/1246558 https://github.com/ImageMagick/ImageMagick        

This is a detailed programming aid for the registers associated with i.MX 8MMini (m845S) DDR initialization.  For more details, refer to the main mScale DDR tools page: https://community.nxp.com/t5/i-MX-Processors-Knowledge-Base/i-MX-8M-Family-DDR-Tool-Release/ta-p/1104467 Please note that this page is only intended to store the RPA spreadsheets. For questions, please create a new community thread.

This is a detailed programming aid for the registers associated with i.MX 8M (m850D) DDR initialization.  For more details, refer to the main mScale DDR tools page: https://community.nxp.com/t5/i-MX-Processors-Knowledge-Base/i-MX-8M-Family-DDR-Tool-Release/ta-p/1104467 Please note that this page is only intended to store the RPA spreadsheets. For questions, please create a new community thread.

Important: If you have any questions or would like to report any issues with the DDR tools or supporting documents please create a support ticket in the i.MX community. Please note that any private messages or direct emails are not monitored and will not receive a response.   This is a detailed programming aid for the registers associated with i.MX 8/8X DDR initialization.  For more details, refer to the i.MX 8/8X main DDR tools page: https://community.nxp.com/t5/i-MX-Processors-Knowledge-Base/i-MX-8-8X-Family-DDR-Tools-Release/ta-p/1121519   To reduce the number of attachments, older RPAs may be found in the attached zip file. Note: Devices with 17-row addresses (R0-R16) are not supported by this SoC.  ***IMPORTANT: For SCFWv1.7.0 and later, you must use the following RPA versions or later: MX8QXP_C0_B0_LPDDR4_RPA_1.2GHz_v16 MX8DualX_C0_B0_LPDDR4_RPA_1.2GHz_v16 MX8QuadXPlus_DualXPlus_C0_B0_DDR3L_RPA_v22 MX8DualX_C0_B0_DDR3L_RPA_v20 Older versions of the RPA are not aligned to SCFWv1.7.0 and later.  If trying to use an older version of an RPA with SCFWv1.7.0, it will cause the SCFW not to boot.  The offending lines in the DCD output are as follows: For MX8QXP/DualX: DATA 4 0xff190000 0x00000CC8 /* DRC0 bringup */ If the user wishes to use an older RPA with SCFW 1.7.0 and later (not recommended), then the above lines must be removed from older RPA DCD file outputs.  In addition, wrapping these lines are "#ifndef SCFW_DCD", "#else", and "#endif" preprocessor commands.  These should be removed as well.  For example of MX8QXP: [remove] #ifndef SCFW_DCD [remove] -/* For 1200MHz DDR, DRC 600MHz operation */ [remove] DATA 4 0xff190000 0x00000CC8 /* DRC0 bringup */ [remove] #else <keep code as is> [remove] #endif

To enable USB 2.0 port on BB for USB OTG, you need to apply below two changes: device/fsl.git   diff --git a/imx8q/mek_8q/init.usb.rc b/imx8q/mek_8q/init.usb.rc index af4e388..0f3ab0b 100644 --- a/imx8q/mek_8q/init.usb.rc +++ b/imx8q/mek_8q/init.usb.rc @@ -44,7 +44,7 @@ on early-boot      mount functionfs mtp /dev/usb-ffs/mtp rmode=0770,fmode=0660,uid=1024,gid=1024,no_disconnect=1      mount functionfs ptp /dev/usb-ffs/ptp rmode=0770,fmode=0660,uid=1024,gid=1024,no_disconnect=1      setprop sys.usb.mtp.device_type 3 -    setprop vendor.usb.config "5b110000.usb3" +    setprop vendor.usb.config "ci_hdrc.0"      write /sys/module/libcomposite/parameters/disable_l1_for_hs "y"      symlink /config/usb_gadget/g1/configs/b.1 /config/usb_gadget/g1/os_desc/b.1   vendor/nxp-opensource/kernel_imx.git           revert below patch:           commit 2f9586c120971312e61df464264993899cf34536           Author: yang.tian <yang.tian@nxp.com>           Date:   Tue Jan 7 13:30:02 2020 +0800       MA-15242 Set usb2.0 port as usb host only for mek_8q  

The Guide is how to use Ubuntu filesystem with i.MX8 series platform.At present, I had try it on i.MX8QXP with 4.14.98 kernel with ubuntu16.04. The Document will be continuously updated with enable VPU, ubuntu18.04. The desktop we can chose Gnome or weston.  Because driver  support issue, gc7000 series gpu not support render Gnome destop but it can render weston destop.  Update 2019/7/31: Ubuntu-i.MX8-weston.pdf   Feature: weston + ubuntu18.04 + 4.14.98 kernel VPU (enable with gplay or gst-play)  GPU (could render desktop and run GPU demo under root privileges on Weston Desktop) I also try ubuntu with gnome desktop, ubuntu18.04 can not run gnome, need use ubuntu19.04. But Gnome Desktop just render by CPU.  ------------------------------------------------------------------------------------- Update 2020/3/6: Ubuntu-i.MX8M.pdf Just a simple guide for IMX8M series, will be  continuously updated. 

Multicore programming guide with Linux 3.14.52_1.1.0 and FreeRTOS BSP for i.MX 6SoloX

  Products Product Category NXP Part Number URL MPU i.MX6 Family https://www.nxp.com/products/processors-and-microcontrollers/arm-processors/i-mx-applications-processors/i-mx-6-processors:IMX6X_SERIES   Tools NXP Development Board URL i.MX6 family developement board https://www.nxp.com/design/development-boards:EVDEBRDSSYS#/collection=softwaretools&start=0&max=25&query=typeTax%3E%3Et633::archived%3E%3E0::Sub_Asset_Type%3E%3ETSP::deviceTax%3E%3Ec731_c380_c127_c126&sorting=Buy%2FSpecifications.desc&language=en&siblings=false  

Attached is an application note for iMX6 TVIN use case, some internal review was done. 2016-10-08, change it to pdf file.