We are pleased to announce that Config Tools for i.MX 26.06 are now available. Downloads & links To download the installer for all platforms, please login to our download site via:  https://www.nxp.com/design/designs/config-tools-for-i-mx-applications-processors:CONFIG-TOOLS-IMX Please refer to  Documentation  for installation and quick start guides. For further information about DDR config and validation, please go to this  blog post. Release Notes Full details on the release (features, known issues...) Version 26.06 DDR tool – NXP-validated memory configurations for multiple vendors is available System Manager – extended CLI support for a headless setting

The purpose of this document is to provide extended guidance for selection of compatible Non-Volatile Memory (NVM) devices that are supported by the Ara240 (aka Ara-2) processors. In all cases, it is strongly recommended to follow the memory layout guidelines outlined in the specific SoC requirement documents.   Manufacturer Memory Part Number Capacity Renesas NOR SPI FLASH AT25SL321-UUE-T 32Mbit (4MB) ISSI NOR SPI FLASH IS25WJ032F-JTLE-TR 32Mbit (4MB) ISSI NOR SPI FLASH IS25WP032D-JBLE 32Mbit (4MB) Winbond NOR SPI FLASH W25Q16JVSNIQ 16Mbit (2MB) Winbond NOR SPI FLASH W25Q32JWUUIQ 32Mbit (4MB) Winbond NOR SPI FLASH W25Q64JWSSIQ 64Mbit (8MB) XMC NOR SPI FLASH XM25LU64CVIQT 64Mbit (8MB)   Note 1: All memory parts are in production unless stated otherwise. Checked June 2026

Introduction.  USB is a highly efficient interface for transporting audio and voice data, offering sufficient bandwidth for applications from voice telephony to high-quality audio playback and recording. To ensure compatibility between devices, the USB Audio Class specification defines standardized mechanisms for audio transport and control, allowing audio peripherals to operate with generic drivers and minimizing platform software requirements.    For i.MX processors, this article describes how an i.MX board can function as a standard USB audio device, enabling audio data to be streamed through the USB port to a host computer. This capability is important for applications such as USB microphones, speakers, audio gateways, and voice-processing systems.   As a result, developers can efficiently implement real time audio transfer between i.MX boards and host systems using standard USB audio drivers without requiring additional proprietary interfaces.   Required equipment. i.MX95 FRDM board (this is the selected board for this post, it works for others). Debug USB-C cable. Data USB-C cable. USB-C power supply. Ethernet cable. Speakers or headphones with 3.5mm input plug. Personal computer. To start, we need to flash our Linux BSP into the board. You can build it by yourself or use the pre-built BSP to facilitate the process. This post was tested with Linux 6.18.20_2.0.0, if you have issues to flash the board, please refer to this article: Flashing Linux BSP using UUU This is how my hardware setup looks: USB gadget setup. The following script configures the board to work as an USB audio gadget in Linux. This setup allows the board to be detected as a standard audio device, enabling audio streaming over the USB connection without requiring a custom USB protocol on the host side. The script creates the USB gadget configuration, assigns the required USB descriptors, with predefined audio parameters such as 16 kHz sample rate, 32-bit sample size, and single-channel capture/playback support. This example is useful for applications such as voice capture, audio processing, USB microphones, or embedded audio demos. #!/bin/sh # USB gadget ConfigFS paths CONFIGFS=/sys/kernel/config/usb_gadget GADGET=$CONFIGFS/g1 CONFIG=$GADGET/configs/c.1 FUNCTIONS=$GADGET/functions # USB device descriptors and audio configuration VID="0x1fc9" PID="0x0330" SERIALNUMBER="0123456789" MANUFACTURER="NXP Semiconductors" PRODUCT="i.MX USB Audio Gadget" SAMPLE_RATE=16000 SAMPLE_SIZE=4 # 32-bit audio samples echo "Setting up USB gadget with the following parameters:" echo " Vendor ID: $VID" echo " Product ID: $PID" echo " Serial Number: $SERIALNUMBER" echo " Manufacturer: $MANUFACTURER" echo " Product: $PRODUCT" echo " Sample Rate: $SAMPLE_RATE Hz" function add_uac2_function() { # Create a USB Audio Class function instance mkdir $FUNCTIONS/uac2.$1 echo "$PRODUCT $1" > $FUNCTIONS/uac2.$1/function_name # c_* parameters configure USB Capture # p_* parameters configure USB Playback # Audio sample rate configuration echo $SAMPLE_RATE > $FUNCTIONS/uac2.$1/c_srate echo $SAMPLE_RATE > $FUNCTIONS/uac2.$1/p_srate # Audio sample size in bytes echo $SAMPLE_SIZE > $FUNCTIONS/uac2.$1/c_ssize echo $SAMPLE_SIZE > $FUNCTIONS/uac2.$1/p_ssize echo $2 > $FUNCTIONS/uac2.$1/c_chmask echo $3 > $FUNCTIONS/uac2.$1/p_chmask # Enable mute and volume controls visible to the USB host echo 0x1 > $FUNCTIONS/uac2.$1/c_mute_present echo 0x1 > $FUNCTIONS/uac2.$1/c_volume_present echo 0x1 > $FUNCTIONS/uac2.$1/p_mute_present echo 0x1 > $FUNCTIONS/uac2.$1/p_volume_present # Add the UAC2 function to the active USB configuration ln -s $FUNCTIONS/uac2.$1 $CONFIG } function create_config() { # Create the USB gadget device mkdir $GADGET # Set USB Vendor ID and Product ID echo $VID > $GADGET/idVendor echo $PID > $GADGET/idProduct # Standard USB string descriptors mkdir $GADGET/strings/0x409 echo $SERIALNUMBER > $GADGET/strings/0x409/serialnumber echo $MANUFACTURER > $GADGET/strings/0x409/manufacturer echo $PRODUCT > $GADGET/strings/0x409/product # Create USB configuration description mkdir -p $CONFIG/strings/0x409 echo $1 > $CONFIG/strings/0x409/configuration } # Create a UAC2 audio gadget with mono capture and mono playback create_config "UAC2" add_uac2_function "Active" 0x1 0x1 echo "Done" Clean USB gadget. If you need to free up the USB port, it is necessary to run the following script. #!/bin/sh # USB gadget ConfigFS paths CONFIGFS=/sys/kernel/config/usb_gadget GADGET=$CONFIGFS/g1 CONFIG=$GADGET/configs/c.1 FUNCTIONS=$GADGET/functions # Verify that the gadget exists before attempting cleanup if [ ! -d "$GADGET" ]; then echo "Gadget does not exist" exit 0 fi # Disconnects the gadget from the host before removal. echo "" > $GADGET/UDC 2>/dev/null # Remove UAC2 function links from the configuration rm -f $CONFIG/uac2.* 2>/dev/null # Remove UAC2 function instances rmdir $FUNCTIONS/uac2.* 2>/dev/null # Remove configuration strings and configuration directory rmdir $CONFIG/strings/0x409 2>/dev/null rmdir $CONFIG/strings 2>/dev/null rmdir $CONFIG 2>/dev/null # Remove gadget string descriptors rmdir $GADGET/strings/0x409 2>/dev/null rmdir $GADGET/strings 2>/dev/null # Remove the gadget itself rmdir $GADGET 2>/dev/null echo "Cleanup completed" Testing. Both scripts can be created into the board using nano or a similar text editor through the console but is easier to do it in your host machine and send it for example using SCP. After you created both scripts you can send them with the next command: scp <file_to_transfer> <user>@<ip_address>:<destination_path> Once you connected the Ethernet cable in any of the available RJ45 connectors in your board, you can get the IP address with the next command: ifconfig Now, in your host machine, you can go to the path where are your USB scripts and send them: scp cleanup_usb_gadget.sh root@<frdm_board_ip>:~/ scp setup_usb_gadget.sh root@<frdm_board_ip>:~/ After transfer the scripts to the board, you need to change file permissions to execute the scripts with chmod and run USB gadget setup script to configure the board as a USB audio interface. chmod u+x *_usb_gadget.sh Once this script have been executed you can see the USB port in ALSA as a sink/source device: Then, you need to connect the USB port to a host computer and will be recognized as an USB interface: You can validate that the device is working according to the configuration defined in setup script: I will use Audacity to test audio transfer from on board microphones, in Edit -> Preferences -> Audio settings select i.MX Active as recording device: Note: Use the same sample rate of setup_usb_gadget.sh configuration to avoid errors with the DAW. In the board, I will start the recording by running the following GStreamer pipeline, which captures audio from the onboard microphones and streams it through the USB port: gst-launch-1.0 alsasrc device=hw:micfilaudio,0 ! queue ! audioconvert ! audio/x-raw,channels=1,rate=16000,format=F32LE ! audioconvert ! alsasink device=hw:UAC2Gadget,0 After this configuration, add an audio track and now, is possible to get the audio and record it directly in the DAW: If you want to play audio from host PC trough the i.MX board, you need to run the next command before start the audio playback in host. Make sure that the audio card selected is not busy: gst-launch-1.0 -v alsasrc device=hw:UAC2Gadget,0 ! audio/x-raw,format=S32LE,rate=16000,channels=1 ! audioconvert ! audioresample ! audio/x-raw,format=S16LE,rate=48000,channels=2 ! audioconvert ! alsasink device=plughw:mqsaudio,0 In this case, I selected the MQS output in 3.5mm output jack, you can connect the speakers or headphones with this connector. After run the clean USB gadget script, the USB audio device is not longer detected in host PC and the board output is the next: References. USB Implementers Forum. (1998, March 18). Universal Serial Bus device class definition for audio devices (Release 1.0) [PDF]. USB-IF. https://www.usb.org/sites/default/files/audio10.pdf   

The i.MX95 EVK features an M.2 Key E slot, typically used for WiFi/BT combo cards. While plugging in a module is straightforward, understanding how the PCIe link actually comes up require diving into hardware signals, firmware initialization, and software enumeration.  In this blog, we will: - 1. Examine the M.2 Key E physical connector and identify PCIe signals on it. 2. Understand what those PCIe signals do and why are they needed? 3. What could be the possible routes while debugging PCIe in a system?

In this post, we will review the YOLO model export process for three popular NXP families: i.MX8MP, i.MX93, and i.MX95. These processors are increasingly used in edge AI applications such as smart vision, industrial automation, robotics, and intelligent HMI systems. Although they all support machine learning deployment, the export path, supported runtimes, and hardware acceleration options may differ depending on the device. The purpose of this guide is to provide a clearer starting point for developers who want to take a trained YOLO model and prepare it for execution on these i.MX platforms. Whether your workflow targets CPU, NPU. YOLO Model Export Workflow for i.MX Processors 1) Install Ultralytics Install or upgrade the Ultralytics package from PyPI: pip install -U ultralytics   2) Export the YOLO Model (TFLite INT8) Export your trained YOLO model to TensorFlow Lite (TFLite) format with INT8 quantization: yolo export model=<your_model>.pt format=saved_model quantize=8 Example: yolo export model=yolov8n.pt format=saved_model quantize=8   Notes: The model must be exported in TFLite format and fully INT8 quantized. After the export process, a directory named "<your_model>_saved_model" Inside this directory, you should use the following file as the input for the converter called "<your_model>_full_integer_quant.tflite"  This is the fully quantized INT8 model required for NPU deployment. Using any other file from the export directory may result in compatibility issues or prevent proper NPU acceleration. After obtaining the *_full_integer_quant.tflite file, you can proceed with the needed conversion workflow to generate the final model optimized for execution on the NPU. For additional valid export options, please refer to the official Ultralytics documentation: https://docs.ultralytics.com/modes/export/ At this stage: The model can run on CPU for: i.MX8MP i.MX93 i.MX95 On i.MX8MP, this TFLite model can also be deployed to the NPU using the appropriate delegate. 3) i.MX93  Compile for Ethos-U NPU (Vela) For i.MX93, an additional compilation step is required to use the Ethos-U NPU. Run the Vela compiler to convert the TFLite model into an optimized format: vela <model>.tflite --output-dir <output_folder> Notes: This step generates a model optimized for the Ethos-U NPU. The resulting output files are required for deployment using the NPU delegate on the i.MX93 platform. Please ensure that the model complies with the Ethos-U operator constraints, as only supported operations can be accelerated by the NPU. This command can be executed directly on the i.MX93 target, or alternatively by using the eIQ Toolkit (please refer to the eIQ Converter documentation for more details). 4)  i.MX95 Convert Model Using Neutron SDK For i.MX95, the model must be converted using the Neutron Converter, depending on the BSP version installed on your board. .\neutron-converter.exe ` --input "<model>.tflite" ` --target imx95 ` --output "<model_neutron>.tflite" ` --optimization-level OOpt Notes: The Neutron toolchain prepares the model for i.MX95 NPU acceleration. Supported formats and flags may vary depending on the Neutron SDK version. Always verify compatibility with your BSP release. You can check the compatibility details of the Neutron SDK in the "docs" folder of your downloaded Neutron SDK package.   5) Benchmark the Model After exporting and converting the model, you can validate performance using benchmarking tools. Typical options include: TFLite benchmark tool (CPU / delegate): benchmark_model --graph=<model>.tflite --num_threads=X 6) Results iMX8MP CPU root@imx8mpevk:~# /usr/bin/tensorflow-lite-2.19.0/examples/benchmark_model --graph=yolov8n_full_integer_quant.tflite --mum_threads=4 INFO: STARTING! WARN: Unconsumed cmdline flags: --mum_threads=4 INFO: Log parameter values verbosely: [0] INFO: Graph: [yolov8n_full_integer_quant.tflite] INFO: Signature to run: [] INFO: Loaded model yolov8n_full_integer_quant.tflite INFO: Created TensorFlow Lite XNNPACK delegate for CPU. INFO: The input model file size (MB): 3.42652 INFO: Initialized session in 86.368ms. INFO: Running benchmark for at least 1 iterations and at least 0.5 seconds but terminate if exceeding 150 seconds. INFO: count=1 curr=1029584 p5=1029584 median=1029584 p95=1029584 INFO: Running benchmark for at least 50 iterations and at least 1 seconds but terminate if exceeding 150 seconds. INFO: count=50 first=986237 curr=985536 min=983921 max=993982 avg=985863 std=1497 p5=984152 median=985947 p95=986715 INFO: Inference timings in us: Init: 86368, First inference: 1029584, Warmup (avg): 1.02958e+06, Inference (avg): 985863 INFO: Note: as the benchmark tool itself affects memory footprint, the following is only APPROXIMATE to the actual memory footprint of the model at runtime. Take the information at your discretion. INFO: Memory footprint delta from the start of the tool (MB): init=11.207 overall=40.918 root@imx8mpevk:~#   NPU root@imx8mpevk:~# /usr/bin/tensorflow-lite-2.19.0/examples/benchmark_model --graph=yolov8n_full_integer_quant.tflite --num_threads=4 --external_delegate_path=/usr/lib/libvx_delegate.so INFO: STARTING! INFO: Log parameter values verbosely: [0] INFO: Num threads: [4] INFO: Graph: [yolov8n_full_integer_quant.tflite] INFO: Signature to run: [] INFO: #threads used for CPU inference: [4] INFO: #threads used for CPU inference: [4] INFO: External delegate path: [/usr/lib/libvx_delegate.so] INFO: Loaded model yolov8n_full_integer_quant.tflite INFO: Vx delegate: allowed_cache_mode set to 0. INFO: Vx delegate: device num set to 0. INFO: Vx delegate: allowed_builtin_code set to 0. INFO: Vx delegate: error_during_init set to 0. INFO: Vx delegate: error_during_prepare set to 0. INFO: Vx delegate: error_during_invoke set to 0. INFO: EXTERNAL delegate created. INFO: Explicitly applied EXTERNAL delegate, and the model graph will be completely executed by the delegate. INFO: The input model file size (MB): 3.42652 INFO: Initialized session in 39.515ms. INFO: Running benchmark for at least 1 iterations and at least 0.5 seconds but terminate if exceeding 150 seconds. INFO: count=1 curr=16831746 p5=16831746 median=16831746 p95=16831746 INFO: Running benchmark for at least 50 iterations and at least 1 seconds but terminate if exceeding 150 seconds. INFO: count=50 first=67167 curr=67190 min=67048 max=67366 avg=67187 std=64 p5=67094 median=67184 p95=67295 INFO: Inference timings in us: Init: 39515, First inference: 16831746, Warmup (avg): 1.68317e+07, Inference (avg): 67187 INFO: Note: as the benchmark tool itself affects memory footprint, the following is only APPROXIMATE to the actual memory footprint of the model at runtime. Take the information at your discretion. INFO: Memory footprint delta from the start of the tool (MB): init=9.47266 overall=224.398 root@imx8mpevk:~# iMX93 CPU root@imx93evk:~# /usr/bin/tensorflow-lite-2.19.0/examples/benchmark_model --graph=yolov8n_full_integer_quant.tflite --num_threads=2 INFO: STARTING! INFO: Log parameter values verbosely: [0] INFO: Num threads: [2] INFO: Graph: [yolov8n_full_integer_quant.tflite] INFO: Signature to run: [] INFO: #threads used for CPU inference: [2] INFO: #threads used for CPU inference: [2] INFO: Loaded model yolov8n_full_integer_quant.tflite INFO: Created TensorFlow Lite XNNPACK delegate for CPU. INFO: The input model file size (MB): 3.42652 INFO: Initialized session in 57.963ms. INFO: Running benchmark for at least 1 iterations and at least 0.5 seconds but terminate if exceeding 150 seconds. INFO: count=3 first=247896 curr=198973 min=198973 max=247896 avg=215381 std=22991 p5=198973 median=199275 p95=247896 INFO: Running benchmark for at least 50 iterations and at least 1 seconds but terminate if exceeding 150 seconds. INFO: count=50 first=199533 curr=198880 min=197719 max=205262 avg=199032 std=1005 p5=198344 median=198886 p95=199961 INFO: Inference timings in us: Init: 57963, First inference: 247896, Warmup (avg): 215381, Inference (avg): 199032 INFO: Note: as the benchmark tool itself affects memory footprint, the following is only APPROXIMATE to the actual memory footprint of the model at runtime. Take the information at your discretion. INFO: Memory footprint delta from the start of the tool (MB): init=11.2539 overall=40.9961 root@imx93evk:~#   NPU root@imx93evk:~# /usr/bin/tensorflow-lite-2.19.0/examples/benchmark_model --graph=yolov8n_full_integer_quant_vela.tflite --num_threads=2 --external_delegate_path=/usr/lib/libethosu_delegate.so INFO: STARTING! INFO: Log parameter values verbosely: [0] INFO: Num threads: [2] INFO: Graph: [yolov8n_full_integer_quant_vela.tflite] INFO: Signature to run: [] INFO: #threads used for CPU inference: [2] INFO: #threads used for CPU inference: [2] INFO: External delegate path: [/usr/lib/libethosu_delegate.so] INFO: Loaded model yolov8n_full_integer_quant_vela.tflite INFO: Ethosu delegate: device_name set to /dev/ethosu0. INFO: Ethosu delegate: cache_file_path set to . INFO: Ethosu delegate: timeout set to 60000000000. INFO: Ethosu delegate: enable_cycle_counter set to 0. INFO: Ethosu delegate: enable_profiling set to 0. INFO: Ethosu delegate: profiling_buffer_size set to 2048. INFO: Ethosu delegate: pmu_event0 set to 0. INFO: Ethosu delegate: pmu_event1 set to 0. INFO: Ethosu delegate: pmu_event2 set to 0. INFO: Ethosu delegate: pmu_event3 set to 0. INFO: EXTERNAL delegate created. INFO: EthosuDelegate: 8 nodes delegated out of 15 nodes with 8 partitions. INFO: Explicitly applied EXTERNAL delegate, and the model graph will be partially executed by the delegate w/ 8 delegate kernels. INFO: Created TensorFlow Lite XNNPACK delegate for CPU. INFO: The input model file size (MB): 2.9511 INFO: Initialized session in 638.148ms. INFO: Running benchmark for at least 1 iterations and at least 0.5 seconds but terminate if exceeding 150 seconds. INFO: count=7 first=87215 curr=81264 min=81079 max=87215 avg=82056.4 std=2107 p5=81079 median=81187 p95=87215 INFO: Running benchmark for at least 50 iterations and at least 1 seconds but terminate if exceeding 150 seconds. INFO: count=50 first=81497 curr=81232 min=80887 max=81783 avg=81153.1 std=178 p5=80921 median=81148 p95=81497 INFO: Inference timings in us: Init: 638148, First inference: 87215, Warmup (avg): 82056.4, Inference (avg): 81153.1 INFO: Note: as the benchmark tool itself affects memory footprint, the following is only APPROXIMATE to the actual memory footprint of the model at runtime. Take the information at your discretion. INFO: Memory footprint delta from the start of the tool (MB): init=7.36328 overall=8.73828 root@imx93evk:~# iMX95 CPU root@imx95evk:~# /usr/bin/tensorflow-lite-2.19.0/examples/benchmark_model --graph=yolov8n_full_integer_quant.tflite --num_threads=6 INFO: STARTING! INFO: Log parameter values verbosely: [0] INFO: Num threads: [6] INFO: Graph: [yolov8n_full_integer_quant.tflite] INFO: Signature to run: [] INFO: #threads used for CPU inference: [6] INFO: #threads used for CPU inference: [6] INFO: Loaded model yolov8n_full_integer_quant.tflite INFO: Created TensorFlow Lite XNNPACK delegate for CPU. INFO: The input model file size (MB): 3.42652 INFO: Initialized session in 35.268ms. INFO: Running benchmark for at least 1 iterations and at least 0.5 seconds but terminate if exceeding 150 seconds. INFO: count=7 first=115073 curr=74468 min=74170 max=115073 avg=80310.4 std=14192 p5=74170 median=74581 p95=115073 INFO: Running benchmark for at least 50 iterations and at least 1 seconds but terminate if exceeding 150 seconds. INFO: count=50 first=74143 curr=74135 min=73657 max=76392 avg=74346.9 std=447 p5=73829 median=74307 p95=75020 INFO: Inference timings in us: Init: 35268, First inference: 115073, Warmup (avg): 80310.4, Inference (avg): 74346.9 INFO: Note: as the benchmark tool itself affects memory footprint, the following is only APPROXIMATE to the actual memory footprint of the model at runtime. Take the information at your discretion. INFO: Memory footprint delta from the start of the tool (MB): init=11.5195 overall=40.8867 root@imx95evk:~# NPU: root@imx95evk:~# /usr/bin/tensorflow-lite-2.19.0/examples/benchmark_model --graph=yolov8n_full_integer_quant_neutron.tflite --num_threads=6 --external_delegate_path=/usr/lib/libneutron_delegate.so INFO: STARTING! INFO: Log parameter values verbosely: [0] INFO: Num threads: [6] INFO: Graph: [yolov8n_full_integer_quant_neutron.tflite] INFO: Signature to run: [] INFO: #threads used for CPU inference: [6] INFO: #threads used for CPU inference: [6] INFO: External delegate path: [/usr/lib/libneutron_delegate.so] INFO: Loaded model yolov8n_full_integer_quant_neutron.tflite INFO: EXTERNAL delegate created. INFO: NeutronDelegate delegate: 1 nodes delegated out of 33 nodes with 1 partitions. INFO: Neutron delegate version: v1.0.0-7399a58e, zerocp enabled. INFO: Explicitly applied EXTERNAL delegate, and the model graph will be partially executed by the delegate w/ 1 delegate kernels. INFO: Created TensorFlow Lite XNNPACK delegate for CPU. INFO: The input model file size (MB): 3.20989 INFO: Initialized session in 12.756ms. INFO: Running benchmark for at least 1 iterations and at least 0.5 seconds but terminate if exceeding 150 seconds. INFO: count=17 first=31509 curr=27588 min=27555 max=31509 avg=29101.2 std=1166 p5=27555 median=29071 p95=31509 INFO: Running benchmark for at least 50 iterations and at least 1 seconds but terminate if exceeding 150 seconds. INFO: count=50 first=28068 curr=29081 min=26573 max=31340 avg=29104.1 std=1204 p5=27306 median=29141 p95=31171 INFO: Inference timings in us: Init: 12756, First inference: 31509, Warmup (avg): 29101.2, Inference (avg): 29104.1 INFO: Note: as the benchmark tool itself affects memory footprint, the following is only APPROXIMATE to the actual memory footprint of the model at runtime. Take the information at your discretion. INFO: Memory footprint delta from the start of the tool (MB): init=6.98438 overall=12.2344 root@imx95evk:~ Disclaimer: Ultralytics YOLO models have not been officially validated/supported by NXP. Therefore, compatibility with i.MX processors and their corresponding NPUs cannot be guaranteed. Some models or configurations may not work as expected depending on operator support and hardware limitations.

To simplify development on the NXP FRDM board family, new device trees have been created for the i.MX91, i.MX93, i.MX95, and i.MX8MP platforms. These device trees are intended to provide a more ready to use out of the box experience by preconfiguring the Raspberry Pi connector with the same peripheral mapping commonly expected on Raspberry Pi compatible hardware. With this approach, developers, students, and makers can use compatible expansion boards and HAT style accessories more easily, without needing to create or significantly modify additional device tree files. Instead of spending time on low level hardware description updates, users can start evaluating peripherals and building applications directly on top of the provided configurations. For convenience, this post includes a .zip package containing: The compiled device tree binaries (.dtb) The device tree source files (.dts) The kernel patch for the NXP Linux Kernel 6.18 required to integrate these changes All files are attached to this post, allowing users to easily reuse, modify, or integrate the device trees into their own projects. To configure a new device tree, compile it, and flash it onto the target, you can refer to the following guides: How to compile Linux Kernel Image and device tree using Yocto SDK Flash customized Linux Kernel Image and device tree using UUU Tool

  Overview When using the OX03C10 camera with the deserializer (X-MX95MBDESER01) on i.MX95 platforms, systems are often deployed with fewer than four cameras (e.g., single-camera evaluation setups). This guide provides best practices and configuration guidance to ensure a smooth experience when using 1–3 cameras, including correct hardware connections and software configuration.   Key Recommendations 1. Connect Cameras in Port Order For proper operation, cameras should always be connected starting from the first deserializer port, then incrementally: ✅ 1 camera → connect to Port 0 ✅ 2 cameras → connect to Port 0 and Port 1 ✅ 3 cameras → connect to Port 0, Port 1, Port 2   Avoid skipping ports (e.g., connecting only to Port 2). Note: Starting with release 6.18.20, this constraint is relaxed. However, following this order remains recommended for consistency across software versions. 2. Understand Default Resolution Behavior Resolution handling depends on the software version used: Kernel Version Supported Camera Modes ≤ 6.6.y 1920 × 1280 only ≥ 6.12.y 1920 × 1280 and 1920 × 1080   In newer versions, the system may automatically select different resolutions across components, which can lead to mismatches if not explicitly configured. Recommended Configuration Approach To ensure consistent operation across all supported resolutions, it is recommended to configure the resolution centrally in the libcamera pipeline configuration. Update config.yaml Edit the following file: /usr/share/libcamera/pipeline/nxp/neo/config.yaml Add or update the format section for your camera entity: - entity: mx95mbcam 8-0040 format: { size: [1920,1082] }   Why this is recommended ✅ Works with both 1920×1280 and 1920×1080 ✅ Avoids pipeline mismatches between camera and ISP ✅ Provides consistent behavior across applications   Summary To ensure optimal operation when using fewer than four cameras: ✔ Connect cameras starting from the first port ✔ Use sequential port order (no gaps) ✔ Prefer configuring resolution in config.yaml

As part of the patches attached with this blog, we will relay the pcie write transaction from Endpoint-A to Endpoint-B connected to iMX95FRDM PRO.   Linux-imx used - lf-6.18.2-1.0.0 Attached are the following files:-   imx95-19x19-frdm-pro-pcie0-ep-dtbs - EP A shall use the dtb built with this dtbs imx95-19x19-frdm-pro-pcie1-ep-dtbs - EP B shall use the dtb built with this dtbs rc_pcie_dma_relay.c - driver used on RC to relay pcie write from EP-A to EP-B conf_pcie0.sh - script to be executed on Endpoints A and B to configure the EPF driver //To build the dtb and relay kernel driver 1. git clone  git clone https://github.com/nxp-imx/linux-imx.git git checkout origin/lf-6.18.y 2. Copy the dtbs to arch/arm64/boot/dts/freescale/ Copy rc_pcie_dma_relay.c to drivers/pci/   3. Make the following changes as per this diff   diff --git a/arch/arm64/boot/dts/freescale/Makefile b/arch/arm64/boot/dts/freescale/Makefile index aa3cfdf1aafc..56e3db653208 100644 --- a/arch/arm64/boot/dts/freescale/Makefile +++ b/arch/arm64/boot/dts/freescale/Makefile @@@ -1205,6 +1205,16 @@ dtb-$(CONFIG_ARCH_MXC) += imx95-15x15-frdm-8mic-reve.dt    dtb-$(CONFIG_ARCH_MXC) += imx95-19x19-frdm-pro.dtb imx95-19x19-frdm-pro-aud-hat.dtb   + +dtb-$(CONFIG_ARCH_MXC) += imx95-19x19-frdm-pro-pcie0-ep.dtb +dtb-$(CONFIG_ARCH_MXC) += imx95-19x19-frdm-pro-pcie1-ep.dtb + +imx95-19x19-frdm-pro-pcie0-ep-dtbs := imx95-19x19-frdm-pro.dtb \ +                      imx95-19x19-frdm-pro-pcie0-ep.dtbo + +imx95-19x19-frdm-pro-pcie1-ep-dtbs := imx95-19x19-frdm-pro.dtb \ +                      imx95-19x19-frdm-pro-pcie1-ep.dtbo +  imx95-19x19-frdm-pro-os08a20-isp-dtbs := imx95-19x19-frdm-pro.dtb \                                          imx95-19x19-frdm-pro-os08a20.dtbo  dtb-$(CONFIG_ARCH_MXC) += imx95-19x19-frdm-pro-os08a20-isp.dtb     4. Add the following to drivers/pci/Makefile +obj-m      += rc_pcie_dma_relay.o   5. Trigger the kernel build. You will obtain rc_pcie_dma_relay.ko, imx95-19x19-frdm-pro-pcie0-ep.dtb and imx95-19x19-frdm-pro-pcie1-ep.dtb. 6. We are only using pcie0 M.2 Key M slots of Endpoint A and Endpoint B so you only need to upload this dtb to both the endpoint boards - imx95-19x19-frdm-pro-pcie0-ep.dtb and boot linux with it after passing 'iommu.passthrough=1' at uboot mmcargs. This is to disable smmu for our tests. RC will boot with the default dtb - imx95-19x19-frdm-pro.dtb 7. Connect the Endpoint-A to RC's K1 via M.2 Key M to Key M cable. Similarly connect the other Endpoint-B to other RC's K2 M.2 slot via Key M to Key M cable. 8. Execute this script on both the endpoints - ./conf_pcie0.sh 9. Then reboot the RC iMX95 FRDM Pro and ensure that you see both the endpoints:-   0000:01:00.0 and 0001:01:00.0 are the enumerated endpoints. 10. Upload rc_pcie_dma_relay.ko to the RC board and insert it like this:-  insmod rc_pcie_dma_relay.ko src_phys=0x910100000 dst_phys=0xa10100000 relay_len=0x100000 chunk_len=0x10000 you will observe similar logs on dmesg:-   [ 4949.082087] rc_pcie_dma_relay: init src=0x910100000 dst=0xa10100000 len=1048576 chunk=65536 [ 4949.082150] rc_pcie_dma_relay src_before: [0]=0xdeadbeef [1]=0xdeadbeef [2]=0xdeadbeef [3]=0xdeadbeef [ 4949.082171] rc_pcie_dma_relay dst_before: [0]=0x00000000 [1]=0x00000000 [2]=0x00000000 [3]=0x00000000 [ 4949.125779] rc_pcie_dma_relay dst_zeroed: [0]=0x00000000 [1]=0x00000000 [2]=0x00000000 [3]=0x00000000 [ 4949.141380] rc_pcie_dma_relay src_after: [0]=0xdeadbeef [1]=0xdeadbeef [2]=0xdeadbeef [3]=0xdeadbeef [ 4949.141427] rc_pcie_dma_relay dst_after: [0]=0xdeadbeef [1]=0xdeadbeef [2]=0xdeadbeef [3]=0xdeadbeef [ 4954.272981] rc_pcie_dma_relay: verify OK for 1048576 bytes [ 4954.273000] rc_pcie_dma_relay: DMA relay verify PASSED   11. Finally, via devmem5 on RC, you can verify the data of EP-A transferred to EP-B  ./devmem5 r 0xa10100000 w  

Background: This article discusses the reboot mechanism on the i.MX8MP and i.MX93 platforms. It aims to help customers understand how the reboot command works. We will discuss two different kernel versions separately.   1. Linux version : LF_6.12.34_2.1.0 The executable file for the reboot command is as follows： When the ”reboot“ command is executed, the system enters the ”do_kernel_restart()“ function and executes the reboot mechanism by determining the priority of the registered functions. Since the ”reboot.c“ file does not print out the registered functions, a print function is added to the file to identify the function that is ultimately executed.   The print output is as follows: As shown in the figure above, in version 5.12, the reboot is performed via a reset executed by psci. Continuing to trace the ”psci_sys_reset()“ function, we can see that the system sends the function ID via the PSCI interface to initiate an SMC call, instructing the underlying firmware (ATF/EL3) to perform a system reboot (typically a cold reset). The value of PSCI_0_2_FN_SYSTEM_RESET is 0x80000009   According to the Arm Power State Coordination Interface Platform Design Document, this ID represents a cold reset of the system.     2. Linux version : LF_6.18.2_1.0.0 Use the same debugging method to examine the reboot mechanism in version 6.18 As shown in the output below, in version 6.18, the system reset is triggered by the `sys_off_notify()` function. The final execution function is pca9450_i2c_restart_handler()   By examining the `pca9450_i2c_restart_handler()` function, we can see that the system writes a `SW_RST_COMMAND` value to the PMIC via I²C, where `SW_RST_COMMAND = 0x14`. According to the PMIC data sheet, 10b = Cold Reset; all voltage regulators are reset except LDO1/LDO2   Summary: Regardless of the kernel version, the `reboot` command triggers a system cold reset. The triggering mechanism has been updated in versions 6.18 and later.

As part of this brief blog, we are enabling Asymmetric Multiprocessing (AMP) boot support for the Cortex-M7 core on the i.MX8MP SoC device model in Qemu. The M7 firmware can be loaded and started from Linux running on the Cortex-A53 cores via the remoteproc framework.

Customer requirement: Use NOR boot as a backup — boot from NOR, then mount kernel, DTB, and rootfs from NAND. Test module: https://www.nxp.com/design/design-center/development-boards-and-designs/m2-nand-flash-daughter-card:M2-NAND-FLASH   Test under L6.12.49 Uboot.   1. Why Does U-Boot Source Need Modification on i.MX95? i.MX93's boot ROM initializes the SD3_XXX and SD1_XXX PADs. On the i.MX93 EVK design, SD3_XXX is routed to the M.2 connector, and SD1_XXX is connected to eMMC.   For i.MX95, the boot ROM only initializes the XSPI1_XXX PADs. The FlexSPI signals can be muxed out from SD3_XXX, but the boot ROM cannot boot from SD3_XXX.   Due to these differences, the uboot.bin flashed into NOR must have the ability to read NAND. However, the default BSP always reads from NOR, so U-Boot must be modified to activate the M.2 NAND module. 2. Flashing NAND To flash NAND, a custom UUU script must be used. Using the built-in UUU spinand flashing script is not recommended — the built-in script assumes NAND is accessible in U-Boot, but the default imx-boot uses NOR. 2.1 UUU Script uuu_version 1.2.39 # Please replace below item with actual name # @_flash_fw.bin | boot loader firmware, for i.MX8QM/QX, it's different from _flash.bin, for all other platforms, it's same as _flash.bin # @_flash.bin | boot loader file burn to NAND # @_Image | linux kernel image, zImage for arm32, Image for arm64 # @_board.dtb | board dtb file # @_initramfs.cpio.zst.uboot | initramfs # @_tee | optee image # @_rootfs.tar.zst | rootfs # This command will be run when i.MX6/7 i.MX8MM, i.MX8MQ SDP: boot -f .\imx-boot-imx95-19x19-lpddr5-evk-fspi.bin-flash_a55_flexspi # This command will be run when ROM support stream mode # i.MX8QXP, i.MX8QM, skip QSPI header SDPS: boot -f .\imx-boot-imx95-19x19-lpddr5-evk-fspi.bin-flash_a55_flexspi -skipfhdr # These commands will be run when use SPL and will be skipped if no spl # SDPU will be deprecated. please use SDPV instead of SDPU # { SDPU: delay 1000 SDPU: write -f .\imx-boot-imx95-19x19-lpddr5-evk-fspi.bin-flash_a55_flexspi -offset 0x10000 -skipfhdr SDPU: jump # } # These commands will be run when use SPL and will be skipped if no spl # if (SPL support SDPV) # { SDPV: delay 1000 SDPV: write -f .\imx-boot-imx95-19x19-lpddr5-evk-fspi.bin-flash_a55_flexspi -skipspl -skipfhdr SDPV: jump # } FB: ucmd setenv fastboot_buffer ${loadaddr} FB: download -f Image.bin FB: ucmd setenv fastboot_buffer ${fdt_addr} FB: download -f imx95-19x19-evk.dtb FB: ucmd setenv fastboot_buffer ${initrd_addr} FB: download -f fsl-image-mfgtool-initramfs-imx_mfgtools.cpio.zst.u-boot FB: ucmd setenv bootargs ${bootargs} ${mtdparts} FB: ucmd setenv fdtfile imx95-19x19-evk.dtb #FB: ucmd setenv bootargs console=ttymxc3,115200 ${mtdparts} FB: acmd ${kboot} ${loadaddr} ${initrd_addr} ${fdt_addr} FBK: ucmd cat /proc/mtd FBK: ucmd rm -f /tmp/mtd.sh FBK: ucmd cat /proc/mtd | while read dev size erase name; do mtd=`echo $dev | sed 's/mtd//;s/://'`; name=`echo $name | tr -d '"'`; echo export $name=$mtd >> /tmp/mtd.sh; done # mapping name FBK: ucmd . /tmp/mtd.sh; [ -n "${bootloader}" ] && echo export nandboot=${bootloader} >> /tmp/mtd.sh FBK: ucmd . /tmp/mtd.sh; [ -n "${kernel}" ] && echo export nandkernel=${kernel} >> /tmp/mtd.sh FBK: ucmd . /tmp/mtd.sh; [ -n "${dtb}" ] && echo export nanddtb=${dtb} >> /tmp/mtd.sh FBK: ucmd . /tmp/mtd.sh; [ -n "${rootfs}" ] && echo export nandrootfs=${rootfs} >> /tmp/mtd.sh FBK: ucmd chmod 755 /tmp/mtd.sh FBK: ucmd cat /tmp/mtd.sh FBK: ucmd mount -t debugfs debugfs /sys/kernel/debug || true # write boot loader — this partition was set to read-only in DTS during testing, skip erase for now # FBK: ucmd . /tmp/mtd.sh; flash_erase /dev/mtd${nandboot} 0 0 # FBK: ucp imx-boot-imx95-19x19-lpddr5-evk-fspi.bin-flash_a55_flexspi t:/tmp/boot # FBK: ucmd . /tmp/mtd.sh; cd /tmp; soc=`cat /sys/devices/soc0/soc_id 2>/dev/null`; pad=""; case "$soc" in MX8Q*|MX8DXL*|MX8MN*|MX8MP*) ;; *) pad="-x" ;; esac; kobs-ng init $pad -v --chip_0_device_path=/dev/mtd${nandboot} /tmp/boot # burn kernel FBK: ucmd . /tmp/mtd.sh; flash_erase /dev/mtd${nandkernel} 0 0 FBK: acmd . /tmp/mtd.sh; nandwrite -p /dev/mtd${nandkernel} - FBK: ucp Image.bin t:- FBK: sync # burn dtb FBK: ucmd . /tmp/mtd.sh; flash_erase /dev/mtd${nanddtb} 0 0 FBK: ucp imx95-19x19-evk.dtb t:/tmp/dtb FBK: ucmd . /tmp/mtd.sh; nandwrite -p /dev/mtd${nanddtb} /tmp/dtb # burn uTee # FBK: ucmd . /tmp/mtd.sh; flash_erase /dev/mtd${nandtee} 0 0 # FBK: ucp _tee t:/tmp/tee # FBK: ucmd . /tmp/mtd.sh; nandwrite -p /dev/mtd${nandtee} /tmp/tee # burn rootfs FBK: ucmd . /tmp/mtd.sh; flash_erase /dev/mtd${nandrootfs} 0 0 FBK: ucmd ubidetach /dev/ubi_ctrl -m ${nandrootfs} || true FBK: ucmd . /tmp/mtd.sh; ubiattach /dev/ubi_ctrl -m ${nandrootfs} FBK: ucmd ubimkvol /dev/ubi0 -N nandrootfs -m FBK: ucmd mkdir -p /mnt/mtd FBK: ucmd mount -t ubifs ubi0:nandrootfs /mnt/mtd FBK: acmd export EXTRACT_UNSAFE_SYMLINKS=1; tar --zstd --warning=no-timestamp -x -C /mnt/mtd FBK: ucp core-image-base-imx95-19x19-lpddr5-evk.rootfs-20260429064745.tar.zst t:- FBK: sync FBK: ucmd umount /mnt/mtd FBK: done 2.2 Linux Patch diff --git a/arch/arm64/boot/dts/freescale/imx95-19x19-evk.dts b/arch/arm64/boot/dts/freescale/imx95-19x19-evk.dts index d21335d8af84..0db2cefbab01 100644 --- a/arch/arm64/boot/dts/freescale/imx95-19x19-evk.dts +++ b/arch/arm64/boot/dts/freescale/imx95-19x19-evk.dts @@ -388,17 +388,47 @@ &flexspi1 { pinctrl-0 = <&pinctrl_flexspi1>; status = "okay"; - mt35xu01gbba: flash@0 { - compatible = "jedec,spi-nor"; - reg = <0>; - pinctrl-names = "default"; - pinctrl-0 = <&pinctrl_flexspi1_reset>; - reset-gpios = <&gpio5 11 GPIO_ACTIVE_LOW>; + W25N02KWZEIR: flash@0 { + compatible = "spi-nand"; #address-cells = <1>; #size-cells = <1>; - spi-max-frequency = <200000000>; - spi-tx-bus-width = <8>; - spi-rx-bus-width = <8>; + reg = <0>; + spi-max-frequency = <104000000>; + spi-tx-bus-width = <4>; + spi-rx-bus-width = <4>; + + partitions { + compatible = "fixed-partitions"; + #address-cells = <1>; + #size-cells = <1>; + + partition@0 { + label = "bootloader"; + reg = <0x000000 0x800000>; // 8MB + // read-only;//if you hope imx-boot read only + }; + + partition@1 { + label = "config"; + reg = <0x800000 0x800000>; //8MB + }; + + partition@2 { + label = "kernel"; + reg = <0x1000000 0x2800000>; //40MB + }; + + partition@3 { + label = "dtb"; + reg = <0x3800000 0x20000>; //128K + }; + + partition@4 { + label = "rootfs"; + reg = <0x3820000 0xFFFFFFFF>; + linux,rootfs; + }; + }; }; }; @@ -887,17 +917,12 @@ IMX95_PAD_GPIO_IO27__CAN2_RX 0x39e pinctrl_flexspi1: flexspi1grp { fsl,pins = < - IMX95_PAD_XSPI1_SS0_B__FLEXSPI1_A_SS0_B 0x3fe - IMX95_PAD_XSPI1_SCLK__FLEXSPI1_A_SCLK 0x3fe - IMX95_PAD_XSPI1_DQS__FLEXSPI1_A_DQS 0x3fe - IMX95_PAD_XSPI1_DATA0__FLEXSPI1_A_DATA_BIT0 0x3fe - IMX95_PAD_XSPI1_DATA1__FLEXSPI1_A_DATA_BIT1 0x3fe - IMX95_PAD_XSPI1_DATA2__FLEXSPI1_A_DATA_BIT2 0x3fe - IMX95_PAD_XSPI1_DATA3__FLEXSPI1_A_DATA_BIT3 0x3fe - IMX95_PAD_XSPI1_DATA4__FLEXSPI1_A_DATA_BIT4 0x3fe - IMX95_PAD_XSPI1_DATA5__FLEXSPI1_A_DATA_BIT5 0x3fe - IMX95_PAD_XSPI1_DATA6__FLEXSPI1_A_DATA_BIT6 0x3fe - IMX95_PAD_XSPI1_DATA7__FLEXSPI1_A_DATA_BIT7 0x3fe + IMX95_PAD_SD3_CMD__FLEXSPI1_A_SS0_B 0x3fe + IMX95_PAD_SD3_CLK__FLEXSPI1_A_SCLK 0x3fe + IMX95_PAD_SD3_DATA0__FLEXSPI1_A_DATA_BIT0 0x3fe + IMX95_PAD_SD3_DATA1__FLEXSPI1_A_DATA_BIT1 0x3fe + IMX95_PAD_SD3_DATA2__FLEXSPI1_A_DATA_BIT2 0x3fe + IMX95_PAD_SD3_DATA3__FLEXSPI1_A_DATA_BIT3 0x3fe >; }; 2.3 Flashing Log 2:31-182BA9E87D9840BA>Start Cmd:SDPS: boot -f .\imx-boot-imx95-19x19-lpddr5-evk-fspi.bin-flash_a55_flexspi -skipfhdr 100%2:31-182BA9E87D9840BA>Okay (5.364s) New USB Device Attached at 2:31-182BA9E87D9840BA 2:31-182BA9E87D9840BA>Start Cmd:SDPV: delay 1000 2:31-182BA9E87D9840BA>Okay (1.009s) 2:31-182BA9E87D9840BA>Start Cmd:SDPV: write -f .\imx-boot-imx95-19x19-lpddr5-evk-fspi.bin-flash_a55_flexspi -skipspl -skipfhdr 100%2:31-182BA9E87D9840BA>Okay (3.165s) 2:31-182BA9E87D9840BA>Start Cmd:SDPV: jump 100%2:31-182BA9E87D9840BA>Okay (0.017s) New USB Device Attached at 2:31-182BA9E87D9840BA 2:31-182BA9E87D9840BA>Start Cmd:FB: ucmd setenv fastboot_buffer ${loadaddr} 2:31-182BA9E87D9840BA>Okay (0.014s) 2:31-182BA9E87D9840BA>Start Cmd:FB: download -f Image.bin 2:31-182BA9E87D9840BA>Okay (1.715s) 2:31-182BA9E87D9840BA>Start Cmd:FB: ucmd setenv fastboot_buffer ${fdt_addr} 2:31-182BA9E87D9840BA>Okay (0.011s) 2:31-182BA9E87D9840BA>Start Cmd:FB: download -f imx95-19x19-evk.dtb 2:31-182BA9E87D9840BA>Okay (0.026s) 2:31-182BA9E87D9840BA>Start Cmd:FB: ucmd setenv fastboot_buffer ${initrd_addr} 2:31-182BA9E87D9840BA>Okay (0.011s) 2:31-182BA9E87D9840BA>Start Cmd:FB: download -f fsl-image-mfgtool-initramfs-imx_mfgtools.cpio.zst.u-boot 2:31-182BA9E87D9840BA>Okay (0.702s) 2:31-182BA9E87D9840BA>Start Cmd:FB: ucmd setenv bootargs ${bootargs} ${mtdparts} 2:31-182BA9E87D9840BA>Okay (0.011s) 2:31-182BA9E87D9840BA>Start Cmd:FB: ucmd setenv fdtfile imx95-19x19-evk.dtb 2:31-182BA9E87D9840BA>Okay (0.011s) 2:31-182BA9E87D9840BA>Start Cmd:FB: acmd ${kboot} ${loadaddr} ${initrd_addr} ${fdt_addr} 2:31-182BA9E87D9840BA>Okay (0.007s) New USB Device Attached at 2:31-0000000000000000 2:31-0000000000000000>Start Cmd:FBK: ucmd cat /proc/mtd dev: size erasesize name mtd0: 00800000 00020000 "bootloader" mtd1: 00800000 00020000 "config" mtd2: 02800000 00020000 "kernel" mtd3: 00020000 00020000 "dtb" mtd4: 0c7e0000 00020000 "rootfs" 2:31-0000000000000000>Okay (0.015s) 2:31-0000000000000000>Start Cmd:FBK: ucmd rm -f /tmp/mtd.sh 2:31-0000000000000000>Okay (0.007s) 2:31-0000000000000000>Start Cmd:FBK: ucmd cat /proc/mtd | while read dev size erase name; do mtd=`echo $dev | sed 's/mtd//;s/://'`; name=`echo $name | tr -d '"'`; echo export $name=$mtd >> /tmp/mtd.sh; done 2:31-0000000000000000>Okay (0.077s) 2:31-0000000000000000>Start Cmd:FBK: ucmd . /tmp/mtd.sh; [ -n "${bootloader}" ] && echo export nandboot=${bootloader} >> /tmp/mtd.sh 2:31-0000000000000000>Okay (0.006s) 2:31-0000000000000000>Start Cmd:FBK: ucmd . /tmp/mtd.sh; [ -n "${kernel}" ] && echo export nandkernel=${kernel} >> /tmp/mtd.sh 2:31-0000000000000000>Okay (0.008s) 2:31-0000000000000000>Start Cmd:FBK: ucmd . /tmp/mtd.sh; [ -n "${dtb}" ] && echo export nanddtb=${dtb} >> /tmp/mtd.sh 2:31-0000000000000000>Okay (0.006s) 2:31-0000000000000000>Start Cmd:FBK: ucmd . /tmp/mtd.sh; [ -n "${rootfs}" ] && echo export nandrootfs=${rootfs} >> /tmp/mtd.sh 2:31-0000000000000000>Okay (0.008s) 2:31-0000000000000000>Start Cmd:FBK: ucmd chmod 755 /tmp/mtd.sh 2:31-0000000000000000>Okay (0.007s) 2:31-0000000000000000>Start Cmd:FBK: ucmd cat /tmp/mtd.sh export name=dev export bootloader=0 export config=1 export kernel=2 export dtb=3 export rootfs=4 export nandboot=0 export nandkernel=2 export nanddtb=3 export nandrootfs=4 2:31-0000000000000000>Okay (0.007s) 2:31-0000000000000000>Start Cmd:FBK: ucmd mount -t debugfs debugfs /sys/kernel/debug || true 2:31-0000000000000000>Okay (0.01s) 2:31-0000000000000000>Start Cmd:FBK: ucmd . /tmp/mtd.sh; flash_erase /dev/mtd${nandkernel} 0 0 Erasing 40960 Kibyte @ 0 -- 100 % complete 2:31-0000000000000000>Okay (0.856s) 2:31-0000000000000000>Start Cmd:FBK: acmd . /tmp/mtd.sh; nandwrite -p /dev/mtd${nandkernel} - 2:31-0000000000000000>Okay (0.051s) 2:31-0000000000000000>Start Cmd:FBK: ucp Image.bin t:- 33%Writing data to block 0 at offset 0x0 Writing data to block 1 at offset 0x20000 Writing data to block 2 at offset 0x40000 Writing data to block 3 at offset 0x60000 Writing data to block 4 at offset 0x80000 Writing data to block 5 at offset 0xa0000 Writing data to block 6 at offset 0xc0000 Writing data to block 7 at offset 0xe0000 Writing data to block 8 at offset 0x100000 Writing data to block 9 at offset 0x120000 Writing data to block 10 at offset 0x140000 Writing data to block 11 at offset 0x160000 Writing data to block 12 at offset 0x180000 Writing data to block 13 at offset 0x1a0000 Writing data to block 14 at offset 0x1c0000 Writing data to block 15 at offset 0x1e0000 Writing data to block 16 at offset 0x200000 Writing data to block 17 at offset 0x220000 Writing data to block 18 at offset 0x240000 Writing data to block 19 at offset 0x260000 Writing data to block 20 at offset 0x280000 Writing data to block 21 at offset 0x2a0000 Writing data to block 22 at offset 0x2c0000 Writing data to block 23 at offset 0x2e0000 Writing data to block 24 at offset 0x300000 Writing data to block 25 at offset 0x320000 Writing data to block 26 at offset 0x340000 Writing data to block 27 at offset 0x360000 Writing data to block 28 at offset 0x380000 Writing data to block 29 at offset 0x3a0000 Writing data to block 30 at offset 0x3c0000 Writing data to block 31 at offset 0x3e0000 Writing data to block 32 at offset 0x400000 Writing data to block 33 at offset 0x420000 Writing data to block 34 at offset 0x440000 Writing data to block 35 at offset 0x460000 Writing data to block 36 at offset 0x480000 Writing data to block 37 at offset 0x4a0000 Writing data to block 38 at offset 0x4c0000 Writing data to block 39 at offset 0x4e0000 Writing data to block 40 at offset 0x500000 Writing data to block 41 at offset 0x520000 Writing data to block 42 at offset 0x540000 Writing data to block 43 at offset 0x560000 Writing data to block 44 at offset 0x580000 Writing data to block 45 at offset 0x5a0000 Writing data to block 46 at offset 0x5c0000 Writing data to block 47 at offset 0x5e0000 Writing data to block 48 at offset 0x600000 Writing data to block 49 at offset 0x620000 Writing data to block 50 at offset 0x640000 Writing data to block 51 at offset 0x660000 Writing data to block 52 at offset 0x680000 Writing data to block 53 at offset 0x6a0000 Writing data to block 54 at offset 0x6c0000 Writing data to block 55 at offset 0x6e0000 Writing data to block 56 at offset 0x700000 Writing data to block 57 at offset 0x720000 Writing data to block 58 at offset 0x740000 Writing data to block 59 at offset 0x760000 Writing data to block 60 at offset 0x780000 Writing data to block 61 at offset 0x7a0000 Writing data to block 62 at offset 0x7c0000 Writing data to block 63 at offset 0x7e0000 Writing data to block 64 at offset 0x800000 Writing data to block 65 at offset 0x820000 Writing data to block 66 at offset 0x840000 Writing data to block 67 at offset 0x860000 Writing data to block 68 at offset 0x880000 Writing data to block 69 at offset 0x8a0000 Writing data to block 70 at offset 0x8c0000 Writing data to block 71 at offset 0x8e0000 Writing data to block 72 at offset 0x900000 Writing data to block 73 at offset 0x920000 Writing data to block 74 at offset 0x940000 Writing data to block 75 at offset 0x960000 Writing data to block 76 at offset 0x980000 Writing data to block 77 at offset 0x9a0000 Writing data to block 78 at offset 0x9c0000 Writing data to block 79 at offset 0x9e0000 Writing data to block 80 at offset 0xa00000 Writing data to block 81 at offset 0xa20000 Writing data to block 82 at offset 0xa40000 Writing data to block 83 at offset 0xa60000 Writing data to block 84 at offset 0xa80000 Writing data to block 85 at offset 0xaa0000 Writing data to block 86 at offset 0xac0000 Writing data to block 87 at offset 0xae0000 Writing data to block 88 at offset 0xb00000 Writing data to block 89 at offset 0xb20000 Writing data to block 90 at offset 0xb40000 Writing data to block 91 at offset 0xb60000 Writing data to block 92 at offset 0xb80000 65%t offset 0xba0000k 93 a Writing data to block 94 at offset 0xbc0000 Writing data to block 95 at offset 0xbe0000 Writing data to block 96 at offset 0xc00000 Writing data to block 97 at offset 0xc20000 Writing data to block 98 at offset 0xc40000 Writing data to block 99 at offset 0xc60000 Writing data to block 100 at offset 0xc80000 Writing data to block 101 at offset 0xca0000 Writing data to block 102 at offset 0xcc0000 Writing data to block 103 at offset 0xce0000 Writing data to block 104 at offset 0xd00000 Writing data to block 105 at offset 0xd20000 Writing data to block 106 at offset 0xd40000 Writing data to block 107 at offset 0xd60000 Writing data to block 108 at offset 0xd80000 Writing data to block 109 at offset 0xda0000 Writing data to block 110 at offset 0xdc0000 Writing data to block 111 at offset 0xde0000 Writing data to block 112 at offset 0xe00000 Writing data to block 113 at offset 0xe20000 Writing data to block 114 at offset 0xe40000 Writing data to block 115 at offset 0xe60000 Writing data to block 116 at offset 0xe80000 Writing data to block 117 at offset 0xea0000 Writing data to block 118 at offset 0xec0000 Writing data to block 119 at offset 0xee0000 Writing data to block 120 at offset 0xf00000 Writing data to block 121 at offset 0xf20000 Writing data to block 122 at offset 0xf40000 Writing data to block 123 at offset 0xf60000 Writing data to block 124 at offset 0xf80000 Writing data to block 125 at offset 0xfa0000 Writing data to block 126 at offset 0xfc0000 Writing data to block 127 at offset 0xfe0000 Writing data to block 128 at offset 0x1000000 Writing data to block 129 at offset 0x1020000 Writing data to block 130 at offset 0x1040000 Writing data to block 131 at offset 0x1060000 Writing data to block 132 at offset 0x1080000 Writing data to block 133 at offset 0x10a0000 Writing data to block 134 at offset 0x10c0000 Writing data to block 135 at offset 0x10e0000 Writing data to block 136 at offset 0x1100000 Writing data to block 137 at offset 0x1120000 Writing data to block 138 at offset 0x1140000 Writing data to block 139 at offset 0x1160000 Writing data to block 140 at offset 0x1180000 Writing data to block 141 at offset 0x11a0000 Writing data to block 142 at offset 0x11c0000 Writing data to block 143 at offset 0x11e0000 Writing data to block 144 at offset 0x1200000 Writing data to block 145 at offset 0x1220000 Writing data to block 146 at offset 0x1240000 Writing data to block 147 at offset 0x1260000 Writing data to block 148 at offset 0x1280000 Writing data to block 149 at offset 0x12a0000 Writing data to block 150 at offset 0x12c0000 Writing data to block 151 at offset 0x12e0000 Writing data to block 152 at offset 0x1300000 Writing data to block 153 at offset 0x1320000 Writing data to block 154 at offset 0x1340000 Writing data to block 155 at offset 0x1360000 Writing data to block 156 at offset 0x1380000 Writing data to block 157 at offset 0x13a0000 Writing data to block 158 at offset 0x13c0000 Writing data to block 159 at offset 0x13e0000 Writing data to block 160 at offset 0x1400000 Writing data to block 161 at offset 0x1420000 Writing data to block 162 at offset 0x1440000 Writing data to block 163 at offset 0x1460000 Writing data to block 164 at offset 0x1480000 Writing data to block 165 at offset 0x14a0000 Writing data to block 166 at offset 0x14c0000 Writing data to block 167 at offset 0x14e0000 Writing data to block 168 at offset 0x1500000 Writing data to block 169 at offset 0x1520000 Writing data to block 170 at offset 0x1540000 Writing data to block 171 at offset 0x1560000 Writing data to block 172 at offset 0x1580000 Writing data to block 173 at offset 0x15a0000 Writing data to block 174 at offset 0x15c0000 Writing data to block 175 at offset 0x15e0000 Writing data to block 176 at offset 0x1600000 Writing data to block 177 at offset 0x1620000 Writing data to block 178 at offset 0x1640000 Writing data to block 179 at offset 0x1660000 Writing data to block 180 at offset 0x1680000 Writing data to block 181 at offset 0x16a0000 Writing data to block 182 at offset 0x16c0000 97%3 at offset 0x16e0000 Writing data to block 184 at offset 0x1700000 Writing data to block 185 at offset 0x1720000 Writing data to block 186 at offset 0x1740000 Writing data to block 187 at offset 0x1760000 Writing data to block 188 at offset 0x1780000 Writing data to block 189 at offset 0x17a0000 Writing data to block 190 at offset 0x17c0000 Writing data to block 191 at offset 0x17e0000 Writing data to block 192 at offset 0x1800000 Writing data to block 193 at offset 0x1820000 Writing data to block 194 at offset 0x1840000 Writing data to block 195 at offset 0x1860000 Writing data to block 196 at offset 0x1880000 Writing data to block 197 at offset 0x18a0000 Writing data to block 198 at offset 0x18c0000 Writing data to block 199 at offset 0x18e0000 Writing data to block 200 at offset 0x1900000 Writing data to block 201 at offset 0x1920000 Writing data to block 202 at offset 0x1940000 Writing data to block 203 at offset 0x1960000 Writing data to block 204 at offset 0x1980000 Writing data to block 205 at offset 0x19a0000 Writing data to block 206 at offset 0x19c0000 Writing data to block 207 at offset 0x19e0000 Writing data to block 208 at offset 0x1a00000 Writing data to block 209 at offset 0x1a20000 Writing data to block 210 at offset 0x1a40000 Writing data to block 211 at offset 0x1a60000 Writing data to block 212 at offset 0x1a80000 Writing data to block 213 at offset 0x1aa0000 Writing data to block 214 at offset 0x1ac0000 Writing data to block 215 at offset 0x1ae0000 Writing data to block 216 at offset 0x1b00000 Writing data to block 217 at offset 0x1b20000 Writing data to block 218 at offset 0x1b40000 Writing data to block 219 at offset 0x1b60000 Writing data to block 220 at offset 0x1b80000 Writing data to block 221 at offset 0x1ba0000 Writing data to block 222 at offset 0x1bc0000 Writing data to block 223 at offset 0x1be0000 Writing data to block 224 at offset 0x1c00000 Writing data to block 225 at offset 0x1c20000 Writing data to block 226 at offset 0x1c40000 Writing data to block 227 at offset 0x1c60000 Writing data to block 228 at offset 0x1c80000 Writing data to block 229 at offset 0x1ca0000 Writing data to block 230 at offset 0x1cc0000 Writing data to block 231 at offset 0x1ce0000 Writing data to block 232 at offset 0x1d00000 Writing data to block 233 at offset 0x1d20000 Writing data to block 234 at offset 0x1d40000 Writing data to block 235 at offset 0x1d60000 Writing data to block 236 at offset 0x1d80000 Writing data to block 237 at offset 0x1da0000 Writing data to block 238 at offset 0x1dc0000 Writing data to block 239 at offset 0x1de0000 Writing data to block 240 at offset 0x1e00000 Writing data to block 241 at offset 0x1e20000 Writing data to block 242 at offset 0x1e40000 Writing data to block 243 at offset 0x1e60000 Writing data to block 244 at offset 0x1e80000 Writing data to block 245 at offset 0x1ea0000 Writing data to block 246 at offset 0x1ec0000 Writing data to block 247 at offset 0x1ee0000 Writing data to block 248 at offset 0x1f00000 Writing data to block 249 at offset 0x1f20000 Writing data to block 250 at offset 0x1f40000 Writing data to block 251 at offset 0x1f60000 Writing data to block 252 at offset 0x1f80000 Writing data to block 253 at offset 0x1fa0000 Writing data to block 254 at offset 0x1fc0000 Writing data to block 255 at offset 0x1fe0000 Writing data to block 256 at offset 0x2000000 Writing data to block 257 at offset 0x2020000 Writing data to block 258 at offset 0x2040000 Writing data to block 259 at offset 0x2060000 Writing data to block 260 at offset 0x2080000 Writing data to block 261 at offset 0x20a0000 Writing data to block 262 at offset 0x20c0000 Writing data to block 263 at offset 0x20e0000 Writing data to block 264 at offset 0x2100000 Writing data to block 265 at offset 0x2120000 Writing data to block 266 at offset 0x2140000 Writing data to block 267 at offset 0x2160000 Writing data to block 268 at offset 0x2180000 Writing data to block 269 at offset 0x21a0000 Writing data to block 270 at offset 0x21c0000 Writing data to block 271 at offset 0x21e0000 100%2:31-0000000000000000>Okay (13.24s) 2:31-0000000000000000>Start Cmd:FBK: sync at offset 0x2200000 Writing data to block 273 at offset 0x2220000 Writing data to block 274 at offset 0x2240000 Writing data to block 275 at offset 0x2260000 Writing data to block 276 at offset 0x2280000 2:31-0000000000000000>Okay (0.038s) 2:31-0000000000000000>Start Cmd:FBK: ucmd . /tmp/mtd.sh; flash_erase /dev/mtd${nanddtb} 0 0 Erasing 128 Kibyte @ 0 -- 100 % complete 2:31-0000000000000000>Okay (0.015s) 2:31-0000000000000000>Start Cmd:FBK: ucp imx95-19x19-evk.dtb t:/tmp/dtb 100%2:31-0000000000000000>Okay (0.015s) 2:31-0000000000000000>Start Cmd:FBK: ucmd . /tmp/mtd.sh; nandwrite -p /dev/mtd${nanddtb} /tmp/dtb Writing data to block 0 at offset 0x0 2:31-0000000000000000>Okay (0.047s) 2:31-0000000000000000>Start Cmd:FBK: ucmd . /tmp/mtd.sh; flash_erase /dev/mtd${nandrootfs} 0 0 Erasing 204672 Kibyte @ 0 -- 100 % complete 2:31-0000000000000000>Okay (4.231s) 2:31-0000000000000000>Start Cmd:FBK: ucmd ubidetach /dev/ubi_ctrl -m ${nandrootfs} || true 2:31-0000000000000000>Okay (0.019s) 2:31-0000000000000000>Start Cmd:FBK: ucmd . /tmp/mtd.sh; ubiattach /dev/ubi_ctrl -m ${nandrootfs} UBI device number 0, total 1599 LEBs (203034624 bytes, 193.6 MiB), available 1555 LEBs (197447680 bytes, 188.3 MiB), LEB size 126976 bytes (124.0 KiB) 2:31-0000000000000000>Okay (0.384s) 2:31-0000000000000000>Start Cmd:FBK: ucmd ubimkvol /dev/ubi0 -N nandrootfs -m Set volume size to 197447680 Volume ID 0, size 1555 LEBs (197447680 bytes, 188.3 MiB), LEB size 126976 bytes (124.0 KiB), dynamic, name "nandrootfs", alignment 1 2:31-0000000000000000>Okay (0.051s) 2:31-0000000000000000>Start Cmd:FBK: ucmd mkdir -p /mnt/mtd 2:31-0000000000000000>Okay (0.008s) 2:31-0000000000000000>Start Cmd:FBK: ucmd mount -t ubifs ubi0:nandrootfs /mnt/mtd 2:31-0000000000000000>Okay (0.204s) 2:31-0000000000000000>Start Cmd:FBK: acmd export EXTRACT_UNSAFE_SYMLINKS=1; tar --zstd --warning=no-timestamp -x -C /mnt/mtd 2:31-0000000000000000>Okay (0.052s) 2:31-0000000000000000>Start Cmd:FBK: ucp core-image-base-imx95-19x19-lpddr5-evk.rootfs-20260429064745.tar.zst t:- 100%2:31-0000000000000000>Okay (192.3s) 2:31-0000000000000000>Start Cmd:FBK: sync   3. Flashing NOR The bootloader flashed to NOR must use the newly added imx95_19x19_evk_spinand_defconfig . Therefore, imx95-evk.inc must be modified to enable this. 3.1 UUU Script uuu_version 1.2.39 # @_flexspi.bin | bootloader # @_image [_flexspi.bin] | image burn to flexspi, default is the same as bootloader # This command will be run when i.MX6/7 i.MX8MM, i.MX8MQ SDP: boot -f .\imx-boot-nor.bin-flash_a55_flexspi # This command will be run when ROM support stream mode # i.MX8QXP, i.MX8QM, skip QSPI header SDPS: boot -f .\imx-boot-nor.bin-flash_a55_flexspi -skipfhdr # These commands will be run when use SPL and will be skipped if no spl # SDPU will be deprecated. please use SDPV instead of SDPU # { SDPU: delay 1000 SDPU: write -f .\imx-boot-nor.bin-flash_a55_flexspi -offset 0x10000 -skipfhdr SDPU: jump # } # These commands will be run when use SPL and will be skipped if no spl # if (SPL support SDPV) # { SDPV: delay 1000 SDPV: write -f .\imx-boot-nor.bin-flash_a55_flexspi -skipspl -skipfhdr SDPV: jump # } #######################second################################# FB: ucmd setenv fastboot_buffer ${loadaddr} FB: download -f .\imx-boot-imx95-19x19-lpddr5-evk-fspi.bin-flash_a55_flexspi FB: ucmd if test ! -n "$fastboot_bytes"; then setenv fastboot_bytes $filesize; else true; fi # Check Image if include flexspi header FB: ucmd if qspihdr dump ${fastboot_buffer}; then setenv qspihdr_exist yes; else setenv qspihdr_exist no; fi; # Check Image size if larger than 16M, then use uboot command to write image FB: ucmd if itest ${fastboot_bytes} -gt 1000000; then setenv qspihdr_large yes; else setenv qspihdr_large no; fi; FB[-t 60000]: ucmd if test ${qspihdr_exist} = yes -a ${qspihdr_large} = no; then qspihdr init ${fastboot_buffer} ${fastboot_bytes} safe; else true; fi; #if uboot can't support qspihdr command, use uboot image to write qspi image, which require image include qspi flash header FB: ucmd if test ${qspihdr_exist} = no; then sf probe; else true; fi; FB[-t 40000]: ucmd if test ${qspihdr_exist} = no; then sf erase 0 +${fastboot_bytes}; else true; fi; FB[-t 20000]: ucmd if test ${qspihdr_exist} = no; then sf write ${fastboot_buffer} 0 ${fastboot_bytes}; else true; fi; # if Image is larger than 16M, use uboot command to write image FB: ucmd if test ${qspihdr_large} = yes; then sf probe; else true; fi; FB: write -f .\imx-boot-imx95-19x19-lpddr5-evk-fspi.bin-flash_a55_flexspi -format "if test ${qspihdr_large} = yes; then sf erase @off +@size; sf write ${fastboot_buffer} @off @size; else true; fi;" -blksz 1 -each 0x100000 FB: done   3.2 U-Boot Patches The functionality implemented is: in the SPL stage, activate NOR FLASH (this is the default code setting), so that uboot.bin can be read from NOR during the SPL stage; then upon entering U-Boot, override the pinctrl settings in the DTB so that the FlexSPI driver uses the NAND pins, and then bring up the NAND on the M.2 connector during U-Boot initialization. imx95_19x19_evk_spinand_defconfig is based on the FSPI defconfig with MTD NAND configuration enabled in U-Boot. diff --git a/arch/arm/dts/imx95-19x19-evk-u-boot.dtsi b/arch/arm/dts/imx95-19x19-evk-u-boot.dtsi index 3c0c2d7b0f2..0d8fb0c3978 100644 --- a/arch/arm/dts/imx95-19x19-evk-u-boot.dtsi +++ b/arch/arm/dts/imx95-19x19-evk-u-boot.dtsi @@ -182,3 +182,7 @@ assigned-clock-parents = <0>, <&scmi_clk IMX95_CLK_HSIOPLL_VCO>, <&scmi_clk IMX95_CLK_SYSPLL1_PFD1_DIV2>; }; + +#ifdef CONFIG_MTD_SPI_NAND +#include "imx95-19x19-evk-spinand.dtsi" +#endif \ No newline at end of file diff --git a/board/freescale/imx95_evk/imx95_evk.c b/board/freescale/imx95_evk/imx95_evk.c index 9790c610ac7..333e051c090 100644 --- a/board/freescale/imx95_evk/imx95_evk.c +++ b/board/freescale/imx95_evk/imx95_evk.c @@ -22,6 +22,8 @@ #include <i2c.h> #include <dm/uclass.h> #include <dm/uclass-internal.h> +#include <dm.h> +#include <dm/device.h> extern int board_fix_fdt_fuse(void *fdt); @@ -383,6 +385,25 @@ void netc_init(void) pci_init(); } +static void flexspi_nor_fixup(void) +{ + struct gpio_desc desc; + int ret; + + ret = dm_gpio_lookup_name("GPIO5_10", &desc); + if (ret) + return; + + ret = dm_gpio_request(&desc, "XSPI1_SS0_B"); + if (ret) + return; + + dm_gpio_set_dir_flags(&desc, GPIOD_IS_OUT); + dm_gpio_set_value(&desc, 1); + + printf("flexspi_nor_fixup\n"); +} + static void flexspi_nor_steup(void) { struct gpio_desc desc; @@ -453,6 +474,78 @@ void lvds_backlight_on(void) dm_i2c_write(dev, 0x8, &reg, 1); } +static int fdt_switch_flexspi_pinctrl_to_nand(void *fdt) +{ + int off; + const void *prop; + int len; + int ret; + const char *flexspi_path = "/soc/bus@42000000/spi@425e0000"; + + off = fdt_path_offset(fdt, flexspi_path); + if (off < 0) { + printf("FDT: failed to find flexspi node %s, err=%d\n", + flexspi_path, off); + return off; + } + + prop = fdt_getprop(fdt, off, "pinctrl-1", &len); + if (!prop || len <= 0) { + printf("FDT: no pinctrl-1 found under %s\n", flexspi_path); + return -FDT_ERR_NOTFOUND; + } + + ret = fdt_setprop(fdt, off, "pinctrl-0", prop, len); + if (ret < 0) { + printf("FDT: failed to overwrite pinctrl-0, err=%d\n", ret); + return ret; + } + + printf("FDT: switched %s pinctrl-0 <- pinctrl-1 (NAND)\n", + flexspi_path); + + return 0; +} + +static void delete_fdt_flash0(void *fdt) +{ + int i = 0; + int nodeoff, ret; + static const char * const spi_nodes[] = { + "/soc/bus@42000000/spi@425e0000/flash@0" + }; + + printf("delete_fdt_flash0\n"); + + for (i = 0; i < ARRAY_SIZE(spi_nodes); i++) { + nodeoff = fdt_path_offset(fdt, spi_nodes[i]); + if (nodeoff >= 0) { +delete_node: + ret = fdt_del_node(fdt, nodeoff); + if (ret == -FDT_ERR_NOSPACE) { + ret = fdt_increase_size(fdt, 512); + if (!ret) { + nodeoff = fdt_path_offset(fdt, spi_nodes[i]); + if (nodeoff >= 0) + goto delete_node; + } + } + + if (ret) + printf("failed to delete node %s, ret=%d\n", + spi_nodes[i], ret); + else + printf("deleted node %s\n", spi_nodes[i]); + } + } +} + +static void fdt_fixup_flexspi(void *fdt) +{ + delete_fdt_flash0(fdt); + fdt_switch_flexspi_pinctrl_to_nand(fdt); +} + int board_init(void) { int ret; @@ -475,17 +568,50 @@ int board_init(void) netc_init(); - flexspi_nor_steup(); + // avoid NAND erase affect NOR with same FLEXSPI1_A_SS0_B + flexspi_nor_fixup(); power_on_m7("mx95evkrpmsg"); + printf("board_init\n"); + lvds_backlight_on(); return 0; } +static void debug_probe_fspi_nand(void) +{ + struct udevice *bus; + struct udevice *child; + int ret; + + printf("debug_probe_fspi_nand: start\n"); + + ret = uclass_get_device_by_name(UCLASS_SPI, "spi@425e0000", &bus); + printf("get spi bus ret=%d, bus=%p\n", ret, bus); + if (ret) + return; + + ret = device_probe(bus); + printf("probe spi bus ret=%d\n", ret); + + child = NULL; + device_find_first_child(bus, &child); + while (child) { + printf("child name=%s\n", child->name); + ret = device_probe(child); + printf("probe child %s ret=%d\n", child->name, ret); + device_find_next_child(&child); + } + + printf("debug_probe_fspi_nand: done\n"); +} + int board_late_init(void) { + printf("board_late_init\n"); + debug_probe_fspi_nand(); if (IS_ENABLED(CONFIG_ENV_IS_IN_MMC)) board_late_mmc_env_init(); @@ -645,6 +771,8 @@ static int board_fix_19x19_evk(void *fdt) int ret; const char *netcfg = "mx95netc"; + fdt_fixup_flexspi(fdt); + ret = scmi_misc_cfginfo(&msel, cfgname); if (!ret) { debug("SM: %s\n", cfgname); diff --git a/drivers/spi/nxp_fspi.c b/drivers/spi/nxp_fspi.c index 078b97f6544..07fb96cbfcc 100644 --- a/drivers/spi/nxp_fspi.c +++ b/drivers/spi/nxp_fspi.c @@ -1177,6 +1177,7 @@ static int nxp_fspi_default_setup(struct nxp_fspi *f) static int nxp_fspi_probe(struct udevice *bus) { + printf("------------>nxp_fspi_probe\n"); struct nxp_fspi *f = dev_get_priv(bus); f->devtype_data = @@ -1241,6 +1242,7 @@ static int nxp_fspi_of_to_plat(struct udevice *bus) #if CONFIG_IS_ENABLED(CLK) int ret; #endif + printf("------------>nxp_fspi_of_to_plat\n"); fdt_addr_t iobase; fdt_addr_t iobase_size; diff --git a/dts/upstream/src/arm64/freescale/imx95-19x19-evk.dts b/dts/upstream/src/arm64/freescale/imx95-19x19-evk.dts index 6086cb7fa5a..10e9f76c5af 100644 --- a/dts/upstream/src/arm64/freescale/imx95-19x19-evk.dts +++ b/dts/upstream/src/arm64/freescale/imx95-19x19-evk.dts @@ -194,11 +194,12 @@ }; &flexspi1 { - pinctrl-names = "default"; + pinctrl-names = "default", "nand"; pinctrl-0 = <&pinctrl_flexspi1>; + pinctrl-1 = <&pinctrl_flexspi1_nand>; status = "okay"; - flash@0 { + flash0: flash@0 { compatible = "jedec,spi-nor"; reg = <0>; pinctrl-names = "default"; @@ -445,6 +446,18 @@ >; }; + pinctrl_flexspi1_nand: flexspi1nandgrp { + fsl,pins = < + IMX95_PAD_XSPI1_SS0_B__GPIO5_IO_BIT10 0x3fe + IMX95_PAD_SD3_CMD__FLEXSPI1_A_SS0_B 0x3fe + IMX95_PAD_SD3_CLK__FLEXSPI1_A_SCLK 0x3fe + IMX95_PAD_SD3_DATA0__FLEXSPI1_A_DATA_BIT0 0x3fe + IMX95_PAD_SD3_DATA1__FLEXSPI1_A_DATA_BIT1 0x3fe + IMX95_PAD_SD3_DATA2__FLEXSPI1_A_DATA_BIT2 0x3fe + IMX95_PAD_SD3_DATA3__FLEXSPI1_A_DATA_BIT3 0x3fe + >; + }; + pinctrl_flexspi1_reset: flexspi1-reset-grp { fsl,pins = < IMX95_PAD_XSPI1_SS1_B__GPIO5_IO_BIT11 0x3fe   3.3 imx95-evk.inc Content require conf/machine/include/imx-base.inc require conf/machine/include/arm/armv8-2a/tune-cortexa55.inc MACHINE_FEATURES += "pci wifi bluetooth optee" MACHINE_FEATURES:append:use-nxp-bsp = " nxpwifi-all-pcie nxpwifi-all-sdio jailhouse dpdk xen" KERNEL_DEVICETREE = " \ freescale/${KERNEL_DEVICETREE_BASENAME}.dtb \ " UBOOT_DTB_NAME = "${KERNEL_DEVICETREE_BASENAME}.dtb" IMX_DEFAULT_BOOTLOADER:use-nxp-bsp = "u-boot-imx" IMX_DEFAULT_BOOTLOADER:use-mainline-bsp = "u-boot-fslc" LOADADDR = "" UBOOT_SUFFIX = "bin" UBOOT_MAKE_TARGET = "" SPL_BINARY = "spl/u-boot-spl.bin" UBOOT_CONFIG ??= "sd" UBOOT_CONFIG[sd] = "${UBOOT_CONFIG_BASENAME}_defconfig,sdcard" UBOOT_CONFIG[sd-ecc] = "${UBOOT_CONFIG_BASENAME}_defconfig,sdcard" UBOOT_CONFIG[fspi] = "${UBOOT_CONFIG_BASENAME}_spinand_defconfig"///////////////////here UBOOT_CONFIG[spinand] = "${UBOOT_CONFIG_BASENAME}_spinand_defconfig"////////////////here ATF_PLATFORM = "imx95" OEI_CORE = "m33" OEI_SOC = "mx95" OEI_BOARD ?= "mx95lp5" DDR_TYPE ?= "lpddr5" IMXBOOT_VARIANTS = "alt jailhouse netc rpmsg sof" # Multiple system manager configs by IMXBOOT_VARIANT SYSTEM_MANAGER_CONFIG = \ "${@bb.utils.contains('IMXBOOT_VARIANT', 'alt', 'mx95alt', \ bb.utils.contains('IMXBOOT_VARIANT', 'jailhouse', 'mx95evkjailhouse', \ bb.utils.contains('IMXBOOT_VARIANT', 'netc', 'mx95netc', \ bb.utils.contains('IMXBOOT_VARIANT', 'rpmsg', 'mx95evkrpmsg', \ bb.utils.contains('IMXBOOT_VARIANT', 'sof', 'mx95evksof', \ 'mx95evk', d), d), d), d), d)}" # imx-boot (flash.bin) targets based on UBOOT_CONFIG and IMXBOOT_VARIANT IMXBOOT_TARGETS_SD = " \ ${@bb.utils.contains('IMXBOOT_VARIANT', 'alt', '${IMXBOOT_TARGETS_BASENAME}_alt', \ bb.utils.contains('IMXBOOT_VARIANT', 'jailhouse', '${IMXBOOT_TARGETS_BASENAME}_jailhouse', \ bb.utils.contains('IMXBOOT_VARIANT', 'netc', '${IMXBOOT_TARGETS_BASENAME}_netc', \ bb.utils.contains('IMXBOOT_VARIANT', 'rpmsg', '${IMXBOOT_TARGETS_BASENAME}_lpboot_sm_a55', \ bb.utils.contains('IMXBOOT_VARIANT', 'sof', '${IMXBOOT_TARGETS_BASENAME}_a55', \ '${IMXBOOT_TARGETS_BASENAME}_all ${IMXBOOT_TARGETS_BASENAME}_a55', d), d), d), d), d)} \ " IMXBOOT_TARGETS = " \ ${@bb.utils.contains('UBOOT_CONFIG', 'fspi', '${IMXBOOT_TARGETS_BASENAME}_a55_flexspi', \ bb.utils.contains('UBOOT_CONFIG', 'sd-ecc', '${IMXBOOT_TARGETS_BASENAME}_all', \ '${IMXBOOT_TARGETS_SD}', d), d)} \ " IMX_BOOT_SOC_TARGET = "iMX95" IMX_BOOT_SEEK = "32" # We have to disable SERIAL_CONSOLE due to auto-serial-console SERIAL_CONSOLES = "115200;ttyLP0" IMX_DEFAULT_BSP = "nxp"   4. NOR Boot Test After NOR boot, U-Boot activates the NAND on the M.2 connector, successfully reads the kernel and device tree from NAND. After entering the kernel, the rootfs is successfully mounted. U-Boot SPL 2025.04-g4ddbad60eff3-dirty (Mar 19 2026 - 03:13:58 +0000) SYS Boot reason: por, origin: -1, errid: -1 SYS shutdown reason: por, origin: -1, errid: -1 Normal Boot Trying to boot from SPI ------------>nxp_fspi_of_to_plat ------------>nxp_fspi_probe Boot stage: Primary Image set: 0, offset: 0x1000 Load image from QSPI 0xde400------------------------------->NOR BOOT NOTICE: BL31: v2.12.0(release):lf-6.12.49-2.2.0 NOTICE: BL31: Built : 10:35:59, Apr 21 2026 U-Boot 2025.04-g4ddbad60eff3-dirty (Mar 19 2026 - 03:13:58 +0000) CPU: i.MX9596 rev2.0 at 1800MHz CPU: Extended Industrial temperature grade (-40C to 125C) at 28C LM Boot reason: por, origin: -1, errid: -1 LM shutdown reason: por, origin: -1, errid: -1 Model: NXP i.MX95 19X19 board DRAM: delete_fdt_flash0 deleted node /soc/bus@42000000/spi@425e0000/flash@0 FDT: switched /soc/bus@42000000/spi@425e0000 pinctrl-0 <- pinctrl-1 (NAND) 15.8 GiB TCPC: Vendor ID [0x1fc9], Product ID [0x5110], Addr [I2C6 0x50] PCIE-2: Link down PCIE-3: Link down cfg name not match mx95evkrpmsg:mx95evk, ignore board_init Core: 317 devices, 38 uclasses, devicetree: separate MMC: FSL_SDHC: 0, FSL_SDHC: 1 Loading Environment from nowhere... OK [*]-Video Link 0clk disp1pix already disabled adv7535_mipi2hdmi hdmi@3d: Can't find cec device id=0x3c fail to probe panel device hdmi@3d probe video device failed, ret -19 [0] display-controller@4b400000, video [1] channel@0, video_bridge [2] bridge@8, video_bridge [3] dsi@4acf0000, video_bridge [4] hdmi@3d, panel clk disp1pix already disabled adv7535_mipi2hdmi hdmi@3d: Can't find cec device id=0x3c fail to probe panel device hdmi@3d probe video device failed, ret -19 In: serial Out: serial Err: serial BuildInfo: - SM firmware Build 763, Commit de30901b, Apr 15 2026 01:18:07 - ELE firmware version 2.0.4-9ca4d997 board_late_init debug_probe_fspi_nand: start ------------>nxp_fspi_of_to_plat ------------>nxp_fspi_probe get spi bus ret=0, bus=00000000fd4a13d0 probe spi bus ret=0 child name=mt29f4g01abbfd12@0 probe child mt29f4g01abbfd12@0 ret=0----------------->SWITCH TO NAND debug_probe_fspi_nand: done UID: 182ba9e87d9840babd9d12161b48e82d Net: eth0: enetc-0 [PRIME], eth1: enetc-2 Fastboot: Normal Normal Boot Hit any key to stop autoboot: 0 u-boot=> setenv bootargs 'console=ttyLP0,115200 earlycon ubi.mtd=rootfs root=ubi0:nandrootfs rootfstype=ubifs rootwait rw' u-boot=> mtd read kernel ${loadaddr} 0 0x2800000 Reading 41943040 byte(s) (20480 page(s)) at offset 0x00000000 u-boot=> mtd read dtb ${fdt_addr} 0 0x20000 Reading 131072 byte(s) (64 page(s)) at offset 0x00000000 u-boot=> booti ${loadaddr} - ${fdt_addr} ------------------>read kernel, dtb in NAND ## Flattened Device Tree blob at 93000000 Booting using the fdt blob at 0x93000000 Working FDT set to 93000000 Loading Device Tree to 000000009ffe5000, end 000000009ffffeaf ... OK Working FDT set to 9ffe5000 clk disp1pix already disabled adv7535_mipi2hdmi hdmi@3d: Can't find cec device id=0x3c fail to probe panel device hdmi@3d probe video device failed, ret -19 Starting kernel ... [ 0.000000] Booting Linux on physical CPU 0x0000000000 [0x412fd050] [ 0.000000] Linux version 6.18.2-1.0.0-gf49f45233f7b-dirty (oe-user@oe-host) (aarch64-poky-linux-gcc (GCC) 15.2.0, GNU ld (GNU Binutils) 2.45.0.20250908) #1 SMP PREEMPT Tue Apr 28 08:20:17 UTC 2026 [ 0.000000] KASLR enabled [ 0.000000] Machine model: NXP i.MX95 19X19 board [ 0.000000] efi: UEFI not found. [ 0.000000] Reserved memory: created CMA memory pool at 0x00000000c3000000, size 960 MiB [ 0.000000] OF: reserved mem: initialized node linux,cma, compatible id shared-dma-pool [ 0.000000] OF: reserved mem: 0x00000000c3000000..0x00000000feffffff (983040 KiB) map reusable linux,cma [ 0.000000] earlycon: lpuart32 at MMIO32 0x0000000044380000 (options '') ................... [ 2.416067] spi-nand spi1.0: Winbond SPI NAND was found. [ 2.428075] spi-nand spi1.0: 256 MiB, block size: 128 KiB, page size: 2048, OOB size: 128 [ 2.450050] 5 fixed-partitions partitions found on MTD device spi1.0 [ 2.450059] Creating 5 MTD partitions on "spi1.0": [ 2.463548] 0x000000000000-0x000000800000 : "bootloader" [ 2.529065] 0x000000800000-0x000001000000 : "config" [ 2.543539] 0x000001000000-0x000003800000 : "kernel" [ 2.580906] 0x000003800000-0x000003820000 : "dtb" [ 2.586513] 0x000003820000-0x00010381ffff : "rootfs" [ 2.591493] mtd: partition "rootfs" extends beyond the end of device "spi1.0" -- size truncated to 0xc7e0000 [ 2.748893] mtd: setting mtd4 (rootfs) as root device [ 4.909898] ubi0: attaching mtd4 [ 5.406361] ubi0: scanning is finished [ 5.454338] ubi0: attached mtd4 (name "rootfs", size 199 MiB) [ 5.460134] ubi0: PEB size: 131072 bytes (128 KiB), LEB size: 126976 bytes [ 5.467131] ubi0: min./max. I/O unit sizes: 2048/2048, sub-page size 2048 [ 5.473950] ubi0: VID header offset: 2048 (aligned 2048), data offset: 4096 [ 5.480935] ubi0: good PEBs: 1599, bad PEBs: 0, corrupted PEBs: 0 [ 5.487037] ubi0: user volume: 1, internal volumes: 1, max. volumes count: 128 [ 5.494255] ubi0: max/mean erase counter: 10/1, WL threshold: 4096, image sequence number: 2909496578 [ 5.503473] ubi0: available PEBs: 0, total reserved PEBs: 1599, PEBs reserved for bad PEB handling: 40 [ 5.512840] ubi0: background thread "ubi_bgt0d" started, PID 135 [ 5.594576] UBIFS (ubi0:0): Mounting in unauthenticated mode [ 5.600411] UBIFS (ubi0:0): background thread "ubifs_bgt0_0" started, PID 141 [ 5.617312] UBIFS (ubi0:0): recovery needed [ 5.801795] UBIFS (ubi0:0): recovery completed [ 5.806343] UBIFS (ubi0:0): UBIFS: mounted UBI device 0, volume 0, name "nandrootfs" [ 5.814101] UBIFS (ubi0:0): LEB size: 126976 bytes (124 KiB), min./max. I/O unit sizes: 2048 bytes/2048 bytes [ 5.824021] UBIFS (ubi0:0): FS size: 195923968 bytes (186 MiB, 1543 LEBs), max 1555 LEBs, journal size 9777152 bytes (9 MiB, 77 LEBs) [ 5.836024] UBIFS (ubi0:0): reserved for root: 4952683 bytes (4836 KiB) [ 5.842640] UBIFS (ubi0:0): media format: w5/r0 (latest is w5/r0), UUID 02E616B2-3C31-4F48-A886-9B4D26DB37C1, small LPT model [ 5.854616] VFS: Mounted root (ubifs filesystem) on device 0:23. [ 5.860973] devtmpfs: mounted [ 5.864349] Freeing unused kernel memory: 2112K [ 5.868991] Run /sbin/init as init process [ 5.874243] Run /etc/init as init process [ 5.879058] Run /bin/init as init process [ 5.884114] Run /bin/sh as init process  

The following table summarizes the assignment of the Low Power UARTs (LPUARTs) on the i.MX 943 EVK when running the NXP Linux BSP. LPUART instance Hardware interface FTDI channels/Pins Comment LPUART8 On-board FT4232H UART-USB adapter Channel A Used by Cortex-M33 Sync core (M33 core 1) N/A(BCU)/LPUART11/LPUART12 Channel B Used by the BCU tool, or used as serial port for Cortex-M70 (LPUART11), or Cortex-M71 (LPUART12) LPUART1 Channel C Used by Cortex-A55 (U-Boot/Linux) LPUART2 Channel D Used by Cortex-M33 (M33 core 0, System Manager) LPUART11 External UART pins (board connectors) M2_UART11_RXD M2_UART11_TXD Used by the Cortex-M70 (a UART to USB adapter is needed) LPUART12 M1_UART12_RXD M1_UART12_TXD Used by the Cortex-M71 (a UART to USB adapter is needed)   If USB DBG port is connected to a Linux host PC, the channels A..D of the FTDI will appear as /dev/ttyUSB0..3 in that order. 1. LPUART8 is used by the Cortex-M33 Sync core application. LPUART8 shares the pins with the JTAG interface, so to route these pins to the FTDI adapter, set: SW7[4] = 1 and SW7[3] = 0. 2. If the JTAG is needed, the M33 Sync core can use LPUART3 instead of LPUART8. In the MCUXSDK applications, the only required code change is to set BOARD_DEBUG_UART_INSTANCE to 3. Board pin connections for LPUART3: J51-18  - M1_PWM_CX (LPUART3_TX) ----- RX of USB-UART converter    ---- PC J44-10 - M1_LED_TP1   (LPUART3_RX) ----- TX of USB-UART converter    ---- PC J45-12 - GND                                        ----- GND of USB-UART converter ---- PC 3. The FTDI Channel B is multiplexed between two functionalities: for the Board Remote Control Utilities (BCU). In this case, set SW7[1] = 0. Do not open ttyUSB1 in a terminal while using the BCU tool. connection to LPUART11 (Cortex-M70) or LPUART12 (Cortex-M71). Set SW7[1] = 1. To select between the two UARTs, set: SW7[2] = 1 for LPUART11, or SW7[2] = 0 for LPUART12. To route the two UARTs towards the FTDI, an additional multiplexer needs to be configured through an IO expander pin (UART_M_FT_SEL in the figure below). The following software changes are required: In the MCUXSDK application source code, call BOARD_SelectFTUART() in the BOARD_InitHardware() function in hardware_init.c. In the System Manager configuration file mx94evk.cfg, move the LPI2C6 and its pins (PIN_GPIO_IO28 and PIN_GPIO_IO29) to the the M7 core that will use the routed UART. LPI2C6 is needed to set UART_M_FT_SEL. In the Linux kernel device tree, disable the I2C6 peripheral. 4. LPUART1 is routed to the FTDI Channel C and is used by the A55 core (SPL, U-Boot, Linux). This path works by default. 5. LPUART2 is routed to the FTDI Channel D and is used by the M33 Core 0 (OEI, System Manager). 6. In the default configuration, LPUART11 (M70) and LPUART12 (M71) are routed to the M2 connectors. Board pin connections for LPUART11 (for Cortex-M70): J48-2 - M2_UART11_RXD   ---- TX of USB-UART adapter     ---- PC J48-4 - M2_UART11_TXD   ---- RX of USB-UART adapter     ---- PC GND                                     ---- GND of USB-UART adapter  ---- PC Board pin connections for LPUART12 (for Cortex-M71): J44-2 - M1_UART12_RXD   ---- TX of USB-UART adapter     ---- PC J44-4 - M1_UART12_TXD   ---- RX of USB-UART adapter     ---- PC GND                                     ---- GND of USB-UART adapter  ---- PC

This blog enables support of Qemu emulation for iMX8MM EVK.  Imagine not having the hardware but still you want to test the software. Qemu gives you exactly that. 1. Booting uboot, linux and user-space application even when you do not possess a real hardware. 2. Early firmware development when the silicon doesn’t yet exist. 3. Linux driver development, debugging and testing.

We are pleased to announce that Config Tools for i.MX 26.03 are now available. Downloads & links To download the installer for all platforms, please login to our download site via:  https://www.nxp.com/design/designs/config-tools-for-i-mx-applications-processors:CONFIG-TOOLS-IMX Please refer to  Documentation  for installation and quick start guides. For further information about DDR config and validation, please go to this  blog post. Release Notes Full details on the release (features, known issues...) Version 26.03 System Manager Memory sector information for resources with memory configuration is added to the Resources overview. Support for memory sectors splitting. Memory configuration input for resources using MBC/MRC is improved. Support for macOS (aarch64 and x86_64) is added. Clocks Hierarchy for local configuration element settings is supported. TEE Multicore Interrupt Handling for Single Security Domain is supported. Option to filter only user-defined memory regions is added. Interrupts are now separated into groups based on the core.

This page serves as a hub to gather the links to all the currently available ISP supported camera lists for the i.MX Applications processors.  Camera Compatibility Guides Processor/Family Link to Guide i.MX 8M Plus i.MX 8M Plus ISP Camera Compatibility Guide i.MX 95 i.MX 95 ISP Camera Compatibility Guide   Additional Resources i.MX Camera Software Pack AN AN14376: i.MX Camera Software Pack | NXP Semiconductors

The purpose of this page is to provide supportive information for the selection of suitable camera modules that are supported by the i.MX95. The guide is attached in this page. This helps customers evaluate project feasibility and integration aspects when considering i.MX 95 SoCs for their products. It is strongly recommended to consult with NXP and the camera module vendor before finalizing the choice of the camera part number to ensure compatibility, availability, longevity, and pricing requirements.   NXP Supported Sensors: Sensor Vendor Image Sensor Max Resolution Camera Module OmniVision OS08A20 8MP IMX95-OS08A20 | NXP Semiconductors EXPI-OS08A20 OmniVision OX05B1S 5MP   OmniVision OX03C10 3MP   Onsemi AR0144 1MP AR0144   Partner Enabled Sensors: Partner Sensor Vendor Image Sensor Max Resolution ISP Tuning Camera Module Location FRAMOS Sony IMX662 2MP ✔ FSM:GO Munich, Germany/ Canada/USA Sony IMX678 8MP Sony IMX900 3.2MP Sony IMX676 12MP Onsemi Onsemi AR2020 19MP   Module available through Future Electronics   Entron OmniVision OS08A20 8MP ✔ EXPI-OS08A20 China Onsemi AR0820 8MP Order with Entron Onsemi AR0823 8MP Technexion Onsemi AR0144 1MP       Onsemi AR0145 1MP     Onsemi AR0234 2MP     Onsemi AR0235 2MP     Onsemi AR0236 2MP     Onsemi AR0521 5MP     Onsemi AR0522 5MP     Onsemi AR0544 5MP     Onsemi AR0821 8MP       Onsemi AR0822 8MP     Onsemi AR0830 8MP     Onsemi AR1335 13MP     PHYTEC Onsemi AR0144 1MP     Germany/ China/India/ USA Onsemi AR0234 2.3MP   Onsemi AR0521 5MP   E-consystems Sony IMX662 2.4MP     Riverside, CA, USA/India Sony IMX900 3.2MP    

Use Raspberry Pi Debug Probe with OpenOCD and i.MX93 FRDM   This document explains the integration process of the Raspberry Pi Debug Probe (Very low cost debugger) with the OpenOCD (On Chip Debugger) tool with the i.MX93 FRDM board.   Also, we will use GDB (GNU DeBugger) to interact with the OpenOCD.   1. Install and Configure OpenOCD   Update and install dependencies sudo apt update sudo apt install build-essential libtool automake pkg-config libusb-1.0-0-dev libhidapi-dev libftdi1-dev libjim-dev jimsh   Clone the OpenOCD repo git clone https://github.com/openocd-org/openocd.git cd openocd   Run ./bootstrap to create the configuration file git submodule update --init --recursive ./bootstrap ./configure --enable-cmsis-dap --enable-hidapi   Make OpenOCD make -j$(nproc) sudo make install   Download the configuration file for i.MX93 You can dowload the  imx93.cfg  in the Table 2. Software requirements on Ubuntu PC of the AN14367 Then, copy the downloaded file to the openocd/tcl/target/ as below: cp ../imx93_new-b42b7c4cac18508442d3df035cec1c6d.cfg tcl/target/imx93.cfg   2. Create UDEV rules   sudo nano /etc/udev/rules.d/99-openocd.rules Add the below in that file: ATTRS{idVendor}=="2e8a", ATTRS{idProduct}=="000c", MODE="660", GROUP="plugdev", TAG+="uaccess"   Reload rules sudo udevadm control --reload-rules && sudo udevadm trigger   3. Connecting the Hardware   To make the DAP works in the i.MX93 FRDM, we must rework the board removing the resistors R3017 and R3018:     Now, we need to connect the Raspberry Pi Debug Probe with the SWD (P14) of our i.MX93 FRDM board:       4. Running the Debug Session   In this moment, with the RP Debug Probe connected, we can Boot the i.MX93 FRDM board and run the below command to start the OpenOCD: $ openocd -s tcl -f interface/cmsis-dap.cfg -c "adapter speed 1000" -f target/imx93.cfg   tic-mpu@tic-mpu:~/Debug_test/openocd$ openocd -s tcl -f interface/cmsis-dap.cfg -c "adapter speed 1000" -f target/imx93.cfg Open On-Chip Debugger 0.12.0+dev-02429-ge4c49d860 (2026-03-21-23:05) Licensed under GNU GPL v2 For bug reports, read http://openocd.org/doc/doxygen/bugs.html adapter speed: 1000 kHz Warn : DEPRECATED: auto-selecting transport "swd". Use 'transport select swd' to suppress this message. Info : Listening on port 6666 for tcl connections Info : Listening on port 4444 for telnet connections Info : Using CMSIS-DAPv2 interface with VID:PID=0x2e8a:0x000c, serial=E6633861A33A1B2C Info : CMSIS-DAP: SWD supported Info : CMSIS-DAP: Atomic commands supported Info : CMSIS-DAP: Test domain timer supported Info : CMSIS-DAP: FW Version = 2.0.0 Info : CMSIS-DAP: Interface Initialised (SWD) Info : SWCLK/TCK = 0 SWDIO/TMS = 0 TDI = 0 TDO = 0 nTRST = 0 nRESET = 0 Info : CMSIS-DAP: Interface ready Info : clock speed 1000 kHz Info : SWD DPIDR 0x5ba02477 Info : imx93.a55.0: hardware has 6 breakpoints, 4 watchpoints Info : [imx93.a55.0] external reset detected Info : [imx93.a55.0] Examination succeed Info : [imx93.m33] Cortex-M33 r1p0 processor detected Info : [imx93.m33] target has 8 breakpoints, 4 watchpoints Info : [imx93.m33] Examination succeed Info : [imx93.ahb] Examination succeed Info : [imx93.a55.0] starting gdb server on 3333 Info : Listening on port 3333 for gdb connections Info : [imx93.m33] starting gdb server on 3334 Info : Listening on port 3334 for gdb connections Info : [imx93.ahb] gdb port disabled   From the Logs, we can see we have two ports: 3333 for Cortex A55 [imx93.a55.0] 3334 for Cortex M33 [imx93.m33]   Install gdb-multiarch   Now, we can install GDB: sudo apt install gdb-multiarch And start a Debug session: $ gdb-multiarch ~/linux-imx/vmlinux   $ gdb-multiarch ~/linux-development/linux-imx/vmlinux GNU gdb (Ubuntu 15.1-1ubuntu1~24.04.1) 15.1 Copyright (C) 2024 Free Software Foundation, Inc. License GPLv3+: GNU GPL version 3 or later <http://gnu.org/licenses/gpl.html> This is free software: you are free to change and redistribute it. There is NO WARRANTY, to the extent permitted by law. Type "show copying" and "show warranty" for details. This GDB was configured as "x86_64-linux-gnu". Type "show configuration" for configuration details. For bug reporting instructions, please see: <https://www.gnu.org/software/gdb/bugs/>. Find the GDB manual and other documentation resources online at: <http://www.gnu.org/software/gdb/documentation/>. For help, type "help". Type "apropos word" to search for commands related to "word"... Reading symbols from /home/tic-mpu/linux-development/linux-imx/vmlinux... (gdb) target extended-remote localhost:3333 Remote debugging using localhost:3333 0x00000000fff118fc in ?? ()   A simple example of how to read a register with GDB: (gdb) x/xw 0x43810000 0x43810000: 0x02010001     Happy debugging!     Best regards, Salas. 

Tested in FRDM-i.MX91 Written in C LF-6.12.49

There are currently no additional test programs in I.MX Jailhouse program. This demo shares how to test RM67199 MIPI panel in Jailhouse inmate.   Please refer run.sh in attachments. modprobe jailhouse insmod jailhouse_clk.ko # adjust pixel clock for MIPI PANEL RMP67199 echo 129937500 > /sys/bus/platform/devices/jailhouse_clk/rate_pix export PATH=$PATH:/usr/share/jailhouse/tools/ jailhouse enable /root/imx8mm.cell jailhouse cell linux /root/imx8mm-inmate-demo.cell /root/Image.bin -d /root/imx8mm-evk-inmate.dtb -c "clk_ignore_unused console=ttymxc3,115200 earlycon=ec_imx6q,0x30890000,115200 root=/dev/mmcblk2p2 rootwait rw"  

There are currently no additional test programs in I.MX Jailhouse program. This demo shares how to test USB function in Jailhouse inmate. Inmate boot log: root@imx8mmevk:~# dmesg | grep usb [ 0.312280] usbcore: registered new interface driver usbfs [ 0.317206] usbcore: registered new interface driver hub [ 0.322279] usbcore: registered new device driver usb [ 0.911649] usbcore: registered new device driver r8152-cfgselector [ 0.917711] usbcore: registered new interface driver r8152 [ 0.994200] usbcore: registered new interface driver uas [ 0.999359] usbcore: registered new interface driver usb-storage [ 1.005192] usbcore: registered new interface driver usbserial_generic [ 1.011486] usbserial: USB Serial support registered for generic [ 1.017274] usbcore: registered new interface driver ftdi_sio [ 1.022813] usbserial: USB Serial support registered for FTDI USB Serial Device [ 1.029852] usbcore: registered new interface driver usb_serial_simple [ 1.036148] usbserial: USB Serial support registered for carelink [ 1.042016] usbserial: USB Serial support registered for flashloader [ 1.048144] usbserial: USB Serial support registered for funsoft [ 1.053931] usbserial: USB Serial support registered for google [ 1.059643] usbserial: USB Serial support registered for hp4x [ 1.065185] usbserial: USB Serial support registered for kaufmann [ 1.071051] usbserial: USB Serial support registered for libtransistor [ 1.077334] usbserial: USB Serial support registered for moto_modem [ 1.083371] usbserial: USB Serial support registered for motorola_tetra [ 1.089745] usbserial: USB Serial support registered for nokia [ 1.095368] usbserial: USB Serial support registered for novatel_gps [ 1.101486] usbserial: USB Serial support registered for siemens_mpi [ 1.107612] usbserial: USB Serial support registered for suunto [ 1.113316] usbserial: USB Serial support registered for vivopay [ 1.119111] usbserial: USB Serial support registered for zio [ 1.124578] usbcore: registered new interface driver usb_ehset_test [ 1.215499] usbcore: registered new interface driver usbhid [ 1.220879] usbhid: USB HID core driver [ 1.396384] usb_phy_generic usbphynop1: dummy supplies not allowed for exclusive requests [ 42.414253] usb 1-1: new high-speed USB device number 2 using ci_hdrc [ 42.577822] usb-storage 1-1:1.0: USB Mass Storage device detected [ 42.579492] scsi host0: usb-storage 1-1:1.0