Video Unit Test The BSP provides a package that allows testing of several i.MX 31 peripherals on the PDK. The name of this package is 'imx-test'.   The name of the package may vary according to SDK release, at the time of the writing SDK 1.4 was used, on SDK 1.2 the name of a similar package was 'mxc-misc'   For more information on the imx-test package refer to the SDK 1.4 manual, imx31_Linux_RM.pdf, chapter 49 - Unit Tests. This file is available on BSP tarball Testing To test the image sensor and the display on the PDK follow the steps below: Enable imx-test and util-linux packages: $ ./ltib -c Once "ltib" finishes boot the system. On the target board: $ modprobe mxc_v4l2_capture Check if /dev/video0 was created $ ll /dev/video* lrwxrwxrwx  1 root root            6 Jan 1 20:47 /dev/video -> video0 crw-rw----     1 root root    81,   0 Jan 1 20:47 /dev/video0 crw-rw----     1 root root    81, 16 Jan 1 20:46 /dev/video16 Now run the unit tests: $./mxc_v4l2_overlay.out -iw 640 -ih 480 -ow 480 -oh 640 -r 4 -fr 30 -t 10 - capture images with the sensor and display on the LCD $./mxc_v4l2_capture.out -w 640 -h 480 -r 0 -c 150 -fr 30 test3.yuv - capture images and save on /unit-tests/test3.yuv $./mxc_v4l2_output.out -iw 640 -ih 480 -ow 480 -oh 640 -d 4 -fr 60 test3.yuv - capture images and save on /unit-tests/test3.yuv   For usage syntax type: command -help. ./mxc_v4l2_output.out -help Source Code If you want to check the source code, on the host machine "ltib" install path type: $./ltib -m prep -p imx-tests Then, go to <ltib install path>/rpm/BUILD/imx-test-2.3.2/test/mxc_v4l2_test

This steps are basically the same used to boot Linux mainline on i.MX 31 ADS, just replacing Network Driver cs89x0 by i.MX 27 internal FEC. Download Linux kernel 2.6.30: $ wget -c http://www.kernel.org/pub/linux/kernel/v2.6/linux-2.6.30.tar.bz2 Extract this: $ tar jxvf linux-2.6.30.tar.bz2 Export CROSS_COMPILE environmet: $ export PATH="$PATH:/opt/freescale/usr/local/gcc-4.1.2-glibc-2.5-nptl-3/arm-none-linux-gnueabi/bin/" $ export CROSS_COMPILE=arm-none-linux-gnueabi- Unselect all no essentials features: $ make ARCH=arm allnoconfig Start the configuration menu: $ make ARCH=arm menuconfig Change/Select the kernel options below. Select the MXC/iMX platform and iMX27ADS board: System Type ->             ARM system type -> (X) Freescale MXC/iMX-based             Freescale MXC Implementations  ->                            MXC/iMX Base Type -> (X) MX2-based                            MX2 Options  -> [*] Support MX27ADS platforms (NEW) Select ARM EABI standard to compile the kernel: Kernel Features  --->           [*] Use the ARM EABI to compile the kernel Add support to Linux Binary Format ELF: Userspace binary formats ->              [*] Kernel support for ELF binaries Add support to Network (TCP/IP): [*] Networking support  ->          Networking options  ->                           [*] Packet socket                           [*] Unix domain sockets                           [*] PF_KEY sockets                           [*] TCP/IP networking                                    [*] IP: kernel level autoconfiguration                                    [*]     IP: DHCP support Select network driver (FEC), serial driver and unselect VGA console: Device Drivers  ->                      [*] Network device support  --->                                       [*]   Ethernet (10 or 100Mbit)  --->                                              [*]   FEC ethernet controller (of ColdFire CPUs)                      Character devices  ->                              Serial drivers  --->                                       [*] IMX serial port support                                       [*]   Console on IMX serial port                      Graphics support  ->                              Console display driver support  --->                                         [ ] VGA text console Add support to NFS and support to use it as root file system: File systems  ->                           [*] Network File Systems (NEW)  ->                                    [*]   NFS client support                                    [*]     Root file system on NFS Compile the kernel: $ make ARCH=arm Copy the created zImage to tftp directory: $ cp arch/arm/boot/zImage /tftpboot/ Configure your RedBoot to boots with this kernel: load -r -b 0x100000 /tftpboot/zImage exec -b 0x100000 -l 0x200000 -c "noinitrd console=ttymxc0,115200 root=/dev/nfs nfsroot=10.29.240.191:/tftpboot/rootfs ip=dhcp" Change the default network device on RedBoot to internal FEC: Default network device: mxc_fec Connect the network cable on FEC connector (connector T3). Notes: We are using rootfs from LTIB then select to get parameters from DHCP: "Target System Configuration" Options  --->               [*] start networking                      Network setup  --->                            [*]   get network parameters using dhcp

This is a simple document  explaining the basics of creating a new layer within a Yocto BSP. We will be using the latest i.MX6 Linux BSP as reference, but the same logics apply to any Yocto Project BSP including the Community BSP. If you are new to Yocto it is recommended to go through the following very informative Training which is focused on the FSL Community BSP but covers the basics of Yocto step-by-step in a very clear and concise manner. Yocto Training - HOME Requirements - L4.1.15 BSP Release for the i.MX6 family of processors installed on the host. For more information on requirements for the Host please refer to the Yocto User’s Guide available as part of the Linux BSP Document Bundle (available on the link below) http://www.nxp.com/products/microcontrollers-and-processors/arm-processors/i.mx-applications-processors/embedded-linux-for-i.mx-applications-processors:IMXLINUX?code=IMXLINUX -tree tool for the host, to see the directory format of the different layers. You may install it with the following command: sudo apt-get install tree - We will work with the bitbake environment so this needs to be initialized in our terminal. Introduction to layers in Yocto Layers in Yocto allow us to organize the long list of providers and to easily customize for our target hardware while reusing a lot of tools already available. It also makes it easy to distribute our customizable source code trough a unique layer. Once your environment is setup you can see the layers that compose the BSP using the command: bitbake-layers show-layers The layers that constitute out BSP will be displayed along with the path and priority of each. Layer Priority: Each layer has a priority, which is used by bitbake to decide which layer takes precedence if there are recipe files with the same name in multiple layers. A higher numeric value represents a higher priority. We can see that the poky and open embedded layers have a lower priority than those than the BSP and SDK layers as the later sit on top of the former. The general layout of a BSP is shown on the image below. If you would like to have a better look at the distinctive Layers that make up the Yocto BSP Release and the FSL Community Release please look at the Yocto Project Layers Mind Map available on the following link: YOCTO PROJECT LAYERS MIND MAP Adding an empty layer and a new recipe There are a couple of scripts available as part of the Open embedded tools that allows for easy creation of a new layer and recipe. Layers are basically a group of directories and meta data in configuration and recipe files (which contains metadata as text), so you may create these directories and meta data files by hand. However, it’s always easier to use the new layer script in order to create the required structure and then fill in with our customized configuration. cd <BSP_DIR>/sources ./poky/scripts/yocto-layer create <NEW_LAYER_NAME> We’ll name the new layer “new-layer” as shown below: ./poky/scripts/yocto-layer create new-layer We’ll be asked to enter le layer priority, we’ll keep the default 6 but you may want a higher priority depending on your application. You may opt for an example recipe to be created on your new layer.  We’ll leave this example recipe with the default settings. You may see the structure of the new layer by using the following command: tree -L 4 ./meta-new-layer Basic requirements of a layer - It is not a must but it’s strongly recommended to have the name of the layer start with “meta-“, the Poky new layer script uses this naming convention. - A README with information regarding what’s contained in the layer and any dependencies - A COPYING file with the copyright and use notice for the hardware in the new layer. - A conf folder which contains the layer’s configuration (.conf) files. Adding the layer to our BSP Once the layer has been created it’s necessary to add it to the list of Layers that make up the BSP so Bitbake can locate it and parse the metadata contained within it, in other words, you must make the build system aware of your new layer. In order to enable your layer you need to add the layer’s path to the BBLAYERS variable in the conf/bblayers.conf file which is found on the build directory. Please note that you will need to add your layer to each build directory in which you want to use it. We can add the following line to add our new layer. BBLAYERS += " ${BSPDIR}/sources/meta-new-layer " After doing so we’ll see that our layer is now listed when we run show-layers in bitbake-layers. bitbake-layers show-layers Adding a new recipe The new layer script also creates a basic recipe. It is recommended to look for recipes similar to what we need and use them as a template or starting point, as part of the benefits of Yocto is to be able to reuse a lot of open sourced code and resources. If there are many versions of the same recipe the default behavior is to use the recipe contained in the highest priority layer even if it’s not the higher version of the recipe. If you would want to force bitbake to use a certain version you may use the following variable on the local.conf file. PREFERRED_VERSION_recipename Main requirements of a recipe: SRC_URI which points to the location of the source code SRC_REV if applicable it would correspond to a particular commit or branch from the source code repository LICENSE a variable that defines the type of license to bitbake LIC_FILES_CHKSUM should point to a file within the source tree that corresponds to the md5 check-sum of the license file so it can be verified. Adding an append to a recipe You may also select the option to have the script create an append file. The append files allow us to change an existing recipe. The name of the file must be the same as the original recipe plus the append suffix (.bbappend) and should be located on the same path as the original recipe but in our own layer. The append file can be described as a piece of code or metadata that is added to the end of the original recipe. If there are more than one append files for a particular recipe all of them will be joined in reverse priority, that is, the highest priority layer’s bbappend will be added last. Appendix. Useful References FSL Community BSP Yocto Training - HOME Yocto Project Board Support Package Developer's Guide

This example is useful  if you have your device connected to a host machine using a USB cable, and you want your host machine to be able to update your device using a protocol ready to go. Information you need prior to using this example Fastboot is a protocol used to update firmware in Android devices from a host over USB; Freescale implements fastboot as a uboot driver for the device and the implementation is available from patches applied to uboot source code; By default, fastboot is only enabled when building uboot to use with an Android BSP; To run fastboot at the device in default implementation you need to call it from uboot command line (using the debug serial port of the slave device, for example); The host fastboot application is available as source code from Google. You can build your own fastboot(.exe) binary (which is not in the scope of this howto), or you can find a binary ready for you to go searching the web; You are required to be familiar with Linux BSP and have i.MX53 BSP version 11.05 installed. With this information in mind, what do you get from this example? Patch for uboot to enable fastboot driver for iMX53 Quick Start Board with a new spec file; A command line application that set a flag in iMX53 to automatically start fastboot after a reset, either if it is a SOFT or a HARD reset. How to prepare the example Copy uboot patch file (attached) to /opt/freescale/pkgs; Replace your uboot spec file (u-boot.spec.in attached) in <bsp_root>/ltib/config/platform/imx/; Build a system image for iMX53 Quick Start Board with the packages you need; Build the command line application (setbootmode.c attached) using ltib shell; Prepare an SD card copy the command line application /usr/sbin in your SD card system partition. See attachment to this page. How to test the example Boot the Quick Start Board with the SD card you prepared; Login as root using a serial cable and a terminal application; Run setbootmode application as follows: $ setbootmode 1 Reboot the system: $ reboot After rebooting, the device will automatically run fastboot from uboot and will wait for a connection from the host machine. You can test the connection using a fastboot binary at the host machine (not provided here). Even if you HARD reset your hardware, your device will keep running fastboot at startup. If you want to go back to a regular boot operation, you need to cut power supply to your board. How does the magic happen? The setbootmode application sets the LSB in the Low Power General Register (LPGR) of the Secure Real Time Clock (SRTC) module to true. The patched version o uboot tests for this bit as a flag to run fastboot or not. The magic is that the LPGR is persistent, even during reset. Additional tips You can run setbootmode with no arguments to see its options; You need to set the boot mode to 0 after a successful update to avoid entering fastboot mode again after a new reboot; Partitioning of the device seen by fastboot is not implemented; Besides using setbootmode, you can read/set LPGR using either md.l / nm.l in uboot or devmem2 at command line: uboot-> md.l 0x53fa401c 1 - displays LPGR; uboot-> nm.l 0x53fa401c - presents a prompt for you to change LPGR; linux shell-> devmem2 0x53fa401c w - displays LPGR; linux shell-> devmem2 0x53fa401c w <value> - changes LPGR; devmem2 has issues that you need to fix so that you can use it to change LPGR: include "volatile" in all writing instruction; uncomment 'w' write instruction.

Check new updated version for with Morty here Step 1 : Get iMX Yocto AVS setup environment Review the steps under Chapter 3 of the i.MX_Yocto_Project_User'sGuide.pdf on the L4.X LINUX_DOCS to prepare your host machine. Including at least the following essential Yocto packages $ sudo apt-get install gawk wget git-core diffstat unzip texinfo \   gcc-multilib build-essential chrpath socat libsdl1.2-dev u-boot-tools Install the i.MX NXP AVS repo Create/Move to a directory where you want to install the AVS yocto build enviroment. Let's call this as <yocto_dir> $ cd <yocto_dir> $ repo init -u https://source.codeaurora.org/external/imxsupport/meta-avs-demos -b master -m imx7d-pico-avs-sdk_4.1.15-1.0.0.xml Download the AVS BSP build environment: $ repo sync Step 2: Setup yocto for Alexa_SDK image with AVS-SETUP-DEMO script: Run the avs-setup-demo script as follows to setup your environment for the imx7d-pico board: $ MACHINE=imx7d-pico DISTRO=fsl-imx-x11 source avs-setup-demo.sh -b <build_sdk> Where <build_sdk> is the name you will give to your build folder. After acepting the EULA the script will prompt if you want to enable: Sound Card selection The following Sound Cards are supported on the build: SGTL (In-board Audio Codec for PicoPi) 2-Mic Conexant The script will prompt if you are going to use the Conexant Card. If not then SGTL will be assumed as your selection Are you going to use Conexant Sound Card [Y/N]? Install Alexa SDK Next option is to select if you want to pre-install the AVS SDK software on the image. Do you want to build/include the AVS_SDK package on this image(Y/N)? If you select YES, then your image will contain the AVS SDK ready to use (after authentication). Note this AVS_SDK will not have WakeWord detection support, but it can be added on runtime. If your selection was NO, then you can always manually fetch and build the AVS_SDK on runtime. All the packages dependencies will be already there, so only fetching the AVS_SDK source code and building it is required. Finish avs-image configuration At the end you will see a text according with the configuration you select for your image build. Next is an example for a Preinstalled AVS_SDK with Conxant Sound Card support and WiFi/BT not enabled. ==========================================================   AVS configuration is now ready at conf/local.conf             - Sound Card = Conexant                                     - AVS_SDK pre-installed                                       You are ready to bitbake your AVS demo image now:               bitbake avs-image                                        ========================================================== Step 3: Build the AVS image Go to your <build_sdk> directory and start the build of the avs-image There are 2 options Regular Build: $ cd <yocto_dir>/<build_sdk> $ bitbake avs-image With QT5 support included: $ cd <yocto_dir>/<build_sdk> $ bitbake avs-image-qt5 The image with QT5 is useful if you want to add some GUI for example to render DisplayCards. Step 4 : Deploying the built images to SD/MMC card to boot on target board. After a build has succesfully completed, the created image resides at <build_sdk>/tmp/deploy/images/imx7d-pico/ In this directory, you will find the imx7d-pico-avs.sdcard image or imx7d-pico-avs-qt5.sdcard, depending on the build you chose on Step3. To Flash the .sdcard image into the eMMC device of your PicoPi board follow the next steps: Download the bootbomb flasher Follow the instruction on Section 4. Board Reflashing of the Quick Start Guide for AVS kit to setup your board on flashing mode. Copy the built SDCARD file $ sudo dd if=imx7d-pico-avs.sdcard of=/dev/sd bs=1M && sync $ sync Properly eject the pico-imx7d board: $ sudo eject /dev/sd NXP Documentation Refer to the Quick Start Quide for AVS SDK to fully setup your PicoPi board with Synaptics 2Mic and PicoPi i.mx7D For a more comprehensive understanding of Yocto, its features and setup; more image build and deployment options and customization, please take a look at the i.MX_Yocto_Project_User's_Guide.pdf document from the Linux documents bundle mentioned at the beginning of this document. For a more detailed description of the Linux BSP, u-boot use and configuration, please take a look at the i.MX_Linux_User's_Guide.pdf document from the Linux documents bundle mentioned at the beginning of this document.

Although you can develop your own driver to control GPIOs inside kernel space, there is a much simpler way for accessing GPIOs from user space. When timing requirements are not an issue, you are able to use GPIO-SYSFS. SYSFS is a virtual file system that exports some kernel internal framework functionalities to user space and GPIO is one of the frameworks that can have functionalities exported through SYSFS. The GPIO-SYSFS feature is available in all mainline kernels from 2.6.27 onwards. Configuring Kernel to export GPIO through SYSFS To enable GPIO in SYSFS, select the following kernel option: Device Drivers --->       --- GPIO Support             [*] /sys/class/gpio/... (sysfs interface) If you are using i.MX233 or i.MX28, after recompiling the kernel, do not forget to generate boot streams again, because this is not automatic even in ltib. Be sure that the pins you will try to use are really accessible as GPIO pins and were not requested by the kernel (gpio_request). If pin was gpio_request'ed, you will need to gpio_export the same pin inside the kernel in order to have it accessible through SYSFS. If pin is not set as GPIO by default, you will need to set IO MUX in the proper file inside <kernel>/arch/arm/mach-XXX. Accessing GPIO in user space After enabling GPIO-SYSFS feature, you can boot your device with the new kernel to make some tests. First you need to export the GPIO you want to test to the user space: echo XX > /sys/class/gpio/export XX shall be determined by the following algorithm: GPIOA_[B] is the GPIO you want to export, where "A" is the GPIO bank and "B" is the offset of the pin in the bank. if the first available GPIO bank is 0 // (iMX.28, for example)     XX = A*32 + B; else // first GPIO bank is 1     XX = (A-1)*32 + B; After exporting a GPIO pin, you shall be able to see the GPIO interface exported to: /sys/class/gpio/gpioXX Through this interface, you are now able to do things like: # Reading the pin value cat /sys/class/gpio/gpioXX/value # Changing pin direction echo in > /sys/class/gpio/gpioXX/direction echo out > /sys/class/gpio/gpioXX/direction # Toggling GPIO output level echo 0 > /sys/class/gpio/gpioXX/value echo 1 > /sys/class/gpio/gpioXX/value It is important to note that through the GPIO virtual filesystem it is only possible to deal with one GPIO pin at a time (per command).

Working with mainline U-Boot Freescale BSP provides an i.MX51 EVK U-boot port. However, i.MX51 EVK is also supported on I-boot main tree. This quick "how to" teaches how to use it. 0. Get u-boot code from the imx U-Boot Custodian tree: $ git clone git://git.denx.de/u-boot-imx.git 1. Prepare the environment: $ export PATH="$PATH:/opt/freescale/usr/local/gcc-4.1.2-glibc-2.5-nptl-3/arm-none-linux-gnueabi/bin/" $ export CROSS_COMPILE=arm-none-linux-gnueabi- 2. Configure for i.MX 51 EVK $ cd u-boot-imx $ make mx51evk_config 3. Compile $ make u-boot.imx   iMX may SoCs use its internal ROM to execute some instructions at boot time, using "make u-boot.imx" an image containing the instructions 4. Copy the compiled file to a SD card on your host machine, insert the SD card and: $ sudo dd if=u-boot.imx of=/dev/mmcblk0 bs=512 seek=2 "/dev/mmcblk0" should replaced according to your host, use "dmesg" after inserting the SD to find out where is the SD on your host. Unmount it before issuing the dd command. seek 2, skips the first 1K bytes (2x512) of the SD where the ROM expects the boot image for SD. 5. Insert the SD on the i.MX51 EVK, and set the switches for SD card boot and power on the board.

Inside IPU there are two block where color space conversion can be made: IC (Image Converter) and DP (Display processor). On Linux, the CSC parameters are located at IPU (IC and DP) drivers, linux/drivers/mxc/ipu3 folder. All negative coefficients are represented using two's complement. Linux Image Converter driver: The parameters are set on function _init_csc: http://git.freescale.com/git/cgit.cgi/imx/linux-2.6-imx.git/tree/drivers/mxc/ipu3/ipu_ic.c?h=imx_3.14.28_1.0.0_ga static void _init_csc(struct ipu_soc *ipu, uint8_t ic_task, ipu_color_space_t in_format, ipu_color_space_t out_format, int csc_index) { /* * Y = 0.257 * R + 0.504 * G + 0.098 * B + 16; * U = -0.148 * R - 0.291 * G + 0.439 * B + 128; * V = 0.439 * R - 0.368 * G - 0.071 * B + 128; */ static const uint32_t rgb2ycbcr_coeff[4][3] = { {0x0042, 0x0081, 0x0019}, {0x01DA, 0x01B6, 0x0070}, {0x0070, 0x01A2, 0x01EE}, {0x0040, 0x0200, 0x0200}, /* A0, A1, A2 */ }; /* transparent RGB->RGB matrix for combining */ static const uint32_t rgb2rgb_coeff[4][3] = { {0x0080, 0x0000, 0x0000}, {0x0000, 0x0080, 0x0000}, {0x0000, 0x0000, 0x0080}, {0x0000, 0x0000, 0x0000}, /* A0, A1, A2 */ }; /* R = (1.164 * (Y - 16)) + (1.596 * (Cr - 128));   G = (1.164 * (Y - 16)) - (0.392 * (Cb - 128)) - (0.813 * (Cr - 128));   B = (1.164 * (Y - 16)) + (2.017 * (Cb - 128); */ static const uint32_t ycbcr2rgb_coeff[4][3] = { {149, 0, 204}, {149, 462, 408}, {149, 255, 0}, {8192 - 446, 266, 8192 - 554}, /* A0, A1, A2 */ }; ‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍ Linux Display Processor driver: The parameters are set on constants (rgb2ycbcr_coeff and ycbcr2rgb_coeff): http://git.freescale.com/git/cgit.cgi/imx/linux-2.6-imx.git/tree/drivers/mxc/ipu3/ipu_disp.c?h=imx_3.14.28_1.0.0_ga /* Y = R * 1.200 + G * 2.343 + B * .453 + 0.250;   U = R * -.672 + G * -1.328 + B * 2.000 + 512.250.;   V = R * 2.000 + G * -1.672 + B * -.328 + 512.250.;*/ static const int rgb2ycbcr_coeff[5][3] = { {0x4D, 0x96, 0x1D}, {-0x2B, -0x55, 0x80}, {0x80, -0x6B, -0x15}, {0x0000, 0x0200, 0x0200}, /* B0, B1, B2 */ {0x2, 0x2, 0x2}, /* S0, S1, S2 */ }; /* R = (1.164 * (Y - 16)) + (1.596 * (Cr - 128));   G = (1.164 * (Y - 16)) - (0.392 * (Cb - 128)) - (0.813 * (Cr - 128));   B = (1.164 * (Y - 16)) + (2.017 * (Cb - 128); */ static const int ycbcr2rgb_coeff[5][3] = { {0x095, 0x000, 0x0CC}, {0x095, 0x3CE, 0x398}, {0x095, 0x0FF, 0x000}, {0x3E42, 0x010A, 0x3DD6}, /*B0,B1,B2 */ {0x1, 0x1, 0x1}, /*S0,S1,S2 */ };‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍

OpenCV is a computer vision library originally developed by Intel. It is free for commercial and research use under the open source BSD license. The library is cross-platform. It focuses mainly on real-time image processing; as such, if it finds Intel's Integrated Performance Primitives on the system, it will use these commercial optimized routines to accelerate itself. Application OpenCV's application areas include: * 2D and 3D feature toolkits * Egomotion estimation * Face Recognition * Gesture Recognition * Human-Computer Interface (HCI) * Mobile robotics * Motion Understanding * Object Identification * Segmentation and Recognition * Stereopsis Stereo vision: depth perception from 2 cameras * Structure from motion (SFM) * Motion Tracking To support some of the above areas, OpenCV includes a statistical machine learning library that contains: * Boosting * Decision Trees * Expectation Maximization * k-nearest neighbor algorithm * Naive Bayes classifier * Artificial neural networks * Random forest * Support Vector Machine Installing OpenCV on i.MX 51 EVK Board running Ubuntu Linux Assuming that you already have the Ubuntu Linux running on your board, you can use this wiki page to guide you to get your USB camera running on your system in order to use real time image processing features of this library. In a brand new installation of Ubuntu some libraries is not installed by default, so you need to install them by your own hands (use synaptic to do that), here is the list of these libraries: libgtk2.0-dev libjpeg62-dev zlib1g-dev libpng12-dev libtiff4-dev libjasper-dev libgst-dev libgstreamer0.10-dev If you already have some of those libraries installed, make sure that is the DEV version. After installing those libraries you can download the stable OpenCV version here. Install it following the procedure below: 1 - untar the opencv package tar -xvzf opencv-1.1pre1.tar.gz  2 - change to OpenCV folder cd opencv-1.1.0  3 - configure the installation enabling gstreamer and letting to compile demo apps later ./configure --with-gstreamer --disable-apps You will get the following results: General configuration ================================================       Compiler:                         g++       CXXFLAGS:       DEF_CXXFLAGS:             -Wall -fno-rtti -pipe -O3 -fomit-frame-pointer       PY_CXXFLAGS:               -Wall -pipe -O3 -fomit-frame-pointer       OCT_CXXFLAGS:             -fno-strict-aliasing -Wall -Wno-uninitialized -pipe -O3 -fomit-frame-pointer        Install path:                      /usr/local  HighGUI configuration ================================================       Windowing system --------------       Use Carbon / Mac OS X:        no       Use gtk+ 2.x:                        yes       Use gthread:                         yes       Image I/O ---------------------       Use ImageIO / Mac OS X:       no       Use libjpeg:                            yes       Use zlib:                                yes       Use libpng:                             yes       Use libtiff:                               yes       Use libjasper:                          yes       Use libIlmImf:                          no             Video I/O ---------------------       Use QuickTime / Mac OS X:     no       Use xine:                                no       Use gstreamer:                        yes       Use ffmpeg:                             no       Use dc1394 & raw1394:     no       Use v4l:                                   yes       Use v4l2:                                 yes       Use unicap:                             no     Wrappers for other languages =========================================       SWIG Python                          no       Octave                                    no       Additional build settings ============================================       Build demo apps                      no Now run make ... 4 - Build OpenCV ./make 5 - Install OpenCV ./sudo make install if all steps above were executed properly, now you can compile the sample applications: 1 - change to samples/c directory cd samples/c 2 - change the build_all script mode to +x chmod +x build_all.sh 3 - run the script ./build_all.sh Now you can test. The results below were taken from the Laplacian filter sample processing in real-time images grabbed from an USB camera: Laplacian filter with USB Camera capture device Also, you can see how is it performance on a 3 windowed application performing color conversion and canny edge detection at the same time: http://www.youtube.com/watch?v=w9yQgdABT7c EOF !

Using a USB Touchscreen on Ubuntu   This example uses a XENARC 706TSA monitor http://www.xenarc.com/product/706tsa.html To use a USB touchscreen on i.MX51 EVK, disable all touchscreen drivers on menuconfig and build the kernel: Device Drivers  --->        Input device support  --->        [ ]   Touchscreens  ---> Download xserver-xorg-input-evtouch (0.8.8-ubuntu3 version) from http://launchpadlibrarian.net/24760784/xserver-xorg-input-evtouch_0.8.8-0ubuntu3_armel.deb. X crash is found if using latest 0.8.8-ubuntu6.1 version. For the details. See https://bugs.launchpad.net/ubuntu/+source/xf86-inputevtouch/+bug/511491 On MX51 EVK board, run “sudo dpkg –i xserver-xorg-input-evtouch_0.8.8-0ubuntu3_armel.deb” to install debian package. Add fdi file by "sudo vi ./usr/share/hal/fdi/policy/20thirdparty/50-eGalax.fdi": <?xml version="1.0" encoding="UTF-8"?> <deviceinfo version="0.2">    <device>       <match key="info.product" contains="eGalax">          <match key="info.capabilities" contains="input">             <merge key="input.x11_driver" type="string">evtouch</merge>             <merge key="input.x11_options.minx" type="string">130</merge>             <merge key="input.x11_options.miny" type="string">197</merge>             <merge key="input.x11_options.maxx" type="string">3945</merge>             <merge key="input.x11_options.maxy" type="string">3894</merge>             <merge key="input.x11_options.Rotate" type="string">CCW</merge>             <merge key="input.x11_options.Swapy" type="string">true</merge>             <merge key="input.x11_options.taptimer" type="string">30</merge>             <merge key="input.x11_options.longtouchtimer" type="string">750</merge>             <merge key="input.x11_options.longtouched_action" type="string">click</merge>             <merge key="input.x11_options.longtouched_button" type="string">3</merge>             <merge key="input.x11_options.oneandhalftap_button" type="string">2</merge>             <merge key="input.x11_options.movelimit" type="string">10</merge>             <merge key="input.x11_options.touched_drag" type="string">1</merge>             <merge key="input.x11_options.maybetapped_action" type="string">click</merge>             <merge key="input.x11_options.maybetapped_button" type="string">1</merge>          </match>       </match>    </device> </deviceinfo> Save above configuration. Calibrating Calibration in made by clicking on System -> Administration -> Calibrate Touchscreen Follow the on screen instructions and reboot the system. Calibrating using Xinput Calibrator Xinput_calibrator is another option to calibrate touchscreen. It can be downloaded at: http://www.freedesktop.org/wiki/Software/xinput_calibrator On i.MX5x Ubuntu, unpack the source code: tar -xzvf xinput_calibrator-0.7.5.tar.gz Install xorg-dev, it's required to build xinput_calibrator sudo apt-get install xorg-dev Configure, build and install xinput_calibrator ./configure ./make ./make install Execute xinput_calibrator. A four-point calibration screen will be shown. Follow the instructions on screen and after complete xinput_calibrator will return the calibration parameters. Replace the given calibration parameters on file /usr/share/hal/fdi/policy/20thirdparty/50-eGalax.fdi and reboot the system.

This example uses the touchscreen that comes with i.MX51 EVK's parallel LCD Download xserver-xorg-input-evtouch (xserver-xorg-input-evtouch_0.8.8-3build1_armel.deb) from https://launchpad.net/ubuntu/lucid/armel/xserver-xorg-input-evtouch/0.8.8-3build1 On i.MX51 EVK board, run “sudo dpkg –i xserver-xorg-input-evtouch_0.8.8-3build1_armel.deb” to install debian package. Remove evdev config file: sudo rm /usr/lib/X11/xorg.conf.d/05-evdev.conf Change the content of 10-evtouch.conf to: sudo vi /usr/lib/X11/xorg.conf.d/10-evtouch.conf Section "InputClass"            Identifier "touchscreen catchall"            MatchIsTouchscreen "on"            Driver "evtouch"            Option "SwapY" "1"            Option "MinX" "32"            Option "MinY" "46"            Option "MaxX" "1001"            Option "MaxY" "967" EndSection   The MinX, MinY, MaxX and MaxY values can be changed to match the exact configuration of your touchscreen Save above configuration and reboot the system.

BlueZ5 provides support for the core Bluetooth layers and protocols. It is flexible, efficient and uses a modular implementation. BlueZ5 has implemented the Bluetooth low level host stack for Bluetooth core specification 4.0 and 3.0+HS which includes GAP, L2CAP, RFCOMM, and SDP. Besides the host stack, BlueZ5 has also supported the following profiles itself or via a third party software. Profiles provided by BlueZ: A2DP 1.3 AVRCP 1.5 DI 1.3 HDP 1.0 HID 1.0 PAN 1.0 SPP 1.1 GATT (LE) profiles: PXP 1.0 HTP 1.0 HoG 1.0 TIP 1.0 CSCP 1.0 OBEX based profiles (by obexd): FTP 1.1 OPP 1.1 PBAP 1.1 MAP 1.0 Provided by the oFono project: HFP 1.6 (AG & HF)Supported Profiles BlueZ5 has been supported in the latest Freescale Linux BSP release, so it would be pretty easy to generate the binaries for Bluetooth core stack and its profiles. In order to support A2DP sink on a SabreSD board, the following software should be downloaded and installed onto the target rootfs too. sbc decoder version 1.3 (http://www.kernel.org/pub/linux/bluetooth/sbc-1.3.tar.gz) PulseAudio 5.0 (http://www.freedesktop.org/software/pulseaudio/releases/pulseaudio-5.0.tar.xz) PulseAudio package has some dependencies with bluetooth and sbc packages, and pulseaudio will detect if the two packages have been built and then decide which pulse plugin modules to be generated. So the building order will be 1) bluez5_utils or bluez_utils   2) sbc   3) pulseaudio. After compile and install the above software onto the target rootfs, you should be able to see the following executable under the directory /usr/bin From BlueZ5: bluetoothctl, hciconfig, hciattach (Needed by operating a UART bluetooth module) From PulseAudio: pulseaudio, pactl, paplay If the building dependency has been setup correctly, the following pulse plugin modules should be located under the directory /usr/lib/pulse-5.0/modules module-bluetooth-discover.so      module-bluetooth-policy.so        module-bluez5-device.so   module-bluez5-discover.so Edit the file /etc/dbus-1/system.d/pulseaudio-system.conf, and add the following lines in red: <policy user="pulse">     <allow own="org.pulseaudio.Server"/>    <allow send_destination="org.bluez"/>     <allow send_interface="org.freedesktop.DBus.ObjectManager"/> </policy> Edit the file /etc/dbus-1/system.d/bluetooth.conf, and add the following lines: <policy user="pulse">      <allow send_destination="org.bluez"/>      <allow send_interface="org.freedesktop.DBus.ObjectManager"/> </policy> Adding the following settings at the bottom of the pulseaudio system configuration file which locates in /etc/pulse/system.pa ### Automatically load driver modules for Bluetooth hardware .ifexists module-bluetooth-policy.so load-module module-bluetooth-policy .endif .ifexists module-bluetooth-discover.so load-module module-bluetooth-discover .endif load-module module-switch-on-connect load-module module-alsa-sink device_id=0 tsched=true tsched_buffer_size=1048576 tsched_buffer_watermark=262144 On the system that can automatically detect the alsa cards, the above line #13 should be removed.  Also make sure "auth-anonymous=1" is added to the following line, which can resolve the issue: "Denied access to client with invalid authorization data". load-module module-native-protocol-unix auth-anonymous=1 Selecting a audio re-sampling algorithm and configuring the audio output by adding the following settings to the file daemon.conf locating in /etc/pulse resample-method = trivial enable-remixing = no enable-lfe-remixing = no default-sample-format = s16le default-sample-rate = 48000 alternate-sample-rate = 24000 default-sample-channels = 2 Pulseaudio can be started as a daemon or as a system-wide instance. To run PulseAudio in system-wide mode, the program will automatically drop privileges from "root" and change to the "pulse" user and group. In this case, before launching the program, the "pulse" user and group needs to be created on the target system.  In the example below, "/var/run/pulse" is the home directory for "pulse" user. adduser -h /var/run/pulse pulse addgroup pulse-access adduser pulse pulse-access Because PulseAudio needs to access the sound devices, add the user "pulse" to the "audio" group too. adduser pulse audio Starting bluetoothd and pulseaudio: /usr/libexec/bluetooth/bluetoothd -d & pulseaudio --system --realtime & To verify if the pulseaudio has been set up correctly, you can play a local wave file by using the following command. If you can hear the sound, the system should have been configured correctly. paplay -vvv audio8k16S.wav After setting up the pulseaudio, launch bluetoothctl to pair and connect to a mobile phone. After connecting to a mobile phone, you should be able to see the following information in bluetoothctl console: [bluetooth]# show Controller 12:60:41:7F:03:00         Name: BlueZ 5.21         Alias: BlueZ 5.21         Class: 0x1c0000         Powered: yes         Discoverable: no         Pairable: yes         UUID: PnP Information           (00001200-0000-1000-8000-00805f9b34fb)         UUID: Generic Access Profile    (00001800-0000-1000-8000-00805f9b34fb)         UUID: Generic Attribute Profile (00001801-0000-1000-8000-00805f9b34fb)         UUID: A/V Remote Control        (0000110e-0000-1000-8000-00805f9b34fb)         UUID: A/V Remote Control Target (0000110c-0000-1000-8000-00805f9b34fb)         UUID: Message Notification Se.. (00001133-0000-1000-8000-00805f9b34fb)         UUID: Message Access Server     (00001132-0000-1000-8000-00805f9b34fb)         UUID: Phonebook Access Server   (0000112f-0000-1000-8000-00805f9b34fb)         UUID: IrMC Sync                 (00001104-0000-1000-8000-00805f9b34fb)         UUID: OBEX File Transfer        (00001106-0000-1000-8000-00805f9b34fb)         UUID: OBEX Object Push          (00001105-0000-1000-8000-00805f9b34fb)         UUID: Vendor specific           (00005005-0000-1000-8000-0002ee000001)         UUID: Audio Source              (0000110a-0000-1000-8000-00805f9b34fb)         UUID: Audio Sink                (0000110b-0000-1000-8000-00805f9b34fb)         Modalias: usb:v1D6Bp0246d0515         Discovering: no If you can see the audio sink UUID, you are ready to enjoy the bluetooth music now.

To copy the screen (framebuffer) execute on i.MX 31 PDK terminal: dd if=/dev/fb0 of=screen.raw bs=1280 count=480 Where: the value 1280 means 640 * 2 bytes (16bpp) and the value 480 is equal the screen width. Copy this raw file to your Linux host and execute it to convert to png image: fbgrab -f screen.raw -w 480 -h 640 -b 16 screen.png To install fbgrab on Debian/Ubuntu execute: apt-get install fbgrab

For more information verify the U-Boot Manual[1]. You need the "lrzsz" package to add support on minicom to transfer over serial: aptitude install lrzsz Open Minicom and power-on the board. When the U-Boot prompt appears: => Type the command to transfer the u-boot.bin binary: => loady Then press the combination keys: Ctrl+a s Then select the option: ymodem A text mode "file explorer" will appear. Select the desired binary (u-boot.bin) pressing "Space" key. The file transfer will start. To execute the uploaded file just issue: => go 0x100000 Replace 0x100000 with your TEXT_BASE address.

NXP i.MX 8 series of application processors support running ArmV8a 64-bit and ArmV7a 32-bit user space programs.  A Hello World program that prints the size of a long int is cross-compiled as 32-bit and as 64-bit from an Ubuntu host and then each is copied to MCIMX8MQ-EVK and run. Resources: Ubuntu 18.04 LTS Host i.MX 8M Evaluation Kit|NXP  MCIMX8MQ-EVK Linux Binary Demo Files - i.MX 8MQuad EVK L4.9.88_2.0.0_GA release Source Code: Create a file with contents below using your favorite editor, example name hello-sizeInt.c. #include <stdio.h> int main (int argc, char **argv) { printf ("Hello World, size of long int: %zd\n", sizeof (long int)); return 0; }‍‍‍‍‍‍‍ Ubuntu host packages: $ sudo apt-get install -y gcc-arm-linux-gnueabihf $ sudo apt-get install -y gcc-aarch64-linux-gnu‍‍‍‍ Line 1 installs the ArmV7a cross-compile tools: arm-linux-gnueabihf-gcc is used to cross compile on Ubuntu host Line 2 install the ArmV8a cross-compile tools: aarch64-linux-gnu-gcc is used to cross compile on Ubuntu host Create Linux User Space Applications Build each application and use the static option to gcc to include run time libraries. Build ArmV7a 32-bit application: $ arm-linux-gnueabihf-gcc -static hello-sizeInt.c -o hello-armv7a‍-static‍‍ Build ArmV8a 64-bit application: $ aarch64-linux-gnu-gcc -static  hello-sizeInt.c -o hello-armv8a‍-static‍‍ Copy Hello applications from Ubuntu host and run on MCIMX8MQ-EVK Using a SDCARD written with images from L4.9.88_2.0.0 Linux release (see resources for image link), power on EVK with Ethernet connected to network and Serial Console port which was connected to a windows 10 PC. Launched a terminal client (TeraTerm) to access console port. Login credentials: root and no password needed. Since Ethernet was connected a DHCP IP address was acquired, 192.168.1.241 on the EVK.  On the Ubuntu host, secure copy the hello applications to EVK: $ scp hello-armv7a-static [email protected]:~/ hello-armv7a-static                           100%  389KB   4.0MB/s   00:00    $ scp hello-armv8a-static [email protected]:~/ hello-armv8a-static                           100%  605KB   4.7MB/s   00:00 ‍‍‍‍‍‍‍‍‍‍ Run: root@imx8mqevk:~# ./hello-armv8a-static Hello World, sizeof long int: 8 root@imx8mqevk:~# ./hello-armv7a-static Hello World, sizeof long int: 4‍‍‍‍‍‍‍‍

These instructions used ltib-imx27ads-20071219. First, get u-boot v2.0: git clone http://git.denx.de/u-boot-v2.git u-boot-v2 Enter the U-Boot directory: cd u-boot-v2 Export the proper compilation paths and environment variables: export ARCH=arm export PATH="$PATH:/opt/freescale/usr/local/gcc-4.1.2-glibc-2.5-nptl-3/arm-none-linux-gnueabi/bin/" export CROSS_COMPILE=arm-none-linux-gnueabi- Configure it for the i.MX27ADS board: make mx27ads_defconfig You may want to enable the FEC driver: make menuconfig And go to Drivers -> Network drivers and select Yes on i.MX FEC Ethernet driver Exit the config menu (don't forget to save the configuration) and just make it: make Or if you prefer the verbose mode make V=1 After a quick build, you should get a uboot.bin on your current directory. I used the ADS Toolkit to program the NOR flash.

You can boot from SPI NOR Flash using the following procedure:      1 - Download ATK Release 1.7. The version ATK 1.7 can be downloaded here. 2 - Unzip file iMX_AdvancedToolKit_R170.zip into "C:\Program Files\freescale\AdvancedToolKit-STD\image\".      3 - Open the file "C:\Program Files\freescale\AdvancedToolKit-STD\config\ADSToolkit.cfg" and add the following lines: [MX25_TO11] MMC/SD::image\mx25_mmc.bin:0x(unknown) NAND::image\mx25_nand.bin:0x(unknown) SPI::image\mx25_spi.bin:0x(unknown) [MX31]   4 - Set the SPI Boot Config on MX25PDK:   SW22: no influence SW21[1-8]: 11110010 BT_MEM_CTL[0:1] = 11 (Expansion) BT_MEM_TYPE[0:1] = 11 (Serial ROM via SPI) BT_PAGE_SIZE[0:1] = no influence BT_BUS_WIDTH[0:1] = 10 (3-Address SPI (24-bit) Note: BT_BUS_WIDTH[0]=1, BT_BUS_WIDTH[1]=0 On Debug Board the red switches: (SW5-SW10) = 000011 (0=off) Boot Config Switches (SW21, SW22) on Personality Board have no influence.   5 - Connect USB or Serial cable between Host PC and PDK and execute ATK   6 - Select USB/UART serial boot on MX25PDK and power on the board   7 - Configure ATK as following: Device = i.MX25_TO1.1 device memory initial = DDR2 Communication channel: COMn (select the COM port on your PC) or Communication channel: USB If you choose COM (serial UART connection) you MUST disconnect USB cable from OTG connector on i.MX25 PDK.   8 - Configure ATK "Flash Tool" as following: Tick "Program" Tick "Read Back Check" Flash Model = SPI Address = 0x0 Image = mx25_3stack_redboot_TO1_1.bin (same file as for NAND boot). Same should be applicable to U-boot.   Note: SPI NOR Boot requires internal boot mode. On Debug Card all red switches must be off (SW5-SW10) = 000000 (0=off). Note: if booting from SPI NOR, Redboot needs approx 2 seconds before it shows messages on the console.

Background Configure Trace32 Attach to SCFW with Lauterbach Snooping Perf Examples Example 1 : Snoop a function call (or a variable) Example 2: MonitorFrame Per Second Example 3: Monitor Frame Per Second and rendering size Background None of my automotive have trace pins on their board. Trace is consequently not possible. Anyway you can do "Snooping" with your Lauterbach JTAG probe. Snooping just send data as fast as possible. In the following example I will Snoop the i.MX8X' SCFW, notice I do not have the sources (except board.c) but I have the elf file (thus I have debug info with functions names for instance). Notice Snooping is available on all MCU/MPU with JTAG.   In my case I used it for the first time in 2015 on Vybrid, our first heterogeneous dual core (Cortex-A5 & Cortex-M4) with no XRDC... My customer has sent the final product with a JTAG connector and flashed SW product to me. I had a laconic comment: "software is done all around the world in UK, India and the US, when we flash all the software the Vybrid Reset for some version, we don't have the sources for this specific software we have flashed in this product. Good Luck". In this case snooping on both core at the same time was the only solution for me... At the end I have discovered (thanks to the last PC addresses before the crash) the cortex-A5 was deconfiguring a pin of the QSPI flash interface on which the M4 was eXecuting In Place (XiP). Configure Trace32 When your Trace32 is open, CPU>>System Settings... menu and configure the JtagClock as fast as possible (here 40MHz) to have fast data streaming: go in Trace>>Configuration menu Select "SNOOPer" Select to stream the Pointer Counter thus select the mode "PC" Pass to State to "Arm" You can increase also the SIZE of the buffer Launch your code: Attach to SCFW with Lauterbach In Trace32, CPU>>System Settings, chose IMX8QXP-SCU: And then do an "Attach": Then yu should see your SCU core running: Snooping And break your code, your "used" field " should be filled: Open Trace>>List>>Default Click on "Chart" On the trace list you can see the sampling rate: around 48µs in our case. It means you may (almost) not see functions lasting less than 48µs (depends when it is sampled), or you'll see it sometimes. But for performance analysis it can be useful to see which function is too slow (rather then instrument the code), but as I mentioned in my case function has to last more than 48µs! Perf You can also get Performance analysis. But keep in mind if your function is faster than 48µs in my case, the result will not be accurate! Go in Perf>>Perf Configuration (it can also be done un real time with Perf>>Perf List Dynamic)... and select "Snoop": Then put the State in "Arm" and click on "List" to open the "List Window" Launch your code and stop it. In the "List" window you'll see all the function ranked according to their usage occurrence (my SCFW is almost always in sleep!) Examples Example 1 : Snoop a function call (or a variable) With Snooping you cannot trace a function calls. To do that I add a global variable in the function. You'll have a little overhead due to that. I will use an i.MXRT1170 with the SDK 2.6.1. I have built the Tiger example (vglite). April 4th 2020: i.MXRT1170 is not public, meaning not officially supported by Lauterbach. Please follow the instruction in my SharePoint folder (if the link disappears, it may signify i.MXRT1170 is supported) to add support of the i.MXRT1170. https://nxp1-my.sharepoint.com/:f:/g/personal/vincent_aubineau_nxp_com/Ej8ID8mXaNZPnVgTWgYgqHQBzR0XcE0K4sl1WusR3UMBnw?e=…  I want to know the framerate. To do that I have to monitor the redraw() calls. What I do, is I put the "n" variable as global. Trace>>Configuration ... Chose "memory" and "changes" (to log only when the variable is changing): Then then click on select... and "i" Search for "n" variable and select it: Launch your software and then do a break. Click on "List": You have the list of your function call (as you can see it is not always the same), in the "ti. call" you have the duration between 2 call (keep in mind the function must not be called at high frequency: If you click on "draw", you can display the variable values (click on  to scale it): Example 2: Monitor Frame Per Second I can also monitor the fps if I pass "time" variable global: And you can have a reprensentation of you fps (notive I have unchecked "Changes" to have an easy to intrepret curve Example 3: Monitor Frame Per Second and rendering size Results often depends of several variables. If you display 2 variables on 1 display window, if the 2 variable does not have the same range, it is not easy to observe. The best solution I have found in this case is to have 2 "Draw" Windows. Add the 2 variables in the "SElect" field ("time" and "ScaleCount", beware, it is case sensitive). Launch your code, and stop it after a while. Then right click on the "time" and "ScaleCount" variable in your code to display 2 "Draw" window: Thus you have 2 "Draw" windows, and you see FPS depends on rendering size... logical!  

i.MX27 and i.MX31 Issues When Interfacing Micron's 78nm mDDRs Micron is discontinuing some "-75" mDDR parts (133MHz) popular on i.MX27 and i.MX31 designs, newer "-6" are being used to replace the EOL devices. However, loss of data issues may be experienced when i.MX mDDR controller is used to interface with newer Micron's mDDR. On some cases, the bootloader works, memory tests on RedBoot pass. However, Linux hangs when booting. Here are the DDR Controller configuration changes that may be used to avoid the issue: (This configuration is not proven to work on every design, but has been validated on at least 3 different boards.) ESDRAMC Configuration Registers Set ESDCFG0/1 to 0x0079D72F 0xD800_1004 = 0x79D72F Drive Strength Control Registers Use "Normal". i.MX27 Default. Enhanced MDDR Delay Line Configuration Debug Register Set the ESDCDLYx to 0x002C0000 0xD800_1020 = 0x2C0000 0xD800_1024 = 0x2C0000 0xD800_1028 = 0x2C0000 0xD800_102C = 0x2C0000

目录 1 创建 i.MX8QXP Linux 5.4.24 板级开发包编译环境 ..... 3 1.1 下载板级开发包 ....................................................... 3 1.2 创建yocto编译环境: ................................................. 4 1.3 独立编译 ................................................................. 9 2 Device Tree .............................................................. 16 2.1 恩智浦的device Tree结构 ..................................... 16 2.2 device Tree的由来(no updates) ............................ 19 2.3 device Tree的基础与语法(no updates) ................. 22 2.4 device Tree的代码分析(no updates) ..................... 44 3 恩智浦i.MX8XBSP 包文件目录结构 .......................... 77 4 恩智浦i.MX8XBSP的编译(no updates) ..................... 79 4.1 需要编译哪些文件 ................................................. 79 4.2 如何编译这些文件 ................................................. 80 4.3 如何链接为目标文件及链接顺序 ............................ 81 4.4 kernel Kconfig ....................................................... 83 5 恩智浦BSP的内核初始化过程(no updates) .............. 83 5.1 初始化的汇编代码 ................................................. 85 5.2 初始化的C代码 ...................................................... 89 5.3 init_machine........................................................ 102 6 恩智浦BSP的内核定制 ........................................... 105 6.1 DDR修改 ............................................................. 106 6.2 IO管脚配置与Pinctrl驱动 ..................................... 107 6.3 新板bringup......................................................... 123 6.4 更改调试串口 ...................................................... 132 6.5 uSDHC设备定制(eMMC flash,SDcard, SDIOcard)137 6.6 LVDS LCD 驱动定制 ........................................... 147 6.7 LVDS LDB SerDas驱动支持 ............................... 150 6.8 MiPi DSI SerDas驱动支持 .................................. 156 6.9 V4L2框架汽车级高清摄像头/桥驱动：数字/模拟 . 160 6.10 GPIO_Key 驱动定制 .......................................... 177 6.11 GPIO_LED 驱动定制 ......................................... 181 6.12 Fuse nvram驱动 .................................................. 184 6.13 SPI与SPI Slave驱动 ........................................... 185 6.14 USB 3.0 TypeC 改成 USB 3.0 TypeA(未验证) .... 193 6.15 汽车级以太网驱动定制 ........................................ 193 6.16 i.MX8DX MEK支持 .............................................. 212 6.17 i.MX8DXP MEK支持 ........................................... 212 6.18 NAND Flash支持与烧录 ...................................... 213