This work is the result of my daughter's idea, she finished it with my guidance. Cradle-1 Palmsize mini-HPC World's first full function heterogeneous mini-HPC, this is what it looks like: 1 Architecture         Overall:  CPU+GPU heterogeneous, 4 nodes, connected by a 100M Ethernet switcher;         Nodes： FreeScale I.MX6 Quad core mini-pc, with 4 ARM Cortex-A9 cores and 1 Vivante GC2000 GPU 2  Software         OS:   Ubuntu 11.10 linaro         OpenCL driver: Vivante GC2000 OpenCL driver         Compiler:  C/C++: gcc 4.6.1, Fortan90/95:  gfortran 4.6.1,         MPI Parallel Computing: MPICH2 1.4-1         NFS network file system: nfs-kernel-server 1.2.4         SSH security:   openssh   1:5.8 3 Hardware         The hardware of all nodes are the same, only the software configurations are slightly different. One of them was assigned as the master node, the others are slave nodes. They were TV sticks originally, with android 4.0 installed. The node's hardware specification is:         CPU: 4 1.2G Cortex-A9 cores         GPU: 1 Vivante GC2000 GPU         RAM: 1G DDR         ROM: 8G SD         NIC:   usb2.0 100M Ethernet Adapter (this NIC is not the TV stick's component, we added it)         WIFI: 150M         Display Interface:  HDMI         Network Switcher: 5 port 100M Ethernet Switcher 4  Network         Each node has one USB2.0 NIC and one WIFI interface, the WIFI is used as the backup connection for NIC connection. Network configurations are:         IP Address assignment:  (baby1 - baby4 are the four computing nodes)         baby1: 100M NIC 192.168.10.1 WIFI 192.168.0.111         baby2: 100M NIC 192.168.10.2 WIFI 192.168.0.112         baby3: 100M NIC 192.168.10.3 WIFI 192.168.0.113         baby4: 100M NIC 192.168.10.4 WIFI 192.168.0.114 5  Performance         Cradle-1 has 16 1.2G ARM Cortex-A9 cores and 4 Vivante GC2000 GPU cores, the total computing power of these 20 computing devices is more than 100GFLOPS,   more powerful than an ordinary desktop. The whole machine is only a little bigger than a palm, and the total power consumption is less than 15 watts.          The overall architecture of Cradle-1 is almost the same as Chinese Tianhe-1A or the Titan in the oak ridge lab. they used the same set of software, LINUX+OPENCL+OPENMPI. Cradle-1 supports C/C++, Fortran90/95. And almost all kinds of parallel computing algorithms can run on it, the only difference is the scale.         We coded a MPI parallel computing program for large matrix multiplication with 4 processes, each process had 5 threads, four threads for the four CPU cores, and one thread for GPU computing. 6 Appearance Front Back Top Left Right One node, it has three interfaces, the right is HDMI interface, upper-left is the wireless adapter for keyboard and mouse, down-left is the power connection. One node is running Ubuntu 11.10. Coded a simple OpenCL program to display OpenCL driver information On a notebook, using remote desktop access function to obtan the node baby1's desktop. This is the sign in desktop of baby1 node. Baby 1 has X11VNC server installed. sign in baby1, open a terminal Ran a MPI testing program, ensuring that all babies (baby1 - baby4) were working     Any comments? please mail to audrey.tao@hotmail.com

Tool: VMware Workstation Player Linux Distribution : Ubuntu 16.04 1. Create the VM in VMware Workstation. 2. Select the .iso file to install the Ubuntu 16.04 in the VM. 3. In "Specify Disk Capacity", I recommend the disk size is 200GB. 4. Then click "Finish" to create the VM. 5. If you have local mirror sources, change the source in /etc/apt/source.list. This will speed up a lot when you download the Linux packages and software. 6. Type these two commands to update the Ubuntu system. - sudo apt-get update - sudo apt-get upgrade 7. Install Yocto Project host packages $ sudo apt-get install gawk wget git-core diffstat unzip texinfo gcc-multilib build-essential chrpath socat libsdl1.2-dev $ sudo apt-get install libsdl1.2-dev xterm sed cvs subversion coreutils texi2html docbook-utils python-pysqlite2 help2man make gcc g++ desktop-file-utils libgl1-mesa-dev libglu1-mesa-dev mercurial autoconf automake groff curl lzop asciidoc u-boot-tools 8.Install the repo a. Create a bin folder in the home directory. $ mkdir ~/bin (this step may not be needed if the bin folder already exists) $ curl https://storage.googleapis.com/git-repo-downloads/repo > ~/bin/repo $ chmod a+x ~/bin/repo b. Add the following line to the .bashrc file to ensure that the ~/bin folder is in your PATH variable. export PATH=~/bin:$PATH If you cannot download the repo from google, please try this one: Git Repo | 镜像站使用帮助 | 清华大学开源软件镜像站 | Tsinghua Open Source Mirror  9. Yocto project setup $ mkdir imx-yocto-bsp $ cd imx-yocto-bsp $ repo init -u https://source.codeaurora.org/external/imx/imx-manifest -b imx-linux-sumo -m imx-4.14.98-2.0.0_ga.xml $ repo sync 10. Building an image The syntax for the fsl-setup-release.sh script is shown below. $ DISTRO=<distro name> MACHINE=<machine name> source fsl-setup-release.sh -b <build dir> $ DISTRO=fsl-imx-xwayland MACHINE=imx8qxpmek source fsl-setup-release.sh -b build-xwayland $ bitbake fsl-image-qt5-validation-imx or $ bitbake core-image-full-cmdline (smaller size of rootfs) (for more examples, please refer to the i.MX_Yocto_Project_User's_Guide.pdf) 11. U-boot and Kernel Source code in Yocto u-boot : imx-yocto-bsp/build-xwayland/tmp/work/<board_name>/u-boot-imx kernel : imx-yocto-bsp/build-xwayland/tmp/work/<board_name>/linux-imx 12. Deploy folder of the images imx-yocto-bsp/build-xwayland/tmp/deploy/images/<board_name> Some useful commands for your information: 1. Kernel Menuconfig $ bitbake linux-imx -c menuconfig 2. Rebuild the u-boot and kernel source code $ bitbake u-boot-imx -c compile -f $ bitbake linux-imx -c compile -f 3. Rebuild the whole project to generate the images to deploy folder again for example, if you build the fsl-image-qt5-validation-imx before , then type this: $ bitbake fsl-image-qt5-validation-imx -f Reference: (1) Download the BSP and the Documentation   :  i.MX Software | NXP 

The document will introduce all steps for poring WM8960 audio codec to freescale android4.2.2 BSP. Attachments include : (1)Document for porting (2)Codec driver : wm8960.c (3)Machine driver: imx-wm8960.c (4)wm8960 schematic for reference (5)Android Audio HAL: config_wm8960.h (6)schematic: MX6QDL-PIANO-CNFV1.DSN (7)i.MX6DL BSP files mx6dl_piano.c mx6dl_piano.h mx6dl_piano_pmic_pfuse100.c (8)i.MX6Q BSP files mx6q_piano.c mx6q_piano.h mx6q_piano_pmic_pfuse100.c   Freescale TICS Team Weidong.sun

Installation Build the development image (fsl-image-gui-sdk) using Yocto and flash it into the board Download LMbench's tarball from LMbench - Tools for Performance Analysis Untar the file and move the created folder Run the benchmarks following these steps: lmbench $ cd src lmbench/src $ make results lmbench/src $ cd .. lmbench $ make see Benchmarks Attached are the benchmarks results from several machines. In case you run them in a different machine, please attach your results file on this document. For more robust results, rerun several times the test and create the result document following these steps: lmbench $ make results lmbench $ make rerun lmbench $ make rerun lmbench $ make rerun lmbench $ cd results lmbench/results $ make > results # results is the output file you may want to attach to this document

As of this writing, April 2015, the default sdcard image created from a Yocto Project build has all the software images nicely aligned to create a SDCARD. 10/7/2020: Update - SDCARD image names have been updated to images ending with .wic as the default from Yocto Project.  The process is the same for both .sdcard and .wic files.   There are two partitions within the image: A W95 FAT32 (LBA) partition that contains the Linux zImage, and various device tree binary (dtb) files A Linux root file system. Each partition can be mounted from your Linux host computer, then you can read or write the partition contents. Here are the steps based on the core-image-base recipe for the imx6sxsabresd machine using Yocto Project release L3.14.28_1.0.0_GA.   The name of the image: core-image-base-imx6sxsabresd.sdcard Run the fdisk command to view the contents of the image: $ fdisk -l core-image-base-imx6sxsabresd.sdcard Disk core-image-base-imx6sxsabresd.sdcard: 100 MB, 100663296 bytes 4 heads, 32 sectors/track, 1536 cylinders, total 196608 sectors Units = sectors of 1 * 512 = 512 bytes Sector size (logical/physical): 512 bytes / 512 bytes I/O size (minimum/optimal): 512 bytes / 512 bytes Disk identifier: 0x00074663 Device Boot Start End Blocks Id System core-image-base-imx6sxsabresd.sdcard1 8192 24575 8192 c W95 FAT32 (LBA) core-image-base-imx6sxsabresd.sdcard2 24576 188415 81920 83 Linux   Determine the byte offset into the sdcard image of where each partition starts:  core-image-base-imx6sxsabresd.sdcard1 starts at sector 8192. One sector unit is 512 bytes.                8192 * 512 = 4194304 core-image-base-imx6sxsabresd.sdcard2 starts at sector 24576. 24576 * 512 = 12582912   Mount Partitions First create mount points: $ sudo mkdir /mnt/{mp1,mp2}    sdcard1 partition $ sudo mount -o loop,offset=4194304 core-image-base-imx6sxsabresd.sdcard /mnt/mp1 NOTE: An alternate method for determining the offset, see below: $ sudo mount -o loop,offset=$((512 * 8192)) core-image-base-imx6sxsabresd.sdcard /mnt/mp1 sdcard2 partition $ sudo mount -o loop,offset=12582912 core-image-base-imx6sxsabresd.sdcard /mnt/mp2 View the contents of each mounted partition $ ls /mnt/mp1 imx6sx-sdb.dtb imx6sx-sdb-lcdif1.dtb imx6sx-sdb-reva.dtb imx6sx-sdb-sai.dtb imx6sx-sdb-emmc.dtb imx6sx-sdb-m4.dtb imx6sx-sdb-reva-ldo.dtb zImage $ ls /mnt/mp2 bin boot dev etc home lib lost+found media mnt proc run sbin sys tmp usr var   When done release the mount points and remove them from /mnt $ sudo umount /mnt/{mp1,mp2} $ sudo rm /mnt/{mp1,mp2}  

Symptoms   Trying to initialize a repo, for example:  $repo init -u https://github.com/nxp-imx/imx-manifest -b imx-linux-mickledore -m imx-6.1.36-2.1.0.xml we have the below log: File "/home/username/bin/repo", line 51 def print(self, *args, **kwargs): ^ SyntaxError: invalid syntax   Workaround (1)   The first workaround consist in change the python alternatives (caused when you have installed two or more python versions). NOTE: in my case, the python version that i want to change as first priority is python3.8 $sudo update-alternatives --install /usr/bin/python python /usr/bin/python3.8 1   Then we run: $sudo update-alternatives --config python    To verify if your python priority was changed successfully try: $python --version   You should see the version configured as priority number 1.     Workaround (2)   The workaround is very simple, only we need modify the repo file $ nano ~/bin/repo   and we will change the python interpreter in the first line (from python to python3): ORIGINAL FILE   EDITED FILE   After to do this change, repo will works fine again.     I hope this can helps to you!   Best regards.

Starting from $52, the VAR-SOM-MX6 sets the bar for unparalleled design flexibility. The VAR-SOM-MX6 ensures scalable and simplified development, while also extending the product lifecycle. Thanks to four CPU core assembly options, customers can apply a single System on Module in a broad range of applications to achieve short time-to-market for their current innovations, while still accommodating potential R&D directions and marketing opportunities.     VAR-SOM-MX6 CPU: Freescale iMX6 Key features include: Freescale i.MX6 1.2GHz Quad / Dual / Single core Cortex-A9       2GB DDR3, 1GB SLC NAND Flash       Full HD 1080p video encoding/decoding capability       Vivante GPU providing 2D/3D acceleration       Simultaneous multiple display support       Gigabit Ethernet       TI WiLink™ 6.0 single-chip connectivity solution (Wi-Fi, Bluetooth®)       PCI-Express 2.0, S-ATA 3.0       Camera interface       USB 2.0: Host, OTG       Audio In/Out       Dual CAN Bus This versatile solution's -40 to 85°C temperature range and Dual CAN support is ideal for industrial applications, while 1080p video and graphics accelerations make it equally suitable for intensive multimedia applications. The impressive scalability of the VAR-SOM-MX6 satisfies the needs of the most demanding future application requirements whether faster processing power, enhanced algorithms or improved graphics and video performance to name just a few. The VAR-SOM-MX6 is an all-round solution with broad connectivity and sophisticated video and acceleration graphic capabilities, delivering a range of middle to high end assembly options all from the same product. For more details, please see VAR-SOM-MX6 CPU: Freescale iMX6

KSZ9031 is a very common PHY used with many ethernet design. This document will show you how to add it in u-boot and kernel. 1. Schematic The MODE[3:0] strap-in pins are sampled and latched at power-up/reset. MODE[3:0]=1111 is RGMII mode - Advertise all capabilities (10/100/1000 speed half-/full-duplex) The PHY address, PHYAD[2:0], is sampled and latched at power-up/reset. Here PHY address is set to 001. In this design example, the ENET_RESET_B is connected to GPIO pin GPIO1_IO03. 2. Source code modification In u-boot source code, add the following code in the <board_name>.c file. - IOMUX setup for the GPIO1_IO03 pin. static iomux_v3_cfg_t const phy_reset_pads[] = {      MX7D_PAD_GPIO1_IO03__GPIO1_IO3 | MUX_PAD_CTRL(NO_PAD_CTRL), }; - In the function setup_fec(int fec_id), add the code for phy reset. imx_iomux_v3_setup_multiple_pads(phy_reset_pads, ARRAY_SIZE(phy_reset_pads)); gpio_request(IMX_GPIO_NR(1, 3), "ENET PHY Reset"); gpio_direction_output(IMX_GPIO_NR(1, 3) , 0); mdelay(20); gpio_set_value(IMX_GPIO_NR(1, 3), 1); - There is a PHY config for the KSZ9031. int board_phy_config(struct phy_device *phydev) {    /*      * Default setting for GMII Clock Pad Skew Register 0x1EF:      * MMD Address 0x2h, Register 0x8h      *      * GTX_CLK Pad Skew 0xF -> 0.9 nsec skew      * RX_CLK Pad Skew 0xF -> 0.9 nsec skew      *      * Adjustment -> write 0x3FF:      * GTX_CLK Pad Skew 0x1F -> 1.8 nsec skew      * RX_CLK Pad Skew 0x1F -> 1.8 nsec skew      *      */     /* control data pad skew - devaddr = 0x02, register = 0x04 */     ksz9031_phy_extended_write(phydev, 0x02,                    MII_KSZ9031_EXT_RGMII_CTRL_SIG_SKEW,                    MII_KSZ9031_MOD_DATA_NO_POST_INC, 0x0000);     /* rx data pad skew - devaddr = 0x02, register = 0x05 */     ksz9031_phy_extended_write(phydev, 0x02,                    MII_KSZ9031_EXT_RGMII_RX_DATA_SKEW,                    MII_KSZ9031_MOD_DATA_NO_POST_INC, 0x0000);     /* tx data pad skew - devaddr = 0x02, register = 0x05 */     ksz9031_phy_extended_write(phydev, 0x02,                    MII_KSZ9031_EXT_RGMII_TX_DATA_SKEW,                    MII_KSZ9031_MOD_DATA_NO_POST_INC, 0x0000);     /* gtx and rx clock pad skew - devaddr = 0x02, register = 0x08 */     ksz9031_phy_extended_write(phydev, 0x02,                    MII_KSZ9031_EXT_RGMII_CLOCK_SKEW,                    MII_KSZ9031_MOD_DATA_NO_POST_INC, 0x03FF);     if (phydev->drv->config)         phydev->drv->config(phydev);     return 0; } The KSZ9031 driver (drivers/net/phy/micrel.c) had already supported in the u-boot source code. Add the following #define in the <board_name>.h file to enable the driver for building. #define CONFIG_PHY_MICREL As the PHY address on the board is 001, change the PHYADDR to 1 in the <board_name>.h file. #define CONFIG_FEC_MXC_PHYADDR          0x1 In the kernel source code, add/modify the PHY setting in dts file like this. &fec1 {     pinctrl-names = "default";     pinctrl-0 = <&pinctrl_enet1 &pinctrl_enet_reset>;     assigned-clocks = <&clks IMX7D_ENET_PHY_REF_ROOT_SRC>,               <&clks IMX7D_ENET_AXI_ROOT_SRC>,               <&clks IMX7D_ENET1_TIME_ROOT_SRC>,               <&clks IMX7D_ENET1_TIME_ROOT_CLK>,               <&clks IMX7D_ENET_AXI_ROOT_CLK>;     assigned-clock-parents = <&clks IMX7D_PLL_ENET_MAIN_25M_CLK>,                  <&clks IMX7D_PLL_ENET_MAIN_250M_CLK>,                  <&clks IMX7D_PLL_ENET_MAIN_100M_CLK>;     assigned-clock-rates = <0>, <0>, <0>, <100000000>, <250000000>;     phy-mode = "rgmii";     phy-handle = <&ethphy0>;     phy-reset-gpios = <&gpio1 3 0>;     fsl,magic-packet;     status = "okay";     mdio {         #address-cells = <1>;         #size-cells = <0>;         ethphy0: ethernet-phy@1 {    //here '@1' is the PHY address             compatible = "ethernet-phy-ieee802.3-c22";             reg = <1>;         };     }; }; Add the GPIO pin for the ENET_RESET_B &iomuxc { ... ... pinctrl_enet_reset: enet_resetgrp {             fsl,pins = <                 MX7D_PAD_GPIO1_IO03__GPIO1_IO3      0x14     //ENET_RESET_B             >;         }; } There is a PHY fixup in the arch/arm/mach-imx/<imx_cpu>.c Here is the example in mach-imx7d.c #define PHY_ID_KSZ9031    0x00221620 #define MICREL_PHY_ID_MASK 0x00fffff0 static void mmd_write_reg(struct phy_device *dev, int device, int reg, int val) {     phy_write(dev, 0x0d, device);     phy_write(dev, 0x0e, reg);     phy_write(dev, 0x0d, (1 << 14) | device);     phy_write(dev, 0x0e, val); } static int ksz9031rn_phy_fixup(struct phy_device *dev) {     /*      * min rx data delay, max rx/tx clock delay,      * min rx/tx control delay      */     mmd_write_reg(dev, -1, 0x4, 0);     mmd_write_reg(dev, -1, 0x5, 0);     mmd_write_reg(dev, -1, 0x6, 0);     mmd_write_reg(dev, -1, 0x8, 0x003ff);     return 0; } static void __init imx7d_enet_phy_init(void) {     if (IS_BUILTIN(CONFIG_PHYLIB)) {         phy_register_fixup_for_uid(PHY_ID_AR8031, 0xffffffff,                        ar8031_phy_fixup);         phy_register_fixup_for_uid(PHY_ID_BCM54220, 0xffffffff,                        bcm54220_phy_fixup);         phy_register_fixup_for_uid(PHY_ID_KSZ9031, MICREL_PHY_ID_MASK,                 ksz9031rn_phy_fixup);     } } Now, the PHY is working on your board. Reference: 1.  Create an Ubuntu VM environment to build Yocto BSP  2.  i.MX Software | NXP 

In order to run the QT5 demos on i.MX6 you should follow the instructions on this link: Building QT for i.MX6 Some of the demos on the release such as  /examples/opengl/hellogl_es2,  consist of a group of multiple widgets appearing on the screen. Normally these demos should work OK in a windowed environment such as Wayland or X11. In the case of Linux only environment, the plugin that draws to the screen is called EGLFS. This plugin has the restriction that it only supports one single widget at a time on the screen surface. Then demos such as hellogl_es2 are *not intended* to work along with this plugin, and it will never work. The errors found when using EGLFS consist on: These issues can be seen in the Qt OpenGL examples.  "hellogl_es2" and "2dpaint" seem to display one rendered frame and then break --   "hellogl_es2" shows the QT word and bubbles, and the GUI is hidden, while  "2dpaint" just shows the openGL version without label. It seems that when including  a QGLWidget on a form, the QGLWidget would work OK, but the rest of the form would not appear. I couldn't click any buttons or do anything.   Along with these problems I would also see one or more of these error messages in the output:   * This plugin does not support setParent!   * This plugin does not support propagateSizeHints()   * QOpenGLContext::swapBuffers() called with non-opengl surface However other demos such as hellowindow work well with EGLFS because they are single widget.  Also all demos created with qtquick will work OK since all visual QML items are rendered as a single widget using the scene graph, a low-level, high-performance rendering stack, closely tied to OpenGL. This is better explained here: Qt5 QPainter vs. QML &amp; Scene Graph.

Installation, patching and building the SDK The i.MX 6 Series Platform SDK v1.1.0 does not enable neither the MMU nor L1/L2 Caches (depending on the benchmark you are running, enabling these yield much better numbers), so there is a need to patch the code to enable these. Please download the SDK from the Freescale portal and the patch attached on this document, then follow these instructions: $ tar zxvf imx6_platform_sdk_v1.1.0.tgz $ cd iMX6_Platform_SDK $ patch -p1 < 0001-add-L2-cache-enable-to-mx6-SDK-1.1.0.patch $ export PATH=$PATH:<toolchain_install_path>/bin $ ./tools/build_sdk For more help, please look at the README.pdf and documents inside the doc folder.

Q: How to get the CSI BT656 without HSYNC/VSYNC working. The problem, is that all implemented driver in the BSP are using the external HSYNC/VSYNC synchronization signal. The SW designer is actually struggling to find the right way to generate the end of field active interrupt (end of frame). > mxc_v4l2_still.out I get an: > ERROR: v4l2 capture: mxc_v4l_read timeout counter 0 > > When using mxc_v4l2_capture.out or mxc_v4l2_tvin.out I get an: > ERROR: v4l2 capture: mxc_v4l_dqueue timeout enc_counter 0 > To help him implementing the driver, I need to get some insight on the IPUx_CSIn_CCIR_CODE_1/2/3 as it seems that the bit description 21 to 19 (CSI_STRT_FLD0_ACTV) is not described (same for all the multiple bit field in this register. Maybe it should match the ITU656, but here as well the driver examples does not match the bit description of the ITU standard. So my questions: IS it really possible to implement the BT656 with SAV / EAV and without external HSYNC/VSYNC? If yes, is it possible to review the IPUx_CSIn_CCIR_CODE_1/2/3 fields and communicate which parameter should be provided here? i.MX6Q A:      For no VSYNC and HSYNC case, in the sensor driver such as "linux-3.0.35\drivers\media\video\mxc\capture\adv7180.c", function ioctl_g_ifparm(), you should set p->u.bt656.bt_sync_correct to 0;      p->u.bt656.bt_sync_correct = 1; // It means external VSYNC and HSYNC will be used for SYNC.      p->u.bt656.bt_sync_correct = 0; // No external VSYNC and HSYNC, embedded EAV and SAV will be used for SYNC.      In iMX6 BSP, the CCIR related code is ready in "linux-3.0.35\drivers\mxc\ipu3\ipu_capture.c", function ipu_csi_init_interface(), no code modification was needed, that code was verified work.      For BT656 mode, your sensor driver such as adv7180, should also report correct parameters in function function ioctl_g_ifparm().      p->u.bt656.clock_curr = 0;  // This will tell linux-3.0.35\drivers\media\video\mxc\capture\mxc_v4l2_capture.c to use "IPU_CSI_CLK_MODE_CCIR656_INTERLACED" in function mxc_v4l2_s_param().      The current iMX6 BSP mxc_v4l2_capture.c driver doesn't support BT656 progressive mode, it only supports BT656 interlace mode. To support BT656 progressive mode, the customer should modify the code in mxc_v4l2_s_param(), let csi_param.clk_mode = IPU_CSI_CLK_MODE_CCIR656_PROGRESSIVE. This is exactly what they are doing, but still it doesn’t work. Actually, they see the code being executed following the right steps in the ipu_csi_init_interface() going through PAL 720x625 configuration. But still, they get the timeout! else if (cfg_param.clk_mode == IPU_CSI_CLK_MODE_CCIR656_INTERLACED) {       if (width == 720 && height == 625) {         /* PAL case */         /*         Field0BlankEnd = 0x6, Field0BlankStart = 0x2,         Field0ActiveEnd = 0x4, Field0ActiveStart = 0           */         ipu_csi_write(ipu, csi, 0x40596, CSI_CCIR_CODE_1);         /*         Field1BlankEnd = 0x7, Field1BlankStart = 0x3,         Field1ActiveEnd = 0x5, Field1ActiveStart = 0x1           */         ipu_csi_write(ipu, csi, 0xD07DF, CSI_CCIR_CODE_2);         ipu_csi_write(ipu, csi, 0xFF0000, CSI_CCIR_CODE_3); So, I believe the parameters are wrong. What could be missing. Can you review the driver? For me it looks like the adv example, except the bt_sync_correct=0, which is what we want. You can suggest the customer to capture the CSI data bus to check if there is correct output from sensor, such as EAV/SAV. For the "timeout" error, it always means there is no correct data on CSI data bus. This document was generated from the following discussion: CSI BT656

Hello everyone, this document will explain on how to create and run a custom script for UUU (Universal Update Utility) tool Requirements: I.MX 8M Mini EVK Linux Binary Demo Files - i.MX 8MMini EVK (L5.10.35) UUU Serial console emulator (tera term or putty) Text editor (Notepad++, nano, etc) UUU is a pretty flexible tool since it uses the Fastboot protocol through uboot to flash the desired images, this will make possible to create a custom script to add many uboot commands to customize further the boot settings. In this example I will create a custom script which will flash uboot and Linux rootfs and write a Cortex-M binary to the FAT partition of the eMMC. At the same time I’ll create and modify a set of environmental variables, this variables will have a set of uboot commands that will load to the TCM this same binary before the device starts booting into Linux.   Creating the script For this document I'll be using Notepad++ but any text editor may be used instead, since the scripts used by UUU are written in plain text. The very first line of the script must be the version number which will represent the minimum UUU version that UUU can parse this script. For this case that version is 1.2.39 After it, we will add all standard commands to flash uboot and filesystem into the eMMC. Note: This may be also copied from the uuu.auto script inside the Demo files. Please note that the UUU commands format is PROTOCOL: CMD, for this example we will be using mainly SDP and FB protocols which corresponds to the serial download protocol and Fastboot respectively. For a list of all supported UUU protocols and commands please refer to the UUU documentation here: https://github.com/NXPmicro/mfgtools/releases/download/uuu_1.4.165/UUU.pdf Now add the following commands to the script, this will download and write into eMMC FAT partition, which was created when flashing the .wic image, the Cortex-M binary.   FB: ucmd setenv fastboot_buffer ${loadaddr} FB: download -f hello_world_test.bin FB[-t 20000]: ucmd fatwrite mmc ${emmc_dev}:1 ${fastboot_buffer} hello_world_test.bin ${fastboot_bytes}   #fatwrite write file into a dos filesystem "<interface> <dev[:part]> <addr> <filename> [<bytes> [<offset>]] - write file 'filename' from the address 'addr' in RAM  to 'dev' on 'interface' Note: The Cortex-M binary was named as hello_world_test.bin, but any example name may be used. At this point, in the script we will be using only uboot commands as seen above, in this case was fatwrite. The script will look as following: If the script is run now uboot (imx-boot-imx8mmevk-sd.bin-flash_evk), rootfs (imx-image-multimedia-imx8mmevk.wic) will be flashed and the Cortex-M binary (hello_world_test.bin) written to the FAT partition of the eMMC. To add environmental variables to modify uboot boot settings, i.e. overwrite the dtb variable so the EVK will select the RPMSG dtb, this in case the Cortex-M example needs to be run at the same time as Cortex-A. FB: ucmd setenv fdtfile imx8mm-evk-rpmsg.dtb Next add to the UUU script the set of uboot commands in form of environmental variables that will load to the TCM the Cortex-M binary   FB: ucmd setenv loadm4image "fatload mmc ${emmc_dev}:1 0x48000000 hello_world_test.bin; cp.b 0x48000000 0x7e0000 0x20000" FB: ucmd setenv m4boot "run loadm4image; bootaux 0x48000000" Note: This can be changed to load it to different targets not only TCM, for example DRAM. Now for the set of environmental variable to run when uboot starts booting into Linux we may add it to the variable mmcboot. Also adding the command to save the environmental variables set so the settings persist after reboot, this by adding the following commands to the script:   FB: ucmd setenv mmcboot "run m4boot; $mmcboot" FB: ucmd saveenv The resulting script will be the following: Now just save the script and name it as you see fit, for this example the name will be custom_script.auto.   Running the script To run a UUU script is pretty simple, just make sure that the files used in the script are in the same folder as the script. Windows > .\uuu.exe  custom_script.auto Linux $ sudo ./uuu custom_script.auto   Wait till it finish, turn the board off, set it to boot from eMMC and turn it on, the EVK will boot into Linux automatically and will launch the Cortex-M core automatically. We may also, double check that the environmental variables were written correctly by stopping at uboot and using the printenv command For this test I have used the Prebuilt image which includes sample Cortex-M4 examples for the EVK   further flexibility UUU scripts can be customized even more, for example using macros, so the script can take input arguments so it may be possible to select the uboot, rootfs, Cortex-M binary and dtb to be used when booting, and to be used for other i.MX chips as well. The resulting script will be as following: Note: Here is assumed that the dtb file is already at the FAT partition, if not same procedure may be added as the Cortex-M binary. To run a script which expect to have input arguments is as follow: Windows > .\uuu.exe -b uuu_cortexM_loader.auto imx-boot-imx8mmevk-sd.bin-flash_evk imx-image-multimedia-imx8mmevk.wic hello_world_test.bin imx8mm-evk-rpmsg.dtb Linux $ sudo ./uuu -b uuu_cortexM_loader.auto imx-boot-imx8mmevk-sd.bin-flash_evk imx-image-multimedia-imx8mmevk.wic hello_world_test.bin imx8mm-evk-rpmsg.dtb Please find both UUU scripts attached and feel free to use them. Hope this helps everyone to better understand how this tool works and the capabilities it have.

Host TFTP and NFS Configuration Now configure the Trivial File Transfer Protocol (TFTP) server and Networked File System (NFS) server. U-Boot will download the Linux kernel and dtb file using tftp and then the kernel will mount (via NFS) its root file system on the computer hard drive. 1. TFTP Setup   1.1.1 Prepare the TFTP Service   Get the required software if not already set up. On host for TFTP: Install TFTP on Host $ sudo apt-get install tftpd-hpa   (Note: There are a number of examples in various forums, etc, of how to automatically start the TFTP service - but not all are successful on all Linux distro's it seems! The following may work for you.)   Start the tftpd-hpa service automatically by adding a command to /etc/rc.local. $ vi /etc/rc.local   Now, just before the exit 0 line edit below command then Save and Exit. $ service tftpd-hpa start  Now, To control the TFTP service from the command line use: $ service tftpd-hpa restart    To check the status of the TFTP service from the command line use: $ service tftpd-hpa status   1.1.1 Setup the TFTP Directories Now, we have to create the directory which will contain the kernel image and the device tree blob file. $ mkdir -p /imx-boot/imx6q-sabre/tftp Then, copy the kernel image and the device tree blob file in this directory. $ cp {YOCTO_BUILD_DIR}/tmp/deploy/images/{TARGET}/zImage /imx-boot/imx6q-sabre/tftp $ cp {YOCTO_BUILD_DIR}/tmp/deploy/images/{TARGET}/<dtb file> /imx-boot/imx6q-sabre/tftp   OR we can use the default directory created by yocto {YOCTO_BUILD_DIR}/tmp/deploy/images/{TARGET}/ The tftpd-hpa service looks for requested files under /imx-boot/imx6q-sabre/tftp The default tftpd-hpa directory may vary with distribution/release, but it is specified in the configuration file: /etc/default/tfptd-hpa. We have to change this default directory with our directory   Edit default tftp directory $ vi /etc/default/tftpd-hpa   Now, change the directory defined as TFTP_DIRECTORY with your host system directory which contains kernel and device tree blob file. Using created directory TFTP_DIRECTORY=”/imx-boot/imx6q-sabre/tftp” OR Using Yocto directory path TFTP_DIRECTORY=”{YOCTO_BUILD_DIR}/tmp/deploy/images/{TARGET}” Restart the TFTP service if required $ service tftpd-hpa restart   1.2 NFS Setup 1.2.1 Prepare the NFS Service Get the required software if not already set up. On host for NFS: Install NFS on Host $ sudo apt-get install nfs-kernel-server The NFS service starts automatically. To control NFS services : $ service nfs-kernel-server restart To check the status of the NFS service from the command line : $ service nfs-kernel-server status 1.2.2 Setup the NFS Directories Now, we have to create the directory which will contain the root file system. $ mkdir -p /imx-boot/imx6q-sabre/nfs   Then, copy the rootfs in this directory. $ cp -R {YOCTO_BUILD_DIR}/tmp/work/{TARGET}-poky-linux-gnueabi/{IMAGE}/1.0-r0/rootfs/* /imx-boot/imx6q-sabre/nfs   OR we can use the default directory created by yocto. $ {YOCTO_BUILD_DIR}/tmp/work/{TARGET}-poky-linux-gnueabi/{IMAGE}/1.0-r0/rootfs 1.2.3 Update NFS Export File The NFS server requires /etc/exports to be configured correctly to access NFS filesystem directory to specific hosts. $ vi /etc/exports Then, edit below line into the opened file. <”YOUR NFS DIRECTORY”> <YOUR BOARD IP>(rw,sync,no_root_squash,no_subtree_check) Ex. If you created custom directory for NFS then, /imx-boot/imx6q-sabre/nfs <YOUR BOARD IP>(rw,sync,no_root_squash,no_subtree_check) Ex: /imx-boot/imx6q-sabre/nfs 192.168.*.*(rw,sync,no_root_squash,no_subtree_check) OR /{YOCTO_BUILD_DIR}/tmp/work/{TARGET}-poky-linux-gnueabi/{IMAGE}/1.0-r0/rootfs <YOUR BOARD IP>(rw,sync,no_root_squash,no_subtree_check)   Now, we need to restart the NFS service. $ service nfs-kernel-server restart   2 Target Setup   We need to set up the network IP address of our target. Power On the board and hit a key to stop the U-Boot from continuing. Set the below parameters, setenv serverip 192.168.0.206       //This must be your Host IP address The path where the rootfs is placed in our host has to be indicated in the U-Boot, Ex. // if you choose default folder created by YOCTO setenv nfsroot /{YOCTO_BUILD_DIR}/tmp/work/{TARGET}-poky-linux-gnueabi/{IMAGE}/1.0-r0/rootfs   OR // if you create custom directory for NFS setenv nfsroot /imx-boot/imx6q-sabre/nfs Now, we have to set kernel image name and device tree blob file name in the u-boot, setenv image < zImage name > setenv fdt_file <dtb file name on host> Now, set the bootargs for the kernel boot, setenv netargs 'setenv bootargs console=${console},${baudrate} ${smp} root=/dev/nfs ip=dhcp nfsroot=${serverip}:${nfsroot},v3,tcp' Use printenv command and check loadaddr and fdt_addr environment variables variables for I.MX6Q SABRE, loadaddr=0x12000000 fdt_addr=0x18000000   Also, check netboot environment variable. It should be like below, netboot=echo Booting from net ...; run netargs; if test ${ip_dyn} = yes; then setenv get_cmd dhcp; else setenv get_cmd tftp; fi; ${get_cmd} ${image}; if test ${boot_fdt} = yes || test ${boot_fdt} = try; then if ${get_cmd} ${fdt_addr} ${fdt_file}; then bootz ${loadaddr} - ${fdt_addr}; else if test ${boot_fdt} = try; then bootz; else echo WARN: Cannot load the DT; fi; fi; else bootz; fi; Now, set environment variable bootcmd to boot every time from the network, setenv bootcmd run netboot Now finally save those variable in u-boot: saveenv Reset your board; it should now boot from the network: U-Boot 2016.03-imx_v2016.03_4.1.15_2.0.0_ga+ga57b13b (Apr 17 2018 - 17:13:43 +0530)  (..) Net:   FEC [PRIME] Normal Boot Hit any key to stop autoboot:  0   Booting from net ... Using FEC device TFTP from server 192.168.0.206; our IP address is 192.168.3.101 Filename 'zImage'. Load address: 0x12000000 Loading: #################################################################         #################################################################         #################################################################         #################################################################         #################################################################         #################################################################         ###########################################################         2.1 MiB/s done Bytes transferred = 6578216 (646028 hex) Using FEC device TFTP from server 192.168.0.206; our IP address is 192.168.3.101 Filename 'imx6q-sabresd.dtb'. Load address: 0x18000000 Loading: ####         1.8 MiB/s done Bytes transferred = 45893 (b345 hex) Kernel image @ 0x12000000 [ 0x000000 - 0x646028 ] ## Flattened Device Tree blob at 18000000   Booting using the fdt blob at 0x18000000   Using Device Tree in place at 18000000, end 1800e344 switch to ldo_bypass mode!   Starting kernel ...

According to iMX6DQRM chapter 46 (On-Chip OTP Controller), the UID field is located at offsets 0x410 and 0x420 from the base address of the OCOTP.  That is: OTP Bank0 Word1 - contains the first word of the UID OTP Bank0 Word2 - contains the second word of the UID. md.l 21bc410 021bc410: d72d7372 d72d7372 d72d7372 d72d7372    rs-.rs-.rs-.rs-. 021bc420: 906709d4 906709d4 906709d4 906709d4 ..g...g...g...g. Comparing to the read information under Linux shell: cat /proc/cpuinfo ......... Serial : 906709d4d72d7372 The value is identical from uboot and linux kernel reading back.

Instruction On Linux OS, we have two major audio system API to play/record audio pcm, alsa-lib and pulseaudio. Pulseaudio is in Freescale Ubuntu root fs release, while alsa-lib is used by default in LTIB release. This article is to tell how to configure alsa-lib by configuration file. Architecture Alsa-lib has a set of standard API which allows application to develop easily. At the same time, it provides a scalable mechanism to fulfill its features, including resample, channels remix, sound mixing from different applications, and so on. As above figure describes, alsa plugin provide fundamental function, and the whole pipeline makes customization possible. Alsa-lib API pretend to be an alsa device and provide a name for caller to open. What kind of plugin the name represents for is decided by configuration. For example, pcm.card0 {    type hw    card 0 } card0 is the fake alsa device name, with type hw, which represents for the first real alsa device. pcm.plug {     @args [ SLAVE ]     @args.SLAVE {         type string     }     type plug     slave.pcm $SLAVE } plug is the fake alsa device name, with type plug, which represents for audio conversion processor. In addition, it's also receive arguments from application that make it more flexible. When we call snd_pcm_open(.., "plug:card0",..); in the application, we create a pipeline which will first convert the source pcm to sound card 0 capable pcm if necessary in "plug" plugin, then play it to sound card 0 in "card0" plugin.  "slave.pcm" is the key to link different plugins. The number of arguments could be more than one, with definition pcm.xxx {     @args [ arg1 arg2 arg3 ]     @args.arg1 { type string }     @args.arg2 { type string }     @args.arg3 { type string }     ... } The argument could also have default value, please refer to /usr/share/alsa/alsa.conf. To pass the arguments, use snd_pcm_open(.., "xxx:arg1,arg2,arg3",..); From the name, we can always follow the pipeline to the last plugin, which type might be hw(to alsa driver), file(to file), or others (pulse, bluetooth...) to network, protocol stack and so on. The Configuration Files In configuration file, we mainly define the fake alsa device name. The root configuration file is /usr/share/alsa/alsa.conf, which will load additional configuration files which might overwrite previous name definition in the previously loaded file. The load sequence is: 1. /usr/share/alsa/alsa.conf 2. /usr/share/alsa/alsa.conf.d/* 3. /etc/asound.conf for administrator 4. $(HOME)/.asoundrc for certain user In practice, alsa applications (e.g. aplay or speaker-test) are always using "default" as the fake device name, so that the most important thing to customize your own pipeline is to overwirte "default". For example, pcm.dmix_44100{     type dmix     ipc_key 5678293     ipc_key_add_uid yes     slave{         pcm "hw:0,0"         period_time 10000         format S16_LE         rate 44100     } } pcm.!default{     type plug     route_policy "average"     slave.pcm "tee:dmix_44100,/home/wayne/a.pcm" } The "!" in "pcm.!default" means forcing overwrite. The pipeline defined above is as following figure: The next example is the "default" definition on ubuntu root fs. pcm.!default {     type pulse     hint {         show on         description "Playback/recording through the PulseAudio sound server"     } } The only alsa plugin is "pulse", and the pipeline is as following: Additional Resources There are a lot of alsa plugins developed, with various configuration parameters, I won't list them in detail. Please refer to .asoundrc - ALSA wiki for more details.

       There are 8 UART ports on i.mx6ul and one uniform Linux driver for these UARTs. Form UART1~UART6, there is no special operation or attention to use them. But for UART7/UART8, there is a special rule to enable them.       According to i.mx6ul RM, we can see UART7/8 RTS pins are muxed with ENET TX_CLK pins. When SION bit of ENET_TX_CLK is set, we need switch to other MUX mode as input signal for UARTx_RTS. Otherwise, UARTx_RTS will be interrupted by loopback ENET clock signal. So we should set IOMUXC_UART7_RTS_B_SELECT_INPUT and IOMUXC_UART8_RTS_B_SELECT_INPUT registers to 0x2/03 to avoid ENET clock's conflict no matter whether we enable UART7/8 RTS/CTS function or not. Let's summarize the different scenarios to enable UART7/8 as follows: 1. ENET driver is disabled and UART7/8 is enabled. There is no special operation to do, just use UART7/8 like other UARTs 2. ENET and UART7/8 are both enabled. There are two use models, RTS/CTS enabled or disabled.     2a. If we enable RTS/CTS feature and configure RTS/CTS pins in the device tree, of course, we should avoid the conflict between UART CTS/RTS pins and ENET TX_CLK pins. There is no special operation to do becuase your RTS/CTS device tree would automatically set  IOMUXC_UART7_RTS_B_SELECT_INPUT/ IOMUXC_UART8_RTS_B_SELECT_INPUT register to correct value.     2b. If we don't enable RTS/CTS feature and no RTS/CTS pin configuration in devcie tree, we should manually add code to set  IOMUXC_UART7_RTS_B_SELECT_INPUT/  IOMUXC_UART8_RTS_B_SELECT_INPUT register because the default value is 0x0(ENETx_TX_CLK_ALT1) Here is an example to show how to use UART7 on EVK board in scenario 2b. 1. modify imx6ul-14x14-evk.dts to enable UART7     a. remove all  LCD settings to disable lcdif because we configure UART7 TX/RX pin pad to LCD data line     b. add UART7 related settings                &uart7 {                     pinctrl-names = "default";                     pinctrl-0 = <&pinctrl_uart7>;                    status = "okay";                 };               &iomuxc {                   pinctrl-names = "default";                   pinctrl-0 = <&pinctrl_hog_1>;                   ....                           pinctrl_uart7: uart7grp {                           fsl,pins = <                                       MX6UL_PAD_LCD_DATA16__UART7_DCE_TX 0x1b0b1                                       MX6UL_PAD_LCD_DATA17__UART7_DCE_RX 0x1b0b1                           >;                  }; 2. add code to set IOMUXC_UART7_RTS_B_SELECT_INPUT register in arch/arm/mach-imx/mach-imx6ul.c          static void __init imx6ul_init_machine(void)          {               struct device *parent;               void __iomem *iomux;               struct device_node *np;               ...........               imx6ul_pm_init();               np = of_find_compatible_node(NULL,NULL,"fsl,imx6ul-iomuxc");               iomux = of_iomap(np, 0);               writel_relaxed(0x2,iomux+0x650);            } 3. build zImage and imx6ul-14x14-evk.dtb 4. Test in linux console      root@imx6ulevk: ls /dev/ttymxc*                      //you can see ttymxc6 is in the list     root@imx6ulevk: echo hello > /dev/ttymxc6         root@imx6ulevk:

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

Following docs(English or Chinese version) are also can be referred as a hand on guide. Freescale i.MX6 DRAM Port Application Guide-DDR3 飞思卡尔i.MX6平台DRAM接口高阶应用指导-DDR3篇 Please find i.Mx6DQSDL LPDDR2 Script Aid through below link. i.Mx6DQSDL LPDDR2 Script Aid Please find i.Mx6DQSDL DDR3 Script Aid through below link. i.Mx6DQSDL DDR3 Script Aid Please find i.MX6SX DDR3 Script Aid through below link.. i.MX6SX DDR3 Script Aid Any questions are welcome! Change History: 0.02 - Add total 1Gbit density supporting.

Using a RAW NAND is more difficult compared to eMMC, but for lower capacity it is still cheaper. Even with the ONFI (Open NAND Flash Interface) you can face initialization issue you can find by measure performance. I will take example of a non-well supported flash, I have installed on my evaluation board (SABRE AI). I wanted to do a simple performance test, to check roughly the MB/s I can expected with this NAND. One of a simplest test is to use the dd command: root@imx6qdlsolo:~# time dd if=/dev/mtd4 of=/dev/null 851968+0 records in 851968+0 records out 436207616 bytes (436 MB, 416 MiB) copied, 131.8884 s, 3.3 MB/s ‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍ As my RAW was supposed to work in EDO Mode 5, I could expect more than 20MB/s. To check what was wrong, read you kernel startup log: Booting Linux on physical CPU 0x0 Linux version 4.1.15-2.0.0+gb63f3f5 (bamboo@yb6) (gcc version 5.3.0 (GCC) ) #1 SMP PREEMPT Fri Sep 16 15:02:15 CDT 2016 CPU: ARMv7 Processor [412fc09a] revision 10 (ARMv7), cr=10c53c7d CPU: PIPT / VIPT nonaliasing data cache, VIPT aliasing instruction cache Machine model: Freescale i.MX6 DualLite/Solo SABRE Automotive Board [...] Amd/Fujitsu Extended Query Table at 0x0040 Amd/Fujitsu Extended Query version 1.3. number of CFI chips: 1 nand: device found, Manufacturer ID: 0xc2, Chip ID: 0xdc nand: Macronix MX30LF4G18AC nand: 512 MiB, SLC, erase size: 128 KiB, page size: 2048, OOB size: 64 gpmi-nand 112000.gpmi-nand: mode:5 ,failed in set feature. Bad block table found at page 262080, version 0x01 Bad block table found at page 262016, version 0x01 nand_read_bbt: bad block at 0x00000a7e0000 nand_read_bbt: bad block at 0x00000dc80000 4 cmdlinepart partitions found on MTD device gpmi-nand Creating 4 MTD partitions on "gpmi-nand":‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍ On line 13 you can read "mode:5, failed in set feature", meaning you are not in mode 5... so you have the "relaxed" timing you have at boot. After debuging your code (I have just remove the NAND back reading security check), you can redo the test: root@imx6qdlsolo:~# time dd if=/dev/mtd4 of=/dev/null 851968+0 records in 851968+0 records out 436207616 bytes (436 MB, 416 MiB) copied, 32.9721 s, 13.2 MB/s‍‍‍‍‍‍‍‍‍‍‍‍ So you multiplied the performances by 4! Anyway, you have a better tool to measure your NAND performance, it is mtd_speedtest, but you have to rebuild your kernel. In Yocto, reconfigure your kernel (on your PC of couse!): bitbake virtual/kernel -c menuconfig‍‍‍ Choose in the menu "Device Drivers" -> "Memory Technology Device (MTD) support" -> "MTD tests support", even it it not recommended! bitbake virtual/kernel -f -c compile bitbake virtual/kernel -f -c build bitbake virtual/kernel -f -c deploy‍‍‍‍‍‍‍‍‍ Then reflash you board (kernel + rootfs as tests are .ko files): Then you can do more accurate performance test: insmod /lib/modules/4.1.29-fslc+g59b38c3/kernel/drivers/mtd/tests/mtd_speedtest.ko dev=2 ================================================= mtd_speedtest: MTD device: 2 mtd_speedtest: MTD device size 16777216, eraseblock size 131072, page size 2048, count of eraseblocks 128, pages per eraseblock 64, OOB size 64 mtd_test: scanning for bad eraseblocks mtd_test: scanned 128 eraseblocks, 0 are bad mtd_speedtest: testing eraseblock write speed mtd_speedtest: eraseblock write speed is 4537 KiB/s mtd_speedtest: testing eraseblock read speed mtd_speedtest: eraseblock read speed is 16384 KiB/s mtd_speedtest: testing page write speed mtd_speedtest: page write speed is 4250 KiB/s mtd_speedtest: testing page read speed mtd_speedtest: page read speed is 15784 KiB/s mtd_speedtest: testing 2 page write speed mtd_speedtest: 2 page write speed is 4426 KiB/s mtd_speedtest: testing 2 page read speed mtd_speedtest: 2 page read speed is 16047 KiB/s mtd_speedtest: Testing erase speed mtd_speedtest: erase speed is 244537 KiB/s mtd_speedtest: Testing 2x multi-block erase speed mtd_speedtest: 2x multi-block erase speed is 252061 KiB/s mtd_speedtest: Testing 4x multi-block erase speed mtd_speedtest: 4x multi-block erase speed is 256000 KiB/s mtd_speedtest: Testing 8x multi-block erase speed mtd_speedtest: 8x multi-block erase speed is 260063 KiB/s mtd_speedtest: Testing 16x multi-block erase speed mtd_speedtest: 16x multi-block erase speed is 260063 KiB/s mtd_speedtest: Testing 32x multi-block erase speed mtd_speedtest: 32x multi-block erase speed is 256000 KiB/s mtd_speedtest: Testing 64x multi-block erase speed mtd_speedtest: 64x multi-block erase speed is 260063 KiB/s mtd_speedtest: finished =================================================‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍ You can now achieve almost 16MB/s, better than the dd test. Of course you cannot achieve more than 20MB/s, but you are not that far, and the NAND driver need optimizations. To redo the test: rmmod /lib/modules/4.1.29-fslc+g59b38c3/kernel/drivers/mtd/tests/mtd_speedtest.ko insmod /lib/modules/4.1.29-fslc+g59b38c3/kernel/drivers/mtd/tests/mtd_speedtest.ko dev=2 To check your NAND is in EDO mode 5, you can check your clock tree: /unit_tests/dump-clocks.sh clock          parent   flags    en_cnt pre_cnt      rate [...] gpmi_bch_apb   ---      00000005   0       0       198000000 gpmi_bch       ---      00000005   0       0       198000000 gpmi_io        ---      00000005   0       0        99000000 gpmi_apb       ---      00000005   0       0       198000000‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍ The IO are clocked now at 99MHz, thus you can read at 49.5MHz (20ns in EDO mode 5 definition).

Very often, customers need to disable the framebuffer auto blank. There are several ways to do so. Modify the code in drivers/tty/vt/vt.c or remove the  “CONFIG_VT_CONSOLE” from the kernel configuration. All these work, but inconvenient. Review the code following: static int vesa_blank_mode; /* 0:none 1:suspendV 2:suspendH 3:powerdown */ static int vesa_off_interval; static int blankinterval = 10*60; core_param(consoleblank, blankinterval, int, 0444); The blank is controlled by blankinterval, which can be set with the name consoleblank. And the consoleblank is a "core_param". core_param in linux can be recognized by kernel. Also can be passed to kernel command line from uboot with bootargs. we could add this to the bootargs that the framebuffer will not go blank: consoleblank=0 Example(verified with imx6 L3.0.35_4.1.0_130816): setenv bootargs_mmc 'setenv bootargs ${bootargs} root=/dev/mmcblk1p1 rootfstype=ext4 rootwait video=mxcfb0:dev=hdmi,1920x1080M@60,if=RGB24,bpp=32 fbmem=28M consoleblank=0'