In i.MX51 platfrom the PMIC 13892 also has a internal RTC. We can use this RTC instead of the i.mx51 SRTC. Attached was the implementation of it.

Hibernation mode (suspend to disk) will be useful for boot time optimization, especially under heavy application usage cases. This article is a quick guide for how to enable hibernation mode in Linux running on i.MX93. Some limitation and pitfalls will also be introduced.   Detail PDF attached.    

   Some of Chinese customer couldn’t normally download android source code from google site, here give a way to download android source from Mirror site of University of Science and Technology of China. Preparations Installing Ubuntu16.04.2 LTS Customer can download ubuntu-16.04.2-desktop-amd64.iso from https://www.ubuntu.com/download/desktop        Then install it to VMware workstation player v12 or PC, after finishing installation, use “Software Update” to update system. In order to compile android8.0.0-1.0.0 BSP, necessary packages should also be installed on Ubuntu 16.04. $ sudo apt-get install gnupg $ sudo apt-get install flex $ sudo apt-get install bison $ sudo apt-get install gperf $ sudo apt-get install build-essential $ sudo apt-get install zip $ sudo apt-get install zlib1g-dev $ sudo apt-get install libc6-dev $ sudo apt-get install lib32ncurses5-dev   $ sudo apt-get install x11proto-core-dev $ sudo apt-get install libx11-dev $ sudo apt-get install lib32z1-dev   $ sudo apt-get install libgl1-mesa-dev $ sudo apt-get install tofrodos $ sudo apt-get install python-markdown $ sudo apt-get install libxml2-utils $ sudo apt-get install xsltproc $ sudo apt-get install uuid-dev:i386 liblzo2-dev:i386   $ sudo apt-get install gcc-multilib g++-multilib $ sudo apt-get install subversion $ sudo apt-get install openssh-server openssh-client $ sudo apt-get install uuid uuid-dev $ sudo apt-get install zlib1g-dev liblz-dev $ sudo apt-get install liblzo2-2 liblzo2-dev $ sudo apt-get install lzop $ sudo apt-get install git-core curl $ sudo apt-get install u-boot-tools $ sudo apt-get install mtd-utils $ sudo apt-get install android-tools-fsutils $ sudo apt-get install openjdk-8-jdk More detail, see Android_User’s_Guide.pdf ( android 8.0.0-1.0.0 BSP documents) Downloading and unpacking Android release package https://www.nxp.com/products/processors-and-microcontrollers/applications-processors/i.mx-applications-processors/android-os-for-i.mx-applications-processors:IMXANDROID?tab=Design_Tools_Tab --IMX_O8.0.0_1.0.0_ANDROID_SOURCE File name is mx-o8.0.0_1.0.0_ga.tar.gz # cd ~ # tar xzvf mx-o8.0.0_1.0.0_ga.tar Downloading Android 8.0.0-1.0.0 source code Getting repo # cd ~ # mkdir bin # cd bin # curl https://storage-googleapis.proxy.ustclug.org/git-repo-downloads/repo > ~/bin/repo # chmod a+x ~/bin/repo # export PATH=${PATH}:~/bin Modifying repo File Open ~/bin/repo file with 'gedit' and Change google address From            REPO_URL = 'https://gerrit.googlesource.com/git-repo' To REPO_URL ='git-repo - Git at Google ' 3、Setting email address # git config --global user.email "[email protected]" # git config --global user.name "xxxx"  [ Email & Name should be yours]   4、Modifying android setup script and Running it          Open ~/imx-o8.0.0_1.0.0_ga/imx_android_setup.sh and add a line like below: ......       if [ "$rc" != 0 ]; then          echo "---------------------------------------------------"          echo "-----Repo Init failure"          echo "---------------------------------------------------"          return 1       fi find -name 'aosp-O8.0.0-1.0.0.xml'| xargs perl -pi -e 's|https://android.googlesource.com/|git://mirrors.ustc.edu.cn/aosp/|g' fi   # Don't Delete .repo directory and hidden files #rm -rf $android_builddir/.??*    Then save it and exit. # cd ~/ # source ~/imx-o8.0.0_1.0.0_ga/imx_android_setup.sh Then android_build directory is created at ~/ # export MY_ANDROID=~/android_build [Note] imx_android_setup.sh will be in charge of downloading all android source code. 5.Begin to compile android 8.0.0 BSP $ export ARCH=arm $ export CROSS_COMPILE=${MY_ANDROID}/prebuilts/gcc/linux-x86/arm/arm-linuxandroideabi-4.9/bin/arm-linux-androideabi- $ cd ~/android_build $ source build/envsetup.sh $ lunch sabreauto_6q-userdebug $ make –j4 Errors: ...... “Try increasing heap size with java option '-Xmx<size>'.” ...... Logs for compiling     weidong@ubuntu:~/android_build$ lunch sabreauto_6q-userdebug   ============================================ PLATFORM_VERSION_CODENAME=REL PLATFORM_VERSION=8.0.0 TARGET_PRODUCT=sabreauto_6q TARGET_BUILD_VARIANT=userdebug TARGET_BUILD_TYPE=release TARGET_PLATFORM_VERSION=OPD1 TARGET_BUILD_APPS= TARGET_ARCH=arm TARGET_ARCH_VARIANT=armv7-a-neon TARGET_CPU_VARIANT=cortex-a9 TARGET_2ND_ARCH= TARGET_2ND_ARCH_VARIANT= TARGET_2ND_CPU_VARIANT= HOST_ARCH=x86_64 HOST_2ND_ARCH=x86 HOST_OS=linux HOST_OS_EXTRA=Linux-4.4.0-116-generic-x86_64-with-Ubuntu-16.04-xenial HOST_CROSS_OS=windows HOST_CROSS_ARCH=x86 HOST_CROSS_2ND_ARCH=x86_64 HOST_BUILD_TYPE=release BUILD_ID=1.0.0-rfp-rc4 OUT_DIR=out AUX_OS_VARIANT_LIST= ============================================ weidong@ubuntu:~/android_build$ make -j4 ============================================     ============================================ PLATFORM_VERSION_CODENAME=REL PLATFORM_VERSION=8.0.0 TARGET_PRODUCT=sabreauto_6q TARGET_BUILD_VARIANT=userdebug TARGET_BUILD_TYPE=release TARGET_ARCH=arm TARGET_ARCH_VARIANT=armv7-a-neon TARGET_CPU_VARIANT=cortex-a9 HOST_ARCH=x86_64 HOST_2ND_ARCH=x86 HOST_OS=linux HOST_OS_EXTRA=Linux-4.4.0-116-generic-x86_64-with-Ubuntu-16.04-xenial HOST_CROSS_OS=windows HOST_CROSS_ARCH=x86 HOST_CROSS_2ND_ARCH=x86_64 HOST_BUILD_TYPE=release BUILD_ID=1.0.0-rfp-rc4 OUT_DIR=out ============================================ [38/38] bootstrap out/soong/.minibootstrap/build.ninja.in [1/2] out/soong/.bootstrap/bin/minibp out/soong/.minibootstrap/build.ninja.in [4/4] out/soong/.bootstrap/bin/minibp out/soong/.bootstrap/build.ninja [791/792] glob vendor/*/*/Android.bp [47/47] out/soong/.bootstrap/bin/soong_build out/soong/build.ninja out/build-sabreauto_6q.ninja is missing, regenerating... [9/1005] including ./cts/Android.mk ... cts/hostsidetests/os/test-apps/StaticSharedNativeLibProvider/Android.mk:23: warning: FindEmulator: find: `cts/hostsidetests/os/test-apps/StaticSharedNativeLibProvider/src': No such file or directory cts/hostsidetests/os/test-apps/StaticSharedNativeLibProvider1/Android.mk:23: warning: FindEmulator: find: `cts/hostsidetests/os/test-apps/StaticSharedNativeLibProvider1/src': No such file or directory [690/1005] including ./system/sepolicy/Android.mk ... ./system/sepolicy/Android.mk:107: warning: BOARD_SEPOLICY_VERS not specified, assuming current platform version [1005/1005] including ./vendor/nxp/linux-firmware-imx/firmware/Android.mk ... No private recovery resources for TARGET_DEVICE sabreauto_6q platform_testing/build/tasks/tests/instrumentation_metric_test_list.mk: warning: continuous_instrumentation_metric_tests: Unknown installed file for module perf-setup.sh platform_testing/build/tasks/tests/instrumentation_test_list.mk: warning: continuous_instrumentation_tests: Unknown installed file for module RecyclerViewTests platform_testing/build/tasks/tests/instrumentation_test_list.mk: warning: continuous_instrumentation_tests: Unknown installed file for module SettingsFunctionalTests platform_testing/build/tasks/tests/instrumentation_test_list.mk: warning: continuous_instrumentation_tests: Unknown installed file for module LauncherFunctionalTests platform_testing/build/tasks/tests/instrumentation_test_list.mk: warning: continuous_instrumentation_tests: Unknown installed file for module EmergencyInfoTests platform_testing/build/tasks/tests/native_metric_test_list.mk: warning: continuous_native_metric_tests: Unknown installed file for module perf-setup.sh test/vts/tools/build/tasks/vts_package.mk:222: warning: FindEmulator: cd: vendor/google_vts/testcases: No such file or directory test/vts/tools/build/tasks/vts_package.mk:222: warning: FindEmulator: cd: vendor/google_vts/testcases: No such file or directory test/vts/tools/build/tasks/vts_package.mk:222: warning: FindEmulator: cd: vendor/google_vts/testcases: No such file or directory ./test/vts/utils/python/archive/Android.mk:28: warning: overriding commands for target `default' ./test/vts/runners/host/tcp_server/Android.mk:19: warning: ignoring old commands for target `default' build/core/Makefile:34: warning: overriding commands for target `out/target/product/sabreauto_6q/root/init.rc' build/core/base_rules.mk:378: warning: ignoring old commands for target `out/target/product/sabreauto_6q/root/init.rc' ...... ......  CC      lib/vsprintf.o   CC      lib/panic.o   CC      lib/strto.o   CC      lib/strmhz.o   LD      lib/built-in.o   CC      examples/standalone/hello_world.o   CC      examples/standalone/stubs.o   LD      examples/standalone/libstubs.o   LD      examples/standalone/hello_world   OBJCOPY examples/standalone/hello_world.bin   OBJCOPY examples/standalone/hello_world.srec   LD      u-boot   OBJCOPY u-boot-nodtb.bin   OBJCOPY u-boot.srec   SHIPPED dts/dt.dtb   SYM     u-boot.sym   COPY    u-boot.dtb   CAT     u-boot-dtb.bin   COPY    u-boot.bin   CFGS    board/freescale/mx6qsabreauto/mx6qp.cfg.cfgtmp   MKIMAGE u-boot-dtb.imx   CFGCHK  u-boot.cfg make[1]: Leaving directory '/home/weidong/android_build/out/target/product/sabreauto_6q/obj/BOOTLOADER_OBJ' make: Leaving directory '/home/weidong/android_build/vendor/nxp-opensource/uboot-imx' /bin/bash: line 0: [: =: unary operator expected [  3% 2129/63758] Check module type: out/target/common/obj/APPS/Browser2_intermediates/link_type packages/apps/Browser2/Android.mk: warning: Browser2 (java:sdk) should not link to legacy-android-test (java:platform) [  3% 2171/63758] Ensuring Jack server is installed and started Jack server already installed in "/home/weidong/.jack-server" Launching Jack server java -XX:MaxJavaStackTraceDepth=-1 -Djava.io.tmpdir=/tmp -Dfile.encoding=UTF-8 -XX:+TieredCompilation -cp /home/weidong/.jack-server/launcher.jar com.android.jack.launcher.ServerLauncher Server updated, waiting for restart ...... ...... D [M]  drivers/rpmsg/imx_rpmsg_tty.ko   LD [M]  drivers/video/backlight/l4f00242t03.ko   CC      arch/arm/boot/compressed/misc.o   LD [M]  drivers/video/backlight/platform_lcd.ko   LD [M]  drivers/video/backlight/lcd.ko   CC      arch/arm/boot/compressed/decompress.o   CC      arch/arm/boot/compressed/string.o   SHIPPED arch/arm/boot/compressed/hyp-stub.S   SHIPPED arch/arm/boot/compressed/lib1funcs.S   SHIPPED arch/arm/boot/compressed/ashldi3.S   SHIPPED arch/arm/boot/compressed/bswapsdi2.S   AS      arch/arm/boot/compressed/hyp-stub.o   AS      arch/arm/boot/compressed/lib1funcs.o   AS      arch/arm/boot/compressed/ashldi3.o   AS      arch/arm/boot/compressed/bswapsdi2.o   AS      arch/arm/boot/compressed/piggy.o   LD      arch/arm/boot/compressed/vmlinux   OBJCOPY arch/arm/boot/zImage   Kernel: arch/arm/boot/zImage is ready make[1]: Leaving directory '/home/weidong/android_build/out/target/product/sabreauto_6q/obj/KERNEL_OBJ' make: Leaving directory '/home/weidong/android_build/vendor/nxp-opensource/kernel_imx' make: Entering directory '/home/weidong/android_build/vendor/nxp-opensource/kernel_imx' make[1]: Entering directory '/home/weidong/android_build/out/target/product/sabreauto_6q/obj/KERNEL_OBJ'   CHK     include/config/kernel.release   GEN     ./Makefile   CHK     include/generated/uapi/linux/version.h   Using /home/weidong/android_build/vendor/nxp-opensource/kernel_imx as source for kernel   CHK     include/generated/utsrelease.h   CHK     include/generated/timeconst.h   CHK     include/generated/bounds.h   CHK     include/generated/asm-offsets.h   CALL    /home/weidong/android_build/vendor/nxp-opensource/kernel_imx/scripts/checksyscalls.sh make[1]: Leaving directory '/home/weidong/android_build/out/target/product/sabreauto_6q/obj/KERNEL_OBJ' make: Leaving directory '/home/weidong/android_build/vendor/nxp-opensource/kernel_imx'   ...... ...... [ 83% 53244/63758] Building with Jack: out/target/co...ARIES/framework_intermediates/with-local/classes.dex FAILED: out/target/common/obj/JAVA_LIBRARIES/framework_intermediates/with-local/classes.dex /bin/bash out/target/common/obj/JAVA_LIBRARIES/framework_intermediates/with-local/classes.dex.rsp Out of memory error (version 1.3-rc7 'Douarn' (445000 d7be3910514558d6715ce455ce0861ae2f56925a by [email protected])). GC overhead limit exceeded. Try increasing heap size with java option '-Xmx<size>'. Warning: This may have produced partial or corrupted output. [ 83% 53247/63758] //external/llvm/lib/CodeGen/SelectionDAG:libLLVMSelectionDAG clang++ DAGCombiner.cpp ninja: build stopped: subcommand failed. 19:17:25 ninja failed with: exit status 1 build/core/main.mk:21: recipe for target 'run_soong_ui' failed make: *** [run_soong_ui] Error 1   ******************************************************* solve the issue: Try increasing heap size with java option '-Xmx<size>'. -- run commands below on command line #export JACK_SERVER_VM_ARGUMENTS="-Dfile.encoding=UTF-8 -XX:+TieredCompilation -Xmx4g" #./prebuilts/sdk/tools/jack-admin kill-server #./prebuilts/sdk/tools/jack-admin start-server ******************************************************* #make -j4   //continue compiling   ...... ...... [ 50% 1/2] glob vendor/*/*/Android.bp [  0% 1/10515] Ensuring Jack server is installed and started Jack server already installed in "/home/weidong/.jack-server" Server is already running ...... ...... Creating filesystem with parameters:     Size: 1585446912     Block size: 4096     Blocks per group: 32768     Inodes per group: 8064     Inode size: 256     Journal blocks: 6048     Label: system     Blocks: 387072     Block groups: 12     Reserved block group size: 95 Created filesystem with 2216/96768 inodes and 171147/387072 blocks Running:  build_verity_tree -A aee087a5be3b982978c923f566a94613496b417f2af592639bc80d141e34dfe7 out/target/product/sabreauto_6q/obj/PACKAGING/systemimage_intermediates/system.img /tmp/tmpPnRk1H_verity_images/verity.img f26a84a2c66d866f5322986e7a093812329d87579e5859aa32a2cf4c21f69661 aee087a5be3b982978c923f566a94613496b417f2af592639bc80d141e34dfe7 Running:  system/extras/verity/build_verity_metadata.py build 1585446912 /tmp/tmpPnRk1H_verity_images/verity_metadata.img f26a84a2c66d866f5322986e7a093812329d87579e5859aa32a2cf4c21f69661 aee087a5be3b982978c923f566a94613496b417f2af592639bc80d141e34dfe7 /dev/block/by-name/system verity_signer build/target/product/security/verity.pk8 ['verity_signer', '/tmp/tmpvXftO2.table', 'build/target/product/security/verity.pk8', '/tmp/tmpbfl4fq.sig'] appending /tmp/tmpPnRk1H_verity_images/verity_metadata.img to /tmp/tmpPnRk1H_verity_images/verity.img Running:  fec -e -p 0 out/target/product/sabreauto_6q/obj/PACKAGING/systemimage_intermediates/system.img /tmp/tmpPnRk1H_verity_images/verity.img /tmp/tmpPnRk1H_verity_images/verity_fec.img encoding RS(255, 253) to '/tmp/tmpPnRk1H_verity_images/verity_fec.img' for input files:        1: 'out/target/product/sabreauto_6q/obj/PACKAGING/systemimage_intermediates/system.img'        2: '/tmp/tmpPnRk1H_verity_images/verity.img' appending /tmp/tmpPnRk1H_verity_images/verity_fec.img to /tmp/tmpPnRk1H_verity_images/verity.img Running:  append2simg out/target/product/sabreauto_6q/obj/PACKAGING/systemimage_intermediates/system.img /tmp/tmpPnRk1H_verity_images/verity.img   [100% 10515/10515] Install system fs image: out/target/product/sabreauto_6q/system.img out/target/product/sabreauto_6q/system.img+out/target/product/sabreauto_6q/obj/PACKAGING/recovery_patch_intermediates/recovery_from_boot.p maxsize=1644331392 blocksize=4224 total=704129669 reserve=16612992   #### make completed successfully (01:21:12 (hh:mm:ss)) ####   NXP TIC team Weidong sun 2018-06-01

DEVREGS - Is a tool to display and modify a device's registers at runtime. Under Linux, you can access registers, or any area of physical memory through the /dev/mem pseudo-device and the wonders of the mmap system call. To use it, you open the /dev/mem device, mmap the page in which a register is located, then use the pointer returned to read and/or write the data. Boundary Devices, developed a tool known as " devregs  " that allows you to put a little structure around this facility. It allows you to give names to particular physical memory areas and to describe the bits within a register in the text file /etc/devregs.dat. How to read from register : To read one or more registers, use devregs with a single parameter that’s either an address or a register name. Ex : $  devregs 0x73f88000 :0x73f88000    =0x803dffaf If a register address matches a register in /etc/devregs.dat , you’ll see the register name: Ex : $ devregs 0x73f88000 GPIO2_DR:0x73f88000    =0x803dffaf If used with a register name, any bitfields defined will be shown: Ex: devregs UART1_UFCR UART1_UFCR: 0x73fc0090   =0x0801 UART1_UFCR:0x73fc0090    =0x0801       TXTL                      10-15     =0x2       RFDIV                    7 - 9      =0x0       DCEDTE                 6 - 6     = 0x0       RXTL                       0 - 5     = 0x1 How to write to register : Ex : $ devregs GPIO2_GDIR GPIO2_GDIR:0x73f88004    =0x0002c0a4 Ex: $ devregs GPIO2_GDIR 0x2c0a0 GPIO2_GDIR:0x73f88004    =0x0002c0a4 GPIO2_GDIR:0x73f88004 == 0x0002c0a4...0x0002c0a0 Ex: $ devregs GPIO2_GDIR GPIO2_GDIR:0x73f88004    =0x0002c0a0 For more detailed information please go through the following below links : http://boundarydevices.com/i-mx5x-device-register-access/ http://boundarydevices.com/configuring-i-mx6-machines-different-screens-nitrogen6x-sabre-lite/

Recently, I was asked about software/hardware floating point support on i.MX6. There are some great articles on the freescale community already but lacks of introduction. This document shares some basic knowledge on it. VFP is ARM's "Vector Floating Point" unit. SIMD operations can be better performed on several FPU extensions provided by ARM (NEON as in Cortex-A8 and Cortex-A9) [1]. To test if hardware floating support on freescale's toolchain, I used a simple application below: $ cat haha.c #include <stdio.h>; int main() {         float a = 0.3f, b=1.2f;         printf("%f\n", a * b);         return 0; } Compile it as below, and got the hardware floating point enabled. $ arm-linux-gcc -march=armv7-a -mfpu=neon -mfloat-abi=hard -o haha haha.c This can be checked by readelf. If Tag_ABI_VFP_args[2] shows VFP, it is hard floating. Otherwise, soft floating. $ arm-linux-readelf -A haha Attribute Section: aeabi File Attributes   Tag_CPU_name: "7-A"   Tag_CPU_arch: v7   Tag_CPU_arch_profile: Application   Tag_ARM_ISA_use: Yes   Tag_THUMB_ISA_use: Thumb-2   Tag_FP_arch: VFPv3   Tag_ABI_PCS_wchar_t: 4   Tag_ABI_FP_denormal: Needed   Tag_ABI_FP_exceptions: Needed   Tag_ABI_FP_number_model: IEEE 754   Tag_ABI_align_needed: 8-byte   Tag_ABI_align_preserved: 8-byte, except leaf SP   Tag_ABI_enum_size: int   Tag_ABI_HardFP_use: SP and DP   Tag_ABI_VFP_args: VFP registers   Tag_DIV_use: Not allowed Compared to the one by not specifying floating, compiler use soft floating by default, $ arm-linux-gcc -o haha_soft haha.c And readelf won't have Tag_ABI_VFP_args. $ arm-linux-readelf -A haha_soft Attribute Section: aeabi File Attributes   Tag_CPU_name: "ARM10TDMI"   Tag_CPU_arch: v5T   Tag_ARM_ISA_use: Yes   Tag_THUMB_ISA_use: Thumb-1   Tag_ABI_PCS_wchar_t: 4   Tag_ABI_FP_denormal: Needed   Tag_ABI_FP_exceptions: Needed   Tag_ABI_FP_number_model: IEEE 754   Tag_ABI_align8_needed: Yes   Tag_ABI_align8_preserved: Yes, except leaf SP   Tag_ABI_enum_size: int   Tag_unknown_44: 1 (0x1) [1]: https://wiki.debian.org/ArmHardFloatPort/VfpComparison [2]: For more detail on the Tag expression, check http://infocenter.arm.com/help/topic/com.arm.doc.ihi0045d/IHI0045D_ABI_addenda.pdf

In this post we see how to setup a Debian server, to allow booting the i.MX6 sabre sd platform (mostly) from the network. Booting from the network instead of e.g. the SD card is very handy for day to day development and testing, as it eliminates almost all physical interactions with the board and saves much time. Also, fortunately for us, both u-boot and Linux for i.MX6 support network booting out of the box. Boot sequence principles Before we setup the server, here are some more details on the boot sequence we will obtain in the end: i.MX6 boots, loads u-boot from SD card. u-boot starts, loads its environment (boot commands) from SD card. u-boot obtains its network address by DHCP, loads a Linux kernel uImage and a dtb by TFTP. Linux boots; obtains its network address by DHCP (again), mounts its root filesystem on NFS. Setting up DHCP and TFTP One can easily setup a Debian server to act as DHCP and TFTP server with Dnsmasq; just install the dnsmasq package. The default configuration is mostly empty; so we need to enhance it a bit. For the following we will assume that your Debian server has IP address 192.168.111.1 on the network where it sees the i.MX6 sabre sd platform. You can add some options to a dnsmasq config file such as e.g. /etc/dnsmasq.d/my-custom-config-file:   dhcp-range=192.168.111.50,192.168.111.150,12h   enable-tftp   tftp-root=/var/ftpd This informs dnsmasq to act as a DHCP server for addresses range 192.168.111.50-150 and act as TFTP server, which serves files under /var/ftpd. That means you will need to copy a Linux uImage and an imx6q-sabresd.dtb under /var/ftpd/. See this post for more details about compiling Linux to obtain those two files. Setting up NFS If we want the root filesystem to be mounted on the network we will need to export some folders with NFS from the Debian server. We need to install the nfs-kernel-server package and setup /etc/exports with a line such as:   /tftpboot       192.168.111.*(rw,no_root_squash,subtree_check) This allows clients on the 192.168.111.0 network to access filesystems under the /tftpboot folder. So you will need to create a /tftpboot folder on the server, and install some "filesystem" under there. For this example we assume you will have a busybox installed under a /tftpboot/busybox/ folder. That means we want to have under there all folders such as bin, dev, etc... See this post for details on how to compile busybox to populate this folder. Do not forget to restart the NFS server after configuration, with:   # /etc/init.d/nfs-kernel-server restart We are now setup on the server side. Setting up u-boot At the time of this writing we need to help u-boot a bit when booting the i.MX6 sabre sd platform from the network. Stop at u-boot prompt and configure a few things:   env default -a   setenv netargs $netargs rw   setenv serverip 192.168.111.1   setenv nfsroot /tftpboot/busybox   setenv bootcmd run netboot   saveenv Reset your board; it should now boot from the network:   U-Boot 2013.07-rc1-00210-gc623eb0 (Jun 27 2013 - 21:10:47)   (..)   Hit any key to stop autoboot:  0   Booting from net ...   BOOTP broadcast 1   DHCP client bound to address 192.168.111.121   Using FEC device   TFTP from server 192.168.111.1; our IP address is 192.168.111.121   Filename 'uImage'.   Load address: 0x12000000   Loading: #################################################################            #################################################################            #################################################################            #################################################################            ##########################            4 MiB/s   done   Bytes transferred = 4185600 (3fde00 hex)   BOOTP broadcast 1   DHCP client bound to address 192.168.111.121   Using FEC device   TFTP from server 192.168.111.1; our IP address is 192.168.111.121   Filename 'imx6q-sabresd.dtb'.   Load address: 0x11000000   Loading: ##            2.7 MiB/s   done   Bytes transferred = 22818 (5922 hex)   ## Booting kernel from Legacy Image at 12000000 ...      Image Name:   Linux-3.10.0-rc7   (..)   Starting kernel ...   Booting Linux on physical CPU 0x0   Linux version 3.10.0-rc7 (jenkins@debian) (gcc version 4.7.2 (Debian 4.7.2-5) ) #1 SMP Tue Jun 25 08:28:31 CEST 2013   (..)   Kernel command line: console=ttymxc0,115200 root=/dev/nfs ip=dhcp nfsroot=192.168.111.1:/tftpboot/busybox,v3,tcp rw   (..)   fec 2188000.ethernet eth0: Freescale FEC PHY driver [Generic PHY] (mii_bus:phy_addr=2188000.ethernet:01, irq=-1)   IPv6: ADDRCONF(NETDEV_UP): eth0: link is not ready   libphy: 2188000.ethernet:01 - Link is Up - 1000/Full   IPv6: ADDRCONF(NETDEV_CHANGE): eth0: link becomes ready   Sending DHCP requests ., OK   IP-Config: Got DHCP answer from 192.168.111.1, my address is 192.168.111.121   IP-Config: Complete:        device=eth0, hwaddr=00:04:9f:02:b7:fd, ipaddr=192.168.111.121, mask=255.255.255.0, gw=192.168.111.1        host=192.168.111.121, domain=, nis-domain=(none)        bootserver=192.168.111.1, rootserver=192.168.111.1, rootpath=        nameserver0=192.168.111.1   ALSA device list:     No soundcards found.   VFS: Mounted root (nfs filesystem) on device 0:11.   devtmpfs: mounted   Freeing unused kernel memory: 292K (806d5000 - 8071e000)   Please press Enter to activate this console. Enjoy! Bonus: updating u-boot by the network One last piece remains on the SD card: u-boot. If you do not want to move your SD card out of its slot any more, here is a method for you to update even u-boot from the network. You will need to copy u-boot.imx under /var/ftpd. See this post for details on how to compile u-boot and obtain u-boot.imx. Then, at u-boot prompt, do:   dhcp $loadaddr u-boot.imx   mmc dev 1   mmc write $loadaddr 2 600 This will download a new u-boot.imx from the network and flash it to your SD card; reboot your board and you are done. Note that we give 600 as the number of SD card blocks to write; this is a rough estimate of ~300KB, which should work in most of the cases as writing a bit "too much" blocks does not harm. If you are very picky, you can compute the exact number of blocks by dividing your u-boot.imx size by 512 and rounding it up. See also... Did you know that dnsmasq primary role is to be used to "relay" the DNS queries? A feature that come very handy when you want to let your i.MX6 platform "see" the internet.

Requirements: Host machine with Ubuntu 14.04 UDOO Quad/Dual Board uSD card with at least 8 GB Download documentation and install latest Official Udoobuntu OS (at the moment of writing: UDOObuntu 2.1.2), https://www.udoo.org/downloads/   Overview: This document describes how to install and test Keras (Open source neural network library) and Theano (numerical computation library for python ) for deep learning library usage on i.MX6QD UDOO board.  Installation: $ sudo apt-get update && sudo apt-get upgrade update your date system: e.g. $ sudo date -s “07/08/2017 12:00” First satisfy the run-time and build time dependencies: $ sudo apt-get install python-software-properties software-properties-common make unzip zlib1g-dev git pkg-config autoconf automake libtool curl  python-pip python-numpy libblas-dev liblapack-dev python-dev libatlas-base-dev gfortran libhdf5-serial-dev libhdf5-dev python-setuptools libyaml-dev libpython2.7-dev $ sudo easy_install scipy The last step is installing scipy through pip, and can take several hours. Theano First, we have a few more dependencies to get: $sudo pip install scikit-learn $sudo pip install pillow $sudo pip install h5py With these dependencies met, we can install a stable Theano release from the git source: $ git clone https://github.com/Theano/Theano $ cd Theano Numpy 1.9 cause conflicts with armv7, so we need to change the setup.py configuration: $ sudo nano setup.py Remove line    #       install_requires=['numpy>=1.9.1', 'scipy>=0.14', 'six>=1.9.0'], And add setup_requires=["numpy"], install_requires=["numpy"], Then install it: $ sudo python setup.py install Keras The installation can occur with the command: (this could take a lot of time!!!) $ cd .. $ git clone https://github.com/fchollet/keras.git $ cd keras $ sudo python setup.py install $ LC_ALL=C $sudo pip install --upgrade keras After Keras is installed, you will want to edit the Keras configuration file ~/.keras/keras.json to use Theano instead of the default TensorFlow backend. If it isn't there, you can create it. This requires changing two lines. The first change is: "image_dim_ordering": "tf"  --> "image_dim_ordering": "th" and the second: "backend": "tensorflow" --> "backend": "theano" (The final file should look like the example below) sudo nano ~/.keras/keras.json {     "image_dim_ordering": "th",     "epsilon": 1e-07,     "floatx": "float32",     "image_data_format": "channels_last",     "backend": "theano" } You can also define the environment variable KERAS_BACKEND and this will override what is defined in your config file : $ KERAS_BACKEND=theano python -c "from keras import backend" Testing Quick test: udooer@udoo:~$ python Python 2.7.6 (default, Oct 26 2016, 20:46:32) [GCC 4.8.4] on linux2 Type "help", "copyright", "credits" or "license" for more information. >>> import keras Using Theano backend. >>>  Test 2: Be aware this test take some time (~1hr on udoo dual): $ curl -sSL -k https://github.com/fchollet/keras/raw/master/examples/mnist_mlp.py | python Output: For demonstration, deep-learning-models repository provided by pyimagesearch and from fchollet git, and also have three Keras models (VGG16, VGG19, and ResNet50) online — these networks are pre-trained on the ImageNet dataset, meaning that they can recognize 1,000 common object classes out-of-the-box. $ cd keras $ git clone https://github.com/fchollet/deep-learning-models $ Cd deep-learning-models $ ls -l Notice how we have four Python files. The resnet50.py , vgg16.py , and vgg19.py  files correspond to their respective network architecture definitions. The imagenet_utils  file, as the name suggests, contains a couple helper functions that allow us to prepare images for classification as well as obtain the final class label predictions from the network Classify ImageNet classes with ResNet50 ResNet50 model, with weights pre-trained on ImageNet. This model is available for both the Theano and TensorFlow backend, and can be built both with "channels_first" data format (channels, height, width) or "channels_last" data format (height, width, channels). The default input size for this model is 224x224. We are now ready to write some Python code to classify image contents utilizing  convolutional Neural Networks (CNNs) pre-trained on the ImageNet dataset. For udoo Quad/Dual use ResNet50 due to avoid space conflict. Also we are going to use ImageNet (http://image-net.org/) that is an image database organized according to the WordNet hierarchy, in which each node of the hierarchy is depicted by hundreds and thousands of images. from keras.applications.resnet50 import ResNet50 from keras.preprocessing import image from keras.applications.resnet50 import preprocess_input, decode_predictions import numpy as np   model = ResNet50(weights='imagenet')   #for this sample I download the image from: http://i.imgur.com/wpxMwsR.jpg  img_path = 'elephant.jpg' img = image.load_img(img_path, target_size=(224, 224)) x = image.img_to_array(img) x = np.expand_dims(x, axis=0) x = preprocess_input(x)   preds = model.predict(x) # decode the results into a list of tuples (class, description, probability) # (one such list for each sample in the batch) print('Predicted:', decode_predictions(preds, top=3)[0]) Save the file an run it. Results for elephant image: Top prediction was 0.8890 for African Elephant Testing with this image: http://i.imgur.com/4FIOwAN.jpg Results: Top prediction was: 0.7799 for golden_retriever. Now your Udoo is ready to use Keras and Theano as Deep Learning libraries, next time we are going to show some usage example for image classification models with OpenCV. References: GitHub - fchollet/keras: Deep Learning library for Python. Runs on TensorFlow, Theano, or CNTK.  GitHub - Theano/Theano: Theano is a Python library that allows you to define, optimize, and evaluate mathematical expres…  GitHub - fchollet/deep-learning-models: Keras code and weights files for popular deep learning models.  Installing Keras for deep learning - PyImageSearch 

One of the important features that differentiates Xenomai from other real-time Linux extensions is its ability to offer hard real-time support to user-space applications. Ease of use of the user-space programming model should outweigh any gain one could expect from running the application directly from kernel space. User-space applications are memory protected from other processes, thus cannot crash the kernel should something goes wrong. Xenomai also provides generic building blocks for building different RTOS interfaces called skins, These skins imitates the different RTOS APIs thus allowing easy porting of existing applications to Xenomai. Required software 1. The current BSP version for iMX6 from Freescale is 3.0.35 does not fully work with the latest version Xenomai because the accompanying I-pipe patch does not support SMP. To use the latest I-pipe patch, a newer Linux kernel is need. Grab the latest stable kernel:   $ git clone git://git.kernel.org/pub/scm/linux/kernel/git/stable/linux-stable.git   $ cd ~/linux-stable   $ git branch -a   $ git checkout remotes/origin/linux-3.8.y -b linux-3.8.y   $ git checkout v3.8.1 -v v3.8.1 2. Configure the kernel. Make sure the kernel is built without any errors before patching it with Xenomai.   $ export ARCH=arm   $ export CROSS-COMPILE=arm-fsl-linux-gnueabi- $ make imx_v6_v7_defconfig $ make -j16 uImage 3. Note that this is a device-tree enabled kernel. You'll also need to generate the flattened device tree that U-Boot will pass to the kernel.   $ make imx6q-sabrelite.dtb 4. This step is not needed if your U-Boot supports device-tree kernel. Grab the latest U-Boot: $ git clone git://git.denx.de/u-boot.git $ cd u-boot/ $ make mx6qsabrelite_config $ make -j16 5. The boot script will need to updated to load the device-tree into memory and pass it to the bootm command.   U-Boot > setenv bootcmd 'fatload mmc 1 0x22000000 uImage; fatload mmc   1 0x11000000       imx6q-sabrelite.dtb; bo otm 0x22000000 – 0x11000000' 6. Grab the latest I-pipe patch from Adeos    $ wget http://download.gna.org/adeos/patches/v3.x/arm/ipipe-core-3.8-   arm-1.patch 7. Grab the latest Xenomai    $ wget http://www.xenomai.org/index.php/Xenomai:News#2013-10-           05_Xenomai_2.6.3   $ tar -xvjf xenomai-2.6.3.tar.bz2 Patching the kernel 1. Prepare the target kernel. This is to assume that the Linux kernel and I-pipe patch are located relatively to Xenomai.   $ cd xenomai-2.6.3   $ ./scripts/prepare-kernel.sh --linux=../linux-stable/ --adeos=../linux-stable/ipipe-core-3.8-arm-1.patch –arch=ARM   $ ./configure CFLAGS="-march=armv7-a -mfpu=vfp3" LDFLAGS="-march=armv7-a -mfpu=vfp3" --host=arm-fsl-linux-gnueabi 2. Build and installation   $ make -j8   $ sudo root   $ export PATH=/opt/freescale/usr/local/gcc-4.6.2-glibc-2.13-linaro-multilib-2011.12/fsl-linaro-toolchain/bin/:$PATH   $ make DESTDIR=~/BSP/ltib/rootfs install    Testing the installation 1. Verifying the kernel. If everything works, the kernel boot logs should messages like:    I-pipe: head domain Xenomai registered.   Xenomai: hal/arm started.   Xenomai: scheduling class idle registered.   Xenomai: scheduling class rt registered.   Xenomai: real-time nucleus v2.6.2.1 (Day At The Beach) loaded.   Xenomai: debug mode enabled.   Xenomai: starting native API services.   Xenomai: starting POSIX services.   Xenomai: starting RTDM services. 2. Comparison of Xenomai and unpatched Linux kernel real-time performance. We ran a couple benchmarks on a Freescale I.MX6q Sabrelite board to do the comparison. The tests used default configurations and fully stressed the system in order to measure scheduling jitter.                               Linux   Kernel     Zero load     100% loaded     Average latency   (us)     Worst-case   latency (us)     Average latency   (us)     Worst-case   latency (us)     Standard     4.625       41.311     5.120     1849.91   Patched with   Xenomai     4.825       15.568     6.654     16.655 The tests measure the jitter relative to expected time on a periodic task running every 1 millisecond. Data show the Xenomai implementations stand out for having by far the smallest difference between light and full load in the worst case. Stock Linux fare much worse as the timers miss a lot wake ups.

    Xenomai is real-time framework, which can run seamlessly side-by-side Linux as a co-kernel system, or natively over mainline Linux kernels (with or without PREEMPT-RT patch). The dual kernel nicknamed Cobalt, is a significant rework of the Xenomai 2.x system. Cobalt implements the RTDM specification for interfacing with real-time device drivers. The native linux version, an enhanced implementation of the experimental Xenomai/SOLO work, is called Mercury. In this environment, only a standalone implementation of the RTDM specification in a kernel module is required, for interfacing the RTDM-compliant device drivers with the native kernel. You can get more detailed information from Home · Wiki · xenomai / xenomai · GitLab       I have ported xenomai 3.1 to i.MX Yocto 4.19.35-1.1.0, and currently support ARMv7 and tested on imx6ulevk/imx6ull14x14evk/imx6qpsabresd/imx6dlsabresd/imx6sxsabresdimx6slevk boards. I also did stress test by tool stress-ng on some boards.      You need to git clone https://gitee.com/zxd2021-imx/xenomai-arm.git, and git checkout Linux-4.19.35-1.1.0. (which inlcudes all patches and bb file) and add the following variable in conf/local.conf before build xenomai by command bitake xenomai.  XENOMAI_KERNEL_MODE = "cobalt"  PREFERRED_VERSION_linux-imx = "4.19-${XENOMAI_KERNEL_MODE}" IMAGE_INSTALL_append += " xenomai" DISTRO_FEATURES_remove = "optee" or XENOMAI_KERNEL_MODE = "mercury" PREFERRED_VERSION_linux-imx = "4.19-${XENOMAI_KERNEL_MODE}" IMAGE_INSTALL_append += " xenomai" DISTRO_FEATURES_remove = "optee" If XENOMAI_KERNEL_MODE = "cobalt", you can build dual kernel version. And If XENOMAI_KERNEL_MODE = "mercury", it is single kernel with PREEMPT-RT patch. The following is test result by the command (/usr/xenomai/demo/cyclictest -p 50 -t 5 -m -n -i 1000 😞 //Mecury on 6ULL with stress-ng --cpu 4 --io 2 --vm 1 --vm-bytes 128M --metrics-brief policy: fifo: loadavg: 6.08 2.17 0.81 8/101 534 T: 0 (  530) P:99 I:1000 C:  74474 Min:     23 Act:  235 Avg:   77 Max:    8278 T: 1 (  531) P:99 I:1500 C:  49482 Min:     24 Act:   32 Avg:   56 Max:    8277 T: 2 (  532) P:99 I:2000 C:  36805 Min:     24 Act:   38 Avg:   79 Max:    8170 T: 3 (  533) P:99 I:2500 C:  29333 Min:     25 Act:   41 Avg:   54 Max:    7069 T: 4 (  534) P:99 I:3000 C:  24344 Min:     24 Act:   51 Avg:   60 Max:    7193   //Cobalt on 6ULL with stress-ng --cpu 4 --io 2 --vm 1 --vm-bytes 128M --metrics-brief policy: fifo: loadavg: 7.02 6.50 4.01 8/100 660 T: 0 (  652) P:50 I:1000 C: 560348 Min:      1 Act:   10 Avg:   15 Max:      71 T: 1 (  653) P:50 I:1500 C: 373556 Min:      1 Act:    9 Avg:   17 Max:      78 T: 2 (  654) P:50 I:2000 C: 280157 Min:      2 Act:   14 Avg:   20 Max:      64 T: 3 (  655) P:50 I:2500 C: 224120 Min:      1 Act:   12 Avg:   15 Max:      57 T: 4 (  656) P:50 I:3000 C: 186765 Min:      1 Act:   31 Avg:   19 Max:      53   //Cobalt on 6qp with stress-ng --cpu 4 --io 2 --vm 1 --vm-bytes 512M --metrics-brief policy: fifo: loadavg: 8.11 7.44 4.45 8/156 1057 T: 0 (  917) P:50 I:1000 C: 686106 Min:      0 Act:    3 Avg:    5 Max:      53 T: 1 (  918) P:50 I:1500 C: 457395 Min:      0 Act:    3 Avg:    5 Max:      49 T: 2 (  919) P:50 I:2000 C: 342866 Min:      0 Act:    2 Avg:    4 Max:      43 T: 3 (  920) P:50 I:2500 C: 274425 Min:      0 Act:    3 Avg:    5 Max:      58 T: 4 (  921) P:50 I:3000 C: 228682 Min:      0 Act:    2 Avg:    6 Max:      46   //Cobalt on 6dl with stress-ng --cpu 2 --io 2 --vm 1 --vm-bytes 256M --metrics-brief policy: fifo: loadavg: 3.35 4.15 2.47 1/122 850 T: 0 (  729) P:50 I:1000 C: 608088 Min:      0 Act:    1 Avg:    3 Max:      34 T: 1 (  730) P:50 I:1500 C: 405389 Min:      0 Act:    0 Avg:    4 Max:      38 T: 2 (  731) P:50 I:2000 C: 304039 Min:      0 Act:    1 Avg:    4 Max:      45 T: 3 (  732) P:50 I:2500 C: 243225 Min:      0 Act:    0 Avg:    4 Max:      49 T: 4 (  733) P:50 I:3000 C: 202683 Min:      0 Act:    0 Avg:    5 Max:      38   //Cobalt on 6SX stress-ng --cpu 4 --io 2 --vm 1 --vm-bytes 512M  --metrics-brief policy: fifo: loadavg: 7.51 7.19 6.66 8/123 670 T: 0 (  598) P:50 I:1000 C:2314339 Min:      0 Act:    3 Avg:    8 Max:      60 T: 1 (  599) P:50 I:1500 C:1542873 Min:      0 Act:   15 Avg:    8 Max:      72 T: 2 (  600) P:50 I:2000 C:1157152 Min:      0 Act:    4 Avg:    9 Max:      55 T: 3 (  601) P:50 I:2500 C: 925721 Min:      0 Act:    5 Avg:    9 Max:      57 T: 4 (  602) P:50 I:3000 C: 771434 Min:      0 Act:    6 Avg:    6 Max:      41   //Cobalt on 6Solo lite stress-ng --cpu 4 --io 2 --vm 1 --vm-bytes 512M  --metrics-brief policy: fifo: loadavg: 7.01 7.04 6.93 8/104 598 T: 0 (  571) P:50 I:1000 C:3639967 Min:      0 Act:    9 Avg:    7 Max:      60 T: 1 (  572) P:50 I:1500 C:2426642 Min:      0 Act:    9 Avg:   11 Max:      66 T: 2 (  573) P:50 I:2000 C:1819980 Min:      0 Act:   11 Avg:   10 Max:      57 T: 3 (  574) P:50 I:2500 C:1455983 Min:      0 Act:   12 Avg:   10 Max:      56 T: 4 (  575) P:50 I:3000 C:1213316 Min:      0 Act:    7 Avg:    9 Max:      43   //Cobalt on 7d with stress-ng --cpu 2 --io 2 --vm 1 --vm-bytes 256M --metrics-brief policy: fifo: loadavg: 5.03 5.11 5.15 6/107 683 T: 0 (  626) P:50 I:1000 C:6842938 Min:      0 Act:    1 Avg:    2 Max:      63 T: 1 (  627) P:50 I:1500 C:4561953 Min:      0 Act:    4 Avg:    2 Max:      66 T: 2 (  628) P:50 I:2000 C:3421461 Min:      0 Act:    0 Avg:    2 Max:      69 T: 3 (  629) P:50 I:2500 C:2737166 Min:      0 Act:    3 Avg:    2 Max:      71 T: 4 (  630) P:50 I:3000 C:2280969 Min:      0 Act:    2 Avg:    1 Max:      33   //////////////////////////////////////// Update for Yocto L5.10.52 2.1.0  /////////////////////////////////////////////////////////// New release for Yocto release L5.10.52 2.1.0. You need to git clone https://gitee.com/zxd2021-imx/xenomai-arm and git checkout xenomai-5.10.52-2.1.0. Updating: 1, Upgrade Xenomai to v3.2 2, Enable Dovetail instead of ipipe. Copy xenomai-arm to <Yocto folder>/sources/meta-imx/meta-bsp/recipes-kernel, and add the following variable in conf/local.conf before build Image with xenomai enable by command bitake imx-image-multimedia. XENOMAI_KERNEL_MODE = "cobalt" IMAGE_INSTALL_append += " xenomai" or XENOMAI_KERNEL_MODE = "mercury" IMAGE_INSTALL_append += " xenomai" Notice: If XENOMAI_KERNEL_MODE = "cobalt", you can build dual kernel version. And If XENOMAI_KERNEL_MODE = "mercury", it is single kernel with PREEMPT-RT patch. //////////////////////////////////////// Update for Yocto L5.15.71 2.2.0  /////////////////////////////////////////////////////////// New release for Yocto release L5.15.71 2.2.0. You need to git clone https://gitee.com/zxd2021-imx/xenomai-arm and git checkout xenomai-5.15.71-2.2.0. Updating: 1, Upgrade Xenomai to v3.2.2 Copy xenomai-arm to <Yocto folder>/sources/meta-imx/meta-bsp/recipes-kernel, and add the following variable in conf/local.conf before build Image with xenomai enable by command bitake imx-image-multimedia. XENOMAI_KERNEL_MODE = "cobalt" IMAGE_INSTALL:append += " xenomai" or XENOMAI_KERNEL_MODE = "mercury" IMAGE_INSTALL:append += " xenomai" Notice: If XENOMAI_KERNEL_MODE = "cobalt", you can build dual kernel version. And If XENOMAI_KERNEL_MODE = "mercury", it is single kernel with PREEMPT-RT patch.   ///////// Later update for Later Yocto release, please refer to the following community post //////////// 移植实时Linux方案Xenomai到i.MX ARM64平台 (Enable real-time Linux Xenomai on i.MX ARM64 Platform)   

Environment:   VMware player 15 + ubuntu 18.04 LTS Reference document: i.MX_Yocto_Project_User's_Guide.pdf 1. Software packages for the compilation # sudo apt-get install flex bison gperf build-essential zlib1g-dev # sudo apt-get install lib32ncurses5-dev x11proto-core-dev # sudo apt-get install libx11-dev lib32z1-dev libgl1-mesa-dev # sudo apt-get install tofrodos python-markdown libxml2-utils xsltproc # sudo apt-get install uuid-dev:i386 liblzo2-dev:i386 gcc-multilib g++-multilib # sudo apt-get install subversion openssh-server openssh-client uuid uuid-dev zlib1g-dev # sudo apt-get install liblz-dev lzop liblzo2-2 liblzo2-dev git-core curl # sudo apt-get install python3 python3-pip python3-pexpect python3-git python3-jinja2 pylint3 # sudo apt-get install u-boot-tools mtd-utils android-tools-fsutils # sudo apt-get install openjdk-8-jdk device-tree-compiler aptitude # sudo apt-get install libcurl4-openssl-dev nss-updatedb # sudo apt-get install chrpath texinfo gawk cpio diffstat # sudo apt-get install libncursesw5-dev libssl-dev libegl1-mesa # sudo apt-get install net-tools python libsdl1.2-dev xterm socat # sudo apt-get install icedtea-netx-common icedtea-netx 2. downloading yocto bsp (L5.4.24_2.1.0) # rm -rf ~/bin # mkdir ~/bin # curl https://storage.googleapis.com/git-repo-downloads/repo > ~/bin/repo # chmod a+x ~/bin/repo # export PATH=~/bin:$PATH   # mkdir imx-yocto-bsp-5.4.24-2.1.0 # cd imx-yocto-bsp-5.4.24-2.1.0 # repo init -u https://source.codeaurora.org/external/imx/imx-manifest -b imx-linux-zeus -m imx-5.4.24-2.1.0.xml # cd .repo/manifests # gedit imx-5.4.24-2.1.0.xml          Modify git to https like below:   <remote fetch="https://git.yoctoproject.org/git" name="yocto"/>   <remote fetch="https://github.com/Freescale" name="community"/>   <remote fetch="https://github.com/openembedded" name="oe"/>   <remote fetch="https://github.com/OSSystems" name="OSSystems"/>   <remote fetch="https://github.com/meta-qt5"  name="QT5"/>   <remote fetch="https://github.com/TimesysGit"  name="Timesys"/>   <remote fetch="https://github.com/meta-rust"  name="rust"/>   <remote fetch="https://git.openembedded.org"  name="python2"/>   <remote fetch="https://source.codeaurora.org/external/imx" name="CAF"/> Save it and exit. # cd ~/ imx-yocto-bsp-5.4.24-2.1.0 # repo sync          Begin to compile i.MX8MQ BSP: # DISTRO=fsl-imx-wayland MACHINE=imx8mqevk source imx-setup-release.sh -b build-wayland          If users want to use chromium, do it like below, otherwise omit the step.        Add CORE_IMAGE_EXTRA_INSTALL += "chromium-ozone-wayland" to local.conf        And use 8 thread to compile BSP # gedit ./conf/local.conf …… BB_NUMBER_THREADS =”4” PARALLEL_MAKE =”-j 4” CORE_IMAGE_EXTRA_INSTALL += "chromium-ozone-wayland" ……          Save it and exit. [comment]          If your ubuntu has 8GB DDR, BB_NUMBER_THREADS can be set to “2”, PARALLEL_MAKE can be set to “-j 2”. # bitbake chromium-ozone-wayland -c fetch # bitbake imx-image-full Use ulimit -n 4096 to solve the issue. Then continue. # bitbake imx-image-full chromium compilation error:          Compile chromium-ozone-wayland separately. # bitbake chromium-ozone-wayland -c cleansstate # bitbake chromium-ozone-wayland -c compile          Use the command to solve the problem. # gedit ../sources/meta-imx/meta-sdk/dynamic-layers/browser-layer/recipes-browser/chromium/chromium-ozone-wayland_%.bbappend DEPENDS += "\         libxkbcommon \         virtual/egl \         wayland \         wayland-native \          mesa         \ "          Add mesa to DEPENDS          Save and exit.          Continue to compile it. # bitbake chromium-ozone-wayland -c compile          done, continue to compile full image   # bitbake imx-image-full Attachment is document in pdf format, which should be clear. NXP TIC team Weidong Sun 08/21/2020

Configuring RedBoot The configuration is made using a Minicom session that need to be established between host and target through serial port. To have an operational system been executed just on the power on, configure the right for Boot script. The chooses are shown in Boot Script section. To avoid the start of operational system, power on the board and press CTRL-C immediately. Wait until RedBoot> prompt appears. Overview The main command for beginners is fconfig -l that can be abbreviated as fc -l    This command shows the actual configuration of Redboot, like: RedBoot> fc -l Run script at boot: true Boot script: .. load -r -b 0x100000 /tftpboot/zImage .. exec -b 0x100000 -l 0x200000 -c "noinitrd console=ttymxc0,115200 root=/dev/n" Boot script timeout (1000ms resolution): 1 Use BOOTP for network configuration: false Gateway IP address: 10.29.241.254 Local IP address: 10.29.241.6 Local IP address mask: 255.255.254.0 Default server IP address: 10.29.244.99 Board specifics: 0 Console baud rate: 115200 Set eth0 network hardware address [MAC]: false GDB connection port: 9000 Force console for special debug messages: false Network debug at boot time: false RedBoot> Run script at boot: set true for booting with a script or false to always enter on prompt directly Boot script: define what commands to execute as script at the startup Boot script timeout: how many time to wait before execute boot script Use BOOTP for network configuration: set true for getting configuration from BOOTP or false for manually configuring gateway and IP address Gateway IP address: The IP address of the gateway Local IP address: The board IP address Local IP address mask: The board IP mask address Default server IP address: The host IP address when NFS and TFTP server are running Configuring Network Execute the command to configure network parameters: RedBoot> fc This step guarantee the possibilities to load images from some server previously connected and configured. For Use BOOTP for network configuration: answer false. For Gateway IP address: type the gateway IP address of your network; For Local IP address: type an IP address to your board, it needs to be a valid IP in your network; For Local IP address mask: type the IP mask address; For Default server IP address: type the IP of your host server where are running TFTP and NFS. Pay special attencion for Update RedBoot non-volatile configuration - continue (y/n)?. Answer y to have your configuration saved in the flash. To verify if your configuration is working use ping, be patient this command is very slow: RedBoot" ping -h 10.29.244.99 Network PING - from 10.29.241.6 to 10.29.244.99 PING - received 10 of 10 expected Use the "-n" option to change the number of pings and the "-r" option to speed things up, such as: ping -n 3 -h 10.29.244.99 -r 10. The boot script configuration is done in the next section. Boot Script NFS Boot In NFS Boot mode, a kernel image and a root file system image are loaded from a configured server through TFTP and NFS that can be executed doing the development more easy. To configure RedBoot for NFS Boot reset the board and press CTRL-C immediately. In a Minicom session type fc to modify the configuration boot. Enter the script boot below: RedBoot> fc Run script at boot: true Boot script: Enter script, terminate with empty line >> load -r -b 0x100000 /tftpboot/zImage >> exec -b 0x100000 -l 0x200000 -c "noinitrd console=ttymxc0,115200 root=/dev/nfs nfsroot=10.29.244.99:/tftpboot/rootfs init=/linuxrc ip=10.29.241.6:10.29.244.99" >> Boot script timeout (1000ms resolution): 1 Use BOOTP for network configuration: false Gateway IP address: 10.29.241.254 Local IP address: 10.29.241.6 Local IP address mask: 255.255.254.0 Default server IP address: 10.29.244.99 Board specifics: 0 Console baud rate: 115200 Set eth0 network hardware address [MAC]: false GDB connection port: 9000 Force console for special debug messages: false Network debug at boot time: false Update RedBoot non-volatile configuration - continue (y/n)? y ... Read from 0x07ee0000-0x07eff000 at 0x00080000: . ... Erase from 0x00080000-0x000a0000: . ... Program from 0x07ee0000-0x07f00000 at 0x00080000: . RedBoot> The script is composed by two lines. The first line load the kernel image (zImage) by TFTP from /tftpboot, the directory configured in TFTP.\ The second line executes the kernel and mount the root file system using NFS. The path /tftpboot/ltib indicates the path that should be exported in the host machine. (It's the path in the /etc/exports) 10.29.244.99 is the host IP address 10.29.241.6 is the target IP address Flash Boot For flash boot the Boot Script differs a little bit: fis init kernel exec -c "noinitrd console=ttymxc0,115200 root=/dev/mtdblock8 rw rootfstype=jffs2 ip=none" The value for root can be different for each board type.

Header 1 Header 2 Video rendering gst-launch videotestsrc ! mfw_v4lsink Audio rendering gst-launch audiotestsrc ! alsasink WAV Audio rendering gst-launch filesrc location=test.wav ! wavparse ! alsasink Video rendering selecting caps gst-launch videotestsrc ! capsfilter name='video/x-raw-yuv,format=(fourcc)I420' ! mfw_v4lsink gst-launch videotestsrc ! 'video/x-raw-yuv,format=(fourcc)I420' ! mfw_v4lsink

The i.MX 6 D/Q/DL/S/SL Linux 3.10.17_1.0.0 GA release is now available on www.freescale.com Files available Name Description L3.10.17_1.0.0_LINUX_DOCS i.MX 6 D/Q/DL/S/SL Linux 3.10.17_1.0.0 GA BSP documentation. y L3.10.17_1.0.0_iMX6QDLS_Bundle i.MX 6 D/Q/DL/S  Linux 3.10.17_1.0.0 GA BSP Binary Demo Files L3.10.17_1.0.0_iMX6SL_Bundle i.MX 6 SL  Linux 3.10.17_1.0.0 GA BSP Binary Demo Files i.MX_6_Vivante_VDK_150_Tools Vivante VTK 1.5 Codec for the i.MX 6 D/Q/DL/S/SL Linux 3.10.17_1.0.0 GA BSP    y L3.10.17_1.0.0_AACP_CODECS AAC Plus Codec for the i.MX 6 D/Q/DL/S/SL Linux 3.10.17_1.0.0 GA BSP y IMX_6_MFG_L3.10.17_1.0.0_TOOL Manufacturing Tool and Documentation for Linux 3.10.17_1.0.0 GA BSP y Target HW boards o   i.MX6DL  SABRE SD board o   i.MX6Q  SABRE SD board o   i.MX6DQ SABRE AI board o   i.MX6DL SABRE AI board o   i.MX6SL EVK board New  Features o   Main BSP New Features on MX6DQ, MX6DL and MX6SL from L3.10.9_1.0.0 GA: SD3.0 reset USB HSIC HWRNG security feature on MX6SL VIIM OTP Fuse in uboot Battery charge LED U-boot USB mass storage support USB Camera on host mode X backend: Adaptive HDMI display support backed by XRandR Main Codec New Features on MX6DQ, MX6DL and MX6SL from L3.10.17_1.0.0 Beta: Bug fix Main Codec New Features on MX6DQ, MX6DL and MX6SL from L3.10.17_1.0.0 Beta: Bug fix Other features not supported found during testing: UART: only support some baud rates like 9600, 115200, can't support high to 4000000 Known issues For known issues and limitations please consult the release notes located in the BSP documentation package.

ATK (Advanced Toolkit) ATK is a Windows tool for programming the flash memory of i.MX boards. It can be downloaded here. Using ATK This section will describe the procedure to erase the flash memory and program the bootloader. 1. Assemble the PDK using the CPU board, the Personality board, and the Debug board. 2. Connect a USB cable between the PC and the i.MX25 PDK Personality board. 3. Some hardware configurations (switches) must be set for booting from UART/USB:   On the debug board:   Switch SW5 -> Off   Switch SW6 -> Off   Switch SW7 -> Off   Switch SW8 -> Off   Switch SW9 -> On   Switch SW10 -> On   On the personality board:   Switch SW21 -> 11000000   Switch SW22 -> 00000000 {{Note|On SW5 thourgh SW10, "1" means the keys selected towards the edge of the board.} 4. Run ATK (1.6 or above) going to Start -> Programs -> AdvancedToolKit -> AdvancedToolKit   Set the options:   i.MX CPU -> i.MX25_TO1.1   Device memory -> DDR2;   Custom Initial File -> (keep it unmarked)   Communication Channel -> USB 5. Power up the i.MX25 PDK 6. Click on "Next" 7. Click on Flash Tools to erase, program or dump the the flash memory and click GO. NAND Flash Erasing 1. Configure the Dip Switch of Personality Board:                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Switch 1 2 3 4 5 6 7 8 SW1 OFF OFF OFF OFF N/A N/A N/A N/A SW2 ON OFF OFF ON ON OFF OFF OFF 2. Choose NAND model K9LAG08U8M 3. Continue the steps Remember to select the checkbutton BBT (Back Block Table) Commands to flash kernel and rootfs fis init -f load -r -b 0x100000 zImage -h <host IP address> fis create -f 0x300000 kernel load -r -b 0x100000 rootfs.jffs2 -h <host IP address> fis create -f 0x800000 root fis load kernel exec -c "noinitrd console=ttymxc0 115200 root=/dev/mtdblock2 rw ip=dhcp rootfstype=jffs2" Command to create rootfs.jffs2 mkfs.jffs2 -r rootfs -e 0x80000 -s 0x1000 -n -o rootfs.jffs2

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.

This is a quick article focused on how to add the support of the ssh on the i.MX devices using Yocto to add that packages.   Refer to the pdf attached.

 

The NXP i.MX 8M provides industry leading audio, voice and video processing for applications that scale from consumer home audio to industrial building automation and mobile computers. The i.MX 8M Quad supports multiple audio interfaces as listed below: Besides the general audio input/output function, the audio interfaces will supports following features: - SAI-1 supports up to 16-channels TX (8 lanes) and 16-channels RX (8 lanes) at 384KHz/32-bit. - SAI-5 supports up to 8-channels TX (4 lanes) and 8-channels RX (4 lanes) at 384KHz/32-bit. - SAI-2/3/6 supports up to 2-channels TX (1 lanes) and 2-channels RX (1 lanes) at 384KHz/32-bit. - SAI-2/3/6 support up to 2-channels TX (1 lane) and 2-channels RX (1 lane) at 384KHz/32-bit. - SAI-1 supports glue-less switching between PCM & DSD operation for popular audio DACs - SPDIF-1/2 supports raw capture mode that can save all the incoming bits into audio buffer The SAI-1/2/3/5/6 and SPDIF-1 share GPIO pads on the chip through IOMUX. Common use cases supported by the audio interfaces are listed in the table below (many other configurations are possible). The number is the data lanes supported. For the MCLK pin on each SAI module, it can be configured as either input or output. When configured as output, the SAI_CLK_ROOT from CCM will be routed to the pad output. When configured as input, the external input to the pad will be routed to SAI.MCLK, which can be used as master clock for SAI. Below is the diagram showing the both input/output options, by using SAI1 as the example. Each SAI module supports up to 3 master clock inputs. The TX and RX sub-module inside each SAI can independently select one of the clock inputs as its master clock. This allows TX and RX of one SAI to run from different clock source. The master clock inputs have following options: - SAI.MCLK[1] can be selected from SAI_CLK_ROOT from CCM or SAI.MCLK from IOMUX. This is the most straight-forward clock routing in which SAI only use its own clock source from CCM or IO pad. - SAI.MCLK[2] can be selected from following clock sources:       Any of the SAI_CLK_ROOT from CCM;       Any of the SAI.MCLK from IOMUX;       Other clock sources from SPIDF; - SAI.MCLK[3] has exact same clock source options as SAI.MCLK[2]. This allows both TX and RX can have access to all the options without any dependency between each other. The clock options for master clock on SAI are shown in the diagram blow, by using SAI-1 as an example. The options on MCLK[1] is also available on MCLK[2] and MCLK[3]. The reason to keep this options is to provide the similar SAI clock structure as i.MX6/i.MX7 processors. The configuration of the MUX for master clock are controlled by IOMUXC_GPR registers. They should be configured before SAI clock is enabled to avoid glitches on the clock. Note: Because those MUX on clocks are missed during the design, the actual implementation in the silicon is simplified as shown in the following diagram. All the SAI and SPDIF instances have SDMA support. In order to meet the audio data rate, two SDMA modules are used. Because the SAI-2/3 and SPDIF-1/2 do not require high data throughput, they are assigned to SDMA-1, shared with other peripherals such as UART/SPI. SAI-1/4/5/6 need to support high sample rate & multichannel audio, they are assigned to SDMA-2, which is a dedicated SDMA engine for audio. The SDMA-2 frequency is increased to 500/250 instead of 133/66 to make sure it has enough throughput. In order to allow SW tracking the progress of audio DMA, the TX_SYNC and RX_SYNC of SAI modules are routed to GPT as the external clock input. Since there are totally 6 SAI modules, these signals will be MUXed when connection to GPT. - GPT-4/5/6 external clock input can be selected from the TX_SYNC or RX_SYNC of any 6 SAI modules; - The MUX select is controlled by IOMUXC_GPR register; - The MUX select register for GPT-4/5/6 are fully independent of each other.

What is HOB? Hob is a graphical user interface for BitBake. Its primary goal is to enable a user to perform common tasks more easily. It basically runs the Bitbake commands on the background while showing a Graphic User Interface. Hob may not work correctly with Daisy metadata as it is getting deprecated in favor of a new web based interface for Yocto under the name Toaster. Here is what you can do with the current version of Hob on the Freescale Community BSP and BSP Release. - Build images - Edit existing image recipes - Create your own image recipes Note: HOB will write the local.conf file and make modifications which may conflict with baking images outside of HOB. In this case you may need to re-run the environment initialization in order to restore the local.conf file. Starting HOB Once the environment has been initialized (using the setup-environment script on the Freescale Community BSP or the fsl-setup-release on the Freescale BSP Release) use the command below. $ hob & The GUI should then appear: You may then select the MACHINE for which you will build and the Layers of your project. HOB  will take and updated the local.conf and bblayers.conf values so the desired BSP layers will already be selected and available MACHINES on these layers will appear on the drop down menu. Once these options are set HOB will parse the recipes and create a dependency tree in order to show available images for that MACHINE. Image File System Types Advance configuration options include image file system types. Please note that HOB does not support the sdcard format so if it is needed it has to be added manually on the local.conf file and then run bitbake outside of HOB. As HOB changed the local.conf file even if the sdcard format was originally available it may be rewrite and no longer available until the following line is added to local.conf. IMAGE_FSTYPES="tar.bz2 ext3 sdcard" Recipes screen On the recipes screen we can see the recipes included on the image and available recipes, then also package groups. Time to bake! After these configurations you may either build the packages using HOB interface or run Bitbake outside of HOB. (In case you wish to have your image on the sdcard format please see the earlier image types clarification) The resulting image will be stored on <BUILD>/tmp/deploy/images/<MACHINE> You may also save your image recipe with the selected customizations.