About this document This document describe the setup detail for Robot Operating systems on  ubuntu 14.04 running on MX6QDL based boards. 1. Software & Hardware requirements Supported NXP HW boards: i.MX 6QuadPlus SABRE-SD Board and Platform i.MX 6Quad SABRE-SD Board and Platform i.MX 6DualLite SABRE-SD Board i.MX 6Quad SABRE-AI Board i.MX 6DualLite SABRE-AI Board i.MX 6SoloX SABRE-SD Board i.MX 6SoloX SABRE-AI Board i.MX 7D Sabre Board Software:  Gcc toolchain, Ubuntu 14.04v installed on your board. 2. Installation For install ROS on iMX boards you need to have Ubuntu 14.04 rootfs installed in your board, for installation steps please follow up: https://community.freescale.com/docs/DOC-330147 Run your rootfs target and Configure your Ubuntu repositories to allow "restricted," "universe," and "multiverse.  $sudo nano /etc/apt/sources.list Your file should then look like this: deb http://ports.ubuntu.com/ubuntu-ports/ trusty main universe multiverse restricted deb-src http://ports.ubuntu.com/ubuntu-ports/ trusty main universe multiverse restricted deb http://ports.ubuntu.com/ubuntu-ports/ trusty-updates main universe multiverse restricted Make your installation up to date: $ sudo apt-get update $ sudo apt-get upgrade Set your locale: $ sudo update-locale LANG=C LANGUAGE=C LC_ALL=C LC_MESSAGES=POSIX Add ROS ARM repos & Key $ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' $ sudo apt-key adv --keyserver hkp://pool.sks-keyservers.net --recv-key 0xB01FA116 $ sudo apt-get update There are many different libraries and tools in ROS - not all compile fully on ARM. In this case we are going to install the ROS Base, however any other packages can be installed individually ROS-Base: (Bare Bones) ROS package, build, and communication libraries. No GUI tools. $ sudo apt-get install python-rosdep python-wstool build-essential cmake xserver-xorg-dev-lts-utopic mesa-common-dev-lts-utopic \ libxatracker-dev-lts-utopic libopenvg1-mesa-dev-lts-utopic libgles2-mesa-dev-lts-utopic libgles1-mesa-dev-lts-utopic\ libgl1-mesa-dev-lts-utopic libgbm-dev-lts-utopic libegl1-mesa-dev-lts-utopic Alternatively, try installing just this to fix dependency issues, and then install ROS base (includes ROS package, build, and communication libraries. No GUI tools.😞 $ sudo apt-get install libgl1-mesa-dev-lts-utopic $ sudo apt-get install ros-indigo-ros-base Before you can use ROS, you will need to initialize rosdep. It enables you to easily install system dependencies for source you want to compile and is required to run some core components in ROS. $ sudo rosdep init $ rosdep update Install rosinstall: $ sudo apt-get install python-rosinstall Verifying OS name. If you installed the Linaro ALIP rootfs, make sure your OS name defined at /etc/lsb-release is as the following. Since ros does not recognize Linaro as an OS, this is necessary. $ lsb_release -a You should get: No LSB modules are available. Distributor ID: Ubuntu Description:    Ubuntu 14.04.4 LTS Release:        14.04 Codename:       trusty In any case you get a different output, the following is for Ubuntu 14.04, trusty. Modify the release number and name as per your target. DISTRIB_ID=Ubuntu DISTRIB_RELEASE=14.04 DISTRIB_CODENAME=trusty DISTRIB_DESCRIPTION="Ubuntu 14.04" 3. Testing The Installation Run ROS $ roscore You should get: ... logging to /root/.ros/log/1c07caa4-1dd3-11b2-b860-00049f0399fe/roslaunch- imx6q-2707.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. Started roslaunch server http://i.Mx6q:37547/ ros_comm version 1.11.16 SUMMARY ======== PARAMETERS * /rosdistro: indigo * /rosversion: 1.11.16 NODES auto-starting new master process[master]: started with pid [2718] ROS_MASTER_URI=http://imx6q:11311/ setting /run_id to 1c07caa4-1dd3-11b2-b860-00049f0399fe process[rosout-1]: started with pid [2731] started core service [/rosout] Open a new Terminal and Create the user catkin_ws Workspace. The catkin_ws workspace will contain the user packages. $ source /opt/ros/indigo/setup.bash $ mkdir -p ~/catkin_ws/src $ cd ~/catkin_ws/src $ catkin_init_workspace $ cd ~/catkin_ws/ $ catkin_make The  catkin_make command is a convenience tool for working with catkin_workspace. If you look in your current directory you should now have a 'build' and 'devel' folder. Inside the 'devel' folder you can see that there are now several setup.*sh files. Sourcing any of these files will overlay this workspace on top of your environment. To understand more about this see the general catkin documentation: http://wiki.ros.org/catkin Before continuing source your new setup.*sh file: $ source devel/setup.bash To make sure your workspace is properly overlayed by the setup script, make sure ROS_PACKAGE_PATH environment variable includes the directory you're in. $ echo $ROS_PACKAGE_PATH /home/youruser/catkin_ws/src:/opt/ros/indigo/share:/opt/ros/indigo/stacks Next you should go ahead and learn how to use the workspace. If you are following the ROS tutorials series instead of the catkin tutorials, please continue with Creating a ROS Package. For more testing on your installation, you can try the ROS Tutorials (http://wiki.ros.org/ROS/Tutorials)

On the build folder, type bitbake -g <image> && cat pn-depends.dot | grep -v -e '-native' | grep -v digraph | grep -v -e '-image' | awk '{print $1}' | sort | uniq where <image> is the image name (e.g. core-image-minimal). In case you want to know if a certain <package> is included on an image, just grep the output bitbake -g <image> && cat pn-depends.dot | grep -v -e '-native' | grep -v digraph | grep -v -e '-image' | awk '{print $1}' | sort | uniq | grep <package>

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

Quick Steps Four quick steps to build and flash a UBIFS image on i.MX35 NAND (K9LBG08U0D-PCB0), for information on how to you another memory, please see next section. Enable MTD_UBI and UBIFS_FS on kernel Create UBI image from rootfs (used for NFS) - ON PC mkfs.ubifs -v -r rootfs -m 2048 -e 258048 -c 966 -o ubifs.img ubinize -o ubi.img -m 2048 -p 256KiB -s 2048 ubinize.cfg Format NAND using UBI image - ON TARGET ubiformat -f ubi.img /dev/mtd8 Load UBI file system load -r -b 0x100000 zImage fis create -f 0x300000 kernel fis load kernel exec -c "noinitrd console=ttymxc0 115200 ubi.mtd=8 root=ubi0:rootfs rw rootfstype=ubifs ip=none" How To First of all, install mtd-utils on both target and host: Target: ./ltib -c Package list [*] mtd-utils Host sudo aptget install mtd-utils 1. Enable MTD_UBI and UBIFS_FS on kernel MTD_UBI -> Device Drivers     -> Memory Technology Device (MTD) support (MTD [=y])           -> UBI - Unsorted block images                   <*> Enable UBI                    (4096) UBI wear-leveling threshold (NEW)                    (1) Percentage of reserved eraseblocks for bad eraseblocks handling (NEW)                 < > MTD devices emulation driver (gluebi) (NEW)                    ** UBI debugging options **                    [ ] UBI debugging (NEW) UBIFS_FS -> File systems         ->Miscellaneous filesystems             <*> UBIFS file system support                 [ ] Extended attributes support (NEW)                 [ ] Advanced compression options (NEW)                 [ ] Enable debugging (NEW) 2. Create UBI image On TARGET Collect some information needed in order to create the UBI image according to your NAND device root@freescale \~$ cat /proc/mtd dev:   size   erasesize name mtd0: 00080000 00020000 "Bootloader" mtd1: 00400000 00020000 "nor.Kernel" mtd2: 01e00000 00020000 "nor.userfs" mtd3: 01c00000 00020000 "nor.rootfs" mtd4: 00003000 00020000 "FIS directory" mtd5: 02001000 00020000 "Redboot config" mtd6: 00300000 00040000 "nand.bootloader" mtd7: 00500000 00040000 "nand.kernel" mtd8: 10000000 00040000 "nand.rootfs" mtd9: 00800000 00040000 "nand.configure" mtd10: 6f000000 00040000 "nand.userfs" I will use mtd8, because I want the NAND rootfs MTD partition. More on [1] root@freescale ~$ ubiattach /dev/ubi_ctrl -m 8 UBI: attaching mtd8 to ubi0 UBI: physical eraseblock size:   262144 bytes (256 KiB) UBI: logical eraseblock size:    258048 bytes UBI: smallest flash I/O unit:    2048 UBI: VID header offset:          2048 (aligned 2048) UBI: data offset:                4096 UBI: empty MTD device detected UBI: create volume table (copy #1) UBI: create volume table (copy #2) UBI: attached mtd8 to ubi0 UBI: MTD device name:            "nand.rootfs" UBI: MTD device size:            256 MiB UBI: number of good PEBs:        979 UBI: number of bad PEBs:         45 UBI: max. allowed volumes:       128 UBI: wear-leveling threshold:    4096 UBI: number of internal volumes: 1 UBI: number of user volumes:     0 UBI: available PEBs:             966 UBI: total number of reserved PEBs: 13 UBI: number of PEBs reserved for bad PEB handling: 9 UBI: max/mean erase counter: 0/0 UBI: image sequence number: 0 UBI: background thread "ubi_bgt0d" started, PID 2098 UBI device number You will need: -p = physical eraseblock size = 256KiB -e = logical eraseblock size = 258048 -m = smallest flash I/O unit = 2048 -s = VID header offset = 2048 -c = available PEB = 966 Values only for iMX35 PDK NAND - K9LBG08U0D-PCB0 3. ON HOST - Now, create the images (two steps) You need to create ubinize.cfg file! ubinize.cfg [ubifs] mode=ubi image=ubifs.img vol_id=0 vol_size=237MiB vol_type=dynamic vol_name=rootfs vol_flags=autoresize $ mkfs.ubifs -v -r rootfs -m 2048 -e 258048 -c 966 -o ubifs.img mkfs.ubifs      root:                rootfs/      min_io_size:    2048      leb_size:         258048      max_leb_cnt:   966      output:            ubifs.img      jrn_size:          8388608      reserved:         0      compr:            lzo      keyhash:         r5      fanout:            8      orph_lebs:       1      super lebs:      1      master lebs:    2      log_lebs:         4      lpt_lebs:          2      orph_lebs:       1      main_lebs:       132      gc lebs:           1      index lebs:       2      leb_cnt:           142      UUID:              CC2057F9-B20F-46D1-A399-1FCA95DCAFF7 Success\! $ ubinize -o ubi.img -m 2048 -p 256KiB -s 2048 ubinize.cfg $ ls -lh u* -rw-r--r-- 1 daiane daiane 35M 2010-11-26 15:21 ubifs.img -rw-r--r-- 1 daiane daiane 36M 2010-11-26 15:22 ubi.img -rw-r--r-- 1 daiane daiane 113 2010-11-26 15:22 ubinize.cfg $ sudo cp ubi.img rootfs/home/ 4. Format NAND using UBI image - ON TARGET Turn on target (or reset it) and format MTD partition $ cd /home $ ubiformat -f ubi.img /dev/mtd8 5. Load UBI file system Reset and change redboot script: .. fis load kernel .. exec -c "noinitrd console=ttymxc0 115200 ubi.mtd=8 root=ubi0:rootfs rw rootfstype=ubifs ip=none"

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

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.    

A new release of the manufacturing tool is was recently made available, "imx-3.10.53_1.1.0_ga-mfg-tools". It can be found in the software download sections for the iMX6 family. However, it can be used to program an iMX28 in a Win7 64-bit host by adding a few files. The steps to do so are listed below and can be checked against the script in ucl2.xml.   Download the attached "28.vbs" file and place it into where the manufacturing tool was installed, typically in  <install_dir>\mfgtools\   Replace <install_dir>\mfgtools\Profiles\Linux\OS Firmware\ucl2.xml with the attached ucl2.xml.    Copy the attached files "updater_ivt.sb" and "fdisk-u.input" into <install_dir>\mfgtools\Profiles\Linux\OS Firmware\firmware Copy your iMX28 image file into <install_dir>\mfgtools\Profiles\Linux\OS Firmware\files.  The file should be renamed to "linux.sb" to conform with the ucl2.xml script. Copy your "rootfs.tar.bz2" file into <install_dir>\mfgtools\Profiles\Linux\OS Firmware\files To launch the manufacturing tool, double click on "28.vbs". Issue: After MfgTool has finished and the progress bars have turned green, clock on the Stop button or the program will start another cycle.

The System Controller Unit (SCU) is in charge of controlling several features related to power management of the whole system. The user gets access to the following features through the System Controller Firmware: Powering up/down the system,resources and partitions Configuring resource clocks Reset controls Configuring wake-up sources This document will cover the more commonly used features, for details on the full capabilities of the API please refer to the API document for your device. Resource Power Control The SCU is in charge of managing power control to the resources (peripherals) in the SoC. Attempting to access a resource on the OFF state will result in a bus error or a hang All resources are organized within several subsystems, subsystems group together resources with common functionality. Subsystems are independent of each other and have their own PLLs and power domains, this allows modular control of clocks and power to the resources. The System Controller Unit has a dedicated I2C channel to interact with the PMIC, this allows dynamic control of some power sources for resources like the GPUs and Cortex-A cores. The SCU can enable/disable the LDO that supplies power to the GPU for instance and also turn on/off the internal power domains. The mapping of PMIC supplies and resources happens on the board.c (included in the SCFW Porting kit) and it is part of the porting process of the SCFW to new boards. The function board_get_pmic_info is where the mapping of resources to supplies happen, see: /*--------------------------------------------------------------------------*/ /* Get the pmic ids and switchers connected to SS. */ /*--------------------------------------------------------------------------*/ static void board_get_pmic_info(sc_sub_t ss,pmic_id_t *pmic_id, uint32_t *pmic_reg, uint8_t *num_regs) { /* Map SS/PD to PMIC switch */ switch (ss) { case SC_SUBSYS_A53 : pmic_init(); {/* PF8100_dual Card */ pmic_id[0] = PMIC_0_ADDR; pmic_reg[0] = PF8100_SW5; *num_regs = 1U; } break; case SC_SUBSYS_A72 : pmic_init(); {/* PF8100_dual Card */ pmic_id[0] = PMIC_0_ADDR; pmic_reg[0] = PF8100_SW3; pmic_id[1] = PMIC_0_ADDR; pmic_reg[1] = PF8100_SW4; *num_regs = 2U; } break; case SC_SUBSYS_GPU_0 : pmic_init(); {/* PF8100_dual Card */ pmic_id[0] = PMIC_1_ADDR; pmic_reg[0] = PF8100_SW1; pmic_id[1] = PMIC_1_ADDR; pmic_reg[1] = PF8100_SW2; *num_regs = 2U; } break; case SC_SUBSYS_GPU_1 : pmic_init(); {/* PF8100_dual Card */ pmic_id[0] = PMIC_1_ADDR; pmic_reg[0] = PF8100_SW3; pmic_id[1] = PMIC_1_ADDR; pmic_reg[1] = PF8100_SW4; *num_regs = 2U; } break; default : ; /* Intentional empty default */ break; } }‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍‍ Only some subsystems have their own dedicated external power supplies, in the example above A cores and GPUs are the only ones with a dedicated external power supplies. Most of the other subsystems are powered from the main power supply and power gating happens internally, each subsystem contains different power domains that can be turned on/off to manage power consumption. The SCFW API used to power on/off resources is the following: sc_err_t sc_pm_set_resource_power_mode (sc_ipc_t ipc, sc_rsrc_t resource, sc_pm_power_mode_t mode)‍‍‍‍‍ Where: ipc - is the interprocessor communication channel used to communicate with the SCU (obtained by calling sc_ipc_open). resource - is the resource that will have the power mode change mode - is the power mode to change to The available power mode options are the following: Power mode Voltage Clocks SC_PM_PW_MODE_OFF OFF All clocks off SC_PM_PW_MODE_STBY ON All clocks off SC_PM_PW_MODE_LP ON PLLs off resource running from XTAL SC_PM_PW_MODE_ON ON PLLs on In order to be able to access a resource it must be at least on SC_PM_PW_MODE_LP mode, since that mode has the resource voltage on and the clock is supplied by the 24MHz crystal. For more details please refer to the SCFW API document. Clocks Configuration As in the power management case, clocks are also organized in a distributed manner within the device. Each subsystem has it's own PLLs and all of them are clocked by the 24MHz crystal. The number of PLLs in each subsystem varies between all subsystems. To see how many PLLs are within a subsystem please refer to the datasheet of the device you are interested on. For instance on the datasheet of the i.MX8QXP on table 16 in Chapter 4.3.1: It can be seen that the GPU subsystem contains two PLLs, the ADMA subsystem contains 4 PLLs, Display Controller 3, etc... The SCFW API used to configure a clock is the following: sc_err_t sc_pm_set_clock_rate ( sc_ipc_t ipc, sc_rsrc_t resource, sc_pm_clk_t clk, sc_pm_clock_rate_t ∗ rate )‍‍‍‍‍ Where: ipc - is the interprocessor communication channel used to communicate with the SCU (obtained by calling sc_ipc_open). resource - is the resource that will have the clock rate change clk - is the clock to set the rate to (each resource can have different clocks associated with it for instance the GPU resource has a clock associated for its shader and another for the GPU, this parameter is used to identify the clock) rate - this contains the desired clock rate, the SCFW will try to match the provided rate if not possible it will then set the closest possible value and return the value that was actually configured. To identify the clk that needs to be passed, please refer to the SCFW API chapter called "Clock List" That chapter contains a table with all the different clocks that are configurable by the SCFW, in the case of the GPUs for instance to select the rate for the Shader or GPU, either the SC_PM_CLK_MISC or SC_PM_CLK_PER options would have to be selected. Set=Y indicates the clock/PLL is not shared and the rate can be set via sc_pm_set_clock_rate(). Enable=Y indicates the clock is not auto gated and must be enabled via sc_pm_clock_enable(). As an example the following snippet configures the GPU_0 shader clock: sc_clock_rate_t shader_clk=700000000; // 700 MHz sc_pm_set_clock_rate(ipc, SC_R_GPU_0_PID0, SC_PM_CLK_MISC, &shader_clk);‍‍ System Controller Firmware 101 

Few issues encountered trying to build L5.1.1_2.1.0 Android for i.MX6: (some of them can apply to Android M6 build also) Issue-1: OpenJDK-7 required to build L5.1.1_2.1.0 but not able to download/install in Ubuntu 16.04: solution: Ubuntu 16.04 and openjdk 7 - Ask Ubuntu =============================== sudo add-apt-repository ppa:openjdk-r/ppa sudo apt-get update sudo apt-get install openjdk-7-jdk =============================== Issue-2: without any modification, got error message like: "You have tried to change the API from what has been previously approved." during compilation. solution: follow the suggestion in the error message, do "make update-api" Issue-3: error messages like ========================================= external/libcxx/include/thread:149: error: unsupported reloc 43 clang: error: linker command failed with exit code 1 (use -v to see invocation) build/core/host_shared_library_internal.mk:44: recipe for target 'out/host/linux-x86/obj32/lib/libc++.so' failed make: *** [out/host/linux-x86/obj32/lib/libc++.so] Error 1 ========================================= related post on Internet: http://stackoverflow.com/questions/36048358/building-android-from-sources-unsupported-reloc-43 https://bbs.archlinux.org/viewtopic.php?id=209698 solution:(as mentioned in the link above) replaced "prebuilts/gcc/linux-x86/host/x86_64-linux-glibc2.15-4.6/x86_64-linux/bin/ld" with the symlink to "/usr/bin/ld.gold" so this should look like: ========================================= ~/myandroid/prebuilts/gcc/linux-x86/host/x86_64-linux-glibc2.11-4.6/x86_64-linux/bin$ ls -l ld* lrwxrwxrwx 1 jimlin jimlin      16     May  6 14:48 ld -> /usr/bin/ld.gold -rwxrwxr-x 1 jimlin jimlin 1645584 May  6 11:24 ld.bfd -rwxrwxr-x 1 jimlin jimlin 3497448 May  6 11:24 ld.gold -rwxrwxr-x 1 jimlin jimlin 3497448 May  6 11:24 ld.org ========================================= to this point I can build L5.1.1_2.1.0 successfully.(on 2016, May, 12.) Issue-4: can't run the SD tool "fsl-sdcard-partition.sh" used to partition/format SD card in "~/myandroid/device/fsl/common/tools" root-cause: in Ubuntu 16.04, "sfdisk" tool doesn't support "-u" parameter: ================================== sfdisk from util-linux 2.27.1 -u, --unit S              deprecated, only sector unit is supported ================================== error message encountered when running the script: ================================== ~/myandroid/device/fsl/common/tools$ sudo ./fsl-sdcard-partition.sh /dev/sdc sfdisk: unsupported unit 'M' sfdisk: unsupported unit 'M' ================================== I've modified the script a bit to adapt the changes, as attached.

  The mfgtool is the tool download the images to i.MX series of applications processors. It’s convenient and easy use to download the images to your board. About its introductions, work flow and use guide you can see details in the Document file of mfgtool. If customers use our reference boards, they can directly use the default mfgtools we supply for every version BSP and board. But when customers design board and do porting with our i.MX series processors. As they do many changes from our reference board, they need to rebuild the images for their board and for the download tool mfgtool. In the old version BSP, take the L3.0.35_4.1.0_130816 version as an example. When finishing porting the BSP for design board. Run the following command line to generate the manufacturing firmware. ./ltib --profile config/platform/imx/updater.profile --preconfig config/platform/imx/imx6q_updater.cf --continue –batch For android BSP Android4.2.2, one can use the follow command: make distclean make mx6dl_sabresd_mfg_config make In the newest BSP, for linux BSP in yocto use the command: $ bitbake fsl-image-mfgtool-initramfs For the newest android BSP, the command” make mx6dl_sabresd_mfg_config” can not use anymore. So how to get the \Profiles\Linux\OS Firmware\firmware\u-boot-imx6dlsabresd_sd.imx? The easiest way that you can use the u-boot you build for your board, and in the newest BSP, mfgtool can use the same u-boot with the normal u-boot for your board. You do not need to build the u-boot for mfgtool separately. They can use the same one. Hope this can do some help for you.

Q:How use USB as both gadget mode and host mode usb USB_OTG? A: Hardware: imx6 sabresd board usb otg diagram, as follow Software:   You can use USB OTG port for both host mode and device gadget mode. There are 2 signals you should care: - USB_OTG_ID - USB_OTG_MODE (control power for usb vbus in host mode, this is EIM_D22 pin)   In device tree: reg_usb_otg_vbus: regulator@0 {                         compatible = "regulator-fixed";                         reg = <0>;                         regulator-name = "usb_otg_vbus";                         regulator-min-microvolt = <5000000>;                         regulator-max-microvolt = <5000000>;                         gpio = <&gpio3 22 0>;                         enable-active-high;                 };   pinctrl_usbotg: usbotggrp {                         fsl,pins = <                                 MX6QDL_PAD_GPIO_1__USB_OTG_ID           0x17059                                 MX6QDL_PAD_EIM_D22__GPIO3_IO22           0x80000000                         >;                 };   &usbotg {         vbus-supply = <&reg_usb_otg_vbus>;         pinctrl-names = "default";         pinctrl-0 = <&pinctrl_usbotg>;         disable-over-current;         srp-disable;         hnp-disable;         adp-disable;         dr_mode = "otg";                 status = "okay"; };  With above config, one can use OTG port for mouse, usb stick in host mode, and gadget mode for ADB...   https://community.nxp.com/message/943460 

Quickly develop and deploy IoT applications with Clea on your NXP device. This guide walks you through setting up Clea, managing devices remotely, and leveraging AI-powered telemetry for industrial applications.

i.MX6 Quad/6Dual/6SoloLite Errata ERR006282: ROM code uses non-reset PFDs to generate clocks which may lead to random boot failures This PDF contains information about an issue affecting i.MX 6Quad/6Dual/6SoloLite Phase Fractional Dividers (PFDs) and boot. This erratum will be included in the next update of the i.MX6x Silicon Errata documentation but is being provided here for reference until then.

Question: What’s the best way to rotate a MX6 image 90 degrees, thought the IPU correct? IPU is limited to 1024x1024. Apparently we don’t support frame buffer rotation in the IPU, so we have to use some middleware. I know that Android’s surface flinger uses the GPU but do you know what we can use in Linux that uses H/W acceleration also? It looks look like X-server can rotate only when the Vivante driver is not  loaded, which means the hardware is not implementing rotations. Answer: it should be possible to split the picture into two halves and rotate them separately. Well, two halves if you can reduce the line count to 1024 … otherwise it would be 4 rotates. X11 Xrandr will be implemented on GPU sometime this year. It's in the R&D queue but as low priority. They could use GC320 low level API to rotate (if they use linux frame buffer). It implies a blit but it would be done by GC320 they will probably need to use virtualFB too. The API documentation is the BSP documentation (iMX6.2D.API.pdf) Attached a simple source using the 2D low level API. VirtualFB: https://community.freescale.com/message/289198

The i.MX 6 Android 13.4.1.03 patch release is now available on www.freescale.com IMX6_R13.4103_ANDROID_LDO_PATCH This patch release is based on the i.MX6 Android R13.4.1 release. The purpose of this patch release is to manage the LDO and PMIC ramp-up time correctly.

Description       this doc is explain how to develop a audio card driver base on i.MX6 platform. which explain the ASOC architecture struction basic knowledage and then give some sample for the audio driver development like: 1:NXP SGTL5000: NXP i.MX BSP sabrelite board default support it. 2: Wolfson WM8524.    A: 3.0.35 BSP support: i.MX6 setbox BSP support it:(which in elder fsl community link and out of data)    B: 3.14.28 BSP support pls check attachment: 3: Wolfson WM8960.     which include how to add the android middle-layer and driver, pls check attachment. 4: TI TLV320AIC3120      which include how to add the android middle-layer and driver, pls check attachment. 5: TI TLV320AIC3X   Products Product Category NXP Part Number URL MPU i.MX6 Family https://www.nxp.com/products/processors-and-microcontrollers/arm-processors/i-mx-applications-processors/i-mx-6-processors:IMX6X_SERIES   Tools NXP Development Board URL i.MX6 SabreSDP https://www.nxp.com/design/development-boards:EVDEBRDSSYS#/collection=softwaretools&start=0&max=25&query=typeTax%3E%3Et633::archived%3E%3E0::Sub_Asset_Type%3E%3ETSP::deviceTax%3E%3Ec731_c380_c127_c126&sorting=Buy%2FSpecifications.desc&language=en&siblings=false which have a doc MX6X_ASOC_V5-20191115.pdf and related driver sample codes.

Platform: I.MX8MMEVK uboot version:  uboot-imx_lf_v2023.04 BSP: 6.1.x Add patch in uboot git clone https://github.com/nxp-imx/uboot-imx.git git checkout lf_v2023.04 git apply 0001-Enable-imx8mm-pcie-driver-v2023.04.patch   test log: u-boot=> pci enum pcie phy base: 0x32f00000, size 0x10000 pcie phy pll is locked after 0 us. Link up, Gen1 u-boot=> pci BusDevFun VendorId DeviceId Device Class Sub-Class _____________________________________________________________ 00.00.00 0x16c3 0xabcd Bridge device 0x04 01.00.00 0x1131 0x3003 Network controller 0x00 01.00.01 0x1131 0x3004 Network controller 0x00  

current bsp fixed the lvds pixel clock up to 74.25Mhz for single channel and 148.5Mhz for dual channel, if customer wants to know why and how to change it, maybe can refer to the enclosed file, hope helpful for you

This is a tool can generate a DDR3 script easily for i.MX53 and only need input several parameters based on using DDR datasheet and system architecture. Please find i.Mx6DQSDL DDR3 Script Aid through below link. i.Mx6DQSDL DDR3 Script Aid Please find i.Mx6DQSDL LPDDR2 Script Aid through below link. i.Mx6DQSDL LPDDR2 Script Aid Please find i.Mx6SL LPDDR2 Script Aid through below link. i.Mx6SL LPDDR2 Script Aid Any questions are welcome!