Atlas PMIC i.MX Platforms uses Freescale Atlas chipset as power management IC (PMIC). PMIC is connected with i.MX processor through SPI port. Reading and Changing PMIC Registers pmic_reg is a simple program that allows to read and change PMIC registers through SPI. Click here to download the binary Click here to download the source package Click here to download the spec file pmic_reg Installation To use pmic_reg, you can simply download the binary file and move it to your system. To build the source code, download and mv the source package (in this case "pmic_reg-1.0.tar.gz") to /opt/freescale/pkgs: sudo mv pmic_reg-1.0.tar.gz /opt/freescale/pkgs Download the spec file to spec directory: mkdir <ltib directory>/dist/lfs-5.1/pmic_reg cp pmic_reg.spec <ltib directory>/dist/lfs-5.1/pmic_reg On <ltib directory>, extract, build and deploy pmic_reg: ./ltib -p pmic_reg.spec -m prep ./ltib -p pmic_reg.spec -m scbuild ./ltib -p pmic_reg.spec -m scdeploy Source files will be located at <ltib directory>/rpm/BUILD/pmic_reg-1.0 and binary will be located at /usr/bin on your i.MX system rootfs. pmic_reg Usage To get pmic_reg help, just type pmic_reg: PMIC_REG v1.0 (2009.12.15) Usage To read all PMIC registers: pmic_reg r To write to a specific register: pmic_reg w <register address> <register value>

If someone wants to use the OpenGL ES 2.0 extension "GL_OES_vertex_array_object", the macro "GL_GLEXT_PROTOTYPES" must be defined in his program first. Then he can get the extension program location by calling the API eglGetProcAddress.  Here is an example to use this extension. #define GL_GLEXT_PROTOTYPES PFNGLGENVERTEXARRAYSOESPROC glGenVertexArraysOESv; PFNGLBINDVERTEXARRAYOESPROC glBindVertexArrayOESv; PFNGLDELETEVERTEXARRAYSOESPROC glDeleteVertexArraysOESv; glGenVertexArraysOESv = (PFNGLGENVERTEXARRAYSOESPROC)eglGetProcAddress ( "glGenVertexArraysOES" ); glBindVertexArrayOESv = (PFNGLBINDVERTEXARRAYOESPROC)eglGetProcAddress ( "glBindVertexArrayOES" ); glDeleteVertexArraysOESv = (PFNGLDELETEVERTEXARRAYSOESPROC)eglGetProcAddress ( "glDeleteVertexArraysOES" ); After these steps, the new alias glGenVertexArraysOESv, glBindVertexArrayOESv, glDeleteVertexArraysOESv can be use to call the VAO operation function in OpenGL ES 2.0 extensions.

After following instructions on how to change DRAM PLL frequency, here is a quick comparison of Stream, running on the i.MX 8MM. Normalized to LPDDR4-3000, based on 5.4.24_2.1.0​ BSP Stream LP4-3000 LP4-2400 DDR4-2400 LPDDR-1866 Copy: 1 0.810 0.735 0.497 Scale: 1 0.896 0.765 0.756 Add: 1 0.899 0.683 0.762 Triad: 1 0.902 0.680 0.767      

Usually, device tree source files are not a signal pure dts file. It could include dtsi, dts or C code heads .h files. Need C compiler finish the pre-compile to a pure dts file first. It is integrated inside the like Linux build system(Makefile, etc.). This document shows the original way to compile device tree. This document will show compile device tree under windows.    

The following is a guide on training a simple model in Pytorch and Tensorflow and deploying it on an application using the i.MX93 Ethos-65 Neural Processing Unit (NPU) and the i.MX95 eIQ Neutron NPU.

Here is simple step to create a custom partition with AVB. Tested by i.MX8MN EVK and Android P9.0.0_2.3.1. Create image for xyz partition in 1024MB in Android build output folder # cd $OUT # mkdir xyz # echo "This is test txt file" > xyz/Readme.txt # make_ext4fs -l 1073672192 -s -a xyz xyz.ext4.img xyz   Apply the attached patch. uboot patch corrects the reading problem on avb footer.   Flash images by uuu # cd $OUT # sudo ./uuu_imx_android_flash.sh -f imx8mn   Check result.  Boot up and mount xyz partition # cd /data # mount /dev/block/mmcblk2p14 xyz # cat xyz/Readme.txt This is test txt file

Attached package includes BSP patch for AI Robot Platform Based on i.MX 8M Plus  Version 6.1.55 : Rel_imx_6.1.55-2.2.0_8mp_airobot.tar.gz

  Introduction   Platform: i.MX93 EVK Uboot: origin/lf_v2022.04(lf-6.1.1-1.0.0) The LVDS design and media block control in i.MX93 is very similiar with i.MX8MPlus.This article implements the LVDS driver in uboot. You need apply 0001-Add-fake-adp5585-pwm-driver.patch which implements the adp5585 pwm driver in uboot. This is a fake pwm driver only implement the pwm driver framework. You can't use pwm value to adjust brightness for the moment, but this is enough to enable the backlight. Then please apply 0002-Add-imx93-lvds-and-panel-driver.patch, you will see nxp logo with this panel: https://www.nxp.com/design/development-boards/i-mx-evaluation-and-development-boards/dy1212w-4856:DY1212W-4856   Porting suggestions   1. Modify panel timing in drivers/video/simple_panel.c /* define your panel timing here and * copy it in simple_panel_get_display_timing */ static const struct display_timing boe_ev121wxm_n10_1850_timing = { .pixelclock.typ = 71143000, .hactive.typ = 1280, .hfront_porch.typ = 32, .hback_porch.typ = 80, .hsync_len.typ = 48, .vactive.typ = 800, .vfront_porch.typ = 6, .vback_porch.typ = 14, .vsync_len.typ = 3, }; static int simple_panel_get_display_timing(struct udevice *dev, struct display_timing *timings) { memcpy(timings, &boe_ev121wxm_n10_1850_timing, sizeof(*timings)); return 0; }   2.Modify VIDEO_PLL The VIDEO_PLL = pixel clock * 7. For default panel, the pixel clock is 71.143MHz and VIDEO_PLL  is 498MHz. static struct imx_fracpll_rate_table imx9_fracpll_tbl[] = { FRAC_PLL_RATE(1000000000U, 1, 166, 4, 2, 3), /* 1000Mhz */ FRAC_PLL_RATE(933000000U, 1, 155, 4, 1, 2), /* 933Mhz */ FRAC_PLL_RATE(700000000U, 1, 145, 5, 5, 6), /* 700Mhz */ FRAC_PLL_RATE(498000000U, 1, 166, 8, 0, 1),/* rate, rdiv, mfi, odiv, mfn, mfd */ FRAC_PLL_RATE(484000000U, 1, 121, 6, 0, 1), FRAC_PLL_RATE(445333333U, 1, 167, 9, 0, 1), FRAC_PLL_RATE(466000000U, 1, 155, 8, 1, 3), /* 466Mhz */ FRAC_PLL_RATE(400000000U, 1, 200, 12, 0, 1), /* 400Mhz */ FRAC_PLL_RATE(300000000U, 1, 150, 12, 0, 1), }; 3. Modify lcdif node in dts <498000000>, <71142857>, <400000000>, <133333333>; <VIDEO PLL>,<PIX CLK>, <MEDIA_AXI>,<MEDIA_APB> &lcdif { status = "okay"; - assigned-clock-rates = <484000000>, <121000000>, <400000000>, <133333333>; + assigned-clock-rates = <498000000>, <71142857>, <400000000>, <133333333>; };  

The i.MX53 family of processors represents Freescale's next generation of advanced multimedia and power-efficient implementation of the ARM Cortex™-A8 core with core processing speeds up to 1.2 GHz. It is optimized for both performance and power to meet the demands of high-end, advanced applications. Ideal for a broad range of applications in the consumer, automotive, medical and industrial markets, the i.MX53 includes an integrated display controller, full HD capability, enhanced graphics and connectivity features. i.MX Family Comparison Product Information on Freescale.com i.MX534 Multimedia Applications Processor i.MX535 Multimedia Applications Processor i.MX536 Multimedia Applications Processor i.MX537 Multimedia Applications Processor Evaluation/Development Boards and Systems i.MX53 Quick Start Board Android How to enable WIFI support for iMX53 QSB Android IMX53 QSB android recovery mode Linux I.MX53 QSB Board Get Started How to flash a 4GB SD Card with the image used in training Enabling Dual Display in UBUNTU with the iMX53 QSB @running_dual_display SABRE Platform for Tablets based on i.MX53 Linux i.MX53 ARD Dual LVDS Enabling Dual LVDS panels i.MX53 USB Eth NFS Using an USB/Eth adapter to boot NFS User Applications i.MX53 Qt LVDS display Touch on Qt with LVDS display Embedded Software and Tools Android OS for i.MX Applications Processors i.MX53 Current Software Updates and Releases Partners / 3rd-Party Development Tools Rainbow-G11D:  i.MX53 Development Kit (iWave Embedding Intelligence) STKa53:  Starterkit STKa53 (Technology in Quality) DS-5:  ARM Development Studio 5 (ARM) Additional Resources Board Bring-up and DDR Initialization Tools Building QT5 for i.MX53 Change AUDMUX src_port causes "imx_ssi_irq mxc_ssi SISR 8003a3 SIER 180100 fifo_errs=XXXX" ConnectCore® i.MX53 / Wi-i.MX53 by Digi International Develop a Simple OpenVG Application Under Linux: Tutorial Embedded i.MX5x Application Development Kit for Android -$199 HDMI Audio Setting How to Enable the souphttpsrc Plugin on i.MX53 i.MX53 ARD Dual LVDS Imx53-fastboot-example i.MX53 Memory Calibration Script (AN4466) i.MX53 QSB Android Recovery Mode I.MX53 QSB Board Get Started i.MX53 QSB Board Video IMX53 QSB enable WIFI android i.MX53 QSB Ubuntu Dual Display i.MX53 Quick Start Board IMX53 SABRE AI i.MX53 Start-R Lab Exercise - Prof. Massimo Violante Politecnico of Torino i.MX53 Start-R Lab Exercise - Developing a loadable kernel module to manage GPIOs in i.MX53QSB i.MX53 USB Eth NFS i.MX53 Qt LVDS Display NOVPEK i.MX53 by NovTech Running Dual Display on i.MX53QSB bin2txt.pyw (U-boot splash screen support)

ERR005723           PCIe: PCIe does not support L2 Power Down   Description: When PCIe works as Root Complex, it can exit L2 mode only through reset. Since PCIe doesn't have a dedicated reset control bit, it cannot exit L2 mode.   Projected Impact: PCIe does not support L2 Power Down   Workarounds: The PCIe can be put in PDDQ mode to save on PCIe PHY power and wakeup only by the OOB (Out of Band) wakeup signal (since wakeup by a beacon from link partner is not supported) driven from the link partner (End Point). This signal could be used as a GPIO interrupt to exit this mode. The limitation of this workaround is that the link partner cannot be put into L2.   Proposed Solution:                 No fix scheduled   Linux BSP Status:                 No software workaround available   SW workaround used to fix ERR005723 in Linux BSP Why the original workarounds can’t be implemented in Linux BSP * PCIe controller doesn’t have the reset mechanism that can be used when re-insmod the PCIe driver without power down/up PCIe module. * During the PCie driver rmmod/insmod operations, the PCIe CLKs would be turned off/on. IC can’t guarantee that the PCIe PHY can work well and re-establish the PCIe link properly. One SIMPLE SW workaround for this errata imx: pcie: toggle bit18 of grp1 fix pcie can't exit L2 issue.   Set bit18 of gpr1 before enter into supend, and clean it after resume, can fix the following errata. Errata ERR005723_PCIe PCIe does not support L2 Power Down. About the details, please refer to the attached patch. "0001-imx-pcie-toggle-bit18-of-grp1-fix-pcie-can-t-exit-L2.patch"   The conception of the other SW workaround (System warm-reset) The procedures of the original suspend/resume. Suspend User suspend command echo mem > /sys/power/state All driver call suspend function SRPG,  ARM save all state to memory Enter Stop mode and Power down ARM Resume: GPC receive IRQ Wake up system Power on ARM domain. ROM code running Jump to SRPG point Recovery ARM status from memory Call all devices resume function. Because PCIe only reset by system reset, we need change above follow. Resume: GPC receive IRQ Wake up system Power on ARM domain. ROM code running Jump to SRPG point Warm Reset system, memory context will be kept. But all peripheral status lost. ROM code running Jump to SRPG point again. Recovery ARM status from memory Call all devices resume function. Resume function call init to initialize it.  And recover to the status saved before. Impact: Can’t support usb remote wake up, which required 4ms responsive Longer latency, warm reset need some ms.  The recovery of the device status needs some more ms. Risk: Current BSP have not tested above follow Device driver have not supported this follow yet. Need additional work to enable \debug\test it. Modules enabled in this workaround now: * UART* ENET* PCIe Tests procedure. HW: one i.MX6Q SD boards, and one INTEL pciex1 1000M CT network card. SW(The images used by me are attached): * Apply the attached patches(kernel and uboot) to the kernel/uboot source codes, re-build, get the images. Kernel is based on imx_3.0.35_4.0 release, uboot , is based on imx_v2009.08 # build out SD/MMC and USB driver to make DRAM hibernate work # build pcie in. *procedure of the suspend/resume tests;     # unload ep's driver --> suspend/resume --> reload ep's driver. NOTE: Please make sure that the command line contains “no_console_suspend”The command used to enable the console input wake up after login the consol:echo enabled > /sys/devices/platform/imx-uart.0/tty/ttymxc0/power/wakeup Log when the INTEL CT 1G network card is used: -------------------------------log--------------------------------------------PM: Syncing filesystems ... done.                                             start suspendFreezing user space processes ... (elapsed 0.01 seconds) done.Freezing remaining freezable tasks ... (elapsed 0.01 seconds) done.add wake up source irq 101add wake up source irq 99add wake up source irq 103add wake up source irq 51add wake up source irq 58PM: suspend of devices complete after 15.482 msecsPM: late suspend of devices complete after 0.823 msecsDisabling non-boot CPUs ...CPU1: shutdownCPU2: shutdownCPU3: shutdownIMX PCIe imx_pcie_pltfm_suspend entering.IMX PCIe imx_pcie_pltfm_suspend exit.          suspendedU-Boot 2009.08-00679-g6ec6783 (May 20 2013 - 14:50:20)     resumeCPU: Freescale i.MX6 family TO1.2 at 792 MHzsrc 0x92eac8resume 0x92eac8jump to resumeIMX PCIe imx_pcie_pltfm_resume entering.IMX PCIe imx_pcie_pltfm_resume pcie start re-link.IMX PCIe port imx_pcie_pltfm_resume: re-link up.Enabling non-boot CPUs ...CPU1: Booted secondary processorCalibrating delay loop (skipped) already calibrated this CPU i.MXC CPU frequency driver CPU1 is upCPU2: Booted secondary processorCalibrating delay loop (skipped) already calibrated this CPU i.MXC CPU frequency driver CPU2 is upCPU3: Booted secondary processorCalibrating delay loop (skipped) already calibrated this CPU i.MXC CPU frequency driver CPU3 is up PM: early resume of devices complete after 0.974 msecs remove wake up source irq 58 imx-ipuv3 imx-ipuv3.0: IPU DMFC DP HIGH RESOLUTION: 1(0,1), 5B(2~5), 5F(6,7) imx-ipuv3 imx-ipuv3.1: IPU DMFC DP HIGH RESOLUTION: 1(0,1), 5B(2~5), 5F(6,7) remove wake up source irq 51 remove wake up source irq 103 remove wake up source irq 101 remove wake up source irq 99 PM: resume of devices complete after 54.174 msecs Restarting tasks ... done. PHY: 1:01 - Link is Up - 100/Full                            resume is ok, reload ep’s driver num is 61 e1000e: Intel(R) PRO/1000 Network Driver - 1.3.10-k2 e1000e: Copyright(c) 1999 - 2011 Intel Corporation. e1000e 0000:01:00.0: Disabling ASPM L0s e1000e 0000:01:00.0: (unregistered net_device): Failed to initialize MSI-X interrupts.  Falling back to MSI interrupts. e1000e 0000:01:00.0: (unregistered net_device): Failed to initialize MSI interrupts.  Falling back to legacy interrupts. e1000e 0000:01:00.0: eth1: (PCI Express:2.5GT/s:Width x1) 00:1b:21:3a:18:8b e1000e 0000:01:00.0: eth1: Intel(R) PRO/1000 Network Connection e1000e 0000:01:00.0: eth1: MAC: 3, PHY: 8, PBA No: E42641-005 e1000e: eth1 NIC Link is Up 1000 Mbps Full Duplex, Flow Control: Rx/Tx PING 192.168.0.1 (192.168.0.1): 56 data bytes 64 bytes from 192.168.0.1: seq=0 ttl=64 time=3.126 ms 64 bytes from 192.168.0.1: seq=1 ttl=64 time=0.244 ms 64 bytes from 192.168.0.1: seq=2 ttl=64 time=0.232 ms 64 bytes from 192.168.0.1: seq=3 ttl=64 time=0.206 ms 64 bytes from 192.168.0.1: seq=4 ttl=64 time=0.222 ms 64 bytes from 192.168.0.1: seq=5 ttl=64 time=0.207 ms 64 bytes from 192.168.0.1: seq=6 ttl=64 time=0.250 ms 64 bytes from 192.168.0.1: seq=7 ttl=64 time=0.209 ms 64 bytes from 192.168.0.1: seq=8 ttl=64 time=0.154 ms 64 bytes from 192.168.0.1: seq=9 ttl=64 time=0.211 ms   --- 192.168.0.1 ping statistics --- 10 packets transmitted, 10 packets received, 0% packet loss round-trip min/avg/max = 0.154/0.506/3.126 ms PM: Syncing filesystems ... done.                                   ep’s functions are ok, re-do the suspend/resume tests Freezing user space processes ... (elapsed 0.01 seconds) done. -------------------------------end-------------------------------------------- Original Attachment has been moved to: uboot_patch_image.zip Original Attachment has been moved to: 0001-imx-pcie-toggle-bit18-of-grp1-fix-pcie-can-t-exit-L2.patch.zip Original Attachment has been moved to: kernel_patch_image.zip

Add the above line to conf/local.conf file: PREFERRED_PROVIDER_virtual/kernel = "linux-fslc" Check this page to see what the mainline Linux kernel supports for a particular Freescale board.

Platform: imx8qxp mek b0. OS: android imx-p9.0.0_2.1.0-auto-ga. Hardware block: brief: Android p9 ga enabled the hardware partition, so it is impossible to share dpu between AP and m4, and seamless switching can be achieved by keeping the last m4 ui frame until android ui is ready. To achieve seamless switch between android A core and M4 core on android ga, user needs to modify two parts: Linux kernel: remove init or configure codes of dpu units and lvds used by m4 core M4 code: modify dpu pipes, share memory with android partition.        Switching flow:        M4 release and move camera, dpu to android partition and share the display buffer memory with android, android will not init the dpu subsyses that have been inited by m4 and will keep the m4 last frame ui until android ui is ready. Imx8qxp dpu block: Android and M4 shared dpu path:

Kernel provides mtdoops to dump kmsg to MTD device, but MMC card is not a MTD device. We can let user-space program to execute the write operation to dump kmsg into block storage. The sample code is below. kernel space -- #include <linux/kernel.h> #include <linux/module.h> #include <linux/console.h> #include <linux/vmalloc.h> #include <linux/seq_file.h> #include <linux/workqueue.h> #include <linux/sched.h> #include <linux/wait.h> #include <linux/delay.h> #include <linux/interrupt.h> #include <linux/kmsg_dump.h> #include <linux/proc_fs.h> static struct kmsg_dumper dump; static struct proc_dir_entry *my_proc; static int is_panic = 0; static int my_proc_show(struct seq_file *m, void *v) {     seq_printf(m, "%d", is_panic);     return 0; } static int my_proc_open(struct inode *inode, struct file *file) {     return single_open(file, my_proc_show, NULL); } static const struct file_operations my_proc_ops = {     .open        = my_proc_open,     .read        = seq_read,     .llseek        = seq_lseek,     .release    = single_release, }; static void oops_do_dump(struct kmsg_dumper *dumper,         enum kmsg_dump_reason reason, const char *s1, unsigned long l1,         const char *s2, unsigned long l2) {     int i;     printk("### [%s:%d] reason = %d\n", __func__, __LINE__, reason);     is_panic = 1;     for (i = 0;i < 10; i++)         msleep(1000);     printk("### [%s:%d] should be done\n", __func__, __LINE__); } static int __init my_oops_init(void) {     int err;     dump.dump = oops_do_dump;     err = kmsg_dump_register(&dump);     if (err) {         printk(KERN_ERR "oops: registering kmsg dumper failed, error %d\n", err);         return -EINVAL;     }     my_proc = proc_create("dump_tester", 0, NULL, &my_proc_ops);     return 0; } static void __exit my_oops_exit(void) {     printk("### [%s:%d]\n", __func__, __LINE__);     if (my_proc)         remove_proc_entry( "dump_tester", NULL);     kmsg_dump_unregister(&dump); } module_init(my_oops_init); module_exit(my_oops_exit); MODULE_LICENSE("GPL"); User space -- #include <stdio.h> #include <stdlib.h> #include <string.h> #include <sys/types.h> #include <sys/stat.h> #include <unistd.h> #include <fcntl.h> #include <poll.h> #define BUF_LEN 40960 void main(int argc, char **argv) {     char tmp = 'X';     char buf[BUF_LEN];     int fd_src, fd_trg;     int fd = open("/proc/dump_tester", O_RDONLY, 0);     while(1) {         lseek(fd, 0, SEEK_SET);         read(fd, &tmp, 1);         //printf("### [%s:%d] ==> '%c'\n", __FUNCTION__, __LINE__, tmp);         if (tmp == '1') {             fd_src = open("/proc/kmsg", O_RDONLY, 0);             fd_trg = open("/dev/block/mmcblk0p6",  O_RDWR, 0);             memset(buf, 0, BUF_LEN);             write(fd_trg, buf, BUF_LEN);             lseek(fd_trg, 0, SEEK_SET);             read(fd_src, buf, BUF_LEN);             write(fd_trg, buf, BUF_LEN);             close(fd_src);             close(fd_trg);             sleep(1);             printf("### dump panic log into %s\n", "/dev/block/mmcblk0p6");             break;         }         sleep(1);     }     close(fd); }

Recently, some customers are using i.MX processor, they want to add raid & LVM function support to the kernel, but they have encountered the problem that the compilation cannot pass. Tested it in L4.14.98, L4.19.35 & L5.4.x, Only L4.14.98 bsp exists the problem. Here are the experimental steps I have done, including the same problems I encountered with the customer, and how to modify the kernel to ensure that the compilation passes. 1. Exporting cross compilation tool chain from yocto BSP (1) Downloading Yocto BSP and compiling it. Following steps in i.MX_Yocto_Project_User's_Guide.pdf, download Yocto BSP and compile it successfully. (2) Exporting cross compilation tool chain Following methods described in i.MX_Linux_User's_Guide.pdf, export cross compilation tool chain from yocto BSP. See Chapter 4.5.12 of the document, please! Then cross compilation tool chain will be like below: (3) Copying linux BSP source code to a new directory # cd ~ # mkdir L4.14.98-2.0.0 # cd L4.14.98-2.0.0 # cp -r ~/imx-yocto-bsp/build-fb/tmp/work/imx6qsabresd-poky-linux-gnueabi/linux-imx/4.14.98- r0/git ./ Then all linux source code has been copied to L4.14.98-2.0.0, which is the top directory of linux kernel source code, I will compile kernel image here. 2. Compiling linux kernel # cd ~/L4.14.98-2.0.0 # source /opt/fsl-imx-fb/4.14-sumo/environment-setup-cortexa9hf-neon-poky-linux-gnueabi # export ARCH=arm # make imx_v7_defconfig # make menuconfig Then we will add RAID and LVM modules to linux kernel. In order to reproduce errors, I added all related modules to kernel. See below, please! Device drivers---->Multiple devices driver support (RAID and LVM) After save and exit, began to compile kernel. # make (make –j4) The following errors will occur: ------------------------------------------------------------------------------------------- drivers/md/dm-rq.c: In function ‘dm_old_init_request_queue’: drivers/md/dm-rq.c:716:2: error: implicit declaration of function ‘elv_register_queue’; did you mean ‘blk_register_queue’? [-Werror=implicit-function-declaration] elv_register_queue(md->queue); ^~~~~~~~~~~~~~~~~~ blk_register_queue cc1: some warnings being treated as errors scripts/Makefile.build:326: recipe for target 'drivers/md/dm-rq.o' failed make[2]: *** [drivers/md/dm-rq.o] Error 1 scripts/Makefile.build:585: recipe for target 'drivers/md' failed make[1]: *** [drivers/md] Error 2 Makefile:1039: recipe for target 'drivers' failed make: *** [drivers] Error 2 ------------------------------------------------------------------------------------------- 3. Finding out root cause and solving it (1) elv_register_queue( ) function The function is loaded in dm-rq.c : int dm_old_init_request_queue(struct mapped_device *md, struct dm_table *t) { … … elv_register_queue(md->queue); … … } BUT compiler didn’t find it’s declaration and entity. Searching source code, and found it declared in linux_top/block/blk.h: … … int elv_register_queue(struct request_queue *q); … … It’s entity is in linux_top/block/elevator.c: int elv_register_queue(struct request_queue *q) { … … } (2) Adding declaration and exporting the function --- Declaration Add the line below to dm-rq.c: … … extern int elv_register_queue(struct request_queue *q); … … --- Exporting the function(elevator.c) Add EXPORT_SYMBOL(elv_register_queue); to the end of function, see below. int elv_register_queue(struct request_queue *q) { … … } EXPORT_SYMBOL(elv_register_queue); 4. Re-compiling Linux Kernel The above error will not occur and the compilation will complete successfully.   NXP CAS team Weidong Sun

ATK (Advanced Toolkit) ATK (Advanced Toolkit) is a Windows software 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 - Connect a serial cable between PC and i.MX board. 2 - Some hardware configurations (switches) must be done to flash the board. Set red and cream switches as below: Switch SW5 -> 000000 Switch SW4 -> 1000000 {{Note|On SW5 and SW4, "1" means the keys selected towards the edge of the board.} 3 - Run ATK (1.6 or above) going to Start -> Programs -> AdvancedToolKit -> AdvancedToolKit Set the options: i.MX CPU -> i.MX35_TO2 Device memory -> DDR2; Custom Initial File -> (keep it unmarked) Communication Channel -> Serial Port (Usually COM1) If you are using TO1, Device Memory -> MDDR 4 - 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)

Some customers want a method to build imx8mp isp standalone instead of using yocto. For such purpose, the NXP kernel, yocto imx-isp and yocto vvcam can be built separately on your local machine. After necessary files are remotely transferred, you will be able to run isp on an evk board. The attached file contains detailed steps for building isp standalone. Please see the guide for further information.

INTRODUCTION REQUIREMENTS HARDWARE CONNECTIONS IMPLEMENTATION FUNCTIONAL DEMONSTRATION     1. INTRODUCTION   This document explains how to establish communication between the A9 core running Linux and the M4 core running an Arduino sketch on a UDOO NEO board to remotely control a robotic arm over Wi-Fi.   Figure 1: UDOO NEO board connected to the robotic arm   For more information about getting started with UDOO NEO board please refer to: Introduction - UDOO Neo Docs     2. REQUIREMENTS a) UDOO NEO board with UDOObuntu image and proper connectivity. The Linux image used is UDOObuntu 2 RC1 or RC2 (Ubuntu 14.04), available for download from the following link:      ARM Development Boards | Extended Support from UDOO For creating a bootable SD card and other basic setup please refer to the following guidelines:      Very First Start - UDOO Neo Docs Then, it is required to install the proper drivers to ensure connectivity, including USB communication with Linux terminal of the target board. Please refer to the link below:      Usb Direct Connection - UDOO Neo Docs b) The robotic arm itself. In this case, the used arm has four servomotors: three for articulation and one for open/close the clamp. c) A Wi-Fi router, and an additional Wi-Fi device with any SSH client application for the remote control of the arm.     3. HARDWARE CONNECTIONS   a) The first connection to consider is the USB Direct connection of the UDOO NEO board with the host PC, in order to configure the Wi-Fi network and remotely view of the desktop (VNC client) for Arduino sketch programming.   b) Then, it is required to consider the arm connection, which consists of four servomotors. Therefore, the motors must be powered by a separate power supply and controlled by four PWM signals. In this case, they will be connected to PWM_1, PWM_2, PWM_3 and PWM_4 signals of J4 connector (Arduino signals). Figure 2 shows the mentioned connection:   Figure 2: Servomotors connection to UDOO NEO board.     4. IMPLEMENTATION   4.1 Connecting to a Wi-Fi network. After turning on the UDOO NEO board, the USB Direct connection will install a virtual NIC on the host PC, in order to access to the “Dashboard”, a configuration webpage loaded on the NEO board that could be viewed from any web browser at address 192.168.7.2. You can connect to wireless networks by using the Web Control Panel, in Configuration/Network settings. After establishing connection with the Wi-Fi router, the Dashboard must indicate the assigned IP address of the NEO board as indicated on Figure 3. It is important to remember such address in order to establish the wireless access to the NEO board later (optionally, the NEO could be configured for a static IP address, or the router could be configure to assign the same IP address to the NEO board).   Figure 3: Dashboard showing the IP address of the NEO board.   Now the USB direct connection could be removed, as the Dashboard, remote terminal and VNC server are also available over Wi-Fi using the Wi-Fi IP address.   4.2. Programming the Arduino sketch. The remote desktop of the NEO could be viewed with any VNC client on the host PC, indicating the NEO’s IP address, user and password (same as SSH remote Terminal). The UDOObuntu image already include Arduino IDE configured for UDOO NEO board, so it is just required opening it to start writing the code. Figure 3 shows the UDOO NEO Desktop, which includes a Terminal window and the Arduino IDE. The sketch is available as attachment.   Figure 4: Desktop of UDOO NEO board.   4.3. Arduino sketch functionality. The Arduino program starts waiting for any incoming data over the serial port. After receiving any serial data, the four servomotors are initialized to the default position (90°). The serial port communication is established between a virtual serial port on Arduino side (Serial0), and the virtual serial port for the Multi-Core Communication (ttyMCC), like shown on Figure 5. For additional information please refer to the link below: Communication - UDOO Neo Docs Figure 5: Communication between cores. Once the motors are initialized, each movement is defined by a key to increase and decrease the angle position of the motors, except for the clamp, which is adjusted to open/close positions. Keys 'Q' and 'W' adjust the first motor; keys 'A' and 'S' adjust the second motor; keys 'D' and 'F' adjust the third motor, and finally, keys 'Z' and 'X' are used to open/close the clamp. Additionally, key 'R' resets all motors to default positions; key 'C' is used to enable/disable the PWM signals, and key 'V' prints the angle values of all motors. The adjust step of motors is defined with the macro “ANGLE_STEP”; the units are degrees.     5. FUNCTIONAL DEMONSTRATION   For demonstrative functionality, the UDOO NEO board running the Arduino sketch was connected to a Wi-Fi network, and it is also connected to the same network an Android phone with SSH app used to control the robotic arm. Figure 6 shows a screen capture of the mentioned app controlling the robotic arm. Figure 6: SSH app accessing to UDOO NEO.   Finally, the following video shows the functionality of the application:   Original Attachment has been moved to: robo_arm.ino.zip

About this document This document describe the setup detail for Interfacing, Installing, programming (basis) and testing depth cameras with MX6QDL based boards using Ubuntu as rootfs on i.MX6 processors boards. 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 Depth sensors tested: Microsoft Kinect, ASUS Xtion. Prime Sense Carmine Software:   Gcc, Ubuntu 14.04v,  Openni, Python, ROS. 1. Depth Sensor Depth sensors are 3D vision sensors, mainly used in 3D vision application and motion gaming and robotics. For this paper we are going to use Kinect sensor and Asus Xtion connection to i.MX6 Processor boards and will get 3D images that are converted to finer points called point cloud. a) Microsoft Kinect Kinect mainly has an IR camera, IR projector and RGB camera, the IR and projector generates the 3D point cloud of the surroundings. It also has a mic array and motorized tilt for moving up and down. Kinect reveal that both the video and depth sensor cameras have a 640 x 480-pixel resolution and run at 30 FPS (frames per second). The RGB camera capture 2D color images, whereas the depth camera captures monochrome depth images. Kinect has a depth sensing range from 0.8mts to 3.5 mts b) Asus Xtion: Another alternative to kinect is Asus Xtion Pro.  Is a 3D sensor designed for motion sensing applications, this sensor is only for 3D sensing and it doesn’t have sound sensing. It has an infrared projector and a monochrome CMOS sensor to capture the infrared data. Xtion can be powered from USB itself and can calculate a sense depth from 0.8mts to 3.5 mts from the sensor. c) Prime Sense Carmine: The Prime Sense team (apple bought this company in November 2013) developed the Microsoft Kinect 3D vision, later develop their own 3D vision sensor Carmine. It also works with IR projector, RGB CMOS sensor and a depth CMOS sensor. All sensor are interfaced in System On Chip and is powered trough USB. Carmine capture 640x480 at 30 FPS and can sense from 0.35 mts to 3 mts. Developers can program the device using OpenNI and its wrapper libraries. All these sensors (Kinect, Carmine and Xtion) support the same software, so there is no special need for programming or general usage. Can be interface to i.MX processor using USB 2.0 interface and programmed using OPENNI and OPENCV. 2. Installation on Ubuntu For installation steps of Ubuntu trusty on iMX6 boards in your board, please follow up: https://community.freescale.com/docs/DOC-330147 Install the dependencies: $ sudo apt-get install -y g++ git python libusb-1.0-0-dev libudev-dev freeglut3-dev doxygen graphviz openjdk-6-jdk libxmu-dev libxi-dev Create a devel folder $  sudo mkdir –p devel $ cd devel Get OpenNI and the drivers $ git clone https://github.com/OpenNI/OpenNI.git -b unstable $ git clone git://github.com/ph4m/SensorKinect.git $ git clone https://github.com/PrimeSense/Sensor.git -b unstable Set the compile flags to build for the i.MX $ nano OpenNI/Platform/Linux/CreateRedist/Redist_OpenNi.py From: MAKE_ARGS += ' -j' + calc_jobs_number() To: MAKE_ARGS += ' –j2' Must also change the Arm compiler settings for this distribution $ nano OpenNI/Platform/Linux/Build/Common/Platform.Arm From: CFLAGS += -march=armv7-a -mtune=cortex-a8 -mfpu=neon -mfloat-abi=softfp #-mcpu=cortex-a8 To: CFLAGS += -mtune=arm1176jzf-s -mfpu=vfp -mfloat-abi=hard Then run $ cd OpenNI/Platform/Linux/CreateRedist/ $ ./RedistMaker.Arm $ cd ../Redist/OpenNI-Bin-Dev-Linux-Arm-v1.5.x.x $ sudo ./install.sh Also edit the Sensor and SensorKinect makefile CFLAGS parameters $cd ~/devel/ $ nano Sensor/Platform/Linux/Build/Common/Platform.Arm $ nano  SensorKinect/Platform/Linux/Build/Common/Platform.Arm For both files From: CFLAGS += -march=armv7-a -mtune=cortex-a8 -mfpu=neon -mfloat-abi=softfp #-mcpu=cortex-a8 To: CFLAGS += -mtune=arm1176jzf-s -mfpu=vfp -mfloat-abi=hard And the Sensor and SensorKinect redistribution scripts $ nano Sensor/Platform/Linux/CreateRedist/RedistMaker $ nano SensorKinect/Platform/Linux/CreateRedist/RedistMaker for both, change: make -j$(calc_jobs_number) -C ../Build to: make –j2 -C ../Build The create the redistributables Sensor (xtion and primesense) and Kinect (sensor Kinect) $ cd Sensor/Platform/Linux/CreateRedist/ $ ./RedistMaker Arm $ cd ~/devel/ $ cd SensorKinect/Platform/Linux/CreateRedist/ $ ./RedistMaker Arm $ cd ~/devel/ Then install PrimeSense and Kinect $ cd Sensor/Platform/Linux/Redist/Sensor-Bin-Linux-Arm-v5.1.x.x $ sudo ./install.sh $ cd ~/devel/SensorKinect/Platform/Linux/Redist/Sensor-Bin-Linux-Arm-v5.1.2.x $ sudo ./install.sh 3. Testing Installation: Connect the sensor power supply, Connect the Kinect to the NXP board USB port. (check with lsusb). For my board: Imx6q@imx6q:~/devel$ lsusb Bus 001 Device 022: ID 045e:02ae Microsoft Corp. Xbox NUI Camera Bus 001 Device 021: ID 045e:02ad Microsoft Corp. Xbox NUI Audio Bus 001 Device 019: ID 045e:02c2 Microsoft Corp. Kinect for Windows NUI Motor Now edit theglobal Kinect settings in Ubuntu $ sudo nano /usr/etc/primesense/GlobalDefaultsKinect.ini and uncomment this line UsbInterface=1 and changed it to 1 instead of 2 UsbInterface=2 $ sudo modprobe -r gspca_kinect And then blacklisting to avoid it to be auto-loaded on boot: $ sudo sh -c 'echo "blacklist gspca_kinect" > /etc/modprobe.d/blacklist-kinect.conf' Then: $ cd ~/devel/OpenNI/Platform/Linux/Bin/Arm-Release $ sudo ./Sample-NiSimpleRead You should get something like: Reading config from: '../../../../Data/SamplesConfig.xml' … Frame 40 Middle point is: 5050. FPS: 30.771788 Frame 41 Middle point is: 5050. FPS: 30.866173 Frame 42 Middle point is: 5050. FPS: 30.850958 Frame 43 Middle point is: 5050. FPS: 30.779032 Frame 44 Middle point is: 5050. FPS: 30.767746 Frame 45 Middle point is: 5050. FPS: 30.800463 Frame 46 Middle point is: 5050. FPS: 30.653118 Frame 47 Middle point is: 5050. FPS: 30.741659 Frame 98 Middle point is: 5050. FPS: 30.339321 LibFreenect: $ cd ~/devel/ $ git clone https://github.com/OpenKinect/libfreenect.git $ cd libfreenect $ mkdir build $ cd build $ cmake .. –L –DBUILD_AUDIO=ON $ make $ sudo make install Connect the kinect sensor power supply, connect the Kinect to the NXP board USB port and test any sample such as: $ sudo freenect-glview Note: If glview gives a shared library error: You need to refresh your ldconfig cache. The easiest way to do this is to create a file usr-local-libs.conf (or whatever name you wish) with the following lines: /usr/local/lib Switch to root account and move it to /etc/ld.so.conf.d/usr-local-libs.conf. Then update the ldconfig cache: $ su root $ mv ~/usr-local-libs.conf /etc/ld.so.conf.d/usr-local-libs.conf $ /sbin/ldconfig –v $ exit References: 1)      https://openkinect.org/ 2)      https://www.asus.com/us/3D-Sensor/Xtion_PRO_LIVE/ 3)      Learning Robotics using phyton by Lentin Joseph. http://www.amazon.com/Learning-Robotics-Python-Lentin-Joseph/dp/1783287535/ref=sr_1_1 4)      Computer Vision on i.MX Processors

The i.MX 6 D/Q/DL/S/SL Linux 3.10.17_1.0.1 patch release is now available in the Freescale git. The issue fixed is a GPU issue, for 2D GPU cores there is a potential need to manage the maximum number of outstanding return requests from the memory subsystem. The proper way to manage these for 2D cores with this configuration is to use a FLUSH. The patch does a FLUSH after every DRAW, the pipe will not overfill and the scenario which may lead to a stall will not occur. The instruction to get the patch are in the Readme on the git, under this link: http://git.freescale.com/git/cgit.cgi/imx/fsl-arm-yocto-bsp.git/tree/README?h=imx-3.10.17-1.0.1_ga