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.

Instead to use gst-launch to play your audio/video media you can create an application do to that. This application was tested in iMX27ADS but should to work on iMX27PDK First execute LTIB (./ltib -c) and select these packages: all gstreamer plugin, alsa-utils and libmad. Create your file code (i.e.: playvideo.c): #include <gst/gst.h> #include <glib.h> #include <string.h> static GstElement *source, *demuxer, *vdqueue, *adqueue, *vdsink, *adsink, *decvd, *decad; void on_pad_added (GstElement *element, GstPad *pad) {         g_debug ("Signal: pad-added");         GstCaps *caps;         GstStructure *str;         caps = gst_pad_get_caps (pad);         g_assert (caps != NULL);         str = gst_caps_get_structure (caps, 0);         g_assert (str != NULL);         if (g_strrstr (gst_structure_get_name (str), "video")) {                 g_debug ("Linking video pad to dec_vd");                 // Link it actually                 GstPad *targetsink = gst_element_get_pad (decvd, "sink");                 g_assert (targetsink != NULL);                 gst_pad_link (pad, targetsink);                 gst_object_unref (targetsink);         }         if (g_strrstr (gst_structure_get_name (str), "audio")) {                 g_debug ("Linking audio pad to dec_ad");                 // Link it actually                 GstPad *targetsink = gst_element_get_pad (decad, "sink");                 g_assert (targetsink != NULL);                 gst_pad_link (pad, targetsink);                 gst_object_unref (targetsink);         }         gst_caps_unref (caps); } static gboolean bus_call (GstBus    *bus,           GstMessage *msg,           gpointer    data) {   GMainLoop *loop = (GMainLoop *) data;   switch (GST_MESSAGE_TYPE (msg)) {     case GST_MESSAGE_EOS:       g_print ("End of stream\n");       g_main_loop_quit (loop);       break;     case GST_MESSAGE_ERROR: {       gchar  *debug;       GError *error;       gst_message_parse_error (msg, &error, &debug);       g_free (debug);       g_printerr ("Error: %s\n", error->message);       g_error_free (error);       g_main_loop_quit (loop);       break;     }     default:       break;   }   return TRUE; } int main (int  argc,       char *argv[]) {   GMainLoop *loop;   GstElement *pipeline;   GstBus *bus;   /* Initialisation */   gst_init (&argc, &argv);   loop = g_main_loop_new (NULL, FALSE);   /* Check input arguments */   if (argc != 2) {     g_printerr ("Usage: %s <Video H264 filename>\n", argv[0]);     return -1;   }   /* Create gstreamer elements */   pipeline      = gst_pipeline_new ("media-player");   source        = gst_element_factory_make ("filesrc","file-source");   demuxer      = gst_element_factory_make ("mfw_mp4demuxer","avi-demuxer");   decvd        = gst_element_factory_make ("mfw_vpudecoder", "video-decoder");   decad        = gst_element_factory_make ("mad", "mp3-decoder");   vdsink        = gst_element_factory_make ("mfw_v4lsink",    "video-sink");   vdqueue      = gst_element_factory_make ("queue",            "video-queue");   adqueue      = gst_element_factory_make ("queue",            "audio-queue");   adsink        = gst_element_factory_make ("fakesink",        "audio-sink");   g_object_set (decvd, "codec-type", "std_avc", NULL);   if (!pipeline || !source || !demuxer || !decvd || !decad || !vdsink || !vdqueue || !adqueue || !adsink) {     g_printerr ("One element could not be created. Exiting.\n");     return -1;   }   /* Set up the pipeline */   /* we set the input filename to the source element */   g_object_set (G_OBJECT (source), "location", argv[1], NULL);   /* we add a message handler */   bus = gst_pipeline_get_bus (GST_PIPELINE (pipeline));   gst_bus_add_watch (bus, bus_call, loop);   gst_object_unref (bus);   /* we add all elements into the pipeline */   /* file-source | ogg-demuxer | vorbis-decoder | converter | alsa-output */   gst_bin_add_many (GST_BIN (pipeline),                     source, demuxer, decvd, decad, adqueue, vdqueue, vdsink, adsink,  NULL);   /* we link the elements together */   /* file-source -> ogg-demuxer ~> vorbis-decoder -> converter -> alsa-output */   gst_element_link (source, demuxer);   gst_element_link (decvd, vdqueue);   gst_element_link (vdqueue, vdsink);   //gst_element_link (decad, adqueue);   gst_element_link (adqueue, adsink);   g_signal_connect (demuxer, "pad-added", G_CALLBACK (on_pad_added), NULL);   /* note that the demuxer will be linked to the decoder dynamically.     The reason is that Ogg may contain various streams (for example     audio and video). The source pad(s) will be created at run time,     by the demuxer when it detects the amount and nature of streams.     Therefore we connect a callback function which will be executed     when the "pad-added" is emitted.*/   /* Set the pipeline to "playing" state*/   g_print ("Now playing: %s\n", argv[1]);   gst_element_set_state (pipeline, GST_STATE_PLAYING);   /* Iterate */   g_print ("Running...\n");   g_main_loop_run (loop);   /* Out of the main loop, clean up nicely */   g_print ("Returned, stopping playback\n");   gst_element_set_state (pipeline, GST_STATE_NULL);   g_print ("Deleting pipeline\n");   gst_object_unref (GST_OBJECT (pipeline));   return 0; } Create a directory inside your ltib directory to compile your source code: $ mkdir ~/your-ltib-dir/rpm/BUILD/gst Enter on LTIB shell mode: $ ./ltib -m shell Entering ltib shell mode, type 'exit' to quit LTIB> Enter in your application dir: LTIB> cd rpm/BUILD/gst/ Compile your application: LTIB> gcc -Wall $(pkg-config --cflags --libs gstreamer-0.10) playvideo.c -o playvideo If everything worked file you will get a "playvideo" arm binary: LTIB> file playvideo playvideo: ELF 32-bit LSB executable, ARM, version 1 (SYSV), for GNU/Linux 2.6.14, dynamically linked (uses shared libs), not stripped Now just copy it to ~/your-ltib-dir/rootfs/home. Start your board using this rootfs and execute: root@freescale ~$ cd /home/ root@freescale /home$ ./playvideo your-file-h264-mp3.avi Now playing: your-file-h264-mp3.avi Running...

Use Raspberry Pi Debug Probe with OpenOCD and i.MX93 FRDM   This document explains the integration process of the Raspberry Pi Debug Probe (Very low cost debugger) with the OpenOCD (On Chip Debugger) tool with the i.MX93 FRDM board.   Also, we will use GDB (GNU DeBugger) to interact with the OpenOCD.   1. Install and Configure OpenOCD   Update and install dependencies sudo apt update sudo apt install build-essential libtool automake pkg-config libusb-1.0-0-dev libhidapi-dev libftdi1-dev libjim-dev jimsh   Clone the OpenOCD repo git clone https://github.com/openocd-org/openocd.git cd openocd   Run ./bootstrap to create the configuration file git submodule update --init --recursive ./bootstrap ./configure --enable-cmsis-dap --enable-hidapi   Make OpenOCD make -j$(nproc) sudo make install   Download the configuration file for i.MX93 You can dowload the  imx93.cfg  in the Table 2. Software requirements on Ubuntu PC of the AN14367 Then, copy the downloaded file to the openocd/tcl/target/ as below: cp ../imx93_new-b42b7c4cac18508442d3df035cec1c6d.cfg tcl/target/imx93.cfg   2. Create UDEV rules   sudo nano /etc/udev/rules.d/99-openocd.rules Add the below in that file: ATTRS{idVendor}=="2e8a", ATTRS{idProduct}=="000c", MODE="660", GROUP="plugdev", TAG+="uaccess"   Reload rules sudo udevadm control --reload-rules && sudo udevadm trigger   3. Connecting the Hardware   To make the DAP works in the i.MX93 FRDM, we must rework the board removing the resistors R3017 and R3018:     Now, we need to connect the Raspberry Pi Debug Probe with the SWD (P14) of our i.MX93 FRDM board:       4. Running the Debug Session   In this moment, with the RP Debug Probe connected, we can Boot the i.MX93 FRDM board and run the below command to start the OpenOCD: $ openocd -s tcl -f interface/cmsis-dap.cfg -c "adapter speed 1000" -f target/imx93.cfg   tic-mpu@tic-mpu:~/Debug_test/openocd$ openocd -s tcl -f interface/cmsis-dap.cfg -c "adapter speed 1000" -f target/imx93.cfg Open On-Chip Debugger 0.12.0+dev-02429-ge4c49d860 (2026-03-21-23:05) Licensed under GNU GPL v2 For bug reports, read http://openocd.org/doc/doxygen/bugs.html adapter speed: 1000 kHz Warn : DEPRECATED: auto-selecting transport "swd". Use 'transport select swd' to suppress this message. Info : Listening on port 6666 for tcl connections Info : Listening on port 4444 for telnet connections Info : Using CMSIS-DAPv2 interface with VID:PID=0x2e8a:0x000c, serial=E6633861A33A1B2C Info : CMSIS-DAP: SWD supported Info : CMSIS-DAP: Atomic commands supported Info : CMSIS-DAP: Test domain timer supported Info : CMSIS-DAP: FW Version = 2.0.0 Info : CMSIS-DAP: Interface Initialised (SWD) Info : SWCLK/TCK = 0 SWDIO/TMS = 0 TDI = 0 TDO = 0 nTRST = 0 nRESET = 0 Info : CMSIS-DAP: Interface ready Info : clock speed 1000 kHz Info : SWD DPIDR 0x5ba02477 Info : imx93.a55.0: hardware has 6 breakpoints, 4 watchpoints Info : [imx93.a55.0] external reset detected Info : [imx93.a55.0] Examination succeed Info : [imx93.m33] Cortex-M33 r1p0 processor detected Info : [imx93.m33] target has 8 breakpoints, 4 watchpoints Info : [imx93.m33] Examination succeed Info : [imx93.ahb] Examination succeed Info : [imx93.a55.0] starting gdb server on 3333 Info : Listening on port 3333 for gdb connections Info : [imx93.m33] starting gdb server on 3334 Info : Listening on port 3334 for gdb connections Info : [imx93.ahb] gdb port disabled   From the Logs, we can see we have two ports: 3333 for Cortex A55 [imx93.a55.0] 3334 for Cortex M33 [imx93.m33]   Install gdb-multiarch   Now, we can install GDB: sudo apt install gdb-multiarch And start a Debug session: $ gdb-multiarch ~/linux-imx/vmlinux   $ gdb-multiarch ~/linux-development/linux-imx/vmlinux GNU gdb (Ubuntu 15.1-1ubuntu1~24.04.1) 15.1 Copyright (C) 2024 Free Software Foundation, Inc. License GPLv3+: GNU GPL version 3 or later <http://gnu.org/licenses/gpl.html> This is free software: you are free to change and redistribute it. There is NO WARRANTY, to the extent permitted by law. Type "show copying" and "show warranty" for details. This GDB was configured as "x86_64-linux-gnu". Type "show configuration" for configuration details. For bug reporting instructions, please see: <https://www.gnu.org/software/gdb/bugs/>. Find the GDB manual and other documentation resources online at: <http://www.gnu.org/software/gdb/documentation/>. For help, type "help". Type "apropos word" to search for commands related to "word"... Reading symbols from /home/tic-mpu/linux-development/linux-imx/vmlinux... (gdb) target extended-remote localhost:3333 Remote debugging using localhost:3333 0x00000000fff118fc in ?? ()   A simple example of how to read a register with GDB: (gdb) x/xw 0x43810000 0x43810000: 0x02010001     Happy debugging!     Best regards, Salas. 

In this article, I will explain how to set up the iMX8M Plus to use the 4K Dart BCON Basler Camera module. Requirements: Evaluation Kit for the i.MX 8M Plus Applications Processor. (i.MX 8M Plus Evaluation Kit | NXP Semiconductors) Basler Camera for i.MX 8M Plus (4K dart BCON for MIPI camera module for i.MX 8M Plus | NXP Semiconductors). Embedded Linux for i.MX Applications Processors (Embedded Linux for i.MX Applications Processors | NXP Semiconductors) (For this example we will use BSP version Linux 5.15.71_2.2.0) Serial Console Emulator Basler Camera Specifications and Manuals: Basler Camera Specifications at this link: Embedded Vision Kits daA3840-30mc-IMX8MP-EVK - Embedded Vision Kits (baslerweb.com). Basler Manual to identify and setting up the hardware at this link: daA3840-30mc-IMX8MP-EVK | Basler Product Documentation (baslerweb.com) Basler Camera Module out-of-box with i.MX 8M Plus Applications Processor. (Video: Basler Camera Module out-of-box with i.MX 8M Plus Applications Processor | NXP Semiconductors) Steps After setting up the hardware we will need to turn on the iMX8M Plus and follow these steps: 1. Stop the boot process on Uboot by pressing any key. 2. Use the following command to list interfaces. => mmc list Output example => FSL_SDHC: 1 (SD) => FSL_SDHC: 2 The above command will show you the device number in this example for SD, the device number is 1. 3. Then use fatls <interface> <device[:partition]> [<directory>] fatls mmc 1:1 (Device 1 : Partition 1) With this command, we will be able to list device tree files. => fatls mmc 1:1 4. Select imx8mp-evk-basler.dtb or imx8mp-evk-dual-basler.dtb and use the command editenv fdtfile.  => editenv fdtfile Output example edit: imx8mp-evk-basler.dtb 5. In edit command line put the selected device tree (*.dtb). 6. Use saveenv command to save environment and continue with the boot process. 7. Using the terminal and go to /opt/imx8-isp/bin and execute the script run.sh. $ ./run.sh -c basler_1080p60 -lm 8. Use the command gst-device-monitor-1.0 to list devices. Here you will find the path to the camera device. $ gst-device-monitor-1.0 Output example Device found: name : VIV class : Video/Source caps : video/x-raw, format=YUY2, width=[ 176, 4096, 16 ], height=[ 144, 3072, 8 ], pixel-aspect-ratio=1/1, framerate={ (fraction)30/1, (fraction)29/1, (fraction)28/1, (fraction)27/1, (fraction)26/1, (fraction)25/1, (fraction)24/1, (fraction)23/1, (fraction)22/1, (fraction)21/1, (fraction)20/1, (fraction)19/1, (fraction)18/1, (fraction)17/1, (fraction)16/1, (fraction)15/1, (fraction)14/1, (fraction)13/1, (fraction)12/1, (fraction)11/1, (fraction)10/1, (fraction)9/1, (fraction)8/1, (fraction)7/1, (fraction)6/1, (fraction)5/1, (fraction)4/1, (fraction)3/1, (fraction)2/1, (fraction)1/1 } ... properties: udev-probed = true device.bus_path = platform-vvcam-video.0 sysfs.path = /sys/devices/platform/vvcam-video.0/video4linux/video2 device.subsystem = video4linux device.product.name = VIV device.capabilities = :capture: device.api = v4l2 device.path = /dev/video2 v4l2.device.driver = viv_v4l2_device v4l2.device.card = VIV v4l2.device.bus_info = platform:viv0 v4l2.device.version = 393473 (0x00060101) v4l2.device.capabilities = 2216693761 (0x84201001) v4l2.device.device_caps = 69206017 (0x04200001) gst-launch-1.0 v4l2src device=/dev/video2 ! ... 9. Finally, use gstreamer to verify proper operation. (With this gstreamer pipeline you will see a new window with the camera output. Then, just rotate the lens to acquire the correct focus) $ gst-launch-1.0 -v v4l2src device=/dev/video2 ! "video/x-raw,format=YUY2,width=1920,height=1080" ! queue ! imxvideoconvert_g2d ! waylandsink Basic description of Gstreamer Pipeline gst-launch-1.0 -v: The option -v enables the verbose mode to get detailed information of process. v4l2src device=/dev/video2: Select input device in this case the camera is on path /dev/video3. "video/x-raw,format=YUY2,width=1920,height=1080": Received format from camera. queue: This command is a buffer between camera recording process and the following image process, this command help us to interface two process and prevent blocking where each process has different speeds, in other words, when a process A is faster than process B. imxvideoconvert_g2d: This proprietary plugin uses hardware acceleration to perform rotation, scaling, and color space conversion on video frames. waylandsink : This command creates its own window and renders the decoded frames processed previously. 10. Result     I hope this article will be helpful. Best regards, Brian.

BSP: L5.15.5_1.0.0 Platform: i.MX8MPlus EVK Background   The function lpddr4_mr_read in BSP always return zero and this casue the customer can't use it to read MR registers in DRAM. This is a simple demo for reading MR registers. Patch Code   diff --git a/arch/arm/include/asm/arch-imx8m/ddr.h b/arch/arm/include/asm/arch-imx8m/ddr.h index 0f1e832c03..fd68996a23 100644 --- a/arch/arm/include/asm/arch-imx8m/ddr.h +++ b/arch/arm/include/asm/arch-imx8m/ddr.h @@ -721,6 +721,8 @@ int wait_ddrphy_training_complete(void); void ddrphy_init_set_dfi_clk(unsigned int drate); void ddrphy_init_read_msg_block(enum fw_type type); +unsigned int lpddr4_mr_read(unsigned int mr_rank, unsigned int mr_addr); + void update_umctl2_rank_space_setting(unsigned int pstat_num); void get_trained_CDD(unsigned int fsp); diff --git a/board/freescale/imx8mp_evk/spl.c b/board/freescale/imx8mp_evk/spl.c index 33bbbc09ac..85e40ffbbe 100644 --- a/board/freescale/imx8mp_evk/spl.c +++ b/board/freescale/imx8mp_evk/spl.c @@ -150,6 +150,40 @@ int board_fit_config_name_match(const char *name) return 0; } #endif +void lpddr4_get_info() +{ + int i = 0, attempts = 5; + + unsigned int ddr_info = 0; + unsigned int regs[] = { 5, 6, 7, 8 }; + + for(i = 0; i < ARRAY_SIZE(regs); i++){ + unsigned int data = 0; + data = lpddr4_mr_read(0xF,regs[i]); + ddr_info <<= 8; + ddr_info += (data & 0xFF); + switch (i) + { + case 0: + printf("DRAM INFO : Manufacturer ID = 0x%x",ddr_info); + if(ddr_info & 0Xff) + printf(", Micron\n"); + break; + case 1: + printf("DRAM INFO : Revision ID1 = 0x%x\n",ddr_info); + break; + case 2: + printf("DRAM INFO : Revision ID2 = 0x%x\n",ddr_info); + break; + case 3: + printf("DRAM INFO : I/O Width and Density = 0x%x\n",ddr_info); + break; + default: + break; + } + } + +} void board_init_f(ulong dummy) { @@ -187,6 +221,8 @@ void board_init_f(ulong dummy) /* DDR initialization */ spl_dram_init(); + + lpddr4_get_info(); board_init_r(NULL, 0); } diff --git a/drivers/ddr/imx/imx8m/ddrphy_utils.c b/drivers/ddr/imx/imx8m/ddrphy_utils.c index 326b92d784..f45eeaf552 100644 --- a/drivers/ddr/imx/imx8m/ddrphy_utils.c +++ b/drivers/ddr/imx/imx8m/ddrphy_utils.c @@ -194,8 +194,15 @@ unsigned int lpddr4_mr_read(unsigned int mr_rank, unsigned int mr_addr) tmp = reg32_read(DRC_PERF_MON_MRR0_DAT(0)); } while ((tmp & 0x8) == 0); tmp = reg32_read(DRC_PERF_MON_MRR1_DAT(0)); - tmp = tmp & 0xff; reg32_write(DRC_PERF_MON_MRR0_DAT(0), 0x4); + + while (tmp) { //try to find a significant byte in the word + if (tmp & 0xff) { + tmp &= 0xff; + break; + } + tmp >>= 8; + } return tmp; }     Test Result  

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.

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

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

meta-avs-demos Yocto layer meta-avs-demos is a Yocto meta layer (complementary to the NXP BSP release for i.MX) published on CodeAurora that includes the additional required packages to support  Amazon's Alexa Voice Services SDK (AVS_SDK) applications. The build procedure is the described on the README.md of the corresponding branch. We have 2 fuctional branches now: imx-alexa-sdk: Support for Morty based i.mx releases imx7d-pico-avs-sdk_4.1.15-1.0.0: legacy support for Jethro releases The master branch is only used to collect manifest files, that used with repo init/sync commands will fetch the whole environment for the 2 special supported boards: i.MX7D Pico Pi and i.MX8M EVK. However the meta-avs-demos can be used with any i.MX board either. Recipes to include Amazon's Alexa Voice Services in your applications. The meta-avs-demos provides the required recipes to build an i.MX image with the support for running Alexa SDK. The imx-alexa-sdk branch is based on Morty and kernel 4.9.X and it supports the next builds: i.MX7D Pico Pi i.MX8M EVK Generic i.MX board For the i.MX7D Pico Pi and i.MX8M EVK there is an extended support for additional (external) Sound Cards like: TechNexion VoiceHat: 2Mic Array board with DSPConcepts SW support Synaptics Card: 2 Mic with Sensory WakeWord support The Generic i.MX is for any other regular i.MX board supported on the official NXP BSP releases. Only the default soundcard (embedded) on the board is supported. Sensory wakeword is currently only enabled for those with ARMV7 architecture. To support any external board like the VoiceHat or Synaptics is up to the user to include the additional patches/changes required. Build Instructions Follow the corresponding README file to follow the steps to build an image with Alexa SDK support README-IMX7D-PICOPI.md README-IMX8M-EVK.md README-IMX-GENERIC.md

About this document This document describe the setup detail for Interfacing, Installing, programming (basis) and testing depth cameras with MX6QDL based boards using the Robotic Operating System (ROS). If you are not using ROS you can also install the proper drivers and compile, in your Ubuntu system as explained on document:  https://community.freescale.com/docs/DOC-330278 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 Depth sensors tested: Microsoft Kinect, ASUS Xtion. Software:   Gcc, Ubuntu 14.04v, OpenCV, Openni, Python, ROS. 2. Installation on ROS For installation steps of ROS on iMX6 boards in your board, please follow up: https://community.freescale.com/docs/DOC-3301478 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 There are many different libraries and tools in ROS - not all compile fully on ARM. In this case we already have installed the ROS Base, however any other packages need to be installed individually. First install the following dependencies, which will take some time and space (~1.4 GB): $ sudo apt-get install --no-install-recommends freeglut3-dev libfreenect-dev libusb-1.0-0-dev libudev-dev ros-indigo-camera-info-manager ros-indigo-dynamic-reconfigure ros-indigo-image-transport ros-indigo-image-proc ros-indigo-depth-image-proc ros-indigo-tf ros-indigo-openni-launch ros-indigo-freenect-* ros-indigo-depthimage-to-laserscan ros-indigo-image-view ros-indigo-camera-info-manager ros-indigo-dynamic-reconfigure libudev-dev doxygen graphviz openjdk-6-jdk ros-indigo-openni2-camera ros-indigo-openni2-launch ros-indigo-rqt-common-plugins ros-indigo-rqt-graph There is no any additional installation to run kinect with ROS, If you are using kinect you can pass to part 4. However the packages used to run the PrimeSense / Asus Xtion on the i.Mx6 are not available over apt yet, so they need to be compiled from source. To use OpenNI2 with ROS, we only need the shared OpenNI2 libraries and the Drivers. Clone OpenNI2 $ git clone https://github.com/OpenNI/OpenNI2 $ cd OpenNI2 Edit ThirdParty/PSCommon/BuildSystem/Platform.Arm $ nano ThirdParty/PSCommon/BuildSystem/Platform.Arm and replace CFLAGS += -march=armv7-a -mtune=cortex-a9 -mfpu=neon -mfloat-abi=softfp #-mcpu=cortex-a8 with CFLAGS += -march=armv7-a -mtune=cortex-a9 -mfpu=neon -mfloat-abi=hard Add support for pthread library: $ nano ThirdParty/PSCommon/BuildSystem/CommonCppMakefile Search the line 95 and add the code between the two lines: OUTPUT_NAME = $(EXE_NAME)                                                   # We want the executables to look for the .so's locally first:     LDFLAGS += -Wl,-rpath ./ +   ifneq ("$(OSTYPE)","Darwin") +       LDFLAGS += -lpthread +   endif     OUTPUT_COMMAND = $(CXX) -o $(OUTPUT_FILE) $(OBJ_FILES) $(LDFLAGS) endif Save the file and exit Then run make to compile the OpenNI2 drivers and libraries $ PLATFORM=Arm make ALLOW_WARNINGS=1 Once the compilation is done, run the linux install script $ cd Packaging/Linux $ sudo ./install.sh Copy libraries and includes to the system paths $ cd ../../ $ sudo cp -r Include /usr/include/openni2 $ sudo cp -r Bin/Arm-Release/OpenNI2 /usr/lib/ $ sudo cp Bin/Arm-Release/libOpenNI2.* /usr/lib/ Create a package config file $ sudo nano /usr/lib/pkgconfig/libopenni2.pc and fill it with this: prefix=/usr exec_prefix=${prefix} libdir=${exec_prefix}/lib includedir=${prefix}/include/openni2 Name: OpenNI2 Description: A general purpose driver for all OpenNI cameras. Version: 2.2.0.0 Cflags: -I${includedir} Libs: -L${libdir} -lOpenNI2 -L${libdir}/OpenNI2/Drivers -lDummyDevice -lOniFile -lPS1080.so This will enable ubuntu to find the location of the drivers, libraries and include files. To make sure it is correctly found, run $ pkg-config --modversion libopenni2 Which should give the same version as defined in the file above (2.2.0.0). Now the Xtion is ready to be used. Plug it in (if it is already, unplug it first), then run the sample program $ ./Bin/Arm-Release/SimpleRead Then create a catkin workspace as described here, and check out the following packages in the src folder of the catkin workspace: $ cd ~/catkin_ws/src $ git clone https://github.com/ros-drivers/openni2_camera $ git clone https://github.com/ros-drivers/openni2_launch $ git clone https://github.com/ros-drivers/rgbd_launch Now the ros packages checked out above to the catkin workspace can be compiled with catkin_make $ cd ~/catkin_ws $ catkin_make Once the packages are compiled, the Xtion is ready for use with ROS with 3. Testing The Installation Kinect. Open at least 3 bash terminals: Terminal 1: Run ROS $ roscore Terminal 2:  launch the Freenect $ roslaunch freenect_launch freenect.launch Terminal 3: run the image capture $ rosrun image_view image_view image:=camera/rgb/image_color or: $ rosrun image_view image_view image:=camera/rgb/image_rect_mono or: $ rosrun image_view disparity_view image:=camera/depth/disparity It will open a new terminal with the rgb points, mono  and depth images  from the Kinect. Xtion.  Terminal 1: Run ROS $ roscore Terminal 2:  launch Openni2 $ roslaun openi2_launch openni2.launch Terminal 3: you can use rqt or Rviz session to visualize the sensor e.g: $ rqt or $ rosrun rqt_graph rqt_graph In the “rqt” window select “Plugins” -> “Visualization” -> “Image View“                                                             (optional) Install PySide, in any case you get an error with python rqt graph: $ pip install PySide $ cd ~/ Note: rqt and Rviz demand a lot of i.MX GPU work, so general graphic functionality will be affected. For this case is suggested to run rviz in a remote Network ROS session. References: -       www.ros.org -     https://dobots.nl/2014/05/05/asus-xtion-using-openni2-and-ros-on-udoo/

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); }

This document describes the i.MX 8MQ EVK HDMI output and mini-SAS connectors features on Linux and Android use cases, covering the supported daughter-board, the process to change Device Tree (DTS) files or Boot Images, and enable these different display options on the board.

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Hi all, Most of IoT customers request to enable/demo i.MX EVK with FSL Zigbee solution. In default i.MX Linux/Android BSP, Zigbee function is not enabled. Here we make a lighting demo setup through i.MX6Q SabreSD, KW20 USB dongle and Philips Hue light. KW20 is configured as Zigbee coordinator, connected with USB OTG in i.MX6Q, then i.MX6Q can issue On/Off, brightness and color control commands through KW20 to toggle Philips Hue light directly. Please find the attachment for details. Best regards, Carl

The attached is the document and sample code for iMX5 system 80 interface LCD driver based on IPUV3. It is based on iMX51 2.6.31_09.12 BSP (SDK 1.7), tested on iMX53 3-Stack board. 1. Description This is Smartlcd driver for Freescale MX51 SDK1.7 release. (Kernel: 2.6.31_09.12.00/01)  2. File List -- Smartlcd_giantplus_4_IMX51_Linux_2.6.31_09.12.01.patch: SmartLCD panel support patch, and unit test code. -- Sample.config: the config file for reference. -- readme.txt: this file, please refer to it before use the package. -- SmartLCD Structure.pptx: the basic structure for smartlcd on IPUv3. 3. Requirement - MX51_3DS Green board(TO2.0) - No hardware rework needed, only need plug the giantplus GMA722A0 to J10. - MX51 SDK1.7 release package - L2.6.31_09.12.00_SDK_source.tar.gz                                - redboot_200952.zip 4. How to use 4.1 How to use demo -- Program default redboot.bin to board via ATKtools -- Copy attached zImage to tftp folder (assume /tftpboot) -- extract default rootfs to NFS folder (assume /nfsroot) -- COPY attached imx51_fb_test to ~/unit_test folder. -- Power on the board -- After redboot is boot up, use following command to boot up linux kernel    load -r -b 0x100000 zImage    exec -c "noinitrd console=ttymxc0 root=/dev/nfsroot rootfstype=nfsroot nfsroot=10.192.225.221:/nfsroot/rootfs rw ip=dhcp" -- Once the linux kernel launched, run following commands to test smartlcd panel.    cd /unit_tests    ./imx51_fb_test 4.2 How to use source code -- Current release code is based on L2.6.31_09.12.00_SDK_source.tar.gz. Extract the file to your working folder. -- Entering the working folder and type "./install", select a folder to install ltib. (such as .../ltib) -- Entering ltib folder and type "./ltib" to build Linux platform.  If you are not familiar with this setp, please refer to doc "i.MX_3Stack_SDK_UserGuide.pdf" for detail. -- Entering folder ".../ltib/rpm/BUILD/linux", copy "Smartlcd_giantplus_4_IMX51_Linux_2.6.31_09.12.01.patch" from release package to current folder    Run command "patch -p1 < Smartlcd_giantplus_4_IMX51_Linux_2.6.31_09.12.01.patch" -- When complete, run command "make ARCH=arm menuconfig", and you can refer to attached sample.config for detail.    * enable    Device Drivers ----> Graphics support ----> [*]   Asynchronous Panels                                            ----> [*] GiantPlus 240x320 Panel                                             * disable    Device Drivers ----> Graphics support ----> [ ]   Synchronous Panel Framebuffer                                         ----> Multimedia support    ----> [ ]   Video For Linux                                             -- Run command "make ARCH=arm" to build kernel.  4.3 How to do SMARTLCD driver test -- After Smartlcd_giantplus_4_IMX51_Linux_2.6.31_09.12.01.patch applied, there will be an folder "IMX51_TEST" under linux. -- Go to that folder, and run "make ARCH=arm", imx51_fb_test will be created. -- Copy imx51_fb_test to rootfs/unit_test. and run. 5. History N/A 6. Known Issue -- V4L2 not working yet.

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

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