i.MXプロセッサナレッジベース

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Host Environment: ubuntu 16.04 LTS Linux BSP For i.MX : version 4.9.88 The document has 5 main contents: 1. Compiling core-image-base in Yocto BSP --Copy u-boot source code to a new directory --Copy linux kernel source code to a new directory 2. Exporting 4.9.88 toolchain from Freescale Yocto BSP (1) Using MACHINE=imx7dsabresd to export the toolchain (2) Using MACHINE=imx6qsabresd to export the toolchain. Actually above 2 are the same toolchain after exporting. Here , only show any one of boards(not ARM64) can be used for MACHINE. So users only need to export it for one time, select (1) or (2) to export toolchain. (3) Using MACHINE=imx8mqevk to export ARM64 toolchain 3. Compling u-boot & linux kernel under Stanalone iMX7DSabreSD --Compiling u-boot for imx7dsabresd --Compiling kernel and dtb for imx7dsabresd iMX8MQEVK --Compiling u-boot for imx8mqevk --Compiling kernel and dtb for imx8mqevk 4. Compiling OS Firmware for i.MX7DSabreSD board --u-boot for mfg tools --kernel and dtb for mfg tools 5. Copy OS Firmware to the related path of MFG tools --------------------------------------------------------------------------------------------------------------------------- [Content of Document] 1. Compiling core-image-base in Yocto BSP After repo syn is done according to “i.MX_Yocto_Project_User's_Guide.pdf”, Use the command to compile linux BSP, u-boot & kernel source code will be released. # DISTRO=fsl-imx-fb MACHINE=imx7dsabresd source fsl-setup-release.sh -b build-fb # bitbake core-image-base After compiling is done, u-boot & linux kernel source code is in the path below: u-boot: ~/imx-yocto-bsp/build-fb/tmp/work/imx7dsabresd-poky-linux-gnueabi/u-boot-imx/2017.03-r0/git linux: ~/imx-yocto-bsp/build-fb/tmp/work/imx7dsabresd-poky-linux-gnueabi/linux-imx/4.9.88-r0/git We can create a new directory for uboot and linux kernel source code. Here I created a directory named disk2. # cd ~/ # mkdir disk2 # cd disk2 # mkdir u-boot-2017-03 # mkdir linux-imx-4.9.88 --Copy u-boot source code to a new directory # cd ~/imx-yocto-bsp/build-fb/tmp/work/imx7dsabresd-poky-linux-gnueabi/u-boot-imx/2017.03-r0/git # cp –r ./* ~/disk2/u-boot-2017-03 --Copy linux kernel source code to a new directory # cd ~/imx-yocto-bsp/build-fb/tmp/work/imx7dsabresd-poky-linux-gnueabi/linux-imx/4.9.88-r0/git # cp –r ./* ~/disk2/ linux-imx-4.9.88 2. Exporting 4.9.88 toolchain from Freescale Yocto BSP (1) Using MACHINE=imx7dsabresd to export the toolchain Step1: # cd ~/imx-yocto-bsp/ # DISTRO=fsl-imx-fb MACHINE=imx7dsabresd source fsl-setup-release.sh -b build-minimal … … Do you accept the EULA you just read? (y/n) y EULA has been accepted. Welcome to Freescale Community BSP The Yocto Project has extensive documentation about OE including a reference manual which can be found at: http://yoctoproject.org/documentation For more information about OpenEmbedded see their website: http://www.openembedded.org/ You can now run 'bitbake <target>' Common targets are: core-image-minimal meta-toolchain meta-toolchain-sdk adt-installer meta-ide-support Your build environment has been configured with: MACHINE=imx7dsabresd SDKMACHINE=i686 DISTRO=fsl-imx-fb EULA= BSPDIR= BUILD_DIR=. meta-freescale directory found Here “build-minimal” is a directory for compiling source code, users can also set it other name. In ~/imx-yocto-bsp/build-minimal, Begin to export toolchain with the command. Step2: # DISTRO=fsl-imx-fb MACHINE=imx7dsabresd bitbake core-image-minimal -c populate_sdk [Comment-1] About DISTRO and MACHINE on above 2 commands MACHINE can be set the values below. imx6qpsabreauto imx6qpsabresd imx6ulevk imx6ull14x14evk imx6ull9x9evk imx6dlsabreauto imx6dlsabresd imx6qsabreauto imx6qsabresd imx6slevk imx6solosabreauto imx6solosabresd imx6sxsabresd imx6sxsabreauto imx6sllevk imx7dsabresd imx7ulpevk imx8mqevk So MACHINE’s value is the name each Evaluation Borad. DISTRO can be set the values below: fsl-imx-x11 - X11 graphics are not supported on i.MX 8. fsl-imx-wayland - Wayland weston graphics. fsl-imx-xwayland - Wayland graphics and X11. X11 applications using EGL are not supported. fsl-imx-fb - Frame Buffer graphics - no X11 or Wayland. Frame Buffer is not supported on i.MX 8 bitbake rootfs type core-image-minimal core-image-base core-image-sato fsl-image-machine-test fsl-image-validation-imx fsl-image-qt5-validation-imx Below is the detailed description for above rootfs type: [Comment-2] Descriptions on difference of toolchain between i.MX6/7 and i.MX8MQ i.MX6 and i.MX7 are both 32bit ARM processor, they use the same toolchain. i.MX8MQ is 64bit ARM processor, so it’s toolchain is different from that of i.MX6/7. Setp 3: After above compiling is done, enter into ~/imx-yocto-bsp/build-minimal/tmp/deploy/sdk # cd ~/imx-yocto-bsp/build-minimal/tmp/deploy/sdk # ls Run .sh file: Then continue operations according to guidance: Done: OK, Let us check /opt/fsl-imx-fb/ directory: # ls /opt/fsl-imx-fb/4.9.88-2.0.0/ Because we used MACHINE=imx7dsabresd, environment was named “cortex-A7”, compiler’s version is still 4.9.88. (2) Using MACHINE=imx6qsabresd to export the toolchain. We can change “MACHINE=imx6qsabresd” and repeat above 3 steps, environment will be named “cortex-A9”. Close the current terminal, and open a new one. # cd ~/ imx-yocto-bsp # DISTRO=fsl-imx-fb MACHINE=imx6qsabresd source fsl-setup-release.sh -b build-A9-min Then automatically enter “~/imx-yocto-bsp/build-A9-min”, run command below. # DISTRO=fsl-imx-fb MACHINE=imx6qsabresd bitbake core-image-minimal -c populate_sdk # ~/imx-yocto-bsp/build-A9-min/tmp/deploy/sdk # ls # ./ fsl-imx-fb-glibc-x86_64-core-image-minimal-cortexa9hf-neon-toolchain-4.9.88-2.0.0.sh Set it up in another directory: /opt/fsl-imx-fb/4.9.88 (3) Using MACHINE=imx8mqevk to export ARM64 toolchain Export Toolchain for i.MX8MQ, create a new terminal, then run these 2 commands below. # ~/imx-yocto-bsp # DISTRO=fsl-imx-xwayland MACHINE=imx8mqevk source fsl-setup-release.sh -b build-xwayland # DISTRO=fsl-imx-fb MACHINE=imx8mqevk bitbake core-image-minimal -c populate_sdk Done. Copy the toolchain to /opt/fsl-imx-fb directory # cd ~/imx-yocto-bsp/build-xwayland/tmp/deploy/sdk # ls #./fsl-imx-fb-glibc-x86_64-core-image-minimal-aarch64-toolchain-4.9.88-2.0.0.sh I installed it to a new directory: /opt/fsl-imx-fb/4.9.88-arm64 #ls ls /opt/fsl-imx-fb/4.9.88-arm64/ OK, 64bit toolchain for i.MX8MQ has been exported to the directory. 3. Compling u-boot & linux kernel under Stanalone iMX7DSabreSD --Compiling u-boot for imx7dsabresd # cd ~/disk2/u-boot-2017-03 # source /opt/fsl-imx-fb/4.9.88-2.0.0/environment-setup-cortexa7hf-neon-poky-linux-gnueabi # export ARCH=arm # make clean # make mx7dsabresd_defconfig # make u-boot.imx Done. --Compiling kernel and dtb for imx7dsabresd # cd ~/disk2/linux-imx-4.9.88/ [comment] If environment has been configured, that is, these 2 commands have been run on the current terminal, don’t need to run them again. “source /opt/fsl-imx-fb/4.9.88-2.0.0/environment-setup-cortexa7hf-neon-poky-linux-gnueabi” and “export ARCH=arm” # make clean # make imx_v7_defconfig # make zImage is in “~/disk2/linux-imx-4.9.88/arch/arm/boot” dtb is in “~/disk2/linux-imx-4.9.88/arch/arm/boot/dts” Probably users want to run “make menuconfig”, and meet the errors like below. # sudo apt-get install libncurses* (To solve the problem below) # make menuconfig [Comment-3] Users can also use "environment-setup-cortexa9hf-neon-poky-linux-gnueabi" to compile u-boot and kernel. iMX8MQEVK --Compiling u-boot for imx8mqevk # cd ~/disk2/u-boot-2017-03 # source /opt/fsl-imx-fb/4.9.88-arm64/environment-setup-aarch64-poky-linux # export ARCH=arm64 # make clean # make imx8mq_evk_defconfig # make u-boot.imx Done. --Compiling kernel and dtb for imx8mqevk # cd ~/disk2/linux-imx-4.9.88/ [comment] If environment has been configured, that is, these 2 commands have been run on the current terminal, don’t need to run them again. “source /opt/fsl-imx-fb/4.9.88-arm64/environment-setup-aarch64-poky-linux” and “export ARCH=arm64” # make clean # make defconfig # make Run the command to unset LDFLAGS: # unset LDFLAGS # make Done. 4. Compiling OS Firmware for i.MX7DSabreSD board --u-boot for mfg tools # make mx7dsabresd_config # make u-boot.imx Then rename u-boot.imx to be “u-boot-mx7dsabresd-mfg.imx”. --kernel and dtb for mfg tools Copy imx_v7_mfg_defconfig file to “arch/arm/configs”, then run commands below. # make imx_v7_mfg_defconfig # make zImage will be generated at path arch/arm/boot. dtb file will be generated at path arch/arm/boot/dts Then rename zImage to be zImage-mx7dsabre-mfg, Rename imx7d-sdb.dtb to be zImage-imx7d-sdb-mfg.dtb 5. Copy OS Firmware to the related path of MFG tools Up to now, 3 files for OS Firmware has been generated, then copy these 3 files to mfgtools\Profiles\Linux\OS Firmware\firmware When MFG Tools begins to run, these 3 files and ramdisk will be downloaded to SDRAM on board, then run them, and download images(u-boot\kernel\rootfs\) which have been ready in “mfgtools\Profiles\Linux\OS Firmware\files”. Above steps and commands will be performed according to list in ucl2.xml. So customer will add a new list for her downloading or change an existing list according to image’s name. NXP TIC team Weidong Sun 04-25-2019

Here is an example for i.MX28 EVK board to support SPI NOR boot in uboot, kernel and MFGTool. Attached files are the patches to support SPI NOR flash on i.MX28 EVK bord based on L2.6.35 ER11.09.01 BSP. It was verified on Spansion s25fl256s SPI NOR. "ER11.09.01_uboot_imx28_spi_nor.patch" is the Uboot patch. "ER11.09.01_kernel_imx28_spi_nor.patch" is the kernel patch. "ucl.xml" is the updated MFGTool config file, please update it to "Mfgtools-Rel\Profiles\MX28 Linux Update\OS Firmware\ucl.xml". The uboot boot paramters for SPI: setenv bootargs_base 'setenv bootargs console=ttyAM0,115200' setenv loadaddr 0x42000000 setenv bootargs_spi 'setenv bootargs ${bootargs} root=/dev/mtdblock2 rootfstype=jffs2 rootwait rw ip=none' setenv bootcmd_spi 'run bootargs_base bootargs_spi;sf probe 2:0; sf read ${loadaddr} 0x100000 0x300000;bootm' setenv bootcmd 'run bootcmd_spi' saveenv To boot the board from SPI NOR s25fl256s, the 4KB page region of the NOR should be put to top, the last 128KB of the NOR address space. The uboot.sb is about 220KB, it can't be put to 4KB and 64KB combined region. The IMX28 boot ROM can only handle simple page size for boot. All 4KB page region or all 64KB page region are both OK for boot, but combined region can't boot. For default, the s25fl256s NOR's 128KB 4KB page size region is at the bottom of the NOR, we should update the OTP to set this region to TOP, in Uboot, we run the followed command to burn the OTP: MX28 U-Boot -> sf probe 2:0 MX28 U-Boot -> sf set_config_reg 0x04 To boot the i.MX28 EVK board from SPI2 NOR flash, the BM3~0 should be 0010. In this example, we only used the JFFS2 file system. To support the UBIFS, there is a known issue, that the UBIFS will use vmalloc to alloc memory, and if SPI driver used the DMA, kernel will halt with error "kernel BUG at arch/arm/mm/dma-mapping.c:409!". For 11.09.01 BSP, the default MFGTool rootfs "initramfs.cpio.gz" will be bigger than 4MB, but in i.MX28 bootlets code, the BSP only set ramdisk to 4MB, so we need modify this limitation for MFGTool. Use command "./ltib -p imx-bootlets -m prep" to get the bootlets code, modify "ltib/rpm/BUILD/imx-bootlets-src-11.09.01/linux_prep/core/setup.c", function setup_initrd_tag(), change from "params->u.initrd.size = 0x00400000;" to "params->u.initrd.size = 0x00500000;". Modify "ltib/rpm/BUILD/imx-bootlets-src-11.09.01/updater.bd" and "updater_ivt.bd", change from "load 0.b > 0x40800000..0x40c00000;" to "load 0.b > 0x40800000..0x40d00000;". Now the MFGTool rootfs size can be 5MB. 2013-05-09: Updated hardware rework: On iMX28 EVK board, rework J89 as followed and mount R320,R321,R322 and C178. MX28 U49 Pin1 /CS <-> NOR Pin7 CS# MX28 U49 Pin2 D0 <-> NOR Pin8 SI/IO1 MX28 U49 Pin5 DIO <-> NOR Pin15 SI/IO0 MX28 U49 Pin6 CLK<-> NOR pin 16 SCK. MX28 U49 Pin8 VCC <-> NOR Pin2 VCC MX28 U49 Pin4 GND <-> NOR Pin10 VSS MX28 U49 Pin3 /WP <-> NOR Pin9 WP MX28 U49 Pin7 /Hold <-> NOR Pin pin1 hold Software reset issue for 32MB SPI NOR: For 32MB SPI NOR, after booted into kernel, the kernel driver will set SPI NOR to 4 bytes address mode, but for iMX28 SPI boot, it can only boot with 3 bytes address mode, if reset the iMX28 board but SPI NOR was not reset, it will fail to reboot. Hardware solution: when iMX28 was reboot, reset the SPI NOR too, the SPI NOR will work in 3 bytes address mode as default. Software solution: In kernel SPI NOR driver, always switch SPI NOR to 3 bytes address mode after each SPI NOR access, and switch to 4 bytes address mode before each access. There is no such issue if the SPI NOR size is less than 32MB.

Notes: + Run the pipelines in the presented order + The above example streams H263 video. + the gl command is equal to 'gst-launch' (two instead of 'gst-launch'.size() chars ) + Pending work: H264 test cases and other scenarios. Scenario Shell variables and pipelines # Export always these variables on the i.MX export VSALPHA=1 export WIDTH=320 export HEIGHT=240 export SEP=20 # decoded and displayed Uni-directional: from PC to i.MX. PC is streaming 4 H.263 streams and i.MX displays all in the screen. # On i.MX (Target) gl udpsrc caps='application/x-rtp, media=(string)video, clock-rate=(int)90000, encoding-name=(string)H263' port=8890 ! rtph263depay ! vpudec ! mfw_isink sync=false axis-top=0 axis-left=0 disp-width=$WIDTH disp-height=$HEIGHT & gl udpsrc caps='application/x-rtp, media=(string)video, clock-rate=(int)90000, encoding-name=(string)H263' port=8891 ! rtph263depay ! vpudec ! mfw_isink sync=false axis-top=0 axis-left=`expr $WIDTH + $SEP` disp-width=$WIDTH disp-height=$HEIGHT & gl udpsrc caps='application/x-rtp, media=(string)video, clock-rate=(int)90000, encoding-name=(string)H263' port=8892 ! rtph263depay ! vpudec ! mfw_isink sync=false axis-top=`expr $HEIGHT + $SEP` axis-left=0 disp-width=$WIDTH disp-height=$HEIGHT & gl udpsrc caps='application/x-rtp, media=(string)video, clock-rate=(int)90000, encoding-name=(string)H263' port=8893 ! rtph263depay ! vpudec ! mfw_isink sync=false axis-top=`expr $HEIGHT + $SEP` axis-left=`expr $WIDTH + $SEP` disp-width=$WIDTH disp-height=$HEIGHT & # On PC (Source) export IP_iMX= # Place the IP address of the i.MX board gst-launch -v videotestsrc ! ffenc_h263 ! rtph263pay ! multiudpsink clients=IP_iMX:8890,IP_iMX:8891,IP_iMX:8892,$IP_iMX:8893 Uni-directional: from PC to i.MX. PC is streaming one H.264 stream and i.MX displays it on the screen # On i.MX (Target) # Make sure you set the caps correctly, specially the sprop-parameter-sets cap. The one show below is just an example and works with the source file sintel_trailer-1080p.mp4 export VSALPHA=1 GST_DEBUG=*:2 gst-launch -v udpsrc caps='application/x-rtp, media=(string)video, clock-rate=(int)90000, encoding-name=(string)H264, sprop-parameter-sets=(string)\"Z2QAMqw05gHgCJ+WEAAAAwAQAAADAwDxgxmg\\,aOl4TLIs\", payload=(int)96' port=8890 ! rtph264depay ! vpudec ! mfw_isink sync=false # On PC (Source) gst-launch -v filesrc location=sintel_trailer-1080p.mp4 typefind=true ! qtdemux ! rtph264pay ! multiudpsink clients=10.112.102.168:8890 Bi-directional: PC is streaming 4 H.263 streams to i.MX, iMX displays it and sends the four back to PC # On i.MX export IP_PC= # Place the IP address of the PC host machine gl -v udpsrc caps='application/x-rtp, media=(string)video, clock-rate=(int)90000, encoding-name=(string)H263' port=8890 ! rtph263depay ! vpudec ! tee name=t ! queue ! mfw_isink sync=false axis-top=0 axis-left=0 disp-width=$WIDTH disp-height=$HEIGHT t. ! queue ! vpuenc codec=5 ! rtph263pay ! udpsink host=$IP_PC port=9990 & gl -v udpsrc caps='application/x-rtp, media=(string)video, clock-rate=(int)90000, encoding-name=(string)H263' port=8891 ! rtph263depay ! vpudec ! tee name=t ! queue ! mfw_isink sync=false axis-top=0 axis-left=`expr $WIDTH + $SEP` disp-width=$WIDTH disp-height=$HEIGHT t. ! queue ! vpuenc codec=5 ! rtph263pay ! udpsink host=$IP_PC port=9991 & gl -v udpsrc caps='application/x-rtp, media=(string)video, clock-rate=(int)90000, encoding-name=(string)H263' port=8892 ! rtph263depay ! vpudec ! tee name=t ! queue ! mfw_isink sync=false axis-top=`expr $HEIGHT + $SEP` axis-left=0 disp-width=$WIDTH disp-height=$HEIGHT t. ! queue ! vpuenc codec=5 ! rtph263pay ! udpsink host=$IP_PC port=9992 & gl -v udpsrc caps='application/x-rtp, media=(string)video, clock-rate=(int)90000, encoding-name=(string)H263' port=8893 ! rtph263depay ! vpudec ! tee name=t ! queue ! mfw_isink sync=false axis-top=`expr $HEIGHT + $SEP` axis-left=`expr $WIDTH + $SEP` disp-width=$WIDTH disp-height=$HEIGHT t. ! queue ! vpuenc codec=5 ! rtph263pay ! udpsink host=$IP_PC port=9993 & # On PC ## Stream received from iMX export IP_iMX= # Place the IP address of the i.MX board gl -v udpsrc caps='application/x-rtp, media=(string)video, clock-rate=(int)90000, encoding-name=(string)H263' port=9990 ! rtph263depay ! ffdec_h263 ! xvimagesink & gl -v udpsrc caps='application/x-rtp, media=(string)video, clock-rate=(int)90000, encoding-name=(string)H263' port=9991 ! rtph263depay ! ffdec_h263 ! xvimagesink & gl -v udpsrc caps='application/x-rtp, media=(string)video, clock-rate=(int)90000, encoding-name=(string)H263' port=9992 ! rtph263depay ! ffdec_h263 ! xvimagesink & gl -v udpsrc caps='application/x-rtp, media=(string)video, clock-rate=(int)90000, encoding-name=(string)H263' port=9993 ! rtph263depay ! ffdec_h263 ! xvimagesink & ## Stream sent to iMX gl -v videotestsrc ! videoscale ! video/x-raw-yuv,width=$int$1408,height=$int$1152 ! ffenc_h263 ! rtph263pay ! udpsink host=$IP_iMX port=8890 & gl -v videotestsrc ! videoscale ! video/x-raw-yuv,width=$int$1408,height=$int$1152 ! ffenc_h263 ! rtph263pay ! udpsink host=$IP_iMX port=8891 & gl -v videotestsrc ! videoscale ! video/x-raw-yuv,width=$int$1408,height=$int$1152 ! ffenc_h263 ! rtph263pay ! udpsink host=$IP_iMX port=8892 & gl -v videotestsrc ! videoscale ! video/x-raw-yuv,width=$int$1408,height=$int$1152 ! ffenc_h263 ! rtph263pay ! udpsink host=$IP_iMX port=8893 &

Question: Using Linux SDK 4.1.0, with CAAM drivers enabled, there is little noticeable difference in the performance of openssd compared to a kernel without the CAAM drivers. Tests were done using openssd. Test image AES-128 8192 byte block (M Bytes/sec) “openssl speed –evp aes-128-cbc” AES-128 8192 byte block (M Bytes/sec) With /dev/crypto “openssl speed –evp aes-128-cbc -engine cryptodev” Ubuntu 11.04 Image 19.010 N/A Timesys 20.518 N/A SDK 4.1.0 LTIB 22.013 21.984 (errors reported) One can see that with SDK 4.1.0, performance is worse with crypto enabled. This is probably due to the overhead of a faulty driver or incorrect implementation. The lowest number is for Ubuntu which could be attributed to the Unity GUI. Conclusion: CAAM driver is not functional or I am using an improper testing procedure. Test Procedure: Board used is iMX6Q Sabre SDP Openssl was used for testing. Two command line commands were used, with and without the cryptodev engine. openssl speed –evp aes-128-cbc openssl speed –evp aes-128-cbc -engine cryptodev Openssl versions used in each build are slightly different: Ubuntu: openssl 1.0.0e Timesys: openssl 1.0.1e SDK 4.1.0: openssl 1.0.1c Three versions of Linux were tested. Default kernel 4.0.0 with Ubuntu rootfs form image tarballs. Timesys kernel and root file system Kernel built with SDK 4.1.0 using LTIB with hardware crypto enabled Both 1 and 2 above did not have CRYPTODEV set in .config which contains the line “# CONFIG_CRYPTO_CRYPTODEV is not set” Option 3 had the line in .config as, “CONFIG_CRYPTO_CRYPTODEV=y” All three builds generate “/proc/crypto” whose contents are attached. A partial listing of /proc/crypto lists “caam” as a driver for all encryption methods supported. Example printout for aes shown below: ame : cbc(aes) driver : cbc-aes-caam module : kernel priority : 3000 refcnt : 1 selftest : passed type : ablkcipher async : yes blocksize : 16 min keysize : 16 max keysize : 32 ivsize : 16 geniv : eseqiv All three builds have “caam” and “enable_wait_mode=off” in the kernel command line in u-boot. Only option #3 contains both device file in “/dev/crypto” and an entry in “/proc/crypto” root@freescale ~$ cd / root@freescale /$ ls /proc/cr* /proc/crypto root@freescale /$ ls /dev/cr* /dev/crypto root@freescale /$ Test #1—Kernel build 4.1.0 openssl speed test without caam engine root@freescale ~$ openssl speed -evp aes-128-cbc Doing aes-128-cbc for 3s on 16 size blocks: 3471184 aes-128-cbc's in 2.94s Doing aes-128-cbc for 3s on 64 size blocks: 986286 aes-128-cbc's in 3.00s Doing aes-128-cbc for 3s on 256 size blocks: 249743 aes-128-cbc's in 2.93s Doing aes-128-cbc for 3s on 1024 size blocks: 64343 aes-128-cbc's in 3.00s Doing aes-128-cbc for 3s on 8192 size blocks: 7954 aes-128-cbc's in 2.96s OpenSSL 1.0.1c 10 May 2012 built on: Sat Sep 7 18:47:34 PDT 2013 options:bn(64,32) rc4(ptr,char) des(idx,cisc,16,long) aes(partial) idea(int) blowfish(ptr) compiler: gcc -fPIC -DOPENSSL_PIC -DOPENSSL_THREADS -D_REENTRANT -DDSO_DLFCN -DHAVE_DLFCN_H -DL_ENDIAN -DTERMIO -O3 -fomit-frame-pointer -Wall The 'numbers' are in 1000s of bytes per second processed. type 16 bytes 64 bytes 256 bytes 1024 bytes 8192 bytes aes-128-cbc 18890.80k 21040.77k 21820.55k 21962.41k 22013.23k root@freescale ~$ Test #2—Timesys kernel build of openssd without /dev/crypto # openssl speed -evp aes-128-cbc Doing aes-128-cbc for 3s on 16 size blocks: 3361305 aes-128-cbc's in 3.00s Doing aes-128-cbc for 3s on 64 size blocks: 924423 aes-128-cbc's in 3.00s Doing aes-128-cbc for 3s on 256 size blocks: 236623 aes-128-cbc's in 3.00s Doing aes-128-cbc for 3s on 1024 size blocks: 59967 aes-128-cbc's in 3.00s Doing aes-128-cbc for 3s on 8192 size blocks: 7514 aes-128-cbc's in 3.00s OpenSSL 1.0.1e 11 Feb 2013 built on: Thu Sep 5 21:54:37 EDT 2013 options:bn(64,32) rc4(ptr,char) des(idx,cisc,16,long) aes(partial) blowfish(ptr) compiler: armv7l-timesys-linux-gnueabi-gcc -fPIC -DOPENSSL_PIC -DOPENSSL_THREADS -D_REENTRANT -DDSO_DLFCN -DHAVE_DLFCN_H -I/here/workdir/factory/build_armv7l-times ys-linux-gnueabi/toolchain/usr/include -DL_ENDIAN -DTERMIO -DOPENSSL_NO_KRB5 -DOPENSSL_NO_IDEA -DOPENSSL_NO_MDC2 -DOPENSSL_NO_RC5 -Os -pipe -Wa,--noexecstack -Wall The 'numbers' are in 1000s of bytes per second processed. type 16 bytes 64 bytes 256 bytes 1024 bytes 8192 bytes aes-128-cbc 17926.96k 19721.02k 20191.83k 20468.74k 20518.23k # Test #3—Ubuntu rootfs and kernel image root@linaro-ubuntu-desktop:/# openssl speed -evp aes-128-cbc Doing aes-128-cbc for 3s on 16 size blocks: 3030128 aes-128-cbc's in 2.98s Doing aes-128-cbc for 3s on 64 size blocks: 852897 aes-128-cbc's in 3.00s Doing aes-128-cbc for 3s on 256 size blocks: 220572 aes-128-cbc's in 3.00s Doing aes-128-cbc for 3s on 1024 size blocks: 55534 aes-128-cbc's in 3.00s Doing aes-128-cbc for 3s on 8192 size blocks: 6846 aes-128-cbc's in 2.95s OpenSSL 1.0.0e 6 Sep 2011 built on: Wed Oct 5 01:45:02 UTC 2011 options:bn(64,32) rc4(ptr,char) des(idx,cisc,16,long) aes(partial) blowfish(ptr) compiler: cc -fPIC -DOPENSSL_PIC -DZLIB -DOPENSSL_THREADS -D_REENTRANT -DDSO_DLFCN -DHAVE_DLFCN_H -DL_ENDIAN -DTERMIO -O2 -Wa,--noexecstack -g -Wall The 'numbers' are in 1000s of bytes per second processed. type 16 bytes 64 bytes 256 bytes 1024 bytes 8192 bytes aes-128-cbc 16269.14k 18195.14k 18822.14k 18955.61k 19010.99k root@linaro-ubuntu-desktop:/# Test #4—SDK 4.1.0 openssl speed test with “/dev/crypto” . Note errors. root@freescale ~$ openssl speed -evp aes-128-cbc -engine cryptodev invalid engine "cryptodev" 716715216:error:25066067:DSO support routines:DLFCN_LOAD:could not load the shared library:dso_dlfcn.c:187:filename(/usr/lib/engines/libcryptodev.so): /usr/lib/eng ines/libcryptodev.so: cannot open shared object file: No such file or directory 716715216:error:25070067:DSO support routines:DSO_load:could not load the shared library:dso_lib.c:244: 716715216:error:260B6084:engine routines:DYNAMIC_LOAD:dso not found:eng_dyn.c:450: 716715216:error:2606A074:engine routines:ENGINE_by_id:no such engine:eng_list.c:417:id=cryptodev 716715216:error:25066067:DSO support routines:DLFCN_LOAD:could not load the shared library:dso_dlfcn.c:187:filename(libcryptodev.so): libcryptodev.so: cannot open shared object file: No such file or directory 716715216:error:25070067:DSO support routines:DSO_load:could not load the shared library:dso_lib.c:244: 716715216:error:260B6084:engine routines:DYNAMIC_LOAD:dso not found:eng_dyn.c:450: Doing aes-128-cbc for 3s on 16 size blocks: 3572980 aes-128-cbc's in 3.00s Doing aes-128-cbc for 3s on 64 size blocks: 966002 aes-128-cbc's in 2.94s Doing aes-128-cbc for 3s on 256 size blocks: 255307 aes-128-cbc's in 3.00s Doing aes-128-cbc for 3s on 1024 size blocks: 62967 aes-128-cbc's in 2.93s Doing aes-128-cbc for 3s on 8192 size blocks: 7890 aes-128-cbc's in 2.94s OpenSSL 1.0.1c 10 May 2012 built on: Sat Sep 7 18:47:34 PDT 2013 options:bn(64,32) rc4(ptr,char) des(idx,cisc,16,long) aes(partial) idea(int) blowfish(ptr) compiler: gcc -fPIC -DOPENSSL_PIC -DOPENSSL_THREADS -D_REENTRANT -DDSO_DLFCN -DHAVE_DLFCN_H -DL_ENDIAN -DTERMIO -O3 -fomit-frame-pointer -Wall The 'numbers' are in 1000s of bytes per second processed. type 16 bytes 64 bytes 256 bytes 1024 bytes 8192 bytes aes-128-cbc 19055.89k 21028.61k 21786.20k 22006.21k 21984.65k root@freescale ~$ Answer: I do not know what is recent state of official Freescale BSP regarding CAAM, but to get OpenSSL working under CAAM support with reasonable acceleration : https://community.freescale.com/message/318188#318188 The patches was used below : http://git.freescale.com/git/cgit.cgi/imx/linux-2.6-imx.git/log/?h=imx_3.0.35_4.0.0 Direct link to the patches: http://git.freescale.com/git/cgit.cgi/imx/linux-2.6-imx.git/commit/?h=imx_3.0.35_4.0.0&id=6068d7a77b2101c172fc2f003f90b1febbf99505 http://git.freescale.com/git/cgit.cgi/imx/linux-2.6-imx.git/commit/?h=imx_3.0.35_4.0.0&id=b30237c79003223c6e8035d5be183cd4f0b469f9

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

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

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

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

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

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

Introduction This is a brief guide showing how to integrate the driver for the WF111 module to the i.MX6 BSP Release. In this case the WF111 driver is available on a repository and it’s in accordance with the Yocto Project, which allows to easily customize a linux distribution for your board. Requirements WF111 Documentation – Silicon Labs have made a great job of documenting the steps to add the WF111 driver to a Linux distribution and have created Application Note 996 (link below), which we will use as reference. http://www.silabs.com/documents/login/application-notes/AN996.pdf WF111 Driver - We will also be using the Yocto layer included on the following repository: https://github.com/engicam-stable/meta-engicam i.MX6 3.14.52 BSP Release – In out scenario the WF111 layer that will be imported includes a driver that it’s compatible with Linux Kernel 2.6.24 up to 4.1., which it’s important to keep in mind. Installing the 3.14.52 BSP Release First, setup the 3.14.52 BSP as described on the i.MX Yocto Project User’s Guide. Adding the WF111 Driver Layer Clone the WF111 Driver Layer to your sources folder inside the BSP Release directory. Since the 3.14.52 BSP Release is based on Fido we will clone the Fido branch of the driver repository. $ cd <BSP_RELEASE_DIR>/sources $ git clone https://github.com/engicam-stable/meta-engicam -b fido‍‍ Once the layer is cloned you would need to add the new later editing the bblayers.conf file located the following path: <BSP_RELEASE_DIR>/<BUILD_DIR>/conf/bblayers.conf By adding the following line to add the new layer. BBLAYERS += " ${BSPDIR}/sources/meta-engicam "‍ This should make the wf111-driver available through bitbake since bitbake will now look into this layer for all available recipes. You can then add the driver to your image by adding the following line to the <BUILD_DIR>/conf/local.conf IMAGE_INSTALL_append += "wf111-driver"‍ Or you may create a new image recipe that includes the wf111-driver package. However, there are certain kernel options that must be enabled for the driver to work. Creating an append to configure the kernel options Before we can bake an image with the WF111 driver we would need to edit the kernel options as mentioned on Silabs AN996. The following kernel options must be enabled: CONFIG_WIRELESS_EXT CONFIG_MODULES CONFIG_FW_LOADER We would need to add the CONFIG_WIRELESS_EXT as the other two options are enabled on the BSP by default. This involves adding an addendum to the kernel recipe to change its configuration. You may either add this append to any layer. The best way to handle it would be using a new layer for all your customization. You can find how to create a new layer on the following document: https://community.nxp.com/docs/DOC-331917 We’ll use a new layer called meta-newlayer for this example. It’s important that this layer has a high priority so the changes from the bbappend are not overridden. The following alternative was suggested by Chris Hossack on the following thread: https://community.nxp.com/thread/376369 First, run the menuconfig tool on the bitbake environment: bitbake linux-imx -c menuconfig Enable the necessary options: Networking Support > Wireless > cfg80211 wireless extensions compatibility Save the configuration and exit. Then run the following bitbake command, which will create a config fragment file that contains the changed made to the default kernel options. bitbake linux-imx -c diffconfig We’ll make an append file that adds the required options. Content of the config fragment: CONFIG_WIRELESS_EXT=y CONFIG_WEXT_CORE=y CONFIG_WEXT_PROC=y CONFIG_WEXT_SPY=y CONFIG_WEXT_PRIV=y CONFIG_CFG80211_WEXT=y CONFIG_LIB80211=y CONFIG_LIB80211_CRYPT_WEP=y CONFIG_LIB80211_CRYPT_CCMP=y CONFIG_LIB80211_CRYPT_TKIP=y # CONFIG_LIB80211_DEBUG is not set CONFIG_HOSTAP=y # CONFIG_HOSTAP_FIRMWARE is not set‍‍‍‍‍‍‍‍‍‍‍‍‍ Since we are appending the kernel layer we need to add the addendum on the same path as that of the original kernel recipe but within our layer and create the append file there. Also add the WF111.cfg file to the linux-imx directory: We would need to copy (and you may rename it as well) to the folder where are will be creating the append recipe for the kernel. Copy: <BSP_RELEASE>/<BUILD_DIR>/tmp/work/<MACHINE>-poky-Linux-gnueabi/linux-imx/<KERNEL_VERSION>/fragment.cfg To: <BSP_RELEASE>/sources/meta-newlayer/recipes-kernel/linux/linux-imx/WF111.cfg You can do so suing the following command: cp <BSP_RELEASE>/<BUILD_DIR>/tmp/work/<MACHINE>-poky-Linux-gnueabi/linux-imx/<KERNEL_VERSION>/fragment.cfg <BSP_RELEASE>/sources/meta-newlayer/recipes-kernel/linux/linux-imx/WF111.cfg‍ (Please note that the file was renamed for ease, but you may use any name for the config fragment) We need to create the bbappend file on the following path (as it must be the same relative path as the original recipe it is appending) <BSP_RELEASE>/sources/meta-newlayer/recipes-kernel/linux/linux-imx_3.14.52.bbappend The linux-imx_3.14.52.bbappend file would contain the following: SRC_URI += "file://WF111.cfg" do_configure_append() { #this is run from #./tmp/work/<MACHINE>-poky-linux-gnueabi/linux-imx/3.14.52-r0/git cat ../*.cfg >> ${B}/.config }‍‍‍‍‍‍ After creating this recipe you should be able to bake any image from the BSP and see the driver there. I tested with the core-minimal-image and found that the files were indeed added to /lib/firmware. $ bitbake core-image-minimal ‍‍‍

In the IMX8MM SDK unfortunately we cannot find any example about of use a GPIO as an input with interrupt. To use a GPIO as input with interrupt we need to keep in mind how the GPIO IRQs works in the ARM Cortex M4. We can find in Table 7-2 (CM4 Interrupt Summary) of IMX8MMRM (IMX8MM Reference Manual) the GPIOs IRQs are divided by two parts: Combined interrupt indication for GPIOn signal 0 throughout 15 Combined interrupt indication for GPIOn signal 16 throughout 31 This basically means, the pines of GPIOn from 0 to 15 are handled by Combined interrupt indication for GPIOn signal 0 throughout 15 and the pines from 16 to 31 are handled by Combined interrupt indication for GPIOn signal 16 throughout 31. In SDK we can find these definitions in: <SDK root>/devices/MIMX8MM6/MIMX8MM6_cm4.h (Remember this is for IM8MM SDK) In this example I will use GPIO5_IO12 (ECSPI2_MISO) as Input with IRQ and GPIO5_IO11 (ECSPI_MOSI) as Output of IMX8MM-EVK. I will connect the Output to the Input and will see the behavior of the IRQ in Rising and Falling edge. For this example I will connect ECSPI2_MOSI (GPIO5_IO11) to ECSPI_MISO (GPIO5_IO12): See the below definitions: #define IN_GPIO GPIO5 This define the GPIO base of the IN pin #define IN_GPIO_PIN 12u This define the pin number (for in) #define IN_IRQ GPIO5_Combined_0_15_IRQn This define the IRQ number (72 in this case) #define GPIO_IRQ_HANDLER GPIO5_Combined_0_15_IRQHandler This is a "pointer" to function that will handle the interrupt #define IN_NAME "IN GPIO5_IO12" This is only a name or description for the pin See below definitions: #define OUT_GPIO GPIO5 This is the GPIO base of OUT pin #define OUT_GPIO_PIN 11u This define the pin number (for out) #define OUT_NAME "OUT GPIO5_IO11" This is only a name or description for the pin Now the below section is the IRQ handler (which was defined before)😞 The GPIO_ClearPinsInterruptFlags(IN_GPIO, 1u << IN_GPIO_PIN); refers to GPIOx_ISR register: For this example, the IRQ Handler will print "IRQ detected ............" in each interrupt. We will create two different GPIOs config, one for Output and other one for Input with IRQ Falling edge: Then configure the GPIOs and IRQ: EnableIRQ refers to enable the 72 IRQ. GPIO_PortEnableInterrupts refers to GPIOx_IMR: Finally, the example put the out GPIO5_IO11 in High state and then in low state many. First the IRQ is configured as Falling edge, then as Rising edge. I will attach the complete source file. To compile it you can use ARMGCC toolchain directly, but I like to use VSCode with MCUXpresso integration. Once, when you have your .bin file (in my case igpio_led_output.bin) you can load to board with UUU tool: In your Linux machine: sudo uuu -b fat_write igpio_led_output.bin mmc 2:1 gpio.bin In U-boot board: u-boot=> fastboot 0 Then, when the .bin file was loaded, you can load to the CORTEX M4 in U-boot whit: u-boot=> fatload mmc 2:1 ${loadaddr} gpio.bin 7076 bytes read in 14 ms (493.2 KiB/s) u-boot=> cp.b 0x80000000 0x7e0000 0x10000 u-boot=> bootaux 0x7e0000 ## No elf image ar address 0x007e0000 ## Starting auxiliary core stack = 0x20020000, pc = 0x1FFE02CD... u-boot=> NOTE: You can load the binary to cortex m4 with Custom bootscripts for practicity. Once the binary loaded in M4 core you should see in seria terminal this logs (Remember GPIO5_IO11 and GPIO5_IO12 must be connected to get the same logs): And the logs when you disconnect the GPIO5_IO11 and GPIO5_IO12 in execution time: 🔴Disconnection (Red color) 🔵Reconnection (Blue color) I hope this can helps. Best regards! Salas.

This is a generic script which flashes a Linux System (U-boot, uImage and root filesystem) into a SD card. Steps: 1. Download the script into a Linux system 2. Make the script executable (chmod +x mk_mx_sd) 3. Run it with '-H' to know its usage. 4. Run the script with real parameters, specifying the paths for U-boot, uImage and the root filesystem as seen above 5. Plug the SD into your target, boot the board and change the corresponding U-boot variables $ IMAGE=/data/BSP/L2.6.35_11.09.01_ER/L2.6.35_11.09.01_ER_images_MX5X $ ./mk_mx_sd -d /dev/sdc \ -u $IMAGE/u-boot-mx53-loco.bin \ -k $IMAGE/uImage \ -r $IMAGE/rootfs 6. In case you only want to flash a single binary (like U-boot), just specify the U-boot parameter (-u)

Getting Started for i.MX53 Quick Start Board Here is a quick overview you can follow to get your very first contact with i.MX53 QSB. Introduction Out of box i.MX53 QSB video booting up Ubuntu Original Video: Out of box i.MX53 QSB video booting up Ubuntu with some demo (GPU and VPU) Original Video: How to load a pre-built image Here, you should have loaded your board with the out-of-box SD card. Next step is create your own SD card with some pre-built image. You can find pre-built image packages from Freescale for Linux look for Linux Binary Demo file Please, go to Timesys wikipage[1] and see how to load a pre-built image. You can use some Freescale image or some Timesys image. Both will work! For loading linux OS you need at least 3 images: bootloader image kernel image root file system image or tarball Bootloader For iMX53QSB the default bootloader provided by Freescale is u-boot.You can build your own image using LTIB following the same procedure from here. Kernel You can build a new uImage (kernel binary image to be loaded by u-boot) using LTIB, and you can follow the instructions from here Root File System Root file system is a set of directories and files that become the system environment. How to Built Your Own Image Take BSP package on Freescale i.MX53 QSB web site. Prepare your computer to LTIB installation, see that you need All Boards LTIB. Transfer all images to the SD Card (it will be placed under <ltib_dir>/rootfs/boot). Configure your u-boot environment variable. Boot your board. In case you want to boot via NFS, please follow the next procedure instead. Take BSP package on Freescale i.MX 53 QSB web site. Prepare your computer to LTIB installation, see that you need @all_boards_ltib Configure your computer to be able to provide NFS service: Configure your TFTP server. Configure your NFS server. Configure your u-boot environment variable. Boot your board. Be aware the kernel command line you set on u-boot variable can configure the display.

The Linux L4.14.98_1.0.0_GA; and SDK2.5 for 8QM/8QXP Post GA, SDK2.5.1 for 7ULP GA3 release are now available. Linux on IMX_SW web page, Overview -> BSP Updates and Releases -> Linux L4.14.98_2.0.0 SDK on https://mcuxpresso.nxp.com Files available: Linux: # Name Description 1 imx-yocto-L4.14.98_2.0.0_ga.zip L4.14.98_2.0.0 for Linux BSP Documentation. Includes Release Notes, User Guide. 2 L4.14.98_2.0.0_ga_images_MX6QPDLSOLOX.zip i.MX 6QuadPlus, i.MX 6Quad, i.MX 6DualPlus, i.MX 6Dual, i.MX 6DualLite, i.MX 6Solo, i.MX 6Solox Linux Binary Demo Files 3 L4.14.98_2.0.0_ga_images_MX6SLLEVK.zip i.MX 6SLL EVK Linux Binary Demo Files 4 L4.14.98_2.0.0_ga_images_MX6UL7D.zip i.MX 6UltraLite EVK, 7Dual SABRESD, 6ULL EVK Linux Binary Demo Files 5 L4.14.98_2.0.0_ga_images_MX7DSABRESD.zip i.MX 7Dual SABRESD Linux Binary Demo Files 6 L4.14.98_2.0.0_ga_images_MX7ULPEVK.zip i.MX 7ULP EVK Linux Binary Demo Files 7 L4.14.98_2.0.0_ga_images_MX8MMEVK.zip i.MX 8MMini EVK Linux Binary Demo Files 8 L4.14.98_2.0.0_ga_images_MX8MQEVK.zip i.MX 8MQuad EVK Linux Binary Demo files 9 L4.14.98_2.0.0_ga_images_MX8QMMEK.zip i.MX 8QMax MEK Linux Binary Demo files 10 L4.14.98_2.0.0_ga_images_MX8QXPMEK.zip i.MX 8QXPlus MEK Linux Binary Demo files 11 imx-scfw-porting-kit-1.2.tar.gz System Controller Firmware (SCFW) porting kit of L4.14.98_2.0.0 12 imx-aacpcodec-4.4.5.tar.gz Linux AAC Plus Codec v4.4.5 13 VivanteVTK-v6.2.4.p4.1.7.8.tgz Vivante Tool Kit v6.2.4.p4.1.7.8 SDK: On https://mcuxpresso.nxp.com/, click the Select Development Board, EVK-MCIMX7ULP//MEK-MIMX8QM/MEK-MIMX-8QX to customize the SDK based on your configuration then download the SDK package. Target board: MX 8 Series MX 8QuadXPlus MEK Board MX 8QuadMax MEK Board MX 8M Quad EVK Board MX 8M Mini EVK Board MX 7 Series MX 7Dual SABRE-SD Board MX 7ULP EVK Board MX 6 Series MX 6QuadPlus SABRE-SD and SABRE-AI Boards MX 6Quad SABRE-SD and SABRE-AI Boards MX 6DualLite SDP SABRE-SD and SABRE-AI Boards MX 6SoloX SABRE-SD and SABRE-AI Boards MX 6UltraLite EVK Board MX 6ULL EVK Board MX 6ULZ EVK Board MX 6SLL EVK Board What’s New/Features: Please consult the Release Notes. Known issues For known issues and more details please consult the Release Notes. More information on changes of Yocto, see: README: https://source.codeaurora.org/external/imx/imx-manifest/tree/README?h=imx-linux-sumo ChangeLog: https://source.codeaurora.org/external/imx/imx-manifest/tree/ChangeLog?h=imx-linux-sumo#

GmSSL is an open source cryptographic toolbox that supports SM2 / SM3 / SM4 / SM9 and other national secret (national commercial password) algorithm, SM2 digital certificate and SM2 certificate based on SSL / TLS secure communication protocol to support the national security hardware password device , To provide in line with the national standard programming interface and command line tools, can be used to build PKI / CA, secure communication, data encryption and other standards in line with national security applications. For more information, please access GmSSL official website http://gmssl.org/english.html. Software environments as the belows: Linux kernel: imx_4.14.98_2.0.0_ga cryptodev: 1.9 HW platform: i.MX6UL, i.MX7D/S, i.MX8M/MM, i.MX8QM/QXP. The patches include the following features: 1, Support SM2/SM9 encryption/decryption/sign/verify/key exchange, RSA encryption/decryption, DSA/ECDSA sign/verify, DH/ECDH key agreement, ECC & DLC & RSA key generation and big number operation and elliptic curve math by CAAM hardware accelerating. 2, run "git apply 0001-Enhance-cryptodev-and-its-engine-in-GmSSL-by-CAAM-s-.patch" under folder sources/poky, and "git apply 0001-Add-public-key-cryptography-operations-in-CAAM-drive.patch" under folder sources/meta-fsl-bsp-release for patch these codes. 3, GmSSL Build command: $ tar zxvf GmSSL-master-iMX.tgz $ cd GmSSL-master-iMX (For i.MX8M/MM, i.MX8QM/QXP) $ source /opt/arm-arch64/environment-setup-aarch64-poky-linux $ ./Configure -DHAVE_CRYPTODEV -DUSE_CRYPTODEV_DIGESTS -DHW_ENDIAN_SWAP --prefix=~/install64 --openssldir=/etc/gmssl --libdir=/usr/lib no-saf no-sdf no-skf no-sof no-zuc -no-ssl3 shared linux-aarch64 $ make $ make install /*image and config file will be installed to folder ~/install64 */ (For i.MX6UL, i.MX7D/S) $ source /opt/arm-arch32/environment-setup-cortexa7hf-neon-poky-linux-gnueabi $ ./Configure -DHAVE_CRYPTODEV -DUSE_CRYPTODEV_DIGESTS --prefix=~/install32 --openssldir=/etc/gmssl --libdir=/usr/lib no-saf no-sdf no-skf no-sof no-zuc -no-ssl3 shared linux-armv4 $ make $ make install /*image and config file will be installed to folder ~/install32 */ 4, How to use GmSSL: copy image gmssl to /usr/bin on i.MX board; copy gmssl libcrypto.so.1.1 and libssl.so.1.1 to /usr/lib on i.MX board; copy folder etc/gmssl to /etc/ on i.MX board. copy test examples (dhtest, dsatest, rsa_test, ecdhtest, ecdsatest, eciestest, sm3test, sms4test, sm2test, sm9test) under GmSSL-master-iMX/test to U disk for running. You can run test examples by the following commands: #insmod /lib/modules/4.14.98-imx_4.14.98_2.0.0_ga+g5d6cbeafb80c/extra/cryptodev.ko #/run/media/sda1/dhtest #/run/media/sda1/dsatest #/run/media/sda1/rsa_test #/run/media/sda1/ecdhtest #/run/media/sda1/ecdsatest #/run/media/sda1/eciestest #/run/media/sda1/sm3test #/run/media/sda1/sms4test #/run/media/sda1/sm2test #/run/media/sda1/sm9test and speed test commands: #gmssl speed sm2 #gmssl genrsa -rand -f4 512 #gmssl speed dsa #gmssl genrsa -rand -f4 1024 #gmssl speed rsa #gmssl genrsa -rand -f4 2048 #gmssl speed ecdsa #gmssl genrsa -rand -f4 3072 #gmssl speed ecdh #gmssl genrsa -rand -f4 4096 ++++++++++++++++++++++++++++ updating at 2019-09-10 +++++++++++++++++++++++++++++++++++++++++++++ 0001-fix-the-bug-which-hash-and-cipher-key-don-t-use-DMA-.patch fix the issue which dismatching on key buffer between crytodev and caam driver. Crytodev uses stack's buffer for key storage and caam driver use it to dma map which cause flush cache failure. The patch need to apply on cryptodev-module in Yocto build. ++++++++++++++++++ updating at 2019-10-14 +++++++++++++++++++++++++++++++++++ This updating is for China C-V2X application. The meta-gmcrypto is Yocto layer which bases on GmSSL and Cryptodev. I add HW SM2 verification by dedicated CAAM job descriptor and enhanced SW SM2 verification by precomputed multiples of generator and ARMv8 assembler language to accelerate point operation. Software environments as the belows: Linux kernel: imx_4.14.98_2.0.0_ga cryptodev: 1.9 HW platform: i.MX8M/MM/MN, i.MX8QM/QXP. How to build: 1, You need to git clone https://gitee.com/zxd2021-imx/meta-gmcrypto.git, and git checkout Linux-4.14.98_2.0.0. Copy meta-gmcrypto to folder (Yocto 4.14.98_2.0.0_ga dir)/sources/ 2, Run DISTRO=fsl-imx-wayland MACHINE=imx8qxpmek source fsl-setup-release.sh -b build-cv2x and add BBLAYERS += " ${BSPDIR}/sources/meta-cv2x " into (Yocto 4.14.98_2.0.0_ga dir)/build-cv2x/conf/bblayers.conf and IMAGE_INSTALL_append += " gmssl-bin " into local.conf 3, Run bitbake fsl-image-validation-imx. 4, You can find cv2x-verify.c under (build dir)/tmp/work/aarch64-poky-linux/cryptodev-tests/1.9-r0/git/tests. It is example for using CAAM cryptdev interface to do C-V2X verification (includes SM2 p256, NIST p256 and brainpoolP256r1). cv2x_benchmark.c under (build dir)/tmp/work/aarch64-poky-linux/gmssl/1.0-r0/gmssl-1.0/test is the benchmark test program of C-V2X verifying. It includes HW, SW and HW+SW(one CPU) verifying for SM2 p256, NIST p256 and brainpoolP256r1. 5, Run the below command on your i.MX8QXP MEK board. modprobe cryptodev ./cv2x_benchmark Note: the udpated GmSSL also support projective coordinates and affine coordinates (CAAM only support affine coordinates). Affine coordinates is used by default. You can call EC_GROUP_set_coordinates() and EC_GROUP_restore_coordinates() to change coordinates and restore default. When you hope to use some EC APIs under expected coordinates, you need to call EC_GROUP_set_coordinates() before EC APIs and EC_GROUP_restore_coordinates() after them. Like the below example: orig_coordinate = EC_GROUP_set_coordinates(EC_PROJECTIVE_COORDINATES); group = EC_GROUP_new_by_curve_name(NID_sm2p256v1); EC_GROUP_restore_coordinates(orig_coordinate); ++++++++++++++++++++++++++++ updating at 2020-11-09 +++++++++++++++++++++++++++++++++++++++++++++ This updating is for Yocto release of Linux 5.4.47_2.2.0. The meta-gmcrypto is Yocto layer which also support c-v2x feature in previous release. Software environments as the belows: Linux kernel: imx_5.4.47_2.2.0 cryptodev: 1.10 HW platform: i.MX6UL, i.MX7D/S, i.MX8M/8M Mini/8M Nano/8M Plus, i.MX8/8X. How to build: 1, You need to git clone https://gitee.com/zxd2021-imx/meta-gmcrypto.git, and git checkout Linux-5.4.47-2.2.0. Copy meta-gmcrypto to folder (Yocto 5.4.47_2.2.0 dir)/sources/ 2, Run DISTRO=fsl-imx-xwayland MACHINE=imx8mmevk source imx-setup-release.sh -b build-imx8mmevk and add BBLAYERS += " ${BSPDIR}/sources/meta-gmcrypto " into (Yocto 5.4.47_2.2.0 dir)/build-imx8mmevk/conf/bblayers.conf and IMAGE_INSTALL_append += " gmssl-bin " into local.conf 3, Run bitbake fsl-image-validation-imx. 4, You can find cv2x-verify.c under (build dir)/tmp/work/aarch64-poky-linux/cryptodev-tests/1.10caam-r0/git/tests. It is example for using CAAM cryptdev interface to do C-V2X verification (includes SM2 p256, NIST p256 and brainpoolP256r1). cv2x_benchmark.c under (build dir)/tmp/work/aarch64-poky-linux/gmssl/1.0-r0/gmssl-1.0/test is the benchmark test program of C-V2X verifying. It includes HW, SW and HW+SW(one CPU) verifying for SM2 p256, NIST p256 and brainpoolP256r1. 5, Run the below command on your i.MX8M Mini evk board. modprobe cryptodev ./cv2x_benchmark gmssl speed sm2 gmssl speed dsa gmssl speed rsa gmssl speed ecdsa gmssl speed ecdh gmssl genrsa -rand -f4 -engine cryptodev 4096 Note: 1, the udpated GmSSL also support projective coordinates and affine coordinates (CAAM only support affine coordinates). Affine coordinates is used by default. You can call EC_GROUP_set_coordinates() and EC_GROUP_restore_coordinates() to change coordinates and restore default. When you hope to use some EC APIs under expected coordinates, you need to call EC_GROUP_set_coordinates() before EC APIs and EC_GROUP_restore_coordinates() after them. Like the below example: orig_coordinate = EC_GROUP_set_coordinates(EC_PROJECTIVE_COORDINATES); group = EC_GROUP_new_by_curve_name(NID_sm2p256v1); EC_GROUP_restore_coordinates(orig_coordinate); 2, Yocto Zeus integrates openssl 1.1.1g, so I change library name of gmssl from libcrypto to libgmcrypto and from libssl to libgmssl to avoid name confliction with openssl 1.1.1g (lib name are also libcrypto.so.1.1 and libssl.so.1.1). You should use -lgmcrypto and -lgmssl when you link gmssl library instead of -lcrypto and -lssl. +++++++++++++++++++++++ updating at 2021-02-08 ++++++++++++++++++++++++++++ This updating is for Yocto release of Linux 5.4.70_2.3.0. The package meta-gmcrypto is Yocto layer which also support c-v2x feature in previous release. You need to git clone https://gitee.com/zxd2021-imx/meta-gmcrypto.git, and git checkout Linux-5.4.70-2.3.0. +++++++++++++++++++++++ updating for Linux-5.10.52-2.1.0 +++++++++++++++++++++++ This updating is for Yocto release of Linux 5.10.52_2.1.0. The package meta-gmcrypto is Yocto layer which also support c-v2x feature in previous release. 1, You need to git clone https://gitee.com/zxd2021-imx/meta-gmcrypto.git, and git checkout Linux-5.10.52-2.1.0. Copy meta-gmcrypto to folder (Yocto 5.10.52_2.1.0 dir)/sources/. 2, Run DISTRO=fsl-imx-xwayland MACHINE=imx8mmevk source imx-setup-release.sh -b build-imx8mmevk and add BBLAYERS += " ${BSPDIR}/sources/meta-gmcrypto " into (Yocto 5.10.52_2.1.0 dir)/build-imx8mmevk/conf/bblayers.conf and IMAGE_INSTALL_append += " gmssl-bin " into local.conf 3, Run bitbake imx-image-multimedia. 4, Run the below command on your i.MX8M Mini EVK board. modprobe cryptodev gmssl speed sm2 gmssl genrsa -rand -f4 -engine cryptodev 512 gmssl speed dsa gmssl genrsa -rand -f4 -engine cryptodev 1024 gmssl speed rsa gmssl genrsa -rand -f4 -engine cryptodev 2048 gmssl speed ecdsa gmssl genrsa -rand -f4 -engine cryptodev 3072 gmssl speed ecdh gmssl genrsa -rand -f4 -engine cryptodev 4096 gmssl speed -evp sha256 -engine cryptodev -elapsed gmssl speed -evp aes-128-cbc -engine cryptodev -elapsed gmssl speed -evp aes-128-ecb -engine cryptodev -elapsed gmssl speed -evp aes-128-cfb -engine cryptodev -elapsed gmssl speed -evp aes-128-ofb -engine cryptodev -elapsed gmssl speed -evp des-ede3 -engine cryptodev -elapsed gmssl speed -evp des-cbc -engine cryptodev -elapsed gmssl speed -evp des-ede3-cfb -engine cryptodev -elapsed +++++++++++++++++++++++ updating for Linux-5.15.71-2.2.0 +++++++++++++++++++++++ This updating is for Yocto release of Linux 5.15.71-2.2.0. The package meta-gmcrypto is Yocto layer which also support c-v2x feature in previous release. 1, You need to git clone https://gitee.com/zxd2021-imx/meta-gmcrypto.git, and git checkout Linux-5.15.71-2.2.0. Copy meta-gmcrypto to folder (Yocto 5.15.71-2.2.0 dir)/sources/. 2, Run DISTRO=fsl-imx-xwayland MACHINE=imx8mmevk source imx-setup-release.sh -b build-imx8mmevk and add BBLAYERS += " ${BSPDIR}/sources/meta-gmcrypto " into (Yocto 5.15.71-2.2.0 dir)/build-imx8mmevk/conf/bblayers.conf and IMAGE_INSTALL:append = " gmssl-bin " into local.conf 3, Run bitbake imx-image-multimedia. 4, Run the below command on your i.MX8M Mini EVK board. modprobe cryptodev gmssl speed sm2 gmssl genrsa -rand -f4 -engine cryptodev 512 gmssl speed dsa gmssl genrsa -rand -f4 -engine cryptodev 1024 gmssl speed rsa gmssl genrsa -rand -f4 -engine cryptodev 2048 gmssl speed ecdsa gmssl genrsa -rand -f4 -engine cryptodev 3072 gmssl speed ecdh gmssl genrsa -rand -f4 -engine cryptodev 4096 gmssl speed -evp sha256 -engine cryptodev -elapsed gmssl speed -evp aes-128-cbc -engine cryptodev -elapsed gmssl speed -evp aes-128-ecb -engine cryptodev -elapsed gmssl speed -evp aes-128-cfb -engine cryptodev -elapsed gmssl speed -evp aes-128-ofb -engine cryptodev -elapsed gmssl speed -evp des-ede3 -engine cryptodev -elapsed gmssl speed -evp des-cbc -engine cryptodev -elapsed gmssl speed -evp des-ede3-cfb -engine cryptodev -elapsed +++++++++++++++++++++++ Updating for Linux-6.1.55-2.2.0 +++++++++++++++++++++++ This updating is new GmSSL 3.1.1 and Yocto release of Linux 6.1.55-2.2.0. 主要特性超轻量：GmSSL 3 大幅度降低了内存需求和二进制代码体积，不依赖动态内存，可以用于无操作系统的低功耗嵌入式环境(MCU、SOC等)，开发者也可以更容易地将国密算法和SSL协议嵌入到现有的项目中。更合规：GmSSL 3 可以配置为仅包含国密算法和国密协议(TLCP协议)，依赖GmSSL 的密码应用更容易满足密码产品型号检测的要求，避免由于混杂非国密算法、不安全算法等导致的安全问题和合规问题。更安全：TLS 1.3在安全性和通信延迟上相对之前的TLS协议有巨大的提升，GmSSL 3 支持TLS 1.3协议和RFC 8998的国密套件。GmSSL 3 默认支持密钥的加密保护，提升了密码算法的抗侧信道攻击能力。跨平台：GmSSL 3 更容易跨平台，构建系统不再依赖Perl，默认的CMake构建系统可以容易地和Visual Studio、Android NDK等默认编译工具配合使用，开发者也可以手工编写Makefile在特殊环境中编译、剪裁。 More information, please refer to Readme Recipe file is the attached gmssl_3.1.1.bb.tar.gz

How to connect i.MX51 and Ubuntu using USB cable: i.MX51 Side Plug in USB cable. getprop debug.adb.usb - Shows that debug.adb.usb are not set by default setprop persist.service.adb.enable 0 -> disable adb setprop debug.adb.usb 1 - adb will be through USB (for Ethernet, use setprop debug.adb.usb 0) setprop persist.service.adb.enable 1 -> enable adb Example: # getprop debug.adb.usb # # # setprop persist.service.adb.enable 0 disabling adb # adb_release android_usb gadget: high speed config #1: android setprop debug.adb.usb 1 # # setprop persist.service.adb.enable 1 enabling adb # adb_open adb_release adb_open android_usb gadget: high speed config #1: android # Ubuntu Side On Ubuntu side, the most important tip is regarding permission. ADB server MUST be started with root right. Example of right mistake: $ sudo <AND_SDK_DIR>/android-sdk-linux_86/tools/adb devices List of devices attached ???????????? no permissions $ sudo <AND_SDK_DIR>/android-sdk-linux_86/tools/adb shell error: insufficient permissions for device How to proceed to get permission: $ sudo <AND_SDK_DIR>/android-sdk-linux_86/tools/adb kill-server $ sudo <AND_SDK_DIR>/android-sdk-linux_86/tools/adb start-server * daemon not running. starting it now * * daemon started successfully * $ sudo <AND_SDK_DIR>/android-sdk-linux_86/tools/adb devices List of devices attached 0123456789ABCDEF device $ sudo <AND_SDK_DIR>/android-sdk-linux_86/tools/adb shell ADB over Ethernet/Wi-Fi To make ADB work in i.MX51 using TCP: In your host machine: - Install Android SDK - export ADBHOST=BOARD_IP (setenv ADBHOST=xxx.xxx.xxx.xxx) - adb kill-server In your board: - make sure that ro.secure property is *not* set when the adbd daemon is launched, so edit the file default.prop - make sure that /dev/android_adb or /dev/android do *not* exist - stop adbd - start adbd Now you will be able to list the device: hamilton@saygon:/opt/work/androidsdk/android-sdk-linux_86/tools$ ./adb kill-server hamilton@saygon:/opt/work/androidsdk/android-sdk-linux_86/tools$ ./adb devices * daemon not running. starting it now * * daemon started successfully * List of devices attached emulator-5554 device

The following steps allow you to build a bootable image in two different ways and also how to enable and use SCFW debug monitor. There are four files needed to generate a bootable image: ├── bl31.bin ├── u-boot.bin ├── mx8qm-ahab-container.img └── scfw_tcm.bin There are some ways to get the four files, one way is with Yocto and other way is with stand alone build. Get the four files needed to generate a bootable image with Yocto. To get the four files needed with Yocto, you have to build an i.MX 8QuadMax image, maybe some steps are not necessary. 1.-Host packages. sudo apt-get install gawk wget git-core diffstat unzip texinfo gcc-multilib \ build-essential chrpath socat cpio python python3 python3-pip python3-pexpect \ xz-utils debianutils iputils-ping python3-git python3-jinja2 libegl1-mesa \ libsdl1.2-dev pylint3 xterm rsync curl 2.-Setting up the Repo utility. mkdir ~/bin (this step may not be needed if the bin folder already exists) curl https://storage.googleapis.com/git-repo-downloads/repo > ~/bin/repo chmod a+x ~/bin/repo export PATH=~/bin:$PATH 3.-Yocto Project Setup. git config --global user.name "Your Name" git config --global user.email "Your Email" git config --list mkdir imx-yocto-bsp cd imx-yocto-bsp repo init -u https://source.codeaurora.org/external/imx/imx-manifest -b imx-linux-hardknott -m imx-5.10.72-2.2.0.xml repo sync 4.-Build configurations. DISTRO=fsl-imx-xwayland MACHINE=imx8qmmek source imx-setup-release.sh -b imx8qmmek 5.-Building an image. bitbake imx-image-full The four files needed to generate a bootable image are in: ~/imx-yocto-bsp/imx8qmmek/tmp/deploy/images/imx8qmmek/imx-boot-tools Note: With Yocto you can not enable the SCFW debug monitor. For more information see the i.MX Yocto Project User's Guide. Get the four files needed to generate a bootable image with stand alone build. To build all required binaries from source you can use standard aarch64 Linux toolchain, on Ubuntu 20.04 LTS: sudo apt-get install gcc-aarch64-linux-gnu Get the bl31.bin file - Arm Trust Firmware. Download source from: git clone -b lf-5.10.72-2.2.0 https://source.codeaurora.org/external/imx/imx-atf Build: cd imx-atf make clean PLAT=imx8qm CROSS_COMPILE=aarch64-linux-gnu- make PLAT=imx8qm CROSS_COMPILE=aarch64-linux-gnu- bl31 The compiled bl31.bin location: build/imx8qm/release/bl31.bin Get the u-boot.bin file - u-boot. Download source from: git clone -b lf-5.10.72-2.2.0 https://source.codeaurora.org/external/imx/uboot-imx Build: cd uboot-imx make ARCH=arm CROSS_COMPILE=aarch64-linux-gnu- imx8qm_mek_defconfig make ARCH=arm CROSS_COMPILE=aarch64-linux-gnu- The compiled u-boot.bin location: ./u-boot.bin Get the mx8qmb0-ahab-container.img file - iMX Seco. wget https://www.nxp.com/lgfiles/NMG/MAD/YOCTO/imx-seco-3.7.4.bin chmod +x imx-seco-3.7.4.bin ./imx-seco-3.7.4.bin --auto-accept The mx8qmb0-ahab-container.img file location: imx-seco-3.7.4/firmware/seco/mx8qmb0-ahab-container.img Get the scfw_tcm.bin file - SCFW. Download and Install a GNU Toolchain. Look at the packages/imx-scfw-porting-kit-1.7.4/doc/pdf/ , chapter Porting Guide, sub-chapter Tool Chain to check which GNU Toolchain version corresponds to the SCFW you are building. The imx-scfw-porting-kit-1.7.4 version uses the GNU Toolchain version gcc-arm-none-eabi-8-2018-q4-major . It is recommended to install toolchain in “opt” folder: cd /opt sudo wget https://developer.arm.com/-/media/Files/downloads/gnu-rm/8-2018q4/gcc-arm-none-eabi-8-2018-q4-major-linux.tar.bz2 sudo tar xjf gcc-arm-none-eabi-8-2018-q4-major-linux.tar.bz2 Download and Install a Arm GCC toolchain. It is recommended to install toolchain in “opt” folder: sudo wget https://releases.linaro.org/components/toolchain/binaries/7.3-2018.05/aarch64-linux-gnu/gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu.tar.xz sudo tar -Jxvf gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu.tar.xz After installing the toolchain, set up the environment variable relevant for building. export ARCH=arm CROSS_COMPILE=/opt/gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu/bin/aarch64-linux-gnu- export TOOLS=/opt Build the scfw_tcm.bin file. cd ~ wget https://www.nxp.com/lgfiles/NMG/MAD/YOCTO/imx-scfw-porting-kit-1.7.4.bin chmod +x imx-scfw-porting-kit-1.7.4.bin ./imx-scfw-porting-kit-1.7.4.bin --auto-accept cd imx-scfw-porting-kit-1.7.4/src Extract the desired scfw porting kit: tar -xvf scfw_export_mx8qm_b0.tar.gz cd scfw_export_mx8qm_b0/ Build without debug monitor: make clean make qm B=mek R=B0 Build with debug monitor: make clean make qm B=mek D=1 M=1 R=B0 DDR_CON=imx8qm_dcd_1.6GHz The scfw_tcm.bin file location: build_mx8qm_b0/scfw_tcm.bin Generate the bootable image. Once you have the four files needed to generate a bootable image, use imx-mkimage tool. Download source from: git clone -b lf-5.10.72-2.2.0 https://source.codeaurora.org/external/imx/imx-mkimage Copy the four binaries to iMX8QM folder. You have to rename some files. If you got the four binaries with Yocto. cp ~/imx-yocto-bsp/imx8qmmek/tmp/deploy/images/imx8qmmek/imx-boot-tools/bl31-imx8qm.bin ~/imx-mkimage/iMX8QM/bl31.bin cp ~/imx-yocto-bsp/imx8qmmek/tmp/deploy/images/imx8qmmek/imx-boot-tools/u-boot-imx8qmmek.bin-sd ~/imx-mkimage/iMX8QM/u-boot.bin cp ~/imx-yocto-bsp/imx8qmmek/tmp/deploy/images/imx8qmmek/imx-boot-tools/mx8qmb0-ahab-container.img ~/imx-mkimage/iMX8QM cp ~/imx-yocto-bsp/imx8qmmek/tmp/deploy/images/imx8qmmek/imx-boot-tools/mx8qm-mek-scfw-tcm.bin ~/imx-mkimage/iMX8QM/scfw_tcm.bin If you got the four binaries with stand alone build. cp ~/imx-atf/build/imx8qm/release/bl31.bin ~/imx-mkimage/iMX8QM cp ~/uboot-imx/u-boot.bin ~/imx-mkimage/iMX8QM cp ~/imx-seco-3.7.4/firmware/seco/mx8qmb0-ahab-container.img ~/imx-mkimage/iMX8QM cp ~/imx-scfw-porting-kit-1.7.4/src/scfw_export_mx8qm_b0/build_mx8qm_b0/scfw_tcm.bin ~/imx-mkimage/iMX8QM Build the bootable image. cd ~/imx-mkimage make SOC=iMX8QM flash The compiled file is flash.bin and its location is: iMX8QM/flash.bin Flash the bootable image. To flash the bootable image follow the next steps: -Copy the flash.bin and uuu.exe in a folder. -Change SW2 on the base board to 000100 (from MSB to LSB, 1-ON and 0-OFF) to boot from the Serial Downloader. -Run the following command in Command Prompt: uuu.exe -b sd flash.bin -Power on the MEK CPU board. SCFW debug monitor. If the SCFW is compiled using the M=1 option (default is M=0) then it will include a debug monitor. This can be used to R/W memory or registers, R/W power state, and dump some resource manager state. Production SCFW should never have the monitor enabled (M=0, the default)! The debug monitor allows command-line interaction via the SCU UART. Inclusion of the debug monitor affects SCFW timing and therefore should never be deployed in a product! Note the terminal needs to be in a mode that sends CR or LF for a new line (not CR+LF). The following commands are supported: Command Description exit exit the debug monitor quit exit the debug monitor reset [mode] request reset with mode (default = board) reboot partition [type] request partition reboot with type (default = cold) md.b address [count] display count bytes at address md.w address [count] display count words at address md[.l] address [count] display count long-words at address mm.b address value modify byte at address mm.w address value modify word at address mm[.l] address value modify long-word at address ai.r ss sel addr read analog interface (AI) register ai.w ss sel addr data write analog interface (AI) register fuse.r word read OTP fuse word fuse.w word value write value to OTP fuse word dump rm dump all the resource manager (RM) info dump rm part [part] dump all partition info for part (default = all) dump rm rsrc [part] dump all resource info for part (default = all) dump rm mem [part] dump all memory info for part (default = all) dump rm pad [part] dump all pad info for part (default = all) power.r [resource] read/get power mode of resource (default = all) power.w resource mode write/set power mode of resource to mode (off, stby, lp, on) info display SCFW/SoC info like unique ID, etc. seco lifecycle change send SECO lifecycle update command (change) to SECO seco info display SECO info like Lifecycle, SNVS state, etc. seco debug dump SECO debug log seco events dump SECO event log seco commit commit SRK and/or SECO FW version update pmic.r id reg read pmic register pmic.w id reg val write pmic register pmic.l id list pmic info (rail voltages, etc) Resource and subsystem (ss) arguments are specified by name. All numeric arguments are decimal unless prefixed with 0x (for hex) or 0 (for octal). Testing SCFW debug monitor to display count long-words at address on Linux side and on SCU side. -Change SW2 on the base board to 001100 (from MSB to LSB, 1-ON and 0-OFF) to boot from the SD card. -Power on the MEK CPU board. -Open Tera Term and you will see: Hello from SCU (Build 5263, Commit 9b3d006e, Aug 20 2021 12:20:10) DDR frequency = 1596000000 ROM boot time = 262368 usec Boot time = 24583 usec Banner = 10 usec Init = 9038 usec Config = 3232 usec DDR = 2677 usec SConfig = 444 usec Prep = 5039 usec *** Debug Monitor *** >$ -Run the following commands: power.r power.w db on power.w dblogic on power.w mu_1a on -Example reading on Linux side: md.l 0x5d1c0000 10 -You will see: >$ md.l 0x5d1c0000 10 5d1c0000: 00000000 00000000 00000000 00000000 5d1c0010: 00010201 23c34600 d63fdb21 00000000 5d1c0020: 00f00200 18000000 -Example reading on SCU side: md.l 0x41cac080 10 -You will see: >$ md.l 0x41cac080 10 41cac080: 00000000 00000000 00000000 00000000 41cac090: 0d070201 ff0001f1 ffff8000 ffff00fb 41cac0a0: 00f00000 18000000 For more information see the System Controller Firmware Porting Guide.

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