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imx6 sabrelite yocto fsl-image-gui and hdmi

Question asked by varsmolta on Mar 11, 2013
Latest reply on Oct 1, 2014 by Paul lee

I built the fsl-image-gui yocto image from the directions here for the sabrelite board:

https://community.freescale.com/docs/DOC-94024

 

I am able to bring this up on my i.mx6 sabrelite board. However, I don't see anything on my hdmi display. The display just says "No Signal". According to the startup log, (see below), Xserver has started. So I am hoping to see something on the display. Reason I want the display is to use a usb camera and opencv for face tracking applications.

 

I took a look at the bootargs argument in u-boot environment variable(see below) and see no mention of video=mxcfb0:dev=hdmi. Shouldn't they be there? Also, the boot.scr script is missing but it instead uses a file called imx6q-sabrelite.dtb to boot. Is this where the bootagrs for setting the video output device is located? How do I edit this file?

 

Much appreciate the help!

 

MX6QSABRELITE U-Boot > print

baudrate=115200

boot_fdt=try

bootcmd=mmc dev ${mmcdev};mmc dev ${mmcdev}; if mmc rescan; then if run loadbootscript; then run bootscript; else if run loaduimage; then run mmcboot; else run netboot; fi; fi; else run netboot; fi

bootdelay=1

bootscript=echo Running bootscript from mmc ...; source

console=ttymxc1

ethact=FEC

ethprime=FEC

fdt_addr=0x11000000

fdt_file=imx6q-sabrelite.dtb

fdt_high=0xffffffff

initrd_high=0xffffffff

ip_dyn=yes

loadaddr=0x12000000

loadbootscript=fatload mmc ${mmcdev}:${mmcpart} ${loadaddr} ${script};

loadfdt=fatload mmc ${mmcdev}:${mmcpart} ${fdt_addr} ${fdt_file}

loaduimage=fatload mmc ${mmcdev}:${mmcpart} ${loadaddr} ${uimage}

mmcargs=setenv bootargs console=${console},${baudrate} root=${mmcroot}

mmcboot=echo Booting from mmc ...; run mmcargs; if test ${boot_fdt} = yes || test ${boot_fdt} = try; then if run loadfdt; then bootm ${loadaddr} - ${fdt_addr}; else if test ${boot_fdt} = try; then bootm; else echo WARN: Cannot load the DT; fi; fi; else bootm; fi;

mmcdev=0

mmcpart=1

mmcroot=/dev/mmcblk0p2 rootwait rw

netargs=setenv bootargs console=${console},${baudrate} root=/dev/nfs ip=dhcp nfsroot=${serverip}:${nfsroot},v3,tcp

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} ${uimage}; if test ${boot_fdt} = yes || test ${boot_fdt} = try; then if ${get_cmd} ${fdt_addr} ${fdt_file}; then bootm ${loadaddr} - ${fdt_addr}; else if test ${boot_fdt} = try; then bootm; else echo WARN: Cannot load the DT; fi; fi; else bootm; fi;

script=boot.scr

stderr=serial

stdin=serial

stdout=serial

uimage=uImage

 

 

 

Below is the startup boot log. As you can see, Xserver is starting:

U-Boot 2012.10-00994-g7e6c682 (Mar 11 2013 - 10:49:50)

 

 

CPU:   Freescale i.MX6Q rev1.0 at 792 MHz

Reset cause: POR

Board: MX6Q-Sabre Lite

DRAM:  1 GiB

WARNING: Caches not enabled

MMC:   FSL_SDHC: 0, FSL_SDHC: 1

*** Warning - bad CRC, using default environment

 

 

In:    serial

Out:   serial

Err:   serial

Net:   FEC [PRIME]

Warning: failed to set MAC address

 

 

Hit any key to stop autoboot:  0

mmc0 is current device

mmc0 is current device

reading boot.scr

 

 

** Unable to read "boot.scr" from mmc 0:1 **

reading uImage

 

 

3864820 bytes read

Booting from mmc ...

reading imx6q-sabrelite.dtb

 

 

** Unable to read "imx6q-sabrelite.dtb" from mmc 0:1 **

## Booting kernel from Legacy Image at 12000000 ...

   Image Name:   Linux-3.0.35-2026-geaaf30e-12.09

   Image Type:   ARM Linux Kernel Image (uncompressed)

   Data Size:    3864756 Bytes = 3.7 MiB

   Load Address: 10008000

   Entry Point:  10008000

   Verifying Checksum ... OK

   Loading Kernel Image ... OK

OK

 

 

Starting kernel ...

 

 

Uncompressing Linux... done, booting the kernel.

Linux version 3.0.35-2026-geaaf30e-12.09.01+yocto+g0596856 (ashwin@ashwin1) (gcc version 4.7.2 (GCC) ) #1 SMP PREEMPT Sun Mar 10 19:43:33 EDT 2013

CPU: ARMv7 Processor [412fc09a] revision 10 (ARMv7), cr=10c53c7d

CPU: VIPT nonaliasing data cache, VIPT aliasing instruction cache

Machine: Freescale i.MX 6Quad Sabre-Lite Board

Memory policy: ECC disabled, Data cache writealloc

CPU identified as i.MX6Q, silicon rev 1.0

PERCPU: Embedded 7 pages/cpu @8c008000 s5440 r8192 d15040 u32768

Built 1 zonelists in Zone order, mobility grouping on.  Total pages: 227328

Kernel command line: console=ttymxc1,115200 root=/dev/mmcblk0p2 rootwait rw

PID hash table entries: 4096 (order: 2, 16384 bytes)

Dentry cache hash table entries: 131072 (order: 7, 524288 bytes)

Inode-cache hash table entries: 65536 (order: 6, 262144 bytes)

Memory: 640MB 256MB = 896MB total

Memory: 900588k/900588k available, 147988k reserved, 0K highmem

Virtual kernel memory layout:

    vector  : 0xffff0000 - 0xffff1000   (   4 kB)

    fixmap  : 0xfff00000 - 0xfffe0000   ( 896 kB)

    DMA     : 0xf4600000 - 0xffe00000   ( 184 MB)

    vmalloc : 0xc0800000 - 0xf2000000   ( 792 MB)

    lowmem  : 0x80000000 - 0xc0000000   (1024 MB)

    pkmap   : 0x7fe00000 - 0x80000000   (   2 MB)

    modules : 0x7f000000 - 0x7fe00000   (  14 MB)

      .init : 0x80008000 - 0x8003a000   ( 200 kB)

      .text : 0x8003a000 - 0x806f43e0   (6889 kB)

      .data : 0x806f6000 - 0x8074b220   ( 341 kB)

       .bss : 0x8074b244 - 0x807973e4   ( 305 kB)

SLUB: Genslabs=13, HWalign=32, Order=0-3, MinObjects=0, CPUs=4, Nodes=1

Preemptible hierarchical RCU implementation.

NR_IRQS:496

MXC GPIO hardware

sched_clock: 32 bits at 6MHz, resolution 166ns, wraps every 715827ms

MXC_Early serial console at MMIO 0x21e8000 (options '115200')

bootconsole [ttymxc1] enabled

Console: colour dummy device 80x30

Calibrating delay loop... 1581.05 BogoMIPS (lpj=7905280)

pid_max: default: 32768 minimum: 301

Mount-cache hash table entries: 512

CPU: Testing write buffer coherency: ok

hw perfevents: enabled with ARMv7 Cortex-A9 PMU driver, 7 counters available

CPU1: Booted secondary processor

CPU2: Booted secondary processor

CPU3: Booted secondary processor

Brought up 4 CPUs

SMP: Total of 4 processors activated (6324.22 BogoMIPS).

devtmpfs: initialized

print_constraints: dummy:

NET: Registered protocol family 16

print_constraints: vddpu: 725 <--> 1300 mV at 1100 mV fast normal

print_constraints: vddcore: 725 <--> 1300 mV at 1100 mV fast normal

print_constraints: vddsoc: 725 <--> 1300 mV at 1200 mV fast normal

print_constraints: vdd2p5: 2000 <--> 2775 mV at 2400 mV fast normal

print_constraints: vdd1p1: 800 <--> 1400 mV at 1100 mV fast normal

print_constraints: vdd3p0: 2800 <--> 3150 mV at 3000 mV fast normal

------------ Board type Sabre Lite

Flexcan NXP tja1040

hw-breakpoint: found 6 breakpoint and 1 watchpoint registers.

hw-breakpoint: 1 breakpoint(s) reserved for watchpoint single-step.

hw-breakpoint: maximum watchpoint size is 4 bytes.

L310 cache controller enabled

l2x0: 16 ways, CACHE_ID 0x410000c7, AUX_CTRL 0x02070000, Cache size: 1048576 B

IMX usb wakeup probe

bio: create slab <bio-0> at 0

print_constraints: VDDA: 2500 mV

print_constraints: VDDIO: 3300 mV

machine_constraints_voltage: VDDD: unsupportable voltage constraints

reg-fixed-voltage reg-fixed-voltage.2: Failed to register regulator: -22

reg-fixed-voltage: probe of reg-fixed-voltage.2 failed with error -22

print_constraints: vmmc: 3300 mV

vgaarb: loaded

SCSI subsystem initialized

spi_imx imx6q-ecspi.0: probed

usbcore: registered new interface driver usbfs

usbcore: registered new interface driver hub

usbcore: registered new device driver usb

Freescale USB OTG Driver loaded, $Revision: 1.55 $

add wake up source irq 75

imx-ipuv3 imx-ipuv3.0: IPU DMFC NORMAL mode: 1(0~1), 5B(4,5), 5F(6,7)

imx-ipuv3 imx-ipuv3.1: IPU DMFC NORMAL mode: 1(0~1), 5B(4,5), 5F(6,7)

mxc_mipi_csi2 mxc_mipi_csi2: i.MX MIPI CSI2 driver probed

mxc_mipi_csi2 mxc_mipi_csi2: i.MX MIPI CSI2 dphy version is 0x3130302a

MIPI CSI2 driver module loaded

Advanced Linux Sound Architecture Driver Version 1.0.24.

Bluetooth: Core ver 2.16

NET: Registered protocol family 31

Bluetooth: HCI device and connection manager initialized

Bluetooth: HCI socket layer initialized

Bluetooth: L2CAP socket layer initialized

Bluetooth: SCO socket layer initialized

cfg80211: Calling CRDA to update world regulatory domain

i2c-core: driver [max17135] using legacy suspend method

i2c-core: driver [max17135] using legacy resume method

Switching to clocksource mxc_timer1

NET: Registered protocol family 2

IP route cache hash table entries: 32768 (order: 5, 131072 bytes)

TCP established hash table entries: 131072 (order: 8, 1048576 bytes)

TCP bind hash table entries: 65536 (order: 7, 786432 bytes)

TCP: Hash tables configured (established 131072 bind 65536)

TCP reno registered

UDP hash table entries: 512 (order: 2, 16384 bytes)

UDP-Lite hash table entries: 512 (order: 2, 16384 bytes)

NET: Registered protocol family 1

RPC: Registered named UNIX socket transport module.

RPC: Registered udp transport module.

RPC: Registered tcp transport module.

RPC: Registered tcp NFSv4.1 backchannel transport module.

Static Power Management for Freescale i.MX6

wait mode is enabled for i.MX6

cpaddr = c0880000 suspend_iram_base=c08fc000

PM driver module loaded

IMX PCIe port: link down!

IMX usb wakeup probe

i.MXC CPU frequency driver

JFFS2 version 2.2. (NAND) �© 2001-2006 Red Hat, Inc.

msgmni has been set to 1758

alg: No test for stdrng (krng)

io scheduler noop registered

io scheduler deadline registered

io scheduler cfq registered (default)

MIPI DSI driver module loaded

mxc_sdc_fb mxc_sdc_fb.0: register mxc display driver ldb

_regulator_get: get() with no identifier

imx-ipuv3 imx-ipuv3.1: IPU DMFC DP HIGH RESOLUTION: 1(0,1), 5B(2~5), 5F(6,7)

Console: switching to colour frame buffer device 128x48

mxc_sdc_fb mxc_sdc_fb.1: register mxc display driver lcd

mxc_sdc_fb mxc_sdc_fb.2: register mxc display driver ldb

mxc_sdc_fb mxc_sdc_fb.3: register mxc display driver ldb

mxc_sdc_fb mxc_sdc_fb.3: ipu1-di1 already in use

mxc_sdc_fb: probe of mxc_sdc_fb.3 failed with error -16

imx-sdma imx-sdma: loaded firmware 1.1

imx-sdma imx-sdma: initialized

Serial: IMX driver

imx-uart.0: ttymxc0 at MMIO 0x2020000 (irq = 58) is a IMX

imx-uart.1: ttymxc1 at MMIO 0x21e8000 (irq = 59) is a IMX

old_ufcr=a81 new_ufcr=b01, old_ucr2=4027 new_ucr2=4027, old_ubir=f num=1f7, old_ubmr=15b denom=c34

clk=80000000 div=7 num=504 denom=3125 baud=115200

console [ttymxc1] enabled, bootconsole disabled

console [ttymxc1] enabled, bootconsole disabled

loop: module loaded

Can't recover from RESET HBA!

No sata disk.

m25p80 spi0.0: sst25vf016b (2048 Kbytes)

Creating 3 MTD partitions on "m25p80":

0x000000000000-0x0000000c0000 : "bootloader"

0x0000000c0000-0x0000000c2000 : "ubparams"

0x0000000c2000-0x000000200000 : "unused"

vcan: Virtual CAN interface driver

CAN device driver interface

flexcan netdevice driver

flexcan imx6q-flexcan.0: device registered (reg_base=c09b8000, irq=142)

FEC Ethernet Driver

fec_enet_mii_bus: probed

tun: Universal TUN/TAP device driver, 1.6

tun: (C) 1999-2004 Max Krasnyansky <maxk@qualcomm.com>

ehci_hcd: USB 2.0 'Enhanced' Host Controller (EHCI) Driver

fsl-ehci fsl-ehci.0: Freescale On-Chip EHCI Host Controller

fsl-ehci fsl-ehci.0: new USB bus registered, assigned bus number 1

fsl-ehci fsl-ehci.0: irq 75, io base 0x02184000

fsl-ehci fsl-ehci.0: USB 2.0 started, EHCI 1.00

hub 1-0:1.0: USB hub found

hub 1-0:1.0: 1 port detected

add wake up source irq 72

fsl-ehci fsl-ehci.1: Freescale On-Chip EHCI Host Controller

fsl-ehci fsl-ehci.1: new USB bus registered, assigned bus number 2

fsl-ehci fsl-ehci.1: irq 72, io base 0x02184200

fsl-ehci fsl-ehci.1: USB 2.0 started, EHCI 1.00

hub 2-0:1.0: USB hub found

hub 2-0:1.0: 1 port detected

usbcore: registered new interface driver cdc_acm

cdc_acm: USB Abstract Control Model driver for USB modems and ISDN adapters

Initializing USB Mass Storage driver...

usbcore: registered new interface driver usb-storage

USB Mass Storage support registered.

usbcore: registered new interface driver usbserial

usbserial: USB Serial Driver core

USB Serial support registered for GSM modem (1-port)

usbcore: registered new interface driver option

option: v0.7.2:USB Driver for GSM modems

USB Serial support registered for Qualcomm USB modem

usbcore: registered new interface driver qcserial

ARC USBOTG Device Controller driver (1 August 2005)

mousedev: PS/2 mouse device common for all mice

input: gpio-keys as /devices/platform/gpio-keys/input/input0

tsc2004_prepare_for_reading: write_cmd -5

tsc2004: probe of 2-0048 failed with error -5

egalax_ts 2-0004: egalax_ts: failed to read firmware version

egalax_ts: probe of 2-0004 failed with error -5

ft5x06-ts 2-0038: ft5x06: Could not detect touch screen.

ft5x06: Mar 10 2013

i2c-core: driver [isl29023] using legacy suspend method

i2c-core: driver [isl29023] using legacy resume method

snvs_rtc snvs_rtc.0: rtc core: registered snvs_rtc as rtc0

i2c /dev entries driver

Linux video capture interface: v2.00

mxc_v4l2_output mxc_v4l2_output.0: V4L2 device registered as video16

mxc_v4l2_output mxc_v4l2_output.0: V4L2 device registered as video17

mxc_v4l2_output mxc_v4l2_output.0: V4L2 device registered as video18

mxc_v4l2_output mxc_v4l2_output.0: V4L2 device registered as video19

mxc_v4l2_output mxc_v4l2_output.0: V4L2 device registered as video20

i2c-core: driver [mag3110] using legacy suspend method

i2c-core: driver [mag3110] using legacy resume method

imx2-wdt imx2-wdt.0: IMX2+ Watchdog Timer enabled. timeout=60s (nowayout=1)

Bluetooth: HCI UART driver ver 2.2

Bluetooth: HCILL protocol initialized

sdhci: Secure Digital Host Controller Interface driver

sdhci: Copyright(c) Pierre Ossman

mmc0: SDHCI controller on platform [sdhci-esdhc-imx.2] using DMA

sdhci sdhci-esdhc-imx.3: no write-protect pin available!

mmc1: SDHCI controller on platform [sdhci-esdhc-imx.3] using DMA

mxc_vdoa mxc_vdoa: i.MX Video Data Order Adapter(VDOA) driver probed

VPU initialized

mxc_asrc registered

Thermal calibration data is 0x58e5523a

anatop_thermal_counting_ratio: raw25c=1422 raw_hot=1362 hot_temp=58

Anatop Thermal registered as thermal_zone0

anatop_thermal_probe: default cooling device is cpufreq!

usb 2-1: new high speed USB device number 2 using fsl-ehci

mmc0: new high speed SDHC card at address e624

mmcblk0: mmc0:e624 SU04G 3.69 GiB

mmcblk0: p1 p2

caam caam.0: device ID = 0x0a16010000000000

caam caam.0: job rings = 2, qi = 0

alg: No test for authenc(hmac(md5),cbc(aes)) (authenc-hmac-md5-cbc-aes-caam)

caam caam.0: authenc-hmac-md5-cbc-aes-caam

alg: No test for authenc(hmac(sha1),cbc(aes)) (authenc-hmac-sha1-cbc-aes-caam)

caam caam.0: authenc-hmac-sha1-cbc-aes-caam

alg: No test for authenc(hmac(sha224),cbc(aes)) (authenc-hmac-sha224-cbc-aes-caam)

caam caam.0: authenc-hmac-sha224-cbc-aes-caam

alg: No test for authenc(hmac(sha256),cbc(aes)) (authenc-hmac-sha256-cbc-aes-caam)

caam caam.0: authenc-hmac-sha256-cbc-aes-caam

alg: No test for authenc(hmac(md5),cbc(des3_ede)) (authenc-hmac-md5-cbc-des3_ede-caam)

caam caam.0: authenc-hmac-md5-cbc-des3_ede-caam

alg: No test for authenc(hmac(sha1),cbc(des3_ede)) (authenc-hmac-sha1-cbc-des3_ede-caam)

caam caam.0: authenc-hmac-sha1-cbc-des3_ede-caam

hub 2-1:1.0: USB hub found

hub 2-1:1.0: 3 ports detected

alg: No test for authenc(hmac(sha224),cbc(des3_ede)) (authenc-hmac-sha224-cbc-des3_ede-caam)

caam caam.0: authenc-hmac-sha224-cbc-des3_ede-caam

alg: No test for authenc(hmac(sha256),cbc(des3_ede)) (authenc-hmac-sha256-cbc-des3_ede-caam)

caam caam.0: authenc-hmac-sha256-cbc-des3_ede-caam

alg: No test for authenc(hmac(md5),cbc(des)) (authenc-hmac-md5-cbc-des-caam)

caam caam.0: authenc-hmac-md5-cbc-des-caam

alg: No test for authenc(hmac(sha1),cbc(des)) (authenc-hmac-sha1-cbc-des-caam)

caam caam.0: authenc-hmac-sha1-cbc-des-caam

alg: No test for authenc(hmac(sha224),cbc(des)) (authenc-hmac-sha224-cbc-des-caam)

caam caam.0: authenc-hmac-sha224-cbc-des-caam

alg: No test for authenc(hmac(sha256),cbc(des)) (authenc-hmac-sha256-cbc-des-caam)

caam caam.0: authenc-hmac-sha256-cbc-des-caam

caam caam.0: cbc-aes-caam

caam caam.0: cbc-3des-caam

caam caam.0: cbc-des-caam

platform caam_jr.0: registering rng-caam

usbcore: registered new interface driver usbhid

usbhid: USB HID core driver

usbcore: registered new interface driver snd-usb-audio

mxc_hdmi_soc mxc_hdmi_soc.0: MXC HDMI Audio

sgtl5000 0-000a: Failed to get supply 'VDDD': -19

print_constraints: 0-000a: 850 <--> 1600 mV at 1200 mV normal

sgtl5000 0-000a: sgtl5000 revision 17

asoc: sgtl5000 <-> imx-ssi.1 mapping ok

imx-hdmi-soc-dai: probe of imx-hdmi-soc-dai.0 failed with error -12

ALSA device list:

  #0: sgtl5000-audio

NET: Registered protocol family 26

TCP cubic registered

NET: Registered protocol family 17

can: controller area network core (rev 20090105 abi 8)

NET: Registered protocol family 29

can: raw protocol (rev 20090105)

can: broadcast manager protocol (rev 20090105 t)

Bluetooth: RFCOMM TTY layer initialized

Bluetooth: RFCOMM socket layer initialized

Bluetooth: RFCOMM ver 1.11

Bluetooth: BNEP (Ethernet Emulation) ver 1.3

Bluetooth: BNEP filters: protocol multicast

Bluetooth: HIDP (Human Interface Emulation) ver 1.2

lib80211: common routines for IEEE802.11 drivers

VFP support v0.3: implementor 41 architecture 3 part 30 variant 9 rev 4

usb 2-1.1: new full speed USB device number 3 using fsl-ehci

Bus freq driver module loaded

Bus freq driver Enabled

mxc_dvfs_core_probe

DVFS driver module loaded

regulator_init_complete: vddpu: incomplete constraints, leaving on

snvs_rtc snvs_rtc.0: setting system clock to 1970-01-01 00:00:00 UTC (0)

EXT3-fs: barriers not enabled

kjournald starting.  Commit interval 5 seconds

EXT3-fs (mmcblk0p2): using internal journal

EXT3-fs (mmcblk0p2): recovery complete

EXT3-fs (mmcblk0p2): mounted filesystem with writeback data mode

VFS: Mounted root (ext3 filesystem) on device 179:2.

devtmpfs: mounted

Freeing init memory: 200K

INIT: version 2.88 booting

Starting udev

udevd[1427]: error: runtime directory '/run/udev' not writable, fudevd[1428]: starting version 173

or now falling back to '/dev/.udev'

Starting Bootlog daemon: bootlogd.

ov5642_read_reg:write reg error:reg=300a

ov5642_probe:cannot find camera

Caching udev devnodes

Populating dev cachemv: can't rename '/tmp/uname': No such file or directory

ALSA: Restoring mixer settings...

Configuring network interfaces... eth0: Freescale FEC PHY driver [Micrel KSZ9021 Gigabit PHY] (mii_bus:phy_addr=1:06, irq=284)

udhcpc (v1.20.2) started

Sending discover...

Sending discover...

Sending discover...

No lease, failing

Starting portmap daemon...

net.ipv4.conf.default.rp_filter = 1

net.ipv4.conf.all.rp_filter = 1

Mon Mar 11 16:51:00 UTC 2013

INIT: Entering runlevel: 5

Starting Xserver

Starting system message bus: dbus.

Starting Connection Manager

Starting Dropbear SSH server: dropbear.

Starting advanced power management daemon: apmd.

apmd[1774]: apmd 3.2.1 interfacing with apm driver 1.13 and APM BIOS 1.2

Starting network benchmark server: netserver.

creating NFS state directory: done

starting 8 nfsd kernel threads: rpc.nfsd: Unable to access /proc/fs/nfsd errno 2 (No such file or directory).

Please try, as root, 'mount -t nfsd nfsd /proc/fs/nfsd' and then restart rpc.nfsd to correct the problem

done

starting mountd: done

starting statd: done

Starting syslogd/klogd: done

* Starting Avahi mDNS/DNS-SD Daemon: avahi-daemon

   ...done.

Starting Telephony daemon

imx-audio: setting default mixer settings.

amixer: Unable to find simple control 'Playback',0

 

 

Starting OProfileUI server

Starting tcf-agent: OK

Running local boot scripts (/etc/rc.local).

Stopping Bootlog daemon: bootlogd.

 

 

Poky 8.0 (Yocto Project 1.3 Reference Distro) 1.3 imx6qsabrelite ttymxc1

 

 

imx6qsabrelite login: root

root@imx6qsabrelite:~#

Outcomes