Yocto Linux BSP User Guide for iMX6 series

Getting Started

Prerequisites

All operations in this guide are based on Ubuntu 12.04 LTS 64bit only.
First please install Ubuntu 12.04 LTS 64bit^* with minimum 2GB memory.
* ubuntu-12.04.1-desktop-amd64.iso

To install required packages

Please login and perform the following commands:

$ sudo apt-get install ssh
$ sudo apt-get install ia32-libs libx11-dev:i386 libreadline6-dev:i386 \
libgl1-mesa-glx:i386 zlib1g-dev:i386 uuid-dev:i386 liblzo2-dev:i386 \ 
libncurses5-dev:i386
$ sudo apt-get install \
bison build-essential ccache dpkg flex gcc g++ gettext intltool \
libarchive-zip-perl libfreetype6-dev libdbus-glib-1-dev liborbit2-dev \
libxml2-dev libx11-dev libgtk2.0-dev liblzo2-2 libtool m4 \
patch rpm tcl uboot-mkimage uuid zlib1g zlib1g-dev \
git gnupg flex bison gperf build-essential  zip \
curl libc6-dev libncurses5-dev x11proto-core-dev libx11-dev:i386 \
libreadline6-dev:i386 libgl1-mesa-glx:i386 libgl1-mesa-dev g++-multilib \
mingw32 tofrodos python-markdown libxml2-utils xsltproc zlib1g-dev:i386 \
gcc-4.6 g++-4.6 cpp-4.6 gcc-4.6-multilib uuid-dev liblzo2-dev \
uboot-mkimage libarchive-zip-perl \
wget git-core unzip texinfo gawk diffstat build-essential chrpath \
sed cvs subversion coreutils texi2html \
docbook-utils python-pysqlite2 help2man make gcc g++ \
desktop-file-utils libgl1-mesa-dev libglu1-mesa-dev mercurial \
autoconf automake groff curl lzop asciidoc xterm
$ sudo apt-get install libncurses5-dev:i386 liblzo2-dev:i386 uuid-dev:i386
$ sudo ln -s /usr/lib/i386-linux-gnu/mesa/libGL.so.1 /usr/lib/i386-linux-gnu/libGL.so
$ tar zcvf ~/usr_lib_i386-linux-gnu_for_Building_Android_KK.tar.gz \
/usr/lib/i386-linux-gnu/{libuuid.a,libuuid.so,liblzo2.so,liblzo2.a}
$ sudo apt-get install uuid-dev liblzo2-dev
$ sudo tar zxvf ~/usr_lib_i386-linux-gnu_for_Building_Android_KK.tar.gz -C /

To install JDK

Please download "jdk-6u45-linux-x64.bin" manually from Oracle Official Website And put it to directory ~/FILES/ and perform the following commands:

$ cd /usr/lib

$ sudo ~/FILES/jdk-6u45-linux-x64.bin
$ sudo mkdir jvm
$ cd jvm
$ sudo mv ../jdk1.6.0_45 .
$ cd jdk1.6.0_45/
$ sudo update-alternatives --install /usr/bin/java    java    /usr/lib/jvm/jdk1.6.0_45/jre/bin/java    2
$ sudo update-alternatives --install /usr/bin/javac   javac   /usr/lib/jvm/jdk1.6.0_45/bin/javac   2
$ sudo update-alternatives --install /usr/bin/jar     jar     /usr/lib/jvm/jdk1.6.0_45/bin/jar     2
$ sudo update-alternatives --install /usr/bin/javap   javap   /usr/lib/jvm/jdk1.6.0_45/bin/javap   2
$ sudo update-alternatives --install /usr/bin/javadoc javadoc /usr/lib/jvm/jdk1.6.0_45/bin/javadoc 2
$ sudo update-alternatives --config javap
$ sudo update-alternatives --config javadoc
$ sudo update-alternatives --config java
$ sudo update-alternatives --config javac
$ sudo update-alternatives --config jar
$ cd ~/
$ sudo sh -c "echo "JAVA_HOME=/usr/lib/jvm/jdk1.6.0_45" >> /etc/environment"

If you have some troubles on setting up build environment, we recommend that you use Docker, and it is more safely & quickly. Please refer to Docker

Conventions

${PREBUILT_IMAGE} : compressed prebuilt image (*.img.gz)

${BSP_TARBALL} : BSP tarball (*.tgz)

${BSP_HOME} : home directory of the BSP

${BDIR} : build directory (e.g. build-x11)

${MX6PROC} : i.MX6 Processor

mx6q for iMX6 Quad Core / Dual Core

mx6dl for iMX6 Dual Lite / Solo

${IMX6PROC} : i.MX6 Processor

imx6q / imx6dl

${BOARD} : available target boards list below

ubc220 / rom3420 / rom5420 / rom7420 / rsb4410 / ubcds31 / wise3310

${MC} : machine code combined with ${IMX6PROC}${BOARD}${BOARD_REV}

for example,

imx6dlubc220 for UBC-220-Dual-Light

imx6qrom3420 for ROM-3420-Dual/Quad

imx6qrom5420 for ROM-5420-Dual/Quad

imx6qrom7420 for ROM-7420-Dual/Quad

imx6qrsb4410 for RSB-4410-Dual

imx6qubcds31 for UBC-DS31-Dual

imx6qwise3310 for WISE-3310-Dual

${SD_DEVICE} : device name of SD card in Ubuntu (e.g. /dev/sdf)

${SDCARD_IMAGE} : sdcard image built by bitbake (*.sdcard)

${UBOOT} :u-boot version(e.g. 2013.04-r0)

${KERNEL} : linux kernel version(e.g. 3.14.28-r0)

${POKY} : Yocto poky version(e.g. 1.5.3)

debug console / serial console

serial terminal program (e.g. minicom, putty, teraterm ...) that serial port is configured to 115200 8N1

terminal console

terminal program (e.g. gnome-terminal, xfce4-terminal ...)

Introducing BSP

The BSP is based on Yocto Project with Freescale enhanced features for i.MX6, plus specific target board features from Advantech Inc..

Naming Rule

The tarball/prebuilt image name is consist of the model name followed by "LB" or "LI" plus version number and released date.

For example, 4410LBV3240_2015-03-25.tgz which "4410" stands for RSB-4410, "LB" is acronym of Linux BSP, "V3240" stands for Version 3.240.

For example, 4410LIV3240_DualQuad_2015-03-25.img.gz which "LI" is acronym for prebuilt Linux Image, DualQuad means this image is fit for Dual Core/Quad Core.

BSP tarball

Unpack BSP tarball to home directory by performing the following command:

$ tar xvf ${BSP_TARBALL} -C ~/

(Every BSP with different version contains an unique folder, e.g. after unpacking 4410LBV3240_2015-03-25.tg to home directory, the directory , ~/imx6LBV3240_2015-03-25 is the BSP's home folder.)

The description of some important folders list below:

sources/

meta-advantech/ : meta layer by Advantech

meta-fsl-*/ : meta layer by Freescale

fsl-setup-release.sh : to create one new build environment

setup-environment : to continue an exist build environment

Prebuilt image

Perform the following command to build one boot-up SD card

$ gunzip -c ${PREBUILT_IMAGE} | dd of=${SD_DEVICE} bs=1M

Build Instructions

To create one new build environment

Perform the following commands in terminal console

$ cd ${BSP_HOME}

$ MACHINE=${MC} source fsl-setup-release.sh -b ${BDIR} -e x11

You need to read and accept the EULA.

To continue an exist build environment

Perform the following commands in terminal console

$ cd ${BSP_HOME}

$ source setup-environment ${BDIR}

To build sdcard image for Qt 4.8.5 used

To create/continue a build environment

Perform the following command in terminal console

$ bitbake fsl-image-x11

The file, fsl-image-x11-${MC}.sdcard, will be located in directory, ./tmp/deploy/images/${MC}, while building process finished successfully.

To build sdcard image for Qt 5.2.1 used

To create/continue a build environment

Perform the following command in terminal console

$ bitbake fsl-image-x11-qt5

The file, fsl-image-x11-qt5-${MC}.sdcard, will be located in directory, ./tmp/deploy/images/${MC}, while building process finished successfully.

To build sdcard image without Qt

To create/continue a build environment

Perform the following command in terminal console

$ bitbake fsl-image-fb

The file, fsl-image-fb-${MC}.sdcard, will be located in directory, ./tmp/deploy/images/${MC}, while building process finished successfully.

To build toolchain installer for Qt 4.8.5 used

To create/continue a build environment

Perform the following command in terminal console

$ bitbake fsl-image-x11 -c populate_sdk

The installer, poky-eglibc-x86_64-fsl-image-x11-cortexa9hf-vfp-neon-toolchain-qt4-${POKY}.sh, will be located in the directory "./tmp/deploy/sdk".</code>

To build toolchain installer for Qt 5.2.1 used

To create/continue a build environment

Perform the following command in terminal console

$ bitbake fsl-image-x11-qt5 -c populate_sdk

The installer, poky-eglibc-x86_64-fsl-image-x11-qt5-cortexa9hf-vfp-neon-toolchain-${POKY}.sh, will be located in the directory "./tmp/deploy/sdk".</code>

To build toolchain installer without Qt

To create/continue a build environment

Perform the following command in terminal console

$ bitbake fsl-image-fb -c populate_sdk

The installer, poky-eglibc-x86_64-fsl-image-fb-cortexa9hf-vfp-neon-toolchain-${POKY}.sh, will be located in the directory "./tmp/deploy/sdk".</code>

To build u-boot

To create/continue a build environment

Perform the following command in terminal console

$ bitbake u-boot-imx

The two files, u-boot_crc.bin & u-boot_crc.bin.crc, will be located in directory, ./tmp/deploy/images/${MC}.

To build linux kernel

To create/continue a build environment

Perform the following command in terminal console

to show up menuconfig

$ bitbake linux-imx -c menuconfig

＊ If you operate on docker images, please install tmux application before running this command.

$ sudo apt-get install tmux

to do build

$ bitbake linux-imx

The two files, uImage & uImage-${IMX6PROC}-${BOARD}.dtb, will be located in directory, ./tmp/deploy/images/${MC}.

Creating boot-up on-board flash from prebuilt image

To create one boot-up SD card

Perform the following command in terminal console

$ gunzip -c ${PREBUILT_IMAGE | dd of=${SD_DEVICE} bs=1M

$ sync

To transfer whole system to on-board flash

Boot up from SD card

Perform the following commands in debug console

# cd /mk_inand

# ./mksd-linux.sh /dev/mmcblk0

press y followed by Enter, if following message shows up:

While "[Done]" shows up means the transferring is finished.

Creating boot-up on-board flash from built sdcard image

To create one boot-up SD card

Perform the following commands in terminal console

$ pushd ${BSP_HOME}/${BDIR}/tmp/deploy/images/${MC}

$ dd if=${SDCARD_IMAGE} of=${SD_DEVICE} bs=1M

$ sync

$ popd

To transfer whole system to on-board flash

Boot up from SD card

Insert USB stick that contains ${SDCARD_IMAGE}, USB stick will be auto mounted to /media/sda1.

Perform the following commands in debug console

# umount /media/mmcblk0p?

# cd /media/sda1

# dd if=${SDCARD_IMAGE} of=/dev/mmcblk0 bs=4M conv=fsync

# P2START=$(fdisk -lu | grep mmcblk0p2 | awk '{print $2}')

# echo -e "d\n2\nn\np\n2\n${P2START}\n\nw\n" | fdisk -u /dev/mmcblk0

# umount /media/mmcblk0p2

# e2fsck -f -y /dev/mmcblk0p2

# resize2fs /dev/mmcblk0p2

# poweroff

Customization

Package addition

To add tcf-agent & openssh-sftp-server

Navigate to the directory where fsl-image-x11.inc located

$ cd ${BSP_HOME}/sources/meta-advantech/recipes-fsl/images

Add following line to fsl-image-x11.inc

IMAGE_INSTALL += " tcf-agent openssh-sftp-server "

Continue an exist build environment and build sdcard image (ref. 1.4.2, 1.4.3, 1.4.4)

To add chromium browser

Navigate to the directory where local.conf located

$ cd ${BSP_HOME}/${BDIR}/conf

Add following two lines to local.conf

CORE_IMAGE_EXTRA_INSTALL += "chromium"

LICENSE_FLAGS_WHITELIST="commercial"

Continue an exist build environment and build sdcard image (ref. 1.4.2, 1.4.3, 1.4.4)

Setting up SDK

Please follow 1.4.6 or 1.4.7 to build one toolchain installer

Perform the following command in terminal console

$ cd ${BSP_HOME}/BDIR}/tmp/deploy/sdk

$ sudo ./poky-eglibc-x86_64-fsl-image-qt5-cortexa9hf-vfp-neon-toolchain-${POKY}.sh

Enter directory or press Enter while following question shows up:

Just press Enter while following question shows up:

While following message shows up means the SDK is ready.

Setting up cross compiling environment

SDK has been set up (ref. 2.2)

Perform the following command in terminal console

$ source /opt/poky/${POKY}/environment-setup-cortexa9hf-vfp-neon-poky-linux-gnueabi

Building & updating u-boot manually

To build u-boot

The cross compiling environment has been set up. (ref. 2.3)

Make one copy from Yocto working directory

$ mkdir -p ~/code

$ pushd ${BSP_HOME}/${BDIR}/tmp/work/${MC}-poky-linux-gnueabi/

$ rm -rf ~/code/u-boot-imx

$ cp -a ./u-boot-imx/${UBOOT}/git ~/code/u-boot-imx

$ popd

Configure u-boot

$ cd ~/code/u-boot-imx

$ make distclean

$ make ${MX6PROC}${BOARD}_<Memory-Size>_config

e.g. make mx6qrom3420_1G_config

You can also check boards.cfg file for available configs.

Start building u-boot

$ make -j4 LDFLAGS=

The two files, u-boot-crc.bin & u-boot-crc.bin.crc, are located in directory "~/code/u-boot-imx".

To update u-boot to target device

Perform the following command to transfer to existed boot-up SD card

$ dd if=u-boot_crc.bin.crc of=${SD_DEVICE} bs=512 seek=2 conv=fsync

$ dd if=u-boot_crc.bin of=${SD_DEVICE} bs=512 seek=3 conv=fsync

Make sure new u-boot does work then perform the following commands to transfer to on-board flash

# dd if=u-boot_crc.bin.crc of=/dev/mmcblk0 bs=512 seek=2 conv=fsync

# dd if=u-boot_crc.bin of=/dev/mmcblk0 bs=512 seek=3 conv=fsync

Building & updating kernel/modules/dtb manually

To build kernel/modules/dtb

The cross compiling environment has been set up. (ref. 2.3)

Make one copy from Yocto working directory

$ mkdir -p ~/code

$ pushd ${BSP_HOME}/${BDIR}/tmp/work/${MC}-poky-linux-gnueabi/

$ rm -rf ~/code/linux-imx

$ cp -a ./linux-imx/${KERNEL}/git ~/code/inux-imx

$ popd

Configure linux kernel

$ cd ~/code/linux-imx

$ make distclean

$ make imx_v7_adv_defconfig

$ make menuconfig PKG_CONFIG_SYSROOT_DIR= PKG_CONFIG_PATH=

Start building linux kernel

$ make -j4 zImage LOADADDR=0x10008000 LDFLAGS=

The kernel image file, zImage, is located in the directory "./arch/arm/boot/".

Start building kernel modules

$ make -j4 modules LDFLAGS=

Copy all modules to a temporary rootfs directory, "~/temp/rootfs"

$ make modules_install INSTALL_MOD_PATH=~/temp/rootfs

Start building device tree blob

$ make -j4 ${IMX6PROC}-${BOARD}.dtb

The device tree blob, ${IMX6PROC}-${BOARD}.dtb, is located in the directory "./arch/arm/boot/dts/".

To update kernel/modules/dtb to target device

Copy zImage & ${IMX6PROC}-${BOARD}.dtb to the 1^st partition of SD card

Copy modues to the 2^nd partition of SD card.

Make sure all new linux kernel, device tree and kernel modules work well, then copy all of them to the on-board flash

System Recovery

Please refer to 1.5 & 1.6 to create a boot-up SD card and transfer whole system to on-board flash.