Yocto Linux BSP Ver.D User Guide for iMX9 series -Yocto 4.2

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Getting Started

Conventions

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

${CONTAINER_NAME} : container name (e.g. imx8LBVD0027)

${BSP_TARBALL} : BSP tarball (*.tgz)

${BSP_HOME} : home directory of the BSP

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

${MX8PROC} : i.MX9 Processor

mx93 for iMX93
 

${IMX8PROC} : i.MX9 Processor

imx93

${BOARD} : available target boards list below

rom2820

${BOARD_REV} : board revision

a1

${MC} : machine code combined with ${IMX8PROC}${BOARD}${BOARD_REV}

for example,
imx93rom2820a1 for ROM-2820 A1

 

You can also use the command below to check supported machines on BSP
$ source setup-environment

${MEM_SIZE} : memory size

 1G/2G/4G/6G

${UC} : u-boot config

 1G/2G/4G/6G/FSPI_1G/FSPI_2G/FSPI_4G/FSPI_6G...

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

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

${WORKSPACE} : host workspace folders

${UBOOT} :u-boot version(e.g. v2023.04_6.1.36-2.1.0)

${KERNEL} : linux kernel version(e.g. 6.1.36-2.1.0)

${TOOLCHAIN} : toolchain installed directory(e.g. opt/fsl-imx-wayland/6.1-mickledore/environment)

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 ...)

Docker install and setting

If you don't have docker in your system, then you can follow the below  steps to install docker and run it first.

To install Docker Engine on your platform

Please refer to Docker Installation Guide for details

To pull ubuntu 20.04 image from Docker Hub 

$ docker pull advrisc/u20.04-imx8lbv1

To create container

$ docker run --privileged -it --name ${CONTAINER_NAME} -v ${WORKSPACE}:/home/adv/adv-release-bsp -v /dev:/dev advrisc/u20.04-imx8lbv1 /bin/bash

Get BSP

You have two methods to put BSP into container created above

Download_BSP_From_GitHub

The following example shows how to download the Advantech Yocto BSP from GitHub.
For this example, a directory called adv-release-bsp is created for the project.
Refer to IoTGateway/BSP/Linux/iMX8/OS_Support_List , Official version "imx8LBVD0XXX" is taken as an example : 
$ git config --global user.name "Your Name"
$ git config --global user.email you@example.com
$ sudo chown adv:adv adv-release-bsp
$ cd adv-release-bsp
$ repo init -u https://github.com/ADVANTECH-Corp/adv-arm-yocto-bsp.git -b imx-linux-mickledore -m adv-6.1.36-2.1.0.xml
$ repo sync
f you suffer "server certificate verification failed", you can use the following command to disable SSL verification in git repositories with self-signed certificates. 
$ export GIT_SSL_NO_VERIFY=1

or 

$ git config --global http.sslverify false
If you get "The unauthenticated git protocol on port 9418 is no longer supported.", you can try it. 
$ git config --global url."https://".insteadOf git://

 

Copy BSP tarball to Container

If you have BSP tarball (eg. imx9LBVD0042_2024-05-26.tgz), then you have to copy it into container.

Follow the steps below:

1.Exit container and back to local machine 

$ exit

2.Copy BSP tarball to ${WORKSPACE} , and change owner 

$ cp imx9LBVD0042_2024-05-26.tgz ${WORKSPACE}
$ sudo chown adv:adv ${WORKSPACE}/imx9LBVD0042_2024-05-26.tgz

3.Back to container 

$ docker start ${CONTAINER_NAME}
$ docker attach ${CONTAINER_NAME}

4.Unpack BSP tarball 

$ tar zxvf imx9LBVD0042_2024-05-26.tgz

 

Downloads tarball

Not necessarily step
During building  Yocto image , it will generate downloads folder which includes all packages we need , but it usually can't fetch normally, so we keep this downloads folder. Then we can reduce some fetch failed issue.
You can get Downloads tarball (downloads_y40_6.1.36.tar.gz) from following URL:
[downloads_y40_6.1.36.tar.gz]
If you get downloads tarball, you can copy to your ${WORKSPACE}

Follow the steps below:

1.Exit container and back to local machine 

$ exit

2.Copy Downloads tarball to ${WORKSPACE} , and change owner 

$ cp downloads_y40_6.1.36.tar.gz ${WORKSPACE}
$ sudo chown adv:adv ${WORKSPACE}/downloads_y40_6.1.36.tar.gz 

3.Back to container 

$ docker start ${CONTAINER_NAME}
$ docker attach ${CONTAINER_NAME}

4.Unpack Downloads tarball 

$ tar zxvf downloads_y40_6.1.36.tar.gz

5.make link to downloads folder 

$ cd adv-release-bsp
$ ln -s ${WORKSPACE}/downloads_y40_6.1.36 downloads

Introducing BSP

The BSP is based on Yocto Project with Freescale enhanced features for i.MX93, plus specific target board features from Advantech Inc..
The Advantech Yocto Project BSP Release directory contains a "sources" directory, which contains the recipes used to build,

one or more build directories, and a set of scripts used to set up the environment.

The recipes used to build the project come from both the community and Advantech. The Yocto Project layers are downloaded

to the sources directory. This sets up the recipes that are used to build the project.

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, BSP file name: imx9LBVD0042_2024-05-26.tgz
which , "LB" is acronym of Linux BSP,
           "VD0010" stands for Version D.0027


 

For example, Yocto image name: '2820A1AIM36LIVD0042_iMX93_2G_2024-05-26.img.gz'
which "2820A1" stands for ROM-2820 A1
          "LI" is acronym for prebuilt Linux Image
          "2G" is DDR size

BSP Content

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

Build Instructions

To create one new build environment

Perform the following commands in terminal console
$ cd ${BSP_HOME}
$ MACHINE=${MC} DISTRO=fsl-imx-xwayland source imx-setup-release.sh -b ${BDIR}
We can specify u-boot default config like below
$ MACHINE=${MC} UBOOT_CONFIG=${UC} DISTRO=fsl-imx-xwayland source imx-setup-release.sh -b ${BDIR}
You need to read and accept the EULA.
RTENOTITLE

To continue an exist build environment

Perform the following commands in terminal console
$ cd ${BSP_HOME}
$ source setup-environment ${BDIR}

 

To build sdcard image

To create/continue a build environment
Perform the following command in terminal console
$ bitbake imx-image-full
The two files, imx-image-full-${MC}.wic.zst and ...wic.bmap, will be located in directory, ./tmp/deploy/images/${MC}, while building process finished successfully.

To build toolchain installer

To create/continue a build environment
Perform the following command in terminal console
$ bitbake meta-toolchain
The below installer will be located in the directory "./tmp/deploy/sdk".
fsl-imx-wayland-glibc-x86_64-meta-toolchain-armv8a-imx8mp-lpddr4-evk-toolchain-${KERNEL}-mickledore.sh

To build bootloader

To create/continue a build environment
Perform the following command in terminal console
$ bitbake imx-boot

 

To build linux kernel

To create/continue a build environment
If you operate on docker images, please install tmux application before running this command
$ sudo apt-get install tmux
Type following command to enter tmux
$ tmux
Perform the following command in terminal console to show up menuconfig
$ bitbake linux-imx -c menuconfig
After edit menuconfig, type following command to exit tmux windows
$ exit
to build kernel image
$ bitbake linux-imx
The two files, Image & Image-${IMX8PROC}-${BOARD}-${BOARD_REV}.dtb, will be located in the directory, ./tmp/deploy/images/${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

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}
$ zstd -cd ${SDCARD_IMAGE} | sudo dd of=${SD_DEVICE} bs=1M
( or using bmaptool to take less time elapsed)
$ sudo bmaptool copy --bmap ${SDCARD_IMAGE/zst/bmap} ${SDCARD_IMAGE} ${SD_DEVICE}
$ sync
$ popd

Debug console information

If you want to see debug message from device, you need to prepare for hardware device and software tool.

Preparing for hardware device

  • The following URL provides information about the debug port slot and the debug port line for each device

Debug Port Information

Preparing for software tool

  • You need to prepare the debug console tool. For example: "minicom" tool or "putty" tool.
  • Baud rate: 115200

 

Customization

Setting up SDK

Please follow the section,To build toolchain installer, to build one toolchain installer
Perform the following command in terminal console
$ cd ${BSP_HOME}/${BDIR}/tmp/deploy/sdk
$ sudo ./fsl-imx-xwayland-glibc-x86_64-meta-toolchain-armv8a-imx93rom2820a1-toolchain-6.1-mickledore.sh
Enter new installed directory or just press Enter to use default directory.
While Proceed[y/n]? shows up, please enter the correct one.
Waiting for the SDK installed (while the following messages show up completely)
Download SDK Link (Just Only reference), [downloads_SDK]

 

RTENOTITLE

Setting up cross compiling environment

SDK has been set up (ref.Setting up SDK)
Perform the following command in terminal console
$ source ${TOOLCHAIN}/environment-setup-aarch64-poky-linux

Build U-Boot in standalone environment

Config u-boot

make ${IMX8PROC}_${BOARD}${BOARD_REV}_${MEM_SIZE}_defconfig

eg. 

make imx93_rom2820a1_defconfig

Build u-boot

make -j4

 

Build imx-boot image by using imx-mkimage for imx93

Get imx-boot tarball from our server Here we take rom2820 as an example: 

$ tar zxvf 2820A1AIM36LIVD0042_iMX93_2G_imx-boot.tgz
$ cd 2820A1AIM36LIVD0042_iMX93_2G_imx-boot/

In this folder ,Copy necessary files to imx-mkimage folder   

$ cp ${u-boot.bin、spl/u-boot-spl.bin、arch/arm/dts/imx93-rom2820-a1.dtb、tools/mkimage} imx-boot/2820A1AIM36LIVD0031_iMX93_2G_imx-boot/iMX9/.

Make imx-boot image 

$ cd ~/imx-mkimage
$ make SOC=iMX9 REV=A1 flash_singleboot

Replace uuu imx-boot

Perform the following uuu command to transfer to on-board flash 
$ cp flash.bin ~/mfgtools/uuu/.
$ sudo ./uuu -b emmc flash.bin

Replace imx-boot

Perform the following command to transfer to on-board flash 
$ sudo dd if=flash.bin of=/dev/sdd bs=1K seek=32 conv=fsync

Building & updating kernel/modules/dtb manually

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

Copy BSP tarball to Container

You can get Downloads Linux-imx from following URL:
[adv_6.1.36_2.1.0]

Config kernel

Configure linux kernel 
$ cd linux-imx
$ make distclean
$ make imx_v8_adv_defconfig
$ make menuconfig
Start building linux kernel 
$ make -j4 Image
When you get error like below

RTENOTITLE

run command then rebuild 
$ unset LDFLAGS

 

The kernel image file, Image, is located in the directory "./arch/arm64/boot/".
Start building kernel modules 
$ make -j4 modules
Copy all modules to a temporary rootfs directory, "~/temp/rootfs" 
$ make modules_install INSTALL_MOD_PATH=~/temp/rootfs
Building device tree blob 
$ make -j4 freescale/${IMX8PROC}-${BOARD}-${BOARD_REV}.dtb
eg.
$ make -j4  freescale/imx93-rom2820-a1.dtb
The device tree blob, ${IMX8PROC}-${BOARD}-${BOARD_REV}.dtb, is located in the directory "./arch/arm64/boot/dts/freescale/".

Replace kernel & dts

Replace kernel
copy Image to SDcard or emmc
Replace dtb file
copy dtb file to SDcard or emmc

Improve boot speed

  • Bootloader

1.bootdelay time

We can cancel the bootdelay time by setting bootloader environment value. 
setenv bootdelay 0
env save
reset

2.Disable console

Disable debug message output can also improve boot speed

Disable kernel message 

setenv mmcargs setenv bootargs ${jh_clk} console=${console} modprobe.blacklist=${modprobe.blacklist} root=${mmcroot} video=HDMI-A-1:${videores} quiet
env save
reset

Or

Disable debug port 
setenv console
env save
reset
  • Rootfs
TBD
  • Services

1. Using systemctl disable remove ,we can remove unnecessary services. 

systemctl disable <services>

eg. 

systemctl disable boottimes

 

System Recovery

This section provides detail procedures of restoring the eMMC image.

For more usage (https://github.com/NXPmicro/mfgtools/wiki)

 

Reflash EMMC from Boot SD CARD

Download mksd-linux.sh in https://github.com/ADVANTECH-Corp/RISC_tools_scripts/blob/mickledore/imx8/mksd-linux.sh

Download "Product_AIM_Release_version"_flash_tool.tgz

Unzip the "Product_AIM_Release_version"_flash_tool.tgz

Copy the mksd-linux.sh to mk_inand folder.

Run mksd-linux.sh

FreeRTOS IMX8ULP

IoTGateway/BSP/FreeRTOS IMX8ULP - ESS-WIKI (advantech.com.tw)

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