HELP: Build for 3rd party/Custom imx8mp SOM

[BhupiMAD]

I am using Engicam imx8mp SOM on our custom board and would like to install Torizon OS on this board.
I am confused about the two approaches below.

1. Use my existing yocto build with bsp for engicam imx8mp and add meta-common-torizon with dependencies.
2. Use commontorizon-manifest and add my machine to it.

If i go down with (2) approach. I see that the machines are added under the meta-common-torizon/machine/include with some overrides and also under meta-common-torizon/recipes-bsp/u-boot/u-boot-distro-boot.
I need some info on what these overrides should be for my machine?
Link to the bsp i am using right now engicam-imx8mp and link to machine conf
@drew suggested to ask help on the github for better reach.

[drewmoseley]

@BhupiMAD you linked to the wrong "drew" above. ;-)

The files under u-boot-distro-boot are not a MACHINE definition but rather the customizations unique to those platforms. You can diff them with each other to get a sense of what changes are necessary. Looking at beagleplay vs beaglebone-yocto, for instance, the changes are related to MMC device numbering and the fdtfile to be used. At a minimum you will need to customize those values for your specific board.

As for which manifest to use, it's hard to say without trying. You may be able to manually add meta-common-torizon to your existing setup but it will bring in a number of other layers via LAYERDEPENDS. If you start with the common-torizon manifest you will likely have similar dependencies to resolve with respect to your BSP layer.

The next complexity will be adapting your build to the torizon or torizon-upstream DISTRO and the torizon-core-* image recipes. It's hard to say what specific issues you will have so I suggest just give it a try and post any issues you cannot resolve here.

[EstebanSannin]

I don't want to simplify too much because I don't know well the ENGICAM HW but in theory should be like our verdin-imx8mp.
So in theory you can even start from a verdin-imx8mp and change the device-trees and kernel configs with the one used by Engicam and I expect that should be enough

[BhupiMAD]

You mean overriding by VIRTUALPROVIDERS?

[drewmoseley]

That's a start for sure. Probably just copy the existing conf/machine/verdin-imx8mp.conf file and edit it to taste. You'll need to do similar with the u-boot and kernel recipes.

[BhupiMAD]

@drewmoseley
Which recipe is responsible for connecting with the torizon vs code extension ?
I can see the device in Torizon tab but when I try to connect to it, it fails. Do you know if any of the below recipes are essential for this purpose?

torizon-conf
usermount
auto-provisioning
provision-device \

To give you a little background. What i did was to try to import just the following recipe into my existing recipe
docker-ce
docker-compose
docker-compose-up
docker-auto-prune
docker-watchdog
docker-integrity-checker

This builds successfully, even Torizon vs code extension shows the device in the list, but it is unable to connect to it.
So i am missing a service that should be on the device to read the incoming connection and do the magic.

At this point of time i am only concerned about running docker and connecting to Torizon VS code extension, i have removed all other recipes and packages from torizon, unless they are necessary for MVP test.

[drewmoseley]

The VSCode extension connects using SSH to the board. I don't think it needs any of those packages you mentioned. Are you able to ssh directly to the board? There should be something in one of the terminal outputs that gives you a hint.

[BhupiMAD]

i can ssh into the board successfully but not via vscode extension.

[BhupiMAD]

@EstebanSannin As you suggested, I am trying to build verdin-imx8mp with the below changes, removing the modules with strikethrough and requesting clarity on the bold lines below.

I assume much of the board (engicam - Toradex imx8mp) is the same apart from the address on which the hardware such as RAM and other hardware might be located and this is taken care of by dtb file.
My concern is with getting u-boot working, and i guess i need to specify the correct SERIAL_CONSOLES for this.
I have also changed the dtb file variable UBOOT_DTB_NAME. I will manually place it in the boot directory on SD card.
would these modifications help boot to u-boot?

Are below values hardware specific or same between both imx8mp boards?
UBOOT_DTB_LOADADDRESS:mx8mp-generic-bsp = "0x50200000"
UBOOT_DTBO_LOADADDRESS:mx8mp-generic-bsp = "0x50240000"
UBOOT_ENTRYPOINT:mx8mp-generic-bsp = "0x48200000"
UBOOT_RD_LOADADDRESS = "0x52300000

`
#@type: Machine
#@name: Toradex Verdin iMX8M Plus
#@soc: i.MX8MP
#@description: Machine configuration for Toradex Verdin iMX8M Plus SoM
#@maintainer: Max Krummenacher max.krummenacher@toradex.com

MACHINE_NAME = "Verdin-iMX8MP"

MACHINEOVERRIDES =. "mx8:mx8m:mx8mp:"

MACHINE_EXTRA_RRECOMMENDS:append = " mwifiexconf"

IMX_DEFAULT_BSP = "nxp"
IMX_DEFAULT_BSP:upstream = "mainline"

require conf/machine/include/imx-base.inc
##override imx-base.inc which sets this to cortexa53-crypto
DEFAULTTUNE:mx8mp-generic-bsp = "armv8a-crypto"
require conf/machine/include/arm/armv8a/tune-cortexa53.inc

##Don't include kernels in standard images
RRECOMMENDS:${KERNEL_PACKAGE_NAME}-base = ""

KERNEL_DTB_PREFIX = "freescale/"

KERNEL_DEVICETREE = " \
${KERNEL_DTB_PREFIX}imx8mp-verdin-nonwifi-dahlia.dtb \
${KERNEL_DTB_PREFIX}imx8mp-verdin-nonwifi-dev.dtb \
${KERNEL_DTB_PREFIX}imx8mp-verdin-nonwifi-mallow.dtb \
${KERNEL_DTB_PREFIX}imx8mp-verdin-nonwifi-yavia.dtb \
${KERNEL_DTB_PREFIX}imx8mp-verdin-wifi-dahlia.dtb \
${KERNEL_DTB_PREFIX}imx8mp-verdin-wifi-dev.dtb \
${KERNEL_DTB_PREFIX}imx8mp-verdin-wifi-mallow.dtb \
${KERNEL_DTB_PREFIX}imx8mp-verdin-wifi-yavia.dtb \
"
KERNEL_IMAGETYPE:aarch64 = "Image.gz"

UBOOT_CONFIG ??= "sd"
UBOOT_CONFIG[sd] = "verdin-imx8mp_defconfig,sdcard"
SPL_BINARY = "spl/u-boot-spl.bin"

UBOOT_DTB_LOADADDRESS:mx8mp-generic-bsp = "0x50200000"
UBOOT_DTBO_LOADADDRESS:mx8mp-generic-bsp = "0x50240000"
UBOOT_ENTRYPOINT:mx8mp-generic-bsp = "0x48200000"
UBOOT_RD_LOADADDRESS = "0x52300000"

##Set u-boot DTB, edited by vicky and changed from imx8mp-verdin.dtb to imx8mp-icore-starterkit.dtb
UBOOT_DTB_NAME = "imx8mp-icore-starterkit.dtb"

##Set DDR FIRMWARE
LPDDR_FW_VERSION = "_202006"
DDR_FIRMWARE_NAME = "
lpddr4_pmu_train_1d_dmem${LPDDR_FW_VERSION}.bin
lpddr4_pmu_train_1d_imem${LPDDR_FW_VERSION}.bin
lpddr4_pmu_train_2d_dmem${LPDDR_FW_VERSION}.bin
lpddr4_pmu_train_2d_imem${LPDDR_FW_VERSION}.bin
"

ATF_PLATFORM = "imx8mp"
SOC_ATF_BOOT_UART_BASE:verdin-imx8mp = "0x30880000"

BOOT_SPACE = "65536"
IMAGE_BOOTLOADER = "imx-boot"

##Set imx-mkimage boot target
IMXBOOT_TARGETS = "flash_evk_emmc_fastboot"
IMX_BOOT_SOC_TARGET = "iMX8MP"

IMAGE_BOOT_FILES:append = " boot.scr-${MACHINE};boot.scr"
WKS_FILE_DEPENDS:append = " u-boot-default-script"
PREFERRED_PROVIDER_u-boot-default-script = "u-boot-distro-boot"

LOADADDR = ""
UBOOT_SUFFIX = "bin"
UBOOT_MAKE_TARGET = ""
IMX_BOOT_SEEK = "32"
##Edited By vicky
SERIAL_CONSOLES = "115200;ttymxc1"
MACHINE_FEATURES += "3g bluetooth alsa ext2 pci screen touchscreen tpm2 usbgadget usbhost vfat wifi"

PREFERRED_PROVIDER_virtual/kernel = "linux-toradex"
PREFERRED_PROVIDER_virtual/kernel:preempt-rt = "linux-toradex"
PREFERRED_PROVIDER_virtual/kernel:use-mainline-bsp = "linux-toradex-mainline"
PREFERRED_PROVIDER_virtual/kernel:use-mainline-bsp:preempt-rt = "linux-toradex-mainline-rt"
PREFERRED_PROVIDER_virtual/dtb:use-mainline-bsp = "device-tree-overlays-mainline"

IMX_DEFAULT_BOOTLOADER = "u-boot-toradex"
##Currently we use the nxp 2022.04 downstream for mx8
PREFERRED_VERSION_u-boot-toradex = "2022.04%"

##handle machine firmware
MACHINE_FIRMWARE:append = " linux-firmware-sd8997 linux-firmware-nxp89xx"
MACHINE_FIRMWARE:remove = "firmware-sof-imx"

IMAGE_CLASSES:append = " image_type_tezi"
IMAGE_FSTYPES += "teziimg"

UBOOT_BINARY_TEZI_EMMC = "imx-boot"
OFFSET_BOOTROM_PAYLOAD = "0"

TEZI_EXTERNAL_KERNEL_DEVICETREE_BOOT = "verdin-imx8mp_hdmi_overlay.dtbo verdin-imx8mp_dsi-to-hdmi_overlay.dtbo verdin-imx8mp_spidev_overlay.dtbo"
TEZI_EXTERNAL_KERNEL_DEVICETREE_BOOT:use-mainline-bsp = "verdin-imx8mp_spidev_overlay.dtbo"

##Commented by vicky
TORADEX_PRODUCT_IDS = "0058 0061 0063 0064 0065 0066 0070"
TORADEX_PRODUCT_IDS[0058] = "imx8mp-verdin-wifi-dev.dtb"
TORADEX_PRODUCT_IDS[0061] = "imx8mp-verdin-nonwifi-dev.dtb"
TORADEX_PRODUCT_IDS[0063] = "imx8mp-verdin-nonwifi-dev.dtb"
TORADEX_PRODUCT_IDS[0064] = "imx8mp-verdin-wifi-dev.dtb"
TORADEX_PRODUCT_IDS[0065] = "imx8mp-verdin-nonwifi-dev.dtb"
TORADEX_PRODUCT_IDS[0066] = "imx8mp-verdin-wifi-dev.dtb"
TORADEX_PRODUCT_IDS[0070] = "imx8mp-verdin-wifi-dev.dtb"

`

[EstebanSannin]

Ok I think is quite normal, as I said I "assembled" in the wic image the wrong bootloader.
I suggest you flash the correct one, it should be present in the deploy dir, it should be the one "imx-boot".

[BhupiMAD]

@EstebanSannin I tried flashing imx-boot with below command
sudo dd if=./imx-boot of=/dev/sda bs=1024 seek=32
and i can see the u-boot prompt. (previously i had seek=33 and it was not showing u-boot at all)
However, it does not boot rootfs and gives me some error related to source.
Wrong image format for "source" command
I was checking boot.scr file and when comparing it with beaglebone yocto image, i can see that it is missing some variable declaration and other blocks of code to load the kernel and other stuff from the root folder.

Other experiment i tried was flashing the .wic from engicam and then manually replacing boot and root partition content to match with torizon .wic . It tries loading the kernel and fails with below error
[ 3.890870] ---[ end Kernel panic - not syncing: VFS: Unable to mount root fs on unknown-block(179,98) ]---
Below is the log file with all details.
kernelError.log

[BhupiMAD]

I was able to progress a bit. Few of the issues i faced.
U-boot is unable to fetch env variables from uEnv.txt from the 1:2 partition of mmc, mainly because there is error with module env import I would guess that we need to enable CONFIG_CMD_IMPORTENV in config and rebuild for import to work.

Another issue is related to no definition of below variables

• ramdisk_addr_r, which i defined to 0x80000000 for experiment purpose
• defargs , should this be set to zero of its not needed?

Since I could not import the environment from uEnv.txt, I imported it manually and tried booting the board. Below is the complete output from the serial console. The console is frozen at Starting version 250.5+

U-Boot SPL 2022.04+gae8847fff3+p0 (Jan 01 1970 - 00:00:00 +0000)
DDRINFO: start DRAM init
DDRINFO: DRAM rate 4000MTS
DDRINFO:ddrphy calibration done
DDRINFO: ddrmix config done
SEC0:  RNG instantiated
Normal Boot
Trying to boot from BOOTROM
Boot Stage: Primary boot
image offset 0x8000, pagesize 0x200, ivt offset 0x0
NOTICE:  BL31: v2.6(release):lf_v2.6-g3c1583ba0a
NOTICE:  BL31: Built : 00:00:00, Jan  1 1970


U-Boot 2022.04+gae8847fff3+p0 (Jan 01 1970 - 00:00:00 +0000)

CPU:   i.MX8MP[8] rev1.1 1600 MHz (running at 1200 MHz)
CPU:   Industrial temperature grade (-40C to 105C) at 47C
Reset cause: POR
Model: Engicam i.MX8MPlus iCore
DRAM:  2 GiB
Core:  56 devices, 21 uclasses, devicetree: separate
MMC:   FSL_SDHC: 1, FSL_SDHC: 2
Loading Environment from MMC... *** Warning - bad CRC, using default environment

In:    serial
Out:   serial
Err:   serial
SEC0:  RNG instantiated

 BuildInfo:
  - ATF 3c1583b

switch to partitions #0, OK
mmc1 is current device
Net:   
Warning: ethernet@30bf0000 (eth1) using random MAC address - 82:63:05:a2:36:0a
eth1: ethernet@30bf0000 [PRIME]
Normal Boot
Hit any key to stop autoboot:  0 
starting USB...
No working controllers found
USB is stopped. Please issue 'usb start' first.
switch to partitions #0, OK
mmc1 is current device
Scanning mmc 1:1...
Found U-Boot script /boot.scr
1124 bytes read in 1 ms (1.1 MiB/s)
## Executing script at 43500000
Wrong image format for "source" command
SCRIPT FAILED: continuing...
59413 bytes read in 5 ms (11.3 MiB/s)
Scanning disk mmc@30b50000.blk...
Scanning disk mmc@30b60000.blk...
Found 6 disks
No EFI system partition
BootOrder not defined
EFI boot manager: Cannot load any image
switch to partitions #0, OK
mmc2(part 0) is current device
Scanning mmc 2:1...
59413 bytes read in 1 ms (56.7 MiB/s)
BootOrder not defined
EFI boot manager: Cannot load any image
Running BSP bootcmd ...
switch to partitions #0, OK
mmc1 is current device
1124 bytes read in 1 ms (1.1 MiB/s)
Running bootscript from mmc ...
## Executing script at 40400000
Wrong image format for "source" command
u-boot=> setenv kernel_image /boot/ostree/torizon-5147d0ad21a6a494e865640cb6f5a758e2d3b95934967e5afbf98b8972a24bfc/vmlinuz-5.15.71+gdd2ad9936906+p0; setenv ramdisk_image /boot/ostree/torizon-5147d0ad21a6a494e865640cb6f5a758e2d3b95934967e5afbf98b8972a24bfc/initramfs-5.15.71+gdd2ad9936906+p0.img; setenv bootargs quiet logo.nologo vt.global_cursor_default=0 plymouth.ignore-serial-consoles splash fbcon=map:3 ostree=/ostree/boot.1/torizon/5147d0ad21a6a494e865640cb6f5a758e2d3b95934967e5afbf98b8972a24bfc/0; setenv kernel_image_type Image; setenv overlays_file overlays.txt
u-boot=> setenv otaroot 1
u-boot=> setenv devtype mmc
u-boot=> setenv devnum 1
u-boot=> setenv otaroot 2
u-boot=> load ${devtype} ${devnum}:1 ${fdt_addr_r} ${fdtfile}
59413 bytes read in 5 ms (11.3 MiB/s)
u-boot=> setenv bootargs "${defargs} ${bootargs} ${tdxargs}"
u-boot=> ext4load ${devtype} ${devnum}:${otaroot} ${kernel_addr_r} /boot${kernel_image}
41949696 bytes read in 2544 ms (15.7 MiB/s)
u-boot=> ext4load ${devtype} ${devnum}:${otaroot} ${ramdisk_addr_r} /boot${ramdisk_image}
ext4load - load binary file from a Ext4 filesystem

Usage:
ext4load <interface> [<dev[:part]> [addr [filename [bytes [pos]]]]]
    - load binary file 'filename' from 'dev' on 'interface'
      to address 'addr' from ext4 filesystem
u-boot=> setenv ramdisk_addr_r 0x80000000
u-boot=> ext4load ${devtype} ${devnum}:${otaroot} ${ramdisk_addr_r} /boot${ramdisk_image}
11445252 bytes read in 712 ms (15.3 MiB/s)
u-boot=> env set ramdisk_size ${filesize}
u-boot=> booti ${kernel_addr_r} ${ramdisk_addr_r}:${ramdisk_size} ${fdt_addr_r}
## Flattened Device Tree blob at 43000000
   Booting using the fdt blob at 0x43000000
   Loading Ramdisk to 4f515000, end 4ffff404 ... OK
   Using Device Tree in place at 0000000043000000, end 0000000043011814

Starting kernel ...

[    0.479884] ov5640 1-003c: ov5640_read_reg: error: reg=300a
[    0.485503] ov5640 1-003c: ov5640_check_chip_id: failed to read chip identifier
[    0.833184] edt_ft5x26 1-0038: touchscreen probe failed
[    0.898030] : mipi_csis_imx8mp_phy_reset, No remote pad found!
[    0.925990] phy phy-32f00000.pcie-phy.4: phy init failed --> -110
[    0.932116] imx6q-pcie 33800000.pcie: Waiting for PHY PLL ready timeout!
[    0.952660] imx6q-pcie 33800000.pcie: PCIe PLL lock timeout
Starting version 250.5+

Why does it say imx6q-pcie 33800000.pcie: PCIe PLL lock timeout is that something common or my board is not identified properly?
I see Torizon loading with spinning wheel

And then the wheel goes away.

Now as per Torodex website, this loading may take some time but i also saw an issue opned up recently where the error is related to Starting version 250.5+ Github Issue #28

[EstebanSannin]

NICE!
I think that would be helpful for you if I share my setup to build it (Torizon OS) from sources for ENGICAM, let me try to summarize, I'll do it soon, please be patient.

[BhupiMAD]

@EstebanSannin Thank you! That would help.
Also, do you have any clue why the boot is getting stuck at Starting version 250.5+