COM iMX6ULL Linux

Storage Layout

Linux virtual machine for development

• Please have a look at: Virtual Machine for Application Development

Linux Kernel

Sources for the i.MX6 Kernel

• Mainline

• 4.4.60 mainline (GitHub) default branch
• 4.4.38 mainline (GitHub)
• 3.14.79 mainline (GitHub)
• 3.14.12 mainline (GitHub)

• Vendor

• 4.1.15 vendor 2017-04-05 (GitHub) default branch
• 3.10.17 vendor 2017-01-30 (GitHub)

How to build a Kernel

Get sources from Github 1. Start the Console on Linux 2. git clone https://github.com/dh-electronics/linux-imx6qdl.git --branch dev/4.4.60_dhcom 3. cd linux-imx6qdl Configure and build the Device Tree + Kernel 4. ARCH=arm CROSS_COMPILE=/opt/gcc-linaro-4.9-2014.11-x86_64_arm-linux-gnueabihf/bin/arm-linux-gnueabihf- make imx6ull_dhsom_defconfig 5. ARCH=arm CROSS_COMPILE=/opt/gcc-linaro-4.9-2014.11-x86_64_arm-linux-gnueabihf/bin/arm-linux-gnueabihf- make menuconfig (optional: If you want to add/remove Kernel features) 6. ARCH=arm CROSS_COMPILE=/opt/gcc-linaro-4.9-2014.11-x86_64_arm-linux-gnueabihf/bin/arm-linux-gnueabihf- make dtbs 7. ARCH=arm CROSS_COMPILE=/opt/gcc-linaro-4.9-2014.11-x86_64_arm-linux-gnueabihf/bin/arm-linux-gnueabihf- make zImage The built imx6x-dhcom#Y-BOARD.dtb devicetree files are available in arch/arm/boot/dts x = s, dl, d, q # = 2 for HW200, 3 for HW300, 4 for HW400 Y = B for Base, H for Hi-Speed-Interfaces BOARD = pdk1, pdk2, ... The built zImage kernel file will you find in arch/arm/boot

Update the Kernel and Devicetree with U-Boot

Please refere to the DHCOM Update Mechanism for i.MX6.

Update Kernel and Devicetree on a running Linux

Kernel 1. Copy the kernel zImage file to the path /boot 2. Check whether the correct zImage file name is set in /boot/uLinuxEnv.txt (e.g. zImage_file=zImage) Devicetree 3. Copy the devicetree file to the path /boot/dtbs 4. Check fdtfile variable in /boot/uLinuxEnv.txt (e.g. fdtfile=/dtbs/imx6dl-dhcom3B-pdk2.dtb / see above) Reboot System 5. Restart the system (e.g. reboot)

Make your own Device Tree for your board

The recommended proceeding for making your our Device Tree should be the following:

1. Clone the DH Device Tree Board file and change it to fit for your board

- Based on i.MX6 and PDK1 (works with i.MX6 HW200)

imx6qdl-dh_pdk1.dtsi --> imx6qdl-COMPANY_BOARDNAME.dtsi

- Based on i.MX6 and PDK2 (works with i.MX6 HW300)

imx6qdl-dh_pdk2.dtsi --> imx6qdl-COMPANY_BOARDNAME.dtsi

2. Clone the main Device Tree file and change the included boad file to yours

E.g. based on i.MX6DL HW300 with PDK2

imx6dl-dhcom3B-pdk2.dts --> imx6dl-dhcom3B-BOARDNAME.dts

3. Add your new main Device Tree file to Makefile (located in the same folder)

DH Device Tree pattern:

Debian Rootfilesystem

Available Rootfilesystems

Please have a look at the iMX6 Downloads section.

External Documentation

• The Debian Administrator's Handbook: A reference book presenting the Debian distribution, from initial installation to configuration of services. The administration and configuration chapters apply to our Debian based root filesystems.
• Debian Documentation

Login

Debian GNU/Linux 8 dhcom ttymxc0 dhcom login: root Password: foo

Shutdown

# shutdown -h now

Calibrating the touchscreen (only on Debian 6.0)

# ts_calibrate

• Check the enviroment variable "TSLIB_TSDEVICE=/dev/input/event0" with printenv if an error occurs.

How to create a microSD-card with a rootfilesystem on it

1. Format a microSD card like following (in linux e.g. gparted, palimpsest) with Master Boot Record partition scheme

P1 ext3, name="boot" (Primary partition: 100MiB) P2 ext3, name="rootfs" (Primary part.: Residual space)

2. Untar the root file system to the "rootfs" partition of the microSD card (Don't copy the tar archive directly to the microSD card)

Start the Console on Linux # su # chmod 755 /path/of/the/microSD_card # cd /path/of/the/microSD_card # tar xfjv path/to/RootFS/Name_of_RootFS_file.tar.bz2

Remark: If you got a *.tar.gz file so type tar xfzv ... to extract the rootfilesystem.

Kernel Userspace Interfaces to Access Hardware

Serial (UART) Interfaces

DHCOM UART 1	/dev/ttymxc0
DHCOM UART 2	/dev/ttymxc1
DHCOM UART 3	<n/a>

I2C Interfaces

DHCOM I2C 1	/dev/i2c-1
DHCOM I2C 2	/dev/i2c-0

SPI Interfaces

DHCOM SPI 1	/dev/spidev0.0
DHCOM SPI 2	/dev/spidev1.0

Remark: DHCOM SPI1 interface doesn‘t work with DHCOM Premium Developer Kit (HD00013).

Reason: At DHCOM Premium Developer Kit SPI 1 isn‘t connected, because otherwise i.MX6 doesn‘t boot with the current schematic.

MMC/SD/eMMC Interfaces

DHCOM SD-Interface	/dev/mmcblk1pX
on module µSD Card
on module eMMC	/dev/mmcblk2pX

'X' has to be replaced with the partition number

Control the display brightness

Coming soon

Control GPIOs

See which gpio is already used by the system

cat /sys/kernel/debug/gpio | grep -v "gpio-... ( "

DHCOM Name:	gpiod label:	alt. DHCOM Name:	SO-DIMM Pin#	CPU Pad Name	Linux <GPIO#> *
GPIO A	A		154	PAD_SNVS_TAMPER0	128
GPIO B	B		156	PAD_SNVS_TAMPER1	129
GPIO C	C		162	PAD_SNVS_TAMPER2	130
GPIO D	D		163	PAD_SNVS_TAMPER3	131
GPIO E	E		164	PAD_SNVS_TAMPER4	132
GPIO F	F		165	PAD_SNVS_TAMPER7	135
GPIO G	G		167	PAD_SNVS_TAMPER8	136
GPIO H	H		173	PAD_SNVS_TAMPER9	137
GPIO I	I		175	PAD_UART1_CTS_B	18
GPIO J	J	CIF HSYNC	74	PAD_CSI_HSYNC	116
GPIO K	K	CIF PCLK	72	PAD_CSI_PIXCLK	114
GPIO L	L	CIF MCLK	70	PAD_CSI_MCLK	113
GPIO M	M	CIF VSYNC	68	PAD_CSI_VSYNC	115
GPIO N	N	CIF D9	66	PAD_CSI_DATA07	124
GPIO O	O	CIF D8	64	PAD_CSI_DATA06	123
GPIO P	P	CIF D7	62	PAD_CSI_DATA05	122
GPIO Q	Q	CIF D6	60	PAD_CSI_DATA04	121
GPIO R	R	CIF D5	58	PAD_CSI_DATA03	120
GPIO S	S	CIF D4	56	PAD_CSI_DATA02	119
GPIO T	T	CIF D3	54	PAD_CSI_DATA01	118
GPIO U	U	CIF D2	52	PAD_CSI_DATA00	117
GPIO V		CIF D1	50	<n/a>	<n/a>
GPIO W		CIF D0	48	<n/a>	<n/a>
INT HIGHEST PRIORITY	INT		151	PAD_KEY_COL0	11

* = Valid if you didn't change the CONFIG_ARCH_NR_GPIO value in kernel config AND if your kernel doesn't probe another GPIO controller before the imx6 GPIO controller

Remark: Depending on your board configuration some of the additional gpios shared with the camera interface are not available on your system.

Controlled by gpiod tools (need Kernel v4.7 or higher)

Set state

gpioset $(gpiofind GPIO_LABEL)=0

gpioset $(gpiofind GPIO_LABEL)=1

Get state

gpioget $(gpiofind GPIO_LABEL)

gpioget $(gpiofind GPIO_LABEL)

Remark: GPIO_LABEL could be A, B, C, ... see table above

Controlled by sysfs (since Kernel v4.8 deprecated)

Export

echo <GPIO#> >/sys/class/gpio/export

Remark: Have a look into /sys/class/gpio/ for already configured gpios.

Set direction

echo in >/sys/class/gpio/gpio<GPIO#>/direction

echo out >/sys/class/gpio/gpio<GPIO#>/direction

Set state

echo 0 >/sys/class/gpio/gpio<GPIO#>/value

echo 1 >/sys/class/gpio/gpio<GPIO#>/value

Initialize and Test CAN Interface

Initialize:

ip link set can0 up type can bitrate 500000

Send test message via cansend (part of can-utils):

cansend can0 100#11.2233.44556677.88

Receive can messages (part of can-utils):

candump can0

Get can-utils:

• Debian package containing can-utils (ARM)

Parallel Address- / Databus

To use the 16-bit address / databus from Linux userspace you can use the UIO driver interface. To enable and configure the interface it is necessary to setup the i.MX6 WEIM controller with the device tree. See the documentation of the device tree bindings of weim here.

Here is an example code which demonstrates how to do enable and configure the WEIM interface (parallel address- / databus):

&weim { pinctrl-names = "default"; pinctrl-0 = <&pinctrl_dhcom_weim &pinctrl_dhcom_weim_cs0 &pinctrl_dhcom_weim_cs1>; #address-cells = <2>; #size-cells = <1>; /* it is necessary to setup 2x 64MB otherwise setting gpr fails */ ranges = <0 0 0x08000000 0x04000000>, // Chip select 0 == DHCOM CS A <1 0 0x0c000000 0x04000000>; // Chip select 1 == DHCOM CS B fsl,weim-cs-gpr = <&gpr>; status = "okay"; uiomap_cs0@0,0 { compatible = "generic-uio"; reg = <0 0x00000000 0x04000000>; reg-names = "uio_cs0"; interrupt-parent = <&gpio1>; interrupts = <2 2>; // Add gpio A == interrupt #address-cells = <1>; #size-cells = <1>; fsl,weim-cs-timing = <0x00610089 0x00001002 0x0F011061 0x00000000 0x0F068A31 0x00000000>; status = "okay"; }; uiomap_cs1@0,1 { compatible = "generic-uio"; reg = <1 0x00000000 0x04000000>; reg-names = "uio_cs1"; interrupt-parent = <&gpio1>; interrupts = <4 2>; // Add gpio B == interrupt #address-cells = <1>; #size-cells = <1>; fsl,weim-cs-timing = <0x00610089 0x00001002 0x0F011061 0x00000000 0x0F068A31 0x00000000>; status = "disabled"; }; };

We have already written some demo code at /arch/arm/boot/dts/imx6qdl-dhcom_cfg-weim.dtsi. It is easy to enable in the matching device-tree file:

• /arch/arm/boot/dts/imx6s-dhcom3B-pdk2.dts
• /arch/arm/boot/dts/imx6dl-dhcom3B-pdk2.dts
• /arch/arm/boot/dts/imx6d-dhcom3B-pdk2.dts
• /arch/arm/boot/dts/imx6q-dhcom3B-pdk2.dts

- // #include "imx6qdl-dhcom_cfg-weim.dtsi + #include "imx6qdl-dhcom_cfg-weim.dtsi

To use the generic uio driver it has to be enabled in the kernel configuration (make menuconfig)

• Device Drivers -> Userspace I/O Drivers -> Userspace I/O platform driver with generic IRQ handling

The device-tree of_id of the uio driver has to be set via kernel command line

• Add "optargs='uio_pdrv_genirq.of_id=generic-uio'" to uLinuxEnv.txt

Example for a UIO userspace driver:

• uio_access.cpp
• for further information have a look at the paper Userspace I/O drivers in a realtime context

Configure your own display

To configure your own display you have to do the following steps:

1. Configure your display and build a settings file by our tool DHCOMSettingsGenerator (Download v2.0.0.2)

2. Place generated file into the first partition (label: "boot")

3. Create a symbolic link to the file settings.bin ($ ln -s YourSettingsFile.bin settings.bin)

Remake: It is still possible to config the display via Device Tree e.g. dev/4.4.60_dhcom/arch/arm/boot/dts/imx6qdl-dh_pdk2.dtsi (not recommended by DH)

The following picture showing the sequence and priorities:

For detailed description of the display boot args please have a look at Display and Hardware settings of the iMX6 Bootloader.

Additional Information

• Linux Kernel Features
• Embedded Linux Build Environment (ELBE)