############################### byteDEVKIT-imx93 (Yocto 5.0.15) ############################### ********* Downloads ********* SD card image ============= .. list-table:: :header-rows: 1 * - Download - Checksum (SHA256) * - `bytesatwork-minimal-image-bytedevkit-imx93.rootfs-20260130095017.wic.gz `_ - 00a5408f6d76d3bf666f15014ee6d8d06a8fbce5a03a9d1f1e232e79347e93bf * - `bytesatwork-minimal-image-bytedevkit-imx93.rootfs-20260130095017.wic.bmap `_ - 2f79b6205ce83f90a8b75ff476b2f01676296eb49ec236b16209ef6a984e6bc4 .. _get-toolchain-bytedevkit-imx93-5.0: Toolchain ========= .. list-table:: :header-rows: 1 * - Download - Checksum (SHA256) * - `poky-bytesatwork-glibc-x86_64-bytesatwork-minimal-image-cortexa55-bytedevkit-imx93-toolchain-5.0.15.sh `_ - e03ce40095fad781a89e0cf40ed28b6bb063a7f42c0d6eac153a23e400c22104 U-Boot ====== .. list-table:: :header-rows: 1 * - Description - Download - Checksum (SHA256) * - U-Boot (SD-card) - `imx-boot-bytedevkit-imx93-sd.bin-flash_singleboot `_ - f4ba453a1afc2ae714102445befdb2d50bde019ea785b3c2f4fd89709160b49e ***** Image ***** How do you flash the image? =========================== .. Attention:: - You need a microSD card with **at least 8GB** capacity. - **All existing data** on the microSD card will be lost. - **Do not format** the microSD card before flashing. Windows #. Unzip the file ``bytesatwork-minimal-image-bytedevkit-imx93.rootfs.wic.gz`` (e.g. with 7-zip) #. Write the resulting file to the microSD card with a tool like `Roadkils Disk Image `_ Linux :: gunzip -c bytesatwork-minimal-image-bytedevkit-imx93.rootfs.wic.gz | dd of=/dev/mmcblk bs=8M conv=fsync status=progress .. Hint:: To improve write performance, you could use bmap-tools under Linux: ``bmaptool copy bytesatwork-minimal-image-bytedevkit-imx93.rootfs.wic.gz /dev/mmcblk`` ---- How do you build an image? ========================== Use ``repo`` to download all necessary repositories: :: $ mkdir -p ~/workdir/bytedevkit-imx93/5.0; cd ~/workdir/bytedevkit-imx93/5.0 $ repo init -b scarthgap -u https://github.com/bytesatwork/bsp-platform-nxp.git $ repo sync If those commands are completed successfully, the following command will set up a Yocto Project environment for byteDEVKIT-imx93: :: $ cd ~/workdir/bytedevkit-imx93/5.0 $ MACHINE=bytedevkit-imx93 DISTRO=poky-bytesatwork EULA=1 . setup-environment build The final command builds the development image: :: $ cd $BUILDDIR $ bitbake bytesatwork-minimal-image The output is found in: :: ~/workdir/bytedevkit-imx93/5.0/build/tmp/deploy/images/bytedevkit-imx93 .. Hint:: For additional information about yocto images and how to build them, please visit: https://docs.yoctoproject.org/5.0.15/brief-yoctoprojectqs/index.html#building-your-image. How to modify the image ----------------------- The image recipes can be found in ``~/workdir/bytedevkit-imx93/5.0/sources/meta-bytesatwork/recipes-core/images`` This is relative to where you started the ``repo`` command to fetch all the sources. Edit the minimal-image recipe ``bytesatwork-minimal-image.bb`` Add the desired software-package to ``IMAGE_INSTALL`` variable, for example add ``net-tools`` to ``bytesatwork-minimal-image.bb`` Rebuild the image by: :: $ cd ~/workdir/bytedevkit-imx93/5.0 $ MACHINE=bytedevkit-imx93 DISTRO=poky-bytesatwork EULA=1 . setup-environment build $ bitbake bytesatwork-minimal-image How to rename the image ----------------------- If you want to rename or copy an image, simply rename or copy the image recipe by: :: $ cd ~/workdir/bytedevkit-imx93/5.0/sources/meta-bytesatwork/recipes-core/images $ cp bytesatwork-minimal-image.bb customer-example-image.bb Troubleshooting --------------- - **Image size is too small** If you encounter that your image size is too small to install additional software, please have a look at the ``IMAGE_ROOTFS_SIZE`` variable under ``~/workdir/bytedevkit-imx93/5.0/sources/meta-bytesatwork/recipes-core/images/bytesatwork-minimal-image.bb``. Increase the size if necessary. ---- ********* Toolchain ********* How do you install the toolchain? ================================= Simply download the toolchain and execute the downloaded file, which is a self-extracting shell script. .. Hint:: If you encounter problems when trying to install the toolchain, make sure the downloaded toolchain is executable. Run ``chmod +x //.sh`` to make it executable. .. Important:: The following tools need to be installed on your development system: * ``xz`` (Debian package: ``xz-utils``) * ``python`` (any version) * ``gcc`` ---- How do you use the toolchain? ============================= Source the installed toolchain: :: source /opt/poky-bytesatwork/5.0.15/environment-setup-cortexa55-poky-linux Check if Cross-compiler is available in environment: :: echo $CC You should see the following output: :: aarch64-poky-linux-gcc -mcpu=cortex-a55+crypto -mbranch-protection=standard -fstack-protector-strong -O2 -D_FORTIFY_SOURCE=2 -Wformat -Wformat-security -Werror=format-security --sysroot=/opt/poky-bytesatwork/5.0.15/sysroots/cortexa55-poky-linux Crosscompile the source code, e.g. by: :: $CC helloworld.c -o helloworld Check generated binary: :: file helloworld The output that is shown in prompt afterwards: :: helloworld: ELF 64-bit LSB pie executable, ARM aarch64, version 1 (SYSV), dynamically linked, interpreter /lib/ld-linux-aarch64.so.1, BuildID[sha1]=2f109b4df123adb07897264729903d2b83cf32ab, for GNU/Linux 5.15.0, with debug_info, not stripped ---- How to bring your binary to the target? ======================================= 1. Connect the embedded device's ethernet to your LAN 2. Determine the embedded target IP address by ``ip addr show`` .. image:: https://www.bytesatwork.io/wp-content/uploads/2020/05/ip_addr_show_28.png :scale: 100% :align: center 3. Copy your binary, e.g. ``helloworld`` to the target by ``scp helloworld root@:/tmp`` .. image:: https://www.bytesatwork.io/wp-content/uploads/2020/05/scp2.png :scale: 100% :align: center 4. Run ``chmod +x`` on the target to make your binary executable: ``chmod +x //`` 5. Run your binary on the target: ``//`` ---- How do you build a toolchain? ============================= :: $ cd ~/workdir/bytedevkit-imx93/5.0 $ repo init -b scarthgap -u https://github.com/bytesatwork/bsp-platform-nxp.git $ repo sync If those commands are completed successfully, the following command will set up a Yocto Project environment for byteDEVKIT-imx93: :: $ cd ~/workdir/bytedevkit-imx93/5.0 $ MACHINE=bytedevkit-imx93 DISTRO=poky-bytesatwork EULA=1 . setup-environment build The final command builds an installable toolchain: :: $ cd $BUILDDIR $ bitbake bytesatwork-minimal-image -c populate_sdk The toolchain is located under: :: ~/workdir/bytedevkit-imx93/5.0/build/tmp/deploy/sdk How to modify your toolchain ---------------------------- Currently the bytesatwork toolchain is generated out of the bytesatwork-minimal-image recipe. If you want to add additional libraries and development headers to customize the toolchain, you need to modify the bytesatwork-minimal-image recipe. It can be found under ``~/workdir/bytedevkit-imx93/5.0/sources/meta-bytesatwork/recipes-core/images`` For example: if you want to develop your own application utilizing CAN communication and need libsocketcan and the corresponding header files, edit the recipe ``bytesatwork-minimal-image.bb`` and add ``libsocketcan`` to the ``IMAGE_INSTALL`` variable. This will provide the libsocketcan libraries and development headers in the toolchain. After adding additional software components, the toolchain needs to be rebuilt by: :: $ cd ~/workdir/bytedevkit-imx93/5.0 $ MACHINE=bytedevkit-imx93 DISTRO=poky-bytesatwork EULA=1 . setup-environment build $ bitbake bytesatwork-minimal-image -c populate_sdk The newly generated toolchain will be available under: :: ~/workdir/bytedevkit-imx93/5.0/build/tmp/deploy/sdk For additional information, please visit: https://docs.yoctoproject.org/5.0.15/overview-manual/concepts.html#cross-development-toolchain-generation. ****** Kernel ****** .. _download-kernel-bytedevkit-imx93-5.0: Download the Linux Kernel ========================= .. list-table:: :header-rows: 1 * - Device - Branch - git URL * - bytedevkit-imx93 - baw-lf-6.6.52-2.2.1 - https://github.com/bytesatwork/linux-imx.git ---- Build the Linux Kernel ====================== For both targets, an ARM toolchain is necessary. You can use the provided toolchain from :ref:`get-toolchain-bytedevkit-imx93-5.0` or any compatible toolchain (e.g. from your distribution) .. Important:: The following tools need to be installed on your development system: * ``git`` * ``make`` * ``bc`` .. Note:: The following instructions assume, you installed the provided toolchain for the respective target. .. Important:: The following tools need to be installed on your development system: * OpenSSL headers (Debian package: ``libssl-dev``) * ``depmod`` (Debian package: ``kmod``) #. Download kernel sources Download the appropriate kernel from :ref:`download-kernel-bytedevkit-imx93-5.0`. #. Source toolchain :: source /opt/poky-bytesatwork/5.0.15/environment-setup-cortexa55-poky-linux #. Create defconfig :: make bytedevkit_imx93_defconfig #. Build Linux kernel :: make -j `nproc` Image dtbs modules #. Install kernel and device tree To use the newly created kernel, device tree and/or module, the necessary files need to be installed on the target. This can be done either via Ethernet (e.g. ``scp``) or by copying the files to the SD card. .. Note:: For scp installation: Don't forget to mount /boot on the target. .. list-table:: :header-rows: 1 * - File - Target path - Target partition * - ``arch/arm64/boot/Image`` - ``/boot/Image`` - ``/dev/mmcblk1p1`` * - ``arch/arm64/boot/dts/freescale/imx93-bytedevkit.dtb`` - ``/boot/imx93-bytedevkit.dtb`` - ``/dev/mmcblk1p1`` .. Note:: After installing a new kernel, it often fails to load modules, as the _signature_ of the kernel changed and it fails to find its corresponding modules folder. This issue can often be resolved with a symlink: :: ln -s /lib/modules/ /lib/modules/`uname -r` Otherwise, please follow the instructions to copy the kernel modules #. Install kernel modules To copy all available modules to the target, it's best to deploy them locally first and then copy all modules to the target. :: mkdir /tmp/bytedevkit-imx93 make INSTALL_MOD_PATH=/tmp/bytedevkit-imx93 modules_install Now you can copy the content of the folder ``/tmp/bytedevkit-imx93`` into the target's root folder (``/``) which is partition ``/dev/mmcblk1p1``. ****** U-Boot ****** Additional information can be found under https://www.nxp.com/docs/en/user-guide/IMX_LINUX_USERS_GUIDE.pdf and https://docs.u-boot.org/en/latest/board/nxp/index.html. .. Note:: On i.MX 93, SPL and U-Boot are combined in a container file called ``flash.bin`` (Yocto: ``imx-boot-bytedevkit-imx93-sd.bin-flash_singleboot``). .. _download-uboot-source-bytedevkit-imx93-5.0: Download U-Boot Source Code =========================== .. list-table:: :header-rows: 1 * - Device - Branch - git URL * - bytedevkit-imx93 - baw-v2024.04_6.6.52_2.2.1 - https://github.com/bytesatwork/u-boot-imx ---- Install SPL and U-Boot ====================== To use the newly created U-Boot, the necessary file needs to be installed on the SD card. This can be done either on the host or on the target. .. list-table:: :header-rows: 1 * - File - Target partition - Offset * - ``flash.bin`` Yocto: ``imx-boot-bytedevkit-imx93-sd.bin-flash_singleboot`` - ``/dev/mmcblk1`` (or ``/dev/sdX``) - 32 KiB You need to write the files to the respective "raw" partition, either on the host system or the target system: :: dd if=./u-boot-imx/flash.bin of=/dev/mmcblk1 bs=1K seek=32 The next time the target is reset, it will start with the new U-Boot. .. This is the footer, don't edit after this .. image:: ../../images/wiki_footer.jpg :align: center :target: https://www.bytesatwork.io