Add support for TI AM62x Starter Kit EVM (SK-AM62B-P1) board on Common Torizon #215

lucas-akira · 2025-01-28T20:32:48Z

Add initial Torizon OS support for the AM62x Starter Kit Evaluation Module via Common Torizon distro, using the TI BSP. In addition to this layer (meta-toradex-torizon), the following Yocto layers are necessary in order to build the image:

meta-virtualization
meta-networking
meta-python
meta-oe
meta-filesystems
meta-ti-extras
meta-ti-bsp
meta-arm
meta-arm-toolchain
meta
meta-poky
meta-yocto-bsp
meta-updater

DISTRO should be set to common-torizon
MACHINE should be set to am62xx-evm

In conf/local.conf append the following line at the end of the file:

include conf/machine/include/am62xx-evm.inc

Build the image with:

bitbake torizon-docker

jsrc27

Left some minor comments/questions.

recipes-sota/ostree-kernel-initramfs/ostree-kernel-initramfs_%.bbappend

jsrc27 · 2025-01-28T23:01:50Z

recipes-bsp/u-boot/u-boot-distro-boot/am62xx-evm/uEnv.txt.in

@@ -0,0 +1,228 @@
+kernel_image_type=@@KERNEL_IMAGETYPE@@


Just checking is the only difference in this file and the normal uEnv.txt.in file the otaroot and the board_fixups?

Yes, otaroot is set to 2 instead of 1, and I've changed board_fixups so that fdtfile gets set with the DTB name without the ti/ prefix.

Likewise, for the sake of maintenance, I think it would be better to patch the default uEnv.txt from meta-toradex-torizon rather than duplicate the whole file here. Opinions?

Yeah my initial questions was kinda touching on this since uEnv.txt is rather large and it is a little clunky to copy it over if the differences are minimal.

Probably we should add a "replace variable" to this uEnv.txt, so that we can easily add to the environment through the recipe!

But this could also be a technical debt on this PR, with a ticket on our backlog (at the top!) for us to fix this and not bloat too much the PR. What you guys thing, @jsrc27, @rborn-tx?

I'd do it right now since we've already decided to do something similar with the boot script (on the other thread).

Well, I've followed the suggestion to patch uEnv.txt in my latest PR update. For board_fixups I created a new variable called extra_board_fixups to add the am62xx-evm-specific DTB fixup.

conf/machine/include/am62xx-evm.inc

dynamic-layers/meta-ti-bsp/recipes-bsp/u-boot/u-boot-ti-staging_%.bbappend

recipes-images/images/torizon-base.inc

rborn-tx

Nice work. I've have raised a couple of questions before approving it though.

rborn-tx · 2025-01-30T17:07:23Z

recipes-bsp/u-boot/u-boot-distro-boot/am62xx-evm/boot.cmd.in

+if test -n "${loadaddr}"
+then
+    ext4load ${devtype} ${devnum}:2 ${loadaddr} /boot/loader/uEnv.txt; env import -t ${loadaddr} ${filesize}
+else
+    ext4load ${devtype} ${devnum}:2 ${scriptaddr} /boot/loader/uEnv.txt; env import -t ${scriptaddr} ${filesize}
+fi


For the sake of maintenance, I think it would be better to patch the default boot.cmd from meta-toradex-torizon rather than duplicate the whole file here given that the difference is minimal.

In this case, how would the patch be applied? One way I can imagine is patching during the do_compile() function in the u-boot-distro-boot recipe, more or less like this:

UENV_TXT_PARTITION ?= "1" UENV_TXT_PARTITION:am62xx = "2" [...] do_compile() { sed -e 's/@@UENV_TXT_PARTITION@@/${UENV_TXT_PARTITION}/' \ -e 's/@@KERNEL_BOOTCMD@@/${KERNEL_BOOTCMD}/' \ [...] "${WORKDIR}/boot.cmd.in" > boot.cmd [...]

And we would add the variable to the default boot.cmd.in like this:

if test -n "${loadaddr}" then ext4load ${devtype} ${devnum}:@@UENV_TXT_PARTITION@@ ${loadaddr} /boot/loader/uEnv.txt; env import -t ${loadaddr} ${filesize} else ext4load ${devtype} ${devnum}:@@UENV_TXT_PARTITION@@ ${scriptaddr} /boot/loader/uEnv.txt; env import -t ${scriptaddr} ${filesize} fi

Exactly, that's the idea. As you noted, today both uEnv.txt and boot.cmd are produced by transforming the corresponding input files with sed (work done by do_compile()). Here we would add new replacements to those transformations.

As for the OE variable name I'd suggest something indicating this is the partition number used by U-Boot for booting (maybe UBOOT_BOOT_PARTITION, UBOOT_BOOT_PARTITION_NUMBER or similar).

As a note, if our script used information from distro-boot (variable ${distro_bootpart}), then this replacement wouldn't even be needed and the boot script would be more generic. For reference, see

https://github.com/u-boot/u-boot/blob/ac3eeb154257f422d87c3e4ad5414c350238c3b9/include/config_distro_bootcmd.h#L521.

I'm not sure why we don't do that, but that's a another story...

Agreed!
Specially now since we'll have all sorts of devices, having this parameterized seems like a good idea.
And I'd do kinda like you suggested @lucas-akira, with a default value in this recipe, and the actual override done in the machine.inc file, since I don't this this value would be shared with our AM62 device.

Exactly, that's the idea. As you noted, today both uEnv.txt and boot.cmd are produced by transforming the corresponding input files with sed (work done by do_compile()). Here we would add new replacements to those transformations.

As for the OE variable name I'd suggest something indicating this is the partition number used by U-Boot for booting (maybe UBOOT_BOOT_PARTITION, UBOOT_BOOT_PARTITION_NUMBER or similar).

@rborn-tx I see. I agree that it makes more sense to just patch the differences with sed, especially given that the recipe already has this logic in place. I'll do this then, along with your suggestion to name the variable UBOOT_BOOT_PARTITION_NUMBER.

and the actual override done in the machine.inc file, since I don't this this value would be shared with our AM62 device.

@EdTheBearded You're right! I'll put the override in the machine.inc file.

I've updated the commit with the suggestions. @EdTheBearded @rborn-tx please take a look and see if it's OK.

rborn-tx · 2025-01-30T17:08:27Z

recipes-bsp/u-boot/u-boot-distro-boot/am62xx-evm/uEnv.txt.in

@@ -0,0 +1,228 @@
+kernel_image_type=@@KERNEL_IMAGETYPE@@


Likewise, for the sake of maintenance, I think it would be better to patch the default uEnv.txt from meta-toradex-torizon rather than duplicate the whole file here. Opinions?

recipes-bsp/u-boot/u-boot-rollback/am62xx-evm/bootcommand.cfg

recipes-sota/ostree-kernel-initramfs/ostree-kernel-initramfs_%.bbappend

Add logic to properly install .dtbo files if any are listed in the KERNEL_DEVICETREE variable. They will be included in /boot/ostree/torizon-<hash>/dtb/overlays/. A new variable, KERNEL_DEVICETREE_OVERLAY_BOOT, can be used to specify which .dtbo files in KERNEL_DEVICETREE will be applied during boot time. Signed-off-by: Lucas Akira Morishita <[email protected]>

Signed-off-by: Lucas Akira Morishita <[email protected]>

Add initial Torizon OS support for the Texas Instruments AM62x starter kit evaluation module with PMIC (SK-AM62B-P1). The resulting .wic image file should be flashed to an SD card and the EVM should be configured for SD card boot mode. Related-to: TOR-3714 Signed-off-by: Lucas Akira Morishita <[email protected]>

Signed-off-by: Lucas Akira Morishita <[email protected]>

EdTheBearded · 2025-02-03T17:42:25Z

conf/layer.conf

@@ -18,4 +18,6 @@ BBFILES_DYNAMIC += "\
    toradex-bsp-common-layer:${LAYERDIR}/dynamic-layers/meta-toradex-bsp-common/*/*/*.bbappend \
    toradex-ti-layer:${LAYERDIR}/dynamic-layers/meta-toradex-ti/*/*/*.bb \
    toradex-ti-layer:${LAYERDIR}/dynamic-layers/meta-toradex-ti/*/*/*.bbappend \
+    meta-ti-bsp:${LAYERDIR}/dynamic-layers/meta-ti-bsp/*/*/*.bb \


Oh yeah, this is really minor, but could we order these? 😀

What do you mean? You mean put the meta-ti-bsp lines in alphabetical order i.e. like below?

intel:${LAYERDIR}/dynamic-layers/meta-intel/*/*/*.bb \ intel:${LAYERDIR}/dynamic-layers/meta-intel/*/*/*.bbappend \ + meta-ti-bsp:${LAYERDIR}/dynamic-layers/meta-ti-bsp/*/*/*.bb \ + meta-ti-bsp:${LAYERDIR}/dynamic-layers/meta-ti-bsp/*/*/*.bbappend \ toradex-bsp-common-layer:${LAYERDIR}/dynamic-layers/meta-toradex-bsp-common/*/*/*.bb \ toradex-bsp-common-layer:${LAYERDIR}/dynamic-layers/meta-toradex-bsp-common/*/*/*.bbappend \ toradex-ti-layer:${LAYERDIR}/dynamic-layers/meta-toradex-ti/*/*/*.bb \ toradex-ti-layer:${LAYERDIR}/dynamic-layers/meta-toradex-ti/*/*/*.bbappend \

EdTheBearded · 2025-02-03T17:46:07Z

recipes-bsp/u-boot/u-boot-distro-boot/uEnv.txt.in

@@ -95,7 +97,7 @@ board_fixups=if test "${board}" = "verdin-imx8mm"; then \
                 elif test "${fdtfile}" = "imx8mm-verdin-wifi-v1.1-dev.dtb"; then \
                     env set fdtfile imx8mm-verdin-wifi-dev.dtb; \
                 fi; \
-             fi || true
+             fi || if test -n "${extra_board_fixups}"; then run extra_board_fixups; fi || true


Is this line ever running?
Maybe we just rename extra_board_fixups to something else and add it straight into bootcmd_run.

I think U-Boot runs the if statement for this board. I created a Torizon OS image with the above change and it's able to boot successfully.

If I change uEnv.txt and set the extra_board_fixups variable to an empty string, the fixup isn't made i.e. U-Boot can't find the DTB due to the ti/ prefix in the filename:

7049 bytes read in 21 ms (327.1 KiB/s) Failed to load '/boot/boot/ostree/torizon-d27d6b32eccb464636330b8ea50c3e45abe251ff93956934e96b97c16cd3042d/dtb/ti/k3-am625-sk.dtb' 133 bytes read in 21 ms (5.9 KiB/s) libfdt fdt_check_header(): FDT_ERR_BADMAGIC No FDT memory address configured. Please configure the FDT address via "fdt addr <address>" command. Aborting! Applying Overlay: k3-am62x-sk-csi2-imx219.dtbo 2361 bytes read in 22 ms (104.5 KiB/s) No FDT memory address configured. Please configure the FDT address via "fdt addr <address>" command. Aborting! No FDT memory address configured. Please configure the FDT address via "fdt addr <address>" command. Aborting! Applying Overlay: k3-am62x-sk-csi2-ov5640.dtbo 2332 bytes read in 21 ms (108.4 KiB/s) No FDT memory address configured. Please configure the FDT address via "fdt addr <address>" command. Aborting! [...] 21029376 bytes read in 849 ms (23.6 MiB/s) 31239767 bytes read in 1318 ms (22.6 MiB/s) ERROR: Did not find a cmdline Flattened Device Tree Could not find a valid device tree

I meant having it in uenv like

uenv_extra_configs=@@UENV_EXTRA_CONFIGS@@ ... bootcmd_run=... && run uenv_extra_configs && ...

And in the recipe having a default like

UENV_EXTRA_CONFIGS ?= "true"

This way this is a separate u-boot command that we're always calling.

Well, currently the only case where the command doesn't run is when the board is a Verdin iMX8M Mini, as it has its own DTB fixups hardcoded there.

But I guess it makes sense to have a more general command that always gets executed. I'll change it then.

jsrc27 requested review from EdTheBearded, jsrc27 and rborn-tx January 28, 2025 22:16

jsrc27 reviewed Jan 28, 2025

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EdTheBearded reviewed Jan 29, 2025

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dynamic-layers/meta-ti-bsp/recipes-bsp/u-boot/u-boot-ti-staging_%.bbappend Outdated Show resolved Hide resolved

EdTheBearded reviewed Jan 29, 2025

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lucas-akira force-pushed the TOR-3714 branch from 416926f to 6ecf103 Compare January 29, 2025 20:11

EdTheBearded previously approved these changes Jan 30, 2025

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EdTheBearded requested a review from jsrc27 January 30, 2025 12:12

rborn-tx reviewed Jan 30, 2025

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lucas-akira added 4 commits February 3, 2025 14:10

torizon-base.inc: add ostree-devicetree-overlays to base packages

40952db

Signed-off-by: Lucas Akira Morishita <[email protected]>

torizon-base.inc: add PowerVR Rogue GPU drivers to any am62xx machine

66540af

Signed-off-by: Lucas Akira Morishita <[email protected]>

lucas-akira dismissed EdTheBearded’s stale review via 66540af February 3, 2025 17:15

lucas-akira force-pushed the TOR-3714 branch from 6ecf103 to 66540af Compare February 3, 2025 17:15

EdTheBearded reviewed Feb 3, 2025

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Add support for TI AM62x Starter Kit EVM (SK-AM62B-P1) board on Common Torizon #215

Add support for TI AM62x Starter Kit EVM (SK-AM62B-P1) board on Common Torizon #215

lucas-akira commented Jan 28, 2025 •

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Add support for TI AM62x Starter Kit EVM (SK-AM62B-P1) board on Common Torizon #215

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Add support for TI AM62x Starter Kit EVM (SK-AM62B-P1) board on Common Torizon #215

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lucas-akira commented Jan 28, 2025 •

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