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Karo QS93-SV01

Core Board: QS93-5210

Dual ARM Cortex-A55, 1.7 GHz ARM Cortex-M33, 250 MHz ARM Ethos U-65 microNPU 1GB LPDDR4 2MB NOR Flash 4GB eMMC

Boot time: ~20 seconds

ATTENTION

DO NOT disconnect USB-C poser supply while USB-UART (micro USB) is connected

micro USB: Silicon Labs CP210x USB to UART Bridge (COMx)

Device Side Commands​

# NIC name
ip link show

# DHCP
dhcpcd eth0
ip addr show eth0
ping google.com

Build and flash quick guide​

Yocto, Support Ubuntu 22.04

sudo apt update
sudo apt install curl
sudo apt install gawk wget git diffstat unzip texinfo gcc build-essential chrpath socat cpio \
python3 python3-pip python3-pexpect xz-utils debianutils iputils-ping python3-git \
python3-jinja2 \
libegl1-mesa libsdl1.2-dev python3-subunit mesa-common-dev zstd liblz4-tool file locales
sudo locale-gen en_US.UTF-8
sudo apt install python-is-python3

git config --global user.name "Rojar Smith"
git config --global user.email "[email protected]"

mkdir -p bin
curl https://storage.googleapis.com/git-repo-downloads/repo > bin/repo
chmod a+x bin/repo
echo 'export PATH=~/bin:$PATH' >> ~/.bashrc
source ~/.bashrc

mkdir karo-nxp-bsp;cd karo-nxp-bsp
#-----choice begin
# Scarthgap
repo init -u https://github.com/karo-electronics/karo-nxp-bsp -b refs/tags/KARO-2025-01-29
# mickledore
repo init -u https://github.com/karo-electronics/karo-nxp-bsp -b mickledore
repo init -u https://github.com/karo-electronics/karo-nxp-bsp -b refs/tags/KARO-2024-08-02
#-----choice end
repo sync

# Setup Build Directory
#-----choice begin
KARO_BASEBOARD=qsbase93
DISTRO=karo-xwayland MACHINE=qs93-5210 source karo-setup-release.sh -b build-qs93-5210
# Not support nodejs
KARO_BASEBOARD=qsbase93
DISTRO=karo-minimal MACHINE=qs93-5210 source karo-setup-release.sh -b build-qs93-5210
#-----choice end

# Enable sstate cache
#-----choice begin
echo SSTATE_MIRRORS = \"file://.* http://sstate.karo-electronics.de/scarthgap/PATH\" >> conf/local.conf
echo SSTATE_MIRRORS = \"file://.* http://sstate.karo-electronics.de/mickledore/PATH\" >> conf/local.conf
#-----choice end

# Add packages

#-----choice begin
bitbake karo-image-weston
# for RAUC OTA
bitbake karo-image-minimal
#-----choice end

# Disable `Local Security Authority protection` to use unsigned drivers in the Windows.

# First time change the jump to H position(download mode)
# Jump L -++
# Restart board, no need power off. No need debug micro USB at this time.
# Set `NXP Semiconductors OO Blank 93` to VM.
# Set `NXP Semiconductors USB download gadget` to VM.
# Flash the module
#-----choice begin
pushd tmp/deploy/images/qs93-5210/karo-image-weston
pushd tmp/deploy/images/qs93-5210/karo-image-minimal
#-----choice end
wget https://github.com/nxp-imx/mfgtools/releases/download/uuu_1.5.182/uuu
chmod a+x uuu
sudo ./uuu -v

# Change the jump to L and reset
# Jump L ++-

# Return to environment
cd ~/karo-nxp-bsp
source setup-environment build-qs93-5210

bitbake -c cleansstate karo-image-weston
bitbake -c listtasks karo-image-weston

SDK​

bitbake meta-toolchain

# ~/karo-nxp-bsp/build-qs93-5210/tmp/deploy
pushd tmp/deploy
#-----choice begin
./sdk/karo-xwayland-glibc-x86_64-meta-toolchain-cortexa55-qs93-5210-toolchain-6.6-scarthgap.sh -d /opt/
./sdk/karo-xwayland-glibc-x86_64-meta-toolchain-cortexa55-qs93-5210-toolchain-6.1-mickledore.sh -d /opt/
#-----choice end

# Load environment
source /opt/environment-setup-cortexa55-poky-linux
echo $CC
# aarch64-poky-linux-gcc -mcpu=cortex-a55 -march=armv8.2-a+crypto -mbranch-protection=standard -fstack-protector-strong -O2 -D_FORTIFY_SOURCE=2 -Wformat -Wformat-security -Werror=format-security --sysroot=/opt/sysroots/cortexa55-poky-linux

$CC hello.c -o hello

hello.c

#include <stdio.h>
int main() {
   printf("Hello, World!");
   return 0;
}

VS Code Cross-Compilation​

#-----choice begin
sudo apt update
sudo apt install software-properties-common apt-transport-https curl

curl -sSL https://packages.microsoft.com/keys/microsoft.asc | sudo apt-key add -

sudo add-apt-repository "deb [arch=amd64] https://packages.microsoft.com/repos/vscode stable main"

sudo apt update
sudo apt install code
# or
sudo snap install --classic code
#-----choice end
code --install-extension ms-vscode.cpptools
sudo apt install build-essential gdb gdb-multiarch

# for karo-image-minimal you have to edit conf/local.conf
# EXTRA_IMAGE_FEATURES += "read-only-rootfs"
(...)
IMAGE_FEATURES:append = " \
      ssh-server-openssh \
"

bitbake karo-image-weston -c populate_sdk

mkdir hello-word
cd hello-word
yocto-karo-cross-hello-world.patch
patch -p1 < yocto-karo-cross-hello-world.patch

It’s enough to fit the target’s IP-address and the path your SDK was installed to.

.vscode/settings.json

{
    "TARGET_IP":"192.168.24.162",
    "DEBUG_PORT":"6666",
    "BINARY":"hello-world.bin",

    "SDK_DIR":"/opt/environment-setup-cortexa55-poky-linux",
}

Run Build Task (CTRL + SHIFT + B).

This will execute the cross-compile.sh script and generate the hello-world.bin output file.

scp hello-world.bin root@<target-ip>:/root/
/root/hello-world.bin

Run and Debug.

CoreMark​

mkdir ~/coremark;cd ~/coremark
git clone https://github.com/eembc/coremark.git
mkdir coremark/karo_qs93sv01_linux
cp coremark/linux/* coremark/karo_qs93sv01_linux
mkdir coremark/karo_qs93sv01_linux/posix
cp coremark/posix/* coremark/karo_qs93sv01_linux/posix


sudo apt-cache search aarch64
# If not work, use SDK
sudo apt-get install -y gcc-aarch64-linux-gnu
# SDK:
# /opt/sysroots/x86_64-pokysdk-linux/usr/bin/aarch64-poky-linux/aarch64-poky-linux-gcc
which aarch64-poky-linux-gcc

cd coremark
gedit Makefile &

# Remove space between LOAD and OUTFILE in Makefile
$(LOAD)$(OUTFILE)

# Compile CoreMark and make coremark.exe
# ~/coremark/coremark
make PORT_DIR=karo_qs93sv01_linux

# Make *.exe executable if not already the case
chmod +x coremark.exe

# Copy CoreMark executable onto the board:
# scp coremark.exe root@<IP@>:/usr/local/
scp coremark.exe [email protected]:/usr/local/

# To run CoreMark on the board, 7 is single core
cd /usr/local
./usr/local/coremark.exe 0x0 0x0 0x66 0 7 1 2000 > run.log

run.log

2K performance run parameters for coremark.
CoreMark Size    : 666
Total ticks      : 17687
Total time (secs): 17.687000
Iterations/Sec   : 6219.257081
Iterations       : 110000
Compiler version : GCC12.3.0
Compiler flags   : -O2 -DPERFORMANCE_RUN=1  -lrt
Memory location  : Please put data memory location here
                        (e.g. code in flash, data on heap etc)
seedcrc          : 0xe9f5
[0]crclist       : 0xe714
[0]crcmatrix     : 0x1fd7
[0]crcstate      : 0x8e3a
[0]crcfinal      : 0x33ff
Correct operation validated. See README.md for run and reporting rules.
CoreMark 1.0 : 6219.257081 / GCC12.3.0 -O2 -DPERFORMANCE_RUN=1  -lrt / Heap

core_portme.h

#define MULTITHREAD 1

Conf​

local.conf

# Disable for write
# EXTRA_IMAGE_FEATURES += "read-only-rootfs"

Packages​

local.conf

# rt-tests: cyclictest
# evtest: test driver event
IMAGE_INSTALL:append = " \
    git \
    htop \
    rt-tests \
    openssh openssh-sftp-server \
    opkg \
    evtest \
"

# Electron, nodejs and nodejs-npm is large
IMAGE_INSTALL:append = " \
    nodejs \
    nodejs-npm \
    cups \
    libxscrnsaver \
    nss \
"

# RAUC
IMAGE_INSTALL:append = " \
    alternatives-symlinks-relative \
    rauc \
    u-boot-fw-utils \
"

U-Boot​

# U-Boot >
# (Re-)boot the board and “Hit any key to stop autoboot” to get to the U-Boot command line interface
fastboot usb 0
# Add `USB download gadget`

mmc list
mmc dev 0:1
mmc dev
ext4ls mmc 0:1 /

Display​

## U-BOOT >
# Check .dtb, remove prefix `imx93-`
ext4ls mmc 0:1 /
setenv overlays_qsbase93 ${overlays_qsbase93} karo-lvds-panel karo-panel-tm101jvhg32
saveenv
reset

printenv overlays_qsbase93
# default: overlays_qsbase93=karo-gpu qs93-eqos-lan8710 qs93-fec-lan8710
# TM101JVHG32: overlays_qsbase93=karo-gpu qs93-eqos-lan8710 qs93-fec-lan8710 karo-lvds-panel karo-panel-tm101jvhg32

# clear
setenv overlays_qsbase93 ""
saveenv

env default -a
saveenv

Rebuild kernel dtb​

bitbake -c cleansstate virtual/kernel
bitbake virtual/kernel

ls tmp/deploy/images/qs93-5210/*.dtb

Custom​

This is basically all you need for an addition to Yocto:

meta-mypanel/
├── COPYING.MIT
├── README
├── conf
│   └── layer.conf
└── recipes-kernel
    └── linux
        ├── linux-karo
        │   └── dts
        │       └── freescale
        │           └── {name}.dts
        └── linux-karo_%.bbappend

6 directories, 5 files
  • {name}.dts contains the configuration of your display.

Prerequisites

  • karo-nxp-bsp is used here as an example BSP directory
  • You have setup the environment and build directory (Refer to: Setup Build Directory)
  • You can successfully built the image
  1. Create your custom layer with the name “mypanel” as example
bitbake-layers create-layer ~/karo-nxp-bsp/sources/meta-mypanel
  1. Remove the example and setup the required directories
cd ~/karo-nxp-bsp/sources/meta-mypanel
rm -rf recipes-example/
mkdir -p recipes-kernel/linux/linux-karo/dts/freescale
cd recipes-kernel/linux
echo 'FILESEXTRAPATHS:prepend := "${THISDIR}/${PN}:"' > linux-karo_%.bbappend
  1. Copy an existing panel .dts as reference.
cd linux-karo-6.1/dts/freescale
cp $(find ~/karo-nxp-bsp/sources/meta-karo-nxp/ -name "imx93-karo-panel-t*.dts") imx93-mypanel.dts
  1. Edit imx93-mypanel.dts (see complete contents below)
...
* Copyright ...
...
   overlays {
      mypanel;
   };
...
   label = "MyPANEL";
...
  1. Add mypanel to DTB_OVERLAYS
cd ~/karo-nxp-bsp/sources/meta-mypanel/conf
echo 'DTB_OVERLAYS:append = " mypanel"' >> layer.conf
  1. Add the new layer and create the images as usual.

Change to your build directory and add the new layer.

bitbake-layers add-layer ../sources/meta-mypanel
bitbake {your image}

imx93-mypanel.dtb will be added to the boot partition image.

karo-panel-tm101jvhg32.dts

// SPDX-License-Identifier: (GPL-2.0 OR MIT)
/*
 * Copyright 2022 Lothar Waßmann <[email protected]>
 *
 */

/dts-v1/;

/plugin/;

&{/chosen} {
   overlays {
      karo-panel-tm101jvhg32;
   };
};

&panel {
   label = "TM101JVHG32";
   width-mm = <217>;
   height-mm = <136>;
   status = "okay";

   panel-timing {
      clock-frequency = <62500000>;
      hactive = <1280>;
      vactive = <800>;
      hback-porch = <80>;
      hfront-porch = <80>;
      vback-porch = <12>;
      vfront-porch = <11>;
      hsync-len = <2>;
      vsync-len = <1>;
      hsync-active = <0>;
      vsync-active = <0>;
      de-active = <0>;
      pixelclk-active = <0>;
   };
};

Touch​

root@qs93-5210:~# dmesg | grep -i touch
# [    0.082563] usbcore: registered new interface driver usbtouchscreen
# [    0.725105] hid-multitouch 0003:222A:0001.0001: input: USB HID v1.10 Device [ILITEK ILITEK-TP] on usb-ci_hdrc.1-1/input0

# Error
dmesg | grep -i touch
# [    0.082505] usbcore: registered new interface driver usbtouchscreen
lsusb
# Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub

ls /dev/input/
# by-id  by-path  event0  event1  touchscreen0

Electron​

Ubuntu 22.04 need 24GB RAM, 16GB can't compile nodejs.

Q: electron exited with signal SIGSEGV A: Device not have LVDS display

## Yocto >
ls /run/user/1000/

export XDG_RUNTIME_DIR=/run/user/1000
export WAYLAND_DISPLAY=wayland-1

electron --no-sandbox --disable-gpu --ozone-platform=wayland .

RAUC​

QS93 not support by official.

sudo apt install perl

<your-bsp>/layers/meta-karo-distro/dynamic-layers/recipes-core/rauc/files/system.conf

[system]
compatible=txmp-1570
bootloader=uboot
data-directory=/data/

UBoot

setenv boot_mode mmc_rauc
saveenv

# If the boot_mode is set to mmc, the boot script will not be used and rauc can't switch between partitions.

rauc service &

# in linux on the board to activate rauc.

Host PC

sudo apt-get install build-essential meson libtool libdbus-1-dev libglib2.0-dev libcurl3-dev libssl-dev
sudo apt install libnl-genl-3-dev

git clone https://github.com/rauc/rauc
cd rauc
meson setup build
meson compile -C build # or 'ninja -C build' on meson < 0.54.0
pushd build
meson install

# Start the rauc service on the module
rauc service &

mkdir content-dir/
cp <path-to-new-rootfs>/rootfs.ext4 content-dir/

cat >> content-dir/manifest.raucm << EOF
[update]
compatible=<your-board>    (e.g. txmp-1570)
version=2024-06-14

[bundle]
format=verity

[image.rootfs]
filename=rootfs.ext4
EOF

rauc --cert <path-to-cert>/cert.pem --key <path-to-key>/key.pem bundle content-dir/ update-2024-06-14.raucb

...meta-karo-distro/dynamic-layers/recipes-core/bundles/files/development-1.cert.pem
...meta-karo-distro/dynamic-layers/recipes-core/bundles/files/private/development-1.key.pem

rauc install <path-to-bundle>/update-2024-06-14.raucb

# Custom partitioning system.conf under <your-bsp>/layers/meta-karo-distro/dynamic-layers/recipes-core/rauc/files/