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|style="border-left:solid 2px #73B2C7; border-right:solid 2px #73B2C7;border-top:solid 2px #73B2C7; border-bottom:solid 2px #73B2C7; background-color:#edf8fbededed; padding:5px; color:#000000"|X.Y.Z{{oldid|17xxx|17xxx}}|style="border-left:solid 2px #73B2C7; border-right:solid 2px #73B2C7;border-top:solid 2px #73B2C7; border-bottom:solid 2px #73B2C7; background-color:#edf8fbededed; padding:5px; color:#000000"|Month YearQ1 2023|style="border-left:solid 2px #73B2C7; border-right:solid 2px #73B2C7;border-top:solid 2px #73B2C7; border-bottom:solid 2px #73B2C7; background-color:#edf8fbededed; padding:5px; color:#000000"|TBD|-|DESK-|style="border-left:solid 2px #73B2C7; border-right:solid 2px #73B2C7;border-top:solid 2px #73B2C7; border-bottom:solid 2px #73B2C7; backgroundXZ7-color:#edf8fb; padding:5px; color:#000000"|[TBD_link XL 1.Y0.Z]|style="border-left:solid 2px #73B2C7; border-right:solid 2px #73B2C7;border-top:solid 2px #73B2C7; border-bottom:solid 2px #73B2C7; background-color:#edf8fb; padding:5px; color:#000000"|Month Year|style="border-left:solid 2px #73B2C7; border-right:solid 2px #73B2C7;border-top:solid 2px #73B2C7; border-bottom:solid 2px #73B2C7; background-color:#edf8fb; padding:5px; color:#000000"|TBD0 release

This document was written and tested with the software/hardware combination described in the history table above. However, it contains general concepts that can be adapted on to any DAVE Embedded Systems' Linux platform.

We'll explain how to program and configure a <SOM> to boot in standalone mode, without the need of for a system microSD card or an NFS server, with threee three options:

* booting with NAND SD only** in this configuration the whole system will boot without the need of a NOR flash storage, all images and the root file system will be fetched from NAND flash* booting with eMMC only** in this configuration the whole system will boot without the need of for a NOR/NAND flashes storage, all images and the root file system will be fetched from eMMC flashthe SD card

====kernel fit image and device tree====

=== Program boot images root file system into NAND flash =======u-Boot==== u-boot on NAND flash must be programmed using NXP <code>kobs-ng</code> utility: this tool is required for writing the correct u-boot image on NAND storing all information needed by bootrom to identify the NAND as a boot device. Here below an example:* boot the system via SD on NFS* uses a rfs with <b>kobs-ng</b> utility available on it (e.g. DAVE's rfs provided with <KIT>)* copy the related u-boot imx image file on nfs /home/root (for example)* execute kobs-ng passing the parameters for flashing u-boot on NAND

{{ImportantMessage|text====kernel image and Please note that MTD partition index may change depending of flash device availability, flash device tree==== We assume that the following environment variables are present in size, u-boot:environment variables or kernel device driver load order. Always take care of looking inside <code>/proc/mtd</code> to match your specific layout}}

nand_updatek=nand erase.part nand-kernel; nand write ${loadaddr} nand-kernel ${filesize}nand_updatefdt=nand erase.part nand-fdt; nand write ${fdtaddr} nand-fdt ${filesize}ubiformat /dev/mtd7nand_loadk=nand read ${loadaddr} nandubiattach -kernelm 7nand_loadfdt=nand read ${fdtaddr} nandubimkvol /dev/ubi0 -fdtnand_nand=run nand_loadk nand_loadfdt nandargs addcons addmisc; if run configid_fixupfdt; then bootm ${loadaddr} N rootfs - ${fdtaddr}; fim

* Update the <code>bootfile</code> and <code>fdtfile</code> environment variables to fit the filename as found inside the TFTP serverE.g.* Program kernel and device tree on NAND flash with the following U-Boot command

<pre class="boardworkstation-terminal">run loadk nand_updatek loadfdt nand_updatefdtroot@sdvx-lite:~# ubiformat /dev/mtd0</pre>* Now mount the UBI volume using [[Memory Tecnology Device (MTD)#UBIFS|UBIFS]] in a temporary directory<pre>mkdir -p /mnt/nandmount -t ubifs ubi0_0 /mnt/nand

Uroot@sdvx-lite:~# mkdir -p /mnt/nandroot@sdvx-lite:~# mount -Boot > run loadk nand_updatek loadfdt nand_updatefdtt ubifs ubi0_0 /mnt/nandUsing FEC device[ 1810.301461] UBIFS: default file-system createdTFTP from server 192[ 1810.168308952] UBIFS: background thread "ubifs_bgt0_0" started, PID 717[ 1810.452274] UBIFS: mounted UBI device 0, volume 0, name "rootfs"[ 1810.13; our IP address is 192459421] UBIFS: LEB size: 126976 bytes (124 KiB), min.168/max.0.98Filename 'sdvxI/linuxO unit sizes: 2048 bytes/sdvx-12048 bytes[ 1810.0469398] UBIFS: FS size: 992698368 bytes (946 MiB, 7818 LEBs), journal size 33521664 bytes (31 MiB, 264 LEBs)[ 1810.0_lite_uImage'480976] UBIFS: reserved for root: 4952683 bytes (4836 KiB)[ 1810.Load address487210] UBIFS: 0x12000000Loadingmedia format: #################################################################w4/r0 (latest is w4/r0), UUID 99D0F3C6-5955-4B30-9E2D-72202281BD30, small LPT model #################################################################</pre> #################################################################* you can now extract the root file system into that directory #################################################################<pre> ################################################################# ################################################################# #################################################################tar xvjf -C /mnt/nand ################################################################# ################################################################# ################################################################# ################################################################# ################################################################# ################################################################# ################################################################# ################################################################# ################################################################# ################################################################# ################################################################# ################################################################# ####################### 1.4 MiB</sdoneBytes transferred = 6437016 (623898 hex)pre>

NAND erase.part: device 0 offset 0xc00000* finally, size 0x800000Erasing at 0x13e0000 -- 100% complete.OKyou need to cleanly umount and detach the MTD partition

NAND write: device 0 offset 0xc00000, size 0x623898<pre> 6437016 bytes written: OKUsing FEC deviceTFTP from server 192.168.0.13; our IP address is 192.168.0.89Filename 'sdvxumount /mnt/linuxnand/sdvxubidetach -1.0.0_lite_imx6dl-sfczg-cb0043.dtb'.m 7Load address: 0x18000000Loading: ######### 525.4 KiB</sdoneBytes transferred = 42547 (a633 hex)pre>

NAND eraseE.part: device 0 offset 0xa00000, size 0x100000Erasing at 0xae0000 -- 100% completeg.OK

NAND write<pre class="workstation-terminal">root@sdvx-lite: ~# umount /mnt/nand/[ 2446.743091] UBIFS: un-mount UBI device 0 offset 0xa00000, size 0xa633volume 0 42547 bytes written[ 2446.749670] UBIFS: OKbackground thread "ubifs_bgt0_0" stops=>root@sdvx-lite:~# ubidetach -m [ 2450.738153] UBI: detaching mtd7 from ubi0[ 2450.759527] UBI: mtd7 is detached from ubi0

Reboot You can now safely reboot or turn off the system and configure . In U-Boot to apply environment check the new configurationfollowing variable, which must contain the same MTD partition number used above

<pre class="workstation-terminal">nand_args=> setenv bootcmd run nand_nandbootargs root=ubi0:rootfs rootfstype=ubifs rw ubi.mtd=> saveenv7

=== Program boot images into eMMC SD card ===

Load u-boot binary form an <code>SD</code> card: <pre class="workstation-terminal">Hit ENTER within 1 seconds to stop autoboot=> fatload mmc 0:1 ${loadaddr} sdvx-1.0.1_mx6dlaxel_u-boot.imxreading sdvx-1.0.1_mx6dlaxel_u-boot.imx671788 bytes read in 50 ms (12.8 MiB/s)=> mmc dev 2switch to partitions #0, OKmmc2(part 0) is current device (eMMC)=> run mmc_updateswitch to partitions #0, OKmmc2(part 0) is current device (eMMC) MMC write: dev # 2, block # 2, count 1313 ... 1313 blocks written: OK=></pre> ====kernel fit image and device tree====

=> setenv bootfile sdvx-1.0.1_lite_uImage=> setenv fdtfile sdvx-1.0.1_lite_imx6dl-sdv03-cb002a.dtb=> setenv splashfile splash_image.bmp

=== Program root file system into NAND flash === * Boot the system via SD or NFS as described in the e [[(<KIT>)#Quick_start_guide|Quick start guide]]* By default, the NAND is already partitioned to allow booting from NAND-only (see next section) and, thus, some partitions are reserved for u-boot and kernel images. Here we won't modify this default configuration. The [[Memory Tecnology Device (MTD)|MTD]] partitions can be dumped with <code>/proc/mtd</code> (the partition's name should be self-explanatory)<pre class="workstation-terminal">root@sdvx-lite:~# cat /proc/mtddev: size erasesize namemtd0: 00800000 00020000 "nand-uboot"mtd1: 00100000 00020000 "nand-env1"mtd2: 00100000 00020000 "nand-env2"mtd3: 00100000 00020000 "nand-fdt"mtd4: 00100000 00020000 "nand-spare"mtd5: 00800000 00020000 "nand-kernel"mtd6: 00600000 00020000 "nand-splash"mtd7: 3e600000 00020000 "nand-ubi"root@sdvx-lite:~# </pre> {{ImportantMessage|text=Please note that MTD partition index may change depending of flash device availability, flash device size, u-boot environment variables or kernel device driver load order. Always take care of looking inside <code>/proc/mtd</code> to match your specific layout}}  * Format and initialize ''nand-ubi'' partition, which in our case is <code>mtd7</code>, using [[Memory Tecnology Device (MTD)#UBI|UBI]] with: <pre>ubiformat /dev/mtd7ubiattach -m 7ubimkvol /dev/ubi0 -N rootfs -m</pre> E.g. <pre class="workstation-terminal">root@sdvx-lite:~# ubiformat /dev/mtd7ubiformat: mtd7 (nand), size 1048576000 bytes (1000.0 MiB), 8000 eraseblocks of 131072 bytes (128.0 KiB), min. I/O size 2048 byteslibscan: scanning eraseblock 7999 -- 100 % completeubiformat: 8000 eraseblocks have valid erase counter, mean value is 1ubiformat: formatting eraseblock 7999 -- 100 % completeroot@sdvx-lite:~# ubiattach -m 7[ 1714.823600] UBI: attaching mtd7 to ubi0[ 1726.415587] UBI: scanning is finished[ 1726.483765] UBI: attached mtd7 (name "nand-ubi", size 1000 MiB) to ubi0[ 1726.491062] UBI: PEB size: 131072 bytes (128 KiB), LEB size: 126976 bytes[ 1726.498301] UBI: min./max. I/O unit sizes: 2048/2048, sub-page size 2048[ 1726.505030] UBI: VID header offset: 2048 (aligned 2048), data offset: 4096[ 1726.512430] UBI: good PEBs: 8000, bad PEBs: 0, corrupted PEBs: 0[ 1726.518861] UBI: user volume: 0, internal volumes: 1, max. volumes count: 128[ 1726.526025] UBI: max/mean erase counter: 3/2, WL threshold: 4096, image sequence number: 623070258[ 1726.535433] UBI: available PEBs: 7836, total reserved PEBs: 164, PEBs reserved for bad PEB handling: 160[ 1726.545260] UBI: background thread "ubi_bgt0d" started, PID 714UBI device number 0, total 8000 LEBs (1015808000 bytes, 968.8 MiB), available 7836 LEBs (994983936 bytes, 948.9 MiB), LEB size 126976 bytes (124.0 KiB)root@sdvx-lite:~# ubimkvol /dev/ubi0 -N rootfs -mSet volume size to 994983936Volume ID 0, size 7836 LEBs (994983936 bytes, 948.9 MiB), LEB size 126976 bytes (124.0 KiB), dynamic, name "rootfs", alignment 1</pre> * Now mount the UBI volume using [[Memory Tecnology Device (MTD)#UBIFS|UBIFS]] in a temporary directory <pre>mkdir -p /mnt/nandmount -t ubifs ubi0_0 /mnt/nand</pre> E.g.: <pre class="workstation-terminal">root@sdvx-lite:~# mkdir -p /mnt/nandroot@sdvx-lite:~# mount -t ubifs ubi0_0 /mnt/nand[ 1810.301461] UBIFS: default file-system created[ 1810.308952] UBIFS: background thread "ubifs_bgt0_0" started, PID 717[ 1810.452274] UBIFS: mounted UBI device 0, volume 0, name "rootfs"[ 1810.459421] UBIFS: LEB size: 126976 bytes (124 KiB), min./max. I/O unit sizes: 2048 bytes/2048 bytes[ 1810.469398] UBIFS: FS size: 992698368 bytes (946 MiB, 7818 LEBs), journal size 33521664 bytes (31 MiB, 264 LEBs)[ 1810.480976] UBIFS: reserved for root: 4952683 bytes (4836 KiB)[ 1810.487210] UBIFS: media format: w4/r0 (latest is w4/r0), UUID 99D0F3C6-5955-4B30-9E2D-72202281BD30, small LPT model</pre> * you can now extract the root file system into that directory <pre>tar xvjf sdvx-1.0.1_image-devel-sdvx-lite.tar.bz2 -C /mnt/nand</pre> * finally, you need to cleanly umount and detach the MTD partition <pre>umount /mnt/nand/ubidetach -m 7</pre> E.g. <pre class="workstation-terminal">root@sdvx-lite:~# umount /mnt/nand/[ 2446.743091] UBIFS: un-mount UBI device 0, volume 0[ 2446.749670] UBIFS: background thread "ubifs_bgt0_0" stopsroot@sdvx-lite:~# ubidetach -m 7[ 2450.738153] UBI: detaching mtd7 from ubi0[ 2450.759527] UBI: mtd7 is detached from ubi0</pre> You can now safely reboot or turn off the system. In U-Boot environment check the following variable, which must contain the same MTD partition number used above <pre>nand_args=setenv bootargs root=ubi0:rootfs rootfstype=ubifs rw ubi.mtd=7</pre> === Program root file system into eMMC flash card ===

* copy kernel, dtb and splash_image boot image files

root@sdvx-lite:~# mount /dev/mmcblk2p1 mmcblk0p2 /mnt/emmc[ 40.988575] FAT-fs (mmcblk2p1): Volume was not properly unmounted. Some data may be corrupt. Please run fsck.sd

root@sdvx-lite:/mnt/emmc# cp /tftpboot/sdvx/linux/sdvx-1.0.1*dtb .root@sdvx-lite:/mnt/emmc# cp /tftpboot/sdvx/linux/sdvx-1.0.1*uImage .root@sdvx-lite:/mnt/emmc# cp /tftpboot/sdvx/linux/splash_image.bmp xxxxx .