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Yocto Linux BSP Ver.H User Guide for iMX9 series - Yocto 5.2

Introduction​

This document provides a comprehensive guide for using the Yocto Linux BSP Ver.H for iMX9 series processors with Yocto 5.2.

Getting Started

System Requirements​

  • CPU Cores: Intel Core-i7 Processor (>= 8 cores)
  • Memory: >= 16GB of Memory
  • Disk Space: 500GB (more is recommended and SSD is suggested for better performance)

Conventions​

The following conventions are used throughout this document:

  • ${PREBUILT_IMAGE}: compressed prebuilt image (*.img.gz)
  • ${CONTAINER_NAME}: container name (e.g. imx9LBVH0001)
  • ${BSP_TARBALL}: BSP tarball (*.tgz)
  • ${BSP_HOME}: home directory of the BSP
  • ${BDIR}: build directory (e.g. build_xwayland)
  • ${MX9PROC}: i.MX9 Processor (mx95 for iMX95)
  • ${IMX9PROC}: i.MX9 Processor (imx95)
  • ${BOARD}: available target boards list below (aom5521)
  • ${BOARD_REV}: board revision (a2)
  • ${MC}: machine code combined with ${IMX9PROC}${BOARD}${BOARD_REV} (for example, imx95aom5521a2 for AOM-5521 A2)

You can also use the command below to check supported machines on BSP:

$ source setup-environment
  • ${MEM_SIZE}: memory size (1G/2G/4G/6G/8G)
  • ${UC}: u-boot config (1G/2G/4G/6G/8G/FSPI_1G/FSPI_2G/FSPI_4G/FSPI_6G/FSPI_8G...)
  • ${SD_DEVICE}: device name of SD card in Linux (e.g. /dev/sdf)
  • ${SDCARD_IMAGE}: sdcard image built by bitbake (*.wic.zst)
  • ${WORKSPACE}: host workspace folders
  • ${UBOOT}: u-boot version (e.g. v2025.04_6.12.20-2.0.0)
  • ${KERNEL}: linux kernel version (e.g. 6.12.20_2.0.0)
  • ${TOOLCHAIN}: toolchain installed directory (e.g. /opt/fsl-imx-xwayland/6.12-walnascar/environment-setup-armv8a-poky-linux)

Console Types​

  • debug console / serial console: serial terminal program (e.g. minicom, putty, teraterm ...) that serial port is configured to 115200 8N1
  • terminal console: terminal program (e.g. gnome-terminal, xfce4-terminal ...)

Docker install and setting​

If you don't have docker in your system, then you can follow the below steps to install docker and run it first.

To install Docker Engine on your platform​

Please refer to Docker Installation Guide for details

To pull ubuntu 22.04 image from Docker Hub​

$ docker pull advrisc/u22.04-imx9lbv1

To create container​

$ docker run --privileged -it --name ${CONTAINER_NAME} -v ${WORKSPACE}:/home/adv/adv-release-bsp -v /dev:/dev advrisc/u22.04-imx9lbv1 /bin/bash

Get BSP​

You have two methods to put BSP into container created above

Download BSP From GitHub​

The following example shows how to download the Advantech Yocto BSP from GitHub. For this example, a directory called adv-release-bsp is created for the project. Refer to IoTGateway/BSP/Linux/iMX9/OS_Support_List, Official version "imx9LBVHXXX" is taken as an example:

AOM5521 BSP From Github

$ git config --global user.name "Your Name"
$ git config --global user.email you@example.com
$ sudo chown adv:adv adv-release-bsp
$ cd adv-release-bsp
$ repo init -u https://github.com/ADVANTECH-Corp/adv-arm-yocto-bsp.git -b imx-linux-walnascar -m adv-6.12.20-2.0.0.xml
$ repo sync

AOM2521 BSP From Azure Git

Git source latest version

$ git config --global user.name "Your Name"
$ git config --global user.email you@example.com
$ sudo chown adv:adv adv-release-bsp
$ cd adv-release-bsp
$ repo init -u https://AIM-Linux@dev.azure.com/AIM-Linux/adv-arm-yocto-bsp/_git/adv-arm-yocto-bsp -b imx-linux-walnascar -m adv-6.12.20-2.0.0.xml
$ repo sync

AOM2521 BSP From Azure Git

Tag version xml (Check release note)

$ git config --global user.name "Your Name"
$ git config --global user.email you@example.com
$ sudo chown adv:adv adv-release-bsp
$ cd adv-release-bsp
$ repo init -u https://AIM-Linux@dev.azure.com/AIM-Linux/adv-arm-yocto-bsp/_git/adv-arm-yocto-bsp -b imx-linux-walnascar -m aom2521b0_yocto5.2-linux6.12.20-2.0.0_v0.0.3_kernel-6.12.20_imx95.xml
$ repo sync

If you suffer "server certificate verification failed", you can use the following command to disable SSL verification in git repositories with self-signed certificates:

export GIT_SSL_NO_VERIFY=1

or

git config --global http.sslverify false

If you get "The unauthenticated git protocol on port 9418 is no longer supported.", you can try it:

git config --global url."https://".insteadOf git://

Copy BSP tarball to Container​

If you have BSP tarball (eg. imx9LBVH0001_2025-08-12.tgz), then you have to copy it into container.

Follow the steps below:

  1. Exit container and back to local machine
exit
  1. Copy BSP tarball to ${WORKSPACE}, and change owner
$ cp imx9LBVH0001_2025-08-12.tgz ${WORKSPACE}
$ sudo chown adv:adv ${WORKSPACE}/imx9LBVH0001_2025-08-12.tgz
  1. Back to container
$ docker start ${CONTAINER_NAME}
$ docker attach ${CONTAINER_NAME}
  1. Unpack BSP tarball
tar zxvf imx9LBVH0001_2025-08-12.tgz

Downloads tarball​

Not necessarily step. During building Yocto image, it will generate downloads folder which includes all packages we need, but it usually can't fetch normally, so we keep this downloads folder. Then we can reduce some fetch failed issue. You can get Downloads tarball (walnascar-6.12.20_downloads.tar.gz) from following URL: [walnascar-6.12.20_downloads.tar.gz]

If you get downloads tarball, you can copy to your ${WORKSPACE}

Follow the steps below:

  1. Exit container and back to local machine
exit
  1. Copy Downloads tarball to ${WORKSPACE}, and change owner
$ cp walnascar-6.12.20_downloads.tar.gz ${WORKSPACE}
$ sudo chown adv:adv ${WORKSPACE}/walnascar-6.12.20_downloads.tar.gz
  1. Back to container
$ docker start ${CONTAINER_NAME}
$ docker attach ${CONTAINER_NAME}
  1. Unpack Downloads tarball
tar zxvf walnascar-6.12.20_downloads.tar.gz
  1. Make link to downloads folder
$ cd adv-release-bsp
$ ln -s ${WORKSPACE}/walnascar-6.12.20_downloads downloads

Introducing BSP​

The BSP is based on Yocto Project with Freescale enhanced features for i.MX95, plus specific target board features from Advantech Inc.

The Advantech Yocto Project BSP Release directory contains a "sources" directory, which contains the recipes used to build, one or more build directories, and a set of scripts used to set up the environment.

The recipes used to build the project come from both the community and Advantech. The Yocto Project layers are downloaded to the sources directory. This sets up the recipes that are used to build the project.

Naming Rule​

The tarball/prebuilt image name is consist of the model name followed by "LB" or "LI" plus version number and released date.

For example, BSP file name: 'imx9LBVG0006_2025-01-14.tgz'

  • "LB" is acronym of Linux BSP
  • "VH0001" stands for Version H.0001

For example, Yocto image name: '5521A2Y052LIVH0001_iMX95_8G_2025-08-12.img.gz'

  • "5521A2" stands for AOM-5521 A2
  • "LI" is acronym for prebuilt Linux Image
  • "8G" is DDR size

BSP Content​

The description of some important folders list below:

  • sources/meta-advantech/: meta layer by Advantech
  • meta-fsl-*/: meta layer by Freescale
  • fsl-setup-release.sh: to create one new build environment
  • setup-environment: to continue an exist build environment

Build Instructions

To create one new build environment​

Perform the following commands in terminal console:

$ cd ${BSP_HOME}
$ MACHINE=${MC} DISTRO=fsl-imx-xwayland source imx-setup-release.sh -b ${BDIR}

We can specify u-boot default config like below:

$ MACHINE=${MC} UBOOT_CONFIG=${UC} DISTRO=fsl-imx-xwayland source imx-setup-release.sh -b ${BDIR}

You need to read and accept the EULA.

Accept EULA

To continue an exist build environment​

Perform the following commands in terminal console:

$ cd ${BSP_HOME}
$ source setup-environment ${BDIR}

To build sdcard image​

To create/continue a build environment perform the following command in terminal console:

$ bitbake imx-image-full

The two files, imx-image-full-${MC}.wic.zst and ...wic.bmap, will be located in directory, ./tmp/deploy/images/${MC}, while building process finished successfully.

To build toolchain installer​

To create/continue a build environment perform the following command in terminal console:

$ bitbake meta-toolchain

The below installer will be located in the directory "./tmp/deploy/sdk":

fsl-imx-xwayland-glibc-x86_64-meta-toolchain-armv8a-imx95aom5521a2-toolchain-6.12-walnascar.sh

To build bootloader​

To create/continue a build environment perform the following command in terminal console:

$ bitbake imx-boot

To build linux kernel​

To create/continue a build environment. If you operate on docker images, please install tmux application before running this command:

$ sudo apt-get install tmux

Type following command to enter tmux:

$ tmux

Perform the following command in terminal console to show up menuconfig:

$ bitbake linux-imx -c menuconfig

After edit menuconfig, type following command to exit tmux windows:

$ exit

To build kernel image:

$ bitbake linux-imx

The two files, Image & Image-${IMX9PROC}-${BOARD}-${BOARD_REV}.dtb, will be located in the directory, ./tmp/deploy/images/${MC}.

Creating boot-up on-board flash from prebuilt image​

To create one boot-up SD card​

Perform the following command in terminal console:

# gunzip -c ${PREBUILT_IMAGE} | dd of=${SD_DEVICE} bs=1M
# sync

Creating boot-up on-board flash from built sdcard image​

To create one boot-up SD card​

Perform the following commands in terminal console:

$ pushd ${BSP_HOME}/${BDIR}/tmp/deploy/images/${MC}
$ zstd -cd ${SDCARD_IMAGE} | sudo dd of=${SD_DEVICE} bs=1M

(or using bmaptool to take less time elapsed)

$ sudo bmaptool copy --bmap ${SDCARD_IMAGE/zst/bmap} ${SDCARD_IMAGE} ${SD_DEVICE}
$ sync
$ popd

Debug console information​

If you want to see debug message from device, you need to prepare for hardware device and software tool.

Preparing for hardware device​

The following URL provides information about the debug port slot and the debug port line for each device: Debug Port Information

Preparing for software tool​

You need to prepare the debug console tool. For example: "minicom" tool or "putty" tool. Baud rate: 115200

Customization

Setting up SDK​

Please follow the section "To build toolchain installer" to build one toolchain installer.

Perform the following command in terminal console:

$ cd ${BSP_HOME}/${BDIR}/tmp/deploy/sdk
$ sudo ./fsl-imx-xwayland-glibc-x86_64-meta-toolchain-armv8a-imx95aom5521a2-toolchain-6.12-walnascar.sh

Enter new installed directory or just press Enter to use default directory. While Proceed[y/n]? shows up, please enter the correct one. Waiting for the SDK installed (while the following messages show up completely). Download SDK Link (Just Only reference): [downloads_SDK]

Setting up SDK

Setting up cross compiling environment​

SDK has been set up (ref. Setting up SDK)

Perform the following command in terminal console:

$ source ${TOOLCHAIN}/environment-setup-aarch64-poky-linux

Build U-Boot in standalone environment​

Config u-boot​

make ${IMX9PROC}_${BOARD}${BOARD_REV}_${MEM_SIZE}_defconfig

Example:

make imx95_aom5521a2_8G_defconfig

Build u-boot​

make -j4

Build imx-boot image by using imx-mkimage for imx95​

Get imx-boot tarball from our server. Here we take aom5521 as an example:

$ tar zxvf 5521A2Y052LIVH0001_iMX95_8G_imx-boot.tgz
$ cd 5521A2Y052LIVH0001_iMX95_8G_imx-boot/

In this folder, copy necessary files to imx-mkimage folder:

$ cp ${u-boot.bin、spl/u-boot-spl.bin、arch/arm/dts/imx95-aom5521-a2.dtb、tools/mkimage} imx-boot/iMX9/.

Make imx-boot image:

$ cd ~/imx-mkimage
$ make SOC=iMX95 OEI=YES flash_all

Replace uuu imx-boot​

Perform the following uuu command to transfer to on-board flash:

$ cp flash.bin ~/mfgtools/uuu/.
$ sudo ./uuu -b emmc flash.bin

Replace imx-boot​

Perform the following command to transfer to on-board flash:

$ sudo dd if=flash.bin of=/dev/sdd bs=1K seek=32 conv=fsync

Building & updating kernel/modules/dtb manually​

The cross compiling environment has been set up. (ref. Setting up cross compiling environment)

Copy BSP tarball to Container​

You can get Downloads Linux-imx from following URL: [adv_6.12.20_2.0.0]

Config kernel​

Configure linux kernel:

$ cd linux-imx
$ make distclean
$ make imx_v8_adv_defconfig
$ make menuconfig

Start building linux kernel:

$ make -j4 Image

When you get error like below:

IMX8 Error

Run command then rebuild:

$ unset LDFLAGS

The kernel image file, Image, is located in the directory "./arch/arm64/boot/".

Start building kernel modules:

$ make -j4 modules

Copy all modules to a temporary rootfs directory, "~/temp/rootfs":

$ make modules_install INSTALL_MOD_PATH=~/temp/rootfs

Building device tree blob:

$ make -j4 freescale/${IMX9PROC}-${BOARD}-${BOARD_REV}.dtb

Example:

$ make -j4 freescale/imx95-aom5521-a2.dtb

The device tree blob, ${IMX9PROC}-${BOARD}-${BOARD_REV}.dtb, is located in the directory "./arch/arm64/boot/dts/freescale/".

Replace kernel & dts​

Replace kernel

  • Copy Image to SDcard or emmc

Replace dtb file

  • Copy dtb file to SDcard or emmc

Improve boot speed​

Bootloader​

  1. bootdelay time We can cancel the bootdelay time by setting bootloader environment value:
setenv bootdelay 0
env save
reset
  1. Disable console Disable debug message output can also improve boot speed

Disable kernel message:

setenv mmcargs setenv bootargs ${jh_clk} console=${console} modprobe.blacklist=${modprobe.blacklist} root=${mmcroot} video=HDMI-A-1:${videores} quiet
env save
reset

Or disable debug port:

setenv console
env save
reset

Rootfs​

TBD

Services​

  1. Using systemctl disable remove, we can remove unnecessary services:
systemctl disable <services>

Example:

systemctl disable boottimes

System Recovery​

This section provides detail procedures of restoring the eMMC image.

For more usage: https://github.com/NXPmicro/mfgtools/wiki

Reflash EMMC from Boot SD CARD​

  1. Download mksd-linux.sh from https://github.com/ADVANTECH-Corp/RISC_tools_scripts/blob/mickledore/imx8/mksd-linux.sh

  2. Download "Product_AIM_Release_version"_flash_tool.tgz

  3. Unzip the "Product_AIM_Release_version"_flash_tool.tgz

  4. Copy the mksd-linux.sh to mk_inand folder

  5. Run mksd-linux.sh

glmark2 Test​

Glmark2 Test

# glmark2-es2-wayland --fullscreen

Glmark2 Fullscreen

# glmark2-es2-wayland -s 1920x1080

Glmark2 1920x1080