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Introduction

This document describes how to work with the RISC and Qualcomm LE GA1.7 (QLI 1.7) Board Support Package (BSP) release.

Yocto Version​

Yocto 5.0.14

Kernel Version​

Kernel 6.6.116

Meta Build ID​

QCM6490.LE.1.0-00396-STD.PROD-1

Host machine requirements

OS​

Ubuntu 20.04 or Ubuntu 22.04

CPU​

Intel Core-i7 Processor (>= 8 cores)

RAM​

16+ GB RAM

Disk​

350 GB free disk space (more is recommended and SSD is suggested for better performance)

Docker Install and BSP Download

Install Docker Engine on your platform​

Please refer to Docker Installation Guide for details

Pull docker images​

$ sudo docker pull advrisc/u22.04-qcslbv1:latest

Run docker example​

$ mkdir -p /home/bsp/myLinux
$ sudo docker run --privileged -it --name qclinux -v /home/bsp/myLinux:/home/adv/BSP:rw advrisc/u22.04-qcslbv1 /bin/bash
adv@7cc0fa834366:~$ sudo chown adv:adv -R BSP

Download BSP​

$ cd BSP
$ repo init -u https://AIM-Linux@dev.azure.com/AIM-Linux/adv-arm-yocto-bsp/_git/adv-arm-yocto-bsp -b qcom-linux-scarthgap -m ${OFFICIAL_MANIFEST}
$ repo sync -c -j${YOUR_CPU_CORE_NUM}
  • AOM-2721: A example of ${OFFICIAL_MANIFEST} is aom2721a1_yocto5.0.14-le1.7_v0.0.1_kernel-6.6.116_qcs6490+qcs5430.xml
  • AOM-5721: A example of ${OFFICIAL_MANIFEST} is aom5721a1_yocto5.0.14-le1.7_v0.1.0_kernel-6.6.116_qcs6490.xml
  • MIO-5355: A example of ${OFFICIAL_MANIFEST} is mio5355a1_yocto5.0.14-le1.7_v0.0.1_kernel-6.6.116_qcs6490.xml
  • DS-011: A example of ${OFFICIAL_MANIFEST} is ds011a1_yocto5.0.14-le1.7_v0.0.1_kernel-6.6.116_qcs6490.xml

If you want to get latest bsp

$ cd BSP
$ repo init -u https://AIM-Linux@dev.azure.com/AIM-Linux/adv-arm-yocto-bsp/_git/adv-arm-yocto-bsp -b qcom-linux-scarthgap -m adv-6.6.116-QLI.1.7-Ver.1.1_robotics-sdk-1.1.xml
$ repo sync -c -j${YOUR_CPU_CORE_NUM}

Get and Unzip the Downloads Files​

Yocto downloads file:[ downloads.qcs6490.le.1.7.tar.gz ]

The size of downloads.qcs6490.le.1.7.tar.gz is 53,620,541,286 byte (52,363,810 KB)

The md5sum of downloads.qcs6490.le.1.7.tar.gz is 7b980a7379c43727226e637da5a9a57e

Build Instructions

Build yocto images in the docker container​

$ cd /home/adv/BSP
$ MACHINE=${YOCTO_MACHINE_NAME} DISTRO=qcom-robotics-ros2-humble QCOM_SELECTED_BSP=custom source setup-robotics-environment
$ bitbake-layers add-layer ../layers/meta-advantech-qualcomm
$ ../qirp-build qcom-robotics-full-image
  • AOM-2721: ${YOCTO_MACHINE_NAME} is qcs6490aom2721a1
  • AOM-5721: ${YOCTO_MACHINE_NAME} is qcs6490aom5721a1
  • MIO-5355: ${YOCTO_MACHINE_NAME} is qcs6490mio5355a1
  • DS-011: ${YOCTO_MACHINE_NAME} is qcs6490ds011a1

Output images: build-qcom-robotics-ros2-humble/tmp-glibc/deploy/images/${YOCTO_MACHINE_NAME}/qcom-robotics-full-image

UFS and eMMC Flash Images

The output image folder supports UFS flashing by default. You may need to prepare the flash folder manually depending on your target storage type (UFS or eMMC). The partition_ufs/ and partition_emmc/ directories contain partition layout files specific to each storage type. You can use the following method to prepare for UFS or eMMC flashing.

UFS Flash Images​

1. Remove all gpt*.bin and *.xml files from the image root folder.

$ cd <image_folder>
$ rm -f gpt*.bin *.xml

2. Copy the following files from partition_ufs/ to the image root folder.

$ cp partition_ufs/gpt_backup{0..5}.bin .
$ cp partition_ufs/gpt_main{0..5}.bin .
$ cp partition_ufs/rawprogram{0..5}.xml .
$ cp partition_ufs/patch{0..5}.xml .
$ cp partition_ufs/provision_ufs31.xml .

The folder is now ready for UFS flashing.

eMMC Flash Images​

1. Remove all gpt*.bin and *.xml files from the image root folder.

$ cd <image_folder>
$ rm -f gpt*.bin *.xml

2. Copy the following files from partition_emmc/ to the image root folder.

$ for f in partition_emmc/gpt_backup{0..1}.bin; do [ -f "$f" ] && cp "$f" .; done
$ for f in partition_emmc/gpt_main{0..1}.bin; do [ -f "$f" ] && cp "$f" .; done
$ for f in partition_emmc/rawprogram{0..1}.xml; do [ -f "$f" ] && cp "$f" .; done
$ for f in partition_emmc/patch{0..1}.xml; do [ -f "$f" ] && cp "$f" .; done

The folder is now ready for eMMC flashing.

Recovery & Rescue

Using windows PCAT or Qualcomm Download (QDL) tool to flash software images to the device.

Get the official images and unzip​

Unzip command example:

$ sudo tar -zxvf aom5721a1_yocto5.0.14-le1.7_v0.1.0_kernel-6.6.116_qcs6490_16g-8g_ufs+emmc_2026-05-21.tgz

Enter EDL download mode​

AOM-2721​

  • Connect the Micro USB (EDL) to your host computer.
  • Forced Recovery: The SW2 switch to 1-on.
  • Flash EMMC: the SW1 switch to 1-off, 2-on
  • Flash UFS: the SW1 switch to 1-on, 2-on
  • Connect the adapter and power on the device

AOM-5721​

  • Connect the Micro USB (EDL) to your host computer.
  • Forced Recovery: the AOM-5721 SW1 set to 2-on or AOM-DB6700 SW2 set to 4-on
  • Flash EMMC: the AOM-5721 SW1 set to 1-on
  • Flash UFS: the AOM-5721 SW1 set to 1-off
  • Connect the adapter and power on the device

MIO-5355​

  • Connect the Micro USB (EDL) to your host computer.
  • Forced Recovery: The SW1 switch to 1-on.
  • Flash EMMC: the SW1 set to 3-off
  • Flash UFS: the SW1 set to 3-on
  • Connect the adapter and power on the device

DS-011​

  • Connect the Micro USB (EDL) to your host computer.
  • Forced Recovery: The SW7 switch to left.
  • Flash EMMC: the SW1 set to 1-off 2-on
  • Flash UFS: the SW1 set to 1-on 2-on
  • Connect the adapter and power on the device

Use the windows PCAT to flash images​

1. Download the Qualcomm Software Center

Qualcomm® Software Center

2. Open the Qualcomm Software Center

3. Search "PCAT" in the search bar

RTENOTITLE

4. Click Qualcomm® Product Configuration Assistant Tool

5. Select Qualcomm® Product Configuration Assistant Tool version

Version: 2.33.2.119

RTENOTITLE

6. Install Qualcomm® Product Configuration Assistant Tool 2.33.2.119

7. Search "QUTS" in the search bar

RTENOTITLE

8. Click the Qualcomm® Unified Tools Services

9. Select Qualcomm® Unified Tools Services version

Version : 1.75.2.9

10. Install Qualcomm® Unified Tools Services 1.75.2.9

RTENOTITLE

11. You will find the new application after installing the PCAT and QUTS in your Windows system .

12. Unzip the image files

For example :

aom5721a1_yocto5.0.14-le1.7_v1.1_kernel-6.6.116_qcs6490_16g-8g_ufs+emmc_2026-05-21.tgz

13. Connect your device via Micro USB.

USF Provision​

1. Select provision button RTENOTITLE

RTENOTITLE

2. Add the prog_firehose_ddr.elf and provision_ufs31.xml in UFS folder.

RTENOTITLE

3. Then press "OK" , it will start to do USF Provision.

RTENOTITLE

4. When the Provision finished , you can see the result in message window.

RTENOTITLE

Flash UFS​

1. Change the switch

AOM-2721:​

  • Flash UFS: the SW1 switch to 1-on, 2-on

  • Forced Recovery : The SW2 switch to 1-on ,2 - on .

AOM-5721:​

  • Flash UFS: the AOM-5721 SW1 set to 1-off

  • Forced Recovery : the AOM-5721 SW1 set to 2-on or AOM-DB6700 SW2 set to 4-on

MIO-5355:​

  • Flash UFS: the SW1 set to 3-on

  • Forced Recovery : The SW1 switch to 1-on

DS-011:​

  • Flash UFS: the SW1 set to 1-on 2-on

  • Forced Recovery : The SW7 switch to left

2. Turn on the power

3. Open " PCATApp" Tool

4. Click " Connect A Device"

RTENOTITLE

5. Select "Qualcomm HS-USB QDLoader 9008 (COM6)

RTENOTITLE

6. Click " Connect " device

RTENOTITLE

7. When you connected successfully , it will show "green word" - Qualcomm HS-USB QDLoader 9008 (COM 6)

RTENOTITLE

8. Select UFS Folder in PCAT Tool , the Tool will help load Files automatically and Select "MEMORY_TYPE_UFS"

9. Click " Download"

10. UFS Download Status

RTENOTITLE

11. UFS Donwload compeleted

RTENOTITLE

12. When the UFS installation finished . Close the PCAT tool ,

13. pleaes remove the mirco usb cable, turn off the power

14. UFS boot up :

AOM-2721:​

  • The SW1 switch to 1-on, 2-on

  • The SW2 switch to 1-off, 2-on

AOM-5721:​

  • The AOM-5721 SW1 set to 1-off

  • The AOM-5721 SW1 set to 2-off and AOM-DB6700 SW2 set to 4-off

MIO-5355:​

  • The SW1 switch to 1-off, 3-on

DS-011:​

  • The SW1 switch to 1-on, 2-on

  • The SW7 switch to right

15. Connect debug cable and open the terminal, turn on the power .

16. When the systme boot up, you need to type "qcs6490aom5721a1 login: root " , " Password: oelinux123"

17. After type the long in and password, and you also can chek the image information about date , kernel version etc..

Flash eMMC​

1. Turn off the Power

2. Change the switch

AOM-2721:​

  • Flash eMMC: The SW1 switch to 1-off, 2-on

  • Forced Recovery: The SW2 switch to 1-on, 2-on

AOM-5721:​

  • Flash eMMC: the AOM-5721 SW1 set to 1-on

  • Forced Recovery: the AOM-5721 SW1 set to 2-on or AOM-DB6700 SW2 set to 4-on

MIO-5355:​

  • Flash eMMC: the SW1 set to 3-off

  • Forced Recovery: the SW1 switch to 1-on

DS-011:​

  • Flash eMMC: the SW1 set to 1-off 2-on

  • Forced Recovery: the SW7 switch to left

3. Turn on the power

4. Make sure the device connection status.

5. If the device disconnect with PCAT Tool, please connect it again.

RTENOTITLE

6. Select eMMC Folder.

RTENOTITLE

7. Make sure the setting ,then press " Download " button.

RTENOTITLE

8. eMMC downlaoad status

RTENOTITLE

9. eMMC Donwload compeleted

RTENOTITLE

10. When the eMMC installation finished . Close the PCAT tool ,

11. pleaes remove the mirco usb cable, turn off the power

12. eMMC boot up :

AOM-2721:​

  • The SW1 switch to 1-off, 2-on

  • The SW2 switch to 1-off, 2-on

AOM-5721:​

  • The AOM-5721 SW1 set to 1-on

  • The AOM-5721 SW1 set to 2-off and AOM-DB6700 SW2 set to 4-off

MIO-5355:​

  • The SW1 switch to 1-off, 3-off

DS-011:​

  • The SW1 switch to 1-off, 2-on

  • The SW7 switch to right

13. Connect debug cable and open the terminal, turn on the power .

14. When the systme boot up, you need to type "qcs6490aom5721a1 login: root", "Password: oelinux123"

15. After type the long in and password, and you also can chek the image information about date, kernel version etc..

Customization

Setting up SDK​

You can download the sdk from [sdk.qcs6490.le.1.7.tar.gz ]

The size of sdk.qcs6490.le.1.7.tar.gz is 5,670,674,463 byte (5,537,769 KB)

The md5sum of sdk.qcs6490.le.1.7.tar.gz is a40209831076f82feff2103788be6b35

Or perform the following command in terminal console

$ cd build-qcom-robotics-ros2-humble/tmp-glibc/deploy/sdk
$ sudo ./qcom-robotics-ros2-humble-x86_64-qcom-robotics-full-image-armv8-2a-qcs6490aom2721a1-toolchain-2.5.0.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)

Setting up cross compiling environment​

SDK has been set up (ref.Setting_up_SDK) Perform the following command in terminal console A example for the ${TOOLCHAIN}: /usr/local/oecore-x86_64

$ source ${TOOLCHAIN}/environment-setup-armv8-2a-qcom-linux