meta-aos-rcar-gen4

This repository contains Renesas R-Car Gen4-specific Yocto layers for AosEdge distro. Some layers in this repository are product-independent. They provide common facilities that may be used by any aos-based product that runs on Renesas Gen4-based platforms.

Those layers may be added and used manually, but they were written with Moulin build system, as Moulin-based project files provide correct entries in local.conf.

Status

This is a release 1.0.0 of AosEdge development product for the S4 Spider board.

This release is based on meta-xt-prod-devel-rcar-gen4 release 0.8.5 and has the same HW features, dependencies and requirements (see https://github.com/xen-troops/meta-xt-prod-devel-rcar-gen4/tree/spider-0.8.5#readme). In addition, it has the following Aos functionality:

all Aos components are hosted on DomD;
Dom0, DomD AosEdge FOTA update.

Building

Requirements

Ubuntu 18.0+ or any other Linux distribution which is supported by Poky/OE
Development packages for Yocto. Refer to Yocto manual.
You need Moulin installed in your PC. Recommended way is to install it for your user only: pip3 install --user git+https://github.com/xen-troops/moulin. Make sure that your PATH environment variable includes ${HOME}/.local/bin.
Ninja build system: sudo apt install ninja-build on Ubuntu

Fetching

You can fetch/clone this whole repository, but you actually only need one file from it: aos-rcar-gen4.yaml. During the build moulin will fetch this repository again into yocto/ directory. So, to reduce possible confuse, we recommend to download only aos-rcar-gen4.yaml:

curl -O https://raw.githubusercontent.com/aoscloud/meta-aos-rcar-gen4/v1.0.0/aos-rcar-gen4.yaml

Building

Moulin is used to generate Ninja build file: moulin prod-aos-rcar-s4.yaml. This project provides number of additional parameters. You can check them with --help-config command line option:

usage: /home/oleksandr_grytsov/.local/bin/moulin aos-rcar-gen4.yaml [--ENABLE_DOMU {no,yes}] [--VIS_DATA_PROVIDER {renesassimulator,telemetryemulator}]

Config file description: Xen-Troops development setup for Renesas RCAR Gen4 hardware

optional arguments:
  --ENABLE_DOMU {no,yes}
                        Build generic Yocto-based DomU
  --VIS_DATA_PROVIDER {renesassimulator,telemetryemulator}
                        Specifies plugin for VIS automotive data

Only one machine is supported as of now: spider. You can enable or disable DomU build with --ENABLE_DOMU=yes option. Be default it is disabled.

So, to build with DomU (generic Yocto-based virtual machine) use the following command line: moulin prod-aos-rcar-s4.yaml --ENABLE_DOMU=yes.

Moulin will generate build.ninja file. After that run ninja to build the images. This will take some time and disk space as it builds 3 separate Yocto images.

Creating SD card image

Using Ninja

Latest versions of moulin will generate additional ninja targets for creating images. In case of this product please use

ninja image-full

To generate SD/eMMC image full.img. You can use dd tool to write this image file to a SD card:

dd if=full.img of=/dev/sdX conv=sparse

If you want to write image directly to a SD card (e.g. without creating full.img file), you will need to use manual mode, which is described in the next subsection.

Manually, using `rouge`

Image file can be created with rouge tool. This is a companion application for moulin.

Right now it works only in standalone mode, so manual invocation is required. It accepts the same parameters: --ENABLE_DOMU.

This XT product provides only one image: full.

You can prepare the image by running

rouge aos-rcar-gen4.yaml --ENABLE_DOMU=yes -i full

This will create file full.img in your current directory.

Also you can write image directly to an SD card by running

sudo rouge aos-rcar-gen4.yaml --ENABLE_DOMU=yes -i full -so /dev/sdX

BE SURE TO PROVIDE CORRECT DEVICE NAME. rouge has no interactive prompts and will overwrite your device right away. ALL DATA WILL BE LOST.

It is also possible to flash the image to the internal eMMC. For that you may want booting the board via TFTP and sharing DomD's root file system via NFS. Once booted it is possible to flash the image:

dd if=/full.img of=/dev/mmcblk0 bs=1M

For more information about rouge check its manual.

U-boot environment

Please make sure 'bootargs' variable is unset while running with Xen:

unset bootargs

It is possible to run the build from TFTP+NFS and eMMC. With NFS boot is is possible to configure board IP, server IP and NFS path for DomD and DomU. Please set the following environment for that:

setenv set_pcie 'i2c dev 0; i2c mw 0x6c 0x26 5; i2c mw 0x6c 0x254.2 0x1e; i2c mw 0x6c 0x258.2 0x1e; i2c mw 0x20 0x3.1 0xfe;'

setenv bootcmd 'run set_pcie; run bootcmd_tftp'
setenv bootcmd_mmc0 'run mmc0_xen_load; run mmc0_dtb_load; run mmc0_kernel_load; run mmc0_xenpolicy_load; run mmc0_initramfs_load; bootm 0x48080000 0x84000000 0x48000000'
setenv bootcmd_tftp 'run tftp_xen_load; run tftp_dtb_load; run tftp_kernel_load; run tftp_xenpolicy_load; run tftp_initramfs_load; bootm 0x48080000 0x84000000 0x48000000'

setenv mmc0_dtb_load 'ext2load mmc 0:1 0x48000000 xen.dtb; fdt addr 0x48000000; fdt resize; fdt mknode / boot_dev; fdt set /boot_dev device mmcblk0'
setenv mmc0_initramfs_load 'ext2load mmc 0:1 0x84000000 uInitramfs'
setenv mmc0_kernel_load 'ext2load mmc 0:1 0x7a000000 Image'
setenv mmc0_xen_load 'ext2load mmc 0:1 0x48080000 xen'
setenv mmc0_xenpolicy_load 'ext2load mmc 0:1 0x7c000000 xenpolicy'

setenv tftp_configure_nfs 'fdt set /boot_dev device nfs; fdt set /boot_dev my_ip 192.168.1.2; fdt set /boot_dev nfs_server_ip 192.168.1.100; fdt set /boot_dev nfs_dir "/srv/domd"; fdt set /boot_dev domu_nfs_dir "/srv/domu"'
setenv tftp_dtb_load 'tftp 0x48000000 r8a779f0-spider-xen.dtb; fdt addr 0x48000000; fdt resize; fdt mknode / boot_dev; run tftp_configure_nfs; '
setenv tftp_initramfs_load 'tftp 0x84000000 uInitramfs'
setenv tftp_kernel_load 'tftp 0x7a000000 Image'
setenv tftp_xen_load 'tftp 0x48080000 xen-uImage'
setenv tftp_xenpolicy_load 'tftp 0x7c000000 xenpolicy-spider'

Aos FOTA update

Aos U-boot environment

Aos OTA update requires special U-boot environment to be set:

# set load address
loadaddr=0x58000000

# update mmc0... vars to use ${aos_boot_slot
setenv mmc0_dtb_load 'ext2load mmc 0:${aos_boot_slot} 0x48000000 xen.dtb; fdt addr 0x48000000; fdt resize; fdt mknode / boot_dev; fdt set /boot_dev device mmcblk0'
setenv mmc0_initramfs_load 'ext2load mmc 0:${aos_boot_slot} 0x84000000 uInitramfs'
setenv mmc0_kernel_load 'ext2load mmc 0:${aos_boot_slot} 0x7a000000 Image'
setenv mmc0_xen_load 'ext2load mmc 0:${aos_boot_slot} 0x48080000 xen'
setenv mmc0_xenpolicy_load 'ext2load mmc 0:${aos_boot_slot} 0x7c000000 xenpolicy'

# load/save aos env vars
setenv aos_default_vars 'setenv aos_boot_main 0; setenv aos_boot1_ok 1; setenv aos_boot2_ok 1; setenv aos_boot_part 0'
setenv aos_save_vars 'env export -t ${loadaddr} aos_boot_main aos_boot_part aos_boot1_ok aos_boot2_ok; fatwrite mmc 0:3 ${loadaddr} uboot.env 0x3E'
setenv aos_load_vars 'run aos_default_vars; if load mmc 0:3 ${loadaddr} uboot.env; then env import -t ${loadaddr} ${filesize}; else run aos_save_vars; fi'

# configure boots 
setenv aos_boot1 'if test ${aos_boot1_ok} -eq 1; then setenv aos_boot1_ok 0; setenv aos_boot2_ok 1; setenv aos_boot_part 0; setenv aos_boot_slot 1; echo "==== Boot from part 1"; run aos_save_vars; run bootcmd_mmc0; fi'
setenv aos_boot2 'if test ${aos_boot2_ok} -eq 1; then setenv aos_boot2_ok 0; setenv aos_boot1_ok 1; setenv aos_boot_part 1; setenv aos_boot_slot 2; echo "==== Boot from part 2"; run aos_save_vars; run bootcmd_mmc0; fi'

# Aos bootcmd
setenv bootcmd_aos 'run aos_load_vars; if test ${aos_boot_main} -eq 0; then run aos_boot1; run aos_boot2; else run aos_boot2; run aos_boot1; fi'

# Set bootcmd to Aos bootcmd
setenv bootcmd 'run bootcmd_aos'

Note: ping command before run bootcmd_aos is WA to properly initialize the network device.

Flash Aos image

In order to use Aos update functionality the image should be flashed into MMC. It could be done using the bsp image delivered together with the Aos image:

configure tftp U-boot variables as described above;
put s4-bsp folder content into your host tftp folder;
enter to the U-boot command line;
the following U-boot commands will run the bsp image on the target:

tftp 0x48000000 s4-bsp/spider.dtb
tftp 0x48080000 s4-bsp/Image
tftp 0x84000000 s4-bsp/Initrd
setenv bootargs ""
booti 0x48080000 0x84000000 0x48000000

once the bsp image is booted, up network interface:

ifconfig tsn0 up 192.168.1.2

flash the Aos image by using ssh:

dd if=full.img | ssh [email protected] "dd of=/dev/mmcblk0"

reboot the board.

Generate Aos update image

Aos update image generation is done by dom0 yocto. The Aos image requires moulin build is successfully done. It means, after doing any source changes, ninja build command should be issued before generating the Aos image.

The following commands should be performed to generate the Aos image:

cd yocto/
source poky/oe-init-build-env build-dom0/
bitbake aos-update

It will generate Aos update image according to the Aos update variables set in prod-aos-rcar-s4.yaml file. The default image location is your top build folder.

Aos update variables:

AOS_BUNDLE_IMAGE_VERSION - specifies image version of all components included to the Aos update image. Individual component version can be assigned using AOS_DOM0_IMAGE_VERSION for Dom0, AOS_DOMD_IMAGE_VERSION for DomD;
AOS_BUNDLE_OSTREE_REPO - specifies path to ostree repo. ostree repo is required to generate incremental update. It is set to ${TOPDIR}/../../rootfs_repo by default;
AOS_BUNDLE_REF_VERSION - used as default reference version for generating incremental component update. Individual component reference version can be specified using corresponding component variable: AOS_DOMD_REF_VERSION for DomD;
AOS_BUNDLE_DOM0_TYPE, AOS_BUNDLE_DOMD_TYPE, AOS_BUNDLE_RH850_TYPE - specifies component update type:
- full - full component update;
- incremental - incremental component update (currently supported only by DomD);
- if not set - the component update will not be included into the Aos update image;
- RH850 update image is not included into the update bundle by default.
AOS_RH850_IMAGE_VERSION - version of RH850 component update;
AOS_RH850_IMAGE_PATH - path to the RH850 update image which should be included into the update bundle.

Generating Aos update image example

perform required changes in the source;
change the AOS_BUNDLE_IMAGE_VERSION;
set components build type if required (AOS_BUNDLE_DOM0_TYPE, AOS_BUNDLE_DOMD_TYPE);
set AOS_BUNDLE_RH850_TYPE: "full", AOS_RH850_IMAGE_VERSION, AOS_RH850_IMAGE_PATH if RH850 image should be included into the update bundle;
perform moulin build by issuing ninja build command;
generate Aos image update as described above.

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