i.MX 7 Downstream Linux Kernel Versions

i.MX 7 Upstream Linux Kernel Versions

Valid values for <board> are either apalis_imx6 or colibri_imx6.

i.MX 6 Downstream Linux Kernel Versions

i.MX 6 Upstream Linux Kernel Versions

i.MX 6ULL Downstream Linux Kernel Versions

i.MX6 ULL Upstream Linux Kernel Versions

Vybrid Linux Kernel Versions

Note: Valid values for <board> are either apalis_t30, colibri_t20 or colibri_t30.

Tegra T20/T30 Downstream Linux Kernel Versions

Tegra K1 Downstream Linux Kernel Versions

Tegra K1 Mainline/Upstream Linux Kernel Versions

i.MX 7 U-Boot Versions

Note: Valid values for <board> are either apalis_imx6 or colibri_imx6. Note: Starting with BSP V2.7 we use U-Boot together with an SPL to boot from eMMC. The SPL gets loaded by the bootrom into the SoC's SRAM, executes and initializes the DDR RAM according to module type, then it loads U-Boot to DDR and executes it. The Recovery Mode still uses a conventional U-Boot. On Apalis, the recovery U-Boot is built for the IT modules RAM requirements which works well on both IT and non-IT versions. Note: For BSPs older than V2.7, when building U-Boot for Apalis iMX6, be sure to use <board> to distinguish between the IT (apalis_imx6_it) and the non-IT (apalis_imx6) versions of the module when configuring the U-Boot sources. Note: For BSPs older than V2.4, the U-Boot values are apalis_imx6q1g, apalis_imx6q2g, colibri_imx6s256m.

i.MX 6 U-Boot Versions

i.MX 6ULL U-Boot Versions

Vybrid U-Boot Versions

Note: The recovery mode aka serial downloader uses the U-Boot Binary u-boot.imx. (e.g. using our update.sh script's -d argument which in turn uses the imx_uart utility).

Note: Valid values for <board> are either apalis_t30, colibri_t20 or colibri_t30.

Tegra U-Boot Versions

Tegra U-Boot Versions

i.MX 7 Downstream Device Tree Overlays Versions

iMX7 Upstream Device Tree Overlays Versions

i.MX 6 Downstream Device Tree Overlays Versions

i.MX 6 Upstream Device Tree Overlays Versions

i.MX 6ULL Downstream Device Tree Overlays Versions

i.MX 6ULL Upstream Device Tree Overlays Versions

Tegra K1 Upstream Device Tree Overlays Versions

Beginning with BSP 4, as part of our OpenEmbedded Zeus update we transitioned to using version 8.3 of the gcc compiler. Arm releases well tested binary toolchains which can be used to cross-compile software for our modules:

• For 32 bit Arm: gcc-arm-8.3-2019.03-x86_64-arm-linux-gnueabihf.tar.xz
• For 64 bit Arm: gcc-arm-8.3-2019.03-x86_64-aarch64-linux-gnu.tar.xz

https://developer.arm.com/tools-and-software/open-source-software/developer-tools/gnu-toolchain/gnu-a/downloads

You have to choose to download either the 32 bit or 64 bit Arm cross-toolchain, according to the architecture of your Computer on Module SoC. Select the correct one from the tabs below:

• 32 bit Arm
• 64 bit Arm

$ cd ~
$ wget -O gcc-arm-8.3-2019.03-x86_64-arm-linux-gnueabihf.tar.xz "https://developer.arm.com/-/media/Files/downloads/gnu-a/8.3-2019.03/binrel/gcc-arm-8.3-2019.03-x86_64-arm-linux-gnueabihf.tar.xz?revision=e09a1c45-0ed3-4a8e-b06b-db3978fd8d56&la=en&hash=93ED4444B8B3A812B893373B490B90BBB28FD2E3"
$ tar xvf gcc-arm-8.3-2019.03-x86_64-arm-linux-gnueabihf.tar.xz
$ ln -s gcc-arm-8.3-2019.03-x86_64-arm-linux-gnueabihf gcc-linaro

$ export ARCH=arm
$ export PATH=~/gcc-linaro/bin/:$PATH
$ export CROSS_COMPILE=arm-linux-gnueabihf-

$ echo "export ARCH=arm" >> ~/export_compiler
$ echo "export PATH=~/gcc-linaro/bin/:$PATH" >> ~/export_compiler
$ echo "export CROSS_COMPILE=arm-linux-gnueabihf-" >> ~/export_compiler
$ source ~/export_compiler

$ cd ~
$ wget -O gcc-arm-8.3-2019.03-x86_64-aarch64-linux-gnu.tar.xz "https://developer.arm.com/-/media/Files/downloads/gnu-a/8.3-2019.03/binrel/gcc-arm-8.3-2019.03-x86_64-aarch64-linux-gnu.tar.xz?revision=2e88a73f-d233-4f96-b1f4-d8b36e9bb0b9&la=en&hash=167687FADA00B73D20EED2A67D0939A197504ACD"
$ tar xvf gcc-arm-8.3-2019.03-x86_64-aarch64-linux-gnu.tar.xz
$ ln -s gcc-arm-8.3-2019.03-x86_64-aarch64-linux-gnu gcc-linaro

$ export ARCH=arm64
$ export PATH=~/gcc-linaro/bin/:$PATH
$ export CROSS_COMPILE=aarch64-linux-gnu-

$ echo "export ARCH=arm64" >> ~/export_compiler
$ echo "export PATH=~/gcc-linaro/bin/:$PATH" >> ~/export_compiler
$ echo "export CROSS_COMPILE=aarch64-linux-gnu-" >> ~/export_compiler
$ source ~/export_compiler

Beginning with image 3.0, as part of our OpenEmbedded Thud update we transitioned to using version 8.2 of the gcc compiler. Arm releases well tested binary toolchains which can be used to cross-compile software for our modules:

• For 32 bit Arm: gcc-arm-8.2-2019.01-x86_64-arm-linux-gnueabihf.tar.xz
• For 64 bit Arm: gcc-arm-8.2-2019.01-x86_64-aarch64-linux-gnu.tar.xz

https://developer.arm.com/tools-and-software/open-source-software/developer-tools/gnu-toolchain/gnu-a/downloads

You have to choose to download either the 32 bit or 64 bit Arm cross-toolchain, according to the architecture of your Computer on Module SoC. Select the correct one from the tabs below:

• 32 bit Arm
• 64 bit Arm

$ cd ~
$ wget -O gcc-arm-8.2-2019.01-x86_64-arm-linux-gnueabihf.tar.xz "https://developer.arm.com/-/media/Files/downloads/gnu-a/8.2-2019.01/gcc-arm-8.2-2019.01-x86_64-arm-linux-gnueabihf.tar.xz?revision=c69ea519-a965-4359-84a4-cbd440ff4130&la=en&hash=09C47C70EEE96D17EA036A7A59AE961972320A31"
$ tar xvf gcc-arm-8.2-2019.01-x86_64-arm-linux-gnueabihf.tar.xz
$ ln -s gcc-arm-8.2-2019.01-x86_64-arm-linux-gnueabihf gcc-linaro

$ export ARCH=arm
$ export PATH=~/gcc-linaro/bin/:$PATH
$ export CROSS_COMPILE=arm-linux-gnueabihf-

$ echo "export ARCH=arm" >> ~/export_compiler
$ echo "export PATH=~/gcc-linaro/bin/:$PATH" >> ~/export_compiler
$ echo "export CROSS_COMPILE=arm-linux-gnueabihf-" >> ~/export_compiler
$ source ~/export_compiler

$ cd ~
$ wget -O gcc-arm-8.2-2019.01-x86_64-aarch64-linux-gnu.tar.xz "https://developer.arm.com/-/media/Files/downloads/gnu-a/8.2-2019.01/gcc-arm-8.2-2019.01-x86_64-aarch64-linux-gnu.tar.xz?revision=21270570-4ec0-4bad-a9e1-09707614066a&la=en&hash=AFEDF645AF5B94336DB4E1E608806CEC87A02B8A"
$ tar xvf gcc-arm-8.2-2019.01-x86_64-aarch64-linux-gnu.tar.xz
$ ln -s gcc-arm-8.2-2019.01-x86_64-aarch64-linux-gnu gcc-linaro

$ export ARCH=arm64
$ export PATH=~/gcc-linaro/bin/:$PATH
$ export CROSS_COMPILE=aarch64-linux-gnu-

$ echo "export ARCH=arm64" >> ~/export_compiler
$ echo "export PATH=~/gcc-linaro/bin/:$PATH" >> ~/export_compiler
$ echo "export CROSS_COMPILE=aarch64-linux-gnu-" >> ~/export_compiler
$ source ~/export_compiler

Beginning with image 2.8, as part of our OpenEmbedded Rocko update we transitioned to using version 7.3 of the gcc compiler. Linaro releases well tested binary toolchains which can be used to cross-compile software for our modules:

• For 32 bit Arm: gcc-linaro-7.3.1-2018.05-x86_64_arm-linux-gnueabihf.tar.xz
• For 64 bit Arm: Embedded Linux BSP 2.8 does not support any 64 bit Arm SoMs by Toradex.

https://releases.linaro.org/components/toolchain/binaries/7.3-2018.05/arm-linux-gnueabihf/

To install the toolchain on your host machine, download and unpack the tar.xz file. From the command-line:

$ cd ~
$ wget -O gcc-linaro-7.3.1-2018.05-x86_64_arm-linux-gnueabihf.tar.xz "https://releases.linaro.org/components/toolchain/binaries/7.3-2018.05/arm-linux-gnueabihf/gcc-linaro-7.3.1-2018.05-x86_64_arm-linux-gnueabihf.tar.xz"
$ tar xvf gcc-linaro-7.3.1-2018.05-x86_64_arm-linux-gnueabihf.tar.xz
$ ln -s gcc-linaro-7.3.1-2018.05-x86_64_arm-linux-gnueabihf gcc-linaro

The U-Boot and Linux makefiles use the environment variables ARCH/CROSS_COMPILE to configure and call the compiler correctly. Therefore, these environment variables must be exported in any shell instance that will run configure/compile commands to build U-Boot or Linux for the target module.

$ export ARCH=arm
$ export PATH=~/gcc-linaro/bin/:$PATH
$ export CROSS_COMPILE=arm-linux-gnueabihf-

You can put those commands into a file and source that file to export it more easily, E.g.:

$ echo "export ARCH=arm" >> ~/export_compiler
$ echo "export PATH=~/gcc-linaro/bin/:$PATH" >> ~/export_compiler
$ echo "export CROSS_COMPILE=arm-linux-gnueabihf-" >> ~/export_compiler
$ source ~/export_compiler

Beginning with image 2.7b2, as part of our OpenEmbedded Morty update we transitioned to using version 6.2 of the gcc compiler. Linaro releases well tested binary toolchains which can be used to cross-compile software for our modules (choose gcc-linaro-6.2.1-2016.11-x86_64_arm-linux-gnueabihf.tar.xz):

https://releases.linaro.org/components/toolchain/binaries/6.2-2016.11/arm-linux-gnueabihf/

Beginning with image V2.6, as part of our OpenEmbedded Jethro update we transitioned to using version 5.2 of the gcc compiler. Linaro releases well tested binary toolchains which can be used to cross-compile software for our modules (choose gcc-linaro-5.2-2015.11-2-x86_64_arm-linux-gnueabihf.tar.xz):

https://releases.linaro.org/components/toolchain/binaries/5.2-2015.11-2/arm-linux-gnueabihf/

Beginning with image V2.0, we transitioned to using the hard-float ABI:

https://releases.linaro.org/archive/14.11/components/toolchain/binaries/

Note: Since the 14.11 release Linaro only provides x86_64 toolchains. If you use 32-bit Linux on your host machine (check using uname -m), you can still download the older 14.09 release which is still 32-bit:

https://releases.linaro.org/archive/14.09/components/toolchain/binaries/

You have to choose to download either the 32 bit or 64 bit Arm cross-toolchain, according to the architecture of your Computer on Module SoC. Select the correct one from the tabs below:

The U-Boot and Linux makefiles use the environment variables ARCH/CROSS_COMPILE to configure and call the compiler correctly. Therefore, these environment variables must be exported in any shell instance that will run configure/compile commands to build U-Boot or Linux for the target module.

$ export ARCH=arm
$ export PATH=~/gcc-linaro/bin/:$PATH
$ export CROSS_COMPILE=arm-linux-gnueabihf-

You can put those commands into a file and source that file to export it more easily, E.g.:

$ echo "export ARCH=arm" >> ~/export_compiler
$ echo "export PATH=~/gcc-linaro/bin/:$PATH" >> ~/export_compiler
$ echo "export CROSS_COMPILE=arm-linux-gnueabihf-" >> ~/export_compiler
$ source ~/export_compiler

Older Versions

U-Boot Tools

The uImage target of the Linux kernel compilation needs a recent mkimage tool.

One can simply install the Fedora package uboot-tools:

$ sudo dnf install uboot-tools

Or with the corresponding Debian/Ubuntu package u-boot-tools:

$ sudo apt-get install u-boot-tools

Alternatively, mkimage tool is also built during the U-Boot compilation. You can follow the U-Boot building instructions as explained further in this article, and after that include it in PATH.

Build Host Tools and Dependencies

You need some essential build tools to compile the Kernel. Most are likely part of your distro's standard install.

For Fedora:

$ sudo dnf install bc gcc git ncurses-devel lzop make perl openssl-devel

For Debian/Ubuntu:

$ sudo apt-get install bc build-essential git libncurses5-dev lzop perl libssl-dev

The NXP i.MX 8M Mini/8M Plus requires a boot container. The boot container is built with the Yocto recipe imx-boot. Nevertheless, if you want to build it manually, this section provides information on how to do it.

Please open this section to get information on how to create the boot container for i.MX 8M Mini/8M Plus family-based modules:

$ cd ~/workdir
$ wget https://www.nxp.com/lgfiles/NMG/MAD/YOCTO/firmware-imx-8.10.bin
$ chmod u+x firmware-imx-8.10.bin
$ ./firmware-imx-8.10.bin
$ ls firmware-imx-8.10/firmware/ddr/synopsys/

$ cd ~/workdir
$ git clone git://git.toradex.com/imx-atf.git -b <ATF Branch>
$ cd imx-atf

$ make PLAT=<Platform> IMX_BOOT_UART_BASE=<UART-Base-Add> bl31

$ cd ~/workdir
$ git clone -b <Branch> https://source.codeaurora.org/external/imx/imx-mkimage/

$ cd ~/workdir/imx-mkimage/
$ cp ~/workdir/firmware-imx-*/firmware/ddr/synopsys/lpddr4_pmu_train_1d_dmem.bin iMX8M
$ cp ~/workdir/firmware-imx-*/firmware/ddr/synopsys/lpddr4_pmu_train_2d_dmem.bin iMX8M
$ cp ~/workdir/firmware-imx-*/firmware/ddr/synopsys/lpddr4_pmu_train_1d_imem.bin iMX8M
$ cp ~/workdir/firmware-imx-*/firmware/ddr/synopsys/lpddr4_pmu_train_2d_imem.bin iMX8M
$ cp ~/workdir/imx-atf/build/imx8mm/release/bl31.bin iMX8M
$ cp ~/workdir/u-boot-toradex/spl/u-boot-spl.bin iMX8M
$ cp ~/workdir/u-boot-toradex/u-boot-nodtb.bin iMX8M
$ cp ~/workdir/u-boot-toradex/arch/arm/dts/imx8mm-verdin.dtb iMX8M/fsl-imx8mm-evk.dtb
$ cp ~/workdir/u-boot-toradex/tools/mkimage iMX8M/mkimage_uboot
$ make clean; make SOC=iMX8MM flash_evk_emmc_fastboot
$ ls iMX8M/flash.bin

$ cd ~/workdir/imx-mkimage/
$ cp ~/workdir/firmware-imx-*/firmware/ddr/synopsys/lpddr4_pmu_train_1d_dmem_202006.bin iMX8M
$ cp ~/workdir/firmware-imx-*/firmware/ddr/synopsys/lpddr4_pmu_train_1d_imem_202006.bin iMX8M
$ cp ~/workdir/firmware-imx-*/firmware/ddr/synopsys/lpddr4_pmu_train_2d_dmem_202006.bin iMX8M
$ cp ~/workdir/firmware-imx-*/firmware/ddr/synopsys/lpddr4_pmu_train_2d_imem_202006.bin iMX8M
$ cp ~/workdir/imx-atf/build/imx8mp/release/bl31.bin iMX8M
$ cp ~/workdir/u-boot-toradex/spl/u-boot-spl.bin iMX8M
$ cp ~/workdir/u-boot-toradex/u-boot-nodtb.bin iMX8M
$ cp ~/workdir/u-boot-toradex/arch/arm/dts/imx8mp-verdin.dtb iMX8M/fsl-imx8mp-evk.dtb
$ cp ~/workdir/u-boot-toradex/tools/mkimage iMX8M/mkimage_uboot
$ make clean; make SOC=iMX8MP DCD_BOARD=imx8mp_evk flash_evk_emmc_fastboot
$ ls iMX8M/flash.bin

$ mv iMX8M/flash.bin iMX8M/imx-boot

Starting with BSP 3, we use U-Boot based on 2019.07, which dropped the NAND make targets (only required for Colibri iMX6ULL and the NAND based Colibri iMX7).

You may manually create u-boot-nand.imx as follows:

$ dd bs=10k count=1 if=/dev/zero | cat u-boot.imx - > u-boot.imx.zero-padded

# U-Boot is flashed 1k into a NAND block, create a binary which prepends
# U-boot with 1k of zeros to ease flashing
$ dd bs=1024 count=1 if=/dev/zero | cat - u-boot.imx.zero-padded > u-boot-nand.imx

Colibri T20

Image V2.3 & Older

The following procedure is to flash just the new boot loader (assumes the target is already in recovery mode):

$ cd ~/Colibri_T20_LinuxImageV2.3/colibri-t20_bin
$ cp ~/u-boot-toradex/u-boot.bin ./u-boot-custom.bin
$ ln -fs u-boot-custom.bin u-boot.bin
$ cd ..
$ ./update.sh -r 512 -u -v V1_2

Warning: This example performs an update for the Colibri T20 512MB V1_2. Enter the update parameters according to the Colibri T20 version.

Image V2.4 & Newer

Refer to the _ Tegra-based modules_ section below for the T20 U-Boot update procedure of V2.4+ images.

Tegra based modules (T20: Image V2.4+)

Replace the existing u-boot-dtb-tegra.bin in the extracted BSP package.

$ cd ~/Apalis_T30_LinuxImageV2.3/apalis-t30_bin
$ cp ~/u-boot-toradex/u-boot-dtb-tegra.bin ./u-boot-dtb-tegra-custom.bin
$ ln -fs u-boot-dtb-tegra-custom.bin u-boot-dtb-tegra.bin
$ cd ..

Prepare an SD card as described in the Flashing Embedded Linux to Tegra Modules article.

Boot the module to the U-Boot prompt and update U-Boot:

> run setupdate
> run update_uboot

Note: Refer to the Txx Recovery Mode article if the module is not able to boot into U-Boot.

After the update, reset or power cycle to execute the new U-Boot.

Vybrid, i.MX 6 &amp; i.MX 7 Based Modules

Prepare an SD card as described in the articles below (according to the module of interest):

Flashing Embedded Linux to iMX6 Modules

Flashing Embedded Linux to iMX7 Modules

Flashing Embedded Linux to Vybrid Modules

Replace the existing U-Boot binary in the first partition of your SD card.

eMMC Based Modules (i.MX 6) Starting with BSP V2.7 use the built u-boot-toradex/SPL and u-boot-toradex/u-boot.img files to replace SPL and u-boot.imx-spl on the update SD card (renaming u-boot.img to u-boot.imx-spl in the process).

For older BSPs use u-boot.imx to replace u-boot.imx, or if you built for a Apalis iMX6 IT replace u-boot.imx-it or u-boot-it.imx.

Raw NAND Based Systems (Vybrid and i.MX 7) Use u-boot-nand.imx for raw NAND-based systems (Vybrid and i.MX 7).

$ cp ~/u-boot-toradex/u-boot.imx /media/<path-to-partition-1>/<board>/

Boot the module to the U-Boot prompt and update U-Boot:

> run setupdate
> run update_uboot

Note: Refer to the Flashing Embedded Linux articles above if the module is not able to boot into U-Boot.

After the update, reset or power cycle to execute the new U-Boot.

Note: This does not reset the U-Boot environment to the new default values.

Note: If the module fails to boot Linux after updating U-Boot, consider resetting the U-Boot environment.

To reset the environment to the updated default environment, enter the following from the command line of the updated U-Boot:

> env default -a
> saveenv

Note: BSPs V2.6 and older: On the Colibri iMX6DL the command patch_ddr_size must be executed after flashing U-Boot which is already taken care of by the update_uboot command given above.

i.MX 7 Based Kernel (Colibri iMX7S/iMX7D)

To compile the kernel & device tree for BSP 3 or newer:

$ make -j$(nproc) zImage 2>&1 | tee build.log
$ make DTC_FLAGS="-@" <device-tree>.dtb

Important: Replace <device-tree> by the Device Tree for your specific configuration. Click below to expand the version information.

To compile the kernel & device tree for BSP 2.8 or older:

$ make -j$(nproc) zImage 2>&1 | tee build.log
$ make <device-tree>.dtb

Important: Replace <device-tree> by the Device Tree for your specific configuration. Click below to expand the version information.