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Installing Yocto to the SOM's internal storage

Introduction

All SOMs can either boot from an SD card or from their internal storage.

The SOM's internal storage:
The Variscite DART-6UL has either an on-SOM NAND flash or eMMC, and either of them can be used to boot from and to hold the file system.
For NAND flash we use a UBI file system and for eMMC we use ext4.

eMMC structure

0-4 MiB : Non-partitioned space, saved for U-Boot.
4-12 MiB : BOOT-VAR6UL - A FAT16 partition containing the Linux image and the device tree blob/s.
12 MiB-End: "rootfs" - An ext4 partition containing the root file system (including the kernel modules).

Installing the Yocto binaries

If you followed the Create an extended SD card steps, the Yocto binaries and the flashing scripts will be included in your SD card.
The flashing scripts are easy-to-use example scripts for flashing images into NAND flash / eMMC.
There is also a section below describing how to flash the images manually.

Images locations

Following is the directory structure on your SD card, which elaborates the files' location that the below installation scripts are expecting:

/opt/images/
└── Yocto
    ├── imx6ul-var-dart-emmc_wifi.dtb
    ├── imx6ul-var-dart-nand_wifi.dtb
    ├── imx6ul-var-dart-sd_emmc.dtb
    ├── imx6ul-var-dart-sd_nand.dtb
    ├── imx6ull-var-dart-emmc_wifi.dtb
    ├── imx6ull-var-dart-nand_wifi.dtb
    ├── imx6ull-var-dart-sd_emmc.dtb
    ├── imx6ull-var-dart-sd_nand.dtb
    ├── rootfs.tar.gz
    ├── rootfs.ubi
    ├── SPL-nand
    ├── SPL-sd
    ├── u-boot.img-nand
    ├── u-boot.img-sd
    └── zImage

Prepare the images for NAND flash / eMMC flashing

Plug the bootable SD card into your host machine and mount the rootfs partition - here we assume it is mounted on /media/rootfs.
Copy all the mentioned yocto-built binaries to the SD card:

Note: If you followed the Create an extended SD card steps, the flashing scripts and all relevant binaries are already included in your SD card, and the below commands are redundant!

Setup:

$ export YOCTO_IMGS_PATH=~/var-fslc-yocto/build_x11/tmp/deploy/images/imx6ul-var-dart
$ export P2_MOUNT_DIR=/media/rootfs/
$ sudo mkdir -p ${P2_MOUNT_DIR}/opt/images/Yocto/

{{#switch: imx | imx8 | imx9=| Linux:

$ sudo cp ${YOCTO_IMGS_PATH}/zImage ${P2_MOUNT_DIR}/opt/images/Yocto/

Device Tree:

$ for f in ${YOCTO_IMGS_PATH}/*.dtb; do if [[ -L $f ]] && [[ $f != *imx6ul-var-dart.dtb ]]; then sudo cp $f ${P2_MOUNT_DIR}/opt/images/Yocto/; fi done
$ sudo rename 's/zImage-imx/imx/' ${P2_MOUNT_DIR}/opt/images/Yocto/*.dtb

NAND images:

SPL:
$ sudo cp ${YOCTO_IMGS_PATH}/SPL-nand ${P2_MOUNT_DIR}/opt/images/Yocto/

U-Boot:
$ sudo cp ${YOCTO_IMGS_PATH}/u-boot.img-nand ${P2_MOUNT_DIR}/opt/images/Yocto/

File System:
$ sudo cp ${YOCTO_IMGS_PATH}/fsl-image-gui-imx6ul-var-dart.ubi ${P2_MOUNT_DIR}/opt/images/Yocto/rootfs.ubi

eMMC images:

SPL:
$ sudo cp ${YOCTO_IMGS_PATH}/SPL-sd ${P2_MOUNT_DIR}/opt/images/Yocto/

U-Boot: 
$ sudo cp ${YOCTO_IMGS_PATH}/u-boot.img-sd ${P2_MOUNT_DIR}/opt/images/Yocto/

File System:
$ sudo cp ${YOCTO_IMGS_PATH}/fsl-image-gui-imx6ul-var-dart.tar.gz ${P2_MOUNT_DIR}/opt/images/Yocto/rootfs.tar.gz

Flashing scripts

The flashing scripts are located on the SD card at /usr/bin/:

install_yocto.sh	- Flash Yocto into NAND flash or eMMC (Run and follow usage instructions)

Manual step-by-step flashing to NAND flash

Use the prepared SD card to boot the board and run the following:

$ cd /opt/images/Yocto

Flash SPL & U-Boot:

$ flash_erase /dev/mtd0 0 0
$ kobs-ng init -x SPL-nand --search_exponent=1 -v
$ flash_erase /dev/mtd1 0 0
$ nandwrite -p /dev/mtd1 u-boot.img-nand
$ flash_erase /dev/mtd2 0 0

Flash the Linux Kernel image & Device Tree:
You need to use the right .dtb file for you hardware setup. See the table above for a complete description.

$ flash_erase /dev/mtd3 0 0
$ nandwrite -p /dev/mtd3 zImage
$ nandwrite -p /dev/mtd3 -s 0x7e0000 <DEVICE_TREE_FILE>

Flash the (UBI) File System to NAND flash:

$ ubiformat /dev/mtd4 -f rootfs.ubi

Manual step-by-step flashing to eMMC

Flashing the eMMC requires several steps including partitioning, file system formatting and image extraction.
We recommend to use our provided scripts to perform this task.

Use the prepared SD card to boot the board and run the following:

$ export node=/dev/mmcblk1 
$ cd /opt/images/Yocto

Make sure the eMMC is not mounted:

$ umount ${node}p*

Summary

We described the results of a Yocto build, how to copy it to a bootable SD card and how to flash it to NAND and eMMC.
With our extended SD card and our recovery SD card we provide an installation script located at /usr/bin/install_yocto.sh. It is much safer to use it instead of flashing the system manually.

Yocto NAND Flash Burning

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