i.

MX 6 BSP Porting Guide

Document Number: IMX6BSPPG

Rev L3.10.17_1.0.0-ga, 05/2014
 i.MX 6 BSP Porting Guide, Rev. L3.10.17_1.0.0-ga, 05/2014
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 Contents
Section number Title Page

Chapter 1
Porting U-Boot from an i.MX 6 Reference Board to an i.MX 6 Custom Board
1.1 U-Boot Overview............................................................................................................................................................7

1.2 Obtaining the Source Code for the U-Boot.....................................................................................................................7

1.2.1 Preparing the Code...............................................................................................................................................8

1.3 Customizing the i.MX 6 Custom Board Code................................................................................................................10

1.3.1 Changing the DCD Table for i.MX 6 DDR3LPDDR2 Initialization..................................................................10

1.3.2 Booting with the Modified U-Boot .....................................................................................................................10

1.3.3 Adding New Driver Initialization Code to Board Files.......................................................................................11

1.3.4 Further Customization at System Boot................................................................................................................12

1.3.5 Customizing the Printed Board Name.................................................................................................................12

1.4 Debugging.......................................................................................................................................................................13

1.4.1 Using RealView ICE for Debugging...................................................................................................................13

1.4.2 Using printf for debugging...................................................................................................................................13

Chapter 2
Configuring the IOMUX Controller
2.1 IOMUX Overview..........................................................................................................................................................15

2.2 Information for Setting IOMUX Controller Registers....................................................................................................16

2.3 Using IOMUX in the Device Tree - Example................................................................................................................17

Chapter 3
Registering a New UART Driver
3.1 Enabling UART on Kernel Menuconfig.........................................................................................................................19

3.2 UART Settings................................................................................................................................................................19

3.3 File Names and Locations...............................................................................................................................................19

Chapter 4
Adding Support for SDHC
4.1 SDHC Overview.............................................................................................................................................................21

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Section number Title Page

Chapter 5
Configuring the SPI NOR Flash Memory Technology Device (MTD) Driver
5.1 SPI NOR Overview.........................................................................................................................................................23

5.2 Source Code Structure....................................................................................................................................................23

5.2.1 Configuration Options..........................................................................................................................................23

5.2.2 Selecting SPI NOR on the Linux Image..............................................................................................................24

5.3 Changing the SPI Interface Configuration......................................................................................................................24

5.4 Hardware Operation........................................................................................................................................................24

5.4.1 Software Operation..............................................................................................................................................25

Chapter 6
Connecting an LVDS Panel to an i.MX 6Dual/6Quad/6Solo/6DualLite Reference Board
6.1 LVDS Overview.............................................................................................................................................................27

6.1.1 Connecting an LVDS Panel to the i.MX 6Dual/6Quad/6DualLite Reference Board..........................................27

6.2 Enabling an LVDS Channel............................................................................................................................................28

6.2.1 Locating Menu Configuration Options ...............................................................................................................28

6.3 LDB Ports.......................................................................................................................................................................28

6.3.1 Input Parallel Display Ports.................................................................................................................................29

6.3.2 Output LVDS Ports..............................................................................................................................................30

6.4 Additional Information...................................................................................................................................................30

Chapter 7
Supporting the i.MX 6Dual/6Quad/6Solo/6DualLite Camera Sensor with CSI
7.1 CSI Overview..................................................................................................................................................................31

7.1.1 Required Software ...............................................................................................................................................31

7.1.2 i.MX 6Dual/6Quad/6Solo/6DualLite CSI Interfaces Layout..............................................................................32

7.1.3 Configuring the CSI Unit in Test Mode...............................................................................................................32

7.2 Adding Support for a New CMOS Camera Sensor........................................................................................................33

7.2.1 Adding a Camera Sensor Entry in Kconfig.........................................................................................................33

7.2.2 Creating the Camera Sensor File.........................................................................................................................34

7.2.3 Adding a Compilation Flag for the New Camera................................................................................................36

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Section number Title Page

7.3 Using the I2C Interface...................................................................................................................................................37

7.3.1 Loading and Testing the Camera Module............................................................................................................39

7.4 Additional Reference Information..................................................................................................................................39

7.4.1 CMOS Interfaces Supported by the i.MX 6Dual/6Quad/6Solo/6DualLite.........................................................39

7.4.2 i.MX 6Dual/6Quad/6Solo/6DualLite CSI Parallel Interface...............................................................................41

7.4.3 Timing Data Mode Protocols...............................................................................................................................43

Chapter 8
Porting Audio Codecs to a Custom Board
8.1 Audio Overview..............................................................................................................................................................45

8.1.1 Common Porting Task.........................................................................................................................................45

8.1.2 Porting the Reference BSP to a Custom Board (audio codec is the same as in the reference design)................46

8.1.3 Porting the Reference BSP to a Custom Board (audio codec is different than the reference design).................47

Chapter 9
Porting the Ethernet Controller Driver
9.1 Ethernet Controller Overview.........................................................................................................................................49

9.1.1 Pin Configuration.................................................................................................................................................49

9.1.2 Source Code.........................................................................................................................................................50

9.1.3 Ethernet Configuration.........................................................................................................................................51

Chapter 10
Porting USB Host1 and USB OTG
10.1 USB Overview for i.MX 6Dual/6Quad/6Solo/6DualLite..............................................................................................53

10.2 USB Overview for i.MX 6SoloLite................................................................................................................................55

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Chapter 1
Porting U-Boot from an i.MX 6 Reference Board to an
i.MX 6 Custom Board

1.1 U-Boot Overview

This chapter provides a step-by-step guide that explains how to add i.MX 6 custom board
support for U-Boot.
This developer guide is based on the U-Boot v2013.04 package. For the i.MX patches,
refer to the release notes.

1.2 Obtaining the Source Code for the U-Boot

The following steps describe how to obtain the source code.
1. Install Yocto Project. See the Freescale Yocto Project User's Guide.
2. In Yocto Project, set the U-Boot preferred provider to uboot-imx. Confirm that the
sources/meta-fsl-bsp-release/imx/meta-fsl-arm/conf has the line PREFERRED_PROVIDER_u-
boot_mx6 = "u-boot-imx"

The U-Boot code is now located at <build directory>/tmp/work/<machine>-poky-linux-

gnueabi/u-boot-fslc/<version>/git, where <machine> can be one of the following:
• imx6qsabresd
• imx6qsabreauto
• imx6dlsabresd
• imx6dlsabreauto
• imx6solosabreauto
• imx6slevk
The U-Boot main directory is referred to as <UBOOT_DIR>. It is also assumed that your
shell working directory is <UBOOT_DIR>.

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Obtaining the Source Code for the U-Boot

1.2.1 Preparing the Code

The following steps describes how to prepare the code.
1. Copy the board directory, as shown below:
$cp -R board/freescale/mx6_<reference board name> board/freescale/mx6_<custom board
name>
2. Copy the existing mx6<reference board name>.h board configuration file as
mx6<custom board name>.h, as shown below:
$cp include/configs/mx6<reference board name>.h include/configs/mx6<custom board name>.h

NOTE
The configuration files for the i.MX 6 are located at
include/configs. The files associated with the boards are:
• i.MX 6 SABRE-SD:
• mx6sabresd_common.h
• mx6sabresd.h
• i.MX 6 SABRE-AI:
• mx6sabresd_common.h
• mx6sabreauto.h
• i.MX 6SL EVK:
• mx6slevk.h
NOTE
You should pay attention to the following configurations
when using a new board.
• CONFIG_LOADADDR: Normally your uImage will be
loaded to this address for boot.
• CONFIG_SYS_MALLOC_LEN: Heap memory size.
• CONFIG_STACKSIZE: Stack size.
• CONFIG_NR_DRAM_BANKS: Number of ddr banks.
• CONFIG_DDR_MB: Configure the DDR size in
• MB.PHYS_SDRAM: Physical address for the DDR
memory
• Config file is important for U-Boot. It determines the
size, functionality, and performance of u-boot.bin.
3. Create one entry in <UBOOT_DIR>/boards.cfg for the new -based configuration.
This file is in alphabetical order. The instruction is an example for i.MX 6Quad
board:
mx6q<customer_board_name> arm armv7 mx6q<customer_board_name>
freescale mx6

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mx6q<customer_board_name>:IMX_CONFIG=board/freescale/mx6q<customer_board_name>/
mx6q.cfg,MX6Q,DEFAULT_FDT_FILE="imx6q-<customer_board_name>.dtb",DDR_MB
2048,SYS_USE_SPINOR

NOTE
U-Boot project developers recommend adding any new
board to the MAKEALL script and running this script to
validate that the new code has not broken any other
platform build. This is a requirement if you plan to submit a
patch back to the U-Boot community. For further
information, see the U-Boot README file.
4. Rename
board/freescale/mx6<reference board name>/mx6<reference board name>.c

to
board/freescale/mx6<custom board name>/mx6<custom board name>.c.
5. Change the line
COBJS := mx6<reference board name>.o (inside board/freescale/mx6<custom board
name>/Makefile)

to
COBJS := mx6<custom board name>.o

NOTE
The remaining instructions build the U-Boot manually and
do not use Yocto Project.
6. Create a shell script under <UBOOT_DIR> named build_u-boot.sh.
The file contents are as follows:
#!/bin/bash
export ARCH=arm
export CROSS_COMPILE=<path to cross compiler prefix> (e.g.
/opt/poky/1.4.1/sysroots/i686-pokysdk-linux/usr/bin/cortexa9hf-vfp-neon-poky-linux-
gnueabi/arm-poky-linux-gnueabi-
make distclean;
make mx6<custom board name>
make
7. Compile U-Boot by using $./build_u-boot.sh
8. If everything is correct, you should now have u-boot.bin, which indicates that your
build setup is correct and ready to be customized.
The new i.MX 6 custom board that you have created is an exact copy of the i.MX 6
reference board, but the boards are two independent builds. This allows you to proceed to
the next step: customizing the code to suit the new hardware design.

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Customizing the i.MX 6 Custom Board Code

1.3 Customizing the i.MX 6 Custom Board Code

The new i.MX 6 custom board is a part of the U-Boot source tree, but it is a duplicate of
the i.MX 6 reference board code and needs to be customized.
The DDR technology is a potential key difference between the two boards.
If there is a difference in the DDR technology between the two boards, the DDR
initialization needs to be ported. DDR initialization is coded in the DCD table, inside the
boot header of the U-Boot image. When porting bootloader, kernel or driver code, you
must have the schematics easily accessible for reference.

1.3.1 Changing the DCD Table for i.MX 6 DDR3LPDDR2

Initialization
Before you initialize the memory interface, you need to configure the relevant I/O pins
with the right mode and impedance, and then initialize the MMDC module.

1. To port to the custom board, the DDR needs to be initialized properly.

2. Open the file
board/freescale/mx6<customer_board_name>/ddr.cfg
3. Modify all items in this file to match the memory specifications. These code blocks
will be read by the ROM code to initialize your DDR memory.

1.3.2 Booting with the Modified U-Boot

This section describes how to compile and write u-boot.bin to an SD card.
If the DDR configuration (board/freescale/mx6<customer_board_name>/ddr.cfg) was
modified successfully, you can compile and write u-boot.imx to an SD card. To verify
this, insert the SD card into the SD card socket of the CPU board and power on the board.
The following message should be displayed on the console if your board was based on
the i.MX 6Quad SABRE_SD:
U-Boot 2013.04-02326-gd20319c (Sep 13 2013 - 15:44:53)

CPU: Freescale i.MX6Q rev1.2 at 792 MHz

CPU: Temperature 31 C, calibration data: 0x5804d87d
Reset cause: POR
Board: MX6Q/SDL-SabreSD
I2C: ready
DRAM: 1 GiB

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 Chapter 1 Porting U-Boot from an i.MX 6 Reference Board to an i.MX 6 Custom Board
MMC: FSL_SDHC: 0, FSL_SDHC: 1, FSL_SDHC: 2
In: serial
Out: serial
Err: serial
Found PFUZE100! deviceid=10,revid=10
Net: FEC [PRIME]
Hit any key to stop autoboot: 0
U-Boot >

The following message should be displayed on the console if your custom board was
based on the i.MX 6SoloLite EVK:

U-Boot 2013.04-02326-gd20319c (Sep 13 2013 - 15:44:53)

CPU: Freescale i.MX6SL rev1.2 at 396 MHz
CPU: Temperature 31 C, calibration data: 0x5804d87d
Reset cause: POR
Board: MX6SLEVK
I2C: ready
DRAM: 1 GiB
MMC: FSL_SDHC: 0
In: serial
Out: serial
Err: serial
Found PFUZE100! deviceid=10,revid=11
Net: FEC
Hit any key to stop autoboot: 0
U-Boot >

1.3.3 Adding New Driver Initialization Code to Board Files

The following steps describe how to add new driver and how to initialize code.
1. Find mx6<customer_board>.c in board/freescale/mx6<customer_board>/.
2. Edit mx6<customer_board>.c and add new driver initialization code, including
clock, iomux, and gpio.
3. Put driver initialization function into board_init or board_late_init.
NOTE
• The board_early_init_f() function will be called at the
very early phase if you define
CONFIG_BOARD_EARLY_INIT_F. You can put the
UART/SPI-NOR/NAND iomux setup function which
requires to be set up at the very early phase.
• The board_init()function will be called between
board_early_init_f and board_late_init. You can do
some general board-level setup here. If you do not
define CONFIG_BOARD_EARLY_INIT_F, do not

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Customizing the i.MX 6 Custom Board Code

call printf before the uart setup is finished. Otherwise,

the system may be down.
• board_late_init() function will be called fairly later.
To debug the initialization code, put the initialization
function into it.

1.3.4 Further Customization at System Boot

To further customize your U-Boot board project, use the first function that system boot
calls on:
start_armboot in "lib_arm/board.c".
board_early_init_f()
board_init()

All board initialization is executed inside this function. It starts by running through the
init_sequence[] array of function pointers.
The first board dependent function inside the init_sequence[] array is
board_early_init_f(). board_early_init_f() is implemented inside board/freescale/
mx6<custom board name>.c.
The following line of code is most important:
...
setup_iomux_uart();
...

NOTE
If a device tree is used, the machine ID is not used. The
compatible string of the DTS file is used to match the board.
The device tree for file each boot variation is specified in the
machine configuration files in the meta-fsl-arm/conf/machine
directory.

1.3.5 Customizing the Printed Board Name

To customize the printed board name, use the checkboard() function.
This function is called from the init_sequence[] array implemented inside board/
freescale/mx6<custom board name>.c. There are two ways to use checkboard() to
customize the printed board name. The brute force way or by using a more flexible
identification method if implemented on the custom board.

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 Chapter 1 Porting U-Boot from an i.MX 6 Reference Board to an i.MX 6 Custom Board

To customize the brute force way, delete identify_board_id( ) inside checkboard() and
replace printf("Board: "); with printf("Board: i.MX 6 on <custom board>\n");
If this replacement is not made, the custom board may use another identification method.
The identification can be detected and printed by implementing the
__print_board_info() function according to the identification method on the custom
board.

1.4 Debugging
There are two ways for debugging:
• Use Realview ICE.
• Use printf.

1.4.1 Using RealView ICE for Debugging

Generally, we use RealView ICE to debug at a very early stage, for example, before uart
initialization, or when it is difficult to debug with printf.
1. Make sure that your RealView ICE supports Cortex-A9. If not, you need to upgrade
the firmware and the RealView software.
2. Load U-Boot (which is an elf file) in the root directory of U-Boot fully, or just
symbol (faster) to debug step by step.
NOTE
We can make optimization level 0 in rules.mk, which is
easier for debugging in RealView ICE.

1.4.2 Using printf for debugging

This is the most common method we use in debugging. You can print your value in the
driver for debugging.
NOTE
If you want to use printf in early stages, such as in board_init,
we can put uart initialization code earlier, such as in the
board_early_init_f().

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Debugging

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Chapter 2
Configuring the IOMUX Controller

2.1 IOMUX Overview

Before using the pins (or pads), users must select the desired function and correct values
for characteristics such as voltage level, drive strength, and hysteresis. You can configure
a set of registers from the IOMUX controller.
i.MX 6Dual/6Quad
For detailed information about each pin, see the "External Signals and Pin Multiplexing"
chapter in the i.MX 6Dual/6Quad Multimedia Applications Processor Reference Manual.
For additional information about the IOMUX controller block, see the "IOMUX
Controller (IOMUXC)" chapter in the i.MX 6Dual/6Quad Multimedia Applications
Processor Reference Manual.
i.MX 6DualLite
For detailed information about each pin, see the "External Signals and Pin Multiplexing"
chapter in the i.MX 6DualLite Multimedia Applications Processor Reference Manual.
For additional information about the IOMUX controller block, see the "IOMUX
Controller (IOMUXC)" chapter in the i.MX 6DualLite Multimedia Applications
Processor Reference Manual.
i.MX 6SoloLite
For detailed information about each pin, see the "External Signals and Pin Multiplexing"
chapter in the i.MX 6SoloLite Multimedia Applications Processor Reference Manual. For
additional information about the IOMUX controller block, see the "IOMUX Controller
(IOMUXC)" chapter in the i.MX 6SoloLite Multimedia Applications Processor
Reference Manual.

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Information for Setting IOMUX Controller Registers

2.2 Information for Setting IOMUX Controller Registers

The IOMUX controller contains four sets of registers that affect the i.MX 6Dual/
6Quadi.MX/6DualLite/i.MX 6Solo/i.MX 6SoloLite registers.
• General-purpose registers (IOMUXC_GPRx)-consist of registers that control PLL
frequency, voltage, and other general purpose sets.
• "Daisy Chain" control registers (IOMUXC_<Instance_port>_SELECT_INPUT)-
control the input path to a module when more than one pad may drive the module's
input
• MUX control registers (changing pad modes):
• Select which of the pad's eight different functions (also called ALT modes) is
used.
• Set the pad functions individually or by group using one of the following
registers:
• IOMUXC_SW_MUX_CTL_PAD_<PAD NAME>
• IOMUXC_SW_MUX_CTL_GRP_<GROUP NAME>
• Pad control registers (changing pad characteristics):
• Set pad characteristics individually or by group using one of the following
registers:
• IOMUXC_SW_PAD_CTL_PAD_<PAD_NAME>
• IOMUXC_SW_PAD_CTL_GRP_<GROUP NAME>
• Pad characteristics are:
• SRE (1 bit slew rate control)-Slew rate control bit; selects between FAST/
SLOW slew rate output. Fast slew rate is used for high frequency designs.
• DSE (2 bits drive strength control)-Drive strength control bits; selects the
drive strength (low, medium, high, or max).
• ODE (1 bit open drain control)-Open drain enable bit; selects open drain or
CMOS output.
• HYS (1 bit hysteresis control)-Selects between CMOS or Schmitt Trigger
when pad is an input.
• PUS (2 bits pull up/down configuration value)-Selects between pull up or
down and its value.
• PUE (1 bit pull/keep select)-Selects between pull up or keeper. A keeper
circuit help assure that a pin stays in the last logic state when the pin is no
longer being driven.
• PKE (1 bit enable/disable pull up, pull down or keeper capability)-Enable or
disable pull up, pull down, or keeper.

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 Chapter 2 Configuring the IOMUX Controller

• DDR_MODE_SEL (1 bit ddr_mode control)-Needed when interfacing DDR

memories.
• DDR_INPUT (1 bit ddr_input control)-Needed when interfacing DDR
memories.

2.3 Using IOMUX in the Device Tree - Example

This is an example which shows how to use IOMUX in the Device Tree

usdhc@0219c000 { /* uSDHC4 */
fsl,card-wired;
vmmc-supply = <&reg_3p3v>;
status = "okay";
pinctrl-names = "default";
pinctrl-0 = <&pinctrl_usdhc4_1>;
};
iomuxc@020e0000 {
compatible = "fsl,imx6q-iomuxc";
reg = <0x020e0000 0x4000>;

/* shared pinctrl settings */

usdhc4 {
pinctrl_usdhc4_1: usdhc4grp-1 {
fsl,pins = <
MX6QDL_PAD_SD4_CMD__SD4_CMD
0x17059
MX6QDL_PAD_SD4_CLK__SD4_CLK
0x10059
MX6QDL_PAD_SD4_DAT0__SD4_DATA0
0x17059
MX6QDL_PAD_SD4_DAT1__SD4_DATA1
0x17059
MX6QDL_PAD_SD4_DAT2__SD4_DATA2
0x17059
MX6QDL_PAD_SD4_DAT3__SD4_DATA3
0x17059
MX6QDL_PAD_SD4_DAT4__SD4_DATA4
0x17059
MX6QDL_PAD_SD4_DAT5__SD4_DATA5
0x17059
MX6QDL_PAD_SD4_DAT6__SD4_DATA6
0x17059
MX6QDL_PAD_SD4_DAT7__SD4_DATA7 0x17059
>;
};
};
....
};

For details, see:

Documentation/devicetree/bindings/pinctrl/fsl,imx-pinctrl.txt
Documentation/devicetree/bindings/pinctrl/fsl,imx6*-pinctrl.txt

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Using IOMUX in the Device Tree - Example

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Chapter 3
Registering a New UART Driver

3.1 Enabling UART on Kernel Menuconfig

Enable the UART driver on Linux menuconfig. This option is located at:
-> Device Drivers

-> Character devices

-> Serial drivers

<*> IMX serial port support

[*] Console on IMX serial port

After enabling the UART driver, build the Linux kernel and boot the board.

3.2 UART Settings

By default, the UART is configured as follows:
• Baud Rate: 9600
• Data bits: 8
• Parity: None
• Stop bits: 1
• Flow Control: None

3.3 File Names and Locations

There are three Linux source code directories that contain relevant UART files.
The header file is available in the directory <linux source code directory>/drivers/tty/
serial/

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File Names and Locations

Table 3-1. Available Files-First Set

File Description
imx.c uart driver

Table below lists the UART files that are available on the directory <linux source code
directory>/arch/arm/plat-mxc/include/mach/
Table 3-2. Available Files-Second Set
File Description
imx_uart.h UART header containing UART configuration and data structures

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Chapter 4
Adding Support for SDHC

4.1 SDHC Overview

uSDHC has 14 associated I/O signals.
The following list describes the associated I/O signals.
Signal Overview
• The SD_CLK is an internally generated clock used to drive the MMC, SD, and SDIO
cards.
• The CMD I/O is used to send commands and receive responses to/from the card.
Eight data lines (DAT7~DAT0) are used to perform data transfers between the
SDHC and the card.
• The SD_CD# and SD_WP are card detection and write protection signals directly
routed from the socket. These two signals are active low (0). A low on SD_CD#
means that a card is inserted and a high on SD_WP means that the write protect
switch is active.
• SD_LCTL is an output signal used to drive an external LED to indicate that the SD
interface is busy.
• SD_RST_N is an output signal used to reset the MMC card. This should be
supported by the card.
• SD_VSELECT is an output signal used to change the voltage of the external power
supplier. SD_CD#, SD_WP, SD_LCTL, SD_RST_N, and SD_VSELECT are all
optional for system implementation. If the uSDHC is desired to support a 4-bit data
transfer, DAT7~DAT4 can also be optional and tied to high.
Adding uSDHC support in the device tree
Example for adding uSDHC support in the device tree:

usdhc@02194000 { /* uSDHC2 */
compatible = "fsl,imx6q-usdhc";
reg = <0x02194000 0x4000>;

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SDHC Overview
interrupts = <0 23 0x04>;
clocks = <&clks 164>, <&clks 164>, <&clks 164>;
clock-names = "ipg", "ahb", "per";
pinctrl-names = "default";
pinctrl-0 = <&pinctrl_usdhc2_1>;
cd-gpios = <&gpio2 2 0>;
wp-gpios = <&gpio2 3 0>;
bus-width = <8>;
no-1-8-v;
keep-power-in-suspend;
enable-sdio-wakeup;
status = "okay";
};

For more information, see:

The binding document at linux/Documentation/devicetree/bindings/mmc/fsl-imx-esdhc.txt.
arch/arm/boot/dts/imx6qdl.dtsi

arch/arm/boot/dts/imx6qdl-sabresd.dtsi

Support of SD3.0
SD3.0 requires 3.3V and 1.8V for signal voltage. Voltage selection needs to be
implemented on your platform.
Support of SDIO
In most cases, SDIO requires more power than SD/MMC memory cards. Make sure that
the power supply is in the SD slot while using SDIO, or apply an external power to SDIO
instead.

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Chapter 5
Configuring the SPI NOR Flash Memory Technology
Device (MTD) Driver

5.1 SPI NOR Overview

This chapter describes how to set up the SPI NOR Flash memory technology device
(MTD) driver.
This driver uses the SPI interface to support the SPI-NOR data Flash devices. By default,
the SPI NOR Flash MTD driver creates static MTD partitions.
The NOR MTD implementation provides necessary information for the upper-layer MTD
driver.

5.2 Source Code Structure

The SPI NOR MTD driver is implemented in the following file:
linux/drivers/mtd/devices/m25p80.c

Since the size is only 4 MB, we do not implement partitions for the SPI NOR.

5.2.1 Configuration Options

Freescale's BSP supports the following SPI NOR Flash models.
• "M25P32-VMW3TGB" "m25p32"
Those models are defined in the structure
static const struct spi_device_id m25p_ids[],

located at
drivers/mtd/devices/m25p80.c

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Changing the SPI Interface Configuration

5.2.2 Selecting SPI NOR on the Linux Image

Follow these steps to enable support for SPI NOR:
1. Add the pinctrl for the spi. For example:

ecspi1 {
pinctrl_ecspi1_1: ecspi1grp-1 {
fsl,pins = <
MX6Q_PAD_EIM_D17__ECSPI1_MISO 0x100b1
MX6Q_PAD_EIM_D18__ECSPI1_MOSI 0x100b1
MX6Q_PAD_EIM_D16__ECSPI1_SCLK 0x100b1
>;
};
pinctrl_ecspi1_2: ecspi1cr-1 {
fsl,pins = <
MX6Q_PAD_KEY_COL1__ECSPI1_MISO 0x100b1
MX6Q_PAD_KEY_ROW0__ECSPI1_MOSI 0x100b1
MX6Q_PAD_KEY_COL0__ECSPI1_SCLK 0x100b1
>;
};
};
2. Enable the SPI. For example:

ecspi@02008000 { /* eCSPI1 */
fsl,spi-num-chipselects = <1>;
cs-gpios = <&gpio3 19 0>;
pinctrl-names = "default";
pinctrl-0 = <&pinctrl_ecspi1_1 &pinctrl_ecspi1_sabreauto>;
status = "okay"; /* pin conflict with WEIM NOR */

flash: m25p80@0 {
#address-cells = <1>;
#size-cells = <1>;
compatible = "st,m25p32";
spi-max-frequency = <20000000>;
reg = <0>;
};
};

5.3 Changing the SPI Interface Configuration

The i.MX 6 SoC has five ECSPI interfaces. By default, the BSP configures ECSPI-1
interface in the master mode to connect to the SPI NOR Flash.

5.4 Hardware Operation

SPI NOR Flash is SPI compatible with frequencies up to 66 MHz.

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 Chapter 5 Configuring the SPI NOR Flash Memory Technology Device (MTD) Driver

The memory is organized in pages of 512 bytes or 528 bytes. SPI NOR Flash also
contains two SRAM buffers of 512/528 bytes each, which allows data reception while a
page in the main memory is being reprogrammed. It also allows the writing of a
continuous data stream.
Unlike conventional Flash memories that are accessed randomly, the SPI NOR Flash
accesses data sequentially. It operates from a single 2.7-3.6 V power supply for program
and read operations.
SPI NOR Flashes are enabled through a chip select pin and accessed through a three-wire
interface: serial input, serial output, and serial clock.

5.4.1 Software Operation

In a Flash-based embedded Linux system, a number of Linux technologies work together
to implement a file system.
The following figure illustrates the relationships between standard components.

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Hardware Operation

Figure 5-1. Components of a Flash-based file system

The MTD subsystem for Linux is a generic interface to memory devices such as Flash
and RAM which provides simple read, write, and erase access to physical memory
devices. Devices called mtdblock devices can be mounted by JFFS, JFFS2, and
CRAMFS file systems. The SPI NOR MTD driver is based on the MTD data Flash driver
in the kernel by adding SPI accesses.
In the initialization phase, the SPI NOR MTD driver detects a data Flash by reading the
JEDEC ID. The driver then adds the MTD device. The SPI NOR MTD driver also
provides the interfaces to read, write, erase NOR Flash.

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Chapter 6
Connecting an LVDS Panel to an i.MX 6Dual/6Quad/
6Solo/6DualLite Reference Board

6.1 LVDS Overview

This chapter describes how to connect the LVDS panel to an i.MX 6Dual/6Quad/6Solo/
6DualLite reference board. The i.MX 6Dual/6Quad/6Solo/6DualLite processor has an
LVDS display bridge (LDB) block that drives LVDS panels without external bridges.
The LDB supports the flow of synchronous RGB data from the IPU to external display
devices through the LVDS interface. This support covers the following activities:
• Connectivity to relevant devices-display with an LVDS receiver.
• Arranging the data as required by the external display receiver and by LVDS display
standards.
• Synchronization and control capabilities.

6.1.1 Connecting an LVDS Panel to the i.MX 6Dual/6Quad/

6DualLite Reference Board
The following LVDS panels were tested on the i.MX 6Dual/6Quad/6DualLite reference
boards:
• HannStar display (model number: HSD100PXN1)
The kernel command line for 24-bit LVDS panels (4 pairs of LVDS data signals) displays
the following lines if the panel is properly connected:
LVDS0 and LVDS1 on the board: video=mxcfb0:dev=ldb,LDB-XGA,if=RGB24 video=mxcfb1:dev=ldb,LDB-
XGA,if=RGB24 ldb=sep0

The kernel command line for 18-bit LVDS panels (3 pairs of LVDS data signals) displays
the following lines if the panel is properly connected:
LVDS0 and LVDS1 on the board: video=mxcfb0:dev=ldb,LDB-XGA,if=RGB666
video=mxcfb1:dev=ldb,LDB-XGA,if=RGB666 ldb=sep0

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Enabling an LVDS Channel

6.2 Enabling an LVDS Channel

The LDB driver source code is available at linux/drivers/video/mxc/ldb.c.
When the LDB device is probed by the mxc display core driver, the driver uses platform
data information from DTS file to configure the LDB's reference resistor mode and also
tries to match video modes for external display devices with an LVDS interface. The
display signal polarities and LDB control bits are set according to the matched video
modes.
The LVDS channel mapping mode and the LDB bit mapping mode of LDB are set
according to the boot up LDB option chosen by the user.
An LVDS channel is enabled as follows:
1. Set the parent clock of ldb_di_clk and the parent clock rate.
2. Set the rate of ldb_di_clk.
3. Set the LDB in a proper mode, including display signals' polarities, LVDS channel
mapping mode, bit mapping mode, and reference resistor mode.
4. Enable both ldb_di_clk and its parent clock.

6.2.1 Locating Menu Configuration Options

Linux kernel configuration options are provided for the build-in status to enable this
module. To locate these options, perform the following steps:
1. Go to the root of the kernel tree.
2. Make menuconfig.
3. Follow this sequence: Device Drivers > Graphics support > MXC Framebuffer
support > Synchronous Panel Framebuffer > MXC LDB

6.3 LDB Ports

The following figure shows the LDB block.

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 Chapter 6 Connecting an LVDS Panel to an i.MX 6Dual/6Quad/6Solo/6DualLite Reference Board

Figure 6-1. i.MX 6 LVDS Display Bridge (LDB) Block

The LDB has the following ports:

• Two input parallel display ports.
• Two output LVDS channels
• Control signals to configure LDB parameters and operations.
• Clocks from the SoC PLLs.

6.3.1 Input Parallel Display Ports

The LDB is configurable to support either one or two (DI0, DI1) parallel RGB input
ports. The LDB only supports synchronous access mode.
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Additional Information

Each RGB data interface contains the following:

• RGB data of 18 or 24 bits
• Pixel clock
• Control signals
• HSYNC, VSYNC, DE, and one additional optional general purpose control
• Transfers a total of up to 28 bits per data interface per pixel clock cycle
The LDB supports the following data rates:
• For dual-channel output: up to 170 MHz pixel clock (such as UXGA-1600 x 1200 at
60 Hz + 35% blanking)
• For single-channel output: up to 85 MHz per interface. (such as WXGA-1366 x 768
at 60 Hz + 35% blanking).

6.3.2 Output LVDS Ports

The LDB has two LVDS channels, which are used to communicate RGB data and
controls to external LCD displays either through the LVDS interface or through LVDS
receivers. Each channel consists of four data pairs and one clock pair, with a pair
indicating an LVDS pad that contains PadP and PadM.
The LVDS ports may be used as follows:
• One single-channel output
• One dual channel output: single input, split to two output channels
• Two identical outputs: single input sent to both output channels
• Two independent outputs: two inputs sent, each to a distinct output channel

6.4 Additional Information

For additional information, see the following reference materials:
• i.MX 6 Multimedia Applications Processor Reference Manual
• i.MX 6 Linux Reference Manual, included as a part of the Linux BSP

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Chapter 7
Supporting the i.MX 6Dual/6Quad/6Solo/6DualLite
Camera Sensor with CSI

7.1 CSI Overview

This chapter provides information about how to use the expansion connector to include
support for a new camera sensor on an i.MX 6Dual/6Quad/6DualLite reference board.
It describes the following operations:
• Configuring the CSI unit in test mode (Configuring the CSI Unit in Test Mode)
• Adding support for a new CMOS sensor in the i.MX 6Dual/6Quad/6Solo/6DualLite
BSP (Adding Support for a New CMOS Camera Sensor)
• Setting up and using the I2C interface to handle your camera bus (Using the I2C
Interface)
• Loading and testing the camera module (Loading and Testing the Camera Module)
It also provides reference information about the following:
• Required software and hardware
• i.MX 6Dual/6Quad/6Solo/6DualLite reference CSI interfaces layout (i.MX 6Dual/
6Quad/6Solo/6DualLite CSI Interfaces Layout)
• CMOS sensor interfaces (CSI) supported by the i.MX 6Dual/6Quad/6Solo/6DualLite
(IPU) (CMOS Interfaces Supported by the i.MX 6Dual/6Quad/6Solo/6DualLite)
• i.MX 6Dual/6Quad/6Solo/6DualLite SABRE-SD CSI parallel interface (i.MX
6Dual/6Quad/6Solo/6DualLite CSI Parallel Interface)
• i.MX 6Dual/6Quad/6Solo/6DualLite CSI test mode (Timing Data Mode Protocols)

7.1.1 Required Software

In Freescale BSPs, all capture devices support the V4L2 standard.

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CSI Overview

Therefore, only the CMOS-dependent layer needs to be modified to include a new CMOS
sensor. All other layers have been developed to work with V4L2.

Required development tools are as follows:

• i.MX 6 Linux L3.10.9 or newer

7.1.2 i.MX 6Dual/6Quad/6Solo/6DualLite CSI Interfaces Layout

The following figure shows the camera interface layout on an i.MX 6Solo/6DualLite
SABRE-SD board.

Figure 7-1. Camera Interface Layout

CSI0 is used as a parallel sensor input interface. CSI1 is used as a MIPI sensor input
interface.

7.1.3 Configuring the CSI Unit in Test Mode

This chapter uses the test mode for its example scenario of a new camera driver that
generates a chess board.
When you set the TEST_GEN_MODE register, the device is in test mode, which is used
for debugging. The CSI generates a frame automatically and sends it to one of the
destination units. The sent frame is a chess board composed of black and configured
color squares. The configured color is set with the registers PG_B_VALUE,
PG_G_VALUE, and PG_R_VALUE. The data can be sent in different frequencies
according to the configuration of DIV_RATIO register.

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 Chapter 7 Supporting the i.MX 6Dual/6Quad/6Solo/6DualLite Camera Sensor with CSI

When CSI is in test mode, configure the CSI unit with a similar configuration to the
described settings in the following table. Call ipu_csi_init_interface() to configure the
CSI interface protocol, formats, and features.
Table 7-1. Settings for Test Mode
Bit Field Value Description
CSI0_DATA_DEST 0x4 Destination is IDMAC via SMFC
CSI0_DIV_RATIO 0x0 SENSB_MCLK rate = HSP_CLK rate
CSI0_EXT_VSYNC 0x1 External VSYNC mode
CSI0_DATA_WIDTH 0x1 8 bits per color
CSI0_SENS_DATA_FORMAT 0x0 Full RGB or YUV444
CSI0_PACK_TIGHT 0x0 Each component is written as a 16 bit word where the MSB is written to
bit #15. Color extension is done for the remaining least significant bits.
CSI0_SENS_PRTCL 0x1 Non-gated clock sensor timing/data mode.
CSI0_SENS_PIX_CLK_POL 0x1 Pixel clock is inverted before applied to internal circuitry.
CSI0_DATA_POL 0x0 Data lines are directly applied to internal circuitry.
CSI0_HSYNC_POL 0x0 HSYNC is directly applied to internal circuitry.
CSI0_VSYNC_POL 0x0 VSYNC is directly applied to internal circuitry.

7.2 Adding Support for a New CMOS Camera Sensor

To add support for a new CMOS camera sensor to your BSP, create a device driver to
support it.
This device driver is the optimal location for implementing initialization routines, the
power up sequence, power supply settings, the reset signal, and other desired features for
your CMOS sensor. It is also the optimal location to set the parallel protocol used
between the camera and the i.MX 6Dual/6Quad/6Solo/6DualLite.
Perform the following three steps on the i.MX 6Dual/6Quad/6Solo/6DualLite BSP to
create a device driver:
1. Add a camera sensor entry in Kconfig.
2. Create the camera file.
3. Add compilation flag for the new camera sensor.
These steps are described in detail in the following subsections.

7.2.1 Adding a Camera Sensor Entry in Kconfig

Select specific camera drivers in the following location (as shown in figure below):
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Adding Support for a New CMOS Camera Sensor
Device Drivers > Multimedia support > Video capture adapters V4L platform devices > MXC
Video For Linux Camera > MXC Camera/V4L2 PRP Features
support

Figure 7-2. MXC Camera/V4L2 PRP Features Support Window

To add a new camera sensor entry on the Kconfig camera file, perform the following
steps:
1. Enter the following command into the display specific folder:
$ cd linux/drivers/media/video/mxc/capture
2. Open the Kconfig file:
$ gedit Kconfig &
3. Add the entry where you want it to appear:
config MXC_IPUV3_CSI0_TEST_MODE
tristate "IPUv3 CSI0 test mode camera support"
depends on !VIDEO_MXC_EMMA_CAMERA
---help---
If you plan to use the IPUv3 CSI0 in test mode with your MXC
system, say Y here.

7.2.2 Creating the Camera Sensor File

The camera sensor file enables camera initialization, reset signal generation, power
settings, and all sensor-specific code.

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 Chapter 7 Supporting the i.MX 6Dual/6Quad/6Solo/6DualLite Camera Sensor with CSI

NOTE
Before connecting a camera sensor to the i.MX 6Dual/6Quad/
6Solo/6DualLite board, you must check whether the sensor is
powered with the proper supply voltages and whether the
sensor data interface has the correct VIO value. Power supply
mismatches can damage either the CMOS or the i.MX 6Dual/
6Quad/6Solo/6DualLite.
Create a file with the required panel-specific functions in the following path:
linux/drivers/media/video/mxc/capture/

The camera file-ipuv3_csi0_chess.c-must include the functions described in table below

and may include additional functions and macros required for your driver.
Table 7-2. Required Functions
Function Name Function Declaration Description
ioctl_g_ifparm static int ioctl_g_ifparm(struct V4L2 sensor interface handler for VIDIOC_G_PARM ioctl
v4l2_int_device *s, struct v4l2_ifparm
*p)
ioctl_s_power static int ioctl_s_power(struct V4L2 sensor interface handler for VIDIOC_S_POWER ioctl. Sets
v4l2_int_device *s, int on) sensor module power mode (on or off)
ioctl_g_parm static int ioctl_g_parm(struct V4L2 sensor interface handler for VIDIOC_G_PARM ioctl. Get
v4l2_int_device *s, struct streaming parameters.
v4l2_streamparm *a)
ioctl_s_parm static int ioctl_s_parm(struct V4L2 sensor interface handler for VIDIOC_S_PARM ioctl. Set
v4l2_int_device *s, struct streaming parameters.
v4l2_streamparm *a)
ioctl_g_fmt_cap static int ioctl_g_fmt_cap(struct Returns the sensor's current pixel format in the v4l2_format
v4l2_int_device *s, struct v4l2_format parameter.
*f)
ioctl_g_ctrl static int ioctl_g_ctrl(struct V4L2 sensor interface handler for VIDIOC_G_CTRL. If the
v4l2_int_device *s, struct v4l2_control requested control is supported, returns the control's current value
*vc) from the video_control[] array. Otherwise, it returns -EINVAL if the
control is not supported.
ioctl_s_ctrl static int ioctl_s_ctrl(struct V4L2 sensor interface handler for VIDIOC_S_CTRL. If the
v4l2_int_device *s, struct v4l2_control requested control is supported, it sets the control's current value in
*vc) HW (and updates the video_control[] array). Otherwise, it returns -
EINVAL if the control is not supported.
ioctl_init static int ioctl_init(struct V4L2 sensor interface handler for VIDIOC_INT_INIT. Initialize
v4l2_int_device *s) sensor interface.
ioctl_dev_init static int ioctl_dev_init(struct Initializes the device when slave attaches to the master.
v4l2_int_device *s)
ioctl_dev_exit static int ioctl_dev_exit(struct De-initializes the device when slave detaches to the master.
v4l2_int_device *s)

After the functions have been created, you need to add additional information to
ipuv3_csi0_chess_slave and ipuv3_csi0_chess_int_device. The device uses this
information to register as a V4L2 device.
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Adding Support for a New CMOS Camera Sensor

The following ioctl function references are included:

static struct v4l2_int_slave ipuv3_csi0_chess_slave = {
.ioctls = ipuv3_csi0_chess_ioctl_desc,
.num_ioctls = ARRAY_SIZE(ipuv3_csi0_chess_ioctl_desc),
};

static struct v4l2_int_device ipuv3_csi0_chess_int_device = {

...
.type = v4l2_int_type_slave,
...
};

static int ipuv3_csi0_chess_probe(struct i2c_client *client,const struct i2c_device_id *id)

{
...
retval = v4l2_int_device_register(&ipuv3_csi0_chess_int_device);
...
}

It is also necessary to modify other files to prepare the BSP for CSI test mode. Change
the sensor pixel format from YUV to RGB565 in the ipu_bg_overlay_sdc.c file so that
the image converter will not perform color space conversion and the input received from
the CSI test mode generator will be sent directly to the memory. Additionally, modify
mxc_v4l2_capture.c to preserve CSI test mode settings which are set by the
ipuv3_csi0_chess_init_mode() function in the ipuv3_csi0_chess.c file.

7.2.3 Adding a Compilation Flag for the New Camera

After camera files are created and the Kconfig file has the entry for your new camera,
modify the Makefile to create the new camera module during compilation.
The Makefile is located in the same folder as your new camera file and Kconfig: linux/
drivers/media/video/mxc/capture.
1. Enter the following into the i.MX 6Dual/6Quad/6Solo/6DualLite camera support
folder:

$ cd linux/drivers/media/video/mxc/capture
2. Open the i.MX 6Dual/6Quad/6Solo/6DualLite camera support Makefile.

$ gedit Makefile &

3. Add the cmos driver compilation entry to the end of the Makefile.

ipuv3_csi0_chess_camera-objs := ipuv3_csi0_chess.o

obj-$(CONFIG_MXC_IPUV3_CSI0_TEST_MODE) += ipuv3_csi0_chess_camera.o

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 Chapter 7 Supporting the i.MX 6Dual/6Quad/6Solo/6DualLite Camera Sensor with CSI

The kernel object is created by using the ipuv3_csi0_chess.c file. You should have the
following files as output:
• ipuv3_csi0_chess_camera.mod.c
• ipuv3_csi0_chess.o
• ipuv3_csi0_chess_camera.o
• ipuv3_csi0_chess_camera.mod.o
• ipuv3_csi0_chess_camera.ko

7.3 Using the I2C Interface

Many camera sensor modules require a synchronous serial interface for initialization and
configuration.
This section uses the linux/drivers/media/video/mxc/capture/ov5642.c file as its example
code. This file contains a driver that uses the I2C interface for sensor configuration.
After the I2C interface is running, create a new I2C device to handle your camera bus. If
the camera sensor file (called mycamera.c in the following example code) is located in
the same folder as ov5642.c, the code is as follows:
struct i2c_client * mycamera_i2c_client;

static s32 mycamera_read_reg(u16 reg, u8 *val);

static s32 mycamera_write_reg(u16 reg, u8 val);

static const struct i2c_device_id mycamera_id[] = {

{"mycamera", 0},
{},
};

MODULE_DEVICE_TABLE(i2c, mycamera_id);

static struct i2c_driver mycamera_i2c_driver = {

.driver = {
.owner = THIS_MODULE,
.name = "mycamera",
},
.probe = mycamera_probe,
.remove = mycamera_remove,
.id_table = mycamera_id,
};

static s32 my_camera_write_reg(u16 reg, u8 val)

{
u8 au8Buf[3] = {0};
au8Buf[0] = reg >> 8;
au8Buf[1] = reg & 0xff;
au8Buf[2] = val;
if (i2c_master_send(my_camera_i2c_client, au8Buf, 3) < 0) {
pr_err("%s:write reg error:reg=%x,val=%x\n",__func__, reg, val);
return -1;
}
return 0;
}

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Using the I2C Interface

static s32 my_camera_read_reg(u16 reg, u8 *val)

{
u8 au8RegBuf[2] = {0};
u8 u8RdVal = 0;
au8RegBuf[0] = reg >> 8;
au8RegBuf[1] = reg & 0xff;

if (2 != i2c_master_send(my_camera_i2c_client, au8RegBuf, 2)) {

pr_err("%s:write reg error:reg=%x\n",__func__, reg);
return -1;
}

if (1 != i2c_master_recv(my_camera_i2c_client, &u8RdVal, 1)) {// @ECA

pr_err("%s:read reg error:reg=%x,val=%x\n",__func__, reg, u8RdVal);
return -1;
}

*val = u8RdVal;
return u8RdVal;
}

static int my_camera_probe(struct i2c_client *client, const struct i2c_device_id *id)

{
...
my_camera_i2c_client = client;
...
}

static __init int mycamera_init(void)

{
u8 err;
err = i2c_add_driver(&mycamera_i2c_driver);
if (err != 0)
pr_err("%s:driver registration failed, error=%d \n",__func__, err);
return err;
}

static void __exit mycamera_clean(void)

{
i2c_del_driver(&mycamera_i2c_driver);
}

module_init(mycamera_init);
module_exit(mycamera_clean);

Check ov5642.c for the complete example code.

After creating the new I2C device driver, add a new I2C node to your platform dts file.
You may modify the dts file at this point to specify features about your camera such as
the CSI interface used (CSI0 or CSI1), the MCLK frequency, and some power supply
settings related to the module.
You can now read and write from/to the sensor in the camera sensor file by using the
following:
retval = mycamera_write_reg(RegAddr, Val);
retval = mycamera_read_reg(RegAddr, &RegVal);

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 Chapter 7 Supporting the i.MX 6Dual/6Quad/6Solo/6DualLite Camera Sensor with CSI

7.3.1 Loading and Testing the Camera Module

If your camera driver has been created as a kernel module, as in the example in this
chapter, the module must be loaded prior to any camera request attempt.
According to the Makefile information, the camera module is named
ipuv3_csi0_chess_camera.ko.
To load the V4L2 camera interface and CSI in test mode, execute the following
commands:
root@freescale /unit_tests$ modprobe ipuv3_csi0_chess_camera
root@freescale /unit_tests$ modprobe mxc_v4l2_capture

To test the video0 input (camera), an mxc_v4l2_overlay test is included in the BSP. If the
imx-test package has also been included, open the unit test folder and execute the test.
root@freescale ~$ cd /unit_tests/
root@freescale /unit_tests$ ./mxc_v4l2_overlay.out

7.4 Additional Reference Information

This section provides reference information about the following:
• CMOS Interfaces Supported by the i.MX 6Dual/6Quad/6Solo/6DualLite
• i.MX 6Dual/6Quad/6Solo/6DualLite CSI Parallel Interface
• Timing Data Mode Protocols

7.4.1 CMOS Interfaces Supported by the i.MX 6Dual/6Quad/

6Solo/6DualLite
The camera sensor interface, which is a part of the image processing unit (IPU) module
on the i.MX 6Dual/6Quad/6Solo/6DualLite, handles CMOS sensor interfaces. The i.MX
6Dual/6Quad/6Solo/6DualLite IPU is able to handle two camera devices through its CSI
ports: one connected to the CSI0 port and the other to the CSI1 port. Both CSI ports are
identical and provide glueless connectivity to a wide variety of raw/smart sensors and TV
decoders.
Each of the camera ports includes the following features:
• Parallel interface
• Up to 20-bit input data bus

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Additional Reference Information

• A single value in each cycle

• Programmable polarity
• Multiple data formats
• Interleaved color components, up to 16 bits per value (component)
• Input Bayer RGB, Full RGB, or YUV 4:4:4, YUV 4:2:2 Component
order:UY1VY2 or Y1UY2V, grayscale and generic data
• Scan order: progressive or interlaced
• Frame size: up to 8192 x 4096 pixels
• Synchronization-video mode
• The sensor is the master of the pixel clock (PIXCLK) and synchronization
signals.
• Synchronization signals are received by using either of the following methods:
• Dedicated control signals-VSYNC, HSYNC-with programmable pulse
width and polarity.
• Controls embedded in the data stream following loosely the BT.656 protocol
with flexibility in code values and location.
• The image capture is triggered by the MCU or by an external signal (such as a
mechanical shutter).
• Synchronized strobes are generated for up to six outputs-the sensor and camera
peripherals (flash, mechanical shutter...).
• Frame rate reduction by periodic skipping of frames.
For details, refer to the "Image Processing Unit (IPU)" chapter in the i.MX 6Dual/6Quad
Applications Processor Reference Manual, or in the i.MX 6Solo/6DualLite Applications
Processor Reference Manual.The following figure shows the block diagram.

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 Chapter 7 Supporting the i.MX 6Dual/6Quad/6Solo/6DualLite Camera Sensor with CSI

Figure 7-3. IPU Block Diagram

Several sensors can be connected to each of the CSIs. Simultaneous functionality (for
sending data) is supported as follows:
• Two sensors can send data independently, each through a different port.
• One stream can be transferred to the VDI or IC for on-the-fly processing while the
other one is sent directly to system memory.
The input rate supported by the camera port is as follows:
• Peak: up to 180 MHz (values/sec).
• Average (assuming 35% blanking overhead) for YUV 4:2:2.
• Pixel in one cycle (BT.1120): up to 135 MP/sec, such as 9 Mpixels at 15 fps.
• Pixel on two cycles (BT.656): up to 67 MP/sec, such as 4.5 Mpixels at 15 fps.
• On-the-fly processing may be restricted to a lower input rate.
If required, additional cameras can be connected though the USB port.

7.4.2 i.MX 6Dual/6Quad/6Solo/6DualLite CSI Parallel Interface

The CSI obtains data from the sensor, synchronizes the data and the control signals to the
IPU clock (HSP_CLK), and transfers the data to the IC and/or SMFC.

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Additional Reference Information

The CSI parallel interface (shown in figure below) provides a clock output (MCLK),
which is used by the sensor as a clock input reference. The i.MX 6Dual/6Quad/6Solo/
6DualLite requests either video or still images through a different interface between the
processor and the camera module. In most cases, the interface is a synchronous serial
interface such as the I2C. After the frame has been requested, the camera module takes
control of the CSI bus, and uses synchronization signals VSYNC, HSYNC, DATA_EN
and PIXCLK to send the image frame to the i.MX 6Dual/6Quad/6Solo/6DualLite. The
camera sensor creates PIXCLK based on MCLK input.

Figure 7-4. Parallel Interface Layout

In parallel interface, a single value arrives in each clock, except in BT.1120 mode when
two values arrive per cycle. Each value can be 8-16 bits wide according to the
configuration of DATA_WIDTH. If DATA_WIDTH is configured to N, then 20-N LSB
bits are ignored.
Therefore, you never need CSI0_DAT[3:0], unless you are using BT.1120 mode, because
the maximum pixel width is 16 (CSI0_DAT[19:4]). The expansion port 2 includes
CSI0_DAT[19:4], but only CSI0_DAT[19:10] are used for the CSI data bus (10-bit wide
data). CSI0_DAT[9:4] are shared with other interfaces and are used for audio and I2C.
CSI can support several data formats according to SENS_DATA_FORMAT
configuration. When the data format is YUV, the output of the CSI is always YUV444-
even if the data arrives in YUV422 format.
The polarity of the inputs can be configured using the following registers:

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 Chapter 7 Supporting the i.MX 6Dual/6Quad/6Solo/6DualLite Camera Sensor with CSI

• SENS_PIX_CLK_POL
• DATA_POL
• HSYNC_POL
• VSYNC_POL
The following table describes the camera parallel interface provided by the i.MX 6Dual/
6Quad/6Solo/6DualLite:
Table 7-3. CSI0 Parallel Interface Signals
Signal IPU Pin Description
MCLK CSI0_MCLK Master Clock (Output)
PIXCLK CSI0_PIXCLK Pixel Clock
VSYNC CSI0_VSYNC Vertical Synchronization signal
HSYNC CSI0_HSYNC Horizontal Synchronization signal
DATA_EN CSI0_DATA_EN Data Enable or Data ready
DATA[19:10] CSI0_DAT [19:10] Pixel data bus, optional to [19:4]

Timing Data Mode Protocols, explains how the timing data mode protocols use these
signals. Not all signals are used in each timing data mode protocol.

7.4.3 Timing Data Mode Protocols

The CSI interface supports the following four timing/data protocols:
• Gated mode
• Non-gated mode
• BT.656 (Progressive and interlaced)
• BT.1120 (Progressive and interlaced)
In gated mode, VSYNC is used to indicate beginning of a frame, and HSYNC is used to
indicate the beginning of a raw. The sensor clock is always ticking.
In non-gated mode, VSYNC is used to indicate beginning of a frame, and HSYNC is not
used. The sensor clock only ticks when data is valid.
In BT.656 mode, the CSI works according to recommendation ITU-R BT.656. The
timing reference signals (frame start, frame end, line start, line end) are embedded in the
data bus input.
In BT1120 mode, the CSI works according to recommendation ITU-R BT.1120. The
timing reference signals (frame start, frame end, line start, line end) are embedded in the
data bus input.

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Additional Reference Information

For details, refer to the i.MX 6Dual/6Quad Applications Processor Reference Manual or
the i.MX 6Solo/6DualLite Applications Processor Reference Manual.

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Chapter 8
Porting Audio Codecs to a Custom Board

8.1 Audio Overview

This chapter describes how to port audio drivers from the Freescale reference BSP to a
custom board.
This procedure varies depending on whether the audio codec on the custom board is the
same as, or different than the audio codec on the Freescale reference design. This chapter
first describes the common porting task and then various other porting tasks.

8.1.1 Common Porting Task

In order to use the ALSA Audio function, CPU DAI driver, CODEC DAI driver and DAI
LINK driver (Machine driver) should be registered in the device tree, and accordingly
there must be three nodes in board specified dts file. An example of detailed nodes can be
found in arch/arm/boot/dts/imx6qdl-sabresd.dtsi:

/* DT binding for CPU DAI driver */

ssi2: ssi@0202c000 {
fsl,mode = "i2s-slave";
status = "okay";
};

/* DT binding for CODEC DAI driver */

codec: wm8962@1a {
compatible = "wlf,wm8962";
reg = <0x1a>;
clocks = <&clks 169>;
DCVDD-supply = <&reg_audio>; /* 1.8v */
DBVDD-supply = <&reg_audio>; /* 1.8v */
AVDD-supply = <&reg_audio>; /* 1.8v */
CPVDD-supply = <&reg_audio>; /* 1.8v */
MICVDD-supply = <&reg_audio>; /* 3.3v */
PLLVDD-supply = <&reg_audio>; /* 1.8v */
SPKVDD1-supply = <&reg_audio>; /* 4.2v */
SPKVDD2-supply = <&reg_audio>; /* 4.2v */
gpio-cfg = <
0x0000 /* 0:Default */
0x0000 /* 1:Default */
0x0013 /* 2:FN_DMICCLK */

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Audio Overview
0x0000 /* 3:Default */
0x8014 /* 4:FN_DMICCDAT */
0x0000 /* 5:Default */
>;
};

/* DT binding for DAI LINK driver */

sound {
compatible = "fsl,imx6q-sabresd-wm8962",
"sl,imx-audio-wm8962";
model = "wm8962-audio";
si-controller = <&ssi2>;
udio-codec = <&codec>;

audio-routing =
"Headphone Jack", "HPOUTL",
"Headphone Jack", "HPOUTR",
"Ext Spk", "SPKOUTL",
"Ext Spk", "SPKOUTR",
"MICBIAS", "AMIC",
"IN3R", "MICBIAS",
"DMIC", "MICBIAS",
"DMICDAT", "DMIC";
mux-int-port = <2>;
mux-ext-port = <3>;
hp-det-gpios = <&gpio7 8 1>; /*active low*/
mic-det-gpios = <&gpio1 9 1>; /*active low*/
};

NOTE
The specific meaning of the device tree binding can be checked
up in binding doc located in Documentation/devicetree/
bindings/sound/.

8.1.2 Porting the Reference BSP to a Custom Board (audio

codec is the same as in the reference design)
When the audio codec is the same in the reference design and the custom board, ensure
that the I/O signals and the power supplies to the codec are properly initialized in order to
port the reference BSP to the custom board.
Devicetree uses pin control group for I/O signals' configuration, there are some examples
in arch/arm/boot/dts/imx6qdl-sabresd.dtsi and the definitions of those pin control groups
can be found in arch/arm/boot/dts/imx6qdl.dtsi.
The essential signals for wm8962 codec are as follows:
• I2C interface signals
• I2S interface signals
• SSI external clock input to wm8962
The following table shows the required power supplies for the wm8962 codec.

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 Chapter 8 Porting Audio Codecs to a Custom Board

Table 8-1. Required Power Supplies

Power Supply Name Definition Value
PLLVDD PLL supply 1.8 V
SPKVDD1 Supply for left speaker drivers 4.2 V
SPKVDD2 Supply for right speaker drivers 4.2 V
DCVDD Digital core supply 1.8 V
DBVDD Digital supply 1.8 V
AVDD Analog supply 1.8 V
CPVDD Charge pump power supply 1.8 V
MICVDD Microphone bias amp supply 3.3 V

8.1.3 Porting the Reference BSP to a Custom Board (audio

codec is different than the reference design)
When adding support for an audio codec that is different than the one on the Freescale
reference design, create new ALSA drivers in order to port the reference BSP to a custom
board. The ALSA drivers plug into the ALSA sound framework, which allows the
standard ALSA interface to be used to control the codec.
The source code for the ALSA driver is located in the Linux kernel source tree at linux/
sound/soc. The following table shows the files used for the wm8962 codec support:
Table 8-2. Files for wm8962 Codec Support
File Name Definition
imx-pcm-dma.c • Shared by the stereo ALSA SoC driver, the esai driver, and the spdif driver.
• Responsible for preallocating DMA buffers and managing DMA channels.
fsl_ssi.c • Register the CPU DAI driver for the stereo ALSA SoC
• Configures the on-chip SSI interfaces
wm8962.c • Register the stereo codec and Hi-Fi DAI drivers.
• Responsible for all direct hardware operations on the stereo codec.
imx-wm8962.c • Machine layer code
• Create the driver device
• Register the stereo sound card.

NOTE
If using a different codec, adapt the driver architecture shown in
table above accordingly. The exact adaptation will depend on
the codec chosen. Obtain the codec-specific software from the
codec vendor.

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Audio Overview

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Chapter 9
Porting the Ethernet Controller Driver

9.1 Ethernet Controller Overview

This chapter explains how to port the Ethernet controller driver to the i.MX 6 processor.
Using Freescale's standard driver makes porting to the i.MX 6 simple. Porting needs to
address the following three areas:
• Pin configuration
• Source code
• Ethernet connection configuration

9.1.1 Pin Configuration

The Ethernet Controller supports three different standard physical media interfaces: a
reduced media independent interface (RMII), a media independent interface (MII), and a
4-bit reduced RGMII.
In addition, the Ethernet Controller includes support for different standard MAC-PHY
(physical) interfaces for connection to an external Ethernet transceiver. The i.MX
Ethernet Controller supports the 10/100 Mbps MII, and 10/100 Mbps RMII. The i.MX
6Dual/6Quad/6Solo/6DualLite FEC also supports 1000 Mbps RGMII, which uses 4-bit
reduced GMII operating at 125 MHz.
A brief overview of the device functionality is provided here. For details, see the Ethernet
chapter of the i.MX 6Dual/6Quad/6Solo/6DualLite/6SoloLite Multimedia Applications
Processor Reference Manual.
In MII mode, there are 18 signals defined by the IEEE 802.3 standard and supported by
the EMAC. MII, RMII, and RGMII modes use a subset of the 18 signals. These signals
are listed in the following table.

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Ethernet Controller Overview

Table 9-1. Pin Usage in MII RMII and RGMII Modes

Direction EMAC Pin MII Usage RMII Usage RGMII Usage (not supported by i.MX
Name 6SoloLite)
In/Out FEC_MDIO Management Data Input/Output Management Data Management Data Input/Output
Input/output
Out FEC_MDC Management Data Clock General output Management Data Clock
Out FEC_TXD[0] Data out, bit 0 Data out, bit 0 Data out, bit 0
Out FEC_TXD[1] Data out, bit 1 Data out, bit 1 Data out, bit 1
Out FEC_TXD[2] Data out, bit 2 Not Used Data out, bit 2
Out FEC_TXD[3] Data out, bit 3 Not Used Data out, bit 3
Out FEC_TX_EN Transmit Enable Transmit Enable Transmit Enable
Out FEC_TX_ER Transmit Error Not Used Not Used
In FEC_CRS Carrier Sense Not Used Not Used
In FEC_COL Collision Not Used Not Used
In FEC_TX_CLK Transmit Clock Not Used Synchronous clock reference (REF_CLK,
can connect from PHY)
In FEC_RX_ER Receive Error Receive Error Not Used
In FEC_RX_CLK Receive Clock Not Used Synchronous clock reference (REF_CLK,
can connect from PHY)
In FEC_RX_DV Receive Data Valid Receive Data Valid RXDV XOR RXERR on the falling edge
and generate CRS of FEC_RX_CLK.
In FEC_RXD[0] Data in, bit 0 Data in, bit 0 Data in, bit 0
In FEC_RXD[1] Data in, bit 1 Data in, bit 1 Data in, bit 1
In FEC_RXD[2] Data in, bit 2 Not Used Data in, bit 2
In FEC_RXD[3] Data in, bit 3 Not Used Data in, bit 3

Because i.MX 6 has more functionality than it has physical I/O pins, it uses I/O pin
multiplexing.
Every module requires specific pad settings. For each pad there are up to eight muxing
options called ALT modes. For further explanation, refer to IOMUX chapter in the i.MX
6Dual/6Quad/6Solo/6DualLite/6SoloLite Multimedia Applications Processor Reference
Manual.
Please note in designs with an external Ethernet PHY may require an external pin
configured as a simple GPIO to reset the Ethernet PHY before enabling physical clock.
Otherwise, some PHYs will fail to work correctly.

9.1.2 Source Code

The source code for the Freescale Ethernet Linux environment is located under the linux/
drivers/net/ethernet/freescale/ directory. It contains the following files:

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 Chapter 9 Porting the Ethernet Controller Driver

Table 9-2. Source Code Files

File Names Descriptions
• fec.h FEC low-level Ethernet driver:
• fec_main.c
• fec_ptp.c

The driver uses the following compile definitions:

CONFIG_FEC: enables the Ethernet Controller driver.

9.1.3 Ethernet Configuration

This section mainly covers Ethernet driver bring up issues. For more information about
Ethernet MAC configuration, refer to i.MX 6Dual/6Quad/6Solo/6DualLite/6SoloLite
Multimedia Applications Processor Reference Manual.
Note the following during Ethernet driver bring up:
• Configure all I/O pins used by MAC correctly in dts files.
• Check physical input clock and power, physical led1 and led2 lighten on if clock and
power input are ok.
• Make sure that MAC tx_clk has the right clock input. Otherwise, MAC cannot work.
• Make sure that the MAC address is set and valid.
By default, the Ethernet driver gets the MAC address from the Ethernet node property
"local-mac-address" in dts file. If dts does not have the property, the driver get the MAC
address from fuse. If the fuse does not burn the MAC address, the driver gets the MAC
address from the Ethernet registers set by the bootloader. If no legal MAC address exists,
MAC malfunctions. In this case, add the MAC address in the U-Boot command line for
kernel, such as "fec.macaddr=0x00,0x01,0x02,0x03,0x04,0x05" in bootargs.
The Ethernet driver and hardware are designed to comply with the IEEE standards for
Ethernet auto-negotiation. See the Ethernet chapter in the i.MX 6Dual/6Quad/6Solo/
6DualLite/6SoloLite Multimedia Applications Processor Reference Manual for a
description of using flow control in full duplex and more.

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Ethernet Controller Overview

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Chapter 10
Porting USB Host1 and USB OTG

10.1 USB Overview for i.MX 6Dual/6Quad/6Solo/6DualLite

There are up to four USB ports on i.MX 6Dual/6Quad/6Solo/6DualLite serial application
processors:
• USB OTG port
• USB H1 port
• USB HSIC1 port
• USB HSIC2 port
NOTE
There is no HSIC2 port on i.MX6SL.
The following power supplies must be provided:
• 5V power supply for USB OTG VBUS
• 5V power supply for USB H1 VBUS
• 3.3V power supply for HSIC1/2 port
• 3.15 +/- 5%V power supply for USB OTG/H1 PHY. Since this power can be routed
from USB OTG/H1 VBUS, it indicates that if either of the power supplies is
powered up, the USB PHY is powered as well. However, if neither can be powered
up, an external power supply is needed.
For the USB OTG port, the following signals are used:
• USB_OTG_CHD_B
• USB_OTG_VBUS
• USB_OTG_DN
• USB_OTG_DP
• USBOTG_ID
• USBOTG_OC_B
• one pin is used to control USB_OTG_VBUS signal

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USB Overview for i.MX 6Dual/6Quad/6Solo/6DualLite

The following signals, needed to set with proper IOMUX, are multiplexed with other
pins.
NOTE
For the USBOTG_ID pin, a pin which has an alternate
USBOTG_ID function must be used.
• USBOTG_ID
• USBOTG_OC_B
• one pin used to control USB_OTG_VBUS signal
For USB H1 port, the following signals are used:
• USB_H1_VBUS
• USB_H1_DN
• USB_H1_DP
• USBH_OC_B
The following signals are multiplexed with other pins, and need to set with proper
IOMUX:
• USBH_OC_B
For USB HSIC 1/2 port, the following signals are used:
• H2_STROBE
• H3_STROBE
• H2_DATA
• H3_DATA
The following signals are multiplexed with other pins, and need to set with proper
IOMUX:
• H2_STROBE
• H3_STROBE
• H2_DATA
• H3_DATA
To secure HSIC connection, the USB HSIC port must be powered up before the USB
HSIC device
For i. MX 6SoloLite, there is only one HSIC port, so only H2_xxx signals are used.

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 Chapter 10 Porting USB Host1 and USB OTG

10.2 USB Overview for i.MX 6SoloLite

There are up to three USB ports on i.MX 6 SoloLite serial application processors:
• USB OTG1 port
• USB OTG2 port
• USB HSIC1 port
The following power supplies must be provided:
• 5V power supply for USB OTG1 VBUS
• 5V power supply for USB OTG2 VBUS
• 3.3V power supply for HSIC1 port
• 3.15 +/- 5%V power supply for USB OTG1/OTG2 PHY. Since this power can be
routed from USB OTG1/OTG2 VBUS, it indicates that if either of the power
supplies is powered up, the USB PHY is powered as well. However, if neither can be
powered up, an external power supply is needed.
For the USB OTG1 port, the following signals are used:
• USB_OTG1_CHD_B
• USB_OTG1_VBUS
• USB_OTG1_DN
• USB_OTG1_DP
• USBOTG1_ID
• USBOTG1_OC_B
• one pin is used to control USB_OTG1_VBUS signal
The following signals, needed to set with proper IOMUX, are multiplexed with other
pins.
NOTE
For the USBOTG_ID pin, a pin which has an alternate
USBOTG_ID function must be used.
• USBOTG_ID
• USBOTG_OC_B
• one pin used to control USB_OTG_VBUS signal
For USB OTG2 port, the following signals are used:
• USB_OTG2_VBUS
• USB_OTG2_DN

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USB Overview for i.MX 6SoloLite

• USB_OTG2_DP
• USBOTG2_OC_B
The following signals are multiplexed with other pins, and need to set with proper
IOMUX:
• USBOTG2_OC_B
For USB HSIC 1 port, the following signals are used:
• H2_STROBE
• H2_DATA
The following signals are multiplexed with other pins, and need to set with proper
IOMUX:
• H2_STROBE
• H2_DATA
To secure HSIC connection, the USB HSIC port must be powered up before the USB
HSIC device

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Document Number: IMX6BSPPG

Rev. L3.10.17_1.0.0-ga
05/2014