NXP Semiconductors HRPNUG Bedienungsanleitung

HRPNUG

Harpoon User's Guide

Rev. 2.2 — 16 December 2022 User guide

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Keywords i.MX 8M device family, Arm Cortex-A53 processor (Armv8-A architecture),

RTOS, Linux, hardware partitioning, Jailhouse hypervisor, NXP Linux Yocto,

Zephyr RTOS, FreeRTOS, MCUXpresso SDK

Abstract This document presents the Harpoon release 2.2 for i.MX 8M device family,

using the Arm Cortex-A53 processor (Armv8-A architecture).

NXP Semiconductors HRPNUG

Harpoon User's Guide

1 Overview

This document presents the Harpoon release 2.2 for i.MX 8M device family, using the

Arm Cortex-A53 processor (Armv8-A architecture).

Harpoon provides an environment for developing real-time demanding applications on

an RTOS running on one (or several) Cortex-A core(s) in parallel of a Linux distribution,

leveraging the 64-bit Arm architecture for higher performance.

The system starts on Linux and the Jailhouse hypervisor partitions the hardware to run

both Linux and the guest RTOS in parallel.

The hardware partitioning is configurable and depends on the use case. This release

includes an audio application, an industrial application and a real-time latency

measurement application, all available both for FreeRTOS as well as Zephyr (some

application feature limitations exist depending on the selected platform and RTOS).

This release supports the following software and hardware:

•NXP Linux Yocto

–i.MX LF 5.15.71-2.2.0: For more information, see the i.MX Yocto Project User's

Guide.

–Real-time Edge SW v2.4: For more information, see the Real-time Edge Yocto

Project v2.4 User Guide.

•i.MX 8M Series (EAR support)

–i.MX 8M Mini LPDDR4 EVKB

–i.MX 8M Nano LPDDR4 EVK

–i.MX 8M Plus LPDDR4 EVK

•Jailhouse hypervisor

•FreeRTOS V10.4.3 kernel

–Cortex-A53 port, uniprocessor

–Guest OS running on Jailhouse cell

•Zephyr RTOS 3.2.0

–Cortex-A53 port, SMP

–Guest OS running on Jailhouse cell

•MCUXpresso SDK 2.12

–GIC, Timer and MMU Cortex-A53 drivers

–CAN, ENET, ENET_QOS, GPT, I2C, SAI, and UART SoC drivers

–Audio Codec drivers

–PHY drivers

•RTOS applications

–Audio reference application

–Industrial reference application

–Real-time latency measurement application

1.1 Architecture

The following figure shows the architecture of the Harpoon solution.

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Figure 1. Harpoon solution architecture

The i.MX 8M box shows the hardware partitioning between Jailhouse cells.

The boxes in dark orange (group 1) show the main hardware blocks allocated to the

Linux OS.

The boxes in blue (group 3) show the main hardware blocks allocated to the RTOS.

The boxes in light orange (group 2) show the main hardware blocks shared between

Linux and the RTOS.

Harpoon-apps is the real-time application running on Jailhouse's inmate cell. It is built on

top of Zephyr or FreeRTOS, using MCUXpresso drivers.

1.2 Hardware resource partitioning

Jailhouse hypervisor is used to run an RTOS in parallel with Linux: FreeRTOS and

Zephyr are supported in this release.

Jailhouse is a simple hypervisor that assigns hardware resources to a guest OS instead

of virtualising them. For instance, a CPU core is statically assigned to a specific guest

and is not shared with other guests.

In Jailhouse terms, the RTOS (inmate) runs in a cell. A configuration file describes which

hardware resources are assigned to this cell. This configuration file contains descriptions

of the following:

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•CPU cores assigned to the cell

•Interrupt lines assigned to the cell

•Memory regions assigned to the cell

•Virtual PCI devices used for communication between cells

There is also a root cell configuration that describes the hardware prior to the hardware

partitioning.

The source files of the cell configurations are embedded through patches in the Jailhouse

recipe of the Harpoon meta-layer, at the following locations:

•configs/arm64/imx8m*-freertos.c for the cell configuration of the FreeRTOS

rt_latency use case

•configs/arm64/imx8m*-zephyr.c for the cell configuration of the Zephyr

rt_latency use case

•configs/arm64/imx8m*-freertos-audio.c for the cell configuration of the

FreeRTOS audio use case

•configs/arm64/imx8m*-freertos-avb.c for the cell configuration of the

FreeRTOS audio (AVB) use case

•configs/arm64/imx8m*-zephyr-audio.c for the cell configuration of the Zephyr

audio use case

•configs/arm64/imx8m*-freertos-industrial.c for the cell configuration of

the FreeRTOS industrial use case

•configs/arm64/imx8m*-zephyr-industrial.c for the cell configuration of the

Zephyr industrial use case

•configs/arm64/imx8m*.c for the root cell configuration

The CPU core allocated to the RTOS forms a bitmap in the cpu structure. Here, CPU

core 3 is assigned to the cell:

.cpus = {

0b1000,

For a multicore (SMP) cell, two cores can be used, for instance:

.cpus = {

0b1100,

Memory regions assigned to the inmate cell are listed in the mem_regions structure.

Memory regions can be reserved for the inmate cell or shared with the Linux root cell.

Memory regions can be DDR chunks for the inmate cell use as well as device memory

mapped regions such as UART or SAI.

Interrupts are mapped to the cell with the irqchips structure.

Virtual PCI devices are defined with the pci_devices structure. These virtual devices

are used by Jailhouse to implement IVSHMEM v2 communication channels.

2 Building Harpoon Yocto images

As mentioned in the overview section, Harpoon is compatible with both i.MX Yocto and

Real-Time Edge Yocto. Each distribution is addressed in a separate section below.

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2.1 i.MX Yocto

To build this release, fetch its Yocto manifest and get the meta-layers:

$ mkdir yocto

$ cd yocto

$ repo init -u https://github.com/nxp-imx/imx-manifest -b imx-

linux-kirkstone -m imx-5.15.71-2.2.0_harpoon-v2.xml

$ repo sync

Then, prepare the environment with the following command:

$ DISTRO=fsl-imx-xwayland MACHINE=<machine> source imx-harpoon-

setup-release.sh -b build.<machine>

Where, <machine> is one of the following:

•imx8mm-lpddr4-evk for i.MX 8M Mini EVKB board

•imx8mn-lpddr4-evk for i.MX 8M Nano EVKB board

•imx8mp-lpddr4-evk for i.MX 8M Plus EVK board

The end user license agreement must be accepted to continue.

Then build the image with the following command:

$ bitbake imx-image-core

The image is then available in subdirectory tmp/deploy/images/<machine>/.

Copy the disk image to a micro-SD card. For example, assuming the card is recognized

as /dev/mmcblk0 by your host machine:

$ zstdcat imx-image-core-<machine>.wic.zst | sudo dd of=/dev/

mmcblk0 bs=1M

The micro-SD card now contains the release.

2.2 Real-Time Edge Yocto

See the Real-time Edge Yocto Project User Guide to build Harpoon and prepare an SD

card for supported boards.

3 Hardware Setup

3.1 i.MX Reference Boards

This Harpoon release supports the following development boards.

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Figure 2. i.MX 8M Mini EVK

Note: For more information to order the board, see https://www.nxp.com/design/

development-boards/i-mx-evaluation-and-development-boards/evaluation-kit-for-the-i-

mx-8m-mini-applications-processor:8MMINILPD4-EVK

Figure 3. i.MX 8M Nano EVK

Note: For more information to order the board, see https://www.nxp.com/design/

development-boards/i-mx-evaluation-and-development-boards/evaluation-kit-for-the-i-

mx-8m-nano-applications-processor:8MNANOD4-EVK.

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Figure 4. i.MX 8M Plus EVK

Note: For more information to order the board, see https://www.nxp.com/design/

development-boards/i-mx-evaluation-and-development-boards/i-mx-8m-plus-evaluation-

kit-enabling-power-measurement:8MPLUSLPD4-PEVK.

3.2 Audio use case hardware

Harpoon audio application uses the I2S HiFiBerry audio card DAC+ ADC Pro.

Figure 5. HiFiBerry DAC+ ADC Pro (picture from HiFiBerry's website)

Note: For more information to order the board, see https://www.hifiberry.com/shop/

boards/hifiberry-dac-adc-pro/.

The HiFiBerry DAC+ ADC Pro is an audio card designed for the Raspberry Pi, but it can

be connected to EVK boards using the 40-pin connector, provided a few adaptations are

made.

The following pins on the EVK's 40-pin connector must be connected to the following

HiFiBerry's pins.

EVK HiFiBerry Function

2 2 5V

Table 1. EVK - HiFiBerry transposition

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EVK HiFiBerry Function

3 3 I2C SDA

5 5 I2C SCK

6 6 GND

35 40 I2S TX

36 12 I2S clock

37 35 I2S word select for RX and TX

38 38 I2S RX

Table 1. EVK - HiFiBerry transposition...continued

Figure 6. Handmade transposer

A complete setup, with a handmade transposer to respect above pinout, is shown as

follows.

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Figure 7. i.MX 8M Mini EVK with HiFiBerry audio card

The audio card has both an ADC (PCM1863) to record audio and a DAC (PCM5122) for

audio playback.

Record is done through the audio jack (connector highlighted in 1 in the following figure)

and playback is done through the RCA connectors (highlighted in 2).

Figure 8. HiFiBerry audio connectors (picture from HiFiBerry's website)

Note: For more information to order the board, see https://www.hifiberry.com/shop/

boards/hifiberry-dac-adc-pro/.

Control of the PCM1863 is done through I2C3, at address 0x4a.

Control of the PCM5122 is done through I2C3, at address 0x4d.

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Both the PCM1863 and PCM5122 use i.MX I2S5. The I2S5 is the I2S clock master.

Two oscillators (one for sampling frequencies multiple of 44,100 Hz, one for sampling

frequencies multiple of 48,000 Hz) are present on the HiFiBerry card, and controlled by

PCM5122 GPIOs.

The following diagram shows the HiFiBerry architecture.

Figure 9. HiFiBerry architecture

The PCM1863 and the PCM5122 use the same signal for I2S word select by using SAI

synchronous mode.

3.3 Industrial use case hardware

Harpoon's industrial application may use the following hardware depending on the use

case.

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