R-Car/Boards/Yocto-Gen3-ADAS

This page contains information on building and running Yocto on:
 * Renesas R-Car-H3/M3 Salvator-X.View - R-Car SalvatorX with Maxim Integrated GMSL camera board
 * Renesas R-Car-H3 Starter Kit Premier (unofficial name - H3ULCB), see https://www.renesas.com/en-us/solutions/automotive/adas/solution-kits/r-car-starter-kit.html
 * ADAS View Solution Kit (unofficial name - H3ULCB.View), see details here: https://www.renesas.com/en-us/solutions/automotive/adas/solution-kits/adas-view-solution-kit.html
 * HAD Solution Kit (unofficial name - H3 H3ULCB.HAD), see https://www.renesas.com/en-us/solutions/automotive/adas/solution-kits/had-solution-kit.html
 * Renesas R-Car-M3 Starter Kit Pro (unofficial name - M3ULCB) https://www.renesas.com/en-us/solutions/automotive/adas/solution-kits/r-car-starter-kit.html
 * Renesas R-Car-M3 M3ULCB.View boards.
 * Kingfisher Infotainment Board.
 * Videobox Infotainment Board.
 * Renesas R-Car-V3M Eagle Evaluation Board.
 * Renesas R-Car-V3M Starter Kit Board.
 * Renesas R-Car-V3H Condor Evaluation Board.
 * Renesas R-Car-V3H Starter Kit Board.

NOTE: USE OFFICIAL DOCUMENTATION provided with R-Car BSPs FOR Renesas ADAS boards

Yocto versions
Poky-2.1.3 is supported with Yocto v2.23.1 Poky-2.4.1 is supported with Yocto v3.4.0 Specific commit of meta-openembedded is required.

Preliminary steps
 Download evaluation version of proprietary graphics and multimedia drivers from Renesas. To download Multimedia and Graphics library and related Linux drivers, please use the following link: https://www.renesas.com/en-us/solutions/automotive/rcar-demoboard.html Graphic drivers are required for Wayland. Multimedia drivers are optional. 

 Install required packages Ubuntu and Debian sudo apt-get install gawk wget git-core diffstat unzip texinfo gcc-multilib \ build-essential chrpath socat libsdl1.2-dev xterm python-crypto cpio python python3 \ python3-pip python3-pexpect xz-utils debianutils iputils-ping libssl-dev Fedora sudo yum install gawk make wget tar bzip2 gzip python unzip perl patch \ diffutils diffstat git cpp gcc gcc-c++ glibc-devel texinfo chrpath \ ccache perl-Data-Dumper perl-Text-ParseWords perl-Thread-Queue socat \ SDL-devel xterm python-crypto cpio python python3 python3-pip python3-pexpect \ ghc-lzma-conduit iputils openssl Refer to Yocto Project Quick Start for more information.  

Building the BSP for Renesas ADAS boards
 Create a directory and switch to it Warning! Yocto builds require a lot of disk space (up to 100 GB). Make sure you have got enough before starting the build. mkdir build cd build export WORK=`pwd`  Clone basic Yocto layers: cd $WORK git clone git://git.yoctoproject.org/poky git clone git://git.openembedded.org/meta-openembedded git clone git://git.linaro.org/openembedded/meta-linaro.git git clone git://github.com/renesas-rcar/meta-renesas git clone git://github.com/CogentEmbedded/meta-rcar.git 

 Switch to proper branches/commits   For Yocto v2.23.1 cd $WORK/poky git checkout -b tmp yocto-2.1.3 cd $WORK/meta-openembedded git checkout -b tmp 55c8a76da5dc099a7bc3838495c672140cedb78e cd $WORK/meta-linaro git checkout -b tmp 2f51d38048599d9878f149d6d15539fb97603f8f cd $WORK/meta-renesas git checkout -b tmp 7acbf5e2f99c59478adbc73c6a40d314589a3009 cd $WORK/meta-rcar git checkout -b v2.23.1 remotes/origin/v2.23.1   For Yocto v3.4.0 cd $WORK/poky git checkout -b tmp 16e22f3e37788afb83044f5089d24187d70094bd cd $WORK/meta-openembedded git checkout -b tmp 6e3fc5b8d904d06e3aa77e9ec9968ab37a798188 cd $WORK/meta-linaro git checkout -b tmp 30f0f5e158ba29c4b1ccfdd66f0368726e4179e0 cd $WORK/meta-renesas git checkout -b tmp 0f4c656f1e8304ce13f43b07907fac5d9b281e4f cd $WORK/meta-rcar git checkout -b v3.4.0 remotes/origin/v3.4.0 </li> </ol> Another versions are not tested for compatibility. Legacy BSP instruction can be found here R-Car Yocto Gen3 legacy </li>

 Optional step only for Yocto v2.23.1. Apply Linaro-GCC patch file and patches for out of network build ability: export PATCH_DIR=$WORK/meta-renesas/meta-rcar-gen3/docs/sample/patch/patch-for-linaro-gcc cd $WORK/meta-renesas patch -p1 < ${PATCH_DIR}/0001-rcar-gen3-add-readme-for-building-with-Linaro-Gcc.patch

export PATCH_DIR=$WORK/meta-rcar/meta-rcar-gen3-adas/docs/sample/patch cd $WORK/meta-linaro patch -p1 < ${PATCH_DIR}/0001-meta-linaro-python-wand-fix-BB_NO_NETWORK-build.patch cd $WORK/meta-renesas patch -p1 < ${PATCH_DIR}/0002-meta-renesas-gstreamer-fix-BB_NO_NETWORK-build.patch cd $WORK/poky patch -p1 < ${PATCH_DIR}/0003-poky-bitbake-gitsm-fix-BB_NO_NETWORK-build.patch unset PATCH_DIR </li>

 Download proprietary driver modules to $WORK/proprietary folder. You should see the following files:   For Yocto v2.23.1 $ ls -1 $WORK/proprietary R-Car_Gen3_Series_Evaluation_Software_Package_for_Linux-20170828.zip R-Car_Gen3_Series_Evaluation_Software_Package_of_Linux_Drivers-20170828.zip </li>  For Yocto v3.4.0 $ ls -1 $WORK/proprietary/*.zip R-Car_Gen3_Series_Evaluation_Software_Package_for_Linux-20180130.zip R-Car_Gen3_Series_Evaluation_Software_Package_of_Linux_Drivers-20180130.zip </li> </ol> </li>

 Populate meta-renesas with proprietary software packages. export PKGS_DIR=$WORK/proprietary cd $WORK/meta-renesas sh meta-rcar-gen3/docs/sample/copyscript/copy_evaproprietary_softwares.sh -f $PKGS_DIR unset PKGS_DIR </li>

 Setup build environment cd $WORK source poky/oe-init-build-env </li>

 Prepare default configuration files.   For Yocto v2.23.1 cp $WORK/meta-renesas/meta-rcar-gen3/docs/sample/conf/<salvator-x|h3ulcb|m3ulcb>/linaro-gcc/mmp/*.conf ./conf/ cd $WORK/build cp conf/local-wayland.conf conf/local.conf </li>  For Yocto v3.4 cp $WORK/meta-renesas/meta-rcar-gen3/docs/sample/conf/<h3ulcb|m3ulcb>/poky-gcc/mmp/*.conf ./conf/ cd $WORK/build cp conf/local-wayland.conf conf/local.conf </li> </ol>

 Edit $WORK/build/conf/local.conf to enable/disable graphics and multimedia proprietary drivers support </li>

 Edit local.conf to choose machine extension variant </li>

For ULCB ADAS boards only:

  Edit local.conf to select special IO configuration: MACHINE_FEATURES_append = " h3ulcb-had" (use this append for ADAS HAD IO configuration) </li> </ol> </li>

 Edit local.conf with evaluation packages requirements: <ol> <li> For Yocto v2.23.1 and later (to enable EVA_ prefix during packages install) DISTRO_FEATURES_append = " use_eva_pkg" </li> </ol> </li>

<li> Add layer meta-rcar bitbake-layers add-layer ../meta-rcar/meta-rcar-gen3-adas </li>

<li> Start the build

bitbake core-image-weston </li>

<li> Building image can take up to a few hours depending on your host system performance. After the build has been completed successfully, you should see the output similar to: NOTE: Tasks Summary: Attempted 4704 tasks of which 31 didn't need to be rerun and all succeeded. and the command prompt should return. </li>

<li> Bitbake has generated all the necessary files in ./tmp/deploy/images directory. You can verify its content: $ ls -1 `find ./tmp/deploy/images/h3ulcb/ -maxdepth 1 -type l -print` ./tmp/deploy/images/h3ulcb/core-image-weston-h3ulcb.cpio.gz ./tmp/deploy/images/h3ulcb/core-image-weston-h3ulcb.ext4 ./tmp/deploy/images/h3ulcb/core-image-weston-h3ulcb.manifest ./tmp/deploy/images/h3ulcb/core-image-weston-h3ulcb.tar.bz2 ./tmp/deploy/images/h3ulcb/Image ./tmp/deploy/images/h3ulcb/Image-h3ulcb.bin ./tmp/deploy/images/h3ulcb/Image-es1-r8a7795-h3ulcb-had-alfa.dtb ./tmp/deploy/images/h3ulcb/Image-es1-r8a7795-h3ulcb-had-beta.dtb ./tmp/deploy/images/h3ulcb/Image-es1-r8a7795-h3ulcb-kf.dtb ./tmp/deploy/images/h3ulcb/Image-es1-r8a7795-h3ulcb-view.dtb ./tmp/deploy/images/h3ulcb/Image-es1-r8a7795-h3ulcb-vb.dtb ./tmp/deploy/images/h3ulcb/Image-es1-r8a7795-h3ulcb.dtb ./tmp/deploy/images/h3ulcb/Image-r8a7795-h3ulcb-had-alfa.dtb ./tmp/deploy/images/h3ulcb/Image-r8a7795-h3ulcb-had-beta.dtb ./tmp/deploy/images/h3ulcb/Image-r8a7795-h3ulcb-kf.dtb ./tmp/deploy/images/h3ulcb/Image-r8a7795-h3ulcb-view.dtb ./tmp/deploy/images/h3ulcb/Image-r8a7795-h3ulcb-vb.dtb ./tmp/deploy/images/h3ulcb/Image-r8a7795-h3ulcb.dtb ./tmp/deploy/images/h3ulcb/modules-h3ulcb.tgz ./tmp/deploy/images/h3ulcb/u-boot.bin ./tmp/deploy/images/h3ulcb/u-boot-elf-h3ulcb.srec ./tmp/deploy/images/h3ulcb/u-boot-elf.srec ./tmp/deploy/images/h3ulcb/u-boot-h3ulcb.bin Image is a Kernel image, *.dtb is a blob file, core-image-weston-h3ulcb.tar.bz2 is the rootfs, modules-h3ulcb.tgz are kernel modules. </li> <li> You can now proceed with running Yocto images: <ol> <li> For View ADAS Starter Kit board: Image-es1-r8a7795-h3ulcb-view.dtb Image-r8a7795-h3ulcb-view.dtb </li> <li> For HAD ADAS board: Image-es1-r8a7795-h3ulcb-had-alfa.dtb Image-es1-r8a7795-h3ulcb-had-beta.dtb Image-r8a7795-h3ulcb-had-alfa.dtb Image-r8a7795-h3ulcb-had-beta.dtb </li> <li> For ULCB Kingfisher  ADAS boards: Image-r8a7795-es1-h3ulcb-kf.dtb Image-r8a7795-h3ulcb-kf.dtb Image-r8a7796-m3ulcb-kf.dtb Image-r8a7797-es1-v3msk-kf.dtb Image-r8a7797-v3msk-kf.dtb </li> <li> For Videobox ADAS board: Image-es1-r8a7795-h3ulcb-vb.dtb Image-r8a7795-h3ulcb-vb.dtb </li> <li> For V3M Eagle board: Image-r8a7797-es1-eagle.dtb Image-r8a7797-eagle.dtb </li> <li> For V3M Starter Kit board: Image-r8a7797-es1-v3msk.dtb Image-r8a7797-v3msk.dtb </li> <li> For V3H Condor board: Image-r8a7798-condor.dtb </li> <li> For V3H Starter Kit board: Image-r8a7798-v3hsk.dtb </li> </ol> <li> NOTE: prefix -es1- is a blob to be used with ws1.0/ws1.1 silicon. The blob without prefix is for ws2.0 silicon. </li>

</ol>

OpenCV support
OpenCV version 2.4.11 is enabled in build by default on Yocto v2.23.1 OpenCV version 3.2 is enabled in build by default on Yocto v3.4.0 To disable Opencv add this line in your local.conf: DISTRO_FEATURES_remove = " opencv-sdk " To build with OpenCV 3.2, don't add the previous line, but provide preffered version 3.2 in local.conf: PREFERRED_VERSION_opencv = "3.2+git%"

OpenCL support
Supported only in Ycoto v2.23.1 yet. The following page describes how to enable OpenCL and Caffe support: R-Car/Boards/Yocto-Gen3/OpenCL

Build SDK
After building BSP you may build SDK: bitbake core-image-weston -c populate_sdk After build finished the SDK installation script may be found in following path: tmp/deploy/sdk/poky-glibc-x86_64-core-image-weston-aarch64-toolchain-*.sh Install SDK by run the following command and follow instructions on the screen: ./tmp/deploy/sdk/poky-glibc-x86_64-core-image-weston-aarch64-toolchain-*.sh

Build BSP without network
Supported only in Ycoto v2.23.1 yet. After building BSP you may archive gits and download cache and proceed developing without network. Make sure that build that you completed online included all patches from step#4 of http://elinux.org/R-Car/Boards/Yocto-Gen3-ADAS#Building_the_BSP_for_Renesas_ADAS_boards Archive the following folders: cd $WORK/build tar cfj bsp.v2.23.1.tar.bz2 meta-linaro meta-openembedded meta-rcar meta-renesas poky build/downloads Unpack archive on machine without network access and proceed building starting from step#5 of http://elinux.org/R-Car/Boards/Yocto-Gen3-ADAS#Building_the_BSP_for_Renesas_ADAS_boards Before step #13 add this option to local.conf: BB_NO_NETWORK=1 mkdir build cd build tar xfj <path_to_archive>/bsp.v2.23.1.tar.bz2

Running Yocto images
Linux kernel can be booted from microSD card or from TFTP. Root FS can be mounted from micro SD card or via NFS.

Loading kernel via TFTP and rootfs via NFS
Follow these steps to setup working TFTP and NFS server: <ol> <li> Setup a TFTP server.

Ubuntu
Install tftpd-hpa package along with tftp tools: sudo apt-get install tftp tftpd-hpa

Fedora
<ol> <li> Install necessary packages: sudo yum install tftp-server tftp tftp-server is a part of xinetd. See Fedora manual for more information. </li> <li> Enable TFTP server: sudo vi /etc/xinetd.d/tftp Set disable = no Save file and exit. </li> <li> Start xinetd: sudo systemctl start xinetd.service sudo systemctl enable xinetd.service </li> </ol>

</li>

<li> Copy Image and Image-r8a7795-h3ulcb.dtb (for ws2.0 silicon) and/or Image-r8a7795-es1-h3ulcb.dtb (for ws1.1) from $WORK/build/tmp/deploy/images/h3ulcb/ to TFTP server root.

Ubuntu
cp $WORK/build/tmp/deploy/images/h3ulcb/Image /srv/tftp/ cp $WORK/build/tmp/deploy/images/h3ulcb/Image-r8a7795-h3ulcb.dtb /srv/tftp/

Fedora
cp $WORK/build/tmp/deploy/images/h3ulcb/Image /var/lib/tftpboot/ cp $WORK/build/tmp/deploy/images/h3ulcb/Image-r8a7795-h3ulcb.dtb /var/lib/tftpboot/ </li>

<li> Verify that TFTP server is working. tftp localhost -c get Image && ls Image </li>

<li> Setup NFS server.

Debian/Ubuntu
<ol> <li> Install necessary packages: sudo apt-get install nfs-kernel-server nfs-common </li> <li> Start NFS server: sudo /etc/init.d/nfs-kernel-server start </li> </ol>

Fedora
<ol> <li> Install necessary packages: sudo yum install nfs-utils </li> <li> Enable and start nfs server: sudo systemctl enable rpcbind.service sudo systemctl enable nfs-server.service sudo systemctl enable nfs-lock.service sudo systemctl enable nfs-idmap.service sudo systemctl start rpcbind.service sudo systemctl start nfs-server.service sudo systemctl start nfs-lock.service sudo systemctl start nfs-idmap.service </li> </ol> </li>

<li> Export root FS to NFS. (Change IMAGE and MACHINE to fit your build). <ol> <li> Unpack rootfs to a dedicated directory: IMAGE=weston MACHINE=salvator-x|h3ulcb|m3ulcb NFS_ROOT=/nfs/${MACHINE} sudo mkdir -p "${NFS_ROOT}" sudo rm -rf "${NFS_ROOT}"/* sudo tar -xjf "${WORK}/build/tmp/deploy/images/${MACHINE}/core-image-${IMAGE}-${MACHINE}-*.tar.bz2" -C "${NFS_ROOT}" sync </li> <li> Edit /etc/exports: sudo vi /etc/exports add /nfs/h3ulcb	*(rw,no_subtree_check,sync,no_root_squash,no_all_squash) /nfs/salvator-x	*(rw,no_subtree_check,sync,no_root_squash,no_all_squash) Save the file and exit. </li> <li> Force NFS server to re-read /etc/exports sudo exportfs -a </li> </ol> </li> <li> Verify that NFS is working. [builduser@buildmachine ~]$ showmount -e localhost Export list for localhost: /nfs/h3ulcb * /nfs/salvator-x * </li>

<li> Boot into U-Boot command prompt

<ol> <li> Connect to serial console over microUSB using minicom or picocom. </li> <li> Switch the board on or reset it. Press any key to stop U-Boot automatic countdown. </li> </ol> Refer to H3SK board page, M3SK board page, Salvator-X board page for more information. </li>

<li> Configure Ethernet, TFTP, and kernel command line in U-Boot:

setenv ipaddr <board-ip> setenv serverip <your-computer-ip> setenv bootcmd 'tftp 0x48080000 Image; tftp 0x48000000 Image-r8a7795-h3ulcb.dtb; booti 0x48080000 - 0x48000000' setenv bootargs 'ignore_loglevel rw root=/dev/nfs nfsroot=<your-computer-ip>:<nfs-path>,nfsvers=3 ip=<board-ip>:<your-computer-ip>::255.255.255.0:h3ulcb' saveenv Replace <board-ip> with the proper IP address for the board. Replace <your-computer-ip> with the IP address of your computer, where tftp and nfs servers are installed. Replace <nfs-path> with the exported path of the root FS. For example: setenv ipaddr 192.168.1.3 setenv serverip 192.168.1.2 setenv bootcmd 'tftp 0x48080000 Image; tftp 0x48000000 Image-r8a7795-h3ulcb.dtb; booti 0x48080000 - 0x48000000' setenv bootargs 'ignore_loglevel rw root=/dev/nfs nfsroot=192.168.1.2:/nfs/h3ulcb,nfsvers=3 ip=192.168.1.3:192.168.1.2::255.255.255.0:h3ulcb' saveenv You can also use dhcp command to obtain information from DHCP server. Note: You can always see the environment with printenv command. Refer to U-Boot manual for details. </li>

<li> Verify the connection over Ethernet from U-Boot: ping <your-computer-ip> You should see: => ping 192.168.1.2 ravb:0 is connected to ravb. Reconnecting to ravb ravb Waiting for PHY auto negotiation to complete.. done ravb: 100Base/Full Using ravb device host 192.168.1.2 is alive </li>

<li> Reset the board by pushing reset button Refer to H3SK board page, M3SK board page, Salvator-X board page for more information. </li>

<li> The board should boot the kernel: NOTICE: BL2: R-Car Gen3 Initial Program Loader(CA57) Rev.1.0.10 NOTICE: BL2: PRR is R-Car H3 ES1.0 NOTICE: BL2: Boot device is HyperFlash(80MHz) NOTICE: BL2: LCM state is CM NOTICE:  BL2: AVS setting succeeded. DVFS_SetVID=0x52 NOTICE: BL2: DDR1600(rev.0.10) NOTICE: BL2: DRAM Split is 4ch NOTICE: BL2: QoS is default setting(rev.0.32) NOTICE: BL2: Lossy Decomp areas NOTICE:      Entry 0: DCMPAREACRAx:0x80000540 DCMPAREACRBx:0x570 NOTICE:      Entry 1: DCMPAREACRAx:0x40000000 DCMPAREACRBx:0x0 NOTICE:      Entry 2: DCMPAREACRAx:0x20000000 DCMPAREACRBx:0x0 NOTICE: BL2: v1.1(release):c2f9fc9 NOTICE: BL2: Built : 00:36:25, Nov 20 2016 NOTICE: BL2: Normal boot NOTICE: BL2: dst=0xe631a1a8 src=0x8180000 len=512(0x200) NOTICE: BL2: dst=0x43f00000 src=0x8180400 len=6144(0x1800) NOTICE: BL2: dst=0x44000000 src=0x81c0000 len=65536(0x10000) NOTICE: BL2: dst=0x44100000 src=0x8200000 len=524288(0x80000) NOTICE: BL2: dst=0x50000000 src=0x8640000 len=1048576(0x100000)

U-Boot 2015.04 (Nov 20 2016 - 00:54:11)

CPU: Renesas Electronics R8A7795 rev 1.0 Board: H3ULCB I2C:  ready DRAM: 3.9 GiB MMC:  sh-sdhi: 0, sh-sdhi: 1 In:   serial Out:  serial Err:  serial Net:  ravb Hit any key to stop autoboot: 0 ravb Waiting for PHY auto negotiation to complete.. done ravb: 100Base/Full BOOTP broadcast 1 BOOTP broadcast 2 BOOTP broadcast 3 DHCP client bound to address 192.166.10.31 (1287 ms) Using ravb device TFTP from server 192.166.10.1; our IP address is 192.166.10.31 Filename 'Image'. Load address: 0x48080000 Loading: ################################################################# #################################################################        #################################################################         #################################################################         #################################################################         #################################################################         #################################################################         #################################################################         #################################################################         #################################################################         #################################################################         #################################################################         #################################################################         #################################################################         #################################################################         #################################################################         #################################################################         #################################################################         #################################################################         #################################################################         #################################################################         #################################################################         #################################################################         #################################################################         #################################################################         #################################################################         #################################################################         #################################################################         #################################################################         #################################################################         #################################################################         #################################################################         #################################################################         #################################################################         #################################################################         #################################################################         #################################################################         #################################################################         #################################################################         #################################################################         #################################################################         ####################################################         627 KiB/s done Bytes transferred = 13905920 (d43000 hex) ravb:0 is connected to ravb. Reconnecting to ravb ravb Waiting for PHY auto negotiation to complete. done ravb: 100Base/Full Using ravb device TFTP from server 192.166.10.1; our IP address is 192.166.10.31 Filename 'Image-r8a7795-h3ulcb.dtb'. Load address: 0x48000000 Loading: ############# 12.7 KiB/s done Bytes transferred = 66470 (103a6 hex) Booting using the fdt blob at 0x48000000 Using Device Tree in place at 0000000048000000, end 00000000480133a5
 * 1) Flattened Device Tree blob at 48000000

Starting kernel ...                                                                                                                        </li> </ol>

How to prepare and boot from eMMC/SD card
This section describes steps that are necessary for preparing and booting from SD card.

Preparing eMMC/SD card
In order to prepare you SD card, follow these instructions on host machine:

1. Partion your SD card to set 1 partition and ID=83 (Linux) Make sure the SD card doesn't contain any important files. WARNING! These steps may erase the SD card completely. All files my be lost.

$ fdisk /dev/mmcblk0 -> d -> n -> p -> 1 -> t -> 83

2. Format this partition to ext3 (or ext4)

$ mkfs.ext3 /dev/mmcblk0p1

3. Mount this partition on your host to any directory and upack the core-image-weston-*.tar.bz2 into mounted folder.

$ mount /dev/mmcblk0p1 /mnt $ cd <your_yocto_build_directory> $ tar xfj build/tmp/deploy/images/h3ulcb/core-image-weston-h3ulcb-*.rootfs.tar.bz2  -C /mnt

NOTE: probably you need to be a root user, hence use "sudo"

Configure U-Boot to boot from SD card
Proper U-Boot command to boot from SD:
 * 1) setenv bootargs 'rw root=/dev/mmcblk1p1 rootfstype=ext3 rootwait consoleblank=0 log_buf_len=1M'
 * 2) ext2load mmc 0:1 0x48080000 /boot/Image
 * 3) ext2load mmc 0:1 0x48000000 /boot/Image-r8a7795-h3ulcb.dtb
 * 4) booti 0x48080000 - 0x48000000'

Example of U-Boot environment variables: baudrate=115200 bootargs_emmc=rw root=/dev/mmcblk0p1 rootfstype=ext3 rootwait bootargs_nfs=rw root=/dev/nfs rootwait ip=dhcp bootargs_sd0=rw root=/dev/mmcblk1p1 rootfstype=ext3 rootwait bootcmd=run bootcmd_sd0 bootcmd_emmc=set bootargs ${bootargs_emmc};ext2load mmc 1:1 0x48080000 /boot/Image;ext2load mmc 1:1 0x48000000 /boot/${dtb};run booti_cmd bootcmd_nfs=set bootargs ${bootargs_nfs};bootp 0x48080000 Image;tftp 0x48000000 ${dtb};run booti_cmd bootcmd_sd0=set bootargs ${bootargs_sd0};ext2load mmc 0:1 0x48080000 /boot/Image;ext2load mmc 0:1 0x48000000 /boot/${dtb};run booti_cmd bootdelay=3 booti_cmd=booti 0x48080000 - 0x48000000 dtb=Image-r8a7795-h3ulcb.dtb ethact=ravb ethaddr=2E:09:0A:00:BE:11 fdt_high=0xffffffffffffffff initrd_high=0xffffffffffffffff stderr=serial stdin=serial stdout=serial ver=U-Boot 2015.04 (Sep 23 2016 - 13:45:29) Environment size: 1092/131068 bytes

To verify the SD card, type the following in U-Boot prompt: => mmc dev 0 switch to partitions #0, OK mmc0 is current device => mmc info Device: sh-sdhi Manufacturer ID: 3 OEM: 5344 Name: SL64G Tran Speed: 50000000 Rd Block Len: 512 SD version 3.0 High Capacity: Yes Capacity: 59.5 GiB Bus Width: 4-bit Erase Group Size: 512 Bytes => ext2ls mmc 0:1 /boot <DIR>      4096. <DIR>      4096 .. <SYM>        32 Image 14039040 Image-4.6.0-yocto-standard 69584 Image-r8a7795-h3ulcb.dtb

Build scripts examples
<ol>

<li> Build preparation <ol> <li> For Yocto v2.23.1
 * 1) !/bin/sh

mkdir build || exit cd build WORK=`pwd` echo $WORK

git clone git://git.yoctoproject.org/poky git clone git://git.linaro.org/openembedded/meta-linaro.git git clone git://git.openembedded.org/meta-openembedded git clone git://github.com/renesas-rcar/meta-renesas.git git clone git://github.com/CogentEmbedded/meta-rcar.git

cd $WORK/poky git checkout -b tmp yocto-2.1.3 cd $WORK/meta-linaro git checkout -b tmp 2f51d38048599d9878f149d6d15539fb97603f8f cd $WORK/meta-openembedded git checkout -b tmp 55c8a76da5dc099a7bc3838495c672140cedb78e cd $WORK/meta-renesas git checkout -b tmp 7acbf5e2f99c59478adbc73c6a40d314589a3009 cd $WORK/meta-rcar git checkout -b v2.23.1 remotes/origin/v2.23.1

cd $WORK/meta-renesas export PATCH_DIR=meta-rcar-gen3/docs/sample/patch/patch-for-linaro-gcc patch -p1 < ${PATCH_DIR}/0001-rcar-gen3-add-readme-for-building-with-Linaro-Gcc.patch unset PATCH_DIR

cd $WORK/ PKGS_DIR=$WORK/../proprietary cd $WORK/meta-renesas sh meta-rcar-gen3/docs/sample/copyscript/copy_evaproprietary_softwares.sh -f $PKGS_DIR </li> <li> For Yocto v3.4
 * 1) sh meta-rcar-gen3/docs/sample/copyscript/copy_proprietary_softwares.sh -f $PKGS_DIR
 * 1) !/bin/sh

mkdir build || exit cd build WORK=`pwd` echo $WORK

git clone git://git.yoctoproject.org/poky git clone git://git.linaro.org/openembedded/meta-linaro.git git clone git://git.openembedded.org/meta-openembedded git clone git://github.com/renesas-rcar/meta-renesas git clone git://github.com/CogentEmbedded/meta-rcar.git

cd $WORK/poky git checkout -b tmp 16e22f3e37788afb83044f5089d24187d70094bd cd $WORK/meta-linaro git checkout -b tmp 30f0f5e158ba29c4b1ccfdd66f0368726e4179e0 cd $WORK/meta-openembedded git checkout -b tmp 6e3fc5b8d904d06e3aa77e9ec9968ab37a798188 cd $WORK/meta-renesas git checkout -b tmp 0f4c656f1e8304ce13f43b07907fac5d9b281e4f cd $WORK/meta-rcar git checkout -b v3.4.0 remotes/origin/v3.4.0

cd $WORK/ PKGS_DIR=$WORK/../proprietary cd $WORK/meta-renesas sh meta-rcar-gen3/docs/sample/copyscript/copy_evaproprietary_softwares.sh -f $PKGS_DIR </li> </ol> </li>
 * 1) sh meta-rcar-gen3/docs/sample/copyscript/copy_proprietary_softwares.sh -f $PKGS_DIR

<li> Building yocto <ol> <li> For Yocto v2.23.1
 * 1) !/bin/sh

cd build WORK=`pwd` echo $WORK

cd $WORK source poky/oe-init-build-env

cp $WORK/meta-renesas/meta-rcar-gen3/docs/sample/conf/h3ulcb/linaro-gcc/mmp/*.conf ./conf/.
 * 1) cp $WORK/meta-renesas/meta-rcar-gen3/docs/sample/conf/h3ulcb/linaro-gcc/bsp/*.conf ./conf/.
 * 2) cp $WORK/meta-renesas/meta-rcar-gen3/docs/sample/conf/h3ulcb/linaro-gcc/gfx-only/*.conf ./conf/.

cd $WORK/build cp conf/local-wayland.conf conf/local.conf echo "DISTRO_FEATURES_append = \" use_eva_pkg\"" >> $WORK/build/conf/local.conf
 * 1) uncomment for ADAS HAD board only:
 * 2) echo "MACHINE_FEATURES_append = \" h3ulcb-had\"" >> $WORK/build/conf/local.conf

bitbake-layers add-layer ../meta-rcar/meta-rcar-gen3-adas

bitbake core-image-weston bitbake core-image-weston -c populate_sdk </li> </ol> <ol> <li> For Yocto v3.4
 * 1) !/bin/sh

cd build WORK=`pwd` echo $WORK

cd $WORK source poky/oe-init-build-env

cp $WORK/meta-renesas/meta-rcar-gen3/docs/sample/conf/h3ulcb/poky-gcc/mmp/*.conf ./conf/.
 * 1) cp $WORK/meta-renesas/meta-rcar-gen3/docs/sample/conf/h3ulcb/poky-gcc/bsp/*.conf ./conf/.
 * 2) cp $WORK/meta-renesas/meta-rcar-gen3/docs/sample/conf/h3ulcb/poky-gcc/gfx-only/*.conf ./conf/.

cd $WORK/build cp conf/local-wayland.conf conf/local.conf echo "DISTRO_FEATURES_append = \" use_eva_pkg\"" >> $WORK/build/conf/local.conf
 * 1) uncomment for ADAS HAD board only:
 * 2) echo "MACHINE_FEATURES_append = \" h3ulcb-had\"" >> $WORK/build/conf/local.conf

bitbake-layers add-layer ../meta-rcar/meta-rcar-gen3-adas

bitbake core-image-weston bitbake core-image-weston -c populate_sdk </li> </ol>

</li>

</ol>

Flashing firmware
In case you have absolutely new R-Car H3 or M3 board, you need to update firmware. Please refer to page R-Car H3SK or R-Car M3SK for the instructions on flashing firmware.

SurroundView GPU version
<ol> <li> Clone and build sv-utest application (see the README.md file as well): git clone https://github.com/CogentEmbedded/sv-utest.git cd sv-utest . <SDK_INSTALL_PATH>/environment-setup-aarch64-poky-linux mkdir build cd build cmake -DSV_TARGET_PLATFORM=GEN3 ../ make </li> <li> Copy the resulted binaries on rootfs. As example, for SD card: mkdir /home/root/sv sudo cp sv-utest/bin/sv-utest /usr/bin/ sudo cp sv-utest/libs/gen3/libsv.so /usr/lib/ sudo cp -r sv-utest/resources/* /home/root/sv/ </li> <li> See the manual for instructions R-Car Surround View manual on how to run and use SurroundView application. In short: cd /home/root/sv sv-utest -v /dev/video0,/dev/video1,/dev/video2,/dev/video3 </li> <li> By default 1280x800 resolution is used for cameras, but you can change it with --camres option: sv-utest -v /dev/video0,/dev/video1,/dev/video2,/dev/video3 --camres 1280x1080 </li> </ol>

SurroundView IMR version
<ol> <li> Save mesh object file from the GPU SurroundView: after calibartion and sphere adjusting are done, press S, then "=" on the main 3d view to save mesh file. Mesh object file name is "meshFull.obj" in the current working directory of SurroundView. </li> <li> Clone and build imr-sv-utest application (see the README.md file as well): git clone https://github.com/CogentEmbedded/imr-sv-utest.git cd imr-sv-utest . <SDK_INSTALL_PATH>/environment-setup-aarch64-poky-linux mkdir build cd build cmake -DIMR_TARGET_PLATFORM=GEN3 ../ make IMR SuroundView executable stored ../bin directory. </li> <li> It's need to generate png files with car model images before running IMR SurroundView. Copy executable "gen" from "prebuilt/GEN3" directory to the H3 board. Example of generation png files with car (avalaible only for Gen3): ./gen -w -h -c -o -s -m \ -l -S -d ./gen -w 1920 -h 1080 -c 0x404040FF -o ./data/model -s 8:32:8 -m Car.obj -l 1.0  -S -0.2:-0.10:0.2:0.10 </li> <li> Run the IMR SurroundView with the generated png files: For 4-cameras environment: ./imr-wl -f uyvy -v /dev/video0,/dev/video1,/dev/video2,/dev/video3 -w 1280 -h 800 -W 1920 -H 1080 \ -r /dev/video4,/dev/video5,/dev/video6,/dev/video7,/dev/video4,/dev/video5,/dev/video6,/dev/video7 -m ./data/model \ -M meshFull.obj -X 1920 -Y 1080 -S -0.30:-0.10:0.30:0.10 -g 1.0 -s 8:32:8 For 8-cameras environment: ./imr-wl -f uyvy -v /dev/video0,/dev/video1,/dev/video2,/dev/video3 -w 1280 -h 800 -W 1920 -H 1080 \ -r /dev/video8,/dev/video9,/dev/video10,/dev/video11,/dev/video8,/dev/video9,/dev/video10,/dev/video11 -m ./data/model \ -M meshFull.obj -X 1920 -Y 1080 -S -0.30:-0.10:0.30:0.10 -g 1.0 -s 8:32:8 Run "./imr-wl -h" for options explanation. </li> </ol>

8 Camera Demo (GPU + IMR version)
Demo application demonstrates surround view with pre-defined viewpoints on Renesas boards with 4 additional cameras for mirror replacement purposes. First additional camera works as driver monitor.

<ol> <li> Save mesh object file from the GPU SurroundView: after calibartion and sphere adjusting are done, press S, then "=" on the main 3d view to save mesh file. Mesh object file name is "meshFull.obj" in the current working directory of SurroundView. </li> <li> Clone and build 8-cam-imr-gpu-sv-utest application (see the README.md file as well): git clone https://github.com/CogentEmbedded/8-cam-imr-gpu-sv-utest.git cd 8-cam-imr-gpu-sv-utest . <SDK_INSTALL_PATH>/environment-setup-aarch64-poky-linux mkdir build cd build cmake ../ make Demo executable "sc" stored ../bin directory. </li> <li> It's need to generate png files with car model images before running IMR SurroundView. Copy executable "gen" from "prebuilt/" directory to the H3 board. Example of generation png files with car (avalaible only for Gen3): ./gen -w -h -c -o -s -m \ -l -S -d ./gen -w 1920 -h 1080 -c 0x404040FF -o ./data/model -s 8:32:8 -m Car.obj -l 1.0  -S -0.2:-0.10:0.2:0.10 </li> <li> Copy resources files to directory where application will be runned from "resources/". Copy libdrivermonitor.so and libsv.so from "lib/" directory to rootfs. Copy "resources/adas-utest" directory to /usr/share on rootfs. </li> <li> Run the application: ./sc -W 1920 -H 1080 -m ./data/model -M meshFull.obj -X 1920 -Y 1080 -g 1.0 -b 0x000000 -c config.txt -S -0.20:-0.1:0.20:0.1 -s 8:32:8 </li> <li> To control application with SpaceNav start SpaceNav daemon: spacenavd command. There are 5 widgets on the main screen: main 3d SurroundView screen, DriverMonitor camera, right, left and rear mirror replacement cameras.

To change focus on widget press right button on SpaceNav. To change zoom and view on mirror replacement cameras rotate SpaceNav joystick, when widget is in focus. To hide Driver Monitor camera and mirror cameras press and hold left button on joystick, when widget is in focus. To switch to IMR demo press left button on SpaceNav joystick, when main 3d SurroundView in focus. To get back from IMR demo press left button again. To rotate view in IMR demo use joystick or touchscreen.

</li>

</ol>

Camera demo for VIN-IMR-DRM capture pipe
Unit test application demonstrates IMR-DRM usage on systems that have no GPU (r8a7797). The test application name is 'utest-cam-imr-drm'. The unit test is provided in sources and built within yocto. <ol> <li> The unit test is located on rootfs for core-image-minimal build (tested on V3MSK). To launch the application issue the following command with 4 cameras connected: $ utest-cam-imr-drm </li> </ol> NOTE: unit test assumes use of 4 cameras at resolution 1280x1080 To use other then 4 amount of cameras, then modify CAMERAS_NUMBER definition in source code (meta-rcar/meta-rcar-gen3-adas/recipes-bsp/utest-apps/files/utest-cam-imr-drm.tar.gz) To use other resolution use parameters 'h' and 'w': $ utest-cam-imr-drm -w 1280 -h 800

Camera low level tests
It is possible to run low level tests to validate LVDS cameras. The test application name is 'capture'. The 'capture' is provided in sources and build within yocto. <ol> <li> The test examples are located on rootfs path: $ ls -1 /usr/share/tests/ test_lvds_2cameras_on_display1920x1080.sh test_lvds_4cameras_on_display1920x1080.sh test_lvds_8cameras_on_display1920x1080.sh test_lvds_camera_0-3.sh test_lvds_camera_0.sh test_lvds_camera_4-7.sh test_lvds_camera_4.sh </li> </ol>

Known issues and limitations
TBD