R-Car/Boards/Kingfisher

Introduction
This is the official Wiki for Kingfisher Infotainment Board.

Hardware
This section contains information about Kingfisher Board hardware.

Hardware Features

 * Ethernet AVB phy
 * KSZ9031 phy
 * MOST interface
 * Support both 3-pin and 6-pin MLB interface
 * Pinout compatible with Microchip evaluation boards
 * LVDS camera interface
 * MAX9286 or TI960 deserializers
 * MIPI CSI2 bus
 * 5V, 9V or 12V selectable supply voltage for camera with current limiting
 * High quality 24-bit audio codec PCM3168A
 * 8 input channels (4 stereo jacks for microphone connection)
 * 6 line out channels (RCA connectors)
 * 6 HP outputs (3 stereo jack connectors for direct headphones connection)
 * 44100/48000 Hz sampling frequency
 * Two USB 3.0 ports
 * USB OTG port
 * SD card slot
 * SD card slot(CN47) supports only 3.3 signal voltage(= Default/High speed class only).
 * If you want to use other cards please use the slot(CN6) on the Starter Kit board.
 * Si4689 base AM/FM/DAB radio
 * Digital audio interface to R-Car M2 CPU
 * Additional flash storage for fast radio boot
 * Supply for active DAB antennas with current limit (5 or 12 V)
 * GPS/GLONASS receiver
 * Serial and i2c interface to R-Car
 * 9-axis sensor:
 * 3D digital linear acceleration sensor
 * 3D digital angular rate sensor
 * 3D digital magnetic sensor
 * WiFi/BT module Texas Instruments WL1837
 * HDMI
 * This board equipped with a HDMI transmitter (ADV7513BSWZ) which support HDMI1.4a.
 * The maximum resolution is 1920x1080i and it connected Digital output port (RGB888) on R-Car Starter Kit.
 * Power supply: 12V, 9 Amps
 * The main power supply domain must be connected to an external AC adapter. The voltage is +12V DC.
 * DO NOT USE R-Car Starter kit AC adapter to connect this board or this board AC adapter to connect R-Car Starter kit. If connect wrong AC adapter then it has serious damage to the board.

Where to buy
Kingfisher board and GMSL Camera board(*) can be ordered from following distributors:

Click to buy Kingfisher board from SHIMAFUJI Electric - World Wide

(*) GMSL Camera board info: http://www.shimafuji.co.jp/DL/EN/InfotainmentCarrierBoard/#GMSL02

Official board documentation

 * Board Manual

The M06 board has improved the I2C error problem, Fixed a rare start-up problem when turned power on
 < Major modification on M06 >  I2C error modification - Replace I2C repeater - Changing the resistance value  Booting NG modification - Power stabilization - Sequence correction the kingfisher board start-up after StarterKit.  Change of MOST-GPS switching method (SW 7) 



Build image
 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 || exit cd build WORK=`pwd` echo $WORK  Clone basic Yocto layers: cd $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 

 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 </li>  For Yocto v3.9.0 cd $WORK/poky git checkout -b tmp 342fbd6a3e57021c8e28b124b3adb241936f3d9d cd $WORK/meta-openembedded git checkout -b tmp dacfa2b1920e285531bec55cd2f08743390aaf57 cd $WORK/meta-linaro git checkout -b tmp 75dfb67bbb14a70cd47afda9726e2e1c76731885 cd $WORK/meta-renesas git checkout -b tmp fd078b6ece537d986852cb827bd21e022a797b2f cd $WORK/meta-rcar git checkout -b v3.9.0 remotes/origin/v3.9.0 </li>  For Yocto v3.13.0 (Note: https://elinux.org/R-Car/Boards/Yocto-Gen3#Known_issues_and_limitations (No.3)) This BSP for Kingfisher includes short-term workaround. It improves stability on Uboot but performance down. cd $WORK/poky git checkout -b tmp 7e7ee662f5dea4d090293045f7498093322802cc cd $WORK/meta-openembedded git checkout -b tmp 352531015014d1957d6444d114f4451e241c4d23 cd $WORK/meta-linaro git checkout -b tmp 75dfb67bbb14a70cd47afda9726e2e1c76731885 cd $WORK/meta-renesas git checkout -b tmp 00f70f062aace04c051fa92d3cd7b887718fc313 cd $WORK/meta-rcar git checkout -b v3.13.0 remotes/origin/v3.13.0 </li>  For Yocto v3.15.0 cd $WORK/poky git checkout -b tmp 7e7ee662f5dea4d090293045f7498093322802cc cd $WORK/meta-openembedded git checkout -b tmp 352531015014d1957d6444d114f4451e241c4d23 cd $WORK/meta-linaro git checkout -b tmp 75dfb67bbb14a70cd47afda9726e2e1c76731885 cd $WORK/meta-renesas git checkout -b tmp 8af0b7d6e445b532088a068dc012757001be3a1f cd $WORK/meta-rcar git checkout -b v3.15.0 remotes/origin/v3.15.0 </li>  For Yocto v3.19.0 cd $WORK/poky git checkout -b tmp 7e7ee662f5dea4d090293045f7498093322802cc cd $WORK/meta-openembedded git checkout -b tmp 352531015014d1957d6444d114f4451e241c4d23 cd $WORK/meta-linaro git checkout -b tmp 75dfb67bbb14a70cd47afda9726e2e1c76731885 cd $WORK/meta-renesas git checkout -b tmp 20fcc94a8d05eda80250f27e87aaa3cfc3275300 cd $WORK/meta-rcar git checkout -b v3.19.0 remotes/origin/v3.19.0 </li> </ol> Another versions are not tested for compatibility. Legacy BSP instruction can be found here R-Car Kingfisher legacy </li>

 This step is only for Yocto v2.23.1. Apply Linaro-GCC patch file: 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 </li>  Unzip downloaded 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 v3.9.0 $ ls -1 $WORK/proprietary/*.zip R-Car_Gen3_Series_Evaluation_Software_Package_for_Linux-20180627.zip R-Car_Gen3_Series_Evaluation_Software_Package_of_Linux_Drivers-20180627.zip </li>  For Yocto v3.13.0 $ ls -1 $WORK/proprietary/*.zip R-Car_Gen3_Series_Evaluation_Software_Package_for_Linux-20181029.zip R-Car_Gen3_Series_Evaluation_Software_Package_of_Linux_Drivers-20181029.zip </li>  For Yocto v3.15.0 $ ls -1 $WORK/proprietary/*.zip R-Car_Gen3_Series_Evaluation_Software_Package_for_Linux-20181225.zip R-Car_Gen3_Series_Evaluation_Software_Package_of_Linux_Drivers-20181225.zip </li>  For Yocto v3.19.0 $ ls -1 $WORK/proprietary/*.zip R-Car_Gen3_Series_Evaluation_Software_Package_for_Linux-20190507.zip R-Car_Gen3_Series_Evaluation_Software_Package_of_Linux_Drivers-20190507.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.  <li> For Yocto v2.23.1 [m3ulcb] cp $WORK/meta-renesas/meta-rcar-gen3/docs/sample/conf/m3ulcb/linaro-gcc/mmp/*.conf ./conf/ [h3ulcb] cp $WORK/meta-renesas/meta-rcar-gen3/docs/sample/conf/h3ulcb/linaro-gcc/mmp/*.conf ./conf/

cd $WORK/build cp conf/local-wayland.conf conf/local.conf </li> <li> For Yocto v3.9.0 or later [m3ulcb] cp $WORK/meta-renesas/meta-rcar-gen3/docs/sample/conf/m3ulcb/poky-gcc/mmp/*.conf ./conf/ [h3ulcb] cp $WORK/meta-renesas/meta-rcar-gen3/docs/sample/conf/h3ulcb/poky-gcc/mmp/*.conf ./conf/

cd $WORK/build cp conf/local-wayland.conf conf/local.conf NOTE: extra configuration examples are available in the following directory: $WORK/meta-rcar/meta-rcar-gen3-adas/docs/sample/conf/ </li> </ol>

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

<li> Edit local.conf with evaluation packages requirements: <ol> <li> For Yocto v2.23.1 or 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/m3ulcb/ -maxdepth 1 -type l -print` ./tmp/deploy/images/m3ulcb/core-image-weston-m3ulcb.cpio.gz ./tmp/deploy/images/m3ulcb/core-image-weston-m3ulcb.ext4 ./tmp/deploy/images/m3ulcb/core-image-weston-m3ulcb.manifest ./tmp/deploy/images/m3ulcb/core-image-weston-m3ulcb.tar.bz2 ./tmp/deploy/images/m3ulcb/Image ./tmp/deploy/images/m3ulcb/Image-m3ulcb.bin ./tmp/deploy/images/m3ulcb/Image-r8a7796-m3ulcb-kf.dtb ./tmp/deploy/images/m3ulcb/modules-m3ulcb.tgz ./tmp/deploy/images/m3ulcb/u-boot.bin ./tmp/deploy/images/m3ulcb/u-boot-elf-m3ulcb.srec ./tmp/deploy/images/m3ulcb/u-boot-elf.srec ./tmp/deploy/images/m3ulcb/u-boot-m3ulcb.bin Image is a Kernel image, *.dtb is a blob file, core-image-weston-m3ulcb.tar.bz2 is the rootfs, modules-m3ulcb.tgz are kernel modules. </li> <li> You can now proceed with running Yocto images </li> </ol>

After all these steps you can start working with boards and apps.

Build with MOST
MOST and GPS share the same R-CAR SoC pins and GPS is used by default. In order to use MOST one need to perform h/w modifications on KF board: - M04, M05 move resistor from R661 -> R660 move resistor from R663 -> R662 - M06 Slide SW7 to "MOST" side. And enable MOST in BSP by adding option to local.conf: KF_ENABLE_MOST = "1"

Build with SD3 (CN47)
SD3 and WIFI share the same R-CAR SoC resource and WIFI is used by default. In order to use SD on CN47 instead WIFI add following option to local.conf: KF_ENABLE_SD3 = "1"

Build with LVDS panel(CN49)
Yocto v3.13.0 or later supports the following LVDS panels. BD101LCC1 - Boundary Devices BD101LCC1 1280x800 panels [default] TX31D200VM0BAA - KOE TX31D200VM0BAA 1280x480 panel AA104XD12 - Mitsubishi AA104XD12 1024x768 panel AA121TD01 - Mitsubishi AA121TD01 1280x800 panel How to select: Add following option to local.conf: KF_PANEL_MODEL = "TX31D200VM0BAA" or KF_PANEL_MODEL = "AA104XD12" or KF_PANEL_MODEL = "AA121TD01"

Build SDK
After building image run this command to build SDK bitbake core-image-weston -c populate_sdk After build success the SDK installation script must appears in ./tmp/deploy/sdk directory: tmp/deploy/sdk/poky-glibc-x86_64-core-image-weston-aarch64-toolchain-2.1.3.sh To install SDK run this command and follow instructions on the screen: ./tmp/deploy/sdk/poky-glibc-x86_64-core-image-weston-aarch64-toolchain-2.1.3.sh

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 v3.9.0
 * 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 342fbd6a3e57021c8e28b124b3adb241936f3d9d cd $WORK/meta-openembedded git checkout -b tmp dacfa2b1920e285531bec55cd2f08743390aaf57 cd $WORK/meta-linaro git checkout -b tmp 75dfb67bbb14a70cd47afda9726e2e1c76731885 cd $WORK/meta-renesas git checkout -b tmp fd078b6ece537d986852cb827bd21e022a797b2f cd $WORK/meta-rcar git checkout -b v3.9.0 remotes/origin/v3.9.0

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> <li> For Yocto v3.13.0
 * 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 7e7ee662f5dea4d090293045f7498093322802cc cd $WORK/meta-openembedded git checkout -b tmp 352531015014d1957d6444d114f4451e241c4d23 cd $WORK/meta-linaro git checkout -b tmp 75dfb67bbb14a70cd47afda9726e2e1c76731885 cd $WORK/meta-renesas git checkout -b tmp 00f70f062aace04c051fa92d3cd7b887718fc313 cd $WORK/meta-rcar git checkout -b v3.13.0 remotes/origin/v3.13.0

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> <li> For Yocto v3.15.0
 * 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 7e7ee662f5dea4d090293045f7498093322802cc cd $WORK/meta-openembedded git checkout -b tmp 352531015014d1957d6444d114f4451e241c4d23 cd $WORK/meta-linaro git checkout -b tmp 75dfb67bbb14a70cd47afda9726e2e1c76731885 cd $WORK/meta-renesas git checkout -b tmp 8af0b7d6e445b532088a068dc012757001be3a1f cd $WORK/meta-rcar git checkout -b v3.15.0 remotes/origin/v3.15.0

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> <li> For Yocto v3.19.0
 * 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 7e7ee662f5dea4d090293045f7498093322802cc cd $WORK/meta-openembedded git checkout -b tmp 352531015014d1957d6444d114f4451e241c4d23 cd $WORK/meta-linaro git checkout -b tmp 75dfb67bbb14a70cd47afda9726e2e1c76731885 cd $WORK/meta-renesas git checkout -b tmp 20fcc94a8d05eda80250f27e87aaa3cfc3275300 cd $WORK/meta-rcar git checkout -b v3.19.0 remotes/origin/v3.19.0

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 v3.9.0 or later
 * 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>

Running Yocto images
Refer to "Running Yocto images" of Yocto-Gen3.

[NOTE] DTB file for Kingfisher: Image-r8a7795-h3ulcb -kf .dtb, Image-r8a7795-h3ulcb -4x2g-kf .dtb(*), Image-r8a7796-m3ulcb -kf .dtb (*) The "4x2g" means DDR8GiB SK board. Refer to "H3 SK variation".

S/W support status
Note:

"ok" - Function succeeded in the simple test as below.

"NT" - Function wasn't tested

WiFi
To check wifi and scan available WAPs run: $ ifconfig wlan0 up $ iwlist wlan0 scan

Bluetooth
Ex 1)To check bluetooth and scan available BT devices run: $ hciconfig hci0 up  $ hcitool -i hci0 scan

Ex 2) BT-Audio root@h3ulcb:~# bluetoothctl [NEW] Controller C8:DF:84:4C:84:98 h3ulcb [default] Agent registered [bluetooth]# power on Changing power on succeeded [bluetooth]# agent on Agent is already registered [bluetooth]# default-agent    Default agent request successful [bluetooth]# scan on Discovery started ..(snip)..  !!! <-- Please look for taget device !!! [bluetooth]# scan off ..(snip).. [bluetooth]# pair <MAC address of target device> ..(snip).. Request confirmation [agent] Confirm passkey 285311 (yes/no): yes ..(snip).. Pairing successful [bluetooth]# connect <MAC address of target device> ..(snip).. Connection successful ..(snip).. [Target device name]# quit Please play music on target device.

Gyro
$ cat /sys/bus/iio/devices/iio\:device0/*_raw (Accelerometer, Magnetometer) $ cat /sys/bus/iio/devices/iio\:device1/*_raw (Gyroscope)

GPS
$ cat /dev/ttySC3 (Yocto v2.23.1) $ cat /dev/ttySC2 (Yocto v3.x)

CAN
Ex) loop back Connect the following pins of CN17 and CN18: CN17 1pin - CN18 1pin  CN17 2pin - CN18 2pin   (*)Note: SW2 ON of KF. (defalt:ON)

$ ip link set can0 up type can bitrate 125000 $ ip link set can1 up type can bitrate 125000 $ candump can0& $ cangen can1 can0 08D   [3]  B5 F4 3C can0 34E   [3]  7C A1 70 can0 717   [6]  95 C5 67 4A 41 42 can0 7F1   [8]  CA B9 E9 3E AE 71 FC 52

Serial
Ex) loop back For KF M03: Connect the following pins on CN4: pin3(RxD) - pin5(TxD) pin4(RTS) - pin6(CTS)

For KF M04 or later: Connect the following pins on CN4: pin2(TxD) - pin4(RxD) pin1(RTS) - pin3(CTS)

For Yocto v2.23.1: $ stty -F /dev/ttySC2 -echo $ stty -F /dev/ttySC2 speed 9600 baud; line = 0; -brkint -imaxbel -echo $ cat /dev/ttySC2 & $ echo 123435452345 > /dev/ttySC2 123435452345

For Yocto v3.x: $ stty -F /dev/ttySC3 -echo $ stty -F /dev/ttySC3 speed 9600 baud; line = 0; -brkint -imaxbel -echo $ cat /dev/ttySC3 & $ echo 123435452345 > /dev/ttySC3 123435452345

LVDS Camera
<GMSL> Camera board: GMSL02 Camera: IMI RDACM21-01 Camera: Leopard Imaging LI-OV10635-GMSL or <FPD Link> Camera board: FPDL01 Camera: IMI RDACM24-01

*Note: H3 can use CN10 and CN11 M3 can use CN10

Ex1)  $ killall weston  $ capture -d /dev/video0 -F -f rgb32 -L 0 -T 0 -W 1280 -H 1080 -c 1000 -z

Ex2)  1. RDACM21-01/RDACM24-1  $ gst-launch-1.0 v4l2src device=/dev/video0 io-mode=dmabuf ! video/x-raw,format=BGRA,width=1280,height=1080,framerate=30/1 ! waylandsink

2. LI-OV10635-GMSL $ gst-launch-1.0 v4l2src device=/dev/video0 io-mode=dmabuf ! video/x-raw,format=BGRA,width=1280,height=800,framerate=30/1 ! waylandsink

CMOS Camera
Ex)  $ systemctl stop weston  $ capture -d /dev/video0 -F -f rgb32 -L 0 -T 0 -W 1280 -H 720 -c 1000 -t 60 -z

Raspberry Pi camera Rev 1.3(OV5647) / 2(IMX219)
In case of v2(IMX219): Add the following option to local.conf: KF_ENABLE_IMX219 = "1"

Ex)  $ systemctl stop weston                                                                  $ capture -d /dev/video0 -o -f bggr8 -W 2592 -H 1944 -c 1 -t 30 > video.bggr   [ 2475.196942] rcar_csi2 fea80000.csi2: Timeout of reading the PHY clock lane  [ 2475.203851] rcar_csi2 fea80000.csi2: Timeout of reading the PHY data lane

Ubuntu PC$ ./bayer2rgb -i video.bggr -o video.rgb24 -w 2592 -v 1944 -b 8 -f BGGR * https://github.com/jdthomas/bayer2rgb.git Ubuntu PC$ rawtoppm -rgb 2592 1944 video.rgb24 > video24.ppm Ubuntu PC$ display video24.ppm

Multichannel Audio
Ex1) CN12/32 on KF $ speaker-test -c 8 -t wav -W /usr/share/sounds/alsa/ Ex2) <KF> $ pactl set-default-sink pcm3168a_output $ speaker-test -c 8 -t wav -W /usr/share/sounds/alsa/ <SK> $ pactl set-default-sink ak4613_output $ amixer -c 1 sset "DVC Out" 10% $ speaker-test -c 2 -t wav -W /usr/share/sounds/alsa/ Ex3) <KF>  $ paplay -d pcm3168a_output sample.wav  <SK>  $ amixer -c 1 sset "DVC Out" 10%  $ paplay -d ak4613_output sample.wav

MOST
Ex) 1. Connect OS81092 board(Physical+ Interface Board OS81092) and CN22 of KF. 2. Connect Audio board(OS81092 Audio Demo Board) and OS819092 board with exclusive cable. 3. Connect Audio board and CN5 of SK with USB cable. 4. Run the linux kernel 5. cd /usr/share/most/ 6. ./most_setup.sh $./most_setup.sh --Setting up RX channel with MLB[ 217.636328] aim_sound: PCM format is 16-bit stereo addr 0x03 (0x06)-- --S[  217.642675] aim_sound: PCM format is 16-bit stereo etting up TX channel wit[  217.649647] aim_sound: PCM format is 16-bit stereo h MLB addr 0x04 (0x08)-- --Setting up TX channel with MLB addr 0x06 (0x0C)-- --Creating char devices-- --Creating ALSA devices-- 7../setup-audio-50 & $./setup-audio-50 & Configuration:        Timing Slave (Audio Sink) ! ET_NS_MSVAL_ERROR a MSVAL Error is reported from the NS: 0x0010 MSVAL_ERR_STARTUP_FAILED MSVAL_E_SHUTDOWN App reset MSVAL_E_SHUTDOWN App reset ! ET_NS_MSVAL_ERROR a MSVAL Error is reported from the NS: 0x0011 MSVAL_ERR_STARTUP_BUSY ! ET_NS_MSVAL_ERROR a MSVAL Error is reported from the NS: 0x0011 MSVAL_ERR_STARTUP_BUSY (snip) 8. Push the "Switch" button on the Audio board -> MostAllowRemoteAccess(allow) -> SourceInfo.Status 1 (Inst_ID: 0x1, FB: 0x24, Adr: 0x400) -> SourceInfo.Status 2 (Inst_ID: 0x1, FB: 0x24, Adr: 0x400) -> Amplifier.Volume.Set 100 9. Push the "Switch" button on the Audio board again <- FB_AuxIn_Allocate_StartResult Node: 0x01, Ifn: 0x02 10. Push the "Switch" button on the Audio board again <- FB_AuxIn_Allocate_StartResult Node: 0x01, Ifn: 0x01 11. ./most_play.sh ${PATH}/hoge.mp3 5 $./most_play.sh /home/root/hoge.mp3 5 Setting pipeline to PAUSED ... Pipeline is PREROLLING ... Redistribute latency... Pipeline is PREROLLED ... Setting pipeline to PLAYING ... New clock: GstAudioSinkClock

Radio
ex) FM Radio

If radio module is used for the first time, updating radio module firmware is required.

Updating firmware is not required after the second time. $ si_init $ si_firmware_update ( Update firmware of radio module.) $ si_fm $ si_preset <FM Radio frequency> ( In Tokyo, Japan, 91600 is Nippon Cultural Broadcasting. )

How to update of Sample Loader and MiniMonitor
New version: Sample Loader: V3.02 MiniMonitor: V3.02

Down load:

Why update?: ComEx Mechanical Specification: Durability: 30 mating cycles. This new version(V3.02) can update firmware(*) while keeping Starter Kit(SK) and Kingfisher(KF) connected.

【Note】 The Sample Loader/MiniMonitor version of latest SK is "5.08". This board does not need to be updated. (You can update firmware(*) while SK and KF connected.

(*)firmware: bootparam_sa0.srec, bl2-h3ulcb/m3ulcb.srec, cert_header_sa6.srec, bl31-h3ulcb/m3ulcb.srec, tee-h3ulcb/m3ulcb.srec, u-boot-elf.srec

How to update: <ol>

<li> Power off the KF and remove SK from KF </li> Turn off SW5 Remove SK from KF

<li> Set SW of SK as follows: </li> SW1:OFF SW6:OFF/OFF/OFF/OFF SW2:OFF/OFF/OFF/OFF

<li> Power on the SK (This means that you need to prepare a 5V AC-adapter for SK) </li> Press SW8 SCIF Download mode starts

<li> Send the following file from console(Ex: minicom): </li> type "ctrl+A S" and select upload method "ascii", then choose file for uploading the following file. Case of M3SK: BoardID_Writer_SCIF_64bit_ID=0x10(StarterKit-Pro_Rev1.0).mot Case of H3SK: BoardID_Writer_SCIF_64bit_ID=0x58(StarterKit-Premier_Rev1.0OB).mot

NOTE: Under Linux, if you got problem transferring this file, it may because of special character in its name.

Solution is to open a new terminal then manually launch the transfer with the following command with double quote around filename (Ex: serial link on ttyUSB0 for M3SK):
 * 1) /usr/bin/ascii-xfr -dsv "BoardID_Writer_SCIF_64bit_ID=0x10(StarterKit-Pro_Rev1.0).mot" > /dev/ttyUSB0

You can confirm the following log (Ex: M3SK): +-+ +-+ Product Code : R-Car M3 ES1.0
 * Board ID Writer V01 2017.06.23 |

Now Board ID : Unknown Board Rev7 (0xFF) New Board ID : Starter Kit Rev0 (0x10) Wrote Board ID : Starter Kit Rev0 (0x10)

Writer Program End.

<li> Power off the SK </li> Press SW8

<li> Set SW as follows: </li> M3SK = SW6:OFF/ON/OFF/OFF H3SK = SW6:OFF/OFF/OFF/OFF

<li> Power on the SK </li> Press SW8 SCIF Download mode starts

<li> Send the following file from console: </li> type "ctrl+A S" and select upload method "ascii", then choose file for uploading the following file. Case of M3SK: AArch32_Gen3_H3_M3_Scif_MiniMon_V3.02.mot Case of H3SK: AArch64_Gen3_H3_M3_Scif_MiniMon_V3.02.mot You can confirm the following log (Ex: M3SK): R-Car Gen3 Scif Download MiniMonitor V3.02 2017.07.04 Work Memory    : SystemRAM Board Judge    : Used Board-ID	<-- Attention!! DDR_Init       : boardcnf[3] Starter Kit (M3SIP) Board Name     : Starter Kit Pro Product Code   : R-Car M3 ES1.0

>

<li> Flash AArch64_Gen3_H3_M3_SPI_LOADER_V3.02.mot. In console execute xls command (load program to hyper flash) and provide the following inputs: </li> xls 1 y y y 1 type "ctrl+A S" and select upload method "ascii", then choose file for uploading "AArch64_Gen3_H3_M3_SPI_LOADER_V3.02.mot", after upload finished press y key

<li> Flash AArch64_Gen3_Spi_MiniMon_V3.02_E6330000.mot. In console execute xls command (load program to hyper flash) and provide the following inputs: </li> xls 1 y y y 3 e6330000 type "ctrl+A S" and select upload method "ascii", then choose file for uploading "AArch64_Gen3_Spi_MiniMon_V3.02_E6330000.mot", after upload finished press y key

<li> Power off the SK </li> Press SW8

<li> Verify Sample Loader and MiniMonitor version </li> SW1:OFF M3SK SW6[1]=OFF, SW6[2]=OFF, SW6[3]=OFF, SW6[4]=ON H3SK ws1.0: SW6[all]=OFF ws1.1/ws2.0: SW6[1]=ON, SW6[2]=ON, SW6[3]=OFF, SW6[4]=ON Press SW8 You can confirm the following log (Ex: H3SK): R-Car Gen3 Sample Loader V3.02 2017.07.04		<-- !! V3.02 !! For Salvator, Kriek , and StarterKit. Board Judge    : Used Board-ID DDR_Init       : boardcnf[7] Salvator / Starter Kit (H3SIP_VER2.0) INITIAL SETTING : Starter Kit Premier / R-Car H3 ES2.0 CPU            : AArch64 CA57 DRAM           : LPDDR4 DDR3200 DEVICE         : QSPI Flash(S25FS128) at 40MHz DMA BOOT           : Normal Boot BACKUP         : DDR Cold Boot jump to 0xE6330000

R-Car Gen3 MiniMonitor V3.02 2017.07.04		<-- !! V3.02 !! Work Memory    : SystemRAM Board Name     : Starter Kit Premier Product Code   : R-Car H3 ES2.0

>

<li> Set SW(Kernel boot mode) as follows: </li> SW1:ON M3SK = SW6[all]:ON H3SK ws1.0 = SW6:OFF/OFF/OFF/ON ws1.1 = SW6:ON/OFF/ON/ON ws2.0 = SW6[all]:ON

<li> You can update the firmware with SK connected to KF. </li> How to update: http://elinux.org/R-Car/Boards/M3SK#Flashing_firmware http://elinux.org/R-Car/Boards/H3SK#Flashing_firmware </ol>

FAQ
<ol> <li>Failed to DRAM initialize (-1). If you face the following error please update(*) IPL and u-boot to the latest versopm. NOTICE: BL2: R-Car Gen3 Initial Program Loader(CA57) Rev.1.0.12 NOTICE: BL2: PRR is R-Car M3 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: DDR3200(rev.0.20)[COLD_BOOT]..1 NOTICE: BL2: Failed to DRAM initialize (-1). ERROR: ERROR:  BL2: System WDT overflow, occured address is 0xe630d3cc (*)How to update http://elinux.org/R-Car/Boards/Kingfisher#How_to_update_of_Sample_Loader_and_MiniMonitor http://elinux.org/R-Car/Boards/M3SK#Flashing_firmware http://elinux.org/R-Car/Boards/H3SK#Flashing_firmware </li> </ol>

Known Issues
<ol> <li> USB3.0(CN2) cannot use with M3 SK. </li> This is a limitation of M3 SK. (H3 SK can use USB3.0) <li> H/W limitations - Board type name: "SBEV-RCAR-KF-M03" 1. MOST is not supported.

- Board type name: "SBEV-RCAR-KF-M03" and "SBEV-RCAR-KF-S03" 1. BT-Audio(HFP)is not supported.

- Board type name: "SBEV-RCAR-KF-M03", "SBEV-RCAR-KF-S03" and "SBEV-RCAR-KF-M04" 1. Cannot use JTAG(CN3 on SK). </li> <li>Power supply SBEV-RCAR-KF-M03 and SBEV-RCAR-KF -S03 boards may not turn on even if you turn on SW6. In that case please turn on SW6 again. </li> <li>(SW limitation)Raspberry Pi camera v2(Sony IMX219) camera does not support. (v1(ov5647)is supported) --> Yocto v3.9.0 or later support v2 camera. </li> </ol>