View source for R-Car/Boards/Kingfisher/Yocto-Gen3/v5.5.0

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[[Category:R-Car]]
[[Category:R-Car Gen3]]


== Introduction ==
This page contains information on building and running Yocto on:
* [[R-Car/Boards/Kingfisher | Infotainment Carrier Board For R-Car Starter Kit(Kingfisher)]]
See also:
* Latest version [[R-Car/Boards/Kingfisher/Yocto-Gen3 ]]
* Stable version [[R-Car/Boards/Kingfisher/Yocto-Gen3-stable ]]

== Topic ==
{{Template:R-Car-Gen3-KF-Topic}}

== Software revisions ==

{| class="wikitable"
|-
! Software !! Revision
|-
| Yocto Project || [http://git.yoctoproject.org/cgit/cgit.cgi/poky/tag/?id=yocto-3.1.8 3.1.8]
|- 
| aarch64-poky-linux-gcc (GCC) || 9.3
|- 
| Wayland/Weston || 1.18.0/8.0.0
|- 
| GStreamer || 1.16.3
|- 
| Kernel Ver || 5.10.41
|- 
| Userland 64/32bit || 64
|- 
| U-Boot || 2020.10
|- 
| OP_TEE || 3.13.0
|- 
| OpenGL ES || 3.2
|- 
|}

== Host PC ==
Ubuntu 16.04/20.04 LTS (64bit) is recommended as OS. 32bit version is not supported. <br/>

== Required packages ==

# 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/us/en/application/automotive/r-car-h3-m3-h2-m2-e2-documents-software
#: Download two files:
#::* R-Car_Gen3_Series_Evaluation_Software_Package_for_Linux-20210921.zip
#::* R-Car_Gen3_Series_Evaluation_Software_Package_of_Linux_Drivers-20210921.zip
#: <br/>
#: Graphic drivers are required for Wayland. Multimedia drivers are optional.
# Install required packages
#: <syntaxhighlight lang="bash">
sudo apt-get install gawk wget git-core diffstat unzip texinfo gcc-multilib \
build-essential chrpath socat cpio python3 python3-pip python3-pexpect \
xz-utils debianutils iputils-ping python3-git python3-jinja2 libegl1-mesa \
libsdl1.2-dev pylint3 xterm
</syntaxhighlight>
#: Refer to [http://www.yoctoproject.org/docs/current/yocto-project-qs/yocto-project-qs.html#packages Yocto Project Quick Start] for more information.

== Building the BSP for Kingfisher ==

=== Using build script ===
# Directory Structure
#: <syntaxhighlight lang="bash">
|--build.sh
`--proprietary
   |--R-Car_Gen3_Series_Evaluation_Software_Package_for_Linux-20210921.zip
   `--R-Car_Gen3_Series_Evaluation_Software_Package_of_Linux_Drivers-20210921.zip
</syntaxhighlight>
# Build script(build.sh)
#: <syntaxhighlight lang="bash">
#!/bin/bash

BOARD_LIST=("h3ulcb" "m3ulcb")
TARGET_BOARD=$1
PROPRIETARY_DIR=`pwd`/proprietary
WORK=`pwd`/${TARGET_BOARD}

POKY_COMMIT=6ebb33bdaccaeadff0c85aab27acf35723df00d8
META_OE_COMMIT=c38d2a74f762a792046f3d3c377827b08aade513
META_RENESAS_COMMIT=0fe77668f5d9a31a5d10449988c3d8fb8dc475c5
META_RCAR_BRANCH=v5.5.0

GFX_MMP_LIB=R-Car_Gen3_Series_Evaluation_Software_Package_for_Linux-20210921.zip
GFX_MMP_DRIVER=R-Car_Gen3_Series_Evaluation_Software_Package_of_Linux_Drivers-20210921.zip

Usage () {
    echo "Usage: $0 \${TARGET_BOARD_NAME}"
    echo "BOARD_NAME list: "
    for i in ${BOARD_LIST[@]}; do echo "  - $i"; done
    exit
}

# Check Param.
if ! `IFS=$'\n'; echo "${BOARD_LIST[*]}" | grep -qx "${TARGET_BOARD}"`; then
    Usage
fi

mkdir -p ${WORK}
cd ${WORK}

# Clone basic Yocto layers in parallel
git clone git://git.yoctoproject.org/poky &
git clone git://git.openembedded.org/meta-openembedded &
git clone https://github.com/renesas-rcar/meta-renesas &
git clone https://github.com/CogentEmbedded/meta-rcar.git &

# Wait for all clone operations
wait

# Switch to proper branches/commits
cd ${WORK}/poky
git checkout -b tmp ${POKY_COMMIT}
cd ${WORK}/meta-openembedded
git checkout -b tmp ${META_OE_COMMIT}
cd ${WORK}/meta-renesas
git checkout -b tmp ${META_RENESAS_COMMIT}
cd $WORK/meta-rcar
git checkout -b ${META_RCAR_BRANCH} remotes/origin/${META_RCAR_BRANCH}

# Populate meta-renesas with proprietary software packages
WORK_PROP_DIR=${WORK}/proprietary
mkdir -p ${WORK_PROP_DIR}
unzip -qo ${PROPRIETARY_DIR}/${GFX_MMP_LIB} -d ${WORK_PROP_DIR}
unzip -qo ${PROPRIETARY_DIR}/${GFX_MMP_DRIVER} -d ${WORK_PROP_DIR}
cd ${WORK}/meta-renesas
sh meta-rcar-gen3/docs/sample/copyscript/copy_proprietary_softwares.sh -f ${WORK_PROP_DIR}

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

#cp ${WORK}/meta-renesas/meta-rcar-gen3/docs/sample/conf/${TARGET_BOARD}/poky-gcc/bsp/*.conf ./conf/
#cp ${WORK}/meta-renesas/meta-rcar-gen3/docs/sample/conf/${TARGET_BOARD}/poky-gcc/gfx-only/*.conf ./conf/
cp ${WORK}/meta-renesas/meta-rcar-gen3/docs/sample/conf/${TARGET_BOARD}/poky-gcc/mmp/*.conf ./conf/

cd ${WORK}/build
cp conf/local-wayland.conf conf/local.conf

bitbake-layers add-layer ../meta-rcar/meta-rcar-gen3-adas
bitbake core-image-weston

</syntaxhighlight>
# build
#: <syntaxhighlight lang="bash">
./build.sh <target_board_name>
</syntaxhighlight>
#: {{Note}} target_board_name is "h3ulcb" or "m3ulcb".
#: If the build completes successfully, all the necessary files are generated in a following directory:
#:: <syntaxhighlight lang="text">
./<target_board_name>/build/tmp/deploy/images/<target_board_name>
</syntaxhighlight>

=== Manual steps ===
# 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.
#: <syntaxhighlight lang="bash">
mkdir build
cd build
export WORK=`pwd`
</syntaxhighlight>
# Clone basic Yocto layers:
#: <syntaxhighlight lang="bash">
cd $WORK
git clone git://git.yoctoproject.org/poky
git clone git://git.openembedded.org/meta-openembedded
git clone https://github.com/renesas-rcar/meta-renesas
git clone https://github.com/CogentEmbedded/meta-rcar.git
</syntaxhighlight>
# Switch to proper branches/commits
#: <syntaxhighlight lang="bash">
cd $WORK/poky
git checkout -b tmp 6ebb33bdaccaeadff0c85aab27acf35723df00d8
cd $WORK/meta-openembedded
git checkout -b tmp c38d2a74f762a792046f3d3c377827b08aade513
cd $WORK/meta-renesas
git checkout -b tmp 0fe77668f5d9a31a5d10449988c3d8fb8dc475c5
cd $WORK/meta-rcar
git checkout -b v5.5.0 remotes/origin/v5.5.0
</syntaxhighlight>
#: Another versions are not tested for compatibility.
#: Legacy BSP instruction can be found here [[R-Car/Boards/Kingfisher/Yocto-Gen3-legacy | R-Car Kingfisher Yocto Gen3 legacy]]
# Create $WORK/../proprietary folder, then download proprietary driver modules to it.
#: See also [[{{PAGENAME}}#Required_packages | Required_packages]]
#: You should see the following files:
#: <syntaxhighlight lang="bash">
$ ls -1 $WORK/../proprietary/*.zip
R-Car_Gen3_Series_Evaluation_Software_Package_for_Linux-20210921.zip
R-Car_Gen3_Series_Evaluation_Software_Package_of_Linux_Drivers-20210921.zip
</syntaxhighlight>
# Populate meta-renesas with proprietary software packages.
#: <syntaxhighlight lang="bash">
export PKGS_DIR=$WORK/../proprietary
cd $PKGS_DIR
unzip -qo R-Car_Gen3_Series_Evaluation_Software_Package_for_Linux-20210921.zip
unzip -qo R-Car_Gen3_Series_Evaluation_Software_Package_of_Linux_Drivers-20210921.zip
cd $WORK/meta-renesas
sh meta-rcar-gen3/docs/sample/copyscript/copy_proprietary_softwares.sh -f $PKGS_DIR
unset PKGS_DIR
</syntaxhighlight>
# Setup build environment
#: <syntaxhighlight lang="bash">
cd $WORK
source poky/oe-init-build-env $WORK/build
</syntaxhighlight>
# Prepare default configuration files.
#: <syntaxhighlight lang="bash">
cp $WORK/meta-renesas/meta-rcar-gen3/docs/sample/conf/<h3ulcb|m3ulcb>/poky-gcc/mmp/*.conf ./conf/
cd $WORK/build
cp conf/local-wayland.conf conf/local.conf
</syntaxhighlight>
#: NOTE: extra configuration examples are available in the following directory:
#::<syntaxhighlight lang="bash">$WORK/meta-rcar/meta-rcar-gen3-adas/docs/sample/conf/</syntaxhighlight>
# Add layer meta-rcar
#: <syntaxhighlight lang="bash">
bitbake-layers add-layer ../meta-rcar/meta-rcar-gen3-adas
</syntaxhighlight>
# Start the build
#: <syntaxhighlight lang="bash">
bitbake core-image-weston
</syntaxhighlight>
# Building image can take up to a few hours depending on your host system performance.<br>After the build has been completed successfully, you should see the output similar to:
#: <syntaxhighlight lang="bash">
NOTE: Tasks Summary: Attempted 4704 tasks of which 31 didn't need to be rerun and all succeeded.
</syntaxhighlight>
#: and the command prompt should return.
# Bitbake has generated all the necessary files in ./tmp/deploy/images directory. <br/>You can verify its content:
#: <syntaxhighlight lang="bash">
-> % ls -1 `find ./tmp/deploy/images/h3ulcb/ -maxdepth 1 -type l -print`
./tmp/deploy/images/h3ulcb/Image
./tmp/deploy/images/h3ulcb/Image-h3ulcb.bin
./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/core-image-weston-h3ulcb.testdata.json
./tmp/deploy/images/h3ulcb/core-image-weston-h3ulcb.wic.bmap
./tmp/deploy/images/h3ulcb/core-image-weston-h3ulcb.wic.xz
./tmp/deploy/images/h3ulcb/core-image-weston-h3ulcb.wic.xz.sha256sum
./tmp/deploy/images/h3ulcb/modules-h3ulcb.tgz
./tmp/deploy/images/h3ulcb/r8a77950-ulcb-h3ulcb.dtb
./tmp/deploy/images/h3ulcb/r8a77950-ulcb-kf-h3ulcb.dtb
./tmp/deploy/images/h3ulcb/r8a77950-ulcb-kf.dtb
./tmp/deploy/images/h3ulcb/r8a77950-ulcb.dtb
./tmp/deploy/images/h3ulcb/r8a77951-ulcb-h3ulcb.dtb
./tmp/deploy/images/h3ulcb/r8a77951-ulcb-kf-h3ulcb.dtb
./tmp/deploy/images/h3ulcb/r8a77951-ulcb-kf.dtb
./tmp/deploy/images/h3ulcb/r8a77951-ulcb.dtb
./tmp/deploy/images/h3ulcb/r8a779m1-ulcb-h3ulcb.dtb
./tmp/deploy/images/h3ulcb/r8a779m1-ulcb-kf-h3ulcb.dtb
./tmp/deploy/images/h3ulcb/r8a779m1-ulcb-kf.dtb
./tmp/deploy/images/h3ulcb/r8a779m1-ulcb.dtb
./tmp/deploy/images/h3ulcb/u-boot-elf-h3ulcb.srec
./tmp/deploy/images/h3ulcb/u-boot-h3ulcb.bin
./tmp/deploy/images/h3ulcb/u-boot-h3ulcb.bin-r8a7795_h3ulcb
./tmp/deploy/images/h3ulcb/u-boot-initial-env-h3ulcb-r8a7795_h3ulcb
./tmp/deploy/images/h3ulcb/u-boot-initial-env-r8a7795_h3ulcb
./tmp/deploy/images/h3ulcb/u-boot.bin
./tmp/deploy/images/h3ulcb/u-boot.bin-r8a7795_h3ulcb
./tmp/deploy/images/h3ulcb/ulcb-kf-cn10-gmsl2-h3ulcb.dtbo
./tmp/deploy/images/h3ulcb/ulcb-kf-cn10-gmsl2.dtbo
./tmp/deploy/images/h3ulcb/ulcb-kf-cn10-pca-h3ulcb.dtbo
./tmp/deploy/images/h3ulcb/ulcb-kf-cn10-pca.dtbo
./tmp/deploy/images/h3ulcb/ulcb-kf-cn11-gmsl2-h3ulcb.dtbo
./tmp/deploy/images/h3ulcb/ulcb-kf-cn11-gmsl2.dtbo
./tmp/deploy/images/h3ulcb/ulcb-kf-cn11-h3ulcb.dtbo
./tmp/deploy/images/h3ulcb/ulcb-kf-cn11-pca-h3ulcb.dtbo
./tmp/deploy/images/h3ulcb/ulcb-kf-cn11-pca.dtbo
./tmp/deploy/images/h3ulcb/ulcb-kf-cn11.dtbo
./tmp/deploy/images/h3ulcb/ulcb-kf-imx219-h3ulcb.dtbo
./tmp/deploy/images/h3ulcb/ulcb-kf-imx219.dtbo
./tmp/deploy/images/h3ulcb/ulcb-kf-most-h3ulcb.dtbo
./tmp/deploy/images/h3ulcb/ulcb-kf-most.dtbo
./tmp/deploy/images/h3ulcb/ulcb-kf-panel-koe-tx31d200vm0baa-1280x480-h3ulcb.dtbo
./tmp/deploy/images/h3ulcb/ulcb-kf-panel-koe-tx31d200vm0baa-1280x480.dtbo
./tmp/deploy/images/h3ulcb/ulcb-kf-panel-mitsubishi-aa104xd12-1024x768-h3ulcb.dtbo
./tmp/deploy/images/h3ulcb/ulcb-kf-panel-mitsubishi-aa104xd12-1024x768.dtbo
./tmp/deploy/images/h3ulcb/ulcb-kf-panel-mitsubishi-aa121td01-1280x800-h3ulcb.dtbo
./tmp/deploy/images/h3ulcb/ulcb-kf-panel-mitsubishi-aa121td01-1280x800.dtbo
./tmp/deploy/images/h3ulcb/ulcb-kf-sd3-h3ulcb.dtbo
./tmp/deploy/images/h3ulcb/ulcb-kf-sd3.dtbo
</syntaxhighlight>
#: '''Image''' is a Kernel image, '''*.dtb''' is a blob file,  '''core-image-<image_type>-<board_name>.tar.bz2''' is the rootfs, '''modules-<board_name>.tgz''' are kernel modules.
# You can now proceed with running Yocto images

== Relationship diagram between each SK board and DTB file in Yocto v5.5.0  ==
{| class="wikitable"
|-
! Board name !! SoC version !! Type Name || DTB file
|-
| H3SK || 2.0<br>2.0<br>2.0/3.0 || RTP0RC77951SKBX010SA00<br>RTP0RC77951SKBX010SA01<br>RTP0RC77951SKBX010SA03  || r8a77951-ulcb-kf.dtb
|-
| H3e-2G SK || 3.0 || RTP8J779M1ASKB0SK0SA003  || r8a779<span style="color:#ff0000;">m</span>1-ulcb-kf.dtb
|- 
| M3SK || 1.0 || RTP0RC7796SKBX0010SA09 || r8a77960-ulcb-kf.dtb
|- 
| M3SK || 3.0 || RTP8J77961ASKB0SK0SA05A || r8a77961-ulcb-kf.dtb
|- 
|}

== Build SDK ==
Refer to [[R-Car/Boards/Yocto-Gen3/{{SUBPAGENAME}}#Build_SDK | Build SDK]] on the Yocto-Gen3 page.

== Running Yocto images ==
Refer to [[R-Car/Boards/Yocto-Gen3/{{SUBPAGENAME}}#Running_Yocto_images |Running Yocto images]] on the Yocto-Gen3 page.</br>
'''[NOTE]'''
: DTB filename for Kingfisher contains suffix "-kf".
:: Ex.) r8a77951-ulcb-kf.dtb
: If you want to know the combinatation of the board and dtb file, please refer to [[R-Car/Boards/Yocto-Gen3-CommonFAQ/Which_dtb_file_is_required_to_boot_linux_on_the_R-Car_Starter_Kit_board_%3F | here]].

== S/W support status ==

=== Support list ===

{| class="wikitable"
! Functions !! Status
|-
| [[{{PAGENAME}}#WiFi | WiFi]] || ok
|-
| [[{{PAGENAME}}#Bluetooth | Bluetooth ]] || ok
|-
| [[{{PAGENAME}}#Gyro | Gyro ]] || ok
|-
| [[{{PAGENAME}}#GPS | GPS ]]|| ok
|-
| [[{{PAGENAME}}#CAN | CAN ]]|| ok
|-
| [[{{PAGENAME}}#Serial| Serial]](CN4) || ok
|-
| [[{{PAGENAME}}#LVDS_Camera| LVDS Camera ]](CN10/CN11) || ok
|-
| [[{{PAGENAME}}#CMOS_Camera| CMOS Camera ]] || ok
|-
| [[{{PAGENAME}}#Raspberry_Pi_camera_Rev_1.3.28OV5647.29_.2F_2.28IMX219.29| Raspberry Pi camera Rev 1.3]] || ok
|-
| [[{{PAGENAME}}#Raspberry_Pi_camera_Rev_1.3.28OV5647.29_.2F_2.28IMX219.29| Raspberry Pi camera Rev 2]] || ok
|-
| USB2.0(CN13) Host || ok
|-
| [[{{PAGENAME}}#USB_2.0_Function | USB 2.0]](CN13) Func(g_mass_storage) || ok
|-
| USB3.0(CN2) Host || ok
|-
| [[{{PAGENAME}}#Multichannel_Audio| Multichannel Audio]] ||  ok
|-
| HDMI Out || ok
|-
| LVDS Out || ok
|-
| Mini PCIe || ok (Atheros AR5418)
|-
| [[{{PAGENAME}}#M.2| M.2]] || ok
|-
| [[{{PAGENAME}}#MOST | MOST ]]|| ok
|-
| [[{{PAGENAME}}#Radio| Radio ]](CN42)|| ok
|-
|}

Note:
: "ok" - Function succeeded in the simple test as below.
: "NT" - Function wasn't tested

=== How to test some capabilities ===
==== WiFi ====
To check wifi and scan available WAPs run:
: <syntaxhighlight lang="bash">
$ ifconfig wlan0 up
$ iw dev wlan0 scan
</syntaxhighlight>

==== Bluetooth ====
Ex 1)To check bluetooth and scan available BT devices run:
: <syntaxhighlight lang="bash">
$ hciconfig hci0 up
$ hcitool -i hci0 scan
</syntaxhighlight>

Ex 2)BT-Audio
: <syntaxhighlight lang="text">
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
</syntaxhighlight>
Please play music on target device.

==== Gyro ====
<syntaxhighlight lang="bash">
$ cat /sys/bus/iio/devices/iio\:device0/*_raw (Accelerometer, Magnetometer)
$ cat /sys/bus/iio/devices/iio\:device1/*_raw (Gyroscope)
</syntaxhighlight>

==== GPS ====
<syntaxhighlight lang="bash">
$ cat /dev/ttySC2
</syntaxhighlight>

==== CAN ====
Ex) loop back</br>
: Connect the following pins of CN17 and CN18:
:: <syntaxhighlight lang="text">
CN17 1pin - CN18 1pin
CN17 2pin - CN18 2pin
(*)Note: SW2 ON of KF. (defalt:ON)
</syntaxhighlight>
::[[File:KF_CAN.jpg|350px]]
: <syntaxhighlight lang="bash">
$ 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
</syntaxhighlight>

==== Serial ====
Ex) loop back</br>
: For KF M03: Connect the following pins on CN4:
:: <syntaxhighlight lang="text">
pin3(RxD) - pin5(TxD)
pin4(RTS) - pin6(CTS)
</syntaxhighlight>
: For KF M04 or later: Connect the following pins on CN4:
:: <syntaxhighlight lang="text">
pin2(TxD) - pin4(RxD)
pin1(RTS) - pin3(CTS)
</syntaxhighlight>
: <syntaxhighlight lang="bash">
$ 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
</syntaxhighlight>

==== LVDS Camera ====
* <GMSL>
*: Camera board: GMSL02
*: Camera: IMI RDACM21-01 <-- This may be out of stock
*: Camera: Leopard Imaging LI-OV10635-GMSL
*: Camera: Entron S001A190CM0A (How to get : [[R-Car/Boards/Kingfisher#How_to_get_the_SA001_Camera]])
<!--
* <FPD Link>
*: Camera board: FPDL01
*: Camera: IMI RDACM24-01 <-- This may be out of stock
-->

'''[Note]'''
: H3 can use CN10 and CN11
: M3 can use CN10

* When you use a Leopard Imaging camera, add some parameters to bootargs.
{| class="wikitable"
! Leopard Imagin camera type name !! bootargs
|-
| LI-OV10635-GMSL || ov10635.dvp_order=0
|-
| (IMI) RDACM21   || ov490.dvp_order=1
|-
| S001A190CM0A   || max9286.him=1 max9286.vsync=0 max9286.fsync_period=2420000 max9286.crossbar=0x01234567
|-
|}
Ex1) 1 camera
# RDACM21-01
#: <syntaxhighlight lang="bash">
$ media-ctl -r
$ media-ctl -d /dev/media0 -V "'rcar_csi2 feaa0000.csi2':1 [fmt:UYVY8_2X8/1280x800 field:none]"
$ media-ctl -d /dev/media0 -l "'rcar_csi2 feaa0000.csi2':1 -> 'VIN0 output':0 [1]"
$ gst-launch-1.0 v4l2src device=/dev/video0 io-mode=mmap '!' video/x-raw,format=BGRA,width=1280,height=800,framerate=30/1 '!' waylandsink
</syntaxhighlight>

# LI-OV10635-GMSL
#: <syntaxhighlight lang="bash">
$ media-ctl -d /dev/media0 -V "'rcar_csi2 feaa0000.csi2':1 [fmt:UYVY8_2X8/1280x800 field:none]"
$ media-ctl -d /dev/media0 -l "'rcar_csi2 feaa0000.csi2':1 -> 'VIN0 output':0 [1]"
$ gst-launch-1.0 v4l2src device=/dev/video0 io-mode=mmap '!' video/x-raw,format=BGRA,width=1280,height=800,framerate=30/1 '!' waylandsink
</syntaxhighlight>

# S001A190CM0A
#: <syntaxhighlight lang="bash">
$ media-ctl -d /dev/media0 -V "'rcar_csi2 feaa0000.csi2':1 [fmt:UYVY8_2X8/1280x728 field:none]"
$ media-ctl -d /dev/media0 -l "'rcar_csi2 feaa0000.csi2':1 -> 'VIN0 output':0 [1]"
$ gst-launch-1.0 v4l2src device=/dev/video0 io-mode=mmap '!' video/x-raw,format=BGRA,width=1280,height=728,framerate=30/1 '!' waylandsink
</syntaxhighlight>

Ex2) 4 cameras
# RDACM21-01 x4
#: <syntaxhighlight lang="bash">
$ media-ctl -r
$ media-ctl -d /dev/media0 -V "'rcar_csi2 feaa0000.csi2':1 [fmt:UYVY8_2X8/1280x800 field:none]"
$ media-ctl -d /dev/media0 -l "'rcar_csi2 feaa0000.csi2':1 -> 'VIN0 output':0 [1]"
$ media-ctl -d /dev/media0 -V "'rcar_csi2 feaa0000.csi2':2 [fmt:UYVY8_2X8/1280x800 field:none]"
$ media-ctl -d /dev/media0 -l "'rcar_csi2 feaa0000.csi2':2 -> 'VIN1 output':0 [1]"
$ media-ctl -d /dev/media0 -V "'rcar_csi2 feaa0000.csi2':3 [fmt:UYVY8_2X8/1280x800 field:none]"
$ media-ctl -d /dev/media0 -l "'rcar_csi2 feaa0000.csi2':3 -> 'VIN2 output':0 [1]"
$ media-ctl -d /dev/media0 -V "'rcar_csi2 feaa0000.csi2':4 [fmt:UYVY8_2X8/1280x800 field:none]"
$ media-ctl -d /dev/media0 -l "'rcar_csi2 feaa0000.csi2':4 -> 'VIN3 output':0 [1]"
$ gst-launch-1.0 v4l2src device=/dev/video0 io-mode=mmap '!' video/x-raw,format=BGRA,width=1280,height=800,framerate=30/1 '!' waylandsink
$ gst-launch-1.0 v4l2src device=/dev/video1 io-mode=mmap '!' video/x-raw,format=BGRA,width=1280,height=800,framerate=30/1 '!' waylandsink
$ gst-launch-1.0 v4l2src device=/dev/video2 io-mode=mmap '!' video/x-raw,format=BGRA,width=1280,height=800,framerate=30/1 '!' waylandsink
$ gst-launch-1.0 v4l2src device=/dev/video3 io-mode=mmap '!' video/x-raw,format=BGRA,width=1280,height=800,framerate=30/1 '!' waylandsink
</syntaxhighlight>

==== CMOS Camera ====
Ex)
:<syntaxhighlight lang="bash">
$ media-ctl -d /dev/media0 -V "'ov5642 22-003c':0 [fmt:UYVY8_2X8/1280x720 field:none]"
$ media-ctl -d /dev/media0 -l "'ov5642 22-003c':0 -> 'VIN5 output':0 [1]"
$ gst-launch-1.0 v4l2src device=/dev/video5 '!' video/x-raw,format=BGRA,width=1280,height=720,framerate=30/1 '!' waylandsink
</syntaxhighlight>

==== Raspberry Pi camera Rev 1.3(OV5647) / 2(IMX219) ====
* Ex) OV5647
*:<syntaxhighlight lang="bash">
$ media-ctl -d /dev/media0 -p | grep ov5647
                <- "ov5647 21-0036":0 [ENABLED,IMMUTABLE]
- entity 13: ov5647 21-0036 (1 pad, 1 link)
$ media-ctl -d /dev/media0 -V "'rcar_csi2 fea80000.csi2':1 [fmt:SBGGR8_1X8/2592x1944 field:none]"
$ media-ctl -d /dev/media0 -l "'rcar_csi2 fea80000.csi2':1 -> 'VIN4 output':0 [1]"

$ capture -d /dev/video4 -o -f bggr8 -W 2592 -H 1944 -c 1 -t 30 > /home/root/video.bggr
or
$ v4l2-ctl -d /dev/v4l-subdev2 -c test_pattern=1
$ capture -d /dev/video4 -o -f bggr8 -W 2592 -H 1944 -c 1 -t 30 > /home/root/video.bggr
</syntaxhighlight>
* Ex) Display
*:<syntaxhighlight lang="bash">
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
</syntaxhighlight>

* Ex) IMX219
*: Load "ulcb-kf-imx219.dtbo" file using device tree overlay feature:
*: See [https://en-support.renesas.com/knowledgeBase/19905183 FAQ: How to use "Device_Tree_Overlays"]
*:<syntaxhighlight lang="bash">
$ media-ctl -d /dev/media0 -p | grep imx219
                <- "imx219 21-0010":0 [ENABLED,IMMUTABLE]
	- entity 13: imx219 21-0010 (1 pad, 1 link)
$ media-ctl -d /dev/media0 -V "'rcar_csi2 fea80000.csi2':1 [fmt:SBGGR8_1X8/3264x2464 field:none]"
$ media-ctl -d /dev/media0 -l "'rcar_csi2 fea80000.csi2':1 -> 'VIN4 output':0 [1]"

$ capture -d /dev/video4 -o -f bggr8 -W 3264 -H 2464 -c 1 -t 30 > /home/root/video.bggr
or
$ v4l2-ctl -d /dev/v4l-subdev2 -c test_pattern=1
$ capture -d /dev/video4 -o -f bggr8 -W 3264 -H 2464 -c 1 -t 30 > /home/root/video.bggr
</syntaxhighlight>
* Ex) Display
*:<syntaxhighlight lang="bash">
Ubuntu PC$ ./bayer2rgb  -i video.bggr -o video.rgb24 -w 3264 -v 2464 -b 8 -f BGGR
  * https://github.com/jdthomas/bayer2rgb.git
Ubuntu PC$ rawtoppm -rgb 3264 2464 video.rgb24 > video24.ppm
Ubuntu PC$ display video24.ppm
</syntaxhighlight>

==== USB 2.0 Function ====
Ex.) g_mass_storage
# Enable CONFIG_USB_MASS_STORAGE on linux kernel. 
#: Ex.) Using menuconfig:
#:: <syntaxhighlight lang=text>
"Device Drivers -> USB support -> USB Gadget Support -> USB Gadget precomposed configurations"
     <M> Mass Storage Gadget
</syntaxhighlight>
#: See also: [https://en-support.renesas.com/knowledgeBase/19905168 FAQ: How to change kernel config on Yocto]
# Execute command
#: <syntaxhighlight lang=text>
root@m3ulcb:~# mount -t tmpfs -o size=400m tmpfs /tmp
root@m3ulcb:~# dd if=/dev/zero of=/tmp/tmp.img bs=1M count=350
350+0 records in
350+0 records out
367001600 bytes (367 MB, 350 MiB) copied, 0.595591 s, 616 MB/s
root@m3ulcb:~# mkfs.ext3 -L storage /tmp/tmp.img
mke2fs 1.45.4 (23-Sep-2019)
Discarding device blocks: done
Creating filesystem with 358400 1k blocks and 89760 inodes
Filesystem UUID: 29bbef04-029c-4bf4-a4b3-010eaaa6d672
Superblock backups stored on blocks:
        8193, 24577, 40961, 57345, 73729, 204801, 221185

Allocating group tables: done
Writing inode tables: done
Creating journal (8192 blocks): done
Writing superblocks and filesystem accounting information: done

root@m3ulcb:~# modprobe libcomposite
root@m3ulcb:~# modprobe usb_f_mass_storage
root@m3ulcb:~# modprobe g_mass_storage file=/tmp/tmp.img
[  576.540426] Mass Storage Function, version: 2009/09/11
[  576.546092] LUN: removable file: (no medium)
[  576.550947] LUN: file: /tmp/tmp.img
[  576.554690] Number of LUNs=1
[  576.558172] g_mass_storage gadget: Mass Storage Gadget, version: 2009/09/11
[  576.565301] g_mass_storage gadget: userspace failed to provide iSerialNumber
[  576.572498] g_mass_storage gadget: g_mass_storage ready
root@m3ulcb:~#
</syntaxhighlight>
# Connect CN13 to HostPC, then mount mass_storage.
#: <syntaxhighlight lang=text>Ex.) HostPC :# mount /dev/sdb1 /mnt </syntaxhighlight>

==== Multichannel Audio ====
* Ex1) CN12/32/33 on KF
*: <syntaxhighlight lang="bash">
$ speaker-test -c 8 -t wav -W /usr/share/sounds/alsa/
$ arecord -c 6 -r 48000 -f S32_LE | aplay
</syntaxhighlight>
* Ex2)
*:<syntaxhighlight lang="bash">
<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 ak4613 sset "DVC Out" 10%
$ speaker-test -c 2 -t wav -W /usr/share/sounds/alsa/
</syntaxhighlight>
* Ex3)
*:<syntaxhighlight lang="bash">
<KF>
$ paplay -d pcm3168a_output sample.wav
<SK>
$ amixer -c ak4613 sset "DVC Out" 10%
$ paplay -d ak4613_output sample.wav
</syntaxhighlight>

==== Radio ====
Ex) FM Radio<br>
: Connect the antenna to CN42 on Kingfisher boards.
:{{Note}}
:: If radio module is used for the first time, updating radio module firmware is required.
:: Updating firmware is not required after the second time.
: <syntaxhighlight lang="bash">
$ 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. )
</syntaxhighlight>

==== M.2 ====
Ex) Transcend TS128GMTE850<br>
: <syntaxhighlight lang="text">
$ dmesg|grep nvme<br>
[    1.559645] nvme nvme0: pci function 0000:01:00.0
[    1.564386] nvme 0000:01:00.0: enabling device (0000 -> 0002)
[    1.578702] nvme nvme0: 7/0/0 default/read/poll queues
[    1.592894]  nvme0n1: p1 p2
$ mount /dev/nvme0n1p1 /mnt/
</syntaxhighlight>

==== Mini PCIe ====
Ex) Atheros AR5418 (ath9k) Wireless Network Adapter
: <syntaxhighlight lang="text">
$ lspci
0000:00:00.0 PCI bridge: Renesas Technology Corp. Device 0025
0000:01:00.0 Non-Volatile memory controller: Samsung Electronics Co Ltd NVMe SSD Controller SM981/PM981/PM983
0001:00:00.0 PCI bridge: Renesas Technology Corp. Device 0025
0001:01:00.0 Network controller: Qualcomm Atheros AR5418 Wireless Network Adapter [AR5008E 802.11(a)bgn] (PCI-Express) (rev 01)
$
$ dmesg | grep "ath9k"
[   20.513798] ath9k 0001:01:00.0: enabling device (0000 -> 0002)
[   21.816860] ath9k 0001:01:00.0 wlP1p1s0: renamed from wlan0
$ ifconfig wlP1p1s0 up
$ iw dev wlP1p1s0 scan
</syntaxhighlight>

==== MOST ====
Ex)
# Connect OS81092 board(Physical+ Interface Board OS81092) and CN22 of KF.
# Connect Audio board(OS81092 Audio Demo Board) and OS819092 board with exclusive cable.
# Connect Audio board and CN5 of SK with USB cable.
# Set to SW7 to "MOST" side
# Run the linux kernel
## Load "ulcb-kf-most.dtbo" file using device tree overlay feature:
## See [https://en-support.renesas.com/knowledgeBase/19905183 FAQ: How to use "Device_Tree_Overlays"]
# cd /usr/share/most/
# ./most_setup.sh
#: <syntaxhighlight lang="text">
$./most_setup.sh 
-- Setting up cdev most_ctrl_rx: rx channel ca2 --
-- Setting up cdev most_ctrl_tx: tx channel ca4 --
-- Setting up sound rx0: rx channel ca6 --
-- Setting up sound tx0: tx channel ca8 --
-- Setting up sound tx1: tx channel ca12 --
MOST setup complete
</syntaxhighlight>
# ./setup-audio-50 &
#: <syntaxhighlight lang="text">
$./setup-audio-50 &
root@h3ulcb:/usr/share/most#
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
! 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: 0x0010 MSVAL_ERR_STARTUP_FAILED
MSVAL_E_SHUTDOWN
App reset
(snip)
</syntaxhighlight>
# Push the "Switch" button on the Audio board
#: <syntaxhighlight lang="text">
-> 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
</syntaxhighlight>
# Push the "Switch" button on the Audio board again
#: <syntaxhighlight lang="text">
<- FB_AuxIn_Allocate_StartResult Node: 0x01, Ifn: 0x02
</syntaxhighlight>
# Push the "Switch" button on the Audio board again
#: <syntaxhighlight lang="text">
<- FB_AuxIn_Allocate_StartResult Node: 0x01, Ifn: 0x01
</syntaxhighlight>
# ./most_play.sh /usr/share/sounds/alsa/Front_Left.wav
#: <syntaxhighlight lang="text">
$./most_play.sh /usr/share/sounds/alsa/Front_Left.wav
Audio file  : /usr/share/sounds/alsa/Front_Left.wav
Output index: 0
ALSA device : hw:4,1
Setting pipeline to PAUSED ...
Pipeline is PREROLLING ...
Redistribute latency...
Pipeline is PREROLLED ...
Setting pipeline to PLAYING ...
New clock: GstAudioSinkClock
</syntaxhighlight>

== DTS overlay ==
Since the meta-rcar supports the DTS overlays then you can test option periferals without recompilation.
<pre>
Ex)
=> ext4load mmc 0 0x48080000 /boot/Image; ext4load mmc 0 0x48000000 /boot/r8a77951-ulcb-kf.dtb
 Ex1) test CN11
 => ext4load mmc 0 0x48040000 /boot/ulcb-kf-cn11.dtbo
 Ex2) test SD card(CN47) instead WiFi
 => ext4load mmc 0 0x48040000 /boot/ulcb-kf-sd3.dtbo
 Ex3) test Most
 => ext4load mmc 0 0x48040000 /boot/ulcb-kf-most.dtbo
=> fdt addr 0x48000000; fdt resize 8192; fdt apply 0x48040000
=> booti 0x48080000 - 0x48000000

</pre>

== FAQ ==

=== Failed to DRAM initialize (-1). ===
If you face the following error please update(*) IPL and u-boot to the latest version.
: <syntaxhighlight lang="text">
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, occurred address is 0xe630d3cc
</syntaxhighlight>
(*)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

=== How to get the SA001 Camera ===
Refer to [[R-Car/Boards/Kingfisher#How_to_get_the_SA001_Camera]].

== Known issues and limitations ==
# Refer to [[R-Car/Boards/Kingfisher#Known_Issues]].
# Refer to [[R-Car/Boards/Yocto-Gen3/{{SUBPAGENAME}}#Known_issues_and_limitations]].

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