This repository contains Renesas R-Car Gen4-specific Yocto layers for AosEdge distro.

1. Ubuntu 18.0+ or any other Linux distribution which is supported by Poky/OE

2. Development packages for Yocto. Refer to Yocto manual

3. You need Moulin installed in your PC. Recommended way is to install it for your user only:

   pip3 install --user git+https://github.com/xen-troops/moulin`

   Make sure that your PATH environment variable includes ${HOME}/.local/bin

4. Ninja build system on Ubuntu:

   sudo apt install ninja-build

5. Install Zephyr OS dependencies and SDK: Getting Started Guide

6. Install protobuf compiler from pre-compiled binaries. The verified protobuf compiler version is v22.3.

You can fetch/clone this whole repository, but you actually only need one file from it: aos-rcar-gen4.yaml. During the build moulin will fetch this repository again into yocto/ directory. So, to reduce possible confuse, we recommend to download only aos-rcar-gen4.yaml:

curl -O https://raw.githubusercontent.com/aosedge/meta-aos-rcar-gen4/main/aos-rcar-gen4.yaml

Moulin is used to generate Ninja build file: moulin aos-rcar-gen4.yaml. This project provides number of additional parameters. You can check them with --help-config command line option:

moulin aos-rcar-gen4.yaml --help-config        
usage: moulin aos-rcar-gen4.yaml [--VIS_DATA_PROVIDER {renesassimulator,telemetryemulator}]
                                 [--NODE_TYPE {single,main}]

Config file description: Aos development setup for Renesas RCAR Gen4 hardware

options:
  --VIS_DATA_PROVIDER {renesassimulator,telemetryemulator}
                        Specifies plugin for VIS automotive data
  --NODE_TYPE {single,main,secondary}
                        Node type to build

Only one machine is supported as of now: spider. Two types of nodes can be built: single - where S4 board is single unit or main where S4 board is main node in multi-node unit.

For example, to build the main node image for multi-node Aos unit, perform the following command:

moulin aos-rcar-gen4.yaml --NODE_TYPE main

Moulin will generate build.ninja file that contains different build targets. Run ninja command to build image components. This will take some time and disk space.

Aos image should be flashed to UFS on S4 board. Other storages are not supported. UFS storage should be properly initialized before usage. See R-Car S4 Startup Guide for details. Use misc/config_desc_data_ind_0.bin.

Aos image requires specific firmware version to work properly. Updating the firmware should be done for each new Aos release. Perform the following command in order to build firmware images:

ninja pack-ipl

It will generate firmware archive under output/ipl folder. Please use RCar flash tool to update the firmware.

To generate Aos image, issue the following command:

ninja full.img

It will generate full.img file in the current folder. In order to flash Aos image to S4 UFS, the board should be boot using BSP image over TFTP+NFS. See R-Car S4 Startup Guide for details. Once, the board is started, put full.img into NFS folder and copy the image into UFS, using the following command on S4 board:

dd if=/full.img of=/dev/sda bs=32M

If the board was provisioned before it is required to clean the zephyr storage in order to perform provisioning procedure again:

dd if=/dev/zero of=/dev/mmcblk0 bs=32M count=1

Alternatively, prod-devel-rcar-gen4 build could be used to start the board over TFTP+NFS.

The following U-Boot variable should be set for Aos image:

setenv aos_device 'scsi 0'
setenv aos_boot_device 'sda'
setenv aos_default_vars 'setenv aos_boot_main 0; setenv aos_boot1_ok 1; setenv aos_boot2_ok 1; setenv aos_boot_part 0'
setenv aos_load_vars 'run aos_default_vars; if load ${aos_device}:3 ${loadaddr} uboot.env; then env import -t ${loadaddr} ${filesize}; fi'
setenv aos_save_vars 'env export -t ${loadaddr} aos_boot_main aos_boot_part aos_boot1_ok aos_boot2_ok; fatwrite ${aos_device}:3 ${loadaddr} uboot.env 0x3E'
setenv aos_boot1 'if test ${aos_boot1_ok} -eq 1; then setenv aos_boot1_ok 0; setenv aos_boot2_ok 1; setenv aos_boot_part 0; setenv aos_boot_slot 1; echo "==== Boot from part 1"; run aos_save_vars; run aos_boot_cmd; fi'
setenv aos_boot2 'if test ${aos_boot2_ok} -eq 1; then setenv aos_boot2_ok 0; setenv aos_boot1_ok 1; setenv aos_boot_part 1; setenv aos_boot_slot 2; echo "==== Boot from part 2"; run aos_save_vars; run aos_boot_cmd; fi'
setenv aos_boot_cmd 'ext2load ${aos_device}:${aos_boot_slot} 0x83000000 boot.uImage; source 0x83000000'
setenv bootcmd_aos 'run aos_load_vars; if test ${aos_boot_main} -eq 0; then run aos_boot1; run aos_boot2; else run aos_boot2; run aos_boot1; fi'
setenv set_pcie 'i2c dev 0; i2c mw 0x6c 0x26 5; i2c mw 0x6c 0x254.2 0x1e; i2c mw 0x6c 0x258.2 0x1e; i2c mw 0x20 0x3.1 0xfe;'
setenv set_ufs 'i2c dev 0; i2c mw 0x6c 0x26 0x05; i2c olen 0x6c 2; i2c mw 0x6c 0x13a 0x86; i2c mw 0x6c 0x268 0x06; i2c mw 0x6c 0x269 0x00; i2c mw 0x6c 0x26a 0x3c; i2c mw 0x6c 0x26b 0x00; i2c mw 0x6c 0x26c 0x06; i2c mw 0x6c 0x26d 0x00; i2c mw 0x6c 0x26e 0x3f; i2c mw 0x6c 0x26f 0x00'
setenv bootcmd 'run set_pcie; run set_ufs; scsi scan; run bootcmd_aos'

In case multi-node Aos unit, S4 provide ethernet connection for other node. In some cases, it is required to have direct connection between the host and the secondary node. For this purpose, tsn0 and tsn1 S4 interfaces can be put into the bridge. Use the following commands on S4 board to make bridge between the host and the secondary node:

brctl addbr br0
brctl addif br0 tsn0
brctl addif br0 tsn1
ifconfig br0 up

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