imx6: Add support for Toradex Apalis family of CoMs

This patch adds support for the following computer on modules (CoM) from
Toradex[A]:

 Apalis iMX6 Quad 2GB IT - i.MX 6Quad 800MHz, 2GB DDR3, 4GB eMMC
                                             -40° to +85° C Temp
 Apalis iMX6 Quad 1GB    - i.MX 6Quad 1GHz,   1GB DDR3, 4GB eMMC
                                               0° to +70° C Temp
 Apalis iMX6 Dual 1GB IT - i.MX 6Dual 800MHz, 1GB DDR3, 4GB eMMC
                                             -40° to +85° C Temp
 Apalis iMX6 Dual 512MB  - i.MX 6Dual 1GHz, 512MB DDR3, 4GB eMMC
                                               0° to +70° C Temp

I've developed and tested it on Quad 2GB IT v1.1A and Dual 512MB v1.1A
CoMs, using Ixora[B] carrier board v1.0A, but it should hopefuly work on
Eval[C] board as well.

A. https://www.toradex.com/computer-on-modules/apalis-arm-family/nxp-freescale-imx-6
B. https://www.toradex.com/products/carrier-board/ixora-carrier-board
C. https://www.toradex.com/products/carrier-board/apalis-evaluation-board

Flashing/recovery instructions:

 1. Download and compile imx_loader for OpenWrt from
    https://github.com/ynezz/imx_loader

 2. Enter recovery mode as desribed in
    https://developer.toradex.com/knowledge-base/imx-recovery-mode

 3. Connect board via USB to the host computer, check that it's connected
    by lsusb:

    15a2:0054 Freescale Semiconductor, Inc. i.MX 6Dual/6Quad SystemOnChip
              in RecoveryMode

 4. Copy following OpenWrt images to imx_loader directory:
         SPL
         u-boot.img
         u-boot-with-spl.imx
         openwrt-imx6-apalis-recovery.scr
         openwrt-imx6-apalis-squashfs.combined.bin

 5. Run imx_usb in imx_loader directory

Signed-off-by: Petr Štetiar <[email protected]>

target/linux/imx6/Makefile

@@ -20,6 +20,6 @@ include $(INCLUDE_DIR)/target.mk
 
 KERNELNAME:=zImage dtbs
 
-DEFAULT_PACKAGES += uboot-envtools mkf2fs e2fsprogs
+DEFAULT_PACKAGES += uboot-envtools mkf2fs e2fsprogs blkid
 
 $(eval $(call BuildTarget))

target/linux/imx6/base-files/lib/imx6.sh

@@ -6,6 +6,33 @@
 IMX6_BOARD_NAME=
 IMX6_MODEL=
 
+rootpartuuid() {
+	local cmdline=$(cat /proc/cmdline)
+	local bootpart=${cmdline##*root=}
+	bootpart=${bootpart%% *}
+	local uuid=${bootpart#PARTUUID=}
+	echo ${uuid%-02}
+}
+
+bootdev_from_uuid() {
+	blkid | grep "PTUUID=\"$(rootpartuuid)\"" | cut -d : -f1
+}
+
+bootpart_from_uuid() {
+	blkid | grep $(rootpartuuid)-01 | cut -d : -f1
+}
+
+rootpart_from_uuid() {
+	blkid | grep $(rootpartuuid)-02 | cut -d : -f1
+}
+
+apalis_mount_boot() {
+	mkdir -p /boot
+	[ -f /boot/uImage ] || {
+		mount -o rw,noatime $(bootpart_from_uuid) /boot > /dev/null
+	}
+}
+
 imx6_board_detect() {
 	local machine
 	local name
@@ -59,6 +86,15 @@ imx6_board_detect() {
 		name="cubox-i"
 		;;
 
+	"Toradex Apalis iMX6Q/D Module on Ixora Carrier Board" |\
+	"Toradex Apalis iMX6Q/D Module on Ixora Carrier Board V1.1")
+		name="apalis,ixora"
+		;;
+
+	"Toradex Apalis iMX6Q/D Module on Apalis Evaluation Board")
+		name="apalis,eval"
+		;;
+
 	"Wandboard i.MX6 Dual Lite Board")
 		name="wandboard"
 		;;

target/linux/imx6/base-files/lib/preinit/79_move_config

@@ -0,0 +1,20 @@
+#!/bin/sh
+
+. /lib/imx6.sh
+. /lib/functions.sh
+
+move_config() {
+	local board=$(board_name)
+
+	case "$board" in
+	apalis*)
+		if [ -b $(bootpart_from_uuid) ]; then
+			apalis_mount_boot
+			[ -f /boot/sysupgrade.tgz ] && mv -f /boot/sysupgrade.tgz /
+			umount /boot
+		fi
+		;;
+	esac
+}
+
+boot_hook_add preinit_mount_root move_config

target/linux/imx6/base-files/lib/upgrade/platform.sh

@@ -2,10 +2,44 @@
 # Copyright (C) 2010-2015 OpenWrt.org
 #
 
+. /lib/imx6.sh
+
+RAMFS_COPY_BIN='blkid'
+
+enable_image_metadata_check() {
+	case "$(board_name)" in
+		apalis*)
+			REQUIRE_IMAGE_METADATA=1
+			;;
+	esac
+}
+enable_image_metadata_check
+
+apalis_copy_config() {
+	apalis_mount_boot
+	cp -af "$CONF_TAR" /boot/
+	sync
+	umount /boot
+}
+
+apalis_do_upgrade() {
+	local board_name=$(board_name)
+	board_name=${board_name/,/_}
+
+	apalis_mount_boot
+	get_image "$1" | tar Oxf - sysupgrade-${board_name}/kernel > /boot/uImage
+	get_image "$1" | tar Oxf - sysupgrade-${board_name}/root > $(rootpart_from_uuid)
+	sync
+	umount /boot
+}
+
 platform_check_image() {
 	local board=$(board_name)
 
 	case "$board" in
+	apalis*)
+		return 0
+		;;
 	*gw5*)
 		nand_do_platform_check $board $1
 		return $?;
@@ -20,8 +54,21 @@ platform_do_upgrade() {
 	local board=$(board_name)
 
 	case "$board" in
+	apalis*)
+		apalis_do_upgrade "$1"
+		;;
 	*gw5*)
 		nand_do_upgrade "$1"
 		;;
 	esac
 }
+
+platform_copy_config() {
+	local board=$(board_name)
+
+	case "$board" in
+	apalis*)
+		apalis_copy_config
+		;;
+	esac
+}

target/linux/imx6/image/Makefile

@@ -58,6 +58,12 @@ define Build/boot-scr
 	$(BIN_DIR)/boot.scr
 endef
 
+define Build/recovery-scr
+	mkimage -A arm -O linux -T script -C none -a 0 -e 0 \
+	-n '$(DEVICE_ID) OpenWrt recovery bootscript' \
+	-d ./recovery-$(DEVICE_NAME) $@
+endef
+
 define Build/imx6-combined-image-prepare
 	rm -rf [email protected]
 	mkdir -p [email protected]
@@ -101,6 +107,10 @@ define Build/imx6-sdcard
 	$(Build/imx6-combined-image-clean)
 endef
 
+define Build/apalis-emmc
+	$(Build/imx6-combined-image-prepare)
+	$(Build/imx6-combined-image)
+	$(Build/imx6-combined-image-clean)
 endef
 
 #################################################
@@ -190,4 +200,27 @@ define Device/cubox-i
 endef
 TARGET_DEVICES += cubox-i
 
+define Device/apalis
+  DEVICE_TITLE := Toradex Apalis family
+  SUPPORTED_DEVICES := apalis,ixora apalis,eval
+  DEVICE_DTS := \
+	  imx6q-apalis-eval \
+	  imx6q-apalis-ixora \
+	  imx6q-apalis-ixora-v1.1
+  DEVICE_PACKAGES := \
+	kmod-can kmod-can-flexcan kmod-can-raw \
+	kmod-leds-gpio kmod-gpio-button-hotplug \
+	kmod-pps-gpio kmod-rtc-ds1307
+  BOOT_SCRIPT := bootscript-apalis
+  UBOOT := apalis_imx6
+  FILESYSTEMS := squashfs
+  IMAGES := combined.bin sysupgrade.bin
+  IMAGE_NAME = $$(IMAGE_PREFIX)-$$(1).$$(2)
+  IMAGE/combined.bin := append-rootfs | pad-extra 128k | apalis-emmc
+  IMAGE/sysupgrade.bin := sysupgrade-tar | append-metadata
+  ARTIFACTS := recovery.scr
+  ARTIFACT/recovery.scr := recovery-scr
+endef
+TARGET_DEVICES += apalis
+
 $(eval $(call BuildImage))

target/linux/imx6/image/bootscript-apalis

@@ -0,0 +1,20 @@
+echo "Toradex Apalis OpenWrt Boot script v1.0"
+
+run finduuid
+
+setenv nextcon 0
+setenv fdt_file imx6q-apalis-ixora.dtb
+setenv root root=PARTUUID=${uuid} rootfstype=squashfs rootwait
+setenv bootargs earlyprintk console=${console},${baudrate}n8 ${root}
+setenv fsload ext4load mmc ${mmcbootdev}:${bootpart}
+
+if ${fsload} ${kernel_addr_r} ${boot_file}; then
+	if ${fsload} ${fdt_addr_r} ${fdt_file}; then
+		test -n "$fdt_fixup" && run fdt_fixup
+		bootm ${kernel_addr_r} - ${fdt_addr_r}
+	else
+		echo "Error loading device-tree"
+	fi
+else
+	echo "Error loading kernel image"
+fi

target/linux/imx6/image/recovery-apalis

@@ -0,0 +1,14 @@
+# flash u-boot-with-spl.imx
+# using fixed size of 1M for U-Boot + SPL
+mmc dev 0 1
+mmc write 0x12100000 0x2 0x800
+
+# flash openwrt-imx6-apalis-squashfs.combined.bin
+run set_blkcnt
+mmc dev 0 0
+mmc write 0x12500000 0 ${blkcnt}
+
+env default -f -a
+saveenv
+
+reset

target/linux/imx6/patches-4.14/301-apalis-ixora-dts-leds.patch

@@ -0,0 +1,86 @@
+arm: dts: apalis-ixora: Add status LEDs aliases
+
+Signed-off-by: Petr Štetiar <[email protected]>
+
+--- a/arch/arm/boot/dts/imx6q-apalis-ixora.dts
++++ b/arch/arm/boot/dts/imx6q-apalis-ixora.dts
+@@ -60,6 +60,10 @@
+ 		i2c2 = &i2c2;
+ 		rtc0 = &rtc_i2c;
+ 		rtc1 = &snvs_rtc;
++		led-boot = &led_boot;
++		led-failsafe = &led_failsafe;
++		led-running = &led_running;
++		led-upgrade = &led_upgrade;
+ 	};
+ 
+ 	gpio-keys {
+@@ -123,22 +127,22 @@
+ 		pinctrl-names = "default";
+ 		pinctrl-0 = <&pinctrl_leds_ixora>;
+ 
+-		led4-green {
++		led_running: led4-green {
+ 			label = "LED_4_GREEN";
+ 			gpios = <&gpio1 17 GPIO_ACTIVE_HIGH>;
+ 		};
+ 
+-		led4-red {
++		led_upgrade: led4-red {
+ 			label = "LED_4_RED";
+ 			gpios = <&gpio1 21 GPIO_ACTIVE_HIGH>;
+ 		};
+ 
+-		led5-green {
++		led_boot: led5-green {
+ 			label = "LED_5_GREEN";
+ 			gpios = <&gpio2 1 GPIO_ACTIVE_HIGH>;
+ 		};
+ 
+-		led5-red {
++		led_failsafe: led5-red {
+ 			label = "LED_5_RED";
+ 			gpios = <&gpio2 2 GPIO_ACTIVE_HIGH>;
+ 		};
+--- a/arch/arm/boot/dts/imx6q-apalis-ixora-v1.1.dts
++++ b/arch/arm/boot/dts/imx6q-apalis-ixora-v1.1.dts
+@@ -61,6 +61,10 @@
+ 		i2c2 = &i2c2;
+ 		rtc0 = &rtc_i2c;
+ 		rtc1 = &snvs_rtc;
++		led-boot = &led_boot;
++		led-failsafe = &led_failsafe;
++		led-running = &led_running;
++		led-upgrade = &led_upgrade;
+ 	};
+ 
+ 	gpio-keys {
+@@ -124,22 +128,22 @@
+ 		pinctrl-names = "default";
+ 		pinctrl-0 = <&pinctrl_leds_ixora>;
+ 
+-		led4-green {
++		led_running: led4-green {
+ 			label = "LED_4_GREEN";
+-			gpios = <&gpio1 14 GPIO_ACTIVE_HIGH>;
++			gpios = <&gpio1 17 GPIO_ACTIVE_HIGH>;
+ 		};
+ 
+-		led4-red {
++		led_upgrade: led4-red {
+ 			label = "LED_4_RED";
+-			gpios = <&gpio1 12 GPIO_ACTIVE_HIGH>;
++			gpios = <&gpio1 21 GPIO_ACTIVE_HIGH>;
+ 		};
+ 
+-		led5-green {
++		led_boot: led5-green {
+ 			label = "LED_5_GREEN";
+ 			gpios = <&gpio2 1 GPIO_ACTIVE_HIGH>;
+ 		};
+ 
+-		led5-red {
++		led_failsafe: led5-red {
+ 			label = "LED_5_RED";
+ 			gpios = <&gpio2 2 GPIO_ACTIVE_HIGH>;
+ 		};

target/linux/imx6/patches-4.14/302-apalis-ixora-dts-reset-button.patch

@@ -0,0 +1,76 @@
+arm: dts: apalis-ixora: Add switch3 as reset button
+
+Signed-off-by: Petr Štetiar <[email protected]>
+
+--- a/arch/arm/boot/dts/imx6q-apalis-ixora-v1.1.dts
++++ b/arch/arm/boot/dts/imx6q-apalis-ixora-v1.1.dts
+@@ -70,7 +70,7 @@
+ 	gpio-keys {
+ 		compatible = "gpio-keys";
+ 		pinctrl-names = "default";
+-		pinctrl-0 = <&pinctrl_gpio_keys>;
++		pinctrl-0 = <&pinctrl_gpio_keys &pinctrl_switch3_ixora>;
+ 
+ 		wakeup {
+ 			label = "Wake-Up";
+@@ -79,6 +79,13 @@
+ 			debounce-interval = <10>;
+ 			wakeup-source;
+ 		};
++
++		reset {
++			label = "reset";
++			gpios = <&gpio1 16 GPIO_ACTIVE_LOW>;
++			linux,code = <KEY_RESTART>;
++			debounce-interval = <10>;
++		};
+ 	};
+ 
+ 	lcd_display: display@di0 {
+@@ -292,4 +299,10 @@
+ 			MX6QDL_PAD_NANDF_D2__GPIO2_IO02 0x1b0b0
+ 		>;
+ 	};
++
++	pinctrl_switch3_ixora: switch3ixora {
++		fsl,pins = <
++			MX6QDL_PAD_SD1_DAT0__GPIO1_IO16 0x1b0b0
++		>;
++	};
+ };
+--- a/arch/arm/boot/dts/imx6q-apalis-ixora.dts
++++ b/arch/arm/boot/dts/imx6q-apalis-ixora.dts
+@@ -69,7 +69,7 @@
+ 	gpio-keys {
+ 		compatible = "gpio-keys";
+ 		pinctrl-names = "default";
+-		pinctrl-0 = <&pinctrl_gpio_keys>;
++		pinctrl-0 = <&pinctrl_gpio_keys &pinctrl_switch3_ixora>;
+ 
+ 		wakeup {
+ 			label = "Wake-Up";
+@@ -78,6 +78,13 @@
+ 			debounce-interval = <10>;
+ 			wakeup-source;
+ 		};
++
++		reset {
++			label = "reset";
++			gpios = <&gpio1 16 GPIO_ACTIVE_LOW>;
++			linux,code = <KEY_RESTART>;
++			debounce-interval = <10>;
++		};
+ 	};
+ 
+ 	lcd_display: display@di0 {
+@@ -293,4 +300,10 @@
+ 			MX6QDL_PAD_NANDF_D2__GPIO2_IO02 0x1b0b0
+ 		>;
+ 	};
++
++	pinctrl_switch3_ixora: switch3ixora {
++		fsl,pins = <
++			MX6QDL_PAD_SD1_DAT0__GPIO1_IO16 0x1b0b0
++		>;
++	};
+ };

target/linux/imx6/patches-4.19/301-apalis-ixora-dts-leds.patch

@@ -0,0 +1,86 @@
+arm: dts: apalis-ixora: Add status LEDs aliases
+
+Signed-off-by: Petr Štetiar <[email protected]>
+
+--- a/arch/arm/boot/dts/imx6q-apalis-ixora.dts
++++ b/arch/arm/boot/dts/imx6q-apalis-ixora.dts
+@@ -60,6 +60,10 @@
+ 		i2c2 = &i2c2;
+ 		rtc0 = &rtc_i2c;
+ 		rtc1 = &snvs_rtc;
++		led-boot = &led_boot;
++		led-failsafe = &led_failsafe;
++		led-running = &led_running;
++		led-upgrade = &led_upgrade;
+ 	};
+ 
+ 	gpio-keys {
+@@ -123,22 +127,22 @@
+ 		pinctrl-names = "default";
+ 		pinctrl-0 = <&pinctrl_leds_ixora>;
+ 
+-		led4-green {
++		led_running: led4-green {
+ 			label = "LED_4_GREEN";
+ 			gpios = <&gpio1 17 GPIO_ACTIVE_HIGH>;
+ 		};
+ 
+-		led4-red {
++		led_upgrade: led4-red {
+ 			label = "LED_4_RED";
+ 			gpios = <&gpio1 21 GPIO_ACTIVE_HIGH>;
+ 		};
+ 
+-		led5-green {
++		led_boot: led5-green {
+ 			label = "LED_5_GREEN";
+ 			gpios = <&gpio2 1 GPIO_ACTIVE_HIGH>;
+ 		};
+ 
+-		led5-red {
++		led_failsafe: led5-red {
+ 			label = "LED_5_RED";
+ 			gpios = <&gpio2 2 GPIO_ACTIVE_HIGH>;
+ 		};
+--- a/arch/arm/boot/dts/imx6q-apalis-ixora-v1.1.dts
++++ b/arch/arm/boot/dts/imx6q-apalis-ixora-v1.1.dts
+@@ -61,6 +61,10 @@
+ 		i2c2 = &i2c2;
+ 		rtc0 = &rtc_i2c;
+ 		rtc1 = &snvs_rtc;
++		led-boot = &led_boot;
++		led-failsafe = &led_failsafe;
++		led-running = &led_running;
++		led-upgrade = &led_upgrade;
+ 	};
+ 
+ 	gpio-keys {
+@@ -124,22 +128,22 @@
+ 		pinctrl-names = "default";
+ 		pinctrl-0 = <&pinctrl_leds_ixora>;
+ 
+-		led4-green {
++		led_running: led4-green {
+ 			label = "LED_4_GREEN";
+-			gpios = <&gpio1 14 GPIO_ACTIVE_HIGH>;
++			gpios = <&gpio1 17 GPIO_ACTIVE_HIGH>;
+ 		};
+ 
+-		led4-red {
++		led_upgrade: led4-red {
+ 			label = "LED_4_RED";
+-			gpios = <&gpio1 12 GPIO_ACTIVE_HIGH>;
++			gpios = <&gpio1 21 GPIO_ACTIVE_HIGH>;
+ 		};
+ 
+-		led5-green {
++		led_boot: led5-green {
+ 			label = "LED_5_GREEN";
+ 			gpios = <&gpio2 1 GPIO_ACTIVE_HIGH>;
+ 		};
+ 
+-		led5-red {
++		led_failsafe: led5-red {
+ 			label = "LED_5_RED";
+ 			gpios = <&gpio2 2 GPIO_ACTIVE_HIGH>;
+ 		};

target/linux/imx6/patches-4.19/302-apalis-ixora-dts-reset-button.patch

@@ -0,0 +1,76 @@
+arm: dts: apalis-ixora: Add switch3 as reset button
+
+Signed-off-by: Petr Štetiar <[email protected]>
+
+--- a/arch/arm/boot/dts/imx6q-apalis-ixora-v1.1.dts
++++ b/arch/arm/boot/dts/imx6q-apalis-ixora-v1.1.dts
+@@ -70,7 +70,7 @@
+ 	gpio-keys {
+ 		compatible = "gpio-keys";
+ 		pinctrl-names = "default";
+-		pinctrl-0 = <&pinctrl_gpio_keys>;
++		pinctrl-0 = <&pinctrl_gpio_keys &pinctrl_switch3_ixora>;
+ 
+ 		wakeup {
+ 			label = "Wake-Up";
+@@ -79,6 +79,13 @@
+ 			debounce-interval = <10>;
+ 			wakeup-source;
+ 		};
++
++		reset {
++			label = "reset";
++			gpios = <&gpio1 16 GPIO_ACTIVE_LOW>;
++			linux,code = <KEY_RESTART>;
++			debounce-interval = <10>;
++		};
+ 	};
+ 
+ 	lcd_display: display@di0 {
+@@ -292,4 +299,10 @@
+ 			MX6QDL_PAD_NANDF_D2__GPIO2_IO02 0x1b0b0
+ 		>;
+ 	};
++
++	pinctrl_switch3_ixora: switch3ixora {
++		fsl,pins = <
++			MX6QDL_PAD_SD1_DAT0__GPIO1_IO16 0x1b0b0
++		>;
++	};
+ };
+--- a/arch/arm/boot/dts/imx6q-apalis-ixora.dts
++++ b/arch/arm/boot/dts/imx6q-apalis-ixora.dts
+@@ -69,7 +69,7 @@
+ 	gpio-keys {
+ 		compatible = "gpio-keys";
+ 		pinctrl-names = "default";
+-		pinctrl-0 = <&pinctrl_gpio_keys>;
++		pinctrl-0 = <&pinctrl_gpio_keys &pinctrl_switch3_ixora>;
+ 
+ 		wakeup {
+ 			label = "Wake-Up";
+@@ -78,6 +78,13 @@
+ 			debounce-interval = <10>;
+ 			wakeup-source;
+ 		};
++
++		reset {
++			label = "reset";
++			gpios = <&gpio1 16 GPIO_ACTIVE_LOW>;
++			linux,code = <KEY_RESTART>;
++			debounce-interval = <10>;
++		};
+ 	};
+ 
+ 	lcd_display: display@di0 {
+@@ -293,4 +300,10 @@
+ 			MX6QDL_PAD_NANDF_D2__GPIO2_IO02 0x1b0b0
+ 		>;
+ 	};
++
++	pinctrl_switch3_ixora: switch3ixora {
++		fsl,pins = <
++			MX6QDL_PAD_SD1_DAT0__GPIO1_IO16 0x1b0b0
++		>;
++	};
+ };