NAVQ Plus Linux BSP and Distribution, Release 1.1.15-452

1. Purpose

This is the Linux BSP (Board Support Package) and Linux software distribution and development environment for the NAVQ Plus Starter Kit, release 1.1.15-452.

2. Hardware Platform

Refer to the the following page for detailed information on the hardware items included in the Starter Kit:

https://voxelbotics.atlassian.net/wiki/x/FIAt

3. Release Images

Release images for this software release can be downloaded from the following location:

1.1.15-452-09200809-7d711d7966-ros2.wic.zst

1.1.15-452-09200809-7d711d7966-imx-boot-imx8mpnavq-sd.bin-flash_evk

4. Setting Up Kit and Development Host

Refer to the the https://voxelbotics.atlassian.net/wiki/x/BIAKC for detailed information on how to:

• Set up the NAVQ Plus Starter Kit

• Set up development host

• Install release images to the NAVQ Plus target

• Boot up Linux on the NAVQ Plus target.

5. Supported Features

The following list provides a summary of the features and capabilities of this release of the NAVQ Plus BSP:

• U-Boot firmware:

  • Runs on the Cortex-A53 cores;

  • U-Boot v2023.04;

  • Target initialization from power-on / reset;

  • Loads from eMMC (or other supported bootable device) and runs from DDR;

  • Serial console;

  • Ethernet driver for loading images to the target from network;

  • Device driver for eMMC / SD Card, including support for U-Boot self-upgrade capability;

  • Supports storing U-Boot environment and Linux images in eMMC / SD Card;

  • Auto-boot feature, allowing boot of OS images from eMMC or other storage with no operator intervention;

  • Persistent environment in eMMC or SD Card for customization of target operation;

  • Supports load of firmware images to the Cortex-M7 core;

  • Sophisticated command interface for maintenance and development of the target.

• Linux:

  • Runs on the Cortex-A53 cores;

  • Linux kernel v6.1.22;

  • Device drivers for key I/O interfaces of the i.MX 8M;

  • WiFi and BlueTooth connectivity;

  • Qt / QML 5.15.3.

• FreeRTOS:

  • Runs on the Cortex-M7 core;

  • Device drivers for select I/O interfaces of the i.MX 8M.

  • [NOTE: FreeRTOS is not available in this release].

• Development environment:

  • Linux-hosted cross-development environment;

  • Yocto v4.2 (mickledore) distribution.

6. Software Manifest

7. New Functionality

The following is a summary of the changes in 1.1.15-452 since the last release 1.1.14-446:

8. Release QA Results

The tests described in the https://voxelbotics.atlassian.net/wiki/x/AQCzB have been executed for this release:

9. Known Problems and Limitations

The following are known problems and limitations of this software release:

• NAVQP-183: Adjust i.MX 8MP ISP white balance settings for the OV5647 camera.

• NAVQP-208: Adjust i.MX 8MP ISP white balance settings for the IMX219 camera.

• NAVQP-198: Static vertical lines appear on video streams from OV5645 camera.

• NAVQP-207: IMX ISP backed cameras (ov5647, imx219) do not work in CSI2 slot.

• NAVQP-217: Lidar is not working for SLAM/ROS configuration

• NAVQP-230: ov5647 driver incorrectly implements the VDIOC_ENUMINPUT ioctl