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Embedded Linux on i.MX6ULL

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Embedded Linux on i.MX6ULL

Front matter

Embedded Linux on i.MX6ULL — From First Boot to First Driver
PART I — FOUNDATIONS
PART II — BARE-METAL i.MX6ULL
PART III — U-BOOT, DEEPLY
PART IV — THE KERNEL
PART V — ROOT FILESYSTEM & USER SPACE
PART VI — DRIVER DEVELOPMENT
PART VII — DEVICE COOKBOOK
PART VIII — DEBUG, PRODUCTION, ADVANCED
PART IX — APPLIED VIRTUALIZATION AND MIXED-CRITICALITY SYSTEMS
Status

Part I — Foundations

Chapter 1: Preface and how to use this book
Chapter 2: What “Embedded Linux” actually is
Chapter 3: Host environment setup
Chapter 4: ARMv7-A and the Cortex-A7, for the MCU engineer
Chapter 5: A tour of the i.MX6ULL SoC
Chapter 6: The toolchain
Chapter 7: The Boot ROM, IVT, DCD, and BootData
Chapter 8: Hardware bring-up checklist

Part II — Bare-metal i.MX6ULL

Chapter 9: First LED, pure assembly
Chapter 10: C + startup.S + linker script
Chapter 11: Hand-building a Boot ROM-acceptable image
Chapter 12: UART driver and printf
Chapter 13: CCM clock tree bring-up
Chapter 14: DDR3 initialization with MMDC
Chapter 15: Exceptions and the GIC
Chapter 16: Timers, EPIT and GPT
Chapter 17: MMU and caches
Chapter 18: Optional bare-metal peripherals
Chapter 18A: Project organization
Chapter 18B: Button input and beep
Chapter 18C: Bare-metal RTC

Part III — U-Boot, deeply

Chapter 19: U-Boot from source, first boot
Chapter 20: U-Boot SPL: the missing link
Chapter 21: U-Boot internals
Chapter 22: Porting U-Boot to a custom board
Chapter 22A: Building i.MX6ULL U-Boot from nothing
Chapter 23: bootcmd, bootargs, FIT images
Chapter 23A: Multi-variant FIT images and DT overlays
Chapter 24: Workflows, TFTP, NFS, USB-OTG

Part IV — The Kernel

Chapter 25: Building mainline Linux for i.MX6ULL
Chapter 26: Booting the kernel from U-Boot
Chapter 27: Device Tree: the contract between firmware and kernel
Chapter 27A: DT bindings YAML and dt_binding_check
Chapter 28: Kernel startup, traced
Chapter 29: Initramfs from scratch
Chapter 30: Kernel configuration deep-dive
Chapter 30A: Kernel lifecycle: mainline, stable, LTS, vendor BSPs

Part V — Root filesystem & user space

Chapter 31: A root filesystem, by hand
Chapter 32: /proc, /sys, devtmpfs
Chapter 33: Init systems
Chapter 34: libc, dynamic linking, and the loader
Chapter 35: Buildroot, after you can do it by hand
Chapter 35A: Ubuntu-base rootfs as a peer to BusyBox/Buildroot
Chapter 35B: Read-only rootfs + overlayfs
Chapter 35C: Container runtimes on embedded
Appendix — Userspace tooling reference

Part VI — Driver development (foundations)

Chapter 36: Your first kernel module
Chapter 37: A character driver, by hand
Chapter 38: Auto-creating /dev/ nodes
Chapter 39: Platform drivers + device tree
Chapter 40: The misc framework
Chapter 41: Concurrency in the kernel
Chapter 42: Sleeping, waiting, polling
Chapter 43: Interrupts

Part VI — Driver development (common subsystems)

Chapter 44: GPIO subsystem + pinctrl
Chapter 45: Input subsystem
Chapter 46: I²C drivers
Chapter 47: SPI drivers
Chapter 48: PWM and RTC subsystems
Chapter 49: IIO subsystem (ADCs, sensors)
Chapter 50: regmap

Part VI — Driver development (advanced + insertions)

Chapter 51: DMA
Chapter 51A: Watchdog
Chapter 51B: Power management
Chapter 52: Network driver: FEC + KSZ8081
Chapter 52A: PREEMPT_RT
Chapter 53: Sound: ALSA and ASoC
Chapter 54: LCD framebuffer and DRM/KMS
Chapter 54A: MTD / UBI for raw NAND
Chapter 54B: V4L2 + GStreamer
Chapter 55: USB gadget
Chapter 55A: Kernel timers and hrtimers
Chapter 55B: Async notification (SIGIO)
Chapter 55C: CAN bus (SocketCAN + FlexCAN)
Chapter 55D: Block device drivers
Chapter 55E: WiFi + wpa_supplicant
Chapter 55F: Cellular modems
Chapter 55G: Multi-touch (GT911)
Chapter 55H: RGB-to-HDMI bridge (sii902x)
Chapter 55I: Rust for Linux

Part VII — Device cookbook (Storage)

Chapter 64: QSPI NOR flash
Chapter 65: I²C / SPI EEPROM
Chapter 66: SD card and eMMC deep dive

Part VII — Device cookbook (Environmental sensors)

Chapter 67: Temperature / humidity / pressure
Chapter 68: Light & color sensors
Chapter 69: Air quality, gas, particulate matter

Part VII — Device cookbook (Motion sensors)

Chapter 70: I²C IMUs
Chapter 71: SPI IMUs

Part VII — Device cookbook (Position & distance)

Chapter 72: Distance & proximity sensors
Chapter 73: Magnetometer / compass
Chapter 74: Hall-effect & rotary position sensors

Part VII — Device cookbook (Power & current)

Chapter 75: Current & power monitoring
Chapter 76: Battery fuel gauge + charger

Part VII — Device cookbook (Specialty sensors)

Chapter 77: 1-Wire sensors
Chapter 78: MEMS microphones
Chapter 79: Health sensors

Part VII — Device cookbook (ADC / DAC / clocks)

Chapter 80: External ADCs
Chapter 81: External DACs + clock generators

Part VII — Device cookbook (Displays)

Chapter 82: RGB parallel LCD on LCDIF
Chapter 83: SPI LCD
Chapter 84: QSPI LCD
Chapter 85: OLED & e-paper
Chapter 86: Touch input ICs

Part VII — Device cookbook (Cameras)

Chapter 87: Parallel CSI cameras
Chapter 88: USB UVC cameras

Part VII — Device cookbook (Audio)

Chapter 89: I²S audio codecs
Chapter 90: Digital class-D amplifiers

Part VII — Device cookbook (WiFi)

Chapter 91: SDIO WiFi
Chapter 92: USB WiFi
Chapter 93: Hosted WiFi via ESP32 / ESP8266
Chapter 94: WiFi+BT combo modules

Part VII — Device cookbook (Bluetooth)

Chapter 95: HCI Bluetooth over UART/USB
Chapter 96: AT-command BLE modules
Chapter 97: BLE Mesh

Part VII — Device cookbook (Long-range & specialty wireless)

Chapter 98: LoRa
Chapter 99: Sub-GHz proprietary
Chapter 100: ZigBee / Thread / 802.15.4
Chapter 101: UWB ranging

Part VII — Device cookbook (Cellular)

Chapter 102: USB 4G LTE modems
Chapter 103: UART AT-command modems
Chapter 104: NB-IoT / Cat-M1

Part VII — Device cookbook (Identification)

Chapter 105: RFID / NFC
Chapter 106: Fingerprint sensors

Part VII — Device cookbook (Positioning)

Chapter 107: GPS / GNSS + PPS

Part VII — Device cookbook (Industrial buses)

Chapter 108: RS-485 + Modbus RTU
Chapter 109: LIN bus
Chapter 110: CAN deep dive

Part VII — Device cookbook (Motors & encoders)

Chapter 111: Quadrature encoders & rotary
Chapter 112: Stepper & DC motor drivers

Part VII — Device cookbook (Indicators & actuators)

Chapter 113: WS2812 / SK6812 / APA102 addressable LEDs
Chapter 114: Beepers, relays, SSRs

Part VII — Device cookbook (Network & system power)

Chapter 115: Dual FEC + hosted Ethernet
Chapter 116: PMICs and regulator framework
Chapter 117: External RTC

Part VIII — Debug, production, advanced

Chapter 118: JTAG, OpenOCD, GDB at every layer
Chapter 119: Kernel debugging without JTAG
Chapter 120: User-space debugging
Chapter 120A: Mainline patch submission workflow
Chapter 121: Capstone: custom board port
Chapter 121A: CI/CD for embedded Linux
Chapter 122: Build your own cross-toolchain
Chapter 122A: BSP → mainline migration playbook
Chapter 123: Yocto vs Buildroot, an honest comparison
Chapter 123A: Yocto layer development in depth
Chapter 124: Secure boot (HAB) and OP-TEE
Chapter 125: Field updates
Chapter 125A: VSCode + gdbserver remote-debug workflow
Chapter 126: Closing: what to read next

Part IX — Applied virtualization

Chapter 127: Why embedded products use hypervisors
Chapter 128: QEMU as a virtual hardware lab
Chapter 129: Build and boot tiny Linux in QEMU
Chapter 130: U-Boot in QEMU
Chapter 131: HYP mode, stage-2 MMU, and virtual interrupts
Chapter 132: Xen in QEMU
Chapter 133: First DomU Linux
Chapter 134: Xen on i.MX6ULL
Chapter 135: DomU Linux on i.MX6ULL
Chapter 136: Devices, memory, and DMA boundaries
Chapter 137: Jailhouse in QEMU ARM64
Chapter 138: Bare-metal or Zephyr inmate cell
Chapter 139: STM32MP1 Linux plus RTOS, the production pattern

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