# Toradex NXP® i.MX 6 Computer on Module - Apalis iMX6

**URL:** <https://hub.mender.io/t/toradex-nxp-i-mx-6-computer-on-module-apalis-imx6/2331>\
**Category:** Yocto Project\
**Tags:** yocto, nxp, zeus, toradex\
**Created:** [August 19, 2020, 3:20pm UTC](https://hub.mender.io/t/toradex-nxp-i-mx-6-computer-on-module-apalis-imx6/2331 "2020-08-19T15:20:40Z")\
**Posts on this page:** 1\
**Page:** 1

<div class="post-metadata">

**Author:** ![drewmoseley](https://yyz2.discourse-cdn.com/flex036/user_avatar/hub.mender.io/drewmoseley/32/47_2.png) [@drewmoseley](https://hub.mender.io/u/drewmoseley)\
**Post date:** [August 19, 2020, 3:20pm UTC](https://hub.mender.io/t/toradex-nxp-i-mx-6-computer-on-module-apalis-imx6/2331/1 "2020-08-19T15:20:40Z")

</div>

# Board description

The Apalis iMX6 is a small form-factor Computer on Module/System on Module that comes in both quad core and dual core versions based on NXP (formerly Freescale) i.MX 6Q and NXP i.MX 6D SoCs respectively. The Cortex A9 quad core and dual core CPU peaks at 1 GHz for commercial temperature variant, while the industrial temperature variant has a peak frequency of 800 MHz.

The NXP i.MX 6 based Apalis iMX6 System on Module targets a wide range of industrial applications, including: Automotive & Infotainment, Navigation, Industrial Automation, HMIs, Avionics, Robotics, and much more.

The module exposes wide range of industrial interfaces including CAN, UART, I2C, USB, PCIe, SATA, and many more.

URL: [https://www.toradex.com/computer-on-modules/apalis-arm-family/nxp-freescale-imx-6](https://www.toradex.com/computer-on-modules/apalis-arm-family/nxp-freescale-imx-6)  
Wiki: [Apalis iMX6 | Toradex Developer Center](https://developer.toradex.com/products/apalis-imx6)

# Test results

The Yocto Project releases in the table below have been tested by the Mender community. Please update it if you have tested this integration on other [Yocto Project releases](https://wiki.yoctoproject.org/wiki/Releases?target=_blank):

| Yocto Project | Build | Runtime |
| --- | --- | --- |
| zeus (3.0) | :test_works: | :test_works: |
| dunfell/Toradex 5.3.0 | :test_works: | :test_works: |

**Build** Means that the Yocto Project build using this Mender integration completes without errors and outputs images.  
**Runtime** Means that Mender has been verified to work on the board. For U-Boot-based boards, the [integration checklist](https://docs.mender.io/devices/integrating-with-u-boot/integration-checklist?target=_blank) has been verified.

# Getting started

## Prerequisites

- A supported Linux distribution and dependencies installed on your workstation/laptop as described in the [Yocto Mega Manual](https://www.yoctoproject.org/docs/current/mega-manual/mega-manual.html#detailed-supported-distros)
  - NOTE. Instructions depend on which Yocto version you intend to use.

- Google repo tool [installed](https://hub.mender.io/t/google-repo/58/2) and in your `PATH` .

## Configuring the build

### Setup Yocto environment

#### Zeus

Using the Zeus branch, we use the standard meta-mender-community repo manifest.

Set the Yocto Project branch you are building for:

```auto
# set to your branch, make sure it is supported (see table above)
export BRANCH="zeus" 

```

Create a directory for your `mender-toradex` setup to live in and clone the  
meta information.

```auto
mkdir mender-toradex && cd mender-toradex

```

Initialize repo manifest:

```auto
repo init -u https://github.com/mendersoftware/meta-mender-community \
           -m meta-mender-toradex-nxp/scripts/manifest-toradex.xml \
           -b ${BRANCH}

```

Fetch layers in manifest:

```auto
repo sync

```

#### Dunfell/Toradex 5.3.0

To build for the Dunfell branch, we use the Toradex 5.3.0 manifest as is done for the other Toradex platforms.

Set the Yocto Project branch you are building for:

Create a directory for your `mender-toradex` setup to live in and clone the meta information.

```auto
mkdir mender-toradex && cd mender-toradex

```

Initialize repo manifest:

```auto
repo init -u https://git.toradex.com/toradex-manifest.git \
    -b refs/tags/5.3.0 \
    -m tdxref/default.xml

```

Download mender manifest:

```auto
wget --directory-prefix .repo/local_manifests \
    https://raw.githubusercontent.com/mendersoftware/meta-mender-community/dunfell/scripts/mender-no-setup-layers.xml

```

Fetch layers in manifest:

```auto
repo sync -j$(nproc)
cd .repo/local_manifests/
ln -sf ../../layers/meta-mender-community/scripts/mender-no-setup-layers.xml .
cd ../..

```

## Setup build environment

Initialize the build environment:

### Zeus

```auto
source setup-environment toradex-nxp

```

Apply Mender configuration to build environment:

```auto
cat ../layers/meta-mender-community/templates/local.conf.append >> conf/local.conf
cat ../layers/meta-mender-community/meta-mender-toradex-nxp/templates/local.conf.append >> conf/local.conf

```

### Dunfell/Toradex 5.3.0

```auto
. export

```

Add Mender layers:

```auto
bitbake-layers add-layer $(pwd)/../layers/meta-mender/meta-mender-core/
bitbake-layers add-layer $(pwd)/../layers/meta-mender-community/meta-mender-toradex-nxp/

```

Add optional Mender demo layer:

```auto
# Omit this, if you intend to use this build in production
bitbake-layers add-layer $(pwd)/../layers/meta-mender/meta-mender-demo/

```

Apply Mender configuration to build environment:

```auto
cat ../layers/meta-mender-community/templates/local.conf.append >> conf/local.conf
cat ../layers/meta-mender-community/meta-mender-toradex-nxp/templates/local.conf.append >> conf/local.conf

```

## EULA

**NOTE!** You need to accept the Freescale EULA at ‘../sources/meta-freescale/EULA’. Please read it and in case you accept it, add:

```
ACCEPT_FSL_EULA = "1" 

```

in your local.conf.

### Configure Mender server URL (optional)

This section is not required for a successful build but images that are generated by default are only suitable for usage with the Mender client in [Standalone deployments](https://docs.mender.io/architecture/standalone-deployments?target=_blank), due to lack of server configuration.

You can edit the `conf/local.conf` file to provide your Mender server configuration, ensuring the generated images and Mender Artifacts are connecting to the Mender server that you are using. There should already be a commented section in the generated `conf/local.conf` file and you can simply uncomment the relevant configuration options and assign appropriate values to them.

Build for Hosted Mender:

```auto
# To get your tenant token:
# - log in to https://hosted.mender.io
# - click your email at the top right and then "My organization"
# - press the "COPY TO CLIPBOARD"
# - assign content of clipboard to MENDER_TENANT_TOKEN
#
MENDER_SERVER_URL = "https://hosted.mender.io"
MENDER_TENANT_TOKEN = "<copy token here>"

```

Build for Mender demo server:

```auto
# https://docs.mender.io/getting-started/create-a-test-environment
#
# Update IP address to match the machine running the Mender demo server
MENDER_DEMO_HOST_IP_ADDRESS = "192.168.0.100"

```

### Building the image

You can now proceed with building an image:

#### Zeus

```auto
MACHINE=apalis-imx6 bitbake core-image-base

```

Replace `core-image-base` with your desired image target.

#### Dunfell/Toradex 5.3.0

```auto
MACHINE=apalis-imx6 bitbake tdx-reference-minimal-image

```

### Using the build output

After a successful build, the images and build artifacts are:

- `tmp/deploy/images/apalis-imx6/core-image-base-apalis-imx6.uefiimg`
- `tmp/deploy/images/apalis-imx6/core-image-base-colibri-imx7.mender`
- `tmp/deploy/images/apalis-imx6/u-boot.img`
- `tmp/deploy/images/apalis-imx6/core-image-base-apalis-imx6.mender_tezi.tar`

The disk image (with `.uefiimg` suffix) is used to provision the device storage for devices without Mender running already.

The `u-boot.img` file is used to provision the device with a Mender compatible U-Boot.

On the other hand, if you already have Mender running on your device and want to deploy a rootfs update using this build, you should use the [Mender Artifact](https://docs.mender.io/architecture/mender-artifacts?target=_blank) files, which have `.mender` suffix. You can either deploy this Artifact in managed mode with the Mender server (upload it under Releases in the server UI) or by using the Mender client only in [Standalone deployments](https://docs.mender.io/architecture/standalone-deployments?target=_blank).

#### Flash instructions

The `core-image-base-apalis-imx6.mender_tezi.tar` is a [Toradex Easy-installer compatible image](https://developer.toradex.com/software/toradex-easy-installer). Refer to the Toradex instructions for more details.

# References

- The Mender integration for Toradex Colibri iMX7 Dual 512MB / Colibri iMX7 Solo 256MB can be found in [meta-mender](https://github.com/mendersoftware/meta-mender/tree/rocko/meta-mender-toradex-nxp)
- The Toradex Colibri iMX7 Dual 512MB / Colibri iMX7 Solo 256MB template files can be found in [meta-mender-community](https://github.com/mendersoftware/meta-mender-community/tree/rocko/meta-mender-toradex-nxp).
- This was tested using a [Iris Carrier board](https://developer.toradex.com/products/iris-carrier-board)
- The official [Mender documentation](https://docs.mender.io/) explains how Mender works. This is simply a board-specific complement to the official documentation.

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