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This avoids a conflict between the two following options:
* poky/meta/recipes-graphics/mesa/mesa_17.0.2.bb
* poky/meta/recipes-graphics/mesa/mesa_git.bb
Change-Id: I566ba2f5c3152efe08e9e3e883c79439813ef7ea
Signed-off-by: Stephane Desneux <stephane.desneux@iot.bzh>
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* this patch is already present in poky morty:
poky/meta/recipes-extended/net-tools/net-tools/net-tools-fix-building-with-linux-4.8.patch
Change-Id: I75c97b8089497c4a6264daabcf2e8a9c26a3f647
Signed-off-by: Ronan Le Martret <ronan.lemartret@iot.bzh>
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The upstream version of AGL boots Linux in EL1. This mode is not
privileged enough to put in place the correct configuration of
an hypervisor (e.g., KVM).
This patch leverages the ATF rcar platform configuration variables to
boot the Linux kernel in EL2, instead of EL1, allowing Linux-based
hypervisors such as KVM to configure all the necessary stubs to
properly run virtual machines.
This patch has been successfully tested with ATF, KVM and AGL rootfs
on the Renesas R-Car M3.
Changelog:
- Added arm-trusted-firmware patch, which makes this work easy
to be tested by the community
- This patch version does not contain Linux kernel modifications.
In fact, these resulted not necessary with the proposed ATF patch
and a recent kernel (higher than 4.6)
Bug-AGL: SPEC-497
Change-Id: I5a22411135b33137cb2236562b3de9c966f1be21
Signed-off-by: Michele Paolino <m.paolino@virtualopensystems.com>
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* dlcsrv_REL should not be package inside gles-user-module
package. gles-user-module-debug should be a better target.
Change-Id: I32f7ce7711b25eabb3b157b4e29b87ec31b10e34
Signed-off-by: Ronan Le Martret <ronan.lemartret@iot.bzh>
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the populate_sysroot of gles-user-module must depends on the
populate_sysroot of the virtual/mesa, because header from
gles-user-module depends on the header from virtual/mesa.
Change-Id: I8368bba6a19ca628a3496a3eebbc18a3c41c322d
Signed-off-by: Ronan Le Martret <ronan.lemartret@iot.bzh>
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This solves the following warning related to package config dependency:
glmark2-2014.03+AUTOINC+fa71af2dfa-r0 do_package_qa: QA Issue: glmark2
rdepends on libwayland-egl, but it isn't a build dependency, missing
mesa in DEPENDS or PACKAGECONFIG? [build-deps]
jsmoeller: Edit Signed-off-by (e -> é) to match character for gerrit.
Change-Id: I2c448f3ddaef88c80bb5a3807bc8f96de269e5f4
Signed-off-by: Stéphane Desneux <stephane.desneux@iot.bzh>
Signed-off-by: Jan-Simon Moeller <jsmoeller@linuxfoundation.org>
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* rc.pvr.service should depend on weston.service not the opposite
Change-Id: Ib0516772da08a77504ae4fe98ea3c27aa9b6048a
Signed-off-by: Ronan Le Martret <ronan.lemartret@iot.bzh>
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ppp has been updated to fix this issue.
This reverts commit 4979e05406c77524cf90b308ce4bf2a72032ee65.
Signed-off-by: Thao Nguyen <thao.nguyen.yb@renesas.com>
Signed-off-by: Takamitsu Honda <takamitsu.honda.pv@renesas.com>
Signed-off-by: Stephen Lawrence <stephen.lawrence@renesas.com>
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Glamor requires the api gbm_bo_get_fd() which is not provided by libgbm
and therefore results in a build error. As glamor is not required in the
current environment disable it.
Change based on the work of Thao Nguyen.
Signed-off-by: Stephen Lawrence <stephen.lawrence@renesas.com>
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In YP 2.3 (Pyro) kernel module packages are now suffixed with the kernel
version by default [1].
[1] http://www.yoctoproject.org/docs/2.3/ref-manual/ref-manual.html#migration-2.3-miscellaneous-changes
Adopt to the change by updating RPROVIDES to add the required information.
At the same time avoid text duplication by using the ${PN} variable to set
the package name.
This avoids do_rootfs task errors of the form:
"ERROR: core-image-weston-1.0-r0 do_rootfs: Unable to install packages.
Solver encountered 3 problem(s):
Problem 1/3:
- nothing provides kernel-module-qos-4.9.0-yocto-standard needed by kernel-module-qos-1.0-r0.m3ulcb"
Signed-off-by: Stephen Lawrence <stephen.lawrence@renesas.com>
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YP 2.3 (Pyro) introduces per recipe sysroots. Adopt to the change by
adding a missing wayland-native DEPENDS that would otherwise result
in a compilation failure.
Signed-off-by: Stephen Lawrence <stephen.lawrence@renesas.com>
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pkg-config is called in the do_configure() task. With the introduction
pf per recipe sysroot add the missing pkgconfig to the inherit variable
Fixes configure task error of the form:
configure:12146: checking for GLIB
configure:12214: result: no
configure:12216: error: in `gstreamer1.0-plugin-vspfilter/1.0.0-r0/build':
configure:12218: error: The pkg-config script could not be found or is too old. Make sure it
is in your PATH or set the PKG_CONFIG environment variable to the full path to pkg-config.
Signed-off-by: Stephen Lawrence <stephen.lawrence@renesas.com>
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For pyro we are using the poky meta weston. Adapt the bbappend accordingly.
Merge poky meta weston.service.
Signed-off-by: Stephen Lawrence <stephen.lawrence@renesas.com>
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The u-boot.inc used by the bb recipe has been split into two parts
in the pyro poky meta. Adopt to the new style by providing the
missing u-boot-common*.inc file containing the license information.
Signed-off-by: Stephen Lawrence <stephen.lawrence@renesas.com>
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wayland-kms do_configure task fails with the error:
| checking for wayland-scanner... no
| configure: error: Please install wayland-scanner.
wayland-scanner is provided by wayland-native. wayland-kms has a
DEPENDS on wayland, which in turn DEPENDS on wayland-native.
However this does not populate the wayland-scanner binary in
the wayland-kms recipe sysroot. Achieve that by directly adding
wayland-native to the wayland-kms DEPENDS.
Signed-off-by: Stephen Lawrence <stephen.lawrence@renesas.com>
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Backport upstream fix to unify LFLAGS/LDFLAGS variable names.
Fixes:
ERROR: optee-client-1.1.0+renesas+gitAUTOINC+db9c64d458-r0 do_package_qa: QA Issue: No GNU_HASH in the elf binary: 'optee-client/1.1.0+renesas+gitAUTOINC+db9c64d458-r0/packages-split/optee-client/usr/bin/tee-supplicant'
No GNU_HASH in the elf binary: 'optee-client/1.1.0+renesas+gitAUTOINC+db9c64d458-r0/packages-split/optee-client/usr/lib/libteec.so.1.0' [ldflags]
ERROR: optee-client-1.1.0+renesas+gitAUTOINC+db9c64d458-r0 do_package_qa: QA run found fatal errors. Please consider fixing them.
ERROR: optee-client-1.1.0+renesas+gitAUTOINC+db9c64d458-r0 do_package_qa: Function failed: do_package_qa
(From meta-linaro rev: a7131d143db3b51a49c88b5293b6aadcce0538d4)
Signed-off-by: Stephen Lawrence <stephen.lawrence@renesas.com>
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Support for Weston 2.0 will appear in the Renesas Weston
implementation in an upcoming Yocto BSP release. Until it
appears use the upstream reference implementation in Poky
Meta, with "GPU only" h/w acceleration.
Signed-off-by: Stephen Lawrence <stephen.lawrence@renesas.com>
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The Linaro toolchain has a known build failure when rpm is
used with gcc 5.2. The gcc v5.2 libgcc recipe will fail in
the do_package_write_rpm() task. This is issue #2431 in the
Linaro bugzilla [1]. It is caused by the '-2' that is appended
to the end of the release string. To avoid the issue update
the local.conf to use gcc 5.3 so rpm can be used.
[1] https://bugs.linaro.org/show_bug.cgi?id=2431
Signed-off-by: Stephen Lawrence <stephen.lawrence@renesas.com>
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Morty poky meta upgraded to 0.5.1. Rework patch for 0.5.1.
Adopted from Ronan Le Martret's commit 53e399c375b0b7c to
meta-agl.
(cherry picked from commit 488051b6c6a4a46cba123b7a758edc86b1c95758)
Signed-off-by: Stephen Lawrence <stephen.lawrence@renesas.com>
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Yocto 2.2 changed the default linker hash style [1] which can
result in "No GNU_HASH in the elf binary" QA issues during a
build. This occurs building libgcc using the meta-linaro
toolchain. There seems to be no upstream fix for this. As a
first step disable the warning for ldflags.
[1] http://www.yoctoproject.org/docs/2.2.1/ref-manual/ref-manual.html#migration-2.2-default-linker-hash-style-changed
(cherry picked from commit 64c345992217b65141ca9dc1c39ca086ec50190b)
Signed-off-by: Stephen Lawrence <stephen.lawrence@renesas.com>
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Building the meta-qt5 component qtbase occasionally failures in the
do_configure() task with the error:
make: *** [opengles2] Error 1
OpenGL ES 2.0 disabled.
The OpenGL ES 2.0 functionality test failed!
This is a build order problem caused by an incomplete build dependency
chain. Linking opengles2 against libIMGegl.so (the virtual/libgles2
provider) has a dependency on libgbm.so and libwayland-kms.so so they
must be built first. qtbase does not have many gfx components in its
build depedency list and therefore may build earlier, which in turn
results in the error.
Simply adding libgbm and wayland-kms to the gles-user-module DEPENDS
results in a circular build depedency. This is a workaround to the
problem whilst the build depdency issue is resolved. For it to work
add packagegroup-graphics-libegl to your IMAGE_INSTALL.
This fixes the qtbase do_configure() build error reported in GDP-590 [1].
[1] https://at.projects.genivi.org/jira/browse/GDP-590
(cherry picked from commit 4ebc763eb413ef9a041cb83761d530f865764e74)
Signed-off-by: Stephen Lawrence <stephen.lawrence@renesas.com>
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The change directory parameter of the tar utility acts on the
parameters that follow it. Correct the ordering so that the
setup_build_tree() task extracts the omx tar balls to the
right location. Fixes a build error that would otherwise
occur in yp 2.2 morty.
(cherry picked from commit 9f0211bafb118e81ec2fd6dd82b5777964b1ac9b)
Signed-off-by: Stephen Lawrence <stephen.lawrence@renesas.com>
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In YP 2.2 (Morty) {B} is no longer the default working directory
for tasks [1]. Adapt the deploy task so it finds the srec.
[1] http://www.yoctoproject.org/docs/2.2.1/ref-manual/ref-manual.html#migration-2.2-B-no-longer-default-working-directory-for-tasks
(cherry picked from commit 08383820f1b5b7a39be5f9e47925026abeb26463)
Signed-off-by: Stephen Lawrence <stephen.lawrence@renesas.com>
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This commit modifies recipes to define 3 packagegroups for graphic.
There are 3 type packagegroups which are provided into IMAGE_INSTALL:
- packagegroup-wayland-community: contains wayland/weston/alsa/libdrm
components.
- packagegroup-graphics-renesas-proprietary: contains Renesas GFX are
kernel-module-gles and gles-user-module.
- packagegroup-graphics-renesas-wayland: contains Renesas Wayland
components: libgbm, libgbm-dev, wayland-kms.
This patch also removes the definition for 32bit packages,
because 32bit env has been stopped supporting.
Signed-off-by: Thao Nguyen <thao.nguyen.yb@renesas.com>
Signed-off-by: Takamitsu Honda <takamitsu.honda.pv@renesas.com>
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This commit adds libegl recipe which provides build dependencies on
virtual/egl.
Signed-off-by: Thuy Tran <thuy.tran.xh@rvc.renesas.com>
Signed-off-by: Thao Nguyen <thao.nguyen.yb@renesas.com>
Signed-off-by: Takamitsu Honda <takamitsu.honda.pv@renesas.com>
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This commit modifies recipes to use RENESAS_DATADIR variable
for /usr/local directory instead of hard coding.
This commit comes from AGL patch.
Bug-AGL: SPEC-533
Change-Id: I865ea809c3c59ba136027fc8b99628df20c16275
Signed-off-by: Ronan Le Martret <ronan.lemartret@iot.bzh>
Signed-off-by: Thao Nguyen <thao.nguyen.yb@renesas.com>
Signed-off-by: Takamitsu Honda <takamitsu.honda.pv@renesas.com>
(cherry picked from commit 9598336fa2b4a4237255cdd866350eb7c03fdd81)
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Board configs should append to previously set IMAGE_FSTYPES
instead of overriding it.
Change-Id: If5101784f574a96185351e96b7c0cbd120fd90dc
Signed-off-by: Anton Gerasimov <anton@advancedtelematic.com>
Signed-off-by: Stephane Desneux <stephane.desneux@iot.bzh>
Signed-off-by: Thao Nguyen <thao.nguyen.yb@renesas.com>
Signed-off-by: Takamitsu Honda <takamitsu.honda.pv@renesas.com>
(cherry picked from commit b4c458d529bfad0bd85c282912d3a237c8a3ebfb)
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This commit updates lib version in cms-user-module recipe and
md5sum in copyscript corresponding to CMS v1.0.0.
Signed-off-by: Thao Nguyen <thao.nguyen.yb@renesas.com>
Signed-off-by: Takamitsu Honda <takamitsu.honda.pv@renesas.com>
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New ADSP packages are updated Interface/Framework to
modify some comments.
Signed-off-by: Thao Nguyen <thao.nguyen.yb@renesas.com>
Signed-off-by: Takamitsu Honda <takamitsu.honda.pv@renesas.com>
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This commit updates md5sum values for Audio packages corresponding
to final release.
Signed-off-by: Thao Nguyen <thao.nguyen.yb@renesas.com>
Signed-off-by: Takamitsu Honda <takamitsu.honda.pv@renesas.com>
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This commit changes md5sum values corresponding to
Video codec final release (Ver.3.0.10).
Signed-off-by: Thao Nguyen <thao.nguyen.yb@renesas.com>
Signed-off-by: Takamitsu Honda <takamitsu.honda.pv@renesas.com>
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This commit updates EthernetAVB driver for following changes.
[MSE Core]
- Fix missing initialization of crf_index_network at mse_close.
- Fix to disable MPEG2-TS PCR adjustment when no PCR exist in stream.
- Fix missing parameter checking in MCH/PTP API.
- Fix the timer interrupt occurrence at an unintended timing.
- Fix the wrong feedback to clock source correction settings.
[MCH Core]
- Fix missing set error code when mch_config is invalid.
[MSE V4L2]
- Fix illegal memory access by releasing buffer being processed.
- Fix wrong log message.
Signed-off-by: Thao Nguyen <thao.nguyen.yb@renesas.com>
Signed-off-by: Takamitsu Honda <takamitsu.honda.pv@renesas.com>
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This commit modifies libalacdla-l SRCREV to update year of Copyright
and Software IP version.
Signed-off-by: Thao Nguyen <thao.nguyen.yb@renesas.com>
Signed-off-by: Takamitsu Honda <takamitsu.honda.pv@renesas.com>
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This commit updates libflacdla-l for some minor fixes,
changes source code revision and year of Copyright.
Signed-off-by: Thao Nguyen <thao.nguyen.yb@renesas.com>
Signed-off-by: Takamitsu Honda <takamitsu.honda.pv@renesas.com>
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This commit updates gstreamer plugins to v1.0.0 for below changes:
gst-omx
- Improve seek function.
- Improve reconfigure sequence.
- Fix some log messages and coding style.
All components of gstreamer are updated to fix memory leak.
Signed-off-by: Thao Nguyen <thao.nguyen.yb@renesas.com>
Signed-off-by: Takamitsu Honda <takamitsu.honda.pv@renesas.com>
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Gstreamer recipes bbappend should not overwrite SRC_URI.
This commit modifies recipes to replace SRC_URI softly
to make them easier to maintain.
Signed-off-by: Ronan Le Martret <ronan.lemartret@iot.bzh>
Signed-off-by: Takamitsu Honda <takamitsu.honda.pv@renesas.com>
(cherry picked from commit 3bb303359436660de0711f4e877926a1923e94fc)
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This commit updates vsp2drv to fix YVU422M, YVU420M, YVU444M formats.
Signed-off-by: Thao Nguyen <thao.nguyen.yb@renesas.com>
Signed-off-by: Takamitsu Honda <takamitsu.honda.pv@renesas.com>
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VSPM driver is updated to improve performance of VSPB.
Signed-off-by: Thao Nguyen <thao.nguyen.yb@renesas.com>
Signed-off-by: Takamitsu Honda <takamitsu.honda.pv@renesas.com>
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This commit updates MMNGR and MMNGRBUF drivers and libraries SRCREV
for below changes:
- Update version to v1.0.
- Improve coding style.
- Fix the condition checking in create_l1_pgtable() in driver.
Signed-off-by: Thao Nguyen <thao.nguyen.yb@renesas.com>
Signed-off-by: Takamitsu Honda <takamitsu.honda.pv@renesas.com>
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This commit modifies libgbm SRCREV to include some updates
for backend_kms:
- Remove unused variables.
- Fix warnings according to static code analysis tool.
Signed-off-by: Thao Nguyen <thao.nguyen.yb@renesas.com>
Signed-off-by: Takamitsu Honda <takamitsu.honda.pv@renesas.com>
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This commit updates wayland-kms SRCREV for below changes:
- Fix static code analysis tool warnings.
- Change wl_kms structure instance name.
- Uninitialize resources for kms authentication.
- Fix -Wparenthese and unused variable compiling warnings.
- Link libwayland-client before libwayland-server.
- Measures of problem that EGL application program cannot be started
on wayland-backend (Weston is multiple started).
Signed-off-by: Thao Nguyen <thao.nguyen.yb@renesas.com>
Signed-off-by: Takamitsu Honda <takamitsu.honda.pv@renesas.com>
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weston/v4l2-renderer doesn't have dependency with media-ctl.
Hence, this commit removes media-ctl from weston RDEPENDS list and
updates weston SRCREV for below fixes:
[v4l2-renderer]
- Handle failed to prepare composition.
- Fix according to static code analysis tool.
- Change media device information output format.
- Check number of planes at importing dmabuf.
[vsp2-renderer]
- Fix according to static code analysis tool.
[weston]
- Output is destroyed by memory leak (HDMI cable is pulled out).
Signed-off-by: Thao Nguyen <thao.nguyen.yb@renesas.com>
Signed-off-by: Takamitsu Honda <takamitsu.honda.pv@renesas.com>
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This commit renames mesa bbappend to be able to compatible with
different mesa versions.
Signed-off-by: Ronan Le Martret <ronan.lemartret@iot.bzh>
Signed-off-by: Takamitsu Honda <takamitsu.honda.pv@renesas.com>
(cherry picked from commit 4849eff67419793fd79894fe0002278d09f91e07)
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eglmesaext.h is installed because GFX needs it.
GFX is updated and this header is not used anymore.
Signed-off-by: Thao Nguyen <thao.nguyen.yb@renesas.com>
Signed-off-by: Takamitsu Honda <takamitsu.honda.pv@renesas.com>
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New GFX pkg does not need header from mesa,
because it already has the necessary header (EGL/eglwaylandext.h)
in the pkg itself.
Signed-off-by: Thao Nguyen <thao.nguyen.yb@renesas.com>
Signed-off-by: Takamitsu Honda <takamitsu.honda.pv@renesas.com>
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This commit updates md5sum values for ICCOM pkgs
corresponding to ICCOM v1.0.1.
Signed-off-by: Thao Nguyen <thao.nguyen.yb@renesas.com>
Signed-off-by: Takamitsu Honda <takamitsu.honda.pv@renesas.com>
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This commit updates IPL components versions as below:
- Update IPL and Secure Monitor Rev1.0.16 rev4.
- Update optee_os to Rev1.0.9 rev2.
- Update optee_linuxdriver to Rev1.0.7 rev2.
Signed-off-by: Thao Nguyen <thao.nguyen.yb@renesas.com>
Signed-off-by: Takamitsu Honda <takamitsu.honda.pv@renesas.com>
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This commit updates u-boot according to Linux BSP v3.5.6
for below fixes:
- Fix u-boot reset for ULCB.
- The SMSTPCR value is illegal immediately
before the start of the kernel.
- The following fatls command execution of usb start/stop
Signed-off-by: Thao Nguyen <thao.nguyen.yb@renesas.com>
Signed-off-by: Takamitsu Honda <takamitsu.honda.pv@renesas.com>
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Linux BSP has been upgraded for following changes:
v3.5.8
[Audio driver]
- Fix S2R issue.
[DMA Engine driver]
- Fix S2R issue.
[USB2.0 Function]
- Fix lock variable no init
[USB Host 3.0]
- Fix support for R-Car Gen3 USB 3.0 PHY.
v3.5.7
[DMA Engine driver]
- Fix the missing spin_unlock_irqrestore.
[Display driver]
- Fix unload procedure for vsp1.
v3.5.6
[Kernel core]
- Add next-level-cache property to CA53.
- Add 12288000 for sound ADG or fix descending order of sound clock
frequency to device tree.
- Fix the audio pingroup name mismatch between sh-pfc driver and dts
to device tree.
[Power Management]
- Change the reading AVS value method.
- AVS7 opp table to device tree.
- The resume function for SYSC driver and always turn on
all power domains except CPU and GPU.
- Change sequence for judgement using fixed values or Fuse values.
[Audio driver]
- There are sampling rate patterns that can not be converted by
combination of audio clock and AK4613.
It was confirmed this is a board specifications.
However, they can be converted via alsalib.
- Control kctrl items acceptance anytime/runtime.
- SSI PIO adjust to 24bit mode.
- Unsupport 64kHz sampling rate and more with AK4613 on
Salvator-X/XS board.
[Display driver]
- Setup planes before enabling CRTC to avoid flicker.
- Use DRM core's atomic commit helper.
- Fix display list put for header mode.
- Repair vblank for DRM page flips using the VSP1.
- Wait for flip completion instead of vblank in commit tail.
- Fix completed check in write back sequence.
- Fix display starting procedure and DPLL clock divider judgement.
[PTP Clock driver]
- Fix interrupt cause bit overwrite in ravb_ptp_interrupt.
- Fix result value overwrite by a return value of ravb_ptp_interrupt().
- Fix inconsistent lock state at enabling tx timestamp.
[SATA driver]
- Fix blk_get_backing_dev_info() crash using bdev->bd_queue,
so kernel panic can be avoided in case of high load average.
[DMA Engine driver]
- Fix invalid context of sleeping function.
- Fix inconsistent lock reported by PROVE_LOCKING.
[SD/MMC]
- Add SDHI-SEQUENCER support. This is Workaround for SDHI-DMAC
restriction of R-Car H3 Ver.1.x and R-Car M3 Ver.1.0.
- Wait for CBSY instead of SCLKDIVEN.
- Disable msleep() at start/stop of SD clock.
- Discard obsolete SDIO irqs before enabling irqs.
- Relax checking for switch errors after HS200 switch.
- Replace msleep() of 20ms or less with usleep_range().
- Fix to use pre_req and post_req only for DMA transfer.
- Fix alignment check of sg buffer.
[USB2.0 Function]
- Fix return value of usbhsg_ep_disable(),
so the suspend procedure works
when the g_mass_storage enables.
- Fix NULL packet received sequence.
- Fix UGCTRL2 value for R-Car Gen3.
[USB3.0 Function]
- Protect usb3_ep->started in usb3_start_pipen(),
so kernel panic does not occur when executing iperf with g_ncm.
- Confirm an error does not occur when executing interrupt transfer
with g_zero by correcting evaluation procedure.
- Confirm g_mass_storage is recognized by Host PC after role swap.
Please use USB 2.0 cable, because role swap is compatible
with High-Speed.
- Fix free size in renesas_usb3_dma_free_prd().
- Fix zlp transfer by the dmac.
- Fix pm_runtime_enable/disable and add CONFIG_PM_SLEEP
to suspend/resume functions.
[PCIe driver]
- PCIe of R-Car Gen3 can access only 32 bit memory area at a
certain point, even if using IPMMU. This is a H/W specifications.
Signed-off-by: Thao Nguyen <thao.nguyen.yb@renesas.com>
Signed-off-by: Takamitsu Honda <takamitsu.honda.pv@renesas.com>
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The SOC_FAMILY is already different between H3ULCB and M3ULCB:
H3ULCB uses SoC r8a7795.
M3ULCB uses SoC r8a7796.
Hence, setting this value in h3ulcb.conf and m3ulcb.conf to allow
images to be built without setting SOC_FAMILY in local.conf.
Signed-off-by: Thao Nguyen <thao.nguyen.yb@renesas.com>
Signed-off-by: Takamitsu Honda <takamitsu.honda.pv@renesas.com>
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Stephane Desneux
Ronan Le Martret
Michele Paolino
Vladimir Barinov
Thao Nguyen
Stephen Lawrence
Anton Gerasimov