feat(yocto): add Rock64 machine

.gitmodules

@@ -31,3 +31,9 @@
 [submodule "project/petalinux/kr260/project-spec/meta-user/recipes-apps/ros2-helloworld-python/files/ros2_helloworld_python"]
 	path = project/petalinux/kr260/project-spec/meta-user/recipes-apps/ros2-helloworld-python/files/ros2_helloworld_python
 	url = https://github.com/extra2000/ros2_helloworld_python.git
+[submodule "project/yocto/layers/meta-rockchip"]
+	path = project/yocto/layers/meta-rockchip
+	url = https://git.yoctoproject.org/meta-rockchip
+[submodule "project/yocto/layers/meta-arm"]
+	path = project/yocto/layers/meta-arm
+	url = https://git.yoctoproject.org/meta-arm

README.md

@@ -25,4 +25,6 @@ git clone --recursive https://github.com/extra2000/yocto-ros2-minimal.git
     * [Raspberry Pi Zero 2 W](docs/yocto/specifics/rpizero2-w.md)
     * [Raspberry Pi 3 B+](docs/yocto/specifics/rpi3bp.md)
     * [Raspberry Pi 4 B](docs/yocto/specifics/rpi4b.md)
+* Pine64:
+    * [Rock64](docs/yocto/specifics/rock64.md)
 * All Yocto targets: [Yocto Building for All Targets](docs/yocto/all-targets.md)

docs/yocto/all-targets.md

@@ -4,7 +4,7 @@
 ## Prerequisites
 
 * [extra2000/xilinx-toolkit v3.x image](https://github.com/extra2000/xilinx-toolkit)
-* Available disk space: at least 250GB
+* Available disk space: at least 350GB
 * SDCard with at least 4GB.
 * Digilent Analog Discovery 2 for accessing serial console through UART pins.
 
@@ -55,6 +55,7 @@ Image files and instructions how to flash to SD card are as follows:
 * Raspberry Pi Zero 2 W image file: `project/yocto/build/tmp/deploy/images/raspberrypi0-2w-64/ros-image-core-humble-raspberrypi0-2w-64-*.rootfs.wic.bz2`. See [Flashing to SD Card for Raspberry Pi Zero 2 W](specifics/rpizero2-w.md#flashing-to-sd-card);
 * Raspberry Pi 3 B+ image file: `project/yocto/build/tmp/deploy/images/raspberrypi3-64/ros-image-core-humble-raspberrypi3-64-*.rootfs.wic.bz2`. See [Flashing to SD Card for Raspberry Pi 3 B+](specifics/rpi3bp.md#flashing-to-sd-card);
 * Raspberry Pi 4 B image file: `project/yocto/build/tmp/deploy/images/raspberrypi4-64/ros-image-core-humble-raspberrypi4-64-*.rootfs.wic.bz2`. See [Flashing to SD Card for Raspberry Pi 4 B](specifics/rpi4b.md#flashing-to-sd-card);
+* Rock64 image file: `project/yocto/build/tmp/deploy/images/rock64/ros-image-core-humble-rock64-*.rootfs.wic`. See [Flashing to SD Card for Rock64](specifics/rock64.md#flashing-to-sd-card);
 
 
 ## Testing for Specific Boards
@@ -64,6 +65,7 @@ To test on specific boards, see the following list:
 * [Testing for Raspberry Pi Zero 2 W](specifics/rpizero2-w.md#testing);
 * [Testing for Raspberry Pi 3 B+](specifics/rpi3bp.md#testing);
 * [Testing for Raspberry Pi 4 B](specifics/rpi4b.md#testing);
+* [Testing for Rock64](specifics/rock64.md#testing);
 
 
 ## Cleaning Up

docs/yocto/specifics/rock64.md

@@ -0,0 +1,40 @@
+# Rock64
+
+
+## Building
+
+Create container:
+```
+podman run -it --rm \
+    --network=host \
+    --userns="keep-id:uid=1000,gid=1000" \
+    -v ${PWD}/project:${PWD}/project:rw \
+    --workdir ${PWD}/project/yocto \
+    --security-opt label=disable \
+    localhost/extra2000/xilinx-toolkit:latest \
+    bash
+source layers/poky/oe-init-build-env build
+```
+
+To check dependencies:
+```
+bitbake -p mc:rock64:ros-core
+```
+
+To build:
+```
+bitbake mc:rock64:ros-image-core
+```
+
+
+## Flashing to SD Card
+
+Execute the following command:
+```
+sudo dd bs=4M iflag=fullblock oflag=direct status=progress if=project/yocto/build/tmp/deploy/images/rock64/ros-image-core-humble-rock64-*.rootfs.wic of=/dev/sdX; sudo sync
+```
+
+
+## Testing
+
+Insert SD card and power on Raspberry Pi Zero W. Access serial console and login with `root` user. Then, follow [Testing](../common/testing.md) instructions.

project/yocto/build/conf/bblayers.conf

@@ -18,7 +18,10 @@ BBLAYERS ?= " \
   ${YOCTOROOT}/layers/meta-openembedded/meta-multimedia \
   ${YOCTOROOT}/layers/meta-openembedded/meta-networking \
   ${YOCTOROOT}/layers/meta-openembedded/meta-python \
+  ${YOCTOROOT}/layers/meta-arm/meta-arm \
+  ${YOCTOROOT}/layers/meta-arm/meta-arm-toolchain \
   ${YOCTOROOT}/layers/meta-raspberrypi \
+  ${YOCTOROOT}/layers/meta-rockchip \
   ${YOCTOROOT}/layers/meta-ros/meta-ros-common \
   ${YOCTOROOT}/layers/meta-ros/meta-ros2 \
   ${YOCTOROOT}/layers/meta-ros/meta-ros2-humble \

project/yocto/build/conf/local.conf

@@ -283,6 +283,7 @@ BBMULTICONFIG = "\
     raspberrypi0-2w-64 \
     raspberrypi3-64 \
     raspberrypi4-64 \
+    rock64 \
 "
 
 # CONF_VERSION is increased each time build/conf/ changes incompatibly and is used to

project/yocto/build/conf/multiconfig/rock64.conf

@@ -0,0 +1,3 @@
+MACHINE = "rock64"
+
+SERIAL_CONSOLES = "115200;ttyS2"