Real-Time Edge Software

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The real-time edge software enables real-time applications for the i.MX and Layerscape products and can be easily integrated with the Yocto SDKs for these products. Real-time edge software enables real-time capabilities via support for Preempt-RT for low latency applications, baremetal framework and support for real-time operating system (RTOS) on the Arm^®-Cortex^®-A or Cortex^®-M cores. Real-time edge software also supports real-time protocols and stacks for IEEE1588 PTP network synchronization, time sensitive networking (real-time ethernet), EtherCAT leader, CANOpen and OPC-UA.

Complete with reference software a system-validated board support package (BSP), NXP provides you with the tools to test and maximize the performance of the applications you develop.

User Guide

Software Details

Diagram

Real-Time Edge Software Block Diagram

Get diagram PDF

Features

Real-Time System

Real-time Linux enabled with PREEMPT_RT
U-Boot based baremetal framework low latency scenarios
Real-time operating system on Arm^{^®} Cortex^®-A cores and Cortex^®-M core for low latency
Jailhouse as partitioning hypervisor for hardware resource partitioning

Real-Time Networking

IEEE802.1AS clock synchronization
TSN standards implementation
TSN Configuration with Linux tc command and NETCONF/YANG
GenAVB/TSN stack
Network redundancy for seamless recovery with 802.1CB, HSR and ERPS

Protocols

IGH EtherCAT leader stack and EtherCAT-capable native drivers
CANopen over EtherCAT framework based on IGE CoE interface and multiples axes control
OPC-UA and OPC-UA pub/sub
FlexCAN and CANopen

Supported Devices

LS1046A: Layerscape^® 1046A and 1026A Processors

i.MX6ULL: i.MX 6ULL Single-Core Processor with Arm^® Cortex^®-A7 Core

LS1028A: Layerscape^® 1028A Applications Processor

i.MX8MMINI: i.MX 8M Mini - Arm^® Cortex^®-A53, Cortex-M4, Audio, Voice, Video

LX2160A: Layerscape^® LX2160A, LX2120A, LX2080A Processors

LS1043A: Layerscape^® 1043A and 1023A Processors

IMX8MPLUS: i.MX 8M Plus – Arm^® Cortex^®-A53, Machine Learning, Vision, Multimedia and Industrial IoT

LS1021A: Layerscape^® 1021A Dual-Core Processor with LCD Controller

LS1012A: Layerscape^® 1012A Low Power Processor

i.MX8X: i.MX 8X Family – Arm^® Cortex^®-A35, 3D Graphics, 4K Video, DSP, Error Correcting Code on DDR

i.MX93: i.MX 93 Applications Processor Family – Arm^® Cortex^®-A55, ML Acceleration, Power Efficient MPU

Current Release

Release and Documentation	Build Sources	Supported Platforms/Pre-Built Binary	What's New
Real Time Edge Software v2.7 Release Date: Dec 2023 Documentation Real-Time Edge Software User Guide Real-Time Edge Yocto Project User's Guide GenAVB/TSN Stack Evaluation User Guide Harpoon User's Guide i.MX6ULL EVK GenAVB/TSN Rework Application Note	See README on instructions for each release.	MCIMX6ULL-EVK IMX8DXLB0-LPDDR4-EVK 8MMINILPD4-EVKB 8MPLUSLPD4-EVK IMX93EVK IMX93-9X9-LPDDR4-QSB LS1028ARDB-PA LS1043ARDB-PD FRWY-LS1046A-PA LS1046ARDB-PB LX2160A-RDB	Real-time System Preempt-RT Linux 6.1.36-rt12 Baremetal: math lib extended to all platforms Harpoon 2.5 Heterogeneous Multicore Framework lwIP on Cortex-A Core (ENET on i.MX8MP) RPMSG between two FreeRTOS RPMSG Performance Evaluation tools RAM Console on FreeRTOS Flexible bootstraps with application Heterogeneous Multi-SoC Framework NETC DSA switch driver on Linux Device driver of DSA control interface on Linux DSA Service driver of DSA control interface on i.MX RT1180 NETC DSA switch configuration on i.MX RT1180 Protocols AVB bridge with SJA1105 NPI i.MX93 A1 99 QSB: Preempt RT, Baremetal, Jailhouse, Heterogeneous multicore (RPMSG, UART sharing), TSN web-UI configuration Based on lf-6.1.36-2.1.0* LTS 6.1.36 U-Boot v2023.04 Yocto mickledore 4.2 MCUX SDK 2.13.1

Real-Time Edge Past Releases

Release	Build Sources and Documentation	Supported Platforms/Demo Images	What's New

Real-Time Edge Software 2.6	Documentation	MCIMX6ULL-EVK IMX8DXLB0-LPDDR4-EVK 8MMINILPD4-EVKB 8MPLUSLPD4-EVK IMX93EVK IMX93-9X9-LPDDR4-QSB LS1028ARDB-PA LS1043ARDB-PD LS1046ARDB-PB LX2160A-RDB	Real-Time System Preempt-RT Linux 6.1.22-rt8 Baremetal LS1028A Preempt-RT Linux + Baremetal All cores running under Baremetal Math library support DM mode for Baremetal example and driver: I²C, QSPI Harpoon 2.4.0 Heterogeneous Multicore Framework VirtIO Ethernet sharing RFP Protocols EtherCAT master: CODESYS networking optimization i.MX 8M Plus, i.MX 8M Mini, i.MX 93, i.MX 6ULL TSN Enhancements for Avnu Alliance Conformance Test for IEEE802.1Qbu/IEEE802.3br AVB Milan 1.1 Test Suite conformance Benchmark Heterogeneous multicore performance: networking CODESYS EtherCAT master stack benchmarking NPI i.MX 93 A0 99: Preempt RT, AVB/TSN, TSN stack& config tool i.MX 8DXL: AVB Media Clock Recovery Based on i.MX Linux 6.1.22_2.0.0* U-Boot v2023.04 LTS 6.1.22 Yocto mickledore 4.2 Based on MCUXpresso SDK 2.13.1
Real-Time Edge Software 2.5	Documentation	MCIMX6ULL-EVK IMX8DXLB0-LPDDR4-EVK 8MMINILPD4-EVKB 8MPLUSLPD4-EVK IMX93EVK LS1028ARDB-PA LS1043ARDB-PD FRWY-LS1046A-PA LS1046ARDB-PB LX2160A-RDB	Real-Time System Heterogeneous multi-core RPMSG Vring buffer increasing from 256 KB to 8 MB VirtIO Network sharing with performance optimization Baremetal improvements on LS1046A All Cortex-A cores running under baremetal Flextimer Baremetal example and driver change to DM mode: GPIO Integration of Harpoon 2.3 Support for AVB Talker in FreeRTOS audio app Support for RPMsg control (FreeRTOS, all boards) Support for Virtual Ethernet Basic support for i.MX 93 ("hello world") Protocols EtherCAT master Basic CodeSYS PLC control support and native driver optimization MX 8M Plus, i.MX 8M Mini, i.MX 93, i.MX 6ULL NPI i.MX 93 Baremetal, RPMSG based UART sharing AVB Media Clock Recovery MX8DXL: AVB audio talker/listener Platform eMMC booting on LS1028ARDB and LS1046ARDB Removal of test and doc support, keeping code inclusion for: LS1021AIOT, LS1021ATSN, LS1021ATWR, LS1012ARDB Based on i.MX Linux 5.15.71_2.2.0 LTS 5.15.71 Yocto Kirkstone 4.0 U-Boot v2022.04
Real-Time Edge Software 2.4	Documentation	MCIMX6ULL-EVK IMX8DXLB0-LPDDR4-EVK 8MMINILPD4-EVKB 8MPLUSLPD4-EVK IMX93EVK LS1012ARDB-PC LS1021A-IOT LS1021ATSN-PA TWR-LS1021A-PC LS1028ARDB-PA LS1043ARDB-PD FRWY-LS1046A-PA LS1046ARDB-PB LX2160A-RDB	Real-Time System PREEMPT-RT Linux-5.15.52-rt Heterogeneous multi-core Inter-core communication between Cortex-A Core and Cortex-A/M Core on i.MX8M Plus and i.MX8M Mini UART 9-bit Multidrop mode (RS-485) support RPMSG between Cortex-A Cores SGI mailbox driver on Linux RPMSG Lite with SGI mailbox on RTOS Loading binaries on i.MX8M Mini and i.MX8M Plus to the Cortex-M from Linux Baremetal extensions on LS1046A Single hardware interrupt routed to multiple cores Newlib math library Integration of Harpoon 2.2.0 Protocols AVB Milan extensions EtherCAT master stacks EtherCAT master multiple axes control system HMI: LS1028A and i.MX8MP Plus HTML5/chromium Modbus Libmodbus package integration Modbus-simulator client and server WIFI enabled on i.MX8DXL Reference Design EtherCAT master multiple axes control system HCFA 60-axes servo using CSP mode NPI i.MX93 A0 1111: Preempt RT, EtherCAT master, AVB/TSN, TSN stack and config tools, TSN performance, OPC-UA Pub/Sub i.MX8DXL: Preempt RT, EtherCAT master, TSN stack and config tools, OPC-UA Pub/Sub Based on i.MX Linux 5.15.52_2.1.0* LTS 5.15.52 Yocto Kirkstone 4.0 U-boot v2022.04
Real-Time Edge Software 2.3	Documentation See README on instructions for each release.	MCIMX6ULL-EVK 8MMINILPD4-EVKB 8MPLUSLPD4-EVK LS1012ARDB-PC LS1021A-IOT LS1021ATSN-PA TWR-LS1021A-PC LS1028ARDB-PA LS1043ARDB-PD FRWY-LS1046A-PA LS1046ARDB-PB LX2160A-RDB	Industrial Networking TSN Dynamic TSN configuration (EAR) Qci configuration CAF configuration based on 802.1 Qch YANG modules updating to latest version AVB Endpoint support on i.MX 6ULL, i.MX 8M Plus and i.MX 8M Mini Real-Time System PREEMPT-RT Linux-5.15.5-rt22 Heterogeneous AMP software Yocto based unified delivery for Cortex-A and Cortex-M Resource sharing RPMSG based UART sharing Virtual UART to physical UART 1:1 mapping Virtual UART to physical UART n:1 mapping Virtual UART to physical UART flexible mapping Harpoon (RTOS on Cortex-A 2.1) Zephyr integration on i.MX 8M Plus and i.MX 8M Mini Audio Application sine wave playback playback and recording (loopback) audio pipeline Industrial application: AVB/TSN over ethernet test application CAN test application Protocols EtherCAT master stack IGH EtherCAT master native driver on LS1043A and LS1046A Multiple EtherCAT masters Flexible port selection for EtherCAT and Ethernet SOEM EtherCAT master stack enablement (PRC): RTOS on Cortex-M on i.MX 8M Plus RTOS on Cortex-M on i.MX 8M Mini FreeRTOS or without an operating system Benchmark Scheduling latency on Preempt_RT and Harpoon RTOS Inter-core communication bandwidth of BareMetal Packet processing time of TSN Packet processing time of EtherCAT NPI i.MX93 A0 1111: Preempt RT, EtherCAT master, AVB/TSN, TSN stack and config tools, TSN performance, OPC-UA Pub/Sub i.MX8DXL: Preempt RT, EtherCAT master, TSN stack and config tools, OPC-UA Pub/Sub Based on i.MX Linux 5.15.5_1.0.0* Linux 5.15.5-rt22 U-Boot v2021.04 Yocto Honister 3.4
Real-Time Edge Software 2.2	Documentation See README on instructions for each release.	MCIMX6ULL-EVK 8MMINILPD4-EVKB 8MPLUSLPD4-EVK LS1012ARDB-PC LS1021A-IOT LS1021ATSN-PA TWR-LS1021A-PC LS1028ARDB-PA LS1043ARDB-PD FRWY-LS1046A-PA LS1046ARDB-PB LX2160A-RDB	Industrial Networking TSN 802.1AS: PHY delay correction calibration AF_XDP performance improvements IEEE 1588 PTP UDP on LS1028ARDB TSN switch Real-time System PREEMPT-RT Linux-5.10.72-rt53 Harpoon (RTOS on Cortex-A) Integration of Harpoon on i.MX 8M Plus and i.MX 8M Mini Protocols EtherCAT master stack IGH EtherCAT master native driver on LS1043A and LS1046A Multiple EtherCAT masters Flexible port selection for EtherCAT and Ethernet SOEM EtherCAT master stack enablement (EAR) RTOS on Cortex-M on i.MX 8M Plus FreeRTOS or without an operating system Based on i.MX Linux 5.10.72_2.2.0 Linux 5.10.72-rt U-Boot v2021.04 Yocto Hardknott 3.3
Real-Time Edge Software 2.1	Documentation See README on instructions for each release.	MCIMX6ULL-EVK 8MMINILPD4-EVKB 8MPLUSLPD4-EVK LS1012ARDB-PC LS1021A-IOT LS1021ATSN-PA TWR-LS1021A-PC LS1028ARDB-PA LS1043ARDB-PD FRWY-LS1046A-PA LS1046ARDB-PB LX2160A-RDB	Industrial Networking TSN 802.1AS-2020 CMLDS (generic interface to PTP stack) TSN Applications TSN application with AF_XDP data path TSN Configurations Path selection for Qbv Real-time System PREEMPT-RT Linux 5.10.52-rt47 Jailhouse GPIO in non-root cell Linux support on LS1028ARDB ENETC in non-root cell Linux support on LS1028ARDB Protocols Native EtherCAT-capable network driver module on ENETC (LS1028ARDB) Native EtherCAT-capable network driver module on FEC (i.MX8M Plus EVK) EtherCAT: CoE 6-8 axis control OPC UA PubSub OPC UA PubSub over TSN Based on i.MX Linux 5.10.52_2.1.0 Linux 5.10.52-rt U-Boot v2021.04 Yocto Hardknott 3.3
Real-Time Edge Software 2.0	Documentation See README on instructions for each release.	MCIMX6ULL-EVK 8MMINILPD4-EVKB 8MPLUSLPD4-EVK LS1012ARDB-PC LS1021A-IOT LS1021ATSN-PA TWR-LS1021A-PC LS1028ARDB-PA LS1043ARDB-PD FRWY-LS1046A-PA LS1046ARDB-PB LX2160A-RDB	Based on Yocto project 3.2 (Gatesgarth) Real-time System PREEMPT-RT Linux Heterogeneous architecture Baremetal: PREEMPT-RT Linux on A core + Baremetal architecture on A core i.MX 8M Plus EVK, i.MX 8M Mini EVK, LS1028ARDB, LS1046ARDB, LS1043ARDB, LS1021A-IoT Jailhouse: PREEMPT-RT Linux on A core + Jailhouse + PREEMPT-RT Linux on A core i.MX 8M Plus EVK, LS1028ARDB, LS1046ARDB Industrial Networking TSN TSN Standards IEEE 802.1Qav IEEE 802.1Qbv IEEE 802.1Qbu IEEE 802.1Qci IEEE 802.1CB IEEE 802.1AS-2020 (gPTP) IEEE 802.1Qat-2010 (SRP) TSN Configurations Linux tc command and tsntool NETCONF/YANG Dynamic TSN configuration - web-based TSN configuration, dynamic topology discovery TSN Applications Example for real-time traffic processing Networking 802.1 Q-in-Q VCAP tc flower chain mode Priority set, VLAN tag push/pop/modify, Policer Burst and Rate Configuration, drop/trap/redirect Protocols EtherCAT master IGH EtherCAT master stack Native EtherCAT-capable network driver module (i.MX 8M Mini EVK) FlexCAN SocketCAN on Linux kernel CANOpen CANOpen master and slave example code CoE: CANOpen over EtherCAT CiA402(DS402) profile framework based on IGH CoE interface EtherCAT CoE 6-8 axis control (i.MX 8M Mini EVK) OPC-UA/OPC-UA pub/sub open62541 Modbus Modbus master and slave Modbus-RTU Modbus-TCP Modbus-ASCII New Added Platform i.MX 6ULL EVK

Documentation

Quick reference to our documentation types.

1-5 of 19 documents

^{Application Note}
i.MX6ULL EVK GenAVB/TSN Rework Application Note

PDFRev 2.0Jul 29, 202215.9 MBAN13678English
^{User Guide}
Real-time Edge Yocto Project User Guide

PDFRev 2.7Dec 18, 2023418.7 KBRTEDGEYOCTOUGEnglish
^{User Guide}
Real-time Edge Software User Guide

PDFRev 2.7Dec 18, 202354.2 MBREALTIMEEDGEUGEnglish, 中文
^{User Guide}
GenAVB/TSN Stack Evaluation User Guide

PDFRev 1.3Dec 18, 20235.5 MBGENAVBTSNUGEnglish
^{User Guide}
Harpoon_USERS_GUIDE

PDFRev 2.5Dec 14, 20232.5 MBHarpoon_USERS_GUIDEEnglish
^{User Guide}
Real-time Edge v2.5 Software User Guide

PDFRev 2.5Mar 30, 202353.3 MBREALTIMEEDGEUG_Rev2.5English
^{User Guide}
Real-time Edge v2.5 Yocto Project User Guide

PDFRev 2.5Mar 30, 2023362.2 KBRTEDGEYOCTOUG_Rev2.5English
^{User Guide}
Harpoon User's Guide 2.3

PDFRev 2.3Mar 28, 20232.3 MBHRPNUG_rev2.3English
^{User Guide}
Harpoon User's Guide 2.2

PDFRev 2.2Dec 17, 20221.0 MBHRPNUG_rev2.2English
^{User Guide}
Real-time Edge Software User Guide

PDFRev 2.4Dec 17, 202254.8 MBREALTIMEEDGEUG_Rev2.4English
^{User Guide}
Real-time Edge Yocto Project User Guide

PDFRev 2.4Dec 17, 2022283.5 KBRTEDGEYOCTOUG_Rev2.4English
^{User Guide}
Real-time Edge Yocto Project v2.3 User Guide

PDFRev 2.3Jul 29, 2022295.7 KBRTEDGEYOCTOUG_REV2.3English
^{User Guide}
Real-time Edge Software v2.3 User Guide

PDFRev 2.3Jul 29, 202226.6 MBREALTIMEEDGEUG_REV2.3English
^{User Guide}
Harpoon User's Guide 2.1.0

PDFRev 2.1.0Jul 28, 20221.9 MBHRPNUG_rev2.1.0English
^{User Guide}
Real-time Edge Software v2.2 user guide

PDFRev 2.2Mar 31, 202222.6 MBREALTIMEEDGEUG_REV2.2English
^{User Guide}
Real-time Edge Yocto Project v2.2 user guide

PDFRev 2.2Mar 31, 2022240.2 KBRTEDGEYOCTOUG_REV2.2English
^{User Guide}
Real-time Edge Software v2.1 user guide

PDFRev 2.1Dec 16, 2021REALTIMEEDGEUG_REV2.1English
^{User Guide}
Real-time Edge Yocto Project v2.1 user guide

PDFRev 2.1Dec 16, 2021RTEDGEYOCTOUG_REV2.1English
^{User Guide}
Real-time Edge Yocto Project User Guide

PDFRev 2.0Jul 29, 2021187.5 KBRTEYOCTOUGEnglish, 中文