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+==== 01. Preparation ====
+The Linux kernel is comprised of numerous modules. These can be in-tree (part of the kernel source structure) or out-of-tree (independent modules). While there are some limitations when writing out-of-tree modules, such as restricted access to certain functions, this generally doesn't affect your ability to write drivers.
+=== Task A - The kernel ===
+We are going to write a few out-of-tree kernel modules since this method is more portable. If your code is not architecture-dependent, then you can compile and test your module on your host machine just as easily as on the board. However, if you want to compile it to run on the board, you need a copy of the kernel's source tree that is checked out at the same version as that which is running on the target device. In the following code example we assume that the board is running Linux v6.4.
+<code bash>
+# check kernel version on the board
+[root@board ~]$ uname -r
+.4
+# see available release tags on your copy of the Linux repo
+[student@host ~/linux]$ git tag
+# check out to the appropriate release version
+[student@host ~/linux]$ git checkout v6.4
+</code>
+Although we have the desired kernel version, remember that the FDT needed to be slightly modified. Apply the following diffpatch:
+<spoiler kernel_fdt.patch>
+<code diff>
+diff --git i/arch/arm64/boot/dts/freescale/imx8mq-pico-pi.dts w/arch/arm64/boot/dts/freescale/imx8mq-pico-pi.dts
+index 89cbec5c4..e15b104d6 100644
+--- i/arch/arm64/boot/dts/freescale/imx8mq-pico-pi.dts
++++ w/arch/arm64/boot/dts/freescale/imx8mq-pico-pi.dts
+@@ -35,6 +35,13 @@ reg_usb_otg_vbus: regulator-usb-otg-vbus {
+ 		regulator-max-microvolt = <5000000>;
+ 		gpio = <&gpio3 14 GPIO_ACTIVE_LOW>;
+ 	};
++
++	firmware {
++		optee {
++			compatible = "linaro,optee-tz";
++			method = "smc";
++		};
++	};
+ };
+ &fec1 {
+@@ -80,6 +87,7 @@ buck1: BUCK1 {
+ 				regulator-min-microvolt = <700000>;
+ 				regulator-max-microvolt = <1300000>;
+ 				regulator-boot-on;
++				regulator-always-on;
+ 				regulator-ramp-delay = <1250>;
+ 				rohm,dvs-run-voltage = <900000>;
+ 				rohm,dvs-idle-voltage = <850000>;
+@@ -91,6 +99,7 @@ buck2: BUCK2 {
+ 				regulator-min-microvolt = <700000>;
+ 				regulator-max-microvolt = <1300000>;
+ 				regulator-boot-on;
++				regulator-always-on;
+ 				regulator-ramp-delay = <1250>;
+ 				rohm,dvs-run-voltage = <1000000>;
+ 				rohm,dvs-idle-voltage = <900000>;
+@@ -101,6 +110,7 @@ buck3: BUCK3 {
+ 				regulator-min-microvolt = <700000>;
+ 				regulator-max-microvolt = <1300000>;
+ 				regulator-boot-on;
++				regulator-always-on;
+ 				rohm,dvs-run-voltage = <1000000>;
+ 			};
+@@ -109,6 +119,7 @@ buck4: BUCK4 {
+ 				regulator-min-microvolt = <700000>;
+ 				regulator-max-microvolt = <1300000>;
+ 				regulator-boot-on;
++				regulator-always-on;
+ 				rohm,dvs-run-voltage = <1000000>;
+ 			};
+@@ -117,6 +128,7 @@ buck5: BUCK5 {
+ 				regulator-min-microvolt = <700000>;
+ 				regulator-max-microvolt = <1350000>;
+ 				regulator-boot-on;
++				regulator-always-on;
+ 			};
+ 			buck6: BUCK6 {
+@@ -124,6 +136,7 @@ buck6: BUCK6 {
+ 				regulator-min-microvolt = <3000000>;
+ 				regulator-max-microvolt = <3300000>;
+ 				regulator-boot-on;
++				regulator-always-on;
+ 			};
+ 			buck7: BUCK7 {
+@@ -131,6 +144,7 @@ buck7: BUCK7 {
+ 				regulator-min-microvolt = <1605000>;
+ 				regulator-max-microvolt = <1995000>;
+ 				regulator-boot-on;
++				regulator-always-on;
+ 			};
+ 			buck8: BUCK8 {
+@@ -138,6 +152,7 @@ buck8: BUCK8 {
+ 				regulator-min-microvolt = <800000>;
+ 				regulator-max-microvolt = <1400000>;
+ 				regulator-boot-on;
++				regulator-always-on;
+ 			};
+ 			ldo1: LDO1 {
+@@ -161,6 +176,7 @@ ldo3: LDO3 {
+ 				regulator-min-microvolt = <1800000>;
+ 				regulator-max-microvolt = <3300000>;
+ 				regulator-boot-on;
++				regulator-always-on;
+ 			};
+ 			ldo4: LDO4 {
+@@ -168,6 +184,7 @@ ldo4: LDO4 {
+ 				regulator-min-microvolt = <900000>;
+ 				regulator-max-microvolt = <1800000>;
+ 				regulator-boot-on;
++				regulator-always-on;
+ 			};
+ 			ldo5: LDO5 {
+@@ -175,6 +192,7 @@ ldo5: LDO5 {
+ 				regulator-min-microvolt = <1800000>;
+ 				regulator-max-microvolt = <3300000>;
+ 				regulator-boot-on;
++				regulator-always-on;
+ 			};
+ 			ldo6: LDO6 {
+@@ -182,6 +200,7 @@ ldo6: LDO6 {
+ 				regulator-min-microvolt = <900000>;
+ 				regulator-max-microvolt = <1800000>;
+ 				regulator-boot-on;
++				regulator-always-on;
+ 			};
+ 			ldo7: LDO7 {
+@@ -189,6 +208,7 @@ ldo7: LDO7 {
+ 				regulator-min-microvolt = <1800000>;
+ 				regulator-max-microvolt = <3300000>;
+ 				regulator-boot-on;
++				regulator-always-on;
+ 			};
+ 		};
+ 	};
+</code>
+</spoiler>
+\\
+<code bash>
+[student@host ~/linux]$ git apply kernel_fdt.patch
+</code>
+Finally, compile the Linux kernel after creating the //arm64// defconfig. Also, consider enabling the generation of debug info in ''Kernel hacking / Compile-time checks and compiler options''. If you are compiling the kernel in a VM, make sure to allocate said VM as many CPUs and as much RAM as you can, otherwise it will take a while.
+<code bash>
+# assuming the cross compiler bin/ is in PATH
+[student@host ~/linux]$ make CROSS_COMPILE=aarch64-none-linux-gnu- ARCH=arm64 defconfig
+[student@host ~/linux]$ make CROSS_COMPILE=aarch64-none-linux-gnu- ARCH=arm64 Image -j $(nproc)
+[student@host ~/linux]$ make CROSS_COMPILE=aarch64-none-linux-gnu- ARCH=arm64 dtbs
+</code>
+<note tip>
+During a previous lab, we saw how important it is to have a language server integrated into your text editor. The language server lets you jump to function definitions or see all references of a variable, even outside the current source file. However, the language server needs some hints regarding what code was compiled; normally, it can't know that you've compiled the arm64 version of a architecture-dependent function and not the x86 one. All this information can be provided via a ''compile_commands.json'' file that contains the cmdline of all ''${CROSS_COMPILE}gcc'' invocations. Tools like [[https://github.com/rizsotto/Bear|bear]] can generate it for you without much hassle, but the Linux build system (separate from Kbuild) has a handy script that assembles it for you after compilation:
+<code bash>
+[student@host ~/linux]$ ./scripts/clang-tools/gen_compile_commands.py
+</code>
+If you don't have a language server configured, you can use [[https://elixir.bootlin.com/linux/latest/source|elixir]] as an online alternative.
+</note>
+=== Task B - The rootfs ===
+For this lab we want to be able to easily transfer files to our boards. We are going to achieve this via SSH, so include  ''BR2_PACKAGE_OPENSSH'' in your BuildRoot's ''.config''.
+Additionally, we want to place a configuration file for the SSH daemon (i.e. **sshd**) at ''/etc/ssh/sshd_config'' (this is required to allow //root// login with password). In order to achieve this, we are going to use a //rootfs overlay//. Essentially, we are going to specify the absolute path to a certain directory (we'll call it ''overlay/''). After BuildRoot finishes creating the rootfs in its staging directory, it will take the contents of our overlay and copy it over, overwriting any pre-existing instance of a file.
+<code bash>
+# create the overlay directory + intermediate dirs between / and sshd_config
+[student@host ~/buildroot]$ mkdir -p overlay/etc/ssh
+# copy existing sshd_config (from openssh package)
+[student@host ~/buildroot]$ cp /etc/ssh/sshd_config overlay/etc/ssh
+# TODO: make sure the following settings are uncommented and have the right value
+#   PermitRootLogin yes
+#   PasswordAuthentication yes
+</code>
+Next, set the absolute path to ''buildroot/overlay/'' to the ''BR2_ROOTFS_OVERLAY'' config variable. Then, recompile the CPIO archive.
+<note>
+Make sure you have the **coreutils**, **openssh**, **iproute2** and **vim** packages installed!
+</note>
+=== Task C - Persistent storage configuration over UMS ===
+For this task we are going to make our current configuration persistent. The first step is to boot (as we normally do) to **bl33**, and get the U-Boot shell. From there, we are going to expose the 16GB eMMC memory on the board as an external storage device to our host computer. This means that we can format it and copy files directly once mounted.
+== Step 1: eMMC partitioning ==
+Some of you may already have the following disk setup. If that's the case, you can move on.
+Our immediate goal is to create two partitions. One will hold a FIT image containing the kernel and FDT (but no ramdisk) from which we are going to boot Linux. The second will represent the root filesystem and will contain everything that BuildRoot generated. Between the partition table and the first partition we are going to leave ~10MB of unused space for later use.
+<code bash>
+# expose eMMC via UMS
+u-boot=> ums mmc 0
+# check on you host what the newly discovered device is called
+# from this point on, assuming it's called /dev/sdb
+[student@host ~]$ dmesg
+[student@host ~]$ lsblk
+# format the external eMMC storage device
+[student@host ~]$ fdisk /dev/sdb
+# create a fresh MBR partition table
+(fdisk) o
+# create a 100MB partition starting at 10MB offset
+(fdisk) n
+Partition type: p
+Partition number: 1
+First sector: 20480       # not the default value!
+Last sector: +100M
+# print the current partition table; check out end sector of partition 1!
+(fdisk) p
+Device     Boot Start    End Sectors  Size Id Type
+/dev/sdb1       20480 225279  204800  100M 83 Linux
+# create a second partition, to take up the rest of the space
+(fdisk) n
+Partition type: p
+Partition number: 2
+First sector: 225290
+Last sector: <Enter>
+# write changes to disk
+(fdisk) w
+# format partition 1 as FAT32 & partition 2 as ext4
+[student@host ~]$ sudo mkfs.fat -F 32 /dev/sdb1
+[student@host ~]$ sudo mkfs.ext4 /dev/sdb2
+# copy FIT image (without ramdisk!) to FAT32 partition
+[student@host ~/staging]$ sudo mount /dev/sdb1 /mnt
+[student@host ~/staging]$ sudo cp linux.itb /mnt
+[student@host ~/staging]$ sudo umount /mnt
+# extract rootfs CPIO contents onto ext4 partition
+# NOTE: ext4 required in order to support symlinks
+[student@host ~/buildroot]$ sudo mount /dev/sdb2 /mnt
+[student@host ~/buildroot]$ sudo cpio -i -D /mnt -F output/images/rootfs.cpio
+[student@host ~/staging]$ sudo umount /mnt
+</code>
+== Step 2: Automatic boot to Linux ==
+Next, we want to set up **bl33** to boot automatically. For this, we need to configure a number of commands to run by default. Add the following commands (separated by '';'' instead of new line) to the ''CONFIG_BOOTCOMMAND'' variable in U-Boot's config.
+<code>
+fatload mmc 0:1 0x80000000 linux.itb
+setenv bootargs console=ttymxc0,115200,115200 root=/dev/mmcblk0p2 rw clk_ignore_unused
+bootm 0x80000000
+</code>
+Recompile U-Boot and regenerate the Firmware Image Package (i.e. ''flash.bin''). Next, we are going to copy the FIP on the eMMC, in the empty space between the MBR and the first partition. When doing an eMMC boot, the **bl1** bootrom will look for the FIP at a 33KB offset into the storage device. Same is true for an SD card boot.
+<code bash>
+# place the FIP onto the eMMC at 32KB offset from the start
+# NOTE: for other ARMv8 platforms, this offset could be 33KB; check the datasheet
+[student@host ~/imx-mkimage/iMX8M]$ dd if=flash.bin of=/dev/sda bs=1024 seek=32 conv=fsync oflag=direct status=progress
+</code>
+Now change the jumpers on the board to perform an eMMC boot.
+=== Task D - Network configuration ===
+About now you should have logged onto the board via the serial console. In this task we want to establish a network connection between your host and the board. For this to happen, we need to configure static IPs on the two network interfaces (since we don't have a DHCP server). Consider providing network connectivity for the board a bonus task ;)
+<code bash>
+# observe the ethernet interfaces
+# NOTE: usually named ethX, enpXsY, enoX, endX
+# NOTE: -c flag for color output from iproute2
+# NOTE: "addr show" can be abbreviated to "a s"
+[student@host ~]$ ip -c addr show
+: enp60s0: <BROADCAST,MULTICAST,UP,LOWER_UP> mtu 1500 qdisc fq_codel state UP group default qlen 1000
+    link/ether 8c:47:be:24:bb:61 brd ff:ff:ff:ff:ff:ff
+[root@board ~]$ ip -c a s
+: end0: <BROADCAST,MULTICAST> mtu 1500 qdisc noop state DOWN group default qlen 1000
+    link/ether 00:1f:7b:65:03:3c brd ff:ff:ff:ff:ff:ff
+# configure static IPs on each interface
+[student@host ~]$ ip addr add 192.168.101.1/24 dev enp60s0
+[root@board ~]$   ip addr add 192.168.101.2/24 dev end0
+# enable links
+[student@host ~]$ ip link set dev enp60s0 up
+[root@board ~]$   ip link set dev end0 up
+# add routing information
+[student@host ~]$ ip route add 192.168.101.0/24 dev enp60s0
+[root@board ~]$   ip route add 192.168.101.0/24 dev end0
+# ping the target
+[student@host ~]$ ping 192.168.101.2
+# connect to the target via SSH
+[root@board ~]$ systemctl status sshd
+[root@board ~]$ systemctl start sshd      # only if not already started
+[student@host ~]$ ssh root@192.168.101.2
+</code>