Contents

  1. Introduction
  2. Software Version List
  3. How to Startup
    1. Preparation of the software
      1. Quick preparation: download binary
      2. Normal preparation: build source code
    2. How to flash
      1. Flashing OS image into microSD card
      2. Flashing loader
    3. How to boot
  4. How to Check Functions
    1. Software support list
    2. CAN
    3. Audio
    4. GPIO
    5. I2C
    6. USB3.0
    7. UART
    8. Thermal
    9. NVMe M.2 SSD
    10. Pi Camera
    11. Pi Display
    12. Pi Active Cooler
  5. Tips
  6. Support

Introduction

This is the Yocto BSP page for Sparrow Hawk.

Software Version List

Software Version
Yocto Project 5.0.15
Linux kernel 6.12.66
U-Boot 2026.01
Arm Trusted Firmware 2.14.0

How to Startup

If you want to quickly start, please start 3.1.1. Quick preparation: download binary.

If you want to normally start, please start 3.1.2. Normal preparation: build source code.

Preparation of the software

Quick preparation: download binary

Download binary from GitHub

Next, jump to 3.2. How to flash.

Normal preparation: build source code

git clone https://github.com/rcar-community/meta-sparrow-hawk -b scarthgap
cd meta-sparrow-hawk

In case of BSP:

./build.sh

In case of BSP + 3D Graphics:

./build.sh --weston

Next, jump to 3.2. How to flash.

How to flash

Flashing OS image into microSD card

Flashing loader

Please update the loader (u-boot) using the loader file (flash.bin) included in the Yocto OS image (rootfs).

  1. Insert microSD card prepared in Section 3.2.1 into microSD card slot (CN1), then power on the Sparrow Hawk board.
  2. Update the QSPI memory from U-Boot as shown below, then reboot the system. 
    load mmc 0:1 ${loadaddr} flash.bin && sf probe && sf update ${loadaddr} 0 ${filesize} && reset

Note:

How to boot

  1. Insert the SD card into CN1 which is bottom of the board.
  2. Open terminal application and open serial device.
  3. Press SW1 to power on the board.
  4. After booting U-Boot, please press any key while showing “Hit any key to stop autoboot:” to enter U-Boot shell.
  5. Input the following command into U-Boot shell and press enter key. If you connect camera and/or display, please choice the following button and input command.
  1. If command and environment is correct, Linux kernel log will output.
  1. Log in to “sparrow-hawk login:” as root.

 

To make the bootcmd set in 5 of 3.3. How to Boot persistent across reboots, run saveenv as shown below. After saving the environment, reboot the system once. From the next boot onward, this bootcmd will be used automatically, and you can skip 4 and 5 in 3.3. How to Boot.

saveenv
reset  # Execute this only the first time

How to Check Functions

Software support list

Function Status(minamal) Status(weston)
CAN Supported Supported
Ethernet Supported Supported
Audio(Output/Input) Supported Supported
Display Port Supported Supported
GPIO Supported Supported
I2C Supported Supported
JTAG Supported Supported
USB3.0 Supported Supported
UART Supported Supported
Thermal Supported Supported
NVMe M.2 SSD Supported Supported
Pi Camera Supported Supported
Pi Display Supported Supported
PCIe Endpoint Not supported Not supported
Pi Active Cooler Supported Supported
GPU Not supported Supported
AI Accelerator Not supported Not supported
Desktop(GUI) Not supported Supported

Note:

CAN

Loop back

  1. Connect the following pins of CONN2: Connect Pin1(CAN1L) - Pin2(CAN0L) and Pin5(CAN1H) - Pin6(CAN0H)
  1. Execute following commands on Linux: 
    ip link set can0 up type can restart-ms 100 bitrate 1000000 dbitrate 5000000 fd on
ip link set can1 up type can restart-ms 100 bitrate 1000000 dbitrate 5000000 fd on
candump can0 &
cangen can1 -I i -L i -D i -f -n 16
killall candump
candump can1 &
cangen can0 -I i -L i -D i -f -n 16
killall candump

Audio

GPIO

Toggle GP2_12(Pin11 on Pin Header)

  1. Connect LED or Oscilloscope to the board
    • ex) LED
    • LED
      • Please install a resistor to prevent damage to the LED. In the Connection image, it is used a 1kΩ resistor.
  2. Execute following command 
    python3 /usr/bin/example-apps/toggle_gpio_GP2_12.py

For more examples, please see also https://github.com/brgl/libgpiod/raw/refs/heads/master/bindings/python/examples

I2C

USB3.0

UART

Loop back

  1. Connect UART TX and RX(pin 8 and pin 10) on PinHeader.
  1. Execute following commands: 
    stty -F /dev/ttySC2 -echo
cat /dev/ttySC2 &
echo Hello > /dev/ttySC2 && sleep 1
killall cat

Thermal

NVMe M.2 SSD

Note:

 

Pi Camera

Note:

Note:

 

  1. Connect Raspberry Pi Camera V2 and/or Raspberry Pi Camera V3 to J1 and/or J2 connector.
  2. Change bootcmd variable on U-Boot shell referring 5 of 3.3. How to boot.
  3. Test camera
    • Camshark test(Need to connect Network and Linux PC)
      • Camshark is a gui tool to work remotely with libcamera based cameras.
      • Network connection example
      • network connection
      • Please confirm your Sparrow Hawk board IP address on Sparrow Hawk. 
        ifconfig

        If you cannot find inet, please execute following command on Sparrow Hawk.

        ifconfig xxx <sparrow_hawk_ip_address>

        ex) ifconfig end0 192.168.10.2

      • Please execute following command on Linux PC. 
        sudo apt install pipx
pipx install git+https://gitlab.freedesktop.org/camera/camshark.git
camshark root@<sparrow_hawk_ip_address>

        ex) camshark root@192.168.10.2

      • To switch the camera device when two cameras are connected, follow these steps.
      • Camshark
    • On-board test(Need to connect Display)
Command for minimal
Command for weston

Pi Display

Note:

Note:

 

  1. Setup
    • Connect Raspberry Pi Touch Display 2 cable to the J4 connector.
    • Connect the Power (red wire) to pin 2 of CN7 and the Ground (black wire) to pin 6 of CN7.
    • Pi Display
  2. Change bootcmd variable on U-Boot shell referring 5 of 3.3. How to boot.
  3. Display will work correctly after changing above.

Pi Active Cooler

Tips

  1. How to flash sdcard without removing the card from the board.
    • Preparation: TFTP server on your host PC and network connection between board and your host PC. And copy the gzipped image file into tftp server root.
      • ex.) /tftp/core-image-minimal-sparrow-hawk.rootfs.wic.gz
    • Execute following command on u-boot shell:
      • Note:
        • After this operation, all data is erased on the SD card which is inserted in the board.
       setenv ethaddr
 setenv serverip
 setenv ipaddr
 tftp ${loadaddr} <image file with gzipped> && gzwrite mmc 0 ${loadaddr} ${filesize}
      • ex.) tftp ${loadaddr} core-image-minimal-sparrow-hawk.rootfs.wic.gz && gzwrite mmc 0 ${loadaddr} ${filesize}
  1. How to expand the rootfs
    • Please run the following command on your board. Rootfs is expanded to use whole storage. 
      sudo expand-rootfs.sh
sudo reboot

Support

FAQ: https://github.com/orgs/rcar-community/discussions/categories/faq

Q&A Forum: https://github.com/orgs/rcar-community/discussions/categories/q-a