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feat(doc): add documentation on Torizon OS (#7280)

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Co-authored-by: Gabriel Catel Torres <gabriel.catel@edgemtech.ch>
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======
Boards
======
.. toctree::
:maxdepth: 2
toradex

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=======
Toradex
=======
About toradex
-------------
Toradex specializes in manufacturing high-quality embedded computing solutions
based on microprocessor units (MPUs). These boards and modules are designed to
meet the needs of industrial and commercial applications, offering reliability,
longevity, and scalability. Leveraging industry-standard frameworks like Yocto
Project, Toradex enables customers to create tailored embedded systems with
ease, ensuring compatibility and flexibility.
Products portfolio
------------------
Toradex offers a wide range of system-on-modules (SoMs) and carrier boards
designed for various applications and industries. Here's a basic overview to
help you navigate the portfolio.
Aquila
~~~~~~
Aquila is a new System on Module standard expanding the Toradex portfolio to
new heights, offering unparalleled performance for computationally intensive
CPU, machine learning, and vision workloads.
To power next-gen’s AI requirements in industrial and other harsh environments,
Aquila introduces a proven connector: the 400-pin board-to-board connector,
making the board extra reliable, especially in these environments.
Aquila Computer on Module:
- `Aquila iMX95 <https://www.toradex.com/computer-on-modules/
aquila-arm-family/nxp-imx95>`_
- `Aquila AM69 <https://www.toradex.com/computer-on-modules/
aquila-arm-family/ti-am69>`_
Aquila Carrier Boards:
- `Clover <https://www.toradex.com/products/carrier-board/clover>`_
- `Aquila Development Board <https://www.toradex.com/products/carrier-board/
aquila-development-board-kit>`_
Apalis
~~~~~~
Apalis is a scalable System on Module (SoM) / Computer on Module (CoM) family
that aims to provide high performance in a compact form factor. Apalis enables
the development of advanced and robust products within a short time and with
low risks. Apalis modules scale to the highest performance in the Toradex
product range, and they provide the most interfaces of any product line on the
314-pin MXM connectors. Apalis modules are suited to a larger number of
applications in such fields as healthcare, industrial automation, robotics,
smart cities and many more. Apalis modules are supported by Toradex software
offerings and the company’s rich ecosystem of other products and services.
Apalis Computer on Module:
- `Apalis iMX8 <https://www.toradex.com/computer-on-modules/
apalis-arm-family/nxp-imx-8>`_
- `Apalis iMX6 <https://www.toradex.com/computer-on-modules/
apalis-arm-family/nxp-freescale-imx-6>`_
- `Apalis T30 <https://www.toradex.com/computer-on-modules/
apalis-arm-family/nvidia-tegra-3>`_
Apalis Carrier Boards:
- `Ixora <https://www.toradex.com/products/carrier-board/
ixora-carrier-board>`_
- `Apalis Evaluation Board <https://www.toradex.com/products/carrier-board/
ixora-carrier-board>`_
Colibri
~~~~~~~
The Colibri Arm® family consists of SODIMM-sized System on Modules (SoM) /
Computer on Modules (CoM). The family offers miniaturized modules based on NXP®
i.MX 8X, i.MX 6ULL, i.MX 7, i.MX 6, Vybrid and NVIDIA® Tegra SoCs. All these
modules are pin-compatible, ensuring scalability of applications developed on
them. The Colibri family delivers cost-performance-optimized designs. An
extensive range of Colibri-compatible carrier boards and accessories, such as
cameras and displays, is also available for easy product development on the
Colibri Arm family of modules.
Colibri Computer on Module:
- `Colibri iMX8X <https://www.toradex.com/computer-on-modules/
colibri-arm-family/nxp-imx-8x>`_
- `Colibri T30 <https://www.toradex.com/computer-on-modules/
colibri-arm-family/nvidia-tegra-3>`_
- `Colibri T20 <https://www.toradex.com/computer-on-modules/
colibri-arm-family/nvidia-tegra-2>`_
- `Colibri iMX6 <https://www.toradex.com/computer-on-modules/
colibri-arm-family/nxp-freescale-imx6>`_
- `Colibri iMX7 <https://www.toradex.com/computer-on-modules/
colibri-arm-family/nxp-freescale-imx7>`_
- `Colibri iMXiMX6ULL8X <https://www.toradex.com/computer-on-modules/
colibri-arm-family/nxp-imx6ull>`_
- `Colibri VF61 <https://www.toradex.com/computer-on-modules/
colibri-arm-family/nxp-freescale-vybrid-vf6xx>`_
- `Colibri VF50 <https://www.toradex.com/computer-on-modules/
colibri-arm-family/nxp-freescale-vybrid-vf5xx>`_
Colibri Carrier Boards:
- `Colibri Evaluation Board <https://www.toradex.com/products/carrier-board/
colibri-evaluation-board>`_
- `Iris Carrier Board <https://www.toradex.com/products/carrier-board/
iris-carrier-board>`_
- `Viola Carrier Board <https://www.toradex.com/products/carrier-board/
viola-carrier-board>`_
- `Aster Carrier Board <https://www.toradex.com/products/carrier-board/
aster-carrier-board>`_
Verdin
~~~~~~~
Verdin is a System on Module standard expanding on the successful Colibri and
Apalis form factors. It provides a revised, modern and capable interface set
and focuses on ease-of-use, robustness and being future-proof.
Verdin is similar sized to the Colibri but with a higher pin count. A DDR4
SODIMM edge connector provides a cost-effective, highly reliable, shock- and
vibration-resistant connection.
Verdin Computer on Module:
- `Verdin iMX8M Plus <https://www.toradex.com/computer-on-modules/
verdin-arm-family/nxp-imx-8m-plus>`_
- `Verdin iMX8M Mini <https://www.toradex.com/computer-on-modules/
verdin-arm-family/nxp-imx-8m-mini-nano>`_
- `Verdin AM62 <https://www.toradex.com/computer-on-modules/
verdin-arm-family/ti-am62>`_
- `i.MX 95 Verdin Evaluation Kit <https://www.toradex.com/
computer-on-modules/verdin-arm-family/nxp-imx95-evaluation-kit>`_
- `Verdin iMX95 <https://www.toradex.com/computer-on-modules/
verdin-arm-family/nxp-imx95-evaluation-kit#verdin-imx95>`_
Verdin Carrier Boards:
- `Verdin Development Board with HDMI Adapter <https://www.toradex.com/
products/carrier-board/verdin-development-board-kit>`_
- `Dahlia Carrier Board with HDMI Adapter <https://www.toradex.com/products/
carrier-board/dahlia-carrier-board-kit>`_
- `Yavia <https://www.toradex.com/products/carrier-board/yavia>`_
- `Mallow Carrier Board <https://www.toradex.com/products/carrier-board/
mallow-carrier-board>`_
- `Ivy Carrier Board <https://www.toradex.com/products/carrier-board/
ivy-carrier-board>`_
TorizonOS
---------
TorizonOS is a Linux-based operating system developed by Toradex, tailored for
embedded systems. It is designed to simplify the development, deployment, and
maintenance of applications, especially in industrial and IoT settings.
Combining ease of use with powerful features like containerization and
over-the-air (OTA) updates, TorizonOS helps developers accelerate
time-to-market while ensuring robust performance and security for embedded
applications.
A TorizonOS guide to develop an application using LVGL can be found
:ref:`torizon-os-section`.
More information is provided on the `Torizon documentation <https://www.torizon.
io/torizon-os>`_.
Toradex examples
----------------
There are existing ready to use repositories available. Click `here <https://
github.com/lvgl?q=lv_port_toradex&type=all&language=&sort=>`_ to check them out.

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ide/index
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rt-thread
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torizon_os

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.. _torizon-os-section:
Torizon OS
==========
Torizon OS is an open-source software platform that aims to simplify the
development and maintenance of embedded Linux software.
By using docker containers it allows developers to focus on the application
instead of building and maintaining a custom distribution.
This guide explains how to create a docker image containing LVGL and a simple demo
application that can be deployed on any Toradex device running TorizonOS.
Prerequisites
-------------
To follow this guide you obviously need to have a Toradex SoM along with a carrier board.
More information is available on the Toradex `website <https://www.toradex.com/computer-on-modules>`_.
.. note::
You need to be familiar with some Docker fundamentals to be able to understand and follow
this guide. Also Docker needs to be present on the development host.
The `Toradex documentation <https://developer.toradex.com>`_ is a helpful resource. This article contains many references
to it.
Board setup
-----------
Begin by installing TorizonOS by using the Toradex Easy Installer.
Follow the official bring-up `guides <https://developer.toradex.com/quickstart/bringup/>`_.
In the Easy Installer, select TorizonCore as the operating system to install.
Copy the IP address that was assigned to the device by the DHCP server on your network.
The address is displayed in the bottom right corner. It will be used later.
Once the setup is complete, the device will boot into TorizonOS.
Creating the Docker image
-------------------------
Toradex provides a `VSCode extension <https://developer.toradex.com/torizon/application-development/ide-extension/>`_ that offers a collection of templates used to configure
and automate the tasks needed to cross-compile applications and build Docker images.
However, this guide explains how to perform those operations manually.
.. note::
The template for a LVGL application is currently being added to the VSCode extension and will be available soon.
To build a Torizon container Docker ARM emulation needs to be enabled
by typing the following commands:
.. code-block:: sh
docker run --rm -it --privileged torizon/binfmt
docker run --rm -it --pull always --platform linux/arm64/v8 debian arch
The second command should print ``aarch64``.
More information on the build environment for Torizon containers is available `here
<https://developer.toradex.com/torizon/application-development/working-with-containers/configure-build-environment-for-torizon-containers/>`_.
Let's begin by creating a directory that will contain the ``Dockerfile`` and source code
that will be used to build the image.
Type the following commands in a terminal window:
.. code-block:: sh
mkdir -p ~/lvgl_torizon_os/
cd ~/lvgl_torizon_os/
touch Dockerfile
git clone --depth 1 https://github.com/lvgl/lv_port_linux
git -C lv_port_linux submodule update --init
These commands create the project directory and the ``Dockerfile``.
``git`` is used to download the ``lv_port_linux`` and ``lvgl`` repositories from Github.
.. note::
By default, ``lv_port_linux`` is configured to use the legacy framebuffer device
``/dev/fb0``. It is also possible to use another rendering backend by enabling the
correct options in ``lv_port_linux/lv_conf.h``.
Now edit the Dockerfile. Copy-paste the block below into the file:
.. code-block::
ARG CROSS_SDK_BASE_TAG=3.2.1-bookworm
ARG BASE_VERSION=3.2.1-bookworm
##
# Board architecture
# arm or arm64
##
ARG IMAGE_ARCH=arm64
##
# Directory of the application inside container
##
ARG APP_ROOT=/usr/lvgl_application
# BUILD ------------------------------------------------------------------------
FROM torizon/debian-cross-toolchain-${IMAGE_ARCH}:${CROSS_SDK_BASE_TAG} AS build
ARG APP_ROOT
ARG IMAGE_ARCH
RUN apt-get -q -y update && \
apt-get -q -y install && \
apt-get clean && apt-get autoremove && \
apt-get install -q -y curl git cmake file && \
rm -rf /var/lib/apt/lists/*
COPY . ${APP_ROOT}
WORKDIR ${APP_ROOT}
# Compile lv_port_linux
RUN CC=aarch64-linux-gnu-gcc cmake -S ./lv_port_linux -B build
RUN make -j 4 -C ${APP_ROOT}/build
# DEPLOY -----------------------------------------------------------------------
FROM --platform=linux/${IMAGE_ARCH} torizon/debian:${BASE_VERSION} AS deploy
ARG IMAGE_ARCH
ARG APP_ROOT
RUN apt-get -y update && apt-get install -y --no-install-recommends \
&& apt-get clean && apt-get autoremove && rm -rf /var/lib/apt/lists/*
# Copy the lvglsim executable compiled in the build step to the $APP_ROOT directory
# path inside the container
COPY --from=build ${APP_ROOT}/lv_port_linux/bin/lvglsim ${APP_ROOT}
# Command executed during runtime when the container starts
ENTRYPOINT [ "./lvglsim" ]
The ``Dockerfile`` acts like a recipe to build two images and ``build`` and ``deploy``.
First it downloads the necessary packages to build the simulator using Debian's package manager ``apt-get``.
After compilation, the resulting executable is written to ``lv_port_linux/bin/lvglsim``.
The ``deploy`` image will be deployed on the device.
The executable created in the previous image is copied to the ``/usr/bin`` directory of the current image.
This creates a smaller image that does not include the tool chain and the build dependencies.
The images are built with the following command:
``docker build . -t lvgl_app``
Docker will interpret the ``Dockerfile`` present in the current working directory.
The ``-t`` argument gives a name to the resulting image.
Upon completion, ensure that the image is listed by Docker:
``docker image list | grep lvgl_app``
It should display the image along with its ID that will be used later.
Deploying the container image to the device
-------------------------------------------
The image is now ready to be deployed on the device. There are several ways to perform
this task.
Read `this article <https://developer.toradex.com/torizon/application-development/working-with-containers/deploying-container-images-to-torizoncore/>`_ for more information.
For this guide, we are going to setup a Docker registry container on the development host
which will be accessible from any device on your LAN. The Toradex board being on the same network
will be able to pull the image from the registry.
The registry is created like so:
``docker run -d -p 5000:5000 --name registry registry:2.7``
The ``-d`` flag runs the container in detached mode. The ``-p`` argument specifies the port mapping.
The registry container will listen on port ``TCP/5000`` and will map to the same port externally.
Push the image created in the previous step to the newly created registry:
``docker tag <IMAGE_ID> 127.0.0.1:5000/lvgl-app``
``docker push 127.0.0.1:5000/lvgl-app``
By default a local container registry uses clear text HTTP so the Docker instance
running on the device has to be configured to allow fetching images from an 'insecure' repository.
Get the IP address of the development host and open a remote shell on the device.
.. code-block:: sh
sudo su # When prompted type in the password of the torizon user
# Be sure to replace set the IP address of your host instead
cat << heredoc > /etc/docker/daemon.json
{
"insecure-registries" : ["<IP_ADDR_OF_DEVELOPMENT_HOST>:5000"]
}
heredoc
systemctl restart docker.service
# Return to regular user
exit
# Pull the image from your development host
docker pull <IP_ADDR_OF_DEVELOPMENT_HOST>:5000/lvgl-app
By default, Docker containers are isolated from the hardware
of the host system. While this is great for security, an embedded application will obviously need
`access to the hardware. <https://developer.toradex.com/torizon/application-development/use-cases/peripheral-access/best-practices-with-hardware-access/>`_
The container running the LVGL application needs access to the framebuffer device ``/dev/fb0``.
By using the ``--device`` argument it is possible to map a device to a container.
Start the container like so:
``docker run --device /dev/fb0:/dev/fb0 <IMAGE_ID>``
Conclusion
----------
You now have a running LVGL application. Where to go from here?
* You are now ready to build your LVGL application for Torizon OS.
It is recommended to get familiar with VSCode IDE extension
as it will simplify your workflow.
If you are a VSCode user, it is the best way to develop for Torizon OS. If you use
another editor or IDE you can always
write scripts to automate the building/pushing/pulling operations.
* Read this `article <https://developer.toradex.com/torizon/application-development/application-development-overview>`_
to understand how to design applications for Torizon OS.
* Getting familiar with Torizon Cloud and Torizon OS builder is
also recommended when you get closer to production.