Configure the hardware and boot a reference image

Updated: April 19, 2023

The default configuration of the image is set up to run the Camera MUX example application.

Setting up the R-Car V3H to use the reference image

If you haven't done so already, connect your R-Car V3H to:
  • a Lilliput 10" display, using the HDMI port on the R-Car V3H
  • a miniUSB-serial cable for a console
  • the power supply that came from the hardware vendor

Now follow the instructions in the “Installation Notes” chapter of the Renesas R-Car V3H BSP User's Guide for this release to:

  1. set up and configure the R-Car V3H
  2. load and boot up the MiniMonitor program
  3. program boot loaders to QSPI

After you complete programming the boot loaders to the QSPI flash, follow the steps below (Booting the reference image), instead of continuing to the “Boot the board” section from the Renesas R-Car V3H BSP User's Guide.

Booting the reference image

Before you boot the reference image on the R-Car V3H, ensure that you have:

  1. Launch the TFTP server on your host. On Windows, select the path to your IFS image.
  2. Power on the board and after U-Boot runs, in your console, press any key to abort the autoboot process.
    NOTICE:  R-Car Gen3 Initial Program Loader(CR7) Rev.1.0.1
    NOTICE:  PRR is R-Car V3H ES1.0
    NOTICE:  CR7: DDR3200(rev.0.28rc05)NOTICE:  [COLD_BOOT]
    NOTICE:  BL2: QoS is default setting(rev.0.20180901)
    NOTICE:  Normal boot(CR7)
    NOTICE:  CA5x Loader load address=0xeb244000 CA5x Loader image size=0x00020000
    [    0.000138] NOTICE:  BL2: R-Car Gen3 Initial Program Loader(CA53) Rev.1.0.17
    [    0.005701] NOTICE:  BL2: PRR is R-Car V3H Ver1.0
    [    0.010363] NOTICE:  BL2: Board is unknown Rev---
    [    0.015031] NOTICE:  BL2: Boot device is QSPI Flash(40MHz)
    [    0.020470] NOTICE:  BL2: LCM state is unknown
    [    0.024889] NOTICE:  BL2: v1.3(release):b15fefa
    [    0.029357] NOTICE:  BL2: Built : 06:53:09, Sep 14 2018
    [    0.034541] NOTICE:  BL2: Normal boot
    [    0.038186] NOTICE:  BL2: dst=0xeb25e210 src=0x8180000 len=512(0x200)
    [    0.044766] NOTICE:  BL2: dst=0x43f00000 src=0x8180400 len=6144(0x1800)
    [    0.052406] NOTICE:  BL2: dst=0x44000000 src=0x81c0000 len=65536(0x10000)
    [    0.071329] NOTICE:  BL2: dst=0x50000000 src=0x8640000 len=1048576(0x100000)
    
    U-Boot 2015.04 (Sep 14 2018 - 06:52:49)
    
    CPU: Renesas Electronics R8A7798 rev 1.0
    Board: V3HSK
    I2C:   ready
    DRAM:  1.9 GiB
    MMC:   sh-sdhi: 0
    SF: Detected s25fs512s with page size 256 Bytes, erase size 256 KiB, total 512 MiB
    In:    serial
    Out:   serial
    Err:   serial
    Net:   sh_eth
    Hit any key to stop autoboot:  0
    =>
                        
  3. Set the following environment variables:
    • ethaddr: This variable specifies the MAC address assigned to the board. Refer to the label (sticker) on the Ethernet port (CN3) of your board to get the MAC address. For example:
      => setenv ethaddr 2e:09:0a:00:83:0c
      							
    • serverip: This specifies the IP address to use to communicate with the TFTP server. Set this to the IP address that's assigned to your host machine with the TFTP server:
      => setenv serverip your host address of the TFTP server
      							
    • ipaddr: This specifies the IP address assigned to your board. Set this to the IP address assigned to your board.
      => setenv ipaddr board IP address
      							
    • bootfile: This specifies the image filename to be downloaded. This is the filename of your customized IFS on the TFTP Server.
      => setenv bootfile program_v3h
      				    		
    • loadaddr: This specifies the starting address in RAM to use to load the image. This should be 0x40100000.
      => setenv loadaddr 0x40100000
      							
  4. Run the tftp command to download the IFS to RAM as shown here:
    => tftp
    sh_eth connected to Micrel ksz9031
    sh_eth Waiting for PHY auto negotiation to complete.. done
    sh_eth: 100Base/Full
    Using sh_eth device
    TFTP from server 192.168.68.119; our IP address is 192.168.68.120
    Filename 'program_v3h'.
    Load address: 0x40100000
    Loading: #################################################################
         #################################################################
         #################################################################
         #################################################################
         #################################################################
         #################################################################
         #################################################################
         ###########################
         845.7 KiB/s
    
    done
    Bytes transferred = 7071100 (6be57c hex)   
                        
  5. After the transfer is done, type go 0x40100000 to start running the IFS image:
    => go 0x40100000
                    	

    On your terminal console, you should see something similar to the following:

    ## Starting application at 0x40100000 ...
    
    board_smp_num_cpu: 4 cores
    MMU: 16-bit ASID 40-bit PA TCR_EL1=b5183519
    GICv2: 416 interrupts
    GICv2: routing SPIs to gic cpu 0
    cpu0: MPIDR=80000000
    cpu0: MIDR=410fd034 Cortex-A53 r0p4
    cpu0: CWG=4 ERG=4 Dminline=4 Iminline=4 VIPT
    cpu0: CLIDR=a200023 LoUU=1 LoC=2 LoUIS=1
    cpu0: L1 Icache 32K linesz=64 set/way=256/2
    cpu0: L1 Dcache 32K linesz=64 set/way=128/4
    cpu0: L2 Unified 1024K linesz=64 set/way=1024/16
    cpu0: GICv2 cpu interface 0
    sdio0, ivec idx 0 == 197
    iic0, ivec idx 0 == 205
    sys0, ivec idx 0 == 248
    sys0, ivec idx 1 == 249
    sys0, ivec idx 2 == 250
    sys0, ivec idx 3 == 251
    sys0, ivec idx 4 == 340
    sys0, ivec idx 5 == 341
    sys0, ivec idx 6 == 342
    sys0, ivec idx 7 == 343
    sys0, ivec idx 8 == 385
    sys0, ivec idx 9 == 386
    sys0, ivec idx 10 == 387
    sys0, ivec idx 11 == 388
    sys0, ivec idx 12 == 389
    sys0, ivec idx 13 == 390
    sys0, ivec idx 14 == 391
    sys0, ivec idx 15 == 392
    sys1, ivec idx 0 == 344
    sys1, ivec idx 1 == 345
    sys1, ivec idx 2 == 346
    sys1, ivec idx 3 == 347
    sys1, ivec idx 4 == 348
    sys1, ivec idx 5 == 349
    sys1, ivec idx 6 == 350
    sys1, ivec idx 7 == 351
    sys1, ivec idx 8 == 393
    sys1, ivec idx 9 == 394
    sys1, ivec idx 10 == 395
    sys1, ivec idx 11 == 396
    sys1, ivec idx 12 == 397
    sys1, ivec idx 13 == 398
    sys1, ivec idx 14 == 399
    sys1, ivec idx 15 == 400
    vin0, ivec idx 0 == 220
    vin1, ivec idx 0 == 221
    vin2, ivec idx 0 == 222
    vin3, ivec idx 0 == 223
    vin4, ivec idx 0 == 206
    vin5, ivec idx 0 == 207
    vin6, ivec idx 0 == 208
    vin7, ivec idx 0 == 203
    vin8, ivec idx 0 == 300
    vin9, ivec idx 0 == 301
    vin10, ivec idx 0 == 321
    vin11, ivec idx 0 == 328
    vin12, ivec idx 0 == 330
    vin13, ivec idx 0 == 331
    vin14, ivec idx 0 == 333
    vin15, ivec idx 0 == 334
    Loading IFS...decompressing...done
    cpu1: MPIDR=80000001
    cpu1: MIDR=410fd034 Cortex-A53 r0p4
    cpu1: CWG=4 ERG=4 Dminline=4 Iminline=4 VIPT
    cpu1: CLIDR=a200023 LoUU=1 LoC=2 LoUIS=1
    cpu1: L1 Icache 32K linesz=64 set/way=256/2
    cpu1: L1 Dcache 32K linesz=64 set/way=128/4
    cpu1: L2 Unified 1024K linesz=64 set/way=1024/16
    cpu1: GICv2 cpu interface 1
    cpu2: MPIDR=80000002
    cpu2: MIDR=410fd034 Cortex-A53 r0p4
    cpu2: CWG=4 ERG=4 Dminline=4 Iminline=4 VIPT
    cpu2: CLIDR=a200023 LoUU=1 LoC=2 LoUIS=1
    cpu2: L1 Icache 32K linesz=64 set/way=256/2
    cpu2: L1 Dcache 32K linesz=64 set/way=128/4
    cpu2: L2 Unified 1024K linesz=64 set/way=1024/16
    cpu2: GICv2 cpu interface 2
    cpu3: MPIDR=80000003
    cpu3: MIDR=410fd034 Cortex-A53 r0p4
    cpu3: CWG=4 ERG=4 Dminline=4 Iminline=4 VIPT
    cpu3: CLIDR=a200023 LoUU=1 LoC=2 LoUIS=1
    cpu3: L1 Icache 32K linesz=64 set/way=256/2
    cpu3: L1 Dcache 32K linesz=64 set/way=128/4
    cpu3: L2 Unified 1024K linesz=64 set/way=1024/16
    cpu3: GICv2 cpu interface 3
    Header size=0x00000108, Total Size=0x00000e98, #Cpu=4, Type=257
    Section:system_private offset:0x000003a8 size:0x000000b8
      syspage ptr user:ffffff8040203000 kernel:ffffff8040201000
      cpupage ptr user:ffffff80402042a0 kernel:ffffff80402022a0 spacing:112
      kdebug info:0000000000000000 callback:0000000000000000 num_ready:0
      pagesize:00001000 flags:00000000, kdinfo:00000000 tracebuf:0000000000000000
    Section:qtime offset:0x000002c8 size:0x00000060
      boot:00000000 CPS:00000000007f2815 rate/scale:1200000048/-16 intr:27
      flags:00000001 load:0 epoch:1970 rr_mul:0 adj count/inc:0/0
    Section:callout offset:0x00000108 size:0x000000c0
      reboot:ffffff80402020dc power:0000000000000000 watchdog:0000000000000000
      timer_load:ffffff8040202108 reload:ffffff8040202128 value:ffffff8040202168
      0) display:ffffff8040202184 poll:ffffff80402021c0 break:ffffff80402021ec
      1) display:0000000000000000 poll:0000000000000000 break:0000000000000000
    Section:cpuinfo offset:0x00000328 size:0x00000080 elsize:0x00000020
      0) cpu:410fd034 flg:c0000c7a spd:1999 hwid:80000000 cache i/d:0/1 name:66
      1) cpu:410fd034 flg:c0000c7a spd:1999 hwid:80000001 cache i/d:0/1 name:66
      2) cpu:410fd034 flg:c0000c7a spd:1999 hwid:80000002 cache i/d:0/1 name:66
      3) cpu:410fd034 flg:c0000c7a spd:1999 hwid:80000003 cache i/d:0/1 name:66
    Section:cacheattr offset:0x00000e18 size:0x00000040 elsize:0x00000020
      0) flags:01 size:0040 #lines:0200 ways:0000 control:ffffff8040201eb0 next:255
      1) flags:02 size:0040 #lines:0200 ways:0000 control:ffffff8040201f00 next:255
    Section:asinfo offset:0x00000bf8 size:0x000001c0 elsize:0x00000020
      0000) 0000000000000000-0000ffffffffffff o:ffff a:0010 p:100 c:0 n:21
      0020) 0000000000000000-00000000ffffffff o:0000 a:0010 p:100 c:0 n:28
      0040) 0000000040000000-000000007fffffff o:0020 a:0017 p:100 c:0 n:36
      0060) 00000000f1010000-00000000f1010fff o:0000 a:0003 p:100 c:0 n:40
      0080) 00000000f1020000-00000000f1020fff o:0000 a:0003 p:100 c:0 n:45
      00a0) 00000000401220b8-000000004108ee9f o:0000 a:0005 p:100 c:0 n:323
      00c0) 0000000040100fb4-00000000401220b7 o:0000 a:0007 p:100 c:0 n:331
      00e0) 00000000401220b8-000000004108ee9f o:0000 a:0007 p:100 c:0 n:339
      0100) 0000000000000000-00000000ffffffff o:ffff a:0010 p:100 c:0 n:347
      0120) ffffff8060026000-ffffff80600eba78 o:0100 a:0000 p:100 c:0 n:355
      0140) 0000000040000000-0000000040007fff o:0040 a:0007 p:100 c:0 n:361
      0160) 0000000040011460-0000000040100fb3 o:0040 a:0007 p:100 c:0 n:361
      0180) 000000004108eea0-0000000043efffff o:0040 a:0007 p:100 c:0 n:361
      01a0) 0000000047e00000-000000007fffffff o:0040 a:0007 p:100 c:0 n:361
    Section:hwinfo offset:0x00000608 size:0x000005f0
      0) size:3 tag:3(Group) isize:3, iname:0(hw), owner:65535, kids:3
      12) size:3 tag:17(Bus) isize:3, iname:9(unknown), owner:0, kids:22
      24) size:3 tag:3(Group) isize:3, iname:50(rtc), owner:12, kids:1
      36) size:4 tag:59(Device) isize:4, iname:54(NONE), owner:24, kids:0
         00 00 00 00
      52) size:3 tag:17(Bus) isize:16, iname:77(sdio), owner:0, kids:0
      64) size:6 tag:82(location)
         00 20 00 00 00 00 14 ee 00 00 00 00 00 00 00 00 00 00 00 00
      88) size:2 tag:91(irq)
         c5 00 00 00
      96) size:2 tag:103(drvr_dll)
         5f 00 00 00
      104) size:3 tag:112(inputclk)
         00 c2 eb 0b 01 00 00 00
      116) size:3 tag:17(Bus) isize:14, iname:121(iic), owner:0, kids:0
      128) size:6 tag:82(location)
         00 01 00 00 00 00 0b e6 00 00 00 00 00 00 00 00 00 00 00 00
      152) size:2 tag:91(irq)
         cd 00 00 00
      160) size:3 tag:112(inputclk)
         00 6c dc 02 02 00 00 00
      172) size:4 tag:59(Device) isize:49, iname:125(sys), owner:12, kids:0
         04 00 00 00
      188) size:1 tag:129(pad)
      192) size:6 tag:82(location)
         00 30 00 00 00 00 30 e7 00 00 00 00 00 00 00 00 00 00 00 00
      216) size:2 tag:91(irq)
         f8 00 00 00
      224) size:2 tag:91(irq)
         f9 00 00 00
      232) size:2 tag:91(irq)
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      240) size:2 tag:91(irq)
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      248) size:2 tag:91(irq)
         54 01 00 00
      256) size:2 tag:91(irq)
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      264) size:2 tag:91(irq)
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      272) size:2 tag:91(irq)
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      280) size:2 tag:91(irq)
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      288) size:2 tag:91(irq)
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      296) size:2 tag:91(irq)
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      304) size:2 tag:91(irq)
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      312) size:2 tag:91(irq)
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      320) size:2 tag:91(irq)
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      328) size:2 tag:91(irq)
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      336) size:2 tag:91(irq)
         88 01 00 00
      344) size:2 tag:141(regname)
         85 00 00 80
      352) size:2 tag:141(regname)
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      360) size:2 tag:141(regname)
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      368) size:4 tag:59(Device) isize:48, iname:125(sys), owner:12, kids:0
         04 00 00 00
      384) size:6 tag:82(location)
         00 30 00 00 00 00 31 e7 00 00 00 00 00 00 00 00 00 00 00 00
      408) size:2 tag:91(irq)
         58 01 00 00
      416) size:2 tag:91(irq)
         59 01 00 00
      424) size:2 tag:91(irq)
         5a 01 00 00
      432) size:2 tag:91(irq)
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      440) size:2 tag:91(irq)
         5c 01 00 00
      448) size:2 tag:91(irq)
         5d 01 00 00
      456) size:2 tag:91(irq)
         5e 01 00 00
      464) size:2 tag:91(irq)
         5f 01 00 00
      472) size:2 tag:91(irq)
         89 01 00 00
      480) size:2 tag:91(irq)
         8a 01 00 00
      488) size:2 tag:91(irq)
         8b 01 00 00
      496) size:2 tag:91(irq)
         8c 01 00 00
      504) size:2 tag:91(irq)
         8d 01 00 00
      512) size:2 tag:91(irq)
         8e 01 00 00
      520) size:2 tag:91(irq)
         8f 01 00 00
      528) size:2 tag:91(irq)
         90 01 00 00
      536) size:2 tag:141(regname)
         85 00 00 80
      544) size:2 tag:141(regname)
         95 00 80 00
      552) size:2 tag:141(regname)
         9e 00 00 20
      560) size:4 tag:59(Device) isize:12, iname:167(dma,options), owner:12, kids:0
         00 00 00 00
      576) size:2 tag:141(regname)
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      584) size:2 tag:141(regname)
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      592) size:2 tag:141(regname)
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      600) size:2 tag:141(regname)
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         00 00 00 00
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      648) size:2 tag:91(irq)
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         00 00 00 00
      672) size:6 tag:82(location)
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      696) size:2 tag:91(irq)
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         00 00 00 00
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         00 00 00 00
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         00 00 00 00
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      1032) size:2 tag:91(irq)
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         00 00 00 00
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         00 00 00 00
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         00 00 00 00
      1152) size:6 tag:82(location)
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         00 00 00 00
      1200) size:6 tag:82(location)
         00 10 00 00 00 c0 ef e6 00 00 00 00 00 00 00 00 00 00 00 00
      1224) size:2 tag:91(irq)
         4a 01 00 00
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         00 00 00 00
      1248) size:6 tag:82(location)
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      1272) size:2 tag:91(irq)
         4b 01 00 00
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         00 00 00 00
      1296) size:6 tag:82(location)
         00 10 00 00 00 e0 ef e6 00 00 00 00 00 00 00 00 00 00 00 00
      1320) size:2 tag:91(irq)
         4d 01 00 00
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         00 00 00 00
      1344) size:6 tag:82(location)
         00 10 00 00 00 f0 ef e6 00 00 00 00 00 00 00 00 00 00 00 00
      1368) size:2 tag:91(irq)
         4e 01 00 00
      1376) size:4 tag:59(Device) isize:13, iname:250(wdog), owner:12, kids:0
         07 00 00 00
      1392) size:6 tag:82(location)
         0c 00 00 00 00 00 02 e6 00 00 00 00 00 00 00 00 00 00 00 00
      1416) size:3 tag:112(inputclk)
         10 27 00 00 01 00 00 00
      1428) size:4 tag:59(Device) isize:12, iname:255(wdt,options), owner:12, kids:0
         00 00 00 00
      1444) size:2 tag:141(regname)
         0b 01 10 00
      1452) size:2 tag:141(regname)
         18 01 80 00
      1460) size:2 tag:141(regname)
         24 01 80 00
      1468) size:2 tag:141(regname)
         35 01 04 00
    Section:typed_strings offset:0x00000460 size:0x00000030
      off:0 type:5 string:'R-Car V3H rev 1.0'
      off:24 type:2 string:'localhost'
    Section:strings offset:0x00000490 size:0x00000178
      [0]'hw' [3]'Group' [9]'unknown' [17]'Bus' [21]'memory' [28]'below4G'
      [36]'ram' [40]'gicd' [45]'gicc' [50]'rtc' [54]'NONE' [59]'Device'
      [66]'Cortex-A53' [77]'sdio' [82]'location' [91]'irq' [95]'rcar_v3'
      [103]'drvr_dll' [112]'inputclk' [121]'iic' [125]'sys' [129]'pad'
      [133]'dma_reg' [141]'regname' [149]'dma_size' [158]'dma_desc'
      [167]'dma,options' [179]'sysdmac_chans' [193]'sysdmac_chan_grps'
      [211]'audiodmac_chans' [227]'audiodmc_chan_grps' [246]'vin' [250]'wdog'
      [255]'wdt,options' [267]'enable_width' [280]'enable_mask'
      [292]'enable_condition' [309]'enable_offset' [323]'imagefs' [331]'startup'
      [339]'bootram' [347]'virtual' [355]'vboot' [361]'sysram'
    Section:intrinfo offset:0x00000db8 size:0x00000060 elsize:0x00000060
      0) vector_base:00000000, #vectors:416, cascade_vector:7fffffff
         cpu_intr_base:00000000, cpu_intr_stride:0, flags:0000, local_stride:0
          id => flags:8000, size:004c, rtn:ffffff8040201f58
         eoi => flags:9000, size:0034, rtn:ffffff8040201fa4
         mask:ffffff8040201fd8, unmask:ffffff8040202004, config:ffffff8040202030
    Section:smp offset:0x000002a0 size:0x00000028
      send_ipi:ffffff8040202094 cpu:00000000 cpu2:0000000000000000
    Section:pminfo offset:0x00000e58 size:0x00000000
    Section:mdriver offset:0x00000e58 size:0x00000000 elsize:0x00000030
    
    System page at phys:0000000040010000 user:ffffff8040203000 kern:ffffff8040201000
    Starting next program at vffffff8060064250
    MMFLAGS=1
    Welcome to QNX Neutrino 7.0 on the R-Car V3H Condor Board
    Starting slogger and pipe servers...
    Starting watchdog ...
    Starting Serial driver...
    Starting I2C driver ...
    Starting SPI Flash driver...
    Starting Network driver...
                        
  6. When prompted, enter the requested parameters for your NFS server. For example:
    Mounting NFS: provide fs-nfs3 parms:
    10.122.1.10:/mnt/export/ /
                        

    In your console, you should see something similar to the following:

    starting eMMC driver
    waiting for hd0
    Path=copying SD image to eMMC
    0 - RCar MMCIF
     target=0 lun=0     Direct-Access(0) - SDMMC: 016G30 Rev: 0.0
    7626752+0 records in
    7626752+0 records out
    syncing
    please reset target
                        
    Note: It may take a while (approximately 16 minutes) to complete the transfer of the image to the eMMC.
  7. Reset the board.
  8. After U-boot starts, press any key to abort the autoboot process and enter the following on the console:
    => setenv bootcmd 'fatload mmc 0 0x40100000 qnx-ifs; go 0x40100000'
                    	
  9. Save your environment settings:
    => saveenv
                    	
  10. Reset the board.

After the image boots, it runs the Camera MUX example application by default and uses the RDACM24 camera.