How to compile YOCTO in G40M i.MX8MP SMARC SoM?

Kindly go through section Yocto Project Layer Download from the Software User Guide to download the YOCTO source. Directly compile YOCTO to get the binaries.

To compile kernel and uboot in standalone method- follow section Standalone compilation from the Software User Guide.

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Please find the detailed product information here:
i.MX 8M Plus SMARC System on Module