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TS-7400 Manual - Technologic Systems

1. May 2010 www embeddedARM com 15 A aa i TS 7400 TS 9441 MANUAL an Technologic SOFTWARE 3 3 Booting custom kernels and OS images from within Linux Technologic Systems has developed a Linux application bootload that allows arbitrary booting of Linux and other OS kernels within Linux itself The power on bootloader contained in the MBR of the flash chip is not extremely flexible as it was instead designed to be very fast 1 1 second Linux bootup and small fits in the 443 bytes of empty space in the MBR The bootload program allows one to use the full facilities of Linux to retrieve kernel files Doing so also allows the use of standard shell scripts for the programmatic selection of appropriate kernels Linux initrd s and kernel command line arguments for maximum flexibility By default the linuxrc mtdroot sample startup script will look for a file in the YAFFS2 NAND flash filesystem named vmlinux bin and attempt to load and boot it You can modify the kernel command line parameters or image file by changing the respective line in the startup script By using a file in the YAFFS2 filesystem in this way for the kernel it is possible to atomically and safely field update the kernel from e g ftp with a command such as wget ftp mycompany com newvmlnx bin amp amp mv newvmlnx bin Zomm LIONS ot Command usage information follows bootload help Usage bootload OPTION FILE
2. E 25 PES GUNES RR ERN E EE 25 4 2 Memory aa aan ak aa m 26 On Board SDRAM E 26 On Board NAND F lashi 3 iiri aa gra aa a aa D BI edad as a a a aja 26 USB Flash Drive or Compact Flash Card 27 SD IuDIACID M nika 27 4 3 ci Logie er M 28 AA Real Time Glock teen eja a an Kg a exter seg x pla xcu ag a aa aaa dia Ka aa ai aja a a Ena Cua aaa 28 4 5 Watchdog TIME ete 28 5 COMMON INTERFACES GENERAL INFORMATION ee eeeee enn nnn nnn 30 5 1 Serial Ports E 30 5 2 Digital VO BEE 30 5 9 AID Ben d EE 30 Interpreting Cirrus A D Converter 31 5 4 General Purpose 8 bit Multiplexed Bus GPBUSl 32 6 CONNECTORS AND HEADERS sae riaansuniYenEnsua s Gin CREE ak DEEE BREF UEM EE2EFa gn EENS EE SERA 34 6 1 10 100 Base T Ethernet Connechor 34 6 2 USB Comme cto cccccccccccscccccccceaeeeeeeecaeeeeceeeeeeeeseeeeeseeeseeessseaeeeessaeaseesaeeesaeetsaeesaeesaas 34 6 3 SD Card Connector CRLD 35 6 4 General Header 35 Upper header nent eg Ega Aa Ga ek 35 Lower header eee esee bes od ajap ag A aaa a a ga a aaa d aka aa Re pae dtu dae ana 35 Upper header Pin 0Out aaa aaa aaa eaaa eaaa aane nana n anana a nana a eaaa enn aana anana naen anae anana eee 36 Lower header e TL ET TE 37 6 5 TS 9441 Console Header 38 6 6 TS 9441 JTAG Header 38 6 7 P
3. Linux to Linux bootloader re boots a TS 7xxx board to another kernel OS image or raw executable by replacing the running Linux kernel General options c cmdline CMD Use CMD as the Linux kernel boot args Sie Salina Lilt USS WILD Goi ibilinuise amale akal ese lal e S initrdsz SZ Only read SZ bytes from the initrd file b base ADDR Load the image at ADDR instead of 0x218000 version Print version and copyright information In elp This help When FILE is reads from standard input Some one line examples of usage Boot a compressed kernel image fe Aen e labo Ie 19x42 lamona Leg Reboot a kernel but pass the 1MB running ramdisk to the new kernels mount o remount ro dev rd 0 bootload c console ttyAM0 115200 root dev ram0 r dev rd 0 r 0x1000 00 Boot one of 2 kernels based on the state of DIO line 7 if chio cate get T7 then hoor load viVinux aas Sine else bootload vmlinux bin fi The bootload application requires a kernel module bootloader o to be installed using insmod prior to invocation This module as well the the bootload application itself are installed on the default onboard YAFFS2 NAND flash Linux filesystem dev mtdblock 3 May 2010 www embeddedARM com 16 A AA H TS 7400 TS 9441 MANUAL AA Technolog IC SOFTWARE 3 4 Accessing internal TS 7400 registers from Linux userspace Linux
4. LCD EN LCD RS LCD WR data reg bits3 5 0x8084 0034 DIO 8 direction register bit 1 0x8084 0030 DIO 8 data register bit 1 0x8084 0020 On board LEDs register bits O 1 0x8084 0018 Port C direction register 0x8084 0008 Port C data register 0x8081 0000 0x8081_FFFF Timer Control registers 0x8080 0000 Ox8FFF_FFFF APB mapped registers 0x800B 0000 0x800B FFFF VIC 0 registers 0x8006 0000 0x8006 FFFF SDRAM control registers 0x8002 0000 0x8002_FFFF USB registers 0x8001 0000 0x8001_FFFF Ethernet MAC registers 0x60c0_0002 GPBUS data register with address auto increment read write of this register initiates GPBUS bus cycle with automatic increment of 8 bit address register at Ox12cO 0002 0x60c0_0000 GPBUS data register read write of this register initiates GPBUS bus cycle 0x62c0_0002 GPBUS address register write only 0x6040_0003 ECC bits 21 16 read write of this register resets ECC bits bit 5 0 ECC bits 21 16 bit 7 6 reserved ECC is fed by read or write data to the flash data register at Ox6000_ 0000 0x6040_0002 ECC bits 15 8 0x6040_0001 ECC bits 7 0 0x6040_0000 NAND flash control register bit 0 ALE signal bit 1 CLE signal bit 2 CS signal www embeddedARM com 43 a Technologic SYSTEMS Register Address Function TS 7400 TS 9441 MANUA
5. data register bit 7 4 data direction register 1 means output 0x1200 0000 TS 7400 control register bit O if set enables UART 0 on DIO 18 and DIO 19 pins bit 1 if set enables IRQ on DIO 11 pin bit 2 if set enables DRQ on DIO 12 pin bit 3 if set enables 14 7456Mhz clock on DIO 13 pin bit 7 4 reserved O May 2010 www embeddedARM com 44 TS 7400 TS 9441 MANUAL APPENDIX C TS ARM SBC FEATURE MATRIX A Technologic SYSTEMS APPENDIX C TS ARM SBC FEATURE MATRIX OMay 2010 Product TS 7200 TS 7250 TS 7260 TS 7300 TS 7400 CPU 200 Mhz 200 Mhz 200 Mhz 200 Mhz 200 Mhz AMR920T AMR920T AMR920T AMR920T AMR920T PC 104 connector Yes Yes Yes Yes No On board FPGA No No No Yes No RAM 32 MB 32 MB 32 MB 32 MB 32 MB Optional RAM 64 MB 64 MB 64 MB 64 MB 64 MB 128 MB 128 MB 128 MB 128 MB On board Flash 8 MB 32 MB 32 MB No 32 MB Optional on board 16 MB 64 MB 64 MB Possible 64 MB Flash 128 MB 128MB Contactus 128 MB 256 MB 256 MB 256 MB Standard A D Yes 2ch Yes Yes 2ch Yes 1ch Yes 4ch Optional A D 8ch 8 ch No No No Ethernet 1x 10 100 1x 10 100 1x 10 100 2x 10 100 1x 10 100 USB1 1 ports Yes 2x Yes 2x Yes 2x Yes 2x Yes 2x VGA Video Out No No No Yes Yes IDE Compact Flash Yes No No No No SD Card Interface No No Yes Yes 2x Yes 1x
6. www embeddedARM com TS 7400 TS 9441 Manual Hardware amp Software mmm was WAL 9 OH con A e e CKE E E E KE ee taa ana nanah ban E por E jii Bit inu ES wunnt a WM J E L 4 i CR Li 1 iz A 0000606006 ei 5 wem Sch WT D iii ET oa WR En Power OT NN rere to a T echnologic SYSTEMS 14 O May 2010 SYSTEM 7 a e ologic TS 7400 TS 9441 MANUAL Feedback and Update to this Manual To help our customers make the most of our products we are continually making additional and updated resources available on the Technologic Systems website www embeddedARM com These include manuals application notes programming examples and updated software and firmware Check in periodically to see what s new When we are prioritizing work on these updated resources feedback from customers and prospective customers is the number one influence If you have questions comments or concerns about your Embedded Computer please let us know at support embeddedARM com Limited Warranty FCC Technologic Systems warrants this product to be free of defects in material and workmanship for a period of one year from date of purchase During this warranty period Technologic Systems will repair or replace the defective unit in accordance with the following process A copy of the original invoice must be included when returning the
7. 1x on RevB Digital UO 20 20 30 55 20 TS XDIO No No Yes 1 Yes 2 No RS 485 Opt Opt Opt Opt Opt full half full half full half full half full half Standard COM Ports 2 2 3 10 3 TTL Optional COM Ports No No 2 Yes No RS 232 Console Yes Yes Yes Yes No RTC Opt Opt Opt Opt Opt LCD Interface Yes Yes Yes Yes No Keypad Interface Yes Yes Yes Yes No Linux2 4 Yes Yes Yes Yes Yes Bootloader Redboot Redboot Redboot Linux Linux Real Time RTAI Yes Yes Yes Yes Yes Java Yes Yes Yes Yes Yes USB WiFi Support Opt Opt Opt Opt Opt USB Flash Support Opt Opt Opt Opt Opt Extended Yes Yes Yes Yes Yes Temperature Switching Mode No No Yes No Opt Power Supply Quantity 1 Pricing 149 00 149 00 179 00 219 00 129 00 Quantity 100 Pricing 119 00 119 00 149 00 189 00 99 00 www embeddedARM com A asl H TS 7400 TS 9441 MANUAL AA Technologic APPENDIX D CONTACT TECHNOLOGIC SYSTEMS APPENDIX D CONTACT TECHNOLOGIC SYSTEMS A AA 1 waa Technologic 16525 East Laser Drive Fountain Hills AZ 85268 TEL 1 480 837 5200 FAX 1 480 837 5300 www embeddedARM com support embeddedARM com Call us Monday Friday from 9 am to 5 pm Arizona USA time or email us at any time Our engineers answer tech support calls and are more than happy to talk to you about your needs and help you find the best solution for your project May 2010 www embeddedARM com 46
8. 21 EN 5V Switching power supply enable input open drain pull low to disable 5V switcher 22 EP USB EP93xx CPU USB port data signal 23 FIL VIN Reserved 24 EP_USB EP93xx CPU USB port data signal 25 PORTB 7 CPU connected GPIO pin 6 49k pull down and 1k series resistors 5V tolerant 26 USB 5V USB 5V power O May 2010 www embeddedARM com i 36 A Technologic SYSTEMS Lower header pin out TS 7400 TS 9441 MANUAL CONNECTORS AND HEADERS Pin Name Function 1 DIO_00 GPIO 0 or GPBUS multiplexed address data 0 2 3 3V 3 3V TS 7400 regulator output or input if U6 regulator is not populated 3 DIO_01 GPIO 1 or GPBUS multiplexed address data 1 4 DIO_02 GPIO 2 or GPBUS multiplexed address data 2 5 DIO_03 GPIO 3 or GPBUS multiplexed address data 3 6 DIO_04 GPIO 4 or GPBUS multiplexed address data 4 7 DIO_05 GPIO 5 or GPBUS multiplexed address data 5 8 DIO_06 GPIO 6 or GPBUS multiplexed address data 6 9 DIO_07 GPIO 7 or GPBUS multiplexed address data 7 10 DIO_08 GPIO 8 or GPBUS ALE address latch enable 11 DIO_09 GPIO 9 or GPBUS RD read strobe 12 GND Ground 13 DIO_10 GPIO 10 or GPBUS WR write strobe 14 DIO 11 GPIO 11 or GPBUS IRQ active high level sensitive 15 DIO 12 GPIO 12 or GPBUS DRQ uses EP93xx M2M1 dma cha
9. As a benchmark the TS 7400 s CPU integer performance at a supplied 200 MHz is about twice as fast as the Technologic Systems 133MHz 586 based products 1 4 Features The TS 7400 comes standard with these features TS Linux Embedded Operating System Installed 200 MHz ARM9 CPU with MMU 32 MB integrated high speed flash with hardware ECC Boots to TS Linux 32 MB RAM 64 MB or 128 MB optional 2 USB 2 0 Compatible OHCI ports 12 Mbit s Max 3 TTL serial UARTs SD Flash card connector 10 100 Megabit Ethernet port 20 general purpose UO pins with Schmitt trigger Power requirements are 5V DC 350mA Flexible 40 pin expansion connector Small size 2 9 x 4 7 inches 7 4 x 11 9 cm Optional battery backed real time clock Operating Temperature Range Fanless from 40 to 70 C Extended Temperature 40 to 85 C standard at lower CPU clock speeds RoHS Compliant S S 8S S S NS S S S S S S S S S S 1 5 Configurability The TS 7400 can be configured for your application using the following available on board options and external accessories On board Options v TS 7400 yyy 32F TS 7400 with up to 128 MB of on board SDRAM For example TS 7400 64 32F selects model TS 7400 with 64 MB of SDRAM v OP BBRTC on board sealed battery backed RTC v OP PS30V 8 30VDC switching power input through screw terminal v OP TMPSENSE High precision temperature sensor A Note The TS 7400 SBC is RoHS compliant by default Restriction of Hazardous
10. Translation Look Aside Buffers with 64 Data and 64 Instruction Entries Programmable Page Sizes of 1 Mbyte 64 kbyte 4 kbyte and 1 kbyte S 8S SS S S S S Independent lockdown of TLB Entries For further information about the EP9302 features refer to the EP9301 User s Guide A Note The EP9302 is identical silicon to the EP9301 except it is rated to run at 200 Mhz instead of 166 Mhz The available EP9301 User s Guide can still be used as the main reference manual MMU The EP9031 features a Memory Management Unit enabling high level operating systems such as Embedded Linux and Windows CE to run on the TS 7400 In the same way the Linux TS Kernel takes advantage of the MMU functionality The MMU is controlled by page tables stored in system memory and is responsible for virtual address to physical address translation memory protection through access permissions and domains MMU cache and write buffer access In doing so software applications can access larger virtual memory space than the available physical memory size allowing multiple programs to run and use the system memory simultaneously For further information about the MMU functionalities refer to the EP9301 User s Guide Interrupts The EP9302 interrupt controller allows up to 54 interrupts to generate an Interrupt Request IRQ or Fast Interrupt Request FIQ signal to the processor core Thirty two hardware priority assignments are provided for assisting IRQ vectoring
11. and two levels are provided for FIQ vectoring This allows time critical interrupts to be processed in the shortest time possible May 2010 www embeddedARM com 25 P AA H TS 7400 TS 9441 MANUAL AA Technologic HARDWARE COMPONENTS Internal interrupts may be programmed as active high or active low level sensitive inputs GPIO pins programmed as interrupts may be programmed as active high level sensitive active low level sensitive rising edge triggered falling edge triggered or combined rising falling edge triggered The EP9302 interrupt controller also includes the following features v Supports 54 interrupts from a variety of sources such as UARTs GPIO and ADC Routes interrupt sources to either the ARM920T s IRQ or FIQ Fast IRQ inputs Three dedicated off chip interrupt lines operate as active high level sensitive interrupts Any of the 19 GPIO lines maybe configured to generate interrupts S 8S SS Software supported priority mask for all FIQs and IRQs Note For peripheral driver development purpose notice that the external IRQ lines 5 6 and 7 which are ISA X86 architecture based are mapped to EP9302 external interrupt lines 22 33 and 40 respectively For further information about interrupts including the EP9302 interrupt controller and map refer to the EP9301 User s Guide chapter 5 4 2 Memory TS 7400 uses three types of memory The SDRAM is the fast access volatile mem
12. consistency 05 22 2008 1 0 Full manual released 07 08 2008 1 1 Fixed broken web links 06 01 2008 1 2 Updated mailing address 04 01 2010 1 3 Fixed section on using EP9302 ADC 05 26 2010 1 4 Fixed RTC section May 2010 www embeddedARM com 42 O May 2010 A AA H waa Technologic Address Region Function OxF000 0000 OxFFFF_FFFF TS 7400 TS 9441 MANUAL APPENDIX B MEMORY AND REGISTER MAP APPENDIX B MEMORY AND REGISTER MAP nCSO0 not used OxD000 0000 OxDFFF_FFFF SDRAM not used 0xCO00 0000 OxCFFF_FFFF SDRAM not used 0x8084 0000 0x8084_00C8 GPIO control registers 0x8000 0000 0x800F FFFF AHB mapped registers 0x7000 0000 Ox7FFF FFFF CS7 bit bus cycles 0x6000 0000 Ox6FFF_FFFF CS6 Flash 0x3000 0000 Ox3FFF_FFFF CS3 not used 0x2000_0000 Ox2FFF_FFFF CS2 16 bit bus cycles 0x1000_0000 Ox1FFF_FFFF CS1 8 bit bus cycles 0x0001 0000 0x0000 FFFF SDRAM region Register Address Function 0x8090 0020 Cirrus A D lock register 0x8090 0018 Cirrus A D channel select register 0x8090 0008 Cirrus A D result register RO 0x808D 0000 0x808D_FFFF UART2 control registers 0x808C 0000 0x808C FFFF UARTI control registers 0x808A 0000 0x808A FFFF SPI control registers 0x8084 0044 LCD EN LCD RS LCD WR direction reg bits3 5 0x8084 0040
13. A AA H TS 7400 TS 9441 MANUAL AA Technolog IC m d SOFTWARE 3 SOFTWARE 3 1 Software update facility in factory configuration Although Technologic Systems can load the flash with customer supplied software from the factory it is often more convenient to have a local production process for installing or updating the files and programs that make your product unique The default software installation enables this by providing a hook to allow customer code to hijack the normal fast boot bootup process The default linuxrc linuxrc fastboot will run a program Ibin check usb update in the background after bootup has completed This program looks for a script tsinit on the USB mass storage device USB thumb drive or USB hard drive connected to the bottom USB slot If this script exists it is then run automatically as the Linux root user ID A sample tsinit script that copies a program myprogram to onboard flash and then changes the default bootup to the SD card follows bin sh In sf linuxrc sdroot linuxre mount dev mtdblock 3 onboardflash cp mnt root myprogram onboardflash bin umount onboardflash save reboot While the tsinit script is run the red LED will be on After it is complete the red LED will go off A customer could mass update many hundred TS 7400 s easily by using a USB flash dongle with a custom tsinit and data files and applying power with the USB dongle on wait for the
14. LED to go off then proceed to the next board The tsinit script will begin to execute approximately 3 seconds after power on 3 2 Updating Recovering the bootloader kernel Although usually not necessary customers wanting to build and install their own bootloader kernels can do so from the fastboot environment by using NFS and an internal busybox utility mtdcp To mount an NFS filesystem from the fastboot shell type mount 192 168 0 1 tsarm nfsroot mnt root You may have to change the server IP and server mount point to whats appropriate on your network The default TS 7400 IP address is 192 168 0 50 but this could be changed with the command ifconfig eth0 NEW IP ADDRESS gt Then assuming mnt root zImage is your new kernel Issue the command insmod tsixex nando Mrdep mnt root zimage 1 0 This copies the zlmage kernel binary to dev mtdblock 1 with appropriate handling of any potentially bad flash sectors dev mtdblock 1 is the first MBR partition of the TS 7400 NAND flash chip Do not use the dd command to copy as it does not do the right thing when presented with bad NAND flash sectors Note that changing the default bootloader kernel should be limited to only when absolutely necessary Instead you should keep the known good factory default Linux kernel as the bootloader kernel and then use the facilities of the bootload Linux command to reboot into your custom kernel as described in the following section
15. Substances Directive Contact Technologic Systems for RoHS support External Accessories v SD 512 512 MB SD Flash Card with full ARM tool chain installed and Debian included in KIT 7400 May 2010 www embeddedARM com 6 z SE H TS 7400 TS 9441 MANUAL 477 ec T Yologic INTRODUCTION v USB FLASH 256 256 MB flash drive with full ARM tool chain installed and Debian v WIFI G USB Linux supported USB 802 11g WiFi transceiver for wireless networking v TS 9444 Boot Console Peripheral Board for TS 7400 required during development included in the KIT 7400 v TS DC420 ENC Peripheral board provides 8 30VDC power input Xbee radio socket DIO lines 3 A D channels 3 COM ports RS 485 RS 422 with full duplex and aluminum enclosure v PS 18VDC REG Regulated 18VDC wall mounted power supply compatible with OP PS30V v PS 5VDC 1AMP 5VDC 1AMP Power Supply 100 120V included in the KIT 7400 v PS 5VDC 2 5REG 5VDC 2 5AMP Regulated Power Supply Note Check our website at www embeddedARM com for an updated list of options and external accessories May 2010 www embeddedARM com 7 2 aa H TS 7400 TS 9441 MANUAL 477 T YST 10logic INTRODUCTION 1 6 TS WIFIBOX Application Kit The TS 7400 powers the TS WIFIBOX application kit a small wifi enabled computer box For more information see http www embeddedarm com products board detail php product TS WIFIBOX 1 7 TS ARM Development
16. an input impedance that is not completely linear and may be as low as 10K ohms For detailed information please see the Cirrus EP9301 User s Guide page 518 Table ADC Switch Values EP9302 Input to Measure ADC Switch Value ADCO 0x0000_0608 ADC1 0x0000 0680 ADC2 0x0000 0640 ADC3 0x0000_0620 The ADCO 3 pins can be found on the lower header pins 27 30 respectively see section 6 4 General Header for more information on their location The following steps outline the software execution to use the Cirrus A D converter 1 Unlock the software lock before setting the TSEN bit in the ADCClk register by writing OxAA to the ADCSWLock register 0x8090_00CO OR in the TSEN bit bit 31 to the ADCCIkDiv register 0xX8093 0090 2 Unlock the software lock again before OR ing in the ADCEN ADC clock enable bit 31 to 0x8093 0080 3 Clear bit 2 the ADCPD ADC Power Down bit at 0x8093 0080 This bit MUST be set to 0 see page 91 of the EP9301 User s Guide 4 After unlocking the software lock write the channel s magic value see Cirrus EP9301 User s Guide table 20 2 to the ADCSwitch register 0x8090 0018 to select that channel for the next data acquisition 5 Poll the ADCResult register 0x8090 0008 until bit 31 is not set 6 Using a 32 bit read operation read the result from 0x8090 0008 masking off the upper 16 bits Interpreting Cirrus A D Converter The Cirrus on chip A D converter is a successive
17. and instructions about Debian Linux please refer to the Linux for TS ARM User s Guide This can be found for download at the Technologic Systems website May 2010 www embeddedARM com 23 TS 7400 TS 9441 MANUAL EL Technologic MARE COMPONENTS 4 HARDWARE COMPONENTS The following picture shows where the main headers connectors and most important hardware components are located on the TS 7400 Understanding this picture will help you to follow the header connector oriented organization of this manual The blue marked objects on the picture are the on board chips and components while the green ones are the various on board headers and connectors for peripherals Picture TS 7400 Hardware Components ONBOARD EP9302 ARM9 H FLASH PROCESSOR SD RAM 5V POWER fe Segegeeegeg GEESS v 999 dah danta LUT MAL i EH WOU E 66 PHI GENERAL HEADER 4 1 Processor Cirrus EP9302 The EP9302 features an advanced 200 MHz ARM920T processor design with a memory management unit MMU that allows support for high level operating systems such as Linux Windows CE and other embedded operating systems The ARM core operates from a 1 8 V supply while the I O operates at 3 3 V with power usage between 100 mW and 750 mW dependent on speed As a general purpose processor it provides a standard set of peripherals on board and a full set of Technologic Systems add on peripherals via the standard PC 104 Bus The ARM920T s 3
18. applications run in a protected and separate environment where they can do no damage to either the kernel or other applications running simultaneously This protected environment does not allow arbitrary manipulation of hardware registers by default Applications may be allowed temporary access through memory space windows granted by the mmap system call applied to the dev mem device node For instance to set up access to the GPIO registers at 0x12c00000 the following snippet of C code is provided as an example include lt sys mman h gt include lt sys types h gt include lt sys stat h gt include lt fcntl h gt int fd open dev mem RDWR O SYNC char gpioregs gploxegs char mmapi 07 4096 PROT READ PROT WRITE MAP SHARED fd 0x12c00000 gpioregs 0 Oxff data direction register set all outputs gpioregs 2 0x12 output high to DIO 01 amp DIO 4 all else low Some notes about the preceding code v Make sure to open using O_SYNC otherwise you may get a cachable MMU mapping which unless you know what you re doing probably is not what you want when dealing with hardware registers v mmap must be called only on pagesize 4096 byte boundaries and size must at least have pagesize granularity v mmap of dev mem is only allowed for processes with UID 0 root v More information on mmap and open system calls can be had by running man mmap or man open from most any Linux s
19. approximation A D converter Each A D channel is calibrated on the TS 7400 and these 16 bit values are stored in a binary file located at etc ADC calibration dat These calibration values minimize the offset errors and gain errors in the EP9302 A D It is important for the user program to use these values as per our sample code which can be found either on our website or in the CD included in the Developer s Kit Two reference points 2 5 and 833 Volts with the corresponding reference values stored in the calibration file The file is structured to have the 16 bit reference value for 2 5v of each channel 0 3 followed by the 16 bit reference value for 833v of each channel 0 3 The reference points are stored as a 16 bit value and should be used to correlate the values returned by the Cirrus A D converter to voltage May 2010 www embeddedARM com 31 TS 7400 TS 9441 MANUAL AA Techn Sg COMMON INTERFACES GENERAL INFORMATION 5 4 General Purpose 8 bit Multiplexed Bus GPBUS To use the general purpose bus GPIO pins 7 0 first MUST be programmed as general purpose outputs by writing an Oxff to 0x12c0 0000 Also GPIO pins 8 10 must also be programmed as outputs if all 3 strobes will be used ALE RD and WR A strobe pin set up as a GPIO input will not be toggled at the appropriate times during a GPBUS bus cycle this can save GPIO pins in the case of a read only or write only bus but is probably not what y
20. defective unit to Technologic Systems Inc This limited warranty does not cover damages resulting from lightning or other power surges misuse abuse abnormal conditions of operation or attempts to alter or modify the function of the product This warranty is limited to the repair or replacement of the defective unit In no event shall Technologic Systems be liable or responsible for any loss or damages including but not limited to any lost profits incidental or consequential damages loss of business or anticipatory profits arising from the use or inability to use this product Repairs made after the expiration of the warranty period are subject to a repair charge and the cost of return shipping Please contact Technologic Systems to arrange for any repair service and to obtain repair charge information Advisory Statement This equipment generates uses and can radiate radio frequency energy and if not installed and used properly that is in strict accordance with the manufacturer s instructions may cause interference to radio and television reception It has been type tested and found to comply with the limits for a Class A computing device in accordance with the specifications in Subpart J of Part 15 of FCC Rules which are designed to provide reasonable protection against such interference when operated in a commercial environment Operation of this equipment in a residential area is likely to cause interference in which case the o
21. includes a USB flash thumb drive or Compact Flash card pre loaded with Debian Flash memory provided by these devices behaves much as a hard drive does with sizes ranging from 32MB to 1GB These products are inherently more rugged than a hard drive since they are completely solid state with no moving parts However they have the added advantage of being removable media Use of a Compact Flash card with TS 7400 SBC requires a USB Compact flash adapter which will also be included in the TS ARM Development Kit if requested The USB flash drive can be hot swapped A Note Drivers are available in the TS Kernel to support USB flash drives One can load Debian OS with two scripts provided by the on board flash TS Linux file system or available for download at our website First invoke usr bin loadUSBModules sh then run the script usr bin loadUSB sh to chroot into the Debian OS SD Memory Card Technologic Systems has a full license for using the additional SD features which are reserved for members of the SD Card Association This has allowed us to design both the hardware logic core and software specifically tuned to the capabilities of the TS 7400 CPU using the official SD specification documents Since both a Linux driver module and an ARM object file containing OS independent access routines are provided to customers purchasing the board hardware customers do not have to seek SD licensing themselves SD Memory Card technology provides la
22. to blast board EEPROM instead of SBC h help This help EEPROM security block options I ce ex Write X as ethernet MAC address l verifylen N Checksum includes first N 512 byte sectors d device FILE Use FILE to re compute checksum value EES Use N as pre computed checksum value sin kene olan gt Use X for the SD unlock data token from previous sdlock set command cb SwereilityALools De men looxoE io eum walesa SD cescel iWegoiusolice Disable serial console bootup messages TS Production Ger ie options a alloc mac Get MAC address from var ts production mac TS SDBOOT contains several features for high security One feature is the ability to store a checksum of the SD card on the board to verify before bootup If the checksum fails the bootup firmware will refuse to boot the inserted SD card Another feature is the ability to boot a password protected SD card With this it is possible to make an SD unreadable to any device except the TS 7400 to which it is assigned Although not directly a function of TS SDBOOT an SD card can also be made permanently write protected through a software command The combination of these features allows product designers several options on the security of their software and of their deployed TS 7400 based devices The TS bootup programs will by default print a banner message on bootup to the serial port displaying its build date etc If
23. up or placement procedures take the precautions outlined in this section Handling the Board Safely Be sure to take appropriate Electrostatic Discharge ESD precautions Disconnect the power source before moving cabling or performing any set up procedures I Warning Inappropriate handling may cause damage to the board Setup and Installation Instructions Follow these guidelines for safety and maximum product performance v Observe local health and safety requirements and guidelines for manual material handling Setup Tools Depending on placement and cabling you may need the following tools v Small flat blade screwdriver Small Phillips screwdriver Setup Procedure After locating setting up grounding and cabling the TS 7400 v Apply power v Monitor the TS 7400 using a terminal emulator to verify that the board is operating properly Disconnecting AC Power v Unplug from the power source v Disconnect other cables as required 2 2 Console and Power Up An ANSI terminal or a PC running a terminal emulator and a TS 9441 peripheral are required to communicate with your TS 7400 computer Simply connect an ANSI terminal or emulator to the console header on the TS 9441 using a null modem cable and the DB9 adapter for the header these are included in the TS ARM Development Kit using serial parameters of 115 200 baud 8 data bits no parity no flow control 1 stop bit 8N1 If you are running Linux the minicom program
24. uses a special device driver at dev misc bootloader to accommodate the hooks needed by the bootload program to allow Linux to act as a bootloader and boot other Linux kernels and operating systems 3 8 Debian Linux OS The typical way of doing Linux development on the TS 7400 is actually on the board itself Since the TS 7400 CPU is a PC class processor in everything but power consumption and performance it has no problem running real PC class operating systems such as Linux By running the full version of Linux and not scaled down microcontroller project OS s such as ucLinux the TS 7400 can run the entire suite of applications contained in the Debian Linux distribution including the compilers Since almost every open source program available for Linux is contained within the Debian Linux binary distribution one rarely has to compile the large code bases that would otherwise have forced integrators to a complicated cross compilation environment due to the limited RAM Mhz of the embedded computer All too often open source projects do not anticipate the possibility of cross compilation in their build systems leaving issues for the system integrator to resolve The default SD card contains compilers and everything needed for developing applications in C C PERL PHP and SH Java BASIC TCL Python and others are available for Debian but not installed by default One can still use cross compilers hosted on just about any platform if the
25. 2 bit architecture with a five stage pipeline consisting of fetch decode execute memory and write stages delivers very impressive performance at very low power The EP9302 CPU has a 16 KB instruction cache and a 16 KB data cache to provide zero cycle latency to the current program and data or they can be locked to guarantee no latency access to critical sections of instructions and data For applications with instruction memory size restrictions the ARM920T s compressed Thumb instruction set can be used to provide higher code density and lower Flash storage requirements O May 2010 www embeddedARM com 24 as H TS 7400 TS 9441 MANUAL 477 ec T 10logi c HARDWARE COMPONENTS Picture Cirrus EP9302 Block Diagram Serial Audio Interface Peripheral Bus Clocks amp MaverickCrunch Timers 2 UARTs 12 Channel DMA AHNOSUT w WDA D Cache Cache MaverickKey 16KB 16KB Interrupts amp GPIO 329V43MSH3LNI H3Sf 2 USB Hosts Bus Bridge Processor Bus COMMUNICATIONS PORTS Ethernet SRAM amp Unified MAC Flash VF SDRAM VF MEMORY AND STORAGE EP9302 key features include ARM 32 bit and Thumb 16 bit compressed instruction sets 32 bit Advanced Micro Controller Bus Architecture AMBA 16 kbyte Instruction Cache with lockdown 16 kbyte Data Cache programmable write through or write back with lockdown MMU for Linux amp Microsoft amp Windows CE and other operating systems
26. 9441 MANUAL AA Technologic ee MANUAL 6 5 TS 9441 Console Header Note The information on this section applies to the TS 9441 recovery console peripheral board for the TS 7400 The console header brings out a serial port Use the RC DB9 connector to connect the TS 7400 TS 9441 to a DB9 cable and to your PC running a terminal emulator 6 6 TS 9441 JTAG Header Note The information on this section applies to the TS 9441 recovery console peripheral board for the TS 7400 The JTAG header can be used to program the on board CPLD using special software and hardware support tools However it is not available for application debug purposes since it has no connection to the EP9302 JTAG interface The following table shows which pins of the JTAG header are used for the JTAG interface signals Table JTAG signals at JTAG Header PIN Signal Description 9 TCK Test Clock 11 TDI Test Data In 13 TMS Test Mode Select 14 TDO Test Data Out 1 3 5 3 3 VCC Power Supply 10 12 GND Ground The JTAG header is also utilized for jumper configuration See the Jumpers section of this manual for more details Technologic Systems has made the design choice to save on board real estate and not bring out the JTAG header If you need access to the JTAG pins a skilled technician can solder wires to the pins 6 7 Power Supply Connector The TS 7400 requires regulated 5VDC at 450 mA 200 MHz maximum It is po
27. EEO ENEE 5 Ee E E E EE 5 Out of the Box Producttvity A 5 Impressive Performance ERENNERT NENNEN eb FUR ER UTERE aa E 5 WA I II RERO TOTEM 6 UESNegnetcegpi n 6 On board Options roce ERI Re ine ORO Pan A ER euet eui eiue ade REA a NG wadata jaga a a eee desta 6 External urrp me 6 1 6 TS WIFIBOX Application kt 8 1 7 TS ARM Development kt 8 1 8 Software and Support 9 linu OS Support cm 9 Other OS Sp qc gan aaa ga aa Neg ag ga Kaja aa A Ka aaa e Ng aa E D Ba DG Aa a ag aa a ai a aaa a 10 2 SETTING STARTED esa tara eag saa Ng ae eaaa aaa Laka anaa Tega Aga P QUEUE RD PRU M 11 2 1 Installation Procedure eee anane n anana ena anan eaaa a anane naa nana naen nana aane 11 Handling the Board SGatehy asoa esun eea anae eaaa aana naa a Nn naen nane anane 11 Setup and Installation Instructions ssssssssssssssssssssee eerte 11 Setup TOMS see 11 Setup PROCS UNG RR 11 Disconnecting AC Power eot eee ke gege Edge bu ee ORE eee se uud cu dc KAN Aa 11 2 2 Console and Power Up 11 TO TANG ri airing Aine beeline it ec ei ele eed oe aden 13 2 3 Bootup Process 13 2 4 Loading or Transferring Files AAA 13 Transferring Files via the Ethernet Port 13 Transferring Files via Flash Memory Device eaaa anna a nana anna a naen anane 14 Zmodem Downloads 14 2 5 TS 7400 production Itetime ana
28. Kit The KIT 7400 TS ARM Development Kit for the TS 7400 Single Board Computer includes all equipment necessary to boot into the operating system of choice and start working The development kit is highly recommended for a quick start on application development The KIT 7400 Development Kit contains a 256 or 512 MB Flash drive SD Card which includes v Aself hosting ARM installation of the Debian Linux 3 0 distribution compiled for ARM v gcc 2 95 4 and gcc 3 0 compiler with full tool chain v Hardware test routines source code and other example source code v Debian package system apt get tasksel dselect The development kit additionally includes SD Card reader 5 VDC regulated power supply international versions available NULL modem cable Adapter cable from 10 pin header to DB9 Various cables for connection DIO LCD Keypad etc Development CD with complete TS Kernel source manuals example code etc S 8S NS S S S S Printed supporting documentation for TS 7400 Hardware Linux for ARM and Development Kit O May 2010 H TS 7400 TS 9441 MANUAL E T Yologic INTRODUCTION Note Single Board Computer is not included on the Development Kit sold separately 1 8 Software and Support Software features include S S S S S S Boots Linux out of the box in 1 10 seconds to shell prompt Flexible booting options SD card NAND flash or offboard SPI flash SD card pre installed with
29. L APPENDIX B MEMORY AND REGISTER MAP bit 4 3 reserved bit 5 flash busy signal bit 7 6 reserved 0x6000_0000 NAND flash data register 0x23C0_0000 WDT Feed register bits 0 2 0x2380_0000 WDT Control register bits 0 2 0x2340_0000 TS CPLD revision register bit 2 0 CPLD revision number bit 7 3 reserved 0x2300_0000 SPI EEPROM chipselect control bit O reserved bit 1 onboard SPI EEPROM chip select enable bit 2 offboard boot hijacker SPI EEPROM chip select bit 7 3 reserved 0x2200_0000 Model Number bits 0 2 0x1300_0000 0x1300_0003 SD card controller dev sdcard0 discO in Linux 0x1240 0001 UART 2 dev ttyTSO in Linux DAT register 0x1240 0000 UART 2 dev ttyTSO in Linux STAT register bit O TBRE Transmit buffer empty RO bit 1 DR Receive data ready RO bit 2 OERR Overflow error RO bit 4 3 reserved bit 7 5 MODE baud rate RW 0 115200 8N1 1 57600 8N1 2 38400 8N1 3 19200 8N1 4 9600 8N1 5 4800 8N1 6 2400 8N1 7 UART off IRQ disabled 0x12c0 0003 GPIO data register for DIO 8 to DIO 15 0x12c0 0002 GPIO data register for DIO 0 to DIO 7 GPBUS address register 0x12c0 0001 GPIO direction for DIO 8 to DIO 15 1 means output 0x12cO0 0000 GPIO direction for DIO 0 to DIO 7 1 means output 0x1200 0001 GPIO direction data for DIO 16 to DIO 19 bit 3 0
30. P9302 processor which integrates an USB dual port Open Host Controller Interface OHCI providing full speed serial communications ports at a baud rate of 12 Mbits sec Up to 127 USB devices printer mouse camera keyboard etc and USB hubs can be connected to the USB host in the USB tiered star topology This includes the following features v USB 2 0 compatible v OHCI Rev 1 0 compliant v USB device connections support at both low speed 1 5 Mbps and full speed 12 Mbps Root HUB integrated with 2 downstream USB ports Transceiver buffers integrated over current protection on ports Supports power management S S S S Operates as a master on the bus Note TS Kernel implements all the necessary driver support to enable the USB OHCI Also a wide variety of USB drivers for devices such as mouse keyboard and flash memory are available Refer to the Linux for TS ARM User s Guide or contact us for further information on how to integrate an USB device and an USB Linux driver with your TS 7400 May 2010 www embeddedARM com A4 A a Te hnologic TS 7400 TS 9441 MANUAL 5 YSTEMS CONNECTORS AND HEADERS 6 3 SD Card Connector CPLD The SD Card socket ALPS connector at the back side of the TS 7400 enables SD Cards to be plugged to the SBC The hardware core implemented by Technologic Systems is integrated inside the on board CPLD Technologic Systems has written a binary Linux drive
31. SB Timeout Period 0x00 0 0 0 Watchdog Disabled 0x01 0 0 1 250 mS 0x02 0 1 0 500 mS 0x03 0 1 1 1 second 0x04 1 0 0 Reserved 0x05 1 0 1 2 seconds 0x06 1 1 0 4 seconds 0x07 1 1 1 8 seconds In order to load the WDT Control register the WDT must first be fed and then within 30 uS the WDT control register must be written Writes to this register without first doing a WDT feed have no affect In order to clear the WDT counter feeding the watchdog a value of Hex 05 must be written to the WDT Feed register By default a user process does not have the physical address space access of the watchdog registers mapped When using the Linux OS the watchdog can be reached from user C code by using the mmap system call on the dev mem special file to map the areas of physical address space into process user address space See section 3 4 Warning Use only the Watchdog Timer implemented by Technologic Systems in the CPLD The Watchdog Timer included in the EP9302 has serious problems May 2010 www embeddedARM com 29 a KE H TS 7400 TS 9441 MANUAL AA Technologic COMMON INTERFACES GENERAL INFORMATION 5 COMMON INTERFACES GENERAL INFORMATION The purpose of this section is to provide general information about the common interfaces such as Serial Ports and Digital Input Output which appear in more than one header or connector of the TS 7400 For further information on these features refer
32. as MTD or M emory T echnology D evice The partitioning is dynamic and depends on the DOS style MBR found at sector 0 of the flash This MBR can be changed by using the fdisk command on the dev mtdblock 0 device but doing so is not recommended dev mtdblock 0 Whole disk block device driver dev mtdblock 1 First MBR partition bootloader kernel binary dev mtdblock 2 Second MBR partition bootloader initrd dev mtdblock 3 Third MBR partition Linux YAFFS2 filesystem May 2010 www embeddedARM com 19 TS 7400 TS 9441 MANUAL E Technologic SOFTWARE dev mtdblock 4 4th MBR partition unused in default load Note that the MBR installed by default on the TS 7400 contains a 443 byte bootloader program that loads the initial power on kernel and initrd from the first and second partitions Replacing it with a MBR found on a PC would not work as a PC MBR contains an x86 code bootup program Doing so would cause the device to constantly reset itself every 8 seconds as the hardware watchdog expires v Linux uses a NAND flash filesystem called YAFFS2 for general purpose file storage This filesystem is a log structured filesystem which is safe against corruption caused by system crashes and power loss without the need for consistency checking on next boot A normal PC cannot use this filesystem as it is specifically designed for NAND flash which a PC does not have v The TS version of Linux
33. ata hold RD WR deassert to ALE assert 6nS The above timing should be compatible with a standard 74HC373 octal latch chip should you wish to de multiplex the address data bus into something more similar to ISA PC104 externally If you have questions about whether a particular design will work or not please feel free to contact Technologic Systems with your schematic for review May 2010 www embeddedARM com 32 ec ologic TS 7400 TS 9441 MANUAL S SYSTEM COMMON INTERFACES GENERAL INFORMATION For fast back to back accesses to consecutive addresses you should use the the data register at 0x60cO 0002 This is very useful for reading contiguous memory quickly without having to interleave updates to the address register Although there is only an 8 bit address register it is trivial to use other free GPIO lines as high address lines should you need more than 256 bytes of address space for the GPBUS Should you require it a 14 7456Mhz clock can be output from the TS 7400 on DIO 13 To enable this set bit 3 of the 8 bit register at address 0x12000000 and set the data direction for DIO 13 as output External IRQ is also available on DIO 11 by similarly setting bit 1 One can also enable DMA with the EP9302 CPU M2M DMA controller by allowing DRQ on DIO 12 bit 2 If you choose to use DMA or IRQ support for the GPBUS you will likely want to write a kernel driver Simple userspace applications can not directly s
34. ces rtc c These are byte wide registers with the Index Register property of write only The Data Register has a read write property Valid Index Register values are between 0 and 127 decimal The first 14 index locations are used for accessing the RTC Time and Date registers The next 114 locations are non volatile RAM locations 4 5 Watchdog Timer The TS 7400 incorporates a Watchdog Timer WDT unit The WDT can be used to prevent a system hanging due to a software failure The WDT causes a full system reset when the WDT times out allowing a guaranteed recovery time from a software error To prevent a WDT timeout the application must periodically feed the WDT by writing a specific value to a specific memory location Table Watchdog Control Registers Register Address Access WDT Control register 0x2380 0000 Read Write IWDT Feed register 0x23CO 0000 Write Only The WDT Control register must be initialized with the timeout period desired This may be as short as 250 mS or may be as long as 8 seconds After the WDT has been enabled May 2010 www embeddedARM com 28 A 22 Technologic TS 7400 TS 9441 MANUAL SYSTEMS HARDWARE COMPONENTS the WDT counter begins The application software can reset this counter at any time by feeding the WDT If the WDT counter reaches the timeout period then a full system reset occurs Table Watchdog Timeout Register Value MSB MID L
35. contain the following auto lo cela The loopback interface iface lo inet loopback The first network card a O elm iface eth0 inet dhcp iiece eti imet static address 192 163 050 ietaeask 255 255 255 0 gateway 192 168 0 1 O May 2010 www embeddedARM com 22 1 TS 7400 TS 9441 MANUAL Teci T 10log i SOFTWARE Those lines starting with a symbol are comments The line auto lo ethO means both the loopback interface and the first ethernet interface will be started automatically by the Debian networking scripts The above example shows that ethO would be assigned the static address of 192 168 0 50 using 192 168 0 1 as the default gateway If one was to comment out those lines and then uncomment the line iface ethO inet dhcp then ethO would use a dhcp client to obtain it s IP and other relevant network information Network Services TS Linux includes solutions for the main network services including Telnet HTTP FTP SSH NFS and Mail Some of these services can be started restarted or stopped by management scripts located at the etc init d directory For example the following command will restart the apache server etc init d apache restart Also the etc inet conf file is used to configure the initialization and parameters of other services A Note For further information regarding the software solutions available for the TS 7400
36. densing May 2010 www embeddedARM com 40 A As H TS 7400 TS 9441 MANUAL 477 T YST Yologic FURTHER REFERENCES 9 FURTHER REFERENCES v Linux for TS ARM User s Guide http www embeddedarm com documentation software arm tslinux ts7 2xx pdf v TS 7400 Data Sheet http www embeddedarm com documentation ts 7400 datasheet pdf v EP9301 User s Guide http www embeddedarm com documentation third party ts 7000 ep9301 ug pdf v EP9301 Data sheet http www embeddedarm com documentation third party ts 7000 ep9302 ds pdf v TS 7000 Yahoo Users Group http groups yahoo com group TS 7000 v TS 7400 schematic http www embeddedarm com documentation ts 7400 schematic pdf v TS 7400 mechanical drawing http www embeddedarm com documentation ts 7400 mechanical pdf v TS 7400 s download section ftp ftp embeddedarm com ts arm sbc ts 7400 linux v TS 9441 schematic http www embeddedarm com documentation ts 9441 schematic pdf May 2010 www embeddedARM com 41 z aa H TS 7400 TS 9441 MANUAL AA Technologic APPENDIX A DOCUMENT HISTORY APPENDIX A DOCUMENT HISTORY Date of Revision Number Comments Issue Revision 10 06 2006 0 1 Initial release 10 23 2006 0 2 Added sections on SD locking security features and GPIO 10 24 2006 0 4 Added mention of fastboot file autoboot abort 01 11 2007 0 6 Errata for Rev B CPLD 05 18 2007 0 8 Modified UART naming convention for
37. e An SD card or an USB flash memory card can be used to easily move files from a host system We suggest using a low cost SanDisk USB Compact Flash card or SD card interface for your host system USB memory devices need no extra accessory to connect to the host PC The flash memory devices can then be hot swapped inserted or removed without rebooting the host PC Zmodem Downloads Using the Zmodem protocol to send files to and from the TS 7400 SBC is simple and straightforward The only requirement is a terminal emulation program that supports Zmodem and virtually all do If you are using Windows 95 or later for your development work the HyperTerminal accessory works well To download a file to the TS 7400 from your host PC execute Irz at the Linux command line on the TS 7400 while using console redirection from within your terminal emulator and begin the transfer with your terminal emulator In HyperTerminal this is Send File from the Transfer menu To upload a file from the TS 7400 to your host PC execute Isz FILENAME at the Linux command line on the TS 7400 and start the transfer in your terminal emulator Many emulators HyperTerminal among them will automatically begin the transfer themselves Occasionally there may be errors in transmission due to background operations This is not a problem Zmodem uses very accurate CRC checks to detect errors and simply resends bad data Once the file transfer is complete the file
38. et up interrupt handler functions or translate the virtual addresses of process data structures to the physical addresses needed by the DMA controller When writing a kernel driver in C one should be aware of certain details v To set a handler on the GPBUS IRQ you must request IRQ 33 and allow IRQ sharing the UART and SD drivers also generate the same IRQ This means calling the request irq kernel function with SA SHIRQ in the flags parameter v To use DMA you must manipulate the M2M1 EP9302 DMA channel Details on its programming can be found in the EP9302 CPU User Manual from Cirrus Logic at http www cirrus com v To access various registers in arbitrary physical address space use the ioremap function and not the ioremap kernel function ioremap does not expect physical addresses and will apply an offset to your requested address on the EP9302 ARM Linux kernel v If you are unable to write a driver yourself you may consider contracting Technologic Systems to write one for you Often times TS engineers can accomodate your requirements for less cost than it takes to accomplish internally May 2010 www embeddedARM com 33 z aa H TS 7400 TS 9441 MANUAL AA Technologi C CONNECTORS AND HEADERS 6 CONNECTORS AND HEADERS 6 1 10 100 Base T Ethernet Connector The EP9302 Ethernet LAN controller incorporates all the logic needed to in
39. g GPIO logic to the kernel may still be preferable if the bulk of GPIO client code is in the kernel or if there are strict real time requirements to be met 5 3 A D Converters The EP9302 A D converter is standard on all TS 7000 series boards The Cirrus EP9302 features a 5 channel 12 bit Analog to Digital Converter with an analog multiplexer having an input range of 0 to 3 3 V The Cirrus A D converter can do a maximum of 925 samples per second and requires a settling time of 2 milliseconds between channel switches May 2010 www embeddedARM com 30 a KE H TS 7400 TS 9441 MANUAL AA Technologic COMMON INTERFACES GENERAL INFORMATION To maintain 12 bit accuracy the analog signal being measured must have a low source impedance less than 10 ohms Otherwise an operational amplifier may need to be added to buffer the A D input For detailed information please see the Cirrus EP9301 User s Guide page 518 The EP9302 A D converter can do a maximum of 925 samples per second and requires a settling time of 2 milliseconds between channel switches To maintain 12 bit accuracy the analog signal being measured must have a low source impedance less than 10 ohms Otherwise an operational amplifier may need to be added to buffer the A D input The EP9302 A D converter should not be driven by a source impedance greater than 10 ohms to ensure accurate results the EP9302 A D converter has
40. hdog is armed for 8 second expiry before automatic reboot and will be constantly fed as long as the firmware or MBR Linux bootloader is reading from flash The board will appear to constantly reboot every 8 seconds should something go wrong The TS 7400 uses an external watchdog implemented in the CPLD instead of the CPU internal watchdog to guarantee proper reset operation in the case of a severely malfunctioning CPU The CPU internal watchdog is also available but Technologic Systems does not recommend using it 2 4 Loading or Transferring Files Three methods are available for transferring files between a desktop PC and your TS 7400 Ethernet downloads flash memory devices and Zmodem downloads Full descriptions of each are detailed below Other programs that use serial ports to transfer should work as well Transferring Files via the Ethernet Port The default JFFS Linux root file system includes a small FTP server that can be used for uploading downloading of files across an Ethernet network Simply point your preferred FTP client to your TS 7400 IP address default is 192 168 0 50 You can login as root or any valid user previously created from the useradd utility By default the JFFS image will not accept anonymous FTP O May 2010 www embeddedARM com 13 asl H TS 7400 TS 9441 MANUAL 477 ec T Yologic mu GETTING STARTED Transferring Files via Flash Memory Devic
41. he very first thing run by the kernel on startup Several sample startup scripts are included and can either be used directly In sf linuxrc XXX linuxrc command or modified to include custom bootup logic These shell scripts were designed to be as fast and simple as possible approximately 45 lines of code for easy customer modifications lt is anticipated that this shell script be modified from the default to implement things in the customer s product such as backup configurations software field updates conditional booting verification of SD cards etc Technologic Systems professional services are available should you need help in implementing a specific feature May 2010 www embeddedARM com 12 zJ asl H TS 7400 TS 9441 MANUAL HA Technolog IC GETTING STARTED TS 7400 Recovery Although it is easy to get your board into an unbootable state during development if you botch a modification it is equally easy to use the TS 9441 to recover the default startup To do so place the Boot jumper on the TS 9441 and reset the board In approximately 3 seconds the board will have fastbooted to the TS 9441 flash and presented a shell prompt To recover the default initrd and linuxrc enter the command save remove the Boot jumper and reboot back to a restored to factory default TS 7400 2 3 Bootup Process The processor first runs code from the dedicated EEPROM chip containing the TS FLASHBOOT bootup program TS FLASHBOOT set
42. hell prompt v When working with char types to registers make sure to compile with the mcpu arm9 option otherwise the wrong ARM opcodes will be used and your byte reads writes may be turned into 32 bit reads and writes 3 5 Changing Updating the TS BOOTROM Normally the TS 7400 boot firmware is loaded with the TS FLASHBOOT bootup program This program bootstraps the CPU by loading the first 512 bytes from the NAND flash and jumping into it This program then loads the kernel and initrd from the NAND flash Once the kernel has booted and mounted the initrd it can pivot root and give the illusion it actually booted directly from SD NAND NFS etc file systems Should you wish to actually load the kernel and fastboot initrd from an SD card the TS FLASHBOOT bootup program must be replaced with TS SDBOOT This can be done with the tsbootrom update program May 2010 www embeddedARM com 17 a Te nologic TS 7400 TS 9441 MANUAL rm SYSTEMS SOFTWARE Usage and command line help for this command follows tsbootrom update help Usage tsbootrom update OPTION Updates TS BOOTROM bootup program stored on EEPROM General options Do not actually write EEPROM 6 TEGO Write TS SDBOOT bootup program E tlasinooor Write TS FLASHBOOT bootup program U lo riaamlexoot Write TS BURNINBOOT bootup program p spiflashboot Write TS SPIFLASHBOOT bootup program o blasthoare Write
43. inux Some very basic commands for one beginner user to start using Linux are pwd informs the current directory Is lists current directory contents cd changes directory man accesses the system s manual pages of a given command cat displays the entire content of a given file S 8S NS S S S vi Linux most common file editor reading further documentation is recommended The most common file handling commands are cp mv rm mkdir Help information is provided by supplying help to any given command for example cp help Shutdown Use the shutdown h now command to halt the Linux system when running from Compact Flash SD or USB memory card to avoid a potentially lengthy file system check on the next boot since the file system running is EXT2 formatted On the other hand the JFFS YAFFS file systems are highly tolerant of power cycles while the file systems are mounted Therefore the shutdown command is not required when the root file system is JFFS YAFFS but is still recommended Initialization Scripts The initialization process reads the file etc inittab The inittab file will call letc rc d rcS sysinit as part of the system initialization The run level then defaults to 3 which will run the etc rcS script and call all the scripts linked in the etc rc3 d directory in numerical order For example the following are the initialization scripts for run level 3 found at TS Li
44. is completely error free For best results when using HyperTerminal the hardware handshaking must be enabled in HyperTerminal 2 5 TS 7400 production lifetime The TS 7400 as shipped by default from Technologic Systems will never be altered significantly from its originally introduced state The board has an intended infinite production lifetime meaning Technologic Systems will build and sell TS 7400 s in as low as single piece quantities as long as its constituent parts are readily available This typically means a production lifetime of 10 15 years A stable hardware platform and default install keeps unexpected surprises from cropping up down the road when products must be retested or redesigned because of manufacturer introduced hardware software design changes or obsolescence The 802 11g card for the TS 7400 is not manufactured by Technologic Systems 802 11 wireless ethernet is tightly coupled to the consumer electronics and desktop computer industries and as such products tend to be more transient though also less expensive Often times manufacturers change chipsets or discontinue products with little or no notice Although usually there are many alternatives and Technologic Systems can seamlessly transition to a new supplier TS 7400 integrators should be aware of the possibility of different 802 11 type devices being used on the default product in the future May 2010 www embeddedARM com 14
45. laeljo cor help At this point if you type exit from the serial shell the TS 7400 will then attempt a full Debian Linux bootup from the SD card on partition 3 If the SD card is not present or the EXT2 filesystem does not pass a basic sanity test or the special file notrootfs exists a demonstration version of a miniature Linux distribution contained on the onboard flash itself is instead booted This version of Linux named TS Linux contains Apache SSH PPP and FTP server and many other common utilities and libraries and is identical to the distribution installed by default on the TS 7200 line of single board computers Other community supported embedded Linux distributions are available For instance the Buildroot project at http buildroot uclibc org allows one to easily build custom filesystems and cross toolchains Should you wish to automatically bypass the fastboot and proceed directly into starting the SD card version of Linux you can do so with the following command issued to the fastboot shell lum f llinmuxce sclrooor ilimuxires see To automatically boot from onboard flash the command is lum i linuxre mtdroot ilimuxee save To automatically boot from USB flash dongle or USB hard drive ln sf linuxrc usbroot linuxrc save To get back to the fastboot shell you can do so by placing the file fastboot in the root directory of the filesystem The linuxrc file is a shell script that is t
46. lashed on and off again briefly After booting is complete these LEDs can be used for user applications The RED and Green LEDs can be controlled at physical address location 0x8084_0020 Bit 1 is the Red LED and bit 0 is the Green LED A Logic 1 turns the LED on 7 2 Buttons The Reset button on the TS 9441 can be used to cycle power on the TS 7400 7 3 Jumpers There are 2 jumpers on the TS 9441 labeled Write En and Boot The Boot jumper is used to recover a bricked TS 7400 by booting from the TS 9441 When the Write Enable jumper is installed it is possible to write to the TS 9441 May 2010 www embeddedARM com 39 A AA H TS 7400 TS 9441 MANUAL HM Technologic SPECIFICATIONS 8 SPECIFICATIONS To ensure optimum product operation you must maintain the operational environmental specifications listed in the table below Table Environmental Specification for TS 7400 Environmental Standard Temp Extended Temp Specification tal 207 to 70 C 40 to 85 C Kue pul T he internal Extended temperature temperature must not range is also standard in exceed 70 C our TS 7300 product Note Extended Temp requires lower CPU speed lt 166Mhz at higher temperatures Note Refer to your product manual or contact Technologic Systems if the environmental temperature of the location is in doubt Relative 0 to 90 relative Not to exceed 90 non al Turm am umidity Not to exceed condensing 90 non con
47. na aane n anana a aaa anan anana aaa mnes 14 3 SOFTWARE 15 3 1 Software update facility in factory conftguration 15 3 2 Updating Recovering the bootloader kermnel A 15 3 3 Booting custom kernels and OS images from within Linux 16 3 4 Accessing internal TS 7400 registers from Linux userspace 17 3 5 Changing Updating the TS BOOTROM nennen 17 3 6 SD flash card security features ENNEN 19 3 7 TS 7400 specific Linux devices nennen 19 3 9 Debian Linux OS estote iode ted ont penu ede tuse ne ne eee Tree a re a a RR Ee das 20 cg rpm 20 3 9 Getting Started with Linux AAA 21 Logging In and Basic Commande e eene 21 VUE OWA EE 21 Initialization Scripts ccecccecccccceeeeenceeeeeeeee eee eeeee eee eeee ee eaaaaaaaeaeeeeaaeaaaaaeeeeeeeeeeeeeeeeeeeeeees 21 Network Setup ione EES lana ERE GA ead a EROS EEUU DERE ERR V ETE FERE deena Sa aa 21 Setting Up the networking with TS Linus een 22 Setting Up the networking with Debian rrenan rnnr nnr nnnnna 22 May 2010 www embeddedARM com 3 22 Technologic TS 7400 TS 9441 MANUAL dl ll s Psm YSTEM Network Services 23 4 HARDWARE COMPONEN TS iniiciskkzozzbkvisst Naga anga EV REREREU napa NG DE Na Gub m cu V Pun a ac 24 4 1 IPROCESSON nae erinnerte bag aa a bana er oo eset AGE pa ana a eR RT dra xaT dee 24 Cirrus EP9302 cC 24 MMU ece
48. net ports and more If you want to use Linux and aren t tied to the x86 architecture the TS 7400 can be very cost effective May 2010 www embeddedARM com o i TS 7400 TS 9441 MANUAL Tec T Yologic INTRODUCTION Debian can also be used with an NFS root file system or USB flash drives The TS Kernel used is based 9 upon the version 2 4 26 patched and compiled for the Cirrus EP9302 ARM92O0T processor and is real time capable through RTAI The root file system used by the Linux OS can be any of the following v EXT2 file system image in the SD card ON v JFFS YAFFS file system image in the on board Debian R Alp Flash v NFS root via Ethernet port after fast bootup mount a NFS root and chroot to it Note al The TS Kernel supports the Real Time Application Interface RTAI project making the embedded operating system capable of handling applications with hard real time restrictions Other OS Support The TS 7400 can be loaded with other operating systems such as Windows CE NetBSD etc Technologic Systems will provide support for these and possibly other operating systems in the future Currently only Linux and NetBSD are supported on the TS 7400 May 2010 l www embeddedARM com l m 10 Technologic TS 7400 TS 9441 MANUAL A9 477 SYSTEMS GETTING STARTED 2 GETTING STARTED 2 1 Installation Procedure Before performing any set
49. nnel 16 DIO 13 GPIO 13 or GPBUS 14 7456Mhz clock 17 DIO 14 GPIO 14 18 5V 5V regulated power input output 19 DIO_15 GPIO 15 or serial UART 2 transmit enable dev ttyTSO device node in Linux 20 DIO 16 GPIO 16 or serial UART 2 receive data input dev ttyTSO device node in Linux 21 DIO 17 GPIO 17 or serial UART 2 transmit output dev ttyTSO device node in Linux 22 DIO 18 GPIO 18 or serial UART 0 transmit output dev ttyAMO device node in Linux 23 DIO 19 GPIO 19 or serial UART 0 receive data input dev ttyAMO device node in Linux 24 UART1 RXD serial UART 1 receive data input dev ttyAM1 device node in Linux 25 UART1 TXD serial UART 1 transmit output dev ttyAM1 device node in Linux 26 1 8V 1 8V regulator output or input if U7 regulator not populated 27 ADCO EP93xx CPU analog to digital channel 0 input 28 ADC1 EP93xx CPU analog to digital channel 1 input 29 ADC2 EP93xx CPU analog to digital channel 2 input 30 ADC3 EP93xx CPU analog to digital channel 3 input 31 GND Ground 32 ABIT CLK EP93xx CPU AC97 audio codec signal 33 ASDO EP93xx CPU AC97 audio codec signal 34 ASYNCH EP93xx CPU AC97 audio codec signal 35 ARST EP93xx CPU AC97 audio codec signal 36 ASDI EP93xx CPU AC97 audio codec signal 37 SSP TX EP93xx SPI SSP I2S signal 38 SSP RX EP93xx SPI SSP I2S signal 39 SSP FRM EP93xx SPI SSP I2S signal 40 SSP CLK EP93xx SPI SSP CLK signal May 2010 www embeddedARM com 37 TS 7400 TS
50. ns one can safely interface to 5V TTL logic devices since in every other way 3 3V LVCMOS is compatible with 5V TTL logic Note that 5V CMOS is NOT compatible with 3 3V LVCMOS as the logic 1 threshold for 5V CMOS is 3 5V Since this is 0 2V above the 3 3V the TS 7400 is capable of reliable operation cannot be guaranteed although the interfacing may actually seem to work some of the time Some GPIO pins have dual functionality This includes the pins used for the GPBUS and the serial UART GPBUS is a simple 8 bit multiplexed address data bus and is described below The serial UART on pins DIO_15 DIO_16 and DIO_17 are available for GPIO manipulation when the UART baud rate is set to 0 disabled If the UART is configured for operation with a non zero baud rate the GPIO pins are taken over by the UART core Using the GPIO pins in Linux involves getting access to the GPIO data direction register and data register listed above In general userspace applications this involves opening the dev mem driver and using the mmap system call to acquire a memory window where direct pointer manipulation of the hardware registers can occur One may also write a kernel driver and interface to user applications through a defined API Because it is difficult to anticipate the needs for a kernel driver API and the performance implications involved in even the simplest of userspace to kernelspace API s Technologic Systems does not provide such a driver Movin
51. nux SEC CC C ES rdi ils SlONetwork Sllportmap S20inetd S30telnetd S40apache Changing the run level or re invoking the initialization scripts is possible through the init command A halt or reboot command will change the run level to O or 6 and execute the etc rcO d scripts or etc rc6 d scripts respectively Network Setup The main utilities for network configuration under Linux are v ifconfig prints network settings and configures ethernet interfaces v ifup turns given network interface up v ifdown turns given network interface down Entering ifconfig shows the current ethernet settings These utilities require a network device as parameter On Linux the ethernet devices are generally named ethO eth1 etc Therefore the command up ethO or ifconfig ethO up brings up the on board ethernet interface on TS 7400 SBCs O May 2010 www embeddedARM com l 21 A ote Technologic TS 7400 TS 9441 MANUAL SYSTEMS SOFTWARE Setting Up the networking with TS Linux To configure the network when booting to the TS Linux image on the flash chip the files in etc sysconfig must be edited Network interfaces are configured on a file per interface basis The first Ethernet device ethO is controlled by the file etc sysconfig ifcfg ethO An example of ifcfg ethO is shown below DEVICE ethO0 Name of ethernet interface IPADDR 192 168 0 50 4IP address of this e
52. onfigured and loaded it can safely run stand alone 1 3 Benefits Out of the Box Productivity Technologic Systems Linux products get you to your application quickly Our Single Board Computers boot directly to Linux as shipped There is no complicated CMOS setup or configuring of a Linux derivative Operating System to source define and load Technologic Systems has pre configured each SBC in flash memory The TS 7400 s user can power up the board and immediately using the TS 9441 begin application development Of course should you wish to configure your own version of Linux or use a different operating system this is easy too Technologic Systems provides the solution to fast application development without tedious OS configuration Impressive Performance The ARM920T s 32 bit architecture with a five stage pipeline delivers very impressive performance at very low power The EP9302 CPU has a 16 KB instruction cache and a 16 May 2010 www embeddedARM com 5 z E H TS 7400 TS 9441 MANUAL HA Technologic d INTRODUCTION KB data cache to provide zero cycle latency to the current program and data or they can be locked to guarantee no latency access to critical sections of instructions and data For applications with instruction memory size restrictions the ARM920T s compressed Thumb instruction set can be used to provide higher code density and lower Flash storage requirements
53. ory used to run applications by the processor and the on board flash is the non volatile memory used for storage purpose Flash memory may also be added using USB memory drivers On Board SDRAM The TS 7400 uses 32 MB SDRAM technology to provide 32 64 or 128 MB of high speed volatile memory The memory is soldered directly to the board making the TS 7400 more reliable in high vibration environments The TS 7400 s RAM is not contiguous in the physical memory map of the EP9302 But the MMU is programmed to remap the blocks of RAM to appear as a contiguous block of memory at the very beginning of the virtual memory map In the case of a 256 Megabit SDRAM chip 32 MB it is located at 0 through 32 MB in the virtual memory map Refer to the MMU section of this manual to understand how the physical memory is mapped and the virtual memory is translated A Note It is possible to use larger sizes of the SDRAM chip than the standard 32 MB one The TS 7400 is designed to accommodate both 32 MB and 64 MB chips providing up to 128 MB of RAM memory Contact Technologic Systems for larger SDRAM sizes On Board NAND Flash The TS 7400 uses a NAND Flash chip for its on board Flash resource The physical address of the Flash chip is 0x6000_0000 The on board flash is broken up into partitions and accessed through the Linux driver framework known as MTD or Memory Technology Device The partitioning is dynamic and depends on the DOS style MBR found a
54. ou want GPIO 8 is the ALE 9 is RD and 10 is WR The typical usage of ALE is an active high signal representing the period of time during which the address data bus is driving the address The read and write strobes are typically active low and signified as RD and WS The polarity of each strobe is programmed by the contents of the GPIO data register for pins 8 9 and 10 Knowing the data register bit locations of ALE RD and WR you should then program them to default output ALE asserted with RD and WR deasserted In the case of ALE active high WR RD active low the value written to bits 2 0 at 0x12c0 0003 should be 7 binary 111 For the purposes of the timing diagrams below we will assume this configuration The default timing of the GPBUS cycle uses a 55 nS read write pulse when reading writing the data register at 0x60cO0 0000 This is with the EP9302 bus cycles programmed for 60nS operation EP93xx SMCBCRG register value 0x34c2 Although you may not change this value since the NAND flash chip is on the same EP93xx chip select you may change the SMCBCR7 register for slower or faster operation and use the data register alias at 0x70cO 0000 The GPBUS waveform for Ox60cO 0000 accesses looks like this RD WR X ALE AD addr XXXX data XX addi EE J oxi nci 43 34 1 address hold 13nS 2 address to data transition time 6nS 3 RD or WR pulse 55nS 4 d
55. ower Supply Connector cccccccccccccceeeeeeeeeeeeeeeeeeeaaeaeeaeeeeeeeeeeeeeeaeaeesesaaeeeesaaeeessaees 38 Z LEDS JUMPERS AND BUTTONS issicks io sux RE UE S kv M ul ick anaa E cU QN VEN aki UT NGENE KAEN 39 7A StaAtSeL ED ccm 39 FZ Ihi EE 39 T n Ic EMT 39 Da Qe xp sl oe 40 S FURTHER REFERENCES ateni eag ERE gheet VRGEN aaa ae ENEG a eersten 41 APPENDIX A DOCUMENT HIS TOR Y iiosssicsszkbi cusan aga se ui asane Ki E NG HENENG Uga CERO DUK P Ra C IE 42 APPENDIX B MEMORY AND REGISTER MAP eeeeeeee enne nnn KEREN nnn nn 43 APPENDIX C TS ARM SBC FEATURE MATRIX 1 eeeeeen eene enne nnn nnn EE 45 APPENDIX D CONTACT TECHNOLOGIC SYSTEWMS eeeeeeeee eene nnn 46 May 2010 www embeddedARM com 4 TS 7400 TS 9441 MANUAL 37 Technologi i d INTRODUCTION 1 INTRODUCTION 1 1 About this Manual This manual is intended to provide the user with an overview of the board and benefits complete features specifications and set up procedures It contains important safety information as well 1 2 Product Overview The TS 7400 is a small 2 9 x 4 7 embedded computer module System on Module that is designed to provide extreme performance for applications which demand high reliability fast bootup startup and connectivity at low cost and low power such as point of sales PoS vending machines data acquisi
56. r module and a set of generic OS independent read write routines for accessing the SD flash inside of an ARM object o file The format of the SD card must be in EXT2 format for proper operation with Linux as a root file system 6 4 General Header Besides the 10 100 ethernet jack SD card socket and USB host ports the TS 7400 also includes a 1 pin spacing external header for board to board interfacing The TS 7400 external interface uses a total of 66 pins which are broken up between a 40 pin lower header closest to board edge and a 26 pin upper header Pin numbering is arranged as follows Upper header 2 4 6 8 10 12 14 16 18 20 22 24 26 113 5 7 9 11 13 15 17 19 21 23 25 Lower header 2 4 6 8 10 12 14 16 18 20 22 24 26 28 30 32 34 36 38 40 T 13 5 7 11 13 15 17 19 21 23 25 27 29 31 33 35 37 39 O The combination of these two headers provides the following functionality High speed dedicated Up to 14 7Mhz SPI bus USB 2 0 full speed 12 Mb s port 3 TTL level serial UART ports 1 with tx enable output for RS485 Simple 8 bit multiplexed general purpose parallel bus with 14 7Mhz clock IRQ and DMA support and capable of 10Mbyte sec operation 20 bidirectional Schmitt trigger GPIO pins 1 8V 3 3V and 5V power supply pins 5V power can optionally be input to the TS 7400 th
57. re is a specific need Technologic systems includes binary versions of the popular Linux crosstool project at http www kegel com crosstool to allow cross compiling on Windows cygwin or a Linux i386 PC on our website website apt get When using the Debian Linux file system adding new packages and removing undesired ones is done all through Debian s package management apt dpkg all behave as expected With Debian one can easily install and remove software packages For a quick demonstration of how easy it is to remove and install programs with Debian try the following commands apt get install hexedit hexedit etc passwd AC mui CALC Ee geiely exuit apt get remove hexedit apt get install installs a package name while apt get remove removes the named package Visit the Debian home page for further information since a full in depth discussion on Debian is outside the scope of this document v http www debian org May 2010 E www embeddedARM com 20 z KE H TS 7400 TS 9441 MANUAL 477 Tec T 10logi c SOFTWARE 3 9 Getting Started with Linux Logging In and Basic Commands After the desired Linux Kernel is loaded and executed the file system loads and networking logging Apache web server etc are all started When the login prompt is displayed type root to login with no password A Bash login prompt will then appear At this point you are ready to enjoy your TS 7400 SBC running L
58. rge capacity and fast access combined with a compact and slim profile making it very appealing for a wide range of next generation products and applications In addition SD Cards feature content protection planned capacity growth high speed data transfer and a write protect switch These devices supply additional non volatile storage either for data or for a complete operation system distribution such as Debian to be used with the TS 7400 SBC The Technologic System SD Card core is a very small implementation and can be integrated on the TS 7400 CPLD Four 8 bit registers are available for the software layer to control the SD Card hardware O May 2010 www embeddedARM com l 27 P E H TS 7400 TS 9441 MANUAL AA Technologic HARDWARE COMPONENTS Table SD Card core registers UO Addr Name Description BASE 0 SDCMD SD Command register BASE 2 SDDAT SD Data register BASE 4 SDSTATE SD State register BASE 6 SDCTRL SD Control register 4 3 Glue Logic CPLD The TS 7400 ARM SBC s include an Altera MAXII CPLD which is responsible for taking control of the internal components communication through glue logic implementation For instance the CPLD is used to control the NAND flash through internal register configuration The CPLD has a watchdog timer interfaces to the real time clock and controls the EEPROM chip select It also implements peripheral feature
59. rough this connector 4 12 bit 0 3 3V analog input ADC pins I2S AC97 audio codec interface External reset input S S S S S S S S S S S Low level bootup hijack facility to recover dead boards Used in TS 9441 production blast test recovery boards May 2010 www embeddedARM com 35 A Technologic SYSTEMS TS 7400 TS 9441 MANUAL CONNECTORS AND HEADERS Upper header Pin Out Pin Name Function 1 TDO TS production reserved 2 TMS TS production reserved 3 GND Ground 4 TDI TS production reserved 5 BLAST BOOT input low will hijack CPU SPI bootstrap 6 TCK TS production reserved 7 UARTO_TXD ep9302 UART 0 output dev ttyAMO in Linux 8 UARTO RXD ep9302 UART 0 input dev ttyAMO in Linux 9 SPI MISO SPI master in slave out input 10 3 3V 3 3V TS 7400 regulator output or input if U6 regulator is not populated 11 BLAST EE CS chip select for SPI boot hijack EEPROM 12 SPI MOSI SPI master out slave in output 13 FLASH CS chip select used for 2 megabyte SPI flash on TS 9441 used by TS SPIBOOT boot program 14 SPI CLK SPI clock output 15 5V 5V regulated power input output 16 EXT _RESET External reset input low triggers board reset 17 BLAST _PRESENT Boot hijacker present input 18 GND Ground 19 PORTB 4 CPU connected GPIO pin 5V tolerant with external series resistor 20 GND Ground
60. s that together with EP9302 modules makes available an advanced set of communication ports DIO pins ADC converters and others The inclusion of a CPLD on the SBC allows customized programming for customers with special needs without having to do a more expensive board redesign The CPLD can be programmed using the TS 9441 JTAG header and special software hardware supporting tools Contact Technologic Systems for support on CPLD programming software and tools 4 4 Real Time Clock The TS 7400 optionally supports a Non volatile Battery backed real time clock RTC which is soldered onto the board This option uses an ST Micro MA8T86PC1 module for the real time clock function This module contains the lithium battery 32 768 kHz crystal and a RTC chip with 114 bytes of battery backed CMOS RAM It will maintain clock operation for a minimum of 10 years in the absence of power The 114 bytes of non volatile RAM physically located in the RTC chip are available to the user Contact Technologic Systems for driver support The RTC is accessed differently on the TS 7400 when compared to other TS products DIO on the EP9302 are wired to pins on the RTC and must be accessed by twiddling the DIO in the correct manner At the time of writing there are no user space tools available for reading writing to the RTC the modified kernel sources for accessing the RTC on the TS 7400 can be found here ftp loz embeddedarm com ts arm sbc ts 7400 linux sour
61. s up bus timing SDRAM and other low level hardware initialization It also loads sector O from the NAND flash chip at 0x1000 physical address Once its loaded it jumps in ARM Thumb mode to the first instruction with register rO containing a function pointer to a routine to read sectors from the boot media NAND flash and in r1 a routine to a function to print a character string to the serial port The routines have the following C signature void read unsigned int sector unsigned char buf unsigned int nsectors void puts unsigned char buf By default whats contained in sector 0 of the NAND flash is a DOS style partition table at offset 446 and a 446 byte Linux specific kernel bootloader at offset O This mini bootloader contains code to parse the partition table looking for 2 partitions marked with partition ID Oxda It uses the start sector and size parameters of the partition table to load the first partition Linux kernel at offset 0x2180000 and the second partition if it exists at 0x1000000 Linux initrd If a bad sector or a sector failing an ECC check is detected it skips to the next 16kbyte boundary and continues in this way NAND chips with bad sectors remain bootable Next it composes up the necessary pre boot ATAG data structures required by Linux kernels and jumps to address 0x2180000 at which point the Linux kernel takes over One of the first things the Linux kernel does is disable the hardware watchdog The watc
62. ssible to lower this power significantly by lowering the CPU clock rate or by powering down the Ethernet PHY chip For example by shutting down the Ethernet PHY chip and scaling down the CPU clock rate to 20 MHz one can obtain power consumptions less than 150 mA If you really need a low power board consider the TS 7260 which is optimized for low power applications A quick release screw down terminal block for the 5V power and power GND connections is provided on the TS 9441 for easy connection to an external power supply I Warning Supply voltages over 6 VDC may damage the TS 7400 Be sure to use a regulated 5 VDC power supply preferably with current limiting to 1 to 3 Amps A current limited supply is very forgiving of common errors during development A PC power supply that may be capable of supplying 20 Amps or more is not recommended It is possible to do irreversible damage to the TS 7400 if the polarity on the power leads is reversed May 2010 www embeddedARM com 38 D 3330 H TS 7400 TS 9441 MANUAL AA Technologic LEDS JUMPERS AND BUTTONS 7 LEDS JUMPERS AND BUTTONS 7 1 Status LEDs The TS 7400 has two LEDs one Red and one Green available for user software These LEDs may be used for diagnostics status messages and simple output When power is first supplied to the TS 7400 both LEDs are immediately turned on under hardware control Once the processor begins execution the LEDs are turned off and then f
63. standard Debian Linux distribution Firmware has ability to verify boot medium CRC before allowing bootup Ability to boot password locked SD cards Startup Linux miniroot scripts allows flexible root and backup filesystem selection SD flash NFS USB flash as well as software field upgrade support Linux bootload program allows booting of Linux kernels and other OS from within Linux itself Technologic Systems provides S S S SS S S S S Free system software and documentation updates available on our web site Long term availability and short lead times 20 year history Free technical support from engineers by phone fax or email Production tests and burn in prior to shipment on every board Board customizations available with no minimum order Factory loading of customer supplied software available Readily available hardware and software professional services for hire 30 day money back guarantee on evaluation units One year full warranty Linux OS Support The ARM processor the EP9302 comes from Cirrus and the platform is very similar to the Cirrus EDB9302 evaluation board Cirrus has strongly promoted running Linux on this chip and has done most of the legwork in creating a patch set to the Linux 2 4 kernels but we have also had to modify the Linux Kernel TS Kernel so it can support NAND and NOR Flash chips via mtd drivers a compact flash IDE driver A D converters SD Card through the TS SDCORE additional ether
64. t sector 0 of the flash This MBR can be changed by using the fdisk command on the dev mtdblock O device but doing so is not recommended v dev mtdblock 0 Whole disk block device driver v ldev mtdblock 1 First MBR partition bootloader kernel binary O May 2010 www embeddedARM com 26 2 535 H TS 7400 TS 9441 MANUAL AA Technologic HARDWARE COMPONENTS v ldev mtdblock 2 Second MBR partition bootloader initrd v ldev mtdblock 3 Third MBR partition Linux YAFFS2 filesystem v ldev mtdblock 4 4th MBR partition unused in default load The Linux YAFFS2 file system is a journaling file system that is aware of the wear out mechanism of the NAND flash and incorporates ECC algorithms at the file system level to maximize Flash lifetime It is also extremely tolerant of power failures during file write sequences A Note It is possible to use larger sizes of the NAND Flash than the standard 32 MB chip The TS 7400 is designed to accommodate both 32 MB or 128 MB chips Contact Technologic Systems for larger Flash sizes USB Flash Drive or Compact Flash Card Additional non volatile storage may be added with a USB flash drive or a Compact Flash card These devices supply additional non volatile storage either for data or for a complete operation system distribution such as Debian A tar file of Debian is available on the Technologic Systems website Alternatively the developer s kit
65. terface directly to any MII compatible Ethernet PHY chip A low power Micrel KS8721 chip is used to implement the Ethernet PHY function and an integrated RJ 45 connector with built in 10 100 transformer and LED indicators completes the Ethernet sub system The TS 7400 has both a LINK ACTIVITY LED and a 10 100 speed LED built into each RJ 45 connector that indicates the current Ethernet status The LINK LED left side of connector green is active when a valid Ethernet link is detected This LED should be ON whenever the TS 7400 is powered and properly connected to a 10 100BaseT Ethernet network The LINK ACTIVITY LED will blink to indicate network activity for either inbound or outbound data The SPEED LED right side of connector amber will be on when a 100Mb network is detected and off for a 10Mb network Both of these LEDs are controlled by the KS8721 and do not require any overhead by the processor The Ethernet PHY chip can be powered down under software control to save approximately 90 mA of current consumption This is controlled by the EP9302 Digital output on Port H bit 2 A logic zero will power down the KS8721 PHY interface Note TS Kernel provides all the software support to use the EP9302 10 100 Ethernet core For more details find the TCP IP configuration instructions on the Linux documentation 6 2 USB Connector The USB Connector on the TS 7400 provide two USB interfaces for the user These are directly connected to the E
66. thernet interface NETMASK 255 255 255 0 Used with NETWORK to determine local IPs NETWORK 192 168 0 0 Used with NETMASK to determine local IPs BROADCAST 192 168 0 255 Broadcast IP for system wide messages BOOUTPROVO statie static IP change stare to DHEP ENABLE yes Load device on boot The TCP IP network settings are configured in the file etc sysconfig network_cfg here is a listing NETWORKING yes Enable networking on startup GATEWAY 192 168 0 1 Gateway for internet access DW DEV eth0 Default gateway HOSTNAME ts7200 Host name of this computer BOOTPROTO no FORWARD IPV4 no DEFRAG IPV4 no The TCP IP name resolution server is configured in etc resolv conf Here is a listing Nameserver 192 168 0 1 Name server for domain name lookups Those lines starting with a symbol are comments As the above example shows eth0 is given the static address of 192 168 0 50 If one wishes ethO to obtain its IP from a DHCP server then change the line BOOTPROTO static to BOOTPROTO dhcp A Note In order to test the default network settings with TS Linux open a web browser and use the embedded Apache web server by entering the default IP 192 168 0 50 or simple ping or telnet to 192 168 0 50 Setting Up the networking with Debian To configure the network interfaces when booting into Debian Linux edit the file letc network interfaces A typical interfaces file would
67. tion units data recorder modules etc The TS 7400 System on Module runs on a 200 MHz ARMS processor with power under 2 Watts Low board complexity low component count and low power heat makes for an extremely reliable embedded engine The TS 7400 is available in thousands of configurations many of which are Commercial off the Shelf COTS and available to ship today The EP9302 processor from Cirrus is the highly integrated 200Mhz ARMO9 processor that the TS 7400 is built around and includes an on chip 10 100 ethernet USB serial and Flash SDRAM controller A supplemental PLD provides glue logic and watchdog timer Integer CPU performance is about 2096 faster than our 133 Mhz x86 offerings Even with the standard power consumption of 2 Watts the TS 7400 runs without fans or heat sinks in the temperature range of 40 to 70 C Extended Temperature 40 to 85 C is also standard but CPU clock must be decreased to 166MHz for higher temperatures Unlike other TS 7000 ARM products the TS 7400 is not a stand alone Single Board Computer The TS 9441 peripheral board is needed during development in order to configure and set up the TS 7400 flash system The TS 9441 has 2KB EEPROM and 2MB serial Flash so it can be used to bring up recover dead TS 7400 boards Using a console on the TS 7400 is only possible through the TS 9441 RS232 serial port named Console Header Also the TS 9441 enables regulated 5VDC power in Once the TS 7400 is c
68. to the Connectors and Headers section of this manual 5 1 Serial Ports The TS 7400 has 3 TTL level serial ports Use the TS 9441 peripheral RC DB9 Connector and null modem cable to connect to a console program on a PC 5 2 Digital UO There are 20 individually configurable GPIO pins available on the TS 7400 Each of these pins can be configured as a floating input high impedance no internal pull up pull down or as an output driving a 0 or 1 logic signal When configured as an input the voltage thresholds are nominally at standard 3 3V LVCMOS levels but with 400 mV of hysteresis Schmitt triggers for better noise immunity with slow slew signals As an output GPIO pins can drive 8mA while still presenting valid LVCMOS thresholds as measured at the output pin More current can be sourced sunk from output pins 2 3x more is typically safe but the resulting output voltage will no longer be within LVCMOS thresholds e g attempting to source 30 mA out of a pin set to logic 1 will result in voltage of 1 0V instead of the nominal 3 3V The 20 GPIO pins are NOT 5V tolerant This means if you drive any GPIO pin configured as input to above 3 3V you may cause permanent damage to the device A common workaround for 5V tolerance is to use external Schottky diode clamps with series current limiting resistors A better workaround is to use LVC245 or equivalent buffer chips With diode clamps or external buffers guaranting 5V tolerance on input pi
69. with the TS SDBOOT bootup firmware the SD unlock password can be stored in onboard EEPROM for automatic unlocking and booting of password protected SD cards By default TS SDBOOT will still boot unlocked cards but this behavior can be changed with the verifylock option to the tsbootrom update command described above with the verifylock option the TS 7400 will only boot locked SD cards TS SDBOOT can also verify an arbitrary number of sectors of the SD flash card before allowing bootup If the stored CRC does not match the actual CRC the board will refuse to boot and blink the red LED continuously The various SD commands that manipulate the password lock are marked as optional in the SD card specification This means that not all SD card vendors may implement them in their devices If they are not implemented you will not be able to set the SD lock with the sdlock command For further information contact a Technologic Systems engineer 3 7 TS 7400 specific Linux devices Although working with the TS 7400 Linux is identical in most ways to working with a PC version Linux one does need to be aware of some driver differences v The serial port device nodes are dev ttyAMO dev ttyAM1 and dev ttyTSO respectively The default PC uses dev ttyS as device names The software API to these devices is the same as on the PC v The onboard flash is broken up into partitions and accessed through the Linux driver framework known
70. wner will be required to correct the interference at his own expense If this equipment does cause interference which can be determined by turning the unit on and off the user is encouraged to try the following measures to correct the interference Reorient the receiving antenna Relocate the unit with respect to the receiver Plug the unit into a different outlet so that the unit and receiver are on different branch circuits Ensure that mounting screws and connector attachment screws are tightly secured Ensure that good quality shielded and grounded cables are used for all data communications If necessary the user should consult the dealer or an experienced radio television technician for additional suggestions The following booklets prepared by the Federal Communications Commission FCC may also prove helpful How to Identify and Resolve Radio TV Interference Problems Stock No 004 000 000345 4 Interface Handbook Stock No 004 000 004505 7 These booklets may be purchased from the Superintendent of Documents U S Government Printing Office Washington DC 20402 O May 2010 www embeddedARM com 2 A T logic TS 7400 TS 9441 MANUAL AA SYSTEMS a TABLE OF CONTENTS ORT ue i ese X X ne ag 5 1 1 About this MAM Gals dices eir evi rete texere randi de ae ehe ba e nagane a aa ang anes adie een 5 1 2 Product Overvieuw e aaa EENE EEE EEE EOE PETE A E
71. works well Windows users can run the Hyperterm application Technologic Systems offers a null modem cable with both 25 pin and 9 pin connectors at each end as part number CB7 05 The TS 9441 also requires the 10 pin header to 9 pin Sub D adapter which is P N RC DB9 Note TS 7400 only has TTL UARTs and to connect to the serial console with a PC s serial port you need to use the TS 9441 or external RS232 level converters May 20410 www embeddedARM com 11 z AA H TS 7400 TS 9441 MANUAL HA Technologic GETTING STARTED Connect a regulated 5VDC 1A minimum power source on the power input connector Please note the polarity printed on the board The boot messages by default are all displayed on COM1 at 115200 baud The board will also answer telnet connections to IP address 192 168 0 50 The TS 7400 board has Linux installed by default on onboard flash Upon bootup The board will boot within 1 1 seconds to a Linux prompt on UART 0 dev ttyAMO The default fastboot shell has available several standard Linux commands through the busybox program Technologic Systems has made several modifications to the busybox source code to keep bootup as fast and simple as possible The modified source code is available to Technologic Systems customers Upon bootup you should see out of your serial port 2 WS PLASEIOOW lewsLlie Sep 27 2006 gt gt Copyright c 2006 Technologic Systems Finished booting in 1 10 seconds rype Yies
72. you wish to use all serial ports for your application and do not wish to have a serial console the tsbootrom update program can be used to silence early bootstrap banner messages so as to not confuse any potential external device UART 0 may be connected to Other bootstrap programs are available for pay from Technologic Systems should you need them and custom ones may be designed for volume customers For instance the TS ETHBOOT bootup program may be used to completely boot Linux from the network without NAND flash or SD card installed May 2010 www embeddedARM com 18 2 SE H TS 7400 TS 9441 MANUAL AA Technologic m SOFTWARE 3 6 SD flash card security features Technologic Systems provides a sdlock Linux command which can be used to manipulate SD card hardware enforced password locks and set the card s permanent write protect feature Using a password protected SD card is a great way to ensure software security and or to make sure your TS 7400 based product cannot be used in an unintended matter once deployed PESCE UsSages lo ORION 55s Controls SD card lock and permanent write protect features General options p password PASS Use PASS as password elleaic Remove password lock Sn Ger Set password lock U pm lee Unlock temporarily e erase Erase entire device clears password e TOE Enable permanent write protect I l le This help When the TS 7400 is configured

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