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Linux for ARM on TS-72XX User's Guide

1. 15 4 3 System Lag and Information 15 4 4 Initialization Scripts e rores Ra o Ee x E On dl ada ca kankuna 16 45 Network Set code Pr o 16 Setting Up the networking with 16 Setting Up the networking with 17 4 6 Network 17 4 7 Setting Data Time ha cde eic dace 17 4 8 Configuring and loading kernel 18 4 9 MR o m 18 axle EE 18 bootload Linux eee ERE 19 tsbootrom update Changing Updating the 19 sdlock SD flash card security 20 4 11 A llu u uuu AAR A AAE EA Er AE AE Eaa aE E ard sss sau rrr nnn rrr nnns 21 ts7xxx subr Shell Functions for Hardware 21 5 STORAGE DEVICES AND FILE SYSTENS J J Q J 23 5 1 On board Flash File Systems
2. 30 TS 7260 21 TLOCOM l 30 TS 7300 Serial uuu u u D ua aq 31 6 4 CAN E 32 Loading the Lincan OTE ica a aa see 32 Testing the CAN Network ul dni 32 O 5 rr TP 32 RIED 33 6 7 USB WiFi 802 11g 33 68 USB Mouse and Keyboard reina tanda tae blado 33 APPLICATION DEVELOPMENT aca 34 FCU 34 7 2 Development on the Target with Debian 34 7 3 Development on the Host with a Cross 34 Cygwin Hello World 35 7 4 Programming IO DEVICES oir 35 7 5 Applications Deb gdi g u T 36 Low Level Debugging with 36 GDB 37 Linux GDB Client Server 37 Using Other 5 37 2 7 ru M MX 38 AL USO
3. iii 23 Jul 2009 www embeddedARM com 3 Technologic LINUX FOR ARM ON TS 72XX SYSTEMS TABLE OF CONTENTS Updating the JFFS u 23 Updating the YAFFS Image inciden 23 5 2 Flash Memory AAA 24 Compact u EEUU 24 SD Gard ane asa ER 24 USB Flash 24 Updating the EXT2 Image uuu ehh 25 5 9 Network File System NFS 26 Setting Up NFS File 26 TS KERNEL AND DRIVERS DEVELOPMENTT 27 6 1 Compiling the TS Kernel PC 27 Different TS Kernel 2 4 Release 5 28 Kernel 2 6 sUppoaFt 28 6 2 Real Time Extension for 28 Installing the Real Time environmentl 28 Running the Real Time 29 Building the Real Time TS Kernel and 29 6 3 Serial cias 30 COMT and COM2 eh Ae a i al 30 RS 485 Support on 2
4. iim e tsbootrom update Changing Updating the TS BOOTROM The tsbootrom update is a Linux utility used to update the onboard EEPROM bootup firmware on the allowing the board to perform different types of boot processes For example with the TS 7400 should you wish to actually load the kernel and initrd from an SD card the default TS FLASHBOOT bootup program which boots from NAND flash must be replaced with TS SDBOOT using the tsbootrom update utility Usage and command line help for this command follows Usage tsbootrom update OPTION Updates TS BOOTROM bootup program stored on EEPROM Jul 2009 www embeddedARM com 19 LINUX FOR ARM ON TS 72XX Technologic CONFIGURING AND USING LINUX General options Do not actually write EEPROM Sclooor Write TS SDBOOT bootup program rilasiniooor Write TS FLASHBOOT bootup program U Is Ns mular te e eye Write TS BURNINBOOT bootup program lasiiooojie Write TS SPIFLASHBOOT bootup program b lolasitiooauec Write to blast board EEPROM instead of SBC a This help EEPROM security block options m mac X 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 V verifydat N Use N as pre computed checksum value n Use for the SD unlock data token from previous sdlock
5. a self hosting ARM installation of the Debian Linux 2 0 distribution compiled for ARM gcc 2 95 4 and gcc 3 0 compiler with full tool chain Build tools and source for JFFS YAFFS file system in on board NAND Flash Hardware test routines source code and other example source code S S lt S S Debian package system apt get tasksel dselect The development kit additionally includes USB Compact Flash reader for TS 7200 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 S lt lt S S S Printed supporting documentation for TS 72XX s Hardware Linux for ARM and Development Kit Note Single Board Computer is not included on the Development Kit sold separately O Jul 2009 www embeddedARM com 14 LINUX FOR ARM ON TS 72XX Technologic LINUX FOR ARM ON 75 720 4 CONFIGURING AND USING LINUX This section provides basic and general information on how to configure and use Linux for ARM on TS 72XX SBCs The following information is intended to be useful for both TS Linux and Debian Linux users However some of the mentioned utilities may not be available in the compact TS Linux distribution This section is not intended to be a complete Linux Utilities tutorial For further
6. The tsuart o module implements TS Kernel support for the COM3 port and the 2 extra TTL serial ports It is distributed inside the TS Kernel tree ts9 version The insertion of the tsuart o module inside the TS Kernel causes the creation of the device entries devittyTSO dev ttyTS1 and dev ttyTS2 for COM3 and 5 respectively An special file at the proc virtual file system proc driver tsuart com3ttl is available in order to control the COMS signal level The user can set COM3 to TTL levels as follows echo IV gt tovuare comoicia The user can set COM3 to RS 232 levels as follows echo gt Z proc driver csuart comstrl O Jul 2009 www embeddedARM com 30 AA i LINUX FOR ARM ON TS 72XX AA Technologi _TS KERNEL AND DRIVERS DEVELOPMENT The user can query the current status of as follows proec driver rsuart com ott1 WOW gi COMIS iS ec IRS 232 lewels WW sai COMS iS eu Wb Jewels TS 7300 Serial Ports The tsuart73 o driver available in the TS Kernel tree version 1510 implements support for the eight additional UARTs implemented on the on board FPGA After the tsuart73 0 driver is installed four device files are created in the dev directory for each serial port as follows Port tty 8 bit cua 8 bit tty 9 bit cua 9 bit 1 ttyTSO cuatsO ttyT9S0 cuat9s0 2
7. package Visit the Debian home page for further information since full in depth discussion on Debian is outside the scope of this document v http www debian org Note Technologic Systems supports newer versions of the Debian Linux distribution such as the 3 0 named Sarge For newer Debian Linux support with your TS 72XX SBC contact Technologic Systems 3 4 TS ARM Linux CD The TS ARM Linux CD is an useful resource for TS 72XX users and developers It contains the supporting files for Linux including the TS Kernel source code sample applications cross toolchain tarballs Linux distributions manuals and other Linux utilities and binaries of interest The files mentioned on the Linux for ARM User s Guide are all included on this CD The following is the directory structure of the CD v root dir Linux for ARM on TS 72XX manuals in PDF format binaries various binary packages for ARM including Java QtEmbedded RTAI etc binaries ts bitstreams default TS Bitstreams for FPGAs binaries ts images ARM binaries of file systems images and other binaries ts kernels compiled TS Kernels for TS 72XX SBCs binaries ts modules other drivers Linux Kernel modules for TS 72XX SBCs binaries ts scripts some Linux shell scripts used with the TS 72XX SBCs binaries ts utils some useful utilities distributed within a Linux distribution S 8S amp lt lt lt S S S Icross toolchains pre compiled GNU toolchain binaries for cross pl
8. thru DIO 7 direction register R W 0x8084 0010 LCD 0 thru LCD 7 direction register R W 0x8084 0008 Port C data register TS 7250 1000 mA driver output on DIO bit 0 TS 7300 LCD_7 data register bit 7 0 8084 0004 DIO_0 thru DIO_7 data register R W 0x8084 0000 LCD 0 thru LCD 7 data register R W 0x8081 0000 0x8081_FFFF Timer Control registers 0x8080 0000 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 0x7220 0000 0x729F FFFF TS 7300 FPGA SDRAM region 0x7210_0000 0x7200_FFFF TS 7300 FPGA MAC core 32 bit registers www embeddedARM com 45 Technologic SYSTEMS LINUX FOR ARM ON TS 72XX APPENDIX B MEMORY AND REGISTER MAP Register Address 0x7200_0044 0 7200 0047 Function TS 7300 FPGA DIO2 TS XDIO 2 registers 0x7200_0040 0x7200_0043 TS 7300 FPGA DIO2 TS XDIO 1 registers 0x7200_0030 0x7200_003A TS 7300 FPGA Video core 16 bit registers 0x7200_0020 0x7200_0027 TS 7300 FPGA SD Card core 16 bit registers 0x7200_0000 0x7200_001F TS 7300 FPGA COM3 4 5 6 7 8 16 bit registers 0x6000_0000 TS 7250 NAND Flash data register 0x6040_0000 TS
9. 192 168 0 50 4IP address of this ethernet interface NETMASK 255 255 255 0 Used with NETWORK to determine local IPs NETWORK 192 168 0 0 4Used with NETMASK to determine local IPs BROADCAST 192 168 0 255 Broadcast IP for system wide messages BOOTPROTO static Static IP change static to DHCP 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 GW 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 Jul 2009 www embeddedARM com 0 16 A AA i LINUX FOR ARM ON TS 72XX AA Technologic _ CONFIGURING AND USING LINUX Nameserver 192 168 0 1 Name server for domain name lookups Those lines starting with a symbol are comments As the above example shows 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 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 fil
10. 7 2 3 7 244 eCosIRedBODOL a 8 Using Redboot tied 8 Loading and execute kernel from 8 Govt bias cau 9 HTTP uu 9 TPIP D TE 9 Executing the Kernel and Booting the Root File 10 Booting to an initrd Image from 10 2 5 LO qp eec M H 10 2 6 SRUTAOWM 10 3 LINUX FOR ARM OPERATING SYSTEM 11 3 1 O u l u a Pu ES se apes base UU RS aea dan 11 SPALLE 12 cet 12 uk 12 3 4 TS ARM Linux 13 3 5 TS ARM Development 14 4 CONFIGURING AND USING LINU7X 15 4 1 Basic r 15 4 2 Users and
11. Eclipse 38 7 8 Graphical User enne nennen nennen nenne 38 QUEmbegded uu EP 38 PIN 38 7 9 Sample Applicaitons aa r 38 ELEM 38 BID CoOnVer er uu a E EAEN 39 Jul 2009 www embeddedARM com 4 A AA i LINUX FOR ARM ON TS 72XX HA ST Yologic TABLE OF CONTENTS A B FURTHER REFERENCE iria a tae 41 8 1 Using the Technologic Systems 41 8 2 Recommended Readings 41 8 3 Using the TS 7000 Mailing List 41 8 4 Using the Technologic Systems FTP 42 8 5 Useful Data Sheets D 42 8 6 Where to go for additional 42 8 7 Hardware Software 5 42 8 9 About Technologic Systems Ing ia ab a 43 ICI c ERU 43 Additional Manufacturer Technologic Systems 5 43 APPENDIX A DOCUMENT HISTORY u aiii 44 APPENDIX B MEMORY AN
12. LINUX FOR ARM ON TS 72XX Technolog IC APPLICATION DEVELOPMENT Linux GDB The GNU debugger is a sophisticated open source debugger It can be used with Java C C or even Fortran Please see the GNU Debugger Documentation homepage for more information The following quickly walks through debugging a sample hello world application The source code in this example is int squareit int n dimi Ef pe ce dene return X main ME LE for Ug O i number dit printf number squared d n squareit i return 0 Boot to the Compact Flash card login as root apt get install vim for text editor apt get install gdb ensure that the debugger is installed Write the above source code into helloworld c then compile it gcc g o hello helloworld c compile the source with debugging symbols gdb hello gdb list 1 shows the source code gdb break 6 sets a breakpoint at line number 6 this line would be return x from the squareit function gdb run start the program gdb c continue past the break point gdb set x 0 this time the return value is set to 0 instead of 1 gdb c continue and you ll see displayed on the screen number 1 number squared 0 quit exit gdb Linux GDB Client Server Debugger TO DO Using Other Debuggers Other Linux capable debuggers will work with the TS 72XX Please refer to your debugger s manual for both
13. OpenMAC ethernet interface 6 7 USB WiFi 802 11g Dongle The TS Kernel supports USB WiFi 802 11g devices based on the zd1211 chipset The module binary is available at v ftp ftp embeddedarm com ts arm sbc ts 7200 linux binaries ts modules wireless zd1211 zd_b o In order to bring up a wireless network one needs to load the required modules use ifconfig to brings wlanO up and then use iwconfig to associate the interface to a wireless provider The following command sequence can be used insmod usbcore insmod pcipool insmod usb ohci insmod usb ohci ep93xx insmod scsi mod insmod sd mod insmod zd b o ifconfig wlan0 up iwconfig wlan0 essid fconfig wlan0 i Other Linux tools for wireless networking can be used such as iwlist iwgetid iwpriv iwspy They all are available through the TS ARM Linux CD and TS ftp server 6 8 USB Mouse and Keyboard In order to use a USB Keyboard and a USB Mouse with your TS 72XX SBC it is necessary to load the following modules into the running kernel insmod pcipool o insmod usbcore o insmod usb ohci o insmod usb ohci ep93xx o insmod input o insmod hid o insmod keybdev o insmod mousedev o Jul 2009 www embeddedARM com 33 LINUX FOR ARM ON TS 72XX Technologic APPLICATION DEVELOPMENT 7 APPLICATION DEVELOPMENT This section introduces the basics of application development with TS
14. and will be loaded into memory address 0x00218000 It is possible to write a new kernel loaded by the user in memory to flash thereby overwriting the pre existing kernel stored in flash First one must delete the existing kernel image file from flash then write the new loaded one to disk The following commands accomplish this fis delete kernel name fis create b 0x00218000 1 0x160000 new kernel name Note that the delete command specified kernel name gt which refers to the name of the fis entry to delete The create command specified new kernel name gt which is the name of the executable loaded into memory If the name of the downloaded executable is different please specify that name when doing a create command HTTP Prior to loading a new kernel into RebBoot using HTTP make sure you have configured RedBoot with a network configuration that can reach the network You may use the RedBoot fconfig command to set network parameters Get to the RedBoot prompt by hitting CtrltC key immediately after power on and type the following command load v r b 0x00218000 m http h http sever IP kernel name gt For example load mi 0 00218000 m ftp ts7kv vmlinuxts7200ts9 bin http h 67 40 67 44 If RedBoot gives you an error about not understanding the m http option you have an older version of RedBoot and must instead load the kernel via a local TFTP server TFTP To load a kernel from a si
15. but is still recommended Jul 2009 www embeddedARM com 1 Al AA H LINUX FOR ARM ON TS 72XX AA Technologi c LINUX FOR ARM OPERATING SYSTEM SUPPORT 3 LINUX FOR ARM OPERATING SYSTEM 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 the 8MB on board Flash chip via mtd drivers the compact flash IDE driver and the A D converter If you want to use Linux and aren t tied to the x86 architecture the TS 72XX boards can be very cost effective The TS 72XX SBCs are shipped standard with the 9 compact TS Linux embedded operating system 2 installed in the on board Flash memory full featured Debian Linux can also be used with an NFS root file system or larger Flash drives such as Compact Flash cards SD cards and USB flash drives The TS Kernel used is based upon the version 2 4 26 patched and compiled for the Cirrus EP9301 ARM920T processor and is real time capable through RTAI Debian R The root file system used by the Linux OS can be any of the following v JFFS YAFFS file system image in the on board Flash RedBoot should include the option root dev mtdblock1 to instruct the k
16. include dependencies processing kernel image creation and kernel modules compilation make dep make vmlinux make modules INSTALL MOD PATH lib modules The last step is modules installation make modules install The resulting modules and vmlinux files can be placed onto the flash chip compact flash card or NFS root directory as described before RedBoot can be configured to load the new kernel into the TS 72XX SBC www embeddedARM com l Z Jul 2009 LINUX FOR ARM ON TS 72XX Technologic IC TS KERNEL AND DRIVERS DEVELOPMENT Different TS Kernel 2 4 Release Versions v 158 Added framebuffer support for TS 7KV 159 Added driver supprot for TS 7260 tsuart serial driver v ts10 Added framebuffer support for TS 7300 and Added driver supprot for TS 7300 tsuart73 serial driver sdcard driver open_eth ethernet driver v ts11 Minor bugs fixed and support for TS 7400 added In order to avoid confusion and version incompatibility problems with kernel modules Technologic Systems has decided to use release dates for version control instead of sequential numbers which are no longer used The ts11 version is the latest one Kernel 2 6 support The Kernel 2 6 is not officially supported by Technologic Systems Some customers and users are using Kernel 2 6 with TS 72XX boards though One can find further information along with installation instructions and packag
17. installation and use 7 6 Java There are many options to enable Java on your TS 72XX Linux box Many TS customers are using the JamVM JamVM is a compact Java Virtual Machine suitable for embedded systems that conforms to the JVM specification version 2 In order to run Java via JamVM on your TS ARM Linux system you will need to obtain and Jul 2009 www embeddedARM com l 37 LINUX FOR ARM ON TS 72XX BH Technologic MINUX FOR ARM ON To 72x compile the Jikes JamVM GNUClasspath combo v http jamvm sourceforge net v http jikes sourceforge net v http www gnu org software classpath Jikes is required when Java compilation is required on the embedded system otherwise only JamVM is enough to have a Java run environment system Another way to install JamVM is through the Debian apt get tool making use of the JamVM compilled packages for Debian apt get install jikes apt get install jamvm apt get install jikes classpath 7 7 Using Eclipse IDE TO DO 7 8 Graphical User Interfaces Qt Embedded It is possible to build advanced graphical user interface GUI applications on top of a single TS 7300 SBC or the set TS 7KV plus a TS 72XX SBC by using the QT Embedded Free libraries and the Linux Framebufer driver The development using Qt Embedded is based on C C Linux tools To learn how to program GUI application using the Qt Embedded API please refer to the QT Embedded
18. mnt tar C mnt xvjf path to debian file system tar bz2 The filename may change as updates are made and posted on the CD or on the website A simple fsck will ensure file system integrity fsck dev sdal A Note Compact Flash and SD Cards must use EXT2 format for file system USB drives can use other formats such as VFAT Jul 2009 www embeddedARM com 25 LINUX FOR ARM ON TS 72XX B Technologic UINUXTIOR ARM ON 15 724 5 3 Network File System NFS NFS uses the Ethernet connection to mount the root file system for the SBC as an exported directory on a Linux host PC This bypasses the need to download any files from the host to the SBC because any file needed on the SBC is just copied to the exported directory on the host system and is instantly available to the embedded PC Mounting the root file system via NFS allows the developer to use the editors compilers etc from the single board computer Mounting NFS roots requires that the portmap daemon is running before executing the mount command The following example demonstrates mounting an NFS file system hosted on a server at 192 168 0 1 portmap amp mount c m s 192 160 051 9 oachn to mitsnoor mat Setting Up an NFS File System To mount the root file system via NFS Prepare the exported root directory on the NFS server 1 Download the pre made Debian tarfile from our website or the TS ARM Linux CD to your Linux host mac
19. on the SBC inetd 6 Copy over the hello binary to the SBC via ftp ftp 192 168 0 50 be sure to use the IP that matches your setup Log in with user root with no password des enter binary to ensure binary transf enter put hello 7 On the SBC change the permissions of the hello binary to become executable Cel too chmod x hello 8 Run the binary hello ere 7 4 Programming Devices When programming Linux applications that handle hardware devices on the TS 72XX it is important to understand the Memory Map of the EP9301 processor and additional hardware features Each hardware device or functional component has its reserved memory address space where the specific management registers are located Device drivers implementation is mostly reading and writing operations to specific memory registers This is accomplished from the Kernel space through straight access to the physical memory The resulting device driver provides high level procedures to the user so that one is able to talk to the hardware without knowing memory map bits and such Linux 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 It is also possible to talk to hardware devices from user space In doing so one does not have to b
20. 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 FCC 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 owner 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 anten
21. set command esed DO more to am malocies SD caza MOCONSOLES Disable serial console bootup messages SOSCLCLSG B a alloc mac Get MAC address from var ts production mac The TS bootup programs will by default print a banner message on bootup to the serial port displaying its build date etc If 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 sdlock 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 72XX SBC based product cannot be used in an unintended matter once deployed Usage sdlock OPTION Controls SD card lock and permanent write protect features General options password PASS Use PASS as
22. specific documentation Xfree TO DO 7 9 Sample Applicaitons Technologic Systems provides some sample applications with source code DIO The following is a C sample code that implements a button on DIO pin 1 When the button is pressed the LED starts blinking include lt unistd h gt include lt sys types h gt include lt sys mman h gt include lt stdio h gt eu 1 include lt string h gt de ima iti Tn ela ce volatile unsigned int PEDR PEDDR PBDR PBDDR GPIOBDB SLIME Lp unsigned char state unsigned char start Jul 2009 I www embeddedARM com 38 i LINUX FOR ARM ON TS 72XX Technolog IC APPLICATION DEVELOPMENT inte td open dey nen start mmap 0 getpagesize PROT READ PROT WRITE MAP SHARED fd 0 80840000 E PBR unsigned int 59 0x04 port D PBDDR unsigned int 9 start 0x14 b direction PEDR unsigned int start 0x20 port e data PEDDR unsigned int start 0x24 port e direction GPIOBDB unsigned int start 0xC4 debounce on port b Lower mibble imovie PEDDR Jall ou put Just 2 lots GPIOBDB 0x01 enable debounce on bit 0 state PBDR read initial state while state amp 0x01 wait u
23. ttyTS1 cuats1 ttyT9S1 cuat9s1 3 ttyTS2 cuats2 ttyT9S2 cuat9s2 4 ttyTS3 cuats3 ttyT9S3 cuat9s3 5 ttyTS4 cuats4 ttyT9S4 cuat9s4 6 ttyTS5 55 ttyT9S5 cuat9s5 7 ttyTS6 cuats6 ttyT9S6 cuat9s6 8 ttyTS7 cuats7 ttyT9S7 cuat9s7 To use the port in 8 bit mode open the corresponding ttyTS or cuats file The opened file can be read or written byte wise as expected To use the port in 9 bit mode open the corresponding ttyT9S or cuat9s file e g dev ttyT9S0 this mode the length of all reads and writes should be a multiple of two Data read and written is packed into a character array in big endian format using two bytes for every 9 bit value nontet The following example C snippet illustrates a simple read and write PES unsigned char buffer 4 int data t Tosen T ri butrerjol 05015 ser birt kirst momesic autres 0 557 lower 8 buts of first nontet 0x007 msB of second nontet bit 8 is cleared lowe 158 of second nontet ser L 4 1 E fread buffer 1 4 f data buffer 0 lt lt 8 buffer 1 extract first nontet data buffer 2 lt lt 8 buffer 3 extract second nontet In the above case buffer 0 and buffer 2 are the most significant bytes msB of their respective nontets and buffer 1 and buffer 3 are the least significant bytes IsB Each serial port ca
24. 1BF_FFFF CS7 PC 104 8 16 bit Memory selectable timing 0 7000 0000 7 FFFF TS 9420 Flash 0 7000 0000 Ox7FFF_FFFF CS7 bit bus cycles 0x6000_0000 Ox6O0FF_FFFF on board Flash TS 7200 0x6000_0000 Ox6FFF_FFFF CS6 Flash 0x3000_0000 CS3 not used 0x21C0_0000 0x21FF_FFFE PC 104 16 bit I O 0x2180_0000 0x21BF_FFFF PC 104 16 bit Memory 0x2000_0000 2 CS2 16 bit bus cycles 0x11C0_0000 0x11FF_FFFF PC 104 8 bit I O 0x1180_0000 0x11BF_FFFF PC 104 8 bit Memory 0x1000 0000 Ox1FFF FFFF CS1 8 bit bus cycles 0x0001 0000 0 0000 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 UART1 control registers 0x808A_0000 0x808A_FFFF SPI control registers 0x8084_0044 LCD EN LCD RS LCD WR direction reg bits3 5 0x8084 0040 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 0 1 0x8084 0018 Port C direction register TS 7300 LCD 7 direction register bit 7 0x8084 0014 DIO
25. 7250 NAND Flash control register bits 0 2 0x6080_0000 TS 7250 NAND Flash Busy status bit 5 0x23C0_0000 WDT Feed register bits 0 2 0x2380_0000 WDT Control register bits 0 2 0x2340_0000 PLD version bits 0 2 0x2300_0000 2 RS 485 control register 0x22C0_0000 COM2 RS 485 control register bits 0 2 0x2280 0000 JP6 bit 0 0x2280 0000 Booting from TS 9420 bit 1 0x2280_0000 TS 9420 present bit 2 0 2240 0000 MAX197 A D option present bit 0 0 2240 0000 COM2 RS 485 option present bit 1 0x2200 0000 Model Number bits 0 2 0 21 0 0000 0x21E0_03FE PC 104 16 bit I O legacy support 0x2100_0000 CF IDE 16 bit register 0x13C0_0000 0x13C0_0001 TS 7300 FPGA loader registers 0x1340_0000 0x1340_0002 TS 7260 Additional COM5 registers 0x1300_0000 0x1300_0002 TS 7260 Additional COMA registers 0x12C0_0000 0x12C0_0003 0x12C0_0000 0x12C0_0001 TS 7260 DIO2 Header Basic DIO registers 0x1240_0000 0x1240_0002 TS 7260 DIO2 Header TS XDIO registers TS 7260 serial port registers 0x1200_0000 TS 7260 Power Management register 0x11E0_0000 0x11E0_03FF PC 104 8 bit I O legacy support 0x11A0_0000 0x11AF_FFFF PC 104 8 bit Memory legacy support 0x1170_0000 RTC R W data register 0x1100_0001 0x1100_0007 CF IDE 8
26. 72XX ARM computers It is possible to develop using just the embedded system or by using a host PC and cross compilation tools 7 1 GNU Tools Linux application development generally means development using the GNU tools set The GNU project provides a wide range of development utilities such as compilers build tools and libraries The Debian Linux distribution provided by Technologic Systems as a full featured development Linux OS contains a native GNU installation for ARM enabling embedded application development using only the embedded platform The most commonly used development tools are v gcc gnu c compiler v g gnu c compiles v Id gnu linker v make tool for the compilation process automation As an alternative it is possible to use a cross compile toolchain enabling binary generation for the ARM architecture from a x86 host architecture for example 7 2 Development on the Target with Debian Linux The typical way of doing Embedded Linux development is actually on the board itself Since the TS 72XX ARM9 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 72XX SBCs can run the entire suite of applications contained in the Debian Linux distribution including the compilers Since almost every open source program
27. Avail SD Yes Avail SD Linux Fast Bootup No No No 1 69 secs 1 1 secs Linux Bootloader Avail Avail Avail Yes Yes Real Time RTAI Yes Yes Yes Yes Yes Java Yes Yes Yes Yes Yes USB WiFi Support Opt Opt Opt Opt Yes USB Flash Support Opt Opt Opt Opt Yes Extended Yes Yes Yes Yes Yes Temperature Switching Mode No No Yes No Avail Power Supply RoHS Compliance Opt Opt Opt Yes Yes 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 Jul 2009 www embeddedARM com Technologic LINUX FOR ARM ON TS 72XX SYSTEMS APPENDIX E CONTACT TECHNOLOGIC SYSTEMS APPENDIX E CONTACT TECHNOLOGIC SYSTEMS 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 Jul 2009 www embeddedARM com 49
28. D REGISTER 45 APPENDIX C DOWNLOADS SCHEMATICS AND MECHANICAL DRAWING 47 APPENDIX D TS ARM SBC FEATURE MATRIX 48 APPENDIX E CONTACT TECHNOLOGIC 5 5 49 Jul 2009 www embeddedARM com 5 LINUX FOR ARM ON TS 72XX Technologic m INTRODUCTION 1 INTRODUCTION 1 1 About this Manual This manual is a brief introduction to the use of Linux on a Technologic Systems TS ARM based Single Board Computer SBC TS 72XX series Many technical questions are answered within this document This manual is not meant as a general tutorial on Linux or Linux Development but is designed specifically to cover issues related to using Linux on Technologic Systems ARM SBCs Technologic Systems ARM products offer a different set of tools than the x86 products This manual documents the basic knowledge needed to work with the ARM products Warning This document was created to be used with the TS 7200 TS 7250 and TS 7260 boards TS 72XX series and contains sections specific to these products only such as the second chapter However most of the remaining sections will still be useful guidelines for other TS ARM computers TS 7300 TS 7400 etc If your project demands rapid application development Technologic Systems doe
29. Technologic SYSTEMS APPENDIX D TS ARM SBC FEATURE MATRIX Feature 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 Category SBC SBC SBC SBC SoM 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 128 Contactus 128 MB 256 MB 256 MB 256 MB Standard A D Yes 2ch Yes 5ch Yes 2ch Yes 1 ch Yes Ach Optional A D 8 ch 8 ch No No No Ethernet 10 100 1 10 100 1 10 100 1 10 100 2 10 100 1 USB1 1 ports Yes 2 Yes 2 Yes 2 Yes 2 Yes 2 VGA Video Out No No No Yes No IDE Compact Flash Yes No No No No SD Card Interface No No Yes Yes 2 Yes 1 1 on RevB Digital I O 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 RS232 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 TS Linux Yes Yes Yes Avail Yes Debian Linux Avail CF Avail USB
30. XX boards Please visit our website to download the appropriate TS Kernel source or use the TS ARM Linux CD The officially supported TS Kernel is based upon the version 2 4 26 and patches for the ARM architecture and for the Cirrus EP9301 processor A unique version number follows the name of the TS Kernel in order to identify Tehcnologic Systems releases For example S uname sr labial 254 526 11 In order to compile the kernel from a non ARM host machine a cross compiler is required Technologic Systems offers some pre compiled cross compilers such as Dan Keegel s CrossTool To compile the kernel simply edit the top level Makefile and ensure that the CROSS COMPILER variable is equal to your system s cross compiler prefix to gcc For example CROSS COMPIME usr local ope crosstool armlinux gees 374glibe2 3 2 bin arm linux The next step is TS Kernel configuration The user can enable disable the compilation of the TS Kernel features by typing make menu config Optionally Technologic Systems provides default configuration files for the most common TS 72XX SBCs inside the TS Kernel source tree The ts10 release contains the following default configuration files pwd usr src ts kernel linux24 arch arm def configs ls ts ts7250 ED ts7300 To configure the TS Kernel for the default TS 7200 setup the following be used make ts7200 config make oldconfig Generally the next compilation steps
31. ake use of the dmesg command to get the latest kernel messages This might be useful when developing device drivers or watching kernel status Further utilities provide useful Linux environment information such as uname prints system information such as kernel version and system date hostname prints the hostname of the system printenv prints the user s environment variable whoami prints the current logged user name S S lt S S who prints the current logged users Further Linux system information of the currently running processes and running Kernel may be obtained through the files at the proc virtual file system Jul 2009 JA www embeddedARM com 15 A AA i LINUX FOR ARM ON TS 72XX AA Technologic _ CONFIGURING AND USING LINUX 4 4 Initialization Scripts After the exec command on RedBoot the Kernel boots and drivers are loaded Then 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 Linux jete te d re3 dt 15 S10Network Sllportmap S20inetd S30telnetd S40apache Changing the run level or re invoking the initialization scripts is possible through
32. ality to the board without actually changing the more expensive multi layer TS 72XX circuit board v The TS 72XX board can be given new features and or physical dimensions This is the most expensive but most powerful form of customization Often times TS may subsidize the development costs of a new board if it has general appeal to our broader customer base Much of our COTS product line was a joint development between TS and another company Allowing TS to generally market a design is a great way to acheive economies of scale thereby reducing per unit cost and to ensure stock and commercial off the shelf COTS status for your custom board 8 8 About Technologic Systems Inc Technologic Systems has been developing embedded computing solutions for the OEM market over 20 years Our commitment to excellent products low prices and exceptional customer support has allowed our business to flourish in a very competitive marketplace We offer a wide variety of off the shelf PC 104 SBCs and peripherals that meets most embedded project needs Our engineers are also enthusiastic about new projects and take pride in new designs that are on the cutting edge of the embedded marketplace Custom designs are a large component of our business and with our exceptional embedded engineers we can often engineer a custom solution at a price that competes with an in house design Our Values Innovative Hardware and Software Engineering Our engineers are on
33. an be hot swapped Updating the EXT2 Image To create a CF SD USB flash card image from scratch one must format the entire memory card as ext2 then unpack the file system the Development Debian file system for NFS root or memory cards for example Latest versions of our pre made Debian install can be found on our website or on the TS ARM CD This should all be done from the host PC running Linux The walk through below assumes the memory card is plugged into the USB dongle and the memory card has been assigned to dev sda fdisk dev ide host0 bus0 target0 lun0 disc 1 d to delete existing partitions Repeat for all partitions 2 n for new partition 3 p for Primary partition 4 1 make the new partition primary number 1 5 hit the enter key for the default starting cylinder 6 hit the enter key again for the default last cylinder 7 p to print out the partition table 8 If the first partition does not have a star in the boot field then enter a at the prompt and then 1 to make the first partition bootable 9 To commit these changes to the disk enter w to write out the new partition table to the disk Now that the memory card has been partitioned it must be formatted The following command will format the first partition on the memory card as an ext2 file system mkfs ext2 dev sdal All that is left is to mount the memory card and unpack the tar file of the Development Debian File System mount dev sdal
34. and phy eth on turns on the ethernet port and phy ledO state sets the state of the green LED O OFF 1 ON led1 state sets the state of the red LED O OFF 1 ON cpu speed max set the CPU and bus speed to their maximum normal values e g 200Mhz 100Mhz v Cpu speed 166 set the CPU speed to 166Mhz and the bus speed to 66Mhz v Cpu speed 42 set the CPU speed and bus speed to 41 5Mhz This is the slowest speed that Ethernet will work at S NS lt S S v Cpu speed min set the CPU and bus speed to their minimum values 14 7456Mhz v temp read returns the current Celsius temperature reading from the TMP124 chip O Jul 2009 www embeddedARM com 22 LINUX FOR ARM ON TS 72XX Technologic STORAGE DEVICES AND FILE SYSTEMS 5 STORAGE DEVICES AND FILE SYSTEMS This section describes the storage memory devices and the file system types used with TS 72XX SBCs Occasionally one may wish to boot into one device and access the other This requires knowing what those devices are and where they are 5 1 On board Flash File Systems The on board flash contains a custom made JFFS or YAFFS formatted file system image JFFS2 is a compressed Journaling Flash File System for the NOR Strata Flash memory on TS 7200 The YAFFS file system is used for the on board flash on the TS 7250 and TS 7260 which utilize NAND flash technology The NOR and the NAND flash devices are divided in three partitions The first
35. atform development with C C v ldistributions binaries of linux distributions ready to install and run on TS 72XX SBCs v docs various documents related to Linux for ARM on TS 72XX series including data sheets and technical articles Imanuals all the hardware manuals for the TS 72XX series including schematics pictures TS 72XX product views and related pictures S SS Isamples source code and ARM binaries of some samples ready to compile and run v sources source code of TS Kernel and other related Linux for ARM packages The TS ARM Linux CD is included in the TS ARM Development Kit and also can be downloaded through Technologic Systems website at v http www embeddedarm com linux ARM htm A Note Notice that the FTP server is frequently updated and will always contain the latest version of the TS ARM Linux CD content ftp ftp embeddedarm com 3 5 TS ARM Development Kit The TS ARM Development Kit for the TS 7200 Single Board Computer includes all Jul 2009 www embeddedARM com 0 13 A AA i LINUX FOR ARM ON TS 72XX BA Technologic LINUX FOR ARM OPERATING SYSTEM SUPPORT 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 TS ARM Development Kit contains a 256 or 512 MB Flash drive Compact Flash for 7200 USB for 7250 and 7260 which includes gt
36. 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 Debian Linux distribution provided by Technologic Systems contains compilers and everything needed for developing applications in C C PERL PHP and SH Java BASIC TCL Python and others are also available for Debian but not installed by default More information on using and configuring Debian Linux can be found at v http www debian org One can still use cross compilers hosted on just about any platform if there is a specific need See the next section for more information on Cross Toolchains 7 3 Development on the Host with a Cross Toolchain While the Debian Linux includes a suite of compiler tools including a native arm gcc c compiler you may wish to use your desktop PC for compiling and development CrossTool 0 28 or greater now supports Cygwin Technologic Systems provides pre made versions of crosstool for both Linux and Cygwin They can be found on the Arm Development CD or on the Technologic Systems web site To install the Linux binaries unpack the tar file at the root of your sys
37. bit PC 104 interface enables additional functionality through Technologic Systems broad product line of PC 104 peripheral daughter boards The TS 7KV adds video CAN Com Ports and A D conversion The TS ETH10 allows the addition of Ethernet ports The TS CAN adds CAN connectivity The TS Modem boards add both wired and cell phone capabilities The TS 72XX rugged ARM9 SBC s have found their way into many embedded applications Customers are using the TS 72XX series SBC s in energy generation manufacturing process control traffic management printing system management communication infrastructure website hosting data gathering and laboratory test equipment We use a TS 7200 to host our complete website and to prepare and test your SBC prior to shipping O Jul 2009 www embeddedARM com 6 LINUX FOR ARM ON TS 72XX Technologic _ STARTUP 2 STARTUP Warning This chapter is only applicable to the TS 72XX computers 2 1 Console and Power Up The TS 72XX SBCs have no video controller or keyboard interface This was done to keep the board size small and the cost low 1 is typically used as a console port to interface the TS 72XX to a standard terminal emulation program on a Host PC An ANSI terminal or a PC running a terminal emulator is required to communicate with your Embedded PC Simply connect an ANSI terminal or emulator to COM1 DB9 female connector using a nul
38. bit registers 0x10F0_0000 0x10FO_0001 MAX197 A D registers 0x1080_0000 MAX197 A D busy bit bit 7 RO 0x1080_0000 JP2 JP5 bits 0 1 3 4 RO 0x1080_0000 COM1 DCD bit 6 RO 0x1080_0000 Write Only index register 0x1040_0006 0x1040_0007 CF AUX IDE 8 bit registers Jul 2009 www embeddedARM com 46 A AA i LINUX FOR ARM ON TS 72XX BA Technologic DOWNLOADS SCHEMATICS AND MECHANICAL DRAWING APPENDIX C DOWNLOADS SCHEMATICS AND MECHANICAL DRAWING v TS 7200 schematic http www embeddedarm com documentation ts 7200 schematic paf v TS 7200 mechanical drawing http www embeddedarm com documentation ts 7200 mechanical pdf v TS 7200 s download section http www embeddedarm com epc ts7 200 spec d html v TS 7250 schematic http www embeddedarm com documentation ts 7250 schematic paf v TS 7250 mechanical drawing http www embeddedarm com documentation ts 7250 mechanical pdf v TS 7250 s download section http www embeddedarm com epc ts7250 spec d html v TS 7260 schematic http www embeddedarm com documentation ts 7260 schematic paf v TS 7260 mechanical drawing http www embeddedarm com documentation ts 7260 mechanical paf v TS 7260 s download section http www embeddedarm com epc ts7260 spec d htm O Jul 2009 www embeddedARM com 47 LINUX FOR ARM ON TS 72XX APPENDIX D TS ARM SBC FEATURE MATRIX
39. ced Linux users have a complete Linux system to take full advantage of their knowledge and new users have an easy environment to get started with the Linux world Technologic Systems makes use of Debian Linux as a development distribution For example the 256 MB Compact Flash card is pre installed with Debian Along with the basic core utilities some developer tools have been installed including a native arm gcc toolchain for C C application development In addition the Perl interpreter and a wide variety of network services are available such as FTP Telnet SSH and Apache HTTP servers One can also use the Debian Linux distribution via an NFS root file system or an USB flash memory device 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 Jul 2009 www embeddedARM com 12 LINUX FOR ARM ON TS 72XX BH Technologic COR ARM ON hexedit etc passwd e Geucely exit apt get remove hexedit apt get install installs a package name while apt get remove removes the named
40. difications are required though j S re G NES F loouiloecder o The Technologic Systems version of Linux uses a special device driver at dev misc bootloader to accomodate the hooks needed by the bootload program to allow Linux to act as a bootloader and boot other Linux kernels and operating systems Command usage information for the bootload program follows 5 bootload help Usage bootload OPTION FILE Linux to Linux bootloader re boots a TS 7xxx board to another kernel S image or raw executable by replacing the running Linux kernel General options c cmdline CMD Use CMD as the Linux kernel boot args IIS Use i i o samcek 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 n Mais Mela When FILE is reads from standard input Report bugs to lt support embeddedARM com gt Some one line examples of usage Boot a compressed kernel image 29 8 loin 1522 Reboot a kernel but pass the 1MB running ramdisk to the new mount o remount ro dev rd 0 bootload c console ttyAM0 115200 root dev ram0 r dev rd 0 r 0x100000 Boot Of 2 kermells based on the state of DIO lime 7 if chio get then boos load backup las else X poce
41. e Linux device driver for a Philips SJA1000 CAN Controller was developed using the OCERA framework for CAN which is composed of LINCAN VCA CAN CANOpen Monitor and CANOpen Device LINCAN is a generic Linux device driver implementation that supports many boards including TS CAN1 TS 7KV and TS 732 It is an evolution of other CAN open source projects for Linux Loading the Lincan driver The Lincan driver is included in the TS Kernel modules version ts9 as a kernel module named lincan o Also it is available through the Technologic Systems website or the TS ARM Linux CD The Lincan driver implements a plug and play system So the driver is able to detect the hardware I O address and IRQ line being used To take advantage of the implemented plug and play feature load the driver into the kernel by executing the command below cd path to lincan modules insmod lincan o hw tscanl for insmod for TS 7KV insmod lincan o hw ts732 tror WS 52 After the Lincan driver is installed the respective device entries will appear on the Linux filesystem at dev can Testing the CAN network You can use the testing tools available at path to lincan binutils directory For example to set up your CAN hardware to listen to messages from a working CAN network use the following command eel to Din readcan dev can0 To send messages out to a CAN network you can use th
42. e Technologic Systems Website The official Technologic Systems website contains useful information on hardware and software support The latest products releases including SBCs and PC 104 Peripheral Boards and updated news and documentation are available v http www embeddedARM com Software package updates and further software documentation can be found at the Linux for ARM webpage Most of the files mentioned in this manual are available there http www embeddedarm com linux ARM htm 8 2 Recommended Readings For those who are new to Linux it will be beneficial to own and work within a full featured desktop Linux OS Commonly those new to Linux use distributions such as Redhat s Fedora Mandrake Linux or Suse For those who are unwilling to install a Linux OS onto their system Knoppix is recommended Knoppix is a Live CD that boots into Linux and while offering a feature rich Linux OS it won t touch the hard drive unless told to For those with are familiar with Linux but not familiar with programming in Linux the following web sites and books are excellent resources v http www ibm com developerworks Full of tutorials and articles for Linux programming For example they have an excellent set of tutorials on programming threads in Linux v http www kernelnewbies org Good starting point for those who are new to Linux kernel development v http www montavista com Monta Vista is a global leader in embedded Linux develo
43. e aware of the Linux Kernel development process The special dev mem O Jul 2009 www embeddedARM com f 35 i LINUX FOR ARM ON TS 72XX Technolog IC APPLICATION DEVELOPMENT device implements a way to access the physical memory from the protected user space allowing readings and writings to any specific memory register 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 Luce lt oni 1 n int fd open dev mem O RDWR O SYNC char gpioregs gGptoregs char 4096 PROM READ PROT MAP SHARED fd 0x12c00000 cpiozegs 0 Oit Chwecrioms register see ell outputs gpioregs 2 0x12 output 1 to DIO 01 amp DIO 4 all else 0 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
44. e 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 network services 4 7 Setting Data and Time The Linux Kernel keeps the date and time of the day internally In order to synchronize the Kernel System time with an official and precise time source one can use either the Real Time Clock RTC hardware or an NTP time server System clock synchronization can be done during or after boot time with the help of the following commands v date prints or sets the system date and time v ntpdate sets the system time according to a remote time server v hwclock sets the system time according to the RTC if available Jul 2009 www embeddedARM com I 17 LINUX FOR ARM ON TS 72XX Technologic FOR ARM ON TS IDO cal displays a calendar On the Debian distribution the etc init d hwclockfirst sh and etc init d ntpdate scripts provide system clock synchronization services 4 8 Configuring and loading kernel modules Kernel modules are binaries that can be inserted into the Linux Kernel during execution time It is useful in order to load needed kernel features and services on demand For example one can turn on
45. e sendburst tool For example to send out 3 can messages with identifiers 1 on each 1 second of period do sendburst help sendburst d dev can0 wl b3 il 6 5 Video Technologic Systems provides a framebuffer driver that handles the TS VIDCORE video interface on the TS 7KV or TS 7300 The video registers are properly managed inside the driver so other Linux Kernel s layers can interact with the TS VIDCORE using the Framebuffer Device API The driver enables video interaction from user space using the entries at dev fb The Linux Framebuffer driver is integrated in the official TS Kernel release version higher than ts9 6 6 Ethernet Driver support for the fast on board EP9301 MAC core is compiled inside the TS Kernel The TS Kernel also supports the 10 100 OpenMAC ethernet core from opencores org Jul 2009 www embeddedARM com 32 LINUX FOR ARM ON TS 72XX Technologic TS KERNEL AND DRIVERS DEVELOPMENT through a kernel module Source code is available for both MAC interfaces through the TS Kernel source tree The OpenMAC is integrated on the TS 7300 on board FPGA and the openeth o is the ethernet driver that must be loaded in order to support the OpenMAC core with the TS Kernel vesrion 15 10 After loading the openeth o module the eth1 Linux network interface must be used along with the ifconfig command in order to configure the
46. e would contain the following alto lo ethno The loopback interface iface lo inet loopback The first network card EO iface eth0 inet dhcp iiece eta imet StacLe acklcess 1925 168 04550 netmask 2556525552595 0 gateway 192 168 0 1 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 Note In order to test the default network settings with both TS Linux and Debian 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 4 6 Network Services Linux is a well known OS suitable for network applications As such Linux offers a wide range of networking services which fully integrates the embedded systems to the external world and provides connectivity options for the end users TS Linux and specially Debian Linux include solutions for the main network services including Telnet telnet utility HTTP FTP ftp utility SSH ssh scp utilities NFS and Mail Som
47. e your configuration and proceed with the common steps on kernel compilation make oldconfig make dep make vmlinux make modules make modules install INSTALL MOD PATH 1ib modules After you have suceed in the real time TS Kernel building process the next step is RTAI system compilation For that install the supplied RTAI source file and configure it sceai 3 2 uecme s8 e tarilgz peth iuto iiaLi cd pachi Oo iie make ARCH arm CROSS COMPILE path to cross compile bin arm linux An RTAI configuration environment will show up Make sure to provide the correct Adeos TS Kernel build directory you used when filling the Linux Build option Configure the RTAI system regarding the features and services you want Finally save and exit the configuration system to strat the compilation The final step is the RTAI installation make install This is will install the RTAI modules and environment to the configured installation directory which must be copied to the root file system in use by your TS 72XX SBC Jul 2009 www embeddedARM com 29 A AA i LINUX FOR ARM ON TS 72XX AA Technologic _TS KERNEL AND DRIVERS DEVELOPMENT 6 3 Serial The TS Kernel contains drivers for all the on board serial drivers Driver s source code is also available within the TS Kernel source tree and COM2 The Linux devices on the filesystem that should be used with the COM1 and COM2 serial por
48. ernel to boot here v EXT2 file system image in the Compact Flash card RedBoot should include the option root dev hda v NFS root via Ethernet port RedBoot should include the option root dev nfs nfsroot lt IP gt lt DIRECTORY gt ip dhcp 3 1 TS Kernel In order to support the Linux Kernel on TS 72XX ARM SBCs Technologic Systems added modifications to the Linux Kernel for the EP9301 and EDB9301 platform shipped by Cirrus Logic manufacturer of the processor The Linux Kernel used is based upon the version 2 4 26 and additional patches are applied to the main 2 4 26 source tree so that the kernel will support ARM processors RMK patches the Cirrus EP9301 processor and finally TS 72XX hardware specifics The final Linux Kernel is a Technologic Systems specific source therefore called TS Kernel TS Kernel modifications include drivers for the Compact Flash IDE for the extra A D converter chip for the NAND flash memory devices MTD drives and YAFFS file system framebuffer driver for video interface second ethernet driver for TS 7300 driver support for the SJA1000 CAN controller on TS CAN1 drivers for the SD Card interface etc Technologic Systems is constantly improving the TS Kernel so that it will support new ARM SBCs and PC 104 peripheral boards Complete TS Kernel source code is provided at Technologic Systems web site allowing developers to implement modifications and compile their own kernels A Note The TS Kernel s
49. es through the TS 72XX mailing list 6 2 Real Time Extension for TS Kernel Real time systems are special applications that have to respect specific timing requirements and must be precise in their periodicity small jitter and or be very fast in serving real time events such as interrupts or IO signals small latency Hard real time applications require latency and jitter accuracy of less than 10us microseconds The Adaptative Domain Environment for Operating Systems Adeos implements a layer between the hardware and the OS that allows multiple OSs sharing the same hardware while running simultaneously A software pipeline is used to service interrupts and dispatch them to the proper destination one of its applications is real time Real Time Application Interface RTAI is a set of kernel modules that provide real time services such as interprocess communication and an API for real time application development RTAI services run under the Adeos kernel so it is necessary to build and run Adeos first The Adeos kernel is based on the Linux kernel providing the ability to make it fully preemptable Technologic Systems provides Adeos RTAI solutions integrated with the TS Kernel RTAI source code and compiled RT TS Kernel and RTAI packages are available through Technologic Systems website or the TS ARM Linux CD The RTAI version used is the magma vulcano 3 2 Installing the Real Time environment Before loading and running the real time ker
50. fault flash file system Special scripts look for it and when found run special test programs that will use up system resources 2 3 TS BOOTROM Upon power up the board executes proprietary Technologic Systems boot code then immediately executes RedBoot The TS BOOTROM is stored in flash memory and is used to perform the first hardware configuration such as the EP9301 initialization and TS 72XX hardware specifics and to load the eCos RedBoot system The TS BOOTROM serves as reusable way of initializing and checking hardware in a way that it is not necessary to rewrite the code for every desirable OS Some of the TS BOOTROM configuration tasks include v initializes the processor Jul 2009 www embeddedARM com u 7 A AA H LINUX FOR ARM ON TS 72XX AA Technologic STARTUP turns off the watchdog timer configures the serial UART to 115200 bps initializes and tests SDRAM and FLASH v loads and runs RedBoot from flash There is an intermediate boot loader code on the TS 72XX SBCs which use the NAND flash technology named TS NANDBOOT It is needed because the EP9301 processor can t handle NAND devices Then the TS NANDBOOT contains specific routines to read the NAND flash memory and load the TS BOOTROM S SS 2 4 eCos RedBoot RedBoot is a feature rich boot ROM monitor that allows manipulation of the on board flash JFFS and YAFFS images loading and execution of a kernel or executable from either tftp tr
51. hine 2 Untar NFS root package to a directory on the host machine tar C path to nfsroot xvjf path to debian file system tar bz2 3 Export the directory by adding the following line to the file etc exports Eo mesroot 192 169 0 0 7255 255 255 0 rw no root squash insecure Note The IP mask in the above example will only allow NFS connections from computers having an IP starting with 192 168 0 Substitute the appropriate parameters for your local network 4 Restart NFS so the directory is available for export Typically this would be etc init d nfs server restart 5 Modify the path to nfsroot etc fstab file on your host system for your local network settings Add 192 168 0 1 s8 elm teov mucssueoot nfs exec cdey suie 1 1 Comment out dev hdal ext2 defaults 1 1 6 Load the kernel from Redboot with the following command line options fis load vmlinux exec console ttyAM1 115200 ip dhcp n SieOot 11 92 169 0 path mit soot Jul 2009 www embeddedARM com 26 A AA i LINUX FOR ARM ON TS 72XX AA Technologic __TS KERNEL AND DRIVERS DEVELOPMENT 6 TS KERNEL AND DRIVERS DEVELOPMENT This section explains how to configure and compile the TS Kernel In addition useful information about TS 72XX driver support is provided 6 1 Compiling the TS Kernel Technologic Systems provides the TS Kernel source code for Linux Kernels that are shipped with TS 72
52. i programs the on board CPLD through the JTAG interface using the DIO2 header jp returns status of a given jumper hammer blinks the on board red led load_7kv loads a hardware core bitstream file to the TS 7KV FPGA load_7300 loads a hardware core bitstream file to the TS 7300 FPGA bitblt demo ts7kv performs bit blitting demo operations using the TS 7KV video bitblt demo ts7300 performs bit blitting demo operations using the TS 7300 video tsbootrom update updates the EEPROM with various bootroms options 8S 8S lt 8S 8S 8S S S S S S S S S lt S S sdlock handles SD Card security issues as password lock and write protected mode O Jul 2009 www embeddedARM com 18 Technologic LINUX FOR ARM ON TS 72XX SYSTEMS CONFIGURING AND USING LINUX bootload Linux Bootloader Technologic Systems has developed a Linux application bootload that allows arbitrary booting of Linux and other OS kernels within Linux itself The bootload program allows one to use the full facilities of Linux to retreive 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 The bootload program is mostly implemented as a Linux user space program using C However it requires a kernel module bootloader o to be installed using insmod prior to invocation No kernel patches or in source mo
53. ic IC FURTHER REFERENCE v ftp ftp embeddedarm com 8 5 Useful Data Sheets v Getting Started with TS Linux http www embeddedarm com documentation software arm tslinux ts7 2xx pdf v Linux for ARM on TS 7000 User s Guide http www embeddedarm com documentation software arm linux ts72xx pdf TS 7200 Data Sheet http www embeddedarm com documentation ts 7200 datasheet paf v TS 7250 Data Sheet http www embeddedarm com documentation ts 7250 datasheet pdf v TS 7260 Data Sheet http www embeddedarm com documentation ts 7260 datasheet pdf v TS 7300 Data Sheet http www embeddedarm com documentation ts 7300 datasheet paf 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 8 6 Where to go for additional help Technologic Systems makes available several engineers to provide free technical support regarding the TS 72XX series hardware To request support call 480 837 5200 or email to support embeddedARM com For general Linux questions not specific to the TS 72XX boards such as How to configure the Apache web server you may be referred to the TS professional services group which is
54. igured for TS 7200 After selecting the proper compiled real time TS Kernel you can load it using Redboot s load command and then execute the kernel by using exec command as described in the RedBoot section Building the Real Time TS Kernel and RTAI It may be of interest to build your own real time TS Kernel and RTAI system from source code for your specific TS 72XX SBC Technologic Systems provides the following files through the TS ARM Linux CD in order to help with that v lsource rt tskernel 2 4 26 tsX adeos patch Adeos patch for TS Kernel v lsource rtai 3 2 magma src tar gz RTAI source tree used by TS v lsource rtai examples src tar gz some RTAI sample applications and example code Once you have a TS Kernel source tree installed and the proper cross compile environment configured you can clean and patch your kernel using the Adeos patch cd path to ts kernel directory make distclean patch p1 lt path to rt tskernel 2 4 26 tsX adeos patch This is install the Adeos files and modifications to the TS Kernel enabling it to be used with RTAI on a real time system After the patch is successfully applied the next step is kernel configuration You can still use the default ts kernel configuration files for TS 72XX SBCs Make sure to select the Adeos Support to builtin option not as a module in the General Setup section of the kernel configuration This will enable the Adeos system to be compiled inside the TS Kernel Sav
55. ilable Even an HTTP server comes installed by default with TS Linux and is loaded during initialization time Most of the Linux utilities you would expect are present on the TS Linux distribution In total there are over 120 utilities installed on the file system Many of the basic utilities are implemented using Busybox BusyBox combines tiny versions of many common UNIX utilities into a single small executable The utilities in BusyBox generally have fewer options than their full featured GNU cousins however the options that are included provide the expected functionality and behave very much like their GNU counterparts BusyBox provides a fairly complete environment for any small or embedded system A Note In order to keep the distribution small TS Linux has small support for the GNU tools Therefore a C C development environment is not installed If the user s main target is development the Debian Linux distribution is highly recommended A cross compile environment based on a PC is also an option for development 3 3 Debian Linux The Debian is a full featured and powerful Linux distribution mostly based upon GNU tools It includes everything necessary to easily run Linux and develop Linux applications In addition various original Linux utilities and installation tools are available to make system utilization and packages updating easy The Debian Linux is ported to ARM processors and runs with TS 72XX SBCs With Debian Linux experien
56. information find the proper Linux documentation widely available on the Internet 4 1 Basic Commands 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 S NS S lt S vi Linux most common file editor reading further documentation is recommended The most common file handling commands are cp mv mkdir Help information is provided by supplying help to any given for example cp help 4 2 Users and Passwords The TS 72XX SBCs come by default with the root user configured with no password No additional user is added All the existing users and groups can be viewed in the letc passwd and etc group files The following utilities can be used for users and groups management v passwd changes password for the logged user groupadd add a group of users useradd add a user chmod change access permissions for files and directories S S lt lt chown change owner of files 4 3 System Log and Information Generally all the log files of the Linux OS are stored on the var log directory Therefore important system messages such as the kernel boot or some applications HTTP server outputs can be viewed by inspecting the log files In addition one can m
57. is a 16KB sized partition that contains the TS BOOTROM The last partition which occupies 2MB 3MB contains the eCos RedBoot system and the Linux Kernel The remaining space in the middle partition is either for the JFSS or the YAFFS image used as the root file system The following shows how a 8MB NOR chip is recognized by the Linux Kernel MTD system on a TS 7200 TS 7200 flash Found 1 x16 devices at 0x0 in 16 bit bank Intel Sharp Extended Query Table at 0x0031 Cxeaicamg MED parricioas on 1215 7200 ta Sh u 0x00000000 0x00020000 TS BOOTROM 0x00020000 0x00620000 Linux 0x00620000 0x00800000 RedBoot In both NOR and NAND cases the Linux block device entry corresponding to the on board flash is the dev mtdblock Therefore the following command can be used to mount the flash file system if you are not booted to the on board flash mount dev mtdblock 1 mnt Updating the JFFS Image The JFFS2 image can be created on your host computer with binaries created via a cross compiler then placed in a directory structure on the host computer A new JFFS2 image can be constructed from that directory structure with the following command mks 74062914560 131072 ES Pre made JFFS images can be found in the Developer s CD or on Technologic Systems web site The JFFS image file can then be copied over to the Single Board Computer and then written to the flash chip by using the foll
58. ivial ftp http or flash and gdb debugging stubs From RedBoot one can load and execute any standalone binary Most commonly a Linux kernel or a Windows CE binary is used One can also write applications within the eCos environment and load them with RedBoot Using Redboot By default a pre existing RedBoot script is executed on initialization time if not interrupted by the user within one second The default script instructs RedBoot to load the Linux kernel from the flash and instructs the Linux kernel to use the JFFS YAFFS image on the flash chip for its root file system One can view the RedBoot defaults for the board as well as the default script by entering at the RedBoot command prompt Ctrl C within one second after power up RedBoot gt fconfig 1 Rua serle eu logos true BOOL S e ie Es fis load vmlinux exec c console ttyAM0 115200 root dev mtdblock1 Boot script timeout 100ms resolution 1 Use BOOTP for network configuration false Gateway IP address 192 168 0 11 Local 112 192 169 0 50 Local 112 aceress 255 255 255 0 Default server IP address 192 168 0 11 cis tos 192 108 0 Lil Network hardware address MAC 0x00 0xD0 0x69 0x4F 0x34 0xA5 GDB connection port 9000 Force console for special debug messages false Network debug at boot time false The defaults can be changed by simply entering fconfig at the RedBoot prompt and answering the prompts A final chance to
59. kernel Drivers are available in the Linux distribution to support USB Flash Drives After booting into the TS Linux OS one can boot into the Debian OS hosted on a USB thumb drive with two scripts found on the TS Linux distribution First invoke usr bin loadUSBModules sh then run the script usr bin loadUSB sh to change root into the Debian OS on the USB thumb drive to take full advantage of such things as the Debian Arm toolchain The script loadUSBModules sh loads the following Kernel modules in the right sequence usbcore pcipool usb ohci usb ohci ep93xx scsi mod sd mod usb storage In addition it is possible to use an initial ram disk and a kernel that supports USB internally to boot to the USB file system on system initialization time The kernel is loaded and then the initial ram disk script loads the USB modules and pivot root to the USB file system O Jul 2009 www embeddedARM com 24 A AA i LINUX FOR ARM ON TS 72XX AA Technologic STORAGE DEVICES AND FILE SYSTEMS For those who simply wish to load in the correct device drivers to access the USB thumb drive when booted into the Linux OS invoke the usr bin loadUSBModules sh script and then use the following command to mount the file system mount dev scsi host0 bus0 target0 lun0 partl mnt A Note The TS 7200 always needs to be powered off before swapping Compact Flash cards USB Flash drives and SD cards c
60. l modem cable this is 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 and make sure jumper JP2 is installed If you are running Linux the minicom program 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 Some systems also require the 10 pin header to 9 pin Sub D adapter which is P N RC DB9 The console can be changed to COM2 by installing JP4 with JP2 also installed If your application does not require a console or both COM ports are required then removing the jumper JP2 easily disables all console output Connect a regulated 5VDC 1A minimum power source using the included 2 screw terminal strip connector Please note the polarity printed on the board The boot messages by default are all displayed on COM1 at 115200 baud 2 2 Boot Sequence The boot sequence has four distinct stages 1 TS BOOTROM messages 2 RedBoot ROM monitor messages 3 Linux Kernel messages 4 Login prompts After applying 5VDC power the board mounted LED will blink followed immediately by the display of TS BOOTROM messages and RedBoot messages RedBoot if not interrupted by the user within one second loads the Linux kernel from flash and boots to the on board flash chip Warning Ensure that JP5 is removed when booting from the de
61. mmands added to the provided TS busybox to support these shell functions These commands are peekpoke which is used to provide direct access to memory and ADCread which will provide a continuous stream of analog to digital readings either on one channel or all channels to stdout in text format Both of these commands provide more info on what options are available if you type them without any arguments v dio dir get n get the current direction O input 1 output of DIO n n in 0 15 v dio dir set n lt dir gt set the direction of DIO n to the specified direction O input 1 output v dio data get n get the current value O Low 1 High of DIO Zn v dio data set n val set the current value O Low 1 High of DIO n specified pin should be set to be an output already usb init call this function to turn the USB ports on and initialize them usb off call this function to turn off the USB ports usb numports prints the number of USB ports on the board this may be greater then S lt lt lt the actual number of physical ports the first port is port 0 Jul 2009 I www embeddedARM com 21 Technologic LINUX FOR ARM ON TS 72XX AA SYSTEMS CONFIGURING AND USING LINUX v Usb port devexists port prints 1 if something is plugged into the specified port or 0 otherwise eth off turns off the ethernet port
62. mple TFTP server the following command is needed load r b 0x00218000 h tftp server IP kernel name gt For example Jal o 0x 0 0 21 9 0 0 0 n 192 168 0 11 Executing the Kernel and Booting the Root File System Now that a kernel has been loaded into memory it can be executed This is accomplished with the following command eec ermel paremersts gt For example Jul 2009 www embeddedARM com 9 A LINUX FOR ARM ON TS 72XX AA Techn olog IC _ STARTUP exec c console ttyAM0 115200 ip dhcp root dev mtdblock1 The exec command executes the loaded kernel image passing to the kernel the arguments specified via the c switch In the previous example kernel messages are sent out on the first serial port note that ttyAMO is used instead of the familiar ttySO at 115200 baud and the root file system is on the first mtdblock of the flash chip On the TS 7200 modem to load the root file system from the Compact Flash card the following command should be used instead exec c console ttyAM0 115200 ip dhcp root dev hdal To load a NFS Root file system from a NFS server use the following command exec 8 console ttyAM0 115200 ip dhcp nfsroot IP Qi INS server gt lt path to NFSROOT gt Booting to an initrd Image from RedBoot One may want to instruct the kernel to use an initrd image during the Linux initializa
63. n only have one device file open on it at a time This ensures that 8 bit and 9 bit mode are mutually exclusive and that the byte stream remains synchronized when switching modes When reading the upper 7 bits of the msB will always be zero This fact can be used for synchronization should the current state of the byte stream be unknown If the upper 7 bits of a given byte are not all zeros then the byte is not the msB Likewise when writing the upper 7 bits of the msB must always be set to zero The serial port driver will reject bytes which do not have the msB upper 7 bits set This can be used to ensure that synchronization is maintained if the current synchronization state is unknown For example if 4 bytes of OxFF are written regardless of what state the serial Jul 2009 www embeddedARM com 31 aA i LINUX FOR ARM ON TS 72XX AA Technologic _ _TS KERNEL AND DRIVERS DEVELOPMENT transmission is in at most one OxFF will be sent and then the driver will start skipping invalid msBs As a result the first byte of data sent after the OxFF sequence with the upper 7 bits clear will be considered the new msB Normally these synchronization methods should not be necessary as the port when opened is synchronized such that the first byte read and written will be considered the msB However for debugging diagnostic use or recovery from application errors these features may be useful 6 4 CAN Bus Th
64. na 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 004 000 004505 7 These booklets may be purchased from the Superintendent of Documents U S Government Printing Office Washington DC 20402 O Jul 2009 www embeddedARM com 2 Al AA i LINUX FOR ARM ON TS 72XX Technologic TABLE OF CONTENTS TABLE OF CONTENTS T INTRODUC Wet ca 6 1 1 About this 6 1 2 TS 72XX R 2 STARTUP 7 2 1 Console and Power 7 2 2 Boot
65. nel you should copy the necessary files to the file system in use on the target These files include the Linux modules for the new kernel RTAI service modules test files and documentation Technologic Systems provides a tarball containing the full RTAI compiled environment for the ts9 rt RT TS Kernel patched with Adeos The file binaries rtai 3 2 magma compiled tar gz is distributed with the TS ARM Linux CD Change directory to usr and untar this file to create the realtime directory with the RTAI environment take BYE rtcal 3 2 macoma cComoileco car gz use The RTAI services are provided through the modules inside the modules directory Use insmod f to install the RTAI services The ts9 rt kernel modules can be installed using the binaries ts modules rt tskernelmodules 2 4 26 ts9 tar gz file available on the CD The testsuite directory contains RTAI sample applications In order to salve save storage memory one can remove the documentation directory O Jul 2009 www embeddedARM com 28 i LINUX FOR ARM ON TS 72XX Technolog IC TS KERNEL AND DRIVERS DEVELOPMENT Running the Real Time TS Kernel Technologic Systems provides compiled real time TS Kernels for the TS 72XX SBCs Those can found on the TS ARM Linux CD in the binaries ts kernels directory For example the rt vmlinux 7200 ts9 bin is a compiled TS Kernel version ts9 patched with Adeos and conf
66. ntil button goes low state PBDR remember bit 0 is pulled up with 4 7k ohm blink 5 times sleep 1 second so it s visible 1 Of lt Be itt 4 PEDR Oxff sleep 1 PEDR 0x00 sleep 1 closet return 0 A D Converter The following is sample Linux C code for initiating and printing an ADC conversion on channel 1 include lt unistd h gt tinclude lt sys types h gt include lt sys mman h gt tinclude lt stdio h gt include lt fentl h gt include lt assert h gt Lar arga Claw ewe Ny volatile unsigned short complete clau melo diit ime fel RDWR assert fd 1 lsb control unsigned char mmap 0 getpagesize PROT_READ PROT_WRITE MAP SHARED fd 0x10c00000 melao lelo sp 15 complete unsigned short mmap 0 getpagesize PROT READ PROT WRITE MAP SHARED fd 0x10800000 Initiate conversion channel 1 unipolar Dv control 0x41 Wait for completion O Jul 2009 www embeddedARM com 39 LINUX FOR ARM ON TS 72XX Technologic APPLICATION DEVELOPMENT rr Jul 2009 www embeddedARM com 40 A AA i LINUX FOR ARM ON TS 72XX AA Technologic FURTHER REFERENCE 8 FURTHER REFERENCE 8 1 Using th
67. owing command dd if path to new jffs img of dev mtdblock 1 Updating the YAFFS Image To update the YAFFS image erase the file system completely either with rm fr or eraseall dev mtd 1 and extract your new image onto the mounted file system This way YAFFS will auto discover the bad sectors as you are extracting and work around them The first step is to set up an NFS root file system and boot to it Then erase the second partition of your on board flash using the char device not the block device eraseall dev mtd 1 Mount the second partition of your on board flash and extract the new filesystem mount dev mtdblock 1 mnt bar zzvi re 250 root fs tar gz C Unmount the second partition of your on board flash and reboot Jul 2009 www embeddedARM com 23 Al AA H LINUX FOR ARM ON TS 72XX Technologic STORAGE DEVICES AND FILE SYSTEMS umount mnt shutdown r now A Note The YAFFS file system runs on the TS 72XX boards that feature NAND chips with 512 byte page size enabling up to 128 MB of on board flash The YAFFS2 file system supports the new NAND technology with 2k page size hence it will be installed on TS 72XX boards that are configured with 128 256 MB of flash 5 2 Flash Memory Cards Compact Flash The format of the CF must be in EXT2 for proper operation with Linux as a root file system The CF card is seen as the Primary Maste
68. password elean Remove password lock 8y 88L Set password lock U Unlock temporarily erase Erase entire device clears password Wy MOTO Enable permanent write protect sla laa lhe This help When the TS 72XX SBC is configured 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 Jul 2009 www embeddedARM com 20 Al AA H LINUX FOR ARM ON TS 72XX AA Technologic CONFIGURING AND USING LINUX command described above with the verifylock option the TS 72XX SBC will only boot locked SD cards 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 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 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 72XX SBC to which it is assigned Although not direc
69. pment They offer their own Operating System as well as their set of universal development tools including IDEs Monta Vista tools are platform independent and work well for a Windows only environment v Linux Device Drivers 2nd Edition By Alessandro Rubini amp Jonathan Corbet Highly recommended book for those who wish to learn the fundamentals to device driver development in Linux 8 3 Using the TS 7000 Mailing List The TS 7000 Yahoo mailing list is a self help group for the Technologic Systems TS 7000 series of ARM based single board computers running the Linux for ARM OS The group aims to help other users with hardware and software issues relating to the use of the TS 7000 series Further supporting information on Technologic Systems hardware and software extra sample codes and useful tips amp tricks for ARM Linux can be found in the Yahoo Group for TS 7000 series This is a great place to get information from experienced embedded engineers using TS 7000 boards in a wide variety of embedded applications This group has no official ties with Technologic Systems although Technologic Systems engineers do contribute v http groups yahoo com group TS 7000 8 4 Using the Technologic Systems FTP Server Technologic Systems makes a wide variety of supporting files for TS 72XX SBC s and Linux for ARM available for downloading through its FTP server Jul 2009 www embeddedARM com 41 LINUX FOR ARM ON TS 72XX A3 Technolog
70. r IDE device otherwise known as Idev hda The following command demonstrates mounting the Compact Flash card to the currently running system mount dev ide host0 bus0 target0 lun0 partl mnt SD Card SD Card sockets are available on the TS 7260 and TS 7300 models Technologic Systems has written a binary Linux driver module and a set of generic OS independent read write routines for accessing the SD flash inside of an ARM object o file After the SD Card module is loaded the device entry dev sdcardO is used to mount into the file system mount t ext2 dev sdcard0 discO part3 mnt By default the SD Card driver will be loaded during bootup time However in some cases the driver may not be loaded if a SD Card is not present in the socket Therefore it is necessary to call insmod for SD Card driver insertion For example In order to use a second SD Card on the TS 7300 the following command could be used to load the driver module prior to mount the filesystem insmod sdcard o o sdcardl 10 0 72000020 name sdcardl After plugging the card into the socket and inserting the second SD Card driver the device entry will appear at dev sdcard1 and the proper mount command can be used USB Flash Drives USB Flash drives can supply additional storage that behaves very much like a CF card except that a Compact Flash card can be the root drive whereas a USB drive can not be the root file system without using an initrd and appropriate
71. s offer software engineering services We also offers custom hardware design Please contact us for more information 1 2 TS 72XX Series The TS 72XX series Single Board Computers SBC s run on a 200 MHz ARM9 processor with power as low as 1 2 Watt Low board complexity low component count and low power heat makes for an extremely reliable embedded engine The TS 72XX SBC s are 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 ARM9 processor that the TS 72XX SBC s are built around and includes an on chip 10 100 ethernet USB serial and Flash SDRAM controller For example on the TS 7200 model there is 32 Mb of Micron SDRAM running at 66 Mhz and 8 Mb Intel Strata flash on board A supplemental PLD provides glue logic watchdog timer Compact Flash IDE and 8 bit PC 104 support Integer CPU performance is about 20 faster than our 133 Mhz x86 offerings Even with the standard power consumption of 2 Watts the TS 72XX SBC s run without fans or heat sinks in the temperature range of 20 to 70 C Extended Temperature 40 to 85 C is also standard but CPU clock must be decreased to about 166MHz for higher temperatures Digital Signal Processing DSP is enabled through a standard 5 channel 12bit A D converter Optional 8 channel 12 bit A D converter 20 DIO lines and 2 standard serial ports The 8 16
72. tem as the root user To install the Cygwin binaries unpack the tar file at the root of your Cygwin environment Be sure to include the path of the crosstool binaries in the PATH environment variable or in the proper Makefile For example the pre made Linux crosstool binaries are located at lusr local opt crosstool arm linux gcc 3 3 2 glibc 2 3 2 bin O Jul 2009 www embeddedARM com u 34 Technologic LINUX FOR ARM ON TS 72XX _SYSTEMS APPLICATION DEVELOPMENT Cygwin Hello World walkthrough This is a quick demonstration on using Windows and Cygwin to create your own hello world application using Linux tools It is assumed that either the Cygwin crosstool tar file has been unpacked to the root of the Cygwin environment or has been built from scratch Naturally it is assumed that Cygwin has been installed on your Windows PC 1 Create hello world c This can be done with any editor either using Vim from within Cygwin or using notepad from within Windows include lt stdio h gt int main void printf hello Wm return 0 2 Ensure that the CrossTool binaries are in your systems path export PATH SPATH opt crosstool arm unknownlinux gnu gcc 3 3 2 5 3 a 3 Create the hello executable arm unknown linux gnu gcc Wall o hello helloworld c 4 Verify that the resulting hello binary is an ARM binary file using the file command file hello 5 Run inetd
73. the init command A halt or reboot command will change the run level to or 6 and execute the etc rcO d scripts or etc rc6 d scripts respectively 4 5 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 ifup ethO or ifconfig ethO up brings up the on board ethernet interface on TS 72XX SBCs To configure the network one needs to manage the proper configuration files On TS Linux systems these files are located in the etc sysconfig directory etc network is used for Debian Linux By default Linux systems on TS 72XX boards are configured to assign the IP 192 168 0 50 to the on board ethernet interface 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 letc 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 eth0 Name of ethernet interface IPADDR
74. the cutting edge of embedded design Our elegant and smart hardware software solutions differentiate our products v Real Ruggedness Technologic Systems builds rugged computers because we know how important reliability and longevity are to embedded applications The internal electronics of our product are very simple to manufacture and operate with huge margins all around and our thoughtful designs minimize the use of layers vias chips solder points and exotic manufacturing technologies v Fair Prices Our products and services are priced fairly and competively we only charge you for what you really need no unnecessary items like fancy cases or extra configuration services v Open Source Vision We provide complete Linux kernel source code drivers and examples for our hardware along with schematics and data sheets There is no mystery when using our products for development v Superior Support Our engineers answer technical support calls and all our products have complete supporting documentation v Extended Product Lifetime Technologic Systems has never discontinued a product in more than 20 years of business Additional Manufacturer Technologic Systems features Engineers on free technical support Each board undergoes many production tests and burn in prior to shipment Board customizations available with no minimum order Factory loading of customer supplied software available S 8S lt S S Readily available hard
75. the support for a USB flash memory card by inserting the proper USB modules into the kernel The main utilities used to handle kernel modules are v Ismod lists the loaded kernel modules v insmod insert a given module into the kernel v modprobe insert a given module and its dependencies into the kernel v modinfo provides information about a kernel module 4 9 Memory There are some useful utilities to check RAM memory and storage memory status v df shows storage memory usage v du shows the total size of a given location v free shows RAM memory usage v top provides running processes and RAM memory utilization information 4 10 TS Utilities Besides the standard Linux set of utilities the TS Linux and Debian Linux distributions include Technologic Systems proprietary utilities which perform TS 72XX hardware specific and auxiliary operations Some of the TS Utilities are bootload Linux based bootloader that enables booting of another Kernel busybox compiled busybox for ARM with lots of Linux utilities peek8 reads 1 byte from the given memory location poke8 writes the given 1 byte to the given memory location peek16 reads 2 bytes from the given memory location poke16 writes the given 2 bytes to the given memory location peek32 reads 4 bytes from the given memory location poke32 writes the given 4 bytes to the given memory location ts7xxxctl configures the hardware and turns on off parts of the TS 72XX and EP9301 jb
76. tion This might be useful in situation additional hardware support or system configuration in needed prior to root file system load Using RedBoot an initrd image can be loaded through three main steps 1 Load the initrd gz image into memory memory location used is 0 0080 0000 or 0x00600000 for example load h server IP r b memory address 2 Load the kernel into memory Follow previous intructions for kernel loading 3 Using the exec comannd instruct RedBood to execute the Kernel and initrd for example exec cr 0x0080 0000 b 0200218000 e console ttyAM0 115200 root dev ram0 init linuxrc rw 2 5 Logging In After the desired Linux Kernel is loaded and executed through RedBoot 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 72XX SBC running Linux 2 6 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
77. tly 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 72XX SBC based devices 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 4 11 TS Scripts Besides the standard Linux set of utilities the TS Linux and Debian Linux distributions include Technologic Systems proprietary utilities which perform TS 72XX hardware specific and auxiliary operations Some of the TS Utilities are v ts7kvfb script that loads the framebuffer driver and linux console for TS 7KV v loadUSBmodules sh loads modules for USB flash memory cards support v loadUSB sh mounts the USB flash card and changes root file system to it v ts7xxx subr various shell functions to handle hardware including bits and peekpoke ts7xxx subr Shell Functions for Hardware Access The ts7xxx subr shell functions enable control to some of the TS 72XX hardware functions without having to write compile C code These shell functions allow you to access various functions such as DIO ADCs and so forth from the command line or in your own shell scripts There are two new co
78. ts are dev ttyAMO and dev ttyAM1 respectively Any Linux terminal emulator as minicom can be used with these ports Simple echo and cat commands can also be used in order to test these ports cat lt dev ttyAMl echo gt dev ttyAM1 RS 485 Support on COM2 A special ioctl command has been added to the Linux kernel s serial code to turn off and on the automatic RS 485 feature The header files needed to be included from the Linux kernel source tree on an application source code are linux ts_sbc h and linux include asm ioctls h These header files can be found in the TS Kernel source tree The following snippet of code demonstrates the use of this ioctl fine lids lt linux 7 tsi sloe m include linux include asm ioctls h define ine RIS 485 mode Clear lt define TIOC SBCS485 _IOW T 0x71 int TS RTS 485 mode Set define AUTO485FD 1 define RTSMODE 2 define AUTO485HD 4 mcr AUTO485FD mcr AUTO485HD for half duplex LOCEL SIECSdSS EMCE ame reac irom locul 2261 WIC Gime y further reads and writes may not behave TS 7260 2TTLCOM Option The TS 7260 has 3 serial ports at RS232 levels COM1 COM2 and COM3 headers default When the 2TTLCOM option is enabled extra 2 serial ports appears at the DIO2 header using TTL levels and the COM3 will also use TTL levels
79. upports the Real Time Application Interface RTAI project making the embedded operating system capable of handling applications with hard real time restrictions For further information on the real time extension and kernel development procedures refer to the development section of this manual www embeddedARM com 1 O Jul 2009 A AA H LINUX FOR ARM ON TS 72XX AA Technologic _ LINUX FOR ARM OPERATING SYSTEM SUPPORT A Note It is also possible to run the 2 6 version of the Linux Kernel on TS 72XX SBCs However this development is not officially supported by Technologic Systems yet Contact Technologic Systems if your solution requires 2 6 kernel version 3 2 TS Linux TS Linux is a compact Linux distribution based on Busybox ideal for small footprint systems and used as a demonstration OS on the TS 72XX computers Therefore the TS 72XX SBCs come with TS Linux installed by default in the on board flash RedBoot is also configured to load the TS Linux from on board flash by default The use of TS Linux is very similar to other common Linux systems A experienced Linux user should find no problems when using TS Linux The initialization and configuration processes are all managed by the files located in the etc directory Devices entries are in the dev while libraries and kernel modules are inside lib Network services such as FTP and Telnet servers are also ava
80. v More information on mmap and open system calls can be had by running man mmap or man open from most any Linux shell 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 7 5 Applications Debugging There are two main methods for debugging on the TS 72XX SBC Debugging from a running Linux OS with gdb or from RedBoot before the Linux kernel is executed Low Level Debugging with RedBoot To provide simple direct access to the TS 72XX hardware RedBoot has an integrated debugger that can perform standard low level debugger functions It can be used to view or set values in memory using the dump and commands For example the command dump b 0x80840020 shows that the first byte is filled with zeros indicating that both the green and red led are turned off The b refers to a location in memory to display mfill b 0x80840020 p 0x03 1 0x04 will result in the both the green and red LEDs being turned on The b again refers to a location in memory The indicates the pattern to write into memory and the refers to the length of the data being written out To verify that the write was successful dump b 0x80840020 shows the first byte being having a value of 0x03 bits O and 1 being set O Jul 2009 www embeddedARM com 36 i
81. ware and software professional services for hire O Jul 2009 7 www embeddedARM com 43 AA i LINUX FOR ARM ON TS 72XX AA Technologic APPENDIX A DOCUMENT HISTORY APPENDIX A DOCUMENT HISTORY Date of Revision Number Comments Issue Revision Unknown 1 0 Old Linux for ARM Developer s Manuals May 30 2006 2 0 New and improved manual released Dec 13 2006 2 1 Some TO DO sections completed minor bugs fixed new sections included Dec 22 2006 2 2 Debian info added ARM feature matrix updated marketing info added Jul 05 2007 2 3 Rename series to TS 72XX minor corrections Jul 08 2008 2 4 Fixed broken web links Jul 09 2009 2 5 Updated mailing address minor corrections Jul 2009 www embeddedARM com 44 Technologic AA LINUX FOR ARM ON TS 72XX _SYSTEMS APPENDIX B MEMORY AND REGISTER MAP APPENDIX B MEMORY AND REGISTER MAP Address Region Function O Jul 2009 OxF000 0000 OxFFFF_FFFF 50 not used 000 0000 OxEFFF_FFFF SDRAM TS 7250 0 0000 0000 OxDFFF_FFFF SDRAM not used 000 0000 FFFF SDRAM not used 0 8084 0000 0x8084_00C8 GPIO control registers 0x8000_0000 0x800F FFFF AHB mapped registers 71 0000 0x71FF_FFFF CS7 PC 104 8 16 bit I O user selectable timing 0x7180_0000 0x7
82. well equipped to research just about any level of question from kernel development to web server configuration Since Linux is open source support may also be received from the individual development communities throughout the internet Several projects have internet posted FAQs HOWTOs and community supported mailing lists providing users of their authored programs free help 8 7 Hardware Software Customization Should your embedded project approach quantites between 500 1000 boards per year it may be a good time to talk to TS engineer about specific hardware or software customizations that become available to you There may be modifications we can do to reduce cost or add specific features to directly accomodate your specific requirements Several options are available v TS can load your software directly onto the boards you order Often times this can save you from creating your own production and software loading process This type of service is available no matter the quantity v CPLD s FPGA s can be reprogrammed to include specific customer specified functionality For instance a magic register your software can verify before enabling certain features of your product or extra serial ports in the CPLD O Jul 2009 www embeddedARM com 42 A AA i LINUX FOR ARM ON TS 72XX AA Technologic FURTHER REFERENCE v Simple daughter boards can be designed Often a low cost 2 layer companion board can be created to add function
83. write or discard the changes to the board will be given by RedBoot Also the main RedBoot commands can be viewed by entering help at the prompt and further information about a single command can be viewed by typing help lt command name gt Loading and execute kernel from RedBoot RedBoot can load a kernel or executable via the serial console a tftp server http server or directly from flash Important The Linux kernel must be loaded into memory address 0x00218000 Jul 2009 www embeddedARM com 8 LINUX FOR ARM ON TS 72XX SYSTEM STARTUP a Technologic FLASH Loading the kernel from flash is done automatically by RedBoot in the default script with the following command RedBoot gt fis load zimage b 0x00218000 One can see where in flash the kernel is and where in memory it will be loaded to by typing fis list which shows the various areas of flash RedBoot is aware of The following is a typical output of fis list Name FLASH addr Mem addr Length Entry point reservet 0x60000000 0 60000000 0 00620000 0 00000000 RedBoot 0x60620000 0 60620000 0x00040000 0 00000000 vmlinux 0x60660000 0 00218000 0 00160000 0 00218000 RedBoot config 0x607C0000 0 607 0000 0 00001000 0 00000000 ELS directory 0x607E0000 0 607 0000 0 00020000 0 00000000 From the above example the kernel executable labeled vmlinux is stored at flash address 0x60660000
84. www embeddedARM com Linux for ARM on TS 72XX User s Guide x Technologic SYSTEMS 2 5 Jul 2009 aa Technologic LINUX FOR ARM ON TS 72XX SYSTEM 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 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 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

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