WARNING:

This product is still in development. This means the documentation and product itself will change several times before the product is deemed ready for Engineering Sampling. Please force-refresh (shift-f5 or ⌘-shift-R on most browsers) to clear your cache when visiting this page to ensure you are viewing the most recent version of this documentation. Of course also please check back often as this information is subject to change.

Overview

TS-7120
	Product Page
	Product Images
	Specifications
Documentation
	Schematic
	FTP Path
Processor
	Freescale i.MX6ul 696MHz
	i.MX6ul Product Page
	CPU Documentation

The TS-7120 is an SBC designed for something or other.

Getting Started

A Linux workstation is recommended and assumed for development using this documentation. For users in Windows or OSX, we recommend virtualizing Linux. Most of our platforms run Debian, which is recommended for ease of use if there is no personal distribution preference.

Debian.org

Virtualization

Suggested Linux Distributions

Development using a Windows or OSX system may be possible but is not supported. Development will include accessing drives formatted for Linux and often Linux-based tools.

Getting Console and Powering up

WARNING:

Be sure to take appropriate Electrostatic Discharge (ESD) precautions. Disconnect the power source before moving, cabling, or performing any set up procedures. Inappropriate handling may cause damage to the device.

Get console input by plugging a USB type B cable into P4. Connect the host side to a workstation for development. Console can be viewed before or after power is applied. Boot messages will only be printed once the device is powered on.

The cp210x (USB Serial) driver is included in most popular distributions. This will show up as /dev/ttyUSB0. For other operating systems:

Silabs USB-to-UART drivers

The serial console is provided through this port at 115200 baud, 8n1, with no flow control. Picocom is the recommended linux client to use which can be run with the following command:

sudo picocom -b 115200 /dev/ttyUSB0

This will output some serial setting information and then "Terminal ready". Any messages after this point will be from the device via the serial output. The terminal is now ready and power can be applied in order to boot up the device. Power is applied through the power connector, CN4. This accepts an 8-48 VDC input. Alternatively, power may be applied to CN2, which accepts a 5VDC input.

Once power is applied, the device will output information via the console. The first output is from U-Boot:

U-Boot 2016.03-14627-g964baebd6e (Mar 06 2019 - 09:12:01 -0800)           
                                                                                
CPU:   Freescale i.MX6UL rev1.2 at 396 MHz                                      
Reset cause: POR                                                                
Board: Technologic Systems TS-7120                                              
I2C:   ready                                                                    
DRAM:  512 MiB                                                                  
MMC:   FSL_SDHC: 0                                                              
Net:   FEC0 [PRIME]                                                             
Warning: FEC0 (eth0) using random MAC address - a2:ec:71:14:50:3a               
                                                                                
Press Ctrl+C to abort autoboot in 1 second(s)

You may break into U-Boot at this point, by pressing Control+C at your terminal; otherwise, what U-Boot does next depends on the "U-Boot" jumper. If installed, U-Boot will check for USB updates, and then drop to the U-Boot prompt.

Console from Windows

Putty is a small simple client available for download here. Open up Device Manager to determine your console port. See the putty configuration image for more details.

U-Boot

TS-7120 U-boot Sections

Debian

Debian is a community run Linux distribution. Debian provides tens of thousands of precompiled applications and services. This distribution is known for stability and large community providing support and documentation.

Getting Started with Debian

TS-7120 Jessie Getting started

Debian Networking

From almost any Linux system you can use 'ip' command or the 'ifconfig' and 'route' commands to initially set up the network.

# Bring up the CPU network interface
ifconfig eth0 up

# Or if you're on a baseboard with a second ethernet port, you can use that as:
ifconfig eth1 up

# Set an ip address (assumes 255.255.255.0 subnet mask)
ifconfig eth0 192.168.0.50

# Set a specific subnet
ifconfig eth0 192.168.0.50 netmask 255.255.0.0

# Configure your route.  This is the server that provides your internet connection.
route add default gw 192.168.0.1

# Edit /etc/resolv.conf for your DNS server
echo "nameserver 192.168.0.1" > /etc/resolv.conf

Most networks will offer a DHCP server, an IP address can be obtained from a server with a single command in linux:

Configure DHCP in Debian:

# To setup the default CPU ethernet port
dhclient eth0
# Or if you're on a baseboard with a second ethernet port, you can use that as:
dhclient eth1
# You can configure all ethernet ports for a dhcp response with
dhclient

Systemd provides a networking configuration option to allow for automatic configuration on startup. Systemd-networkd has a number of different configuration files, some of the default examples and setup steps are outlined below.

/etc/systemd/network/eth.network

[Match]
Name=eth*

[Network]
DHCP=yes

To use DHCP to configure DNS via systemd, start and enable the network name resolver service, systemd-resolved:

systemctl start systemd-resolved.service 
systemctl enable systemd-resolved.service
ln -s /run/systemd/resolve/resolv.conf /etc/resolv.conf

For a static config create a network configuration for that specific interface.

/etc/systemd/network/eth0.network

[Match]
Name=eth0

[Network]
Address=192.168.0.50/24
Gateway=192.168.0.1
DNS=192.168.0.1

For more information on networking, see Debian and systemd's documentation:

Debian WIFI Client

Note:

To use WiFi on this product, the wilc3000 driver must be installed. Run "modprobe wilc_spi" before continuing

If connecting to a WPA/WPA2 network, a wpa_supplicant config file must first be created:

wpa_passphrase yournetwork yournetworkpassphrase > /etc/wpa_supplicant/wpa_supplicant-wlan0.conf

Create the file /lib/systemd/system/wpa_supplicant@.service with these contents

[Unit]
Description=WPA supplicant daemon (interface-specific version)
Requires=sys-subsystem-net-devices-%i.device
After=sys-subsystem-net-devices-%i.device

[Service]
Type=simple
ExecStart=/sbin/wpa_supplicant -c/etc/wpa_supplicant/wpa_supplicant-%I.conf -i%I

[Install]
Alias=multi-user.target.wants/wpa_supplicant@%i.service

Create the file /etc/systemd/network/wlan0.network with:

[Match]
Name=wlan0

[Network]
DHCP=yes

See the systemctl-networkd example for setting a static IP for a network interface. The wlan0.network can be configured the same way as an eth.network.

To enable all of the changes that have been made, run the following commands:

systemctl enable wpa_supplicant@wlan0
systemctl start wpa_supplicant@wlan0
systemctl restart systemd-networkd

Debian WIFI Access Point

First, hostapd needs to be installed in order to manage the access point on the device:

apt-get update && apt-get install hostapd -y

Edit /etc/hostapd/hostapd.conf to include the following lines:

interface=wlan0
driver=nl80211
ssid=YourAPName
channel=1

Note:

Refer to the kernel's hostapd documentation for more wireless configuration options.

To start the access point launch hostapd:

hostapd /etc/hostapd/hostapd.conf &

This will start up an access point that can be detected by WIFI clients. A DHCP server will likely be desired to assign IP addresses. Refer to Debian's documentation for more details on DHCP configuration.

Debian Application Development

Debian Jessie Cross Compiling

Debian Jessie previously provided cross compilers via the Emdebian project. However, Emdebian has been unmaintained for a number of years and is no longer able to provide a viable install package. In order to cross compile from a Debian Jessie workstation, a third party cross compiler is required.

A Debian Jessie install on a workstation has the ability to build for the same release on other architectures using Debian binary libraries. A PC, virtual machine, or chroot will need to be used for this. Install Debian Jessie for your workstation here.

From a Debian workstation (not the target), run the following commands to set up the cross compiler. Note that this expects a 64-bit Debian Jessie install on the workstation. 32-bit installations are not supported at this time.

# Run "lsb_release -a" and verify Debian 8.X is returned.  These instructions are not
# expected to work on any other version or distribution.

cd ~
wget http://ftp.embeddedTS.com/ftp/ts-arm-sbc/ts-7553-V2-linux/cross-toolchains/gcc-linaro-4.9-2016.02-x86_64_arm-linux-gnueabihf.tar.xz
# The above toolchain is from Linaro. Other cross compilers can be used but have not been tested.
mkdir cross_compiler
tar xvf gcc-linaro-4.9-2016.02-x86_64_arm-linux-gnueabihf.tar.xz -C ~/cross_compiler
export PATH=$PATH:~/cross_compiler/gcc-linaro-4.9-2016.02-x86_64_arm-linux-gnueabihf/bin/
# The 'export' command needs to be run every time the user logs in. It is possible to add this command to the user's ".bashrc" file
# in their home directory to ensure it is automatically run every time the user is logged in.
su root
dpkg --add-architecture armhf
apt-get update
apt-get install build-essential

This will install a toolchain that can be used with the prefix "arm-linux-gnueabihf-". The standard GCC tools will start with that name, eg "arm-linux-gnueabihf-gcc".

The toolchain can now compile a simple hello world application. Create hello-world.c on the Debian workstation:

#include <stdio.h>
int main(){
    printf("Hello World\n");
}

To compile this:

arm-linux-gnueabihf-gcc hello-world.c -o hello-world
file hello-world

This will return that the binary created is for ARM. Copy this to the target platform to run it there.

Debian Jessie supports multiarch which can install packages designed for other architectures. On workstations this is how 32-bit and 64-bit support is provided. This can also be used to install armhf packages on an x86 based workstation.

This cross compile environment can link to a shared library from the Debian root. The package would be installed in Debian on the workstation to provide headers and ".so" files. This is included in most "-dev" packages. When run on the arm target it will also need a copy of the library installed, but it does not need the -dev package. Note that since the cross compiler used is 3rd party and not directly from Debian, some compile commands that include libraries will need additional arguments to tell the compiler and linker where on the workstation to find the necessary headers and libraries. Usually, the additional arguments will look like the following string, however adjustments may need to be made depending on the application.

 -I/usr/include -L/usr/lib/arm-linux-gnueabihf -L/lib/arm-linux-gnueabihf -Wl,-rpath=/usr/lib/arm-linux-gnueabihf,-rpath=/lib/arm-linux-gnueabihf

apt-get install libcurl4-openssl-dev:armhf

# Download the simple.c example from curl:
wget https://raw.githubusercontent.com/bagder/curl/master/docs/examples/simple.c
# After installing the supporting library, curl will link as compiling on the unit.
arm-linux-gnueabihf-gcc -I/usr/include -L/usr/lib/arm-linux-gnueabihf -L/lib/arm-linux-gnueabihf -Wl,-rpath=/usr/lib/arm-linux-gnueabihf,-rpath=/lib/arm-linux-gnueabihf simple.c -o simple -lcurl

Copy the binary to the target platform and run on the target. This can be accomplished with network protocols like NFS, SCP, FTP, etc.

If any created binaries do not rely on hardware support like GPIO or CAN, they can be run using qemu.

# using the hello world example from before:
./hello-world
# Returns Exec format error
apt-get install qemu-user-static
./hello-world

Debian Installing New Software

Debian provides the apt-get system which allows management of pre-built applications. The apt tools require a network connection to the internet in order to automatically download and install new software. The update command will download a list of the current versions of pre-built packages.

Older Debian releases are moved to a different server to indicate it is no longer getting security updates. To download packages for these older distributions, edit /etc/apt/sources.list to only have the following lines:

Jessie:

deb http://archive.debian.org/debian/ jessie main
deb-src http://archive.debian.org/debian/ jessie main

Wheezy:

deb http://archive.debian.org/debian/ wheezy main
deb-src http://archive.debian.org/debian/ wheezy main

After modifying that file, be sure to update the package list:

apt-get update

A common example is installing Java runtime support for a system. Find the package name first with search, and then install it.

root@ts:~# apt-cache search openjdk
jvm-7-avian-jre - lightweight virtual machine using the OpenJDK class library
freemind - Java Program for creating and viewing Mindmaps
icedtea-7-plugin - web browser plugin based on OpenJDK and IcedTea to execute Java applets
default-jdk - Standard Java or Java compatible Development Kit
default-jdk-doc - Standard Java or Java compatible Development Kit (documentation)
default-jre - Standard Java or Java compatible Runtime
default-jre-headless - Standard Java or Java compatible Runtime (headless)
jtreg - Regression Test Harness for the OpenJDK platform
libreoffice - office productivity suite (metapackage)
icedtea-7-jre-jamvm - Alternative JVM for OpenJDK, using JamVM
openjdk-7-dbg - Java runtime based on OpenJDK (debugging symbols)
openjdk-7-demo - Java runtime based on OpenJDK (demos and examples)
openjdk-7-doc - OpenJDK Development Kit (JDK) documentation
openjdk-7-jdk - OpenJDK Development Kit (JDK)
openjdk-7-jre - OpenJDK Java runtime, using Hotspot Zero
openjdk-7-jre-headless - OpenJDK Java runtime, using Hotspot Zero (headless)
openjdk-7-jre-lib - OpenJDK Java runtime (architecture independent libraries)
openjdk-7-source - OpenJDK Development Kit (JDK) source files
uwsgi-app-integration-plugins - plugins for integration of uWSGI and application
uwsgi-plugin-jvm-openjdk-7 - Java plugin for uWSGI (OpenJDK 7)
uwsgi-plugin-jwsgi-openjdk-7 - JWSGI plugin for uWSGI (OpenJDK 7)

In this case you will want the openjdk-7-jre package. Names of packages are on Debian's wiki or the packages site.

With the package name apt-get install can be used to install the prebuilt packages.

apt-get install openjdk-7-jre
# More than one package can be installed at a time.
apt-get install openjdk-7-jre nano vim mplayer

For more information on using apt-get refer to Debian's documentation here.

Debian Setting up SSH

To install ssh, install the package as normal with apt-get:

apt-get install openssh-server

Make sure the device is configured on the network and set a password for the remote user. SSH will not allow remote connections without a password or a valid SSH key pair.

passwd root

Note: The default OpenSSH server will not permit root to login via SSH as a security precaution. To allow root to log in via ssh anyway, edit the /etc/ssh/sshd_config file and add the line PermitRootLogin yes in the authentication section. This change will take effect after reboot or after sshd service restart.

After this setup it is now possible to connect from a remote PC supporting SSH. On Linux/OS X this is the "ssh" command, or from Windows using a client such as PuTTY.

Note:

If a DNS server is not present on the target network, it is possible to save time at login by adding "UseDNS no" in /etc/ssh/sshd_config.

Debian Starting Automatically

A systemd service can be created to start up headless applications. Create a file in /etc/systemd/system/yourapp.service

[Unit]
Description=Run an application on startup

[Service]
Type=simple
ExecStart=/usr/local/bin/your_app_or_script

[Install]
WantedBy=multi-user.target

If networking is a dependency add "After=network.target" in the Unit section. Once you have this file in place add it to startup with:

# Start the app on startup, but will not start it now
systemctl enable yourapp.service

# Start the app now, but doesn't change auto startup
systemctl start yourapp.service

Note:

See the systemd documentation for in depth documentation on services.

To start an application on bootup with X11 instead change the x-session-manager. By default the system starts xfce:

root@ts:~# ls -lah /usr/bin/x-session-manager 
lrwxrwxrwx 1 root root 35 May 26  2015 /usr/bin/x-session-manager -> /etc/alternatives/x-session-manager
root@ts:~# ls -lah /etc/alternatives/x-session-manager
lrwxrwxrwx 1 root root 19 May 26  2015 /etc/alternatives/x-session-manager -> /usr/bin/startxfce4

The x-session can be modified to only start specified processes. Create the file /usr/bin/mini-x-session with these contents:

#!/bin/bash
matchbox-window-manager -use_titlebar no &

exec xfce4-terminal

You may need to "apt-get install matchbox-window-manager." first. This is a tiny window manager which also has a few flags that simplify embedded use. Now enable this session manager and restart slim to restart x11 and show it now.

chmod a+x /usr/bin/mini-x-session
rm /etc/alternatives/x-session-manager
ln -s /usr/bin/mini-x-session /etc/alternatives/x-session-manager
service slim restart

If the x-session-manager process ever closes x11 will restart. The exec command allows a new process to take over the existing PID. In the above example xfce4-terminal takes over the PID of x-session-manager. If the terminal is closed with commands like exit the slim/x11 processes will restart.

Backup / Restore

MicroSD Card

TS-7120 MicroSD Backup/restore

eMMC

TS-7120 eMMC Backup/restore

Compile the Kernel

TS-7120 Kernel Compile Guide

Features

ADC

The TS-7120 has two channels of ADC, and those inputs are available on the CN16-A connector, as 6UL_ADC_0 and 6UL_ADC_1.

The standard linux kernel offers a simple interface to the ADC that does not require any sort of programming to use. For example, to see the "raw" reading from the AN_IN_1 input, type the following command:

WORK IN PROGRESS

cat /sys/bus/iio/devices/iio\:device0/in_voltage4_raw

To convert this raw value to a voltage, it must be multiplied by the "scaling factor", which can be found by typing the following command:

cat /sys/bus/iio/devices/iio\:device0/in_voltage_scale

The result will be in millivolts. If you have the bc utility installed, you can enter the following command:

echo `cat /sys/bus/iio/devices/iio\:device0/in_voltage4_raw` \* `cat /sys/bus/iio/devices/iio\:device0/in_voltage_scale` | bc

To switch to the 10.9V input range, the appropriate enable must be set high. Each input AN_IN_1 through AN_IN_4 has its own enable, EN_ADC1_10V through EN_ADC4_10V, and these are controlled by GPIO #10 through #13. For example, to switch AN_IN_1 to the 10.9V range, run the following command:

tshwctl -a 10 -w 3

Note that the result must now be multiplied by (10.9/2.5). Note also that the input impedance will now be around 2k ohms.

To switch to the 20mA current-loop mode, the appropriate enable must be set high. These are EN_CL_1 through EN_CL_4, and are controlled by GPIO #6 through #9. First select the 2.5V range as follows:

tshwctl -a 10 -w 1

And then set the EN_CL_1 enable high as follows:

tshwctl -a 6 -w 3

ADC Table
#	'raw'	2.5/10.9V Select	20mA Loop Select
AN_IN_1	in_voltage4_raw	GPIO 10	GPIO 6
AN_IN_2	in_voltage5_raw	GPIO 11	GPIO 7
AN_IN_3	in_voltage8_raw	GPIO 12	GPIO 8
AN_IN_4	in_voltage9_raw	GPIO 13	GPIO 9

Note:

The four ADC inputs use the CPU ADC inputs 4,5,8, and 9, corresponding with the 'raw' entries in the above table.

Bluetooth

The Wi-Fi option for this platform also includes a Bluetooth 5.0 LE module. Support for Bluetooth is provided by the BlueZ project. BlueZ has support for many different profiles for HID, A2DP, and many more. Refer to the BlueZ documentation for more information. Please see our BLE Examples page for information on installing the latest BlueZ release, getting started, and using demo applications.

Both Wi-Fi and Bluetooth can be active at the same time on this platform. Note however, that either the Wi-Fi interface needs to be not brought up if Wi-Fi is unused, or it needs to actively connect to an access point or act as an access point. The Bluetooth module can be activated with the following commands:

For Bluez versions found on Debian Stretch and below:

# Enable Bluetooth, and load the firmware
echo BT_POWER_UP > /dev/wilc_bt
sleep 1
echo BT_FW_CHIP_WAKEUP > /dev/wilc_bt
sleep 1
echo BT_DOWNLOAD_FW > /dev/wilc_bt
sleep 1

# Attach the BLE device to the system, increase the baud, and enable flow control
hciattach /dev/ttyS6 any 115200 noflow
sleep 1
hcitool cmd 0x3F 0x0053 00 10 0E 00 01
stty -F /dev/ttyS6 921600 crtscts

For newer versions of BlueZ found on Debian Buster or newer:

echo BT_POWER_UP > /dev/wilc_bt
sleep 1
echo BT_FW_CHIP_WAKEUP > /dev/wilc_bt
sleep 1
echo BT_DOWNLOAD_FW > /dev/wilc_bt
sleep 1

btattach -N -B /dev/ttyS6 -S 115200 &
sleep 1
hcitool cmd 0x3F 0x0053 00 10 0E 00 01
kill %1 # This terminates the above btattach command
sleep 1
btattach -B /dev/ttyS6 -S 921600 &

At this point, the device is running at 921600 baud with flow control, and is fully set up ready to be controlled by various components of BlueZ tools. For example, to do a scan of nearby devices:

bluetoothctl
power on
scan on

This will return a list of devices such as:

root@ts-imx6ul:~# bluetoothctl  
Agent registered
[CHG] Controller F8:F0:05:XX:XX:XX Pairable: yes
[bluetooth]# power on
Changing power on succeeded
[CHG] Controller F8:F0:05:XX:XX:XX Powered: yes
[bluetooth]# scan on
Discovery started
[CHG] Controller F8:F0:05:XX:XX:XX Discovering: yes
[NEW] Device 51:DD:C0:XX:XX:XX Device_Name
[NEW] Device 2A:20:E2:XX:XX:XX Device_Name
[CHG] Device 51:DD:C0:XX:XX:XX RSSI: -93
[CHG] Device 51:DD:C0:XX:XX:XX RSSI: -82
[NEW] Device E2:08:B5:XX:XX:XX Device_Name
[CHG] Device 51:DD:C0:XX:XX:XX RSSI: -93
[CHG] Device 2A:20:E2:XX:XX:XX RSSI: -94
[NEW] Device 68:62:92:XX:XX:XX Device_Name
[NEW] Device 68:79:12:XX:XX:XX Device_Name
[bluetooth]# quit

Please note that the Bluetooth module requires the modem control lines CTS and RTS as flow control when running at higher baud rates. It is possible to run the module at the initial 115200 baud if the flow control lines are unwanted.

The module supports some other commands as well:

# Allow the BT chip to enter sleep mode
echo BT_FW_CHIP_ALLOW_SLEEP > /dev/wilc_bt

# Power down the BT radio when not in use
echo BT_POWER_DOWN > /dev/wilc_bt

CAN

The i.MX6UL includes 2 CAN controllers which support the SocketCAN interface, and these are presented on the CN32 connector and on the CN17 connector (custom populations may differ).

Before proceeding with the examples, see the Kernel's CAN documentation here.

This board comes preinstalled with can-utils which can be used to communicate over a CAN network without writing any code. The candump utility can be used to dump all data on the network

## First, set the baud rate and bring up the device:
ip link set can0 type can bitrate 250000
ip link set can0 up

## Dump data & errors:
candump can0 &

## Send the packet with:
#can_id = 0x7df
#data 0 = 0x3
#data 1 = 0x1
#data 2 = 0x0c
cansend can0 -i 0x7DF 0x3 0x1 0x0C
## Some versions of cansend use a different syntax.  If the above
## commands gives an error, try this instead:
#cansend can0 7DF#03010C

The above example packet is designed to work with the Ozen Elektronik myOByDic 1610 ECU simulator to read the RPM speed. In this case, the ECU simulator would return data from candump with:

 <0x7e8> [8] 04 41 0c 60 40 00 00 00 
 <0x7e9> [8] 04 41 0c 60 40 00 00 00

In the output above, columns 6 and 7 are the current RPM value. This shows a simple way to prove out the communication before moving to another language.

The following example sends the same packet and parses the same response in C:

#include <stdio.h>
#include <pthread.h>
#include <net/if.h>
#include <string.h>
#include <unistd.h>
#include <net/if.h>
#include <sys/ioctl.h>
#include <assert.h>
#include <linux/can.h>
#include <linux/can/raw.h>

int main(void)
{
	int s;
	int nbytes;
	struct sockaddr_can addr;
	struct can_frame frame;
	struct ifreq ifr;
	struct iovec iov;
	struct msghdr msg;
	char ctrlmsg[CMSG_SPACE(sizeof(struct timeval)) + CMSG_SPACE(sizeof(__u32))];
	char *ifname = "can0";
 
	if((s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
		perror("Error while opening socket");
		return -1;
	}
 
	strcpy(ifr.ifr_name, ifname);
	ioctl(s, SIOCGIFINDEX, &ifr);
	addr.can_family  = AF_CAN;
	addr.can_ifindex = ifr.ifr_ifindex;
 
	if(bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
		perror("socket");
		return -2;
	}
 
 	/* For the ozen myOByDic 1610 this requests the RPM guage */
	frame.can_id  = 0x7df;
	frame.can_dlc = 3;
	frame.data[0] = 3;
	frame.data[1] = 1;
	frame.data[2] = 0x0c;
 
	nbytes = write(s, &frame, sizeof(struct can_frame));
	if(nbytes < 0) {
		perror("write");
		return -3;
	}

	iov.iov_base = &frame;
	msg.msg_name = &addr;
	msg.msg_iov = &iov;
	msg.msg_iovlen = 1;
	msg.msg_control = &ctrlmsg;
	iov.iov_len = sizeof(frame);
	msg.msg_namelen = sizeof(struct sockaddr_can);
	msg.msg_controllen = sizeof(ctrlmsg);  
	msg.msg_flags = 0;

	do {
		nbytes = recvmsg(s, &msg, 0);
		if (nbytes < 0) {
			perror("read");
			return -4;
		}

		if (nbytes < (int)sizeof(struct can_frame)) {
			fprintf(stderr, "read: incomplete CAN frame\n");
		}
	} while(nbytes == 0);

	if(frame.data[0] == 0x4)
		printf("RPM at %d of 255\n", frame.data[3]);
 
	return 0;
}

See the Kernel's CAN documentation here. Other languages have bindings to access CAN such as Python, Java using JNI.

In production use of CAN we also recommend setting a restart-ms for each active CAN port.

ip link set can0 type can restart-ms 100

This allows the CAN bus to automatically recover in the event of a bus-off condition.

CPU

TS-7120 CPU

DMX

Three pins (1, 2, and 7) on the RJ-45 connector (CN8) are allocated as a DMX-512 controller. They are in the same position on the connector as in standard DMX. However, the remaining pins are allocated as an RS-232 port, in the positions specified by EIA/TIA-561. The two interfaces must not be used at the same time without an adapter cable.

eMMC

TS-7120 EMMC

Ethernet Ports

TS-7120 Ethernet

FPGA

FPGA Registers

The TS-7120 FPGA is connected to the CPU over the WEIM bus. This provides 8-bit, 16-bit, or 32-bit access to the FPGA mapped at 0x5000_0000.

For example, to read the syscon 0x0:

peekpoke 32 0x50004000

Offset	Description
0x00	16550 #0
0x10	16550 #1
0x20	16550 #2
0x30	16550 #3
0x40	16550 #4
0x50	16550 #5
0x60	16550 #6
0x70	16550 #7
0x80	16550 #8
0x100	Opencore SPI controller #0
0x120	Opencore SPI controller #1
0x140	Opencore SPI controller #2
0x280	TS SDcore
0x4000	Syscon

Syscon

Offset

Bits

Description

0x0

31:0

Model ID

0x4

31:0

FPGA_REV_CRC32

0x08 (read)

31:20

Reserved

19

Toggles when data_valid ASMI output is 1

18

Illegal Erase

17

Illegal Write

16

ASMI Busy

15:8

ASMI Status out

7:0

ASMI Data out

0x08 (write)

31

Reserved

30:29

Operation
0	Read
1	Write
2	Sector Erase
3	Read Status

28:8

ASMI Address

7:0

ASMI data in

0x0c

31:0

Scratch register

0x10

15:0

DIO bank 0 Data Set ^[1]

0x12

15:0

DIO bank 0 Output Enable Set ^[2]

0x14

15:0

DIO bank 0 Data Clear ^[2]

0x16

15:0

DIO bank 0 Output Enable clear ^[2]

0x18

31:0

Reserved

0x1c

31:16

Current loop PWM #1

15:0

Current loop PWM #0

0x24

31:0

IRQ Status

0x28