TS-7600

This board is still only available as an engineering sample and is subject to change. The hardware is finalized, but the FPGA register layout is still expected to change and software is still being finalized.

TS-7600

Product Page
Documentation
Schematic
Mechanical Drawing
FTP Path
Processor
Freescale i.MX283
454MHz ARM9
CPU Datasheet
RAM
128MB or 256MB DDR2
FPGA
Lattice LFXP2 5K
Reprogrammable with Opencore
DIO
55x DIO
External Interfaces
USB 2.0 2 hosts
1x 10/100 Ethernet
1x I2C/TWI
SPI
8x TTL UART
Internal Storage Media
2x SD
Power Requirements
5VDC, or USB Device
Operates around 1.2W
Operating Temperature
-20C
70C
Mechanical
66.04mm X 74.30mm
Height 17.10mm (approx)
Weight 41.6g (approx)

Overview

The TS-7600 was released April. 2013. This is a small embedded board with a Freescale i.MX283 454Mhz ARM9 CPU, Lattice XP2 5k FPGA, and 128-256MB DDR2.

Getting Started

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

• Debian.org

Virtualization

• Virtualbox (Windows or OSX hosts)
• VMware Player
• Parallels (OSX)

Suggested Linux Distributions

• Debian
• Ubuntu

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

Development Kit and Accessories

The KIT-7600 includes the items that are necessary for development with the TS-7600.

KIT-7600 Contents

Item	Description
	A Sandisk MicroSD card with a Vivitar SD reader. We recommend Sandisk SD cards as that is what we use for testing. Whenever we receive batches of SD cards from our suppliers, we will pull a few cards for testing to ensure they behave within our expectations. The Vivitar reader is also recommended because it was tested to work with the most SD cards, and it does not have a potentially damaging voltage drop that many consumer SD readers have.
	The TS-752 demonstrates the flexibility of a Technologic Systems SoM by connecting FPGA driven IO pins to relays, buffered digital inputs, buffered digital outputs, and RS-485 drivers. It also provides an RS-232 driver for the serial console. A TS-ENC750 with a TS-7500 or TS-7550 can provide a complete solution for many embedded applications.
	The PS-5VDC-REG-8PG is a 5V 2.5A power supply by Condor. Optionally type I or C adapters are available and will ship with the product if ordered to a country where this specific adapter is required. If you require one of these adapters it is recommended to put this in the comments for your order.
	The CB-DB9Y is a splitter cable used to bring out multiple uarts on the same header.
	The CB7-05 is a 5 foot null modem cable. This is commonly used to connect to your workstation.
	This is a USB A male to USB B male which is commonly used to connect the board to your PC as a USB device. This is also used for connecting the TS-9449 to your workstation for a USB to serial console.

The other options include:

Item	Description
	The CN-PC104-40PIN-F is the mating connector for the 44 pin male header on the SBC. The 4 omitted pins are the JTAG pins which are only used for factory programming. The pins on this header are a very common 0.100" pitch.
	The WIFI-N-USB is an ASUS 802.11N adapter. See the WIFI-N-USB page for more details.
	The TS-ENC750 provides both the TS-752 and a metal enclosure.
	The TS-ENC750-DIN is the TS-ENC750 with a DIN rail mount.
	The TS-752 demonstrates the flexibility of a Technologic Systems SoM by connecting FPGA driven IO pins to relays, buffered digital inputs, buffered digital outputs, and RS-485 drivers. It also provides an RS-232 driver for the serial console. A TS-ENC750 with a TS-7500 or TS-7550 can provide a complete solution for many embedded applications.

Booting up the board

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 board.

The TS-7600 has 2 ways that it can be powered. The TS-7600 has a 5V line on the #44 Pin Header which can be used to supply power. The TS-752 baseboard can power the 5V rail through the terminal blocks with the PS-5VDC-REG-8PG. The second option is to use the USB Device port which can provide 500mA at 5V. The TS-7600 will require approximately 250mA at idle. An ideal power supply for the TS-7600 will allow up to 1A.

WARNING:

Do not use multiple power connections simultaneously or you may damage the board.

Once you have applied power you should look for console output. The first output is from the bootrom:

  >> TS-BOOTROM - built Apr 12 2013 13:35:38
  >> Copyright (c) 2009, Technologic Systems
  >> Booting from SD card...
  .
  .
  .

This output will only appear on the serial console on the 26 pin header and cannot be redirected like the rest of the booting messages. The "Booting From" message will indicate your boot media. The 3 dots after indicate steps of the booting procedure. The first dot means the MBR was copied into memory and executed. The next two dots indicate that the MBR executed and the kernel and initrd were found and copied to memory.

Get a Console

Option 1: Telnet

If your system is configured with zeroconf support (Avahi, Bonjour, etc) you can simply connect to the TS-7600 with:

telnet ts7600-<last 6 characters of the MAC address>
# You will need to use your TS-7600 MAC address, but 
# for example if you mac is 00:d0:69:01:02:03
telnet ts7600-010203

When the board first powers up it has two network interfaces. The first interface eth0 is configured to use IPv4LL, and eth0:0 is configured to use DHCP. The board broadcasts using multicast DNS advertising the _telnet._tcp service. You can use this to query all of the available TS-7600s on the network.

From Linux you can use the avahi commands to query for all telnet devices with:

avahi-browse _telnet._tcp

Which would return:

+   eth0 IPv4 TS-7600 console [4f47a5]                      Telnet Remote Terminal local
+   eth0 IPv4 TS-7600 console [4f471a]                      Telnet Remote Terminal local

This will show you the mac address you can use to resolve the board. In this case you can connect to either ts7600-4f47a5 or ts7600-4f47a5.

From Windows you can use Bonjour Print Services to get the dns-sd command. OSX also comes preinstalled with the same command. Once this is installed you can run:

dns-sd -B _telnet._tcp

Which will return:

Browsing for _telnet._tcp
Timestamp     A/R Flags if Domain                    Service Type              Instance Name
10:27:57.078  Add     3  2 local.                    _telnet._tcp.             TS-7600 console [4f47a5]
10:27:57.423  Add     3  2 local.                    _telnet._tcp.             TS-7600 console [4f47a5]

This will show you the mac address you can use to resolve the board. In this case you can connect to either ts7600-4f47a5 or ts7600-4f47a5.

Option 2: Serial Console

With the development kit you should have the TS-752 which brings out the debug console ttyS0 from the ARM processor as RS232. Custom baseboards should emulate the TS-752 for bringing out console. See the schematics available on the TS-752 page. The console from the UART will use 115200 baud, 8n1 (8 data bits 1 stop bit), and no flow control.

Note:

If DIO_9 is held low during boot until the red LED comes on (around 5 seconds), console will be redirected to XUART 0. On most baseboards where this is applicable, DIO_9 is an exposed button.

Console from Linux

There are many serial terminal applications for Linux, three common used applications are picocom, screen, and minicom. These examples demonstrate all three applications and assume that the serial device is "/dev/ttyUSB0" which is common for USB adapters. Be sure to replace the serial device string with that of the device on your workstation.

picocom is a very small and simple client.

sudo picocom -b 115200 /dev/ttyUSB0

screen is a terminal multiplexer which happens to have serial support.

sudo screen /dev/ttyUSB0 115200

Or a very commonly used client is minicom which is quite powerful but requires some setup:

sudo minicom -s

• Navigate to 'serial port setup'
• Type "a" and change location of serial device to "/dev/ttyUSB0" then hit "enter"
• If needed, modify the settings to match this and hit "esc" when done:

     E - Bps/Par/Bits          : 115200 8N1
     F - Hardware Flow Control : No
     G - Software Flow Control : No

• Navigate to 'Save setup as dfl', hit "enter", and then "esc"

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.

Initrd / Busybox

When the board first boots up you should have a console such as:

>> TS-BOOTROM - built Jan 21 2013 16:17:55
>> Copyright (c) 2012, Technologic Systems
.
.
Uncompressing Linux... done, booting the kernel.
Booted in 0.67 s
Type 'tshelp' for help

This is a minimalistic initial ram filesystem that includes our specific utilities for the board, and is then used to bootstrap the Linux root. The initramfs is built into the kernel image so it cannot be modified without rebuilding the kernel, but it does include 8 bits for common configuration option we call soft jumpers.

Soft Jumpers

Jumper	Function
1	Boot automatically to Debian
2	Baseboard Specific
3	Baseboard Specific
4	Read Only mode
5	Disable Network Autoconfiguration
6	Reserved
7	Reserved
8	Reserved

There are 2 ways to manipulate soft jumpers on the board. The web interface at "http://ts7600-<last 6 chars of the MAC" has a list of checkboxes that will immediately change the values. You can also use tshwctl:

# Boot automatically to Debian:
tshwctl --setjp=1

# Or revert to the initramfs:
tshwctl --removejp=1

Many applications are capable of running from the initramfs. Even though the full Linux root has not booted at this point, $PATH and symlinks make it possible to run many applications. The default initramfs startup script will execute "/ts/init" in the Linux Root which can be used for any initialization that is required. When executing in this environment there are several differences from Debian:

• The second partition is mounted at /mnt/root/ as read only
  • You can mount this as read/write with:

mount -o remount,rw /mnt/root/
# Write data
mount -o remount,ro /mnt/root/
sync

• • Make sure the SD card is mounted read only when the write is complete to avoid corruption caused by unplanned power outages. Interrupting a write to the SD card can cause corruption.
• $PATH is set up to use /bin:/sbin:/mnt/root/bin:/mnt/root/sbin:/usr/bin:/usr/sbin.
• Do not use apt-get in this environment. This is not where the Debian/OE install scripts are intended to run and will have unintended side effects. You can type "exit" to do a full boot to run these utilities.
• The shell is using busybox sh which is optimized for size so many utilities do not implement all options as the GNU alternative. Many times the best documentation for these utilities is in the comments in the utilitys' source code. The other option is to call the full Linux utility by full path. For example, to call Debian's "ls" utility you would use /mnt/root/bin/ls.

Debian Configuration

For development, it is recommended to work directly in Debian on the SD card. Debian provides many more packages and a much more familiar environment for users already versed in Debian. Through Debian it is possible to configure the network, use the 'apt-get' suite to manage packages, and perform other configuration tasks. Out of the box the Debian distribution does not have any default username/password set. The account "root" is set up with no password configured. It is possible to log in via the serial console without a password but many services such as ssh will require a password set or will not allow root login at all. It is advised to set a root password and create a user account when the unit is first booted.

Note:

Setting up a password for root is only feasible on the uSD image.

It is also possible to cross compile applications. Using a Debian host system will allow for installing a cross compiler to build applications. The advantage of using a Debian host system comes from compiling against libraries. Debian cross platform support allows one to install the necessary development libraries on the host, building the application on the host, and simply installing the runtime libraries on the target device. The library versions will be the same and completely compatible with each other. See the respective Debian cross compiling section for more information.

Configuring the Network

From almost any Linux system you can use "ip" or the ifconfig/route commands to initially set up the network. To configure the network interface manually you can use the same set of commands in the initramfs or Debian.

# 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 commonly networks will offer DHCP which can be set up with one command:

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

Configure DHCP in the initrd:

udhcpc -i eth0
# Or if you're on a baseboard with a second ethernet port, you can use that as:
udhcpc -i eth1

To make your network settings take effect on startup in Debian, edit /etc/network/interfaces:

 # Used by ifup(8) and ifdown(8). See the interfaces(5) manpage or 
 # /usr/share/doc/ifupdown/examples for more information.          
                                                                   
 # We always want the loopback interface.                          
 #                                                                 
 auto lo                                                           
 iface lo inet loopback                                            
                                                                   
 auto eth0                                                         
 iface eth0 inet static                                            
   address 192.168.0.50                                            
   netmask 255.255.255.0                                           
   gateway 192.168.0.1                                             
 auto eth1                                                         
 iface eth1 inet dhcp

Note:

During Debian's startup it will assign the interfaces eth0 and eth1 to the detected mac addresses in /etc/udev/rules.d/70-persistent-net.rules. If the system is imaged while this file exists it will assign the new interfaces as eth1 and eth2. This file is generated automatically on startup, and should be removed before your first software image is created. The initrd network configuration does not use this file.

In this example eth0 is a static configuration and eth1 receives its configuration from the DHCP server. For more information on network configuration in Debian see their documentation here.

Installing New Software

Debian provides the apt-get system which lets you manage pre-built applications. Before you do this you need to update Debian's list of package versions and locations. This assumes you have a valid network connection to the internet.

Note:

The NAND image is based on the emdebian project which is no longer maintained.

Debian Squeeze has been moved to archive so you will need to update /etc/apt/sources.list to contain only these two lines:

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

apt-get update

For example, lets say you wanted to install openjdk for Java support. You can use the apt-cache command to search the local cache of Debian's packages.

 <user>@<hostname>:~# apt-cache search openjdk                                                                                  
 icedtea-6-jre-cacao - Alternative JVM for OpenJDK, using Cacao                                                           
 icedtea6-plugin - web browser plugin based on OpenJDK and IcedTea to execute Java applets                                 
 openjdk-6-dbg - Java runtime based on OpenJDK (debugging symbols)                                                        
 openjdk-6-demo - Java runtime based on OpenJDK (demos and examples)                                                      
 openjdk-6-doc - OpenJDK Development Kit (JDK) documentation                                                              
 openjdk-6-jdk - OpenJDK Development Kit (JDK)                                                                            
 openjdk-6-jre-headless - OpenJDK Java runtime, using Hotspot Zero (headless)                                             
 openjdk-6-jre-lib - OpenJDK Java runtime (architecture independent libraries)                                            
 openjdk-6-jre-zero - Alternative JVM for OpenJDK, using Zero/Shark                                                       
 openjdk-6-jre - OpenJDK Java runtime, using Hotspot Zero                                                                 
 openjdk-6-source - OpenJDK Development Kit (JDK) source files                                                            
 openoffice.org - office productivity suite                                                                               
 freemind - Java Program for creating and viewing Mindmaps                                                                
 default-jdk-doc - Standard Java or Java compatible Development Kit (documentation)                                       
 default-jdk - Standard Java or Java compatible Development Kit                                                           
 default-jre-headless - Standard Java or Java compatible Runtime (headless)                                               
 default-jre - Standard Java or Java compatible Runtime                                                                   

In this case you will likely want openjdk-6-jre to provide a runtime environment, and possibly openjdk-6-jdk to provide a development environment. You can often find the names of packages from Debian's wiki or from just searching on google as well.

Once you have the package name you can use apt-get to install the package and any dependencies. This assumes you have a network connection to the internet.

apt-get install openjdk-6-jre
# You can also chain packages to be installed
apt-get install openjdk-6-jre nano vim mplayer

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

Setting up SSH

On our boards we include the Debian package for openssh-server, but we remove the automatically generated keys for security reasons. To regenerate these keys:

dpkg-reconfigure openssh-server

Make sure your board is configured properly on the network, and set a password for your remote user. SSH will not allow remote connections without a password or a shared key.

Note:

Setting up a password for root is only feasible on the uSD image.

passwd root

You should now be able to connect from a remote Linux or OSX system using "ssh" or from Windows using a client such as putty.

Note:

If your intended application does not have a DNS source on the target network, it can save login time to add "UseDNS no" in /etc/ssh/sshd_config.

Starting Automatically

From Debian the most straightforward way to add your application to startup is to create a startup script. This is an example simple startup script that will toggle the red led on during startup, and off during shutdown. In this case I'll name the file customstartup, but you can replace this with your application name as well.

Edit the file /etc/init.d/customstartup to contain this:

 #! /bin/sh
 # /etc/init.d/customstartup
 
 case "$1" in
   start)
     /path/to/your/application
     ## If you are launching a daemon or other long running processes
     ## this should be started with
     # nohup /usr/local/bin/yourdaemon &
     ;;
   stop)
     # if you have anything that needs to run on shutdown
     /path/to/your/shutdown/scripts
     ;;
   *)
     echo "Usage: customstartup start|stop" >&2
     exit 3
     ;;
 esac
 
 exit 0

Note:

The $PATH variable is not set up by default in init scripts so this will either need to be done manually or the full path to your application must be included.

To make this run during startup and shutdown:

update-rc.d customstartup defaults

To manually start and stop the script:

/etc/init.d/customstartup start
/etc/init.d/customstartup stop

While this is useful for headless applications, if you are using X11 you should modify "/usr/bin/default-x-session":

#!/bin/sh

export HOME=/root/
export ICEWM_PRIVCFG=/mnt/root/root/.icewm/

icewm-lite &

while ! xprop -root | grep -q _NET_SUPPORTING_WM_CHECK
do
    sleep 0.1
done

exec /usr/bin/fullscreen-webkit http://127.0.0.1

Replace fullscreen-webkit with your own graphical application.

Backup / Restore

todo

MicroSD Card

todo

Software Development

Compile the Kernel

For adding new support to the kernel, or recompiling with more specific options you will need to have an X86 compatible Linux host available that can handle the cross compiling. Compiling the kernel on the board is not supported or recommended. Before building the kernel you will need to install a few support libraries on your workstation:

Prerequisites

RHEL/Fedora/CentOS:

yum install ncurses-devel ncurses
yum groupinstall "Development Tools" "Development Libraries"

Ubuntu/Debian:

sudo apt-get install build-essential libncurses5-dev libncursesw5-dev git
## If you are on a 64-bit system then 32-bit libraries will be required for the toolchain
# sudo apt-get install ia32-libs

For other distributions, please refer to their documentation to find equivalent tools.

Download sources and configure

git clone https://github.com/embeddedarm/linux-2.6.35.3-imx28.git

# This sets up the default configuration that we ship with for the TS-471x
make ts7600_defconfig

Once you have the configuration ready you can make your changes to the kernel. Commonly a reason for recompiling is to add support that was not built into the standard image's kernel. You can get a menu to browse available options by running:

make menuconfig

You can use the "/" key to search for specific terms through the kernel.

Build the kernel

Once you have it configured you can begin building the kernel. This usually takes about 5-10 minutes.

make

Install the Kernel and Modules

Next you need to install the kernel and modules to the SD card. Freescale uses a specialized booting mechanism for their processor, so to simplify installation we provide a script to handle installation as well as building/installing wireless-compat.

For example, if your workstation's SD card is /dev/mmcblk0:

sudo ./install_to_sd /dev/mmcblk0p
## or sdb
# sudo ./install_to_sd /dev/sdb

Features

CPU

This board features the i.MX283 454MHz ARM9 from Freescale. For more information about the processor and it's included peripherals, refer to the cpu manual.

FPGA

todo

FPGA Bitstreams

todo

FPGA Programming

todo

NBUS (FPGA to CPU connection)

This CPU uses a NAND bus to access the FPGA registers. Since this is not an atomic access, we have created the NBUS to allow applications to safely share access to FPGA resources.

Example NBUS application

When writing applications that should communicate over the NBUS you should use the calls in nbus.c and nbus.h. These will compile for c/c++ but if you are using another language such as Java or Python the best implementation is typically to write your hardware accesses in C, and use your languages popen/system() calls to execute the application handling NBUS calls.

All of the registers used in this example code are documented in the #Syscon.

#include <stdio.h>
#include <stdint.h>
#include <unistd.h>
#include "nbus.h"

int main (int argc, char **argv)
{
	uint16_t val;
	int i;
	nbuslock();

	//// Set DIO 7 low
	// Set output value to 0
	val = nbuspeek16(0xa);
	nbuspoke16(0xa, val & ~(1 << 7));
	// Set dio 7 direction to output
	val = nbuspeek16(0xc);
	nbuspoke16(0xc, val | (1 << 7));

	//// Set DIO 7 high
	// DDR is already set to output, so
	// set output value
	val = nbuspeek16(0xa);
	nbuspoke16(0xa, val | (1 << 7));

	//// Toggle Red LED 10 times
	val = nbuspeek16(0x2);
	for(i = 0; i < 10; i++) {
		// The first time this is called in the loop
		// the NBUS lock is already acquired, but will is safe
		// to call if you already have the lock
		nbuslock(); 
		if(i % 2) {
			nbuspoke16(0x2, val & ~(1 << 14));
		} else {
			nbuspoke16(0x2, val | ( 1 << 14));
		}
		// The NBUS lock should be held as little as possible
		// since other peripherals will need access.  When 
		// going into an operation like a sleep, a flush, or
		// any other syscal that will stall the system without
		// actually needing the lock, it should be released first.
		nbusunlock();
		sleep(1);
	}

	return 0;
}

XUARTs

The XUART controller is a core we have included in the FPGA, as well as a userspace application called xuartctl for accessing these UARTs. Rather than using a kernel driver with the standard serial interface, we have implemented the XUARTs with features to simplify application development. The XUARTs allow you to easily use arbitrary baud rates, nonstandard modes such as DMX or 9n1, and they allow a very low latency operation. The XUART layer also uses the very low overhead TCP layer which allows you to transport serial over the network without writing any code.

The simplest example to get started is to define the port with:

xuartctl --server --port=1 --speed=115200

This will return "ttyname=/dev/pts/0", or a higher pts number. You can use this /dev/pts/# device to access the UART, but note that the pts device number can change based on other ssh, telnet or other processes. See this section for a sample script to setup the XUARTs with a predictable device name.

For more information and detailed usage, see the xuartctl page.

Name	Type	Location	TX Enable
ttyS0	TTL	pins 7 (TX) and 8 (RX) of the ##44 Pin Header.	N/A
XUART0	TTL	pins 5 (TX) and 6 (RX) of the #44 Pin Header.	N/A
XUART1	TTL	pins 19 (TX) and 20 (RX) of the #44 Pin Header.	pin 27 of the #44 Pin Header
XUART2	TTL	pins 21 (TX) and 22 (RX) of the #44 Pin Header	pin 28 of the #44 Pin Header
XUART3	TTL	pins 23 (TX) and 24 (RX) of the #44 Pin Header	N/A
XUART4	TTL	pin 25 (TX) and 26 (RX) on the #44 Pin Header	N/A
XUART5	TTL	pin 31 (TX) and 32 (RX) on the #44 Pin Header	pin 29 of the #44 Pin Header
XUART6	TTL	pin 34 (RX) and 33 (TX) on the #44 Pin Header	pin 30 of the #44 Pin Header
XUART7	TTL	pin 36 (RX) and 35 (TX on the #44 Pin Header	N/A

Battery Backed RTC and Temperature Sensor

The TS-7600 features a temperature compensating RTC which maintains 0.5ppm between -20C to 70C. This is accessed in software using tshwctl. By default, tshwctl will run "tshwctl --getrtc" on startup which will pull system time from the RTC, and set the system time. During the Technologic Systems production process the RTC will be programmed with an accurate time.

If time ever needs to be set you can run:

tshwctl --setrtc

This will take the system time and write it to the RTC. The battery in the RTC will last approximately 10 years for most applications, but the RTC allows you to see when the battery reaches low or critical voltages:

# tshwctl --rtcinfo             
rtc_present=1                   
rtctemp_millicelsius=36000      
rtcinfo_oscillator_ok=1         
rtcinfo_batt_low=0         
rtcinfo_batt_crit=0         
rtcinfo_firstpoweroff=0000000000
rtcinfo_lastpoweron=0000000000

COM Ports

The XUART ports will be controlled with xuartctl. By default they will not have devices in /dev/.

Name	Type	Location
ttyS0 (console)	TTL	pins 7 (TX) and 8 (RX) of the #44 Pin Header.
XUART0	TTL	pins 5 (TX) and 6 (RX) of the #44 Pin Header.
XUART1	TTL	pins 19 (TX), 20 (RX), and 27 (TXEN) of the #44 Pin Header.
XUART2	TTL	pins 21 (TX), 22 (RX), and 28 (TXEN) of the #44 Pin Header.
XUART3	TTL	pins 23 (TX) and 24 (RX) of the #44 Pin Header.
XUART4	TTL	pins 25 (TX) and 26 (RX) of the #44 Pin Header.
XUART5	TTL	pins 31 (TX), 32 (RX), and 29 (TXEN) of the #44 Pin Header.
XUART6	TTL	pins 34 (TX), 33 (RX), and 30 (TXEN) of the #44 Pin Header.
XUART7	TTL	pins 36 (TX) and 35 (RX) of the #44 Pin Header.

Note:

Refer to the TS-752 page if using the development baseboard.

SD

todo

SPI Flash

todo

CAN

Note:

The default TS-7600 bitstream does not include CAN. See the #FPGA Bitstreams section for more information on bitstreams including CAN.

Syscon

Offset	Bits	Usage
0x0	15:0	Model ID: Reads 0x7600
0x2	15	Green LED (1 - on)
	14	Red LED (1 - on)
	13-12	Scratch Reg
	11	Reset Switch Enable (1 - reboot when dio9 low)
	10	Reserved latched mode3 value
	9	Reserved latched mode2 value
	8	Reserved latched mode1 value
	7-4	Board Submodel (0x0 on production units)
	3:0	FPGA revision
0x4	15:0	Random data changed every 1 second
0x6	15-4	Reserved
	3	Lattice tagmem clock
	2	Lattice tagmem serial in
	1	Lattice tagmem CSn
	0	Lattice tagmem serial out
0x8	15:0	DIO 15:0 input data
0xa	15:0	DIO 15:0 output data
0xc	15:0	DIO 15:0 data direction (1 - output)
0xe	15:0	DIO 31:16 input data
0x10	15:0	DIO 31:16 output data
0x12	15:0	DIO 31:16 data direction (1 - output)
0x14	15:0	DIO 47:32 input data
0x16	15:0	DIO 47:32 output data
0x18	15:0	DIO 47:32 data direction (1 - output)
0x1a	15:0	DIO 63:48 input data
0x1c	15:0	DIO 63:48 output data
0x1e	15:0	DIO 53:48 data direction (1 - output)
0x20	15:9	Reserved
	8:6	DIO 66:64 input data
	5:3	DIO 66:64 output data
	2:0	DIO 66:64 data direction (1 - output)
0x22	15:0	#Watchdog

Watchdog

The TS-7600 creates a /dev/watchdog with the tshwctl daemon running at the highest possible priority to feed the watchdog. This is a pipe that is created in userspace, so for many applications this may provide enough functionality for the watchdog by verifying that userspace is still executing applications. If you would like to have the watchdog functionality more tightly integrated with your application you can specify various feed options.

At the lower level there are 3 valid watchdog feed values that are written to the watchdog register in the #Syscon:

Value	Result
0	feed watchdog for another .338s
1	feed watchdog for another 2.706s
2	feed watchdog for another 10.824s
3	disable watchdog

The watchdog is armed by default for 10s for the operating system to take over, after which the startup scripts autofeed the watchdog with:

echo a2 > /dev/watchdog

The /dev/watchdog accepts 3 types of commands:

Value	Function
f<3 digits>	One time feed for a specified amount of time which uses the 3 digit number / 10. For example, "f456" would feed for 45.6 seconds.
"0", "1", "2", "3"	One time feed with the value in the above table.
a<num 0-3>	This value autofeeds with the value in the above table.

Most applications should use the f<3 digits> option to more tightly integrate this to their application. For example:

#include <stdio.h>
#include <fcntl.h>
#include <unistd.h>

void do_some_work(int data) {
	/* The contract for sleep(int n) is that it will sleep for at least n
	 * seconds, but not less.  If other kernel threads or processes require
	 * more time sleep can take longer, but when your process has a high
	 * priority this is usually measured in millseconds */
	sleep(5);
}

int read_some_io() {
	/* If this function (or do_some_work) misbehave and stall thee watchdog 
         * will not be fed in the main loop and cause a reboot.  You can test 
         * this by uncommenting the next line to force an infinite loop */
	// while (1) {}
	return 42;
}

int main(int argc, char **argv)
{
	int wdfd;
	/* In languages other than C/C++ this is still essentially the same, but
	 * make sure you are opening the watchdog file synchronously so the writes
	 * happen immediately.  Many languages will buffer writes together to make 
	 * them more efficient, but the watchdog needs the writes to be timed 
	 * precisely */
	wdfd = open("/dev/watchdog", O_SYNC|O_RDWR);

	while (1) {
		int data;
		/* This loop is expected to take about 5-6 seconds, but to allow some
		 * headroom for other applications, I will feed the watchdog for 10s. */
		write(wdfd, "f100", 4);

		data = read_some_io();
		do_some_work(data);
	}
}

DIO

todo

DIO Number	Location	Alternate Function

Random Number Generator

Because many embedded systems do not have much entropy, we have included a core in the FPGA with a random number generator. On startup, tshwctl is called with the --setrng option to seed Linux's random number generator from the hardware random number generator. Without a good source of entropy, Linux's random number generator will start up in a very predictable state which is undesirable for the security of many cryptography protocols.

I2C

todo

SPI

todo

External Reset

Driving the external reset pin (DIO 9) low will reset the CPU by default. You can disable this functionality by running:

tshwctl --resetswitchoff

Connectors

44 Pin Header

On our development baseboard the 4 JTAG pins are left hanging. The CN-PC104-40PIN-F is available as a mating connector to this header.

All pins labelled DIO are coming directly off of the FPGA and are rated for 3.3V, and can sink or source 12mA.

Pin Name 1 JTAG_DOUT 2 JTAG_TMS 3 JTAG_CLK 4 JTAG_DIN 5 DIO_05 / XUART0 TX 6 DIO_06 / XUART0 RX 7 CONSOLE_TXD 8 CONSOLE_RXD 9 #External Reset / DIO_09 10 AUX_3.3V 11 DIO_11 12 DIO_12 13 DIO_13 14 DIO_14 15 5V 16 GND 17 I2C_CLK 18 I2C_DAT 19 DIO_19 / XUART1 TX 20 DIO_20 / XUART1 RX 21 DIO_21 / XUART2 TX 22 DIO_22 / XUART2 RX 23 DIO_23 / XUART3 TX / CAN_TX 24 DIO_24 / XUART3 RX 25 DIO_25 / XUART4 TX 26 DIO_26 / XUART4 RX 27 DIO_27 / XUART0 TXEN 28 DIO_28 / XUART2 TXEN 29 DIO_29 / XUART5 TXEN 30 DIO_30 / XUART6 TXEN 31 DIO_31 / XUART5 TX 32 DIO_32 / XUART5 RX 33 DIO_33 / XUART6 TX 34 DIO_34 / XUART6 RX 35 DIO_35 / XUART7 TX 36 DIO_36 / XUART7 RX / ADC_1 37 DIO_37 / ADC_2 38 DIO_38 / ADC_3 39 DIO_39 / ADC_4 40 DIO_40 41 POE_RX 42 POE_78 43 POE_45 44 POE_TX

Pin Layout 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44

26 Pin Header

All pins labelled DIO are coming directly off of the FPGA and are rated for 3.3V, and can sink or source 12mA.

Pin Name 1 DIO 41 2 DIO 42 3 DIO 43 4 DIO 44 5 DIO 45 6 DIO 46 7 DIO 47 8 DIO 48 9 DIO 49 10 DIO 50 11 DIO 51 12 DIO 52 13 DIO 53 14 DIO 54 15 DIO 55 16 DIO 56 17 DIO 57 18 DIO 58 19 DIO 59 20 DIO 60 21 DIO 61 22 DIO 62 23 DIO 63 24 DIO 64 25 DIO 65 26 DIO 66

Pin Layout 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26

TS-752

See the TS-752 page for more information on the other available connectors.

Product Notes

FCC Advisory

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 digital device in accordance with the specifications in 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 antenna. Relocate the unit with respect to the receiver. Plug the unit into a different outlet so that the unit and receiver are on different branch circuits. Ensure that mounting screws and connector attachment screws are tightly secured. Ensure that good quality, shielded, and grounded cables are used for all data communications. If necessary, the user should consult the dealer or an experienced radio/television technician for additional suggestions. The following booklets prepared by the Federal Communications Commission (FCC) may also prove helpful:

How to Identify and Resolve Radio-TV Interference Problems (Stock No. 004-000-000345-4) Interface Handbook (Stock No. 004-000-004505-7) These booklets may be purchased from the Superintendent of Documents, U.S. Government Printing Office, Washington, DC 20402.

Limited Warranty

See our Terms and Conditions for more details.