Datasheet AT91SAM9X35, EDM6070AR-01 Datasheet (Atmel)

Embedded Display Module

EDM6070AR-01

Atmel AT91SAM9X35 Based Single Board Computer

BY

User Manual

Version 1.0

Dated: 3

rd

December 2013

Revision Histo r y:

Version Date Description

1.0

03/12/2013

Original Version

Table of Contents

Chapter 1: Product Overview............................................. 1

1.1 Introduction ............................................................. 1

1.2 Kit Contents ............................................................. 3

1.3 Expansion Board Interfaces ........................................ 4

1.4 Core Board Interfaces ................................................ 4

1.5 System Block Diagram ............................................... 6

1.6 Physical Dimensions (mm ) ......................................... 7

Chapter 2: Hardware Features .......................................... 8

2.1 Processor ................................................................. 8

2.2 On-Board Mem ory ..................................................... 8

2.3 On-Board Interfaces .................................................. 8

2.4 Others ..................................................................... 9

2.5 Operation al Paramet ers.............................................. 9

Chapter 3: Software Features .......................................... 10

3.1 BSP Package........................................................... 10

3.2 Example Applications ............................................... 11

3.3 API Functions ......................................................... 12

Chapter 4: Demonstrat ion and Test Functions ................. 16

4.1 Smart Home Automation Demo................................. 16

4.1.1 Demo Features .................................................. 17

4.1.2 Progra mming the demo ...................................... 21

4.2 System Setup ......................................................... 23

4.3 Testing Features ...................................................... 24

4.3.1 Touchscreen Test ............................................... 24

4.3.2 LCD Col our Test ................................................. 24

4.3.3 LCD Backlight Test ............................................. 25

4.3.4 Ethernet Test .................................................... 25

4.3.5 Serial Interface (RS232) Test .............................. 26

4.3.6 CAN Bus Test .................................................... 27

4.3.7 RS485 Bus Test ................................................. 28

4.3.8 USB Test ........................................................... 29

4.3.9 RTC Test ........................................................... 30

4.3.10 TF Card Test .................................................. 31

4.3.11 LED Test ....................................................... 32

4.3.12 Buzzer Test ................................................... 32

4.3.13 GPIO Test...................................................... 32

4.3.14 Button Test ................................................... 33

4.3.15 Screen Capture Test ....................................... 34

4.3.16 Audio Test ..................................................... 34

4.3.17 Watchdog Test ............................................... 35

4.3.18 Telnet Test .................................................... 35

4.3.19 Mounting NFS (Network File System) ................ 38

4.4 Transferring Files Using SecureCRT ............................ 39

4.5 Transferring File s Using Network Protocol ................... 40

4.6 Linux QT Demonstration........................................... 42

Chapter 5: Development Environment and System

Compilation……………… ....................................................... 44

5.1 Building a Cross Compilation Environment .................. 44

5.2 System Compilation ................................................ 45

5.3 Uncompressing Files ................................................ 45

5.4 Making a Bootstrap ................................................. 46

5.5 Making a U-boot ..................................................... 47

5.6 Making a Kernel ...................................................... 47

5.7 Making a File system Image ..................................... 48

Chapter 6: System Customization .................................... 49

6.1 Kernel Customisation ............................................... 49

6.2 File system Customisation ........................................ 51

6.3 Simple Driver Modu les in K er ne l ................................ 52

6.4 Using Makefil e to Associate Drivers with Kerne l ........... 55

6.5 Compiling and Downloading Drivers........................... 55

6.6 Brief In t rod u c tion to Appli c ations .............................. 56

6.7 Compiling and Running Applications .......................... 57

6.8 Common Functions .................................................. 58

6.9 Linux Multi-Thread Programming ............................... 59

6.10 Linux Network Programming ..................................... 61

6.11 Compiling Server .................................................... 64

6.12 Compiling Client ...................................................... 64

6.13 Running Serv er and Client ........................................ 65

Chapter 7: Updating the Linux System ............................ 66

7.1 Images and the Programming Tool ............................ 66

7.1.1 Programming System Image Automatically ........... 67

7.1.2 Programming System Image Manually .................. 69

7.2 Preparations ........................................................... 69

7.3 Programming Image Files ......................................... 71

Chapter 8: Appendix A: Common u-boot Instructions ..... 76

Page | 1

Chapter 1: Product Overview

1.1 Introduction

The EDM6070AR-01 is an ARM based Single Board Computer (SBC),
designed & develo p ed b y el emen t14. It comprises of a 7” LCD display and
touch screen assembly, integrated with multi-functional embedded
hardware based on Atmel’s ARM9 AT91SAM9X35 industrial processor.

The EDM6070AR-01 is a fully integrated Embedded Display Module solution
for a variety of embedded control HMI applications, re ady t o drop in to your
product with negligible integration effort, OR to just wrap an enclosure
around, add a software application and become your finished product.

The EDM6070 is designed to fulfil the different requirements of various HMI
applications including:

 Industrial control terminals
 Intelligent instruments
 Data acquisition and analysi s
 Medical products
 Network terminals.

The EDM6070AR-01 consists of three parts: a MINI6935 CPU core m o d ule,
an expansion board, and a 7” TFT LCD (800×480) with resistive touch
screen

.

 MINI6935 CPU module is an ARM embedded board,
integrated with the ATMEL ARM926EJ-S-based processor
AT91SAM9X35, operating at 400MHz frequency. The board has
128MB DDR2 SDRAM, 256MB NAND Flash, 4MB DataFlash, 4KB
Two-wire EEPROM.

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 The Base Board expands the rich set of connectivity and user
interface peripherals of the Atmel AT91SAM9X35 incl uding Ethernet
and CAN interfac e. The bo ard also has a TFT touch screen LCD
interface, USB hosts/device, Buzzer, RS232, RS485, Audio, GPIOs
and an SD car d interf ace to allow for large storage capabilities.

 LCD Touch screen Display is a 4-wire resistive touch screen
TFT LCD display with a display resolution of up to 800x480 with
24-bit colour depth.

The EDM6070AR-01 includes Linux BSP and supports the Linux QT GUI
(Graphical User Interface) and multiple file systems like, FA T, NTFS etc. It is
also supplied with a Smart Home demo application (include smart-led
controller, weather c o ntrol ler, video) and a number of example appli c ations
to give you a quick and easy s tart.

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1.2 Kit Contents

The EDM6070AR-01 SBC is packed with the items listed below:

 MINI6935 CPU Process Board based on AT91SAM9X35 MCU
 Expansion Base Board
 7” Touchscreen LCD Display
 Product DVD/CD includes BSP, demo application & technical

documentation.

Optional Accessories (must be purchased separately):

 Serial Cable (Cross Over Female-to-Female)
 Ethernet Cable
 MicroUSB Cable
 Serial Interface Adapter
 Power Adapter (12V@1.25A)

Page | 4

1.3 Expansion Board Interfaces

Figure 1: Base Board Interface with Mounted CPU Module

1.4 Core Board Interfaces

Figure 2: MINI6935 CPU Module (Front View )

Page | 5

Figure 3: MINI6935 CPU Module (Rear View)

Page | 6

1.5 System Block Diagram

MAC

DM916

Data

AT25DF32 1 32MB

NAND

K9F2G08U0

TWI

AT24C04BN

AT91SAM9X35

RTC
Watchdog
Key
Reset

SD CARD

USB Device

USB Host

GPIO

ISO

LCD

800x480 RGB 7

Audio

RS232

Debug

Port

CAN 2.0

ISO

RS485

ISO

DDR2

MT47H64M16HR

Figure 4: Syst em Blo c k Diag ra m

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1.6 Physical Dimensions (mm)

Figure 5: Mini6935 Dimension s

Figure 6: Expansion Board Dimensions

Page | 8

Chapter 2: Hardware Features

2.1 Processor

 Atmel AT91SAM9X35 ARM9 32-bit processor, 400MHz
 16KB data cache, 16KB inst ruction cache, memory management

unit
 64KB internal ROM and 32KB internal SRAM

2.2 On-Board Memory

 128MB DDR2 SDRAM
 256MB NAND Flash
 4MB DataF lash

2.3 On-Board Interfaces

 7” TFT LCD display, resolution of 800x480 with 24-bit colour depth
 10/100Mbps Ethernet interface, using a DM9161CIEP chip,

extendable via expansion board

 RS232 interface, 1 RS485 interface, 1 CAN interface
 USB Host hi gh-speed interface
 USB Device interface
 Three GPIO Input interfaces
 Four GPIO Output interfaces
 Audio output interface, supportin g M P3 playback
 Debugging Int erface, extendable via ex pansion board
 TF card slot

Page | 9

2.4 Others

 I/O interface LED indicator, 2 LED power indicators
 Buzzer
 I/O button
 Reset button
 RTC (no battery by default)
 Watchdog

2.5 Operational Parameters

 Operating Temperature: -10 °C ~ 70 °C
 Operating Humidity: 0% ~ 90% (Non-condensing)
 Power Supply: 12V@1.25A
 Electrical Standards: CE, FCC and CCC
 Product Dimensions: 181mm x 120mm

Page | 10

Chapter 3: Software Features

This chapter will briefly introduce the BSP package in the CD-ROM, example
applic ation s insta lled in the p rodu ct an d the AP I functions called by thes e
applications.

3.1 BSP Package

The CD-ROM provided with the EDM6070 co ntains a BSP (Board Support
package) which is used for building custom Linux systems. The table shown
below lists the contents of the BSP with corresponding descriptions.

Types Names Description

BIOS

Bootstrap Serial Flash

U-Boot

Serial Flash

Supports kernel and file system programming through
SAM-BA or USB fl ash drive (USB flash driv e is
recommended)

Device

Drivers

Serial Debugging and COM2 serial interface on CPU

RTC

Internal RTC of AT91SAM 9X35

Ethernet

10/100M Ethernet driver

Flash

NAND Flash and DataFlash driver

LCD

LCD driver, 800x480 resolution

Touch

Screen

Touchscreen controller on CPU

USB Host

USB Host driver

Watchdog

Built-in watchdog driver

SD Card

SD card driver

CAN Bu s

CAN bus

RS-485

RS-485 bus

LED Syste m sta tu s LED

BEEP

B

uzz er driver

Audio WM8731EDS audio output driver

Button Custom user button driver

GPIO GPIO driver, 3 input chan ne l s , 4 output channels

Kernel Linux-2.6.39 ROM/CRAM/EXT2/EXT3/FAT/NFS/JFFS2/YAFFS2/UBIFS

Page | 11

Types

Names

Description

file syst ems

Root File

System

UBIFS

Readable and writeable file system, supporting

compression storage

3.2 Example Applications

The Linux system installed in EDM6070 contains multiple example
applications under /home/app. Users can use those applications to
implement, test or demonstrate various product functionalities. The
following block diagram clearly shows the location of each example
application in the system.

Figure 7: Example App l ic ations (D irectory Str uc ture)

/home/app

COM UART Test

EVTEST

Event Devices

Test

GPIO GPIO Test

LED LED Test

BEEP Buzzer Test

CAN

CAN Test

CAN Receiver

Test

CAN Transmitter

Test

Page | 12

3.3 API Functions

Before you start to test the prod uct, it is necessary to learn about the API
functions used by the example applications. If you need to understand the
work ing princip le of an application in detail, read the source code stored
under “\02 Linux 2.6 Kit\01 Source Code\app\” in the CD-ROM
provided al ong wit h EDM6070.
The tables listed be low will sho w you the API functions called by some of
applications and the relevant information.

LED API Function

LED_API int led_ctrl (char *name, int onoff );

Source ledlib.h

Functionalities Turn on or off LEDs

Parameters

Name (LED’s name such asD6, D9 or D13)
onoff (0 for off, 1 for on)

Returned Values 0 for success, otherwise fail u r e

Examples led_ctrl ("D9", 1);

Buzzer API

Function

BEEP_API int beep_ctrl (char *name, int onoff);

Source beeplib.h

Functionalities Controls the buzzer to make sound or stop

Parameters

Name (buzzer name, normally there is only
one buzzer which is called “beep”)

onoff (0 for off, 1 for on)

Returned Values 0 for success, otherwise failure

Examples beep_ctrl ("beep", 1); beep_ctrl ("beep", 0);

Serial Interface

API Function

int OpenDev(char *Dev);

Source com_example.c

Functionalities Enable s erial d evices and acquire descriptors

Page | 13

Parameters

dev (character string of

serial devices, e.g.

“/dev/ttySAC0”)

Values more than 0 is a serial file descriptor,

less than 0 stands for failu r e

Returned Values com_example.c

void set _ s pe ed(int f d, in t s peed);

Source com_example.c

Functionalities Set the bitrate o f seri al interfaces

Parameters

fd (serial file descriptor)
speed (bitrate, e.g. 15200)

Returned Values None

int set_Parity(int fd ,int databits,int stop bit s,int parit y,i nt

flowctrl);

Source com_example.c

Functionalities

Set serial interface

data bits, stop bits, parity

check an d data flo w co nt rol

Parameters

fd (serial file descriptor)
databits (length o f data bit s)
stopbits (length of stop bits)
parity

(check type, N for no check, O for odd

check, E for even check)
flowctrl

(switch of hardware data follow

control, 1 for enable, 0 for disable)

Returned Values 0 for success, o t herwise failure

size_t read(int fd, const void *buf, size_t nbytes);
Source unistd.h

Functionalities

Called by system to acquire data received on

the serial interfaces

Parameters

fd (serial file descriptor)
buf (pointer t o t he rec eived data)
nbytes (data length about to be read, Byte)

Returned Values

Valu es less t han 0 stands for error, more than

0 stands for received data l ength (Byte)

size_t write(int fd, const void *buf, size_t nbytes);

Source unistd.h

Functionalities

Called by system to send data through the
serial interfaces

Parameters fd (serial file descriptor)

Page | 14

buf (pointer to the data about to be sent)
nbytes (length of data about to be sent, Byte)

Returned Values

Value of less than 0 stand s for an error, more
than 0 stands for a

data length being sent

(Byte)

int close(int fd);

Source unistd.h

Functionalities

Called by system to disable the serial
interfaces

Parameters fd (serial file descriptor)

Returned Values 0 for success, less than 0 stands fo r er ror

GPIO API Function

int open(const char *path, int oflags);

Source gpio_example.c

Functionalities Initialize the GPIO device no de

Parameters Path: /dev/gpio.0 oflags: O_RDWR

Returned Values 0 for success, o t herwise failure

int close(int fildes);

Source gpio_example.c

Functionalities Releas e GPIO

Parameters fildes: open returned file descriptor

Returned Values 0 for success, o t herwise failure

ioctl(fd, GPIO_GET_VALUE, pin);

Source gpio_example.c

Functionalities Read the logic level of the input pin

Parameters

Pin (GPIO pin name , such as GPIO_PB15)
fd (GPIO device descriptor)

Returned Values Return level value in digit 0 or 1

ioctl(fd, GPIO_S ET_ PI N, pin);

Source gpio_example.c

Functionalities

Allow the output pin provide a

high level

output

Parameters Pin (GPIO pin name, such as GPIO_PD18)

Returned Values None

Page | 15

ioctl(fd, GPIO_ CLR_ PIN , pin );

Source gpio_example.c

Functionalities

Allow the output pin to provide a

low level

output

Parameters

Pin (GPIO pin name , such as GPIO_PD18）

Returned Values None

Page | 16

Chapter 4: Demonstration and Test

Functions

This chap ter will introduce to the S mart Home Automation demo application
and how to use the example applications contained in the system to
implement functionality tests of the EDM6070, as we ll as a demonstr ation of
the LinuxQT graphics interface.

4.1 Smart Home Automation Demo

A Smart Home System demo application has been provided with the
EDM6070. This d emo applica tion enables EDM developers to qu ickly and
easily jumpstart their embedded Linux application development — without
first having to set up their development environment. Smart Home
automati on demo fe atures a Q T GUI appl ication with several custo m widgets,
including:

 Climate Control
 Light control
 Thermostat control

Page | 17

 Video player

4.1.1 Demo Features

This demo showcases the control of various house functions including
heating, lighting, security and a media player. The major functions are
expounde d upon be lo w:

4.1.1.1 Climate Control

This ap plication allo ws the user to control the tem perature an d humidity
throughout the house on a room by room basis. There is also a display
indicating the current weather which can be activated to display extra
information:

Page | 18

 5 day forecast

 Detailed current weather inf o rmation

Page | 19

 Pulse-doppler radar weather display

The weather information is updated via the internet and as such the
EDM6070 requires an internet connection in order to provide this
functionality

4.1.1.2 Lighting Control

Page | 20

The ligh tin g a p plicatio n a llo w s th e us er to set th e l ig h t levels in ea c h r o om
independently. The application emulates a standard dimmer switch making
the software both intuitive and user friendly

4.1.1.3 Security

The security applicati on allows the EDM6 070 to connect to cameras and door
locks at any user defined entrance. This allows the user to monitor the
entrance and either allow or deny access to the p ro perty

Page | 21

4.1.1.4 Media Pl ayer

The Media application will allow the user to play audio into any connected
room. The audio files can be streamed from internet radio, terrestrial /
satellite radio or a local media server such as a PC or networked storage.

4.1.2 Programming the demo

Follow th e steps below to program the demo onto the E DM6070

1） Set up a HyperTerminal as shown in 4.2 System Setup.

2） Copy the demo files from:

\02 Linux 2.6 kit\00 image\

on the CD to the root directory of a MicroSD card

Figure 8: Demo Fi les

Page | 22

3） Enable NAND Flash and disable Seri al Flash according to the switch

settings shown below: (refer to

Figure 2: MINI6935 CPU Module

(Front View) for the switch location)

Figure 9: Switch Settings 1

4） Inse rt a MicroS D card in to the MicroS D slot of the board, then power

it up. The booting information in the HyperT erminal window is shown
below:

RomBOOT

 Start AT91Boot strap...

 Init DDR... Done!

 Downloading im age...

*** f_ope n, File name: [logo]: error!

When you hear a beep and see the information below, the programming has
completed.

NAND writ e: dev ic e 0 of fset 0x0, si ze 0x260000

 [nand_write_s kip_bad] return rval

 2490 36 8 bytes writ ten: OK

 NAND erase: devic e 0 offset 0xc 00000, siz e 0x6e00000

 Erasing at 0x79e0 000 -- 100% complete.

 OK

 NAND write: devic e 0 offset 0xc 00000, siz e 0x5540000

 89391104 bytes written: OK

5） Turn OFF the board and enable NAND Flash using the switch settings

shown below:

Figure 10: Switch Settings 2

Page | 23

6） Turn the board on again and wait a few moments. Th e smart home

demo UI s hould be displayed o n the scre en

4.2 System Setup

Prior to commencing various features tests for EDM6070, yo u shou ld fir st
configu re a Hy pe rTerminal acc or di ng t o th e param et ers sho wn i n t he fi gure
below;

Figure 11: Config uring Hyp erTer mi na l

After setting up the HyperT erminal, connect EDM6070 to your PC via a serial
interface adapter and a serial cable, and t hen power on the board. You can
see boot-up information in the HyperTerminal window.

Page | 24

4.3 Testing Features

Note:

 Each instruction has been proceeded by a pencil “” to prevent confusion

caused b y any long instruc tions that occ up y m o re tha n one li ne in the co nt e xt.

 Please note that there are SPACES in some of th e followi ng instruc tions; Miss ing

any SPACE will lead to failure when running an application.

4.3.1 Touchscreen Test

7） Execute the following instruction to run the touch screen calibration

program;

 [root@Min i69X5:/] # ts_calibrate

And then press the “+” symbols that appear on the screen with your
fingers or a compatible stylus to complete calibration;

8） Execute the following instruction to test the touchscreen;

 [root@Min i69X5:/] # ts_test

Select Drag or Draw on the screen to test the dragging an d drawi ng
functionalities.

You can exit the example application by pressing Ctrl+C on your PC’s
keyboard.

4.3.2 LCD Colour Test

Upon execution of the following instruction the LCD will display the 3
elementary RGB colours separately and together.

 [root@Mini69X5:/]# /home/app/lcd

Page | 25

4.3.3 LCD Backlight Test

1） Execute the following instruction to adjust the backlight. The

brightness value can be any integer from 1 t o 10 in clus ive. In t hi s
example the brightness has been set to 5

 [root@Min i69X5:/] # bl_adjust SET 5

2） Execute the following instruction to turn off the backlight;

 [root@Min i69X5:/] # bl_adjust OFF

3） Execute the following instruction to turn on the backlight;

 [root@Min i69X5:/] # bl_adjust ON

4.3.4 Ethernet Test

1） Execute the following instruction to set the IP address of the

EDM6070 to 192.192.192.200;

 [root@Min i69X5:/] # ifconfig eth0 192. 192.192. 200

2） Execute the following instruction to test network connection;

 [root@Min i69X5:/] # ping 192.192.192 .105

3） Execute the following instruction to set the gateway addres s;

 [root@Mini69X5:/]# ro ut e ad d de fault gw <Yo ur_GateWa y_Addr>

For example:

 [root@Mini69X5:/]#route add default gw 192.192.192.101

4） Execute the following instruction to set DNS address；

 [root@Mini 69X5:/]# echo “nameserver <Your_DNS_Addr>” >

/etc/resolv.conf

For example:

 [root@Mini69X5:/]# echo "nameserver

202.96.128.166" >/etc/resolv.conf

Page | 26

Note:

 The IP addresses above are only examples. Make su re the I P addre ss of the

EDM6070 is in the same network range as your PC.

After all the sett ings are complete, execute a PING command to test the
network connection. The HyperTerminal window will show similar
information to that which follows:

PING 192. 19 2. 19 2. 105 (192.1 92.192.105): 56 da ta bytes
64 bytes from 192.192.192.105: icmp_seq=0 ttl=64 time=0.5 ms
64 bytes from 192.192.192.105: icmp_seq=1 ttl=64 time=0.3 ms
64 bytes from 192.192.192.105: icmp_seq=2 ttl=64 time=0.3 ms
64 bytes from 192.192.192.105: icmp_seq=3 ttl=64 time=0.3 ms

--- 192.192.192.105 ping statistics --­7 packets tra ns mi tt ed, 7 packet s received, 0% packet loss
round-tri p min/avg/ max = 0.3/0.3/0.5 ms

~ $

To terminate the Ethernet test, press Ctrl+C on your keyboard.

4.3.5 Serial Interface (RS232) Test

EDM6070 provides 3 serial interfa ces - ttyS2（RS232）, ttyS0（RS485）
and ttyS6 （ RS232 ） as debugging interfaces. Execute the following
instruction to test these serial interfaces.

 [root@Min i69X5:/h ome/app]# ./com -d /dev/ttyS2 -s 1234567890 -b

115200

Table 1: Parame ters Used in Ins tr uctio ns

Parameters Descriptions

-d Serial device node used to specify a serial interface

-s Character string to be sent

-b Set bitrate

-f Enable hardware flow control

Page | 27

4.3.6 CAN Bus Test

Connect your EDM6070 to ano ther EDM6070 or a device with a CA N bus
according to the figure shown below;

Figure 12: CAN Bus Connection

Note:

 The jumper JP13 in the figure shown above is shorted in order to enable 120R

terminal resistor.

After connection is complete, execute the f ollowing instructions to test the
CAN bus;

 [root@Min i69X5:/] # cd /home/app/can /

 [root@Min i69X5:/] # ifconfig can0 down

 [root@Min i69X5:/] # ip link set can0 type ca n bitrate 800 000 (Set

bitrate to 800k

）

 [root@Min i69X5:/] # ip -detail s li nk show can0 (View can0

configurations)

 [root@Min i69X5:/] # ifconfig can0 up (Enable can0)

 [root@Mini69X5: /ho me/app/c an/]# ./ca ndump can0 (Receiving mode)

 [root@Mini69X5: /home/app/can/]# ./cansend can0

"5A1#1122334455667788" (Sen d st an da rd frames)

 [root@Min i69X5: /ho me/app/can/]# ./ cansend ca n0

"1F334455#1122334455667788" (Send ext en de d fr ames)

To terminate the CAN bus test, press Ctrl+C on your keyboard.

Page | 28

4.3.7 RS485 Bus Test

The device corresponding to RS485 interface is /dev/ttyS0. Similar to the
CAN bus test, the transceiving test over this bus needs another EDM6070 or
RS485-enabled device; connect them according to the figure shown below;

Figure 13: R S485 Bus Con nection

Note:

 For long-distance transmission, the jumper JP12 needs to be shorted.

Execute the following instruction to test the RS485 bus connection;

 [root@Min i69X5: /ho me/app/]# ./com -d /dev/ttyS0

To terminate the RS485 bus test, press Ctrl+C on your keyboard.

Page | 29

4.3.8 USB Test

EDM6070 has a USB host interface. Upon inserting an USB flash drive into
the EDM6070 USB port the HyperTerminal window will show informatio n as
follows;

usb 1-1: US B disconne ct, address 2

usb 1-

1: new fu ll speed USB device us ing at91_ohci and address

3
usb 1-1: configuration #1 chosen from 1 choice
scsi2 : SCS I em ul at io n for USB Mass Storage devices
scsi 2:0 :0:0 : Dire ct-Access Generic USB SD Reader 0.00
PQ: 0 AN SI: 2
sd 2:0:0:0: [sda] 7744512 512-byte hardware sectors (3965 MB)
sd 2:0 :0:0: [sda] Write Protect is off
sd 2:0:0:0: [sda] Assuming drive cache: write through
sd 2:0:0:0: [sda] 7744512 512-byte hardware sectors (3965 MB)
sd 2:0 :0:0: [sda] Write Protect is off
sd 2:0:0:0: [sda] Assuming drive cache: write through
sda: sda1
sd 2:0 :0:0: [sda] Attached SCSI removable disk

sd 2:0 :0:0: Attached scsi generic sg1 type 0

The above information indicates that the USB flash drive has been identified
as sda1 device by the system. Follow the steps listed belo w to imp lemen t
the test;

1） Execute the following instruction to mount the USB flash drive to

/mnt and s pecify the format as VFAT;

 mount –t vfat /dev/sda1 /mnt

Note:

 By defa ult, US B fla sh dri ve is m o u nted auto m atica ll y to /media under the root

file system. If automatic mounting fails, you need to mount the device manually
by using the above i ns tru ct ions.

Page | 30

2） Execute the following instruction to view the contents of the USB

flash drive;

 root@Mini69X5:/mnt/usbhd-sda1]# ls

3） Execute the following instructions to un-mount the USB flash drive;

 [root@Mini69X5:/mnt/usbhd-sda1]# cd ..

 [root@Mini69X5:/mnt]# umount usbhd-sda1

4.3.9 RTC Test

RTC is used to store and recover the system clock. Follow the s teps listed
below to test the RTC;

1） Execute the following instruction to view the current system clock;

 [root@ Mini 69X5:/]# date

The system clock readout is shown below;

Thu Nov 27 11:48:02 UTC 2013

2） Execute the following instructions to set system clock to 16:43, Nov .

29

th

, 2013;

 [root@Mini69X5:/]# date –s 112916 432013

The HyperTerminal shows i nformation as follows;

Thu No v 29 16:43:00 UTC 2013

3） Execute the following instruction to write system clock into RTC;

 [root@ Mini 69X5:/]# hwclock –w

4） Execute the following instruction to view RTC clock;

 [root@ Mini 69X5:/]# hwclock -r

The HyperTerminal shows i nformation as follows;

Thu No v 29 16:43:00 UTC 2013

Page | 31

5） Execute the following instructions to update system clock with the

clock information stored in RTC, and them view the system clock;

 [root@ Mini 69X5:/]# hwclock -s

 [root@ Mini 69X5:/]# date

The updated system clock is shown below;

Thu No v 29 16:43:45 UTC 2013

Note:

 RTC can work properly as long as there is always a battery supplying power;

Ensure an R1220 battery is installed.

4.3.10 TF Card Test

Insert a microSD card into the microSD card slot of EDM6070, the
HyperTerminal sho ws information as follows;

[root @Mini69X5:/]# mmc1: new SD card at address 0002

mmcblk0 : mm c1:0002 N/A 489 MB

mmcblk0 : p1

The above information indicates that card has been de fined as mmcblk0p1
device. Follow the steps listed below to implement the test;

1） Execute the following instruction to mount the card to /mnt and

specify the format as VFAT;

 [root@Min i69X5:/] # mount -t vfa t /d ev/mmcbl k0p1 /mnt/

2） Execute the following instructions to view the contents of the card;

 [root@Min i69X5:/] # cd /mnt/

 [root@Mini 69X5:/mnt]# ls

3） Execute the following instructions to un-mount the card;

 root@Mini 69X5:/mn t]# cd /

 [root@Min i69X5:/] # umount /mnt/

Page | 32

4.3.11 LED Test

EDM6070 has 2 LED i ndicators, among the m the D 2 is a system status LED .
The following steps are the test for D1 (PB18) LED;

1） Execute the following instruction to test LED D1 by running an

application;

 [root@Min i69X5:/] # /home/app/led

D1 will be blinkin g alternately at two differe nt frequencies ;

2） Execute the following instruction to turn OFF a single LED;

 [root@Mini69X5:/]# echo '0' >/sys/class/leds/d1/brightness

3） Execute the following instruction to turn ON a single LED;

 [root@Mini69X5:/]# echo '1' >/sys/class/leds/d1/brightness

4.3.12 Buzzer Test

1） Test by running an application;

 [root@Min i69X5:/] # /home/app/beep

The buzzer will make a single sound;

2） Instruct the buzzer to make continues sound;

 [root@Mini69X5:/]# echo '1' >/sys/class/leds/beep/brightness

3） Instruct the buzzer to stop making sound;

 [root@Mini69X5:/]# echo '0' >/sys/class/leds/beep/brightness

4.3.13 GPIO Test

The GPIO test program constantly reads the input interface at a 500ms
interval and control the data receiving on output interface. Execute the
following instruction to implement the test;

Page | 33

 [root@Min i69X5:/] # /home/app/gpio

If the test is successful, the HyperTerminal window shows information as
follows;

---------------------------------------

* MINI69X5 GPIO Demo *

--------------------------------------­GPIO_PB15 INPUT 1
GPIO_PD16 INPUT 1
GPIO_PD17 INPUT 1
GPIO_PD 18 OUT PU T 0
GPIO_PD 18 OUT PU T 0
GPIO_PD 18 OUT PU T 0

GPIO_PD 18 OUT PU T 0

4.3.14 Button Test

Execute the following instruction to test the button SW1 on the EDM6070;

 [root@Min i69X5:/] # /home/app/evte st /dev/ev ent0

The HyperTerminal window shows in formation as fol lows;

Inpu t drive r ev dev: (EVI OCGBIT ): S uspi ciou s buff er si ze
511, limiting output to

64 bytes. See

http://userweb.kernel.org/~dtor/eviocgbit-bug.html
version is 1. 0. 0

Input dev ice ID: bu s 0x19 ve ndor 0x 1 prod uct 0x1 ver sion

0x100
Input dev ic e na me : "g pio-keys"
Supported events:
Event typ e 0 (S yn c)
Event type 1 (Key)

Event code 278 (BackBtn)

Press SW1, the HyperTerminal window shows informat ion as follows;

Page | 34

Event: time 1167614678.630509, type 1 (Key), code 278
(BackBt n) , va lu e 1
Event: time 1167614678.630529, -------------- Report Sync

-----------­Event: time 1167614678.826399, ty

pe 1 (Key), code 278

(BackBt n) , va lu e 0
Event: time 1167614678.826412, -------------- Report Sync

-----------­Event: time 1167614679.430801, type 1 (Key), code 278
(BackBt n) , va lu e 1
Event: time 1167614679.430817, -------------- Report Sync

-----------­Event: time 1167614679.668320, type 1 (Key), code 278

(BackBt n) , va lu e 0

To terminate the button test, press Ctrl+C on your keyboard.

4.3.15 Screen Capture Test

Execute the following instruction to capture the contents displayed on the
LCD and save it as a jpg image;

 [root@Min i69X5:/] # fbcat /dev/fb0 Fig ure.jpg

The captured images will be saved automatically under the system’s root
directory.

4.3.16 Audio Test

The system contains an open-source audio player “madplay” by default
which supports MP3 playback. Insert headphones into the 3.5mm audio
output jack on EDM6070, and then execute the following instruction to
implement a test;

 [root@Min i69X5:/] # madplay /home/mp 3/music. mp3

If you hear music, the audio functionality is working properly .
To view help information, execute instruction “madplay

–h”.

Page | 35

4.3.17 Watchdog Test

Execute the following instruction to run the watchdog tes t program;

 [root@Min i69X5:/] # /home/app/watc hdog

The HyperTerminal window shows information as follows;

Watchdo g op en suc ce ss

usage:
[a ] -- Feed dog
[q ] -- Quit without stop watchdog

[e ] -- Quit and stop watchdog

4.3.18 Telnet Test

Connect EDM6070 to your LAN by using a RJ45 network ca ble, and then
follow the steps listed below to implement the test;

1） Open a command prompt, the method for doing this can vary

depending on your version of windows.

Note:

 For Windows X P: click start, then run and in the dialogue box that appears

type “cmd” and hit enter on your keyboard.

 For Windows 7: c lick s tart t hen e nter “c md” int o the s earc h box then hit e nter

on your keyboa rd.

You will then be presented with a window as follows.

Page | 36

Figure 14: Command Prompt Window

2） Type “p ing 192.192. 192 .2 11” to test the network connection (the

default IP address of the EDM6070 is 192.192.192.211) as shown
below;

Figure 15: Network Test After Completion

3） Type “telnet 192.192.192.211” to initiate a telnet session as

shown below;

Page | 37

Figure 16: T e l ne t Se s s ion Initializa tion

4） Type the default username “root” and leave the password blank as

shown below;

Figure 17: Telnet Log In

Now you have logged in to the telne t session successfully , to exit the session,
type “exit”.

Note:

 By default, telnet service is disabled under Windows 7. To enable th e serv ice

select Control Panel > Programs > Programs and Features > Turn Windows
features on or off, and then check “Telnet Client”.

 The default IP address o f EDM6070 is 192.1 92. 192. 211. Ensure t ha t the boar d

and your PC are set in the same network segment.

Page | 38

4.3.19 Mounting NFS (Network File System)

By mounting the NFS (Network File System), users can access the shared
directory remotely under a Linux environment. Follow the steps listed below
to test the NFS netwo rk file system;

1） Log in to the Linux system on your PC as a root user;

2） Add the following line at the end of the file /etc/exports, and then

save the changes；

/home/nfs *(rw,sync,no_root_squash)

 /home/nfs: Shared directory on NFS server; mountable by all
client ter m inals

 no_root_squash：Allow the client terminals which mount the
directory to operate as a root user;

3） Execute the following instruction to enable the NFS server;

 [root@:/] # /etc/ini t.d/nfs-kernel-server start

4） Check if the NFS server is enabled successfully;

 [root@:/] # mount -o nolock localhost:/home/nfs /tmp

If th ere is no error repo rte d by sy stem and th e i nformati on obt ai ned
by executing “ls /tmp” is consistent with the contents under the
shared di rectory o f the NFS server , the server is functioning properly.

5） Power on ED M607 0 and conne ct i t to a PC wi th a n etwork ca ble , and

then set the IP address for the board in the HyperTerminal window;
Make sure the communication between the board and your PC’s
Linux system is working properly by executing a PING command;

Page | 39

6） Execute the following instruction in the HyperTerminal window to

mount the shared directory /home/nfs to /mnt

 [root@Min i69X5:/] # mount -o nolock 192.192.192.105:/home/nfs /mnt

After mounting successfully, you can see the contents of the shared
directory under /mnt.

Note:

 EDM6070 has write permission to the shared directory, and therefore any

changes will be sa ved.

4.4 Transferring Files Using SecureCRT

Follow the steps listed below to test data trans fer via serial interfaces by
using Windows-based sof tware SecureCRT;

1） Open a SecureCRT software window as shown below;

Figure 18: SecureCRT Wind o w

Execute the following instructions in the window;

 [root@Min i69X5:/] # cd /tmp

 [root@Min i69X5:/t mp]# rx recvfile

2） Click Transfer > Send XModem on the menu bar to open the

following window;

Page | 40

Figure 19: File Selection

Select a file to be sent and then click send; The HyperTerminal
window shows inf ormatio n as follows;

Starting xmodem transfer. Press Ctrl+C to cancel.
Transferring dataflash_at91sam9g45ekes.bin...
100% 4 KB 0 KB/s 00:00:05 0 Errors
[root@Mini69X5:/tmp]#

The above information indicates that the file has been received
successfully.

Note:

 Seria l inte rfac es wo rk at a rela tive ly lo w spe ed, s o it is reco mme nded to choose

a sm all fi le when tra n sferring.

4.5 Transferring Files Using Network Protocol

Follow the steps listed below to transfer a large file using the TFTP protocol;

Page | 41

1） Put the file to be sent in the HOME directory (e.g. G:\data.bin) and

run tftpd.exe (this program can be found under “\02 Linux2.6
Kit\02 Tools\” in the CD-ROM) on your PC; Select Tftp >
Configure on the menu bar of the program window, and set the

path to Home Directory, and then select Tftp > Start on the menu
bar to start TFTP service;

2） Execute the following instruction in the HyperTerminal window to

download data.bin file;

 [root@Mini69X5:/tm p]# tftp -g 192.192. 192.71 -r data.bin

3） Execute the following instruction to view the downloaded file;

 [root@Mini69X5:/tmp]# ls -l

The Hype rTerminal window shows information a s follows;

-rw-r--r-- 1 root root 4420 Jan 1 00:44 data.bin

The above information indicates that the file has been
downloaded successfully.

4） Execute the following instruction to rename the downloaded file as

data_send.bin;

 [root@Mini69X5:/tmp]# mv data.bin data_send.bin

5） Execute the following instruction to upload the file to the HOME

directory of your PC;

 [root@Mini69X5:/tmp]# tftp -p 192.192.192. 71 -l data_send.bin

6） Enter the shared directory to view the uploaded file as shown below;

Page | 42

Figure 20: Uploaded File

The image shown above indicates a successful uploading.

4.6 Linux QT Demonstration

When the system is under the shell interactive mode, you can start the
Qtopia applic ation b y enter ing the c omm and “qpe”. Then follow t he step s
listed below;

1） Execute the following instruction in the HyperTerminal window to

begin calibration of the touch screen;

 [root@Min i69X5:/] # ts_calibrate

Follow the instructions as they appear on the screen to
implement calibration;

2） Execute qpe command to run Qtopia applications; (the file system

has to have a QT installed)

 [root@Min i69X5:/] # qpe

Page | 43

The QT interface and sys tem information are shown belo w;

Figure 21: Mai n QT Interface

Figure 22: Q T In terfa ce Sho wing System Info r ma tio n

Page | 44

Chapter 5: Development

Environment and System
Compilation

Before g etting star ted with the deve lopment on the board, an ARM Linux
cross development environment is required. This chapter will take Ubuntu as
the example operating system to show you how to build a cross
development environment and accomplish system compilation.

5.1 Building a Cross Compilation Environment

The CD-ROM provided with the product contains a cross compilation tool
“arm-2007q1-10-arm-none-linux-gnueabi-i686-pc-linux-gnu.tar.bz2”
under the directory “\02 Linux2.6 Kit\02 T ools\”. Install it step by step
as shown below.

1） Put the CD-ROM in your drive. Ubuntu will mount the CD to

/media/CD-ROM by default. Execute the following instructions to
install the cross compilation tool;

 mkdir /usr/l ocal/arm

 tar –jxvf

arm-2007q1-10-arm-none-linux-gnueabi-i686-pc-linux-gnu.tar.bz2 –C

/usr/local/arm

2） Execute the following instruction to add an environment variable

which specifies the path to the cross compilation tool in the system.

 export PATH =/usr/lo cal/arm/arm-2007q1/bin/:$PATH

3） Execute the following instruction to check if the installation is done;

 arm-none-linux-gnueabi-gcc –v

Page | 45

The Hype rTerminal window shows information a s follows;

Using built-in sp ec s.
Target: arm-none-linux-gnueabi
…
gcc version 4.2.0 20070413 (prerel

ease) (CodeSourcery

Sourcer y G+ + Li te 200 7q1-10)

If the ver sion nu mber within th e last l ine is corr ect, t he cross compila tion
environment has been built successfully.

Note:

 The instruction adding environment variables can be put into the file .bashrc

under user directory to allow the system load the variable automatically each
time when it boots up.

5.2 System Compilation

The com pila tion o f the operating system can be accomplished in 5 steps –
uncompressing fil es, making a Bootstrap, making a U-boot, maki ng a kernel
and making a file system image. This section will introduce these steps in
detail.

5.3 Uncompressing Files

The system source code can be found under \02 Linux 2.6 K it\01 Source
Code\ in the CD-ROM. Execu te the fo llo win g instr uct ions to uncompr ess it
under a Linux system.

 root@LINUX SERVER:~# mkdir embest

 root@LINU XSERVER: ~# cd embest/

 root@LINUXSERVER:~/embest# cp /media/cdrom/02\ Linux\ 2.6\ Kit/01\

SourceCode/bootloader/ AT91Bootstrap-5series_1.2. tar.bz2 ./

 root@LINUXSERVER:~/embest# cp /media/cdrom/02\ Linux\ 2.6\ Kit/01\

Page | 46

SourceCode/bootloader/ u-boot-a t9 1sam9x35 .tar.bz2 ./

 root@LINUXSERVER:~/embest# cp /media/02\ Linux\ 2.6\ Kit/01\ Source

Code/kernel / li nux-2.6.39. ta r. bz 2 ./

 root@LINUXSERVER:~/embest# cp /media/cdrom/02\ Linux\ 2.6\ Kit/01\

SourceCode/rfs/ rootfs.tar.bz2 ./

 root@LINU XSERVER: ~/embest# tar jxvf /media/cdrom/02\ Linux\ 2.6\

Kit/02\ Tools/mkubifstools.tar.bz2 –C /usr/local/bin/

 root@LINUXSERVER:~/embest# cp /media/cdrom/02\ Linux\ 2.6\ Kit/02\

Tool s/mkimage /usr/local/bin/

 root@LINUXSERVER:~/embest# chmod 755 /u sr/local/bin/mk yaffs2im age

/usr/local/bin/mkimage

 root@LINU XSERVER: ~/embest# tar jxvf

AT91Bootstrap-5series_1.2.tar.bz2

 root@LINU XSERVER: ~/embest# tar jxvf u-boot-at91sam9x35.tar.bz2

 root@LINU XSERVER: ~/embest# tar jxvf linux-2.6.39.tar.bz2

 root@LINUXSERVER:~/embest# mkdir rfs; tar jxvf rootfs.tar.bz2 -C rfs

Four directories - linux-2.6.39, u-boot-1.3.4, Bootstrap-v1.14 and
rfs-qtopia have been generated under the current dire ctory.

5.4 Making a Bootstrap

EDM6070 supports boot-up from DataFlash. Execute the following
instruction to generate a Bootstrap;

 root@LINU XSERVER: ~/embest# cd AT91B ootstrap -5series_1.2

 root@LINU XSERVER: ~/embest/ AT91Bo otstrap-5series _1 .2 # ma ke

sam9x35_defconfig; cp sam9x35_defconfig .config

 root@LINUXSERVER:~/embest/ AT91Bootstrap-5series_1.2 # make

A Bootstrap file at91sam9x5ek-dataflashcardboot-3.1.bin has been
generated under directory “binaries”.

Page | 47

5.5 Making a U-boot

Execute the following instructions to generate a u-boot;

 root@LINUXSERVER:~/embest/ u-boot-at91# make

at91sam9x5ek_spiflash_config

 root@LINU XSERVER: ~/embest/ u-boot-at91# ma ke

A file U-boot.bin has been generated under current directory.

Note:

 An error might occur when using

arm-2007q1-10-arm-none-linux-gnueabi-i686-pc-linux-gnu.tar.bz2 to compile
u-boot; the use of
arm-2011.03-41-arm-none-linux-gnueabi-i686-pc-linux-gnu.tar.bz2 is
recommended when encountering any errors.

5.6 Making a Kernel

Execute the following instructions;

 root@LINUXSERVER:~/embest/linux-2.6.39# make

at91sam9x5ek_defconfig

 root@LINUXSERVER:~/embest/linux-2.6.39# make menuconfig

 root@LINUXSERVER:~/embest/linux-2.6.39# make uImage

A kernel file named uImage has been generated under /arch/arm/boot/.

Note:

 If errors oc cur w hen exec uting “make menuconfig”, the most likely cause is t he

lack o f an ncurses library in your PC’s Linux system.

 Execute “sudo apt-ge t i ns tall libncurses5-dev” to install the library.

Page | 48

5.7 Making a File system Image

Use the tool mkyaffs2image under the directory \02 Linux 2.6 Kit\02
Tools\ of the CD-ROM to make a file system image by executing the
following instruction (suitable for Ubuntu systems only).

 root@LINUXSERVER:~/embest# mkubifsimage rfs rootfs.ubifs

Page | 49

Chapter 6: System Customization

In order to satisfy different application requirements of the customers,
designers need to make some customisation to the default configuration of
the Linux kernel. This chapter will introduce the process of system
customization by using some examples.

6.1 Kernel Customisation

By default, the kernel source code provides a configuration file saved under
arch/arm/configs/at91sam9x5ek_defconfig. Execute the following
instructions to enter the configuration menu and then select the drivers you
need according to the entries shown in the table below:

 root@LINUXSERVER:~/embest/linux-2.6.39# make

at91sam9x5ek_defconfig

 root@LINUXSERVER:~/embest/linux-2.6.39# make menuconfig

Page | 50

Drivers Paths

Serial

Interfaces

Device drivers > Character devices > Serial drivers > AT91 / AT32
on-chip serial po rt su pp o rt

Buttons Device drivers > Input device support > Keyboards > GPIO Buttons

GPIO Device driv e rs > Mi sc devices > Devic e driver for Atm e l GPIO de vices

LED

Device drivers > LED Support > LED Class Support > LED Support for

GPIO connecte d LEDs

SD/MMC

Device drivers > MMC/SD/SDIO card suppo

rt > MMC block device

driver > Atmel SD/MMC Driver (Atmel Multimedia Card Interface

support)

USB

Device drivers > USB support > Support for Host-side USB > EHCI HCD

(USB 2.0) s upport > OHCI H CD support > USB M ass Stor age supportH CD

support > USB Mass Stora ge su ppor t

RTC Device drivers > Real Time Clock > AT91RM9200 or some AT91SAM9 RTC

Watchdog Device drivers > Watchdog Timer Support > AT91SAM9 watchdog

CAN Bus

Networking support > CAN bus subsystem support > CAN Device

Drivers > Atmel AT91 onchip CAN controller

MACB

Device drivers > Network device support > Ethernet(10 or 100Mbit) >

Atmel MACB su pp or t

Graphics

Device driv er s > Gr aphi cs su pp ort > Sup port f or f r ame buf fer d evi c es >

AT91/AT3 2 LCD Controller support

Page | 51

Drivers Paths

Touch-Screen I n put device support > Touchscreens > Atmel Touchscreen Interface

Save the changes and execute the instruction below to compile the
customized kernel;

 root@LINUXSERVER:~/embest/linux-2.6.24# make uImage

6.2 File system Customisation

The table shown below lists the configuration files required for filesystem
customisation, applications’ paths and corre s po nding notes;

Configuration List Paths Notes

Driver Modules /lib/modules/2.6.39/

Store driver module

ko

Driver Module Mounting /etc/init.d/S50modules

Network Address /etc/network/interfaces.eth0

Command Li ne Prompt Name /etc/hostname

User Program Auto Running /etc/init.d/S60evnset Add it to the end of file

Environment Variables /etc/profile

Touch-Screen Coordinate Files /etc/pointercal

udev Rules /etc/udev

Page | 52

LCD Backlight Brightness /etc/bl_adjust.conf

User Testing Applications /home/app

6.3 Simple Driver Modules in Kernel

Drivers are running under kernel mode and can drive hardware directly.
They provide a series of interfaces to be called by applications so as to
control devices. The table shown below is an example of driver modules that
are simple but include most of the interfaces.

/* File: device_drv.c */
#include <linux/kernel.h>
#include <linux/module.h>
#include <linux/init.h>
#include <linux/input.h>
#include <linux/miscdevice.h>
#include <asm/io.h>
#include <asm/uaccess.h> /* common head files used by driver */

#define DEVICE_NAME "demo" /* device names that generate nodes /dev/demo
after mounting successfully */

static int result = 0;

static int device_open(struct inode *inode, struct file *file) /*
implement open operation */
{
result = 0; /* initiate result */
return 0;
}

static ssize_t device_read(struct file *filp, char *buffer, size_t count, loff_t

Page | 53

*ppos) /* implement read operation */
{
int ret = copy_to_user (buffer, (char *)&result, sizeof(result)); /*
copy the value of result to buffer */
if (ret < 0) {
printk (KERN_ERR "%s: copy_to_user error\n", DEVICE_NAME);
return -1;
}
return sizeof(result);

/* return the valid length of

buffer, i.e. the storage length of result */
}
static ssize_t device_write(struct file *filp, const char *buffer, size_t count,
loff_t *ppos) /* write operation*/
{
int ret = copy_from_user ((char *)&result, buffer, sizeof(result));
/* copy the received data in buffer to result*/
if (ret < 0) {
printk (KERN_ERR "%s: copy_from_user error\n", DEVICE_NAME);
return -1;
}
return sizeof(result);
}
static int device_release(struct inode *inode, struct file *filp) /*
close will trigger the function */
{
return 0;
}
static struct file_operations device_fops =

/* register interface

function for file operation */
{
.owner = THIS_MODULE,
.open = device_open,
.read = device_read,
.write = device_write,
.release = device_release,
};
static struct miscdevice device_miscdev =

/* register misc

device information */
{
.minor = MISC_DYNAMIC_MINOR,
.name = DEVICE_NAME,
.fops = &device_fops,
};

static int __init device_init(void) /* insmod operation will

Page | 54

trigger the function */
{
int ret;

ret = misc_register(&device_miscdev); /*register device */
if (ret) {
printk(KERN_ERR "cannot register miscdev on minor=%d (%d)\

n",

MISC_DYNAMIC_MINOR, ret);
goto out;
}

printk(KERN_INFO DEVICE_NAME " initialized!\n");
return 0;

out:
return ret;
}

static void __exit device_exit(void)

/* rmmod operation will

trigger the function */
{
misc_deregister(&device_miscdev);
printk(KERN_INFO DEVICE_NAME " removed!\n");
}

module_init(device_init);
module_exit(device_exit);

MODULE_LICENSE("GPL");

/* protocol used by

driver modules */
MODULE_DESCRIPTION("Linux Driver Demo");

/* driver module

description */

Page | 55

6.4 Using Makefile to Associate Drivers with Kernel

Driver files h ave to be as sociate d with the kernel by a Makefile before they
can be compiled and loaded. The following table shows the source code of
the provided Makefile.

# File : Makefile
ifneq ($(KERNELRELEASE),)
obj-m := device_drv.o # driver fil

e with extension name .o

other than .c; by default .c files will be searched and compiled

automatilly
else
KERNELDIR ?= ~/embest/linux-2.6.39 # specify the path of kernel

source code, not e that the path mus t be the location where you save th e

code

PWD := $(shell pwd)
all:
$(MAKE) -C $(KERNELDIR) M=$(PWD) modules
clean:
rm -

rf *.o *~ core .depend .*.cmd *.ko *.mod.c .tmp_versions

Module. sy mv er s mo dules.or der device_drv.k o

endif

6.5 Compiling and Downloading Drivers

Before you start to compile drivers using “make” command, the kernel
source code should be compiled first. After compiling successfully, you can
download the generated file device_drv.ko to the board, and then execute
the following instructions and see the feedback from the system.

 [root@Min i69X5:/] # insmod device_dr v.ko

demo initialized!

 [root@Min i69X5:/] # ls /dev/demo

/dev/demo

 [root@Min i69X5:/] # rmmod device_drv .ko

Page | 56

demo removed!

6.6 Brief Introduction to Applications

The previous example shows t he execution process of drivers. You might
notice that only two functions – device_init and device_exit have been
called, w hil e ot her s r em a in u nus ed in the a b o ve p r ocess . The interfac es in
structure device_fops are intended for the application layer. The table
shown below will give you an example of the basic structure of a Linux
application.

/* File: demo.c */
#include <stdio.h>
#include <fcntl.h>
#include <string.h> /* head file being called */

#define dev "/dev/demo" /* demo file node */

int main (void)
{
int fd;
int err = 0;
int value;

fd = open (dev, O_RDWR); /* open file node, readable and writable
*/
if (fd < 0) {
fprintf (stderr, "open fail\n");
err = 1;
goto out;

}

Page | 57

if (read (fd, &value, sizeof(value)) < 0) {

/* read function that

calls driver; the read value t is save in value */
fprintf (stderr, "read error\n");
err = 1;
goto out;
}
printf ("read before write, value=%X\n", value); /*

print read value

before writing */

int writeValue = 0x5E7F;
if (write (fd, &writeValue, sizeof(writeValue)) < 0) {

/* writing

0x5E7F to driver module by calling write function */
fprintf (stderr, "write error\n");
err = 1;
goto out;
}
if (read (fd, &value, sizeof(value)) < 0) {

/* read again after

writing */
fprintf (stderr, "read error\n");
err = 1;
goto out;
}
printf ("read after write, value=0x%X\n", value);

/* print read value

after writing */

out:
if (fd > 0) close (fd);
return err;

}

6.7 Compiling and Running Applications

1） Execute the following instruction to compile the application;

 # arm-none-linux-gnueabi-gcc demo.c -o demo

Page | 58

The generated execut able file named demo is the a pplication w e
need;

2） Execute the following instruction to download it to the board;

 [root@Min i69X5:/] # insmod device_dr v.ko

System feedback is shown below;

demo initialized!

3） Execute the following instruction to run the a p p lic a t ion ;

 [root@Min i69X5:/] # ./demo

Running information is shown below;

read before write, value=0

read after write, value=0x5E7F

6.8 Common Functio ns

The following three functions are commonly used by the driver layer to
control the GPIO;

Functions Notes

int at91_set_gpio_input(unsigned pin, int

use_pullup)

set GPIO as input

int at91_ ge t_ gp io _value(u nsigned pin)

acquire GPIO input

value

int at91_set_gpio_output(unsigned pin,
int va lue)

set GPIO as output

Adding the above GPIO code to the appropriate location in the drivers as
shown in the following table, can easily implement LED control;

Page | 59

Example functions Notes

at91 _set_gpio_input (AT91_PIN_PC16,

0);

set PC16 as input, pull-up
disabled

at91_get_gpio_value

(AT91_PIN_PC16);

read the input value on PC16

at91_set_gpio_output(AT91_PIN_PC16,

1);

set PC 16 to provide high-level
output

6.9 Linux Multi-Thread Pro g ramming

The threads here refer to the multiple tasks created in the user space. These
tasks share resources of the same process. It consu mes much less cost than
common process and feature s f ast cont ext switching.

Since the resources are shared by processes, it is necessary to adopt
synchronizing measures in order to avoid competition when accessing
resources.

r/* File: pthread.c */
#include <stdio.h>
#include <unistd.h>
#include <pthread.h>

void read_func(void);
void write_func(void);

int buffer_has_item = 0; /* shared resource */

pthread_mutex_t mutex; /* mutex lock */

Page | 60

int main(void)
{
pthread_t reader, writer; /* define process ID
*/
pthread_mutex_init(&mutex, NULL);

/* initiate mutex

lock */

pthread_create(&reader, NULL, (void*)&read_func, NULL);

/* create

process */
pthread_create(&writer, NULL, (void*)&write_func, NULL);

pthread_join(reader, NULL);

/* wait for end of

process */
pthread_join(writer, NULL);

return 0;
}

void write_func(void)
{
while (1) {
pthread_mutex_lock(&mutex); /* enable lock, other
processes will be locked */
if (buffer_has_item == 0) {
printf("create a new item\n");
buffer_has_item = 1;
}
pthread_mutex_unlock(&mutex);

/* disable lock,

other process will be unlocked */
}
}

void read_func(void)
{
while (1) {

pthread_mutex_lock(&mutex);

if (buffer_has_item == 1) {

Page | 61

printf ("destroy item\n");

buffer_has_item = 0;
}
pthread_mutex_unlock(&mutex);
}

}

Execute the following instruction to implement the compilation.

 # arm-none-linux-gnueabi-gcc pthread.c -o pthread_demo -lpthread

6.10 Linux Network Programming

Linux network programming generally can be implemented based on UDP
and TCP protocols. UD P is a conne ctionl ess t ranspo rt protocol that provi des
simple, unreliable and message-oriented services; TCP is a reliable,
connection-oriented and byte-stream-based transport protocol. The
follo wing examples are a simple TCP server and a client.

Server: monitors the connection initiated by the client and sends
character stri ng to the client when a connection is created.

/* File: server.c */
#include <stdio.h>
#include <stdlib.h>
#include <errno.h>
#include <string.h>
#include <sys/types.h>
#include <netinet/in.h>
#include <sys/socket.h>
#include <sys/wait.h>

#define MYPORT 3490 /* the port users will be connecting to */
#define BACKLOG 10 /* how many pending connections queue will hold */

main()
{

int sockfd, new_fd; /* listen on sock_fd, new connection on new_fd */

struct sockaddr_in my_addr; /* local address information */

Page | 62

struct sockaddr_in their_addr; /* connector's address information */
int sin_size;

if ((sockfd = socket(AF_INET, SOCK_STREAM, 0)) == -1) {
perror (" socket ") ;
exit(1) ;
}

my_addr.sin_family = AF_INET;
my_addr.sin_port = htons(MYPORT);
my_addr. sin_addr.s_addr = INADDR_ANY; /* auto-fill with local IP */

if (bind(sockfd, (struct sockaddr *)&my_addr, sizeof(struct sockaddr)) == -

1)

{
perror (" bind ") ;
exit(1) ;
}

if (listen(sockfd, BACKLOG) == -1) {
perror (" listen ") ;
exit(1) ;
}

while(1) { /* main accept() loop */
sin_size = sizeof(struct sockaddr_in);
if ((new_fd = accept(sockfd, (struct sockaddr *)&their_addr,
&sin_size)) == -1) {
perror (" accept ") ;
continue ;
}
printf("server: got connection from %s\n",
inet_ntoa(their_addr.sin_addr));
if (!fork()) { /* this is the child process */
if (send(new_fd, "Hello, world!\n", 14, 0) == -1)
perror( " send " ) ;
close( new_fd ) ;
exit ( 0 ) ;
}

close(new_fd);

Page | 63

while(waitpid(-1,NULL,WNOHANG) > 0); /* clean up child processes */
}
}

Client: Ini tiates a connection to the server, receives and prints
information sent from the server.

/* File: client.c */
#include <stdio.h>
#include <stdlib.h>
#include <errno.h>
#include <string.h>
#include <netdb.h>
#include <sys/types.h>
#include <netinet/in.h>
#include <sys/socket.h>

#define PORT 3490 /* the port client will be connecting to */
#define MAXDATASIZE 100 /* max number of bytes we can get at once */

int main(int argc, char *argv[])
{
int sockfd, numbytes;
char buf[MAXDATASIZE] ;
struct hostent *he;
struct sockaddr_in their_addr; /* connector's address information */

if (argc != 2) {
fprintf(stderr,"usage: client hostname\n");
exit (1) ;
}

if ((he=gethostbyname(argv[1])) == NULL) { /* get the host info */
herror(" gethostbyname ") ;
exit (1);
}

if ((sockfd = socket(AF_INET, SOCK_STREAM, 0)) == -1) {
perror( " socket ");

exit (1);

Page | 64

}

their_addr.sin_family = AF_INET;
their_addr.sin_port = htons(PORT);
their_addr.sin_addr = *((struct in_addr *)he->h_addr); //inet_addr

if (connect(sockfd, (struct sockaddr *)&their_addr, sizeof(struct sockaddr))
== -1)
{
perror(" connect ");
exit (1);
}

if ((numbytes=recv(sockfd, buf, MAXDATASIZE, 0)) == -1) {
perror (" recv ");
exit (1);
}
buf[numbytes] = '\0';
printf("Received: %s",buf);
close(sockfd) ;
return 0;

}

6.11 Compiling Server

 If you have two EDM6070s, you need to compile a server
program running on one EDM6070 by executing the following
instruction;

 # arm-none-linux-gnueabi-gcc server.c -o se rver

 If you have only one EDM6070, you need to compile a server

program running on a PC by executing the following instruction;

 # gcc server.c -o se rver

6.12 Compiling Client

 Execute the following instruction to compile a client program;

Page | 65

 # arm-none-linux-gnueabi-gcc client.c -o cl ient

6.13 Running Server and Client

 In the event that two EDM6070s are to be run in a client/server
pair, download the EDM6070-based se rver and the cli ent programs
to these boards respectively, and then run the server by executing
the following instruction;

 # ./server

Run the client by executing the following instructions
(192.192.192.105 is the server IP);

 [root@Min i69X5:/] # chmod 755 client

 [root@Min i69X5:/] # ./client 192.192 .192.105

The feedback from the server is shown below;

Received: Hello, world!

The information at the server end is shown below;

server: got connection from 192.192.192.211
server: got connection from 192.192.192.211

server: got connection from 192.192.192.211

 Where there is only one EDM6070, you need to run the server
program on your PC and the client on the board respectively. The
feedback from the server and the i nformation at the serve r end are
as the same as above.

Page | 66

Chapter 7: Updating the Linux

System

EDM6070 has a Serial Flash and a NAND Flash on board. But the Linux
system can only support boot-up fr om Serial Flash currently. This chapter
will introduce in detail how to update the Linux system stored in Serial Flash.

7.1 Images and the Programming Tool

The following two figures illu strate how the images are distrib uted in Serial
Flash and NAND Flash.

Figure 23: Images in Serial Flash

AT91BootStrap

U-boot Parameter

U-boot

Share

0x00000000

0x00005000

0x00008400

0x00058400

0x0014C600

Page | 67

Install SAM-BA_2.12.exe saved under "\02 Linux2.6 Kit\02
Tools\SAM-BA" in the CD-ROM as well as the patch
sam-ba_2.12_patch2a.exe. After installation is done, a shortcut icon for
SAM-BA v2.12 can be found on the desktop of your PC as shown below;

Figure 25: SAM-BA Shortcut

7.1.1 Programming System Image Automatically

The procedure for automatic programming of system i mages is much easier
than manual method. You only need to copy the relevant Linux images
including boot.bin and uboot.bin to t he root di rectory o f a card, and i nsert
it into the slot on the board and then power it up. The system will
automatically implement programming to Serial Flash and NAND Flash.
After the programming process is complete, you just need to reb oot the

Figure 24: Images in NAND Fla sh

uImage

RAMDisk

UBIFS

Share

0x00000000

0x00600000

0x00C00000

0x07A00000

0x10000000

Page | 68

EDM6070 to complete the process.
(Images are saved under 02 Linux 2.6 Kit\00 Image of the CD-ROM)
The table shown blow contains the images required.

Categories Names Ways to Make Images

Tool

Images

boot.bin By using tools

uboot.bin By using tools

System

Images

strap.bin

System image, by renaming
at91sam9x5ek-dataflashcardboot-3.1.bin

u-boot.bin System image, u-boot.bin

uImage System image, uI mage

rootfs.bin System image, by renaming UBIFS file system

Note:

 Y ou sho uld eras e the b oot area of Ser ial Fla sh firs t to ma ke sure that the system

will boot fr om the microSD c ard. You can find the instr uctions for erasing a
microSD card in Appendix of this manual.

 If you fail to program the microSD card, format it and try a gain. SD Formatter

is recomme nded as a formatting tool.

If there is already a complete system existing in Serial Flash and NAND Flash,
and you just need to update a single image file such as u-boot.bin or
uImage or rootfs.bin, a USB flash drive can be used to facilitate the
updating process. The on ly requirement is to co py the file to a USB flash
drive and insert it into USB interface of the EDM6070, and then reboot the
system.

Page | 69

7.1.2 Programming System Image Manually

Follow the steps listed below to program a system image manually.

7.2 Preparations

1） Connect the debugging serial interface of EDM6070 to your PC’s

serial interface using a female-to-female cross-over serial cable
and a serial interface adapter;

2） Connect the MicroU SB interfac e of EDM6070 to a USB interf ace on

your PC with a MicroUSB cable;

3） Enable NAND Flash and disable Serial Flash according to the switch

settings shown below:

Figure 26: Switch Settings 1

4） Open a HyperT erminal on your PC and set bitrates to 115200, 8 data

bits, no parity, 1 stop bit, no flow control;

5） Power on EDM6070 and run SAM-BA v2.12 to open the window as

show below;

Figure 27: SAM-BA v2.12 Window

If the USB connection between the board and your PC is working properly,

Page | 70

an option \USBserial\COMx (x is number of the CO M interface) ca n b e
seen in Select the connection drop-down menu. Select

at91sam9x35-ek in Select your board drop-down menu and then click
Connect;

6） Enable both Serial Flash and NAND F lash according to the switch

settings shown below; (refer to

Figure 2: MINI6935 CPU Module

(Front View) for the switch location:

Figure 28: Switch Settings 2

7） Click the Serial F lash AT25/AT26 tab in the SAM-BA main window

as shown below, and select Enable DataFlash (SPI0 CS0) in the
Scripts drop-down menu, and then click Execute on the right to
start the en abling process. The information box at the bottom of the
window will display the details of the process as shown in

Figure 29;

Figure 29: Enabling DataFlash

Page | 71

8） Select Erase All in the Scripts drop-down menu and then click

Execute to erase all the contents in Ser ia l Fla s h as shown below;

Figure 30: Erasing Serial Flash

7.3 Programming Image Files

1） Select Send B oot File in the Scripts drop-down menu of SAM-BA’s

main window and then click Execute to open the following window;

Figure 31: Selection o f Str a p . bin

Page | 72

Select strap.bin (th e at91sam9x5ek-dataflashcardboot-3.1.bin file
generated in section 5.4), a n d c lic k Open to download it to Serial
Flash;

2） Enter an address 0x8400 in Address text box of SAM-B A’s ma i n

windo w and c lick loca ted to the right of the Send File Name
text box to open the following window;

Figure 32: Selection of U-boot.bin

Select u-boot.bin and click open to download it to Serial Flash;

3） Click the NAND Flash tab in SAM-BA main window as sho wn below,

and select Enable NAND Flash in the Scripts drop-down menu,
and then click Execute on the right to enable NAND Flash;

Page | 73

Figure 33: Enabling NAND Flash

4） Select Enable OS PMECC parameters in the Script drop-down

menu and then click Execute to open the following window;

Figure 34: ECC Configuration Settings

Check Trimffs check-box and keep the rest of options unchanged,
and then click OK;

5） Select Erase All in Script drop-down menu of SAM-BA main window,

and then click Execute as shown below;

Page | 74

Figure 35: Erasing NAND Flash

6） Enter an address 0x0 in Address text box and click on the right

of Send File Name te xt box to open the following window;

Figure 36: Selection of uImage

Select uImage file and click Open, and then click Send File in
SAM-BA main window to download it to NAND Flash;

Page | 75

7） Enter an address 0xc00000 in Address te xt b ox and click on

the right of the Send File Name text box to open the following
window;

Figure 37: Selection of rootfs.bin

Select rootfs.bin file and click Open, and then click Se nd File in
SAM-BA main window to download it to NAND Flash; Reboot the
system to finish manually programming sys tem images.

Page | 76

Chapter 8: Appendix A: Common

u-boot Instructions

 Erasing Bootstrap

 sf probe 0; sf er ase 0 5000

 Erasing u-boot parameter area

 sf probe 0; sf er ase 5000 300 0

 Erasing u-boot

 sf probe 0; sf er ase 8000 500 00

 Erasing NAND

 nand erase. chip

 NFS root file system

 setenv boot args 'cons ole=ttySAC6,11 5200n81 ro ot=/dev/n fs

nfsroot=<NFS_Server_IPAddr>:<NFS_DIRECTORY>

ip=<Local_IPAddr>:<NFS_Server_IPAddr>:<Gateway_Addr>:255.255.255.

0::eth0:off'