SAM9-L9261 user manual
Contents
1. AEE L ee enola 2 am a 9 40 AAGINOD XAWITO MMW LH YN 004 enola _ dis oner pk ah pa FE A 2 BIDE 2 AS g Er 7 sE E E p p Ae La 3 8002 O LHOIIAOO aa dd ARS ay oe re aoveozevseo so cgorcow gt EL DG amp Sassi FE 0 LOZ61 NVS Lame EN e ER er fh fav E 4 eo ast u ZBA 35 aL E 3 2d er Lozswvstev azage 68 ae a LE 00 50 ce ooo TO sa 2 18 Ya Rol eu dan BH sonsa 15 9SOW HOGNVN0Od ZAOA ISONTHaS tegd Hera sa Ea 83 85 ois ESA ig soNoa E ZO SON AMONYNAOd tomiosiWChiesiocad ELS Ls Sk ESES E Z oia LOE 421 sansa En PRE fe NMNG zoumoas hesscad LES g2. Compiling and installing the kernel modules require some additional steps First you need to ensure that the target root filesystem is accessible from the build machine Remember to use root user for all extraction manipulation procedures Then enter the Linux source directory where you typed make ulmage and type make modules make INSTALL_MOD_PATH path to target root filesystem modules_install Note that the path must be to the target root filesystem s root directory and NOT the lib or lib modules subdirectories TWEAKING THE KERNEL We welcome any patches and comments for improving the board support for SAM9 L9261 The starting point for board specific initialization is the following file arch arm mach at9 1 board sam9 1926 1 c Additional AT91SAM9261 chip specific initialization is located at arch arm mach at91 at91sam9261 c arch arm mach at91 at91sam9261_devices c ROOT FILESYSTEM RUNNING USER COMPILED BOOTLOADERS AND LINUX _ KERNEL The root filesystem can be built using http www angstrom distribution org The other option is to use a ready made binary distribution like Debian or some pre compiled Angstrom image The root filesystem used in SAM9 L9261 is a slightly modified version of the official Atmel Linux demo binary Additional software can easily be installed by the command ipkg provided that the board is connected to Internet via Ethernet cable Run ipkg from the SAM9 L9261 shell prompt to s
3. SAM9 L9261 User Manual Petree Gee All boards produced by Olimex are ROHS compliant Rev C September 2009 Copyright c 2009 OLIMEX Ltd All rights reserved INTRODUCTION FEATURES SAM9 L9261 is a development platform with ARMY microcontroller TFT LCD 3 5 320x240 pixels with TOUCHSCREEN 64MB SDRAM and 512MB NAND Flash The board has Ethernet 100Mbit controller USB host USB device RS232 and 20 pin extension port with unused SAM9261 GPIO ports available for add on boards SAM9 L9261 has waste amount of Flash and RAM and runs a 2 6 27 4 Linux RTC clock is backed up with 3V Li battery MCU AT91SAM9261 16 32 bit ARM9 200MHz operation Standard JTAG connector with ARM 2x10 pin layout for programming debugging with ARM JTAG TFT LCD 3 5 320x240 pixels with TOUCH SCREEN supported by Linux framebuffer and tslib respectively 64 MB SDRAM 2MB Dataflash used to store bootloaders and the Linux kernel 512MB NAND Flash seen in Linux as silicon MTD drive Ethernet 100Mbit connector with Linux driver Two USB host connectors supported by Linux USB device connector supported by the Linux Gadget driver RS232 interface and drivers SD MMC Dataflash card connector see notes in the manual AT73C213 stereo DAC with Linux ALSA drivers Ten GPIOs accessible from Linux user space applications Four user buttons accessible from Linux user space applications One reset button Three status L
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6. 11 Reset or power cycle SAM9 L9261 ST Or ok WARNING All memory contents will be ERASED including any data stored in the NAND partition TIP If restoration of the root filesystem in NAND is not required then its erasure can be spared Open sam9_19261_demo_linux tcl and uncomment the last few lines concerning the writing of NAND Lines in TCL are commented if the first character on the line is The result should be like this n puts I Load the Kernel image send file DataFlash AT45DB DCB df_mapping kernelFileName df mapping kernelOff 0 puts I Initialize the NAND access NANDFLASH Init puts I Erase all the NAND flash blocs and test the erasing NANDFLASH EraseAllNandFlash n puts I Load the linux file system send file NandFlash nf_mapping diskFileName nf_mapping diskOff O LEDS The board has three user controllable LEDs The default Linux configuration for these is LED Configuration Description LED1 nand disk LED is switched on on every access to the NAND flash LED2 none No function assigned LED3 heartbeat Repeatedly switched on and off following the distinctive heartbeat pattern LEDs can be manually controlled from the Linux shell prompt For example to switch on LED2 echo 255 gt sys class leds led2 brightness And to switch it off echo O gt sys class leds led2 brightness EXTENSION
7. EDs RTC supported by Linux and with a battery backup option On board voltage regulator 3 3V with up to 800mA current Single power supply regulated 5V DC required Power supply filtering capacitor 18 432 Mhz crystal PCB FR 4 1 5 mm 0 062 soldermask silkscreen component print Dimensions 100 x 80 mm 3 94 x 3 15 ELECTROSTATIC WARNING The SAM9 L9261 board is shipped in protective anti static packaging The board must not be subject to high electrostatic potentials General practice for working with static sensitive devices should be applied when working with this board REQUIREMENTS Cables 1 8 meter USB A B cable needed for restoring the installation NULL modem RS232 cable needed for the Linux console UTP LAN cable needed for connecting SAM9 L9261 to Internet Power Supply Regulated 5V DC power supply capable of supplying at least 1A SCHEMATIC Te Olod
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9. PORT The board has an extension port EXT with eleven GPIO pins that can be controlled from user space Linux applications The available pins are AT91 Directory name EXT Notes PIO under sys class gpio pin Er z5 1 3 3V ae 2 GND PA7 gpi039 8 PAS gpi040 9 PB4 gpi068 10 PB30 gpio94 11 PC4 gpio100 13 Not available when SD MMC is enabled PCS gpiol01 14 PC6 gpio102 15 PC7 gpio103 16 Not available when SD MMC is enabled PE TA gpio108 17 PC13 gpio109 18 a 19 5V 20 GND In order to setup a pin direction user must write the string high low out or in to the file sys class gpio gpio extX direction in order to setup the pin correspondingly as an output with initial high value output with initial low value output or input Example echo high gt sys class gpio gpio39 direction echo in gt sys class gpio gpio40 direction Outputs can be controlled by writing to the value file like this echo O gt sys class gpio gpio39 value echo 1 gt sys class gpio gpio39 value Pin sense value can be read regardless of its direction by reading the value file cat sys class gpio gpio39 value cat sys class gpio gpio40 value Of course user is free to write a C program to access these files instead of using the shell examples above TAG PORT The JTAG connector allows a debugger to talk via a JTAG Joint Test Action Group port
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11. at can be used as a starting point TIP By default the board is configured to enable ethO using DHCP for automatic IP configuration This can be changed by editing the file etc network interfaces TIP By default the embedded Linux installation starts a SSH server In order to use it however the root password must be set Type as root in board terminal passwd and type the new root password Password must be non empty it must contain at least one character TIP By default all Olimex boards ship with the same ethernet MAC address This will cause trouble if there are two or more boards in the same local network Assigning a custom MAC address is easy When U Boot is starting press a key to enter the U Boot shell There set the Ethernet address setenv ethaddr 00 40 91 31 32 33 And then save the settings to dataflash saveenv Another option is to open the programming script sam9 19261 samba sam9 19261 demo linux tcl and set the Ethernet address there Search for ethaddr to find where to edit Then reflash the board memories see the RESTORING THE INSTALLATION section TIP For development purposes you can configure U Boot to fetch ulmage via TFTP You need to set the board s IP address the TFTP server IP address and a few more U Boot environment variables So stop U Boot by pressing ENTER during the countdown after reset and type the following lines in the U Boot prompt U Boot gt setenv ipaddr 192 168 0 239 U Boot gt
12. directly to the core Instructions may be inserted and executed by the core thus allowing SAM9261 memory to be programmed with code and executed step by step by the host software For more details refer to IEEE Standard 1149 1 1990 Standard Test Access Port and Boundary Scan Architecture and SAM9261 datasheet a PLAYING MULTIMEDIA The default installation includes a command line multimedia player To play audio or video start the media player giving the media files as command line arguments mplayer songl ogg mplayer myvideo avi The sound volume can be controlled either from the GUI or by the command line ALSA application alsamixer Volume channels are selected by the left and right arrow keys values can be changed with the up and down arrow keys mute is controlled by the M key and the ESC key exits the application Note that certain terminal emulation programs cannot cope with the alsamixer output HyperTerminal is known not to work PuTTY is known to work WARNING By default MPlayer uses the OSS sound interface But sometimes the OSS emulation layer in ALSA does not work properly particularly in situations when the original sound stream must be down sampled In these cases the sound will be distorted MPlayer can be forced to use ALSA with the ao alsa command line argument mplayer ao alsa song1 ogg WARNING If colors seem to be messed up then MPlayer is not using 24bpp color depth for the frame buffer Fix that by
13. e directory Example cd HOME tar xjf codesourcery toolchain 2009q 1 repack tar bz2 The latter will create a directory HOME bin codesourcery armgcc 2009q 1 along with some shell scripts that must be sourced before compilation source HOME bin linux_cross_compile sourceme source HOME bin bootloader_cross_compile sourceme BOOT LOADERS The SAM9 L9261 board requires a three stage boot loader before booting the Linux kernel RomBOOT gt at91bootstrap gt u boot gt Linux kernel internal ROM dataflash dataflash dataflash The typical operation of each boot loader is to load the next stage program into SDRAM and then execute a JUMP to its start address AT9IBOOTSTRAP Version 2 4 of at91bootstrap has been used along with minor modifications to add support for the SAM9 L9261 board To compile from source Extract the sources tar xjf at9 1bootstrap 2 4 olimex tar bz2 cd at91bootstrap 2 4 olimex U BOOT Setup the environment source HOME bin bootloader_cross_compile sourceme Configure at91bootstrap for SAM9 L9261 make sam9_19261_defconfig Compile make The resulting binary is created in binaries sam9_1926 1 dataflashboot 2 4 bin WARNING Due to AT91SAM9261 chip errata booting from NAND flash is not supported The used U Boot is a GIT pull from June 11 2009 along with minor modifications to add support for SAM9 L9261 In order to compile from sources Extract the sources tar xjf u boo
14. ee the available options Additionally the sources debian lenny rootfs subdirectory contains a flash image for Debian Lenny based root filesystem It does not feature a graphical demo but user can install additional packages via the standard Debian utilities apt get and aptitude In order to use the newly compiled bootloader and or kernel do the following 1 Extract the contents of the sam9 1926 1 samba zip archive 2 Overwrite the binary files with the newly compiled ones 3 Run the installation restoration procedure below RESTORING THE INSTALLATION The board Linux installation can be restored using the SAM BA script in the sam9 19261 samba zip archive Windows installation along with the SAM BA tool from Atmel are required for that Restoration procedure 1 Make sure AT91 ISP v1 12 or higher is installed It is freely available from http www atmel com products at91 Power down the board Remove the AT SD jumper Power up the board Connect the PC host to the board USB device connector Put the AT SD jumper at the AT position Windows might ask for drivers Select automatic driver installation Windows should find the necessary drivers from the previous AT91 ISP installation 8 Extract the contents of the sam9 19261 samba zip archive to a temporary directory 9 Run the sam9_19261_demo_linux bat script from that directory 10 After a couple of minutes Notepad will be opened with the log file of the write operation
15. forcing the video output driver to SDL export DISPLAY 0 0 in case we re on the ttySO console mplayer vo sdl myvideo avi USING THE SD MMC SLOT A few limitations arise when using the SD MMC slot 1 AT73C213 sound cannot work in Linux 2 ADS7843 touchscreen cannot work in Linux 3 Generic SPI cannot work in Linux 4 Before and during booting the jumper AT SD must be in position AT After Linux kernel is loaded and running this jumper must be placed at the SD position The SMD jumpers WP_E and CP_E must be soldiered A specially configured version of the Linux kernel must be used A precompiled binary can be found in the sam9 19261 samba sdmmc zip archive The configuration for this kernel can be loaded in the kernel source tree with the following command make sam9_19261_sdmmc_defconfig na CAVEAT The AT91SAM9261 MCI controller has a few bugs which can prevent it from working properly with some SD MMC cards Please consult the chip errata for more information COMPILING USER APPLICATIONS FOR EMBEDDED LINUX The subdirectory linuxapp testprj has two simple projects that show how to cross compile user applications for Linux The fbtest tgz archive contains an example that draws the frame buffer from user space The evtest tgz archive contains an example how to access the board buttons Example usage of evtest evtest dev input event0 TIPS AND TRICKS TIP The original Angstrom root filesystem distributi
16. o B 300 v ozaxa za aNo Sam BA i gp H 4 3 le Q XX ssa nxa T ak AEE Sj 8 md wee She nS woos vus 2 plc Hor vy 2 SS bwT NEL 30 30 8S BOY TI gt NEE XX huo ogne Si feien EA La yee NEE AEE ACY LISE T GH OVIWALNIISOH SSN Sand Ke XI n e Sove Med H3MOd JOVJHILNI 391430 ESN teoa GETTING STARTED Connect a null modem cable to the board and make sure the RS232 jumpers are in the DRXD and DTXD positions Start a terminal emulation program and set it for 115200 bps 8 bits no parity 1 stop bit Plug a regulated 5V DC power supply to power up the board You will see the bootloaders and kernel s startup messages Please be patient booting can take a couple of minutes especially on the first boot Login as root Password is not needed NOTE By default the root account in the Angstrom root filesystem image does not have a password This will prevent remote logins via ssh In order to create a password run as root the following command passwd The root account in the Debian root filesystem image has password olimex TOOLCHAIN The sources for the bootloaders and the Linux kernel must be compiled under Linux PC host We don t intend to support Cygwin The projects were compiled using Codesourcery G lite 2009q1 freely available from http www codesourcery com A convenience tarball is provided that contains the Codesourcery binaries along with some useful shell scripts This tarball must be extracted in user s hom
17. on does not enable the ETHERNET connection by default To change that open etc network interfaces vi etc network interfaces and add the following line auto ethO TIP It is possible to use an NFS root filesystem When U Boot boots press SPACE or ENTER to enter the U Boot shell Hit any key to stop autoboot O U Boot gt Then set the kernel boot arguments and point to your NFS exported directory U Boot gt setenv bootargs console ttyS0 115200 root dev nfs rw nfsroot 192 168 0 225 path to nfs root ip 192 168 0 239 192 168 0 225 255 255 255 0 emblin none And finally boot the kernel U Boot gt boot In the previous example the NFS server has IP address 192 168 0 225 and the SAM9 L9261 client is assigned IP address 192 168 0 239 and host name emblin The NFS export path is path to nfs root Another option is to use DHCP U Boot gt setenv bootargs console ttyS0 115200 root dev nfs rw nfsroot 192 168 0 225 path to nfs root rsize 1024 wsize 1024 tcp TIP After creating a root filesystem using buildroot Angstrom or similar method it must be converted to a JFFS2 image for writing to the NAND flash Assuming that the target root directory is located in a directory sam9 rootfs the JFFS2 image can be created by issuing mkfs jffs2 root sam9 rootfs e128KiB n p o angstrom x1 1 image demo glibc at91 rootfs ffs2 The archive angstrom atmel demo olimex rootfs tgz contains the root directory structure th
18. or purpose are excluded This document is intended only to assist the reader in the use of the product OLIMEX Ltd shall not be liable for any loss or damage arising from the use of any information in this document or any error or omission in such information or any incorrect use of the product
19. setenv netmask 255 255 255 0 U Boot gt setenv serverip 192 168 0 225 U Boot gt setenv bootcmd tftpboot bootm U Boot gt setenv bootfile ulmage U Boot gt boot The above example assumes you board gets IP 192 168 0 239 your TFTP server has IP 192 168 0 225 and the kernel image filename is ulmage CAVEAT The mainstream tslib package has a bug that prevents touchscreen utilities from operating on a 24bit framebuffer This is fixed in the provided root filesystem images In case you re building your own root filesystem here is a patch that fixes the problem RAR ARA E E E HEE ERE REE Ek BEGIN CUT 4545 4 Hf Hf dk at t itt tit tt i itt ttt RAR AH A tslib 1 0 orig tests fbutils c 2006 08 25 00 02 55 000000000 0300 tslib 1 0 tests fbutils c 2009 06 04 17 16 09 000000000 0300 247 6 247 7 perror ioctl FBIOPUTCMAP break case 2 case 3 Case 4 red value gt gt 16 Oxff green value gt gt 8 amp Oxff 274 6 275 17 else loc p16 color break case 3 if xormode loc p8 0 color gt gt 0 loc p8 1 color gt gt 8 loc p8 2 color gt gt 16 else loc p8 0 color gt gt 0 loc p8 1 color gt gt 8 loc p8 2 color gt gt 16 break case 4 if xormode loc p32 color RARO ARRE END CUT RRA AR ARA REFERENCES http www atmel com products at91 http www linux4sam or http www at91 com http
20. t git200906 1 1 olimex tar bz2 cd u boot Setup the environment source HOME bin bootloader_cross_compile sourceme Configure at91bootstrap for SAM9 L9261 make sam9 19261 config Compile make The resulting binary is created in the main sources directory u boot bin WARNING The needed image is u boot bin The u boot file is an ELF file that cannot be directly written into dataflash LINUX KERNEL The used kernel is a mainstream 2 6 30 slightly modified to include support for the SAM9 L9261 board As with the bootloaders the modifications were based on the source files for Atmel s AT91SAM9261EK board In order to compile the kernel its sources must be extracted first tar xjf linux 2 6 30 olimex tar bz2 Then setup the needed environment variables source HOME bin linux_cross_compile sourceme Go to the source directory cd linux 2 6 Load the default configuration for the SAM9 L9261 board make sam9_19261_defconfig Optionally you can tweak the kernel compile time configuration make xconfig And finally you can compile it make ulmage If compilation is successful the resulting kernel image can be found in linux 2 6 arch arm boot ulmage NOTE The linux 2 6 30 olimex tar bz2 archive is pre patched and ready for compilation The file linux 2 6 30 olimex patches tar bz2 found in the src directory contains a series of patches that can be applied to the mainstream 2 6 30 distribution to get linux 2 6 30 olimex tar bz2
21. www codesourcery com http www kernel or http maxim org za at91 26 html http u boot sourceforge net http www angstrom distribution or ORDER CODE SAM9Y L9261 assembled and tested no kit no soldering required How to order You can order to us directly or by any of our distributors Check our web www olimex com dev for more info Revision history REV A created October 2008 REV B Updated kernel and U Boot June 2009 REV C add a few more tips Disclaimer 2008 Olimex Ltd All rights reserved Olimex logo and combinations thereof are registered trademarks of Olimex Ltd Other terms and product names may be trademarks of others The information in this document is provided in connection with Olimex products No license express or implied or otherwise to any intellectual property right is granted by this document or in connection with the sale of Olimex products Neither the whole nor any part of the information contained in or the product described in this document may be adapted or reproduced in any material from except with the prior written permission of the copyright holder The product described in this document is subject to continuous development and improvements All particulars of the product and its use contained in this document are given by OLIMEX in good faith However all warranties implied or expressed including but not limited to implied warranties of merchantability or fitness f
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