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AMC dimPCI 68VZ328 User's Manual

1. Each of the command descriptors are listed below If any of them are unsuccessful executing the function an error will return www amctechcorp com 69 70 DIMM_IO_IOCTL_MAP will return an offset given a port and bit number The bit and port number must be assigned to port_number and bit_number in the dimm_io struc ture that is passed to the ioct 1 command The offset will be assigned to the offset field of the structure if the port and bit number exists in the list of active I O points otherwise an error is returned DIMM_IO_IOCTL_RETRIEVE returns a port and bit number given an offset The offset must be assigned to the dimm_io structure passed to the ioct1 call As long as the offset is smaller than the maximum number of active pins the port and bit numbers in the structure will be set Ifthe offset does not correspond to an active I O point then an error will be returned DIMM_IO_IOCTL_SET_CONFIG_BY_OFFSET will set the necessary registers to con figure the I O point specified by the offset Thus the fields for offset mode and pull_up_dn must be set After the function call the pin will be configured according to those settings and the device driver will fill in the corresponding port_number and bit number in the structure DIMM_IO_IOCTL_SET_CONFIG_BY_PORT_BIT will also configure the I O point but as specified by the port and bit number
2. 68ECO000 HCMOS STATIC CORE NETdimm 5 RS 485 RS 232 MC68VZ328 Figure 1 CPU Architecture RJ 45 PS 2 GENERAL keyboard PURPOSE VO ill RS 232 Figure 2 Backplane Architecture 14 www amctechcorp com The CPU Architecture consists of 4 main functional regions The Ethernet Controller the PCI Interface the MCU Core and System Memory These regions form a highly integrated embedded system The Backplane Architecture consists of 3 main regions The Communication Connec tors the DIMM and PCI Slots and the LCD Connector These regions complete the dimmPCI system The MCU Core The MC68VZ328 provides system designers more performance with the capability of running at higher speed while achieving lower power consumption with a true static core The MCU features a fully static synthesizable FLX68000 Core Processor This processor provides more than 5 MIPS performance at 33MHz processor clock The DragonBall VZ also provides a UART Timer PWM Parallel I O LCD Controller DRAM SDRAM Controller SPI and RTC System Memory The module provides up to 8 MB of FLASH ROM and up to 32 MB of SDRAM These are configured as 16 bit wide memories The SDRAM controller has been configured to use self refresh and also supports CAS before RAS refresh cycles Low power mode control also comes into effect on the MC68VZ328 The LCD utilizes the main system memory as the display memory With SDRAM there is a single LCD DMA
3. close the file afterwards fclose file_handle This application shows how to open and configure the RS485 serial port for communication It will write the same hello world string to the serial port and then close and exit gracefully serial c This program opens the RS485 serial port configures it to run at 9600 bps and transmits a string containing Hello World include lt stdio h gt include lt fcntl h gt include lt termios h gt void main int file_handle struct termios io_settings char hello_string Hello World open the serial port file_handle open dev ttyS1 O_RDWR check if an error occured if file handle 1 printf Cannot open serial port n exit 1 set the serial port speed to 9600 in both directions tegetattr file_handle amp io_settings cfsetospeed amp 1o_settings B9600 cfsetispeed amp io_settings B9600 tesetattr file_handle TCSANOW amp io_settings transmit the string write file_handle void hello_string sizeof hello_string 1 close the serial port when finished close file_handle www amctechcorp com This program will read the date from the kernel clock and print it out to the standard output stream da te c This will read the date from the realtime clock and d
4. mnt directory Now code can be recompiled on the PC and the binaries will be instantly available on the development board www amctechcorp com Updating Applications on your dimmPCl module There are two methods for updating applications on the dimmPCI module 1 create a new image file with the updated application or 2 copy the updated application to the flash filesystem Of course the latter option will be preferable in most situations since it is faster and easier Method 1 The first step is to copy the new application file s to the somewhere in the romdisk directory on the development computer Next follow the procedure to create a system image file and then program it to the target dimmPCI module using one of the previously described methods Method 2 Note this method assumes the board has been connected to an IP network and the flash filesystem is in use previous to this procedure Create an NFS share on the development computer that contains the updated application file s Power up the target dimmPCI module and log on to it using either the serial or telnet interface Mount the share on the dimmPCI module and simply copy the file s from the NFS share to the flash filesystem www amctechcorp com 41 42 This page left intentionally blank www amctechcorp com 4 LM Programming Mode Programming the uC68VZ328 There are two methods of reprogramming the flash of the dimmPCI The first a
5. www amctechcorp com Appendix Sample Code Included in the opt samples directory are several files that show just some of the features available with the dimmPCI platform The first sample application is a simple hello world pro gram Its sole purpose is to display a line of text that says Hello World Basically it verifies that your compiler tools and development environment are functioning properly hello c A very simple program to demonstrate that the development environment is properly configured include lt stdio h gt void main printf Hello World n The next sample application demonstrates how file I O works in a GCC Linux environment This program will create a file and write Hello World to it If you do not have the JFFS functioning you can alternately create a file in the var directory since that is also writable fileio c A program to verify that the flash filesystem works properly Upon completion a new file will be created usr hello_world that contains the text Hello World include lt stdio h gt void main FILE file_ handle create and open the file file_handle fopen usr hello_world w t check if an error occured if file handle NULL www amctechcorp com 49 printf Cannot open file n exit T print the string to file fprintf file_handle Hello World n
6. CPU module and connect to it using the serial port Run the hello program in the root directory and sure enough it will print out Hello World You can use a Makefile as well to automate the compiling process if you have multiple files or special options etc Using NFS to streamline the development cycle If reprogramming of the dimmPCI CPU module were necessary every time changes were made more time would be spent reprogramming than writing source code Assuming that both the linux PC and the dimmPCI development board are connected via ethernet the solution is to make part of the computer s hard drive available on the dimmPCI filesystem using NFS First an entry will need to be added to the etc exports file of the host computer similar to the following www amctechcorp com 39 40 home directory dimmpci source rw Of course you will need to add the home directory This will allow anyone read and write access to that portion of the file system This is acceptable if on a private network but highly undesir able if the computer is on the internet See the man pages for the exports file if the NFS share needs to be secure After adding that line to the exports file a restart is necessary for the NFS server process if it was running in the first place to load the changes made to the file For the next step the IP address of the computer must be known If it s not known in a console window type ifco
7. default ra manual reset waits for user input rm Upload amp Run Oops will follow the following process to upload amp run send init b send program start program capture output To specify the image to be uploaded k lt image gt This will load the image at the start of flash address 0 To start a kernel or other object already in flash sk lt absolute start address gt For upload amp run if both k and sk are used in conjunction an object can be downloaded to location 0 and start execution at an arbitrary location For example a kernel could be compiled to run in RAM loaded and then run Download Oops will follow the following process to download send init b send program start program capture output Most often the capture file option will be used in this process www amctechcorp com 101 To download using the default download program image bin q This will download an image from the flash To specify the download program dp lt download program gt Two binaries have been provided for this purpose image bin and memory bin image bin as mentioned above is the default while memory bin will download an image of the memory The start and length of the image desired for download can be specified dr lt start length gt eg If you have 1Mbyte flash and you wish to download 4 sectors of the jffs then the start address and length would be specified by dr 0xC0000 0x40000 The start addres
8. directory in the standard wClinux distribution For more information on the JFFS consult Appendix B The rest of the Flash contains the read only file system 10000000 Linux Kernel Read Only File System AM29DL200B Figure 4 Layout of the Flash and Flash Schematic Layout of the Flash Flash memory stores the following system components e The Linux kernel located at the beginning of flash e The root file system as a read only file system situated immediately after the kernel e The Journaling Flash File System which starts on the first sector boundary after the root file system No special consideration is given to the Flash boot sectors since there is no monitor or special bootstrap At reset Flash memory is located at address 0x00000000 and is mirrored throughout the memory since it is controlled by chip select CSA0 At bootup the kernel being at the beginning of flash is run immediately One of the first actions of the kernel is to define the flash www amctechcorp com 17 to its working position in the memory map and to initialize SDRAM to address 0x00000000 SDRAM The SDRAM used on the dimmPCI is the MT48LC4M16A2 or compatible 3 0V SDRAM The exact SDRAM part or size is dependant on the current SDRAM in stock or available on the market The SDRAM is located at 0x00000000 in memory so that the interrupt vector table will be located in SDRAM NOTE Setting the registers to recognize different SDRAM
9. DMAC message transport unit 120 and contains 32kbytes of dual ported memory DPRAM The local bus LB may access four areas with the CY7C09449 an 8K direct access window into any of the PCI address spaces memory I O or configuration space the 32kbyte DPRAM the 120 FIFOs and the control registers Any PCI master may access only the last three areas further PCI masters may not access the local bus neither the CY 7C09449 nor the 68VZ328 support this The DPRAM may be used as either source or destination for PCI DMA transfers which may be initiated locally as a master or by another host as a target The CY7C09449 is attached to a 32 bit synchronous local bus An Altera EPM7032AE FPGA is required to attach the CY7C09449 to the 16bit asynchronous bus of the Dragonball VZ When the dimmPCI CPU module is used in the system slot slot 1 SYSEN line is pulled low the 7032AE performs various PCI central resource functions including RESET generation CLOCK generation and bus REQUEST and GRANT arbitration PCI BIOS The PCI BIOS establishes a software interface between the PCI device drivers and the CY7C09449 hardware When the dimmPCI CPU module is in the system slot the PCI BIOS also performs the scanning and initialization of devices attached to the PCI bus Base memory and I O addresses are assigned as are the shared PCI interrupt request lines Expansion ROMs used by PC compatible video cards and the like are not s
10. a full chip erase which can take up to 30 seconds Programming will begin The progress is shown by a displayed every 4 kbytes When complete verification will begin automatically If errors are found the address will be reported and another attempt to reprogram the flash will begin up to three attempts maximum 7 When the process is complete the press reset to reboot message will be displayed The oops program will exit after 10 seconds of inactivity on the serial port 8 Remove the jumper on EMU BREAK and reset the dimmPCI board The dimmPCI should boot the new kernel 1 The default serial port is dev ttyS0 2 The program should be run from the oops directory as component files are expected to be in the current working directory www amctechcorp com 45 46 3 The default kernel image file is kernel bin in the current working directory The kernel bin file is actually a symbolic link to a stable kernel image with a descriptive but lengthy file name 4 By default the flash programs erase the entire flash device which will erase the contents of any complete partial or corrupt jffs filesystem In some instances e g to preserve an image of a corrupt file system for analysis the em option can be selected so that only the minimum number of flash sectors are to be erased www amctechcorp com www amctechcorp com 47 48 This page left intentionally blank
11. be set using the kernel configuration cd opt uClinux linux make menuconfig Using this main menu under Character Devices the following must be selected Digital IO Character Device After saving your configuration changes use the following commands in the same directory to complete compilation of your kernel make clean make dep make Now check if the node for the digital I O character device exists cd opt fs romdisk dev If 101 exists in this directory then continue to create the new image in the next step If it does not exist please refer to Appendix A for further instructions Next a combined image of the new kernel and filesystem is to be created cd opt fs make clean make Then use imagez bin and run loader on the module to write in the filesystem and kernel Please refer to the User s Manual for details on running loader The dimmPCI module is now configured for digital I O 64 www amctechcorp com Kernel and Filesystem Configuration Flow Chart At command Prompt Main Menu Inside Menu Option ed opt uClinux linux Digital IO Character device make menuconfig make dep make clean make Check if digital I O character device exists cd opt fs romdisk dev ls Please refer to NOTEA Does iolnode exist Generate new image cd opt fs make clean make Run loader on the dimmPCI module using new image www amctechcorp com 65 Available Digital I O Pins The number of pins a
12. channels are accessible from the dimmPCI backplane User space programs interact with the I O channels through a device driver using standard system calls Requirements e dimmPCI passive backplane e Odimm 2 0 or higher e SDK 2 05 or higher 2 0 38 or higher kernel source and filesystem e sample programs in SDK opt samples card_specific iodimm o fire o xor iodimm c o even parity_iodimm c Kernel and Filesystem Configuration The uClinux 2 0 kernel must have the IOdimm SPI option compiled for proper operation These options will be set using the kernel configuration cd opt uClinux linux make menuconfig Using this main menu under Platform dependent setup the following options must be selected SPI support for IOdimm ADC MAX1203 www amctechcorp com 89 After saving your configuration changes use the following commands in the same directory to complete compilation of your kernel make clean make dep make Next make a copy of the filesystem specifically for the Odimm cd opt cp Rpdx newfs iodimmmfs Then create a combined image of the new kernel and filesystem cd opt iodimmfs make clean make Finally use imagez bin and run loader on the IOdimm to write in the filesystem and kernel Please refer to the User s Manual for details on running loader The IOdimm is now configured for its I O operations 90 www amctechcorp com Kernel and Filesystem Configuration Flow Chart At Command Prompt Main
13. in the dimm_io structure Similar to the configuration by offset the mode and pull_up_dn must be set After returning suc cessfully from the ioct1 call the offset for the port and bit number will also be set DIMM_IO_IOCTL_GET_CONFIG_BY_OFFSET will retrieve the configuration of the I O point specified by the offset After successful execution the fields port_number bit_number mode and pull_up_dn will be set with their appropriate information DIMM_IO_IOCTL_GET_CONFIG_BY_PORT_BIT will get the settings of the I O point specified by the port_number and bit_number Upon returning from the ioctl call the offset mode and pul1l_up_dn will reflect the hardware settings www amctechcorp com Sample Programs Each of the sample programs even_parity c and xor c demonstrate simple use of digital I O The source code for these files is available in the samples directory of the SDK opt samples xor c performs the XOR logic function on 3 inputs The XOR is performed on the first two inputs and the result output to the first output The result of the second and third input XOR are sent to the second output even_parity c is a program that will do even parity on 8 input pins and the result is sent to 1 output pin Thus if there is an even number of 1 inputs then the output will be 0 Conversely if there is an odd number of 1 inputs the output will be
14. it in any medium provided that you conspicuously and appropriately publish on each copy an appropriate copyright notice and disclaimer of warranty keep intact all the notices that refer to this License and to the absence of any warranty and give any other recipients of the Program a copy of this License along with the Program 106 www amctechcorp com You may charge a fee for the physical act of transferring a copy and you may at your option offer warranty protection in exchange for a fee 2 You may modify your copy or copies of the Program or any portion of it thus forming a work based on the Program and copy and distribute such modifications or work under the terms of Section 1 above provided that you also meet all of these conditions a You must cause the modified files to carry prominent notices stating that you changed the files and the date of any change b You must cause any work that you distribute or publish that in whole or in part contains or is derived from the Program or any part thereof to be licensed as a whole at no charge to all third parties under the terms of this License c If the modified program normally reads commands interactively when run you must cause it when started running for such interactive use in the most ordinary way to print or display an announcement including an appropriate copyright notice and a notice that there is no warranty or else saying that you provide a warranty and that users
15. sizes doesn t work as explained in the Motorola Application Note AN2148 D rev 5 0 Instead a few jumper resistors select the SDRAM size SDRAM_BO SDRAM_B1 SDRAM_A10 SDRAM_A11 SDRAM_A12 SDRAM_nWE SDRAM_nCAS SDRAM_nRAS SDRAM _nCS SDRAM_CKE SDRAM_CLK SDRAM_DQML SDRAM_DQMH MT48LC4M1642 Figure 5 SDRAM Schematic www amctechcorp com Ethernet Controller The dimmPCI contains an on board RealTek RTL8019AS Ethernet controller and all the supporting circuitry to implement a 10BaseT ethernet port with no external components The drivers have been written and implemented by the wClinux operating system running on the dimmPCI No support is provided with the exception of the AMC Technologies Corporation provided IEEE assigned MAC address Below shows how the MAC address can be obtained The ethernet 8 bit peripheral is attached to the 16 bit chipset via chip select CSA1 as explained in the memory map section Viewing the Ethernet MAC ID One way to view the MAC ID is to simply reboot One of the boot messages that scroll past displays the MAC ID A utility exists called ifconfig that when executed displays the current network information ifconfig displays hwaddr which is the MAC ID of the module There are two utilities to set the IP address as outlined in Section 3 www amctechcorp com 19 36 37 33 39 40 41 42 43 SBSS E ed bd ed be bad le 509 33 l d Ht
16. socket and wait for an incoming client socket Upon accepting a client connec tion it will set up a client socket and go through a series of read and write operations on the socket to accept the file transfer On the client side it will set up a socket and then attempt to connect to a server Once a connection has been established the socket will be used for reads and writes to the server to transfer the file Note that the port that the client and server sockets will connect through must be the same It has been hard coded in the program during the socket setups Inetd based Server amp Client The sample programs inetServer c and inetClient c are available in the SDK samples directory opt user_code networking filetransfer with_inetd These programs interact through the internet daemon inetd Similar to the simple server and client programs a text file can be transferred between two NETdimms using the IP addresses established during configuration The following instructions must be added to the config files of the root file system of both NETdimm modules for the inet based server and client to work In etc services the service that needs to be called inetServer must be added to the list in the format service nam port protocol eg inetServer 9735 tcp The port number can be chosen arbitrarily so long as it does not already exist in the services list and is not below 1024 which are reserved for system use In etc inetd con
17. that directory the operation of the kernel can be customized Base configuration files are available in the opt configs directory To use one of these configurations copy the file to the opt uClinux linux directory and rename it to config Note the period at the beginning of the filename At this point a backup copy of the existing kernel should be made in case the new one doesn t work cd opt uClinux linux cp linux bin linux bin backup To change the kernel options use the make utility to configure the source code NOTE this step must be followed even if not changes are being made to the configuration Either a graphical configuration process make menuconfig or a command line style interface can be used make config After the changes have been made or if a recompile of your kernel is needed for any reason type the following commands make clean make dep make linux bin These commands will create anew linux bin file from scratch Once this is done anew filesystem image should be created to take advantage of the new kernel 34 www amctechcorp com Creating a ROM image Before using the development hardware a file system will need to be created for use on it The opt fs directory contains the tools necessary to create a filesystem image From this directory run the Makefile The first time you run this it will compile all the tools that will be used on the dimmPCI platform itself subseq
18. the Linux world at large being the default format on most desktop Linux workstations The library associated with this tool chain is the uClibe library This is a quite com plete library and is well maintained Porting a program to uClinux will encounter the fewest difficulties when the ELF tool chain with the uClibc library is used The executables produced by this tool chain are noticeably larger that those produced by the PIC COFF tool chain Note The SDK does not include support for either the COFF or the ELF formats of an execut able as both formats are converted to FLAT format by the linker The PIC COFF toolchain does this automatically while the ELF tool chain requires the elf2flt command line argument see below www amctechcorp com 59 60 Normal Usage of the PIC COFF Tool Chain The PIC COFF tool chain is normally very easy to use The Hello world program supplied in the samples directory is compiled as follows m68k pic coff gec hello c o hello To compile the same program with the 32 bit extensions m68k pic coff gec fPIC hello c o hello Normal Usage of the ELF Tool Chain The ELF tool chain included with the SDK does not default to generate code for the Motorola M68VZ328 so additional command line arguments are needed m68k elf gcc m68000 elf2flt hello c o hello lc The libraries used must be specified They must be specified after the source files have been listed www a
19. to induce you to infringe any patents or other property right claims or to contest validity of any such claims this section has the sole purpose of protecting the integrity of the free software distribution system which is implemented by public license practices Many people have made generous contributions to the wide range of software distributed through that system in reliance on consistent application of that system it is up to the author donor to decide if he or she is willing to distribute software through any other system and a licensee cannot impose that choice This section is intended to make thoroughly clear what is believed to be a consequence of the rest of this License 8 If the distribution and or use of the Program is restricted in certain countries either by patents or by copyrighted interfaces the original copyright holder who places the Program under this License may add an explicit geographical distribution limitation excluding those countries so that distribution is permitted only in or among countries not thus excluded In such case this License incorporates the limitation as if written in the body of this License 9 The Free Software Foundation may publish revised and or new versions of the General Public License from time to time Such new versions will be similar in spirit to the present version but may differ in detail to address new problems or concerns Each version is given a distinguishing version number If the
20. version This program is distributed in the hope that it will be useful but WITHOUT ANY WARRANTY without even the implied warranty of MERCHANTIBILITY or FITNESS FOR A PARTICULAR PURPOSE See the GNU General Public License for more details A copy of the GNU General Purpose License is included in Appendix C of this manual If you d like another copy write to the Free Software Foundation Inc 675 Mass Ave Cambridge MA 02139 USA www amctechcorp com NETdimm Developers Kit Quick Start Guide This document is provided to help users bring up the NETdimm Developers Kit hardware and software as quickly as possible If difficulties are encountered using this guide please refer to the complete instruction manual l 2 Find a static free work area to use and remove the dimmPCI Developers Backplane NETdimm IOdimm and POWERdimm from their static protective bags Insert the NETdimm module into the System Slot see figure below on the backplane the one closest to the screw terminal connectors Insert the POWERdimm into the slot opposite the NETdimm Ensure the modules are fully seated and the side tabs are snapped closed and that the modules are in the proper slots Warning Placing the modules in the incorrect slot may result in damage to the modules Please verify that the modules are in the correct slot before continuing The POWERdimm must be placed in the power slot expansion slot 3 and the IOdimm if used must be placed in exp
21. www amctechcorp com Appendix Licensing Copyrights amp Liability dimmPCI Software Development Kit Distribution The different parts of the distribution are licensed under various OpenSource License agree ments Ensure that you examine the code in question for the appropriateness of its license to a given applications Some of the licenses used are reproduced in this section for your reference GNU GENERAL PUBLIC LICENSE Version 2 June 1991 Copyright C 1989 1991 Free Software Foundation Inc 675 Mass Ave Cambridge MA 02139 USA Everyone is permitted to copy and distribute verbatim copies of this license document but changing it is not allowed Preamble The licenses for most software are designed to take away your freedom to share and change it By contrast the GNU General Public License is intended to guarantee your freedom to share and change free software to make sure the software is free for all its users This General Public License applies to most of the Free Software Foundation s software and to any other program whose authors commit to using it Some other Free Software Foundation software is covered by the GNU Library General Public License instead You can apply it to your programs too When we speak of free software we are referring to freedom not price Our General Public Licenses are designed to make sure that you have the freedom to distribute copies of free software and charge for this service if y
22. 1 XOT C in0 inl in2 outO outl even c in0 inl in2 in3 in4 ind in6 in7 out0 Even Parity www amctechcorp com 71 NOTE A Creating a node for the character device Since the node for the digital I O device does not exist inthe opt f s romdisk dev directory it needs to be created Create the node by doing the following as root where 123 is the major number and 1 the minor number of the character device iol mknod iol c 123 1 After the correct node is created then continue with compiling the kernel and filesystem image Below is the modified flowchart including the extra step of creating the digital I O character device node Check if digital I O character device exists cd opt fs romdisk dev ls In the current opt fs romdisk dev directory create the digital I O character device node Does io1 node exist mknod iol c 123 1 Generate new image cd opt fs make clean make Run loader on the dimmPCI module using the new image 72 www amctechcorp com www amctechcorp com 73 74 This page left intentionally blank www amctechcorp com April 21 2003 Version 0 1 Authors Bernice Lau Robert Austen Abstract On a dimmPCI backplane there are several possible slots in which a dimmPCI may be inserted the system slot or the peripheral slots With the correct options compiled into the kernel and system configuration the two modules can be set up to communicate with each other The commu
23. EE MOSI Port E Pull Up EE MISO Port E Pull Up EE CLK Port E Pull Up SPI CLK Port J Pull Up SPI nSS Port J Pull Up SPI nRDY Port K Pull Up SPI CSO Port K Pull Down SPI CS1 Port K Pull Down SPI CS2 Port K Pull Down SPI CS3 Port K Pull Down ICE_DEBUG EMU IRQ Port G Pull Up EMU CS Port G Pull Up Pull Up EMU BRK Port G www amctechcorp com 67 Programming Structure The structure that should be used to store pin configuration and information is dimm_io from dimmio h located in opt uClinux linux include linux Table 2 below describes the six fields of the structure and their settings Table 2 dimm_io structure description mode pull up_dn type short The port number corresponds to the ports of the MC68VZ328 where A O B 1 C 2 L 11 M 12 type short The bit numbers are for each port where O lsb 7 msb type long This is the offset into the list of active pins The offset has a maximum range of O to 26 type unsigned char The mode determines the direction of the O point where O input 1 output type unsigned char The state describes the logic level on the pin where O low 1 highNote that the state field is not updated when an ioctl call is used and field exists only for programming convenience type unsigned char The pull up_dn controls the pull up orpull down register for each pin where O disabled 1 enabled 68 www amctechc
24. Each time you redistribute the Program or any work based on the Program the recipient automatically receives a license from the original licensor to copy distribute or modify the Program subject to these terms and conditions You may not impose any further restrictions on the recipients exercise of the rights granted herein You are not responsible for enforcing compliance by third parties to this License 7 If as a consequence of a court judgment or allegation of patent infringement or for any other reason not limited to patent issues conditions are imposed on you whether by court order agreement or otherwise that contradict the conditions of this License they do not excuse you from the conditions of this License If you cannot distribute so as to satisfy simultaneously your obligations under this License and any other pertinent obligations then as a consequence you may not distribute the Program at all For example if a patent license would not permit royalty free redistribution of the Program by all those who receive copies directly or indirectly through you then the only way you could satisfy both it and this License would be to refrain entirely from distribution of the Program If any portion of this section is held invalid or unenforceable under any particular circumstance the balance of the section is intended to apply and the section as a whole is intended to apply in other circumstances It is not the purpose of this section
25. Menu Inside Menu Option cd opt uClinux linux make menuconfig Platform dependent support SPI support for IOdimm ADC MAX1203 make dep make clean make Make a copy of the filesystem cd opt cp Rpdx newfs iodimmfs Generate new image cd opt iodimmfs make clean make Run loader on the Odimm using the new image www amctechcorp com 91 Available I O Pins The IOdimm has 8 analog inputs 2 analog outputs 8 digital inputs and 4 digital outputs available for use Note that only the analog I O channels lead to headers on the backplane Any digital I O channels must be accessed by soldering wires to the peripheral slot where the Odimm is inserted Table 1 List of all available I O pins Category Channel Backplane System Backplane Header Slot Pin Analog Input 0 Al l B 2 JP2 2 JP1 5 5 22 6 7 B7 Analog JP1 9 E JPS O 5 8 o ee a a na CO BID ee a G Co A a oo ja 92 www amctechcorp com T O Functions The low level functions used to manipulate the I O channels are the system calls open lseek read write close and ioctl The I O channels are accessed through 3 character drivers for the digital I O ADC and DAC The uses of these functions are demonstrated in the sample programs fir c xor_iodimm c and even_parity_iodimm c Digital Inputs and Outputs For the digital input and output pins each channel corresponds to one byte where ch
26. OF ALL NECESSARY SERVIC ING REPAIROR CORRECTION 12 IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING WILLANY COPYRIGHT HOLDER ORANY OTHER PARTY WHO MAY MODIFY AND OR REDISTRIBUTE THE PROGRAMAS PERMITTED ABOVE BE LIABLE TO YOU FOR AMAGES INCLUDING ANY GENERAL SPECIAL INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE USE OR INABILITY TO USE THE PROGRAM INCLUDING BUT NOT LIMITED TO LOSS OF DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES END OF TERMS AND CONDITIONS Appendix How to Apply These Terms to Your New Programs 110 If you develop a new program and you want it to be of the greatest possible use to the public the best way to achieve this is to make it free software which everyone can redistribute and change under these terms To do so attach the following notices to the program It is safest to attach them to the start of www amctechcorp com each source file to most effectively convey the exclusion of warranty and each file should have at least the copyright line and a pointer to where the full notice is found lt one line to give the program s name and a brief idea of what it does gt Copyright C 19yy lt name of author gt This program is free software you can redistribute it and or modify it u
27. Program specifies a version number of this License which applies to it and any later version you have the option of www amctechcorp com 109 following the terms and conditions either of that version or of any later version published by the Free Software Foundation If the Program does not specify a version number of this License you may choose any version ever published by the Free Software Foundation 10 If you wish to incorporate parts of the Program into other free programs whose distribution conditions are different write to the author to ask for permission For software which is copy righted by the Free Software Foundation write to the Free Software Foundation we sometimes make exceptions for this Our decision will be guided by the two goals of preserving the free status of all derivatives of our free software and of promoting the sharing and reuse of software generally NO WARRANTY 11 BECAUSE THE PROGRAM IS LICENSED FREE OF CHARGE THERE IS NO WARRANTY FOR THE PROGRAM TO THE EXTENT PERMITTED BY APPLICABLE LAW EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPY RIGHT HOLDERS AND OR OTHER PARTIES PROVIDE THE PROGRAM AS IS WITHOUT WARRANTY OF ANY KIND EITHER EX PRESSED OR IMPLIED INCLUDING BUT NOT LIMITED TO THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FORA PARTICULAR PURPOSE THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM IS WITH YOU SHOULD THE PROGRAM PROVE DEFECTIVE YOU ASSUME THE COST
28. UCS Ground SCIB SCIACTS SCIAT XD Reserved Reserved LLP LACD LCDO LCD2 Ground USER D Ground SPIINT 1 CSO MOSI Ground 3 3V 1 0 AD 00 AD 02 Ground AD 04 AD 06 3 3V C BE 0 AD 09 Ground AD 11 AD 13 3 3 V C BE 1 3 3 V SERR 3 3 V PERR LOCK Ground DEVSEL 3 3 V IRDY Ground C BE 2 AD 17 3 3 V AD 19 AD 21 Ground AD 23 C BE 3 3 3 V AD 25 AD 27 Ground AD 29 AD 31 3 3 V I O REQ Ground CLK Ground CLK2 SYSEN RST 5V INT D INT B 5V REQ3 REQ2 Ground REQI 12V Figure 10 dimmPCI signals for System Slot www amctechcorp com SideB AD 15 PAR Ground SBO SDONE 3 3 V STOP Ground TRDY Ground FRAME 3 3 V AD 16 AD 18 Ground AD 20 AD 22 3 3V IDSEL AD 24 Ground AD 26 AD 28 3 3V AD 30 Reserved Ground GNT 3 3 V I O CLK1 Ground CLK3 PRST 3 3V I O 5V INT CH INT A 5V GNT 3 GNT 2 12V GNT 1 29 Pins 1 5 on the DIMM socket control the Ethernet port on the NETdimm Pins 6 8 control the In Circuit Emulator Pins 9 13 control the UART port Pins 14 20 control the LCD Pins 21 22 control the USB port Pins 23 29 control the SPI Finally pins 30 84 control the PCI bus PCI The PCI interface on the dimmPCI CPU module is constructed around a Cypress CY7C09449PV AC bus controller This controller is an integrated PCI bridge master slave direct memory access controller
29. a block of contiguous bytes Said a little differently each 8 bit register maps to a corresponding word address where only half of each word is used Address Range 0x00000000 to 0x000003FF_ interrupt vectortable 0x11000000 to 0x107FFFFF Realtek Ethernet CAN USB Controller PCI memory mapped peripherals end of PCI peripherals to 0xFFFFEFFF Figure 3 Memory Map I O Memory The mapping of the I O Memory into the CPU s main memory takes place at 2 different locations At OxFFFFFO000 the DragonBall VZ registers and boot microcode fill the available memory to the end of the CPU memory For more detailed information on the DragonBall VZ Registers and the DragonBall VZ Boot Microcode consult the DragonBall VZ Users Manual located on the CD The Ethernet controller on the NETdimm is mapped off the DragonBall VZ s CSA1 chip select and is located at 0x 10400000 Programming information for the Realtek RTL8019AS Ethernet Controller is not included in this document and may be found in the RTL8019AS Datasheet located on the CD FLASH ROM The Flash ROM used on the dimmPCI is the AMD29DL322D or compatible 3 0V FLASH ROM The exact Flash part or size is dependant on the current FLASH in stock or available on the market The Flash is located at 0x10000000 in memory 16 www amctechcorp com A portion of the Flash has been allocated for use with the Journaling Flash File System JFFS The JFFS is mounted under the usr
30. alog I O with the IOdimm System Requirements The dimmPCI System Development Kit requires a Linux host computer to be the development workstation 115200 bps serial port CD ROM Drive 10Base T ethernet optional but recommended x86 Linux machine we support RedHat 7 0 and 7 1 Redhat Package Manager RPM GCC compiler tools A working knowledge of the Linux operating system is highly recommended www amctechcorp com 10 This page left intentionally blank www amctechcorp com dimmPCI uC68VZ328 Embedded Microcontroller Features CPU Module e Powerful 33 MHz DragonBall microprocessor e Upto 32 Mbytes SDRAM e Upto 8 Mbytes Simultaneous Flash Memory e Upto lkbyte of serial EEPROM e 168 pin DIMM form factor e Less than 500 mW power dissipation e Real Time Clock e Dallas Watchdog Timer e Onboard pClinux OS including TCP IP e 2serial ports e Proposed dimmPCI standard bus e Proposed dimmSPI standard bus e 33 MHz PCI performance e 32 bit PCI data transfers e Ethernet interface Backplane e Graphical PDA Style LCD module interface e USB ready e Low cost PCI compatible devices e Expandable and highly configurable e Excellent price performance ratio e Ethernet interface e Economical www amctechcorp com 11 General Description AMC Technologies Corporation AMC has developed the proposed dimmPCI standards specification which defines electrical signaling and mechanical
31. annel 0 is the 0 byte channel 1 is the 1 byte etc The device can be accessed by a handle to the node dev io0 for both read and write When writing to the pin 0 will be low OV and non 0 will be high as shipped 12V or if strapped Vo When reading a pin the driver will read back 0 for a low signal and 255 for a high signal 1seek should be used to position the file pointer for access to I O channels There are 8 digital inputs and 4 digital outputs so channels 0 3 can be written to and read from but channels 4 7 can only be read Specific to the digital outputs there are ioct1 calls to pass control information to the device driver Each ioctl call takes three parameters the handle a descriptor of the desired command and an integer though in some cases the integer is ignored result ioctl handle PIC_SETUPO PIC_SETUP_PUSH_PULL Each of the command descriptors are listed below If any of them are unsuccessful executing the function an error will return Please note that the PWM channels are currently not supported Both PWMO and PWM 1 cannot be used at the same time since PWM0O is connected to the low side driver and PWM1 is connected to the high side driver DAC_POWER_DOWN should be used to power down the DAC once it is no longer needed Note that the argument is ignored for this ioct 1 call PIC_SETUPO PIC_SETUP1 PIC_SETUP2 PIC_SETUP3 will configure each digital out channel according to th
32. ansion slot 2 The NETdimm can be placed in either the system slot or expansion slot 2 Connect the Serial Adapter Cable DB9 on one end 10 pin header on the other to the backplane connector JP5 the red strip on the cable should match up to the dot on the backplane next to the connector These both denote pin number 1 Use the supplied serial cable to connect the Serial Adapter Cable to the development computer Please note which serial port the cable is connected to ie COM1 or COM2 Note the development computer must be running Linux to be able to use the development tools supplied CAUTION Failure to follow the following instructions may result in damage to the NETdimm module or backplane Jumper pins 7 and 8 together on JP7 the power jumper to supply the POWERdimm with power Ensure that the wall adapter is NOT plugged in and connect the negative wire of the adapter to GND on the power connector and the positive wire of the adapter to VIN on the power connector Do not plug in the wall adapter at this time At this point the hardware is properly configured and it is time to install the development tools Insert the dimmPCI SDK CDROM into the computer and mount it on the filesystem From the root of the CDROM type make install to install the development tools to the www amctechcorp com computer 9 Ensure the EMU BRK jumper is not installed 10 Open the Linux minicom application Select the serial port attached to the developm
33. ce or binary form with the major components compiler kernel and so on of the operating system on which the executable runs unless that component itself accompanies the executable If distribution of executable or object code is made by offering access to copy from a designated place then offering equivalent access to copy the source code from the same place counts as distribution of the source code even though third parties are not compelled to copy the source along with the object code 4 You may not copy modify sublicense or distribute the Program except as expressly provided under this License Any attempt otherwise to copy modify sublicense or distribute the Program is void and will automatically terminate your rights under this License However parties who have received copies or rights from you under this License will not have their licenses terminated so long as such parties remain in full compliance 5 You are not required to accept this License since you have not signed it However nothing else grants you permission to modify or distribute the Program or its derivative works These actions are prohibited by law if you do not accept this License Therefore by modifying or distributing the Program or any work based on the Program you indicate your acceptance of this License to do so and all its terms and conditions for copying distributing or modifying the Program or works based on it www amctechcorp com 6
34. create their own DIMM socket cards containing SPI devices and the availability to interface these cards with the dimmPCI The SPI bus provides an easy and affordable low cost alternative to PCI However the SPI can only be used in low bandwidth applications Currently in this version of the software development kit we are not providing any drivers for the SPI The official release will contain several generic SPI drivers LCD Interface 28 The dimmPCI backplane has an LCD connector that is fully supported by the dimmPCI module The LCD connector is designed for a 4 bit LCD panel The LCD s contrast can be adjusted by sending a PWM signal over the LCONTRAST line The device driver in the future will allocate a block of memory for the LCD Information about how to hook up a LCD to the backplane can be found in Appendix D1 IPG LACD co LFRM LLP a LCK 43 3 5 6 0 a AE Se LCDO h LCDI P LCD LCDS 7 HTT PONTAS 13 14 O0 15 16 OX 17 18 OX 19 20 OX CON20 0 1 HDR SMT M Figure 9 LCD Schematic www amctechcorp com dimmPCI Signal Descriptions ETHLNKLED VBAT P D EMUBRK Ground SCIB SCIARTS SCIARXD Reserved LCONT RAST LFRM LCLK LCDI LCD3 Ground USER 5V D 5V SPIINTO CSI CS3 MISO Ground SCLK 3 3V I O AD 01 Ground AD 03 AD 05 3 3V AD 07 AD 08 M66EN AD 10 AD 12 Ground AD 14 ETHACTL EGND EMUIRQ EM
35. cycle transfer Memory Map The Dragonball VZ has four pairs of chip selects CSA0 amp CSA1 CSBO amp CSB1 CSCO amp CSC1 and CSD0 amp CSD1 Individual chip selects are not completely configurable rather the chip selects are configured as pairs Chip select pairs share a base address the addressable region of the second chip select begins immediately after the addressable region of the first the size of the addressable area relative to the base address the number of wait states and whether it is an 8 bit or a 16 bit chip select When SDRAM is enabled the Dragonball VZ consumes five of the chip selects CSB1 CSCO CSC1 become WE RAS CAS and CSD0 CSD 1 become CS suitable for SDRAM only The 16 bit flash has been assigned to CSAO because that is the only chip select active after reset The wait states are set for internal timing The 16 bit CY7C09449 PCI interface is a synchronous interface and must be attached to CSBO which is configured for external timing infinite wait states www amctechcorp com 15 The RTL8019 ethernet chip supports either 8 16 bit interfaces but because most NE2000 compat ible drivers have been written for an 8 bit interface the device has been interfaced as an 8 bit device attached to CSA1 the last available chip select Since the chip select pair must be configured as 16 bit to support the 16 bit flash the registers of the ethernet chip will appear at every other byte address rather than
36. d in background mode with a number of parameters The p option forces the daemon to run in persistent mode retrying indefinitely until an IP is obtained without it the daemon will abort if a DHCP server cannot be located The c option specifies a command file the functionality of this option deviates slightly from www amctechcorp com 37 the typical 0 70 version of dhcpcd which is executed when an IP is first obtained or should the IP address change the common operation is to execute every time an IP lease is renewed The command is invoked with zero or more parameters Often the command is bin sh and the parameter is a script file If the v option is specified the IP address is written to stdout as the command file is invoked Unlike ifattach the IP address is not immediately obtained the command file is executed when the IP has been obtained At this point network access is available therefore it is common practice to mount network drives using the command file For example the etc rc file contains sbin dhcpcd p c etc dhcpcd sh amp and the etc dhcped sh file contains echo We have network access sbin ifconfig mount Accessing your dimmPCI development board via telnet If the dimmPCI development board is connected to an IP network it can be accessed using telnet just like using a serial interface To take advantage of this the IP addre
37. dimmPCI 68VZ328 Hardware Software Manual www amctechcorp com AMC Technologies Corporation July 2003 Revision 0 5 3 for SDK 2 05 Linux Kernel 2 0 Copyright notice dimmPCI System Development Kit CD Rom the text and graphics used in this manual its cover CD Rom artwork dimmPCI Passive Backplane circuit board artwork and the box artwork represent proprietary patentable and copyrighted materials and are protected from misuse under local and international laws All rights are reserved AMC Technologies Corporation has license to reproduce this work All rights reserved No part of the publica tion may be reproduced stored or transmitted in any form or by any means electronic mechanical photocopy ing recording scanning or otherwise without prior written permission of the authors Contact Information AMC Technologies Corporation the Authors and Manufacturers of the dimmPCI dimmPCI System Developers Kit CD Rom and this manual can be contacted at AMC Technologies Corporation 9741 54 Avenue Edmonton Alberta Canada T6E 5J4 Phone 780 408 8840 Fax 780 408 8844 Internet www amctechcorp com dimmPCI Software Development Kit Copyright AMC Technologies Corporation This program is free software you can redistribute it and or modify it under the terms of the GNU General Public License as published by the Free Software Foundation either version 2 of the License or at your option any later
38. ds can be done as a single pin or in a group of contiguous pins The result of the read will be OxFF high or 0x00 low If the read operation was not successful then an error will be returned The example below reads one byte into the state field of the dimm_io structure error read handle amp pin gt state 1 write sets the value of the current I O point and it also takes three parameters the handle the byte s that will be written to the output pins and the number of bytes to be written Note that only output pins can be written to and attempting to write to input pins will generate an error Similar to reading write operations can be done for a single I O point or as a contiguous group of pins Write values are non zero for high and zero for low The example demonstrates writing one byte from the state field of the dimm_io structure Prior to using this write function the state 0 or 1 of the pin was specified in the state field error write handle amp pin gt state 1 close will close the digital I O device and only takes one parameter the handle for the device This should be done once the device is no longer needed close handle ioct1 will configure an I O point and it will pass control information to the device driver Each ioct1 call takes three parameters the handle a descriptor of the desired command and a pointer to a dimm_io structure error ioctl handle DIMM_IO_IOCTL_SET_CONFIG_BY_PORT_BIT pin
39. e integer specified in the argument Each of the argument values are described below PIC_SETUP_LO_SIDE will configure an output pin as a low side driver PIC_SETUP_HI_SIDE will configure an output pin as a high side driver PIC_SETUP_PUSH_PULL will configure an output pin as a push pull output PIC_SETUP_HI_Z will configure an output pin into a high impedance state Analog I O For both the ADC and the DAC each channel corresponds to 2 bytes such that channel 0 is the 0 and 1 bytes channel 1 is the 2 and 3 bytes etc The data in the bytes is binary encoded in little endian format where the least significant bit is at the lower offset in the file Values that can be written or read from the channels are unipolar from 0 to 4095 corresponding to 0 to 4 095V thus there is 1mV per count 1seek should be used to move around the file to access I O channels For both reads and writes as few as 1 or as many as all analog I O channels can be accessed at once www amctechcorp com 93 As shipped each ADC channel has a divide by 4 attenuator stage and a multiply by 2 amplifier stage Thus for a signal applied to analog input pins on the backplane a count of 4095 will correspond to a voltage of 8 192V For the DAC analog output 0 has a multiply by 2 gain stage so a count of 4095 corresponds to a voltage of 8 192V Analog output 1 has a 4 20 current output circuit with a count of 0 corresponding to approximatel
40. ecessary Here is a sample alter the names Yoyodyne Inc hereby disclaims all copyright interest in the program Gnomovision which makes passes at compilers written by James Hacker lt signature of Ty Coon gt 1 April 1989 Ty Coon President of Vice This General Public License does not permit incorporating your program into proprietary pro www amctechcorp com 111 grams If your program is a subroutine library you may consider it more useful to permit linking proprietary applications with the library If this is what you want to do use the GNU Library General Public License instead of this License dimmPCI Software Development Kit 112 Copyright AMC Technologies Corporation This program is free software you can redistribute it and or modify it under the terms of the GNU General Public License as published by the Free Software Foundation either version 2 of the License or at your option any later version This program is distributed in the hope that it will be useful but WITHOUT ANY WARRANTY without even the implied warranty of MERCHANTIBILITY or FITNESS FOR A PARTICULAR PURPOSE See the GNU General Public License for more details A copy of the GNU General Purpose License is included in Appendix C of this manual If you d like another copy write to the Free Software Foundation Inc 675 Mass Ave Cambridge MA 02139 USA www amctechcorp com www amctechcorp com 113 114 This page left i
41. ed for their dedicated function and have the added advantage of leading to pin headers on the backplane The EEPROM class is only needed if an EEPROM is needed to store permanent information This device is normally not populated on the dimmPCI modules making it unlikely that the pins will be used for their dedicated function Note that if the EEPROM is populated those pins cannot be used for digital I O even if the EEPROM driver has not been compiled in The SPI pins are used for peripheral interfaces such as an analog to digital converter Note that the Odimm has its own driver for the SPI pins in order to take care of its I O functions Thus on an IOdimm the SPI pins will not be available for use by this digital I O driver The ICE DEBUG pins are the in circuit debugger pins These pins are more useful as outputs since they must not be held low on power up PortG Pin5 is the EMU break and access to this jumper pin is needed when running in rescue mode for oops Also note that PortG Pin2 is the EMU IRQ which is a non maskable interrupt 66 www amctechcorp com Table 1 List of all available digital I O pins Backplane Header Pin Pull Up Pul Down Class Circuit Name Port Bit Backplane System Slot Resistor PE 4 Ais JP6 pin 2 Pull Down LLP Port C BIS JP6 pin 3 Pull Down LCLK Port C JP6 pin 4 Pull Down LADC Port C JP6 pin 1 Pull Down LCONTRAST Port F JP6 pinl4 Pull Up EEPROM
42. ent kit and configure the port for 115 2 kbps and 8N1 serial protocol Power up the wall adapter The terminal window will act as the controlling console for the NETdimm 11 After booting up the console will display a login prompt as is shown below etc issue www dimmpci com 2 April 2002 Welcome to AMCTC s dimmPCI running uClinux See the following web sites for more information www dimmpci com information specific to the dimmPCI platform www uclinux org information and tools for generic uClinux dimmPCI login 12 Enter the username root and the password is blank just press enter That s it the development kit will act like a normal linux system now and is ready to be used to develop powerful new embedded applications 4 www amctechcorp com Fower Jumper sigan 09 siege Connecter F Bom Power ese w umper s a HURDE 1357 S www amctechcorp com This page left intentionally blank www amctechcorp com Introduction Launching Linux at the embedded The modern world runs on computers and technology Every corner you turn every road you travel computers are helping you get there Embedded systems are the fuel in these computers and the lifeblood of modern day electronics So what is an embedded system An embedded system is a combination of computer hardware and software and perhaps additional mechanical or other parts designed to perform a dedicated fu
43. ersions can contain different utilities modules kernel patches etc These distributions are also differentiated in the way that they are installed configured maintained and upgraded The dimmPCI hardware introduces the user to the world of embedded Linux in a complete and efficient way that is easy for the user to comprehend By supplying a finalized component level solution that can be plugged into a DIMM socket to enable the user the functions described above almost anyone can be using and manipulating an embedded system The dimmPCI along with the passive backplane can be the solution to your engineering system or it can simply be the add on you need to complete your process Either way the dimmPCI will greatly reduce your engineering design costs and your time to market www amctechcorp com What s on the CD On the CD you will find uClinux source files with patches to work on the dimmPCI platform GCC cross compiler tools for the DragonBall processor with the necessary library files included Tools for use under wClinux on the target board along with source code A flash loader program to reprogram the board with new image files Sample applications to show the capabilities of the dimmPCI development kit Application notes describing how to configure dimmPCI modules for communication use an LCD with a NETdimm setup dimmPCI modules for Digital I O use multiple NETdimms and how to use Digital and An
44. et da loll fess ble amp 2 8 eal 2 gjejs2 R 10M 40 x1 20MHZ C10 10PF 10PF Figure 6 NETdimm Ethernet Schematic 10 0K 20 www amctechcorp com Digital I O The Motorola MC68VZ328 processor provides numerous general purpose I O lines to the dimmPCI The lines which have not been assigned to their dedicated functions can be used for digital I O Depending on the options compiled into the kernel a number of pins on the dimmPCI module can be used for digital I O The configuration procedure for setting up the digital I O functions is outlined in Appendix D1 lOdimm The IOdimm module can be used as a stand alone or as a peripheral dimmPCI device Instructions for setting up the IOdimm to be used as a peripheral device are provided in Appendix D2 The IOdimm provides general purpose input and output The IOdimm can provide up to 8 digital inputs 4 digital outputs 8 12 bit analog inputs and 2 12 bit analog outputs Figures 7 1 7 4 shows the schematics for the digital and analog I O The IOdimm also have general purpose I O lines that are provided by the Motorola processor as mentioned earlier However the IOdimm has its own driver for the SPI pins and therefore these pins will not be available for use by this driver refer to Digital I O application note in Appendix D The MAX1203 pic is used to convert analog signals to digital signals and the TLV5618A is used to convert digital signa
45. ewfs sysfs cp Rpdx newfs perfs System Slot NETdimm Configuration cd opt sysfs romdisk etc comment out dhcp client line if applicable virc add static ip code for eth0 and pci0 save changes amp exit Generate new system slot image cd opt sysfs make clean make Run loader on the NETdimm using the new image Peripheral Slot dimmPCI module Configuration comment out dhcp client line if applicable T add static ip code for pci0 ave changes amp exi Generate new peripheral slot image cd opt perfs make clean make Run loader on the dimmPCI module using the new image www amctechcorp com 81 Host machine Configuration After configuring the two dimmPCI modules they can now communicate with each other as well as the outside network But the outside network cannot access the dimmPCI subnet Therefore a route to the subnet must be added to redirect packets to the proper device The most convenient method is to add the route to the gateway for the local network in this example it is 192 168 10 1 On the machine that acts as the gateway the following command would be used at the command line route add net 192 168 7 0 netmask 255 255 255 0 gw 192 168 10 87 net specifies the subnet that you wish to add the route to and gw is the gateway into the dimmPCI subnet the eth0 IP address on the system slot NETdimm Testing To test if the configuration was successful and the network was established exec
46. f the program and path that inetd will load must be added in the format service nam ndpoint type protocol wait status uid server program server arguments eg inetServer stream tcp nowait root usr inetServer The server side of the program is started by inetd allowing the read and write operations to go to standard input and output inetd will listen on all service ports for the services listed in 86 www amctechcorp com inetd conf Upon receiving a connection request it will start up the server Therefore the server has no need to set up sockets The inetClient is very similar to the simple client since it must still read and write to a socket The socket is set up using information gathered by the function getservbyname which will check for the service inetServer on the host NETdimm After confirmation of the service is established the program will create a socket connect and transfer the file as before Unlike the simple client there is no need to designate the connection port since getservbyname will retrieve this information www amctechcorp com 87 88 This page left intentionally blank www amctechcorp com Application Note 5 Using Analog and Digital I O with the lOdimm June 30 2003 Version 0 1 Author Bernice Lau Introduction The IOdimm is designed to support dedicated analog and digital I O There are 8 analog inputs 2 analog outputs 8 digital inputs and 4 digital outputs All of these I O
47. flash memory chip can survive over 100 000 erase write cycles This means that for data logging or application updates the flash chip should not fail for a long time Assuming 50 erase write cycles per day the flash should survive for about five and a half years But this also means that the JFFS is not suited to handle any data intensive applications www amctechcorp com www amctechcorp com 57 58 This page left intentionally blank www amctechcorp com Appendix Development Tool Chains A development tool chain is the suite of programs including the compiler linker assembler disassembler and library generation used to develop for a specific executable format This SDK installs three different tool chains e The COFF tool chain This tool chain is used to develop the uClinux kernel There are no libraries associated with this tool chain e The PIC COFF tool chain This tool chain is used to develop user applications It has the PIC 32 extensions already installed which allow applications larger than 32K in size to be created This was the original tool chain and is used to generate the uClinux filesystem executables The library associated with this tool chain is the uC libc library This library has been optimized for the embedded environment and produces exceptionally small executables e The ELF tool chain This tool chain is also used to develop user applications It is the most common executable format in
48. fore beginning This development kit requires an x86 compatible PC running some variant of linux It will not work under any version of Windows If linux is not installed on your computer Redhat linux can be downloaded from http www redhat com In addition root access is necessary for this entire process due to the fact that regular users do not have adequate permissions Installation Put the install CD in the CD ROM drive depending on the linux configuration the CD will likely be available in either of the following directories mnt cdrom cdrom If it is not automatically mounted to the file system try this mkdir cdrom mount t iso9660 o ro dev cdrom cdrom Approximately 60M free in your opt directory is needed for this next step When the CD has been mounted go to the cdrom directory and type make install The Makefile will automatically install all the packages into the opt directory Should you at any point wish to remove the dimmPCI SDK software from your computer you mount the CD ROM as previously described and run make clean www amctechcorp com 33 This will remove the development tools and their links Note any additional files that you may have added to the SDK directories will also be removed Configuring and compiling the pClinux kernel NOTE this step must be completed before creating an image file The kernel source files are contained in the opt uClinux linux directory From
49. in patent licenses in effect making the program proprietary To prevent this we have made it clear that any patent must be licensed for everyone s free use or not licensed at all The precise terms and conditions for copying distribution and modification follow GNU GENERAL PUBLIC LICENSE TERMS AND CONDITIONS FOR COPYING DISTRIBUTION AND MODIFICATION 0 This License applies to any program or other work which contains a notice placed by the copyright holder saying it may be distributed under the terms of this General Public License The Program below refers to any such program or work and a work based on the Program means either the Program or any derivative work under copyright law that is to say a work containing the Program or a portion of it either verbatim or with modifications and or translated into another language Hereinafter translation is included without limitation in the term modifi cation Each licensee is addressed as you Activities other than copying distribution and modification are not covered by this License they are outside its scope The act of running the Program is not restricted and the output from the Program is covered only if its contents constitute a work based on the Program independent of having been made by running the Program Whether that is true depends on what the Program does 1 You may copy and distribute verbatim copies of the Program s source code as you receive
50. isplay it on screen incl incl incl void ude lt stdio h gt ude lt sys time ude lt unistd h main h gt gt struct timeval time_val read the da te from the realtime clock gettimeofday amp time_val NULL P display the rintf s c value from the clock time time_t amp time_val tv_sec The following program writes a given date to the kernel clock and then commits it to the hard ware real time clock rt les This program will first set the date on the real time cl to Fri May 25 10 21 00 2001 and then read it back and displ DES incl incl incl void cmt trNwn wn ct ct ct ct ct C C ude lt stdio h gt ude lt sys time h gt ude lt unistd h gt main truct timeval time_val truct tm tm_val load the time we are setting into the time structure m_val tm_sec 0 m_val tm_min 21 m_val tm_hour 10 m_val tm_mday 25 m_val tm_mon 4 m_val tm_year 2001 1900 m_val tm_wday 5 www amctechcorp com ock 51 convert it to seconds since 1970 time_val tv_sec mktime amp tm_val set the time in the linux system clock settimeofday amp time_val NULL read the date from the realtime clock gettimeofday amp time_val NULL display the value from the clock printf s n ctime time_t amp
51. isplayed anytime someone tries to log onto the board passwd contains login password information this file is ignored by the current login program rce this script is run right after kernel initialization anything that runs at startup should be put in this file resolv conf stores the IP address of the current nameserver services associates service names with port numbers for internet servers in inetd conf Initially the IP settings should be statically configured for the unit by commands in the re file Additionally an NFS mount can be set up at this point to save time Look ahead at the guide to using NFS for more information Accessing your dimmPCI development board via the serial port Since the development board has no display or keyboard the standard console has been routed to the serial port Using the serial port the development board can be controlled and monitored similar to a linux PC 1 First take the serial cable out of the box and connect it between the development board and the computer 2 Nextrun either minicom or xminicom on the PC depending on whether X windows is being used or not 3 Configure minicom to run at 115200 baud with 8N1 and no flow control 4 Finally power up the development board and a login screen should appear after a few seconds 5 The username is root and the password is blank 6 Upon successful login you will see a prompt 36 www amctechcorp co
52. ith Linux s flexibility is proven in its ability to support a huge number of microprocessors hardware devices graphics devices and applications Finally the scalability of Linux is beneficial because it spans a wide range of computing functions For example mini web servers all the way up to large mainframe computing systems use Linux or Unix based structure www amctechcorp com 7 Besides all of the impressive features of Linux it is also openly available in several different arrangements and configurations This diverse array of compatibility of Linux and its supporting software has evolved to the needs of the market and applications of which Linux is being adapted One of the most interesting qualities of embedded Linux is the abundance of architectures that it is compatible with Linux has been ported to such architectures as x86 MIPS and the PowerPC So how do you decide which architecture to use That depends in the dimmPCI we ve chosen to take advantage of the Motorola 68VZ328 DragonBall architecture The one thing to recognize about a Linux system is that all versions are basically variations of the same idea This means that all Linux systems are essentially compilations of the same basic components These components can include the kernel libraries drivers command shells GUI and utilities So what makes these distributions different The differences can be found by examining the core of each Linux version These v
53. l prompt before proceeding yes all lower case must be entered to confirm programming the flash www amctechcorp com 43 5 All processes will be halted and the programming will begin The progress is shown by a displayed every 4kbytes An E indicates the erasure of a flash sector When complete verification will begin automatically The dimmPCI will reboot automatically upon successful programming and verification If errors are found the address will be reported and another attempt to reprogram the flash will begin up to three attempts maximum Notes 1 Invoking loader with a e option will erase the entire flash This is useful to erase the journal flash file system to prevent it from becoming corrupted as a kernel expands into a new 64kbyte sector loader imagez bin e 2 Invoking loader with a v option will perform a verify only loader imagez bin v 3 It is possible to run loader from a telnet session However once the programming begins the progress indication will be sent only to the console The telnet session can be reconnected once the programming is complete and the dimmPCI reboots 4 The loader program was written to be loaded from a network file system into RAM Although the loader program can be copied into the ROM file system or the journal flash file system it cannot be run in place and therefore must be copied to the ramdisk before it can be u
54. lly the kernel is the operating system it handles memory allocation multi tasking etc It is located in the lowest portion of the flash memory Stored after the kernel in flash is the read only file system It contains configuration scripts and user tools such as cp Is pwd and so on The remaining flash memory has been allocated for the JFFS depending on the size of the kernel and read only file system this can range up to 1 0 Mbytes in size In order to have access to this memory the kernel must have been compiled with JFFS enabled Next the JFFS needs to be mounted on the JFFS on your root file system The default location is to mount it under the usr directory So the command would be bin mount t jffs dev flash0O usr After executing this command on the dimmPCI console the usr directory will be a nonvolatile filesystem with read write capability Any data stored here will survive turning the power off www amctechcorp com 55 56 A utility is included in the distribution that will erase all the data stored in the JFFS and reset its configuration This may be useful if the filesystem becomes corrupted and needs to be reset The program is mkjffs and can be found in the sbin directory In order to use this program first unmount the JFFS and run mkjffs umount usr sbin mkjf fs dev flasho A brief note about flash memory life expectancy Typically a single sector in a
55. ls oops using oops After oops has finished running the jumper on EMU BREAK must be removed and then the dimmPCI board resets to boot a new kernel Purpose amp basic format of files for oops init b contains the initialisation sequence for the Dragonball VZ The file is a Motorola b record for the processor and init b is the default initialisation file It is the first file to be transferred using oops See the appendix for more information on init b xloader bin is a binary file that is the default upload program file This program will write and verify the flash It is the second file to be transferred Once it has been sent it will start running and will participate in receiving the target image loader bin is a binary file that will also write and verify the flash This program will not start until the target image has been loaded into RAM www amctechcorp com 99 kernel bin is a binary file containing the image of the compiled dimmPCI kernel and it is the default kernel file kernel bin is in the current working directory but it is a symbolic link to a stable kernel image with a descriptive but lengthy file name image bin is a binary file set as the default download program file which will make an image of an area of the Dragonball memory most likely flash memory bin is a binary file to download an image of the memory Upload amp Flash There are two mode types in which oops can operate in order to upl
56. ls to analog signals The schematices for the digital to analog converter DAC and the analog to digital converter ADC are shown in Figures 7 5 and 7 6 respectively The IOdimm signals are summarized in Figure 7 7 Only pins 1 29 are described in the table Pins 30 84 have the same signals as the NETdimm Those signals are shown in Figure 10 www amctechcorp com 21 Fl SMD100 2 POW DIG OUT Ql DIG_OUTHO DIG_OUTLO MMBT3904LT Figure 7 1 Digital Output Schematic DIO R5 DIG_INO OR Rss 10K 1 Figure 7 2 Digital Input Schematic 22 www amctechcorp com 129 R177 R181 cal 470R 1 100R_1 RI6 100PF Q5 12v C24 100PF A a 6 U24B ox 06 Lael 4 OUTO 5 IE 2 u24a IC_TL032CD 1 R MMBT3904LT 3 or IC_TL032CD FS_SMD100 2 R165 R180 2 OT_BCV46 F5 9 1K01 lt 1SK1 123V PEERS 4 20mA Output Figure 7 3 Analog Output Schematic 23 www amctechcorp com R131 R132 c80 5 07 f IE aes 0 01UF F TLV22541D AIO ate ts O 01UF 1000PF 5 0 Q 5 0 Figure 7 4 Analog Input Schematic 5 07 5 07 0 O l 0 1UF 5 07 O U3 R109 1 1K 2 3 12 AIN_VREF 4 5 C3 6 ll O 1UF 7 C99 u20 8 4 7UF 10 LM4 040AIM3 2 05 TANT A a NC 10 N 10_SPI_MOSI 17 16 ADC EOC IO_SPI_CS_ADQ8 IO_SPI_CLE 19 15 SPI_MISO C109 ie O 1UF IC_MAX1203 Q 5 07 Figure 7 5 Analog to Digital Converter Schematic 24 www amctechc
57. lso provides engineering support and manufacturing for other networked indus trial control applications and product lines CPU Module Description The AMC Dragonball dimmPCI CPU module is a cost effective solution for technically de manding applications This dimmPCI module is designed around the powerful and economical DragonBall VZ microprocessor The CPU module can contain up to 32 Mbytes of SDRAM 8 Mbytes of flash and lkbyte of EEPROM Also included on the CPU module are a real time clock a watchdog timer and 2 serial ports 12 www amctechcorp com The Dragonball dimmPCI CPU module supports Ethernet 10BaseT two serial ports and a graphical PDA style LCD interface The module conforms to the proposed dimmPCI stan dard and may be used with a complementary array of other modules on a dimmPCI backplane These expansion cards include a COMM module that supports dual Ethernet 10 100BaseT channels and CAN communications a DAIO module that supports digital and analog I O and a power supply module AMC provides engineering support for the Dragonball dimmPCI CPU module and can assist in developing and supporting hardware and software for specialized applications This CPU module is programmable using the industry standard C programming language and utilizes the very reliable Linux operating system AMC has extensive experience in applying Linux to Internet appliance applications AMC also provides engineering su
58. m Accessing the Network The kernel supplied with the dimmPCI CPU module supports TCP IP networks IPX is not supported at this time Before the network may be accessed the dimmPCI CPU module must obtain an IP address The subnets 10 xxx xxx xxx 172 16 xxx xxx and 192 168 xxx xxx are reserved for local area networks Addresses are either statically assigned or dynamically allocated using DHCP static IPs are still possible as the DHCP server allows specific MAC ID to IP mappings The dimmCPU module may be configured with either a static or dynamic IP Static IP A static IP is selected running ifattach from the etc re script The ifattach is called first without parameters to release any network bindings The second call specifies the desired address mask and gateway followed by the interface name eth0 Network access is immedi ately available after the ifattach therefore it is common practice to mount network drives with subsequent lines in the etc rc file For example to select the IP 192 168 10 141 ona network using the subnet 192 168 10 xxx use sbin ifattach sbin ifattach addr 192 168 10 141 mask 255 255 255 0 net 192 168 10 0 gw 192 168 10 1 eth0O NOTE the backslash may be used in a script file to break a long line over several lines Dynamic IP A dynamic IP is obtained by running dhcpcd from the etc re script The dhcpcd is calle
59. may redistribute the program under these conditions and telling the user how to view a copy of this License Exception if the Program itself is interactive but does not normally print such an announcement your work based on the Program is not required to print an announcement These requirements apply to the modified work as a whole If identifiable sections of that work are not derived from the Program and can be reasonably considered independent and separate works in themselves then this License and its terms do not apply to those sections when you distribute them as separate works But when you distribute the same sections as part of a whole which is a work based on the Program the distribution of the whole must be on the terms of this License whose permissions for other licensees extend to the entire whole and thus to each and every part regardless of who wrote it Thus it is not the intent of this section to claim rights or contest your rights to work written entirely by you rather the intent is to exercise the right to control the distribution of derivative or collective works based on the Program In addition mere aggregation of another work not based on the Program with the Program or with a work based on the Program on a volume of a storage or distribution medium does not bring the other work under the scope of this License 3 You may copy and distribute the Program or a work based on it under Section 2 in object code o
60. mctechcorp com www amctechcorp com 61 62 This page left intentionally blank www amctechcorp com Application Note 1 Using Digital O with dimmPClI Modules mia July 4 2003 Version 0 4 Author Bernice Lau Introduction For the purposes of direct digital I O there are a maximum of 27 general purpose I O lines leading from the Motorola MC68VZ328 to the dimmPCI backplane These lines also have dedicated functions the LCD EEPROM SPI or ICE_DEBUG so all lines may not be available depending on the hardware and the options compiled into the kernel Digital I O can be used on a dimmPCI module when in either the system slot or peripheral slot The I O points can be accessed through a character device driver using standard system calls Upon opening the device on first use the set of unreserved I O points will be made available to the user Pins that have been reserved for their dedicated function will not be accessible Configuration of the I O points is achieved through ioctl calls after which reads and writes can be performed Requirements e dimmPCI passive backplane NETdimm or JOdimm or CANdimm SDK 2 05 or higher 2 0 38 or higher kernel source and filesystem sample programs in SDK opt samples user_code dio o even_parity c O XOre www amctechcorp com 63 Kernel and Filesystem Configuration The uClinux 2 0 kernel must have the digital I O option compiled for proper operation These options will
61. nction In some cases embedded systems are part of a larger system or product as is the case of the joystick control system in the B2 Stealth Bomber Embedded systems come in different sizes and packages There are systems that can fit on a dime and systems that won t fit in your closet Each system has available to it a wide variety of computing power and a large diversity of functionality These systems allow the technologically inclined the ability to control and perform repetitive tasks with more reliability and accuracy than any other methods previously used So how are these systems created Engineers and firmware experts develop embedded systems These specialists write thousands of lines of instructions and program these systems with the instructions using various software packages These instructions can be written in C assembler or any other variety of programming language These languages are available under Linux Windows and many other operating systems When these systems are programmed the instructions become embedded in the memory of the system thus the embedded system is created Now the question is how can the designer program these systems in a way that is easy for the end user to operate and inexpensive for the designer to produce The simple solution is to embed Linux Linux provides dependability flexibility and scalability Linux is a proven dependable architec ture that several companies have grown to use and excel w
62. nd preferred method uses a program named loader run on the Dragonball VZ to read a flash image from a networked file system usually an nfs share on the development platform When a network file system is unreachable as is the case when the kernel has been corrupted the second method uses a program named oops run on the development platform to communi cate via a serial port with the Dragonball VZ that is running in bootstrap mode For more detailed information about oops refer to appendix D6 Appendix D6 includes details about how oops works the purpose of files that are used with oops and command line options loader To use loader the following steps must be followed 1 Mount the network file system that contains the new kernel file For the purposes of this example we will assume an nfs share nfs_share exists on the server at 192 168 10 1 mount t nfs 192 168 10 1 nfs_share mnt cd mnt 2 The nfs share nfs_share should contain the program loader and the new kernel file imagez bin The loader program can be found in the opt boottools loader directory while the imagez bin file can be created in the opt fs directory loader kernel bin 3 The loader program will identify the type and location of the flash device and then load the kernel image and display the size of the image which should be between 800 000 and 1 000 000 bytes 4 The loader program wil
63. nder the terms of the GNU General Public License as published by the Free Software Foundation either version 2 of the License or at your option any later version This program is distributed in the hope that it will be useful but WITHOUT ANY WARRANTY without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE See the GNU General Public License for more details You should have received a copy of the GNU General Public License along with this program if not write to the Free Software Foundation Inc 675 Mass Ave Cambridge MA 02139 USA Also add information on how to contact you by electronic and paper mail If the program is interactive make it output a short notice like this when it starts in an interactive mode Gnomovision version 69 Copyright C 19yy name of author Gnomovision comes with ABSOLUTELY NO WARRANTY for details type show w This is free software and you are welcome to redistribute it under certain conditions type show c for details The hypothetical commands show w and show c should show the appropriate parts of the General Public License Of course the commands you use may be called something other than show w and show c they could even be mouse clicks or menu items whatever suits your program You should also get your employer if you work as a programmer or your school if any to sign a copyright disclaimer for the program if n
64. nfig and a screen similar to this will appear ethO Link encap Ethernet HWaddr 00 50 BA 48 3E D6 inet addr 192 168 10 34 Bcast 192 168 10 255 Mask 255 255 255 0 UP BROADCAST RUNNING MTU 1500 Metric 1 RX packets 11509 errors 0 dropped 0 overruns 0 frame 0 TX packets 2342 errors 0 dropped 0 overruns 0 carrier 0 collisions 0 txqueuelen 100 Interrupt 12 Base address 0x9400 In this case the IP address would be 192 168 10 34 Next mount the NFS share on the dimmPCI file system Depending on whether the dimmPCI CPU module is using DHCP or a statically assigned IP address the following command will be placed in one of two configuration files If a static IP is being used edit the opt fs romdisk etc re file Conversely if DHCP is being used this command will have to be placed in the opt fs romdisk etc dhcpced sh file For a static IP add the following toward the end of the file right before the exit 0 line For a DHCP system add this line to the end of the dhcp command file bin mount t nfs 192 168 10 34 path to share mnt Of course the IP address will be different than the one in this example Following the IP address put the same path as is in the opt fs romdisk etc exports file Once finished a new image file may be created and programmed onto the dimmPCI CPU module After rebooting the CPU module there will be access to the files on the PC from the dimmPCI development board in the
65. nication is achieved using the PCI 120 transport layer to send ethernet packets over the PCI bus to another likewise configured module Introduction In order to connect the two dimmPCI modules it is necessary to set up the hardware as a subnet ANETdimm must be in the system slot to interface to the local network through the ethernet port Local Network Outside gt Network lt dimmPCI Subnet 192 168 7 0 Gateway SystemSlt Peripheral Slot out NETdimm dimmPCI module 192 168 10 1 GW out lt 192 168 7 1 PCI pcio 192 168 10 5 192 168 10 3 192 168 10 87 192 168 7 2 utside inside interface interface pci0 www amctechcorp com 75 On the NETdimm in the system slot the ethernet port eth0 must be configured to have an IP address on the local network for your host computer Therefore eth0 acts as a gateway into the dimmPCI subnet for the local area network It is also the outside interface for your subnet to the local area network On the system slot NETdimm the pci0 device is the inside interface to a second or third dimmPCI module in a peripheral slot This device will be the gateway used by each peripheral dimmPCI module On the peripheral dimmPCI module only the pci0 interface needs to be configured This device must be set up to communicate with the pci0 device on the system slot NETdimm Requirements e dimmPCI passive backplane 1 1 e NETdimm 1 2
66. ntentionally blank www amctechcorp com Appendix References Suggested Reading 1998 O Reilly Linux Device Drivers Alessandro Rubini 2001 O Reilly Understanding the Linux Kernel Daniel P Bovet amp Marco Cesati www amctechcorp com 115
67. oad amp flash an image Type 1 sends init b sends flash programmer type 1 loader bin sends image in b record format run flash programmer capture output Type 2 default sends init b sends flash programmer type 2 xloader bin runs flash programmer sends image in binary format captures output In Type 2 the image is sent in binary using xloader bin to receive 4K blocks at a time which is faster With Type 1 the image must first be converted to b records prior to sending The mode of upload amp flash can be changed as follows lp or up lt flash programmer type 1 gt xp lt flash programmer type 2 gt If oops is run without arguments then it will run by default in Type 2 mode To specify the image to be uploaded k lt image gt The default image file to be uploaded is kernel bin Prior to writing to the flash the flash memory will be erased There are two different methods of erasing ec erases the entire flash before writing default em erases the flash as required in 64K blocks 100 www amctechcorp com Erasing the flash with the em option allows for the journaling flash file system jffs to be preserved when you wish to load a new image consisting of the kernel and root filesystem kernel rootfilesystem lt blank gt jffs lt gt lt saved gt replaced After the image has been written to flash the system will reset There are two reset modes auto reset
68. og as do the normal Linux watchdogs e The number of seconds remaining until timeout is available by reading the device cat dev watchdog 26 www amctechcorp com e Multiple processes may be individually registered with the watchdog each providing its own timeout time Each process must update the watchdog within its own timeout interval or the system will reset e A process may unregister itself at any time e At least one process must register with the watchdog within 3 minutes of bootup or else the watchdog will reset the system If sbin watchdog amp is specified in the etc re file it will register itself and keep the watchdog happy indefinitely until another process registers itself Usage Processes to be protected will register using the WATCHDOG REGISTER IOCTL The process passed is the desired number of seconds before timeout The ID required for watchdog update and deregistration is passed out Update the timer with the WATCHDOG_TICKLE IOCTL The ID provided by the registration is passed in Before the process exits it should deregister itself with the WATCHDOG _UNREGISTER IOCTL The ID provided by the registration is passed in For example code see Appendix A www amctechcorp com 27 SPI A standard SPI bus is included on the dimmPCI This SPI bus is located on the DIMM socket occupying pins 23 29 on both the A and B sides The SPI bus allows developers the opportu nity to
69. or higher for system slot on dimmPCI backplane e NETdimm 1 3 or higher or Odimm or CANdimm for peripheral slot e 2 0 38 or higher kernel source and filesystem SDK 2 03 or higher Note When two NETdimm units are used on the backplane the system slot device will cause the peripheral device to reset as well ANETdimm 1 3 is required since NETdimm 1 2 in the peripheral slot will not wait for the system slot device on reset and will not get initialised The following files and programs will be used rc imagez bin loader Kernel Configuration The 2 0 kernel must have specific networking and PCI options included in order for communication to occur between two dimmPCI modules These options will be set using the kernel configuration cd opt uClinux linux make menuconfig Using this main menu under General Setup the following must be selected PCI support PC 20 transport layer PCI networking support The following default values for some PCI settings are already fairly optimal in the General Setup menu It is essential that the PCI frame size be the same for both dimmPCI devices if the default values are not used since the PCI frame size will set the maximum transmission unit MTU size 5 PCI receive frames 2 PCI transmit frames 4 PCI frame size 76 www amctechcorp com From the main menu inside of Networking Options this option must be set IP forwarding gatewaying Again from the main menu unde
70. orp com 10_SPI_MOSI IO SPI CLK IO SPI CS DAC A GUIU OUTA AGND IC_TLY 56184 TLY 56184 fallsanng output 2x Vref input Figure 7 6 Digital to Analog Converter Schematic 0 0 Analog In 5 earth gnd Analog In 7 10 UART2 b 11 UART cts Oa O S em Figure 7 7 IlOdimm Signals www amctechcorp com 25 RS 232 The dimmPCI provides a 10 pin header terminal RS232 port on the backplane capable of running at up to 230400bps RS232 line drivers are integrated and no external components are required The RTS and CTS lines are usable on the DCE configuration of the RS232 port The DCD Data Carrier Detect DSR Data Set Ready and DTR Data Transmit Ready lines are not implemented on the dimmPCI and are all connected to each other The Ring Indicator line is not implemented on the dimmPCI so no external serial devices can be intrinsically powered by RS232 serial port The RS 232 10 pin connector is compatible with an insulation displacement connector IDC DE9S female 9 pin DB9 connector RS232 Part JP3 SCIARXD gt HEADER 5X2 SCIACTS SCIARTS Da Ww e m E eia E m fh Figure 8 RS 232 Schematic Watchdog The watchdog on the dimmPCI platform can be used to protect the system and individual processes When the process or the system hangs the watchdog will force a reset Highlights e Based on the Dallas DS1832 3V version of the DS1232 watchdog e Uses dev watchd
71. orp com Digital I O Functions The low level functions used to manipulate the digital I O points are the system calls open lseek read write close and ioctl The uses of these functions are demonstrated in two simple sample programs xor c and even_parity c open gives access to the digital I O character device It takes two parameters the node for your device in dev and the mode you wish to open it in For the digital I O device you will want to use the node dev iol and the mode for read and write O_RDWR This function will return the handle to your device handle open dev iol O_RDWR lseek will choose the current I O point and takes three parameters including the handle the offset and a descriptor for how the offset is used SEEK_SET SEEK_CUR SEEK_END SEEK_SET will position the file pointer to an absolute position in the array of active pins as specified by the value in offset SEEK_CUR will move relative to the current position by the number in offset SEEK_END will move the file pointer to the end of the array of active pins lseek should be used to position the file pointer prior to any read or write operation lseek handle pin gt offset SEEK_SET read will read the value of the current I O point It takes three parameters the handle the byte s for the read information to be stored to and the number of bytes to be read This function will only allow you to read from the active pins Rea
72. ou wish that you receive source code or can get it if you want it that you can change the software or use pieces of it in new free programs and that you know you can do these things To protect your rights we need to make restrictions that forbid anyone to deny you these rights or to ask you to surrender the rights These restrictions translate to certain responsibilities for you if you distribute copies of the software or if you modify it www amctechcorp com 105 For example if you distribute copies of such a program whether gratis or for a fee you must give the recipients all the rights that you have You must make sure that they too receive or can get the source code And you must show them these terms so they know their rights We protect your rights with two steps 1 copyright the software and 2 offer you this license which gives you legal permission to copy distribute and or modify the software Also for each author s protection and ours we want to make certain that everyone understands that there is no warranty for this free software If the software is modified by someone else and passed on we want its recipients to know that what they have is not the original so that any problems introduced by others will not reflect on the original authors reputations Finally any free program is threatened constantly by software patents We wish to avoid the danger that redistributors of a free program will individually obta
73. pport and manufacturing for other industrial control applications and product lines The CPU module can be obtained with or without the PCI on board Backplane Description The AMC dimmPCI 3U Backplane forms a versatile foundation for cost effective rapid applica tion development for a wide variety of technically demanding applications The backplane conforms to the proposed dimmPCI standard and may be used with a complementary array of dimmPCI modules This economical platform allows users to develop custom solutions at commercial off the shelf prices The dimmPCI 3U Backplane has four available slots for expansion modules Of the four slots three are dimmPCI slots and one is a standard 5V PCI slot The dimmPCI slots support a variety of expansion cards The modules include e Arange of CPU modules with different microprocessor architectures and performance e COMM modules that support Ethernet 10 100BaseT CAN DeviceNet Modbus and other RS 232 and RS 485 based serial protocols e DAIO modules that support digital and analog I O e A power supply module The standard PCI slot supports any 3V or 5V 32 bit PCI expansion card The dimmPCI specification provides for user defined I O signaling to each module The dimmPCI 3U Backplane makes these readily available so application developers have a convenient way to access the I O reduce development costs and reduce time to market www amctechcorp com 13 Architecture
74. r Network device support Network device support NE2000 NE1000 ISA ethernet After saving your configuration changes use the following commands in the same directory to complete compilation of your kernel make clean make dep make www amctechcorp com 77 Kernel Configuration Flow Chart Main Menu Option Options to Select AtCommand Prompt cd opt uClinux linux General Setup PCI support make menuconfig PCI 120 transport layer PCI networking support Networking IP forwarding gatewaying Options Networking Network device support device support NE2000 NE1000 ISA ethernet make clean make dep make 78 www amctechcorp com Filesystem Configuration For the dimmPClI units to be correctly configured for the subnet the re file must be modified These different configurations should each be contained in a separate copy of the filesystem since different applications will be used Copies of the filesystem can be generated in the following way Here we will assume that the original filesystem is opt newfs and the new filesystems sysfs is for the system slot and perfs for the peripheral slot cd opt cp Rpdx newfs sysfs e cp Rpdx newfs perfs where R copy directories recursively p preserve file attributes if possible d never follow symbolic links x stay in this filesystem For both the system slot and peripheral slot dimmPCI modules the dhcp client must be turned off which can be done b
75. r executable form under the terms of Sections 1 and 2 above provided that you also do one of the following www amctechcorp com 107 108 a Accompany it with the complete corresponding machine readable source code which must be distributed under the terms of Sections and 2 above on a medium customarily used for software interchange or b Accompany it with a written offer valid for at least three years to give any third party for a charge no more than your cost of physically performing source distribution a complete machine readable copy of the corresponding source code to be distributed under the terms of Sections 1 and 2 above on a medium customarily used for software interchange or c Accompany it with the information you received as to the offer to distribute corresponding source code This alternative is allowed only for noncommercial distribution and only if you received the program in object code or executable form with such an offer in accord with Subsec tion b above The source code for a work means the preferred form of the work for making modifications to it For an executable work complete source code means all the source code for all modules it contains plus any associated interface definition files plus the scripts used to control compila tion and installation of the executable However as a special exception the source code distrib uted need not include anything that is normally distributed in either sour
76. rd output etc inetd conf file If run from the commandline F you add this line to your 24 root tcp nowait path to echo And then try to telnet to port 24 of your dimmPCI develop ment board it will echo any charct rs sent via the telnet connection include lt unistd h gt include lt stdio h gt int main void char c while read fileno write return 0 fileno stdin amp stdout amp c www amctechcorp com Ii SSO y lay 53 54 This page left intentionally blank www amctechcorp com Appendix The Journalling Flash File System There are two different types of memory available on the dimmPCI CPU module SDRAM and flash memory The SDRAM is virtually the same as the RAM in a personal computer anything stored in this memory will be lost when the power is turned off This is also referred to as volatile memory The flash memory is analogous to the hard drive in your computer since it retains stored data even when the computer is turned off This is called non volatile memory The journaling flash file system JFFS is an interface that allows data to be written read to from the flash memory randomly It arranges files in the memory keeps track of how large they are and where they are located etc But JFFS is not the only thing that uses flash memory along with the JFFS there exists the kernel and the read only file system Basica
77. romdisk etc attach the pci0d sbin ifattach addr 192 168 7 2 net 192 168 7 0 mask 255 255 255 0 gw 192 168 7 1 pci0 pci0 is on the subnet 192 168 7 0 and has an IP address of 192 168 7 2 The subnet for the pci0 devices on both modules must be the same For the peripheral module a gateway must be www amctechcorp com 79 specified since pei will be the network interface The gateway value must correspond to the IP address of the system slot pci0 192 168 7 1 Thus different re files must be configured for each copy of the filesystem generating a different image to be loaded for each module Note that the eth0 and pci0 can be configured manually by typing in the specific information at the command prompt on the dimmPCI module but changes will not be retained upon reboot Create a combined image of the new kernel and modified filesystem cd opt lt filesystem name gt make clean make Then use imagez bin and run loader on the module to write in the modified filesystem and kernel Please refer to the User s Manual for details on running loader The dimmPCI module is now configured for communication with another device To streamline development part of the computer s hard drive can be made available using NFS These changes will occur in the re file 80 www amctechcorp com Filesystem Configuration Flow Chart AtCommand Prompt Modifications to re file Copy filesystem cd opt cp Rpdx n
78. s specified here is relative to the start of the flash The addressing mode can also be changed with the following options relative to flash start is 0x0 default mode qaf absolute addresses da After obtaining the captured output it can be fed into the conv utility to convert the output file to binary The source code for the utility is located in opt boottools oops sre conv Common oops program arguments Verbose output mode v Quiet operation mode default q To select a serial port default is dev ttyS0 p lt serialPortName gt Change to fast serial port 230 4kbps default is 115kbps p Select initialisation program file default is init b ip lt initFilename gt Select a capture output file c lt captureFilename gt By default there is no capture file specified and all information will go to standard output When capturing the output if the file already exists then the new information will be appended to the end of the file not erase the current contents 102 www amctechcorp com Appendix The following is the format of the init b file aaaaaaaaccdd n r where aaaaaaaa address cc count cannot be equal to 0 dd lt cc gt number of bytes eg cc 2 there must be dddd 2 dd n r each line is followed by a carriage return and or line feed WAIT lt n gt causes a wait for lt n gt ms comment www amctechcorp com 103 This page left intentionally blank 104
79. s to etc services and etc inetd conf since they interface with inetd All the programs employ networking sockets in order to communicate Requirements e dimmPCI backplane 1 1 NETdimm 1 2 or higher for system slot on dimmPCI backplane NETdimm 1 3 for peripheral slot 2 0 38 or higher kernel source and filesystem SDK 2 05 or higher sample programs in SDK opt user_code networking filetransfer o client c O server c o inetClient c o inetServer c Note When two NETdimm units are used on the backplane the system slot device will cause the peripheral device to reset as well ANETdimm 1 3 is required since NETdimm 1 2 in the peripheral slot will not wait for the system slot device on reset and will not get initialised Configuration of the NETdimm modules must be completed beforehand please refer to the application note Configuring dimmPCI Modules for Communication for Kernel v 2 0 www amctechcorp com 85 Simple Server amp Client The sample programs server c and client c are available in the SDK samples directory opt user_code networking filetransfer without_inetd The programs interact using Internet sockets AF_INET Once the sockets have been established they can be read from and written to in order to transfer information Each program will be run on a separate NETdimm and using the IP addresses established during configuration text files such as hello txt can be transferred between them The server will set up its own
80. sed oops The following are brief instructions on how to use oops For more details about how oops works refer to Appendix D6 The oops directory contains 1 The oops executable which must be compiled the first time using gcc on the develop ment platform There is a Makefile included in the opt boottools oops sre directory for this purpose 2 init b containing the initialisation sequence for the dragonball VZ 3 loader bin containing the program to write and verify the flash 4 kernel bin containing the dimmPCI kernel image 44 www amctechcorp com Notes To use oops the following steps must be followed 1 Insert the jumper on EMU BREAK and reset the dimmPCI board 2 Close any terminal software minicom etc that may be using the serial port assumed to be dev ttyS0 3 Invoke oops cd opt boottools oops oops p dev ttyS0O k kernel bin 4 The software will set the speed on the dimmPCI to 115200bps and begin transferring files beginning with init b and loader bin Next the kernel bin file is transferred which takes approximately 2 minutes The size and checksum of the kernel image is calculated and displayed 5 When the loader program and kernel image has been transferred the loader program is started it begins by displaying the size and checksum of the kernel image which should match the results in step 4 6 The loader program then performs
81. specifications for a new genera tion of low cost Peripheral Component Interconnect PCI compatible devices DimmPCI is an adaptation of the PCI Specification 2 1 for embedded applications All dimmPCI cards are peripheral interface cards that install directly on a low cost backplane The cards share the same physical size as the module described in the JEDEC Dual Inline Memory Module DIMM specification for a 168 pin DIMM module Due to the high volume low cost nature of the connector dimmPCI sets new price perfor mance milestones for embedded systems developers The interface cards communicate using standard PCI bus signaling and are compliant with the 33Mhz 32 bit PCI bus specification The dimmPCI technology is applicable when facing tight budgets and demanding technical requirements In addition to the processor slot up to four other dimmPCI slots are available for expansion cards There are a large variety of expansion cards to select from including analog I O digital I O and special communications functions This highly configurable and economical platform allows users to develop custom solutions at commercial off the shelf prices AMC provides engineering support for the dimmPCI technology and can assist in developing and supporting products that utilize this architecture AMC has initiated the development of the proposed dimmPCI standard and can assist in adopting this technology in application specific areas AMC a
82. ss of the board needs to be known It will be stored in the etc rc file in the romdisk directory Suppose the address of the board is 192 168 10 51 Type the following command telnet 192 168 10 51 A login prompt will appear The procedure for logging in is the same as for the serial interface Enter root as the username and press Return at the password prompt Note that the telnet access procedure is the same as that of the serial console connection Compiling your own source code The cross compiler for the DragonBall processor onboard the dimmPCI module is installed along with your kernel source and file system so it should be ready for use In the dimmpci directory create a new directory called source 38 www amctechcorp com cd dimmpci mkdir source cd source Create a simple hello world C program called hello c such as this include lt stdio h gt void main printf Hello World n Now run the GCC compiler to create the binary file Links should be set up so the compiler is in the path If not add opt uClinux bin to the path and everything should work fine m68k pic coff gcec hello c o hello Once the hello world program has been successfully compiled copy the resulting binary file to the romdisk directory and create a new image file cp dimmpci source hello opt fs romdisk usr cd opt fs make imagez bin Now program the image file to the dimmPCI
83. time_val tv_sec This next program is an example of how to activate and manipulate the watchdog timer watchdog c he This sample program demonstrates how to register with the watchdog timer tickle it and finally unregister II Wate GE include lt stdio h gt include lt fcntl h gt finclude lt asm EZ328watchdog h gt void main int watchdog_id int watchdog_handle int value long arg value 120 arg long amp value open the watchdog timer device and register the timeout period with it watchdog_handle open dev watchdog O_RDWR ioctl watchdog_handle WATCHDOG_REGISTER arg watchdog_id arg hit the watchdog reset the counter ioctl watchdog_handle WATCHDOG_TICKLE long watchdog_id unregister with the watchdog disable the timer ioctl watchdog_handle WATCHDOG_UNREGISTER long watchdog_id close watchdog_handle www amctechcorp com Finally this source uses the inetd superserver to create a simple network server that will echo any characters received back to the client This can be demonstrated by telnetting into the host board and typing some characters it Th ii echo c All this file does is echo any data written to its standard input to i will echo typed characters t s standa
84. uently it will create an image for download make imagez bin An explanation of some of the more important files and sub directories in the opt fs directory imagez bin this contains both the wClinux kernel and the filesystem ready to be programmed to the dimmPCI platform linux a link to where the uClinux kernel source and binaries reside romdisk the set of files that will make up the root file system on the dimmPCI module src source code for each of the tools available on the dimmPCI module Any time after the files have been modified in the romdisk directory typing the following will create a new image file make imagez bin This will compress the filesystem and the linux bin kernel file into a single image file imagez bin The one file is all that is necessary to program onto the dimmPCI CPU module in order for it to operate properly Customizing the filesystem Before programming the dimmPCI module for the first time the filesystem should be configured so that it does what is wanted from it the first time These are the files which control the startup and initialization process in the filesystem They are stored in the opt fs romdisk etc directory The files are www amctechcorp com 35 inetd conf this file contains information on which internet services the board will provide inittab determines which program will handle communication on the serial ports issue the file that is d
85. unction on 3 inputs The XOR is performed on the first two inputs and the result output to the first output The result of the second and third input XOR are sent to the second output The source code for xor_iodimm c is available in opt samples card_specific iodimm dio in0 inl in2 out0 out www amctechcorp com 95 even_parity_iodimm c is a program that will do even parity on 8 input pins and the result is sent to 1 output pin Thus if there is an even number of 1 inputs then the output will be 0 Conversely if there is an odd number of 1 inputs the output will be 1 The source code for xor_iodimm c is available in opt samples card_specific iodimm dio in0 inl in2 in3 in4 in5 in6 in7 out0 Even Parity 96 www amctechcorp com www amctechcorp com 97 98 This page left intentionally blank www amctechcorp com Oops Documentation Using Oops June 11 2003 Version 0 1 Authors Bernice Lau Robert Austen Introduction oops is a program to upload download to a M68K family processor using EMU mode The executable must be compiled for the first time using gcc on the development platform There is a Makefile included in opt boottools oops sre Prior to running oops the jumper must be inserted on EMU BREAK and the dimmPClI board reset Any terminal software minicom etc that may be using the serial port must be closed oops can be invoked from the directory opt boottoo
86. upported as the Dragonball does not support the x86 code The PCI BIOS includes the standard pcibios_ read write config _byte word dword functions All PCI spaces are defined to be small endian The Dragonball which is large endian has been attached to the C7C09449 such that word accesses do not require byte swapping byte accesses require toggling the least significant address bit This is made transparent by the PCI BIOS and 30 www amctechcorp com has been extended to include readb readw read1 and writeb writew writel functions The PCI BIOS also includes extensions to perform DMA transfers and to manage the DPRAM Drivers may request a transfer using shared DPRAM Drivers for high bandwidth devices may request a private and permanent allocation of the DPRAM The DMA mechanism allows the device driver to block or not until the requested transfer s have completed The PCI BIOS uses interrupt driven code to manage the request queues PCI DRIVERS The proc pci may be used to display a list of active PCI devices Electrical Characteristics e Operating Voltage nominal 3 3VDC 5VDC e Operating Current 75 mA 3V with PCI 36 mA 5V with PCI Maximum Ratings e Operating temperature 0 to 70 degrees C e Storage temperature 20 to 85 degrees C www amctechcorp com 31 32 This page left intentionally blank www amctechcorp com uClinux Installation Installing the dimmPCI System Builder Kit Be
87. ute the following com mands On the host machine ping 192 168 10 87 this tests the system slot NETdimm configuration ping 197 163 2037 this tests the peripheral slot dimmPCI module configuration telnet 192 168 7 2 this gives you access to the peripheral slot dimmPCI module In the telnet session for the peripheral slot dimmPCI module ping lt host machine ip address gt this indicates that the peripheral slot dimmPCI module has access to the outside network 82 www amctechcorp com www amctechcorp com 83 84 This page left intentionally blank www amctechcorp com Q Application Note 4 Using Multiple NETdimm Modules Author Bernice Lau Version 0 1 Abstract On a dimmPCI backplane there are several possible slots in which a dimmPCI may be inserted the system slot or the peripheral slots Once configuration has been completed the NETdimm modules can successfully communicate with each other This application note describes the use of the PCI bus sending ethernet packets to transfer a file between two NETdimm devices Introduction After configuration of the NETdimm modules has been completed they can communicate with each other in an ethernet fashion Two variants of a simple file transfer program have been developed to demon strate this ability The programs server c and client c can run once configuration is done The programs inetServer c and inetClient c require modification
88. vailable for digital I O depends on the other options compiled into the kernel For example if the EEPROM option is compiled in then the bits from Port E bits 0 2 will not be available for digital I O During boot up devices that require pins for their dedicated functions will reserve them and thus these pins cannot be accessed by the digital I O character driver After all other drivers have reserved their required pins any remaining pins that have not been reserved will be used for digital I O and so a user space program will be able to access these pins via the character device In order for the pins to be reserved a scan of applicable devices is done on boot up Thus the same kernel can be used on any of the NETdimm IOdimm or CANdimm without having to recompile The pins are listed in Table 1 in their suggested order of use The pins further down the list are more likely to be used for their dedicated functions than those at the top Table 1 also describes the respective port and bit numbers of each class of pins as well as their location on the backplane Only the LCD class of I O points and Port G pinS5 lead to pin headers on the backplane The remaining pins must be accessed by soldering wires to the system or peripheral slot on the backplane The following are notes regarding each class of pins The LCD class of pins are only used when an LCD display needs to be hooked up to the dimmPCI module Thus they are the least likely to be us
89. y 3 5mA and 4095 corresponding to about 25mA Sample Programs The sample program fir c demonstrates the use of the ADC and DAC of the IOdimm The digital I O functions are demonstrated by the sample programs xor_iodimm c and even_parity_iodimm c fir c will read analog input from a channel on the ADC This input will be fed into a FIR filter and then the output is written to the DAC The source code for fire is available in opt samples card_specific iodimm fir There are 29 coefficients h k used to calculate the digital output values y n given the digitised input x n using the summation 28 y n J h k x n k k 0 The filter is prototyped using a Hamming window given N 29 the finite impulse response given by sin 0 33z n 14 n h n sin 0 33a n 14 0 54 0 46cos 22 a n 14 28 Note that lim sin kx x gt 0 x xk as shown by the Taylor expansion of sine 5 7 sin x a 4 3 So 7 A 3 5 7 sin kx E kx n kx 2 kx ik x x x 3 x S5 x7 94 www amctechcorp com The sample FIR is a quick and dirty low pass filter with linear phase The design parameters of the filter are a 3dB cutoff at Q 307 rad sec 0 37 rad and an attenuation of 50dB at Q 45z rad sec 0 457 rad For example a sampling rate of 64000 samples second T 64000 samples s yields a analog frequency cutoff of 9 6kHz and the 50dB attenuation corner point at 14 4kHz xor_iodimm c performs the XOR logic f
90. y commenting it out with in front of the line This must be done since the IP addresses and routes are set statically The following code should be added to the system slot re file to set the IP information The re file is located in opt sysfs romdisk etc where sysfs is the name of filesystem for the system slot attach the pcidO and etho sbin ifattach addr 192 168 10 87 net 192 168 10 0 mask 255 255 255 0 gw 192 168 10 1 eth0 sbin ifattach addr 192 168 7 1 net 192 168 7 0 mask 255725552590 PCLO eth0 will be set up as a device on the local network so its address must be on the local network Here the local network is on 192 168 10 0 and the IP address has been set specifically to 192 168 10 87 The gateway 192 168 10 1 specifies the machine that acts as an interface between the local network and the outside network and will be redirecting information from the local network to the subnet you are creating with the two dimmPCI modules pci0 will be a device on the PCI subnet here set as 192 168 7 0 and its IP address is set accordingly as 192 168 7 1 Note that the character at the end of the lines indicated that the command continues on the next line For the peripheral slot dimmPCI module pci0 is the only network interface there is no physical ethernet connection for the peripheral module to set up This is the code that must be added to a peripheral slot re file in opt perfs

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