CPU6901. PCI-104 ARM9 CPU Card. Software Manual (V1.0) 健昇科技股份有限公司 JS AUTOMATION CORP.

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1 CPU6901 PCI-104 ARM9 CPU Card Software Manual (V1.0) 健昇科技股份有限公司 JS AUTOMATION CORP. 新北市汐止區中興路 100 號 6 樓 6F., No.100, Zhongxing Rd., Xizhi Dist., New Taipei City, Taiwan TEL: FAX: control.cards@automation.com.tw

2 Correction record Version Record 1.0 New 1

3 Contents 1. Introduction Prepare the development environment Compile and run a simple sample program Compile the uclinux OS Download uclinux OS to on board flash A. Compile the source code by manual B. How to minicom C. How to boa D. How to NFS E. How to u-boot

4 1. Introduction This software manual is intended to introduce you the procedures to code and install your application to run on the board and explain how to step by step install the uclinux OS and associate system applications on CPU6901 board, if you need to re-configure the system. It is assumed that you are a software developer with specific experience of Linux environments and are familiar with both CPU6901 hardware and networked systems. All the developments are implemented under Linux system Minimum requirement of Linux workstation The Linux workstation is work as a development station, the CPU6901 software and applications are ready cross compiled then download to CPU6901 board. The workstation must have the cross compiler and at least 1G space to install the uclinux source code. The COM0 port and the Ethernet port is also required to download and communicate with CPU

5 2. Prepare the development environment The CPU6901 has pre-installed the uclinux, we strongly recommend you to develop the applications for CPU6901 on a Linux based environment. All the followings are assumed on a Linux workstation Prepare the source code - Find the file CPU6901-SDK.tar.bz2 on CD ROM comes with CPU6901 board. - Copy the file under the /home directory or any other you preferred directory (your project directory). - Open a console and change to the directory #cd $(your project directory) - Uncompress the file #tar xjvf $(your project directory)/ CPU6901-SDK.tar.bz2 There will be new directory for the source code. 4

6 - You can find all the source code, compiler and tools are under the CPU6901-SDK directory Connect the CPU6901 to workstation - CPU6901 connectors Connector Power 5V RESET COM 0 1 USB 2 PC104-Plus Ethernet(RJ45) IDE J1(Farady ICE) description Connect to 5V power supply External manual short to reset CPU RS232 port, generally connect COM0 to workstation Connect to USB devices PC104-Plus(PCI) bus Ethernet connector IDE hard disk or CD drive connector Connect to Farady ICE for u-boot burning 5

7 - connect to physical devices - stack on the AIO6328 card. ( if you want to expand the I/O function) 2.3. Run minicom to connect CPU6901 to workstation. Now under minicom window, the workstation work as a monitor of CPU6901. (refer appendix C: How to minicom for step by step to use minicom) 6

3. Compile and run a simple sample program The CPU6901 has pre-installed the uclinux O.S. and the DIO6216, AIO6328 driver.

and u-boot, you do not need to re-compile or re-configure any thing. 3.1.

you want to compile the software and run on CPU6901. 3.2. The uclinux SDK has been under /home directory 3.3. The simple program named hello.

8 3. Compile and run a simple sample program The CPU6901 has pre-installed the uclinux O.S. and the DIO6216, AIO6328 driver. If you just want to use the CPU6901 to do some control tasks without go deeply into the uclinux O.S. and u-boot, you do not need to re-compile or re-configure any thing Assume that you have coded a simple program to print out Hello, World (under any text editor or the software IDE environment) then you want to compile the software and run on CPU The uclinux SDK has been under /home directory 3.3. The simple program named hello.c and put under /home 3.4. Before using the ARM compiler, you must export the path for the compiler. #export PATH=$(your project directory)/cpu6901-sdk/tools/arm-uclibc-3.4.6/bin:$path 3.5. Compiling by using arm-linux-g++ 7

3.6. If any error code generated, please debug until no error. Now your application program has been done under your workstation. 3.7.

There are many ways to copy the file to CPU6901 but the easiest on hand method is to copy by using a USB flash stick.

9 3.6. If any error code generated, please debug until no error. Now your application program has been done under your workstation To run the application on CPU6901, you must put the program code to CPU6901 and run it. There are many ways to copy the file to CPU6901 but the easiest on hand method is to copy by using a USB flash stick. --- Plug a USB flash disk to the work station and copy the execution code of your application program to it. --- Confirm the completeness of copy and unplug the USB flash disk. --- Plug the flash disk to the CPU Find out the USB logic number. (the following assumes the USB as sda1) --- If it is the first time to hook USB drive, make a new directory say usb under /mnt mkdir /usb --- Mount the USB flash disk. mount t vfat /dev/sda1 /mnt/usb //if file system is FAT32 mount t ntfs /dev/sda1 /mnt/usb ///if file system is NTFS --- Copy the execution code to the CPU6901. After program copy, you can run the program under CPU6901 now. 8

take out the flash chip to burn program. We focus our effort on uclinux first. 4.1. Prepare the source code - Find the file CPU6901-SDK.tar.bz2 on CD ROM comes with CPU6901 board.

10 4. Compile the uclinux OS. The CPU6901 is shipped with uclinux ready and of course the u-boot is also ready to boot the OS. We strongly recommend that do not try to alter the u-boot, this is because once you change your u-boot on board and unfortunately it is a mal-function one, you must download by a ICE or take out the flash chip to burn program. We focus our effort on uclinux first Prepare the source code - Find the file CPU6901-SDK.tar.bz2 on CD ROM comes with CPU6901 board. - Copy the file under the /home directory or any other you preferred directory (your project directory). - Open a console and change to the directory #cd $(your project directory) - Uncompress the file #tar xjvf $(your project directory)/ CPU6901-SDK.tar.bz2 9

There will be new directory for the source code. 4.2. Compile the source code The compile procedure has been integrated as a single script file, just key in #./setup-kernel.

11 There will be new directory for the source code Compile the source code The compile procedure has been integrated as a single script file, just key in #./setup-kernel.sh The script will direct the compiler to go through everything it need. Finally the result file jffs2image will be under /CPU6901-SDK/output/. If the console print out the message of error of missing files, maybe your workstation do not have the necessary compiler or adjacent files, please download and install first. 10

12 5. Download uclinux OS to on board flash 5.1. Environment setup To download the uclinux OS to flash, you must have the u-boot already on flash (CPU6901 have the u-boot ready ported and installed). Connect the com port from workstation to CPU6901 com0 On workstation start the minicom (or other equivalent utility). (refer Appendix: How to minicom) Power on CPU6901 or reset it if it is already power on. Wait for the minicom console appear hit any key to stop autoboot Press any key of workstation to prevent u-boot to go ahead. On the minicom console, setup ip and netmask Setup workstation ip: #setenv serverip XXX.XXX.XXX.XXX ( fill your workstation ip at xxx.xxx.xxx.xxx) Setup the CPU6901 ip: #setenv ipaddr XXX.XXX.XXX.XXX (assign a ip to CPU6901 at xxx.xxx.xxx.xxx) Setup the net mask: #setenv netmask xxx.xxx.xxx.xxx (use your work station netmask, usally ) 11

13 Save the environment data at CPU6901 and verify them. Save environment data: #saveenv Print out the data to verify #printenv 12

14 If you have not setup tftp please refer: How to tftp to setup first. If you have already setup the tftp and copy the jffs2image file to tftp directory, download the image file to the CPU6901 by: #tftpboot 0x jffs2image (download image to CPU6901 memory starting at 0x ) Owing to the tftp use UDP protocol, it is not a reliable communication protocol. Clear flash to ensure the new download will not overlap with the old code. #erase 0x x307FFFFF Burn to flash #cp.b 0x x $(filesize) 13

15 (cp.b is a u-boot command, copy the memory from 0x to flash at address 0x with the length defined by filesize variable) Run uclinux Once the burning is complete, you can reset the system to run from u-boot to uclinux automatically or just command the u-boot to run the uclinux from the RAM at memory 0x If you will run uclinux from RAM, key in: #go 0x

Appendix: A. Compile the source code by manual For some reason, you need to fine tuning the system, manual command to compile the source code is required. 1. Open a new console. 2.

16 Appendix: A. Compile the source code by manual For some reason, you need to fine tuning the system, manual command to compile the source code is required. 1. Open a new console. 2. Setup the working path #export PATH= $(your project directory) /CPU6901-SDK/tools/arm-uclibc-3.4.6/bin :$PATH Please note that the environment variable PATH is only valid for the current opened console. 3. Change to the working directory and copy default configuration file #cd $(your project directory)/cpu6901-sdk/configs #cp CPU6901_defconfig_jffs2 $(kernel path)/.config The kernel path is $(your project directory)/cpu6901-sdk/kernels/linux star 4. If you have never export the PATH variable in current console, please export: #export PATH=$(your project directory)/cpu6901-sdk/tools/arm-uclibc-3.4.6/bin:$path 5. Change to kernel path #cd $(kernel path) 6. If you do not want to change the default configuration key in: #make oldconfig If you want to re-configure, key in 15

previous compiled data by #make clean 8.

17 #make xconfig (If you have Qt installed ) If you do not have Qt installed, use #make menuconfig 7. Before command to make, clear the previous compiled data by #make clean 8. make file now, the kernel zimage will be the result: #make 16

18 9. For the full operating system, you need some library and auxiliary utilities (utilities are under busybox directory). All the programs and kernel must finally convert to a file that can be burn to flash by u-boot. The command script to convert to final image file is under directory CPU6901-SDK. Now change directory and make the file. #cd $(your project directory)/cpu6901-sdk (change directory to the script that can integrated all object codes to a jffs2image file) #make 17

choose A to change port to /dev/ttys0 choose B to change lock file

19 B. How to minicom 1. If you are the first time to use minicom, please open a new console and setup the serial port parameters. # minicom s 2. select configuration -> serial port setup then 3. choose A to change port to /dev/ttys0 choose B to change lock file location to /var/lock choose E to Bps/par/bits to N1 choose F to change hardware flow control to NO choose G to change software flow control to NO 18

20 4. select configuration -> modem and dialing 5. clear A,B,K items 6. select configuration -> Save setup as dfl to save configuration data 19

21 7. select configuration -> Exit from Minicom to exit and save data of configuration. 8. After saving configuration, exit from the minicom setup then re-enter the minicom by just key in minicom. 20

C. How to boa Boa is a web server software specially designed for small code size. 1. Download the boa source code, take current version boa-0.94.14rc21.tar.gz as example. Extract the source file 2.

22 C. How to boa Boa is a web server software specially designed for small code size. 1. Download the boa source code, take current version boa rc21.tar.gz as example. Extract the source file 2. Change to the source code directory and configure the environment. # cd boa rc21.tar.gz (change to the Boa source file directory) #./configure 3. The original Boa is compiled under the standard Linux, now we want to port to ARM9 uclinux, we must change the compiler to arm gnu C compiler. Edit the makefile (under../ boa rc21/src/ ) and change CC and CPP definition as follows. CC = arm-linux-gcc CPP = arm-linux-gcc -E 21

/bin:/usr/bin:/var/www/cgi-bin ScriptAlias /cgi-bin/ /var/www/cgi-bin/ Remove the

Before you make the file, you must export the path of CPU6901 compiler tool path for

23 4. Edit../boa rc21/examples/boa.conf and set as follows: User 0 Group 0 DirectoryMaker /usr/lib/boa/boa_indexer CGIPath /bin:/usr/bin:/var/www/cgi-bin ScriptAlias /cgi-bin/ /var/www/cgi-bin/ Remove the ServerName remark #, change the server name as you want. 5. Before you make the file, you must export the path of CPU6901 compiler tool path for the compiler. (the directory where the tool/arm/bin is) #export PATH=/home/CPU6901-SDK/tools/arm-uclibc-3.4.6/bin:$PATH #make (now compiler to generate executable code) 22

6. To download the boa to the CPU6901 board, you should put the boa object code

Assume that the sharing directory is /tftpboot, then you should copy boa.

To mount the tftpboot (of the workstation) to the CPU6901, please follows the

2 Create a new directory under /mnt (in minicom console) #cd /mnt (change

3 Open a new consol at workstation and start nfs. #/etc/rc.d/init.

24 6. To download the boa to the CPU6901 board, you should put the boa object code and boa.conf under the sharing directory of nfs (refer How to nfs). Assume that the sharing directory is /tftpboot, then you should copy boa.conf and boa to this directory. 7. To mount the tftpboot (of the workstation) to the CPU6901, please follows the steps: 7.1 Use minicom to connect the CPU6901 (refer How to minicom) 7.2 Create a new directory under /mnt (in minicom console) #cd /mnt (change directory to mnt) #mkdir nfs (create new directory nfs if not exist) 7.3 Open a new consol at workstation and start nfs. #/etc/rc.d/init.d/nfs start (start nfs server) 7.4 In the minicom console set the ip of CPU6901 #ifconfig eth (configure the CPU6901 s ip as , you can change it to your convenient ip) 23

7.5 Mount the CPU6901 file directory with the workstation nfs sharing directory. #mount t nfs o nolock 192.168.0.152:/tftpboot /mnt/nfs (the 192.

6 Now under the /mnt/nfs directory you can see all the /tftpboot files of workstation. (note that the boa and boa.

conf under /etc/boa (boa standard default) #cp /mnt/nfs/boa /usr/sbin #cd/etc ( change directory of CPU6901)

25 7.5 Mount the CPU6901 file directory with the workstation nfs sharing directory. #mount t nfs o nolock :/tftpboot /mnt/nfs (the is a example of the workstation s ip, change it to yours) 7.6 Now under the /mnt/nfs directory you can see all the /tftpboot files of workstation. (note that the boa and boa.conf now can access from CPU6901 on minicom) 8. To move the boa and boa.conf to CPU We will put boa under /usr/sbin and boa.conf under /etc/boa (boa standard default) #cp /mnt/nfs/boa /usr/sbin #cd/etc ( change directory of CPU6901) #mkdir boa ( create a new directory) #cp /mnt/nfs/boa.conf /etc/boa/ ( copy the configuration file to /etc/boa) 24

9. Move web page to CPU6901. 9.1 Design your web page under workstation or other computer as your convenience. 9.2 Move the web page files to /tftpboot of workstation.

4 The default web page is under /var/www by default, if the directory is not exit at CPU6901, create it. #cd /var #mkdir www #cp /mnt/nfs/index.

26 9. Move web page to CPU Design your web page under workstation or other computer as your convenience. 9.2 Move the web page files to /tftpboot of workstation. 9.3 Now you can see the files under the CPU6901 under /mnt/nfs 9.4 The default web page is under /var/www by default, if the directory is not exit at CPU6901, create it. #cd /var #mkdir www #cp /mnt/nfs/index.html /var/www (copy all the web files) 10. Setup the boa message log. #mkdir p /var/log/boa ( create a directory to collect the message of boa) 11. Start the boa server #ifconfig eth #/usr/sbin/boa (configure CPU6901 ip as you convenience) (start boa) 25

12. Now you can log in CPU6901 to watch the web page. 13. Set up to start boa while CPU6901 boot up. 13.1 To star after system boot up, we must add command to the script /etc/init.

3 use i (insert mode) to add at the bottom of the file. ifconfig eth0

27 12. Now you can log in CPU6901 to watch the web page. 13. Set up to start boa while CPU6901 boot up To star after system boot up, we must add command to the script /etc/init.s/rc.sysinit 13.2 #cd /etc/init.d (change directory of CPU6901) #vi rc.sysinit (open rc.sysinit by editor) 13.3 use i (insert mode) to add at the bottom of the file. ifconfig eth (setup the ip of CPU6901) /usr/sbin/boa (command to start boa) 13.4 save file and restart the CPU6901, now you can watch the web page after system boot. 26

#rpcinfo p (to check if RPC has start) The red marked area means RPC (port mapper) has started. 3. The shared directory and authorization are defined at /etc/exports.

28 D. How to NFS NFS (Network File System) is a file server utility designed for Unix like system to share file. 1. If your system have no NFS at your workstation, please download and install the nfs-utils 2. The NFS must work on RPC service, please check if the RPC (portmap utility) is already start. #rpcinfo p (to check if RPC has start) The red marked area means RPC (port mapper) has started. 3. The shared directory and authorization are defined at /etc/exports. Edit the file, say for example: /tftpboot / (rw,sync) /tftpboot : the absolute file directory to be shared / : host ip (rw,sync) : enable read/write and data synchronization 4. Setup the NFS file sharing directory. #cd / #mkdir tftpboot (we have set the sharing directory at /tftpboot) #chown nobody:nobody tftpboot (change the owner to nobody) 27

29 5. Start NFS and share the files. #/etc/rc.d/init.d/nfs start (start the nfs service) 6. Export the shared directory #exportfs rv (use the /etc/export file to export the sharing ) 28

30 E. How to u-boot u-boot(universal Bootloader) is an open source, multi platform bootloader. u-boot supports interactive commands, environment variables, command scripting and booting from external media. 1. Re-compile by setup-uboot script All the settings regarding CPU6901 have been tailored to fit, if you want to make any change, please visit the u-boot web site ( )for the detailed information. If you just want to re-compile, please open a new console at workstation and keyin: #cd $(your project directory) (the example is /home) #./setup-uboot.sh (compile u-boot) The compiled result will be u-boot.bin under /home/cpu6901-sdk/boot/u-boot-1.1.4/ 2. Re-compile by manual command If you want to totally re-compile, you must command as follows: #cd $(your project directory) /CPU6901-SDK/boot/u-boot #make distclean (clear the previous compiled results) 29

#make CPU6901_config #make (configure the environment) (compile files) The result file uboot.bin 3. Burn u-boot to flash You can burn the flash by a ICE or take out the chip to brun on a programmer.

31 #make CPU6901_config #make (configure the environment) (compile files) The result file uboot.bin 3. Burn u-boot to flash You can burn the flash by a ICE or take out the chip to brun on a programmer. These methods are not easy to burn and we suggest to use only you have bad u-boot on board or never try it. Now we have a standard u-boot on board and it runs correctly, we just want to re-program it or update it, we can use the u-boot build in utility to re-program u-boot. 3.1 Start minicom at workstation. 3.2 Power on the CPU6901 and wait the message: Hit any key to stop autoboot appears then hit any key to stop u-boot go ahead. 3.3 Setup ip of server and CPU6901. #setenv serverip (the workstation ip for example) 30

32 #setenv ipaddr #setenv netmask #saveenv (the CPU6901 ip for example) 3.4 Unprotect the flash The u-boot area of flash was protected to avoid accidental modification.we must unlock first to enable the following write. Keyin: #protect off all 31

3.5 Copy file to the flash Follow the command to download the file by tftpboot and copy to flash #tftpboot 0x1000000 u-boot.

33 3.5 Copy file to the flash Follow the command to download the file by tftpboot and copy to flash #tftpboot 0x u-boot.bin (download file from workstation to CPU6901 RAM from address 0x ) #cp.b 0x x $(filesize) (burn flash from address 0x ) After burning to flash, you have change the u-boot code under the old u-boot environment then reset or power off then on again to use the new u-boot. 32

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