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SeaLevel SBC-R9 User Manual

Arm9 risc
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SBC-R9 ARM9 RISC Single Board Computer
Sealevel Systems, Inc.
Sealevel.com
Phone 864.843.4343

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  • Page 1 SBC-R9 ARM9 RISC Single Board Computer Sealevel Systems, Inc. Sealevel.com Phone 864.843.4343...

  • Page 2: Table Of Contents

    Serial Debugging ..........................17 Serial Communications ........................18 CA273 Accessory Cable ......................... 20 CAN Bus ............................21 Optically Isolated Inputs ........................ 22 Open Collector Outputs ......................... 24 Analog Inputs ..........................26 Quadrature Counters ........................27 ©Sealevel Systems, Inc. SBC-R9 Manual SL9210 01/2012...
  • Page 3 SD/MMC Cards ..........................28 RS-485 Expansion ........................... 29 Power ............................... 30 LED Indicators ..........................31 Software .............................. 32 SBC-R9 Quick Start .......................... 32 Windows Device Center ........................34 Windows ActiveSync for XP ......................35 Connection Complete ........................36 Application Development ....................... 37 Application Debugging ........................
  • Page 4 Appendix A – Resources ........................70 Books ............................... 70 Web Sites ............................70 Appendix B – SBC-R9 Connector Reference ..................71 Appendix C – Application Debugging over Ethernet ............... 72 Appendix D – CAD Drawing ......................74 Appendix E – How to Get Assistance ....................77 Technical Support ...........................

  • Page 5: Safety Instructions

    Keep work area free of non-conductive materials such as ordinary plastic assembly aids and Styrofoam.  Use field service tools such as cutters, screwdrivers, and vacuum cleaners which are conductive.  Always place drives and boards PCB-assembly-side down on the foam. ©Sealevel Systems, Inc. SBC-R9 Manual SL9210 01/2012...

  • Page 6: Introduction

    Introduction The SBC-R9 is an application-ready platform for your next product design. The system is based on the 200MHz Atmel AT91SAM9263 microcontroller boasting a 32-bit ARM® instruction set for maximum performance. With up to 256MB RAM and 256MB NAND Flash memory, the unmatched I/O features of the SBC-R9 extend the possible uses beyond traditional ARM applications.

  • Page 7: Before You Get Started

    Before You Get Started The SBC-R9 is shipped with the following items. If any of these items are missing or damaged, please contact Sealevel for replacement.  SBC-R9 ARM9 Embedded RISC Single Board Computer  SD Card with CE runtime image, Talos .NET Framework, application samples, and documentation ...

  • Page 8: Quickstart Kit

    The SBC-R9 QuickStart Kit (Item# SBC-R9-KT) is available, which includes the most common accessories. For applications with specialized hardware requirements, developers can use the SBC-R9 as a platform for application development while Sealevel designs a customized target system specific to the user’s application requirements.

  • Page 9: Cables

    Depending upon your application, you are likely to find one or more of the following items useful with the SBC-R9. All items can be purchased from our website (www.sealevel.com) by calling our sales team at (864) 843-4343. USB Type A to USB Type B, 72" in Length - Device Cable (Item# CA179) The CA179 is a 72"...

  • Page 10: Power Supply

    100-240VAC input and 12VDC output at 2.5 amps. The 72" cable has a two-position socket (Molex 09-50-1021) for use with products that have a two- position header (Molex 09-65-2028) for input power. Connector position 1 indicates positive polarity. ©Sealevel Systems, Inc. SBC-R9 Manual SL9210 01/2012...

  • Page 11: Product Overview

    Eight Optically Isolated Inputs (5 – 24V) Eight Open-Collector Outputs (5 – 30V; 3 with PWM) Eight Analog Inputs (12-bit or 16-bit) Two 32-bit Quadrature Counters Dual LED Indicators for Power and Status ©Sealevel Systems, Inc. SBC-R9 Manual SL9210 01/2012...
  • Page 12 See Appendix B for the Connector Reference Table, which details the connectors, jumpers, and test points located on the SBC-R9. ©Sealevel Systems, Inc. SBC-R9 Manual SL9210 01/2012...
  • Page 13 The SBC-R9 includes a 10/100 BaseT Ethernet interface accessed via the RJ45 connector located at (J14). The RJ45 port on the left side of the SBC-R9 is a RS-485 Expansion Port (labeled J5) and is NOT an Ethernet port. Damage to Ethernet networking equipment can result if connected to the RS-485 RJ45 connector.
  • Page 14 The SBC-R9 provides two USB 2.0 host ports, and one device port. The host USB ports are located at (J7) and (J8). The device USB port is located at (J13). Connector: J7, J8 Manufacturer: Molex Part Number: 35362-0450 Description: 2.00mm (.079") Pitch Sherlock™ Wire-to-Board Header, Vertical, with...

  • Page 15: Lcd Controller

    A variety of LCDs can be directly controlled by the SBC-R9’s on-board LCD controller. All LCD power and control signals are available on header connector P2. Connector: Manufacturer: Samtec Part Number: TFML-125-02-S-D Description: Locking terminal strip, 50 pos, 0.050” pitch Mates with: Samtec SFML-125-T2-S-D or Samtec TFMDL-25-T-03.00...
  • Page 16 Position Signal Position Signal DCLK LCDEN HSYNC 3.3V VSYNC 3.3V HDMODE VDMODE Touch UL Touch LL Touch UR Touch LR Touch Wiper LCDLED3 LCDLED2 LCDLED1 ©Sealevel Systems, Inc. SBC-R9 Manual SL9210 01/2012...
  • Page 17 Debug the R9 through the RS-232 debug port. Connector: Manufacturer: Amp/Tyco Part Number: 9-146278-0-04 Description: Header, 0.100” Polarized 4 pos, pin 3 Removed RS-232 ©Sealevel Systems, Inc. SBC-R9 Manual SL9210 01/2012...
  • Page 18 Connect to a variety of serial peripherals via the SBC-R9’s software configurable RS- 232/422/485 ports. Each port is located on connector (P4). Connector: Manufacturer: Sullins Part Number: SBH11-PBPC-D20-ST-BK Description: Box Header, 0.100” Polarized 40 pos (2x20) Mates with: SFH213-PPPC-D20-ID-BK-M181 or equivalent...
  • Page 19 COM Port Assignments Serial Port Assignment RS232 Debug Port COM0 RS485 Expansion Port COM1 SERIAL1 COM2 SERIAL2 COM3 SERIAL3 COM4 SERIAL4 COM5 ©Sealevel Systems, Inc. SBC-R9 Manual SL9210 01/2012...
  • Page 20 The DB9 pin out is achieved using the CA273 accessory cable. The 40-pin connector is in the first column and corresponding DB9 connectors are in the second column. Serial4 Serial3 Serial2 Serial1 ©Sealevel Systems, Inc. SBC-R9 Manual SL9210 01/2012...
  • Page 21 2.00mm (.079") Pitch Sherlock™ Wire-to-Board Header, Vertical, with Positive Lock, 4 Circuits Mates with: Molex 35507-0400 Sherlock™ Wire-to-Board Housing with Molex 0502128100 2.00mm (.079”) Pitch Crimp Terminals Signal CAN High CAN Low Shield ©Sealevel Systems, Inc. SBC-R9 Manual SL9210 01/2012...
  • Page 22 Signal Input 1A Input 1B Input 2A Input 2B Input 3A Input 3B Input 4A Input 4B Input 5A Input 5B Input 6A Input 6B Input 7A Input 7B Input 8A Input 8B ©Sealevel Systems, Inc. SBC-R9 Manual SL9210 01/2012...
  • Page 23 ©Sealevel Systems, Inc. SBC-R9 Manual SL9210 01/2012...
  • Page 24 Directly control 8 outputs via the SBC-R9’s open-collector outputs found on connector (P6). The open collector outputs have a range of 5 – 30V with a maximum sink current of 500mA on a single output with a combined maximum sink current of 580mA on all outputs.
  • Page 25 ©Sealevel Systems, Inc. SBC-R9 Manual SL9210 01/2012...
  • Page 26 The SBC-R9 base configuration includes a 12-bit ADC. Software programmable input ranges are 0V to 5V, 0V to 10V, ±5V or ±10V. Interface a variety of transducers and other analog signals via eight 12-bit analog inputs located on connector (P1). For applications requiring higher resolution, the board can be ordered preconfigured with a 16-bit A/D converter.
  • Page 27 Both counters are available on a single connector (P7). Input levels are LVTTL (0 – 3.6VDC). Connector: Manufacturer: Sullins Part Number: SBH11-PBPC-D05-ST-BK Description: Box Header, 0.100” Polarized 10 pos (2x5) Mates with: Sullins SFH213-PPPC-D05-ID-BK-M181 or equivalent Signal #INDEX 3.3VDC Signal #INDEX 3.3VDC ©Sealevel Systems, Inc. SBC-R9 Manual SL9210 01/2012...
  • Page 28 The SBC-R9 provides two SD/MMC Card slots, Slot A (bottom of board) and Slot B (top of board), located on the right side of the board. Each slot will accept standard-capacity SD/MMC Cards up to 2GB. SD/MMC Card slot A may be used for booting.
  • Page 29 The SBC-R9 provides a RS-485 Expansion Port. The port is available via a RJ-45 connector (J5), as well as via a Molex 4-pin vertical 2mm locking header (J10). This offers two convenient options for adding additional expansion modules from the SeaI/O product line.
  • Page 30 The SBC-R9 can be powered with the Sealevel TR134. Connector: Manufacturer: Molex Part Number: 09-65-2028 Description: 3.96mm Pitch Friction Lock Header Mates with: Molex 09-50-1021 Be sure that you connect the power lead to the proper pin. Reversing the polarity of the power input will damage your SBC-R9.

  • Page 31: Indicators

    The SBC-R9 features two LED indicators for power and status. The Green LED (Top) is illuminated when power is applied to the board. The Yellow LED (Bottom) is a GPIO controllable indicator accessible through the TALOS API. Designator: Description: Dual Stacked LED Indicators...
  • Page 32 Verify that the accompanying SD Card (located on the bottom card slot A (J15) of the SBC-R9) is correctly inserted. The contents of the SD Card will allow the SBC-R9 to run Windows CE 6.0 OS when power is applied to the board.
  • Page 33 Attach the other end of the TR134 into a 120VAC wall outlet. (See Figure 2.) Figure 2. Connect the TR134 Molex connector to the SBC-R9 (P3) connector Use a standard USB device cable and connect the Type B connector to the SBC-R9. (See Figure 3.) Connect Type A connector into the host PC.
  • Page 34 Mobile Device Center software manually then running their setup will achieve the same result. (See Appendix A.) After installation, a negotiation will begin between the PC and the SBC-R9 board and the device center connection screen will appear. (See Figure 4.) Figure 4.
  • Page 35 This action opens a standard Windows Explorer where the default file contents of the SBC-R9 can be read or written to. (See Figure 6.) Figure 6. Contents of SBC-R9 If your host PC is running Windows XP, ActiveSync is required to establish connection to the SBC-R9.
  • Page 36 Using your mouse, select “No” and then select “Next”. The ActiveSync main dialog will appear. Click the “Explore” icon. This action opens a standard Windows Explorer where the default file contents of the SBC-R9 can be read or written. (See Figure 8.) Figure 8. ActiveSync Main Dialog screen You are now ready to set up a complete development environment for building and debugging smart device applications and libraries.

  • Page 37: Memory

    Windows 6.0 CE has created an ideal environment to develop a new generation of embedded products around the SBC-R9. Our Talos Framework allows access to the more specific I/O sections of the SBC-R9 development board such as analog and digital I/O points, CAN bus, quadrature counter inputs, and the multi- electrical interface serial ports.
  • Page 38 Click "Windows CE" for the target platform, .NET Compact Framework version 3.5 and click the "Console Application" icon for the template. (See Figure 10.) Figure 10. Visual Studio Add Smart Device dialog ©Sealevel Systems, Inc. SBC-R9 Manual SL9210 01/2012...
  • Page 39 Figure 11. Visual Studio Main Window We can now add the references to the Talos Framework. Right click on the “References” and click the "Add Reference…" selection. (See Figure 12.) Figure 12. Adding References to Project ©Sealevel Systems, Inc. SBC-R9 Manual SL9210 01/2012...
  • Page 40 “C:\Program Files\Sealevel Systems\R9 Development\Assemblies”. If you don’t see a list of the R9 libraries as shown in Figure 12, then refer to the SBC-R9 QuickStart section for software installation details. While holding down the CTRL key, click on both "SLCorLib.dll" and "Talos.dll".
  • Page 41 Now that the Talos Framework has been referenced, you have access to all the I/O points exposed on the SBC-R9 device. For this simple HelloWorld application, we will just echo the string “Hello World” in the console window. This can be accomplished by adding the following code to the automatically created Program::Main() method.
  • Page 42 SBC-R9 Quick Start section. Once the SBC-R9 has been successfully attached to your PC, it is easy to begin debugging an application on the SBC-R9. This section will demonstrate how to attach the Microsoft Visual Studio debugger to the SBC-R9, show the use of breakpoints in the debugger, and show how to access useful information while debugging an application.
  • Page 43 Then click the "Connect to Device" button. (See Figure 16.) Figure 16. Device Target Selection If you would like to use the faster Ethernet connection for debugging instead of the USB connection, refer to Appendix C – Application Debugging over Ethernet. ©Sealevel Systems, Inc. SBC-R9 Manual SL9210 01/2012...
  • Page 44 Now select the “Connect to Device” icon to initiate synchronization between Visual Studio and the SBC- R9 device. (See Figure 17.) Figure 17. Connect to Device icon ©Sealevel Systems, Inc. SBC-R9 Manual SL9210 01/2012...
  • Page 45 A breakpoint may be set by selecting a line and pressing the "F9" hotkey. (See Figure 19.) Figure 19. Breakpoint selection To begin debugging the application, click the "Start Debugging" button. (See Figure 20.) Figure 20. Run Debugger icon ©Sealevel Systems, Inc. SBC-R9 Manual SL9210 01/2012...
  • Page 46 Figure 21. Target Deployment dialog Once the application is deployed to the SBC-R9, it will begin execution. As soon as the first breakpoint is reached, execution will cease and you will gain full control over the running application. You may use the debugging options to continue execution, execute a single line, or execute multiple lines.
  • Page 47 "Add Watch". Each addition appends a tab to the “Watch n” window where n is incremented for each variable added. (See Figure 23.) Each watch window provides a convenient tree type structure for viewing hierarchical class variables. Figure 23. Watch view ©Sealevel Systems, Inc. SBC-R9 Manual SL9210 01/2012...
  • Page 48 The first step is transferring your application to a suitable directory on the SDCARD or on-board NAND Flash. To accomplish this you will need to establish connectivity via Mobile Device Center or ActiveSync as outlined in the SBC-R9 Quick Start section above.
  • Page 49 NK.bin In the event that Sealevel produces updated OS file versions or a backup is desired, the OS files will need to be copied to the root directory of an SDCARD or programmed to the NAND Flash. There are a variety of ways to copy files to the SDCARD;...
  • Page 50 (baud) equal to 115200. Set Data bits to 8, Stop bits to 1, Parity to None, and Flow control to None. (See Figure 26.) Figure 26. PuTTY Serial configuration ©Sealevel Systems, Inc. SBC-R9 Manual SL9210 01/2012...
  • Page 51 Next select Serial for the connection type. Type a name for this session under “Saved Sessions”, then press the “Save” button. (See Figure 27.) Figure 27. PuTTY Session configuration ©Sealevel Systems, Inc. SBC-R9 Manual SL9210 01/2012...
  • Page 52 Press “Open” to start a new terminal session. A blank terminal window will appear. Debug messages may not appear until power is applied to the SBC-R9 board. Press the reset button on the SBC-R9 to display the Ethernet boot loader configuration screen. (See Figure 28.) When the unit boots, the following menu on the debug port terminal will appear (no user input is required for booting): “Press [ENTER] to download now or [SPACE] to cancel.
  • Page 53 Modifying any of these settings may render your SBC-R9 unbootable. When upgrading an existing OS runtime stored in the NAND Flash, it is necessary to first erase the NAND Flash of a pre-programmed unit. This is accomplished through the “Image flash menu” (‘n’ key) in Eboot.
  • Page 54 The OS runtime image consists of three binary (.bin) files as demonstrated below. (See Figure 32). Figure 32. SDCARD File Contents To save the existing OS runtime image, backup the files previously stored on the SDCARD. ©Sealevel Systems, Inc. SBC-R9 Manual SL9210 01/2012...
  • Page 55 Select the "Copy and Replace" option to over-write the existing OS runtime image. The new OS runtime image will be loaded the next time the device is booted with the SDCARD. (See Figure 33.) Figure 33. Copy and Replace ©Sealevel Systems, Inc. SBC-R9 Manual SL9210 01/2012...
  • Page 56 Another way to upgrade the OS runtime image is to connect via Windows Mobile Device Center or Active Sync; for instructions on installing Windows Mobile Device Center or ActiveSync refer to the ‘SBC-R9 Quick Start’ section above. Using the device file explorer, navigate to the “Storage Card” folder to view the SDCARD contents. (See Figures 34/35.)
  • Page 57 (See Figure 36.) Figure 36. Copy and Replace Select the "Copy and Replace" option to over-write the existing OS runtime image. Reboot the SBC-R9 once the file has been copied. The new OS runtime image will be loaded on bootup.
  • Page 58 Use an FTP program to connect to the SBC-R9 and upload the new OS runtime image to the SDCARD. FileZilla (See Appendix A), an open-source FTP client, is used in the example below. By default, FTP is open to anonymous access with no password needed. (See Figure 37.) Figure 37.
  • Page 59 Select the "Storage Card" folder for the remote site. (See Figure 38.) Figure 38. Select Storage Card ©Sealevel Systems, Inc. SBC-R9 Manual SL9210 01/2012...
  • Page 60 (*.bin). Right-click and select “Upload” to begin the file transfer. (See Figure 39.) Figure 39. Upload the file You may be asked how to proceed when replacing existing files. Select the “Overwrite” radio button and click “OK”. (See Figure 40.) Figure 40. Over-write files ©Sealevel Systems, Inc. SBC-R9 Manual SL9210 01/2012...
  • Page 61 Once the files have been uploaded, (See Figure 41.) reboot the device. The new OS runtime image will be loaded on bootup. Figure 41. Uploading boot files ©Sealevel Systems, Inc. SBC-R9 Manual SL9210 01/2012...
  • Page 62 Once the NAND Flash has been erased, use a standard USB device cable and connect the Type B connector to the SBC-R9. Connect Type A connector into the host PC. (See Figure 42.) Figure 42. TR134 power supply and Type B USB connector In Microsoft Windows 7, the device is recognized as a GPS camera and will typically enumerate as a COM port.
  • Page 63 For Windows 7, it may be listed as a GPS camera, otherwise it should be “AT91 USB to Serial Converter.” Take note of the COM port assignment, to modify the programming batch file used to program the new OS Runtime image. (See Figure 45.) Figure 45. AT91 COM Port ©Sealevel Systems, Inc. SBC-R9 Manual SL9210 01/2012...
  • Page 64 34). The application should be executed on the device after reprogramming the NAND Flash to reassign the MAC address. Once the application has been executed, the setting is applied upon device restart and persists. ©Sealevel Systems, Inc. SBC-R9 Manual SL9210 01/2012...
  • Page 65 The Windows CE that runs on the SBC-R9 is initially configured obtain its IP address via DHCP. Settings may be required for DNS or WINS server IP addresses or if you want to set up a static IP address. We have included an application in the OS that enables device configuration through a simple XML file format.
  • Page 66 System element. This element contains a dot-notation version string. This element must be a child of the System element. This version is associated with the OS Runtime Image. ©Sealevel Systems, Inc. SBC-R9 Manual SL9210 01/2012...
  • Page 67 This element must be a child of the Ethernet element. The first 3 octets identify the device as a Sealevel product (00-0A-0B). The fourth octet can be used to determine the product family (16). And the last two octets will be unique for each device (11-1A).
  • Page 68 For security purposes this value cannot be read once it has been set. The Sealevel element contains a list of Sealevel internal configuration parameters used for Sealevel supplied software plug-ins. This element must be a child of the Configuration element. The plug-in application should contain documentation for the configuration parameters used by that plug-in.

  • Page 69: Specifications

    10 to 90% R.H. Non-Condensing 10 to 90% R.H. Non-Condensing All Sealevel Systems printed circuit boards are built to UL 94V0 rating and are 100% electrically tested. These printed circuit boards are solder mask over bare copper or solder mask over tin nickel.
  • Page 70 Microsoft Windows Embedded CE 6.0 Online Documentation http://msdn.microsoft.com/en-us/library/aa924073.aspx Microsoft Windows CE 6.0 Documentation Search Tool http://search.live.com/macros/windows_embedded/ce6/?FORM=OIJG Microsoft ActiveSync Download http://www.microsoft.com/windowsmobile/en-us/help/synchronize/ActiveSync-download.mspx Microsoft Mobile Device Center 6.1 http://www.microsoft.com/windowsmobile/en-us/downloads/microsoft/device-center-download.mspx Microsoft .NET Compact Framework http://msdn.microsoft.com/en-us/netframework/aa497273.aspx PuTTy Telnet/SSH Client Application http://en.wikipedia.org/wiki/PuTTY ©Sealevel Systems, Inc. SBC-R9 Manual SL9210 01/2012...

  • Page 71: Analog Inputs

    Appendix B – SBC-R9 Connector Reference The following table details the connectors, jumpers, and test points located on the SBC-R9. The connectors, jumpers, and test points are labeled by reference designator on the board silkscreen. Reference Signal Description Designator (8) 12-bit analog inputs...

  • Page 72: Sealevel Systems, Inc. Sbc-R9 Manual

    Device toolbar. See below. On the “Device Options” dialog, select the “Windows CE” platform and click the “Properties…” button. See below. On the “Windows CE Device” properties dialog click the “Configure…” button. See below. ©Sealevel Systems, Inc. SBC-R9 Manual SL9210 01/2012...
  • Page 73 Click the “OK” button on all of the dialog windows and you should now be able to connect to the device through Ethernet for debugging. The application debugging guide can be continued as normal. ©Sealevel Systems, Inc. SBC-R9 Manual SL9210 01/2012...
  • Page 74 Appendix D – CAD Drawing ©Sealevel Systems, Inc. SBC-R9 Manual SL9210 01/2012...
  • Page 75 ©Sealevel Systems, Inc. SBC-R9 Manual SL9210 01/2012...
  • Page 76 ©Sealevel Systems, Inc. SBC-R9 Manual SL9210 01/2012...

  • Page 77: Software

    The Sealevel website is an excellent resource located at www.sealevel.com. The most current software updates and user manuals are available via our homepage by clicking on the 'Drivers' or 'Manuals' links located under ‘Technical Support.’...

  • Page 78: Specifications

    In the event of failure, Sealevel will repair or replace the product at Sealevel's sole discretion. Failures resulting from misapplication or misuse of the Product, failure to adhere to any specifications or instructions, or failure resulting from neglect, abuse, accidents, or acts of nature are not covered under this warranty.