Diamond Systems Eaglet ARM User manual

Brand: Diamond Systems

Model: Eaglet ARM

Type: User manual

This manual is also suitable for

Eagle and Eaglet Baseboard for

Toradex Apalis ARM Modules

Revision

Date

Comment

1.0

07/07/2016

Initial Release

1.1

08/08/2016

Updated as per the feedback

1.2

11/12/2016

Updated for Eagle Rev A changes

1.3

01/08/2016

Updated SW related information

1.4

24/03/2017

Updated for production release

1.5

22/06/2017

Updated steps to flash image from SD

card

FOR TECHNICAL SUPPORT Diamond Systems Corporation

PLEASE CONTACT: www.diamondsystems.com

support@diamondsystems.com

www.diamondsystems.com Eagle User Manual Rev 1.4 Page 2

CONTENTS

1 Important Safe Handling Information ......................................................................................................4

2 Introduction ...........................................................................................................................................6

2.1 Available Models ...........................................................................................................................................6

2.2 Features .........................................................................................................................................................6

2.2.1 Eagle Features .......................................................................................................................................6

2.2.2 Eaglet Features .....................................................................................................................................7

2.3 Operating System Support ............................................................................................................................8

2.4 Mechanical, Electrical, Environmental ..........................................................................................................8

2.5 Customization Options ..................................................................................................................................8

2.5.1 Eagle Customization .............................................................................................................................8

2.5.2 Eaglet Customization ............................................................................................................................8

2.6 Feature support Limitations of Eagle and Eaglet Board with Toradex Apalis Modules: ...............................9

3 Functional Block Diagram ...................................................................................................................... 11

3.1 Eaglet .......................................................................................................................................................... 11

3.2 Eagle ........................................................................................................................................................... 12

3.3 Feature Descriptions .................................................................................................................................. 13

3.3.1 Processor Features ............................................................................................................................ 13

3.3.2 Ethernet ............................................................................................................................................. 13

3.3.3 USB ..................................................................................................................................................... 13

3.3.4 PCIe .................................................................................................................................................... 15

3.3.5 mSATA ................................................................................................................................................ 16

3.3.6 Micro SD (MMC) ................................................................................................................................ 16

3.3.7 Display ................................................................................................................................................ 16

3.3.8 Audio .................................................................................................................................................. 16

3.3.9 Serial Ports ......................................................................................................................................... 16

3.3.10 GPIO ................................................................................................................................................... 17

3.3.11 Analog Input ...................................................................................................................................... 17

3.3.12 CAN .................................................................................................................................................... 17

3.3.13 Serial Camera ..................................................................................................................................... 17

3.3.14 Type Specific Mezzanine .................................................................................................................... 17

3.3.15 LED Indicators .................................................................................................................................... 17

3.3.16 Real-Time Clock (RTC) ........................................................................................................................ 18

3.3.17 Power Supply ..................................................................................................................................... 18

4 Mechanical BOARD DRAWING .............................................................................................................. 19

4.1 Eaglet Baseboard ........................................................................................................................................ 19

4.2 Eagle Baseboard ......................................................................................................................................... 20

5 Board Layout (Connector and Jumper Locations) ................................................................................... 21

5.1 Eagle Baseboard ......................................................................................................................................... 21

5.2 Eaglet Baseboard ........................................................................................................................................ 24

5.2.1 I/O Connectors, Jumpers and LED Summary for Eaglet .................................................................... 25

6 IO Connectors ....................................................................................................................................... 26

6.1 Connector Pin-out and Signal Description ................................................................................................. 26

6.1.1 Eaglet and Eagle Baseboard ............................................................................................................... 26

6.1.2 Eagle Baseboard ................................................................................................................................ 35

6.2 List of Connectors ....................................................................................................................................... 39

6.2.1 Eaglet Baseboard ............................................................................................................................... 39

6.2.2 Eagle Baseboard ................................................................................................................................ 40

7 I/O Cables............................................................................................................................................. 41

7.1 Eagle Baseboard ......................................................................................................................................... 41

7.2 Eaglet Baseboard ........................................................................................................................................ 42

www.diamondsystems.com Eagle User Manual Rev 1.4 Page 3

8 Jumper Description ............................................................................................................................... 43

8.1 LVDS VCC, Backlight & RTC (JP1) ................................................................................................................ 44

8.2 USB OTG & RS422/RS485 Terminations (JP2) ............................................................................................ 45

9 Getting Started ..................................................................................................................................... 46

9.1 Development Kit ......................................................................................................................................... 46

9.2 Quick Setup ................................................................................................................................................ 46

9.3 Booting ....................................................................................................................................................... 47

9.3.1 Updating Software Image from SD card [for systems with U boot available] ................................... 47

10 Start-up scripts ..................................................................................................................................... 51

11 Display Features ................................................................................................................................... 51

11.1 VGA ............................................................................................................................................................. 51

11.2 HDMI ........................................................................................................................................................... 51

11.3 LVDS ............................................................................................................................................................ 52

11.3.1 LCD Backlight ..................................................................................................................................... 52

11.4 Dual Display ................................................................................................................................................ 53

11.5 USB Interface .............................................................................................................................................. 54

12 Serial Ports and System Console ............................................................................................................ 55

12.1 Configuration .............................................................................................................................................. 55

12.2 System Console .......................................................................................................................................... 56

12.3 Serial port numbers .................................................................................................................................... 57

12.4 UART configuration GPIO details for RS232/422/485 modes .................................................................... 58

12.4.1 Apalis UART ports .............................................................................................................................. 58

12.4.2 Exar UART Ports ................................................................................................................................. 58

13 Utility connector features ..................................................................................................................... 59

13.1 I2C and PWM .............................................................................................................................................. 59

14 DAQ Architecture overview ................................................................................................................... 60

14.1 Analog input ............................................................................................................................................... 60

14.2 PWM ........................................................................................................................................................... 60

14.3 GPIO ............................................................................................................................................................ 60

14.3.1 GPIOs form Apalis Module ................................................................................................................. 60

14.3.2 GPIOs using I2C GPIO expander ......................................................................................................... 60

15 Type-specific I/O Expansion .................................................................................................................. 65

16 Programming I2C .................................................................................................................................. 65

17 Factory reset and Recovering MAC address ........................................................................................... 65

18 Panel IO ................................................................................................................................................ 66

19 CAN Add-on Module ............................................................................................................................. 67

19.1 GPIO LIBRARY API ....................................................................................................................................... 69

20 Appendix .............................................................................................................................................. 71

20.1 Appendix – 1 Compiling Custom Applications ............................................................................................ 71

20.2 Appendix – 2 Inserting COM Module ......................................................................................................... 71

20.2.1 Assembly procedure .......................................................................................................................... 72

www.diamondsystems.com Eagle User Manual Rev 1.4 Page 4

1 Important Safe Handling Information

WARNING!

ESD-Sensitive Electronic Equipment

Observe ESD-safe handling procedures when working with this product.

Always use this product in a properly grounded work area and wear

appropriate ESD-preventive clothing and/or accessories.

Always store this product in ESD-protective packaging when not in use.

Safe Handling Precautions

The Eagle baseboard contains a high number of I/O connectors with connection to sensitive electronic

components. This creates many opportunities for accidental damage during handling, installation and

connection to other equipment. The list here describes common causes of failure found on boards returned to

Diamond Systems for repair. This information is provided as a source of advice to help you prevent damaging

your Diamond (or any vendor’s) embedded computer boards.

ESD damage – This type of damage is usually almost impossible to detect, because there is no visual sign of

failure or damage. The symptom is that the board eventually simply stops working, because some component

becomes defective. Usually the failure can be identified and the chip can be replaced.

To prevent ESD damage, always follow proper ESD-prevention practices when handling computer boards.

Damage during handling or storage – On some boards we have noticed physical damage from mishandling. A

common observation is that a screwdriver slipped while installing the board, causing a gouge in the PCB surface

and cutting signal traces or damaging components.

Another common observation is damaged board corners, indicating the board was dropped. This may or may

not cause damage to the circuitry, depending on what is near the corner. Most of our boards are designed with

at least 25 mils clearance between the board edge and any component pad, and ground / power planes are at

least 20 mils from the edge to avoid possible shorting from this type of damage. However, these design rules are

not sufficient to prevent damage in all situations.

A third cause of failure is when a metal screwdriver tip slips, or a screw drops onto the board while it is powered

on, causing a short between a power pin and a signal pin on a component. This can cause overvoltage / power

supply problems described below. To avoid this type of failure, only perform assembly operations when the

system is powered off.

Sometimes boards are stored in racks with slots that grip the edge of the board. This is a common practice for

board manufacturers. However, our boards are generally very dense, and if the board has components very

close to the board edge, they can be damaged or even knocked off the board when the board tilts back in the

rack. Diamond recommends that all our boards be stored only in individual ESD-safe packaging. If multiple

boards are stored together, they should be contained in bins with dividers between boards. Do not pile boards

on top of each other or cram too many boards into a small location. This can cause damage to connector pins or

fragile components.

Power supply wired backwards – Our power supplies and boards are not designed to withstand a reverse power

supply connection. This will destroy each IC that is connected to the power supply (i.e. almost all ICs). In this

case the board will most likely will be unrepairable and must be replaced. A chip destroyed by reverse power or

by excessive power will often have a visible hole on the top or show some deformation on the top surface due

to vaporization inside the package. Check twice before applying power!

Bent connector pins – This type of problem is often only a cosmetic issue and is easily fixed by bending the pins

back to their proper shape one at a time with needle-nose pliers. The most common cause of bent connector

pins is when a PC/104 board is pulled off the stack by rocking it back and forth left to right, from one end of the

connector to the other. As the board is rocked back and forth it pulls out suddenly, and the pins at the end get

bent significantly. The same situation can occur when pulling a ribbon cable off of a pin header. If the pins are

www.diamondsystems.com Eagle User Manual Rev 1.4 Page 5

bent too severely, bending them back can cause them to weaken unacceptably or even break, and the

connector must be replaced.

www.diamondsystems.com Eagle User Manual Rev 1.4 Page 6

2 Introduction

Eagle is a 3.5-inch form factor baseboard compatible with the Toradex Apalis family of ARM COMs, including

Freescale i.MX6, Nvidia Tegra 3 (T30), and Nvidia Tegra K1 (TK1) processors.

Eaglet is a low cost version of Eagle, with 4”x4” form factor. Eaglet features basic interfaces supported by the

Apalis module.

2.1 Available Models

Model

Eaglet

Eagle

PCB size

4”x4”

5.75”x4" (3.5” Form factor SBC)

Serial ports

2x Multiprotocol

(1)

2x RS232 Only

8x Multiprotocol

(1)

USB2.0

(2)

USB3.0

(2)

Input voltage

9-36V

Gigabit Ethernet Port

GPIO

Opto GPIO

4 in + 4 out

Type specific connector

CSI

Micro module expansion (CAN, I2C, SPI)

Yes

(1) RS232/RS422/RS485.

(2) USB3.0 is supported for TK1 module only. With other ARM modules, USB2.0 interface are available on

the same USB3.0 header. Refer Section 11.5 for USB ports availability based on the ARM variant.

2.2 Features

2.2.1 Eagle Features

5-6x USB 2.0, 2x USB 3.0 port (TK1 model only); 1 port supports OTG

2x Ethernet (10/100/1000 Mbps)

1x SD/MMC 4-Bit

1x mSATA socket

Mini PCIe socket

Analog VGA interface

Dual channel LVDS interface (up to 24-bit color)

HDMI port

Analogue audio I/O

8x RS-232/422/485 serial ports

4x PWM (3 customer-accessible + 1 LCD Backlight control)

4x 12-bit Analog inputs

2x CAN 2.0B ports (up to 1Mbit/s) using optional daughterboard

Real-time clock with battery backup

16x GPIO (3.3V)

4x Opto-isolated Digital Inputs and 4x Opto-isolated Digital Outputs

Resistive touch screen connector 4/5-wire

3x I2C

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2x SPI

1x S/PDIF In/Out

CSI Camera Interface

Type Specific Board Connector

2.2.2 Eaglet Features

2x USB 2.0, 2x USB 3.0 port (one OTG supported port)

1x RJ45 Ethernet (10/100/1000 Mbit)

1x SD/MMC 4 Bit

1x mSATA socket

Mini PCIe socket

Analog VGA interface

Dual channel LVDS interface (up to 24-bit color)

HDMI port

Analog audio I/O

1x S/PDIF In/Out

4x RS-232/422/485 Serial Interfaces

4x PWM (3 customer-accessible + 1 LCD Backlight control)

4x Analog inputs

2x CAN 2.0B Interface (up to 1Mbit/s) using optional daughterboard

Real-time clock with battery backup

8xDigital GPIOs (3.3V)

Resistive touch screen connector 4/5-wire

3x I2C

2x SPI

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2.3 Operating System Support

Linux

2.4 Mechanical, Electrical, Environmental

Form factor: Eagle: 3.5” form factor, 146 x 102mm / 5.7” x 4.0”

Eaglet: 4.0” x 4.0” / 102 x 102mm

Cooling : Apalis heat sink is installed for wide temperature operation

Power input: Eagle: +9VDC to +36VDC

Eaglet: +5VDC +/-5%

Operating Temp: -40°C to +85°C ambient (depending on the model of COM installed)

2.5 Customization Options

The following customization options are available for the Eagle Baseboard. Minimum order quantities may apply

for customization. Contact Diamond Systems sales or support for further information

2.5.1 Eagle Customization

Opto isolation for Serial port 5 to Serial port 8.

1.8V high speed SD mode

Replace configuration jumpers with 0 ohm resistors

Lower Cost RS232 only serial protocol

Low cost non opto I2C expander GPIOs

2.5.2 Eaglet Customization

4 USB2.0 ports

Multi-functional serial ports

SIM Card holder for 3G/4G module

Support for +9V to +36V wide input

2.6 Feature support Limitations of Eagle and Eaglet Board with Toradex Apalis Modules:

Diamond Systems Eagle Carrier Board support with Toradex Apalis COM Modules

S.NO

Feature

I.MX6 COM (NXP)

TK1 COM (Nvidia Tegra)

T30 COM (Nvidia Tegra)

Display

VGA

YES

Tested up to 1024x768M

resolution. The resolution

depends on the VGA DAC

used in the COM module.

Resolution support varies

with different COM module

configuration from Toradex.

Feature not supported by Nvidia

SOC

Not Supported by Toradex

HDMI

YES

Supports up to Full HD

1920x1080M resolution

YES

Supports up to Full HD

1920x1080M resolution

YES

Supports up to Full HD

1920x1080M resolution

LVDS

YES

Supports up to Full HD

1920x1080M resolution

YES

Supports only fixed resolutions

such as 800x600,

1024x600, 1366x768

YES

Supports up to Full HD

1920x1080M resolution

Audio

Audio Out

YES

Can Play back audio to Head

phones with 3.5mm Jack

YES

Can Play back audio to Head

phones with 3.5mm Jack

YES

Can Play back audio to Head phones

with 3.5mm Jack

Line In

YES

Can record audio from

Phones/Tablet using 3.5mm

Aux cable

YES

Can record audio from

Phones/Tablet using 3.5mm Aux

cable

YES

Can record audio from

Phones/Tablet using 3.5mm Aux

cable

Mic In

YES

Can be used with PC Head

phone having dedicated Mic

input 3.5mm jack and

tested OK.

YES

Can be used with PC Head phone

having dedicated Mic input

3.5mm jack and tested OK.

YES

Can be used with PC Head phone

having dedicated Mic input 3.5mm

jack and tested OK.

USB

USB3.0 Ports

I.MX6 SOC does not support

USB3.0 ports

YES

Supports 2 Nos. of ports and

tested OK.

Tegra T30 SOC does not support

USB3.0 ports

USB2.0 Ports

YES

Totally 6 USB2.0 ports

available in Eagle board and

supports mass storage & IO

devices

YES

Totally 4 USB2.0 ports available

and supports mass storage & IO

devices

YES

Totally 5 USB2.0 ports available in

Eagle board and supports mass

storage & IO devices

Serial Ports

From Apalis Module

UART Ports 1 to 4

YES

All ports supports RS232,

RS422, RS485 protocol

modes operation

YES*

*Refer

Remarks

Except UART Pot1, all ports

support RS232, RS422, RS485

protocol modes operation

YES

All ports support RS232, RS422,

RS485 protocol modes operation

www.diamondsystems.com Eagle User Manual Rev 1.4 Page 10

UART Port1 supports only RS232

mode.

From Exar chip-

XR17V354 (PCIe to

UART converter On

Eagle Board)

EXAR Ports 5 to 8

YES

All ports support RS232,

RS422, RS485 protocol

modes operation.

NO*

*Refer

Remarks

Current release does not support

these ports.

NO*

*Refer

Remarks

Current release does not support

these ports.

10/100/1G Ethernet

YES

Supports 2 Ports

YES

Supports 2 Ports

YES

Supports 2 Ports

MAC Address

Programming

YES

Through Linux commands

YES

Through Linux commands

YES*

Only Ethernet Port1 supports. Port2

MAC address programming is not

supported in this release

GPIO

From Apalis COM

module – 8 Nos.

YES

Supported

YES

Supported

YES*

*Refer

Remarks

7 GPIOs supported.

GPIO7 is exception. It is used for PCIE

Reset Signaling purpose.

From I2C to GPIO

Expander – 8 Nos.

YES

Supported

YES

Supported

YES

Supported

Optical Isolated – 4

Input & 4 Output

YES

Supported

YES

Supported

YES

Supported

Mini PCIe –

Daughter Card

Interface

YES

Supported

YES

Supported

YES

Supported

Mini SATA –

Daughter Card

Interface

YES

Supported

YES

Supported

YES

Supported

MMC/ Micro SD

Interface

YES

Supported

YES

Supported

YES

Supported

PWM Output

YES

Supported

YES

Supported

YES

Supported

Analog Input

YES

Supported

YES*

*Refer

Remarks

Supported

*ADC output value must be

multiplied by scale of (0.05) and

divided by 1000 to get the actual

output.

YES

Supported

CAN Interface

YES

Supported

NO*

*Refer

Remarks

Currently Toradex software does

not support CAN interface. Once

support provided by them, it has

to be incorporated in Eagle board

firmware and to be tested.

YES

Supported

3 Functional Block Diagram

3.1 Eaglet

Figure 1 Functional Block Diagram of Eaglet

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3.2 Eagle

Figure 2 Functional Block Diagram of Eagle

www.diamondsystems.com Eagle User Manual Rev 1.4 Page 13

3.3 Feature Descriptions

This section describes the key subsystems of both Eagle and Eaglet baseboard

3.3.1 Processor Features

Eagle baseboard supports 3 types of Toradex Apalis family of ARM COMs, including Freescale i.MX6, Nvidia

Tegra T30, and Nvidia TK1 processors. Following Table provides the brief features of the ARM processor

modules.

Feature

T30

i.MX6

TK1

COM

NVidia Tegra 3, quad ARM A9,

up to 1.4GHz

Freescale i.MX6, dual/quad ARM

A9, up to 1.0GHz

NVIDIA Tegra K1 quad-core

Cortex-A15, up to 2.2GHz

Memory

1GB/2GB DDR3L built into

module

512MB/1GB/2GB DDR3 built

into module

2GB DDR3L built into module

Flash

4GB/8GB eMMC built into

module

4GB eMMC built into module

16GB eMMC built into module

For detailed information about Apalis ARM product family visit Toradex website

3.3.2 Ethernet

The Eagle provides two Ethernet ports. One is a 10/100/1000 Ethernet port directly from the Apalis module.

Ethernet connection is via a pin header, with necessary magnetics on the board. Ethernet is connected to RJ45

connector with Magnetics on a Panel IO board. On board LEDs are provided for Link and Activity indication near

the Ethernet header (J13).

The second is a 10/100/1000Mbps Ethernet port realized using an Intel I210IT PCIe Gigabit Ethernet Controller

(MAC + PHY). Ethernet connection is via a pin header (J23) with necessary magnetics on the board.

The connector (J23) provides access to LED signals

Primary Ethernet port is available on both Eagle and Eaglet baseboard. Secondary Ethernet is available only in

Eagle full feature baseboard.

3.3.3 USB

The Eagle provides 2x USB3.0 ports coming directly from Apalis module and available on the standard UBSB3.0

20 pin header (J17).

Eagle has 4x USB 2.0 Host interface via a header. One of these (USBH3) directly comes from Apalis module and

available on the 2x5 header (J12).

USBH2 port from Apalis module is connected to a 4 port USB hub from SMSC (USB2514). Three of these are

available on 2x5 Headers (J12 and J16), and fourth port is connected to the mini PCIe socket.

USB 2.0 ports on Header J12 are available at stacked USB2.0 header on Panel IO Board.

Refer Figure 3 for USB interface block diagram for Eagle baseboard.

USBO1 on USB3.0 header (J17) supports OTG. By using jumper JP2 Pins 1-2-3, it is possible to configure USBO1

port either as Peripheral or as a Host interface.

Caution: While using USBO1 in peripheral mode special attention should be given to ensure if the jumper JP2 is

set for peripheral mode (Pins 1-2). USB Type A to Type A cable should not be used as it may cause damage to the

circuitry of Eagle or the external device connected.

www.diamondsystems.com Eagle User Manual Rev 1.4 Page 14

Figure 3 USB Signal connection for Eagle baseboard

Figure 4 USB Signal connection for Eaglet baseboard

www.diamondsystems.com Eagle User Manual Rev 1.4 Page 15

3.3.4 PCIe

Eagle baseboard features 4 port PCI Express Gen2 Switch from PLX. It is used to connect the standard PCIe

interface on the Eagle baseboard to PCIe to UART, PCIe to Ethernet and mini PCIe slot (J29).

Eagle baseboard supports both half sized and full sized mini PCIe cards.

For low cost Eaglet baseboard, PCIe switch is not available and the PCIe lane from Apalis module is directly

available on mini PCIe slot.

Refer Figure 5 for PCIe interface realization in Eagle/Eaglet baseboard base board.

Figure 5 PCIe Interface

www.diamondsystems.com Eagle User Manual Rev 1.4 Page 16

3.3.5 mSATA

Eagle and Eaglet baseboard supports the standard mSATA slot (J28). SATA signals are directly derived from

Apalis module and connected to mSATA connector that allows a miniature SATA disk module to be installed to it

and attached with a mounting spacer and screw.

3.3.6 Micro SD (MMC)

Eagle and Eaglet baseboard features 4 bit SD interface. Push-pull micro SD card slot (J18) is available on the edge

of the baseboard for easy user access.

3.3.7 Display

Eagle and Eaglet baseboard provides 3 display outputs: one VGA, one HDMI and one LVDS. All the display

interfaces come directly from the Apalis module.

VGA interface is available on the 2x5 header (J10)

HDMI is available on the 2x10 header (J9).

Both the VGA and HDMI are available on standard connectors by using a Panel IO Board.

LVDS interface is available on 2x15 shrouded header (J1), LVDS backlight power and control signals are available

on 1x6 header (J2)

Display resolution details:

VGA

: 1280x1024

HDMI: UltraHD (2160p)

LVDS: 1x 1280x1024x24bpp Single or 1x 2048x1536x24bpp Dual

* VGA interface is supported only by iMX6 module.

* Display outputs are Apalis module dependent. Refer Apalis module specifications for more information.

Diamond Systems Eaglet ARM User manual

Brand: Diamond Systems

Model: Eaglet ARM

Type: User manual

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