PcDuino9

Introduction

PcDuino9 is a high-performance platform with powerful multi-threaded computing power, graphics processing and hardware decoding capabilities, and it supports Android and Ubuntu dual system, so it is also a powerful small computer, we hope that your creativity and inspiration will make it become more extraordinary.

Specifications

• CPU : Rockchip RK3288 ARM Corte-A17 Quad-Core up to 1.8GHz

• GPU : ARM Mali-T760 MP4 Support OpenGL ES 1.1/2.0 /3.0, OpenVG1.1, OpenCL1.1, Directx11

• Memory : 1GB-4GB Dual-channel 32-bit LPDDR3

• Storage : 8GB-16GB eMMC (Opt.), Micro SD slot support SDXC

• Ethernet : 10/100/1000Mbps Ethernet (RTL8211)

• USB : USB 2.0 Host x 2 (Opt.), USB OTG x 1

• Video : HDMI2.0 support maximum 4K@60Hz display (Micro HDMI), LVDS/MIPI-DSI display interface

• Audio : 3.5mm audio In/Out

• Camera : MIPI-CSI camera interface

• WiFi/BT : AP6212 WiFi + BT module

• GPIO Extension : Raspberry Pi compatible GPIO, support UART, SPI, I2C BMC extension GPIO (Opt.), support ADC, PWM, UART, I2C

• Board Size : 96 x 76 mm

Hardware specifications

• CPU : Rockchip RK3288 ARM Corte-A17 Quad-Core up to 1.8GHz

• GPU : ARM Mali-T760 MP4 Support OpenGL ES 1.1/2.0 /3.0, OpenVG1.1, OpenCL1.1, Directx11

• Memory : 1GB-4GB Dual-channel 32-bit LPDDR3

• Storage : 8GB-16GB eMMC (Opt.), Micro SD slot support SDXC

• Ethernet : 10/100/1000Mbps Ethernet (RTL8211)

• USB : USB 2.0 Host x 2 (Opt.), USB OTG x 1

• Video : HDMI2.0 support maximum 4K@60Hz display (Micro HDMI), LVDS/MIPI-DSI display interface

• Audio : 3.5mm audio In/Out

• Camera : MIPI-CSI camera interface

• WiFi/BT : AP6212 WiFi + BT module

• IR: support infrared remote control function

• GPIO Extension : Raspberry Pi compatible GPIO, support UART, SPI, I2C BMC extension GPIO (Opt.), support ADC, PWM, UART, I2C

• Board Size : 96 x 76 mm

• Power supply: DC -5V / 2.5A

GPIOs mapping

pcDuino9

BMC STM32F411

Quick Start

1.Write the system to eMMC by SD card

Download the image which named pcDuino9-SD-to-eMMC-xxx.img,use dd or Win32Disk,copy the image to SD card ,put the SD card on pcDuino9,and then pcDuino9 system on switch SD,that means switch the button “on” ,use ttl uart to watch system log,when kernel start,put the system on switch to “off”,then wait for all things done. System user name : linaro ,password:linaro

2.Write the system to eMMC on Linux

RK provides a command line tool of upgrade_tool under Linux, supporting for unified firmware update.img and partition image programming.

There are two options for the open source tool:

• rkflashtool https://github.com/Galland/rkflashtool_rk3066

• rkflashkit https://github.com/linuxerwang/rkflashkit

They only support the partition image programming, does not support a unified firmware. Rkflashtool is a command line tool, rkflashkit has a graphical interface and a command line support, which make it easier to use. The following only do an introduction of rkflashkit. There is no need to install the device driver for Linux, you can refer to the Windows chapter to connect the device.

upgrade_tool

Download Linux_Upgrade_Tool, and install to the system as the following method to be easy to call:

tar xf Linux_UpgradeTool_v1.2.tar.gz
cd Linux_UpgradeTool_v1.2
sudo mv upgrade_tool /usr/local/bin
sudo chown root:root /usr/local/bin/upgrade_tool

Write unite firmware uxxxx.img:

sudo upgrade_tool uf update.img

Program partition image:

sudo upgrade_tool di -b /path/to/boot.img
sudo upgrade_tool di -k /path/to/kernel.img
sudo upgrade_tool di -s /path/to/system.img
sudo upgrade_tool di -r /path/to/recovery.img
sudo upgrade_tool di -m /path/to/misc.img
sudo upgrade_tool di resource /path/to/resource.img
sudo upgrade_tool di -p paramater   #Write parameter
sudo upgrade_tool ul bootloader.bin #Write bootloader

If flash problems lead to an error during the upgrade, you can try low-level format or erase nand flash:

sudo upgrade_tool lf   # low-level format
sudo upgrade_tool ef   # erase nand flash

rkflashkit

Installation:

sudo apt-get install build-essential fakeroot 
git clone https://github.com/linuxerwang/rkflashkit
cd rkflashkit
./waf debian
sudo apt-get install python-gtk2
sudo dpkg -i rkflashkit_0.1.2_all.deb

Graphic interface：

sudo rkflashkit

Command Line:

$ rkflashkit --help
Usage: <cmd> [args] [<cmd> [args]...]
part                              List partition
flash @<PARTITION> <IMAGE FILE>   Flash partition with image file
cmp @<PARTITION> <IMAGE FILE>     Compare partition with image file
backup @<PARTITION> <IMAGE FILE>  Backup partition to image file
erase  @<PARTITION>               Erase partition
reboot                            Reboot device
For example, flash device with boot.img and kernel.img, then reboot:
sudo rkflashkit flash @boot boot.img @kernel.img kernel.img reboot

3.SD card boot system

• Download the xxxx.img system image

• Prepare a memory card (C10 of more than 4GB)

• Use the dd command to copy the system to SD

• Insert the card into the pcDuino9, press the MASKROM button starting from the TF card to boot.

4.pcDuino9 hardware operation

Hardware operation is based on NightWiring, which is a hardware interface controlled by a cross-platform C ++ library, including UART, I2C, SPI and GPIO.Most of the code can be downloaded from wiringpi. GPIO is based on the function of the sysfs, it will be slightly slower, but very flexible.

• git clone https://github.com/nightseas/nightWiring.git

cd nightWiring/
make -j4
sudo make install

GPIO LED control

#include "nightWiring.h"
#include "nightWiringGPIO.h"
#include "stdio.h"

static int fennecGpioMap[] = {

    /*  GPIO2_A0  */
            56,
    /*  GPIO2_A1,       GPIO2_A2,       GPIO2_A3,       GPIO2_A4    */
            57,             58,             59,             60,
    /*  GPIO2_A5,       GPIO2_A6,       GPIO7_B1,       GPIO2_A7    */
            61,             62,             225,            63,
    /*  GPIO2_B0,        GPIO2_B1,      GPIO2_B2,       GPIO2_B4    */
            64,             65,             66,             68,
    /*  GPIO2_B5,        GPIO7_B0,      GPIO7_A7,       GPIO7_B2    */
            69,             224,            223,            226
}; 

int ledMap[] = {2, 10, 3, 11};

int main(void)
{
    int i, j;
    nightWiringSetup();
    nightWiringGpioSetup(fennecGpioMap, 17);
    for(i=0; i<4; i++)
        pinMode(ledMap[i], OUTPUT);
    while(1)
    {
        for(i=0; i<4; i++)
        {
            for(j=0; j<4; j++)
                digitalWrite(ledMap[j], HIGH);
            digitalWrite(ledMap[i], LOW);
            delay(500);
        }
    }
    return 0;
}

GPIO key input

#include "nightWiring.h"
#include "nightWiringGPIO.h"
#include "stdio.h"

static int fennecGpioMap[] = {
    /*  GPIO2_A0  */
            56,
    /*  GPIO2_A1,       GPIO2_A2,       GPIO2_A3,       GPIO2_A4    */
            57,             58,             59,             60,
    /*  GPIO2_A5,       GPIO2_A6,       GPIO7_B1,       GPIO2_A7    */
            61,             62,             225,            63,
    /*  GPIO2_B0,        GPIO2_B1,      GPIO2_B2,       GPIO2_B4    */
            64,             65,             66,             68,
    /*  GPIO2_B5,        GPIO7_B0,      GPIO7_A7,       GPIO7_B2    */
            69,             224,            223,            226
};

int keyMap[] = {6, 13, 4, 12, 5};
char keyName[5][7] = {"UP\0", "CENTER\0", "DOWN\0", "LEFT\0", "RIGHT\0"};     

int readKey(int num)
{
    int key = digitalRead(keyMap[num]);
    if(key == LOW)
    {
        // Delay for a while and re-detect the key status
        // Filtering glitches on the signal
        delay(10);
        if(key == LOW)
            return 1;
    } 

    return 0;
} 

int main(void)
{
    int i;
    nightWiringSetup();
    nightWiringGpioSetup(fennecGpioMap, 17);
    for(i=0; i<5; i++)
        pinMode(keyMap[i], INPUT);
    while(1)
    {
        for(i=0; i<5; i++)
        {
            if(readKey(i))
            {
                printf("Key %s is pressed!\n", keyName[i]);
                delay(500);
            }          
        }
    }
    return 0;
}

I2C RTC

#include "nightWiring.h"

#include "nightWiringI2C.h"

#include "stdio.h"

#define DS1307_ADDR 0x68

int i2cFd;
int quitFlag = 0;

unsigned char DEC2BCD(unsigned char val)
{
  return ( (val/10*16) + (val%10) );

}

unsigned char BCD2DEC(unsigned char val)
{
   return ( (val/16*10) + (val%16) );
}


void rtcSetTime(unsigned char year, unsigned char month, unsigned char date, unsigned char dayofWeek, unsigned char hour, unsigned char min ,unsigned   char sec)
{
  unsigned char reg = 0x00;
  i2cWriteReg8(i2cFd, 0x00, DEC2BCD(sec));
  i2cWriteReg8(i2cFd, 0x01, DEC2BCD(min));
  i2cWriteReg8(i2cFd, 0x02, DEC2BCD(hour));
  i2cWriteReg8(i2cFd, 0x03, DEC2BCD(dayofWeek));
  i2cWriteReg8(i2cFd, 0x04, DEC2BCD(date));
  i2cWriteReg8(i2cFd, 0x05, DEC2BCD(month));
  i2cWriteReg8(i2cFd, 0x06, DEC2BCD(year));   
}

void rtcGetTime() 
{
  unsigned char year, month, date, dayofWeek, hour, min ,sec;
  unsigned char reg = 0x00;
  sec       = BCD2DEC(i2cReadReg8(i2cFd, 0x00) & 0x7f);
  min       = BCD2DEC(i2cReadReg8(i2cFd, 0x01));
  hour      = BCD2DEC(i2cReadReg8(i2cFd, 0x02) & 0x3f);
  dayofWeek = BCD2DEC(i2cReadReg8(i2cFd, 0x03));
  date      = BCD2DEC(i2cReadReg8(i2cFd, 0x04));
  month     = BCD2DEC(i2cReadReg8(i2cFd, 0x05));
  year      = BCD2DEC(i2cReadReg8(i2cFd, 0x06));
  printf("Time: %02d-%02d-%02d  %02d:%02d:%02d.\n", year, month, date, hour, min ,sec);
}

int main(void)
{
    int i;
    if((i2cFd=i2cSetup("/dev/i2c-4", DS1307_ADDR)) < 0)
    {
        printf("Error: I2C acess failed! i2cSetup() return %d\n",i2cFd);
        return 0;
    }
    printf("I2C interface init complete.\n");
    printf("Writing time 2016-10-01 Sat 21:10:00 to RTC...\n");
    rtcSetTime(16,10,1,6,21,10,0);
    while(1)
    {
        rtcGetTime();
        delay(1000);
    }
    return 0;
}

Produce pcDuino9 system image

Preparations

• Download pcDuino9 kernel kernel.tar.gz

• Download pcDuino9 uboot u-boot.tar.gz

• Download root file system of pcDuino9 rockchip

Create a directory called rk-linux in the linux host, and then download the uboot, kernel and root file system into this file.

The necessary environment for the installation

Note: Please use the 5.x version for the GCC version

sudo apt-get install git-core gitk git-gui gcc-arm-linux-gnueabihf u-boot-tools device-tree-compiler gcc-aarch64-linux-gnu
sudo apt-get install gcc-arm-linux-gnueabihf libssl-dev gcc-aarch64-linux-gnu

Compile the kernel

cd rk-linux/kernel/
make clean
make ARCH=arm CROSS_COMPILE=arm-linux-gnueabihf- rockchip_linux_defconfig
make ARCH=arm CROSS_COMPILE=arm-linux-gnueabihf- -j4

Compile uboot

cd /rk-linux/u-boot/
make distclean
CROSS_COMPILE=arm-linux-gnueabihf- make fennec-rk3288_defconfig all

Produce boot.img

• Produce uboot-spl.img

cd rk-linux/
u-boot/tools/mkimage -n rk3288 -T rksd -d u-boot/spl/u-boot-spl-dtb.bin uboot-spl.img
cat u-boot/u-boot-dtb.bin >> uboot-spl.img

Produce extlinux.conf

vim extlinux.comf

label kernel-4.4
    kernel /zImage
    fdt /rk3288-fennec.dtb
    append  earlyprintk console=ttyS2,115200n8 rw root=/dev/mmcblk1p7 rootfstype=ext4 init=/sbin/init

• Produce boot.img

cd rk-linux/
sudo dd if=/dev/zero of=boot.img bs=1M count=128
sudo mkfs.fat boot.img
mkdir boot
sudo mount boot.img boot
sudo cp kernel/arch/arm/boot/zImage boot
sudo cp kernel/arch/arm/boot/dts/rk3288-fennec.dtb boot
sudo mkdir boot/extlinux
sudo cp extlinux.conf boot/extlinux
sudo umount boot

Download the root file system

Download the root file system and rename it.

mv linaro-rootfs.img rootfs.img

Create a card update system

Download initrd.img 

• Format the SD card

chen@chen-HP-ProDesk-680-G1-TWR:~/work/linaro-alip/ramdisk/update$ sudo gdisk /dev/sdb
GPT fdisk (gdisk) version 0.8.8
Partition table scan:
  MBR: protective
  BSD: not present
  APM: not present
  GPT: present



Found valid GPT with protective MBR; using GPT.



Command (? for help): o
This option deletes all partitions and creates a new protective MBR.
Proceed? (Y/N): y

Command (? for help): n
Partition number (1-128, default 1): 1
First sector (34-126613470, default = 2048) or {+-}size{KMGTP}: 8192
Last sector (8192-126613470, default = 126613470) or {+-}size{KMGTP}: 
Current type is 'Linux filesystem'
Hex code or GUID (L to show codes, Enter = 8300): 
Changed type of partition to 'Linux filesystem'

Command (? for help): w
Final checks complete. About to write GPT data. THIS WILL OVERWRITE EXISTING
PARTITIONS!!
Do you want to proceed? (Y/N): y
OK; writing new GUID partition table (GPT) to /dev/sdc.
Warning: The kernel is still using the old partition table.
The new table will be used at the next reboot.
The operation has completed successfully.

sudo umount /dev/sdb1

sudo mkfs.fat /dev/sdb1

sudo dd if=uboot-spl.img of=/dev/sdb seek=64

• Copy zimage, dts and ramdisk to /dev/sdb1

cd rk-linux/

cp kernel/arch/arm/boot/zImage /media/chen/9F35-9565/

cp kernel/arch/arm/boot/dts/rk3288-fennec.dtb /media/ls/9F35-9565/rk3288-fennec.dtb

cp ../rk-initrd-build/initrd.img /media/ls/9F35-9565/

• Add extlinux/extlinux.conf in the dev/sdb1/directory

label kernel-4.4
    kernel /zImage
    fdt /rk3288-fennec.dtb
    initrd /initrd.img
    append  earlyprintk console=ttyS2,115200n8 rw root=/dev/ram0 rootfstype=ext4 init=/sbin/init ramdisk_size=49152

• Copy u-boot-dtb.img, uboot-spl.img, boot.img, rootfs.img and update.sh to /dev/sdb1

mkdir /media/chen/9F35-9565/update
cp uboot-spl.img /media/chen/9F35-9565/update
cp boot.img /media/chen/9F35-9565/update
cp rootfs.img /media/chen/9F35-9565/update
cp update.sh /media/chen/9F35-9565/update

Update the pcDuino9 system via SD card

Insert the SD card into the pcDuino9, and set the switch to the startup mode. When the kernel is up, set the switch to start the eMMC. When the system is up, you can see that the system image is being programmed into eMMC.