From Technologic Systems Manuals (sandbox)
WARNING: This product is still in development. Everything below is subject to change.
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Freescale i.MX6ul 696MHz
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CPU Documentation

1 Overview

The TS-7120 is an SBC designed for something or other.

2 Getting Started

A Linux PC is recommended for development, and will be assumed for this documentation. For users in Windows or OSX we recommend virtualizing a Linux PC. Most of our platforms run Debian and if there is no personal distribution preference this is what we recommend for ease of use.


Suggested Linux Distributions

It may be possible to develop using a Windows or OSX system, but this is not supported. Development will include accessing drives formatted for Linux and often Linux based tools.

2.1 Getting Console and Powering up

WARNING: Be sure to take appropriate Electrostatic Discharge (ESD) precautions. Disconnect the power source before moving, cabling, or performing any set up procedures. Inappropriate handling may cause damage to the device.

Get console input by plugging a USB type B cable into P4. Connect the host side to a workstation for development. Console can be viewed before or after power is applied. Boot messages will only be printed once the device is powered on.

The cp210x (USB Serial) driver is included in most popular distributions. This will show up as /dev/ttyUSB0. For other operating systems:

The serial console is provided through this port at 115200 baud, 8n1, with no flow control. Picocom is the recommended linux client to use which can be run with the following command:

sudo picocom -b 115200 /dev/ttyUSB0

This will output some serial setting information and then "Terminal ready". Any messages after this point will be from the device via the serial output. The terminal is now ready and power can be applied in order to boot up the device. Power is applied through the power connector, CN4. This accepts an 8-48 VDC input. Alternatively, power may be applied to CN2, which accepts a 5VDC input.

Once power is applied, the device will output information via the console. The first output is from U-Boot:

U-Boot 2016.03-14627-g964baebd6e (Mar 06 2019 - 09:12:01 -0800)           
CPU:   Freescale i.MX6UL rev1.2 at 396 MHz                                      
Reset cause: POR                                                                
Board: Technologic Systems TS-7120                                              
I2C:   ready                                                                    
DRAM:  512 MiB                                                                  
MMC:   FSL_SDHC: 0                                                              
Net:   FEC0 [PRIME]                                                             
Warning: FEC0 (eth0) using random MAC address - a2:ec:71:14:50:3a               
Press Ctrl+C to abort autoboot in 1 second(s)   

You may break into U-Boot at this point, by pressing Control+C at your terminal; otherwise, what U-Boot does next depends on the "U-Boot" jumper. If installed, U-Boot will check for USB updates, and then drop to the U-Boot prompt.

Console from Windows

Putty is a small simple client available for download here. Open up Device Manager to determine your console port. See the putty configuration image for more details.

Device Manager Putty Configuration

3 U-Boot

TS-7120 U-boot Sections

4 Debian

Debian is a community run Linux distribution. Debian provides tens of thousands of precompiled applications and services. This distribution is known for stability and large community providing support and documentation.

4.1 Getting Started with Debian

TS-7120 Jessie Getting started

4.2 Debian Networking

From almost any Linux system you can use 'ip' command or the 'ifconfig' and 'route' commands to initially set up the network.

# Bring up the CPU network interface
ifconfig eth0 up

# Or if you're on a baseboard with a second ethernet port, you can use that as:
ifconfig eth1 up

# Set an ip address (assumes subnet mask)
ifconfig eth0

# Set a specific subnet
ifconfig eth0 netmask

# Configure your route.  This is the server that provides your internet connection.
route add default gw

# Edit /etc/resolv.conf for your DNS server
echo "nameserver" > /etc/resolv.conf

Most networks will offer a DHCP server, an IP address can be obtained from a server with a single command in linux:

Configure DHCP in Debian:

# To setup the default CPU ethernet port
dhclient eth0
# Or if you're on a baseboard with a second ethernet port, you can use that as:
dhclient eth1
# You can configure all ethernet ports for a dhcp response with

Systemd provides a networking configuration option to allow for automatic configuration on startup. Systemd-networkd has a number of different configuration files, some of the default examples and setup steps are outlined below.




To use DHCP to configure DNS via systemd, start and enable the network name resolver service, systemd-resolved:

systemctl start systemd-resolved.service 
systemctl enable systemd-resolved.service
ln -s /run/systemd/resolve/resolv.conf /etc/resolv.conf

For a static config create a network configuration for that specific interface.




For more information on networking, see Debian and systemd's documentation:

4.2.1 Debian WIFI Client

Note: To use WiFi on this product, the wilc3000 driver must be installed. Run "modprobe wilc_spi" before continuing

If connecting to a WPA/WPA2 network, a wpa_supplicant config file must first be created:

wpa_passphrase yournetwork yournetworkpassphrase > /etc/wpa_supplicant/wpa_supplicant-wlan0.conf

Create the file /lib/systemd/system/wpa_supplicant@.service with these contents

Description=WPA supplicant daemon (interface-specific version)

ExecStart=/sbin/wpa_supplicant -c/etc/wpa_supplicant/wpa_supplicant-%I.conf -i%I


Create the file /etc/systemd/network/wlan0.network with:



See the systemctl-networkd example for setting a static IP for a network interface. The wlan0.network can be configured the same way as an eth.network.

To enable all of the changes that have been made, run the following commands:

systemctl enable wpa_supplicant@wlan0
systemctl start wpa_supplicant@wlan0
systemctl restart systemd-networkd

4.2.2 Debian WIFI Access Point

First, hostapd needs to be installed in order to manage the access point on the device:

apt-get update && apt-get install hostapd -y

Edit /etc/hostapd/hostapd.conf to include the following lines:

Note: Refer to the kernel's hostapd documentation for more wireless configuration options.

To start the access point launch hostapd:

hostapd /etc/hostapd/hostapd.conf &

This will start up an access point that can be detected by WIFI clients. A DHCP server will likely be desired to assign IP addresses. Refer to Debian's documentation for more details on DHCP configuration.

4.3 Debian Application Development

4.3.1 Debian Jessie Cross Compiling

Debian Jessie previously provided cross compilers via the Emdebian project. However, Emdebian has been unmaintained for a number of years and is no longer able to provide a viable install package. In order to cross compile from a Debian Jessie workstation, a third party cross compiler is required.

A Debian Jessie install on a workstation has the ability to build for the same release on other architectures using Debian binary libraries. A PC, virtual machine, or chroot will need to be used for this. Install Debian Jessie for your workstation here.

From a Debian workstation (not the target), run the following commands to set up the cross compiler. Note that this expects a 64-bit Debian Jessie install on the workstation. 32-bit installations are not supported at this time.

# Run "lsb_release -a" and verify Debian 8.X is returned.  These instructions are not
# expected to work on any other version or distribution.

cd ~
wget http://ftp.embeddedTS.com/ftp/ts-arm-sbc/ts-7553-V2-linux/cross-toolchains/gcc-linaro-4.9-2016.02-x86_64_arm-linux-gnueabihf.tar.xz
# The above toolchain is from Linaro. Other cross compilers can be used but have not been tested.
mkdir cross_compiler
tar xvf gcc-linaro-4.9-2016.02-x86_64_arm-linux-gnueabihf.tar.xz -C ~/cross_compiler
export PATH=$PATH:~/cross_compiler/gcc-linaro-4.9-2016.02-x86_64_arm-linux-gnueabihf/bin/
# The 'export' command needs to be run every time the user logs in. It is possible to add this command to the user's ".bashrc" file
# in their home directory to ensure it is automatically run every time the user is logged in.
su root
dpkg --add-architecture armhf
apt-get update
apt-get install build-essential

This will install a toolchain that can be used with the prefix "arm-linux-gnueabihf-". The standard GCC tools will start with that name, eg "arm-linux-gnueabihf-gcc".

The toolchain can now compile a simple hello world application. Create hello-world.c on the Debian workstation:

#include <stdio.h>
int main(){
    printf("Hello World\n");

To compile this:

arm-linux-gnueabihf-gcc hello-world.c -o hello-world
file hello-world

This will return that the binary created is for ARM. Copy this to the target platform to run it there.

Debian Jessie supports multiarch which can install packages designed for other architectures. On workstations this is how 32-bit and 64-bit support is provided. This can also be used to install armhf packages on an x86 based workstation.

This cross compile environment can link to a shared library from the Debian root. The package would be installed in Debian on the workstation to provide headers and ".so" files. This is included in most "-dev" packages. When run on the arm target it will also need a copy of the library installed, but it does not need the -dev package. Note that since the cross compiler used is 3rd party and not directly from Debian, some compile commands that include libraries will need additional arguments to tell the compiler and linker where on the workstation to find the necessary headers and libraries. Usually, the additional arguments will look like the following string, however adjustments may need to be made depending on the application.

 -I/usr/include -L/usr/lib/arm-linux-gnueabihf -L/lib/arm-linux-gnueabihf -Wl,-rpath=/usr/lib/arm-linux-gnueabihf,-rpath=/lib/arm-linux-gnueabihf

apt-get install libcurl4-openssl-dev:armhf

# Download the simple.c example from curl:
wget https://raw.githubusercontent.com/bagder/curl/master/docs/examples/simple.c
# After installing the supporting library, curl will link as compiling on the unit.
arm-linux-gnueabihf-gcc -I/usr/include -L/usr/lib/arm-linux-gnueabihf -L/lib/arm-linux-gnueabihf -Wl,-rpath=/usr/lib/arm-linux-gnueabihf,-rpath=/lib/arm-linux-gnueabihf simple.c -o simple -lcurl

Copy the binary to the target platform and run on the target. This can be accomplished with network protocols like NFS, SCP, FTP, etc.

If any created binaries do not rely on hardware support like GPIO or CAN, they can be run using qemu.

# using the hello world example from before:
# Returns Exec format error
apt-get install qemu-user-static

4.4 Debian Installing New Software

Debian provides the apt-get system which allows management of pre-built applications. The apt tools require a network connection to the internet in order to automatically download and install new software. The update command will download a list of the current versions of pre-built packages.

apt-get update

A common example is installing Java runtime support for a system. Find the package name first with search, and then install it.

root@ts:~# apt-cache search openjdk
jvm-7-avian-jre - lightweight virtual machine using the OpenJDK class library
freemind - Java Program for creating and viewing Mindmaps
icedtea-7-plugin - web browser plugin based on OpenJDK and IcedTea to execute Java applets
default-jdk - Standard Java or Java compatible Development Kit
default-jdk-doc - Standard Java or Java compatible Development Kit (documentation)
default-jre - Standard Java or Java compatible Runtime
default-jre-headless - Standard Java or Java compatible Runtime (headless)
jtreg - Regression Test Harness for the OpenJDK platform
libreoffice - office productivity suite (metapackage)
icedtea-7-jre-jamvm - Alternative JVM for OpenJDK, using JamVM
openjdk-7-dbg - Java runtime based on OpenJDK (debugging symbols)
openjdk-7-demo - Java runtime based on OpenJDK (demos and examples)
openjdk-7-doc - OpenJDK Development Kit (JDK) documentation
openjdk-7-jdk - OpenJDK Development Kit (JDK)
openjdk-7-jre - OpenJDK Java runtime, using Hotspot Zero
openjdk-7-jre-headless - OpenJDK Java runtime, using Hotspot Zero (headless)
openjdk-7-jre-lib - OpenJDK Java runtime (architecture independent libraries)
openjdk-7-source - OpenJDK Development Kit (JDK) source files
uwsgi-app-integration-plugins - plugins for integration of uWSGI and application
uwsgi-plugin-jvm-openjdk-7 - Java plugin for uWSGI (OpenJDK 7)
uwsgi-plugin-jwsgi-openjdk-7 - JWSGI plugin for uWSGI (OpenJDK 7)

In this case you will want the openjdk-7-jre package. Names of packages are on Debian's wiki or the packages site.

With the package name apt-get install can be used to install the prebuilt packages.

apt-get install openjdk-7-jre
# More than one package can be installed at a time.
apt-get install openjdk-7-jre nano vim mplayer

For more information on using apt-get refer to Debian's documentation here.

4.5 Debian Setting up SSH

To install ssh, install the package as normal with apt-get:

apt-get install openssh-server

Make sure the device is configured on the network and set a password for the remote user. SSH will not allow remote connections without a password or a valid SSH key pair.

passwd root
Note: The default OpenSSH server will not permit root to login via SSH as a security precaution. To allow root to log in via ssh anyway, edit the /etc/ssh/sshd_config file and add the line PermitRootLogin yes in the authentication section. This change will take effect after reboot or after sshd service restart.

After this setup it is now possible to connect from a remote PC supporting SSH. On Linux/OS X this is the "ssh" command, or from Windows using a client such as PuTTY.

Note: If a DNS server is not present on the target network, it is possible to save time at login by adding "UseDNS no" in /etc/ssh/sshd_config.

4.6 Debian Starting Automatically

A systemd service can be created to start up headless applications. Create a file in /etc/systemd/system/yourapp.service

Description=Run an application on startup



If networking is a dependency add "After=network.target" in the Unit section. Once you have this file in place add it to startup with:

# Start the app on startup, but will not start it now
systemctl enable yourapp.service

# Start the app now, but doesn't change auto startup
systemctl start yourapp.service
Note: See the systemd documentation for in depth documentation on services.

To start an application on bootup with X11 instead change the x-session-manager. By default the system starts xfce:

root@ts:~# ls -lah /usr/bin/x-session-manager 
lrwxrwxrwx 1 root root 35 May 26  2015 /usr/bin/x-session-manager -> /etc/alternatives/x-session-manager
root@ts:~# ls -lah /etc/alternatives/x-session-manager
lrwxrwxrwx 1 root root 19 May 26  2015 /etc/alternatives/x-session-manager -> /usr/bin/startxfce4

The x-session can be modified to only start specified processes. Create the file /usr/bin/mini-x-session with these contents:

matchbox-window-manager -use_titlebar no &

exec xfce4-terminal

You may need to "apt-get install matchbox-window-manager." first. This is a tiny window manager which also has a few flags that simplify embedded use. Now enable this session manager and restart slim to restart x11 and show it now.

chmod a+x /usr/bin/mini-x-session
rm /etc/alternatives/x-session-manager
ln -s /usr/bin/mini-x-session /etc/alternatives/x-session-manager
service slim restart

If the x-session-manager process ever closes x11 will restart. The exec command allows a new process to take over the existing PID. In the above example xfce4-terminal takes over the PID of x-session-manager. If the terminal is closed with commands like exit the slim/x11 processes will restart.

5 Backup / Restore

5.1 MicroSD Card

TS-7120 MicroSD Backup/restore

5.2 eMMC

TS-7120 eMMC Backup/restore

6 Compile the Kernel

TS-7120 Kernel Compile Guide

7 Features

7.1 ADC

The TS-7120 has two channels of ADC, and those inputs are available on the CN16-A connector, as 6UL_ADC_0 and 6UL_ADC_1.

The standard linux kernel offers a simple interface to the ADC that does not require any sort of programming to use. For example, to see the "raw" reading from the AN_IN_1 input, type the following command:


cat /sys/bus/iio/devices/iio\:device0/in_voltage4_raw

To convert this raw value to a voltage, it must be multiplied by the "scaling factor", which can be found by typing the following command:

cat /sys/bus/iio/devices/iio\:device0/in_voltage_scale

The result will be in millivolts. If you have the bc utility installed, you can enter the following command:

echo `cat /sys/bus/iio/devices/iio\:device0/in_voltage4_raw` \* `cat /sys/bus/iio/devices/iio\:device0/in_voltage_scale` | bc

To switch to the 10.9V input range, the appropriate enable must be set high. Each input AN_IN_1 through AN_IN_4 has its own enable, EN_ADC1_10V through EN_ADC4_10V, and these are controlled by GPIO #10 through #13. For example, to switch AN_IN_1 to the 10.9V range, run the following command:

tshwctl -a 10 -w 3

Note that the result must now be multiplied by (10.9/2.5). Note also that the input impedance will now be around 2k ohms.

To switch to the 20mA current-loop mode, the appropriate enable must be set high. These are EN_CL_1 through EN_CL_4, and are controlled by GPIO #6 through #9. First select the 2.5V range as follows:

tshwctl -a 10 -w 1

And then set the EN_CL_1 enable high as follows:

tshwctl -a 6 -w 3

ADC Table
# 'raw' 2.5/10.9V Select 20mA Loop Select
AN_IN_1 in_voltage4_raw GPIO 10 GPIO 6
AN_IN_2 in_voltage5_raw GPIO 11 GPIO 7
AN_IN_3 in_voltage8_raw GPIO 12 GPIO 8
AN_IN_4 in_voltage9_raw GPIO 13 GPIO 9
Note: The four ADC inputs use the CPU ADC inputs 4,5,8, and 9, corresponding with the 'raw' entries in the above table.

7.2 Bluetooth

The WIFI on the board also includes a bluetooth 4.0 LE module. To use bluetooth, it is necessary to first configure the WIFI interface (see Debian WiFi Client). Then, run the following commands:

# Install bluez if it is not already present
apt-get update
apt-get install bluez bluez-tools

# Ensure that the wifi is configured
ifconfig wlan0 up 

# Enable Bluetooth, and load the driver firmware
echo BT_POWER_UP > /dev/wilc_bt
echo BT_DOWNLOAD_FW > /dev/wilc_bt
echo BT_FW_CHIP_WAKEUP > /dev/wilc_bt

hciattach /dev/ttyS6 any 115200 noflow
hciconfig hci0 up
hcitool cmd 0x3F 0x0053 00 10 0E 00 01
stty -F /dev/ttyS6 921600 crtscts

Now you may scan for available devices with:

hcitool scan

This will return a list of devices such as:

14:74:11:AB:12:34	SAMSUNG-SM-G900A

You may request more information from a detected device like so:

hcitool info 14:74:11:AB:12:34

This will produce lots of details about the device, for example:

Requesting information ...                                                      
        BD Address:  14:74:11:AB:12:34                                          
        OUI Company: Samsung Electronics Co.,Ltd (4C-A5-6D)                     
        Device Name: SAMSUNG-SM-G900A                                           
        LMP Version: 4.1 (0x7) LMP Subversion: 0x610c                           
        Manufacturer: Broadcom Corporation (15)                                 
        Features page 0: 0xbf 0xfe 0xcf 0xfe 0xdb 0xff 0x7b 0x87        

Bluez has support for many different profiles for HID, A2DP, and many more. Refer to the Bluez documentation for more information.

7.3 CAN

The i.MX6UL includes 2 CAN controllers which support the SocketCAN interface, and these are presented on the CN32 connector and on the CN17 connector (custom populations may differ).

Before proceeding with the examples, see the Kernel's CAN documentation here.

This board comes preinstalled with can-utils which can be used to communicate over a CAN network without writing any code. The candump utility can be used to dump all data on the network

## First, set the baud rate and bring up the device:
ip link set can0 type can bitrate 250000
ip link set can0 up

## Dump data & errors:
candump can0 &

## Send the packet with:
#can_id = 0x7df
#data 0 = 0x3
#data 1 = 0x1
#data 2 = 0x0c
cansend can0 -i 0x7DF 0x3 0x1 0x0C
## Some versions of cansend use a different syntax.  If the above
## commands gives an error, try this instead:
#cansend can0 7DF#03010C

The above example packet is designed to work with the Ozen Elektronik myOByDic 1610 ECU simulator to read the RPM speed. In this case, the ECU simulator would return data from candump with:

 <0x7e8> [8] 04 41 0c 60 40 00 00 00 
 <0x7e9> [8] 04 41 0c 60 40 00 00 00 

In the output above, columns 6 and 7 are the current RPM value. This shows a simple way to prove out the communication before moving to another language.

The following example sends the same packet and parses the same response in C:

#include <stdio.h>
#include <pthread.h>
#include <net/if.h>
#include <string.h>
#include <unistd.h>
#include <net/if.h>
#include <sys/ioctl.h>
#include <assert.h>
#include <linux/can.h>
#include <linux/can/raw.h>

int main(void)
	int s;
	int nbytes;
	struct sockaddr_can addr;
	struct can_frame frame;
	struct ifreq ifr;
	struct iovec iov;
	struct msghdr msg;
	char ctrlmsg[CMSG_SPACE(sizeof(struct timeval)) + CMSG_SPACE(sizeof(__u32))];
	char *ifname = "can0";
	if((s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
		perror("Error while opening socket");
		return -1;
	strcpy(ifr.ifr_name, ifname);
	ioctl(s, SIOCGIFINDEX, &ifr);
	addr.can_family  = AF_CAN;
	addr.can_ifindex = ifr.ifr_ifindex;
	if(bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
		return -2;
 	/* For the ozen myOByDic 1610 this requests the RPM guage */
	frame.can_id  = 0x7df;
	frame.can_dlc = 3;
	frame.data[0] = 3;
	frame.data[1] = 1;
	frame.data[2] = 0x0c;
	nbytes = write(s, &frame, sizeof(struct can_frame));
	if(nbytes < 0) {
		return -3;

	iov.iov_base = &frame;
	msg.msg_name = &addr;
	msg.msg_iov = &iov;
	msg.msg_iovlen = 1;
	msg.msg_control = &ctrlmsg;
	iov.iov_len = sizeof(frame);
	msg.msg_namelen = sizeof(struct sockaddr_can);
	msg.msg_controllen = sizeof(ctrlmsg);  
	msg.msg_flags = 0;

	do {
		nbytes = recvmsg(s, &msg, 0);
		if (nbytes < 0) {
			return -4;

		if (nbytes < (int)sizeof(struct can_frame)) {
			fprintf(stderr, "read: incomplete CAN frame\n");
	} while(nbytes == 0);

	if(frame.data[0] == 0x4)
		printf("RPM at %d of 255\n", frame.data[3]);
	return 0;

See the Kernel's CAN documentation here. Other languages have bindings to access CAN such as Python using C-types, Java using JNI.

7.4 CPU

TS-7120 CPU

7.5 DMX

Three pins (1, 2, and 7) on the RJ-45 connector (CN8) are allocated as a DMX-512 controller. They are in the same position on the connector as in standard DMX. However, the remaining pins are allocated as an RS-232 port, in the positions specified by EIA/TIA-561. The two interfaces must not be used at the same time without an adapter cable.

7.6 eMMC

TS-7120 EMMC

7.7 Ethernet Ports

TS-7120 Ethernet

7.8 FPGA

7.8.1 FPGA Registers

The TS-7120 FPGA is connected to the CPU over the WEIM bus. This provides 8-bit, 16-bit, or 32-bit access to the FPGA mapped at 0x5000_0000.

For example, to read the syscon 0x0:

peekpoke 32 0x50004000
Offset Description
0x00 16550 #0
0x10 16550 #1
0x20 16550 #2
0x30 16550 #3
0x40 16550 #4
0x50 16550 #5
0x60 16550 #6
0x70 16550 #7
0x80 16550 #8
0x100 Opencore SPI controller #0
0x120 Opencore SPI controller #1
0x140 Opencore SPI controller #2
0x280 TS SDcore
0x4000 Syscon Syscon

Offset Bits Description
0x0 31:0 Model ID
0x4 31:0 FPGA_REV_CRC32
0x08 (read) 31:20 Reserved
19 Toggles when data_valid ASMI output is 1
18 Illegal Erase
17 Illegal Write
16 ASMI Busy
15:8 ASMI Status out
7:0 ASMI Data out
0x08 (write) 31 Reserved
0 Read
1 Write
2 Sector Erase
3 Read Status
28:8 ASMI Address
7:0 ASMI data in
0x0c 31:0 Scratch register
0x10 15:0 DIO bank 0 Data Set [1]
0x12 15:0 DIO bank 0 Output Enable Set [2]
0x14 15:0 DIO bank 0 Data Clear [2]
0x16 15:0 DIO bank 0 Output Enable clear [2]
0x18 31:0 Reserved
0x1c 31:16 Current loop PWM #1
15:0 Current loop PWM #0
0x24 31:0 IRQ Status
0x28 31:16 ADC 1
15:0 ADC 0
0x2c 31:16 ADC 3
15:0 ADC 2
0x30 31:16 ADC 5
15:0 ADC 4
0x34 31:16 ADC 7
15:0 ADC 6
0x3c 31:19 Reserved
18 mikro_pwm_en [3]
17 hart_mode [4]
16 an_67_sel [5]
15:0 mikro_pwm
0x40 15:0 DIO Bank 1 Data Set [1]
0x42 15:0 DIO bank 1 Output Enable Set [2]
0x44 15:0 DIO bank 1 Data Clear [2]
0x46 15:0 DIO bank 1 Output Enable clear [2]
0x48 31:0 IRQ mask
  1. 1.0 1.1 On a write, this sets the output value. On a read this reads the current state of the pin.
  2. 2.0 2.1 2.2 2.3 2.4 2.5 This register is write only, and reading it back may not reflect the status value that is written.
  3. If PWM is not enabled this pin as available as a GPIO. When this is enabled only the PWM value is used and the corresponding GPIO bit is ignored
  4. 0 = all 4 HART channels RX. 1 = RX on channels 0,1 and TX on channels 2,3
  5. 0=STC_AN_6 is used as ADC 7. 1=STC_AN_7 is used as ADC7. FPGA DIO Banks

Bank IO Description
0 15 sys_reset_padn
14 en_blue_led_pad
13 silab_dat_pad
12 silab_clk_pad
11 dio_14_pad
10 dio_13_pad
9 dio_12_pad
8 dio_11_pad
7 dio_10_pad
6 dio_9_pad
5 dio_8_pad
4 dio_7_pad
3 dio_6_pad
2 dio_5_pad
1 dio_4_pad
0 dio_2_pad
1 15 wifi_reset_padn
14 en_ls_out_1_pad
13 en_emmc_3v3_padn
12 en_gps_3v3_padn
11 en_nimbel_4v_pad
10 en_wifi_pwr_pad
9 en_ls_out_0_pad
8 en_xbee_usb_pad
7 en_hs_sw_pad
6 en_dig_in_2_3_pad
5 en_can_xcvr_padn
4 en_nimbel_3v3_pad
3 en_poe_padn
2 en_an_5v_pad
1 en_dig_in_0_1_pad
0 mikro_reset_padn FPGA IRQs

Bit Description
31:17 Reserved
16 cpu_touch_irq IRQ
15 wifi_irq
14 gyro_int
13 mikro_int
12 TS SDcore
11 Opencore SPI controller #2
10 Opencore SPI Controller #1
9 Opencore SPI Controller #0

7.9 FRAM

The TS-7120 has 16Kbit ferroelectric random access memory (FRAM) organized as 2KB. It is accessible via the SPI bus.

The FRAM may be accessed from userspace. It will appear as an EEPROM at (typically): /sys/class/spi_master/spi32766/spi32766.0/eeprom

Note that the exact filename under /sys/class/spi_master/ might be different from the above.

The datasheet is available from Cypress Semiconductors' website.

7.10 GPIO

TS-7120 DIO


The TS-7120 has six on-board relays. The first four relays have normally-open and normally-closed contacts brought out on the terminal block CN32-A. The remaining two have normally-open contacts only, also brought out on CN32-A.

The relays may be controlled via the sysfs, as shown in the example below.

# first step is to configure GPIO for the six control lines
echo 132 > /sys/class/gpio/export
echo out > /sys/class/gpio/gpio132/direction  
echo 133 > /sys/class/gpio/export
echo out > /sys/class/gpio/gpio133/direction  
echo 134 > /sys/class/gpio/export
echo out > /sys/class/gpio/gpio134/direction  
echo 135 > /sys/class/gpio/export
echo out > /sys/class/gpio/gpio135/direction  
echo 136 > /sys/class/gpio/export
echo out > /sys/class/gpio/gpio136/direction  
echo 137 > /sys/class/gpio/export
echo out > /sys/class/gpio/gpio137/direction  

# turn on relay #1
echo 1 > /sys/class/gpio/gpio132/value

#turn it off again
echo 0 > /sys/class/gpio/gpio132/value

7.12 GPS

The TS-7120 has an on-board Telit SL869 GPS receiver. An SMA female connector is provided for the connection of an antenna.


Before it can be used, power to the GPS receiver must be enabled by setting GPIO #188 high, as shown below:

echo 188 > /sys/class/gpio/export
echo out > /sys/class/gpio/gpio188/direction
echo 1 > /sys/class/gpio/gpio188/value

The GPS receiver may then be accessed via the /dev/ttyS8 uart, at a default baud rate of 9600.

7.13 IMU

TS-7120 IMU

7.14 Interrupts

TS-7120 interrupts

7.15 Jumpers

The TS-7120 has a set of jumpers located near the relays on the SBC.

These jumpers control a number of aspects of the TS-7120's behavior. The jumpers are labeled on the silkscreen rather than numbered:

Label Description
NO Charge When jumper is set, disable charging of the SuperCaps. Beneficial for early development and testing.
CAN1 When jumper is set, adds a 120 ohm termination resistor across CAN1 H and L pins.
485 When jumper is set, adds a 120 ohm termination resistor across RS-485 + and - pins.

7.16 LEDs

TS-7120 LEDs

7.17 MicroSD Card Interface

The TS-7120 has a micro-SD connector. When a micro-SD card is installed, it shows up as /dev/tssdcarda; and if it contains valid partitions, these will appear as /dev/tssdcarda1, /dev/tssdcarda2, /dev/tssdcarda3, and /dev/tssdcarda4 (depending on how the card is partitioned). Any partition with a valid filesystem may be mounted as shown below:

## Make sure the driver is loaded first
modprobe tssdcard

## Mount the first partition
mount /dev/tssdcarda1 /mnt/sd/

7.18 OBD-II

Some TS-7120 models provide a DB-9 connector (CN9) with OBD-II functions provided by an OBD Solutions interpreter IC.

TS-7120 OBD-II

7.19 PWM

TS-7120 PWM

7.20 RTC

TS-7120 RTC



7.22 SPI

The i.MX6UL CPU has a native SPI peripheral that is used exclusively for the operation of the WiFi module.

Additionally, the FPGA has three independent OpenCores SPI controllers. The first of these is used exclusively by the on-board FRAM device. The second is presented on the Daughter-Card Interface. The third is presented on the Mikrobus connector. The kernel driver is "spi_oc" and is loaded automatically at boot-time.

7.23 SuperCaps

Note: This section is incomplete at this time.

7.24 TWI

TS-7120 TWI

7.25 USB

The TS-7120 has both a Host connector and a Device connector.

7.25.1 USB Host

TS-7120 USB Host



7.26 UARTs

The TS-7120 provides three (with a fourth optional) standard RS-232 COM ports, and two RS-485 COM ports. The latter have auto-transmit-enable.

ttymxc3 HD10-3 HD10-2
ttymxc4 RJ45-6 RJ45-5
ttymxc5 CN17B-10 CN17B-11
ttymxc6 CN32B-19 CN32B-20

UART 485+ 485-
ttyS4 CN32B-25 CN32B-24
ttyS5 RJ45-1 RJ45-2

7.27 Watchdog

TS-7120 Watchdog

7.28 WIFI

TS-7120 WIFI

8 Physical Interfaces

8.1 Internal Interfaces

8.2 External Interfaces

8.2.1 Power Connector

TS-7120 Power Connector

8.2.2 Terminal Blocks

The TS-7120 includes four removable terminal blocks (OSTTJ0811030) for UARTs, CAN, Relays, and other general purpose IO.


CN16-A (top)
Pin # Description
1 CL_TX0
3 CL_TX1
5 ADC0 (CPU)
6 Ground
7 ADC1 (CPU)
8 Ground
CN16-B (bottom)
Pin # Description
9 HART_0
11 HART_1
13 HART_2
15 HART_3


CN32-A (top)
Pin # Description
CN32-B (bottom)
Pin # Description
17 SW_8_48V
18 Ground
19 RS-232 TXD5
20 RS-232 RXD5
21 CAN_1_L
22 CAN_1_H
23 Ground
24 RS485_MINUS
25 RS485_PLUS
26 Ground
27 STC_DIO_0
28 STC_DIO_1
29 Ground
31 STC_AN_6
32 STC_AN_7

8.2.3 RJ45 Jack


8.2.4 Modem Socket

The TS-7120 has provision for the mounting of a Multitech or NimbelLink modem.

To be completed.

8.2.5 Daughter Card Interface

TS-7120 Daughter Card Interface

9 Specifications

9.1 Power Consumption

All tests are performed at 12V, with Ethernet, USB, supercaps, SD, disconnected or disabled unless otherwise specified.

10 Revisions and Changes

10.1 TS-7120 PCB Revisions

TS-7120 PCB Changelog

10.2 U-Boot Revisions

Version Description of changes
  • Engineering Sample Program release.

10.3 FPGA Revisions

Version Description of changes

10.4 Software Images

10.4.1 Kernel Changelog

  • Engineering Sample Program release.
Version Description of changes

11 Product Notes

11.1 FCC Advisory

This equipment generates, uses, and can radiate radio frequency energy and if not installed and used properly (that is, in strict accordance with the manufacturer's instructions), may cause interference to radio and television reception. It has been type tested and found to comply with the limits for a Class A digital device in accordance with the specifications in Part 15 of FCC Rules, which are designed to provide reasonable protection against such interference when operated in a commercial environment. Operation of this equipment in a residential area is likely to cause interference, in which case the owner will be required to correct the interference at his own expense.

If this equipment does cause interference, which can be determined by turning the unit on and off, the user is encouraged to try the following measures to correct the interference:

Reorient the receiving antenna. Relocate the unit with respect to the receiver. Plug the unit into a different outlet so that the unit and receiver are on different branch circuits. Ensure that mounting screws and connector attachment screws are tightly secured. Ensure that good quality, shielded, and grounded cables are used for all data communications. If necessary, the user should consult the dealer or an experienced radio/television technician for additional suggestions. The following booklets prepared by the Federal Communications Commission (FCC) may also prove helpful:

How to Identify and Resolve Radio-TV Interference Problems (Stock No. 004-000-000345-4) Interface Handbook (Stock No. 004-000-004505-7) These booklets may be purchased from the Superintendent of Documents, U.S. Government Printing Office, Washington, DC 20402.

11.2 Limited Warranty

Technologic Systems warrants this product to be free of defects in material and workmanship for a period of one year from date of purchase. During this warranty period Technologic Systems will repair or replace the defective unit in accordance with the following process:

A copy of the original invoice must be included when returning the defective unit to Technologic Systems, Inc. This limited warranty does not cover damages resulting from lightning or other power surges, misuse, abuse, abnormal conditions of operation, or attempts to alter or modify the function of the product.

This warranty is limited to the repair or replacement of the defective unit. In no event shall Technologic Systems be liable or responsible for any loss or damages, including but not limited to any lost profits, incidental or consequential damages, loss of business, or anticipatory profits arising from the use or inability to use this product.

Repairs made after the expiration of the warranty period are subject to a repair charge and the cost of return shipping. Please, contact Technologic Systems to arrange for any repair service and to obtain repair charge information.