AXIOMTEK rBOX630-FL User manual

rBOX630-FL
Linux
Software User’s Manual

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Disclaimers
This manual has been carefully checked and believed to contain accurate information.
Axiomtek Co., Ltd. assumes no responsibility for any infringements of patents or any third
party’s rights, and any liability arising from such use.
Axiomtek does not warrant or assume any legal liability or responsibility for the accuracy,
completeness or usefulness of any information in this document. Axiomtek does not make any
commitment to update the information in this manual.
Axiomtek reserves the right to change or revise this document and/or product at any time
without notice.
No part of this document may be reproduced, stored in a retrieval system, or transmitted, in
any form or by any means, electronic, mechanical, photocopying, recording, or otherwise,
without the prior written permission of Axiomtek Co., Ltd.
Trademarks Acknowledgments
Axiomtek is a trademark of Axiomtek Co., Ltd.
Windows®is a trademark of Microsoft Corporation.
Other brand names and trademarks are the properties and registered brands of their
respective owners.
Copyright 2016 Axiomtek Co., Ltd.
All Rights Reserved
April 2016, Version A2
Printed in Taiwan

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Table of Contents
Disclaimers.....................................................................................................ii
Chapter 1 Introduction............................................. 1
1.1 Specifications......................................................................................2
Chapter 2 Getting Started ....................................... 5
2.1 Connecting the rBOX630....................................................................5
2.1.1 Serial Console............................................................................................. 6
2.1.2 SSH over Ethernet ...................................................................................... 8
2.2 How to Develop a Sample Program.................................................10
2.2.1 Install Yocto Toolchain............................................................................... 10
2.2.2 Setting Up the Cross-Development Environment......................................11
2.2.3 Write and Compile Sample Program..........................................................11
2.3 How to Put and Run a Sample Program..........................................12
2.3.1 Via FTP (Default disable) .......................................................................... 12
2.3.2 Via USB Flash Drive.................................................................................. 13
2.3.3 Via TFTP ................................................................................................... 14
Chapter 3 The Embedded Linux ............................ 15
3.1 Embedded Linux Image Managing ..................................................15
3.1.1 System Version ......................................................................................... 15
3.1.2 System Time.............................................................................................. 15
3.1.3 Internal RTC Time..................................................................................... 15
3.1.4 External RTC Time.................................................................................... 16
3.1.5 Adjusting System Time.............................................................................. 16
3.2 Networking.........................................................................................17
3.2.1 FTP –File Transfer Protocol ..................................................................... 17
3.2.2 TFTP –Trivial File Transfer Protocol......................................................... 17
3.2.3 NFS –Network File System...................................................................... 17
Chapter 4 Programming Guide .............................. 19
4.1 librb217 API Functions .....................................................................19
4.2 librb217 API Examples......................................................................24
4.2.1 Get Board ID and Power Status................................................................ 24
4.2.2 COM Port Configuration............................................................................ 24
4.2.3 Watchdog Timer ........................................................................................ 25
4.2.4 Digital Input and Output............................................................................. 26
4.2.5 LEDs Control............................................................................................. 26
4.3 CAN Bus.............................................................................................27

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4.4 Compile Demo Program ...................................................................29
4.4.1 Install Yocto Toolchain............................................................................... 29
4.4.2 Run demo program ................................................................................... 29
Chapter 5 Board Support Package (BSP) .............. 31
5.1 Host Development System Installation ...........................................31
5.1.1 Install Host System.................................................................................... 31
5.1.2 Install Yocto development ......................................................................... 32
5.1.3 Build and Install Yocto toolchain................................................................ 33
5.2 U-Boot for rBOX630 ..........................................................................34
5.2.1 Booting the System with an NFS Filesystem............................................ 34
5.2.2 Booting the System from eMMC (rBOX630 default) .............................. 35
5.2.3 Booting the System from SD CARD.......................................................... 35
5.3 Additional Information......................................................................36
5.3.1 Create a Bootable SD CARD for rBOX630............................................... 36

rBOX630 Linux
Introduction 1
Chapter 1
Introduction
The extreme compact rBOX630 supports the low power RISC-based module (iMX6) processor
with extended temperature range of -40°C to +70°C for using in wide range operating
environments. Multiple built-in serial ports, high-speed LANs and USB 2.0 ports enable fast
and efficient data computation, communication and acquisition. Its digital I/O feature provides
users with the convenience of digital devices connection. Besides, the industrial grade
IP40-rated rBOX630 meets Safety Agency requirements and has passed heavy industrial CE
and FCC testing.
This user’s manual is for the embedded Linux preinstalled in rBOX630. The embedded Linux
is derived from Linux Yocto Board Support Package, which is based on Linux Kernel 3.0.35
and our hardware patches to suit rBOX630.
Software structure
The preinstalled embedded Linux image is located in eMMC Flash memory which is
partitioned and formatted to accommodate boot loader, kernel and root filesystem. It follows
standard Linux architecture to allow user to easily develop and deploy application software that
follows Portable Operating System Interface (POSIX).
To facilitate user program in monitoring and controlling I/O device such as DIO, CAN,
Watchdog Timer, the rBOX630 includes ‘librb217.so’shared library.
In addition to ext3 and ext4 file system, this embedded Linux kernel is compiled with support
for NFS, including server-side, client-side functionality and ‘Root file system on NFS’. Using an
NFS root mount we have several advantages such as:
The root file system is not size-restricted by the device’s storage like Flash memory.
Change made to application files during development is immediately available to the
target device.
For connectivity, this image includes most popular internet protocols, some servers and utilities
not only making it easy for downloading/uploading files (Linux kernel, application program) or
for debugging, but also communicating to outside world via Ethernet, WiFi and 3G.
For the convenience of manipulating embedded Linux, this image includes lots of popular
packages such as busybox, udev, etc.

rBOX630 Linux
2 Introduction
1.1 Specifications
OS: Linux
Kernel: 3.0.35 (with Freescale and Axiomtek hardware modified patch)
Support Protocol Types
ICMP.
TCP/IP.
UDP, DHCP, Telnet, HTTP, HTTPS, SSL, SMTP, ARP, NTP, DNS, PPP, PPPoE,
FTP, TFTP, NFS.
Shell
Bash
File system
NFS, ext3, ext4
Daemons
Telnetd: Telnet server daemon
FTPD: FTP server daemon

rBOX630 Linux
Introduction 3
Utilities
Telnet: Telnet client program
FTP: FTP client program
TFTP: Trivial File Transfer Protocol client
Packages
busybox: Small collection of standard Linux command-line utilities
udev: A device manager for Linux kernel
dosfstools : Utilities for making and checking MS-DOS FAT file system
e2fsprogs: A set of utilities for maintaining the ext2, ext3 and ext4 file systems
ethtool: A Linux command for displaying or modifying the Network Interface
Controller (NIC) parameters
i2c-tools : A heterogeneous set of I2C tools for Linux
procps : Utilities to report on the state of the system, including the states of running
processes, amount of memory
wireless-tools: A package of Linux commands (simple text-based utilities/tools)
intended to support and facilitate the configuration of wireless devices using the
Linux Wireless Extension
Development Environment
Host OS/ development OS: Ubuntu 14.04 LTS
Toolchain/ cross compiler: ARM, gcc-4.8.1 (Yocto project 1.5.4 Dora)
HW’s Lib (Hardware’s Library)
WiFi (Optional)
- Detect signal strength
- Set AP connection
- Set web, wpa, wpa2
- Support search AP
Digital I/O
- Read digital input
- Write digital output
CAN
- Support open/write/read/close functions
3G
- Set number connection
- Support user name/password
- Detect signal strength
GPS
- Detect signal strength
- Support satellite positioning
Watch Dog Timer
- Enable
- Clean
- Set timer
COM
- RS-232/422/485 mode setting
Note
All specifications and images are subject to change without notice.

rBOX630 Linux
4 Introduction
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rBOX630 Linux
Getting Started 5
Chapter 2
Getting Started
2.1 Connecting the rBOX630
You can connect the rBOX630 to personal computer (PC) in two ways:
Serial RS-232 console
SSH over Ethernet
Note
Please download below data from Axiomtek’s website as below list if you have the
demand.
- BSP support package.
http://www.axiomtek.com/products/ViewProduct.asp?view=8947

rBOX630 Linux
6 Getting Started
2.1.1 Serial Console
The serial console is a convenient interface for connecting rBOX630 to PC. First
of all, it is very important to make sure that your desktop connects to rBOX630 by
console cable. Please set the system as follows:
Baudrate: 115200 bps
Parity: None
Data bits: 8
Stop bit:1
Flow Control: None
Here we use PuTTY to setup and link to the rBOX630. Learn how to do it with these step
by step instructions:
1. Open PuTTY and choose ‘Serial’as the connection type.
2. Configure the serial port correctly (see image below). Click Open and power on the
rBOX630.

rBOX630 Linux
Getting Started 7
3. The Bootloader default booting system setup to SD Card, If you don’t have
bootable SD Card and want boot from eMMC, Try type this command on u-boot.
4. If connection is established successfully, you should see the following image.
5. To login, please enter ‘root’(with no password).

rBOX630 Linux
8 Getting Started
2.1.2 SSH over Ethernet
Now, we are going to connect the rBOX630 to PC over Ethernet. The following
illustrations show how to do it under Windows®and Linux environment.
Note: rBOX630 LAN2 default IP address is 192.168.0.254.
For Windows® users:
1. Here we also use PuTTY to setup and link. Open PuTTY and choose ‘SSH’as the
connection type. Then set the IP address to 192.168.0.254 and click Open.
2. If connection is established successfully, you should see the following image.

rBOX630 Linux
Getting Started 9
3. To login rBOX630, please enter ‘root’(with no password).
For Linux users:
1. Open terminal and keyin ‘ssh’command.
2. After the connection is established successfully.

rBOX630 Linux
10 Getting Started
2.2 How to Develop a Sample Program
In this section, learn how to develop a sample program for rBOX630 with the following step by
step instructions. The sample program is named ‘hello.c’.
2.2.1 Install Yocto Toolchain
Before you develop and compile sample program, you should install Yocto toolchain into
development PC. You can follow below step to install Yocto toolchain or refer to Chapter
5 Board Support Package to build the toolchain for rBOX630.
1. Host Ubuntu version.
Ubuntu10.04 32-bit (i686):
Ubuntu10.04 64-bit (x86_64):
2. Copy the toolchain script to home directory.
i686 for 32-bit machines or x86_64 for 64-bit machines.
3 Execute the toolchain script and press Enter to install to default directory.
32-bit machines:
$sh poky-eglibc-i686-meta-toolchain-gmae-cortexa9hf-vfp-neon-toolchain-gmae-1.5.4.sh
64-bit machines:
$sh poky-eglibc-x86_64-meta-toolchain-gmae-cortexa9hf-vfp-neon-toolchain-gmae-1.5.4.sh
4 Check the directory.

rBOX630 Linux
Getting Started 11
5 Wait to installation.
6 Press your password.
7 Install finish.
2.2.2 Setting Up the Cross-Development Environment
Before you can develop using the cross-toolchain, you need to set up the
cross-development environment, and then you can find this script in the directory you
chose for installation.
~$ source /opt/poky/1.5.4/environment-setup-cortexa9hf-vfp-neon-poky-linux-gnueabi
2.2.3 Write and Compile Sample Program
~$ mkdir -p example
~$ cd example
Use vi to edit hello.c.
~$ vi hello.c
#include<stdio.h>
int main()
{
printf(“hello world\n”);
return 0;
}
To compile the program, please do:
~$ arm-poky-linux-gnueabi-gcc hello.c -o hello
After compiling, enter the following command and you can see the ‘hello’execution file.
~$ ls -l

rBOX630 Linux
12 Getting Started
2.3 How to Put and Run a Sample Program
In this section, we provide 3 methods showing how to put the ‘hello’program into rBOX630 and
execute it.
2.3.1 Via FTP (Default disable)
The rBOX630 has a built-in FTP server. Users can put ‘hello’program to rBOX630 via
FTP by following the steps below.
1. Enable FTPD daemon
Use vi to create /etc/xinetd.d/ftpd file
Restart Internet server
~# /etc/init.d/xinetd reload
~# /etc/init.d/xinetd restart
2. ~$ ftp 192.168.0.254 (without username and password)
3. ftp> bin

rBOX630 Linux
Getting Started 13
4. ftp> put hello
If the operation is successful, you can see ‘hello’program at rBOX630’s /home/root
directory.
5. ~# chmod +x hello
6. Run the ‘hello’program.
~# ./hello
2.3.2 Via USB Flash Drive
Another method of putting ‘hello’program into rBOX630 is via USB flash drive. Please
follow the instructions below.
1. From the PC, copy ‘hello’program to USB flash drive.
2. Attach USB flash drive to rBOX630.
3. ~# cp /media/sda1/hello /home/root
4. ~# cd /home/root
5. ~# chmod +x hello
6. ~# ./hello

rBOX630 Linux
14 Getting Started
2.3.3 Via TFTP
Originally the Host Development System Installation already has TFTP server installed.
You can put the ‘hello’program into rBOX630 via TFTP. Please follow the instructions
below.
1. ~$ cp hello /tftpboot
2. ~# tftp -g -r hello 192.168.0.3 (tftp server IP)
3. ~# chmod +x hello
4. Run the ‘hello’program.
~# ./hello

rBOX630 Linux
The Embedded Linux 15
Chapter 3
The Embedded Linux
3.1 Embedded Linux Image Managing
3.1.1 System Version
This section describes how to determine system version information including kernel
and root filesystem version.
Check kernel version with the following command:
~# uname -r
Check root filesystem with the login screen:
3.1.2 System Time
System time is the time value loaded from RTC each time the system boots up. Read
system time with the following command:
~# date
3.1.3 Internal RTC Time
The internal RTC time is read from i.MX processor internal RTC. Note that this time
value is not saved, when system power is removed.
Read internal RTC time with the following command:
~# hwclock -r --rtc=/dev/rtc1

rBOX630 Linux
16 The Embedded Linux
3.1.4 External RTC Time
The external RTC time is read from RS5C372 external RTC. When system power is
removed, this time value is kept as RS5C372 is powered by battery.
Read external RTC time with the following command:
~# hwclock -r
3.1.5 Adjusting System Time
Manually setting up the system time.
~# date -s YYYYMMDDHHmm.SS
Write sync time to internal RTC
$ hwclock -w --rtc=/dev/rtc1
Write sync time to external RTC
$ hwclock -w