Phytec phyGATE Tauri-L User manual

L-1028e.A2 i.MX 8 phyGATE-Tauri-L Kit Hardware
and BSP Manual
Manuals & Documentation
Exported on 06/10/2022

Manuals & Documentation – L-1028e.A2 i.MX 8 phyGATE-Tauri-L Kit Hardware and BSP Manual
– 2
Table of Contents
1 Notes about this Manual..................................................................................... 8
1.1 Usage .........................................................................................................................................8
1.2 Symbols .....................................................................................................................................8
2 Safety Instructions and Liability......................................................................... 9
2.1 Intended Use .............................................................................................................................9
2.2 General Safety Instructions ......................................................................................................9
2.3 Disposal ...................................................................................................................................10
2.4 Liability ....................................................................................................................................10
3 Product Information ......................................................................................... 11
3.1 Product Names and Variants.................................................................................................. 11
3.2 Product Overview....................................................................................................................12
3.3 Nameplate...............................................................................................................................13
3.4 Technical Data.........................................................................................................................13
3.5 Package Contents/Accessories ..............................................................................................17
3.6 Certification.............................................................................................................................17
3.7 Technical Documentation and Support ................................................................................18
4 Technical Product Information ........................................................................ 19
4.1 Block Diagram .........................................................................................................................19
4.2 Electrical Connection..............................................................................................................19
4.3 Mechanical Connection ..........................................................................................................22
5 Getting Started with the phyGATE Tauri-L Gateway ....................................... 24
5.1 Introduction ............................................................................................................................24
5.2 Requirements..........................................................................................................................24
5.3 Prepare the SD Card for device boot......................................................................................25
5.4 Booting the Board...................................................................................................................26
5.4.1 Insert the microSD card ........................................................................................................................................ 26
5.4.2 Set Boot Switch..................................................................................................................................................... 26
5.4.3 Powering the Board .............................................................................................................................................. 27
5.5 Connecting the OS via SSH.....................................................................................................28

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5.6 Setup Device Interfaces ..........................................................................................................29
5.6.1 Connecting to RS232............................................................................................................................................. 29
5.6.2 Connecting to RS485............................................................................................................................................. 29
5.6.3 Connecting to CAN ................................................................................................................................................ 30
5.6.4 Connecting to USB ................................................................................................................................................ 30
6 Building the BSP................................................................................................ 31
6.1 Get the BSP..............................................................................................................................31
6.2 Basic Set-Up ............................................................................................................................ 31
6.3 Finding the Right Software Platform .....................................................................................32
6.4 Software Platform Selection ..................................................................................................32
6.5 Build Process...........................................................................................................................32
6.6 BSP Images..............................................................................................................................33
7 System Booting ................................................................................................. 34
7.1 Booting from eMMC ................................................................................................................34
7.2 Booting from SD Card ............................................................................................................. 34
7.2.1 Single, Prebuilt SD Card Image............................................................................................................................. 34
7.2.2 Four Individual Images (imx-boot, kernel image, device tree image, root filesystem)..................................... 35
7.3 Booting the Kernel from Network ..........................................................................................37
7.3.1 Development Host Preparations.......................................................................................................................... 37
7.3.2 TFTP Server Set-Up............................................................................................................................................... 37
8 Updating Software............................................................................................ 39
8.1 Updating eMMC via Network ..................................................................................................39
8.1.1 Updating eMMC in Linux on Target ...................................................................................................................... 39
8.1.2 Updating eMMC in Linux on Host .........................................................................................................................39
8.2 Updating eMMC via SD Card ...................................................................................................40
8.2.1 Updating eMMC via SD Card in Linux on Target .................................................................................................. 40
9 RAUC .................................................................................................................. 41
10 Device Tree (DT) ................................................................................................ 42
10.1 Introduction ............................................................................................................................42
10.2 PHYTEC i.MX 8M Mini BSP Device Tree Concept....................................................................42
10.2.1 DT Structure .......................................................................................................................................................... 42
11 Accessing Peripherals ....................................................................................... 44

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11.1 i.MX 8M Mini Pin Muxing.......................................................................................................... 44
11.2 Serial TTYs ............................................................................................................................... 45
11.3 RS-485...................................................................................................................................... 46
11.4 Network ...................................................................................................................................46
11.5 SD / MMC Card.........................................................................................................................48
11.6 eMMC Devices.......................................................................................................................... 51
11.6.1 Extended CSD Register ......................................................................................................................................... 51
11.6.2 Enabling Background Operations (BKOPS)......................................................................................................... 52
11.6.3 Reliable Write ........................................................................................................................................................ 53
11.6.4 Resizing ext4 Root Filesystem .............................................................................................................................. 53
11.6.5 Erasing the Device................................................................................................................................................. 55
11.7 SPI Master................................................................................................................................55
11.7.1 SPI NOR flash......................................................................................................................................................... 55
11.8 GPIOs .......................................................................................................................................56
11.9 LEDs .........................................................................................................................................58
11.10 I2C Bus .....................................................................................................................................60
11.11 EEPROM ...................................................................................................................................61
11.12 CAN FD .....................................................................................................................................62
11.13 RTC...........................................................................................................................................65
11.14 USB Host Controller................................................................................................................ 66
11.15 USB OTG ..................................................................................................................................67
11.15.1 USB Device ............................................................................................................................................................ 67
11.16 TPM ..........................................................................................................................................69
11.17 PCIe..........................................................................................................................................70
11.18 CPU Core Management........................................................................................................... 71
11.19 Thermal Management.............................................................................................................72
12 Revision History ................................................................................................ 74

Manuals & Documentation – L-1028e.A2 i.MX 8 phyGATE-Tauri-L Kit Hardware and BSP Manual
1 http://L-813e.A10 Yocto Reference Manual
– 5
L-1028e.A2 i.MX 8 phyGATE-Tauri-L Kit Hardware and BSP Manual
Document Title L-1028e.A1 i.MX 8 phyGATE-Tauri-L Kit Hardware and BSP Manual
Document Type Hardware / BSP Reference Manual
Yocto Page L-813e.A10 Yocto Reference Manual1
Article Number L-1028e.A2
Release Date 15.03.2022
Is Branch of L-1028e.Ax i.MX 8 phyGATE-Tauri-L Kit Hardware and BSP Manual Head
Notes about this Manual(see page 8)
Usage(see page 8)
Symbols(see page 8)
Safety Instructions and Liability(see page 9)
Intended Use(see page 9)
General Safety Instructions(see page 9)
Disposal(see page 10)
Liability(see page 10)
Product Information(see page 11)
Product Names and Variants(see page 11)
Product Overview(see page 12)
Nameplate(see page 13)
Technical Data(see page 13)
Package Contents/Accessories(see page 17)
phyGATE Tauri-L Stand-alone device(see page 17)
phyGATE Tauri-L Kit Upgrade(see page 17)
Certification(see page 17)
Technical Documentation and Support(see page 18)
Technical Product Information(see page 19)
Block Diagram(see page 19)
Electrical Connection(see page 19)
Mechanical Connection(see page 22)
Getting Started with the phyGATE Tauri-L Gateway(see page 24)
Introduction(see page 24)
Requirements(see page 24)
Prepare the SD Card for device boot(see page 25)
Booting the Board(see page 26)
Insert the microSD card(see page 26)
Set Boot Switch(see page 26)
Powering the Board(see page 27)
Connecting the OS via SSH(see page 28)

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Setup Device Interfaces(see page 29)
Connecting to RS232(see page 29)
Connecting to RS485(see page 29)
Connecting to CAN(see page 30)
Connecting to USB(see page 30)
Building the BSP(see page 31)
Get the BSP(see page 31)
Basic Set-Up(see page 31)
Finding the Right Software Platform(see page 32)
Software Platform Selection(see page 32)
Build Process(see page 32)
BSP Images(see page 33)
System Booting(see page 34)
Booting from eMMC(see page 34)
Booting from SD Card(see page 34)
Single, Prebuilt SD Card Image(see page 34)
Four Individual Images (imx-boot, kernel image, device tree image, root filesystem)(see page 35)
Booting the Kernel from Network(see page 37)
Development Host Preparations(see page 37)
TFTP Server Set-Up(see page 37)
Updating Software(see page 39)
Updating eMMC via Network(see page 39)
Updating eMMC in Linux on Target(see page 39)
Updating eMMC in Linux on Host(see page 39)
Updating eMMC via SD Card(see page 40)
Updating eMMC via SD Card in Linux on Target(see page 40)
RAUC(see page 41)
Device Tree (DT)(see page 42)
Introduction(see page 42)
PHYTEC i.MX 8M Mini BSP Device Tree Concept(see page 42)
DT Structure(see page 42)
Accessing Peripherals(see page 44)
i.MX 8M Mini Pin Muxing(see page 44)
Serial TTYs(see page 45)
RS-485(see page 46)
Network(see page 46)
SD / MMC Card(see page 48)
eMMC Devices(see page 51)
Extended CSD Register(see page 51)
Enabling Background Operations (BKOPS)(see page 52)
Reliable Write(see page 53)
Resizing ext4 Root Filesystem(see page 53)
Erasing the Device(see page 55)
SPI Master(see page 55)
SPI NOR flash(see page 55)
GPIOs(see page 56)
LEDs(see page 58)
I2C Bus(see page 60)
EEPROM(see page 61)
CAN FD(see page 62)
RTC(see page 65)
USB Host Controller(see page 66)
USB OTG(see page 67)

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USB Device(see page 67)
TPM(see page 69)
PCIe(see page 70)
CPU Core Management(see page 71)
Thermal Management(see page 72)
Revision History(see page 74)

Manuals & Documentation – L-1028e.A2 i.MX 8 phyGATE-Tauri-L Kit Hardware and BSP Manual
2 http://www.phytec.de
Notes about this Manual– 8
1 Notes about this Manual
1.1 Usage
The information in this manual is valid for all standard variants of the phyGATE Tauri-L industrial gateway from
PHYTEC Messtechnik GmbH. An overview of all devices and variants to which the descriptions apply can be found in
Product Information(see page 11).
Before using the document, please check whether it also corresponds to the latest version. The latest version of the
manual and other technical documents can be found on the product page for the device at www.phytec.de2.
Warning
For proper installation and safe operation of the device, the operating instructions and in particular the
safety instructions contained therein must be carefully read and observed.
1.2 Symbols
The manual uses various symbols to indicate helpful and safety-critical notes. Below you will find an explanation of
each symbol's meaning.
Warning
This symbol indicates safety-critical information. The warnings must be observed!
Tip
This symbol indicates general notes and helpful information in handling the device.

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Safety Instructions and Liability– 9
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2 Safety Instructions and Liability
2.1 Intended Use
The phyGATE Tauri-L gateway is designed for monitoring, processing, and communicating machine and sensor data
in industrial environments. For data communication, the devices provide various typical industrial interfaces for
connection to surrounding devices.
This PHYTEC standard gateway is supplied exclusively as an OEM device by PHYTEC Messtechnik GmbH and
requires an adaptation of the operating software for the intended application by the distributor of the device.
Warning
The device must not be used in a manner not specified in this manual to avoid damage to the protection
provided by the equipment.
L’appareil ne doit pas être utilisé d'une façon non spécifiée dans ce manuel afin éviter d’endommager la
protection fournie par l'équipement.
2.2 General Safety Instructions
For commissioning, development work, and assembly, the operating instructions for the device must be used.
Knowledge in the following areas is required:
Electronic circuitry
Working in electrostatically protected areas
Accident prevention regulations
On-site valid rules and regulations for occupational safety
These devices may only be commissioned and installed by adequately qualified personnel with basic electrical
knowledge! The device must be handled with care in every phase of its life cycle, in order to prevent destruction by
electrostatic discharge or mechanical stress, for example.
To ensure functional safety, the device must be powered by a SELV/PELV power supply. The gateway must be
mounted on a top-hat rail in a fire save control cabinet for permanent use.
Improper modifications and repairs may impair the integrated protective functions and the electromagnetic
behavior of the device. This can cause malfunction of the device, interference with connected and surrounding
devices, or personal injury. Therefore, work on this device may only be carried out by the manufacturer.
Warning
To ensure functional safety, the device must be powered by a SELV/PELV power supply. The gateway must
be mounted on a top-hat rail in a fire save control cabinet for permanent use.
Pour garantir la sécurité fonctionnelle, l’appareil doit être alimenté par une alimentation SELV/PELV. Pour
une utilisation permanente, la passerelle doit être montée sur un rail profilé chapeau dans une armoire de
commande coupe-feu.

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Safety Instructions and Liability– 10
2.3 Disposal
The operator of these devices must ensure that there is no danger to persons or property in the event of a defect or
malfunction of the device. In case of non-repairable defects and device malfunctions, the devices must be taken out
of operation and disposed of properly.
Warning
The device must not be disposed of in household waste!
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2.4 Liability
Improper use and connection of these devices, as well as subsequent processing of these devices (e.g. soldering
work on the printed circuit board), lead to exclusion of liability on the part of the manufacturer. Please observe the
corresponding information in the operating instructions for proper installation.

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Product Information– 11
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3 Product Information
3.1 Product Names and Variants
The phyGATE Tauri-L gateway is available in different variants and expansion stages, which differ in the scope of
performance and functions. The following table gives an overview of available variants of the gateway and an
explanation for the identification of the article number.
Note
The article numbers have an index ".Ax" where x determines the product revision.
Parent Product Article Number Technical Features
phyGATE Tauri-L Gateway
standalone PCB
PB-03420-0140.Ax
Device with housing
PB-03420-003.Ax
2x Ethernet
1x USB
1x MicroSD Card
Temp-Sensor
TPM
(25mm housing)
standalone PCB
PB-03420-0130.Ax
Device with housing
PB-03420-001.Ax
2x Ethernet
1x USB
1x MicroSD Card
Temp-Sensor
TPM
1x CAN
1x RS485
1x RS232
(25mm housing)
standalone PCB
PB-03420-0330.Ax
Device with housing
PB-03420-002.Ax
2x Ethernet
1x USB
1x MicroSD Card
Temp-Sensor
TPM
1x CAN
1x RS485
1x RS232
mPCIe slot (USB only) with 1x SMA
antenna connector
(50mm housing)

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Product Information– 12
3.2 Product Overview
The phyGATE Tauri-L has several interfaces and controls/displays which are shown in the following figure.
PB-03420-003.Ax
(25mm housing)
PB-03420-001.Ax
(25mm housing)
PB-03420-002.Ax
(50mm housing)
Controls/Displays
X X X 1. Power-LED green
X X X 2. User-LED red (freely configurable)
X X X 3. User-LED yellow (freely configurable)
X X X 4. Button (freely configurable)
X X X 5. USB interface (Typ A)
X X X 6. Ethernet interface (RJ45)

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X X X 7. Micro-SD Slot
X X 8. RS232, RS485, CAN interface
(configurable)
X X X 9. Supply connection
X X X 10. Boot-Switch (Concealed, on opposite
housing side)
X X X 11. Air vents
X X X 12. Extension interface under a top-hat
rail and top-hat rail clip (35mm)
X (13.) SMA antenna connector
X (14.) internal miniPCIe slot (USB only)
X (15.) SIM card socket
3.3 Nameplate
The nameplate of the phyGATE Tauri-L gateway is located on the side of the housing. Here you will find essential
information about your device.
3.4 Technical Data
Warning
All external circuits connected to the phyGATE Tauri-L terminals shall be SELV/PELV.
Electrical Data
Power supply voltage
min. 12 VDC (-10 %)
typ. 24 VDC
max. 36 VDC (+10 %)
Supply current
(depends on variant)
PB-03420-001: max. 300 mA

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Product Information– 14
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PB-03420-002: max. 400 mA
PB-03420-003: max. 2.5 A
Power adapter type SELV/PELV
Hardware Specification
CPU type NXP i.MX 8M mini Quad-Core Cortex-A53 + Cortex-M4
max. 1,8 GHz (A53 core) / 400 MHz (M4 core)
RAM 2 GB
eMMC 8 GB
Ethernet 2x 10/100/1000 Mbit/s
USB USB 2.0
CAN (optional) 1 Mbit/s, CAN FD, isolated
Serial (optional)
1x RS232+RTS/CTS isolated or
2x RS232 (RxD/TxD) isolated or
1x RS232+ 1x RS485 isolated
Mass storage microSD card slot
storage size max 16 GB (evaluated), class10
Additional features TPM chip, Temperature sensor
RTC GoldCap for real-time functionality
User control elements
1x user button
2x configurable user LED
1x power status LED

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Product Information– 15
Software Specification
Operating system Linux (Yocto)
Security Features Device-Management / Cloud-Update concept
Mechanical Data
Housing type Phoenix ICS
Housing material Polyamide
Mounting type Top-hat rail mounting according toDIN EN 60715
IP protection class max. IP20
Dimensions (Height / Width / Depth)
100 mm / 25 mm / 110 mm
PB-03420-001.Ax
PB-03420-002.Ax
100 mm / 50 mm / 110 mm
PB-03420-003.Ax
with customer adapter PCB
Weight (depending on variant) max. 250 g (depending on variant)
Environmental Data
Storage temperature -20 °C - +70 °C

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Product Information– 16
Operating temperature -20 °C - +60 °C
Humidity 10% - 95% non condensing
Altitude max. 2000 m
IP protection class control cabinet min. IP44

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3 http://www.phytec.de
Product Information– 17
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3.5 Package Contents/Accessories
phyGATE Tauri-L Stand-alone device phyGATE Tauri-L Kit Upgrade
You'll find the following content within your stand
alone phyGATE Tauri-L packaging:
1x phyGATE Tauri-L device of your choice
1x instruction insert with general information
and safety hints
The phyGATE Tauri-L Kit upgrade for the easy start of
development:
1x MicroSD Card with prepared prebuilt
images
1x 24 VDC Mains-Adapter with a mating
connector to device supply connector
1x Serial and CAN interface mating connector
with screw connectors
1x LAN cable 2m
 
3.6 Certification
The phyGATE Tauri-L has been approved for sale and use on the European market and meets the criteria for CE
marking according to:
DIN EN 61000-6-2:2019-11 EMV Interference immunity for industrial areas
DIN EN 61000-6-3:2020-09 EMV Interference emissions for living area
The CE declaration of conformity for the device can be found online on the product page at www.phytec.de3.

Manuals & Documentation – L-1028e.A2 i.MX 8 phyGATE-Tauri-L Kit Hardware and BSP Manual
4 http://www.phytec.de
Product Information– 18
Warning
Modification of the device, such as adjustments to the software or the use of additional devices in
conjunction with the phyGATE Tauri-L Gateway, can influence the electrical properties of the device. In this
case, the validity of the CE declaration of conformity is void. For a valid CE marking, a renewed approval by
the operator must be carried out in this case.
3.7 Technical Documentation and Support
Technical documentation for the product can be found on our product page online at www.phytec.de4. If you have
any questions or suggestions regarding the product, we look forward to hearing from you.

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Technical Product Information– 19
4 Technical Product Information
4.1 Block Diagram
4.2 Electrical Connection
The phyGATE Tauri-L gateway has various interfaces for connection to the surrounding infrastructure. The following
table lists the connections with the matching mating connectors.

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Technical Product Information– 20
phyGATE Tauri-L Interfaces
Reference Connection Device Socket Mating Connector
X28 DC supply Phoenix MC 1,5/ 2-GF-3,81 Phoenix MC 1,5/ 2-STF-3,81
Phoenix FMC1.5/2-STF-3.81
X29 Ethernet 1 RJ45 RJ45
X30 Ethernet 0 RJ45 RJ45
X8 USB USB-A USB-A
X5 SD Karte microSD-Slot MicroSD-Karte
X27 RS232 / RS485 / CAN Phoenix MC 1,5/10G-3,5 Phoenix MC1,5/10-ST-3,5
Phoenix FMC1.5/10-ST-3.5
S1 User Input Button --- ---