- 1 Overview
- 2 Hardware Configuration
- 3 Software Support
- 4 Product Notes
TS-7KV is a PC/104 (standard format) peripheral board that works with all Technologic Systems ARM embedded computers to provide VGA video function. The TS-VIDCORE is implemented in the on-board Xilinx Spartan-3 FPGA, which is re-configurable by software through the Linux OS during runtime. Hardware features and specifications include:
- 16-bit color/640X480 video resolution
- 8MB dedicated video memory running @ 95Mhz.
- Simple and fast video accelerator
- Accelerated Linux framebuffer driver available
- Standard DB15 VGA connector or 10 pin header
- Forward-compatible through adapter boards
The TS-7KV multi-function peripheral board provides additional features which are also included in the default TS-7KV FPGA bitstream provided by Technologic Systems:
- 24 buffered, 5V tolerant GPIO lines (16 output, 8 input)
- 5 megabaud capable RS232 serial port
- Optional RS485, half or full, with automatic half-duplex transmitter enable/disable
- Optional 8 channel 200ksps 16-bit ADC
- Optional SJA1000 compatible CAN controller
|Note:||All features implemented on FPGA ensures long-term availability (no obsolete or proprietary graphics chips).|
2 Hardware Configuration
|0xE0 - 0xE7||OFF||OFF|
|0xF0 - 0xF7||OFF||ON|
|0xF8 - 0xFF||ON||ON|
Besides the basic TS-7KV I/O address (PLD registers), the jumpers #1 and #2 also select the FPGA and Video I/O memory spaces. The table below shows the configuration options:
|JP1||JP2||PLD Registers||FPGA Registers||Video Memory|
|OFF||OFF||BASE+ (E0 to E7)||BASE+ (00 to 1F)||BASE+ (000000 to 0FFFFF)|
|ON||OFF||BASE+ (E8 to EF)||BASE+ (20 to 3F)||BASE+ (100000 to 1FFFFF)|
|OFF||ON||BASE+ (F0 to F7)||BASE+ (40 to 5F)||BASE+ (200000 to 2FFFFF)|
|ON||ON||BASE+ (F8 to FF)||BASE+ (60 to 7F)||BASE+ (300000 to 3FFFFF)|
|To access the 8-bytes of I/O address space for the PLD 8-bit registers, use BASE=0x11E0_0000||To access the 32-bytes of I/O address space for the FPGA 16-bit registers, use BASE=0x21E0_0000||To get direct access to the Video / Framebuffer memory, use BASE=0x2180_0000|
2.1 PLD Registers
|I/O Addr||Description||Data||Bits and such|
|Base + 0||Board ID #1||Read only||Fixed value: 0x41 hex|
|Base + 1||Board ID #2||Read only||Fixed value: 0x20 hex|
|Base + 2||PLD version reg||Read only||Fixed value|
|Base + 3||Reserved|
|Base + 4||Control reg #0||R/W||Bit 7: Done bit; FPGA firmware loaded.|
Bits 2-6: reserved
|Base + 5||Control reg #1||R/W||Bit 7: HSWAP; Control bit that drives the FPGA|
(1=no pull-up) (0 = pull-up resistors enabled)
|Base + 6||FPGA config write data||Write only||Write cycles to this location writes config data into the FPGA.|
|Base + 7||Jumpers and options||Read only||Bit 7: ADC option|
Bit 6: CAN option
Use PC/104 8-bit I/O cycles through memory base address 0x11E0_0000 in order to access the PLD 8-bit wide registers mapped in the 8-bytes of I/O space.
2.2 FPGA Registers
The communication with the TS-7KV FPGA, and thus with all the sub-devices implemented on it, is provided through a 32-byte I/O memory space selected as described in the table 3. The FPGA I/O space accesses 1 of 5 sub-devices depending on the value loaded into the 16-bit SWIN register located at Base+1E. The remaining 30 bytes, from Base+00 to Base+1D, are a window into the register space of the selected sub-device. If the selected core on the FPGA needs more than 30 bytes of memory space, it is possible to switch the window in steps of 16-bytes by writing to bits 3-0 of the SWIN register. The following table describes this register:
|I/O Addr||Description||Data||Bits and such|
|Base + 1E||SWIN register high||R/W||Bits 15-8: reserved|
Bits 7-4: Slave device select:
|Note:||Use PC/104 16-bit I/O cycles through memory base address 0x21E0_0000 in order to access the FPGA 16-bit wide registers mapped in the 32-bytes of I/O space. This applies to any sub-device included on the FPGA.|
2.3 TS-VIDCORE: The TS-7KV Video Core
After selecting the video sub-device by writing the value 0x5 to bits 7-4 of the SWIN register at Base+1E, the video control registers appear at the base of the FPGA I/O space. All the functionality of the TS-VIDCORE is controlled through only five 16-bit registers which occupy 10 bytes of the 30-byte FPGA I/O space for sub-devices. The next table describes the video control registers.
|I/O Addr||Description||Data||Bits and such|
|Base + 0||BLTCTRL: Bit blit control reg||R/W||Bits 15-13: upper 3 bits of box pixel width|
Bit 12: bit blit source mode
|Base + 2||BLTSZ: Bit blit width and height reg||R/W||Bits 15-9: box pixel width (lower 7 bits)|
Bits 8-0: box pixel height (0-512)
|Base + 4||SRCBLT: Bit blit source||R/W||Bits 15-0: lower 16 bits of source address or pixel|
|Base + 6||DSTBLT: Bit blit dest||R/W||Bits 15-0: lower 16 bits of destination address|
|Base + 8||VIDCTRL: Video control reg||R/W||Bit 11: raster page committed (Read Only)|
Bit 10: bit blit operation in progress (Read Only)
2.3.1 Notes on Bit Blit Operation
The bit blit operation begins on write of DSTBLT register. If the DSTBLT is written again before bit blit operation completes, the FPGA bus (Wishbone) cycle is stalled until previous operation completion. The bit blitter clones all bit blit registers on start of bit blit operation such that new values can be loaded in preparation for next bit blit. There is a demo application that executes a bit blit operation using TS-7KV video core. It moves Technologic Systems' logo around the screen 2000 times per second.
2.4 Additional Feature: The TS-7KV CAN Controller
The CAN controller implemented inside TS-7KV FPGA is Philips SJA1000 compatible. To make the SJA1000 128-byte address space appears on base address, you need to write the value 0x1 to bits 7-4 of the SWIN register at Base+1E (FPGA I/O Address), and then select the wanted register page using bits 3-0 of the same SWIN register.
The Linux driver for TS-CAN1, another PC/104 daughter board using SJA1000 provided by Technologic Systems, also supports the TS-7KV. All the information provided by TS-CAN1 documentation also applies for TS-7KV boards.
For further information on how to install and use the CAN driver for Linux with TS-7KV, find the Getting Started with TS-CAN1 manual at:
The lincan driver binary for ARM can be found at:
To load this driver with TS-7KV, use the command insmod as:
$ insmod -f lincan-ts11.o hw=ts7kv
2.5 Additional Feature: The TS-7KV Serial Port
The TS-7KV implements a 16550 RS232/RS485 serial UART module. To use this sub-device it is necessary to write the value 0x00 to the SWIN register at Base+1E. This will make the serial registers appear at the 30-byte window address space for sub-devices, starting at Base+00 (FPGA I/O Address).
You may want to research the Internet for further information about the very common 16550 UART specification, such as registers map. For example:
If you have properly installed the console kit, the TS-7KV serial port will be detected during boot time, and then the Linux driver, named ts7kvserial, will be loaded by default, enabling you to use the /dev file system entry with Linux system calls (open, read, write, close) from user space.
2.6 Additional Feature: The TS-7KV GPIO
The TS-7KV implements a digital General Purpose I/O module. In order to use this subdevice, it is necessary to write the value 0x30 to the SWIN register at address Base+1E (FPGA I/O Address). This will make the GPIO registers appear at the 30-byte window address space for sub-devices, starting at Base+00 (FPGA I/O Address).
There are two 16-bit registers for handling the GPIO lines. The first, at Base+00 (FPGA I/O Address), controls the 16 output lines, while the 8 lower bits of the second register, at Base+02 (FPGA I/O Address), controls the 8 input lines. Outputs are 3.3V and can sink/source 24mA. Inputs are 5V tolerant, 3.3V w/CMOS thresholds.
2.7 Additional Feature: The TS-7KV ADC
The TS-7KV implements a LTC1867 SPI ADC module. To use this sub-device it is necessary to write the value 0x20 to the SWIN register at address Base+1E (FPGA I/O Address). This will make the ADC registers appear at the 30-byte window address space for sub-devices, starting at Base+00 (FPGA I/O Address).
The ADC sub-device is implemented using one single 16-bit register at Base+00 (FPGA I/O Address). Writes to this registers send the 7-bit command word. Conversions are always taking place at 190 kbps and reads give back the last data converted by the ADC. For further information, refer to the LTC1867 documentation:
3 Software Support
3.1 Configuring the FPGA Using Linux
The Xilinx FPGA on the TS-7KV can be re-configurable during runtime by the Linux OS. Therefore, the user can either load another FPGA design provided by Technologic Systems or develop your custom design. Technologic Systems provides a Linux application utility that loads a bitstream into the TS-7KV FPGA. It can be found at:
The default TS-7kV bitstream provided by Technologic Systems is available at:
To load the default bitstream, enter the command below at the TS-7000 Linux prompt:
$ load-ts7kv ts7kv.bit
3.1.1 Framebuffer Driver
Technologic Systems provides a framebuffer driver that manages the TS-VIDCORE. The video registers are properly handled inside the driver so other Linux Kernel layers can interact with the TS-VIDCORE using the Framebuffer Device API. The driver enables video interaction from user-space using the /dev/fb framebuffer entry. The TS-7KV Framebuffer video memory, as described in table 3, is located at base address 0x2180_0000.
The Linux Framebuffer driver for TS-7KV is included in the official TS-Kernel releases, greater than ts9 version. Older TS-Kernels shipped with TS-7000 computers do not have video support, so you must update your system (Kernel and File System) from Redboot in order to support the TS-7KV hardware. System updating instructions for TS-Kernel, version ts9, can be found at:
|Note:||If your TS-Kernel release is older than ts9 version, read the next section named "The Console Kit" in order to guide you on how to update your TS-7000 file system.|
3.1.2 Framebuffer Examples
Technologic Systems provides some examples and source code on how to program the TS- 7KV Framebuffer with C from Linux user-space. These files are available at:
For example, to view a Technologic System's logo on the display, enter:
$ cat ts-logo-splash > /dev/fb/0
3.1.3 The Console Kit
For you to see a text-mode console login prompt when you boot your TS-7000 SBC with TS- 7KV, you need to configure your system. Technologic Systems provides a tarball that contains an init.d startup script that detects the TS-7KV, loads the FPGA firmware, loads the TS-7KV modules (and USB keyboard and mouse modules also for convenience), and starts a login prompt (getty) on the newly formed Linux text console. Find the tarball files for TSLinux and Debian distributions, respectively, at:
You must extract one of these files into the root directory:
$ tar zxvf ts7kv-tslinux-console-kit.tar.gz -C /
After installing TS-Kernel, modules and console kit for TS-7KV, you should be able to use a Linux terminal after connecting a display on TS-7KV's video output, connecting USB mouse and keyboard, and rebooting the system.
The blinking rate of the framebuffer cursor can be changed to any value as shown below:
$ echo NEW_BLINKING_RATE > /proc/sys/dev/fb/cursor_blink_rate
3.1.5 The QT/EMBEDDED Graphical Library
It is possible to build advanced graphical user interface applications on top of TS-7KV for ARM-Linux embedded systems by using the QT/Embedded libraries. The development using Qt/Embedded is based on C/C++ Linux tools. Technologic Systems provides a compiled package of the free and open source version of Qt/Embedded 3.3.4:
The second file contains the entire Qt/Embedded compiled library as well as examples, while the first one is a small footprint Qt/Embedded version which saves flash space. To install the graphical library, extract the selected file into the root directory:
$ tar zxvf ts-7kv-qtembedded-compact.tar.gz -C /
It will create and fill the /usr/local/qt-embedded-free-3.3.4/ directory. The Qt/Embedded examples are located into directory /usr/local/qt-embedded-free-3.3.4/examples/. To run the hello world example you can execute the hello.run script. It defines the Qt/Embeded environment variables; creates symbolic links to the framebuffer, mouse and keyboard devices into the /dev directory; and calls the hello application as a server.
$ cd usr/local/qt-embedded-free-3.3.4/examples/ $ ./hello.run
To learn how to program GUI application using the Qt/Embedded API, please refer to the specific documentation:
4 Product Notes
4.1 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.
4.2 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.