Quantum CM4 OEM - Rugged IP67 Mission Computer / IoT Gateway

www.austral-elec.com - Intelligent Technologies for Marine, Industrial IoT and Unmanned Vehicles

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QuantumUltima

Key Features Benefits
The Quantum CM4 is a SWaP-C platform : Cost-effective, Industrial, marinized IP67, -20 to +60/65°C temperature range, miniaturized, very lightweight (only 212g), very low power consumtion, fanless.... It integrates a powerful quad core ARM processor, many Industrial, Marine, and Automotive field buses, Galvanic isolation, Protections, Watchdog, RTC with GNSS Time synchronisation, Wireless and a huge storage for your datalogs.
  • Field Interfaces :
    • M12 Connectors : Cables available on the shelf (Profinet, NMEA2000/DeviceNet/CANopen... standards cables)
    • Wireless : WIFI, Bluetooth, BLE
    • Ethernet : Modbus TCP, Profinet, ETherNet/IP, BACnet, OPC-UA, MQTT, DDS, Websocket, ZMQ, UDP, TCP, NMEA OneNet...
    • 2xCANbus : NMEA2000, J1939, CANopen...
    • 3xSerials : RS232, RS485, RS422, Modbus RTU, NMEA0183...
    • Internal mini PCIe expansion slot : USB2.0, SPI, GPIOs
  • Hardware expansion flexibility : Contact us
    • Wireless IoT : LoRaWAN, SigFox, Zigbee, Xbee, Zwave, 4G/LTE, NB-IoT...
    • Satellite IoT : Iridium SBD, SpaceX Swarm, Kineis, Astrocast...
    • AI/ML accelerator : Hailo-8, Intel Movidius, Google Coral...
  • Easy software installation and the support of the community :
    • Any OS : Linux (Debian pre-installed), RTOS (VxWorks, FreeRTOS...), Android, Windows
    • Any frameworks : Robotics (ROS, ROS2, MOOS-IvP), PLC (CoDeSys, OpenPLC), IoT (Node-Red), AI (TensorFlow, PyTorch)...
    • Any languages : C/C++/Qt, Python, JS, Rust, Java, C#, Go...
  • Go Fast : Makes it as easy as possible to build your next smart project operating in hostile environment with a solution 100% COMPATIBLE WITH THE RASPBERRY PI ECOSYSTEM, designed for professional use, suitable for real-time applications and browser-based remote displays.
  • Shrink your team and schedule : Focus on your core business by using a yet proven rugged hardware and a mainstream software solution. Develop from day one and take advantage of the support and examples of the largest developer community.
  • Hardware flexibility : Choose the memory, the storage, the WIFI option from a single unit. We can customize the expansion board, put your logo or add functionality for very low volumes. If a high level of integration is required, the Quantum CM4 bare electronic boards can also be integrated into your system (only 20g).
  • Develop at warp speed with free tools: Connect an instrument to the cloud, datalog, make a web live data dashboard, troubleshoot... in minutes and accessible to all !!!. it's possible. If it is suitable for your application, you can freely use Red Carpet - IoT Software Suite, our fast system integration solution based on Node-RED visual flow creator, which offers you a library of nearly 4000 nodes to connect everything.

Applications

The Quantum CM4 OEM is designed for ITAR-free, SWaP-sensitive and real-time applications using remote HMI. It will be embedded into a third-party system in a harsh environment, like wearable edge computing, boats, vehicles, drones, machines, outdoor and underground platforms… and for a wide range of use cases:

Sectors : Marine, Industry 4.0, Drones, Robotics, Off-Highway Vehicles, Smart Farming …

Pricing & Ordering : Link to Austral Electronics page

Table of contents

  1. Hardware
  2. Operating system
  3. First connection
  4. Install Debian
    4.1. Download a Debian image
    4.2. Program the Micro SD-CARD
    4.3. Program the EMMC
    4.4. Network Boot/Download
    4.5. Create your own Debian image from scratch
    4.6. Configuration current issues
  5. Test the peripherals
    5.1. Get the system configuration
    5.2. Change the system configuration
    5.3. Ethernet
    5.4. Wifi
    5.5. Samba file server
    5.6. Serials
    5.7. CANbus
    5.8. Real Time Clock
    5.9. Logo backlight
    5.10. Bluetooth
    5.11. Watchdog
    5.12. Optional PWM
    5.13. Thermal Stress Test
  6. Applications
    6.1. Remove Applications
    6.2. Tools
    6.3. Protocols
    6.4. Databases
    6.5. Frameworks
  7. Operating Systems Links
  8. Disclaimers

1. Hardware

Download a PDF Hardware specifications and installation : Here

QuantumCM4spec

2. Operating system

Quantum CM4 is a headless product, it is designed to have its man-machine interface distributed on all types of web browsers, marine MFD displays and industrial touch panels. If you don’t have real time constraints, you can of course install a linux, android or windows desktop distribution and develop via VNC but this is not the main purpose of this calculator.
We recommend the use of a Debian distribution if your system is not deployed in large quantities and you do not have a Linux specialist in your team. In the other cases, Austral Electronics in partnership with Linatsea can accompany you in the creation of a distribution adapted to your need: Buildroot, Yocto, Vxworks, Redpesk Marine Grade Linux, Victron Energy Venus OS, Automotive Grade Linux (AGL), Ubuntu Server/core, Over-the-air (OTA) update : Contact us

Usefull links for others Operatings Systems

3. First connection

With the pre-installed Debian or the configuration script settings :

Change the IP of your machine to 192.168.100.X
Power-up the Quantum and wait 20s for the end of the boot.
Launch a ssh console :

ssh quantum@192.168.100.100 The default password is : pass

On windows, you can open a ssh console using :

Change the IP : link

Access/Modify to the samba share : link

4. Install Debian

In order to take advantage of the huge developer community on Raspberry PI, a great documentation and a Tier 3 support. The Quantum CM4 Processor is preinstalled with a Debian Linux optimized by the Raspberry PI Foundation and configured for the Quantum CM4 hardware. The OS comes with over 35,000 packages: precompiled software bundled in a nice format for easy installation. You can reinstall Debian from scratch by following this procedure.
Debian Long Term Support (LTS) is a project to extend the lifetime of all Debian stable releases to (at least) 5 years.
The choice of the version depends on the deployment date of your system.
Debian (future) LTS Releases, Supported by security and release teams:

4.1. Download a Debian image

4.2. Program the Micro SD-CARD

Advanced Options

4.3. Program the EMMC

If you have a Quantum version EMMC and not micro SD-card, the procedure is slightly different.
On windows, install rpiboot
Connect the Quantum to Windows using a USB cable connected to the USB Slave port.
Boot the Quantum with the EMMC_BOOT switch ON.
The EMMC appears as a disc on windows that you have to select in the imager.
Switch back to OFF after programming.

4.4. Network Boot/Download

If you need to boot from a server or update remotely, a single or multiple Quantum, you will need a Network Bootloader.

The Raspberry PI fundation bootloader it is not suitable for a headless hardware. More

We recommend using Pre-boot eXecution Environment (PXE). Video1 - Video2 - Link1 - Link2

4.5. Create your own Debian image from scratch

If you want to build your own customized Debian image, you can follow this Tutorial that uses pi-gen tool.

Otherwise, the following example is the easiest way to create and deploy your own linux distribution with your applications pre-installed. You only need to customize a configuration script and somes settings (IP, password…).

Get Debian an image :

Program the Micro SD-CARD or EMMC:

See above

Configure the default image for the Quantum CM4 Platform:

Verify the internet connection of the Quantum CM4 :

ping -q -c1 google.com &>/dev/null && echo online || echo offline

If you are ‘Online’, you can download and launch configuration script, otherwise verify your Ethernet or Wifi configuration :

bash <(curl -sL https://raw.github.com/austral-electronics/QuantumCM4/main/script/configure.sh)

Operations realized by the script :

Deployment : Shrink and backup the image:

Read the uSD-Card with win32 Disk Imager and a USB-uSD Interface. In ‘Device’ select the partition /boot -> G: Then ‘Read’

Shrink the image (that will then resize to the max size of the SD card on boot)

Installation (Linux machine / Win10/11 WSL2 or virtual box):

wget https://raw.githubusercontent.com/Drewsif/PiShrink/master/pishrink.sh
chmod +x pishrink.sh
sudo mv pishrink.sh /usr/local/bin

Usage :

sudo pishrink.sh xxxx.img

You can backup / share this compressed image.

4.6. Configuration current issues

I can’t find my IP address

By default the ip address is static and is 192.168.100.100, if you have modified and lost the IP Address :

Install bonjour service on windows : https://support.apple.com/kb/DL999?locale=en_US

ssh quantum@quantum.local   -> Default password=austral
ifconfig

Install nmap : https://nmap.org/download.html Launch nmap to scan all DHCP ip addresses

nmap -sn 192.168.100.0/24

I have an SSH error ‘ECDSA host key for quantum.local has changed ‘

ssh-keygen -R quantum.local

The configure.sh script don’t work

5. TEST THE PERIPHERALS

5.1. Get the system configuration

Linux :

uname -a                -> Linux Version (quantum 5.15.32-v8+ #1538 SMP PREEMPT Thu Mar 31 19:40:39 BST 2022 aarch64 GNU/Linux)
cat /etc/os-release     -> Debian version (PRETTY_NAME="Debian GNU/Linux 11 (bullseye)")
cat /etc/debian_version -> Debian version (11.3)

Memories :

cat /etc/fstab      -> Partitions
df -h               -> Disk usage

Cores :

htop                        -> Processors & Memory usage
cat /proc/cpuinfo           -> Processors models
vcgencmd measure_temp       -> Cores temperature
vcgencmd measure_clock arm  -> Current clock speed. you can try : arm core h264 isp v3d uart pwm emmc pixel vec hdmi dpi
vcgencmd measure_volts core -> Current Cores voltage
cat /sys/devices/system/cpu/cpu0/cpufreq/scaling_cur_freq -> Current clock
cat /sys/devices/system/cpu/cpu0/cpufreq/scaling_min_freq -> Min Clock
cat /sys/devices/system/cpu/cpu0/cpufreq/scaling_max_freq -> Max Clock

Debug :

 dmesg                      -> View the system Log

5.2. Change the system configuration 

sudo raspi-config

Enable/Disable a config in command line here

Documentation

5.3. Ethernet

by default the ip address is static and is 192.168.100.100

To change IP :

sudo nano /etc/dhcpcd.conf

# Example static IP configuration:
interface eth0
static ip_address=192.168.100.100/24

To use DHCP :

# Example static IP configuration:
#interface eth0
#static ip_address=192.168.100.100/24

5.4. Wifi

To get the wifi IP address:

ipconfig

To get the access point status:

iwconfig ### 5.5. Samba file server <a name="samba"></a>

The default samba setting share the /home/quantum/git directory for development purposes.

We recommend adding a network drive ‘Q’ on Windows :

Address: \\AUSTRAL\quantum
Login: quantum
password: pass (default)

To add or change a share directory:

sudo nano /etc/samba/smb.conf

Add at the end of smb.conf:

[myShare]
path = /myDirectory
writeable = yes
create mask = 0700
directory mask = 0700
public = no

Allow users to access share folders or change the default password:

sudo smbpasswd -a quantum    -> Default password : pass

Restart service after smb.conf modifications :

sudo systemctl restart smbd

Service status :

sudo systemctl status smbd.service

Stop the Samba service :

sudo systemctl stop smbd.service

Get samba configuration :

testparm -s

The default smb.conf is set for the WORKGROUP domain, to get the windows domain name :

net config workstation

5.6. Serials

Pinouts :

Pinouts

List all the ports:

ls -l /dev/tty*

You must see the 3 used ports:

/dev/ttyS0
/dev/ttyAMA1
/dev/ttyAMA2

You can test the ports with minicom :

sudo apt update -y
sudo apt install minicom -y
sudo minicom -D /dev/ttyS0

You can also test in bash command :

COM2 = ttyAMA1 : RS232 port (uart3 with CTS for PPS input on GPIO6) :

# Configure
stty -F /dev/ttyAMA1 speed 4800 cs8 -cstopb -parenb

# Read
cat /dev/ttyAMA1

# Write
echo -e "TX COM2 Working \x0D\x0A" > /dev/ttyAMA1

COM3 = ttyAMA2: RS232 port (uart5) :

# Configure
stty -F /dev/ttyAMA2 speed 4800 cs8 -cstopb -parenb

# Read
cat /dev/ttyAMA2

# Write
echo -e "TX COM3 Working \x0D\x0A" > /dev/ttyAMA2

COM1 = ttyS0 : Multifunction port (uart1 with hardware RTS1 and a RS485/MODBUS/422 selection) :

By default this port is configured in RS232 with RTS.
RS485_MODE (GPIO24) is used for RS485/MODBUS/RS422 selection.
RTS1 (GPIO17) is used for the high/low impedance control in RS485/MODBUS mode.

!!!! Warning : If you have an isolated hardware, connect your ground wire to COM1-GND !!!!

# Set RS485_MODE (GPIO24) ports as output
echo "24" > /sys/class/gpio/export
echo "out" > /sys/class/gpio/gpio24/direction

# Then configure in RS232 mode 
echo "0" > /sys/class/gpio/gpio24/value

# Or configure in RS485 mode
echo "1" > /sys/class/gpio/gpio24/value    
   
# Configure
stty -F /dev/ttyS0 speed 4800 cs8 -cstopb -parenb

# Read
cat /dev/ttyS0

# Write
echo -e "TX COM1 Working \x0D\x0A" > /dev/ttyS0

Replace COM1 with the linux serial console :

For debug purposes, you can activate/desactivate a debug console with

sudo raspi-config

Interface Options -> Serial Port -> Shell accessible over serial -> Yes

5.7. CANbus

Verify the configuration :

 ifconfig

You must see can0, can1 and vcan0 peripherals, and rx/tx packets status. Alias :

You can also see the status with :

ip -s -d link show can0
ip -s -d link show can1

You can check for a hardware problem with :

dmesg | grep -i -E "(mcp|spi)"

Must give :

[    8.719339] mcp251x spi1.2 can0: MCP2515 successfully initialized.
[    8.745038] mcp251x spi0.1 can1: MCP2515 successfully initialized.

Change baudrate :

sudo /sbin/ip link set can0 up type can bitrate 250000

Receive sentences test :

candump can1       -> CAN1 (PowerIn near Ethernet M12)
candump can0       -> CAN2 (Isolated near Serials M12)

Transmit sentences test :

cansend can1 7DF#0201050000000000
cansend can0 7DF#0201050000000000

Pthon example : https://www.waveshare.com/wiki/2-CH_CAN_HAT#.E3.80.90Python_example.E3.80.91

5.8. Real Time Clock

To verify the RTC chip response on I2C bus :

sudo i2cdetect -y 1

You must see UU or 68 at Address 0x68

To program the RTC :

sudo hwclock -D -r
date
sudo hwclock -w
sudo hwclock -r

5.9. Logo backlight

To test the LED :

# Set Led port as output
echo "27" > /sys/class/gpio/export
echo "out" > /sys/class/gpio/gpio27/direction

# Led ON 
echo "1" > /sys/class/gpio/gpio27/value

#led OFF
echo "0" > /sys/class/gpio/gpio27/value

5.10. Bluetooth

Bluetooth allows you to connect a GNSS, a Remote control… to the Quantum CM4 or transform it to a voice assistant.
How to

5.11. Watchdog and OverTemperature

Tutorial : https://medium.com/@arslion/enabling-watchdog-on-raspberry-pi-b7e574dcba6b

Settings :

sudo nano /etc/watchdog.conf
sudo nano /etc/default/watchdog

Start the service :

sudo systemctl start watchdog

5.12. Optional PWM

COM3-TXD (TXD5) output may be use as PWM0 (PIN 6 of the M12 connector).
Note: With a factory hardware modification PWM0 can also replace PWR-OUT on the PIN5 of the M12 connector.

Contact us for more information.

5.13. Thermal Stress Test

If your installation does not follow the recommendations (bare boards, flat mounting…), you must do a thermal test under load.

Stress the CPUs:

sudo apt install stress-ng mesa-util
stress-ng --cpu 0 --cpu-method fft

Open 3 others consoles and verify the CPUs Temperature, the current cores clocks speed (1500Mhz) and the throttle:

watch -n 1 vcgencmd measure_temp
watch -n 1 vcgencmd measure_clock arm
watch -n 1 vcgencmd get_throttled

Throttle Status :

0: under-voltage
1: arm frequency capped
2: currently throttled 
16: under-voltage has occurred
17: arm frequency capped has occurred
18: throttling has occurred

under-voltage occurs when voltage drops below 4.63V. The Quantum is throttled arm frequency capped occurs with temp > 80’C over-temperature occurs with temp > 85’C. The Quantum is throttled Throttling removes turbo mode, which reduces core voltage, and sets arm and gpu frequencies to non-turbo value. Capping just limits the arm frequency (somewhere between 600MHz and 1200MHz) to try to avoid throttling. If you are throttled and not under-voltage then you can assume over-temperature. (confirm with vcgencmd measure_temp).

Notes :

You can view the 3 informations using a bash script :

while :
do
  vcgencmd measure_clock arm
  vcgencmd measure_temp
  vcgencmd get_throttled
  sleep 1
  echo ''
done

You can also lauch a python script to log a long test in a csv file :

from gpiozero import CPUTemperature
from time import sleep, strftime, time

with open("/home/quantum/cpu_temp.csv", "a") as log:
while True:
    cpu = CPUTemperature()
    log.write("{0},{1}\n".format(strftime("%Y-%m-%d %H:%M:%S"),str(cpu.temperature)))
    sleep(1)

6. Applications

6.1. Remove Applications

Remove applications you installed with apt-get with:

sudo apt-get –purge remove APPNAME    (replace APPNAME with the name of the app you want to remove)

To remove possible application orphans:

sudo apt-get autoremove –purge

6.2. Tools

Minicom is a simple terminal usefull to scan serials

sudo apt update -y
sudo apt install minicom -y
sudo minicom -D /dev/ttyS0

6.3 Protocols

6.4 Databases

6.5 Frameworks

Disclaimers

Copyright (C) 2022 Austral Electronics SARL. Changes to the specifications and features in this manual may be made by Austral without prior notice. Specifications and information provided in this manual are for informational use only. Austral assumes no responsibility or liability for any errors or inaccuracies that may appear in this manual including the product & / or software. All trademarks mentioned in this manual are property of their respective owners. This product contains copyrighted software which are released under multiple open source licenses including but not limited to the GNU GPL, LGPL, and MIT BSD licenses. Such software is provided without warranty. Copies of these licenses are included in the software itself in further detail. For the latest up to date information, please visit our Github Repository at https://github.com/austral-electronics/QuantumCM4

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