The Zebra’s numerous input and output options provide easy-to-implement system communication and peripheral connectivity. Basic on-board features are shown here. There are many different protocols available for CAN interfaces. The Yocto build for Zebra includes FlexCAN that implements the CAN protocol according to the CAN 2.0B protocol specification. Additionally, there are Pulse Width Modulation (PWM) outputs which are shared with the GPIO lines. Note that the use of the PWMs reduces the available GPIO lines. Zebra may be customized with an optional 6-axis sensor with integrated linear accelerometer and magnetometer. The functions include: Acceleration event for freefall and motion detection, transient detection, vector-magnitude change detection, pulse and tap detection (single and double), and orientation detection (portrait/landscape). The magnetic event functions include: threshold detection, vector-magnitude change detection, autonomous magnetic min/max detection, and autonomous hard-iron calibration. The on-board mikroBUS™ socket accepts a variety of low cost plug-in modules such as Wi-Fi modems, sensors, storage devices, and other small sized plug-in cards for added flexibility.