Transcript
Coyote (BL2500) C-Programmable Single-Board Computer with Ethernet
User’s Manual 019–0120_M
BL2500 User’s Manual Part Number 019-0120 • Printed in U.S.A. ©2002–2010 Digi International Inc. • All rights reserved. Digi International reserves the right to make changes and improvements to its products without providing notice.
Trademarks Rabbit and Dynamic C are registered trademarks of Digi International Inc. Rabbit 3000, RabbitCore, and RabbitNet are trademarks of Digi International Inc. The latest revision of this manual is available on the Rabbit Web site, www.rabbit.com.
Digi International Inc. www.rabbit.com
Coyote (BL2500)
TABLE OF CONTENTS Chapter 1. Introduction
1
1.1 Features .................................................................................................................................................1 1.1.1 OEM Versions...............................................................................................................................2 1.2 Development and Evaluation Tools......................................................................................................3 1.2.1 Development Kit ...........................................................................................................................3 1.2.2 Software ........................................................................................................................................4 1.2.3 Connectivity Tools........................................................................................................................4 1.2.4 DIN Rail Mounting .......................................................................................................................5 1.3 RabbitNet Peripheral Cards ..................................................................................................................6 1.4 CE Compliance .....................................................................................................................................7 1.4.1 Design Guidelines .........................................................................................................................8 1.4.2 Interfacing the BL2500 to Other Devices .....................................................................................8
Chapter 2. Getting Started
9
2.1 Preparing the BL2500 for Development...............................................................................................9 2.2 BL2500 Connections ..........................................................................................................................10 2.2.1 Hardware Reset ...........................................................................................................................12 2.3 Installing Dynamic C ..........................................................................................................................13 2.4 Starting Dynamic C ............................................................................................................................14 2.5 PONG.C ..............................................................................................................................................15 2.6 Where Do I Go From Here? ...............................................................................................................15 2.7 Using the Coyote In High-Vibration Environments ...........................................................................16
Chapter 3. Subsystems
17
3.1 Coyote Pinouts ....................................................................................................................................18 3.1.1 Headers........................................................................................................................................19 3.2 Indicators ............................................................................................................................................20 3.2.1 LEDs ...........................................................................................................................................20 3.3 Digital I/O ...........................................................................................................................................21 3.3.1 Digital Inputs...............................................................................................................................21 3.3.2 Digital Outputs ............................................................................................................................22 3.4 Analog Features ..................................................................................................................................23 3.4.1 A/D Converter.............................................................................................................................23 3.4.2 D/A Converters ...........................................................................................................................24 3.5 Serial Communication ........................................................................................................................27 3.5.1 RS-232 ........................................................................................................................................28 3.5.2 RS-485 ........................................................................................................................................29 3.5.3 Programming Port .......................................................................................................................31 3.5.4 RabbitNet Ports ...........................................................................................................................31 3.5.5 Ethernet Port ...............................................................................................................................32 3.6 Serial Programming Cable..................................................................................................................33 3.6.1 Changing Between Program Mode and Run Mode ....................................................................33 3.7 Other Hardware...................................................................................................................................34 3.7.1 Clock Doubler .............................................................................................................................34 3.7.2 Spectrum Spreader ......................................................................................................................35 3.8 Memory...............................................................................................................................................36 3.8.1 SRAM .........................................................................................................................................36 3.8.2 Flash Memory .............................................................................................................................36 User’s Manual
Chapter 4. Software
37
4.1 Running Dynamic C........................................................................................................................... 37 4.1.1 Upgrading Dynamic C................................................................................................................ 39 4.1.2 Accessing and Downloading Dynamic C Libraries ................................................................... 40 4.2 Sample Programs................................................................................................................................ 41 4.2.1 General Coyote Operation.......................................................................................................... 41 4.2.2 Digital I/O................................................................................................................................... 41 4.2.3 Serial Communication ................................................................................................................ 41 4.2.4 A/D Converter Inputs ................................................................................................................. 42 4.2.5 D/A Converter Outputs............................................................................................................... 42 4.2.6 Using System Information from the RabbitCore Module .......................................................... 43 4.2.7 Real-Time Clock ........................................................................................................................ 43 4.3 Coyote Libraries................................................................................................................................. 44 4.4 Coyote Function Calls........................................................................................................................ 45 4.4.1 Board Initialization..................................................................................................................... 45 4.4.2 Digital I/O................................................................................................................................... 46 4.4.3 LEDs........................................................................................................................................... 48 4.4.4 Serial Communication ................................................................................................................ 49 4.4.5 Analog Inputs ............................................................................................................................. 50 4.4.6 Analog Outputs........................................................................................................................... 53 4.4.7 RabbitNet Port ............................................................................................................................ 57
Chapter 5. Using the TCP/IP Features
59
5.1 TCP/IP Connections........................................................................................................................... 59 5.2 TCP/IP Sample Programs................................................................................................................... 61 5.2.1 How to Set IP Addresses in the Sample Programs..................................................................... 61 5.2.2 How to Set Up your Computer’s IP Address for a Direct Connection ...................................... 62 5.2.3 Run the PINGME.C Demo......................................................................................................... 63 5.2.4 Running More Demo Programs With a Direct Connection ....................................................... 64 5.3 Where Do I Go From Here?............................................................................................................... 64
Appendix A. Specifications
65
A.1 Electrical and Mechanical Specifications.......................................................................................... 66 A.1.1 Exclusion Zone .......................................................................................................................... 68 A.1.2 Physical Mounting..................................................................................................................... 69 A.2 Conformal Coating ............................................................................................................................ 70 A.3 Jumper Configurations ...................................................................................................................... 71 A.4 Use of Rabbit 3000 Parallel Ports ..................................................................................................... 72
Appendix B. Power Supply
75
B.1 Power Supplies .................................................................................................................................. 75 B.2 Batteries and External Battery Connections...................................................................................... 76 B.2.1 Power to VRAM Switch ............................................................................................................ 77 B.2.2 Reset Generator.......................................................................................................................... 77 B.3 Chip Select Circuit............................................................................................................................. 77 B.4 Power to Peripheral Cards ................................................................................................................. 78
Appendix C. Demonstration Board Connections
79
C.1 Assemble Wire Harness..................................................................................................................... 79 C.2 Connecting Demonstration Board ..................................................................................................... 81
Coyote (BL2500)
Appendix D. RabbitNet
85
D.1 General RabbitNet Description..........................................................................................................85 D.1.1 RabbitNet Connections ..............................................................................................................85 D.1.2 RabbitNet Peripheral Cards........................................................................................................86 D.2 Physical Implementation....................................................................................................................87 D.2.1 Control and Routing...................................................................................................................87 D.3 Function Calls ....................................................................................................................................88 D.3.1 Status Byte .................................................................................................................................94
Index
95
Schematics
99
User’s Manual
Coyote (BL2500)
1. INTRODUCTION The Coyote single-board computer gives OEM designers extremely low-cost embedded control for high-volume applications. Two standard models—one with Ethernet, one without— feature the Rabbit® 3000 microprocessor running at 29.4 MHz, with standard 256K flash and 128K SRAM. These compact boards are rich with the I/O (including one A/D input and two D/A outputs) designers need for embedded control and monitoring applications, and the Coyote's compact board size of 3.95" × 3.95" (100 × 100 mm) is easily mountable in standard 100 mm DIN rail trays. Customized BL2500 models can be manufactured in volume in OEM versions to user-specified configurations. Pin-compatible RabbitCore modules allow multiple configurations of the Coyote with Ethernet and memory options. 1.1 Features • Rabbit 3000® microprocessor operating at 29.4 MHz (option for 44.2 MHz with 10/100Base-T Ethernet interface) • 128K SRAM and 256K flash memory standard, optional 512K SRAM/512K flash • 24 digital I/O: 9 protected and filtered digital inputs, 7 high-speed protected but unfiltered digital inputs, and 8 digital outputs sinking up to 200 mA at up to 36 V DC • one 8-bit analog input channel • two 9-bit PWM analog output channels • six serial ports, including RabbitNet™ expansion ports • one 10/100-compatible RJ-45 Ethernet port with standard 10Base-T interface (optional 10/100Base-T interface) • 4 user-programmable LEDs. • battery-backed real-time clock. • watchdog supervisor. • onboard backup battery for real-time clock and SRAM User’s Manual
1
Two BL2500 models are available. Their standard features are summarized in Table 1. Table 1. BL2500 Models Feature
BL2500
BL2510
Microprocessor
Rabbit 3000® running at 29.4 MHz
Flash Memory
256K*
Static RAM
128K*
Ethernet Connections RabbitCore Module Used
Yes
No
RCM3010
RCM3110
Yes
Yes
A/D Converter Input * 512K options available
The BL2500 consists of a main board with a RabbitCore module. Refer to the RabbitCore module manuals, available on Rabbit’s Web site, for more information on the RabbitCore modules, including their schematics. Appendix A provides detailed specifications. Visit our Web site for up-to-date information about additional add-ons and features as they become available. The Web site also has the latest revision of this user’s manual. 1.1.1 OEM Versions The BL2500 and BL2510 models are also available in OEM versions as the OEM2500 and the OEM2510 (minimum quantity 500) where certain features have been removed or eliminated: • fewer digital inputs—only 16 digital I/O, with 8 protected and filtered digital inputs and 8 digital outputs sinking up to 200 mA at up to 36 V DC (no header J12) • no backup battery • no RabbitNet™ hardware—no RS-422/multiplexer chips, no RabbitNet RJ-45 jacks, no RabbitNet™ power connectors (headers J7 and J8)
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Coyote (BL2500)
1.2 Development and Evaluation Tools 1.2.1 Development Kit A Development Kit contains the hardware essentials you will need to use your BL2500/OEM2500. The items in the Development Kit and their use are as follows. • BL2500 single-board computer. • Getting Started instructions. • Dynamic C CD-ROM, with complete product documentation on disk. • Programming cable, used to connect your PC serial port to the BL2500. • 12 V AC adapter, used to power the BL2500. An AC adapter is supplied with development kits sold in the North American market. If you are using your own power supply, it must provide 8 to 40 V DC. • Demonstration Board with pushbutton switches and LEDs. The Demonstration Board can be hooked up to the BL2500 to demonstrate the I/O. • Parts to build your own wire assemblies: wire, twenty-five 0.1" crimp terminals; ten 0.156" crimp terminals; 1 × 2, 1 × 4, and 1 × 10 friction-lock connectors. • Nylon machine screws to serve as legs for the BL2500 board during development. • Rabbit 3000 Processor Easy Reference poster. • Registration card.
Figure 1. BL2500/OEM2500 Development Kit User’s Manual
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1.2.2 Software The Coyote is programmed using version 7.33 or later of Rabbit’s Dynamic C. A compatible version is included on the Development Kit CD-ROM. Web-based technical support is included at no extra charge. Dynamic C v. 9.60 includes the popular µC/OS-II real-time operating system, point-to-point protocol (PPP), FAT file system, RabbitWeb, and other select libraries that were previously sold as individual Dynamic C modules. Rabbit also offers for purchase the Rabbit Embedded Security Pack featuring the Secure Sockets Layer (SSL) and a specific Advanced Encryption Standard (AES) library. In addition to the Web-based technical support included at no extra charge, a one-year telephonebased technical support subscription is also available for purchase. Visit our Web site at www.rabbit.com for further information and complete documentation, or contact your Rabbit sales representative or authorized distributor. 1.2.3 Connectivity Tools Rabbit also has available additional tools and parts to allow you to make your own wiring assemblies in quantity to interface with the friction-lock connectors on the Coyote. • Connectivity Kit (Part No. 101-0581)—Six 1 × 10 friction-lock connectors (0.1" pitch) with sixty 0.1" crimp terminals; and two 1 × 4 friction-lock connectors (0.156" pitch) and two 1 × 2 friction-lock connectors (0.156" pitch) with fifteen 0.156" crimp terminals. Each kit contains sufficient parts to interface with one Coyote board (some parts may be left over). • Crimp tool (Part No. 998-0013) to secure wire in crimp terminals. Table 3 in Chapter 3 provides information on specific friction-lock connectors and crimp terminals to be used with the various headers on the BL2500. Contact your authorized Rabbit distributor or your sales representative for more information.
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Coyote (BL2500)
1.2.4 DIN Rail Mounting The Coyote may be mounted in 100 mm DIN rail trays as shown in Figure 2. D N/CWE PO
D 9
D 8
R 3 0
D 3
C T VCOU R
J4 GN
D
Q 3
Q 7Q 6
1
T AC K LN 1
U8
R22
R23
C35 C36
IN
Q 2
D 7
R 7 2
3
R7
9
R8 9 R1
7
5
S IS TO R S
DC
J7
Q 4
R 7
R 7 5
4
0 R2
R E
D GN
D 6D 4
D 1 0
R R R 663 64 R 8 7 4
R 6 5
R 6 9
1
AT IO N
R
D
TE R M IN
IN
C T VCOU R N/CWE PO
J8 0 8
GN
R4
R S 48 5
R PW
IN
0 9
6 R4
6 R8
GN
Inputs
GN
D
Tray Side
D
Dig
1 5
1 4
1 3
OS S CM 5, RT -48 PO RS RIAL SE
1 2
11
D GN
J9
1 0
DS
+ DC
Q 1
C16
J2 STU NOT FFED 5 3 R 5 R 7 R 6 5 R 0 R 4 R 6 5 2 6 9 1
JP
R 2
C 2
D1 Q 5
-2 RS
R 3
R 15
C1
RR 1 9 0
R 1 2
D
0 0
2
GN
0 1
DS
IN
0 2
0 U1
DC
0 3
C C 3 R 4 R 11 1 4
C VC
R 1
R 1 6
ND AG
0 4
2
1
0 5
JP
DA
C5
0 6
R R 5 8
0
0 7
32
DA
D
3
ND
GN
JP
AG
0 0
4
0
0 1
JP
AD
0 2
7 C4 JC 7
6
7
R R 81 8 0
V
0 3
3.3
0 4
3
C4
4
C34
V 3.3
S1
2 C4
C4
R76
C Rx
D
R8
1
R67
8
R7
R8
C12
R2
S2 D
C LK SC
R7
R66
S3
D
Y3
C4
R70
0 5
5
C33
U9
0 6
0
6
R71
D GN
D
GN
2 R3 9 R2 8 R2
0 7
R3
Q1
7
U5
S4
TxC
J4
8 R8
0
3
R
D
5+
48
C3
R3
PW
5
9 R8 R27
3
C27C24
D1
E
48
0 R5 1 2 R5 R5
U9
9 58 R4 8 R R4 7 R4 6 R4
LIN
C
5 R1 7 R1 2 R2
8 C3
C28
2 C2
R8
VC
2
8 R2
R2
U5
Y2
RP
4
9 C1
1 R3 0 1 R4 R4 7 R1
6
5 R5
R2 2
R9 C1
6
9
3 C3
C31
C3
2
C1
R1
0 C2 1 R2
C2
8
8
6 C2
1 BT
ry te Ba
K
+K
J1
2 R8
U6
3 C2
R1
R5
C20C21 C19 R35 R34 R32R33
4 R4 5 R4 3 R4 2 R4
R29
4
8 R1 6 R2
C1
U6
R1
8 C1
5
J3
TION
JA
5
0
R1
C17 C26 C22C24C23C25 R39 R38 R36R37
U2D
D J1
2
C1
R2
7
C29
Inputs
1
4
4
3
U4 C1
C11
GN
Dig
M
C1
R2
3
C7
T
0
C
C1
C3
R4
R5
R
0
Y1
1 M C C4
5 C1 1 C1 2 R1 1 R1
T
NE
J1
1 J1
D
ND
C9
NE
IT
CAU
OU
GR
0 C7 4 R9 3 R2 5 C1 U2R2 1 R9
C1
C8
GN E
Rx
E
Tx
C1
1
IT
JB
C1
BB
U
F Tx
F
C6
R13
J3
C6
L1 D2
RP
RA
BB Outpu ts
S1
R1
J5
RA Dig
Rx
J6 U 1
R R 7 4
R6
R TV
GN
BL2500
Modular PC Board Trays
DIN Rail
Figure 2. Mounting Coyote in DIN Rail Trays
DIN rail trays are typically mounted on DIN rails with “feet.” Table 2 lists Phoenix Contact part numbers for the DIN rail trays, rails, and feet. The tray side elements are used to keep the Coyote in place once it is inserted in a DIN rail tray, and the feet are used to mount the plastic tray on a DIN rail. Table 2. Phoenix Contact DIN Rail Mounting Components DIN Rail Mounting Component
Phoenix Contact Part Description
Phoenix Contact Part Number
Trays
UM 100-PROFIL cm*
19 59 87 4
Tray Side Elements
UM 108-SE
29 59 47 6
Foot Elements
UM 108-FE
29 59 46 3
* Length of DIN rail tray in cm
NOTE: Other major suppliers besides Phoenix Contact also offer DIN rail mounting hardware. Note that the width of the plastic tray should be 100 mm (3.95") since that is the width of the Coyote. 108 mm plastic trays may be used with spacers.
User’s Manual
5
1.3 RabbitNet Peripheral Cards RabbitNet™ is an SPI serial protocol that uses a robust RS-422 differential signalling interface (twisted-pair differential signaling) to run at a fast 1 Megabit per second serial rate. The Coyote has two RabbitNet ports, each of which can support one peripheral card. Distances between a master processor unit and peripheral cards can be up to 10 m or 33 ft. The following low-cost peripheral cards are currently available. • Digital I/O • A/D converter • D/A converter • Relay card • Display/Keypad interface Appendix D provides additional information on RabbitNet peripheral cards and the RabbitNet protocol. Visit our Web site for up-to-date information about additional add-ons and features as they become available.
6
Coyote (BL2500)
1.4 CE Compliance Equipment is generally divided into two classes. CLASS A
CLASS B
Digital equipment meant for light industrial use
Digital equipment meant for home use
Less restrictive emissions requirement: less than 40 dB µV/m at 10 m (40 dB relative to 1 µV/m) or 300 µV/m
More restrictive emissions requirement: 30 dB µV/m at 10 m or 100 µV/m
These limits apply over the range of 30–230 MHz. The limits are 7 dB higher for frequencies above 230 MHz. Although the test range goes to 1 GHz, the emissions from Rabbitbased systems at frequencies above 300 MHz are generally well below background noise levels. The BL2500 single-board computer has been tested and was found to be in conformity with the following applicable immunity and emission standards. The BL2510 and OEM single-board computers are also CE qualified as they are sub-versions of the BL2500 single-board computer. Boards that are CE-compliant have the CE mark. NOTE: Earlier versions of the BL2500 that do not have the CE mark are not CE-compliant.
Immunity The BL2500 series of single-board computers meets the following EN55024/1998 immunity standards. • EN61000-4-3 (Radiated Immunity) • EN61000-4-4 (EFT) • EN61000-4-6 (Conducted Immunity) Additional shielding or filtering may be required for a heavy industrial environment. Emissions The BL2500 series of single-board computers meets the following emission standards. • EN55022:1998 Class B • FCC Part 15 Class B Your results may vary, depending on your application, so additional shielding or filtering may be needed to maintain the Class B emission qualification.
User’s Manual
7
1.4.1 Design Guidelines Note the following requirements for incorporating the BL2500 series of single-board computers into your application to comply with CE requirements. General • The power supply provided with the Tool Kit is for development purposes only. It is the customer’s responsibility to provide a CE-compliant power supply for the end-product application. • When connecting the BL2500 single-board computer to outdoor cables, the customer is responsible for providing CE-approved surge/lightning protection. • Rabbit recommends placing digital I/O or analog cables that are 3 m or longer in a metal conduit to assist in maintaining CE compliance and to conform to good cable design practices. • When installing or servicing the BL2500, it is the responsibility of the end-user to use proper ESD precautions to prevent ESD damage to the BL2500. Safety • All inputs and outputs to and from the BL2500 series of single-board computers must not be connected to voltages exceeding SELV levels (42.4 V AC peak, or 60 V DC). • The lithium backup battery circuit on the BL2500 single-board computer has been designed to protect the battery from hazardous conditions such as reverse charging and excessive current flows. Do not disable the safety features of the design. 1.4.2 Interfacing the BL2500 to Other Devices Since the BL2500 series of single-board computers is designed to be connected to other devices, good EMC practices should be followed to ensure compliance. CE compliance is ultimately the responsibility of the integrator. Additional information, tips, and technical assistance are available from your authorized Rabbit distributor, and are also available on our Web site at www.rabbit.com.
8
Coyote (BL2500)
2. GETTING STARTED Chapter 2 explains how to connect the programming cable and power supply to the BL2500. 2.1 Preparing the BL2500 for Development Position the BL2500 as shown below in Figure 3. Attach the four nylon 4-40 × ¼ machine screws and nuts supplied with the Development Kit in the holes at the corners as shown.
C1
J1 R2
R3 R1
U1
J4
C5
R13
C3
C16
D5
C28
C16 C38
R9
R26
C14
R82
C19
R15 R17 R22
R23
R28
RP2
R27
J4
R50 R51 R52
C41
DS1
Y3
U8
GND
U10
DS2
C44 C46 C47 R46 R47
C12
R78
LNK ACT
C27
R30 C25
C35 C36
C12
R20
U6
U5 R79 R19
R24
R19
C33
U9 C34
R76
J9
R77
R20
U6
C18 R31 R40 R41
JP3
C10
R11
C11 R12 C15
Y2
C26
C30
R71
R67
R70 R58 R 66
J12
R21
R25
C9
R3
C33
JA
C6
JP2
J3
R4
C15
JP4
J7
J8
RP1
C20 R21 C23
R56
R27
DS2 DS1
R16
JP1
D1 J2
R7 R4
R6
C1 R18
C24 R33
Q1
C42
DS4 DS3
Y1R15
R14
D1
U9
R49 R48 R47 R46 R44 R45 R43 R42
R74
R72
C14
U5
C31
BT1
R55 C32
R73
R5
C4
RCM1
C13
C22
C21 C20 C19 RR35 34 R33 R32
C29
R2 R16C17C2 9 2 R2 C264 C258R39 C22 C23 R38 R37 R36
R29
ION
ry
R61
U4
C18
D9
R63 R64 R68
R75
GND
C17
D8
Q7 Q6
R30
R62
R69
C11
J11
R54 R59
C13
CAU T
Bat te D7
D10
R57
C7
R24 U2
U2
Q3
Q2
D6D4 Q4
Q5
R60
L1 C6
JB
C7
D3
Q1
R65
R1
J3 C8
R53
R9 R10 R12
J6
R5 R8 C3 C4 R11 R14
C2
J10
GND
J5
GN D
TVS1
D2
U3
GND
JC
R81 R80
RS485 TERMINATION RESISTORS
RabbitCore Module
Figure 3. Attach Nylon Screws to BL2500 Board
NOTE: You will have to remove the RabbitCore module to install one screw under the module. When replacing the RabbitCore module, it is important that you line up the pins on the module exactly with the corresponding pins on the BL2500. The header pins may become bent or damaged if the pin alignment is offset, and the module will not work. Permanent electrical damage may also result if a misaligned module is powered up.
The nylon screws serve as standoffs to facilitate handling the BL2500 during development, and protect the bottom of the printed circuit board against scratches or short circuits while you are working with the BL2500. User’s Manual
9
2.2 BL2500 Connections 1. Connect the programming cable to download programs from your PC and to program and debug the BL2500. NOTE: Use only the programming cable that has a red shrink wrap around the RS-232 level converter (Part No. 20-101-0513). If you are using a BL2500 with the optional 10/100Base-T Ethernet interface, you will need the programming cable that has a blue shrink wrap around the RS-232 level converter (Part No. 20-101-0542). Other Rabbit programming cables might not be voltage-compatible or their connector sizes may be different.
Connect the 10-pin PROG connector of the programming cable to header J3 on the BL2500’s RabbitCore module. Ensure that the colored edge lines up with pin 1 as shown. There is a small dot on the circuit board next to pin 1 of header J3. (Do not use the DIAG connector, which is used for monitoring only.) Connect the other end of the programming cable to a COM port on your PC. Make a note of the port to which you connect the cable, as Dynamic C will need to have this parameter configured. Note that COM1 on the PC is the default COM port used by Dynamic C.
U1
C1
GND
+ PWR IN
D1 J2
R7 R4
NOT STUFFED
3.3V AD0 AGND DA0 DA1 AGND VCC DCIN
C5
C4 R11 R14
J4
DCIN
RS-232
C16
R12 R11
C16
C15 R20
JP1 RP2
C19 R15 R88R17 R22
R23
C28
R50 R51 R52
R27
C26
R30 C25
Y2
R9
C14
R89
R31 R40 R41 U6 R17
R24
R19
C20 R21 C23
C24 R33
C30
J4
GND
C38
U8
R83
R81 R80
C35 C36
C42
Y3 DS2 DS1
JC C44
R87
R86
C46 R46 R47
C47
LNK ACT
U10
C41
C34 R78
R79 R85 R19
JP2
C12
C11 U6
C27
R20
C10
C9 U5
DCIN
N/C VCC POWER OUT
GND
J7
D5
GND
DS1
R21
R77
R84
C12
3.3V
RS-485, CMOS SERIAL PORTS
GND
DS2
R28
C18
C33
C33
SCLKC
U5
RxC
Dig Inputs GND
R26
U9
R27 R76
GND
DS4
DS3
R82
JP3
R23
C6
JP4
J3
PROG
485+
TxC
R22
GND
N/C VCC POWER OUT
J8
RP1
R18
C3
485
R75
J9
15
D1
R73
14
C15 R4
C4C14R5
R71
R72
13
VCC
Q1
U9
R70
12
C32
R66
R69
R74
R55
C7
R18
C22
R56
R67
11
C18
R32 R29 R28
10
R63 R64 R68
RCM1
C13
R14
R58
R65
C13
R16
R62
08
Color shrink wrap
Y1
U2
C17
R49 R48 R47 R46 R44 R45 R43 R42
J12
R61
C17C26 C25 R39 C24 C23 R38 R37 C22 R36
R60
C31
R57
GND
BT1
Dig Inputs
Programming Cable R59
D9
R30
C21 C20 R35 C19 R34 R33 R32
R54
C29
R53
07
R29
06
D8
Q6 Q7
JA R90 R24 R25
R91
U4
D10
05
09
D7
Q4
Q5
04
CAUTION
Battery
03
Q3
Q2
GND
GROUND
RCM1
C1
D6D4
02
D3
U2
Q1
01
C11
00
TxE RxE
JB R1
+K
C8
DIAG
Colored edge J11 J10
L1
R16
C6 C7
K LINE PWR
Dig Outputs
07
R15
R13
U3
06
To PC COM port
R9 R10 R12
D2
05
RxF TxF
C3
03 04
J6
R5 R8
C2
J1
R2
R3 R1
R6
02
TVS1
GND
RABBITNET
01
PROG
J5
J3
RABBITNET
GND 00
J3
NOTE: Never disconnect the programming cable by pulling on the ribbon cable. Carefully pull on the connector to remove it from the header.
GND
RS485 TERMINATION RESISTORS
Figure 4. Programming Cable Connections 10
Coyote (BL2500)
2. When all other connections have been made, you can connect power to the BL2500. Connect the AC adapter to header J2 on the BL2500 as shown in Figure 5. Match the friction lock tab on the friction-lock connector to the back of header J2 on the BL2500 as shown. The friction-lock connector will only fit one way. Development Kits sold outside North America include a friction lock friction-lock connector that may be connected to header J2 on the BL2500. Connect the leads from your power supply to the friction-lock connector to preserve the polarity indicated in Figure 5. The power supply should deliver 8 V–40 V DC at 500 mA.
+
U1
C1
GND
+ PWR IN
D1 J2
R7 R4
NOT STUFFED
3.3V AD0 AGND DA0 DA1 AGND VCC DCIN
R2
R3 R1
R6
C4 R11 R14
DCIN
R20
C30 C38
R87
R81 R80
U8 R86
U10
C35 C36
R78
R79
C42
JP1 JP2
Y3 JC
C46 R46 R47
C47
JP3 LNK ACT
R20
R83
C44
N/C VCC POWER OUT
GND
J7
R21
R77
R84
R85 R19
J4
GND
C41
GND
DS1
C34
DS2
C12
3.3V
RS-485, CMOS SERIAL PORTS
GND
U5
RxC
DS3
SCLKC
C33
J9
Dig Inputs GND
JP4 R27
C26
R30 C25
C24 R33
Y2
RP2
C19 R15 R88R17 R22
R23
C28
C33
R89
R31 R40 R41 U6 R17
R24
R19
R50 R51 R52
R9
C14
U9
R27 R76
GND
DS4
RS-232
C16
U5
U9
C16
C15
Q1
C20 R21 C23
R71
485+
TxC
R28
R12 R11
C22
R26
C12
C11 U6
R18
485
R75
R82
C10
C9
C27
D1
C18
R32 R29 R28
VCC
C6
C18
R14
R16
C32
R18
C3
DS2 DS1
DCIN
D5
J3
C15 R4
C4C14R5
R23
RP1
C7
R22
GND
N/C VCC POWER OUT
J8
C1
R55
R70
R73
R74
RCM1
C13
U4
R72
13
C17
R56
R66
12
R63 R64 R68
R67
R69
C13
R58
10
Y1
U2
R49 R48 R47 R46 R44 R45 R43 R42
R65
C17C26 C25 R39 C24 C23 R38 R37 C22 R36
R61
R62
08
15
R30
C21 C20 R35 C19 R34 R33 R32
J12
R59
D9
C31
R60
JA
R91
BT1
Dig Inputs
R57
GND
C29
R53
07
R54
GND
GROUND
RCM1 R90 R24 R25
D8
Q6 Q7
R29
06
CAUTION
D10
05
14
D7
Q4
Q5
04
11
Q3
Q2
Battery
02 03
C11
D6D4
TxE RxE
JB R1
C8 D3
Q1
01
R16
C6
U2
00
L1
C7
+K
J11 J10
K LINE PWR
Dig Outputs
07
R15
R13
U3
06
09
R9 R10 R12
D2
05
RxF TxF
C3
03 04
J6
R5 R8
C2
C5
J4
02
TVS1
J1
RABBITNET
01
GND
J5
J3
RABBITNET
GND 00
GND
RS485 TERMINATION RESISTORS
Figure 5. Power Supply Connections
User’s Manual
11
3. Apply power. Plug in the AC adapter. CAUTION: Unplug the power supply while you make or otherwise work with the connections to the headers. This will protect your BL2500 from inadvertent shorts or power spikes.
2.2.1 Hardware Reset A hardware reset is done by unplugging the AC adapter, then plugging it back in, or by shorting out the reset pads on the back of the BL2500 (see Figure 6).
RESET pads
RESET
© 2004 Z-WORLD, INC.
175-0295
Figure 6. Location of RESET Pads
12
Coyote (BL2500)
2.3 Installing Dynamic C If you have not yet installed Dynamic C version 7.33 (or a later version), do so now by inserting the Dynamic C CD from the BL2500/OEM2500 Development Kit in your PC’s CD-ROM drive. The CD will auto-install unless you have disabled auto-install on your PC. If the CD does not auto-install, click Start > Run from the Windows Start button and browse for the Dynamic C setup.exe file on your CD drive. Click OK to begin the installation once you have selected the setup.exe file. The online documentation is installed along with Dynamic C, and an icon for the documentation menu is placed on the workstation’s desktop. Double-click this icon to reach the menu. If the icon is missing, create a new desktop icon that points to default.htm in the docs folder, found in the Dynamic C installation folder. The latest versions of all documents are always available for free, unregistered download from our Web sites as well. The Dynamic C User’s Manual provides detailed instructions for the installation of Dynamic C and any future upgrades. NOTE: If you have an earlier version of Dynamic C already installed, the default installation of the later version will be in a different folder, and a separate icon will appear on your desktop.
User’s Manual
13
2.4 Starting Dynamic C Once the BL2500 is connected to your PC and to a power source, start Dynamic C by double-clicking on the Dynamic C icon on your desktop or in your Start menu. Dynamic C defaults to using the serial port on your PC that you specified during installation. If the port setting is correct, Dynamic C should detect the BL2500 and go through a sequence of steps to cold-boot the BL2500 and to compile the BIOS. (Some versions of Dynamic C will not do the initial BIOS compile and load until the first time you compile a program.) If you receive the message No Rabbit Processor Detected, the programming cable may be connected to the wrong COM port, a connection may be faulty, or the target system may not be powered up. First, check both ends of the programming cable to ensure that it is firmly plugged into the PC and the programming port. If there are no faults with the hardware, select a different COM port within Dynamic C. From the Options menu, select Communications. Select another COM port from the list, then click OK. Press to force Dynamic C to recompile the BIOS. If Dynamic C still reports it is unable to locate the target system, repeat the above steps until you locate the active COM port. You should receive a Bios compiled successfully message once this step is completed successfully. If Dynamic C appears to compile the BIOS successfully, but you then receive a communication error message when you compile and load a sample program, it is possible that your PC cannot handle the higher program-loading baud rate. Try changing the maximum download rate to a slower baud rate as follows. • Locate the Serial Options dialog in the Dynamic C Options > Communications menu. Select a slower Max download baud rate. If a program compiles and loads, but then loses target communication before you can begin debugging, it is possible that your PC cannot handle the default debugging baud rate. Try lowering the debugging baud rate as follows. • Locate the Serial Options dialog in the Dynamic C Options > Communications menu. Choose a lower debug baud rate.
14
Coyote (BL2500)
2.5 PONG.C You are now ready to test your set-up by running a sample program. Find the file PONG.C, which is in the Dynamic C SAMPLES folder. To run the program, open it with the File menu (if it is not still open), compile it using the Compile menu, and then run it by selecting Run in the Run menu. The STDIO window will open on the PC and will display a small square bouncing around in a box. This program shows that the CPU is working. The sample program described in Section 5.2.3, “Run the PINGME.C Demo,” tests the TCP/IP portion of the board.
2.6 Where Do I Go From Here? NOTE: If you purchased your BL2500 through a distributor or Rabbit partner, contact the distributor or partner first for technical support.
If there are any problems at this point: • Use the Dynamic C Help menu to get further assistance with Dynamic C. • Check the Rabbit Technical Bulletin Board and forums at www.rabbit.com/support/bb/ and at www.rabbit.com/forums/. • Use the Technical Support e-mail form at www.rabbit.com/support/. If the sample program ran fine, you are now ready to go on to explore other BL2500 features and develop your own applications. Chapter 3, “Subsystems,” provides a description of the BL2500’s features, Chapter 4, “Software,” describes the Dynamic C software libraries and introduces some sample programs. Chapter 5, “Using the TCP/IP Features,” explains the TCP/IP features.
User’s Manual
15
2.7 Using the Coyote In High-Vibration Environments If you plan to use your Coyote in a high-vibration environment, the RabbitCore module may be secured more solidly to a swage on the Coyote main board using a 2-56 × ¼" machine screw as shown in Figure 7.
3.3V AD0 AGND DA0 DA1 AGND VCC DCIN
C1
GND
+ PWR IN
D1 J2
J4
32
RS-2
JP1 JP2
R23
R22 R28
JP3
RP2
JP4
C16
C16
R18
R26 R9
R82 C14
R89
R27
R88 J4
Y3
DCIN
N/C VCC POWER OUT
GND
DCIN
GND
N/C VCC POWER OUT
J7
J8 D5
S1 DS2 D
U10 C46 C47 R46 R47 JC
ACT
U8
R83
LNK
N STUOT FFE D
R7 R4
C5
C6
C12
C35 C36
U1
C3
C10
R86
C44
R85
GND
GND
C33
U9 C34
R78
R79
R19
RxE
R15 R17 R22
R23
R30 C25
C38
C41
R67
R71 R70 R58 R 66
R20
R20
C28
R49 R48 R47 R46 R44 R4 R435 R42
GND
R21
C26
R50 R51 R52
RxF TxF
TxE
GROUND
C19
U6
C18 R31 R40 R41 R17
C30
R77
R84
C12
3.3V
RS-4 SER 85, CM IAL OS POR TS
DS2
Y2
C42
R27
U5
RxC
SCLKC
DS1
R24
C C33
R16
C15
U6
R19
C2427 R33
R29R32
Q1
R56
R76
J9
Dig Inpu ts GND
R13
C9
U5
CR
D1
C31
GND
DS4
DS3
C20 R21 C23
C22
BT1
485+
TxC
R4
C11 R12 C15 R11
U4
C 2 C210 C19 RR35 3 R34 R323
171C6 R2 2 C26 C2 R 8 C224 C235 R339 R38 R367
R29
TION
R73
R6
J3
U2
CAU
Ba
C32 VCC
R18
R15
Y1
RCM1 C14
J6
R5 R8 C3 C4 R11 R14
JA
RCM1 R5 C4
R14
485
R75
GND
C18
D9
R55
R74
R69
C13
C17
U9
R72
14
C29
R61
R63 R64 R68
R65
15
R30
C7
R90 U2R24 R25 C13 R91
D8
Q7 Q6
R62
09 10
D7
tter y
J12
R59
C11
R
Dig Inpu ts
R57 R60
GND
11
Q3
Q2
D10
R54
R53
08
12
D3 D6D4
RP1
PW
04 05 06
13
C8
Q4
Q5
C1
INE Q1
01 02 03
L1 C6
JB
C7
KL
Dig Outpu ts
J11 J10 00
R1
06
07
R9 R10 R12
U3
07
R2
R3 R1
C2
D2
05
+K
J1
BIT NET
RAB
ITN ET
J3 03 04
TVS1
GND
J5
D
RAB B
GN 00 01 02
GND
R87
R81 R80
RS485 TERMINATION RESISTORS
Figure 7. Secure RabbitCore Module to Coyote for High-Vibration Environments
16
Coyote (BL2500)
3. SUBSYSTEMS Chapter 3 describes the principal subsystems for the Coyote. • Digital I/O • Analog Features • Serial Communication • Memory Figure 8 shows these Rabbit-based subsystems designed into the Coyote.
32 kHz 14 MHz osc osc
SRAM Flash
®
RABBIT 3000
Programming Port
Digital Inputs
RS-232 RS-485
Digital Outputs
A/D Converter
Ethernet
(BL2500/BL2550)
RabbitCore Module
Analog Outputs
Figure 8. Coyote Subsystems
The memory and microprocessor are located on the RabbitCore module. If you have more than one Coyote or other Rabbit products built around RabbitCore modules, take care not to swap the RabbitCore modules since they contain system ID block information and calibration constants that are unique to the board they were originally installed on. It is a good idea to save the calibration constants should you need to replace a RabbitCore module in the future. See Section 4.2.6, “Using System Information from the RabbitCore Module,” for more information.
User’s Manual
17
3.1 Coyote Pinouts The Coyote pinouts are shown in Figure 9.
RabbitNet
GND
TxE RxE
DCIN
n.c.
GND
JP1 R4 C3
R5
C6
JP2
C4
C12 C16
C11 C15 R12 R11
R9 C14
RP2
R20
C20 R21 C23
R24
R19
R16
R18
JP4
U5
R14
C18
R23
Y2
R27
C26
J4 C38
RS-485 C42
Y3
C44
DS4 DS3 DS2 DS1
DS2 DS1
Clocked CMOS
Ethernet C41
GND
C33
R30 C25
Vcc RS-485+ RS-485 GND TxC RxC CLKC +3.3 V
Q1
C24 R33
R32 R29 R28
U9
C19 R15 R17 R22
U6
C22
J12 J9
JP3
C10
C9
C13
C17
C46 R46 R47
C47
LNK ACT
DCIN
n.c.
Vcc
Vcc
J3
C7
U2
D1
GND
Y1
RP1
CAUTION
Digital Inputs
RS-232
C1
J11
GND IN08 IN09 IN10 IN11 IN12 IN13 IN14 IN15
J6
J8
J7 J10 Battery
Digital Inputs
IN00 IN01 IN02 IN03 IN04 IN05 IN06 IN07
+K GND
J1
R1
K
+K
GND
Digital Outputs
J2
GND
J3 OUT0 OUT1 OUT2 OUT3 OUT4 OUT5 OUT6 OUT7
RxF TxF
GND
Power Supply
DCIN Vcc GND DA1 DA0 AGND AD0 +3.3 V
J5
Analog Input
DCIN
J4
Analog Ground
Analog Outputs
GND
Figure 9. Coyote Pinouts
18
Coyote (BL2500)
3.1.1 Headers Standard Coyote models are equipped with five 1 × 10 friction-lock connector terminals (J1, J3, J9, J11, and J12) where pin 9 is removed to polarize the connector terminals, a 2 × 5 RS-232 signal header, a 2 × 5 programming header, and an RJ-45 Ethernet jack on the RabbitCore module. The RJ-45 jacks at J4 and J5 labeled RabbitNet are serial I/O expansion ports for use with digital I/O and analog I/O boards currently being developed. The RabbitNet jacks do not support Ethernet connections. Be careful to connect your Ethernet cable to the jack labeled Ethernet. Two 4-pin 0.156" friction-lock connector terminals at J7 and J8 are installed to supply power (DCIN and +5 V) to the peripheral cards currently being developed for use with the RabbitNet. Two 2-pin 0.156" friction-lock connector terminals at J2 and J10 are for power supply and +K connections. Table 3 lists Molex connector part numbers for the crimp terminals, housings, and polarizing keys needed to assemble female friction-lock connector assemblies for use with their male counterparts on the BL2500. Table 3. Female Friction-Lock Connector Parts Friction-Lock Connector
Used with BL2500 Headers
Molex Housing Part Number
Molex Crimp Terminals
Molex Polarizing Keys
0.1" 1 × 10
J1, J3, J9, J11, J12
22-01-2107
08-50-0113
15-04-9209
0.156" 1 × 4
J7, J8
09-50-3041 08-50-0108
15-04-0219
0.156" 1 × 2
J2, J10
09-50-3021
User’s Manual
19
3.2 Indicators 3.2.1 LEDs The Coyote’s RabbitCore module has two LEDs next to the RJ-45 Ethernet jack, one to indicate an Ethernet link (LNK) and one to indicate Ethernet activity (ACT). User-programmable LEDs driven by the Rabbit 3000 • DS1—PB6 (yellow), • DS2—PB7 (red), • DS3—PA7 (yellow), and • DS4—PA6 (yellow) are also provided.
20
Coyote (BL2500)
3.3 Digital I/O 3.3.1 Digital Inputs The Coyote has 16 digital inputs, IN00–IN15. IN00–IN13 and IN15 are each protected over a range of –36 V to +36 V, and IN14 is protected over a range of –36 V to +5 V. The inputs are factory-configured to be pulled up to +3.3 V; IN00–IN07 can also be pulled up to +K or they can be pulled down to 0 V by changing a surface-mounted 0 resistor. Figure 10 shows a sample digital input circuit. IN00-IN07 and IN15 are protected against noise spikes by a low-pass filter composed of a 22 k series resistor and a 10 nF capacitor.
+K R55 R56 R58
+3.3 V
0W
Factory Default
100 kW
22 kW 10 nF
Rabbit 3000 Microprocessor
GND
Figure 10. Coyote Digital Inputs [Pulled Up—Factory Default]
The actual switching threshold between a zero and a one is between 0.9 V and 2.3 V for all 16 inputs. IN00–IN13 and IN15 are each fully protected over a range of -36 V to +36 V, and can handle short spikes of ±40 V. IN14 is protected over a range of -36 V to +5 V.
Normal Switching Levels
+40 V
Digital Input Voltage
Coyote series boards can be made to order in volume with the digital inputs pulled up to +K or pulled down to 0 V. Contact your authorized Rabbit distributor or your sales representative at for more information.
+36 V
Spikes Spikes
+3.3 V
40 V
Spikes
Figure 11. Coyote Digital Input Protected Range
User’s Manual
21
3.3.2 Digital Outputs The Coyote has eight digital outputs, OUT0–OUT7, each of which can sink up to 200 mA. Figure 12 shows a wiring diagram for using the digital outputs in a sinking configuration.
SINKING OUTPUTS
+K
Current Flow
Figure 12. Coyote Digital Outputs
+K is an externally supplied voltage of 3.3–40 V DC, and should be capable of delivering all the load currents. Although a connection to a +K supply is not absolutely required with sinking outputs, it is highly recommended to protect against current spikes when driving inductive loads such as relays and solenoids. Connect the positive +K supply to pin 1 of friction-lock connector terminal J10 and the negative side of the supply to pin 2 of friction-lock connector terminal J10. A friction-lock connector is recommended to connect this supply because the +K inputs are not protected against reverse polarity, and serious damage to the Coyote may result if you connect this supply backwards.
22
Coyote (BL2500)
3.4 Analog Features 3.4.1 A/D Converter The A/D converter, shown in Figure 13, compares the DA0 voltage to AD0, the voltage presented to the A/D converter. DA0 therefore cannot be used for the D/A converter when the A/D converter is being used. +3.3 V R11 24.9 kW
AD0
2
R14 100 W
DA0
R1 100 W
C4 100 nF
3
R5 10 kW
6 5
R8 24.9 kW
DA0 too low
LM324
8
10 kW
+
LM324
+
R16
14
R2 10 kW
PB2
PB3
DA0 too high
Figure 13. Schematic Diagram of A/D Converter
The A/D converter programs DA0 using a successive-approximation binary search until DA0 equals the A/D converter input voltage. That programmed DA0 voltage is then reported as the A/D converter value. The A/D converter transforms the voltage at DA0 into a 13.2 mV window around DA0. Because the A/D converter circuit uses a 13.2 mV window, the accuracy is ±6.6 mV. DA0 can range from 0.1 V to 3.1 V, which represents 227 steps of 13.2 mV. This represents an accuracy of approximately 8 bits. Since the D/A converter is able to change the DA0 output in 3.22 mV steps, there are 930 steps over the range from 0.1 V to 3.1 V. This represents a resolution of more than 9 bits. For example, if DA0 is 1.650 V, the window in the A/D converter would be 1.643 V to 1.657 V. If AD0 > 1.657 V, PB2 would read high and PB3 would read low. If 1.643 V < AD0 < 1.657 V, PB2 would read low and PB3 would read low. This is the case when the A/D input is exactly the same as DA0. If AD0 < 1.643 V, PB2 would read low and PB3 would read high. The A/D converter input, AD0, is the same as DA0 only when both PB2 and PB3 are low. PB3 can be imagined to be a “DA0 voltage is too high” indicator. If DA0 is larger than the analog voltage presented at AD0, then PB3 will be true (high). If this happens, the program will need to reduce the DA0 voltage.
User’s Manual
23
PB2 can be imagined to be a “DA0 voltage is too low” indicator. If DA0 is smaller than the analog voltage presented at AD0, then PB2 will be true (high). If this happens, the program will need to raise the DA0 voltage. The A/D converter has no reference voltage. There is a relative accuracy between measurements, but no absolute accuracy without calibration. This is because the +3.3 V supply can vary ±5%, the pulse-width modulated outputs might not reach the full 0 V and 3.3 V rails out of the Rabbit 3000 microprocessor, and the gain resistors used in the circuit have a 1% tolerance. For these reasons, each Coyote needs to be calibrated individually, with the constants held in software, to be able to rely on an absolute accuracy. The Coyote has this calibration support. An A/D conversion takes less than 100 ms with a 29.4 MHz Coyote. 3.4.2 D/A Converters Two D/A converter outputs, DA0 and DA1, are supplied on the Coyote. These are shown in Figure 14. R6
DA0
24.9 kW 8
9
+
10
LM324
R4 1.0 kW
R7 C2 100 nF
24.9 kW
PF6 R12 10 kW
R13
DA1
24.9 kW 14
R15 1.0 kW
13
+
12
LM324
R10 C5 100 nF
24.9 kW
PF7
R9 10 kW
Figure 14. Schematic Diagram of D/A Converters
The D/A converters have no reference voltage. Although they may be fairly accurate from one programmed voltage to the next, they do not have absolute accuracy. This is because the +3.3 V supply can change ±5%, the PWM outputs might not achieve the full 0 V and 3.3 V rail out of the processor, and the gain resistors in the circuit have a 1% tolerance. The D/A converters therefore need individual calibration, with the calibration constants held in software before absolute accuracy can be relied on. The Coyote has such calibration. Note that DA0 is used to provide a reference voltage for the A/D converter and is unavailable for D/A conversion when the A/D converter is being used.
24
Coyote (BL2500)
Pulse-width modulation (PWM) is used for the D/A conversion. The digital signal, which is either 0 V or 3.3 V, will be a train of pulses. This means that if the signal is taken to be usually at 0 V (or ground), the pulses will be some 3.3 V pulses of varying width. The voltage will be 0 V for a given time, then jump to 3.3 V for a given time, then back to ground for a given time, then back to 3.3 V, and so on. A hardware filter that consists of a resistor and capacitor averages the 3.3 V signal and the 0 V signal over time. Therefore, if the time that the signal is at 3.3 V is equal to the time the signal is 0 V, the duty cycle will be 50%, and the average signal will be 1.65 V. If the time at 3.3 V is only 25% of the time, then the average voltage will be 0.825 V. Thus, the software needs to only vary the time the signal is at 3.3 V with respect to the time the signal is at 0 V to achieve any desired voltage between 0 and 3.3 V. It is very easy to do pulse-width modulation with the Rabbit 3000 microprocessor because the chip’s architecture includes an advanced PWM feature. 3.4.2.1 DA0 and DA1
The RC networks supporting DA0 and DA1 converts pulse-width modulated signals to an analog voltage between 0 V and 3.3 V. A digital signal that varies with time is fed from PF6 or PF7. The resolution of the DA0 or DA1 output depends on the smallest increment of time to change the on/off time (the time between 3.3 V and 0 V). The Coyote uses the Rabbit 3000’s Port F control registers to clock out the signal at a timer timeout. The dedicated PWM hardware has 10 bits of resolution, and so that the voltage can be varied in 1/1024 increments. The resolution is thus about 3 mV (3.3 V/1024). R6 and R13 are present solely to balance the op amp input current bias. R4 and R15 help to achieve a voltage close to ground for a 0% duty cycle. A design constraint dictates how fast the PWM hardware must run. The hardware filter has a resistor-capacitor filter that averages the 0 V and 3.3 V values. Its effect is to smooth out the digital pulse train. It cannot be perfect, and so there will be some ripple in the output voltage. The maximum signal decay between pulses will occur when DA1 is set to 1.65 V. This means the pulse train will have a 50% duty cycle. The maximum signal decay will be
1.65 V 1 – e
– t- ------ RC
where RC = 2.5 ms, and t is the pulse on or off time (not the length of the total cycle). The PWM hardware is driven at the Rabbit 3000 frequency divided by 2. The frequency achievable with a 29.4 MHz clock is (29.4 MHz/2)/1024 = 14.3 kHz. Since the Rabbit 3000 PWM spreader enhances the frequency fourfold, the effective frequency becomes 57.4 kHz. This is a period of 1/f = 17.4 µs. For a 50% duty cycle, half of the period will be high (8.7 µs at 3.3 V), and half will be low (8.7 µs at 0 V). Thus, a 29.4 MHz Coyote has t = 8.7 µs.
User’s Manual
25
Based on the standard capacitor discharge formula, this means that the maximum voltage change will be
1.65 V 1 – e
8.7 µs- –---------------- 2.5 ms
= 5.73 mV
This is a ripple of approximately 6 mV peak-to-peak. Table 4 lists typical uncalibrated DA0 or DA1 voltages measured for various duty cycle values with a load larger than 1 M. Table 4. Typical Uncalibrated DA0 or DA1 Voltages for Various Duty Cycles Duty Cycle (%)
Voltage (V)
Programmed Count
0
0.086
1
50
1.628
512
100
3.244
1023
The full D/A converter voltage range of 0–3.3 V cannot be realized because of the voltage tolerances associated with the voltage regulator, the Rabbit 3000 PWM output, and the opamp rail. The circuit can achieve an actual voltage range of 0.1–3.3 V. It is important to remember that the DA0 or DA1 output voltage will not be realized instantaneously after programming in a value. There is a settling time because of the RC time constant (24.9 k × 100 nF), which is 2.5 ms. For example, the voltage at any given time is V = VP – (VP – VDA)e(-t/RC) where V is the voltage at time t, VP is the programmed voltage, VDA is the last DA0 or DA1 output voltage from the D/A converter, and RC is the time constant (2.5 ms). The settling will be within 99.326% (or within about 22 mV for a 3.3 V change in voltage) after five time constants, or 12.5 ms. Six time constants, 15 ms, will allow settling to within 99.75% (or to within about 8 mV for a 3.3 V change in voltage). Seven time constants, 17.5 ms, will allow settling to within 99.91% (or to within about 3 mV for a 3.3 V change in voltage). An LM324 op amp, which can comfortably source 10 mA throughout the D/A converter range, drives the D/A converter output. If the output voltage is above 1 V, the D/A converter can comfortably sink 10 mA. Below 1 V, the D/A converter can only sink a maximum of 100 µA. To summarize, DA0 and DA1 are factory-calibrated, with the calibration constants stored in flash memory. DA0 and DA1 can be programmed with a resolution of 3 mV and a peak-to-peak ripple of 6 mV over the range from 0.1 to 3.1 V. The settling time to within 3 mV is 17.5 ms. 26
Coyote (BL2500)
3.5 Serial Communication The Coyote has two RS-232 serial ports, which can be configured as one RS-232 serial channel (with RTS/CTS) or as two RS-232 (3-wire) channels. The Coyote also has one RS485 serial channel, one clocked CMOS serial channel, and two SPI serial ports with RS422. There is also a CMOS serial channel that serves as the programming/debug port. Table 5. Coyote Serial Port Configuration Serial Port
Use
Header
A
Programming Port
J3 (RabbitCore module)
B
RabbitNet SPI (RS-422)
J4/J5
C
Clocked CMOS
J9
D
RS-485
J9
E
RS-232
J6
F
RS-232
J6
The RS-232 and RS-485 serial ports operate in an asynchronous mode up to the baud rate of the system clock divided by 8. An asynchronous port can handle 7 or 8 data bits. A 9th bit address scheme, where an additional bit is sent to mark the first byte of a message, is also supported. The CMOS serial channel and the two RS-422 SPI ports can also be operated in the clocked serial mode. In this mode, a clock line synchronously clocks the data in or out. Either of the two communicating devices can supply the clock for the clocked CMOS channel. As the master, the Coyote must supply the clock for the SPI ports. The Coyote boards use all six serial ports. Serial Port A is used in the clocked serial mode to provide cold-boot, download, and emulation functions. Serial Port B is multiplexed between the two SPI RS-422 RabbitNet ports, SPI_1 and SPI_2. Clocked Serial Port C is available as a basic CMOS voltage-level serial port. Serial Port D is used for RS-485 communication, and Serial Ports E and F are used for RS-232 communication.
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3.5.1 RS-232 The Coyote RS-232 serial communication is supported by an RS-232 transceiver. This transceiver provides the voltage output, slew rate, and input voltage immunity required to meet the RS-232 serial communication protocol. Basically, the chip translates the Rabbit 3000’s CMOS/TTL signals to RS-232 signal levels. Note that the polarity is reversed in an RS-232 circuit so that a +3.3 V output becomes approximately -6 V and 0 V is output as +6 V. The RS-232 transceiver also provides the proper line loading for reliable communication. RS-232 can be used effectively at the Coyote’s maximum baud rate for distances of up to 15 m. RS-232 flow control on an RS-232 port is initiated in software using the serXflowcontrolOn function call from RS232.LIB, where X is the serial port (E or F). The locations of the flow control lines are specified using a set of five macros. SERX_RTS_PORT—Data register for the parallel port that the RTS line is on (e.g., PGDR). SERX_RTS_SHADOW—Shadow register for the RTS line's parallel port (e.g., PGDRShadow). SERX_RTS_BIT—The bit number for the RTS line. SERX_CTS_PORT—Data register for the parallel port that the CTS line is on (e.g., PCDRShadow). SERX_CTS_BIT—The bit number for the CTS line.
Standard 3-wire RS-232 communication using Serial Ports E and F is illustrated in the following sample code. #define EINBUFSIZE 15 #define EOUTBUFSIZE 15 #define FINBUFSIZE 15 #define FOUTBUFSIZE 15 #ifndef _232BAUD #define _232BAUD 115200 #endif main(){ serEopen(_232BAUD); serFopen(_232BAUD); serEwrFlush(); serErdFlush(); serFwrFlush(); serFrdFlush(); }
28
Coyote (BL2500)
3.5.2 RS-485 The Coyote has one RS-485 serial channel, which is connected to the Rabbit 3000 Serial Port D through an RS-485 transceiver. The half-duplex communication uses PA4 to control the transmit enable on the communication line. Using this scheme a strict master/slave relationship must exist between devices to insure that no two devices attempt to drive the bus simultaneously. Serial Port D is configured in software for RS-485 as follows. #define #define #define #define #define #define
ser485open serDopen ser485close serDclose ser485wrFlush serDwrFlush ser485rdFlush serDrdFlush ser485putc serDputc ser485getc serDgetc
#define DINBUFSIZE 15 #define DOUTBUFSIZE 15 #ifndef _485BAUD #define _485BAUD 115200 #endif
The configuration shown above is based on circular buffers. RS-485 configuration may also be done using functions from the PACKET.LIB library.
GND
RS485+
RS-485
GND
RS485+
RS-485
GND
RS485+
RS-485
The Coyote can be used in an RS-485 multidrop network spanning up to 1200 m (4000 ft), and there can be as many as 32 attached devices. Connect the 485+ to 485+ and 485– to 485– using single twisted-pair wires as shown in Figure 15. Note that a common ground is recommended.
Figure 15. Coyote Multidrop Network
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29
The Coyote comes with a 220 termination resistor and two 681 bias resistors installed and enabled. The load these bias and termination resistors present to the RS-485 transceiver limits the number of Coyotes in a multidrop network to one master and nine slaves, unless the bias and termination resistors are removed. When using more than 10 Coyotes in a multidrop network, or when you need the full common-mode immunity per the RS-485 specification, leave the 681 bias resistors in place on the master Coyote, and leave the 220 termination resistors in place on the Coyote at each end of the network.
U1
C1
GND
+ PWR IN
D1 J2
R7 R4
NOT STUFFED
3.3V AD0 AGND DA0 DA1 AGND VCC DCIN
R2
R3 R1
R6
C4 R11 R14
C16
C18
R20
R30 C25
C24 R33
Y2
U8
R83
R85 R19
R87
U10
C35 C36
R78
R79
R86
R81 R80
C42
Y3 JC
C44
R20
JP1
C38
C41
C34
GND
R21
R77
R84
C12
3.3V
GND RS-485, CMOS SERIAL PORTS
GND
DS2 DS1
C33
SCLKC
U5
RxC
Dig Inputs GND
J4
GND
U9
R27 R76
GND
DS4
DS3
JP2 R27
C26
C30
R71
485+
TxC
RP2
C19 R15 R88R17 R22
R23
C28
R24
C27
R19
R50 R51 R52 C33
R89
R31 R40 R41 U6 R17
JP4
U5
C20 R21 C23
R9
C14
JP3
C16
C12
C15
R32 R29 R28
Q1
R28
C11
R11
U6R12
R18
R26 C10
C9
D1 C22
R82
C46 R46 R47
C47
LNK ACT
N/C VCC POWER OUT
J7
D5
J3
C6
485
R75
RS-232
R23
R18
C3
DS2 DS1
DCIN
J8
RP1
C18
R22
GND
N/C VCC POWER OUT
DCIN
R1
C15 R4
C4C14 R5
R14
R16
C32 VCC
J9
15
C1
R73
R74
C7
U9
R70
13
C17
R56
R55
R66
R72
R63 R64 R68
R67
R69
12
C13
R58
10
C17C26 C25 R39 C24 C23 R38 R37 C22 R36
R65
C13 U2
R49 R48 R47 R46 R44 R45 R43 R42
R62
08
14
R61
C21 C20 R35 C19 R34 R33 R32
J12
R59
C31
R60
D9
R30
Y1
RCM1
R90 R24 R25
R91
BT1
R57
GND
C29
R53
R54
R29
06
JA
D8
Q6 Q7
D10
05
11
D7
GND
GROUND
RCM1
U4
04
09
Q3
Q2
Q4
Q5
07
C11
02 03
C7
D6D4
TxE RxE
JB
U2
7
D3
Q1
01
Dig Inputs
R19 681 W
00
CAUTION
bias
J11 J10
L1
R16
C6
C8
Battery
485
6
+K
K LINE PWR
termination
R20 220 W
U5
Dig Outputs
485+
R21 681 W
07
R15
R13
U3
06
bias
R9 R10 R12
D2
05
RxF TxF
C3
03 04
J6
R5 R8
C2
C5
J4
02
TVS1
J1
RABBITNET
01
GND
J5
J3
RABBITNET
GND 00
GND
RS485 TERMINATION RESISTORS
R21
R20
R19
Figure 16. RS-485 Termination and Bias Resistors
30
Coyote (BL2500)
3.5.3 Programming Port The Coyote’s serial programming port is accessed via the 10-pin programming header on the RabbitCore module or over an Ethernet connection via the RabbitLink EG2110. The programming port uses the Rabbit 3000’s Serial Port A for communication. Dynamic C uses the programming port to download and debug programs. The programming port is also used for the following operations. • Cold-boot the Rabbit 3000 on the RabbitCore module after a reset. • Remotely download and debug a program over an Ethernet connection using the RabbitLink EG2110. • Fast copy designated portions of flash memory from one Rabbit-based board (the master) to another (the slave) using the Rabbit Cloning Board. Alternate Uses of the Programming Port
All three clocked Serial Port A signals are available as • a synchronous serial port • an asynchronous serial port, with the clock line usable as a general CMOS I/O pin The programming port may also be used as a serial port via the DIAG connector on the programming cable. In addition to Serial Port A, the Rabbit 3000 startup-mode (SMODE0, SMODE1), status, and reset pins are available on the programming port. The two startup mode pins determine what happens after a reset—the Rabbit 3000 is either cold-booted or the program begins executing at address 0x0000. The status pin is used by Dynamic C to determine whether a Rabbit microprocessor is present. The status output has three different programmable functions: 1. It can be driven low on the first op code fetch cycle. 2. It can be driven low during an interrupt acknowledge cycle. 3. It can also serve as a general-purpose output. The /RESET_IN pin is an external input that is used to reset the Rabbit 3000 and the RCM3400 onboard peripheral circuits. The serial programming port can be used to force a hard reset on the RCM3400 by asserting the /RESET_IN signal. Refer to the Rabbit 3000 Microprocessor User’s Manual for more information. 3.5.4 RabbitNet Ports The RJ-45 jacks labeled RabbitNet are multiplexed clocked SPI RS-422 serial I/O expansion ports for use with peripheral cards currently being developed. The RabbitNet jack does not support Ethernet connections.
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3.5.5 Ethernet Port Figure 17 shows the pinout for the RJ-45 Ethernet port (header J4 on the RabbitCore module). Note that some Ethernet connectors are numbered in reverse to the order used here. ETHERNET 1
8
1. 2. 3. 6.
RJ-45 Plug
E_Tx+ E_Tx E_Rx+ E_Rx
RJ-45 Jack
Figure 17. RJ-45 Ethernet Port Pinout
Two LEDs are placed next to the RJ-45 Ethernet jack, one to indicate an Ethernet link (LNK) and one to indicate Ethernet activity (ACT). The transformer/connector assembly ground is connected to the RabbitCore module printed circuit board digital ground via a 0 resistor, R31, as shown in Figure 18.
RJ-45 Ethernet Plug
R31 Board Ground
Chassis Ground
Figure 18. Isolation Resistor R31 on RabbitCore Module
The RJ-45 connector is shielded to minimize EMI effects to/from the Ethernet signals.
32
Coyote (BL2500)
3.6 Serial Programming Cable The programming cable is used to connect the serial programming port of the Coyote to a PC serial COM port. The programming cable converts the RS-232 voltage levels used by the PC serial port to the CMOS voltage levels used by the Rabbit 3000. When the PROG connector on the programming cable is connected to the programming header on the Coyote’s RabbitCore module, programs can be downloaded and debugged over the serial interface. The DIAG connector of the programming cable may be used on the programming header on the Coyote’s RabbitCore module with the Coyote operating in the Run Mode. This allows the programming port to be used as a regular serial port. 3.6.1 Changing Between Program Mode and Run Mode The Coyote is automatically in Program Mode when the PROG connector on the programming cable is attached, and is automatically in Run Mode when no programming cable is attached. When the Rabbit 3000 is reset, the operating mode is determined by the status of the SMODE pins. When the programming cable’s PROG connector is attached, the SMODE pins are pulled high, placing the Rabbit 3000 in the Program Mode. When the programming cable’s PROG connector is not attached, the SMODE pins are pulled low, causing the Rabbit 3000 to operate in the Run Mode. Program Mode
J4
NOT STUFFED
GND
J7
D5
JP1
JP1 JP2 JP3 JP4
N/C VCC POWER OUT
JP2
RS-232
C41
C33
C34 R81 R80
R86
C42
Y3 JC
C44
R87
C46 R46 R47
C47
LNK ACT
DCIN
J8
U8
R83
U9
R85 R19
J4
GND
C38
DS2 DS1
GND
N/C VCC POWER OUT
3.3V AD0 AGND DA0 DA1 AGND VCC DCIN
R22
R23
C30
R71
R70
R67
R66
R78
R79
R20
R22
R27
C26
R30 C25
Y2
RP2
C19 R15 R88R17 R22
R23
C24 R33 C33
R9
C14
R89
R31 R40 R41 U6 R17
U10
J1
U1
RS-232
DCIN
JP3
C16 R20
C28
R50 R51 R52
C35 C36
GND
R23
C5
C16
C18 C20 R21 C23
R24
JP4
C12
C15 R19
R58
R21
R26
R28
R12 R11
R32 R29 R28
Q1
R77
R84
C12
LNK ACT
C6
R82
C10
C9
C1
GND
+ PWR IN
D1 J2
R7 R4
C16
R18
C3
C11 U6
C27
R18
U9
R76
DS2 DS1
C15 R4
C4C14R5
U5
C18 R16
J4
DCIN
GND
N/C VCC POWER OUT
DCIN
N/C VCC POWER OUT
GND
J7
J8
U8
+ PWR IN
D1 J2
R7 R4
C5
C1
GND
J3
C7
R14
D1
C17C26 C25 R39 R38 C24 C22 C23 R37 R36
C17
R49 R48 R47 R46 R44 R45 R43 R42
U10
U1
C13
U4
C31
BT1
C21 C20 R35 C19 R34 R33 R32
C35 C36
3.3V AD0 AGND DA0 DA1 AGND VCC DCIN
NOT STUFFED
J1
RP1
U2
GND
GND
GND
Y1
RCM1
U2
C22
R27
DS2 DS1
GND
R13
R1 C1
C11
DS3
U5
GND
DS4
TxC
SCLKC
TxE RxE
GROUND
JA
C13
R56
R55
VCC
R75
RS-485, CMOS SERIAL PORTS
R46 R47
C47
R30
485+
3.3V
C46
R16
485
GND
JC
D9
C32
RxC
R86
Y3
R74
R15
RCM1 R90 R24 R25
R91
R63 R64 R68
GND
R81 R80
R73
Dig Inputs
D5
RS485 TERMINATION RESISTORS
R87
C42
C44
R85 R19
R72
13
J9
R78
R79
R69
12
15
C41
R20
11
C7
R30 C25
R21
C34
C12
DS1
R77
R84
R65
10
14
C33
R76
GND
RS-485, CMOS SERIAL PORTS
3.3V
GND
DS2
09
J4
R83
R59 R61
RxF TxF
C3 C4 R11 R14
JB
D8
Q6 Q7
R62
08
U9
R27
U5
RxC
Dig Inputs
DS3
R60
J12
GND
C38
R57
GND
R54
C29
R23
C24 R33
C26
C30
R53
07
RP2
R27
R71
DS4
TxC
SCLKC
06
C19 R15 R88R17 R22
D7
D10
Dig Inputs
R20
R24
C28
Y2
C14
Q3
Q2
Q4
Q5
05
R29
C16
C15 R19
C33
03
Battery
C12
R12 R11
R50 R51 R52
R9
R89
R31 R40 R41 U6 R17
D6D4
02
04
R28
L1
J6
R5 R8
C2
C6
C8 D3
Q1
01
R26 C10
C9 C11 U6 C20 R21 C23
00
CAUTION
J3
C27 Q1
U9
R70
485+
R75
GND
R82
C18
U5 R32 R29 R28
VCC
Dig Outputs
RP1 C22
R56
R55 C32
C6
485
J9
15
R74
GND
14
R63 R64 R68
R18
R16
R73
D1
R72
13
R67
R69
12
R66
11
R18
C15 R4 C3
C4C14R5
R14
C18
R58
R65
10
C7
U2
C17
R49 R48 R47 R46 R44 R45 R43 R42
R62
08 09
C31
R60
J12
R59
R61
BT1
Dig Inputs
R57
C17C26 C25 R39 R38 C24 C22 C23 R37 R36
R30
Programming Cable
GND
C13
R91
C13
J11 J10
K LINE PWR
R1
U4
D9 C21 C20 R35 C19 R34 R33 R32
C29
R53
07
R54
D8
Q6 Q7
R29
06
PROG
D10
05
CAUTION
D7
Q4
Q5
04
C1
Q3
Q2
Battery
03
+K
Y1
RCM1
D2
R9 R10 R12
U3
06 07
RCM1 R90 R24 R25
R2
R3 R1
TVS1
03
05
GROUND
JA
U2
D6D4
02
R16
GND
04
JB
DIAG
D3
Q1
01
R15
TxE RxE
C6
C8
C11
00
C7
Dig Outputs
+K
J11 J10
K LINE PWR
To PC COM port
07
L1
01 02
C4 R11 R14
R6
U3
00
RxF TxF
C3
R13
05
J6
R5 R8
RABBITNET
R6
D2
R9 R10 R12
C2
04
J5
J3
R2
R3 R1
TVS1
03
RABBITNET
RABBITNET
01
06
GND
J5
J3
RABBITNET
GND 00
02
Run Mode
GND
RS485 TERMINATION RESISTORS
RESET BL2500 when changing mode: Cycle power off/on or short out RESET pads on other side of board after removing or attaching programming cable.
Figure 19. Coyote Program Mode and Run Mode Setup
A program “runs” in either mode, but can only be downloaded and debugged when the Coyote is in the Program Mode. Refer to the Rabbit 3000 Microprocessor User’s Manual for more information on the programming port and the programming cable.
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3.7 Other Hardware 3.7.1 Clock Doubler The Coyote takes advantage of the Rabbit 3000 microprocessor’s internal clock doubler. A built-in clock doubler allows half-frequency crystals to be used to reduce radiated emissions. The 29.4 MHz frequency specified for the Coyote is generated using a 14.7456 MHz crystal. The clock doubler will not work for crystals with a frequency above 26.7264 MHz. The clock doubler may be disabled if 29.4 MHz clock speeds are not required. Disabling the Rabbit 3000 microprocessor’s internal clock doubler will reduce power consumption and further reduce radiated emissions. The clock doubler is disabled with a simple configuration macro as shown below. 1. Select the “Defines” tab from the Dynamic C Options > Project Options menu. 2. Add the line CLOCK_DOUBLED=0 to always disable the clock doubler. The clock doubler is enabled by default, and usually no entry is needed. If you need to specify that the clock doubler is always enabled, add the line CLOCK_DOUBLED=1 to always enable the clock doubler. 3. Click OK to save the macro. The clock doubler will now remain off whenever you are in the project file where you defined the macro. NOTE: Disabling the clock doubler will degrade the A/D and D/A conversion.
34
Coyote (BL2500)
3.7.2 Spectrum Spreader The Rabbit 3000 features a spectrum spreader, which helps to mitigate EMI problems. By default, the spectrum spreader is on automatically, but it may also be turned off or set to a stronger setting. The means for doing so is through a simple configuration macro as shown below. 1. Select the “Defines” tab from the Dynamic C Options > Project Options menu. 2. Normal spreading is the default, and usually no entry is needed. If you need to specify normal spreading, add the line ENABLE_SPREADER=1
For strong spreading, add the line ENABLE_SPREADER=2
To disable the spectrum spreader, add the line ENABLE_SPREADER=0
NOTE: The strong spectrum-spreading setting is not recommended since it may limit the maximum clock speed or the maximum baud rate. It is unlikely that the strong setting will be used in a real application.
3. Click OK to save the macro. The spectrum spreader will now remain off whenever you are in the project file where you defined the macro. NOTE: Refer to the Rabbit 3000 Microprocessor User’s Manual for more information on the spectrum-spreading setting and the maximum clock speed.
User’s Manual
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3.8 Memory 3.8.1 SRAM The Coyote’s RabbitCore module is designed to accept 128K to 512K of SRAM packaged in an SOIC case. The standard Coyote’s RabbitCore modules come with 128K of SRAM. 3.8.2 Flash Memory The Coyote is also designed to accept 128K to 512K of flash memory. The standard Coyote’s RabbitCore modules comes with one 256K flash memory. NOTE: Rabbit recommends that any customer applications should not be constrained by the sector size of the flash memory since it may be necessary to change the sector size in the future.
Writing to arbitrary flash memory addresses at run time is also discouraged. Instead, use a portion of the “user block” area to store persistent data. The functions writeUserBlock and readUserBlock are provided for this. Refer to the Rabbit 3000 Microprocessor Designer’s Handbook for additional information. A Flash Memory Bank Select jumper configuration option based on 0 surface-mounted resistors exists at header JP2 on the RabbitCore module. This option, used in conjunction with some configuration macros, allows Dynamic C to compile two different co-resident programs for the upper and lower halves of the 256K flash in such a way that both programs start at logical address 0000. This is useful for applications that require a resident download manager and a separate downloaded program. See Technical Note 218, Implementing a Serial Download Manager for a 256K Flash, for details.
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Coyote (BL2500)
4. SOFTWARE Dynamic C is an integrated development system for writing embedded software. It runs on an IBM-compatible PC and is designed for use with single-board computers and other devices based on the Rabbit® microprocessor. Chapter 4 provides the libraries, function calls, and sample programs related to the Coyote. 4.1 Running Dynamic C You have a choice of doing your software development in the flash memory or in the static RAM included on the Coyote. The flash memory and SRAM options are selected with the Options > Project Options > Compiler menu. The advantage of working in RAM is to save wear on the flash memory, which is limited to about 100,000 write cycles. The disadvantage is that the code and data might not both fit in RAM. NOTE: An application can be developed in RAM, but cannot run standalone from RAM after the programming cable is disconnected. Standalone applications can only run from flash memory. NOTE: Do not depend on the flash memory sector size or type. Due to the volatility of the flash memory market, the Coyote and Dynamic C were designed to accommodate flash devices with various sector sizes.
Developing software with Dynamic C is simple. Users can write, compile, and test C and assembly code without leaving the Dynamic C development environment. Debugging occurs while the application runs on the target. Alternatively, users can compile a program to an image file for later loading. Dynamic C runs on PCs under Windows 95, 98, 2000, NT, Me, and XP. Programs can be downloaded at baud rates of up to 460,800 bps after the program compiles.
User’s Manual
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Dynamic C has a number of standard features: • Full-feature source and/or assembly-level debugger, no in-circuit emulator required. • Royalty-free TCP/IP stack with source code and most common protocols. • Hundreds of functions in source-code libraries and sample programs: Exceptionally fast support for floating-point arithmetic and transcendental functions. RS-232 and RS-485 serial communication. Analog and digital I/O drivers. I2C, SPI, GPS, encryption, file system. LCD display and keypad drivers.
• Powerful language extensions for cooperative or preemptive multitasking • Loader utility program to load binary images into Rabbit targets in the absence of Dynamic C. • Provision for customers to create their own source code libraries and augment on-line help by creating “function description” block comments using a special format for library functions. • Standard debugging features: Breakpoints—Set breakpoints that can disable interrupts. Single-stepping—Step into or over functions at a source or machine code level, µC/OS-II aware. Code disassembly—The disassembly window displays addresses, opcodes, mnemonics, and machine cycle times. Switch between debugging at machine-code level and source-code level by simply opening or closing the disassembly window. Watch expressions—Watch expressions are compiled when defined, so complex expressions including function calls may be placed into watch expressions. Watch expressions can be updated with or without stopping program execution. Register window—All processor registers and flags are displayed. The contents of general registers may be modified in the window by the user. Stack window—shows the contents of the top of the stack. Hex memory dump—displays the contents of memory at any address. STDIO window—printf outputs to this window and keyboard input on the host PC can be detected for debugging purposes. printf output may also be sent to a serial port or file.
38
Coyote (BL2500)
4.1.1 Upgrading Dynamic C 4.1.1.1 Patches and Bug Fixes
Dynamic C patches that focus on bug fixes are available from time to time. Check the Web site at www.rabbit.com/support/ for the latest patches, workarounds, and bug fixes. The default installation of a patch or bug fix is to install the file in a directory (folder) different from that of the original Dynamic C installation. Rabbit recommends using a different directory so that you can verify the operation of the patch without overwriting the existing Dynamic C installation. If you have made any changes to the BIOS or to libraries, or if you have programs in the old directory (folder), make these same changes to the BIOS or libraries in the new directory containing the patch. Do not simply copy over an entire file since you may overwrite a bug fix. Once you are sure the new patch works entirely to your satisfaction, you may retire the existing installation, but keep it available to handle legacy applications. 4.1.1.2 Upgrades
Dynamic C installations are designed for use with the board they are included with, and are included at no charge as part of our low-cost kits. Dynamic C is a complete software development system, but does not include all the Dynamic C features. Rabbit also offers add-on Dynamic C modules containing the popular C/OS-II real-time operating system, as well as PPP, Advanced Encryption Standard (AES), and other select libraries. In addition to the Web-based technical support included at no extra charge, a one-year telephonebased technical support module is also available for purchase.
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4.1.2 Accessing and Downloading Dynamic C Libraries The libraries needed to run the Coyote are available on the CD included with the Development Kit, or they may be downloaded from http://www.rabbit.com/support/downloads/ on Rabbit’s Web site. You may need to download upgraded or additional libraries to run selected RabbitNet peripheral cards. When downloading the libraries from the Web site, click on the product-specific links until you reach the links for the BL2500 download. Once you have downloaded the selfextracting ZIP file, the following instructions will help you to add the libraries and sample programs to your existing Dynamic C installation. 1. Double-click on the file name of the self-extracting ZIP file. 2. The extracting program will prompt you for a folder in which to place the files. 3. Enter the drive letter and the name of the Dynamic C folder where the libraries and samples are to be added, for example, C:\DCRabbit801. 4. Click the UnZip button. The files from the ZIP directory will then load automatically in your Dynamic C folder. Additional folders will be created as needed, and the LIB.DIR, DEFAULT.H, and BOARDTYPES.LIB files will be overwritten with the information needed to use the Coyote. You will be able to use the revamped Dynamic C installation with the Coyote and you will continue to be able to use this installation with all the other Rabbit products you were able to use before.
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Coyote (BL2500)
4.2 Sample Programs Sample programs are provided in the Dynamic C SAMPLES folder. The sample program PONG.C demonstrates the output to the STDIO window. The various directories in the SAMPLES folder contain specific sample programs that illustrate the use of the corresponding Dynamic C libraries. The SAMPLES\BL2500 folder provides sample programs specific to the Coyote. Each sample program has comments that describe the purpose and function of the program. Follow the instructions at the beginning of the sample program. To run a sample program, open it with the File menu (if it is not still open), compile it using the Compile menu, and then run it by selecting Run in the Run menu. The Coyote must be in Program mode (see Section 3.6, “Serial Programming Cable”) and must be connected to a PC using the programming cable as described in Section 2.2, “BL2500 Connections.” More complete information on Dynamic C is provided in the Dynamic C User’s Manual. 4.2.1 General Coyote Operation The following sample programs are found in the SAMPLES\BL2500. • CONTROLLED.C—Uses the D/A converters to vary the brightness of the LEDs on the Demonstration Board. • FLASHLEDS.C—Uses cofunctions and costatements to flash LEDs on the Coyote at different intervals. • TOGGLESWITCH.C—Uses costatements to detect switches presses on the Demonstration Board with press and release debouncing. Corresponding LEDs will turn on or off. 4.2.2 Digital I/O The following sample programs are found in the IO subdirectory in SAMPLES\BL2500. • DIGIN.C—This program demonstrates the use of the digital inputs and the function call digIn() using the Demonstration Board to see an input channel toggle from HIGH to LOW when pressing a pushbutton on the Demonstration Board. • DIGOUT.C—This program demonstrates the use of the digital outputs and the function call digOut() using the Demonstration Board to see the logic levels of output channels in the STDIO window and the state of the corresponding LEDs on the Demonstration Board. 4.2.3 Serial Communication The following sample programs are found in the SERIAL subdirectory in SAMPLES\BL2500. • FLOWCONTROL.C—Demonstrates hardware flow control by sending a pattern of * characters out of Serial Port E (PG6) at115,200 bps. One character at a time is received from PG6 and is displayed. In this example, PG3 is configured as the CTS input, detecting a clear to send condition, and PG2 is configured as the RTS output, signaling a ready condition. This demonstration can be performed with either one or two boards.
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• SIMPLE3WIRE.C—Demonstrates basic initialization for a simple RS-232 3-wire loopback displayed in the STDIO window. • SWITCHCHAR.C—This program transmits and then receives an ASCII string on Serial Ports E and F when a switch is pressed. It also displays the serial data received from both ports in the STDIO window. • SIMPLE485MASTER.C—This program demonstrates a simple RS-485 transmission of lower case letters to a slave. The slave will send back converted upper case letters back to the master Coyote and display them in the STDIO window. Use SIMPLESLAVE.C to program the slave. • SIMPLE485SLAVE.C—This program demonstrates a simple RS-485 transmission of lower case letters to a master Coyote. The slave will send back converted upper case letters back to the master Coyote and display them in the STDIO window. Use SIMPLEMASTER.C to program the master Coyote. 4.2.4 A/D Converter Inputs The following sample programs are found in the ADC subdirectory in SAMPLES\BL2500. • AD0.C—This program reads and displays the voltage on channel AD0 and its equivalent value to the STDIO window. • ADCCALIB.C—This program demonstrates how to recalibrate one single-ended A/D converter channel using two known voltages to generate constants that are then rewritten into the user block data area. • COF_ANAIN.C—This program demonstrates the use of the analog input driver as a cofunction. Connect DA1 to AD0 to provide an input voltage. When the program runs, it will read the input voltage ten times while another costate is executed concurrently. The values will be printed out at the end of the program. • DA2AD.C—This program allows the user to input a voltage in the Dynamic C STDIO window for DA1 to output. The user needs to connect DA1 to AD0. The program will display the voltage read in the STDIO window. 4.2.5 D/A Converter Outputs The following sample program is found in the DAC subdirectory in SAMPLES\BL2500. • DAC.C—Demonstrates pulse-width modulation as an analog output voltage by displaying the voltage entered and measuring the voltage output. • DACCALIB.C—Demonstrates how to recalibrate one single-ended analog output channel using two known voltages to generate constants for that channel that are then rewritten into the user block data area. • PWM.C—Demonstrates pulse-width modulation as an analog output.
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4.2.6 Using System Information from the RabbitCore Module Calibration constants for the A/D converter are stored in the simulated EEPROM area of the flash memory. You may find it useful to retrieve the calibration constants and save them for future use, for example, if you should need to replace the RabbitCore module on the Coyote. The following sample programs, found in the ADC subdirectory in SAMPLES\BL2500\, illustrate how to save or retrieve the calibration constants. Note that both sample programs prompt you to use a serial number for the Coyote. This serial number can be any 5-digit number of your choice, and will be unique to a particular Coyote. Do not use the MAC address on the bar code label of the RabbitCore module attached to the Coyote since you may at some later time use that particular RabbitCore module on another Coyote, and the previously saved calibration data would no longer apply. • UPLOADCALIB.C—This program demonstrates reading calibration constants from a controller's user block in flash memory and transmitting the file using a serial port with a PC serial utility such as Tera Term. NOTE: Use the sample program DNLOADCALIB.C to retrieve the data and rewrite it to the single-board computer.
• DNLOADCALIB.C—This program demonstrates how to retrieve your analog calibration data to rewrite them back to simulated EEPROM in flash using a serial utility such as Tera Term. NOTE: Calibration data must be saved previously in a file by the sample program UPLOADCALIB.C. NOTE: In addition to loading the calibration constants on the replacement RabbitCore module, you will also have to add the product information for the Coyote to the ID block associated with the RabbitCore module. The sample program WRITE_IDBLOCK.C, available on the Rabbit Web site at www.rabbit.com/support/feature_downloads.shtml, provides specific instructions and an example.
4.2.7 Real-Time Clock If you plan to use the real-time clock functionality in your application, you will need to set the real-time clock. Set the real-time clock using the SETRTCKB.C sample program from the Dynamic C SAMPLES\RTCLOCK folder, using the onscreen prompts. The RTC_TEST.C sample program in the Dynamic C SAMPLES\RTCLOCK folder provides additional examples of how to read and set the real-time clock.
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4.3 Coyote Libraries With Dynamic C running, click File > Open, and select Lib. The following list of Dynamic C libraries and library directories will be displayed. Two library directories provide libraries of function calls that are used to develop applications for the Coyote. • BL2500—libraries associated with features specific to the Coyote. The functions in the BL25xx.LIB library are described in Section 4.4, “Coyote Function Calls.”. • RN_CFG_BL25.LIB—used to configure the BL2500 for use with RabbitNet peripheral cards. • TCPIP—libraries specific to using TCP/IP functions. Other generic functions applicable to all devices based on the Rabbit 3000 microprocessor are described in the Dynamic C Function Reference Manual.
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Coyote (BL2500)
4.4 Coyote Function Calls 4.4.1 Board Initialization
void brdInit (void); Call this function at the beginning of your program. This function initializes Parallel Ports A through G for use with the Coyote. The ports are initialized according to Table A-3. Summary of initialization 1. RS-485 is not initialized. 2. RS-232 is not initialized. 3. Unused configurable I/O are either pulled-up inputs or outputs set high. 4. PWM for DA0 and DA1 set to 57,600 Hz, and output voltage is zero. Uses functions pwm_init(), pwmOutConfig(), and pwmOut(). 5. Calibration constants for analog channels AD0, DA0, and DA1 are read from flash user block.
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4.4.2 Digital I/O
void digOut(int channel, int value); Sets the state of digital outputs OUT0–OUT7, whereOUT0–OUT7 are sinking outputs.
A run-time error will occur for the following conditions: 1. channel or value is out of range. 2. brdInit was not called first. PARAMETERS
channel is the digital output channels (0–7) value is the output value (0 or 1) RETURN VALUE
None. SEE ALSO digIn, digBankOut
void digBankOut(int bank, int value); Writes the state of a block of designated digital output channels. The bank consists of OUT0–OUT7. This call is faster than setting the individual channels, but does not output states simultaneously. States are written in succession from OUT7–OUT0. A run-time error will occur for the following conditions: 1. bank or value is out of range. 2. brdInit was not called first. PARAMETERS
bank is 0 for the bank of digital output channels (0–7) value is an 8-bit output value, where each bit corresponds to one channel. OUT0 is the least significant bit 0 RETURN VALUE
None. EXAMPLE
To send out odd channels high: void digBankOut(0, 0xaa); SEE ALSO digOut, digBankIn
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Coyote (BL2500)
int digIn(int channel); Reads the state of an input channel (IN00–IN15). A run-time error will occur for the following conditions: 1. channel out of range. 2. brdInit was not executed before executing digIn. PARAMETER
channel is the input channel number (0–15) RETURN VALUE
The logic state of the input (0 or 1). SEE ALSO digOut, digBankIn
int digBankIn(int bank); Reads the state of a block of designated digital input channels. One bank consists of IN0–IN07, and the other bank consists of IN08–IN15. This call is faster than reading the individual channels, but does not read the states simultaneously. States are read in succession from IN15–IN08 or from IN07–IN00. A run-time error will occur for the following conditions: 1. bank is out of range. 2. brdInit was not called first. PARAMETER
bank is 0 for the bank of digital inputs IN00–IN07, 1 for the bank of digital inputs IN08–IN15 RETURN VALUE
An input value in the lower byte, where each bit corresponds to one channel. IN00 and IN08 are in the bit 0 place. EXAMPLE
To read inputs 8 to 15: int digBankIn(1); SEE ALSO digIn, digBankOut
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4.4.3 LEDs
void ledOut(int led, int value); LED on/off control. PARAMETERS
led is the LED to control 0 = LED DS1 1 = LED DS2 2 = LED DS3 3 = LED DS4
value is used to control whether the LED is on or off 0 = OFF 1 = ON RETURN VALUE
None.
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4.4.4 Serial Communication Library files included with Dynamic C provide a full range of serial communications support. The RS232.LIB library provides a set of circular-buffer-based serial functions. The PACKET.LIB library provides packet-based serial functions where packets can be delimited by the 9th bit, by transmission gaps, or with user-defined special characters. Both libraries provide blocking functions, which do not return until they are finished transmitting or receiving, and nonblocking functions, which must be called repeatedly until they are finished. For more information, see the Dynamic C Function Reference Manual and Technical Note 213, Rabbit Serial Port Software. Use the following function calls with the Coyote.
void ser485Tx(void); Enables the RS485 transmitter. Transmitted data get echo'ed back into the receive data buffer. These echo'ed data could be used to know when to disable the transmitter by using one of the following methods: Byte mode—disable the transmitter after the same byte that is transmitted is detected in the receive data buffer. Block data mode—disable the transmitter after the same number of bytes transmitted is detected in the receive data buffer. RETURN VALUE
None. SEE ALSO ser485Rx, serXopen
void ser485Rx(void); Disables the RS-485 transmitter. This puts the Coyote in listen mode, which allows it to receive data from the RS-485 interface. RETURN VALUE
None. SEE ALSO
ser485Tx, serXopen
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4.4.5 Analog Inputs
unsigned int anaIn(unsigned int channel); Uses D/A converter channel DA0 to search through the full voltage range for a match to the input voltage on channel AD0. This is done using a 10-step successive-approximation binary search, which nominally takes 86 ms. Call pwmOutConfig() and pwm_init() before using this function. An exception error will occur if these functions were not been called previously. NOTE: DA0 should not be used when AD0 is in use. PARAMETER
channel is 0 for channel AD0. RETURN VALUE
An integer value between 0 and 1023 that corresponds to a voltage between 0.0 and 3.3 V on the analog input channel. -1 if the return value is out of range. SEE ALSO cof_anaIn, anaInVolts
void cof_anaIn(int channel); This function is the cofunction version of the analog input for analog input channel AD0. This version will “yield” on each step approximation in a costate, and will take 10 steps to complete the A/D conversion. The function will also process costates while waiting for each approximation to settle.
NOTE: All the restrictions for anaIn apply to cof_anaIn. PARAMETERS
channel is 0 for channel AD0 RETURN VALUE
An integer value between 0 and 1023 that corresponds to a voltage between 0.0 and 3.3 V on the analog input channel. -1 if the return value is out of range. SEE ALSO anaIn
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float anaInVolts(unsigned int channel); Reads the voltage of a single-ended analog input channel using D/A channel DA0 for comparison to find a match to the input voltage on channel AD0. This is done using a 10-step successive-approximation binary search, which nominally takes 86 ms. Call pwmOutConfig() and pwm_init() before using this function. An exception error will occur if these functions were not been called previously. NOTE: DA0 should not be used when AD0 is in use. PARAMETER
channel is 0 for channel AD0 RETURN VALUE
A voltage value between 0 and 3.1 V for the analog input channel. ADOVERFLOW is returned (defined macro = -4096) on overflow or if the return value is out of range. SEE ALSO anaIn, pwmOutConfig, pwm_init
int anaInCalib(int channel, int value1, float volts1,int value2, float volts2); Calibrates the response of the A/D converter channel as a linear function using the two conversion points provided. Values are calculated and placed into global table _adcCalibS for analog inputs to be stored later into simulated EEPROM using the function anaInEEWr(). Each channel will have a linear constant and a voltage offset. PARAMETERS
channel is 0 for channel AD0 value1 is the first A/D converter value (0–1023), usually a value of 310 that corresponds to 1.0 V volts1 is the voltage corresponding to the first A/D converter value (0–3.3 V) value2 is the second A/D converter value (0–1023), usually a value of 930 that corresponds to 3.0 V volts2 is the voltage corresponding to the second A/D converter value (0–3.3 V) RETURN VALUE
0 if successful -1 if not able to make calibration constants SEE ALSO anaIn, anaInEERd, anaInEEWr
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int anaInEERd(unsigned int channel); Reads the calibration constants, gain, and offset for an input based on its designated channel code position into global table _adcCalibS. Use the sample program USERBLOCK_INFO.C in SAMPLES\USERBLOCK to get the addresses reserved for the calibration data constants and the addresses available for use in your program. NOTE: This function cannot be run in RAM. PARAMETERS
channel is 0 for channel AD0 RETURN VALUE
0 if successful -1 if invalid address or range SEE ALSO anaInEEWr, anaInCalib
int anaInEEWr(unsigned int channel); Writes the calibration constants, gain, and offset for an input based on its designated channel code position into global table _adcCalibS. Use the sample program USERBLOCK_INFO.C in SAMPLES\USERBLOCK to get the addresses reserved for the calibration data constants and the addresses available for use in your program. NOTE: This function cannot be run in RAM. PARAMETER
channel is 0 for channel AD0 RETURN VALUE
0 if successful -1 if invalid address or range SEE ALSO anaInEERd, anaInCalib
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4.4.6 Analog Outputs
unsigned long pwm_init(unsigned long frequency); This function from the R3000.LIB library in Lib\Rabbit3000 sets the base frequency for the PWM pulses and enables the PWM driver on all four channels. The base frequency is the frequency without pulse spreading. Pulse spreading will increase the frequency by a factor of 4. PARAMETER
frequency is the frequency (in Hz) RETURN VALUE
Actual frequency set. This will be the closest possible match to the requested frequency.
void pwmOutConfig(unsigned int channel, int pwmoption); Option flags are used to enable features on an individual PWM channels. Use pwm_init() to set the frequency. An exception error will occur if brdInit() has not been called previously. PARAMETERS
channel is the PWM output channel to set: 0 for DA0, 1 for DA1. pwmoption is used to set the PWM options as a combination of the following bit masks: PWM_NORMAL—sets normal push-pull logic output. PWM_SPREAD—Set pulse spreading. The duty cycle is spread over four separate pulses to increase the pulse frequency. Use this option for A/D and D/A conversions. PWM_OPENDRAIN—sets the PWM output pin to be open-drain. This mask is usually not used. RETURN VALUE
None. SEE ALSO pwm_init, brdInit
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int pwmOut(unsigned int channel, int rawdata); Sets a voltage (0 to Vdd) on an analog output channel given a data point on the 1024 clock count cycle. Call pwmOutConfig() and pwm_init() before using this function. (An exception error will occur if these functions were not been called previously.) PARAMETERS
channel is the PWM output channel to write: 0 for DA0, 1 for DA1 rawdata is data value (0–1024) for a 1024 clock count cycle. The value may be calculated using the percent duty cycle value (percentage that is on or high) of the 1024 clock count cycle, for example, 0.25*1024. RETURN VALUE
0 if successful SEE ALSO pwmOutConfig, pwm_init
void pwmOutVolts(unsigned int channel, float voltage); Sets the voltage of an analog output channel by using the previously set calibration constants to calculate the cor-
rect data values. Call pwmOutConfig() and pwm_init() before using this function. (An exception error will occur if these functions were not been called previously.) PARAMETERS
channel is the output channel 0 or 1 to write: 0 for DA0, 1 for DA1 voltage is the voltage desired on the output channel (0–3.3 V) RETURN VALUE
None. SEE ALSO pwmOut, pwmOutConfig, pwm_init
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int anaOutCalib(int channel, int value1, float volts1,int value2, float volts2); Calibrates the response of the D/A converter channel as a linear function using the two conversion points provided. Values are calculated and placed into global table _dacCalibS for analog inputs to be stored later into simulated EEPROM using the function anaOutEEWr(). Each channel will have a linear constant and a voltage offset. PARAMETERS
channel is the output channel 0 or 1: 0 for DA0, 1 for DA1 value1 is the first D/A converter value (0–1023), usually a value of 310 that corresponds to 1.0 V volts1 is the voltage corresponding to the first D/A converter value (0–3.3 V or Vref) value2 is the second D/A converter value (0–1023), usually a value of 930 that corresponds to 3.0 V volts2 is the voltage corresponding to the second D/A converter value (0–3.3 V or Vref) RETURN VALUE
0 if successful -1 if not able to make calibration constants SEE ALSO pwmOut, anaOutEERd, anaOutEEWr
int anaOutEERd(unsigned int channel); Reads the calibration constants, gain, and offset for an output based on its designated channel code position into global table _adcCalibS. Use the sample program USERBLOCK_INFO.C in SAMPLES\USERBLOCK to get the addresses reserved for the calibration data constants and the addresses available for use in your program. NOTE: This function cannot be run in RAM. PARAMETERS
channel is the output channel 0 or 1: 0 for DA0, 1 for DA1 RETURN VALUE
0 if successful -1 if invalid address or range SEE ALSO anaOutEEWr, anaOutCalib
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int anaOutEEWr(unsigned int channel); Writes the calibration constants, gain, and offset for an output based on its designated channel code position into global table _adcCalibS. Use the sample program USERBLOCK_INFO.C in SAMPLES\USERBLOCK to get the addresses reserved for the calibration data constants and the addresses available for use in your program. NOTE: This function cannot be run in RAM. PARAMETER
channel is the output channel 0 or 1: 0 for DA0, 1 for DA1 RETURN VALUE
0 if successful -1 if invalid address or range SEE ALSO anaOutEERd, anaOutCalib
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4.4.7 RabbitNet Port The function calls described in this section are used to configure the BL2500 for use with RabbitNet peripheral cards. The user’s manual for the specific peripheral card you are using contains additional function calls related to the RabbitNet protocol and the individual peripheral card. Add the following lines at the start of your program. #define RN_MAX_DEV 10 // max number of devices #define RN_MAX_DATA 16 // max number of data bytes in any transaction #define RN_MAX_PORT 2 // max number of serial ports
Set the following bits in RNSTATUSABORT to abort transmitting data after the status byte is returned. This does not affect the status byte and still can be interpreted. Set any bit combination to abort: bit 7—device busy is hard-coded into driver bit 5—identifies router or slave bits 4,3,2—peripheral-board-specific bits bit 1—command rejected bit 0—watchdog timeout #define RNSTATUSABORT 0x80 // hard-coded driver default to abort if the peripheral card is busy
void rn_sp_info(); Provides rn_init() with the serial port control information needed for BL2500 series controllers. RETURN VALUE
None.
void rn_sp_close(int port); Deactivates the BL2500 RabbitNet port as a clocked serial port. This call is also used by rn_init(). PARAMETERS
portnum = 0 RETURN VALUE
None
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void rn_sp_enable(int portnum); This is a macro that enables or asserts the BL2500 RabbitNet port select prior to data transfer. PARAMETERS
portnum = 0 RETURN VALUE
None
void rn_sp_disable(int portnum); This is a macro that disables or deasserts the BL2500 RabbitNet port select to invalidate data transfer. PARAMETERS
portnum = 0 RETURN VALUE
None.
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5. USING THE TCP/IP FEATURES Chapter 5 discusses using the TCP/IP features on the Coyote boards. 5.1 TCP/IP Connections Before proceeding you will need to have the following items. • If you don’t have an Ethernet connection, you will need to install a 10Base-T Ethernet card (available from your favorite computer supplier) in your PC. • Two RJ-45 straight-through Ethernet cables and a hub, or an RJ-45 crossover Ethernet cable. The Ethernet cables and Ethernet hub are available from Rabbit in a TCP/IP tool kit. More information is available at www.rabbit.com. 1. Connect the AC adapter and the programming cable as shown in Chapter 2, “Getting Started.” 2. Ethernet Connections • If you do not have access to an Ethernet network, use a crossover Ethernet cable to connect the Coyote to a PC that at least has a 10Base-T Ethernet card. • If you have an Ethernet connection, use a straight-through Ethernet cable to establish an Ethernet connection to the Coyote from an Ethernet hub. These connections are shown in Figure 20. Coyote Board
User’s PC
Coyote Board
Ethernet cables
Ethernet crossover cable
Hub
Direct Connection (network of 2 computers)
To additional network elements
Direct Connection Using a Hub
Figure 20. Ethernet Connections User’s Manual
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3. Apply Power Plug in the AC adapter. The Coyote is now ready to be used. NOTE: A hardware RESET is accomplished by unplugging the AC adapter, then plugging it back in, or by momentarily grounding the reset pins on the back of the Coyote. When the PROG connector of the programming cable connects the Coyote to your PC, and Dynamic C is running, a RESET occurs when you press .
The green LNK light on the Coyote’s RabbitCore module is on when the Coyote is properly connected either to an Ethernet hub or to an active Ethernet card. The orange ACT light flashes each time a packet is received.
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5.2 TCP/IP Sample Programs We have provided a number of sample programs demonstrating various uses of TCP/IP for networking embedded systems. These programs require that you connect your PC and the Coyote together on the same network. This network can be a local private network (preferred for initial experimentation and debugging), or a connection via the Internet. 5.2.1 How to Set IP Addresses in the Sample Programs With the introduction of Dynamic C 7.30 we have taken steps to make it easier to run many of our sample programs. You will see a TCPCONFIG macro. This macro tells Dynamic C to select your configuration from a list of default configurations. You will have three choices when you encounter a sample program with the TCPCONFIG macro. 1. You can replace the TCPCONFIG macro with individual MY_IP_ADDRESS, MY_NETMASK, MY_GATEWAY, and MY_NAMESERVER macros in each program. 2. You can leave TCPCONFIG at the usual default of 1, which will set the IP configurations to 10.10.6.100, the netmask to 255.255.255.0, and the nameserver and gateway to 10.10.6.1. If you would like to change the default values, for example, to use an IP address of 10.1.1.2 for the Coyote board, and 10.1.1.1 for your PC, you can edit the values in the section that directly follows the “General Configuration” comment in the TCP_CONFIG.LIB library. You will find this library in the LIB\TCPIP directory. 3. You can create a CUSTOM_CONFIG.LIB library and use a TCPCONFIG value greater than 100. Instructions for doing this are at the beginning of the TCP_CONFIG.LIB library in the LIB\TCPIP directory. There are some other “standard” configurations for TCPCONFIG that let you select different features such as DHCP. Their values are documented at the top of the TCP_CONFIG.LIB library in the LIB\TCPIP directory. More information is available in the Dynamic C TCP/IP User’s Manual. IP Addresses Before Dynamic C 7.30 Most of the sample programs use macros to define the IP address assigned to the board and the IP address of the gateway, if there is a gateway. Instead of the TCPCONFIG macro, you will see a MY_IP_ADDRESS macro and other macros. #define #define #define #define
MY_IP_ADDRESS "10.10.6.170" MY_NETMASK "255.255.255.0" MY_GATEWAY "10.10.6.1" MY_NAMESERVER "10.10.6.1"
In order to do a direct connection, the following IP addresses can be used for the Coyote: #define MY_IP_ADDRESS "10.1.1.2" #define MY_NETMASK "255.255.255.0" // #define MY_GATEWAY "10.10.6.1" // #define MY_NAMESERVER "10.10.6.1"
In this case, the gateway and nameserver are not used, and are commented out. The IP address of the board is defined to be 10.1.1.2. The IP address of you PC can be defined as 10.1.1.1. User’s Manual
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5.2.2 How to Set Up your Computer’s IP Address for a Direct Connection When your computer is connected directly to the Coyote via an Ethernet connection, you need to assign an IP address to your computer. To assign the PC the address 10.10.6.101 with the netmask 255.255.255.0, do the following. Click on Start > Settings > Control Panel to bring up the Control Panel, and then double-click the Network icon. Depending on which version of Windows you are using, look for the TCP/IP Protocol/Network > Dial-Up Connections/Network line or tab. Doubleclick on this line or select Properties or Local Area Connection > Properties to bring up the TCP/IP properties dialog box. You can edit the IP address and the subnet mask directly. (Disable “obtain an IP address automatically.”) You may want to write down the existing values in case you have to restore them later. It is not necessary to edit the gateway address since the gateway is not used with direct connect. Coyote Board
IP 10.10.6.101 Netmask 255.255.255.0
User’s PC Ethernet crossover cable
Direct Connection PC to Coyote Board
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Coyote (BL2500)
5.2.3 Run the PINGME.C Demo Connect the crossover cable from your computer’s Ethernet port to the Coyote’s RJ-45 Ethernet connector. Open this sample program from the SAMPLES\TCPIP\ICMP folder, compile the program, and start it running under Dynamic C. When the program starts running, the green LNK light on the Coyote should be on to indicate an Ethernet connection is made. (Note: If the LNK light does not light, you may not have a crossover cable, or if you are using a hub perhaps the power is off on the hub.) The next step is to ping the board from your PC. This can be done by bringing up the MSDOS window and running the ping program: ping 10.10.6.100
or by Start > Run and typing the command ping 10.10.6.100
Notice that the orange ACT light flashes on the Coyote while the ping is taking place, and indicates the transfer of data. The ping routine will ping the board four times and write a summary message on the screen describing the operation.
User’s Manual
63
5.2.4 Running More Demo Programs With a Direct Connection The sample programs discussed in this section use the Demonstration Board from the BL2500/OEM2500 Development Kit to illustrate their operation. Appendix C, “Demonstration Board Connections,” contains diagrams of typical connections between the Coyote and the Demonstration Board used to run these sample programs. The program SMPTP.C (SAMPLES\BL2500\TCPIP\) uses the SMTP library to send an e-mail when a switch on the Demonstration Board is pressed. The program BROWSELED.C (SAMPLES\BL2500\TCPIP\) demonstrates a basic controller running a Web page. Two “LEDs” are created on the Web page, and two buttons on the Demonstration Board then toggle them. Users can change the status of the lights from the Web browser. The LEDs on the Demonstration Board match the ones on the Web page. As long as you have not modified the TCPCONFIG 1 macro in the sample program, enter the following server address in your Web browser to bring up the Web page served by the sample program. http://10.10.6.100
Otherwise use the TCP/IP settings you entered in the TCP_CONFIG.LIB library. The program PINGLED.C (SAMPLES\BL2500\TCPIP\) demonstrates ICMP by pinging a remote host. It will flash LEDs DS1 and DS2 on the Demonstration Board when a ping is sent and received.
5.3 Where Do I Go From Here? NOTE: If you purchased your Coyote through a distributor or Rabbit partner, contact the distributor or partner first for technical support.
If there are any problems at this point: • Use the Dynamic C Help menu to get further assistance with Dynamic C. • Check the Rabbit Technical Bulletin Board and forums at www.rabbit.com/support/bb/ and at www.rabbit.com/forums/. • Use the Technical Support e-mail form at www.rabbit.com/support/questionSubmit.shtml. If the sample programs ran fine, you are now ready to go on. If the sample programs ran fine, you are now ready to go on. Additional sample programs are described in the Dynamic C TCP/IP User’s Manual. Refer to the Dynamic C TCP/IP User’s Manual to develop your own applications. An Introduction to TCP/IP provides background information on TCP/IP, and is available on the Web site.
64
Coyote (BL2500)
APPENDIX A. SPECIFICATIONS Appendix A provides the specifications for the Coyote.
User’s Manual
65
A.1 Electrical and Mechanical Specifications Figure A-1 shows the mechanical dimensions for the Coyote. RJ-45 jack extends 0.16" (4.0 mm) past edge of board
R27
J4
RP2
Y3
JC
R83
C33
R77 SCLKC
3.94
3.50 RS485 TERMINATION RESISTORS
R85 R19 R20 GND
GND R73
R75
R72
13
R69
3.3V
(100)
(88.9)
R81 R80
R87
DS4
DS3
485+
TxC
485
VCC
C32
RxC
R74
R65
R63 R64 R68
GND
J9
RS-485, CMOS SERIAL PORTS
3.94
0.20
(5.1)
3.55
(90.2)
0.20
Dig Inputs
GND
15
14
11
10
09
08
07
06
05
04
03
02
J12
R62
R59
R61
R57
R60 GND
R53
Dig Inputs
DS2
R30
U5
DS1
C31
R21
R27
C12
C29
R54
R86 R78
R76
Q4
Q5
R79
C22
U9 R67
R55
C18
Q1
R66
R84
R18
R14
C42
C38
C30 Y2
R50 R51 R52
C20 R21 C23
R56
R70 R58
D10
D7
Q3 D6D4
Q2
Battery
Q1 01
00
+K
J11 J10
07
06
05
04
03
02
01
C34
C33
BT1
D9
D8
Q6 Q7
C8
J7
GND
00
C26
R31 R40 R41 U6 R17 C18 C13
D2
D3
1.57
GND
C19 R15 R88R17 R22
R9
C14
R82
C4C14 R5 C7
C13
R91
C17
C6
JB
L1
(39.9)
U9 R49 R48 R47 R46 R44 R45 R43 R42
U3
TVS1
D5
J8
N/C VCC POWER OUT
Dig Outputs
R32 R29 R28
R71
C21 C20 R35 C19 R34 R33 R32
R29
C24 R33
R16
C17C26 C25 R39 R38 C24 C22 C23 R37 R36
CAUTION
DCIN
J3
C28
C27 D1
U2
GND
(9.4)
R19 U5
NOT STUFFED
N/C VCC POWER OUT
J4
0.37
R28
R26
R18
C6 C3
C15 R4
RCM1
Y1
RCM1
R90 R24 R25
R15 R9 R10 R12
U2
JA
GROUND
R16
R2
R3 R1
C2
C5 DCIN
(24.6)
R89
GND TxE RxE
RxF TxF
C4 R11 R14
C3
R5 R8
J6
RS-232
R23
+ PWR IN
RJ-45 jacks extend 0.18" (4.6 mm) past edge of board
R22
D1 J2
0.97
C15
R11
C41
R30 C25
C35 C36
C11
U6R12
U10
JP1
C16 C9
C11
K LINE PWR
U8
JP2
R7 R4
C1
3.50
JP3
U1
GND
(4.9)
R24
C1
C7
RABBITNET
GND
0.19
R23
U4
RABBITNET
DS1
3.3V AD0 AGND DA0 DA1 AGND VCC DCIN
J5
C16
C12
R20
J3
RP1
R1
C10
(14.0)
JP4
J1
R13
R6
0.55
0.63
(16.0)
(64.0) GND
(88.9)
(88.9)
2.52
(6.1)
12
0.24
This mounting hole is located under the RabbitCore module. (6.1)
3.50
0.24
Diameter of mounting holes = 0.12" (3 mm)
(5.1)
(14)
0.54
(100)
(1.6)
3.94
(100)
(29)
0.063
(13)
0.50
(11)
0.44
1.16
Figure A-1. Coyote Dimensions
NOTE: All measurements are in inches followed by millimeters enclosed in parentheses.
66
Coyote (BL2500)
Table A-1 lists the electrical, mechanical, and environmental specifications for the Coyote. Table A-1. Coyote Specifications Feature
BL2500 Rabbit 3000® at 29.4 MHz
Microprocessor
10/100-compatible with 10Base-T interface
Ethernet Port Flash Memory
—
256K standard, 512K (2 × 256K) option
SRAM
128K standard, 512K option 3 V lithium coin type, 1000 mA·h, supports RTC and SRAM*
Backup Battery LEDs
4, user-programmable 16†: 15 protected to ±36 V DC, 1 protected from -36 V to +5 V DC, switching threshold is 1.5 V nominal
Digital Inputs Digital Outputs Analog Inputs
BL2510
8: sink up to 200 mA each, 36 V DC max. One 10-bit resolution, 8-bit accuracy, input range 0.1–3.1 V, 10 samples/s Two 9-bit PWM, 0.1–3.1 V DC, worst-case 17 ms settling time to within 5 mV of final value (built-in RC settling time constant = 2.5 ms)
Analog Outputs
6 serial ports: one RS-485
Serial Ports
Serial Rate
• • • • •
two RS-232 or one RS-232 (with CTS/RTS) one clocked serial port multiplexed to two RS-422 SPI master ports* one CMOS level asynchronous or clocked serial port one serial port dedicated for programming/debug Max. asynchronous rate = CLK/8, Max. synchronous rate = CLK/2
Real-Time Clock Timers
Yes Ten 8-bit timers (6 cascadable, 3 are reserved for internal peripherals), one 10-bit timer with 2 match registers
Watchdog/Supervisor Power Temperature Humidity
Connectors
Unit Size
Yes 8–40 V DC (RabbitNet peripheral cards are limited to 32 V DC max.) 1 W typ. with no load
0.8 W typ. with no load
-40°C to +70°C 5% to 95%, noncondensing Friction-lock connectors: five polarized 9-position terminals with 0.1" pitch two 2-position power terminals with 0.156" pitch two 4-position terminals with 0.156" pitch 3.94" × 3.94" × 1.16" (100 mm × 100 mm × 29 mm)
3.94" × 3.94" × 0.80" (100 mm × 100 mm × 20 mm)
* not present on standard OEM versions † only 8 protected inputs on standard OEM versions User’s Manual
67
A.1.1 Exclusion Zone
(6)
0.25
It is recommended that you allow for an “exclusion zone” of 0.25" (6 mm) around the Coyote in all directions when the Coyote is incorporated into an assembly that includes other components. An “exclusion zone” of 0.12" (3 mm) is recommended below the Coyote. Figure A-2 shows this “exclusion zone.”
(4)
0.15
(29)
1.16
Exclusion Zone
4.85
0.25 (6)
(123)
0.25 (6)
Figure A-2. Coyote “Exclusion Zone”
68
Coyote (BL2500)
A.1.2 Physical Mounting Figure A-3 shows position information to assist with interfacing other boards with the Coyote. 3.250 (82.5)
3.225 (81.9)
1.650 (41.9)
1.380 0.710
(35.0)
(18.0)
0.379
R4 C3
R5
C4
(24.1)
(16.0)
0.950
C6
U2 C10
C9
Q7
C12 C16
C11 C15 R12 R11
C13
C17
R9 C14
RP2
R20
R16
C20 R21 C23
R24
R19
D1
R18
JP4
U5
R14
C18
R23
C33
Y2
R30 C25
Q1
C24 R33
R32 R29 R28
U9
C19 R15 R17 R22
U6
C22
J12
(10.2)
JP1 C7
JP2
J3
D7
JP3
J11
RP1
(61.0)
C1
2.400
Y1
R1
J10
CAUTION
(69.2)
J6
J8
Battery
2.725
(33.0)
1.300
J7
J1
0.630
J2
J3
0.400
(5.2)
0.205
(0.64)
0.025
(9.6)
R27
C26
J4 C38
J9
C44
DS2 DS1
Y3
C46 R46 R47
C47
LNK ACT
C41 C42
GND
0.400 (10.2)
Figure A-3. User Board Footprint for Coyote
User’s Manual
69
A.2 Conformal Coating The areas around the crystal oscillator and the battery backup circuit on the Coyote’s RabbitCore module have had the Dow Corning silicone-based 1-2620 conformal coating applied. The conformally coated areas are shown in Figure A-4. The conformal coating protects these high-impedance circuits from the effects of moisture and contaminants over time, and helps to maintain the accuracy of the real-time clock.
U1
C1
GND
+ PWR IN
D1 J2
R7 R4
NOT STUFFED
3.3V AD0 AGND DA0 DA1 AGND VCC DCIN
R2
R3 R1
R6
C4 R11 R14
DCIN
C16
C16
R20
R30 C25
C24 R33
Y2
JP1 J4
GND C38
U8
R83
R87
R81 R80
R86
U10
C35 C36
R78
R79
C42
Y3 JC
C46 R46 R47
C47
LNK ACT
R20
JP4 R27
C26
C30
C44
N/C VCC POWER OUT
GND
J7
D5
R21
R77
R84
R85 R19
Conformally coated area
C41
GND
DS1
C34
DS2
C12
3.3V
RS-485, CMOS SERIAL PORTS
GND
C33
DS3
SCLKC
U5
RxC
Dig Inputs GND
RP2
C19 R15 R88R17 R22
R23
C28
R24
R19
R50 R51 R52 C33
R89
R31 R40 R41 U6 R17
DS2 DS1
DCIN
J8
U5
C20 R21 C23
R9
C14
U9
R27 R76
GND
DS4
JP2
C12
C15
U9
C10
C11
R11
U6R12
R18
R26
R28
C18
R71
485+
TxC
R82
JP3
C6
485
R75
RS-232
R23
R18
C3
C9
Q1
R22
GND
N/C VCC POWER OUT
J3
C27
D1 R32 R29 R28
C32 VCC
J9
15
R16
R73
R74
R55
R70
R72
13
C22
R56
R66
12
R63 R64 R68
R67
R69
C17C26 C25 R39 R38 C24 C22 C23 R37 R36
10
C15 R4
C4C14 R5
R14
C18
R58
R65
C13
C17
R49 R48 R47 R46 R44 R45 R43 R42
R62
08
14
R61
C21 C20 R35 C19 R34 R33 R32
J12
C31
R60
R59
D9
R30
BT1
Dig Inputs
R57
GND
R54
C29
R53
07
R29
06
RP1
D10
05
C7
U2
D8
Q6 Q7
Y1
RCM1
C13
R91
U4
04
11
D7
Q4
Q5
CAUTION
03
Battery
02
Q3
Q2
JA R90 R24 R25
C1
D6D4
GND
GROUND
RCM1
R1
C8 D3
Q1
01
TxE RxE
C6
U2
00
R16
JB
C11
J11 J10
L1
C7
+K
K LINE PWR
Dig Outputs
07
R15
R13
U3
06
09
R9 R10 R12
D2
05
RxF TxF
C3
03 04
J6
R5 R8
C2
C5
J4
02
TVS1
J1
RABBITNET
01
GND
J5
J3
RABBITNET
GND 00
GND
RS485 TERMINATION RESISTORS
Figure A-4. Coyote’s RabbitCore Module Areas Receiving Conformal Coating
Any components in the conformally coated area may be replaced using standard soldering procedures for surface-mounted components. A new conformal coating should then be applied to offer continuing protection against the effects of moisture and contaminants. NOTE: For more information on conformal coatings, refer to Technical Note 303, Conformal Coatings.
70
Coyote (BL2500)
A.3 Jumper Configurations Figure A-5 shows the header and jumper locations used to configure the various Coyote options.
R1
Y1
RP1
JP1
C1 R4 C3
R5
C4
C6
JP2
J3
C12 C16
C11 C15 R12 R11
C13
C17
R9 C14
RP2
C20 R21 C23
R20
R16
R18
R24
R19
D1
C19 R15 R17 R22
U6 R23
C22
U9
C33
Y2
R30 C25
Q1
C24 R33
R32 R29 R28
R58
R55
R56
JP4
U5
R14
C18
JP3
C10
C9
Battery
CAUTION
C7
U2
R27
C26
J4 C38
C44
DS2 DS1
Y3
R21R20R19
C46 R46 R47
C47
LNK ACT
C41 C42
GND
Figure A-5. Location of Coyote Configurable Positions (RabbitCore module is not shown)
Table A-2 lists the configuration options. 0 surface mount resistors are used for all the positions except JP10 and J8, which use standard pluggable jumpers. Table A-2. Coyote Jumper Configurations Description
Pins Connected R58 Pulled up to +3.3 V
IN00–IN07
Factory Default
×
R56 Pulled down R55 Pulled up to +K
RS-485 Bias and Termination Resistors
User’s Manual
R20 Termination resistor
×
R19 Bias resistors R21
× 71
A.4 Use of Rabbit 3000 Parallel Ports Figure A-6 shows the Rabbit 3000 parallel ports.
PC0, PC2, PC4
PA0PA7
PB0, PB4PB7 PB1PB3
PD4PD5
Port A
Port B
(+Ethernet Port)
Port C
(Serial Ports B & D)
PC1, PC3, PC5 PG2, PG6 PG0, PG1, PG3PG5, PG7 PC6
Port G
RABBIT 3000
(Serial Ports E & F)
Programming Port
PB1, PC7, /RES
(Serial Port A)
Ethernet Port
4 Ethernet signals
RAM
Real-Time Clock Watchdog 11 Timers Slave Port Clock Doubler
Backup Battery Support
Port D
PE1, PE3PE7
Port E
PF6, PF7
Port F
PF0PF5
Port G
PG0PG1, PG4PG5 /RES_IN /IORD /RESET, /IOWR, STATUS SMODE0 SMODE1
(+Serial Ports)
Misc. I/O Flash
Figure A-6. Coyote Rabbit-Based Subsystems
Table A-3 lists the Rabbit 3000 parallel ports and their use in the Coyote. Table A-3. Use of Rabbit 3000 Parallel Ports
72
Port
I/O
Signal
Initial State
PA0
Output
OUT0
Low
PA1
Output
OUT1
Low
PA2
Output
OUT2
Low
PA3
Output
OUT3
Low
PA4
Output
RS-485 Transmit Enable
PA5
Output
SPI Select
Low (= select SPI1) (high selects SPI2)
PA6
Output
LED DS4
High (disabled)
PA7
Output
LED DS3
High (disabled)
PB0
Output
CLKB SPI
High
PB1
Input
Programming Port Clock
High
PB2
Input
AD0 Low Comparator
Driven by comparator
PB3
Input
AD0 High Comparator
Driven by comparator
Low (disables transmit)
Coyote (BL2500)
Table A-3. Use of Rabbit 3000 Parallel Ports (continued) Port
I/O
Signal
Initial State
PB4
Output
OUT6
Low
PB5
Output
OUT7
Low
PB6
Output
LED DS1
High (disabled)
PB7
Output
LED DS2
High (disabled)
PC0
Output
TXD RS-485
Inactive high Serial Port D
PC1
Input
RXD RS-485
Inactive high
PC2
Output
Configurable
Low
PC3
Input
PC4
Output
IN14
Pulled up to 3.3 V
TXB SPI
Inactive high Serial Port B
PC5
Input
PC6
Output
RXB SPI
Inactive high
TXA Programming Port
Inactive high Serial Port A
PC7
Input
RXA Programming Port
Inactive high
PD0
Output
Realtek RSTDRV
Inactive high
PD1
Output
Not Used
High
PD2
Output
Ethernet
High
PD3
Output
Ethernet
High
PD4
Output
OUT4
Low
PD5
Output
OUT5
Low
PD6
Output
Ethernet
High
PD7
Output
Ethernet
High
PE0
Output
Not Used
High
PE1
Input
PE2
Output
PE3
Input
IN01
Pulled up to 3.3 V
PE4
Input
IN13
Pulled up to 3.3 V
PE5
Input
IN12
Pulled up to 3.3 V
PE6
Input
IN02
Pulled up to 3.3 V
PE7
Input
IN03
Pulled up to 3.3 V
PF0
Input
IN15
Pulled up to 3.3 V
PF1
Input
Configurable
Pulled up to 3.3 V
PF2
Input
IN08
Pulled up to 3.3 V
User’s Manual
IN00 Realtek AEN
Pulled up to 3.3 V
High
73
Table A-3. Use of Rabbit 3000 Parallel Ports (continued) Port
I/O
Signal
Initial State
PF3
Input
IN09
Pulled up to 3.3 V
PF4
Input
IN10
Pulled up to 3.3 V
PF5
Input
IN11
Pulled up to 3.3 V
PF6
Output
DA0
High
PF7
Output
DA1
High
PG0
Input
IN04
Pulled up to 3.3 V
PG1
Input
IN05
Pulled up to 3.3 V
PG2
Output
TXF RS-232
High Serial Port F
PG3
Input
RXF RS-232
High
PG4
Input
IN06
Pulled up to 3.3 V
PG5
Input
IN07
Pulled up to 3.3 V
PG6
Output
TXE RS-232
High Serial Port E
PG7
74
Input
RXE RS-232
High
Coyote (BL2500)
APPENDIX B. POWER SUPPLY Appendix B describes the power circuitry provided on the Coyote. B.1 Power Supplies Power is supplied to the Coyote via the friction-lock connector terminal at J2. The Coyote has an onboard +5 V switching power regulator from which a +3.3 V linear regulator draws its supply. Thus both +5 V and +3.3 V are available. The Coyote is protected against reverse polarity by a diode at D1 as shown in Figure B-1.
DCIN
POWER IN
J2 1 2
D1 1N5819
SWITCHING POWER REGULATOR DCIN C1 47 µF
+5 V
3
U3 330 µH
LM2575
LINEAR POWER REGULATOR +3.3 V
340 µF
LM1117 U10 1
2
10 µF
L1
D2 1N5819
Figure B-1. Coyote Power Supply
The input voltage range is from 8 V to 40 V DC. There is provision on the printed-circuit board for a transorb to be installed at TVS1 in parallel with C1 to provide suppression for positive noise pulses above 51 V. This part is only needed when the Coyote will be used in industrial environments where a clean source of power cannot be guaranteed, and is not part of the normal factory build.
User’s Manual
75
B.2 Batteries and External Battery Connections The SRAM and the real-time clock have battery backup. Power to the SRAM and the realtime clock (VRAM) on the Coyote’s RabbitCore module is provided by two different sources, depending on whether the main part of the Coyote is powered or not. When the Coyote is powered normally, and Vcc is within operating limits, the SRAM and the realtime clock are powered from Vcc. If power to the board is lost or falls below 2.93 V, the VRAM and real-time clock power will come from the battery. The reset generator circuit controls the source of power by way of its /RESET output signal. A soldered-in 1000 mA·h lithium battery provides power to the real-time clock and SRAM when external power is removed from the circuit board. The drain on the battery is less than 10 µA when there is no external power applied to the Coyote, and so the expected shelf life of the battery is more than
1000 mA·h --------------------------- = 11.4 years. 10 µA The drain on the battery is typically less than 4 µA when external power is applied, and so the expected battery in-service life is
1000 mA·h --------------------------- = 28 years. 4 µA Since the nominal shelf life of the lithium battery is 10–20 years, the in-service life should not be of concern. NOTE: The SRAM contents and the real-time clock settings will be lost if the battery is replaced with no power applied to the Coyote. Exercise care if you replace the battery while external power is applied to the Coyote.
76
Coyote (BL2500)
B.2.1 Power to VRAM Switch The VRAM switch on the Coyote’s RabbitCore module, shown in Figure B-2, allows the battery backup to provide power when the external power goes off. The switch provides an isolation between Vcc and the battery when Vcc goes low. This prevents the Vcc line from draining the battery.
+3.3 V
VRAM
RESOUT
Figure B-2. VRAM Switch
The field-effect transistor provides a very small voltage drop between Vcc and VRAM (<100 mV, typically 10 mV) so that the board components powered by Vcc will not have a significantly different voltage than VRAM. When the Coyote is not in reset, the RESOUT line will be high. This allows VRAM to nearly equal Vcc. When the Coyote is in reset, the RESOUT line will go low. This provides an isolation between Vcc and VRAM. B.2.2 Reset Generator The Coyote’s RabbitCore module uses a reset generator to reset the Rabbit 3000 microprocessor when the voltage drops below the voltage necessary for reliable operation. The reset typically occurs at 2.93 V (2.63 V for the BL2510).
B.3 Chip Select Circuit The current drain on the battery in a battery-backed circuit must be kept at a minimum. When the Coyote is not powered, the battery keeps the SRAM memory contents and the real-time clock (RTC) going. The SRAM has a powerdown mode that greatly reduces power consumption. This powerdown mode is activated by raising the chip select (CS) signal line. Normally the SRAM requires Vcc to operate. However, only 2 V is required for data retention in powerdown mode. Thus, when power is removed from the circuit, the battery voltage needs to be provided to both the SRAM power pin and to the CS signal line. The CS control circuit accomplishes this task for the SRAM’s chip select signal line.
User’s Manual
77
B.4 Power to Peripheral Cards DCIN and Vcc are available on friction-lock connector terminals J7 and J8 to power peripheral cards that may be used with the Coyote.
GND
DCIN
Y1
DCIN
n.c.
Vcc
DCIN
n.c.
GND
C1 RP1
JP1
+K GND
R1
Vcc
J8
J7 J10
C7
R4 C3
C6
JP2
J3 U2
C10
C9
C12
C13
C17
C16
C11 C15 R12 R11
DCIN
CAUTION
Battery
n.c.
R5
C4
R9 C14
RP2
R20
R16
C20 R21 C23
R24
R19
D1
R18
JP4
U5
R14
C18
C19 R15 R17 R22
U6 R23
C22
C33
Y2
R30 C25
R32 R29 R28
C24 R33
Q1
U9
JP3
GND
J2 Vcc
DCIN
J8
GND
n.c. GND
J7
Power Supply
Vcc
R27
C26
J4 C38
C44
DS2 DS1
Y3
C46 R46 R47
C47
LNK ACT
C41 C42
GND
Figure B-3. Pinout Friction-Lock Connector Terminals J7 and J8
Keep in mind that the Coyote draws 377 mA from the Vcc supply, and that the diode at D1 (shown in Figure B-1) can handle at most 1 A at VRAW, so that leaves the remaining current capacity to be shared among the DCIN and Vcc pins on friction-lock connector terminals J7 and J8. Table B-1 lists the available current at DCIN based on the current drawn at Vcc. Table B-1. DCIN Current Available at J7 and J8 (in mA) Based on Power Supply and Vcc (= 5 V) Current Used at J7 and J8 VRAW Power Supply Input at J2 (V)
78
Current at Vcc 100 mA 200 mA 300 mA 400 mA 500 mA 600 mA 623 mA
8.0
545
450
355
260
164
69
47
8.5
574
484
395
306
216
127
107
9.0
599
515
431
347
263
178
159
10
641
566
490
415
340
265
248
12
703
641
579
517
455
393
378
18
805
764
723
682
642
601
591
24
855
824
794
763
733
703
696
30
884
860
836
811
787
763
750
40
913
895
877
859
841
823
819
Coyote (BL2500)
APPENDIX C. DEMONSTRATION BOARD CONNECTIONS
Appendix C shows how to connect the Demonstration Board to the Coyote.
C.1 Assemble Wire Harness Before you can connect the Demonstration Board to the Coyote to run the sample programs based on the Demonstration Board, you will need to assemble a wiring harness using the friction-lock connectors and crimp terminals supplied with the BL2500/OEM2500 Development Kit. In addition, you will need: • Wire—22 to 30 AWG (0.33 mm2 to 0.049 mm2) for the 0.1" crimp terminals, 22 to 26 AWG (0.33 mm2 to 0.13 mm2) for the 0.156" crimp terminals • Wire cutters and wire insulation stripper • Crimp tool (pliers may be used, but a crimp tool provides a better crimp with a stronger force) Rabbit sells a crimp tool and a Connectivity Kit that contains additional friction-lock connectors and crimp terminals. Table 3 in Chapter 3 provides information on specific frictionlock connectors and crimp terminals to be used with the various headers on the BL2500. Contact your authorized Rabbit distributor or your sales representative for more information.
User’s Manual
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Follow these steps to build your wire harness. 1. Prepare a few lengths of wire about 30 cm (12") long. The wires should have different colors of insulation to facilitate identifying the connections. 2. Trim about 2–3 mm (0.1") of insulation from your wire. 3. Position the wire in the crimp terminal as shown in Figure C-1. 1 Crimp wire.
Crimp 2 insulation.
Figure C-1. Crimp Wire in Crimp Terminal
4. Use a crimp tool or pliers to first crimp the bare wire, then the insulation as shown in Figure C-1. 5. Insert the crimp terminals with wires into the friction-lock connector with the tab on the crimp terminal facing the opening on the side of the friction-lock connector. Insert the crimp terminal until the tab snaps into place in the side opening.
Tab
Plug this hole to polarize connector. Insert with tab facing side opening. Molex connector Side opening
Figure C-2. Insert Crimp Terminals Into Friction-Lock Connector
6. Repeat these steps until all the wires and crimp terminals have been assembled. TIP: Use different wire colors to help you color-code your harness. TIP: On 10-pin friction-lock connectors, insert a plug into the hole indicated in Figure C-2 to polarize your connector to help prevent offsetting the connector by one pin when you attach it to your Coyote. Polarizing plugs are not included in Rabbit’s Connectivity Kit.
80
Coyote (BL2500)
C.2 Connecting Demonstration Board Before running sample programs based on the Demonstration Board, you will have to connect the Demonstration Board from the BL2500/OEM2500 Development Kit to the Coyote board. Proceed as follows. 1. Use one of the wiring harnesses you have built to connect header J1 on the Demonstration Board to the Coyote. The connections are shown in Figure C-3 for sample program DIGIN.C, in Figure C-4 for sample program DIGOUT.C, and in Figure C-5 for the BL2500\TCPIP TCP/IP sample programs. 2. Make sure that your Coyote is connected to your PC and that the power supply is connected to the Coyote and plugged in as described in Chapter 2, “Getting Started.”
BL2500 (Header J11)
Demonstration Board (Screw Terminals J1)
+ PWR IN
D1 J2
R7 R4
TVS1
NOT STUFFED
R2
R3 R1
U1
C1
DCIN
C4 R11 R14
C16
C30
U8
JP1
R83
R87
R81 R80
R86
U10
C35 C36
C42
Y3 JC
C44
R20
J4
GND
C38
C41
C34
R21
R78
R79 R85 R19
JP2 R27
C26
R30 C25
C33
GND
DS1
R77
R84
C12
3.3V
GND
· · · · · · · · · · · ·
GND SW1 SW2 SW3 SW4 +5V K LED1 LED2 LED3 LED4
BUZZER
·· ·· ·· ··
2-1 4-3 6-5 8-7
H1
RS-485, CMOS SERIAL PORTS
GND
DS2
C19 R15 R88R17 R22
R23
C28
R20
R24
R19
Y2
RP2
JP4
C15 C24 R33
R50 R51 R52 C33
JP3
C16
R12 R11
C12
C11 U6
C27
C20 R21 C23
R9
C14
R89
R31 R40 R41 U6 R17
U9
SCLKC
U5
RxC
GND
C10
C9 U5 D1
R27 R76
GND
DS4
DS3
R26
R28
C18
R71
485+
TxC
R82
C46 R46 R47
C47
LNK ACT
N/C VCC POWER OUT
J7
D5
J3
C6
485
R75
RS-232
R23
RP1
R18
C3
DS2 DS1
DCIN
J8
R1 Q1
U9
R70
VCC
J9
Dig Inputs
BUZZER
15
R18
C22 R32 R29 R28
R73
14
C18 R16
13
C32
R66
R72
C15 R4
C4C14R5
R14
R56
R55
R67
R69
12
R63 R64 R68 R74
C7
U4
10
C13
C17
R58
R65
C17C26 C25 R39 R38 C24 C22 C23 R37 R36
R62
08
C13 U2
R49 R48 R47 R46 R44 R45 R43 R42
J12
R61
C21 C20 R35 C19 R34 R33 R32
R60
D9
R30
C31
GND
R54 R59
Y1
RCM1
R90 R24 R25
R91
BT1
R57
C29
R53
07
RCM1
D8
Q6 Q7
R29
06
CAUTION
D10
05
11
Battery
04
09
D7
Q4
Q5
Dig Inputs
LED1 LED2 LED3 LED4
SW4
DEMO BOARD
SW3
03
Q3
Q2
JA
U2
D6D4
02
GND
GROUND
JB C1
D3
Q1
01
TxE RxE
C6
C8
C11
00
L1
C7
+K
J11 J10
K LINE PWR
07
R16
R22
GND
N/C VCC POWER OUT
06
R15
R13
U3
Dig Outputs
H2
1-2
3-4
5-6
SW2
·· ·· ··
SW1
J1
R9 R10 R12
D2
05
RxF TxF
C3
03 04
J6
R5 R8
C2
C5
J4
02
R6
01
GND
RABBITNET
00
3.3V AD0 AGND DA0 DA1 AGND VCC DCIN
J5
J3
RABBITNET
GND
Jumpers: H1: None H2: As shown
+ J1
+5V GND SW1 SW2 SW3 SW4
GND
K (J7, 3) GND (J11, 9) IN00 (J11, 1) IN01 (J11, 2) IN02 (J11, 3) IN03 (J11, 4)
GND
RS485 TERMINATION RESISTORS
Figure C-3. Connections Between Coyote and Demonstration Board for DIGIN.C Sample Program
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81
+5V LED1 LED2 LED3 LED4
R7 R4
NOT STUFFED
R2
R3 R1
U1
+ PWR IN
D1 J2
TVS1
C5
J4
DCIN
C16
R23
C28
R20
R24
R19
C30
U8
JP1 JP2
R83
R87
R81 R80
R86
U10
C35 C36
R78
R79
C42
Y3 JC
C44
R20
J4
GND
C38
C41
R21
R77
R84
R85 R19
JP3
R27
C26
R30 C25
GND
DS1
C34
DS2
C12
3.3V
GND
· · · · · · · · · · · ·
GND SW1 SW2 SW3 SW4 +5V K LED1 LED2 LED3 LED4
BUZZER
·· ·· ·· ··
2-1 4-3 6-5 8-7
H1
RS-485, CMOS SERIAL PORTS
GND
U5
RxC
SCLKC
C33
J9
Dig Inputs GND
JP4
C15
Y2
RP2
C19 R15 R88R17 R22
U9
R27 R76
GND
DS4
DS3
RS-232
C16
R12 R11
C12
C11 U6
C24 R33
R50 R51 R52 C33
R71
485+
TxC
C10
C9
C27
C20 R21 C23
R9
C14
R89
R31 R40 R41 U6 R17
485
R75
R26
R28
C46 R46 R47
C47
LNK ACT
N/C VCC POWER OUT
J7
D5
J3
C6
R82
C18
U5 Q1
U9
R70
VCC
R23
RP1 D1
R18
C22 R32 R29 R28
C32
R18
C3
DS2 DS1
DCIN
J8
R1
C18 R16
R73
C15 R4
C4C14R5
R14
R56
R55
R66
13
R74
C7
U4
R72
R63 R64 R68
R67
R69
12
C13
C17
R58
10
C17C26 C25 R39 R38 C24 C22 C23 R37 R36
R65
C13 U2
R49 R48 R47 R46 R44 R45 R43 R42
R62
08
15
R61
C21 C20 R35 C19 R34 R33 R32
J12
C31
R60
D9
R30
Y1
RCM1
R90 R24 R25
R91
BT1
GND
R54 R59
GROUND
RCM1
D8
Q6 Q7
R29
R57
C29
R53
07 Dig Inputs
BUZZER
06
CAUTION
D10
05
14
D7
Q4
Q5
04
11
Battery
03
Q3
Q2
GND
JA
U2
D6D4
02
TxE RxE
JB C1
D3
Q1
01
R16
C6
C8
C11
00
L1
C7
+K
J11 J10
K LINE PWR
07
R15
R13
U3
06
09
R9 R10 R12
D2
05
RxF TxF
C3 C4 R11 R14
R22
GND
N/C VCC POWER OUT
04
J6
R5 R8
C2
03
Dig Outputs
SW4
LED1 LED2 LED3 LED4
SW3
DEMO BOARD
02
R6
01
C1
RABBITNET
00
GND
J5
J3
RABBITNET
GND
H2
1-2
3-4
5-6
SW2
·· ·· ··
SW1
J1
+ 3.3V AD0 AGND DA0 DA1 AGND VCC DCIN
Jumpers: H1: None H2: As shown
Demonstration Board (Screw Terminals J1)
J1
K (J7, 3) OUT0 (J3, 1) OUT1 (J3, 2) OUT2 (J3, 3) OUT3 (J3, 4)
GND
BL2500 (Header J3/J7)
GND
RS485 TERMINATION RESISTORS
Figure C-4. Connections Between Coyote and Demonstration Board for DIGOUT.C Sample Program
82
Coyote (BL2500)
BL2500 (Header J3/J7/J11)
Demonstration Board (Screw Terminals J1)
K (J7, 3) GND (J11, 9) IN00 (J11, 1) IN01 (J11, 2) OUT0 (J3, 1) OUT1 (J3, 2)
+5V GND SW1 SW2 LED1 LED2
+
R2
R3 R1
U1
C1
GND
+ PWR IN
D1 J2
R7 R4
TVS1
NOT STUFFED
3.3V AD0 AGND DA0 DA1 AGND VCC DCIN
DCIN
C16
C30
JP1 J4
GND
C38
U8
R83
U10
C41
R87
R81 R80
R86
C35 C36
R78
R79
C42
Y3 JC
C44
R20
JP2 R27
C26
R30 C25
R21
R77
R84
R85 R19
C19 R15 R88R17 R22
R23
C28
R20
R24
R19
GND
DS1
C34
DS2
C12
3.3V
GND
· · · · · · · · · · · ·
GND SW1 SW2 SW3 SW4 +5V K LED1 LED2 LED3 LED4
BUZZER
·· ·· ·· ··
2-1 4-3 6-5 8-7
H1
RS-485, CMOS SERIAL PORTS
GND
U5
RxC
SCLKC
RP2
JP4
C15 C24 R33
Y2
JP3
C16
R12 R11
C12
C11 U6
C27
R50 R51 R52 C33
C33
J9
Dig Inputs GND
C10
C9 U5
C20 R21 C23
R9
C14
R89
R31 R40 R41 U6 R17
U9
R27 R76
GND
DS4
DS3
R26
R28
C18
R71
485+
TxC
R82
C46 R46 R47
C47
LNK ACT
N/C VCC POWER OUT
J7
D5
J3
C6
485
R75
RS-232
R23
R18
C3
DS2 DS1
DCIN
J8
RP1 D1
Q1
U9
R70
VCC
R22
GND
N/C VCC POWER OUT
R1 C1
R18
C22 R32 R29 R28
R73
C18 R16
13
C32
R66
R72
C15 R4
C4C14R5
R14
R56
R55
R67
R69
12
R63 R64 R68 R74
C7
U4
10
C13
C17
R58
BUZZER
R65
C13 U2
R49 R48 R47 R46 R44 R45 R43 R42
R62
08
C17C26 C25 R39 R38 C24 C22 C23 R37 R36
R61
C21 C20 R35 C19 R34 R33 R32
J12
C31
R60
D9
R30
Y1
RCM1
R90 R24 R25
R91
BT1
GND
R54 R59
GROUND
RCM1
D8
Q6 Q7
R29
R57
C29
R53
07
CAUTION
06
15
Battery
D10
05
14
D7
Q4
Q5
04
11
Q3
Q2
GND
JA
U2
D6D4
02 03
C11
D3
Q1
01
TxE RxE
JB
C7
00
K LINE PWR
+K
J11 J10
L1
R16
C6
C8
Dig Inputs
LED1 LED2 LED3 LED4
SW4
DEMO BOARD
SW3
Dig Outputs
07
R15
R13
1-2
3-4
5-6
SW2
U3
06
09
R9 R10 R12
D2
05
RxF TxF
C3 C4 R11 R14
03 04
J6
R5 R8
C2
C5
J4
02
R6
01
J1
RABBITNET
00
GND
J5
J3
H2
·· ·· ··
SW1
J1
RABBITNET
GND
Jumpers: H1: None H2: As shown
GND
RS485 TERMINATION RESISTORS
Figure C-5. Connections Between Coyote and Demonstration Board for TCP/IP SMPT.C Sample Program
User’s Manual
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84
Coyote (BL2500)
APPENDIX D. RABBITNET D.1 General RabbitNet Description RabbitNet is a high-speed synchronous protocol developed by Rabbit to connect peripheral cards to a master and to allow them to communicate with each other. D.1.1 RabbitNet Connections All RabbitNet connections are made point to point. A RabbitNet master port can only be connected directly to a peripheral card, and the number of peripheral cards is limited by the number of available RabbitNet ports on the master.
SLAVE
Straight-through Ethernet cable
SLAVE Rabbit 3000® Microprocessor
MASTER Crossover Ethernet cable
MASTER
SLAVE
Straight-through Ethernet cable
Figure D-1. Connecting Peripheral Cards to a Master
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85
Use a straight-through Ethernet cable to connect the master to slave peripheral cards, unless you are using a device such as the OP7200 that could be used either as a master or a slave. In this case you would use a crossover cable to connect an OP7200 that is being used as a slave. Distances between a master unit and peripheral cards can be up to 10 m or 33 ft. D.1.2 RabbitNet Peripheral Cards • Digital I/O 24 inputs, 16 push/pull outputs, 4 channels of 10-bit A/D conversion with ranges of 0 to 10 V, 0 to 1 V, and -0.25 to +0.25 V. The following connectors are used: Signal = 0.1" friction-lock connectors Power = 0.156" friction-lock connectors RabbitNet = RJ-45 connector • A/D converter 8 channels of programmable-gain 12-bit A/D conversion, configurable as current measurement and differential-input pairs. 2.5 V reference voltage is available on the connector. The following connectors are used: Signal = 0.1" friction-lock connectors Power = 0.156" friction-lock connectors RabbitNet = RJ-45 connector • D/A converter 8 channels of 0–10 V 12-bit D/A conversion. The following connectors are used: Signal = 0.1" friction-lock connectors Power = 0.156" friction-lock connectors RabbitNet = RJ-45 connector • Display/Keypad interface allows you to connect your own keypad with up to 64 keys and one character liquid crystal display from 1 × 8 to 4 × 40 characters with or without backlight using standard 1 × 16 or 2 × 8 connectors. The following connectors are used: Signal = 0.1" headers or sockets Power = 0.156" friction-lock connectors RabbitNet = RJ-45 connector • Relay card 6 relays rated at 250 V AC, 1200 V·A or 100 V DC up to 240 W. The following connectors are used:
Relay contacts = screw-terminal connectors Power = 0.156" friction-lock connectors RabbitNet = RJ-45 connector Visit our Web site for up-to-date information about additional cards and features as they become available. 86
Coyote (BL2500)
D.2 Physical Implementation There are four signaling functions associated with a RabbitNet connection. From the master’s point of view, the transmit function carries information and commands to the peripheral card. The receive function is used to read back information sent to the master by the peripheral card. A clock is used to synchronize data going between the two devices at high speed. The master is the source of this clock. A slave select (SS) function originates at the master, and when detected by a peripheral card causes it to become selected and respond to commands received from the master. The signals themselves are differential RS-422, which are series-terminated at the source. With this type of termination, the maximum frequency is limited by the round-trip delay time of the cable. Although a peripheral card could theoretically be up to 45 m (150 ft) from the master for a data rate of 1 MHz, Rabbit recommends a practical limit of 10 m (33 ft). Connections between peripheral cards and masters are done using standard 8-conductor Ethernet cables. Masters and peripheral cards are equipped with RJ-45 8-pin female connectors. The cables may be swapped end for end without affecting functionality. D.2.1 Control and Routing Control starts at the master when the master asserts the slave select signal (SS). Then it simultaneously sends a serial command and clock. The first byte of a command contains the address of the peripheral card if more than one peripheral card is connected. A peripheral card assumes it is selected as soon as it receives the select signal. For direct master-to-peripheral-card connections, this is as soon as the master asserts the select signal. The connection is established once the select signal reaches the addressed slave. At this point communication between the master and the selected peripheral card is established, and data can flow in both directions simultaneously. The connection is maintained so long as the master asserts the select signal.
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D.3 Function Calls The function calls described in this section are used with all RabbitNet peripheral cards, and are available in the RNET.LIB library in the Dynamic C RABBITNET folder.
int rn_init(char portflag, char servicetype); Resets, initializes, or disables a specified RabbitNet port on the master single-board computer. During initialization, the network is enumerated and relevant tables are filled in. If the port is already initialized, calling this function forces a re-enumeration of all devices on that port. Call this function first before using other RabbitNet functions. PARAMETERS
portflag is a bit that represents a RabbitNet port on the master single-board computer (from 0 to the maximum number of ports). A set bit requires a service. If portflag = 0x03, both RabbitNet ports 0 and 1 will need to be serviced. servicetype enables or disables each RabbitNet port as set by the port flags. 0 = disable port 1 = enable port RETURN VALUE
0
int rn_device(char pna); Returns an address index to device information from a given physical node address. This function will check device information to determine that the peripheral card is connected to a master. PARAMETER
pna is the physical node address, indicated as a byte. 7,6—2-bit binary representation of the port number on the master 5,4,3—Level 1 router downstream port 2,1,0—Level 2 router downstream port RETURN VALUE
Pointer to device information. -1 indicates that the peripheral card either cannot be identified or is not connected to the master. SEE ALSO rn_find
88
Coyote (BL2500)
int rn_find(rn_search *srch); Locates the first active device that matches the search criteria. PARAMETER
srch is the search criteria structure rn_search: unsigned int flags; unsigned int ports; char productid; char productrev; char coderev; long serialnum;
// // // // // //
status flags see MATCH macros below port bitmask product id product rev code rev serial number
Use a maximum of 3 macros for the search criteria: RN_MATCH_PORT RN_MATCH_PNA RN_MATCH_HANDLE RN_MATCH_PRDID RN_MATCH_PRDREV RN_MATCH_CODEREV RN_MATCH_SN
// // // // // // //
match match match match match match match
port bitmask physical node address instance (reg 3) id/version (reg 1) product revision code revision serial number
For example: rn_search newdev; newdev.flags = RN_MATCH_PORT|RN_MATCH_SN; newdev.ports = 0x03; //search ports 0 and 1 newdev.serialnum = E3446C01L; handle = rn_find(&newdev); RETURN VALUE
Returns the handle of the first device matching the criteria. 0 indicates no such devices were found. SEE ALSO rn_device
int rn_echo(int handle, char sendecho, char *recdata); The peripheral card sends back the character the master sent. This function will check device information to determine that the peripheral card is connected to a master. PARAMETERS
handle is an address index to device information. Use rn_device() or rn_find() to establish the handle. sendecho is the character to echo back. recdata is a pointer to the return address of the character from the device. RETURN VALUE
The status byte from the previous command. -1 means that device information indicates the peripheral card is not connected to the master.
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int rn_write(int handle, int regno, char *data, int datalen); Writes a string to the specified device and register. Waits for results. This function will check device information to determine that the peripheral card is connected to a master. PARAMETERS
handle is an address index to device information. Use rn_device() or rn_find() to establish the handle. regno is the command register number as designated by each device. data is a pointer to the address of the string to write to the device. datalen is the number of bytes to write (0–15).
NOTE: A data length of 0 will transmit the one-byte command register number. RETURN VALUE
The status byte from the previous command. -1 means that device information indicates the peripheral card is not connected to the master, and -2 means that the data length was greater than 15. SEE ALSO rn_read
int rn_read(int handle, int regno, char *recdata, int datalen); Reads a string from the specified device and register. Waits for results. This function will check device information to determine that the peripheral card is connected to a master. PARAMETERS
handle is an address index to device information. Use rn_device() or rn_find() to establish the handle. regno is the command register number as designated by each device. recdata is a pointer to the address of the string to read from the device. datalen is the number of bytes to read (0–15).
NOTE: A data length of 0 will transmit the one-byte command register number. RETURN VALUE
The status byte from the previous command. -1 means that device information indicates the peripheral card is not connected to the master, and -2 means that the data length was greater than 15. SEE ALSO rn_write
90
Coyote (BL2500)
int rn_reset(int handle, int resettype); Sends a reset sequence to the specified peripheral card. The reset takes approximately 25 ms before the peripheral card will once again execute the application. Allow 1.5 seconds after the reset has completed before accessing the peripheral card. This function will check peripheral card information to determine that the peripheral card is connected to a master. PARAMETERS
handle is an address index to device information. Use rn_device() or rn_find() to establish the handle. resettype describes the type of reset. 0 = hard reset—equivalent to power-up. All logic is reset. 1 = soft reset—only the microprocessor logic is reset. RETURN VALUE
The status byte from the previous command. -1 means that device information indicates the peripheral card is not connected to the master.
int rn_sw_wdt(int handle, float timeout); Sets software watchdog timeout period. Call this function prior to enabling the software watchdog timer. This function will check device information to determine that the peripheral card is connected to a master. PARAMETERS
handle is an address index to device information. Use rn_device() or rn_find() to establish the handle. timeout is a timeout period from 0.025 to 6.375 seconds in increments of 0.025 seconds. Entering a zero value will disable the software watchdog timer. RETURN VALUE
The status byte from the previous command. -1 means that device information indicates the peripheral card is not connected to the master.
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int rn_enable_wdt(int handle, int wdttype); Enables the hardware and/or software watchdog timers on a peripheral card. The software on the peripheral card will keep the hardware watchdog timer updated, but will hard reset if the time expires. The hardware watchdog cannot be disabled except by a hard reset on the peripheral card. The software watchdog timer must be updated by software on the master. The peripheral card will soft reset if the timeout set by rn_sw_wdt() expires. This function will check device information to determine that the peripheral card is connected to a master. PARAMETERS
handle is an address index to device information. Use rn_device() or rn_find() to establish the handle. wdttype 0 enables both hardware and software watchdog timers 1 enables hardware watchdog timer 2 enables software watchdog timer RETURN VALUE
The status byte from the previous command. -1 means that device information indicates the peripheral card is not connected to the master. SEE ALSO rn_hitwd, rn_sw_wdt
int rn_hitwd(int handle, char *count); Hits software watchdog. Set the timeout period and enable the software watchdog prior to using this function. This function will check device information to determine that the peripheral card is connected to a master. PARAMETERS
handle is an address index to device information. Use rn_device() or rn_find() to establish the handle. count is a pointer to return the present count of the software watchdog timer. The equivalent time left in seconds can be determined from count × 0.025 seconds. RETURN VALUE
The status byte from the previous command. -1 means that device information indicates the peripheral card is not connected to the master. SEE ALSO rn_enable_wdt, rn_sw_wdt
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int rn_rst_status(int handle, char *retdata); Reads the status of which reset occurred and whether any watchdogs are enabled. PARAMETERS
handle is an address index to device information. Use rn_device() or rn_find() to establish the handle. retdata is a pointer to the return address of the communication byte. A set bit indicates which error occurred. This register is cleared when read. 7—HW reset has occurred 6—SW reset has occurred 5—HW watchdog enabled 4—SW watchdog enabled 3,2,1,0—Reserved RETURN VALUE
The status byte from the previous command.
int rn_comm_status(int handle, char *retdata); PARAMETERS
handle is an address index to device information. Use rn_device() or rn_find() to establish the handle. retdata is a pointer to the return address of the communication byte. A set bit indicates which error occurred. This register is cleared when read. 7—Data available and waiting to be processed MOSI (master out, slave in) 6—Write collision MISO (master in, slave out) 5—Overrun MOSI (master out, slave in) 4—Mode fault, device detected hardware fault 3—Data compare error detected by device 2,1,0—Reserved RETURN VALUE
The status byte from the previous command.
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D.3.1 Status Byte Unless otherwise specified, functions returning a status byte will have the following format for each designated bit. 7
×
6
5
4
3
2
1
0 00 = Reserved 01 = Ready 10 = Busy 11 = Device not connected
×
0 = Device 1 = Router
×
0 = No error
×
1 = Communication error* Reserved for individual peripheral cards
×
Reserved for individual peripheral cards
×
0 = Last command accepted 1 = Last command unexecuted
×
×
0 = Not expired 1 = HW or SW watchdog timer expired†
* Use the function rn_comm_status() to determine which error occurred. † Use the function rn_rst_status() to determine which timer expired.
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INDEX A A/D converter calibration constants board serial number ....... 43 function calls anaIn .............................. 50 anaInCalib ..................... 51 anaInEERd .................... 52 anaInEEWr .................... 52 anaInVolts ..................... 51 cof_anaIn ....................... 50 analog inputs See A/D converter analog outputs See D/A converter
B battery connections ............... 76 board initialization function calls ..................... 45 brdInit ............................ 45 board serial number .............. 43
C CE compliance ........................ 7 design guidelines ................. 8 chip select circuit .................. 77 clock doubler ........................ 34 connections Ethernet cable ................... 59 connectivity tools Connectivity Kit .................. 4 crimp tool ............................ 4 friction-lock connector parts . 19
D D/A converter function calls anaOutCalib .................. 55 anaOutEERd .................. 55 anaOutEEWr ................. 56 pwm_init ....................... 53 User’s Manual
pwmOut ......................... 54 pwmOutConfig ............. 53 pwmOutVolts ................ 54 Demonstration Board hookup instructions ........... 81 digital I/O sample programs 81 jumper configurations 81, 82, 83 wires .................................... 3 Development Kit crimp terminals ................... 3 Dynamic C software ........... 3 friction-lock connectors ...... 3 software ............................... 3 digital I/O SMODE0 .......................... 31 SMODE1 .......................... 31 digital inputs ......................... 21 dimensions BL2500 ............................. 66 DIN rail mounting .................. 5 components ......................... 5 Dynamic C ........................ 4, 38 add-on modules ................. 39 COM port .......................... 14 debugging features ............ 38 downloading RabbitNet libraries .................................. 40 installation ......................... 13 Rabbit Embedded Security Pack ................................ 4 sample programs ............... 41 standard features debugging ...................... 38 starting .............................. 14 telephone-based technical support ............................ 4, 39 upgrades and patches ........ 39
E Ethernet cables ...................... 59 Ethernet connections ............. 59
steps .................................. 59 Ethernet port ......................... 32 handling EMI and noise .... 32 pinout ................................ 32 exclusion zone ...................... 68
F features .................................... 1 flash memory lifetime write cycles .......... 37 flash memory addresses user blocks ........................ 36 flash memory bank select ..... 36 friction-lock connectors parts ................................... 19
H headers Demonstration Board H1 ...................... 81, 82, 83 H2 ...................... 81, 82, 83
I IP addresses .......................... 62 how to set .......................... 61 how to set PC IP address .. 62
J J7 power to peripheral cards .. 78 J8 power to peripheral cards .. 78 jumper configurations ........... 71 Demonstration Board . 81, 82, 83 digital inputs ..................... 71 JP1 (RS-485 bias and termination resistors) ................ 71 jumper locations ................ 71
M memory ................................. 36 95
models .....................................2 BL2500 ................................2 BL2510 ................................2 OEM versions ......................2
P peripheral cards .......................6 connection to master ....85, 86 power from BL2500 ..........78 physical mounting .................69 pinout BL2500 headers .................18 Ethernet port ......................32 power management ...............75 power supply .........................75 battery backup ...................76 chip select circuit ...............77 connections ........................10 switching voltage regulator 75 VRAM switch ...................77 Program Mode .......................33 programming flash vs. RAM ...................37 programming cable ..............3 programming port ..............31 programming cable .................3 connections ........................10 PROG connector ...............33 switching between Program Mode and Run Mode ....33 programming port .................31
R Rabbit 3000 parallel ports ......................72 RabbitNet ................................6 Ethernet cables to connect peripheral cards ...........85, 86 function calls rn_comm_status .............93 rn_device .......................88 rn_echo ..........................89 rn_enable_wdt ...............92 rn_find ...........................89 rn_hitwd .........................92 rn_init ............................88 rn_read ...........................90 rn_reset ..........................91 rn_rst_status ...................93 rn_sw_wdt .....................91 rn_write .........................90 general description ............85 peripheral cards .................86 A/D converter ................86 96
D/A converter ................86 digital I/O ......................86 display/keypad interface 86 relay card .......................86 physical implementation ...87 RabbitNet port ...................31 RabbitNet port function calls rn_sp_close ....................57 rn_sp_disable .................58 rn_sp_enable ..................58 rn_sp_info ......................57 reset hardware ............................12 reset generator ...................77 RS-485 network ....................29 termination and bias resistors 30 Run Mode ..............................33
S sample programs ...................41 A/D converter inputs AD0.C ............................42 ADCALIB.C ..................42 COF_ANAIN.C .............42 DA2AD.C ......................42 DNLOADCALIB.C ......43 UPLOADCALIB.C .......43 CONTROLLED.C ............41 D/A converter DAC.C ...........................42 DACCALIB.C ...............42 PWM.C ..........................42 digital I/O DIGIN.C ..................41, 81 DIGOUT.C ........41, 81, 82 FLASHLEDS.C ................41 how to set IP address .........61 PONG.C ............................15 real-time clock RTC_TEST.C ................43 SETRTCKB.C ...............43 serial communication FLOWCONTROL.C .....41 SIMPLE3WIRE.C .........42 SIMPLE485MASTER.C 42 SIMPLE485SLAVE.C ..42 SWITCHCHAR.C .........42 TCP/IP ...................61, 81, 83 PINGME.C ....................63 SSI.C ..............................64 TOGGLESWITCH.C ........41 user block
USERBLOCK_INFO.C 52, 55, 56 serial communication function calls ser485Rx ........................49 ser485Tx ........................49 programming port ..............31 RabbitNet port ...................31 RS-232 description ............28 RS-485 network ................29 RS-485 termination and bias resistors .........................30 serial ports Ethernet port ......................32 setup ......................................10 power supply connections .10 programming cable connections ...............................13 software ...................................4 downloading RabbitNet libraries ..................................40 libraries ..............................44 BL2500 ..........................44 PACKET.LIB ................49 RN_CFG_BL25.LIB .....44 RNET.LIB .....................88 RS232.LIB .....................49 TCP/IP ...........................44 RabbitNet port ...................57 macros ...........................57 sample programs ...............41 specifications BL2500 dimensions .....................66 electrical ........................67 exclusion zone ...............68 temperature ....................67 header footprint .................69 physical mounting .............69 relative pin 1 locations ......69 spectrum spreader settings ...............................35 status byte ..............................94 subsystems ............................17
T TCP/IP connections ...............59 10Base-T Ethernet card .....59 additional resources ...........64 Ethernet hub ......................59 steps ...................................59
U user block Coyote (BL2500)
function calls readUserBlock ............... 36 writeUserBlock ............. 36 sample programs USERBLOCK_INFO.C 52, 55, 56
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SCHEMATICS 090-0158 Coyote (BL2500) Schematic www.rabbit.com/documentation/schemat/090-0158.pdf
090-0042 Demonstration Board Schematic www.rabbit.com/documentation/schemat/090-0042.pdf
090-0128 Programming Cable Schematic www.rabbit.com/documentation/schemat/090-0128.pdf
You may use the URL information provided above to access the latest schematics directly. The Coyote consists of a main board with a RabbitCore module. Refer to the RabbitCore module manuals for more information on the RabbitCore modules, including their schematics.
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