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RabbitNet Peripheral Cards RabbitNet LAN Cards User’s Manual 019–0146 • 070629–D RabbitNet Peripheral Cards User’s Manual Part Number 019-0146 • 07029–D • Printed in U.S.A. ©2005–2007 Rabbit Semiconductor Inc. • All rights reserved. No part of the contents of this manual may be reproduced or transmitted in any form or by any means without the express written permission of Rabbit Semiconductor. Permission is granted to make one or more copies as long as the copyright page contained therein is included. These copies of the manuals may not be let or sold for any reason without the express written permission of Rabbit Semiconductor. Rabbit Semiconductor reserves the right to make changes and improvements to its products without providing notice. Trademarks Rabbit and Dynamic C are registered trademarks of Rabbit Semiconductor Inc. RabbitNet is a trademark of Rabbit Semiconductor Inc. The latest revision of this manual is available on the Rabbit Semiconductor Web site, www.rabbit.com, for free, unregistered download. Rabbit Semiconductor Inc. www.rabbit.com RabbitNet Peripheral Cards TABLE OF CONTENTS Chapter 1. The RabbitNet Protocol 1 1.1 General RabbitNet Description.............................................................................................................1 1.1.1 RabbitNet Connections .................................................................................................................1 1.1.2 RabbitNet Peripheral Cards ..........................................................................................................2 1.1.3 Connectivity Tools........................................................................................................................3 1.1.4 DIN Rail Mounting .......................................................................................................................4 1.2 Physical Implementation.......................................................................................................................5 1.2.1 Control and Routing......................................................................................................................5 1.3 Dynamic C ............................................................................................................................................6 1.3.1 Dynamic C Libraries.....................................................................................................................6 1.3.1.1 Accessing and Downloading Dynamic C Libraries ............................................................. 7 1.3.2 Sample Programs ..........................................................................................................................8 1.3.3 General RabbitNet Operation........................................................................................................8 1.3.4 General RabbitNet Function Calls ................................................................................................9 1.3.5 Status Byte ..................................................................................................................................15 Chapter 2. Digital I/O Card 17 2.1 Features ...............................................................................................................................................18 2.1.1 Software ......................................................................................................................................18 2.2 Connections ........................................................................................................................................19 2.2.1 Power Supply ..............................................................................................................................20 2.3 Pinout ..................................................................................................................................................22 2.3.1 Headers........................................................................................................................................22 2.3.2 Indicator LED .............................................................................................................................22 2.4 Digital I/O ...........................................................................................................................................23 2.4.1 Digital Inputs...............................................................................................................................23 2.4.2 Digital Outputs............................................................................................................................24 2.5 Analog Inputs......................................................................................................................................26 2.5.1 Single-Ended Inputs....................................................................................................................27 2.5.2 Differential Inputs .......................................................................................................................27 2.5.3 Calibrating the Analog Inputs .....................................................................................................27 2.5.3.1 Calibration Constants ......................................................................................................... 28 2.5.3.2 Calibration Recommendations ........................................................................................... 28 2.5.3.3 Factory Calibration............................................................................................................. 29 2.6 Software ..............................................................................................................................................30 2.6.1 Dynamic C Libraries...................................................................................................................30 2.6.2 Sample Programs ........................................................................................................................30 2.6.2.1 Digital I/O .......................................................................................................................... 30 2.6.2.2 Analog Inputs ..................................................................................................................... 32 2.6.3 Digital I/O Card Function Calls ..................................................................................................34 2.6.3.1 Digital Input Function Calls............................................................................................... 34 2.6.3.2 Digital Output Function Calls ............................................................................................ 35 2.6.3.3 Analog Input Function Calls .............................................................................................. 37 2.6.4 Status Byte ..................................................................................................................................44 2.7 Specifications......................................................................................................................................45 2.7.1 Electrical and Mechanical Specifications ...................................................................................45 2.7.1.1 Physical Mounting.............................................................................................................. 47 2.7.2 Jumper Configurations ................................................................................................................48 User’s Manual Chapter 3. A/D Converter Card 51 3.1 Features .............................................................................................................................................. 52 3.1.1 Software...................................................................................................................................... 52 3.2 Connections ........................................................................................................................................ 53 3.2.1 Power Supply.............................................................................................................................. 54 3.3 Pinout ................................................................................................................................................. 55 3.3.1 Headers ....................................................................................................................................... 55 3.3.2 Indicator LED............................................................................................................................. 55 3.4 Analog Inputs ..................................................................................................................................... 56 3.4.1 Analog Current Measurements................................................................................................... 58 3.4.2 Calibrating the A/D Converter Chip........................................................................................... 59 3.4.2.1 Modes ................................................................................................................................ 59 3.4.2.2 Calibration Constants ........................................................................................................ 59 3.4.2.3 Calibration Recommendations........................................................................................... 60 3.4.2.4 Factory Calibration ............................................................................................................ 61 3.5 Software ............................................................................................................................................. 62 3.5.1 Dynamic C Libraries .................................................................................................................. 62 3.5.2 Sample Programs........................................................................................................................ 62 3.5.3 A/D Converter Card Function Calls ........................................................................................... 65 3.5.4 Status Byte.................................................................................................................................. 77 3.6 Specifications ..................................................................................................................................... 78 3.6.1 Electrical and Mechanical Specifications................................................................................... 78 3.6.2 Physical Mounting...................................................................................................................... 80 3.7 Jumper Configurations ....................................................................................................................... 81 Chapter 4. D/A Converter Card 83 4.1 Features .............................................................................................................................................. 84 4.1.1 Software...................................................................................................................................... 84 4.2 Connections ........................................................................................................................................ 85 4.2.1 Power Supply.............................................................................................................................. 86 4.3 Pinout ................................................................................................................................................. 87 4.3.1 Headers ....................................................................................................................................... 87 4.3.2 Indicator LED............................................................................................................................. 87 4.4 D/A Converter Outputs ...................................................................................................................... 88 4.4.1 Calibration .................................................................................................................................. 89 4.5 Software ............................................................................................................................................. 90 4.5.1 Dynamic C Libraries .................................................................................................................. 90 4.5.2 Sample Programs........................................................................................................................ 90 4.5.3 D/A Converter Card Function Calls ........................................................................................... 92 4.5.4 Status Byte.................................................................................................................................. 99 4.6 Specifications ................................................................................................................................... 100 4.6.1 Electrical and Mechanical Specifications................................................................................. 100 4.6.2 Physical Mounting.................................................................................................................... 102 Chapter 5. Relay Card 103 5.1 Features ............................................................................................................................................ 104 5.1.1 Software.................................................................................................................................... 104 5.2 Connections ...................................................................................................................................... 105 5.2.1 Power Supply............................................................................................................................ 106 5.3 Pinout ............................................................................................................................................... 108 5.3.1 Headers ..................................................................................................................................... 108 5.3.2 Indicator LEDs ......................................................................................................................... 108 5.4 Relay Outputs ................................................................................................................................... 109 5.5 Software ........................................................................................................................................... 110 5.5.1 Dynamic C Libraries ................................................................................................................ 110 5.5.2 Sample Programs...................................................................................................................... 110 5.5.3 Relay Card Function Calls........................................................................................................ 112 5.5.4 Status Byte................................................................................................................................ 115 RabbitNet Peripheral Cards 5.6 Specifications....................................................................................................................................116 5.6.1 Electrical and Mechanical Specifications .................................................................................116 5.6.2 Physical Mounting ....................................................................................................................118 Chapter 6. Keypad/Display Interface 119 6.1 Features .............................................................................................................................................120 6.1.1 Software ....................................................................................................................................120 6.2 Connections ......................................................................................................................................121 6.2.1 Power Supply ............................................................................................................................122 6.3 Key RabbitNet Keypad/Display Interface Components ...................................................................123 6.3.1 Headers and Jacks .....................................................................................................................123 6.3.1.1 Keypads............................................................................................................................ 123 6.3.1.2 Liquid Crystal Displays.................................................................................................... 124 6.3.2 LEDs .........................................................................................................................................124 6.3.3 Buzzer .......................................................................................................................................124 6.4 Liquid Crystal Display Backlights....................................................................................................125 6.5 Display Contrast ...............................................................................................................................127 6.6 Software ............................................................................................................................................128 6.6.1 Dynamic C Libraries.................................................................................................................128 6.6.2 Sample Programs ......................................................................................................................128 6.6.3 RabbitNet Keypad/Display interface Function Calls................................................................130 6.6.3.1 Buzzer............................................................................................................................... 130 6.6.3.2 LEDs................................................................................................................................. 131 6.6.3.3 Keypad ............................................................................................................................. 132 6.6.3.4 Display ............................................................................................................................. 135 6.6.4 Status Byte ................................................................................................................................141 6.7 Specifications....................................................................................................................................142 6.8 Electrical and Mechanical Specifications .........................................................................................142 6.8.1 Physical Mounting ....................................................................................................................144 Appendix A. Keypad/Display Interface Expansion Kit 145 A.1 Keypads............................................................................................................................................146 A.1.1 Keypad Templates....................................................................................................................147 A.2 LCD Displays...................................................................................................................................150 A.2.1 2 × 20 Character LCD ..............................................................................................................151 A.2.2 4 × 20 Character LCD ..............................................................................................................151 A.3 ZMENU.C........................................................................................................................................152 A.4 Configuring Key Code Indexes and Physical Keypad Arrangement...............................................156 A.4.1 Basics of Assigning Key Code Indexes ...................................................................................156 A.4.2 Expansion Kit Keypads............................................................................................................158 A.4.2.1 3 × 4 Keypad ................................................................................................................... 158 A.4.2.2 2 × 6 Keypad ................................................................................................................... 159 A.4.2.3 4 × 10 Keypad ................................................................................................................. 160 A.5 2 × 6 Keypad Datasheet ...................................................................................................................161 A.6 3 × 4 Keypad Datasheet ...................................................................................................................162 A.7 4 × 10 Keypad Datasheet .................................................................................................................163 A.8 2 × 20 Character LCD Datasheet .....................................................................................................164 A.9 4 × 20 Character LCD Datasheet .....................................................................................................188 Index 195 Schematics 199 User’s Manual RabbitNet Peripheral Cards 1. THE RABBITNET PROTOCOL 1.1 General RabbitNet Description RabbitNet is a high-speed synchronous protocol developed by Rabbit Semiconductor to connect peripheral cards to a master and to allow them to communicate with each other. 1.1.1 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 CAT 5/6 Ethernet cable SLAVE Rabbit 3000® Microprocessor MASTER Crossover CAT 5/6 Ethernet cable MASTER SLAVE Power Supply Straight-through CAT 5/6 Ethernet cable Figure 1. Connecting Peripheral Cards to a Master User’s Manual 1 A typical RabbitNet™ system consists of a master single-board computer and one or two peripheral cards. A high-performance Rabbit 3000® or Rabbit 2000® microprocessor on the master provides fast data processing, and a BL2500 or a BL2600 master also provides the DCIN and +5 V power for the peripheral cards. Use a straight-through CAT 5/6 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 CAT 5/6 Ethernet cable to connect an OP7200 that is being used as a slave. NOTE: Even though CAT 5/6 Ethernet cables are used for the RabbitNet connections, never connect a RabbitNet port to an Ethernet network. Doing so could destroy the RabbitNet SPI driver. Distances between a master unit and peripheral cards can be up to 10 m or 33 ft. Table 1 lists Rabbit Semiconductor’s single-board computers and other devices that can be used as the master in a RabbitNet system. Table 1. RabbitNet Master Capabilities RabbitNet Masters Master Supplies Power to Peripheral Cards Number of RabbitNet Ports BL2500 Yes 2 BL2600 Yes 2 OP7200 No 1 RCM3300/RCM3360 Prototyping Board No 1 PowerCore FLEX Prototyping Board No 1 1.1.2 RabbitNet Peripheral Cards • Digital I/O Card 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 Card 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 2 RabbitNet Peripheral Cards • D/A Converter Card 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 × 20 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 The OP7200 operator interface may serve as a RabbitNet peripheral card “display” in a RabbitNet system. Visit our Web site for up-to-date information about additional cards and features as they become available. The Web site also has the latest revision of this user’s manual. 1.1.3 Connectivity Tools Rabbit Semiconductor also has available additional tools and parts to allow you to make your own wiring assemblies to interface with the friction-lock connectors on the RabbitNet peripheral cards. • 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 or more RabbitNet peripheral cards. • Crimp tool (Part No. 998-0013) to secure wire in crimp terminals. Contact your authorized Rabbit Semiconductor distributor or your Rabbit Semiconductor Sales Representative for more information. User’s Manual 3 1.1.4 DIN Rail Mounting RabbitNet peripheral cards and the BL2500 master may be mounted in 100 mm DIN rail trays as shown in Figure 2. 3 AI 0 R7 3 C7 8 R8 AG ND AI 1 2 R7 5 J11 R7 C7 4 9 GN D U4 J1 C1 C2 U2 U5 O1 1 C7 O1 2 O1 3 C6 O1 4 C5 O1 5 C4 +K 2 C3 J2 +K 2 U8 U7 + D1 1 O1 0 O9 0 C1 1 U1 J8 0 J1 0 U6 U3 U11 C1 0 8 C4 Q4 O6 3 Q 32 O5 5 JP D 16 C1 D O4 4 GN J5 +K1 J9 DCIN +K 1 8 J4 GN D C1 O0 O1 6 O2 C1 2 O3 2 C1 +K DC IN C1 C Q1 6 O7 2 VC + 3 JP VCC GND C4 1 +K 1 O8 J3 C1 9 5 C3 RP Q 64 GN D GN D U9 U1 Q R14 R30 9 4 IN1 5 1 JP J6 17 R15 R31 C9 C4 IN PU 8-1 LL 5 3IN1 Q 33 4 7 C4 2 C8 RP 2 IN1 1 IN2 2 IN2 3 Q 7 8 RP C5 R16 R32 8 C4 8 8 10 0 IN1 1 IN1 7 49 RP C3 R4 7 7 C3 R4 2 5 RP C6 IN1 8 IN1 9IN2 0 IN2 Q C3 R4 6 C3 R4 5 5 6 9 C5 3 RP IN9 C1 C3 R4 3 3 C3 R4 4 4 5 C6 RP RP11 R6 12 6 C6 IN8 RP 2 IN GN PU 16 +K D LL -2 3 2 R24 R8 1 C3 R4 1 1 C3 R4 2 2 R25 R9 R21 R5 DC C2 R3 7 7 0 C3 R4 0 9 R10 R26 R22 R6 RP R19 R3 C2 R3 6 6 C2 R3 9 9 R4 5 J7 GN D RP 3 C1 C2 9 C2 0 C2 1 2 R18 R2 C2 R3 5 5 8 C2 R3 8 0 4 C7 IN PU 0LL 7 D B IG O IT A A R L D I/O R12 R28 R13 R29 R11 R27 R17 R1 C2 R3 4 4 C5 R5 2 C6 R5 R5 4 6 C5 0 R23 R7 R20 R4 IN VC C C6 0 9 9 2 C7 C5 2 C4 6 3 R8 R7 + C5 3 C4 C4 3 C4 4 C5 5 R3C2 3 1 3 13 C6 R5 R6 2 3 65 C7 1 R6 Q + R5 1 7 + 7 6 RP 7 Y 1 C7 2 R6 PO W ER IN0 6 IN0 C5 4 RP C8 R5 R5 5 R5 6 R58 7 0 CR Q66 1 RA BB IT 3 IN0 4IN 05 9 7 4 NE T 0 IN0 1 IN0 2 IN0 R5 Q6 C7 R6 0 5 9 R8 RA BB IT IN0 C73 R7 1 C6 6 R6 0 9 R7 R6 R7 9 0 4 DC IN R7 7 C6 R6 8 1 C6 R6 AI 3+ R7 8 IN1 6 IN1 7 IN1 AI 2 +5 RE FAI 3- R8 7 R88 R85 R86 C7 R7 7 6 R8 N/ C RabbitNet I/O Card Tray Side Modular PC Board Trays DIN Rail Figure 2. Mounting RabbitNet Peripheral Card 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 RabbitNet peripheral card 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 a RabbitNet peripheral card. 108 mm plastic trays may be used with spacers. 4 RabbitNet Peripheral Cards 1.2 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 Semiconductor recommends a practical limit of 10 m (33 ft). Connections between peripheral cards and masters are done using standard 8-conductor CAT 5/6 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. 1.2.1 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. User’s Manual 5 1.3 Dynamic C Dynamic C is an integrated development system for writing embedded software. It runs on an IBM-compatible PC and is designed for use with Rabbit Semiconductor single-board computers and other devices based on the Rabbit microprocessor. 1.3.1 Dynamic C Libraries In addition to the library associated with the master single-board computer such as the BL2500 or OP7200, several other libraries are needed to provide function calls for RabbitNet peripheral cards. • RN_CFG_BL25.LIB—used to configure the BL2500 for use with RabbitNet peripheral cards. Function calls for this library are discussed in the Coyote (BL2500) User’s Manual. • RN_CFG_BL26.LIB—used to configure the BL2600 for use with RabbitNet peripheral cards. Function calls for this library are discussed in the Wolf (BL2600) User’s Manual. • RN_CFG_OP72.LIB—used to configure the OP7200 for use with RabbitNet peripheral cards. Function calls for this library are discussed in the eDisplay (OP7200) User’s Manual. • RN_CFG_PowerCoreFLEX.LIB—used to configure the PowerCore FLEX modules for use with RabbitNet peripheral boards on the PowerCore FLEX Prototyping Board. Function calls for this library are discussed in the PowerCore FLEX User’s Manual. • RN_CFG_RCM33.LIB—used to configure the RCM3300, RCM3310, RCM3360, and RCM3370 for use with RabbitNet peripheral boards on the RCM3300 Prototyping Board. Function calls for this library are discussed in the RCM3300/RCM3310 User’s Manual and in the RCM3360/RCM3370 User’s Manual. • RNET.LIB—provides functions unique to the RabbitNet protocol. Function calls for this library are presented below. • RNET_DRIVER.LIB—provides background functions unique to the RabbitNet data transmission protocol. Function calls specific to individual RabbitNet peripheral cards are described in the chapters specific to the individual RabbitNet peripheral card. Other functions applicable to all devices based on Rabbit microprocessors are described in the Dynamic C Function Reference User’s Manual. More complete information on Dynamic C is provided in the Dynamic C User’s Manual. 6 RabbitNet Peripheral Cards 1.3.1.1 Accessing and Downloading Dynamic C Libraries The libraries needed to run the RabbitNet peripheral cards are available on the CD included with the Development Kit for the master single-board computer, or they may be downloaded from http://www.rabbit.com/support/downloads/ on Rabbit Semiconductor’s Web site. When downloading the libraries from the Web site, click on the product-specific links until you reach the links for the RabbitNet peripheral cards download. Once you have downloaded the file, double-click on the file name to begin the installation. InstallShield will install the files for you at a location you designate, and a pop-up readme file will explain the available options to add the files to your existing Dynamic C installation or to modify the relevant files in your existing Dynamic C installation. You will be able to use the revamped Dynamic C installation with the RabbitNet peripheral card and you will continue to be able to use this installation with all the other Rabbit Semiconductor products you used before. User’s Manual 7 1.3.2 Sample Programs Sample programs are provided in the Dynamic C SAMPLES folder. The various folders contain specific sample programs that illustrate the use of the corresponding Dynamic C libraries. For example, the sample program PONG.C demonstrates the output to the STDIO window. The RABBITNET folder provides sample programs specific to the RabbitNet peripheral cards. 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), then compile and run it by pressing F9 or by selecting Run in the Run menu. The RabbitNet peripheral card must be connected to a master such as the BL2500 with its Demonstration Board connected as explained in the Coyote (BL2500) User’s Manual or other user’s manual. The BL2500 or other master must be in Program Mode, and must be connected via the programming cable to a PC. More complete information on Dynamic C is provided in the Dynamic C User’s Manual. 1.3.3 General RabbitNet Operation The SAMPLES\RABBITNET\ subdirectory contains the following sample programs. When running these sample programs, the RabbitNet peripheral card may be connected to either RabbitNet port on a master such as the BL2500 that has two RabbitNet ports. The sample program will use rn_device() to first look for peripheral cards connected to the master. The last peripheral card found will run the sample program. The sample program will also display the serial number(s) of the peripheral cards connected to which RabbitNet port on the master using the STDIO window, or that no card is connected to a particular port. • ECHOCHAR.C—Demonstrates a simple character echo to any RabbitNet peripheral card. A character is sent to the RabbitNet peripheral card connected at a physical node address of 0x00 or 0000 octal. If a peripheral card is connected, the character will be returned back along with the status of the peripheral card. Otherwise, the status byte will indicate there is no connection. • ECHOTERM.C—Demonstrates a simple character echo to any RabbitNet peripheral card through a serial terminal on the master. A character is sent to the RabbitNet peripheral card connected at a physical-node address of 0x00 or 0000 octal. If a card is connected, the character will be returned back along with the status of the peripheral card. Otherwise, the status byte will indicate there is no connection. • HWATCHDOG.C—Demonstrates setting the hardware watchdog on a RabbitNet peripheral card. This sample program will first look for a peripheral card that matches the search criteria. The hardware watchdog will be set and a hardware reset should occur in approximately 1.5 seconds. The hardware watchdog will be disabled after the reset is done. • SWATCHDOG.C—Demonstrates setting and hitting the software watchdog on a RabbitNet peripheral card using costatements. This program will first look for a peripheral card matching the search criteria. The software watchdog will be set for 2.5 seconds. The watchdog will be hit at every increasing timeout until the timeout is past 2.5 seconds. A software reset will occur and the software watchdog will be disabled. 8 RabbitNet Peripheral Cards 1.3.4 General RabbitNet 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 User’s Manual 9 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 pna char productid; char productrev; char coderev; long serialnum; // // // // // // // status flags see MATCH macros below port bitmask physical node address 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. -1 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. 10 RabbitNet Peripheral Cards 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 User’s Manual 11 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. 12 RabbitNet Peripheral Cards 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 User’s Manual 13 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. 14 RabbitNet Peripheral Cards 1.3.5 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. User’s Manual 15 16 RabbitNet Peripheral Cards Digital I/O Card 2. DIGITAL I/O CARD Chapter 2 describes the features and the use of the Digital I/O Card, one of the peripheral cards designed for use with the RabbitNet expansion ports on selected Rabbit Semiconductor singleboard computers, operator interfaces, and RabbitCore Prototyping Boards. Figure 3 shows a conceptual view of the Digital I/O Card connected to a master. RabbitNet LAN Digital I/O Card SLAVE MASTER Rabbit 3000® Microprocessor DIGITAL INPUTS DIGITAL OUTPUTS ANALOG INPUTS DCIN, +5 V EXTERNAL +K SUPPLIES Figure 3. Digital I/O Card (Slave) Connected to Master NOTE: The OP7200 master and the RabbitCore Prototyping Boards do not supply any power to the slave. User’s Manual 17 RN1100 2.1 Features • 24 protected and filtered digital inputs • 16 high-speed protected digital outputs, individually configurable as sinking or sourcing up to 200 mA at up to 36 V DC • four 10-bit analog input channels: 2 buffered, 0 – 10 V, single-ended 1 buffered, 0 – 1 V, single-ended 1 buffered, -0.25 – +0.25 V, differential • can be mounted in standard 100 mm DIN rail trays sold by other suppliers • interfaces with master through RabbitNet™ serial protocol at 1 Megabit per second using standard CAT 5/6 Ethernet cable, can be up to 10 m (33 ft) away from master 2.1.1 Software The Digital I/O Card is a slave; the master to which it is connected is programmed using version 8.01 or later of Rabbit Semiconductor’s Dynamic C. If you are using a master with an earlier version of Dynamic C, Rabbit Semiconductor recommends that you upgrade your Dynamic C installation. Contact your authorized Rabbit Semiconductor distributor or your Rabbit Semiconductor Sales Representative for more information on Dynamic C upgrades. 18 RabbitNet Peripheral Cards Use a straight-through CAT 5/6 Ethernet cable to connect the Digital I/O Card’s RJ-45 RabbitNet jack to a RabbitNet port on the master. You may use either port if you are connecting to a master such as the BL2500 that has more than one RabbitNet port. NOTE: The RJ-45 RabbitNet jacks are serial I/O ports for use with a master and a network of peripheral cards. The RabbitNet jacks do not support Ethernet connections. C14 O5 C13 C15 O6 O7 +K1 O9 O10 O11 O12 O13 O14 O15 J3 O8 +K2 J2 GND +K2 D1 Q1 DCIN J10 J8 RABBIT NET JP2 Digital I/O Card RP7 GN D RP8 C57 RP9 C62 RP10 U11 GND +K1 C75 VCC IN 0-7 PULL C76 RP5 IN8 IN9 IN10 IN11 IN12 IN13 IN14 IN15 RP4 C49 DC IN R72 C40 C42 R15 R31 R16 R32 R13 R29 R14 R30 C66 U10 C73 R71 R89 + Q66 CR1 R86 AI3+ IN 8PULL15 Q48 C72 R88 R85 R 78 AI0 AGNDAI1 AI2 +5REFAI3- C80 R84 C55 C63 C65 RP11 RP12 R66 R67 Y1 R79 Q67 U3 U6 R52 R54 R63 C71 Q65 C37 C38 R47 R48 C48 R49 C64 R62 C36 R46 C52 U5 U2 + U8 C35 R45 C34 R44 JP3DIGITAL I/O BOARD IN00 IN01 IN02 IN03 IN04 IN05 IN06 IN07 R50 R51 R55 R56 R57 R58 C59 C33 R43 Power-supply cable J7 U7 C32 R42 C31 R41 C53 C30 R40 R11 R27 R12 R28 R8 R24 R9 R25 R10 R26 C29 R39 R53 C67 R69 R70 R77 R75 N/C R74 C79 RP13 R87 R60 C70 R65 J11 C28 R38 C27 R37 C50 R3 R19 R4 R20 R5 R21 R6 R22 R7 R23 C26 R36 + C78 C25 R35 C60 GN D R73 R1 R17 R2 R18 C54 IN22 IN23 R82 C41 C39 C46 RP3 IN21 R83 Q64 C43 C44 C23 C24 C45 R33 R34 C51 U1 U4 GND +K2 DC IN VCC RP2 IN16 IN17 IN18 IN19 IN20 RP6 U9 C77 R76 Q33 Q49 C19 C20 C21 C22 R59 J5 + Q32 Q17 C17 RP1 C68 C69 R61 R64 C18 Q16 + D16 GND +K2 DC IN VCC J6 +K1 C16 GN D O4 C12 O3 C11 O2 C10 C9 O1 C8 O0 C7 C6 GND J1 IN 16-23 JP1PULL C5 C4 C3 +K1 C2 C1 J4 +K2 J9 RABBIT POWER Master Some masters have only one RabbitNet port and do not have a friction-lock power terminal. Straight-through CAT 5/6 Ethernet cable RabbitNet X Ethernet Figure 4. Connect Digital I/O Card to Master You will also have to provide two separate DC power supplies to your Digital I/O Card: +5 V and a DCIN of 9–32 V. These power supplies are connected via the polarized friction-lock terminal at header J9. You may assemble a suitable cable using the frictionlock connectors from the Connectivity Kit described in Section 1.1.3. If you are using a BL2500 or BL2600 as your master, you may draw this power from the BL2500 or BL2600 as shown in Figure 4. If you are using the digital outputs, you will need two additional external power supplies up to 36 V that can each handle up to 1.6 A for +K1 and +K2. The actual voltage and current depend on the requirements of the loads you plan to connect to the digital outputs. These power supplies are connected to friction-lock terminals J1 and J4 on the Digital I/O Card. You may assemble suitable cables using the friction-lock connectors from the Connectivity Kit described in Section 1.1.3. See Section 2.2.1 for detailed wiring diagrams. User’s Manual 19 Digital I/O Card 2.2 Connections Figure 5 illustrates the assembled friction-lock connector wiring diagram for the power supplies used to supply power to the Digital I/O Card. GND DCIN/+5 V GND +5 V DCIN GND +K GND +K DCIN n.c. +5 V GND If you are not drawing power from the master, connect the power-supply grounds of the DCIN and 5 V power supplies at the power supplies. +K1/+K2 RABBIT NET RN1100 2.2.1 Power Supply J1 or J4 J9 J8 Figure 5. Power-Supply Connections NOTE: If you are using separate DC power supplies for DCIN and +5 V because you are not drawing this power from the master, note that the crimp pins used in the fractionlock connector assembly can only hold one wire each. Connect the one GND wire from the fraction-lock connector assembly to the ground on one of the two power supplies, then use a separate wire to connect the power-supply grounds together. Use 18-gauge (AWG) wire for power-supply connections up to 10 m away from the master. If the wire length is less than 3 m, 22 gauge (AWG) wire is acceptable. Do not daisy-chain the power supply connections between different peripheral cards, but use a star configuration from the master or router when there are several peripheral cards. Daisy Chain X Star Figure 6. Daisy Chain vs. Star Configurations 20 RabbitNet Peripheral Cards Large transient currents flow in the ground and positive supply wires when the digital output drivers are switched on/off, and it is imperative that any ground differential resulting from resistive or inductive loss in the ground wire be kept as low as possible (