BL4S100 C-Programmable Single-Board Computer with Networking User’s Manual 019–0172_C BL4S100 User’s Manual Part Number 019-0172_C • Printed in U.S.A. ©2008-2010 Digi International Inc. • All rights reserved. Digi International reserves the right to make changes and improvements to its products without providing notice. Trademarks Rabbit, RabbitCore, and Dynamic C are registered trademarks of Digi International Inc. RabbitNet is a trademark of Digi International Inc. The latest revision of this manual is available on the Rabbit Web site, www.rabbit.com, for free, unregistered download. Digi International Inc. www.rabbit.com TABLE OF CONTENTS Chapter 1. Introduction 4 1.1 BL4S100 Description ...........................................................................................................................4 1.2 BL4S100 Features.................................................................................................................................4 1.3 Development and Evaluation Tools......................................................................................................6 1.3.1 Tool Kit.........................................................................................................................................6 1.3.2 Software ........................................................................................................................................7 1.3.3 Optional Add-Ons .........................................................................................................................7 1.4 CE Compliance .....................................................................................................................................8 1.4.1 Design Guidelines .........................................................................................................................9 1.4.2 Interfacing the BL4S100 to Other Devices...................................................................................9 Chapter 2. Getting Started 10 2.1 BL4S100 Connections ........................................................................................................................11 2.1.1 Hardware Reset ...........................................................................................................................12 2.2 Installing Dynamic C ..........................................................................................................................13 2.3 Starting Dynamic C ............................................................................................................................14 2.4 Run a Sample Program .......................................................................................................................14 2.4.1 Troubleshooting ..........................................................................................................................14 2.4.2 Run a ZigBee Sample Program (BL4S100/BL4S150 only) .......................................................15 2.5 Where Do I Go From Here? ...............................................................................................................16 Chapter 3. Subsystems 17 3.1 BL4S100 Pinouts ................................................................................................................................18 3.1.1 Connectors ..................................................................................................................................18 3.2 Digital I/O ...........................................................................................................................................19 3.2.1 Digital Inputs...............................................................................................................................19 3.2.2 Digital Outputs............................................................................................................................22 3.3 Serial Communication ........................................................................................................................25 3.3.1 RS-232 ........................................................................................................................................25 3.3.2 Programming Port.......................................................................................................................25 3.3.3 Ethernet Port ...............................................................................................................................26 3.4 A/D Converter Inputs..........................................................................................................................27 3.4.1 A/D Converter Calibration..........................................................................................................29 3.5 USB Programming Cable ...................................................................................................................30 3.5.1 Changing Between Program Mode and Run Mode ....................................................................30 3.6 Other Hardware...................................................................................................................................31 3.6.1 Clock Doubler .............................................................................................................................31 3.6.2 Spectrum Spreader ......................................................................................................................31 3.7 Memory...............................................................................................................................................32 3.7.1 SRAM .........................................................................................................................................32 3.7.2 Flash Memory .............................................................................................................................32 3.7.3 VBAT RAM Memory.................................................................................................................32 BL4S100 User’s Manual 1 Chapter 4. Software 33 4.1 Running Dynamic C ...........................................................................................................................33 4.1.1 Upgrading Dynamic C ................................................................................................................35 4.1.2 Add-On Modules.........................................................................................................................35 4.2 Sample Programs ................................................................................................................................36 4.2.1 Digital I/O ...................................................................................................................................37 4.2.2 Serial Communication.................................................................................................................43 4.2.3 A/D Converter Inputs..................................................................................................................45 4.2.4 Real-Time Clock .........................................................................................................................46 4.2.5 TCP/IP Sample Programs ...........................................................................................................46 4.2.6 ZigBee Sample Programs............................................................................................................46 4.3 BL4S100 Libraries..............................................................................................................................47 4.4 BL4S100 Function Calls.....................................................................................................................48 4.4.1 Board Initialization .....................................................................................................................48 4.4.2 Digital I/O ...................................................................................................................................49 4.4.3 Rabbit RIO Interrupt Handlers....................................................................................................75 4.4.4 Serial Communication.................................................................................................................79 4.4.5 A/D Converter Inputs..................................................................................................................80 4.4.6 SRAM Use ..................................................................................................................................94 Chapter 5. Using the Ethernet TCP/IP Features 95 5.1 TCP/IP Connections ...........................................................................................................................95 5.2 TCP/IP Sample Programs ...................................................................................................................97 5.2.1 How to Set IP Addresses in the Sample Programs .....................................................................97 5.2.2 How to Set Up your Computer for Direct Connect ....................................................................98 5.2.3 Run the PINGME.C Demo ......................................................................................................99 5.2.4 Running More Demo Programs With a Direct Connection......................................................100 5.3 Where Do I Go From Here? .............................................................................................................102 Chapter 6. Using the ZigBee Features 103 6.1 Introduction to the ZigBee Protocol .................................................................................................103 6.2 ZigBee Sample Programs .................................................................................................................104 6.2.1 Setting Up the Digi XBee USB Coordinator ............................................................................105 6.2.2 Setting up Sample Programs .....................................................................................................107 6.3 Dynamic C Function Calls................................................................................................................111 6.4 Where Do I Go From Here? .............................................................................................................111 Appendix A. Specifications 112 A.1 Electrical and Mechanical Specifications ........................................................................................113 A.1.1 Exclusion Zone.........................................................................................................................115 A.1.2 Headers.....................................................................................................................................115 A.2 Jumper Configurations.....................................................................................................................116 A.3 Use of Rabbit Microprocessor Parallel Ports...................................................................................118 Appendix B. Power Supply 120 B.1 Power Supplies.................................................................................................................................120 B.2 Batteries and External Battery Connections ....................................................................................121 B.2.1 Replacing the Backup Battery..................................................................................................121 Appendix C. Demonstration Board 122 C.1 Connecting Demonstration Board....................................................................................................123 C.2 Demonstration Board Features.........................................................................................................124 C.2.1 Pinout........................................................................................................................................124 C.2.2 Configuration............................................................................................................................124 Appendix D. Rabbit RIO Resource Allocation 126 BL4S100 User’s Manual 2 D.1 Digital I/O Pin Associations ............................................................................................................127 D.2 Interpreting Error Codes ..................................................................................................................128 Appendix E. Plastic Enclosure 130 E.1 Assembly Instructions ......................................................................................................................131 E.2 Dimensions.......................................................................................................................................133 Appendix F. Additional Configuration Instructions 134 F.1 XBee Module Firmware Downloads................................................................................................134 F.1.1 Dynamic C v. 10.44 and Later..................................................................................................134 ® F.2 Digi XBee USB Configuration ......................................................................................................135 F.2.1 Additional Reference Information ............................................................................................136 ® F.2.2 Update Digi XBee USB Firmware.........................................................................................138 Index 139 Schematics 142 BL4S100 User’s Manual 3 1. INTRODUCTION The BL4S100 series of high-performance, C-programmable single- board computers offers built-in RS-232, digital I/O and analog inputs combined with Ethernet and ZigBee network connectivity in a compact form factor. The BL4S100 single-board computers are ideal for both discrete manufacturing and process-control applications. ® A Rabbit 4000 microprocessor provides fast data processing. 1.1 BL4S100 Description Throughout this manual, the term BL4S100 refers to the complete series of BL4S100 single- board computers unless other production models are referred to specifically. The BL4S100 is an advanced single-board computer that incorporates the powerful Rabbit 4000 microprocessor, serial flash memory, static RAM, digital inputs, digital outputs, A/D converter inputs, RS-232 serial ports, and Ethernet and ZigBee network connectivity. 1.2 BL4S100 Features ® • Rabbit 4000 microprocessor operating at 40.00 MHz. • Screw-terminal connectors • 512KB SRAM (battery-backed), 512KB/1MB fast SRAM, and 1MB/2MB flash memory options. • 20 digital I/O: 12 protected digital inputs, and 8 sinking digital outputs. • Advanced input capabilities including event counting, event capture, and quadrature decoders that may be set up on all the digital input pins. • Independent PWM and PPM capability on all the digital output pins. • Eight 11-bit A/D converter inputs (plus one bit for sign). • Ethernet and ZigBee network connectivity. • Three serial ports:  Two 3-wire RS-232 serial ports or one 5-wire RS-232 serial port:  One serial port dedicated to programming/debugging. BL4S100 User’s Manual 4 • Battery-backed real-time clock. • Watchdog supervisor. Four BL4S100 models are available. Their standard features are summarized in Table 1. Table 1. BL4S100 Models Feature BL4S100 BL4S110 BL4S150 BL4S160 ® Microprocessor Rabbit 4000 running at 40.00 MHz Program Execution SRAM 512KB 1MB Data SRAM 512KB Serial Flash Memory 1MB 2MB (program) A/D Converter 12 bits Ethernet Interface 10Base-T ZigBee PRO ZigBee PRO ZigBee Interface — — (802.15.4) (802.15.4) BL4S100 single-board computers are programmed over a standard PC USB port through a programming cable supplied with the Tool Kit. NOTE: BL4S100 Series single-board computers cannot be programmed via the RabbitLink. Appendix A provides detailed specifications. Visit the 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. BL4S100 User’s Manual 5 1.3 Development and Evaluation Tools 1.3.1 Tool Kit A Tool Kit contains the hardware essentials you will need to use your own BL4S100 single- board computer. These items are supplied in the Tool Kit. • Getting Started instructions. • Dynamic C CD-ROM, with complete product documentation on disk. • USB programming cable, used to connect your PC USB port to the BL4S100. • Universal AC adapter, 12 V DC, 1 A (includes Canada/Japan/U.S., Australia/N.Z., U.K., and European style plugs). • Demonstration Board with pushbutton switches and LEDs. The Demonstration Board can be hooked up to the BL4S100 to demonstrate the I/O and capabilities of the BL4S100. • DB9 to bare leads serial cable. • CAT 5/6 Ethernet crossover cable. • Screwdriver. • Rabbit 4000 Processor Easy Reference poster. • Registration card. set up.exe Figure 1. BL4S100 Tool Kit BL4S100 User’s Manual 6 ��� $��� 1.3.2 Software The BL4S100 is programmed using version 10.44 or later of Rabbit’s Dynamic C. A com- patible version is included on the Tool Kit CD-ROM. This version of Dynamic C includes the popular µC/OS-II real-time operating system, point-to-point protocol (PPP), FAT file system, RabbitWeb, and other select libraries. 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 addi- tion to the Web-based technical support included at no extra charge, a one-year telephone- based 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. 1.3.3 Optional Add-Ons Rabbit has a plastic enclosure and a Mesh Network Add-On Kit available for the BL4S100. • Mesh Network Add-On Kit (Part No. 101-1272) ®  Digi XBee USB (used as ZigBee coordinator)  XBee Series 2 RF module  RF Interface module The XBee Series 2 RF module is installed on the RF Interface module, which can be connected via an RS-232 serial connection to a Windows PC for setup. The Mesh Net- work Add-On Kit enables you to explore the wireless capabilities of BL4S100 models that offer a ZigBee network interface. • Plastic enclosure (Part No. 181-0041) ��� ����� !� ��� �� � ���� ���� ���� ���� ���� ���� ���� ���� !� �� �� �� ��� �� �� �� ��� ��� ��� !�� �� ��� !� ��� !� !� !� !�� �� �� �� �� �� ��� !�� !�� Further details on the plastic enclosure are provided in ��� ��� ��� ����� �� ������ ��� ��� ��� ��� ��� ��� ��� ��� ��� �� !����� ��� ��� ��� ��� ��������!�� !����� !�� !�� !�� !�� !�� ��� ��� !�� !�� !����� �� !�� ��� !�� �� ������ !�� !�� !�� !�� ��� !�� �� �� !�� !�� !�� ��� ��� ��� !�� !�� #� �� ������ !�� !�� � �!�� � #� ��� !�� � &� !�� !�� !�� !�����&� !�� &�!�� !�� !�� !�� ������ ��� ��� � � ���!�� !�� !�� !�� ��� Appendix E. ��� !�� !�� &���� ��� !�� !��!�� !�� ��� ��� !�� !�� !�� !�� � � ��� !�� !�� ��� ��� ������ !�� !�� ��� ��� � ��� !�� ��� ��� ��� ��� ������ � ��� ��� !�� !�� #� !�� $�������$��� ��� !�� ������ !���� �� #� ���� ��� ��� ��� ��� ��� ��� ��� ��� !��� ��� #� #� #�� #�������� !��� � $�!������$%%"� ��� ��� � � ��� ��� !�� $�������$��� � ��� ��� � �� � � � ���� ��� ��� � ��� �� ��� � ��� � � ��� �� $������$������$������$������$������$������$������$�����$��� ����������������������������������������������������������������� ��� � � Visit our Web site at www.rabbit.com or contact your Rabbit sales representative or authorized distributor for further information. BL4S100 User’s Manual 7 ���� ��� !��� ���� ��� !��� !�� ���� ���� !��� !�� ���� ���� !��� ���� ���� ���� !��� ���� ���� !��� �������� ���� ���� !��� ���� ���� !��� �� �� �� !�� ��� !�� ��� ��� ��� ��� !�� ��� !�� ��� ��� !�!��� ��� ��� ��� ��� ��� ��� ��� ��� !�� !�� ��� !��� #� ��� �� ������ �� !��� !�� ��� !�� ������ !��!�� !�� !��� !��� #� ��� #� !�� !��!�� �� !� !� ��� !�� !�� ��� !�� ��� ��� ��� !�� !!���� !�� �������� !�� ���� ��� !�� ��� �� ��� ��� ��� ��� ��� ��� #�� � � � � � �� �� �� �� � � �� �� ��"� � � ��"� ��������� ��!����������������������� ������ ��������������������������������������������������������� ���������������������������������������������������������������� 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: More restrictive emissions requirement: less than 40 dB µV/m at 10 m 30 dB µV/m at 10 m or 100 µV/m (40 dB relative to 1 µV/m) or 300 µV/m These limits apply over the range of 30–230 MHz. The limits are 7 dB higher for frequen- cies above 230 MHz. Although the test range goes to 1 GHz, the emissions from Rabbit- based systems at frequencies above 300 MHz are generally well below background noise levels. The BL4S100 single-board computer has been tested and was found to be in conformity with the following applicable immunity and emission standards. The BL4S110, BL4S150, and BL4S160 single-board computers are also CE qualified as they are sub-versions of the BL4S100 single-board computer. Boards that are CE-compliant have the CE mark. Immunity The BL4S100 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 BL4S100 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. BL4S100 User’s Manual 8 1.4.1 Design Guidelines Note the following requirements for incorporating the BL4S100 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 BL4S100 single-board computer to outdoor cables, the customer is responsible for providing CE-approved surge/lighting 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 BL4S100, it is the responsibility of the end-user to use proper ESD precautions to prevent ESD damage to the BL4S100. Safety • All inputs and outputs to and from the BL4S100 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 BL4S100 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 BL4S100 to Other Devices Since the BL4S100 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. BL4S100 User’s Manual 9 2. GETTING STARTED Chapter 2 explains how to connect the programming cable and power supply to the BL4S100. BL4S100 User’s Manual 10 �� ���� ���� ��$� ��� $��� 2.1 BL4S100 Connections Step 1 — Connect Programming Cable The programming cable connects the BL4S100 to the PC running Dynamic C to download programs and to monitor the BL4S100 module during debugging. Connect the 10-pin PROG connector of the programming cable to header J8 on the BL4S100. Ensure that the colored edge lines up with pin 1 as shown. (Do not use the DIAG connector, which is used for monitoring only.) Connect the other end of the programming cable to an available USB port on your PC or workstation. ����������� ����� !’(’)*+ ��� ��� �� *+,* !� ��� �� � �� �� �� �� �� �� �� �� !� �� �� �� �� �� �� �� �� �� �� �� ��� �� ��� �� ��� �� �� ��� !�� � ��� !� !� �� ��� !� !� !� �� �� �� !�� !�� �� ��� ��� ��� ��� ��� ��� ��� �� �� ��� ��� ��� ��� ��� ��� ��� ��� ��� ��� ��� �� ��� ��� �� !�� ��� ��� ��� !�� ��� !�� !�� ��� !�� !��!�� !�� !�� !�� ��� !�� ��� !�� �� ��� !�� �� !�� ��� ��� !�� !�� !�� ��� !�� !�� �� �� !�� !�� ��� !�� ��� ��� !�� !�� !�� � �� ��� !�� #� ��� � � ��� &� � #� !�� !�� !�� &� !�� !�� !�� !�� &� !�� ��� ��� !�� !�� !�� ��� � !�� !�� !�� ��� ��� ��� � ��� !�� !�� !�� !�� &���� ��� !�� !�� � ��� ��� ��� !�� !�� � ��� ��� !�� !�� !�� !�� ��� !�� !�� ��� ��� ��� ��� !�� � ��� ��� ��� ��� ��� ��� � ��� ��� !�� #� !�� ��� !�� $�������$��� ������ ��� ��� !�� #� !��� ��� ��� � ��� ��� ��� ��� ��� ��� ��� ��� !��� #� #� #�� #�������� $�!������$%%"� !��� ��� ��� ��� � !�� � � ��� � $�������$��� ��� � � � ��� � �� ��� � ���� ��� ��� �� ��� � � � ��� �� ��� � � $������$������$������$������$������$������$������$�����$��� ����������������������������������������������������������������� ��� Figure 2. Programming Cable Connections Your PC should recognize the new USB hardware, and the LEDs in the shrink-wrapped area of the USB programming cable will flash — if you get an error message, you will have to install USB drivers. Drivers for Windows XP are available in the Dynamic C Drivers\Rabbit USB Programming Cable\WinXP_2K folder — double-click DPInst.exe to install the USB drivers. Drivers for other operating systems are available online at www.ftdichip.com/Drivers/VCP.htm. BL4S100 User’s Manual 11 ���� ��� !��� !�� ���� ��� !��� !�� ���� ���� !��� ���� ���� ���� !��� ���� ���� !��� ���� ���� !��� �������� ���� ���� !��� ���� ���� !��� �� �� �� ��� !�� !�� �’ ��� ��� �!�����-’). ��� ��� ��� !�� !�� ��� ��� ��� !�� !�� ��� ��� ��� ��� ��� ��� ��� !�� !�� ��� !��� ��� �� #� ��� �� ��� !�� ��� !�� !��� ��� !��!�� !�� ��� !��� !��� #� ��� #� !�� �� !�� !�� !� !� !�� ��� ��� !�� !�� ��� ��� ��� !�� !�� !�� !�� ���� !�� ���� ���� ��� !�� ��� �� ��� ��� ��� ��� ��� ��� #�� � � � � � �� �� �� �� �� � � �� ��"� � � ��"� ��������� ��!����������������������� ������ ��������������������������������������������������������� ���������������������������������������������������������������� Step 2 — Connect Power Supply Once all the other connections have been made, you can connect power to the BL4S100. First, prepare the AC adapter for the country where it will be used by selecting the plug. The Tool Kit presently includes Canada/Japan/U.S., Australia/N.Z., U.K., and European style plugs. Snap in the top of the plug assembly into the slot at the top of the AC adapter as shown in Figure 3, then press down on the spring-loaded clip below the plug assembly to allow the plug assembly to click into place. Release the clip to secure the plug assembly in the AC adapter. Connect the power supply to header J17 on the BL4S100 as shown in Figure 3. Be sure to match the latch mechanism with the top of the connector to header J17 on the BL4S100 as ® shown. The Micro-Fit connector will only fit one way. Figure 3. Power Supply Connections Plug in the AC adapter. The red LED next to the power connector at J17 should light up. The BL4S100 is now ready to be used. CAUTION: Unplug the power supply while you make or otherwise work with the connections to the headers. This will protect your BL4S100 from inadvertent shorts or power spikes. 2.1.1 Hardware Reset A hardware reset is done by unplugging the power supply, then plugging it back in, or by pressing the RESET button located next to the Ethernet jack. BL4S100 User’s Manual 12 2.2 Installing Dynamic C If you have not yet installed Dynamic C version 10.44 (or a later version), do so now by inserting the Dynamic C CD from the BL4S100 Tool Kit in your PC’s CD-ROM drive. If autorun is enabled, the CD installation will begin automatically. If autorun is disabled or the installation does not start, use the Windows Start | Run menu or Windows Disk Explorer to launch setup.exe from the root folder of the CD-ROM. The installation program will guide you through the installation process. Most steps of the process are self-explanatory. NOTE: If you have an earlier version of Dynamic C already installed, the default instal- lation of the later version will be in a different folder, and a separate icon will appear on your desktop. The online documentation is installed along with Dynamic C, and an icon for the docu- mentation 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 docu- ments 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. Once your installation is complete, you will have up to three icons on your PC desktop. One icon is for Dynamic C, one opens the documentation menu, and the third is for the Rabbit Field Utility, a tool used to download precompiled software to a target system. If you have purchased any of the optional Dynamic C modules, install them after installing Dynamic C. The modules may be installed in any order. You must install the modules in the same directory where Dynamic C was installed. BL4S100 User’s Manual 13 2.3 Starting Dynamic C Once the BL4S100 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. Select Store Program in Flash on the “Compiler” tab in the Dynamic C Options > Project Options menu. Then click on the “Communications” tab and verify that Use USB to Serial Converter is selected to support the USB programming cable. Click OK. You may have to select the COM port assigned to the USB programming cable on your PC. In Dynamic C, select Options > Project Options, then select this COM port on the “Communications” tab, then click OK. You may type the COM port number followed by Enter on your computer keyboard if the COM port number is outside the range on the dropdown menu. 2.4 Run a Sample Program You are now ready to test your set-up by running a sample program. Use the File menu to open the sample program PONG.C, which is in the Dynamic C SAMPLES folder. Press function key F9 to compile and run the program. The STDIO window will open on your 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. 2.4.1 Troubleshooting 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 sys- tem may not be powered up. First, check to see that the red power LED next to header J5 is lit. If the LED is lit, check both ends of the programming cable to ensure that it is firmly plugged into the PC and the programming header on the BL4S100 with the marked (col- ored) edge of the programming cable towards pin 1 of the programming header. If Dynamic C appears to compile the BIOS successfully, but you then receive a communi- cation 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 on the “Communications” tab in the Dynamic C Options > Project Options menu. Select a slower Max download baud rate. Click OK to save. 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 on the “Communications” tab in the Dynamic C Options > Project Options menu. Choose a lower debug baud rate. Click OK to save. Press to force Dynamic C to recompile the BIOS. You should receive a Bios compiled successfully message once this step is completed successfully. BL4S100 User’s Manual 14 2.4.2 Run a ZigBee Sample Program (BL4S100/BL4S150 only) This section explains how to run a sample program in which the BL4S100/BL4S150 is used ® in its default setup as a router and the Digi XBee USB is used as the ZigBee coordinator. ® 1. Connect the Digi XBee USB acting as a ZigBee coordinator to an available USB port on your PC or workstation. Your PC should recognize the new USB hardware. 2. Find the file AT_INTERACTIVE.C, which is in the Dynamic C SAMPLES\XBee folder. To run the program, open it with the File menu, then compile and run it by pressing F9. The Dynamic C STDIO window will open to display a list of AT commands. Type MENU to redisplay the menu of commands. �������������������������� ���� ������������������ ��������������������� �������������������������������������� ��!�����"��� ����������������������������������������� ��#����$�����������������������%�&�#���#"�’������������#��’�� ����������������������������(�������������’�)*��*+���� ��������������������������������"������)*&�*+� ��,%����������������������%�&�#�� ��-.������������������������������������������ ��/01112 ��������"�������������������������������������� ��$�������������������"���� ’�����"�����������#222��������� ��$3������������������"���� ’�����"�����������#222��������� ��&#���$���������������&����#�����"���� ��4����$�����������������0�������� ����"�4�������������� ��&����$���������������&���������(��’���������(�����)���/�5�+� ��$����$���������������������"����������������������� �������(���������� ���"���������� ��$����$�������������������������������������(����� ��&6���$���������������&����6������������(����� ���#������������������������#������������!����(���� ���������������������������������������������� ��%3���$������������������������������������(��� ��7���������������������"������(���������� ��� ���7���������������������������(���������� ��� -2&8���������’�����������)������������������+ 7�������������"�������)������"�0������������9��������������+: ;��<���/0======�)������======��������(������ ����"���0�������������������+ ;��<���....�)������....��������������9�������>?� ���+ ;��<&#�*&����#��$�����*�)������@�������������������������+ 2���������������: Appendix F provides additional configuration information if you experience conflicts while doing development simultaneously with more than one ZigBee coordinator, or if you wish to upload new firmware. BL4S100 User’s Manual 15 2.5 Where Do I Go From Here? NOTE: If you purchased your BL4S100 through a distributor or Rabbit partner, contact the distributor or partner first for technical support. If there are any problems at this point: • Use the Dynamic C Help menu to get further assistance with Dynamic C. • Check the Rabbit Technical Bulletin Board and forums at www.rabbit.com/support/bb/ and at www.rabbit.com/forums/. • Use the Technical Support e-mail form at www.rabbit.com/support/. If the sample program ran fine, you are now ready to go on to explore other BL4S100 features and develop your own applications. When you start to develop an application involving the analog inputs, run USERBLOCK_ READ_WRITE.C in the SAMPLES\UserBlock folder to save the factory calibration con- stants before you run any other sample programs in case you inadvertently write over them while running another sample program. Chapter 3, “Subsystems,” provides a description of the BL4S100’s features, Chapter 4, “Software,” describes the Dynamic C software libraries and introduces some sample programs, and Chapter 5, “Using the Ethernet TCP/IP Features,” explains the TCP/IP fea- tures. BL4S100 User’s Manual 16 3. SUBSYSTEMS Chapter 3 describes the principal subsystems for the BL4S100. •Digital I/O • Serial Communication • A/D Converter Inputs • Memory Figure 4 shows these Rabbit-based subsystems designed into the BL4S100. ������� ����������� ���� �����+��� ��� ������� ���,- ���,- ������ ������ �������� �� �� !�������" ������ ������ ������� ��� ���� ���� ������� ��� ������ #��$������ ����� !%&�’()’*" ��� �������� �������� ��������� Figure 4. BL4S100 Subsystems BL4S100 User’s Manual 17 3.1 BL4S100 Pinouts The BL4S100 pinouts are shown in Figure 5. ��"#�# &����������$�% &��������$��$�% �� �� �� ��� ��! ��� �� � � � � � ����������$�% &����������$�% ’�(����� ��)����$���* Figure 5. BL4S100 Pinouts 3.1.1 Connectors Standard BL4S100 models are equipped with an RJ-45 Ethernet jack, four 1 × 9 screw- terminal headers and one 1 × 6 screw-terminal header for the I/O and RS-232 signals. The ® polarized 2 × 2 Micro-Fit connector at J17 is for the power supply connection. BL4S100 User’s Manual 18 $��� ��� $��� �� $��� ���� ��� $��� ��� �������� $��� ��� $��� ��� $��� ���� ���� $��� ���� $��� ���� ���� ���� ���� ���� ��� ���� ��� ��� ���� ��� ��� ��� ��� ��� ��� ���� ��� ��� ���� ��/���� ��/�!�� �����0 ��� 1232 1232 ��$ ��� ��"� 3.2 Digital I/O 3.2.1 Digital Inputs The BL4S100 has 12 digital inputs, IN0–IN11, each of which is protected over a range of –36 V to +36 V. The inputs are factory-configured to be pulled up to +5 V, but they can also be pulled up to +K or pulled down to 0 V by changing a jumper as shown in Figure 6. CAUTION: Do not simultaneously jumper more than one setting when configuring the pull-up or pull-down options. ������ ��2��� ��� ���4� �������� ����4� / ��..�� ���� Figure 6. BL4S100 Digital Inputs IN0–IN11 [Pulled Up to +5 V—Factory Default] Table 2 summarizes the jumper settings. Table 2. BL4S100 Digital Input Pull-Up/Pull-Down Jumper Settings Pins Jumpered Pulled Up/Pulled Down 1–2 Inputs pulled up to +K 2–4 or 4–6 Inputs pulled down to GND 5–6 Inputs pulled up to +5 V BL4S100 User’s Manual 19 The actual switching threshold is approximately 1.40 V. Anything below this value is a logic 0, +�������)��,(��� ��-��% and anything above 1.90 V is a logic 1. The ���.�% ����� ���.�% ����� digital inputs are each fully protected over a range of -36 V to +36 V, and can handle short ��2��� spikes of ±40 V. NOTE: If the inputs are pulled up to +K, the voltage range over which the digital inputs are protected changes to +K – 36 V to +36 V. ����� ���.�% Figure 7. BL4S100 Digital Input Protected Range CAUTION: Do not allow the voltage on a digital input pin to exceed ±36 V to avoid damaging the input. Individual digital input channels may be also used for counters, synching, interrupts, input capture, or as quadrature decoder inputs. The use of these channels for interrupts, input capture, and as quadrature decoders is described below. Blocks of digital input pins are associated with counters/timers on the Rabbit RIO chip. Table 3 provides complete details for these associations. Table 3. Counter/Timer Associations for BL4S100 Digital Input Pins Configurable I/O Counter/Timer Block Shared Pin(s) Blocks With IN0–IN2 0 XBee RF module IN3–IN5 1 — IN6–IN7 2 OUT0–OUT1 IN8–IN9 3 OUT2–OUT3 IN10 6 — IN11 7 — Appendix D provides further details on the blocks and pins associated with the Rabbit RIO chip to facilitate configuring each block consistently and to identify misconfigured pins when a software function call returns a Mode Conflict error code. BL4S100 User’s Manual 20 &����������$��/������ Keep the following guidelines in mind when selecting special uses for the digital input pins. • Interrupts, event counters, and input capture are available on any digital input pin. • Each Quadrature Decoder channel requires at least two digital input pins associated with the same counter/timer block; three digital input pins associated with the same counter/timer block are needed if you need indexing. Quadrature Decoder channels are configured using the setDecoder() function call. Sample programs in the DIO subdirectory in SAMPLES\BL4S1xx show how to set up and use digital inputs for interrupts, pulse capture, and quadrature decoders. 3.2.1.1 Interrupt, Counter, and Event Capture Setup External interrupts on the BL4S100 digital input pins are configured using the setEx- tInterrupt() function call. The interrupt can be set up to occur on a rising edge, a fall- ing edge, or either edge. An input channel may be set up to count events, with the count incrementing or decrementing, using the rising edge, fall- ing edge, or either edge as triggers to start/ end the count. This feature is configured �*,51 "1+ !’61. !’61. using the setCounter() function call. A more extensive use of the timing abilities of the BL4S100 inputs can be realized ��������� through the event capture function call, setCapture(). Here the count of a par- ticular clock cycle is noted at the start of the ��������� event and at the end of the event so that the time between them can be determined. This �.7). "1+ "8*1. "8*1. can be set up on one or two input channels. The event counter can be reset with the resetCounter() function call. The counter readings can be obtained via the getBegin() or getEnd() function calls. BL4S100 User’s Manual 21 3.2.2 Digital Outputs The BL4S100 has eight digital outputs, OUT0–OUT7, which can each sink up to 200 mA. Figure 8 shows a wiring diagram for using the sinking digital outputs. ��+0�+1��2��2� ����’)���� ��������� ����� / ��..�� ���� Figure 8. BL4S100 Digital Outputs OUT0–OUT3 are powered by +K1, and OUT4–OUT7 are powered by +K2. +K1 and +K2 can each be up to 36 V. They don't have to be the same. All the sinking current, which could be up to 1.6 A, is returned through the GND pin. Be sure to use a suitably sized ground wire and keep the distance to the power supply as short as possible. All the digital outputs sink actively. They can be used as low-side drivers, or as an H-bridge driver. When the BL4S100 is first powered up or reset, all the outputs are disabled, that is, at a high-impedance state. For the H bridge, which is shown in Figure 9, Ka and Kb should be the same. This is most ��7 ��9 ��##0�� easily accomplished by using outputs from the �"������� same bank on one connector. � $ #�$� $ � Figure 9. H Bridge Individual digital output channels may be used for PWM/PPM outputs.The use of these channels for PWM/PPM is described in Section 3.2.2.1. BL4S100 User’s Manual 22 Blocks of digital output pins are associated with counters/timers on the Rabbit RIO chip. Table 4 provides complete details for these associations. Table 4. Counter/Timer Associations for BL4S100 Digital Output Pins Configurable I/O Counter/Timer Block Shared With Pin(s) Blocks OUT0–OUT1 2 IN6–IN7 OUT2–OUT3 3 IN8–IN9 RabbitNet OUT4–OUT5 4 (reserved for future use) OUT6–OUT7 5 A/D converter Appendix D provides further details on the blocks and pins associated with the Rabbit RIO chip to facilitate configuring each block consistently and to identify misconfigured pins when a software function call returns a Mode Conflict error code. Keep the following guidelines in mind when selecting special uses for the digital output pins. • When using digital output pins for PWM/PPM outputs, the output pins can only share the same RIO block if they are using the same period or frequency. The PWM.C and the PPM.C sample programs in the DIO subdirectory in SAMPLES\ BL4S1xx show how to set up and use the PWM/PPM outputs. BL4S100 User’s Manual 23 3.2.2.1 PWM/PPM Outputs Setup A PWM output is described as noninverted when it starts high, remains high for a duty �34 �*)5’+ cycle that is a fraction of the period, then �2��2� goes low for the remainder of the period. Similarly, an inverted PWM output starts �6.: !:3(* low, remains low for a duty cycle that is a ����������� fraction of the period, then goes high for the remainder of the period. A PWM output is normally set up to start when triggered by an event, and may be �������� set up so that the leading and trailing edges of several PWM outputs are aligned as long as the all the PWM outputs are on the same block of a particular Rabbit RIO chip. A PPM ouput is similar to a PWM output, except it is shifted by an offset relative to ��4 �*)5’+ �2��2� the event that triggered the start of the PPM output. A PPM output is either inverted or nonin- �6.: !:3(* verted, based on whether it starts high or low, and may be set up so that their lead- ing and trailing edges of several PPM out- puts are aligned as long as the all the PPM ������� �;;<*. outputs are on the same block of a particu- lar Rabbit RIO chip PWM and PPM outputs on the BL4S100 are configured using the setPWM() and setPPM() function calls. BL4S100 User’s Manual 24 3.3 Serial Communication The BL4S100 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 using the serMode() soft- ware function call. Table 5 summarizes the options. Table 5. Serial Communication Configurations Serial Port Mode D F 0 RS-232, 3-wire RS-232, 3-wire 1 RS-232, 5-wire CTS/RTS The BL4S100 also has one CMOS serial channel that serves as the programming port. All three serial ports operate in an asynchronous mode. 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. Serial Port A, the programming port, can be operated alternately 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. The BL4S100 boards supports standard asynchronous baud rates up to 115,200 bps. 3.3.1 RS-232 The BL4S100 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 microprocessor’s CMOS 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 -10 V and 0 V is out- put as +10 V. The RS-232 transceiver also provides the proper line loading for reliable communication. RS-232 can be used effectively at the BL4S100’s maximum baud rate for distances of up to 15 m. 3.3.2 Programming Port The BL4S100 has a 10-pin programming header. The programming port uses the Rabbit 4000 Serial Port A for communication, and is used for the following operations. • Programming/debugging • Cloning The programming port is used to start the BL4S100 in a mode where the BL4S100 will download a program and then execute the program. The programming port transmits information to and from a PC while a program is being debugged. The Rabbit 4000 startup-mode pins (SMODE0, SMODE1) are presented to the program- ming port so that an externally connected device can force the BL4S100 to start up in an BL4S100 User’s Manual 25 external bootstrap mode. The BL4S100 can be reset from the programming port via the /RESET_IN line. The Rabbit microprocessor status pin is also presented to the programming port. The status pin is an output that can be used to send a general digital signal. NOTE: Refer to the Rabbit 4000 Microprocessor User’s Manual for more information related to the bootstrap mode. 3.3.3 Ethernet Port Figure 10 shows the pinout for the Ethernet port (J4). Note that there are two standards for numbering the pins on this connector—the convention used here, and numbering in reverse to that shown. Regardless of the numbering convention followed, the pin positions relative to the spring tab position (located at the bottom of the RJ-45 jack in Figure 10) are always absolute, and the RJ-45 connector will work properly with off-the-shelf Ethernet cables. �������� � � �2��"=�>� �2��"=�>� �2��"=�>� �2��"=�>� ��"�����$� ��"�����,. Figure 10. RJ-45 Ethernet Port Pinout Two LEDs on the RJ-45 Ethernet jack indicate an Ethernet link (green LNK) and Ethernet activity (yellow ACT). The grounded RJ-45 connector is shielded to minimize EMI effects to/from the Ethernet signals. BL4S100 User’s Manual 26 3.4 A/D Converter Inputs The single A/D converter chip used in the BL4S100 has a resolution of 12 bits (11 bits for the value and one bit for the polarity). The A/D converter chip has a programmable-gain amplifier. Each external input has circuitry that provides scaling and filtering. All 8 external inputs are scaled and filtered to provide the user with an input impedance of 1 M and a variety of single-ended unipolar, and differential bipolar ranges as shown in Table 6. Figure 11 shows a pair of A/D converter input circuits. The resistors form an approx. 10:1 attenuator, and the capacitors filter noise pulses from the A/D converter inputs. �&� ������ $��� ������ ���-/ ������ $��� ���-/ ������ $��� Figure 11. Buffered A/D Converter Inputs The A/D converter chip can only accept positive voltages. By pairing the analog inputs, differential bipolar measurements are possible, and can be configured for each channel pair with the opmode parameter in the anaInConfig() software function call. The available voltage ranges are listed in Table 6. BL4S100 User’s Manual 27 Table 6. A/D Converter Input Voltage Ranges Voltage Range Amplifier Single-Ended Differential Gain Unipolar Bipolar 1 0–20 V ± 20 V 2 0–10 V ± 10 V 4 0–5 V ± 5 V 5 0–4 V ± 4 V * 0–2.5 V ± 2.5 V 8 10 0–2 V ± 2 V 16 0–1.25 V ± 1.25 V 20 0–1 V ± 1 V * 4–20 mA operation is available with an ampli- fier gain of 8 In the differential mode, each individual channel is limited to half the total voltage—for example, the range for a gain code of 1 is ±20 V, but each channel is limited to 0–20 V. Note that while the differential bipolar mode can return a negative value, this negative value can only indicate negative with respect to the two differential voltages since the A/D converter cannot handle a voltage below -0.2 V. When using channels AIN0–AIN3 for current ����*�5$����% measurements, remember to set the corre- 6���6�,���*"7�6�$�� ��� ,$���������%$������% sponding jumper(s) on headers J10 and J11. $��� The current measurements are realized by actu- $��� ��� ally measuring the voltage drop across a 100  $��� resistor. ����� $��� Figure 12. Analog Current Measurements The A/D converter inputs are factory-calibrated, and the calibration constants are stored in the user block. BL4S100 User’s Manual 28 3.4.1 A/D Converter Calibration When you start to develop your application, run USERBLOCK_READ_WRITE.C in the SAMPLES\UserBlock folder to save the factory calibration constants in case you inad- vertently write over them while running the sample programs. To get the best results from the A/D converter, it is necessary to calibrate each mode (single-ended, differential, and current) for each of its gains. It is imperative that you cali- brate each of the A/D converter inputs in the same manner as they are to be used in the application. For example, if you will be performing floating differential measurements or differential measurements using a common analog ground, then calibrate the A/D con- verter in the corresponding manner. The calibration table in software only holds calibra- tion constants based on mode, channel, and gain. Other factors affecting the calibration must be taken into account by calibrating using the same mode and gain setup as in the intended use. Sample programs are provided to illustrate how to read and calibrate the various A/D inputs for the three operating modes. Mode Read Calibrate Single-Ended, unipolar ADC_RD_SE_UNIPOLAR.C ADC_CAL_SE_UNIPOLAR.C Differential, bipolar ADC_RD_DIFF.C ADC_CAL_DIFF.C 4–20 mA ADC_RD_MA.C ADC_CAL_MA.C These sample programs are found in the ADC subdirectory in SAMPLES\BL4S1xx. See Section 4.2.3 for more information on these sample programs and how to use them. BL4S100 User’s Manual 29 ���� ��$� ���� ��$� ��� $��� 3.5 USB Programming Cable The USB programming cable is used to connect the serial programming port of the BL4S100 to a PC USB port. The programming cable converts the voltage levels used by the PC USB port to the CMOS voltage levels used by the Rabbit microprocessor. When the PROG connector on the programming cable is connected to the programming header on the BL4S100, 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 BL4S100 with the BL4S100 operating in the Run Mode. This allows the programming port to be used as a regular serial port. 3.5.1 Changing Between Program Mode and Run Mode The BL4S100 is automatically in Program Mode when the PROG connector on the pro- gramming cable is attached, and is automatically in Run Mode when reset with no program- ming cable is attached or the DIAG connector is attached. When the Rabbit microprocessor is reset, the operating mode is determined by the status of the SMODE pins. When the pro- PROG connector is attached, the SMODE pins are pulled high, placing gramming cable’s the Rabbit microprocessor in the Program Mode. When the programming cable’s PROG connector is not attached, the SMODE0 pin is pulled low and the SMODE1 pin is high so that the Rabbit 4000 powers up in the clocked serial bootstrap mode to load the program from the serial flash when the BL4S100 is operating in the Run Mode. ��������4�7� ����������� ����� ��� !’(’)*+ ��� �� *+,* !� ��� �� � �� �� �� �� �� �� �� �� !� �� �� �� �� �� �� �� �� �� �� ��� �� �� ��� �� ��� �� �� ��� !�� � ��� !� !� !� �� ��� !� !� �� �� �� !�� !�� �� ��� ��� ��� ��� ��� ��� ��� �� �� ��� ��� ��� ��� ��� ��� ��� ��� ��� ��� ��� �� ��� !�� ��� ��� �������� !�� ��� !�� !�� ��� !�� !��!�� !�� !�� !�� ��� !�� ��� !�� �� ��� !�� �� !�� ��� ��� !�� !�� !�� ��� !�� !�� �� �� !�� !�� ��� ��� ��� !�� !�� !�� !�� � �� ��� !�� #� ��� � � ��� &� � #� !�� !�� !�� &� !�� !�� !�� !�� &� !�� ��� !�� ��� !�� � !�� ��� ��� ��� � ��� !�� !�� !�� ��� !�� !�� !�� !�� &���� ��� !�� ��� !�� ��� � ��� !�� !�� � ��� ��� !�� !�� !�� !�� ��� !�� !�� ��� ��� ��� ��� !�� � ��� ��� ��� ��� ��� ��� ��� � ��� !�� #� ��� !�� !�� $�������$��� ��� !�� ������ ��� !��� #� ��� ��� � ��� ��� ��� ��� ��� ��� ��� ��� !��� #� #� #�� #�� $�!������$%%"� ������ !��� ��� ��� ��� � !�� � � ��� $�������$��� � � ��� ��� � � � ��� �� � ���� ��� ��� �� ��� � ��� � � �� ��� � � $������$������$������$������$������$������$������$�����$��� ����������������������������������������������������������������� ��� �$��4�7� �’�’� ��0�� ����+�$1*�(&&�0����,����������2�3 ������������������������������’�’� �4��������������������,�����������������,�.��’ Figure 13. BL4S100 Program Mode and Run Mode Setup A program “runs” in either mode, but can only be downloaded and debugged when the BL4S100 is in the Program Mode. Refer to the Rabbit 4000 Microprocessor User’s Manual for more information on the pro- gramming port and the programming cable. BL4S100 User’s Manual 30 ���� ��� !��� !�� ���� ��� !��� !�� ���� ���� !��� ���� ���� ���� !��� ���� ���� !��� ���� ���� !��� �������� ���� ���� !��� ���� ���� !��� �� �� �� ��� !�� !�� �’ ��� ��� �!�����-’). ��� ��� !�� ��� !�� ��� ��� !�� ��� !�� ��� ��� ��� ��� ��� ��� ��� !�� !�� ��� !��� �� ��� #� ��� ��� �� ��� !�� !��� !�� ��� !��!�� !�� ��� !��� !��� #� ��� #� !�� �� !�� !�� !� !� !�� ��� !�� ��� !�� ��� ��� ��� !�� !�� !�� !�� ���� !�� ���� ���� ��� !�� ��� �� ��� ��� ��� ��� ��� ��� #�� � � � � � �� �� �� � �� �� � �� ��"� � � ��"� ��������� ��!����������������������� ������ ��������������������������������������������������������� ���������������������������������������������������������������� 3.6 Other Hardware 3.6.1 Clock Doubler The BL4S100 takes advantage of the Rabbit microprocessor’s internal clock doubler. A built-in clock doubler allows half-frequency crystals to be used to reduce radiated emissions. The clock doubler may be disabled if the higher clock speeds are not required. Disabling the 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 or on according to your setting whenever you are using the project file where you defined the macro. 3.6.2 Spectrum Spreader The Rabbit microprocessors features a spectrum spreader, which help 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 nor- mal 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 set- ting will be used in a real application. 3. Click OK to save the macro. The spectrum spreader will be set according to the macro value whenever a program is compiled using this project file. NOTE: Refer to the Rabbit 4000 Microprocessor User’s Manual for more information on the spectrum-spreading settings and the maximum clock speed. BL4S100 User’s Manual 31 3.7 Memory 3.7.1 SRAM All BL4S100 boards have 512KB of battery-backed data SRAM, and 512KB–1MB of fast program execution SRAM. 3.7.2 Flash Memory BL4S100 boards have 1MB—2MB of serial flash memory. Writing to arbitrary flash memory addresses at run time is also discouraged. Instead, writeUserBlock() define a “user block” area to store persistent data. The functions and readUserBlock() are provided for this. 3.7.3 VBAT RAM Memory The tamper detection feature of the Rabbit microprocessor can be used to detect any attempt to enter the bootstrap mode. When such an attempt is detected, the VBAT RAM memory in the Rabbit microprocessor is erased. The serial bootloader on the BL4S100 boards uses the bootstrap mode to load the SRAM, which erases the VBAT RAM memory on any reset, and so it cannot be used for tamper detection. BL4S100 User’s Manual 32 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 pro- grams related to the BL4S100. 4.1 Running Dynamic C Since the BL4S100 has a serial flash memory, all software development must be done in the static SRAM. The flash memory and SRAM options are selected with the Options > Program Options > Compiler menu. Select Store Program in Flash on the “Compiler” tab for the program to run normally. For debugging purposes, you may select Store Program in RAM on the “Compiler” tab so that download speed is as fast as possible. Note that programs stored in RAM will be lost when the BL4S100 is reset, so this option should be used only for debugging. 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 NT and later— ® ® see Rabbit’s Technical Note TN257, Running Dynamic C With Windows Vista , for additional information if you are using a Dynamic C under Windows Vista. Programs can be downloaded at baud rates of up to 460,800 bps after the program compiles. BL4S100 User’s Manual 33 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. 2  I C, SPI, GPS, 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. BL4S100 User’s Manual 34 4.1.1 Upgrading Dynamic C 4.1.1.1 Patches and Updates Dynamic C patches that focus on bug fixes and updates are available from time to time. Check the Web site at www.rabbit.com/support/ for the latest patches, workarounds, and updates. The default installation of a patch or update 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 or update without over- writing 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 an update; of course, you may copy over any programs you have written. Once you are sure the new patch or update works entirely to your satisfaction, you may retire the existing installation, but keep it available to handle legacy applications. 4.1.2 Add-On Modules Starting with Dynamic C version 10.40, Dynamic C includes the popular µC/OS-II real- time operating system, point-to-point protocol (PPP), FAT file system, RabbitWeb, and other select libraries. 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 telephone-based technical support subscription is also available for purchase. Visit our Web site at www.rabbit.com for further information and complete documentation. BL4S100 User’s Manual 35 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 illus- trate the use of the corresponding Dynamic C libraries. The SAMPLES\BL4S1xx folder provides sample programs specific to the BL4S100. Each sample program has comments that describe the purpose and function of the program. Fol- low 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. The BL4S100 must be in Program mode (see Section 3.5, “USB Programming Cable,”) and must be connected to a PC using the programming cable as described in Section 2.1, “BL4S100 Connections.” See Appendix C for information on the power-supply connections to the Demonstration Board. Complete information on Dynamic C is provided in the Dynamic C User’s Manual. TCP/IP specific functions are described in the Dynamic C TCP/IP User’s Manual, which is included in the online documentation set. Information on using the TCP/IP features and sample programs is provided in Chapter 5, “Using the Ethernet TCP/IP Features.” ZigBee specific functions are described in An Introduction to ZigBee, which is included in the online documentation set. Information on using the TCP/IP features and sample pro- grams is provided in Chapter 6, “Using the ZigBee Features.” BL4S100 User’s Manual 36 ��� $��� 4.2.1 Digital I/O The following sample programs are found in the SAMPLES\BL4S1xx\DIO subdirectory. Figure 14 shows the signal connections for the sample programs that illustrate the use of the digital inputs. ���� &�1������+�2����5&6�5(( ��� �!��"#�$�"% �&%���� �)’��’�! �’����(�(’ �� *’+�! �� �&%���� ��� ��� �!�"% ��� �� !� ��� �� � �� �� �� �� �� �� �� �� !� �� �� �� �� �� �� �� �� �� �� �� ��� �� ��� ��# ��� �� ��� �� �� ��� !�� � ��� !� �� ��� !� !� !� !� !�� !�� �� �� �� �� ��� ��� ��� ��� ��� ��� ��� �� �� ��� ��� ��� ��� ��� ��� ��� ��� ��� ��� ��� �� !�� ��� ��� �� ��� ��� ���!�� ��� ��� !�� !�� !�� !��!�� !�� !�� !�� ��� !�� ��� !�� �� ��� !�� ��� �� ��� !�� !�� !�� !�� ��� !�� !�� !�� !�� �� �� ��� ��� ��� !�� !�� !�� !�� � �� ��� !�� #� ��� � � &� ��� #� !�� � !�� &�!�� !�� !�� !�� !�� &� !�� ��� ��� !�� !�� � !�� ��� ��� � ��� !�� !�� !�� ��� !�� ��� !�� !�� !�� &���� ��� !�� !�� � ��� ��� ��� !�� !�� � ��� !�� ��� !�� !�� !�� ��� !�� ��� !�� ��� ��� ��� !�� � ��� ��� ��� ��� ��� ��� � ��� ��� #� !�� !�� ��� !�� $�������$��� ��� !�� ������ ��� #� !��� ��� ��� � ��� ��� ��� ��� ��� ��� ��� ��� !��� #� #� #�� #�������� !��� $�!������$%%"� ��� ��� ��� � !�� � � ��� $�������$��� � ��� � � � ��� ��� � �� � ��� ���� ��� �� ��� � ��� � � �� ��� � � $������$������$������$������$������$������$������$�����$��� ����������������������������������������������������������������� ��� Figure 14. Digital Inputs Signal Connections • DIGIN.C—Demonstrates the use of the digital inputs. Using the Demonstration Board, you can see an input channel toggle from HIGH to LOW in the Dynamic C STDIO window when you press a pushbutton on the Demonstration Board. • DIGIN_BANK.C—Demonstrates the use of digInBank() to read digital inputs. Using the Demonstration Board, you can see an input channel toggle from HIGH to LOW in the Dynamic C STDIO window when you press a pushbutton on the Demonstration Board. The banking functions allow I/O banks to be input or output more efficiently. BL4S100 User’s Manual 37 ���� ��� !��� !�� ���� ��� !��� !�� ���� ���� !��� ���� ���� ���� !��� ���� ���� !��� ���� ���� !��� �������� ���� ���� !��� ���� ���� !��� �� �� �� ��� !�� !�� ��� ��� ��� ��� ��� !�� !�� ��� ��� ��� !�� !�� ��� ��� ��� ��� ��� ��� ��� !�� !�� ��� !��� ��� �� #� ��� �� ��� ��� !�� !��� !�� ��� !��!�� !�� ��� !��� !��� #� ��� #� !�� �� !�� !�� !� !� !�� ��� !�� ��� !�� ��� ��� ��� !�� !�� !�� !�� ���� !�� ���� ���� ��� !�� ��� �� ��� ��� ��� ��� ��� ��� #�� � � � � � �� �� �� �� �� � � �� ��"� � � ��"� ��������� ��!����������������������� ������ ��������������������������������������������������������� ���������������������������������������������������������������� ��� $��� Figure 15 shows the signal connections for the sample programs that illustrate the use of the digital outputs. ���� &�1������2��2�� ���� ���� �7+&6�7+� ���� ��� �!��"#�$�"% ���� �&%���� ��� ��# ������ �)’��’�! ’1 �� �� *’+�! ?*7+*)��� ��� ��� �� !� ��� �� � �� �� �� �� �� �� �� �� !� �� �� �� �� �� �� �� �� �� �� �� ��� �� ��� �� ��� �� �� ��� !�� � ��� !� !� !� �� ��� !� !� !�� !�� �� �� �� �� ��� ��� ��� ��� ��� ��� ��� �� �� ��� ��� ��� ��� ��� ��� ��� ��� ��� ��� ��� �� ��� ��� �� !�� ��� ��� ��� !�� ��� !�� !�� ��� !�� !��!�� !�� !�� !�� !�� ��� ��� !�� ��� �� !�� �� !�� ��� ��� !�� !�� !�� !�� ��� !�� �� !�� !�� �� !�� ��� ��� ��� !�� !�� !�� � !�� �� ������ #� � � ��� &� � #� !�� !�� &�!�� !�� !�� !�� !�� !�� &� ��� ��� !�� !�� !�� ��� � !�� !�� ��� ��� � ��� !�� ��� !�� !�� !�� !�� &���� ��� !�� ��� !�� � ��� ��� !�� !�� � ��� ��� !�� !�� !�� !�� ��� !�� !�� ��� ��� ��� ��� !�� � ��� ��� ��� ��� ��� ��� ��� � ��� #� !�� !�� ��� !�� $�������$��� ������ ��� ��� !�� #� !��� ��� ��� � ��� ��� ��� ��� ��� ��� ��� ��� !��� #� #� #�� #�������� !��� $�!������$%%"� ��� ��� � ��� � � ��� !�� $�������$��� � � � ��� ��� � � ��� �� � ���� ��� ��� �� ��� � ��� � � �� ��� � � $������$������$������$������$������$������$������$�����$��� ����������������������������������������������������������������� ��� Figure 15. Digital Outputs Signal Connections • DIGOUT.C—Demonstrates the use of the sinking digital outputs. Using the Demonstra- tion Board, you can see an LED toggle on/off via a sinking output that you selected via the Dynamic C STDIO window. • DIGOUT_BANK.C—Demonstrates the use of digOutBank() to control the sinking digital outputs. Using the Demonstration Board, you can see an LED toggle on/off via a sinking output that you selected via the Dynamic C STDIO window. The banking func- tions allow I/O banks to be input or output more efficiently. BL4S100 User’s Manual 38 ���� ��� !��� !�� ���� ��� !��� !�� ���� ���� !��� ���� ���� ���� !��� ���� ���� !��� ���� ���� !��� �������� ���� ���� !��� ���� ���� !��� �� �� �� ��� !�� !�� ��� ��� ��� ��� ��� !�� !�� ��� ��� !�� ��� !�� ��� ��� ��� ��� ��� ��� ��� !�� !�� ��� !��� �� #� ��� ��� �� ��� ��� !�� !��� !�� ��� !��!�� !�� ��� !��� !��� #� ��� #� !�� �� !�� !�� !� !� !�� ��� ��� !�� !�� ��� ��� ��� !�� !�� !�� !�� ���� !�� ���� ���� ��� !�� ��� �� ��� ��� ��� ��� ��� ��� #�� � � � � � �� �� �� �� � � �� �� ��"� � � ��"� ��������� ��!����������������������� ������ ��������������������������������������������������������� ���������������������������������������������������������������� • INTERRUPTS.C—Demonstrates the use of the Rabbit RIO interrupt service capabilities. Set up the Demonstration Board as shown in Figure 14 with IN0 connected to SW1. The sample program sets up two interrupt sources, an external interrupt tied to pushbutton switch SW1, and a rollover interrupt tied to a timer that is producing a PWM output. The Dynamic C STDIO window will show a count of rollovers that have occurred since the PWM signal was started. The window will also display Button Pressed each time the pushbutton switch is pressed. Each time the button is pressed, the timeout timer that removes the message is reset, so you can keep the message on the screen indefinitely by pressing the button repeatedly. • PPM.C—Demonstrates the use of up to eight PPM channels on the digital output pins on headers J3 and J4. The PPM signals are set for a frequency of 200 Hz, with the duty cycle adjustable from 0 to 100% and an offset adjustable from 0 to 100% by the user. These pins can be connected to an oscilloscope to view the waveform being generated. The overall frequency can be adjusted in the #define PPM_FREQ line. Follow these instructions when running this sample program. 1. The digital outputs on the BL4S100 do not have an internal pull-up resistor and will not register on the oscilloscope without a pull-up resistor. The Demonstration Board has pull-up resistors— connect OUT0–OUT3 on the BL4S100 to SW1–SW4 on header J1 of the Demonstration Board. 2. Connect the oscilloscope probe to digital output pins OUT0–OUT3 on headers J3 or J4. Remember to connect the oscilloscope ground to GND on header J4. Once you compile and run the sample program, change the duty cycle and offsets for a given PPM channel via the Dynamic C STDIO window and watch the change in wave- forms on the oscilloscope. Signals on OUT0 and OUT1 will all be synchronized with each other as they share the same overall counter block that sets the cycle frequency. The same is true for PPM signals on OUT2 and OUT3 (and the remaining digital outputs when you connect them to J1 on the Demonstration Board instead of those already connected). The two blocks may have a phase shift from each other, but will run at the same frequency. • PULSE_CAPTURE.C—Demonstrates the use of two input capture inputs tied to PPM channels on the digital I/O pins on header J3. The input capture feature allows the begin and end positions of a pulse to be measured in a given time window. We take advantage of the counter synchronization feature of the underlying Rabbit RIO chip to create cap- ture windows and pulse modulation windows that are synchronized. This guarantees that we always catch the begin edge first on a quickly repeating waveform. This was done to create an interactive element to this sample program, but capturing real-world repetitive signals will usually not have this advantage. Refer to Appendix D for more information on how to use the input capture.feature. Follow the instructions below when running this sample program. 1. Connect I/O pins IN0 and OUT0 together. �<35((’<3’-* 2. Connect I/O pins IN3 and OUT2 together. ��� 3. Connect the oscilloscope ground to GND on header J3. 4. Use the oscilloscope probes on the IN0 and the OUT0 pair or the �� IN3 and OUT2 pair to view the PPM signals. BL4S100 User’s Manual 39 ���������������������������������������������������������������� Once the connections have been made, compile and run this sample program. Change the offset and duty cycle for a given PPM channel via the Dynamic C STDIO window and watch the change to the begin and end counts measured on the input capture inputs. The PPM frequency can be changed in the #define PPM_FREQ line. Rabbit recommends that you run and understand both the INTERRUPTS.C and the PULSE_ CAPTURE.C sample programs before looking at PULSE_CAPTURE_IRQ.C since PULSE_ CAPTURE_IRQ.C uses concepts covered in the simpler sample programs. • PULSE_CAPTURE_IRQ.C—Demonstrates the use of an advanced pulse capture method using RIO interrupts. IN0 is configured as the pulse capture input, and OUT0– �"%����$�� OUT7 are configured as PWM outputs of varying fre- � � quencies and duty cycles that provide signals to test the �� capture with. Connect IN0 and OUT0 together. If an external signal source is available, connect it to IN0 for capture. If an external signal source is not available, connect IN0 on the BL4S100 to SW1. Once you compile and run this sample program, press any key on your PC keyboard to pause or unpause the display—the capture will continue in the background. Change the IN0 connection to any of OUT0–OUT7 or an external source to capture a different signal. This sample program will continuously capture single pulses in an interrupt service request for display • PWM.C—Demonstrates the use of the eight PWM channels on digital output pins OUT0–OUT7. The PWM signals are set for a frequency of 200 Hz with the duty cycle adjustable from 0 to 100% by the user. These pins can be connected to an oscilloscope to view the waveform being generated. The overall frequency can be adjusted in the #define PWM_FREQ line. Follow these instructions when running this sample program. 1. The digital outputs on the BL4S100 do not have an internal pull-up resistor and will not register on the oscilloscope without a pull-up resistor. The Demonstration Board has pull-up resistors— connect OUT0–OUT3 on the BL4S100 to SW1–SW4 on header J1 of the Demonstration Board. 2. Connect the oscilloscope probe to digital output pins OUT0–OUT3 on headers J3 or J4. Remember to connect the oscilloscope ground to GND on header J4. Once you compile and run the sample program, change the duty cycle for a given PWM output channel via the Dynamic C STDIO window and watch the change in waveforms on the oscilloscope. Signals on the same RIO counter block (OUT0 and OUT1 for example) will all be synchronized with each other. Different blocks may have a phase shift from each other, but will run at the same frequency. Global synchronization can be used to synchronize different block on the RIO, but this is not demonstrated in this sample program. BL4S100 User’s Manual 40 ���������������������������������������������������������������� ��� $��� • QUADRATURE_DECODER.C—Demonstrates the use of quadrature decoders on the BL4S100. See Figure 16 for hookup instructions of the digital I/O pins on headers J3 and J4 with the Demonstration Board. ���� &�1������8� ��� �!�"# �&%���� ���������� ���������� ��� ��� ��� ����.’���� ’1�?*7+*)��� �’����(�(’ �&%���� ��� �!�"% �)’��’�! �� �� *’+�! ��� ��� �� !� ��� �� � �� �� �� �� �� �� �� �� !� �� �� �� �� �� �� �� �� �� ��� ��# �� �� ��� �� ��� �� �� �� ��� ��� !�� � ��� !� !� �� ��� !� !� !� !�� !�� �� �� �� �� ��� ��� ��� ��� ��� ��� ��� �� �� ��� ��� ��� ��� ��� ��� ��� ��� ��� ��� ��� �� ��� !�� ��� ��� �������� !�� ��� !�� !�� ��� !�� !��!�� !�� !�� !�� ��� !�� ��� !�� ��� �� !�� �� !�� ��� ��� !�� !�� !�� ��� !�� !�� !�� !�� �� �� !�� ��� ��� ��� !�� !�� !�� � !�� �� ������ #� � � ��� &� #� !�� � !�� &�!�� !�� !�� !�� !�� &� !�� ��� ��� !�� !�� !�� ��� � � !�� !�� !�� ��� ��� ��� ��� !�� ��� !�� !�� !�� ��� !�� &� !�� � ��� ��� � ��� ��� !�� !�� ��� !�� !�� !�� !�� ��� !�� !�� ��� ��� ��� ��� !�� � ��� ��� ��� ��� ��� ��� ��� � ��� #� !�� !�� ��� !�� $�������$��� ��� !�� ������ ��� #� !��� ��� ��� � ��� ��� ��� ��� ��� ��� ��� ��� !��� #� #� #�� #�� $�!������$%%"� ������ !��� ��� ��� ��� � !�� � � ��� $�������$��� � � � ��� ��� � �� � ��� � ���� ��� ��� �� ��� � ��� � � �� ��� � � $������$������$������$������$������$������$������$�����$��� ����������������������������������������������������������������� ��� Figure 16. Quadrature Decoder Signal Connections Once the connections have been made, compile and run this sample program. Press button SW1 on the Demonstration Board to decrement the quadrature counter, or press button SW2 on the Demonstration Board to increment the quadrature counter. The counter will continue to increment or decrement as you hold down the corresponding pushbutton. Press button SW3 on the Demonstration Board to reset the quadrature counter. BL4S100 User’s Manual 41 ���� ��� !��� !�� ���� ��� !��� !�� ���� ���� !��� ���� ���� ���� !��� ���� ���� !��� ���� ���� !��� �������� ���� ���� !��� ���� ���� !��� �� �� �� !�� ��� !�� ��� ��� ��� ��� ��� !�� !�� ��� ��� ��� !�� !�� ��� ��� ��� ��� ��� ��� ��� !�� !�� ��� !��� �� #� ��� ��� �� ��� !��� !�� ��� !�� ��� !��!�� !�� ��� !��� !��� #� ��� #� !�� �� !�� !�� !� !� !�� ��� ��� !�� !�� ��� ��� ��� !�� !�� !�� !�� ���� !�� ���� ���� ��� !�� ��� �� ��� ��� ��� ��� ��� ��� #�� � � � � � �� �� �� �� � � �� �� ��"� � � ��"� ��������� ��!����������������������� ������ ��������������������������������������������������������� ���������������������������������������������������������������� • PPM_QUADRATURE_DECODER.C—Demonstrates the use of two PWM and two PPM output channels connected back to four digital inputs to simulate two Quadrature Decoders feeding signals into the BL4S100. The PWM and PPM outputs are adjusted through a menu system to simulate the movement of a Quadrature Decoder. The results of the Quadrature Decoder inputs are displayed continuously to show the effects of the PWM and PPM outputs. The high-speed Quadrature Decoder counts the number of rollovers that occur (one per 1000 counts). The low-speed Quadrature Decoder displays the current count in the �� register. Once the connections are made as shown, and you compile �� and run this sample program, change the frequency/ direction for a given Quadrature Decoder via the Dynamic C STDIO window and watch the register counts on the low- �� ����������������������������������������������������������������� speed channel and the register rollovers on the high-speed channel. BL4S100 User’s Manual 42 ��������������������������������������������������������� ���������������������������������������������������������������� 4.2.2 Serial Communication The following sample programs are found in the SAMPLES\BL4S1xx\RS232 subdirectory. • PARITY.C—This sample program repeatedly sends byte values 0–127 from Serial Port D to Serial Port F. The program will cycle through parity types on Serial Port D. Serial Port F will always be checking parity, so parity errors should occur during most sequences. The results are displayed in the Dynamic C STDIO window. Connect Tx/1-W to CTS (RxF) on header J5 before compiling and running this sample program. You may wish to do to stop �� the program to see the data, which go by rather quickly. NOTE: For the sequence that does yield parity errors, the errors won't occur for each byte received. This is because certain byte patterns along with the stop bit will appear to generate the correct parity for the UART. • SIMPLE3WIRE.C—This program demonstrates basic RS-232 serial communication using the Dynamic C STDIO window. Fol- low these instructions before running this sample program. �� Connect Tx/1-W to CTS (RxF), then connect Rx to RTS (TxF) before compiling and running this sample program. • SIMPLE5WIRE.C—This program demonstrates 5-wire RS-232 serial communication using the Dynamic C STDIO window. Follow these instructions before running this sample program. Before you compile and run this sample program, connect Tx/1-W to Rx, then connect RTS to CTS. �� To test flow control, disconnect RTS from CTS while running this STDIO program. Characters should stop printing in the Dynamic C window and should resume when RTS and CTS are connected again. • COMPUTER_PARITY.C—This sample program demonstrates using parity over a simple three-wire RS-232 connection. Parity is selected for the BL4S100 and for the serial ter- minal emulation program. Characters typed in either the Dynamic C STDIO window or in the serial terminal emulation program are echoed in both displays. Parity errors are counted and displayed by the Rabbit microprocessor on the BL4S100. Before you compile and run this sample program, use the long serial cable (Part No. 540-0094) to connect Tx (brown wire), Rx (red wire) and GND (black wire) on header J5 to a PC COM port. Open a Hyperterminal session (Start > Accessories > Communications). Select the PC COM port the cable is connected to and set the default serial parameters: ��� �> �> Bits per second: 115200 �� Data bits: 8 Parity: None BL4S100 User’s Manual 43 ��������� ��!����������������������� ��������� ��!����������������������� ��������� ��!����������������������� ��������� ��!����������������������� Stop bits: 1 Flow control: None Once you compile and run this program, configure the serial port using the following menu options in the Dynamic C STDIO window. Menu q - Quit s - Send "Sample Text" r - Reset Counters n - Set No Parity e - Set Even Parity o - Set Odd Parity Type in the Hyperterminal window to send characters to the sample program. The char- acters typed will be echoed in the terminal emulation program and will be displayed on the top of the Dynamic C STDIO window with a message displaying whether there was an error or not. There may be some differences for special characters such as new lines (enter key), delete, backspace, and others. Each character sent will also increment either the successful or the error counter, depending on the parity of both the BL4S100 and the terminal emulation program. • COMPUTER3WIRE.C—This sample program demonstrates basic initialization for a sim- ple three-wire RS-232 connection. Characters typed in either the Dynamic C STDIO window or in a serial terminal emulation program are echoed in both displays. The setup and run instructions are the same as for the COMPUTER_PARITY.C sample program. • COMPUTER5WIRE.C—This sample program demonstrates basic initialization for a sim- ple five-wire RS-232 connection. Characters typed in either the Dynamic C STDIO window or in a serial terminal emulation program are echoed in both displays. The setup and run instructions are the same as for the COMPUTER_PARITY.C sample program. BL4S100 User’s Manual 44 4.2.3 A/D Converter Inputs The following sample programs are found in the SAMPLES\BL4S1xx\ADC subdirectory. You will need a separate power supply and a multimeter to use with these sample programs. NOTE: The calibration sample programs will overwrite the calibration constants set at the factory. Before you run these sample programs, run USERBLOCK_READ_ WRITE.C in the SAMPLES\UserBlock folder to save the factory calibration con- stants in case you inadvertently write over them while running other sample programs. NOTE: For best results use a multimeter with a resolution of at least 4½ digits. • ADC_CAL_DIFF.C—Demonstrates how to recalibrate a differential A/D converter channel using two measured voltages to generate two coefficients, gain and offset, which are rewritten into the user block. The voltage that is being monitored is displayed continuously. Once you compile and run this sample program, connect the power supply across a differential channel pair, then follow the instructions in the Dynamic C STDIO window. • ADC_CAL_MA.C—Demonstrates how to recalibrate a milli-amp A/D converter channel using two measured currents to generate two coefficients, gain and offset, which are rewritten into the reserved user block. The current that is being monitored is displayed continuously. Before you compile and run this sample program, jumper pins 1–2 and 5–6 on headers J10 and J11. Then connect a current meter in series with the power supply connected to one of pins AIN0–AIN3 and AGND, then compile and run the sample program, and follow the instructions in the Dynamic C STDIO window. • ADC_CAL_SE_UNIPOLAR.C—Demonstrates how to recalibrate a single-ended unipolar A/D converter channel using two measured voltages to generate two coefficients, gain and offset, which are rewritten into the reserved user block. The voltage that is being monitored is displayed continuously. Before you compile and run this sample program, connect the power supply (which should be OFF) between the pin (AIN0–AIN7) of the channel you are calibrating and AGND, then compile and run the sample program, and follow the instructions in the Dynamic C STDIO window. • ADC_AVERAGING_SE_UNIPOLAR.C—Demonstrates how to read and display the aver- age voltage of each of the single-ended analog input channels using a sliding window. The voltage is calculated from coefficients read from the display—the two calibration coefficients, gain and offset, in the Dynamic C STDIO window for each channel, and mode of operation. Before you compile and run this sample program, connect the power supply (which should be OFF) between the pin (AIN0–AIN7) of an analog input channel and AGND, then compile and run the sample program, and follow the instructions in the Dynamic C STDIO window. BL4S100 User’s Manual 45 • ADC_RD_CALDATA.C—Demonstrates how to display the two calibration coefficients, gain and offset, in the Dynamic C STDIO window for each channel and mode of operation. • ADC_RD_DIFF.C—Demonstrates how to read and display voltage and equivalent val- ues for a differential A/D converter channel using calibration coefficients previously stored in the user block. The user selects to display either the raw data or the voltage equivalent. Once you compile and run this sample program, connect the power supply across a differential channel pair, then follow the instructions in the Dynamic C STDIO window. • ADC_RD_MA.C—Demonstrates how to read and display voltage and equivalent values for a milli-amp A/D converter channel using calibration coefficients previously stored in the user block. Before you compile and run this sample program, jumper pins 1–2 and 5–6 on headers J10 and J11. Then connect a current meter in series with the power supply connected to one of pins AIN0–AIN3 and AGND, then compile and run the sample program, and follow the instructions in the Dynamic C STDIO window as you vary the output from the power supply. • ADC_RD_SE_UNIPOLAR.C—Demonstrates how to read and display the voltage of all single-ended analog input channels using calibration coefficients previously stored in the user block. Before you compile and run this sample program, connect the power supply (which should be OFF) between a pin (AIN0–AIN7) and AGND, then compile and run the sample program, and follow the instructions in the Dynamic C STDIO window. The voltage readings will be displayed for all the channels measured to that point. 4.2.4 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. You may set the real-time clock using the SETRTCKB.C sample pro- gram from the Dynamic C SAMPLES\RTCLOCK folder. The RTC_TEST.C sample pro- gram in the Dynamic C SAMPLES\RTCLOCK folder provides additional examples of how to read and set the real-time clock 4.2.5 TCP/IP Sample Programs TCP/IP sample programs are described in Chapter 5. 4.2.6 ZigBee Sample Programs ZigBee sample programs are described in Chapter 6. BL4S100 User’s Manual 46 4.3 BL4S100 Libraries Two library directories provide libraries of function calls that are used to develop applica- tions for the BL4S100. • BL4S1xx—libraries associated with features specific to the BL4S100. The functions in the BL4S1xx.LIB library are described in Section 4.4, “BL4S100 Function Calls.” • TCPIP—libraries specific to using TCP/IP functions on the BL4S100. Further informa- tion about TCP/IP is provided in Chapter 5, “Using the Ethernet TCP/IP Features.” • ZigBee—libraries specific to using ZigBee functions on the BL4S100. Further infor- mation about ZigBee is provided in Chapter 6, “Using the ZigBee Features.” BL4S100 User’s Manual 47 4.4 BL4S100 Function Calls 4.4.1 Board Initialization brdInit void brdInit (void); FUNCTION DESCRIPTION Call this function at the beginning of your program. This function initializes Parallel Ports A–E, the Rabbit RIO chip, and the A/D converter. The ports are initialized according to Table A-3 in Appendix A. BL4S100 User’s Manual 48 4.4.2 Digital I/O setDigIn int setDigIn(int channel); FUNCTION DESCRIPTION Sets an input channel to be a general digital input. PARAMETERS channel digital input channel, 0–11 (pins IN0–IN11) RETURN VALUE 0 — success. -EINVAL — invalid parameter value. SEE ALSO brdInit, digIn, digInBank digIn int digIn(int channel); FUNCTION DESCRIPTION Reads the state of a digital input channel. PARAMETERS channel digital input channel, 0–11 (pins IN0–IN11) RETURN VALUE The logic state of the specified channel. 0 — logic low 1 — logic high -EINVAL — channel value is out of range. -EPERM:— channel functionality does not permit this operation. SEE ALSO brdInit, setDigIn, digInBank BL4S100 User’s Manual 49 digInBank int digInBank(int bank); FUNCTION DESCRIPTION Reads the state of the 12 digital input channels in banks of up to 8 input channels. PARAMETER bank digital input bank pins: 0 — IN0–IN7 1 — IN8–IN11 RETURN VALUE Data read from the bank of digital inputs. Data Bits Bank 0 Bank 1 LSB D0 IN0 IN8 D1 IN1 IN9 D2 IN2 IN10 D3 IN3 IN11 D4 IN4 D5 IN5 not used D6 IN6 MSB D7 IN7 -EINVAL — invalid parameter value. SEE ALSO brdInit, digIn, setDigIn BL4S100 User’s Manual 50 setExtInterrupt int setExtInterrupt(int channel, char edge, int handle); FUNCTION DESCRIPTION Sets the specified channel to be an interrupt. The interrupt can be configured as a rising edge, falling edge, or either edge. PARAMETERS channel digital input channel to be configured as an interrupt channel, 0–11 (pins IN0–IN11) edge macro to set edge of the interrupt: BL_IRQ_RISE — interrupt event on rising edge BL_IRQ_FALL — interrupt event on falling edge BL_IRQ_BOTH — interrupt events on both edges handle handle for the ISR handler to service this interrupt RETURN VALUE 0 — success. -EINVAL — invalid parameter value. -EPERM — pin type does not permit this function. -EACCES — resource needed by this function is not available. -EFAULT — internal data fault detected. positive number — Mode Conflict — the positive number is a bitmap that corresponds to the pins on a particular block of a RIO chip that have not been configured to support this function call. Appendix D provides the details of the pin and block associations to allow you to identify the channels that need to be reconfigured to support this function call. SEE ALSO brdInit, digIn, setDigIn BL4S100 User’s Manual 51 setDecoder int setDecoder(int channel_a, int channel_b, int channel_index, char index_polarity); FUNCTION DESCRIPTION Sets up Quadrature Decoder functionality on the specified channels. The Quadrature Decoder may optionally use an index channel. PARAMETERS channel_a channel to use as Input A (also known as in-phase or I), 0–11 (pins IN0–IN11) channel_b channel to use as Input B (also known as quadrature or Q), 0–11 (pins IN0–IN11) channel_index channel to use as index input (-1 if not used), 0–11 (pins IN0–IN11) NOTE: The Quadrature Decoder count may still be reset by existing or new synch signals set up on the same block of a particular RIO chip. index_polarity polarity of the index channel (not used when channel_index set to -1) 0 — index on low level non-zero — index on high level RETURN VALUE 0 — success. -EINVAL — invalid parameter value. -EACCESS— resource needed by this function is not available. SEE ALSO brdInit, getCounter, resetCounter BL4S100 User’s Manual 52 setCounter int setCounter(int channel, int mode, int edge, word options); FUNCTION DESCRIPTION Sets up the channel as a counter input, with selectable modes and edge settings. The counter will increment or decrement on each selected edge event. Use getCounter() to read the current count and use resetCounter() to force a reset of the counter. PARAMETERS channel channel to use for the up count input, 0–11 (pins IN0–IN11) mode macro to set the mode of the counter: BL_UP_COUNT — continuous up count mode BL_DOWN_COUNT — up/down count mode (uses 2 pins) BL_MATCH_ENABLE — continuous up count mode with count stopping on any match event edge edge setting macro for the up count event: BL_EDGE_RISE — up count on rising edge BL_EDGE_FALL — up count on falling edge BL_EDGE_BOTH — up count on either edge options options based on mode (N/A if the continuous up mode is selected): BL_EDGE_RISE — down count on rising edge BL_EDGE_FALL — down count on falling edge BL_EDGE_BOTH — down count on either edge If the up/down mode is selected, options has down count channel and event edge settings (these settings cannot be on the same pin as the up count) ORed together. The low 4 bits are the channel num- ber for the down count input If the BL_MATCH_ENABLE mode is selected, options has the match count to stop at (other match registers on the block are set to max.). BL4S100 User’s Manual 53 setCounter (continued) RETURN VALUE 0 — success. -EINVAL — invalid parameter value or pin use. -EPERM — pin type does not permit this function. -EACCESS— resource needed by this function is not available. -EFAULT — internal data fault detected. positive number — Mode Conflict — the positive number is a bitmap that corresponds to the pins on a particular block of a RIO chip that have not been configured to support this function call. Appendix D provides the details of the pin and block associations to allow you to identify the channels that need to be reconfigured to support this function call. SEE ALSO brdInit, getCounter, resetCounter BL4S100 User’s Manual 54 setCapture int setCapture(int channel, int mode, int edge, word options); FUNCTION DESCRIPTION Sets up the channel as an event capture input, with selectable modes and edge settings. The counter will run from a gated main or prescaled clock signal based on the run cri- teria of the selected mode, and begin/end events can be set to capture the count at the time of these events. Optionally, a second channel can be set (which shares the same RIO channel input block as channel) for two-signal begin/end event detection. Use getBegin() and getEnd() to read the captured count values and use reset- Counter() to force a reset of the counter. PARAMETERS channel channel to use for the begin event input for all modes except BL_ CNT_TIL_END, then it specifies the end event input., 0–11 (pins IN0–IN11) mode mode macro for the counter/timer: BL_CNT_RUN — continuous count mode BL_CNT_BEGIN_END — start count on begin event, continue to count until end event detected BL_CNT_TIL_END — count until end event detected BL_CNT_ON_BEGIN — count while begin signal is active NOTE: If an end event occurs before the begin event, the count will begin then end immediately on the begin event, and the end count will be 1. The begin count will be 0 or 1 based on the edge that triggered the event (0 = rising, 1 = falling). edge edge/state macro setting for the begin event for all modes except BL_CNT_TIL_END, then it specifies the end event: BL_EVENT_RISE — begin event on rising edge BL_EVENT_FALL — begin event on falling edge BL_EVENT_BOTH — begin event on any edge The following two settings are only for the BL_CNT_ON_BEGIN mode: BL_BEGIN_HIGH — begin active while signal is high BL_BEGIN_LOW — begin active while signal is low BL4S100 User’s Manual 55 setCapture (continued) options options based on mode: BL_CNT_TIL_END — begin input and edge can be selected all others modes — end input and edge can be selected. For all modes, the prescale clock and save limit flags can be used (OR in). For input and edge selection, use: low 5 bits for channel to use for begin/end input BL_SAME_CHANNEL — begin and end both from same channel BL_EVENT_RISE — begin/end event on rising edge BL_EVENT_FALL — begin/end event on falling edge BL_EVENT_BOTH — begin/end event on any edge For clock and limit options use: BL_PRESCALE — use prescaled clock BL_SAVE_LIMIT — save current limit register value (other- wise limit set to 0xFFFF) RETURN VALUE 0 — success. -EINVAL — invalid parameter value. -EPERM — pin type does not permit this function. -EACCESS— resource needed by this function is not available. -EFAULT — internal data fault detected. positive number — Mode Conflict — the positive number is a bitmap that corresponds to the pins on a particular block of a RIO chip that have not been configured to support this function call. Appendix D provides the details of the pin and block associations to allow you to identify the channels that need to be reconfigured to support this function call. SEE ALSO brdInit, getBegin, getEnd, getCounter, resetCounter BL4S100 User’s Manual 56 getCounter int getCounter(int channel, word *count); FUNCTION DESCRIPTION Reads the current count of the counter register within the counter block hosting the given channel. PARAMETERS channel digital input channel that uses the desired counter block, 0–11 (pins IN0–IN11) count pointer to word variable to place count register reading RETURN VALUE 0 — success. -EINVAL — invalid parameter value. SEE ALSO brdInit, setCounter, setDecoder, setCapture, resetCounter getBegin int getBegin(int channel, word *begin); FUNCTION DESCRIPTION Reads the current value of the begin register within the counter block hosting the given channel. PARAMETERS channel digital input channel that uses the desired counter block, 0–11 (pins IN0–IN11) begin pointer to word variable to place begin register reading RETURN VALUE 0 — success. -EINVAL — invalid parameter value. -EPERM — pin type does not permit this function. SEE ALSO brdInit, setCapture, resetCounter, getEnd BL4S100 User’s Manual 57 getEnd int getEnd(int channel, word *end); FUNCTION DESCRIPTION Reads the current value of the end register within the counter block hosting the given channel. PARAMETERS channel digital input channel that uses the desired counter block, 0–11 (pins IN0–IN11) begin pointer to word variable to place end register reading RETURN VALUE 0 — success. -EINVAL — invalid parameter value. -EPERM — pin type does not permit this function. SEE ALSO brdInit, setCapture, resetCounter, getBegin resetCounter int resetCounter(int channel); FUNCTION DESCRIPTION Resets the current count of the counter register within the counter block hosting the given channel. PARAMETER channel digital input channel that uses the desired counter block, 0–11 (pins IN0–IN11) RETURN VALUE 0 — success. -EINVAL — invalid parameter value. -EPERM — pin type does not permit this function. SEE ALSO brdInit, getCounter, setDecoder BL4S100 User’s Manual 58 setLimit int setLimit(int channel, word limit); FUNCTION DESCRIPTION Sets the value of the limit register within the counter block hosting the given channel. This new value will take effect on the next counter overflow or by resetting the counter via the resetCounter() function call. PARAMETERS channel digital input channel that uses the desired counter block, 0–11 (pins IN0–IN11) limit new value for the limit register RETURN VALUE 0 — success. -EINVAL — invalid parameter value. -EPERM — pin type does not permit this function. SEE ALSO brdInit, setCapture, resetCounter BL4S100 User’s Manual 59 setSyncIn int setSyncIn(int channel, int source, int edge); FUNCTION DESCRIPTION Sets the synch for the block the digital input channel is associated with. Note that when more than one block is synchronized to the same synch signal (global or external), each block has its own independent edge-detection circuit. These circuits will synch to the edge within plus or minus one count of the block’s current clock source (main or prescale). This means synchronized blocks may have a small offset when compared to each other. PARAMETERS channel digital input channel that is on the block that will have its synch set, 0–11 (pins IN0–IN11) source source of the synch signal. -1 to use the RIO chip's Global Synch signal or input-capable channel to use as an external synch signal edge edge of the synch signal. BL_EDGE_RISE — synchronize event on rising edge BL_EDGE_FALL — synchronize event on falling edge BL_EDGE_BOTH — synchronize events on both edges 0 — disable the synch on this block (if the source of the external synch is given, it will be set to a digital input) RETURN VALUE 0 — success. -EINVAL — invalid parameter value. -EPERM — pin type does not permit this function. -EACCES — resource needed by this function is not available. -EFAULT — internal data fault detected. SEE ALSO brdInit, setSyncOut BL4S100 User’s Manual 60 globalSync int globalSync(void); FUNCTION DESCRIPTION Sends a single pulse to the global synch inputs of all RIO chips. Note that when more than one block is synchronized to the same synch signal (global or external), each block has its own independent edge-detection circuit. These circuits will synch to the edge within plus or minus one count of the block’s current clock source (main or prescale). This means synchronized blocks may have a small offset when compared to each other. RETURN VALUE 0 — success. -EPERM — brdInit() was not run before calling this function. SEE ALSO brdInit BL4S100 User’s Manual 61 setDigOut int setDigOut(int channel, int state); FUNCTION DESCRIPTION Configures the output channel as a simple digital output. The output state of the chan- nel is also initialized to logic 0 or logic 1 based on the state parameter. The digOut function should be used to control the output state after configuration as it is more effi- cient. This function is non-reentrant. PARAMETERS channel digital output channel, 0–7 (OUT0–OUT7) state set output to one of the following states: 0 — connects the load to GND 1 — puts the output in a high-impedance state RETURN VALUE 0 — success. -EINVAL — invalid parameter value. SEE ALSO brdInit, digOut, digOutBank BL4S100 User’s Manual 62 digOut void digOut(int channel, int state); FUNCTION DESCRIPTION Sets the state of a digital output channel to a logic 0 or a logic 1. This function will only allow control of pins that are configured by the setDigOut() function call. PARAMETERS channel digital output channel, 0–7 (OUT0–OUT7) state set output to one of the following states: 0 — connects the load to GND 1 — puts the output in a high-impedance state. RETURN VALUE 0 — success. -EINVAL — invalid parameter value. -EPERM — pin function was not set up as a digital output SEE ALSO brdInit, setDigOut, digOutBank BL4S100 User’s Manual 63 digOutBank int digOutBank(char bank, char data); FUNCTION DESCRIPTION Sets the state (logic 0 or logic 1) of a bank of 8 digital output pins to the states contained in the data parameter. This function only updates the channels that are configured to be sinking digital outputs by the setDigOut() function call. PARAMETERS bank digital output bank pins: 0 — OUT0–OUT7 data data value to be written to the specified digital output bank; the data format and bitwise value are as follows: Data Bits Bank 0 LSB D0 OUT0 D1 OUT1 D2 OUT2 D3 OUT3 D4 OUT4 D5 OUT5 D6 OUT6 MSB D7 OUT7 Bitwise value: 0 — connects the load to GND 1 — puts the output in a high-impedance state. RETURN VALUE 0 — success. -EINVAL — invalid parameter value or board not initialized. SEE ALSO brdInit, digOut, setDigOut BL4S100 User’s Manual 64 setPWM int setPWM(int channel, float frequency, float duty, int invert, int bind); FUNCTION DESCRIPTION Sets up a PWM output on the selected digital output channel with the specified frequency and duty cycle. The PWM output can be inverted. The PWM channel duty cycle can be bound to a PWM/PPM on another channel on the same RIO block so that they share an edge. PARAMETERS channel digital output channel being set up for PWM, 0–7 (OUT0–OUT7) frequency PWM frequency in Hz (should be from 2 Hz to 50 kHz); use -1 to preserve the existing frequency on the RIO block duty PWM duty cycle (should be from 0 to 100%); use -1 and bind parameter to use bound edge to set the duty cycle invert whether the PWM output is inverted; the PWM output normally starts with the output high and inverted starts with the output low. 0 — noninverted 1 — inverted bind use BL_BIND_LEAD or BL_BIND_TRAIL ORed with another digital output channel hosted by the same block to enable binding for the leading of the PWM output on this channel. Bindings allow PWM and PPM outputs to align their leading and trailing edges. BL4S100 User’s Manual 65 setPWM (continued) RETURN VALUE 0 — success. -EINVAL — invalid parameter value. -EPERM — pin type does not permit this function. -EACCES — resource needed by this function is not available. -EFAULT — internal data fault detected. positive number — Mode Conflict — the positive number is a bitmap that corresponds to the pins on a particular block of a RIO chip that have not been configured to support this function call. Appendix D provides the details of the pin and block associations to allow you to identify the channels that need to be reconfigured to support this function call. SEE ALSO brdInit, setFreq, setDuty, setSyncIn, setSyncOut, pulseEnable, pulseDisable, setPPM BL4S100 User’s Manual 66 setPPM int setPPM(int channel, float frequency, float offset, float duty, char invert, int bind_offset, int bind_duty); FUNCTION DESCRIPTION Sets up a PPM output on the selected digital output channel with the specified frequency and duty cycle. The PPM output of the PPM can be inverted. The offset and duty of the PPM can be bound to a PWM/PPM on another channel on the same RIO block so that they share an edge. PARAMETERS channel digital output channel being set up for PWM, 0–7 (OUT0–OUT7) frequency PPM frequency in Hz (should be from 2 Hz to 50 kHz); use -1 to preserve the existing frequency on the RIO block offset PPM offset (should be from 0 to 100%); use -1 and bind_offset parameter to use bound edge to set the offset NOTE: A zero offset will produce the smallest offset possible, which is one count. If you must have a zero offset, use setPWM() instead of setPPM(). duty PPM duty cycle (should be from 0 to 100%); use -1 and bind_ duty parameter to use bound edge to set the duty cycle NOTE: PPM will not wrap around the PPM period. If offset is set to 25%, the 75 to 100% duty cycle will have the same effect as offset = 25%, duty = 75%. The same waveform as a wrapped PPM can be created using an inverted PPM invert whether the PPM output is inverted; the PPM output normally starts with the output low, goes high at the offset, and stays high for the remainder of the duty cycle; inverted will start with the out- put high, goes low at the offset, and stays low for the duration of the duty cycle. 0 — noninverted 1 — inverted bind_offset use BL_BIND_LEAD or BL_BIND_TRAIL ORed with another digital output channel hosted by the same block to enable binding for the leading edge of the PPM output on this channel. Bindings al- low PWM and PPM outputs to align their leading and trailing edges. bind_duty use BL_BIND_LEAD or BL_BIND_TRAIL ORed with another digital output channel hosted by the same block to enable binding for the trailing edge of the PPM output on this channel. Bindings allow PWM and PPM outputs to align their leading and trailing edges BL4S100 User’s Manual 67 setPPM (continued) RETURN VALUE 0 — success. -EINVAL — invalid parameter value. -EPERM — pin type does not permit this function. -EACCES — resource needed by this function is not available. -EFAULT — internal data fault detected. positive number — Mode Conflict — the positive number is a bitmap that corresponds to the pins on a particular block of a RIO chip that have not been configured to support this function call. Appendix D provides the details of the pin and block associations to allow you to identify the channels that need to be reconfigured to support this function call. SEE ALSO brdInit, setFreq, setOffset, setDuty, setSyncIn, setSyncOut, pulseEnable, pulseDisable, setPWM BL4S100 User’s Manual 68 setFreq int setFreq(int channel, float frequency); FUNCTION DESCRIPTION Sets the frequency of all the PWM or PPM outputs on the same block as the channel. Will preserve the duty cycle and offset percentages for all of the channels on the same block. Repeated calls to this function by itself may cause the duty cycle and offset values to drift. If this drift is of concern, call setOffset() and setDuty() to reset the duty cycle and offset to the desired value. PARAMETERS channel all digital output channels on the same RIO chip and block as this channel (0–7, OUT0–OUT7) will have their frequency set. Duty cycle and offset percentages will be maintained. frequency frequency of the PWM and PPM outputs (should be from 2 Hz to 50 kHz). Use -1 to preserve the existing frequency on the RIO block. RETURN VALUE 0 — success. -EINVAL — invalid parameter value. SEE ALSO brdInit, setPWM, setPPM, setOffset, setDuty, setSyncIn, setSyncOut, pulseEnable, pulseDisable BL4S100 User’s Manual 69 setDuty int setDuty(int channel, float duty); FUNCTION DESCRIPTION Sets the duty cycle of the PWM or PPM output on a digital output channel. Will affect any PWM/PPM that has been bound to this channel’s PWM/PPM. PARAMETERS channel digital output channel that is getting its duty cycle set, 0–7 (OUT0–OUT7) duty duty cycle of the PWM/PPM output (should be from 0 to 100%) RETURN VALUE 0 — success. -EINVAL — invalid parameter value. -EPERM — channel function does not permit this operation. SEE ALSO brdInit, setPWM, setPPM, setOffset, setFreq, setSyncIn, setSyncOut, pulseEnable, pulseDisable BL4S100 User’s Manual 70 setOffset int setOffset(int channel, float offset); FUNCTION DESCRIPTION Sets the offset of a PPM output on a digital output channel. This function call will not affect the position of the trailing edge of the PPM output and so will change the duty cycle percentage of the PPM output. If the offset is set past the current position of the trailing edge of the PPM output (set by the duty cycle), the PPM output will start at the offset and will wrap around to the position of what was the trailing edge. PARAMETERS channel digital output channel that is getting its offset set, 0–7 (OUT0–OUT79) offset PPM offset (should be from 0 to 100%) NOTE: A zero offset will produce the smallest offset possible, which is one count. If you must have a zero offset, use setPWM() instead of setOffset(). RETURN VALUE 0 — success. -EINVAL — invalid parameter value. -EPERM — channel function does not permit this operation. SEE ALSO brdInit, setPWM, setPPM, setFreq, setDuty, setSyncIn, setSyncOut, pulseEnable, pulseDisable BL4S100 User’s Manual 71 pulseDisable int pulseDisable(int channel, int state); FUNCTION DESCRIPTION Disables a PWM/PPM output and sets the output to state. The pin can be restored to the same PWM/PPM operation as before by calling pulseEnable(). PARAMETERS channel digital output channel that is getting its PWM/PPM disabled, 0–7 (OUT0–OUT7) state state that the digital output will be set to (0 or 1) RETURN VALUE 0 — success. -EINVAL — invalid parameter value. -EPERM — channel function does not permit this operation. SEE ALSO brdInit, setPWM, setPPM, pulseEnable pulseEnable int pulseEnable(int channel); FUNCTION DESCRIPTION Enables a disabled PWM/PPM output. The pin is restored to the same PWM/PPM operation it had before being disabled. PARAMETER channel digital output channel that is getting its PWM/PPM enabled, 0–7 (OUT0–OUT7) RETURN VALUE 0 — success. -EINVAL — invalid parameter value. -EPERM — channel function does not permit this operation. SEE ALSO brdInit, setPWM, setPPM, pulseDisable BL4S100 User’s Manual 72 setSyncOut int setSyncOut(int channel, int source, int edge); FUNCTION DESCRIPTION Sets the synch for the block the digital output channel is associated with. Note that when more than one block is synchronized to the same synch signal (global or external), each block has its own independent edge-detection circuit. These circuits will synch to the edge within plus or minus one count of the block’s current clock source (main or prescale). This means synchronized blocks may have a small offset when compared to each other. PARAMETERS channel digital output channel that is on the block that will have its synch set, 0–7 (OUT0–OUT7) source source of the synch signal. -1 to use the RIO chip's Global Synch signal or input-capable channel to use as an external synch signal edge edge of the synch signal. BL_EDGE_RISE — synchronize event on rising edge BL_EDGE_FALL — synchronize event on falling edge BL_EDGE_BOTH — synchronize events on both edges 0 — disable the synch on this block (if the source of the external synch is given, it will be set to a digital input) RETURN VALUE 0 — success. -EINVAL — invalid parameter value. -EPERM — pin type does not permit this function. -EACCES — resource needed by this function is not available. -EFAULT — internal data fault detected. SEE ALSO brdInit, setSyncIn BL4S100 User’s Manual 73 getMatch int getMatch(int channel, int source); FUNCTION DESCRIPTION Returns the block match register use for the given channel. May optionally be filtered to specific sources by the source parameter. PARAMETERS channel digital output channel about which to get match information, 0–7 (OUT0–OUT7) source source filter: BL_TRAIL_ONLY will filter only the Trail match register BL_LEAD_ONLY will filter only the Lead match register Note that counters will only use the Trail match register. RETURN VALUE Bit flags showing match use on success: BL_IER_MATCH0 bit set if using Match Register 0 BL_IER_MATCH1 bit set if using Match Register 1 BL_IER_MATCH2 bit set if using Match Register 2 BL_IER_MATCH3 bit set if using Match Register 3 or -EINVAL — invalid channel value. SEE ALSO brdInit, setPWM, setPPM, setCounter BL4S100 User’s Manual 74 4.4.3 Rabbit RIO Interrupt Handlers addISRIn int addISRIn(int channel, int ier, void (*handler)()); FUNCTION DESCRIPTION Adds an interrupt handler for the interrupts specified in the ier parameter for the given RIO block hosting the given configurable I/O pin. The interrupt service routine (ISR) is always disabled when created. Call enableISR() to enable the interrupt service routine. The ISR handler function is responsible for clearing the interrupt(s) within the hosting RIO block when called. PARAMETERS channel digital input channel to bind to ISR, 0–11 (IN0–IN11) ier bit mask of interrupt(s) this handler services BL_IER_DQE — decrement/quadrature/end BL_IER_IIB — increment/inphase/begin BL_IER_ROLL_D — counter rollover on decrement BL_IER_ROLL_I — counter rollover on increment BL_IER_MATCH3 — Match 3 condition BL_IER_MATCH2 — Match 2 condition BL_IER_MATCH1 — Match 1 condition BL_IER_MATCH0 — Match 0 condition handler pointer to the interrupt service function RETURN VALUE Success — returns the handler ID number (0..RSB_MAX_ISR-1). -EINVAL— Invalid parameter given. -ENOSPC — No more room in ISR table (increase RSB_MAX_ISR). SEE ALSO addISROut, tickISR, enableISR, setIER BL4S100 User’s Manual 75 addISROut int addISROut(int channel, int ier, void (*handler)()); FUNCTION DESCRIPTION Adds an interrupt handler for the interrupts specified in the ier parameter for the given RIO block hosting the given digital output pin. The interrupt service routine (ISR) is al- ways disabled when created. Call enableISR() to enable the ISR. The ISR handler given is responsible for clearing the interrupt(s) within the hosting RIO block. PARAMETERS channel digital output channel to bind to ISR, 0–7 (OUT0–OUT7) ier bit mask of interrupt(s) this handler services: BL_IER_DQE — decrement/quadrature/end BL_IER_IIB — increment/inphase/begin BL_IER_ROLL_D — counter rollover on decrement BL_IER_ROLL_I — counter rollover on increment BL_IER_MATCH3 — Match 3 condition BL_IER_MATCH2 — Match 2 condition BL_IER_MATCH1 — Match 1 condition BL_IER_MATCH0 — Match 0 condition handler pointer to the interrupt service function RETURN VALUE Success — returns the handler ID number (0..RSB_MAX_ISR-1). -EINVAL— Invalid parameter given. -ENOSPC — No more room in ISR table (increase RSB_MAX_ISR). SEE ALSO addISRIn, tickISR, enableISR, setIER BL4S100 User’s Manual 76 setIER int setIER(int isr_handle, int ier); FUNCTION DESCRIPTION Sets the Interrupt Enable Register (IER) mask for an interrupt handler. Note that the in- terrupt handler must be currently disabled to set the IER value. Disabling the ISR can be done by calling enableISR() with a zero for the enable parameter. PARAMETERS isr_handle index to the desired ISR ier bit mask of interrupts this handler services (bit positions match RIO Interrupt Enable and Status registers) RETURN VALUE 0 — success -EINVAL— Invalid parameter given. -EPERM — Handler is enabled, can't change IER. SEE ALSO addISRIn, addISROut, enableISR, tickISR BL4S100 User’s Manual 77 enableISR int enableISR(int isr_handle, int enable) FUNCTION DESCRIPTION Enables or disables an interrupt handler. PARAMETERS isr_handle index to the desired ISR enable non-zero enables the ISR, zero disables the ISR RETURN VALUE 0 — success. -EINVAL— invalid parameter given. SEE ALSO addISRIn, addISROut, setIER, tickISR tickISR void tickISR(void) FUNCTION DESCRIPTION Polls the RIO chip(s) for ISR events if interrupts are not being used. Any enabled ISR events will be passed to the appropriate ISR handler. RETURN VALUE None. SEE ALSO addISRIn, addISROut, enableISR, setIER BL4S100 User’s Manual 78 4.4.4 Serial Communication Library files included with Dynamic C provide a full range of serial communications sup- port. 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 delim- ited 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 transmit- ting or receiving, and nonblocking functions, which must be called repeatedly until they are finished. For more information, see the Dynamic C User’s Manual and Technical Note 213, Rabbit Serial Port Software. Use the following function calls with the BL4S100. serMode int serMode(int mode); FUNCTION DESCRIPTION This function call sets the serial interfaces used by your application program. Call this function after executing serXopen() and before using any other serial port function calls. PARAMETER mode the defined serial port configuration Mode Serial Port D Serial Port F 0 RS-232, 3-wire RS-232, 3-wire 1 RS-232, 5-wire RTS/CTS RETURN VALUE 0 if valid mode selected, -EINVAL if not. BL4S100 User’s Manual 79 4.4.5 A/D Converter Inputs anaInConfig void anaInConfig(int channel, int opmode); FUNCTION DESCRIPTION Configures an A/D converter input channel for a given mode of operation. This function must be called before accessing the A/D converter chip. The channel pairs for the differential mode are listed below. AIN0 and AIN1 AIN2 and AIN3 AIN4 and AIN5 AIN6 and AIN7 The modes of operation are as follows: Single-ended unipolar 0–20 V Differential bipolar ±20 V 4-20 mA operation NOTE: When a pin in a differential pair is reconfigured as a nondifferential pin, the remaining paired pin is also reconfigured. PARAMETERS channel analog input channel, 0–7 (AIN0–AIN7) opmode selects the mode of operation for the A/D converter channel pair. The values are as follows: SE0_MODE — single-ended unipolar (0–20 V) DIFF_MODE — differential bipolar (±20 V) mAMP_MODE — 4–20 mA operation RETURN VALUE: 0 — success. -EINVAL — invalid parameter. SEE ALSO brdInit, anaInCalib, anaIn, anaInVolts, anaInmAmps, anaInDiff BL4S100 User’s Manual 80 anaInCalib int anaInCalib(int channel, int opmode, int gaincode, int value1, float volts1, int value2, float volts2); FUNCTION DESCRIPTION Calibrates the response of a given A/D converter channel as a linear function using the two conversion points provided. Gain and offset constants are calculated and placed into the user block in the flash memory. NOTE: The 10 and 90% points of the maximum voltage range are recommended when calibrating a channel. PARAMETERS channel analog input channel number (0 to 7) corresponding to AIN0–AIN7 channel Single-Ended Differential 4–20 mA 0 +AIN0 +AIN0 -AIN1 +AIN0 1 +AIN1 — +AIN1 2 +AIN2 +AIN2 -AIN3 +AIN2 3 +AIN3 — +AIN3 4 +AIN4 +AIN4 -AIN5 5+AIN5 — 6 +AIN6 +AIN6 -AIN7 7+AIN7 — opmode the mode of operation for the specified channel. Use one of the following macros to set the mode for the channel being configured. SE0_mode = single-ended unipolar (0–20 V) DIFF_MODE = differential bipolar (±20 V) mAMP_mode = 4–20 mA BL4S100 User’s Manual 81 anaInCalib (continued) gaincode the gain code of 0 to 7 (use the gain code macro mAMP_GAINCODE for 4–20 mA operation) Voltage Range Gain Code Macro Single-Ended Differential Unipolar Bipolar 0 GAIN_X1 0–20 V ±20 V 1 GAIN_X2 0–10 V ±10 V 2 GAIN_X4 0–5 V ±5 V 3 GAIN_X5 0–4 V ±4 V 4 GAIN_X8 0–2.5 V ±2.5 V 5 GAIN_X10 0–2 V ±2 V 6 GAIN_X16 0–1.25 V ±1.25 V 7 GAIN_X20 0–1 V ±1 V value1 the first A/D converter value volts1 the voltage corresponding to the first A/D converter value value2 the second A/D converter value volts2 the voltage corresponding to the second A/D converter value RETURN VALUE 0 — success. -EINVAL — invalid parameter. -ERR_ANA_CALIB — error writing calibration constants. SEE ALSO brdInit, anaInConfig, anaIn, anaInmAmps, anaInDiff, anaInVolts BL4S100 User’s Manual 82 anaIn int anaIn(int channel, int gaincode); FUNCTION DESCRIPTION Reads the state of an A/D converter input channel. PARAMETERS channel analog input channel number (0 to 7) corresponding to AIN0–AIN7 channel Single-Ended Differential 4–20 mA 0 +AIN0 +AIN0 -AIN1 +AIN0 1 +AIN1 — +AIN1 2 +AIN2 +AIN2 -AIN3 +AIN2 3 +AIN3 — +AIN3 4 +AIN4 +AIN4 -AIN5 5+AIN5 — 6 +AIN6 +AIN6 -AIN7 7+AIN7 — gaincode the gain code of 0 to 7 (use a gain code of 4 for 4–20 mA operation) Value Range Voltage Gain Code Macro Single-Ended Differential Range Unipolar Bipolar 0 GAIN_X1 0–20 V ± 20 V 0–20 V 1 GAIN_X2 0–10 V ± 10 V 0–10 V 2 GAIN_X4 0–5 V ± 5 V 0–5 V 3 GAIN_X5 0–4 V ± 4 V 0–4 V 4 GAIN_X8 0–2.5 V ± 2.5 V 0–2.5 V 5 GAIN_X10 0–2 V ± 2 V 0–2 V 6 GAIN_X16 0–1.25 V ± 1.25 V 0–1.25 V 7 GAIN_X20 0–1 V ± 1 V 0–1 V BL4S100 User’s Manual 83 anaIn (continued) RETURN VALUE A value corresponding to the voltage on the analog input channel: 0–2047 for 11-bit A/D conversions, or a value of BL_ERRCODESTART or less to indicate an error condition: A/D converter operation errors (will not create run-time error): BL_TIMEOUT BL_OVERFLOW BL_WRONG_MODE System errors (can create run-time error unless disabled): -ERR_ANA_CALIB — fault detected in reading calibration factor -ERR_ANA_INVAL — invalid parameter value. SEE ALSO brdInit, anaInConfig, anaInCalib, anaInmAmps, anaInDiff, anaInVolts BL4S100 User’s Manual 84 anaInVolts float anaInVolts(int channel, int gaincode); FUNCTION DESCRIPTION Reads the state of a single-ended A/D converter input channel and uses the previously set calibration constants to convert it to volts. The voltage ranges given in the table below are nominal ranges that will be returned. However, values outside these ranges can often be seen before the return of a BL_OVERFLOW error. If the gain code for a given channel has changed from the previous cycle, the user block will be read to get the calibration constants for the new gain value. PARAMETERS channel analog input channel number (0 to 7) corresponding to AIN0–AIN7 gaincode the gain code of 0 to 7; the table below applies for single-ended modes only Value Range Voltage Gain Code Macro Single-Ended Differential Range Unipolar Bipolar 0 GAIN_X1 0–20 V ± 20 V 0–20 V 1 GAIN_X2 0–10 V ± 10 V 0–10 V 2 GAIN_X4 0–5 V ± 5 V 0–5 V 3 GAIN_X5 0–4 V ± 4 V 0–4 V 4 GAIN_X8 0–2.5 V ± 2.5 V 0–2.5 V 5 GAIN_X10 0–2 V ± 2 V 0–2 V 6 GAIN_X16 0–1.25 V ± 1.25 V 0–1.25 V 7 GAIN_X20 0–1 V ± 1 V 0–1 V BL4S100 User’s Manual 85 anaInVolts (continued) RETURN VALUE A voltage on the analog input channel, or a value of BL_ERRCODESTART or less to in- dicate an error condition: A/D converter operation errors (will not create run-time error): BL_NOT_CAL — A/D converter is not calibrated for this channel/gain. BL_OVERFLOW — A/D converter overflow. BL_TIMEOUT — A/D converter timeout. BL_WRONG_MODE — A/D converter is in wrong mode (run anaInConfig()). System errors (can create run-time error unless disabled): -ERR_ANA_CALIB — fault detected in reading calibration facto.r -ERR_ANA_INVAL — invalid parameter value. SEE ALSO brdInit, anaInConfig, anaIn, anaInmAmps, anaInDiff, anaInCalib BL4S100 User’s Manual 86 anaInDiff float anaInDiff(int channel, int gaincode); FUNCTION DESCRIPTION Reads the state of a differential A/D converter input channel and uses the previously set calibration constants to convert it to volts. Voltage ranges given in the table below are the nominal ranges that will be returned. However, values outside these ranges can of- ten be seen before the return of a BL_OVERFLOW error. If the gain code for a given channel has changed from the previous cycle, the user block will be read to get the calibration constants for the new gain value. PARAMETERS channel the analog input channel number (0, 2, 4, 6) as shown below channel Differential Inputs 0 +AIN0 -AIN1 2 +AIN2 -AIN3 4 +AIN4 -AIN5 6 +AIN6 -AIN7 gaincode the gain code of 0 to 7 Differential Actual Gain Code Macro Actual Gain Voltage Range Voltage Range 0 GAIN_X1 ×1 ± 20 V 0–20 V 1 GAIN_X2 ×2 ± 10 V 0–10 V 2 GAIN_X4 ×4 ± 5 V 0–5 V 3 GAIN_X5 ×5 ± 4 V 0–4 V 4 GAIN_X8 ×8 ± 2.5 V 0–2.5 V 5 GAIN_X10 ×10 ± 2 V 0–2 V 6 GAIN_X16 ×16 ± 1.25 V 0–1.25 V 7 GAIN_X20 ×20 ± 1 V 0–1 V BL4S100 User’s Manual 87 anaInDiff (continued) RETURN VALUE A voltage on the analog input channel, or a value of BL_ERRCODESTART or less to indicate an error condition: A/D converter operation errors (will not create run-time error): BL_NOT_CAL — A/D converter is not calibrated for this channel/gain. BL_OVERFLOW — A/D converter overflow. BL_TIMEOUT — A/D converter timeout. BL_WRONG_MODE — A/D converter is in wrong mode (run anaInConfig()). System errors (can create run-time error unless disabled): -ERR_ANA_CALIB — fault detected in reading calibration factor. -ERR_ANA_INVAL — invalid parameter value. SEE ALSO brdInit, anaInConfig, anaIn, anaInmAmps, anaInVolts, anaInCalib BL4S100 User’s Manual 88 anaInmAmps float anaInmAmps(int channel); FUNCTION DESCRIPTION Reads the state of a single-ended A/D converter input channel and uses the previously set calibration constants to convert it to a floating-point current value in milli amps. The nominal range is 0 mA to 20 mA, although it is possible to receive values outside this range before a BL_OVERFLOW error is returned. PARAMETER channel A/D converter input channel (0–3 corresponding to AIN0–AIN3) RETURN VALUE A current value corresponding to the current on the analog input channel, or a value of BL_ERRCODESTART or less to indicate an error condition: A/D converter operation errors (will not create run-time error): BL_NOT_CAL — A/D converter is not calibrated for this channel/gain. BL_OVERFLOW — A/D converter overflow. BL_TIMEOUT — A/D converter timeou.t BL_WRONG_MODE — A/D converter is in wrong mode (run anaInConfig()). System errors (can create run-time error unless disabled): -ERR_ANA_CALIB — fault detected in reading calibration factor. -ERR_ANA_INVAL — invalid parameter value. SEE ALSO brdInit, anaInConfig, anaIn, anaInDiff, anaInVolts, anaInCalib BL4S100 User’s Manual 89 anaInRdCalib anaInRdCalib(int channel, int opmode, int gaincode, calib_t *pcal_data) FUNCTION DESCRIPTION Reads the calibration constants, gain and offset, from the user block on the flask. PARAMETER channel analog input channel number (0 to 7) corresponding to AIN0–AIN7 channel Single-Ended Differential 4–20 mA 0 +AIN0 +AIN0 -AIN1 +AIN0 1 +AIN1 — +AIN1 2 +AIN2 +AIN2 -AIN3 +AIN2 3 +AIN3 — +AIN3 4 +AIN4 +AIN4 -AIN5 5+AIN5 — 6 +AIN6 +AIN6 -AIN7 7+AIN7 — opmode select the mode of operation for the A/D converter channel calibra- tion data being read. Use one of the following macros. SE0_mode = single-ended unipolar (0–20 V) DIFF_MODE = differential bipolar (±20 V) mAMP_mode = 4–20 mA gaincode the gain code of 0 to 7 (use the gain code macro mAMP_GAINCODE for 4–20 mA operation) Voltage Range Gain Code Macro Single-Ended Differential Unipolar Bipolar 0 GAIN_X1 0–20 V ±20 V 1 GAIN_X2 0–10 V ±10 V 2 GAIN_X4 0–5 V ±5 V 3 GAIN_X5 0–4 V ±4 V 4 GAIN_X8 0–2.5 V ±2.5 V 5 GAIN_X10 0–2 V ±2 V 6 GAIN_X16 0–1.25 V ±1.25 V 7 GAIN_X20 0–1 V ±1 V pcal_data calibration structure pointer to gain and offset values BL4S100 User’s Manual 90 anaInRdCalib (continued) RETURN VALUE 0 — success. -1 — invalid address or range. -2 — no valid user block found (block version 3 or later) -3 — flash read error -EINVAL — invalid parameter SEE ALSO anaInCalib, _anaInAddr BL4S100 User’s Manual 91 anaInDriver int anaInDriver(char cmd); FUNCTION DESCRIPTION Low-level driver to read the ADS7870 A/D converter chip. Reads the voltage of an an- alog input channel by serial clocking an 8-bit command to the ADS7870 by its Direct Mode method. anaInConfig() uses the Register Mode method. This function call assumes that Mode2 (least significant byte first) and the A/D converter oscillator have been enabled. See anaInConfig() for additional setup information. After the last data bit is transferred, the conversion begins immediately. An exception error will occur if Direct Mode bit D7 is not set. PARAMETER cmd The cmd parameter contains a gain code and channel code, and the MSB is set high for direct-mode access. The format is as follows: D7 D6–D4 D3–D0 1 gain_code channel_code Use the following calculation and tables to determine cmd: cmd = 0x80 | (gain_code<<4) + channel_code gain_code Multiplier 01 12 24 35 48 510 616 720 BL4S100 User’s Manual 92 anaInDriver (continued) Differential Single-Ended mA channel_code channel_code Input Lines Input Lines Input Lines 0 +AIN0 -AIN1 8 +AIN0 +AIN0 1 +AIN2 -AIN3 9 +AIN1 +AIN1 2 +AIN4 -AIN5 10 +AIN2 +AIN2 3 +AIN6 -AIN7 11 +AIN3 +AIN3 4 Reserved 12 +AIN4 Reserved 5 Reserved 13 +AIN5 Reserved 6 Reserved 14 +AIN6 Reserved 7 Reserved 15 +AIN7 Reserved RETURN VALUE A value corresponding to the voltage on the analog input channel, which will be either in the range [-2048,2047], or an error code of BL_ERRCODESTART or less as follows: BL_TIMEOUT — conversion incomplete, busy bit timeout BL_OVERFLOW — overflow or out of range System errors (can create run-time error unless disabled): -ERR_ANA_INVAL — invalid parameter value SEE ALSO anaInConfig, anaIn, brdInit BL4S100 User’s Manual 93 4.4.6 SRAM Use The BL4S100 has a battery-backed data SRAM and a program-execution SRAM. Dynamic C provides the protected keyword to identify variables that are to be placed into the battery-backed SRAM. The compiler generates code that maintains two copies of each protected variable in the battery-backed SRAM. The compiler also generates a flag to indicate which copy of the protected variable is valid at the current time. This flag is also stored in the battery-backed SRAM. When a protected variable is updated, the “inactive” copy is modified, and is made “active” only when the update is 100% complete. This assures the integrity of the data in case a reset or a power failure occurs during the update process. At power-on the application program uses the active copy of the variable pointed to by its associated flag. The sample code below shows how a protected variable is defined and how its value can be restored. protected nf_device nandFlash; int main() { ... _sysIsSoftReset(); // restore any protected variables The bbram keyword may also be used instead if there is a need to store a variable in bat- tery-backed SRAM without affecting the performance of the application program. Data integrity is not assured when a reset or power failure occurs during the update process. Additional information on bbram and protected variables is available in the Dynamic C User’s Manual. BL4S100 User’s Manual 94 5. USING THE ETHERNET TCP/IP FEATURES Chapter 5 discusses using the Ethernet TCP/IP features on the BL4S100 boards. 5.1 TCP/IP Connections Before proceeding you will need to have the following items. • If you don’t have Ethernet access, you will need at least a 10Base-T Ethernet card (available from your favorite computer supplier) installed in a PC. • Two RJ-45 straight-through CAT 5/6 Ethernet cables and a hub, or an RJ-45 crossover CAT 5/6 Ethernet cable. The CAT 5/6 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 CAT 5/6 Ethernet cable to connect the BL4S100 to a PC that at least has a 10Base-T Ethernet card. If you have Ethernet access, use a straight-through CAT 5/6 Ethernet cable to establish an Ethernet connection to the BL4S100 from an Ethernet hub. These connections are shown in Figure 17. BL4S100 User’s Manual 95 BL4S100 BL4S100 Board Board CAT 5/6 User’s PC Ethernet Crossover cables To additional CAT 5/6 Ethernet network cable Hub elements Direct Connection Direct Connection Using a Hub (network of 2 computers) Figure 17. Ethernet Connections The PC running Dynamic C through the serial programming port on the BL4S100 does not need to be the PC with the Ethernet card. 3. Apply Power Plug in the AC adapter. The BL4S100 is now ready to be used. NOTE: A hardware RESET is accomplished by unplugging the AC adapter, then plug- ging it back in, or by pressing the RESET button located next to the Ethernet jack. When working with the BL4S100, the green LNK light is on when a program is running and the board 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. BL4S100 User’s Manual 96 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 BL4S100 together on the same network. This network can be a local private network (pre- ferred 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 BL4S100 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 differ- ent 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. BL4S100 User’s Manual 97 5.2.2 How to Set Up your Computer for Direct Connect Follow these instructions to set up your PC or notebook. Check with your administrator if you are unable to change the settings as described here since you may need administrator privileges. The instructions are specifically for Windows 2000, but the interface is similar for other versions of Windows. TIP: If you are using a PC that is already on a network, you will disconnect the PC from that network to run these sample programs. Write down the existing settings before changing them to facilitate restoring them when you are finished with the sample pro- grams and reconnect your PC to the network. 1. Go to the control panel (Start > Settings > Control Panel), and then double-click the Network icon. 2. Select the network interface card used for the Ethernet interface you intend to use (e.g., TCP/IP Xircom Credit Card Network Adapter) and click on the “Properties” button. Depending on which version of Windows your PC is running, you may have to select the “Local Area Connection” first, and then click on the “Properties” button to bring up the Ethernet interface dialog. Then “Configure” your interface card for a “10Base-T Half-Duplex” or an “Auto-Negotiation” connection on the “Advanced” tab. NOTE: Your network interface card will likely have a different name. 3. Now select the IP Address tab, and check Specify an IP Address, or select TCP/IP and click on “Properties” to assign an IP address to your computer (this will disable “obtain an IP address automatically”): IP Address : 10.10.6.101 Netmask : 255.255.255.0 Default gateway : 10.10.6.1 4. Click or to exit the various dialog boxes. BL4S100 Board IP 10.10.6.101 Netmask 255.255.255.0 User’s PC crossover CAT 5/6 Ethernet cable Direct Connection PC to BL4S100 BL4S100 User’s Manual 98 5.2.3 Run the PINGME.C Demo Connect the crossover cable from your computer’s Ethernet port to the BL4S100’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 run- ning, the green LNK light on the BL4S100 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 MS- DOS 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 BL4S100 Ethernet jack 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. BL4S100 User’s Manual 99 ��� $��� 5.2.4 Running More Demo Programs With a Direct Connection The following sample programs are found in the SAMPLES\BL4S1xx\TCPIP folder. Figure 18 shows the signal connections for the sample programs that illustrate the use of TCP/IP. ���� &�1������2��2�� �7+&6�7+� ��� �!��"#�$�"% �&%���� ���� ���� &�1������+�2����5&6�5(( ���� ��� �!��"#�$�"% ���� �&%���� ����.’�����’1�?*7+*)��� �)’��’�! �’����(�(’ �� *’+�! �� �&%���� ��� ��� �!�"% ��� �� !� ��� �� � �� �� �� �� �� �� �� �� !� �� �� �� �� �� �� �� �� �� �� �� ��� �� ��� ��# ��� �� �� ��� ��� !�� �� � ��� !� �� ��� !� !� !� !� !�� !�� �� �� �� �� ��� ��� ��� ��� ��� ��� ��� �� �� ��� ��� ��� ��� ��� ��� ��� ��� ��� ��� ��� �� ��� ��� �� !�� ��� ��� ��� !�� ��� ��� !�� !�� !�� !��!�� !�� !�� !�� ��� !�� ��� !�� �� ��� !�� �� !�� ��� ��� !�� !�� !�� ��� !�� !�� !�� !�� �� �� !�� ��� ��� ��� !�� !�� !�� � !�� #� �� ������ � � &� ��� #� !�� � !�� !�� &� !�� !�� !�� &� !�� !�� ��� !�� ��� !�� !�� � ��� ��� ��� � ��� !�� !�� !�� ��� !�� !�� !�� !�� !�� &���� !�� ��� ��� ��� � ��� !�� !�� � ��� !�� ��� !�� !�� !�� ��� !�� !�� ��� ��� ��� !�� ��� � ��� ��� ��� ��� ��� ��� ��� � ��� !�� #� ��� !�� !�� $�������$��� ��� ��� ��� !�� ��� #� !��� ��� ��� � ��� ��� !��� ��� ��� ��� ��� ��� ��� #� #� #�� #�������� !��� $�!������$%%"� ��� ��� ��� � !�� � � ��� � $�������$��� ��� ��� � � � � ��� �� � ���� ��� ��� �� ��� � ��� � � �� ��� � � $������$������$������$������$������$������$������$�����$��� ����������������������������������������������������������������� ��� �� ��� Figure 18. TCP/IP Sample Programs Demonstration Board Connections • PINGLED.C—Demonstrates ICMP by pinging a remote host. The sample program will flash LED1 and LED2 on the Demonstration Board when a ping is sent and received. • RWEB_DIGITAL_OUTPUTS.C—Demonstrates using the digOut() function call to control the sinking digital outputs on the BL4S100 to toggle the LEDs on the Demon- stration Board on/off. Once the sample program is compiled and running, open your PC Web browser. 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 BL4S100 User’s Manual 100 ���� ��� !��� !�� ���� ��� !��� !�� ���� ���� !��� ���� ���� ���� !��� ���� ���� !��� ���� ���� !��� �������� ���� ���� !��� ���� ���� !��� �� �� �� ��� !�� !�� ��� ��� ��� ��� ��� !�� !�� ��� ��� ��� !�� !�� ��� ��� ��� ��� ��� ��� ��� !�� !�� ��� !��� ��� �� #� ��� �� ��� ��� !�� !��� !�� ��� !��!�� !�� ��� !��� !���#�#� ��� !�� !�� �� !�� !� !� !�� ��� !�� ��� !�� ��� ��� ��� !�� !�� !�� ���� !�� !�� ���� ���� ��� !�� ��� �� ��� ��� ��� ��� ��� ��� #�� � � � � � �� �� �� �� � � �� �� ��"� � � ��"� ��������� ��!����������������������� ������ ��������������������������������������������������������� ���������������������������������������������������������������� • RWEB_IO_SAMPLE.C—Demonstrates using RabbitWeb to display the status of multi- ple I/O lines (analog and digital) in a Web browser, and allows the user to change the digital outputs by clicking the buttons on the page. The sample program uses an IFRAME (invisible frame) to refresh the I/O readings every two seconds. Since the Web browser does not have to re-render the entire page, updates are quick and flicker free. Once the sample program is compiled and running, open your PC Web browser. 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 Now use a wire to touch +5 V from header J4 on the BL4S100 to the various digital and analog inputs on header J3, J15, and J16 • SMTP.C—Uses the SMTP library to send an e-mail when a pushbutton switch on the Demonstration Board is pressed. • TELNET.C—Allows you to communicate with the BL4S100 using the Telnet protocol. This program takes anything that comes in on a port and sends it out Serial Port D and displays the content in the Dynamic C STDIO window. It uses a digital input to indicate that the TCP/IP connection should be closed and a digital output to toggle an LED to indicate that there is an active connection. Once the sample program is compiled and running, start the Telnet program on your PC (Start > Run telnet 10.10.6.100). As long as you have not modified the TCPCON- FIG 1 macro in the sample program, the IP address is 10.10.6.100 as shown; otherwise use the TCP/IP settings you entered in the TCP_CONFIG.LIB library. Each character you type will be printed in Dynamic C's STDIO window, indicating that the board is receiving the characters typed via TCP/IP. BL4S100 User’s Manual 101 5.3 Where Do I Go From Here? NOTE: If you purchased your BL4S100 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. 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. BL4S100 User’s Manual 102 6. USING THE ZIGBEE FEATURES Chapter 6 discusses using the ZigBee features on the BL4S100 and the BL4S150 models. This networking feature is not avail- able on other BL4S100 models. 6.1 Introduction to the ZigBee Protocol The ZigBee PRO specification was ratified in April, 2007, and covers high-level commu- nication protocols for small, low-power digital modems based on the IEEE 802.15.4 stan- dard for wireless personal area networks (WPANs). The XBee RF module used by the BL4S100 and the BL4S150 operates in the 2.4 GHz industrial, scientific, and medical (ISM) radio band in most jurisdictions worldwide. The ZigBee protocol is ideal for embedded-system applications that are characterized by low data rates and low power consumption. A network of devices using the ZigBee proto- col works via a self-organizing mesh network that can be used for industrial control, embedded sensors, data collection, home security, and building automation. The power consumption of the individual device could be met for a year or longer using the originally installed battery. A ZigBee device can be set up in one of three ways. • As a coordinator: The coordinator serves as the root of the network tree. Each network can only have one coordinator. The coordinator stores information about the network and provides the repository for security keys. The coordinator starts a ZigBee network and then acts as a router once that network is started. • As a router. Routers pass data from other devices. • As an end device. End devices contain just enough functionality to talk to their parent node (either the coordinator or a router), and cannot relay data from other devices. BL4S100 User’s Manual 103 The XBee RF module used by the BL4S100 and the BL4S150 presently supports using them in a mesh network. BL4S100 and the BL4S150 boards are preconfigured with ZB router firmware; coordinator and end-device firmware are included in the Dynamic C installation along with a sample program to allow you to download the firmware. The firmware used with the XBee RF modules on the BL4S100 and the BL4S150 is based on the API com- mand set. Figure 19. Mesh Network An Introduction to ZigBee provides background information on the ZigBee protocol, and is available on the CD and on our Web site. 6.2 ZigBee Sample Programs In order to run the sample programs discussed in this chapter and elsewhere in this manual, 1. Dynamic C must be installed and running on your PC. 2. The programming cable must connect the programming header on the BL4S100 or the BL4S150 to your PC. 3. Power must be applied to the BL4S100/Bl4S150. ® 4. The Digi XBee USB used as the ZigBee coordinator must be connected to an avail- able USB port on your PC if you are exercising the ZigBee protocol. Refer to Chapter 2, “Getting Started,” if you need further information on these steps. NOTE: The Digi XBee USB device is an optional accessory and is not a part of the stan- dard BL4S200 Tool Kit. See section F.2 Digi® XBee USB Configuration for more information on the Digi XBee USB device. 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. Each sample program has comments that describe the purpose and function of the pro- gram. Follow the instructions at the beginning of the sample program. The sample programs in the Dynamic C SAMPLES\XBee folders illustrate the use of the ZigBee function calls. BL4S100 User’s Manual 104 ��� $��� 6.2.1 Setting Up the Digi XBee USB Coordinator ® 1. Connect the Digi XBee USB acting as a ZigBee coordinator to an available USB port on your PC or workstation. Your PC should recognize the new USB hardware. 2. Connect the Demonstration Board to the BL4S100 as shown below. ���� &�1������2��2�� ���� ��� ���� �7+&6�7+� ��� ���� ��� �!��"#�$�"% ��� ���� �&%���� ��� ��� ��# ������ �)’��’�! ’1 �� *’+�! �� ?*7+*)��� ��� ��� �� !� ��� �� � �� �� �� �� �� �� �� �� !� �� �� �� �� �� �� �� �� �� �� �� ��� �� ��� �� ��� �� �� ��� !�� ��� � ��� !� !� !� �� !� !� !�� !�� �� �� �� �� ��� ��� ��� ��� ��� ��� ��� �� �� ��� ��� ��� ��� ��� ��� ��� ��� ��� ��� ��� �� ��� ��� �� !�� ��� ��� ��� !�� ��� ��� !�� !�� !�� !��!�� !�� !�� !�� ��� !�� ��� !�� ��� �� !�� ��� �� ��� !�� !�� !�� !�� ��� !�� !�� !�� !�� �� �� ��� ��� ��� !�� !�� !�� !�� � !�� #� �� ������ � � ��� &� � #� !�� !�� !�� &� !�� !�� !�� !�� &� !�� ��� ��� !�� !�� !�� ��� ��� � � !�� !�� !�� ��� !�� ��� ��� !�� !�� !�� &���� ��� !�� ��� !�� ��� � ��� !�� !�� � ��� !�� ��� !�� !�� !�� ��� !�� !�� ��� ��� ��� ��� !�� � ��� ��� ��� ��� ��� ��� � ��� ��� #� !�� !�� !�� ��� $�������$��� ��� !�� ������ ��� #� !��� ��� ��� � ��� ��� ��� ��� ��� ��� ��� ��� !��� #� #� $�!������$%%"� #�� #�������� !��� ��� ��� ��� � � � ��� !�� $�������$��� � ��� � � � ��� ��� � �� � ���� ��� ��� �� ��� � � � ��� �� ��� � � $������$������$������$������$������$������$������$�����$��� ����������������������������������������������������������������� ��� 3. Compile and run the XBEE_GPIO_SERVER.C sample program in the Dynamic C SAMPLES\BL4S1xx\XBee folder. 4. Open the ZigBee Utility by double-clicking XBEE_GPIO_GUI.exe in the Dynamic C Utilities\XBee GPIO GUI folder — if you have problems launching the ZigBee Utility, install a .Net Framework by double-clicking dotnetfx.exe in the Dynamic C Utilities\dotnetfx folder. You may add a shortcut to the ZigBee Utility on your desktop. BL4S100 User’s Manual 105 ���� ��� !��� !�� ���� ��� !��� !�� ���� ���� !��� ���� ���� ���� !��� ���� ���� !��� ���� ���� !��� �������� ���� ���� !��� ���� ���� !��� �� �� �� !�� ��� !�� ��� ��� ��� ��� ��� !�� !�� ��� ��� !�� ��� !�� ��� ��� ��� ��� ��� ��� ��� !�� !�� ��� !��� #� ��� �� ��� �� ��� !��� !�� ��� !�� ��� !��!�� !�� ��� !��� !���#�#� ��� !�� �� !�� !�� !� !� !�� ��� !�� ��� !�� ��� ��� ��� !�� !�� !�� ���� !�� !�� ���� ���� ��� !�� ��� �� ��� ��� ��� ��� ��� ��� #�� � ?*7+*)��� �#����� � � � � �� �� �� �� �� � � �� ��"� � � ��"� ��������� ��!����������������������� ������ ��������������������������������������������������������� ���������������������������������������������������������������� 5. Confirm the following hardware setup is displayed on the “PC Settings” tab. • 115200 baud • Hardware flow control • 8 data bits • No parity • 1 stop bit ® Now select the COM port the Digi XBee USB is connected to, and click the “Open Com Port” button. The message “Radio Found” is displayed to indicate that you selected the correct COM port. The ZigBee parameters (firmware version, operating ® channel, PAN ID) for the Digi XBee USB will be displayed in the “Radio Parameters” box. Go to Control Panel > System > Hardware > Device Manager > Ports on your PC if you need help in identifying the USB COM port. 6. Any ZigBee devices discovered will be displayed in the “Devices Discovered” window to the right. If the utility times out and no ZigBee devices are displayed, you will have to reconfig- ® ure the Digi XBee USB and recompile the sample program once you make sure the BL4S100/BL4S150 is powered up. The timeout may occur if you are doing develop- ment simultaneously with more than one ZigBee coordinator. Appendix F explains the ® steps to reconfigure the Digi XBee USB. BL4S100 User’s Manual 106 7. Select a device with your mouse pointer and click on the selected device to select that device. This device will now be displayed in the “Selected Device” area. 8. You are now ready to interface with the BL4S100/BL4S150 via the ZigBee protocol. Try pinging the selected device by clicking the “Send Ping” button. 6.2.2 Setting up Sample Programs The sample programs are set up so that the BL4S100/Bl4S150 you are using is a ZigBee router, coordinator, or end device. Uncomment the line corresponding to the role the BL4S100/Bl4S150 will have once it is running the sample program. The default in the sample programs is for the BL4S100/Bl4S150 to be a router. // Set XBEE_ROLE to NODE_TYPE_COORD, NODE_TYPE_ROUTER or NODE_TYPE_ENDDEV // to match your XBee's firmware. #define XBEE_ROLE NODE_TYPE_ROUTER NOTE: Remember that the firmware loaded to the XBee RF module is different depend- ing on whether the BL4S100/BL4S150 is a router (default), an end device, or a coordi- nator. See Appendix F, “Additional Configuration Instructions,” for information on how to download firmware to the BL4S100/BL4S150 to set it up as a coordina- tor or to resume its original configuration as a router. There are several macros that may be changed to facilitate your setup. The macros can be included as part of the program code, or they may be put into the Program Options “Defines” on the “Defines” tab in the Options > Program Options menu. BL4S100 User’s Manual 107 Channel mask — defaults to 0x1FFE, i.e., all 16 possible channels via the macro in the Dynamic C LIB\Rabbit4000\XBee\XBee_Firmware\XBEE_API.LIB library. If you want to limit the channels used, all devices on your network should use the same channel mask. #define DEFAULT_CHANNELS XBEE_DEFAULT_CHANNELS Extended PAN ID — the 64-bit network ID. Defaults to DEFAULT_PANID if set in the Dynamic C LIB\Rabbit4000\XBee\XBEE_API.LIB library, otherwise defaults to ® 0x0123456789abcdef to match the default used on the Digi XBee USB. If set to 0x00, tells coordinators to “select a random extended PAN ID,” and tells routers and end devices to “join any network.” Change the extended PAN ID if you are developing simultaneously with more than one ZigBee coordinator. #define DEFAULT_EXTPANID "0x0123456789abcdef" Node ID — the ID of your particular node via the macro in the Dynamic C LIB\ Rabbit4000\XBee\XBee_Firmware\XBEE_API.LIB library. Each node should have a unique identifier. #define NODEID_STR "RabbitXBee" The XBee sample programs in the Dynamic C SAMPLES\XBee folder illustrate the use of the XBee function calls. • AT_INTERACTIVE.C—This sample program shows how to set up and use AT commands with the XBee RF module. The program will print out a list of AT commands in the Dynamic C STDIO window. You may type in either “ATxx” or just the “xx” part of the command. • Use just the AT command to read any of the values. • Use [AT]xx yyyy (where the y is an integer up to 32 bits) to set any of the “set or read” values. (Note that this works for NI, the node identifier, where the data will be a Node ID.string in quotes — [AT]NI "Node ID string” where the quotes contain the string data) • Type “menu” to redisplay the menu of commands. • Press F4 to exit and close the STDIO window. • AT_RUNONCE.C—This sample program uses many of the most important and useful AT commands. Several commands can either set a parameter or read it. This sample program simply reads the parameters and displays the results. Compile and run this sample program. The program will display the results in the Dynamic C STDIO window. BL4S100 User’s Manual 108 The XBee sample programs in the Dynamic C SAMPLES\BL4S1xx\XBee folder illustrate the use of the XBee function calls. • SLEEP.C—This sample program demonstrates having the XBee RF module wake the Rabbit up upon receipt of a packet. It also demonstrates conditional use of TCP/IP networking in low-power modes. The sample program illustrates how to respond to TCP/IP ping packets and also demon- strates pinging a remote host. It prints a message in the Dynamic C STDIO window when the ping response arrives here. Once the sample program is compiled and running, open your PC Web browser. 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 If PING_WHO is not defined, then it pings the default gateway. For this sample, the XBEE_ROLE macro must be defined as NODE_TYPE_ENDDEV since routers and coordinators cannot sleep. • XBEE_GPIO_SERVER.C—This sample program shows how to set up and use endpoints and clusters. It is meant to be run with the Windows GUI client (installed in Dynamic C’s Utilities directory) and a Digi USB XBee coordinator or with the GPIO client sample program (SAMPLES/XBEE/XBEE_GPIO_CLIENT.C) running on an RCM4510W RabbitCore module or on a single-board computer with an XBee RF module. Connect the BL4S100/BL4S150 to the Demonstration Board as explained in Section 6.2.1. Then compile and run this sample program on the BL4S100/BL4S150. Run the Windows XBEE_GPIO_GUI.exe in the Dynamic C Utilities\XBee GPIO GUI GUI client ( folder) on your PC. Configure the GUI client to connect to the Digi USB XBee coordi- nator and scan for devices. Make sure the BL4S100/BL4S150 and the Digi USB XBee coordinator are configured with the same PAN ID. XBEE_GPIO_CLIENT.C sample program on another board with an XBee If you run the RF module, set the PAN IDs to match between the client and the server sample programs. Now select the GPIO server and use the GUI interface on the PC, or the command-line client on another XBee-equipped board to view the server's inputs and change its outputs. For example, you can toggle the LEDs on the Demonstration Board on/off. • XBEE_WEB_GATEWAY.C—This sample program shows how to interact with nodes on a wireless ZigBee network through a Web interface. Before you compile and run this sample program, set up a ZigBee network based on boards with the XBee RF module. The sample program provides configuration recom- mendations for RF Interface Boards from the Mesh Network Add-On Kit and other boards. Use the X-CTU utility to configure these boards as end devices with the same PAN ID. BL4S100 User’s Manual 109 Once the sample program is compiled and running, open your PC Web browser. 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 The Web browser will display the network and the individual boards on the network. You can use the Web browser to control the boards. Note that the XB24-ZB_2x40 firmware allows you to set digital outputs on all node types, but analog and digital inputs can only be read on end devices. BL4S100 User’s Manual 110 6.3 Dynamic C Function Calls Function calls for use with the XBee RF modules are in the Dynamic C LIB\Rabbit4000\ XBee\XBEE_API.LIB library. These ZigBee specific function calls are described in An Introduction to ZigBee, which is included in the online documentation set. 6.4 Where Do I Go From Here? NOTE: If you purchased your BL4S100/BL4S150 through a distributor or through a 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 programs ran fine, you are now ready to go on. An Introduction to ZigBee provides background information on the ZigBee protocol, and is available on the CD and on our Web site. Digi’s XBee™ Series 2 OEM RF Modules provides complete information for the XBee RF module used on the BL4S100/BL4S150, provides background information on the ZigBee PRO protocol, and is available at ftp1.digi.com/support/documentation/ 90000976_a.pdf. BL4S100 User’s Manual 111 APPENDIX A. SPECIFICATIONS Appendix A provides the specifications for the BL4S100. BL4S100 User’s Manual 112 ��� $��� A.1 Electrical and Mechanical Specifications Figure A-1 shows the mechanical dimensions for the BL4S100. �2����+57 E�� B�2�D ��� �2��� �2��� ��� B�2�D B��2�D �� !� ��� �� � �� �� �� �� �� �� �� �� !� �� �� �� �� �� �� �� �� �� �� �� ��� �� ��� �� �� ��� ��� ��0���@734�*>.*1+< �� !�� � ��� �� ��� !� !� !� !� !� �� !�� !�� �� �� �2��A�B�2��CCD �� ��� ��� ��� ��� ��� ��� ��� �� �� -7<.�*+,*�’; ��� ��� ��� ��� ��� ��� 9’7)+ ��� ��� ��� ��� ��� F �� ��� ��� �� !�� ��� ��� ��� %53)’0/5. �3’11*3.’) !�� ��� !�� !�� ��� !�� !��!�� !�� !�� *>.*1+<��2��A�B�2��CCD !�� !�� ��� ��� !�� �� ��� -7<.�*+,*�’; !�� �� ��� ��� !�� !�� !�� !�� !�� ��� !�� 9’7)+ !�� !�� �� �� ��� ��� ��� !�� !�� !�� !�� � �� ��� !�� #� ��� � � ��� &� !�� � #� !�� !�� &� !�� !�� !�� !�� !�� &� ��� ��� !�� !�� !�� ��� � !�� !�� ��� ��� � ��� !�� ��� !�� !�� !�� ��� !�� !�� &� ��� ��� !�� � ��� ��� !�� !�� � ��� ��� !�� !�� !�� !�� ��� !�� !�� ��� ��� ��� ��� !�� � ��� ��� ��� ��� ��� ��� � ��� !�� ��� #� !�� ��� !�� $�������$��� !�� ������ ��� ��� #� !��� ��� ��� !��� � ��� ��� ��� ��� ��� ��� ��� ��� #� #� #�� #�������� !��� $�!������$%%"� ��� ��� ��� � !�� � � ��� $�������$��� � � ��� � � ��� � �� ��� � ���� ��� ��� �� ��� � �2��� ��� � � �2��� �� B��2�D ��� B�2�D � � $������$������$������$������$������$������$������$�����$��� ����������������������������������������������������������������� ��� �2��� �2��� B��2�D B��2�D �2�� �2�� �2�� �2�� �2�� B�2�D B�2�D B��2�D B��2�D B��2�D �2��� �2��� �2�� B�2�D B�2�D B���D �2�� B���D �2�� � � �2�� B��D � � B�2�D �2�� B���D Figure A-1. BL4S100 Dimensions NOTE: All measurements are in inches followed by millimeters enclosed in parentheses. All dimensions have a manufacturing tolerance of ±0.01" (0.25 mm). BL4S100 User’s Manual 113 ���� ��� !��� !�� ���� ��� !��� !�� ���� ���� !��� ���� ���� ���� !��� ���� ���� !��� ���� ���� !��� �������� ���� ���� !��� ���� ���� !��� �� �� �� ��� !�� !�� ��� ��� ��� ��� ��� !�� !�� ��� ��� ��� !�� !�� ��� ��� ��� ��� ��� ��� ��� !�� !�� ��� !��� ��� �� #� ��� �� ��� ��� !��� !�� !�� ��� !��!�� !�� ��� !��� !��� #� ��� #� !�� �� !�� !�� !� !� !�� ��� ��� !�� !�� ��� ��� ��� !�� !�� !�� !�� ���� !�� ���� ���� ��� !�� ��� �� ��� ��� ��� ��� ��� ��� #�� � �2�� B�2�D �2��� �2�� B�2��D B��D �2�� B��D � � � � �� �� �� � �� �� � �� ��"� � � ��"� ��������� ��!����������������������� ������ ��������������������������������������������������������� ���������������������������������������������������������������� Table A-1 lists the electrical, mechanical, and environmental specifications for the BL4S100. Table A-1. BL4S100 Specifications Feature BL4S100 BL4S110 BL4S150 BL4S160 ® Microprocessor Rabbit 4000 at 40.00 MHz Ethernet Interface 10Base-T ZigBee PRO ZigBee PRO ZigBee Interface — — (802.15.4) (802.15.4) Serial Flash Memory (program) 1MB 2MB Program Execution SRAM 512KB 1MB Data SRAM 512KB Panasonic CR2032 or equivalent 3 V lithium coin type, Backup Battery 235 mA·h standard, socket-mounted 12: protected to ±36 V DC, Digital Inputs switching threshold 1.4 V/1.9 V typical Digital Outputs 8: sink up to 200 mA each, 36 V DC max. Eight 11-bit res. channels, software-selectable ranges unipolar/differential bipolar: 1, 2, 2.5, 5, 10, 20 V DC; Analog Inputs 4 channels can be hardware-configured for 4–20 mA; 1 M input impedanceup to 4,100 samples/s 3 serial ports: • two RS-232 or one RS-232 (with CTS/RTS) Serial Ports • one serial port dedicated for programming/debug Max. asynchronous rate = 250kbps, Serial Rate Max. synchronous rate = 1 MB/s ® connector: Micro-Fit one polarized 2 × 2 with 3 mm pitch (power) 2 Screw-terminal connectors (accept up to 14 AWG/1.5 mm wire): Hardware Connectors four 1 × 9 (I/O), one 1 × 6 (serial) Programming port: 2 × 5 IDC, 1.27 mm pitch Ethernet Network Connector One RJ-45 Ethernet Real-Time Clock Yes Ten 8-bit timers (6 cascadable, 3 reserved for internal peripherals), Timers one 10-bit timer with 2 match registers Watchdog/Supervisor Yes Power 9–36 V DC, 2 W max. Operating Temperature -40°C to +85°C BL4S100 User’s Manual 114 Table A-1. BL4S100 Specifications (continued) Feature BL4S100 BL4S110 BL4S150 BL4S160 Humidity 5–95%, noncondensing 3.75" × 5.75" × 0.64" Board Size (96 mm × 146 mm × 16 mm) ZigBee RF Module ® RF Module Digi XBee Series 2 Compliance ZigBee PRO (802.15.4) A.1.1 Exclusion Zone It is recommended that you allow for an “exclusion zone” of 0.25" (6 mm) around the BL4S100 in all directions when the BL4S100 is incorporated into an assembly that includes other components. This “exclusion zone” that you keep free of other components and boards will allow for sufficient air flow, and will help to minimize any electrical or EMI interference between adjacent boards. An “exclusion zone” of 0.12" (3 mm) is rec- ommended below the BL4S100. Figure A-2 shows this “exclusion zone.” ’9,�$%��� :��� � � � � �2�� B���D �2�� �2�� B�D B�D Figure A-2. BL4S100 “Exclusion Zone” A.1.2 Headers ® The BL4S100 has a 3 mm Micro-Fit connectors at J17 for power-supply connections. There are four 1 × 9 screw-terminal headers for the various analog inputs and digital I/O. One 1 × 6 screw-terminal header handles to RS-232 signals. BL4S100 User’s Manual 115 �2�� �2�� B�D B��D �2�� B�D A.2 Jumper Configurations Figure A-3 shows the header locations used to configure the various BL4S100 options via jumpers. ��� �� �7..*): ��� ��� ��� Figure A-3. Location of BL4S100 Configurable Positions Table A-2 lists the configuration options. Table A-2. BL4S100 Jumper Configurations Factory Header Description Pins Connected Default None J1 is configured for RS-232 × Serial Communication JP1 Configuration Options 1–2 J1 is configured for RabbitNet (not stuffed) 2–3 J1 configured for 1-Wire serial J1 is configured for RS-232 or None × RabbitNet Serial Communication 1–3 J1 is configured for alternate 1-Wire J6 Configuration Options 4–6 serial pinout (not stuffed) J1 is configured for Digi 1-Wire serial 2–4 pinout BL4S100 User’s Manual 116 ���� �������� Table A-2. BL4S100 Jumper Configurations (continued) Factory Header Description Pins Connected Default None Voltage Option × A/D Converter Voltage/Current J10 1–2 AIN2 4–20 mA option Measurement Options 5–6 AIN3 4–20 mA option None Voltage Option × A/D Converter Voltage/Current J11 1–2 AIN0 4–20 mA option Measurement Options 5–6 AIN1 4–20 mA option 1–2 Inputs pulled up to +K Digital Inputs (IN0–IN11) Pull- 4–6 Inputs pulled down to GND J13 Up Options 5–6 Inputs pulled up to +5 V × The location at J1 provides a stuffing option to support an RJ-45 jack instead of the screw- terminal header at J5. This option is reserved for future use. BL4S100 User’s Manual 117 A.3 Use of Rabbit Microprocessor Parallel Ports Table A-3 lists the Rabbit microprocessor parallel ports and their use in the BL4S100 boards. Table A-3. Use of Rabbit Microprocessor Parallel Ports Port I/O Signal Initial State PA0–PA7 I/O Rabbit RIO D0–D7 Bus data line PB0 Output PB0/SCLKB Inactive high PB1 Input PB1/SCLKA Driven by U12 PB2 Output Rabbit RIO PI PB3–PB5 Output Rabbit RIO CH0–CHA2 Bus address line PB6 Output Rabbit RIO /CS PB7 Output Rabbit RIO G//B PC0 Output TXD Inactive high Serial Port D PC1 Input RXD Pulled up PC2 Output TXC (A/D converter) Inactive high Serial Port C PC3 Input RXC (A/D converter) Pulled up PC4 Output TXB (serial flash) Inactive high Serial Port B PC5 Input RXB (serial flash) Pulled up PC6 Output TXA programming port Low Serial Port A PC7 Input RXA programming port Pulled up PD0 Output RabbitNet CLK Clock signal PD1 Input XBee 1-button PD2 Output SCLKC (A/D converter) PD3 Input XBee reduce power PD4 Output Rabbit RIO GS Low PD5 Input XBee /CTS PD6 Output TXE (XBee Tx) Inactive high Serial Port E PD7 Input RXE (XBee Rx) Pulled up PE0 Output A20 Bus address line PE1 Input RIO interrupt input Pulled up PE2 Output TXF (RTS) Low Serial Port F PE3 Input RXF (CTS) Inactive high BL4S100 User’s Manual 118 Table A-3. Use of Rabbit Microprocessor Parallel Ports (continued) Port I/O Signal Initial State PE4 Output Serial Flash /CS Inactive high PE5 Output Ethernet LINK Inactive high (LED off) PE6 Output XBee /RTS Low Inactive high (LED off) PE7 Output Ethernet ACT Inactive high BUFEN Output /CS (A/D converter) CLK Output CLK to Rabbit RIO CPU clock BL4S100 User’s Manual 119 APPENDIX B. POWER SUPPLY Appendix B describes the power circuitry provided on the BL4S100. B.1 Power Supplies ® Power is supplied to the BL4S100 boards via the Micro-Fit connector at J17. The BL4S100 is protected against reverse polarity by a diode at D27 as shown in Figure B-1. #��"$���� "� �"��#$��� �$ � ��!?������ "���"��#$��� ���� ��2��� ��� #%����� ��� � ��� � � � � ��� ���� � !�� � � !�� !�� ����G? ���G/ ���G/ ���G/ #� #%���� ��� !�� ����G/ ���� #��"$���� "� �"��#$��� ��2��� �������� � � ��� � !�� ���G/ Figure B-1. BL4S100 Power Supply The input voltage range is from 9 V to 36 V. A switching power regulator is used to provide +5 V for the BL4S100 logic circuits. In turn, the regulated +5 V DC power supply is used to drive regulated +1.8 V and +3.3 V power supplies. The digital ground and the analog ground share a single split ground plane on the board, with the analog ground connected at a single point to the digital ground by a 0  resistor (R63). This is done to minimize digital noise in the analog circuits and to eliminate the possibility of ground loops. External connections to analog ground are made on a screw- terminal header at J15. BL4S100 User’s Manual 120 �� "� �� B.2 Batteries and External Battery Connections The SRAM and the real-time clock on the BL4S100 modules have battery backup. Power to the SRAM and the real-time clock (VRAM) is provided by two different sources, depending on whether the main part of the BL4S100 is powered or not. When the BL4S100 is powered normally, and the +3.3 V supply is within operating limits, the SRAM and the real-time clock are powered from the +3.3 V supply. 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 replaceable 235 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 typi- cally less than 10 µA when there is no external power applied to the BL4S100, and so the expected shelf life of the battery is 235 mA·h ----------------------- - = 2.7 years. 10 µA The actual battery life in your application will depend on the current drawn by components not on the BL4S100 and on the storage capacity of the battery. The BL4S100 does not drain the battery while it is powered up normally. B.2.1 Replacing the Backup Battery The battery is user-replaceable, and is fitted in a battery holder. To replace the battery, lift up on the spring clip and slide out the old battery. Use only a Panasonic CR2032 or equiv- alent replacement battery, and insert it into the battery holder with the + side facing up. NOTE: The SRAM contents and the real-time clock settings will be lost if the battery is replaced with no power applied to the BL4S100. Exercise care if you replace the battery while external power is applied to the BL4S100. CAUTION: There is an explosion danger if the battery is short-circuited, recharged, or replaced incorrectly. Replace the battery only with the same type or an equivalent type recommended by the battery manufacturer. Dispose of used batteries according to the battery manufacturer’s instructions. Cycle the main power off/on after you install a backup battery for the first time, and when- ever you replace the battery. This step will minimize the current drawn by the real-time clock oscillator circuit from the backup battery should the BL4S100 experience a loss of main power. Rabbit’s Technical Note TN235, External 32.768 kHz Oscillator Circuits, provides addi- tional information about the current draw by the real-time clock oscillator circuit. BL4S100 User’s Manual 121 APPENDIX C. DEMONSTRATION BOARD Appendix C explains how to use the Demonstration Board with the BL4S100 sample programs. BL4S100 User’s Manual 122 ��� $��� C.1 Connecting Demonstration Board Before running sample programs based on the Demonstration Board, you will have to con- nect the Demonstration Board from the BL4S100 Tool Kit to the BL4S100 board. Proceed as follows. 1. Use wires to connect screw-terminal header J3 on the Demonstration Board to header J4 on the BL4S100. The connections are shown in Figure C-1, with the green wire to GND and the blue wire to +V. 2. Make sure that your BL4S100 is connected to your PC via the programming cable and that the power supply is connected to the BL4S100 and plugged in as described in Chapter 2, “Getting Started.” ��� �’����(�(’ �&%���� ��� �!�"% ���� �)’��’�! �� �� *’+�! ��� ��� �� !� ��� �� � �� �� �� �� �� �� �� �� !� �� �� �� �� �� �� �� �� �� �� �� ��� �� ��� �� �� ��� ��� !�� �� � ��� !� !� !� �� ��� !� !� �� !�� !�� �� �� �� ��� ��� ��� ��� ��� ��� ��� �� �� ��� ��� ��� ��� ��� ��� ��� ��� ��� ��� ��� �� ��� �� !�� ��� ��� ��� ��� !�� ��� !�� !�� ��� !�� !��!�� !�� !�� !�� !�� ��� ��� !�� ��� �� !�� �� !�� ��� ��� !�� !�� !�� ��� !�� !�� !�� !�� �� �� ��� ��� ��� !�� !�� !�� �� !�� � !�� #� ������ � � ��� &� � #� !�� !�� !�� &� !�� !�� !�� !�� !�� &� ��� ��� !�� !�� � !�� ��� ��� � !�� !�� !�� ��� ��� ��� !�� !�� !�� ��� !�� ��� !�� &� !�� ��� ��� � ��� !�� !�� � ��� ��� !�� !�� !�� !�� ��� !�� !�� ��� ��� ��� ��� !�� � ��� ��� ��� ��� ��� ��� � ��� !�� ��� #� !�� ��� !�� $�������$��� !�� ������ ��� ��� #� !��� ��� ��� � ��� ��� ��� ��� ��� ��� ��� ��� !��� #� #� #�� #�������� $�!������$%%"� !��� ��� ��� ��� � !�� � � ��� $�������$��� � � � ��� ��� � � ��� �� � ���� ��� ��� �� ��� � ��� � � �� ��� � � $������$������$������$������$������$������$������$�����$��� ����������������������������������������������������������������� ��� Figure C-1. Power Supply Connections Between BL4S10 and Demonstration Board CAUTION: If you are using your own power supply with the Demonstration Board, note that the maximum power supply input voltage the Demonstration Board can handle is + 12 V DC. Do not use a higher power supply voltage. BL4S100 User’s Manual 123 ���� ��� !��� !�� ���� ��� !��� !�� ���� ���� !��� ���� ���� ���� !��� ���� ���� !��� ���� ���� !��� �������� ���� ���� !��� ���� ���� !��� �� �� �� ��� !�� !�� ��� ��� ��� ��� ��� !�� !�� ��� ��� ��� !�� !�� ��� ��� ��� ��� ��� ��� ��� !�� !�� ��� !��� �� ��� #� ��� �� ��� !�� ��� !�� !��� ��� !��!�� !�� ��� !��� !��� #� ��� #� !�� �� !�� !�� !� !� !�� ��� !�� ��� !�� ��� ��� ��� !�� !�� !�� !�� ���� !�� ���� ���� ��� !�� ��� �� ��� ��� ��� ��� ��� ��� #�� � � � � � �� �� �� � �� �� � �� ��"� � � ��"� ��������� ��!����������������������� ������ ��������������������������������������������������������� ���������������������������������������������������������������� C.2 Demonstration Board Features The Demonstration Board can be used to illustrate I/O activity via LEDs and pushbutton switches. C.2.1 Pinout Figure C-2 shows the pinouts for the input signals on screw-terminal header J1 and the outputs on screw-terminal header J3. �� ��� �� ��=$#� #"�� � � #"�� � � #"�� � � #"�� � � �� ��� ��8�� Figure C-2. Demonstration Board Pinout C.2.2 Configuration The pushbutton switches may be configured active high or active low via jumper settings on header JP15. ����/’���3 �� ���� �2��4� � ��� � ����/’�;�1; �� ���� �2��4� � ��� � Figure C-3. Pushbutton Switch Configuration BL4S100 User’s Manual 124 �2��2�� �+�2�� The four LED output indicators can be configured as sinking outputs or as sourcing out- puts via jumpers on headers JP1–JP4 as shown in Figure C-4. �� ���.���8 ��$�,��� ;��.$�% B51����,��- C’+*D B51���.����- C’+*D Figure C-4. LED Output Indicators Sinking or Sourcing Configuration NOTE: Disconnect power before changing any jumper settings. The power supply voltage input at +V on screw-terminal header J3 is available as +V_ALT on screw-terminal header J1. There is a potentiometer immediately above ��� the +V_ALT location to allow you to vary the voltage at +V_ALT from 0 V to +V. Figure C-5 shows the location of the adjustable output �� voltage and the potentiometer. Figure C-5. Location of Adjustable Output Voltage BL4S100 User’s Manual 125 APPENDIX D. RABBIT RIO RESOURCE ALLOCATION Appendix D provides the pin and block associations on the Rabbit RIO chip with their corresponding I/O on the BL4S100 boards. The main shared resource within the RIO chips are the counter/timer blocks — the RIO chip has eight counter/timer blocks. A given block is defined by the block number. The tables in this appendix provide a quick reference of which block is used by each input and/or output pin on the BL4S100 board. BL4S100 User’s Manual 126 D.1 Digital I/O Pin Associations Table D-1. Digital I/O Pin Associations I/O Pin Block Pin IN0 0 IN1 0 1 IN2 2 IN3 0 IN4 1 1 IN5 2 IN6 0 IN7 1 2 OUT0 2 OUT1 3 IN8 0 IN9 1 3 OUT2 2 OUT3 3 OUT4 2 4 OUT5 3 OUT6 2 5 OUT7 3 IN10 6 0 IN11 7 0 BL4S100 User’s Manual 127 D.2 Interpreting Error Codes Some BL4S100 function calls may return a Mode Conflict error code. This error code is a 4-bit value that identifies other pins using the same counter/timer block on a RIO chip that require this block to be in a mode that conflicts with the functionality that has already been requested — the additional functionality requested cannot be supported. The error code also helps you identify the other pins whose functionality needs to change to possibly allow the latest function call to succeed. The bit values in the Mode Conflict error codes have the following meanings. • Bits [7:4] don’t matter, will always be zero • Bit 3 — Pin 3 of this block has a mode conflict • Bit 2 — Pin 2 of this block has a mode conflict • Bit 1 — Pin 1 of this block has a mode conflict • Bit 0 — Pin 0 of this block has a mode conflict By looking at the table in this appendix, you can identify the other pins that share the RIO counter/timer block with the pin(s) that returned the Mode Conflict error code. For example, if you already configured IN0 and IN1 as Quadrature Decoder inputs, then try to set IN2 as a counter input, the function call will return a Mode Conflict error code of 3. This error code is a 4-bit value that identifies other pins using the same counter/timer block that conflict with the requested function. In this case, 3 is 0011, which indicates that pin 1 and pin 2 of the block used by IN2 have the conflicts — they are using the coun- ter/timer in a way that conflicts with setting IN2 as a counter input. Looking at Table D-1, you find IN2 is using block 0 on RIO chip 0, and pin 0 and pin 1 of this block are used by IN0 and IN1. Therefore you cannot use IN2 as a counter input unless you remove the Quadrature Decoder inputs from this block. This illustrates how the Mode Conflict error code can be used to identify the pin functions that cannot mix together on the same RIO block. The tables in this appendix are useful for both finding the cause of mode conflicts, and for planning which pins to use for which functions to avoid conflicts in the first place. Notice that there is a pattern to the block sharing of certain I/O pins. The first six digital input pins, IN0—IN5, have blocks shared across four inputs. These are the only pins that can support functions such as Quadrature Decoder inputs with an independent index- based reset. The next group of eight digital I/O pins (IN6–IN9 and OUT0–OUT3) share blocks among their digital I/O pairs, bringing both the input and output functionality of these pins into the same block. This allows PWM or PPM outputs that can be used with an external synchronization signal. It would also allow synchronization of a pulse capture response to a PWM-based output pulse. The last remaining I/O pins have nonshared RIO blocks available for both the input and output functionality, making these pins ideal for single-pin functions requiring a counter/timer. BL4S100 User’s Manual 128 Table D-2 shows all counter/timer modes of the RIO block and which functions can use the given modes. The use of synch signals is allowed with all the functions, but does affect the timer/counter so it may have an adverse affect on functions marked with * or #. Table D-2. RIO Counter/Timer Block Mode Summary Count Count Count Free- Count Up/Down from While Up Count Until Running Until Count Begin to Begin Is Match Timer End End Active Digital Input ××× ××× × Digital Output ××× ××× × Event Counter Input *** Event Capture Input # ** * Quad. Decoder Input * Ext. Interrupt Input ××× ××× × External Synch Input ××× ××× × PWM/PPM Output # × — I/O are compatible with the given mode, and can work with any other function using that mode. * — I/O cannot share the block with any other * or # marked function without possible conflicts. # — I/O can generally share the timer, but will be affected by settings of the limit value (value at which the timer rolls over) or resetting of the counter, either directly or through synch signals. BL4S100 User’s Manual 129 APPENDIX E. PLASTIC ENCLOSURE The plastic enclosure provides a secure way to protect your BL4S100. The enclosure itself may be mounted on any flat surface. The complete plastic enclosure consists of a base and a cover. The base alone is a convenient surface on which to mount the BL4S100, and also provides a means to mount the BL4S100 on any flat surface. The base and cover are sold together. Appendix E describes how to mount the BL4S100 inside the plastic enclosure, and provides details on mounting the assembly. BL4S100 User’s Manual 130 ��� $��� E.1 Assembly Instructions 1. Attach the BL4S100 board to the plastic enclosure base. Position the BL4S100 board over the plastic enclosure base as shown below in Figure E-1. Attach the BL4S100 to the base using the four 4-40 × ¼ screws supplied with the enclo- sure base. ��� ��� �� !� ��� �� � �� �� �� �� �� �� �� �� !� �� �� �� �� �� �� �� �� �� �� �� ��� �� ��� �� ��� �� �� ��� !�� ��� � ��� !� !� !� �� !� !� !�� !�� �� �� �� �� ��� ��� ��� ��� ��� ��� ��� �� �� ��� ��� ��� ��� ��� ��� ��� ��� ��� ��� ��� �� ��� ��� �� !�� ��� ��� ��� !�� ��� !�� !�� ��� !�� !��!�� !�� !�� !�� !�� ��� !�� ��� �� ��� !�� !�� ��� �� ��� !�� !�� !�� ��� !�� !�� �� �� !�� !�� !�� ��� ��� ��� !�� !�� � �� ������ !�� !�� #� � � ��� &� #� !�� � !�� &�!�� !�� !�� !�� &� !�� !�� ��� ��� !�� !�� !�� ��� � !�� !�� !�� ��� ��� ��� � ��� !�� &���� !�� !�� !�� ��� !�� ��� !�� � ��� ��� !�� !�� � ��� ��� !�� !�� !�� !�� ��� !�� !�� ��� ��� ��� !�� ��� � ��� ��� ��� ��� ��� ��� � ��� ��� #� !�� !�� ��� !�� $�������$��� ��� !�� ������ ��� #� !��� ��� ��� � ��� ��� ��� ��� ��� ��� ��� ��� !��� #� #� #�� #�� $�!������$%%"� ������ !��� ��� ��� ��� � � � ��� !�� $�������$��� � ��� ��� � � � � ��� �� � ���� ��� ��� �� ��� � ��� � � �� ��� � � $������$������$������$������$������$������$������$�����$��� ����������������������������������������������������������������� ��� Figure E-1. Attach BL4S100 to Plastic Enclosure Base 2. Mount plastic enclosure (optional). Use two #10 screws to attach the plastic enclosure at the two outer side mounting holes to the surface on which it will be mounted. BL4S100 User’s Manual 131 ���� ��� !��� ���� ��� !��� !�� !�� ���� ���� !��� ���� ���� ���� !��� ���� ���� !��� ���� ���� �������� !��� ���� ���� !��� ���� ���� !��� �� �� �� ��� !�� !�� ��� ��� ��� ��� ��� !�� !�� ��� ��� ��� !�� !�� ��� ��� ��� ��� ��� ��� ��� !�� !�� ��� !��� ��� �� #� ��� �� ��� !�� ��� !�� !��� ��� !��!�� !�� ��� !��� !��� #� ��� #� !�� �� !�� !�� !� !� !�� ��� ��� !�� !�� ��� ��� ��� !�� !�� !�� !�� ���� !�� ���� ���� ��� !�� ��� �� ��� ��� ��� ��� ��� ��� #�� � � � � � �� �� �� � �� �� �� � ��"� � � ��"� ��������� ��!����������������������� ������ ��������������������������������������������������������� ���������������������������������������������������������������� ��� $��� 3. Attach the enclosure cover to the base. Position the cover over the plastic enclosure base as shown below in Figure E-2. Attach the cover to the base using the four 4-40 × ½ screws supplied. ��� ��� �� !� ��� �� � �� �� �� �� �� �� �� �� !� �� �� �� �� �� �� �� �� �� �� �� ��� �� ��� �� �� ��� ��� !�� �� � ��� ��� !� !� !� �� !� !� !�� !�� �� �� �� �� ��� ��� ��� ��� ��� ������ �� �� ��� ��� ��� ��� ��� ��� ��� ��� ��� ��� ��� �� ��� ��� �� !�� ��� ��� ���!�� ��� !�� !�� ��� !�� !��!�� !�� !�� !�� !�� ��� !�� ��� �� ��� !�� ��� �� ��� !�� !�� !�� !�� ��� !�� !�� �� �� !�� !�� ��� ��� ��� !�� �� !�� !�� !�� � !�� #� ������ � � ��� &� #� !�� !��� !�� !�� &� !�� !�� !�� &� !�� !�� ��� ��� !�� !�� ��� � !�� !�� ��� ��� � ��� !�� !�� !�� ��� !�� &���� !�� ��� !�� ��� !�� ��� � � ��� ��� !�� !�� ��� !�� !�� ��� !�� !�� !�� !�� ��� ��� ��� ��� !�� ��� � ��� ��� ��� ��� ��� � ��� ��� #� !�� ��� !�� !�� $�������$��� !�� ������ ��� ��� !��� #� ��� ��� � ��� ��� ��� ��� ��� ��� ��� ��� !��� #� #� #�� #�������� !��� $�!������$%%"� ��� ��� ��� � � � ��� !�� $�������$��� � � ��� ��� � �� � � ��� � ���� ��� ��� �� ��� � ��� � � �� ��� � � $������$������$������$������$������$������$������$�����$��� ����������������������������������������������������������������� ��� Figure E-2. Attach Enclosure Top BL4S100 User’s Manual 132 ���� ��� !��� !�� ���� ��� !��� !�� ���� ���� !��� ���� ���� ���� !��� ���� ���� !��� ���� ���� !��� �������� ���� ���� !��� ���� ���� !��� �� �� �� ��� !�� !�� ��� ��� ��� ��� ��� !�� !�� ��� ��� !�� ��� !�� ��� ��� ��� ��� ��� ��� ��� !�� !�� ��� !��� �� #� ��� ��� �� ��� ��� !��� !�� !�� ��� !��!�� !�� ��� !��� !��� #� ��� #� !�� �� !�� !�� !� !� !�� ��� �� ��� ! !�� ��� ��� ��� !�� !�� !�� !�� ���� !�� ���� ���� ��� ! �� ��� �� ��� ��� ��� ��� ��� ��� #�� � � � � � �� �� �� �� � � �� �� ��"� � � ��"� ��������� ��!����������������������� ������ ��������������������������������������������������������� ���������������������������������������������������������������� E.2 Dimensions Figure E-3 shows the dimensions for the plastic enclosure. �2��� B��2�D �2��� B���D �2��� B��2�D �2��� B���D Figure E-3. Plastic Enclosure Dimensions When fully assembled, the total height of the plastic enclosure will be 1.5" (38 mm). NOTE: All measurements are in inches followed by millimeters enclosed in parentheses. All dimensions have a manufacturing tolerance of ±0.01" (0.25 mm). BL4S100 User’s Manual 133 �2��� B��D �2��� B���D APPENDIX F. ADDITIONAL CONFIGURATION INSTRUCTIONS Appendix F provides information on how to find the latest firm- ® ware for the XBee RF module and the Digi XBee USB used as the ZigBee coordinator, and how to install the firmware. F.1 XBee Module Firmware Downloads By default, the BL4S100/BL4S150 is shipped from the factory with firmware to operate as a router in a mesh network. You will need to run the MODEMFWLOAD.C sample program in the Dynamic C SAMPLES\XBEE folder to download the firmware needed to operate the BL4S100/BL4S150 as a coordinator or as an end device. NOTE: You can verify the firmware version by running the AT_INTERACTIVE.C sam- ple program in the Dynamic C SAMPLES\XBEE folder and by entering the command ATVR to get the version number displayed in the Dynamic C STDIO window. CAUTION: Different firmware versions are likely to interact with the Dynamic C librar- ies in different ways. Rabbit has tested the firmware associated with a particular version of Dynamic C for correct operation, and only this version is included on the Dynamic C CD-ROM — do not use any other firmware versions with that version of Dynamic C. Once you have successfully loaded the firmware, compile and run another sample program to make sure the MODEMFWLOAD.C sample program does not inadvertently reload (or partially reload) the firmware. If you are uploading firmware because you upgraded to a more recent Dynamic C release, remember to recompile your applications using the new version of Dynamic C once you have uploaded the new firmware. F.1.1 Dynamic C v. 10.44 and Later Encrypted libraries have been created within Dynamic C for the firmware. The three libraries are in the LIB\Rabbit4000\XBee\XBee_Firmware\ZigBee folder. • A Dynamic C library of the type XB24-ZB_21….LIB is used for a coordinator BL4S100/BL4S150. • A Dynamic C library of the type XB24-ZB_23….LIB is used for a router BL4S100/ BL4S150. • A Dynamic C library of the type XB24-ZB_29….LIB is used for an end-device BL4S100/BL4S150. BL4S100 User’s Manual 134 Make the following modifications to the MODEMFWLOAD.C sample program.before you run it according to whether you will be using the BL4S100/BL4S150 as a coordinator, a router, or an end device. • Select the XBee role macro according to whether the BL4S100/BL4S150 is being used as a coordinator, a router or an end-device. #define XBEE_ROLE NODE_TYPE_COORD #define XBEE_ROLE NODE_TYPE_ROUTER #define XBEE_ROLE NODE_TYPE_ENDDEV • Some Rabbit boards use the ZNet 2.5 protocol. The BL4S100/BL42150 use the ZB protocol. Make sure the #define statement calls for the ZB protocol. #define XBEE_PROTOCOL XBEE_PROTOCOL_ZB ® F.2 Digi XBee USB Configuration The Digi XBee USB device is an optional accessory and is available as a part of the Mesh Networking Add on Kit (101-1272), or for separate purchase (101-1286). It is not a part of the standard BL4S200 Tool Kit. ® You may experience difficulty when you use the ZigBee sample programs and the Digi XBee USB with the default settings if you are working simultaneously with more than one ZigBee coordinator. Section 6.2.2 explains how to set up the BL4S100/BL4S150 configuration patterns for the sample programs via macros in the Dynamic C LIB\Rabbit4000\XBee\XBEE_API.LIB library folder. Channel mask — defaults to 0x1FFE, i.e., all 16 possible channels via the macro in the Dynamic C LIB\Rabbit4000\XBee\XBEE_API.LIB library. #define DEFAULT_CHANNELS ZB_DEFAULT_CHANNELS For example, to limit the channels to three channels, the macro would read as follows. #define DEFAULT_CHANNELS 0x000E Extended PAN ID — the 64-bit network ID. Defaults to DEFAULT_PANID if set in the Dynamic C LIB\Rabbit4000\XBee\XBEE_API.LIB library, otherwise defaults to ® 0x0123456789abcdef to match the default used on the Digi XBee USB. If set to 0x00, tells coordinators to “select a random extended PAN ID,” and tells routers and end devices to “join any network.” Change the extended PAN ID if you are developing simultaneously with more than one ZigBee coordinator. #define DEFAULT_EXTPANID "0x0123456789abcdef" ® The same configurations must then be applied to the Digi XBee USB via Digi’s X-CTU utility. If you have not previously used this utility, install it from the Dynamic C Utilities\X-CTU folder by double-clicking Setup_x-ctu.exe, BL4S100 User’s Manual 135 ® Continue the following steps with the Digi XBee USB connected to your PC’s USB port. Since the ZigBee Utility XBEE_GPIO_GUI.exe will conflict with X-CTU, first close the ZigBee Utility if it is running. 1. Start X-CTU from the desktop icon and set the “PC Settings” tab to 115200 baud, HARDWARE flow control, 8 data bits, parity NONE, 1 stop bit. 2. On the “PC Settings” tab, check the “Enable API” box under “Host Setup.” 3. On the “PC Settings” tab, select the “USB Serial Port” corresponding to the USB serial ® port the Digi XBee USB is connected to and click “Test/Query.” You should see a response showing the Modem Type (XB 24-B) and the firmware version. Click OK. Note that several USB serial ports could be listed. If you select a serial port without the ® Digi XBee USB connected, the X-CTU response to “Test/Query.” will be “communi- cation with modem … OK,” but the modem type will be unknown, and the firmware version will be blank. If you a get a message that X-CTU is unable to open the COM port, verify that you ® selected the COM port with the “USB Serial Port,” then try unplugging the Digi XBee USB from the USB slot and plugging it back in. Now click “Test/Query” again. 4. Under the “Modem Configuration” tab click the “Read” button. X-CTU will now display ® the networking and I/O parameters for the Digi XBee USB being used as the ZigBee coordinator. Modem: XBEE XB24-ZB Function Set: ZIGBEE COORDINATOR API (do not select other settings) Version: the version of the firmware included with the version of Dynamic C you are using (should be of the type 21…) 5. Now set the networking parameters in your project defines or in the sample program to match the parameters in the Dynamic C LIB\Rabbit4000\XBee\XBEE_API.LIB library. Networking (D) CH - Operating Channel — this is the operating channel you could see when you ran the AT_INTERACTIVE.C sample program in the Dynamic C SAMPLES\XBEE folder by enter- ing the command ATCH . This channel information cannot be changed from the X-CTU utility. (0123456789ABCDEF) ID - Extended Pan ID — set the new extended PAN ID that follows 0x to match the DEFAULT_EXTPANID macro. (1FFE) SC - Scan Channels - set the new value for the channels to scan, E, for example, to match the new setting in the macro. #define DEFAULT_CHANNELS 0x000E 6. Finish by clicking the “Write” button. F.2.1 Additional Reference Information Check Digi’s Web site for the latest information and documentation on the XBee Series 2 ® module, the X-CTU utility, and the Digi XBee USB. Note that the XBee™ and the XBee BL4S100 User’s Manual 136 PRO™ RF modules are presently not compatible with the XBee Series 2 module used with the BL4S100/BL4S150, but the general documentation about ZigBee and the use of AT commands for the XBee™ and the XBee PRO™ RF modules is relevant. BL4S100 User’s Manual 137 ® F.2.2 Update Digi XBee USB Firmware ® The firmware version used by the Digi XBee USB must correspond to the firmware version installed on the BL4S100/BL4S150. If you have updated the BL4S100/BL4S150 firm- ® ware (or you have a need to re-install the firmware on the Digi XBee USB), the corre- ® sponding firmware for the Digi XBee USB is in the Dynamic C Utilities\X-CTU\ MODEMFW folder. • Remember to record the extended PAN ID, NI, and other parameters you are using. ® • Firmware of the type XB24-ZB_21….zip is used for the Digi XBee USB coordinator. CAUTION: Different firmware versions are likely to interact with the Dynamic C libraries in different ways. Rabbit has tested the firmware associated with a particular version of Dynamic C for correct operation, and only this version is included on the Dynamic C CD-ROM — do not use any other firmware versions with that version of Dynamic C. 1. Start X-CTU from the desktop icon and set the “PC Settings” tab to 115200 baud, HARDWARE flow control, 8 data bits, parity NONE, 1 stop bit. 2. On the “PC Settings” tab, check the “Enable API” box under “Host Setup.” 3. On the “PC Settings” tab, select the “USB Serial Port” and click “Test/Query.” You should see a response showing the Modem Type (XB 24-B) and the firmware version. Click OK. Note that several USB serial ports could be listed. If you select a serial port without the ® Digi XBee USB connected, the X-CTU response to “Test/Query.” will be “communi- cation with modem … OK,” but the modem type will be unknown, and the firmware version will be blank. If you a get a message that X-CTU is unable to open the COM port, verify that you ® selected the COM port with the “USB Serial Port,” then try unplugging the Digi XBee USB from the USB slot and plugging it back in. Now click “Test/Query” again. 4. Under the “Modem Configuration” tab click the “Read” button. X-CTU will now dis- ® play the networking and I/O parameters for the Digi XBee USB. Modem: XBEE XB24-ZB Function Set: ZIGBEE COORDINATOR API (do not select other settings) Version: the version of the firmware included with the version of Dynamic C you are using 5. Under the “Modem Configuration” tab click the “Download new versions…” button, select “File,” and browse to the Utilities\X-CTU\MODEMFW subfolder, then click “Open” when you have selected the firmware. (Do not select “Web,” which will allow you to find the file on a Web site.) Remember to select firmware of the type XB24-ZB_ 21….zip that is used for a coordinator. The X-CTU utility will display an Update Summary box. Click “OK,” and then click “Done.” 6. Click the “Read” button, select XB24-B as the Modem type; select ZIGBEE COORDI- NATOR API as the Function Set, and 21… as the Version, then click “Write.” 7. When the process is complete set the PANID, NI, and other parameters to the values you were using before the firmware was upgraded. BL4S100 User’s Manual 138 INDEX output voltage .............. 125 interrupts setup .................. 21 A pushbutton switches .... 124 pullup/pulldown configuration A/D converter ....................... 27 hookup instructions ......... 123 19 buffered inputs .................. 27 maximum power-supply volt- Quadrature Decoder setup 21 calibration .........................29 age ............................... 123 switching threshold ........... 20 calibration constants ......... 28 pinout .............................. 124 digital outputs ....................... 22 function calls power supply connections 123 counter/timer associations 23 anaIn() ...........................83 Digi® XBee USB (ZigBee coor- PWM/PPM setup ........ 23, 24 anaInCalib() ..................81 dinator) sinking or sourcing ........... 22 anaInConfig() ................80 configuration ................... 135 dimensions anaInDiff() ....................87 uploading new firmware . 138 BL4S100 main board ...... 113 anaInDriver() ................. 92 digital I/O plastic enclosure .............. 133 anaInmAmps() ..............89 function calls Dynamic C .................. 7, 33, 34 anaInRdCalib() .............. 90 digIn() ...........................49 add-on modules ........... 13, 35 anaInVolts() ..................85 digInBank() ...................50 installation ..................... 13 analog inputs See A/D converter digOut() ......................... 63 basic instructions .............. 33 digOutBank() ................64 battery-backed SRAM ......94 B getBegin() ...............21, 57 debugging features ............ 34 getCounter() ..................57 installation ......................... 13 battery backup getEnd() ................... 21, 58 libraries battery life ....................... 121 getMatch() ..................... 74 BL4S12xx.LIB .............. 47 use of battery-backed SRAM globalSync() ..................61 protected variables ............ 94 94 pulseDisable() ...............72 Rabbit Embedded Security battery connections ............. 121 pulseEnable() ................72 Pack ..........................7, 35 board initialization resetCounter() .........21, 58 standard features function calls ..................... 48 setCapture() ............. 21, 55 debugging ...................... 34 brdInit() .........................48 setCounter() ............. 21, 53 starting ..............................14 C setDecoder() ............21, 52 telephone-based technical sup- setDigIn() ......................49 port ............................ 7, 35 CE compliance ........................ 8 setDigOut() ...................62 upgrades and patches ........ 35 design guidelines ................. 9 setDuty() .......................70 clock doubler ........................ 31 E setExtInterrupt() ......21, 51 configuration setFreq() ........................69 error codes BL4S100 setLimit() ....................... 59 Mode Conflict .................128 digital I/O ...................... 19 setOffset() .....................71 Ethernet cables ...................... 95 Digi® XBee USB (ZigBee co- setPPM() .................24, 67 Ethernet connections ....... 95, 96 ordinator) ....................135 setPWM() ................ 24, 65 steps ..................................95 connections setSyncIn() ....................60 Ethernet port ......................... 26 Ethernet cable ................... 96 setSyncOut() .................73 pinout ................................26 pin associations ............... 127 D exclusion zone .................... 115 digital inputs Demonstration Board ...... 6, 122 capture setup ..................... 21 F configuration options ...... 124 counter setup ..................... 21 features .................................... 4 LED outputs ................ 125 counter/timer associations . 20 BL4S100 User’s Manual 139 firmware download BL4S100 .............................5 Run Mode ............................. 30 Digi® XBee USB ........... 138 BL4S110 .............................5 S firmware updates ......... 138 BL4S150 .............................5 XBee module .................. 134 BL4S160 .............................5 sample programs ........... 36, 104 coordinator vs. end device/ A/D converter O router ........................135 AD_CALDIFF_CH.C ... 29 firmware updates . 134, 138 options ....................................7 AD_RD_SE_UNIPO- flash memory addresses Mesh Network Add-On Kit 7 LAR.C ........................ 46 user blocks ........................ 32 plastic enclsure .................... 7 ADC_AVERAGING_SE_ UNIPOLAR.C ............ 45 I P ADC_CAL_DIFF.C ...... 45 installation ADC_CAL_MA.C ........ 45 pin associations plastic enclosure .............. 131 ADC_CAL_SE_UNIPO- digital I/O ........................ 127 interrupt handlers LAR.C ........................ 45 pinout function calls ADC_RD_CALDATA.C .. BL4S100 headers .............. 18 addISR() ........................75 46 Demonstration Board ...... 124 addISROut() ..................76 ADC_RD_DIFF.C ........46 Ethernet port ..................... 26 enableISR() ...................78 ADC_RD_MA.C ..........46 plastic enclosure ................. 130 setIER() .........................77 digital I/O assembly instructions ...... 131 tickISR() ........................ 78 DIGIN_BANK.C ..........37 dimensions ......................133 IP addresses DIGIN.C ........ 37, 100, 101 mounting instructions ..... 131 how to set .......................... 97 DIGOUT_BANK.C ......38 setup how to set PC IP address ... 98 DIGOUT.C .................... 38 attach BL4S100 to enclo- INTERRUPTS.C ........... 39 sure base ................... 131 J PPM_QUADRATURE_ attaching top ................ 132 DECODER.C .............42 jumper configurations ......... 116 power management ............. 120 PPM.C ..................... 23, 39 J10 (A/D converter voltage/ power supply ....................... 120 PULSE_CAPTURE_IRQ.C current measurement op- battery backup ................. 121 40 tions) ...........................117 connections .......................11 PULSE_CAPTURE.C ..39 J11 (A/D converter voltage/ switching voltage regulator ... PWM.C ...................23, 40 current measurement op- 120 QUADRATURE_DECOD- tions) ...........................117 Program Mode ...................... 30 ER.C ........................... 41 J13 (digital input IN0–IN11 programming how to set IP address ........ 97 pullup/pulldown configura- programming cable ............. 6 PONG.C ............................ 14 tion) ............................. 117 programming port ............. 25 real-time clock J6 (serial communication op- programming cable ................. 6 RTC_TEST.C ................ 46 tions) ...........................116 connections .......................11 SETRTCKB.C ..............46 JP1 (serial communication op- PROG connector ............... 30 save/retrieve calibration con- tions) ...........................116 programming port ................. 25 stants ................. 16, 29, 45 jumper locations .............. 116 PWM/PPM outputs ............... 23 serial communication K R COMPUTER_PARITY.C . 43 K ...........................................22 Rabbit microprocessor COMPUTER3WIRE.C . 44 parallel ports ................... 118 COMPUTER5WIRE.C . 44 M tamper detection ................ 32 PARITY.C ....................43 VBAT RAM memory ....... 32 SIMPLE3WIRE.C ........43 memory .................................32 real-time clock SIMPLE5WIRE.C ........43 flash memory configurations how to set .......................... 46 TCP/IP ........................46, 97 32 reset PINGME.C .................... 99 SRAM configuration for dif- hardware ............................ 12 USERBLOCK_READ_ ferent sizes .................... 32 RIO pin/block associations WRITE.C .......... 16, 29, 45 Mode Conflict digital I/O ........................ 127 XBee module error codes ....................... 128 RS-232 ..................................25 AT_INTERACTIVE.C 15, models ..................................... 5 BL4S100 User’s Manual 140 108, 134, 136 Tool Kit ................................... 6 AT_RUNONCE.C ......108 AC adapter .......................... 6 MODEMFWLOAD.C 134, DC power supply ................ 6 135 Demonstration Board .......... 6 SLEEP.C .....................109 Dynamic C software ........... 6 XBEE_GPIO_SERVER.C programming cable ............. 6 105, 109 software ............................... 6 XBEE_WEB_GATE- User’s Manual ..................... 6 WAY.C ..................... 109 U ZigBee ............................... 46 ZigBee setup ................... 104 user block serial communication ............ 25 function calls function calls readUserBlock() ............32 serMode() ......................79 writeUserBlock() ........... 32 programming port ............. 25 save/retrieve calibration con- RS-232 description ........... 25 stants .................16, 29, 45 serial ports Ethernet port ..................... 26 V setup ......................................11 VBAT RAM memory ........... 32 power supply connections . 11 software ................................... 7 X libraries .............................47 BL4S100 .......................47 XBee module BL4S1xx.LIB ................ 47 additional resources ........ 111 PACKET.LIB ................ 79 firmware download ......... 134 RS232.LIB ....................79 Z TCP/IP ........................... 47 ZigBee ...........................47 ZigBee protocol Mode Conflict coordinator ......................103 error codes ................... 128 end device ....................... 103 RIO pin/block assocations introduction ..................... 103 127 mesh network .................. 104 sample programs ............... 36 router ............................... 103 PONG.C ........................ 14 specifications BL4S100 dimensions ..................113 electrical ......................114 exclusion zone ............. 115 headers ........................115 temperature .................. 114 plastic enclosure dimensions ..................133 spectrum spreader settings ..............................31 subsystems ............................17 T tamper detection .................... 32 TCP/IP connections ........ 95, 96 10Base-T Ethernet card .... 95 additional resources ........ 102 Ethernet hub ...................... 95 steps ..................................95 BL4S100 User’s Manual 141 SCHEMATICS 090-0265 BL4S100 Schematic www.rabbit.com/documentation/schemat/090-0265.pdf 090-0252 USB Programming Cable Schematic www.rabbit.com/documentation/schemat/090-0252.pdf 090-0272 Rabbit Demonstration Board www.rabbit.com/documentation/schemat/090-0272.pdf You may use the URL information provided above to access the latest schematics directly. 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