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RPC-400 USER`S MANUAL REV 1

1. Compiler Compiling takes the following command line form gcc c g O fname c The compiler has a few command lines to consider Refer to the Using GNU CC manual for more information c Compile or assemble but do not link Since all examp les use the linker this switch is necessary g Produce debugging information Needed with gdb Produces line number info with S option O Optimize code by tying to reduce code size and execution time Additional options 0 2 perform different optimization Refer to manual for more info S Stop do not assemble Output is in assem bly and goes to a file with a S extension This is useful if you want to see what the CPU is doing Use with the g option to get line numbers in the assembly code The GNU CC manual is for a number of different types of CPU s References to other type should be ignored Just pay attention to Hitachi SH 1 Generally it does not have a lot of options Page 16 3 SECTION 16 Linker The linker LD can operate using a com mand file CMD extension or command line Command file is The com mand line is good for short programs and for the MAKE program good for linking a number of files The command line format is used primarily in the CMO NA400 directory Look at a command file all of them are RPC400 CMD to view the general structure It consists of an output format input files and memory structure All RPC400 CMD files are similar Dif
2. PWM x use COM 1 for main output while analog input AINx use COMO COM lI initialization routine is in 4001IO C in the 40010 subdirectory COMO initialization is the same except for the addresses Interrupt routines are contained in the entire program This includes the interrupt vector table and enable routines Print routines such as getchx putchx putsx and printfx are either in 400IO C or PRIN TFx C files These routines are in the 400IO A library called by all of the other programs The x after the function name i e putchx refers to the port number Other serial port routines are COMMO Read control C TS RTS lines for COMO and COMI COMMO2 Interrupt driven terminal program with error handling for COM 0 and COMI Drivers in 4001O C library are not used but are in this program COMM21 Basic terminal program for COM 2 and COM 3 COMM22 Interrupt driven example for COM2 and COM3 Note that routines in 4001O C library are not used COMM23 Interrupt driven RS 485 Page 4 4 SECTION 4 SERIAL PORTS SERIAL CONNECTOR PIN OUTS Table 4 1 COM 0 connector pin out is as follows Pin Name Direction from card 3 Tx Out 4 RTS In 5 RXD In 6 CTS Out 9 Ground 10 5V A VTC 9F serial cable for COMO is made by simply taking a 10 pin female IDC connector and crimping a 9 wire ribbon cable to it The crimp a 9 position female D SUB connector to the other end of the cable Wiring is one to one Table 4 2 CO
3. T T T 1 I e so sit lt P hs eu che arid T l T T T T T qo ie cull d aG be p b b Ell Y2 L ADBUSY L IG3 L CY3 BY3 L AD DONE Where IG2 Counter 2 gate for pwm CY2 Counter 2 carry BY2 Counter 2 borrow ADBUSY Status of A D conversion only IG3 Counter3 gate for pwm CY3 Counter 3 carry BY3 Counter 3 borrow AD DONE A D converter U9 is done If a bit is high then that line caused the interrupt ADBU SY is the A D status only It will not generate an interrupt AD DONE does that RW2 Starts conversion to 12 16 bit A D Set all bits to 0 for future compatibility RR3 Read lower 8 data bits of 12 16 bit A D conversion Do not read this data while a conversion is in process RW3 Select analog channel Refer to Chapter 10 ANALOG INPUT for more information RR4 Read upper 4 8 data bits of 12 16 bit A D conversion RW4 Set A D gain start conversion See Chapter 10 ANALOG INPUT for more inform ation Page 13 3 COUNTING TIMING RR5 Read lower 8 bits of lot code RWS Reset and start counter 2 pulse width measur ements Writing a 0x60 resets pwm Writing a 0x90 enables pwm RR6 Reads IRQ status for counters 0 amp 1 The MSB of the lot code This register is read along with RR2 to determ ine the source of an interrupt Table 13 6 Counter IRQ status Bit 7 6 5 4 3 2 1 0 F T 1 i olathe satire do He T T T
4. counter line carry borrow or gate goes low momentarily RWI Table 13 4 Counter 3 IRQ enable counting mode Bitt 7 6 5 4 3 2 1 0 l Ed l L PWM3 0 L PWM3 1 La PWM3 2 Where BW3EN Borrow counter 3 U48 Y axis Enables interrupt when borrow line goes low CY3EN Carry counter 3 U48 Y axis Enables interrupt when carry line goes low G3EN Gate counter 3 U48 Y axis used for pwm PWM3EN Enable pwm counter 2 U48 Y axis PWM3 pwm mode bit 3 PWM2 pwm mode bit 2 PWMI pwm mode bit 1 PWMO0 pwm mode bit 0 Bits 6 and 7 enable an interrupt when counter 3 s carry or borrow bit goes low Pulses from the carry and borrow lines can be short enough the C PU can miss them The carry and borrow signals are latched when the respective line goes low Bit 5 enables an interrupt in the pwm counting modes Bit 4 enables pwm counting Bits 0 3 define the pwm counting mode All bits are 0 upon power up or push button reset RRI Clears all counter 3 IRQ latches caused by a carry SECTION 13 borrow and or gate by reading this port No meaningful data is returned Register RW 1 is not affected by a read A latch is set to 1 if enabled in RW 0 and the appropriate line carry borrow or gate goes low momentarily RR2 Table 13 5 Read counter 2 and 3 IRQ status Bit P uen SBS o4 63 2s 0
5. view variables If your program gets lost GDB is not very good about recovering from errors One note about using GDB and HINT in a network environment using Microsoft Windows 95 Ona slow machine 25 Mhz 486 downloading took a normal amount of time When the same code was downloaded on a 80 Mhz machine downloading took considerably longer When the 80 Mhz machine operated in DOS mode downloading took the normal amount of time GDB DEBUGGER QUICK GUIDE The GDB debugger manual is included in the development system This section shows you how to use the debugger with the demonstration programs Starting GDB The general form is invoked at the DOS prompt gdb x program gsc GDB must be in the GNU BIN directory and your path must point to it The gsc file is in ASCII text It specifies start up parameters such as PC COM port and program to use and load It replaces you having to type in all of the parameters to get going Make sure you edit the gsc files for the proper COM port on your PC Default in these demo files is COM I If you are using COM2 the programs will not work Batch files in the demo programs that use the debugger invoke it when called The following are a list of directories and demo programs that use the GDB debugger Other command line options are displayed by typing at Page 17 1 SECTION 17 the DOS prompt gdb help Running and debugging programs using GDB If you use one of the batch fil
6. 1 SECTION 11 EXTERNAL INTERRUPTS INTRODUCTION The RPC 400 has five interrupts available between J12 and J13 These are NMI IRQ4 IRQ5 IRQ6 and IRQ7 IRQ7 goes to J12 and J13 The restare exclusive to J13 All pins are TTL level compatible On power up the IRQ pins are programmed as inputs To use them as interrupts you must modify PCF PBCRI This register is described in the SH7032 hardware manual starting on page 444 The demonstration program in directory IRQ6 shows the initialization sequence and operation of IRQ 6 INTERRUPT RESPONSE TIME The program IRQ6 C in the IRQ6 subdirectory can indicate how long it takes to respond to an interrupt As written it is about 3 micro seconds from the time the interrupt is created to the time it 1s cleared Table 12 1 Connector pin out J13 Pin Description Interrupt type or alternate function 1 PB15 IRQ7 2 PAIS IRQ3 3 PB14 IRQ6 4 PB13 IRQS 5 PB12 IRQ4 6 NMI NMI 7 Ground 8 PB7 Timing clock 9 PB6 Timing clock 10 Ground 11 PBS Timing capture 12 PB4 Timing capture 13 Ground 14 PB3 Timing capture 15 Ground 16 PB2 Timing capture 17 Ground 18 PBI Timing capture 19 Watchdog overflow 20 PBO Timing capture See SH7032 hardware manual sections Pin Function Controller and Parallel I O Ports for program ming information Page 12 1 SECTION 12 COUNTING TIMING INTRODUCTION There are a variety of counter timing capabilities on the RPC 400 Four
7. 3 Connector Pin Out J6 2 Verifying Software Installation 3 JIS GPIO i 44 eae eee ES EN Ste 3 Changing Batch Files 3 Port BVO esd 22594 bI bis 3 OPERATING THE RPC 400 3 J2 J4 OPERATOR INTERFACE 4 RUNNING DEMO PROGRAMS 4 Table 6 3 Connector pin out J2 4 WHERE TO GO FROM HERE 5 Table 6 4 Connector pin out J4 4 JI ANALOG INPUT AS DIGITAL IN 5 SAVING PROGRAMS SECTION 3 MEMORY MAP DIGITAL lO 5 CHANGING EPROM SIZE 1 SAVING A PROGRAM 1 CALENDAR CLOCK SECTION 7 AUTORUNS ens ioo sr tee us hehe tone teeta 2 INSTALLATION 1 Problems 2 245 0 2m 2 enh eB 2 SETTING AND READING THE CLOCK 1 FLASH DEMO PROGRAM 2 Operation e sa 444 eee Ss 8TBNGU A RA 1 MEMORY MAP FLASH EPROM 2 12 24 Hour Mode 1 ACCESS TIMES odes sede Bleue A Sans 2 Module Control llle 1 Zero Bits est 2s ee yala s ilseigs 1 SERIAL PORTS SECTION 4 Yeat 2000 ei oe ste oe EU eye ee ely 1 COMOAND COMI 1 BATTERY BACKED RAM 1 Description 00 1 Initialization lens 1 DISPLAY PORT SECTION 8 RTS and CTS Lines sls 1 COM2 AND COM3 2 KEYPAD PORT SECTION 9 Description 2 cs Rom ms 2 KEYPAD PORT PINOUT J5 1 COM3 RTS Logic 2 Interrupt Driven
8. 800 the converter effectively becomes a 10 bit A D Averaging 8 readings removes most errors due to noise in 12 Bit systems Averaging 32 to 64 times in 16 bit systems helps a lot also We have found averaging much more than this does not really reduce random noise errors Be careful of 60 or 50 hz power line noise getting induced by lights or other sources This becomes apparent when amplifying low level signals Page 10 4 ANALOG INPUT Settling time when switching channels and or changing gain also has to be considered If you know the level between two channels is about the same within 2 and gain does not change then you could be safe in converting immediately Another factor affecting settling time is the signal source output impedance A low output impedance gt IK ohm is ideal Many bridge circuits used in pressure and weighing are lower than this If you measure before the signal has settled at the A D you risk getting bad data A general overall rule of thumb is to wait 35 micro seconds after changing channels and gain before converting The input circuit has 1 Meg Ohm resistance to ground before it goes into a multiplexer If you are operating in differential mode this resistance may be an important factor Resistors are generally well matched But differences of 0 1 can reduce common mode rejection significantly There are other factors which affect readings These are input offset voltages of the gain ampl
9. CH3 are channel to convert per table below Channel SE D iff No to write 0 SE 0x00 1 SE 0x01 2 SE 0x02 3 SE 0x03 4 SE 0x04 5 SE 0x05 6 SE 0x06 7 SE 0x07 8 SE 0x08 9 SE 0x09 10 SE 0x0a 11 SE 0x0b 12 SE 0x0c 13 SE 0x0d 14 SE 0x0e 15 SE Ox0f 0 8 Diff 0x10 1 9 Diff 0x11 2 10 Diff 0x12 3 11 Diff 0x13 4 12 Diff 0x14 5 13 Diff 0x15 6 14 Diff 0x16 7 14 Diff 0x17 SECTION 10 When the SE Diff bit 0 single ended mode is selected 1 differential mode Channels are switched dynamically You could assign channel 0 and 8 as a differential input and have channels 2 4 as single ended Setting bit 7 high enables A D interrupts while a 0 does not enable them Set this bit high before starting a conversion Differential Mode Relatively positive inputs go to channels 0 7 while the more negative are on channels 8 15 The converter should be operated in bipolar mode in most applications When the difference is negative the most significant bit of the A D conversion is set Differential inputs are fed through U4 and U5 see schematic page 1 Measured Common Mode Rejection Ratio CMRR on a prototype board was at least 85 dB at 120 Hz and 78dB at 400 Hz at X800 gain For 12 bit systems this means that there could be about 16 counts of error induced by CMRR at the maximum gain of X800 In 16 bit systems noise could be closer to 256 counts of error or change from average maximum to minimum You will see these kinds of er
10. COM M02 COM M22 and COM M23 directories Logic for COM3 RTS is reversed Read next paragraph COM 3 RTS Logic Logic for COM3 RTS output is reversed from COM2 and normal PC operation This was done because this line controls the RS 485 transmitter The logic is such that on power up the 485 transmitter is off The RS 232 RTS output line on COM3 will be high signaling OK to transmit to another device Interrupt Driven COM2 and COM3 Two sample routines COM M22 C and COMM 23 C operate COM 2 and COM 3 in interrupt mode The Page 4 2 SECTION 4 major difference is COMM23 C operates the RS 485 serial port Buffer sizes were arbitrarily chosen at 256 bytes It could be increased to any size The buffers are circular Read the notes in the files for more explanation There is plenty of processing power to operate all serial ports COMO COM3 in interrupt driven mode at maximum baud rate Using the sample COMM 22 C program as a bench mark interrupt service time is about 12 micro seconds Assuming a character is also received 24 X 4 ports overhead 100 micro seconds per character At the maximum baud rate of 57600 not available on COMO and COMI there is still over 70 micro seconds available for other processing including interrupts ISOLATED COM3 SERIAL PORT The CO MG serial port is an optically isolated RS 232 or RS 422 485 serial port voltage less than 100 V circuits when the board is Isolation is adequate f
11. COM2 and COM3 2 LED Activity stesa en Qle te Bea Bee us 2 Configuring Isolated RS 232 3 Configuring Isolated RS 422 485 3 Wiring for RS 485 3 Using RS 485 cetus 3 SERIAL DEMO PROGRAMS 4 SERIAL CONNECTOR PIN OUTS 5 COM2 3 ADDRESS AND INTERRUPTS 5 Page ii TABLE OF CONTENTS ANALOG INPUTS SECTION 10 12 16 BIT A D CONVERTER 1 Input Ranges 00 1 Programming Gain Bipolar Unipolar 1 Differential Mode 2 Shield Driver 0 3 Settling Time a s swore ea eg S BUE 3 Starting a Conversion 3 Polled Mod 3 soe ee wees 3 Interrupt Mode 3 Reading Results 0 3 Conversion Accuracy and Sources of Error 4 Calibration soss e059 4 8 ee we on SURE 5 10 BIT A D CONVERTER 6 Reference Input 6 Converting Inputs 6 SCALING MEASUREMENTS 6 Measuring 4 20 mA current loops 7 DEMO PROGRAMS 7 Table 10 3 connector Pin out Jl 7 MEMORY MAP A D 7 WATCHDOG TIMER SECTION 11 EXTERNAL INTERRUPTS SECTION 12 INTERRUPT RESPONSE TIME 1 COUNTING TIMING SECTION 13 P7 AND P8 OVERVIEW 1 Definitions llle 1 High voltage input 1 Quadrature filter 0 1 CONTROL REGISTERS 2 COUNTER INTE
12. EPROMI and RAMI directories EPROMI transfers data from RAM to flash a character by character basis Integers and other numbers are read from or written to ina similar manner RAM 1 stores all data types to RAM View the results using the monitor Location Type Function U22 U23 Program storage U25 U26 Fast RAM Program execution 000 0000 000 FFFF 2000000 207 FFFF U24 Data and clock SECTION 5 INSTALLING RAM Data RAM U24 Socket U24 holds 32K 128K or 512K RAM Set jumper W8 to the 128K position for 32K or 128K RAMs and to the 512K position for 512K To install RAM orient the chip so pin 1 is near the outside edge of the board If you are installing a calendar clock module or battery backup module install this into socket U24 first W hen installing 128K or 512K RAMs simply insert the RAM into the socket 32K RAM s are installed by leaving pins 1 2 31 and 32 open in the socket Orient the RAM so pin 14 goes into socket pin 16 The top rows are open W6 Program RAM and BIOS EPROM size EN p pet oe Ts gt LP Jo 3 W8 data RAM size U24 Data RAM Figure 5 1 Memory Address Memory Access Max range Area Width size 0 8 64K 2 8 512K 208 0000 20F FFFF 2 8 512K 900 0000 90F FFFF 1 16 1M U21 CPU RAM General purpose FFF E000 FFF FFFF 7 32 K FEE Table 5 1 Mem
13. IN OUT 0x80 OUT OUT OUT OUT 0x9B IN IN IN IN 0x81 OUT OUT OUT IN 0x82 OUT IN OUT OUT Port A and B are either all inputs or all outputs Each 0x83 OUT IN OUT IN half of Port C is programmable Upper C UC is bits 4 0x88 OUT OUT IN OUT through 7 and Lower C LC is bits 0 7 0x89 OUT OUT IN IN 0x8A OUT IN IN OUT J13 GPIO 0x8B OUT IN IN IN 0x90 IN OUT OUT OUT J13 is a general purpose I O port It is made up of 0x91 IN OUT OUT IN multi function lines programmable as timers interrupts Page 6 4 DIGITAL AND I O PORTS and bit programmable I O Refer to schematic page 3 for a wiring diagram of this port Table 12 1 isa connector pin out and general alternate function Your system requirements determine the function of the lines This section discusses using some or all lines for simple I O functions Refer to the interrupt and counter sections of this manual for other uses Port B UO Primary CPU registers affecting port B functions are PFC PBIOR PFC PBCRI PFC PBCR2 and PBDR PFC PBIOR determines which lines are inputs and outputs PFC PBCR 1 and PFC PBCR2 determine the function of a line such as interrupt timing pattern I O See SH7032 hardware manual sections Pin Function Controller and Parallel I O Ports for more information or other as described in the hardware manual On power up the BIOS programs port B as follows PBO PB7 are outputs PB8 PB11 is serial communications PB12 PB15 are inputs Three regis
14. Should the receiver signal hold off the program must wait further until CTS goes back high Page 4 1 SERIAL PORTS There are several complicated schemes where this software CT S RTS line monitoring problem can be solved but they are complicated The next best solution is to have the receiver send an XO FF XON character to control flow CTS RTS lines must be read or set by software The program COMM1 C in directory COMM 1 shows how these lines are read and manipulated COM2 AND COM3 Description COM 2 and COM3 use a 8250 software compatible serial interface chip This is the same type of UART used in PC s Capabilities include CTS and RTS control signals program mable character lengths 5 8 and even odd or no parity Baud rates are programmable from 50 to 115 2K Each port may generate an interrupt on a transmit or receive Programming infor mation about this chip is in Appendix A COM 3 is optically isolated while COM2 is not ports have PC compatible DB 9 male connectors Both Pin out for these connectors are listed at the end of this section Initialization The CM ON bios does not check to see if the COM2 and COM 3 serial chip U43 is installed This chip must be initialized as must the CPU interrupt ports Initialization routines and basic drivers putchx putsx getchx are in 400IO C in the 400IO directory These routines are for polled mode only For interrupt driven serial routines look in the
15. command is terminated with a lt cr character Figure 4 2 Data packet The response depends upon the nature of the command Suppose the command M means return the belt speed and 1 is the belt number The RPC 400 could read the port and respond with A2 34 cr The first A is an acknowledge that is no errors were detected in the message The data 2 34 can mean feet per unit of time minute or second A 2 wire network can have multiple hosts This peer to peer network can be a bit more complicated The problem is avoiding or resolving conflicts when two peers speak at the same time 2 wire protocols can be master slave the same as 4 wire A slow but reliable peer to peer network is to use round r obin communication Suppose on power up unit 1 sends out a message All the other units recognize to whom the message is intended If the receiver is off line nothing is returned Unit 1 can t send another message until it is spoken to or its turn isup After a period of time unit 2 has permission to use the line In a similar manner as unit 1 it sends out a message and waits for a response If unit 2 is off line unit 3 will speak after unit 2 s time out is complete Additional messages can be generated to speed things up For example one is to tell the next unit in line I have nothing you go ahead SERIAL DEMO PROGRAMS COM 0 and COM 1 demo programs are peppered in all of the sub directories All of the counter programs
16. converter The most effective way to get rid of noise is to average it out Every doubling of samples decreases noise by 1 over the square root of two Averaging 64 readings reduces noise contributed by the A D chip by about 1 10 Fortunately this also works to reduce noise contributed by the MU Xes amplifier and board layout When sampling at gains gt X100 take more samples then average them At X800 gain 1000 samples gives reasonably consistent 6 counts results Our testing shows that noise is reasonably distributed across 5 counts for both 12 and 16 bit systems Calibration The 16 bit and to a lesser extent 12 bit converters can be calibrated Calibration can be used to tweak a system for a particular gain or even channel Systems with a Page 10 5 SECTION 10 ANALOG INPUT 16 bit converter have circuitry to fine tune the converter Both have an adjustment to zero out the offset voltage from the gain amplifiers You will need a volt meter at least as accurate as you intend the system to be For 12 bit systems this is 0 024 and 16 bit it is0 0015 Zeroing is done without a voltmeter First remove power to the board Put a wire jumper from the channel of interest to a ground point Power up and run ain3 c program Set sampling for 1000 times channel of interest 128 bipolar gain to 1 Adjust R11 for a reading of 8000 under Norm or Avg R3 most effective when the gain is higher Press a key to
17. describes the interrupt vector table The program STARTS sets the vector base to 0x9002000 Memory from 0x9002000 to 0x90023FF is used for vectors and reserve area by the CPU In order to use interrupts and save and load programs a version of this file must be included Many directories have a version of vects c The directories that do are a focused example that uses a specific interrupt s You can combine interrupts from different examples into your program simply by adding it to the table See vects c in the user directory for an example It contains a large number of interrupts Compile vects c using gcc in your program directory as follows gcc c g vects c Include this file in the linker command RPC 400 C MD 40010 LIBRARY Programs in the 400IO library and directory have general purpose serial initialization get put and print routines Many demonstration programs include this library as a matter of course However including it does increase program size You may wish to extract routines of interest and make up your own library LINKING PROGRAMS Programs are linked differently depending upon the debugging method The fastest and easiest way to link files is through a command file Com mand files in the example directories have a CMD extension The first line or two in the command file determine the output format To output a linked file in a format for the debugger gdb the first line should be OUT PUT rpc
18. else Page 16 1 SECTION 16 Lengths of data types The GNU compiler uses different num ber of bytes depending upon the data type The following table shows the number for each type Type Bytes char short int long float double long ob PRN WRITING YOUR OWN PROGRAMS There are specific files that you probably will have to have in order to make your own program The term probably is used because there are always exceptions Review the following isa list of files Some are mandatory and others are optional as stated File Description vects o This is the interrupt vector table Ata minimum the starting address and stack are here Used by bios to auto run Source code is vects c Mandatory start o This changes the vector base from 0 to 0x9002000 Used for interrupts routines Source code is start s Mandatory with interrupts inlines o Sets the interrupt mask Use when enabling interrupts Source code is inlines s Optional Of course you will need to provide your own program A good way to start is to use one of the examples as a basis then build upon it Programs were designed to show how to do something and to prove a particular feature works They were not designed to be compact If your program gets long you may want to break it up If you have several programs you can either include them as shown in the RPC400 CMD file or make up a library PROGRAMMING NOTES Modifying VECTS C VECTS C
19. other General warnings and precautions WARNING Apply power to the RPC 400 before applying a voltage to the digital I O lines to prevent current from flowing in and powering the board damaging devices If you cannot apply power to the RPC 400 first contact technical support for suggestions appropriate to your application When lines are configured for outputs at any of the 82C55 ports J2 4 and 6 outputs go low until set high Low lines turn on opto modules and potentially other devices One solution is to set the output lines immediately after configuring them Depending upon how you have written your program lines can be low for less than a micro second This low time can be enough to cause problems with some devices Power opto modules are generally not affected Page 6 1 SECTION 6 J J13 GPIO 15 D LLL I Eris cH a oe nm E v Hoo J L L LT E T m math L al H Figure 6 1 Digital I O J6 DIGITAL I O It is used to interface opto modules using MPS series racks This port is considered the main digital I O port drive small relays solenoids motors or lamps and provide general purpose TTL I O to other logic devices or mechanical switches J6 is shown on schematic page 5 Its address is 0x6000000 through 0x6000006 See the program in the DIO directory for an access
20. registers Page 17 2 SECTION 17 DEBUGGING PROGRAMS Command display y display array n x Oxnnnn x 3w Oxnnnn x 4b Oxnnnn set count 5 set Oxnnnn xxx clear info break watch count del 3 info program help continue quit Description Display current value of global variable y Display current value of global array array at element n Examine memory starting at address Oxnnnn Display 3 words of memory at address Oxnnnn Display 4 bytes of memory at address Oxnnnn Set C source code variable count to 5 Set address Oxnnnn in memory to XXX Delete all break points Prints table of all break points and watch points Set watchpoint count When count changes program stops execution Delete breakpoint watchpoint Display information about status of program Display help items Start resume program execution at address where program last stopped Exit gdb Page 17 3 SECTION 17 SECTION 17 DEBUGGING PROGRAMS DEBUGGING WITH HINT HINT is the Hitachi terminal program Using this program allows you to use the CMON monitor commands The main disadvantage to using HINT is you cannot debug using your C source code easily The advantage is if you frequently use the reset button getting restarted is a lot quicker You will need to use HINT to save your program to flash EPROM to autorun it HINT is invoked using the following syntax hint comi If your
21. to 0x6000186 The schematic for J2 and J4 is on page 4 If you use only a few of the lines on either port as inputs be sure to tie any unused inputs to ground or 5V Failure to do so could cause the board to draw excess current and may damage the 82C55 device Unused ports may be configured for output in the initialization section of your code Table 6 3 and 6 4 show the pin outs for J2 and J4 The STB 20 brings out lines from J4 to a terminal strip for easy access Table 6 3 Connector pin out J2 Pin Function ROW 1 82C55 port C bit 0 COL 3 82C55 port C bit 6 COL 2 82C55 port C bit 5 ROW 2 82C55 port C bit 1 ROW 3 82C55 port C bit 2 COL 1 82C55 port C bit 4 COL 4 82C55 port C bit 7 ROW 4 82C55 port C bit 3 COL 5 82C55 port B bit 0 0 COL 6 82C55 port B bit 1 OMAN DN d t F2 Note that two lines from 82C55 port B go to this connector There is a 10K pull up resistor to 5V on ROWI through ROW 4 only All other lines are open Table 6 4 Connector pin out J4 Pin Function Page 6 5 DIGITAL AND I O PORTS SECTION 6 1 5V supply 2 Ground 3 82C55 port A bit 4 4 LCD contrast bias 5 82C55 port A bit 6 6 82C55 port A bit 5 7 82C55 port B bit 7 8 82C55 port B bit 3 9 82C55 port B bit 2 10 82C55 port A bit 7 11 82C55 port A bit 1 12 82C55 port A bit 0 13 82C55 port A bit 3 14 82C55 port A bit 2 15 82C55 port B bit 4 16 82C55 port B bit 6 17 82C55 port B bit 5
22. version of RS 232 The transmitter and receivers are always on To use P6 as a RS 422 simply set RTS3 line high See program comm23 c for code and comments Set jumper W 11 1 2 and W12 1 2 The terminator at W13 should be set to reduce ringing and noise Wiring for RS 485 Four wire systems simply connect corresponding TX and RX lines Unfortunately not all systems are marked the same so you may have to play around with signal wires The GND line at the 485 connector is for the cable shield This line goes through a 100 ohm resistor to an internal floating ground Using RS 485 RS 485 is used in a multi drop networked environment The authors of this standard do not specify a protocol RS 485 is only a hardware specification 32 units over a 4 000 foot range can be connected together There are several questions users have when using RS 485 Two of the most popular are W hat baud rate should I use or what is the maximum and the second is about the protocol The maximum baud rate depends upon the environment all of the boards will operate in If you are installing a network or can specify cable type make sure it is one for RS 485 This cable has low capacitance twisted signal wires inside a shield Belden type 9842 or 9844 is a good starting point for cables Critical characteristics are twisted pair with shield 100 ohm impedance cable and low capacitance Capacitance is not critical when distance is sh
23. you to connect switches or other TTL type devices to the digital I O lines The MP S XX series boards accept G4 series modules module connect to a screw terminal on the racks A CM A 26 24 connects J6 on the RPC 400 to the MPS XX board Cable length should be less than 2 feet Excessive cable lengths cause a voltage drop and consequently unreliable operation This is because the 28 gauge wire in the ribbon cable has sufficiently high resistance Make sure you connect 5 V and ground to the MPS XX racks Before a line is set the 82C55 chip must be initialized Refer to Table 6 2 for initialization param eters Refer to Table 6 1 for Opto module position port number and connector pin out If opto channels 16 23 are used U 49 should be replaced by a DIP shunt jumper Interfacing to switches and other devices Switches and other digital VO devices may be connected DIGITAL AND I O PORTS directly to J6 The STB 26 terminal board provides a convenient way of interfacing switches or other digital I O devices Lines at J6 are connected to the STB 26 with a CMA 26 cable Digital devices are then connected to the screw terminals on the STB 26 Refer to Table 6 1 for J6 connector pin out description The MP S XX series opto racks also provide a way to access digital I O lines Switches may be connected directly to a line When jumper W10 configures the resistors as pull ups a switch closure to ground at a line is read as a 0 When run
24. 18 To P5 ADJ pin 19 To P5 PWR pin 20 Ground There are no pull up resistors on J4 All lines are open Page 6 6 DIGITAL AND I O PORTS J1 ANALOG INPUT AS DIGITAL IN Jl is a 10 bit 8 channel A D converter The converter is an integral part of the CPU The technique here is to simply perform A D conversions and read the result Results above 0x300 are a logic 1 while those below 0x100 are a logic 0 Use this input for higher voltage gt 5V inputs A series resistor is necessary to scale down the voltage The principle remains the same as reading T TL lines Refer to section 10 for information using J1 MEMORY MAP DIGITAL I O The following are addressees used to access the various digital ports Refer to the demonstration disk for driver examples Port Address Function J6 0x6000000 82C55 port A J6 0x6000002 82C55 port B J6 0x6000004 82C55 port C J6 0x6000006 82C55 configuration register J4 0x6000180 Display 82C55 port A J4 0x6000182 Display amp keypad 82C55 port B J2 0x6000184 Keypad 82C55 port C J2 J4 0x6000186 82C55 configuration register J13 OxSFFFFC2 CPU port B data PBDR J13 OxSFFFFC6 CPU port B I O PBDR J13 OxSFFFFCC CPU port B configuration PBCRI J13 OxSFFFFCE CPU port B configuration PBCR2 Page 6 7 SECTION 6 CALENDAR CLOCK INTRODUCTION An optional DS1216DM or DS1216D512 calendar clock module may be installed in U24 These modules also battery back RAM The DS1216DM bac
25. 400 x The command OUT PUT must be in all caps To output a linked file in a format for HINT the first two lines should be OUTPUT rpc400 sr OUTPUT FORMAT srec Page 16 2 SECTION 16 A complete link file for the GDB debugger is found in the PWMI directory A link command file for HINT and output in S record format may be found in the GRAPHI directory Other directories have different outputs Make sure you review the command file to determine which one is used The batch file will also indicate how the command file is formatted If the program HINT COM 1 is called out then the output is in S record format If GDB is called out then the output is ina X format Other programs and libraries may be linked in to modularize programming Some files such as vects o are included in the link as the program includes interrupts Libraries libc a and libgcc a will frequently need to be included Pay attention to the order files are linked Libraries are linked last while individual files are linked first The rpc400 a library is linked before the general libraries STRINGS AND STRING HANDLING A number of string handling routines are provided in the GNU support and math libraries Unfortunately some of these libraries do not work or greatly increase the size of the program We have provided some work arrounds These functions are in the 400IO library Generally the floating point conversions do not work well or at
26. C GNU BIN directory If they are then check your DOS path by typing in SET One of the paths should point to RPC GNU BIN You will have to modify your AUT OEX EC BAT file to do this Changing Batch Files Batch files are used to edit compile link and run the debugger program GDB or terminal program HIN T The files assume you will be using DOS EDIT to make program changes There is a good chance you will want to use your own editor so make changes to the batch Page 2 3 SECTION 2 SETUP AND OPERATION OPERATING THE RPC 400 This part will power up the RPC 400 get a sign on message and run the demonstration program Become familiar with the locations of connectors before getting started See figure 2 1 Jumpers are set at the factory to operate the system immediately For first time installation do not install any connectors or parts until specified below 1 Connect power The RPC 400 needs 5 and 15 volts as described above under Power Supply The development kit includes a power supply which should not be plugged in to the AC outlet at this time Connect the wires from the power supply connector to the board as follows PS connector P1 designator wire color Red 5V Black GND Orange 15 White 15 Connect the cable from the power supply to the power supply connector just attached to the board Don t plug in the power supply to an AC outlet just yet If your power supply happens to have a
27. DB receives the SIGTRAP error you must reset GDB and reload the program While in GDB enter the following at each gdb prompt DEBUGGING PROGRAMS target remote coml If your serial port is COM2 use that Then enter load file x Where your file is the one you are debugging If you don t remember the name of the file type run GDB will prompt you to start the program then return an error saying it can t However the file it was trying to run is displayed After you have loaded the file use continue or stepi to start execution The command stepi shows you the lines it will execute Simply pressing Enter on the PC repeats the last command GDB COMMAND LINE REFERENCE Many frequently used GD B commands are given below for your reference All commands are entered after the gdb pro mpt Comm and Description target remote COMI Informs GDB it is communicating with the card list main Display C source code starting at main You can list starting at any function Enter Repeat last command or show additional lines list nn Display C source code starting at line 65 list Continue displaying C source code lines info line nn Display start and end addresses for C code at line nn disassemble Oxnnnnn Disassembles code starting at address Oxnnnn break 90 Break at C source code line 90 break Oxnnnnn Break at address Oxnnnnn set pc Oxnnnnn Set program counter to address Oxnnnn reg Display all CPU
28. EPROM directory Once a working program is properly saved to flash it will auto run by removing jumper W 16 The IC in socket U23 is a 5 volt only Flash Program mable and Erasable Read Only Memory PEROM Any sector can typically be written to 10 000 times or more A software locking mechanism prevents accidental modifications Programs and data can be written over 10 000 times This is over twice a day for 10 years SECTION 3 Auto run jumper W16 h i i Ltt E Thad oF n A Lc IL LI 8 LJ J E J W7 Flash size Flash EPROM socket Figure 3 1 Saving Programs CHANGING EPROM SIZE The RP C 400 normally comes with a 32K or 512K flash EPROM The size may be changed at any time Set W7 according to the type size If you have been using the GDB debugger you will have to make minor changes to the link command file The changes make the output from the linker into an S format Make sure the line OUTPUT_FORMAT fname sr is in your CMD Type Size WT Bytes Configuration 29C256 32K 4 6 29C010 128K 3 5 2 4 29C040 512K 1 3 2 4 To change the EPROM in U23 remove the IC and replace it with the new one When installing a 29C256 pin 1 on the IC goes into socket pin 3 The top two rows of pins are empty SAVING A PROGRAM Perform the following steps to save the start up program to flash This program is automatically
29. ER CONSIDERATIONS The RPC 400 operates with a wide range of analog input voltages These voltages are shared with analog inputs and RS 232 output They are marked as 15 and 15 on P1 Specifications call for 12 to 16 volts However analog outputs may not work properly if certain minimums are not supplied The current loop or D A output at 0 10V require a minimum of 13 volts to realize the fullrange The development system power supply may not deliver this voltage Current loop power designated as CLP on P1 should be a minimum of 13V if the load is 10V Consideration must be made for cable length also If you are not using current outputs and your D A output is not 0 10V then you can supply 12V or less power The negative analog supply is essentially not a factor so long as it supplies at least 8V INSTALLING A CHANNEL A MAX 508 or AD7248 converter P N 1554 is used as the D A An AD 694 converts voltage to current A current loop kit is available as P N 1678 The table below shows the corresponding IC s to channel Channel D A Current Voltage Current VOO CLO U11 U12 vol CLI U13 U14 VO2 CL2 U15 U16 VO3 CL3 U17 U18 SECTION 14 Current loop outputs require both IC s Voltage only outputs require only the corresponding D A chip Before installing a chip ground yourself and the board and make sure power is removed Align pin 1 on the chip to pin 1 on the socket Pin 1 on the IC is marked with a do
30. EW DESCRIPTION The RPC 400 is a RISC based embedded controller is programmable in both assembly and C Notable It features include e Highspeed multimode counters for quadrature encoder pulse train and pulse width measurement Twenty four analog inputs 8 channels 10 bit on all RPC 400 configurations 12 or 16 bit 16 channels with software programmable gains from X1 to X800 Differential single ended inputs with unipolar and bipolar ranges Four RS 232 serial ports one of which is isolated and configurable for RS 422 485 LCD character and graphic display and keypad port for operator interface e Digital I O lines A total of 69 program mable for input output or timing 24 connect directly to an opto rack 8 are high current output Watchdog timer resets card if program crashes e 32K 128K or 512K RAM battery backable to save process variables and other data when power is off Up to 512K flash EPROM to save programs and data e Load and run a program on power up or reset Programmable in C C or assembly The RPC 400 uses a Hitachi SH 1 RISC processor operating at 19 66 Mhz Typical CPU instruction executes in 53 nS including 32 bit multiply and divide Its 6 00 x 10 0 size with 5 mounting holes make it easy to securely mount in a NEMA box Compactness is enhanced by on board terminal strips C programming language is included in this development system It is derived fr
31. MI COM3 RS 232 pin out is as follows D SUB Name Direction Pin from card 2 Rx In 3 TX Out 5 Ground 7 RTS Out 8 CTS In Pin out from the 9 pin male D SUBs matches those on a PC Use a null modem adapter when connecting between a PC and COMI 3 COM2 3 ADDRESS AND INTERRUPTS Port Base IRQ Address COM2 0x6000080 1 COM3 0x6000100 2 See Appendix A for detailed U43 UART programming information IRQ 1 and 2 are CPU interrupts Page 4 5 MEMORY INTRODUCTION There are several different mem ory types and areas Their types functions and address locations are shown in Table 5 1 below The application program is stored in a 5 volt only Flash Program mable and Erasable Read Only Memory PEROM in socket U23 See SECTION 3 SAVING PROGRAMS for saving information Socket U24 holds 32K 128K or 512K of RAM Optionally a clock calendar with battery backup may be installed in this socket see SECTION 7 for installation information Memory in this socket is intended to hold data although programs could run from it at greatly reduced speed Sockets U25 and U26 use 128K byte high speed RAMs for program execution These sockets are organized as 128K X 16 for a total of 256K bytes Sockets U25 and U26 can be configured for 512K X 8 high speed RAMs through jumper W6 This option was not available at the time this manual was printed Contact Remote Processing for an update ACCESSING RAM Review the sample program in
32. MING NOTES INTRODUCTION This section deals with several small programming issues that individually do not warrant an entire section INITIALIZATION A number of devices are not initialized by the BIOS at reset Some of these can cause the board to draw excess current and potentially unreliable operation The sections below describe what to do if you are NOT using a particular function Operator interface J2 J4 If you are not using the display and or keypad then set unused lines to outputs This is done by writing a value of 128 to the 82C55 configuration register at address 0x600186 If you are using only some of the lines for inputs be sure to tie unused lines to ground COMO COM 0 is initialized by the BIOS when auto run is not enabled Setup this portif you intend on using this port for your application CPU A number of CPU registers are not altered on push button reset This list is extensive The programmer should either extensively review the program and verify the status of CPU registers on reset and power up and cycle power to the board to ensure best program reliability Using C examples The C examples are provided to show how a feature or function works You can use these programs and put them in your own Be careful of modifications however Some things were done in a particular way because it got it working The C language is such that you may think it is doing one thing but it is actually doing something
33. RPC 400 USER S MANUAL Copyright 1997 98 Remote Processing Cor poration All rights reserved However any part of this document may be reproduced with Remote Processing cited as the source The contents of this manual and the specifications her ein may change without notice TRADEMARKS Hitachi is a registered trademark of Hitachi America Ltd PC SmartLINK is a trademark of Octagon Systems Corporation GNU is a copyright of Free Software Foundation Inc Remote Processing Corporation 7975 E Harvard Ave Denver Co 80231 USA Tel 303 690 1588 Fax 303 690 1875 internet www rp3 com Page i REV 1 NOTICE TO USER The infor mation contained in this manual is believed to be correct However Remote Processing assumes no responsibility for any of the circuits described herein conveys no license under any patent or other right and make no representations that the circuits are free from patent infringement Remote Processing makes no representation or warranty that such applications will be suitable for the use specified without further testing or modification The user must make the final determination as to fitness for a particular use Remote Processing Corporation s general policy does not recommend the use of its products in life support applications where the failure or malfunction of a component may directly threaten life or injury It is a Condition of Sale that the user of Remote Processing pro
34. RRUPTS 4 COUNTING MEASUREMENT MODES 5 pwm Modes 00 4 5 pwm Operation 6 COUNTER DEMO PROGRAMS 6 ANALOG OUTPUT SECTION 14 POWER CONSIDERATIONS 1 INSTALLING A CHANNEL 1 Voltage Output llle 1 Response Time i ope ee EG 1 Output NOISe x soto ak A ste 2 CURRENT LOOP 2 Response Time 0 2 EXPANSION BUS SECTION 15 PROGRAMMING NOTES SECTION 16 INITIALIZATION 1 Operator interface J2 J4 1 COMO norte eue Ee O eR 1 Using C examples 0 1 Lengths of datatypes 1 WRITING YOUR OWN PROGRAMS 1 Modifying VECTS C 2 40010 LIBRARY lee 2 LINKING PROGRAMS 2 STRINGS AND STRINGHANDLING 2 USING GNU COMPILER A SHORT GUIDE 2 Using comments 3 TAM KOR Ace de 2 dero ee ecce oed ae te e ng en 3 FLOATING POINT sees 3 DEBUGGING PROGRAMS SECTION 17 GDB DEBUGGER QUICK GUIDE 1 Starting GDB ep ea ehete gladek ae D e 1 Running and debugging programs using GDB oue Rees e RUE Re ug 1 Program crashes 1 GDB COMMAND LINE REFERENCE 2 DEBUGGING WITH HINT 3 TECHNICAL INFORMATION SECTION 18 System Memory and I O Map 3 COM2 amp COM3 UART INFO APPENDIX A LS7266 data sheet APPENDIX B Schematics Page iii OVERVI
35. T T T T T J l L Lot bit 8 L Lot bit 9 b Lot bit 10 LL lot bit 11 B s 0E ek IRQCO P l IROBO il IRQC1 L IRQB1 Where IRQCO Counter 0 carry interrupt Setif carry signal on U53 X counter went low IRQBO Counter 0 borrow interrupt Set if borrow signal on U53 X counter went low IRQCI Counter 1 carry interrupt Setif carry signal on U53 Y counter went low IRQBI Counter 0 borrow interrupt Set if borrow signal on U53 Y counter went low Lot bits 8 11 are the most significant nibble of the lot number The lot number can be used to ID a board RW6 Reset and start counter 3 pulse width measurements Writing a 0x60 resets pwm Writing a 0x90 enables pwm RR9 Clear counter 0 IRQ latches A read to this register clears carry and borrow IRQ No meaningful data is returned SECTION 13 RW9 Table 13 7 Enable counter 0 and 1 IRQ s Bit 4 d dud 8 2 X 00 T T T 1 E dp ites Te vio dr se es L T T l T T T T T OL Dg p crom d L som L CY1EN L BY1EN M 0 l 0 L 0 L 0 Where CYOEN Carry counter 0 U53 X axis BYOEN Borrow counter 0 U53 X axis CYIEN Carry counter 1 U53 Y axis BY1EN Borrow counter 1 U53 Y axis When a bit is set to 1 the interrupt for that line is enabled when it goes low Bits 4 7 are not used However they should be set to 0 in case of fu
36. all These are the string to floating point or floating pint to string converters such as atof or gvcvt The printf0 program in the 400IO directory shows how to convert numbers to ASCII printables Some conversion programs are sprinkled about in several demo programs such as the LCD440 directory A 1toa converts a long to a string while 1tod converts a number to a decimal portion with leading 0 s such as 035 USING GNU COMPILER A SHORT GUIDE Writing programs for the RPC 400 is relatively straight forward You write a program compile it link it and download it It s the options and variations that cause confusion The program examples provided are all stand alone You could take them as is write them to flash and auto execute them on power up or reset There are PROGRAMMING NOTES really only a few compiler and linker options you may want to consider Debugging is covered in SECTION 17 DEBUGGING PROGRAMS The MAKE program is used for a few examples This is useful if you break up your program into many smaller modules You can read the manual included with the development system or use the template in the CMON400 directory Compiler and linker options are discussed below The major difference is how you intend to do your debugging If you use the GDB debugger you set certain switches If not you can ignore them Using comments You cannot nest comments The comment terminator cancels out all previous
37. also used for the display port The demonstration program in the KEYPAD directory scans and debounces the keypad every 50 ms Keypad presses are returned as a number from 1 to 16 Up to 8 key presses are buffered Keypad Port Ae J Ee yc EEG EN i a r m Pr E cee a oe IO m E Figur 9 1 Keypad connector Page 9 1 KEYPAD PORT KEYPAD PORT PIN OUT J5 The keypad port uses ports B and C from an 82C55 Lower port C is configured as an input Upper port C and port B bits 0 and 1 are outputs The table below lists J5 s pin out 82C55 port and bit and its intended function Pin 82C55 Function Port bit 1 C 0 Row 1 2 C 6 Column 3 3 C 5 Column 2 4 C 1 Row 2 5 C2 Row 3 6 C 4 Column 1 7 C 7 Column 4 8 C 3 Row 4 9 B 0 Column 5 10 B 1 Column 6 SECTION 9 Page 9 2 ANALOG INPUT INTRODUCTION The RPC 400 has two analog to digital A D converter systems One is 10 bit resolution and is built into the CPU The other is a 12 or 16 bit A D The schematic for this subsystem is page 1 Each section is described below 12 16 BIT A D CONVERTER The RPC 400 is available in 12 or 16 bit A D converter models Operationally they are identical The same basic software is used to access a 12 bit converter will work with 16 bit converters Of course scaling factors change in order for readings to ma
38. amplify positive or negative signal components Shield Driver The shield driver sums the common mode signal from both and inputs on the currently selected channel pair Use this driver to help reduce noise induced in a cable Note the shield driver is not ground or com mon reference Do not tie the shield to ground at any point Allow a few micro seconds settling time after switching channels and gain before starting a conversion The driver OP am p and previous circuitry need some time to adjust to new signal conditions Settling Time You will need to allow a certain amount of time after switching channels before starting a conversion The amount depends upon the gain and difference in voltage between the two channels At X1 gain the slew rate is 0 4 V micro second This means if there is a 4 volt difference positive or negative between two channels you should wait at least 10 micro seconds before initiating a conversion At X800 gain slew rate is worse To get the best reading wait at least 30 micro seconds after changing channels before starting a conversion Starting a Conversion Be sure to read the information under Settling Time above before starting a conversion on a new channel A conversion is started by writing to register RW2 in the Page 10 3 SECTION 10 CPLD U52 address 0x6000290 Bits 0 7 are not used but should be set to 0 The 12 16 bit A D converts in under 10 micro seconds Our experience i
39. aximum frequency of the quadrature clock Any pulses or noise that are faster than this are filtered out COUNTING TIMING CONTROL REGISTERS A CPLD IC U52 controls interrupts pwm modes and the A D The following is the list of read and write registers in this chip Table 13 1 Register descriptions Ref Type Function RWO Write Counter 2 IRQ and pw m control RRO Read Clear IRQ latches for counter 2 RWI Write Counter 3 IRQ and pw m control RRI Read Clear IRQ latches for counter 3 RW2 Write A D convert RR2 Read A D status interrupt source RW3 Write Analog channel select RR3 Read Lower 8 bits of A D conversion RW4 Write Set A D gain start conversion RR4 Read Upper 4 8 bits of A D conversion RWS Write Start counter 2 pwm RR5 Read Unused RW6 Write Start counter 3 pwm RR6 Read Counter 0 amp 1 IRQ status RW9 Write Enable counter 0 amp 1 IRQ RR9 Read Clear counter 0 IRQ latches RR10 Read Clear counter 1 IRQ latches Addresses for above registers and the two counter IC s U48 and U53 are Table 13 2 Address location Register Address Base offset RRO RWO 0x6000280 0 RRI RWI 0x6000288 0x08 RR2 RW2 0x6000290 0x10 RR3 RW3 0x6000298 0x18 RR4 RW4 0x60002a0 0x20 RR5 RW5 0x60002a8 0x28 RR6 RW6 0x60002b0 0x30 U53 X data 0x60002b8 0x38 U53 X command 0x60002ba 0x3a U53 Y data 0x60002bc Ox3c U53 Y command 0x60002be Ox3e U48 X data 0x60002c0 0x40 U48 X command 0x60002c2 0x42 U48 Y data 0x60002c4 0x44 U48 Y command 0
40. ay may be connected to the expansion bus at J12 for slightly faster operation or dual displays The same display cable may be used The only modification is a 26 pin IDC connector is crimped on to the cable Pin 1 on the cable aligns with pin 1 on the connector Driver example for this mode is in directory GRAPH2 The primary difference between GRAPHI and GRAP H2 programs are basic drivers to the display Writing and display algorithms remain the same A 82C55 is used to drive displays at J4 This same 82C55 is used for the keypad port at J2 To use the display port 82C55 ports A and B are configured for outputs Refer to table 6 2 for 82C55 configuration commands Page 8 1 SECTION 8 Expansion Port Display Port uec Hs OF DL HL LJ 10 u f T m wa i al H Figure 8 1 Display and Expansion ports KEYPAD PORT SECTION 9 INTRODUCTION Keypads from Remote Processing simply plug into J2 Keypad cable length should be limited to less than 5 feet Up toa 24 position keypad is plugged into keypad port J2 Keys are arranged in a matrix format A key is detected by software when a row and a column connect Software scans the key port by writing to port B and upper port C and reading from lower port C on an 82C55 The 82C55 must be initialized Refer to Table 6 2 for configuration commands This 82C55 is
41. ducts in life support applications assumes all the risk of such use and indemnifies Remote Processing against all damages FCC NOTICE The RPC 400 was not tested for EMI radiation When operated outside a suitable enclosure the board and any cables coming from the board will radiate harmful signals which interfere with consumer and industrial radio frequencies It is your responsibility to properly shield the RPC 400 and cables coming from it to prevent such interference P N 1683 Revision 1 2 TABLE OF CONTENTS OVERVIEW SECTION 1 MEMORY SECTION 5 MANUAL ORGANIZATION 1 ACCESSING RAM ss 1 MANUAL CONVENTIONS 1 INSTALLINGRAM 1 Symbols and Terminology 1 Data RAM U24 lesen 1 CONNECTOR CONVENTION 2 Table 5 1 Memory Map 1 TECHNICAL SUPPORT 2 Program execution U25 U26 2 BIOSEPROM 4 yda tagad anria 31 gah eg ds 2 SETUP AND OPERATION SECTION 2 OPERATING PRECAUTIONS 1 DIGITAL AND I O PORTS SECTION 6 EQUIPMENT 43k er pne 1 J ODIGITAL VO i aside ans 3 Spa Rit 1 Power Supply less 1 High Current Output 1 Personal Computer PC 2 Interfacing Digital I O to an opto module PC SETUP COMPILER INSTALLATION 2 Tack 4 nb op Le ee ra 2 Loading the Disks 2 Interfacing to switches and other devices 2 Modifying your Environment
42. e appropriate bit s in RWO 2 and 6 The current count is displayed on COM1 You may wish to change this to COMO If you do you cannot effectively use the debugger GDB but must use HINT instead See sections 16 and 17 for more information Page 13 6 SECTION 13 Description Counter 0 for simple up down Counter 1 for quadrature mode Counter 2 for simple up down Counter 3 for quadrature mode Counters 2 amp 3 for negative edge pulse width measurement Interrupt generated on overflow Counters 2 and 3 for positive edge pulse width measurement Interrupt generated on overflow Counters 2 and 3 measure pulse width starting on negative edge and ending on positive Interrupt generated on overflow Counters 2 and 3 measure pulse width starting on positive edge and end on negative Interrupt generated on overflow ANALOG OUTPUT INTRODUCTION Four optional analog output channels are available Outputs are available as voltage D A or 4 20 mA current D A outputs are 12 bits and have a settling time of less than 10 micro seconds for full resolution D A s can supply several milli amps of current at a voltage All outputs are at P4 Current loop outputs use a D A Consequently voltage output is not usable when current loop output is used Voltage outputs can be configured to operate in one of three voltage ranges Voltage ranges are jumpered in hardware using W2 W6 Analog outputs are on schematic page 2 POW
43. e appropriate register RWO for counter CNTRI C 2 RW 1 for counter 3 is programm ed including interrupts if desired Bit 4 in RWO and or RW1 must be high to use pwm counting modes Making bit 4 a 0 CNTR2 C disables any pwm modes Although not required the counter logic should be reset PWMO C by writing a 0x60 to RW5 counter 2 or RW6 counter 3 as appropriate To arm the logic write a 0x90 to RWS5 or RW6 as appropriate time a pulse as soon as the appropriate edge comes The logic is now ready to PWMI C along You can disable pulse measurement by writing a 0x60 to RWS5 or RW6 This is useful should you decide to dis arm the timing logic PWM2 C When RWO0 or RWI is programmed for pulse width measurements the input signal A2 or A3 from P8 is routed to internal logic in U 52 A 4 9152 M hz clock is fed to input A on the counter instead When the input PWM3 C signal at A2 or A3 changes to the appropriate state a gate enables counting When the signal again changes to the appropriate state the gate to the counter goes low disables counting and generates an interrupt if enabled COUNTER DEMO PROGRAMS The following is a list of counting demonstration programs using the LS7266 counter chip Program names are in the same name subdirectories under RPC400 directory All demonstration program share common operating characteristics They are all interrupt driven Interrupts can be disabled by resetting not setting th
44. e other lines at J3 To do this remove U49 Install a DIP shunt so pin 1 goes to pin 18 Pins 9 and 10 are open NOTE High current outputs are not compatible with TTL logic levels and should not be used to drive other logic devices Each of the high current outputs can sink 500 mA at 50V However package dissipation is exceed if all outputs are used at the maximum rating The following conservative guidelines assume the number of outputs are on simultaneously Maximum current per output of outputs on 500 ma 400 ma 275 ma 200 ma 160 ma 135 ma 120 ma 100 ma oo 1090 MN PWN The ther mal time constant of the package is very short so the number of outputs that are on atany one time should include those that overlap even for a few milli seconds Incandescent lamps have a cold current of 11 times its operating current Lamps requiring more than 50 mA should not be used unless a series resistor is installed Page 6 2 SECTION 6 Protection diodes must be used with inductive loads Refer to Figure 6 2 Supply High current output Figure 6 2 Inductive load protection This could result in damage since outputs will not share current equally Do not parallel outputs for higher drive Outputs at U12 are open collector Interfacing Digital I O to an opto module rack I O lines can be interfaced to an MPS 8 16 or 24 position opto module rack Lines not going to an opto This feature allows
45. ent it is unlocked At this time the next 64 read or write cycles extract or update data in the Smartwatch Normally a specific address is used while communicating with the chip During the unlocking phase RAM data is Page 7 1 SECTION 7 modified If you have a RAM installed data at the address used should be saved The RT C C program in the RTC directory does this This program also has program ming information pertaining to specific bits and modes of operation After unlocking the registers are either read or written All registers must be written to or read from as the RAM to Date and time information is in BCD format chip is disabled until 64 cycles are completed 12 24 Hour Mode Bit 7 in the hours registers selects 12 24 hour mode A 1 selects 12 hour mode When 12 hour mode is selected bit 5 indicates AM PM PM is indicated when bit 5 is high In the 24 hour mode this bit is the second 10 hour bit Module Control Two bits in the day register control the reset bit 4 and oscillator bit 5 functions The reset line was used to abort a data transfer This line is cut by modifications in the DS1216D and DS1216 D512 and is not a consideration Set bit 4 to a 1 The oscillator turns clock on and off When bit 5 is set to 1 the oscillator is off When set to 0 the watch is operation al Both bits are set to 1 atthe factory Zero Bits Registers 1 6 have one or more bits which always read 0 Writing a 1 or 0
46. er Requirem ents 5V 0 25 400 mA 4 serial port model 9 to 15 50 mA Minimum voltage may be greater if using analog output External supply required for current loop Environmental Operating temperature range 0 C to 70 C Storage range 20 C to 70 C Mechanical Size 6 0 x 10 0 Mounting 4 mounting holes 0 25 from edges 1 near center Hole diameter is 0 125 Page 18 3 SECTION 18 TECHNICAL INFORMATION SECTION 18 System Memory and I O Map Description Address Range Memory Access W idth Maximum Monitor ROM U22 000 0000 000 FFFF Flash program storage U23 200 0000 207 FFFF Battery backed data RAM U 24 208 0000 20F FFFF Digital I O port at J6 600 0000 600 0006 Serial port COM 2 600 0080 600 008E Serial port COM3 600 0100 600 010E Keypad and display port 600 0180 600 0186 Expansion port J12 600 0200 600 027F Counter IRQ and pwm 600 0280 600 0288 A D control and data 600 0290 600 02A0 DAC and 4 20 mA 600 0300 600 030F Page 18 4 TECHNICAL INFORMATION SECTION 18 P1 Power 2 950 4 250 A 4 holes on outside are 0 25 from each edge All mounting holes are 0 125 dia in a 0 250 pad Figure 18 1 RPC 400 mounting holes Page 18 5 TECHNICAL INFORMATION SECTION 18 COM2 amp COM3 UART INFO APPENDIX A LS7266 data sheet APPENDIX B Page 18 6
47. es in the above directories the program will automatically download to the card You are now ready to run or debug your program A short list of commands to get you started is listed below Some of the most frequently used commands are listed at the end of this section break sets break points continue Starts and resumes execution print or x display data list function Print lines starting at function list line number Print lines in current source file info line number Prints starting and ending addresses of compiled code disassemble program counter Displays machine instructions step Run program to next line stepi Run line break and display next line to execute help display help commands While the program is loading the debugger more or less displays the progress When you see the gdb prompt you can type in commands To start execution use the continue command Program crashes In the unlikely event your program should crash press the reset switch on the RPC 400 board and wait a few seconds GDB should acknowledge a SIGTRAP From here you can do one of two things Type quit to go back to DOS or you can re start the program If things really get messed up usually on the GDB end you can exit out by hitting the lt Ctrl gt Break keys This tends to mess up DOS when operating from Microsoft Windows 95 if you do this several times you get kicked back into Windows When G
48. example Lines on J6 are divided into 3 eight bit groups from an 82C55 Refer to table 6 2 for a list of configuration commands to write to the 82C55 A byte is written to address 6 0x6000006 These command bytes configure ports A B and C for inputs and outputs as shown When a line is configured as an output it can sink a maximum of 2 5 mA at 0 4V and can source over 2 5 mA Outputs sink over 15 mA at 1 0v enough to drive opto modules Port B is connected to a high current sink through U49 See High Current Output later in this section Digital I O lines are pulled to 5 volts or ground through 10K or 100K resistor packs using jumper W 10 82C55 port A is pulled up or down through 10K Ports B and C through 100K Upon reset or configuration as an input the lines will then be pulled high or low as your system requires DIGITAL AND I O PORTS Jumper W 10 configuration is as follows W10 1 2 W10 2 3 Pull up Pull down Setting W10 for pull up makes interfacing to switches and open collector collector TTL devices easy See Interfacing to Switches and other devices below High Current Output Eight lines at J6 can be used as high current drivers These outputs switch loads to ground Outputs are controlled by Port B on the 82C55 Logic outputs are inverted When a 1 is written to a line the output is switched ON and goes low The output driver chip U49 can be replaced with a DIP shunt jumper so it is like th
49. f you change a channel or gain it takes two converts to get a reading on the new channel and the result returned is what was present when the first conversion was initiated SECTION 10 ANALOG INPUT This could be good or bad depending upon how you are making readings If you are reading all channels sequentially and the voltages and gains are nearly the same it won t make much difference The conversion results will be one channel off If you are reading the same channel you have to remember that the reading is from the last convert command Random channel selection is worse case as you will have to wait for settling time and perform 2 converts before getting a current reading Results are read in two bytes LSB is at 0x06000298 and MSB is at 0x060002a0 The following code fragment shows how to read and convert results to a number from 0 to 4095 or 65535 iain iain ctrptr 0x18 ctrptr 0x20 256 iain See ainl c for example The 12 bit converter automatically returns 0 s for data bits 12 15 so the same formula works for both converters Conversion Accuracy and Sources of Error There are a number of sources which affect accuracy of A D readings Errors are more pronounced 16 bit converters simply because of the resolution The first source of error are the gain amplifiers U5 and U7 Their worst accuracy is at the higher gains This is shown in the table under Programming Gain Bipolar Unipolar sec on abo
50. ferences are in the linked files and output format HINT uses a S record output Look at the command file in the COMM21 directory for a SR output GDB uses something with a X output Look at the comm and file in the AINI directory for GD B output To add a file for linking simply input it as part of the list FLOATING POINT The GNU C compiler does support 32 and 64 bit IEEE single and double precision form floating point The compiler does have a problem with floating point constants however This is solved by simply creating a constant Integers and longs are 32 bits wide which makes numbers of 2 billion possible Simply casting an integer into floating point num ber is sufficient float fir int i 12207 int j 10000000 fl float i float j The above example puts the number 0 0012207 into the variable fl DEBUGGING PROGRAMS INTRODUCTION There are two methods you can use to debug your program One is to use the GDB debugger supplied with the development system Second is touse HINT a terminal program with program download capability An advantage to using HINT for debugging is you can use the programming port as part of your program HINT also gets you closer to the hardware and software HINT is necessary to save programs to flash unless you make saving a part of your program The GDB program is very convenient for debugging C programs You can single step through C programs and
51. ge Putting capacitors on the output could actually increase noise and ringing depending upon the output voltage CURRENT LOOP Current loop and voltage output IC s must be installed for a particular channel in order to work Refer to the table above The D A must be configured for 0 10 volt output in order to work properly Current loop supply is on P1 and is designated as CLP Apply 5 to 36 volts to this connector M ost current loops terminate into either 500 ohm 10 V output or 250 ohm 5 V output loads Your supply voltage should be at least 3 volts above the load voltage Current output is proportional to the voltage from the D A An output voltage of 0 will output 4 mA while 10 volts outputs 20 mA Response Time Rise and fall times vary with the drive voltage delta voltage change and current loop supply voltage Fora full scale change rise time is about 70 micro seconds and fall time is about 30 micro seconds A larger current loop supply voltage increases rise and fall times MEMORY MAP D A The following are addresses used to access the D A s Refer to the demonstration disk for driver example Function name is aotl c in the aot1 subdirectory Channel Address Program range V0 CLO 0x600300 LSB 0x600302 MSB V1 CL1 0x600304 LSB 0x600306 MSB LSB MSB LSB MSB Page 14 2 ANALOG OUTPUT SECTION 14 Page 14 3 EXPANSION BUS INTRODUCTION The expansion bus at J12 provides a simple way to add digita
52. ge continuously just some of the time Data sampling follows a bell curve If you take a 1000 samples using a rock solid reference and other circuits occasionally 0 3 of the time you will get a few outliers that are 5 or more counts out Refer to the references at the end of the chapter to get an explanation of why this is so This type of error also depends upon the input voltage to the A D Different voltages flatten out the bell curve For these reasons it s always good to take a few readings just to make sure the data is stable Use demonstration program ain3 c to see how stable a conversion is The number of readings is another source of error or accuracy The best accuracy for 16 bit converters is obtained by averaging 64 or more readings Our experience has shown you can get good readings by converting as low as 8 times The effective number of bits for one conversion is about 13 5 using the 16 bit converter Effective number of bits for the 12 bit converter is about 11 3 Averaging a few 12 bit readings provides optimal performance Noise is effectively canceled by averaging several readings at any gain It is almost necessary at higher gains Running the histogram program ain3 c gives you an idea of how noise is distributed at different gains Our testing showed noise becomes very significant at gains of X80 and above Lead lengths filtering and signal quality become very apparent With the gain set between X100 to X
53. gle brackets are used to indicate a specific key on your keyboard For example lt esc means the escape key nS Denotes nano seconds 1 1 000 000 ms Denotes milli seconds 1 1000 OVERVIEW mA Denoes milli amperes 1 1000 Numeric notations are in decimal unless preceded by conventional C 0x notation CONNECTOR CONVENTION IDC connectors are pinned out as shown below The square pad visible on the circuit side is pin 1 25 1 26 2 Figure 1 1 IDC connector viewed from top Ten and 20 pin connectors are similarly numbered SECTION 1 TECHNICAL SUPPORT If you have a question about the RPC 400 and can t find it in the manuals call us and ask for technical supp ort Technical support hours are 9 AM to 4 PM mountain time When you call please have your RPC 400 manual ready Some times it is helpful to know what the card is used for so please be ready to describe its application as well as the problem Phone 303 690 1588 FAX 303 690 1875 email info remotep com Figure 1 2 System layout Page 1 2 SETUP AND OPERATION INTRODUCTION The RPC 400 is ready to program as soon as you connect it to a PC and apply power This section describes the steps needed to get a sign on message and begin programm ing PC requirements to load the compiler and set up your operating environment are discussed A Where to go from here section tells you what sections to refer to in order to u
54. gs A 1V offset is 1 5 of 4095 or 65535 counts or 819 for 12 bit systems and 13107 for 16 bit The code then becomes a k ain n 819 I2 bit T a k ain n 13107 16 bit kj Note that if the current loop line breaks a negative value is returned The function ain n returns a reading for channel n DEMO PROGRAMS There are 4 demo programs AINI AIN4 AIN1 C operates in interrupt mode at fixed gain AIN2 C operates in polled mode All channels are displayed in AINI C and AIN2 C AIN3 C allows you to select the channel gain mode SECTION 10 and number of samples It also displays the average and deviation from the first reading to determine stability in a particular setting For 16 bit systems this is valuable in determining the number of samples for a good reading AIN4 C displays the 10 bit converter at J1 Table 10 3 connector Pin out J1 Pin Function Analog input channel 0 Ground Analog input channel 1 Ground Analog input channel 2 Ground Analog input channel 3 ON DNDN PWN Ground No Analog input channel 4 Ground Analog input channel 5 Ground Analog input channel 6 Se A UN Ground CA Analog input channel 7 a Ground N 2 5 Volt reference output oo Ground No 10 bit converter ref input N External A D trigger MEMORY MAP A D Address Function 0x6000290 RR2 A D status interrupt s
55. he term no meaningful data is returned is used to describe some registers requiring a read to work Data returned is simply the status ofa floating bus No information is output by the CPLD High voltage input Counter 0 inputs AO and BO on P7 can directly interface to proximity sensors or other devices Input range is 15 volts TTL devices can also directly interface to these inputs These inputs invert the signal to the counter Thus a high at the BO input causes a down count in normal counting mode Leaving BO open grounding or applying a negative voltage causes an up count in normal counting mode The buffer is a 1489 type This is a standard RS 232 interface chip The switching threshold is set by resistors R40 and R41 When the input goes above approximately 3 volts the output at pins 8 or 11 at U44 will go low When the input then goes low to approximately 2 volts the output will switch back high This is a hysteresis of about 1 volt Threshold levels are adjusted by changing R40 and or R41 Lower value resistors raise the threshold level Quadrature filter The inputs from a quadrature encoder are digitally filtered The filter frequency is programmable for each channel in the LS 7266 chip using the PSC register The input filter clock fic is 2 4585 Mhz The final filter clock is determined by the formula fica 2458500 PSC 1 Where PSC 0 to Oxff The final filter clock should be 5 times faster than the m
56. ifiers at different gains and temperatures errors induced by the multiplexers U1 U2 U4 and U8 thermocouple effe cts between wires and connectors and noise Input offset voltages could induce errors of 3 of FS or more For example at X800 gain you could read 260 mV with the inputs grounded Unfortunately there is no typical as offsets are specified as micro volts Offsets from the amplifier can be trimmed out by adjusting R3 The way to obtain highest system accuracy is to calibrate the card in the application This means saving calibration constants in RAM or Flash EPROM Calibration constants include offset voltages and gain errors Fortunately the offset voltage can be accounted for dynamically by grounding an input and taking a reading Checking gain requires an external reference The A D itself has accuracy errors at any voltage These are typically 3 bits Noise is probably the most difficult to fix and explain There are three basic sources of noise 1 External to the card 2 On card induced And 3 inherent noise in the A D chip For our purposes here noise is defined as the random change in output for a constant input The wide variety of applications the RPC 400 is useful for many applications and precludes any specific recommendations for curing external noise The usual SECTION 10 precautions of grounding to one point and grounding on one side are the mosteffective A shield driver desc
57. inputs are available at P7 and P8 These program mable inputs up down count pulses to 20 Mhz read quadrature inputs and measure various kinds of pulse and period widths to a resolution of 203 45 nS An interrupt can be generated on a carry borrow or measurement complete for any counter Counting at P7 and P8 is done through a LS 7266 counter Information about this chip is found in Appendix B The second group of pulse timing is at GPIO port J13 This port can both output pulses and measure inputs Both ports are discussed in this section P7 AND P8 OVERVIEW Signals from P7 and P8 go to one of two LSI LS7266 24 bit dual axis quadrature counters The data sheet for this part is in Appendix B By combining a gate array IC on board U52 a number of pulse measurements are possible Additionally interrupts may be generated under certain conditions This section describes how to program the chips for some of the counting modes In general when a function for a counter is programmed for one function the other counters are not affected The schematic for the counter input section is on page 8 Demonstration programs are under PWMx subdirectories Definitions Counters are numbered 0 through 3 The table below correlates a counter to achip U number and axis in that chip Counter Chip U Axis 0 53 X 1 53 Y 2 48 X 3 48 Y The letters pwm in lower case mean pulse width measur ement Page 13 1 SECTION 13 T
58. ke sense There are hardware differences between the 12 and 16 bit models The 16 bit has trim pots and associated components a separately regulated A D supply and U9 is different There are several demonstration programs ainl c and ain2 c ainl c is interrupt driven while ain2 c is not ain3 c prompts for user input to convert a specific channel at a gain and mode It is useful for quickly determining filter gain and mode parameters of an input signal ain4 c is used for the 10 bit converter discussed later in this section From here forward assume operation between the 12 and 16 bit converters is the same unless specifically stated otherwise Both converters have 16 software program mable gains from X1 to X800 16 single ended or 8 differential inputs in any combination and unipolar bipolar ranges Additionally a shield driver is available to help reduce noise on long lead low level signals Input Ranges The maximum single ended full scale input voltage at P2 and P3 are 0 to 5V in unipolar mode and 5V in bipolar mode at X1 gain If you are using a gain other than X1 maximum input voltage is determined by the following formula Full scale input voltage For example a gain of 10 limits the maximum input voltage to 0 5V SECTION 10 Each channel has program mable gain Apply this formula to any channel that changes gain Bipolar range is the same for negative voltage as positive Programmi
59. ks up 32K and 128K RAMs while the DS1216D512 backs up 512K bytes These modules from Remote Processing are a modified version of the Dallas DS1216D and soldered depending upon the version Internal lines are cut Battery life depends greatly upon the ambient temperature Battery life degrades up to 50 at 50 C using 25 Casa reference Generally you can expect a battery life of 3 to 5 years The clock module uses a dual battery system meaning the RAM battery can get used up before the clock There is no software way to detect a low battery Accuracy is about 1 minute month and is not adjustable INSTALLATION The clock module is installed by first removing the IC in socket U24 if installed See Figure 5 1 for IC location Install the DS1216 module into the socket Note the notch on the socket designating pin 1 Align this with the notch on the board SETTING AND READING THE CLOCK Review the sample program rtc c in the RTC directory The following briefly describes the operation and registers in the DS1216D module For detailed information contact Dallas Semiconductor at 214 450 0448 Fax 214 450 040 or www dalsemi com Operation The clock module is turned off as shipped from the factory The clock is turned on as part of the initialization routine The SmartW atch is read and set via serial bit stream on the data bus Normally the module operates transparently for RAM When a specific 64 bit pattern is s
60. l analog or other types of I O Data and address lines are buffered from the CPU They are not buffered from other devices considered I O See schematic page 4 Port expansion read write and chip select timing about 100 nS low This time is changed through CPU register WCR3 by changing the number of wait states Display power connector P5 goes to both J12 and the display connector J4 This is because the graphics display may be used in either connector See the program graph2 c in the GRAPH2 directory for a programming example This program reads and writes to the graphics display Use the following table for pin outs Pin Function 1 5V power 2 Ground 3 Data VO 4 4 Ground 5 Data VO 6 6 Data VO 5 7 Reset active low 8 Write active low 9 Read active low 10 Data VO 7 11 Data VO 1 12 Data VO 0 13 Data VO 3 14 Data VO 2 15 Port select active low 16 Address 1 17 5V 18 Display adjust 19 Display power 20 Ground 21 Address 4 22 Address 3 23 Address 2 24 IRQ7 25 15V supply 26 15V supply Page 15 1 SECTION 15 Expansion port LL E lec He XC M E F t ES f T m wa i al H Figure 15 1 Expansion Bus The address range for J12 is 0x6000200 0x600021f Note that address AO is not brought out so all addresses increments by 2 PROGRAM
61. loaded to high speed RAM and run on power up or reset when jumper W16 is removed 1 Load your program to RAM You ve already done this many times before while writing and debugging your program The difference here is you have to use the HINT terminal program Page 3 1 link file For an example see the RPC400 CMD file in the AIN3 directory HINT instructions are in SECTION 2 page 3 Briefly at the DOS prompt type HINT COMn Where n is 1 or 2 Press the RPC 400 reset button to get the sign on message Then type in l fname sr fname sr is your program The program will download and the progress displayed on the screen Determine program size and start address You will see the low high and start address when downloading isdone To determine program size SECTION 3 SAVING PROGRAMS subtract the high from the low address You may need to use the hex calculator in the monitor To use the monitor s hex calculator use the P command to print the value For example suppose the high address is 900E7F8 Low address is 9002000 Enter CMON gt p 900e6e8 9002000 The result is printed back as decimal 50920 hex 0000C6E8 CMON gt Program length is 50920 bytes Length is entered as a hex number and rounded up to C 800 Entered parameters are always in hex Starting address is always 9002000 if you keep to the defaults When you have determined the size round it up to the next even page size Example P
62. n extra black wire connect it to ground 2 Hookup to a PC Connect the 10 pin side of the VT C 9F serial cable P N 1041 to J9 also designated as COM 0 Connect the other end to COM 1 or COM2 on your serial port NOTE Batch and com mand files assume COM I is the default port If you cannot use COMI you must modify all GSC and BAT files and change references from COM 1 to COM2 3 Run HINT If you ran the batch file under Verify Software Installation above and did not exit out of HINT you might be ready The batch program above assumes the RPC 400 is connected to COM 1 on the PC SECTION 2 If your serial port is not COM2 type lt Ctrl C to exit the terminal program HINT Thentype HINT COM2 If you did not run the above program make sure youare in the RPC GNU RPC400 DEMO directory At the DOS prompt type HINT COMI If you are connected to COM2 enter that port instead of COMI 4 Power up Turn on your power supply On power up a message is printed C Monitor Hitachi Micro Systems Inc for the SH 1 Enhancements by Paragon Innovations Inc CMON Rev Additional enhancements by Remote Processing Corp S05 b8CMON gt The S05 b8 text is for the GDB debugger after a reset 5 Testing The card is now ready to load a program Hit enter a few times to make sure the CMON gt prompt comes back Type in the following command line to load in the demo program l demo sr You will see p
63. nd mode desired W11 1 2 4 wire RS 485 mode separate TX and RX lines or RS 422 mode This always enables the receiver W11 2 3 2 wire RS485 mode Extemally wire TX to RX and TX to RX turns off the receiver when transmitting The RTS3 line is manipulated to do this More later This WI3 1 2 3 4 Network terminators Set only when the RPC 400 is physically the last board in a RS 485 system Otherwise remove these jumpers In RS 422 systems keep these jumpers in The RTS3 line acts the same way as in RS 232 The difference here is it controls both the receiver and transmitter In two wire mode it prevents the data sent out from looping back and getting received RTS3 line is set in the UART MCR to 0 to enable transmitting and disable receiving and 1 to disable transmitting and enable receiving See demo program COMM23 C for a sample of RS 485 in 2 wire mode RS 485 is best when operated in interrupt mode This way the transmitter is shut off when the last character is sent out See COMM 23 C for example In practice there is little difference between 2 and 4 wire RS 485 Hardware simultaneously controls the receiver and transmitter The only real difference is the board cannot receive data while transmitting in a 2 wire system Page 4 3 SECTION 4 The RS 232 transmitter is always enabled Use this port to monitor transmit activity on RS 485 to a terminal or another PC RS 422 is a long distance
64. ng G ain Bipolar Unipolar Sixteen gains from x1 to x800 are program mable for any channel single ended or differential bipolar or unipolar inputs Gain and polarity are programmed by writing to register RW4 at address 0x60002a0 Input range is programmable for 0 to 5V or 5V or full scale if using gain using the uni bipolar bit The gain chips are U5 and U7 They are programmed as shown below Table 10 1 Gain and polarity Bitt 7 6 5 4 3 2 1 0 rr unused unused unused E Uni Bipolar Where G0 G3 select system gain G3 G2 GI GO Gain Error 0 0 0 0 X1 0 01 0 0 0 1 X2 0 015 0 0 1 0 X4 0 015 0 0 1 1 X8 0 015 0 1 0 0 X10 0 025 0 1 0 X20 0 03 0 1 1 0 X40 0 03 0 1 1 1 X80 0 03 1 0 0 0 X100 0 045 1 0 0 1 X200 0 05 1 0 1 0 X400 0 05 1 0 1 1 X800 0 05 Bit 7 controls unipolar bipolar modes 0 unipolar 0 5V and 1 selects bipolar 5V Page 10 1 ANALOG INPUT The Error column is the percentage of gain error possible It is discussed under Conversion Accuracy below Channel Selection amp Differential or Single Ended Inputs Channel selection is performed by writing to register RW3 at address 0x6000298 The table below shows values for a particular mode and channel Table 10 2 channel select mode and interrupt Bit 7 6 5 4 3 2 1 0 pr T 1 LE l il SE Diff unused L unused L A D int enable Where CHO
65. nge tracks Page 10 6 the 5V supply Thus if your devices use the 5V supply also conversions will be ratiometric For increased accuracy connect the 2 5V reference output at J1 17 to J1 19 This limits input voltages to 0 2 5V An external reference can be applied to J1 19 Range must be between 0 and 5V Reference Input The reference for the converter goes through a 100K resistor to 5V digital supply Thus output accuracy is only as good as the 5V supply A precise 2 5V reference is available at J1 17 By tying P1 17 to P1 19 the input range will be 0 to 2 5 volts Converting Inputs Refer to sample program in the AIN4 directory to convert all channels Results from all 8 channels are printed to the screen External triggers are also possible A low going pulse for 50 nS minimum starts a conversion on a selected channel An interrupt can be generated at the end of a conversion SCALING MEASUREMENTS Inputs are converted to real numbers by scaling them Demo programs return values from 0 to 1023 10 bit 0 to 4095 12 bit or 0 to 65535 16 bit To change these numbers into something more meaningful use the following formula var k ain n ain n returns the reading on channel n k is the scaling constant k is obtained by diving the highest number in the range by the maximum ain count 1023 4095 or 65535 NOTE At the time this manual was written the GNU C compiler did not support floating point c
66. ning long leads greater than 5 feet or in noisy environments connect a 1K ohm resistor between 5V and the switch When W 10 configures the input resistors as pull downs one end of the switch must be tied to 5 volts If this is not possible or convenient a 10K resistor can be tied between an input and 5 volts to force it high when a switch is open Page 6 3 SECTION 6 DIGITAL AND I O PORTS Connector Pin Out J6 Table 6 1 Connector pin out J6 SECTION 6 Pin 82C55 Description Opto Channel 25 1 O 19 Port A line 0 8 21 Port A line 1 9 23 Port A line 2 10 26 2 25 Port A line 3 11 24 Port A line 4 12 22 Port A line 5 13 20 Port A line 6 14 18 Port A line 7 15 Figure 6 3 J6 pin out viewed from top 10 Port B line 0 High current 16 8 Port B line 1 High current 17 4 Port B line2 High current 18 6 Port B line3 High current 19 1 Port B line 4 High current 20 3 Port B line 5 High current 21 5 Port B line 6 High current 22 7 Port B line 7 High current 23 13 Port C line 0 Lower C 0 16 Port C line 1 Lower C 1 15 Port C line 2 Lower C 2 17 Port C line 3 Lower C 3 14 Port C line4 Upper C 4 11 Port C line5 Upper C 5 12 Port C line 6 Upper C 6 9 Port C line 7 Upper C 7 26 Ground 2 5V Table 6 2 82C55 Commands for J2 4 and J6 0x92 IN IN OUT OUT 0x93 IN IN OUT IN Command Port Port Port Port 0x98 IN OUT IN OUT value A B UC LC 0x99 IN OUT IN IN 0x9A IN IN
67. om the GNU series of compilers Program development takes place on your PC using your word processor Programs are then cross compiled on a PC and are downloaded using a serial communication program Page 1 1 SECTION 1 MANUAL ORGANIZATION This manual pro vides information to install and operate the RPC 400 Accompanying manuals such as the compiler and SH 1 hardware are used as references to specific questions Section 2 sets up your PC and runs a program on the RPC 400 Sections following address hardware features of the card This manual shows you how to interface the RPC 400 to your PC to compile and dow nload programs and operate all hardware features of the card You should be familiar with C programming If you are not experienced with any C software you may want to refer to books available through your local book store or college MANUAL CONVENTIONS Information appearing on your screen is shown in a different type Example CMON Copyright Hitachi Micro Systems Enhancements by Paragon Systems Additional enhancements by Remote Processing Symbols and Terminology NOTE Text under this heading is helpful information It is intended to act as a reminder of some operation or interaction with another device that may not be obvious WARNING Information under this heading warns you of situations which might cause catastrophic or irreversible damage W Denotes jumper block pins lt xXx Paired an
68. onstants Review the software section of this manual for additional information on making floating point constants Example 1 To measure the results of an A D conversion in volts and the voltage range is 0 to 5V divide 5 by 1023 for the 10 bit converter 4095 for 12 bit systems or 65535 for 16 bit to obtain k 10 bit 12 bit 16 bit ANALOG INPUT k 5 1023 k 5 4095 k 5 65535 k 0 00195 k 0 001221 k 0 000076295 Example 2 Measure a 0 to 200 PSI pressure transducer with a 0 to 50 mv output Set the gain for X100 This makes the measurement range 0 to 5V Next divide 200 by either 4095 or 65535 to obtain the constant k 12 bit 16 bit k 200 4095 k 200 65535 k 0 0488 k 0 0030518 Measuring 4 20 mA current loops Current loops are a convenient way to transmit a value and still assure the integrity of a signal If the line should break 0 volts or nearly so is returned A 4 20 mA current loop is converted to 1 5V by placing a 250 ohm resistor across the input of the channel to ground Current loop readings are converted to engineering units by scaling as described earlier Since the measurement range is 1 to 5V the count range is reduced by 20 to 3276 for 12 bit and 54428 for 16 bit systems If pressure were measured as in example 2 12 bit 16 bit k 200 3276 k 200 54428 k 0 6105 k 0 0367459 There is one additional factor Since the lowest value read is 1 V this offset is subtracted from all readin
69. ook under PWM 0 3 and CN TRO 1 directories All counters can operate in the basic mode No CPLD registers need be modified To generate an interrupt from the counter modify the appropriate bit s in the CPL D register s Counter Register 0 RW9 1 RW9 2 RWO 3 RWI pwm Modes There are 4 pulse width measurement modes These modes are programmable in registers RW 0 and RWI All pulses are triggered on an edge on A2 from counter 2 or A3 from counter 3 Pulse width resolution is 203 4505 ns pwm Register Measurem ent data Mode 0 0x10 Falling edge to next falling edge 1 0x11 Rising edge to next rising edge 2 0x12 Falling edge to next rising edge 3 0x13 Rising edge to next falling edge These pwm modes are program med using RWO and RWI Both are the same except for the counter Gate carry and borrow interrupts are programmed by oring in the appropriate bit s to the Register data above as desired In actual use only two interrupts are useful The Gate bit GxEN causes an interrupt when a measurement is complete Carry C YxEN is used to indicate an overflow approximately 3 3 seconds or a very long pulse condition Counting continues even when there is an overflow Operation is described below See program examples pwm0 c through pwm3 c in directories PVMO PWM3 for examples Page 13 5 COUNTING TIMING pwm Operation Program name The counter is programmed in simple up down mode and is reset to 0 Th
70. opment for initial downloading and debugging programs When auto run jumper W 16 is removed monitor merely loads a program from flash into RAM and begins execution Analog Input Channels 24 total single ended 8 from J1 16 from P2 and P3 8 differential maximum from P2 and P3 May be dynamically switched between SE and differential Resolution J1 10 bits P2 and P3 12 or 16 bits depending upon model ordered Trigger Conversion at an input on J1 can start on external trigger Accuracy Adjustable See section 10 for discussion When averaging readings 4 bits ENOB 12 bit converter 11 3 16 bit converter 13 5 Page 18 1 SECTION 18 TECHNICAL INFORMATION Input range J1 0 to 5V or Vref input which ever is greater P2 and P3 0 to 5V or 5V at X1 gain Range is reduced in proportion to gain At X 800 gain range is 6 25 milli volts P2 and P3 Gain Software programmable from X1 to X800 Pre amplifier program mable for X1 X2 X4 or X8 Post amplifier program mable for X1 X10 or X100 Input Impedance J1 100K ohm to ground P2 and P3 1 Meg ohm to ground CMRR 75dB minimum at 120 Hz Conversion time Jl 6 5 micro seconds P2 and P3 Less than 10 micro seconds Accuracy Jl Depends upon 5V supply or external reference P2 and P3 5 counts 0 05 of input Dependent upon gain Settling time Depends upon gain and voltage change Generally less than 30 mic
71. or low operated in an environment relatively free of moisture and dust Reference UL 1950 Table 3 Pollution degree l and2 Transients should be less than 750 V NOTE The RPC 400 board was NOT tested to UL 1950 or any other standards We do not imply it will meet this or any other standard Isolation is provided to remove small AC ground and DC offsets normally found in long distance connections Both ports share the same UART Consequently only one port can be used ata time RS 422 485 are from screw terminals at P6 RS 232 is from a DB 9 male See Figure 4 1 for connector location LED Activity There are two LED s on the RPC 400 which blink on when there is transmit or receive activity D1 is amber and blinks when receiving D2 is green color and blinks when transmitting Brightness is dim when sending few characters at a high baud rate SERIAL PORTS Configuring Isolated RS 232 Set jumper W12 2 3 to enable RS 232 receive The CTS line at COM3 is pulled high through a 4 7K resistor to enable communication This is provided should the external device be missing the CTS line Configuring Isolated RS 422 485 There are three sets of jumpers affecting RS 422 485 Refer to Figure 4 1 for the location of these jumpers Each is described below Set jumper W12 1 2 for all 422 485 communication This jumper selects the receive signal Jumper W 11 is set in one of two positions depending upon the communication standard a
72. ort 1000 ft Ultimately the only way to determine this is to view the RS 485 signal using an oscilloscope Set up the nearest transmitter to continuously send a signal Look at the result on the farthest receiver A rough rule of thumb is maximum baud rate should be 6 times The idea is to present a clean steady signal to the receiver Rise and fall time should be less than 30 of the total bit width Measurement should be taken at the farthest receiver or more of the worse of rise or fall times with all devices connected The farthest receiver should have its terminator installed No programs have to be SECTION 4 SERIAL PORTS running Our customers experience is has been 4800 to 19200 baud using 3000 to 5000 feet of cable The second question is about protocol RS 485 does not specify one Generally you can treat the data format the same as RS 232 A 4 wire multidrop network includes a host and one or more devices This is a master slave system the host directs all communication Nodes do not speak unless spoken to For this example a protocol might look something like this There are many master slave protocols gt 22M1B1 This character synchronizes all units and alerts them that the The protocol starts with the lt cr gt character next few characters coming down are address and data In this case gt 22 is the units address M is the command 1 is data and B1 is the checksum The
73. ory Map MEMORY Program execution U25 U26 High speed 512K RAMs in DIP form were not readily available at the time of this printing Remote Processing may make an adapter board so higher density RAMs may be installed This section deals with changing the jumpers Jumper block W6 sets the BIOS and program execution RAM size To use 128K RAMs set jumper W8 3 4 For 512K RAMs set W8 4 6 RAM installation will be a matter of removing the old parts and installing the new ones Page 5 2 SECTION 5 BIOS EPROM The BIOS resides in socket U22 The BIOS is accessed on power up and during program development As shipped it is a 32K byte device Normally you will not have to worry about it If you modify the BIOS and program size exceeds 32K you will need to use a 27C512 EPROM Jumper W6 1 2 must be set to access this 64K device DIGITAL AND I O PORTS INTRODUCTION Digital I O lines are used to interface with op to module racks switches low current LED s and other TTL devices These lines are brought out via STB 26 STB 20 or MPS XX opto racks Digital lines are available from multiple sources Connector J6 is considered the primary source Additional lines usable as digital I O are available from the keypad J2 display J4 and CPU J1 analog input and J13 GPIO for a total of 69 digital input and output lines functions and its use must be considered in the system design Some of these lines are intended for
74. ource 0x6000290 RW2 Start conversion 0x6000298 RR3 Read LSB of 12 16 bit conversion 0x6000298 RW3 Channel select SE Diff mode int enable 0x60002A0 RR4 Read MSB of 12 16 bit conversion 0x60002A0 RW4 gain unipolar bipolar select REFERENCES Page 10 7 ANALOG INPUT SECTION 10 Burr Brown Application Bulletins AB 095 AB 098 ADS7808 7809 data sheets Page 10 8 WATCHDOG TIMER INTRODUCTION A programmable watchdog timer is built into the CPU It performs a partial system reset on over flow and acts like a non maskable interrupt On overflow many but not all internal registers are reset No external hardware is affected The watchdog timer can be configured as an interval timer generating an interrupt When configured as a watchdog timer the WDTO VF signal goes low at J13 19 This signal can be tied to the RST line at J12 7 to force a push button reset However when this is done the WOVF flag in the RSTCSR register is cleared There will be no direct way to detect if there was a watchdog timer reset The watchdog timer is reset by periodically writing to a special register This register is different to access as specific data is written to initialize and reset it Reset times are programmable from about 25 uSec to 105 mS See Section 12 Watchdog Timer in the SH7032 Hardware Manual for programming and technical information Review the code in the WDT directory for an operating example Page 11
75. pulled up to 5V through 10K resistor A D trigger for 10 bit input not counted as an interrupt Digital I O Groups and purpose J2 Keypad from 82C55 JA Display from 82C 55 J6 Digital I O from 82C55 J13 Digital I O and timing from CPU Description J2 10 lines primarily used for keypad May be used for digital I O if keypad not used I O from port B and C of 82C 55 J4 14 lines primarily used for display May be used for digital I O if display not used I O Page 18 2 TECHNICAL INFORMATION from port A and B of 82C55 J6 24 lines Primary digital port 8 high current lines sink up to 500 mA at 50V When all 8 lines are on maximum is 80 mA line Output disabled by substituting a dip shunt jumper for the driver IC J13 13 lines 12 are from CPU port B and 1 from CPU port A Some lines may be used for timing and interrupts I O Electrical Specifications 82C55 Low voltage is 0 45V at 2 5 mA 1V maximum at 15 mA for opto rack interface High voltage is 2 4V min sink or source current is 2 5 mA Lines are programmable as inputs or outputs in groups of 4 or 8 CPU Lines are TTL compatible programmable for inputs or outputs Some are Schm idt trigger inputs Refer to CPU manual for specific information Keypad input 10 lines accept a 16 24 position matrix keypad Display port 14 lines to control character and graphics displays Contrast adjustment available Mate with RPC P N 1032 1033 and 1034 displays Pow
76. re enter parameters Use the same parameters except change the gain to the highest you will use or to 800 enter 139 at the gain and bipolar prompt Adjust R3 for a reading of 8000 under Norm or Avg The next step is to apply a known voltage at the input To calibrate at a particular gain apply a voltage to the input which reaches near full scale or the particular voltage ofinterest Example Gain is X100 soa 50 mv maximum voltage is applied to the channel to measure At a gain of X1 then a voltage near 5V should be applied Press a key and re enter the parameters Set the gain for uni or bi polar input as appropriate for your situation Read your input voltage and calculate what the output should be If your input voltage is 35 037 mv and gain is set to 100 output voltage is supposed to be 3 5037 volts The number of counts should read 45967 3 5037 000076293 or OxB38F Adjust R12 to match the input voltage as figured above 10 BIT A D CONVERTER The 10 bit analog to digital converter is built into the CPU Detailed information about this converter is found in the Hardware Manual Hitachi SH7032 7034 in Section 14 page 415 RPC 400 schematics for this converter are on pages 1 and 3 Input impedance is 100K ohm to ground Conversion time is approximately 6 7 micro seconds Input voltage range is nominally 0 5V By changing the reference input at J1 19 this range can be lowered Accuracy of this converter in the 0 5V ra
77. ribed below may be used to reduce noise on low level input signals Input impedance is 1 Meg ohm This is nice for some high resistance devices such as piezoelectric transducers However high impedance makes it susceptible to noise pickup through wires If you are connecting to the card with just a single wire you will get 6 counts of noise in a 12 bit system If your response time can afford it put a cap between the input and ground right at P2 or P3 How much depends Usually 0 01 to 0 1 mfd takes care of most noise Another problem with high impedance sources is the residual capacitance on the board and circuit will load or dump into the signal If your previous reading was 3V and the next one is near 0 that 3 volts has to go somewhere It will discharge into the source How this will affect readings depends upon the resistance and capacitance of the signal source This is most noticeable when you apply a voltage to one channel and leave the one next to it open The adjacent channel may have some reading on it The RP C 400 is a 4 layer board and is designed to minimize noise due to power and grounds The 5V power layer is completely isolated around the analog section Analog ground is tied into digital ground at one point on the board near P4 Another source of error is the A D chip itself This is especially true for the 16 bit systems There are many formulas and discussions explaining why you don t get 16 bits from a 16 bit
78. ro sec onds Over voltage 30V maximum Other channels are affected when over voltage Analog output Channels 4 optional Type Voltage and 4 20 mA current loop Range Voltage outputs jumperable for 0 5 0 10 and 5V Maximum current voltage output 1 mA for rated speed and accuracy Accuracy 2 bits voltage 0 05 current Part kit 1454 for voltage output 1678 for current Current loop supply 13 to 36 volts DAC output drives current loop DAC not available when driving current loop Serial O SECTION 18 2 or 4 available depending upon model chosen Type Two port model RS 232 Four port model RS 232 and RS 422 485 Four port models include isolated RS 422 485 232 Isolation voltage 100 VAC maximum Connector All models programming port uses 10 pin IDC All models all other ports use DB 9 male Pin out matches that of a PC Signals All models Txd Rxd CTS RTS CTS and RTS not available on RS 422 485 port Multi mode counter Channels 4 Types Quadrature encoder and pulse and pulse width Count rate Quadrature encoder 1 Mhz maximum with minimal filter Pulse input 20 Mhz Pulse width 203 nS minimum width 3 3 seconds maximum Count bits 24 each channel Input voltage Counter 0 is 12 volts adjustable trigger level Counters 1 3 are TTL levels Interrupts Total externally available 5 Interrupt latency 2 micro seconds typical Pull ups 3 All external
79. rogram size in hex is 6247 round it to 6400 This is effectively the number of bytes flash will use anyway because of programming requirements Starting address is displayed on the screen 3 Save it to flash The SF command saves programs to flash Type in the following command CMON gt SF 9002000 length start address Progress is displayed on the screen while programming Programming time depends upon the length and flash EPROM type A 512K type programs 512 bytes in about 10 ms Testing is as simple as removing jumper W16 and resetting the board Your program should run AUTORUN The RPC 400 is set to autorun on power up or reset by removing jumper W16 At power up or reset the BIOS reads this jumper If it is open it loads the program previously saved in U23 to RAM It then jumps to the start address defined at address 0x9002000 Program execution begins from there Page 3 2 Problems The COMO port is not initialized when autorun is enabled COMO will work if the board was powered up in the monitor mode first Make sure you initialize COM 0 SECTION 3 SAVING PROGRAMS FLASH DEMO PROGRAM A flash EPROM demonstration program is in the EPROM 1 subdirectory This program uses HINT to download and run the program C File name is EPROMI and run time file is RPC400 SR Use the sample program for routines to save data or programs to flash MEMORY MAP FLASH EPROM The Flash EPROM is in CPU memory area 2 I
80. rogress of the program downloading to the card Download takes about 2 minutes When downloading is done you will see the low high and starting address For example LOW ADDRESS 09002000 HIGH ADDRESS 09005747 START ADDRESS 090025F4 Type in the letter g and the start address you see on the screen For example g 90025F4 The program will now execute View the screen for further information To stop execution press the reset button Page 2 4 SETUP AND OPERATION RUNNING DEMO PROGRAMS All demonstration programs are in the RPC400 directory Each demo program uses either the GDB debugger or HINT communication program Programs can be linked to use either debugging method All demo program directories have a batch file which calls the DOS editor to make changes to the program compiles links it and calls one of two programs to load the program into the board Some demo programs use the GDB debugger while others use the HINT program View the batch file to determine which one it uses Refer to Section 16 PROGRAMMING NOTES LINKING PROGRAMS for information on changing the linker command file for debugging A common load format is used when HINT is used to load programs l rpc400 sr Enter this command after a board reset or at a command prompt while running HINT The file rpc400 sr is an S record file This file name is specified in the linker command file It is a good idea to read the C source file before
81. ror when the common mode input is 14 volts p p Maximum common mode voltage is about 2 volts below the maximum V supply and 2 volts above the V supply A simplified schematic of a bridge circuit interfacing with the front end is shown below External RPC 400 Y 210 360 vp loi uod Pau aM gt 400M 3 m i m TH gh 210 M Zo M T 0M T Figure 10 1 External section is a typical bridge circuit used in pressure transducers 350 ohms represents typical resistance Page 10 2 ANALOG INPUT The variable capacitors represent cable board and IC capacitance The 1 Meg ohm resistor is the input resistor while 210 is the resistance of the multiplexers A large source of noise is due to phase differences between input signals This phase difference occurs when signal sources are high impedance One way to correct phase differences is to put a small variable capacitor 10 35 pf at one of the inputs and monitor shield driver output on P3 Adjust the capacitor for minimum AC output This technique works only when the source impedance is high gt 10K ohm Another way to reduce noise errors due to CMRR is to take multiple samples over the common signal period For a 60 hz common mode signal this means taking several measurements for 16 66 ms Try to take only enough samples to cover the period of one common mode signal Taking samples over a 20 ms period in a 60 Hz environment will
82. running a demo program The first part will tell you what the program s purpose is and what to expect as an output If your card does not have CO M2 and COM3 serial ports you cannot run any of the programs that use them Page 2 5 SECTION 2 SETUP AND OPERATION SECTION 2 WHERE TO GO FROM HERE If you want to do this Turn to Section Save a program 3 Run a program at power up or reset Autorun 3 Know more about serial ports 4 Adding and using data RAM 5 Using digital ports 6 Add a clock calendar 7 Add battery backed RAM 7 Use display port 8 Connect a keypad 9 Measure voltages analog input 10 Enable the watchdog timer 11 Use external interrupts 12 Connect a proximity sensor 13 Connect a quadrature encoder 13 Measure pulse periods 13 Use the voltage outputs 14 Use the 4 20 mA outputs 14 Add other devices 15 How to start writing your own programs 16 Know more about the programming environment 16 Page 2 6 SAVING PROGRAMS INTRODUCTION Temporary or final programs are stored in a flash type EPROM in socket U23 This socket holds 32K 128K or 512K byte devices They can hold multiple programs or store data Maximum running program transferrable to RAM is about 240K excluding any variables Programs are saved to flash using the monitor program The SF command saves the start up or autorun program It can also save secondary programs and data from RAM An example flash EPROM saving and loading routine is in the
83. s in the computer The root directory defaults to RPC GNU unless you supply an additional parameter in the DOS command line Loading the Disks Make sure you are in the DOS root directory Co Insert disk 1 into the A drive Page 2 2 SETUP AND OPERATION Type the following files as necessary a install Program is installed to RPC GN U directory The files will now unzip to your drive Insert the remaining disks as prompted Modifying your Environment The DOS path and environment must be modified before you can run many of the programs Modify your AUT OEX EC BAT file as follows Add to the path C RPC GNU BIN Set your environment as follows SET PATH c deviNgnu BIN SPATHS SET GCC EXEC PREFIX c devl gnu LIB SET INFOPATH c devl gnu INFO SET C_INCLUDE_PATH c devl gnu include SET CPLUS INCLUDE PATH c devl gnu include cxx c devl gnu incluce SET GO32 EMU c devl gnu BIN EMU387 Set TMPDIR to point to a ramdisk or other temporary directory SET TMPDIR c temp You can also run the batch file SETENV BAT and it will set up things for you Verifying Software Installation To verify proper installation set the current directory to RPC GNU RPC400 D EMO and execute the batch file For example c gt RPC GNU RPC400 DEMO demo gcc O x G demo c ld Trpc400 cmd hint coml This batch file invokes the compiler gcc linker 1d and HINT terminal program These programs should be in the RP
84. s that it is closer to 8 Polled Mode Up to 150 CPU instructions can be executed between the time a conversion is initiated and data read the number of instructions will vary depending upon the type If your process has nothing better to do during the conversion time you can simply wait for the busy bit to go back high Review code in demonstration program ain2 c Interrupt Mode During the time a conversion is started to the time it is completed 150 CPU instructions can theoretically be executed The number of C instructions varies Simply checking the status of a flag incrementing a counter runs about 15 loops In the below program taken from demonstration program ainl c j counts to 15 after starting a conversion j 0 while iflag j This code takes 4 computer instructions which is 200 nS loop The reason it doesn t count higher is because branches take up more time and there is some setup time We advise putting in some sort of timeout in case the A D does not cause an interrupt within a reasonable time The following fragment bails out after a time j 0 while iflag jtt xf 15 iflag 2 this says data not good Keep in mind it takes two conversions back to back to get a current reading See Reading Results below Reading Results The 12 16 bit A D converter is of the type that returns the results of the last conversion while sampling and converting the current input In other words i
85. se the various capabilities of the RPC 400 OPERATING PRECAUTIONS The RPC 400 is designed to handle a wide variety of temperature ranges at low power These characteristics require using CM OS components CMOS is static sensitive To avoid damaging these components observe the following precautions before handling the RPC 400 1l Ground yourself before handling the RPC 400 or plugging in cables Static electricity can easily arc through cables and to the card Simply touching your PC before you touch the card can greatly reduce the amount of static 2 Do not insert or remove components when power is applied EQUIPMENT A development system provides all ofthe parts necessary to program and operate the card You need to supply a 386 or faster PC with an RS 232 serial port Power Supply The development system includes a power supply capable of operating the board There are some limitations on this supply in certain situations 4 20 mA Current loop output requires a minimum of 13 volts to operate using a 500 ohm terminator resistor The development power supply will not output enough voltage A 250 ohm resistor will work as the terminating resistor If you want to use your own supply make sure it meets the following requirements Designations in single quotes are those marked at P1 5V 5 0 25 V 0 5A Reset voltage is about SECTION 2 4 75 volts and below The board may be operated at up to 5 5V withou
86. serial port is COM 2 then use that instead When power is applied or the reset button is hit you should get the sign on message To load programs output code must be in SR format Use the l command to load programs For example the code in the LCD4X20 directory isin SR format To load the code simply type l rpc400 sr The HINT program will take care of loading it from the disk and sending it to the card W hen loading is complete the lowest and highest address as well as the starting address is displayed To run a program simply type the command g followed by the address Do not use the prefix Ox as all addresses using the monitor are understood to be hex If you forget to write down the starting address after a load you can always view it by entering the command dw 9002000 The first two words are the starting address It should be something like 9002500 This will vary depending upon the number and length of interrupt programs and text in your program Page 17 4 TECHNICAL INFORMATION ELECTRICAL SPECIFICATIONS CPU Hitachi SH 1 SH7032 RISC processor Clock 19 6608 Mhz Memory High speed 20 ns SRAM 256KB Program execution Low speed 100 ns SRAM 32K to 512KB Data storage Flash EPROM 32K to 512KB Program and data storage Monitor ROM Socket accepts 32K or 64KB EPROM Based on Hitachi CMON 32KB installed Auto run on power up jumper W16 removed Monitor used during devel
87. t damage Current rating is based on no loads at the digital ports and should be increased based on requirements If you are using an opto rack each module requires 15 mA An LCD display with LED back light on requires 5 amps The 10 bit A D converter normally uses 5V asa reference This is desirable if readings are ratiometric or not critical See Section 10 ANALOG INPUT under 10 BIT A D CONVERTER for more information 15 should be 9 to 16 volts 50 to 150 mA If the system uses 4 20 mA current loop or 0 10V D A output supply voltage must be a minimum of 13V Current output depends upon number of 4 20 mA or D A outputs RS 232 outputs at J8 J9 and J11 use this same supply as does the A D converter circuitry 15 supply is 8 to 16 volts 50 mA This supplies D A outputs A D inputs and RS 232 outputs CLP supplies the current loop power Normally it is 13 to 36 volts 80 mA This supply is necessary only if you are using 4 20 mA current loop output at P4 You can use 15 power provided transmission distances are short and load resistance is 500 ohms or less PWR at P5 This is intended to supply either 21 volts for a graphics LCD display or additional 5V for a vacuum florescent Refer to the display section for more information Be careful when using some switching supplies Some switchers require minimum loads that may not be met when connected to this card Supply rise time should be as q
88. t is accessed 8 bits at a time so its address is 0x2000000 to 0x207FFFF RAM in U24 is also in CPU memory area 2 It is accessed starting at 0x2080000 See SECTION 5 for more information on RAM See Table 5 1 for a complete memory map Access time Flash EPRO Ms have access times of 100 nS The wait state controller WCRI should be set so area 2 has one long wait plus the number of wait states specified in WCR3 Refer to the SH 1 Hardware manual Section 8 Bus State Controller for more information The BIOS leaves the register settings alone as the power up defaults are adequate If you are going to run programs directly from the flash EPROM or RAM then you can shorten up the time to reflect the access time of the device you are using Page 3 3 SECTION 4 SERIAL PORTS INTRODUCTION The RPC 400 is available with either 2 or 4 serial ports The 2 port version has RS 232 I O The 4 serial port version has three RS 232 I O The fourth is isolated and jumper selected for RS 232 or RS 422 485 W13 RS 485 terminator j d j 232 485 COM3 W12 RS 232 or 485 COMO select COM2 COM 1 W11 2 4 Wire mode Figure 4 1 Serial Ports Schematics are on pages 6 and 7 COM0 AND COMI Description Both of these serial ports function identically COMO is used as the program ming port During run time this por
89. t may be used like COM 1 COMO is initialized by the BIOS only when the auto run jumper is installed For cold power up COMO must be initialized if used Detailed programming information is in the SuperH RISC Engine Hardware Manual section 13 COMO and COMI are programmable for baud rates between 110 and 38400 When you refer to the baud rate tables the cpu clock is 19 6608 Mhz Other programming capability include data length at 7 or 8 bits 1 or 2 stop bits and none even or odd parity COM O0 at J9 is a 10 pin IDC connector Its pin out is at the end of this section Use the VT C 9F serial cable to connect from COMO directly to a PC Table 4 1 is the connector pin out COM 1 at J11 is a 9 pin male D SUB Pin out matches that of a PC Table 4 2 is its connector pin out Notice that not all pins are used Initialization The CM ON BIOS initializes COMO on power up or reset and auto run is not selected It is a good idea to initialize COM 0 in your program if you intend to use this port during run time The problem is when you auto run your program after a power up COMO won t get initialized Initialized settings are not changed on a push button reset COMO is normally used as a debugging port However during run time it may be used as any other serial port provided you do not use the GDB debugger You must use HINT or the device you intend to connect to COM 0 You may use the GDB debugger if you don t care about any ou
90. t or notch 4 20 Ma D A s i dq j me ja eel OE a oe P4 Analog output Figure 14 1 Analog Output Voltage Output Voltage ranges are jumpered in hardware using W2 WS Jumper positions for a voltage are the same for all Voltage Jumper Range Position 0 5 4 5 0 10 1 2 5V 3 4 Set jumper to 0 10 volt output 1 2 fora 4 20mA current loop To output a voltage a number from 0 to 4095 is sent in two bytes The lower 8 bits are written first followed by the upper 4 bits The D A changes value when the upper 4 bits are written to The output is updated when the upper 4 bits are written The demonstration disk shows how a ramp is generated Refer to program aotl c in subdirectory aotl Response Time The time it takes to change from one voltage to another Page 14 1 SECTION 14 ANALOG OUTPUT depends upon the delta V For a 0 10 and 10 0 V delta V2 CL2 0x600308 V response time is about 3 5 micro seconds 0x60030A V3 CL3 0x60030C 0x60030E Output N oise Analog outputs are isolated from the digital bus through a buffer U19 The greatest noise is when any of the analog channels is accessed The amplitude of this noise is about 1 V P P at 10 volt output It is slightly less at lower output voltage Duration of each pulse is about 200 nS with each converter generating two pulses every chan
91. ters are used to configure and access port B Section 15 3 3 in the Hitachi SH7032 Hardware Manual describes PBIOR which in general determines what lines are inputs and outputs PBCRI and PBCR2 described in section 15 3 4 select the functions of the pins Section 16 3 2 describes PBDR which is the actual data I O register A write to this register determines the output level while a read returns the current status Port B can also be used for counting timing functions Refer to Section 13 COUNTING TIMING for more information on alternate uses See the DIO directory for port access example Pins are capable of driving standard TTL loads The table below shows the current output at a level Item Current ma Output low level per pin 10 Output low level total 80 Output high level per pin 2 5 Output high level total 25 These levels apply only to J13 Input currents are 1 ua Do not exceed 5V positive or go lower than 0V SECTION 6 J2 JA OPERATOR INTERFACE Ports J2 and J4 are intended to interface to a keypad and display respectively If you are not using one or the other then they are available as digital I O in a manner very similar to J6 discussed above These ports interface to an 82C55 Consequently programming and electrical characteristics are the same as for J6 The exception is neither J2 or J4 has a high current output Use Table 6 2 above to configure the 82C55 ports This port is accessed from 0x6000180
92. to these locations is OK Year 2000 The DS1216D series modules return years as 00 to 99 Itis your responsibility to determine the millennium BATTERY BACKED RAM RAM is not backed up until power is first applied to the module After that 3 volts is supplied to pins 14 and 28 32K or 16 and 32 128K or 512K RAMs when power is off DISPLAY PORT INTRODUCTION The display port supports vacuum florescent VF character LCD character and LCD graphic displays LCD graphic display is also supported on the expansion bus at J12 Sample programs are located in the following directories Display type Directory LCD 4 x 20 LCD 420 LCD 4 x 40 LCD 440 Vacuum F lorescent VFD LCD graphics J4 GRAPHI LCD graphics J12 GRAPH2 Sample programs provide basic character positioning and printing routines The graphics display routines also provide dot and line drawing exam ples Power for VF and graphics displays is brought in at P5 VF displays draw about 500 mA Bringing 5V and ground from the power supply to P5 at PWR reduces line losses and ground loops on the board 21V is required for graphics displays Itis brought in to P5 PWR A 10K 50K contrast pot is also connected to P5 The center wiper of the pot is broughtto ADJ while the other ends are broughtto GND and PWR The PWR pin may have two wires in it if the pot is The graphics display require external parts directly connected to P5 The graphics displ
93. tput from COM O0 All of the demonstration programs use either COMO or COM 1 Initialization routines for COMI are in the 400IO sub directory and file The 4001IO C file also has general purpose get and put character and string routines RTS and CTS Lines CTS and RTS lines are used for hardware flow control The SH 1 processor does not have these lines as part of its UART They are brought out digital ports on the CPU where its function may be emulated Names for C TS and RTS lines is a source of confusion Normally CTS isan output from a PC On the RPC 400 CTS is an input on COMO and an output on COMI COM 3 Conversely CTS is a PC input while it is an output on COM 0 The discussion that follows will use the PC convention Keep in mind that the names and functions are reversed on COMO only RTS is used by a receiver to indicate if OK to send A high level at the connector indicates yes send data while a low level indicates hold off This line goes to a sender CTS pin to signal conditions stated above The CTS inputline on COMI and RTS input on COMO have a 4 7K ohm pull up to 5V at the connector This is to enable communication if this line was missing on the external device CTS works nicely as a hardware hold off It can generate an interrupt when it goes high and there are characters to transmit However when C TS checking is operated in polled mode the line must be checked every time a character is transmitted
94. ture changes RR10 Clear counter 1 IRQ latches A read to this register clears carry and borrow IRQ No meaningful data is returned COUNTER INTERRUPTS All counter and A D interrupts are ORed and go to CPU INT 0 Interrupt sources are determined by reading one or two registers Interrupts are enabled and cleared by writing and reading to from various registers These registers are described below The Bits column shows the bit of interest to generate an interrupt when either the carry or borrow line from the counter goes low In all cases an interrupt is enabled when a bit is set to a 1 They are disabled on reset or by writing a 0 at any time All counter interrupts are latched on a 40 nS or longer pulse During an interrupt service routine the latch saving the interrupt must be cleared This is done by reading the port where the interrupt was first enabled So a read at address 0x6000280 clears carry borrow and gate flags for counter 1 No meaningful data is returned on these reads Page 13 4 COUNTING TIMING All Counter interrupt sources share a same common output IRQ 0 on the CPU To determine the source read register RR2 and if necessary RR6 A high indicates it caused or was one of the ones that caused an interrupt Interrupt Type Read at Bit source register no Counter 0 Carry RR6 4 Counter 0 Borrow RR6 5 Counter 1 Carry RR6 6 Counter 1 Borrow RR6 7 Counter 2 Carry RR2 1 Counter 2 Borro
95. uick as possible The penalty using a slow supply is garbage output of the RS 232 ports The CPU is not sending data as it is held in reset However as the and 15 volt supplies rise the output changes and can give the appearance of sending data Page 2 1 SETUP AND OPERATION err near oma wo CONRMST Ioano s us Power input con SECTION 2 Autos E us RESET Flas EPROM a Progan st 8 an sagt LI un con cont come Programming port Figure 2 1 RPC 400 board power and programming ports Personal Computer PC The PC used to compile and upload programs to the RPC 400 must be a 386 or better minimum speed requirements There are no real The penalty for using a slow computer is increased compile and linking time One serial port is used to download debug and communicate with the RPC 400 Communication speed is set at 9600 baud The compiler linker and debugger use a DOS environment DOS should be 3 3 or higher You may write compile link and upload programs over a network This has been successfully done using Microsoft tm Windows R version 3 11 and Windows 95 operating systems You should have about 10 Meg of free hard disk space available for saving programs PC SETUP COMPILER INSTALLATION The development system consists of a set of disks These disks contain the compiler libraries source code and demonstration programs These are saved to various subdirectorie
96. ve The values shown under Gain are typical and not maximum Maximums are about 5 to 10 times worse depending upon the gain and chip For a 12 bit systems with 4096 counts a typical high gain error of 0 05 corresponds to about 2 counts at full scale A 16 bit system with 65536 counts the typical high gain error of 0 05 results in about 33 counts of error Another source of error in the gain amplifiers is temperature Gain errors range from 0 00035 C to 0 0031 C at gains of X100 and above These are typical as described by Burr Brown Maximum is not specified For the 12 bit converter these errors are not significant Sixteen bit converters can expect a 2 count error C change at X100 gain and above An 8 C change is required to make a 1 count error in 12 bit systems Signal source impedance can also cause errors All analog inputs have a 1 Meg ohm resistor to ground High source impedance will make a small voltage divider at P2 or P3 For 12 bit accuracy source impedance should beless than 244 ohms Sixteen bit systems should have less than 15 ohms impedance Since these resistances are usually constant you can factor them in any conversion equations If desired you can remove the resistor networks R1 and or R2 to dramatically improve input impedance gt 50M ohm Make sure you ground unused inputs The A D chip itself U9 contributes up to 3 bits of error This is not to say you will always get 3 bits of chan
97. w RR2 2 Counter 2 Gate RR2 0 Counter 3 Carry RR2 5 Counter 3 Borrow RR2 6 Counter 3 Gate RR2 4 A D Done RR2 7 PROGRAMMING NOTE It is possible to miss a new interrupt during the proc ess of clearing IRQ registers The way to avoid this is to check all counters that can generate interrupts and determine if one is imminent This is done by reading the counts and determining if it is near a limit There may be other methods suitable to your application If A D conversion is possible set a global flag int before conversion to 1 to indicate this The program can wait in the interrupt service routine until conversion is complete gt 10 micro seconds You can operate in pwm mode without using interrupts However ALL interrupts for INTO would have to be disabled in the CPU by forcing bits 8 and 9 to 0 in PACRI Programming remains the same You would have to poll the appropriate register to determine what source was active COUNTING MEASUREMENT MODES There are several possible counting and time interval measurement modes at counters 2 and 3 Counters 0 and 1 only perform the modes allowed in the LS7266 chip They cannot measure any pulse w idths Basic The basic counting mode refers to those modes allowed in the LS7266 chip These include up down and quadrature Refer to the LS7266 data in Appendix B for more information The C driver exam ple disk show how SECTION 13 to program and access this chip for its counting modes L
98. x60002c6 0x46 RR9 RW9 0x60002c8 0x48 RR10 0x60002d0 0x50 SECTION 13 Most registers are set to 0 on power up or push button reset Some registers are cleared by reading The basic function of each register is described below More detail is provided later as appropriate to the register RW0 Table 13 3 Counter 2 IRQ enable counting mode Bit 7 6 5 4 3 2 1 0 Where BW2EN Borrow counter 2 U48 X axis Enables interrupts when borrow line goes low CY2EN Carry counter 2 U48 X axis Enables interrupts when carry line goes low G2EN Gate counter 2 U48 X axis used for pwm PWM2EN Enable pwm counter 2 U48 X axis PWM23 pwm mode bit 3 PWM22 pwm mode bit 2 PWM2 1 pwm mode bit 1 PWM20 pwm mode bit 0 Bits 6and 7 enable an interrupt when counter 2 s carry or borrow bit goes low Pulses from the carry and borrow lines can be short enough the CPU can miss them The carry and borrow signals are latched when the respective line goes low Bit 5 enables a pwm counting mode interrupt Bit 4 enables pwm counting Bits 0 3 define the pwm counting mode All bits are 0 upon push button or power up reset RRO Clears all counter 2 IRQ latches caused by a carry Page 13 2 COUNTING TIMING borrow and or gate for counter 2 by reading this port No useful data is returned RW 0 is not affected by a read A latch is set to 1 if enabled in RW 0 and the appropriate

RPC-400 USER`S MANUAL REV 1

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