The MOD110 digital input/output (DIO) expansion adds up to eight digital inputs and outputs to the system, and an additional CAN port. It also optionally provides support for pulse width modulation (PWM) on three of the eight digital output pins, and support for using a quadrature encoder peripheral (QEP) in place of the first and/or second group of three digital inputs.
The isolated digital inputs/outputs are enabled by default, and require an external power source (9 ~ 48 VDC) in order to operate.
The outputs function as open-collectors, and should not be used to source more than 150mA of current.
The additional CAN device supported by the MOD110 IO Module supports CAN 2.0 A/B at bitrates from 100000 to 1000000. The CAN device is not internally terminated, so a properly terminated CAN cable should be used when connecting to the device.
Digital outputs 0, 1, and 2 can be optionally configured to operate in PWM mode. This configuration is performed in the system UEFI BIOS (Setup Menu > Advanced > OnLogic Feature Configuration).
The frequency of the PWM is limited by the switching speed of the isolating optocouplers to 10KHz.
Groups of digital inputs (0, 1, 2 and 3, 4, 5) can be optionally configured to operate as a QEP (Quadrature Encoder Peripheral). This configuration is performed in the system UEFI BIOS (Setup Menu > Advanced > OnLogic Feature Configuration).
Interfaces on the MOD110 IO Module are managed of the system’s Host Embedded Controller Interface (HECI). Installing the system driver for this interface is a required prerequisite to using the MOD110, and it can be found as part of the K400’s system driver package.
On Linux systems, see Using the K400 on Ubuntu for driver installation instructions.
Once the driver is installed, the MOD110 can be controlled programmatically over the HECI connection, or by using the provided hardware control command line application.
Sample code (in C) is also available for Linux, and for Windows (beta; available on request).
The hardware control application can be used to read and write the states of the digital outputs and inputs.
# Set digital output 0 $ hwc.exe dio set digital-output 0 # Clear digital output 0 $ hwc.exe dio clear digital-output 0
# Read the state of a digital input $ hwc.exe dio read digital-input 0
Additionally, digital-inputs track the number of signal edges detected since device power-on; this count can be reported and cleared by the command line interface:
# Clear the toggle-count of a digital input $ hwc.exe dio clear-count digital-input 0
Contextual help information is also available in the application:
$ hwc.exe dio --help Read and write digital IO states Set outputs, read both inputs and outputs. USAGE: hwc.exe dio <action> <kind> <pin> FLAGS: -h, --help Prints help information -V, --version Prints version information ARGS: <action> Kind of action to take on the IO pin [possible values: ...] <kind> The type of IO device to target [possible values: ...] <pin> Hardware pin number used by this operation
The hardware control application support reading and writing CAN frames, as well as enabling/disabling the device.
NOTE The MOD110’s CAN device is referenced as device one (-d 1) the onboard CAN is device zero (-d 0).
# Set the device baudrate to 500000 $ hwc.exe can -d 1 set-baudrate 500 # Enable the can device $ hwc.exe can -d 1 enable # Send a message $ hwc.exe can -d 1 write 1FF 3 -- 11 22 33 # Receive a message $ hwc.exe can -d 1 read
Contextual help information is also available in the application:
$ hwc.exe can --help Control system CAN devices Send and receive messages, set the system baudrate, and report status USAGE: hwc.exe can [OPTIONS] <action> [msg-id] [length] [-- <data>...] FLAGS: -h, --help Prints help information -V, --version Prints version information OPTIONS: -b, --baudrate <baudrate> Set the CAN baudrate from 100 - 1000 kbaud [default: 500] -d, --device <device> The CAN device to target, if the interface has more than one [default: 0] -f, --frame-type <frame-type> Select if this frame is Standard or Remote [default: standard] [possible values: standard, remote] -i, --id-type <id-type> CAN ID format specifier. IDs greater that 0x7FF should be sent as extended, or they will be truncated [default: standard] [possible values: standard, extended] ARGS: <action> CAN action to perform [possible values: read, write, enable, disable, set-baudrate, status-report, status- clear] <msg-id> The ID of a CAN message, must be <0x7FF for standard frames and <0x1FFFFFFF for extended frames [default: 0] <length> The length of this CAN message, 0 - 8 If length is greater than the number of provided bytes, they will be filled with 00 [default: 8] <data>... Can data vector, up to eight bytes in length [default: 00]
The PWM supports starting/stopping output, as well as setting the period and pulse of the PWM signal.
# Set the pwm signal behavior $ hwc.exe set-cycles --period 1000000 --pulse 500000 # Start the pwm output $ hwc.exe pwm start # Stop the pwm output $ hwc.exe pwm stop
In-application help is also available:
$ hwc.exe pwm --help Control system PWM devices USAGE: hwc.exe pwm [OPTIONS] <action> <device> FLAGS: -h, --help Prints help information -V, --version Prints version information OPTIONS: -t, --period <period> Period, in microseconds [default: 0] -p, --pulse <pulse> Pulse, in microseconds [default: 0] ARGS: <action> Kind of action to take on the pwm device [possible values: start, stop, set-cycles] <device> The PWM device to target on this controller
The Quadrature Encoder Peripheral supports a number of configurations and commands, including setting the edge trigger type, index gating, and switching between edge capture and decoder mode:
$ hwc.exe qep --help Control system QEP (Encoder) peripherals USAGE: hwc.exe qep [FLAGS] [OPTIONS] <action> FLAGS: -h, --help Prints help information --swap-inputs Swap the Phase A and Phase B inputs -V, --version Prints version information OPTIONS: -c, --counter-reset <counter-reset> Select which event will cause a reset of the encoder position counter [default: max-count] [possible values: max-count, index-event] -a, --data <data> Data returned from/ sent to a QEP command. Zero if the command does not return a data value GetDirection: The direction based on the last change event 0: Clockwise, 1: Counter-Clockwise, 2: Unknown GetPositionCount: The current position count StartCapture: The number of edges to capture GetPhaseError: Whether or not a phase error has been detected [default: 0] -d, --device <device> The QEP device to interface with, if the controller has more than one [default: 0] -g, --edge-type <edge-type> Edge to trigger capture events on in edge capture mode [default: rising] [possible values: rising, falling, both] -e, --event <event> QEP Event to enable or disable Only used when calling 'enable event' or 'disable event' [default: unknown] [possible values: watchdog-timeout, counter-reset-up, counter-reset-down, direction-change, phase-error, edge-capture-done, edge-capture-cancelled, unknown] -f, --filter-width <filter-width> The noise filter width in nanoseconds. Set to 0 to disable noise filtering [default: 0] -i, --index-gating <index-gating> Select the system index gating, which effects the counter reset in index-event mode [default: a-low-b-low] [possible values: a-low-b-low, a-low-b-high, a-high-b-low, a-high-b-high] -m, --mode <mode> Select encoder or edge-capture QEP operation [default: decoder] [possible values: decoder, edge-capture] -p, --pulses-per-rev <pulses-per-rev> The number of pulses per revolution in quadrature decoder mode [default: 0] -w, --watchdog-timeout <watchdog-timeout> The watchdog timeout in microseconds. The QEP watchdog will trigger an event on stalls when operating in decoder mode Set as zero to disable the watchdog [default: 0] ARGS: <action> Kind of action to take on the qep device [possible values: configure, start-decode, stop-decode, get- direction, get-position-count, start-capture, stop-capture, enable-event, disable-event, get-phase- error]
Interfacing with the HECI driver requires elevated permissions on both Windows and Linux. The commands in this guide should be run from an elevated command prompt.
Hardware Control CLI
The hardware control application supports verbose debug output:
$ hwc.exe -v debug dio read digital-input 0
Capturing this output is helpful if you’re reaching out to OnLogic for support with an issue using your hardware.