Rabbit BL4S200 User Manual

BL4S200

C-Programmable Single-Board Computer with Networking

User’s Manual

019–0171_E

BL4S200 User’s Manual

Part Number 019-0171_D • Printed in U.S.A.

©2008–2010 Digi International Inc. • All rights reserved.

Digi International reserves the right to make changes and

improvements to its products without providing notice.

Trademarks

Rabbit, RabbitCore, and Dynamic C are registered trademarks of Digi International Inc.

RabbitNet is a trademark of Digi International Inc.

The latest revision of this manual is available on the Rabbit Web site, www.rabbit.com,
for free, unregistered download.

Digi International Inc.

www.rabbit.com

TABLE OF CONTENTS

Chapter 1. Introduction 6

1.1 BL4S200 Description ...........................................................................................................................6

1.2 BL4S200 Features.................................................................................................................................6

1.3 Development and Evaluation Tools......................................................................................................8

1.3.1 Tool Kit .........................................................................................................................................8

1.3.2 Software ........................................................................................................................................9

1.3.3 Optional Add-Ons .........................................................................................................................9

1.4 RabbitNet Peripheral Cards ................................................................................................................10

1.5 CE Compliance ...................................................................................................................................11

1.5.1 Design Guidelines .......................................................................................................................12

1.5.2 Interfacing the BL4S200 to Other Devices.................................................................................12

1.6 Wi-Fi Certifications (BL5S220 Model only)......................................................................................13

1.6.1 FCC Part 15 Class B ...................................................................................................................13

1.6.2 Industry Canada Labeling ...........................................................................................................14

1.6.3 Europe .........................................................................................................................................15

Chapter 2. Getting Started 16

2.1 Preparing the BL4S200 for Development ..........................................................................................16

2.2 BL4S200 Connections ........................................................................................................................17

2.2.1 Hardware Reset ...........................................................................................................................18

2.3 Installing Dynamic C ..........................................................................................................................19

2.4 Starting Dynamic C ............................................................................................................................20

2.5 Run a Sample Program .......................................................................................................................20

2.5.1 Troubleshooting ..........................................................................................................................20

2.6 Run a Wi-Fi Sample Program (BL5S220 only)..................................................................................21

2.7 Run a ZigBee Sample Program (BL4S230 only) ...............................................................................22

2.8 Where Do I Go From Here? ...............................................................................................................23

Chapter 3. Subsystems 24

3.1 BL4S200 Pinouts ................................................................................................................................25

3.1.1 Connectors ..................................................................................................................................26

3.2 Digital I/O ...........................................................................................................................................27

3.2.1 Configurable I/O .........................................................................................................................27

3.2.2 High-Current Digital Outputs .....................................................................................................34

3.3 Serial Communication ........................................................................................................................36

3.3.1 RS-232 ........................................................................................................................................36

3.3.2 RS-485 ........................................................................................................................................36

3.3.3 Programming Port .......................................................................................................................38

3.3.4 Ethernet Port ...............................................................................................................................39

3.4 A/D Converter Inputs..........................................................................................................................40

3.4.1 A/D Converter Calibration..........................................................................................................42

3.5 D/A Converter Outputs.......................................................................................................................43

3.5.1 D/A Converter Calibration..........................................................................................................44

3.6 Analog Reference Voltages Circuit ....................................................................................................45

3.7 USB Programming Cable ...................................................................................................................46

3.7.1 Changing Between Program Mode and Run Mode ....................................................................46

BL4S200 User’s Manual 3

3.8 Other Hardware...................................................................................................................................47

3.8.1 Clock Doubler .............................................................................................................................47

3.8.2 Spectrum Spreader ......................................................................................................................48

3.9 Memory...............................................................................................................................................49

3.9.1 SRAM .........................................................................................................................................49

3.9.2 Flash Memory .............................................................................................................................49

3.9.3 VBAT RAM Memory.................................................................................................................49

3.9.4 microSD™ Cards ........................................................................................................................49

Chapter 4. Software 51

4.1 Running Dynamic C ...........................................................................................................................51

4.1.1 Upgrading Dynamic C ................................................................................................................53

4.1.2 Add-On Modules.........................................................................................................................53

4.2 Sample Programs ................................................................................................................................54

4.2.1 Digital I/O ...................................................................................................................................55

4.2.2 Serial Communication.................................................................................................................60

4.2.3 A/D Converter Inputs..................................................................................................................62

4.2.4 D/A Converter Outputs ...............................................................................................................64

4.2.5 Use of microSD™ Cards with BL4S200 Model.........................................................................66

4.2.6 Real-Time Clock .........................................................................................................................66

4.2.7 TCP/IP Sample Programs ...........................................................................................................66

4.3 BL4S200 Libraries..............................................................................................................................67

4.4 BL4S200 Function Calls.....................................................................................................................68

4.4.1 Board Initialization .....................................................................................................................68

4.4.2 Digital I/O ...................................................................................................................................69

4.4.3 High-Current Outputs .................................................................................................................92

4.4.4 Rabbit RIO Interrupt Handlers..................................................................................................104

4.4.5 Serial Communication...............................................................................................................108

4.4.6 A/D Converter Inputs................................................................................................................110

4.4.7 D/A Converter Outputs .............................................................................................................123

4.4.8 SRAM Use ................................................................................................................................131

Chapter 5. Using the Ethernet TCP/IP Features 132

5.1 TCP/IP Connections .........................................................................................................................132

5.2 TCP/IP Sample Programs .................................................................................................................134

5.2.1 How to Set IP Addresses in the Sample Programs ...................................................................134

5.2.2 How to Set Up your Computer for Direct Connect ..................................................................135

5.2.3 Run the

5.2.4 Running More Demo Programs With a Direct Connection......................................................137

5.3 Where Do I Go From Here? .............................................................................................................137

PINGME.C Demo ....................................................................................................136

Chapter 6. Using the Wi-Fi Features 138

6.1 Introduction to Wi-Fi ........................................................................................................................138

6.1.1 Infrastructure Mode...................................................................................................................138

6.1.2 Ad-Hoc Mode ...........................................................................................................................139

6.1.3 Additional Information .............................................................................................................139

6.2 Running Wi-Fi Sample Programs.....................................................................................................140

6.2.1 Wi-Fi Setup...............................................................................................................................141

6.2.2 What Else You Will Need.........................................................................................................142

6.2.3 Configuration Information ........................................................................................................143

6.2.4 Wi-Fi Sample Programs............................................................................................................146

6.2.5 RCM5400W Sample Programs.................................................................................................151

6.3 Dynamic C Wi-Fi Configurations.....................................................................................................154

6.3.1 Configuring TCP/IP at Compile Time ......................................................................................154

6.3.2 Configuring TCP/IP at Run Time .............................................................................................158

6.3.3 Other Key Function Calls .........................................................................................................158

6.4 Where Do I Go From Here? .............................................................................................................159

BL4S200 User’s Manual 4

Chapter 7. Using the ZigBee Features 160

7.1 Introduction to the ZigBee Protocol .................................................................................................160

7.2 ZigBee Sample Programs .................................................................................................................161

7.2.1 Setting Up the Digi XBee USB Coordinator ............................................................................162

7.2.2 Setting up Sample Programs .....................................................................................................164

7.3 Dynamic C Function Calls................................................................................................................167

7.4 Where Do I Go From Here? .............................................................................................................167

Appendix A. Specifications 168

A.1 Electrical and Mechanical Specifications ........................................................................................169

A.1.1 Exclusion Zone.........................................................................................................................173

A.1.2 Headers.....................................................................................................................................173

A.2 Conformal Coating...........................................................................................................................174

A.3 Jumper Configurations.....................................................................................................................175

A.4 Use of Rabbit Microprocessor Parallel Ports ...................................................................................177

Appendix B. Power Supply 178

B.1 Power Supplies.................................................................................................................................178

B.1.1 Power for Analog Circuits........................................................................................................179

B.2 Batteries and External Battery Connections ....................................................................................179

B.2.1 Replacing the Backup Battery..................................................................................................180

B.3 Power to Peripheral Cards................................................................................................................181

Appendix C. Demonstration Board 182

C.1 Connecting Demonstration Board....................................................................................................183

C.2 Demonstration Board Features.........................................................................................................184

C.2.1 Pinout........................................................................................................................................184

C.2.2 Configuration............................................................................................................................184

Appendix D. Rabbit RIO Resource Allocation 186

D.1 Configurable I/O Pin Associations ..................................................................................................187

D.2 High-Current Output Pin Associations ............................................................................................188

D.3 Interpreting Error Codes ..................................................................................................................188

Appendix E. RabbitNet 190

E.1 General RabbitNet Description ........................................................................................................190

E.1.1 RabbitNet Connections.............................................................................................................190

E.1.2 RabbitNet Peripheral Cards ......................................................................................................191

E.2 Physical Implementation ..................................................................................................................192

E.2.1 Control and Routing .................................................................................................................192

E.3 Function Calls...................................................................................................................................193

E.3.1 Status Byte................................................................................................................................203

Appendix F. Additional Configuration Instructions 204

F.1 XBee Module Firmware Downloads................................................................................................204

F.1.1 Dynamic C v. 10.44 and Later..................................................................................................204

F.2 Digi

®

XBee USB Configuration ......................................................................................................205

F.2.1 Additional Reference Information ............................................................................................206

F.2.2 Update Digi

®

XBee USB Firmware.........................................................................................208

Index 209

Schematics 213

BL4S200 User’s Manual 5

1. INTRODUCTION

The BL4S200 series of high-performance, C-programmable single­board computers offers built-in digital and analog I/O combined
with Ethernet, Wi-Fi, or ZigBee network connectivity in a com­pact form factor. The BL4S200 single-board computers are ideal
for both discrete manufacturing and process-control applications.

®

A Rabbit
data processing. A removable flash memory option supports a
full directory file structures to maximize remote access control
and programmability. The I/O can be expanded with RabbitNet
peripheral cards.

1.1 BL4S200 Description

Throughout this manual, the term BL4S200 refers to the complete series of BL4S200 single­board computers unless other production models are referred to specifically.

4000 or Rabbit® 5000 microprocessor provides fast

The BL4S200 is an advanced single-board computer that incorporates the powerful Rabbit
4000 or Rabbit 5000 microprocessor, flash memory options, static RAM, digital I/O ports,
A/D converter inputs, D/A converter outputs, RS-232/RS-485 serial ports, and Ethernet,
Wi-Fi, or ZigBee network connectivity.

1.2 BL4S200 Features

• Rabbit® 4000 or Rabbit® 5000 microprocessor operating at up to 73.73 MHz.

• Industry-standard Micro-Fit® polarized positive-locking connectors.

• 512KB SRAM and 512KB/1MB flash memory options.

• 40 digital I/O: 32 protected digital I/O individually software-configurable as inputs or

sinking outputs, and 8 high-current digital outputs software-configurable as sinking or
sourcing.

• Advanced input capabilities including event counting, event capture, and quadrature

decoders that may be set up on most I/O pins.

• Independent PWM and PPM capability on most I/O pins and all high-current outputs.

• 10 analog channels: eight 11-bit A/D converter inputs, two 12-bit D/A converter 0–10 V

or ±10 V buffered outputs.

BL4S200 User’s Manual 6

• Ethernet, Wi-Fi, or ZigBee network connectivity.

• Up to 5 serial ports:

 Up to three serial ports (one 5-wire RS-232 or two 3-wire RS-232, one RS-485).

 Two RabbitNet™ expansion ports multiplexed from one serial port.

 One serial port dedicated to programming/debugging.

• Battery-backed real-time clock.

• Watchdog supervisor.

Four BL4S200 models are available. Their standard features are summarized in Table 1.

Table 1. BL4S200 Models

Feature

Microprocessor

Program Execution
SRAM

Data SRAM 512KB 512KB 512KB 512KB

Flash Memory (program)

Flash Memory
(data storage)

Network Interface

RabbitCore Module Used RCM4310 RCM4010 RCM5400W RCM4510W (ZB)

BL4S200 BL4S210 BL5S220 BL4S230

®

Rabbit

512KB — 512KB —

1MB

(serial flash)

supports

microSD™

Card

128MB–1GB

10/100Base-T,

3 LEDs

4000 running

at 58.98 MHz

512KB

(parallel flash)

—

10Base-T,

2 LEDs

Rabbit® 5000 running

at 73.73 MHz

512KB

(parallel flash)

1MB

(serial flash)

Wi-Fi (802.11b/g)

Rabbit® 4000 running

at 29.49 MHz

512KB

(parallel flash)

ZigBee 2007

(802.15.4)

Note that the BL5S220 model is named as such to reflect that it uses a Rabbit 5000 micro­processor.

BL4S200 single-board computers consist of a main board with a RabbitCore module.
Refer to the RabbitCore module manuals, available on the Web s ite , for more information
on the RabbitCore modules, including their schematics.

BL4S200 single-board computers are programmed over a standard PC USB port through a
programming cable supplied with the Tool Kit. The BL4S200 and BL5S220 models may
also be programmed remotely using the Remote Program Update library with Dynamic C
v. 10.54 or later. See Application Note AN421, Remote Program Update, for more
information.

NOTE: BL4S200 Series single-board computers cannot be programmed via the RabbitLink.

Appendix A provides detailed specifications.

Visit the We b sit e for up-to-date information about additional add-ons and features as
they become available. The Web site also has the latest revision of this user’s manual.

BL4S200 User’s Manual 7

1.3 Development and Evaluation Tools

Rabbit, Dynamic C, and Digi are registered trademarks of Digi International Inc.
SD is a trademark of the SD Card Association.

BL4S200

The BL4S200 is a fully loaded series of single-board computers that feature built-in Ethernet, Wi-Fi, or
ZigBee network connectivity, configurable I/O, high-current outputs, RS-232 and RS-485 serial I/O, and
an A/D converter. These Getting Started instructions included with the Tool Kit will help you get your
BL4S200 up and running so that you can run the sample programs to explore its capabilities and develop
your own applications.

Tool Kit Contents

t

Getting Started instructions.

t

Dynamic C CD-ROM, with complete product documentation on disk.

t

USB programming cable, used to connect your PC USB port to the BL4S200.

t

Universal AC adapter, 12 V DC, 1 A (includes Canada/Japan/U.S., Australia/N.Z., U.K., and
European style plugs).

t

Digi® XBee USB (used as ZigBee coordinator for BL4S230 model).

t

Stand-offs to serve as legs for the BL4S200 board during development.

t

Demonstration Board with pushbutton switches and LEDs. The Demonstration Board can be
hooked up to the BL4S200 to demonstrate the I/O
and capabilities of the BL4S200.

t

Cable assemblies with Micro-Fit® connectors.

t

Screwdriver.

t

Rabbit 4000 Processor Easy Reference and Rabbit
5000 Processor Easy Reference posters.

t

Registration card.

Installing Dynamic C

®

Insert the CD from the Development Kit in
your PC’s CD-ROM drive. If the installation
does not auto-start, run the set up.exe pro-
gram in the root directory of the Dynamic C
CD. Install any Dynamic C modules after you
install Dynamic C

.

1.3.1 Tool Kit

A Tool Kit contains the hardware essentials you will need to use your own BL4S200 single­board computer. These items are supplied in the Tool Kit.

• Getting Started instructions.

• Dynamic C CD-ROM, with complete product documentation on disk.

• USB programming cable, used to connect your PC USB port to the BL4S200.

• Universal AC adapter, 12 V DC, 1 A (includes Canada/Japan/U.S., Australia/N.Z.,

U.K., and European style plugs).

• Stand-offs to serve as legs for the BL4S200 board during development.

• Demonstration Board with pushbutton switches and LEDs. The Demonstration Board

can be hooked up to the BL4S200 to demonstrate the I/O and capabilities of the
BL4S200.

• CAT 5/6 Ethernet crossover cable.

• Cable assemblies with Micro-Fit® connectors.

• Rabbit 4000 Processor Easy Reference and Rabbit 5000 Processor Easy Reference

posters.

• Screwdriver.

• Registration card.

Figure 1. BL4S200 Tool Kit

BL4S200 User’s Manual 8

1.3.2 Software

The BL4S200 is programmed using version 10.42 or later of Rabbit’s Dynamic C. A com-

patible version is included on the Tool Kit CD-ROM.

This version of Dynamic C includes the
popular µC/OS-II real-time operating system, point-to-point protocol (PPP), FAT file
system, RabbitWeb, and the Rabbit Embedded Security Pack featuring the Secure Sockets
Layer (SSL) and a specific Advanced Encryption Standard (AES) library.

In addition to the Web-based technical support included at no extra charge, a one-year
telephone-based technical support subscription is also available for purchase. Visit our
Web site at www.rabbit.com for further information and complete documentation, or con­tact your Rabbit sales representative or authorized distributor

1.3.3 Optional Add-Ons

Rabbit has available a Mesh Network Add-On Kit and additional tools and parts to help
you to make your own wiring assemblies with the friction-lock connectors.

• Mesh Network Add-On Kit (Part No. 101-1272)

 Digi

 XBee Series 2 RF module

 RF Interface module

®

XBee USB (used as ZigBee coordinator)

The XBee Series 2 RF module is installed on the RF Interface module, which can be
connected via an RS-232 serial connection to a Windows PC for setup. The Mesh
Network Add-On Kit enables you to explore the wireless capabilities of the BL4S230
model that offers a ZigBee network interface.

• Connector Cable Assemblies (Part No. 151-0153)—Two 2 × 5 friction-lock connectors

(3 mm pitch) assembled with wiring harness.

• Crimp tool (Part No. 998-0013) to secure wire in crimp terminals.

Visit our Web site at www.rabbit.com or contact your Rabbit sales representative or autho­rized distributor for further information.

BL4S200 User’s Manual 9

1.4 RabbitNet Peripheral Cards

RabbitNet™ is an SPI serial protocol that uses a robust RS-422 differential signalling
interface (twisted-pair differential signaling) to run at a fast 1 Megabit per second serial
rate. BL4S200 single-board computers have two RabbitNet ports, each of which can sup­port one peripheral card. Distances between a master processor unit and peripheral cards
can be up to 10 m or 33 ft.

The following low-cost peripheral cards are currently available.

• Digital I/O

• A/D converter

• D/A converter

• Relay card

• Display/Keypad interface

Appendix E provides additional information on RabbitNet peripheral cards and the Rab­bitNet protocol. Visit our We b sit e for up-to-date information about additional add-ons and
features as they become available.

BL4S200 User’s Manual 10

1.5 CE Compliance

Equipment is generally divided into two classes.

CLASS A CLASS B

Digital equipment meant for light industrial use Digital equipment meant for home use

Less restrictive emissions requirement:
less than 40 dB µV/m at 10 m
(40 dB relative to 1 µV/m) or 300 µV/m

More restrictive emissions requirement:
30 dB µV/m at 10 m or 100 µV/m

These limits apply over the range of 30–230 MHz. The limits are 7 dB higher for frequen­cies above 230 MHz. Although the test range goes to 1 GHz, the emissions from Rabbit­based systems at frequencies above 300 MHz are generally well below background noise
levels.

The BL4S200 single-board computer has been tested and was found to
be in conformity with the following applicable immunity and emission
standards. The BL4S210, BL5S220, and BL4S230 single-board
computers are also CE qualified as they are sub-versions of the BL4S200
single-board computer. Boards that are CE-compliant have the CE mark.

Immunity

The BL4S200 series of single-board computers meets the following EN55024/1998
immunity standards.

• EN61000-4-3 (Radiated Immunity)

• EN61000-4-4 (EFT)

• EN61000-4-6 (Conducted Immunity)

Additional shielding or filtering may be required for a heavy industrial environment.

Emissions

The BL4S200 series of single-board computers meets the following emission standards.

• EN55022:1998 Class B

• FCC Part 15 Class B

Your results may vary, depending on your application, so additional shielding or filtering
may be needed to maintain the Class B emission qualification.

BL4S200 User’s Manual 11

1.5.1 Design Guidelines

Note the following requirements for incorporating the BL4S200 series of single-board
computers into your application to comply with CE requirements.

General

• The power supply provided with the Tool Kit is for development purposes only. It is the

customer’s responsibility to provide a CE-compliant power supply for the end-product
application.

• When connecting the BL4S200 single-board computer to outdoor cables, the customer

is responsible for providing CE-approved surge/lighting protection.

• Rabbit recommends placing digital I/O or analog cables that are 3 m or longer in a

metal conduit to assist in maintaining CE compliance and to conform to good cable
design practices.

• When installing or servicing the BL4S200, it is the responsibility of the end-user to use

proper ESD precautions to prevent ESD damage to the BL4S200.

Safety

• All inputs and outputs to and from the BL4S200 series of single-board computers must

not be connected to voltages exceeding SELV levels (42.4 V AC peak, or 60 V DC).

• The lithium backup battery circuit on the BL4S200 single-board computer has been

designed to protect the battery from hazardous conditions such as reverse charging and
excessive current flows. Do not disable the safety features of the design.

1.5.2 Interfacing the BL4S200 to Other Devices

Since the BL4S200 series of single-board computers is designed to be connected to other
devices, good EMC practices should be followed to ensure compliance. CE compliance is
ultimately the responsibility of the integrator. Additional information, tips, and technical
assistance are available from your authorized Rabbit distributor, and are also available on
our Web site at www.rabbit.com.

BL4S200 User’s Manual 12

1.6 Wi-Fi Certifications (BL5S220 Model only)

The systems integrator and the end-user are ultimately responsible for the channel range
and power limits complying with the regulatory requirements of the country where the end
device will be used. Dynamic C function calls and sample programs illustrate how this is
achieved by selecting the country or region, which sets the channel range and power limits
automatically. See Section 6.2.4.1 for additional information and sample programs dem­onstrating how to configure an end device to meet the regulatory channel range and power
limit requirements.

Only RCM5400W modules bearing the FCC certification are certified for use in Wi-Fi
enabled end devices associated with the BL5S220 model, and any applications must have
been compiled using Dynamic C v. 10.40 or later. The certification is valid only for
RCM5400W modules equipped with the dipole antenna that is included with the modules,
or a detachable antenna with a 60 cm coaxial cable (Digi International part number

29000105). Changes or modifications to this equipment not expressly approved by Digi
International may void the user's authority to operate this equipment.

In the event that these conditions cannot be met, then the FCC certification is no longer
considered valid and the FCC ID can not be used on the final product. In these circum­stances, the systems integrator or end-user will be responsible for re-evaluating the end
device (including the transmitter) and obtaining a separate FCC certification.

NOTE: Any regulatory certification is voided if the RF shield on the RCM5400W

module is removed.

1.6.1 FCC Part 15 Class B

The RCM5400W RabbitCore module has been tested and found to comply with the limits
for Class B digital devices pursuant to Part 15 Subpart B, of the FCC Rules. These limits
are designed to provide reasonable protection against harmful interference in a residential
environment. This equipment generates, uses, and can radiate radio frequency energy, and
if not installed and used in accordance with the instruction manual, may cause harmful
interference to radio communications. However, there is no guarantee that interference
will not occur in a particular installation. If this equipment does cause harmful interfer­ence to radio or television reception, which can be determined by turning the equipment
off and on, the user is encouraged to try and correct the interference by one or more of the
following measures:

• Reorient or relocate the receiving antenna.

• Increase the separation between the equipment and the receiver.

• Connect the equipment into an outlet on a circuit different from that to which the

receiver is connected.

• Consult the dealer or an experienced radio/TV technician for help.

BL4S200 User’s Manual 13

Labeling Requirements (FCC 15.19)

FCC ID: VCB-E59C4472

This device complies with Part 15 of FCC rules. Operation is
subject to the following two conditions:

(1) this device may not cause harmful interference, and

(2) this device must accept any interference received, including
interference that may cause undesired operation.

If the FCC identification number is not visible when the module is installed inside another
device, then the outside of the device into which the module is installed must also display
a label referring to the enclosed module or the device must be capable of displaying the
FCC identification number electronically. This exterior label can use wording such as the
following: “Contains Transmitter Module FCC ID: VCB-E59C4472” or “Contains FCC
ID: VCB-E59C4472.” Any similar wording that expresses the same meaning may be used.

The following caption must be included with documentation for any device incorporating
the RCM5400W RabbitCore module.

Caution — Exposure to Radio-Frequency Radiation.

To comply with FCC RF exposure compliance requirements, for mobile
configurations, a separation distance of at least 20 cm must be maintained
between the antenna of this device and all persons.

This device must not be co-located or operating in conjunction with any
other antenna or transmitter.

1.6.2 Industry Canada Labeling

7143A-E59C4472

This Class B digital apparatus complies with Canadian standard
ICES-003.

Cet appareil numérique de la classe B est conforme à la norme
NMB-003 du Canada.

BL4S200 User’s Manual 14

1.6.3 Europe

The marking shall include as a minimum:

• the name of the manufacturer or his trademark;

• the type designation;

• equipment classification, (see below).

Receiver

Class

1

2

3

Highly reliable SRD communication media, e.g., serving human life
inherent systems (may result in a physical risk to a person).

Medium reliable SRD communication media, e.g., causing
inconvenience to persons that cannot be overcome by other means.

Standard reliable SRD communication media,e.g., inconvenience to
persons that can simply be overcome by other means.

Risk Assessment of Receiver Performance

NOTE: Manufacturers are recommended to declare the classification of their devices in

accordance with Table 2 and EN 300 440-2 [5] clause 4.2, as relevant. In particular,
where an SRD that may have inherent safety of human life implications, manufacturers
and users should pay particular attention to the potential for interference from other
systems operating in the same or adjacent bands.

Regulatory Marking

The equipment shall be marked, where applicable, in accordance with CEPT/ERC Rec­ommendation 70-03 or Directive 1999/5/EC, whichever is applicable. Where this is not
applicable, the equipment shall be marked in accordance with the National Regulatory
requirements.

BL4S200 User’s Manual 15

2. GETTING STARTED

RESET

S1

S2

R

1

CORE +3.3 V

DS1

DS2

J9

J10

J11

J12

J8

J7

J6

J5

J4

J3

J2

J1

RCM1

R7

R8

R9

R10

C63

JP4

JP5

JP6

JP3

C62

C47

JP7

RS485

JP9

JP8

KB

+5 V

GND+3.3 v

KA

+5 V

GND+3.3 V

C52

C55

C57

C61

C56

C60

C50

C51

C49

C59

C54

C48
C53

C58

U7

C38

C39

C

40

C21

C27

C33

C17
C19
C25

C

14

R4

R2

C12

C13 U5

U6

C16

C41

C42

C

43

C23

C29

C35

C22

C28

C34

U8

C44

C45

C46

C24

C30

C36

R117

RP1

U4

C37

RP2

R5

R121

L2 L3

BT1

C31

C32

U3

C15

C10

U2

C11

C9

C8

U1

R116

R3

R118

C18
C20

C26

JP1

JP2

D2

D3

L1

D4

C1

C2

C3

C4

C6

TERMTE

R

M

K

C

+5 V

GN

D

+3.3 V

KD

+5 V

G

ND

+3.3 V

CAUTION! HOT!

CAUTION! HOT!

D6 D5 D8 D7

D9

C5

C7

D10

DS4

DS3

R6

BOARD

+3.3 V

POWER

IN

RNET PWR

4

1

7

14

8

R13

R12

R11

6

10

5

6

10

5

6

10

5

2

4

3

6

10

5

D1

6

10

5

6

10

5

610

5

Battery

D56

D57

D58

D59

D60

RabbitCore

Module

J1

R1

R2

R19

R3

R4

C3

L1

C1

C2

Y1

4

1

3

R16

R17

C4

C8

C5

C6

C7

R20

U2

R21

R22

R23

C13

C12

L2

C10

JP15

C21

U7

R38

J2

R37

R36

C22

DS1

LINK

SPEED

FD

X

DS3

DS2

R39

R40

R41

R35

C23

R34

U6

R33

R31

R32

D1

R66

C14

C11

C9

R7

R6

DS4

R42

J3

U18

R65

R67

R64

R29

R68

R69

R30

R24

C15 C16 R28 R27 R26

R25

C20

U5

JP12

JP13

JP14

R71

R70

R5

JP1

JP2

R72

JP3

JP4

JP5

JP6

JP7

JP8

JP9

JP10

JP11

U3

R8

R9

Q2

Q3

C91

C93

U1

R10

R11

R13

R12

R14

R15

C17

C18

C19

C92

C90

Chapter 2 explains how to connect the programming cable and
power supply to the BL4S200.

2.1 Preparing the BL4S200 for Development

Position the BL4S200 as shown below in Figure 2. Attach the four stand-offs supplied
with the Tool Kit in the holes at the corners as shown.

Figure 2. Attach Stand-Offs to BL4S200 Board

The stand-offs facilitate handling the BL4S200 during development, and protect the bot­tom of the printed circuit board against scratches or short circuits while you are working
with the BL4S200.

NOTE: If you ever need to remove the RabbitCore module, take care to keep the BL4S200

main boards and their corresponding RabbitCore modules paired since the RabbitCore
modules store calibration constants specific to the BL4S200 main board to which they
are plugged in. If you use a RabbitCore module from a different model in the BL4S200
series, your specific BL4S200 model may no longer operate as designed.

BL4S200 User’s Manual 16

2.2 BL4S200 Connections

RESET

S1

S2

R1

CORE +3.3 V

DS1

DS2

J9

J10

J11

J12

J8

J7

J6

J5

J4

J3

J2

J1

RCM1

R7

R8

R9

R10

C63

JP4

JP5

JP6

JP3

C62

C47

JP7

RS485

JP9

JP8

KB

+5 V

GND

+3.3 v

KA

+5 V

GND

+3.3 V

C52
C55

C57
C61

C56
C60

C50

C51

C49
C59
C54

C48
C53
C58

U7

C38

C39

C40

C21
C27
C33

C17
C19
C25

C14

R4

R2

C12

C13 U5

U6

C16

C41

C42

C43

C23
C29

C35

C22
C28
C34

U8

C44

C45

C46

C24
C30
C36

R117

RP1

U4

C37

RP2

R5

R121

L2 L3

BT1

C31

C32

U3

C15

C10

U2

C11

C9

C8

U1

R116
R3

R118

C18
C20
C26

JP1

JP2

D2

D3

L1

D4

C1
C2
C3

C4

C6

TERM

TERM

KC

+5 V

GND

+3.3 V

KD

+5 V

GND

+3.3 V

CAUTION! HOT!

CAUTION! HOT!

D6 D5 D8 D7

D9

C5

C7

D10

DS4

DS3

R6

BOARD

+3.3 V

POWER

IN

RNET PWR

4

1

7

14

8

R13

R12

R11

6

10

5

6

10

5

6

10

5

2

4

3

6

10

5

D1

6

10

5

6

10

5

610

5

Battery

D56

D57

D58

D59

D60

J1

R1
R2

R19

R3

R4

C3

L1

C1

C2

Y1

4

1

3

R16

R17

C4

C8

C5

C6

C7

R20

U2

R21

R22

R23

C13

C12

L2

C10

JP15

C21

U7

R38

J2

R37

R36

C22

DS1

LINK

SPEED

FDX

DS3

DS2

R39

R40

R41

R35

C23

R34

U6

R33

R31

R32

D1

R66

C14

C11

C9

R7

R6

DS4

R42

J3

U18

R65

R67

R64

R29

R68

R69

R30

R24

C15 C16 R28 R27 R26

R25

C20

U5

JP12

JP13

JP14

R71

R70

R5

JP1

JP2

R72

JP3

JP4
JP5

JP6

JP7

JP8

JP9

JP10

JP11

U3

R8

R9

Q2

Q3

C91
C93

U1

R10

R11

R13

R12

R14

R15

C17

C18

C19

C92
C90

Colored

edge

To

PC USB port

PROG

DIAG

Programming

Cable

PROG

J1

1. Connect the programming cable to download programs from your PC and to program
and debug the BL4S200.

Connect the 10-pin PROG connector of the programming cable to header J1 on the
BL4S200’s RabbitCore module (the programming header is labeled J2 on the BL5S220
and BL4S230 models). Ensure that the colored edge lines up with pin 1 as shown. (Do not
use the DIAG connector, which is used for monitoring only.) Connect the other end of the
programming cable to an available USB port on your PC or workstation.

Connect the other end of the programming cable to an available USB port on your PC or
workstation.

Your PC should recognize the new USB hardware, and the LEDs in the shrink-wrapped
area of the USB programming cable will flash — if you get an error message, you will
have to install USB drivers. Drivers for Windows XP are available in the Dynamic C

Drivers\Rabbit USB Programming Cable\WinXP_2K folder — double-click
DPInst.exe to install the USB drivers. Drivers for other operating systems are available

online at www.ftdichip.com/Drivers/VCP.htm.

BL4S200 User’s Manual 17

Figure 3. Programming Cable Connections

NOTE: Never disconnect the programming cable by pulling on the ribbon cable.

Carefully pull on the connector to remove it from the header.

2. Connect the power supply to header J5 on the BL4S200 as shown in Figure 4. Be sure
to match the latch mechanism with the top of the connector to header J5 on the
BL4S200 as shown. The Micro-Fit® connector will only fit one way.

Figure 4. Power Supply Connections

3. Apply power.

Once all the other connections have been made, you may connect power to the BL4S200.

First, prepare the AC adapter for the country where it will be used by selecting the plug.
The Tool Kit presently includes Canada/Japan/U.S., Australia/N.Z., U.K., and European
style plugs. Snap in the top of the plug assembly into the slot at the top of the AC adapter
as shown in Figure 4, then press down on the spring-loaded clip below the plug assembly
to allow the plug assembly to click into place. Release the clip to secure the plug assembly
in the AC adapter.

Plug in the AC adapter. The red LED next to the power connector at J5 should light up.
The BL4S200 is now ready to be used.

CAUTION: Unplug the power supply while you make or otherwise work with the connections

to the headers. This will protect your BL4S200 from inadvertent shorts or power spikes.

2.2.1 Hardware Reset

A hardware reset is done by unplugging the power supply, then plugging it back in, or by
pressing the RESET button located just below the RabbitCore module.

BL4S200 User’s Manual 18

2.3 Installing Dynamic C

If you have not yet installed Dynamic C version 10.42 (or a later version), do so now by
inserting the Dynamic C CD from the BL4S200 Tool Kit in your PC’s CD-ROM drive. If
autorun is enabled, the CD installation will begin automatically.

If autorun is disabled or the installation does not start, use the Windows Start | Run menu
or Windows Disk Explorer to launch setup.exe from the root folder of the CD-ROM.

The installation program will guide you through the installation process. Most steps of the
process are self-explanatory.

NOTE: If you have an earlier version of Dynamic C already installed, the default instal-

lation of the later version will be in a different folder, and a separate icon will appear on
your desktop.

The online documentation is installed along with Dynamic C, and an icon for the docu­mentation menu is placed on the workstation’s desktop. Double-click this icon to reach the
menu. If the icon is missing, create a new desktop icon that points to default.htm in the

docs folder, found in the Dynamic C installation folder. The latest versions of all docu-

ments are always available for free, unregistered download from our Web sites as well.

The Dynamic C User’s Manual provides detailed instructions for the installation of
Dynamic C and any future upgrades.

Once your installation is complete, you will have up to three icons on your PC desktop.
One icon is for Dynamic C, one opens the documentation menu, and the third is for the
Rabbit Field Utility, a tool used to download precompiled software to a target system.

If you have purchased any of the optional Dynamic C modules, install them after installing
Dynamic C. The modules may be installed in any order. You must install the modules in
the same directory where Dynamic C was installed.

BL4S200 User’s Manual 19

2.4 Starting Dynamic C

Once the BL4S200 is connected to your PC and to a power source, start Dynamic C by
double-clicking on the Dynamic C icon on your desktop or in your Start menu. Select

Store Program in Flash on the “Compiler” tab in the Dynamic C Options > Project
Options
Serial Converter

menu. Then click on the “Communications” tab and verify that Use USB to

is selected to support the USB programming cable. Click OK.

You may have to select the COM port assigned to the USB programming cable on your
PC. In Dynamic C, select Options > Project Options, then select this COM port on the
“Communications” tab, then click OK. You may type the COM port number followed by

Enter on your computer keyboard if the COM port number is outside the range on the

dropdown menu.

2.5 Run a Sample Program

You are now ready to test your set-up by running a sample program.

Use the File menu to open the sample program PONG.C, which is in the Dynamic C

SAMPLES folder. Press function key F9 to compile and run the program. The STDIO

window will open on your PC and will display a small square bouncing around in a box.

This program shows that the CPU is working. The sample program described in
Section 5.2.3, “Run the PINGME.C Demo,” tests the TCP/IP portion of the board.

2.5.1 Troubleshooting

If you receive the message No Rabbit Processor Detected, the programming cable
may be connected to the wrong COM port, a connection may be faulty, or the target sys­tem may not be powered up. First, check to see that the red power LED next to header J5
is lit. If the LED is lit, check both ends of the programming cable to ensure that it is firmly
plugged into the PC and the programming header on the BL4S200 with the marked (col­ored) edge of the programming cable towards pin 1 of the programming header. Ensure
that the module is firmly and correctly installed in its connectors on the BL4S200 board.

If Dynamic C appears to compile the BIOS successfully, but you then receive a communi­cation error message when you compile and load a sample program, it is possible that your
PC cannot handle the higher program-loading baud rate. Try changing the maximum
download rate to a slower baud rate as follows.

• Locate the

Options > Project Options menu. Select a slower Max download baud rate. Click OK

Serial Options dialog on the “Communications” tab in the Dynamic C

to save.

If a program compiles and loads, but then loses target communication before you can
begin debugging, it is possible that your PC cannot handle the default debugging baud
rate. Try lowering the debugging baud rate as follows.

• Locate the

Options > Project Options menu. Choose a lower debug baud rate. Click OK to save.

Serial Options dialog on the “Communications” tab in the Dynamic C

Press <Ctrl-Y> to force Dynamic C to recompile the BIOS. You should receive a Bios

compiled successfully

BL4S200 User’s Manual 20

message once this step is completed successfully.

2.6 Run a Wi-Fi Sample Program (BL5S220 only)

Find the WIFISCAN.C sample program in the Dynamic C Samples\WiFi folder, open it
with the File menu, then compile and run the sample program by pressing F9.

The Dynamic C STDIO window will display Starting scan...., and will display a list

of access points/ad-hoc hosts as shown here.

The following fields are shown in the Dynamic C STDIO window.

• Channel—the channel the access point is on (1–11).

• Signal—the signal strength of the access point.

• MAC—the hardware (MAC) address of access point.

• Access Point SSID—the SSID the access point is using.

BL4S200 User’s Manual 21

2.7 Run a ZigBee Sample Program (BL4S230 only)

Waiting to join network...
done
Cmd - Description
=====================
ATCH - Read the current channel. Will be zero if we
are not associated with a network.
ATID - Set or read the current PAN ID. If you set the ID you
must write it to non-volitile memory ("WR") and
then reset the network software ("NR").
ATOP - Read the operating PAN ID.
ATMY - Read the current network address. Will be 0xFFFE
if we are not associated with a network.
ATSH - Read the upper four bytes of the radio IEEE address.
ATSL - Read the lower four bytes of the radio IEEE address.
ATNI - Set or read the Node Identifier.
ATBH - Set or read the maximum number of Broadcast Hops.
ATNT - Set or read the Node Discovery timeout value (in 0.1s).
ATSC - Set or read the list of channels to scan. This
value is a bit-field list.
ATSD - Set or read the channel scan duration value.
ATNJ - Set or read the Node Joining Time value.
ATAI - Read the Association Indicator. A zero value
means we are associated with a network.
ATPL - Set or read the transmission power level.
ATVR - Read the radio software version number.
ATHV - Read the radio hardware version number.

MENU - Display this menu (not an AT command.)

Valid command formats (AT prefix is optional, CC is command):

[AT]CC 0xXXXXXX (where XXXXXX is an even number of hexidecimal characters)
[AT]CC YYYY (where YYYY is an integer, up to 32 bits)
[AT]NI "Node ID String" (where quotes contain string data)

Enter AT Command:

This section explains how to run a sample program in which the BL4S230 is used in its
default setup as a router and the Digi® XBee USB is used as the ZigBee coordinator.

®

1. Connect the Digi
on your PC or workstation. Your PC should recognize the new USB hardware.

XBee USB acting as a ZigBee coordinator to an available USB port

2. Find the file

AT_INTERACTIVE.C, which is in the Dynamic C SAMPLES\XBee folder.

To run the program, open it with the File menu, then compile and run it by pressing F9.
The Dynamic C STDIO window will open to display a list of AT commands. Type

MENU to redisplay the menu of commands.

Appendix F provides additional configuration information if you experience conflicts
while doing development simultaneously with more than one ZigBee coordinator, or if you
wish to upload new firmware.

BL4S200 User’s Manual 22

2.8 Where Do I Go From Here?

NOTE: If you purchased your BL4S200 through a distributor or Rabbit partner, contact

the distributor or partner first for technical support.

If there are any problems at this point:

• Use the Dynamic C Help menu to get further assistance with Dynamic C.

• Check the Rabbit Technical Bulletin Board and forums at www.rabbit.com/support/bb/

and at www.rabbit.com/forums/.

• Use the Technical Support e-mail form at www.rabbit.com/support/.

If the sample program ran fine, you are now ready to go on to explore other BL4S200
features and develop your own applications.

When you start to develop your application, run USERBLOCK_READ_WRITE.C in the

SAMPLES\UserBlock folder to save the factory calibration constants before you run any

other sample programs in case you inadvertently write over them while running another
sample program.

Chapter 3, “Subsystems,” provides a description of the BL4S200’s features, Chapter 4,
“Software,” describes the Dynamic C software libraries and introduces some sample
programs, and Chapter 5, “Using the Ethernet TCP/IP Features,” explains the TCP/IP fea­tures.

BL4S200 User’s Manual 23

3. SUBSYSTEMS

SRAM

microSD

Card

Program

Flash

SRAM

Network

32 kHz

osc

58.98 MHz
osc

optional

RabbitCore Module

Battery-Backup

Circuit

RABBIT
4000/5000

D/A

Converter

A/D

Converter

RabbitNet

RS-485

RS-232

Data

Register

High-Current

Outputs

Data

Register

Congurable

I/O

RABBIT

RIO

x3

Chapter 3 describes the principal subsystems for the BL4S200.

•Digital I/O

• Serial Communication

• A/D Converter Inputs

• D/A Converter Outputs

• Analog Reference Voltages Circuit

• Memory

Figure 5 shows these Rabbit-based subsystems designed into the BL4S200.

BL4S200 User’s Manual 24

Figure 5. BL4S200 Subsystems

3.1 BL4S200 Pinouts

J9

J10

J11

J12

J8

J7

J6

J4

J3

J2

J1

J11

Battery

1

4

5
263

+5 V

GND

GND

+5 V

+RAW

+RAW

RabbitNet

2

RabbitNet

1

4

11

12

5136

AGND

AOUT0

AIN0

AIN2

AGND

AIN5

AIN7

AOUT1

AGND

AIN1

AIN3

AIN4

AIN6

AGND

1

8

9
2103

7

14

Analog

I/O

2

7

8
394

n.c.

485+

GND

PD3_RXF *

PD7_RXE *

GND

485

GND

PD2_TXF *

PD6_TXE *

6
1

5

10

RS-485
RS-232

2

7

8
394

6
1

5

10

GND

DIO1

DIO3

DIO5

DIO7

+KA

DIO0

DIO2

DIO4

DIO6

General­Purpose

I/O

2

7

8
394

+KB

DIO8

DIO10

DIO12

DIO14

GND

DIO9

DIO11

DIO13

DIO15

6
1

5

10

General­Purpose

I/O

J5

+K2

HOUT6

n.c.

+K2

HOUT4

GND

HOUT7

n.c.

GND

HOUT5

2

7

8
394

6

1

5

10

High­Current
Outputs

+K1

HOUT2

n.c.

+K1

HOUT0

GND

HOUT3

n.c.

GND

HOUT1

2

7

8
394

6

1

5

10

High­Current

Outputs

+KD

DIO24

DIO26

DIO28

DIO30

GND

DIO25

DIO27

DIO29

DIO31

2

7

8
394

6

1

5

10

General­Purpose

I/O

+KC

DIO16

DIO18

DIO20

DIO22

GND

DIO17

DIO19

DIO21

DIO23

2

7

8
394

6
1

5

10

General­Purpose

I/O

1

3

4
2

n.c.

GND

n.c.

+RAW

2

7

8
394

n.c.

485+

GND

PC5_RXB

GND

485

GND

PC4_TXB

6
1

5

10

Serial Ports E and F are
not available on BL4S210

*

BL4S210

RabbitNet

Power

Supply

Power

Supply

J1

R1

R2

R19

R3

R4
C3

L1

C1

C2

Y1

4

1

3

R16

R17

C4

C8

C5

C6

C7

R20

U2

R21

R22

R23

C13

C12

L2

C10

JP15

C21

U7

R38

J2

R37

R36

C22

DS1

LINK

SPEED

FDX

DS3

DS2

R39

R40

R41

R35

C23

R34

U6

R33

R31

R32

D1

R66

C14

C11

C9

R7

R6

DS4

R42

J3

U18

R65

R67

R64

R29

R68
R69

R30

R24

C15 C16 R28 R27 R26

R25

C20

U5

JP12

JP13

JP14

R71

R70

R5
JP1

JP2

R72

JP3

JP4

JP5

JP6

JP7

JP8

JP9

JP10

JP11

U3

R8

R9

Q2

Q3

C91

C93

U1

R10
R11
R13
R12
R14
R15
C17
C18
C19

C92

C90

The BL4S200 pinouts are shown in Figure 6.

Figure 6. BL4S200 Pinouts

BL4S200 User’s Manual 25

3.1.1 Connectors

Standard BL4S200 models are equipped with seven polarized 2 × 5 Micro-Fit® connectors
(J1–J4 and J9–J11), one polarized 2 × 7 Micro-Fit® connector (J12), and one polarized
2 × 3 connector at J7 to supply power (DCIN and +5 V) to up to two RabbitNet periph-

®

eral expansion boards. The polarized 2 × 2 Micro-Fit

connector at J5 is for the main

power supply connections.

The RJ-45 jacks at J6 and J8 labeled RabbitNet are serial I/O expansion ports for use with
RabbitNet peripheral expansion boards. The RabbitNet jacks do not support Ethernet con­nections. Be careful to make your Ethernet connection to the Ethernet jack on the Rab­bitCore module (note that the wireless BL5S220 and BL4S230 models do not have an
Ethernet port).

Table 2 lists Molex connector part numbers for the crimp terminals, and housings needed to
assemble male Micro-Fit

®

connector assemblies for use with their female counterparts on

the BL4S200.

Table 2. Male Micro-Fit® Connector Parts

Micro-Fit®

Connector

3 mm 2 × 2 J5 0430250400

3 mm 2 × 3 J7 0430250600

3 mm 2 × 5 J1–J4, J9–J11 0430251000

3 mm 2 × 7 J12 0430251400

Used with

BL4S200

connectors

Molex Housing

Part Number

Molex

Crimp Terminals

0430300001 (bronze contacts)

0430300007 (tin/brass contacts)

BL4S200 User’s Manual 26

3.2 Digital I/O

100 kW

27 kW

+5 V

+Kx

SINKING
OUTPUT

27 kW

470 W

DIGITAL

INPUT

DIO0DIO31

Factory
Default
setting

+Kx

GND

+3.3 V

Sinking Output

setting

+5 V

+Kx

Rabbit® RIO

3.2.1 Configurable I/O

3.2.1.1 Digital Inputs

The BL4S200 has 32 configurable I/O, DIO0–DIO31, each of which may be configured
individually in software as either digital inputs or as sinking digital outputs. By default, a
configurable I/O channel is a digital input, but may be set as a sinking digital output by
using the setDigOut() function call. The inputs are factory-configured to be pulled up
to +5 V, but they can also be pulled up to +K or DCIN, or pulled down to 0 V in banks by
changing a jumper as shown in Figure 7.

CAUTION: Do not simultaneously jumper more than one setting on a particular
jumper header (JP9, JP8, JP1, and JP2) when configuring a bank of configurable I/O.

BL4S200 User’s Manual 27

Figure 7. BL4S200 Configurable I/O DIO0–DIO31

Table 3 lists the banks of configurable I/O and summarizes the jumper settings.

+40 V

+36 V

+3.3 V

5 V

Normal Switching

Levels

Spikes

Digital Input Voltage

Spikes

Spikes

Table 3. Banks of BL4S200 Digital Inputs

Digital Inputs

Configuration

Header

Pins Jumpered Pulled Up/Pulled Down

DIO0–DIO7 JP9 1–2 Inputs pulled up to +Kx

DIO8–DIO15 JP8 3–4 Inputs pulled up to +5 V

DIO16–DIO23 JP1 5–6 Inputs pulled down to GND

DIO24–DIO31 JP2 7–8 Inputs pulled up to + 3.3 V

The actual switching threshold is approximately

1.40 V. Anything below this value is a logic 0,
and anything above 1.90 V is a logic 1. The con­figurable I/O are each fully protected over a
range of 0 V to +36 V, and can handle short
spikes from -5 V to +40 V.

NOTE: If the inputs are pulled up to +Kx, the

voltage range over which the digital inputs
are protected changes to 5 V - Kx to +36 V.

Figure 8. BL4S200 Digital Input

Protected Range

CAUTION: Do not allow the voltage on a configurable I/O pin to exceed +Kx to
avoid damaging the input.

BL4S200 User’s Manual 28

3.2.1.2 Sinking Digital Outputs

Sinking Output

setting

+5 V

+Kx

DIO0DIO31

LOAD

(200 mA

max.)

+Kx

GND

When you configure a configurable I/O
pin as a sinking output, be sure to con­nect an external voltage source up to
36 V DC across the corresponding
+Kx and GND on connector J1, J2, J9,
or J10, and set the pullup jumper on
the corresponding JP1/JP2/JP8/JP9
header to +Kx.

Table 4 lists the banks of configurable
I/O and the corresponding +Kx.

Figure 9. Load and +K Power Supply

Connections for Sinking Digital Output

Table 4. BL4S200 Sinking Outputs

Digital Inputs +Kx

DIO0–DIO7 KA on J10 JP9 1–2 I/O pulled up to +Kx

DIO8–DIO15 KB on J9 JP8 3–4

DIO16–DIO23 KC on J1 JP1 5–6

DIO24–DIO31 KD on J2 JP2 7–8

Configuration

Header

Pins

Jumpered

Pulled Up/Pulled Down

Do not use these options for a

sinking output.

CAUTION: Do not simultaneously jumper more than one setting on a particular
jumper header (JP9, JP8, JP1, and JP2) when configuring a bank of configurable I/O.

CAUTION: Do not allow the voltage on a configurable I/O pin to exceed +Kx to
avoid damaging the input.

BL4S200 User’s Manual 29

3.2.1.3 Configurable I/O Special Uses

Individual configurable I/O pins may be used for interrupts, input capture, as quadrature
decoders, or as PWM outputs. The use of these channels for PWM, interrupts, input cap­ture, and as quadrature decoders is described in the Rabbit RIO User’s Manual.

Blocks of configurable I/O pins are associated with counters/timers on the three Rabbit RIO
chips that support them. Table 5 provides complete details for these associations.

Table 5. Counter/Timer Associations for BL4S200 Configurable I/O Pins

Configurable I/O

Pin(s)

DIO0–DIO3

DIO4–DIO7

DIO8–DIO11

DIO12–DIO15

DIO16–DIO17 0 (I/O) 2 (U9)

DIO18–DIO19 1 (I/O) 2 (U9)

DIO20–DIO21 2 (I/O) 2 (U9)

DIO22–DIO23 3 (I/O) 2 (U9)

DIO24–DIO25 4 (I/O) 2 (U9)

DIO26–DIO27 5 (I/O) 2 (U9)

DIO28

Counter/Timer

Blocks

4 (outputs)

5 (inputs)

0 (outputs)

1 (inputs)

2 (outputs)

3 (inputs)

4 (outputs)

5 (inputs)

6 (output)

7 (input)

RIO Chip Index

0 (U8)

1 (U7)

1 (U7)

1 (U7)

0 (U8)

DIO29

DIO30 6 (input only) 2 (U9)

DIO31 7 (input only) 2 (U9)

6 (output)

7 (input)

1 (U7)

Configurable I/O pins DIO30 and DIO31 fully support all input-associated special uses
such as interrupts and input captures, but otherwise they are limited to function only as
regular digital I/O pins because their outputs are latch-driven since sufficient Rabbit RIO
resources are not available to support their use for specialized outputs.

Appendix D provides further details on the blocks and pins associated with each Rabbit
RIO chip to facilitate configuring each block consistently and to identify misconfigured
pins when a software function call returns a Mode Conflict error code.

BL4S200 User’s Manual 30

Keep the following guidelines in mind when selecting special uses for the remaining con­figurable I/O pins.

• Interrupts, event counters, and input capture are available on any configurable I/O pin.

• Each Quadrature Decoder channel requires at least two configurable I/O pins associ-

ated with the same counter/timer block; three configurable I/O pins associated with the
same counter/timer block are needed if you need indexing.

• When using configurable I/O pins for PWM outputs, they can only share the same RIO

block if they are using the same period or frequency. Depending on the pin(s) selected,
from one to four PWM outputs could operate based on the same counter block.
Remember to set the corresponding jumper (Table 4) so that the I/O for that bank are
pulled up to the selected voltage. The output voltage swing will be from 0 to the voltage
you selected\.

The sample program PWM.C in the DIO subdirectory in SAMPLES\BLxS2xx shows
how to set up and use the PWM outputs.

• Configurable I/O have their own set of function calls. These function calls will only

work with configurable I/O. High-current outputs have their own function calls that end
with _H.

See Appendix D for additional information about the Rabbit RIO pin associations and
how to select which special functionality to best apply to a particular pin.

BL4S200 User’s Manual 31

Interrupt, Counter, and Event Capture Setup

Channel 0

Begin

Count

End

Count

Channel 1

Start

Event

End

Event

External interrupts on the BL4S200 configurable I/O pins are configured using the

setExtInterrupt() function call. The interrupt can be set up to occur on a rising edge,

a falling edge, or either edge.

An input channel may be set up to count
events, with the count incrementing or
decrementing, using the rising edge, fall­ing edge, or either edge as triggers to start/
end the count. This feature is configured

using the setCounter() function call.

A more extensive use of the timing abilities
of the BL4S200 configurable I/O can be
realized through the event capture function

call, setCapture(). Here the count of a
particular clock cycle is noted at the start of
the event and at the end of the event so that
the time between them can be determined.
This can be set up on one or two configu­rable I/O channels. The event counter can
be reset with the resetCounter() func­tion call.

The counter readings can be obtained via the

getBegin() or getEnd() function calls.

BL4S200 User’s Manual 32

PWM/PPM Outputs Setup

Period

Duty

Cycle

Inverted

Noninverted

PWM

OUTPUT

Period

Duty

Cycle

Shifted

PPM

OUTPUT

Offset

A PWM output is described as noninverted
when it starts high, remains high for a duty
cycle that is a fraction of the period, then
goes low for the remainder of the period.

Similarly, an inverted PWM output starts
low, remains low for a duty cycle that is a
fraction of the period, then goes high for
the remainder of the period.

A PWM output is normally set up to start
when triggered by an event, and may be
set up so that the leading and trailing edges
of several PWM outputs are aligned as
long as the all the PWM outputs are on the
same block of a particular Rabbit RIO
chip.

A PPM ouput is similar to a PWM output,
except it is shifted by an offset relative to
the event that triggered the start of the
PPM output.

A PPM output is either inverted or nonin­verted, based on whether it starts high or
low, and may be set up so that their lead­ing and trailing edges of several PPM out­puts are aligned as long as the all the PPM
outputs are on the same block of a particu­lar Rabbit RIO chip

PWM and PPM outputs on the BL4S200 configurable I/O are configured using the set-

PWM()

rent outputs are configured using the

and setPPM() function calls. PWM and PPM outputs on the BL4S200 high-cur-

setPWM_H() and setPPM_H() function calls.

BL4S200 User’s Manual 33

3.2.2 High-Current Digital Outputs

+Ka

+Kb

LOAD

A

A

B

B

The BL4S200 has eight high-current digital outputs, HOUT0–HOUT7, which can each
sink or source up to 2 A. Figure 10 shows a wiring diagram for using the digital outputs in
either a sinking or a sourcing configuration.

Figure 10. BL4S200 High-Current Outputs

All the digital outputs sink and source actively. They can be used as high-side drivers, low­side drivers, or as an H-bridge driver. When the BL4S200 is first powered up or reset, all
the outputs are disabled, that is, at a high-impedance tristate.

Each bank of four high-current output has its own +K supply, as shown in Table 6. When
wiring the high-current outputs, keep the distance to the power supply as short as possible.

Table 6. BL4S200 High-Current Outputs

High-Current Outputs +Kx Connector

HOUT0–HOUT3 K1 J3

HOUT4–HOUT7 K2 J4

For the H bridge, which is shown in Figure 11,
Ka and Kb should be the same. This is most
easily accomplished by using outputs from the
same bank on one connector.

Figure 11. H Bridge

BL4S200 User’s Manual 34

High-current outputs have their own function calls for control (digOut_H() and

digOutTriState_H()) and to set up the PWM and PPM outputs. All function calls that

work with high-current outputs end with _H — do not confuse these function calls with
their configurable I/O counterparts. The digOutConfig_H() function call configures the
high-current outputs as two state outputs with either sinking or sourcing drivers. The

digOutTriStateConfig_H() function call configures the high-current outputs as

tristate drivers with both sinking and sourcing capability.

BL4S200 User’s Manual 35

3.3 Serial Communication

The BL4S200 has up to three serial communication ports, one RS-485 channel, and either
one RS-232 serial channel (with RTS/CTS) or two RS-232 (3-wire) channels. Table 7
summarizes the serial ports.

Table 7. Serial Communication Configurations

BL4S200

Model

BL4S200 — RS-485

BL4S210 RS-232 RS-485 — —

BL5S220 — RS-485

BL4S230 — RS-485

B C E F

Serial Port

(PD6/PD7)

(PD6/PD7)

(PD6/PD7)

RS-232

RS-232

RS-232

RS-232

(PD2/PD3)

RS-232

(PD2/PD3)

RS-232

(PD2/PD3)

Two RabbitNet™ expansion ports are multiplexed from Serial Port D. The BL4S200 also
has one CMOS serial channel that serves as the programming port.

All three serial ports operate in an asynchronous mode. An asynchronous port can handle
7 or 8 data bits. A 9th bit address scheme, where an additional bit is sent to mark the first
byte of a message, is also supported. Serial Port A, the programming port, can be operated
alternately in the clocked serial mode. In this mode, a clock line synchronously clocks the
data in or out. Either of the two communicating devices can supply the clock. The BL4S200
boards supports standard asynchronous baud rates from 3.7 Mbps to 9.2 Mbps, depending
on the frequency the Rabbit microprocessor on a particular model is operating at.

3.3.1 RS-232

The BL4S200 RS-232 serial communication is supported by an RS-232 transceiver. This
transceiver provides the voltage output, slew rate, and input voltage immunity required to
meet the RS-232 serial communication protocol. Basically, the chip translates the Rabbit
microprocessor’s CMOS signals to RS-232 signal levels. Note that the polarity is reversed
in an RS-232 circuit so that a +3.3 V output becomes approximately -10 V and 0 V is out­put as +10 V. The RS-232 transceiver also provides the proper line loading for reliable
communication.

RS-232 can be used effectively at the BL4S200’s maximum baud rate for distances of up
to 15 m.

3.3.2 RS-485

The BL4S200 has one two-wire RS-485 serial channel, which is connected to Serial Port C
through an RS-485 transceiver. This port operates in a half-duplex communication mode,
which requires directional control on the communication line.

BL4S200 User’s Manual 36

The BL4S200 can be used in an RS-485 multidrop network. Connect the 485+ to 485+

RS-485

RS485+

GND

RS-485

RS485+

GND

RS-485

RS485+

GND

RESET

S1

S2

R1

CORE +3.3 V

DS1

DS2

J9

J10

J11

J12

J8

J7

J6

J5

J4

J3

J2

J1

RCM1

R7

R8

R9

R10

C63

JP4

JP5

JP6

JP3

C62

C47

JP7

RS485

JP9

JP8

KB

+5 V

GND

+3.3 v

KA

+5 V

GND

+3.3 V

C52
C55

C57
C61

C56
C60

C50

C51

C49
C59
C54

C48
C53
C58

U7

C38

C39

C40

C21
C27
C33

C17
C19
C25

C14

R4

R2

C12

C13 U5

U6

C16

C41

C42

C43

C23
C29

C35

C22
C28
C34

U8

C44

C45

C46

C24
C30
C36

R117

RP1

U4

C37

RP2

R5

R121

L2 L3

BT1

C31

C32

U3

C15

C10

U2

C11

C9

C8

U1

R116
R3

R118

C18
C20
C26

JP1

JP2

D2

D3

L1

D4

C1
C2
C3

C4

C6

TERM

TERM

KC

+5 V

GND

+3.3 V

KD

+5 V

GND

+3.3 V

CAUTION! HOT!

CAUTION! HOT!

D6 D5 D8 D7

D9

C5

C7

D10

DS4

DS3

R6

BOARD

+3.3 V

POWER

IN

RNET PWR

4

1

7

14

8

R13

R12

R11

6

10

5

6

10

5

6

10

5

2

4

3

6

10

5

D1

6

10

5

6

10

5

610

5

Battery

D56

D57

D58

D59

D60

J1

R1
R2

R19

R3

R4

C3

L1

C1

C2

Y1

4

1

3

R16

R17

C4

C8

C5

C6

C7

R20

U2

R21

R22

R23

C13

C12

L2

C10

JP15

C21

U7

R38

J2

R37

R36

C22

DS1

LINK

SPEED

FDX

DS3

DS2

R39

R40

R41

R35

C23

R34

U6

R33

R31

R32

D1

R66

C14

C11

C9

R7

R6

DS4

R42

J3

U18

R65

R67

R64

R29

R68

R69

R30

R24

C15 C16 R28 R27 R26

R25

C20

U5

JP12

JP13

JP14

R71

R70

R5

JP1

JP2

R72

JP3

JP4

JP5

JP6

JP7

JP8

JP9

JP10

JP11

U3

R8

R9

Q2

Q3

C91
C93

U1

R10

R11

R13

R12

R14

R15

C17

C18

C19

C92
C90

JP7

4

3

2

1

R12
681 W

R11
220 W

R13
681 W

485+

485

6

7

termi-

nation

bias

bias

U23

JP7

2

1

6

5

6

5

Factory
Default

and 485– to 485– using single twisted-pair wires (nonstranded, tinned) as shown in
Figure 12. Note that a common ground is recommended.

Figure 12. BL4S200 Multidrop Network

The BL4S200 comes with a 220  termination resistor and two 681  bias resistors
installed and enabled with jumpers across pins 1–2 and 5–6 on header JP7, as shown in
Figure 13.

Figure 13. RS-485 Termination and Bias Resistors

BL4S200 User’s Manual 37

For best performance, the bias and termination resistors in a multidrop network should
only be enabled on both end nodes of the network. Disable the termination and bias resis­tors on any intervening BL4S200 units in the network by removing both jumpers from
header JP6.

TIP: Save the jumpers for possible future use by “parking” them across pins 1–3 and 4–6

of header JP7. Pins 3 and 4 are not otherwise connected to the BL4S200.

3.3.3 Programming Port

The RabbitCore module on the BL4S200 has a 10-pin programming header. The program­ming port uses the Rabbit 4000 or Rabbit 5000 Serial Port A for communication, and is
used for the following operations.

• Programming/debugging

• Cloning

The programming port is used to start the BL4S200 in a mode where the BL4S200 will
download a program from the port and then execute the program. The programming port
transmits information to and from a PC while a program is being debugged.

The Rabbit 4000 or Rabbit 5000 startup-mode pins (SMODE0, SMODE1) are presented
to the programming port so that an externally connected device can force the BL4S200 to
start up in an external bootstrap mode. The BL4S200 can be reset from the programming
port via the /EXT_RSTIN line.

The Rabbit microprocessor status pin is also presented to the programming port. The status
pin is an output that can be used to send a general digital signal.

NOTE: Refer to the Rabbit 4000 Microprocessor User’s Manual and the Rabbit 5000

Microprocessor User’s Manual for more information related to the bootstrap mode.

BL4S200 User’s Manual 38

3.3.4 Ethernet Port

ETHERNET

RJ-45 Plug

1. E_Tx+

2. E_Tx

3. E_Rx+

6. E_Rx

1

8

RJ-45 Jack

Figure 14 shows the pinout for the Ethernet port (J2 on the BL4S200 modules that support
Ethernet networking). Note that there are two standards for numbering the pins on this con­nector—the convention used here, and numbering in reverse to that shown. Regardless of
the numbering convention followed, the pin positions relative to the spring tab position
(located at the bottom of the RJ-45 jack in Figure 14) are always absolute, and the RJ-45
connector will work properly with off-the-shelf Ethernet cables.

Figure 14. RJ-45 Ethernet Port Pinout

Three LEDs are placed next to the RJ-45 Ethernet jack on the BL4S200 model, one to
indicate Ethernet link/activity (LINK/ACT), one to indicate when the BL4S200 is con­nected to a functioning 100Base-T network (SPEED), and one (FDX/COL) to indicate that
the current connection is in full-duplex mode (steady on) or that a half-duplex connection
is experiencing collisions (blinks).

Two LEDs are placed next to the RJ-45 Ethernet jack on the BL4S210 model, one to indi­cate an Ethernet link (LNK) and one to indicate Ethernet activity (ACT).

The RJ-45 connector is shielded to minimize EMI effects to/from the Ethernet signals.

BL4S200 User’s Manual 39

3.4 A/D Converter Inputs

ADC

953 kW

10 pF

AIN0

AGND

AIN1

10 pF

Ref. Voltage

from D/A Converter

105 kW

105 kW

953 kW

The single A/D converter chip used in the BL4S200 has a resolution of 12 bits (11 bits for
the value and one bit for the polarity)
fier. Each external input has circuitry that provides scaling and filtering. All 8 external
inputs are scaled and filtered to provide the user with an input impedance of 1 M and a
variety of single-ended unipolar, single-ended bipolar, and differential bipolar ranges as
shown in Table 8.

Figure 15 shows a pair of A/D converter input circuits. The resistors form an approx. 10:1
attenuator, and the capacitors filter noise pulses from the A/D converter inputs.

. The A/D converter chip has a programmable ampli-

Figure 15. Buffered A/D Converter Inputs

The A/D converter chip can only accept positive voltages. By pairing the analog inputs and
setting the reference voltage from the D/A converter, single-ended unipolar, single-ended
bipolar, differential bipolar, or current (4–20 mA on channels 0–3 only) measurements are
possible, and can be configured for each channel or channel pair with the
ter in the anaInConfig() software function call. Adjacent A/D converter inputs AIN4–
AIN7are paired to make bipolar measurements. The available voltage ranges are listed in

opmode parame-

Table 8.

BL4S200 User’s Manual 40

Table 8. A/D Converter Input Voltage Ranges

100 W

JP4

AIN0
AIN1
AIN2
AIN3

Example of
adding your
own resistor

Do not jumper
JP4 in this case

Apply jumpers
for factory-default
current measurements

Amplifier

Voltage R a n g e

Gain

Single-Ended

Unipolar

Single-Ended

Bipolar

Differential

Bipolar

1 0–20 V ±10 V ± 20 V

2 0–10 V ±5 V ± 10 V

4 0–5 V ±2.5 V ± 5 V

5 0–4 V ±2 V ± 4 V

*

8

0–2.5 V ±1.25 V ± 2.5 V

10 0–2 V ±1 V ± 2 V

16 0–1.25 V ±0.625 V ± 1.25 V

20 0–1 V ±0.5 V ± 1 V

* 4–20 mA operation is available with an amplifier gain of 8

In the differential mode, each individual channel is limited to half the total voltage—for
example, the range for a gain code of 1 is ±20 V, but each channel is limited to ±10 V.

When using channels AIN0–AIN3 for current
measurements, remember to set the corre­sponding jumper(s) on header JP4. The current
measurements are realized by actually measur­ing the voltage drop across a 100  resistor.
You may substitute a different resistor value as
shown in Figure 16.

Figure 16. Analog Current Measurements

CAUTION: If you are using a supply voltage of +10 V DC for the 4–20 mA current
measurements, do not exceed 500  for these resistors.

The A/D converter inputs are factory-calibrated, and the calibration constants are stored in
the user block.

When you start to develop your application, run USERBLOCK_READ_WRITE.C in the

SAMPLES\UserBlock folder to save the factory calibration constants in case you inad-

vertently write over them while running the sample programs.

BL4S200 User’s Manual 41

3.4.1 A/D Converter Calibration

To get the best results form the A/D converter, it is necessary to calibrate each mode
(single-ended, differential, and current) for each of its gains. It is imperative that you cali­brate each of the A/D converter inputs in the same manner as they are to be used in the
application. For example, if you will be performing floating differential measurements or
differential measurements using a common analog ground, then calibrate the A/D con­verter in the corresponding manner. The calibration table in software only holds calibra­tion constants based on mode, channel, and gain. Other factors affecting the calibration must

be taken into account by calibrating using the same mode and gain setup as in the intended use.

Sample programs are provided to illustrate how to read and calibrate the various A/D
inputs for the three operating modes.

Mode Read Calibrate

Single-Ended, unipolar AD_RD_SE_UNIPOLAR.C ADC_CAL_SE_UNIPOLAR.C

Single-Ended, bipolar AD_RD_SE_BIPOLAR.C ADC_CAL_SE_BIPOLAR.C

Differential, bipolar AD_RD_DIFF.C ADC_CAL_DIFF.C

Milli-Amp AD_RD_MA.C ADC_CAL_MA.C

These sample programs are found in the ADC subdirectory in SAMPLES\BLxS2xx. See
Section 4.2.3 for more information on these sample programs and how to use them.

BL4S200 User’s Manual 42

3.5 D/A Converter Outputs

44.2 kW

10 kW

AOUT0

AGND

1.95 V ref.

1.116 V ref.

10 kW

AOUT1

3.00 V ref.

158 kW

158 kW

11 kW

11 kW

AOUT0

AOUT1

DAC

Voltage
Outputs

Current
Outputs

0.01 µF

12 V

-12 V

10 pF

44.2 kW

JP3

10 W

10 W

The two D/A converter outputs are buffered and scaled to provide an output from 0 V to
+10 V (12-bit resolution) or ±10 V (11-bit resolution, one bit used for polarity). The selec­tion is made via jumpers on header JP3 for AOUT0 and via JP6 for AOUT1. There is also
the option to select either D/A converter output as a 4–20 mA current output via jumpers
on header JP5. Figure 17 shows the D/A converter outputs.

Figure 17. D/A Converter Outputs

Table 9 summarizes the jumper settings to configure each D/A converter output. Note that
the software configuration requires both channels to be configured the same way.

Table 9. D/A Converter Jumper Configurations

D/A Converter Output JP3 JP5 JP6

AOUT0

AOUT1

BL4S200 User’s Manual 43

0 to +10 V (default)

1–2
3–4

1–3 —

±10 V 5–6 1–3 —

4–20 mA — 3–5 —

0 to +10 V (default) — 2–4

±10 V — 2–4 5–6

4–20 mA — 4–6 —

1–2
3–4

To stay within the maximum power dissipation of the D/A converter circuit, the maximum
D/A converter output current is 10 mA per channel for the voltage outputs. If you are
using the current outputs, keep the resistance driven by a current output channel above
1k to stay within the voltage compliance capability of the op-amp output circuit.

As Figure 17 shows, both the voltage and the current outputs for a particular channel are
driven by the same output on the D/A converter chip. As a result, either the anaOut-

Volts()

or the anaOutmAmps() function calls will set both the voltage and the current
outputs corresponding to a particular channel. Pay attention to which function call you use
to set the D/A converter output — setting a current level using voltage function calls will
not produce a correctly calibrated output.

The D/A converter outputs are factory-calibrated and the calibration constants are stored in
the user block.

3.5.1 D/A Converter Calibration

To get the best results form the D/A converter, it is necessary to calibrate each mode (uni­polar, bipolar, and current) that you intend to use. It is imperative that you calibrate each
of the D/A converter outputs in the same manner as they are to be used in the application.
The calibration table in software only holds calibration constants based on unipolar, bipo­lar, and voltage or current operation. Other factors affecting the calibration must be taken into

account by calibrating using the same mode and voltage/current setup as in the intended use.

Sample programs are provided to illustrate how to calibrate the various D/A outputs for
the three operating modes.

Mode Calibrate

Vo l t a g e DAC_CAL_VOLTS.C

Current DAC_CAL_MA.C

These sample programs are found in the

DAC subdirectory in SAMPLES\BLxS2xx. See

Section 4.2.4 for more information on these sample programs and how to use them.

BL4S200 User’s Manual 44

3.6 Analog Reference Voltages Circuit

3.32 kW

1.95 V

3.00 V

+2.5 V

6

5

20 kW

100 kW

11.8 kW

0.1 µF

12.4 kW

1.116 V

10 kW

0.1 µF

12

13

10

9

U21

U21

U21

Figure 18 shows the analog voltage reference circuit.

Figure 18. Analog Reference Voltages

The A/D converter chip supplies the 2.5 V reference voltage, which is then amplified and
buffered to provide the 3.00 V, 1.95 V, and 1.116 V reference voltages used by the digital
output circuits.

The D/A converter chip provides the reference voltages for the digital inputs to provide
single-ended unipolar or differential measurements [0 V], or to provide single-ended bipolar
measurements [V = (voltage range) ÷ 9]. Because the D/A converter chip operation is con­figured by the
function before running anaInConfig() if you plan to use the analog outputs to ensure
that the reference voltages are established first before the analog inputs are configured.

BL4S200 User’s Manual 45

anaOutConfig() function, it is important to run the anaOutConfig()

3.7 USB Programming Cable

Power

RESET BL4S200 when changing mode:

Cycle power off/on or press RESET

after removing or attaching programming cable.

Program Mode

RESET

S1

S2

R1

CORE +3.3 V

DS1

DS2

J9

J10

J11

J12

J8

J7

J6

J5

J4

J3

J2

J1

RCM1

R7

R8

R9

R10

C63

JP4

JP5

JP6

JP3

C62

C47

JP7

RS485

JP9

JP8

KB

+5 V

GND

+3.3 v

KA

+5 V

GND

+3.3 V

C52

C55
C57
C61

C56
C60

C50

C51

C49
C59
C54

C48
C53
C58

U7

C38

C39

C40

C21
C27
C33

C17
C19
C25

C14

R4

R2

C12

C13 U5

U6

C16

C41

C42

C43

C23
C29

C35

C22
C28
C34

U8

C44

C45

C46

C24

C30

C36

R117

RP1

U4

C37

RP2

R5

R121

L2 L3

BT1

C31

C32

U3

C15

C10

U2

C11

C9

C8

U1

R116
R3

R118

C18
C20
C26

JP1

JP2

D2

D3

L1

D4

C1
C2
C3

C4

C6

TERM

TERM

KC

+5 V

GND

+3.3 V

KD

+5 V

GND

+3.3 V

CAUTION! HOT!

CAUTION! HOT!

D6 D5 D8 D7

D9

C5

C7

D10

DS4

DS3

R6

BOARD

+3.3 V

POWER

IN

RNET PWR

4

1

7

14

8

R13

R12

R11

6

10

5

6

10

5

6

10

5

2

4

3

6

10

5

D1

6

10

5

6

10

5

610

5

Battery

D56

D57

D58

D59

D60

Run Mode

J1

R1
R2

R19

R3

R4

C3

L1

C1

C2

Y1

4

1

3

R16

R17

C4

C8

C5

C6

C7

R20

U2

R21

R22

R23

C13

C12

L2

C10

JP15

C21

U7

R38

J2

R37

R36

C22

DS1

LINK

SPEED

FDX

DS3

DS2

R39

R40

R41

R35

C23

R34

U6

R33

R31

R32

D1

R66

C14

C11

C9

R7

R6

DS4

R42

J3

U18

R65

R67

R64

R29

R68

R69

R30

R24

C15 C16 R28 R27 R26

R25

C20

U5

JP12

JP13

JP14

R71

R70

R5

JP1

JP2

R72

JP3

JP4
JP5

JP6

JP7

JP8

JP9

JP10

JP11

U3

R8

R9

Q2

Q3

C91
C93

U1

R10

R11

R13

R12

R14

R15

C17

C18

C19

C92
C90

RESET

Colored

edge

To

PC USB port

PROG

DIAG

Programming

Cable

PROG

DIAG

The USB programming cable is used to connect the serial programming port of the
BL4S200 to a PC USB port. The programming cable converts the voltage levels used by
the PC USB port to the CMOS voltage levels used by the Rabbit microprocessor.

When the PROG connector on the programming cable is connected to the programming
header on the BL4S200’s RabbitCore module, programs can be downloaded and
debugged over the serial interface.

The DIAG connector of the programming cable may be used on the programming header on
the BL4S200’s RabbitCore module with the BL4S200 operating in the Run Mode. This
allows the programming port to be used as a regular serial port.

3.7.1 Changing Between Program Mode and Run Mode

The BL4S200 is automatically in Program Mode when the PROG connector on the pro­gramming cable is attached, and is automatically in Run Mode when no programming cable
is attached. When the Rabbit microprocessor is reset, the operating mode is determined by
the status of the SMODE pins. When the programming cable’s PROG connector is attached,
the SMODE pins are pulled high, placing the Rabbit microprocessor in the Program Mode.
When the programming cable’s PROG connector is not attached, the SMODE pins are
pulled low, causing the Rabbit microprocessor to operate in the Run Mode.

A program “runs” in either mode, but can only be downloaded and debugged when the
BL4S200 is in the Program Mode.

Refer to the

User’s Manual

Rabbit 4000 Microprocessor User’s Manual and the Rabbit 5000 Microprocessor

Figure 19. BL4S200 Program Mode and Run Mode Setup

for more information on the programming port and the programming cable.

BL4S200 User’s Manual 46

3.8 Other Hardware

3.8.1 Clock Doubler

The BL4S200 Ethernet models and the Wi-Fi model (BL4S200, BL4S210, and BL5S220)
take advantage of the Rabbit microprocessor’s internal clock doubler. A built-in clock
doubler allows half-frequency crystals to be used to reduce radiated emissions. The clock
doubler on the BL4S230 is disabled by default.

The clock doubler may be disabled on the BL4S200 Ethernet models (BL4S200 and
BL4S210)if the higher clock speeds are not required. Disabling the clock doubler will
reduce power consumption and further reduce radiated emissions. The clock doubler is
disabled with a simple configuration macro as shown below.

1. Select the “Defines” tab from the Dynamic C Options > Project Options menu.

2. Add the line CLOCK_DOUBLED=0 to always disable the clock doubler.

The clock doubler is enabled by default, and usually no entry is needed. If you need to
specify that the clock doubler is always enabled, add the line CLOCK_DOUBLED=1 to
always enable the clock doubler.

3. Click OK to save the macro. The clock doubler will now remain off whenever you are
in the project file where you defined the macro.

NOTE: Do not disable the clock doubler on the Wi-Fi model (BL5S220) since Wi-Fi

operations depend highly on the CPU resources.

BL4S200 User’s Manual 47

3.8.2 Spectrum Spreader

The Rabbit microprocessors features a spectrum spreader, which help to mitigate EMI
problems. By default, the spectrum spreader is on automatically, but it may also be turned
off or set to a stronger setting. The means for doing so is through a simple configuration
macro as shown below.

1. Select the “Defines” tab from the Dynamic C Options > Project Options menu.

2. Normal spreading is the default, and usually no entry is needed. If you need to specify nor­mal spreading, add the line

ENABLE_SPREADER=1

For strong spreading, add the line

ENABLE_SPREADER=2

To disable the spectrum spreader, add the line

ENABLE_SPREADER=0

NOTE: The strong spectrum-spreading setting is not recommended since it may limit

the maximum clock speed or the maximum baud rate. It is unlikely that the strong set­ting will be used in a real application.

3. Click OK to save the macro. The spectrum spreader will be set according to the macro
value whenever a program is compiled using this project file.

NOTE: Refer to the Rabbit 4000 Microprocessor User’s Manual and the Rabbit 5000

Microprocessor User’s Manual for more information on the spectrum-spreading set-

tings and the maximum clock speed.

BL4S200 User’s Manual 48

3.9 Memory

3.9.1 SRAM

The RabbitCore modules used with the BL4S200 boards all have 512 KB of data SRAM.
The RabbitCore modules on the BL4S200 and BL5S220 boards also have 512 KB and
1 MB of fast program execution SRAM.

3.9.2 Flash Memory

The RabbitCore modules used with the BL4S200 boards have 512 KB or 1 MB of flash
memory.

NOTE: Rabbit recommends that any customer applications should not be constrained by

the sector size of the flash memory since it may be necessary to change the sector size
in the future.

Writing to arbitrary flash memory addresses at run time is also discouraged. Instead,
define a “user block” area to store persistent data. The functions writeUserBlock()
and readUserBlock() are provided for this.

3.9.3 VBAT RAM Memory

The tamper detection feature of the Rabbit microprocessor can be used to detect any
attempt to enter the bootstrap mode. When such an attempt is detected, the VBAT RAM
memory in the Rabbit microprocessor is erased. The serial bootloader on the RabbitCore
module on the BL4S200 model uses the bootstrap mode to load the SRAM, which erases
the VBAT RAM memory on any reset, and so it cannot be used on this model for tamper
detection.

3.9.4 microSD™ Cards

The RabbitCore module on the BL4S200 model supports a removable microSD™ Card up
to 1 GB to store data and Web pages. The microSD™ Card is particularly suitable for
mass-storage applications, but is generally unsuitable for direct program execution.

Unlike other flash devices, the microSD™ Card has some intelligence, which facilitates
working with it. You do not have to worry about erased pages. All microSD™ Cards sup-
port 512-byte reads and writes, and handle any necessary pre-erasing internally.

Figure 20 shows how to insert or remove the microSD™ Card. The card is designed to fit
easily only one way — do not bend the card or force it into the slot. While you remove or
insert the card, take care to avoid touching the electrical contacts on the bottom of the card
to prevent electrostatic discharge damage to the card and to keep any moisture or other
contaminants off the contacts. You will sense a soft click once the card is completely
inserted. To remove it, gently press the card towards the middle of the RabbitCore module
on the BL4S200 model — you will sense a soft click and the card will be ready to be
removed. Do not attempt to pull the card from the socket before pressing it in — otherwise
the ejection mechanism will get damaged. The ejection mechanism is spring-loaded, and
will partially eject the card when used correctly.

BL4S200 User’s Manual 49

Figure 20. Insertion/Removal of microSD Card

J1

R1

R2

R19

R3

R4

C3

L1

C1

C2

Y1

4

1

3

R16

R17

C4

C8

C5

C6

C7

R20

U2

R21

R22

R23

C13

C12

L2

C10

JP15

C21

U7

R38

J2

R37

R36

C22

DS1

LINK

SPEED

FDX

DS3

DS2

R39

R40

R41

R35

C23

R34

U6

R33

R31

R32

D1

R66

C14

C11

C9

R7

R6

DS4

R42

J3

U18

R65

R67

R64

R29

R68

R69

R30

R24

C15 C16 R28 R27 R26

R25

C20

U5

JP12

JP13

JP14

R71

R70

R5

JP1

JP2

R72

JP3

JP4

JP5

JP6

JP7

JP8

JP9

JP10

JP11

U3

R8

R9

Q2

Q3

C91

C93

U1

R10

R11

R13

R12

R14

R15

C17

C18

C19

C92

C90

NOTE: When using the Dynamic C FAT file system, do not remove or insert the

microSD™ Card while LED DS4 above the

microSD™ Card is on to indicate that the

microSD™ Card is mounted. The LED will go off when the microSD™ Card is

unmounted, indicating that it is safe to remove it.

Rabbit recommends that you use the microSD™ Card holder at connector J3 on the Rab-
bitCore module only for the microSD™ Card since other devices are not supported. Be
careful to remove and insert the card as shown, and be careful not to insert any foreign
objects, which may short out the contacts and lead to the destruction of your card.

It is possible to hot-swap microSD™ Cards without removing power from the BL4S200.
The file system must be closed before the cards can be hot-swapped. The chip selects
associated with the card must be set to their inactive state, and read/write operations
addressed to the microSD™ Card port cannot be allowed to occur. These operations can
be initiated in software by sensing an external switch actuated by the user, and the card
can then be removed and replaced with a different one. Once the application program
detects a new card, the file system can be opened. These steps allow the microSD™ Card
to be installed or removed without affecting either the program, which continues to run on
the RCM4300 module, or the data stored on the card. The Dynamic C FAT file system will
handle this overhead automatically when you unmount the microSD™ Card. LED DS4
above the microSD™ Card is used by the FAT file system to show when the media is
mounted.

Standard Windows SD Card readers may be used to read the microSD™ Card formatted
by the Dynamic C FAT file system with the BL4S200 as long as it has not been parti­tioned. SD Card adapters have a sliding switch along the left side that may be moved
down to write-protect the microSD™ Card while it is being used with an SD Card reader.

Sample programs in the
microSD™ Cards.

BL4S200 User’s Manual 50

SAMPLES\BLxS2xx\SD_Flash folder illustrate the use of the

4. SOFTWARE

Dynamic C is an integrated development system for writing
embedded software. It runs on an IBM-compatible PC and is
designed for use with single-board computers and other devices
based on the Rabbit microprocessor.

Chapter 4 provides the libraries, function calls, and sample pro­grams related to the BL4S200.

4.1 Running Dynamic C

You have a choice of doing your software development in the flash memory or in the static
RAM included on the BL4S200. The flash memory and SRAM options are selected with
the Options > Project Options > Compiler menu.

The advantage of working in RAM is to save wear on the flash memory, which is limited
to about 100,000 write cycles. The disadvantage is that the code and data might not both
fit in RAM.

NOTE: On the BL4S210, an application can be developed in RAM, but cannot run stand-

alone from RAM after the programming cable is disconnected. Standalone applications
can only run from flash memory.

NOTE: Do not depend on the flash memory sector size or type. Due to the volatility of

the flash memory market, the BL4S200 and Dynamic C were designed to accommodate
flash devices with various sector sizes.

Developing software with Dynamic C is simple. Users can write, compile, and test C and
assembly code without leaving the Dynamic C development environment. Debugging
occurs while the application runs on the target. Alternatively, users can compile a program
to an image file for later loading. Dynamic C runs on PCs under Windows NT and later—

see Rabbit’s Technical Note TN257, Running Dynamic C® With Windows Vista®, for
additional information if you are using a Dynamic C under Windows Vista. Programs can
be downloaded at baud rates of up to 460,800 bps after the program compiles.

BL4S200 User’s Manual 51

Dynamic C has a number of standard features:

• Full-feature source and/or assembly-level debugger, no in-circuit emulator required.

• Royalty-free TCP/IP stack with source code and most common protocols.

• Hundreds of functions in source-code libraries and sample programs:

 Exceptionally fast support for floating-point arithmetic and transcendental functions.

 RS-232 and RS-485 serial communication.

 Analog and digital I/O drivers.

2

 I

C, SPI, GPS, file system.

 LCD display and keypad drivers.

• Powerful language extensions for cooperative or preemptive multitasking

• Loader utility program to load binary images into Rabbit targets in the absence of

Dynamic C.

• Provision for customers to create their own source code libraries and augment on-line

help by creating “function description” block comments using a special format for
library functions.

• Standard debugging features:

 Breakpoints—Set breakpoints that can disable interrupts.

 Single-stepping—Step into or over functions at a source or machine code level, µC/OS-II aware.

 Code disassembly—The disassembly window displays addresses, opcodes, mnemonics, and

machine cycle times. Switch between debugging at machine-code level and source-code level by
simply opening or closing the disassembly window.

 Watch expressions—Watch expressions are compiled when defined, so complex expressions

including function calls may be placed into watch expressions. Watch expressions can be updated
with or without stopping program execution.

 Register window—All processor registers and flags are displayed. The contents of general registers

may be modified in the window by the user.

 Stack window—shows the contents of the top of the stack.

 Hex memory dump—displays the contents of memory at any address.

 STDIO window—

detected for debugging purposes.

printf outputs to this window and keyboard input on the host PC can be

printf output may also be sent to a serial port or file.

BL4S200 User’s Manual 52

4.1.1 Upgrading Dynamic C

4.1.1.1 Patches and Updates

Dynamic C patches that focus on bug fixes and updates are available from time to time.
Check the Web site at www.rabbit.com/support/ for the latest patches, workarounds, and
updates.

The default installation of a patch or update is to install the file in a directory (folder)
different from that of the original Dynamic C installation. Rabbit recommends using a
different directory so that you can verify the operation of the patch or update without over­writing the existing Dynamic C installation. If you have made any changes to the BIOS or
to libraries, or if you have programs in the old directory (folder), make these same changes
to the BIOS or libraries in the new directory containing the patch. Do not simply copy
over an entire file since you may overwrite an update; of course, you may copy over any
programs you have written. Once you are sure the new patch or update works entirely to
your satisfaction, you may retire the existing installation, but keep it available to handle
legacy applications.

4.1.2 Add-On Modules

Starting with Dynamic C version 10.40, Dynamic C includes the popular µC/OS-II real­time operating system, point-to-point protocol (PPP), FAT file system, RabbitWeb, and
other select libraries. Starting with Dynamic C version 10.56, Dynamic C includes the
Rabbit Embedded Security Pack featuring the Secure Sockets Layer (SSL) and a specific
Advanced Encryption Standard (AES) library.

In addition to the Web-based technical support included at no extra charge, a one-year
telephone-based technical support subscription is also available for purchase.

Visit our Web site at www.rabbit.com for further information and complete documentation.

BL4S200 User’s Manual 53

4.2 Sample Programs

Sample programs are provided in the Dynamic C Samples folder. The sample program

PONG.C demonstrates the output to the STDIO window.

The various directories in the Samples folder contain specific sample programs that illus­trate the use of the corresponding Dynamic C libraries.

The SAMPLES\BLxS2xx folder provides sample programs specific to the BL4S200. Each
sample program has comments that describe the purpose and function of the program. Fol­low the instructions at the beginning of the sample program.

To run a sample program, open it with the File menu (if it is not still open), then compile
and run it by pressing F9. The BL4S200 must be in Program mode (see Section 3.7,
“USB Programming Cable,”) and must be connected to a PC using the programming cable
as described in Section 2.2, “BL4S200 Connections.” See Appendix C for information on
the power-supply connections to the Demonstration Board.

Complete information on Dynamic C is provided in the Dynamic C User’s Manual. TCP/
IP specific functions are described in the Dynamic C TCP/IP User’s Manual. Information
on using the TCP/IP features and sample programs is provided in Section 5, “Using the
Ethernet TCP/IP Features.”

BL4S200 User’s Manual 54

4.2.1 Digital I/O

DIGITAL I/O DIO0DIO15

CONNECTOR J9 & J10

BL4S200

RESET

S1

S2

R1

CORE +3.3 V

DS1

DS2

J9

J10

J11

J12

J8

J7

J6

J5

J4

J3

J2

J1

RCM1

R7

R8

R9

R10

C63

JP4

JP5

JP6

JP3

C62

C47

JP7

RS485

JP9

JP8

KB

+5 V

GND

+3.3 v

KA

+5 V

GND

+3.3 V

C52

C55
C57
C61

C56
C60

C50

C51

C49
C59
C54

C48
C53
C58

U7

C38

C39

C40

C21
C27
C33

C17
C19
C25

C14

R4

R2

C12

C13 U5

U6

C16

C41

C42

C43

C23
C29

C35

C22
C28
C34

U8

C44

C45

C46

C24
C30
C36

R117

RP1

U4

C37

RP2

R5

R121

L2 L3

BT1

C31

C32

U3

C15

C10

U2

C11

C9

C8

U1

R116
R3

R118

C18
C20
C26

JP1

JP2

D2

D3

L1

D4

C1
C2
C3

C4

C6

TERM

TERM

KC

+5 V

GND

+3.3 V

KD

+5 V

GND

+3.3 V

CAUTION! HOT!

CAUTION! HOT!

D6 D5 D8 D7

D9

C5

C7

D10

DS4

DS3

R6

BOARD

+3.3 V

POWER

IN

RNET PWR

4

1

7

14

8

R13

R12

R11

6

10

5

6

10

5

6

10

5

2

4

3

6

10

5

D1

6

10

5

6

10

5

610

5

Battery

D56

D57

D58

D59

D60

RNET PWR

CONNECTOR J7

BL4S200

J1

R1
R2

R19

R3

R4

C3

L1

C1

C2

Y1

4

1

3

R16

R17

C4

C8

C5

C6

C7

R20

U2

R21

R22

R23

C13

C12

L2

C10

JP15

C21

U7

R38

J2

R37

R36

C22

DS1

LINK

SPEED

FDX

DS3

DS2

R39

R40

R41

R35

C23

R34

U6

R33

R31

R32

D1

R66

C14

C11

C9

R7

R6

DS4

R42

J3

U18

R65

R67

R64

R29

R68

R69

R30

R24

C15 C16 R28 R27 R26

R25

C20

U5

JP12

JP13

JP14

R71

R70

R5

JP1

JP2

R72

JP3

JP4
JP5

JP6

JP7

JP8

JP9

JP10

JP11

U3

R8

R9

Q2

Q3

C91
C93

U1

R10

R11

R13

R12

R14

R15

C17

C18

C19

C92
C90

GND to pin 5 on Connector J9 or J10

J9

J10

BL4S200 CONNECTORS

JP15

JP1

JP2

The following sample programs are found in the SAMPLES\BLxS2xx\DIO subdirectory.

Figure 21 shows the signal connections for the sample programs that illustrate the use of
the digital inputs.

Figure 21. Digital Inputs Signal Connections

• DIGIN.C—Demonstrates the use of the digital inputs. Using the Demonstration Board,

you can see an input channel toggle from HIGH to LOW in the Dynamic C
window when you press a pushbutton on the Demonstration Board.

STDIO

• DIGIN_BANK.C—Demonstrates the use of digInBank() to read digital inputs. Using

the Demonstration Board, you can see an input channel toggle from HIGH to LOW in
the Dynamic C STDIO window when you press a pushbutton on the Demonstration
Board.

BL4S200 User’s Manual 55

Figure 22 shows the signal connections for the sample programs that illustrate the use of

DIGITAL I/O DIO0DIO3

CONNECTOR J10

BL4S200

RESET

S1

S2

R1

CORE +3.3 V

DS1

DS2

J9

J10

J11

J12

J8

J7

J6

J5

J4

J3

J2

J1

RCM1

R7

R8

R9

R10

C63

JP4

JP5

JP6

JP3

C62

C47

JP7

RS485

JP9

JP8

KB

+5 V

GND

+3.3 v

KA

+5 V

GND

+3.3 V

C52

C55
C57
C61

C56
C60

C50

C51

C49
C59
C54

C48
C53
C58

U7

C38

C39

C40

C21
C27
C33

C17
C19
C25

C14

R4

R2

C12

C13 U5

U6

C16

C41

C42

C43

C23
C29

C35

C22
C28
C34

U8

C44

C45

C46

C24
C30
C36

R117

RP1

U4

C37

RP2

R5

R121

L2 L3

BT1

C31

C32

U3

C15

C10

U2

C11

C9

C8

U1

R116
R3

R118

C18
C20
C26

JP1

JP2

D2

D3

L1

D4

C1
C2
C3

C4

C6

TERM

TERM

KC

+5 V

GND

+3.3 V

KD

+5 V

GND

+3.3 V

CAUTION! HOT!

CAUTION! HOT!

D6 D5 D8 D7

D9

C5

C7

D10

DS4

DS3

R6

BOARD

+3.3 V

POWER

IN

RNET PWR

4

1

7

14

8

R13

R12

R11

6

10

5

6

10

5

6

10

5

2

4

3

6

10

5

D1

6

10

5

6

10

5

610

5

Battery

D56

D57

D58

D59

D60

RNET PWR

connections are

the same as for

digital inputs.

J1

R1
R2

R19

R3

R4

C3

L1

C1

C2

Y1

4

1

3

R16

R17

C4

C8

C5

C6

C7

R20

U2

R21

R22

R23

C13

C12

L2

C10

JP15

C21

U7

R38

J2

R37

R36

C22

DS1

LINK

SPEED

FDX

DS3

DS2

R39

R40

R41

R35

C23

R34

U6

R33

R31

R32

D1

R66

C14

C11

C9

R7

R6

DS4

R42

J3

U18

R65

R67

R64

R29

R68

R69

R30

R24

C15 C16 R28 R27 R26

R25

C20

U5

JP12

JP13

JP14

R71

R70

R5

JP1

JP2

R72

JP3

JP4
JP5

JP6

JP7

JP8

JP9

JP10

JP11

U3

R8

R9

Q2

Q3

C91
C93

U1

R10

R11

R13

R12

R14

R15

C17

C18

C19

C92
C90

GND to pin 5

on

Connector J10

J10

BL4S200 CONNECTOR

JP15

DIO0
DIO1
DIO2
DIO3

JP1

JP2

the digital outputs.

Figure 22. Digital Outputs Signal Connections

• DIGOUT.C—Demonstrates the use of the configurable I/O sinking outputs. Using the

Demonstration Board, you can see an LED toggle on/off via a sinking output.

•

DIGOUT_BANK.C—Demonstrates the use of digOutBank() to control the configurable

I/O sinking outputs. Using the Demonstration Board, you can see an LED toggle on/off
via a sinking output.

BL4S200 User’s Manual 56

Figure 23 shows the signal connections for the sample program that illustrates the use of

HIGH-CURRENT OUPUTS

HOUT0HOUT3

CONNECTOR J3

BL4S200

RESET

S1

S2

R1

CORE +3.3 V

DS1

DS2

J9

J10

J11

J12

J8

J7

J6

J5

J4

J3

J2

J1

RCM1

R7

R8

R9

R10

C63

JP4

JP5

JP6

JP3

C62

C47

JP7

RS485

JP9

JP8

KB

+5 V

GND

+3.3 v

KA

+5 V

GND

+3.3 V

C52

C55
C57
C61

C56
C60

C50

C51

C49
C59
C54

C48
C53
C58

U7

C38

C39

C40

C21
C27
C33

C17
C19
C25

C14

R4

R2

C12

C13 U5

U6

C16

C41

C42

C43

C23
C29

C35

C22
C28
C34

U8

C44

C45

C46

C24

C30

C36

R117

RP1

U4

C37

RP2

R5

R121

L2 L3

BT1

C31

C32

U3

C15

C10

U2

C11

C9

C8

U1

R116
R3

R118

C18
C20
C26

JP1

JP2

D2

D3

L1

D4

C1
C2
C3

C4

C6

TERM

TERM

KC

+5 V

GND

+3.3 V

KD

+5 V

GND

+3.3 V

CAUTION! HOT!

CAUTION! HOT!

D6 D5 D8 D7

D9

C5

C7

D10

DS4

DS3

R6

BOARD

+3.3 V

POWER

IN

RNET PWR

4

1

7

14

8

R13

R12

R11

6

10

5

6

10

5

6

10

5

2

4

3

6

10

5

D1

6

10

5

6

10

5

610

5

Battery

D56

D57

D58

D59

D60

+K1 to Connector J7

on BL4S200

RNET PWR

CONNECTOR J7

BL4S200

J1

R1
R2

R19

R3

R4

C3

L1

C1

C2

Y1

4

1

3

R16

R17

C4

C8

C5

C6

C7

R20

U2

R21

R22

R23

C13

C12

L2

C10

JP15

C21

U7

R38

J2

R37

R36

C22

DS1

LINK

SPEED

FDX

DS3

DS2

R39

R40

R41

R35

C23

R34

U6

R33

R31

R32

D1

R66

C14

C11

C9

R7

R6

DS4

R42

J3

U18

R65

R67

R64

R29

R68

R69

R30

R24

C15 C16 R28 R27 R26

R25

C20

U5

JP12

JP13

JP14

R71

R70

R5

JP1

JP2

R72

JP3

JP4
JP5

JP6

JP7

JP8

JP9

JP10

JP11

U3

R8

R9

Q2

Q3

C91
C93

U1

R10

R11

R13

R12

R14

R15

C17

C18

C19

C92
C90

GND to pin 5

on

Connector J3

J3BL4S200 CONNECTOR

JP15

HOUT1
HOUT2
HOUT3
HOUT0

JP1

JP2

+K1

HOUT2

n.c.

+K1

HOUT0

GND

HOUT3

n.c.

GND

HOUT1

2

7

8
394

6
1

5

10

the high-current outputs. Note that the regular power-supply connection is substituted by
HOUT0, which operates in the sourcing mode to supply power for this sample program.

Figure 23. High-Current Outputs Signal Connections

• HIGH_CURRENT_IO.C—Demonstrates the use of the high-current outputs configured

as either sinking or sourcing outputs. High-current output HOUT0 is configured for
sourcing to provide power to the Demonstration Board. Outputs HOUT1 and HOUT2
are configured to demonstrate tristate operation to toggle the LEDs on the Demonstra­tion Board. Output HOUT3 is configured as a sinking output to toggle an LED on the
Demonstration Board.

•

BL4S200 User’s Manual 57

INTERRUPTS.C—Demonstrates the use of the Rabbit RIO interrupt service capabilities.

Set up the Demonstration Board as shown in Figure 21 with DIO0 connected to SW1.

The sample program sets up two interrupt sources, an external interrupt tied to pushbutton
switch SW1, and a rollover interrupt tied to a timer that is producing a PWM output.
The Dynamic C
the PWM signal was started. The window will also display Button Pressed each time
the pushbutton switch is pressed. Each time the button is pressed, the timeout timer that
removes the message is reset, so you can keep the message on the screen indefinitely by
pressing the button repeatedly.

STDIO window will show a count of rollovers that have occurred since

• PPM.C—Demonstrates the use of four PPM channels on the configurable I/O pins

2

7

8
394

6
1

5

10

GND

DIO1

DIO5

DIO0

DIO4

J10

Oscilloscope

GND

DIO0, DIO2, DIO4, and DIO6 on connector J10. The PPM signals are set for a
frequency of 200 Hz, with the duty cycle adjustable from 0 to 100% and an offset
adjustable from 0 to 100% by the user. These pins can be connected to an oscilloscope
to view the waveform being generated. The overall frequency can be adjusted in the

#define PPM_FREQ line. Follow these instructions when running this sample program.

1. Verify that the jumper on header JP9 is in the default position across pins 3–4 for +5 V pullup.

2. Connect the oscilloscope probe to the configurable I/O pins on connector J10. Remember to
connect the oscilloscope ground to GND on connector J10.

Change the duty cycle and offsets for a given PPM channel via the Dynamic C STDIO
window and watch the change in waveforms on the oscilloscope. Signals on DIO0
(PPM00) and DIO2 (PPM01) will all be synchronized with each other as they share the
same overall counter block that sets the cycle frequency. The same is true for PPM sig­nals on DIO4 (PPM02) and DIO6 (PPM03). The two blocks may have a phase shift
from each other, but will run at the same frequency.

• PULSE_CAPTURE.C—Demonstrates the use of two input capture inputs tied to PPM

channels on the configurable digital I/O pins on connector J10. The input capture feature
allows the begin and end positions of a pulse to be measured in a given time window.
We take advantage of the counter synchronization feature of the underlying Rabbit RIO
chip to create capture windows and pulse modulation windows that are synchronized.
This guarantees that we always catch the begin edge first on a quickly repeating wave­form. This was done to create an interactive element to this sample program, but cap­turing real-world repetitive signals will usually not have this advantage. Refer to
Section 3.2.1.3 for more information on how to use the input capture.feature. Follow
these instructions when running this sample program.

1. Connect digital I/O pins DIO0 and DIO1 together.

2. Connect digital I/O pins DIO4 and DIO5 together.

3. Connect the oscilloscope ground to GND on connector
J10.

4. Use the oscilloscope probes on the DIO0 and the DIO1
pair or the DIO4 and DIO5 pair to view the PPM signals.

Once the connections have been made, compile and run this sample program. Change
the offset and duty cycle for a given PPM channel via the Dynamic C

STDIO window

and watch the change to the begin and end counts measured on the input capture inputs.
The PPM frequency can be changed in the

#define PPM_FREQ line.

• PWM.C—Demonstrates the use of the eight PWM channels on configurable I/O pins

DIO0–DIO7. The PWM signals are set for a frequency of 200 Hz with the duty cycle
adjustable from 0 to 100% by the user. These pins can be connected to an oscilloscope
to view the waveform being generated. The overall frequency can be adjusted in the

#define PWM_FREQ line. Follow these instructions when running this sample program.

1. Verify that the jumper on header JP9 is in the default position across pins 3–4 for +5 V pullup.

2. Connect the oscilloscope probe to the configurable I/O pins on connector J10. Remember to
connect the oscilloscope ground to GND on connector J10.

BL4S200 User’s Manual 58

• QUADRATURE_DECODER.C—Demonstrates the use of quadrature decoders on the

DIGITAL I/O DIO0DIO3

CONNECTOR J10

BL4S200

RESET

S1

S2

R1

CORE +3.3 V

DS1

DS2

J9

J10

J11

J12

J8

J7

J6

J5

J4

J3

J2

J1

RCM1

R7

R8

R9

R10

C63

JP4

JP5

JP6

JP3

C62

C47

JP7

RS485

JP9

JP8

KB

+5 V

GND

+3.3 v

KA

+5 V

GND

+3.3 V

C52

C55
C57
C61

C56
C60

C50

C51

C49
C59
C54

C48
C53
C58

U7

C38

C39

C40

C21
C27
C33

C17
C19
C25

C14

R4

R2

C12

C13 U5

U6

C16

C41

C42

C43

C23
C29

C35

C22
C28
C34

U8

C44

C45

C46

C24
C30
C36

R117

RP1

U4

C37

RP2

R5

R121

L2 L3

BT1

C31

C32

U3

C15

C10

U2

C11

C9

C8

U1

R116
R3

R118

C18
C20
C26

JP1

JP2

D2

D3

L1

D4

C1
C2
C3

C4

C6

TERM

TERM

KC

+5 V

GND

+3.3 V

KD

+5 V

GND

+3.3 V

CAUTION! HOT!

CAUTION! HOT!

D6 D5 D8 D7

D9

C5

C7

D10

DS4

DS3

R6

BOARD

+3.3 V

POWER

IN

RNET PWR

4

1

7

14

8

R13

R12

R11

6

10

5

6

10

5

6

10

5

2

4

3

6

10

5

D1

6

10

5

6

10

5

610

5

Battery

D56

D57

D58

D59

D60

J1

R1
R2

R19

R3

R4

C3

L1

C1

C2

Y1

4

1

3

R16

R17

C4

C8

C5

C6

C7

R20

U2

R21

R22

R23

C13

C12

L2

C10

JP15

C21

U7

R38

J2

R37

R36

C22

DS1

LINK

SPEED

FDX

DS3

DS2

R39

R40

R41

R35

C23

R34

U6

R33

R31

R32

D1

R66

C14

C11

C9

R7

R6

DS4

R42

J3

U18

R65

R67

R64

R29

R68

R69

R30

R24

C15 C16 R28 R27 R26

R25

C20

U5

JP12

JP13

JP14

R71

R70

R5

JP1

JP2

R72

JP3

JP4
JP5

JP6

JP7

JP8

JP9

JP10

JP11

U3

R8

R9

Q2

Q3

C91
C93

U1

R10

R11

R13

R12

R14

R15

C17

C18

C19

C92
C90

J10

BL4S200 CONNECTOR

JP15

DIO0
DIO1
DIO2
DIO3

JP1

JP2

DIO6
DIO5

DIO4
GND to pin 5
on Connector J10

BL4S200. See Figure 24 for hookup instructions of configurable I/O pins DIO0–DIO6
on connector J10 with the Demonstration Board.

Figure 24. Quadrature Decoder Signal Connections

Once the connections have been made, compile and run this sample program. Press
button SW1 on the Demonstration Board to decrement the quadrature counter, or press
button SW2 on the Demonstration Board to increment the quadrature counter. Press
button SW3 on the Demonstration Board to reset the quadrature counter.

BL4S200 User’s Manual 59

4.2.2 Serial Communication

2

7

8
394

RXF

RXE

TXF

TXE

6
1

5

10

J11

2

7

8
394

RXF

RXE

TXF

TXE

6
1

5

10

J11

2

7

8
394

RXB

TXB

6
1

5

10

J11

BL4S210

The following sample programs are found in the SAMPLES\BLxS2xx\RS232 subdirectory.

• PARITY.C—This sample program repeatedly sends byte values 0–127 from Serial Port F

to Serial Port E. The program switches between generating parity and not generating
parity on Serial Port F. Serial Port E will always be checking parity, so parity errors
should occur during every other sequence. The results are displayed in the Dynamic C

STDIO window.

Connect TxF (pin 2 on connector J11) to RxE (pin 6 on con­nector J11) before compiling and running this sample pro­gram.

The BL4S210 model only has one RS-232 serial port avail­able, and so this sample program cannot be run on the
BL4S210 model.

NOTE: For the sequence that does yield parity errors, the errors won't occur for each

byte received. This is because certain byte patterns along with the stop bit will appear to
generate the correct parity for the UART.

• SIMPLE3WIRE.C—This program demonstrates basic RS-232 serial communication

using the Dynamic C STDIO window. Follow these instructions before running this
sample program.

BL4S200, BL5S220, BL4S230 models—Connect TxE (pin
1 on connector J11) to RxF (pin 7 on connector J11), then
connect TxF (pin 2 on connector J11) to RxE (pin 6 on
connector J11) before compiling and running this sample
program.

BL4S210—Connect TxB (pin 1 on connector J11) to RxB
(pin 6 on connector J11) before compiling and running this
sample program.

BL4S200 User’s Manual 60

• SIMPLE5WIRE.C—This program demonstrates 5-wire RS-232 serial communication

2

7

8
394

RXF

RXE

TXF

TXE

6
1

5

10

J11

MASTER

SLAVE

2

7

8
394

485+

GND

485

6
1

5

10

2

7

8

394

485+

GND

485

6

1

5

10

J11

J11

MASTER

SLAVE

2

7

8
394

485+

GND

485

6
1

5

10

2

7

8

394

485+

GND

485

6

1

5

10

J11

J11

using the Dynamic C STDIO window. Follow these instructions before running this
sample program.

The BL4S210 model only has one RS-232 serial port available, and so this sample
program cannot be run on the BL4S210 model.

Before you compile and run this sample program on any of
the other BL4S200 models, connect TxE (pin 1 on connector
J11) to RxE (pin 6 on connector J11), then connect TxF (pin
2 on connector J11) to RxF (pin 7 on connector J11).

TxF and RxF become the flow control RTS and CTS. To test
flow control, disconnect RTS from CTS while running this
program. Characters should stop printing in the Dynamic C

STDIO window and should resume when RTS and CTS are connected again

The following sample programs are found in the SAMPLES\BLxS2xx\RS485 subdirectory.

• MASTER.C—This program demonstrates a simple RS-485 transmission of lower case

letters to a slave. The slave will send back converted upper case letters back to the
master BL4S200 and display them in the STDIO window. Use SLAVE.C to program the
slave. Make the following connections between the master and slave:

485+ to 485+ (pin 9 on connector J11)
485- to 485- (pin 4 on connector J11)
GND to GND (pin 5 on connector J11)

• SLAVE.C—This program demonstrates a simple RS-485 transmission of lower case

letters to a slave. The slave will send back converted upper case letters back to the
master BL4S200 and display them in the

STDIO window. Use MASTER.C to program

the master BL4S200. Make the following connections between the master and slave:

485+ to 485+ (pin 9 on connector J11)
485- to 485- (pin 4 on connector J11)
GND to GND (pin 5 on connector J11)

BL4S200 User’s Manual 61

4.2.3 A/D Converter Inputs

The following sample programs are found in the SAMPLES\BLxS2xx\ADC subdirectory.
You will need a separate power supply and a multimeter to use with these sample programs.

NOTE: The calibration sample programs will overwrite the calibration constants set at

the factory. Before you run these sample programs, run

WRITE.C

stants in case you inadvertently write over them while running other sample programs.

in the SAMPLES\UserBlock folder to save the factory calibration con-

USERBLOCK_READ_

• ADC_CAL_DIFF.C—Demonstrates how to recalibrate a differential A/D converter

channel using two measured voltages to generate two coefficients, gain and offset,
which are rewritten into the user block. The voltage that is being monitored is displayed
continuously.

Once you compile and run this sample program, connect the power supply across a dif­ferential channel pair, then follow the instructions in the Dynamic C STDIO window.

• ADC_CAL_MA.C—Demonstrates how to recalibrate a milli-amp A/D converter channel

using two measured currents to generate two coefficients, gain and offset, which are
rewritten into the reserved user block. The current that is being monitored is displayed
continuously.

Before you compile and run this sample program, jumper pins 1–2, 3–4, 5–6, and 7–8
on header JP4. Then connect a current meter in series with the power supply connected
to one of pins AIN0–AIN3 and AGND, then compile and run the sample program, and
follow the instructions in the Dynamic C STDIO window.

• ADC_CAL_SE_BIPOLAR.C—Demonstrates how to recalibrate a single-ended bipolar

A/D converter channel using two measured voltages to generate two coefficients, gain
and offset, which are rewritten into the reserved user block. The voltage that is being
monitored is displayed continuously.

Before you compile and run this sample program, connect the power supply (which
should be OFF) to one of pins AIN0–AIN3 and AGND, then compile and run the
sample program, and follow the instructions in the Dynamic C

STDIO window.

• ADC_CAL_SE_UNIPOLAR.C—Demonstrates how to recalibrate a single-ended unipolar

A/D converter channel using two measured voltages to generate two coefficients, gain
and offset, which are rewritten into the reserved user block. The voltage that is being
monitored is displayed continuously.

Before you compile and run this sample program, connect the power supply (which
should be OFF) between the pin (AIN0–AIN7) of the channel you are calibrating and
AGND, then compile and run the sample program, and follow the instructions in the
Dynamic C STDIO window.

• ADC_RD_CALDATA.C—Demonstrates how to display the two calibration coefficients,

gain and offset, in the Dynamic C

STDIO window for each channel and mode of

operation.

BL4S200 User’s Manual 62

• AD_RD_DIFF.C—Demonstrates how to read and display voltage and equivalent values

for a differential A/D converter channel using calibration coefficients previously stored
in the user block. The user selects to display either the raw data or the voltage equivalent.

Once you compile and run this sample program, connect the power supply across a dif­ferential channel pair, then follow the instructions in the Dynamic C STDIO window.

• AD_RD_MA.C—Demonstrates how to read and display voltage and equivalent values for

a milli-amp A/D converter channel using calibration coefficients previously stored in
the user block. The user selects to display either the raw data or the current equivalent.

Before you compile and run this sample program, jumper pins 1–2, 3–4, 5–6, and 7–8
on header JP4. Then connect a current meter in series with the power supply connected
to one of pins AIN0–AIN3 and AGND, then compile and run the sample program, and
follow the instructions in the Dynamic C STDIO window as you vary the output from
the power supply.

• AD_RD_SE_AVERAGING.C—Demonstrates how to read and display the voltage of all

single-ended analog input channels using a sliding window. The voltage is calculated
from coefficients read from the reserved user block.

Before you compile and run this sample program, connect the power supply (which
should be OFF) between a pin (AIN0–AIN7) and AGND, then compile and run the
sample program, and follow the instructions in the Dynamic C STDIO window. The
voltage readings will be displayed for all the channels measured to that point.

• AD_RD_SE_BIPOLAR.C—Demonstrates how to read and display the voltage of all

single-ended A/D converter channels using calibration coefficients previously stored in
the user block.

Before you compile and run this sample program, connect the power supply (which
should be OFF) between a pin (AIN0–AIN7) and AGND, then compile and run the
sample program, and follow the instructions in the Dynamic C STDIO window. Reverse
the power supply connections to get a negative voltage reading.

• AD_RD_SE_UNIPOLAR.C—Demonstrates how to read and display the voltage of all

single-ended A/D converter channels using calibration coefficients previously stored in
the user block.

Before you compile and run this sample program, connect the power supply (which
should be OFF) between a pin (AIN0–AIN7) and AGND, then compile and run the
sample program, and follow the instructions in the Dynamic C STDIO window.

BL4S200 User’s Manual 63

4.2.4 D/A Converter Outputs

The following sample programs are found in the SAMPLES\BLxS2xx\DAC subdirectory.

NOTE: The calibration sample programs will overwrite the calibration constants set at

the factory.

• DAC_CAL_MA.C—Demonstrates how to recalibrate a D/A converter channel using a

measured current to generate calibration constants, which are written into the reserved
user block.

Before you compile and run this sample program, connect pins 3–5 and 4–6 on header
JP5, and verify that jumpers are in place across pins 1–2 and 3–4 on both headers JP3
(AOUT0) and JP6 (AOUT1). Now compile and run the sample program, and follow the
instructions in the Dynamic C STDIO window.

• DAC_CAL_VOLTS.C—Demonstrates how to recalibrate a D/A converter channel using

a measured voltage to generate calibration constants, which are written into the
reserved user block.

Before you compile and run this sample program, connect pins 1–3 and 2–4 on header
JP5, then connect pins 1–2 and 3–4 on both headers JP3 and JP6 (unipolar), or connect
pins 5–6 on both headers JP3 and JP6 (bipolar). Now connect a voltmeter across one of
the D/A converter outputs, then compile and run the sample program, and follow the
instructions in the Dynamic C STDIO window.

• DAC_MA_ASYNC.C—Demonstrates how to output a current that can be read with an

ammeter. The output current is computed with using the calibration constants that are
stored in the reserved user block.

The D/A converter circuit is set up for asynchronous operation, which updates the D/A
converter output at the time it's being written via the anaOut() or anaOutmAmps()
function calls.

Before you compile and run this sample program, connect pins 3–5 and 4–6 on header
JP5, and verify that jumpers are in place across pins 1–2 and 3–4 on both headers JP3
(AOUT0) and JP6 (AOUT1). Now set up an ammeter in series with the D/A converter
output and a resistor from 50  to 400 , then compile and run the sample program, and
follow the instructions in the Dynamic C STDIO window.

• DAC_MA_SYNC.C—Demonstrates how to output a current that can be read with an

ammeter. The output current is computed using the calibration constants that are stored
in the reserved user block.

The D/A converter circuit is set up for synchronous operation, which updates the D/A
converter output when the anaOutStrobe() function call executes. The outputs will be
updated with values previously written via the

anaOut() or anaOutmAmps() function

calls.

Before you compile and run this sample program, connect pins 3–5 and 4–6 on header
JP5, and verify that jumpers are in place across pins 1–2 and 3–4 on both headers JP3
(AOUT0) and JP6 (AOUT1). Now set up an ammeter in series with the D/A converter

BL4S200 User’s Manual 64

output and a resistor from 50  to 400 , then compile and run the sample program, and
follow the instructions in the Dynamic C STDIO window.

• DAC_RD_CALDATA.C—Demonstrates how to display the calibration coefficients, gain

and offset, in the Dynamic C STDIO window for each channel and mode of operation.

DAC_VOLT_ASYNC.C—Demonstrates how to output a voltage that can be read with a

•

voltmeter. The output voltage is computed with using the calibration constants that are
stored in the reserved user block.

The D/A converter circuit is set up for asynchronous operation, which updates the D/A
converter output at the time it's being written via the

anaOut() or anaOutVolts()

function calls.

Before you compile and run this sample program, connect pins 1–3 and 2–4 on header
JP5, then connect pins 1–2 and 3–4 on both headers JP3 and JP6 (unipolar), or connect
pins 5–6 on both headers JP3 and JP6 (bipolar). Now connect a voltmeter across one of
the D/A converter outputs, then compile and run the sample program, and follow the
instructions in the Dynamic C STDIO window.

• DAC_VOLT_SYNC.C—Demonstrates how to output a voltage that can be read with a

voltmeter. The output voltage is computed using the calibration constants that are
stored in the reserved user block.

The D/A converter circuit is set up for synchronous operation, which updates the D/A
converter output when the anaOutStrobe() function call executes. The outputs will be
updated with values previously written via the anaOut() or anaOutVolts() function
calls.

Before you compile and run this sample program, connect pins 1–3 and 2–4 on header
JP5, then connect pins 1–2 and 3–4 on both headers JP3 and JP6 (unipolar), or connect
pins 5–6 on both headers JP3 and JP6 (bipolar). Now connect a voltmeter across one of
the D/A converter outputs, then compile and run the sample program, and follow the
instructions in the Dynamic C STDIO window.

BL4S200 User’s Manual 65

4.2.5 Use of microSD™ Cards with BL4S200 Model

The following sample program can be found in the SAMPLES\BLxS2xx\SD_Flash folder.

• SDFLASH_INSPECT.c—This program is a utility for inspecting the contents of a

microSD™ Card. It provides examples of both reading and writing pages or sectors to
the a microSD™ Card. When the sample program starts running, it attempts to initial-
ize the microSD™ Card on Serial Port B. The following five commands are displayed
in the Dynamic C STDIO window if a microSD™ Card is found:

p — print out the contents of a specified page on the microSD™ Card

r — print out the contents of a range of pages on the microSD™ Card

c — clear (set to zero) all of the bytes in a specified page

f — sets all bytes on the specified page to the given value

t — write user-specified text to a selected page

The sample program prints out a single line for a page if all bytes in the page are set to
the same value. Otherwise it prints a hex/ASCII dump of the page.

This utility works with the microSD™ Card at its lowest level, and writing to pages
will likely make the microSD™ Card unreadable by a PC. For PC compatibility, you
must use the Dynamic C FAT file system module, which allows you to work with files
on the microSD™ Card in a way that they will be PC-compatible.

4.2.6 Real-Time Clock

If you plan to use the real-time clock functionality in your application, you will need to set
the real-time clock. You may set the real-time clock using the SETRTCKB.C sample pro­gram from the Dynamic C SAMPLES\RTCLOCK folder. The RTC_TEST.C sample pro­gram in the Dynamic C SAMPLES\RTCLOCK folder provides additional examples of how
to read and set the real-time clock

4.2.7 TCP/IP Sample Programs

TCP/IP sample programs are described in Chapter 5.

BL4S200 User’s Manual 66

4.3 BL4S200 Libraries

Two library directories provide libraries of function calls that are used to develop applica­tions for the BL4S200.

• BLxS2xx—libraries associated with features specific to the BL4S200. The functions in

BLxS2xx.LIB library are described in Section 4.4, “BL4S200 Function Calls.”

the

•

RN_CFG_BLS2xx.LIB—used to configure the BL4S200 for use with RabbitNet

peripheral boards.

• TCPIP—libraries specific to using TCP/IP functions on the BL4S200. Further informa-

tion about TCP/IP is provided in Chapter 5, “Using the Ethernet TCP/IP Features.”

BL4S200 User’s Manual 67

4.4 BL4S200 Function Calls

4.4.1 Board Initialization

void brdInit (void);

FUNCTION DESCRIPTION

Call this function at the beginning of your program. This function initializes the system
I/O ports.

The ports are initialized according to Table A-3 in Appendix A.

brdInit

BL4S200 User’s Manual 68

4.4.2 Digital I/O

int setDigIn(int channel);

FUNCTION DESCRIPTION

Sets a configurable I/O channel to be a general digital input.

PARAMETERS

channel configurable I/O channel to be set as an input,

0–31 (pins DIO0–DIO31)

RETURN VALUE

0 — success.

-EINVAL — invalid parameter value.

SEE ALSO

brdInit, digIn, digInBank

setDigIn

int digIn(int channel);

FUNCTION DESCRIPTION

Reads the state of a channel set to any form of digital input functionality.

PARAMETERS

channel configurable I/O channel set as an input, 0–31 (pins DIO0–DIO31)

RETURN VALUE

The logic state of the specified channel.

0 — logic low
1 — logic high

-EINVAL — channel value is out of range.

-EPERM:— pin functionality does not permit this operation.

SEE ALSO

brdInit, setDigIn, digInBank

digIn

BL4S200 User’s Manual 69

int digInBank(int bank);

FUNCTION DESCRIPTION

Reads the state of the 32 configurable I/O channels.

PARAMETER

bank digital input bank pins:

0 — DIO0–DIO7
1 — DIO8–DIO15
2 — DIO16–DIO23
3 — DIO24–DIO31

RETURN VALUE

Data read from the bank of digital inputs.

Data Bits Bank 0 Bank 1 Bank 2 Bank 3

LSB D0 DIO0 DIO8 DIO16 DIO24

digInBank

D1 DIO1 DIO9 DIO17 DIO25

D2 DIO2 DIO10 DIO18 DIO26

D3 DIO3 DIO11 DIO19 DIO27

D4 DIO4 DIO12 DIO20 DIO28

D5 DIO5 DIO13 DIO21 DIO29

D6 DIO6 DIO14 DIO22 DIO30

MSB D7 DIO7 DIO15 DIO23 DIO31

-EINVAL — invalid parameter value.

-EPERM — pin functionality does not permit this operation.

SEE ALSO

brdInit, digIn, setDigIn

BL4S200 User’s Manual 70

setExtInterrupt

int setExtInterrupt(int channel, char edge, int handle);

FUNCTION DESCRIPTION

Sets the specified channel to be an interrupt. The interrupt can be configured as a rising
edge, falling edge, or either edge.

PARAMETERS

channel input channel to be configured as an interrupt channel

edge macro to set edge of the interrupt:

BL_IRQ_RISE — interrupt event on rising edge

BL_IRQ_FALL — interrupt event on falling edge

BL_IRQ_BOTH — interrupt events on both edges

handle handle for the ISR handler to service this interrupt

RETURN VALUE

0 — success.

-EINVAL — invalid parameter value.

-EPERM — pin type does not permit this function.

-EACCES — resource needed by this function is not available.

-EFAULT — internal data fault detected.

positive number — Mode Conflict — the positive number is a bitmap that corresponds
to the pins on a particular block of a RIO chip that have not been configured to support
this function call. Appendix D provides the details of the pin and block associations to
allow you to identify the channels that need to be reconfigured to support this function
call.

SEE ALSO

brdInit, digIn, setDigIn

BL4S200 User’s Manual 71

setDecoder

int setDecoder(int channel_a, int channel_b, int channel_index,

char index_polarity);

FUNCTION DESCRIPTION

Sets up Quadrature Decoder functionality on the specified channels. The Quadrature
Decoder may optionally use an index channel.

PARAMETERS

channel_a channel to use as Input A (also known as in-phase or I)

channel_b channel to use as Input B (also known as quadrature or Q)

channel_index channel to use as index input (-1 if not used)

NOTE: The Quadrature Decoder count may still be reset by existing or new synch signals

set up on the same block of a particular RIO chip.

index_polarity polarity of the index channel

(not used when channel_index set to -1)l.

RETURN VALUE

0 — success.

-EINVAL — invalid parameter value.

-EACCESS— resource needed by this function is not available.

SEE ALSO

brdInit, getCounter, resetCounter

0 — index on low level
non-zero — index on high level

BL4S200 User’s Manual 72

setCounter

int setCounter(int channel, int mode, int edge, word options);

FUNCTION DESCRIPTION

Sets up the channel as a counter input, with selectable modes and edge settings. The
counter will increment or decrement on each selected edge event. Use
to read the current count and use

PARAMETERS

channel channel to use for the up count input

mode macro to set the mode of the counter:

edge edge setting macro for the up count event:

resetCounter() to force a reset of the counter.

BL_UP_COUNT — continuous up count mode

BL_DOWN_COUNT — up/down count mode (uses 2 pins)

BL_MATCH_ENABLE — continuous up count mode with count

stopping on any match event

BL_EDGE_RISE — up count on rising edge

BL_EDGE_FALL — up count on falling edge

BL_EDGE_BOTH — up count on either edge

getCounter()

options options based on mode (N/A if the continuous up mode is selected):

BL_EDGE_RISE — down count on rising edge

BL_EDGE_FALL — down count on falling edge

BL_EDGE_BOTH — down count on either edge

If the up/down mode is selected,

options has down count pin event

edge settings (these settings cannot be on be same pin as the up
count). The low 5 bits are the channel number for the down count
input

If the stop on match mode is selected,

options has the match

count to stop at (other match registers on the block are set to max.).

BL4S200 User’s Manual 73

setCounter (continued)

RETURN VALUE

0 — success.

-EINVAL — invalid parameter value or pin use.

-EPERM — pin type does not permit this function.

-EACCESS— resource needed by this function is not available.

-EFAULT — internal data fault detected.

positive number — Mode Conflict — the positive number is a bitmap that corresponds
to the pins on a particular block of a RIO chip that have not been configured to support
this function call. Appendix D provides the details of the pin and block associations to
allow you to identify the channels that need to be reconfigured to support this function
call.

SEE ALSO

brdInit, getCounter, resetCounter

BL4S200 User’s Manual 74

setCapture

int setCapture(int channel, int mode, int edge, word options);

FUNCTION DESCRIPTION

Sets up the channel as an event capture input, with selectable modes and edge settings.
The counter will run from a gated main or prescaled clock signal based on the run cri­teria of the selected mode, and begin/end events can be set to capture the count at the
time of these events. Optionally, a second channel can be set (which shares the same
RIO channel input block as

getBegin() and getEnd() to read the captured count values and use reset­Counter()

PARAMETERS

channel channel to use for the begin event input for all modes except BL_

mode mode macro for the counter/timer:

to force a reset of the counter.

CNT_TIL_END

BL_CNT_RUN — continuous count mode

BL_CNT_BEGIN_END — start count on begin event, continue to

count until end event detected

channel) for two-signal begin/end event detection. Use

, then it specifies the end event input.

BL_CNT_TIL_END — count until end event detected

BL_CNT_ON_BEGIN — count while begin signal is active

NOTE: If an end event occurs before the begin event, the count will begin then end

immediately on the begin event, and the end count will be 1. The begin count will be 0
or 1 based on the edge that triggered the event (0 = rising, 1 = falling).

edge edge/state macro setting for the begin event for all modes except

BL_CNT_TIL_END, then it specifies the end event:

BL_EVENT_RISE — begin event on rising edge
BL_EVENT_FALL — begin event on falling edge
BL_EVENT_BOTH — begin event on any edge

The following two settings are only for the

BL_BEGIN_HIGH — begin active while signal is high
BL_BEGIN_LOW — begin active while signal is low

ON_BEGIN mode:

BL4S200 User’s Manual 75

options options based on mode:

RETURN VALUE

setCapture (continued)

BL_CNT_TIL_END — begin input and edge can be selected

all others modes — end input and edge can be selected.

For all modes, the prescale clock and save limit flags can be used
(OR in).

For input and edge selection, use:

low 5 bits for channel to use for begin/end input

BL_SAME_CHANNEL — begin and end both from same channel
BL_EVENT_RISE — begin/end event on rising edge
BL_EVENT_FALL — begin/end event on falling edge
BL_EVENT_BOTH — begin/end event on any edge

For clock and limit options use:

BL_PRESCALE — use prescaled clock
BL_SAVE_LIMIT — save current limit register value (other-

wise limit set to 0xFFFF)

0 — success.

-EINVAL — invalid parameter value.

-EPERM — pin type does not permit this function.

-EACCESS— resource needed by this function is not available.

-EFAULT — internal data fault detected.

positive number — Mode Conflict — the positive number is a bitmap that corresponds
to the pins on a particular block of a RIO chip that have not been configured to support
this function call. Appendix D provides the details of the pin and block associations to
allow you to identify the channels that need to be reconfigured to support this function
call.

SEE ALSO

brdInit, getBegin, getEnd, getCounter, resetCounter, setLimit

BL4S200 User’s Manual 76

getCounter

int getCounter(int channel, word *count);

FUNCTION DESCRIPTION

Reads the current count of the counter register within the counter block hosting the
given channel.

PARAMETERS

channel a channel that uses the desired counter block

count pointer to word variable to place count register reading

RETURN VALUE

0 — success.

-EINVAL — invalid parameter value.

SEE ALSO

brdInit, setCounter, setDecoder, setCapture, resetCounter

getBegin

int getBegin(int channel, word *begin);

FUNCTION DESCRIPTION

Reads the current value of the begin register within the counter block hosting the given
channel.

PARAMETERS

channel a channel that uses the desired counter block

begin pointer to word variable to place begin register reading

RETURN VALUE

0 — success.

-EINVAL — invalid parameter value.

SEE ALSO

brdInit, setCapture, resetCounter

BL4S200 User’s Manual 77

getEnd

int getEnd(int channel, word *end);

FUNCTION DESCRIPTION

Reads the current value of the end register within the counter block hosting the given
channel.

PARAMETERS

channel a channel that uses the desired counter block

begin pointer to word variable to place end register reading

RETURN VALUE

0 — success.

-EINVAL — invalid parameter value.

SEE ALSO

brdInit, setCapture, resetCounter

resetCounter

int resetCounter(int channel);

FUNCTION DESCRIPTION

Resets the current count of the counter register within the counter block hosting the
given channel. The active block is determined by the function the configurable I/O
channel is set up to perform.

PARAMETER

channel a channel that uses the desired counter block

RETURN VALUE

0 — success.

-EINVAL — invalid parameter value.

SEE ALSO

brdInit, getCounter, setDecoder

BL4S200 User’s Manual 78

setLimit

int setLimit(int channel, word limit);

FUNCTION DESCRIPTION

Sets the value of the limit register within the counter block hosting the given channel.
This new value will take effect on the next counter overflow or by resetting the counter
via the

PARAMETERS

channel a channel that uses the desired counter block

limit new value for the limit register

RETURN VALUE

0 — success.

-EINVAL — invalid parameter value.

SEE ALSO

brdInit, setCapture, resetCounter

resetCounter() function call.

BL4S200 User’s Manual 79

setSync

int setSync(int channel, int source, int edge);

FUNCTION DESCRIPTION

Sets the synch for the block the channel is associated with.

Note that when more than one block is synchronized to the same synch signal (global
or external), each block has its own independent edge-detection circuit. These circuits
will synch to the edge within plus or minus one count of the block’s current clock
source (main or prescale). This means synchronized blocks may have a small offset
when compared to each other.

PARAMETERS

channel channel that is on the block that will have its synch set

source source of the synch signal.

-1 to use the RIO chip's Global Synch signal or
input-capable channel to use as an external synch signal

edge edge of the synch signal.

RETURN VALUE

0 — success.

-EINVAL — invalid parameter value.

-EPERM — pin type does not permit this function.

-EACCES — resource needed by this function is not available.

-EFAULT — internal data fault detected.

SEE ALSO

brdInit

BL_EDGE_RISE — synchronize event on rising edge
BL_EDGE_FALL — synchronize event on falling edge
BL_EDGE_BOTH — synchronize events on both edges
0 — disable the synch on this block (if the source of the external

synch is given, it will be set to a digital input)

BL4S200 User’s Manual 80

int globalSync(void);

FUNCTION DESCRIPTION

Sends a single pulse to the global synch inputs of all RIO chips.

+Note that when more than one block is synchronized to the same synch signal (global
or external), each block has its own independent edge-detection circuit. These circuits
will synch to the edge within plus or minus one count of the block’s current clock
source (main or prescale). This means synchronized blocks may have a small offset
when compared to each other.

RETURN VALUE

0 — success.

-EPERM — brdInit() was not run before calling this function.

SEE ALSO

brdInit

globalSync

setDigOut

int setDigOut(int channel, int state);

FUNCTION DESCRIPTION

Configures the output channel as a simple digital output. The output state of the chan­nel is also initialized to logic 0 or logic 1 based on the
function should be used to control the output state after configuration as it is more effi­cient. This function is non-reentrant.

PARAMETERS

channel digital output channel, 0–31 (DIO0–DIO31)

state set output to one of the following states:

0 — connects the load to GND
1 — puts the output in a high-impedance tristate

RETURN VALUE

0 — success.

-EINVAL — invalid parameter value.

state parameter. The digOut

SEE ALSO

brdInit, digOut, digOutBank

BL4S200 User’s Manual 81

digOut

void digOut(int channel, int state);

FUNCTION DESCRIPTION

Sets the state of a configurable I/O channel configured as a sinking digital ou tput
to a logic 0 or a logic 1. This function will only allow control of pins that are configured
by the

setDigOut() function call to be a sinking digital output.

PARAMETERS

channel digital output channel, 0–31 (DIO0–DIO31).

state set output to one of the following states:

0 — connects the load to GND
1 — puts the output in a high-impedance tristate.

RETURN VALUE

0 — success.

-EINVAL — invalid parameter value.

-EPERM — pin function was not set up as a digital output

SEE ALSO

brdInit, setDigOut, digOutBank

BL4S200 User’s Manual 82

digOutBank

int digOutBank(char bank, char data);

FUNCTION DESCRIPTION

Sets the state (logic 0 or logic 1) of a bank of 8 digital output pins within one of 4 banks
to the states contained in the
that are configured to be sinking digital outputs by the
Channels configured for other functionality will not be affected.

PARAMETERS

bank digital output bank pins:

data data value to be written to the specified digital output bank; the

data format and bitwise value are as follows:

data parameter. This function only updates the channels

0 — DIO0–DIO7
1 — DIO8–DIO15
2 — DIO16–DIO23
3 — DIO24–DIO31

setDigOut() function call.

Data Bits Bank 0 Bank 1 Bank 2 Bank 3

LSB D0 DIO0 DIO8 DIO16 DIO24

D1 DIO1 DIO9 DIO17 DIO25

D2 DIO2 DIO10 DIO18 DIO26

D3 DIO3 DIO11 DIO19 DIO27

D4 DIO4 DIO12 DIO20 DIO28

D5 DIO5 DIO13 DIO21 DIO29

D6 DIO6 DIO14 DIO22 DIO30

MSB D7 DIO7 DIO15 DIO23 DIO31

RETURN VALUE

0 — success.

-EINVAL — invalid parameter value or board not initialized.

SEE ALSO

brdInit, digOut, setDigOut

Bitwise value:

0 — connects the load to GND
1 — puts the output in a high-impedance tristate.

BL4S200 User’s Manual 83

setPWM

int setPWM(int channel, float frequency, float duty,

char invert, char bind);

FUNCTION DESCRIPTION

Sets up a PWM output on the selected configurable I/O channel with the specified fre­quency and duty cycle. The PWM output can be inverted. The PWM channel duty cycle
can be bound to a PWM/PPM on another channel on the same RIO block so that they
share an edge.

NOTE: Configurable I/O channels DIO30 and DIO31 do not support PWM/PPM

functionality, and cannot be used with this function call.

PARAMETERS

channel configurable I/O channel being set up for PWM, 0–29

(DIO0–DIO29)

frequency PWM frequency in Hz (should be from 2 Hz to 50 kHz); use -1 to

preserve the existing frequency on the RIO block

duty PWM duty cycle (should be from 0 to 100%); use -1 and

bind

parameter to use bound edge to set the duty cycle (a duty cycle
above 100.0% will be set to 100.0%)

invert whether the PWM output is inverted; the PWM output normally

starts with the output high and inverted starts with the output low.

0 — noninverted
1 — inverted

bind use

BL_BIND_LEAD or BL_BIND_TRAIL to enable binding for the

leading edge of the PWM output on this channel to another PWM
or PPM output on a channel hosted by same RIO chip and block.
Bindings allow PWM and PPM outputs to align their leading and
trailing edges.

BL4S200 User’s Manual 84

setPWM (continued)

RETURN VALUE

0 — success.

-EINVAL — invalid parameter value.

-EPERM — pin type does not permit this function.

-EACCES — resource needed by this function is not available.

-EFAULT — internal data fault detected.

positive number — Mode Conflict — the positive number is a bitmap that corresponds
to the pins on a particular block of a RIO chip that have not been configured to support
this function call. Appendix D provides the details of the pin and block associations to
allow you to identify the channels that need to be reconfigured to support this function
call.

SEE ALSO

brdInit, setFreq, setDuty, setToggle, setSync, pulseDisable

BL4S200 User’s Manual 85

setPPM

int setPPM(int channel, float frequency, float offset,

float duty, char invert, char bind_offset, char bind_duty);

FUNCTION DESCRIPTION

Sets up a PPM output on the selected configurable I/O channel with the specified
frequency and duty cycle. The PPM output of the PPM can be inverted. The offset and
duty of the PPM can be bound to a PWM/PPM on another channel on the same RIO
block so that they share an edge.

NOTE: Configurable I/O channels DIO30 and DIO31 do not support PWM/PPM

functionality, and cannot be used with this function call.

PARAMETERS

channel configurable I/O channel being set up for PPM, 0–29

(DIO0–DIO29)

frequency PPM frequency in Hz (should be from 2 Hz to 50 kHz); use -1 to

preserve the existing frequency on the RIO block

offset PPM offset (should be from 0 to 100%); use -1 and

bind_offset

parameter to use bound edge to set the offset (an offset above

100.0% will be set to 100.0%)

NOTE: A zero offset will produce the smallest offset possible, which is one count. If you

must have a zero offset, use

duty PPM duty cycle (should be from 0 to 100%); use -1 and

duty

setPWM() instead of setPPM().

bind_

parameter to use bound edge to set the duty cycle (a PPM

duty cycle above 100.0% will be set to 100.0%)

NOTE: PPM will not wrap around the PPM period. If

100% duty cycle will have the same effect as

offset = 25%, duty = 75%. The same

offset is set to 25%, the 75 to

waveform as a wrapped PPM can be created using an inverted PPM

invert whether the PPM output is inverted; the PPM output normally

starts with the output low, goes high at the offset, and stays high
for the remainder of the duty cycle; inverted will start with the out­put high, goes low at the offset, and stays low for the duration of
the duty cycle.

0 — noninverted
1 — inverted

bind_offset use

BL_BIND_LEAD or BL_BIND_TRAIL to enable binding for the

leading edge of the PPM signal to another PWM or PPM output on
a channel hosted by same RIO chip and block. Bindings allow
PWM and PPM outputs to align their leading and trailing edges.

BL4S200 User’s Manual 86

setPPM (continued)

bind_duty use BL_BIND_LEAD or BL_BIND_TRAIL to enable binding for the

trailing edge of the PPM signal to another PWM or PPM output on
a channel hosted by same RIO chip and block

RETURN VALUE

0 — success.

-EINVAL — invalid parameter value.

-EPERM — pin type does not permit this function.

-EACCES — resource needed by this function is not available.

-EFAULT — internal data fault detected.

positive number — Mode Conflict — the positive number is a bitmap that corresponds
to the pins on a particular block of a RIO chip that have not been configured to support
this function call. Appendix D provides the details of the pin and block associations to
allow you to identify the channels that need to be reconfigured to support this function
call.

SEE ALSO

brdInit, setFreq, setOffset, setDuty, setToggle, setSync, pulseDisable

BL4S200 User’s Manual 87

setFreq

int setFreq(int channel, float frequency);

FUNCTION DESCRIPTION

Sets the frequency of all the PWM or PPM outputs on the same block as the channel.
Will preserve the duty cycle and offset percentages for all of the channels on the same
block.

This function call is for the configurable I/O channels only.

Repeated calls to this function by itself may cause the duty cycle and offset values to
drift. If this drift is of concern, call
cycle and offset to the desired value.

NOTE: Configurable I/O channels DIO30 and DIO31 do not support PWM/PPM

functionality, and cannot be used with this function call.

PARAMETERS

channel all channels on the same RIO chip and block as this channel (0–29,

DIO0–DIO29) will have their frequency set. Duty cycle and offset
percentages will be maintained.

setOffset() and setDuty() to reset the duty

frequency frequency of the PWM and PPM outputs

(should be from 2 Hz to 50 kHz)

RETURN VALUE

0 — success.

-EINVAL — invalid parameter value.

SEE ALSO

brdInit, setPWM, setPPM, setOffset, setDuty, setToggle, setSync

BL4S200 User’s Manual 88

setDuty

int setDuty(int channel, float duty);

FUNCTION DESCRIPTION

Sets the duty cycle of the PWM or PPM output on a configurable I/O channel. Will
affect any PWM/PPM that has been bound to this channel’s PWM/PPM.

NOTE: Configurable I/O channels DIO30 and DIO31 do not support PWM/PPM

functionality, and cannot be used with this function call.

PARAMETERS

channel channel that is getting its duty cycle set, 0–29 (DIO0–DIO29)

duty duty cycle of the PWM/PPM output (should be from 0 to 100%, a

duty cycle above 100.0% will be set to 100.0%)

RETURN VALUE

0 — success.

-EINVAL — invalid parameter value.

-EPERM — channel function does not permit this operation.

SEE ALSO

brdInit, setPWM, setPPM, setOffset, setFreq, setToggle, setSync

BL4S200 User’s Manual 89

setOffset

int setOffset(int channel, float offset);

FUNCTION DESCRIPTION

Sets the offset of a PPM output on a configurable I/O channel. Will affect any PWM/
PPM output that has been bound to this channel’s PPM signal.

NOTE: Configurable I/O channels DIO30 and DIO31 do not support PWM/PPM

functionality, and cannot be used with this function call.

PARAMETERS

channel channel that is getting its offset set, 0–29 (DIO0–DIO29)

duty PPM offset (should be from 0 to 100%, an offset above 100.0%

will be set to 100.0%)

NOTE: A zero offset will produce the smallest offset possible, which is one count. If you

must have a zero offset, use

RETURN VALUE

setPWM() instead of setOffset().

0 — success.

-EINVAL — invalid parameter value.

-EPERM — channel function does not permit this operation.

SEE ALSO

brdInit, setPWM, setPPM, setFreq, setDuty, setToggle, setSync

BL4S200 User’s Manual 90

pulseDisable

int pulseDisable(int channel, int state);

FUNCTION DESCRIPTION

Disables a PWM/PPM output and sets the output to state. The pin can be restored to
the same PWM/PPM operation as before by calling

PARAMETERS

channel channel that is getting its PWM/PPM disabled,

0–29 (DIO0–DIO29)

state state that the digital output will be set to (0 or 1)

RETURN VALUE

0 — success.

-EINVAL — invalid parameter value.

-EPERM — channel function does not permit this operation.

SEE ALSO

brdInit, setPWM, setPPM, pulseEnable

pulseEnable().

pulseEnable

int pulseEnable(int channel);

FUNCTION DESCRIPTION

Enables a disabled PWM/PPM output. The pin is restored to the same PWM/PPM
operation it had before being disabled.

PARAMETER

channel channel that is getting its PWM/PPM enabled,

0–29 (DIO0–DIO29)

RETURN VALUE

0 — success.

-EINVAL — invalid parameter value.

-EPERM — channel function does not permit this operation.

SEE ALSO

brdInit, setPWM, setPPM, pulseDisable

BL4S200 User’s Manual 91

4.4.3 High-Current Outputs

digOutConfig_H

int digOutConfig_H(char configuration);

FUNCTION DESCRIPTION

Sets the configuration of a high-current output to be a sinking or sourcing type output.
Upon configuration, the output will be set initially to a high-impedance tristate.

NOTE: Configuring a given output channel for tristate operation using the

TriStateConfig()

the
configuration can also be overridden by setting the channel as a PWM or PPM output.

PARAMETER

configuration configuration byte to configure output channels HOUT0–

digOut-

function call will temporarily override the configuration set by

digOutConfig_H() function call as long as it is kept a tristate channel. This

HOUT7 as sinking or sourcing outputs.

Each bit corresponds to one of the following high-current outputs.

Bit 7 = high-current output channel HOUT7
Bit 6 = high-current output channel HOUT6
Bit 5 = high-current output channel HOUT5
Bit 4 = high-current output channel HOUT4
Bit 3 = high-current output channel HOUT3
Bit 2 = high-current output channel HOUT2
Bit 1 = high-current output channel HOUT1
Bit 0 = high-current output channel HOUT0

The high-current outputs are configured to be sinking or sourcing
outputs by setting the corresponding bit to 0 or 1: 0 = sinking,
1 = sourcing.

EXAMPLE

configuration = 0x26; // 0 0 1 0 0 1 1 0
// HOUT7–HOUT6 = Sinking

// HOUT5 = Sourcing
// HOUT4–HOUT3 = Sinking

// HOUT2–HOUT1 = Sourcing
// HOUT0 = Sinking

RETURN VALUE

0 — success.

-EINVAL — board initialization not performed.

SEE ALSO

brdInit, digOut_H, digOutTriStateConfig_H

BL4S200 User’s Manual 92

digOut_H

int digOut_H(int channel, int state);

FUNCTION DESCRIPTION

Sets the state of the selected high-current output channel to a logic 0, logic 1, or high­impedance tristate output.

PARAMETERS

channel high-current output pins 0 to 7 (HOUT0–HOUT7)

state sets a given channel to one of the following output states depending

on how the output was configured by the
function call.

Sinking configuration:

0 — connects the load to GND
1 — puts the output in a high-impedance tristate.

Sourcing configuration:

0 — connects the load in a high-impedance tristate
1 — connects the load to +K1 or + K2.

digOutConfig_H()

RETURN VALUE

0 — success.

-EINVAL — if not configured correctly or invalid parameter.

SEE ALSO

brdInit, digOutConfig_H

BL4S200 User’s Manual 93

digOutTriStateConfig_H

int digOutTriStateConfig_H(char configuration);

FUNCTION DESCRIPTION

Allows configuration of a high-current output to be a tristate type output. Upon config­uration, the output will be initially set to a high-impedance state.

NOTE: Configuring a given output channel for tristate operation using the

TriStateConfig()

the
configuration can also be overridden by setting the channel as a PWM or PPM output.

PARAMETER

configuration configuration byte to configure output channels HOUT0–

digOut-

function call will temporarily override the configuration set by

digOutConfig_H() function call as long as it is kept a tristate channel. This

HOUT7 as tristate outputs.

Each bit corresponds to one of the following high-current outputs.

Bit 7 = high-current output channel HOUT7
Bit 6 = high-current output channel HOUT6
Bit 5 = high-current output channel HOUT5
Bit 4 = high-current output channel HOUT4
Bit 3 = high-current output channel HOUT3
Bit 2 = high-current output channel HOUT2
Bit 1 = high-current output channel HOUT1
Bit 0 = high-current output channel HOUT0

The high-current outputs are configured to be tristate outputs by
setting the corresponding bit to 0 or 1: 0 = disable tristate operation,
1 = enable tristate operation.

EXAMPLE

configuration = 0x59; // 0 1 0 1 1 0 0 1
// HOUT7 = Tristate disabled

// HOUT6 = Tristate enabled
// HOUT5 = Tristate disabled

// HOUT4–HOUT3 = Tristate enabledg
// HOUT2–HOUT1 = Tristate disabled

// HOUT0 = Tristate enabled

RETURN VALUE

0 — success.

-EINVAL — board initialization not performed.

SEE ALSO

brdInit, digOutTriState_H, digOutConfig_H

BL4S200 User’s Manual 94

digOutTriState_H

int digOutTriState_H(int channel, int state)

FUNCTION DESCRIPTION

Sets the state of the high-current output channel to a logic 0, logic 1, or high-impedance
tristate.

PARAMETERS

channel high-current output pins 0 to 7 (HOUT0–HOUT7)

state sets a given channel to one of the following output states as long as

it has been enable as a tristate output by the

digOutTriStateConfig_H() function call.

Tristate configuration:

0 — connects the load to GND
1 — connects the load to +K1 or + K2.
2 — puts the output in a high-impedance tristate

RETURN VALUE

0 — success.

-EINVAL — invalid parameter or channel not configured for tristate.

SEE ALSO

brdInit, digOutTriStateConfig_H

BL4S200 User’s Manual 95

setPWM_H

int setPWM_H(int channel, float frequency, float duty,

char mode, char bind);

FUNCTION DESCRIPTION

Sets up a PWM output on the selected high-current output channel with the specified
frequency and duty cycle. The PWM output can be set to any of its three states during
either phase of the PWM signal. The PWM channel duty cycle can be bound to a PWM/
PPM on another channel on the same RIO chip block so that they share an edge.

PARAMETERS

channel high-current output channel being set up for PWM, 0–7

(HOUT0–HOUT7)

frequency PWM frequency in Hz (should be from 2 Hz to 50 kHz); use -1 to

preserve the existing frequency on the RIO block

duty PWM duty cycle (should be from 0 to 100%); use -1 and

bind

parameter to use bound edge to set the duty cycle (a duty cycle
above 100.0% will be set to 100.0%)

mode sets the normal or begin state and the pulsed state of the PWM out-

put using these macros:

HCPWM_TRI_LOW — normally tristated and pulsed to sinking
HCPWM_TRI_HIGH — normally tristated and pulsed to sourcing
HCPWM_LOW_HIGH — normally sinking and pulsed to sourcing
HCPWM_HIGH_LOW — normally sourcing and pulsed to sinking
HCPWM_LOW_TRI — normally sinking and pulsed to tristate
HCPWM_HIGH_TRI — normally sourcing and pulsed to tristate

bind use

BL_BIND_LEAD or BL_BIND_TRAIL to enable binding for the

leading edge of the PWM output on this channel to another PWM
or PPM output on a channel hosted by same RIO chip and block.
Bindings allow PWM and PPM outputs to align their leading and
trailing edges.

BL4S200 User’s Manual 96

setPWM_H (continued)

RETURN VALUE

0 — success.

-EINVAL — invalid parameter value.

-EPERM — pin type does not permit this function.

-EACCES — resource needed by this function is not available.

-EFAULT — internal data fault detected.

positive number — Mode Conflict — the positive number is a bitmap that corresponds
to the pins on a particular block of a RIO chip that have not been configured to support
this function call. Appendix D provides the details of the pin and block associations to
allow you to identify the channels that need to be reconfigured to support this function
call.

SEE ALSO

brdInit, setFreq_H, setDuty_H, setToggle_H, setSync_H

BL4S200 User’s Manual 97

setPPM_H

int setPPM_H(int channel, float frequency, float offset,

float duty, char mode, char bind_offset, char bind_duty);

FUNCTION DESCRIPTION

Sets up a PPM output on the selected high-current output channel with the specified
frequency, offset, and duty cycle. The PPM output can be set to any of its three states
during either phase of the PPM signal. The offset and duty of the PPM can be bound to
a PWM/PPM on another channel on the same RIO block so that they share an edge.

PARAMETERS

channel high-current output channel being set up for PPM,

0–7 (HOUT0–HOUT7)

frequency PPM frequency in Hz (should be from 2 Hz to 50 kHz); use -1 to

preserve the existing frequency on the RIO block

offset PPM offset (should be from 0 to 100%); use -1 and

bind_offset

parameter to use bound edge to set the offset (an offset above

100.0% will be set to 100.0%)

NOTE: A zero offset will produce the smallest offset possible, which is one count. If you

must have a zero offset, use

duty PPM duty cycle (should be from 0 to 100%); use -1 and

duty

setPWM_H() instead of setPPM_H().

bind_

parameter to use bound edge to set the duty cycle (a PPM

duty cycle above 100.0% will be set to 100.0%)

set to 25%, duty in range 75-100% will have the same effect

NOTE: PPM will not wrap around the PPM period. If

100% duty cycle will have the same effect as

offset = 25%, duty = 75%. The same

offset is set to 25%, the 75 to

waveform as a wrapped PPM can be created using an inverted PPM

mode sets the normal or begin state and the pulsed state of the PPM out-

put using these macros:

HCPWM_TRI_LOW — normally tristated and pulsed to sinking
HCPWM_TRI_HIGH — normally tristated and pulsed to sourcing
HCPWM_LOW_HIGH — normally sinking and pulsed to sourcing
HCPWM_HIGH_LOW — normally sourcing and pulsed to sinking
HCPWM_LOW_TRI — normally sinking and pulsed to tristate
HCPWM_HIGH_TRI — normally sourcing and pulsed to tristate

bind_offset use

BL_BIND_LEAD or BL_BIND_TRAIL to enable binding for the

leading edge of the PPM signal to another PWM or PPM output on
a channel hosted by same RIO chip and block. Bindings allow
PWM and PPM outputs to align their leading and trailing edges.

BL4S200 User’s Manual 98

setPPM_H (continued)

bind_duty use BL_BIND_LEAD or BL_BIND_TRAIL to enable binding for the

trailing edge of the PPM signal to another PWM or PPM output on
a channel hosted by same RIO chip and block

RETURN VALUE

0 — success.

-EINVAL — invalid parameter value.

-EPERM — pin type does not permit this function.

-EACCES — resource needed by this function is not available.

-EFAULT — internal data fault detected.

positive number — Mode Conflict — the positive number is a bitmap that corresponds
to the pins on a particular block of a RIO chip that have not been configured to support
this function call. Appendix D provides the details of the pin and block associations to
allow you to identify the channels that need to be reconfigured to support this function
call.

SEE ALSO

brdInit, setFreq_H, setOffset_H, setDuty_H, setToggle_H, setSync_H

BL4S200 User’s Manual 99

setFreq_H

int setFreq_H(int channel, float frequency);

FUNCTION DESCRIPTION

Sets the frequency of all the PWM or PPM outputs on the same block as the channel.
Will preserve the duty cycle and offset percentages for all of the channels on the same
block.

This function call is for the high-current output channels only.

Repeated calls to this function by itself may cause the duty cycle and offset values to
drift. If this drift is of concern, call
duty cycle and offset to the desired value.

PARAMETERS

channel all channels on the same RIO chip and block as this channel (0–7,

HOUT0–HOUT7) will have their frequency set. Duty cycle and
offset percentages will be maintained.

frequency frequency of the PWM and PPM outputs

(should be from 2 Hz to 50 kHz)

setOffset_H() and setDuty_H() to reset the

RETURN VALUE

0 — success.

-EINVAL — invalid parameter value.

SEE ALSO

brdInit, setPWM_H, setPPM_H, setOffset_H, setDuty_H, setToggle_H, setSync_H

BL4S200 User’s Manual 100