Epec Mini Display Module

Transcription

1 Epec Mini Display Module Programming Manual Document: Updated: Epec Oy

2 2/42 DOCUMENT VERSION HISTORY Date Notes First released version Updated LCD_PRINT_UINT and LCD_PRINT_INT

3 3/42 TABLE OF CONTENTS 1 PURPOSE OF THIS DOCUMENT MINI DISPLAY MODULE GENERAL DESCRIPTION Memory Allocation Table Comparing Byte, Word and Double-Word Access to same Address Comparing Bit and Word Access to same Address INTERNAL FUNCTIONS PWM Output Configuration Configuration information FUNCTION SPECIFICATIONS CAN LIBRARY CAN_INIT CAN_OBJ_RX CAN_OBJ_RX_INIT CAN_OBJ_TX CAN_OBJ_TX_INIT CAN_RTR CAN_TX EEPROM LIBRARY EEPROM_READ EEPROM_WRITE ANALOG I/O LIBRARY AI_CONF_FB SERIAL LIBRARY INIT_COM WRITE_COM READ_COM CLOSE_COM PLCopen Graphics Interface Graphic Function Usage in OpenPLC Application LCD_DRAWBITMAP LCD_PRINT LCD_PRINT_UINT LCD_PRINT_INT LCD_RECTANGLE LCD_FILLRECTANGLE LCD_CLRSCR LCD_INIT LCD_DRAWBYID LCD_SETPIXEL LCD_CLEARPIXEL... 38

4 4/ LCD_PUTPIXEL LCD_LINE LCD_CIRCLE LCD_FILLCIRCLE APPENDIX A Example of CAN library usage (3 pages)

5 5/42 1 PURPOSE OF THIS DOCUMENT This document works as a programming manual for programmers who work with Epec PLCopen programmable modules. This document describes the basic function library features used in Mini Display Module. In Mini Display Module, the CAN bus protocol is not considered as a higher level protocol. However, CAN is suitable for smaller CAN implementations and special features (for example engine control and transmission). 2 MINI DISPLAY MODULE GENERAL DESCRIPTION The Mini Display Module is part of the Epec CAN Module Family. The display module is equipped with some input and output pins such as PWM outputs for proportional controls and feedback input for better accuracy of proportional controls. Versatile analog inputs can be used for example for joystick connection. In addition, the display module has some digital inputs and outputs for digital controlling. There are digital inputs which can be used as analog inputs and counterwise by the means of user application program. The display module is used in CAN bus based control systems as a multifunction controller with different kinds of sensors and actuators. It can be used also as an independent controller due to the digital and analog I/O capabilities. Furthermore, it is possible to connect control buttons to the display module. The display module has also a serial interface available. The Mini Display Module can be used in some lighter control applications in which some I/Os and visual information are both required at the same time. The I/O capabilities are moderate compared to the original Mini PLC Module as the LCD display requires some capacity too. The display module can be nicely used e.g. controlling secondary joystick functions and visually presenting the engine speed and other parameters on the graphical LCD. In addition, there are possibilities to include some buttons, switches and on/off sensors. For more information about the hardware part of the Mini Display Module, please consult the distinct Mini Display Module data sheet. 2.1 Memory Allocation Table Description Memory size Program memory (FLASH) Code 24 kb Global data 256 B Flag memory 128 B Graphics library 8 kb Reserved for fonts and bitmaps 12 kb Nonvolatile memory (EEPROM) Internal data for runtime 16 B User data 2032 B

6 6/ Comparing Byte, Word and Double-Word Access to same Address MSB LSB MB8 7 MB8 0 Most significant byte Least significant byte MSB LSB MW4 15 MB8 8 7 MB9 0 MSB LSB MD2 31 MB MB MB MB11 0 MSB = most significant bit LSB = least significant bit 2.3 Comparing Bit and Word Access to same Address Most significant byte Least significant byte MSB LSB MW4 15 MB8 8 7 MB9 0 MX4.0 MX4.15 MSB = most significant bit LSB = least significant bit

7 7/42 3 INTERNAL FUNCTIONS 3.1 PWM Output Configuration Pin number / Function Address XM1.3 MX63.9 XM1.4 MX63.10 LCD Contrast Control MX63.8 LCD Back Light Control MX63.11 When address is set as 1, the pin in question is used as PWM output. If address is set as 0, pin is used as digital output. 3.2 Configuration information With IB6 you can read factory configuration information. Input byte IB6.0 IB6.1 IB6.2 IB6.3 IB6.4 IB6.5 IB6.6 IB6.7 Comment 0 = No display 1 = LCD display is installed 0 = X1/20 function is input 1 = X1/20 function is output In Mini Display, configuration is fixed as 0 0 = Codesys interface is serial port 1 = Codesys interface is CAN bus Reserved for future use Reserved for future use Reserved for future use Reserved for future use Reserved for future use

8 8/42 4 FUNCTION SPECIFICATIONS 4.1 CAN LIBRARY For closer description of CAN, please refer to ISO standard : Road vehicles - Controller area network (CAN) - Part 2: High-speed medium access unit CAN_INIT Description: This is the first function to use to get CAN system up and running. This initializes CAN buffers and prepares CAN network, thus enabling the first steps for successful CAN operation. CAN_INIT function initializes CAN bus and creates foundation for CAN message transmission. When Codesys is connected by CAN: Do not use CAN_INIT function block, use only when connected via RS port. Baud rate is 250 kbit/s Do not uses object number 0...1, they are reserved for runtime. Library: CAN.LIB ENABLE BOOL 0, 1 (TRUE/FALSE) TRUE enables function BRP BYTE 0 63 Baud rate prescaler SJW BYTE Re-synchronization Jump Width PRS BYTE Programming Time Segment PHS1 BYTE Phase Segment 1 PHS2 BYTE Phase Segment 2 CANX2 BYTE 0, 1 CAN clock Outputs: Name Data type Description ERROR BYTE 0 if configuration is ok

9 9/42 Example: A Simple CAN initialization. INIT function is called in main program. Baud rate BRP SJW PRS PHS1 PHS2 CANX2 kbit/s

10 10/ CAN_OBJ_RX Description: This function is used to receive CAN bus message objects. Function input OBJN specifies which message object identifier is received. DATA lines out will present message data which is received. OBJ input is an object defined in CAN_OBJ_RX_INIT initializations. Library: CAN.LIB OBJN BYTE 0 14 Receive object number

11 11/42 Outputs: ID DWORD 11 or 29 bit Message ID EXTENDED BOOL 0, 1 (FALSE, TRUE) If TRUE, message has extended idframe DLC BYTE 1 8 Data Length Code DATA1 BYTE Message Data DATA2 BYTE Message Data DATA3 BYTE Message Data DATA4 BYTE Message Data DATA5 BYTE Message Data DATA6 BYTE Message Data DATA7 BYTE Message Data DATA8 BYTE Message Data NEW_DATA BOOL 0, 1 (FALSE, TRUE) TRUE indicates that there is new data in buffer. Output will return FALSE if data is read from buffer, and the buffer is empty. ERROR BYTE 0 Returns >0 if function fails Example:

12 12/ CAN_OBJ_RX_INIT Description: This function is used to initialize CAN receive object. Function block CAN_INIT must be called before trying to initialize CAN receive object. Message masks can be defined with ID_TAG and ID_MASK inputs. See also CAN_OBJ_RX. Library: CAN.LIB ENABLE BOOL 0, 1 (TRUE/FALSE) TRUE enables function OBJN BYTE 0 14 Receive object number EXTENDED BOOL 0, 1 (TRUE/FALSE) If TRUE, message has extended id-frame (29 bit) ID_TAG DWORD 11 or 29 bit ID_MASK DWORD 11 or 29 bit Outputs: Name Data type Description ERROR BYTE Function returns 0 if configuration is ok

13 13/42 Example: CAN_OBJ_TX Description: This function is used to send CAN object via CAN. Function is enabled with Boolean ENABLE input and OBJ input. OBJ input is an object defined in CAN_OBJ_TX_INIT initializations. Library: CAN.LIB

14 14/42 ENABLE BOOL 0, 1 (TRUE/FALSE) TRUE enables function OBJN BYTE 0 14 Transmit object number DLC BYTE 0 8 Data Length Code DATA1 BYTE Message Data DATA2 BYTE Message Data DATA3 BYTE Message Data DATA4 BYTE Message Data DATA5 BYTE Message Data DATA6 BYTE Message Data DATA7 BYTE Message Data DATA8 BYTE Message Data Outputs: Name Data type Description ERROR BYTE Returns 0 if function configuration is ok Example:

15 15/ CAN_OBJ_TX_INIT Description: This function is used to initialize a CAN object to be sent. See also CAN_OBJ_TX. Library: CAN.LIB ENABLE BOOL 0, 1 (TRUE/FALSE) TRUE enables function OBJN BYTE 0 14 Transmit object number EXTENDED BOOL 0, 1 (TRUE/FALSE) If TRUE, message has extended id-frame ID DWORD 11 or 29 bit Message ID Outputs: Name Data type Description ERROR BYTE Returns >0 if function fails Example:

16 16/ CAN_RTR Description: This function is used to send remote transmission request via CAN. Library: CAN.LIB ENABLE BYTE 0, 1 (TRUE/FALSE) TRUE enables function OBJN BYTE Receive object number Outputs: Name Data type Description ERROR BYTE Returns >0 if function fails Example:

17 17/ CAN_TX Description: This function is used to transmit certain CAN message. Function starts to send data which is defined in inputs DATA1...DATA8, when input ENABLE is set TRUE. EXTENDED input defines if message identifier frame is 11bit or extended 29bit. Message is identified with ID input. Library: CAN.LIB ENABLE BOOL 0, 1 (TRUE/FALSE) TRUE enables function OBJN BYTE Object number ID DWORD 11 or 29 bit Message ID EXTENDED BOOL 0, 1 (TRUE/FALSE) If TRUE, message ID is extended 29 bit DLC BYTE 0 8 Data Length Code DATA1 BYTE Message Data DATA2 BYTE Message Data DATA3 BYTE Message Data DATA4 BYTE Message Data DATA5 BYTE Message Data DATA6 BYTE Message Data DATA7 BYTE Message Data DATA8 BYTE Message Data Outputs: Name Data type Description ERROR BOOL Returns >0 if function fails

18 18/42 Example: NOTE! In appendix A is presented an example of CAN library usage.

19 19/ EEPROM LIBRARY EEPROM_READ Description: This function is used to read data from EEPROM. The 2-kbyte on-chip EEPROM memory block is located at offset 0 to Library: EEPROM.LIB OFFSET WORD Offset within EEPROM to read ADDRESS WORD Valid memory address Destination memory address SIZE BYTE Size of destination data type Byte count to read Outputs: ERROR BYTE 0 = No error 1 = Offset/Size error (Offset + Size > memory size) Example:

20 20/ EEPROM_WRITE Description: This function is used to write data to EEPROM. The 2-kbyte on-chip EEPROM memory block is located at offset 0 to Function must be called with Enable = True until Written = Size or Error > 0. NOTE! Write Cycle count max Possible EEPROM wearing is indicated by Retry output. Library: EEPROM.LIB Enable BOOL 0, 1 (TRUE/FALSE) TRUE enables function Offset WORD Offset within EEPROM to write (0..15 is reserved for runtime) Address WORD Valid memory address Source memory address Size BYTE Size of source data type Byte count to write Outputs: Error BYTE = No error 1 = Address/Offset error (Offset + Size > memory size) 2 = Write error Written BYTE 0 Size Byte count actually written Retry BYTE = Data was same in EEPROM 1 = Data written to EEPROM >1 = Retry in write (max. 5 times)

21 21/42 Example:

22 22/ ANALOG I/O LIBRARY AI_CONF_FB Description: This function is used to configure analog I/O pin type for those modules where it s possible. NOTE! Check module data sheet if the configuration is possible. If not, don t use this library. Library: CONF.LIB X1_10_17 BYTE 0, 1 Select X1.10 and X1.17 pin type 0 = Current 1 = Voltage X1_20_21 BYTE 0, 1 Select X1.20 and X1.21 pin type 0 = Current 1 = Voltage X1_22_23 BYTE 0, 1 Select X1.22 and X1.23 pin type 0 = Current 1 = Voltage Outputs:

23 23/42 Example: 4.4 SERIAL LIBRARY INIT_COM Description: This function is used to initialize serial communication port. Library: SERINT.LIB ENABLE BOOL 0, 1 (TRUE/FALSE) TRUE enables function BAUDRATE WORD 0 FFFF Baud rate constant BYTESIZE BYTE 0, 1 Byte size 0 = 7 1 = 8 PARITY BYTE 0, 2 Parity 0 = none 2 = even STOPBITS BYTE 0 (0 = 1) Stop bits

24 24/42 Outputs: ERROR BYTE = No error 1 = Initializing not allowed 2 = Incompatible runtime version Baud rate bits/s Baud rate constant 110 0xE9CE 300 0xF7DD 600 0xFBEE xFDF xFFFC xFF7E xFFC xFFD xFFDF xFFF xFFF xFFF5 Example:

25 25/ WRITE_COM Description: This function is used to transmit serial messages. Library: SERINT.LIB ENABLE BOOL 0, 1 (TRUE/FALSE) TRUE enables function BUFF WORD Valid memory address Address of buffer NUMBERBYTES BYTE 1 Byte count to write Outputs: BYTESSEND BYTE 0 NUMBERBYTES Actual bytes send ERROR BYTE = No error 1 = Write not allowed 2 = Incompatible runtime version Example:

26 26/ READ_COM Description: This function is used to read serial messages. Library: SERINT.LIB ENABLE BOOL 0, 1 (TRUE/FALSE) TRUE enables function BUFF WORD Valid memory address Address of buffer NUMBEROFBYTES BYTE 1 Number of bytes to receive Outputs: BYTESREAD BYTE 0 NUMBEROFBYTES Receive count ERROR BYTE = No error 1 = Read not allowed 2 = Incompatible runtime version Example:

27 27/ CLOSE_COM Description: This function is used to close serial communication port. Library: SERINT.LIB ENABLE BOOL 0, 1 (TRUE/FALSE) TRUE enables function Outputs: ERROR BYTE 0, 1 0 = No error 1 = Close not allowed

28 28/ PLCopen Graphics Interface PLCopen application and graphics library communicate through library functions. Graphics library and resource file can be loaded by ETools Graphic Function Usage in OpenPLC Application LCD library is included to CoDeSys with Library Manager. After this, eleven function blocks are available LCD_DRAWBITMAP Description: Prints image in resource based on image ID. Library: LCD.LIB X BYTE X coordinate Y BYTE 0 63 Y coordinate ID BYTE 0 Image ID number MODE BYTE 0, 1 0 = not reversed, 1 = reversed ENABLE BOOL 0, 1 1 = execute, 0 = do not execute NOTE! Maximum image id number depends on resource file. Resource file must be loaded.

29 29/ LCD_PRINT Description: Prints string. Library: LCD.LIB X BYTE X coordinate Y BYTE 0 63 Y coordinate FONT BYTE 0 Font type MODE BYTE 0, 1 0 = not reversed, 1 = reversed STR WORD Valid memory address Pointer to string ENABLE BOOL 0, 1 1 = execute, 0 = do not execute NOTE! Maximum font type depends on resource file. If resource file not loaded then font type is default (same as type 0, Helvetica 10).

30 30/ LCD_PRINT_UINT Description: Prints 16bit unsigned number. Library: LCD.LIB X BYTE X coordinate Y BYTE 0 63 Y coordinate FONT BYTE 0 Font type MODE BYTE 0, 1 0 = not reversed, 1 = reversed IN UINT Printed number LENGTH BYTE 1 6 Length of the value area ALIGN BYTE 0, 1 0 = right align, 1 = left align ENABLE BOOL 0, 1 1 = execute, 0 = do not execute NOTE! Maximum font type depends on resource file. If resource file not loaded then font type is default (same as type 0, Helvetica 10).

31 31/ LCD_PRINT_INT Description: Prints 16bit signed number. Library: LCD.LIB X BYTE X coordinate Y BYTE 0 63 Y coordinate FONT BYTE 0 Font type MODE BYTE 0, 1 0 = not reversed, 1 = reversed IN INT Printed number LENGTH BYTE 2 6 Length of the value area ALIGN BYTE 0, 1 0 = right align, 1 = left align ENABLE BOOL 0, 1 1 = execute, 0 = do not execute NOTE! Maximum font type depends on resource file. If resource file not loaded then font type is default (same as type 0, Helvetica 10).

32 32/ LCD_RECTANGLE Description: Draws rectangle. Library: LCD.LIB X1 BYTE X coordinate, left up Y1 BYTE 0 63 Y coordinate, left up X2 BYTE X coordinate, right down Y2 BYTE 0 63 Y coordinate, right down MODE BYTE 0, 1, 2 0 = not reversed, 1 = reversed, 2 = XOR ENABLE BOOL 0, 1 1 = execute, 0 = do not execute

33 33/ LCD_FILLRECTANGLE Description: Draws filled rectangle. The left up values must be smaller than the right down values. Library: LCD.lib X1 BYTE X coordinate, left up Y1 BYTE 0 63 Y coordinate, left up X2 BYTE X coordinate, right down Y2 BYTE 0 63 Y coordinate, right down MODE BYTE 0, 1, 2 0 = not reversed, 1 = reversed, 2 = XOR ENABLE BOOL 0, 1 1 = execute, 0 = do not execute

34 34/ LCD_CLRSCR Description: Clears display. Library: LCD.LIB ENABLE BOOL 0, 1 1 = execute, 0 = do not execute

35 35/ LCD_INIT Description: Initializes display. Library: LCD.LIB Example:

36 36/ LCD_DRAWBYID Description: Draws object defined in resources. Library: LCD.LIB ID BYTE 0 Resource ID number ENABLE BOOL 0, 1 1 = execute, 0 = do not execute NOTE! Maximum resource number depends on resource file. Resource file must be loaded.

37 37/ LCD_SETPIXEL Description: Sets pixel. Library: LCD.LIB X BYTE X coordinate Y BYTE 0 63 Y coordinate ENABLE BOOL 0, 1 1 = execute, 0 = do not execute

38 38/ LCD_CLEARPIXEL Description: Clears pixel. Library: LCD.LIB X BYTE X coordinate Y BYTE 0 63 Y coordinate ENABLE BOOL 0, 1 1 = execute, 0 = do not execute

39 39/ LCD_PUTPIXEL Description Put pixel. Library: LCD.LIB X BYTE X coordinate Y BYTE 0 63 Y coordinate MODE BYTE 0, 1, 2 0 = not reversed, 1 = reversed, 2 = XOR ENABLE BOOL 0, 1 1 = execute, 0 = do not execute

40 40/ LCD_LINE Description: Draws line. Library: LCD.LIB X1 BYTE X coordinate origin Y1 BYTE 0 63 Y coordinate origin X2 BYTE X coordinate end point Y2 BYTE 0 63 Y coordinate end point MODE BYTE 0, 1, 2 0 = not reversed, 1 = reversed, 2 = XOR ENABLE BOOL 0, 1 1 = execute, 0 = do not execute

41 41/ LCD_CIRCLE Description: Draws circle. Library: LCD.LIB X BYTE X coordinate origin Y BYTE 0 63 Y coordinate origin RADIUS BYTE 0 Radius MODE BYTE 0, 1, 2 0 = not reversed, 1 = reversed, 2 = XOR ENABLE BOOL 0, 1 1 = execute, 0 = do not execute

42 42/ LCD_FILLCIRCLE Description: Draws filled circle. Library: LCD.LIB X BYTE X coordinate origin Y BYTE 0 63 Y coordinate origin RADIUS BYTE 0 Radius MODE BYTE 0, 1, 2 0 = not reversed, 1 = reversed, 2 = XOR ENABLE BOOL 0, 1 1 = execute, 0 = do not execute

43 0001 PROGRAM PLC_PRG 0002 VAR 0003 start: BOOL:=TRUE; 0004 RPDO1_init: CAN_OBJ_RX_INIT; 0005 RPDO2_init: CAN_OBJ_RX_INIT; 0006 TPDO1_init: CAN_OBJ_TX_INIT; 0007 TPDO2_init: CAN_OBJ_TX_INIT; 0008 RPDO1: CAN_OBJ_RX; 0009 RPDO2: CAN_OBJ_RX; 0010 TPDO1: CAN_OBJ_TX; 0011 TPDO2: CAN_OBJ_TX; 0012 EpecBeat_init: CAN_OBJ_TX_INIT; 0013 epecbeat: BOOL; 0014 t1: TON; 0015 trg: W_TRIG; 0016 t2: TON; 0017 btrg1: B_TRIG; 0018 btrg2: B_TRIG; 0019 btrg3: B_TRIG; 0020 END_VAR 0001 Initializing Receive PDO 1 RPDO1_init start 3 FALSE 16#181 16#7FF CAN_OBJ_RX_INIT ENABLE ERROR OBJN EXTENDED ID_TAG ID_MASK 0002 Initializing Receive PDO 2 RPDO2_init start 4 FALSE 16#281 16#7FF CAN_OBJ_RX_INIT ENABLE ERROR OBJN EXTENDED ID_TAG ID_MASK 0003 Initializing Transmit PDO 1 TPDO1_init start 5 FALSE 16#201 CAN_OBJ_TX_INIT ENABLE ERROR OBJN EXTENDED ID 0004 Initializing Transmit PDO 2 TPDO2_init start 6 FALSE 16#301 CAN_OBJ_TX_INIT ENABLE ERROR OBJN EXTENDED ID

44 0005 Initializing done FALSE start 0006 Send Transmit PDO 1 btrg1 B_TRIG %IB0 CLK Q btrg2 B_TRIG %IB1 CLK Q btrg3 B_TRIG %IB2 CLK Q epecbeat t1.q OR BOOL_TO_BYTE 5 8 %IB0 %IB1 %IB TPDO1 CAN_OBJ_TX ENABLE ERROR OBJN DLC DATA1 DATA2 DATA3 DATA4 DATA5 DATA6 DATA7 DATA Send Transmit PDO 2 when AI_X1_22 change or minium once per second trg TPDO2 W_TRIG OR CAN_OBJ_TX AI_X1_22 CLK Q ENABLE ERROR t2.q WORD_TO_BYTE 6 2 OBJN DLC DATA1 AI_X1_22 DATA2 SHR WORD_TO_BYTE 0 0 DATA3 DATA4 AI_X1_ DATA5 DATA6 DATA7 DATA Read Receive PDO 1 RPDO1 CAN_OBJ_RX 3 OBJN ID EXTENDED DLC DATA1 DATA2 DATA3 DATA4 DATA5 DATA6 DATA7 DATA8 NEW_DATA ERROR %QB0

45 0009 Read Receive PDO 2 RPDO CAN_OBJ_RX OBJN ID EXTENDED DLC DATA1 DATA2 DATA3 DATA4 DATA5 DATA6 DATA7 DATA8 NEW_DATA ERROR t1.q T#300ms IN PT t1 TON Q ET PWM_X1_01 PWM_X1_03 PWM_X1_04 PWM_X1_07 PWM_X1_ When time has run out complement "epecbeat" variable t1.q epecbeat XOR epecbeat 0012 t2.q T#1s IN PT t2 TON Q ET