BB-IO Reference Manual

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2 Table of Contents. Block Diagram. Overview 3. Mounting the BeagleBone 6. Inputs 7. Inputs Overview 8. Outputs. Switching Outputs. Relay Outputs.3 PWM Outputs 3 6. CAN 7. Connecting the V Power Supply 6 7. Connecting the Relays 7 7. Changing the Fuse 8 8. EEPROM Bit I/O Expander 0 0. Programming Examples. Schematic Connectors 8 and 9 of the Beaglebone

3 . Block Diagram Pull-Ups In Inputs - CAN Can Physics -3V DC 3,3V Power Supply V Optocouplers Beaglebone 6-Bit I/O Expander Adressrange 0x0 to 0x3 PWM-Outs PWM-Bridge - Out MosFet Outputs 3- Fuse 8AF - IC UART TX/DX EEProm Adressrange 0x to 0x7 EHRPWMA/B IC Out Outputs x Relay

4 . Overview V Fuse V Power Supply Relay PWM-Outputs Outputs Inputs LEDs indicating Power Supply CAN Connector IC Address Switch EEPROM IC Address- Switch 6-Bit I/O Expander Pads to disable Write Protection of the EEPROM Relay

5 3. Mounting the BeagleBone Do not mount the BeagleBone Board in opposite Direction.

6 . Inputs The BB-IO provides Inputs, all isolated with Optocouplers to avoid Groundloops. The Outputs of the Optocouplers are connected to GPIO - Pins of the Beaglebone's Processor. The Inputs are inverting. A positive Voltage at the Inputs means 0V (Logic low) at the CPUs GPIOs 3,3V 8 IN- U-A.k J3.k Input Connector To Beaglebone GPIO 8 7 Symplified Schematic of one Input For safe switching the Inputs need - 3V DC, if switching with 3.3V is needed it must be proofed whether the Optocouplers are able to pull the Processor GPIOs to Ground. For safety reasons we recommend to change the.kohm Resistors in this case. Use 330R - 70R instead. 6

7 . Inputs Overview Input Input Input Input Input Input Input 7 Input 8 Input Input 0 Input Input

8 All Inputs are connected to Header P8 (Beaglebone Black) Description Pin-No. Header GPIO-No. Linux GPIO INPUT P8_07 GPIO _ 66 INPUT P8_08 GPIO _3 67 INPUT3 P8_09 GPIO _ 69 INPUT P8_0 GPIO _ 68 INPUT P8_ GPIO _3 INPUT6 P8_ GPIO _ INPUT7 P8_3 GPIO 0_3 3 INPUT8 P8_ GPIO 0_6 6 INPUT9 P8_ GPIO _ 7 INPUT0 P8_6 GPIO _ 6 INPUT P8_7 GPIO 0_7 7 INPUT P8_8 GPIO _ 6 8

9 If Input Voltages of 3.3V are used change the marked Resistors. New Value is 330 or 70 R Size is 080 (0) It is not recommended to change all Resistors. Change Resistors for Inputs working with 3.3V only. 9

10 . Outputs The Outputs are divided into 3 Sections. 0 Switching Outputs V/A. Two Relays switching max. 30V~/A 3. Two PWM Outputs V/A in Half Bridge Configuration Resistive and/or inductive Loads are allowed. The Relais are switched when the assiociated 6-Bit I/O Expander becomes logic high.. Switching Outputs The Outputs are configured as Open Drain (<=> Open Collector) and active high (non inverting, 6 Bit I/O Expander Out = high means Output = V) Maximum Current is A permanent, Short Time Ability is A. Switching Time off the rising Edge is about 00 nsec, falling Edge depends on Load. Max. Switching Frequency depends on Load, without Load 00 khz are achievable. Over Current Protection is done by the Fuse of the V Power Supply.. Relay Outputs The Relays are capable of switching an inrush Current of 80A/30V~ (0mSec). Permanent Current is A max. Breaking Capacity is 000VA max. Warning The Relais are not intended to switch really heavy equipment like Vacuum Cleaners, Compressors or other Machines consuming more than,000 W Warning Never try to switch more than 8V DC with Relays. Common Relays (Switches also) are not able to switch off high DC-Voltages! 0

11 C A BB-IO Reference Manual, V PWM Out PWM Out Output 3 G S 3 D Output Output Output 6 From 6 Bit I/O Expander 3 LED Outputs 3 - Output 7 Output 8 Output 9 Output 0 Output Output The On States of Outputs 3 - are indicated by LEDs Owing to the restricted Place on the Printed Circuit Board»Output«is abbreviated to»o«example: O0 = Output 0

12 .3 PWM Outputs The PWM Outputs consist of two Halfbridges delivering max. A each. Max. Dutycycle is 00% without Time Limitation. Therefore PWM Outputs can be used as steady DC Outputs. Max. Switching Frequency is greater than 300 khz (kcps). Over Current Protection is done by the Fuse in the V Power Supply. The PWM-Outputs can either be used for Loads which must be switched to 0V. Connections for use with (0V) referenced Loads V Q3,,3 PWM/PWM OUTS EHRPWMA/EHRPWMB Q Load,,3 (0V) Connections for use with +V referenced Loads V Q Load,,3 PWM/PWM OUTS EHRPWMA/EHRPWMB Q,,3 (0V)

13 Typical Connections for use with DC-Motors Plug the two wires of the Motor into the according PWM and PWM Contacts V Q7,,3 PWM OUT EHRPWMA Q6,,3 (0V) Load V Q9,,3 PWM OUT EHRPWMB Q8,,3 (0V) 3

14 6. CAN Features: CAN data transmission rate up to MBaud Suitable for V and V applications 0R Terminator can be brought in Place by a simple Solder Bridge CAN_L 0R CAN_H Solderbridge pol Sub-Min-D 3 CAN transmit data input: 0 kω pull-up, LOW in dominant state CAN receive data output; LOW in dominant state, integrated pull-up To Pin 9 of second Connector Make a Solder Bridge to bring in Place the 0R CAN-Terminator PIN CAN-L PIN 6 PIN 7 CAN-H PIN 3 PIN 9 Connection to PIN 9 of second Connector (Option)

15 7. Connecting the V Power Supply The BB - IO can be operated with Voltages from V to 3V DC. The Power Supply should deliver a Current not less than A for proper function. Maximum Current of the Power Supply must be limited to 6A, otherwise the allowed max. Current of the Connector is exceeded. Power Supply Connector The Connector accepts: Single Wires (solid) 0. mm -. mm Stranded Wires (flexible) 0. mm -. mm Stranded Wires with Ferrules 0. mm -. mm Rated Torque / Screw Size 0. Nm/M3 Fuse Value Range is A - 8A, depending on your needs. Size: x 0 mm Disconnect Characteristic: Fast/Super Fast An 8A fast Fuse is applied at the factory. Reverse Polarity Protection The Protection Diode is located electrically behind the Fuse. In Case of wrong polarity of the V Supply the Fuse breaks so that BB-IO and Beaglebone may not be damaged.

16 7. Connecting the Relays The Relays are unipolar ON-OFF with two terminators connected together (see Schematic). Terminators, Relays and the Safety Distances on the PCB ensure the legal Usage of 30V~ Power Supplys. If full Current is needed wire all four contacts. From 6 Bit Multiplexer A B A B are internally connected A B Electrically Connected Electrically Connected 6

17 7. Changing the Fuse Changing the Fuse is simple. Take a Screwdriver Stick it into the Gap in the Fuseholder Turn the Screwdriver Change the Fuse and bring the Fuseholder into the Retainer back again 7

18 8. EEPROM The BB-IO is fitted with a Kx8 serial EEPROM connected to the Beaglebone's IC- Bus. Addressrange is 0x - 0x7, the Addresses are set with Switch S. The EEPROM is write protected, for writing short-circuit the two Pads right above Switch S. :»ON«Position Setup Adresses S A A0 Address OFF OFF 0x7 OFF ON 0x6 ON OFF 0x ON ON 0x Pads must be short-circuit to enable Programming Mode The»ON«Position is printed on the Case of the Switch. Adressrange 0x to 0x7 S-A S-B 3 DIPSCHALTER_-POL A0 A 3 A VSS EEPROM VCC WP SCL SDA Take a Tweezer or a similar Tool to short-circuit the Pads. (Don t forget to attach the Beaglebone before) Symplified Schematic EEPROM 8

19 9. 6 Bit I/O Expander The Expander is connected to the IC- Bus of the Beaglebone. The Address is preset with 0x3. The Addresses of the Expander are configured by Switch S. Setup Adresses S A A0 Address OFF OFF 0x3 OFF ON 0x ON OFF 0x ON ON 0x0 I/O Port Used I/O Ports Output BB-IO GPB0 OUT 0 GPB OUT 9 GPB OUT 8 GPB3 OUT 7 GPB OUT 6 GPB OUT GPB6 OUT GPB7 OUT 3 GPA Relay GPA Relay GPA6 OUT GPA7 OUT IC_SCL IC_SDA IC_SCL IC_SDA R R67 N.B. R83 N.B. R8 3,3V OUT_0 OUT_9 OUT_8 OUT_7 OUT_6 OUT_ OUT_ OUT_ GPB0 GPB GPB GPB3 GPB GPB GPB6 GPB7 Vdd Vss NC SCL SDA NC MCP307-QFN U EP 9 Switch S GPA7 OUT_ GPA6 OUT_ 3 GPA REL_ GPA REL_ GPA3 0 $0 GPA 9 GPA 8 GPA0 7 7 INT_A 6 R98 INT_B #RESET A 3 A A0 P9_7 S-A IC-Addresses 3 DIPSCHALTER_-POL S-B Adressrange 0x3 to 0x0 Symplified Schematic of the 6-Bit Expander 9

20 0. Programming Examples Angstrom Distribution Kernel 3.8xx Console Examples CAN: echo BB-DCAN > /sys/devices/bone_capemgr.8/slots modprobe can modprobe can-dev modprobe can-raw ip link set can0 up type can bitrate ifconfig can0 up cansend can0 0x00 0x0 0x0 cansend can0 0x00 0x0 0x0 cansend can0 0x00 0x0 0x0 candump can0 PWM, Output : echo am33xx_pwm > /sys/devices/bone_capemgr.8/slots echo "Enabling 00% duty cycle" echo bone_pwm_p9_6 > /sys/devices/bone_capemgr.8/slots sleep echo "Enabling 0% duty cycle" echo > /sys/devices/ocp./pwm_test_p9_6./period echo > /sys/devices/ocp./pwm_test_p9_6./duty Programming sample for the MCP307, without Linux GPIO Driver: icset -y -r 0x3 0x00 0x00 # Configuring Bank A&B as outputs icset -y -r 0x3 0x0 0x00 icset -y -r 0x3 0x3 0xFF # Setting all output bits to high. icset -y -r 0x3 0x 0xFF 0

21 Enabling GPIO Inputs: cd /sys/class/gpio echo "Enabling Input GPIOs" echo 66 > export echo 67 > export echo 69 > export echo 68 > export echo > export echo > export echo 3 > export echo 6 > export echo 7 > export echo 6 > export echo 7 > export echo 6 > export echo "Reading Values" cd gpio66 cat value cd../gpio67 cat value cd../gpio69 cat value cd../gpio68 cat value cd../gpio cat value cd../gpio cat value cd../gpio3 cat value cd../gpio6 cat value

22 cd../gpio7 cat value cd../gpio6 cat value cd../gpio7 cat value cd../gpio6 cat value Scanning IC-Busses Type: icdetect -l Program Output: ic-0 ic OMAP IC adapter IC adapter ic- ic OMAP IC adapter IC adapter Scanning. Bus (ic-): Type: icdetect -y -r Program Output: a b c d e f 00: : : : : : UU UU UU UU : : x3 -> 6 Bit Expander (Multiplexer) 0x..0x7 -> EEPROM

23 . Schematic Connectors 8 and 9 of the Beaglebone 3,3V_FROM-BB J S TE C K E R L E IS T E _ 6 -P O L _, M M P AIN AIN6 AIN AIN AIN3 AIN0 AIN +V PWR_BUT 00nF SYS_RESET_N C P9_ P9_ P9_3 EHRPWMA P9_ EHRPWMB IC_SCL IC_SDA IC_SCL IC_SDA P9_ P9_ P9_3 CAN_RXD 3 () UART_TXD GPIO3_ CAN_TXD (6) UART_RXD P9_7 SPI_CS0 SPI_DO P9_30 SPI_SCLK VDD_ADC-V_CONTROL A CLKOUT GPIO0_7 J S TE C K E R L E IS T E _ 6 -P O L _, M M P MMC_DAT6 MMC_DAT7 MMC_DAT MMC_DAT3 P8_07 P8_08 P8_09 P8_0 P8_ P8_ P8_3 P8_ P8_ P8_6 P8_7 P8_8 EHRPWMA MMC_CMD MMC_CLK MMC_DAT MMC_DAT MMC_DAT MMC_DAT0 GPIO_9 LCD_VSYNC LCD_PCLK LCD_HSYNC LCD_DE LCD_DATA LCD_DATA LCD_DATA3 LCD_DATA LCD_DATA LCD_DATA0 LCD_DATA8 LCD_DATA9 LCD_DATA6 LCD_DATA7 LCD_DATA LCD_DATA LCD_DATA LCD_DATA3 LCD_DATA0 LCD_DATA 3

24 BB-IO Reference Manual Copyright SBT/impressx Düsseldorf 0 Alle Rechte vorbehalten. Die in diesem Handbuch veröffentlichten Beiträge sowie alle Pläne, Zeichnungen, Diagramme und Tabellen sind urheberrechtlich geschützt. Ihre auch auszugsweise Vervielfältigung und Verbreitung ist generell nur mit der schriftlichen Genehmigung des Herausgebers erlaubt. Obwohl das Handbuch mit größter Sorgfalt erstellt wurde, können Fehler nicht ausgeschlossen werden. Herausgeber und Autoren können für fehlerhafte Angaben und evtl. daraus entstehende Folgen keine Haftung übernehmen. Technische Änderungen ohne Ankündigung vorbehalten. Information contained in this publication regarding device applications and the like is provided only for your convenience and may be superseded by updates. It is your responsibility to ensure that your application meets with your specifications. We disclaim all liability arising from this information and its use. Use of devices in life support and/or safety applications is entirely at the buyer s risk, and the buyer agrees to defend, indemnify and hold harmless SBT from any and all damages, claims,suits, or expenses resulting from such use. No licenses are conveyed, implicitly or otherwise, under any SBT intellectual property rights. Version 0.9 / 0/0