Transclusion: IOT-GATE-iMX8: Industrial I/O add-on

IOT-GATE-iMX8 / SBC-IOT-iMX8 can be optionally assembled with the industrial I/O add-on board.
The industrial I/O add-on features up-to three separate I/O modules which allow to implement different combinations of isolated CAN, RS485, RS232, digital outputs and inputs.

CAN

CAN bus modules can be installed in I/O add-on slots A or B.
CAN bus modules support both CAN 2.0B and CAN FD standards. Maximum supported data rate is 8Mbps (in CAN FD mode).

CAN interface configuration

• Configure the CAN interface bit-rate to 1 Mbits/sec:

root@iot-gate-imx8:~# ip link set can0 type can bitrate 1000000

• Enable the CAN interface:

root@iot-gate-imx8:~# ip link set can0 up

Send/Receive packets

Use cansend and candump utilities to send and receive packets via CAN interface.

• Send standard CAN frame (on the first device):

root@iot-gate-imx8:~# cansend can0 111#1122334455667788

• Send extended CAN frame (on the first device):

root@iot-gate-imx8:~# cansend can0 11111111#1122334455667788

• CAN frames (extended mode) generator, random payload, interval between two successive flames 50 msec:

root@iot-gate-imx8:~# cangen -g 50 -e -D r -v can0
can: raw protocol (rev 20170425)
...
  can0  03FF0983#D7.61.FF.03.C1.F7.C1.34
  can0  19C34D32#F7.5A.C2.73.AD.0E.3F.0B
  can0  0675E391#2B.2D.D3.49
  can0  13091C55#99.32.EC.77.27.81.49.0B
  can0  098D67CF#22.50.AB.48.AD.7F.F4.26
  can0  05263FEC#1B.4C.02.45.6E
  can0  12B30E20#
  can0  1F193DF9#C5
  can0  1EB0B18F#3E.3F.DA.57.C2.FE.73.58
  can0  1E5C64D9#6F.0D.B3.63.6A
  can0  1E1DE3F9#96.48.AC.79.4E.00.27.71
  can0  0E1A11B7#75.81.70.7C.86.79.A7.77
  can0  05F8FD8B#33.F9.9B.1E.77.3D.1F
  can0  1E155FCD#E6.BA.F8.58.ED.6D.C8.10
  can0  1D91DF9E#5D.29.82.7B.97.1D.AB.5C
  can0  11FB3CDA#14.65.C3
  can0  091352C0#2C.ED
...

• Dump all received data frames as well as error frames (on the second device):

root@iot-gate-imx8:~# candump any,0:0,#FFFFFFFF
  can0  111   [8]  11 22 33 44 55 66 77 88
  can0  11111111   [8]  11 22 33 44 55 66 77 88
...
  can0  03FF0983   [8]  D7 61 FF 03 C1 F7 C1 34
  can0  19C34D32   [8]  F7 5A C2 73 AD 0E 3F 0B
  can0  0675E391   [4]  2B 2D D3 49
  can0  13091C55   [8]  99 32 EC 77 27 81 49 0B
  can0  098D67CF   [8]  22 50 AB 48 AD 7F F4 26
  can0  05263FEC   [5]  1B 4C 02 45 6E
  can0  12B30E20   [0] 
  can0  1F193DF9   [1]  C5
  can0  1EB0B18F   [8]  3E 3F DA 57 C2 FE 73 58
  can0  1E5C64D9   [5]  6F 0D B3 63 6A
  can0  1E1DE3F9   [8]  96 48 AC 79 4E 00 27 71
  can0  0E1A11B7   [8]  75 81 70 7C 86 79 A7 77
  can0  05F8FD8B   [7]  33 F9 9B 1E 77 3D 1F
  can0  1E155FCD   [8]  E6 BA F8 58 ED 6D C8 10
  can0  1D91DF9E   [8]  5D 29 82 7B 97 1D AB 5C
  can0  11FB3CDA   [3]  14 65 C3
  can0  091352C0   [2]  2C ED
...

RS232

RS232 modules can be installed in I/O slots A or B.
The module implements RS232 interface without hardware flow control.
The interface device in Linux:

• I/O module A: /dev/ttymxc1
• I/O module B: /dev/ttymxc3

RS485

RS485 modules can be installed in I/O module A or B.
The module implements a half-duplex RS485 interface.
The interface device in Linux:

• I/O module A: /dev/ttymxc1
• I/O module B: /dev/ttymxc3

Digital I/O

The digital I/O module can be installed in I/O module C. The module implements 4 digital input and 4 digital output signals.
These signals are controlled using the following GPIOs:

• IN0: GPIO3_0, pin number 64
• IN1: GPIO3_1, pin number 65
• IN2: GPIO3_6, pin number 70
• IN3: GPIO3_7, pin number 71
• OUT0: GPIO3_8, pin number 72
• OUT1: GPIO3_9, pin number 73
• OUT2: external GPIO (PCA9555) 9, pin number 505
• OUT3: external GPIO (PCA9555) 10, pin number 506

Read Digital input

Use the following command to read the value of IN0:

root@iot-gate-imx8:~# gpioget 2 0

Set Digital output

Use the following command to set the value of OUT0:

root@iot-gate-imx8:~# gpioset 2 8=1