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RMU2 Linux Logic Controller User Manual

1. E oes H V Ref ix E iy 8 S V Ref pe CH R C ee Ge o Digital Input point A y Y o Digital Input point SS Y Vec Figure 4 Sourcing Input Figure 5 Sinking Input 13 of 13 MKS Instruments CIT Products 2005 All rights reserved 2 7 Digital Input Interface Example Below is an example of how to use the digital input interface for both the sinking and sourcing hardware configurations The digital I O circuitry is powered from an external 24 volt power source via the I O connector 24V RMU DIO DIO1 Q O Figure 6 Sourcing Input Figure 7 Sinking Input 24V GND RMU DIO DIO1 2 8 Digital Outputs The individual outputs will support up to a 200 mA load per channel Each output is thermally protected against short circuiting 500 mA typically and includes under voltage protection The output Fault State is accessible through software External Schottky diodes are provided for output transient protection and each UO point is protected with a self resetting poly fuse rated for 500 mA Outputs default to the OFF condition during power up and processor reset conditions The figure below shows the output circuitry 24V Output Driver DIO X 24_GND Figure 8 Digital Output 2 9 Digital Output Interface Example Below is an example of how to interface with the digital outputs for both the sinking and sourcing hardware
2. 45 of 32 O MKS Instruments CIT Products 2005 All rights reserved mks RMU2 User Manual Return Value Type Values Int e The file descriptor if successful e 1 if an error occurred Discussion The open function for the AIO opens a data channel to the AIO card handing a file descriptor to the application allows the invocation of the read and write 6 3 2 Close close an open connection to a physical Analog IO module int close int fd Parameters Type Name Description Char Fd file descriptor to be closed Return Value Type Values Int e 0 if successful D 1 if an error occurred Discussion The close function for the dio will close the connection to a AIO module Release any unnecessary system resources 6 3 3 Read read status of the physical Analog lO and the companion card information ssize t read int fd void buf size_t count Parameters Type Name Description Int fd file descriptor to read from Void Buf pointer to buffer in memory that will contain the data Of a struct mksaio_info Size t Count number of bytes to be read size of struct mksaio_info Return Value Int e Sizeof struct mksaio_info if successful e 1 if an error occurred 46 of 33 MKS Instruments CIT Products 2005 All rights reserved mks RMU2 User Manual Discussion The definition of the mksaio data structure can be found in the file mksaio h
3. smks RMU2 User Manual 5 Function ioctl NAME ioctl control device SYNOPSIS include lt sys ioctl h gt ssize t ioctl int d int request DESCRIPTION The octl function manipulates the underlying device parameters of special files In particular many operating characteristics of character special files e g terminals may be controlled with octl requests The argument d must be an open file descriptor The second argument is a device dependent request code The third argument is an untyped pointer to memory It s traditionally char argp from the days before void was valid C and will be so named for this discussion An ioctl request has encoded in it whether the argument is an in parameter or out parameter and the size of the argument argp in bytes Macros and defines used in specifying an octl request are located in the file lt sys ioctl h gt RETURN VALUE Usually on success zero is returned A few octl requests use the return value as an output parameter and return a nonnegative value on success On error 1 is returned and errno is set appropriately ERRORS EBADF d is not a valid descriptor EFAULT argp references an inaccessible memory area EINVAL Request or argp is not valid ENOTTY d is not associated with a character special device ENOTTY The specified request does not apply to the kind of object that the descriptor d references NOTE In orde
4. Warning if you disable this service both telnet and ftp servers will no longer be accessible Defines whether portmap service needs to be started at boot up Service is started only if this variable D is set to lowercase y XINETD PORTMAP The system has a default network configuration see etc rc config However the RMU supplied with a template FFS etc network conf which sets the following settings ETHO LAN 1 factory setting Parameter IP Address of eth0 RMU Setting DHCP 29 of 15 MKS Instruments CIT Products 2005 All rights reserved mks RMU2 User Manual ETH1 LAN2 factory setting IP Address of eth1 192 168 1 2 Subnet Mask 255 255 255 0 Default Gateway N A IF configuration file is missing the units revert to the below network settings ETHO LAN1 default setting Parameter RMU Setting IP Address of ethO 192 168 1 5 Subnet Mask 255 255 255 0 Default Gateway None ETH1 LAN2 default setting IP Address of eth1 172 21 232 5 Subnet Mask 255 255 0 0 Default Gateway 172 21 100 1 4 2 2 3 1 Interactive configuration When unit is inaccessible from the network and or user interface does not provide a functionality to change the IP address special net command from serial console can be used to setup primary network interface LAN1 LAN2 eth1 is not supported User needs
5. Int 0 if successful 1 if an error occurred 52 of 39 MKS Instruments CIT Products 2005 All rights reserved smks RMU2 User Manual Discussion Close function for the AT89 module 7 1 1 3 Write Writes the incoming data to the AT89 s E2PROM sequentially Iseek is not supported it transparently handle the erasing of blocks in the E2PROM No recovery support in case of malfunction after the erase In this case the session should be closed and repeat the attempt Any length of data chunk can be used For optimal operation use chunks of 64 bytes ssize_t write int fd const void buf size_t len Parameters Type Name Description Char Fd file descriptor to be write to Void Buf pointer to buffer in memory that contains the data to be written to the E2PROM Size t Len Number of bytes to be write Return Value Type Values ssize_t number of actual bytes written e 1 if an error occurred 7 1 1 4 Read Read the AT89 s E2PROM content sequentially Iseek is not supported ssize t read int fd const void buf size t len Parameters Type Name Description Char Fd file descriptor to be write to Void Buf Pointer to buffer in memory that will contain the data from the E2PROM Size t Len Number of bytes to be Return Value Type Values ssize_t number of actual bytes written e 1 if an error occurred 53 of 40 MKS Instruments CIT Products 20
6. An alternative way to run the system is to start the system from the removable Compact Flash When the RMU boots up it can be easily manipulated to continue the bootstrap sequence from the Compact Flash In this case the compact flash is used as the system root file system 4 1 6 Kernel s Modules All supported devices are included in the monolithic part of the RMU kernel Other drivers can be loaded into the kernel space by demand These the kernel s modules are supplied as part of the bundle and can be located on the JFFS sub file system under lib modules 2 4 25 mks rp XX It was intentionally placed on the JFFS to allow the removal of unneeded modules to allow additional storage space Modules can be loaded or removed with insmod and rmmod utilities respectively All current loaded modules and their dependencies are under proc modules file and can be seen with command cat proc modules The following example illustrates how to access Windows 2000 XP 2003 file share It is assumed that Windows computer has 1 Shared directory called RMU 2 IP address 192 168 1 3 3 Local user mu with password mu which has permissions to access the share CIFS driver must be loaded to enable Windows file share connectivity 23 of 10 MKS Instruments CIT Products 2005 All rights reserved mks RMU2 User Manual CIFS can be loaded with the below command sets insmod cifs o mkdir mnt winxp mount t cifs cifs mnt
7. Getting Information from the AIO driver should be done by using the mksaio_info structure This structure contains 4 sections e The ADC a vector of the AlO channel current values in 2 s compliment values e Watch dog information regarding the watch dog such as is it enabled or disabled time for expiration and indication whether or not an interrupt occurred The parameters names in the structure are is_int_enabled and is_int_occured respectively e DAC an indicator field that indicates whether AIO card is ready to digest a new output channel update The parameter s name is is_ready There is an additional remanded parameter s_int_enabled it s mapped to the same parameter describe under the watch_dog structure e Al_conf mode of operation i e shows the mode a differential mode or a single ended mode Its value also implies on the number of valid ADC channels whether it 8 or 16 6 3 4 Write write status of the physical Analog IO module ssize t write int fd const void buf size t len Parameters Type Name Description Int fd file descriptor to be write to Void but pointer to buffer in memory that will contain the data Of struct mksaio_cmd Size t Len Sizeof struct mksaio_cmd Return Value Type Values Int e Sizeof struct mksaio_cmd if successful e 1 if an error occurred Discussion The definition of the mksaio data structure can be found in the file mksaio h As mentioned
8. RMU2 User Manual 5 1 3 ASCII Interface The ASCII API is associated with two sets of minors minors 0 3 for operating in none blocking manner and minors 4 7 for operating in blocking manner dev mksdio 0 3 dev mksbio 0 3 respectively Messages written to reading from the device are in pure text The configuration commands passed to the driver are in bound changing IO output states is just one of the available commands There is only one type of received message one that reports the IO states 5 1 4 Binary Interface The binary API is associated with its minors 8 11 For example in order to access the first DIO card via the binary API the VFS should include an entry like dev mksdiob0 with major 240 and minor 8 the second will be with minor 9 etc Messages written to reading from the device are in binary code The configuration commands passed to the driver are out of bound The only in bound command is the command to change the IO output states All out of bound commands are sent to the driver by using the ioctl POSIX API There are three kinds of message types configuration commands write IO output states and read IO input states Two methods are available to manipulate the output lOs Snapshot or Selective The Snapshot method sets all the 24 lOs at once The Selective method only sets a selective group of lOs the selection is done by an additional lOs mask The only user defined types are the IOCTL commands codes and
9. iso 2 http mirror switch ch ftp mirror eldk eldk 3 1 1 2005 06 07 ppc linux x86 iso ppc 2005 06 07 iso 24 of 11 MKS Instruments CIT Products 2005 All rights reserved mks RMU2 User Manual 4 1 8 Creating my first application Let s use the following example code hello c as our first RMU s application hello include lt stdio h gt int maint int argc char argv printf Hello World n return 0 Target associated tools have to be used for cross compilation environment Current RMU architecture under ELDK is the ppc_82xx make sure to set the system PATH and the CROSS_COMPILE environment variables accordingly Assuming ELDK is installed to opt eldk 3 1 1 here is what s needed to compile the application at the very minimum user x86 pc export CROSS_COMPILE ppc_82xx user x86 pc opt eldk 3 1 1 usr bin ppc_82xx gcc hello c o hello if a static link is needed pass the static flag to the linker Now we can copy FTP or NFS the binary to the unit and execute it user rmuf hello Hello world It is recommended to use special makefile to do cross compilation Here is an example of such a makefile Makefile 82xx include Makefile export CROSS COMPILE ppc_82xx PATH opt eldk 3 1 1 usr bin opt eldk 3 1 1 bin CC ppc_82xx g CXX CC As you can see this makefile includes the original makefile and overwrites the compiler definition Comin
10. 2 4 25 compressed 3 Initrd File System and data files image compressed The next ten megabytes contain the Journaling Flash File System JFFS2 that is used to store application programs and data 4 1 System Components 4 1 1 Boot Loader The major functions of the boot loader are Initialize the basic board fundamentals peripherals Hold fundamental system parameters such as MAC address and part number Interact with the console RMU COM1 to start the boot process Uncompress and copy the Linux Kernel to the RAM Uncompress and copy the Initrd File system to the RAM to be used as the root file system The Initrd File system will be stored in RAM as a ram disk file system Idev ramo 6 Start the Kernel aRWN gt The user interface to U Boot consists of a command line interrupter much like a Linux shell prompt When connected via a serial line you can interactively enter commands and see the results After power on the initial u boot prompt looks similar to this U Boot 1 1 3 Aug 15 2005 15 08 45 CPU MPC5200 v2 1 at 396 MHz Bus 132 MHz IPB 66 MHz PCI 33 MHz Board Motorola MPC5200 IceCube DC 85 kHz ready DRAM 128 MB FLASH 16 MB PCI Bus Dev Venld Devld Class Int 00 1d 1057 5809 0680 00 01 08 0458 0228 0e00 00 01 09 0458 0228 Oe00 00 01 Oa 0458 0228 Oe00 00 01 Ob 0458 0228 Oe00 00 01 Oc 10ec 8139 0200 00 00 1e 3388 0021 0604 ff In serial Out serial Err serial Net FEC ETHERNET
11. 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 N as ww pan P a o a OO OO OO OO OO OO OO OO OG gt Z2222222222222228 8 Analog Outputs Bottom Side Connector ne Note ALL ANALOG POWER COMES FROM AN INTERNAL POWER CONVERTER EXTERNAL PINS FOR 15 VOLTS SHOULD BE USED AS REFERENCE ONLY SUPPLIES HAVE LIMITED POWER AND SHOULD NOT BE USED TO DRIVE EXTERNAL LOADS 10 of 10 MKS Instruments CIT Products 2005 All rights reserved mks RMU2 User Manual 2 5 3 Digital I O Wiring The RMU digital expansion board has two D Sub 37 connectors used to access the I O points The 24V power must be supplied by an external source via these connectors Each I O card type has unique pin assignments the assignments for the digital card are shown in the following figures All the 24 GNDs are one net o o o o o o Ze ZZNZZoZZ 4 2202 z z EE TD er Der Do t ON t D o DZ oi 2345678910 m 12 13 14 15 16 47 1 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 4 Fazraz azZSaAZTANDODA Zz Zz zZ Zz zZ zZ zZ 253253253003 000 t A TF Oo sz O N N N N N Digital Top Side Connector Source Sink Select for Digital Top Connector Sink Source Select Sourcing Input Sinking Output Short Pin 18 to 37 Sinking Input Sourcing Output Short Pin 19 to 37 Q Q Q Q Q Q EREECHEN ZZ a of ao ao ao HOP OYA CY ES es r EN vs br EN e wb EN er ek ES Sa gek a N LD e
12. DIOs channels properly the read operation may selectively notify you on events of interest and ignore the rest for example rising edge occurrences in DIO3 amp DIO5 in addition to falling edge occurrences in DIO3 amp DIO6 The default driver behavior is to queue up events until the application take action the main reason is to prevent event lost But when real time comes into consideration the use of the queuing characteristic may be suppressed The suppression can be done only once per system run The tool to control it mksdio_config resides on the initrd A standard POSIX select function can be used for the blocking approach Select function allows application to handle more then a single device e a card at a time More than one devices could be read in blocking mode and set to notify the application on interrupt events The application will be notified for any of the events no matter what card causes it The application can even use this function with a time out period Writing A DIO must be set as output channels before a write can take place otherwise the output command will be ignored In Binary mode the sent buffer should be writable i e not a constant variable or one containing a reusable information since the content will be overwritten after the return from the system call The system call will write the previous DIO state into that buffer 36 of 23 O MKS Instruments CIT Products 2005 All rights reserved mks
13. DIOs states will be 0x00000003 message 0 0x00ffffff message 1 0x00000003 write fd message 8 message 0 contains the previous value Message syntax Table Syntax Description 1 Channel on value 0 Channel off value Control the behavior of the physical Digital IO the driver behavior 5 2 5 loctl int ioctl int fd int request Parameters Type Name Description Int Fd file descriptor to be write to int Request One of the operations mentioned below Basically there are two type of operations a set command and a get command The set command uses the associated parameters as input data to the driver The get command uses the associated parameter as a place holder for the output information coming from the driver Therefore usually the type of parameter associated with a set command will be of type value and the one associated with a get command will be pointer to a place holder that eventually should hold the output for the specific command The associated parameters goes with the ioctl command Each command defines its own associated parameters type and behavior 42 of 29 MKS Instruments CIT Products 2005 All rights reserved smks RMU2 User Manual List of Set Get command pairs Command Description MKS_IOCTL_GET_NONBLOCK Set the blocking non blocking read behavior MKS_IOCTL_SET_NONBLOCK Associated parameter Type unsigned long Value 1 b
14. JFFS sub file system e Init process starts and follows the inittab instructions e Default configuration is loaded e g IP addresses location of the JFFS FFS services to run etc rc config e The second MAC address is set It s striped from the kernel command line The first MAC address is set by the u boot Set the loopback interface Mount the sub systems proc usbfs and jffs hook if exist invoke the script FFS etc rc preconfig hook if exist load the configuration file FFS etc network conf hook if exist invoke the script FFS etc rc network hook if exist load the configuration file FFS etc services conf Table 10 system s Initialization hooks The hook Purpose FFSYetc rc preconfig script This should be the place to make all system adjustment before any action has been taken For instance create soft hard links manipulate initrd files such as the password file loads modules etc FFSYetc network conf configuration This should be the place to make the basic network configuration HOSTNAME Unit network host name ETHO Network configuration for ett Possible values are including quotes dhcp auto lt ip_address gt lt ip_address gt netmask lt mask gt Some examples 1 ETHO dhcp 2 ETHO auto 3 ETHO 192 168 1 5 4 ETHO 10 10 2 12 netmask 255 255 0 0 28 of 15 MKS Instruments CIT Products 2005 A
15. MKS Instruments CIT Products 2005 All rights reserved mks RMU2 User Manual 3 2 Serial Connection Basic connections to the RMU consist of a null modem connection to COM 1 and power e Power up RMU by attaching power connector with 24VDC source 1A e Attach a null modem cable to RMU COM1 port and your PC 3 3 3 Configuration COM Properties Bai Sating The RMU s console is accessed through the PC RS232 serial Interface Any terminal program will work Hyperterminal is a e used in this documentation Oyati B gt Table 9 Serial Configuration Potty Kore y Parameter Value apts 1 115200 Data bits 8 Flow car rd Hors we Parity None Stop bits L Geste on Lass 3 4 Booting the RMU Plug the power cable into the unit to start the boot process Once the System has booted log in to Linux the user is root and the password is root Users can use terminal program such as Microsoft HyperTerminal or Tera Term Pro to communicate to the diagnostics port of the RMU on Linux boxes minicomm c kermit cu etc ne Note NOTE THAT SETTINGS CAN BE OVERWRITTEN BY CONFIGURATION D FILES FROM APPLICATION PARTITION SEE BELOW 20 of 7 MKS Instruments CIT Products 2005 All rights reserved mks RMU2 User Manual 4 RMU Software User s Guide The RMU contains sixteen megabytes of FLASH memory The first six megabytes contain 1 Boot Loader UBoot 2 Linux Kernel version
16. RTL8139 0 IDE Bus 0 OK Device 0 not available 21 of 8 MKS Instruments CIT Products 2005 All rights reserved mks RMU2 User Manual Device 1 not available Type run flash_nfs to mount root filesystem over NFS Hit any key to stop autoboot 0 gt lt INTERRUPT gt gt To access the U boot prompt stop Linux Kernel from booting by hitting any key before the timer prompt expires help printenv setenv saveenv and run commands are available at U boot shell Use saveenv command to save changed environment variables gt saveenv Saving Environment to Flash Un Protected 1 sectors Erasing Flash done Erased 1 sectors Writing to Flash done Protected 1 sectors gt Having a network connection on your boot loader is very convenient during development All networked boards can download and boot the same kernel image from a centralized server so user only needs to update a single copy of kernel on the server and not each board individually 4 1 2 Kernel The kernel is the core of the system it controls all resources and processes When the kernel starts it determines which of the root file system is configured The system can be brought up with one of two root file systems initrd JFFS2 or the Compact Flash In both cases the kernel will start the init process and read the inittab for more startup instructions 4 1 3 The built in Initrd File System Initrd is
17. a ram based file system that consists of the following folders bin dev lib tmp sbin etc mnt proc usr var 22 of 9 MKS Instruments CIT Products 2005 All rights reserved mks RMU2 User Manual The initrd is a volatile entity therefore it s not the place for permanent settings Any changes or additions to the file system will be lost when the system is rebooted Permanent settings should use the Flash memory file system JFFS2 which is mounted by the system startup to the mnt ffs VFS location The initrd startup code creates hooks to the JFFS2 file system allowing permanent configuration 4 1 4 JFFS2 Journaling Flash File System JFFS version 2 is a standard file system for flash memory it comes as a complementary sub file system to the initrd JFFS basic directory hierarchy includes the etc and lib sub directories Customization configuration files are under etc subdirectory Additional kernel modules are under lib subdirectory Unnecessary modules may be removed The rest of the JFFS sub file system can be used as the user s application play ground Important files under etc e network conf e rc application e rc preconfig 4 1 5 Compact Flash The RMU supplied a self contained unit and as such include all the necessary tools and applications for development and maintenance In addition the RMU supports a compact flash that can be used for development or additional data storage
18. application use 4 2 3 2 Compact Flash In the Runtime platform the compact flash is used for general storage It is not mounted automatically it should be mounted manually or by adjusting the hooks to do it automatically Usually a new compact flash comes preformatted with a FAT file system 32 of 19 MKS Instruments CIT Products 2005 All rights reserved mks RMU2 User Manual 4 2 3 2 1 Accessing CompactFlash From within the RMU CompactFlash is accessible as dev hda This command mounts Compact flash assuming a single partition into file system user rmu mount dev hda1 mnt data Example for expected console s messages for the ext3 file system hda hda1 hda hda1 kjournald starting Commit interval 5 seconds EXT3 FS 2 4 0 9 19 19 August 2002 on ide0 3 1 internal journal EXT3 fs mounted filesystem with ordered data mode user rmu To check is the compact flash already mounted to mnt data user rmu if mountpoint q mnt data then echo Yes else echo No fi Yes 4 2 3 2 2 Formatting CompactFlash As mentioned above most of brand new CompactFlash cards come pre formatted as FAT In order to format it to EXT3 simply unmount it if mounted and run mkfs etx3 user rmu umount mnt data user rmu mkfs ext3 dev hda1 user rmu tune2fs i O c 1 dev hda1 4 2 3 3 USB Basic USB support is included monolithically in the Linux kernel But to support an USB as a
19. colors no active dark green red and amber The setting is done by supplying the function with the LEDs index as the operation code and the color code as the accompany parameter s value The codes are taken from the definition file mksmmi_ioctl h 51 of 38 MKS Instruments CIT Products 2005 All rights reserved smks RMU2 User Manual 7 1 1 Function Definitions The following API functions are supported open is used to open a node to the at89 module close is used to release the node resource of a specific to the at89 module write is used to write to the fw image to the AT89 s E2PROM read is used to read the fw image from the AT89 s E2PROM ioctl is used to manipulate the LEDS 7 1 1 1 Open open a connection to the AT89 device int open const char pathname int flags Parameters Type Name Description Char Pathname the path name to the DIO device file in this case dev at89 int flags one of the O RDONLY O_WRONLY or O_RDWR options to open the file Usually it would be O RDWR for reading and writing Return Value Type Values Int The file descriptor if successful 1 if an error occurred Discussion The open function for the at89 opens a data channel to the AT89 controller 7 1 1 2 Close close an open connection to the AT89 int close int fd Parameters Type Name Description Char fd file descriptor to be closed Return Value Type Values
20. configurations The digital I O circuitry is again powered from an external 24 volt power source via the I O connector 24V 24V GND RMU DIO G RMU DIO DIO1 O Sinking Output Sourcing Output DIO1 Figure 9 smks RMU2 User Manual 2 10 Analog Inputs The analog inputs are coupled directly to the processor and are implemented using 14 bit A D converters The analog input range is 10V to 10V All analog circuitry is powered from an internal 15 Vdc power source The 15 V and 15 V power is protected with a self resetting poly fuse rated at 100 mA Table 3 Analog Voltage Conversion Conversion Table Ox1 FFF OxOFFF 0 0012 V 0x0001 OV 0x0000 0 0012 V_ OxFFFF Ox2FFF 0x2000 Table 4 Analog Description Card Type Number of Inputs Type Single ended inputs that can also be connected in pairs to create differential Combo Expansion Card inputs Particular pairs must be used input 1 5 2 6 3 7 4 8 if a differential input is required 2 11 Analog Outputs The analog outputs are implemented using 12 bit D A s with a 10V to 10V output range The output drivers are capable of driving 2 Kohm 5 mA output loads Analog outputs default to 0 volts during power up and processor reset conditions Table 5 Analog Voltage Conversion Conversion Table 5 VM OxOBFF 10 V 0x0000 Table 6 Analog Description Card Type Number of Outputs Type Analog Expans
21. date of shipment of this equipment and ending one year later MKS will at its option either repair or replace any part which is defective in materials or workmanship or with respect to the date related operations warranty without charge to the purchaser The foregoing shall constitute the exclusive and sole remedy of the purchaser for any breach by MKS of this warranty The purchaser before returning any equipment covered by this warranty which is asserted to be defective by the purchaser shall make specific written arrangements with respect to the responsibility for shipping the equipment and handling any other incidental charges with the MKS sales representative or distributor from which the equipment was purchased or in the case of a direct purchase from MKS with the MKS CIT home office in San Jose CA This warranty does not apply to any equipment which has not been installed and used in accordance with the specifications recommended by MKS for the proper and normal use of the equipment MKS shall not be liable under any circumstances for indirect special consequential or incidental damages in connection with or arising out of the sale performance or use of the equipment covered by this warranty THIS WARRANTY IS IN LIEU OF ALL OTHER RELEVANT WARRANTIES EXPRESSED OR IMPLIED INCLUDING THE IMPLIED WARRANTY OF MERCHANTABILITY AND THE IMPLIED WARRANTY OF FITNESS FOR A PARTICULAR PURPOSE AND ANY WARRANTY AGAINST INFRINGEMENT OF ANY PAT
22. file was opened with the O_DIRECT flag and either the address specified in buf the value specified in count or the current file offset is not suitably aligned EIO I O error This will happen for example when the process is in a background process group tries to read from its controlling tty and either it is ignoring or blocking SIGTTIN or its process group is orphaned It may also occur when there is a low level I O error while reading from a disk or tape EISDIR fd refers to a directory Other errors may occur depending on the object connected to fd POSIX allows a read that is interrupted after reading some data to return 1 with errno set to EINTR or to return the number of bytes already read CONFORMING TO SVr4 4 3BSD POSIX 1 2001 RESTRICTIONS On NFS file systems reading small amounts of data will only update the time stamp the first time subsequent calls may not do so This is caused by client side attribute caching because most if not all NFS clients leave st_atime last file access time updates to the server and client side reads satisfied from the client s cache will not cause st_atime updates on the server as there are no server side reads UNIX semantics can be obtained by disabling client side attribute caching but in most situations this will substantially increase server load and decrease performance Many filesystems and disks were considered to be fast enough that the implementation of O_NONBLOCK was deemed unnecess
23. include lt fcntl h gt int open const char pathname int flags int open const char pathname int flags mode t mode int creat const char pathname mode_t mode DESCRIPTION Given a pathname for a file open returns a file descriptor a small non negative integer for use in subsequent system calls read 2 write 2 Iseek 2 fentl 2 etc The file descriptor returned by a successful call will be the lowest numbered file descriptor not currently open for the process The new file descriptor is set to remain open across an execve 2 e the FD_CLOEXEC file descriptor flag described in fentl 2 is initially disabled The file offset is set to the beginning of the file see Iseek 2 A call to open creates a new open file description an entry in the system wide table of open files This entry records the file offset and the file status flags modifiable via the fcntl F_SETFL operation A file descriptor is a reference to one of these entries this reference is unaffected if pathname is subsequently removed or modified to refer to a different file The new open file description is initially not shared with any other process but sharing may arise via fork 2 The parameter flags must include one of the following access modes O_RDONLY O_WRONLY or O_RDWR These request opening the file read only write only or read write respectively In addition zero or more file creation flags and file status flags can be bitwise ord i
24. opost olcuc ocrnl onlcr onocr onlret ofill ofdel nlO crO obt bet vtO TO isig icanon iexten echo echoe echok echonl noflsh xcase tostop echoprt echoctl echoke Set speed stty F dev ttyS2 speed 115200 Enable echo stty F dev ttyS2 echo Disable echo stty F dev ttyS2 echo Enable cooked mode stty F dev ttyS2 raw Hstty F dev ttyS2 cooked Enable HW FlowControl stty F dev ttyS2 crtscts Disable HW FlowControl stty F dev ttyS2 crtscts Allow input to be received stty F devittyS2 cread Enable SW FlowControl stty F dev ttyS2 ixon Enable sending start stop chars stty F dev ttyS2 ixoff Disable SW FlowControl stty F dev ttyS2 ixon Disable sending start stop chars stty F dev ttyS2 ixoff Enable raw connection stty F dev ttyS2 cooked stty F dev ttyS2 raw 27 of 14 MKS Instruments CIT Products 2005 All rights reserved mks RMU2 User Manual 4 2 2 2 Initialization The kernel starts the init process with configuration files from InitRD rootfs Hooks were created with the system startup procedure allowing the customization of the system initialization The described flow below is part of the solid initrd image except for the hooks which will be emphasized The environment variable FFS will be used as the pointer to the location of the configuration files on the mounted
25. storage device a particular kernel module should be loaded The kernel modules are supplied as an external package located on the JFFS sub file system User has the flexibility to remove these modules for storage space if found not useful Preloading the usb storage driver insmod usb storage o Expected console messages Initializing USB Mass Storage driver usb c registered new driver usb storage 33 of 20 MKS Instruments CIT Products 2005 All rights reserved mks RMU2 User Manual USB Mass Storage support registered Messages similar to below are observed when an USB device is inserted hub c new USB device 0 1 assigned address 6 hub c USB hub found hub c 1 port detected hub c new USB device 0 1 1 assigned address 7 scsi0 SCSI emulation for USB Mass Storage devices Vendor Corsair Model Flash Voyager Rev 1 00 Type Direct Access ANSI SCSI revision 02 Attached scsi removable disk sda at scsi0 channel 0 id 0 lun O SCSI device sda 507904 512 byte hdwr sectors 260 MB sda Write Protect is off sda sda1 The following message signifies that an USB storage was detected but the driver was not loaded into the kernel Use insmod procedure to look for the usb storage module from proc modules hub c USB hub found hub c 1 port detected hub c new USB device 0 1 1 assigned address 3 usb c USB device 3 vend prod 0x67b 0x2517 is not claimed by any active driver Exam
26. the function read with the mksaio_info structure 44 of 31 MKS Instruments CIT Products 2005 All rights reserved mks RMU2 User Manual 6 2 Translating reads amp writes Translating the reads to the range of 10 10 V is done by to following logic the following code can be a one liner macro as well it is not an optimal code for matter of readiness and clarity float translate_input unsigned short orig_val float fValue float orig_val amp Ox1FFF 819 2 10 0 if orig_val 8 0x2000 0 fValue 10 0 return fValue Translating the writes to the 12bits 2 s compliments unsigned short Translate_output float volts boundries check can be added return unsigned short orig_val 10 0 204 8 6 3 Function Definitions The following API functions are supported Open is used to open a node to a specific Analog expansion module Close is used to release the node resource of a specific Analog expansion module Write is used to write to the digital outputs of a card Read is used to read the input channels of the card 6 3 1 Open open a connection to a physical Analog IO module int open const char pathname int flags Parameters Type Name Description Char Pathname the path name to the AIO device file e g dev mksaio0 int flags one of the O RDONLY O_WRONLY or O_RDWR options to open the file Usually it would be O_RDWR for reading and writing
27. to login via serial console and execute the following command at prompt net lt ip_address gt This will permanently set LAN1 to specified lt ip_address gt The full syntax of net command is the following net lt ip_address gt lt netmask gt lt default gateway gt where lt ip_address gt is one of dhcp auto fixed IP address lt netmask gt subnet mask lt default gateway gt default gateway for the current network Note that lt netmask gt and lt gateway gt parameters are optional Network change is taken into effect immediately No restart is required If executed without arguments net command shows the current configuration and current IP addresses Below are some examples of how net command can be used note that user rmu represents command prompt and must not be typed in 1 Just change the IP address and leave default gateway unchanged 30 of 17 MKS Instruments CIT Products 2005 All rights reserved RMU2 User Manual user rmu net 192 168 1 5 2 Provide subnet mask as well user rmu net 10 10 12 32 255 255 0 0 3 Specify default gateway user rmu net 192 168 1 5 255 255 255 0 192 168 1 1 4 Get IP address from DHCP server user rmu net dhcp 5 Get IP address automatically in unmanaged network user rmu net auto 6 Check current configuration and IP addresses user rmu net eth0 dhcp eth1 dhcp Gateway 10 112 3 2 DNS 150 100 100 30 150
28. tr OD e tr Dei tr OAN 00 D ZAN K a 910 a e 13141516 5 26 27 28 29 30 31 32 33 34 35 36 37 Se EE e 022 89822425 85 SOoNCHONRCONRQOAQOSD Oz TF oO TO TF Oo d TF Oo sg oO N N N N N Digital Bottom Side Connector Source Sink Select for Digital Bottom Connector Sink Source Select Sourcing Input Sinking Output Short Pin 18 to 37 Sinking Input Sourcing Output Short Pin 19 to 37 11 of 11 MKS Instruments CIT Products 2005 All rights reserved mks RMU2 User Manual 2 5 4 Combo I O Wiring The Combo I O Expansion Card has two 37 pin D Sub connectors used to access the I O points The 24V power must be supplied by an external source via these connectors The 15V power is supplied by an internal converter The pin assignments are shown in the following tables All the 24 GNDs are one net a Qa A a a SS om Sr SS ZE o ai a H a 0000 00 709 Cl Cl st Cl st Cl st Cl st Cl et EN Tt AA FON D oi tr OD o 2s i 8 8 7 o WO th 1 18 1 15 20 21 22 23 24 25 26 27 28 29 30 31 32 33 Sorzeororzrosnzrooz zZ zozo o SS o o ZZ o o oo oz oz 3 oz 3 EZ EE EE E E ne E e E e N N N N Combo Top Side Connector Source Sink Select for Combo Top Connector Sink Source Select Sourcing Input Sinking Output Short Pin 18 to 37 Sinking Input Sourcing Output Short Pin 19 to 37 24 IN DIO 14 24 GND 24 IN 15 V 15 V w a a D Ki E co E 11 12 13 14 15 16 27 28 29 30 31 32 33 34 N o
29. winxp o unc 192 168 1 3 RMU user rmu pass rmu Note that module needs to be loaded only once If it is required to mount more Windows file shares it is not necessary to run insmod cifs o command To check if the module is loaded use Ismod command Ismod Module Size Used by Tainted GF rt18150 8432 0 unused cifs 167256 O unused usb storage 58992 O unused Use rmmod to remove a module rmmod cifs 4 1 7 Cross Platform Development Tools To build applications to run on the RMU acquire the DENX Software Engineering Embedded Linux Development Kit ELDK 3 1 1 The ELDK provides cross compilation tools to allow the user to develop RMU applications on ELDK supported host platforms The ELDK 3 1 1 Tools can be obtained from DENX at http www denx de To correctly interface with the RMU kernel and the associated runtime libraries it is imperative that the application code be build with ELDK 3 1 1 tools The relevant architecture for the RMU is the ppc_82xx gcc version Pay attention to use the right set of tools Make sure the ppc_82xx binary directory is on the system PATH and export the CROSS_COMPILE environment variable to point to the ppc_82xx tools package Below is the link to obtain ELDK http www denx de wiki view DULG ELDKAvailability Alternative direct links to ISO image on different mirrors 1 ftp mirror switch ch mirror eldk eldk 3 1 1 2005 06 07 ppc linux x86 iso ppc 2005 06 07
30. write nFD amp cmd sizeof cmd 50 of 37 MKS Instruments CIT Products 2005 All rights reserved mks RMU2 User Manual 7 MMI API The MMI driver supplies services to the RMU s 4 digits ASCII display 2 push buttons and the 3 LEDS on the panel NET MOD and STAT The driver communicates with a single peripheral a PIC controller AT89S8253 located on the power board along with the digits ASCII display and 2 push buttons Three device nodes should be set 1 AT89 dev at89 2 Display dev at89display 3 Buttons dev at89buttons All 3 nodes interface the MMI driver with different minor number To monitor the AT89 configuration there is an entry in the proc subsystem proc mks at89 mksmmi_ioctl h is an associated file that contains the definitions of the various MMI commands those commands that invoked by using the out of bound oct POSIX function 7 1 AT89 API This part of the driver supports the AT89 update mechanism and controls the LEDs colors The AT89 FW can be uploaded and downloaded by using the read and write commands the operation is transparent in a sense its detects the operation stop the running of the AT89 reads it s content or in case of writing it cleans up the internal E2PROM then it writes its content finally when the session is been closed the AT89 running mode return to it s previous state The LEDs color control done by using ioctl each LED could be in one of the following 4
31. 00010 group has execute permission S_IRWXO 00007 others have read write and execute permission S_IROTH 00004 others have read permission S_IWOTH 00002 others have write permission S_IXOTH 00001 others have execute permission mode must be specified when O_CREAT is in the flags and is ignored otherwise creat is equivalent to open with flags equal to O_CREAT O_WRONLY O_TRUNC RETURN VALUE open and creat return the new file descriptor or 1 if an error occurred in which case errno is set appropriately NOTES Note that open can open device special files but creat cannot create them use mknod 2 instead 62 of 49 O MKS Instruments CIT Products 2005 All rights reserved mks RMU2 User Manual On NFS file systems with UID mapping enabled open may return a file descriptor but e g read 2 requests are denied with EACCES This is because the client performs open by checking the permissions but UID mapping is performed by the server upon read and write requests If the file is newly created its st_atime st_ctime st_mtime fields respectively time of last access time of last status change and time of last modification see stat 2 are set to the current time and so are the st_ctime and st_mtime fields of the parent directory Otherwise if the file is modified because of the O_TRUNC flag its st_ctime and st_mtime fields are set to the current time ERRORS EACCES The requested access to the file
32. 05 All rights reserved mks RMU2 User Manual 7 1 1 5 loctl The LEDs behavior is controlled by this function int ioctl int fd int request Parameters Type Name Description int fd file descriptor to be used Int Request The options are IOCTL_MKS_SET_LED1 IOCTL_MKS_SET_LED2 IOCTL_MKS_SET_LED3 IOCTL_MKS_GET_LED1 IOCTL_MKS_GET_LED2 IOCTL_MKS_GET_LED3 Each one of them as its name points to a specific LED whether for fetching it state or to set it s state Its accompany to the value parameters that can be the value 1 4 no light green red and amber respectively Return Value Type Values Int e 0 if successful e 1 ifan error occurred 7 2 AT89Display API 4 digits ASCII display it located on the power board Support 1 scrolling 2 blinking 3 display text up to 40 characters a support for up to 64 chars will be support shortly The default behavior is to scroll the text on the display whenever the sent text is longer then the physical 4 digits display The scroll and blinking features are controlled via ioctl command The write command is used to send text to the display There is no read command for this device 7 2 1 Function Definitions The following API functions are supported Open close Write loctl is used to open a node to the at89 module is used to release the node resource of a specific to the at89 module is used to write text st
33. 100 100 389 Current IP address es mee arches 12 168 1 160 Beases192 168 1 299 MaASiKs255 255 255 0 last aclekesil72 2i1 211 70 Beastel7 2 21 255 255 Masike255 255 0 0 diner erck hegil27 0 0 1 Maske255 0 0 Usage gt net ip address netmask gateway 4 2 2 3 2 Temporary configuration In order to set the IP manually use the following example Note that IP address will be changed for the current session only After reboot the old IP configuration will be restored user rmu ifconfig eth1 192 168 1 3 4 2 2 4 Auto run To automate the system operation the init process invokes the FFS etc rc application automatically whenever it sense it is not running Le the FFS etc rc appliaction is invoked on system startup In case the FFS etc rc appliation will crash or end unexpectedly the init process will invoke it again respawn Lets take the hello example code introduced in section 5 2 3 and make it run automatically on system startup Lets edit FFS etc rc appliaction 31 of 18 MKS Instruments CIT Products 2005 All rights reserved Ka e Mks RMU2 User Manual user rmu vi mnt ffs etc rc application Here is the content of mnt ffs etc rc application 1 bin sh Imnt ffs hello The result of this will be a constant printout of Hello World because the hello will finish running and the FFSYetc rc application will exhausted and the init process will bring it up again and again To
34. 5 configure target powerpc linux host i686 pc linux gnu build powerpc linux prefix pwd _install exec prefix pwd _install bin with pcap linux make make install tcpdump cd home rmu tcpdump tar zxf tcpdump 3 9 5 tar gz cd tcpdump 3 9 5 configure target powerpc linux host i686 pc linux gnu build powerpc linux prefix pwd _install exec prefix pwd _install bin LDFLAGS L home rmu tcpdump libpcap 0 9 5 ppc _install bin lib CFLAGS 1 home rmu tcpdump libpcap 0 9 5 ppc _install include without crypto make make install As a result of successful configuration and build you get ready to run binary ls al home rmu tcpdump tcpdump 3 9 5 _install bin sbin rwxr xr x 1 mm users 730077 2007 01 15 12 31 tcpdump To reduce some space the binary could be stripped ppc 82xx strip home rmu tcpdump tcpdump 3 9 5 _install bin sbin tcpdump ls al home rmu tcpdump tcpdump 3 9 5 _install bin sbin rwxr xr x 1 mm users 655036 2007 01 15 12 31 tcpdump 69 of 56 MKS Instruments CIT Products 2005 All rights reserved mks RMU2 User Manual Appendix C How to Cross Compile Boa Web Server Note you do not need super user privileges in order to be able to build the utility Download and unpack sources in this example to home rmu boa cd home rmu mkdir boa cd boa wget http www boa org boa 0 94 14rc21 tar gz The environment variables need to be set for the console export PA
35. 5 All rights reserved smks RMU2 User Manual 2 Installation and Setup 2 1 Shipping Box Contents e RMU Module e Power mating connector 2 2 RMU Description The RMU is a compact Linux controller with integrated I O and peripherals The CPU will have Linux kernel 2 4 x All required kernel drivers are preloaded to support current hardware requirements There are 5 RMU packages each to accommodate the number of I O slots 0 4 Each I O card to have a D sub 37 connector top and bottom Each cards connectors to be in the same location so enclosure cutouts are the same for a DIDO or AIAO card The front of the RMU provides all operators interface and status indicators The figure below describes the features on the front panel These items include I O indicators fuses IP address switches and diagnostic ports The following mechanical drawing is a typical 2 expansion slot model Compact Flash Bay 24 Volt Power Connecter Digital IO Connector 37 Pin D Sub Reset Button Programmable Display Digital IO Connector 37 Pin D Sub User Defined Function Buttons Digital IO Expansion Module USB Port Analog IO Expansion Module LAN Ports Status LEDs Figure 1 RMU Description 7of7 MKS Instruments CIT Products 2005 All rights reserved mks RMU2 User Manual 2 3 Mechanical Description The following mechanical drawing describes a typical 2 slot configuration Additional slots will cause the un
36. AR 1200 Max 240mV 200mA R 1200 Max 133mV 100mA R 2400 200 mA max channel 750 mA per 6 DO Min 23 3V 100mA R 2400 Min 23 1V 200mA R 1200 Max OV 0uA R 1200 Max 0V OmA RL 2400 AIAO Card Analog Accuracy Analog Response Time Analog Input Analog Output COMBO Card Number of Digital I O Response Time Digital Input Current sinking Current sourcing Digital Output Current sinking Current sourcing Current max Analog Accuracy 0 1 Full scale 10V to 10V 200 usec 16 single ended points or 8 differential points s w selectable 14 bit 1Khz RC filter 8 single ended points 12 bit Range 10 to 10V 5mA channel into a 2 KQ load 16 points input or output 50 usec 1 5 mA min 1 5 mA min 200 mA max channel 200 mA max channel 750 mA per 6 DO 0 1 Full scale 10V to 10V Analog Response Time 200 usec Analog Input 8 single ended points or 4 differential points s w selectable 14 bit Analog Output 1khz RC filter 2 differential points 12 bit Range 10 to 10V 5mA channel into a 2 KO load 72 of 58 MKS Instruments CIT Products 2005 All rights reserved smks RMU2 User Manual Model Code Description The Model code of RMU defines the features of the Unit for Hardware software and other options SLOT SLOT SLOT SLOT BASE OPTIONS 2 3 4 Format RMU2 C DIDO DIDO DIDO DIDO D AIAO AIAO AIAO AIAO CF Al A
37. Description Data Output Need to short to pin 3 externally Data Output Need to short to pin 2 externally Short to pin 4 internally 2 12 2 3 RS485 Full Duplex port pin outs Pin RS485FD Function Description NC No Connect NC GND w N gt be dke Us Ke 17 of 4 MKS Instruments CIT Products 2005 All rights reserved RMU2 User Manual mks 2 13 Standard RS232 Serial Cable with handshaking connection The figure below shows a female female null modem with full handshaking connection Only the ring indicator RI and carrier detect CD signal are not linked DB 9 female Connector 1 Connector 2 Function ON OA BW ND Rx e Tx TX Rx DTR DSR Signal ground DSR DTR RTS CTS CTS RTS ajeway 6 Ad MKS Instruments CIT Products 2005 All rights reserved 18 of 5 mks RMU2 User Manual 3 Quick Start This quick start guide describes the basic requirements to connect the RMU to a PC using Telnet and Serial interface Default network settings are Lani DHCP Lan 192 168 1 2 3 1 Telnet The unit can be accessed by telnet command to bring Linux console From Windows Command Prompt type telnet lt unit_ip gt cs Command Prompt cmd x Microsoft Windows XP Version 5 1 2600 C Copyright 1985 2001 Microsoft Corp C gt telnet 192 168 1 5 Login root Password root cx Telnet 192 168 1 129 19 of 6
38. ENT 74 of 61 MKS Instruments CIT Products 2005 All rights reserved
39. OPSIS o cesses dee 65 DESERTPTION EE 65 RETURN VALUE eege AE EES EE 65 ERRORS EE 65 CONFORMING TO 65 NOTES a 65 ENEE 65 3 FUNCHONSREAD EE EE 66 NAME core e Ee 66 SYNOPSIS EE 66 DESERIPTIONE ai aida 66 RETURN VALUE 0 iaa 66 OS Ee AN 66 CONFORMINCG TO aca 66 RESTRICTONS ba 66 O A Ee 66 A FUNCTION WRITES ati 67 NAME ninos 67 SNOOP Si dias 67 DESCRIPTION aca o as ca te ce Ee 67 RETURN VALUE a ib 67 ERROR Si a 67 CONFORMING TO iba 67 NOTES a 67 SECAS o 67 5 FUNCHON TOC it ada 68 NAMES cta at DE e 68 SINOPSIS a Ltda 68 DESCERIPTION ita at a ad da 68 4 of 4 MKS Instruments CIT Products 2005 All rights reserved RMU2 User Manual RETURN VALUE fine cd aah eeee see ad 68 ERUN 68 INQ HR 68 CONFORMING TO 68 SEE ES E 68 APPENDIX B HOW TO CROSS COMPILE TCPDUMP cccsssssccccesssneceesessneeeeeeeseeeeeeseeseeesenaeeeseseseaeeneeees 69 APPENDIX C HOW TO CROSS COMPILE BOA WEB SERVER ccceeseeeeeeesssseeeeeeeneeeeeesseeeenseenaeenenas 70 SPECIFICATIONS cinc dia 71 AAA AAA 74 5 of 5 MKS Instruments CIT Products 2005 All rights reserved mks RMU2 User Manual 1 Introduction The RMU is an open control platform that allows customers to run MKS or customer specific applications in Linux environment The platform consists of a PowerPC processor local peripherals and PCI IO and special function cards All IO boards communicate using the PCI 104 bus This manual provides detail
40. TH PATH opt eldk 3 1 1 usr bin opt eldk 3 1 1 bin export CROSS COMPILE ppc_82xx export CC ppc_82xx gcc export ARCH ppc export ac _cv_func setvbuf reversed no export ac cu Linus vers 2 boa cd home rmu boa tar zxf boa 0 94 14rc21 tar gz cd boa 0 94 14rc21 configure target powerpc linux host i686 pc linux gnu build powerpc linux prefix pwd _install exec prefix pwd _install bin make As a result of successful configuration and build you get ready to run binary ls al home rmu boa boa 0 94 14rc21 src boa rwxr xr x 1 mm users 656910 2007 01 15 17 11 boa To reduce some space the binary could be stripped ppc 82xx strip home rmu boa boa 0 94 14rc21 src boa ls al home rmu boa boa 0 94 14rc21 src boa rwxr xr x 1 mm users 77800 2007 01 15 17 12 boa Please note significant reduction of binary size 70 of 57 MKS Instruments CIT Products 2005 All rights reserved RMU2 User Manual mks Specifications Physical Specifications Criteria Dimensions IO Connector Ethernet Connector RS 232 Connector Weight Specifications 4 Hx 4 W x 1 5 D plus 0 7 per I O slot 37 pin male D sub 100 BaseT RJ45 with EMI filter LED indicators DB9 male connector 600g 1 32 Ib Environmental Specifications Criteria Operating Temperature Storage Humidity Functional Specifications Criteria PowerPC On board Flash SDRAM CompactFlash Port RS232 BUS Interface USB Front P
41. a lockfile is to create a unique file on the same file system e g incorporating hostname and pid use link 2 to make a link to the lockfile If link returns O the lock is successful Otherwise use stat 2 on the unique file to check if its link count has increased to 2 in which case the lock is also successful O_LARGEFILE LFS Allow files whose sizes cannot be represented in an off_t but can be represented in an off64_t to be opened O_NOATIME Since Linux 2 6 8 Do not update the file last access time st_atime in the inode when the file is read 2 This flag is intended for use by indexing or backup programs where its use can significantly reduce the amount of disk activity This flag may not be effective on all filesystems One example is NFS where the server maintains the access time O_NOCTTY If pathname refers to a terminal device see tty 4 it will not become the process s controlling terminal even if the process does not have one O_NOFOLLOW If pathname is a symbolic link then the open fails This is a FreeBSD extension which was added to Linux in version 2 1 126 Symbolic links in earlier components of the pathname will still be followed O_NONBLOCK or O_NDELAY When possible the file is opened in non blocking mode Neither the open nor any subsequent operations on the file descriptor which is returned will cause the calling process to wait For the handling of FIFOs named pipes see also fifo 7 For a discussi
42. aa 7 2 3 MECHANICAL DESCRipTON ennnen te 8 2 4 INSTALLATION EE 8 2 5 WIRING AND HARDWARE CONEIGURATION conan rnnn nan nn ran rnnn ran nnnn ninos 9 2 9 1 Power Supply WIGS isiciic conil edd tdt oil 9 2 02 Analog VO WANO EE 10 2 5 3 Digital VO Wiring renrinissesriroceniniiniiia tan e NRE EE AE EEE i iN 11 25 4 COMDOVO Wiring tata aaa dico 12 2 6 DIGITAL INPUT a iaa 13 2 7 DIGITAL INPUT INTERFACE EXAMPLE s s ssssssssesesesesesesesesttesestereststststeststsstsesetseseststseststsesesesesest 14 2 8 DIGITAL QUT PUTS E 14 2 9 DIGITAL OUTPUT INTERFACE SAMPLE non nncnnn nor cnnn ron rnnn nn rrnnn rra raras 14 KANTINE Ee ET 15 2 11 GANALOG e EE 15 2 12 SERIAL PORT CONNECTIONS neess Eesen SES 16 2121 COMI Elo RE EE 16 2 12 2 COM3 and COM n nan nn nara 16 2 13 STANDARD RS232 SERIAL CABLE WITH HANDSHAKING CONNECTION 18 3 UIC STARR To ad 19 3 1 TENE E 19 3 2 SERIAL CONNECTION cuidara dada idad ere 20 3 3 CONFIGURATION oo lentes Biveg aces 20 3 4 leien lehnt EN 20 4 RMU SOFTWARE USER S GUIDE 2 ic ccsiccecesccssncescdeerecetscesnccseceveseessageecuterescuedacecececesesuney docersanceseecerssiiys 21 4 1 SYSTEM COMPONENTS tnta tsitata ts tb Atata ESA tA ESEME EAEn EAEE A EA ES EnEn EnEn tatnen ennenen anene 21 4 1 1 BOOE LOAM EE 21 ATL EE 22 4 1 3 The built in Initrd File System 22 IMA SEP EE 23 41 0 Compact Fl Sh EE 23 4 1 6 Kernels MOCUIOS cc coccion dilata dede dosis 23 4 1 7 Cross Platform Development Tools 24 4 1 8 Creati
43. above the write function serves both for configuration and for AIO value settings It s done by sending a command using the mksaio_cmd structure 47 of 34 MKS Instruments CIT Products 2005 All rights reserved mks RMU2 User Manual Command Description MKSAIO_CMD_SET_MODE Sets 16 single emded mode or a 8 differential mode Options are MKSAIO_MODE _8_DIFFERENTIAL MKSAIO_MODE_16_SINGLE_ENDED via the structure data value field MKSAIO_CMD_OUTPUT Set output values per channel Two associated parameters the channel and the value The channel is set to the structure s data output channel field The value goes to the data output val field NOTE the value is a 12bits 2 s compliment MKSAIO_CMD_WD_INT_CTL Enable Disable the watch dog Options MKSAIO_ENABLE MKSAIO_DISABLE Via the structure s data value field MKSAIO_CMD_WD_RESET Reset the watchdog and load the the ticks counter to a new value The new value is set to the structure s data value field the value range from 1 to 127 each tick is a 10ms 6 4 MKSAIO H Fifndef _MKSAIO_H_ define _MKSAIO_H_ Hifdef cplusplus extern C Hendif E a define MKSAIO_CMD_SET_MODE 1 define MKSAIO_CMD_OUTPUT 2 define MKSAIO_CMD_WD_INT_CTL 3 define MKSAIO_CMD_WD_RESET 4 List of available commands sets single ended and differential Set Output values per channel Enable Disable watch dog Reset the watch dog and enab
44. anel Indicators Rotary Switches Power Specifications Criteria Input Isolation Over Current Protection Each Channel Total Specifications 0 to 55 C 40 to 85 C 5 to 95 non condensing Specifications 400 MHz 760 MIPS with support of floating point instructions 16 MB 128 MB Type Il currently tested up to 4GB 4 RS232 interface 1 port used for diagnostics port software selectable 485 on 2 of ports 2 isolated Ethernet ports Modbus TCP or Ethernet IP USB 1 1 port Network Status Module Status LINK 100MB IP address operating mode Specifications Powered from I O connector 24VDC 120 mA min DC DC Isolation 2 5KVrms 1 5A 3 0A Input Output Specifications per Card Criteria DIDO Card Number of Digital I O Response Time Digital Input Sink Current sinking Logic Low Voltage Logic High Voltage Source Current sourcing Input Low Voltage Input High Voltage Digital Output Specifications 24 points input or output 50usec 1 5 mA min Max 2 18 mA at Vin 0V Min 8 1V to Max 30V Min OV to Max 7V 1 5 mA min Max 2 33 mA at Vin 24V Min OV to Max 6V Min 6 5V to Max 30V 71 of 58 MKS Instruments CIT Products 2005 All rights reserved RMU2 User Manual mks Sink Current sinking Output OFF Voltage Output ON Voltage Source Current sourcing Current max Output ON Voltage Output OFF Voltage 200 mA max channel Min 23 8V 580uA R 2400 Min 23 8V imA
45. anual Return Value Type Values ssize_t number of actual bytes written e 1 if an error occurred 7 2 1 4 locti Control the behavior of the display s scroll and blink int ioctl int fd int request Ji Parameters Type Name Description int fd file descriptor to be used Int Request there are two control options fro the scroll the scroll speed and scroll step The scroll speed is the time gap between each display scroll refresh not internal display screen refresh Scroll step is the number on character to shift per each refresh Blink is the effect in which appearance and disappearance of the entire content on the display is toggled Value 0 stop the blink any other positive value is the number of 10ms delay between each toggle The associated parameters goes with the octl command Each command defines its own associated parameters type and behavior List of Set Get command pairs Command Description MKS_IOCTL_GET_SCROLL_SPEED _ Set get the display scroll refresh in units of MKS_IOCTL_SET_SCROLL_SPEED milliseconds zero value disables the scrolling Associated parameter Type unsigned long Value 0 disable scrolling any other value is legal MKS _IOCTL_GET SCROLL STEP Set get the display scroll step size in characters zero MKS_IOCTL_SET_SCROLL_STEP value disables the scrolling Associated parameter Type unsigned char Value 0 di
46. are supplied as an include file mksdio_ioctl h and also in this document 5 2 Function Definitions The following API functions are supported Open is used to open a node to a specific Digital espansion module Close is used to release the node resource of a specific Digital expansion module Write is used to write to the digital outputs of a card Read is used to read the input channels of the card 5 2 1 Open open a connection to a physical Digital IO module The open function for the dio opens a data channel to the DIO card handing a file descriptor to the application allows the invocation of the read write and ioctl commands int open const char pathname int flags Parameters Type Name Description Char Pathname the path name to the DIO device file e g dev mksdiobO int flags one of the O RDONLY O_WRONLY or O_RDWR options to open the file Usually it would be O RDWR for reading and writing 37 of 24 MKS Instruments CIT Products 2005 All rights reserved mks RMU2 User Manual Return Value Type Values Int e The file descriptor if successful e 1 if an error occurred REMARK use to open both ASCII and Binary interface the device name will associated the application handler with the ASCII or the Binary interface 5 2 2 Close Close an open connection to a physical Digital IO module The close function for the dio will close the connection to a DIO modul
47. ary So O_NONBLOCK may not be available on files and or disks SEE ALSO close 2 fentl 2 ioctl 2 Iseek 2 open 2 pread 2 readdir 2 readlink 2 readv 2 select 2 write 2 fread 3 66 of 53 MKS Instruments CIT Products 2005 All rights reserved mks RMU2 User Manual 4 Function write NAME write write to a file descriptor SYNOPSIS include lt unistd h gt ssize t write int fd void buf size_t count DESCRIPTION write writes up to count bytes to the file referenced by the file descriptor fd from the buffer starting at buf POSIX requires that a read which can be proved to occur after a write has returned returns the new data Note that not all file systems are POSIX conforming RETURN VALUE On success the number of bytes written are returned zero indicates nothing was written On error 1 is returned and errno is set appropriately If count is zero and the file descriptor refers to a regular file O may be returned or an error could be detected For a special file the results are not portable ERRORS EAGAIN Non blocking I O has been selected using O_NONBLOCK and the write would block EBADF fd is not a valid file descriptor or is not open for writing EFAULT buf is outside your accessible address space EFBIG An attempt was made to write a file that exceeds the implementation defined maximum file size or the process file size limit or to write at a p
48. be reused Any record locks see fentl 2 held on the file it was associated with and owned by the process are removed regardless of the file descriptor that was used to obtain the lock If fd is the last copy of a particular file descriptor the resources associated with it are freed if the descriptor was the last reference to a file which has been removed using unlink 2 the file is deleted RETURN VALUE close returns zero on success On error 1 is returned and errno is set appropriately ERRORS EBADF fd isn t a valid open file descriptor EINTR The close call was interrupted by a signal EIO An I O error occurred CONFORMING TO SVr4 4 3BSD POSIX 1 2001 NOTES Not checking the return value of close is a common but nevertheless serious programming error It is quite possible that errors on a previous write 2 operation are first reported at the final close Not checking the return value when closing the file may lead to silent loss of data This can especially be observed with NFS and with disk quota A successful close does not guarantee that the data has been successfully saved to disk as the kernel defers writes It is not common for a filesystem to flush the buffers when the stream is closed If you need to be sure that the data is physically stored use fsync 2 It will depend on the disk hardware at this point SEE ALSO fentl 2 fsync 2 open 2 shutdown 2 unlink 2 fclose 3 65 of 52 O MKS Ins
49. e Release any unnecessary system resources int close int fd Parameters Type Name Description Char fd file descriptor to be closed Return Value Type Values int e 0 if successful e 1 if an error occurred 5 2 3 Read Read status of the physical Digital IO size_t read int fd void buf size_t count Parameters Type Name Description Int fd file descriptor to read from void buf pointer to buffer in memory that will contain the data the time indication only in binary mode Size t Count number of bytes to be read Return Value Type Values int 8 indicating the succesful load of 8 bytes into the buffer Binary Driver 26 indicating the succesful load of 26 bytes into the buffer ASCII Driver 1 if an error occurred Binary Driver 1 if an error occurred ASCII Driver 38 of 25 MKS Instruments CIT Products 2005 All rights reserved mks RMU2 User Manual Using ASCII Interface The syntax of the messages is ASCII based and as such it can be manipulated both by a shell script and by an execution See Examples Message syntax Table Syntax Description Channel on value o Channel off value The received message contains a 26 characters long 24 character each per channel and characters 25 26 are new line followed by a NULL character The message dumps the lO state into a character string indicating the IO current status It always dumps all of
50. en for reading Or the file is a device special file and no corresponding device exists EOVERFLOW pathname refers to a regular file too large to be opened see O_LARGEFILE above EPERM The O_NOATIME flag was specified but the effective user ID of the caller did not match the owner of the file and the caller was not privileged CAP_FOWNER EROFS pathname refers to a file on a read only filesystem and write access was requested ETXTBSY pathname refers to an executable image which is currently being executed and write access was requested EWOULDBLOCK The O_NONBLOCK flag was specified and an incompatible lease was held on the file see fentI 2 NOTE Under Linux the O_NONBLOCK flag indicates that one wants to open but does not necessarily have the intention to read or write This is typically used to open devices in order to get a file descriptor for use with ioctl 2 CONFORMING TO SVr4 4 3BSD POSIX 1 2001 The O_NOATIME O_NOFOLLOW and O_DIRECTORY flags are Linux specific One may have to define the _GNU_SOURCE macro to get their definitions The undefined effect of O_RDONLY O_TRUNC varies among implementations On many systems the file is actually truncated The O_DIRECT flag was introduced in SGI IRIX where it has alignment restrictions similar to those of Linux 2 4 IRIX has also a fentl 2 call to query appropriate alignments and sizes FreeBSD 4 x introduced a flag of same name but without alignment restrictions Suppor
51. esmks Technology for Productivity mks RMU2 User Manual Copyright This manual and the software described in it are copyrighted with all rights reserved Under the copyright laws this manual and software may not be copied in whole or part without the prior written consent of MKS Instruments The same proprietary and copyright notices must be affixed to any permitted copies as were affixed to the original This exception does not allow copies to be made for others whether or not sold but all of the materials purchased may be sold given or loaned to another person Under the law copying includes translating into another language or format MKS Instruments CIT Products Group 2010 Preface About this manual This manual is designed to serve as a guideline for the installation setup operation and basic maintenance of the RMU device The information contained within this manual including product specifications is subject to change without notice Please observe all safety precautions and use appropriate procedures when handling the RMU product and its related software 2 of 2 MKS Instruments CIT Products 2005 All rights reserved RMU2 User Manual Table of Contents 1 INTRODUCTION D 6 1 1 CONVENTIONS USED IN THIS USER MANUALE 6 2 INSTALLATION AND SETUP seess geesegeuekeeet SSES ENEE EES EEEEEEEEAE REESEN 7 2 1 SHIPPING BOX CONTENTS uhina oera a a a O A E O A AE 7 2 2 RMU DESCRIPTION aurreen r an
52. g back to our first application we need to create a makeffile Makefile hello hello o clean rm f hello hello o 25 of 12 MKS Instruments CIT Products 2005 All rights reserved mks RMU2 User Manual Now we can compile the binary for x86 platform make clean make Or for RMU make clean make f Makefile 82xx In order to get application to start when unit boots its startup command needs to be added to mnt ffs etc rc application file Please see section 4 2 2 3 for more details Please see Appendix B and C for cross compiling 3 party packages with configure script 4 2 Run time platform The run time platform refers to the system running from flash it may use the compact flash but only as an external storage and not as the system root file system Usually it implies a stable and finalize product This is the default factory setup The components involved are the Linux kernel the initialization ram disk InitRD and the JFFS2 as a dynamic but non volatile file system The kernel and InitRD are supplied as a solid binary The JFFS2 comes with default content User can choose to remove or change the JFFS content and what to do with the rest of the storage place 4 2 1 Boot procedure Default settings configure the bootloader to invoke the Linux OS automatically The Linux OS will run with console on COM1 and default network configuration The defaults are console 115200bps ONT
53. ignal 18 30 VDC Chassis GND 3 Figure 4 Power Terminal Block The manufacturer and ordering part number for the RMU power terminal block connector is described in Table 3 Table 2 Terminal Block Information Description MFG Part Number 3 pin Terminal Block Weidmuller 1625620000 9 of 9 MKS Instruments CIT Products 2005 All rights reserved mks RMU2 User Manual 2 5 2 Analog I O Wiring The RMU analog expansion board has two D Sub 37 connectors used to access the I O points Each I O card type has unique pin assignments the assignments for the analog card are shown in the following figures a a a a a a a a A St SL SA St 2 Sr Sr SS SC GC o Oo oo zo o eo E oe oo 2 EE LISA A 10 Abt Ai We Ww he as aly y 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 ECKE co d dn d d d e T lt x lt x lt x lt x lt x lt x lt lt Analog Inputs Differential Mode Top Side Connector a a a a a a a a a zZ z 2 2 z 2 z 22 gt gt o ioo eo zo o go E o go o 2 2 s E E E I E E E A l 2345067890011 116 1 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 OO OO Oo Oo TO Oo OG gt IZ E E E 252525222 o oz oz os o 2 oz oz o lt lt lt lt lt lt lt lt Analog Inputs Single Ended Mode Top Side Connector A Q Q A Q a a O a Tee e272 ZI ZO ZA ZA ZAS 0000000000000 0000 lt lt LALALA d d d d d d d att r 2345307894101 E 120
54. ion Card 8 Single ended outputs Combo Expansion Card 2 Differential outputs 15 of 2 MKS Instruments CIT Products 2005 All rights reserved smks RMU2 User Manual 2 12 Serial Port Connections The RMU2 contains 4 total serial communication ports Connector is standard D Sub 9 pin male COM1 and COM2 are RS232 only COM3 and COM4 are RS232 RS485 Software selectable 2 12 1 COM1 and COM2 COM1 and COM2 only support simple RS232 protocol with no hardware flow control 2 12 1 1 Simple RS232 serial port connector s pin out Pin RS232 Function Description Receive Data a k a RD Rx 2 RXD 92 D Transmit Data a k a TD Tx SGND 1 4 6 9 2 12 2 COM3 and COM4 COM3 and COM4 are RS232 RS485 Software Selectable RS232 supports hardware flow control RS485 supports both half and full duplex mode NOTES HW Flow Control for RS232 is only supported on COM 3 and COM4 2 12 2 1 RS232 serial port connector with HW flow control pin out DTR DSR signals are not supported and are shorted together internally Pin RS232 Function Description RXD Receive Data a k a RD Rx Ground AJOIN Ground No Connect O COIN Don 16 of 3 MKS Instruments CIT Products 2005 All rights reserved mks RMU2 User Manual 2 12 2 2 RS485 Half Duplex port pin outs For RS485 half duplex mode pin2and pin3 TxD need to be tied together Pin7 pin8 RxD also need to be tied together RS485HD Function
55. is not allowed or search permission is denied for one of the directories in the path prefix of pathname or the file did not exist yet and write access to the parent directory is not allowed See also path_resolution 2 EEXIST pathname already exists and O_CREAT and O_EXCL were used EFAULT pathname points outside your accessible address space EISDIR pathname refers to a directory and the access requested involved writing that is O_WRONLY or O_RDWR is set ELOOP Too many symbolic links were encountered in resolving pathname or O_NOFOLLOW was specified but pathname was a symbolic link EMFILE The process already has the maximum number of files open ENAMETOOLONG pathname was too long ENFILE The system limit on the total number of open files has been reached ENODEV pathname refers to a device special file and no corresponding device exists This is a Linux kernel bug in this situation ENXIO must be returned ENOENT O_CREAT is not set and the named file does not exist Or a directory component in pathname does not exist or is a dangling symbolic link ENOMEM Insufficient kernel memory was available ENOSPC pathname was to be created but the device containing pathname has no room for the new file ENOTDIR A component used as a directory in pathname is not in fact a directory or O_DIRECTORY was specified and pathname was not a directory ENXIO O_NONBLOCK O_WRONLY is set the named file is a FIFO and no process has the file op
56. it to be wider but will not change height or depth Addition mechanical information for other configurations can be obtained through your local MKS representative O 9006 O pego PBODOOOORODORODOROAROL TE ET EB lmg Figure 2 Mechanical Description ne Note ALL DIMENSIONS ARE METRIC 2 4 Installation The RMU mounts on a standard 35mm DIN rail system Make sure there is sufficient side clearance for ventilation to maintain an ambient operating temperature of 0 C to 50 C Figure 3 RMU DIN Rail Mounting 8 of 8 MKS Instruments CIT Products 2005 All rights reserved smks RMU2 User Manual 2 5 Wiring and Hardware Configuration Ethernet and I O cables are available from a variety of industrial sources See table below for orderable I O mating connectors Example mating connector for the RMU IO is provided in Table 1 Table 1 Mating IO Connector Information Description II 37 pin D SUB with Shell Phoenix 2300986 i xt Terminal Block Connections see gt N JP e UA ti Caution In order to guarantee proper operation and prevent damage to the product insure that the chasis ground is properly attached for the application Warnin Follow all applicable electrical codes when mounting and 9 wiring any electrical device 2 5 1 Power Supply Wiring Connect an external 18 30 VDC power supply to the 3 terminal Power Connector The connector should be wired according to the labeling on the RMU S
57. l Al Al AH AH AH AH AC AC AC AC COMB COMB COMB COMB Options E With CAN and 2 additional RS232 485 ports D With Display and Function Keys CF CompactFlash range 64MB to 4GB Slot Designations DIDO 24 Channel Digital I O Card AIAO 16 Channel Analog In 8 Channel Analog Out Al 16 Analog Inputs Voltage Type Inputs AH 16 Analog Inputs High impedance 1Mohm AC 8 Analog Inputs Current Type Inputs COMB Combination 16DIDO 4AI DIF 2AO DIF RMU Core Expand 1 4 10 Slots ei 73 of 60 MKS Instruments CIT Products 2005 All rights reserved mks RMU2 User Manual WARRANTY MKS Instruments Inc MKS warrants that for one year from the date of shipment the equipment described above the equipment manufactured by MKS shall be free from defects in materials and workmanship and will correctly perform all date related operations including without limitation accepting data entry sequencing sorting comparing and reporting regardless of the date the operation is performed or the date involved in the operation provided that if the equipment exchanges data or is otherwise used with equipment software or other products of others such products of others themselves correctly perform all date related operations and store and transmit dates and date related data in a format compatible with MKS equipment THIS WARRANTY IS MKS SOLE WARRANTY CONCERNING DATE RELATED OPERATIONS For the period commencing with the
58. le it with a selected value YS wa Options for Al Configurations MKSAIO_CMD_SET_MODE define MKSAIO_MODE_8_ DIFFERENTIAL 1 define MKSAIO_MODE_16_SINGLE_ENDED 0 General Options MKSAIO_CMD_WD_INT_CTL etc define MKSAIO_ ENABLE 1 define MKSAIO_DISABLE 0 48 of 35 MKS Instruments CIT Products 2005 All rights reserved 2mks RMU2 User Manual Technology for Productvity 49 of 36 MKS Instruments CIT Products 2005 All rights reserved mks RMU2 User Manual 6 5 Sample Code Here is sample code to set analog output to a specific voltage 3 nFD descriptor of open device file e g dev mksaio1 KR ninput input number to be changed E fValue voltage 10 10 bool SetAnalogOut int nFD int nInput double fValue struct mksaio_cmd cmd double fRange fValue 10 0 204 8 cmd code MKSAIO_CMD_OUTPUT cmd data output val int fRange cmd data output channel nInput return sizeof cmd write nFD amp cmd sizeof cmd Sample code to switch between singe ended and differential mode JE S nFD descriptor of open device file e g dev mksaio1 S bDiff true differential false single ended void SetDifferential int nFD bool bDiff struct mksaio_cmd cmd cmd code MKSAIO_CMD_SET_MODE cmd data value bDiff MKSAIO_MODE_8 DIFFERENTIAL MKSAIO_MODE_16_ SINGLE ENDED return sizeof cmd
59. lity As a POSIX compliant API the DIO driver supports the standard operations open close read write and ioctl The use of open close read and write doesn t rely on any explicit definitions it relies only on the standard POSIX definition standard In order to use the octl an explicit protocol definition needs to be declared it s done in the form of include file which describes and defines the type of commands available The DIO are accessed via the VFS character device node Its major should be 240 The DIO supports two interfaces ASCII and Binary Both have the same basic functionalities The later includes some enhancements such as get the previous output lOs states when setting a new ones and getting a timestamp indication with the read response More on these enhancements are shown below The RMU supports up to four DIO cards The cards are accessed via the special files e dev mksdio 0 3 non blocking ASCII reads would be used to poll the 10 e dev mksbio 0 3 blocking ASCII reads is interrupt change of state based e dev mksbiob 0 3 blocking and non blocking binary reads is interrupt change of state based 35 of 22 MKS Instruments CIT Products 2005 All rights reserved mks RMU2 User Manual Two basic methods can by used to get input information from the DIO card polling and interrupt When polling method is used the application will read the DIO card status periodically This
60. ll rights reserved RMU2 User Manual mks FFSYetc rc network FFSYetc rc ip change Note the values must be quoted ETH1 Network configuration for eth1 Format is the same as for ETHO GATEWAY Network default gateway This setting is ignored if either one of ethO or eth1 is set to dhcp DNS List of one or more DNS servers Example DNS 192 168 1 1 10 10 1 1 script This is the callback that gets executed at the end of main network configuration script It could be used to do any network oriented actions such as interface manipulation and or setting up advanced routing notifying needed applications etc script This script is a callback for IP address change This could happen when e g DHCP server gives unit the new IP address Such callback could be used to notify needed application s and or to display the new IP address on 4 digit display Interface name is supplied as the first parameter to this callback and this NIC identifies the one with changed IP FF S etc services conf 4 2 2 3 Network configuration The place to enable or disable any of the services SYSLOGD Defines whether syslogd service needs to be started at boot up Service is started only if this variable is set to lowercase y Defines whether xinetd service needs to be started at boot up Service is started only if this variable is set to lowercase y
61. locking Value 0 Non blocking MKS_IOCTL_GET_OUTPUT_MASK Set the output mask defines the behavior of the particular DIOx when IO status will be send to the driver by the write command prevent writing 1s on MKS_IOCTL_SET_OUTPUT_MASK unwanted DIOs Associated parameter Type unsigned long Value 0x00000000 OxOOffffff default 0x00000000 MKS_IOCTL_GET_RISE_MASK Set a software hardware interrupt mask defines which DIO will trigger a interrupt on a rising edge MKS_IOCTL_SET_RISE_MASK Associated parameter Type unsigned long Value 0x00000000 OxOOffffff default 0x00000000 MKS_IOCTL_GET_FALL_MASK Set a software hardware interrupt mask defines which DIO will trigger a interrupt on a falling edge MKS_IOCTL_SET_FALL_MASK Associated parameter Type unsigned long Value 0x00000000 OxOOffffff default 0x00000000 Return Value Int 0 on Success 1 if an error occurred 6 AIO API The AIO Analog IO Card can be approached via the Linux VFS just as any regular file The message commands structure and codes are supplied as an include file mksaio h and also in this document 43 of 30 MKS Instruments CIT Products 2005 All rights reserved mks RMU2 User Manual The AIO input and output differ in their presentation Input is represented by a 14 bits and output is represented by a 12 bits 6 1 Basic procedures The basic procedu
62. method uses non blocking mechanism If the interrupt approach is preferred then the blocking mechanism should be used The reader will be blocked from listening to the DIO inputs and is released only when a relevant event occurs A relevant event may be an lO s rising or and falling edge condition that the driver was preset to notify the application The notification is done by releasing the blocking device When a channel is opened for listening it s immediately sent a status message If it s using a blocking mechanism then it waits for any event that may appear NOTE Non blocking reads will always report the current lO states where the blocking reads may report a time drifted IO states in case the application delayed the interrupt reading sequence 5 1 2 Basic procedures The basic procedures are configuration read and write Configuration The default configuration sets all DIO as input channels and interrupts are disabled If different configuration is desired e g setting output channels or using blocking for waiting on rising edge events user must send a configuration message before using the lOs The configuration can be changed at any time but be aware of change in behavior The configuration commands are sent to the cards by write or octl API functions according to the chosen Interface i e ASCII or Binary Reading Reading operation can be done by polling or by waiting on an event e blocking By configuring the
63. n flags The file creation flags are O_CREAT O_EXCL O_NOCTTY and O_TRUNC The file status flags are all of the remaining flags listed below The distinction between these two groups of flags is that the file status flags can be retrieved and in some cases modified using fentl 2 The full list of file creation flags and file status flags is as follows O_APPEND The file is opened in append mode Before each write the file offset is positioned at the end of the file as if with Iseek O_APPEND may lead to corrupted files on NFS file systems if more than one process appends data to a file at once This is because NFS does not support appending to a file so the client kernel has to simulate it which can t be done without a race condition O_ASYNC Enable signal driven I O generate a signal SIGIO by default but this can be changed via fentl 2 when input or output becomes possible on this file descriptor This feature is only available for terminals pseudo terminals sockets and since Linux 2 6 pipes and FIFOs See fentl 2 for further details O_CREAT If the file does not exist it will be created The owner user ID of the file is set to the effective user ID of the process The group ownership group ID is set either to the effective group ID of the process or to the group ID of the parent directory depending on filesystem type and mount options and the mode of the parent directory see e g the mount options bsdgroups and sysvgroup
64. n the 32 bits word There are 24 DIOs bits O to 23 will represent the state of DIO 1 to 24 respectively This representation is used for both types of messages For the selective message type an extra mask is appended to the DIOs states it marks the DIO that should be affected by the assignment It s also constructed of a bit set representing the DIO channels in the same manner the states field represents the DIOs states In any of the methods the write function will copy the card s DIOs states into the supplied buffer just before the write execution Input Snapshot 1 x 32bits word 4 bytes Selective 2 x 32bits word 8 bytes The length of the message indicates which type of message was sent so no other indication is needed Example assuming all DIOs configured to be outputs and there states is off U32 message 2 message 0 Ox00ffffff message 1 0x00000003 41 of 28 MKS Instruments CIT Products 2005 All rights reserved smks RMU2 User Manual was set to 4 the message 1 will be ignored and all the card s DIOs will be effected by the value in message 0 All DIOs should be light up the value will be Ox00ffffff write fd message 4 print the return of the previous states of all DIOs printf pevious states x n message 0 that will set back the DIOs to the initial states which is 0x00000000 write fd message 4 message 0 and message 1 will be send and
65. ng My first applcaton cnn nnn cnn nnnnnn non no narran 25 4 2 RUNSTIME PLATROR Mica ai 26 42 1 e ee EE 26 4 2 2 CONTIQUIATLION EE 26 A EOE EREA ERNA 32 4 3 WEB SERVER siririn IAr gege E E CERE 1d 34 5 DIO AR 34 5 1 DEVICE APIS cuidao ads 35 O SO A 35 9 4 2 Basic eeler EE 36 RETTEN 37 DA BIN AY Interfa EE 37 5 2 FUNCTION DEFINITIONS EE 37 Lee A ET N E EE 37 5 2 2 GIOSO EE 38 523 Reade EE 38 3of3 MKS Instruments CIT Products 2005 All rights reserved RMU2 User Manual 5 24 A ANO 40 525 TEE 42 6 PLO EE 43 6 1 BASIC PROCEDURES 44 6 2 TRANSLATING READS amp WIES 45 6 3 FUNCTION DEFINITIONS c cccccescssccessesssccssessscesessssecseceasecsusessecsscessecsucessscaeecusenseseasessesessessseesseeeseess 45 CC Wee 45 0 3 2 MOS ns ne Beatie eee nada ei sade etn eta dee dat ee ats 46 6 3 3 REA EE 46 6 34 TEE 47 6 4 M SA O di idas 48 6 5 SAMPLE CODE EE 50 7 LN EE 51 7 1 NS DEE 51 LALA FUNCTION DOTINITIONS EEN 52 7 2 HK EIS ET OT 54 7 2 1 Function DEFINITIONS ooonnnniinnninla innnnnjnnnnjnannnvooonnnacccnnnae cnn recaen nena 54 7 3 AT89BUTTONS Ab 57 7 3 1 Function DefinitiO0NS oo cece ccccceccceeeccceescccessceesscccescccsessceessscesseecsaseccesaesenssecsssecceseceesateessseeenseseens 57 8 better 60 APPENDIX A POSIX FUNCTIONS DESCRIPTION occcccccccccccccconananananaccnnncononnononancnnanonananananan cnn nc cnnonnnnnnaaanananasa 61 As FUNCTION ele CEET 61 2 FUNCTION CLOSE EE 65 KSE 65 SIN
66. no flow control network LAN1 ethO set by a DHCP LAN2 eth1 192 168 1 2 Whether it is the console or a telnet session the login shell will be activated the console login shell mask CTRL C It is highly recommended to login first via the serial console to make sure that the system is configured as needed before switching to the network connection Use telnet to log into the system and ftp or tftp to transfer files to from the RMU The factory settings for the development platform s user and password are root and root respectively 4 2 2 Configuration 4 2 2 1 Serial Port Configuration RMU supports standard stty setserial to view configure the serial port parameters Below are some common stty commands all examples below are issued on COM3 26 of 13 MKS Instruments CIT Products 2005 All rights reserved mks RMU2 User Manual To see the current configuration for the port stty F dev ttyS2 g 100 3 8000cb11 5c7 3 1c 7f 15 4 1 0 0 0 0 17 12 1a 11 13 16 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 stty E dev ttyS2 a speed 115200 baud rows 0 columns 0 intr C quit erase A2 kill U eof D eol lt undef gt eol2 lt undef gt start Q stop S susp Z rprnt R werase W Inext V flush U min 1 time 0 parenb parodd cs8 hupcl cstopb cread clocal crtscts ignbrk brkint ignpar parmrk inpck istrip inlcr igncr icrnl ixon ixoff iuclc ixany imaxbel
67. ns module close is used to release the node resource of AT89 buttons module Read is used to read the input channels of the card loctl used for a blocking nonblocking configuration 7 3 1 1 Open Open a connection to the AT89 buttons module int open const char pathname int flags Parameters Type Name Description Char Pathname the path name to the DIO device file e g dev at89buttons 57 of 44 MKS Instruments CIT Products 2005 All rights reserved smks RMU2 User Manual int flags one of the O RDONLY O_WRONLY or O_RDWR options to open the file Usually it would be O RDWR for reading and writing Return Value Type Values Int The file descriptor if successful 1 if an error occurred Discussion The open function for the AT89buttons opens a data channel 7 3 1 2 Close Close an open connection to the AT89buttons int close int fd Parameters Type Name Description Char fd file descriptor to be closed Return Value Type Values Int 0 if successful 1 if an error occurred Discussion Close function closes the channel to the AT89buttons 7 3 1 3 Read Reads the buttons status register the size to be reading should be 1 byte ssize t read int fd const void buf size t len Parameters Type Name Description Char Fd file descriptor to be write to Void Buf pointer to buffer in memory that will contain the data f
68. on of the effect of O_NONBLOCK in conjunction with mandatory file locks and with file leases see fcntl 2 O_SYNC The file is opened for synchronous I O Any write s on the resulting file descriptor will block the calling process until the data has been physically written to the underlying hardware But see RESTRICTIONS below O_TRUNC If the file already exists and is a regular file and the open mode allows writing e is O_RDWR or O_WRONLY it will be truncated to length O If the file is a FIFO or terminal device file the O_TRUNC flag is ignored Otherwise the effect of O_TRUNC is unspecified Some of these optional flags can be altered using fentl after the file has been opened The argument mode specifies the permissions to use in case a new file is created It is modified by the process s umask in the usual way the permissions of the created file are mode amp umask Note that this mode only applies to future accesses of the newly created file the open call that creates a read only file may well return a read write file descriptor The following symbolic constants are provided for mode S_IRWXU 00700 user file owner has read write and execute permission S_IRUSR 00400 user has read permission S_IWUSR 00200 user has write permission S_IXUSR 00100 user has execute permission S_IRWXG 00070 group has read write and execute permission S_IRGRP 00040 group has read permission S_IWGRP 00020 group has write permission S_IXGRP
69. or of commands up to the number of addressable DIOs which is 24 per card Each offset in the vector address to a specific DIO with the MKS Instruments CIT Products 2005 All rights reserved 40 of 27 mks RMU2 User Manual same index Vector 1 addresses DIO1 vector 2 addresses DIO2 and so on the vector first element index is 1 Basic Messages Examples e oi the o is being sent to DIO1 and the l is being sent to DIO2 respectively The commands are o mark as an output channel l mask as an input channel The result for that message will be marking DIO1 as an output channel and marking DIO2 as a input channel e xxi the x means an operation don t care its propose is to be a place holder saying the DIO index has a NOP command a command to do nothing It s needed to keep the order The result leaves DIO1 and DIO2 unchanged and mark DIO3 as an input channel e xxxx1xx0 set DIO5 to ON and DIO8 to OFF by ignoring any other change e rif enable notification on rising edge event for DIO1 sets DIO2 to ON enable notification on falling edge event for DIO3 Using the Binary Interface The syntax of the message is Binary which means working with a base unit of 32 bits There are two kinds of messages in the binary interface snapshot and selective Snapshot sets all the 24 DIOs at once Selective may set only a subset of the DIOs leaving the other untouched Each DIO represented as a bit i
70. osition past the maximum allowed offset EINTR The call was interrupted by a signal before any data was written EINVAL fd is attached to an object which is unsuitable for writing or the file was opened with the O_DIRECT flag and either the address specified in buf the value specified in count or the current file offset is not suitably aligned EIO A low level I O error occurred while modifying the inode ENOSPC The device containing the file referred to by fd has no room for the data EPIPE fd is connected to a pipe or socket whose reading end is closed When this happens the writing process will also receive a SIGPIPE signal Thus the write return value is seen only if the program catches blocks or ignores this signal Other errors may occur depending on the object connected to fd CONFORMING TO SVr4 4 3BSD POSIX 1 2001 Under SVr4 a write may be interrupted and return EINTR at any point not just before any data is written NOTES A successful return from write does not make any guarantee that data has been committed to disk In fact on some buggy implementations it does not even guarantee that space has successfully been reserved for the data The only way to be sure is to call fsync 2 after you are done writing all your data SEE ALSO close 2 fentl 2 fsync 2 ioctl 2 Iseek 2 open 2 pwrite 2 read 2 select 2 writev 3 fwrite 3 67 of 54 MKS Instruments CIT Products 2005 All rights reserved
71. ple for loading a disk on key user rmu mkdir mnt usb user rmu mount dev sda1 mnt usb 4 3 Web Server RMU does not have a web server application in the files system as a default However any web server application such as BOA may be loaded onto internal or external flash BOA web server documentation can be found at http www boa org BOA web server needs to be configured and started See Appendix C for the procedure of how to create a binary for RMU See section TBD for details about how to add applications to startup sequence 5 DIO API The Digital IO Expansion Module is a PCI104 compatible device The PCI interface for the Digital IO board is PCI 2 1 compatible The PCI Connector is PC104 Compliant The slot addresses for the PCI bus are determined by jumper settings The RMU Digital IO Module s Driver is included with the Linux distribution or is available upon request The API for the Driver is standard POSIX format 34 of 21 MKS Instruments CIT Products 2005 All rights reserved smks RMU2 User Manual The I O module is configurable each of the modules has Digital IO points can be configured as inputs or outputs Units can be configured for sink or source a jumper is used to activate the I O configuration on the connector pins See section for DIDO connection 5 1 Device APls 5 1 1 Overview The API utilizes the standard POSIX interface to provide the user access to the devices functiona
72. r to use this call one needs an open file descriptor Often the open 2 call has unwanted side effects that can be avoided under Linux by giving it the O_NONBLOCK flag CONFORMING TO No single standard Arguments returns and semantics of ioctl 2 vary according to the device driver in question the call is used as a catch all for operations that don t cleanly fit the Unix stream I O model See ioctl_list 2 for a list of many of the known octl calls The ioctl function call appeared in Version 7 AT amp T Unix SEE ALSO execve 2 fcntl 2 ioctl_list 2 open 2 mt 4 sd 4 tty 4 68 of 55 O MKS Instruments CIT Products 2005 All rights reserved mks RMU2 User Manual Appendix B How to Cross Compile tcpdump Note you do not need super user privileges in order to be able to build the utility Download and unpack libcap and tcpdump in this example to home rmu tcpdump cd home rmu mkdir tcpdump cd tcpdump wget http www tcpdump org release tcpdump 3 9 5 tar gz wget http www tcpdump org release libpcap 0 9 5 tar gz The environment variables need to be set for the console where we are going to build both libpcap and tcpdump export PATH SPATH opt eldk 3 1 1 usr bin opt eldk 3 1 1 bin export CROSS COMPILE ppc_82xx export CC ppc_ 82xx gcc export ARCH ppc export ac_cv_func setvbuf reversed no export ac cu Linus vers 2 libcap cd home rmu tcpdump tar zxf libpcap 0 9 5 tar gz cd libpcap 0 9
73. res are configuration read and write The configuration and write operation both use the same message structure in order to pass a command Read uses a different message structure it loads each read not only the AIO states but rather all the AIO status information Configurations The default configuration is 16 single ended watchdog interrupt disabled Mode can be changed at any time the options are single ended 16 channels and differential mode 8 channels Watchdog Internal watchdog can be enabled or disabled When enabled it s up to the application to reset its ticks counter Reading Each read operation fetches all the information from the AlO card packed into a structure defined in a supplementary include file mksdio h It includes all 16 AlO channels readings Watchdog information output readiness indicator flag and the mode flag i e whether it s a 16 single ended or a 8 differential The AlO channel s read is unprocessed i e 14 bits samples in 2 s compliments format see translate_input function from 5 2 Writing Setting a new value to an AlO is done by creating a message that includes the channel number and the VDC value in 0 4095 range proportionally corresponding to 10 10 range see translate_output function from 5 2 The POSIX function to be used for the configuration and writing procedures is the function write with the mksaio_cmd structure The POSIX function to be used for the reading procedure is
74. ring to the 4 digits di splay is used to manipulate the 4 digits display behavior YS A 54 of 41 MKS Instruments CIT Products 2005 All rights reserved mks RMU2 User Manual 7 2 1 1 Open Open a connection to the display device int open const char pathname int flags Parameters Type Name Description Char Pathname the path name to the DIO device file in this case dev at89display int flags one of the O RDONLY O_WRONLY or O_RDWR options to open the file Usually it would be O_RDWR for reading and writing Return Value Type Values Int The file descriptor if successful 1 if an error occurred Discussion Open a data channel to the display controller 7 2 1 2 Close Close an open connection to the display int close int fd Parameters Type Name Description Char fd file descriptor to be closed Return Value Type Values Int 0 if successful 1 if an error occurred Discussion Close function for the display 7 2 1 3 Write Writes the text string contained in the buffer to the display ssize t write int fd const void buf size_t len Parameters Type Name Description Char Fd file descriptor to be write to Void Buf pointer to buffer in memory that contains the text string to be display Size t ben number of bytes to be write 55 of 42 MKS Instruments CIT Products 2005 All rights reserved smks RMU2 User M
75. rom the buttons register Size t Len number of bytes to be Discussion For now the only working mechanism is polling therefore the read will be a non block by default Each time the key status is read the driver clears the status register for the next 58 of 45 O MKS Instruments CIT Products 2005 All rights reserved smks RMU2 User Manual read The read register 1byte Hold the information for both buttons Each button state is represented by 2 bits Bits 0 1 are the first button state the following bits 2 3 are the second button state Buttons state values State Value not pressed 0 Pressed 1 Released 2 Pressed amp 3 Released 7 3 1 4 loctl Control the behavior of the buttons blocking non blocking working mode At this point only a non block mode is enabled When the blocking working mode will be handy this characteristic will be controlled be the joct s IOCTL_MKS_SET_NONBLOCK code int ioctl int fd int request Ji Parameters Type Name Description int fd file descriptor to be used Int Request there are two control options fro the scroll the scroll speed and scroll step The scroll speed is the time gap between each display scroll refresh not internal display screen refresh Scroll step is the number on character to shift per each refresh Return Value Type Values ssize_t number of actual bytes written e 1 if an error occurred List of Set Ge
76. run it once use the hold shell command in the script this way the rc application script will still run and will be respawn only if it crashes unwontedly bin sh Imnt ffs hello gt dev null 2 gt amp 1 hold Save the file and reboot the system by enter the command reboot or cycle the RMU power to reboot the RMU You will observe the Hello World output on reboot but only once If you would kill the rc application you should observe the Hello World output again It is also recommended to start the application by bin conti sh script This script will restart the application in case it crashed bin sh conti sh mnt ffs hello gt dev null 2 gt amp 1 8 hold 4 2 3 Storage 4 2 3 1 JFFS The JFFS file system is designed to manage Flash in the most efficient way it s wearable oriented to keep the flash life cycle longer It tolerates brutal and unexpected power cut It s mounted over the dev mtdblock3 MTD device The JFFS contains basic configuration templates and kernel s modules User can choose to use those supplied modules or to remove them and free JFFS storage space The JFFS file system is mounted automatically by the init process from the InitRD s configuration file instructions The Factory associated configuration files are under the FFS etc sub directory The Factory associated kernel s external modules are under FFS lib modules sub directory The rest of the JFFS available memory is for customer s
77. s N N N wo N N al N D DZO OO 22a gt gt eNO gt 227 72H en 2 2 2 2 Soo 450 4 GE OD TO e N N Combo Bottom Side Connector Source Sink Select for Combo Bottom Connector Sink Source Select Sourcing Input Sinking Output Short Pin 18 to 37 Sinking Input Sourcing Output Short Pin 19 to 37 12 of 12 MKS Instruments CIT Products 2005 All rights reserved RMU2 User Manual a a 22272 E e E Ea OT o DS gt gt tut SI Oz 2073270087 mg XxXxXx22000 0 Oo tr Oo z Zei d d d d d d d d Bo 6 7 amp Y N S N N N N De N D N a Y o N N AO 1 AO 1 HU op Spoo zo So AJ Lg zZ SS ip ins SS SS IZ coto AJo Sa E zt OT O t lt x N N N Combo Bottom Side Connector Differential Source Sink Select for Combo Bottom Connector Sink Source Select Sourcing Input Sinking Output Short Pin 18 to 37 Sinking Input Sourcing Output Short Pin 19 to 37 ne Note ALL ANALOG POWER COMES FROM AN INTERNAL POWER D CONVERTER EXTERNAL PINS FOR 15 VOLTS SHOULD BE USED AS REFERENCE ONLY SUPPLIES HAVE LIMITED POWER AND SHOULD NOT BE USED TO DRIVE EXTERNAL LOADS 2 6 Digital Inputs Digital UO can be configured as either sinking or sourcing I O Each input circuit includes an indicator LED in series with the detection opto coupler The opto coupler isolates the processor from the inputs The inputs require 1 5mA in order to turn on Mer Mee
78. s of the ext2 filesystem as described in mount 8 O_DIRECT Try to minimize cache effects of the I O to and from this file In general this will degrade performance but it is useful in special situations such as when applications do their own caching File I O is done directly to from user space buffers The I O is synchronous i e at the completion of a read 2 or write 2 data is guaranteed to have been transferred Under Linux 2 4 transfer sizes and the alignment of user buffer and file offset must all be multiples of the logical block size of the file system Under Linux 2 6 alignment to 512 byte boundaries suffices A semantically similar but deprecated interface for block devices is described in raw 8 O_DIRECTORY 61 of 48 MKS Instruments CIT Products 2005 All rights reserved mks RMU2 User Manual If pathname is not a directory cause the open to fail This flag is Linux specific and was added in kernel version 2 1 126 to avoid denial of service problems if opendir 3 is called on a FIFO or tape device but should not be used outside of the implementation of opendir O_EXCL When used with O_CREAT if the file already exists it is an error and the open will fail In this context a symbolic link exists regardless of where it points to O_EXCL is broken on NFS file systems programs which rely on it for performing locking tasks will contain a race condition The solution for performing atomic file locking using
79. s on the installation and use of this product The RMU supports at maximum the following features 1 1 PowerPC running at 400 MHz 760 MIPS with support of floating point instructions 16 MB of on board Flash using the Linux Journaling file system On Board compact flash socket for CF type 2 devices for application and data storage 128MB SDRAM Power Conditioning 18 30V 4 RS232 interface 1 port used for diagnostics port software selectable 485 on 2 of ports 2 independent 10 100 Ethernet ports USB V1 1 Up to 96 DIO Points Up to 64 Analog input points and 32 Output point Conventions used in this User Manual attention to a procedure practice condition or the like which if not correctly performed or adhered to could result in injury to personnel Caution The CAUTION sign higlights information that is important to the Y Warning The WARNING sign denotes a hazard to personnel It calls Y safe operation of the RMU or to the integrity of your files ne Note THE NOTE SIGN DENOTES IMPORTANT INFORMATION IT CALLS J ATTENTION TO A PROCEDURE PRACTICE CONDITION OR THE LIKE WHICH IS ESSENTIAL TO HIGHLIGHT On screen buttons or menu items appear in bold and cursive Example Click OK to save the settings Keyboard keys appear in brackets Example ENTER and CTRL Pages with additional information about a specific topic are cross referenced within the text 6 of 6 MKS Instruments CIT Products 200
80. sable scrolling any other value is legal MKS_IOCTL_GET_BLINK Set get the display blink delay zero value disables MKS_IOCTL_SET_BLINK the blinking 56 of 43 MKS Instruments CIT Products 2005 All rights reserved mks RMU2 User Manual Associated parameter Type unsigned char Value 0 disable blinking any other value is legal Return Value Type Values Int e 0 if successful D 1 if an error occurred 7 3 AT89Buttons API There are two push buttons on the power board There status can be fetched by reading the dev at89buttons device The read operation could be blocked or non blocked Both techniques trigger a communication message to the AT89 in order to retrieve the current buttons states The caller will be informed whether the buttons were not pushed were pushed or were pushed and released NOTE An interrupt driven mechanism is in development it will be combined with the operation of the block mode NOTE Currently the blocking mode is implemented without the support of an interrupt but based on the driver being updated regarding the buttons states each time the driver communicate with the AT89 It s not recommended to use the blocking mode without the support of a hardware interrupt Support for hardware interrupt is in development 7 3 1 Function Definitions The following API functions are supported Open is used to open a node to the AT89 butto
81. t command pairs Type YENES IOCTL_MKS_SET_NONBLOCK 0 blocking mode 1 non blocking mode 59 of 46 MKS Instruments CIT Products 2005 All rights reserved mks RMU2 User Manual 8 RS 485 Two 2 optional COM ports COM3 and COM4 can operate in both RS232 and RS485 modes From application side appropriate mode is chosen by accessing different device file from under dev ls la dev ttyS2 dev ttyS3 dev ttyS2_485 dev ttyS3_ 485 crw 1 root root 4 66 Jun 7 2005 dev ttyS2 crw 1 root root 4 67 Jun 7 2005 dev ttyS3 crw 1 root root 4 202 Jun 7 2005 dev ttyS2_485 crw 1 root root 4 203 Jun 7 2005 dev ttyS3_485 By accessing dev ttyS2 or dev ttyS2_485 COM3 will be running in RS 232 or RS 485 mode respectively Please note that once port is opened in a specific mode the access to the other device file will be blocked for as long as the original device is open For example if an application opens dev ttyS2 attempts from other applications to open dev ttyS2_485 will result in device does not exist error 60 of 47 MKS Instruments CIT Products 2005 All rights reserved mks RMU2 User Manual Appendix A POSIX Functions Description For more details please refer to Linux manual pages 1 Function open NAME open creat open and possibly create a file or device SYNOPSIS include lt sys types h gt include lt sys stat h gt
82. t was added under Linux in kernel version 2 4 10 Older Linux kernels simply ignore this flag One may have to define the _GNU_SOURCE macro to get its definition BUGS 63 of 50 MKS Instruments CIT Products 2005 All rights reserved mks RMU2 User Manual The thing that has always disturbed me about O_ DIRECT is that the whole interface is just stupid and was probably designed by a deranged monkey on some serious mind controlling substances Linus Currently it is not possible to enable signal driven I O by specifying O_ASYNC when calling open use fentl 2 to enable this flag RESTRICTIONS There are many infelicities in the protocol underlying NFS affecting amongst others O_SYNC and O_NDELAY POSIX provides for three different variants of synchronised I O corresponding to the flags O_SYNC O_DSYNC and O_RSYNC Currently 2 1 130 these are all synonymous under Linux SEE ALSO close 2 dup 2 fentl 2 link 2 Iseek 2 mknod 2 mount 2 mmap 2 openat 2 path_resolution 2 read 2 socket 2 stat 2 umask 2 unlink 2 write 2 fopen 3 fifo 7 feature_test_macros 7 64 of 51 O MKS Instruments CIT Products 2005 All rights reserved smks RMU2 User Manual 2 Function close NAME close close a file descriptor SYNOPSIS include lt unistd h gt int close int fd DESCRIPTION close closes a file descriptor so that it no longer refers to any file and may
83. the 24 channels Using Binary Interface Read status of the physical Digital lO as a 32 bit word or 4 bytes Each bit represents the DIO status The DIO occupies the first 24 bits of the message for the 24 DIO channels the second 32 bit word will be attached to the return data including the event s time indication the time indication is the number of 10ms ticks occurred since system startup The read operation could be invoked as a blocked or non blocked operation This behavior could be controlled by using the ioctl command MKS_IOCTL_SET_NONBLOCK Example Assuming the following LEDS output on the front panel 2 24 0 0 0 0 0 0 0 OJO 0 O 1 23 DIO channels 1 3 6 7 23 24 are ON DIO channels 4 5 8 20 22 are OFF ASCII 1110011010100000101000111n10 Binary bytes order 1 gt 4 0x00 Oxc5 0x05 0x67 NOTE few clarifications for the use of blocking mode 1 The first read will always be none blocked and the return buffer content will be a snapshot of the DIOs states 2 in order to get notified for any DIO change the mask for Rising and Falling edges should be adjusted see ioctl for binary mode and the write for the ASCII mode 39 of 26 MKS Instruments CIT Products 2005 All rights reserved RMU2 User Manual mks 5 2 4 Write Write status of the physical Digital IO module size_t write int fd const void buf size_t len Parameters Type Name Description Int Fd file descrip
84. tor to be write to Void buf pointer to the send data see how to use ASCII and Binary interfaces below for more details Size t len number of bytes to be write For ASCII 1 lt Len lt 24 for Binary 4 or 8 Bytes see how to use ASCII and Binary interfaces below for more details Return Value Type Values Int e Successful in Selective mode 8 Binary Driver Successful in Snapshot mode 4 Binary Driver 27 bytes if Successful ASCII Driver 1 if an error occurred Binary Driver 1 if an error occurred ACSII Driver Using the ASCII Interface The syntax of the messages is ASCII s based and as such it can be manipulated both by a shell script and by an execution See Examples As mentioned above the ASCII interface send all commands in bounds an ASCII message is build out of a appended characters each represent an operation the location of the character implies on which DIO its should be delivered The first character will be relate to DIO1 the second to the DIO2 etc therefore a message may be short as a single character or as long as 24 characters any additional characters append on the end of the message are being ignored Syntax Description Im _ Mask interrupt unmask interrupt Mark as an input Mark as an output Message syntax Table Channel off value Filters only rise U L O X A don t care sign O R Filters only fall The message can be described as a vect
85. truments CIT Products 2005 All rights reserved mks RMU2 User Manual 3 Function read NAME read read from a file descriptor SYNOPSIS include lt unistd h gt ssize t read int fd void buf size_t count DESCRIPTION read attempts to read up to count bytes from file descriptor fd into the buffer starting at buf If count is zero read returns zero and has no other results If count is greater than SSIZE_MAX the result is unspecified RETURN VALUE On success the number of bytes read is returned zero indicates end of file and the file position is advanced by this number It is not an error if this number is smaller than the number of bytes requested this may happen for example because fewer bytes are actually available right now maybe because we were close to end of file or because we are reading from a pipe or from a terminal or because read was interrupted by a signal On error 1 is returned and errno is set appropriately In this case it is left unspecified whether the file position if any changes ERRORS EAGAIN Non blocking I O has been selected using O_NONBLOCK and no data was immediately available for reading EBADF fd is not a valid file descriptor or is not open for reading EFAULT buf is outside your accessible address space EINTR The call was interrupted by a signal before any data was read EINVAL fd is attached to an object which is unsuitable for reading or the

RMU2 Linux Logic Controller User Manual

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