1 IOWizard User Guide v1.0
Contents
1. gt i2c w 100 1 ACK gt i2c r 100 20 1024 1024 1024 1024 1024 1024 1024 1024 1024 10240101010101 gt Setting the state of the I O Pins Example 1 we re setting the state of pin 3 to O Low gt i2c w 100130 ACK gt Example 2 we re setting the state of pin 8 to 1 High gt i2cw 100181 ACK gt Save the state of the I O Pins gt i2c w 100 2 ACK gt Reset the lOWizard gt i2c w 100 3 ACK gt Summerour Robotics Corp www roboticsconnection com Ra lIOWizard Copyright 2004 2009 1 888 731 4035 IOWizard User Guide v1 0 Electrical Specifications lOWizard Maximum Ratings DC Characteristics Symbol Characteristic Device Min Typt Max Units Conditions VDD Supply Voltage 4 7 5 0 53 V IDD Supply Current 2 2 2 100 200 mA Absolute Maximum Ratings t Ambient temperature under bias 55 to 125 C Storage temperature 65 C to 150 C Voltage on any pin with respect to VSS 0 3V to 5 3V Voltage on VDD with respect to VSS 0 3 to 5 3V Maximum current out of VSS pin 300 mA Maximum current into VDD pin 250 mA Input clamp current IIK VI lt O or VI gt VDD 20 mA Output clamp current IOK VO lt 0 or VO gt VDD 20 mA Maximum output current sunk by any I O 25 mA Maximum output current sourced by any I O pin 25 mA NOTICE Stresses above those listed under Absolute Maximum Ratings may cause permanent damage to the device This is a stress ra2. IOWizard User Guide v1 0 lOWizard User Guide v1 0 Summerour Robotics Corp www roboticsconnection com JI lIOWizard Copyright 2004 2009 1 888 731 4035 IOWizard User Guide v1 0 Introduction The lOWizard can be used when additional I O capabilities are needed It features 10 digital Inputs Outputs and 5 10 bit analog inputs which are available via an 12C interface The 5 analog lines can be used for any 5V analog sensors such as the Sharp line of infrared distance sensors The 10 GPIO lines can be used for push buttons LEDs and other types of 0 5V general purpose 1 O peripherals All GPIO lines are set as inputs by default The OWizard acts as an 12C slave device and can be connected to and queried from any 12C Master including our Serializer Robot Controller The default 12C address for the OWizard is Ox64 100d However the address can be changed to any value between 100d and 110d lOWizard Pinout The diagram below shows the various ports on the OWizard The I2C header contains Vcc Sda Scl and Gnd pins and requires no pull up resistors since it acts as a slave device The GPIO header GPIOO GPIO9 contains 10 individual ports where each port features a Gnd Vcc and Sig pin The Analog header ANO AN4 contains 5 individual 10 bit ports where each port features a Sig Vcc and Gnd pin Any 3 5V analog sensor can be connected to this port and queried via the protocol The Sig or Signal pi
3. er you will do something very similar i2c_start start condition i2c_write ADDRESS 1 101 valueO i2c_read 1 value1 i2c_read 1 do this 19 times See NOTE below Value19 i2c_read 0 the last read has a O for a parameter i2c_stop NOTE Each 10 bit analog value is returned in two bytes So you will have to shift the first upper byte by 8 and then add the subsequent lower byte to that shifted value to arrive at a 10 bit integer value See the pseudo code below for an example Pseudo code Int adc int value adc i2c_read 1 value adc lt lt 8 value i2c_read 1 Summerour Robotics Corp www roboticsconnection com gej lIOWizard Copyright 2004 2009 1 888 731 4035 lOWizard User Guide v1 0 Setting a GPIO pin state To set the state of a digital IO line pin id range 0 9 you must write the pin number followed by the state Below is the proper sequence of bytes to send 0x64 0x01 lt pin id gt lt state gt State 0 Output Low 1 Output High 2 Input If you write a state of 0 then the pin is set to an output and set low If you write a state of 1 then the pin is set to an output and set high If you write a state of 2 then the pin is set to an input and you can read its value By default all pins are set as inputs on power up Below is sample code on how to change the state of a pin device using a PIC and the CCS compiler If you use another chip com
4. ired to establish 12C communications is connect the Sda and Scl pins between the I2C Master and the lOWizard along with Vcc and Gnd pins and you re ready to start communicating via 12C The default I2C address for the OWizard is Ox6A 100d Please see Example Application section below for details on writing programs to communicate via 12C Power Supply When using the 12C port the IOWizard gets its 5V supply via the 12C port Make sure you don t swap polarity Vcc and Gnd when connecting the power supply We do not warranty against such misuse Summerour Robotics Corp www roboticsconnection com M lIOWizard Copyright 2004 2009 1 888 731 4035 lOWizard User Guide v1 0 Communicating with the lOWizard thru the Serializer WL Robot Controller via 12C Communicating with the OWizard via the Serializer using the 12C bus and the Generic 12C command is very easy assumes 12C address of 100 0x64 Remember that you re communicating w the Serializer serially hence the Serializer command response sequence below is similar to the IOWizard serial protocol defined above The Serializer then communicates with the OWizard via the I2C bus Query the Sensor readings Note that 20 bytes will be returned The first 10 are 10 bit analog depicted by the 1024 values Note the Serializer will return strings representing the 10 bit integer values so you don t have to worry about shifting those 10 bit adc values that are returned
5. lIOWizard Copyright 2004 2009 1 888 731 4035 lOWizard User Guide v1 0 Changing the I2C address You can change the I2C address of the l OWizard by sending the sequence of bytes shown below Below is sample code on how to change the 12C address of the device using a PIC and the CCS compiler If you use another chip compiler you will do something very similar i2c_start i2c_write currAddress Address i2c_write Ox00 Command Register i2c_write OxA0 Address i2c_stop delay_ms 5 i2c_start i2c_write currAddress Address i2c_write Ox00 Command Register i2c_write OxAA Address i2c_stop delay_ms 5 i2c_start i2c_write currAddress Address i2c_write Ox00 Command Register i2c_write OxA5 Address i2c_stop delay_ms 5 i2c_start i2c_write currAddress Address i2c_write Ox00 Command Register i2c_write newAddress Set new address i2c_stop Summerour Robotics Corp www roboticsconnection com By lIOWizard Copyright 2004 2009 1 888 731 4035 IOWizard User Guide v1 0 lOWizard Physical Connection The picture below depicts the IOWizard connected to the 12C port of our Serializer WL Robot Controller The IOWizard can also be powered over the I2C bus as well Please note that the IOWizard can be connected to ANY 12C Host A aay Figure 1 IOWizard connected to Serializer WL via I2C bus Establishing 12C Communications All that is requ
6. n is the output voltage pin coming from the analog sensor into the RangeWizard Make sure you don t swap polarity Vcc and Gnd when connecting the sensors peripherals I2C bus We do not warranty against such misuse gt CSD GPIO9 Vcc GPIO8 SDA GPIO7 SCL GPIO6 Gnd GPIOS GPIO4 AN4 GPIO3 AN3 GPIO2 AN2 GPIO1 AN1 GPIOO ANO Power Status LEDs Figure 1 IOWizard Pinout Summerour Robotics Corp www roboticsconnection com B lIOWizard Copyright 2004 2009 1 888 731 4035 lOWizard User Guide v1 0 Power Status LEDs One of the two onboard status LEDs is used to indicate power while the other flashes when commands are received and processed successfully by the board 12C Communication Protocol Querying ADC and GPIO Values The board returns 20 bytes when it s read The first 10 bytes are 10 bit analog readings and the last 10 are the status of the digital pins If a digital pin is set as in input its current state is returned If a digital pin is set as an output the last state it was set to is returned Before you attempt to read a GPIO pin as an input make sure you issue a command to set it as an input see commands below otherwise you will receive the state of the pin output To query the ADC and GPIO values you write its address and then read back 20 bytes from its address 1 Below is sample code on how to read the device using a PIC and the CCS compiler If you use another chip compil
7. piler you will do something very similar i2c_start start condition i2c_write 100 100d 110d i2c_write 1 command to set I O state i2c_write 5 pin id 0 9 i2c_write 1 Output High Range 0 2 i2c_stop Saving Power up state of an I O pin You can save the state all the 1 O pins to EEPROM so that they will power up in that state after a reset or power cycle Simply set the state of each pin as desired and send a command of 2 to save the state Upon power up each pin will be configured depending on the configuration under which you saved it All 10 digital I O pins are saved simultaneously Furthermore both LEDs will flash for a few seconds to indicate a successful save Below is sample code on how to save the state of a pin device using a PIC and the CCS compiler If you use another chip compiler you will do something very similar i2c_start start condition i2c_write 100 100 140 i2c_write 2 command to save O state to EEPROM i2c_stop Resetting the l OWizard To reset the IOWizard you must simply write the address followed by a value of 0x03 0x64 0x03 Below is sample code on how to save the state of a pin device using a PIC and the CCS compiler If you use another chip compiler you will do something very similar i2c_start start condition i2c_write 100 100 140 i2c_write 3 command to reset i2c_stop Summerour Robotics Corp www roboticsconnection com RZ
8. ting only and functional operation of the device at those or any other conditions above those indicated in the operation listings of this specification is not implied Exposure to maximum rating conditions for extended periods may affect device reliability Dimensions 40mm 1 558in 4mm 0 157in 4mm 0 157in 24 5mm 1 00in 33 5mm 1 318in Height 11mm 0 43in 4mm 0 157in D i iameter 48mm 1 890in 4mm 0 157in Summerour Robotics Corp www roboticsconnection com IOWizard Copyright 2004 2009 1 888 731 4035
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