Cdios controller commands | 6153 Cdios Module V1.0 Commands

Addition to V1.0:

• Change of State Flags in command code 08h
• Stop node / reset node commands implemented

All CDIOS messages are presented as 8 bytes long. When variable length messages are selected, the part of the message that is not send over the CAN bus is represented in italic/lightgray text.

This commands reads the 8 inputs, latched inputs or change flags.

 

Command	Module ID	3	4	5	6	7	8
08h	0 - 15	Selector	0	0	0	0	0

Parameter	Value	Description
Selector	0	Read 8 inputs directly
	1	Read latched inputs, latched by the latest SYNC command
	2	Read change flags (and clear them after the read). A change flag is set when an input changes from it's inactive to active state (from 0 to 1). The change flags can be used when the use of the change of state event produces too much messages...

Normal reply is:

 

Reply	Module ID	3	4	5	6	7	8
08h	0 - 15	Selector	Data	0	0	0	0

Parameter	Bit	Description
Selector	x	Copy of value of the command
Data	0	bit 0 contains the state of input 1, 0 is inactive, 1 is active
	until	bit ....
	7	bit 7 contains the state of input 8, 0 is inactive, 1 is active

 Possible error message:

 

Error	Module ID	3	4	5	6	7	8
88h	0 - 15	0	0	Error Status	0	0	0

Parameter	Bit	Description
Error status	0	1 =  Selector parameter out of range

 

This commands defines the inputs to scan for 'change of state'.

 

Command	Module ID	3	4	5	6	7	8
09h	0 - 15	0	Mask	0	0	0	0

Parameter	Bit	Default	Description
Mask	0	0	when 1 it enables scanning input 1 for change
	until		when ...
	7	0	when 1 it enables scanning input 8 for change

At power on or reset, the internal masks are cleared.

Confirmation reply message (suppressed when 'Confirm' is 0):

 

Reply	Module ID	3	4	5	6	7	8
09h	0 - 15	0	0	0	0	0	0

 

This commands configures the input debouncing counters.

 

Command	Module ID	Group	4	5	6	7	8
0Ah	0 - 15	0	Debounce 1	Debounce 2	Debounce 3	Debounce 4	0
		1	Debounce 5	Debounce 6	Debounce 7	Debounce 8	0

 

Parameter	Value	Default	Description
Debounce1 - Debounce8	0-255	0	range is 0 - 255 milliseconds (0 is no debouncing)

Confirmation reply message (suppressed when 'Confirm' is 0):

 

Reply	Module ID	3	4	5	6	7	8
0Ah	0 - 15	0	0	0	0	0	0

Possible error message:

 

Error	Module ID	3	4	5	6	7	8
8Ah	0 - 15	0	0	Error Status	0	0	0

Parameter	Bit	Description
Error status	0	1 =  Group parameter out of range

 

A 'change of State' event can be configured with the 'Set event on input change mask' command.
If an enabled input changes state, a read input event message is sent:

 

Event	Module ID	3	4	5	6	7	8
48h	0 - 15	0	Data	0	0	0	0

Parameter	Bit	Description
Data	0	bit 0 contains the state of input 1, 0 is inactive, 1 is active
	until	bit ....
	7	bit 7 contains the state of input 8, 0 is inactive, 1 is active

All data is stored in one byte, so the application has to find out itself which input actually changed.

Input change events react directly on the actual inputs, not on latched inputs, and have nothing to do with the change flags.

When the user polls the 6153 with the 'read inputs' command and events are enabled, it is possible that an event is not send.
This occurrs when the user has read the inputs after the state change and before the event should be sent.