Cdios Controller Commands  |  Cdios Firmware Page

6190 Cdios Module V2.0

Addition to V2.0:

• Internal programming software updated for Micro-Controller update. V2.5 up runs in all modules, <V2.5 cannot run in newer hardware

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 command configures the RS232 speed, format, handshake type, transmit/receive buffer size and will clear the RS232 transmit and receive buffers.

 

Command	Module ID	Selector	4	5	6	7	8
0Bh	0 - 15	0	Speed	Format	Handshake	Buffersize	0

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

 

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

Possible error message:

 

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

Parameter	Bit	Description
Error status	0	1 = Selector parameter out of range
	1	1 = Speed parameter out of range
	2	1 = Format parameter out of range
	3	1 = Handshake parameter out of range
	4	1 = Buffersize parameter out of range

 

This command reads the RS232 speed, format, handshake configuration

 

Command	Module ID	Selector	4	5	6	7	8
0Bh	0 - 15	80h	0	0	0	0	0

 Normal reply:

Possible error message:  

Command code 0Ch: Read RS232 buffer

This command reads 0 - 5 received characters from the RS232 receive buffer.

 

Command	Module ID	3	4	5	6	7	8
0Ch	0 - 15	0	0	0	0	0	0

Reply	Module ID	3	4	5	6	7	8
0Ch	0 - 15	Length	Received characters

 

Parameter	Value	Description
Length	0	There are no characters in the receive buffer
	1 - 5	1 up to 5 received characters are placed in data byte 4-8 of the CDIOS reply.

When variable length messages are enabled, the reply message length will be 'Length + 3', otherwise it will be 8.

Command code 0Dh: Write RS232 buffer

This command writes 0 - 5 characters into the RS232 transmit buffer.

 

Command	Module ID	3	4	5	6	7	8
0Dh	0 - 15	Length	Characters to transmit

Parameter	Value	Description
Length
	0 - 5	0 up to 5 characters from data byte 4-8 of the CDIOS command are placed into the RS232 tranmit buffer

When variable length messages are enabled, the command message should be 'Length + 3', otherwise it should be 8.

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

 

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

Possible error message:

 

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

Parameter	Bit	Description
Error status	0	1 = Length > 5
	1	1 = RS232 transmit buffer is full, none of the characters will be placed into the buffer, the command has to be resend later.

 

Command code 0Eh: Read RS232 status

This command reads status information from the device.

 

Command	Module ID	3	4	5	6	7	8
0Eh	0 - 15	0	0	0	0	0	0

Normal reply is:

Reply	Module ID	3	4	5	6	7	8
0Eh	0 - 15	0	Received Characters	Transmitter Free	Status	0	0

 

Parameter	Value	Description
Received Characters	0 ... BufferSize	Amount of received characters currently in the receive buffer
Transmitter Free	0 ... (350 - BufferSize)	Amount of remaining free space in the transmit buffer
	Bit
Status	0	1 = Parity Error detected in a received character
	1	1 = Framing Error, new startbit detected before end (last) stopbit
	2	1 = Noise Error, receiver detected noise on its input line
	3	1 = Receive buffer overrun. The receive buffer is full and still more characters are received (and lost): the transmitting device did not stop transmitting after the RTS output was made inactive or the XOFF command was send (these signals are activated when the remaining free space in the receive buffer is < 25 characters)
	4	RTS Status, handshake output, depending on handshake protocol:     Meaning Hardware handshake Software handshake 0 Receive buffer almost full (less then 25 characters left) RTS output inactive (<-5 V) Send XOFF to stop data flow 1 Receive buffer Ok RTS output active (>+5V) Send XON to restart data flow
	5	CTS Status, handshake input, depending on handshake protocol:   Meaning Hardware handshake Software handshake 0 Receiving device cannot handle data flow CTS input inactive (<-5V) XOFF received from receiving device 1 Receiving device Ok CTS input active (>+5V) XON received from receiving device

 

The Parity/Framing/Noise error and Receive buffer overrun status will be cleared when characters are read from the receive buffer by command 0Ch or a character received event. This clearing will NOT generate a status Event. Note

Possible error message:

 

Error	Module ID	3	4	5	6	7	8
8Eh	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 RS232 status to check for change.

 

Command	Module ID	Selector	4	5	6	7	8
0Fh	0 - 15	0	Mask	0	0	0	0

Parameter	Bit	Default	Description
Mask	0	All zero	1 = enable Parity Error event
	1		1 = enable Framing Error event
	2		1 = enable Noise Error event
	3		1 = enable Buffer Overrun event
	4		1 = enable RTS status change event
	5		1 = enable CTS status change event
	6		reserved
	7		1 = enable Received Character event (see events for details)

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

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

Possible error message:

 

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

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

 

This commands reads the RS232 status to check for change.

 

Command	Module ID	Selector	4	5	6	7	8
0Fh	0 - 15	80h	0	0	0	0	0

Normal reply:

Command	Module ID	Selector	4	5	6	7	8
0Fh	0 - 15	80h	Mask	0	0	0	0

Parameter	Description
Maskl	Same format as in the 'Get event on status change' command

Possible error message: 

This command stores the current or the default I/O module configuration into internal EEPROM memory.
The configuration is restored from this memory after power on or a reset command.

Command	Module ID	3	4	5	6	7	8
05h	0 - 15	Selector	43h	44h	53h	0	0

Parameter	Value	Description
Selector	0	Store current configuration
	1	Change configuration into default and then store it.

The internal EEPROM erasing / programming takes 120 up to 250 milli-seconds, then the reply message is send.
During programming I/O communication with this module is inhibited.

Sending a command will result in a general error message with errorcode = 8.

The confirmation reply message for this command is NEVER SUPPRESSED.

 Possible error message:

 

Error	Module ID	3	4	5	6	7	8
85h	0 - 15	0	0	Error Status	0	0	0

Parameter	Bit	Description
Error status	0	1 =  Selector parameter out of range
	1	1 = 'password' bytes 4-6 in command are not equal to 43h,44h,53h
	2	1 = Configuration EEPROM programming error

 

This device has 2 type of events; a status change event and a character(s) received event.

Character received event.

When the received character event is enabled and there is at least one character in the receive buffer, a read RS232 buffer event message is sent.

To minimize the CAN bus load, the 6190 tries to wait for 5 received characters (the maximum it can send in a CDIOS event message). However, if there are less then 5 characters in the receive buffer and there is no more character received within a time-out period of 2 character times, the CDIOS event message will be send anyway.

 

Parameter	Value	Description
Length
	1 - 5	1 up to 5 received characters are placed in data byte 4-8 of the CDIOS event message.

When variable length messages are enabled, the event message length will be 'Length + 3', otherwise it will be 8.

Status change event.

If an event enabled status bit changes state, a read status event message is sent:

 

Reply	Module ID	3	4	5	6	7	8
4Eh	0 - 15	0	Received Characters	Transmitter Free	Status	0	0

 

Parameter	Value	Description
Received Characters	0 ... BufferSize	Amount of received characters currently in the receive buffer
Transmitter Free	0 ... (350 - BufferSize)	Amount of remaining free space in the transmit buffer
	Bit
Status	0	1 = Parity Error detected in a received character
	1	1 = Framing Error, new startbit detected before end (last) stopbit
	2	1 = Noise Error, receiver detected noise on its input line
	3	1 = Receive buffer overrun. The receive buffer is full and still more characters are received (and lost): the transmitting device did not stop transmitting after the RTS output was made inactive or the XOFF command was send (these signals are activated when the remaining free space in the receive buffer is < 25 characters)
	4	RTS Status, handshake output, depending on handshake protocol:     Meaning Hardware handshake Software handshake 0 Receive buffer almost full (less then 25 characters left) RTS output inactive (<-5 V) Send XOFF to stop data flow 1 Receive buffer Ok RTS output active (>+5V) Send XON to restart data flow
	5	CTS Status, handshake input, depending on handshake protocol:   Meaning Hardware handshake Software handshake 0 Receiving device cannot handle data flow CTS input inactive (<-5V) XOFF received from receiving device 1 Receiving device Ok CTS input active (>+5V) XON received from receiving device

 

The Parity/Framing/Noise error and Receive buffer overrun status will be cleared when characters are read from the receive buffer by command 0Ch or a character received event. This clearing will NOT generate a status Event.

RS232 speed and CAN bus speed considerations

The maximum throughput of the RS232 / CAN system depends on RS232 baudrate, CAN bus speed and CDIOS controller latency.
The following tables assume that the RS232 is receiving data continuesly and that 5 received characters are transmitted in every CAN message.

Less CAN messages are needed when the 6190 is allowed to send its 'character received' event.

The CDIOS controlles checks the 6190 once a millisecond (when 8 or less I/O modules are connected to the CDIOS controller). It takes 200 µS for the CDIOS controller to get the data out of the 6190,  when multiple 6190 are receiving data, this time will overlap the CAN bus transmission, so the whole system will be faster.

The following table shows how many 6190 RS232 I/O modules one CDIOS controller can keep up with if all these modules are receiving data at full speed, events are enabled and no other CAN communication is taken place....

Of course it is possible to connect more 6190 RS232 interface I/O modules then stated in this table, because the handshake system will stop the data flow when the system is too busy......