Overview

Yantrr INDU-RS series of capes provide the capability of interfacing with sensors and instruments using RS232/422/485. These capes are designed to industrial grade I/O interface standards assuring reliable operation and protection in extreme operating environments. The electronics on the capes has been tested to be in compliance with strict EU standards for radiated and conducted emissions.

Utilizing Modbus protocol, these capes can be used to transform VIBE/VIBE2 IoT platform into powerful SCADA & process control systems. INDU-RS capes are also fully compatible with BeagleBone CPU platform.

Quick Start Guide

Following sections gives details of board connectors, pin configuration and various jumpers on INDU-RS3HD, INDU-RS3HD-DC15W boards.

Board Connectors Layout

INDU-RS3HD	INDU-RS3HD-DC15W

Pin Connections

Note: INDU-RS485 Headers P6 & P7 correspond to Beaglebone Black [BB] Header P8 & P9 respectively.

Jumper Details


All Jumpers	Jumper P8

Table : Jumpers Details

Getting Started

Setting up the system

Mount the INDU-RS cape on Beaglebone Black or Yantrr's VIBE/VIBE2 platform carefully.
Ensure all the jumpers are in place according to your application use.
Now power up the full setup

Note: Before powering up ensure correct software image is loaded in Beaglebone black or VIBE/VIBEQ/VIBE2

For INDU-RS3HD

Power up the full setup using a 5V DC adapter(min 2.5A) to barrel jack of Beaglebone Black or VIBE/VIBEQ/VIBE2.

Do not try to power up using USB cable alone.


Using Beaglebone Black	Using VIBE/VIBEQ/VIBE2

For INDU-RS3HD-DC15W

You have two option for supplying power:

9V-36V DC power through terminal headers supplied to INDU-RS cape


Using Beaglebone Black	Using VIBE/VIBEQ/VIBE2

5V DC power through normal adapter supplied to Beaglebone Black or VIBE/VIBEQ/VIBE2
Note : For this option, before powering up remove the jumper J1


Using Beaglebone Black	Using VIBE/VIBEQ/VIBE2

Software Setup Guide

In general the RE/DE input requires high level while transmitting data and low level while receiving data, whereas the standard RTS signal of UART remain low while transmitting data and high while receiving a data.With INDU-RS3HD and INDU-RS3HD-DC15W capes, respective UART of RS485-Port can be put in RS485 mode which will automatically handles RE/DE signal using its RTS pin.

For use of INDU-RS3HD and INDU-RS3HD-DC15W, basic software setup is required for loading correct 8250 driver and assigning correct RTS pins to UART ports at the runtime using Device Tree Overlays.

Software Images

The INDU-RS series capes are tested with latest-release image from beagleboard.org which has inbuilt support for OMAP internal UART (8250 based driver).
Currently INDU-RS485 cape is tested with beaglebone black kernel version 4.9.

Precompiled Images

Debian
- MicroSD card Image :
  - INDU-4.9-debian-9.3-2gb.img.xz (Beaglebone Black)

For Beaglebone Black, We recommend to use pre-compiled Debian Yantrr Image. The pre-compiled Debian Yantrr Image comes with all the necessary support for OMAP internal UART (8250 based driver) and all the settings pre-configured for all port of the cape.

Following instructions are only for Users compiling Beaglebone Black's Debian Image from scratch for INDU use.

Configuration for UART1

In order to use UART1 port of this cape, it is required to reconfigure the BeagleBone header’s I2C2_SCL pin as UART1 RTS control.

These steps are needed only if you want to use UART1 at the expense of I2C2 disabled.

I2C2 pins are enabled by default and take precedence over any overlay. So, for the use of UART1 in RS485 mode, the I2C2 pinmux should be disabled.

Steps : (To be executed on Beaglebone-Black/VIBE/VIBE2)

Clone the repo :

cd /root/
git clone https://github.com/RobertCNelson/dtb-rebuilder.git
cd dtb-rebuilder
git checkout 7e5035a88eab760538481f52d262429c37b6e757

Verify the dtc version should be latest one

dtc --version
Version: DTC 1.4.4

Upgrade the dtc

./dtc-overlay.sh

Disable I2C2 pinmux

cd /root/dtb-rebuilder

Open am335x-bone-common.dtsi and search for &i2c2 section. This is the section concerning i2c2.

nano src/arm/am335x-bone-common.dtsi

Comment out line pinctrl-0 = <&i2c2_pins> under &i2c2, like shown below

&i2c2 {
        pinctrl-names = "default";
        //pinctrl-0 = <&i2c2_pins>;

       status = "okay";
       clock-frequency = <100000>;

       cape_eeprom0: cape_eeprom0@54 {
               compatible = "at,24c256";
               reg = <0x54>;
               #address-cells = <1>;
               #size-cells = <1>;
               cape0_data: cape_data@0 {
                       reg = <0 0x100>;
               };
       };

Rebuild dtb

make clean
make
make install

Reboot Beaglebone-Black/VIBE/VIBE2 for applying changes

reboot

Configuration for UART4 and UART5

For use of UART4 and UART5 the HDMI should be disabled.

Disable HDMI

Uncomment the line dtb=am335x-boneblack-emmc-overlay.dtb in /boot/uEnv.txt file.

nano /boot/uEnv.txt
#Docs: http://elinux.org/Beagleboard:U-boot_partitioning_layout_2.0

uname_r=4.4.34-ti-r69

##BeagleBone Black/Green dtb's for v4.1.x (BeagleBone White just works..)

##BeagleBone Black: HDMI (Audio/Video) disabled:
dtb=am335x-boneblack-emmc-overlay.dtb

##BeagleBone Black: eMMC disabled:
#dtb=am335x-boneblack-hdmi-overlay.dtb

##BeagleBone Black: HDMI Audio/eMMC disabled:
#dtb=am335x-boneblack-nhdmi-overlay.dtb

##BeagleBone Black: HDMI (Audio/Video)/eMMC disabled:
#dtb=am335x-boneblack-overlay.dtb

##BeagleBone Black: wl1835
#dtb=am335x-boneblack-wl1835mod.dtb

##BeagleBone Green: eMMC disabled
#dtb=am335x-bonegreen-overlay.dtb

cmdline=coherent_pool=1M quiet cape_universal=enable

#In the event of edid real failures, uncomment this next line:
#cmdline=coherent_pool=1M quiet cape_universal=enable video=HDMI-A-1:1024x768@60e

##Example v3.8.x
#cape_disable=capemgr.disable_partno=
#cape_enable=capemgr.enable_partno=

##Example v4.1.x
#cape_disable=bone_capemgr.disable_partno=
#cape_enable=bone_capemgr.enable_partno=

##enable Generic eMMC Flasher:
##make sure, these tools are installed: dosfstools rsync
##cmdline=init=/opt/scripts/tools/eMMC/init-eMMC-flasher-v3.sh

In latest Beaglebone Black Debian images the device tree overlays are enabled using U-Boot Overlays approach by default. In previous old images these were enabled using Kernel Overlays approach. The Beaglebone community is still in transition for supporting various applications using U-Boot overlays approach. So, currently our device supporting and tested with kernel overlays approach.

Reboot Beaglebone-Black/VIBE/VIBE2 for applying changes

reboot

Device Tree Overlays

For particular RS485 port two dtbo files are there

BB-UART*-00A0.dtbo
BB-UART*-RTSCTS-00A0.dtbo

Note : * represents the particular port no. of UART used in respective RS485 port. For example, for RS485-Port1 it will be UART4.

The BB-UART*-00A0.dtbo file defines the TX and RX pin configuration of particular UART port. While BB-UART*-RTSCTS-00A0.dtbo file defines the RTS and CTS pin configuration of UART port.

For sending data from any RS485 port, both dtbo files(BB-UART & BB-UART-RTSCTS) of associated UART port should be exported to slots before actual sending of data.

For reading data from any RS485 port, only BB-UART dtbo file is sufficient to get data from associated UART port.

The device tree overlays are compiled as per instructions listed in link https://github.com/RobertCNelson/bb.org-overlays.

Steps

Clone the repo

cd /root/
git clone https://github.com/beagleboard/bb.org-overlays.git
cd ./bb.org-overlays

Verify the dtc version should be latest one

dtc --version
Version: DTC 1.4.1-gXYZXYZXYZ

Upgrade the dtc

./dtc-overlay.sh

Copy INDU-RS485 related dts files after extracting INDU-RS-Test.tar.gz file in root directory

wget -c http://wiki.yantrr.com/images/1/15/INDU-RS-Test.tar.gz
tar xf INDU-RS-Test.tar.gz
cd INDU-RS-Test/Device_Tree/dts/
cp * /root/bb.org-overlays/src/arm/

Install *.dtbo

cd /root/bb.org-overlays
./install.sh

Note: This will copies all the dtbo files after compilation automatically in directory /lib/firmware/

capemgr: enable/disable capes on kernel cmdline:
Comma delimited list of PART-NUMBER[:REV] of [enabled/disabled] capes
bone_capemgr.enable_partno=
bone_capemgr.disable_partno=
capemgr: enable/disable capes with slots:

root@beaglebone:~# cat /sys/devices/platform/bone_capemgr/slots
 0: PF----  -1
 1: PF----  -1
 2: PF----  -1
 3: PF----  -1

Add Device :

root@beaglebone:~# sh -c "echo 'BB-UART4' > /sys/devices/platform/bone_capemgr/slots"
root@beaglebone:~# cat /sys/devices/platform/bone_capemgr/slots
 0: PF----  -1
 1: PF----  -1
 2: PF----  -1
 3: PF----  -1
 4: P-O-L-   0 Override Board Name,00A0,Override Manuf,BB-UART4

Remove Device:

root@beaglebone:~# sh -c "echo '-4' > /sys/devices/platform/bone_capemgr/slots"
root@beaglebone:~# cat /sys/devices/platform/bone_capemgr/slots
 0: PF----  -1
 1: PF----  -1
 2: PF----  -1
 3: PF----  -1

RS-485 Ports Testing

Initial Setup

Export dtbo files of UART1,UART4 and UART5 to slots

sh -c "echo 'BB-UART1' > /sys/devices/platform/bone_capemgr/slots"
sh -c "echo 'BB-UART1-RTSCTS' > /sys/devices/platform/bone_capemgr/slots"
sh -c "echo 'BB-UART4' > /sys/devices/platform/bone_capemgr/slots"
sh -c "echo 'BB-UART4-RTSCTS' > /sys/devices/platform/bone_capemgr/slots"
sh -c "echo 'BB-UART5' > /sys/devices/platform/bone_capemgr/slots"
sh -c "echo 'BB-UART5-RTSCTS' > /sys/devices/platform/bone_capemgr/slots"

Check slots

root@beaglebone:~# cat /sys/devices/platform/bone_capemgr/slots
 0: PF----  -1
 1: PF----  -1
 2: PF----  -1
 3: PF----  -1
 4: P-O-L-   0 Override Board Name,00A0,Override Manuf,BB-UART1
 5: P-O-L-   1 Override Board Name,00A0,Override Manuf,BB-UART1-RTSCTS
 6: P-O-L-   0 Override Board Name,00A0,Override Manuf,BB-UART4
 7: P-O-L-   1 Override Board Name,00A0,Override Manuf,BB-UART4-RTSCTS
 8: P-O-L-   0 Override Board Name,00A0,Override Manuf,BB-UART5
 9: P-O-L-   1 Override Board Name,00A0,Override Manuf,BB-UART5-RTSCTS

Execution

Test Code : INDU-RS-Test.tar.gz

Compile the code

cd /root/INDU-RS-Test/src/
gcc -o read-write read-write.c

Connect A and B lines of RS485-PORT1 to RS485-Port2 and RS485-Port3.

Note : All connection are limited to single INDU-RS cape

Start execution

cd /root/INDU-RS-Test/src/
./auto.sh read-write 1

Note : Here the read-write is executable file name which is used while compilation and 1 is loop count, you can increase it to run the test for multiple times.

Result

Now after performing the execution as explained above, the final result will be printed at last on terminal

root@Yantrr:~/INDU-RS-Test/src# ./auto.sh read-write 2
Setting all ports
Port is : /dev/ttyS1
Port is : /dev/ttyS5
Port is : /dev/ttyS4
/dev/ttyS1 : RS485 Mode Enabled
/dev/ttyS4 : RS485 Mode Enabled
/dev/ttyS5 : RS485 Mode Enabled
////////////////////////////////////////////////////////
LOOP COUNT=1
////////////////////////////////////////////////////////

Message sent on port /dev/ttyS1=MESSAGE_ABCDEFGHIJKLMNOPQRSTUVWXYZ_MESSAGE


Message received on port /dev/ttyS4: MESSAGE_ABCDEFGHIJKLMNOPQRSTUVWXYZ_MESSAGE
Message received on port /dev/ttyS5: MESSAGE_ABCDEFGHIJKLMNOPQRSTUVWXYZ_MESSAGE

Message sent on port /dev/ttyS4=MESSAGE_ABCDEFGHIJKLMNOPQRSTUVWXYZ_MESSAGE


Message received on port /dev/ttyS1: MESSAGE_ABCDEFGHIJKLMNOPQRSTUVWXYZ_MESSAGE
Message received on port /dev/ttyS5: MESSAGE_ABCDEFGHIJKLMNOPQRSTUVWXYZ_MESSAGE

Message sent on port /dev/ttyS5=MESSAGE_ABCDEFGHIJKLMNOPQRSTUVWXYZ_MESSAGE


Message received on port /dev/ttyS1: MESSAGE_ABCDEFGHIJKLMNOPQRSTUVWXYZ_MESSAGE
Message received on port /dev/ttyS4: MESSAGE_ABCDEFGHIJKLMNOPQRSTUVWXYZ_MESSAGE
////////////////////////////////////////////////////////
LOOP COUNT=2
////////////////////////////////////////////////////////

Message sent on port /dev/ttyS1=MESSAGE_ABCDEFGHIJKLMNOPQRSTUVWXYZ_MESSAGE


Message received on port /dev/ttyS4: MESSAGE_ABCDEFGHIJKLMNOPQRSTUVWXYZ_MESSAGE
Message received on port /dev/ttyS5: MESSAGE_ABCDEFGHIJKLMNOPQRSTUVWXYZ_MESSAGE

Message sent on port /dev/ttyS4=MESSAGE_ABCDEFGHIJKLMNOPQRSTUVWXYZ_MESSAGE


Message received on port /dev/ttyS5: MESSAGE_ABCDEFGHIJKLMNOPQRSTUVWXYZ_MESSAGE
Message received on port /dev/ttyS1: MESSAGE_ABCDEFGHIJKLMNOPQRSTUVWXYZ_MESSAGE

Message sent on port /dev/ttyS5=MESSAGE_ABCDEFGHIJKLMNOPQRSTUVWXYZ_MESSAGE


Message received on port /dev/ttyS1: MESSAGE_ABCDEFGHIJKLMNOPQRSTUVWXYZ_MESSAGE
Message received on port /dev/ttyS4: MESSAGE_ABCDEFGHIJKLMNOPQRSTUVWXYZ_MESSAGE
////////////////////////////////////////////////////////
RESULTS OF DATA TRANSFER
////////////////////////////////////////////////////////

Total data sent on /dev/ttyS1= 2

Total data received on /dev/ttyS1= 4

Correct data received on /dev/ttyS1= 4

Total data sent on /dev/ttyS4= 2

Total data received on /dev/ttyS4= 4

Correct data received on /dev/ttyS4= 4

Total data sent on /dev/ttyS5= 2

Total data received on /dev/ttyS5= 4

Correct data received on /dev/ttyS5= 4
////////////////////////////////////////////////////////
Exiting
root@Yantrr:~/INDU-RS-Test/src#

CAN Testing

Initial Setup

INDU-CAN cape uses Beaglebone Black's native DCAN1 pins i.e. P9_24 and P9_26, so no need of additional device tree overlays to support on Beaglebone Black/VIBE/VIBEQ/VIBE2.

CAN Utility Setup

Install the build-tools

apt-get update
apt-get install build-essential git-core automake libtool

Install SocketCAN utilities

git clone https://github.com/linux-can/can-utils.git
cd can-utils
./autogen.sh
./configure
make
make install

Configure CAN Interface

To start the CAN interface at system startup edit /etc/network/interfaces file

nano /etc/network/interfaces

Add following lines in it

# CAN Interface
allow-hotplug can0
 iface can0 can static
    bitrate 115200

Enable CAN Bus

Export dtbo file BB-CAN1

sh -c "echo 'BB-CAN1' > /sys/devices/platform/bone_capemgr/slots"

Check slots

root@beaglebone:~# cat /sys/devices/platform/bone_capemgr/slots
 0: PF----  -1
 1: PF----  -1
 2: PF----  -1
 3: PF----  -1
 4: P-O-L-   0 Override Board Name,00A0,Override Manuf,BB-UART4
 5: P-O-L-   1 Override Board Name,00A0,Override Manuf,BB-UART4-RTSCTS
 6: P-O-L-   2 Override Board Name,00A0,Override Manuf,BB-UART5
 7: P-O-L-   3 Override Board Name,00A0,Override Manuf,BB-UART5-RTSCTS
 8: P-O-L-   4 Override Board Name,00A0,Override Manuf,BB-UART2
 9: P-O-L-   5 Override Board Name,00A0,Override Manuf,BB-CAN1

On Beaglebone Black/VIBE/VIBEQ/VIBE2 the native DCAN1 pins i.e. P9_24 and P9_26 are pinmuxed with UART1's TXD and RXD respectively, so make sure UART1 is disabled for use of CAN.

Load the kernel-drivers for the CAN-Bus

sudo modprobe can
sudo modprobe can-dev
sudo modprobe can-raw

Bring-Up and Configure the CAN Interface

ip link set can0 up type can bitrate 115200
ifconfig can0 up

If gets any issue such as Device or resource busy, run following commands

ifdown can0
ip link set can0 up type can bitrate 115200

Usage

Send CAN Message

For sending CAN message use command cansend.

For example,for sending a CAN-message to the address 0x5a1 with the databyte[0..5]=0,1,2,3,4 use command

root@beaglebone:~# cansend can0 5A1#00.01.02.03.05

Receive CAN Message

To log/receive the messages on the CAN Bus from other end, use command candump

root@beaglebone:~# candump can0
 can0  5A1   [5]  00 01 02 03 04

INDU-RS

Contents

Overview

Quick Start Guide

Board Connectors Layout

Pin Connections

Jumper Details

Getting Started

Setting up the system

Software Setup Guide

Software Images

Precompiled Images

Configuration for UART1

Configuration for UART4 and UART5

Device Tree Overlays

Steps

RS-485 Ports Testing

Initial Setup

Execution

Result

CAN Testing

Initial Setup

CAN Utility Setup

Enable CAN Bus

Usage

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