Figure 2.1: An example of project main file with the
RPiDrv
driver included
factor
– multiple of the EXEC block’s tick parameter defining the driver’s task execu-
tion period
The above mentioned parameters of the
IODRV
function block are configured in
Rex-
Draw
program. The configuration dialog is shown also in Fig.
2.1
.
2.2
Connecting the inputs and outputs in the control algo-
rithm
The inputs and outputs of the driver must be interconnected with the individual tasks
(
.mdl
files). The individual tasks (
QTASK
or
TASK
blocks) are connected to the
QTask
,
Level0
,. . . ,
Level3
outputs of the main
EXEC
block.
2.2.1
GPIO pins of the Raspberry Pi
Necessary
IODRV
block configuration for Raspberry Pi GPIO:
5
