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GOcontroll Linux Examples

Each example is a self-contained main() that can be built independently.

Building an example

make <example_name>        # e.g. make led_blink

The output binary is always placed at build/app. Cross-compile for ARM64 by prefixing CC=aarch64-linux-gnu-gcc.

Directory structure

examples/
├── board/
│   ├── led_blink.c
│   └── read_supply_voltages.c
├── communication/
│   ├── can_send.c
│   ├── can_receive.c
│   ├── mqtt_basic.c
│   ├── xcp_basic.c
│   ├── xcp_basic.a2l
│   └── update_xcp_a2l.sh
├── input_module_10ch/
│   ├── input_module_10ch.c
│   ├── input_module_10ch_selftest.c
│   └── input_module_10ch_freq.c
├── input_module_6ch/
│   └── input_module_6ch.c
├── input_module_420ma/
│   └── input_module_420ma.c
├── output_module_6ch/
│   └── output_module_6ch.c
├── output_module_10ch/
│   └── output_module_10ch.c
└── bridge_module/
    └── bridge_module.c

Examples

board

led_blink

Blinks the green status LED on LED slot 1 at 1 Hz (500 ms on / 500 ms off). Demonstrates the minimal startup sequence: hardware version detection, LED initialisation, and a clean shutdown handler.

read_supply_voltages

Reads the K30 (battery) and K15-A/B/C (ignition-switched) supply voltages and prints them in millivolts once per second. Demonstrates starting the background ADC thread, polling the voltage cache with GO_board_controller_power_voltage(), and cleanly stopping the ADC thread on shutdown.

communication

can_send

Sends a CAN frame on CAN bus 1 once per second. Demonstrates opening a CAN socket, composing a frame, and transmitting it.

can_receive

Receives CAN frames on CAN bus 1 and prints each frame to the console. Demonstrates opening a CAN socket and blocking on receive.

mqtt_basic

Connects to a local MQTT broker, publishes CH1 of a 10-channel input module to /gocontroll/sensor/ch1 once per second, and subscribes to /gocontroll/cmd/ch1 for incoming commands. Demonstrates MQTT configure, subscribe, publish, and the status callback.

xcp_basic

Exposes a set of variables over XCP-on-UDP so they can be measured and calibrated from a host tool (e.g. CANape). After building, update_xcp_a2l.sh patches the symbol addresses from the ELF into xcp_basic.a2l and writes xcp_basic_connected.a2l ready for the host tool.

input_module_10ch

input_module_10ch

Reads all 10 channels of a 10-channel input module on slot 1 and prints the measured voltages in millivolts once per second. All channels are configured for analog mV measurement with a 10 kΩ pull-up and 3.3 kΩ pull-down. Both 5 V sensor supplies are enabled.

input_module_10ch_selftest

Hardware self-test for a 10-channel input module on slot 1. Runs three phases using the on-board pull resistors as a known load (no external wiring required): pull-up only, pull-down only, and both active. Expected ADC counts are calculated from the input circuit component values (R51=10kΩ, R52=3.3kΩ, R41=105kΩ, R42=210kΩ, 3.3V reference). Each channel is checked against the expected range and reported as PASS or FAIL. Returns exit code 0 on success, 1 on failure.

input_module_10ch_freq

Reads a frequency signal on CH1 of a 10-channel input module on slot 1 and prints the measured frequency in Hz once per second. CH1 is configured as INPUTFUNC_FREQUENCY without pull-up or pull-down (externally driven signal). CH2–CH10 remain configured as analog mV inputs. Both 5 V sensor supplies are enabled.

input_module_6ch

input_module_6ch

Reads all 6 channels of a 6-channel input module on slot 1 and prints the measured voltages in millivolts once per second. Demonstrates the 6-channel-specific configuration: voltage range selection (5 V / 12 V / 24 V), per-channel analogue filter depth (ADC averaging), and the three independent 5 V sensor supply outputs. All channels are configured for analogue mV measurement with a 24 V range, 10 kΩ pull-up and 3.3 kΩ pull-down. Sensor supply 1 is switched on.

input_module_420ma

input_module_420ma

Reads all channels of a 4–20 mA input module and prints the measured current in microamps once per second.

output_module_6ch

output_module_6ch

Drives a 6-channel output module on slot 2 using two output functions simultaneously. CH1–CH4 are configured as high-side boolean outputs and cycle on one at a time (500 ms each). CH5–CH6 are configured as high-side PWM and the duty cycle ramps continuously from 0 to 100 % and back, at a PWM frequency of 1 kHz. Demonstrates per-channel current limits, PWM frequency configuration (GO_module_output_configure_frequency), and reading per-channel current feedback and module temperature after each GO_module_output_send_values() call.

output_module_10ch

output_module_10ch

Drives a 10-channel output module on slot 2. All 10 channels are configured as high-side boolean outputs and cycle on one at a time, switching each on for 500 ms before moving to the next.

bridge_module

bridge_module

Drives a bridge module. Demonstrates configuring and controlling the bridge output channels.