GOcontroll-CodeBase

C library for programming GOcontroll Moduline controllers. Two build flavours share the same public API:

Define	Target
GOCONTROLL_LINUX	Moduline L4 / Moduline M1 (IMX8 ARM64)
GOCONTROLL_IOT	Moduline S1 (STM32H5 + FreeRTOS)

The S1 platform is selected by the legacy GOCONTROLL_IOT define and lives under code/iot/. Source identifiers are kept for compatibility with the previous product naming.

Repo layout

code/        Public C library — board, communication, modules, XCP, S1 subtree
examples/    Self-contained main()s, one per topic (Linux only at present)
lib/         Vendored third-party (IIO, JSON-C) — do not modify
AGENTS.md    Index for AI coding tools (hard rules + conventions)

Quick start

make led_blink              # build the smallest example
sudo build/app              # run on target

For a working module program, see examples/input_module_10ch/input_module_10ch.c or examples/input_module_6ch/input_module_6ch.c (the latter has the most thorough inline documentation, including the required initialisation order).

Hardware

GOcontroll controllers expose pluggable modules in physical slots. Supported module types:

• Input modules — 6-channel, 10-channel, and 4–20 mA variants.
• Output modules — 6-channel and 10-channel high-side drivers.
• Bridge modules — 2-channel H-bridge / half-bridge drivers.

Module communication runs at 10 ms cycle minimum; output modules trip a fail-safe watchdog if no frame arrives within 400 ms.

Documentation

• AGENTS.md — index for AI coding tools: hard rules, pitfalls, and conventions.
• examples/examples.md — one-line description per example.
• File-level doc-blocks at the top of each code/**/*.h header and each example .c file.

License

Library code: see header doc-blocks (MIT-style). Vendored libraries under lib/ and code/iot/Drivers/ retain their original licenses.