Home

CAN–Ethernet Gateway V2 System Manual

1. i ue ip irre ied 6 Figure 4 Configuration of the Tera Term 1 10 Figure 5 Configuration of the Tera Term 2 10 Figure 6 Start message of the CAN Ethernet Gateway V2 11 Figure 7 Checking the Current Configuration 12 Figure 8 Principle of the CAN Ethernet Gateway 2 13 Figure 9 Construction of the Hardware Parameter Structure 31 Figure 10 Transfer Protocols of the CAN Ethernet Gateway 2 31 Figure 11 Connection State of the CAN Ethernet Gateway 2 32 Figure 12 Structure of a CAN Message 37 Figure 13 Structure of the CAN TimeStamp enn 37 Figure 14 Structure of the 5 40 Figure 15 Desktop Link for Demo Program eese 48 L 1294e 10 SYS TEC electronic GmbH 2014 Index of Figures and Tables Index of Tables Table 1 Configuration of the CAN Plug Connection 7 Table 2 Configuration of the Ethernet Plug Connection 7 Table 3 Meaning of Display 8 Table 4 Meaning of the Key is 8 Table 5 Overview on Interfaces 14 Table 6 Instance Types s xcti cete o ce eet eid ete tats 18 Table 7 Options for Instance Type CAN 20 Table 8 Options for Instance Type
2. Identifier type Interface type CAN Can Interface DLOG Data logger BTP UDP CAN SRV BTP UDP Server BTP UDP CAN CLIENT BTP UDP Client BTP TCP CAN SRV BTP TCP Server BTP TCP CAN CLIENT BTP TCP Client Table 6 Instance Types Sample Interfaces CAN 1 BTP UDP CAN SRV 2 Remotel BTP TCP CAN CLIENT 3 Dlog DLOG With this configuration a CAN Interface BTP UDP Server UDP TCP Client and a data logger are set up Configuration to the single interfaces is described separately 6 3 Section Connections In this section the single instances are connected with each other For each instance a list can be defined from which other instances messages shall be received Sample continued Connections L 1294e 10 SYS TEC electronic GmbH 2014 Gateway Configuration CANO Btp DLog CANO Btp Btp CANO Remotel CANO In this example all messages received through the BTP UDP Server are sent via CAN and reversed Additionally messages from the CAN Bus and BTP UDP Server are stored by data logger Furthermore the messages of the CAN Bus are sent via BTP TCP 6 4 Section InstanceX In the sections InstanceX where X corresponds to the number from Interfaces the single instances are configured The concrete options differ and depend on the instance type 6 4 1 Instance Type Baudrate CAN baud rate in kBaud Can be overwritten by UserBaud Values allowed 20 50 100 125 25
3. 21 Table 9 Options for Instance Type 21 Table 10 Options for Instance Type UDP CAN 21 Table 11 Options for Instance Type TCP CAN 21 Table 12 Options for Instance Type CAN 22 Table 13 Options for Instance Type ASCII TCP SRV 22 Table 14 Construction of an Emergency Message 27 Table 15 Directory Structure of the CAN Ethernet Gateway V2l Utility Disk 28 Table 16 Function range of software states sss 29 Table 17 Error Codes Interface Functions 43 Table 18 Codes nt ner tate opo 45 L 1294e 10 SYS TEC electronic GmbH 2014 Introduction 1 Introduction 1 1 Basics Until now the CAN Ethernet Gateway of the SYS TEC electronic GmbH has been the standard product for the connection of CAN networks Yet it had reached its capacity limit the CAN Ethernet Gateway V2 has been developed without these known limits Internet communication via TCP IP is distributing further within the industrial sector With CAN Ethernet Gateway V2 SYS TEC electronic Ltd presents a solution which serves for interfa
4. 43 BIENTE EIN I A 1 Direct 7 Driver Installation 28 Dynamic Link Library 29 E Error 1 0 28 29 38 EthiCar thm 29 EthCanDeinitHardware 34 44 EthCanGetConnectionState 41 44 EthCanGetStatus 39 EthCanGetVersion 30 EthCanlnitHardware 30 44 EthCanReadCanMsg 36 EthCanResetCan 42 EthCanWriteCanMsg 38 Ethernet Connection 7 ES A EURE adn rl etre 18 Extended CAN Frame 37 F E et see eet 16 cts 16 Firmware Download 51 Firmware Update 51 5 Function Interface EthCan DIl 30 I Interface sn 14 Interface CAN 15 27 Interface TCP Client 15 Interface 15 Interface UDP Client 15 Interface UDP Server 15 IP Address ees 13 J J1939 x een 1 L
5. Application HW INIT Definition This function writes a CAN Message in the send buffer that is established within EthCan DIl If the CAN Message could not be stored in the send buffer e g buffer overflow function returns with error code ETHCAN CANERR QXMTFULL which means that a buffer overflow has occurred Parameter EthCanHandle p Instance Handle of the CAN Ethernet Gateways V2 pSendCanMsg p Address to a CAN Message Structure This address is not allowed to be NULL pSendTime p Address to a TimeStamp Structure This address is not allowed to be NULL Parameter value pSendCanMsg p relates to an address to the structure of a CAN Message as already defined for function EthCanReadCanMsg see section 8 3 2 4 Depending on which CAN L 1294e 10 SYS TEC electronic GmbH 2014 Software Support Message 29 Bit 11 Bit RTR is to be sent the message format has to be defined accordingly see section 8 3 2 4 Parameter value pSendTime p is an address to a TimeStamp Structure This parameter is currently not significant for the function however the address assigned is not allowed to be NULL The structure elements are to initialise with O Return values see section 8 3 3 and 8 3 4 ETHCAN SUCCESSFUL ETHCAN ERR ILLPARAM ETHCAN ERR ILLHANDLE ETHCAN ERR HWNOINIT ETHCAN ERR HWNOTCONNECTED ETHCAN CANERR QXMTFULL Sample tEthCanHandle EthCanHandle tCANMsg CanMsg tCANTimestamp SendTime DWORD dwRe
6. bm c ns ec 5 Be 28 17 O Operating Temperature Range 5 P Plug Connector 5 POWER er eH Ten asc 7 8 Power 5 Provisions 51 R Register 28 37 FOS CU ic dod 18 ee 7 dr EE ESTER 17 ei 1 5 L 1294e 10 SYS TEC electronic GmbH 2014 S SIDE ments sn 1 Nia 5 Software Support 28 Standard CAN Frame 37 Starting the Demo Program 48 Supply Voltage 7 T Oran 9 15 TOPP Seit t emite ate 1 15 Technical Data 5 USB Device Interface 10 L 1294e 10 SYS TEC electronic GmbH 2014 Suggestions for Improvement Document Document number CAN Ethernet Gateway V2 L 1294e 10 Edition December 2014 How would you improve the document Did you find any mistakes in this manual page Submitted by Costumer number Name Company Address Please fax or mail to 49 3765 38600 4100 SYS TEC electronic GmbH Am Windrad D 08468 Heinsdorfergrund GERMANY SYS TED Published by SYS TEC e
7. 2 ED ELECTRONIC CAN Ethernet Gateway V2 System Manual Edition December 2014 SYS TEC electronic GmbH Am Windrad 2 08468 Heinsdorfergrund Deutschland Telefon 49 3765 38600 0 Fax 49 3765 38600 4100 Web http www systec electronic com Mail info systec electronic com SYS TEC electronic GmbH Systems House for Distributed Automation Status Changes Status released Date Version Section Change Eder 16 05 2011 122 tten LLL I rusted 26 04 2012 Adjusttextformat ing Giu protocol EM server configuration 08 05 2014 9 ASCII protocol extended firmware 1 2 2 ll and EthCan dll 12 ee 2014 p LI to Fin parser demo BS NEN ee 17 09 6 5 6 6 Note about INI Format Filter delimeter is INI file comment sign Adjusted examples 24 11 2014 Added option UserBaud 15 12 2014 Added option Timestamp 92 1 Added timestamp description L 1294e 10 SYS TEC electronic GmbH 2014 Product names used in this manual which are also registered trademarks have not been marked additionally The missing mark does not imply that the trade name is unregistered Nor is it possible to determine the existence of any patents or protection of inventions on the basis of the names used All the information in this manual has been checked carefully
8. 0x250 0x252 LogFile tmp logfile txt L 1294e 10 SYS TEC electronic GmbH 2014 Gateway Configuration The data logger saves all data in file tmp logfile txt and only saves CAN Messages with the following IDs 0x250 0x251 0x252 and 0x25a L 1294e 10 SYS TEC electronic GmbH 2014 Gateway Configuration 6 7 Creation of a Configuration Script There is the opportunity to create or edit the configuration file directly within the Linux console For this purpose access via the serial console or Telnet is necessary The text editors vi a reduced variant within the busybox and nano are installed on the module and can be used as preferred For further information it is referred to the particular websites http www vim org docs php http www nano editor org docs php As an alternative the configuration can be created or edited on your PC as well and can be copied to the gateway via FTP For an introduction the standard file that is available can be copied from etc dec default rc to home ceg default rc and edited there Note The configuration file must have the Unix end of line linefeed only in either case L 1294e 10 SYS TEC electronic GmbH 2014 Error Processing 7 Error Processing 7 1 Error Signals of the CAN Ethernet Gateway V2 Errors are signalized through LED light up or through a n entry written in the systemlog This can be found at var log messages The following errors are ind
9. ETHCAN ERR HWCONNECT FAILD ETHCAN ERR MAXMODULES ETHCAN ERR SAL ETHCAN ERR IFBTP Sample define IP ADDR DEFAULT 192 lt lt 0 168 lt lt 8 10 lt lt 16 111 lt lt 24 define IP PORT DEFAULT 8234 DWORD dwRetcode tEthCanHandle EthCanHandle tEthCanHwParam EthCanHwParam EthCanHwParam m dwReconnectTimeout 120000 120s EthCanHwParam m dwIpAddress IP ADDR DEFAULT EthCanHwParam m wPort IP PORT DEFAULT EthCanHwParam m dwConnectTimeout 5000 5s EthCanHwParam m dwDisConnectTimeout 5000 5s without callback function Initializing CAN Ethernet Gateway V2 without callback function dwRetcode EthCanInitHardware amp EthCanHandle amp EthCanHwParam NULL NULL with callback function void PUBLIC EthCanConnectControlFct tEthCanHandle EthCanHandle p WORD dwConnectionState p PARAM pArg p DO switch dwConnectionState_p Connecting case break Connection established case 1 break Connection is being closed case break Connection closed case KCLOSed ae break Initializing CAN Ethernet Gateway V2 with callback function dwRetcode EthCanInitHardware amp EthCanHandle amp EthCanHwParam EthCanConnectControlFct NULL L 1294e 10
10. SYS TEC electronic GmbH 2014 Software Support 8 3 2 3 EthCanDeinitHardware Syntax DWORD STDCALL EthCanDeinitHardware tEthCanHandle EthCanHandle Application HW INIT Definition This function is the complement to the initialisation function EthCanlnitHardware The function works in the Blocked Mode as well as in the Nonblocked Mode The request mode is defined through the request mode of the initialisation function therefore an equivalent is always existent It is the functions role to close a connection and to cause a deinitialization of data structures of the instance The transfer parameter EthCanHandle p describes the instance to be disconnected 1 In the Blocked Mode disconnection is started and its close is awaited The function does not return until the connection has been closed or in case of an error or timeout 2 In the Nonblocked Mode only disconnection is started but a close is not awaited The function returns immediately If connection state changes the callback function is called from the DLL that delivers the current connection state Parameter EthCanHandle p Instance handle of the CAN Ethernet Gateways V2 Return values see section 8 3 3 ETHCAN SUCCESSFUL ETHCAN ERR ILLHANDLE ETHCAN ERR ILLPARAM ETHCAN ERR HWNOINIT ETHCAN ERR HWDISCONNECT FAILD ETHCAN ERR SAL ETHCAN ERR IFBTP ETHCAN ERR HESOURCE Note Function EthCanDeinitHardware is to call as often a
11. gatewayconfig Format usr sbin gatewayconfig Definition Command gatewayconfig serves for network configuration through the bootloader Without an argument options available as well as the current configuration are displayed As root rights are needed for it this program has been installed with the SUID Bit and can be used by everyone L 1294e 10 SYS TEC electronic GmbH 2014 Gateway Configuration 6 Gateway Configuration 6 4 Basics The configuration of the CAN Ethernet Gateway V2 can occur through different ways via the USB Interface with a terminal program see section 4 5 2 a Telnet connection via Ethernet see section 4 5 3 or through download of the configuration file via FTP The configuration of the CAN Ethernet Gateway V2 occurs through a configuration file With just a few exceptions the options are optional and are preset with appropriate standard values if they have not been defined yet The format corresponds to the Windows INI format The configuration file is divided in several sections that configure different parts respectively 6 2 Section Interfaces Within this section the single interfaces or instances are defined The key is a serial number starting at 0 The value to it is the name of the instance and the type separated through spaces The type is special as the name as well defines the CAN instance of the driver Therefore CANO means CAN Bus 0 and CAN1 uses CAN Bus 1
12. 0x301 To filter single CAN IDs the same value has to be set for the lowest and highest CAN ID e g 0x50 0x50 to add CAN ID 0x50 to the filter list Note Because is the comment sign in the INI file format any filter configurations must be enclosed within if more than one filter is used 6 6 Sample for a Customer Specific Configuration Script In the following a sample configuration with explanations is shown Interfaces O CANO CAN 1 Btp BTP UDP CAN SRV 2 Dlog DLOG The single interfaces are entered in this area in this case a CAN interface for Bus 0 refer to section 6 2 Additionally there is a BTP UDP Server and a data logger Connections CANO Btp DLog CANO Btp Btp CANO In this area the single instances are connected with each other In the following example CAN is connected with BTP in both directions and the data logger receives all CAN Messages from the CAN Bus and BTP Instance0 BaudRate 1000 FilterStdRejectIn 0x251 0x251 0x300 0x301 FilterStdAllowIn 0x0 Ox7ff FilterStdAllowOut 0x0 0x7ff Instance 0 refers to key 0 from Interfaces and therefore a CAN interface exists The baud is set to 1000kBaud The filters allow for a sending and receiving of all 11Bit CAN IDs whereas the IDs 0x251 0x300 and 0x301 are not accepted for receiving Instancel LocalPort 8234 The BTP Server uses the UDP Port 8234 and waits for connections Instance2 FilterStdAllow 0x25A 0x25A
13. 2 The Function Interface of the EthCan DII This chapter describes the interface functions of the CAN Ethernet DLL in its tasks application and return values The use of functions is shown through Code Examples All parameter values of the functions are chosen in order that the DLL can be applied with program languages as Pascal or Visual Basic as well 8 3 2 1 EthCanGetVersion Syntax DWORD STDCALL EthCanGetVersion void Application DLL INIT HW INIT Definition Function returns the software version number of the EthCan DII Parameter none Return Value The return value is the software version number in format DWORD It is constructed as follows Bit O to 7 higher version number in binary format Bit 8 to 15 lower version number in binary format Bit 16 to 31 Release version number in binary format Application sample DWORD dwVersion char szVersion 16 get version number dwVersion EthCanGetVersion change into string wsprintf szVersion V d 02d r d dwVersion amp Oxff dwVersion amp Oxff00 58 dwVersion gt gt 16 8 3 22 EthCanlnitHardware Syntax DWORD STDCALL EthCanlnitHardware tEthCanHandle pEthCanHandle p tEthCanHwParam pEthCanHwParam p tEthCanCbConnectFct fpoEthCanCbConnectFct LPARAM pArg p Application DLL INIT Definition This function installs all necessary data structures and establishes a connection to the addressed CAN Ethernet Gateway V2 The paramet
14. 22 45 38 UTC 2062190738 FS Hounted root jffs2 filesysten readonly on device 31 4 reeing init memory 100K ACADOR 20 91 58 20 00 11 192 168 10 169 ATEHAY 192 168 10 1 255 255 255 0 HSSERUER 192 168 10 5 nable netuork interface done dd default route done Insert DNS server to etc resolv conf done yslog ng starting yslog ng done rond starting rond done tarting telnetd ure ftpd no etc pure ftpd defaults found usr sbin pure ftpd ure ftpd starting pure ftpd usr sbin pure ftpd ure ftpd no upload script defined skipping lone andry module license SVSTEC taints kernel isabling lock debugging due to kernel taint thl link up 100 Full tart ing CAH Ethernet Gateuay done uv login ll Figure 6 Start message of the CAN Ethernet Gateway V2 In both cases Login prompt appears directly after the boot process Login and password are requested to access the system The Login is gw with the standard password gw For administrative tasks e g a firmware update the user root with the standard password root is intended This user provides access to the whole system Note Take care while working as user root as in case of non booting a system recovery without further support in principle is only possible at Full variant As the CAN Ethernet Gateway V2 is based on Linux with a JFFS2 file system there are different commands to work with it The most important com
15. 4 and Figure 5 BTP Block Transfer Protocol for transferring CAN Telegrams via UDP IP L 1294e 10 SYS TEC electronic GmbH 2014 Implementation 7 Tera Term disconnected VT 5 xl File Edit Setup Control Window Resize Help 55H Forwarding SSH KeyGenerator TCP IP General Additional settings Save setup Restore setup Load key map Figure 4 Configuration of the Tera Term 1 inix File Edit Setup Control Window Resize Help Tera Term Serial port setup Port coms gt OK 115200 gt Data _ Parity none Stop gt Help Flow control none gt jo msec char Jo msec line delay Figure 5 Configuration of the Tera Term 2 e Please ensure that the power supply is connected correctly and switch on the supply voltage e Please consider that only at the Full variant the emulated serial interface is created with the connection of the power supply and can be used immediately The boot messages are visible at this variant only In the variant with CDC ACM the interface is not created before Linux has booted L 1294e 10 SYS TEC electronic GmbH 2014 Implementation M COM3 115200baud Tera Term nl File Edit Setup Control Window Resize Help tc pcf8563 0 0051 lou voltage detected date time is not reliable tc pcf8563 0 0051 setting sustem clock to 2035 05 07
16. 8 Instance Type UDP CAN 21 6 4 4 Instance Type CAN CLIENT rennes 21 6 45 Instance Type SRV rennes 21 6 4 6 Instance Type CAN CLIENT nn rennes 22 6 4 7 Instance Type ASCII 5 22 6 5 FIETERING boot oe obo es Sook o ve M Ma Der net ee ee Be dures 22 6 6 SAMPLE FOR A CUSTOMER SPECIFIC CONFIGURATION SCRIPT us 23 6 7 CREATION OF A CONFIGURATION SCRIPT iii 25 7 26 7 1 ERROR SIGNALS OF THE CAN ETHERNET GATEWAY V2 26 7 2 ERROR MESSAGES VIA 27 1 3 STATUS OVERVIEW acie ee RO RU Erebi a 27 8 SOFTWARE innen 28 8 1 CONNECTION CAN ETHERNET GATEWAYS V2 TO THE PC 28 8 2 DRIVER INSTALLATION ON WINDOWS ccccscccsssecssecesssecssecesseeessecesseecssecesseecssecessesessecessesesaeceseesenaeeses 28 8 3 THE DYNAMIC LINKED LIBRARY ETHCAN DLL eren eren ennt enn nne 29 8 3 1 The Concept of EthCan Dll eiiis inner 29 8 3 2 The Function Interface of the EthCan DIl sse nennen nnne nne 30 8 321 EthCanGetVersion iii 8 3 2 2 tere tmt ete iet Nm dp ERR D 8 323 EihGanDeinitHardware cce ete ne ic 8 3 24
17. Client shall connect to Standard 0 0 0 0 RemotePort Port the BTP UDP Client shall connect to Standard 8234 ReconnectionType Settings for automatic reconnection in case of connection loss 0 no reconnection 1 reconnection if message is to send 2 immediate reconnection Standard 2 TriggerTime Indicates after how many ms the BTP Transfer shall start at the latest Standard 0 TriggerCount Indicates after how many CAN Messages the BTP Transfer shall start at the latest Standard 1 Table 12 Options for Instance Type CAN CLIENT Note For a TCP BTP connection between CAN Ethernet Gateway V2 and the CAN Ethernet Gateway V1 the result can be an overload of Gateway V1 with TCP due to performance differences To prevent message loss and failures it is recommended to set TriggerTime and TriggerCount to 10 at least According to the concrete CAN Bus Message volume those values may be increased further 6 4 7 Instance Type ASCII SRV LocalPort Port the ASCII TCP Server is connected to Standard 12000 Timestamp Set to non zero to enable sending timestamps on ASCII protocol Standard 0 Table 13 Options for Instance Type ASCII SRV 6 5 Filtering Filtering options are the same for all instances if supported There are separate settings for standard and extended CAN IDs 11 or 29 Bits Settings can be made separately for sending and receiving e g which messages shall
18. File as well as a relating Header File which shows the application of the DLL functions in form of a Demo Program L 1294e 10 SYS TEC electronic GmbH 2014 Software Support 8 3 The Dynamic Linked Library EthCan DIl Die Dynamic Linked Library EthCan DIl is a function library for application programs It serves as interface between the Windows Socket and an application program It is further responsible for managing connected CAN Ethernet Gateways V2 as well as for transmission of CAN Messages in IP packets and reversed For the inclusion of the DLL into an own project the EthCan Lib can be added to the project Thereby the DLL is loaded automatically when the application program is started In case the LIB is not directly linked to the Project the DLL has to be loaded with the Windows Function LoadLibrary and the library functions have to be added including the function GetProcAaress The STDCALL Directive of the request functions of the DLL serves for a standard request interface to the user It is thereby ensured that also applicants of other programming languages e g Pascal are able to use those functions 8 3 1 The Concept of EthCan DIl With file EthCan DIl a maximum of 5 CAN Ethernet Gateways V2 can be requested within an application at the same time Furthermore the application can access a maximum of 5 further CAN Ethernet Gateways V2 that have the same remote addresses as in application 1 as several i
19. Standard leer ListenOnly Enables the Listen only Mode of the CAN Controllers 0 disabled 1 enabled Standard 0 EnableErrorMsg Enables sending of CAN Error Messages 0 disabled 1 enabled Standard 0 ErrorMsgld CAN ID of the CAN Error Message L 1294e 10 SYS TEC electronic GmbH 2014 Gateway Configuration Only Standard CAN IDs supported Standard OxFE Table 7 Options for Instance Type CAN L 1294e 10 SYS TEC electronic GmbH 2014 Gateway Configuration 6 4 2 DLOG LogFile File name of the Log file has to be specified here FilterStdReject Filter list containing Standard CAN IDs that shall not be saved Standard empty FilterStdAllow Filter list containing Standard CAN IDs to be saved Standard empty FilterExtReject Filter list containing extended CAN IDs to be saved Standard empty FilterExtAllow Filter list containing extended CAN IDs to be saved Standard empty Table 8 Options for Instance Type DLOG 6 4 3 Instance Type SRV LocalPort Port the BTP UDP Server is connected to Standard 8234 TriggerTime Indicates after how many ms the BTP Transfer shall start at the latest Standard 0 TriggerCount Indicates after how many CAN Messages the BTP Transfer shall start at the latest Standard 1 Table 9 Options for Instance Type CAN SRV 6 4 44 I
20. instance see 6 4 7 Format Time Time base is 1ms ID Type S Standard CAN ID E Extended CAN ID Frame Type D Data Frame R RTR Frame CAN ID Value of the actual CAN ID The prefixes Ox for hexadecimal and 0 octal are supported Any value without a prefix is interpreted as decimal value Please note that depending on the ID Type different value ranges L 1294e 10 SYS TEC electronic GmbH 2014 ASCII Protocol are valid DLC The number corresponding to the Data Length Code of the CAN message Valid Values 0 1 2 3 4 5 6 7 8 lt Data Bytes gt is a list of numbers separated by semicolon that correspond to the CAN message data bytes Similar to the CAN ID the prefixes for hexadecimal 0x and for octal 0 are supported The data bytes are in the order starting with data byte 0 followed by data byte 1 and so forth The maximum number of data bytes is 8 It is important to note and make sure that the actual number of data bytes must correspond to the number provided in the element DLC The only exception is RTR frames which do not have actual data bytes but a DLC value greater than 0 Note Beginning with firmware version 1 2 2 the gateway will generate all DLC and data bytes using the format 0x00 Also the CAN ID will be in format Ox7ff resp Ox1fffffff This allows an easier parsing as the length of the elements is fixed A demo implementation
21. needed see Table 3 The displays are summarized on the LED board according to the CAN nets and represent their status Furthermore there is a diagnosis LED of the gateway application available e Only available at completion stage e At the completion stage both Ethernet LEDs are available at the connector and board as well LED Description Definition Power 24V Power Supply OK CAN state 0 1 CAN Bus 0 1 in use CAN error 0 1 Error during data transfer to CAN Bus 0 1 see section 7 1 Diagnose Diagnosis LED of the gateway application Link Green Ethernet link available Cabling OK Flashing Ethernet traffic Off no Ethernet link Speed Orange 100MBit s Off 10MBit s CAN traffic 0 1 Signaling of data traffic on the CAN Bus 0 1 Table 3 Meaning of Display Elements 4 4 Buttons The CAN Ethernet Gateway V2 has two key buttons see Table 4 defined as follows Key Button No Description Definition 1 Reset Short press will reset the module and causes a restart 2 Boot Pressing the key during booting may cause a reset of configuration options to ensure access to the module in emergency situations Reset includes the following e Passwords of root and gw are deleted e Network configuration e Gatewayconfig Table 4 Meaning of the Key L 1294e 10 SYS TEC electronic GmbH 2014 Implementation 4 5 Implementation 4 5 1 Standard Configuration Factory provided t
22. of an ASCII parser can be found at http Awww systec electronic com can ethernet in the tab Downloads Use the download CAN Ethernet Gateway V2 ASCII parser example Note Beginning with firmware version 1 2 4 the gateway is able to send and receive timestamps This feature is optional and disabled by default to be compatible with current implementations Regardless of the configuration reception of ASCII frames including the timestamp is always possible L 1294e 10 SYS TEC electronic GmbH 2014 Firmware Update 10 Firmware Update To make a Firmware update the new firmware has to be loaded onto the gateway via FTP An update is started via Telnet or the USB Interface Thereby the new software is written into the non volatile program memory flash This process needs an existing Ethernet connection between the gateway and the PC On the PC a FTP client and a terminal program are needed 10 1 Preparation The following steps are necessary for arranging the firmware update 1 Please connect the voltage supply to the CAN Ethernet Gateway V2 2 After booting has finished establish a connection to the gateway via FTP 3 Please establish a connection to the console via the terminal program or a Telnet client log in as root 10 2 Firmware Download Please copy the new firmware to tmp onto the gateway via FTP Afterwards a FTP connection is no longer needed and can be disconnected Now start the update program gate
23. of the program to be executed as well as IP address port number and the transfer protocol required Two samples for a call are demonstrated Sample 1 Release EthCanDemo exe 192 168 010 111 8234 TCP Sample 2 Release EthCanDemo exe 192 168 010 111 8234 UDP The single parameters are separated through spaces Through confirmation via the enter key the demo application is started The second opportunity exists in creating a link on the desktop as shown in Figure 15 Please go to the desktop and create a new link Afterwards please direct the target range to the directory where the executing program is stored Following the target directory the IP address port number and the transfer protocol are to specify separated through spaces L 1294e 10 SYS TEC electronic GmbH 2014 ASCII Protocol 9 ASCII Protocol In order to provide more flexibility in the corresponding counterpart to the CAN Ethernet Gateway V2 the ASCII protocol support has been added The data format was designed in a way that it allows for manual interpretation of the transmitted data 9 1 Establishing Connection The ASCII protocol is based on the TCP protocol and uses port 12000 by default This pre assigned port can be changed using appropriate configuration When multiple ASCII instances are being used a different TCP port must be used for each instance As soon as a TCP connection has been established ASCII messages can be transmitted over
24. the CAN Ethernet Gateway V2 The CAN Ethernet Gateway V2 will also start transmitting messages if new data are available through its interface 9 2 Transmission Format All ASCII messages start with character and are terminated by using the character It is also possible to send multiple ASCII messages in a bulk transmission given the presence of the start and end character To provide easier manual data interpretation it is allowed to add a carraige return symbol CR and or a new line symbol NL n between the end character of one message and the start character of the following message However this procedure is not mandatory The CAN Ethernet Gateway V2 will automatically attach these symbols automatically to an ASCII message All elements of the ASCII message are separated by a and there cannot be any spaces carriage returns or other non compliant characters within each ASCII message Messages with syntactical errors or incorrect content will be discarded without system interruption or notification Principal format Typ type specific contents gt 9 2 1 CAN messages will be transmitted as ASCII messages which have the following Format CAN Timestamp ID Typ Frame Typ CAN ID DLC Data Bytes The following values are allowed for each of the available elements Element Valid Values Timestamp Will only be sent if enabled for this
25. while resetting the CAN Interface 8 3 3 Description of Error Codes The functions of the EthCan DIl return an error code in form of a DWORD Each return value relates to an error The following table shows all error codes and their numerical values Error Code Numerical Value ETHCAN SUCCESSFUL 0x0 ETHCAN_ERR_ILLPARAM 0x1 ETHCAN_ERR_ILLPARAMVAL 0x2 ETHCAN_ERR_ILLHANDLE 0x3 ETHCAN ERR HWNOINIT 0x4 ETHCAN_ERR_HWINUSE 0x5 ETHCAN_ERR_HWNOTCONNECTED 0x6 ETHCAN_ERR_HWCONNECT_FAILED 0x7 ETHCAN_ERR_HWDISCONNECT_FAILED 0x8 ETHCAN_ERR_MAXMODULES 0x9 ETHCAN_ERR_SAL OxA ETHCAN ERR IFBTP OxB ETHCAN ERR RESOURCE OxC Table 17 Error Codes Interface Functions EthCan DII ETHCAN SUCCESSFUL Function executed successfully L 1294e 10 SYS TEC electronic GmbH 2014 Software Support ETHCAN ERR ILLPARAM Illegal parameter was transferred to the called function Most common is the transfer of a Null pointer in this case ETHCAN ERR ILLPARAMVAL Invalid parameter value was transferred to the called function ETHCAN ERR ILLHANDLE An invalid instance handle was transferred to the called function One reason is the transfer of an instance handle with an invalid instance number e g 0 A further reason is that the driver is supporting not more than 5 instances of the CAN Ethernet Gateways V2 which means that a transfer of an instance handle higher than 5 leads to the same error ETHC
26. without specifying a callback function The reason is that no connection to the given remote address could be established within a timeout that was passed to the parameter structure during initialization The Default Timeout in the Header File EthCan32 h is set to 5s If a specific timeout value was passed during initialization it has to be checked whether the timeout is sufficient for a successful link connection depending on distance and network topology The given parameters e g IP Address and Port Number are to be checked for correctness and whether the remote address is accessible through the Ethernet connection ETHCAN ERR HWDISCONNECT FAILED This error code is only returned from function EthCanDeinitHardware if it is called in the blocked mode The reason is that within the timeout which has been passed to the parameter structure during initialization the connection to the given route address could not be closed The Default Timeout in the L 1294e 10 SYS TEC electronic GmbH 2014 Software Support Header File EthCan32 h is set to 5s If a specific timeout value was passed during initialization it has to be checked whether the timeout is sufficient for a successful link connection depending on distance and network topology ETHCAN ERR MAXMODULES The maximum number of CAN Ethernet Gateways V2 supported by DLL has been reached Initialization of a further instance is impossible Please reinitialize possible instances tha
27. 0 500 800 1000 Standard 125 UserBaud User specified bitrate If set any setting in Baudrate is ignored Standard undefined Upon any questions about calculation or possibility of custom bitrates please contact the support at support systec electronic com and visit our homepage at hitp www systec electronic com Acr Acceptance Code Register Standard 0 Amr Acceptance Mask Register Standard OxFFFFFFFF LowbufRxMaxEntries Size of the receive buffer in the CAN driver Standard 5000 LowbufTxMaxEntries Size of the send buffer in the CAN driver Standard 5000 FilterStdRejectln Filter list with standard CAN IDs not allowed to be received Standard empty FilterStdAllowIn Filter list containing Standard CAN IDs allowed to be received Standard lt empty gt FilterStdRejectOut Filter list containing Standard CAN IDs that shall not be sent Standard lt empty gt FilterStdAllowOut Filter list containing Standard CAN IDs that shall be sent Standard lt empty gt FilterExtRejectin Filter list containing extended CAN IDs not allowed to be received Standard lt empty gt FilterExtAllowIn Filter list containing extended CAN IDs allowed to be received Standard empty FilterExtRejectOut Filter list containing extended CAN IDs that shall not be sent Standard empty FilterExtAllowOut Filter list containing extended CAN IDs that shall be sent
28. 1000 has failed Please refer to the Manual for the CAN Controller SJA 1000 for further information ETHCAN CANERR MEMTEST The storage test of the SJA1000 has failed Please refer to the Manual for the CAN Controller SJA 1000 for further information L 1294e 10 SYS TEC electronic GmbH 2014 Software Support 8 3 5 Application of DLL Functions 8 3 5 1 Demo Project As described in chapter 8 2 a Demo Project is designed in the installation path This project contains a C source code file Demo c as well as the related header file Demo h and shows the application of the DLL interface function Thereby the EthCan DIl is loaded dynamically to the running time through function LoadLibrary and the functions pointers are determined through function GetProcAddress The Demo Program is based on a WIN32 console application and is restricted to the support of an instance of the CAN Ethernet Gateways V2 After starting the program and loading of the EthCan DIl a connection is established to CAN Ethernet Gateway V2 addressed the IP address and port number If the connection could be established successfully a CAN Message is sent periodically with CAN ID 0x180 For checking the reception of a CAN Message via Ethernet and the following sending of the CAN Message on the CAN Bus of the Gateway an analyzing tool e g PCAN Explorer by Peak that is connected to the CAN Bus of the CAN Ethernet Gateways V2 shall be used Send
29. 3004010 CAN Ethernet Gateway V2 1xCAN Standard Version inside enclosure for carrier rail construction incl a 2 pin peelable bolted connection and a 2x5 pol control spring connection or 3004011 CAN Ethernet Gateway V2 2xCAN Standard Version inside enclosure for carrier rail construction incl a 2 pin peelable bolted connection and a 2x5 pol control spring connection or 3004013 CAN Ethernet Gateway V2 1xCAN Extended Version inside enclosure for carrier rail construction incl a 2 pin peelable bolted connection and a 2x5 pol control spring connection or 3004014 CAN Ethernet Gateway V2 2xCAN Extended Version inside enclosure for carrier rail construction incl a 2 pin peelable bolted connection and a 2x5 pol control spring connection WK806 USB connection cable plug series plug series B 1 8m L 1314 Product insert sheet L 1294e 10 SYS TEC electronic GmbH 2014 Technical Data 3 Technical Data The CAN Ethernet Gateway V2 exhibits the following technical data and functionalities System software Linux Control and monitor of remote CAN networks via the internet Connection of two CAN networks Gateway configurable via Telnet FTP remote maintenance or serial interface via USB Connector File system for configuration data Flexible configuration through implementation of several interfaces see section 4 2 Large filter mechanisms for CAN Messages Generation of a timestamp for CAN Messages Connec
30. 5 2 Is Format ls lt dir gt Definition Command 1s shows the file of the current or indicated directory With option 1 further information are displayed for each single file and directory Sample ls 1 etc ceg rw r r 1 root root 578 Jun 10 2010 default rc 5 5 3 rm Format rm lt fname gt Definition Command rm allows for deletion of files and directories lt fname gt corresponds to the name of the file to delete Option r recursive has to be specified additionally Alternatively rmdir can be used for deleting directories Sample rm home datei l deletes file file in directory home 5 5 4 cat Format cat lt fname gt Definition Command cat displays the content of the lt fname gt Sample cat filet displays the content L 1294e 10 SYS TEC electronic GmbH 2014 Device Function 5 5 5 version Format version Definition Command version shows the version of the CAN Ethernet Gateway V2 Firmware Sample version V1 01 2010 07 0 CAN Ethernet Gateway V2 0 5 0 00042 g25ba83c U Boot version 2010 03 00042 gacdb25b PCB Version 4248 1 5 5 6 exit Format exit Definition Command exit terminates the Telnet session Strg D can be used alternatively 5 5 7 reboot Format sbin reboot Definition Command reboot restarts the CAN Ethernet Gateway V2 a software reset is asserted The absolute path is needed as directory sbin does not exist in PATH for the restricted user 5 5 8
31. AN ERR HWNOINIT This function was called with an instance handle for which the relating initialization function of the hardware has not been called yet Therefore function EthCaninitHardware is to call which returns a valid instance handle after a successful connection ETHCAN ERR HWINUSE Function EthCanlnitHardware was called with an instance handle for which the initialization routine has been called successfully To process a further initialization with probably changed parameter values reinitialization function EthCanDeinitHardware is to call in either case before reinitialization can take place ETHCAN ERR HWNOTCONNECTED The function has been called for which there was no connection of the CAN Ethernet Gateways V2 when the call occurred One reason could be a connection loss due to a loss of the physical network connection Ethernet cable was disconnected If a callback function has been specified during initialization a reaction to the connection loss is immediately possible The send and receive functions for CAN Messages shall not be called until connection state is in the kEstablished state If a callback function has been defined the connection state can be polled via function EthCanGetConnectionState and after a successful Reconnect a call of the function can be repeated ETHCAN ERR HWCONNECT FAILED This error code is only returned by function EthCaninitHardware if it is called in the blocked mode i e
32. B and Ethernet The shield therefore is to connect additionally with PE near the module 2x5 pin Name Description 1 V CAN GND CAN Ground 2 CL CAN L CAN L bus line 3 SH CAN SHLD CAN Shield 4 CH CAN H CAN H bus line 5 V CAN disconnected Table 1 Configuration of the CAN Plug Connection 4 2 2 Ethernet Connection The Ethernet 10Base T 100Base TX is connected by means of a usual CAT 3 or CAT 5network cable with a RJ45 plug For the direct connection without hub or switch of a CAN Ethernet Gateway V2 with a PC a Crosslink Cable is needed The Ethernet connection is DC decoupled from the CAN Ethernet Gateway V2 Pin Name Description 1 TX Transmit Data 2 TX Transmit Data 3 RX Receive Data 4 Disconnected 5 n c Disconnected 6 RX Receive Data 7 Disconnected 8 Disconnected Table 2 Configuration of the Ethernet Plug Connection L 1294e 10 SYS TEC electronic GmbH 2014 Implementation 4 2 3 USB Device Interface The CAN Ethernet Gateway V2 features a USB Device Interface which is connected to it via a USB plug of Type B This interface allows for configuration of the CAN Ethernet Gateways V2 This connection is especially made for initial configuration see section 3 5 The USB Device Interface is not DC decoupled 4 3 Status Display To display the operating status 10 or 8 LEDs are
33. EthCanReadCanMsg sienne 8 3 2 5 EtheanWriteCanMSg tele elated ened 8 3 2 6 EthGanGetStatus Le e ic cie RUE OR HR e EE E Pee de a e als 8 8 2 7 EthCanGetConnectionState 8 3 2 8 meti i D Be MS 8 3 3 Description of Error Codes 8 3 4 Description of CAN Error Codes 45 8 3 5 X Application of DLL Functions ss 47 8 3 5 1 Derio ProJect iiie eie eai mn iin sn OR Eee re Ue Re ra 47 NE einiges 49 9 1 ESTABLISHING eene deo ue ae ee ex RE de o 49 92 TRANSMISSION FORMAT be n 49 9 2 1 a aded mer dan aiaia a i qae e quei ges 49 10 FIRMWARE UPDATE Rua Y RE 51 PREBPARATION D e v o EU DOE Re vet 51 10 2 FIRMWARE DOWNLOAD c ccccsccesssecssecesseecssecesssecssecesseccssecessecessecsssecessecsseceasecesseceauecsseseauecesseseasecenees 51 L 1294e 10 SYS TEC electronic GmbH 2014 Index of Figures and Tables Index of Figures Figure 1 Transparent Connection of two CAN 2 Figure 2 Remote Diagnosis of CAN Networks using a 3 Figure 3 D vic
34. REGTEST 0x0100 ETHCAN CANERR MEMTEST 0x0200 Table 18 CAN Error Codes ETHCAN CANERR OK No CAN Error occurred L 1294e 10 SYS TEC electronic GmbH 2014 Software Support ETHCAN CANERR XMTFULL The send buffer in the CAN Controller of the CAN Ethernet Gateways V2 has reached the maximum number of CAN messages ETHCAN CANERR OVERRUN The receive buffer in the CAN Controller of the CAN Ethernet Gateways V2 has reached the maximum number of CAN Messages ETHCAN CANERR BUSLIGHT The error counter in the CAN Controller has reached Warning Limit 1 Please refer to the CAN Controller SJA 1000 Manual for further information ETHCAN CANERR BUSHEAVY The error counter in the CAN Controller has reached Warning Limit 2 Please refer to the CAN Controller SJA 1000 Manual for further information ETHCAN CANERR BUSOFF The CAN Controller changed to state BUS OFF due to the error counters to avoid a further interference of the CAN Bus ETHCAN CANERR QRCVEMPTY The receive queue for CAN Messages within the DLL does not contain CAN Messages i e all CAN Messages were read out or no further CAN Messages have been received ETHCAN CANERR QOVERRUN There is an overflow in the receive queue for CAN messages Thereby CAN Messages could be lost ETHCAN CANERR QXMTFULL There is an overflow of the send queue for CAN messages in the DLL Thereby CAN Messages could be lost ETHCAN CANERR REGTEST The register test for the SJA
35. ale 14 5 2 3 UDP TCP Glient Interface esee ann E 14 5 2 4 CAN Intertace ii 14 5 2 5 Data logger Interface seen 14 MEE dlc M 15 5 42 FILE SYSTEM re eO ERREUR HO RIEN REES 15 5 4 1 o a 15 5 5 DESCRIPTION OF IMPORTANT 5 nnne tnter internet 16 ME EM 16 ID E E 16 DOD E 16 5 5 4 16 5 5 5 17 5 5 6 gt oiled cin 17 9 957 NOD iid eue tei dA ee aeter te ade enacted as eae ER A o de eden 17 5 5 0 gateWayCOhflg s e eite entr fee eee tte Pe ee eere pe teen reno 17 6 GATEWAY CONFIGURATION 2 ano au tn rano no tn ran ao tu rano Yo an saam aru 18 6 1 BASICS etm rede eer te OE ee Der dte 18 6 2 SECTION INTERFACES cerent rere ihe ein REINE 18 6 3 SECTION GONNECTIONS 7 ioter tree ipe tee p eret EPA eee e petet nd 18 6 4 SECTION INSTANGEX tete tO EE esse ron 19 L 1294e 10 SYS TEC electronic GmbH 2014 Table of Contents 6 4 1 Instance Type 004 inest 19 6 4 27 Instance Type aduer oett tis e ele e ie bebe dede d e 21 6 4
36. and is believed to be correct However it is expressly stated that SYS TEC electronic GmbH does not assume warranty or legal responsibility or any liability for consequential damages which result from the use or contents of this user manual The information contained in this manual can be changed without prior notice Therefore SYS TEC electronic GmbH shall not accept any obligation Furthermore it is expressly stated that SYS TEC electronic GmbH does not assume warranty or legal responsibility or any liability for consequential damages which result from incorrect use of the hardware or software The layout or design of the hardware can also be changed without prior notice Therefore SYS TEC electronic GmbH shall not accept any obligation Copyright 2014 SYS TEC electronic GmbH All rights reserved No part of this manual may be reproduced processed copied or distributed in any way without prior written permission of SYS TEC electronic GmbH Contact Address SYS TEC electronic GmbH Am Windrad 2 08468 Heinsdorfergrund GERMANY Offer Hotline 449 3765 38600 2110 info systec electronic com Technical Support 49 3765 38600 2140 support systec electronic com Fax 49 3765 38600 4100 Website http www systec electronic com L 1294e_10 SYS TEC electronic GmbH 2014 Table of Contents TABLE OF CONTENTS 1 INTRODUCTION 275255275222 anna mund aha hu
37. ate p case kEstablished wwe EthCanInst g EthCanHandle p fConnected TRUE break case case kClosing case kClosed break void main void DWORD dwRetcode tEthCanHandle EthCanHandle EthCanInst g EthCanHandle p m fConnected FALSI Fl Initializing a CAN Ethernet Gateway V2 with callback function dwRetcode EthCanlnitHardware amp EthCanHandle amp EthCanConnectCon EthCanHwParam trolFct NULL L 1294e 10 SYS TEC electronic GmbH 2014 Software Support if dwRetcode ETHCAN SUCCESSFUL printf n Successfully initialised n dwRetcode EthCanDeinitHardware EthCanHandle if dwRetcode ETHCAN SUCCESSFUL printf n Successfully closed n Waiting for disconnection signalized trough callback function do Sleep 10 while EthCanInst g EthCanHandle m fConnected End application return dwRetcode 8 3 2 4 EthCanReadCanMsg Syntax BYTE STDCALL EthCanReadCanMsg tEthCanHandle EthCanHandle p tCANMsg pHcvCanMsg p tCANTimestamp pRcvTime_p Application HW INIT Definition This function reads a CAN Message from the receive buffer of the DLL The CAN Message is thereby deleted from the receive buffer If there is no message in the receive buffer the function delivers ret
38. ay and DNS Server should be set up before running the program The IP address 0 0 0 0 signifies automatic network configuration through DHCP The settings will become effective after restart For this purpose the command reboot can be used After the restart please check the current configuration via the program gatewayconfig Therewith the network configuration is finished and the gateway can be run via Ethernet e g Telnet M COM3 115200baud Tera Term loj File Edit Setup Control Window Resize Help sage gateuauconfig lt option gt lt value vailable options ipaddr host IP address netnask netuork nask dnsip DNS server IP address gateuayip gateway IP address urrent conf igurat ion ipaddr 192 168 10 169 etnask 255 255 255 0 Figure 7 Checking the Current Configuration 4 5 3 Configuration and Operation through Telnet At current operation of the CAN Ethernet Gateway V2 the configuration can be carried out via Telnet TCP Port 23 The scope of operation is the same as with USB Device Interface Access via Telnet permits the configuration of remote CAN Ethernet Gateways V2 For it a one time configuration of the IP address see section 4 5 3 is needed Without this one time configuration of the IP address the CAN Ethernet Gateway V2 is accessible through its Standard configuration see section 4 5 7 When working on Linux the program telnet can be used A default
39. be received and which rejected Sending and receiving may be configured different for the particular instance Therefore receiving for the CAN Instance means the forwarding of CAN Messages from the CAN Bus to the gateway Sending means the forwarding of CAN Messages from the Gateway to the CAN Bus It is therefore possible that a receiving of a message via the CAN interface is allowed However the data logger may not save the message after it has been forwarded to it For some instances e g the data logger there are only filter settings available for receiving as the data logger cannot create any messages by itself In general there are only messages forwarded whose ID has been accepted Accept Rule but has not been rejected explicitly reject rule This means that without settings all messages are rejected For all filters the following syntax applies which can be specified as value within the configuration file lt FilterList gt lt FilterEntry gt lt FilterList gt L 1294e 10 SYS TEC electronic GmbH 2014 Gateway Configuration lt FilterEntry gt lt CanldLow gt lt CanldHigh gt lt CanldLow gt lowest CAN ID for filter area lt CanldHigh gt highest CAN ID for filter area e g FilterStdAllowIn 20x0 0x7ff Allows for receiving of all 11Bit CAN IDs FilterStdAllowIn 20x0 0x7ff FilterStdRejectIn 0x251 0x251 0x300 0x301 Allows for receiving of all 11Bit CAN IDs except 0x251 and between 0x300 and
40. cing CAN networks through the Internet Ethernet and to control the networks via remote access The CAN Ethernet Gateway V2 takes over communication and provides a transparent working application interface to the user based on CAN A transparent protocol independent transmission of the CAN Messages takes place which serves for a large application area Thus the CAN Ethernet Gateway can be applied with different CAN protocols e g CANopen SDS J1939 DeviceNet or company specific protocols etc The CAN Ethernet Gateway V2 can be applied with a transfer rate up to 1MBit s within CAN networks according to CAN specifications 2 0A 11 Bit CAN identifier and 2 0B 29 Bit CAN Identifier For each CAN Message a TimeStamp can be generated and transferred together with the date through the CAN Ethernet Gateway V2 The CAN Ethernet Gateway V2 can be set up via an asynchronous serial interface UART to RS232 incl hardware flow control or a Telnet connection The user is able to adjust the functions of the CAN Ethernet Gateway V2 to the particular application area For the communication between the CAN Ethernet Gateways V2 an UDP IP based network protocol BTP Block Transfer Protocol is used Therewith CAN Messages are transferred with a minimal time lag within the Ethernet Time for establishing and cancelling of network connections of the TCP IP protocol is dropped There is also the opportunity to transfer the CAN Messages via TCP IP Networ
41. ctions to be indicated to this instance as parameter value pEthCanHwParam p Address to the structure of the hardware parameter This variable is an address to a hardware parameter structure of type tEthCanHwParam is constructed as follows typedef struct DWORD m dwlpAddress P address WORD m wPort Port Number tUsedProtocol m UsedProtocol Protokoll UDP oder TCP DWORD m_dwReconnectTimeout Timeout fur Reconnect DWORD m_dwConnectTimeout Timeout fur Connect DWORD m dwDisconnectTimeout Timeout f r Disconnect tEthCanHwParam Figure 9 Construction of the Hardware Parameter Structure This structure has to be completed accordingly before transferring to the function The IP address and the Port Number correspond to the remote address IP address of the CAN Ethernet Gateways V2 to which a connection shall be established They are to indicate in the following format define IP ADDR DEFAULT 192 lt lt 0 168 lt lt 8 10 lt lt 16 111 lt lt 24 define IP PORT DEFAULT 8234 There is UDP and TCP available for the transfer protocol to be used typedef enum kUseTCP 0x00 TCP Protocol kUseUDP 0x01 UDP Protocol tUsedProtocol Figure 10 Transfer Protocols of the CAN Ethernet Gateway V2 L 1294e 10 SYS TEC electronic GmbH 2014 Software Support The Member Variable m dwHReconTime after a connection loss specifies the time to wait until an automa
42. edef struct DWORD m dwMilliSec Milliseconds WORD wMilliSec Overflow Milliseconds overflow WORD m wMicroSec Microseconds tCANTimestamp Figure 13 Structure of the CAN TimeStamp Member Variable m dwMilliSec contains the number of milliseconds that have passed since the hardware system start of the CAN Ethernet Gateways V2 The distance between two CAN Messages is the difference of both millisecond values Note The member variables m wMilliSec Overflow and m wMicroSec of the Timestamp Structure are not applied at current and therefore ever contain value 0 Return value see section 8 3 3 and 8 3 4 ETHCAN SUCCESSFUL ETHCAN ERR ILLPARAM ETHCAN ERR ILLHANDLE L 1294e 10 SYS TEC electronic GmbH 2014 Software Support ETHCAN ERR HWNOINIT ETHCAN ERR HWNOTCONNECTED ETHCAN QRCVEMPTY ETHCAN CANERR QOVERRUN Sample tEthCanHandle EthCanHandle tCANMsg RecvCanMsg tCANTimestamp RecvTime DWORD dwRetcode read CAN Message dwRetcode EthCanReadCanMsg EthCanHandle amp RecvCanMsg amp RecvTime if dwRetcode ETHCAN SUCCESSFUL CAN Message received else if dwRetcode amp ETHCAN CANERR QRCVEMPTY no CAN Message in the message buffer Error while receiving the CAN Message 8 3 25 EthCanWriteCanMsg Syntax DWORD STDCALL EthCanWriteCanMsg tEthCanHandle EthCanHandle p tCANMsg pSendCanMsg p tCANTimestamp pSendTime
43. ers needed for it as for example IP address port number L 1294e 10 SYS TEC electronic GmbH 2014 Software Support etc are transferred as address on a hardware parameter structure parameter 2 While applying the function it is in general differed between two request modes 1 Function works in the so called Blocked Mode if a NULL Pointer is given as Pointer for the callback function parameter 3 It does not return before a successful connection could be established to the CAN Ethernet Gateway V2 or if an error e g a timeout has occurred 2 Function works in the so called Nonblocked Mode if a valid address has been given to a callback function Thereby the function initiates all necessary data structures and serves for a link connection without waiting for a successful completion The state of connection occurs via the callback function that has to be set up within the application list It delivers the current connection state and is called from the DLL if the state of connection has changed It can therefore be responded appropriately to possible connection losses within the application Parameter pEthCanHandle p Address of the Instance Handle of the CAN Ethernet Gateways V2 This variable is a pointer of type tEthCanHandle In case of a successful initializing this address contains a valid hardware handle which serves as an instance handle This instance handle has to be saved and when calling any further fun
44. es Type CAN CAN Bus UDP Client BTP UDP CAN CLIENT UDP Server BTP UDP CAN SRV TCP Client CAN CLIENT TCP Server BTP TCP CAN SRV Data logger DLOG Table 5 Overview on Interfaces The UDP interface is transferring the CAN Messages based on the UDP Protocol while the TCP Interface is using TCP as transport protocol instead Both types of interfaces are identical in their function but differ regarding their rate of transmission The data logger interface stores CAN Messages into a log file to be configured Thereby unwanted CAN Messages can be filtered out All interfaces are instanceable and therefore can be used several times if needed 5 2 2 UDP TCP Server Interface The UDP Server Interface BTP UDP CAN SRV waits for UDP connection requests from another gateway and finally generates a new UDP connection that is used for an exchange of CAN Messages According to that the TCP Server BTP TCP CAN SRV waits for TCP connection requests To be able to react on TCP as well as UDP based requests a TCP as well as a UDP Server Interface have to exist at the gateway The creation of interfaces occurs in the configuration file see section 6 Gateway 5 2 3 UDP TCP Client Interface The UDP Client Interface provides a tunnel via UDP IP Ethernet to enable sending and receiving of messages At the TCP Client Interface the tunnel is operated via TCP IP Ethernet The creation of interfaces occurs in the configuration fi
45. gn different function names to avoid compiler and link errors Parameter dwConnectionState p specifies the current connection state and can take the following values which are defined via type tConnectionState typedef enum kConnecting 0 Connecting kEstablished 1 Connection established kClosing 2 Connection is being closed kClosed 3 Connection closed tConnectionState Figure 11 Connection State of the CAN Ethernet Gateway V2 pArg p Address to argument for the callback function At this point an argument can be passed that is returned out of the DLL while calling the callback function For example transfer of the address is possible to an instance of the CAN Ethernet Gateways V2 if several gateways which are administered within a table of instances are to address from one single application If only one callback function has been selected for several instances it can be decided with the help of the argument pointer and its access to the elements of the table of instances for which instance the callback function has been called Given that the parameter value pArg p is of type LAPARAM parameters of each type can be defined at this point This depends on the application in the first instance L 1294e 10 SYS TEC electronic GmbH 2014 Software Support Return values see section 8 3 3 ETHCAN SUCCESSFULL ETHCAN ERR HESOURCE ETHCAN ERR ILLHANDLE ETHCAN ERR ILLPARAM ETHCAN ERR HWINUSE
46. he CAN Ethernet Gateway V2 contains the following standard configurations preparation of a configuration script see section 6 1 Ethernet Internet configurations IP address of the CAN Ethernet Gateway V2 192 168 10 49 Subnet Mask 255 255 255 0 Standard Gateway 192 168 10 1 DNS Server 192 168 10 5 CAN Bus 0 UDP Server TCP Server Data logger CAN settings CAN Bitrate 1Mbit s CAN Identifier for error messages OxFC but disabled Serial interface via USB Device connection baud rate 115200 Baud Data bit 8 Parity none Stoppbit 1 Protocol none 4 5 2 Initial Configuration via USB Device Interface Prior to the transfer of CAN Messages the CAN Ethernet Gateway V2 is to configure as needed For this purpose the following steps are necessary e Install the appropriate driver for the USB Interface CP210x for completion or CDC ACM for the other case For Linux please use the kernel driver cp210x or cdc acm respectively For Windows both drivers are installed on the CD enclosed Both drivers provide a serial interface that can be accessed with a common terminal emulator e Connect the delivered USB cable with the USB Device Interface of the CAN Ethernet Gateway V2 and a free USB Interface on the PC e Please start a terminal program on your PC the program Terra Term is used in the following in case of using another terminal program the correct settings are to take e Set up the interface baud rate configuration see Figure
47. icated e Link connection impossible via BTP Interface Possible causes No connection to the configured server possible or connection has been declined Gateway Entry in the systemlog e CAN RxBuffer overflow loss of CAN Message Possible causes CAN Busload too high Receive buffer selected too small for settings see section 5 2 4 Gateway CAN Error LED lights up shortly e CAN TxBuffer overflow CAN Messages are enqueued too fast in the CAN send buffer e g through high busload and low priority of CAN IDs to be sent Appropriate CAN Message is rejected Gateway CAN Error LED lights up shortly BTP TxBuffer overflow no CANtoBTP buffer available gt loss of CAN Messages Gateway Entry in the systemlog BTP RxBuffer overflow no BTPtoCAN Buffer available gt loss of CAN Messages Gateway Entry in the systemlog e Error during sending or receiving via e g if the receiver has no free buffer or in case of a timeout general CAN to TCP IP send buffer is rejected gt loss of CAN Messages Gateway Entry in the systemlog e CAN Busoff Error possible causes CAN Bus cabling wrong CAN Bitrate Hardware error Gateway CAN Error LED lights up as long as the CAN telegram has been sent or received successfully L 1294e 10 SYS TEC electronic GmbH 2014 Error Processing 7 2 Error Messages via CAN To evaluate the state of the CAN net gateway sending of error messages Emergency messages according to the CANope
48. ing this function is recommended if initialisation and deinitialization routines were called in the Blocked Mode Parameter pState_p delivers the current connection state after calling the function and can adopt the values previously explained in figure 17 Return values see section 8 3 3 ETHCAN_SUCCESSFUL ETHCAN_ERR_ILLHANDLE ETHCAN_ERR_ILLPARAM ETHCAN ERR HWNOINIT Sample tEthCanHandle EthCanHandle tConnectionState ConnectionState DWORD dwRetcode Read connection state dwRetcode EthCanGetStatus EthCanHandle amp ConnectionState if dwRetcode ETHCAN SUCCESSFUL if ConnectionState kConnecting Executing code if ConnectionState kEstablished Executing code else L 1294e 10 SYS TEC electronic GmbH 2014 Software Support Error while reading connection state 8 3 2 8 EthCanResetCan Syntax DWORD PUBLIC EthCanResetCan tEthCanHandle dwResetCode p Application HW INIT Parameter EthCanHandle p Instance Handle of the CAN Ethernet Gateways V2 dwHesetCode p Reset Code for CAN Definition This function serves for reset of the CAN communication of the CAN Ethernet Gateways V2 and the DLL in case of a CAN Error due to buffer overflows or faults of the CAN Bus It is defined via Parameter dwResetCode_p if only the send and receive buffers in the DLL or as well the send and receive buffers of the CAN Ethernet Gate
49. ing of CAN Messages on the CAN Bus of the CAN Ethernet Gateways V2 can occur as well by an analyzing tool or a further CAN Hardware connected to it Receiving of a CAN Message on the PC by the CAN Ethernet Gateway V2 is confirmed in the console window of the Demo application through the CAN ID the CAN Message length as well as the data contained L 1294e 10 SYS TEC electronic GmbH 2014 Software Support Eigenschaften von EthCanDemo TCP x Layout l Farben l Sicherheitseinstellungen Allgemein Verkn pfung Optionen Schriftart EthCanDemo TCP Zieltyp Anwendung Zielort Release Ziel e EthCanDemo exe 192 168 010 189 8234 TCP Getrennter Speicherbereich Unter anderem Benutzernamen ausf hren Ausf hren in CTemp GatewayNGW D 3 CAN Ethemet Gates Tastenkombination Kin Ausf hren Nomales Fenster x Kommentar ee Ziel suchen Anderes Symbol Hbemehmen Abbrechen Figure 15 Desktop Link for Demo Program Starting Demo Program The Demo Program needs different prompt parameters for calling e g IP address and the port number of the gateway as well as the transfer protocol used TCP or UDP For starting the Demo Program two different options are available 1 Please open a command shell and change to the directory of the executing file EthCanDemo exe that has been specified during installation For starting the Demo Program please specify at the input prompt the name
50. k protocol The design of the Gateway Firmware is aligned with a high data throughput The optimized buffer management works with a minimal effort for copying and buffering of data Peak loads within the CAN networks are covered In case of a high data volume several CAN Messages are summarized to a UDP or TCP package and transferred in block The CAN Ethernet Gateway V2 recognizes errors and sends Can Messages error messages which contain the error reason The CAN identifier to be used for the error message can be configured see section 6 2 L 1294e 10 SYS TEC electronic GmbH 2014 Introduction 1 2 Application Areas 1 2 1 Connection of two CAN networks via Ethernet A typical application is the connection of two CAN networks via Ethernet through great distances There is a CAN Ethernet Gateway V2 processing in each CAN network CAN Messages are transferred transparently between the CAN Ethernet Gateways V2 The CAN Ethernet Gateways V2 firmware allows for a filtering of CAN Messages to be transferred so that only relevant data are transferred via Ethernet The principal opportunities of network configuration with CAN Ethernet Gateways V2 are demonstrated in Figure 1 and Figure 2 below CAN Bus 1 CAN Ethernet Gateway V2 Ethernet Ethernet CAN Ethernet Gateway V2 CAN Bus 2 Figure 1 Transparent Connection of two CAN L 1294e 10 SYS TEC electronic GmbH 2014 Introduction 1 2 2 Re
51. le see section 6 Gateway 5 2 4 CAN Interface A CAN Interface delivers CAN Messages to the gateway where they can be processed via Ethernet data logger or a further CAN Bus The creation of interfaces occurs in the configuration file see section 6 Gateway 5 2 5 Data logger Interface The data logger Interface allows for storing messages into configurable data file Depending on to location within the file system the log file is stored temporary until the next reboot or persistent in the flash memory L 1294e 10 SYS TEC electronic GmbH 2014 Device Function The creation of interfaces occurs in the configuration file see section 6 Gateway 5 3 Filtering Filtering is based on the CAN Identifiers The CAN Ethernet Gateway V2 processes all sent and received data using of filter lists within the instances Therewith data transfer can be reduced e g only messages of a special group of CAN Identifiers CAN IDs are forwarded According to the type of instance separated filters can be configured for receiving or sending Furthermore 11Bit and 29 Bit CAN IDs are configured separately Key names for the single instance types are described in section 6 4 The general syntax is demonstrated in section 6 5 5 4 File System 5 4 1 Layout There is a file system integrated in the CAN Ethernet Gateway V2 that allows for configuration changes of the gateway regarding the operating time Furthermore the oppo
52. lectronic GmbH Best Nr L 1294e 10 Printed in Germany
53. low the instructions as displayed The installation by default occurs into the following directory C Program Files SYSTEC electronic CAN Ethernet Gateway V21 Utility Disk The path for installation can be changed as desired Note Please ensure that administrator rights are needed for an installation under Windows 2000 and Windows XP During the installation the driver DLL EthCan DIl is copied into the particular Windows System Directory Furthermore the Setup program in the installation directory based on the default installation path generates the following directory structure Subdirectory Content Demo Prj in Source for MSVC 5 0 or 6 0 Docu System Manual CAN Ethernet Gateway V2 Include C Header file for the EthCan DIl Lib EthCan Lib and EthCan DIl Table 15 Directory Structure of the CAN Ethernet Gateway V2l Utility Disk Directory LIB contains the library as well as the related DLL In directory Include you find the Header file belonging to EthCan DII which contains all prototypes of the PUBLIC functions of the DLL as well as any other data structures used The Header file is to include into the development project for own applications based on the DLL Directory Doku contains the System Manual of the CAN Ethernet Gateways V2 as PDF file Directory Demo Prj offers Demo Project in form of a Visual Studio Project It contains a Source
54. mands are explained in the following Busybox is installed with a typical selection of programs that among others serve as navigation These are ls to display the content of the current directory pwd to display the current directory cd to change the current directory rm to delete a directory data sync to ensure that all data of the JFFS2 file system have been stored in the non volatile storage NOR Flash Note The program sync is usually not necessary as the files are automatically fed into the flash memory after a certain time data volume However Synchronizing can be enforced by means of this command A complete list of the Busybox Programs is available on running busybox without any arguments For gateway configuration the program gatewayconfig is available at usr sbin Requested without parameters supported options as well as the current configuration is listed e g L 1294e 10 SYS TEC electronic GmbH 2014 Implementation gatewayconfig Usage gatewayconfig option value available options ipaddr host IP address netmask network mask dnsip DNS server IP address gatewayip gateway IP address Current configuration ipaddr 192 168 10 49 netmask 255 255 255 0 dnsip 192 168 10 5 gatewayip 192 168 10 1 Note gatewayip is the IP address of the Default IP gateway not the one of the CAN Ethernet gateway itself which is ipaddr At this point the settings concerning IP address Network Mask Gatew
55. mote Diagnosis and Configuration of CAN Networks A further application exists in the connection of a CAN network with a PC The user exclusively needs the network connection via Ethernet to connect with the distant Can network A CAN hardware is needed on the PC A virtual CAN Ethernet Gateway as PC software DLL is available under MS Windows The interface of the virtual CAN Ethernet Gateway V2 conforms to a CAN driver Therewith it is possible to use CAN standard programs that use a CAN driver e g CANopen configuration tools as ProCANopen M or CAN Tools from Port further products upon request The virtual CAN Ethernet Gateway for PC extends the CAN network through the Internet Intranet Ethernet until the office and therefore allows for new opportunities of configuration and diagnosis of CAN networks in the field level The PC in the control level requires an Ethernet connection to the field level by offering the comfort of established CAN and CANopen tools Function and parameter of the Gateway can be changed remote controlled via the Telnet Protocol Intranet or Internet virtual Gateway CAN to Ethernet Ethernet CAN Ethernet CAN Bus 1 Gateway V2 Ethernet CAN Ethernet CAN Bus 2 Gateway V2 Figure 2 Remote Diagnosis of CAN Networks using a PC L 1294e 10 SYS TEC electronic GmbH 2014 Scope of Delivery 2 Scope of Delivery The delivery of the CAN Ethernet Gateways V2 includes
56. n 1 1 1 ren nase en HD A EE RN 1 1 2 APPLICATION AREAS 2 1 2 1 Connection of two CAN networks via Ethernet 2 1 22 Remote Diagnosis and Configuration of CAN Networks sss 3 2 SCORE OF DELIVERY fam m dE 4 3 TECHNICAL DATA ssisiscscienccenccacevencvenevencvacevancxsctccaccanesentvenevendsaneceacvencdeadseneceatveneds 5 4 IMPLEMENTATION 7 Aj POWER SUPPLY eere teen eren arreter de dues per 7 42 NETWORK CONNECTION 3 et etie eret tie n dee e EORR RR e test 7 4 2 1 CAN Bus aiite titel 7 42 2 Ethernet Conneclion uda ed cst edges e c tees ed 7 42 3 058 2 525 990018011000 0040016 000000016 00080960410 080148 ie dea Rant 8 4 3 JSTATUSIDISPEAY 2 ERE IHRER LB ERI IER EUER ME 8 4 4 BUTTONS e eros nto nn stu in e e ee sede de tuta 8 4 5 2 IMPLEMENTATION nassen n eet tette Rec nei terere t AR Moe ns lei nn cate bete e oet 9 4 5 1 Standard Configuration ss 9 4 5 2 Initial Configuration via USB Device Interface esses 9 4 5 8 Configuration and Operation through 2 00000000000009 9655 12 5 DEVICE FUNCTION ansehe 13 bul OVERVIEW EE E HH ira b edit 13 522 INTERFACES vied RERO e NE detti ud bdsm e e edes 13 5 251 BASIC CONCODE p ETE 13 52 2 HJDP TGP Server INCH ACG ea eet dct e edi t
57. n standard is possible Via the option EnableErrorMsg ErrorMsgId during the configuration of the CAN interface sending of error messages can be enabled with the appropriate identifier in the CAN Ethernet Gateway V2 In the standard configuration sending is disabled The format of the error message is specified as follows Byte 0 1 2 3 4 5 6 7 Content Emergency Error Interface Error Code reserved reserved Code Register number Table 14 Construction of an Emergency Message The Emergency Code can consist of the following values 0x1000 if a new general error has occurred 0x8140 Node comes from the CAN Busoff 0x0000 Device has no errors The error register is 0x80 in case that no further errors exist The error register is 0x80 if errors do exist and 0x00 if all errors have been fixed In the following the number of interface where the error has occurred and a bitmask that indicates which errors exist are indicated In case of a 2 byte long code Byte 0 1 and 4 5 the higher part is sent last e g 00 10 for 0x1000 The following bits of the error code are defined 0x0000 Error free 0x0001 Buffer overflow while receiving 0x0002 Buffer overflow while sending 0x0004 Buffer overflow in the CAN Controller 0x0008 CAN ACK error Acknowledge error 0x0010 CAN Warning Limit is reached 0x0020 CAN Passive mode is reached 0x0040 Devices in CAN Busoff 0x0080 Error while message is
58. nstance Type CAN CLIENT RemotelP IP the BTP UDP Client shall connect to Standard 0 0 0 0 RemotePort Port the BTP UDP Client shall connect to Standard 8234 ReconnectionType Settings for automatic reconnection in case of connection loss 0 no reconnection 1 reconnection if message is to be sent 2 immediate reconnection Standard 2 TriggerTime Indicates after how many ms the BTP Transfer shall start at the latest Standard 0 TriggerCount Indicates after how many CAN Messages the BTP Transfer shall start at the latest Standard 1 Table 10 Options for CAN CLIENT 6 4 5 Instance Type BTP TCP CAN SRV LocalPort Port the BTP UDP Server is connected to Standard 8234 TriggerTime Indicates after how many ms the BTP Transfer shall start at the latest Standard 0 TriggerCount Indicates after how many CAN Messages the BTP Transfer shall start at the latest Standard 1 Table 11 Options for Instance Type CAN SHV L 1294e 10 SYS TEC electronic GmbH 2014 Gateway Configuration Note For a TCP BTP connection between CAN Ethernet Gateway V2 and a Windows PC using EthCan dll there can be a significant latency due to a full TCP window To prevent this it is recommended to set TriggerTime and TriggerCount to 10 at least 6 4 6 CAN CLIENT RemotelP IP the BTP UDP
59. nterfaces can be connected to the CAN Ethernet Gateway V2 So a multiple connection from different applications is possible However it is not possible to establish several connections to the same CAN Ethernet Gateway V2 from one application only Through the use of this DLL two states exist for each CAN Ethernet Gateway V2 for the software After starting the application program and loading the DLL the software is in state DLL INIT Thereby all necessary resources for the DLL have been created If library function EthCanlnitHardware is accessed the software changes to HW INIT Here all resources are applied that are necessary for communication with the CAN Ethernet Gateway V2 A call of library function EthCanDeinitHardware effects a change of state from HW back to DLL INIT Only now the application program can be terminated State Function Range DLL INIT EthCanGetVersion EthCanlnitHardware HW INIT EthCanGetVersion EthCanGetStatus EthCanDeinitHardware EthCanRreadCanMsq EthCanWriteCanMsg EthCanResetCan EthCanGetConnectionState Table 16 Function range of software states If several CAN Ethernet Gateway V2 are used within an application the states are considered valid for each CAN Ethernet Gateway V2 While the first CAN Ethernet Gateway V2 is in state DLL_INIT the second can indicate state HW_INIT L 1294e 10 SYS TEC electronic GmbH 2014 Software Support 8 3
60. rtunity does exist to store files non volatile in a NOR flash Structure of the file system excerpt bin dev etc ceg home proc sbin sys tmp usr bin sbin log The tree below home represents the users area where among others the gateway configuration is stored The directories bin and usr bin contain programs the user can use at any time Programs stored in sbin and usr sbin have been installed for administration purposes The directory tmp is a file system that is stored in the main memory and therefore can be used for temporary data Those data will get lost after a restart There are several commands available for navigation within the file system see section 5 5 L 1294e 10 SYS TEC electronic GmbH 2014 Device Function 5 5 Description of Important Commands There is busybox available at the CAN Ethernet Gateway V2 with a typical selection of Unix Linux commands In most cases the programs offer a bit less functionality than its counterpart on a Desktop Linux However the most important functions are available on here as well Some commands are described in the following to ensure a quick introduction to the topic 5 5 1 Format cd dir Definition Command cd serves for change to the stated directory dir Thereby is the parent directory If cd is specified without an argument a change to the user directory home occurs 5
61. s an error free call of function EthCanlnitHardware has occurred If the functions were called in the Nonblocked it is to ensure that the disconnection was signalled via the callback function before terminating the application Not till then the Process Thread in the DLL is closed Sample Both samples show the use of the function in blocked and nonblocked mode L 1294e 10 SYS TEC electronic GmbH 2014 Software Support Blocked mode define ADDR 192 lt lt 0 168 lt lt 8 10 lt lt 16 111 lt lt 24 define IP PORT 8234 void main void DWORD dwRetcode EthCanHandle EthCanHwParam hCanHandle hCanHwParam Et Et CT ET thCanHwParam m IpAdress IP ADDR thCanHwParam m wPort IP PORT pi pd pd dwRetcode EthCanInitHardware amp EthCanHandle amp thCanHwParam m UsedProtocol kUseTCP if dwRetcode ETHCAN SUCCESSFUL printf n Successfully initialised else goto Exit dwRetcode EthCanDeinitHardware EthCanHandle if dwRetcode ETHCAN SUCCESSFUL printf n Successfully closed n Exit return dwRetcode Nonblocked Mode Callback function for connection sta void PUBLIC EthCanConnectControlFct tl te EthCanHandle EthCanHwParam NULL NULL n EthCanHandle p DWORD dwConnectionState p void pArg p switch dwConnectionSt
62. sent 0x0100 Error while message is received 0x0400 Common error of the CAN Controller internal Hardware error of the SJA 1000 Stuff Error Form Error CRC Error T 3 Status Overview Script support info at usr sbin is for support inquiries It provides an overview on the configuration and error messages that is saved in file tmp support info txt This file is included in deliveries concerning support inquiries Additionally information is displayed on the text console as well To access the script the user has to log in via Telnet or the serial console The command support info has to be executed All information displayed can be copied directly from the terminal or Telnet program Alternatively the file support info txt can be downloaded from the board directly using FTP L 1294e 10 SYS TEC electronic GmbH 2014 Software Support 8 Software Support 8 1 Connection of CAN Ethernet Gateways V2 to the PC For the Connection of the CAN Ethernet Gateway V2 to the PC a WIN32 DLL is available which offers a number of different export functions This DLL allows for the development of own applications on Windows The CAN Ethernet Gateway V2 can be accessed via this Driver DLL directly from the PC via Ethernet 8 2 Driver Installation on Windows Previously the installation of the Driver DLL for Windows is necessary You will find the related setup program on the website Please start the downloaded setup program and fol
63. t are no longer needed and then recall the Init Function ETHCAN ERR SAL An error has occurred during initialization or reinitialization of the SAL Stack Abstraction Layer for TCP or UDP Reasons for this error might be e Installation or closing of the Windows Socket Interface could not be executed due to missing resources or a non supported version of the Windows Socket e call of WIN32 Functions used for the Windows Socket e g Connect Bind Accept Send and Recv returned an error due to invalid parameters ETHCAN ERR IFBTP An error occurred during initialization or reinitialization of the BTP Interfaces Block Transfer Protocol for UDP or TCP ETHCAN_ERR_RESOURCE A resource could not be generated The term resources includes storage standards handles or threads that are assigned by Windows 8 3 4 Description of CAN Error Codes The CAN error code that is returned through the functions EthCanReadCanMsg EthCanWriteCanMsg and EthCanGetStatus relates to a bit combination from error codes shown in table 12 Thereby several error states can be indicated CAN Error Code Numerical Value ETHCAN CANERR OK 0x0000 ETHCAN CANERR XMTFULL 0x0001 ETHCAN CANERR OVERRUN 0x0002 ETHCAN CANERR BUSLIGHT 0x0004 ETHCAN CANERR BUSHEAVY 0x0008 ETHCAN CANERR BUSOFF 0x0010 ETHCAN CANERR QRCVEMPTY 0x0020 ETHCAN CANERR QOVERRUN 0x0040 ETHCAN CANERR QXMTFULL 0x0080 ETHCAN CANERR
64. tcode Initialisation of Standard RTR Frames CanMsg m dwId 0x180 CAN ID CanMsg m bMsgType ETHCAN MSGTYPE STANDARD amp ETHCAN MSGTYPE RTR CanMsg m bLen 8 8 Byte requested data length SendTime m dwMillis 0 sending of CAN Message dwRetcode EthCanWriteCanMsg EthCanHandle amp CanMsg amp SendTime if dwRetcode ETHCAN SUCCESSFUL CAN Message successfully sent else if dwRetcode amp ETHCAN CANERR OXMTFULL Send buffer overflow Error during sending CAN Message 8 3 2 6 EthCanGetStatus Syntax DWORD STDCALL EthCanGetStatus tEthCanHandle EthCanHandle_p tStatus pStatus_p Application HW_INIT Definition L 1294e 10 SYS TEC electronic GmbH 2014 Software Support The function returns the error status of the CAN driver as well as the Ethernet connection state of the CAN Ethernet Gateways If a CAN error occurs on the CAN Ethernet Gateway V2 e g send or receive buffer overflow this status is transferred via Ethernet and can be requested through this function In addition to the CAN status the current connection state of the Ethernet between PC and the CAN Ethernet Gateway V2 is returned This function has to be called from time to time to be able to respond to possible CAN errors Parameter EthCanHandle p Instance Handle of the CAN Ethernet Gateways V2 pStatus p Address to a Status Structure This address is not allowed
65. tic connection shall be started If this time is 0 no further connection will be established Member Variable m_dwConnectTimeout is only significant if the Init function in the Blocked Mode is called It specifies the time period after which the Init function returns if no successful connection could be established If this time period is 0 a default timeout of 5 seconds is set up The same applies for the member variable m dwDisconnectTimeout which defines the timeout for the Deinit Function after which an existing connection shall be disconnected at the latest fpEthCanCbConnectFct p Address to select the callback function for connection states of the CAN Ethernet Gateways V2 This value can be 0 during transfer to the Init function which means that no callback function is provided If a callback function shall respond to the change of connection status it is to define as follows void PUBLIC EthCanConnectControlFct tEthCanHandle EthCanHandle p DWORD dwConnectionState p LPARAM pArg p Thereby the same callback function can be defined during initializing of different instances An evaluation for which instance the connection state has changed occurs through the instance handle EthCanHandle p that was passed to the callback function However there is the opportunity to define a separate callback function for each initialised instance Note If there is a callback function defined for each instance please make sure to assi
66. tion to Windows Application programs for CAN and CANopen Illuminating diodes LED for illumination of the Gateway 8 St in Standard Version 12St in Extended Version Generation of CAN error messages High data throughput 10Base T 100Base TX interface 10 100Mbit s with RJ45 Connector 2 CAN interfaces acc to CiA 102 up to 1MBit s Highspeed CAN to 15011898 1 2 DC coupled 2 CAN Bus plug clamping connections 2x5 pin each acc to CiA 102 or DeviceNet Standard Support of 11 Bit CAN Identifier and 29 Bit CAN Identifier RS232 interface type depending via USB Device connector with USB serial converter or directly at the USB Device interface of the CPU Power supply 24VDC 20 60 reverse polarity protected Current consumption ca 100mA Power plug connector 2 pin drawable bolted connection Size without plug connector 70 x 100 x 61 L x B x H mm for DIN EN Carrier rail construction Enclosure protection degree IP20 Operating temperature range 0 C bis 70 C CiA CAN in Automation international users and manufacturers group L 1294e 10 SYS TEC electronic GmbH 2014 Technical Data Figure 3 Device View Types of development Basic Variant Power Supply CPU Core with 32MiB SDRAM 32bit and 4MiB Flash 16bit Ethernet Interface 1xor 2x CAN Interface DC coupled USB Connector connected with microcontroller internal USB Device Interface 6 LEDs placed next to USB interface F
67. to be NULL This status structure is defined as follows typedef struct WORD m wCanStatus Current CAN Status WORD m_wConnectionStatus Current Connection Status tStatus Figure 14 Structure of the CAN Status Structure Return values see section 8 3 3 ETHCAN SUCCESSFUL ETHCAN ERR ILLHANDLE ETHCAN ERR ILLPARAM ETHCAN ERR HWNOINIT ETHCAN ERR HWNOTCONNECTED Sample tEthCanHandle EthCanHandle tStatus Status DWORD dwRetcode Reading CAN Message dwRetcode EthCanGetStatus EthCanHandle amp Status if dwRetcode ETHCAN SUCCESSFUL if Status m wCanState amp ETHCAN CANERR OVERRUN Overrun occured else Error while reading CAN Status L 1294e 10 SYS TEC electronic GmbH 2014 Software Support 8 3 2 7 EthCanGetConnectionState Syntax DWORD PUBLIC EthCanGetConnectionState tEthCanHandle EthCanHandle p tConnectionState pState p Application HW INIT Parameter EthCanHandle p Instance Handle of the CAN Ethernet Gateways V2 pState p Address to connection state variable This address is not allowed to be NULL Definition This function delivers the current connection state of the CAN Ethernet Gateway V2 If no callback function was defined during initialisation of the gateways which is called during change of connection state the connection state can be requested with the help of this function in the polling mode Apply
68. ull Variant Parts of the Basic Variant except LEDs 10 LEDs placed at module front cover Real time clock with battery back up 2kiB EEPROM for data from user applications USB via USB Serial Converter at DRxD DTxD of the microcontroller L 1294e 10 SYS TEC electronic GmbH 2014 Implementation 4 Implementation 4 1 Power Supply For the operation of the device a direct voltage of 24V 6096 to 20 is needed The current consumption of the device is about 100mA Connection occurs through a 2 pin peelable bolted connection The connection is marked on device L 0G The correct connection of the supply voltage is signalized via the voltmeter power 4 2 Network Connection 4 2 1 CAN Bus Connection For the CAN network two 2x5 pin peelable push terminal connectors are available Fitting plug Weidm ller Minimate B2L 3 5 10 The configuration of the array equals the DeviceNet or CANopen Standard respectively All Pins of both arrays on the plugs are connected with each other Therefore it is possible to connect the Bus through at the module The power supply for the CAN Bus Pin 5A 5B at 2x5 pol plug connector is disconnected within the gateway The supply voltage of both DC decoupled channels is energized internally via 2 DC DC converters The shielded connector only serves for protection of the respective CAN channel There is no connection between the shield connectors of CANO CAN1 US
69. urn value ETHCAN CANERR QRCVEMPTY Parameter EthCanHandle p Instance Handle of the CAN Ethernet Gateways V2 pRcvCanMsg p Address to a CAN Message structure This address is not allowed to be NULL The CAN Message is structured as follows L 1294e 10 SYS TEC electronic GmbH 2014 Software Support typedef struct DWORD m_dwiD CAN Identifier BYTE m_bMsgType CAN Frame Format BYTE m bLen CAN Data length BYTE m bData 8 CAN Data 8 Byte max tCANMsg Figure 12 Structure of a CAN Message For a CAN Message different format types can be distinguished Therefore CAN Messages with 11 Bit Identifier Standard CAN Frame and CAN Messages with 29 Bit Identifier Extended CAN Frame are supported This applies for so called Remote Frames RTR Frames in the Standard or Extended CAN Frame format The format of the CAN Message relates to a Bit combination that is defined as follows Standard CAN Frame define ETHCAN MSGTYPE STANDARD 0x00 Remote Frame 11 Bit und 29 Bit CAN ID define ETHCAN MSGTYPE RTR 0x01 Extended CAN Frame 2 0 B Frame 29 Bit CAN ID define ETHCAN MSGTYPE EXTENDED 0x02 For a CAN Message as RTR Frame in the Extended Format values are to combine accordingly and to enter as message format into the CAN Message structure pRcvTime p Address to a TimeStamp Structure of a CAN Message This address is not allowed to be NULL The TimeStamp Structure is defined as follows typ
70. ways and its CAN Interface CAN Controller are to reset The following parameter values can be given for the Reset Code Deletion of the send buffer for CAN Messages in the DLL define RESET TRANSMIT QUEUE 0x00 Deletion of receive buffer for CAN Messages in the DLL define RESET RECEIVE QUEUE 0x01 Deletion of the send and receive buffer for CAN Messages in the DLL define RESET ALL QUEUES 0x02 Deletion of the send and receive buffer for CAN Messages on the Gateway and reset of the CAN Controller define RESET CAN CONTROLLER 0x04 These constants can be combined bit by bit so that a reset of defined or all CAN components is possible as desired Note During a reset of the CAN Interface or deletion of the buffers no CAN Messages can be sent or received L 1294e 10 SYS TEC electronic GmbH 2014 Software Support Return values see section 8 3 3 ETHCAN SUCCESSFUL ETHCAN ERR ILLHANDLE ETHCAN ERR ILLPARAM ETHCAN ERR HWNOINIT ETHCAN ERR HWNOTCONNECTED Sample tEthCanHandle EthCanHandle DWORD dwResetCode DWORD dwRetcode Reset of all buffers and reset of the CAN Interface of the CAN Ethernet Gateways V2 dwResetCode RESET ALL QUEUES amp RESET CAN CONTROLLER Reset of CAN Interface dwRetcode EthCanResetCan EthCanHandle dwResetCode if dwRetcode ETHCAN SUCCESSFUL CAN Interface successfully reset Error
71. wayupdate Therefore the new firmware is to specify as argument e g gatewayupdate tmp V1 01 update tar gz After the Firmware Update is completed the gateway has to be restarted through command reboot L 1294e 10 SYS TEC electronic GmbH 2014 Firmware Update L 1294e 10 SYS TEC electronic GmbH 2014 Index Index 1 10 5 7 11 Bit CAN Identifier 1 5 2 29 Bit CAN Identifier 1 5 A Application 1 Application of DLL Functions 47 ASCII Protocol eee 49 B Blocked 44 BU Ported rentes tactus 1 CAN 7 CAN abere 7 GAN ann 7 CAN Bitrate 1 CAN Bus Connection 5 7 CAN Error Codes 45 5 CAN Message Format 37 39 GANOp6n rant eet dns 1 Carrier Rail Construction 5 rs Menthe te 17 CAT Se 7 CATS api dada Toda ax d 7 edixit IRI unc 17 Command 5 48 7 Current Consumption 5 D Description of Error Codes
72. windows installation already includes a Telnet Client This can be accessed through telnet lt Address gt Alternatively the PuTTY application for the serial interface can be used After the Login the procedure is the same as via USB Device L 1294e 10 SYS TEC electronic GmbH 2014 Device Function 5 Device Function 5 1 Overview The CAN Ethernet Gateway V2 contains several interfaces for operation and control It is structured as follows CAN Interface Linux Input filter Wo Data logger Output filter Gateway CAN Interface Input filter Output filter File upload Shell access download Ethernet Figure 8 Principle of the CAN Ethernet Gateway V2 5 2 Interfaces 5 2 1 Basic Concept The exchange of CAN Messages occurs through interfaces An interface delivers the connection between the gateway and a corresponding remote station which has a different function Several interfaces can be enabled The most important interfaces in this context are CAN for the CAN Interface and BTP UDP CAN SRV resp BTP CAN SRV for an Ethernet Interface according to the Block Transfer Protocol While the CAN Interface is sending and receiving messages through the hardware to a CAN Net the UDP Interface is responsible for the tunneling of messages via UDP IP Ethernet L 1294e 10 SYS TEC electronic GmbH 2014 Device Function Available interfac

CAN–Ethernet Gateway V2 System Manual

Contents

Download Pdf Manuals

Related Search

Related Contents

CAN&ndash;Ethernet Gateway V2 System Manual

Contents

Download Pdf Manuals

Related Search

Related Contents

CAN–Ethernet Gateway V2 System Manual