complete CBM-SI0 software manual
Contents
1. Serial Data Fig 2 1 1 Data transfer CAN bus gt serial interface Serial Data ESS Fig 2 1 2 Data transfer CAN bus gt serial interface controlled by means of Suspend and Continue 2 2 CAN CBM SIO CAN CBM SIO4 Software Rev 1 0 Data Transfer E r The amount of serial interface data which is stored in the toroidal core store per interval has to be smaller than the amount of data transmitted from the CAN bus 2 2 Serial Interfaces Receive Data The CAN bus limits the data flow via the bus demand priority the CAN bus bit rate the frequency of transmissions and the amount of transmitted bytes By means of parameters Inhibit Time MaxChar and MinChar the module offers the possibility to influence the last two factors These parameters have been combined in the user parameter CAN Tx Mode Via Inhibit Time the delay between two transmissions on the CAN bus is determined Serial Data EED E3 Inhibit Time Inhibit Time Fig 2 2 1 Function of Inhibit Time MinChar and MaxChar determine the minimum and maximum number of data bytes which are to be transmitted on the CAN bus within a CAN frame The data is transmitted by the module via Tx identifiers or COBs 5 to 8 on the CAN bus 1 Byte 2 Byte3 Byte4 Byte5 Byte6 Byte7 Byte 8 TxlId 1 COB 6 Data of serial interface channel 1 TxId 2 COB 7 Data of serial interface channel 2 TxId 3 COB 8 Data of serial interfa2. CBM SIO module will be described at the adequate points CAN CBM SIO CAN CBM SIO4 Software Rev 1 0 1 1 Overview The second manual contains general software descriptions which are valid for all esd CAN modules operated by the same protocol Two different protocols are available for the modules The esd CAN protocol and the CMS protocol The protocols are independent from each other and are used alternatively Depending on the implemented protocol therefore one of the following two manuals is valid for the module The esd CAN protocol is described in the manual esd Protocol for CAN Modules The protocol allows the user to set the esd CAN modules by means of an initialisation identifier 700 By means of this protocol identifiers can be assigned to the modules user parameters can be set and watchdog functions can be activated Alternatively the modules can be controlled via the CMS protocol If this protocol has been implemented you will have to consult the manual CAN Application Layer LMT NMT and DBT in esd Modules for the CMS option This manual explains the CMS services of the Layer Management LMT the Network Management NMT and the Identifier Distributor DBT in esd CAN modules The third manual contains the hardware description of the module It explains general as well as module specific characteristics of the hardware Here you can find subjects such as installation notes and connector assignments CAN CB
3. The selection of any value is therefore not possible via the coding switches If you wish to do so the setting has to be made by means of the esd CAN protocol With the specification for the identifier given above the coding switches have to be set to a value corresponding to 15E A 15E A 23 At coding switch HIGH the value 2 and at coding switch LOW the value 3 is now set The offset results from the desired serial channel TxId offset 0 RxId offset 1 The position and function of the coding switches is described in the hardware manual of the module CAN CBM SIO CAN CBM SIO4 Software Rev 1 0 4 1 Examples 4 1 2 2 Transmitting the Data to the Serial Interface Via Rx identifier RxId1 data is transmitted to the module The number of data bytes transmitted can be between 0 and 8 In this example the following 5 bytes are to be transmitted On the CAN bus the bytes are transmitted on the Rx identifier as follows Pas fs se ss ew ss Table 4 1 2 Transmission of data to be transmitted via Rx identifier RxId1 Bytes 6 8 are not required 4 1 2 3 Receiving Data from the Serial Interface Via Tx identifier TxId1 the data received by the serial interface is sent from the module to the CAN bus The module is operated with the default parameters and therefore each byte received is immediately transmitted The delay between initiating the individual transmissions by the CAN contr
4. an offset of at least 10 because otherwise the identifiers would clash Table 1 2 1 Default settings of the module when operated with the esd protocol Attention The terminal interface at DSUB9 on the CAN CBM SIO4 module has been assigned with Rx identifier RxId5 and Tx identifier TxId5 On the CAN CBM SIO module with only one serial interface however the terminal interface has been assigned with Rx identifier RxId1 and Tx identifier TxId1 CAN CBM SIO CAN CBM SIO4 Software Rev 1 0 1 3 Overview Module name has not been defined yet CAN bit rate 125 KBIT s After a default RESET a Configuration Download to the module via the NMT protocol is absolutely necessary Table 1 2 2 Default settings of the module when operated with CAL 1 4 CAN CBM SIO CAN CBM SIO4 Software Rev 1 0 Overview Default values of user parameters regardless of protocol used First Tx activate delay 10 000 msec CAN Tx mode 1411 i e MinChar MaxChar 1 all channels Tnhibit Time 20 ms 2273 ie CTS active terminal interface no CTS 9600 baud 2 stop bit terminal interface 1 stop bit no parity 8 bit character Serial mode all channels Table 1 2 3 Default settings of parameters of the module Explanations of the terms for the user parameters in table 1 2 3 First Tx activate delay Delay after a RESET before the module starts transmitting messages to the CAN or the serial interfaces CAN Tx
5. the following table CTS evaluation CTS input is ignored always at terminal interface CTS input is evaluated hardware handshake default setting for channel 1 4 Table 3 3 6 Evaluation of CTS enable bits The RS232 driver used activate the CTS signal automatically if the CTS line of the serial interface is not connected At the terminal interface DSUB9 the CTS input is not evaluated The CTS enable bit is insignificant for this interface therefore CAN CBM SIO CAN CBM SIO4 Software Rev 1 0 3 7 User Parameters Stop Bit Parity Mode Here the number of stop bits of the serial interface is determined Number of stop bits 1 stop bit always at terminal interface 2 stop bits default setting for channel 1 4 Table 3 3 7 Number of stop bits The terminal interface DSUB9 always operates with only one stop bit The setting 1 therefore is insignificant for this interface By means of these two bits the evaluation of the parity bits is determined Parity mode Evaluation parity evaluation when receiving data and transmitting the parity bit reserved no parity evaluation no parity transmission default setting reserved Table 3 3 8 Parity evaluation CAN CBM SIO CAN CBM SIO4 Software Rev 1 0 User Parameters s1 Parity Type The polarity of the parity bit is determined by the parameter bit Parity Type even default
6. 1 for each nibble of byte 5 of the user parameter Byte 6 of the parameter Serial Mode should not be changed has to be transmitted as well however as have all user parameters Therefore the default value 73 is entered here Byte 3 Byte 4 Byte 6 always module serial 00 No mode Table 4 2 1 Changing the bit rates of serial channel 1 Byte 1 Byte 2 command sub command Byte 5 bit rate Byte 7 and 8 are not required for this command The changed bit rate is always active immediately after the user parameter has been received 4 4 CAN CBM SIO CAN CBM SIO4 Software Rev 1 0
7. CAN CBM SIO CAN CBM SIO4 CAN RS 232 RS 422 RS 485 or TTY Interface Manual of the Module Specific Software CAN CBM SIO CAN CBM SIO4 Software Rev 1 0 NOTE The information in this document has been carefully checked and is believed to be entirely reliable esd makes no warranty of any kind with regard to the material in this document and assumes no responsibility for any errors that may appear in this document esd reserves the right to make changes without notice to this or any of its products to improve reliability performance or design esd assumes no responsibility for the use of any circuitry other than circuitry which is part of a product of esd gmbh esd does not convey to the purchaser of the product described herein any license under the patent rights of esd gmbh nor the rights of others esd electronic system design gmbh Vahrenwalder Str 205 D 30165 Hannover Germany Tel 49 511 372 980 Fax 49 511 372 981 98 Email info esd electronics com Internet http www esd electronics com CAN CBM SIO CAN CBM SIO4 Software Rev 1 0 Manual file I TEXTE DOKU MANUALS CAN CBM SIO 33 1 CSIO 10S EN6 Date of setting copy 14 07 1999 Changes in the chapters The changes in the user s manual listed below affect changes in the firmware as well as changes in the description of the facts only Manual Rev Chapter Changes versus previous version First revision Technical details are subject to cha
8. M SIO CAN CBM SIO4 CAN RS 232 RS 422 RS 485 or TTY Interface Hardware Manual 1 2 CAN CBM SIO CAN CBM SIO4 Software Rev 1 0 Overview 1 2 Default Settings The default settings of the manual are active when one or more of the following conditions apply A default RESET had been triggered on the module via the esd CAN protocol The data of the PC EEPROM are not OK e g EEPROM is not equipped The position of the coding switches after a RESET or power on had been set to 00 and had then be changed to another value Individual parameters can be changed without influencing the default setting of other parameters Changes in parameters are only retained after a RESET if they had been stored in the EEPROM Default values when operating the module with the esd CAN protocol INIT Id in all operating modes 700 RxId1 TxId1 lt serial channel 1 RxId2 TxId2 lt serial channel 2 RxId3 TxId3 lt serial channel 3 RxId4 TxId4 lt serial channel 4 RxId5 TxId5 lt serial channel 5 Rx identifier Tx identifier The default values of the identifiers correspond to the settings via the coding switches Please refer to the hardware manual for a detailed description of the settings Module No setting of the coding switches CAN bit rate 125 kbit s Please note that the CAN CBM SIO4 module covers five Tx and five Rx identifiers Therefore the identifiers of the following modules have to be selected with
9. Overview 1 1 Which is Where The description of esd CAN modules has been divided into three manuals which are delivered together in one ring binder a e CSD Th CAN e MODULE xy Manual of the Module Specific Software Kee PO ee n PSN CS i U h CAN Application Layer LMT NMT and DBT for I I I I I esd Protocol I e esd CAN Modules I I I I I I for CAN Modules o N optional CAN pee eee L MODULE xy Hardware i Manual _ The first manual deals with software properties and parameters which are module specific This manual can therefore be used regardless of the CAN protocol you chose CAN CBM SIO CAN CBM SIO4 Serial Interfaces Manual of the Module Specific Software This manual for example looks into the functions of the type specific firmware the identifier assignment and the assignment of user parameters In this manual the esd CAN modules CAN CBM SIO4 and CAN CBM SIO will be described Both manuals are generally the same in contrast to the CAN CBM SIO4 module however the CAN CBM SIO module only has got one serial interface which is at channel 1 Due to this it only has got two CAN identifiers or two COB IDs In the following the CAN CBM SIO4 module will be generally described Differences to the CAN
10. Software Rev 1 0 3 1 User Parameters P 3 1 First Tx activate Delay Parameter 0 Parameter 0 specifies the delay before the module starts transmitting data to the CAN bus and the serial interfaces after a RESET This delay is to secure that all modules operate stable on the CAN bus before the module starts transmitting User parameter No Sou somminang NG pepe 0000 FFFF 0 65535 msec 10 000 msec First Tx activate delay Table 3 1 2 User parameter 0 3 2 CAN Tx Mode Parameters 1 9 11 19 21 By means of these parameters the Inhibit Time and parameters MaxChar and MinChar are specified Via Inhibit Time the delay between two transmissions on the CAN bus is determined MinChar and MaxChar determine the maximum and minimum amount of data bytes which are to be transmitted on the CAN bus within a CAN frame Starting from software rev 17 7e the function os parameter MinChar has been extended A truncation status can now also be specified here User parameter No l CAN Tx mode chan 1 Tomo tn CAN Tx mode chan 4 CAN Tx mode chan 5 Table 3 2 1 User parameters CAN Tx mode 3 2 CAN CBM SIO CAN CBM SIO4 Software Rev 1 0 User Parameters s1 The two bytes of parameter CAN Tx mode are structured as follows CAN Tx mode Byte 5 of INIT Id 700 Byte 6 of INIT Id 700 TET T T Table 3 2 2 Structure of parameter CAN Tx mode Inhibit Time The
11. ansmitted lt Lf gt with lt Lf gt As above but with lt Lf gt without lt Cr gt As above but lt Cr gt is not transmitted without lt Lf gt As above but without lt Lf gt lt Cr gt and lt Lf gt can be at the end of the lt Cr gt without lt Cr gt and message The data is transmitted after lt Cr gt without lt Lf gt had been received Neither lt Cr gt nor lt Lf gt are transmitted with the data zif pon Crs and 1 A above butwiti TES without lt Lf gt Table 3 2 3 Selection of transmission status via parameter MinChar Examples 1 For MinChar value B has been selected Via the serial interface the data abcd lt Cr gt are received The CAN bus would transmit the data abcd after having received lt Cr gt 2 For MinChar value E has been selected Via the serial interface the data abcd lt Cr gt lt Lf gt are received The CAN bus would transmit the data abcd after having received lt Lf gt 3 4 CAN CBM SIO CAN CBM SIO4 Software Rev 1 0 User Parameters s1 3 3 Serial Mode Parameters 2 A 12 1A 22 The Serial Mode user parameters set the bit rate the stop bits the number of bits character and the CTS locking and determine the parity evaluation of the serial channels User parameter No ieee ee Serial mode channel 4 Serial mode channel 5 Table 3 3 1 User parameter Serial Mode The two bytes of the parameter Serial Mode
12. are structured as follows Table 3 3 2 Structure of parameter Serial Mode CAN CBM SIO CAN CBM SIO4 Software Rev 1 0 3 5 User Parameters Rx bit rate Tx bit rate 4 bits each determine the bit rate with which data is transmitted Tx or received Rx on the serial interfaces The default setting for Tx and Rx bit rate is 9600 KBIT s The physically attainable bit rate is limited by the hardware to a maximum of 38 4 kbit s when at the same time using all four channels Parameter Rx Tx Bit rate bit rate Bit s HEX 7200 14400 28800 57600 115200 2304000 Table 3 3 3 Setting the bit rate of the serial interfaces Ke CAIADNARWINF OO Mode The bits of parameter Mode are assigned with the following functions RTS CTS ma o Bits per Default Tea ete Table 3 3 4 Assignment of parameter Mode 3 6 CAN CBM SIO CAN CBM SIO4 Software Rev 1 0 User Parameters 1 Explanations of bits of parameter Mode RTS Mode CTS enable Via this bit the RTS modem mode for RS485 interfaces can be selected RTS on Rx default setting RTS modem RS485 Table 3 3 5 Evaluation of RTS mode bits Via this bit the CTS function of the serial controllers is enabled If the bit is 0 the CTS signal will not be evaluated and the controller transmits the available data at once provided the module is not in Suspend status The evaluation of bits can be taken from
13. ce channel 3 TxId 4 COB 9 Data of serial interface channel 4 TxId 5 COB 10 Data of serial interface channel 5 Table 2 2 1 Transmission of data received on the serial interfaces via Tx identifiers or COBs CAN CBM SIO4 The CAN CBM SIO module has only one Tx identifier TxId1 or the COB 1 CAN CBM SIO CAN CBM SIO4 Software Rev 1 0 2 3 CAN CBM SIO CAN CBM SIO4 Software Rev 1 0 User Parameters 51 3 User Parameters of the CAN CBM SIO and CAN CBM SIO4 Modules By means of the user parameters the parameters for the serial interfaces and the parameters Inhibit Time MaxChar and MinChar CAN Tx mode for controlling the CAN bus transmission rate are specified on the module If the module is operated with the esd protocol the user parameters will be specified by the command Set User Parameters 86 on bytes 5 and 6 of the INIT Id 700 All user parameters always have to be transmitted as 16 bit value with byte 5 as MSB If the CMS protocol has been implemented the user parameters will be set via a configuration down load NMT The following table gives an overview of the user parameters of the CAN CBM SIO4 module Only parameters 00 02 are required for the CAN CBM SIO module Default settings First Tx activate delay epee 10 000 msec Po ee a Ea ee a E a a a G ee E Ee ee S ee o a S Table 3 1 1 User parameters of the CAN CBM SIO CBM SIO4 module CAN CBM SIO CAN CBM SIO4
14. mode MinChar and MaxChar determine the minimum and maximum number of data bytes which are to be transmitted within the CAN frame on the CAN bus Inhibit time shows the delay of the CAN controller between the last successful transmission on the CAN bus and the start of the following transmissions Serial mode By means of serial mode the serial interfaces are set CAN CBM SIO CAN CBM SIO4 Software Rev 1 0 1 5 CAN CBM SIO CAN CBM SIO4 Software Rev 1 0 Data Transfer E r The serial data are buffered between the CAN bus and the serial interfaces in both data directions and by means of a 256 bytes sized toroidal core store for each channel The data being received first are also transmitted again first 2 Description of the Data Transfer If the toroidal core store is full and further data is received it will be lost Therefore it is important to match the transmission rates of CAN bus and serial interfaces with each other 2 1 Serial Interfaces Transmit Data The amount of CAN bus data to be stored in the toroidal core store per interval has to be smaller than the amount of data transmitted by the serial interfaces The amount of received data per interval depends on the amount of data bytes transmitted the frequency of transmissions the bit rate of the CAN bus and the assigned bus enabling of the CAN bus If data is lost during operation the intervals between transmission are to be prolonged or and the amount of t
15. nge without notice CAN CBM SIO CAN CBM SIO4 Software Rev 1 0 CAN CBM SIO CAN CBM SIO4 Software Rev 1 0 Content Page TGI pace 3 tZ KTT oea egw d pene eee ed Oran dae ea 1 1 Pp AWAITS WV E AE fone Ge ka aoe E a he ae Naa AO ant Ga et aes oe Dans ee oe 1 1 1 2 Default Settings opo S S KE ERE R wage Red sed E RKR R RENER RN RR ee eA 1 3 2 Description of the Data Transfer 00000 c ccc eens 2 1 2 1 Serial Interfaces Transmit Data 26 ibis cesu eae ee bod sg eadue ae pe ao es 2 1 2 2 Serial Interfaces Receive Data 2 3 3 User Parameters of the CAN CBM SIO and CAN CBM SIO4 Modules 3 1 3 1 First Tx activate Delay Parameter U 3 2 3 2 CAN Tx Mode Parameters 1 9 11 19 21 3 2 3 3 Serial Mode Parameters 2 A 12 1A 22 2 00 ees 3 5 4 ixamples 3 00365 04 eh eiden agbun and hoben bon Ddw eee boa ekeee awe eyoavbade dd 4 1 4 1 Operation with Default Parameters unnan nananana 4 1 4 1 1 Basic Conditions Objective 0 0 cece eens 4 AU Procedures x OAT ett a S AT atte L aod Oi Seek Ne al A ag 4 1 AV Set Ident ners Seia pi ea el ee ead E A RE ne tad ee nad 4 1 4 1 2 2 Transmitting the Data to the Serial Interface 4 2 4 1 2 3 Receiving Data from the Serial Interface 4 2 42 Changing the Bit Rate 2 RER a ed eee tee E E RR See eine 4 4 CAN CBM SIO CAN CBM SIO4 Software Rev 1 0 1 1 CAN CBM SIO CAN CBM SIO4 Software Rev 1 0 Overview 1
16. oller is 20 ms In this example the device connected at channel is to transmit a block of 8 bytes with the following contents The module now transmits the individual bytes of this block on the Tx identifier with delays of about 20 ms If the CAN bus is occupied with messages of a higher priority the delay between the transmissions can be longer 4 2 CAN CBM SIO CAN CBM SIO4 Software Rev 1 0 Examples L Pe Es ee ee T HHT T TT t 20ms sie Pe 2 Te t 20ms BR E HT IT ee ee t 20ms osse ss Table 4 1 3 Transmitting received serial data to the CAN bus Bytes 2 8 of the individual Tx transfers are not transmitted because value 1 is set for MaxChar in default setting CAN CBM SIO CAN CBM SIO4 Software Rev 1 0 4 3 Examples 4 2 Changing the Bit Rate The bit rates of channel are to be increased from 9600 baud default setting to 19200 baud for receive and transmission data The module No of the CAN CBM SIO4 corresponds to the default setting of the coding switch setting and is therefore 23 The bit rate is changed in the cells Rx Baudrate and Tx Baudrate of user parameter Serial Mode These two cells are assigned to the first byte of the user parameter at transmission byte 5 For channel this parameter is selected by means of sub command 02 The assignment of bit rate 19200 results in the values
17. parameter Inhibit Time specifies the time the CAN controller waits after the last successful transmission of CAN bus data before it starts a new transmission The entry is made in ms The default setting is 14 20 ms MinChar MaxChatr In these two parameters the number of bytes from which a transmission to the CAN bus is to be started and the maximum amount of data bytes to be transmitted in a CAN frame are specified The default setting is 11 i e each received byte is transmitted individually in one frame MinChar is only determined as described above if values between 1 8 are specified Values between 9 and F change the functionality of the parameter In this case the local software evaluates the entries of flags Carriage Return 0D or Tine Feed 0A as transmission statuses If one or both characters will be recognized the data having been received by the serial interface will be transmitted to the CAN bus If eight bytes have been received before the flags have been received the transmission will automatically start For the transmission you can also choose whether the flags are to be transmitted together with the data on the CAN bus or not The following table shows the various options CAN CBM SIO CAN CBM SIO4 Software Rev 1 0 3 3 User Parameters Flag MinChar an transmission to Data is transmitted if lt Cr gt had been lt Cr gt with lt Cr gt E received lt Cr gt is also tr
18. ransmitted bytes has to be decreased The data is transmitted to the module by the CAN bus via the Rx identifiers or via COBs 1 to 4 The user is free to select the amount of bytes to be transmitted Byte 1 Byte2 Byte3 Byte4 Byte5 Byte 6 Byte7 Byte 8 x Data for serial interface channel 1 Data for serial interface channel 2 Data for serial interface channel 3 Data for serial interface channel 4 Data for serial interface channel 5 Table 2 1 1 Receiving the data to be transmitted via Rx identifiers or COB 1 to 5 CAN CBM SIO4 Attention The terminal interface at DSUB9 on the CAN CBM SIO4 module has been assigned with Rx identifier RxId5 and Tx identifier TxId5 On the CAN CBM SIO module with only one serial interface however the terminal interface has been assigned with Rx identifier RxId1 and Tx identifier TxId1 CAN CBM SIO CAN CBM SIO4 Software Rev 1 0 2 1 Fy Data Transfer When operating with the esd protocol the data output on the serial interfaces can be stopped by the supervisor command Suspend Module All four channels are stopped simultaneously By means of the command Continue the channels are started again simultaneously If the module is in Suspended status data being received from the CAN bus and the serial interfaces will be stored in the toroidal core store The data transfer from CAN bus to serial interfaces principally has the following chronological course CAN Data
19. setting Table 3 3 9 Setting the polarity Bits per Character Via these two bits the number of bits character is selected Bits per Character Number of transmitted bits 5 not at terminal interface 6 not at terminal interface 8 default setting Table 3 3 10 Number of bits character For the terminal interface only the following combinations of Bits per Character and Parity Mode are permissible 7 data bits 1 parity bit 8 data bits no parity default setting 8 data bits 1 parity bit CAN CBM SIO CAN CBM SIO4 Software Rev 1 0 3 9 CAN CBM SIO CAN CBM SIO4 Software Rev 1 0 Examples L d Examples In this chapter the operation and initialization of a module which is operated with the esd CAN Protocol will be explained by means of some examples 4 1 Operation with Default Parameters 4 1 1 Basic Conditions Objective A device is to be connected to channel 1 of the CAN CBM SIO4 which corresponds in parameters to the default setting of the CAN CBM SIO4 9600 Baud 8 Bit Character 2 Stop Bits no Parity The module has not been initialized yet The desired Tx identifier for transmitting data to the serial interface is to be 15E The Rx identifier is to be 15F 4 1 2 Procedure 4 1 2 1 Set Identifiers The identifier is determined for example by the coding switches It corresponds to the tenfold of the value set at the coding switches plus the identifier offset note
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