ELMBio User Documentation v1.7
Contents
1. In other words reset the ADC and do a self calibration i e do NOT apply the gain factors calibration con stants which already might have been stored in EEPROM This type of ADC initialisation is essential for recalibrating the voltage range in question 25 ELMB software v2 0 12 Nov 2003 Manufacturer Specific Profile Area continued Index Sub Description Data Attr Default Comment hex Index Object 3000 Program Code CRC Record 0 Number of entries U8 RO 3 1 Check 16 bit CRC of pro U16 RO 0 SDO reply unequal to zero gram code in FLASH means there is a checksum error memory absence of CRC in flash results in SDO Abort with Error Code 1 error while accessing FLASH re sults in SDO Abort with Error Code 6 2 not used J RO 0 3 Get CRC RO Return CRC from flash 3100 ELMB Serial Number U32 RW Number or 4 byte string uniquely identifying an ELMB given during production 3101 Enable ELMB Serial Num U8 WO EXPERT Writing 5Ah enables one write ber write operation ONLY operation on the Serial Number Object 3100h 3200 CAN controller settings Record 0 Number of entries U8 RO 3 1 Disable Remote Frames Bool RW 0 i 2 Enable auto start U8 RW 0 If 1 go to Operational at startup 3 Bus off max retry counter U8 RW 5 A counter is decremented every 1s and incremented every time bus off oc2. If the store operation did NOT succeed ELMBio sends the following reply SDO Abort Domain Transfer error reason hardware fault for details see 1 ELMBio gt Host DataByte Pora 1 2 3 Als 6 7 580h 80h 10h 10h subindex 0 0 6 6 NodelD Error Code Error Class Parameters can be reset to their default values by invalidating the corresponding contents of the EEPROM by writing to OD index 1011h using this time the string load 6Ch 6Fh 61h 64h in bytes 4 to 7 of the SDO Note that the default values take effect only after a sub sequent reset of the node Default values are listed in the OD tables in section 5 The tables with the Object Dictionary in section 5 show the settings stored in EEPROM as marked by an asterisk Note that storage of ELMB Serial Number and ADC calibration constants in EEPROM are handled separately 16 ELMB software v2 0 12 Nov 2003 4 EEPROM Memory Map Table 3 and Table 4 detail the layout of the ELMB s EEPROM in the ELMBio application Addresses 800h FFFh 2048 bytes are not used EEPROM ADDR DESCRIPTION not used ELMBio configuration parameters Rad tolerant working copy of global settings and parameters not used ELMB Serial Number ELMB Analog in calib consts 00A1 00A2 00ES 00E9 OOFF 0100 0106 0107 011F 0120 01CF Holds permanently saved application configu ration and
3. l 1 Number of input channels U8 RW 64 can be set to actual number of channels used 2 _ Conversion Word Rate U8 RW 0 3 bit code x 3 Input Voltage Range U8 RW 4 3 bit code 4 Unipolar Bipolar U8 RW 1 0 bipolar 1 unipolar Measurement Mode 5 Power Save Mode Bool WO 1 put ADC in power save mode 0 take ADC out of this mode 6 Configuration Register U32 RW CS5523 Config Register 7 Offset Register 1 U32 RW CS5523 physical channel AIN1 8 Gain Register 1 U32 RW CS5523 physical channel AIN1 9 Offset Register 2 U32 RW CS5523 physical channel AIN2 10 Gain Register 2 U32 RW CS5523 physical channel AIN2 11 Offset Register 3 U32 RW CS5523 physical channel AIN3 12 Gain Register 3 U32 RW CS5523 physical channel AIN3 13 Offset Register 4 U32 RW CS5523 physical channel AIN4 14 Gain Register 4 U32 RW CS5523 physical channel AIN4 15 Channel Setup Register 1 U32 RW LC 1 12 bits in lower 2 bytes LC 2 12 bits in upper 2 bytes 16 Channel Setup Register 2 U32 RW LC 3 12 bits in lower 2 bytes LC 4 12 bits in upper 2 bytes 17 Channel Setup Register 3 U32 RW LC 5 12 bits in lower 2 bytes LC 6 12 bits in upper 2 bytes 18 Channel Setup Register 4 U32 RW LC 7 12 bits in lower 2 bytes LC 8 12 bits in upper 2 bytes 19 Conversion Word Rate U8 RO 15 in Hz 20 Input Voltage Range U32 RO 5000000 inuV 21 SPI SCLK signal high U8 RW 75 in us 10 lt value lt 255 period opto coupler delay 2110 ADC reset and calibrat
4. 00h Bootloader cannot jump to 6000h Byte 3 FEh application invalid Byte 4 AAh Byte 5 AAh Byte 6 00h Byte 7 00h 0 PDO communication parameters 1 Guarding parameters 2 ADC configuration 3 Digital I O configuration 4 DAC configuration 5 CAN configuration parameters FEh Calibration constant s FFh ELMB Serial Number 1 ADC delta change values 2 ADC upper limits 3 ADC lower limits a ATmega128 MCUCSR register bits 01h Power On Reset 02h External Reset 04h Brown Out Reset 08h Watchdog Reset 10h JTAG Reset 80h JTAG Interface Disable The Emergency message is actually generated by the Bootloader program 31 ELMB software v2 0 12 Nov 2003 Byte 2 of the Emergency message contains the value of the socalled Error Register Object Dictionary index 1001h a mandatory CANopen object One or more bits of the 8 bit Error Register can be set to 1 depending on the node s history of errors since the last reset The ta ble below gives a description of the meaning of the different bits Error Register Object 1001h bits Bit Error type 0 generic 1 current 2 voltage 3 temperature 4 communication 5 device profile specific 6 reserved 0 7 manufacturer specific References 1 CAN in Automation e V CANopen Application Layer and Communication Profile CiA DS 301 Version 4 0 16 June 1999 http www can cia de 2 H Bot
5. 6208h sub 2 bits set to 1 in this mask are output the other bits are automatically defined as input Bits defined as input in byte 1 in the RDPO1 message shown above are ignored when setting the outputs Digital outputs can of course also be written to using CANopen SDO messages see OD in dex 6200h 3 5 Analog Outputs Analog outputs are compatible with the DAC module designed and built for ATLAS DCS applications described elsewhere either equipped with MAX5122 DACs or MAX525 DACs With the MAX5122 one DAC module has 4 channels when equipped with the MAX525 one DAC module has 16 channels By default ELMBio assumes MAX5122 type DACs By setting the proper parameter in OD index 2500h MAX525 type DACs can be se lected The two types of DAC module can not be mixed Four DAC modules can be connected 1 e directly to the 20 pin J8 connector on the ELMB Motherboard for a total of up to 64 analog output channels when using MAX525 DACs or 16 channels when using MAX5122 DACs 14 ELMB software v2 0 12 Nov 2003 The analog outputs can be written using the CANopen PDO mechanism The CAN identifier used for this PDO is the socalled 2 receive PDO RPDO2 of the CANopen Prede fined Connection Set which is the default PDO used for analog outputs according to the CANopen Device Profile for I O Modules 5 i e COB ID 300h NodeID RPDOZ2 has at least 3 data bytes containing the DAC channel number and a 2 byte DAC value Host
6. COB ID DataByte 0 DataByte 1 000h 1 Start Remote Node NodelD or 0 all nodes on the bus There is no reply to this message Now ELMBio is Operational meaning that it monitors I O channels as required and sends and receives and processes PDO messages carrying the application data Optionally a feature called auto start may be enabled so that ELMBio automatically goes to Operational state after power up or reset The auto start feature can be configured in OD in dex 3200h subindex 2 To generate a soft reset to ELMBio the following CANopen NMT message must be sent Host NMT Master gt ELMBio NMT Slave COB ID DataByte 0 DataByte 1 000h 1 Reset Node NodelD or 0 all nodes on the bus Again there is no reply to this message ELMB software v2 0 12 Nov 2003 Note that at power up it is the Bootloader application firmware that becomes active first and is in control of the ELMB it reports its presence by sending the following Emergency mes sage see also section 6 Bootloader gt Host COB ID Byte 0 1 Byte 2 Byte 3 7 080h Emergency Error Register Manufacturer specific error field NodelD Error Code Object 1001h FEh 01h 28h ZZh 00h 00h 50h 80h ZZh MCUCSR MCUCSR MCU Control and Status Register for details see section 6 or the ATmegal28 datasheet 3 Having the Bootloader activated at pow
7. bit 2 Output 2 Ul6 RW 2 analog output 1 6 bit 64 Output 64 Ul6 RW 644 5 a 28 ELMB software v2 0 12 Nov 2003 Standardized Device Profile Area according to CiA DS401 Index Sub Description Data Attr Default Comment hex Index Object 6423 Global Analog Input Inter Bool RW 0 Enables disables readout on rupt Enable change TPDO3 transmissions 6424 Analogue Input Interrupt Array v4 2 Upper Limit 0 Number of analog inputs U8 RO 64 X 1 Input 1 132 RW 1 Voltage in uV signed Input 2 132 RW 1 Voltage in uV signed 64 Input 64 132 RW 1 Voltage in uV signed 255 All Inputs 1 to 64 132 WO 1 Voltage in uV signed 6425 Analogue Input Interrupt Array v4 2 Lower Limit 0 Number of analog inputs U8 RO 64 ig 1 Input 1 132 RW 0 Voltage in uV signed Input 2 132 RW 0 Voltage in uV signed 64 Input 64 132 RW 0 Voltage in uV signed 255 All Inputs 1 to 64 132 WO 0 Voltage in uV signed 6426 Analogue Input Interrupt Array Delta Unsigned 0 Number of analog inputs U8 RO 64 i 1 Input 1 U32 RW 0 Voltage in uV unsigned Input 2 U32 RW 0 Voltage in uV unsigned 64 Input 64 U32 RW 0 Voltage in uV unsigned 255 All Inputs 1 to 64 U32 WO 0 Voltage in uV unsigned 29 ELMB software v2 0 12 Nov 2003 6 Emergency Objects Emergency messages are trigger
8. chan 16 bit ADC type CS5523 4 ADC NONE no ADC used only DIP switch 1 used for CAN baudrate 125 or 250 kbaud 5 7BIT_NODEID other 7 switches used for setting the Node ID 1 127 when this option is not set a 6 bit Node ID is used and 2 bits are used for selecting a baudrate 6 RS232 include stuff to be able to use printf and such requires the Programmer or other RS232 adapter to be connected to the ELMB programmer connector 7 ELMB103 the ELMB is an ELMB103 type with ATmegal03 processor by default an ELMB128 with ATmega128 processor is assumed 8 VARS IN EEPROM store retrieve working copies of configuration parameters in from EEPROM 9 was option HEARTBEAT 10 INCLUDE TESTS include an OD object through which board tests can be executed 11 was option EEPROM_UINT16_ADDRESSES 12 CAN_REFRESH refresh CAN controller descriptor register at each buffer write read there is probably a Slave processor usually when using an ELMB103 so in 13 2313 SLAVE PRESENT combination with compile option ELMB103 shown above this includes the code that deals with the Slave processor Table 5 Optional compiler macro defines individual options are preceeded and ended by a double underscore _ 27 ELMB software v2 0 12 Nov 2003 Standardized Device Profile Area according to CiA DS401 In
9. gt ELMBio RPDO2 COB ID DataByte 0 DataByte 2 3 300h NodeID Channel Number DAC value Once ELMBio is put into state Operational it can receive the RPDO2 and on reception will immediately set analog outputs according to the values in the RPDO2 data byte s Analog outputs can of course also be written to using CANopen SDO messages see OD in dex 6411h Note that MAX5122 DACs are 12 bit but the DAC value is set as a 13 bit value with bit 0 always equal to 0 3 6 Storing Parameters and Settings Parameters and settings can be stored permanently onboard in an EEPROM by writing string save to OD index 1010h The CANopen SDO mechanism is used to do this Host ELMBio DataByte OFID 0 1 2 3 4 5 6 7 600h 23h 10h 10h subindex 73h 61h 76h 65h NodelD s a y e with OD index 1010h in byte 1 2 and subindex in byte 3 with subindex 1 store all parameters as listed for subindex 2 and 3 2 store communication parameters concerning PDO and Guarding 3 store application parameters concerning ADC DAC and Digital I O check out the Object Dictionary tables in section 5 to find out which parameters are stored 15 ELMB software v2 0 12 Nov 2003 If the store operation succeeded ELMBio sends the following reply ELMBio Host DataByte SOR IP 0 1 2 3 4 5 6 7 580h 60h 10h 10h subindex 2 z NodelD
10. next page 81C91 INT register bits 04h Warning Level 20h Bus Off 40h Error Passive 80h Transmit Check 81C91 MODE STATUS register bits 01h Init Mode 02h Reset State 04h Bus Off 08h Receive Error Counter gt 96 10h Transmit Error Counter gt 96 20h last Transmission Complete 40h Receive Mode 80h Auto Decrement Address 3 Oth Reset Valid bit not set 02h Reset Valid bit not reset 04h error in Offset Register value 08h error in Gain Register value 30 ELMB software v2 0 12 Nov 2003 Emergenc 2 Error eae ae Manufacturer Specific Error Field ipti byte 3 7 Description ger byte 3 7 CRC error 5000h Byte 3 30h Byte 4 1 program FLASH 2 Slave FLASH ELMB103 only EEPROM write error 5000h Byte 3 41h Byte 4 Parameter block index Byte 5 0 while writing datablock info gt 0 size of parameter block to write EEPROM read error 5000h Byte 3 42h Byte 4 Parameter block index Byte 5 Error id 1 CRC 2 length 4 infoblock EEPROM ADC limits 5000h Byte 3 43h write error Byte 4 Parameter block ID Byte 5 size of parameter block to write Irregular reset Watchdog 5000h Byte 3 FOh Brown out or JTAG Byte 4 microcontroller MCUCSR register contents A Bootloader not present 5000h Byte 3 Flh Bootloader is now in 5000h Byte 3 FEh control Byte 4 Olh Byte 5 28h Byte 6 microcontroller MCUCSR register contents Byte 7
11. of the ADC readout Analog inputs can of course also be read using CANopen SDO messages see OD index 6404h for readout of ADC channels in ADC counts and OD index 2404h for readout of ADC channels in uV 3 2 4 Readout on Change ELMBio has 2 modes of readout on change for analog inputs delta change mode and win dow mode These modes can be enabled individually and both may be enabled at the same time Use OD index 2130h to enable or disable delta change mode and OD index 2140h to enable or disable window mode When the global readout on change interrupt for analog inputs is enabled OD index 6423h set to 1 and any one of the delta change or window modes is enabled ELMBio starts a con ELMB software v2 0 12 Nov 2003 tinuous loop doing conversions of the number of configured ADC channels OD index 2100h sub 1 as soon as it is put into Operational state Now every time a channel s status changes depending on the mode and settings a TPDO3 is generated containing the ADC channel reading in uV Readout on change never generates a TPDO2 with ADC reading in counts unless the calibration constants are not present or invalid for the currently active ADC voltage range If both modes are enabled and a channel satisfies both readout on change conditions in the same channel scan cycle only one message is sent for this channel 3 2 4 1 Delta Mode In delta change mode analog input read out ELMBio asynchronously sends a message
12. settings stored in up to 8 blocks of up to 16 bytes each includes a CRC checksum for each data block Holds a copy of most application configura tion and settings and some other parameters that don t change very often parameters are reread from EEPROM each time before being used this is an optional feature to counter the effects of SEE Single Event Upset Holds the ELMB Serial Number given to it at production time serves to uniqely identify the ELMB and retrieve its calibration constants and or production data in the ELMB produc tion database Holds the calibration constants which were determined at production time for all 6 volt age ranges note only present for ELMBs with an analog input part Table 3 EEPROM memory map for ELMBio application addresses 000h 1CFh continued on the next page 17 ELMB software v2 0 12 Nov 2003 EEPROM ADDR DESCRIPTION 01E0 not used 01FF 0200 Deltas Holds a 3 byte value unsigned Volts for working each analog input i e 64x3 bytes 192 bytes copy 02BF 02C0 not used 02FF Deltas 0300 Holds a 3 byte value unsigned uVolts for permanent each analog input 1 e 64x3 bytes 192 bytes storage CRC 0302 plus a 2 byte CRC plus a valid token byte 03C3 not used 03FF Upper Limits 0400 Holds a 3 byte value signed microVolts for working each analog input i e 64x3 bytes 192 bytes copy 04BF 04C0 not used 04FF Upper Limits 0500 Holds a 3 byte value
13. signed uVolts for each permanent analog input 1 e 64x3 bytes 192 bytes storage CRC 05C2 plus a 2 byte CRC plus a valid token byte 05C3 not used OSFF imi 0600 Lower Limits Holds a 3 byte value signed uVolts for each working analog input 1 e 64x3 bytes 192 bytes copy 06BF 06C0 06FF Lower Limits 9700 Holds a 3 byte value signed Volts for each permanent analog input i e 64x3 bytes 192 bytes storage CRC 07C2 plus a 2 byte CRC plus a valid token byte 07C3 not used 07FF Table 4 EEPROM memory map for ELMBio application addresses 1E0h 7FFh 18 ELMB software v2 0 12 Nov 2003 5 Object Dictionary The Object Dictionary OD of the ELMBio v4 2 application is listed in the tables on the next pages The values of objects marked with in the Index column are stored in EEPROM for per manent non volatile storage on request They are retrieved from EEPROM at reset and power up Communication Profile Area Index Sub Description Data Attr Default Comment hex Index Object 1000 Device type U32 RO 000F0191h Meaning DSP 401 device pro file analogue in and outputs digital in and outputs on device 1001 Error register U8 RO 0 1002 Manufacturer status reg U32 RO 0 see footnote 1008 Manufacturer device name VisStr RO ELMB Embedded Local Monitor Board 1009 Manufacturer hw version VisSt
14. when an analog input channel reading has increased or decreased by a certain preset amount After the message has been sent the current analog reading is taken as the new reference value for this channel in the scanning loop The analog channel input reference values are stored in RAM but not protected against SEE since it is not necessarily considered a bad thing when an analog input channel reading is sent again just because the reference value in RAM has been corrupted by chance The corrupted reference value gets immediately overwritten by the new reading When the node is put into Operational state the ADC reference values are initialized by the readings from the first ADC channel scan cycle An explicit request for data such as a SYNC or a RTR Remote Frame message stops aborts the ongoing channel scan cycle and starts a new scan cycle in which all analog input values are forcibly sent as TPDO2 or TPDO3 messages i e raw ADC counts or voltage values de pending on the TPDO2 and TPDO3 transmission modes and the RTR that triggered the ac tion i e a forced readout ADC scan cycle is started In addition if the transmission mode of the appropriate PDO is set to 255 and the PDO Event Timer set to a value greater than zero the scan cycle is aborted at regular intervals ac cording to the configured interval and a forced readout scan cycle is started A forced readout scan cycle does not affect the currently stored analog in
15. 16 see DSP 401 size 8 bits 1401 2 Transmit PDO mapping Record Data type PDOMapping 0 Number of entries U8 RO 2 should be 255 for MuxPDO but this is not a CANopen MPDO 1 ADC channel number U32 RO 64040008h actually not allowed but 2 24 bit analogue input U32 RO 64040118h OD index 6404 sub index 1 Analogue inputs multiplexed size 24 bits actually the ADC flag bits pre sent in OD index 6404 have been replaced by a byte combin ing the ADC configuration and the two ADC error flags 1402 3 Transmit PDO mapping Record Data type PDOMapping 0 Number of entries U8 RO 2 should be 255 for MuxPDO but this is not a CANopen MPDO 1 ADC channel number U32 RO 24040008h actually not allowed but who cares it s not important 2 32 bit analogue input U32 RO 24040128h Object 2404 sub index 1 Analogue inputs in volts multiplexed size 40 bits actually the ADC flag bits pre sent in Object 2404 have been replaced by a byte combining the ADC configuration and the two ADC error flags 24 bit data is replaced by a 32 bit signed long 22 ELMB software v2 0 12 Nov 2003 Manufacturer Specific Profile Area Index Sub Description Data Attr Default Comment hex Index Object 2100 ADC configuration Record CRYSTAL CS5523 16 bit ADC 0 Number of entries U8 RO 21
16. B specific functions DIP switch readout etc SCLK SDI lines carrying SPI protocol for the onboard CAN controller SDO available externally do not use for devices with slow optocouplers AD_xxx SPI signals for the ELMB onboard ADC and external DAC modules ADC xxx control signals for the ELMB onboard ADC DAC_CSx select signals for the external DAC modules inn outn digital input n 0 lt n lt 15 or digital output n 0 lt n lt 15 respectively pins on PORTA are individually configured as either input or output II ELMB software v2 0 12 Nov 2003 3 The ELMBio Application 3 1 Initialisation After power up watchdog reset manual reset or a CANopen initiated reset action i e by an NMT Reset Node message see below a CANopen node sends a socalled Boot up message as defined by the CANopen standard as soon as it has finished initialising hardware soft ware this is a CAN message with the following syntax ELMBio NMT Slave Host NMT Master COB ID DataByte 0 700h NodelD 0 NodelD is the CAN node identifier set by means of the ELMB onboard DIP switches which according to the CANopen standard must be in the range between and 127 and for ELMBio can be to set to a value between 1 and 63 as shown in Figure 1 To start the ELMBio application in the CANopen sense of the word the following CANopen NMT Network ManagemenT message must be sent Host NMT Master gt ELMBio NMT Slave
17. Chan status config ADC value uV with ADC value 32 bits signed value in uV LSB first Channel Number number between 0 and 63 Chan status config see above The number of analog channels can be set to any value up to 64 by writing to OD index 2100h sub 1 The way in which all 64 or less analog inputs are read out depends on the transmission type of TPDO2 or TPDO3 The analog inputs are read out according to the PDO transmission type after power up Alternatively the user can set the transmission type to the required value by writing to ELMBio s Object Dictionary to OD index 1801h sub 2 or OD index 1802h sub 2 and possibly stores it permanently in onboard EEPROM so that it will be the default transmission type after every subsequent reset or power up The following modes of transmission are supported e PDO transmission type 1 after every socalled SYNC message issued on the CAN bus ELMBio starts an analog input channel scan and sends up to 64 TPDO messages one message for every analog input channel as shown above An A D conversion has to be done for every channel so it can take up to about 30 seconds before all TPDOs have been sent the ADC conver sion rate can be as low as 1 88 Hz ELMB software v2 0 12 Nov 2003 The SYNC message is a CAN message with a fixed COB ID and no data bytes Host gt all SYNC slave nodes COB ID 080h Note that all nodes that have PDOs configured to respond to
18. ELMB software v2 0 12 Nov 2003 CANopen Application Software for the ELMB128 Embedded Local Monitor Board 2304111111141 approx true size Henk Boterenbrood NIKHEF Amsterdam 12 Nov 2003 Version 2 0 ABSTRACT The ELMB128 is designed as a general purpose plug on module for distributed monitoring and control applications in the ATLAS experiment After production it contains a CANopen application program for doing digital and analog input and output This document provides a description and user manual of the application and includes a full listing of its Object Dictionary ELMB software v2 0 12 Nov 2003 Contents 1 INTRODUCTION sisi anida ciiciciacicdcoisiiiciccacd eaea E aE EET ESS 3 2 HARDWARE CONFIGURATION cococccccccononononononononononononononononononononononononononcnonininincncnnos 5 3 THE ELMBIO APPLICATION cccccccscccsssssssssssssssccccccsccccscecscesscesesssesesecscssscessssssssses 6 SL INTIALISA DION 200 A EEE EE E eset 6 32 ANACO CIN PUES A a he Ri td thee hana TE 7 3 2 1 ADC OUP UN ANON weds dins 7 3 2 2 Calibration COnStants cccc cccccccccccececcccccccccetecececececcuseeeecececececsaueeseseceesecsuatttseeeseceeees 7 Dd LP IDOMR 271 AEAEE a daha E E Meshes 7 SS Readouton CHANCE ait ccs Scant cana toes A Mapes EE le ge A scene ict 9 3 2 4 1 DeM ode y ta teed daa cds 10 3 2 4 2 WindOw MOde ammm 11 3 3 DDIGITALMNRUTS sete Ate HN AA tai EII 13 3246 gt DIGITAT QUTPUT Stren t
19. PROM and also printed on a sticker located on the ELMB PCB 3 2 3 PDO Readout ELMBio sends one PDO message for every analog input It either sends PDO messages containing the ADC count or PDO messages containing the input voltage in microVolts ELMB software v2 0 12 Nov 2003 The CAN identifier used for the ADC readout in counts is the socalled 2 transmit PDO TPDO2 of the CANopen Predefined Connection Set i e COB ID 280h NodelD The TPDO2 message is a 4 byte message and is formatted as follows ELMBio Host TPDO2 COB ID DataByte 0 DataByte 1 DataByte 2 3 280h NodelD Channel Number Chan status config ADC value with ADC value 16 bits value LSB in byte 2 MSB in byte 3 Channel Number number between 0 and 63 Chan status config bit 7 Conversion status 1 ERROR overflow or oscillation 0 OKAY bits 6 0 ADC configuration conversion wordrate bits WO W1 and W2 gain range bits G0 G1 and G2 and unipolar or bipolar bit U B see below BIT 7 6 5 4 3 2 1 0 Meaning Error W2 W1 WO G2 Gl GO UB The CAN identifier used for the ADC readout in pV is the socalled 3 transmit PDO TPDO3 of the CANopen Predefined Connection Set i e COB ID 380h NodelD The TPDO3 message is a 6 byte message and is formatted as follows ELMBio Host TPDO3 COB ID DataByte 0 DataByte 1 DataByte 2 5 380h NodelD Channel Number
20. a SYNC will respond to the SYNC broadcast message Note also that if both TPDO2 and TPDO3 have transmission type 1 only TPDO3 mes sages are produced unless there are no valid calibration constants for the currently ac tive ADC voltage range e PDO transmission type 255 and Event Timer 0 after every socalled Remote Transmission Request RTR for TPDO2 3 ELMBio starts an analog input channel scan and sends up to 64 TPDO2 3 messages one message for every analog input channel The CAN Remote Frame that constitutes this RTR has no data bytes and looks like this Host gt ELMBio COB ID 280h NodeID Note that an RTR is sent to and processed by only one particular node e PDO transmission type 255 and Event Timer gt 0 If TPDO2 s event timer OD index 1801h sub 5 or TPDO3 s event timer OD index 1802h sub 5 is set to a value unequal to zero event timer is expressed in units of 1 s ELMBio automatically starts an analog input channel scan resulting in up to 64 TPDO2 or TPDO3 messages triggered by a timer with a period equal to the event timer setting in this mode an RTR also triggers such an input scan If the timer expires while a chan nel scan is still in progress the trigger is ignored until the next timer expiration Optionally ELMBio does a reset and calibration sequence before each ADC channel scan This feature is controlled via OD index 2120h may be useful for increasing radiation toler ance
21. all CAN and CANopen communication ELMB software v2 0 12 Nov 2003 2 Hardware Configuration Using the onboard DIP switches a node identifier must be set between 1 and 63 must be unique on the CAN bus the module is on using 6 of the 8 switches and a CAN bus bit rate of 50 125 250 or 500 kbit s using the 2 remaining switches See Figure 1 below for details Node ID up 0 down 1 shown here 17 Bits 543210 BE 50 kbit s AB 125 kbit alata tal il a MI ss s aa a ee MAS Bj 250 kbit s baudrate l EJ 500 kbit s MS Programmer RS232 adapter connector Figure 1 Location and function of ELMB DIP switches and the 10 pin Program mer RS232 adapter connector Table 2 shows the functions of the ELMB microcontroller I O pins They match the I O pin layout for an ELMB plugged on the ELMB Motherboard version 3 VO PORT B C D E F Function In Out In Out In Out In Out VO ADC pin 0 in outS out0 in0 pin 1 in out9 SCLK outl inl pin 2 in outl0 SDI out2 in2 pin 3 in outl1 SDO out3 ADC CS DAC CSI in3 pin 4 in out 2 out4 ADC_SCLK DAC_CS2 in4 pin 5 in outl 3 out5 ADC SDI DAC CS3 in5 pin 6 in outl4 out6 ADC SDO DAC CS4 in pin 7 in outl 5 out7 ADC_MUX in7 Table 2 I O pin functions on the ATmegal 28 processor in the ELM Bio application use the ELMB in combination with ELMB Motherboard v3 used for varioud ELM
22. an be changed on a per channel basis on the fly and can be written or read expressed only in units of uVolt by writing to or reading from OD index 6424h or 6425h resp Upper and lower limit must differ by at least 1 ADC count to work so this minimum difference in Volt varies according to the ADC configuration In addition the upper and lower limit parameters for all channels can be set to the same value in one write operation to OD index 6424h and 6425h resp using subindex 255 FFh These parameters are stored onboard in non volatile memory on request in the CANopen standard way After a channel s reading has crossed a limit either going outside the window or going back inside the window a single message is sent When going outside the window a message is sent only after a configurable number of consecutive readings outside the set window We call 11 Analog In ELMB software v2 0 12 Nov 2003 this number the exceed counter There is only one counter for all channels set in OD index 2150h When the channel reading returns inside the window a message is sent immediately but only if the outside window situation was reported Two readings are consecutive when they occur in 2 consecutive channel scan cycles Note that if 64 ADC channels are scanned there may be considerable time between 2 consecutive readings of the same channel in the order of several seconds depending on the number of channels in the scan cycle an
23. cord 8 bits status 24 bits analogue Calibrated value in uV NB read out is refused if there are no valid calibration constants for the current ADC settings 0 Number of analog inputs U8 RO 64 Fixed but actual hardware con figuration may vary set in Object 2100 sub 1 1 Input 1 U32 RO 1 analog input 8 bit flags 24 bit signed data 2 Imput2 U32 RO Pia i i 64 Input 64 U32 RO 64 i j 2500 DAC configuration Record 0 Number of entries U8 RO 3 1 Number of output channels U8 RO 16or64 16 when MAX5122 DAC used 64 when MAX525 DAC used 2 MAX525 DAC Type Select Bool RW 0 0 DAC type is MAX5122 1 DAC type is MAX525 3 SPI SCLK signal high U8 RW 75 in us 10 lt value lt 255 period opto coupler delay Consecutive here means in consecutive input channel scans of up to 64 channels 24 ELMB software v2 0 12 Nov 2003 Manufacturer Specific Profile Area continued Index Sub Name Data Attr Default Comment hex Index Object 2A00 ADC range calibration Array EXPERT For now triggers a pure self ONLY calibration procedure only 0 Number of entries U8 RO 6 1 Calibrate 25 mV U32 WO Write any value 2 Calibrate 55 mV U32 WO Write any value 3 Calibrate 100 mV U32 WO Write any value 4 Calibrate 1 V U32 WO Write any value 5 Calibrate 2 5 V U32 WO Wri
24. curs but if it reaches this maximum value the node abandons regaining CAN bus access at bus off 5C00 Compile Options U32 RO Bitmask denoting which compile options were used when the ap plication was generated see table below for details SDFF ELMB Tests Record EXPERT For use in ATLAS DCS produc ONLY tion_and test stand only 0 Number of test objects U8 RO 2 1 Test of I O pins U32 RO 00000000h see description in another doc 2 Generate Watchdog Timer U32 RO ELMBio goes into an endless reset loop 5E00 Transfer control to ELMB U8 WO ELMBio jumps to the Boot Bootloader loader application Due to the way the ELMB s CAN controller handles Remote Frames it is recommended to disable Remote Frames permanently if not needed for PDO read out A special provision in the software has been made to en sure that the Node Guard Remote Frame is still handled properly 26 ELMB software v2 0 12 Nov 2003 Object 5C00 Compile Options Bit Compile Option Comment assume ELMB is plugged on Motherboard v3 if this fails try assuming ELMB is e ALL MOTHERBOARDS plugged on Motherboard v1 v2 no option Motherboard v3 1 MOTHERBOARD1 assume ELMB is plugged on Motherboard v1 v2 no option Motherboard v3 2 was option ADC_ELMB 3 ADC AVR use the ATmegal128 processor s integrated on chip 8 chan 10 bit ADC instead of z the ELMB s onboard 64
25. d the ADC conversion wordrate used The window mode of analog input readout is illustrated in Figure 3 UPPER 120 LOWER 80 CNTR 2 130 120 110 100 samples 90 80 a mua sample ELMBio put into is sent Operational state 70 T T T T T T T T T T T 1 3 5 7 9 11 13 15 Time Figure 3 Illustration of the analog input window mode The upper limit of the window is set to 120 and the lower limit to 80 The exceed counter is set to 2 Analog input samples marked by an arrow are sent 12 ELMB software v2 0 12 Nov 2003 3 3 Digital Inputs The digital inputs are read out using the CANopen PDO mechanism The CAN identifier used for this PDO is the socalled 1 transmit PDO TPDO1 of the CANopen Predefined Connection Set which is the default PDO used for digital inputs according to the CANopen Device Profile for I O Modules 5 1 e COB ID 180h NodelD In this application TPDO1 contains 2 data byte containing the state of the 2x8 digital inputs ELMBio Host TPDO1 COB ID DataByte 0 DataByte 1 180h NodeID 8 bit Digital Input 8 bit Digital Input PORTF in PORTA in The following modes of transmission are supported e PDO transmission type 1 after every socalled SYNC message issued on the CAN bus ELMBio sends a TPDO1 e PDO transmission type 254 255 and Event Timer 0 ELMBio sends a TPDO1 after every socalled Remote Transmission Request RTR for the PDO e PDO t
26. dex Sub Description Data Attr Default Comment hex Index Object 6000 Read state 8 Input lines Array 0 Number of 8 bit inputs U8 RO 2 1 Read inputs 1 8 U8 RO ELMB PORTF 2 Read inputs 9 16 U8 RO ELMB PORTA see Object 6208 2 6005 Global Digital Input Inter Bool RW 0 Enable disable change of state id rupt Enable TPDO1 transmission 6006 Interrupt Mask Any Array Only bits set to 1 will generate Change 8 input lines a TPDO1 on change 0 Number of 8 bit inputs U8 RO 2 1 Interrupt Mask Inputs 1 8 U8 RW FFh 5 2 Interrupt Mask Inputs 9 16 U8 RW FFh 6200 Write state 8 Output lines Array 0 Number of 8 bit outputs U8 RO 2 1 Write outputs 1 8 U8 RW ELMB PORTC 2 Write outputs 9 16 U8 RW ELMB PORTA 6208 Filter Mask 8 output lines Array 0 Number of 8 bit masks U8 RO 2 1 Filter mask outputs 1 8 U8 RO FFh 7 2 Filter mask outputs 9 16 U8 RW FFh PORTA pins not defined as out puts maskbit 1 are inputs to be accessed thru Object 6000 2 6404 Read Analogue Input Record 8 bits status 16 bits analogue manufacturer specific value 0 Number of analog inputs U8 RO 64 Fixed but actual hardware con figuration may vary see OD index 2100 sub 1 1 Input 1 124 RO 1 analog input 8 bit flags 16 bit data 2 Input 2 124 RO pa i 64 Input 64 124 RO 64 a E 6411 Write Analogue Out 16 bit Array 0 Number of 16 bit outputs U8 RO 16or64 16 when MAX5122 DAC used 64 when MAX525 DAC used see OD index 2500 1 Output 1 U16 RW 1 analog output 16
27. e U8 WO Writing triggers a reset and cali brate sequence using the current ADC settings 2120 ADC reset and calibrate Bool RW 0 If 1 a reset calibration sequence before each channel scan is performed before every ADC input channel scan 000 15 0 Hz 001 30 0 Hz 010 61 6 Hz 011 84 5 Hz 100 101 1 Hz 101 1 88Hz 110 3 76 Hz 111 7 51 Hz 2 000 100mV 001 55 mV 010 25 mv 011 1 V 100 5 V 101 2 5 V 23 ELMB software v2 0 12 Nov 2003 Manufacturer Specific Profile Area continued Index Sub Name Data Attr Default Comment hex Index Object 2130 Enable Analogue Input In Bool RW 1 Enable disable delta mode x terrupt Delta change Mode readout on change operation global enable Object 6423 2140 Enable Analogue Input In Bool RW 0 Enable disable window mode dd terrupt Upper Lower Limit readout on change operation Mode global enable Object 6423 2150 Upper Lower Limit Exceed U8 RW 2 Number of consecutive readout Counter values outside window before value is sent 2200 Digital Input debounce U8 RW 10 In units of ca 0 5 ms set to 0 x timer there is ca 0 5 ms between con secutive input polls 2300 Digital Output Init High Bool RW 1 After a hard reset if set to 0 Digital Outputs will be initialised to all low if set to 1 Digital Outputs will be initialised to all high 2404 Read Analogue Input Re
28. ed by the occurrence of an internal fatal error situation An emergency CAN message has the following general syntax ELMB gt Host COB ID Byte 0 1 Byte 2 Byte 3 7 080h Emergency Error Register Manufacturer specific error field NodelD Error Code Object 1001h The following Emergency messages may be generated by the ELMBio application note that byte 2 containing the Error Register is not included in the table Emergenc Error TEE nf Manufacturer Specific Error Field ipti byte 3 7 Description bye byte 3 7 CAN communication 8100h Byte 3 81C91 Interrupt Register content Byte 4 81C91 Mode Status Register content Byte 5 error counter Byte 6 bus off counter see OD index 3200 sub 3 Life Guarding 8130h CAN controller has been reinitialized RPDO too few bytes 8210h Byte 3 minimum DLC Data Length Code required ADC 5000h Byte 3 01h conversion timeout Byte 4 ADC channel number 0 63 Byte 5 0 ADC 5000h Byte 3 02h reset failed Byte 4 00h Byte 5 Error id ADC 5000h Byte 3 03h offset calibration failed Byte 4 00h ADC 5000h Byte 3 04h gain calibration failed Byte 4 00h ADC problem s during 5000h Byte 3 10h initialisation Byte 4 ADC status see OD index 1002 ADC calibration con 5000h Byte 3 11h stants not available Slave processor not re 5000h Byte 3 20h sponding ELMB103 only table continues on the
29. ee Wiest E E AAA EA bei 14 35 gt ANALOG QUTBUTS 00 Sosa rivabbec lies a ai ii 14 3 6 STORING PARAMETERS AND SETTINGS ccccccsssssssceccccccssssssssceccssccsessessscescesesaeauenseeescs 15 4 EEPROM MEMORY MAP 2 cccccscscssssssscssscscssssssssssssscsssccssscccccscececssesccssscesesesscssseees 17 5 OBJECT DICTIONARY ievsicscccidcsccccsecdcscccdecdescasictaccsiezcssciecccacdsdeecoscdelosscesccbesesdesdescascesenes 19 6 EMERGENCY OBJECTES iiisceccsccccdiestisssicsccceccceicbssiesccceccdesssesccseccddccedvocacesevcedsesdescocsoe tees 30 REFERENCES cass ssccaccesiscccseshccaccesescedsecececssesescesseseccaccoaescedsesecsccsesesdessosboccdonseacedsesvocasoesescoasesss 32 Version History Version Date Comments 2 0 12 Nov 2003 First version describing ELMBio v4 2 for ELMB128 1 x oe Versions describing ELMBio v3 x for ELMB Table 1 Document change record ELMB software v2 0 12 Nov 2003 1 Introduction The Embedded Local Monitor Board ELMB is a plug on board designed for the ATLAS experiment where it will be used for a range of different control and monitoring tasks Full details about the ELMB hardware can be obtained from the ELMB webpages During production the ELMB s ATmegal28 microcontroller is fitted with two application programs 1 a Bootloader in the ELMB microcontroller the upper 8 Kbyte of the 128 Kbyte flash memory is re served for the socalled Bootloader a separate applicat
30. er up guarantees that it is always possible to download new application software to the ELMB even when the application currently pro grammed in the ELMB is faulty or corrupted After about 4 s the Bootloader automatically jumps to the ELMBio application The Boot loader jumps immediately to ELMBio if it recetves an NMT Reset Node message as shown above 3 2 Analog Inputs 3 2 1 ADC Configuration The ELMB s ADC 6 can be configured for full scale measurement in the ranges 25 mV 55 mV 100 mV 1V 2 5V and 5V unipolar or bipolar with a programmable conversion wor drate of 1 8 Hz 7 5 Hz 15 Hz 30 Hz 60 Hz 85 Hz or 100 Hz in practice the achievable rate of conversions is limited to about 30 Hz maximum due to the slow opto couplers used in the serial interface between the processor and the ADC The ADC configuration in ELMBio can be read from and set in OD index 2100 3 2 2 Calibration Constants During the ELMB production acceptance tests each of the ADC voltage ranges for one con version wordrate i e 15 Hz is calibrated and the resulting calibration constants have been stored in the ELMB EEPROM Depending on the configured voltage range ELMBio applies the appropriate calibration constants to the ADC conversion data The calibration constants are also stored in a database and can be retrieved on the basis of the serial number of the ELMB which is a 32 bit number actually a 4 character string stored in the ELMB s EE
31. erenbrood CANopen high level protocol for CAN bus Version 3 0 NIKHEF Amsterdam 20 March 2000 http www nikhef nl pub departments ct po doc CANopen30 pdf 3 8 bit AVR Microcontroller with 128K Bytes In System Programmable Flash ATmega128 ATmega128L ATMEL product datasheet http www atmel com atmel products prod23 htm 4 SAE81C90 91 Standalone Full CAN Controller SIEMENS product datasheet preliminary January 1997 5 CAN in Automation e V CANopen Device Profile for Generic I O Modules CiA DS 401 Version 2 0 20 December 1999 http www can cia de 6 CRYSTAL CS5521 22 23 24 28 16 Bit or 24 bit 2 4 8 Channel ADCs with PGIA CIRRUS LOGIC product datasheet DS317F2 May 2000 http www cirrus com 32
32. ex Sub Description Data Attr Default Comment hex Index Object 1400 1 Receive PDO par s Record Data type PDOCommPar 0 Number of entries U8 RO 5 1 COB ID used by PDO U32 RO 200h According to CANopen Prede NodelD fined Connection Set 2 Transmission type U8 RO 255 Only 255 allowed 3 4 5 Not used RO 0 1401 2 Receive PDO par s Record Data type PDOCommPar 0 Number of entries U8 RO 5 1 COB ID used by PDO U32 RO 300h According to CANopen Prede NodelD fined Connection Set 2 Transmission type U8 RO 255 3 4 5 Not used RO 0 1600 1 Receive PDO mapping Record Data type PDOMapping 0 Number of entries U8 RO 2 1 Digital outputs 1 8 U32 RO 62000108 OD index 6200 sub index 1 Outputs 1 8 see DSP 401 size 8 bits 2 Digital outputs 9 16 U32 RO 62000208 OD index 6200 sub index 2 Outputs 9 16 see DSP 401 size 8 bits 1601 2 Receive PDO mapping Record Data type PDOMapping 0 Number of entries U8 RO 2 1 DAC channel number U32 RO 64110008 actually not allowed but 2 16 bit analog output U32 RO 64110110 OD index 6411 sub index 1 16 bits Analog Output see DSP 401 size 16 bits multiplexed 1800 1 Transmit PDO par s Record Data type PDOCommPar 0 Number of entries U8 RO 5 1 COB ID used by PDO U32 RO 180h According to CANopen Prede NodelD fined Connection Set 2 Transmission type U8 RW 1 Only 1 and 255 allowed 3 Inhibit time 100 us Ul6 RO 0 not used 4 Not used U8 RO 0 5 Event timer 1 s U16 RW 0 In
33. g incl ADC limits 4 Save ADC delta change U32 RW 1 Read 1 Write save store parameters ADC deltas 5 Save ADC upper lower U32 RW 1 Read 1 Write save store limit parameters ADC upper lower liimits 1011 Restore default parameters Array Invalidate stuff in onboard EEPROM use defaults 0 Highest index supported U8 RO 5 1 Set all parameters to de U32 RW 1 Read 1 Write load invalidate faults all parameters stored excl ADC deltas limits 2 Set communication pa U32 RW 1 Read 1 Write load invali rameters to defaults date stored PDO par s etc 3 Set application parameters U32 RW 1 Read 1 Write load invali to defaults date stored ADC config etc excl ADC deltas limits 4 Set ADC delta change pa U32 RW 1 Read 1 Write load invalidate rameters to defaults ADC deltas 5 Set ADC upper lower limit U32 RW 1 Read 1 Write load invalidate parameters to defaults ADC upper lower limits 1017 Producer Heartbeat Time Ul6 RW 0 In units of seconds but lt 255 i 1 s NB should be in ms according to CANopen 0 gt Heartbeat is disabled 1018 Identity Record Mandatory CANopen object 0 Number of entries 1 4 RO 1 1 Vendor ID U32 RO 12345678h to be ordered from CiA 20 ELMB software v2 0 12 Nov 2003 Communication Profile Area continued Ind
34. he meaning of the data content of a PDO message in any case the receivers may also find out about the data content of a PDO by consulting the PDO Mapping Parame ters in the Object Dictionary of the producer of the PDO ELMBio supports a total of 5 PDOs two Transmit PDO for the analog inputs one for raw ADC counts and one for physical values uVolts one Transmit PDO for the digital inputs one Receive PDO for the digital outputs and a Receive PDO for the analog outputs For an overview of the complete Object Dictionary OD of the ELMBio application see section 5 http elmb web cern ch ELMB software v2 0 12 Nov 2003 Many of the features are configurable using standard CANopen messages Settings can be stored permanently in onboard EEPROM also using standard CANopen messages ELMBio provides apart from the standard CANopen and CANopen Device Profile features additional support for In Application Programming via the CAN bus through interaction with the Bootloader and is equipped with a number of mechanisms to decrease the sensitivity of the application to SEE Single Event Effects due to radiation The source code of ELMBio source code is freely available for users who want to customize the application to fit their needs Alternatively there is also a CANopen firmware framework available for users who need to develop custom I O and control themselves but want to have the benefit of a ready to use framework that handles
35. index 6006h sub 1 and 2 Digital inputs can of course also be read using CANopen SDO messages see OD index 6000h 13 ELMB software v2 0 12 Nov 2003 3 4 Digital Outputs The digital outputs can be written using the CANopen PDO mechanism The CAN identifier used for this PDO is the socalled receive PDO RPDO1 of the CANopen Predefined Connection Set which is the default PDO used for digital outputs according to the CANopen Device Profile for I O Modules 5 i e COB ID 200h NodeID RPDO1 has at least 1 data byte containing in each byte the required state of 8 digital outputs Host gt ELMBio RPDO1 COB ID DataByte 0 DataByte 1 200h NodeID 8 bit Digital Output 8 bit Digital Output PORTC out PORTA out If RPDO1 carries only 1 data byte only PORTC gets new settings PORTA remains un changed Once ELMBio is put into state Operational 1t can receive the RPDO1 and immediately on reception sets its digital outputs according to the values in the RPDO1 data byte s ELMBio retains the digital output settings only after a soft reset triggered by an NMT Re set Node message After a hard reset power up watchdog the outputs are initialized to ei ther 0 or 1 low or high which can be set by OD index 2300h As mentioned in the previous section the second 8 bit digital port can be defined bit by bit as either input or output This is done through the socalled Output Filter Mask OD index
36. ion that takes care the In Application Programming At the time of production of the ELMB a Bootloader is in stalled called ELMBbl which enables reprogramming of the ELMB microcontroller via the CAN bus using the CANopen protocol This Bootloader is described in a separate document 2 a CANopen I O application for production acceptance testing and subsequent use as a general purpose analog digital input and output application This application called ELMBio is the subject of this document ELMBio has been developed to provide users of the ELMB with a ready to use CANopen module when plugged onto the ELMB Motherboard It supports by means of the ELMB s onboard ADC and multiplexors 1f present 64 analog input channels up to 16 digital inputs microcontroller PORTF and PORTA and up to 16 digital outputs microcontroller PORTC and PORTA In addition it has support for an exter nal DAC module result of a separate development and can handle up to 64 analog outputs The ELMBio application conforms where possible to the CANopen DS 401 Device Profile for I O modules 5 The socalled process data in the case of ELMBio the analog and digital inputs and out puts can efficiently be read out or written to using CANopen PDO Process Data Object messages A PDO message is a non confirmed CAN message with one sender and one or more receivers containing no protocol overhead only data 1 to 8 bytes Receivers of a PDO message know t
37. put channel reference values The delta change parameter the amount by which an ADC input channel value has changed when its reading is sent in a message can be changed on a per channel basis on the fly and can be written or read expressed only in units of Volt by writing to or reading from OD in dex 6426h A value of zero for the delta change parameter effectively disables the check for the channel in question In addition the de ta change parameter for all channels can be set to the same value in one write operation to OD index 6426h using subindex 255 FFh These parameters are stored onboard in non volatile memory on request in the CANopen standard way The delta change mode of analog input readout is illustrated in Figure 2 10 Analog In ELMB software v2 0 12 Nov 2003 130 120 DELTA 10 samples 110 100 90 sample 1s sent ELMBio put into Operational state 80 Time Figure 2 Illustration of the analog input delta change mode The delta change parame ter is set to 10 Analog input samples marked by an arrow are sent 3 2 4 2 Window Mode In window mode analog input read out ELMBio asynchronously sends a message when an analog input channel reading has gone below a certain preset lower limit or has exceeded a certain preset upper limit The response to a SYNC or a RTR is similar to the behaviour described in the section on the delta mode The upper and lower limit parameter c
38. r RO el40 ELMB V4 100A 0 Manufacturer software VisStr RO MA42 ELMBio application version 4 2 version see footnote 1 minor version number VisStr RO 0001 100C Guard time ms U16 RO 1000 second 100D Life time factor U8 RW 0 Lifeguarding timeout in seconds i 0 gt no lifeguarding timeout Manufacturer Status Register bits 00000001 ADC reset error 00000002 ADC calibration error 00000004 ADC conversion time out 00000008 error reading or writing ADC calibration constant s 00000010 error reading or writing ADC delta change parameters 00000020 error reading or writing ADC upper limit parameters 00000040 error reading or writing ADC lower limit parameters 2 MA version using the ELMB onboard ADC MV version using the ATmega128 on chip 8 chan ADC MN version without any ADC support 19 ELMB software v2 0 12 Nov 2003 Communication Profile Area Index Sub Description Data Attr Default Comment hex Index Object 1010 Store parameters Array Save stuff in onboard EEPROM 0 Highest index supported U8 RO 5 1 Save all parameters U32 RW 1 Read 1 Write save store all incl ADC limits 2 Save communication pa U32 RW 1 Read 1 Write save store rameters PDO par s Life time factor 3 Save application parame U32 RW 1 Read 1 Write save store ters ADC config dig I O confi
39. ransmission type 254 255 and Event Timer gt 0 If TPDO1 s event timer OD index 1800h sub 5 is set to a value unequal to zero event timer is expressed in units of 1 ms but here its value is truncated to a multiple of 1000 ELMBio automatically sends a TPDO1 on a regular basis triggered by a timer TPDO1 is also sent after a RTR Automatic sending of a TPDO1 at change of state of the digital inputs can be enabled through OD index 6005h it is disabled by default If enabled in each of the transmission modes listed above ELMBio once put into state Op erational continuously monitors the state of the digital I O inputs and immediately sends a TPDO1 after it detects a change in any of the inputs A debounce time out is in effect and can be set also to zero see OD index 2200h ELMBio polls the digital inputs roughly about every 0 5 ms also depending on other activities The second 8 bit digital input port is shared between digital in and outputs See the next section on how to define a bit to be input or output Bits defined as output show up as zeroes in byte 1 in the TPDO1 message shown above Note both PORTA and PORTF have pull up resistors enabled in their input circuits There is an interrupt mask for each input bit if set a change detected on the corresponding input will trigger a TPDO1 message provided the global digital input interrupt enable men tioned above in OD index 6005h is set the interrupt masks can be set in OD
40. te any value 6 Calibrate 5 V U32 WO Write any value 2B00 ADC calibration parameters Array Calibration constants determined 25 mV at production time always stored in EEPROM enable write opera tion by first writing to 2D00 0 Number of entries U8 RO 4 1 Gain Factor phys chan 1 U32 RW actual gain factor 1000000 2 Gain Factor phys chan 2 U32 RW actual gain factor 1000000 3 Gain Factor phys chan 3 U32 RW actual gain factor 1000000 4 Gain Factor phys chan 4 U32 RW actual gain factor 1000000 2B01 ADC calibration parameters Array Calibration constants as above 55 mV 2B02 ADC calibration parameters Array E 100 mV 2B03 ADC calibration parameters Array LV 2B04 ADC calibration parameters Array ba 2 5 V 2B05 ADC calibration parameters Array 5V 2C00 Erase ADC calibration pa U8 WO EXPERT Write EEh to erase rameters 25 mV ONLY enable by first writing to 2D00 2C01 Erase ADC calibration pa U8 WO EXPERT rameters 55 mV ONLY 2C02 Erase ADC calibration pa U8 WO EXPERT 7 rameters 100 mV ONLY 2C03 Erase ADC calibration pa U8 WO EXPERT E rameters 1 V ONLY 2C04 Erase ADC calibration pa U8 WO EXPERT 7 rameters 2 5 V ONLY 2C05 Erase ADC calibration pa U8 WO EXPERT Ae rameters 5 V ONLY 2D00 Enable calibration parame U8 WO EXPERT Writing ASh enables one write ter write erase operation ONLY or erase operation to any of the Objects 2B00h to 2B05h or 2C00h to 2C05h
41. units of seconds NB should be in ms according to CANopen active if gt 0 and transmission type 255 1801 2 Transmit PDO par s Record Data type PDOCommPar 0 Number of entries U8 RO 5 1 COB ID used by PDO U32 RO 280h According to CANopen Prede NodelD fined Connection Set 3 2 Transmission type U8 RW 1 Only 1 and 255 allowed 3 Inhibit time 100 us Ul6 RO 0 not used 4 Not used U8 RO 0 r 5 Event timer 1 s U16 RW 0 In units of seconds NB should bel in ms according to CANopen active if gt 0 and transm type 255 21 ELMB software v2 0 12 Nov 2003 Communication Profile Area continued Index Sub Description Data Attr Default Comment hex Index Object 1802 3 Transmit PDO par s Record Data type PDOCommPar 0 Number of entries U8 RO 5 1 COB ID used by PDO U32 RO 380h According to CANopen Prede NodelD fined Connection Set 2 Transmission type U8 RW 1 Only 1 and 255 allowed 3 Inhibit time 100 us Ul6 RO 0 not used x 5 Event timer 1 s U16 RW 0 In units of seconds NB should be in ms according to CANopen active if gt 0 and transmission type 255 1A00 1 Transmit PDO mapping Record Data type PDOMapping 0 Number of entries U8 RO 2 1 Digital inputs 1 8 U32 RO 60000108h OD index 6000 sub index 1 Inputs 1 8 see DSP 401 size 8 bits 2 Digital inputs 9 16 U32 RO 60000208h OD index 6000 sub index 2 Inputs 9
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