CANUSB Manual
Contents
1. 8 77 Box 3 ARM AVR 8051 HC08 HC11 HC12 MSP430 X86 Fax 46 0 451 598 78 SE 282 21 Tyringe CAN Controller Area Network e CANopen USB Compilers info canusb com SWEDEN Single Board Computers Programmers Software www canusb com2. 8051 HC08 HC11 HC12 MSP430 X86 Fax 46 0 451 598 78 SE 282 21 Tyringe CAN Controller Area Network e CANopen USB Compilers info canusb com SWEDEN Single Board Computers Programmers Software www canusb com LAWICEL AB www canusb com CANUSB Manual C CR Close the CAN channel This command is only active if the CAN channel is open Example C CR Close the channel Returns CR Ascii 13 for OK or BELL Ascii 7 for ERROR tiiildd CR Transmit a standard 11bit CAN frame This command is only active if the CAN channel is open iii Identifier in hex 000 7FF Data length 0 8 dd Byte value in hex 00 FF Numbers of dd pairs must match the data length otherwise an error occur Example 1 t10021133 CR Sends an 11bit CAN frame with ID 0x100 2 bytes with the value 0x11 and 0x33 Example 2 t0200 CR Sends an 11bit CAN frame with ID 0x20 amp 0 bytes Returns z CR for OK or BELL Ascii 7 for ERROR Tiiiiiiiildd CR Transmit an extended 29bit CAN frame This command is only active if the CAN channel is open iitiii Identifier in hex 00000000 1FFFFFFF Data length 0 8 dd Byte value in hex 00 FF Numbers of dd pairs must match the data length otherwise an error occur Example 1 t0000010021133 CR Sends a 29bit CAN frame with ID 0x100 2 bytes with the value 0x11 and 0x33 Returns Z CR for OK or BELL Ascii 7 for ERROR LAWICEL AB Embedded Tools Starterkits amp
3. 8051 HC08 HC11 HC12 MSP430 X86 Fax 46 0 451 598 78 SE 282 21 Tyringe CAN Controller Area Network e CANopen USB Compilers info canusb com SWEDEN Single Board Computers Programmers Software www canusb com LAWICEL AB www canusb com CANUSB Manual 2 0 Availible CANUSB ASCII Commands Note All commands to the CANUSB must end with CR Ascii 13 and they are CASE sensitive Sn CR Setup with standard CAN bit rates where n is 0 8 This command is only active if the CAN channel is closed S0 Setup 10Kbit S1 Setup 20Kbit S2 Setup 50Kbit S3 Setup 100Kbit S4 Setup 125Kbit S5 Setup 250Kbit S6 Setup 500Kbit S7 Setup 800Kbit S8 Setup 1Mbit Example S4 CR Setup CAN to 125Kbit Returns CR Ascii 13 for OK or BELL Ascii 7 for ERROR sxxyy CR Setup with BTRO BTR1 CAN bit rates where xx and yy is a hex value This command is only active if the CAN channel is closed XX BTRO value in hex yy BTR1 value in hex Example s031C CR Setup CAN with BTRO 0x03 amp BTR1 0x1C which equals to 125Kbit Returns CR Ascii 13 for OK or BELL Ascii 7 for ERROR O CR Open the CAN channel This command is only active if the CAN channel is closed and has been set up prior with either the S or s command i e initiated Example O CR Open the channel Returns CR Ascii 13 for OK or BELL Ascii 7 for ERROR LAWICEL AB Embedded Tools Starterkits amp Consulting Phone 46 0 451 598 77 Box 3 ARM AVR
4. Consulting Phone 46 0 451 598 77 Box 3 ARM AVR 8051 HC08 HC11 HC12 MSP430 X86 Fax 46 0 451 598 78 SE 282 21 Tyringe CAN Controller Area Network e CANopen USB Compilers info canusb com SWEDEN Single Board Computers Programmers Software www canusb com LAWICEL AB www canusb com CANUSB Manual riiil CR Transmit an standard RTR 11bit CAN frame This command is only active if the CANUSB is open in normal mode iii Identifier in hex 000 7FF Data length 0 8 Example 1 r1002 CH Sends an 11bit RTR CAN frame with ID 0x100 and DLC set to two 2 bytes Returns z CR for OK or BELL Ascii 7 for ERROR Riiiiiiiil CR Transmit an extended RTR 29bit CAN frame This command is only active if the CANUSB is open in normal mode iiiiiiii Identifier in hex 00000000 1FFFFFFF Data length 0 8 Example 1 t000001002 CHR Sends an 11bit RTR CAN frame with ID 0x100 and DLC set to two 2 bytes Returns Z CR for OK or BELL Ascii 7 for ERROR F CR Read Status Flags This command is only active if the CAN channel is open Example 1 F CR Read Status Flags Returns An F with 2 bytes BCD hex value plus CR Ascii 13 for OK If CAN channel isn t open it returns BELL Ascii 7 This command also clear the RED Error LED See availible errors below E g F01 CR Bit 0 CAN receive FIFO queue full Bit 1 CAN transmit FIFO queue full Bit 2 Error warning El see SJA1000 datasheet Bit 3 Dat
5. LAWICEL AB www canusb com CANUSB Manual LAWICEL www canusb com CANUSB Manual Hee November 2011 CANUSB Manual Version 1 0D LAWICEL AB Embedded Tools Starterkits amp Consulting Phone 46 0 451 598 77 Box 3 ARM AVR 8051 HC08 HC11 HC12 MSP430 X86 Fax 46 0 451 598 78 info canusb com SE 282 21 Tyringe CAN Controller Area Network CANopen USB Compilers www canusb com SWEDEN Single Board Computers Programmers Software LAWICEL AB www canusb com CANUSB Manual In this manual are descriptions for copyrighted products that are not explicity indicated as such The absence of the copyright O symbol does not infer that a product is not protected Additionally registered patents and trademarks are similarly not expessly indicated in this manual The information in this document has been very carefully checked and is believed to be reliable However LAWICEL AB assumes no responsibility for any inaccuracies LAWICEL AB gives no guarantee nor accepts any liability what so ever for consequential damages resulting from the use of this manual or it s associated product LAWICEL AB reserves the right to change the information contained herin without prior notification Further LAWICEL AB offers no guarantee nor accepts any liability for damages for improper usage or improper installation of the hardware described herein Finally LAWICEL AB reserves the right to change the hardware or des
6. This is default when power on i e receive all frames Returns CR Ascii 13 for OK or BELL Ascii 7 for ERROR Setting Acceptance Code and Mask registers The Acceptance Code Register and the Acceptance Mask Register works together and they can filter out 2 groups of messages For more information on how this work look in the SJA1000 datasheet In 11bit ID s it is possible to filter out a single ID this way but in 29bit ID s it is only possible to filter out a group of ID s The example below will set a filter to only receive all 11bit ID s from 0x300 to Ox3FF Commands Comments MOO006000 CR ACO020x00 AC1 0x00 AC2 0x60 amp AC3 0x00 m00001FFO CR AMO0 0x00 AM1 0x00 AM2 0x1F amp AM3 0xFO The first command tells the filter 2 to match 2 bits and if they are not set in this case it corresponds to Ox3nn the 3 The second command tells the nn to be don t care so it could be from 0 to FF though not so easy to read since they are not placed nice in a row in memory Filter 1 s turned off uses AMO AM1 amp half lower AM3 The last byte in the mask could also be OxEO instead of OxFO then we filter out the RTR bit as well and you wont accept RTR frames LAWICEL AB Embedded Tools Starterkits amp Consulting Phone 46 0 451 598 77 Box 3 ARM AVR 8051 HC08 HC11 HC12 MSP430 X86 Fax 46 0 451 598 78 SE 282 21 Tyringe CAN Controller Area Network e CANopen USB Compilers info canusb com SWEDEN Single Board Computer
7. a Overrun DOI see SJA1000 datasheet Bit 4 Not used Bit 5 Error Passive EPI see SJA1000 datasheet Bit 6 Arbitration Lost ALI see SJA1000 datasheet Bit 7 Bus Error BEI see SJA1000 datasheet Arbitration lost doesn t generate a blinking RED light Bus Error generates a constant RED light LAWICEL AB Embedded Tools Starterkits amp Consulting Phone 46 0 451 598 77 Box 3 ARM AVR 8051 HC08 HC11 HC12 MSP430 X86 Fax 46 0 451 598 78 SE 282 21 Tyringe CAN Controller Area Network CANopen USB Compilers info canusb com SWEDEN Single Board Computers Programmers Software www canusb com LAWICEL AB www canusb com CANUSB Manual Mxxxxxxxx CR Sets Acceptance Code Register ACn Register of SJA1000 This command is only active if the CAN channel is initiated and not opened XXXXXXXX Acceptance Code in hex with LSB first ACO AC1 AC2 amp ACS For more info see Philips SJA1000 datasheet Example M00000000 CR Set Acceptance Code to 0x00000000 This is default when power on i e receive all frames Returns CR Ascii 13 for OK or BELL Ascii 7 for ERROR mxxxxxxxx CR Sets Acceptance Mask Register AMn Register of SJA1000 This command is only active if the CAN channel is initiated and not opened XXXXXXXX Acceptance Mask in hex with LSB first AMO AM1 AM2 amp AMS For more info see Philips SJA1000 datasheet Example mFFFFFFFF CR Set Acceptance Mask to OXFFFFFFFF
8. and set it up to any baudrate 8 databits no parity 1 stop bit also set local echo on so you can see what you type and set the check flag so that it appends a line feed when it receive and end of line Finally make sure you have hardware and software handshaking off Then make sure you are connected and press gt ENTER lt and it will make a new line then press V and gt ENTER lt and it will print reply Vhhss where hh is the hardware version and ss is the software version Now you know you have full contact with the CANUSB unit and can set it up with a CAN speed and open the CAN port send and receive frames The green LED indicates that a CAN frame is succesfully sent or received into the CANUSB unit Note that you must at least have 2 nodes CANUSB is counted as one node to send receive CAN frames and that the CAN cable network is terminated at both ends with 120 ohms over the CANL and CANH lines plus that a proper twisted pair CAN cable is used The CANUSB is set to accept all frames so no need to set filters etc for testing The CANUSB can also be tested with the sample programs at www canusb com 1 4 CANUSB limitations There are of course limitations of how many frames the CANUSB can send amp receive Current version V1011 is tested with a throughput of sending 1000 standard 11bit frames with 8 data bytes at 125kbit CAN bitrate and the VCP drivers The bottle neck is of course the RS232 VCP drivers and the microcontroller not be
9. communication to the CANUSB and puts all messages in FIFO queues or mail boxes depending on your application Using the D2XX driver has a similar approach though is faster in transfer and instead of talking to a virtual COM port you have an API Application Programmer Interface to a DLL instead which could be used in C C C VB or Delphi etc If you are migrating from CAN232 the CANUSB do not have the old fashioned P and A commands Instead incomming CAN frames are sent out at once on USB this to save bandwidth on the USB side of the driver since the fastest respons of USB is 1mS Replies back from t T r and R will also always reply z CR or Z CR depending on command Otherwise commands are the same Always start each session when your program starts with sending 2 3 CR to empty any prior comand or queued character in the CANUSB many times at power up there could be false characters in the queue or old ones that was from a previous session and make sure you wait for CR and or BELL responce back ther same ammount as you sent CR out then check the CAN version with V command to be sure that you have communication with the unit then set up the CAN speed with s or S command then open the CAN port with O then the CANUSB is in operation for both sending and receiving CAN frames Send frames with the t ot T command and wait for a response back to see it it was placed in the CAN FIFO transmission queue or the queue was full Incomming
10. frames from the CAN bus will be sent out at ones Then once in a while send the F command to see if there are any errors e g each 500 1000m8 or if you get an error back from the CAN232 If you get to many errors back after sending commands to the unit send 2 3 CR to empty the buffer and wait for result back then issue the commands again if this continue allert the user or application within your program that there is a communication error e g a damaged CAN tranceiver or power failure etc The www canusb com website offers many sample programs in source code These programs are free to use or alter to suit your needs 1 6 Version Information The version number of CANUSB consists of 2 versions one for the hardware and one for the software These two version numbers are combined into one unique version string with 5 charact ers starting with a V then 2 characters for hardware and finally 2 characters for software E g version V1010 indicates that it is hardware version 1 0 and software version 0 0 If we update the hardware we will increase version number of the 2 first characters and if we add or change commands or correct bugs the software version number will increase To see if your CANUSB supports the commands in this manual check which version number you have by sending the V command to the CANUSB see under commands how it works LAWICEL AB Embedded Tools Starterkits amp Consulting Phone 46 0 451 598 77 Box 3 ARM AVR
11. ign without prior notification and accepts no liability for doing so O Copyright 2004 2011 LAWICEL AB All rights reserved Printed in Sweden Includes translation reprint broadcast photomechanical or similar reproduction No reproduction may be performed without the written agreement from LAWICEL AB LAWICEL AB Box 3 Industrigatan 6 2nd Floor SE 282 21 Tyringe SWEDEN Phone 46 451 59877 FAX 46 451 59878 http www canusb com info canusb com LAWICEL AB Embedded Tools Starterkits amp Consulting Phone 46 0 451 598 77 Box 3 ARM AVR 8051 HC08 HC11 HC12 MSP430 X86 Fax 46 0 451 598 78 SE 282 21 Tyringe CAN Controller Area Network e CANopen USB Compilers info canusb com SWEDEN Single Board Computers Programmers Software www canusb com LAWICEL AB www canusb com CANUSB Manual 1 0 Introduction The LAWICEL CANUSB is a low cost and easy to use CAN to USB dongle that could be used together with Windows or Linux O S with two types of drivers One Virtual COM Port driver VCP which acts as a standard RS232 COM port in this mode CANUSB can replace our CAN232 and gain more bandwidth on CAN with minor or none software change The other driver is a Direct Driver D2XX which uses a DLL to communicate with the CANUSB Both drivers can not co excist on the same PC you have to choose one of them however it is easy do uninstall and change from e g VCP to D2XX driver CANUSB uses same type of com
12. ing able to handle more frames per second So the CANUSB is aimed for low speed CAN networks and works very well with CAN speeds at 250kbit or less but of course it is usable up to 1 Mbit but the bus load may not be high at these speeds or e g the filter has to be set to accept some of the frames The CANUSB has software CAN FIFO queues for both sending and reception These transmit FIFO can handle 8 frames standard or extended while the receive FIFO can handle 32 frames standard or extended Furthermore the CANUSB has also USB FIFO s built in the hardware so it can only handle one or two command at a time meaning before sending the next command to it you must wait for an answer from the CANUSB unit OK which is CR or Error which is BELL LAWICEL AB Embedded Tools Starterkits amp Consulting Phone 46 0 451 598 77 Box 3 ARM AVR 8051 HC08 HC11 HC12 MSP430 X86 Fax 46 0 451 598 78 SE 282 21 Tyringe CAN Controller Area Network e CANopen USB Compilers info canusb com SWEDEN Single Board Computers Programmers Software www canusb com LAWICEL AB www canusb com CANUSB Manual 1 5 CAN Driver Design Guide The CANUSB doesn t come with a Higher Level CAN driver parser Since many commercial development tools provide an RS232 ASYNC LIB such as Visual Basic Deplhi etc it is simple to write a simple program to talk to the CANUSB unit via the VCP drivers The best way is to make a thread that handles all the
13. mands standard ASCII format such as the CAN232 V2 though some old way of communicating V1 Poll and Poll All has been remo ved in favour of new optimized transfer speeds The CANUSB handles both the 11bit ID format as well as the 29bit ID format RTR frames built in FIFO queues extended info error information and simple power up through a few commands no external power is needed it is supplied from the USB port The CANUSB is only 60mm long 35mm wide and 15mm thick using the latest technology of small SMD parts on both sides of the board the power behind is an Atmel AVR the Philips SJA1000 CAN controller and the FTDI Parallel FT245RL USB chip and that makes it very flexible in the way of handling small bursts of CAN frames at a high bus speed This document describes the 1 st version of the CANUSB which can be updated via a bootloader via USB 1 1 CANUSB Specifications Length 55mm Width 36mm Height 16mm Blue Transparent Case 1 meter shielded USB cable Industrial Temp range 40C to 85C USB 2 0 Full Speed uses FTDI FT245RL Philips SJA1000 CAN Controller running at 16Mhz Philips 82C251 CAN Tranceiver Fully Compatible with ISO 11898 24V Compliant to CAN 2 0A 11bit ID s and CAN 2 0B 29bit ID s and supports RTR frames Free Interface DLL and ActiveX controller or low level Ascii Commands via USB driver CANbus connection according to CiA DS102 1 standard Power supplied via USB 5V so no external
14. ouldn t be used more than when you want to change this behaviour It is set to OFF by default to be compatible with old programs written for CANUSB Setting it to ON will add 4 bytes sent out from CANUSB with the A and P command or when the Auto Poll Send feature is enabled When using Time Stamp each message gets a time in milliseconds when it was received into the CANUSB this can be used for real time applications for e g knowing time inbetween messages etc Note however by using this feature you maybe will decrease bandwith on the CANUSB since it adds 4 bytes to each message being sent specially on VCP drivers If the Time Stamp is OFF the incomming frames looks like this t10021133 CR a standard frame with ID 0x100 amp 2 bytes If the Time Stamp is ON the incomming frames looks like this t100211334D67 CR a standard frame with ID 0x100 amp 2 bytes Note the last 4 bytes Ox4D67 which is a Time Stamp for this specific message in milliseconds and of course in hex The timer in the CANUSB starts at zero 0x0000 and goes up to OxEA5F before it loop arround and get s back to 0x0000 This corresponds to exact 60 000mS i e 1 minute which will be more than enough in most systems Example 1 Z0 CR Turn OFF the Time Stamp feature default Example 2 Z1 CR Turn ON the Time Stamp feature Returns CR Ascii 13 for OK or BELL Ascii 7 for ERROR LAWICEL AB Embedded Tools Starterkits amp Consulting Phone 46 0 451 59
15. power needed CE Approved ROHS amp WEEE compliant 1 2 Installation Please look at www canusb com for latest driver packages VCP amp D2XX On the CANUSB site there are also in depth installation instructions of the CANUSB with the drivers Please select one of the drivers which suite your needs the most Maybe you just want to replace the CAN232 with a CANUSB then choose VCP drivers and you are up running quickly D2XX drivers needs a totally diffrent approach though is faster in transfering CAN frames There is no need for any external power supply since the CANUSB is powered from USB connector according to USB standard 5V LAWICEL AB Embedded Tools Starterkits amp Consulting Phone 46 0 451 598 77 Box 3 ARM AVR 8051 HC08 HC11 HC12 MSP430 X86 Fax 46 0 451 598 78 SE 282 21 Tyringe CAN Controller Area Network e CANopen USB Compilers info canusb com SWEDEN Single Board Computers Programmers Software www canusb com LAWICEL AB www canusb com CANUSB Manual 1 3 Testing the CANUSB This test assumes you are using the VCP drivers Test the CANUSB by installing it to a PC s USB port and install drivers if neccessary according to instructions on previous page under section 1 1 When the CANUSB gets power the 2 LEDs red amp green will blink rapidly 3 times after it has been installed about 1 second after it gets connected Then start Windows Terminal software or your favourite terminal sofware
16. s Programmers Software www canusb com LAWICEL AB www canusb com CANUSB Manual V CR Get Version number of both CANUSB hardware and software This command is active always Example V CR Get Version numbers Returns V and a 2 bytes BCD value for hardware version and a 2 byte BCD value for software version plus CR Ascii 13 for OK E g V1013 CR N CR Get Serial number of the CANUSB This command is active always Example N CR Get Serial number Returns N and a 4 bytes value for serial number plus CR Ascii 13 for OK E g NA123 CR Note that the serial number can have both numerical and alfa numerical values in it The serial number is also printed on the CANUSB for a quick reference but could e g be used in a program to identify a CANUSB so the program know that it is set up in the correct way for parameters saved in EEPROM LAWICEL AB Embedded Tools Starterkits amp Consulting Phone 46 0 451 598 77 Box 3 ARM AVR 8051 HC08 HC11 HC12 MSP430 X86 Fax 46 0 451 598 78 SE 282 21 Tyringe CAN Controller Area Network e CANopen USB Compilers info canusb com SWEDEN Single Board Computers Programmers Software www canusb com LAWICEL AB www canusb com CANUSB Manual Zn CR Sets Time Stamp ON OFF for received frames only This command is only active if the CAN channel is closed The value will be saved in EEPROM and remembered next time the CANUSB is powered up This command sh
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