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MDT-DCS CANopen Module, user manual

1. Receive PDO mapping Record Data type PDOMapping 0 Number of entries U8 RO 2 1 Number of JTAG DR bits U32 RO 48040008h OD index 4804 sub index 0 final number of JTAG DR bits size 8 bits 2 JTAG DR bits U32 RO 48030020h OD index 4803 sub index 1 JTAG DR bits size 32 bits 1603 4 Receive PDO mapping Record idem Object 1601 1604 5 Receive PDO mapping Record idem Object 1602 46 MDT DCS CANopen module v2 7 19 Aug 2011 Communication Profile Area MDT DCS continued Index Sub Description Data Attr Default Comment hex Index Object 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 255 Only 1 and 255 allowed 3 Inhibit time 100 us U16 RO 0 not used 4 Not used U8 RO 0 el 5 Event timer 1 s Ul6 RW 0 In units of secs must be lt 255 active for all transmission types 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 sd 2 Transmission type U8 RW 1 Only 1 and 255 allowed 3 Inhibit time 100 us U16 RO 0 not used 4 Not used U8 RO 0 l 5 Event timer 1 s Ul6 RW 0 In units of secs must be lt 255 active for all
2. COB ID Data Byte Data Byte 1 Data Byte 2 3 280h NodeID NTC number Status ADC config Resistance 2 with Resistance 16 bits NTC resistance value in 2 LSB in byte 2 MSB in byte 3 NTC number Number between 0 and 29 Status ADC config bit 7 Conversion status 1 ERROR overflow or oscillation occurred during at least one of the two ADC conversions 0 OKAY bits 6 0 ADC configuration conversion word rate bits WO W1 and 16 MDT DCS CANopen module v2 7 19 Aug 2011 W2 gain range bits G0 G1 and G2 and unipolar or bipolar bit U B see below For definitions see OD index 2100h sub 2 3 and 4 BIT 7 6 5 4 3 2 1 0 Meaning Error W2 Wil WO G2 Gl GO UB The method by which all 30 or less T sensors is read out depends on the transmission type of TPDO2 which can be set by the user to the required value by writing to OD index 1801h subindex 2 of the MDT DCS module The value may be stored in onboard EEPROM perma nently so that it will be the default transmission type after every subsequent reset or power up The default value before configuration can be found in the OD listing in section 9 The following modes of TPDO2 transmission are supported see OD index 1801h subindex 2 and 5 PDO transmission type 1 after every so called SYNC message issued on the CAN bus the MDT DCS module starts an analog input channel scan and sends up to 32 TPDO2 messages one message for eve
3. e Describes firmware version MD25 minor version 0000 e Added subindex 22 to Object 2201h ADC config CSM 2 7 19 Aug 2011 mezzanine mask e Added during latch item to ADC conversion time out Emergency e Two additions to Object 2500h B sensor ADC configuration 2 6 8 Mar 2008 e Some minor modifications to the text e Describes firmware version MD24 minor version 0001 e PDOs for JTAG can have any number of bytes between 2 and 8 in 2 5 21 Aug 2007 stead of previously exactly 5 e Added Objects 483 1h and 4832h for setting the JTAG state after a SHIFT_IR or SHIFT_DR operation Describes firmware version MD24 minor version 0000 Added info on CSM Mezz temperature sensors Created separate sections for T and B data conversion MDT DCS module schematics added Various minor changes corrections and additions Added Objects 480Ch 480Dh 49XCh 49XDh and 49XEh 2 4 22 Jun 2006 Describes firmware version MD24 minor version 0000 Added description and objects for JTAG string uploading and downloading by means of the Segmented SDO protocol Added description of autoconfigure capability Added pictures of production acceptance test setup Corrected wrong values for the reference T sensors 30 and 31 Various minor changes to text 2 3 3 Aug 2005 Describes firmware version MD23 JTAG action storage actions and sequences implemented e Readout on delta change feature a
4. 499x JTAG action 9 lt 128 bits IR lt 512 bits DR 49Ax JTAG action 10 lt 128 bits IR lt 512 bits DR 49Bx JTAG action 11 lt 128 bits IR lt 512 bits DR 49Cx JTAG action 12 lt 128 bits IR lt 512 bits DR 49Dx JTAG action 13 lt 128 bits IR lt 512 bits DR 49F0 JTAG action Data Register Record status return 0 Number of entries U8 RO 3 1 Last JTAG action com U8 RO 0 1 lt action lt 13 pleted 0 no actions completed since last reset 2 Status return bits U32 RO 00000000h Status bits of last JTAG action 3 Status return bits error U32 RO 00000000h Status error of last JTAG action bits 0 are in error result of stat amp mask expect amp mask 49F 1 Report JTAG action Bool RW 1 1 PDO message is sent on DR status error every JTAG action comple tion 61 MDT DCS CANopen module v2 7 19 Aug 2011 Manufacturer specific Profile Area MDT DCS continued Index Sub Description Data Attr Default Comment hex Index Object 5C00 Compile time Options U32 RO Bitmask denoting which compile options were used when the ap plication code was generated see Table 14 below for details SDFF ELMB MDT DCS board Array EXPERT tests ONLY 0 Number of test objects U8 RO 6 1 Test of I O pins U32 RO For use in ATLAS DCS
5. Attr Default Comment hex Index Object 2500 B sensor 0 ADC config Record CRYSTAL CS5524 24 bit ADC 0 Number of entries U8 RO 24 1 Number of input channels U8 RO 7 2 Conversion Word Rate U8 RW 0 3 bit code Hall ig 3 Input Voltage Range Hall U8 RW 0 3 bit code a 4 Unipolar Bipolar U8 RW 0 0 bipolar 1 unipolar Measurement Mode Hall bg 5 Conversion Word Rate U8 RW 0 3 bit code Temp 6 Input Voltage Range Temp U8 RW 5 3 bit code 7 Unipolar Bipolar U8 RW 1 0 bipolar 1 unipolar Measurement Mode Temp 8 Power Save Mode Bool WO 1 set ADC to power save mode 0 take ADC out of this mode 9 Configuration Register U32 RW CS5523 Config Register 10 Offset Register 1 U32 RW CS5523 physical channel AIN1 11 Gain Register 1 U32 RW CS5523 physical channel AIN1 12 Offset Register 2 U32 RW CS5523 physical channel AIN2 13 Gain Register 2 U32 RW CS5523 physical channel AIN2 14 Offset Register 3 U32 RW CS5523 physical channel AIN3 15 Gain Register 3 U32 RW CS5523 physical channel AIN3 16 Offset Register 4 U32 RW CS5523 physical channel AIN4 17 Gain Register 4 U32 RW CS5523 physical channel AIN4 18 Channel Setup Register 1 U32 RW LC 1 12 bits in lower 2 bytes LC 2 12 bits in upper 2 bytes 19 Channel Setup Register 2 U32 RW LC 3 12 bits in lower 2 bytes LC 4 12 bits in upper 2 bytes 20 Channel Setup Register 3 U32 RW LC 5 12 bits in lower 2 bytes LC 6 12 bits in upper 2 bytes 21 Channel Set
6. Note that TPDO event timer triggered readout takes place only when the node is in Opera tional state Note that the delta value is always taken to be in the units in which read out currently takes place i e millidegrees Ohms or raw ADC counts So if you change your unit of read out the delta value itself does not change but its unit does 20 MDT DCS CANopen module v2 7 19 Aug 2011 5 3 B sensor Read out By writing to OD index 2800h none or up to four B sensor modules can be selected in the form of a bit mask i e if OD index 2800h has value Fh all four B sensor modules are pre sent The default is no B sensor module present OD index 2800h has value 0 zero The MDT DCS module has originally been designed to read out up to two B sensor modules only In case three or four B sensor modules are connected to one MDT DCS module they must be connected to a cable in pairs as illustrated in Figure 5 The module numbering is fixed and is as shown in Figure 5 MDT DCS B sensor 1 B sensor 0 B sensor 0 B sensor 2 e anar B sensor 1 B sensor 3 e pin 7 and 8 wires to be swapped on the connector of the second B sensor module on the cable e Mar Figure 5 Connecting more than two B sensor modules to one MDT DCS module Note the cable shown in the picture is of a type not approved for ATLAS 5 3 1 B sensor Data The MDT DCS module sends one PDO message containing 5 bytes for each B sensor i
7. 00Ch 2 00Eh 2 010h 784 or 64 Table 13 EEPROM memory map of the MDT DCS module JTAG strings storage space DR Data Register IR Instruction Register 42 031Fh or 04Fh MDT DCS CANopen module v2 7 19 Aug 2011 8 Upgrading the Firmware The application program in the MDT DCS ELMB microcontroller can be replaced or up graded by uploading new program code to the MDT DCS node via the CAN bus On the ELMB resources webpage 6 PC tools called ELMBmldr with command line in terface and ELMBloader with graphical user interface can be found to perform a firmware upgrade The upgrade process leaves the EEPROM intact in other words configuration set tings are preserved The Bootloader 5 is an application program stored in a separate section of the ELMB mi crocontroller the ELMB comes preinstalled with this application It handles the firmware upgrade process on the ELMB receiving series of CAN open messages containing the pro gramming instructions At power up of the MDT DCS module it is initially the Bootloader which is in control of the module After about 4 s the Bootloader automatically jumps to the start of the MDT DCS application program or immediately when it receives a CANopen NMT Reset Node message However the Bootloader remains in control if it receives a valid programming command within those 4 s The firmware upgrade process may then begin The MDT DCS application program can transfer control of th
8. 2 NTCs are calib reference inputs 2 Conversion Word Rate U8 RW 0 3 bit code ij 3 Input Voltage Range U8 RW 5 3 bit code k 4 Unipolar Bipolar U8 RW 1 0 bipolar 1 unipolar Measurement Mode 5 Power Save Mode Bool WO 1 set ADC to 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 2500000 inuV E 21 SPI SCLK signal high U8 RW 75 in us 10 lt value lt 255 period opto coupler delay 22 Delta value for automatic U32 RW 0 in currently used units millide on chan
9. 5V reference connected to one of the 64 analog input channels is used to calibrate the ADC s 5V input range at each power up and reset The input channel number where the 2 5V reference is connected can be selected in OD index 2101h subindex 19 The default set ting is ADC channel 11 When a value gt 63 is set an ADC internal calibration is done in that case only the ADC s 2 5V voltage range would give accurate readings The temperature sensor device used on the CSM and Mezzanine cards is the Analog Devices TMP36 offset 0 5V 10 mV C i e output 0 75V 25 C range 40 C to 125 C accu racy 2 C With the ADC set to 5V bipolar range the conversion from raw ADC count A to degrees Celcius can be done using 0 5 0 01 Celcius Volts or Celcius 100 Volts 50 with Volts 5 0 A Ox7FFF 5 0 A 32767 0 this leads to Celcius 0 01526 A 50 25 MDT DCS CANopen module v2 7 19 Aug 2011 The MDT DCS module sends one PDO message containing 4 bytes for every ADC input The CAN identifier used for this PDO is the so called 3 transmit PDO TPDO3 of the CANopen Predefined Connection Set The number of analog inputs read out can be set by configuring it to any value up to 64 by writing to OD index 2101h subindex 1 In addition using subindex 22 which mezzanines ADC data actually gets sent in TPDO3 messages can selectively be set the data from mezzanines not present in the mask are not sent to the CAN bus although the c
10. 7 19 Aug 2011 Optionally a reset and calibration sequence can be done before each ADC channel scan This feature can be enabled via OD index 2300h useful perhaps for increasing radiation tolerance Individual T sensors resistance values can be read out using CANopen SDO messages by reading from OD index 4000h Individual T sensors temperature values can be read out using CANopen SDO messages by reading from OD index 4010h Individual analog inputs as used in the T sensor readout can be read out using CANopen SDO messages by reading from OD index 6404h in ADC counts or from OD index 4300h in microvolts Note that the data in objects 6404h and 4300h contain a flags byte generated by the ADC which is formatted as follows BIT 7 6 5 4 3 2 1 0 Value 1 1 1 0 Cll CIO OD OF with Cin Channel Indicator bits indicating which CS5523 ADC physical channel 1 to 4 coded as 00 01 10 and 11 respectively is used OD Oscillation Detect Flag bit and OF Over range Flag bit 5 2 2 ADC Data Conversion The MDT DCS T sensor is an NTC Thermometrics type number DC95F502W with a nominal resistance of 5 kQ See Appendix B for datasheet and temperature data of the NTC Voltage Uy across the NTC on ADC channel 2 n is measured then the current through the NTC is measured by measuring voltage U which the current generates across a 10 kQ resistor 1 on ADC channel 2 n 1 With the ADC set to 2 5V
11. B_IDx for up to 2 B sensor modules on the MDT chamber present on module connec tors labelled B sensor 0 and B sensor 1 e CSM_ xxx is the SPI interface to the CSM front end electronics ELMB ADC which monitors up to 64 parameters present on module connector labelled CSM ADC e DIGIOx are digital in and outputs from to the CSM front end electronics exact function still to be defined the firmware assumes a default configuration of inputs and outputs but this can be changed see Object Dictionary present on module connectors labelled JTAG and CSM ADC 10 MDT DCS CANopen module v2 7 19 Aug 2011 T O PORT A B C D E F Function In Out In Out In Out In Out In Out VO ADC pin 0 TDI x B_CSO x x B_IDO pin 1 TCK SCLK B_CS1 x x B_ID pin 2 TMS SDI x x DIGIOS pin 3 TDO SDO CSM_CS B_SDI B_SCLK DIGIO6 pin 4 DIGIO1 x ADC_SCLK CSM_SCLK DIGIO7 pin 5 DIGIO2 x ADC_SDI CSM_SDI pin 6 DIGIO3 x ADC_SDO CSM_SDO pin 7 DIGIO4 x ADC_MUX CSM_MUX B_SDO Table 7 1 O pin functions of the ELMB microcontroller ATmega128 on the MDT DCS module x NOT available externally used internally by ELMB SCLK SDI SDO lines carrying SPI protocol for the on board CAN controller see text above for explanation of other signals Greyed out pin identifiers are not implemented in the MDT DCS ELMB firmware yet Using the ELMB s onboard DIP switches a node identifier can be set between 1 and 63 has to be uniq
12. DCS application firmware provides objects to trigger the tests test commands and test results are sent in messages via the CAN bus The I O test requires that the I O lines are interconnected in a predefined fashion shown be low tested are PORTA and parts of PORTC PORTD PORTE and PORTF in brackets the initial data direction setting e PORTC3 7 connected to PORTE3 7 o CSM CS out lt B _SCLK_0 out o AUX 104 in lt CSM SCLK out o AUX _IOS in lt CSM SDI out o AUX _IO2 in lt CSM SDO in o AUX IOI in lt CSM MUX out e PORTAO 7 connected to PORTFO 7 o TDO out lt B IDO in o TCK out lt BIDI in o TMS out lt gt DIGIOS in o TDI in lt gt DIGIO6 in o DIGIO out lt gt DIGIO7 in o for DIGIO2 see below o DIGIO3 out lt AUX 103 in o DIGIO4 out lt B SDO 0 in e Remaining I O lines B_ CSO PCO B_CS1 PC1 B_SDI PD3 en DIGIO2 PAS o B_ CSO out lt DIGIO out o B_CS1 out lt B_SDI O out The test procedure comprises e all possible output values of PORTA 0 7 and PORTC 3 7 per port using PORTF 0 7 and PORTE 3 7 as inputs resp e all possible output values of PORTA 5 and PORTD 3 using PORTC 0 1 as inputs e a walking 1 and a walking 0 on the combined ports the walking 1 0 runs from PORTA 0 7 to PORTC 0 7 The test is triggered by reading CANopen Object SDFFh sub 3 the returned 32 bit value contains 4 bytes with errorbits pe
13. ELMB MDT DCS INTERFACE AND ELMB JUMPERS ccseccccecssscececessceseenssceceesssceeeenseeess 10 3 ANITIALISATION sscccsscscccssscesecessisscceiescsccasecssasccsssssceesessadeeessescsdeesvosssonsbedssacasocesessesesteoses 12 4 NODE GUARDING AND LIFE GUARDING cococccccccononnnoniccononnnnnannoniococonnnnnannoniscocons 13 5 MDT ON CHAMBER SENSORS MONITORING cccscsccccccccscsssssssscccscecceseseees 15 5 1 DATA READ SOU Tassie teetsoticen a O e a ro saan 15 5 2 T SENSOR READ OUT italia 16 5 2 1 Tsensor Dali larisa TETU EE EEN 16 5 2 2 ADE Data Conversion ad a TENRA 18 5 2 3 ADC RAW DG MS A RIE ee Eee eid 19 324 REAAOUt ON Change osioita EN ad 19 5 3 B SENSORREAD OUT ernen a a E E a EE E TAER RIIS 21 5 3 1 BS CNS OF Dala atari ta a deta dc e a e aea e aa a ets ec 21 5 3 2 ADC Data Converso lt A EE E AA ORO Aa EAEE 22 5 3 3 B S ris or Serial Number e E aE E A E E E TE A E a EEN 23 6 CSM FRONT END ELECTRONICS MONITORING AND CONTROL 000 25 6 1 A NAL OGHINPUTTS ro 25 6 1 ReadOut On Change iii nie 26 6 2 CONFIGURATION AND CONTROL on iii ciiad 27 6 2 1 JIA G A e i a la A da aoe aes Bee ets o ddr ta ee ai 27 6 2 1 1 Implementation O veis 27 6 2 1 2 1 TTAG Action Storage ita e stein A EAEE E Sai 29 6 2 1 3 Examples of MDT DCS JTAG Operations cececsseceseeseseceseeeceeesccseeecseesecnesececsaeeecsavsesnevaeeaeeasenesaes 29 6 2 1 4 JEAG TAPAS A O Sa R TO eA EEE 36 6 2 1 5 JTAG Signal Timing 22s cscs cesee
14. EXPERT Writing 0xA5 enables one write ter write erase operation ONLY or erase operation to any of the Objects 2B00 to 2B05 or 2C00 to 2C05 In other words resets the ADC and does a self calibration i e does NOT apply the gain factors calibration constants which already may have been stored in EEPROM earlier This type of ADC initialisation is essential if the voltage range in question ever needs to be recalibrated Note for MDT DCS ADC calibration is not essen tial since the T sensor measurements are ratio measurements using precision resistors 53 MDT DCS CANopen module v2 7 19 Aug 2011 Manufacturer specific Profile Area MDT DCS continued Index Sub Description Data Attr Default Comment hex Index Object 2E00 Digital Input debounce U8 RW 10 In units of ca 400 us set to 0 dd timer there is ca 400 us between con secutive input polls 2F00 Digital Output Init U8 RW Olh After a hard reset bits defined as Digital Output will be initialised to the setting corresponding to the bit in this byte 1 high 0 low 3000 Program Code CRC Record 0 Number of entries U8 RO 3 1 Check 16 bit CRC of pro Ul6 RO 0 SDO reply unequal to zero gram code in FLASH means there is a checksum error memory absence of CRC results in SDO Abort with Error Code 1 error while accessing FLASH results in SD
15. JTAG action from the CSM s point of view Note that the data is received by one and only one MDT DCS module according to the NodelD set in the SDO CAN message sent by the host 34 MDT DCS CANopen module v2 7 19 Aug 2011 If the JTAG action 2 storage is full the MDT DCS module sends the following SDO Abort Transfer reply MDT Abort OD 4923 4h 0 00h 00h 1 code 6 class Access Access If an error occurs during writing of the JTAG action 2 storage the MDT DCS module sends the following SDO Abort Transfer reply 6 class Access 6 code Hardware Reading the JTAG data bit string from JTAG action 2 storage using SDO messages host Write OD 4926h 0 00h MDT Read OD 4923h 0 10h 32h 54h 76h MDT Read OD 4923h 0 98h BAh DCh Feh MDT Read OD 4923h 0 0Ah 00h 00h 00h The MDT DCS module s SDO replies in the above table are in response to SDO read mes sages from the host system which are not shown here Note that the data is received by one and only one MDT DCS module according to the NodelD set in the SDO CAN messages sent by the host Since all bits of the string have been read after the 3 SDO read operation any subsequent SDO read request by the host will result in an SDO Abort Transfer reply as follows 1 code Access class Access If the 2 storage is empty the same SDO Abort Transfer reply resu
16. are available as bits 4 6 through the CANopen mechanism for Digital I O see section 6 2 2 The JTAG connector implements a JTAG host interface and is used to configure the CSM electronics In addition this connector provides four general purpose I Os which are available as bits 0 3 through the CANopen mechanisms for Digital I O see section 6 2 2 The MDT DCS firmware does not have any support for the interface provided by the SPI AUX connector It is spare and may be used to implement extra Digital I Os or to drive a serial interface Appropriate additions to the module s firmware and Object Dictionary would have to be made and possibly additional PDOs defined to satisfy the requirements of the task fore seen 6 2 1 JTAG 6 2 1 1 Implementation Overview The MDT DCS module supports 2 methods of uploading a JTAG bit string to the CSM elec tronics 1 Relay method the host system sends the JTAG bit string to the ELMB in chunks MDT DCS shifts out each bit string chunk immediately upon reception into the JTAG chain This method enables upload of arbitrary JTAG bit strings to the CSM 2 Storage method the host system sends a single message to trigger the upload of one ac tually a pair from a number of JTAG bit strings permanently stored in the MDT DCS module s memory This method enables fast compared to the relay method upload of any selection in any order of previously stored bit strings to the CSM A JTAG bit string c
17. fault for more details see 2 MDT DCS module gt Host 580h 80h 10h 10h subindex 0 0 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 The default parameter values are listed in the OD tables in section 9 The Object Dictionary tables in section 9 show which settings can be stored in EEPROM these are marked by an asterisk in the first column Note that storage of ADC calibration constants the ELMB Serial Number and JTAG strings for MDT front end electronics configuration are handled separately 39 MDT DCS CANopen module v2 7 19 Aug 2011 7 2 Auto configure Starting with MDT DCS firmware version 2 4 0 a so called autoconfigure capability was added What it does is that the MDT DCS module determines itself how and how many B sensor modules are connected to it see section 5 3 and also if there is a connection to an ADC on the CSM for frontend monitoring see section 6 1 The configuration found is stored in EEPROM and used after subsequent power up and resets An autoconfigure sequence is initiated by writing string save to OD index 1010h sub index 4 using an SDO message as described in th
18. in the range of Dissipation constant still air 1 mwrGC 1000 100k0 stirred oil 8 mwWy C e Other tolerances or ranges Thermal time constant still air 10 sec e Alternative lead wires or lengths stirred oil 1 sec e Non standard R vs T curves Maximum power at 25 C 75mWw e Controlled dimensions derated from 100 at 25 C to 0 at 100 C BOWTHORPE THERMOMETRICS THERMOMETRICS INC KEYSTONE THERMOMETRICS CORPORATION Crown Industrial Estate Priorswood Road 808 US Highway 1 967 Windfall Road Taunton Somerset T42 8QY UK Edison New Jersey 08817 4695 USA St Marys Pennsylvania 15857 3397 USA Tel 44 0 1823 335200 Tel 1 732 287 2870 Tel 1 814 834 9140 Fax 44 0 1823 332637 Fax 1 732 287 8847 Fax 1 814 781 7969 71 MDT DCS CANopen module v2 7 19 Aug 2011 MATERIAL TYPE F AVAILABLE PRODUCTS HM C100 EC95 DC95 MC65 MF65 SC30 SC50 Data for material type F Temp Range EN KNEE 3895 3917 3933 Temp Coef os APC 7 21 RUR25 nominal Temperature eo 68 60 9 08 18 64 2 78 25to85 9 30 25 to 100 14 64 3969 3981 25to125 29 05 3999 78101044 2000 To calculate RR25 at temperatures other than those listed in the table use the following equation RUR25 exp A Bh Ci Dre where T temperature in K where K C 273 15 Temp Range B G me a eoe 50 to O 4 41224T8E 01 4 4136032E
19. occurrence of a hard reset but not on a soft reset see below 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 so called Boot up message as defined by the CANopen standard as soon as it has finished initializing hardware soft ware this is a CAN message with the following syntax MDT DCS module NMT Slave gt Host NMT Master COB ID Data Byte 0 700h NodeID 0 NodelD is the CAN node identifier initially set by means of the ELMB onboard DIP switches to a value between 1 and 63 as shown earlier in Figure 4 NodeID must be in the range between and 127 To start the MDT DCS application in the CANopen sense of the word the following CANopen NMT message must be sent Host NMT Master gt MDT DCS module NMT Slave COB ID Data Byte 0 Data Byte 1 000h Olh Start_Remote_Node NodelD or 0 0 all nodes on the bus There is no reply to this message Now the MDT DCS module is Operational meaning that it monitors I O channels depend ing on configuration and can send and receive and processes CANopen PDO messages which carry the application data see next sections Optionally a feature called auto start may be enabled so that the MDT DCS module auto matically goes to Operational state after power up or reset The auto start feature can be con figured in OD
20. on the side of the MDT DCS box MDT DCS module O type indicated by MDT DCS e a yellow label e serial number is followed by an e on label only SPI interface to ADC on CSM 3x Digital I O spare digital interface e g for SPI or JTAG to be implemented in software 4 k A i CSM ADC STIKTH ag e AMSTERDAM ES B sensor 0 IS B482e y 38403 04 Figure 2 MDT DCS module front panel connectors and labels MDT DCS CANopen module v2 7 19 Aug 2011 Table 2 to Table 6 detail the pin layout of the MDT DCS module s JTAG SPI AUX CSM ADC and CAN frontpanel connectors function pin pin function comment GND GND GND Dig I O 4 PA7 Reprogram_FPGA e GND Dig I O 3 PA6 Reset_FPGA 3 3V Dig I O 2 PAS Sel_SW_TDO K E 3 3V Dig I O 1 PA4 Sel_HW_TDO E a 3 3V TDI PA3 in JTAG interface o 3 3V TMS PA2 out JTAG interface gt E GND TCK PAI out JTAG interface GND TDO PAO out JTAG interface GND GND Table 2 Layout of the JTAG connector pins 8 general purpose digital in and out puts In brackets the ELMB microcontroller pin name is shown in italics the CSM s name for the signal function function pin pin function GND GND 20 19 GND not connected e e GND not connected e e e 3 3V not connected ee aw 3 3V A
21. read the N bits from storage 491C JTAG action 1 Domain RO Segmented SDO only JTAG Instruction String Read only copy of Obj 491Ah storage lt 128 bits total 491D JTAG action 1 Domain RO Segmented SDO only JTAG Data String storage Read only copy of Obj 491Bh lt 6272 bits total 491E JTAG action 1 U32 RO IR CRC in byte 0 LSB and 1 IR and DR String CRC DR CRC in byte 2 LSB and 3 491F Erase JTAG action 1 U8 WO Write to erase the stored strings Instruction Data Strings and or status return config resets and or Status Return Bits string indices for reading and Configuration writing AAh erase all ABh erase strings ACh erase status 60 MDT DCS CANopen module v2 7 19 Aug 2011 The list of objects in 4910h to 491Fh is repeated for every JTAG action in storage Manufacturer specific Profile Area MDT DCS continued Index Sub Description Data Attr Default Comment hex Index Object 492x JTAG action 2 lt 128 bits IR lt 6272 bits DR 493x JTAG action 3 lt 128 bits IR lt 6272 bits DR 494x JTAG action 4 lt 128 bits IR lt 512 bits DR 495x JTAG action 5 lt 128 bits IR lt 512 bits DR 496x JTAG action 6 lt 128 bits IR lt 512 bits DR 497x JTAG action 7 lt 128 bits IR lt 512 bits DR 498x JTAG action 8 lt 128 bits IR lt 512 bits DR
22. sensor module and cable Right T sensor cable with integrated NTC thermistor Figure 3 shows some images with details of the B sensor module and temperature sensor MDT DCS CANopen module v2 7 19 Aug 2011 The module has 2 CAN bus connectors to enable easy daisy chaining of multiple modules on one CAN bus The last module on the bus must be equipped with a termination resistor 120 Q or 180 Q in the Y shaped bus layout used for MDT CAN buses using a special ca ble less connector with the terminator installed inside the connector housing which is then plugged into the empty CAN connector of the last module on the bus 2 2 ELMB MDT DCS Interface and ELMB Jumpers This section describes how the ELMB board inside the MDT DCS module interfaces hard ware wise to the rest of the system and explains the function of the jumpers and switches pre sent on the ELMB It is given here for reference only Table 7 shows the mapping of I O pin to function of the ATmega128 microcontroller on the ELMB inside the MDT DCS module e ADC xxx is the SPI interface for the ELMB on board ADC with monitors up to 64 channels of MDT chamber T sensors NTCs e AUX IO isthe spare interface with 5 digital I O lines function to be defined not yet under control of the firmware present on module connector labelled SPI A UX e B xxx is the SPI interface including two chip select lines B_CSx and 2 lines carrying the 1 Wire protocol for the Identification chips
23. 000 Byte 3 30h Byte 4 1 program FLASH 2 Slave FLASH ELMB103 only EEPROM write error 5000 Byte 3 41h Byte 4 Parameter block index Byte 5 0 writing block info gt 0 size of parameter block to write EEPROM read error 5000 Byte 3 42h Byte 4 Parameter block index Byte 5 Error id 1 CRC 2 length 4 infoblock B sensor ADC 5000 Byte 3 51h conversion timeout Byte 4 B sensor number 0 3 Byte 5 ADC channel number 0 7 B sensor ADC 5000 Byte 3 52h reset failed Byte 4 B sensor number 0 3 Byte 5 Error id B sensor ADC 5000 Byte 3 53h Hall sensor calibration failed Byte 4 B sensor number 0 3 B sensor ADC 5000 Byte 3 54h T sensor calibration failed Byte 4 B sensor number 0 3 B sensor ADC problem s 5000 Byte 3 55h during initialisation check Byte 4 ADC 0 1 status see OD index 1002 OD 1002 Byte 5 ADC 2 3 status see OD index 1002 JTAG 8200 Byte 3 71h bit string shift protocol error Byte 4 TAP state OBh Shift IR 02h Shift DR Byte 5 number of bits to shift Byte 6 1 final shift 0 not final shift JTAG 8200 Byte 3 72h sequence protocol error JTAG 8200 Byte 3 73h segmented protocol error Byte 4 1 segment too short 2 number of bits too large 3 received more bits than expected JTAG 5000 Byte 3 81h JTAG action not available Byte 4 JTAG action number 1 13 JTAG 5000 Byte 3 82h JTAG acti
24. 03 2 9004189E 04 6 28 T5035E 06 Oto SO L41441963E 01 4 4507830E 08 3 4078983E 04 6 8941929E 06 50 to 100 L420217T2E 01 4 4975256E 03 5 6421857E 04 5 S658796E 06 100 to 150 161540788404 6 0482992E 08 1 0004049E 06 1 1961424E 08 To caleulate the actual thermistor temperature as a function of the thermistor resistance use the following equation T 3 biLn RYRZS e Ln RyA25 24 d Ln RUR2S F as Poe foe fo 68 600 to 2 274 3 359864 6E 03 2 5654 0906 04 1 92 43889E 06 10969244207 3 2540154E 03 2 5627 7256 04 1 2002206E 08 0 26036 to 0 06834 3 459926 4E 0a 2 6609 4466 04 1 9621987E 06 4 60 45930608 0 06831 to 0 01872 3 348862 06 03 2 4057 2638 04 2 6687 0938 06 4 0719355E 07 The deviation resulting from the tolerance on the material constant Beta The deviation must be added to the resistance tolerance of the part as specified at 25 C 2 08 29710E 06 3 214 to 0 326036 BOWTHORPE THERMOMETRICS Crown Industrial Estate Priorawood Road Taunton Somerset TAZ BOY UK Tel 44 0 1823 335200 Fax 44 0 1823 332637 THERMOMETRICS INC 808 US Highway 1 Edison New Jersey 08817 4695 USA Tel 1 732 287 2870 Fax 1 732 287 8847 72 KEYSTONE THERMOMETRICS CORPORATION 967 Windfall Road St Marys Pennsylvania 15857 3397 USA Tel 1 814 834 9140 Fax 1 814 781 7969
25. 1h error field 00h 50h 81h 02h 00h 00h 00h If the stored JTAG action is invalid i e a CRC does not match the corresponding stored bit string the MDT DCS module sends the following SDO Abort Transfer reply MDT Abort OD 4927h 0 00h 00h 6 code 6 class Hardware Access as well as the following Emergency message see section 10 1 Byte 3 Emergency COB ID Byte 0 1 Byte 2 T080h odelD Emergency Error Register Manufacturer specific Error Code Object 1001h error field 00h 50h 82h 02h 01h 00h 00h 5 Loading JTAG instruction and data bit strings from JTAG action 2 storage fol lowed by JTAG action 8 and 6 to one CSM using a PDO message s The host sends the following message host 400h NodeID FEh 02h 08h 06h 32 MDT DCS CANopen module v2 7 19 Aug 2011 Value FEh in byte 0 of the PDO signifies to the MDT DCS module that the numbers fol lowing are the indices of JTAG actions to execute in the order they appear in the message Compare to example 2 where PDO 400h NodelD is used for its other purpose data bit string upload The PDO when used for triggering JTAG action uploads may be any length from 2 up to 8 bytes which means up to 7 JTAG actions may be executed in sequence triggered by one such PDO message In future versions this number may be extended to 14 JTAG actions if just 4 bits per JTAG action
26. Area MDT DCS continued Index Sub Description Data Attr Default Comment hex Index Object 4000 Read NTC resistor value Array in Ohm division of 2 consecu tive analogue inputs 0 Number of entries U8 RO 32 This value fixed but actual hardware configuration may vary depends on OD index 2100 sub 1 1 NTC 0 Ul6 RO 2 NTC 1 Ul6 RO 30 NTC 29 Ul6 RO 31 reference resistor NTC 30 U16 RO R 16369 Ohm 1 32 reference resistor NTC 31 U16 RO R 341 6 Ohm 1 4010 Read NTC temperature Array in millidegrees centigrade 0 Number of entries U8 RO 32 This value fixed but actual hardware configuration may vary depends on OD index 2100 sub 1 1 NTC 0 temperature 132 RO 2 NTC 1 temperature 132 RO 30 NTC 29 temperature 132 RO 31 ref temperature NTC 30 132 RO T 0m C 32 ref temperature NTC 31 132 RO T 100000 m C 4100 Read analogue input Record 8 bits flags 16 bits analogue CSM ADC value CSM 0 Number of entries U8 RO 64 This value fixed but actual hardware configuration may vary see OD index 2101 sub 1 1 Input 1 CSM ADC 124 RO 1 analog input 16 bit 8 bit flgs 2 Input 2 CSM ADC 124 RO oe ot i 64 Input 64 CSM ADC 124 RO 64 i i See section 5 2 1 for a description of the ADC flags byte 55 MDT DCS CANopen module v2 7 19 Aug 2011 Manufacturer specific
27. 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 Write any value 6 Calibrate 5 V U32 WO Write any value 2B00 ADC calibration parameters Array Calibration constants 25 mV always stored in EEPROM enable 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 100 mV 2B03 ADC calibration parameters Array LV 2B04 ADC calibration parameters Array 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 7 rameters 55 mV ONLY 2C02 Erase ADC calibration pa U8 WO EXPERT S rameters 100 mV ONLY 2C03 Erase ADC calibration pa U8 WO EXPERT rameters 1 V ONLY 2C04 Erase ADC calibration pa U8 WO EXPERT j rameters 2 5 V ONLY 2C05 Erase ADC calibration pa U8 WO EXPERT rameters 5 V ONLY 2D00 Enable calibration parame U8 WO
28. D 6 2 CAN L CAN H 7 3 CAN GND VAP 6 12V 8 4 AGND CAN POWER 8 12V 9 5 CAN SHIELD Layout of the CAN connectors pins there are 2 connectors on each MDT DCS module for easy daisy chaining multiple modules on one CAN bus All 9 pins of both connectors are 1 to 1 connected CAN POWER powers the CAN driver part of the ELMB VAP powers both digital and analog parts of the ELMB CAN SHIELD is not connected to the MDT DCS module internally Pins 3 and 5 CAN GND are connected internally if only one pin is con nected externally in the cable it must be pin 3 CANopen cable definition The MDT DCS module s serial number can be read out remotely actually it is the serial number of the ELMB module inside this means the ELMB inside should not be exchanged The module s CAN node identifier is stored in ELMB EEPROM so not set by means of the ELMB s dip switches and can be changed remotely if necessary 8 MDT DCS CANopen module v2 7 19 Aug 2011 pin 1 10 Pin Function Comment 1 SCLK SPI Serial Clock to ADC 2 GND 3 SDI SPI Serial Data In to ADC 4 GND 5 SDO SPI Serial Data Out from ADC 6 GND 7 CS Chip Select to ADC 8 ID 1 Wire interface to ID chip 9 10 V from CAN connector pin 8 Table 6 Layout of the B sensor module connector pins NTC thermistor 3x Hall sensor ADC ID chip wenn aneee pin 1 Figure 3 Left MDT DCS B
29. DCS CANopen module v2 7 19 Aug 2011 Appendix B NTC Temperature Sensor Data datasheets taken from manufacturer website http www thermometrics com NTC THERMISTORS TYPE DC95 INTERCHANGEABLE CHIP THERMISTOR DESCRIPTION Epoxy coated interchangeable chip thermistors with bare tinned copper lead wires FEATURES e Precision solid state temperature sensor e Interchangeability down to 0 4 C e Suitable for use over the range of 80 C to 150 C e High sensitivity greater than 4 C at 25 C DIMENSIONS Suitable for temperature measurement control and compensation e High reliability and stability over interchangeable range sine e Most popular R vs T curves are available er Resin coated for good mechanical strength and resistance to solvents e 012 3 mm dia bare tinned copper lead wires Select appropriate part number below for resistance and temperature tolerance desired MATERIAL 1C 2 C 2 C SYSTEM 0 C to 70 C 0C to 70 C 0 C to 100 C DCO5F202V DCO5F202W DC95F232V DC95F232W DCO5F2327 DCO5F202V DCO5F302W DC95F302Z DCO5F502Y DCO5F502W DC95F502Z DCO5F103V DCO5FLO3W DCO5F103Z DCO5Y103V DCO5Y103W DCO5Y103Z DCQ5H303V DCO5H303W DCO5G503V DC95G503W DCOBY104V DCOBY104W DC95G104V pca5G104w lt m m 7 ep OPTIONS DATA Consult factory for availability of options THERMAL AND ELECTRICAL PROPERTIES e Other resistance values
30. ELMB production and test stand only described elsewhere 2 Generate Watchdog Timer U32 RO firmware goes into an endless reset loop 3 Test of MDT I O pins U32 RO For use in ATLAS MDT DCS module production and test stand only described in section 11 4 5 6 Additional tests of MDT U32 RO 0 For use in ATLAS MDT DCS 1 O pins module production and test stand only described in section 11 5E00 Transfer control to Boot U8 WO loader Object 5C00 Compile Options Bit Option Comment 0 1 l Z 2 F E 4 l z 5 6 l _ 7 ELMB103 the ELMB is an ELMB103 type with ATmegal03 microcontroller by default an ELMB128 with ATmega128 microcontroller is assumed 8 VARS_IN_ EEPROM Store retrieve working copies of configuration parameters in from EEPROM 9 10 INCLUDE TESTS Include an OD object through which board tests can be executed 11 12 CAN REFRESH Refresh CAN controller descriptor register at each buffer write read 13 Table 14 Optional compile time macro defines which can be read from Object 5C00h in the source code individual options are surrounded by a double underscore _ 62 MDT DCS CANopen module v2 7 19 Aug 2011 Standardised Device Profile Area MDT DCS Index Sub Description Data Attr Default Comment hex Index Object 6000 Read st
31. MDT DCS CANopen module v2 7 19 Aug 2011 MDT DCS CANopen Module PES 28 MDT DCS EN JTAG 14 T sensor 0 T sensor ae AMSTERDAM A A gt B sensor 1 B sensor 0 S B440 ee Ral gt user manual 4 reference v2 7 19 August 2011 Henk Boterenbrood NIKHEF Amsterdam NL NIB Er ABSTRACT Each ATLAS MDT muon chamber is equipped with an MDT DCS module The module has been designed to monitor the chamber s environmental parameters i e temperature NTC sensors magnetic field B field sensors and front end electronics parameters CSM and Mezzanine Board voltages and temperatures as well as to initialize and configure the MDT chamber s front end electronics on the CSM and Mezzanines Boards The heart of the module is the general purpose ELMB plug on microcontroller board with CAN interface for commu nication This document gives a detailed description of the MDT DCS module and its ELMB application firmware including the CANopen communication protocol and CANopen Object Dictionary MDT DCS CANopen module v2 7 19 Aug 2011 Table of Contents 1 INTRODUCTION AND OVERVIEW cccccccscssssssssscsccccccccesssssccccsccsccsscesessscoccescesees 4 2 HARD WAR Biv vssssssedescsiasccsicsassedeiistuccccciwiessscasccsceseaseds sdesuccacouw sess sensecddecussedsieeseccacsawesssecsecses 6 2 1 CONNECTORS AND INTERFACES ccssesceccccccssssssescccccescssssescecceccessesssescecsessnssssesescceseeenesensscess 6 2 2
32. MT master checks the state of other nodes on the bus at regular intervals It can do this in one of two different ways 1 The master sends a Remote Transmission Request RTR for the Node Guard message to each node on the bus in turn a node that receives the RTR sends the Node Guard message which contains one data byte indicating the CANopen state of the node as well as a toggle bit If a node does not reply the master should signal this to the higher level software and or take appropriate action The RTR for the Node Guard message looks like this a Remote Frame so the CAN message has no data bytes Host NMT Master gt MDT DCS module NMT Slave COB ID 700h NodeID The reply Node Guard message from a node looks like this MDT DCS module NMT Slave gt Host NMT Master COB ID DataByte 0 700h NodeID bit 7 toggle bit bit 6 0 state 2 Each node on the bus sends a Heartbeat message at regular intervals typically the NMT master monitors these messages and keeps a time out period for each node The master detects nodes that stop sending their Heartbeat messages and should signal this to the higher level software and or take appropriate action 13 MDT DCS CANopen module v2 7 19 Aug 2011 A Heartbeat message looks like this MDT DCS module Heartbeat producer gt Consumer s e g NMT Master COB ID DataByte 0 700h NodeID state State is o
33. Mezzanine analog voltage Mezzanine digital voltage Mezzanine temperature Motherboard 4 5V CSM 5 Veo 5 Veg 3 3V 2 5V 1 8V and 1 5V CSM temperature A list of ADC channels and what parameter they represent is shown in Table 9 below 0 Mezz 16 Temp 16 Mezz 6 Temp 32 Mezz 10 Temp 48 Mezz 0 Temp 1 Mezz 16 Analog 17 Mezz 6 Analog 33 Mezz 10 Analog 49 Mezz 0 Analog 2 Mezz 16 Digital 18 Mezz 6 Digital 34 Mezz 10 Digital 50 Mezz 0 Digital 3 CSM 2 5V 19 CSM 3 3V 35 CSM 1 8V 51 CSM Vcc 4 Mezz 15 Temp 20 Mezz 5 Temp 36 Mezz 12 Temp 52 Mezz 2 Temp 5 Mezz 15 Analog 21 Mezz 5 Analog 37 Mezz 12 Analog 53 Mezz 2 Analog 6 Mezz 15 Digital 22 Mezz 5 Digital 38 Mezz 12 Digital 54 Mezz 2 Digital 7 CSM 1 5V 23 Mezz 7 Temp 39 Mezz 11 Temp 55 Mezz 1 Temp 8 Mezz 17 Temp 24 Mezz 8 Temp 40 Mezz 14 Temp 56 Mezz 4 Temp 9 Mezz 17 Analog 25 Mezz 8 Analog 41 Mezz 14 Analog 57 Mezz 4 Analog 10 Mezz 17 Digital 26 Mezz 8 Digital 42 Mezz 14 Digital 58 Mezz 4 Digital 11 CSM 2 5V Ref 27 Mezz 7 Analog 43 Mezz 11 Analog 59 Mezz 1 Analog 12 Half CSM 5Vcc 28 Mezz 9 Temp 44 Mezz 13 Temp 60 Mezz 3 Temp 13 CSM Temp 29 Mezz 9 Analog 45 Mezz 13 Analog 61 Mezz 3 Analog 14 Half CSM 5Veg 30 Mezz 9 Digital 46 Mezz 13 Digital 62 Mezz 3 Digital 15 CSM 2 5V Ref 31 Mezz 7 Digital 47 Mezz 11 Digital 63 Mezz 1 Digital Table 9 Mapping of CSM FE electronics voltages temperatures to CSM ADC channels A 2
34. O Abort with Error Code 6 3 Get CRC Ul6 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 SAh enables one write ber write operation ONLY operation on the Serial Number Object 3100 3200 CAN controller settings Record 0 Number of entries U8 RO 3 1 Disable Remote Frames Bool RW 0 bj 2 Enable auto start U8 RW 0 If 1 go to Operational at startup id 3 Bus off max retry counter U8 RW 5 Counter is decremented every 1s but if the node reaches this maximum value it abandons re gaining CAN bus access 3300 CAN Node Identifier U8 WO The new CAN Node Identifier is used after the next reset ELMB Bootloader firmware version 1 3 and later supports this feature otherwise don t use it 3301 Enable CAN Node Identi U32 WO EXPERT Writing a number that matches fier write operation ONLY the ELMB Serial Number Ob ject 3100 enables one write op eration on the CAN Node Identi fier Object 3300 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 CANopen Node Guard Remote Frame is still handled properly 54 MDT DCS CANopen module v2 7 19 Aug 2011 Manufacturer specific Profile
35. Profile Area MDT DCS continued Index Sub Description Data Attr Default Comment hex Index Object 4200 Read analogue input Record 24 bits analogue value B sensor 0 B sensor 0 0 Number of entries U8 RO 7 Fixed value see OD index 2500 subindex 1 1 Input 1 B sensor ADC 0 124 RO 1 analog input 24 bit Hall H1 2 Input 2 B sensor ADC 0 124 RO on A Hall H2 3 Input 3 B sensor ADC 0 124 RO gerr Hall H3 4 Input 4 B sensor ADC 0 124 RO Ans i fullscale Hall 5 Input 5 B sensor ADC 0 124 RO SET 5 NTC 6 Input 6 B sensor ADC 0 124 RO 6 o E 0 C ref 7 Input 7 B sensor ADC 0 124 RO pa 7 100 C ref 4201 Read analogue input Record 24 bits ADC count B sensor 1 B sensor 1 4202 Read analogue input Record 24 bits ADC count B sensor 2 B sensor 2 4203 Read analogue input Record 24 bits ADC count B sensor 3 B sensor 3 4300 Read Analogue Input Record 8 bits flags 24 bits analogue of NTC calibrated value in uV odd ch NTC voltage even ch NTC current I V 10kQ NB read out is denied 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 Input 2 U32 RO ya 64 I
36. S Index Sub Description Data Attr Default Comment hex Index Object 1000 Device type U32 RO 00070191h Meaning DSP 401 device pro file analogue inputs 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 VisStr RO el40 ELMB v4 100A 0 Manufacturer software VisStr RO MD25 MDT DCS application v2 5 0 version 1 minor version number VisStr RO 0000 100C Guard time ms Ul6 RO 1000 1 second 100D Life time factor U8 RW 0 Life Guarding timeout in seconds Si 0 gt no life guarding timeout 1010 Store parameters Array Save stuff in onboard EEPROM 0 Highest index supported U8 RO 3 1 Save all parameters U32 RW 1 Read 1 Write save store all 2 Save communication pa U32 RW 1 Read 1 Write save store rameters PDO par s Life time factor 3 Save application par s U32 RW 1 Read 1 Write save store ADCs config Dig I O config 4 Detect B sensors and U32 RW 1 Read 1 Write save store B CSM ADC and save con sensor and CSM ADC config figuration found so called autoconfigure 1011 Restore default parameters Array Invalidate stuff in onboard EEPROM use defaults 0 Highest index supported U8 RO 3 1 Restore all parameter
37. adout grees Ohms or ADC counts 0 readout on change disabled works in combination with the PDO timer Object 1802h sub 5 22 CSM mezzanine mask U32 RW Ox3FFFF This mask determines which ADC channels are sent in TPDO messages during an ADC scan the mask is preserved across soft resets 2200 ADC reset and calibrate U8 WO Writing triggers a reset and cali NTC bration sequence with the current NTC ADC settings 2201 ADC reset and calibrate U8 WO Writing triggers a reset and cali CSM bration sequence with the current CSM ADC settings 2300 ADC reset and calibrate U8 RW 0 If 1 a reset calibration sequence before each channel scan is performed before every NTC NTC ADC input channel scan 2301 ADC reset and calibrate U8 RW 0 If 1 a reset calibration sequence before each channel scan 1s performed before every CSM CSM ADC input channel scan 2400 ADC enabled U8 RW 1 Set to 0 if the ADC is not used or i NTC not present 2401 ADC enabled U8 RW 0 Set to 0 if the ADC is not used or CSM not present 000 15 0Hz 001 30 0Hz 010 61 6Hz 011 84 5 Hz 100 101 1 Hz 101 1 88Hz 110 3 76 Hz 111 7 51 Hz 2 000 100 mV 001 55 mV 010 25 mV 011 1 V 100 5 V 101 2 5 V 50 MDT DCS CANopen module v2 7 19 Aug 2011 Manufacturer specific Profile Area MDT DCS continued Index Sub Description Data
38. age based T sensors plus addi tional circuitry the host system does the conversion to temperature units read out in this mode results in calibrated values because the ELMBs have calibra tion constants stored onboard for every possible voltage range the constants are ap plied by the firmware so the conversion from ADC counts to voltage by the host system is straightforward for example in 2 5V unipolar mode an ADC conversion count of 65535 corresponds indeed to 2 5V When OD index 4401h is set to 1 the MDT DCS module produces a 4 databyte TPDO2 formatted as follows MDT DCS module Host COB ID Data Byte 0 Data Byte 1 Data Byte 2 3 280h NodeID Channel number Status ADC config ADC count with ADC count 16 bits ADC count LSB in byte 2 MSB in byte 3 Channel number Number between 0 and 63 ADC input channel number Status ADC config bit 7 Conversion status 1 ERROR overflow or oscillation 0 OKAY bits 6 0 ADC configuration conversion word rate bits WO W1 and W2 gain range bits G0 G1 and G2 and unipolar or bipolar bit U B see above For definitions see OD index 2100h sub 2 3 and 4 5 2 4 Readout on Change Starting with MDT DCS firmware version 2 3 1 a so called readout on change feature was added It means that the MDT DCS module automatically and periodically scans the T sensor channels and sends a message a TPDO2 only for a T sensor that changed its value with a p
39. age ranges note only present for ELMBs 01CFh with an analog input part 01E0h 01FFh 0200h Space to store JTAG strings up to 3584 bytes Up to 3 spaces of 6400 bits each 3 800 2400 bytes Up to 10 spaces of 640 bits each 10 80 800 bytes one space is for a IR DR string one JTAG action For administration per string 2 3 10 4 104 bytes 16 bits number of bits 16 bits CRC For status info per action 3 10 3 4 156 bytes 32 bits each start bit status mask status expected Total 2400 800 104 156 3460 bytes used Table 12 EEPROM memory map of the MDT DCS ELMB application firmware 41 MDT DCS CANopen module v2 7 19 Aug 2011 EEPROM ADDR 0200h 13 IR strings 13 4 16 13 20 260 bytes 0303h 0304h 3 long 6272 bits DR strings 3 12 4 784 3 800 2400 bytes 0C63h 0C64h 10 short 512 bits DR strings 3 12 4 64 3 80 800 bytes OF83h OF84h not used OFFFh Instruction string storage start addresses hex 0200 0214 0228 023C 0250 0264 0278 028C 02A0 02B4 02C8 02DC and 02F0 Data string storage start addresses hex 0304 0624 and 0944 Data string storage start addresses hex 0C64 0CB4 ODO4 0D54 ODA4 ODF4 0E44 0E94 OEE4 and 0F34 bytes IR storage ADDR z 00h 2 Oh 02h 2 03h 04h 16 13h DR storage CRC of 000h 2 status data status 002h 2 startbit status 004h status 008h 4
40. andard to be used on the CAN bus The application firmware running on the ELMB inside the MDT DCS module complies where possible with the CANopen DS 401 Device Profile for I O modules 4 but it has a range of additional manufacturer specific Object Dictionary entries and configuration op tions The complete Object Dictionary OD of the MDT DCS CANopen node can be found in section 9 The MDT DCS firmware development is based on a framework provided by the so called ELMBio application firmware described in 1 A simplified block diagram of an MDT DCS module mounted on an MDT muon chamber and its connections to sensors and front end electronics is shown in Figure 1 There are con nections to the on chamber T temperature and B sensors magnetic field and multiple connections to the MDT front end electronics The T sensors are NTC resistors for Barrel MDT chambers integrated in special cables and mounted on various locations on the MDT chamber Each B sensor module measures the magnetic field along 3 orthogonal axes Bx By and B and the temperature T of the environment in the immediate vicinity of the 3 Hall effect transducers which are mounted on the B sensor module PCB By using special cables the number of connected B sensor modules may be increased from 2 to 4 per MDT DCS module see http elmb web cern ch MDT DCS CANopen module v2 7 19 Aug 2011 MDT Front End Electronics CSM to next node Tempera
41. applications outside the ATLAS environment in other LHC experiments and at CERN The ELMB features an in system programmable microcontroller a CAN bus controller and interface for communica tion with a host system and or the central SCADA system and a number of analog inputs and digital in and outputs It is in system programmable including remotely via the CAN bus The latter combined with the ELMB s low cost and the availability of a low cost development environment for programming in C have all contributed to its success For its application in ATLAS the fact that its radiation tolerance sensitivity has been extensively tested and quanti fied is very important In the MDT muon subdetector of ATLAS the MDT DCS module monitors MDT chamber environmental parameters i e temperature and magnetic field in and around the chamber and MDT front end electronics voltages and temperatures The MDT front end electronics consist of the so called CSM Chamber Service Module plus connected Mezzanine Boards The MDT DCS module has a JTAG interface that connects to the CSM for configuration of the MDT front end electronics In addition there are a number 7 of Digital I Os for control output to the CSM and error status input from the CSM The CAN bus is the chosen fieldbus by the ATLAS Detector Control System DCS for in terconnecting distributed I O within the detector The CANopen protocol 2 3 has been adopted as the communication protocol st
42. asing radiation tolerance Individual analog inputs can be read out using CANopen SDO messages by reading from OD index 4100h Note that the data in objects 4100h contains a flags byte generated by the ADC which is described in section 5 2 1 6 1 1 Readout on Change Starting with MDT DCS firmware version 2 3 1 a so called readout on change feature was added It means that the MDT DCS module automatically and periodically scans the CSM analog channels and sends a message a TPDO3 only for a channel that changed its value with a preset minimum value the delta This delta value is one of the ADC s configuration parameters and can be set to any value There is one delta that applies to all CSM channels 26 MDT DCS CANopen module v2 7 19 Aug 2011 To enable this feature for the CSM analog inputs do the following e set the TPDO3 event timer Object 1802h sub 5 to a value gt 0 this will be the pe riod in seconds between two consecutive CSM channel scans e set the CSM ADC delta value Object 2101h sub 21 to a value gt 0 e set the MDT DCS module to Operational For further details see section 5 2 4 6 2 Configuration and Control The CSM ADC JTAG and SPI AUX connectors provide interfaces for additional configura tion and control of the CSM front end electronics The CSM ADC connector provides in addition to the serial interface to an ADC on the CSM as described in section 6 1 three general purpose I Os which
43. ate 8 input lines Array 0 Number of 8 bit inputs U8 RO 1 1 Read inputs 1 8 U8 RO ELMB ATmegal28 PORTA F Port shared with Object 6200 1 6005 Global Digital Input Inter Bool RW 0 Enables disables change of state s rupt Enable TPDO 1 transmissions 6006 Interrupt Mask Any Array Enables disables on a per input Change 8 input lines bit basis change of state TPDO1 transmissions 0 Number of 8 bit inputs U8 RO 1 1 Interrupt Mask Inputs 1 8 U8 RW FFh 6200 Write state 8 output lines Array 0 Number of 8 bit outputs U8 RO 1 1 Write outputs 1 8 U8 RW ELMB ATmegal28 PORTA F Port shared with Object 6000 1 6208 Filter mask 8 output lines Array 0 Number of 8 bit masks U8 RO 1 x 1 Filter mask outputs 1 8 U8 RW OFh maskbit 1 I O is an output pins not defined as outputs are inputs to be accessed thru Object 6000 1 6220 Write output bit Array Only bits defined as output Ob ject 6208 sub 1 can be written 0 Number of 1 bit outputs U8 RO 7 1 Write output Bool RW DIGIO1 PORTA pin 4 2 Write output 2 Bool RW DIGIO2 PORTA pin 5 3 Write output 3 Bool RW DIGIO3 PORTA pin 6 4 Write output 4 Bool RW DIGIO4 PORTA pin 7 5 Write output 5 Bool RW DIGIOS PORTF pin 2 6 Write output 6 Bool RW DIGIO6 PORTF pin 3 7 Write output 7 Bool RW DIGIO7 PORTF pin 4 6404 Read analogue input Record 8 bits flags 16 bits analogue manufacturer specific value NTC NTC ADC odd ch NTC voltage even ch NTC current I V 10kQ 0 Number of entries U8 RO 64 Th
44. cording to CANopen Prede NodelD fined Connection Set 2 Transmission type U8 RO 255 3 4 5 Not used RO 0 1402 3 Receive PDO part s Record Data type PDOCommPar 0 Number of entries U8 RO 5 1 COB ID used by PDO U32 RO 400h According to CANopen Prede NodelD fined Connection Set 2 Transmission type U8 RO 255 3 4 5 Not used RO 0 1403 4 Receive PDO par s Record Data type PDOCommPar 0 Number of entries U8 RO 5 1 COB ID used by PDO U32 RO 500h 2 Transmission type U8 RO 255 3 4 5 Not used RO 0 1404 5 Receive PDO par s Record Data type PDOCommPar 0 Number of entries U8 RO 5 1 COB ID used by PDO U32 RO 580h 2 Transmission type U8 RO 255 3 4 5 Not used RO 0 45 MDT DCS CANopen module v2 7 19 Aug 2011 Communication Profile Area MDT DCS continued Index Sub Description Data Attr Default Comment hex Index Object 1600 1 Receive PDO mapping Record Data type PDOMapping 0 Number of entries U8 RO 1 1 Digital outputs 1 8 U32 RO 62000108h OD index 6200 sub index 1 Outputs 1 8 see DSP 401 size 8 bits 1601 2 Receive PDO mapping Record Data type PDOMapping 0 Number of entries U8 RO 2 1 Number of JTAG IR bits U32 RO 48010008h OD index 4801 sub index 0 final number of JTAG IR bits size 8 bits 2 JTAG IR bits U32 RO 48000020h OD index 4801 sub index 1 JTAG IR bits size 32 bits 1602 3
45. d Current total number of U32 RO Can be used by host system to check if all uploaded bits up to now have been received by MDT DCS 4803 Shift DR Data Register U32 RW Go to state Shift DR W shift in 32 bits R read the 32 bits or less that were shifted out in the previous write W operation Remain in state Shift DR 4804 Final DR shift Record 0 Number of entries RO 32 1 Final DR bit shift 1 bit U32 RW Go to state Shift DR W shift in 1 bit R read 32 bits or less that were shifted out in the previous write operation same as Object 4803 Go to state Run Test Idle U32 RW idem but shift in 2 bits 2 Final DR bit shift 2 bits etc etc 32 Final DR bit shift 32 bits U32 RW idem but shift in 32 bits 4805 DR bits shifted Current total number of U32 RO Can be used by host system to check if all uploaded bits up to now have been received by MDT DCS 57 MDT DCS CANopen module v2 7 19 Aug 2011 Manufacturer specific Profile Area MDT DCS continued Index Sub Description Data Attr Default Comment hex Index Object 480A Shift IR Domain RW Segmented SDO only Instruction Register First 2 data bytes must contain number of bits in JTAG string to foll
46. dded for T sensors and CSM analog inputs e Support for remotely configurable Node ID added 2 2 27 May 2004 e Presence of B sensor modules now controlled by a mask PDO event timers now in seconds instead of ms and active for all transmission types Digital Out power up setting now on individual bit basis Another update of the section on board testing Up to date pictures of frontpanels Barrel as well as EndCap Oo Oo o e Describes firmware version MD22 e Support for up to 4 B sensor modules instead of 2 as before e Support for raw T sensor data readout e JTAG TDI and TDO signals swapped e Does not yet support JTAG action strings storage e Update of the section on board testing 2 1 16 Jan 2004 e Describes firmware version MD21 2 0 17 Nov 2003 e Does not yet support JTAG action strings storage e Added this document change record Describes firmware version MD14 and older a on Mey Ate for the MDT DCS module prototype equipped with ELMB103 modules Table 1 Document change record MDT DCS CANopen module v2 7 19 Aug 2011 1 Introduction and Overview The MDT DCS module is the local monitor and control platform for the ATLAS MDT muon chambers It is based on the ELMB module which is a general purpose plug on board which was developed by the ATLAS collaboration to serve various detector control tasks in and around the ATLAS detector The ELMB is also used in several
47. e B sensor module inputs are read out depends on the transmission type of TPDO4 which can be set in OD index 1803h subindex 2 of the MDT DCS module The method options are identical to what has been described for the read out of the T sensors in section 5 2 Optionally a reset and calibration sequence can be done before each B sensor ADC channel scan This feature can be enabled via OD index 2700h useful perhaps for increasing radiation tolerance Individual B sensor module channels there are actually 7 per module can be read out using CANopen SDO messages by reading from OD index 4200h to 4203h see OD tables for a de scription of each individual channel 5 3 2 ADC Data Conversion The interpretation of the Hall sensor ADC values and conversion to physical values will be done offline using a set of calibration tables accompanying each individual B sensor module Until these tables are available the user himself must interpret the data The B sensor module s T sensor is an NTC Thermometrics type number DC95F502W with a nominal resistance of 5 kQ See Appendix B for datasheet and temperature data of the NTC Table 8 shows a list of resistance values Ryrc for this NTC at different temperatures and the resulting B sensor module ADC input voltage In the shaded part of the table between 0 and 70 C the precision is 0 2 C The ADC input voltage Vnrc can be expressed as Vutec Vret WeeRntc Rute Reet which can be rewritt
48. e module explicitly to the Bootloader by writing any value to the 8 bit object SEOOh in the Object Dictionary of the MDT DCS application In this case the Bootloader does not automatically jump back to the MDT DCS application program after 4 s The firmware upgrade process may now begin After the upgrade process the reception of a CANopen NMT Reset Node message causes the Bootloader to jump to the start of the new MDT DCS application program If the MDT DCS module sends an Emergency message as shown below it signifies that the Bootloader is in control of the module Note that the same Emergency message is also sent as the first message after power up when the Bootloader is in control for the first 4 s after pow er up before jumping to the application program The Bootloader can be forced to jump to the application immediately by sending ita CANopen NMT Reset Node message COB ID Byte 0 1 Byte 2 Byte 3 7 080h Emergency Error Register Manufacturer specific error field NodeID Error Code Object 1001h 5 bytes FEh 01h 28h ZZh 00h 00h 50h 80h with ZZh MCUCSR MCUCSR MCU Control and Status Register contents for details see section 10 43 MDT DCS CANopen module v2 7 19 Aug 2011 9 MDT DCS Object Dictionary The values of objects marked with in the Index column can be stored permanently in EEPROM They are retrieved from EEPROM at reset and power up Communication Profile Area MDT DC
49. e previous section 40 MDT DCS CANopen module v2 7 19 Aug 2011 7 3 EEPROM Memory Map Table 12 and Table 13 below detail the layout of the ELMB s EEPROM usage by the MDT DCS application firmware EEPROM ADDR MDT DCS configuration parameters Rad tolerant working copy of global settings and parameters Serial Number Node ID opt not used ELMB Analog in calib consts Storage space for JTAG strings see Table 13 for details 0000h DESCRIPTION 0001h o Holds permanently saved application configu ration and settings stored in up to 8 blocks of up to 16 bytes each includes a CRC checksum for each data block 00A0h 00A1h gt 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 uniquely identify the ELMB and retrieve its calibration con stants and or production data in the ELMB production database 0107h gt The Node ID location may optionally contain a CAN Node ID for the module replacing the DIP switch setting 1f the location contains a valid number 0 lt val lt 127 it must be used 011F Holds the calibration constants which were determined at production time for all 6 volt
50. e to wait for each JTAG action to complete it would trigger the upload of only one JTAG action at a time and wait for the Digital Input PDO message with the toggle bit toggled In that case the message sequence might look like this with al ternating host and MDT DCS messages Source PDO COB ID Byte 0 Bytel Byte2 Byte3 Byte4 host 400h NodeID FEh 02h MDT 180h NodeID 00h 00h 00h 00h 00h DigIn host 400h NodeID FEh 06h MDT 180h NodeID 80h 00h 00h 00h 00h DigIn host 400h NodeID FEh 08h MDT 180h NodeID 00h 00h 00h 00h 00h DigIn 33 MDT DCS CANopen module v2 7 19 Aug 2011 As mentioned before the PDO sent by the host may be any length from 2 up to 8 bytes but in this case bytes 2 to 7 if present should be zero A new sequence can only be started if the previous one has finished if a sequence is in progress the PDO sent by the host is sim ply ignored with one exception to abort an ongoing sequence the host may sent the PDO containing only byte 0 with value FEh Note that if the status mask of a JTAG action is set to 0 OD index 49X8h sub 2 there is actually no return status bits check taking place In that case the PDO message sent by the MDT DCS module just serves to signify completion of that JTAG action and the status er ror word returned is always 0 Any problems detected with the JTAG action s stored bit strings are repor
51. e v2 7 19 Aug 2011 5 MDT On Chamber Sensors Monitoring 5 1 Data Read out Each data object in the MDT DCS module can be accessed through the CANopen Object Dictionary OD The CANopen SDO Service Data Object confirmed message mechanism is used to read from and write to data objects in the OD A complete overview of the Object Dictionary of the MDT DCS module can be found in section 9 A more efficient method of read out of data from the MDT DCS module is offered by the CANopen mechanism of PDO Process Data Object messages This is an unconfirmed mes sage mechanism without protocol overhead and thus much more suitable for regular monitor ing of the process data of the MDT DCS module such as the T and B sensor data The send ing of this type of messages may be triggered by a host system or autonomously by the MDT DCS module firmware From the point of view of the MDT DCS module data are transmitted by a PDO message called a Transmit PDO or TPDO and data are received in a PDO message called a Re ceive PDO or RPDO In CANopen the CAN identifier message content and transmission type of PDO messages may be configurable configure by writing to the appropriate objects in the Object Dictionary using the SDO mechanism However the CANopen standard defines a predefined set of CAN identifiers the so called Predefined Connection Set defining which CAN identifier to use for which kind of CANopen message without the need for the n
52. ecs cenccade cinta decido cin nidad dicen ciedad ddudestenvesslceddescsdesesecebsessacuacondesea 36 6 2 1 6 Additional JTAG Functionality ocn dit li 37 6 2 2 Derai V O AAA acs aE tes seas a eA eo AE TE a atea as bcuseae dere E 37 7 CONFIGURATION STORAGE ccccccccscssssssssscccccccceccesesssccsccsccecesesssccccccescesseseees 39 7 1 STORING PARAMETERS AND SETTINGS cccsccccesssececsesseeeceeseeeceeseeeceesaeeeeeesaeeeesesueeeeseseeeenes 39 7 2 AUTO CONFIGURE td atar Pida 40 7 3 EEPROM MEMORY MAP ooocccococococonononononononononononononononononononononononononononononononononononnnononononononenes 41 8 UPGRADING THE FIRMWARL cccccccscsssssssssccscccccscesssssccsccesccecesesessccccscseceseseees 43 9 MDT DCS OBJECT DICTIONARY 0 cccccssssssccccccccccesessccccccccescesescsccccsscsecesesecscces 44 10 EMERGENCY OBJECTS vecesscccdsacsccisecsaccoscesvasssecsscccssasecsesecessdeesousocesessesc dsouncddsecssesseseess 64 11 BUILT IN BOARD TES Tossscisciscccscscccssccscscctessccsseicsesscasetecsssscessceasstecasvacdescsavedecaseectescaaess 66 REFERENCES wissisccccccsccscscaticcecstestseatiisceccses sereoo eee e Soos OEE aoo oe O aTeo aon eeose INSO se 69 APPENDIX A MDT DCS MOTHERBOARD SCHEMATIC 00 ccccccscccesssssssscccees 70 APPENDIX B NTC TEMPERATURE SENSOR DATA cccccssssscssccscccccecesescccccees 71 MDT DCS CANopen module v2 7 19 Aug 2011 Version History Version Date Comments
53. en as Ryrc Rrer Vret Vyro Wntc Vee Vret With Rret 23 2 KQ Vee 5 V and Vyer 2 5 V this results in Rytc 23200 2 5 Vyrc Vyre 2 5 22 MDT DCS CANopen module v2 7 19 Aug 2011 Vnrc is the voltage value calculated from the 24 bit ADC value A The ADC input has been calibrated to give A 0 000000h at 0 C i e at 0 4315 V and A 16777215 OXFFFFFF at 100 C i e at 2 4275 V so that Vnrc can be expressed as Vure 0 4315 2 4275 0 4315 A FFFFFFh 0 4315 1 996A FFFFFFh So Ryrc can be calculated directly from ADC value A as follows Ryrc 23200 2 0685 a 2 9315 a with a 1 996 A 16777215 With Rnrc known the temperature in C can now be calculated using the equation s for T from the previous section The conversion equations described above are applied by the MDT DCS firmware when temperature read out is set to millidegrees centigrade which is the default setting 5 3 3 B sensor Serial Number Each B sensor module comes equipped with a unique serial number which is factory lasered in the on board Dallas DS2401 device The 64 bit 8 byte serial number is used to uniquely identify each module for instance to match each module with its calibration data which are stored off line The serial numbers of the four B sensor modules can be read from OD Objects 2900h 2901h 2902h or 2903h The least significant 4 bytes are read from subindex 1 and the most significant 4 bytes
54. final read of OD 4804h can be read from any of the subindices and also by a read of OD 4803h they return the same data Starting with MDT DCS firmware version 2 4 objects have been added to the Object Dic tionary enabling JTAG bit string up and download by means of Segmented SDO the standard CANopen protocol for transferring data items larger than 4 bytes The upload download operation shown above is done with the following sequence of mes sages Messages in rows Source Segmented SDO BtO Bt1 Bt2 Bt3 Bt4 Bt5 Bt6 Bt7 host Write OD 480Bh 0 ini p col OBh 48h 00h OBh 00h OOh 00h host Write OD 480Bh 0 pcol 44h 00h 10h 32h 54h 76h 98h host Write OD 480Bh 0 last p col BAh DCh FEh OAh 00h 00h 00h MDT Read OD 480Bh 0 ini p col OBh 48h 00h OBh 00h 00h 00h MDT Read OD 480Bh 0 p col 44h 00h XXh XXh XXh XXh XXh MDT Read OD 480Bh 0 last p col XXh XXh XXh OXh 00h 00h 00h Notes on the message sequence shown above e The first SDO message contains the object index OBh 48h and subindex 00h as well as the number of bytes to be sent in this Segmented SDO i e 11 bytes OBh this message is part of the Segmented SDO protocol and carries no JTAG bit string data e The second SDO message contains in its first 2 bytes the length of the JTAG bit string to be sent in t
55. from subindex 2 Starting with MDT DCS firmware version 2 4 0 the least or most significant sets of 4 bytes can be read in any order The layout of the 64 bit serial number is as shown below 8 bit CRC Code 48 bit Serial Number 8 bit Family Code 01h MSB LSB MSB LSB MSB LSB byte 7 byte 6 4 byte 3 1 byte 0 y y y y OD index 290Xh subindex 2 OD index 290Xh subindex 1 Figure 6 B sensor 64 bit Serial Number and its mapping to Object Dictionary OD objects with X 0 to 3 The MDT DCS module checks the correctness of the serial number CRC when OD Object 2900h to 2903h is read so a valid reply implies the CRC was correct it is not necessary for the host to recalculate the serial number CRC 23 MDT DCS CANopen module v2 7 19 Aug 2011 remera a te as Resistance Om Om vot o a E ent o om o ow os INE Y A Table 8 NTC resistance temperature table and resulting B sensor ADC input voltage Normalized resistance table taken from datasheets in Appendix B 24 MDT DCS CANopen module v2 7 19 Aug 2011 6 CSM Front end Electronics Monitoring and Control 6 1 Analog Inputs The CSM SPI connector provides the interface to an ADC identical to the ADC on the ELMB which is used for the NTC temperature sensors on the MDT chamber integrated in the CSM front end electronics capable of monitoring up to 64 analog input channels on the CSM The analog values monitored include
56. ge by the module The MDT DCS module sends one PDO message containing 4 bytes for every T sensor The CAN identifier used for this PDO is the so called 2 transmit PDO TPDO2 of the CANopen Predefined Connection Set The number of T sensors read out can be set by configuring the number of analog channels to any value up to 64 by writing to OD index 2100h subindex 1 The number of T sensors read out is this number divided by 2 due to the two analog inputs measurement per sensor T sensor number 30 and 31 are in fact onboard reference resistors of 16369 Q and 341 6 Q representing temperatures of 0 0 C and 100 0 C respectively whose values may be read out to check the proper functioning of module and ADC The setting of OD index 4400h determines whether the readings in the PDO messages are in Ohms or in millidegrees centigrade The default setting is degrees The MDT DCS module produces a 4 databyte TPDO2 per T sensor formatted either when OD index 4400h is set to 1 as MDT DCS module gt Host COB ID Data Byte0 Data Byte 1 3 280h NodeID NTC number Temperature m C with Temperature 24 bits temperature reading in millidegrees centigrade LSB in byte 1 MSB in byte 3 invalid readings and ADC errors result in a tempera ture value of FFFFFFh 16777215 NTC number Number between 0 and 29 or formatted when OD index 4400h is set to 0 as MDT DCS module gt Host
57. ge readout grees Ohms or ADC counts 0 readout on change disabled works in combination with the PDO timer Object 1801h sub 5 000 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 000 100mV 001 55 mV 010 25 mV 011 1 V 100 5 V 101 2 5 V 49 MDT DCS CANopen module v2 7 19 Aug 2011 Manufacturer specific Profile Area MDT DCS continued Index Sub Description Data Attr Default Comment hex Index Object 2101 ADC configuration CSM Record CRYSTAL CS5523 16 bit ADC 0 Number of entries U8 RO 22 1 Number of input channels U8 RW 64 64 maximum can be set to ac tual number of channels used 2 Conversion Word Rate U8 RW 0 3 bit code i 3 Input Voltage Range U8 RW 4 3 bit code dd 4 Unipolar Bipolar U8 RW 0 0 bipolar 1 unipolar Measurement Mode default changed from 1 to 0 in version 2 3 2 etc AS above Sie ae 19 2 5V ref input channel U8 RW 11 if gt 64 the ADC calibration procedure done is a socalled self calibration using an ADC internal reference which is inaccurate for all ADC voltage ranges except 2 5V changed from 255 to 11 in version 2 3 2 sa 20 SPI SCLK signal high U8 RW 75 in us 10 lt value lt 255 period opto coupler delay bl 21 Delta value for automatic U32 RW 0 in currently used units millide on change re
58. his Segmented SDO i e 68 bits 44h part of the JTAG bit string upload protocol bytes 4 to 7 contain the first 32 bits of the bit string to up load Reading a bit string by Segmented SDO similarly results in a byte array re turned in which the first 2 bytes contain the number of bits in the contained bit string see 5 message from top in the table above e Data byte 0 not shown in the table above contains the SDO protocol byte not further explained in detail here 30 MDT DCS CANopen module v2 7 19 Aug 2011 e A JTAG bit string upload by Segmented SDO must be completed before the return bits can be read downloaded by Segmented SDO this implies that all return bits must be stored by the MDT DCS module the maximum number of return bits stored is therefor limited to 1024 8 so this is also the allowed maximum length of a JTAG bit string upload by Segmented SDO 2 Sending a JTAG data bit string and loading it into one CSM using PDO messages The bit string from example 1 is written to the same single MDT DCS module Source PDO COB ID Byte0 Bytel Byte2 Byte3 Byte4 Bytes Byte6 Byte7 host 400h NodeID 00h 10h 32h 54h 76h 98h BAh DCh host 400h NodeID OCh FEh OAh Note that byte 0 signifies whether the last bits are to be uploaded being unequal to zero A single such PDO message can have any number of bytes gt 2 There are no replie
59. idem but write 2 bits Be y wha 32 etc 32 Final DR bits 32 bits U32 RW idem but write 32 bits 4915 String length U32 RO 0 Length of stored string number of bits 4916 Reset string indices U8 WO To restart a read or write string operation resets string indices for reading and writing 4917 Execute JTAG action 1 U8 WO Write 55h to trigger upload upload Instruction Data of the instruction string followed Strings by the data string 4918 JTAG action 1 DR Status Record RW pars are stored in EEPROM Return Bits Configuration 0 Number of entries U8 RO 3 1 Start bit in DR out string U32 RW 0 2 Status mask U32 RW 00000000h Bits 0 are checked 3 Status expected U32 RW 00000000h Expected status bits 59 MDT DCS CANopen module v2 7 19 Aug 2011 Manufacturer specific Profile Area MDT DCS continued Index Sub Description Data Attr Default Comment hex Index Object 491A JTAG action 1 Domain RW Segmented SDO only JTAG Instruction String First 2 data bytes must contain storage lt 128 bits total number of bits in JTAG string to follow W write N bits to storage R read the N bits from storage 491B JTAG action 1 Domain RW Segmented SDO only JTAG Data String storage First 2 data bytes must contain lt 6272 bits total number of bits in JTAG string to follow W write N bits to storage R
60. index 3200h subindex 2 To generate a soft reset the following CANopen NMT message must be sent Host NMT Master gt MDT DCS module NMT Slave COB ID Data Byte 0 Data Byte 1 000h 81h Reset_Node NodelD or 0 0 all nodes on the bus Again there is no reply to this message 12 MDT DCS CANopen module v2 7 19 Aug 2011 Note that at power up it is the Bootloader application firmware that becomes active first and is in control of the MDT DCS module the Bootloader reports its presence by sending the fol lowing Emergency message see also section 8 Bootloader Host COB ID Byte 0 1 Byte 2 Byte 3 7 080h Emergency Error Register Manufacturer specific error field NodeID Error Code Object 100 1h FEh 01h 28h ZZh 00h 00h 50h 80h ZZh MCUCSR MCUCSR MCU Control and Status Register for details see section 10 or the ATmega128 datasheet Having the Bootloader activate at power up guarantees that it is always possible to upload new application software to the ELMB even when the application currently programmed in the ELMB is faulty or corrupted After about 4 s the Bootloader automatically jumps to the application Alternatively the Bootloader starts the application immediately if it receives an NMT Reset Node message as shown above within this period 4 Node Guarding and Life Guarding Node Guarding in CANopen is a mechanism whereby an N
61. ion 2 using an SDO message The host sends the following message Source SDO Byte4 Byte5 Byte6 Byte7 host Write OD 4927h 0 55h 31 MDT DCS CANopen module v2 7 19 Aug 2011 Note that the data is received by one and only one MDT DCS module or CSM according to the NodelD set in the SDO CAN message sent by the host If both the JTAG action s stored bit strings are present and valid and after the bit strings have been sent to the CSM MDT DCS sends the standard SDO reply If the global enable of reporting the JTAG action status error has been set OD index 49F1h set to 1 and the MDT DCS module is in state Operational the completion of a JTAG action also results in the MDT DCS module sending its Digital Input PDO message with bit 7 of databyte 0 acting as a toggle bit at each JTAG action completion the bit is toggled and databytes 1 to 4 containing the status error word OD index 4920h sub 3 MDT 180h NodeID 00h 00h 00h 00h 00h DigIn If the JTAG action 2 storage is empty or another JTAG action is in progress being shifted into JTAG the MDT DCS module sends the following SDO Abort Transfer reply MDT AbortOD 4927h 0 00h 00h 1 code 6 class Access Access as well as the following Emergency message see section 10 MDT 080h NodeID Emergency Error Register Manufacturer specific Error Code Object 100
62. is value fixed but actual hardware configuration may vary see OD index 2100 sub 1 1 Input 1 NTC ADC 124 RO 1 analog input 1 6 bit 8 bit flgs 2 Input 2 NTC ADC 124 RO eee 64 Input 64 NTC ADC 124 RO 64 See section 5 2 1 for a description of the ADC flags byte 63 MDT DCS CANopen module v2 7 19 Aug 2011 10 Emergency Objects CANopen Emergency messages are triggered by the occurrence of an internal fatal error situation An Emergency CAN message has the following general syntax MDT DCS Host COB ID Byte 0 1 Byte 2 Byte 3 7 080h Emergency Error Register Manufacturer specific error field NodelD Error Code Object 1001h Starting from MDT DCS firmware version 2 3 a toggle bit was added to byte 7 of the Emer gency message Byte 7 alternates between the values 00h and 80h from one Emergency mes sage to the next The following Emergency messages can be generated by the MDT DCS application Error Description Emergency Error Code byte 1 0 hex Manufacturer specific Error Field byte 3 7 ing only on ELMB103 CAN communication 8100 Byte 3 81C91 Interrupt Register content Byte 4 81 C91 Mode Status Register content Byte 5 error counter Byte 6 bus off counter see OD index 3200 sub 3 CAN buffer overrun 8110h CAN message buffer in RAM full at least 1 message was los
63. le C664 txt 12 54 55 gt End of Test E niiijer I EndCap type no R packs ConfigureNodeID IV Write Results to File MDT DCS Module Test v1 1 Start Test Reset Test Exit Henk Boterenbrood NIKHEF Amsterdam Figure 7 MDT DCS module connectivity test set up top and user interface bottom 68 MDT DCS CANopen module v2 7 19 Aug 2011 Missing in the digital test described above is a test of proper connectivity of the B SCLK B_SDI and B_SDO signals of the B sensor 1 connector In the test set up these signals have been routed to analog inputs on the auxiliary MDT DCS module Test objects SDFFh sub 4 and 5 have been added which set these 3 signals as outputs to 0 1 and 0 respectively and to 1 0 and 1 respectively so that the signals can then be checked by reading analog inputs from the auxiliary MDT DCS module Reading object SDFFh sub 6 sets the signals back to their normal setting In this way all pins except ground pins of an MDT DCS module are checked for proper connectivity A module that passes this test is accepted for use in the ATLAS MDT detector References 1 H Boterenbrood CANopen Application Software for the ELMB128 Version 2 1 NIKHEF Amsterdam 2 March 2004 http www nikhef nl pub departments ct po html ELMB 128 ELMBio pdf 2 H Boterenbrood CANopen high level protocol for CAN bus Version 3 0 NIKHEF Amsterdam 20 March 2000 http www nikhef nl pub departments ct po doc CANope
64. lts at the first read opera tion attempted If the 2 storage has a CRC error the MDT DCS module sends the following SDO Abort Transfer reply MDT AbortOD4923h 0 00h 00h 6 code 6 class Hardware Access 35 MDT DCS CANopen module v2 7 19 Aug 2011 6 2 1 4 JTAG TAP States The JTAG TAP states are defined in the MDT DCS module by an identifier value as listed in Table 10 the JTAG state transition diagram with TAP states is shown next to the table on the right The TAP state can be read from or if required set by a host application through OD index 4830h By writing to OD index 4840h a JTAG TAP reset and subsequent transition to state Run Test Idle may be triggered TAP State Identifier SELECT DR SCAN 0 CAPTURE DR 1 SHIFT DR 2 EXIT1 DR 3 PAUSE DR 4 EXIT2 DR 5 UPDATE DR 6 TEST LOGIC RESET 7 RUN TEST IDLE 8 SELECT IR SCAN 9 CAPTURE IR 10 SHIFT IR 11 EXIT1 IR 12 PAUSE IR 13 EXIT2 IR 14 UPDATE IR 15 Table 10 JTAG TAP State identifiers in the MDT DCS module and the JTAG state transition diagram right with 0 and 1 indicating the value of TMS during the TCK controlled state transition 6 2 1 5 JTAG Signal Timing OD index 4860h can be used to control the period of the JTAG TCK clock signal or actually the time the TCK signal is high and the minimum time TCK is l
65. n30 pdf 3 CAN in Automation e V CANopen Application Layer and Communication Profile CiA DS 301 Version 4 0 16 June 1999 4 CAN in Automation e V CANopen Device Profile for Generic I O Modules CiA DS 401 Version 2 0 20 December 1999 5 H Boterenbrood CANopen Bootloader for the ELMB ATmega128 microcontroller Version 1 1 NIKHEF Amsterdam 10 March 2004 http www nikhef nl pub departments ct po html ELMB128 ELMBbI doc pdf 6 ELMB software resources webpage http www nikhef nl pub departments ct po html ELMB ELMBresources html 69 ET EE AT E E ER A O CA De E A E ee A a y TT Tou fa fa T v2 7 19 Aug 2011 5907 LOW F lb Pp y OP OFT OT TT am e PA omj em an OU GL enig ont ED CRINE E E an E PERLET a sia m 2 sal 23 2 a 22 622 61 eal ora amu orif au e en ory a Ett 8 a A IS IS ID O SS SS O a ETT Gee Re P ata rs IN IND DIN FP gur Josus 9g Dan lo le e ll e e I I gt I Appendix A MDT DCS Motherboard Schematic MDT DCS CANopen module DOE EA gl tha fe S290 tS ETT gt bb a E A AC TO E E 70 MDT
66. ne of these CANopen states 0 Initializing 4 Stopped 5 Operational or 127 Pre operational Note that this makes the Boot up message the first Heartbeat message after a node reset see previous section According to the CANopen standard a node is not allowed to support both Node Guarding and Heartbeat protocols at the same time The MDT DCS module supports both methods of Node Guarding but indeed not at the same time i e it can send the Node Guard message or it can send the Heartbeat message with an interval which is configurable in OD index 1017h Life Guarding in CANopen is a mechanism whereby a node checks the aliveness of the host or master by applying a time out on messages received CANopen defines that the message to time out is the RTR for the Node Guard message sent by the NMT master however the MDT DCS module resets its Life Guarding timer at each properly received message ad dressed to it Life Guarding is controlled through OD objects 100Ch and 100Dh In the MDT DCS mod ule the Life Guarding time out can be set between 1 and 255 seconds by setting OD index 100Dh to the corresponding value or can be switched off by setting OD index 100Dh to zero If a Life Guarding time out occurs the node should take whatever appropriate action The MDT DCS module resets and reinitializes the CAN controller and tries to resume s normal operation after sending an Emergency message see section 10 14 MDT DCS CANopen modul
67. ned e with COB ID 300h NodelD and 400h NodelD for instruction and data bit strings re spectively for upload to individual MDT DCS modules e with COB ID 500h and 580h for instruction and data bit strings respectively for broadcast to all MDT DCS modules on the CAN bus NB return bits are not available for read back when using RPDOs for uploading See examples 2 and 3 in the next section Upload method 2 triggers the execution of a JTAG action an instruction bit string upload is followed by a data bit string upload into the JTAG chain both bit strings were previously stored in the onboard non volatile memory EEPROM of the MDT DCS module and both strings have to be present and valid for the JTAG action to be successfully executed With each stored JTAG action it is possible to save and check against a reference string up to 32 consecutive bits of the return data bit string not so for the instruction bit string The start bit a reference bit string and a mask are stored in the MDT DCS module s non volatile memory The return status bits and or return status error word as one 32 bit item of the last executed JTAG action can be inspected OD index 49F0h sub 2 and 3 The MDT DCS module can be configured to automatically send the status error word after completion of each JTAG action OD index 49F1h See example 4 in the next section For efficient individual MDT DCS and CAN bus wide broadcast requests to execute one or more of the sto
68. nequal to zero event timer is expressed in units of 1 s lt 255 s the MDT DCS module automatically sends the PDO message periodically triggered by a timer as well as on change The transmission of the PDO on change only occurs if this feature has been enabled globally OD index 6005h default is not enabled and per digital input OD index 6006h default is enabled Once the MDT DCS module is put into state Operational it continuously monitors the state of the digital inputs and immediately sends the PDO message if it detects a level change of any of the inputs A kind of debounce time out is in effect and can be set also to zero by writing to OD index 2200h The digital inputs can of course also be read out using CANopen SDO messages by reading from OD index 6000h Digital outputs can be set using the PDO mechanism The CAN identifier used for this PDO is the 1 Receive PDO OD index 1400h and 1600h for configuration and mapping resp In this application the PDO message contains 1 or 2 data bytes containing the setting for one set of 8 digital outputs 7 bits significant or a single bit in case of the 2 byte PDO Host gt MDT DCS module _ COB ID Data Byte 0 200h NodeID 8 bit Digital Output or Host MDT DCS module COB ID Data Byte 0 Data Byte 1 200h NodeID Dig Out Number 1 7 0 or Note that the digital port is shared between digital inputs and outputs Whether an I O line is u
69. nnector and numbers 5 to 7 on the CSM ADC connector See Table 2 and Table 4 in section 2 1 for the mapping of connector pin to Digital I O num ber Digital inputs can be read out using the PDO mechanism The CAN identifier used for this PDO is the Transmit PDO see OD index 1800h and 1A00h for configuration and mapping resp In this application the PDO message contains data byte containing the state of up to 8 digital inputs 7 bits significant The message also carries the JTAG action status error in formation MDT DCS module Host COB ID DataByte0 Data Byte 1 4 180h NodeID 8 bit Digital Input Note that the 8 bit digital port is shared between digital inputs and outputs Whether an I O line is used as input or output is set through OD index 6208h subindex 1 An I O line defined as output shows up as a zero in a digital input read operation On the MDT DCS module bits 1 4 are defined as outputs and bits 5 7 as inputs by default The following modes of TPDO1 transmission are supported see OD index 1800h subindex 2 and 5 e PDO transmission type 1 after every socalled SYNC message issued on the CAN bus the MDT DCS module sends the PDO message as well as on change e PDO transmission type 255 the MDT DCS module sends the PDO message on change 37 MDT DCS CANopen module v2 7 19 Aug 2011 e Event Timer gt 0 if the PDO s event timer OD index 1804h subindex 5 is set to a value u
70. nput and per B sensor module 4 inputs are read Hall sensors H1 H2 and H3 and the temperature sensor The CAN identifier used for this PDO is the so called 4 transmit PDO TPDO4 of the CANopen Predefined Connection Set The MDT DCS module produces the following 5 databyte TPDO4 MDT DCS module Host COB ID __DataByteO DataBytel Data Byte 2 4 480h NodeID Channel number ADC config 24 bit ADC value with ADC value Signed unsigned 24 bits ADC value LSB in byte 2 MSB in byte 4 Note Hall sensors 24 bit signed value T sensor 24 bit unsigned value either an ADC count or a temperature in millidegrees centigrade de pending on the setting of OD index 4400h Channel number Number between 0 and 15 Chan 0 3 Hall sensor H1 H2 H3 and T sensor resp of B sensor 0 21 MDT DCS CANopen module v2 7 19 Aug 2011 Chan 4 7 Hall sensor H1 H2 H3 and T sensor resp of B sensor 1 Chan 8 11 Hall sensor H1 H2 H3 and T sensor resp of B sensor 2 Chan 12 15 Hall sensor H1 H2 H3 and T sensor resp of B sensor 3 ADC config bit 7 not used bits 6 0 ADC configuration conversion word rate bits WO W1 and W2 gain range bits GO G1 and G2 and unipolar or bipolar bit U B see be low For definitions see OD index 2500h 2501h sub 2 3 4 5 6 and 7 BIT 7 6 5 4 3 2 1 0 Meaning w2 wi wo G2 Gi Go UB The method by which th
71. nput 64 U32 RO 64s i 4400 T and B sensor NTC read Bool RW 1 If 1 NTC readings in PDO ings in PDO messages in messages are converted to mil degrees centigrade lidegrees centigrade instead of Ohms using hardcoded conver sion formulas see text 4401 Raw T sensor data readout Bool RW 0 in PDO If 1 TPDO2 messages contain individual analog input channel data See section 5 2 1 for a description of the ADC flags byte 56 MDT DCS CANopen module v2 7 19 Aug 2011 Manufacturer specific Profile Area MDT DCS continued Index Sub hex Index Description Data Object Attr Default Comment 4800 Shift IR Instruction Register U32 RW Go to state Shift IR W shift in 32 bits R read the 32 bits or less that were shifted out in the previous write W operation Remain in state Shift IR 4801 Final IR shift Record 0 Number of entries U8 RO 32 1 Final IR bit shift 1 bit U32 RW Go to state Shift IR W shift in 1 bit R read 32 bits or less that were shifted out in the previous write operation identical to Object 4800 Go to state Run Test Idle 2 Final IR bit shift 2 bits U32 RW idem but shift in 2 bits etc etc 32 Final IR bit shift 32 bits U32 RW idem but shift in 32 bits 4802 IR bits shifte
72. number are assigned Any number of bytes may be present in the PDO even more than the number of JTAG action to execute but then the last JTAG action number to be executed must be followed by a zero The following PDO does exactly the same as the one above Source PDO COB ID Byte0 Byte1 Byte2 Byte3 Byte4 host 400h NodeID FEh 02h 08h 06h 00h Note that there is no direct reply to the PDO message from the host However if the global enable of reporting the JTAG action status error has been set OD index 49F1h set to 1 and the MDT DCS module is in state Operational the completion of each JTAG action will result in the MDT DCS module sending its Digital Input PDO mes sage in which there are 4 bytes containing the status error word OD index 49F0h sub 3 In this PDO message bit 7 of byte 0 is a toggle bit that is toggled after every JTAG action completion and byte to 4 contains the status error word resulting from the JTAG action When all returned status error words are zero the sequence of JTAG actions was success fully executed The resulting message sequence would look like this Source PDO COB ID Byte 0 Bytel Byte2 Byte3 Byte4 host 400h NodeID FEh 02h 08h 06h MDT 180h NodeID 00h 00h 00h 00h 00h DigIn MDT 180h NodeID 80h 00h 00h 00h 00h DigIn MDT 180h NodeID 00h 00h 00h 00h 00h DigIn Now if the host would lik
73. ode to support configuration The MDT DCS module uses this set of identifiers Also the PDO message content is fixed in the MDT DCS module and cannot be changed The content of PDO messages can be found and read from the OD from objects called PDO mapping objects stored at fixed entries in the OD A feature that is configurable on the MDT DCS module is the so called transmission type of the TPDOs which controls what triggers it to send its process data e g periodically on request or on change For each of the monitored subsystems T B front end this is described in the sections following Serious problems occurring during read out e g with the ADC hardware are reported in so called CANopen Emergency messages A list of Emergency messages the MDT DCS module can generate can be found in section 10 including a description of the problem 15 MDT DCS CANopen module v2 7 19 Aug 2011 5 2 T sensor Read out 5 2 1 T sensor Data T sensor data is produced by the MDT DCS module in the form of temperature readings in millidegrees centigrade of the NTC sensors optionally as resistance values in Ohms Even numbered ADC channels measure the voltage across an NTC and odd numbered channels the voltage resulting from the corresponding current through a precision resistor A division re sults in the NTC resistance value which is then converted to a temperature see end of this section for the conversion formula used and sent in a CAN messa
74. on CRC error Byte 4 JTAG action number 1 13 Byte 5 SAh instruction string A5h data string JTAG 5000 Byte 3 83h JTAG action status return Byte 4 JTAG action number 1 13 CRC error table continues on the next page 0 PDO communication parameters 1 Guarding parameters 2 Digital I O configuration 3 NTC ADC configu ration 4 B sensor ADC configuration 5 CSM ADC configuration 6 CAN configuration parameters 7 JTAG parameters FEh Calibration constant s FFh ELMB Serial Number Olh Reset Valid bit not set 02h Reset Valid bit not reset 04h error in initial Offset Register value 08h error in initial Gain Register value 65 MDT DCS CANopen module v2 7 19 Aug 2011 Emergenc E Error RR H Manufacturer specific Error Field ipti byte 3 7 Description ere byte 3 7 Irregular reset Watchdog 5000 Byte 3 FOh Brown out or JTAG Byte 4 microcontroller MCUCSR register contents Bootloader not present 5000 Byte 3 Flh Bootloader is now in control 5000 Byte 3 FEh Byte 4 01h Byte 5 28h Byte 6 microcontroller MCUCSR register contents Byte 7 00h Bootloader cannot jump to 6000 Byte 3 FEh application invalid Byte 4 AAh Byte 5 AAh Byte 6 00h Byte 7 00h 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 Registe
75. ontains always either data bits upload takes place in TAP state Shift DR or instruction bits upload takes place in TAP state Shift IR Usually an instruction bit string is shifted into a JTAG chain followed by a data bit string the combination of such an instruction and data bit string is called here a JTAG action Upload method 1 supports both instruction and data bit string upload in chunks of 32 bits in principle up to any bit string length or in a socalled segmented transfer MDT DCS 27 MDT DCS CANopen module v2 7 19 Aug 2011 firmware version 2 4 and newer up to 1024 8 bits the host system controls the order of up loading If required the host system may retrieve return bits for inspection In case the 32 bit chunk upload method is used the host must retrieve return bits after every 32 bit chunk up load a new chunk overwrites the previous return bits In case of a segmented transfer a host must finish the segmented upload and then can download all the return bits from the MDT DCS module in one go also by means of a segmented transfer The MDT DCS Object Dictionary provides objects for instruction bit string upload OD in dex 4800h 4801h and 480Ah and data bit string upload OD index 4803h 4804h and 480Bh which are accessed using standard SDO messages See example 1 in the next section For efficient individual MDT DCS and CAN bus wide broadcast style bit string uploading four RPDOs have been defi
76. onversions of the ADC channels in question still take place in order to limit the sending of meaningless data MDT DCS firmware version 2 5 0 and later The MDT DCS module produces the following 4 databyte TPDO3 MDT DCS module Host COB ID Data Byte 0 Data Byte 1 Data Byte 2 3 380h NodeID Channel number Status ADC config ADC count with ADC count 16 bits value LSB in byte 2 MSB in byte 3 Using the default ADC configuration setttings value 7FFFh corresponds to 5 0V value 0000h to 0 0V and value 8000h to 5 0V signed 16 bits value Channel number number between 0 and 63 Status ADC config bit 7 Conversion status 1 ERROR overflow or oscillation O0 OKAY bits 6 0 ADC configuration conversion word rate bits WO W1 and W2 gain range bits GO G1 and G2 and unipolar or bipolar bit U B see below For definitions see OD index 2101h sub 2 3 and 4 BIT 7 6 5 4 3 2 1 0 Meaning Error W2 Wil WO G2 Gl GO UB The method by which all 64 or less analog inputs are read out depends on the transmission type of TPDO3 which can be set in OD index 1802h subindex 2 of the MDT DCS module The options for the transmission type are the same as described for the read out of the T sensors in section 5 2 Optionally a reset and calibration sequence can be done before each ADC channel scan This feature can be enabled via OD index 2301h useful perhaps for incre
77. ow low time is much longer due to software overhead for instance shifting out 32 bits and reading 32 return bits at the same time in total roughly takes about 400 us for OD index 4860h equal to 0 and about 500 us for OD index 4860h equal to 3 OD index 4860h TCK high setting us 0 1 5 1 2 0 2 2 5 3 3 0 Table 11 JTAG TCK cycle period options 36 MDT DCS CANopen module v2 7 19 Aug 2011 6 2 1 6 Additional JTAG Functionality By writing number n to OD index 4850h n cycles of TCK are generated with the TAP state remaining unchanged This is only possible with the TAP in one of the states Test Logic Reset Run Test Idle Shift IR Shift DR Pause IR or Pause DR If required the TAPs can be set to the required state as described in section 6 2 1 4 The TAP state after string uploads and JTAG actions is Run Test Idle Reading OD index 4850h provides the number of cycles still to be generated Cycles are generated in bursts of 32 in between MDT DCS performs other tasks Any write access to a JTAG object aborts an ongoing TCK cycle sequence By reading OD index 4870h the number of TAPs in the JTAG chain are counted This is achieved by loading the BYPASS instruction in all instruction registers This feature may be useful for testing JTAG chain integrity 6 2 2 Digital I O The MDT DCS module has a total of 7 Digital I Os numbered from 1 to 7 of which number 1 to 4 are to be found on the JTAG co
78. ow max 8192 bits W shift in N bits R read the N bits that were shifted out in the previous write W operation 480B Shift DR Domain RW Segmented SDO only Data Register First 2 data bytes must contain number of bits in JTAG string to follow max 8192 bits W shift in N bits R read the N bits that were shifted out in the previous write W operation 480C Shift IR Domain RO Segmented SDO only Instruction Register Read only copy of Obj 480Ah 480D Shift DR Domain RO Segmented SDO only Data Register Read only copy of Obj 480Bh 4830 JTAG TAP state U8 RW 8 read or set JTAG TAP state see text for definitions of states 4831 JTAG TAP state U8 RW 8 see text for definitions of states after a Shift IR operation 4832 JTAG TAP state U8 RW 8 see text for definitions of states after a Shift DR operation 4840 JTAG TAP reset U8 WO Trigger JTAG TAP reset se quence then go to TAP state Run Test Idle 4850 Generate JTAG TCK cycles U32 RW Write value n n TCK cycles are generated without changing state only possible while in certain JTAG TAP states see text Read returns the remaining num ber of clock ticks to generate 4860 JTAG TCK signal high U8 RW 0 0 lt value lt 3 i period width 1 5 value 0 5 us 4870 TAP count U8 RO For test purposes triggers a procedure to count the number of TAPs BYPASS in struction is shifted into each TAP and returns the number found maxim
79. r 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 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 11 Built In Board Test A connectivity test function for the I O lines has been implemented in the MDT DCS appli cation firmware specifically for offline board test and acceptance test after production pur poses so that a full pin connection test can be done in combination with some custom exter nal hardware i e an array of resistors for the NTC connections some cables plus an intercon nection board for all the other connectors in addition an auxiliary modified MDT DCS module is used for measuring voltages and currents of the module under test See the pictures in Figure 7 below ATmegal28 MCUCSR register bits 01h Power On Reset 02h External Reset 04h Brown Out Reset 08h Watchdog Reset 10h JTAG Reset 80h JTAG Interface Disable 2 66 This Emergency message is generated by the Bootloader program MDT DCS CANopen module v2 7 19 Aug 2011 The I O test is integrated in the standard MDT DCS application firmware making it possi ble to do board acceptance testing without having to upload special software i e the MDT
80. r port Byte 0 PORTA Byte 1 PORTC Byte 2 PORTE Byte 3 PORTF The returned value is zero if no errors occurred A bit that is set means the corresponding I O line of the corresponding PORT has at least once been read incorrectly during the test sequence described above The total test time of this digital I O test is in the order of 300 ms using a signal settling time of 1 ms 67 MDT DCS CANopen module v2 7 19 Aug 2011 power supply MDT DCS Module Under Test module for analog measure ments of the Module Under Test inter connection CAN board bus ax Eapcstest ELMB NodelD 24 syn 0664 Fimw MD23 0003 Read New NodelD 24 Configure T sensors rum m a a e e A e A e e 0 A E E Ha AAAA JTAG SPI AUX CSM ADC 20 19 20 19 20 19 m B sensor 0 1 oe 10 B sensor 1 2 1 2 1 2 1 1 10 Power CAN Module 5V Legend I Skip T sensor Test O Untested Voltage DH El E okay I Skip Digital 1 0 Test A cce t Curent EE ERROR I Skip Voltages Test p CI Excluded Diagnostic Messages 12 54 54 Voltage input 21 896238 mu hi 915200 lo 844800 12 54 55 Voltage input 22 905317 mul hi 915200 lo 844800 12 54 55 Voltage input 23 195086 muy hi 0 lo 0 12 54 55 Voltage input 24 59815 muY hi 0 lo 0 12 54 55 Voltage input 25 59586 mul hi 0 lo 0 12 54 55 Error Summary T Y DIG B1 0 0 0 0 12 54 55 Results fi
81. red JTAG actions two RPDOs have been defined Due to the limited number of CAN message buffers in the ELMB hardware the RPDO with COB ID 400h NodelD and COB ID 580h already used for data bit string upload are reused for this purpose An upload sequence of up to 7 JTAG actions may be triggered in this way with just one message See examples 5 and 6 in the next section Note that the MDT DCS module receives and sends PDO messages only when in CANopen state Operational 28 MDT DCS CANopen module v2 7 19 Aug 2011 6 2 1 2 JTAG action Storage NOTE the JTAG action storage features are supported starting from MDT DCS firmware version 2 3 Versions 2 1 and 2 2 support all JTAG features except JTAG actions Versions 1 x do not have any support for JTAG operations Versions 2 4 and newer also support JTAG string transfer using the CANopen Segmented SDO protocol The MDT DCS module has storage space for a total of 13 JTAG actions each with up to 128 instruction bits ten of them with up to 512 data bits and three of them with up to 6272 data bits A 16 bit CRC is stored with each bit string and checked before every upload into the JTAG chain Measurements have shown that the MDT DCS module can shift stored strings into the JTAG chain at a rate of about 1000 bits per 25 ms or 40 kbits s A host system sends bit strings for storage in MDT DCS module memory in basically the same way as it sends bit strings using upload method 1 it onl
82. reset minimum value the delta This delta value is one of the ADC s configuration pa rameters and can be set to any value There is one delta that applies to all T sensor channels To enable this feature for the T sensors e set the TPDO2 event timer Object 1801h sub 5 to a value gt 0 this will be the pe riod in seconds between two consecutive T sensor channel scans e set the T sensor ADC delta value Object 2100h sub 22 to a value gt 0 e set the MDT DCS module to Operational 19 MDT DCS CANopen module v2 7 19 Aug 2011 The first scan cycle does not produce any output but the T sensors are read out and the readings are used as reference values to detect a delta change in any of the values in subse quent channel scans As soon as this occurs the value is sent and taken as the new reference for the channel that changed At any time a host system may request a read out of all T sensors by sending a SYNC or RTR message to the MDT DCS module it does not influence the scan for change feature although an ongoing T sensor channel scan is aborted current T sensor reference values are not changed by this action A next channel scan is automatically started when the timer ex pires again If the TPDO2 event timer is set to a value gt 0 but delta is set to 0 the normal procedure of read out takes place every n seconds all T sensors are read out and their values sent in mes sages as described in section 5 2 1
83. ry T sensor Two A D conversions have to be done for every T sensor so it can take up to about 30 seconds before all TPDO2s have been sent depending on how the ADC has been configured the ADC conversion rate can be as low as 1 88 Hz The SYNC message is a CAN message with a fixed COB ID and no data bytes Host all SYNC slave nodes COB ID 080h Note that all nodes that have PDOs configured to respond to a SYNC message will re spond to the SYNC which is a broadcast message PDO transmission type 255 after every so called Remote Transmission Request RTR for TPDO2 the MDT DCS module starts an analog input channel scan and sends up to 32 TPDO2 messages one message per T sensor The Remote Frame CAN message that constitutes this RTR has no data bytes and looks like this Host MDT DCS module COB ID 280h NodeID Note that an RTR is sent to and received processed by only one particular node Event Timer gt 0 If TPDO2 s event timer OD index 1801h sub 5 is set to a value unequal to zero event timer is expressed in units of 1 s and must be lt 255 the MDT DCS module automati cally starts an analog input channel scan resulting in up to 32 TPDO2 messages one message per T sensor periodically triggered by a timer in this mode an RTR or SYNC message also triggers an input scan depending on the transmission mode as shown above Also see section 5 2 4 17 MDT DCS CANopen module v2
84. s U32 RW 1 Read 1 Write load invalidate all parameters stored 2 Restore communication U32 RW 1 Read 1 Write load invali parameters date stored PDO par s etc 3 Restore application par s U32 RW 1 Read 1 Write load invali date stored ADCs config etc 1017 Producer Heartbeat Time Ul6 RW 0 In units of seconds but lt 255 x 1 s NB actually should be in ms ac cording to CANopen 0 gt Heartbeat is disabled 1 Manufacturer Status Register byte0 NTC ADC byte B0 B1 ADC byte2 B2 B3 ADC byte3 CSM ADC Status byte nibble 01 ADC reset error 02 ADC calibration error 04 ADC conversion time out FF ADC absent not used 44 MDT DCS CANopen module v2 7 19 Aug 2011 Communication Profile Area MDT DCS continued Index Sub Description Data Attr Default Comment hex Index Object 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 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 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 Ac
85. s to these messages If required the host may inspect OD index 4805h to make sure all bits have been received Non significant bits in the last message must be set to zero 3 Sending a JTAG data bit string and loading it into all CSMs connected to the CAN bus using PDO messages The bit string from example 1 and 2 is written to all MDT DCS modules Source PDO COB ID Byte Bytel Byte2 Byte3 Byte4 Byte5 Byteo Byte7 host 580h 00h 10h 32h 54h 76h 98h BAh DCh host 580h OCh FEh 0Ah There are no replies to these messages If required the host may inspect OD index 4805h on each MDT DCS module to make sure all bits have been received on each module See also example 5 where PDO 580h is used for its other purpose triggering a JTAG action execution Non significant bits in the last message must be set to zero An error in the PDO syntax example 2 and 3 would result in the MDT DCS module send ing the following Emergency message see section 10 with XX TAP state YY number of bits in shift ZZ 1 final shift or 0 not final shift Source Emergency COB ID Byte 0 1 Byte 2 Byte 3 7 MDT 080h NodeID Emergency Error Register Manufacturer specific Error Code Object 1001h error field 00h 81h 71h XX YY ZZ 00h 4 Loading JTAG instruction and data bit strings from JTAG action 2 storage to one CSM i e executing JTAG act
86. sed as input or output is set by OD index 6208h subindex 1 In the default setting only Digi tal Out 1 2 3 and 4 are available Digital outputs can of course also be set using SDO messages by writing to OD index 6200h all digital outputs in one 8 bit parameter or to OD index 6220h digital outputs individually At power up a digital output is initialized to either low or high which can be configured for each bit individually in OD index 2F00h 38 MDT DCS CANopen module v2 7 19 Aug 2011 7 Configuration Storage 7 1 Storing Parameters and Settings Parameters and settings can be stored permanently onboard in non volatile memory EEPROM by writing string save to OD index 1010h The SDO mechanism is used to ac complish this shown here Host MDT DCS module NodelD s a Cv 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 CAN PDOs and Node and Life Guarding 3 store application parameters concerning ADCs Digital I O and JTAG 4 see next section If the store operation succeeded the MDT DCS module sends the following reply MDT DCS module Host 580h 0x60 0x10 0x10 subindex NodeID If the store operation did not succeed the MDT DCS module sends the following reply SDO Abort Domain Transfer error reason hardware
87. should be 255 for MuxPDO but this is not a CANopen MPDO 1 NTC number U32 RO 40000008h actually not allowed but 2 24 bit analogue input stat U32 RO 40000x18h OD index 4000 sub index x Analogue inputs multiplexed size 24 bits 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 CSM ADC channel no U32 RO 41000008h actually not allowed but 2 24 bit analogue input stat U32 RO 41000x18h OD index 4100 sub index x Analogue inputs multiplexed size 24 bits 1403 4 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 B sensor ADC channel U32 RO 42000008h actually not allowed but number 2 24 bit analogue input U32 RO 420x0x20h OD index 4200 4201 subindex x Analogue inputs multiplexed size 32 bits 48 MDT DCS CANopen module v2 7 19 Aug 2011 Manufacturer specific Profile Area MDT DCS Index Sub Description Data Attr Default Comment hex Index Object 2100 ADC configuration NTC Record CRYSTAL CS5523 16 bit ADC 0 Number of entries U8 RO 22 1 Number of input channels U8 RW 60 64 maximum can be set to ac tual number of channels used 2 channels per NTC last
88. t Life Guarding time out 8130 CAN controller has been reinitialized RPDO too few bytes 8210 Byte 3 minimum DLC Data Length Code NTC ADC CSM ADC 5000 Byte 3 01h NTC 61h CSM conversion timeout Byte 4 ADC channel number 0 63 Byte 5 1 during mux latch set operation otherwise 0 NTC ADC CSM ADC 5000 Byte 3 02h NTC 62h CSM reset failed Byte 4 00h Byte 5 Error id NTC ADC CSM ADC 5000 Byte 3 03h NTC 63h CSM offset calibration failed Byte 4 00h NTC ADC CSM ADC 5000 Byte 3 04h NTC 64h CSM gain calibration failed Byte 4 00h NTC ADC CSM ADC 5000 Byte 3 05h NTC 65h CSM problem s during initialisa Byte 4 ADC status see OD index 1002h tion Slave processor not respond 5000 Byte 3 20h table continues on the 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 08 error in Gain Register value 01 Reset Valid bit not set 02 Reset Valid bit not reset 04 error in Offset Register value 64 MDT DCS CANopen module v2 7 19 Aug 2011 Emergenc E Error ERR H Manufacturer specific Error Field ipti byte 3 7 Description ere byte 3 7 CRC error 5
89. ted by Emer gency messages as shown in example 4 6 Loading JTAG instruction and data bit strings from JTAG action 2 storage fol lowed by JTAG action 8 and 6 to all CSMs connected to the CAN bus using a PDO message s The host sends the following message Source host PDO COB ID 580h Byte 0 FEh Byte 1 02h Byte 2 08h Byte 3 06h The same options for getting a PDO reply from the MDT DCS modules and controlling the JTAG actions sequence as described in the previous example are valid here but take into account that now each MDT DCS module on the CAN bus may send a reply 7 Writing replacing a JTAG data bit string in JTAG action 2 storage using SDO mes sages The bit string from example 1 is written Source SDO Byte4 Byte5 Byte6 Byte7 host Write OD 4926h 0 00h host Write OD 4923h 0 10h 32h 54h 76h host Write OD 4923h 0 98h BAh DCh FEh host Write OD 4924h 4 0Ah 00h 00h 00h Note that basically the only difference with the direct JTAG bit string upload in example 1 is a write access to OD index 4926 to make sure the next bit string write operation starts at the first bit of storage The first write to storage immediately invalidates any previously stored bit string Non significant bits in the last message must be set to zero It is the responsibility of the host to make sure instruction and data bit string form a valid
90. the bit string contains 68 bits and can be written as a number hexadecimal as AFEDCBA9876543210 with the least significant bit of this number to be shifted out into the JTAG chain first Note that each host SDO message results in an SDO reply from the MDT DCS module not shown in the table below and also note that here the data is re ceived by one and only one MDT DCS module or CSM according to the NodelD set in the SDO CAN message sent by the host The following sequence of messages performs the upload operation messages in rows 29 MDT DCS CANopen module v2 7 19 Aug 2011 Source SDO Byte 4 Byte5 Byte6 Byte7 host Write OD 4803h 0 10h 32h 54h 76h host Write OD 4803h 0 98h BAh DCh FEh host Write OD 4804h 4 OAh 00h 00h 00h Note that the final SDO message writes to Object 4804h sub 4 in order to shift exactly 4 bits being the final bits of the uploaded bit string Non significant bits in the last message must be zero If the host wants to check the JTAG return bits it has to request the MDT DCS module to send the return bits after each bit string chunk written Source SDO Byte 4 Byte 5 Byte 6 Byte 7 host Write OD 4803h 0 10h 32h 54h 76h MDT Read OD 4803h 0 XXh XXh XXh XXh host Write OD 4803h 0 98h BAh DCh FEh MDT Read OD 4803h 0 XXh XXh XXh XXh host Write OD 4804h 4 OAh 00h 00h 00h MDT Read OD 4804h 4 0Xh 00h 00h 00h Note the
91. transmission types 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 4 Not used U8 RO 0 E 5 Event timer 1 s Ul6 RW 0 In units of secs must be lt 255 active for all transmission types 1803 4 Transmit PDO par s Record Data type PDOCommPar 0 Number of entries U8 RO gt 1 COB ID used by PDO U32 RO 480h 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 Ul6 RW 0 In units of secs must be lt 255 active for all transmission types 47 MDT DCS CANopen module v2 7 19 Aug 2011 Communication Profile Area MDT DCS continued Index Sub Description Data Attr Default Comment hex Index Object 1400 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 JTAG status return bits U32 RO 49F00320h OD index 49FO0 sub index 3 error size 32 bits 1401 2 Transmit PDO mapping Record Data type PDOMapping 0 Number of entries U8 RO 2
92. ture Sensors 10 to 20 per chamber 30 max Magnetic Field Sensors 8 8 B and T ca 600 chambers with up to four B sensor modules ca 1200 chambers n total Figure 1 Block diagram of the MDT DCS module with ELMB its connections to the MDT front end electronics and the external sensors for temperature and B field mounted on an MDT chamber Although originally intended to sup port two Magnetic Field Sensor modules this number may be increased to four per MDT DCS module using special cables see section 5 3 MDT DCS CANopen module v2 7 19 Aug 2011 2 Hardware 2 1 Connectors and Interfaces Figure 2 shows the front panel of the MDT DCS module with its external interfaces There are 2 types of MDT DCS modules a Barrel type and an Endcap type which visibly only differ by their labels as shown in Figure 2 The Endcap type is equipped for voltage based T sensors such as PT1000 and the Barrel type for resistance type T sensors NTC the firm ware has been preconfigured accordingly connectors for JTAG interface CAN NTC temperature for CSM configuration connec sensors 4x Digital I O tors CAN Node Identifier EUA E A a pe e MDTDCS EE 5 T sensor MDT DCS CSM ADC f module o Serial Number eco o O o loo AMSTERDAM N gar B sensor 1 B sensor 0 SNA B440 y 38403 04 gt A NTC 29 B sensor B sensor connector pin 1 connectors Label with ATLAS number barcode
93. ue on the CAN bus the board is connected to using 6 of the 8 switches and a CAN bus baud rate of 50 125 250 or 500 kbit s using the 2 remaining switches See Figure 4 below for details A label on the front panel shows the node identifier of the MDT DCS mod ule Default the baud rate is set to 125 kbit s we 50 kbit s ML Be e MS pa A a Mig 250 kbit s O CAN oe da CJ 500 kbit s Programmer RS232 adapter connector Node ID up 0 down 1 shown here 17 Bits 543210 Sy t Figure 4 Location and function of ELMB DIP switches and jumpers Note that starting with MDT DCS firmware version 2 3 it is possible to configure the node identifier remotely i e using standard CANopen messages see objects 3300h and 3301h in the MDT DCS Object Dictionary for more details Once the Node ID has been changed through CAN the DIP switch setting for the Node ID is ignored and the Node ID is read from a fixed location in the ELMB s EEPROM The baud rate setting is not affected NB this feature should only be used if the ELMB s Bootloader firmware is version 1 3 or later 11 MDT DCS CANopen module v2 7 19 Aug 2011 3 Initialisation When the MDT DCS ELMB firmware initialises all hardware devices are reset and config ured CAN controller ADC for the NTCs ADC on the CSM the ADCs on the B sensor modules JTAG interface etc and error counters and registers are reset Digital outputs are initialised on the
94. ue triggers a reset B sensor 0 and calibration sequence on B sensor 0 with its current ADC settings 2601 ADC reset and calibrate U8 WO B sensor 1 2602 ADC reset and calibrate U8 WO B sensor 2 2603 ADC reset and calibrate U8 WO B sensor 3 2700 ADC reset and calibrate Bool RW 0 If 1 a reset calibration sequence x before each channel scan is performed before every B all B sensors sensor ADC input channel scan 2800 B sensor presence mask U8 RW 0 Must be lt 15 if a bit 1 the x corresponding B sensor module must be installed 2900 B sensor 0 identification Record DS2401 Identification chip unique 8 byte serial number 0 Number of entries U8 RO 2 1 First 4 bytes U32 RO 2 Second 4 bytes U32 RO 2901 B sensor 1 identification Record DS2401 Identification chip unique 8 byte serial number 2902 B sensor 2 identification Record DS2401 Identification chip unique 8 byte serial number 2903 B sensor 3 identification Record DS2401 Identification chip unique 8 byte serial number 52 MDT DCS CANopen module v2 7 19 Aug 2011 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
95. um number of TAPs 31 58 MDT DCS CANopen module v2 7 19 Aug 2011 Manufacturer specific Profile Area MDT DCS continued Index Sub Description Data Attr Default Comment hex Index Object 4910 JTAG action 1 U32 RW W write 32 bits to storage JTAG Instruction String increment string index by 32 storage lt 128 bits total R read lt 32 bits from storage 4911 Storage 1 completion Record lt 32 IR bits JTAG Instruction String 0 Number of entries U8 RO 32 1 Final IR bits 1 bit U32 RW R reset string index for reading W write bit store string length and CRC reset string index for writing 2 Final IR bits 2 bits U32 RW idem but write 2 bits u r As si etc 32 Final IR bits 32 bits U32 RW idem but write 32 bits 4912 String length U32 RO 0 Length of stored string number of bits 4913 JTAG action 1 U32 RW W write 32 bits to storage JTAG Data String storage increment string index by 32 lt 6272 bits total R read lt 32 bits from storage 4914 Storage 1 completion Record lt 32 DR bits JTAG Data String 0 Number of entries U8 RO 32 1 Final DR bits 1 bit U32 RW R reset string index for reading W write up to 32 bits the num ber of bits to write is in sub index 0 store string length and CRC reset string index for writing 2 Final DR bits 2 bits U32 RW
96. unipolar range the conversion from raw ADC counts Azn and A2p 1 to resistance value Rnrc of T sensor n is done by Ryrc Uy Uy 104 104 2 5 Azn OXFFFF 2 5 Aons1 OXFFFF 104A on Azn 1 To calculate temperature T in C in the range from 0 to 100 C of the NTC from NTC re sistance value Ryrc in 2 the following approximation equation see Appendix B is used T 1 0 a b In r e In r Y d In r Y 273 15 with r Ryrc 5000 and a 3 3540154E 03 b 2 5627725E 04 c 2 0829210E 06 d 7 3003206E 08 when 3 274 gt r gt 0 36036 i e when 0 C lt T lt 50 C or a 3 3539264E 03 b 2 5609446E 04 c 1 9621987E 06 d 4 6045930E 08 when 0 36036 gt r gt 0 06831 i e when 50 C lt T lt 100 C The conversion functions above are applied by the MDT DCS firmware to the ADC read ings when temperature read out is set to millidegrees centigrade which is the default 18 MDT DCS CANopen module v2 7 19 Aug 2011 5 2 3 ADC Raw Data Starting with MDT DCS firmware version 2 2 it is possible to configure the TPDO2 con taining the T sensor ADC data as described in the previous section such that each PDO mes sage contains an individual analog input conversion value in ADC counts i e the PDO mes sage contains an object from OD index 6404h Note this mode is the default mode of read out of the socalled EndCap type of MDT DCS modules where the NTCs have been replaced by volt
97. up Register 4 U32 RW LC 7 12 bits in lower 2 bytes LC 8 12 bits in upper 2 bytes s 22 SPI SCLK signal high U8 RW 10 in us 10 lt value lt 255 period opto coupler delay 23 ADC recovery active Bool RW 1 Reset calibrate procedure is at tempted after an ADC conver sion time out during a scan 24 ADC low level access U8 RW Read or write a byte from to ADC for test debugging purposes Subindex 2 7 22 and 23 are common to all B sensor modules If you change them for one you change them for all Writing to subindex 8 and 9 applies to all B sensor modules 2 000 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 3 000 100 mV 001 55 mV 010 25 mV 011 1 V 100 5 V 101 2 5 V 51 MDT DCS CANopen module v2 7 19 Aug 2011 Manufacturer specific Profile Area MDT DCS continued Index Sub Description Data Attr Default Comment hex Index Object 2501 B sensor 1 ADC config Record CRYSTAL CS5524 24 bit ADC 0 Number of entries U8 RO 24 1 Number of input channels U8 RO 7 2 Conversion Word Rate U8 RW 0 3 bit code see Object 2500h Hall etc as above 2502 B sensor 2 ADC config Record CRYSTAL CS5524 24 bit ADC 2503 B sensor 3 ADC config Record CRYSTAL CS5524 24 bit ADC 2600 ADC reset and calibrate U8 WO Writing any val
98. ux I O PCS SN 3 3V Aux I O PC4 e e ee 3 3V Aux 1 O PF6 e GND Aux I O PC6 GND Aux I O PC7 GND GND Table 3 Layout of the SPI AUX connector pins 5 general purpose Digital I Os suffi cient and suitable for implementing a serial interface like SPI PC or JTAG for instance to be implemented in the MDT DCS ELMB firmware In brackets the ELMB microcontroller pin name is shown MDT DCS CANopen module v2 7 19 Aug 2011 Table 4 Table 5 20 e o e o o e o e o o function pin pin function comment GND 20 19 GND GND 18 17 Digl 07 PF4 E r GND 16 15 Dig 06 PF3 12C Error A 33v 14 13 DiglO5 PF2 CSM Error 3 3V 12 11 MUX PE7 out for ADC i 3 3V 10 9 cs PC3 out for ADC e 33v 8 SDO PEG in for ADC GND 6 5 SDI PES out for ADC gt GND 4 3 scik PE4 out for ADC GND 2 1 GND Layout of the CSM ADC connector pins SPI serial interface SCLK SDI and SDO with Chip Select CS and ADC multiplexer latch signal MUX go to the ADC on the CSM which has a copy of the ELMB s on board ADC cir cuitry In addition there are 3 general purpose Digital I Os In brackets the ELMB microcontroller pin name is shown in italics the CSM s description for the signal function function pin pin function 1 not connected CAN GN
99. y takes much more time for each chunk of 32 bits to be stored onboard permanently ca 30 ms than to be shifted into the JTAG chain ca 0 4 ms in other words to store a string of 6272 bits may take up to 8 s Note that writing bit strings to storage can only be done with SDO messages both Expedited or Segmented Transfer not with PDOs A series of objects in the MDT DCS Object Diction ary for each of the 13 JTAG action storage spaces OD indices 491Xh to 49DXh provide access to the storage spaces and operations on the bit strings as well as the parameters for a return bits check See examples 7 and 8 in the next section 6 2 1 3 Examples of MDT DCS JTAG Operations Examples of JTAG operations and the CANopen messages required are shown in the tables below In case of SDO messages they only show the messages that carry the data read from or writ ten to the Object Dictionary So the message with data is either generated by the host the SDO client or by the MDT DCS module the SDO server but in all cases an SDO message exchange is always initiated by the host being the client either writing to or reading from the Object Dictionary of the MDT DCS module being the server of the request For receiving and sending PDO messages the MDT DCS module must be in state Opera tional PDO messages are not confirmed by a reply by the receiver s 1 Sending a JTAG data bit string and loading it into one CSM using SDO messages Assume

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