Contents
Contents
1. Transmit Buffer The Transmit Buffer stores a message from the microcontroller to be transmiued by the PCX82C200 It is subdivided into the Descriptor and Data Field The Transmit Buffer can be wrinen to and read from by the microcontroller Receive Buffer The layout of the Receive Buffer and the individual bytes correspond to the definitions given for the Transmit Buffer layout except that the addresses start at 20 instead of 10 Appendix A Register structure 35 36 PCL 841 Series User s Manual2. canSendMsg PORT1 smsgl Send to CANI if canReceiveMsg PORT2 amp rmsg2 1 cprintf PORT2 receive ID 3X RTR 1d Length ld rmsg2 id rmsg2 rtr rmsg2 dlen for i 0 i lt rmsg2 dlen i cprintf 2X rmsg2 data il printf Xna j if kbLit getch break Reset CAN controller canReset PORT1 canReset PORT2 canExitHW clrscr 20 PCL 841 Series User s Manual CHAPTER 4 DataMonitor Utility Software overview The PCL 841 comes with a utility disk with the following software capabilities CAN controller configuration CAN transmission monitoring Terminal emulation Menu 22 Run DataMonitor at the DOS prompt DataMonitor s main menu screen will appear as shown below onitor erm 1 Mode NORMAL State 196001188 Accept code ABBABBBA Accept mask 11111111 Out control PORT2 Mode NORMAL State ggadii88 Accept code BABBBBBB Accept nask 11111111 g3 Out control i1111018 The main screen consists of A B Menu bar Lists the available functions From the main menu you can select Configuration Monitoring and Terminal Monitor screen Shows monitored data including message index CAN device ID data length and data Status fields Display the status of the two ports and the stanus register of the CAN controllers On line help message bar Shows various key commands and states the function of the currently hi
3. 5 6 7 9 10 11 12 15 LED indicates Transmit Receive status on each port Direct memory mapping enables speedy access to the CAN controllers C library and examples included Specifications Ports 2 CAN controller SJA 1000 CAN transceiver 82C250 Signal support CAN L CAN H Memory address From C800H to EFOOH IRQ 3 4 5 6 7 9 10 11 12 15 Isolation voltage 1000 V Power consumption 5 V 400 mA typical 950 mA max Connectors Dual DB 9 male connectors Operating temperature 32 to 1 22 F 0to 50 C Dimensions 7 25 x 4 13 18 4 x 10 5 cm Shipping weight 0 9 Ib 0 4 kg Chapter 1 General Information 3 4 PCL 841 Series User s Manual CHAPTER Hardware Installation Initial inspection You should find the following items inside the shipping package in addition to this manual PCL 841 Dual port CAN Interface Card e C Driver and DataMonitor Utility Diskette We have carefully inspected the PCL 841 mechanically and electri cally before shipping It should be free of marks and scratches and in perfect working order upon receipt As you unpack the PCL 841 check it for signs of shipping damage damaged box scratches dents etc If it is damaged or it fails to meet specifications notify our service department or your local representative immediately Also notify the carrier Retain the ship ping carton and packing material for inspection by the carrier After inspection we will
4. Control Register and Status Register The normal value of the Status Register is 00001100 i Receive Buffer Status Data Overrun Status Transmit Buffer Access Transmission Complete Status Receive Status Transmit Status Error Status Bus Status The registers can only be read if the CAN controller is in Normal mode If the CAN controller operates correctly and the transmission has been completed successfully the status register will show as the normal value 00001100 If the Error Status and or the Bus Status is 1 you have selected the wrong baud rate or the CAN cable is damaged Also check the correct bus terminator Chapter 4 DataMonitor Utility 25 26 Terminal This function provides a direct way to 1 Send data over the CAN network 2 Test CAN transmission Select lt Terminal gt from the menu bar for the following screen PORTI Made N RMAL h CRIGIT pass cursor furmat is hex value ga ormand TAB Tort LEP Transmitting data To transmit data the PCL 84 I must be connected to a CAN network with at least one node and the configuration for the card must be complete First select Terminal to edit the data Enter the port the object ID and the data bytes as hexadecimal value Press Enter to begin data transmission If the CAN controller is configured correctly and the transmission has been successfully completed every CAN object will be shown in
5. make arrangements to repair or replace the unit When you handle the PCL 841 remove it from its protective packag ing by grasping the rear metal panel Keep the anti vibration packing Whenever you remove the card from the PC store it in this package for protection Warning Modern electronic devices are very sensitive to damage from static electricity Ground yourself before you touch the card We recommend that you use a grounded wrist strap and place the card on a static dissipative mat wheneveryou work with it At the very least touch the back of the grounded chassis of the system unit metal before you handle the board Avoid contact with materials that hold a static charge such as styrofoam Do not touch the exposed circuit connectors B PCL 841 Series User s Manual Jumper and switch locations Port 1 Termination Resistor Port 2 Termination Resistor 3 EA e cecon JP10 a a lt o 2 2 E lt o z D o o z lt o a o 2 x gt u tc x eo M JP1 JP2 Ports 1 and 2 Memory Port 1 IRQ Select 2 IRQ Select Base Address Chapter 2 Hardware Installation 7 Card configuration The PCL 841 has two ports each with one jumper The jumpers set the IRQ for the ports which can be configured separately A DIP switch sets the memory base address for each port The following chart shows the function of the ju
6. on off EFOOH off off off off on off PCL 841 Series User s Manual Memory area Once the memory segment for the base address is selected the offset will be automatically assigned for Port 1 Port 2 and hardware reset The following table shows the base addresses of the CAN controllers Base address hex CAN controller base 0000h base 00FFh Basic Port 1 base 0100h base 01FFh HW reset Basic Port 1 base 0200h base 02FFh Basic Port 2 base 0300h base 03FFh HW reset Basic Port 2 base 0400h base OFFFh Not used Chapter 2 Hardware Installation 11 12 PCL 841 Series User s Manual CHAPTER Software Programming Library functions 14 Quick reference table The following table lists the available functions and their correspond ing syntax and descriptions Liorary functions Function Syntax in C Description 1 caninitHW Sets IROs 2 canExitHW Releases settings 3 canReset Resets CAN port 4 canConfig Controls CAN port settings 5 canNormalR n Sets mode 6 canSendMsg Sends message 7 canReceiveMsg Reads data Complete function description Function 1 Sets an IRQ number for Port I and Port 2 gt Command canluitHW Ul segment BYTE IRQI BYTE IRQ2 gt Argument UlIsegment BYTE IRQI BYTE IRQ2 segment c000 df00 step 0x 100 IRQI Port I IRQ number 0 polling 3 4 5 6 7 8 9 10 1 1 12 14 15 IRQ2 Port
7. order of appearance at the left side of the screen Testing data transmission To test CAN transmission without actually sending connect Port I to Port 2 on the PCL 841 Select Terminal and enter port I as trans mitting port Port 2 will therefore be designated as receiving port Note To send Data Frame Transmit enter for RTR If you want to send Remote Frame Request enter 1 for RTR PCL 841 Series User s Manual L HdldVHO iring Pin assignments The following figure shows the pin assignments for the card s DB 9 connectors CAN L GND CAN H B N Oo 00 10 CAN Termination resistor setup Terminal resistors are factory installed to allow for impedence matching These resistors can be enabled by utilizing jumpers number 9 and 10 shown below Jumper 9 enables the terminal resistor for port one while jumper number 10 enables the terminal resistor for port two The value of the resistor should equal the characteristic impedance of the signal wires approximately 120 Q The following figure shows resistor placements 12011 ll JP10 TR2 FI CAN termination resistor installation 28 PCL 841 Series User s Manual CAN signal wiring The CAN standard supports half duplex communication This means that just two wires are used to transmit and receive data D T E CAN Transceiver CAN Hj Pur v l mama DOCKA CAN L Wiring
8. 2 IRQ number 0 polling 3 4 5 6 7 8 9 10 11 12 14 15 0 polling gt Response l successful O fail PCL 841 Series User s Manual gt Example include can841 h main Ul gSegment OxDAO0 BXTECANI IRQ CAN2IRQ CANI IRQ 12 CAN2_IRQ 15 if canluit HW gSegment CANI IRQ CAN2_IRQ 0 printf HARDWARE INITIALIZATION ERROR n Function 2 Releases all seuings of the CAN card gt Command canExitHW gt Argument None gt Response l successful O fail gt Example include can84 1 h main if canExit HWO 0 printf RELEASE FAIL n Function 3 Resets CAN port and flushes the TX RX buffers gt Command int canReset BYTE port gt Argument BYTE port port port number 0 or 1 gt Response l successful O fail Chapter 3 Software Programming 15 16 gt Example include can84 1 h main if canReset 0 0 printf RESET PORT I FAIL n Function 4 Controls the setting of the CAN port s acceptance code acceptance mask and bus timing register gt Command canConfig BYTEport CAN STRUCTcan gt Argument BYTE port CAN STRUCT can port port number 0 or 1 can CAN struct pointer gt Response l successful O fail gt Example include canB4 1 h main CAN STRUCT canl can2 can 1 acc code 0 can 1 acc mask 0xff can 1 bt0 0 can 1 bt I 0x 1 c if canConfig 0 canl 0 printf CAN PORT I CONFIGURE ERROR M Function 5 Se
9. Contents Chapter 1 Introduction ee Introduction eene a RE 2 ES 3 Specifications edere tet er See 3 Chapter 2 Hardware Installation eese ee ee ee eese eese e ee eee eee 9 Initial inspection p reru e 6 Jumper and switch locations et 7 Card configuration mens nn nanna nennen nee 8 Chapter 3 Software Programming ee 13 Library f nctions ttr eee Renee 14 Example program nnne epe peer RE 19 Chapter 4 DataMonitor Utility 2 Software overview s o svseososevicssrossisrssirnes reidsisedinreresaressr k rsenissrerererarser 22 fik fa eerte t Db d Ives 22 Chapter 5 Pin dssignments hoe nee ee eee ee e L 28 CAN signal wiring teret ge te ete 29 Appendix A Register structure ps OL CAN controller address allocation 32 Register address map seen sense 33 Register descriptions iere ie RO tures 34 Introduction CHAPTER mun Introduction The PCL 841 is a special purpose communication card that brings the Control Area Network to your PC With the built in CAN controller the PCL 841 provides bus arbitration and error detection with automatic transmission repeat function This drastically avoids data loss and ensures system reliability The on board CAN controllers arc located at different positions in the memory You c
10. DR 1 6 5 4 3 2 1 0 Control Segment Overrun Error Transmit Receive 1 0 oe Sync Reserved Interrupt Interrupt Interrupt Interrupt As 9 Enable Enable Enable Enable q Clear Release e Command Coto Abort Transmission 2 i 1 Reserved Reserved Reserved Overrun Receive hum Register Sleep Status Buffer Transmission Requset 4 _ Transmission Transmit A Stauts Bus Error Transmit Receive Receive 3 2 Complete Buffer Data Overrun Register Status Status Status Status Status ccess Buffer Status Interrupt Wake Up Overrun Error Transmit Receive Register 3 Reserved Reserved Reserved Interrupt Interrupt Interrupt Interrupt Interrupt Acceptance 5 Code 4 AC 7 AC 6 AC 5 AC 4 AC 3 AC 2 AC 1 0 Register Acceptance 6 Mask 5 AM 7 AM 6 AM 5 4 AM 3 AM 2 AM AM 0 Register Bus Timing 7 Register 6 SJW1 SJW0 BRP5 BRP4 BRP3 BRP2 BRP1 BRP0 Bus Timing 8 SAM TSEG2 2 TSEG2 1 TSEG2 0 TSEG1 3 TSEG1 2 TSEG1 1 TSEG1 0 Register 0 Output o Control 8 OCTP1 OCTN1 OCPOL1 OCTPO OCTNO OCPOLO OCMODE1 OCMODEO Register 10 cour 9 Reserved Reserved Internal RX Buffer pika Internal Register 0 CPU Bus Identifier 10 10 10 ID 9 ID 8 ID 7 ID 6 10 5 10 4 10 3 Data 1 Length Code 11 10 2 IDA 10 0 DLC 3 DLC 2 DLC 1 DLC 0 Bytes 1 8 12 19 Data Data D
11. an run both CAN controllers at the same time independently The PCL 84 1 operates at baud rates up to I Mbps and can be installed directly into thc cxpan sion slot of your PC Control Area Network Thc CAN Control Area Network is a serial bus systcm cspecially suitcd for networking intelligent 1 0 deviccs as well as sensors and actuators within a machine or plant Characterized by its multi mastcr protocol rcal time capability error correction high noise immunity and thc cxistencc of many different silicon components the CAN serial bus system originally developed by Bosch for use in automo biles is increasingly being used in industrial automation Direct memory mapping The PCL 84 1 is assigned with memory address which allows direct access to the CAN controller This is the simplest and fastest way of programming any board in a PC because the board is regarded as standard RAM Optical Isolation Protection On board optical isolators protect your PC and equipment against damage from ground ioops increasing system reliability in harsh environments 2 PCL 841 Series User s Manual Features Operates two separate CAN networks at the same time High speed transmission up to I Mbps 16 MHz CAN controller frequency Takes a 4 KB address space 40 base address adjustable in steps from C800H up to EFOOH Optical isolation protection of 1000 VDC ensures system reliability Wide IRQ selection for each port includes IRQ3 4
12. ata Data Data Data Data Data Identifier 20 ID 10 ID 9 ID 8 ID 7 10 6 ID 5 ID 4 10 3 RTR Data 12 Length Code 21 ID 2 ID 1 10 0 DLC 3 DLC 2 DLC 1 DLC 0 Bytes 1 8 22 29 Data Data Data Data Data Data Data Data Appendix A Register structure 33 Register descriptions 34 Control Register CR The Control Register is used to change the behavior of the PCX82C200 Control bits may be set or reset by the attatched micro controller which uses the Control Register as a read write memory Command Register CMR A command bit initiates an action within the transfer layer of the PCX82C200 If a read access is performed to this address the byte 11111111 binary is returned Status Register SR The Status Register reflects the status of the PCX82C200 bus control ler The Status Register appears to the microcontroller as a read only memory Interrupt Register IR The Interrupt Register allows identification of an interrupt source When one or more of this register s bits are set the INT pin is activat ed All bits are reset by the PCX82C200 after this register is read by the microcontroller This register appears to the microcontoller as a read only memory Acceptance Code Register ACR The Acceptance Code Register is part of the acceptance filter of the PCX82C200 This register can be accessed read write if the Reset Request bit is set HIGH present When a message which passes the a
13. cceptance test is received and if there is an empty Receive Buffer then the respective Descriptor and Data Field are sequentially stored in 1 this empty buffer In the case that there is no empty Receive Buffer the Data Overrun bit is set HIGH overrun PCL 841 Series User s Manual Acceptance Mask Register AMR The Acceptance Mask Register is part of the acceptance filter of the PCX82C200 This register can be accessed read write if the Reset Request bit is set HIGH present The Acceptance Mask Register classifies the corresponding bits of the acceptance code as relevant or don t care for acceptance filtering Bus Timing Register O BTRO The Bus Timing Register O defines the values of the Baud Rate Prescaler BRP and the Synchronization Jump Width SJW This register can be accessed read write if the Reset Request bit is set HIGH present Bus Timing Register 1 BTR1 The Bus Timing Register I defines the length of the bit period the location of the sample point and the number of samples to be taken at each sample point This register can be accessed read write if the Reset Request bit is set HIGH present Output Control Register OCR The Output Control Register allows under software control the setup of different driver configurations This register may be accessed read write if the Reset Request bit is set HIGH present Test Register TR The Test Register is used only for production testing
14. connections are as follows CAN wiring topology j D T E CAN Transceiver CAN H Sa ohms CAN L PCL 841 DTE male DB 9 Terminal DTE Pin Signal 7 CAN H 3 GND 2 CAN L Chapter 5 Wiring 29 30 PCL 841 Series User s Manual PPENDIX Register structure This appendix gives a brief description of the CAN controller regis ters For more detailed information please refer to the Stand alone C 4N eontmller Data Book from Philips Semiconductors Microcon troller Products You may also find the information on the enclosed disk under the Manual directory in the Word 6 0 file REGISTER DOC CAN controller address allocation 32 Philips PCX82C200 CAN controller ADDRESS CONTROL COMMAND STATUS INTERRUPT ACCEPTANCE CODE ACCEPTANCE MASK control segment BUS TIMING 0 BUS TIMING 1 OUTPUT CONTROL 10 IDENTIFIER m 11 RTR BIT DATA LENGTH CODE escriptor 12 BYTE 1 13 BYTE2 14 BYTES A l transmit buffer 15 JBVTEA _ 16 BYTES data field 17 BYTEG 18 BYTE 7 19 BYTES 20 IDENTIFIER 7 descriptor 21 RTR BIT DATA LENGTH CODE 22 BYTE I 23 BYTE2 24 BYTE 3 25 BYTE4 26 BYTES receive buffers data field 28 BYTE 7 29 BYTE 8 PCL 841 Series User s Manual Register address map TITLE AD
15. e following example program can84 I lib implements the sending and receiving of messages over the CAN controller The program is written in C include can841 h Library function declaration CAN controller interrupt connection define CANI IRQ 12 0 means polling define CAN2 IRQ 15 0 means polling define PORTI 0 define PORT2 1 define FAIL 0 define SUCCESS 1 void main void Declare the CAN card segment address UI gSegment OxDA00 CAN STRUCT canl can2 MSG STRUCT smsql smsg2 MSG STRUCT rmsql rmsg2 UI i if canInitHW gSegment CANI IRQ CAN2 IRQ FAIL elrserdji cprintf Hardware Initialization Error return Reset CAN controller canReset PORT1 canReset PORT2 canl acc code 0 canl acc mask Oxff x canl bt0 03 baud rate 1Mbps canl btl 0xlc if canConfig PORT1 1 FAIL clrscr cprintf n n CAN Port d Configuration Error 1 return Chapter 3 Software Programming 19 memcpy amp 2 amp canl sizeof CAN STRUCT if canConfig PORT2 can2 FAIL clrscr cprintf n n CAN Port d Configuration Error 2 return canNormalRun PORTl Put CAN1 into normal mode canNormalRun PORT2 Put CAN2 into normal mode clrscr smsgl id 0x015 Set ID 8 smsql rtr 1 Data lengths 8 smsgl dlen 8 for i 0 i smsql dlen i smsgl data i i while 1
16. e shows the DIP switch settings and the corresponding base addresses Memory address configUration SW1 Address DIPswitch 12 A13 14 15 16 17 C800H on on on off on on C900H off on on off on on CAOOH on off on off on on CBOOH off off on off on on CCOOH on on off off on on CDOOH off on off off on on CEOOH on off off off on on CFOOH off off off off on on Chapter 2 Hardware Installation 9 Mennory address configUration SW1 cont d Address DIP switch A12 14 15 A6 17 DOOOH on on on on off on D100H off on on on off on D200H on off on on off on D300H off off on on off on D400H on on off on off on DSOOH off on off on off on D600H on off off on off on D700H off off off on off on D800H on on on off off on D900H off on on off off on DAOOH on off on off off on DBOOH off off on off off on DCOOH on on off off off on DDOOH off on off off off on DEOOH on off off off off on DFOOH off off off off off on E000H on on on on on off E100H off on on on on off E200H on off on on on off E300H off off on on on off E400H on on off on on off ESOOH off on off on on off E600H on off off on on off E700H off off off on on off E800H on on on off on off E900H off on on off on off EAOOH on off on off on off EBOOH off off on off on off ECOOH on on off off on off EDOOH off on off off on off EEOOH on off off off
17. ghlighted item PCL 841 Series User s Manual Configuration Before you transmit a CAN object you must configure the CAN controller by selecting the lt Config gt menu with the cursor keys and pressing lt Enter gt The Configuration function determines the ports to be used and their communication parameters The port configuration window is shown below item select exit 1 PORT1 Mode MAL State 108501188 Accept code KAPPABAN 2 rd nask 11111111 BI Out control 11111818 Porta i PORT2 Mode NORMAL State 768881108 Accept code 44088800 Accent BT 11C i Out control 11111610 CENTER conf irn Set CAN card access address segmrent The parameters below need to be configured for each CAN controller Address segment Port Baud rate Acceptance code The base address address segment of the PCL j 841 is normally adjusted during the installation process The selection of the address segment needs to be the same as that of the hardware configuration Select the port you want to configure The baud rate must be coordinated with the CAN network Choose the appropriate one from the list of baud rates Specifies the value of the 8 most significant bits of the identifier ID 10 ID 3 Chapter 4 DataMonitor Utility 23 24 Acceptance mask Specifies the bit positions which are relevant for acceptance filtering Note The acceptance code and accepta
18. mper and the switch see the previous page for jumper and switch locations Switch and jumper functions CAN controllers JP1 Po rt 1 JP2 Port 2 Mennory base address SW1 Port Port 2 Default settings Port Iis set for COMI IRQ 12 Memory address DA00 0000 Port 2 is set for COM2 IRQ IS Memory address DA00 0200 If you need to change these settings see the following sections Otherwise you can simply install the card Note that you will need to disable your CPU card s on board COM ports if any or set them to alternate addresses IRQs 8 PCL 841 Series User s Manual Interrupt IRQ setup JP1 and JP2 Jumpers JPI and JP2 set the interrupts for Port I and Port 2 respec tively You can choose any IRQ from 3 to 15 except 8 13 and 14 When you choose IRQs make sure they are not used for other cards in the system The following figures show the card s default settings JP1 Port 1 IRQ Default JP2 Port 2 IRQ Default IRQ Ch l IRQ Ch 2 4 5 6 7 100 9 o0 10 o O 11 12 15 E O Memory base address SW1 The memory base address for the PCL 841 which requires 4 KB of address space is made up of the memory segment and its associated offset The address for the memory segment is set through SWI a six position DIP switch You can choose any base address from C800 to EFOO The following tabl
19. nce mask are configured through eight digits I digit per bit using O or 1 Value Definition 0 This bit position will accept only a relevantl message 1 This bit position will not screen messages Example Acc Code 2 11111111 AccMask 11111111 The shown acceptance filter will accept every received message Interrupt Sets the interrupt for each port Be sure that this setting matches the IRQ already selected for the PCL 841 which accepts values between IRQ3 to IRQI5 except 8 and 13 Running mode During the normal configuration and communica tion process select Normal Mode When the system fails you can hit Enter to reset the CAN controller Hit Enter again to return to Normal Mode to further execute your configura tion Monitor Select the port to be monitored from the Monitor pull down menu Press F3 to start and stop the monitoring process Monitor screen The monitored data for a selected port appears in the monitor screen see area B in the diagram under Main Menu section If the CAN controller is configured correctly and the transmission has been successfully completed every CAN object will be shown inorder of appearance PCL 841 Series User s Manual status Fields Status fields at the right of the screen display the status of the two ports PORTI Mode The status fields show information including the Mode Normal or Reset Acceptance Code Acceptance Mask BTRO BTRI Output
20. ts a CAN port to normal mode for normal operation gt Command canNormalRun BYTE port gt Argument BYTE port port port number 0 or 1 PCL 841 Series User s Manual gt Response l successful O fail gt Example Hinclude can84 1 h main if canNormalRun 0 0 printf CAN Port I can t change to Normal Mode Nn Function 6 Tells the CAN port to send a message gt Command canSendMsg BYTE port MSG STRUCT send msg Argument BYTE port MSG STRUCT send msg port port number O or 1 send msgz send buffer pointer gt Response l successful O fail gt Example include can84 1 h MSG_STRUCT smsg 1 Uli smsg 1 id 0x015 smsg l rtr 0 smsg l dlen 8 for i 0 i lt smsg l dlen i smsg l datafil i if canSendMsg 0 smsg 1 1 printf TRANSMISSION SUCCESSFUL n Chapter 3 Software Programming 17 Function 7 Read data from CAN port input buffer gt Command int canReceiveMsg BYTE port MSG STRUCT msg ptr gt Argument BYTEport MSG STRUCT msg ptr port port number O or 1 msg ptr input buffer pointer gt Response l message received message received gt Example include can841 h main MSG STRUCT rmsg2 if canReceiveMSG rmsg2 1 printf Port2 receive ID 3X RTR ld Length ld rmsg2 id rmsg2 rtr rmsg2 dlen for i 0 i lt rmsg2 dlen i cprintf 2X rmsg2 datalil 18 PCL 841 Series User s Manual Example program Th
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