User Manual No. 1
Contents
1. CAN receive queue overflow 0 CAN transmit queue overflow 1 CAN error passive detected 5 CAN bus error detected 7 Additionaly these errors are signaled by the LED ERR with different blinking codes ERR blink code Meaning CAN bus error bus off reserviert CAN error passive state reserviert reserviert reserviert CAN transmit queue full N O B 0OIO NJ oo CAN receive queue full With the F command the error marker is read and reset The LED ERR only shows the error with the highest error code The error marker shows all errors detected since startup or last reading of error marker Reading the error marker not only resets it but also switches the LED ERR off Consider that the red LED will not switch off if the error still is active e g CAN bus state error passive In this case you first have to cor rect the error reason often wrong baudrate on some CAN node before resetting the CANgi ne error situation with the F command Another special situation is a CAN bus error when executing the F command A CAN bus error situation in the internal CAN controller can only be reset by a complete re initialization ESS Embedded Systems Solutions GmbH Industriestrasse 15 D 76829 Landau CANgineNo1ManualEng_041222 a TOT embedded TTT systems solutions CANgine No 1 User Manual December 2003 FW 3 0 Page 7 of 16 of the CAN controller This is done i2. RUN switches off Format C CR Answer CR if command was executed BELL if CAN is inactive or the command line format is invalid CANgineNo1ManualEng_041222 ESS Embedded Systems Solutions GmbH Industriestrasse 15 D 76829 Landau CANgine No 1 User Manual g IMAN December 2003 FW 3 0 Page 8 of 16 33 7 aa a d a a M systems solutions 7 4 F Command Sends error information to th eserial link and resets error marker and the red error LED Format F CR Answer Fxx CR BELL if command line format is invalid F is a hexadecimal value with two digits 7 6 5 4 3 2 1 0 CAN Bus Off res CAN error res res res Transmit Receive passive queue overflw queue overflw 7 5 M Command Sets the 32 Bit acceptance tag register for filtering of receive frames This command is only valid if CAN is deactivated Format Mcccccccc CR Cccccccc acceptance tag register 8 hexadecimal digits Answer CR on successful execution BELL if CAN is active or command line format is invalid See chapter acceptance filtering for meaning of the parameter 7 6 m Command Sets the 32 Bit acceptance mask register for filtering of receive frames This command is only valid if CAN is deactivated Format mcccccccc CR ecccecce acceptance mask register 8 hexadecimal digits Answer CR on successful execution BELL if CAN is active or command line format is invalid See chapter a
3. 003 FW 3 0 TITTY TE Page 4 of 16 aa systems Wh solutions 1 Introduction Thank you for choosing a product of our CANgine product family The CANgine family is based on high performance 8 bit microcontrollers with integrated full CAN interface and flash memory With these products you are able to build extermely small but powerful CAN units CANgine No 1 is powered via the CAN connector The serial link speeks pure ASCII code Therefore CANgine No 1 can be used on nearly any device with a serial link to which you have access So the connection to CAN bus is possible for nearly all automation devices even for older ones In it s standard case CANgine No 1 only measures 53 x 34 x 16 mm8 If this does not fit for some applications CANgine can be delivered in other cases or without case in customer specific variants Due to the modular concept of CANgine in hardware and soft ware this is possible even at lower production volumes Email or call our sales departement if you have special requirements The serial link of CANgine No 1 runs with baud rates from 1200 up to 115200 The CAN bus supports all CiA CAN in Automation recommended bit rates between 10 kBaud and 1 Mbaud Installation and diagnostics are supported by two LEDs Updating the software or loading customer specific software is easy due to the in system programmability of the internal microcontroller You don t even have to open the case to load a new firmwa
4. CUTION sasori ioiaren a nnnnnn nara nnna nana aaa 5 5 CAN Transmit and Receive Buffer cccoocccccccccnncncnnccnnnancnnnancnnananonano conocio nana nonanannnaninnn 6 6 Error Handling and Signalling asomar 6 Ta COMMANOS veseterccecd scented aaia escbedeludewbiad erates ehudeisbied atabed eluduabiedusabed datada 7 7 1 OVENVIOW eee ete on a eS Da ee 7 T2 A e Ue uaeabdoeuesneeetioabeeieaesty 7 Ted OO OOM N ri ia id 7 ZA ECOMMANd tana ee 8 A M Command RAPP 8 7 6 M Command 0 0 ee ceec ccc ce cece eccceeececeeceeueuceeeuceeueueeeeuceseueeeueueesuueeeeaeeueueesuaueeeaeeeeaneeenes 8 ASAS nn 9 TA PG AMO lia das 9 TO GC AMO is 9 7 10 S COMMaNd taa cados 10 7 11 UCOMMAN O air Dd taa lid 10 7 12 We COMMANOriosissstiaic c nica iia aa aE ci 10 7 13 UsGOMMANG nnna a a 11 7 14 VComMmMmand e ds 11 7 15 X GOMIMANG store 11 7 16 ARS AA 12 8 CAN Acceptance Filtering ctra acti ltioiaia 12 9 Initial Operation and Test with a Posse 14 10 Conmnector PINOUT vzisecinscxiveivestivelivstdenisencied ides idusdducnsathdeedsachdwendudideunawodgeevandagestiesigeentats 14 10 1 SSA E aE EE I RETARA E A AAEE 14 10 2 CAN ti 14 11 Technical Data oooooncccnnnccnnncnononcnonaninnnanononanonananonanononanonancn ona nano nana nnnnn cnn ran naa nan nnanannn 15 EA A A 16 Right t Make CHANGES contestas 16 ESS Embedded Systems Solutions GmbH Industriestrasse 15 CANgineNo1ManualEng_041222 D 76829 Landau CANgine No 1 User Manual z ess December 2
5. Sends hardware and software version information to the serial link Format V CR Answer Vhhss CR hh hardware version ss software version BELL if command line format is invalid 7 15 X Command Sends the actual values of the CAN frame counters to the serial link First the counter value for successfully processed frames is sent than a CR character followed by the counter va lue for the discarded frames is sent The answer is terminated by a CR character Format X CR Answer s S CRIf f CR ESS Embedded Systems Solutions GmbH Industriestrasse 15 CANgineNo1ManualEng_041222 D 76829 Landau CANgine No 1 User Manual g ess December 2003 FW 3 0 AA Page 12 of 16 2 o systems TTT solutions s 8 0 4294967295 f f 0 4294967295 BELL if command line format is invalid The frame counter are reset by reading the error information with the F command 7 16 Z Command The Z command serves to control the CANgine behaviour on receiving CAN frames CANgine can collect the frames in th ereceive queue and wait until a P or A command is given or it can send a received frame immediately to the serial link The command is only valid if the CAN channel is closed Format Za CR a 1 continuous output on a 0 continuous output off Answer CR on successful execution BELL if CAN is active or Z state is already given or if command line format is invalid 8 Receiving CAN Frames Messages received f
6. User Manual CAN gine No 1 embedded systems September 2003 solutions CANgine No 1 User Manual g ESS December 2003 FW 3 0 A Page 2 of 16 ee im systems solutions The information given in this document was compiled and checked carefully Nevertheless ESS assumes no liability for any mistakes ESS also assumes no liability for any damage resulting from use of this manual or products described herein ESS reserves the right to make changes on information given in this document and on fea tures of products described herein without prior notofication Publication and reproduction of this document or parts of it only with written agreement of ESS Edition Date State 3 Dec 2003 adapted to FW release 3 0 2 Sept 2003 technical data added 1 July 2003 first edition for hardware revision 2 0 Copyright 2003 ESS Embedded Systems Solutions GmbH Industriestr 15 D 76829 Landau 49 6341 3487 0 49 6341 3487 29 info ESSolutions de www ESSolutions de www CANgine com ESS Embedded Systems Solutions GmbH Industriestrasse 15 D 76829 Landau CANgineNo1 ManualEng_041222 E CANgine No 1 User Manual ess A December 2003 FW 3 0 meet Page 3 of 16 solutions Contents Ta IntToduUCION Pee espe ete eR ss a nas 4 2 WASTAM AMON awcscsertosigentsaadadevaetideatavaicceietidea raat hedewsadadaas ane iocdUhebaduanacthecevasbadeastaudecdaetadeantbhes 4 3 Initiali ing Procedure union ias 5 4 Instruction EXE
7. cceptance filtering for meaning of the parameter ESS Embedded Systems Solutions GmbH Industriestrasse 15 D 76829 Landau CANgineNo1 ManualEng_041222 a ess AO December 2003 FW 3 0 O Page 9 of 16 systems TTT CANgine No 1 User Manual solutions 7 7 OCommand Opens the CAN channel and activates the CAN controller After executing zthis command the CAN controller connects to the CAN bus and receives messages according to the accep tance filter settings The green LED RUN switches on Format O CR Answer CR on successful execution BELL if CAN was already active or if command line format is invalid 7 8 P Command Sends one CAN frame from the receive queue to the serial link If more than one frames are in the queue the oldest frame is sent Format P CR Answer One CAN frame in the same format as described at the t or T command The frame is terminated with CR CR without any other preceding characters if no frames are available in the receive queue BELL if CAN is inactive or if command line format is invalid 7 9 S Command Sets the CAN baud rate to one of the CiA recommended values The Command can only be executed if CAN is inactive Format Sn CR So 10 kBit S1 20 kBit S2 _ 50 kBit S3 100 kBit S4 125 kBit S5 250 kBit S6 _ 500 kBit S7 800 kBit S8 1 MBit Answer CR on successful execution BELL if CAN is active or if command line for
8. commands ESS Embedded Systems Solutions GmbH Industriestrasse 15 CANgineNo1ManualEng_041222 D 76829 Landau CANgine No 1 User Manual ess December 2003 FW 3 0 AA Page 6 of 16 2 o systems solutions 5 CAN Transmit and Receive Buffer CANgine has two circular buffers queues One is used for reception the other for transmis sion of CAN messages Each queue can hold up to 30 messages The bottleneck on receiving CAN messages is the serial link At 115200 kbaud the maximum rate is 350 standard or 250 extended CAN frames per second These values were measured with 8 data bytes If the messages has less data bytes the values will be slightly higher If you have heavy CAN load you have to set the acceptance filters to adapt CANgine in a ideal manner to your application and optimize the message throughput To help you optimize the throughput CANgine implements two counters The first counts the number of messages which are correctly entered in the receive queue The second counts the number of messages which were discarded due to a full receive queue The counters has 32 bit and therefore counts from 0 to 4 294 967 295 On overflow theses counters restart counting at 0 Reading these counters is done with the X command Both counters are reset with the F command reading the error information 6 Error Handling and Signaling The following errors are detected and saved in an error marker Error Bit of error marker
9. e products and or software described or contained herein in order to improve design and or performance ESS Embedded Systems Solutions assumes no responsibility or liability for use of any of these products conveys no license or title under any patent copyright or mask work to right to these products and makes no representations or warranties that these products are free from patent copyright or mask work right infringement unless otherwise specified ESS Embedded Systems Solutions GmbH Industriestrasse 15 D 76829 Landau Germany Phone 49 0 6341 34870 info ESSolutions de Copyright 2002 2003 ESS Embedded Systems Solutions GmbH All rights reserved Printed in Germany ESS Embedded Systems Solutions GmbH Industriestrasse 15 D 76829 Landau CANgineNo1ManualEng_041222
10. erminal program Connect a CAN cable to CANgine and support DC power 7 30VDC on pins 3 GND and 9 Check the baud rate on the serial link with the blink count of the green LED Start your pre ferred terminal program and set the baud rate accordingly Other settings 8 data bits no parity 1 stop bit no hardware protocol no software protocol We also recommend local e cho Insert of LF OxOA on CR 0x0D as CANgine does not echo received characters and only sends CR as line terminator Type V CANgine is case sensitive followed by the enter key CANgine answers with Vhhff where hh is the hardware version e g 20 and ff is the firmware version e g 21 Now set the CAN baud rate according to your CAN bus with the S command The default value is 125 kbaud Then type Z1 CR to set CANgine to the continuous output mode Finally type O CR to open the CAN channel and to receive messages You now see all received CAN messages standard and extended frames on your terminal program Watch the red LED ERR to see if all frames could be received or if the serial baud rate is too slow for your CAN bus load or baud rate 10 Connector Pinout 10 1 Serial Link Pin Signal Pin Signal 1 nc 6 nc 2 TxD 7 nc 3 RxD 8 nc 4 nc 9 nc 5 GND 10 2 CAN Pin Signal Pin Signal 1 nc 6 GND 2 CANL 7 CANH 3 GND 8 nc 4 nc 9 Vcc 5 nc ESS Embedded Sys
11. f the F command is executed while a CAN bus error is detected 7 Commands 7 1 Overview A CR C CR F CR mxxxxxxxx CR Mxxxxxxxx CR O CR P CR Sn CR saabcde CR tilildd CR Un CR V CR X CR Zn CR send all received CAN frames to serial link close CAN send error information to serial link set acceptance mask register set acceptance tag register open CAN channel send one received CAN frame to serial link set CAN baud rate ton 0 8 0 10 kbit 8 1Mbit set CAN baud rate via internal controller register send a CAN frame in standard format 11 bit ID send a CAN frame in extended format 29 bit ID set RS232 baud rate to n 1 8 1 115200 baud 8 1200 baud send version information to serial link send CAN frame counter information to serial link set serial link output to continuous or single frames 7 2 A Command Send all CAN frames from receive queue to serial link The output format complies with the format for the T or t command After each frame a CR character is send after the last frame an additional A character with a CR character is send Format A CR Answer All received frames followed by A CR A CR if no frames are available BELL if CAN is inactive or if the command line format is invalid 7 3 C Command Closes the CAN channel After executing this command CANgine does not influence the CAN bus in any way No more ACK bits are send on receiving frames The green LED
12. for the connected application Acceptance filtering relieves the processor from processing unneces sary CAN frames which is particularly important at high bus loads and or high baud rates CANgine uses two registers for acceptance filtering e acceptance tag register e acceptance mask register The acceptance tag register holds the bits which has to be one or zero in the message identi fiers The mask register marks the bit positions for filtering with a one Example for standard 11 bit identifier You wish to receive all messages with identifier between 0x100 and 0x1FF all other mes sages should be filtered and disregarded Set bits 10 8 in the acceptance mask register to one and in the acceptance tag register to 0x001 Bit 10 9 8 7 6 5 4 3 2 1 0 Tag 0 0 1 x x x x x x x x Mask 1 1 1 0 0 0 0 0 0 0 0 So tag register 0x100 mask register 0x700 CANgine allows with two additional bits to filter also the IDE bit which distinguish between standard and extended frames and the RTR bit which marks RTR messages With this you are able to decide if you want to receive only standard or only extended frames or both You can also filter on RTR messages The CANgine acceptance filter register are both 32 bit wide The identifier bits are shifted to bit position 31 counting from 0 and the bit position 2 marks RTR and bit position 0 DIE The table shows the relation between bit posi tions in the both formats
13. mat invalid Answer CR command executed successfully BELL invalid value for n or CAN is active ESS Embedded Systems Solutions GmbH Industriestrasse 15 CANgineNo1ManualEng_041222 D 76829 Landau CANgine No 1 User Manual g ess December 2003 FW 3 0 AA Page 10 of 16 2 o TTT systems solutions 7 10 s Command Sets the bus timing registers of the internal CAN controller This command can be used where the standard baud rate settings do not fit because special bus topologies are used To get the right values see the data sheet of Atmels T89C51CC01 Format saabcde CR aa X2 Bit and BTR register in two hexadecimal digits 00 7F 7 7 6 5 4 3 2 1 Lo 0 X2 Bit BTR b PRS register 0 7 c PHS1 register 0 7 d PHS2 register 0 7 e SJW register 0 3 Answer CR on successful execution BELL if CAN is active or if command line format invalid 7 11 t Command Puts a standard 11 bit identifier CAN frame in the transmission queue The transmission queue is scanned continuously and if the CAN transmitter is available the next frame is read from transmission queue and sent to the CAN bus If more than one entry is found in the queue the oldest entry is transmitted first Format tiiildd CR t command character iii CAN identifier with fixed length 3 hexadecimal digits 000 7FF l number of data bytes in the message 1 digit 0 8 dd data bytes hexadecimal digit count is 2 x no
14. re 120 OHM 2 Installation CAN node The picture shows how to con nect CANgine to a CAN net on CAN node work Power supply is con nected via pin 9 and pin 3 GND of the CAN connector as proposed by CiA The maximum J 7 supply voltage is 30 V Applying ans higher voltages will lead to damages Pay attention to the terminating resistors 120 Ohm at both ends of the CAN bus CANgi Q gine x CAN node After applying the supply voltage the green LED blinks The blink CAN node 120 OHM ESS Embedded Systems Solutions GmbH Industriestrasse 15 D 76829 Landau CANgineNo1ManualEng_041222 a ess A December 2003 FW 3 0 O Page 5 of 16 systems TTT CANgine No 1 User Manual solutions ing code shows the baud rate of the serial link Pulses Baudrate 115200 57600 38400 19200 9600 4800 CO NI OD On AWN 2400 Blinking stops if the CAN bus is activated with the O command Starting with that command the green LED signals the state of the CAN bus CANgine No 1 now is in working state and executes commands coming via serial link To make first tests with CANgine we recommend to use a PC with a terminal program You should use the following se
15. rom CAN must successfully pass acceptance filtering chapter 8 2 be fore being inserted into the receive queue Depending on settings for handling of received frames a message is send to the serial link upon request P or A command or immediately Z1 command after receiving the CAN frame 8 1 Output Format The output format is compliant to the format of the transmit command T or t The only dif ference is that received massages are preceded with a r standard format 11 bit identifier or R extended format 29 bit identifier character 8 1 1 Standard Frame riiildd CR r marks a standard frame 11 bit identifier iii CAN identifier with fixed length 3 hexadecimal digits 000 7FF l number of data bytes in the message 1 digit 0 8 dd data bytes hexadecimal digit count is 2 x no separation character 8 1 2 Extended Frame R marks an extended frame 29 bit identifier iiiiiiii CAN identifier with fixed length 8 hexadecimal digits 00000000 1FFFFFFF l number of data bytes in the message 1 digit 0 8 dd data bytes hexadecimal digit count is 2 x no separation character ESS Embedded Systems Solutions GmbH Industriestrasse 15 D 76829 Landau CANgineNo1 ManualEng_041222 a ess A December 2003 FW 3 0 O Page 13 of 16 systems TTT CANgine No 1 User Manual solutions 8 2 CAN Acceptance Filtering The acceptance filtering permits to receive only these CAN frames which are relevant
16. separation character Answer CR if frame was entered in the transmission queue BELL if CAN is inactive transmission queue full or command line format invalid 7 12 T Command Puts an extended 29 bit identifier CAN frame in the transmission queue The transmission queue is scanned continuously and if the CAN transmitter is available the next frame is read from transmission queue and sent to the CAN bus If more than one entry is found in the queue the oldest entry is transmitted first Format T command character ESS Embedded Systems Solutions GmbH Industriestrasse 15 D 76829 Landau CANgineNo1 ManualEng_041222 TTT CANgine No 1 User Manual mra December 2003 FW 3 0 meet Page 11 of 16 iiiiiiii CAN identifier with fixed length 8 hexadecimal digits 00000000 1FFFFFFF l number of data bytes in the message 1 digit 0 8 dd data bytes hexadecimal digit count is 2 x no separation character Answer CR if frame was entered in the transmission queue BELL if CAN is inactive transmission queue full or command line format invalid 7 13 U Command Sets the baud rate of the serial link The answer to the command is given with the old baud rate then the baud rate is switched U1_ 115200 U2_ 57600 U3_ 38400 U4 19200 U5 9600 U6_ 4800 U7 2400 Format Un CR Answer CR on successful execution BELL if command line format is invalid 7 14 V Command
17. standard and extended and the bit positions in CANgine Ss 10 9 8 7 6 5 4 3 2 1 0 E Bit 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 E 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 Ss z E z z RR IDE Bt 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 E 12 11 10 9 8 7 6 5 4 3 2 1 O RR IDE Bit O in the tag and mask registers decides which format is received and which discarded M 0 m 0 Verhalten 0 0 receives both frame types 0 1 receives only standard frames 1 0 receives both frame types 1 1 receives only extended frames Example To only receive standard frames with identifier between 0x100 and Ox1FF set the reg isters to acceptance tag register M 0x100 2 0 0x20000000 ESS Embedded Systems Solutions GmbH Industriestrasse 15 CANgineNo1ManualEng_041222 D 76829 Landau CANgine No 1 User Manual g December 2003 FW 3 0 AO Page 14 of 16 e acceptance mask register m 0x700 2 1 OxE0000001 To only receive extended frames with identifier between 0x100 and Ox1FF set the registers to acceptance tag register M 0x100 2 1 0x00000801 acceptance mask register m 0x700 2 1 0x00003801 9 Initial Operation and Test with a PC Connect CANgine to the RS232 port you will use in the t
18. tems Solutions GmbH Industriestrasse 15 D 76829 Landau CANgineNo1 ManualEng_041222 a AAA embedded TTT systems solutions 11 Technical Data Power Supply 7 30 VDC Supply Current 35 typ mA Internal Microcontroller internal clock 40 MHz Full CAN 2 0B interface CAN Transceiver 82C251 CAN Connector Sub D 9 pin male CAN Baudrate 10 1 000 kBit Serial Connector Sub D 9 pin female Serial Baudrate 2 400 115 200 baud Display LED RUN green LED ERR red Size 53 x 54 x 16 mm3 2 08 x 1 32 x 0 62 inch Weight 22 g Operating Temperature 40 80 C CANgineNo1ManualEng_041222 CANgine No 1 User Manual December 2003 FW 3 0 Page 15 of 16 ESS Embedded Systems Solutions GmbH Industriestrasse 15 D 76829 Landau ess December 2003 FW 3 0 A Page 16 of 16 a CANgine No 1 User Manual systems solutions Disclaimers Life support These products are not designed for use in life support appliances devices or systems where malfunction of these products can reasonably be expected to result in personal injury ESS Embedded Systems Solutions customers using or selling these products for use in such applications do so at their own risk and agree to fully indemnify ESS Embedded Systems Solutions for any damages resulting from such application Right to make changes ESS Embedded Systems Solutions reserves the right to make changes without notice in th
19. ttings baud rate according to CANgine setup 8 data bit no parity one stop bit no protocol Inserting of newline char 0x0A on receiving carriage return 0x0D local echo 3 Initializing procedure On power on some internal checks are run to guarantee a good operation of CANgine One of these is checking the program memory with a checksum To visualize these checks the red LED is switched on immediately after applying power If all checks are run successfully the red LED is switched off If a program checksum failure is detected the red LED blinks with a blinking code of seven If the internal checks are completed successfully the peripheral devices RS232 and CAN are initialized and the red LED is switched off The green LED blinks with a blinking code signalling the serial baud rate see table above Blinking stops if the CAN is activated Srti ung at this moment the green LED shows if CAN is active or inactive due to command C or any bus errors 4 Instruction Execution As soon as a complete command line terminated with CR character is detected the com mand line is translated and executed Each command line is answered with a positive e g CR character or negative BELL charactwer 0x07 acknowledge Before sending the ac knowledge character no other command lines will be accepted Both the serial link and the CAN bus are serviced with interrupts Therefore reception of CAN messages has a higher priority than executing
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