ELMBio User Documentation v2.3
Contents
1. The ADC resolution in Volts depends on its voltage range setting taking into account that the ADC converts to 16 bit unipolar or bipolar This is shown below in Table 3 ADC ADC resolution voltage range unipolar bipolar pV 25 mV 0 38 0 76 55 mV 0 84 1 68 100 mV 1 53 3 05 1V 15 3 30 5 2 5 V 38 1 76 3 5V 76 3 152 6 Table 3 ADC micro volts resolution as a function of the ADC voltage range used The number of analog channels can be set to any value up to 64 by writing to OD index 2100h sub 1 The way in which all 64 or less analog inputs are read out depends on the transmission type of TPDO2 or TPDO3 The analog inputs are read out according to the PDO transmission type after power up Alternatively the user can set the transmission type to the required value by writing to ELMBio s Object Dictionary to OD index 1801h sub 2 or OD index 1802h sub 2 and possibly stores it permanently in onboard EEPROM so that it will be the default transmission type after every subsequent reset or power up The following modes of transmission are supported e PDO transmission type 1 after every so called SYNC message issued on the CAN bus ELMBio starts an analog input channel scan and sends up to 64 TPDO messages one message for every analog input channel as shown above An A D conversion has to be done for every channel so it can take up to about 30 seconds before all TPDOs have been sent t2. Once ELMBio is put into state Operational it can receive the RPDO2 and on reception will immediately set analog outputs according to the values in the RPDO2 data byte s Analog outputs can of course also be written to using CANopen SDO messages see OD in dex 6411h Note that MAX5122 DACs are 12 bit but the DAC value is set as a 13 bit value with bit 0 always equal to 0 3 7 Storing Parameters and Settings Parameters and settings can be stored permanently onboard in an EEPROM by writing string save to OD index 1010h The CANopen SDO mechanism is used to do this Host gt ELMBio DataByte COED 0 1 2 3 4 5 6 7 600h 23h 10h 10h subindex 73h 61h 76h 65h NodeID s a v e with OD index 1010h in byte 1 2 and subindex in byte 3 with subindex 1 store all parameters as listed for subindex 2 and 3 2 store communication parameters concerning PDO and Guarding 3 store application parameters concerning ADC DAC and Digital I O check out the Object Dictionary tables in section 4 to find out which parameters are stored 17 ELMB software v2 3 29 Nov 2006 If the store operation succeeded ELMBio sends the following reply ELMBio Host DataByte COBI 0 1 2 3 4 5 6 7 580h 60h 10h 10h subindex 2 NodeID If the store operation did NOT succeed ELMBio sends the following reply SDO Abort Domain Transfer
3. error reason hardware fault for details see 1 ELMBio Host DataByte Cor 1 2 3 4 5 6 7 580h 80h 10h 10h subindex 0 0 6 6 NodeID Error Code Error Class Parameters can be reset to their default values by invalidating the corresponding contents of the EEPROM by writing to OD index 1011h using this time the string load 6Ch 6Fh 61h 64h in bytes 4 to 7 of the SDO Note that the default values take effect only after a sub sequent reset of the node Default values are listed in the OD tables in section 4 The tables with the Object Dictionary in section 4 show the settings stored in EEPROM as marked by an asterisk Note that storage of ELMB Serial Number and ADC calibration constants in EEPROM are handled separately See section 6 for an overview of the EEPROM usage 18 ELMB software v2 3 29 Nov 2006 4 Object Dictionary The Object Dictionary OD of the ELMBio version 4 4 0 application is listed in the tables on the next pages The values of objects marked with in the Index column are stored in EEPROM for per manent non volatile storage on request They are retrieved from EEPROM at reset and power up Communication Profile Area Index Sub Description Data Attr Default Comment hex Index Object 1000 Device type U32 RO 000F0191h Meaning DSP 401 device pro file analogue in and
4. 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 ba 2 5 V 2B05 ADC calibration parameters Array 5V 2C00 Erase ADC calibration pa U8 WO EXPERT Write EEh to erase rameters 25 mV ONLY enable by first writing to 2D00 2C01 Erase ADC calibration pa U8 WO EXPERT 7 rameters 55 mV ONLY 2C02 Erase ADC calibration pa U8 WO EXPERT 7 rameters 100 mV ONLY 2C03 Erase ADC calibration pa U8 WO EXPERT E rameters 1 V ONLY 2C04 Erase ADC calibration pa U8 WO EXPERT 7 rameters 2 5 V ONLY 2C05 Erase ADC calibration pa U8 WO EXPERT rameters 5 V ONLY 2D00 Enable calibration parame U8 WO EXPERT Writing ASh enables one write ter write erase operation ONLY or erase operation to any of the Objects 2B00h to 2B05h or 2C00h to 2CO5h In other words reset the ADC and do a self calibration i e do NOT apply the gain factors calibration con stants which already might have been stored in EEPROM This type of ADC initialisa
5. Controller SIEMENS product datasheet preliminary January 1997 5 CAN in Automation e V CANopen Device Profile for Generic I O Modules CiA DS 401 Version 2 0 20 December 1999 http www can cia de 6 CRYSTAL CS5521 22 23 24 28 16 Bit or 24 bit 2 4 8 Channel ADCs with PGIA CIRRUS LOGIC product datasheet DS317F2 May 2000 http www cirrus com 37
6. Data Object messages A PDO message is a non confirmed CAN message with one sender and one or more receivers containing no protocol overhead only data 1 to 8 bytes Receivers of a PDO message know the meaning of the data content of a PDO message in any case receivers should also be able to find out about the data content of a PDO by consulting the PDO Map ping Parameters in the Object Dictionary of the producer of the PDO ELMBio supports a total of 5 PDOs two Transmit PDOs for the analog inputs one for raw ADC counts and one for physical values in Volts one Transmit PDO for the digital inputs one Receive PDO for the digital outputs and a Receive PDO for the analog outputs For an overview of the complete Object Dictionary OD of the ELMBio application see section 4 http elmb web cern ch ELMB software v2 3 29 Nov 2006 Many of the application s features are configurable using standard CANopen messages Set tings can be stored permanently in on board EEPROM also using standard CANopen mes sages ELMBio provides apart from the standard CANopen and CANopen Device Profile features additional support for In Application Programming via the CAN bus through interaction with the Bootloader and is equipped with a number of mechanisms to decrease the sensitivity of the running application to SEE Single Event Effects due to radiation The source code of ELMBio source code is freely available for users who want to cus
7. ELMB PORTA 3 Write outputs 17 24 U8 RW ELMB PORTF 6208 Filter Mask 8 output lines Array 0 Number of 8 bit masks U8 RO 2 1 Filter mask outputs 1 8 U8 RW FFh PORTC pins not defined as out puts maskbit 1 are inputs to be accessed thru Object 6000 3 x 2 Filter mask outputs 9 16 U8 RW FFh PORTA pins not defined as out puts maskbit 1 are inputs to be accessed thru Object 6000 2 7 3 Filter mask outputs 17 24 U8 RW 00h PORTF pins not defined as out puts maskbit 1 are inputs to be accessed thru Object 6000 1 6404 Read Analogue Input Record 8 bits flags 16 bits analogue manufacturer specific value 0 Number of analog inputs U8 RO 64 Fixed but actual hardware con figuration may vary see OD index 2100 sub 1 1 Input 1 124 RO 1 analog input 8 bit flags 16 bit data 2 Input 2 124 RO aa is 64 Input 64 124 RO 64 See section 3 3 4 for a description of the ADC flags byte 29 ELMB software v2 3 29 Nov 2006 Standardized Device Profile Area according to CiA DS401 Index Sub Description Data Attr Default Comment hex Index Object 6411 Write Analogue Out 16 bit Array 0 Number of 16 bit outputs U8 RO 16 or 64 16 when MAX5122 DAC used 64 when MAX525 DAC used see OD index 2500 1 Output 1 U16 RW 1 analog output 16 bit 2 Output 2 U16 RW 2 analog out
8. containing the ADC count or PDO messages containing the input voltage in microVolts The CAN identifier used for the ADC readout in counts is the so called 2 transmit PDO TPDOZ2 of the CANopen Predefined Connection Set i e COB ID 280h NodeID The TPDO2 message is a 4 byte message and is formatted as follows ELMBio Host TPDO2 COB ID DataByte 0 DataByte 1 DataByte 2 3 280h NodeID Channel Number Chan status config ADC value with ADC value 16 bits value LSB in byte 2 MSB in byte 3 Channel Number number between 0 and 63 Chan status config bit 7 Conversion status 1 ERROR overflow or oscillation O OKAY bits 6 0 ADC configuration conversion word rate bits W0 W1 and W2 gain range bits GO G1 and G2 and unipolar or bipolar bit U B see below ELMB software v2 3 29 Nov 2006 BIT 7 6 5 4 3 2 1 0 Meaning Error W2 Wi WO G2 Gl G0 U B The CAN identifier used for the ADC readout in uV is the so called 3 transmit PDO TPDO3 of the CANopen Predefined Connection Set i e COB ID 380h NodelD The TPDO3 message is a 6 byte message and is formatted as follows ELMBio Host TPDO3 COB ID DataByte 0 DataByte 1 DataByte 2 5 380h NodeID Channel Number Chan status config ADC value uV with ADC value 32 bits signed value in uV LSB first Channel Number number between 0 and 63 Chan status config see above
9. low if set to 1 Digital Outputs will be initialised to all high 2404 Read Analogue Input Record 8 bits flags 24 bits analogue Calibrated value in uV NB read out fails if there are no valid stored calibration constants for the current ADC range 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 RES t t 64 Input 64 U32 RO GAPE o J Consecutive here means in consecutive input channel scans of up to 64 channels See section 3 3 4 for a description of the ADC flags byte 24 ELMB software v2 3 29 Nov 2006 Manufacturer Specific Profile Area continued Index Sub Name Data Attr Default Comment hex Index Object 2500 DAC configuration Record 0 Number of entries U8 RO 3 1 Number of output channels U8 RO 16 or 64 16 when MAX5122 DAC used 64 when MAX525 DAC used a 2 MAX525 DAC Type Select Bool RW 0 0 DAC type is MAX5122 1 DAC type is MAX525 3 SPI SCLK signal high U8 RW 75 in us 10 lt value lt 255 period opto coupler delay 2600 SPI access Record Low level access to the SPI interface as defined for the ELMB DAC available on the Motherboard J8 connector Beware of interfering with ADC operations v4 3 0 Number o
10. pre sent in Object 2404 have been replaced by a byte combining the ADC configuration and the two ADC error flags 24 bit data is replaced by a 32 bit signed long 22 ELMB software v2 3 29 Nov 2006 Manufacturer Specific Profile Area Index Sub Description Data Attr Default Comment hex Index Object 2100 ADC configuration Record CRYSTAL CS5523 16 bit ADC 0 Number of entries U8 RO 29 1 Number of input channels U8 RW 64 can be set to actual number of channels used x 2 _ Conversion Word Rate U8 RW 0 3 bit code 7 3 Input Voltage Range U8 RW 4 3 bit code all input channels 4 Unipolar Bipolar U8 RW 1 0 bipolar 1 unipolar Measurement Mode all input channels 5 Power Save Mode Bool WO 1 put ADC in power save mode 0 take ADC out of this mode 6 Configuration Register U32 RW CS5523 Config Register 7 Offset Register 1 U32 RW CS5523 physical channel AIN1 8 Gain Register 1 U32 RW CS5523 physical channel AIN1 9 Offset Register 2 U32 RW CS5523 physical channel AIN2 10 Gain Register 2 U32 RW CS5523 physical channel AIN2 11 Offset Register 3 U32 RW CS5523 physical channel AIN3 12 Gain Register 3 U32 RW CS5523 physical channel AIN3 13 Offset Register 4 U32 RW CS5523 physical channel AIN4 14 Gain Register 4 U32 RW CS5523 physical channel AIN4 15 Channel Setup Register 1 U32 RW LC 1 12 b
11. sent Operational state 70 1 3 5 7 9 11 13 15 Time Figure 3 Illustration of the analog input window mode The upper limit of the window is set to 120 and the lower limit to 80 The exceed counter is set to 2 Analog input samples marked by an arrow are sent 3 4 Digital Inputs The digital inputs are read out using the CANopen PDO mechanism The CAN identifier used for this PDO is the so called 1 transmit PDO TPDO1 of the CANopen Predefined 14 ELMB software v2 3 29 Nov 2006 Connection Set which is the default PDO used for digital inputs according to the CANopen Device Profile for I O Modules 5 i e COB ID 180h NodeID In this application TPDO1 contains 3 data bytes containing the state of the 3x8 digital inputs ELMBio Host TPDO1 COB ID DataByte 0 DataByte 1 DataByte 2 180h NodeID 8 bit Digital Input 8 bit Digital Input 8 bit Digital Input PORTF in PORTA in PORTC in The following modes of transmission are supported e PDO transmission type 1 after every so called SYNC message issued on the CAN bus ELMBio sends a TPDO1 e PDO transmission type 254 255 and Event Timer 0 ELMBio sends a TPDO1 after every so called Remote Transmission Request RTR or Remote Frame for this PDO e PDO transmission type 254 255 and Event Timer gt 0 If TPDO1 s event timer OD index 1800h sub 5 is set to a value unequal to zero event timer is expressed in units of 1 ms bu
12. upper and lower limit parameters for all channels can be set to the same value in one write operation to OD index 6424h and 6425h resp using subindex 255 FFh These parameters are stored onboard in non volatile memory on request in the CANopen standard way 13 Analog In ELMB software v2 3 29 Nov 2006 After a channel s reading has crossed a limit either going outside the window or going back inside the window a single message is sent When going outside the window a message is sent only after a configurable number of consecutive readings outside the set window We call this number the exceed counter There is only one counter for all channels set in OD index 2150h value must be in the range 1 to 254 Note that this same counter applies to the delta change mode When the channel reading returns inside the window a message is sent immediately but only if the outside window situation was reported Two readings are consecutive when they occur in 2 consecutive channel scan cycles Note that if 64 ADC channels are scanned there may be considerable time between 2 consecutive readings of the same channel in the order of several seconds depending on the number of channels in the scan cycle and the ADC conversion wordrate used The window mode of analog input readout is illustrated in Figure 3 UPPER 120 LOWER 80 CNTR 2 130 120 eee 110 E ne EEEN aa ae ee aa e me me ee ee ee sample ELMBio put into is
13. 0 61 6 Hz 011 84 5 Hz 100 101 1 Hz 101 1 88Hz 110 3 76 Hz 111 7 51 Hz gt 000 100 mV 001 55 mV 010 25 mV 011 1 V 100 5 V 101 2 5 V Writing to subindex 3 or 4 overwrites subindices 22 to 25 or 26 to 29 respectively 23 ELMB software v2 3 29 Nov 2006 Manufacturer Specific Profile Area continued Index Sub Name Data Attr Default Comment hex Index Object 2110 ADC reset and calibrate U8 WO Writing triggers a reset and cali brate sequence using the current ADC settings 2120 ADC reset and calibrate Bool RW 0 If 1 a reset calibration sequence before each channel scan is performed before every ADC input channel scan 2130 Enable Analogue Input In Bool RW 1 Enable disable delta mode terrupt Delta change Mode readout on change operation global enable Object 6423 2140 Enable Analogue Input In Bool RW 0 Enable disable window mode terrupt Upper Lower Limit readout on change operation Mode global enable Object 6423 2150 Upper Lower Limit and U8 RW 2 Number of consecutive readout h Delta Exceed Counter values outside window before value is sent 1 lt value lt 254 2200 Digital Input debounce U8 RW 10 In units of ca 0 5 ms set to 0 timer there is ca 0 5 ms between con secutive input polls 2300 Digital Output Init High Bool RW 1 After a hard reset if set to 0 Digital Outputs will be initialised to all
14. E 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 gt Oth 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 31 ELMB software v2 3 29 Nov 2006 Emergenc Error ee i Manufacturer Specific Error Field ipti byte 3 7 Description hers byte 3 7 Slave processor not re 5000h Byte 3 20h sponding ELMB103 only CRC error 5000h Byte 3 30h Byte 4 1 program FLASH 2 Slave FLASH ELMB103 only EEPROM write error 5000h Byte 3 41h Byte 4 Parameter block index Byte 5 0 while writing datablock info gt 0 size of parameter block to write EEPROM read error 5000h Byte 3 42h Byte 4 Parameter block index Byte 5 Error id 1 CRC 2 length 4 infoblock EEPROM ADC limits 5000h Byte 3 43h write error Byte 4 Parameter block ID Byte 5 size of parameter block to write Irregular reset Watchdog 5000h Byte 3 FOh Brown out or JTAG Byte 4 microcontroller MCUCSR register contents Bootloader not present 5000h Byte 3 Flh Bootloader is now in 5000h Byte 3 FEh control Byte 4 Olh Byte 5 28h Byte 6 microcontroller MCUCSR register contents Byte 7 00h Bootloader cannot jump to 6000h By
15. ELMB software v2 3 29 Nov 2006 CANopen Application Software for the ELMB128 Embedded Local Monitor Board el PEP Pe seer Li o m Ma es A024 Ls approx true size Henk Boterenbrood NIKHEF Amsterdam 29 Nov 2006 Version 2 3 ABSTRACT The ELMB128 is designed as a general purpose plug on module for distributed monitoring and control applications in the ATLAS experiment After production it contains a CANopen application program for doing digital and analog input and output This document provides a description and user manual of the application and includes a full listing of its Object Dictionary ELMB software v2 3 29 Nov 2006 Contents T INTRODUCTION ae ccscscecdssiactsevsicsdstsoasseccvssesacsescedeececsesseseoessecacevossedendesee scudessesenseeeascoscdsesensactesecssts 3 2 HARDWARE CONFIGURATION cccccscscsccccccsssssscccccccccccssscccsccccccesessccscccsccecesccsccscceseceseees 4 3 THE EEMBIO APPLICATION siscsiccciscccsscsccssccsetecosccsessncvosscccessseactectesecsesescesecssesceceseseoesevoedecneesees 5 Sel SUNITIALISA TIONS sos susfsszelactsnesdissbatcoushemenadecesseincd E E AA 5 3 2 NODE GUARDING AND LIFE GUARDING wii ccc ccsssseseeccccccccussssssscecccsscesesesssceccesesauaueaseceses 6 323 ANALOG INPUTS odrana a a cen dhabecdea iedasldled eee deedas aiesoctagasedavteubedstscadeeadeasaetss 8 eed PRED Confeuralohe cse atin s sen aa Say cast tidal rec desiree saree c
16. Hz 30 Hz 60 Hz 85 Hz or 100 Hz in practice the achievable rate of conversions is limited to about 30 Hz maximum due to the slow opto couplers used in the serial interface between the processor and the ADC The ADC configuration in ELMBio can be read from and set in OD index 2100h Note that starting with ELMBio version 4 4 0 the ELMB s 64 analog input channels may be assigned to up to 4 different voltage ranges in groups of 16 channels see OD index 2100h subindex 22 to 29 3 3 2 Calibration Constants During the ELMB production acceptance tests each of the ADC voltage ranges for one con version word rate i e 15 Hz is calibrated and the resulting calibration constants have been stored in the ELMB EEPROM Depending on the voltage range s configured ELMBio ap plies the appropriate calibration constants After power up or reset a so called self calibration of the ADC is performed resulting in certain register settings for gain and offset the gain register settings are then multiplied with the appropriate stored calibration constants The calibration constants are also stored offline in a database and can be retrieved on the basis of the serial number of the ELMB which is a 32 bit number actually a 4 character string stored in the ELMB s EEPROM and also printed on a label located on the ELMB printed circuit board 3 3 3 PDO Readout ELMBio sends one PDO message for every analog input It either sends PDO messages
17. IPTION 0000 0001 ELMBio Holds permanently saved application configu configuration ration and settings stored in up to 8 blocks of up to 16 bytes each includes a CRC checksum parameters for each data block 00A1 Rad tolerant 00A2 Holds a copy of most application configura working copy tion and settings and some other parameters of global that don t change very often parameters are settings reread from EEPROM each time before being ane used this is an optional feature to counter the prda 00E8 effects of SEE Single Event Upset 00E9 not used OOFF ELMB 0100 Holds the ELMB Serial Number given to it at Serial production time serves to uniquely identify the Wambar 0106 ELMB and retrieve its calibration constants and or production data in the ELMB produc 0107 tion database 0108 not used 011F 0120 a l ELMB Holds the calibration constants which were determined at production time for all 6 volt Analog in 20 age ranges note only present for ELMBs calib consts with an analog input part 01DF Table 5 EEPROM memory map for ELMBio application addresses 000h 1DFh continued in the next table reserved location for a remotely configurable Node ID if an ELMB user application wishes to support this a valid number in this location will be used by the Bootloader appli cation version 1 3 overruling the DIP switch setting 1 See Table 7 2 See Table 8 34 ELMB software v2 3 29 Nov 2006 EEPROM ADD
18. NMT Master COB ID DataByte 0 700h NodeID 0 NodelD is the CAN node identifier set by means of the ELMB onboard DIP switches which according to the CANopen standard must be in the range between 1 and 127 and for ELMBio can be to set to a value between 1 and 63 as shown in Figure 1 ELMBio version 4 4 0 and newer supports an optional remotely configurable CAN node identifier using standard CANopen messages stored in ELMB onboard EEPROM overrid ing the DIP switch setting See the description of OD index 3300h and 3301h for details ELMB software v2 3 29 Nov 2006 To start the ELMBio application in the CANopen sense of the word the following CANopen NMT Network ManagemenT message must be sent Host NMT Master gt ELMBio NMT Slave COB ID DataByte 0 DataByte 1 000h 1 Start_Remote_Node NodelD or 0 all nodes on the bus There is no reply to this message Now ELMBio is Operational meaning that it monitors I O channels as required and sends and receives and processes PDO messages carrying the application data Optionally a feature called auto start may be enabled so that ELMBio automatically and immediately goes to Operational state after power up or reset The auto start feature can be configured in OD index 3200h subindex 2 To generate a soft reset to ELMBio the following CANopen NMT message must be sent Host NMT Master gt ELMBio NMT Slav
19. R 01E0 not used O1FF Deltas 0200 working 02C0 not used 02FF Deltas 0300 permanent storage CRC 03C2 03C3 03FF Upper Limits 9400 working copy 04BF 04C0 not used 04FF Upper Limits 9500 permanent storage CRC 05C2 05C3 not used OSFF Lower Limits 9600 working copy 06BF 06C0 not used 06FF Lower Limits 9700 permanent storage CRC 07C2 DESCRIPTION Holds a 3 byte value unsigned pVolts for each analog input i e 64x3 bytes 192 bytes Holds a 3 byte value unsigned uVolts for each analog input i e 64x3 bytes 192 bytes plus a 2 byte CRC plus a valid token byte Holds a 3 byte value signed microVolts for each analog input i e 64x3 bytes 192 bytes Holds a 3 byte value signed Volts for each analog input i e 64x3 bytes 192 bytes plus a 2 byte CRC plus a valid token byte Holds a 3 byte value signed Volts for each analog input i e 64x3 bytes 192 bytes Holds a 3 byte value signed Volts for each analog input i e 64x3 bytes 192 bytes plus a 2 byte CRC plus a valid token byte 07C3 not used O7FF Table 6 EEPROM memory map for ELMBio application addresses 1E0h 7FFh 33 ELMB software v2 3 29 Nov 2006 EEPROM ADDR char 0 ASCII 0100 char 1 ASCII 0101 char 2 ASCII 0102 char 3 ASCII 0103 CRC MSB 0104 CRC LSB 0105 V 56h 0106 Table 7 Detailed EEPROM memory map of the ELMB Serial Number st
20. RO 12345678h to be ordered from CiA 20 ELMB software v2 3 29 Nov 2006 Communication Profile Area continued Index Sub Description Data Attr Default Comment hex Index Object 1400 1 Receive PDO par s Record Data type PDOCommPar 0 Number of entries U8 RO 5 1 COB ID used by PDO U32 RO 200h According to CANopen Prede NodeID fined Connection Set 2 Transmission type U8 RO 255 Only 255 allowed 3 4 5 Not used RO 0 1401 2 Receive PDO par s Record Data type PDOCommPar 0 Number of entries U8 RO 5 1 COB ID used by PDO U32 RO 300h According to CANopen Prede NodeID fined Connection Set 2 Transmission type U8 RO 255 3 4 5 Not used RO 0 1600 1 Receive PDO mapping Record Data type PDOMapping 0 Number of entries U8 RO 2 1 Digital outputs 1 8 U32 RO 62000108 OD index 6200 sub index 1 Outputs 1 8 see DSP 401 size 8 bits 2 Digital outputs 9 16 U32 RO 62000208 OD index 6200 sub index 2 Outputs 9 16 see DSP 401 size 8 bits 3 Digital outputs 17 24 U32 RO 62000308 OD index 6200 sub index 3 Outputs 17 24 see DSP 401 size 8 bits 1601 2 Receive PDO mapping Record Data type PDOMapping 0 Number of entries U8 RO 2 1 DAC channel number U32 RO 64110008 actually not allowed but 2 16 bit analog output U32 RO 64110110 OD index 6411 sub ind
21. ation Object 5C00 Compile Options Bit_ Compile Option Comment assume ELMB is plugged on Motherboard v3 if this fails try assuming ELMB is oad cic han ar aie plugged on Motherboard v1 v2 no option Motherboard v3 1 MOTHERBOARDI1 assume ELMB is plugged on Motherboard v1 v2 no option Motherboard v3 2 was option ADC_ELMB 3 ADC AVR use the ATmega128 processor s integrated on chip 8 chan 10 bit ADC instead of the ELMB s onboard 64 chan 16 bit ADC type CS5523 4 ADC_ NONE no ADC used only DIP switch 1 used for CAN baudrate 125 or 250 kbaud other 7 switches used for setting the Node ID 1 127 when this option is not set a 6 bit Node ID is used and 2 bits are used for selecting a baudrate NB can not be used as it clashes with the DIP switch usage by the Bootloader include stuff to be able to use printf and such requires the Programmer or 5 7BIT_NODEID R5232 other RS232 adapter to be connected to the ELMB programmer connector 7 ELMB103 the ELMB is an ELMB103 type with ATmegal03 processor by default an ELMB128 with ATmega128 processor is assumed 8 VARS _ IN EEPROM store retrieve working copies of configuration parameters in from EEPROM 9 was option HEARTBEAT 10 INCLUDE TESTS include an OD object through which board tests can be executed ll was option EEPROM _UINT16_ ADDRESSES 12 CAN_REFRESH refresh CAN controller descriptor register at each buf
22. ave all parameters U32 RW 1 Read 1 Write save store all incl ADC limits 2 Save communication pa U32 RW 1 Read 1 Write save store rameters PDO par s Life time factor 3 Save application parame U32 RW 1 Read 1 Write save store ters ADC config dig I O config incl ADC limits 4 Save ADC delta change U32 RW 1 Read 1 Write save store parameters ADC deltas 5 Save ADC upper lower U32 RW 1 Read 1 Write save store limit parameters ADC upper lower liimits 1011 Restore default parameters Array Invalidate stuff in onboard EEPROM use defaults 0 Highest index supported U8 RO 5 1 Set all parameters to de U32 RW 1 Read 1 Write load invalidate faults all parameters stored excl ADC deltas limits 2 Set communication pa U32 RW 1 Read 1 Write load invali rameters to defaults date stored PDO par s etc 3 Set application parameters U32 RW 1 Read 1 Write load invali to defaults date stored ADC config etc excl ADC deltas limits 4 Set ADC delta change pa U32 RW 1 Read 1 Write load invalidate rameters to defaults ADC deltas 5 Set ADC upper lower limit U32 RW 1 Read 1 Write load invalidate parameters to defaults ADC upper lower limits 1017 Producer Heartbeat Time U16 RW 0 In units of seconds but lt 255 1 s NB should be in ms according to CANopen 0 gt Heartbeat is disabled 1018 Identity Record Mandatory CANopen object 0 Number of entries 1 4 RO 1 1 Vendor ID U32
23. debug purposes 3300 CAN Node Identifier U8 WO The new CAN Node Identifier is used after the next reset The ELMB must have Bootloader firm ware version 1 3 or newer 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 4 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 27 ELMB software v2 3 29 Nov 2006 Manufacturer Specific Profile Area continued Index Sub Description Data Attr Default Comment hex Index Object 5C00 Compile Options U32 RO Bitmask denoting which compile options were used when the ap plication was generated see table below for details SDFF ELMB Tests Record EXPERT For use in ATLAS DCS produc ONLY tion and test stand only 0 Number of test objects U8 RO 2 1 Test of I O pins U32 RO 00000000h see description in another doc 2 Generate Watchdog Timer U32 RO ELMBio goes into an endless reset loop 5E00 Transfer control to ELMB_ U8 WO ELMBio jumps to the Boot Bootloader loader applic
24. e COB ID DataByte 0 DataByte 1 000h 1 Reset_Node NodelD or 0 all nodes on the bus Again there is no reply to this message Note that at power up it is the Bootloader application firmware that becomes active first and is in control of the ELMB it reports its presence by sending the following Emergency mes sage see also section 5 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 5 or the ATmegal28 datasheet 3 Having the Bootloader activated at power up guarantees that it is always possible to download new application software to the ELMB even when the application currently pro grammed in the ELMB is faulty or corrupted After about 4 s the Bootloader automatically jumps to the ELMBio application Alterna tively the Bootloader makes the jump to the ELMBio application immediately if it receives an NMT Reset Node message as shown above within this period 3 2 Node Guarding and Life Guarding Node Guarding in CANopen is a mechanism whereby an NMT master checks the state of other nodes on the bus at regular intervals It can do this in one of two different ways ELMB software v2 3 29 Nov 2006 1 The master sends a Remote Transmiss
25. e 128 Kbytes flash memory is re served for the so called Bootloader a separate application that takes care the In Application Programming At the time of production of the ELMB a Bootloader is in stalled called ELMBbI which enables reprogramming of the ELMB microcontroller via the CAN bus using the CANopen protocol 1 2 The ELMB Bootloader is described in a separate document 2 a CANopen I O application for production acceptance testing as well as subsequent use as a general purpose analog digital input and output application This CANopen application called ELMBio is the subject of this document ELMBio has been developed to provide users of the ELMB with a ready to use CANopen module when plugged onto the ELMB Motherboard It supports by means of the ELMB s on board ADC and multiplexors if present 64 ana log input channels up to 24 digital inputs microcontroller I O ports PORTF PORTA and PORTC and up to 24 digital outputs microcontroller I O ports PORTC PORTA and PORTE each digital I O can be configured as either input or output In addition it has sup port for an external DAC module a separate module and can handle up to 64 analog outputs The ELMBio application conforms where possible to the CANopen DS 401 Device Profile for I O modules 5 The so called process data in the case of ELMBio the analog and digital inputs and out puts can efficiently be read out or written to using CANopen PDO Process
26. et T cad aden aa 8 3 3 2 Calibration COnstant ccccccccccsssececccceecccnnsececcnnseccenseseecensesecccnssesccnseseccenasecceaes 8 S338 PI OSRECAAOUL EEEE EETA E beck s whGek eo EEE TA had Dee OES 8 S544 SSDOVRCGA OUD aeaa eu As oc I el cl ob Bec R AB eee 11 33 3 Readout on Change ssia oree nieo a AE A E OEE SE 11 3 3 5 1 Delta Ch nge Modessnciscsisiiiersiiosiisiicirssisciissriri iiss tsi nietin ii iien S E a ES VESE TEE ESENE EEVA iaa ioa teas 11 3 3 5 2 WaindOw Modes sirsiccu ite sehen A ETIE RE ATE TI E asada os satis eseaubon Maneivnedots 13 34 DIGITAL INPUTS si nreno a a bead sive decease a a e e T eed generous 14 Ao DIEKE N OUTPUTS ENEE A AEE EAEE E EA AEA cells ptt 16 eno RAUNEN BOSA OLON H 2 DH NENE E EE EA OEE E E E A A es 16 3 7 STORING PARAMETERS AND SETTINGS cccccssssssececccccccsssssscecccccessesesesceccesesssauensecsscs 17 4 OBJECT DICTIONARY iiicistcccscsteccsdscctcsscocscunndessacsvoocdeesdceseesdececsdneasedsssccoscesscccodessacccnedasesedsesasoocs 19 S EMERGENCY OBIE GUS ies dscesstescccesccedesaseeseeos secescdsdesccssscseteossseSoousasodscesosacecdeconsaseseseduossvestceesss 31 6 EEPROM MEMORY MA Piiisicccccssscssccteseccccssnccsdesstecoccssnesscesscosscesendesccsecessecnsesscesocssuscsecssecssaseses 34 REFERENCES sitsccckvscesccsccacssccestosdetececstccssSucdecsseeescduudocesecdesde ticscnsusesdosccevacecandesdesteewecvvedessstesetecestesestees 37 Version History Version Date Comments Describes ELMBi
27. ex 1 16 bits Analog Output see DSP 401 size 16 bits multiplexed 1800 1 Transmit PDO par s Record Data type PDOCommPar 0 Number of entries U8 RO 5 1 COB ID used by PDO U32 RO 180h According to CANopen Prede NodeID fined Connection Set 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 ij 5 Event timer 1 s U16 RW 0 In units of seconds NB should be in ms according to CANopen active if gt 0 and transmission type 255 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 NodeID fined Connection Set a 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 5 Event timer 1 s U16 RW 0 In units of seconds NB should bel in ms according to CANopen active if gt 0 and transm type 255 21 ELMB software v2 3 29 Nov 2006 Communication Profile Area continued Index Sub Description Data Attr Default Comment hex Index Object 1802 3 Transmit PDO par s Record Data type PDOCommPar 0 Number of entries U8 RO 5 1 COB ID used by PDO U32 RO 380h According to CANopen Prede NodeID __ fined Connection Set 2 Transmission type U8 RW 1 Only 1 and 255 allowed 3 Inhibit time 100 us U16 RO 0
28. f entries U8 RO 5 1 read or write byte U32 RW MSB read or written first 2 read or write 2 bytes U32 RW 3 read or write 3 bytes U32 RW 4 read or write 4 bytes U32 RW i 5 read up to 4 bytes read dur U32 RW ing previous write operation v4 4 2 2601 SPI chip select U8 RW 0 deselect all active LOW n activate CSn 1 lt n lt 4 v4 3 2602 SPI configuration Record v4 3 0 Number of entries U8 RO 2 1 SPI SCLK signal high low U8 RW 10 opto coupler delay in ps period 10 lt value lt 255 2 SPI SCLK Rising Edge Bool RW 1 SDI data shifted on rising 1 or falling edge 0 25 ELMB software v2 3 29 Nov 2006 Manufacturer Specific Profile Area continued Index Sub Name Data Attr Default Comment hex Index Object 2A00 ADC range calibration Array EXPERT For now triggers a pure self ONLY calibration procedure only 0 Number of entries U8 RO 6 1 Calibrate 25 mV U32 WO Write any value 2 Calibrate 55 mV U32 WO Write any value 3 Calibrate 100 mV U32 WO Write any value 4 Calibrate 1 V U32 WO Write any value 5 Calibrate 2 5 V U32 WO Write any value 6 Calibrate 5 V U32 WO Write any value 2B00 ADC calibration parameters Array Calibration constants determined 25 mV at production time always stored in EEPROM enable write opera tion by first writing to
29. fer write read there is probably a Slave processor usually when using an ELMB103 so in 13 2313_ SLAVE PRESENT combination with compile option ELMB103 shown above this includes the code that deals with the Slave processor Table 4 Optional compile time macro defines which can be read from Object 5C00h in the source code individual options are surrounded by a double underscore _ 28 ELMB software v2 3 29 Nov 2006 Standardized Device Profile Area according to CiA DS401 Index Sub Description Data Attr Default Comment hex Index Object 6000 Read state 8 Input lines Array 0 Number of 8 bit inputs U8 RO 2 1 Read inputs 1 8 U8 RO ELMB PORTF see Object 6208 3 2 Read inputs 9 16 U8 RO ELMB PORTA see Object 6208 2 3 Read inputs 17 24 U8 RO ELMB PORTC see Object 6208 1 6005 Global Digital Input Inter Bool RW 0 Enable disable change of state rupt Enable TPDO1 transmission 6006 Interrupt Mask Any Array Only bits set to 1 will generate Change 8 input lines a TPDO1 on change 0 Number of 8 bit inputs U8 RO 2 i 1 Interrupt Mask Inputs 1 8 U8 RW FFh 2 Interrupt Mask Inputs 9 16 U8 RW FFh 3 Interrupt Mask Inputs 17 24 U8 RW FFh 6200 Write state 8 Output lines Array 0 Number of 8 bit outputs U8 RO 2 1 Write outputs 1 8 U8 RW ELMB PORTC 2 Write outputs 9 16 U8 RW
30. he ADC conver sion word rate can be set as low as 1 88 Hz The SYNC message is a CAN message with a fixed COB ID and no data bytes ELMB software v2 3 29 Nov 2006 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 it Note also that if both TPDO2 and TPDO3 have transmission type 1 only TPDO3 mes sages are produced unless there are no valid calibration constants for the currently ac tive ADC voltage range e PDO transmission type 255 and Event Timer 0 after every so called Remote Transmission Request RTR or Remote Frame for TPDO2 3 ELMBio starts an analog input channel scan and sends up to 64 TPDO2 3 messages one message for every analog input channel The CAN Remote Frame that constitutes this RTR has no data bytes Host gt ELMBio COB ID 280h NodeID Note that an RTR is sent to and processed by only one particular node e PDO transmission type 255 and Event Timer gt 0 If TPDO2 s event timer OD index 1801h sub 5 or TPDO3 s event timer OD index 1802h sub 5 is set to a value unequal to zero event timer is expressed in units of 1 s ELMBio automatically starts an analog input channel scan resulting in up to 64 TPDO2 or TPDO3 messages triggered by a timer with a period equal to the event timer setting in this mode an RTR also triggers such an input scan If the timer expires whi
31. ion 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 ELMBio NMT Slave COB ID 700h NodeID The reply Node Guard message from a node looks like this ELMBio NMT Slave 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 A Heartbeat message looks like this ELMBio Heartbeat producer gt Consumer s e g NMT Master COB ID DataByte 0 700h NodeID state State is one 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 s
32. its in lower 2 bytes LC 2 12 bits in upper 2 bytes 16 Channel Setup Register 2 U32 RW LC 3 12 bits in lower 2 bytes LC 4 12 bits in upper 2 bytes 17 Channel Setup Register 3 U32 RW LC 5 12 bits in lower 2 bytes LC 6 12 bits in upper 2 bytes 18 Channel Setup Register 4 U32 RW LC 7 12 bits in lower 2 bytes LC 8 12 bits in upper 2 bytes 19 Conversion Word Rate U8 RO 15 in Hz 20 Input Voltage Range U32 RO 5000000 in pV i 21 SPI SCLK signal high U8 RW 150 in us 10 lt value lt 255 period opto coupler delay 22 Input Voltage Range U8 RW 4 3 bit code input channels ADC physical chan 1 0 3 16 19 32 35 and 48 51 23 Input Voltage Range U8 RW 4 3 bit code input channels ADC physical chan 2 4 7 20 23 36 39 and 52 55 24 Input Voltage Range U8 RW 4 3 bit code input channels ADC physical chan 3 8 11 24 27 40 43 and 56 59 a 25 Input Voltage Range U8 RW 4 3 bit code input channels ADC physical chan 4 12 15 28 31 44 47 and 60 63 26 Unipolar Bipolar Mode U8 RW 1 input channels ADC physical chan 1 0 3 16 19 32 35 and 48 51 x 27 Unipolar Bipolar Mode U8 RW 1 input channels ADC physical chan 2 4 7 20 23 36 39 and 52 55 a 28 Unipolar Bipolar Mode U8 RW 1 input channels ADC physical chan 3 8 11 24 27 40 43 and 56 59 29 Unipolar Bipolar Mode U8 RW 1 input channels ADC physical chan 4 12 15 28 31 44 47 and 60 63 000 15 0 Hz 001 30 0 Hz 01
33. l7 pin 2 inl O outl0 SDI inl amp out2 in2 outl8 pin 3 inl l outl l SDO inl 9 out3 ADC_CS DAC_CS1_ _ in3 outl9 pin 4 in 2 outl2 in20 out4 ADC_SCLK DAC_CS2 in4 out20 pin 5 inl 3 outl3 in2I outS ADC_SDI DAC_CS3 inS out21 pin 6 inl4 outl4 in22 out6 ADC_SDO DAC_CS4 in6 out22 pin 7 in 5 outl5 in23 out7 ADC_MUX in7 out23 Table 2 I O pin functions on the ATmegal 28 processor in the ELMBio application use the ELMB in combination with ELMB Motherboard v3 used for various ELMB specific functions DIP switch readout etc SCLK SDI lines carrying SPJ protocol for the onboard CAN controller 4 SDO available externally do not use for devices with slow opto couplers AD_xxx SPI signals for the ELMB onboard ADC and external DAC modules ADC_xxx control signals for the ELMB onboard ADC DAC_CSx select signals for the external DAC modules inn outn digital input n 0 lt n lt 23 or digital output n 0 lt n lt 23 respectively pins are individually configured as either input or out put 3 The ELMBio Application 3 1 Initialisation After power up watchdog reset manual reset or a CANopen initiated reset action i e by an NMT Reset Node message see below a CANopen node sends a 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 ELMBio NMT Slave Host
34. le a chan nel scan is still in progress the trigger is ignored until the next time the timer expires Optionally ELMBio performs a reset and calibration sequence before each ADC channel scan This feature is controlled via OD index 2120h which may be useful for increasing ra diation tolerance of the ADC readout 10 ELMB software v2 3 29 Nov 2006 3 3 4 SDO Readout Analog inputs can also be read individually using CANopen SDO messages see OD index 6404h for readout of ADC channels in ADC counts and OD index 2404h for readout of ADC channels in uV Note that the data in these objects contain a flags byte generated by the ADC hardware 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 3 3 5 Readout on Change ELMBio has 2 modes of readout on change for analog inputs delta change mode and win dow mode These modes can be enabled individually and both may be enabled at the same time Use OD index 2130h to enable or disable delta change mode and OD index 2140h to enable or disable window mode When the global readout on change interrupt for analog inputs is enabled OD index 6423h set to 1 and any one of the delta change or window modes is enabled ELMBi
35. n question In addition the delta change parameter for all channels can be set to the same value in one write operation to OD index 6426h using subindex 255 FFh These parameters are stored onboard in non volatile memory on request in the CANopen standard way 12 Analog In ELMB software v2 3 29 Nov 2006 The delta change mode of analog input readout is illustrated in Figure 2 130 120 CNTR 1 DELTA 10 samples 110 100 90 sample is sent ELMBio put into Operational state 80 Time Figure 2 Illustration of the analog input delta change mode The delta change parame ter is set to 10 Analog input samples marked by an arrow are sent The ex ceed counter in this example is set to 1 3 3 5 2 Window Mode In window mode analog input read out ELMBio asynchronously sends a message when an analog input channel reading has gone below a certain preset lower limit or has exceeded a certain preset upper limit The response to a SYNC message or an RTR Remote Frame is similar to the behaviour de scribed in the section on the delta mode The upper and lower limit parameter can be changed on a per channel basis on the fly and can be written or read expressed only in units of uVolt by writing to or reading from OD index 6424h or 6425h resp Upper and lower limit must differ by at least 1 ADC count to work so this minimum difference in Volt varies according to the ADC configuration In addition the
36. not used x 5 Event timer 1 s U16 RW 0 In units of seconds NB should be in ms according to CANopen active if gt 0 and transmission type 255 1A00 1 Transmit PDO mapping Record Data type PDOMapping 0 Number of entries U8 RO 2 1 Digital inputs 1 8 U32 RO 60000108h OD index 6000 sub index 1 Inputs 1 8 see DSP 401 size 8 bits 2 Digital inputs 9 16 U32 RO 60000208h OD index 6000 sub index 2 Inputs 9 16 see DSP 401 size 8 bits 3 Digital inputs 17 24 U32 RO 60000308h OD index 6000 sub index 2 Inputs 17 24 see DSP 401 size 8 bits 1A01 2 Transmit PDO mapping Record Data type PDOMapping 0 Number of entries U8 RO 2 Should be 255 for MuxPDO but this is not a CANopen MPDO 1 ADC channel number U32 RO 64040008h actually not allowed but 2 24 bit analogue input U32 RO 64040118h OD index 6404 sub index 1 Analogue inputs multiplexed size 24 bits actually the ADC flag bits pre sent in OD index 6404 have been replaced by a byte combin ing the ADC configuration and the two ADC error flags 1A02 3 Transmit PDO mapping Record Data type PDOMapping 0 Number of entries U8 RO 2 should be 255 for MuxPDO but this is not a CANopen MPDO 1 ADC channel number U32 RO 24040008h actually not allowed but who cares it s not important 2 32 bit analogue input U32 RO 24040128h Object 2404 sub index 1 Analogue inputs in volts multiplexed size 40 bits actually the ADC flag bits
37. o starts a con tinuous loop doing conversions of the number of configured ADC channels OD index 2100h sub 1 as soon as it is put into Operational state Now every time a channel s status changes depending on the mode and settings a TPDO3 is generated containing the ADC channel reading in uV Readout on change never generates a TPDO2 with ADC reading in counts unless the calibration constants are not present or invalid for the currently active ADC voltage range If both modes are enabled and a channel satisfies both readout on change conditions in the same channel scan cycle only one message is sent for this channel 3 3 5 1 Delta Change Mode In delta change mode analog input read out ELMBio asynchronously sends a message when an analog input channel reading has increased or decreased by a certain preset amount When the change is detected a message is sent only after a configurable number of consecu tive readings confirm the change We call this number the exceed counter There is only one counter for all channels set in OD index 2150h value must be in the range 1 to 254 After the message has been sent the current analog reading is taken as the new reference value for this channel in the scanning loop 11 ELMB software v2 3 29 Nov 2006 The analog channel input reference values are stored in RAM but not protected against SEE since it is not necessarily considered a bad thing when an analog input channel reading is sen
38. o v4 4 2 for ELMB128 Added remotely configurable CAN node identifier Added objects to ADC Configuration OD 2100h enabling 2 3 29 Nov 2006 multiple voltage ranges Added table with ADC resolution in micro volts Digital in and outputs increased to 24 3 8 Added SPI object 2600 sub 5 bytes read while writing to SPI Describes ELMBio v4 3 3 for ELMB128 Fix error in EEPROM memory map Table 5 Added detailed EEPROM memory maps for Serial Number and calibration constants Describes ELMBio v4 3 3 for ELMB128 ADC delta mode of readout now uses exceed counter too 2 1 19 May 2004 Objects for general purpose SPI access added to OD Toggle bit added to Emergency message Life Guarding enabled by default 70 s 2 0 12 Nov 2003 First version describing ELMBio v4 2 for ELMB128 2 2 13 January 2005 1 x ee Versions describing ELMBio v3 x for ELMB Table 1 Document change record ELMB software v2 3 29 Nov 2006 1 Introduction The Embedded Local Monitor Board ELMB is a plug on board designed for the ATLAS experiment where it will be used for a range of different control and monitoring tasks Full details about the ELMB hardware can be obtained from the ELMB web pages During production the ELMB s ATmegal28 microcontroller 3 flash memory is pro grammed with two application programs 1 a Bootloader in the ELMB microcontroller the upper 8 Kbytes of th
39. oggle bit was added to byte 7 of the Emergency mes sage Byte 7 alternates between the values 00h and 80h from one Emergency message to the next The following Emergency messages may be generated by the ELMBio application note that byte 2 containing the Error Register is not included in the table Error Emarri Manufacturer Specific Error Field Description Error Code byte 3 7 byte 1 0 CAN communication 8100h Byte 3 81C91 Interrupt Register content Byte 4 81C91 Mode Status Register content Byte 5 error counter Byte 6 bus off counter see OD index 3200 sub 3 CAN buffer overrun 8110h CAN message buffer in RAM full at least 1 message was lost Life Guarding time out 8130h CAN controller has been reinitialized RPDO too few bytes 8210h Byte 3 minimum DLC Data Length Code required ADC 5000h Byte 3 Olh conversion timeout Byte 4 ADC channel number 0 63 Byte 5 0 ADC 5000h Byte 3 02h reset failed Byte 4 00h Byte 5 Error id ADC 5000h Byte 3 03h offset calibration failed Byte 4 00h ADC 5000h Byte 3 04h gain calibration failed Byte 4 00h ADC problem s during 5000h Byte 3 10h initialisation Byte 4 ADC status see OD index 1002 ADC calibration con 5000h Byte 3 11h stants not available table continues on the next page 81C91 INT register bits 04h Warning Level 20h Bus Off 40h Error Passive 80h Transmit Check 81C91 MOD
40. orage space Example serial number A123 is stored with A in address 100h 1 in 101h 2 in 102h and 3 in 103h EEPROM ADDR Gain Factor 10 l 0120 25 mV range Phys Chan 1 0122 Gain Factor 10 0123 25 mV range Phys Chan 2 0125 Gain Factor 10 0126 25 mV range Phys Chan 3 0128 Gain Factor 10 0129 25 mV range Phys Chan 4 012B 012C 5x3 15 bytes spare space FFh 013A CRC MSB 0138 CRC LSB 013C V 56h 013D used 013F Calib Constants 0140 55 mV range 015F Calib Constants 0160 100 mV range 017F Calib Constants 0180 LV 2 5 5V ranges 01DF Table 8 Detailed EEPROM memory map of the ELMB analog in calibration constants storage space Each gain factor is 3 bytes in size stored LSB first The ADC has 4 physical inputs currently the gain factor is the same for all 4 inputs 36 ELMB software v2 3 29 Nov 2006 References 1 CAN in Automation e V CANopen Application Layer and Communication Profile CiA DS 301 Version 4 0 16 June 1999 http www can cia de 2 H 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 CANopen30 pdf 3 8 bit AVR Microcontroller with 128K Bytes In System Programmable Flash ATmega128 ATmega128L ATMEL product datasheet http www atmel com products AVR 4 SAE81C90 91 Standalone Full CAN
41. outputs digital in and outputs on device 1001 Error register U8 RO 0 1002 Manufacturer status reg U32 RO 0 see footnote 1008 Manufacturer device name VisStr RO ELMB Embedded Local Monitor Board 1009 Manufacturer hw version VisStr RO el40 ELMB V4 100A 0 Manufacturer software VisStr RO MA44 ELMBio application version 4 4 version see footnote 1 minor version number VisStr RO 0000 100C Guard time ms U16 RO 1000 second 100D Life time factor U8 RW 70 Life Guarding timeout in seconds 0 gt no life guarding timeout Manufacturer Status Register bits 00000001 00000002 00000004 00000008 00000010 00000020 00000040 ADC reset error ADC calibration error ADC conversion time out error reading or writing ADC calibration constant s error reading or writing ADC delta change parameters error reading or writing ADC upper limit parameters error reading or writing ADC lower limit parameters MA version using the ELMB onboard ADC MV version using the ATmegal 28 on chip 8 chan ADC MIN version without any ADC support 19 ELMB software v2 3 29 Nov 2006 Communication Profile Area Index Sub Description Data Attr Default Comment hex Index Object 1010 Store parameters Array Save stuff in onboard EEPROM 0 Highest index supported U8 RO 5 1 S
42. put 16 bit 64 Output 64 U16 RW 64 4 i 6423 Global Analog Input Inter Bool RW 0 Enables disables readout on rupt Enable change TPDO3 transmissions 6424 Analogue Input Interrupt Array v4 2 Upper Limit 0 Number of analog inputs U8 RO 64 ig 1 Input 1 132 RW 1 Voltage in uV signed 2 Input 2 132 RW 1 Voltage in uV signed x 64 Input 64 132 RW 1 Voltage in uV signed 255 All Inputs 1 to 64 132 WO 1 Voltage in uV signed 6425 Analogue Input Interrupt Array v4 2 Lower Limit 0 Number of analog inputs U8 RO 64 i 1 Input 1 132 RW 0 Voltage in uV signed 2 Input 2 132 RW 0 Voltage in uV signed 64 Input 64 132 RW 0 Voltage in uV signed 255 All Inputs 1 to 64 132 WO 0 Voltage in uV signed 6426 Analogue Input Interrupt Array Delta Unsigned 0 Number of analog inputs U8 RO 64 ig 1 Input 1 U32 RW 0 Voltage in uV unsigned 2 Input 2 U32 RW 0 Voltage in uV unsigned 64 Input 64 U32 RW 0 Voltage in uV unsigned 255 All Inputs 1 to 64 U32 WO 0 Voltage in uV unsigned 30 ELMB software v2 3 29 Nov 2006 5 Emergency Objects Emergency messages are triggered by the occurrence of an internal fatal error situation An emergency CAN message has the following general syntax ELMB gt Host COB ID Byte 0 1 Byte 2 Byte 3 7 080h Emergency Error Register Manufacturer specific error field NodeID Error Code Object 1001h Starting from ELMBio version 4 3 a t
43. s defined as input in byte 1 in the RDPO1 message shown above are ignored when setting the outputs Digital outputs can of course also be written to using CANopen SDO messages see OD in dex 6200h 3 6 Analog Outputs Analog outputs are compatible with the DAC module designed and built for ATLAS DCS applications described elsewhere either equipped with MAX5122 DACs or MAX525 DACs With the MAX5122 one DAC module has 4 channels when equipped with the MAX525 one DAC module has 16 channels By default ELMBio assumes MAX5122 type DACs By setting the proper parameter in OD index 2500h MAX525 type DACs can be se lected The two types of DAC module cannot be mixed Four DAC modules can be connected i e directly to the 20 pin J8 connector on the ELMB Motherboard for a total of up to 64 analog output channels when using MAX525 DACs or 16 channels when using MAX5122 DACs 16 ELMB software v2 3 29 Nov 2006 The analog outputs can be written using the CANopen PDO mechanism The CAN identifier used for this PDO is the so called 2 receive PDO RPDO2 of the CANopen Pre defined Connection Set which is the default PDO used for analog outputs according to the CANopen Device Profile for I O Modules 5 i e COB ID 300h NodeID RPDO2 has at least 3 data bytes containing the DAC channel number and a 2 byte DAC value Host ELMBio RPDO2 COB ID DataByte 0 DataByte 2 3 300h NodeID Channel Number DAC value
44. t again just because the reference value in RAM has been corrupted by chance The corrupted reference value is immediately overwritten by the new reading When the node is put into Operational state the ADC reference values are initialized by the readings from the first ADC channel scan cycle An explicit request for data such as a SYNC or a RTR Remote Frame message stops aborts the ongoing channel scan cycle and starts a new scan cycle in which all analog input values are forcibly sent as TPDO2 or TPDO3 messages i e raw ADC counts or voltage values de pending on the TPDO2 and TPDO3 transmission modes and the RTR that triggered the ac tion i e a forced readout ADC scan cycle is started In addition if the transmission mode of the appropriate PDO is set to 255 and the PDO Event Timer set to a value greater than zero the scan cycle is aborted at regular intervals ac cording to the configured interval and a forced readout scan cycle is started A forced readout scan cycle does not affect the currently stored analog input channel reference values The delta change parameter the amount by which an ADC input channel value has changed when its reading is sent in a message can be changed on a per channel basis on the fly and can be written or read expressed only in units of uVolt by writing to or reading from OD in dex 6426h A value of zero for the delta change parameter effectively disables the check for the channel i
45. t here its value is truncated to a multiple of 1000 ELMBio automatically sends a TPDO1 on a regular basis triggered by a timer TPDO1 is also sent after a RTR Automatic sending of a TPDO1 at change of state of the digital inputs can be enabled through OD index 6005h it is disabled by default If enabled in each of the transmission modes listed above ELMBio once put into state Op erational continuously monitors the state of the digital I O inputs and immediately sends a TPDO after it detects a change in any of the inputs A debounce time out is in effect and can be set also to zero see OD index 2200h ELMBio polls the digital inputs roughly about every 0 5 ms also depending on other activities All three digital input ports are shared between digital in and outputs configurable on a bit by bit basis See the next section on how to define whether a bit is input or output Bits de fined as output show up as zeroes in data bytes in the TPDO1 message shown above Note the ports have pull up resistors enabled in their input circuits There is an interrupt mask for each input bit if set a change detected on the corresponding input will trigger a TPDO1 message provided the global digital input interrupt enable men tioned above in OD index 6005h is set the interrupt masks can be set in OD index 6006h sub 1 2 and 3 Digital inputs can of course also be read using CANopen SDO messages see OD index 6000h 15 ELMB software
46. tandard a node is not allowed to support both Node Guarding and Heartbeat protocols at the same time The ELMBio application 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 ELMBio application 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 ELMBio the Life Guarding time out can be set between 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 ELMBio resets and reinitializes the CAN controller and tries to resume s normal opera tion after sending an Emergency message see section 5 ELMB software v2 3 29 Nov 2006 3 3 Analog Inputs 3 3 1 ADC Configuration The ELMB s ADC 6 can be configured for full scale measurement in the ranges 25 mV 55 mV 100 mV 1V 2 5V and 5V unipolar or bipolar with a programmable conversion word rate of 1 8 Hz 7 5 Hz 15
47. te 3 FEh application invalid Byte 4 AAh Byte 5 AAh Byte 6 00h Byte 7 00h 0 PDO communication parameters 1 Guarding parameters 2 ADC configuration 3 Digital I O configuration 4 DAC configuration 5 CAN configuration parameters FEh Calibration constant s FFh ELMB Serial Number 1 ADC delta change values 2 ADC upper limits 3 ADC lower limits i ATmega128 MCUCSR register bits 01h Power On Reset 02h External Reset 04h Brown Out Reset 08h Watchdog Reset 10h JTAG Reset 80h JTAG Interface Disable The Emergency message is actually generated by the Bootloader program 32 ELMB software v2 3 29 Nov 2006 Byte 2 of the Emergency message contains the value of the so called Error Register Object Dictionary index 1001h a mandatory CANopen object One or more bits of the 8 bit Error Register can be set to 1 depending on the node s history of errors since the last reset The ta ble below gives a description of the meaning of the different bits Error Register Object 1001h bits Bit Error type generic current voltage temperature communication device profile specific reserved 0 manufacturer specific SD Nn AIwINI Re oO 33 ELMB software v2 3 29 Nov 2006 6 EEPROM Memory Map Table 5 to Table 8 detail the layout of the ELMB s EEPROM in the ELMBio application Addresses 800h FFFh 2048 bytes are not used EEPROM ADDR DESCR
48. tion is essential if the voltage range in question ever needs to be recalibrated 26 ELMB software v2 3 29 Nov 2006 Manufacturer Specific Profile Area continued Index Sub Description Data Attr Default Comment hex Index Object 3000 Program Code CRC Record 0 Number of entries U8 RO 3 1 Check 16 bit CRC of pro U16 RO 0 SDO reply unequal to zero gram code in FLASH means there is a checksum error memory absence of CRC in flash results in SDO Abort with Error Code 1 error while accessing FLASH re sults in SDO Abort with Error Code 6 2 not used U16 RO 0 3 Get CRC U16 RO Return CRC from flash 3100 ELMB Serial Number U32 RW Number or 4 byte string uniquely identifying an ELMB given during production 3101 Enable ELMB Serial Num U8 WO EXPERT Writing 5Ah enables one write ber write operation ONLY operation on the Serial Number Object 3100h 3200 CAN controller settings Record 0 Number of entries U8 RO 3 1 Disable Remote Frames Bool RW 0 i 2 Enable auto start U8 RW 0 If 1 go to Operational at startup 3 Bus off max retry counter U8 RW 5 A counter is decremented every Is and incremented every time bus off occurs but if it reaches this maximum value the node abandons regaining CAN bus access at bus off if value 255 the node retries indefinitely 4 Received message counter U8 R Counts received CAN messages modulo 256 for
49. tomize the application to fit their needs Alternatively there is also a CANopen firmware framework for the ELMB available for users who need to develop custom I O and control themselves but want to have the benefit of a ready to use framework that handles all CAN and CANopen communication 2 Hardware Configuration Using the onboard DIP switches a node identifier may be set between 1 and 63 the identi fier must be unique on the CAN bus the module is on using 6 of the 8 switches and a CAN bus bit rate of 50 125 250 or 500 kbits s using the 2 remaining switches See Figure 1 below for details Node ID ee i shown here 17 Cy 50 kbit s 125 kbit MT i ae 1234 5678 ae 7 ete O a me Ly 250 kbit s CO CAN Vee eas canada C 500 kbit s mag Programmer RS232 adapter connector Figure 1 Location and function of ELMB DIP switches and the 10 pin Program mer RS232 adapter connector Note that ELMBio version 4 4 0 and newer supports a optional remotely configurable CAN node identifier which if set overrides the DIP switch setting ELMB software v2 3 29 Nov 2006 Table 2 shows the functions of the ELMB microcontroller I O pins They match the I O pin layout for an ELMB plugged on the ELMB Motherboard version 3 I O PORT A B C D E F Function In Out In Out In Out In Out In Out I O ADC pin 0 in8 out8 in16 outO inO outl6 pin 1 in9 out9 SCLK inl 7 outl inl out
50. v2 3 29 Nov 2006 3 5 Digital Outputs The digital outputs can be written using the CANopen PDO mechanism The CAN identifier used for this PDO is the so called 1 receive PDO RPDO1 of the CANopen Pre defined Connection Set which is the default PDO used for digital outputs according to the CANopen Device Profile for I O Modules 5 i e COB ID 200h NodeID RPDO1 has at least 1 data byte containing in each byte the required state of 8 digital outputs Host ELMBio RPDO1 COB ID DataByte 0 DataByte 1 DataByte 2 200h NodeID 8 bit Digital Output 8 bit Digital Output 8 bit Digital Output PORTC out PORTA out PORTF out If RPDO 1 carries only 1 data byte only PORTC gets new settings PORTA remains un changed Once ELMBio is put into state Operational it can receive the RPDO1 and immediately on reception sets its digital outputs according to the values in the RPDO data byte s ELMBio retains the digital output settings only after a soft reset triggered by an NMT Re set Node message After a hard reset power up watchdog the outputs are initialized to ei ther 0 or 1 low or high which can be set by OD index 2300h As mentioned in the previous section the digital ports can be defined bit by bit as either in put or output This is done through the so called Output Filter Mask OD index 6208h bits set to in this mask are output the other bits are automatically defined as input Bit
Download Pdf Manuals
Related Search