CANopen B-sensor readout system user manual, version 0.4
Contents
1. C 5523 physical channel AIN4 _ 17 GainRegister 4 U32 LEN C 5523 physical channel AIN4 _ I i ZE a Zere LC 2 12 bits in upper 2 bytes EEE E E Zia in upper 2 bytes LC 4 12 bits in upper 2 bytes EEE eee Zerria LC 6 12 bits in upper 2 bytes P a IE Zauria LC 8 12 bits in upper 2 bytes all B sensor modules Pee a ae ee U d 3002 B sensor 2 ADC config Record NB some settings are global for e B sensor modules 307F B sensor 127 ADC config Record NB some settings are global for all B sensor modules 000 15 0Hz 001 30 0Hz 010 61 6Hz 011 84 5 Hz 100 101 1 Hz 101 1 88Hz 110 3 76 Hz 111 7 51 Hz 000 100mV 001 55 mV 010 25 mV O11 1 V 100 5 V 101 2 5 V 10 BsCAN CANopen module v0 4 29 May 2001 Manufacturer specific Profile Area BsCAN Index Sub Name Data Attr Default Comment hex Index Object 3100 B sensor module status Record Error status one bit per B sensor e gt ee 1 Error or Absent O Number ofentries JK EO e oo 2 status B sensors 31 63 U32 RO Oxf 0 3 status B sensors 63 95 U32__ RO Oxf o 4 status B sensors 96 127 U32 RO PSE 3200 ADC reset and calibrate Writing any value triggers a reset B sensor 0 and calibration sequence on B sensor 0 with its current ADC settings _ bei el ll iad rate B sensor 1 a Per ziz rre B sensor 2 bie S e get es ba ae a ea eee a ete eei ea oo ZEH ADC2. B sensor channel number U32 RO 30000108 OD index 3000 sub index 1 size 8 bits 40xx0y18 OD index 40xx sub index y Analogue inputs multiplexed size 24 bits BsCAN CANopen module v0 4 29 May 2001 Manufacturer specific Profile Area BsCAN Index Sub Name Data Attr Default Comment hex Index Object 3000 B sensor 0 ADC config Record CRYSTAL CS5524 24 bit ADC O Number ofentries JES RO Zu __ Number of input channels U8 _ RO_ _7__ Conversion Word Rate U8 3 bit code Global setting ERA sensors 3 Input Voltage Range Hall w wji o 3 bit code Global setting i Unipolar Bipolar 0 bipolar 1 unipolar Measurement Mode Hall Global setting E 5 Conversion Word Rate U8 RW 0 3 bit code Global setting Temperature sensor ea E RW L 3 bit code Global setting Measurement Mode Temp Global setting 8 Power Save Mode Bool _ wO l powersave 9 Configuration Register U32 LEN C 5523 Config Register kJ Offset Register 1 LEN C 5523 physical channel AINI _ gt 11 GainRegister U32 RW_ CS 5523 physical channel AINI _ 12 OffetRegister 2 U32 RW C 5523 physical channel AIN2 _ 13 Gain egie U32 LEN C 5523 physical channel AIN2 _ 14 OffetRegister 3 U32 LEN C 5523 physical channel AIN3 _ 15 GainRegister 3 U32 LEN C 5523 physical channel AIN3 _ 16 OffetRegister 4 U32 LEN
3. node to this CAN message Host NMT Master gt BsCAN NMT Slave COB ID Byte 0 0x000 l Node ID or 0 Start Remote Node all nodes on the bus BsCAN CANopen module v0 4 29 May 2001 2 2 Configuration To trigger the BsCAN node to probe its strings for B sensor modules and store the newly found configuration to non volatile memory a CANopen SDO Service Data Object message must be send to read Object 5000h subindex 0 see the Object Dictionary in section 3 All B sensors found are subsequently reset and calibrated The reply message sent has one signifi cant databyte containing the total number of B sensor modules found Here is a description of these CAN messages the SDO client request from host and SDO server reply from BsCAN CAN message Host BsCAN Byte COB ID corp TE E E 0x600 0x40 0x00 0x50 0x00 NodeID Assuming everything went well and the number of B sensor modules found is 30 2Dh BsCAN replies with the following message BsCAN Host reiz Eee UE 0x580 0x4F 0x00 0x50 0x00 0x2D NodeID A full probing operation scanning 8 strings each for addresses 0 to 127 takes approxi mately 10 seconds to complete also depending on the number of modules found If for any reason an SDO client request from the host fails BsCAN replies with a so called SDO Abort Transfer message this message has the following syntax BsCAN Host Se SiS eo 4 7 Ox580 0x80 index index
4. one B sensor module are about 1 5 ms apart The time between the last message of one B sensor module and the first message of the next B sensor module is about 5 ms For example read out of 32 B sensor modules on 4 strings by one BsCAN box takes about 4 80 4 5 32 1 5 ms which is roughly about 0 4 seconds from start to finish The message containing an ADC value is called a TPDO Transmit Process Data Object in CANopen jargon which is a message without any further CANopen protocol overhead The data bytes in the message contain application data only BsCAN CANopen module v0 4 29 May 2001 BsCAN will produce per channel the following 6 databyte TPDO message containing the data for one ADC channel conversion BsCAN Host TPDO COB ID Byte 0 Byte 1 Byte 2 Byte 3 5 with Address B sensor module address between 0 and 127 Chan no 0 Hall H1 1 Hall H2 2 Hall H3 3 T sensor ADC value 24 bits value LSB in byte 3 MSB in byte 5 ADC config bit 7 not used bits 6 0 ADC configuration conversion word rate bits WO W1 and W2 gain range bits GO G1 and G2 and unipolar or bipolar bit U B see be low For definitions see OD index 3000h 307Fh sub 2 3 4 5 6 and 7 BIT La 6 ak 2 E A Meaning W2 W1 wo G2 Gi GO HO NB BsCAN supports other modes of readout for this PDO e g timer triggered but this is not further described in detail here Example messages with ADC data BsCAN Ho
5. reset and calibrate Ma EE reset calib of B sensor 127 B sensor 127 ADC all B sensors in config B sensor 0 e d erua address 0 hU Number ofentries UE RO ea e E ea ea ee 2 Input 2 Hall sensorH2 JZ RO fH o o 3 Input 3 Hall sensorH3_ JZ RO BM Y kd Input 4 currentsense 24 RO A o o dud Input 5 NTC T sensor JZ RO 50 o 6 Input 6 0 C calibinput 24 TRO 6 o 7 Input 7 100 C calib input 124 RO UM o S B sensor 1 e e ea 1 e eb ea ee d analogue input 24 bits analogue value B sensor 127 ZIZ B sensor 127 11 BsCAN CANopen module v0 4 29 May 2001 Manufacturer specific Profile Area BsCAN Index Sub Name Data Attr Default Comment hex Index Object 4100 __ B sensor address list Total number of B sensors br reren of modules found when probing see Object 5000 IL Addressof 1 B sensor JUS RO do E ere Pr ee ee reei db Address ofn B sensor IHS EO 4200 Number of B sensors per Array string 0 Total number of strings U8 RO 8 l Number of B sensors on string 0 string 1 string 2 string 3 string 4 Lega a a a string 5 string 6 string 7 4300 B sensor to string mapping Aray ee not found in any of the strings 1 string withB sensor 1 U8 RO o o 3 string with sensor us Ro e aS a ee Pe 127 string with B sensor 127 U8 RO ooo S stores newly found mapping Object 4300 in EEPROM resets and c
6. subindex Abort Code NodeID LSB MSB See Table 1 below for a description of some Abort Codes see also 2 BsCAN CANopen module v0 4 29 May 2001 Abort Code 0503 0000 Toggle bit not alternated 0602 0000 Object does not exist in the Object Dictionary 0800 0000 Table 1 SDO Abort Domain Transfer descriptions of some Abort Codes in byte 4 7 2 3 Read out To trigger the read out of all connected B modules their 3 Hall sensors and 1 T sensor a socalled SYNC message must be send The SYNC message is a CAN message with a fixed COB ID and no data bytes Host all SYNC slave nodes COB ID 0x080 After receiving this message the BsCAN node starts up a sequence of AD conversions on all B sensor modules simultaneously to convert the H1 H2 and H3 Hall sensors and the T sensor and subsequently reads out the converted analog inputs and sends them one by one in a message on the CAN bus Strings are scanned for data from BsCAN string connector 0 to connector 7 and B sensor modules on one string are scanned from the lowest to the highest B sensor module address Per B sensor module the messages arrive in the order H1 H2 H3 and T respectively In practice this means that after a conversion sequence is started a SYNC message is re ceived by the BsCAN node it takes about 4 80 320 ms for the conversion sequence to com plete and the first message arrives for an AD conversion wordrate of 15 Hz The 4 messages from
7. 000 Byte 3 55 problem s dur ing initialisation Note that the Error Register Object Dictionary index 0x1001 can have one or more of the bits shown above set depending on the node s history of errors since the last reset The table shows the Error Register bit that gets additionally set when the corresponding error occurs 0 PDO communication parameters 1 Guarding parameters 2 ADC configuration 3 Bsensor to string mapping idem 01 Reset Valid bit not set 02 Reset Valid bit not reset 04 error in Offset Register value 08 error in Gain Register value 3 13 BsCAN CANopen module v0 4 29 May 2001 References 1 H Boterenbrood B sensor with addressable Serial Peripheral Interface Version 1 3 NIKHEF Amsterdam 27 March 2001 http www nikhef nl pub departments ct po html Bsensor Bsensor pdf 2 H Boterenbrood CANopen high level protocol for CAN bus Version 3 0 NIKHEF Amsterdam 20 March 2000 http www nikhef nl pub departments ct po doc CANopen30 pdf 3 CRYSTAL C 5521 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 14
8. BsCAN CANopen module v0 4 29 May 2001 i ZA b Crystal CAN CAN bus node 970728 CANopen B sensor readout system user manual version 0 4 29 May 2001 Henk Boterenbrood boterenbrood nikhef nl MR BsCAN CANopen module v0 4 29 May 2001 Table of Contents L INTRODUCTION EEE 2 SES GKN LZ SINN BAEk 4 SR TINTAL baie Bea 4 Dae SOON PIGUIIRA TION sis Succ aince ceases ces NAE 5 dk DOT a A Nr he ee entree ere Rents Te EEE 6 3 BSCAN OBJECT DICTIONARY EEA 8 4 EMERGENCY OBJECTS zacre a a a Ca ORSON ILESA 13 REPEERENC Haz 14 1 introduction The BsCAN CANopen application is a custom made solution for reading out multiple ad dressable B sensor modules described in 1 using the CAN bus and the CANopen protocol 2 for communication with a host system BsCAN is implemented on a CRYSTAL CAN V2 box which has been slightly modified for this application a general purpose microcontroller module with CAN interface and eight SPI Serial Peripheral Interface connectors for linking up to external I O The CRYSTAL CAN V2 module is built around a 16 MHz Philips 80C592 8 bit micro controller with on chip CAN controller It provides 48 kByte of user program memory and 63 5 kByte of user RAM 1 Program code in standard Intel Hex format can be downloaded directly via the RS232 port which is accessible only after opening the box The BsCAN box can have up to 8 strings of B sensor modules connected to its SPI connec
9. alibrates all B sensors found returns Object 4100 sub 0 takes about 10 s to complete 12 BsCAN CANopen module v0 4 29 May 2001 4 Emergency Objects Emergency messages are triggered by the occurrence of an internal fatal error situation An emergency CAN message has the following general syntax BsCAN gt Host COB ID Byte 0 1 Byte 2 Byte 3 7 O80h Emergency Error Register Manufacturer specific error field NodelID Error Code Object 0x1001 The following Emergency messages can be generated by the BsCAN application Emergenc i Error FRES D E E Manufacturer specific Error Field ipti byte 3 7 Description Con byte 2 byte 3 7 CAN commu 8100 10 Byte 3 81C91 Interrupt Register content nication Byte 4 81C91 Mode Status Register content Byte 5 error counter EEPROM 5000 Byte 3 41 write failed Byte 4 Parameter block index Byte 5 0 writing block info gt 0 size of parameter block to write EEPROM 5000 Byte 3 42 read error Byte 4 Parameter block index Byte 5 Error id 1 CRC 2 length 4 infoblock B sensor ADC 5000 Byte 3 51 conversion TE Byte 4 B sensor address 0 127 timeout Byte 5 ADC channel number 0 3 B sensor ADC 5000 Byte 3 52 reset failed Byte 4 B sensor address 0 127 Byte 5 Error id B sensor ADC 5000 Byte 3 53 offset calibra Byte 4 B sensor address 0 127 tion failed gain calibration Byte 4 B sensor address 0 127 failed B sensor ADC 5
10. ed off and on for the on chip RC oscillator to start running After power up watchdog reset manual reset or CANopen initiated reset actions a CANopen node sends a so called Bootup message a Network ManagemenT NMT message defined in the CANopen standard as soon as it has finished initialisting which takes a couple of sec onds this is a CAN message with the following syntax BsCAN NMT Slave Host NMT Master COB ID 0x700 NodeID E 4 The COB ID is the Communication Object Identifier the 11 bit CAN message identifier de fining one unit of transportation in a CAN network The NodelD is the CAN node identifier set by means of the CRYSTAL CAN V2 switches accessible on the frontpanel which must be in the range between 1 and 127 To simplify matters after power up or reset the BsCAN node automatically goes into Opera tional state and the host application can immediately start reading out the B sensor modules by sending CANopen SYNC messages see section 2 3 for details Note that the CANopen standard defines that after power up reset a node goes into Preop erational state Before any input channels can be read using the PDO mechanism the con nected CANopen nodes have to be set into the Operational state If for any reason the BsCAN node has been set into another state see 2 other than Operational it can be set into the Op erational state using the 2 databyte NMT message shown below There is no reply from the
11. ngs to a BsCAN box or moving a B sensor module from one string to another it is neces sary to initiate a configure operation on the BsCAN box During this operation the BsCAN box will determine automatically where and which B sensor modules are connected to it sub sequently store the new configuration in its onboard non volatile memory and finally reset and calibrate all B sensor modules for details see 1 At every subsequent power up or reset the system assumes this configuration is the current configuration and repeat the reset and cali brate operation on the B sensor modules The user will be informed about any B sensor modules missing or not functioning or having changed string position Added B sensors are ignored and are not read out until after the next configure operation As seen from a controlling host system B sensor modules are accessed on the basis of their unique address and CAN node module id only their location on a string is irrelevant All information about a BsCAN s current configuration can be read from a number of entries in its Object Dictionary see section 3 BsCAN CANopen module v0 4 29 May 2001 2 Operation 2 1 Initialisation Important e When powering up the system it should be switched off and immediately af ter switched on again due to a hardware bug in the B sensor microcontrol ler Atmel AT90LS2343 the program in the microcontroller does not start up at the first power up it needs to be power
12. st This is a message from BsCAN node 16 Node D 0x290 0x280 0x10 see COB ID e B sensor 19 0x13 Byte 0 e Hall sensor H2 channel number 2 Byte 1 e Gain range 100 mV bipolar conversion word rate 15 0 Hz Byte 2 e 24 bit ADC value 10576 OxFFD6BO0 Byte 3 4 5 Note a Hall sensor conversion value is a 24 bit signed number note the negative value above BsCAN gt Host This is a message from BsCAN node 16 Node D 0x290 0x280 0x10 see COB ID e B sensor 19 0x13 Byte 0 e T sensor channel number 3 Byte 1 e Gain range 2 5 V unipolar conversion word rate 15 0 Hz Byte 2 e 24 bit ADC value 624306 0x986B26 Byte 3 4 5 Note a T sensor conversion value is a 24 bit unsigned number BsCAN CANopen module v0 4 29 May 2001 3 BsCAN Object Dictionary The values of objects marked with in the ndex column can be saved in EEPROM for per manent storage in non volatile memory They are retrieved from EEPROM at reset and power up The B sensor mapping Object 4300 is automatically stored Communication Profile Area BsCAN Index Sub Name Data Attr Default Comment hex Index Object 1000 Device type 00040191h Meaning DSP 401 device pro file analogue inputs on device 1001 Error register U8 RO 0 1002 Manufacturer status reg U32 RO 0 see footnote 1008 Manufacturer device name VisStr d CRYS CRYSTAL CAN 1009 Manufacturer hw version VisStr CRY2 CRYSTAL CAN V2 100A Manufact
13. tors A string is one 10 wire flat cable with one or more B sensor modules A special adapter module is needed between the B sensor cable and the CRYSTAL CAN s SPI connector It provides the proper connector conversion and signal buffering The number of B sensor modules connected to one string and to one BsCAN box is only limited by electrical conditions and in practice means that up to about 10 B sensor modules can be connected to one string and a total of up to 30 to 40 B sensor modules can be con nected to one BsCAN box A string can have a length of up to about 15 meter preliminary information tested and working is a cable of 10 meters with 10 B sensor modules See Figure 1 for an example of a BsCAN system configuration A requirement is that the B sensor modules connected to one BsCAN box must have a unique address The address of a B sensor is printed on a sticker on the board and is a number that lies between 0 and 127 This address is stored on board in non volatile memory for de tails see 1 BsCAN CANopen module v0 4 29 May 2001 adapter to next CAN node adapter adapter CRYSTAL CAN V2 CAN bus to host system Figure 1 Schematic picture of a BsCAN system consisting of 3 strings and a number of B sensor modules A B sensor module can be added to the system onto any string and a string can be connected to any of the 8 CRYSTAL CAN V2 SPI connectors However after adding B sensors or stri
14. urer software VisStr be BC10 BsCAN application v1 0 version 100C Guard time ms 1000 x 1010 __ Store parameters Array Save stuff in onboard EEPROM o Highest index supported U8 RO Zb I Save all parameters Eate Read 1 Write dE store all rameters _ PDO GO Life time Ee BE ADC config 1011 Restore default parameters Array Invalidate stuff in onboard eta a e use defaults berta ee eee eda all parameters stored parameters date stored PDO par s etc date stored ADC config etc 1017 Producer Heartbeat Time U16 RO Truncated to multiples of 1000 t 1 ms 30 s if Heartbeat enabled 1018 a rs ae Mandatory CANopen object O Numberofentries 1 4 RO 1 1 Vendor ID Manufacturer Status Register status for B sensor modules 0 to 31 1 bit per module O OKAY 1 Error Absent BsCAN CANopen module v0 4 29 May 2001 Communication Profile Area BsCAN continued Index Sub Name Data Attr Default Comment hex Index Object 1801 2 Transmit PDO par s Record __ Data type PDOCommPar_ RRP RR aC BSR erdi EO Ere NodeID fined Connection Set AAA EE EAEE fo not used Event timer 5 ms U16 RW bri ert to multiples of 1000 active if transm type 255 1A01 ete d Transmit PDO mapping St Data type PDOMapping Number of entries should be 255 for MuxPDO but this is not a CANopen MPDO l B sensor ADC address U32 RO 40000008 actually not allowed but 2
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