EMS CG ARM7/GTI HS/LS, CG ARM7/GTI LS/LS User Manual

CAN/CANGateway

CGARM7/GTI

User Manual

CAN/CAN Gateway CGARM7/GTI

User manual CGARM7/GTI

Document version: 1.02

Documentation date: February 16th, 2018

No part of this document or the software described herein may be reproduced in any form without prior written agreement from EMS Dr.

Thomas Wünsche.

For technical assistance please contact:

EMS Dr. Thomas Wünsche

Sonnenhang 3

D85304 Ilmmünster

Tel. +498441490260

Fax +49844181860

Email: support@emswuensche.com

Our products are continously improved. Due to this fact specifications may be changed at any time and without announcement.

FCC: This device complies with part 15 of the FCC Rules.

Operation is subject to the following two conditions:

(1) This device may not cause harmful interference, and (2) this device must accept any interference received, including interference that may cause undesired operation.

WARNING: EMS hardware and software may not be used in applications where damage to life, health or private property may result from failures in or caused by these components.

ii EMS Dr. Thomas Wünsche

CGARM7/GTI

Content

1 Overview

1.1 Features

1.2 General Description

1.3 Ordering Information

2 Handling

2.1 Connection

2.2 Operation

2.3 Configuration

2.3.1 Configuration File

2.3.2 Programming the Device

2.4 LED

3 Technical Data

3.1 Pin Assignment

3.2 Limiting Values

3.3 Nominal Values

4 Appendix

4.1 Configuration File Example

4.2 Standard CAN Baud Rates

4.3 Instruction for Disposal

4.4 FCC Statement

4.5 CE Conformity

CAN/CAN Gateway

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EMS Dr. Thomas Wünsche iii


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CGARM7/GTI CAN/CAN Gateway

1 Overview

1.1 Features

• Connection of CAN subnetworks with differing data rates

• Filtering and buffering of data traffic

• Support for 11 bit and 29 bit identifier

• Microcontroller NXP LPC2119 with 2 internal CAN controllers

• Serial interface for configuration

• Galvanic separation between CAN channels

• Galvanic separation between CAN channels and power supply

• Optional (Version HS/LS) with 1 high speed (82C251) and one low speed

(TJA1054) transceiver available

• Optional (Version LS/LS) with 2 low speed (TJA1054) transceiver available

1.2 General Description

The CAN/CAN gateway CGARM7/GTI transmits CAN signals between subsystems. CGARM7/GTI allows a flexible design of the wiring topology. Star and tree structures as well as extensive line structures can be realised. The galvanic separation between the

CAN channels allows the use with diverging ground potentials.

Among the available functions are data rate adaption, message filtering as well as identifier conversion between the coupled busses.

The restriction of the maximum data rate depending on cable length for single CAN segments can be abolished for the overall system by the use of CGARM7/GTI.

CGARM7/GTI obtains its potential by using a 32bit microcontroller with 48MHz clock. High speed processing and low latencies allow the use with high data rates and bus loads.

The configuration of the device functions can take place either through CAN or through the builtin RS232 interface. Download software for the configuration is available for Windows PCs as well as Linux PCs .

For special tasks, like modification of the data content of the CAN messages, we over a development kit to write custom specific firmware for CGARM7/GTI.

EMS Dr. Thomas Wünsche 1

CAN/CAN Gateway

1.3 Ordering Information

1220413xx

1220416xx

1220417xx

CGARM7/GTI

CGARM7/GTI Version HS/LS

CGARM7/GTI Version LS/LS

Note: xx denotes language of delivery:

10 German

20 English

CGARM7/GTI

2 EMS Dr. Thomas Wünsche


2 Handling

2.1 Connection

CGARM7/GTI has two male SUBD 9 plugs to connect the two CAN segments. A male SUBD 9 plug is intended for the configuration purpose. Power is supplied by another SUBD 9 male connector. For the HS/LS version the CAN connection has a slightly different connection scheme. The assignment is described in chapter "3.1 Pin assignment".

2.2 Operation

To start up the gateway just connect the power supply, the device starts up automatically. As soon as the automatic diagnostic process is successfully completed the green power LED gets on permanently.

Important note: Ex factory the device offers no configuration and must be configured before its first run. Configuration instructions for the gateway are located in chapter "2.3 Configuration".

2.3 Configuration

The gateway configuration process consists of two steps:

• Creating a configuration file

• Loading the configuration into the device

2.3.1 Configuration File

The configuration file is a text file with the extension *.gcf. This file holds all data needed by the gateway for operation. A complete sample configuration is located in chapter "4.1 Configuration File

Example".

The values can either be entered in decimal or hexadecimal notation.

Using the hexadecimal notation, the character 'x' has to be entered directly before the particular value.



Some parameters are optional. If they are not defined, the gateway uses default settings.

In the following all parameters are listed and described.

# comment

The configuration file can be provided with comments. Comments are prefaced with the character '#' and they end with the particular line.

Example:

# 1st comment key = value # 2nd comment version version

The version number indicates the file format of the configuration file.

It must be 1 for the actual version.

Example: version=1 name name assigned to the configuration

For easier identification of the programmed settings, the configuration can be labeled. The configuration name must not have more than 32 characters and must not contain space characters or tabs. If this key is missing, no name will be assigned. This name can be read out and displayed by the configuration software.

Example: configname=MyOwnConfig


CGARM7/GTI CAN/CAN Gateway btr1, btr2 CAN bit timing

The bit timing key indicates the speed of the particular CAN channel.

BTR1 indicates the baud rate for CAN channel 1, BTR2 the baudrate for CAN channel 2. Both keys must exist in each configuration file.

This keys are directly related to the CANBTR registers of the used controller LPC2119. This allows most flexible customization of the baudrate settings. The basic CAN clock is 48 MHz.

Example:

# CAN channel 1: 1Mbit/s btr1 = x00140005

# CAN channel 2: 500KBit/s btr2 = x001C0005

Standard baud rates recommended by CiA are listed in chapter 4.2

Standard Baudrates.

pidin, pidout program identifier

The program identifiers (PIDs) are required for the gateway configuration via CAN. If you do not want to program the gateway via

CAN, you can remove this keys from your configuration file.

The PIDs determine which identifiers will be used for programming the gateway. "pidin” defines the identifier the configuration software uses to send requests to the gateway. The key "pidout” defines the identifier which the gateway uses to reply to the configuration software.

For CAN channel 1 and CAN channel 2 different PIDs can be set.

But it is also possible to program the gateway just via one CAN channel. To set the identifiers for CAN channel 1 use the keys

"pidin1” and "pidout1". For CAN channel 2 use the keys "pidin2” and

"pidout2".

To use a 29bit identifier prepend the character 'x' before the particular key. Without prefix 11bit identifiers will be sent.


CAN/CAN Gateway

Example:

# PIDs for CAN channel 1

# CAN 1: 11bit INId: 0x5 pidin1 = x5

# CAN 1: 29bit OUTId: 0xA00 xpidout1 = xA00

# PIDs for CAN channel 2

# CAN 2: 29bit INId:0x6E

# xpidin2 = x6E

# CAN 2: 29bit OUTId: 0x1FFE

# xpidout2 = x1FFE

CGARM7/GTI deviceid device identifier

During the configuration process via CAN it is needed that the device can clearly be identified in the network. This process is based on the serial number of the device.

If there is the need to have the configuration process independent of the the serial number, a device id can be assigned. Then the identification of the device depends on the device id and not on the serial number.

Care must be taken to use a particular device id just once in a network, if more than one gateway is used.

The device id can have values beween 1 and 99999999.

Example: deviceid = 50


CGARM7/GTI CAN/CAN Gateway password password

Using a password, the gateway can be protected against unauthorized access. If the key is not defined or the value is set to 0, password protection is disabled. The password is an up to 14digit hexadecimal value.

The password protection supports two security levels.

For the highest level the most significant bit (56th bit) of the password must be 1. This security level prevents any communication with the gateway, if the device has not been unlocked with the correct password before.

If the most significant bit is 0, reading out information about the gateway is enabled. Changing the configuration however is not possible.

Example:

# Security: high password=80 07 05 AF D6 B0 D1

# Security: normal password=00 07 05 AF D6 B0 D1 busoff bus off behavior

This key specifies the period of time in milliseconds, which will pass by until the gateway gets bus on again after a bus off condition has occured. If this value is not defined, the device remains in bus off state. If a bus off time of 0 milliseconds is set, the gateway tries immediately to get bus on again.

Example: busoff=100


CAN/CAN Gateway CGARM7/GTI fil routing

The routing settings contain the filtering and mapping rules for a single identifier or a range of identifiers. Only specified identifier or ranges of identifiers are transmitted and, if existing, a mapping rule is applied. All incoming messages with identifiers to which no rule applies are ignored (defined programming identifiers excepted).

Additionally the frame format must be set within the filtering rule.

On the left side of the assignment there are three parameters:

[inff] fil channel [outff] = ...

inff: Defines the frame format to be accepted for incoming messages.

If inff is set to 's' standard frame format is specified. When set to 'x' extended frame format is specified.

channel: Defines the number of the CAN channel to which the rule is applied for incoming messages; channel may be set to 1 or 2.

outff: Defines the frame format for outgoing messages. If outff is set to 's' standard frame format is specified. When set to 'x' extended frame format is specified.

On the right side of the assignment up to three parameters specify the identifier of the outgoing CAN message.

... = sid [ eid] [: mid]

sid: Defines the identifier the filtering rule is applied to. If a range of identifiers is defined, sid is the start identifier. If the prefix 'x' is added before the value the identifier is interpreted as a hexadecimal number.

eid: Defines the end identifier for a range of identifiers. If only a single identifier is to be specified this value may be missing. If the prefix 'x' is added before the value the identifier is interpreted as a hexadecimal number.

mid: Defines the mapping identifier. This value defines to which start identifier a single or a range of identifiers is mapped. If no mapping is needed, this value may be missing. If the prefix 'x' is added before the value the identifier is interpreted as a hexadecimal number.



Examples:

# The received extended identifiers in the range of

# 0x30 to 0x40 via CAN channel 1 are sent via CAN

# channel 2 as standard identifiers in the range of

# 0x400 to 0x410.

xfil1s = x30 x40 : x400

# The via CAN channel 2 received extended identifier

# 0x1FFFFFFF is sent via CAN channel 1 as extended

# identifier with the value 0x01.

xfil2x = x1FFFFFFF : x1

# The via CAN channel 1 received standard identifiers

# in the range of 0x100 to 0x200 are sent via CAN

# channel 2 as standard identifiers without remapping.

sfil1s = x100 x200



2.3.2 Programming the Device

CGARM7/GTI is programmed by means of the configuration software. It offers the possibility to configure the gateway via serial connection or via CAN. For the configuration a serial cable or a

PC/CAN Interface from EMS Dr. Thomas Wuensche is needed.

The "Program Settings" have to be set to:

• CGARM7

• Program configuration

• A configuration file

The "Interface Settings" have to be set to:

• Use RS232 interface

• The used PC serial interface port

• The serial baudrate used by the CGARM7/GTI device

Within the "Device Settings" the serial number of the CGARM7/GTI has to be set. The serial number can be found on the label of the device.

After all settings are made a click on the "Process" button starts the download. Do not remove power from the device until the process has finished.


CGARM7/GTI

Screenshot of the download tool:

CAN/CAN Gateway

2.4 LED

The device status is displayed by three LEDs.

CAN1 Active If LED is on there is CAN bus activity on channel 1

CAN2 Active

Power

If LED is on there is CAN bus activity on channel 2

If ON the device is supplied with power and has initialized.

If BLINKING device is in configuration mode.



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CGARM7/GTI

3 Technical Data

3.1 Pin Assignment

High speed CAN

Pin Signal

3

7

1, 4, 5, 6, 8, 9 nc

2 CAN_L

GND

CAN_H

Low speed CAN

Pin Signal

1 RTL

2

3

4, 5, 6, 9

7

8

CAN_L

GND nc

CAN_H

RTH

Power Connector

Pin Signal

1,2,4,5,6,7,8 nc

3 GND

9 VCC

Description not connected

CAN low bus line

Ground

CAN high bus line

CAN/CAN Gateway

Description

Connected with Pin 2 by a 5k6 resistor and RTL pin of TJA1054 CAN transceiver

CAN low bus line

Ground not connected

CAN high bus line

Connected with Pin 7 by a 5k6 resistor and RTH pin of TJA1054 CAN transceiver


Ground connection of power supply

Power supply


CAN/CAN Gateway

7

8

3

5

Serial Connector

Pin

1, 4, 6, 9

Signal nc

2 RX

TX

GND

RTS

CTS


RX line of device

TX line of device

GND of serial interface.

Identical as GND of CAN1

RTS output line, not used

CTS input line, not used

CGARM7/GTI

3.2 Limiting Values

Parameter

Storage temperature

Operating temperature

Supply voltage

Min.

40

0

40

Max.

Unit

+80 °C

+60 °C

+30 V

3.3 Nominal Values

Parameter

Supply voltage

Supply consumption (running idle)

CAN Baudrates

Min.

10

10

Typ.

24

40

10

Max.

Unit

30 V

mA

1000 kBit/s


CGARM7/GTI

4 Appendix

4.1 Configuration File Example

# Gateway CGARM7 configuration file

# Baudrate CAN interface 1 1000 kbps btr1=x00140005

# Baudrate CAN interface 2 500 kbps btr2=x001C0005

# Version number of configuration file version=1

# Device ID deviceid=120000

# Set bus off recovery time to 1000 ms busoff=1000

# Password protection: security level

# normal password=11 AA 33 BC

# Configuration name name=router

# Program identifier CAN channel 1 pidin1=x1 # Standard identifier 0x01 xpidout1=x2 # Extended identifier 0x02

# Program identifier CAN channel 2 xpidin2=x10 # Extended identifier 0x10 xpidout2=x20 # Extended identifier 0x20

# Filter settings

# All standard identifiers from CAN channel

# 1 are sent as standard identifiers to CAN

# channel 2 sfil1s=x0x7FF

CAN/CAN Gateway


CAN/CAN Gateway

# All standard identifiers from CAN channel

# 2 are sent as standard identifiers to CAN

# channel 1 sfil2s=x0x7FF

# All extended identifiers from CAN channel

# 1 are sent as extended identifiers to CAN

# channel 2 xfil1x=x0x1FFFFFFF

# All extended identifiers from CAN channel

# 2 are sent as extended identifiers to CAN

# channel 1 xfil2x=x0x1FFFFFFF

CGARM7/GTI

4.2 Standard CAN Baud Rates

Bitrate

1000 kBaud

800 kBaud

500 kBaud

250 kBaud

125 kBaud

100 kBaud

50 kBaud

50 kBaud

10 kBaud

Bit Timing Register

0x00140005

0x00160005

0x001C0005

0x001C000B

0x001C0017

0x001C001D

0x001C003B

0x001C0095

0x001C012B



4.3 Instruction for Disposal

Electronic Equipment Act (WEEE)

EMS is selling its products exclusively to commercial customers. This is the reason why all devices are designed for commercial use and have to be disposed appropriately. In accordance to § 10 para. 2 clause 3 Electronic Equipment Act (WEEE) the disposal of EMS products is regulated the following way.

The equipment must not be disposed at the public collection points.

In accordance with the applicable law the disposal has to be done by the customer for own account. The same applies to products, which have been sold to third parties, if those parties do not take care of a disposal in accordance to the applicable law. As an alternative the products can be returned to EMS free of charge.

4.4 FCC Statement

NOTE: This equipment has been tested and found to comply with the limits for a Class A digital device, pursuant to Part 15 of the FCC

Rules. These limits are designed to provide reasonable protection against harmful interference when the equipment is operated in a commercial environment. This equipment generates, uses, and can radiate radio frequency energy and, if not installed and used in accordance with the instruction manual, may cause harmful interference to radio communications. Operation of this equipment in a residential area is likely to cause harmful interference in which case the user will be required to correct the interference at his own expense.


CGARM7/GTI

4.5 CE Conformity

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EMS CG ARM7/GTI HS/LS, CG ARM7/GTI LS/LS User Manual

CAN/CAN­Gateway

User Manual

Content

1 Overview

2 Handling

3 Technical Data

4 Appendix

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