EMS SerCAN-ARM7 User Manual

Serial/CAN-Gateway

SerCAN-ARM7/RMD

User Manual

EM

S

Thomas Wünsche

Serial/CAN Gateway SerCAN-ARM7/RMD

User manual SerCAN-ARM7/RMD

Document version: 1.03

Documentation date: May 05th, 2011

This document describes the functionality of the SerCAN-ARM7/RMD hardware with firmware version 2.00. Please contact EMS Dr. Thomas

Wünsche, if you have a module with different firmware.

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

D-85304 Ilmmünster

Tel. +49-8441-490260

Fax +49-8441-81860

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

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.

2

EMS Dr. Thomas Wünsche

SerCAN-ARM7/RMD

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

Serial/CAN Gateway

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Serial/CAN Gateway

THIS PAGE INTENTIONALLY LEFT BLANK

SerCAN-ARM7/RMD

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SerCAN-ARM7/RMD Serial/CAN Gateway

1 Overview

1.1 Features

• Connection of a CAN network to a RS232 interface

• Filtering of CAN messages

• CAN bus activity displayed by LED

• Configuration via RS232 connection

• Wiring using a multiway connector

• Available also with low speed CAN transceiver NXP TJA1054

1.2 General description

The Serial/CAN gateway SerCAN-ARM7 connects a CAN network to a RS232 interface. The capability of having different baud rates on the CAN side as well as on the RS232 side marks the devices a versatile tool for a lot of applications. Bandwith differences between

CAN and RS232 may be overcome by CAN message filtering.

The device is also available with a low speed physical CAN interface using NXP CAN transceiver TJA1054 (SerCAN-ARM7/RMD/LS).

The device is configured via the RS232 interface. Due to the intuitive structure of the configuration file in ASCII format, programming and administration is easy.

1.3 Ordering information

12-20-202-20

12-20-203-20

SerCAN-ARM7/RMD

SerCAN-ARM7/RMD/LS


5

Serial/CAN Gateway


SerCAN-ARM7/RMD

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2 Handling

2.1 Connection

SerCAN-ARM7 has a multiway connector for flexible wiring of the

CAN interface and the power supply. The RS232 interface has a standard SUB-D-9 male connector and is used for normal operation as well as for the configuration purpose.

The connector assignment of the multiway connector and the RS232 interface 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 lites up 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.


7


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

configname name assigned to the configuration

For easier identification of the programmed settings, the configration 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.

Example:

configname=MyOwnConfig

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canbaudrate CAN bit timing

The CAN bit timing key indicates the speed of the CAN interface.

This key is mandatory and is related directly to the CANBTR0 register of the used controller LPC2119. This allows most flexible customization of the baudrate settings. The basic CAN clock is

48MHz.

Example:

# 500 kBaud canbaudrate = x001c0005

serialbaudrate serial baud rate

The serial baudrate key is optional. If it is not set, the default baudrate of 57600 baud will be used. A particular value is calculated with the following equation: serialbaudrate = 48000000/(16*BAUDRATE)

The results for some standard values are given below:

9600 Baud

19200 Baud

38400 Baud

57600 Baud

115200 Baud

: 312

: 156

: 78

: 52

: 26

The line settings for the RS232 interface is always 8 data bits, no parity, 1 stop bit (8N1).

The maximum usable baud rate is limited by the serial transceiver chip to 115200 baud.

Please note, that if a serial baud rate is programmed, which is not supported by the PC used for the configuration process, a reconfiguration may become hard to accomplish.

Example:

# serial baud rate set to 57600 serialbaudrate=52


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bus off 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 s filter, xfilter filter key

This key defines which received CAN messages will be filtered out or not. Either a particular identifier or a range of identifiers can be specified. A message which should pass to the RS232 interface must have a filter rule set. The "sfilter" key relates to 11bit identifier messages, whereas "xfilter" relates to 29bit identifier.

Example:

# A range of 11bit messages starting with id 0 and

# ending with id 100h will pass the filter.

sfilter=x0-x100

# A range of 29bit messages starting with id 100h and

# ending with id 1000h will pass the filter.

xfilter=x0-x10

2.3.2 Programming the Device

SerCAN-ARM7 is programmed by means of the configuration software. It offers the possibility to configure the gateway via the

RS232 interface. A "nullmodem" cable has to be used to connect to the host PC.

The "Program Settings" have to be set to:

• SerCAN-ARM7/RMD

• Program configuration

• a configuration file

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The "Interface Settings" have to be set to:

• Use RS232 interface

• the used PC serial interface port

• the serial baudrate used by the SerCAN-ARM7 device

Within the "Device Settings" the serial number of the SerCAN-ARM7 has to be set. The serial number can be found on a label on the rear side 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.

Screenshot of the download tool:


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2.4 LED

The device status is displayed by three LEDs.

Power

On

The device is CAN bus on and in normal operation mode

Off The device is CAN bus off

Blinking The device is in programming mode

CAN Active

On There is CAN bus activity

Off There is no CAN bus activity

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3 Technical Data

3.1 Pin Assignment

Pin Assignment multiway connector SerCAN-ARM7/RMD

Pin

1

6

7

8

2

3

4

5

Signal

+24V

GND

GND

CAN_H

CAN_L

GND

GND

GND

Description

+24 Volt power supply

Ground*

Ground*

CAN high bus line

CAN low bus line

Ground*

Bootloader

(connect to Vcc to enter bootloader mode)

Bootloader

(connect to GND to enter bootloader mode)

Pin Assignment multiway connector SerCAN-ARM7/RMD/LS

Pin Signal Description

1

2

3

4

5

6

+24V

GND

GND

CAN_H

CAN_L

GND

+24 Volt power supply

Ground*

Ground*

CAN high bus line

CAN low bus line

7 RTH

Ground*

Connected with Pin 4 by a 5k6 resistor and

RTH pin of TJA1054 CAN transceiver

8 RTL Connected with Pin 5 by a 5k6 resistor and

RTL pin of TJA1054 CAN transceiver

*internal connected


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Pin assignment RS232

Pin

1

8

9

6

7

4

5

2

3

Signal

RxD

TxD

GND

RTS

CTS

Description

not connected

Receive signal

Transmit signal

not connected

Ground

not connected

not used

not used

not connected

3.2 Limiting Values

Parameter

Storage temperature

Operating temperature

Supply voltage

3.3 Nominal Values

Parameter

Supply voltage

CAN Baudrates

Min.

Max.

Unit

-20 80 °C

0 60

-100 30

°C

V

Min.

Max.

Unit

10 30 V

10 1000

kBit/s

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4 Appendix

4.1 Configuration File Example

# Serial/CAN Gateway SerCAN-ARM7 configuration file

# Version number of configuration file version=1

# CAN baud rate set to 500kBaud canbaudrate=x001C0005

# RS232 baud rate set to 57.6 kBaud serialbaudrate=52

# set CAN bus off recovery time to 500ms busoff=500

# filter settings

# all 11bit CAN identifier are routed sfilter=x0-x7FF

# all 29bit CAN identifiers are routed xfilter=x0-x1FFFFFFF

4.2 Standard CAN Baud Rates

baud rate

1000 kBaud

800 kBaud

500 kBaud

250 kBaud

125 kBaud

100 kBaud

50 kBaud

20kBaud

10 kBaud

canbaudrate value

0x00140005

0x00160005

0x001C0005

0x001C000B

0x001C0017

0x001C001D

0x001C003B

0x001C0095

0x001C012B


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4.3 Serial Protocol Specification

A block oriented protocol is used for message exchange between

RS232 and CAN.

Format of a data block:

Start

Type

Length Data Checksum End

1 byte 1 byte 1 byte

'length' - 4 bytes

2 bytes 1 byte

The 'length' byte counts the number of bytes in the fields 'type',

'length', 'data' and 'checksum'. The two checksum bytes contain the byte by byte summarization of the fields 'type', 'length' and 'data'.

A number of special characters are used. Reserved characters have values less or equal 7.

The following three special characters are used:

Special character Value Description

BEGINOFDATA 0x00

Marks the start of a block

ENDOFDATA 0x01

Marks the end of a block

ESCAPE 0x02 The following character is no special character. This allows the transmission of special characters in the fields 'type',

'length', 'data' and 'checksum'.

In case that a special character has to be transmitted within the data field, it must be preceeded by an ESCAPE character and the most significant bit of the character has to be set.

Example: Transmission of 0x01

Transmitted is 0x02 (ESCAPE) followed by 0x81 (0x01|0x80).

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The meaning of the bytes in the 'data' field is indicated by the 'type' field.

Type

Value Description

CAN 0x08

Denotes a CAN message with 11bit identifier

XCAN 0x09 Denotes a CAN message with 29bit identifier

A message block of type 'CAN' has the following structure:

ID RTR

Length Data

2 bytes low byte first

1 byte

0xFF: RTR frame

0x7F: data frame

1 byte data frame: Number of data bytes corresponding to 'Length'

RTR frame: 0 bytes

A message block of type 'XCAN' has the following structure:

ID RTR

Length Data

4 bytes low byte first

1 byte

0xFF: RTR frame

0x7F: data frame

1 byte data frame: Number of data bytes corresponding to 'Length'

RTR frame: 0 bytes


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18


SerCAN-ARM7/RMD


Serial/CAN Gateway


19

EMS SerCAN-ARM7 User Manual

Serial/CAN-Gateway

User Manual

Content

1 Overview

2 Handling

3 Technical Data

4 Appendix

'length' - 4 bytes

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