ELMBio User Documentation v1.7

ELMB software v2.0 12-Nov-2003

CANopen

(

Application Software for the

ELMB128

Embedded Local Monitor Board

)

(approx. true size)

Henk Boterenbrood

NIKHEF, Amsterdam

12 Nov 2003

Version 2.0

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.

1


Contents

1 INTRODUCTION.............................................................................................................. 3

2 HARDWARE CONFIGURATION.................................................................................. 5

3 THE ELMBIO APPLICATION........................................................................................ 6

3.1 I

NITIALISATION

............................................................................................................... 6

3.2 A

NALOG

I

NPUTS

............................................................................................................. 7

3.2.1 ADC Configuration................................................................................................. 7

3.2.2 Calibration Constants............................................................................................. 7

3.2.3 PDO Readout .......................................................................................................... 7

3.2.4 Readout on Change................................................................................................. 9

3.2.4.1

Delta-Mode

........................................................................................................................................ 10

3.2.4.2

Window-Mode

................................................................................................................................. 11

3.3 D

IGITAL

I

NPUTS

............................................................................................................ 13

3.4 D

IGITAL

O

UTPUTS

........................................................................................................ 14

3.5 A

NALOG

O

UTPUTS

........................................................................................................ 14

3.6 S

TORING

P

ARAMETERS AND

S

ETTINGS

......................................................................... 15

4 EEPROM MEMORY MAP ............................................................................................ 17

5 OBJECT DICTIONARY................................................................................................. 19

6 EMERGENCY OBJECTS .............................................................................................. 30

REFERENCES........................................................................................................................ 32

Version History

Version Date

2.0 12 Nov 2003

Comments

First version describing ELMBio v4.2 for ELMB128.

1.x …

Table 1. Document change record.

2


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 webpages

1

.

During production the ELMB’s ATmega128 microcontroller is fitted with two application programs:

1. a Bootloader: in the ELMB microcontroller the upper 8 Kbyte of the 128 Kbyte flash memory is reserved for the socalled Bootloader, a separate application that takes care the In-

Application-Programming. At the time of production of the ELMB, a Bootloader is installed, called ELMBbl, which enables reprogramming of the ELMB microcontroller via the CAN-bus using the CANopen protocol. This Bootloader is described in a separate document.

2. a CANopen I/O application for production acceptance testing and subsequent use as a general-purpose analog/digital input and output application. This 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 onboard ADC and multiplexors –if present– 64 analog input channels, up to 16 digital inputs (microcontroller PORTF and PORTA) and up to 16 digital outputs (microcontroller PORTC and PORTA). In addition it has support for an external DAC-module (result of a separate development), 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 socalled "process data" –in the case of ELMBio, the analog and digital inputs and outputs– can efficiently be read out (or written to) using CANopen PDO (Process 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 the receivers may also find out about the data content of a PDO by consulting the PDO Mapping Parame-

ters in the Object Dictionary of the producer of the PDO).

ELMBio supports a total of 5 PDOs: two Transmit-PDO for the analog inputs (one for raw

ADC-counts and one for physical values (

µVolts)), 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 5.

1 http://elmb.web.cern.ch/

3


Many of the features are configurable using standard CANopen messages. Settings can be stored permanently in onboard EEPROM, also using standard CANopen messages.

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 application to SEE (Single Event Effects) due to radiation.

The source code of ELMBio source code is freely available for users who want to customize the application to fit their needs. Alternatively, there is also a CANopen firmware framework 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.

4


Using the onboard DIP-switches a node identifier must be set between 1 and 63 (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 kbit/s, using the 2 remaining switches. See Figure 1 below for details.

Node-ID

(up=0, down=1; shown here = 17)

ELMB top side

Bits : 5 4 3 2 1 0

50 kbit/s

ATmega

128

1 2 3 4 5 6 7 8

CAN baudrate

Programmer/RS232 adapter connector

125 kbit/s

250 kbit/s

500 kbit/s

Figure 1. Location and function of ELMB DIP-switches and the 10-pin Programmer/RS232 adapter connector.

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

Function: In/Out pin 0 pin 1 pin 2 pin 3 pin 4 pin 5 pin 6 pin 7

in/out8 in/out9 in/out10 in/out11 in/out12 in/out13 in/out14 in/out15

B

In/Out

—

SCLK

SDI

SDO

—

—

—

—

C

In/Out

out0 out1 out2 out3 out4 out5 out6 out7

D

In/Out

E F

In/Out I/O/ADC

— — in0

— — in1

— — in2

ADC_CS DAC_CS1

ADC_SCLK DAC_CS2

ADC_SDI DAC_CS3

ADC_SDO DAC_CS4

ADC_MUX in3 in4 in5 in6

in7

Table 2. I/O pin functions on the ATmega128 processor in the

ELMBio

application (use the

ELMB in combination with ELMB Motherboard v3):

— = used for varioud ELMB-specific functions (DIP-switch readout, etc).

SCLK/SDI/ = lines carrying SPI-protocol for the onboard CAN-controller;

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<n<15) or digital output n (0<n<15),

respectively;

input

5


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 socalled Boot-up message

(as defined by the CANopen standard) as soon as it has finished initialising (hardware, software); this is a CAN-message with the following syntax:

ELMBio (NMT-Slave)

→

Host (NMT-Master)

COB-ID

700h + NodeID

DataByte 0

0

NodeID 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.

To start the ELMBio application in the CANopen sense of the word, the following CANopen

NMT (Network ManagemenT) message must be sent:


→


COB-ID DataByte 0

(Start_Remote_Node)

There is no reply to this message.

DataByte 1

000h 1 NodeID or 0

(all nodes on the bus)

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 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:


→


COB-ID DataByte 0 DataByte 1

000h 1

(Reset_Node)

NodeID or 0

(all nodes on the bus)

Again, there is no reply to this message.

6


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 6):

Bootloader

→

Host

COB-ID

080h +

NodeID

Byte 0-1

Emergency

Error Code

(00h 50h)

Byte 2

Error Register

(Object 1001h)

(80h)

Byte 3-7

Manufacturer specific error field

(FEh 01h 28h ZZh 00h)

(ZZh = MCUCSR)

(MCUCSR = MCU Control and Status Register; for details see section 6 or the ATmega128

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 programmed in the ELMB is faulty or corrupted.

After about 4 s the Bootloader automatically jumps to the ELMBio application. The Bootloader jumps immediately to ELMBio, if it receives an NMT Reset-Node message, as shown above.

3.2.1 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 wordrate of 1.8 Hz, 7.5 Hz, 15 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 2100.

3.2.2 Calibration Constants

During the ELMB production acceptance tests each of the ADC voltage ranges (for one conversion wordrate, i.e. 15 Hz) is calibrated and the resulting calibration constants have been stored in the ELMB EEPROM. Depending on the configured voltage range ELMBio applies the appropriate calibration constants to the ADC conversion data.

The calibration constants are also stored 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 sticker located on the ELMB PCB.

3.2.3 PDO Readout

ELMBio sends one PDO message for every analog input. It either sends PDO messages containing the ADC count or PDO messages containing the input voltage in microVolts.

7


The CAN-identifier used for the ADC readout in counts is the socalled 2

nd

-transmit-PDO

(TPDO2) 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

280h+NodeID

DataByte 0 DataByte 1

Channel Number Chan status+config

DataByte 2-3

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), 0=OKAY.

bits 6-0: ADC configuration: conversion wordrate (bits W0, W1 and

W2), gain range (bits G0, G1 and G2) and unipolar or bipolar (bit U/B); see below.

BIT

7 6 5 4 3 2 1 0

Meaning

Error

W2 W1 W0 G2 G1 G0 U/B

The CAN-identifier used for the ADC readout in

µV is the socalled 3

rd

-transmit-PDO

(TPDO3) of the CANopen Predefined Connection Set, i.e. COB-ID = 380h + NodeID.

The TPDO3 message is a 6-byte message and is formatted as follows:

ELMBio

→

Host

TPDO3 COB-ID DataByte 0 DataByte 1

380h+NodeID Channel Number Chan status+config

DataByte 2-5

ADC value [

µV] with:

ADC value: 32-bits signed value in

µV, LSB first.

Channel Number: number between 0 and 63.

Chan status+config: see above.

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:

• PDO transmission type 1: after every socalled 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 (the ADC conversion rate can be as low as 1.88 Hz).

8


The SYNC message is a CAN-message with a fixed COB-ID and no data bytes:

Host

→

all (SYNC-)slave nodes

COB-ID

080h

Note that all nodes that have PDOs configured to respond to a SYNC will respond to the

SYNC broadcast message.

Note also that if both TPDO2 and TPDO3 have transmission type 1 only TPDO3 messages are produced (unless there are no (valid) calibration constants for the currently active ADC voltage range).

• PDO transmission type 255 and Event Timer = 0: after every socalled Remote Transmission Request (RTR) 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 and looks like this:

Host

→

ELMBio

COB-ID

280h + NodeID

Note that an RTR is sent to and processed by only one particular node.

• PDO transmission type 255 and Event Timer > 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 while a channel scan is still in progress, the trigger is ignored until the next timer expiration.

Optionally ELMBio does a reset and calibration sequence before each ADC channel scan.

This feature is controlled via OD index 2120h (may be useful for increasing radiation tolerance of the ADC readout).

Analog inputs can of course also be read 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

µV).

3.2.4 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, ELMBio starts a con-

9

ELMB software v2.0 12-Nov-2003 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

µV). 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.

3.2.4.1 Delta-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.

After the message has been sent the current analog reading is taken as the new reference value for this channel in the scanning loop.

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 sent again just because the reference value in RAM has been corrupted by chance. The (corrupted) reference value gets 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, depending on the TPDO2 and TPDO3 transmission modes and the RTR that triggered the action), 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 according to the configured interval and a ‘forced-readout’ scan cycle is started. A ‘forcedreadout’ 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 µVolt (by writing to or reading from OD index 6426h). A value of zero for the delta-change parameter effectively disables the check for the channel in 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.

The delta-change mode of analog input readout is illustrated in Figure 2.

10


130

120

110

100

90

80

ELMBio put into

Operational state

DELTA=10 samples

sample is sent

1 2 3 4 5 6

Time

7 8 9 10

Figure 2. Illustration of the analog input delta-change mode. The delta-change parameter is set to 10. Analog input samples marked by an arrow are sent.

3.2.4.2 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 or a RTR is similar to the behaviour described 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 µVolt (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 µVolt varies according to the ADC configuration.

In addition the 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.

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

11

ELMB software v2.0 12-Nov-2003 this number the exceed counter. There is only one counter for all channels, set in OD index

2150h.

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

80

70

110

100

90

1

ELMBio put into

Operational state

3 5 7 9

Time

11 13 15 samples

sample is sent

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.

12


The digital inputs are read out using the CANopen PDO mechanism. The CAN-identifier used for this PDO is the socalled 1

st

-transmit-PDO (TPDO1) of the CANopen Predefined

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 2 data byte containing the state of the 2x8 digital inputs:

ELMBio

→

Host

TPDO1 COB-ID

180h+NodeID

DataByte 0

8-bit Digital Input

(PORTF in)

DataByte 1

8-bit Digital Input

(PORTA in)

The following modes of transmission are supported:

• PDO transmission type 1: after every socalled SYNC message issued on the CAN-bus ELMBio sends a TPDO1.

• PDO transmission type 254/255 and Event Timer = 0:

ELMBio sends a TPDO1 after every socalled Remote Transmission Request (RTR) for the PDO.

• PDO transmission type 254/255 and Event Timer > 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, but 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

TPDO1 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.

The second 8-bit digital input port is shared between digital in- and outputs. See the next section on how to define a bit to be input or output. Bits defined as output show up as zeroes in byte 1 in the TPDO1 message shown above.

Note: both PORTA and PORTF 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 mentioned above in OD index 6005h is set); the interrupt masks can be set in OD index 6006h, sub 1 and 2.

Digital inputs can of course also be read using CANopen SDO messages (see OD index

6000h).

13


The digital outputs can be written using the CANopen PDO mechanism. The CAN-identifier used for this PDO is the socalled 1

st

-receive-PDO (RPDO1) of the CANopen Predefined

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

200h + NodeID

DataByte 0

8-bit Digital Output

(PORTC out)

DataByte 1

8-bit Digital Output

(PORTA out)

If RPDO1 carries only 1 data byte only PORTC gets new settings, PORTA remains unchanged.

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 RPDO1 data byte(s).

ELMBio retains the digital output settings only after a 'soft' reset (triggered by an NMT Reset-Node message). After a 'hard' reset (power-up, watchdog) the outputs are initialized to either 0 or 1 (low or high), which can be set by OD index 2300h.

As mentioned in the previous section the second 8-bit digital port can be defined bit-by-bit as either input or output. This is done through the socalled Output Filter Mask (OD index

6208h, sub 2): bits set to 1 in this mask are output, the other bits are automatically defined as input. Bits 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 index 6200h).

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 selected. The two types of DAC-module can not 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.

14


The analog outputs can be written using the CANopen PDO mechanism. The CANidentifier used for this PDO is the socalled 2

st

-receive-PDO (RPDO2) of the CANopen Predefined 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

300h + NodeID

DataByte 0

Channel Number

DataByte 2-3

DAC value

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 index 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.

3.6 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

→

ELMBio

COB-ID

600h +

NodeID

DataByte

0 1 2 3

23h 10h 10h subindex

4

73h

('s')

5

61h

('a') 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).

6

76h

('v')

7

65h

('e')

= 3: store application parameters (concerning ADC, DAC and Digital I/O).

(check out the Object Dictionary tables in section 5 to find out which parameters are stored).

15


If the store-operation succeeded ELMBio sends the following reply:

ELMBio

→

Host

COB-ID

580h +

NodeID

DataByte

0 1 2 3 4 5 6-7

– – –

If the store-operation did NOT succeed ELMBio sends the following reply (SDO Abort

Domain Transfer, error reason: ‘hardware fault’ (for details see [1])):

ELMBio

→

Host

COB-ID

580h +

NodeID

DataByte

0 1 2 3 4 5

80h 10h 10h subindex 0 0

6

6

(Error Code)

7

6

(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 5.

The tables with the Object Dictionary in section 5 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.

16


4 EEPROM Memory Map

Table 3 and Table 4 detail the layout of the ELMB’s EEPROM in the ELMBio application.

Addresses 800h - FFFh (2048 bytes) are not used.

EEPROM ADDR DESCRIPTION

not used

0000

ELMBio

0001

configuration parameters

00A1

Holds permanently saved application configuration and settings, stored in up to 8 blocks of up to 16 bytes each; includes a CRC checksum for each data block.

Rad-tolerant

00A2

working copy of global settings and parameters

00E8

not used

ELMB

Serial

Number

00E9

00FF

0100

0106

not used

0107

011F

ELMB

Analog-in calib consts

0120

01CF

Holds a copy of most application configuration and settings and some other parameters that don't change very often; parameters are reread from EEPROM each time before being used; this is an optional feature to counter the effects of SEE (Single Event Upset).

Holds the ELMB Serial Number given to it at production time; serves to uniqely identify the

ELMB and retrieve its calibration constants and/or production data in the ELMB production database.

Holds the calibration constants, which were determined at production time, for all 6 voltage ranges (note: only present for ELMBs with an analog input part).

Table 3. EEPROM memory map for ELMBio application (addresses 000h - 1CFh)

(continued on the next page).

17


EEPROM ADDR

not used

01E0

01FF

0200

Deltas working copy

02BF

not used

02C0

02FF

Deltas permanent

0300

storage + CRC

03C2

not used

03C3

03FF

Upper Limits

0400

working copy

04BF

not used

04C0

04FF

Upper Limits

0500

permanent storage + CRC

05C2

not used

05C3

05FF

Lower Limits

0600

working copy

06BF

not used not used

06C0

06FF

Lower Limits

0700

permanent storage + CRC

07C2

07C3

07FF

DESCRIPTION

Holds a 3-byte value (unsigned

µVolts) for each analog input, i.e. 64x3 bytes = 192 bytes.

Holds a 3-byte value (unsigned

µVolts) 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



µVolts) for each analog input, i.e. 64x3 bytes = 192 bytes.



Table 4. EEPROM memory map for ELMBio application (addresses 1E0h - 7FFh).

18


The Object Dictionary (OD) of the ELMBio v4.2 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 permanent non-volatile storage, on request. They are retrieved from EEPROM at reset and power-up.

Communication Profile Area

Index

(hex)

1000

Sub

Index

Description

- Device type

Data/

Object

U32

Attr Default Comment

RO 000F0191h Meaning: DSP-401 device profile, analogue in- and outputs, digital in- and outputs on device

1008 status

U8 RO 0

0

1

(see footnote)

1009 - Manufacturer hw version VisStr RO

100A 0 Manufacturer version

- Manufacturer device name VisStr RO "ELMB" =

Embedded Local Monitor Board

"el40" = ELMB V4

ELMBio application version 4.2

2

(see footnote)

100C

100D

*

1 minor version number

- Guard time [ms]

- Life time factor

VisStr RO

U16

U8

RO

RW

"0001"

1000

0

= 1 second

Lifeguarding timeout in seconds;

0

→ no lifeguarding timeout

1

Manufacturer Status Register bits:

00000001: ADC reset error,

00000002: ADC calibration error,

00000004: ADC conversion time-out,

00000008: error reading or writing ADC calibration constant(s),

00000010: error reading or writing ADC delta-change parameters,

00000020: error reading or writing ADC upper-limit parameters,

00000040: error reading or writing ADC lower-limit parameters.

2

"MA": version using the ELMB onboard ADC, "MV": version using the ATmega128 on-chip 8-chan ADC,

"MN": version without any ADC support.

19



Index

(hex)

1010

Sub

Index

Description

Store parameters

Data/

Object

Array

Attr Default

1 U32 RW

Save rameters

Save ters

1011

U32

U32

RW

RW

4 Save ADC delta-change parameters

5 Save ADC upper/lower limit parameters

U32

U32

Restore default parameters Array

RW

RW

1

1

1

1

Comment

Save stuff in onboard EEPROM

Read: 1; Write "save": store all

(incl. ADC limits)

Read: 1; Write "save": store

PDO par's, Life time factor, …


ADC config, dig.I/O config, …

(incl. ADC limits)


ADC deltas


ADC upper/lower liimits

Invalidate stuff in onboard

EEPROM; use defaults

1

3

Set all parameters to defaults

Set rameters to defaults

Set application parameters to defaults

4 Set ADC delta-change parameters to defaults

5 Set ADC upper/lower limit parameters to defaults

U32

U32

U32

U32

U32

RW

RW

RW

RW

RW

1

1

1

1

1

Read: 1; Write "load": invalidate all parameters stored

(excl. ADC deltas/limits)

Read: 1; Write "load": invalidate stored PDO par's, etc.

Read: 1; Write "load": invalidate stored ADC config, etc.

(excl. ADC deltas/limits)

Read: 1; Write "load": invalidate

ADC deltas

Read: 1; Write "load": invalidate

ADC upper/lower limits

1017

*

- Producer Heartbeat Time

[1 s]

U16 RW 0 In units of seconds (but <=255 !),

(NB: should be in ms according to

CANopen!);

0

→ Heartbeat is disabled

1018 Identity Record

Number RO 1

20



(continued…)

Index

(hex)

Sub

Index

Description Comment

1400 1 st

Receive PDO par's

1 COB-ID used by PDO

Record

U32

Number U8 RO 5

RO 200h +

NodeID

Data type = PDOCommPar

According to CANopen Predefined Connection Set

2 Transmission type

Data/

Object

Attr Default

1401 2 nd

Receive PDO par's

U8 RO 255 Only 255 allowed

RO 0

Record Data type = PDOCommPar

Number U8 RO 5

1 COB-ID used by PDO U32 RO 300h +

NodeID


Transmission U8 RO 255

RO 0

1600 1 st

Receive PDO mapping Record

Number U8 RO 2

1 Digital outputs 1-8 U32 RO 62000108

Data type = PDOMapping

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

1601 2 nd

Receive PDO mapping Record Data type = PDOMapping

Number U8 RO 2

1800 1 st

Transmit PDO par's

1 COB-ID used by PDO

Record

U32

Number U8 RO 5

RO 180h +

NodeID



*

2

2

3

16-bit analog output

Transmission type

Inhibit time [100 µs]

4

* 5 Event timer [1 s]

U32

U8

U16

RO 64110110 OD index 6411, sub-index 1:

16-bits Analog Output (see DSP-

401), size = 16 bits, multiplexed

RW

RO

1

0

U8 RO 0

U16 RW 0

Only 1 and 255 allowed

not used

In units of seconds

(NB: should be in ms according to CANopen!); active if >0 and transmission-type = 255

1801 2 nd

Transmit PDO par's

*

*

2 Transmission type

3 Inhibit time [100 µs]

5 Event timer [1 s]

Record

Number U8 RO 5


NodeID


U8

U16

RW

RO

1

0



not used

U8 RO 0

U16 RW 0 In units of seconds (NB: should be in ms according to CANopen!); active if >0 and transm-type = 255

21




Index

(hex)

Sub

Index

Description

1802 3 rd

Transmit PDO par's

Data/

Object

Record



Number U8 RO 5


NodeID


*

*

2 Transmission type

3 Inhibit time [100 µs]

5 Event timer [1 s]

U8

U16

U16

RW

RO

RW

1

0

0


not used

In units of seconds

(NB: should be in ms according to CANopen!); active if >0 and transmission-type = 255

1A00 1 st

Transmit PDO mapping Record Data type = PDOMapping

Number U8 RO 2

1 Digital inputs 1-8 U32 RO 60000108h OD index 6000, sub-index 1:

Inputs 1-8 (see DSP-401),

2 Digital inputs 9-16 U32 size = 8 bits

RO 60000208h OD index 6000, sub-index 2:

Inputs 9-16 (see DSP-401), size = 8 bits

1A01 2 nd


Number U8 RO 2 should be 255 for MuxPDO, but

this is not a CANopen MPDO…

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 (present in OD index 6404) have been replaced by a byte combining the ADC configuration and the two ADC error flags

1A02 3 rd


Number U8 RO 2 should be 255 for MuxPDO, but

this is not a CANopen MPDO…

2 32-bit analogue input U32

cares… it’s not important

RO 24040128h Object 2404, sub-index 1:

Analogue inputs in volts, multiplexed, size = 40 bits: actually the ADC flag bits (present 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


Manufacturer-Specific Profile Area

Index

(hex)

2100

Sub

Index

Description

ADC-configuration

Data/

Object

Record


CRYSTAL CS5523 16-bit ADC

*

*

Number of input channels

*

*

2 Conversion Word Rate

3 Input Voltage Range

Unipolar/Bipolar

Measurement Mode

5 Power Save Mode

2110

1

6

7

8

9

10

11

12

13

14

15

16

17

18

Configuration Register

Offset Register #1

Gain Register #1

Offset Register #2

Gain Register #2

Offset Register #3

Gain Register #3

Offset Register #4

Gain Register #4

Channel-Setup Register #1




19 Conversion Word Rate

20 Input Voltage Range

21 SPI SCLK signal high period (opto-coupler delay)

U8

U8

U8

U8

Bool

U32

U32

U32

U32

U32

U32

U32

U32

U32

U32

U32

U32

U32

U8

U32

U8

- ADC-reset-and-calibrate U8

RW

RW

RW

RW

WO

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

WO

64

0

4

1 can be set to actual number of channels used

3-bit code

3-bit code

1

2

0 = bipolar, 1 = unipolar

1 = put ADC in power save mode

0 = take ADC out of this mode

CS5523 Config Register

CS5523 physical channel AIN1








LC 1 (12-bits) in lower 2 bytes,

LC 2 (12-bits) in upper 2 bytes



RW

RW





RO 15 in Hz

RO 5000000 in µV

RW 75 in µs, 10 <= value <= 255

2120

*

- ADC-reset-and-calibrate before each channel scan

Bool RW 0

Writing triggers a reset and calibrate sequence using the current

ADC settings

If =1 a reset/calibration sequence is performed before every ADC input channel scan

1

000: 15.0 Hz, 001: 30.0 Hz, 010: 61.6 Hz, 011: 84.5 Hz,

100: 101.1 Hz, 101: 1.88Hz, 110: 3.76 Hz, 111: 7.51 Hz

2

000: 100 mV, 001: 55 mV, 010: 25 mV, 011: 1 V, 100: 5 V, 101: 2.5 V

23


*

*



Index

(hex)

2130

*

2140

*

2150

*

2200

*

2300

*

Sub

Index

- Enable Analogue Input Interrupt Delta-change Mode

-

Name

Enable Analogue Input Interrupt Upper/Lower Limit

Mode

- Upper/Lower

Counter

- Digital timer

Data/

Object


Bool RW 1 Enable/disable readout-on-change operation

(global enable: Object 6423)

Bool RW 0 Enable/disable readout-on-change operation

(global enable: Object 6423)

U8 RW 2 Number of consecutive readout values outside window before value is sent

1

U8 RW 10 In units of ca. 0.5 ms (set to 0 there is ca. 0.5 ms between consecutive input polls).

- Digital Output Init High Bool RW 1 After a hard reset: if set to 0 Digital Outputs will be initialised to all low; if set to 1 Digital Outputs will be initialised to all high

2500

0

2

Analogue

Calibrated

Number of analog inputs

Input 2

DAC configuration

Record

U8 RO 64

8 bits status, 24 bits analogue value, in µV

NB: read-out is refused if there are no valid calibration constants for the current ADC settings

Fixed, but actual hardware configuration may vary

U32

(set in Object 2100, sub 1)

RO 1 st

analog input: 8-bit flags +

24-bit (signed) data

RO 2 nd

" " " "

… … …

… … …

RO 64 th

" " " "

Record

1 Number of output channels U8 RO

2 MAX525 DAC Type Select Bool RW

3 SPI SCLK signal high period (opto-coupler delay)

U8 RW

16 or 64 =16 when MAX5122 DAC used,

=64 when MAX525 DAC used

0 0: DAC-type is MAX5122

1: DAC-type is MAX525

75 in µs, 10 <= value <= 255

1

‘Consecutive’ here means: in consecutive input channel scans (of up to 64 channels).

24




Index

(hex)

Sub

Index

Name Data/

Object


calibration Array of

EXPERT

ONLY

For now triggers a ‘pure’ selfcalibration procedure only

1 entries U8 RO 6

1 Calibrate 25 mV

2 Calibrate 55 mV

3 Calibrate 100 mV

4 Calibrate 1 V

U32

U32

U32

U32

WO

WO

WO

WO

Write any value…

Write any value…

Write any value…

Write any value…

5 Calibrate 2.5 V

6 Calibrate 5 V

25 mV

U32

U32 parameters

WO

WO

Write any value…

Write any value…

Calibration constants, determined at production time; always stored in EEPROM; enable write operation by first writing to 2D00

1

2

3

4

Gain Factor phys. chan. 1



Gain Factor phys. chan. 4 calibration

55 mV

U32

U32

U32

U32

Array

RW

RW

RW

RW

100 mV

2B03 ADC

1 V

2B04 ADC

2.5 V calibration

2B05 ADC

5 V

2C00 - Erase ADC calibration pa-

2C01

2C02

2C03

2C04 rameters 25 mV

- Erase ADC calibration parameters 55 mV

- Erase ADC calibration parameters 100 mV

- Erase ADC calibration parameters 1 V

- Erase ADC calibration parameters 2.5 V

2C05 - Erase ADC calibration parameters 5 V calibration ter write/erase operation actual gain factor * 1000000 actual gain factor * 1000000 actual gain factor * 1000000 actual gain factor * 1000000

Calibration constants (as above)

“

Array

Array

“

“

Array “

ONLY

EXPERT

ONLY

EXPERT

ONLY

Write EEh to erase; enable by first writing to 2D00

“

“

“

ONLY

U8 WO

ONLY

EXPERT

ONLY

EXPERT

ONLY

“

“

Writing A5h enables one write or erase operation to any of the

Objects 2B00h to 2B05h or 2C00h to 2C05h.

1

In other words: reset the ADC and do a ‘self-calibration’, i.e. do NOT apply the gain factors (‘calibration constants’), which already might have been stored in EEPROM. This type of ADC initialisation is essential for

recalibrating the voltage range in question.

25




Index

(hex)

3000

3100

3101

3200

*

*

*

5C00

5DFF

5E00

Sub

Index

Description

Program Code CRC

Data/

Object

Record


1 Check 16-bit CRC of program code in FLASH memory

- Compile Options

U16

U32

RO

RO

0 SDO reply unequal to zero means there is a checksum error; absence of CRC in flash results in

SDO Abort with Error Code 1; error while accessing FLASH results in SDO Abort with Error

3

-

-

1

2

3

Get CRC

ELMB Serial Number

Enable ELMB Serial Number write operation

CAN-controller settings

Disable Remote Frames

Enable auto-start

Bus-off max retry counter

U16 RO 0

Code 6.

U16

U32

RO

RW

Return CRC from flash

Record

Bool

U8

U8

RW

RW

RW

Number or 4-byte string uniquely identifying an ELMB, given during production.

Writing 5Ah enables one write operation on the Serial Number

ONLY

(Object 3100h).

0

5

3

0

1

If =1 go to Operational at startup

A counter is decremented every

1s and incremented every time bus-off occurs, but if it reaches this maximum value the node abandons regaining CAN-bus access at bus-off

ELMB Tests Record

EXPERT

ONLY

Bitmask denoting which compile options were used when the application was generated

(see table below for details)

For use in ATLAS DCS production and test stand only

0 Number of test objects

1 Test of I/O-pins

U8

U32

Generate Timer reset

U32

- Transfer control to ELMB

Bootloader

U8

RO 2

RO 00000000h see description in another doc

RO - ELMBio goes into an endless loop

WO ELMBio jumps to the Bootloader application

1

Due to the way the ELMB’s CAN-controller 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 ensure that the Node Guard Remote Frame is still handled properly.

26


Object 5C00: Compile Options

Bit Compile Option

0 ALL_MOTHERBOARDS

1 MOTHERBOARD1

2 –

3 ADC_AVR

4 ADC_NONE

5 7BIT_NODEID

6 RS232

7 ELMB103

8 VARS_IN_EEPROM

9 –

10 INCLUDE_TESTS

11

–

12

CAN_REFRESH

13

2313_SLAVE_PRESENT

Comment

assume ELMB is plugged on Motherboard v3; if this fails try assuming ELMB is plugged on Motherboard v1/v2 (no option = Motherboard v3) assume ELMB is plugged on Motherboard v1, v2 (no option = Motherboard v3)

(was option ADC_ELMB)

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) 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) include stuff to be able to use 'printf()' and such; requires the Programmer or other RS232 adapter to be connected to the ELMB programmer connector the ELMB is an ELMB103 type (with ATmega103 processor); by default an

ELMB128 (with ATmega128 processor) is assumed store/retrieve working copies of configuration parameters in/from EEPROM

(was option HEARTBEAT)

include an OD object through which (board) tests can be executed

(was option EEPROM_UINT16_ADDRESSES) refresh CAN-controller descriptor register (at each buffer write/read) there is (probably) a Slave processor (usually when using an ELMB103, so in combination with compile option ELMB103 shown above); this includes the code that deals with the Slave processor

Table 5. Optional compiler macro defines (individual options are preceeded and ended by a double underscore '__').

27


*

*

6200

6208

*

Standardized Device Profile Area (according to CiA-DS4O1)

Index

(hex)

6000

6005

*

6006

6411

Sub

Index

Description

Read state 8 Input lines

0 Number of 8-bit inputs

1 Read inputs 1-8

2 Read inputs 9-16

Data/

Object

Array


U8

U8

RO

RO

2

ELMB PORTF

U8 RO ELMB PORTA; see Object 6208, 2

Bool RW 0 Enable/disable Global Digital Input Interrupt Enable

Interrupt Mask Any

Change 8 input lines

Array

0 Number of 8-bit inputs U8

1 Interrupt Mask Inputs 1-8 U8

2 Interrupt Mask Inputs 9-16 U8

RO

RW

RW

2

FFh

FFh

TPDO1 transmission

Only bits set to 1 will generate a TPDO1 on change

Write state 8 Output lines Array

0 Number of 8-bit outputs U8 RO

1 Write outputs 1-8

2 Write outputs 9-16

U8

U8

RW

RW

Filter Mask 8 output lines Array

0 Number of 8-bit masks

1 Filter mask outputs 1-8

2 Filter mask outputs 9-16

U8

U8

U8

RO

RO

RW

2

2

FFh

FFh

ELMB PORTC

ELMB PORTA

PORTA pins not defined as outputs (maskbit=1) are inputs, to be accessed thru Object 6000, 2

Record 8 bits status, 16 bits analogue

0

2 manufacturer-specific


Input 2

U8

I24

RO

RO

64 value

Fixed, but actual hardware configuration may vary

(see OD index 2100, sub 1)

RO 1 st

analog input:8-bit flags +16-bit data

2 nd

" " " "

… … …

… … …

I24 RO 64 th

" " " "

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)

RW 1

RW 2 st nd

analog output:16-bit

analog output:16-bit

… … …

… … …

RW 64 th

" " "

28


Standardized Device Profile Area (according to CiA-DS4O1)

Index

(hex)

6423

*

Sub

Index

Description

Global Analog Input Interrupt Enable

Data/

Object


6424 Analogue

Bool RW 0 Enables/disables

change TPDO3 transmissions

Array (v4.2+)

*

*

0

1

2

Upper Limit


Input 1

Input 2

U8

I32

I32

RO

RW

RW

64

-1

-1

Voltage in µV (signed)


… … …

64 Input 64

255 All Inputs (1 to 64)

I32

I32

RW

WO

-1

-1



*

*

*

0

2


1 Input 1

Input 2

U8

I32

I32

6425 Analogue Interrupt

Lower Limit

Array

RO

RW

RW

64

0

0

(v4.2+)



… … …

* 64 Input 64


I32

I32

RW

WO

0

0



6426 Analogue Interrupt

Delta Unsigned

Array

*

*

0 Number of analog inputs

1 Input 1

2 Input 2

U8

U32

U32

RO

RW

RW

64

0

0

Voltage in µV (unsigned)


… … …

* 64 Input 64


U32

U32

RW

WO

0

0



29


Emergency messages are triggered by the occurrence of an internal (fatal) error situation. An emergency CAN-message has the following general syntax:

ELMB

→

Host

COB-ID

080h +

NodeID

Byte 0-1

Emergency

Error Code

Byte 2

Error Register

(Object 1001h)

Byte 3-7

Manufacturer specific error field

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

Description

CAN communication

Emergency

Error Code

(byte 0-1)

8100h

Manufacturer-Specific Error Field

(byte 3-7)

Byte 3: 81C91 Interrupt Register content

1

Byte 4: 81C91 Mode/Status Register content

2

Byte 5: error counter

Byte 6: bus-off counter (see OD index 3200, sub 3)

Life Guarding 8130h (CAN-controller has been reinitialized)

RPDO: too few bytes

ADC: conversion timeout

8210h

5000h

ADC: reset failed

5000h

ADC: offset calibration failed

ADC: gain calibration failed

ADC problem(s) during initialisation

ADC calibration constants: not available

Slave processor not responding (ELMB103 only)

5000h

5000h

5000h

5000h

5000h

…table continues on the next page…

Byte 3: minimum DLC (Data Length Code) required

Byte 3: 01h

Byte 4: ADC channel number (0..63)

Byte 5: 0

Byte 3: 02h

Byte 4: 00h

Byte 5: Error id

3

Byte 3: 03h

Byte 4: 00h

Byte 3: 04h

Byte 4: 00h

Byte 3: 10h

Byte 4: ADC status (see OD index 1002)

Byte 3: 11h

Byte 3: 20h

1

81C91 INT register bits: 04h: Warning Level, 20h: Bus Off, 40h: Error Passive, 80h: Transmit Check

2

81C91 MODE/STATUS register bits: 01h: Init Mode, 02h: Reset State, 04h: Bus Off, 08h: Receive Error

Counter >= 96; 10h: Transmit Error Counter >= 96, 20h: last Transmission Complete, 40h: Receive Mode,

80h: Auto Decrement Address

3

01h: Reset-Valid bit not set, 02h: Reset-Valid bit not reset, 04h: error in Offset Register value,

08h: error in Gain Register value

30


Error

Description

CRC error

EEPROM: write error

EEPROM: read error

EEPROM: ADC-limits write error

Irregular reset (Watchdog,

Brown-out or JTAG)

Bootloader: not present

Bootloader is now in control

4

Bootloader cannot jump to application: invalid

4

Emergency

Error Code

(byte 0-1)

5000h

5000h

5000h

5000h

5000h

5000h

5000h

6000h

Manufacturer-Specific Error Field

(byte 3-7)

Byte 3: 30h

Byte 4: 1 (program FLASH),

2 (Slave FLASH; ELMB103 only)

Byte 3: 41h

Byte 4: Parameter block index

1

Byte 5: = 0: while writing datablock info

> 0: size of parameter block to write

Byte 3: 42h

Byte 4: Parameter block index

1

Byte 5: Error id (1=CRC, 2=length, 4=infoblock)

Byte 3: 43h

Byte 4: Parameter block ID

2

Byte 5: size of parameter block to write

Byte 3: F0h

Byte 4: microcontroller MCUCSR register contents

3

Byte 3: F1h

Byte 3: FEh

Byte 4: 01h

Byte 5: 28h

Byte 6: microcontroller MCUCSR register contents

3

Byte 7: 00h

Byte 3: FEh

Byte 4: AAh

Byte 5: AAh

Byte 6: 00h

Byte 7: 00h

1

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.

2

1: ADC delta-change values, 2: ADC upper limits, 3: ADC lower limits

3

ATmega128 MCUCSR register bits: 01h: Power-On Reset, 02h: External Reset, 04h: Brown-Out Reset,

4

08h: Watchdog Reset, 10h: JTAG Reset, 80h: JTAG Interface Disable

The Emergency message is actually generated by the Bootloader program !

31


Byte 2 of the Emergency message contains the value of the socalled 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 table below gives a description of the meaning of the different bits.

Error Register (Object 1001h) bits

Bit Error type

0 generic

1 current

2 voltage

3 temperature

4 communication

5 device profile specific

6 reserved (=0)

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/atmel/products/prod23.htm

[4] SAE81C90/91, Standalone Full-CAN 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

32

ELMBio User Documentation v1.7

CANopen

Application Software for the

Embedded Local Monitor Board

Henk Boterenbrood

NIKHEF, Amsterdam

12 Nov 2003

Contents

Version History

Version Date

Comments

1 Introduction

I/O PORT:

A

B

C

D

E F

ELMBio

ELMBio put into

Operational state

sample is sent

ELMBio put into

Operational state

sample is sent

4 EEPROM Memory Map

ELMBio

configuration parameters

Rad-tolerant

working copy of global settings and parameters

ELMB

Serial

Number

ELMB

Analog-in calib consts

Deltas working copy

Deltas permanent

storage + CRC

Upper Limits

working copy

Upper Limits

permanent storage + CRC

Lower Limits

working copy

Lower Limits

permanent storage + CRC

Communication Profile Area

Communication Profile Area

Communication Profile Area

Communication Profile Area

Manufacturer-Specific Profile Area

Manufacturer-Specific Profile Area

Manufacturer-Specific Profile Area

Manufacturer-Specific Profile Area

Standardized Device Profile Area (according to CiA-DS4O1)

Standardized Device Profile Area (according to CiA-DS4O1)

References

Related manuals

Flintec

EM100-G

weintek

iR-COP

AXIOMATIC

AXTC4CO

Table of contents

**Standardized Device Profile Area (according to CiA-DS4O1)**

**Standardized Device Profile Area (according to CiA-DS4O1)**