BATCAN CANopen Module
Contents
1. 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 module The default parameter values are listed in the OD tables in sec tion 8 The Object Dictionary tables in section 8 show which settings can be stored in EEPROM these are marked by an asterisk in the first column 16 BATCAN module v1 3 5 Jul 2012 Note that storage of the BATCAN Serial Number is handled separately 6 2 EEPROM Memory Map Table 5 below details the layout of the AT9OCAN64 microcontroller EEPROM usage by the BATCAN application firmware EEPROM ADDR not used 0000h DESCRIPTION 0001h _ oe Holds permanently saved application configu BATCAN ration and settings stored in up to 8 blocks of configuration up to 16 bytes each includes a CRC checksum parameters for each data block 00A0h 00A1h Holds a copy of most application configura Rad toletant tion and settings and some other parameters that don t change very often parameters are working copy reread from EEPROM each time before being of global used this is an optional feature to counter ef settings and fects of SEE Single Event Upset parameters Holds the module s Serial Number given to it not used at production time serves to uniquely identify BATCAN the module Serial Number Node ID opt 0107h gt The Node ID location contains the CAN 0108h Node ID for the module if the location does2. Connection Set The BATCAN module produces the following 5 databyte TPDO4 BATCAN module gt Host COB ID Data Byte 0 Data Byte 1 Data Byte 2 4 480h NodeID Channel number ADC config 24 bit ADC value with ADC value Signed unsigned 24 bits ADC value LSB in byte 2 MSB in byte 4 Note Hall sensors 24 bit signed value T sensor 24 bit unsigned value either an ADC count or a temperature in millidegrees centigrade de pending on the setting of OD index 4400h Channel number Number between 0 and 3 Chan 0 3 Hall sensor H1 H2 H3 and T sensor resp of the B sensor ADC config bit 7 not used bits 6 0 ADC configuration conversion word rate bits W0 W1 and W2 gain range bits GO G1 and G2 and unipolar or bipolar bit U B see be low For definitions see OD index 2500h 2501h sub 2 3 4 5 6 and 7 BIT 7 6 5 4 3 2 1 0 Meaning w2 wl wo Gl GO UB The method by which the B sensor module inputs are read out depends on the transmission type of TPDO4 which can be set in OD index 1803h subindex 2 of the BATCAN module The following modes of TPDO2 transmission are supported see OD index 1803h subindex 2 and 5 e PDO transmission type 1 after every so called SYNC message issued on the CAN bus the BATCAN module starts a B sensor input channel scan and sends four TPDO4 messages containing the Hall sensors and T sensor data The SYNC message is a
3. High sensitivity greater than 4 C at 25 C DIMENSIONS Suitable for temperature measurement control and compensation High reliability and stability over interchangeable range sine e Most popular R vs T curves are available er Resin coated for good mechanical strength and resistance to solvents e 012 3 mm dia bare tinned copper lead wires Select appropriate part number below for resistance and temperature tolerance desired MATERIAL 12 C 2 C 2 C SYSTEM OC to 70 C OC to 70 C 0 C to 100 C DCO5F202V DCO5F202W DCO5F2027 DCOBF232V DCOBF232W DCO5F232Z DCO5F302V DCO5F302W DCO5F302Z DCO5F502V DCOSF5O2W DCO5F502Z DCQ5F103V DCO5FLO3W DCQ5F103Z DCO5Y103V DCOSY103W DCO5Y103Z DCQ5H303V DCO5H303W DCO5G503V DCO5G503W DCOBY104V DCO5Y104W DC95G104V pca5G104w lt m m 7 ep OPTIONS DATA Consult factory for availability of options THERMAL AND ELECTRICAL PROPERTIES Other resistance values in the range of Dissipation constant still air 1 mwc 100Q 100kQ stirred oil 8 mMW G e Other tolerances or ranges Thermal time constant still air 10 sec Alternative lead wires or lengths stirred oil 1 sec Non standard R vs T curves Maximum power at 25 C 75mWw Controlled dimensions derated from 100 at 25 C to 0 at 100 C BOWTHORPE THERMOMETRICS THERMOMETRICS INC KEYSTONE THERMOMETRICS CORPORATION Crown Industr
4. Manufacturer specific Profile Area BATCAN continued Index Sub Description Data Attr Default Comment hex Index Object 2500 B sensor ADC config Record CS5524 24 bit ADC 0 Number of entries U8 RO 22 1 Number of input channels U8 RO 7 2 Conversion Word Rate U8 RW 0 3 bit code Hall ig 3 Input Voltage Range Hall U8 RW 0 3 bit code a 4 Unipolar Bipolar U8 RW 0 0 bipolar 1 unipolar Measurement Mode Hall bg 5 Conversion Word Rate U8 RW 0 3 bit code Temp 6 Input Voltage Range Temp U8 RW 5 3 bit code 7 Unipolar Bipolar U8 RW 1 0 bipolar 1 unipolar Measurement Mode Temp 8 Power Save Mode Bool WO 1 set ADC to power save mode 0 take ADC out of this mode 9 29 Configuration Register U32 RW CS5524 Config Register 10 30 Offset Register 1 U32 RW CS5524 physical channel AIN1 11 315 Gain Register 1 U32 RW CS5524 physical channel AIN1 12 32 Offset Register 2 U32 RW CS5524 physical channel AIN2 13 33 Gain Register 2 U32 RW CS5524 physical channel AIN2 14 347 Offset Register 3 U32 RW CS5524 physical channel AIN3 15 35 Gain Register 3 U32 RW CS5524 physical channel AIN3 16 36 Offset Register 4 U32 RW CS5524 physical channel AIN4 17 37 Gain Register 4 U32 RW CS5524 physical channel AIN4 18 Channel Setup Register 1 U32 RW LC 1 12 bits in lower 2 bytes LC 2 12 bits in
5. SPI Serial Data Out from ADC 6 GND 7 CS Chip Select to ADC 8 ID 1 Wire interface to ID chip 9 10 V from CAN connector pin 8 Pin Program function Comment 1 SCK Programming Clock 2 GND 3 PDI Program Data In 4 GND 5 PDO Program Data Out 6 GND 7 2 8 9 RESET Reset to the AT9OCAN micro 10 V from CAN connector pin 8 Table 2 Layout of the B sensor Programming connector The programming connec tions are used only once to program the Bootloader in the microcontroller s flash memory from then on the CAN bus is used to upload application firm ware Note that e g the AVRISP programmer needs power within the range 2 7 5 5V so do not connect it directly to V which normally lies in the range 6 12V BATCAN module v1 3 5 Jul 2012 function pin pin function not connected 1 not connected CAN GND CAN L 3 CAN H CAN GND 5 6 V 6 12V GND 7 CAN POWER 6 12V CAN SHIELD 9 10 not connected Table 3 Layout of the BATCAN CAN connector CAN POWER powers the CAN driver part of the BATCAN module V powers the rest of the BATCAN module as well as the B sensor module The BATCAN module features two LEDs to indicate the status of the module a red one and a green one see Figure 2 The green LED is on when the module has properly initialized and the firmware is running it blinks briefly when CAN messages are received or sent The red LED
6. T Writing 5Ah enables one write write operation USE operation on the Serial Number Object 3100 3200 CAN controller settings Record and status 0 Number of entries U8 RO 4 1 Format error interrupt U32 RO Byte 0 SERG counters Byte 1 CERG Byte 2 FERG Byte 3 AERG A 2 Enable auto start U8 RW 0 If 1 go to Operational at startup a 3 Bus off max retry counter U8 RW 2 Counter is decremented every 1s but if the node reaches this maximum value it abandons re gaining CAN bus access 4 Received message counter U8 RO Counts received CAN messages modulo 256 for debug purposes 3300 CAN Node Identifier U8 WO The new CAN Node Identifier is used after the next reset Bootloader firmware version 1 3 and later supports this feature otherwise don t use it 3301 Enable CAN Node Identi U32 WO Writing a number that matches fier write operation the Serial Number Object 3100 enables one write operation on the CAN Node Identifier Object 3300 23 BATCAN module v1 3 5 Jul 2012 Manufacturer specific Profile Area BATCAN continued Index Sub Description Data Attr Default Comment hex Index Object 4200 Read analogue input Record 24 bits analogue value B sensor 0 Number of entries U8 RO 7 Fixed value see OD index 2500 subindex 1 1 Input 1 B senso
7. d Ln RUR2S F as Poe foe foe fe 68 600 to 2 274 3 359864 6E 03 2 5654 0906 04 1 92 43889E 06 1 0969244E 07 3 264015 4E 0a 2 6627 7256 04 T0020 E08 3 359928 4E 08 2 6609 4466 04 4 6045920608 2 08 29710E 06 1 96 21 987E 06 3 274 to 0 326036 0 36036 to 0 068341 0 06831 to 0 01872 3 348862 06 03 2 4067 2636 04 2 6687 093E 06 4 0719355E 07 The deviation resulting from the tolerance on the material constant Beta The deviation must be added to the resistance tolerance of the part as specified at 25 C BOWTHORPE THERMOMETRICS Crown Industrial Estate Priorswood Road Taunton Somerset TAZ BOY UK Tel 44 0 1823 335200 Fax 44 0 1823 332637 THERMOMETRICS INC 808 US Highway 1 Edison New Jersey 08817 4695 USA Tel 1 732 287 2870 Fax 1 732 287 8847 30 KEYSTONE THERMOMETRICS CORPORATION 967 Windfall Road St Marys Pennsylvania 15857 3397 USA Tel 1 814 834 9140 Fax 1 814 781 7969
8. for each node The master detects nodes that stop sending their Heartbeat messages and should signal this to the higher level software and or take appropriate action A Heartbeat message looks like this BATCAN module v1 3 5 Jul 2012 BATCAN module Heartbeat producer gt Consumer s e g NMT Master COB ID DataByte 0 700h NodeID State State is one of these CANopen states 0 Initializing 4 Stopped 5 Operational or 127 Pre operational Note that this makes the Boot up message the first Heartbeat message after a node reset see previous section According to the CANopen standard a node is not allowed to support both Node Guarding and Heartbeat protocols at the same time The BATCAN module supports both methods of Node Guarding but indeed not at the same time i e it can send the Node Guard message or it can send the Heartbeat message with an interval which is configurable in Object Dictionary index 1017h Life Guarding in CANopen is a mechanism whereby a node checks the aliveness of the host or master by applying a time out on messages received CANopen defines that the message to time out is the RTR for the Node Guard message sent by the NMT master however the BATCAN module resets its Life Guarding timer at each properly received message addressed to it Life Guarding is controlled through Object Dictionary objects 100Ch and 100Dh In the BATCAN module the Life Guarding time out can be set bet
9. hex Index Object 1000 Device type U32 RO 00000000h Meaning no specific device pro file 1001 Error register U8 RO 0 1002 Manufacturer status reg U32 RO 0 see footnote 1008 Manufacturer device name VisStr RO BATC BATCAN module 1009 Manufacturer hw version VisStr RO bc 10 BATCAN vl 100A 0 Manufacturer software VisStr RO BC11 BATCAN application v1 1 2 version 1 minor version number VisStr RO 0002 100C Guard time ms U16 RO 1000 second 100D Life time factor U8 RW 0 Life Guarding timeout in seconds 0 gt no life guarding timeout 1010 Store parameters Array Save stuff in onboard EEPROM 0 Highest index supported U8 RO 3 1 Save all parameters U32 RW 1 Read 1 Write save store all 2 Save communication pa U32 RW 1 Read 1 Write save store rameters PDO par s Life time factor 3 Save application par s U32 RW 1 Read 1 Write save store ADCs config 1011 Restore default parameters Array Invalidate stuff in onboard EEPROM use defaults 0 Highest index supported U8 RO 3 1 Restore all parameters U32 RW 1 Read 1 Write load invalidate all parameters stored 2 Restore communication U32 RW 1 Read 1 Write load invali parameters date stored PDO par s etc 3 Restore application par s U32 RW 1 Read 1 Write load invali date stored ADCs config etc 1017 Producer Heartbeat Time U16 RW 0 In units of seconds but lt 255 1 s NB actually should be in ms ac cording
10. i Se See Se e o o o Table 4 NTC resistance temperature table and resulting B sensor ADC input voltage Normalized resistance table taken from the datasheet see Appendix A 15 BATCAN module v1 3 5 Jul 2012 6 Configuration Storage 6 1 Storing Parameters and Settings Parameters and settings can be stored permanently onboard in non volatile memory EEPROM by writing string save to OD index 1010h The SDO mechanism is used to ac complish this using the following message Host BATCAN module NodeID s a Cv Ce 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 CAN PDOs and Node and Life Guard ing 3 store application parameters concerning ADCs Digital I O and JTAG 4 see next section If the store operation succeeded the BATCAN module sends the following reply BATCAN module Host If the store operation did not succeed the BATCAN module sends the following reply SDO Abort Domain Transfer error reason hardware fault for more details see 5 BATCAN module Host 580h 80h 10h 10h Subindex 0 6 6 NodeID Error Code Error Class Parameters can be reset to their default values by invalidating the corresponding contents of the EEPROM by writing to OD index 1011h using this time the string load 6Ch 6Fh
11. no reply to this message Now the BATCAN module is Operational meaning that it monitors I O channels depend ing on configuration and can send and receive and processes CANopen PDO messages which carry the application data see next sections Optionally a feature called auto start may be enabled so that the BATCAN module auto matically goes to Operational state after power up or reset The auto start feature can be con figured in Object Dictionary index 3200h subindex 2 To generate a soft reset the following CANopen NMT message must be sent Host NMT Master gt BATCAN module NMT Slave COB ID Data Byte 0 Data Byte 1 000h 81h NodelID or 0 Reset_Node 0 all nodes on the bus Again there is no reply to this message BATCAN module v1 3 5 Jul 2012 Note that at power up it is the Bootloader application firmware that becomes active first and is in control of the BATCAN module the Bootloader reports its presence by sending the fol lowing Emergency message see also section 7 Bootloader Host COB ID Byte 0 1 Byte 2 Byte 3 7 080h Emergency Error Register Manufacturer specific error field NodeID Error Code Object 1001h FEh 00h 64h ZZh 00h 00h 50h 80h ZZh MCUSR MCUSR MCU Status Register for details see section 9 or the AT9O0OCANxx datasheet Having the Bootloader activate at power up guarantees that it is always possible to upload new applicati
12. not contain a valid number 1 lt val lt 127 31 not used will be used Table 5 AT90CAN64 microcontroller EEPROM memory map of the BATCAN appli cation firmware 17 BATCAN module v1 3 5 Jul 2012 7 Upgrading the Firmware The application program in the BATCAN microcontroller can be replaced or upgraded by uploading new program code via the CAN bus A Windows application program called ELMBloader is available for performing this firm ware upgrade The upgrade process leaves the EEPROM intact in other words all existing configuration settings are preserved during an upgrade The Bootloader 7 is an application program stored in a separate section of the microcon troller flash memory It handles the firmware upgrade process receiving series of CAN open messages containing the programming instructions and code After power up of the BATCAN module it is the Bootloader that takes control of the mod ule initially After about 4 seconds the Bootloader automatically jumps to the start of the BATCAN application program or immediately after it receives a CANopen NMT Reset Node message However the Bootloader remains in control if it receives a valid programming command within those 4 seconds The firmware upgrade process may then begin The BATCAN application program can transfer control of the module explicitly to the Boot loader when one writes any value to the 8 bit object SEOOh in the Object Dictionary of the BATCAN applicati
13. 00 Byte 3 FEh application invalid Byte 4 AAh Byte 5 AAh 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 ta ble below gives a description 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 7 manufacturer specific O8h error in initial Gain Register value 08h Watchdog Reset 10h JTAG Reset 27 Oth Reset Valid bit not set 02h Reset Valid bit not reset 04h error in initial Offset Register value AT9IOCANxx MCUSR register bits 01h Power On Reset 02h External Reset 04h Brown Out Reset This Emergency message is generated by the Bootloader program BATCAN module v1 3 5 Jul 2012 References 1 H Boterenbrood B sensor Module operation readout and data acquisition presentation at ATLAS Magnetic Field Workshop 31 March 2005 slightly outdated http www nikhef nl pub departments ct po html Bsensor Bsensor BfieldWS 3 IMAROS5 pdf 2 H Boterenbrood MDT DCS CANopen Module Version 2 7 NIKHEF Amsterdam 19 August 2011 http www nikhef nl pub departments ct po html
14. B sensor module ADC status byte bitmask 00h no error 01h ADC reset error 02h ADC calibration error 04h ADC conversion time out FFh ADC absent not used not in configuration 25 BATCAN module v1 3 5 Jul 2012 9 Emergency Objects CANopen Emergency messages are triggered by the occurrence of an internal fatal error situation An Emergency CAN message has the following general syntax BATCAN gt Host COB ID Byte 0 1 Byte 2 Byte 3 7 080h Emergency Error Register Manufacturer specific error field NodeID Error Code Object 100 1h A toggle bit is present in byte 7 of the Emergency message Byte 7 alternates between the values 00h and 80h from one Emergency message to the next The following Emergency messages can be generated by the BATCAN application Emergenc Error ee ae Manufacturer specific Error Field ipti byte 3 7 Description eee aa byte 3 7 CAN communication 8100 Byte 3 00h Byte 4 total format error count Byte 5 error counter Byte 6 bus off counter see OD index 3200 sub 3 CAN buffer overrun 8110h CAN message buffer in RAM full at least 1 message was lost Life Guarding time out 8130 CAN controller has been reinitialized RPDO too few bytes 8210 Byte 3 minimum DLC Data Length Code CRC error 5000 Byte 3 30h Byte 4 1 program FLASH EEPROM write error 5000 Byte 3 41h Byte 4 Parameter block index Byte 5 0 w
15. BATCAN module v1 3 5 Jul 2012 BATCAN module for single B sensor read out by CAN bus and CANopen user manual amp reference v1 3 5 July 2012 Henk Boterenbrood NIKHEF Amsterdam NL niar ABSTRACT This document describes the BATCAN module a plug on for the NIKHEF B sensor module providing it with a CAN bus interface It also describes the firmware features including the CANopen message protocol and CANopen Object Dictionary BATCAN module v1 3 5 Jul 2012 Table of Contents 1 INTRODUCTION AND OVERVIEW ccccsssssssssssssssssssssssssssssssssssssssssesssssssesseseses 3 2 CONNECTORS AND INTERFACES 0 ccccccscscscscsscscsccccccscccccccscscscccccscccscsccsscseseses 4 3 INITIALISATION sisccccccsccccscescccisccdescdcscecedscsscsccdecossscesecdededseccssdecscdsscdecasssdcbocdsdeccocossdessocecs 7 4 NODE GUARDING AND LIFE GUARDING essssssssssssssssssssssssssssssssssosssosssssosssososo 8 5 B SENSOR DATA READ OUT 2 ccccccscscscscscscscsscccccccecscscscccccccccscscscccsescscscsescceseseees 10 SL SINTRODUCTION areen ede tecactv et cheeses a aa Peed a a a A aal a O 10 522 gt E ES INON A DA E E E A EEE AE E AE NE AEA E 11 5 3 ADC DATA CONVERSION cccccccccccccsssssscccccscsessssscssccccesecssssssscescussesssesessesceseesssesssccsseseeseaaees 13 5 4 B SENSOR SERIAL NUMBER cccccsssssccccccscssssssssccssccscssssssssscseccssssssseaescssecsssssssaescsescseeesaees 14 6 CONFI
16. CAN message with a fixed COB ID and no data bytes Host all SYNC slave nodes COB ID 080h NB optionally a 6 byte TPDO4 can be configured in OD index 4500h see section 8 a data byte containing index value 0 is inserted on data byte position 0 of the PDO this makes the BATCAN s PDO message com patible with PDO messages with B sensor data from nodes with BATsCAN firmware used in mBATCAN nodes see 4 11 BATCAN module v1 3 5 Jul 2012 Note that all nodes that have PDOs configured to respond to a SYNC message will re spond to the SYNC which is a broadcast message e PDO transmission type 255 after every so called Remote Transmission Request RTR for TPDO4 the BATCAN module starts a B sensor input channel scan and sends four TPDO4 messages containing the Hall sensors and T sensor data The Remote Frame CAN message that constitutes this RTR has no data bytes and looks like this Host gt BATCAN module COB ID 280h NodeID Note that an RTR is sent to and received processed by only one particular node e Event Timer gt 0 If TPDO4 s event timer OD index 1803h sub 5 is set to a value unequal to zero event timer is expressed in units of 1 s and must be lt 255 the BATCAN module automati cally starts a B sensor input channel scan periodically triggered by a timer in this mode an RTR or SYNC message also triggers an input scan depending on the transmission mode as
17. GURATION STORAGE sssssssssssssssssssssssssssssssssssososososssosssosssososssssososssssssssoso 16 6 1 STORING PARAMETERS AND SETTINGS cccccccccccececececececececececesesesesececesesesessseseseeeseseeeeeeesaeass 16 6 2 EEPROM MEMORY MAP ci scccsc sassnoscevcascsdeais sess decencsdeSannotedeccacdesdusboosleceucd adusvonegedeecseasaawesdtees 17 7 UPGRADING THE FIRMWARE ccccccscscscscscscscssscscssscscscssscsscccccscccccscscsesesesesescees 18 8 BATCAN OBJECT DICTIONARY 0 cccccccccscscscscscsccscccccccccscccccccscscccscscscscscscsescseees 19 9 EMERGENCY OBJECTS scccssccccccccsccssccssccscsccscssscssssssccccscosscscsscscsscsesssecsosvsvevevencscscosuaveve 26 REFERENCES secssscsseccnctis ccastecsetebseticcbaacecedeastccceasbccestebcesicebeuescecancess coestecesdebeatecebeuccesconeesaceesbee 28 APPENDIX A NTC TEMPERATURE SENSOR DATA wii cccccccccrcrcccrcccccccrcceeseees 29 Version History Version Date Comments Describes firmware version BC11 0002 13 5 Jul 2012 Added Object 5380h and 2500h sub 29 37 1 2a 9 Feb 2011 Fixed some errors in schematic in Figure 1 Describes firmware version BC11 0000 Additional Objects for compatibility with BATsCAN firmware for 1 2 4 Feb 2010 mBATCAN modules Added Object 2800h to OD listing was missing Object 2910h renamed to 29F0h Describes firmware version BC10 0003 1 1 26 Sep 2008 Additional Objects 2900h sub 3 and 2910h New pictures
18. MDT MDT DCS CANnode pdf 3 F Bergsma H Boterenbrood BsCAN3 a modular 3D B field sensor system with CANopen read out NIKHEF CERN Geneva 13 May 2012 http www nikhef nl pub departments ct po html Bsensor BsCAN3 pdf 4 tai H Boterenbrood mBATCAN module for multiple B sensor read out by CAN bus and CANopen Version 1 1 NIKHEF CERN Geneva 13 July 2012 http www nikhef nl pub departments ct po html Bsensor mBATCAN pdf 5 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 6 CAN in Automation e V CANopen Application Layer and Communication Profile CiA DS 301 Version 4 0 16 June 1999 7 a H Boterenbrood CANopen Bootloader for the ELMB ATmega128 microcontroller Version 1 1 NIKHEF Amsterdam 10 March 2004 http www nikhef nl pub departments ct po html ELMB128 ELMBbI doc pdf 28 BATCAN module v1 3 5 Jul 2012 Appendix A NTC Temperature Sensor Data datasheets taken from manufacturer website http www thermometrics com NTC THERMISTORS TYPE DC95 o INTERCHANGEABLE CHIP THERMISTOR DESCRIPTION Epoxy coated interchangeable chip thermistors with bare tinned copper lead wires FEATURES e Precision solid state temperature sensor nterchangeability down to 0 4 C Suitable for use over the range of 80 C to 150 C e
19. comes on when there is a problem with reading out the B sensor The BATCAN module s serial number which it has been given after production testing can be read out remotely see Object Dictionary index 3100h in section 8 The module s CAN node identifier is stored in EEPROM and can be changed remotely see Object Dictionary index 3300h and 3301h in section 8 BATCAN module v1 3 5 Jul 2012 3 Initialisation When the BATCAN firmware starts up the hardware devices are reset and configured i e the CAN controller and the ADC on the B sensor module and error counters and registers are reset After power up watchdog reset manual reset or a CANopen initiated reset action i e by an NMT Reset Node message see below a CANopen node sends a so called Boot up message as defined by the CANopen standard as soon as it has finished initializing hardware soft ware this is a CAN message with the following syntax BATCAN module NMT Slave Host NMT Master COB ID Data Byte 0 700h NodeID 0 NodeID is the CAN node identifier stored in the BATCAN s EEPROM NodelD is in the range between 1 and 127 To start the BATCAN application in the CANopen sense of the word the following CANopen NMT message must be sent Host NMT Master gt BATCAN module NMT Slave COB ID Data Byte 0 Data Byte 1 000h Olh Start_Remote_Node NodelD or 0 0 all nodes on the bus There is
20. d provides read out of the B sensor data via a CAN bus The CANopen protocol 5 6 is used as high level communication protocol standard on the bus 8 7 L a 4 4 a REVISIONS im NB pull up resistor on 1 Wire required CON1 pin 8 ADUM 1207 per BATCAN B Sensor CAN BUS Proj ATLAS B Sensa JJ Kult lt u Rea NI JEF ne a 7 6 T 5 T 4 3 T ao aa Figure 1 Schematic of the BATCAN module NB modified original in driver coupler area BATCAN module v1 3 5 Jul 2012 2 Connectors and Interfaces The pictures in Figure 2 show the BATCAN module and its external interfaces and plugged onto a B sensor module space for optional JTAG CAN bus connector B sensor connector debug connector NIKHEF Amsterdam EEUE Green LED Figure 2 The BATCAN module top left amp right and plugged onto a B sensor module bottom left amp right BATCAN module v1 3 5 Jul 2012 pin 1 10 Pin B sensor function Comment 1 SCLK SPI Serial Clock to ADC 2 GND 3 SDI SPI Serial Data In to ADC 4 GND 5 SDO
21. ea Index Sub Description Data Attr Default Comment hex Index Object 5000 B sensor ADC config Record Object 2500h 5100 B sensor module status Record Error status one bit per B sensor 0 OKAY 1 Error or Absent 0 Number of entries U8 RO 1 1 status B sensors 0 31 U32 RO FFFFFFFEh Status of string 0 5200 ADC status B sensor 0 U8 RO Oh see footnote 5300 ADC reset and calibrate U8 WO Object 2600h B sensor 0 5380 ADC reset and calibrate U8 WO Object 2600h all B sensors 5500 Read analogue input Record Object 4200h B sensor 0 5600 B sensor address list 0 Total number of B sensors U8 RO l 1 Address of 1st B sensor U8 RO 0 5700 Number of B sensors per Array string 0 Total number of strings U8 RO 4 1 B sensors on string 0 U8 RO l 2 B sensors on string 1 U8 RO 0 3 B sensors on string 2 U8 RO 0 4 B sensors on string 3 U8 RO 0 5800 B sensor to string mapping Array 0 string with B sensor 0 U8 RO 0 value FFh means this B sensor not found in any of the strings 5900 B sensor 0 64 bit ID Record Object 2900h 5B00 Probe for B sensors U8 RO l 5B03 Find and deselect any se U8 RO 0 Returns the number of lected B sensor modules deselected modules 5B04 0 Select or deselect B sensor U8 RO 0 Returns 0 when selected OxXFF 0 here not using DS2405 when deselected
22. ensor Identification Number Each B sensor module comes equipped with a unique identification number which is fac tory lasered in the on board Dallas DS2405 device The 64 bit 8 byte number is used to uniquely identify each module for instance to match each module with its calibration data which are kept elsewhere off line The identification number of the B sensor modules can be read from OD Object 2900h The least significant 4 bytes are read from subindex 1 and the most significant 4 bytes from subin dex 2 The least or most significant sets of 4 bytes can be read in any order The layout of the 64 bit ID number is as shown below 8 bit CRC Code 48 bit Identification Number 8 bit Family Code 01h MSB LSB MSB LSB MSB LSB byte 7 byte 6 4 byte 3 1 byte 0 4 4 4 4 OD index 2900h subindex 2 OD index 2900h subindex 1 Figure 3 B sensor 64 bit ID Number and its mapping to Object Dictionary OD objects The BATCAN module checks the correctness of the identification number CRC when OD Object 2900h is read so a valid reply implies the CRC was correct the host does not need to recalculate the number s CRC 14 BATCAN module v1 3 5 Jul 2012 Normalized Temperature Resistance Resistance Resistance ADO ea e NE a el as O E E E E E 9500 ar gt o eo 9s D E E E E o f oa o S o e f ia f e f om a E o oe oo s T a a a ae cee ee o om aao oa e ow wo om
23. gurable configure by writing to the appro priate objects in the Object Dictionary using the SDO mechanism However the CANopen standard defines a predefined set of CAN identifiers the so called Predefined Connection Set defining which CAN identifier to use for which kind of CANopen message without the need for the node to support configuration The BATCAN module uses this set of identifiers Also the PDO message content is fixed in the BATCAN module and cannot be changed The content of PDO messages can be found and read from the OD from objects called PDO mapping objects stored at fixed entries in the OD A feature that is configurable on the BATCAN module is the so called transmission type of the TPDOs which controls what triggers it to send its process data e g periodically on re quest or on change This is described in a next section Serious problems occurring during read out e g with the ADC hardware are reported in so called CANopen Emergency messages A list of the Emergency messages the BATCAN mod ule can produce is given in section 9 including a description of the problem 10 BATCAN module v1 3 5 Jul 2012 5 2 B sensor Data The BATCAN module sends one PDO message containing 5 bytes for each B sensor input and four of the B sensor s inputs are read Hall sensors H1 H2 and H3 and the temperature sensor The CAN identifier used for this PDO is the so called 4 transmit PDO TPDO4 of the CANopen Predefined
24. ial Estate Priorswood Road 808 US Highway 1 967 Windfall Road Taunton Somerset TA2 8QY UK Edison New Jersey 08817 4695 USA St Marys Pennsylvania 15857 3397 USA Tel 44 0 1823 335200 Tel 1 732 287 2870 Tel 1 814 834 9140 Fax 44 0 1823 332637 Fax 1 732 287 8847 Fax 1 814 781 7969 29 BATCAN module v1 3 5 Jul 2012 MATERIAL TYPE F AVAILABLE PRODUCTS HM C100 EC95 DC95 MC65 MF65 SC30 SC50 Data for material type F Temp Range a jr foma 3895 3917 3933 Temp Coef o PC 7 21 RUR25 nominal Temperature Cy 68 60 9 08 18 64 2 78 9 30 25 to amp 25 to 100 14 64 3969 3981 25 to 125 29 05 3999 mewa 2000 To calculate RU R25 at temperatures other than those listed in the table use the following equation RUR2S exp A Bh CA Dre where T temperature in K where K C 273 15 Temp Range B G me a eoe 50 to Q 4 41224T8E 01 4 4136032E 03 2 903416 E 04 6 28 T O25E 06 Oto SO L41441963E 01 4 4507830E 08 2 40TSS83E 04 6 8941929E 06 50 to 100 L420217T2E 01 4 4975256E 03 5 6421857E 04 5 S658796E 06 1 61540T8E 01 6 64G2992E 08 1 0004049E 06 1 1961491F 08 100 te 150 To caleulate the actual thermistor temperature as a function of the thermistor resistance use the following equation iT a biLn RYRZS e Ln RYR2S 2
25. input has been calibrated to give A 0 000000h at 0 C i e at 0 4315 V and A 16777215 OXFFFFFF at 100 C i e at 2 4275 V so that Vyrc can be expressed as Vutec 0 4315 2 4275 0 4315 A FFFFFFh 0 4315 1 996A FFFFFFh So Ryrc can be calculated directly from ADC value A as follows Ryrc 23200 2 0685 a 2 9315 a with a 1 996 A 16777215 To calculate temperature T in C in the range from 0 to 100 C of the NTC from NTC re sistance value Rnrc in Q the following approximation equation see Appendix A is used T 1 0 a b In r c In x d In r 273 15 with r Rnrtc 5000 and a 3 3538646E 03 b 2 5654090E 04 c 1 9243889E 06 d 1 0969244E 07 13 BATCAN module v1 3 5 Jul 2012 when 68 600 gt r gt 3 274 i e when 50 C lt T lt 0 C or a 3 3540154E 03 b 2 5627725E 04 c 2 0829210E 06 d 7 3003206E 08 when 3 274 gt r gt 0 36036 i e when 0 C lt T lt 50 C or a 3 3539264E 03 b 2 5609446E 04 c 1 9621987E 06 d 4 6045930E 08 when 0 36036 gt r gt 0 06831 i e when 50 C lt T lt 100 C or a 3 3368620E 03 b 2 4057263E 04 2 6687093E 06 d 4 0719355E 07 when 0 06831 gt r gt 0 01872 i e when 100 C lt T lt 150 C The conversion functions above are applied by the BATCAN firmware to the ADC readings when temperature read out is set to millidegrees centigrade which is the default 5 4 B s
26. on In this case the Bootloader does not automatically jump to the BAT CAN application program after 4 seconds The firmware upgrade process may now begin After the upgrade process the reception of a CANopen NMT Reset Node message causes the Bootloader to jump to the start of the new application program If the BATCAN module sends an Emergency message as shown below it signifies that the Bootloader is in control of the module Note that the same Emergency message is also sent as the first message after power up when the Bootloader is in control for the first 4 seconds after power up before jumping to the application program The Bootloader can be forced to jump to the application immediately by sending it a CANopen NMT Reset Node message COB ID Byte 0 1 Byte 2 Byte 3 7 080h Emergency Error Register Manufacturer specific error field NodeID Error Code Object 1001h 5 bytes FEh 80h 64h ZZh 00h 00h 50h 80h with ZZh MCUSR MCUSR MCU Status Register contents for details see section 9 18 BATCAN module v1 3 5 Jul 2012 8 BATCAN Object Dictionary The values of objects marked with in the Jndex column can be stored permanently in EEPROM They are retrieved from EEPROM at reset and power up Communication Profile Area BATCAN Index Sub Description Data Attr Default Comment
27. on software to the module even when the application currently programmed is faulty or corrupted After about 4 seconds the Bootloader automatically jumps to the application Alternatively the Bootloader starts the application immediately if it receives an NMT Reset Node message as shown above within this period 4 Node Guarding and Life Guarding Node Guarding in CANopen is a mechanism whereby an NMT master checks the state of other nodes on the bus at regular intervals It can do this in one of two different ways 1 The master sends a Remote Transmission Request RTR for the Node Guard message to each node on the bus in turn a node that receives the RTR sends the Node Guard message which contains one data byte indicating the CANopen state of the node as well as a toggle bit If a node does not reply the master should signal this to the higher level software and or take appropriate action The RTR for the Node Guard message looks like this a Remote Frame so the CAN message has no data bytes Host NMT Master gt BATCAN module NMT Slave COB ID 700h NodeID The reply Node Guard message from a node looks like this BATCAN module NMT Slave Host NMT Master COB ID DataByte 0 700h NodeID bit 7 toggle bit bit 6 0 state 2 Each node on the bus sends a Heartbeat message at regular intervals typically the NMT master monitors these messages and keeps a time out period
28. r ADC 0 124 RO 1 analog input 24 bit Hall H1 2 Input 2 B sensor ADC 0 124 RO oe s Hall H2 3 Input 3 B sensor ADC 0 124 RO geor 7 Hall H3 4 Input 4 B sensor ADC 0 124 RO qe n Y fullscale Hall 5 Input 5 B sensor ADC 0 124 RO S k NTC 6 Input 6 B sensor ADC 0 124 RO 6 x 0 C ref 7 Input 7 B sensor ADC 0 124 RO TA 100 C ref 4400 B sensor NTC readingsin Bool RW 1 If 1 NTC ADC readings in PDO messages in degrees PDO messages are converted to centigrade millidegrees centigrade using hardcoded conversion formulas see text 4500 BATsCAN PDO Bool RW 0 If 1 PDO messages with B x compatibility sensor data are compatible with BATsCAN firmware i e a data byte containing a B sensor ad dress or index is added for BATCAN 0 5C00 Compile time Options U32 RO Bitmask denoting which compile options were used when the ap plication code was generated see table below for details 5E00 Jump to Bootloader app U8 WO Object 5C00 Compile Options Bit Option Comment 0 VARS IN EEPROM Store retrieve working copies of configuration parameters in from EEPROM 1 a a 2 _ 3 7 4 A 5 AT90CAN32 Code compiled for AT90CAN32 microcontroller 6 AT9OCAN64 Code compiled for AT90CAN64 microcontroller 7 AT90OCAN128 Code compiled for AT90CAN128 microcontroller 24 BATCAN module v1 3 5 Jul 2012 Manufacturer specific Profile Area BATCAN BATsCAN compatibility ar
29. riting block info gt 0 size of parameter block to write EEPROM read error 5000 Byte 3 42h Byte 4 Parameter block index Byte 5 Error id 1 CRC 2 length 4 infoblock table continues on the next page 0 PDO communication parameters 1 Guarding parameters 2 3 4 B sensor ADC configuration 5 6 CAN configuration parameters 7 FFh BATCAN Serial Number 26 BATCAN module v1 3 5 Jul 2012 Error ER Manufacturer specific Error Field Description R byte 3 7 B sensor ADC 5000 Byte 3 51h conversion timeout Byte 4 B sensor number 0 Byte 5 ADC channel number 0 7 B sensor ADC 5000 Byte 3 52h reset failed Byte 4 B sensor number 0 Byte 5 Error id B sensor ADC 5000 Byte 3 53h Hall sensor calibration failed Byte 4 B sensor number 0 B sensor ADC 5000 Byte 3 54h T sensor calibration failed Byte 4 B sensor number 0 B sensor ADC problem s 5000 Byte 3 55h during initialisation Byte 4 ADC status see OD index 1002 check OD 1002 Irregular reset Watchdog 5000 Byte 3 FOh Brown out or JTAG Byte 4 microcontroller MCUSR register contents Bootloader not present 5000 Byte 3 Flh Bootloader is now in control gt 5000 Byte 3 FEh Byte 4 80h 81h in case of an ATIOCAN128 micro Byte 5 64h 28h for AT9OCAN128 32h for AT9OCAN32 Byte 6 microcontroller MCUSR register contents Bootloader cannot jump to 60
30. shown above Optionally a reset and calibration sequence can be done before each B sensor ADC channel scan This feature can be enabled via OD index 2700h useful perhaps for increasing radiation tolerance Individual B sensor module channels there are actually 7 inputs can be read out using CANopen SDO messages by reading from OD index 4200h see OD tables for a description of each individual channel 12 BATCAN module v1 3 5 Jul 2012 5 3 ADC Data Conversion The interpretation of the Hall sensor ADC values and conversion to physical values will be done offline using a set of calibration tables for each individual B sensor module and some dedicated software available from Felix Bergsma at CERN The B sensor module s T sensor is an NTC Thermometrics type number DC95F502W with a nominal resistance of 5 kQ See Appendix A for datasheet and temperature data of the NTC Table 4 shows a list of resistance values Rnrc for this NTC at different temperatures and the resulting B sensor module ADC input voltage In the shaded part of the table between 0 and 70 C the precision is 0 2 C The ADC input voltage Vnrc can be expressed as Vutec Vret VeeRyrc Rute Reet which can be rewritten as Ryrc Reet Vret Vyro Vnrc Vee Veer With Ryep 23 2 KQ Vec 5 V and Vret 2 5 V this results in Ryrc 23200 2 5 Vynre Vutec 2 5 Vnrtc is the voltage value calculated from the 24 bit ADC value A The ADC
31. some changes to text 1 0 14 Aug 2008 Describes firmware version BC10 0000 Table 1 Document change record latest change first BATCAN module v1 3 5 Jul 2012 1 Introduction and Overview The BATCAN module is a module that plugs directly on the NIKHEF B sensor module 1 providing a CAN interface for reading out the B sensor module The BATCAN firmware is based on the firmware used in the ATLAS MDT DCS module 2 and is as far as the read out of a single B sensor module is concerned completely compatible with that module In addition the BATCAN module may be used as a component in the so called BsCAN3 system 3 in which a number of BATCAN and mBATCAN 4 modules make up a B field sensor measurement system with multiple B sensor modules in closely spaced groups read out by an mMBATCAN module and or individual modules typically spaced further apart each read out by a BATCAN module all connecting to a single CAN bus which can extend to over 100 m in length Some additions have been made to the firmware in order to make the BATCAN module compatible with the mBATCAN module from the CANopen point of view A schematic of the BATCAN module is shown in Figure 1 The central component of the module is an Atmel AT9OCAN64 microcontroller with integrated CAN controller hence the name BATCAN B sensor readout module with ATmel CAN microcontroller The BATCAN module controls and monitors the B sensor module ADC an
32. to CANopen 0 Heartbeat is disabled 1018 Identity Record Mandatory CANopen object 0 Number of entries 1 4 RO 1 1 Vendor ID U32 RO 12345678h to be ordered from CiA 1 Manufacturer Status Register bytel B sensor ADC bytel for compatibility with MDT DCS app Status byte nibble 01 ADC reset error 02 ADC calibration error 04 ADC conversion time out FF ADC absent not used 19 BATCAN module v1 3 5 Jul 2012 Communication Profile Area BATCAN continued Index Sub Description Data Attr Default Comment hex Index Object 1803 4 Transmit PDO par s Record Data type PDOCommPar 0 Number of entries U8 RO 5 1 COB ID used by PDO U32 RO 480h According to CANopen Prede NodeID __ fined Connection Set 2 Transmission type U8 RW 1 Only 1 and 255 allowed 3 Inhibit time 100 us U16 RO 0 not used 4 Not used U8 RO 0 k 5 Event timer 1 s U16 RW 0 In units of secs must be lt 255 active for all transmission types 1A03 4 Transmit PDO mapping Record Data type PDOMapping 0 Number of entries U8 RO 2 Should be 255 for MuxPDO but this is not a CANopen MPDO 1 B sensor ADC channel U32 RO 42000008h actually not allowed but number 2 24 bit analogue input U32 RO 420x0x20h OD index 4200 4201 subindex x Analogue inputs multiplexed size 32 bits 20 BATCAN module v1 3 5 Jul 2012
33. ue 8 byte 64 bit number 0 Number of entries U8 RO 3 1 Lower 4 bytes U32 RO 2 Upperb 4 bytes U32 RO 3 Read ID and toggle U32 RO Byte 0 0x00 if output 0 DS2405 output using OxFF if output 1 after toggle Match ROM command for test purposes only 29F0 ID chip search Record Search for DS2405 ID chips for test purposes only 0 Initialize D chip search U8 RO 0 1 Next ID first 4 bytes U32 RO 2 Second 4 bytes of ID found U32 RO 3 Next ID active only U32 RO Finds DS2405 with output 0 first 4 bytes 4 Second 4 bytes of ID found U32 RO of active only search 5 Next ID first 4 bytes U32 RO Byte 0 0x00 if output 0 and toggle DS2405 output OxFF if output 1 after toggle 22 BATCAN module v1 3 5 Jul 2012 Manufacturer specific Profile Area BATCAN continued Index Sub Description Data Attr Default Comment hex Index Object 3000 Program Code CRC Record 0 Number of entries U8 RO 3 1 Check 16 bit CRC of pro U16 RO 0 SDO reply unequal to zero gram code in FLASH means there is a checksum error memory absence of CRC results in SDO Abort with Error Code 1 error while accessing FLASH results in SDO Abort with Error Code 6 3 Get CRC U16 RO Return CRC from flash 3100 Serial Number U32 RW Number or 4 byte string uniquely identifying a BATCAN module given during testing after production 3101 Enable Serial Number U8 WO DON
34. upper 2 bytes 19 Channel Setup Register 2 U32 RW LC 3 12 bits in lower 2 bytes LC 4 12 bits in upper 2 bytes 20 Channel Setup Register 3 U32 RW LC 5 12 bits in lower 2 bytes LC 6 12 bits in upper 2 bytes 21 Channel Setup Register 4 U32 RW LC 7 12 bits in lower 2 bytes LC 8 12 bits in upper 2 bytes r 22 SPI SCLK signal high U8 RW 10 in us 10 lt value lt 255 period opto coupler delay 23 28 reserved 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 gt 000 100 mV 001 55 mV 010 25 mV 011 1 V 100 5 V 101 2 5 V Entries for BATsCAN firmware compatibility 21 BATCAN module v1 3 5 Jul 2012 Manufacturer specific Profile Area BATCAN continued Index Sub Description Data Attr Default Comment hex Index Object 2600 ADC reset and calibrate U8 WO Writing any value triggers a reset B sensor and calibration sequence on the B sensor with its current ADC settings 2700 ADC reset and calibrate Bool RW 0 If 1 a reset calibration sequence before every scan cycle is performed before every B sensor ADC input channel scan 2800 B sensor presence mask Bool RW 1 Can only be 1 B sensor present default or 0 B sensor absent 2900 B sensor 64 bit Record DS2401 or DS2405 identification number Identification chip uniq
35. ween 1 and 255 seconds by set ting Object Dictionary index 100Dh to the corresponding value or can be switched off by setting Object Dictionary index 100Dh to zero If a Life Guarding time out occurs the node should take whatever appropriate action The BATCAN module resets and reinitializes the CAN controller and tries to resume s normal operation after sending an Emergency message see section 9 BATCAN module v1 3 5 Jul 2012 5 B sensor Data Read out 5 1 Introduction Each data object in the BATCAN module can be accessed through the CANopen Object Dictionary OD The CANopen SDO Service Data Object confirmed message mechanism is used to read from and write to data objects in the OD A complete overview of the Object Dictionary of the BATCAN module can be found in sec tion 8 A more efficient method of read out of data from the BATCAN module is offered by the CANopen mechanism of PDO Process Data Object messages This is an unconfirmed mes sage mechanism without protocol overhead and thus much more suitable for regular monitor ing of the process data of the BATCAN module i e the B sensor data The sending of this type of message may be triggered by a host system or autonomously by the BATCAN module firmware From the point of view of the BATCAN module data are transmitted by a PDO message called a Transmit PDO or TPDO In CANopen the CAN identifier message content and transmission type of PDO messages may be confi
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