User Manual AT -CAN-MINI - Brand Innovators Products
Contents
1. Figure 1 jumpers and soldering bridges Page 5 of 13 AT CAN MINI User Manual Version 1 2 Status Rel port 2 Hardware Following is an overview schematic of the board CANbus Opto Barrier and Driver Basic CAN Address Data Interrupt K Dre K me AT ISA 8 Bus Figure 2 AT CAN MINI schematic 2 1 Addressing AT CAN MINI uses an 32 byte address window in the I O address space of the PC In this area the controllers register are mapped Begin address of this I O area is located between 200h and 3E0h With jumper JP3 it can be freely assigned in steps of 32 byte 20h Page 6 of 13 AT CAN MINI User Manual Version 1 2 Status Rel port 1 2 3 4 T a a oo Adresse 200h 220h 240h 260h 280h 2A0h 2COh 2E0h 300h 320h 340h 360h I I 380h I 3A0h I 3COh 3E0h nm Table 2 I O address jumpering with JP3 Legend I jumper applied 2 2 CAN Controller As CAN controller the Philips Basic CAN SJA1000 clocked with 16 MHz is used The clock is generated at board Together with the CAN driver circuit SJA1000 bit rates up to 1 MBaud are possible The controller is used in the Intel Mode Signals are driven from a PAL 22V10 By using a CAN controller which handles all layer 2 protocol the user only has to provide data in the transmit buffer The controller then transmits the message au2. define OFF 0 define ON 1 define MODI 1 Modul Nr 1 define MOD2 2 Modul Nr 2 BYTE busO 0x89 Bustiming Register 0 BYTE busl OxEB Bustiming Register 1 BYTE mask OxFF Maskenregister BYTE acc OxFF Akzeptanzregister int port_adr 0x280 Adresse I O Port int modul MOD1 Modulnummer main can_telegramm rx Empfangsstruktur int z Durchlaufz hler int i Zahlvariable int schalter OFF fre CAN Controller initialisieren n e ri ef CAN_PortInit port_adr MOD1 bus0 busl CAN_PortMask port_adr MOD1 mask acc periodisch empfangen 55 555 7 while schalter OFF while CAN_PortRx port_adr modul amp rx amp amp schalter OFF delay 1 ZT if z gt 5000 printf warte0 z 0 if bioskey 1 schalter ON if schalter OFF printf Message d0 rx message printf Counts d0 rx count for i 0 i lt rx count i printf Daten hex x0 rx daten i printf Daten char c0 rx daten i printf Daten dezimal d0 rx daten i Page 12 of 13 AT CAN MINI User Manual Version 1 2 Status Rel port 4 2 Example cansend c The programm periodically sends a message Message data are entered over the com mand line It runs until the user hits one key More notes to the example are in the file readme include lt stdio h gt inc
3. Introduction Module number 3 1 1 Data types and structures 3 2 Content of disk 4 Appendix 4 1 Example canrec c 4 2 Example cansend c AT CAN MINI User Manual Version 1 2 Status Rel YO O0 O0 NINA ADHD F e e e e e e wU N Ne Page 3 of 13
4. The provided examples only should show how to use the library functions Therefore no sanity checks are within it 3 1 1 Data types and structures Some of the functions get or deliver data types BYTE Itis declared as typedef unsigned char BYTE e and allocates one byte in memory Page 10 of 13 AT CAN MINI User Manual Version 1 2 Status Rel port telegramm is a structure containing all necessary informations for a CAN message message is the CAN identifier from or to other CAN nodes 11 Bit in a bit field rtr identifier for an Remote Transmit Request RTR 1 Bit in a bit field count number of bytes to send or received 4 Bit in a bit field daten With CAN up to 8 bytes can be transfered The message data are stored in an 8 byte array of unsigned char 3 2 Content of disk With the provided disk are the following files File Description can_util h Header file for CAN functions can_util lib library file canrec c example 1 cansend c example 2 readme notes for using examples Table 6 content of supplied disk AT CAN MINI User Manual Version 1 2 Status Rel Page 11 of 13 port 4 Appendix 4 1 Example canrec c The example waits for an incoming CAN message and displays the contents of the mes sage It runs until the user hits one key More notes to the example are in the file readme include lt stdio h gt include lt dos h gt include lt bios h gt include can_util h
5. lude lt dos h gt include lt bios h gt include lt stdlib h gt include lt string h gt include can_util h define OFF 0 define ON 1 define MOD1 1 Modul Nr 1 define MOD2 2 Modul Nr 2 BYTE bus0 0x89 Bustiming Register 0 BYTE bus1 0xEB Bustiming Register 1 BYTE mask 0xFF Maskregister BYTE acc OxFF Acceptanzregister int port_adr 0x280 Adresse I O Port int modul MOD1 Modulnummer main int argc char argv can_telegramm tx int z int schalter OFF Sendestruktur beschreiben 7 tx message atoi argv 1 tx count atoi argv 2 strcpy tx daten argv 3 feos CAN Controller Gnitialisieren eee ee nn pt ey CAN_PortInit port_adr modul bus0 busl CAN_PortMask port_adr modul mask acc PRES CBSELOGLS Ch Senden RE E E a ee Hi while schalter OFF while CAN_PortTx port_adr modul amp tx amp amp schalter OFF delay 1 z if z gt 5000 printf warte0 z 0 if bioskey 1 schalter ON AT CAN MINI User Manual Version 1 2 Status Rel Page 13 of 13 port Table of Contents 1 Technical Data 2 Hardware 2 1 Addressing 2 2 CAN Controller 2 3 Address data multiplexor 2 4 Connection to the Bus 2 5 Optical isolation 2 6 CAN driver 2 7 Interrupt 3 Software 3 1
6. made components U1 U2 and W1 do not mount soldering bridges BR1 BR2 BR3 and BR4 close If the board is already assigned with U1 U2 and W1 then the soldering bridges BR2 BR3 and BR4 are not accessible in order to protect the components If a galvanic connection is desired and the components already mounted the soldering bridge BR1 must be closed The slot plate with mounted DSUB connectors is normally connected with ground of the PC by bridge BRS Within industrial PC s with no connection between housing and pro cessor ground the bridge must be disrupted 2 6 CAN driver As a CAN driver the PCA82C250T or SI9200 can electively be used Both are pin com patible Driver and opto coupler build a CAN interface according to ISO DIS 11898 If the SI9200 is used the resistor R2 reducing the steepness of signal edges with PCA82C250T is not necessary Steepness is proportional to the used resistor Page 8 of 13 AT CAN MINI User Manual Version 1 2 Status Rel port Following relations are valid value R2 result 0 PIN 8 at GND highest steepness open standby modus 10kOhm 100kOhm slope control Table 4 influence of steepness Formula calculation of edge steepness tsope 3 1077 36 V us Standard resistor with 10 KOhm yields in a steepness of 30V us 2 7 Interrupt To achieve the capability to generate interrupts from the CAN channel one of the inter rupt lines must selected wi
7. port User Manual AT CAN MINI it Dene kee E ll IE port GmbH Halle 31 07 99 port All rights reserved The contents of this documentation were generated and checked carefully by engineers of port GmbH in following port port however accepts no responsibility for damage caused by the use of this documentation In particular performance characteristics and technical data given in this document may not be constituted to be guaranteed product features in any legal sense port has the right to modify the products described or their documentation at any time without prior warning as long as these changes are made for reasons of reliability or technical improvement All rights of this documentation lie with port The transfer of rights to third parties or duplication of this document in any form whole or in part is subject to written approval by port Copies of this document may however be made exclusively for the use of the user and his engineers The user is thereby responsible that third parties do not obtain access to these copies The soft and hardware designations used are mostly registered and are subject to copy right Copyright 1999 port GmbH Regensburger StraBe 7c D 06132 Halle Tel 49 345 777 55 0 Fax 49 345 777 55 20 E Mail service port de port 1 Technical Data AT CAN MINI provides a CAN network interface for PC AT compatible computers It is designed as a short PC
8. slot card with dimensions 100mm x 150mm PC interface is a ISA direct connector The CAN network connection is made by an SUB D 9male and SUB D 9female connector physically it is designed according to ISO DIS 11898 and the recommendations of CiA CAN in Automation e V After plug in the card into the PC slot the CAN connectors are available at the PC s backboard The CAN interface is optically isolated against the PC voltage level AT CAN MINI occupies 32 addresses in the PC s I O address space The starting address is selectable by jumpers The CAN controller can generate interrupts at the PC bus The interrupt number is also selectable by jumpers As CAN controller the BASIC CAN SJA1000 by Philips is used Port GmbH provides C library functions for simple functions to program the controller The library is foreseen and tested with the following compilers BORLAND C 2 0 and BORLAND TURBO C 2 01 PC Interface ISA direct board connector CAN Interface 2 x SUB D 9 according ISO DIS 11898 and CiA rec ommendation CAN Controller SJA 1000 CAN driver SJA1000 or S19200 address area 32 byte between 200h 3E0h Interrupts IRQ3 IRQ7 selected by jumper Dimension 100mm x 150mm Table 1 technical data overview Page 4 of 13 AT CAN MINI User Manual Version 1 2 Status Rel peas U4 120 Ohm BR4 BR3 ADR INT ane ps SI JP BRS 200 H
9. th the INT jumper JP1 It can be selected from the lines IRQ3 to IRQ7 IRQS is preferred 1 2 3 4 5 6 7 8 9 10 IRQ I IRQ3 I IRQ4 I IRQS I IRQ6 I IRQ7 Table 5 interrupt jumpering with JP1 I jumper applied Attention Only one jumper must be applied AT CAN MINI User Manual Version 1 2 Status Rel Page 9 of 13 port 3 Software 3 1 Introduction The CAN controller with the AT CAN MINT is driven in I O mode That means that com municating with the board is done by 32 addresses in the PC s I O address range Port GmbH provides with the C library can_util lib some functions to easy access the CAN controller Following functions are delivered Function Short description CAN_PortInitQ initialization of the CAN controller CAN_PortMask programming acceptance and mask registers CAN_PortStatus read controller status CAN_PortTxRdy check transmit readiness CAN_PortRxRdy check receive readiness CAN_PortTx send message CAN_PortRx read message CAN_PortIRQ_EQ enable interrupts CAN_PortIRQ_DQO disable interrupts CAN_PortIRQRead read interrupt register Module number To be able to use the library also with boards with more then one CAN controller a mod ule number is provided with all calls to functions Because AT CAN MINI has only one controller Module number is always 1 Following conventions are used TRUE 1 FALSE 0
10. tomatically Also receiving is done automatically Received messages must only be read from the registers 2 3 Address data multiplexor The used CAN controller SJA1000 has an shared data address bus To use the 32 regis ters of the SJA1000 address lines AO A4 of the PC are used These lines must be multi plexed with data lines DO D7 Address data multiplexor is built by the circuit U6 unidirection address and US bidirec tional data Control signals DEN and AEN as also the correct timing are created by the PAL U8 AT CAN MINI User Manual Version 1 2 Status Rel Page 7 of 13 port 2 4 Connection to the Bus The physical connection to the CAN bus is realized by two parallel connected SUB D 9 connectors according to DIN 41652 Pin Signal Description 1 reserved 2 CAN_L CAN_L dominant low 3 GND ground 4 reserved 5 reserved 6 GND ground optional 7 CAN_H CAN_H dominant high 8 reserved error line 9 V external power supply 7V 13V optional Table 3 pin assignment for the SUB D 9 CAN The two connectors make it possible to grind the bus through the AT CAN MINI 2 5 Optical isolation Optical isolation is provided by the coupler U2 for transmitting and U1 for receiving Galvanical isolation between the 5 V Power Supply and the CAN driver circuit with opto coupler U2 is done with the DC DC converter W1 If this is not necessary following changes has to be
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