Peak PCAN-GPS FD Manuale utente

PCAN-GPSFD

User Manual

Relevant Product

Product name Part number

PCAN-GPSFD IPEH-003110

Imprint

PCAN is a registered trademark of PEAK-System Technik GmbH.

All other product names in this document may be the trademarks or registered trademarks of their

respective companies. They are not explicitly marked by ™ or ®.

Duplication (copying, printing, or other forms) and the electronic distribution of this document is only

allowed with explicit permission of PEAK-System Technik GmbH. PEAK-System Technik GmbH reserves the

right to change technical data without prior announcement. The general business conditions and the

regulations of the license agreement apply. All rights are reserved.

PEAK-System Technik GmbH

Otto-Röhm-Straße 69

64293 Darmstadt

Germany

Phone: +49 6151 8173-20

Fax: +49 6151 8173-29

www.peak-system.com

[email protected]

Document version 1.0.0 (2023-10-26)

Relevant Product PCAN-GPSFD

Contents

Imprint 2

Relevant Product 2

Contents 3

1 Introduction 5

1.1 Properties at a Glance 6

1.2 Scope of Supply 7

1.3 Prerequisites 7

2 Description of the Sensors 8

2.1 Receiver for Navigation Satellites (GNSS) 8

2.2 3D Accelerometer and 3D Gyroscope 9

2.3 3D Magnetic Field Sensor 11

3 Connectors 13

3.1 Spring Terminal Strip 14

3.2 SMA Antenna Connector 15

4 Hardware Configuration 16

4.1 Coding Solder Jumpers 16

4.2 Internal Termination 18

4.3 Buffer Battery for GNSS 19

5 Operation 21

5.1 Starting the PCAN-GPSFD 21

5.2 Status LEDs 21

5.3 Sleep Mode 21

5.4 Wake-up 22

6 Creating Own Firmware 23

6.1 Library 25

7 Firmware Upload 26

7.1 System Requirements 26

Contents PCAN-GPSFD

7.2 Preparing Hardware 26

7.3 Firmware Transfer 28

8 Technical Data 31

Appendix A CE Certificate 37

Appendix B UKCA Certificate 38

Appendix C Dimension Drawing 39

Appendix D CAN Messages of the Standard Firmware 40

D.1 CAN Messages from the PCAN-GPSFD 41

D.2 CAN Messages to the PCAN-GPSFD 45

Appendix E Data Sheets 47

Appendix F Disposal 48

Contents PCAN-GPSFD

1 Introduction

The PCAN-GPS FD is a programmable sensor module for position and orientation

determination with CAN FD connection. It has a satellite receiver, a magnetic field

sensor, an accelerometer, and a gyroscope. Incoming sensor data is processed by the

NXP microcontroller LPC54618 and then transmitted via CAN or CAN FD.

The behavior of the PCAN-GPS FD can be programmed freely for specific applications.

The firmware is created using the included development package with GNU compiler

for C and C++ and is then transferred to the module via CAN. Various programming

examples facilitate the implementation of own solutions.

On delivery, the PCAN-GPS FD is provided with a standard firmware that transmits

the raw data of the sensors periodically on the CAN bus.

1 Introduction PCAN-GPSFD

1.1 Properties at a Glance

NXP LPC54618 microcontroller with Arm Cortex M4 core

High-speed CAN connection (ISO 11898-2)

Complies with CAN specifications 2.0 A/B and FD

CAN FD bit rates for the data field (64 bytes max.)

from 40 kbit/s up to 10 Mbit/s

CAN bit rates from 40 kbit/s up to 1 Mbit/s

NXP TJA1043 CAN transceiver

CAN termination can be activated through solder jumpers

Wake-up by CAN bus or by separate input

Receiver for navigation satellites u-blox MAX-M10S

Supported navigation and supplementary systems:

GPS, Galileo, BeiDou, GLONASS, SBAS, and QZSS

Simultaneous reception of 3 navigation systems

3.3 V supply of active GPS antennas

Electronic three-axis magnetic field sensor IIS2MDC from ST

Gyroscope and three-axis accelerometer ISM330DLC from ST

8 MByte QSPI flash

3 digital I/Os, each usable as input (High-active) or output with

Low-side switch

LEDs for status signaling

Connection via a 10-pole terminal strip (Phoenix)

Voltage supply from 8 to 32 V

Button cell for preserving the RTC and the GPS data to shorten the TTFF

(Time To First Fix)

Extended operating temperature range from -40 to +85 °C (-40 to +185 °F)

(with exception of the button cell)

New firmware can be loaded via CAN interface

1 Introduction PCAN-GPSFD

1.2 Scope of Supply

PCAN-GPSFD in plastic casing including

Mating connector: Phoenix Contact FMC 1,5/10-ST-3,5 - 1952348

External antenna for satellite reception

Download

Windows development package with:

GCC ARM Embedded

Flash program

Programming examples

Manual in PDF format

1.3 Prerequisites

Power supply in the range of 8 to 32 V DC

For uploading the firmware via CAN:

CAN interface of the PCAN series for the computer (e.g. PCAN-USB)

Operating system Windows11(x64/ARM64), 10 (x86/x64)

1 Introduction PCAN-GPSFD

2 Description of the Sensors

This chapter describes the characteristics of the sensors that are used in the

PCAN-GPSFD in short form and gives instructions for use.

For additional information about the sensors, see chapter 8 Technical Data and the

data sheets of the respective manufacturers in Appendix E Data Sheets.

2.1 Receiver for Navigation Satellites (GNSS)

The u-blox MAX-M10S receiver module provides exceptional sensitivity and

acquisition time for all L1 GNSS signals and is designed for the following global

navigation satellite systems (GNSS):

GPS (USA)

Galileo (Europe)

BeiDou (China)

GLONASS (Russia)

Furthermore, the following satellite-based supplementary systems can be received:

QZSS (Japan)

SBAS (EGNOS, GAGAN, MSAS, and WAAS)

The receiver module supports simultaneous reception of three navigation satellite

systems and the supplementary systems. A total of up to 32 satellites can be tracked

simultaneously. The use of the supplementary systems requires an active GPS.

At delivery, the PCAN-GPSFD receives GPS, Galileo, BeiDou as well as QZSS and SBAS

simultaneously. The navigation satellite system used can be adapted by the user

during runtime. The possible combinations can be seen in Appendix E Data Sheets.

2 Description of the Sensors PCAN-GPSFD

To receive a satellite signal, an external antenna must be connected to the SMA

socket. Both passive and active antennas can be used. An active antenna is included

in the scope of supply. On the sensor side, the antenna is monitored for short

circuits. If a short circuit is detected, the voltage supply to the external antenna is

interrupted to prevent damage to the PCAN-GPSFD.

For a faster position determination after switching on the PCAN-GPSFD, the internal

RTC and the internal backup RAM can be supplied with the button cell. This requires

a hardware modification (see section 4.3 Buffer Battery for GNSS).

Further and detailed information can be found in Appendix E Data Sheets.

2.2 3D Accelerometer and 3D Gyroscope

The STMicroelectronics ISM330DLC sensor module is a multi-chip module with a

high-performance digital 3D accelerometer, a digital 3D gyroscope, and a

temperature sensor. The sensor module measures the acceleration along the X, Y,

and Z axes as well as the rotation rate around them.

The output of the values for acceleration and rotation rate can be scaled in

predefined steps via the value range.

2 Description of the Sensors PCAN-GPSFD

Gyroscope axes in relation to the PCAN-GPSFD casing

Z: yaw, X: roll, Y: pitch

Axes of the acceleration sensor

in relation to the PCAN-GPSFD casing

2 Description of the Sensors PCAN-GPSFD

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