rtd ECAN1000HR Manuale utente
ECAN1000HR
Isolated CAN interface board
User’s Manual
BDM-610020026
Rev. B
ECAN1000 User’s Manual 2 BDM-610020026 rev B
ECAN1000HR
I
SOLATED
1
M
B
/
S
CAN
INTERFACE BOARD
U
SER
’
S
M
ANUAL
RTD Embedded Technologies, INC.
103 Innovation Blvd.
State College, PA 16803-0906
Phone: +1-814-234-8087
FAX: +1-814-234-5218
E-mail
techsupport@rtd.com
Web site
http://www.rtd.com
ECAN1000 User’s Manual 3 BDM-610020026 rev B
Revision History
28/11/1991 Release 1.0
15/07/2001 Name of company changed, reformatted
Rev. A New Manual Naming Method
Rev. B 05/04/2007 Clarified references to QNX support, improved formatting and grammar
Published by:
RTD Embedded Technologies, Inc.
103 Innovation Blvd.
State College, PA 16803-0906
Copyright 1999, 2002, 2003, 2007 by RTD Embedded Technologies, Inc.
All rights reserved
The RTD Logo is a registered trademark of RTD Embedded Technologies. cpuModule and utilityModule
are trademarks of RTD Embedded Technologies. PC/104 is a registered trademark of PC/104 Consor-
tium. All other trademarks appearing in this document are the property of their respective owners.
ECAN1000 User’s Manual 4 BDM-610020026 rev B
TABLE OF CONTENTS
CHAPTER 1
INTRODUCTION............................................................................................................................6
FEATURES...................................................................................................................................................................6
CAN BUS CONTROLLER ..............................................................................................................................................6
PHYSICAL INTERFACE.................................................................................................................................................7
MECHANICAL DESCRIPTION ........................................................................................................................................7
CONNECTOR DESCRIPTION..........................................................................................................................................7
WHAT COMES WITH YOUR BOARD?.............................................................................................................................7
BOARD ACCESSORIES .................................................................................................................................................8
USING THIS MANUAL...................................................................................................................................................8
WHEN YOU NEED HELP ...............................................................................................................................................8
CHAPTER 2
BOARD SETTINGS ........................................................................................................................9
FACTORY-CONFIGURED JUMPER SETTINGS ................................................................................................................9
BASE ADDRESS JUMPERS (FACTORY SETTING:300H)...............................................................................................10
INTERRUPT CHANNEL
(FACTORY SETTING:IRQ5) ................................................................................................12
CHAPTER 3
BOARD INSTALLATION............................................................................................................13
BOARD INSTALLATION..............................................................................................................................................13
General installation guidelines: ..........................................................................................................................13
Installation integrated with a PC/104 module stack............................................................................................13
3U rack or enclosure installation with a EUROCARD CPU containing an ECAN1000HR ...............................14
J12 GALVANICALLY ISOLATED CAN BUS CONNECTOR .............................................................................................15
J34 GALVANICALLY ISOLATED CAN BUS TERMINATION JUMPER..............................................................................15
CHAPTER 4
HARDWARE DESCRIPTION.....................................................................................................16
THE CAN BUS CONTROLLER.....................................................................................................................................17
GALVANIC ISOLATION OF THE CAN BUS ...................................................................................................................18
CHAPTER 5
BOARD OPERATION AND PROGRAMMING .......................................................................19
DEFINING THE MEMORY MAP...................................................................................................................................19
INTERRUPTS .........................................................................................................................................................20
What is an interrupt? ...........................................................................................................................................20
Interrupt request lines..........................................................................................................................................20
8259 Programmable Interrupt Controller...........................................................................................................21
Interrupt Mask Register (IMR) ............................................................................................................................21
End-of-Interrupt (EOI) Command .......................................................................................................................21
What exactly happens when an interrupt occurs? ...............................................................................................21
Using Interrupts in your program .......................................................................................................................22
Saving the Startup Interrupt Mask Register (IMR) and interrupt vector.............................................................24
Common Interrupt mistakes.................................................................................................................................25
Example on Interrupt vector table setup in C-code:............................................................................................26
CHAPTER 6
ECAN1000HR SPECIFICATIONS .............................................................................................27
HOST INTERFACE......................................................................................................................................................27
CAN INTERFACES ....................................................................................................................................................27
CONNECTORS ...........................................................................................................................................................27
ELECTRICAL .............................................................................................................................................................27
CE............................................................................................................................................................................27
CHAPTER 7
RETURN POLICY AND WARRANTY......................................................................................28
RETURN POLICY .......................................................................................................................................................28
LIMITED WARRANTY ................................................................................................................................................29
ECAN1000 User’s Manual 5 BDM-610020026 rev B
ILLUSTRATIONS
FIGURE 1: COMPONENT LOCATIONS ............................................................................................................................10
FIGURE 2: BASE ADDRESS JUMPERS ILLUSTRATING ADDRESS 300 H .......................................................................12
FIGURE 3: INTERRUPT SET TO IRQ 5. .......................................................................................................................12
FIGURE 4: ECAN1000HR INTEGRATED IN A PC/104 RTD CPUMODULE STACK ...................................................14
FIGURE 5: 19” EUROCARD RACK INSTALLATION WITH AN INTEGRATED PC/104 DATAMODULE AND ..................14
FIGURE 6: ECAN1000HR BLOCK DIAGRAM............................................................................................................16
TABLES
TABLE 1: FACTORY CONFIGURED JUMPER SETTINGS ................................................................................................9
TABLE 2: JP1 BASE ADDRESS JUMPER SETTINGS ....................................................................................................11
TABLE 3: J12 CAN BUD CONNECTOR ......................................................................................................................15
TABLE 4: PHYSICAL INTERFACE CONNECTOR J12 PINOUT OF THE ECAN1000HR ...............................................15
TABLE 5: ECAN MEMORY MAP ...............................................................................................................................19
ECAN1000 User’s Manual 6 BDM-610020026 rev B
Chapter 1
I
NTRODUCTION
This user’s manual describes the operation of the ECAN1000HR CAN bus Interface
board.
Features
Some of the key features of the ECAN1000HR include:
•SJA1000 CAN-network controller, Electrically compatible with the
PCA82C200 stand-alone CAN controller chip
•1 Mb/s maximum data rate (fully programmable)
•Full CAN-functionality 2.0 B
•Extended receive buffer (64 byte FIFO)
•16 MHz clock frequency
•Galvanically isolated physical interfaces
•I/O mapped host interface using three addresses
•-40 to +85C operational temperature
•+5V only operation
•PC/104 compliant
The following paragraphs briefly describe the major features of the
ECAN1000HR. A more detailed discussion in included in Chapter 4
(Hardware description) and in Chapter 5 (Board operation and program-
ming). The board setup is described in Chapter 2 (Board Settings). A full
description of the Philips SJA1000 CAN-controller is included in Chapter
5 (Board operation and programming).
CAN bus controller
The ECAN1000HR CAN bus interface is implemented using the Philips
SJA1000 controller. This controller supports CAN Specification 2.0. This
versatile chip supports standard and extended Data and Remote frames;
a Programmable Global Message Identifier Mask; 15 message objects of
8-byte Data Length and a Programmable Bit Rate. This fully integrated
chip supports all the functionality of the CAN bus protocol. The internal 64
byte receive FIFO is ideal for block mode data transfer from the CAN
controller chip.
ECAN1000 User’s Manual 7 BDM-610020026 rev B
Physical Interface
Industrial environments require galvanic isolation and bus filtering to pro-
vide reliable data communication and safety. The galvanically isolated
physical interface is uses high speed optocouplers and a DC/DC con-
verter. To protect the input from radiated bus noise a specially balanced
bus filter is used. The bus connectors conform to the ISO11898 /2 speci-
fication. (For more information on CAN bus please visit the CAN in Auto-
mation Website at: http://www.can-cia.de.)
Mechanical description
The ECAN1000HR is designed on a PC/104 form factor. An easy me-
chanical interface to both PC/104 and EUROCARD systems can be
achieved. Stack your ECAN1000HR directly on a PC/104 compatible
computer using the onboard mounting holes.
Connector description
There is a 10-pin interface connector on the ECAN1000HR to directly
interface to the galvanically isolated CAN-networks. This header is
compliant with the ISO11892/2 specified pinout.
What comes with your board?
Your ECAN1000HR package contains the following items:
•ECAN1000HR CAN bus interface module
•User's manual
Note: Software and drivers can be downloaded from our website
If any item is missing or damaged, please call RTD Embedded Tech-
nologies, Inc. customer service department at the following number:
(814) 234-8087.
ECAN1000 User’s Manual 8 BDM-610020026 rev B
Board accessories
In addition to the items included in your ECAN1000HR delivery, several
accessories are available. Contact your local distributor for more infor-
mation and for advice on selecting the most appropriate accessories to
support your system.
Using this manual
This manual is intended to help you install your new ECAN1000HR card
and get it working quickly, whilst also providing enough detail about the
board and its functions so that you can obtain maximum use of its fea-
tures even in the most demanding applications. This manual does not
cover CAN bus network programming and system design.
When you need help
This manual and all the example programs will provide you with enough
information to fully utilize all the features on this board. If you have any
problems with installation or use of the board, contact our Technical
Support Department (814) 234-8087. Alternatively, send an Email to:
following information: Your company's name and address, your name,
your telephone number, and a brief description of the problem.
ECAN1000 User’s Manual 9 BDM-610020026 rev B
Chapter 2
B
OARD SETTINGS
The ECAN1000HR CAN bus interface board has jumper settings which can be
changed to suit your application and host computer memory configuration. The factory
settings are listed and shown in the diagram at the beginning of this chapter.
Factory-Configured Jumper Settings
Table 1 below illustrates the factory jumper setting for the ECAN1000HR. Fig-
ure 1 shows the board layout of the ECAN1000HR and the locations of the
jumpers. The following paragraphs explain how to change the factory jumper
settings to suit your specific application.
Table 1: Factory configured jumper settings (Please, see figure 1 for detailed
locations)
JUMPER NAME
DESCRIPTION NUMBER OF
JUMPERS
FACTORY
SETTING
JP1 BASE Base Addresses 8 300H
JP5 IRQ
SELECT Host interrupts 10 5
J34 CAN bus termination 1 Closed
Table 1: Factory configured jumper settings
ECAN1000 User’s Manual 10 BDM-610020026 rev B
Figure 1: Component Locations
Base Address Jumpers (Factory setting: 300h)
The ECAN1000HR is I/O mapped into the memory space of your host XT/AT.
This board occupies two I/O addresses starting from the base address.
The most common cause of failure when you are first setting up your module is
address contention: Some of your computers I/O space is already occupied by
other devices and memory resident programs. When the ECAN1000HR at-
tempts to use its own reserved memory addresses (which are being already
used by another peripheral device) erratic performance may occur and the data
read from the board may be corrupted.
To avoid this problem make sure you set up the base address by using the ten
jumpers marked “BASE”. This allows you to choose from a number of different
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