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Summary of Contents for Peak PCAN-GPS
- Page 1 PCAN-GPS Programmable Position Sensor Module with CAN Connection User Manual Document version 1.2.2 (2018-08-03)
- Page 2 Part number PCAN-GPS IPEH-002110 PCAN is a registered trademark of PEAK-System Technik GmbH. microSD™ is a trademark or registered trademark of SD-3C, LLC in the United States of America, other countries, or both. All other product names in this document may be the trademarks or registered trade- marks of their respective companies.
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Page 3: Table Of Contents
PCAN-GPS – User Manual Contents Introduction Properties at a Glance Scope of Supply Prerequisites for Operation Description of the Sensors Receiver for Navigation Satellites (GNSS) Gyroscope Acceleration and Magnetic Field Sensor Hardware Configuration Coding Solder Jumpers Buffer Battery for GNSS... - Page 4 Preparing Hardware and Software Sending the Firmware Technical Specifications Appendix A CE Certificate Appendix B Dimension Drawing Appendix C CAN-Messages of the Demo Firmware CAN Messages from the PCAN-GPS CAN Messages to the PCAN-GPS Appendix D Data Sheets Appendix E Disposal Information (Battery)
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Page 5: Introduction
CAN. This gives a whole range of options for manipulation, evaluation, filtering, and routing of the data traffic. On delivery, the PCAN-GPS is provided with a demo firmware that transmits the raw data of the sensors periodically on the CAN bus. -
Page 6: Scope Of Supply
Extended operating temperature range from -40 to +85 °C (with exception of the button cell) New firmware can be loaded via CAN interface Scope of Supply PCAN-GPS in a plastic casing 10-pin spring terminal strip External antenna for satellite reception Windows development software... -
Page 7: Prerequisites For Operation
PCAN-GPS – User Manual Prerequisites for Operation Power supply in the range of 8 to 30 V DC For updating the firmware via CAN: CAN interface of the PCAN series for the computer (e.g. PCAN-USB) Operating system Windows 10, 8.1, 7 (32/64-bit) -
Page 8: Description Of The Sensors
Description of the Sensors This chapter describes the characteristics of the sensors that are used in the PCAN-GPS in short form and gives instructions for use. For additional information about the sensors, see the technical specifications (on page 29) and the data sheets of the respective manufacturers (Appendix D on page 40). -
Page 9: Gyroscope
It returns the rotational speed around X, Y, and Z axis. X: roll Y: pitch Z: yaw Gyroscope axes in relation to the PCAN-GPS casing The covered rotation angle can be determined by integration over time. There are two sensor-internal filters for limitation and damping of output values. -
Page 10: Acceleration And Magnetic Field Sensor
The acceleration and magnetic field sensor Bosch Sensortec BMC050 is used to determine the position in a magnetic field (such as the earth's magnetic field) and the acceleration along three axes. Axes of the acceleration and magnetic field sensor in relation to the PCAN-GPS casing... - Page 11 PCAN-GPS – User Manual There are three configurable control lines to adjust the function to the respective application: Data Ready MAG, Interrupt_MAG, and Interrupt_ACC1. Interrupt_ACC2 is not connected to the microcon- troller. All connected interrupt lines of the sensor are provided with pull-up resistors.
- Page 12 PCAN-GPS – User Manual Slow compensation: Over several steps (8 or 16), the correction value is gradually adjusted (4 lsb) to reach the target value. Fast compensation: The correction value is calculated from the average of 16 measurements and the target value.
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Page 13: Hardware Configuration
PCAN-GPS – User Manual Hardware Configuration Basic settings can be made on the circuit board of the PCAN-GPS module by using solder jumpers. On delivery, there are the following presets: 3 coding solder jumpers: all open Buffer battery for satellite reception: not connected These settings need to be adjusted only if necessary. -
Page 14: Coding Solder Jumpers
ID is conceivable here. For a firmware update via CAN, the PCAN-GPS module is identi- fied by a 3-bit ID which is determined by solder jumpers. A bit is set (1) when the corresponding solder field is open (default setting: ID 7, all solder fields open). -
Page 15: Buffer Battery For Gnss
Buffer Battery for GNSS The receiver for navigation satellites (GNSS) needs about half a minute until the first position fix after switching on the PCAN-GPS module. To shorten this period, the button cell can be used as a buffer battery for a quick start of the GNSS Receiver. However, this will shorten the life of the button cell. -
Page 16: Connectors
PCAN-GPS – User Manual Connectors Spring Terminal Strip Spring terminal strip with 3.5 mm pitch (Phoenix Contact FMC 1,5/10-ST-3,5 - 195234) Terminal Identifier Function Power supply 8 - 30 V DC, e.g. car terminal 30, reverse-polarity protection Ground CAN_L Differential CAN signal... -
Page 17: Sma Antenna Connector
Note: The microSD™ connectivity in the PCAN-GPS module is not suitable for recording large data flows, such as the CAN traffic. In order to insert a memory card, open the casing of the PCAN-GPS module by loosening the two fixing screws. -
Page 18: Operation
16). The firmware in the flash memory is subsequently run. At delivery, the PCAN-GPS is provided with a demo firmware. At a CAN bit rate of 500 kbit/s, it periodically transmits the raw values determined by the sensors. In Appendix C on page 35, there is a list of the used CAN messages. -
Page 19: Wake-Up
Wake-up If the PCAN-GPS is in sleep mode, a wake-up signal will be required for the device to turn on again. The following subsections show the possibilities. -
Page 20: Software
PCAN-GPS – User Manual Software This chapter covers the installation of the Yagarto GNU ARM toolchain and gives notes about the software library and the firmware examples. Software, source code, and additional information are included on the supplied DVD in the following directory branch:... -
Page 21: Library
Library The development of applications for the PCAN-GPS module is supported by the library libPCAN-GPS-GNU*.a (* stands for version number), a binary file. You can access the resources of the module by means of this library. - Page 22 Execute the following command to compile the example firmware: make all If the compiler has finished without errors (“Errors: none”), you can find the firmware file with the extension .bin in the subdirectory .out. This file is then used for a firmware update on the PCAN-GPS module.
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Page 23: Firmware Update
PCAN-GPS – User Manual Firmware Update The microcontroller in the PCAN-GPS module is equipped with new firmware via CAN. The scope of supply includes the Windows program PCAN-Flash to transfer the firmware from the computer to the PCAN-GPS module. System Requirements CAN interface of the PCAN series for the computer (e.g. - Page 24 PCAN-GPS – User Manual Connection at the spring terminal strip between terminals 1 and 7 This measure later applies the “Boot CAN” connection with a High level. Connect the CAN bus of the module with a CAN interface connected to the computer. Pay attention to the proper termination of the CAN cabling (2 x 120 ).
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Page 25: Sending The Firmware
PCAN-GPS – User Manual Sending the Firmware The process of sending new firmware to the PCAN-GPS module is as follows: Ensure that a connection is established between the “U ” and the “Boot CAN” terminals of the module (details: see above). - Page 26 PCAN-GPS – User Manual Click on the … button next to the File name field in order to select the desired firmware file (*.bin) to be send. Click on the OK button. Make sure that the PCAN-Flash program is connected with 500 kbit/s to the available CAN interface at the computer.
- Page 27 Click the (Detect) button in order to detect the PCAN-GPS module connected to the CAN bus. An entry for the PCAN-GPS module appears in the main window. 10. Select the entry for the PCAN-GPS module. 11. Click the (Program) button in order to start sending the...
- Page 28 The process was successful if the last message to appear is “Flashing of module(s) finished!”. 12. Disconnect the power supply from the module. 13. At the module, disconnect “Boot CAN” from “U ”. You can now use the PCAN-GPS module with the new firmware.
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Page 29: Technical Specifications
PCAN-GPS – User Manual Technical Specifications Power supply Supply voltage 8 - 30 V DC Current consumption normal 8 V: 100 mA operation 12 V: 60 mA 24 V: 30 mA 30 V: 25 mA Current consumption sleep 60 μA... - Page 30 PCAN-GPS – User Manual Receiver for navigation satellites (GNSS) Type u-blox MAX-7W Receivable navigation systems GPS, GLONASS, Galileo, QZSS, SBAS Connection to microcontroller Serial connection (UART 2) with 9600 Baud 8N1 (default) Input for synchronization pulses (ExtInt) Output of timing pulses (default: 1/s)
- Page 31 PCAN-GPS – User Manual Gyroscope Type STMicroelectronics L3GD20 Connection to microcontroller Axes roll (X), pitch (Y), yaw (Z) Measuring ranges ±250, ±500, ±2000 dps (degrees per second) Data format 16 bits, two's complement Output data rate (ODR) 95 Hz, 190 Hz, 380 Hz, 760 Hz...
- Page 32 PCAN-GPS – User Manual Digital output Count 1 (terminal 5) Type Low-side driver Max. voltage 30 V Max. current 0.5 A Short-circuit current 1.5 A Microcontroller Type NXP LPC4074 Clock frequency quartz 12 MHz Clock frequency internally max. 120 MHz (programmable by PLL)
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Page 33: Appendix Ace Certificate
PCAN-GPS – User Manual Appendix A CE Certificate... -
Page 34: Appendix B Dimension Drawing
PCAN-GPS – User Manual Appendix B Dimension Drawing The dimension drawing is not shown in actual size. -
Page 35: Appendix Ccan-Messages Of The Demo Firmware
PCAN-GPS at delivery. They list the CAN messages that, on the one hand, are transmitted periodically by the PCAN-GPS (600h to 640h) and, on the other hand, can be used to control the PCAN-GPS (650h to 657h). The CAN messages are sent in Intel format. - Page 36 PCAN-GPS – User Manual Start Cycle Identifier Values count time 601h BMC_MagneticField 25 ms MagneticField_ Conversion to μT: raw value * 0.3 MagneticField_ MagneticField_ 610h L3GD20_Rotation_A 50 ms Rotation_X Floating-point number unit: degree per second Rotation_Y 611h L3GD20_Rotation_B 50 ms...
- Page 37 PCAN-GPS – User Manual Start Cycle Identifier Values count time GPS_Longitude _Degree GPS_IndicatorE 0 = INIT 69 = East 87 = West 623h GPS_PositionLatitude 100 ms GPS_Latitude_ Floating-point number Minutes GPS_Latitude_ Degree GPS_Indicator 0 = INIT 78 = North 83 = South...
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Page 38: Can Messages To The Pcan-Gps
1 = Tuesday 2 = Wednesday 3 = Thursday 4 = Friday 5 = Saturday 6 = Sunday RTC_DayOfMo RTC_Month RTC_Year CAN Messages to the PCAN-GPS CAN ID Start Identifier Values count 650h Out_IO (1 byte) Dout_Set GPS_SetPower 651h Out_PowerOff (1 byte) - Page 39 PCAN-GPS – User Manual CAN ID Start Identifier Values count Acc_SetScale 1 = ±2 G 2 = ±4 G 3 = ±8 G 4 = ±16 G 654h Out_SaveConfig (1 byte) Config_SaveToEEPROM 655h Out_RTC_SetTime (8 bytes) RTC_SetSec RTC_SetMin RTC_SetHour RTC_SetDayOfWeek...
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Page 40: Appendix D Data Sheets
PCAN-GPS – User Manual Appendix D Data Sheets The data sheets of components of the PCAN-GPS are enclosed to this document (PDF files). You can download the current versions of the data sheets and additional information from the manufacturer websites. -
Page 41: Appendix E Disposal Information (Battery)
(Battery) The device and the battery it contains must not be disposed of with household waste. Remove the battery from the device for proper separate disposal. The PCAN-GPS contains the following battery: 1 x button cell CR2032 3.0 V...
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