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ESD CPCI-CAN/402-4 Hardware Manual

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CPCI-CAN/402-4,
CPCI-CAN/402-4-FD
®
CompactPCI
Board with 4x CAN
®
(Layer 2, CANopen
, J1939, ARINC 825)
or optional 4x CAN FD
Hardware Manual
to Products I.2332.08,
I.2332.68
CPCI-CAN/402-4(-FD)
Hardware Manual • Doc. No.: I.2332.21 / Rev. 1.2
Page 1 of 42
esd electronics gmbh
Vahrenwalder Str. 207 • 30165 Hannover • Germany
http://www.esd.eu
Phone: +49 (0) 511 3 72 98-0 • Fax: +49 (0) 511 3 72 98-68

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  • Page 1 CPCI-CAN/402-4(-FD) Hardware Manual • Doc. No.: I.2332.21 / Rev. 1.2 Page 1 of 42 esd electronics gmbh Vahrenwalder Str. 207 • 30165 Hannover • Germany http://www.esd.eu Phone: +49 (0) 511 3 72 98-0 • Fax: +49 (0) 511 3 72 98-68...
  • Page 2 design.
  • Page 3 Rev. Chapter Changes versus previous version Date First English manual 2016-07-29 CPCI-CAN/402-4-FD version included in this manual Chapter revised Description of CPCI-CAN/402-4-FD version added Figure corrected Description of CPCI-CAN/402-4-FD version added 2018-04-10 Figure inserted...
  • Page 4 This NOTICE statement contains the general mandatory sign and gives information that must be heeded and complied with for a safe use. INFORMATION INFORMATION Notes to point out something important or useful. Page 4 of 42 Hardware Manual • Doc. No.: I.2332.21 / Rev. 1.2 CPCI-CAN/402-4(-FD)

  • Page 5: Safety Instructions

    ● The device is a built-in component. It is essential to ensure that the device is mounted in a way that cannot lead to endangering or injury of persons or damage to objects. ● Do not use damaged or defective cables to connect the CPCI-CAN/402-4(-FD) and follow the CAN wiring hints in chapter: "Correct Wiring of Electrically Isolated CAN Networks".
  • Page 6 Intended Use The intended use of the CPCI-CAN/402-4 is the operation as CompactPCI board with 4 CAN interfaces. The intended use of the CPCI-CAN/402-4-FD is the operation as CompactPCI board with 4 CAN FD interfaces. The guarantee given by esd does not cover damages which result from improper use, usage not in accordance with regulations or disregard of safety instructions and warnings.

  • Page 7: Table Of Contents

    CompactPCI Bus......................... 20 IRIG-B Interface (Option).....................20 Message-Signalled Interrupt Handling.................20 Software Support......................... 21 6.8.1 CPCI-CAN/402-4-FD ....................21 6.8.2 CPCI-CAN/402-4......................21 6.8.3 Tools........................22 Connector Assignments......................23 ............................ 23 Adapter Cable DSUB25 to DSUB9..................24 7.2.1 CAN Interfaces at DSUB9 Male (4x)................26 Correct Wiring of Electrically Isolated CAN Networks..............27...
  • Page 8 CAN_H/CAN_L-Voltage ......................35 CAN Transceiver Resistance Test..................36 Support by esd........................36 Application Note to CAN/402 Boards..................37 10.1 Windows Operating System....................37 10.2 Linux Operating System.....................38 Declaration of Conformity......................40 Order Information........................41 12.1 Hardware........................... 41 12.2 Software for CPCI-CAN/402-4...................41 12.3 Software for CPCI-CAN/402-4-FD..................42...

  • Page 9: Overview

    CAN (FD) interfaces according to ISO 11898-2. The interfaces are easily accessible via a DSUB25 connector in the front panel. CPCI-CAN/402-4-FD The CPCI-CAN/402-4-FD supports four CAN FD interfaces with bit rates from 10 kbit/s up to 5 Mbit/s. The independent CAN FD nets are designed according to ISO 11898-1:2015. CPCI-CAN/402-4 The hardware of the Classical CAN version CPCI-CAN/402-4 and the CAN FD version CPCI- CAN/402-4-FD is equal but both versions come with different CAN controllers in the FPGA images.
  • Page 10 I/O transactions in particular at higher data rates and a reduced host CPU load. Due to the usage of MSI the CPCI-CAN/402-4(-FD) can be operated for example in Hypervisor environments. Furthermore the CPCI-CAN/402-4(-FD) provides high resolution 64-bit hardware timestamps for CAN messages with bit time accuracy.
  • Page 11 Both are electrically isolated. IRIG-B evaluation is controlled by an 8051 microcontroller, integrated in the FPGA. • All signals via Rear I/O (P3) • 2x CAN FD via DSUB9 CPCI-CAN/402-4(-FD) Hardware Manual • Doc. No.: I.2332.21 / Rev. 1.2 Page 11 of 42...

  • Page 12: Pcb View With Connectors

    Read chapter “Hardware Installation” on page 14, before you start with the installation of the hardware! See also page 23 for signal assignment of the connectors. Page 12 of 42 Hardware Manual • Doc. No.: I.2332.21 / Rev. 1.2 CPCI-CAN/402-4(-FD)

  • Page 13: Jumper Configuration

    3.1 CAN Termination An on-board termination resistor of 120Ω can be individually enabled for each CAN or CAN FD channel via jumpers. For the position of the jumpers and jumper depots on the CPCI-CAN/402-4(-FD) see Figure 2 on page 12. NOTICE...

  • Page 14: Hardware Installation

    Connect the CAN or CAN FD interfaces via the DSUB25 connector in the front panel of the CPCI-CAN/402-4(-FD). You can use the cable CAN/400-4-1C4 by esd (see Order Information, page 41) as adapter from the DSUB25 connector to 4 DSUB9 connectors.
  • Page 15 “Correct Wiring of Electrically Isolated CAN Networks“, from page 26. For external termination esd offers suitable termination connectors for the CAN bus. Additionally the CAN_GND signal has to be connected to earth at exactly one point.

  • Page 16: Leds

    LEDs 5. LEDs 5.1 Position of the LEDs The CPCI-CAN/402-4(-FD) is equipped with eight green LEDs in the front panel. Figure 3: Front panel view of CPCI-CAN/402-4(-FD) Indicator Label Name Description State no CAN bus connection and/or no CAN traffic on CAN3...
  • Page 17 Description State reserved CPCI-CAN/402-4(-FD) not ready, FPGA not loaded Power CPCI-CAN/402-4(-FD) is ready for operation, FPGA is loaded reserved for IRIG-B option reserved Table 2: Description of LEDs B, R, I and A CPCI-CAN/402-4(-FD) Hardware Manual • Doc. No.: I.2332.21 / Rev. 1.2...

  • Page 18: Technical Data

    EN 61000-6-2, EN 61000-6-4, EMC, RoHS, CE Table 3: General data of the module 6.2 Hardware Components FPGA EP4CGX Altera FPGA PCI to PCIe Pericom PI7C9X111SLBFDE Bridge Table 4: Hardware components Page 18 of 42 Hardware Manual • Doc. No.: I.2332.21 / Rev. 1.2 CPCI-CAN/402-4(-FD)

  • Page 19: Can Interface (Cpci-Can/402-4)

    CAN to CAN): 500V DC @ 1s (I < 1 mA) Connector 1x 25-pin DSUB, male Table 6: Data of the CAN FD interface (CPCI-CAN/402-4-FD only) CPCI-CAN/402-4(-FD) Hardware Manual • Doc. No.: I.2332.21 / Rev. 1.2 Page 19 of 42...

  • Page 20: Compactpci Bus

    Table 7: Data of the CompactPCI bus 6.6 IRIG-B Interface (Option) INFORMATION The IRIG-B option is not equipped on the CPCI-CAN/402-4 or CPCI-CAN/402-4-FD, order No.: I.2332.08 or I.2332.68. The IRIG-B option is only available in a customized version on request...

  • Page 21: Software Support

    The CAN layer 2 (NTCAN-API) drivers for Windows and Linux are included in the scope of delivery of CPCI-CAN/402-4. Additional CAN layer 2 (NTCAN-API) drivers for Real-time OS can be ordered separately. Higher layer protocols (CANopen, J1939, ARINC825) are supported.

  • Page 22: Can Tools

    - 30 MB free HD drive space - esd CAN driver installed As part of the esd software development kit (CAN SDK) of the NTCAN-API the CAN Tools are included in delivery of the CAN-CD. The CAN SDK can also be downloaded free-of-charge from the esd website.

  • Page 23: Connector Assignments

    (functional earth) shall be connected to the cable shield. It is recommended to use the cable CAN/400-4-1C4 (order no. C.2047.19), as described in chapter 'Adapter Cable DSUB25 to DSUB9', from page 24. CPCI-CAN/402-4(-FD) Hardware Manual • Doc. No.: I.2332.21 / Rev. 1.2 Page 23 of 42...

  • Page 24: Adapter Cable Dsub25 To Dsub9

    Connector Assignments 7.2 Adapter Cable DSUB25 to DSUB9 esd offers the adapter cable CAN/400-4-1C4 1xDSUB25-to-4xDSUB9 (see Order Information on page 41) as accessory for the CPCI-CAN/402-4(-FD). This adapter only connects the four CAN (FD) interfaces to the DSUB25 front panel connector. The cable comes with a DSUB25 female socket and four DSUB9 male connectors for the CAN interfaces (CAN0 -CAN3).
  • Page 25 CAN3_H CAN3 plug, green CAN3_GND male Housing shield Housing CANx-GND signals are isolated from each other. They are not tied together by the adapter cable. CPCI-CAN/402-4(-FD) Hardware Manual • Doc. No.: I.2332.21 / Rev. 1.2 Page 25 of 42...

  • Page 26: Can Interfaces At Dsub9 Male (4X)

    CANx_H, Physical layer according to ISO11898-2. CANx_GND Functional earth (FE) is connected to the housing of the DSUB9 connector and to the shield of the cable Page 26 of 42 Hardware Manual • Doc. No.: I.2332.21 / Rev. 1.2 CPCI-CAN/402-4(-FD)

  • Page 27: Correct Wiring Of Electrically Isolated Can Networks

    Therefore the practical maximum number of nodes, bus length and stub length are typically much lower. esd has concentrated her recommendations concerning CAN wiring on the specifications of the ISO 11898-2. Thus this wiring hints forgoes to describe the special features of the derived standards CANopen, ARINC825, DeviceNet and NMEA2000.

  • Page 28: Light Industrial Environment (Single Twisted Pair Cable)

    8.2.1 General Rules NOTICE esd grants the EU Conformity of the product, if the CAN wiring is carried out with at least single shielded single twisted pair cables that match the requirements of ISO 11898-2. Single shielded double twisted pair cable wiring as described in chapter 8.3. ensures the EU Conformity as well.

  • Page 29: Cabling

    9-pin DSUB-termination connectors with integrated termination resistor and male and ● female contacts are available from esd (order no. C.1303.01). DSUB termination connectors with male contacts (order no. C.1302.01) or female contacts ● (order no. C.1301.01) and additional functional earth contact are available, if CAN termination and grounding of CAN_GND is required.

  • Page 30: Heavy Industrial Environment (Double Twisted Pair Cable)

    CAN_L CAN_GND wire shield n.c. n.c. connector case connector case Shield n.c. = not connected earth (FE) Figure 7: CAN wiring for heavy industrial environment Page 30 of 42 Hardware Manual • Doc. No.: I.2332.21 / Rev. 1.2 CPCI-CAN/402-4(-FD)

  • Page 31: Device Cabling

    CAN bus line via short cable stubs. This is normally realised by so called T- connectors. When using esd's CAN-T-Connector (order no.: C.1311.03) it should be noted that the shield potential of the conductive DSUB housing is not looped through this T- Connector type.

  • Page 32: Electrical Grounding

    5000 Table 9: Recommended cable lengths at typical bit rates (with esd-CAN interfaces) Optical couplers are delaying the CAN signals. esd modules typically reach a wire length of ● 37 m at 1 Mbit/s within a proper terminated CAN network without impedance disturbances like e.g.

  • Page 33: Examples For Can Cables

    Correct Wiring of Electrically Isolated CAN Networks 8.6 Examples for CAN Cables esd recommends the following two-wire and four-wire cable types for CAN network design. These cable types are used by esd for ready-made CAN cables, too. 8.6.1 Cable for light industrial Environment Applications (Two-Wire)

  • Page 34: Can Troubleshooting Guide

    - there are no open circuits in CAN_H or CAN_L wiring - your bus system has two terminating resistors (one at each end) and that they are 120 Ω each. Page 34 of 42 Hardware Manual • Doc. No.: I.2332.21 / Rev. 1.2 CPCI-CAN/402-4(-FD)

  • Page 35: Electrical Grounding

    (see figure at previous page). 4. Measure the DC voltage between CAN_L and CAN_GND (see figure at previous page). Normally the voltage should be between 2.0 V and 3.0 V. CPCI-CAN/402-4(-FD) Hardware Manual • Doc. No.: I.2332.21 / Rev. 1.2 Page 35 of 42...

  • Page 36: Can Transceiver Resistance Test

    If you have executed the fault diagnostic steps of this troubleshooting guide and you even can not find a solution for your problem our support department will be able to assist. Please contact our support via email at support@esd.eu or by phone +40-511-37298-130. Page 36 of 42 Hardware Manual •...

  • Page 37: Application Note To Can/402 Boards

    If this feature is enabled by Windows, it enforces additional mandatory features which are not implemented in the bridge of the CPCI-CAN/402-4(-FD) boards. This may prevent the start of the default PCI-to-PCI bridge driver (Code 10). This problem occurs e.g. on most ACER PC Windows systems.

  • Page 38: Linux Operating System

    -s 3:0.0 -v -x 03:00.0 CANBUS: ESD Electronic System Design GmbH Device 0402 (rev ff) (prog-if ff) !!! Unknown header type 7f 00: ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff...
  • Page 39 (see https://lore.kernel.org/linux-pci/20190406143031.GB200379@google.com/T/) but it will take some time until it will show up in the production kernels of Linux distributions. CPCI-CAN/402-4(-FD) Hardware Manual • Doc. No.: I.2332.21 / Rev. 1.2 Page 39 of 42...

  • Page 40: Declaration Of Conformity

    Declaration of Conformity 11. Declaration of Conformity Page 40 of 42 Hardware Manual • Doc. No.: I.2332.21 / Rev. 1.2 CPCI-CAN/402-4(-FD)

  • Page 41: Order Information

    C.1101.16 CANopen-LCD VxWorks CANopen Object Driver Licence + CD-ROM for VxWorks C.1101.18 J1939 Stack for Windows J1939 Stack for esd CAN Hardware, Windows Object Code, incl. J1939 Simulation C.1130.10 (Object) Tool J1939 Stack for Linux (Object) J1939 Stack for esd CAN Hardware, Linux Object Code C.1130.11...

  • Page 42: Software For Cpci-Can/402-4-Fd

    CAN-DRV-LCD CDROM+Lizenz RTX Object Licence and CD-ROM for RTX64 C.1101.35 The CAN layer 2 software drivers and Higher-Layer Protocols of the CPCI-CAN/402-4 can also be used with the CPCI-CAN/402-4-FD, because CAN FD is fully backwards- compatible with CAN. Please note that these drivers are for Classical CAN operation only! Read chapter “Software for CPCI-CAN/402-4”, page 41 for availability of software for...

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