Peak PCAN-GPS FD User Manual

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PCAN-GPS FD

User Manual

User Manual 1.0.0

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Summary of Contents for Peak PCAN-GPS FD

Page 2: Imprint
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.
Page 3: Table Of Contents
4.3 Buffer Battery for GNSS 5 Operation 5.1 Starting the PCAN-GPS FD 5.2 Status LEDs 5.3 Sleep Mode 5.4 Wake-up 6 Creating Own Firmware 6.1 Library 7 Firmware Upload 7.1 System Requirements Contents PCAN-GPS FD User Manual 1.0.0 © 2023 PEAK-System Technik GmbH...
Page 4 Appendix C Dimension Drawing Appendix D CAN Messages of the Standard Firmware D.1 CAN Messages from the PCAN-GPS FD D.2 CAN Messages to the PCAN-GPS FD Appendix E Data Sheets Appendix F Disposal Contents PCAN-GPS FD User Manual 1.0.0 © 2023 PEAK-System Technik GmbH...
Page 5: Introduction
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.
Page 6: Properties At A Glance
(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 User Manual 1.0.0 © 2023 PEAK-System Technik GmbH...
Page 7: Scope Of Supply
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 User Manual 1.0.0 © 2023 PEAK-System Technik GmbH...
Page 8: Description Of The Sensors
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 User Manual 1.0.0 © 2023 PEAK-System Technik GmbH...
Page 9: Accelerometer And 3D Gyroscope
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 User Manual 1.0.0 © 2023 PEAK-System Technik GmbH...
Page 10 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 User Manual 1.0.0 © 2023 PEAK-System Technik GmbH...
Page 11: Magnetic Field Sensor
2.3 3D Magnetic Field Sensor The STMicroelectronics IIS2MDC magnetic field sensor is used to determine the position in a magnetic field (e.g. earth's magnetic field). Its dynamic range is ±50 Gauss. 2 Description of the Sensors PCAN-GPS FD User Manual 1.0.0 © 2023 PEAK-System Technik GmbH...
Page 12 The sensor has an interrupt output that is connected to the microcontroller and can generate an interrupt signal when new sensor data is available. Further and detailed information can be found in Appendix E Data Sheets. 2 Description of the Sensors PCAN-GPS FD User Manual 1.0.0 © 2023 PEAK-System Technik GmbH...
Page 13: Connectors
3 Connectors PCAN-GPS FD with a 10-pole terminal strip (Phoenix), a SMA antenna connector, and 2 status LEDs 3 Connectors PCAN-GPS FD User Manual 1.0.0 © 2023 PEAK-System Technik GmbH...
Page 14: Spring Terminal Strip
Can be used as input (High-active) or output with Low-side switch Boot CAN CAN bootloader activation, High-active Ground Wake-up External wake-up signal, High-active, e.g. car terminal 15 DIO_2 Can be used as input (High-active) or output with Low-side switch 3 Connectors PCAN-GPS FD User Manual 1.0.0 © 2023 PEAK-System Technik GmbH...
Page 15: Sma Antenna Connector
The scope of supply provides an active antenna which can receive the navigation systems GPS, Galileo, and BeiDou with QZSS and SBAS by factory default of the PCAN-GPS FD. 3 Connectors PCAN-GPS FD User Manual 1.0.0 © 2023 PEAK-System Technik GmbH...
Page 16: Hardware Configuration
(default setting: ID 15, all solder fields open). Solder field Binary digit 0001 0010 0100 1000 Decimal equivalent See chapter 7 Firmware Upload for more information. 4 Hardware Configuration PCAN-GPS FD User Manual 1.0.0 © 2023 PEAK-System Technik GmbH...
Page 17 Solder fields 0 to 3 for the ID on the board 5. Put the housing cover back in place according to the recess of the antenna connection. 6. Screw the two screws back onto the housing flange. 4 Hardware Configuration PCAN-GPS FD User Manual 1.0.0 © 2023 PEAK-System Technik GmbH...
Page 18: Internal Termination
Take precautions to avoid ESD. 1. Disconnect the PCAN-GPS FD from the power supply. 2. Remove the two screws on the housing flange. 3. Remove the cover under consideration of the antenna connection. 4 Hardware Configuration PCAN-GPS FD User Manual 1.0.0 © 2023 PEAK-System Technik GmbH...
Page 19: Buffer Battery For Gnss
PCAN-GPS FD 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. 4 Hardware Configuration PCAN-GPS FD User Manual 1.0.0 © 2023 PEAK-System Technik GmbH...
Page 20 Solder field Vgps on the circuit board 5. Put the housing cover back in place according to the recess of the antenna connection. 6. Screw the two screws back onto the housing flange. 4 Hardware Configuration PCAN-GPS FD User Manual 1.0.0 © 2023 PEAK-System Technik GmbH...
Page 21: Operation
The PCAN-GPS FD can be put into a sleep mode. When programming your own firmware, you can trigger the sleep mode by a CAN message or a timeout. Thereby no 5 Operation PCAN-GPS FD User Manual 1.0.0 © 2023 PEAK-System Technik GmbH...
Page 22: Wake-Up
Note: As long as a voltage is present at the wake-up pin, it is not possible to turn off the PCAN-GPS FD. 5.4.2 Wake-up via CAN When receiving any CAN message, the PCAN-GPS FD will turn on again. 5 Operation PCAN-GPS FD User Manual 1.0.0 © 2023 PEAK-System Technik GmbH...
Page 23: Creating Own Firmware
PEAK-System programmable hardware products. For each supported product, examples are included. 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. The source code of the firmware is available as example 00_Delivery_Firmware.
Page 24 VBScript to modify the example directories for the Visual Studio Code IDE Creating your own firmware: 1. Create a folder on your computer. We recommend using a local drive. 2. Unzip the development package PEAK-DevPack.zip completely into the folder. No installation is required. 3. Run the script SetPath_for_VSCode.vbs.
Page 25: Library
8. Prepare your hardware for firmware upload like described in section 7.2 Preparing Hardware. 9. Use the PEAK-Flash tool to upload your firmware to the device via CAN. The tool is either started via the menu Terminal > Run Task > Flash Device or from the sub directory of the development package.
Page 26: Firmware Upload
7 Firmware Upload The microcontroller in the PCAN-GPS FD is equipped with new firmware via CAN. The firmware is uploaded via a CAN bus with the Windows software PEAK-Flash. 7.1 System Requirements CAN interface of the PCAN series for the computer, for example PCAN-USB CAN cabling between the CAN interface and the module with correct termination at both ends of the CAN bus with 120 Ohm each.
Page 27 Due to the High level at the Boot connection, the PCAN-GPS FD starts the CAN bootloader. This can be determined by the status LEDs: Status Color Status 1 quickly blinking orange Status 2 glowing orange 7 Firmware Upload PCAN-GPS FD User Manual 1.0.0 © 2023 PEAK-System Technik GmbH...
Page 28: Firmware Transfer
A new firmware version can be transferred to the PCAN-GPS FD. The firmware is uploaded via a CAN bus using the Windows software PEAK-Flash. Transfer firmware with PEAK-Flash: The software PEAK-Flash is included in the development package, which can be downloaded via the following link: www.peak-system.com/quick/DLP-DevPack 1.
Page 29 In the list, the PCAN-GPS FD appears together with the Module ID and Firmware version. If not, check whether a proper connection to the CAN bus with the appropriate nominal bit rate exists. 7 Firmware Upload PCAN-GPS FD User Manual 1.0.0 © 2023 PEAK-System Technik GmbH...
Page 30 16. Remove the connection between Boot and the power supply V 17. Connect the PCAN-GPS FD to the power supply. You can now use the PCAN-GPS FD with the new firmware. 7 Firmware Upload PCAN-GPS FD User Manual 1.0.0 © 2023 PEAK-System Technik GmbH...
Page 31: Technical Data
Spring terminal strip 10-pole, 3.5 mm pitch (Phoenix Contact FMC 1,5/10-ST-3,5 - 1952348) Antenna SMA (Sub Miniature version A) Supply for active antenna: 3.3 V, max. 50 mA 8 Technical Data PCAN-GPS FD User Manual 1.0.0 © 2023 PEAK-System Technik GmbH...
Page 32 Note: The manufacturer of the u-blox M10 allows up to 25 Hz (single GNSS) with an irreversible configuration. You can perform this modification on your own responsibility. However, we do not offer support for it. 8 Technical Data PCAN-GPS FD User Manual 1.0.0 © 2023 PEAK-System Technik GmbH...
Page 33 Integrated magnet for mounting 3D gyroscope Type ST ISM330DLC Connection to microcontroller Axes roll (X), pitch (Y), yaw (Z) Measuring ranges ±125, ±250, ±500, ±1000, ±2000 dps (degrees per second) 8 Technical Data PCAN-GPS FD User Manual 1.0.0 © 2023 PEAK-System Technik GmbH...
Page 34 Data format 16 bits, two's complement Filter possibilities Configurable digital filter chain Output data rate (ODR) 10 to 150 measurements per second Operating modes Idle, Continous, and Single mode 8 Technical Data PCAN-GPS FD User Manual 1.0.0 © 2023 PEAK-System Technik GmbH...
Page 35 Clock frequency internally max. 180 MHz (programmable by PLL) Memory 512 kByte MCU Flash (Program) 2 kByte EEPROM 8 MByte QSPI Flash Firmware upload via CAN (PCAN interface required) 8 Technical Data PCAN-GPS FD User Manual 1.0.0 © 2023 PEAK-System Technik GmbH...
Page 36 15 to 90 %, not condensing Ingress protection IP20 (IEC 60529) Conformity RoHS 2 EU Directive 2011/65/EU (RoHS 2) + 2015/863/EU DIN EN IEC 63000:2019-05 EU Directive 2014/30/EU DIN EN 61326-1:2022-11 8 Technical Data PCAN-GPS FD User Manual 1.0.0 © 2023 PEAK-System Technik GmbH...
Page 37: Appendix A Ce Certificate
Electrical equipment for measurement, control and laboratory use - EMC requirements - Part 1: General requirements (IEC 61326-1:2020); German version of EN IEC 61326-1:2021 Darmstadt, 26 October 2023 Uwe Wilhelm, Managing Director Appendix A CE Certificate PCAN-GPS FD User Manual 1.0.0 © 2023 PEAK-System Technik GmbH...
Page 38: Appendix B Ukca Certificate
Electrical equipment for measurement, control and laboratory use - EMC requirements - Part 1: General requirements (IEC 61326-1:2020); German version of EN IEC 61326-1:2021 Darmstadt, 26 October 2023 Uwe Wilhelm, Managing Director Appendix B UKCA Certificate PCAN-GPS FD User Manual 1.0.0 © 2023 PEAK-System Technik GmbH...
Page 39: Appendix C Dimension Drawing
Appendix C Dimension Drawing Appendix C Dimension Drawing PCAN-GPS FD User Manual 1.0.0 © 2023 PEAK-System Technik GmbH...
Page 40: Appendix D Can Messages Of The Standard Firmware
Download link to the development package: www.peak-system.com/quick/DLP-DevPack Path to the example project: PEAK-DevPack\Hardware\PCAN-GPS_FD\Examples\ 00_Delivery_Firmware\PCAN-Explorer Example Project Appendix D CAN Messages of the Standard Firmware PCAN-GPS FD User Manual 1.0.0 © 2023 PEAK-System Technik GmbH...
Page 41: Can Messages From The Pcan-Gps Fd
L3GD20_Rotation_B (Cycle time 50 ms) Rotation_Z Floating-point number unit: degree per second Sign: 1 bit, fixed-point part: 23 bits, exponent: 8 bits (according to IEEE 754) Appendix D CAN Messages of the Standard Firmware PCAN-GPS FD User Manual 1.0.0 © 2023 PEAK-System Technik GmbH...
Page 42 Floating-point number unit: km/h 622h GPS_PositionLongitude (Cycle time 100 ms) GPS_Longitude_Minutes Floating-point number GPS_Longitude_Degree GPS_IndicatorEW 0 = INIT 69 = East 87 = West Appendix D CAN Messages of the Standard Firmware PCAN-GPS FD User Manual 1.0.0 © 2023 PEAK-System Technik GmbH...
Page 43 Floating-point number GPS_HDOP 626h GPS_Delusions_B (Cycle time 100 ms) GPS_VDOP Floating-point number 627h GPS_DateTime (Cycle time 100 ms) UTC_Year UTC_Month UTC_DayOfMonth UTC_Hour UTC_Minute UTC_Second Appendix D CAN Messages of the Standard Firmware PCAN-GPS FD User Manual 1.0.0 © 2023 PEAK-System Technik GmbH...
Page 44 IO (Cycle time 100 ms) Din1_Status Din2_Status Din3_Status Dout1_Status Dout2_Status Dout3_Status GPS_PowerStatus Device_ID 640h RTC_DateTime (Cycle time 500 ms) RTC_Sec RTC_Min RTC_Hour RTC_DayOfMonth RTC_Month RTC_Year Appendix D CAN Messages of the Standard Firmware PCAN-GPS FD User Manual 1.0.0 © 2023 PEAK-System Technik GmbH...
Page 45: Can Messages To The Pcan-Gps Fd
Out_BMC_AccScale (1 Byte) Acc_SetScale 0 = ±2 G 2 = ±4 G 3 = ±8 G 1 = ±16 G 654h Out_SaveConfig (1 Byte) Config_SaveToEEPROM Appendix D CAN Messages of the Standard Firmware PCAN-GPS FD User Manual 1.0.0 © 2023 PEAK-System Technik GmbH...
Page 46 657h Out_Acc_FastCalibration (4 Bytes) Acc_SetCalibTarget_X 0 = 0 G 1 = +1 G Acc_SetCalibTarget_Y 2 = -1 G Acc_SetCalibTarget_Z Acc_StartFastCalib Appendix D CAN Messages of the Standard Firmware PCAN-GPS FD User Manual 1.0.0 © 2023 PEAK-System Technik GmbH...
Page 47: Appendix E Data Sheets
3D Accelerometer and 3D Gyroscope sensor ISM330DLC by ST: PCAN-GPS-FD_UserManAppendix_AccelerometerGyroscope.pdf www.st.com 3D Magnetic field sensor IIS2MDC by ST: PCAN-GPS-FD_UserManAppendix_MagneticFieldSensor.pdf www.st.com Microcontroller NXP LPC54618 (User Manual): PCAN-GPS-FD_UserManAppendix_Microcontroller.pdf www.nxp.com Appendix E Data Sheets PCAN-GPS FD User Manual 1.0.0 © 2023 PEAK-System Technik GmbH...
Page 48: Appendix F Disposal
Remove the battery and dispose of the battery and the PCAN-GPS FD properly in accordance with local regulations. The following battery is included in the PCAN-GPS FD: 1 x button cell CR2032 3.0 V Appendix F Disposal PCAN-GPS FD User Manual 1.0.0 © 2023 PEAK-System Technik GmbH...