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CAN232 FD User Manual

3.1.2.1 CAN 2.0A/B Messages

The tables below show the Binary message format for CAN 2.0A/B messages.

Note: The ONE-SHOT bit in earlier versions has been replaced with the FD bit. Set the

mode

option to

one-

shot

under the

command

settings in configuration to continue using the one-shot functionality. Also, when

FD=0, then BIT-6 is interpreted as the RTR flag.

STD-NORMAL Message Format

BIT-7

BIT-6

BIT-5

BIT-4

BIT-3

BIT-2

BIT-1

BIT-0

Byte-0

SYNC

Byte-1

Byte-2

EXT=0

RTR=0

FD=0

SELF-

RCV

LENGTH

TYPE

Byte-3

ID (10 -8)

Byte-4

ID (7-0)

Byte-5

DATA-0

DATA

Byte-6

DATA-1

Byte-7

DATA-2

Byte-8

DATA-3

Byte-9

DATA-4

Byte-10

DATA-5

Byte-11

DATA-6

Byte-12

DATA-7

STD-RTR Message Format

BIT-7

BIT-6

BIT-5

BIT-4

BIT-3

BIT-2

BIT-1

BIT-0

Byte-0

SYNC

Byte-1

Byte-2

EXT=0

RTR=1

FD=0

SELF-

RCV

LENGTH

TYPE

Byte-3

ID (10 -8)

Byte-4

ID (7-0)

Summary of Contents for CAN232 FD

Page 1: ...CAN232 FD User Manual Revision B January 13 2020 ...

Page 2: ......

Page 3: ...nformation contained herein Grid Connect Inc products are not designed intended authorized or warranted for use as components in systems intended for surgical implant into the body or in other applications intended to support or sustain life or in any other application in which the failure of a Grid Connect Inc product could create a situation where personal injury death or severe property or envi...

Page 4: ...le protection against harmful interference in a residential installation This equipment generates uses and can radiate radio frequency energy and if not installed and used in accordance with this guide may cause harmful interference to radio communications Changes or modifications to this device not explicitly approved by Grid Connect will void the user s authority to operate this device The infor...

Page 5: ...operate substantially for a period of 60 DAYS after the date of shipment In no event will Grid Connect be responsible to the user in contract in tort including negligence strict liability or otherwise for any special indirect incidental or consequential damage or loss of equipment plant or power system cost of capital loss of profits or revenues cost of replacement power additional expenses in the...

Page 6: ...2 7 TTL Option 2 7 2 3 Entering Configuration Mode 2 8 2 3 1 RS232 Interface 2 8 2 3 2 Config Button 2 8 2 3 3 Serial Command 2 8 3 Operation 3 9 3 1 CAN Command Mode 3 9 3 1 1 ASCII Message String Syntax 3 9 3 1 2 Binary Formatted Messages 3 12 3 2 Using Message Filters 3 19 3 2 1 Defining Filter Entries 3 19 3 2 2 How Filtering Works 3 19 3 3 Tunnel Mode 3 19 4 Configuration Mode 4 21 4 1 Genera...

Page 7: ...value 4 30 4 6 6 FDbaud value 4 30 4 6 7 FDexpert 4 30 4 7 config can expert 4 30 4 7 1 baud value 4 31 4 7 2 sample point value 4 31 4 7 3 clkdiv value 4 31 4 7 4 tseg1 value 4 31 4 7 5 tseg2 value 4 31 4 7 6 sjw value 4 31 4 8 config can FDexpert 4 32 4 8 1 FDbaud value 4 32 4 8 2 FDsample point value 4 32 4 8 3 FDclkdiv value 4 32 4 8 4 FDtseg1 value 4 32 4 8 5 FDtseg2 value 4 32 4 8 6 FDsjw va...

Page 8: ...ting Up Message Filters 4 35 4 12 config filters std n 4 36 4 12 1 enable value 4 36 4 12 2 sid1 value 4 36 4 12 3 sid2 value 4 36 4 12 4 type value 4 36 4 12 5 reject value 4 36 4 12 6 limiter value 4 36 4 12 7 scale value 4 37 4 13 config filters ext n 4 37 4 13 1 enable value 4 37 4 13 2 eid1 value 4 37 4 13 3 eid2 value 4 37 4 13 4 type value 4 37 4 13 5 reject value 4 37 4 13 6 limiter value ...

Page 9: ...he data over CAN to the configured target device In previous versions of the product this feature was referred to as virtual circuit VC mode The CAN232 FD operating mode and all other configuration parameters are accessed through the config button Pressing the button causes the CAN232 FD to enter configuration mode where it then prompts the user to modify configuration parameters In addition to pa...

Page 10: ... Hardware Description The following drawing shows the location and function of the LEDs 1 3 Model Description The CAN232 FD platform has the option of DTE male or DCE female on the RS232 serial cable It has a Male DB9 CAN connector ...

Page 11: ... is appropriate for ISO11898 drivers Attempts to communicate over the CAN network without terminating resistors can lead to erratic behavior and many long hours of trouble shooting CAN ISO11898 specifies a three wire bus CAN_H CAN_L and GROUND Failure to provide a common ground between network nodes will create some weird behavior At best the system will appear to communicate correctly until eithe...

Page 12: ...erm Install You will need an RS232 serial port and terminal emulation software in order to configure the CAN232 FD device over the serial line For Windows platforms we recommend the Tera Term terminal emulator You can download the software using the following link Tera Term Install ...

Page 13: ... VDC going to Pin 10 of J8 This is an optional method of supplying power to the device It is not required if you use a different power source For more details about power see Power Options below 2 2 2 Power Options For the CAN 232 model power 9 32 VDC can be supplied through a Phoenix terminal block through a barrel jack through the serial cable usually pin 9 or through the OEM option connector on...

Page 14: ... characterized for operation over the ambient temperature range of 40 C to 125 C Failsafe Outputs Meets or Exceeds ISO 11898 2 requirements Bus Fault Protection 58 V Dominant Time Out Function IEC ESD Protection up to 15 kV DOMINANT TIME OUT A dominant time out circuit in the TCAN1042 prevents the driver from blocking network communications if a local controller fault occurs The time out circuit i...

Page 15: ...st case including parallel transceivers The differential input resistance of the TCAN1042 family is a minimum of 30 kΩ If 100 TCAN1042 family transceivers are in parallel on a bus this is equivalent to a 300Ω differential load worst case That transceiver load of 300 Ω in parallel with the 60Ω gives an equivalent loading of 50 Ω Therefore the TCAN1042 family theoretically supports up to 100 transce...

Page 16: ... cable The config prompt should appear as Type help or to display the possible commands and settings for each level Whenever the CONFIG button is pressed the COM port settings are automatically set to 115200 8 N 1 with no flow control in case the user forgets the configured settings 2 3 3 Serial Command When using Command mode it s possible to enter configuration mode using the proper command In t...

Page 17: ...essages and rejecting all others Thus only desired messages will be received and the total required bandwidth of the serial link is kept to a minimum 3 1 1 ASCII Message String Syntax Message strings are formatted as human readable ASCII sequences that are easy to enter and read Each message string is of variable length depending on the number of data bytes included in the message In order to faci...

Page 18: ...11 bit or 29 bit identifier CAN type and data bytes and is encoded as follows Normal CAN Message Syntax S X IDENTIFIER N F H DATA 0 DATA 1 DATA n The first character is for synchronization and allows the CAN232 FD parser to detect the beginning of a command string The following character is either S for standard 11 bit or X for extended 29 bit identifier type The IDENTIFIER field consists of three...

Page 19: ...synchronization and allows the CAN232 FD parser to detect the beginning of a command string The following character is either S for standard 11 bit or X for extended 29 bit identifier type The IDENTIFIER field consists of from one to eight hexadecimal digits indicating the value of the identifier Note that if a 29 bit value is entered and an 11 bit value was specified the command will be treated a...

Page 20: ... eol option under the command settings 3 1 1 5 Timestamp Outgoing serial command messages can have a 16 bit time stamp appended to them with a 1 ms resolution In ASCII mode the timestamp is appended to the data block in uppercase HEX ASCII in the same way that the data field is presented i e two ASCII HEX digits to represent a byte The character is inserted between the last DATA digit and the firs...

Page 21: ... all the valid DLE sequences implemented in the protocol Any other DLE sequence received should be considered an error and will cause the message to be discarded DLE Sequences Defined Name Byte 0 Byte 1 Type Comment SYNC FF 00 FRAME Marks start of message DATA FF 01 DATA Defines data value of FF CONFIG FF 02 COMMAND Configuration mode entry command REPORT FF 03 STATUS Report CAN error status chang...

Page 22: ...eted as the RTR flag STD NORMAL Message Format BIT 7 BIT 6 BIT 5 BIT 4 BIT 3 BIT 2 BIT 1 BIT 0 Byte 0 1 1 1 1 1 1 1 1 SYNC Byte 1 0 0 0 0 0 0 0 0 Byte 2 EXT 0 RTR 0 FD 0 SELF RCV LENGTH TYPE Byte 3 0 0 0 0 0 ID 10 8 ID Byte 4 ID 7 0 Byte 5 DATA 0 DATA Byte 6 DATA 1 Byte 7 DATA 2 Byte 8 DATA 3 Byte 9 DATA 4 Byte 10 DATA 5 Byte 11 DATA 6 Byte 12 DATA 7 STD RTR Message Format BIT 7 BIT 6 BIT 5 BIT 4 ...

Page 23: ... 28 24 ID Byte 4 ID 23 16 Byte 5 ID 15 8 Byte 6 ID 7 0 Byte 7 DATA 0 DATA Byte 8 DATA 1 Byte 9 DATA 2 Byte 10 DATA 3 Byte 11 DATA 4 Byte 12 DATA 5 Byte 13 DATA 6 Byte 14 DATA 7 EXT RTR Message Format BIT 7 BIT 6 BIT 5 BIT 4 BIT 3 BIT 2 BIT 1 BIT 0 Byte 0 1 1 1 1 1 1 1 1 SYNC Byte 1 0 0 0 0 0 0 0 0 Byte 2 EXT 1 RTR 1 FD 0 SELF RCV LENGTH TYPE Byte 3 0 0 0 ID 28 24 ID Byte 4 ID 23 16 Byte 5 ID 15 8 ...

Page 24: ...6 is interpreted as the BRS flag The BRS flag indicates whether Bit Rate Switching is active for the message and data transmission is at the higher data rate STD NORMAL FD Message Format BIT 7 BIT 6 BIT 5 BIT 4 BIT 3 BIT 2 BIT 1 BIT 0 Byte 0 1 1 1 1 1 1 1 1 SYNC Byte 1 0 0 0 0 0 0 0 0 Byte 2 EXT 0 BRS FD 1 SELF RCV LENGTH CODE TYPE Byte 3 0 0 0 0 0 ID 10 8 ID Byte 4 ID 7 0 Byte 5 DATA 0 DATA Byte ...

Page 25: ...te 1 0 0 0 0 0 0 0 0 Byte 2 EXT 1 BRS FD 1 SELF RCV LENGTH CODE TYPE Byte 3 0 0 0 ID 28 24 ID Byte 4 ID 23 16 Byte 5 ID 15 8 Byte 6 ID 7 0 Byte 7 DATA 0 DATA Byte 8 DATA 1 Byte 9 DATA 2 Byte 10 DATA 3 Byte 11 DATA 4 Byte 12 DATA 5 Byte n DATA N Length Code Defined Length Code Length 00 08 0 8 09 12 0A 16 0B 20 0C 24 0D 32 0E 48 0F 64 ...

Page 26: ...rning error count above the warning threshold P Passive only passively flagging errors on the bus too many errors detected B Bus Off no longer transmitting on the CAN bus 3 1 2 4 Timestamp Outgoing serial command messages can have a 16 bit time stamp appended to them with a 1 ms resolution In binary mode the received CAN messages are extended by appending the time stamp as two binary bytes MSB fir...

Page 27: ...g 1 every 100 ms An empty filter list that is enabled will receive nothing but still permit transmission making the unit effectively TX only The maximum number of filter definitions possible is ten 10 each for Standard and Extended IDs 3 2 2 How Filtering Works Whenever the CAN232 FD receives a CAN message from the network it checks to see if any filters are enabled If none of the filters are enab...

Page 28: ...ata is then read and output directly to the serial COM port The CAN232 FD takes data bytes coming into its serial port and groups them into CAN messages for transmission When a remote CAN application target receives these messages it extracts the data bytes and processes them as needed based on the serial protocol being tunneled This operation is fully transparent to the connected serial device Th...

Page 29: ...or and debug events The commands are detailed in the same sequence as they appear in the following menu 4 1 General Commands All commands are entered in lower case 4 1 1 help or Displays a list of available commands for the given level 4 1 2 show Displays the configuration settings for all parameters on the given level 4 1 3 exit Exits the level and returns to the next level up 4 2 root level The ...

Page 30: ...l line The serial output can be captured logged or copy pasted to a configuration file Here is an example of using Tera Term to log the configuration output to a file First configure the CAN232 FD to the desired settings and return to the root level Second in Tera Term click on File then Log Pick the location and file name to save the configuration file and click Save ...

Page 31: ...n be done on the device for error checking and then use the export config command and log to a new file Next Click Close in the Tera Term Log window export config config com baud 115200 data bits 8 parity none stop 1 flow none mode command startup delay 0 can baud 250000 sample point 80 timeout 0 FD disable FDbaud 2000000 type range reject no limiter none scale 0 tunnel rxid size std rxid 0 txid s...

Page 32: ...e serial line from a configuration file created using the export config command Here is an example of using Tera Term to send the configuration file to the CAN232 FD First enter the import config command Second in Tera Term click on File then Send file import config I14 Send the configuration file ...

Page 33: ...ou can check the new settings and use the save command to save the settings in the device 4 2 5 exit Exits the root level and leaves configuration mode The device restarts with the last saved configuration settings 4 3 status level Under the status level you can view device information and diagnostic data import config I14 Send the configuration file config status show all log test exit ...

Page 34: ...dicators to cycle continuously To terminate the diagnostic press any key 4 4 config level Under the config level you can view and change settings for the operation and behavior of the device status log CAN command mode UART bad idfmt CAN Error_warning CAN Error_passive status status show all Device Name CAN232 Serial Number 000002 FW Version 01 00 COM 115200 baud 8 none 1 none command CAN 250000 b...

Page 35: ...or make adjustments to the filter settings 4 4 5 tunnel Move to the tunnel level to view or make adjustments to the tunnel mode settings 4 4 6 save Saves the current configuration settings to non volatile memory A warning message is displayed if you exit the config level without saving your changes 4 5 config com The com level contains the serial communication settings config com show baud value d...

Page 36: ...l uses the RS232 control signals RTS and CTS for limiting serial communication 4 5 6 mode value Sets the serial communication mode to the options of command or tunnel In the command mode the CAN232 FD is capable of sending and receiving arbitrary CAN messages over the serial line via the use of ASCII or binary formatted messages In tunnel or virtual circuit mode the CAN232 FD transparently tunnels...

Page 37: ...hile the CAN232 FD is in the configuration mode the CAN controller is in the bus off state It does not interact with the bus and is effectively invisible Thus it is possible to perform configuration of the CAN232 FD while still connected to an active CAN network and not adversely affect network operation Once the configuration state is exited the CAN232 FD will activate the CAN controller and begi...

Page 38: ...e to enable or disable With the CAN FD feature disabled default the CAN232 FD can only send and receive CAN 2 0A B packets on the bus and makes the device incompatible with CAN FD networks 4 6 6 FDbaud value Sets the baud rate to be used during the data phase of CAN FD communication when bit rate switching BRS is enabled Any baud rate from 20000 to 4000000 4 Mbps can be chosen but not all baud rat...

Page 39: ...sample point This value is automatically determined by the device based on baud rate clkdiv and sample point It does not normally need to be adjusted Any value from 1 to 256 will be accepted The baud rate sample point and other expert settings will be automatically adjusted accordingly when this parameter is changed 4 7 5 tseg2 value Sets the time segment 2 for the total bit time which is the numb...

Page 40: ... CAN controller uses a 16 MHz internal clock for baud rate generation 4 8 4 FDtseg1 value Sets the time segment 1 for the total bit time in the data phase which is the number of clock cycles before the sample point This value is automatically determined by the device based on FDbaud rate FDclkdiv and FDsample point It does not normally need to be adjusted Any value from 1 to 32 will be accepted Th...

Page 41: ...t arbitration will occur This is used in time triggered CAN protocols 4 9 3 format value Sets the serial command message format between ascii or binary The ASCII format uses only printable characters that can also be easily read by humans on a terminal display All data is converted to ASCII hex The binary format requires fewer bytes on the serial line and is more efficient for a software applicati...

Page 42: ...ether the serial stream data is sent with CAN FD protocol Valid settings are enable or disable If disabled CAN 2 0A B messages are transmitted with 8 serial bytes per message maximum If enabled CAN FD messages with bit rate switching BRS are transmitted and the lenFD parameter sets the maximum data length 4 10 6 lenFD value Sets the maximum data length when transmitting serial stream data in CAN F...

Page 43: ...filter settings which are two fully inclusive identifier ranges A marks the filter as enabled inclusive and a marks the filter as enabled exclusive A space no or means the filter is disabled 4 11 2 std filter instance Move to the standard identifier filter instance detail view The instance must be from 1 10 4 11 3 ext filter instance Move to the extended identifier filter instance detail view The ...

Page 44: ...l and classic range sid1 ID sid2 dual ID sid1 or ID sid2 classic Active 1 bits in sid1 ID bits in sid2 Note to create a single ID filter use type range or dual and set sid1 sid2 ID or use type classic and set sid1 7FF and sid2 ID 4 12 5 reject value Sets the reject option for this filter to no or yes for inclusive or exclusive filtering respectively 4 12 6 limiter value Sets the limiter type for t...

Page 45: ... and classic range eid1 ID eid2 dual ID eid1 or ID eid2 classic Active 1 bits in eid1 ID bits in eid2 Note to create a single ID filter use type range or dual and set eid1 eid2 ID or use type classic and set eid1 1FFFFFFF and eid2 ID 4 13 5 reject value Sets the reject option for this filter to no or yes for inclusive or exclusive filtering respectively 4 13 6 limiter value Sets the limiter type f...

Page 46: ...4 38 CAN232 FD User Manual 4 13 7 scale value Sets the scale value for this limiter Values between 0 and 10000 can be specified ...

Page 47: ...ontact technical support We are located in a far western suburb of Chicago and are on Central Standard Time Our location allows us to best service all of North America Grid Connect Inc 1630 W Diehl Road Naperville Illinois 60563 USA 1 800 975 GRID 4743 USA Toll Free 1 630 245 1445 Phone 1 630 245 1717 Fax Hours of Operation Monday Friday Business Hours 7 30 a m 5 00 p m CST Tech Support Hours 8 a ...

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