Acromag AcroPack AP560 User manual

AcroPack Series AP560
Four Channel CAN Module
USER’S MANUAL
ACROMAG INCORPORATED
30765 South Wixom Road
Wixom, MI 48393-7037 U.S.A.
Tel: [phone]
Email: [e-mail]
Copyright 2018, Acromag, Inc., Printed in the USA.
Data and specifications are subject to change without notice.
8501100D
retired

AcroPack Series AP560 CAN Bus Interface Module
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Table of Contents
AcroPack Series AP560 USER’S MANUAL 1
GENERAL INFORMATION 5
Intended Audience .................................................................................................................................. 5
Preface..................................................................................................................................................... 5
Trademark, Trade Name and Copyright Information 5
Radio Frequency Interference Statement 5
Environmental Protection Statement 5
AP560 OVERVIEW.................................................................................................................................... 5
Ordering Information .............................................................................................................................. 6
KEY FEATURES.......................................................................................................................................... 6
AcroPack Module Interface Features ...................................................................................................... 7
Signal Interface Products......................................................................................................................... 7
Software Support..................................................................................................................................... 7
Windows7
VxWorks8
Linux8
1. PREPARATION FOR USE 8
UNPACKING AND INSPECTION ................................................................................................................ 8
Installation Considerations...................................................................................................................... 9
CONNECTORS .......................................................................................................................................... 9
Field I/O Connector P2 9
Logic Interface Connector 14
2. PROGRAMMING INFORMATION 15
PCIe Configuration Address Space ........................................................................................................ 16
Configuration Registers ......................................................................................................................... 16
MEMORY MAP....................................................................................................................................... 17
Board Interrupt Register, (Read/Write) - (Base + 00H) 18
Location Register, (Read Only) –(Base + 04H) 19
Channel Interrupt Pending Register, (Read) - (Base + 08H) 19
Channel x Command Register, (Read/Write) - (BAR0 + Chan X base + 00H) 21
Channel x Control Register, (Read/Write) - (BAR0 + Chan X base + 04H) 21
Channel x Interrupt Register, (Read/Write) - (BAR0 + Chan X base + 08H) 21
Channel x Output Message Registers, (Read/Write) - (BAR0 + Chan X base + 10H thru 1CH) 22
Channel x Input Message Registers, (Read/Write) - (BAR0 + Chan X base + 20H thru 2CH) 22
XADC Status/Control Register (Read/Write) - (Base + 60H) 22
XADC Address Register (Write Only) - (Base + 64H) 23
Firmware Revision Register (Read Only) - (Base + 200H) 24

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HI-3111 MODES OF OPERATION ........................................................................................................... 24
Initialization Mode 24
Normal Mode 24
Loopback Mode 24
Monitor Mode 25
Sleep Mode 25
CAN PROTOCOL OVERVIEW................................................................................................................... 25
BIT ENCODING ....................................................................................................................................... 25
Message Frames.................................................................................................................................... 26
Standard Data Frame 26
Extended Data Frame 29
Remote Frame 31
Error Frame 33
Overload Frame 35
BIT WISE ARBITRATION.......................................................................................................................... 36
BIT TIMING............................................................................................................................................. 38
Synchronization Segment (Sync Seg) 38
Propagation Time Segment (Prog Seg) 38
Phase Buffer Segment 1 and Phase Buffer Segment 2 (Phase Seg1 and Phase Seg2) .......................... 39
Sample Point 39
Phase Errors (e) 40
Synchronization ..................................................................................................................................... 40
Examples................................................................................................................................................ 40
REGISTERS.............................................................................................................................................. 41
Power-On-Reset .................................................................................................................................... 42
HI-3111 CAN Controller Registers ......................................................................................................... 42
Control Register 0 42
Control Register 1 44
BIT Timing Register 0 45
BIT Timing Register 1 46
Transmit Error Counter Register 47
Receive Error Counter Register 47
Message Status Register 48
Error Register 49
Interrupt Flag Register 50
Interrupt Enable Register 51
Status Flag Register 52
Free Running Timer 53

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Command Summary 53
HI-3111 Transmit Buffer ........................................................................................................................ 55
MESSAGE TRANSMISSION SEQUENCE 55
LOADING THE TRANSMIT FIFO 56
Transmit History FIFO 56
Single Frame Transmission 57
HI-3111 Receive Buffers and Frame Acceptance Filters........................................................................ 59
Receive Buffers 59
Filter and Mask ID Format 59
Reading the Receive Buffers 59
Programming Interrupts 63
Interrupt Programming Example 63
General Sequence of Events for Processing an Interrupt 63
3. THEORY OF OPERATION 64
CAN BUS PHYSICAL CONNECTION 64
CARRIER INTERFACE 64
PCIe INTERFACE LOGIC 64
AP560 CONTROL LOGIC 64
CAN Transceiver 65
4. SERVICE AND REPAIR 66
SERVICE AND REPAIR ASSISTANCE ........................................................................................................ 66
PRELIMINARY SERVICE PROCEDURE...................................................................................................... 66
WHERE TO GET HELP 66
5. SPECIFICATIONS 66
PHYSICAL................................................................................................................................................ 66
POWER................................................................................................................................................... 67
ENVIRONMENTAL .................................................................................................................................. 67
EMC Compliance 67
Vibration and Shock Standard 67
Reliability Prediction.............................................................................................................................. 68
PCIe Bus Specifications.......................................................................................................................... 68
Table 6.6 PCIe Bus Data Rates 68
6. APPENDIX 69
AP-CC-01 Heatsink Kit Installation......................................................................................................... 69
7. Certificate of Volatility 72
8. Revision History 73

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GENERAL INFORMATION
Intended Audience
This users’ manual was written for technically qualified personnel who will be
working with I/O devices using the AcroPack module.
Preface
The information contained in this manual is subject to change without notice,
and Acromag, Inc. (Acromag) does not guarantee its accuracy. Acromag
makes no warranty of any kind with regard to this material, including, but not
limited to, the implied warranties of merchantability and fitness for a
particular purpose. Further, Acromag assumes no responsibility for any errors
that may appear in this manual and makes no commitment to update, or keep
current, the information contained in this manual. No part of this manual may
be copied or reproduced in any form, without the prior written consent of
Acromag.
Trademark, Trade Name and Copyright Information
© 2018 by Acromag Incorporated.
All rights reserved. Acromag and Xembedded are registered trademarks of
Acromag Incorporated. All other trademarks, registered trademarks, trade
names, and service marks are the property of their respective owners.
Radio Frequency Interference Statement
This is a Class A product. In a domestic environment, this product may cause
radio interference, in which case the user may find it necessary to take
adequate corrective measures.
Environmental Protection Statement
This product has been manufactured to satisfy environmental protection
requirements where possible. Many components used (structural parts,
circuit boards, connectors, etc.) are capable of being recycled. Final
disposition of this product after its service life must be conducted in
accordance with applicable country, state, or local laws or regulations.
AP560 OVERVIEW
The AcroPack Series AP560 provides four isolated CAN version 2.0B channels
capable of 1Mb/s bit rate. The AP560 can be configured to support ARINC 825
and CANaerospace standards.

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Ordering Information
The AcroPack ordering options are given in the following table:
Model
Operating Temperature Range
AP560E-ISO-LF1
-40 to +71C
1. Applications requiring operating temperatures of 65°C to 71°C will require
purchase of AP-CC-01 AcroPack Conduction Cool Kit (See APPENDIX for
installation instructions) with a minimum airflow of 400LFM. For temperatures
below 65°C the module will require a minimum airflow of 200LFM.
Mini-
PCIe
x1 PCIe
FPGA
Field
I/O
FLASH
CAN
transceiver
CAN
controller
CAN
transceiver
CAN
controller
CAN
transceiver
CAN
controller
CAN
transceiver
CAN
controller
Figure 1 AP560 Block Diagram
KEY FEATURES
•4 isolated CAN channels.
•Implements CAN version 2.0B with programmable bit rate up to
1Mbit/sec. ISO 11898-5 compliant.
•Configurable to support ARINC 825 and CANaerospace Standards.
•Standard, Extended and Remote frames supported.
•8 maskable identifier filters.
•Filtering on ID and first two data bytes for both Standard and
Extended Identifiers.

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•Monitor (Listen-only) mode.
•8-messageTransmit and Receive FIFOs.
•Internal 16-bit free running counter for time tagging of transmitted or
received messages.
•Re-transmission disable capability.
AcroPack Module Interface Features
Field Connections –All CAN signal connections are made through a single
100-pin board stacking connector. An AcroPack carrier board will provide the
connection between the AcroPack module and the field cabling.
PCIe Bus –This AP module includes a PCI Express Generation 1 interface
operating at a speed of 2.5 Gbps with one lane in each direction.
Compatibility –– PCI Express Base Specification v2.1 compliant PCI Express
Endpoint.
Signal Interface Products
This AcroPack module will mate directly to all Acromag AcroPack carriers.
Once installed on the carrier, the module is accessed via a front panel
connector. The following cable is available for AcroPack carriers with the 68-
pin CHAMP connector:
Model 5028-609 adapter cable, 7 inches, 68-pin CHAMP 0.8mm to four
separate 9-pin D-SUB male connectors
Software Support
The AcroPack series products require support drivers specific to your
operating system. Supported operating systems include: Linux, Windows, and
VxWorks
Windows
Acromag provides software products (sold separately) to facilitate the
development of Windowsapplications interfacing with AcroPack modules.
This software (model APSW-API-WIN) consists of low-level drivers and
Dynamic Link Libraries (DLLs) that are compatible with a number of
programming environments. The DLL functions provide a high-level interface
to boards eliminating the need to perform low-level reads/writes of registers,
and the writing of interrupt handlers.

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VxWorks
Acromag provides a software product (sold separately) consisting of
VxWorkssoftware. This software (Model APSW-API-VXW) is composed of
VxWorks(real time operating system) libraries for all AcroPack modules,
VPX I/O board products, and PCIe I/O Cards. The software is implemented as a
library of “C” functions which link with existing user code to make possible
simple control of all Acromag AcroPack modules.
Linux
Acromag provides a software product consisting of Linuxsoftware. This
software (Model APSW-API-LNX) is composed of Linuxlibraries for all
AcroPack modules, VPX I/O board products, and PCIe I/O Cards. The software
is implemented as a library of “C” functions which link with existing user code
to make possible simple control of all Acromag AcroPack modules.
1. PREPARATION FOR USE
IMPORTANT PERSONAL AND PRODUCT SAFETY CONSIDERATIONS
It is very important for the user to consider the possible safety implications of
power, wiring, component, sensor, or software failures in designing any type
of control or monitoring system. This is especially important where personal
injury or the loss of economic property or human life is possible. It is
important that the user employ satisfactory overall system design. It is
understood and agreed by the Buyer and Acromag that this is the Buyer's
responsibility.
WARNING: This board utilizes static sensitive components and should only
be handled at a static-safe workstation. This product is an electrostatic
sensitive device and is packaged accordingly. Do not open or handle this
product except at an electrostatic-free workstation. Additionally, do not ship
or store this product near strong electrostatic, electromagnetic, magnetic, or
radioactive fields unless the device is contained within its original
manufacturer’s packaging. Be aware that failure to comply with these
guidelines will void the Acromag Limited Warranty.
UNPACKING AND INSPECTION
Upon receipt of this product, inspect the shipping carton for evidence of
mishandling during transit. If the shipping carton is badly damaged or water
stained, request that the carrier's agent be present when the carton is
opened. If the carrier's agent is absent when the carton is opened and the
contents of the carton are damaged, keep the carton and packing material for
the agent's inspection.

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For repairs to a product damaged in shipment, refer to the Acromag Service
Policy to obtain return instructions. It is suggested that salvageable shipping
cartons and packing material be saved for future use in the event the product
must be shipped.
This board is physically protected with packing material and electrically
protected with an anti-static bag during shipment. However, it is
recommended that the board be visually inspected for evidence of
mishandling prior to applying power.
The board utilizes static sensitive components and should only be handled at
a static-safe workstation.
Installation Considerations
Refer to the specifications for loading and power requirements. Be sure that
the system power supplies can accommodate the power requirements of the
carrier board, plus the installed AcroPack modules, within the voltage
tolerances specified.
IMPORTANT: Adequate air circulation must be provided to prevent a temperature rise above the maximum
operating temperature.
The dense packing of the AcroPack module to the carrier/CPU board restricts
air flow within the card cage and is cause for concern. Adequate air circulation
must be provided to prevent a temperature rise above the maximum
operating temperature and to prolong the life of the electronics. If the
installation is in an industrial environment and the board is exposed to
environmental air, careful consideration should be given to air-filtering.
In a conduction cooled assembly, adequate thermal conduction must be
provided to prevent a temperature rise above the maximum operating
temperature.
CONNECTORS
Field I/O Connector P2
A field I/O interface connector provides a mating interface between the AP
modules and the carrier board. The 100 pin ST5-50-1.50-L-D-P-TR Samtec
connector is used on the AcroPack card as board to board interconnect. This
connector will mate with the 100 pin SS5-50-3.00-L-D-K-TR Samtec connector
on the carrier. The stack height is 4.5mm.
Pin assignments are unique to each AP model. Table 1 lists signal pin
assignments for the module field I/O connector. Pins are left unconnected to
meet the minimum creepage distance required for 60 Volt isolation. Front
panel connector P2 pin assignments are shown in Table 1.

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Typically, the CAN bus is a twisted pair of wires with a characteristic
impedance of 120 ohms. Each end of the bus is terminated with 120 ohm
resistors in compliance with the standard to minimize signal reflections on the
bus. Alternatively, onboard termination resistors can be populated for low
speed or fault tolerant CAN applications. These resistors are not populated by
default.
Table 1 Field I/O Connector Pin Assignments
68 Pin
Champ
Carrier3
Connector
50 Pin
Champ
Carrier2
Connector2
Ribbon
Carrier
Connector1
Module
P2
Pin
Number
Field I/O Signal
1
1
1
2
CAN0H
35
26
2
1
CAN0L
4
Reserved/isolation
3
Reserved/isolation
2
2
3
6
Reserved/isolation
36
27
4
5
RTN0
8
Reserved/isolation
7
Reserved/isolation
3
3
5
10
Reserved/isolation
37
28
6
9
Reserved/isolation
12
Reserved/isolation
11
Reserved/isolation
4
4
7
14
Reserved/isolation
38
29
8
13
Reserved/isolation
16
Reserved/isolation
15
Reserved/isolation
5
5
9
18
Reserved/isolation
39
30
10
17
Reserved/isolation
20
Reserved/isolation
19
Reserved/isolation
6
6
11
22
Reserved/isolation
40
31
12
21
Reserved/isolation
24
Reserved/isolation
23
Reserved/isolation