AVT 84 Series User manual

1509 Manor View Road, Davidsonville, MD 21035 USA
[phone] (voice) [e-mail]
www.AVT-HQ.com
ADVANCED VEHICLE TECHNOLOGIES, Inc.
AVT - 841 & 842 & 843
Multiple Interface
Volume 1
J1850 VPW
CAN0: 2-wire (high speed)
CAN4: Single Wire CAN (SWC)
CAN ISO 15765 support
K-Line communications
LIN communications
AVT-841: Hardware revision “B1”
AVT-842: Hardware revision “A1”
AVT-843: Hardware revision “A2”
Firmware Version “4.4”
27 February 2018

AVT-84x Multiple Interface
Advanced Vehicle Technologies, Inc.
Page 2
Table of Contents
1. INTRODUCTION ....................................................................................................................................................6
1.1 SPECIAL NOTE.........................................................................................................................................................6
1.2 HARDWARE.............................................................................................................................................................6
1.3 FIRMWARE ..............................................................................................................................................................7
1.3.1 Determining Firmware Version .........................................................................................................................7
1.4 COMMANDS AND RESPONSES..................................................................................................................................7
2. GLOSSARY ..............................................................................................................................................................7
3. AVT-84X OPERATION ..........................................................................................................................................8
4. HOST COMPUTER CONNECTION.....................................................................................................................8
4.1 AVT-841 CONNECTION TO HOST COMPUTER .........................................................................................................9
4.1.1 AVT-841 Baud Rate to Host Computer..............................................................................................................9
4.2 AVT-842 CONNECTION TO HOST COMPUTER .........................................................................................................9
4.3 AVT-843 CONNECTION TO HOST COMPUTER .......................................................................................................10
4.3.1 Ethernet Setup..................................................................................................................................................11
4.3.2 Ethernet IP Addressing Modes ........................................................................................................................12
4.3.3 AutoIP Addressing ...........................................................................................................................................13
4.4 PACKET COMMUNICATIONS WITH HOST COMPUTER .............................................................................................13
5. VEHICLE CONNECTION....................................................................................................................................14
5.1 POWER REQUIREMENTS ........................................................................................................................................15
5.1.1 Ground.............................................................................................................................................................15
5.1.2 Input Voltage ...................................................................................................................................................15
5.1.3 Power Consumption.........................................................................................................................................15
5.2 JUMPERS ...............................................................................................................................................................15
6. ADC CONNECTION .............................................................................................................................................15
6.1 ADC READINGS ....................................................................................................................................................16
7. CAN MODE ............................................................................................................................................................16
7.1 CAN SECONDARY OPERATIONAL MODES.............................................................................................................17
7.2 CAN0 -2-WIRE CAN ............................................................................................................................................17
7.3 CAN4 -SINGLE WIRE CAN (SWC) ......................................................................................................................17
7.3.1 Jumper JP1 ......................................................................................................................................................18
7.4 CAN0 CHANNEL NUMBER ....................................................................................................................................18
7.5 CAN4 CHANNEL NUMBER ....................................................................................................................................18
7.6 LIN SECONDARY OPERATIONAL MODE CHANNEL NUMBER.................................................................................18
7.7 KWP SECONDARY OPERATIONAL MODE CHANNEL NUMBER...............................................................................18
7.8 CAN COMMUNICATIONS GENERAL NOTES ...........................................................................................................18
7.8.1 Disabled...........................................................................................................................................................18
7.8.2 Normal .............................................................................................................................................................18
7.8.3 Listen Only.......................................................................................................................................................19
7.8.4 Transmit Command..........................................................................................................................................19
7.8.5 Receive Response.............................................................................................................................................21
7.8.6 Time Stamps.....................................................................................................................................................22
7.9 ACCEPTANCE ID AND MASK CONFIGURATION ......................................................................................................24
7.10 ACCEPTANCE ID AND MASK OPERATION ..............................................................................................................24
7.10.1 ID/Mask mode = 2.......................................................................................................................................25
7.10.2 ID/Mask mode = 4.......................................................................................................................................25
7.10.3 ID/Mask mode = 8.......................................................................................................................................25
7.10.4 ID/Mask Example #1 ...................................................................................................................................25

AVT-84x Multiple Interface
Advanced Vehicle Technologies, Inc.
Page 3
7.10.5 ID/Mask Example #2 ...................................................................................................................................26
7.10.6 ID/Mask Example #3 ...................................................................................................................................26
7.10.7 ID/Mask Example #4 ...................................................................................................................................27
7.10.8 ID/Mask Example #5 ...................................................................................................................................27
7.10.9 Summary......................................................................................................................................................28
7.11 SETTING UP A CAN CHANNEL FOR OPERATION......................................................................................................28
7.11.1 Communications Example ...........................................................................................................................28
7.12 CHANNEL ACTIVITY ..............................................................................................................................................29
7.13 PERIODIC MESSAGE SUPPORT ...............................................................................................................................29
7.13.1 Organization of Periodic Messages.............................................................................................................30
7.13.2 Periodic Message Master Timer..................................................................................................................30
7.13.3 Type1 Periodic Messages ............................................................................................................................30
7.13.4 Type2 Periodic Messages ............................................................................................................................31
7.13.5 Periodic Message Commands .....................................................................................................................32
7.14 ISO 15765 SUPPORT .............................................................................................................................................33
7.14.1 Terms and Definitions .................................................................................................................................33
7.14.2 Modes of Operation.....................................................................................................................................33
7.14.3 Receive Operations - General Notes ...........................................................................................................34
7.14.4 Receive Operations – Mode0.......................................................................................................................35
7.14.5 Receive Operations – Mode1.......................................................................................................................35
7.14.6 Receive Operations – Mode2.......................................................................................................................35
7.14.7 Transmit Operations....................................................................................................................................36
7.14.8 Transmit Operations – General Notes.........................................................................................................36
7.14.9 Operation Examples ....................................................................................................................................38
7.14.10 ISO 15765 Questions and Engineering Support..........................................................................................41
7.15 AUTO BLOCK TRANSMIT.......................................................................................................................................41
7.15.1 Operation Description.................................................................................................................................41
7.15.2 Command Descriptions (non-volatile parameters) ....................................................................................42
7.15.3 Command Description (control).................................................................................................................45
7.15.4 Operation Example......................................................................................................................................46
8. LIN OPERATIONS – IN CAN MODE ................................................................................................................47
8.1 JUMPER JP2 ..........................................................................................................................................................47
8.2 COMMUNICATIONS................................................................................................................................................47
8.2.1 Message Length ...............................................................................................................................................47
8.2.2 Checksum.........................................................................................................................................................48
8.2.3 ID Byte Only Message .....................................................................................................................................48
8.2.4 Communications Example ...............................................................................................................................48
8.2.5 Time Stamp ......................................................................................................................................................49
8.3 PERIODIC MESSAGE SUPPORT ...............................................................................................................................50
8.3.1 Modes of Operation .........................................................................................................................................50
8.3.2 Organization of Periodic Messages.................................................................................................................51
8.3.3 Periodic Message Master Timer ......................................................................................................................51
8.3.4 Type1 Periodic Message..................................................................................................................................51
8.3.5 Type2 Periodic Message..................................................................................................................................52
8.3.6 Slave Periodic Message ...................................................................................................................................53
8.3.7 Periodic Message Commands..........................................................................................................................54
8.4 ABIC SUPPORT .....................................................................................................................................................54
8.5 COMMANDS AND RESPONSES................................................................................................................................54
9. KWP OPERATIONS – IN CAN MODE ..............................................................................................................55
9.1 JUMPER JP2 ..........................................................................................................................................................55
9.2 COMMUNICATIONS................................................................................................................................................55
9.3 OPERATION COMMANDS .......................................................................................................................................55
9.3.1 Communications Example ...............................................................................................................................55
9.3.2 Time Stamp ......................................................................................................................................................56

AVT-84x Multiple Interface
Advanced Vehicle Technologies, Inc.
Page 4
9.3.3 Fast Transmit...................................................................................................................................................57
9.4 PERIODIC MESSAGE SUPPORT ...............................................................................................................................57
9.4.1 Organization of Periodic Messages.................................................................................................................57
9.4.2 Periodic Message Master Timer ......................................................................................................................57
9.4.3 Type1 Periodic Messages ................................................................................................................................57
9.4.4 Type2 Periodic Messages ................................................................................................................................59
9.4.5 Periodic Message Commands..........................................................................................................................60
10. VPW MODE .......................................................................................................................................................60
10.1 JUMPER JP3 ..........................................................................................................................................................60
10.2 COMMUNICATIONS................................................................................................................................................60
10.2.1 Communications Example - Not Block Transfer .......................................................................................61
10.2.2 Time Stamp ..................................................................................................................................................62
10.3 MESSAGE FILTERING.............................................................................................................................................62
10.3.1 Example Network Message..........................................................................................................................63
10.3.2 Example #1 ..................................................................................................................................................63
10.3.3 Example #2 ..................................................................................................................................................64
10.3.4 Example #3 ..................................................................................................................................................64
10.3.5 Example #4 ..................................................................................................................................................64
10.4 MASK /MATCH /RESPOND FUNCTION ..................................................................................................................64
10.4.1 Operational Overview .................................................................................................................................64
10.4.2 Command Summary.....................................................................................................................................65
10.4.3 Example.......................................................................................................................................................65
10.5 PERIODIC MESSAGE SUPPORT ...............................................................................................................................65
10.5.1 Organization of Periodic Messages.............................................................................................................66
10.5.2 Periodic Message Master Timer..................................................................................................................66
10.5.3 Type1 Periodic Messages ............................................................................................................................66
10.5.4 Type2 Periodic Messages ............................................................................................................................67
10.5.5 Periodic Message Commands .....................................................................................................................68
10.6 BLOCK TRANSMIT EXAMPLE.................................................................................................................................68
10.7 BLOCK RECEIVE EXAMPLE....................................................................................................................................69
11. KWP MODE.......................................................................................................................................................69
11.1 JUMPER JP2 ..........................................................................................................................................................70
11.2 COMMUNICATIONS................................................................................................................................................70
11.2.1 Communications Example ...........................................................................................................................70
11.2.2 Time Stamp ..................................................................................................................................................71
11.3 INITIALIZATION......................................................................................................................................................72
11.3.1 CARB Mode Initialization ...........................................................................................................................72
11.3.2 FAST Initialization ......................................................................................................................................73
11.4 PERIODIC MESSAGE SUPPORT ...............................................................................................................................73
11.4.1 Organization of Periodic Messages.............................................................................................................74
11.4.2 Periodic Message Master Timer..................................................................................................................74
11.4.3 Type1 Periodic Messages ............................................................................................................................74
11.4.4 Type2 Periodic Messages ............................................................................................................................75
11.4.5 Periodic Message Commands .....................................................................................................................76
12. AVT-84X FIELD REFLASHING.....................................................................................................................76
12.1 AVT-84X REFLASHING -AVT PROVIDED APPLICATION ...................................................................................76
13. IDLE MODE - COMMANDS...........................................................................................................................78
13.1 IDLE MODE -RESPONSES ......................................................................................................................................78
13.2 OTHER RESPONSES ...............................................................................................................................................78
14. CAN MODE - COMMANDS............................................................................................................................80
14.1 CAN MODE -RESPONSES .....................................................................................................................................91

AVT-84x Multiple Interface
Advanced Vehicle Technologies, Inc.
Page 5
15. LIN OPERATIONS IN CAN MODE - COMMANDS .................................................................................108
15.1 LIN OPERATIONS IN CAN MODE -RESPONSES ....................................................................................................111
16. KWP OPERATIONS IN CAN MODE - COMMANDS...............................................................................117
16.1 KWP OPERATIONS IN CAN MODE -RESPONSES .................................................................................................120
17. VPW MODE - COMMANDS .........................................................................................................................126
17.1 VPW MODE -RESPONSES...................................................................................................................................131
18. KWP MODE - COMMANDS .........................................................................................................................138
18.1 KWP MODE -RESPONSES...................................................................................................................................143
19. APPENDIX A ...................................................................................................................................................151
20. APPENDIX B ...................................................................................................................................................154
21. QUESTIONS ??................................................................................................................................................157
22. BIT MAP FOR IDS, MASKS, COMMANDS, ETC. ....................................................................................158

AVT-84x Multiple Interface
Advanced Vehicle Technologies, Inc.
Page 6
1. Introduction
This document describes the AVT-841, AVT-842, and AVT-843 hardware and firmware.
The AVT-841, 842, and 843 are nearly identical units. The only difference is the means by which they
connect to and communicate with the host computer.
AVT-841: RS-232 serial communications with host computer.
AVT-842: USB communications with the host computer.
AVT-843: Ethernet communications with host computer.
They are multiple network interfaces for in-vehicle networks. The hardware and operational firmware
support the following networks/protocols:
•J1850 VPW (GM Class 2 compliant) with 4x mode.
•2-wire high speed CAN; ISO 11898-2 : 2016;
(known as CAN0, channel number 0).
•2-wire high speed CAN; ISO 11898-2 : 2016;
or
Single Wire CAN (SWC); J2411;
(known as CAN4, channel number 4).
•LIN or K-line; (LIN1 is channel 5, KWP is channel 6).
NOTE:
CAN0 and CAN4 do NOT support low speed fault tolerant CAN; ISO 11898-3 : 2006.
Some simultaneous operations are supported. Some are not.
1.1 Special Note
References in this document to “AVT-84x” mean the AVT-841, 842, or 843 - depending on the unit
being used.
References to specific models are made where necessary.
All three units can be considered identical; unless otherwise noted.
1.2 Hardware
Refer to our web site for the most up-to-date information about the hardware status of each board.
The AVT-841 board revision stands at “B1.”
[Normally a stock item.]
Hardware status: www.AVT-HQ.com/841_hw.htm
The AVT-842 board revision stands at “A1.”
[Replaced by the AVT-852.]
Hardware status: www.AVT-HQ.com/842_hw.htm
The AVT-843 board revision stands at “A2.”
[Replaced by the AVT-853.]

AVT-84x Multiple Interface
Advanced Vehicle Technologies, Inc.
Page 7
Hardware status: www.AVT-HQ.com/843_hw.htm
1.3 Firmware
The firmware version stands at “4.3”.
Refer to our web site for the most up-to-date information about AVT-84x firmware versions:
www.AVT-HQ.com/841_asm.htm
1.3.1 Determining Firmware Version
Perform the following to determine the version of firmware in your unit.
[This simplified method applies to version 3.0 and later.]
•Connect to a host computer running the Hex Terminal or equivalent.
•Power on the 84x interface unit.
•The power-on notification is:
$91 $12 indicates idle mode operation.
$92 $04 $xx where “xx” is the firmware version.
Example: “xx” = $25 indicates version 2.5.
•Or, at any time, send the $B0 command.
•The response will be: $92 $04 $xx where “xx” is the firmware version.
1.4 Commands and Responses
A list of commands, responses, error codes, notes, etc. is provided at the end of this document.
2. Glossary
Common terms, abbreviations, acronyms, and more.
$ sign Indicates a hex number.
ADC Analog to Digital Converter or Conversion.
CAN Controller Area Network
CAN0 CAN channel 0
CAN4 CAN channel 4
EEPROM Electrically Erasable Programmable Read Only Memory. Usually with the form of
small rows and sectors. Erase and program operations are usually done for one sector at
a time.
FLASH A form of EEPROM. Usually with the form of large rows and sectors. Erase and
program operations are usually done for one sector at a time.
I5P Means “ISO 15765” process or processing.
IDE ID Extended.
When this bit = “0” the CAN frame uses an 11-bit ID.
When this bit = “1” the CAN frame uses a 29-bit ID; extended ID.

AVT-84x Multiple Interface
Advanced Vehicle Technologies, Inc.
Page 8
ISO 11898-2 ISO specification for 2-wire high speed CAN physical layer.
ISO 15765 An ISO specification dealing with the formatting of data in the CAN frame data field.
Also used in sending blocks of data using CAN. Also known as Multi-Frame
Messaging (MFM) or Segmented Messages. This specification also deals with other
CAN network issues.
J2411 An SAE specification for Single Wire CAN (SWC).
K-line Single wire communications protocol. Refer to ISO 9141, ISO 9141-2, and ISO 14230
for more information.
LIN Local Interconnect Network.
RTR Remote Transmission Request.
When this bit = “1” it indicates a frame that is requesting a remote node to transmit an
answering frame.
SRR Substitute Remote Request. A fixed recessive bit that only exists in extended frames
(IDE = 1, 29-bit ID).
TVS Transient Voltage Suppression.
Type1 Type1 Periodic Message support, CAN, each message operates independently.
Type2 Type2 Periodic Message support, CAN, messages within a group operate sequentially.
SWC Single Wire CAN (SAE J2411).
XOR Bit-wise logical exclusive ‘OR’.
3. AVT-84x Operation
The AVT-84x does not have a power switch. The unit powers up and begins operations as soon as it is
plugged into a vehicle or other power source is applied.
On power-up, the interface will, almost immediately, report to the host computer: $91 $12 and
$92 $04 $xx (where “xx” is the unit firmware version number). This is the idle state, where the
AVT-84x is waiting for the host computer to issue a mode switch command. No network
communications are supported while in the idle state. Refer to Section 12 for a list of commands
supported while in the idle state.
4. Host Computer Connection
The AVT-841 uses an RS-232 serial communications connection to the host computer.
Detailed information in the following paragraphs.
The AVT-842 uses a USB connection to the host computer.
Detailed information in the following paragraphs.
The AVT-843 uses an Ethernet connection to the host computer.
Detailed information in the following paragraphs.

AVT-84x Multiple Interface
Advanced Vehicle Technologies, Inc.
Page 9
4.1 AVT-841 Connection to Host Computer
The AVT-841 serial connection to the host computer com port is standard RS-232. It should be mated
to a host computer using a straight through wired 9-pin cable (NOT a null modem cable).
The AVT-841 uses RTS/CTS hardware handshaking for flow control. The host computer must be
configured for RTS/CTS hardware handshaking to proper operations.
Software flow control (XON/XOFF) cannot be used since communications between the AVT-841 and
the host computer is binary data.
For reference, the signals of the AVT-841 DE-9S connector pins are listed below.
Pins #1, #6, and #9 are tied together on the AVT-841 board through 10 ohm resistors.
Pin # Signal Direction
1 RI in to host computer
2 TX data out of AVT-841
3 RX data in to AVT-841
4 DTR out of host computer
5 GND
6 DSR in to host computer
7 CTS in to AVT-841
8 RTS out of AVT-841
9 CD in to host computer
AVT-841 RS-232 Connector Signals
4.1.1 AVT-841 Baud Rate to Host Computer
The serial communications baud rate between the AVT-841 and the host computer is 57.6 kbaud
(factory default).
The user can set the host communications baud rate by changing a value stored in EEPROM.
Available baud rates are listed here.
19.2 kbaud
38.4 kbaud
57.6 kbaud [default]
115.2 kbaud
Refer to the commands section for information about the “52 67 xx” command to change the host baud
rate. Also, refer to the User’s Manual, Volume 2 for detailed EEPROM information.
Note that this baud rate setting has nothing to do with vehicle network or Ethernet network
communications.
4.2 AVT-842 Connection to Host Computer
The AVT-842 uses the FTDI embedded USB to serial converter device (FT2232). USB 1.1 operations
are supported. Connection to the host computer is with a standard USB A/B cable.

AVT-84x Multiple Interface
Advanced Vehicle Technologies, Inc.
Page 10
Note that the USB side of the AVT-842 is USB bus powered. You can connect the AVT-842 to your
host computer and it will be ‘discovered’ by the host and the port will be enumerated.
USB driver software is provided by FTDI (from their web site). AVT has tested and recommends
using the FTDI Virtual Com Port (VCP) drivers for communications between the user application and
the AVT-842 board. A separate document is available showing how to install the AVT-842 USB
drivers. That document is posted on the AVT web site, Product Documents page.
On the AVT-842 board, the microcontroller and the FTDI USB device communicate via an internal
serial link. The factory default for the internal serial link baud rate is 57.6 kbaud.
The user can set the host communications baud rate by changing a value stored in EEPROM.
Available baud rates are listed here.
19.2 kbaud
38.4 kbaud
57.6 kbaud [default]
115.2 kbaud
Refer to the commands section for information about the “52 67 xx” command to change the host baud
rate. Also, refer to the User’s Manual, Volume 2 for detailed EEPROM information.
Note that this baud rate setting has nothing to do with vehicle network.
4.3 AVT-843 Connection to Host Computer
The AVT-843 uses a Lantronix XPort embedded serial server to provide an Ethernet connection to the
host computer. On the AVT-843 this appears as an RJ-45 connector. It is 10/100 Ethernet; TCP/IP;
and configured with a static IP address = 192.168.1.70 (factory default).
The user can change the IP address of the AVT-843 unit. Detailed information about this is provided
in the Section 4.3.1 and Appendices “A” and “B.”
On the AVT-843 board, the microcontroller and the XPort device communicate via an internal serial
link. The factory default baud rate is 57.6 kbaud.
The user can set the host communications baud rate by changing a value stored in EEPROM.
Available baud rates are listed here.
19.2 kbaud
38.4 kbaud
57.6 kbaud [default]
115.2 kbaud
Refer to the commands section for information about the “52 67 xx” command to change the host baud
rate. Also, refer to the User’s Manual, Volume 2 for detailed EEPROM information.
Note that the baud rate setting of the XPort serial server must be changed to match that of the
AVT-843 microcontroller. Refer to Section 4.3.1 and Appendices “A” and “B” for information on
setting the XPort parameters.
Note that this baud rate setting has nothing to do with vehicle network or Ethernet network
communications.