EMS CG-ARM7/GTI Series User manual

CAN/CAN-Gateway
CG-ARM7/GTI
User Manual

ii EMS Dr. Thomas Wünsche
CGARM7/GTICAN/CAN Gateway
User manual CGARM7/GTI
Document version: 1.02
Documentation date: February 16th, 2018
No part of this document or the software described herein may be
reproduced in any form without prior written agreement from EMS Dr.
Thomas Wünsche.
For technical assistance please contact:
EMS Dr. Thomas Wünsche
Sonnenhang 3
D85304 Ilmmünster
Tel. +498441490260
Fax +49844181860
Email: support@emswuensche.com
Our products are continously improved. Due to this fact specifications may
be changed at any time and without announcement.
FCC: This device complies with part 15 of the FCC Rules.
Operation is subject to the following two conditions:
(1) This device may not cause harmful interference,
and (2) this device must accept any interference
received, including interference that may cause
undesired operation.
WARNING: EMS hardware and software may not be used in
applications where damage to life, health or private
property may result from failures in or caused by these
components.

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Content
1 Overview 1
1.1 Features 1
1.2 General Description 1
1.3 Ordering Information 2
2 Handling 3
2.1 Connection 3
2.2 Operation 3
2.3 Configuration 3
2.3.1 Configuration File 3
2.3.2 Programming the Device 10
2.4 LED 11
3 Technical Data 13
3.1 Pin Assignment 13
3.2 Limiting Values 14
3.3 Nominal Values 14
4 Appendix 15
4.1 Configuration File Example 15
4.2 Standard CAN Baud Rates 16
4.3 Instruction for Disposal 17
4.4 FCC Statement 17
4.5 CE Conformity 18

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1 Overview
1.1 Features
•Connection of CAN subnetworks with differing data rates
•Filtering and buffering of data traffic
•Support for 11 bit and 29 bit identifier
•Microcontroller NXP LPC2119 with 2 internal CAN controllers
•Serial interface for configuration
•Galvanic separation between CAN channels
•Galvanic separation between CAN channels and power supply
•Optional (Version HS/LS) with 1 high speed (82C251) and one low speed
(TJA1054) transceiver available
•Optional (Version LS/LS) with 2 low speed (TJA1054) transceiver available
1.2 General Description
The CAN/CAN gateway CGARM7/GTI transmits CAN signals
between subsystems. CGARM7/GTI allows a flexible design of the
wiring topology. Star and tree structures as well as extensive line
structures can be realised. The galvanic separation between the
CAN channels allows the use with diverging ground potentials.
Among the available functions are data rate adaption, message
filtering as well as identifier conversion between the coupled busses.
The restriction of the maximum data rate depending on cable length
for single CAN segments can be abolished for the overall system by
the use of CGARM7/GTI.
CGARM7/GTI obtains its potential by using a 32bit microcontroller
with 48MHz clock. High speed processing and low latencies allow
the use with high data rates and bus loads.
The configuration of the device functions can take place either
through CAN or through the builtin RS232 interface. Download
software for the configuration is available for Windows PCs as well
as Linux PCs .
For special tasks, like modification of the data content of the CAN
messages, we over a development kit to write custom specific
firmware for CGARM7/GTI.

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CGARM7/GTICAN/CAN Gateway
1220413xx CGARM7/GTI
1220416xx CGARM7/GTI Version HS/LS
1220417xx CGARM7/GTI Version LS/LS
1.3 Ordering Information
Note: xx denotes language of delivery:
10 German
20 English

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2 Handling
2.1 Connection
CGARM7/GTI has two male SUBD 9 plugs to connect the two CAN
segments. A male SUBD 9 plug is intended for the configuration
purpose. Power is supplied by another SUBD 9 male connector. For
the HS/LS version the CAN connection has a slightly different
connection scheme. The assignment is described in chapter "3.1 Pin
assignment".
2.2 Operation
To start up the gateway just connect the power supply, the device
starts up automatically. As soon as the automatic diagnostic process
is successfully completed the green power LED gets on permanently.
Important note: Ex factory the device offers no configuration and
must be configured before its first run. Configuration instructions for
the gateway are located in chapter "2.3 Configuration".
2.3 Configuration
The gateway configuration process consists of two steps:
•Creating a configuration file
•Loading the configuration into the device
2.3.1 Configuration File
The configuration file is a text file with the extension *.gcf. This file
holds all data needed by the gateway for operation. A complete
sample configuration is located in chapter "4.1 Configuration File
Example".
The values can either be entered in decimal or hexadecimal notation.
Using the hexadecimal notation, the character 'x' has to be entered
directly before the particular value.

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Some parameters are optional. If they are not defined, the gateway
uses default settings.
In the following all parameters are listed and described.
The configuration file can be provided with comments. Comments
are prefaced with the character '#' and they end with the particular
line.
Example:
# 1st comment
key = value # 2nd comment
The version number indicates the file format of the configuration file.
It must be 1 for the actual version.
Example:
version=1
For easier identification of the programmed settings, the
configuration can be labeled. The configuration name must not have
more than 32 characters and must not contain space characters or
tabs. If this key is missing, no name will be assigned. This name can
be read out and displayed by the configuration software.
Example:
configname=MyOwnConfig
#comment
version version
name name assigned to the configuration

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The bit timing key indicates the speed of the particular CAN channel.
BTR1 indicates the baud rate for CAN channel 1, BTR2 the baudrate
for CAN channel 2. Both keys must exist in each configuration file.
This keys are directly related to the CANBTR registers of the used
controller LPC2119. This allows most flexible customization of the
baudrate settings. The basic CAN clock is 48 MHz.
Example:
# CAN channel 1: 1Mbit/s
btr1 = x00140005
# CAN channel 2: 500KBit/s
btr2 = x001C0005
Standard baud rates recommended by CiA are listed in chapter 4.2
Standard Baudrates.
The program identifiers (PIDs) are required for the gateway
configuration via CAN. If you do not want to program the gateway via
CAN, you can remove this keys from your configuration file.
The PIDs determine which identifiers will be used for programming
the gateway. "pidin”defines the identifier the configuration software
uses to send requests to the gateway. The key "pidout”defines the
identifier which the gateway uses to reply to the configuration
software.
For CAN channel 1 and CAN channel 2 different PIDs can be set.
But it is also possible to program the gateway just via one CAN
channel. To set the identifiers for CAN channel 1 use the keys
"pidin1”and "pidout1". For CAN channel 2 use the keys "pidin2”and
"pidout2".
To use a 29bit identifier prepend the character 'x' before the
particular key. Without prefix 11bit identifiers will be sent.
btr1, btr2 CAN bit timing
pidin, pidout program identifier

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Example:
# PIDs for CAN channel 1
# CAN 1: 11bit INId: 0x5
pidin1 = x5
# CAN 1: 29bit OUTId: 0xA00
xpidout1 = xA00
# PIDs for CAN channel 2
# CAN 2: 29bit INId:0x6E
# xpidin2 = x6E
# CAN 2: 29bit OUTId: 0x1FFE
# xpidout2 = x1FFE
During the configuration process via CAN it is needed that the device
can clearly be identified in the network. This process is based on the
serial number of the device.
If there is the need to have the configuration process independent of
the the serial number, a device id can be assigned. Then the
identification of the device depends on the device id and not on the
serial number.
Care must be taken to use a particular device id just once in a
network, if more than one gateway is used.
The device id can have values beween 1 and 99999999.
Example:
deviceid = 50
deviceid device identifier

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Using a password, the gateway can be protected against
unauthorized access. If the key is not defined or the value is set to 0,
password protection is disabled. The password is an up to 14digit
hexadecimal value.
The password protection supports two security levels.
For the highest level the most significant bit (56th bit) of the
password must be 1. This security level prevents any communication
with the gateway, if the device has not been unlocked with the
correct password before.
If the most significant bit is 0, reading out information about the
gateway is enabled. Changing the configuration however is not
possible.
Example:
# Security: high
password=80 07 05 AF D6 B0 D1
# Security: normal
password=00 07 05 AF D6 B0 D1
This key specifies the period of time in milliseconds, which will pass
by until the gateway gets bus on again after a bus off condition has
occured. If this value is not defined, the device remains in bus off
state. If a bus off time of 0 milliseconds is set, the gateway tries
immediately to get bus on again.
Example:
busoff=100
busoff bus off behavior
password password

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The routing settings contain the filtering and mapping rules for a
single identifier or a range of identifiers. Only specified identifier or
ranges of identifiers are transmitted and, if existing, a mapping rule is
applied. All incoming messages with identifiers to which no rule
applies are ignored (defined programming identifiers excepted).
Additionally the frame format must be set within the filtering rule.
On the left side of the assignment there are three parameters:
[inff] fil channel [outff] = ...
inff: Defines the frame format to be accepted for incoming messages.
If inff is set to 's' standard frame format is specified. When set to 'x'
extended frame format is specified.
channel: Defines the number of the CAN channel to which the rule is
applied for incoming messages; channel may be set to 1 or 2.
outff: Defines the frame format for outgoing messages. If outff is set
to 's' standard frame format is specified. When set to 'x' extended
frame format is specified.
On the right side of the assignment up to three parameters specify
the identifier of the outgoing CAN message.
... = sid [ eid] [: mid]
sid: Defines the identifier the filtering rule is applied to. If a range of
identifiers is defined, sid is the start identifier. If the prefix 'x' is added
before the value the identifier is interpreted as a hexadecimal
number.
eid: Defines the end identifier for a range of identifiers. If only a
single identifier is to be specified this value may be missing. If the
prefix 'x' is added before the value the identifier is interpreted as a
hexadecimal number.
mid: Defines the mapping identifier. This value defines to which start
identifier a single or a range of identifiers is mapped. If no mapping is
needed, this value may be missing. If the prefix 'x' is added before
the value the identifier is interpreted as a hexadecimal number.
fil routing

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Examples:
# The received extended identifiers in the range of
# 0x30 to 0x40 via CAN channel 1 are sent via CAN
# channel 2 as standard identifiers in the range of
# 0x400 to 0x410.
xfil1s = x30  x40 : x400
# The via CAN channel 2 received extended identifier
# 0x1FFFFFFF is sent via CAN channel 1 as extended
# identifier with the value 0x01.
xfil2x = x1FFFFFFF : x1
# The via CAN channel 1 received standard identifiers
# in the range of 0x100 to 0x200 are sent via CAN
# channel 2 as standard identifiers without remapping.
sfil1s = x100  x200

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2.3.2 Programming the Device
CGARM7/GTI is programmed by means of the configuration
software. It offers the possibility to configure the gateway via serial
connection or via CAN. For the configuration a serial cable or a
PC/CAN Interface from EMS Dr. Thomas Wuensche is needed.
The "Program Settings" have to be set to:
•CGARM7
•Program configuration
•A configuration file
The "Interface Settings" have to be set to:
•Use RS232 interface
•The used PC serial interface port
•The serial baudrate used by the CGARM7/GTI device
Within the "Device Settings" the serial number of the CGARM7/GTI
has to be set. The serial number can be found on the label of the
device.
After all settings are made a click on the "Process" button starts the
download. Do not remove power from the device until the process
has finished.

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Screenshot of the download tool:
2.4 LED
The device status is displayed by three LEDs.
CAN1 Active If LED is on there is CAN bus activity on channel 1
CAN2 Active If LED is on there is CAN bus activity on channel 2
Power If ON the device is supplied with power and has initialized.
If BLINKING device is in configuration mode.

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3 Technical Data
3.1 Pin Assignment
High speed CAN
Low speed CAN
Power Connector
Pin Signal Description
1, 4, 5, 6, 8, 9 nc not connected
2 CAN_L CAN low bus line
3 GND Ground
7CAN_H CAN high bus line
Pin Signal Description
1 RTL Connected with Pin 2 by a 5k6 resistor and RTL
pin of TJA1054 CAN transceiver
2 CAN_L CAN low bus line
3 GND Ground
4, 5, 6, 9 nc not connected
7CAN_H CAN high bus line
8RTH Connected with Pin 7 by a 5k6 resistor and RTH
pin of TJA1054 CAN transceiver
Pin Signal Description
1,2,4,5,6,7,8 nc not connected
3 GND Ground connection of power supply
9 VCC Power supply

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Serial Connector
3.2 Limiting Values
3.3 Nominal Values
Parameter Min. Max. Unit
Storage temperature 40 +80 °C
Operating temperature 0+60 °C
Supply voltage 40 +30 V
Parameter Typ. Max. Unit
Supply voltage 24 30 V
Supply consumption (running idle) 40 mA

10
Min.
Pin Signal Description
1, 4, 6, 9 nc not connected
2RX RX line of device
3TX TX line of device
5GND GND of serial interface.
Identical as GND of CAN1
7RTS RTS output line, not used
8 CTS CTS input line, not used
CAN Baudrates 10 1000 kBit/s
10

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4 Appendix
4.1 Configuration File Example
# Gateway CGARM7 configuration file
# Baudrate CAN interface 1  1000 kbps
btr1=x00140005
# Baudrate CAN interface 2  500 kbps
btr2=x001C0005
# Version number of configuration file
version=1
# Device ID
deviceid=120000
# Set bus off recovery time to 1000 ms
busoff=1000
# Password protection: security level
# normal
password=11 AA 33 BC
# Configuration name
name=router
# Program identifier CAN channel 1
pidin1=x1 # Standard identifier 0x01
xpidout1=x2 # Extended identifier 0x02
# Program identifier CAN channel 2
xpidin2=x10 # Extended identifier 0x10
xpidout2=x20 # Extended identifier 0x20
# Filter settings
# All standard identifiers from CAN channel
# 1 are sent as standard identifiers to CAN
# channel 2
sfil1s=x0x7FF

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# All standard identifiers from CAN channel
# 2 are sent as standard identifiers to CAN
# channel 1
sfil2s=x0x7FF
# All extended identifiers from CAN channel
# 1 are sent as extended identifiers to CAN
# channel 2
xfil1x=x0x1FFFFFFF
# All extended identifiers from CAN channel
# 2 are sent as extended identifiers to CAN
# channel 1
xfil2x=x0x1FFFFFFF
4.2 Standard CAN Baud Rates
Bitrate Bit Timing Register
1000 kBaud 0x00140005
800 kBaud 0x00160005
500 kBaud 0x001C0005
250 kBaud 0x001C000B
125 kBaud 0x001C0017
100 kBaud 0x001C001D
50 kBaud 0x001C003B
0x001C0095
10 kBaud 0x001C012B
50 kBaud