IXXAT CANblue II User manual

CANblue II
Bluetooth/CAN Interface
USER MANUAL
ENGLISH

HMS Technology Center Ravensburg GmbH
Helmut-Vetter-Straße 2
88213 Ravensburg
Germany
Tel.: [phone]
Fax: [phone]
Internet: www.hms-networks.de
E-Mail: [e-mail]
Support
For problems or support with this product or other HMS products please
request support at www.ixxat.com/support.
Further internation
al support contacts can be found on our webpage
www.ixxat.com
Copyright
Duplication (copying, printing, microfilm or other forms) and the electronic
distribution of this document is only allowed with explicit permission of
HMS Technology Center Ravensb
urg GmbH. HMS Technology Center
Ravensburg GmbH reserves the right to change technical data without
prior announcement. The general business conditions and the regulations
of the license agreement do apply. All rights are reserved.
Registered trademarks
All trademarks mentioned in this document and where applicable third
party registered are absolutely subject to the conditions of each valid
label right and the rights of particular registered proprietor. The absence
of identification of a trademark does
not automatically mean that it is not
protected by trademark law.
Document number: 4.01.0126.10000
Version: 2.2

Content
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CANblue II - Manual, Version 2.2
1General functionality......................................................................6
2Hardware.........................................................................................7
2.1 Features.................................................................................. 7
2.2 Connections and control elements....................................... 7
2.2.1 Power supply X1 (PWR) ..........................................................7
2.2.2 External antenna......................................................................7
2.2.3 CAN bus plug X2 (CAN)...........................................................7
2.2.4 LED display..............................................................................8
2.2.5 Pushbutton...............................................................................9
2.2.6 Bluetooth..................................................................................9
3Extended ASCII protocol .............................................................10
4Behavior of the CANblue II ..........................................................11
4.1 Restore factory settings .......................................................11
4.2 Firmware Update...................................................................11
4.3 VCI Support ...........................................................................11
4.4 Bluetooth transmission behavior........................................ 12
4.5 Switching the message format............................................ 12
4.6 Autostart and handshake .................................................... 12
4.7 Automatic stop of the CAN controller ................................ 13
4.8 CAN filter .............................................................................. 13
4.9 Loss of connection .............................................................. 14
4.10Loss of messages................................................................ 14
4.10.1 CAN receive buffer overflow.................................................14
4.10.2 Bluetooth transmission buffer overflow.................................14
4.10.3 CAN transmission buffer overflow........................................14
4.10.4 Loss of responses to commands..........................................14
4.11CAN-Controller Errors ......................................................... 15
4.11.1 WARNING:...........................................................................15
4.11.2 BUS-OFF-Recovery: ............................................................15
5Establishing a connection and configuration ............................16
5.1 Installing the virtual COM port ............................................ 16
5.1.1 Windows XP...........................................................................16
5.1.2 Windows 7..............................................................................20

Content
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CANblue II - Manual, Version 2.2
5.2 CanBlueCon Configuration Tool ......................................... 24
5.2.1 Command Line Parameters...................................................24
5.2.2 Additional Commands............................................................24
5.2.3 Interactive Mode ....................................................................25
5.2.4 Batch Mode............................................................................26
5.2.4.1 Rx-Tx Demo.............................................................26
5.2.4.2 Bridge Mode Setup Demo........................................27
5.3 Connecting with Hyperterminal........................................... 29
5.4 Configuration examples....................................................... 29
5.4.1 Connecting CAN to the PC through the CANblue II ..............29
5.4.2 Configuring a CAN bridge with two CANblue II devices........31
5.4.3 Connecting another CANblue II.............................................34
6Extended ASCII-Protocol Commands........................................ 35
6.1 Device specific Commands................................................. 35
6.1.1 D VERSION ...........................................................................35
6.1.2 D PROTOCOL .......................................................................35
6.1.3 D IDENTIFY...........................................................................36
6.1.4 D INFO...................................................................................36
6.1.5 D CONFIG..............................................................................37
6.1.6 D MAC_ADD..........................................................................39
6.1.7 D MAC_REMOVE..................................................................39
6.1.8 D MAC_CLEAR .....................................................................40
6.1.9 D MAC_SCAN........................................................................40
6.1.10 D MAC_MASTER_ADD .......................................................41
6.1.11 D MAC_MASTER_REMOVE ...............................................42
6.1.12 D MAC_MASTER_CLEAR...................................................42
6.1.13 D PASSKEY_SET................................................................43
6.1.14 D VISIBILITY TIMEOUT.......................................................43
6.1.15 D BUFF_TIMEOUT ..............................................................44
6.1.16 D LINK_POLICY...................................................................44
6.1.17 D RESET..............................................................................45
6.1.18 D SETTINGS_DEFAULT .....................................................46
6.1.19 D DISCONNECT_SET.........................................................46
6.1.20 D DISCONNECT_RESET....................................................47

Content
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CANblue II - Manual, Version 2.2
6.2 CAN Controller Commands................................................. 47
6.2.1 C CONFIG..............................................................................47
6.2.2 C CAN_INFO .........................................................................48
6.2.3 C CAN_INIT ...........................................................................49
6.2.4 C CAN_INIT_AUTO...............................................................50
6.2.5 C CAN_INIT_CUSTOM..........................................................50
6.2.6 C CAN_START......................................................................51
6.2.7 C CAN_STOP........................................................................52
6.2.8 C CAN_RESET......................................................................52
6.2.9 C AUTOSTART......................................................................53
6.2.10 C SEND_CAN_FRAMES .....................................................53
6.2.11 C FILTER_ADD....................................................................54
6.2.12 C FILTER_REMOVE............................................................55
6.2.13 C FILTER_CLEAR................................................................55
6.2.14 C FILTER_ENABLE .............................................................56
6.2.15 C FILTER_DISABLE ............................................................56
6.3 CAN Bluetooth Messages.................................................... 57
6.3.1 M (ASCII) ...............................................................................57
6.3.2 X (Binary) ...............................................................................58
6.4 Error Response .................................................................... 60
7Appendix.......................................................................................61
7.1 Support ................................................................................. 61
7.2 Returning hardware ............................................................. 61
7.3 Disposing of old equipment................................................ 61
7.4 Information on EMC............................................................. 61
7.5 Compliance with RoHS directive......................................... 61
7.6 FCC Compliance Statement................................................. 62
7.7 EC Declaration of Conformity ............................................. 63
7.8 Japan Radio Equipment Compliance (TELEC)................... 63
7.9 Technical Specifications...................................................... 65

General functionality
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CANblue II - Manual, Version 2.2
1 General functionality
The CANblue II units enables multiple CAN networks to connect wirelessly us-
ing the Bluetooth Serial Port Profile (SPP). If two CANblue II units are con-
nected, one unit acts as the SPP server and one as the SPP client. The units
can act as server and client in different connections simultaneously, allowing
more than two units – and thus multiple CAN networks – to be connected. To
establish an SPP connection between two units, the unit acting as the client
should be given the Bluetooth MAC address of the server. The client then at-
tempts to establish a connection to the other CANblue II. Each CANblue II for-
wards the messages it receives from the CAN network to all existing SPP con-
nections. Conversely, all CAN messages received from Bluetooth are sent into
the CAN network and, if there are any, to other SPP connections as well.
In addition to the SPP server and client for chaining CANblue II units, each
CANblue II also provides an additional SPP server. Any other Bluetooth-
capable unit that supports SPP can connect to this server. This connection can
be used to configure the CANblue II and CAN messages can be received or
sent.
There is an ASCII protocol defined for communication with the CANblue II that
provides commands for the configuration of the units and the transmis-
sion/receiving of CAN messages.
Fig.: 1-1 Networking example

Hardware
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CANblue II - Manual, Version 2.2
2 Hardware
2.1 Features
Bluetooth specification V 2.1 + EDR (Enhanced Data Rate)
Power supply 9 - 30 V DC
Microcontroller STM32F103RC with integrated CAN controller, 72 MHz
Bluetooth Radio Ericsson STLC2500
Available with integrated or external antenna
Different external antennas available
2.2 Connections and control elements
Fig.: 2-1 Connections and control elements
2.2.1 Power supply X1 (PWR)
The unit is supplied with a DC voltage from 9 V to 30 V. The connection pinout
is shown in the following table.
The CANblue II is protected against polarity reversal.
X1
Pin no.
Signal
1
PWR (+)
2
GND (-)
2.2.2 External antenna
The external antenna must be screwed on the connector on the top of the
CANblue II. Further information about different antennas can be found on
www.ixxat.com.
2.2.3 CAN bus plug X2 (CAN)
The CANblue II has an ISO 11898-2 bus coupling. The signals for the bus
coupling are on the 9-pin sub-D plug as shown in the following table.

Hardware
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CANblue II - Manual, Version 2.2
X2
Pin no.
Signal
1
-
2
CAN-L
3
GND
4
-
5
-
6
-
7
CAN-H
8
-
9
-
2.2.4 LED display
The CANblue II has three LEDs for signaling different states:
LED
Display
Description
Mode
steady red
No Bluetooth MAC address is stored in the
configuration of the CANblue II, and there is
no connection to an SPP server on the unit.
CAN
flashing green
A CAN message has been sent or received
and the CAN controller is not in the warning
state.
flashing red
A CAN message has been sent or received
and the CAN controller is in the warning
state.
steady red
The CAN controller is in the BUS-OFF state.
Bluetooth
flashing blue
(2 Hz)
An attempt is made to establish a Bluetooth
SPP connection with another Bluetooth
device or a connection is being established
to this device.
flashing blue
(10 Hz)
Bluetooth SPP is used to send or receive
data.
steady blue
There is at least one Bluetooth SPP
connection to another device.

Hardware
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CANblue II - Manual, Version 2.2
2.2.5 Pushbutton
Pushbutton
Description
T1
Restore factory settings see Section 4.1
T2
Not used
2.2.6 Bluetooth
The internal Bluetooth interface needs a unique MAC address (MAC-ID) to
communicate. The MAC-ID is on the back of the device and is also used for
the unique identification of devices when searching for them with Bluetooth.
See also chapter 5, "Establishing a connection and configuration".

Extended ASCII protocol
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CANblue II - Manual, Version 2.2
3 Extended ASCII protocol
To configure and transmit Bluetooth CAN messages, there is an ASCII proto-
col defined. There is also a binary format available for the transmission of
Bluetooth CAN messages to permit a better data rate. CANblue II units always
use the binary format for CAN messages transmitted between them.
ASCII commands have the following structure:
Message type
Command
Parameter 1
…
Parameter n
LF or CR-LF
Individual fields are separated by blanks.
Multiple sequential blanks are considered to be a single blank.
There is no distinction between capital and lower-case letters.
A message is terminated with the ASCII linefeed control code (LF or "\n") or
with a carriage return and linefeed (CR LF or "\r\n").
ASCII messages sent by the CANblue II are terminated with the same ASCII
control codes as ASCII messages sent by the user. If the user has not yet
sent any ASCII messages, the CANblue II uses CR-LF as the terminator.
There are six different message types defined. The message type is defined
by the first byte.
"D"
Device-specific commands
"C"
CAN-specific commands
"M"
CAN messages in ASCII format
"X"
CAN messages in binary format
"I"
Info messages
"E"
Error messages
Examples:
ASCII command
Response from the CANblue II
„C CAN_INIT 250\n“
„I OK: CAN_INIT\n“
„C CAN_START\r\n“
„I OK: CAN_START\r\n“
„C FILTER_ADD EXT 7FA1 RTR\r\n“
„I OK: FILTER_ADD\r\n“
„D SETTINGS_DEFAULT\n“
„I OK: SETTINGS_DEFAULT\n“
A list of all ASCII commands can be found in chapter 6 "Extended ASCII-Protocol Commands"(p.35).

Behavior of the CANblue II
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CANblue II - Manual, Version 2.2
4 Behavior of the CANblue II
4.1 Restore factory settings
If there is a "Config" connection to the CANblue II, the device can be reset to
the factory settings using the command "D SETTINGS_DEFAULT".
Without a Bluetooth connection, the device can also be reset as follows:
(1) Turn off the CANblue II.
(2) Press and hold button T1
(3) Turn on the CANblue II; the CAN LED lights in red-green
(4) When the CAN LED flashes in red-green, release button T1
(5) If the MODE LED flashes several times, this indicates that the configura-
tion has been reset to factory settings
4.2 Firmware Update
Starting with firmware version 2.00.00, an update of the CANblue II firmware is
possible. The files needed for updating the CANblue are supplied on CD or
can be found in the installation folder. The firmware can be updated as follows:
(1) Restore the CANblue II to factory defaults
(2) Set up a virtual COM-Port (Config connection). (see 5.1 Installing the vir-
tual COM port on p. 16)
(3) Open the command prompt and navigate to the folder “FW-Update” on
CD or in the installation folder.
(4) Call FW-Update <COM-PORT> e.g. “FW-Update 5”
(5) At first the new Firmware version and the firmware version of the device
are displayed, after that the firmware update is performed
(6) At the end the CANblue II restarts itself. During the restart the CAN and
Mode LEDs should flicker red/green
(7) The firmware version can be checked with CANblueCon and the com-
mand „D VERSION“
4.3 VCI Support
The CANblue II can also be used as VCI interface starting with firmware ver-
sion 2.00.05 and VCI Version 3.5.1.3753. Therefore no special firmware has to
be flashed. The VCI mode works best when the CANblue II is restored to fac-
tory defaults before and the CANblue II is not running in bridge mode. With
reduced receive and transmit performance the parallel usage is also possible.
Existing CAN filters will be cleared during VCI interface usage and will be re-
stored afterwards. Therefore the CANblue II must be registered with the VCI-

Behavior of the CANblue II
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CANblue II - Manual, Version 2.2
V3 Device Server. Please read the VCI-V3 installation manual shipped with
the VCI-V3 for detailed installation instruction.
4.4 Bluetooth transmission behavior
With the standard configuration, pending messages are collected for up to 4
ms by the CANblue II before sending them via Bluetooth.
The collecting resp. minimum time between two consecutive Bluetooth TX
packets can be adjusted. To do this, the command "D BUFF_TIMEOUT"can
be used to specify a time after which pending messages will be transmitted
even if they don't complete a full Bluetooth SPP packet. A timeout of 0 indi-
cates that data should be send immediately. This increases the protocol over-
head.
The size of a packet depends on the other node in the connection. CANblue II
units use data packets of up to 669 bytes between themselves.
4.5 Switching the message format
The command "C SEND_CAN_FRAMES" can be used on a "Config" connec-
tion to switch between ASCII and binary format, or the receipt of CAN mes-
sages can be disabled entirely (see p. 53, chapter 6.2.10 C
SEND_CAN_FRAMES).
The format is also changed in the following situations:
•After a connection is established to the "Config" server, the transmission
of CAN messages is disabled.
•If the command "C CAN_START"is issued, the transmission format is
switched to ASCII.
•If the "Config" connection is used to sent a CAN message to the
CANblue II in the ASCII or binary format, the CANblue II switches to the
same format.
If the CANblue II is in autostart mode and a handshake is carried out on the
"Config" connection (see 4.6 Autostart and handshake), the device switches to
the binary format.
4.6 Autostart and handshake
If the autostart mode of the CANblue II is enabled (see 6.2.9 C AUTO-
STARTon p. 53 ) and a SPP connection is established, it attempts to carry out
a handshake to start the CAN controller.
If a handshake is carried out between two CANblue II devices, both devices
must have autostart mode enabled.
However, a handshake can also be carried out on the "Config" connection.
The corresponding responses to the handshake messages must then be sent
manually by the user.

Behavior of the CANblue II
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CANblue II - Manual, Version 2.2
A handshake works as follows:
After an SPP connection is established, the SPP server transmits its version
information (e.g. "I CANblue Generic - Bridge v2.00.03“). The
SPP client must then also send its own version information.
If the SPP server receives no response to its version information, it sends the
version information again after five seconds.
Once the version information has been exchanged successfully, the SPP
server starts its CAN controller at the configured baud rate and sends "I CAN
STARTED" to the SPP client. The client then starts its own CAN controller and
sends "I CAN STARTED" back to the SPP server.
This concludes the handshake procedure and both CANblue II units will now
exchange CAN messages in binary format.
4.7 Automatic stop of the CAN controller
If there is no more SPP connection to the CANblue II, the CAN controller au-
tomatically stops.
4.8 CAN filter
Messages received by the CAN controller can be filtered. Messages are fil-
tered based on the identifier, the frame format (extended, standard), and the
frame type (data, remote). Filter entries can be stored in the CANblue II for fil-
tration. An entry consists of the frame format, the ID, and the frame type. Once
filtering is activated, messages received by the CAN controller are only for-
warded on the SPP connections if the messages correspond to a filter entry.
4096 standard filters can be entered. This includes all possible identifiers for
the standard frame format.
For the extended filter, there are 300 bytes of storage available. An extended
filter entry occupies 8, 16, 24, or 32 bits depending on the number of CAN ID
digits. Thus between 75 and 300 extended messages can be filtered.
CAN-ID range
Memory consumption in bytes
0-7F
1
80-7FFF
2
8000-7FFFFF
3
800000-1FFFFFFF
4

Behavior of the CANblue II
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CANblue II - Manual, Version 2.2
The following commands are available for configuration of filtering:
„C FILTER_ADD“ (S.54, Kapitel 6.2.11)
„C FILTER_REMOVE“ (S.55)
„C FILTER_CLEAR“ (S.55)
„C FILTER_ENABLE“ (S.56)
„C FILTER_DISABLE“ (S.56)
4.9 Loss of connection
If a CANblue II has stored a Bluetooth MAC address, then for five seconds it
will attempt to establish an SPP connection to that address. If the connection
attempt fails, then a new attempt is always started after two seconds.
The loss of an existing SPP connection is detected after three seconds. After
connection loss is detected, the SPP client immediately attempts to establish a
new connection as described above.
4.10 Loss of messages
4.10.1 CAN receive buffer overflow
The CAN receive buffer can overflow if a Bluetooth connection to the
CANblue II is established during high traffic on the connected CAN network or
another connection is attempted. If this is the case, additional incoming CAN
messages are discarded. If there is a config connection to the CANblue II, this
is indicated with an error message ("E 84 Rx SW queue OVERRUN").
4.10.2 Bluetooth transmission buffer overflow
The CANblue II has a separate transmission buffer for every SPP connection.
If one of these buffers fills up due to an excess number of CAN messages, any
additional incoming messages for this buffer are discarded. If this involves the
config connect, then once there is space in the buffer again an error message
is send ("E 84 Rx SW queue OVERRUN").
4.10.3 CAN transmission buffer overflow
Due to flow control on the Bluetooth SPP connection, the CAN transmission
buffer can normally not overflow. However, to avoid blocking the receipt of da-
ta on the SPP connections, in case of error (CAN controller in warning or BUS
OFF state) or if there are more than 512 messages in the buffer, the oldest
buffer entries are overwritten.
4.10.4 Loss of responses to commands
If there is high data traffic between the SPP connections on the CANblue II
devices and a command is sent on the config connection, it can occur that
parts of the CANblue II response are discarded. Only entire lines of the re-

Behavior of the CANblue II
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CANblue II - Manual, Version 2.2
sponse are discarded, that is, the response is always terminated with a
linefeed or carriage return and linefeed.
4.11 CAN-Controller Errors
4.11.1 WARNING:
If the CAN controller is in the warning state due to multiple incorrectly received
or transmitted messages, this can only be corrected by resetting the CANblue
II or by the receipt or transmission of multiple valid CAN messages. The stop-
ping and restarting of the CAN controller does not reset the warning state (ex-
cept for BUS-OFF).
4.11.2 BUS-OFF-Recovery:
If the CAN controller goes into BUS-OFF, the BUS-OFF recovery is automati-
cally started. Five seconds after detection of the BUS-OFF state, the CAN con-
troller is stopped for one second, and then restarted. If the CAN controller then
detects 128 successive 11-bit sequences on the bus (128 valid messages), all
error flags are reset on the CAN controller and the CAN controller is then
placed back into the normal operating condition. The BUS-OFF recovery is
carried out until the CAN controller is in normal operating mode or is stopped
through the config connection (see 6.2.7 C CAN_STOP).
The BUS-OFF recovery can also be carried out manually by using the config
connect to stop and restart the CAN controller.

Establishing a connection and configuration
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CANblue II - Manual, Version 2.2
5 Establishing a connection and
configuration
Each CANblue II provides two virtual SPP servers as a service. The names of
the SPP servers are "Config" and "SPP". To configure a CANblue II, a Blue-
tooth-capable device that supports the serial port profile (SPP) must be used
to establish a connection to the Config server. To connect to the Config server
of a CANblue II, a virtual COM port must be installed for the SPP connection
on the device used. The user can see the virtual COM port as a physical COM
connection present on the device which is connected through a cable to a
CANblue II. The following values must be used for the properties of the COM
port.
Baudrate
921600
Data bits
8
Parity Bit
none
Stop bits
1
Flow control
hardware
The COM port can be used with a terminal program, for example. To configure
the CANblue II and CAN message exchange, the "Extended ASCII protocol"
must be used (see section 3 on p.10 and section 6 Extended ASCII-Protocol
Commands on p.35).
5.1 Installing the virtual COM port
The following two sections describe step by step how a Bluetooth device is
added under Windows XP and Windows7 and then used to establish a con-
nection to a CANblue II on a virtual COM port
5.1.1 Windows XP
(1) Open the dialog "Bluetooth devices" (Control Panel Bluetooth devices).
Use the "Add" button to open the Bluetooth device addition wizard.

Establishing a connection and configuration
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CANblue II - Manual, Version 2.2
Fig.: 5-1 XP - Bluetooth devices
(2) Check "My device is set up and ready to be found ", then use the "Next"
button to search for devices.
Fig.: 5-2 XP Bluetooth device wizard - Welcome
(3) All available devices will then be displayed. The CANblue II devices have
names like "CANblue II ([MAC address])". The MAC address can be found
on the back of the CANblue II. Select the device to which you want to con-
nect and confirm the selection with the "Next" button.

Establishing a connection and configuration
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CANblue II - Manual, Version 2.2
Fig.: 5-3 XP Bluetooth device wizard - Devices found
(4) Now the passkey for the CANblue II must be entered. "Use the passkey
found in the documentation" must be selected for the entry, and "7388" en-
tered as the passkey. Confirm the input with "Next".
Fig.: 5-4 XP Bluetooth device wizard - passkey
(5) After all drivers have been installed, the virtual COM ports created for the
device are displayed. For the CANblue II devices, two outgoing COM ports
are shown. One of these two COM ports is provided for the Config connec-
tion of "non-CANblue devices".

Establishing a connection and configuration
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CANblue II - Manual, Version 2.2
Fig.: 5-5 XP Bluetooth device wizard - Completion
(6) To find out which COM port should be used, you must query the names of
the SPP servers. In the "Bluetooth Devices" dialog, you will see the
CANblue II you just added. Use the "Properties" button to open the "Prop-
erties" window for the selected device. Click on the "Services" tab to
search for the services of the device and display them. For the CANblue II,
the two SPP servers of the device are shown here. One of these servers is
named "Config". Next to the name, the COM port is displayed that can be
used to establish a connection to the CANblue II. The second service,
named "SPP", is reserved for a connection between two CANblue II devic-
es. No connection can be established to this server. If the checkmark is not
set for the Config service, there may have been problems installing the
driver for this service. Check the box and confirm with the "Apply" button to
attempt to install the driver again. An Internet connection may be neces-
sary so that the driver can be downloaded.

Establishing a connection and configuration
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CANblue II - Manual, Version 2.2
Fig.: 5-6 XP Bluetooth device services
(7) Now the virtual COM port displayed for the Config connection can be used
to connect to the CANblue II.
5.1.2 Windows 7
(1) On the window for "Devices and printers" (Control Panel "Hardware and
Sound" "Devices and Printer"), the "Add a device" button can be used to
search for devices.
Fig.: 5-7 W7 - Devices and printer