Peak PCAN-GPS User manual

PCAN-GPS
User Manual
User Manual 2.1.1 © 2023 PEAK-System Technik GmbH

Relevant Product
Product Name Part Number
PCAN-GPS IPEH-002110
Imprint
PCAN is a registered trademark of PEAK-System Technik GmbH. microSD™ is a trademark or registered
trademark of SD-3C, LLC in the United States of America, other countries, or both.
All other product names in this document may be the trademarks or registered trademarks of their
respective companies. They are not explicitly marked by ™ or ®.
© 2023 PEAK-System Technik GmbH
Duplication (copying, printing, or other forms) and the electronic distribution of this document is only
allowed with explicit permission of PEAK-System Technik GmbH. PEAK-System Technik GmbH reserves the
right to change technical data without prior announcement. The general business conditions and the
regulations of the license agreement apply. All rights are reserved.
PEAK-System Technik GmbH
Otto-Röhm-Straße 69
64293 Darmstadt
Germany
Phone: [phone]
Fax: [phone]
www.peak-system.com
[email protected]
Document version 2.1.1 (2023-02-07)
Relevant Product PCAN-GPS
User Manual 2.1.1 © 2023 PEAK-System Technik GmbH
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Contents
Imprint 2
Relevant Product 2
Contents 3
1 Introduction 5
1.1 Properties at a Glance 6
1.2 Scope of Supply 7
1.3 Prerequisites for Operation 7
2 Description of the Sensors 8
2.1 Receiver for Navigation Satellites (GNSS) 8
2.2 Gyroscope 9
2.3 Acceleration and Magnetic Field Sensor 10
3 Hardware Configuration 13
3.1 Coding Solder Jumpers 13
3.2 Buffer Battery for GNSS 15
4 Connectors 17
4.1 Spring Terminal Strip 18
4.2 SMA Antenna Connector 19
4.3 microSD™ Slot (internal) 19
5 Operation 20
5.1 Starting PCAN-GPS 20
5.2 Status LEDs 20
5.3 Sleep Mode 20
5.4 Wake-up 21
6 Creating Own Firmware 22
6.1 Library 24
7 Firmware Upload 25
7.1 System Requirements 25
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7.2 Preparing Hardware 25
7.3 Firmware Transfer 26
8 Technical Data 30
Appendix A CE Certificate 35
Appendix B UKCA Certificate 36
Appendix C Dimension Drawing 37
Appendix D CAN-Messages of the Demo Firmware 38
D.1 CAN Messages from the PCAN-GPS 39
D.2 CAN Messages to the PCAN-GPS 43
Appendix E Data Sheets 45
Appendix F Disposal 46
Contents PCAN-GPS
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1 Introduction
The PCAN-GPS is a programmable sensor module for position and orientation
determination. It has a satellite receiver, a magnetic field sensor, an accelerometer,
and a gyroscope. The sampled data can be transmitted on a CAN bus and logged on
the internal memory card. The data processing is performed by a microcontroller of
the NXP LPC4000 series.
The behavior of the PCAN-GPS can be programmed freely for specific applications.
The firmware is created using the included development package with GNU compiler
for C and C++ and is then transferred to the module via CAN. Various programming
examples facilitate the implementation of own solutions.
On delivery, the PCAN-GPS is provided with a demo firmware that transmits the raw
data of the sensors periodically on the CAN bus. The source code of the demo
firmware as well as further programming examples are included in the scope of
supply.
1 Introduction PCAN-GPS
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1.1 Properties at a Glance
NXP LPC4000 series microcontroller (ARM Cortex-M4)
Receiver for navigation satellites u-blox MAX-7W
(GPS, GLONASS, QZSS, and SBAS)
Bosch BMC050 electronic three-axis magnetic field sensor and
three-axis accelerometer
Gyroscope STMicroelectronics L3GD20
High-speed CAN channel (ISO 11898-2) with bit rates from
40 kbit/s up to 1 Mbit/s
Complies with CAN specifications 2.0 A/B
On-chip 4 kByte EEPROM
microSD™ memory card slot
Wake-up by CAN bus or by separate input
2 digital inputs (high-active)
1 digital output (low-side driver)
LEDs for status signaling
Connection via a 10-pole terminal strip (Phoenix)
Voltage supply from 8 to 30 V
Extended operating temperature range from -40 to +85 °C
(with exception of the button cell)
New firmware can be loaded via CAN interface
1 Introduction PCAN-GPS
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1.2 Scope of Supply
PCAN-GPS in plastic casing with
Mating connector: Phoenix Contact FMC 1.5/10-ST-3.5 - 1952348
External antenna for satellite reception
Download
Windows development package with:
GCC ARM Embedded
Flash program
Programming examples
Manual in PDF format
1.3 Prerequisites for Operation
Power supply in the range of 8 to 30 V DC
For uploading the firmware via CAN:
CAN interface of the PCAN series for the computer (e.g. PCAN-USB)
Operating system Windows 11 (x64), 10 (x86/x64)
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2 Description of the Sensors
This chapter describes the characteristics of the sensors that are used in the
PCAN-GPS in short form and gives instructions for use.
For additional information about the sensors, see chapter 8 Technical Data and the
data sheets of the respective manufacturers in Appendix E Data Sheets.
2.1 Receiver for Navigation Satellites (GNSS)
The u-blox MAX-7W receiver is designed for the following global navigation satellite
systems (GNSS):
GPS (USA)
GLONASS (Russia)
QZSS (Japan)
SBAS (supplementary)
To receive a satellite signal, an external antenna must be connected to the SMA
socket . Both passive and active antennas are suitable. An active antenna is
included.
The use of GPS and GLONASS cannot happen simultaneously. On the one hand, the
external antenna must match the respective system (the supplied one can receive
both), on the other hand, the GNSS receiver must be switched.
For a faster position fix after turning on the PCAN-GPS, the internal RTC and the
internal backup RAM can be supplied by the button cell. This requires a hardware
modification (see section 3.2 Buffer Battery for GNSS).
2 Description of the Sensors PCAN-GPS
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2.2 Gyroscope
The STMicroelectronics L3GD20 gyroscope is a three-axis angular rate sensor. It
returns the rotational speed around X, Y, and, Z axis.
Z: yaw
X: roll
Y: pitch
Gyroscope axes in relation to the PCAN-GPS casing
The covered rotation angle can be determined by integration over time.
There are two sensor-internal filters for limitation and damping of output values.
They are implemented by configurable high-pass and low-pass.
With its cut-off frequency (3 dB level), the high-pass defines the minimum angular
velocity needed for transmission. With the lowpass in contrast, it is possible to affect
the transmission of faster rotation angles. Typical values for output can be
distinguished from intermittent fast movements. The selected filter characteristic is
always to be considered together with the output data rate (ODR).
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Filter curve of high-pass and low-pass
2.3 Acceleration and Magnetic Field Sensor
The acceleration and magnetic field sensor Bosch Sensortec BMC050 is used to
determine the position in a magnetic field (such as the earth's magnetic field) and
the acceleration along three axes.
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