Peak Pcan-gps User manual

PCAN-GPS

User Manual

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 ®.

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: +49 6151 8173-20

Fax: +49 6151 8173-29

www.peak-system.com

[email protected]

Document version 2.1.1 (2023-02-07)

Relevant Product PCAN-GPS

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

Contents PCAN-GPS

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

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

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

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)

1 Introduction PCAN-GPS

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

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).

2 Description of the Sensors PCAN-GPS

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.

2 Description of the Sensors PCAN-GPS

Axes of the acceleration and magnetic field sensor in relation to the PCAN-GPS casing

There are three configurable control lines to adjust the function to the respective

application:

Data Ready MAG

Interrupt_MAG

Interrupt_ACC1

Interrupt_ACC2 is not connected to the microcontroller. All connected interrupt lines

of the sensor are provided with pull-up resistors.

Since both functions of the sensor are independent of each other, also the

corresponding interrupt functions are not linked. The interrupt for the acceleration

sensor can be configured from seven functionalities, its timing validity can be

adjusted. The functional scope of the magnetic field sensor interrupt comprises four

sources.

The offset compensation of the acceleration sensor is done via the addition of a

correction value which is copied from the EEPROM. This requires a conversion of an

2 Description of the Sensors PCAN-GPS

8-bit value (Public Register) to a 10-bit value (Internal Register) (see table). With one

of the four compensation methods, the correction value can be checked and

readjusted.

Bit in Public Register Compensation Value for Measuring Range

±2 G ±4 G ±8 G ±16 G

8 (msb): sign ± ± ± ±

7 500 mG 500 mG 500 mG 500 mG

6 250 mG 250 mG 250 mG 250 mG

5 125 mG 125 mG 125 mG 125 mG

4 62.5 mG 62.5 mG 62.5 mG 62.5 mG

3 31.3 mG 31.3 mG 31.3 mG 31.3 mG

2 15.6 mG 15.6 mG 15.6 mG -

1 (lsb) 7.8 mG 7.8 mG - -

The correction value can be determined with four methods. A target value (± 1 G in

X/Y/Z) is given in this process. The methods determine the necessary offset of the

measured value until it reaches the target value. The offset appears in the Public

Slow compensation: Over several steps (8 or 16), the correction value is gradually

adjusted (4 lsb) to reach the target value.

Fast compensation: The correction value is calculated from the average of 16

measurements and the target value.

Manual compensation: The user specifies a correction value.

Inline calibration: The calculated correction value is stored in the EEPROM.

2 Description of the Sensors PCAN-GPS

3 Hardware Configuration

For special applications, several settings can be done on the circuit board of the

PCAN-GPS by using solder bridges:

3-bit coding of the hardware for polling by the firmware

Buffer battery for satellite reception

3.1 Coding Solder Jumpers

The circuit board has three coding solder bridges to assign a permanent state to the

corresponding input bits of the microcontroller. The three positions for coding solder

bridges (ID 0 - 2) are each assigned to one port of the microcontroller LPC4074FBD80

(μC). A bit is set (1) if the corresponding solder field is open.

The status of the ports is relevant in the following cases:

The loaded firmware is programmed so that it reads the status at the

corresponding ports of the microcontroller. For example, the activation of certain

functions of the firmware or the coding of an ID is conceivable here.

For a firmware update via CAN, the PCAN-GPS module is identified by a 3-bit ID

which is determined by solder jumpers. A bit is set (1) when the corresponding

solder field is open (default setting: ID 7, all solder fields open).

Solder field ID0 ID1 ID2

Binary digit 001 010 100

Decimal equivalent 1 2 4

See chapter 7 Firmware Upload for more information.

3 Hardware Configuration PCAN-GPS

Activate coding solder bridges:

Risk of short circuit! Soldering on the PCAN-GPS may only be

performed by qualified electrical engineering personnel.

Attention! Electrostatic discharge (ESD) can damage or destroy

components on the card. Take precautions to avoid ESD.

1. Unscrew the two screws.

2. Remove the cover under consideration of the antenna connection.

3. Pull out the circuit board.

4. Solder the solder bridge(s) on the board according to the desired setting.

Solder Field Status Port Status

Low

High

Solder fields for coding solder jumpers

on the circuit board

5. Put the housing cover back in place according to the recess of the antenna

connection.

6. Screw the two screws back into their original positions.

3 Hardware Configuration PCAN-GPS

3.2 Buffer Battery for GNSS

The receiver for navigation satellites (GNSS) needs about half a minute until the first

position fix after switching on the PCAN-GPS module. To shorten this period, the

button cell can be used as a buffer battery for a quick start of the GNSS receiver.

However, this will shorten the life of the button cell.

Activate quick start via buffer battery:

Risk of short circuit! Soldering on the PCAN-GPS may only be

performed by qualified electrical engineering personnel.

Attention! Electrostatic discharge (ESD) can damage or destroy

components on the card. Take precautions to avoid ESD.

1. Unscrew the two screws.

2. Remove the cover under consideration of the antenna connection.

3. Pull out the circuit board.

3 Hardware Configuration PCAN-GPS

4. Solder the solder bridge(s) on the board according to the desired setting.

Solder Field Status Port Status

Default: quick start of the

GNSS receiver is not

activated.

Quick start of the GNSS

receiver is activated.

Solder field JP6 on the circuit board

5. Put the housing cover back in place according to the recess of the antenna

connection.

6. Screw the two screws back into their original positions.

3 Hardware Configuration PCAN-GPS

4 Connectors

PCAN-GPS with 10 connector pins and 2 status LEDs

4 Connectors PCAN-GPS

4.1 Spring Terminal Strip

Spring terminal strip with 3.5 mm pitch

(Phoenix Contact FMC 1.5/10-ST-3.5 - 1952348)

Terminal Identifier Function

1 UbPower supply 8 - 30 V DC, e.g. car terminal 30, reverse-polarity protection

2 GND Ground

3 CAN_L Differential CAN signal

4 CAN_H

5 DOut Digital output, Low-side switch

6 DIn1 Digital input, High-active (internal pull-down), inverting

7 Boot CAN CAN bootloader activation, High-active

8 GND Ground

9 Wake-up External wake-up signal, High-active, e.g. car terminal 15

10 DIn2 Digital input, High-active (internal pull-down), inverting

4 Connectors PCAN-GPS

4.2 SMA Antenna Connector

An external antenna must be connected to the SMA socket for the reception of

satellite signals. Both passive and active antennas are suitable. For an active

antenna, a supply of 3.3 V with at most 50 mA can be switched through the GNSS

receiver.

The scope of supply of the PCAN-GPS provides an active antenna that is suitable for

the navigation satellite systems GPS and GLONASS.

4.3 microSD™ Slot (internal)

For the recording of, for example, status and location information, a microSD™

memory card of the types SD and SDHC can be used. Memory cards are not included

in the scope of supply. The maximum capacity is 32 GByte.

Freely available source code exists for the implementation of the FAT32 file system in

custom firmware.

Note: The microSD™ connectivity in the PCAN-GPS module is not

suitable for recording large data flows, such as the CAN traffic.

In order to insert a memory card, open the casing of the PCAN-GPS module by

loosening the two fixing screws.

4 Connectors PCAN-GPS

5 Operation

5.1 Starting PCAN-GPS

The PCAN-GPS is activated by applying the supply voltage to the respective ports

(see section 4.1 Spring Terminal Strip). The firmware in the flash memory is

subsequently run.

At delivery, the PCAN-GPS is provided with a demo firmware. At a CAN bit rate of

500kbit/s, it periodically transmits the raw values determined by the sensors. In

Appendix D CAN-Messages of the Demo Firmware is a list of the used CAN messages.

5.2 Status LEDs

The PCAN-GPS has two status LEDs that can be green, red, or orange. The status

LEDs are controlled by the running firmware.

If the PCAN-GPS module is in CAN bootloader mode which is used for a firmware

update (see chapter 7 Firmware Upload), the two LEDs are in the following state:

LED Status Color

Status 1 quickly blinking orange

Status 2 glowing orange

5.3 Sleep Mode

The PCAN-GPS can be set into sleep mode via a specific CAN message. The voltage

supply is turned off for a majority of the electronic components in the PCAN-GPS and

5 Operation PCAN-GPS

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