rtd ECAN1000HR User manual

ECAN1000HR
Isolated CAN interface board
User’s Manual
BDM-610020026
Rev. B

ECAN1000 User’s Manual 2 BDM-610020026 rev B
ECAN1000HR I SOLATED 1 M B / S
CAN INTERFACE BOARD
U SER ’ S M ANUAL
RTD Embedded Technologies, INC.
103 Innovation Blvd.
State College, PA 16803-0906
Phone: [phone]
FAX: [phone]
E-mail
[email protected]
[e-mail]
Web site
http://www.rtd.com

ECAN1000 User’s Manual 3 BDM-610020026 rev B
Revision History
28/11/1991 Release 1.0
15/07/2001 Name of company changed, reformatted
Rev. A New Manual Naming Method
Rev. B 05/04/2007 Clarified references to QNX support, improved formatting and grammar
Published by:
RTD Embedded Technologies, Inc.
103 Innovation Blvd.
State College, PA 16803-0906
Copyright 1999, 2002, 2003, 2007 by RTD Embedded Technologies, Inc.
All rights reserved
The RTD Logo is a registered trademark of RTD Embedded Technologies. cpuModule and utilityModule
are trademarks of RTD Embedded Technologies. PC/104 is a registered trademark of PC/104 Consor-
tium. All other trademarks appearing in this document are the property of their respective owners.

ECAN1000 User’s Manual 4 BDM-610020026 rev B
TABLE OF CONTENTS
CHAPTER 1 INTRODUCTION............................................................................................................................6
FEATURES...................................................................................................................................................................6
CAN BUS CONTROLLER ..............................................................................................................................................6
PHYSICAL INTERFACE.................................................................................................................................................7
MECHANICAL DESCRIPTION ........................................................................................................................................7
CONNECTOR DESCRIPTION..........................................................................................................................................7
WHAT COMES WITH YOUR BOARD?.............................................................................................................................7
BOARD ACCESSORIES .................................................................................................................................................8
USING THIS MANUAL...................................................................................................................................................8
WHEN YOU NEED HELP ...............................................................................................................................................8
CHAPTER 2 BOARD SETTINGS ........................................................................................................................9
FACTORY-CONFIGURED JUMPER SETTINGS ................................................................................................................9
BASE ADDRESS JUMPERS (FACTORY SETTING:300H)...............................................................................................10
INTERRUPT CHANNEL (FACTORY SETTING:IRQ5) ................................................................................................12
CHAPTER 3 BOARD INSTALLATION............................................................................................................13
BOARD INSTALLATION..............................................................................................................................................13
General installation guidelines: ..........................................................................................................................13
Installation integrated with a PC/104 module stack............................................................................................13
3U rack or enclosure installation with a EUROCARD CPU containing an ECAN1000HR ...............................14
J12 GALVANICALLY ISOLATED CAN BUS CONNECTOR .............................................................................................15
J34 GALVANICALLY ISOLATED CAN BUS TERMINATION JUMPER..............................................................................15
CHAPTER 4 HARDWARE DESCRIPTION.....................................................................................................16
THE CAN BUS CONTROLLER.....................................................................................................................................17
GALVANIC ISOLATION OF THE CAN BUS ...................................................................................................................18
CHAPTER 5 BOARD OPERATION AND PROGRAMMING .......................................................................19
DEFINING THE MEMORY MAP...................................................................................................................................19
INTERRUPTS .........................................................................................................................................................20
What is an interrupt? ...........................................................................................................................................20
Interrupt request lines..........................................................................................................................................20
8259 Programmable Interrupt Controller...........................................................................................................21
Interrupt Mask Register (IMR) ............................................................................................................................21
End-of-Interrupt (EOI) Command .......................................................................................................................21
What exactly happens when an interrupt occurs? ...............................................................................................21
Using Interrupts in your program .......................................................................................................................22
Saving the Startup Interrupt Mask Register (IMR) and interrupt vector.............................................................24
Common Interrupt mistakes.................................................................................................................................25
Example on Interrupt vector table setup in C-code:............................................................................................26
CHAPTER 6 ECAN1000HR SPECIFICATIONS .............................................................................................27
HOST INTERFACE......................................................................................................................................................27
CAN INTERFACES ....................................................................................................................................................27
CONNECTORS ...........................................................................................................................................................27
ELECTRICAL .............................................................................................................................................................27
CE............................................................................................................................................................................27
CHAPTER 7 RETURN POLICY AND WARRANTY......................................................................................28
RETURN POLICY .......................................................................................................................................................28
LIMITED WARRANTY ................................................................................................................................................29

ECAN1000 User’s Manual 5 BDM-610020026 rev B
ILLUSTRATIONS
FIGURE 1: COMPONENT LOCATIONS ............................................................................................................................10
FIGURE 2: BASE ADDRESS JUMPERS ILLUSTRATING ADDRESS 300 H .......................................................................12
FIGURE 3: INTERRUPT SET TO IRQ 5. .......................................................................................................................12
FIGURE 4: ECAN1000HR INTEGRATED IN A PC/104 RTD CPUMODULE STACK ...................................................14
FIGURE 5: 19” EUROCARD RACK INSTALLATION WITH AN INTEGRATED PC/104 DATAMODULE AND ..................14
FIGURE 6: ECAN1000HR BLOCK DIAGRAM............................................................................................................16
TABLES
TABLE 1: FACTORY CONFIGURED JUMPER SETTINGS ................................................................................................9
TABLE 2: JP1 BASE ADDRESS JUMPER SETTINGS ....................................................................................................11
TABLE 3: J12 CAN BUD CONNECTOR ......................................................................................................................15
TABLE 4: PHYSICAL INTERFACE CONNECTOR J12 PINOUT OF THE ECAN1000HR ...............................................15
TABLE 5: ECAN MEMORY MAP ...............................................................................................................................19

ECAN1000 User’s Manual 6 BDM-610020026 rev B
Chapter 1 I NTRODUCTION
This user’s manual describes the operation of the ECAN1000HR CAN bus Interface
board.
Features
Some of the key features of the ECAN1000HR include:
•SJA1000 CAN-network controller, Electrically compatible with the
PCA82C200 stand-alone CAN controller chip
•1 Mb/s maximum data rate (fully programmable)
•Full CAN-functionality 2.0 B
•Extended receive buffer (64 byte FIFO)
•16 MHz clock frequency
•Galvanically isolated physical interfaces
•I/O mapped host interface using three addresses
•-40 to +85C operational temperature
•+5V only operation
•PC/104 compliant
The following paragraphs briefly describe the major features of the
ECAN1000HR. A more detailed discussion in included in Chapter 4
(Hardware description) and in Chapter 5 (Board operation and program-
ming). The board setup is described in Chapter 2 (Board Settings). A full
description of the Philips SJA1000 CAN-controller is included in Chapter
5 (Board operation and programming).
CAN bus controller
The ECAN1000HR CAN bus interface is implemented using the Philips
SJA1000 controller. This controller supports CAN Specification 2.0. This
versatile chip supports standard and extended Data and Remote frames;
a Programmable Global Message Identifier Mask; 15 message objects of
8-byte Data Length and a Programmable Bit Rate. This fully integrated
chip supports all the functionality of the CAN bus protocol. The internal 64
byte receive FIFO is ideal for block mode data transfer from the CAN
controller chip.

ECAN1000 User’s Manual 7 BDM-610020026 rev B
Physical Interface
Industrial environments require galvanic isolation and bus filtering to pro-
vide reliable data communication and safety. The galvanically isolated
physical interface is uses high speed optocouplers and a DC/DC con-
verter. To protect the input from radiated bus noise a specially balanced
bus filter is used. The bus connectors conform to the ISO11898 /2 speci-
fication. (For more information on CAN bus please visit the CAN in Auto-
mation Website at: http://www.can-cia.de.)
Mechanical description
The ECAN1000HR is designed on a PC/104 form factor. An easy me-
chanical interface to both PC/104 and EUROCARD systems can be
achieved. Stack your ECAN1000HR directly on a PC/104 compatible
computer using the onboard mounting holes.
Connector description
There is a 10-pin interface connector on the ECAN1000HR to directly
interface to the galvanically isolated CAN-networks. This header is
compliant with the ISO11892/2 specified pinout.
What comes with your board?
Your ECAN1000HR package contains the following items:
•ECAN1000HR CAN bus interface module
•User's manual
Note: Software and drivers can be downloaded from our website
If any item is missing or damaged, please call RTD Embedded Tech-
nologies, Inc. customer service department at the following number:
[phone].

ECAN1000 User’s Manual 8 BDM-610020026 rev B
Board accessories
In addition to the items included in your ECAN1000HR delivery, several
accessories are available. Contact your local distributor for more infor-
mation and for advice on selecting the most appropriate accessories to
support your system.
Using this manual
This manual is intended to help you install your new ECAN1000HR card
and get it working quickly, whilst also providing enough detail about the
board and its functions so that you can obtain maximum use of its fea-
tures even in the most demanding applications. This manual does not
cover CAN bus network programming and system design.
When you need help
This manual and all the example programs will provide you with enough
information to fully utilize all the features on this board. If you have any
problems with installation or use of the board, contact our Technical
Support Department [phone]. Alternatively, send an Email to:
[email protected]. When sending an Email request, please include the
following information: Your company's name and address, your name,
your telephone number, and a brief description of the problem.

ECAN1000 User’s Manual 9 BDM-610020026 rev B
Chapter 2 B OARD SETTINGS
The ECAN1000HR CAN bus interface board has jumper settings which can be
changed to suit your application and host computer memory configuration. The factory
settings are listed and shown in the diagram at the beginning of this chapter.
Factory-Configured Jumper Settings
Table 1 below illustrates the factory jumper setting for the ECAN1000HR. Fig-
ure 1 shows the board layout of the ECAN1000HR and the locations of the
jumpers. The following paragraphs explain how to change the factory jumper
settings to suit your specific application.
Table 1: Factory configured jumper settings (Please, see figure 1 for detailed
locations)
JUMPER NAME DESCRIPTION NUMBER OF
JUMPERS
FACTORY
SETTING
JP1 BASE Base Addresses 8 300H
JP5 IRQ
SELECT Host interrupts 10 5
J34 CAN bus termination 1 Closed
Table 1: Factory configured jumper settings

ECAN1000 User’s Manual 10 BDM-610020026 rev B
Figure 1: Component Locations
Base Address Jumpers (Factory setting: 300h)
The ECAN1000HR is I/O mapped into the memory space of your host XT/AT.
This board occupies two I/O addresses starting from the base address.
The most common cause of failure when you are first setting up your module is
address contention: Some of your computers I/O space is already occupied by
other devices and memory resident programs. When the ECAN1000HR at-
tempts to use its own reserved memory addresses (which are being already
used by another peripheral device) erratic performance may occur and the data
read from the board may be corrupted.
To avoid this problem make sure you set up the base address by using the ten
jumpers marked “BASE”. This allows you to choose from a number of different

ECAN1000 User’s Manual 11 BDM-610020026 rev B
addresses in your host computer I/O map. Should the factory installed setting
of 300h be incompatible to your system configuration, you may change this set-
ting to another using the options illustrated in Table 2. The table shows the
jumper settings and their corresponding values in hexadecimal form. Ensure
that you verify the correct location of the base address jumpers. When the
jumper is removed it corresponds to a logical "0", connecting the jumper to a
"1". When you set the base address of the board, record the setting inside the
back cover of this manual
BASE ADDRESS JUMPER SETTINGS ECAN1000HR
Base address Hex Jumper Settings
A8 A7 A6 A5
200 0 0 0 0
220 0 0 0 1
240 0 0 1 0
260 0 0 1 1
280 0 1 0 0
2A0 0 1 0 1
2C0 0 1 1 0
2E0 0 1 1 1
300 1 0 0 0
320 1 0 0 1
340 1 0 1 0
360 1 0 1 1
380 1 1 0 0
3A0 1 1 0 1
3C0 1 1 1 0
3E0 1 1 1 1
0 = JUMPER OFF 1 = JUMPER CLOSED
Table 2: JP1 Base Address Jumper Settings
Note: The above table illustrates the settings for the high address bits A8-A5, A9 is
always decoded “1".

ECAN1000 User’s Manual 12 BDM-610020026 rev B
Figure 2: Base address jumpers illustrating address 300 h
Interrupt channel (Factory setting: IRQ5)
The header connector, shown in Figure 3 below, lets you connect the on-
board SJA1000 CAN controllers interrupt outputs to one of the interrupt
channels available on the host XT/AT bus. If your board has no AT-
extension interrupts, IRQ 10-15 are not available.
Figure 3: Interrupt set to IRQ 5.
Note: The ECAN1000HR does not support interrupt sharing! This feature is some-
times regarded as a part of the PC/104 special features. After extensive
software and hardware tests we have found that error free interrupt per-
formance can not be guaranteed when sharing interrupts.

ECAN1000 User’s Manual 13 BDM-610020026 rev B
Chapter 3 B OARD INSTALLATION
The ECAN1000HR CAN bus interface board is very easy to connect to
your industrial distributed control system. Direct interface to PC/104 sys-
tems as well as EUROCARD boards is possible. This chapter gives step-
by-step instructions on how to install the ECAN1000HR into your system.
After completing the installation it is recommended that you use the diag-
nostic and test software to fully verify that your board is working.
Board Installation
Keep your board in the antistatic bag until you are ready to install it to your
system! When removing it from the bag, hold the board at the edges and
do not touch the components or connectors. Please handle the board in
an antistatic environment and use a grounded workbench for testing and
handling of your hardware. Before installing the board in your computer,
check the jumper settings. Chapter 2 reviews the factory settings and how
to alter them. If any alterations are needed, please refer to the appropriate
instructions in this chapter. Do however note that incompatible settings
can result in unpredictable board operation and erratic response.
General installation guidelines:
•Turn OFF the power to your computer and all devices connected to
the ECAN1000HR.
•Touch the grounded metal housing of your computer to discharge any
antistatic build-up and then remove the board from its antistatic bag.
•Hold the board by the edges and install it in an enclosure or place it on
the table on an antistatic surface.
•Connect the board to the CAN field bus using the field bus interface
header connector J12. Make sure that the orientation of the cable is cor-
rect.
Installation integrated with a PC/104 module stack
•Secure the four PC/104 installation holes with standoffs.
•Connect the board to the CAN bus using the CAN header connector
J12.

ECAN1000 User’s Manual 14 BDM-610020026 rev B
Figure 4: ECAN1000HR integrated in a PC/104 RTD cpuModule stack
3U rack or enclosure installation with a EUROCARD CPU containing an ECAN1000HR
The PC/104 system can be easily inserted into a 19” rack installation us-
ing the CPU as a “form factor adaptor”. Assemble your PC/104 data mod-
ules on an RTD single board EUROCARD computer and install the sys-
tem in a 19” enclosure. Multiple ECAN1000HR boards can be easily con-
nected to this system. See figure 5 below.
Figure 5: 19” Eurocard rack installation with an integrated PC/104 dataModule and
EUROCARD cpuModule computer system

ECAN1000 User’s Manual 15 BDM-610020026 rev B
J12 Galvanically isolated CAN bus connector
Table 3 below shows the CAN physical interface connector pinout. This
connector is to the right hand side of your board marked J12. The pinout con-
forms to the ISO 11898/2 standard specification.
PIN number Function
1 N.C.
2 GND_isolated
3 BUS_L
4 BUS_H
5 GND_isolated
6 N.C.
7 N.C.
8 +5V-isolated
9 GND-isolated
10 N.C.
Table 3: J12 CAN Bud Connector
9 7 5 3 1
I_GND N.C. I_GND BUS_L N.C.
N.C. I_+5V N.C. BUS_H I_GND
10 8 6 4 2
Table 4: Physical interface connector J12 pinout of the ECAN1000HR
J34 Galvanically isolated CAN bus termination jumper
The jumper marked as J34 is the CAN bus termination jumper. Only two
termination jumpers should be closed at the endpoints of the CAN bus.
Failure to do so may degrade the performance of the bus and it will affect
the bus timing characteristics of the CAN bus. The maximum guaranteed
drive capability of the CAN bus transceiver is 32 nodes.

ECAN1000 User’s Manual 16 BDM-610020026 rev B
Chapter 4 H ARDWARE DESCRIPTION
This chapter describes in detail the major features of the ECAN1000HR:
•The Philips SJA1000 CAN bus controller
•Galvanic isolation of the CAN bus
Figure 6: ECAN1000HR Block diagram

ECAN1000 User’s Manual 17 BDM-610020026 rev B
The CAN bus controller
The SJA1000 CAN bus controller uses a 16 MHz base oscillator. This
must be taken into account when performing settings in the CAN bus tim-
ing registers that set the baud rate and sampling times of the CAN net-
work.
The SJA1000 CAN controller consists of seven functional blocks. The
host interface logic; the Transmit Buffer; the Receive Buffer; the Accep-
tance Filter; the Bit Stream Processor; the Bit Timing Logic and the Error
management logic. A detailed description of these blocks is listed in the
detailed component specific datasheet reprinted from Philips Semicon-
ductors.
The SJA1000 internal message FIFO RAM provides storage for 64 mes-
sage bytes. Each message can vary from one to up to 8 bytes in length.
Each message object has a unique identifier and can be configured to ei-
ther transmit or to receive.
Each message identifier contains control and status bits. A message ob-
ject with a direction set for receive will send a remote frame by requesting
a message transmission. A message set as transmit will be configured to
automatically send a data frame whenever a remote frame with a match-
ing identifier is received over the CAN bus. All message objects have
separate transmit and receive interrupts and status bits, allowing the CPU
full flexibility in detecting when a remote frame has been sent or received.
The SJA1000 also features masking for acceptance filtering. This feature
allows the user to globally mask, or "don't care", any identifier bits of the
incoming message. This mask is programmable to allow the user to de-
sign an application specifically message identification strategy. There are
separate global masks for standard and extended frames. The incoming
message first passes through the global mask and is then matched to the
identifiers in the message objects

ECAN1000 User’s Manual 18 BDM-610020026 rev B
Galvanic isolation of the CAN bus
The galvanic isolation of the ECAN1000HR is implemented using the following:
•Optocouplers for reliable data transmission
•DC/DC converter to supply power to the CAN bus and the physical in-
terface circuitry.
The high-speed optocouplers are directly connected to the SJA1000. The opto-
couplers drive the CAN bus transceiver. A special balanced CAN bus choke is
used not only to improve immunity to bus noise, but also to protect the bus trans-
ceiver. This choke also reduces the radiated emissions in the range of 30-
200MHz.
A 1W DC/DC converter may be used to power other remote devices on the CAN
bus. The output power of this converter is isolated up to 1.5 kV peak. A 125mA
fuse (green) are used to protect the DC/DC converter.
The jumper marked as J34 is the CAN bus termination jumper. Only two termina-
tion jumpers should be closed at the endpoints of the CAN bus. Failure to do so
may degrade the performance of the bus or even cause permanent damage to
the driver chips. The maximum drive of the transceiver is 32 nodes.

ECAN1000 User’s Manual 19 BDM-610020026 rev B
Chapter 5 B OARD OPERATION AND PROGRAMMING
This chapter shows you how to program and use your ECAN1000HR. It
provides a complete description of the internal memory map of the chip
and a detailed discussion of the internal registers to aid you in program-
ming your CAN controller chip. The full functionality of the ECAN1000HR
is described in the attached datasheet reprint from Philips on the
SJA1000 CAN controller chip.
Defining the Memory Map
The memory map of the ECAN1000HR occupies 2 bytes of host PC I/O
memory space. This 3-byte window is freely selectable by the user as de-
scribed in Chapter 2, Table 2. After setting the base address you have
access to the internal resources of the SJA1000 CAN controller chip.
These resources are described in the next sections reprinted from the
SJA1000 chip specific user’s manual.
ADDRESS Description
BASE+00h ADDRESS
BASE+01h DATA of ADDRESS
BASE+02h HARDWARE RESET
OF SJA1000
Table 5: ECAN Memory Map
The SJA1000 chip access is multiplexed in such a way that the host must
first write to BASE+0 the internal address of the CAN chip and after that
perform a write to address BASE+1 with the actual data to be written into
the desired memory location. An example is listed below using “C” syn-
tax. (We assume base address is 300H.)
Write 78H to the CAN controller Control byte located in the on-chip ad-
dress 0.
outp(0x300,0x00);
outp(0x301,0x78);
Address BASE+02h is a hardware-reset function of the SJA1000. Performing a read or
write to this address will cause a hardware reset to the CAN controller. You may need
to reset the chip in case of an unrecoverable error in the CAN controller chip.
On the following pages is attached the chip specific user’s manual
for the SJA1000 CAN controller chip.

ECAN1000 User’s Manual 20 BDM-610020026 rev B
INTERRUPTS
What is an interrupt ?
An interrupt is an event that causes the processor in your computer to
temporarily halt its current process and execute another routine. Upon
completion of the new routine, control is returned to the original routine at
the point where its execution was interrupted.
Interrupts are a very flexible way of dealing with asynchronous events.
Keyboard activity is a good example; your computer cannot predict when
you might press a key and it would be a waste of processor time to do
nothing whilst waiting for a keystroke to occur. Thus the interrupt scheme
is used and the processor proceeds with other tasks. When a keystroke
finally occurs, the keyboard then 'interrupts' the processor so that it can
get the keyboard data .It then places it into the memory, and then returns
to what it was doing before the interrupt occurred. Other common devices
that use interrupts are A/D boards, network boards, serial ports etc.
Your ECAN1000HR can interrupt the main processor when a message is
received or transmitted if interrupts are enabled on the ECAN1000HR
board. By using interrupts you can write powerful code to interface to
your CAN network.
Interrupt request lines
To allow different peripheral devices to generate interrupts on the same
computer, the PC AT bus has interrupt request channels (IRQs). A rising
edge transition on one of these lines will be latched into the interrupt con-
troller. The interrupt controller checks to see if the interrupts are to be ac-
knowledged from that IRQ and, if another interrupt is being processed, it
decides if the new request should supersede the one in progress or if it
has to wait until the one in progress has been completed. The priority
level of the interrupt is determined by the number of the IRQ as follows;
IRQ0 has the highest priority whilst IRQ15 has the lowest. Many of the
IRQs are used by the standard system resources, IRQ0 is dedicated to
the internal timer, IRQ1 is dedicated to the keyboard input, IRQ3 for the
serial port COM2, and IRQ4 for the serial port COM1. Often interrupts 2,5
and 7 are free for the user.