Acromag AcroPack AP560 User manual

AcroPack Series AP560

Four Channel CAN Module

USER’S MANUAL

ACROMAG INCORPORATED

30765 South Wixom Road

Wixom, MI 48393-7037 U.S.A.

Tel: (248) 295-0310

Email: solutions@acromag.com

Data and specifications are subject to change without notice.

8501100D

retired

AcroPack Series AP560 CAN Bus Interface Module 
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Table of Contents 
AcroPack Series AP560 USER’S MANUAL 1 
GENERAL INFORMATION 5 
Intended Audience .................................................................................................................................. 5 
Preface..................................................................................................................................................... 5 
Trademark, Trade Name and Copyright Information 5 
Radio Frequency Interference Statement 5 
Environmental Protection Statement 5 
AP560 OVERVIEW.................................................................................................................................... 5 
Ordering Information .............................................................................................................................. 6 
KEY FEATURES.......................................................................................................................................... 6 
AcroPack Module Interface Features ...................................................................................................... 7 
Signal Interface Products......................................................................................................................... 7 
Software Support..................................................................................................................................... 7 
Windows7 
VxWorks8 
Linux8 
1. PREPARATION FOR USE 8 
UNPACKING AND INSPECTION ................................................................................................................ 8 
Installation Considerations...................................................................................................................... 9 
CONNECTORS .......................................................................................................................................... 9 
Field I/O Connector P2 9 
Logic Interface Connector 14 
2. PROGRAMMING INFORMATION 15 
PCIe Configuration Address Space ........................................................................................................ 16 
Configuration Registers ......................................................................................................................... 16 
MEMORY MAP....................................................................................................................................... 17 
Board Interrupt Register, (Read/Write) - (Base + 00H) 18 
Location Register, (Read Only) –(Base + 04H) 19 
Channel Interrupt Pending Register, (Read) - (Base + 08H) 19 
Channel x Command Register, (Read/Write) - (BAR0 + Chan X base + 00H) 21 
Channel x Control Register, (Read/Write) - (BAR0 + Chan X base + 04H) 21 
Channel x Interrupt Register, (Read/Write) - (BAR0 + Chan X base + 08H) 21 
Channel x Output Message Registers, (Read/Write) - (BAR0 + Chan X base + 10H thru 1CH) 22 
Channel x Input Message Registers, (Read/Write) - (BAR0 + Chan X base + 20H thru 2CH) 22 
XADC Status/Control Register (Read/Write) - (Base + 60H) 22 
XADC Address Register (Write Only) - (Base + 64H) 23 
Firmware Revision Register (Read Only) - (Base + 200H) 24 

AcroPack Series AP560 CAN Bus Interface Module 
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HI-3111 MODES OF OPERATION ........................................................................................................... 24 
Initialization Mode 24 
Normal Mode 24 
Loopback Mode 24 
Monitor Mode 25 
Sleep Mode 25 
CAN PROTOCOL OVERVIEW................................................................................................................... 25 
BIT ENCODING ....................................................................................................................................... 25 
Message Frames.................................................................................................................................... 26 
Standard Data Frame 26 
Extended Data Frame 29 
Remote Frame 31 
Error Frame 33 
Overload Frame 35 
BIT WISE ARBITRATION.......................................................................................................................... 36 
BIT TIMING............................................................................................................................................. 38 
Synchronization Segment (Sync Seg) 38 
Propagation Time Segment (Prog Seg) 38 
Phase Buffer Segment 1 and Phase Buffer Segment 2 (Phase Seg1 and Phase Seg2) .......................... 39 
Sample Point 39 
Phase Errors (e) 40 
Synchronization ..................................................................................................................................... 40 
Examples................................................................................................................................................ 40 
REGISTERS.............................................................................................................................................. 41 
Power-On-Reset .................................................................................................................................... 42 
HI-3111 CAN Controller Registers ......................................................................................................... 42 
Control Register 0 42 
Control Register 1 44 
BIT Timing Register 0 45 
BIT Timing Register 1 46 
Transmit Error Counter Register 47 
Receive Error Counter Register 47 
Message Status Register 48 
Error Register 49 
Interrupt Flag Register 50 
Interrupt Enable Register 51 
Status Flag Register 52 
Free Running Timer 53 

AcroPack Series AP560 CAN Bus Interface Module 
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Command Summary 53 
HI-3111 Transmit Buffer ........................................................................................................................ 55 
MESSAGE TRANSMISSION SEQUENCE 55 
LOADING THE TRANSMIT FIFO 56 
Transmit History FIFO 56 
Single Frame Transmission 57 
HI-3111 Receive Buffers and Frame Acceptance Filters........................................................................ 59 
Receive Buffers 59 
Filter and Mask ID Format 59 
Reading the Receive Buffers 59 
Programming Interrupts 63 
Interrupt Programming Example 63 
General Sequence of Events for Processing an Interrupt 63 
3. THEORY OF OPERATION 64 
CAN BUS PHYSICAL CONNECTION 64 
CARRIER INTERFACE 64 
PCIe INTERFACE LOGIC 64 
AP560 CONTROL LOGIC 64 
CAN Transceiver 65 
4. SERVICE AND REPAIR 66 
SERVICE AND REPAIR ASSISTANCE ........................................................................................................ 66 
PRELIMINARY SERVICE PROCEDURE...................................................................................................... 66 
WHERE TO GET HELP 66 
5. SPECIFICATIONS 66 
PHYSICAL................................................................................................................................................ 66 
POWER................................................................................................................................................... 67 
ENVIRONMENTAL .................................................................................................................................. 67 
EMC Compliance 67 
Vibration and Shock Standard 67 
Reliability Prediction.............................................................................................................................. 68 
PCIe Bus Specifications.......................................................................................................................... 68 
Table 6.6 PCIe Bus Data Rates 68 
6. APPENDIX 69 
AP-CC-01 Heatsink Kit Installation......................................................................................................... 69 
7. Certificate of Volatility 72 
8. Revision History 73 

AcroPack Series AP560 CAN Bus Interface Module

GENERAL INFORMATION

Intended Audience

This users’ manual was written for technically qualified personnel who will be

working with I/O devices using the AcroPack module.

Preface

The information contained in this manual is subject to change without notice,

and Acromag, Inc. (Acromag) does not guarantee its accuracy. Acromag

makes no warranty of any kind with regard to this material, including, but not

limited to, the implied warranties of merchantability and fitness for a

particular purpose. Further, Acromag assumes no responsibility for any errors

that may appear in this manual and makes no commitment to update, or keep

current, the information contained in this manual. No part of this manual may

be copied or reproduced in any form, without the prior written consent of

Acromag.

Trademark, Trade Name and Copyright Information

Acromag Incorporated. All other trademarks, registered trademarks, trade

names, and service marks are the property of their respective owners.

Radio Frequency Interference Statement

This is a Class A product. In a domestic environment, this product may cause

radio interference, in which case the user may find it necessary to take

adequate corrective measures.

Environmental Protection Statement

This product has been manufactured to satisfy environmental protection

requirements where possible. Many components used (structural parts,

circuit boards, connectors, etc.) are capable of being recycled. Final

disposition of this product after its service life must be conducted in

accordance with applicable country, state, or local laws or regulations.

AP560 OVERVIEW

The AcroPack Series AP560 provides four isolated CAN version 2.0B channels

capable of 1Mb/s bit rate. The AP560 can be configured to support ARINC 825

and CANaerospace standards.

AcroPack Series AP560 CAN Bus Interface Module

Ordering Information

The AcroPack ordering options are given in the following table:

Model

Operating Temperature Range

AP560E-ISO-LF1

-40 to +71C

1. Applications requiring operating temperatures of 65°C to 71°C will require

purchase of AP-CC-01 AcroPack Conduction Cool Kit (See APPENDIX for

installation instructions) with a minimum airflow of 400LFM. For temperatures

below 65°C the module will require a minimum airflow of 200LFM.

Mini-

PCIe

x1 PCIe

FPGA

Field

I/O

FLASH

CAN

transceiver

CAN

controller

CAN

transceiver

CAN

controller

CAN

transceiver

CAN

controller

CAN

transceiver

CAN

controller

Figure 1 AP560 Block Diagram

KEY FEATURES

•4 isolated CAN channels.

•Implements CAN version 2.0B with programmable bit rate up to

1Mbit/sec. ISO 11898-5 compliant.

•Configurable to support ARINC 825 and CANaerospace Standards.

•Standard, Extended and Remote frames supported.

•8 maskable identifier filters.

•Filtering on ID and first two data bytes for both Standard and

Extended Identifiers.

AcroPack Series AP560 CAN Bus Interface Module

•Monitor (Listen-only) mode.

•8-messageTransmit and Receive FIFOs.

•Internal 16-bit free running counter for time tagging of transmitted or

received messages.

•Re-transmission disable capability.

AcroPack Module Interface Features

Field Connections –All CAN signal connections are made through a single

100-pin board stacking connector. An AcroPack carrier board will provide the

connection between the AcroPack module and the field cabling.

PCIe Bus –This AP module includes a PCI Express Generation 1 interface

operating at a speed of 2.5 Gbps with one lane in each direction.

Compatibility –– PCI Express Base Specification v2.1 compliant PCI Express

Endpoint.

Signal Interface Products

This AcroPack module will mate directly to all Acromag AcroPack carriers.

Once installed on the carrier, the module is accessed via a front panel

connector. The following cable is available for AcroPack carriers with the 68-

pin CHAMP connector:

Model 5028-609 adapter cable, 7 inches, 68-pin CHAMP 0.8mm to four

separate 9-pin D-SUB male connectors

Software Support

The AcroPack series products require support drivers specific to your

operating system. Supported operating systems include: Linux, Windows, and

VxWorks

Windows

Acromag provides software products (sold separately) to facilitate the

development of Windowsapplications interfacing with AcroPack modules.

This software (model APSW-API-WIN) consists of low-level drivers and

Dynamic Link Libraries (DLLs) that are compatible with a number of

programming environments. The DLL functions provide a high-level interface

to boards eliminating the need to perform low-level reads/writes of registers,

and the writing of interrupt handlers.

AcroPack Series AP560 CAN Bus Interface Module

VxWorks

Acromag provides a software product (sold separately) consisting of

VxWorkssoftware. This software (Model APSW-API-VXW) is composed of

VxWorks(real time operating system) libraries for all AcroPack modules,

VPX I/O board products, and PCIe I/O Cards. The software is implemented as a

library of “C” functions which link with existing user code to make possible

simple control of all Acromag AcroPack modules.

Linux

Acromag provides a software product consisting of Linuxsoftware. This

software (Model APSW-API-LNX) is composed of Linuxlibraries for all

AcroPack modules, VPX I/O board products, and PCIe I/O Cards. The software

is implemented as a library of “C” functions which link with existing user code

to make possible simple control of all Acromag AcroPack modules.

1. PREPARATION FOR USE

IMPORTANT PERSONAL AND PRODUCT SAFETY CONSIDERATIONS

It is very important for the user to consider the possible safety implications of

power, wiring, component, sensor, or software failures in designing any type

of control or monitoring system. This is especially important where personal

injury or the loss of economic property or human life is possible. It is

important that the user employ satisfactory overall system design. It is

understood and agreed by the Buyer and Acromag that this is the Buyer's

responsibility.

WARNING: This board utilizes static sensitive components and should only

be handled at a static-safe workstation. This product is an electrostatic

sensitive device and is packaged accordingly. Do not open or handle this

product except at an electrostatic-free workstation. Additionally, do not ship

or store this product near strong electrostatic, electromagnetic, magnetic, or

radioactive fields unless the device is contained within its original

manufacturer’s packaging. Be aware that failure to comply with these

guidelines will void the Acromag Limited Warranty.

UNPACKING AND INSPECTION

Upon receipt of this product, inspect the shipping carton for evidence of

mishandling during transit. If the shipping carton is badly damaged or water

stained, request that the carrier's agent be present when the carton is

opened. If the carrier's agent is absent when the carton is opened and the

contents of the carton are damaged, keep the carton and packing material for

the agent's inspection.

AcroPack Series AP560 CAN Bus Interface Module

For repairs to a product damaged in shipment, refer to the Acromag Service

Policy to obtain return instructions. It is suggested that salvageable shipping

cartons and packing material be saved for future use in the event the product

must be shipped.

This board is physically protected with packing material and electrically

protected with an anti-static bag during shipment. However, it is

recommended that the board be visually inspected for evidence of

mishandling prior to applying power.

The board utilizes static sensitive components and should only be handled at

a static-safe workstation.

Installation Considerations

Refer to the specifications for loading and power requirements. Be sure that

the system power supplies can accommodate the power requirements of the

carrier board, plus the installed AcroPack modules, within the voltage

tolerances specified.

IMPORTANT: Adequate air circulation must be provided to prevent a temperature rise above the maximum

operating temperature.

The dense packing of the AcroPack module to the carrier/CPU board restricts

air flow within the card cage and is cause for concern. Adequate air circulation

must be provided to prevent a temperature rise above the maximum

operating temperature and to prolong the life of the electronics. If the

installation is in an industrial environment and the board is exposed to

environmental air, careful consideration should be given to air-filtering.

In a conduction cooled assembly, adequate thermal conduction must be

provided to prevent a temperature rise above the maximum operating

temperature.

CONNECTORS

Field I/O Connector P2

A field I/O interface connector provides a mating interface between the AP

modules and the carrier board. The 100 pin ST5-50-1.50-L-D-P-TR Samtec

connector is used on the AcroPack card as board to board interconnect. This

connector will mate with the 100 pin SS5-50-3.00-L-D-K-TR Samtec connector

on the carrier. The stack height is 4.5mm.

Pin assignments are unique to each AP model. Table 1 lists signal pin

assignments for the module field I/O connector. Pins are left unconnected to

meet the minimum creepage distance required for 60 Volt isolation. Front

panel connector P2 pin assignments are shown in Table 1.

AcroPack Series AP560 CAN Bus Interface Module

Typically, the CAN bus is a twisted pair of wires with a characteristic

impedance of 120 ohms. Each end of the bus is terminated with 120 ohm

resistors in compliance with the standard to minimize signal reflections on the

bus. Alternatively, onboard termination resistors can be populated for low

speed or fault tolerant CAN applications. These resistors are not populated by

default.

Table 1 Field I/O Connector Pin Assignments

68 Pin

Champ

Carrier3

Connector

50 Pin

Champ

Carrier2

Connector2

Ribbon

Carrier

Connector1

Module

Number

Field I/O Signal

CAN0H

CAN0L

Reserved/isolation

RTN0

Reserved/isolation

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