Korenix JetBox 8152 Bedienungsanleitung

JetBox 8152 Linux CANBus

User Manual

www.korenix.com

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Korenix | Table of Content

All ri hts reserved.

Reproduction without permission is prohibited.

Information provided in this manual is intended to be accurate and reliable.

However, the ori inal manufacturer assumes no responsibility for its use, or for

any infrin ements upon the ri hts of third parties that may result from its use.

The material in this document is for product information only and is subject to

chan e without notice. While reasonable efforts have been made in the

preparation of this document to assure its accuracy, Korenix assumes no liabilities

resultin from errors or omissions in this document, or from the use of the

information contained herein.

Korenix reserves the ri ht to make chan es in the product desi n without notice

to its users.

Acknowledgments

Korenix is a re istered trademark of Korenix Technolo y Co., Ltd.

All other trademarks or re istered marks in the manual belon to their respective

manufacturers.

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Korenix | Table of Content

Table of Content

Acknowledgments..........................................................................................2

Table of Content.............................................................................................................3

Chapter Introduction ...............................................................................................4

Chapter 2 Hardware Configuration.............................................................................6

2- Pin Assignment...........................................................................................6

2-2 Jumper Setting: JP6....................................................................................6

Chapter 3 Software Configuration ..............................................................................7

3- Installation..................................................................................................7

3-2 Example......................................................................................................8

Chapter 4 Korenix Library Reference ..........................................................................9

4- How to Use Library.....................................................................................9

4-2 Functions....................................................................................................9

4-3 Structure .................................................................................................. 5

Chapter 5 Appendix .................................................................................................. 7

5- Baud Rate Table........................................................................................ 7

5-2 Error Code Table....................................................................................... 8

5-3 Notes ........................................................................................................ 9

5-4 Revision history ........................................................................................20

5-5 Customer Service .....................................................................................20

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Korenix | Introduction

Chapter 1 Introduction

The JetBox 8 52 has two ports for I/O communications, One RS-232/422/485 port and

one CANBUS port. The CAN (Controller Area Network) is a serial bus system

especially suited for networking "intelligent" I/O devices as well as sensors and

actuators within a machine or plant. Characterized by its multi-master protocol,

real-time capability, error correction, high noise immunity, and the existence of many

different silicon components, the CAN serial bus system, originally developed by

Bosch for use in automobiles, is increasingly being used in industrial automation.

CANbus

This section describes how to program and use the CANBUS. It provides a description

of the I/O memory map of the chip and discussion of the internal registers to aid you

in programming your CAN controller chip.

Defined Memory Mapping and Interrupt

The CANBUS occupies 2 bytes of memory space. You can set the base address and

access to the internal resources of the SJA 000 CAN controller chip. The SJA 000

chip access is multiplexed in such a way that the host must first write to 300h the

internal address of the CAN chip and after that perform a write to address 301h with

the actual data to be written into the desired memory location. Address 302h is a

hardware-reset function of the SJA 000. Performing a read or write to this address

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Korenix | Introduction

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. And your can use interrupt

the main processor when a message is received or transmitted if interrupts are

enabled on the JetBox 8 52. By using interrupts you can write powerful code to CAN.

Example Programming

Write 300H to the CAN controller Control byte located in the on-chip address 0.

The Example is listed below:

Outportb (0x300, 0x00) : Write CAN Address 0 (Control Register )

Outportb (0x30 , 0x78) : Write Data of CAN Address 0 (Control Register )

And please see “SJA 000.pdf” for further information of the SJA 000 chip.

Description Factory Setting

Base Address 300H

Data Of Address 30 H

Hardware Reset Of SJA 000 Chips

302H

Interrupt Require Quest

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Korenix | Hardware Configuration

Chapter 2 Hardware Configuration

2-1 in Assignment

The CANBUS is use DB9 standard connector. The following tables show the

CANBUS signal connections of this connector.

Note : The CANBUS DB9-pin out conforms to the ISO 898/2 standard

2-2 Jumper Setting: J 6





 JP6: CANBUS Ter inal Resistor Selection

Note 2: The JP6 is the CANbus termination jumper. Only two termination

jumpers should be closed at the endpoints of the CANbus. Value Terminator Resistor

( 20 Ω). The ini u speed is 20k bps. The axi u speed is 1M bps. But when

CANBUS terminator is disabled, the maximize speed of CANBUS is 125k bps. If you

want to use high speed ( M bps), please enable terminator.

DB-9

CANBUS

Signal

CANBUS

Description

N.C -

6 N.C -

2 CAN-L Dominant Low

7 CAN-H Dominant High

3 CAN-Ground Isolated Ground

8 N.C -

4 N.C -

9 N.C -

5 Ground Digital Ground

Case Case Ground

Factory preset

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Korenix | Software Configuration

Chapter 3 Software Configuration

3-1 Installation

Prerequisites

To make CANBus work correctly. We have to install three components first.

Make sure your network is connected.

. GCC : call “yu install gcc”

2. OpenSSL : call “yu install openssl”

3. OpenSSL-devel : call “yu install openssl-devel.i386”

After install these components, the CANBUS library and follow example code

will work successfully.

Do the following steps to setup the driver

. Login in as root. ( username : root, password : korenix )

2. Default CanBus code are built-in jetbox linux environment. Go to the path

/CanBus and you will see the follow directory.

3. In the “library” directory. You will see the two files below.

libmycanbus.so. .0.0 :

It contains all CanBus functions that user can use it to program.

mycanbus.h :

It defines CanBus structure, message type and baud rates settings.

All details will be shown in Chapter 4.

4. In the “example” directory. You will see the files below.

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Korenix | Software Configuration

Call “ ake” to compile files and “ ake install” to install library to /usr/lib.

All details will be shown in next session.

3-2 Example

CANBus example for Linux is a simple CAN monitor for viewing and transmitting CAN

messages. When you call “make” and “make install” to compile/install all need files.

It will generate two sample files, “cantest” and “canrcv”.

cantest

There will be four command as below :

cantest -i : Initial CanBus Chip and set baud rate to 25K.

cantest -r : Reset CanBus Chip

cantest -s : Get CanBus status

cantest -w : Write CAN message. We use standard message type in this example.

canrcv

This example show you how to receive CAN message from other CANBus. Before

to receive CAN messages, you have to reset CAN chip first and initial it.

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Korenix | Korenix Library Reference

Chapter 4 Korenix Library Reference

This section shows how to use Korenix CANbus Library to develop your program.

When you call “make install” in the example directory, the library will be installed to

the /usr/lib path.

4-1 How to Use Library

We use dlopen to load CANBus library. You will see it in the example. Like this

handle = dlopen ("/usr/lib/lib ycanbus.so.1", RTLD_NOW);

Use dlsy to take a "handle" of a dynamic library returned by dlopen and the null

terminated symbol name, returning the address where that symbol is loaded.

Init_CanBus = dlsy (handle, "Init_Can");

Call “ an dlopen” to detail infor ation of dlopen, dlsy .

All functions (sy bol) are listed in next session.

4-2 Functions

The CanPort library provides the following functions

Init_Can

void Init_Can(BYTE BTR0, BYTE BTR )

Para eters

BTR0

BUS TIMING REGISTER 0

BTR

BUS TIMING REGISTER

This function sets configuration parameters to initialize the CAN controller.

Configuration parameters include baud rate. Valid Baud rate codes can be taken from

the Baud Rate Table.

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Korenix | Korenix Library Reference

This function will also set up the Interrupt Enable Register, Acceptance Code Register,

Acceptance Mask Register and Output Control Register.

Can_Chip_Reset

void Can_Chip_Reset(void)

This function resets the CAN controller to default state.

The transmitting and receiving of messages will be canceled, and messages

in the driver buffer will be cleared as well.

Can_Send_Message

void Can_Send_Message(CANMsg *MsgToSend)

Para eters

MsgToSend

Message to transmit. Please refer to Structure for details.

Can_Receive_Message

void Can_Receive_Message(CANMsg *MsgToRead)

Para eters

MsgToRead

Returns a CAN message from the receive queue.

Can_Status_Report

BYTE Can_Status_Report(void)

Return

Status of CAN controller

Get the current status of the CAN controller.

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