AT90CAN128

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CAN Training

DVK90CAN1 & ImageCraft Platforms Rev 2.00

Before we start ...

These Labs require:
Your PC Microsoft Windows operating system Laptop (preferred rather than desktop) with 2 USB (or 1 USB and 1 RS232) AVRStudio version 4.10.356 (or newer) AT90CAN128 plug-in version 105 (or newer) ImageCraft version 6.31A (or newer) PCAN-View USB DVK90CAN1 Demonstration Board DVK90CAN1 DC power supply 7V up to 15V JTAG ICE mk II (if RS232 used, DC power supply is needed) USB/CAN PEAK Dongle USB cable(s) Cable(s) for CAN - Flat cable(s) with DB9 connectors (female/female mandatory) RS232 cable(s)

Software tools

Hardware tools

Miscellaneous

The documentation can be found:

In the training CD-ROM In AVRStudio Help on-line

Good luck !

Please copy the LAB Session directory on your PC, this will become your reference directory for these LABs.

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AT90CAN128 - CAN Training

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Lab 1: CAN_Echo

Lab 1: CAN_Echo
1 - INTRODUCTION
The purpose of this LAB is to get all software and hardware running and to verify that everything is working correctly. Once running, use few minutes to familiarize yourself with the tools, the code (lab. & library) and the hardware and try to understand how they work. This exercise uses a fully working C code that should compile and run without further modifications.

2 - TASK 1
Check your configuration ... and 2.1 - Getting Started with ImageCraft For this guide it is required that ImageCraft ICCAVR version 6.31A (or newer) is installed on your computer. For
getting started quickly, we will use a simple example application: CAN_Echo.

We will:
Create a project in ImageCraft ICCAVR. Build an object file for debugging in AVRStudio. Build an Intel Hex file for your target part, the AT90CAN128.

2.1.1 - Creating a Project in ImageCraft ICCAVR.

Open ImageCraft ICCAVR. If you have used it before, your last project will pop up in the IDE. Close it. Now, follow these steps for making the project CAN_Echo.
1. Select Project-->New. 2. Select ..\Lab_Session\CAN_Echo\ directory as your working directory and type can_echo for instance - in the project name field and click Save. ImageCraft will create can_echo.prj as project description file. 3. Select Project --> Add File(s) ... and select: - main_can_echo.c main source file and click Open, - .\lib_mcu\can\can_lib.c source file and click Open, - .\lib_mcu\can\can_drv.c source file and click Open. 4. To view a C-code file, double click on these names in the Project view window. 5. The project is completed, and the settings are saved when closing ICCAVR. 2.1.2 - Setting up Target in ImageCraft ICCAVR.

Now that you have established a working project, you also need to configure the compiler, linker etc... of the ImageCraft ICCAVR to work with you, not against you. To set what device your code will target, the compiler setting has to be made. Choose Options in the Project pull-down menu. Setup the Target, the Compiler and the Paths tabs according to Figure 1.
Note:When building, the ICCAVR can produce either or both: - An object file (COFF) for debugging information and Flash contents, - A binary (Intel HEX) file for loading into the Flash of our AT90CAN128.

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Figure 1. ImageCraft - Project Options

Compiler switch: _IMC_AVR_

_IMC_AVR_

2.1.3 - Compiling & Linking with ImageCraft ICCAVR.

Now, choose Make Project in the Project drop down menu or press F9 to build the project.
At this stage, it is time to involve AVRStudio in the development.

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2.2 - Opening the Compiled Object File in AVRStudio AVRStudio is project based, which means that any development or debugging job is done within a project
handling your files, AVRStudio settings and so on.

When AVRStudio is launched, the project wizard manager will pop up, and a new project can be made or old
projects re-loaded. 1. Select Open and browse to the file can_echo.cof in your Output_ImageCraft directory and Open it, 2. Select AVR Simulator as debug platform and AT90CAN128 as device, 3. Press Finish. 4. The project is ready to be debugged in the simulator or programmed into an AVR. 5. Spend a few minutes reading and understanding the can_echo code.

The can_echo project is a CAN application that receives any CAN 2.0A frames and re-sends them formatted
as 8-byte data frame with the same Identifier. The 6 first data bytes sent are the data bytes received (default byte if not exist is 0x00) and the 2 last data bytes are the content of the CAN Time Stamp Register - CANSTMP of the received message.

2.3 - AT90CAN128 Plug-in AVRStudio AT90CAN128 plug-in adds the CAN simulation entity in AVRStudio. Specific icons are also added to the
AVRStudio toolbars to manage the CAN simulation. Figure 2. CAN Simulation with AVRStudio

Please take a moment to read the CAN Plug-in Help to understand how the CAN simulator works and especially
canin.txt file construction.

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2.4 - CAN Simulation with AVRStudio AT90CAN128 needs some input frames. An external CAN node is simulated playing the canin.txt file. The
CAN Plug-in Help gives you more information about this file function (2nd main item). It can provide periodical frames. can_echo project answers to these frames sending an 8-byte frame with the same ID.

Open (in an text editor) and modify as you want the canin.txt file to perform a realistic external CAN node
behavior (path = ..\Atmel\AVR Tools\AvrStudioPlugin\AT90CAN128\canin.txt). An example of canin.txt is given in the directory: ..\Lab_Session\CAN_Echo\ or ..\Lab_Solutions\CAN_Echo\ . You can re-copy this example. Figure 3. canin.txt Example

Notes: 1. canin.txt is updated only entering in debug mode (Debug-->Start Debugging). 2. canin.txt doesnt belong to the project folder. Its location is: ..\Atmel\AVR Tools\AvrStudioPlugin\AT90CAN128\canin.txt

Once this file is saved, you can start the simulation:

1. Select Debug-->Start Debugging if the simulation is not yet started, 2. Select Debug-->Run, 3. Await some seconds, 4. Select Debug-->Break

Observe the CAN Traffic window content (if display problem occurs, click mouse-left to refresh the window):
Figure 4. CAN TRAFFIC Window

1. The messages can be seen as couples, - First one Rx then one Tx - Same ID, the Tx message always has 8 as length, .... 2. The last 2 bytes of a Tx message must be the stamp of the Rx message just before (initiatory message).

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3. The answer to the message ID=BAD is not in conformity with what we expect ! Explanation: - The input message contains a CRC error. - The CAN library doesnt fully update the CAN descriptor message (c.f. Annex 3: CAN Library). - You have an example that takes into account this type of CAN error in ..\Lab_Session\CAN_Echo_Plus directory, .

3 - TASK 2
The same project is used (CAN_Echo) but the target now is the AT90CAN128 of the DVK90CAN1 board. The external CAN node is a CAN Peak Dongle and the JTAG ICE mk II is used to download and debug the application program. 3.1 - Preparing the DVK90CAN1 and JTAG ICE mk II
Figure 5. DVK90CAN1, CAN Peak Dongle and JTAG ICE mkII

CAN Peak Dongle

JTAG

Power

Preparing the hardware:

1. Connect the JTAG ICE mk II to DVK90CAN1 and to your PC via an USB cable or via an RS232 cable. Note that if an RS232 cable is used, the JTAG ICE mk II needs to be powered by an external DC source, 2. Connect CAN Peak Dongle to PC (USB) and to DVK90CAN1, 3. Connect the power to DVK90CAN1.

3.2 - Downloading & Debugging with JTAG ICE mk II & AVRStudio If your are simulating CAN_Echo project, its better to output from AVRStudio:
1. Select Debug-->Stop Debugging to stop the debugging with the simulator, 2. Select Project-->Close Project, 3. Select File-->Exit.

Before starting the debugging, the AT90CAN128 of the DVK90CAN1 needs to be set-up (fuses). (Re)enter in
AVRStudio. When AVRStudio is launched, the project wizard will pop up:

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1. Select Cancel to output from the project wizard, 2. Select Tools-->STK500/AVRISP/JTAG ICE-->STK500/AVRISP/JTAG ICE ... to open the JTAG ICE mk II programming interface, 3. Select AT90CAN128 device in the Program tab, 4. Set-up fuses in the Fuses tab as shown in Figure 6, 5. Click on Program button to burn the fuses. 6. Verify that no lock features are set-up. Have a look on device information in the Advance tab (signature bytes and oscillator calibration byte) 7. Close the JTAG ICE mk II programming interface. Figure 6. AT90CAN128 Fuses Set-up

To start the debugging:

1. Select Project-->Project Wizard, 1. Select in recent projects the can_echo.cof project, 2. Click on Next>> button to select debug platform and device, 3. Select JTAGICE mk II as debug platform and AT90CAN128 as device. 4. Click on Finish to enable your choice. 5. The project is ready to be programmed in the AT90CAN128 of the DVK90CAN1 board and debugged. 6. Select Debug-->Start Debugging if the debugging is not yet started, 7. Open CAN emulator Mailbox (only this CAN window is available during JTAG ICE mk II debugging), 8. Select Debug-->Run.

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Note:At this stage, the CAN_Echo program is flashed. If the debugger is stopped, the program is reset and then runs.

3.3 - CAN PEAK Dongle Set-up

1. Invoke PCANView on your PC.

2. Setting PCANView,

Set Baud rate to 250 KBit/sec and click on OK. 3. Select Transmit-->New and enter one (or more) transmit periodic message(s) (ex: period=1000ms),

3.4 - Project running controlled by JTAG ICE mk II & AVRStudio The project is now running and it is controlled by JTAG ICE mk II. Verify the answer to the periodic message sent
by the CAN PEAK Dongle. Exert yourself playing with all JTAG ICE mk II features, playing with the CAN emulator Mailbox and the I/O view workspace of AVRStudio.

Note that a Break stops instantaneously the CAN peripheral and can break off a CAN transmission or reception leaving the CAN bus and the CAN nodes in undefined state.

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4 - TASK 3
The purpose of this new task looks like the CAN_Echo project. The new project is: CAN_Echo_Plus . ..\Lab_Session\CAN_Echo\main_can_echo_plus.c is a program more successful. It also accepts an automatic recognition of the Baud Rate on the CAN bus (c.f. #define CAN_BAUDRATE ... in config.h file). This exercise uses a fully working C code that should compile and run without further modifications. 4.1 - Compiling & Linking with ImageCraft For this guide it is required that ImageCraft ICCAVR version 6.31A (or newer) is installed on your computer. We will:
Create a project in ImageCraft ICCAVR ( ..\Lab_Session\CAN_Echo_Plus\ directory). Build an object file for debugging in AVRStudio. Build an Intel Hex file for your target part, the AT90CAN128.

The project is can_echo_plus project. Refer to CAN_Echo lab for the way to proceed without forgetting to
compile all the libraries used in this project.

4.2 - CAN Simulation with AVRStudio

(c.f. CAN_Echo Lab).

Observe the CAN Traffic window content (if display problem occurs, click mouse-left to refresh the window):
Figure 7. CAN TRAFFIC Window

1. The messages can be seen as couples (idem CAN_Echo Lab), 2. The last 2 bytes of a Tx message are the stamp of the Rx message (idem CAN_Echo Lab), 3. There is no answer to the message ID=BAD. It is now in conformity with what we expect, CAN_Echo_Plus project handles CAN error.
........................ // --- Enable Tx while(can_cmd(&msg) != CAN_CMD_ACCEPTED); // --- Wait for Tx completed while(1) u8_temp = can_get_status(&msg); if (u8_temp != CAN_STATUS_NOT_COMPLETED) break; // Out of while // ---- Exit if CAN error(s) if (u8_temp == CAN_STATUS_ERROR) break; // Out of function ........................

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4.3 - Rebuilt Project to Enable CAN_AUTOBAUD The goal of this phase of the project is to enable an automatic recognition of the Baud Rate on the CAN bus (c.f.
Annex 3: CAN Library).

With ImageCraft text editor, change in config.h file:

#define CAN_BAUDRATE 250 by (only playing with comment tags) #define CAN_BAUDRATE CAN_AUTOBAUD
........................ //_____ D E F I N I T I O N S _______________________________________________ // -------------- MCU LIB CONFIGURATION #define FOSC 8000 // 8 MHz External cristal #define BAUDRATE 38400 // in K bit/s // -------------- CAN LIB CONFIGURATION //#define CAN_BAUDRATE 250 // in kBit #define CAN_BAUDRATE CAN_AUTOBAUD ........................

Compile and link (c.f. CAN_Echo Lab). 4.4 - Downloading & Debugging with JTAG ICE mk II & AVRStudio
(c.f. CAN_Echo Lab).

4.5 - Project Running Controlled by JTAG ICE mk II & AVRStudio Run the can_echo_plus project on DVK90CAN1. Once the Power-ON , the DVK90CAN1 displays in
hexadecimal the number of effective attempts of CAN Bit Timing configuration. If it displays 0xFF , the can_init() function didnt succeed to find a CAN Bit Timing configuration (c.f. Annex 3: CAN Library).

Exert yourself to change the CAN Baudrate of CAN PEAK Dongle (Select Client-->Connect and enter a new CAN Baudrate and then OK, see Figure 8) and reset the DVK90CAN1. This will invoke a new automatic research of the Baud Rate on the CAN bus.
Figure 8. Changing Baudrate on CAN PEAK Dongle

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Lab 2: DVK90CAN_Param

Lab 2: DVK90CAN_Param
1 - INTRODUCTION
The purpose of this LAB is to run your own application in a CAN network, understand the CAN library content and
how to use it. The trainer has the control of a CAN master node. Each trainee has to set-up and run a CAN slave node. The trainer affects a dedicated CAN identifier (ID) to each slave node. The CAN master periodically sends a request (CAN remote frame) to each possible node connected on the CAN bus. The slave node has to answer a data frame with the same CAN identifier and as data, the values of the three sensors of the DVK90CAN1, i.e. temperature, luminosity and Vcc. Each answer is recorded by the CAN master node, sent to a terminal via an RS232 port and displayed in the room.

This exercise uses a fully working C code that should be completed (task 1), compiled and run (task 2).

2 - TASK 1
Check your configuration ... and 2.1 - File to Use
..\Lab_Session\DVK90CAN_Param\main_dvk90can_param.c

2.2 - Enter MY_ID_TAG Definition & Matching Condition

..\Lab_Session\DVK90CAN_Param\main_dvk90can_param.c needs to have a value for MY_ID_TAG. The trainer gives one identifier (CAN V2.0A) number to each of DVK90CAN1. This identifier is to be compared to the identifier of all the incoming CAN frames. Upon a matching, the slave application is ready to answer to the CAN master. 1. Define MY_ID_TAG,
........................ //_____ D E F I N I T I O N S ______________________________________________ #define MY_ID_TAG // ...... put your ID here ...... //_____ D E C L A R A T I O N S ____________________________________________ ........................

2. Write the matching condition (refer to can_echo.c and can_echo_plus.c) using the more appropriate command,
........................ // --- Reply Command msg.ctrl.ide = 0; msg.dlc = /* ...... put your code here ...... */ ; msg.id.std = /* ...... put your code here ...... */ ; msg.cmd = /* ...... put your code here ...... */ ; //-- Enable Reply // ...... put your code here ...... // --- Wait for Reply completed // ...... put your code here ...... ........................

3. Compile and link - intermediate version (or go to Section 2.3).

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2.3 - Introduce the Luminosity & DVK90CAN1 VCC Values in the CAN Message The goal of DVK90CAN_Param project is to introduce in the CAN answer message the values of the three sensors available on the DVK90CAN1. The first one, the room temperature, is already inserted (have a look on the type of the parameter returns by the
function and the one to be written in the CAN descriptor buffer).

The second and the third one are the room luminosity and the Vcc value of the board.
The voltage reading input can be configured either to get the board supply voltage (VCC) or the voltage of an external input on T11 test pin. The first configuration has been chosen - VCC. 1. Transfer the result of get_luminosity()
........................ // --- Prepare the data for the reply // --- Temperature buffer[0] = (U8)(get_temperature()); // --- Luminosity // ...... put your code here ...... // --- VCC value ........................

2. Transfer the result of get_vin() (16-bit),

........................ // --- VCC value (msByte first) // ...... put your code here ...... // --- Reply Command ........................

3. Compile & link.

2.4 - S.O.S Solution: ..\Lab_Solutions\DVK90CAN_Param\main_dvk90can_param.c 2.5 - Compiling & Linking with ImageCraft For this guide it is required that ImageCraft ICCAVR version 6.31A (or newer) is installed on your computer. We will:
Create a project in ImageCraft ICCAVR ( ..\Lab_Session\DVK90CAN_Param\ directory). Complete C source file following the directives Build an object file for debugging in AVRStudio. Build an Intel Hex file for your target part, the AT90CAN128.

The project is DVK90CAN_Param project. Refer to CAN_Echo Lab for the way to proceed without forgetting
to compile all the libraries used in this project.

3 - TASK 2
Run the DVK90CAN_Param project on DVK90CAN1. Once the Power-ON, the DVK90CAN1 LEDs display the hexadecimal value of the identifier dedicated to the board
by the trainer. An acoustic acknowledge is sent after each CAN answer. You can remove it inserting comment in the source (// play_ack(2);).

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3.1 - Preparing the DVK90CAN1 and JTAG ICE mk II

Figure 9. DVK90CAN1, CAN Bus and JTAG ICE mkII

CAN JTAG

Power

Preparing the hardware:

1. Connect the JTAG ICE mk II to DVK90CAN1 and to your PC via an USB cable or via an RS232 cable. Note that if an RS232 cable is used, the JTAG ICE mk II needs to be powered by an external DC source, 2. Connect the CAN bus to DVK90CAN1, 3. Apply the power to DVK90CAN1.

3.2 - Downloading & Debugging with JTAG ICE mk II & AVRStudio

(c.f. CAN_Echo Lab).

3.3 - Project Running Controlled by JTAG ICE mk II & AVRStudio The project is now running and JTAG ICE mk II controls it. Verify the answer to the periodic message sent by the
CAN master node: Either connecting your DVK90CAN1 to the CAN_Master (ex: DVK90CAN_Server program running on DVK90CAN1). This program sends to a terminal, via UART0, the ID of the target, the temperature, the luminosity and, if exist, the VCC values in decimal, Either (locally) connecting to your CAN PEAK Dongle, programming it with a periodical transmission of a remote frame configured with MY_ID_TAG.

Exert yourself changing the temperature, the luminosity or Vcc acquisition (c.f. DVK90CAN1 Hardware manual).
The display of the results must change.

Exert yourself playing with all JTAG ICE mk II features, playing with the CAN emulator Mailbox and the I/O
view workspace of AVRStudio.

You can configure the project with an automatic recognition of the Baud Rate on the CAN bus (c.f. #define CAN_BAUDRATE ... in config.h file).

Note:A Break stops instantaneously the CAN peripheral and can break off a CAN transmission or reception leaving the CAN bus and the CAN nodes in undefined state.

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Figure 10. DVK90CAN1 Sensors Details

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Lab 3: Song_Download

Lab 3: Song_Download
1 - INTRODUCTION
The purpose of this LAB is to handle fragmented messages broadcasted by a CAN server. Because a message
can be longer than a unitary CAN data message (8 bytes), a coding method is needed to be able to re-order the unitary CAN data messages into the original whole message.

The principle of this coding is to introduce fragmentation information in the data CAN message itself. In this example,
this information is the index of the first byte into the original message. We also need two makers, one to indicate the start of the message and an other one to indicate the end of this message. With a 16-bit index, messages up to 65536+6 bytes can be carried away. - The index 0 is chosen as the marker of start of message. - Because we dont know the length of the message, the end of message marker will be chosen following the type of the message. If the string U8 my_string[20]{abcdefghijklmnopqrst} is fragmented: 1. The first CAN message can be: ID=xxx,DLC=8,DATA=0x00,0x00,a,b,c,d,e,f 2. The second CAN message can be: ID=xxx,DLC=8,DATA=0x00,0x06,g,h,i,j,k,l 3. The third CAN message can be: ID=xxx,DLC=8,DATA=0x00,0x0C,m,n,o,p,q,r 4. The fourth CAN message can be: ID=xxx,DLC=5,DATA=0x00,0x12,s,t,0 and 0x00 is the ASCII End Of String ordinarily used.

T his Lab uses a fragmentation template close to the above example. With a DVK90CAN1 board and the
Song_Server project, the trainer is broadcasting up to 6 encoded song messages on the CAN bus. A burst of CAN messages with the same ID (CAN2.0A) is sent on the CAN bus - one burst for one song. So, the song is sent as fragments on CAN bus (template of a song string is given in "audio_drv.c" file).

This Lab uses re-coded RTTTL ringtones as messages to send via CAN bus medium. The template of a song string
is given in "audio_drv.c" file. - Example of song string (hexadecimal view): String: "U16 ack_jingle[] = { 100, 110,E5, 150,E5, 150,E5, 800,C5, 0 };" (100, 110 ... are decimal integer or U16 ---- E5, C5, ... are for tone codes defined in "audio_drv.h" file). (100=0x0064, 110=0x006E, E5=0x02F6,150=0x0096, 1800=0x0320, C5=0x03BB) 1. The first CAN message is: ID=123,DLC=8,DATA=00,00,64,00,6E,00,F6,02 (00,00 is the U16 index of the first element -64) 2. The second CAN message is: ID=123,DLC=8,DATA=00,06,96,00,F6,02,96,00 (00,06 is the U16 index of the element -96) 3. The third CAN message is: ID=123,DLC=8,DATA=00,0C,F6,02,20,03,BB,03 (00,0C is the U16 index of the element -F6) 4. The fourth CAN message is: ID=123,DLC=4,DATA=00,12,00,00 (00,12 is the U16 index of the element -00) 5. (00,00 at the end means end of message, so DLC=4

The elements are U16. The first one is not used. The end of file marker is 0x0000 and it belongs to the song string.
The index is decoded msByte first. In this Lab example, bursts are sent in an ordered way.

The trainee has to record and play the music chosen pushing on one of the buttons of its DVK90CAN1 board. This exercise uses a fully working C code that should be completed (task 1), compiled and run (task 2).

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2 - TASK 1
Check your configuration ... and 2.1 - File to Use
..\Lab_Session\Song_Download\main_song_download.c

2.2 - Understand the Start of Routine

1. The variable start_of_song is used to flag the start of the burst in reception. The variable on_going is set until the end of message is detected.
........................ // --- Set variables start_of_song = 0; on_going = 1; ........................

2. Initialize a pointer on U8 (string_rec) on the start address of a string of U16 (song_to_play).

........................ // --- Set correspondance of string pointers string_rec = (U8*)(&(song_to_play[0])); ........................

2.3 - Write the End of Routine The trainee has to write the de-fragmentation routine in main_song_download.c.
1. Initialize data for Rx and set the CAN descriptor in Rx configuration.
........................ while(on_going) { // Init Rx data // ...... put your code here ...... // --- Rx Command // ...... put your code here ...... ........................

2. Command an Rx operation on CAN bus.

........................ // --- Enable Rx // ...... put your code here ...... // --- Wait for Rx completed // ...... put your code here ...... ........................

3. Research of the index. Wait for the first fragment.

........................ // --- Get index // ...... put your code here ...... // --- Look for the first fragment // ...... put your code here ...... ........................

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4. If first index (already) detected, record data up to the last fragment.

........................ if (start_of_song) { for ( /* ...... put your code here ...... */ ) { // --- Record data // ...... put your code here ...... // --- Look for the last fragment // ...... put your code here ...... } } ........................

2.4 - S.O.S Solution: ..\Lab_Solutions\Song_Download\main_song_download.c 2.5 - Compiling & Linking with ImageCraft For this guide it is required that ImageCraft ICCAVR version 6.31A (or newer) is installed on your computer. We will:
Create a project in ImageCraft ICCAVR ( ..\Lab_Session\Song_Download\ directory). Complete C source file following the directives Build an object file for debugging in AVRStudio. Build an Intel Hex file for your target part, the AT90CAN128.

The project is Song_Download project. Refer to CAN_Echo Lab or DVK90CAN_Param Lab for the way
to proceed without forgetting to compile all the libraries used in this project.

3 - TASK 2
Run the Song_Download project on DVK90CAN1. After the Power-ON, the program waits for DVK90CAN1 keyboard activity. Once a key is pushed the routine written
by the trainee waits for the beginning of the burst of the wanted song (one song by key configuration). Then, the routine records the song and the main core of the program plays it once. And so on. Figure 11. Available Key Configuration 1. 2. 3. 4. 5. 6.

N(orth) Key S(outh) Key E(ast) Key W(est) Key C(enter) Key E(ast) + W(est) Keys

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3.1 - Preparing the DVK90CAN1 and JTAG ICE mk II

Figure 12. DVK90CAN1, CAN Bus and JTAG ICE mkII

CAN JTAG

Power

Preparing the hardware:

1. Connect the JTAG ICE mk II to DVK90CAN1 and to your PC via an USB cable or via an RS232 cable. Note that if an RS232 cable is used, the JTAG ICE mk II needs to be powered by an external DC source, 2. Connect the CAN bus to DVK90CAN1, 3. Apply the power to DVK90CAN1.

3.2 - Downloading & Debugging with JTAG ICE mk II & AVRStudio

(c.f. CAN_Echo Lab or DVK90CAN_Param Lab).

3.3 - Project Running Controlled by JTAG ICE mk II & AVRStudio The project is now running and JTAG ICE mk II controls it. Exert yourself playing with all JTAG ICE mk II features, playing with the CAN emulator Mailbox and the I/O
view workspace of AVRStudio.

You can configure the project with an automatic recognition of the Baud Rate on the CAN bus (c.f. #define CAN_BAUDRATE ... in config.h file). If you have the time, imagine the de-fragmentation routine if the bursts arent sent in ordered way (un-controlled
routing for instance).

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Annex 1: DVK90CAN_Server

Annex 1: DVK90CAN_Server
1 - INTRODUCTION
T he purpose of this program is to configure a DVK90CAN1 as a CAN master/server node for Lab 2:
DVK90CAN_Param. The trainer drives this application. The trainer affects a dedicated identifier to each slave node (trainee). The CAN server periodically sends a request (CAN remote frame) to each possible node connected on the CAN bus. The slave node has to answer a data frame with the same identifier and as data, the values of the 3 sensors of the DVK90CAN1, i.e. temperature, luminosity and Vcc. Each answer is recorded by the CAN server node, sent to a terminal via an RS232 port and can be displayed in the room (for instance using Hyper Terminal at 38400 bauds, data 8 bits, no parity, 1 stop bit and no hardware flux control).

This project uses a fully working C code that should compile and run without further modifications.

2 - PREPARING The DVK90CAN1

Figure 13. DVK90CAN1 Configuration

RS232

CAN JTAG

Power

3 - COMPILING With ImageCraft

The project is DVK90CAN_Server project ( ..\Lab_Session\DVK90CAN_Server\ directory). There is
nothing to do, the project is ready to compile. Refer to CAN_Echo Lab or DVK90CAN_Param Lab for the way to proceed without forgetting to compile all the libraries used in this project.

The sources files are given in the directory: ..\Lab_Solutions\DVK90CAN_Server\..

You can download (not debug with) the Intel Hex file: \Lab_Solutions\DVK90CAN_Server\Output_ImageCraft\dvk90can_server_ImageCraft.hex.

4. DOWNLOAD With JTAG ICE mk II & AVRStudio

Before starting the downloading, the AT90CAN128 of the DVK90CAN1 needs to be set-up (fuses). Enter in
AVRStudio. When AVRStudio is launched, the project wizard will pop up:

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1. Select Cancel to output from the project wizard, 2. Select Tools-->STK500/AVRISP/JTAG ICE-->STK500/AVRISP/JTAG ICE ... to open the JTAG ICE mk II programming interface, 3. Select AT90CAN128 device in the Program tab, 4. Click on ... button of the Flash section and select the *.hex file (c.f. Figure 14) Figure 14. Programming DVK90CAN_Sever Project

5. Click on Program button to burn the AT90CAN128 Flash, 6. Set-up fuses in the Fuses tab as shown in Figure 6, 7. Click on Program button to burn the fuses. 8. Verify that no lock features are set-up. Have a look on device information in the Advance tab (signature bytes and oscillator calibration byte) 9. Close the JTAG ICE mk II programming interface.

At this stage, the dvk90can_sever program is flashed and runs. If the solution file (dvk90can_sever_ImageCraft.hex) is used, the CAN server node is sending periodically
10 remote frames with ID from 0x80 (12810) up to 0x89 (13310). The LEDs display the ID_TAG_BASE used (i.e. 0x80).

The Lab 2 can start now...

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AT90CAN128 CAN Training

Annex 2: Song_Server

Annex 2: Song_Server
1 - INTRODUCTION
The purpose of this LAB is to handle fragmented messages carried away by a CAN medium. It is the CAN master/server node for Lab 3: Song_Download. Because a message can be longer than a unitary CAN data message (8 bytes), a coding method is needed to be able to re-order some unitary CAN data messages into the original whole message. The principle of this coding is to introduce fragmentation information in the data CAN message. In this example, this
information is the index of the first byte into the original message. We also need two makers, one to indicate the start of the message and an other one to indicate the end of this message. With a 16-bit index, messages up to 65536+6 bytes can be carried away. - The index 0 is chosen as the marker of start of message. - Because we dont know the length of the message, the end of message marker will be chosen following the type of the message (i.e. the end of a printf() string is 0x00 because it isnt an ASCII character).

This Lab uses re-coded RTTTL ringtones as messages to send via CAN bus medium. The template of a song string
is given in "audio_drv.c" file. Example (hexadecimal view): If the string is "U16 ack_jingle[] = { 100, 110,E5, 150,E5, 150,E5, 800,C5, 0 };" (100, 110 ... are decimal unsigned integer or U16 ---- E5, C5, ... are for tone codes defined in "audio_drv.h" file). (100=0x0064, 110=0x006E, E5=0x02F6,150=0x0096, 1800=0x0320, C5=0x03BB) 1. The first CAN message is: ID=123,DLC=8,DATA=00,00,64,00,6E,00,F6,02 (00,00 is the U16 index of the first element -64) 2. The second CAN message is: ID=123,DLC=8,DATA=00,06,96,00,F6,02,96,00 (00,06 is the U16 index of the element -96) 3. The third CAN message is: ID=123,DLC=8,DATA=00,0C,F6,02,20,03,BB,03 (00,0C is the U16 index of the element -F6) 4. The fourth CAN message is: ID=123,DLC=4,DATA=00,12,00,00 (00,12 is the U16 index of the element -00) 5. ......................................(00,00 at the end means end of message, so DLC=4

With a DVK90CAN1 board and the Song_Server project, the trainer is broadcasting up to 6 encoded song
messages on the CAN bus. A burst of CAN messages with the same ID (CAN2.0A) is sent on the CAN bus - one burst for one song. So, the song is sent as fragments on CAN bus. In this Lab, bursts are sent in an ordered way. The trainee has to record and play the music.

This exercise uses a fully working C code that should compile and run without further modifications.

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2 - PREPARING the DVK90CAN1

Figure 15. DVK90CAN1 Configuration

CAN JTAG

Power

3 - COMPILING With ImageCraft

The project is Song_Server project ( ..\Lab_Session\Song_Server\ directory). There is nothing to do, the
project is ready to compile. Refer to CAN_Echo, DVK90CAN_Param or DVK90CAN_Server Labs for the way to proceed without forgetting to compile all the libraries used in this project.

The sources files are given in the directory: ..\Lab_Solutions\Song_Server\..

You can download (not debug with) the Intel Hex file: \Lab_Solutions\DVK90CAN_Server\Output_ImageCraft\song_server_ImageCraft.hex.

4. DOWNLOAD With JTAG ICE mk II & AVRStudio

(c.f. Annex 1: DVK90CAN_Server).

At this stage, the song_sever program is flashed and runs. If the solution file (song_sever_ImageCraft.hex) is used, the CAN server node is sending periodically 6
bursts of frames with ID from 0x020 (03210) up to 0x025 (03710). The LEDs display 0x01 for ID 0x020, 0x02 for ID 0x021, 0x04 for ID 0x022, etc...

The Lab 3 can start now...

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Annex 3: CAN Library

Annex 3: CAN Library

1 - THREE MAIN ELEMENTS (c.f. can_lib.h)
1. st_cmd-t structure (CAN message descriptor), 2. U8 can_cmd (st_cmd_t * ) function (to perform an command -action- on the CAN bus), 3. U8 can_get_status (st_cmd_t * ) function (to know if the command is performed or not).

1.1 - st_cmd_t Structure

Figure 16. CAN Message Descriptor Structure typedef typedef enum {
0 1 2 3 4 5 6 7 8 9 10 11 12 CMD_NONE, CMD_TX, CMD_TX_DATA, CMD_TX_REMOTE, CMD_RX, CMD_RX_DATA, CMD_RX_REMOTE, CMD_RX_MASKED, CMD_RX_DATA_MASKED, CMD_RX_REMOTE_MASKED, CMD_REPLY, CMD_REPLY_MASKED, CMD_ABORT,

Managed by Library
(MOb used)

typedef typedef union {

U32 U16 U8 ext; std; tab[4];

typedef typedef struct struct { {

U8 handle; can_cmd_t cmd; id; can_id_t U8 dlc; pt_data; U8* U8 status; pt_data; can_ctrl_t

} can_cmd_t;

} can_id_t; Number of Bytes (length) of the Message

*
-

Pointer of Message Buffer (byte pointer)

} } st_cmd_t; st_cmd_t; Updated by Library typedef typedef struct {

15 8 7 2 1 0

unsigned

dummy; rtr ; ide;

} can_ctrl_t;

MOB_NOT_COMPLETED MOB_TX_COMPLETED MOB_RX_COMPLETED MOB_RX_COMPLETED_DLCW MOB_???_ERROR(s) MOB_PENDING MOB_NOT_REACHED MOB_DISABLE STATUS_CLEARED

1.2 - U8 can_cmd (st_cmd_t * ) Function

This function needs as argument a pointer on a structure of st_cmf_t type, a CAN message descriptor. This function looks for a MOb free and configures it with data given by the CAN message descriptor. This function updates the status of the CAN message descriptor and returns the rating of its action: -> CAN_CMD_ACCEPTED or CAN_CMD_REFUSED.

1.3 - U8 can_get_status (st_cmd_t * ) Function

This function needs as argument a pointer on a structure of st_cmf_t type, a CAN message descriptor.

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With the handle information of the CAN message descriptor, this function returns a status about current action of the MOb: -> CAN_STATUS_COMPLETED, CAN_STATUS_NOT_COMPLETED or CAN_STATUS_ERROR.

1.4 - Example of Using

//....... U8 i; U8 buffer[8]; st_cmd_t message; //....... message.pt_data = &buffer[0]; message.cmd = CMD_RX; while(can_cmd(&message) != CAN_CMD_ACCEPTED); while(can_get_status(&msg) == CAN_STATUS_NOT_COMPLETED); //.......

2 - OTHER FUNCTION(S)
2.1 - U8 can_init (U8 mode) Function
This function performs a full initialization of the CAN controller. This function also accepts an automatic recognition of the Baud Rate on the CAN bus (c.f. #define CAN_BAUDRATE ... in config.h file). The first time in the program, this function performs needs 0x00 as argument. If the automatic recognition of the Baud Rate is used and some fails are detected, new calling(s) to this function may be necessary (the function will try other values than those already tested), it will need 0x01 as argument. Especially when automatic recognition of the Baud Rate is used, this function returns 0x00 when none Baud Rate has been found, else 0x01 is returned. Example:
void main (void) { U8 temp; temp = 0; //....... while(1) { temp = can_init(temp); if (temp != 0) { //....... your_program(); // If too many errors, output from your_program() } else { printf(No synchro, exit.\r\n); break; } } while(1); // Error loop

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AT90CAN128 CAN Training

Notes:

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