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Acromag AcroPack Series User Manual
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AcroPack Series AP560A
Four Channel CAN Module
USER
’
S MA
NUAL
ACROMAG INCORPO
RATED
30765 South Wixom Road
Wixom, MI 48393-2417 U.S.A.
Tel: (248)
295
-0310
Email: solutions@acromag.com
Copyright 20
20
, Acromag, I
nc., Printed in the US
A.
Data and specifica
tions are subject
to change without
notice.
8501173A
2
Table of Contents
Control Register
1
BIT Timing Register
1
Table of Contents
2
General Information
5
Intended Audience
5
Preface
5
Trademark, Trade Name and Copyright Information
5
Radio Frequency Interference Statement
5
Environmental Protection Statement
5
Ap560A Overview
5
Ordering Information
6
Key Features
6
Acropack Module Interface Features
7
Signal Interface Products
7
Software Support
7
Windows
7
Vxworks
7
Linux
8
Preparation for Use
9
Unpacking and Inspection
9
Installation Considerations
9
Connectors
10
Field I/O Connector P2
10
Logic Interface Connector
15
Programming Information
17
Pcie Configuration Address Space
17
Configuration Registers
17
Memory Map
18
CAN Registers
19
Channel Busy Register, (Read) - (Base + 08H)
19
Channel X Command Register, (Read/Write) - (BAR0 + Chan X Base + 00H)
20
Channel X Control Register, (Read/Write) - (BAR0 + Chan X Base + 04H)
20
Channel X Output Message Registers, (Read/Write) - (BAR0 + Chan X Base + 10H Thru 1CH)
21
Channel X Input Message Registers, (Read/Write) - (BAR0 + Chan X Base + 20H Thru 2CH)
21
Interrupt Controller
21
Interrupt Status Register
22
Interrupt Pending Register
23
Interrupt Enable Register
23
Interrupt Acknowledge Register
24
Set Interrupt Enable Register
24
Clear Interrupt Enable Register
25
Interrupt Vector Register
25
Master Enable Register
25
AXI XADC Analog to Digital Converter (System Monitor)
26
Firmware Revision Register
27
Location in System Register
27
Hi-3111 Modes of Operation
28
Initialization Mode
28
Normal Mode
28
Loopback Mode
28
Monitor Mode
28
Sleep Mode
29
Can Protocol Overview
29
Bit Encoding
29
Message Frames
30
Standard Data Frame
30
Extended Data Frame
33
Remote Frame
35
Error Frame
37
Overload Frame
39
Bit Wise Arbitration
40
Bit Timing
42
Synchronization Segment (Sync Seg)
42
Propagation Time Segment (Prog Seg)
42
Phase Buffer Segment 1 and Phase Buffer Segment 2 (Phase Seg1 and Phase Seg2)
43
Sample Point
43
Phase Errors (E)
44
Synchronization
44
Examples
44
Registers
45
Power-On-Reset
46
HI-3111 CAN Controller Registers
46
Control Register 0
46
BIT Timing Register 0
49
Transmit Error Counter Register
51
Receive Error Counter Register
51
Message Status Register
52
Error Register
53
Interrupt Flag Register
54
Interrupt Enable Register
55
Status Flag Register
56
Free Running Timer
57
Command Summary
57
HI-3111 Transmit Buffer
59
Message Transmission Sequence
59
Loading the Transmit Fifo
60
Transmit History FIFO
60
Single Frame Transmission
61
HI-3111 Receive Buffers and Frame Acceptance Filters
63
Receive Buffers
63
Filter and Mask ID Format
63
Reading the Receive Buffers
63
Programming Interrupts
67
Interrupt Programming Example
67
General Sequence of Events for Processing an Interrupt
67
Theory of Operation
69
Can Bus Physical Connection
69
Carrier Interface
69
Pcie INTERFACE LOGIC
69
Ap560A Control Logic
69
CAN Transceiver
69
Service and Repair
70
Service and Repair Assistance
70
Preliminary Service Procedure
70
Where to Get Help
70
Specifications
71
Physical
71
Power
71
Environmental
71
EMC Compliance
71
Vibration and Shock Standard
71
Reliability Prediction
72
Pcie Bus Specifications
72
Appendix
74
AP-CC-01 Heatsink Kit Installation
74
Certificate of Volatility
77
Revision History
78
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Acromag AcroPack Series Specifications
General
Brand
Acromag
Model
AcroPack Series
Category
I/O Systems
Language
English
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