celed LED Array Firmware Specification

Transcription

1 celed LED Array Firmware Specification ORIGINAL MANUAL - FEBRUARY2016

2 1 Summaries and directories 1.1 Table of contents 1 Summaries and directories Table of contents Change history About this Document Intended Purpose Target Audience Symbols and Signal Words Used System Overview General Device Architecture Object Dictionary CAN Communication Introduction CANopen Error Handling Principle Emergency Message Frame CANopen Serial Interface (CSI) Overview CSI Protocols Physical Layer Electrical Standard Medium celed LED Array Firmware Specification 3

3 6 Industrial RS232 Protocol with CRC checksum Introduction Protocol and Flow Control Sequence of sending commands Sending a data frame Receiving a data frame Frame Structure Overview Header Data CRC Error Control CRC Calculation Transmission Byte Order Data Format Timeout Handling Slave (device) implementation state machine Master implementation state machine Command Reference Read Functions Write Functions Simple RS232 ASCII Protocol Introduction Data Format Reading Data Read Request Read Response Read Examples Writing Data Write Request celed LED Array Firmware Specificationl

4 7.4.2 Write Response Write Examples LED Array Overview CiA 401 Device profile for generic I/O modules LED Array control Brightness control - overview Global Brightness Single channel brightness Bank brightness Group brightness Brightness control examples LED Array Object Dictionary Overview Communication Objects x1000 Device type x1001 Error register x1003 Error History (Pre-defined error field) x100A Manufacturer Software Version x1010 Store Parameters x1011 Restore Default Parameters x1014 COB-ID Emergency Manufacturer Specific Objects x2000 Node ID x2001 CAN Bitrate (kbit) x2002 RS232 Baudrate (bps) x2003 RS232 Frame Timeout x2004 Custom Persistent Memory x2006 Global LED Array Enable x2007 Global Brightness x2008 Write multiplexed output 16-bit...53 celed LED Array Firmware Specification 5

5 x200A Self Test x2100 Bank Brightness x2101 0x210C LED Bank 1 LED Bank x2200 Group Brightness x2201 0x2210 LED Group 1 LED Group Standardized Device Objects x6100 Read digital input 16-bit x6200 Write digital output 8-bit x6401 Read analog input 16-bit x6411 Write analog output 16-bit Error Code Definition Common emergency error codes I/O device specific additional error codes cetoni specific additional error codes celed LED Array Firmware Specificationl

6 1.2 Change history REVISION CHANGE Document creation Added documentation for object 0x200A Self Test, 0x2100 Bank Brightness and 0x2101 LED Bank Added documentation for objects 0x6100 Read digital input 0x6401 Read analog input 0x6411 Write analog input 0x2200 Group Brightness 0x2201 0x2210 LED Group Changed layout and design to new Corporate Design celed LED Array Firmware Specification 7

7 2 About this Document 2.1 Intended Purpose The purpose of the present document is to familiarize you with the described equipment and the tasks on safe and adequate installation and/or commissioning. Observing the described instructions in this document will help you: to avoid dangerous situations, to keep installation and/or commissioning time at a minimum and to increase reliability and service life of the described equipment. Use for other and/or additional purposes is not permitted. cetoni, the manufacturer of the equipment described, does not assume any liability for loss or damage that may arise from any other and/or additional use than the intended purpose. 2.2 Target Audience This document is meant for trained and skilled personnel working with the equipment described. It conveys information on how to understand and fulfill the respective work and duties. This document is a reference book. It does require particular knowledge and expertise specific to the equipment described. 2.3 Symbols and Signal Words Used The following symbols are used in this manual and are designed to aid your navigation through this document: celed LED Array Firmware Specification 9

8 HINT. Describes practical tips and useful information to facilitate the handling of the software. IMPORTANT. Describes important information and other especially useful notes, in which no dangerous or damaging situations can arise. ATTENTION. Indicates a potentially damaging situation. Failure to avoid this situation may result in damage to the product or anything nearby. CAUTION. Describes a situation that may be dangerous. If this aspect is not avoided, light or minor injuries as well as damage to property could result. 10 celed LED Array Firmware Specificationl

9 3 System Overview 3.1 General Device Architecture The device implements a CANopen slave device. CANopen is the internationally standardized (EN ) higher-layer protocol for embedded control system. The set of CANopen specification comprises the application layer and communication profile as well as application, device, and interface profiles. CANopen provides very flexible configuration capabilities. These specifications are developed and maintained by CiA members. The communication interface of the device follows the CiA CANopen specifications as follows: CiA Application Layer and Communication Profile CiA Electronic Data Sheet Specification CiA Representation of SI units and prefixes CiA Indicator Specification A CANopen device can be logically structured in three parts. One part provides the communication interface (CAN, RS232) and another part provides the device's application, which controls e.g. the Input/Output (I/O) lines of the device in case of an I/O module. The interface between the application and the CAN-interface is implemented in the object dictionary. The object dictionary is unique for any CANopen device. It is comparable to a parameter list and offers the access to the supported configuration- and process data. 3.2 Object Dictionary The most significant part of any CANopen device is the Object Dictionary. It is essentially a grouping of objects accessible via the network (via CAN or RS232) in an ordered, predefined fashion. The figure below shows an example of an object dictionary. Each object within the dictionary is addressed using a celed LED Array Firmware Specification 11

10 16-bit index ❶ and an 8-bit subindex ❷. Figure 1: Object dictionary example The 16-bit index ❶ is used to address all entries within the Object Dictionary. In case of a simple variable, it references the value of this variable directly. In case of records and arrays however, the index addresses the entire data structure. The subindex ❷ permits individual elements of a data structure to be accessed via the network. For single Object Dictionary entries (such as UNSIGNED8, BOOLEAN, INTEGER32, etc.), the subindex value is always zero. For complex Object Dictionary entries (such as arrays or records with multiple data fields), the subindex references fields within a data structure pointed to by the main index. This allows for up to 255 sub-entries at each index. Each entry can be variable in type and length. The overall layout of the standard Object Diction-ary conforms to other industrial field bus concepts. Index Description 0000h Reserved 0001h-009Fh Data types (not supported) 00A0h-0FFFh Reserved 1000h-1FFFh Communication Profile Area (CiA 301) 12 celed LED Array Firmware Specificationl

11 2000h-5FFFh 6000h-9FFFh A000h-FFFFh Manufacturer-specific Profile Area Standardized Device Area (e.g. CiA 401 I/O Modules) Reserved Table 1: Object dictionary layout Access to each object dictionary entry is possible via SDO transfer (CAN) or via RS232 protocol by simply providing the index and sub index of the object dictionary entry to access. celed LED Array Firmware Specification 13

12 4 CAN Communication 4.1 Introduction This chapter provides general information about CAN communication and CANopen application layer. The information is relevant only for devices that support CAN communication via CAN interface. If your device only supports serial communication via RS232 CANopen Serial Interface (CSI), you can skip this chapter. HINT. You can skip this chapter if your device does not support communication via CAN interface. 4.2 CANopen Error Handling Principle Emergency objects are triggered by the occurrence of a CANopen device internal error situation and are transmitted from an emergency producer on the CANopen device. They are assigned the highest possible priority to ensure that they get access to the bus without latency. Emergency objects are suitable for interrupt type error alerts. An emergency object is transmitted only once per 'error event'. No further emergency objects will be transmitted as long as no new errors occur on a CANopen device. Zero or more emergency consumers may receive the emergency object Emergency Message Frame The device transmits emergency message frames over the CANopen network using COB-ID EMCY (H1014). An emergency message consists of the error code with pre-defined error numbers and the actual state of the Error Register (H1001). celed LED Array Firmware Specification 15

13 Byte Description Error Code Error Register Manufacturer specific error code Table 2: Emergency Message Frame IMPORTANT. Emergency messages are only available for CAN bus communication and not for serial RS232 communication. 16 celed LED Array Firmware Specificationl

14 5 CANopen Serial Interface (CSI) 5.1 Overview This section describes the cetoni CANopen Serial Interface (CSI). This is a serial protocol that enables access to CANopen device object dictionaries via a RS232 serial interface. 5.2 CSI Protocols The CANopen Serial Interface (CSI) supports two different RS232 protocols at the same time: Industrial RS232 Protocol with CRC checksum for reliable RS232 connection of cetoni devices to control systems in industrial or laboratory environments. For a high degree of reliability in an electrically noisy environment, it features a checksum. Simple RS232 ASCII Protocol for simple and easy access to cetoni devices (e.g. by serial terminal programs) The device automatically detects the protocol to use for next object dictionary access depending on the received opcode. 5.3 Physical Layer Electrical Standard The CSI communication protocol uses the RS232 standard for transmitting data over a three wires cable, for the signals TxD, RxD and GND. The RS232 standard can be used only for a point-to-point communication between a master and a single device slave. The standard uses negative, bipolar logic in which a negative voltage signal represents a logic 1, and positive voltage represents a logic 0. Voltages of 3V to 25V with respect to celed LED Array Firmware Specification 17

15 signal ground (GND) are considered logic 1, whereas voltages of +3V to 25V are considered logic Medium For the physical connection a 3 wire cable is required. It is recommended to install a shielded and twisted pair cable in order to have a good performance even in an electrically noisy environment. Depending on the bit rate used the cable length can range from 3 meters up to 15 meters. However we do not recommend RS232 cables longer than 5 meters. 18 celed LED Array Firmware Specificationl

16 6 Industrial RS232 Protocol with CRC checksum 6.1 Introduction The serial EIA RS232 communication protocol is used to transmit and receive data over the cetoni device's RS232 serial port. Its principal task is to transmit data from a master (PC or any other central processing unit) to a single slave. The protocol is defined or point-to-point communication based on the EIA-RS232 standard. The protocol can be used to implement the command set defined for cetoni devices. For a high degree of reliability in an electrically noisy environment, it features a checksum. 6.2 Protocol and Flow Control Sequence of sending commands The cetoni CANopen devices always communicates as a slave. A frame is only sent as an answer to a request. Some commands send an answer, other commands do not (observe respective descriptions to determine command that send an answer packets). The master always must start the communication by sending a packet structure. Below described are the data flow while transmitting and receiving frame. celed LED Array Firmware Specification 19

17 Figure 2: RS232 Communication Command Sequence Sending a data frame When sending a frame, you will need to wait for different acknowledgment. After sending the first frame byte (OpCode), you will need to wait for the device's Ready Acknowledge. Once the character O (okay) is received, the slave is ready to receive further data. If the character F (failed) is received, the slave is not ready to send data and communication must be stopped. After sending the checksum, you will need to wait for the End Acknowledge. The slave sends either O (okay) or F (failed). Figure 3: RS232 Communication Sending a Data Frame to device 20 celed LED Array Firmware Specificationl

18 6.2.3 Receiving a data frame In response to some of the command frames, the slave device returns a response data frame to the master. The data flow sequence is identical as for sending a data packet, only in the other direction. The master must also send the two acknowledges to the slave. The value of the first field must always be 0x00, thus representing the operation code describing a response frame. After receiving the first byte, the master then must send the Ready Acknowledge. Send character O (okay) if you are ready to receive the rest of the frame. Send character F (failed) if you are not ready to receive the rest of the frame. If the device does not get an O within the specified timeout, the communication is reset. Sending F does not reset the communication. After sending the Ready Acknowledge ( O ), the device sends the rest of the data frame. Then the checksum must be calculated and compared with the one received. If the checksum is correct, send acknowledge O to the device, otherwise send acknowledge F. Figure 4: RS232 Communication Receiving a response data frame from device celed LED Array Firmware Specification 21

19 6.3 Frame Structure Overview The data bytes are sequentially transmitted in frames. A frame composes of: a header a variably long data field and a 16-bit long cyclic redundancy check (CRC) for verification of data integrity OpCode (8-bit) Len-1 (8-bit) Data[0] (16-bit)... Data[Len-1] (16-bit) CRC (16-bit) Header Data Crc Figure 5: RS232 Communication - Frame Structure Header The header consists of 2 bytes. The first field (OpCode) determines the type of data frame to be sent or received. The next field (Len-1) contains the length of the data fields. OpCode - Operation command to be sent to the slave Len-1 - represents the number of words (16-bit value) in the data fields. It contains the number of words minus one. The smallest value in this field is zero, which represents a data length of one word. The data block must contain at least 1 word. Examples: 1 word: Len-1 = 0 2 words: Len-1 = words: Len-1 = Data The data field contains the parameters of the message. This data block must contain at least one word. The low byte of the word is transmitted first. 22 celed LED Array Firmware Specificationl

20 Data[i] - The parameter word of the command. The low byte is transmitted first CRC The 16-bit CRC checksum. The algorithm used is CRC-CCITT. The CRC calculation includes all bytes of the frame. The data bytes must be calculated as a word. First you will need to shift in the high byte of the data word. This is the opposite way you transmit the data word. The 16-bit generator polynomial x 16 +x 12 +x 5 +1 is used for the calculation. Order of CRC calculation: OpCode, len-1, data[0] high byte, data[0] low byte,, ZeroWord low byte = 0x00, ZeroWord high byte = 0x00 CRC - Checksum of the frame. The low byte is transmitted first. 6.4 Error Control CRC Calculation Packet M(x): WORD DataArray[n] Generator Polynom G(x): (= x 16 +x 12 +x 5 +x 0 ) DataArray[0]: HighByte(OpCode) + LowByte(len-1); DataArray[1]: data[0] DataArray[2]: data[1] DataArray[n-1]: 0x0000 (ZeroWord) celed LED Array Firmware Specification 23

21 Figure 6: RS232 Communication CRC-CCIT Calculation 6.5 Transmission Byte Order The unit of data memory in the device is a word (16-bit value). To send and receive a word (16-bit) over the serial port of the slave device, the low byte will be transmitted first. Multiple byte data (word = 2 bytes, long words = 4 bytes) are transmitted starting with the less significant byte (LSB) first. A word will be transmitted in this order: byte0 (LSB), byte1 (MSB). A long word will be transmitted in this order: byte0 (LSB), byte1, byte2, byte3 (MSB). 6.6 Data Format Data is transmitted in an asynchronous way, thus each data byte is transmitted individually with its own start and stop bit. The format is 1 Start bit, 8 Data bits, No parity, 1 Stop bit (8N1) Most serial communication chips (SCI, UART) can generate such data format. 24 celed LED Array Firmware Specificationl

22 6.7 Timeout Handling The timeout is handled over a complete frame. Hence, the timeout is evaluated over the sent data frame, the command processing procedure and the response data frame. For each frame (frames, data processing), the timer is reset and timeout handling will recommence. celed LED Array Firmware Specification 25

23 6.8 Slave (device) implementation state machine 26 celed LED Array Firmware Specificationl

24 6.9 Master implementation state machine celed LED Array Firmware Specification 27

25 6.10 Command Reference Read Functions READ OBJECT DICTIONARY ENTRY (4 DATA BYTES AND LESS) Read an object value from the Object Dictionary of the device at the given Index and SubIndex. READ OBJECT -REQUEST FRAME OpCode 0x10 Len-1 1 Parameters WORD Index Index of Object (Low) BYTE SubIndex SubIndex of Object (High) BYTE NodId Node ID The device responds with a data frame with 4 bytes of data. READ OBJECT -RESPONSE FRAME OpCode 0x00 Len-1 3 Parameters DWORD ErrorCode Error Code (see firmware spec.) BYTE Data[4] Data Bytes read 28 celed LED Array Firmware Specificationl

26 READ OBJECT DICTIONARY ENTRY (5 DATA BYTES AND MORE) INITIATE SEGMENTED READ Start reading an object value from the Object Dictionary at the given Index and SubIndex with a data size greater than 4 bytes. Because the data does not fit into a single response frame, the transfer is splitted into a number of segments. Use the command SegmentRead to read the data. INITIATE SEGMENTED READ - REQUEST FRAME OpCode 0x12 Len-1 1 Parameters WORD Index Index of Object (Low) BYTE SubIndex SubIndex of Object (High) BYTE NodId Node ID The device responds with a response frame without any data. INITIATE SEGMENTED READ - RESPONSE FRAME OpCode 0x00 Len-1 1 Parameters DWORD ErrorCode Error Code (see firmware spec.) celed LED Array Firmware Specification 29

27 SEGMENT READ Read a data segment of the object initiated with the command InitiateSegmentedRead. READ SEGMENT - REQUEST FRAME OpCode 0x14 Len-1 0 Parameters (Low) Byte ControlByte [Bit 0...5] Not used [Bit 6] Toggle Bit [Bit 7] Not used (High) BYTE Dummy Byte without meaning The device responds with a data segment of up to 63 bytes of data. The segmented respons frame contains a control byte that indicates the number of data bytes and if there are more segments to read. READ SEGMENT - RESPONSE FRAME OpCode 0x00 Len Parameters DWORD ErrorCode Error Code (see firmware spec.) (Low) BYTE ControlByte [Bit 0...5] Number of data bytes [Bit 6] Toggle Bit [Bit 7] 1 = More segments to read BYTE Data[0...63] Data Bytes read 30 celed LED Array Firmware Specificationl

28 Write Functions WRITE OBJECT DICTIONARY ENTRY (4 DATA BYTES AND LESS) Write an object value to the Object Dictionary at the given Index and SubIndex. WRITE OBJECT - REQUEST FRAME OpCode 0x11 Len-1 3 Parameters WORD Index Index of Object (Low) BYTE SubIndex SubIndex of Object (High) BYTE NodId Node ID BYTE Data[4] Data Bytes to write The device responds with a response frame without any data. WRITE OBJECT - RESPONSE FRAME OpCode 0x00 Len-1 1 Parameters DWORD ErrorCode Error Code (see firmware spec.) celed LED Array Firmware Specification 31

29 WRITE OBJECT DICTIONARY ENTRY (5 DATA BYTES AND MORE) INITIATE SEGMENTED WRITE Start writing an object value to the Object Dictionary at the given Index and SubIndex with a data size of more than 5 bytes. The transfer is splitted into segments and initiated with this InitiateSegmentedWrite frame. Use the command SegmentWrite to write the data. INITIATE SEGMENTED WRITE - REQUEST FRAME OpCode 0x13 Len-1 3 Parameters WORD Index Index of Object (Low) BYTE SubIndex SubIndex of Object (High) BYTE NodId Node ID DWORD ObjectLength Total number of bytes to write. The device acknowledges the start of the segmented transfer with the following response frame INITIATE SEGMENTED WRITE - RESPONSE FRAME OpCode 0x00 Len-1 1 Parameters DWORD ErrorCode Error Code (see firmware spec.) 32 celed LED Array Firmware Specificationl

30 SEGMENT WRITE Write a data segment to the object initiated with the command InitiateSegmentedWrite. WRITE SEGMENT - REQUEST FRAME OpCode 0x15 Len Parameters (Low) Byte ControlByte [Bit 0...5] Number of data bytes [Bit 6] Toggle Bit [Bit 7] Not used BYTE Data[0...63] Data bytes to write The device acknowledges the segment with the following response frame. WRITE SEGMENT - RESPONSE FRAME OpCode 0x00 Len-1 2 Parameters DWORD ErrorCode Error Code (see firmware spec.) (Low) BYTE ControlByte [Bit 0...5] Number of data bytes [Bit 6] Toggle Bit [Bit 7] Not used (High) BYTE Dummy Byte without meaning celed LED Array Firmware Specification 33

31 7 Simple RS232 ASCII Protocol 7.1 Introduction The simple RS232 ASCII protocol provides a simpler, ASCII based RS232 protocol to transmit and receive data over the cetoni devices's RS2323 serial port. The protocol is simpler than the Industrial RS232 protocol with CRC checksum and can be used to access the devices directly via serial terminal programs or by control software that only support simple RS232 ASCII protocols. Its principal task is to transmit data from a master (PC or any other central processing unit) to a single cetoni slave device. The protocol is defined or point-to-point communication based on the EIA-RS232 standard. 7.2 Data Format Data is transmitted in an asynchronous way, thus each data byte is transmitted individually with its own start and stop bit. The format is 1 Start bit, 8 Data bits, No parity, 1 Stop bit (8N1) Most serial communication chips (SCI, UART) can generate such data format. celed LED Array Firmware Specification 35

32 7.3 Reading Data Read Request A read request is composed of: OpCode 'r' (for read request) Process data identifier of the process data to access. The process data identifier consists of exactly 8 ASCII characters (e.g or ). It is composed of: the node identifier (hex) of the device to access (00 because it is not used yet) the object dictionary index (hex) of the object to access the object dictionary sub index (hex) of the object to access Optional Delimiter ':' - this delimiter is only required if a base identifier is provided Optional base identifier 'h' or 'd' normally numeric data in response frame is printed as hexadecimal values. If you would like to force a certain base for the data in the reponse frame you can provide the following base identifiers: h hexadecimal d - decimal Terminating character the frame is terminated by a carriage return e.g. e.g. e.g. h (hex) carriage return r 0F : d (dec) CR OpCode NodeID (hex) Object Index Object Sub Delimiter Base Terminating (hex) (hex) (optional) of response character Figure 7: ASCII protocol read request Read Response The device reponds to a read request with the numeric data terminated with a carriage return (e.g. 36 celed LED Array Firmware Specificationl

33 \r) or with an error frame that provides a hexadecimal error code (e.g. e c\r) Read Examples Read device type identifier (Object dictionary index 0x1000 sub 0x00) of node 0 as hexadecimal value. Device reponds with hexadecimal value ascii string terminated with a carriage return. Read request: r \r Response: \r Read device type identifier (Object dictionary index 0x1000 sub 0x00) of node 0 as decimal value. Device responds with decimal value ascii string terminated with a carriage return. Read request: r :d\r Response: \r Read device type identifier (Object dictionary index 0x1000 sub 0x01) of node 0 as hexadecimal value. The device responds with an error frame with hexadecimal error code 0x40C - Object does not exist, because object dictionary index 0x1000 has no sub index 0x01: Read request: Response: r :h\r e c\r 7.4 Writing Data Write Request A write request is composed of: OpCode 'w' (for write request) Process data identifier of the process data to access. The process data identifier consists of exactly 8 ASCII characters (e.g or ). It is composed of: the node identifier (hex) of the device to access (00 because it is not used yet) celed LED Array Firmware Specification 37

34 the object dictionary index (hex) of the object to access the object dictionary sub index (hex) of the object to access Delimiter ':' - the delimiter separates the header from the data Base identifier 'h' or 'd' normally numeric data in write request frame is given as hexadecimal value. If you would like to indicate the base for the data in the write request frame, you can provide the following optional base identifiers: h hexadecimal d - decimal Data the date to write to the given object dictionary entry (e.g. FF25 or -25) Terminating character the frame is terminated by a carriage return e.g. e.g. e.g. h (hex) e.g. carriage return CR w : d (dec) FF23 Op NodeID Object Index Object Sub Delimi Base Data Terminating Code (hex) (hex) (hex) ter of data (hex or dec.) character Figure 8: ASCII protocol write request Write Response The device reponds to a write request with a positive acknowledge (character o) terminated by a carriage return (o\r) or with an error frame that provides a hexadecimal error code (e.g. e c\r) Write Examples Write the value 200 to the analog output (Object dictionary index 0x6411) channel 3 (Object dictionary sub 0x03) of node 2 as hexadecimal value. Device reponds with positive acknowledge terminated with a carriage return. Read request: Response: w :hc8\r o\r 38 celed LED Array Firmware Specificationl

35 Write the value 200 to the analog output (Object dictionary index 0x6411) channel 10 (Object dictionary sub 0x0A) of node 0 as decimal value. Device reponds with positive acknowledge terminated with a carriage return. Read request: w a:d200\r Response: \r Write device type identifier (Object dictionary index 0x1000 sub 0x00) of node 0 as hexadecimal value. The device responds with an error frame with hexadecimal error code 0x40B - attempt to write a read only object, because object dictionary index 0x1000 is a read only object. Read request: Response: w :d-23\r e b\r celed LED Array Firmware Specification 39

36 8 LED Array Overview 8.1 CiA 401 Device profile for generic I/O modules Additional to the general CiA CANopen profiles, the device implements the following device-specific profiles: CiA 401 Device profile for generic I/O modules The purpose of CiA 401 I/O modules is to connect sensors and actuators to CANopen networks. In NMT operational mode, input data are transmitted from the inputs via TPDOs. By default, the PDO transmission is triggered by an interrupt (event). In addition, it is possible to read input data via SDO communication or CANopen Serial Interface (CSI) from another module, or to write data via SDO or CANopen Serial Interface (CSI) to the network, if the module provides SDO client functionality. Output data can be received via RPDO by those I/O modules that have output capabilities. Output data also can be received via SDO communication services. However, the main purpose of SDO communication is to configure an I/O module. The module can receive via SDO I/O configuration data, parameters for converting data into meaningful measurements and so on. I/O modules compliant with this device profile use pre-defined PDOs. The default mapping of application objects into TPDO respectively RPDO is changeable via SDO, if variable PDO mapping is supported. celed LED Array Firmware Specification 41

37 8.2 LED Array control Brightness control - overview The celed LED Arrays implements the CiA device profile 401 for generic I/O modules. That means the LED array devices work like analog output devices with a number of analog output channels. There are several ways to change the brightness of a single LED array channel or of multiple LED array channels simultaneously. Object [hex] Description 2007 h Global Brightness 2008 h Write multiplexed output 16-bit 2100 h Bank Brightness 2101 h - 210x h LED Bank 1 - x 2200 h Group Brightness 2201 h h LED Group h Write analog output 16-bit Table 3: Objects for brightness control Global Brightness To change the brightness of all LED array channels globally, simply write to the object 2007h: Global Brightness Single channel brightness Because each object dictionary entry supports a maximum of 254 sub entries, the LED array channels are grouped into banks, to support more than 254 LED channels. The object dictionary entries for the banks start at index 2101h (LED Bank 1). Normally the banks will reflect the physical layout of the array. That means, each bank represents a certain fixed group of LEDs or a circuit board with a number of LED channels. The number of banks and the number of channels in each bank is device specific. The number of channels in a bank is stored in sub entry 0. To change the brightness of an LED array channel, simply write to the corresponding sub entry. The LED array brightness is an INTEGER16 value in the range from 0 (off) to (maximum brightness). 42 celed LED Array Firmware Specificationl

38 The first 254 LED channels are also mapped into object 6411h: Write analog output 16-bit. This object has a maximum of 254 sub entries. This means, you can simply write to such an entry, to change the brightness of one single LED array as long as the LED channel index not greater than 254. This object 6411h is implemented to comply with the CANopen standard 401 for I/O devices Bank brightness With the object 2100h: Bank Brightness, you can change the brightness of a complete bank. This object has a sub entry for each single bank. The bank brightness is an INTEGER16 value in the range from 0 (off) to (maximum brightness). Writing into a bank brightness entry will change the brightness of all LED array channels in this bank Group brightness The LED array supports user configurable LED groups with its objects 2201h h. Each group has a number of 254 sub entries for grouping of arbitrary LED channels (single channels or bank channels). Simply write the channel index of the LED channel into a group sub entry (starting from entry 1) to add it to a group. Afterwards you can control all channels in a group simultaneously by simply writing a single brightness value into the group sub index of the object 2200h: Group Brightness Brightness control examples The following examples show, how to change the brightness: Example 1 Set Channel 10 to maximum brightness Each LED bank has 24 channels, so we can use channel 10 of LED bank 1. Index: 0x2101 Led Bank 1 Sub Index: 0x0A Channel 10 Value: maximum brightness CSI ASCII frame: w a:d32767\r Example 2 Switch channel 25 off Each LED bank has 24 channels. This means, channel 25 is the first channel in the second bank. celed LED Array Firmware Specification 43

39 Index: 0x2102 Led Bank 2 Sub Index: 0x01 Channel 1 Value: CSI ASCII frame: 0 off w :d0\r Example 3 Set Channel 288 to 10% of maximum brightness Channel 288 is the last channel (24) in the last bank (12). Index: 0x210C Led Bank 12 Sub Index: 0x18 Channel 24 Value: CSI ASCII frame: % of maximum brightness w00210c18:d3276\r Example 4 - Set brightness of LED Bank 5 to 1000 The entry for changing the bank brightness is the object 0x1000. To change brightness of bank 5 we need to write 1000 to sub entry 5. Index: 0x2100 Bank Brightness Sub Index: 0x05 Bank 5 Value: 1000 CSI ASCII frame: w :d1000\r Example 5 - Set brightness of channel 200 to using the multiplexed output First we need to set the multiplexer to channel 200: Index: Sub Index: 0x2008 Multiplexed Output 16Bit 0x01 Channel multplexer Value: 200 CSI ASCII frame: w :d200\r Now we can write the analog output value of 16000: Index: Sub Index: 0x2008 Multiplexed Output 16Bit 0x02 Analog output value Value: CSI ASCII frame: w :d16000\r 44 celed LED Array Firmware Specificationl

40 9 LED Array Object Dictionary 9.1 Overview Index Name Data Type Access 0x1000 Device Type UNSIGNED32 RO 0x1001 Error Register UNSIGNED8 RO 0x1003 Error History (Predefined Error Field) ARRAY RO 0x100A Manufacturer Software Version VISIBLE_STRING CONST 0x1010 Store Parameter Field ARRAY RW 0x1011 Restore Default Parameters ARRAY RW 0x1014 COB ID EMCY UNSIGNED32 RO 0x1017 Producer Heartbeat Time UNSIGNED16 RW 0x1018 Identity Object RECORD RO 0x1400 Receive PDO Communication Parameter 0 RECORD RW 0x1401 Receive PDO Communication Parameter 1 RECORD RW 0x1402 Receive PDO Communication Parameter 2 RECORD RW 0x1403 Receive PDO Communication Parameter 3 RECORD RW 0x1600 Receive PDO Mapping Parameter 0 RECORD RW 0x1601 Receive PDO Mapping Parameter 1 RECORD RW 0x1602 Receive PDO Mapping Parameter 2 RECORD RW 0x1603 Receive PDO Mapping Parameter 3 RECORD RW 0x1800 Transmit PDO Communication Parameter 0 RECORD RW 0x1801 Transmit PDO Communication Parameter 1 RECORD RW 0x1802 Transmit PDO Communication Parameter 2 RECORD RW 0x1803 Transmit PDO Communication Parameter 3 RECORD RW 0x1A00 Transmit PDO Mapping Parameter 0 RECORD RW 0x1A01 Transmit PDO Mapping Parameter 1 RECORD RW 0x1A02 Transmit PDO Mapping Parameter 2 RECORD RW 0x1A03 Transmit PDO Mapping Parameter 3 RECORD RW 0x2000 Node ID UNSIGNED8 RW 0x2001 CAN Bitrate (kbit) UNSIGNED16 RW celed LED Array Firmware Specification 45

41 0x2002 RS232 Baudrate (bps) UNSIGNED32 RW 0x2003 RS232 Frame Timeout UNSIGNED16 RW 0x2004 Custom Persistent Memory ARRAY RW 0x2006 Global LED Array Enable BOOLEAN RW 0x2007 Global Brightness UNSIGNED16 RW 0x2008 Write multiplexed output 16-bit RECORD RW 0x200A Self Test INTEGER8 WO 0x2100 Bank Brightness ARRAY RW 0x2101- LED Array Bank 1 LED Array Bank x ARRAY RW 0x210x 0x2200 Group Brightness ARRAY RW 0x2201- LED Group 1 LED Group 16 ARRAY RW 0x2210 0x2FFF Firmware Update RECORD WO 0x6100 Read digital input 16-bit ARRAY RO 0x6200 Write digital output 8-bit ARRAY RW 0x6401 Read analog input 16-bit ARRAY RO 0x6411 Write analog output 16-bit ARRAY RW 46 celed LED Array Firmware Specificationl

42 9.2 Communication Objects x1000 Device type This object indicates the type of device and its functionality. [0x1000, 0x00] Device type Type Access PDO mapping Default Value Value Range UNSIGNED32 CONST No Dh See value definition Specific functionality M I/O functionality Device profile number Additional Information General information MSB LSB Table 4: Object structure device type Field name Definition Device profile number 401 = I/O Device I/O functionality Bit 16 1 = digital input(s) implemented I/O functionality Bit 17 1 = digital output(s) implemented I/O functionality Bit 18 1 = analog input(s) implemented I/O functionality Bit 19 1 = analog output(s) implemented I/O functionality Bit Reserved - 0 Table 5: Value definition for specific information field x1001 Error register An error register for the device. The device maps internal errors in this byte. It is part of the emergency object. [0x1001, 0x00] Error register Type Access PDO mapping UNSIGNED8 RO No celed LED Array Firmware Specification 47

43 Default Value 0 Value Range - Bit Meaning 0 Generic error 1 Current error 2 Voltage error 3 Temperature error 4 Communication error (overrun, error state) 5 Device profile specific 6 Reserved (always 0) 7 Manufacturer specific Table 6: Error register bits x1003 Error History (Pre-defined error field) Holds errors that have occurred on the device and have been signalled via the emergency object. Sub index 0 Contains the number of actual errors that are recorded in the array starting at sub index 1. Writing a 0 to sub index 0 deletes the error history (empties the array). Values higher then 0 (zero) are not allowed to write. [0x1003, 0x00] Number of errors Type UNSIGNED8 Access RW PDO mapping No Default Value 0 Value Range - Every new error code is stored at sub index 1, the older ones move down the list. The error numbers are of type UNSIGNED32 and are composed of a 16-bit error code and 16-bit additional error information. [0x1003, 0x01...0x0F] Error History 1-15 Type UNSIGNED32 Access RO PDO mapping Optional Default Value 0 Value Range - 48 celed LED Array Firmware Specificationl

44 Additional information Error code MSB LSB Table 7: Structure of error history entry x100A Manufacturer Software Version This object provides the manufacturer software version description (e.g ). [0x100A, 0x00] Manufacturer Software Version Type Access PDO mapping Default Value Value Range VISIBLE_STRING CONST No Device specific VISIBLE_STRING x1010 Store Parameters All device parameters will be stored in a non-volatile memory, if the code Save is written to sub index 0x01 of this object. [0x1010, 0x00] Store Parameters Number of entries 1 [0x1010, 0x01] Save all Parameters Type UNSIGNED32 Access RW PDO mapping No Default Value - Value Range - MSB LSB e v a s 65h 76h 61h 73h Table 8: Storage write access signature x1011 Restore Default Parameters All device parameters will be restored with default values, if the code Load is written to the sub index celed LED Array Firmware Specification 49

45 0x01 of this object. The default values are set valid after the device is reset or power cycled. [0x1011, 0x00] Restore Default Parameters Number of entries 1 [0x1011, 0x01] Restore all Default Parameters Type UNSIGNED32 Access RW PDO mapping No Default Value - Value Range - MSB LSB d a o l 64 h 61 h 6F h 6C h Table 9: Restore default write access signature x1014 COB-ID Emergency Communication Object Identifier of emergency object. [0x1014, 0x00] COB-ID Emergency Type UNSIGNED32 Access CONST PDO mapping No Default Value 0x Node ID Value Range - 50 celed LED Array Firmware Specificationl

46 9.3 Manufacturer Specific Objects x2000 Node ID This object configures the CANopen node identifier of this device. Changes to this object take only effect after restart or NMT Application Reset command. [0x2000, 0x00] Node ID Type UNSIGNED8 Access RW PDO mapping No Default Value 2 Value Range x2001 CAN Bitrate (kbit) Holds the desired bit rate of the CAN interface. Changes to this object take only effect after restart or NMT Application Reset command. [0x2001, 0x00] CAN Bitrate (kbit) Type Access PDO mapping Default Value Value Range UNSIGNED8 RW No 1000 kbit 10; 20; 50; 125; 250; 500; 800; 1000 kbit x2002 RS232 Baudrate (bps) Sets the baud rate of the serial communication interface. Changes to this object takes only effect after restart or NMT Application Reset command. Therefore it is necessary to store all parameters after changing and then restart. [0x2002, 0x00] RS232 Baudrate (bps) Type UNSIGNED32 Access RW PDO mapping No Default Value celed LED Array Firmware Specification 51

47 Value Range 9600; 14400; 19200; 38400; 57600; bps x2003 RS232 Frame Timeout Defines the timeout over a RS232 communication frame for CANopen Serial Interface (CSI). It is scaled in milliseconds. [0x2003, 0x00] RS232 Frame Timeout Type UNSIGNED16 Access RW PDO mapping No Default Value 500 Value Range x2004 Custom Persistent Memory This persistent memory can be used to store custom values on the device. These values will not be evaluated by the firmware, but will be cleared by setting the default parameters. [0x2004, 0x00] Custom Persistent Memory Number of entries 16 [0x2004, 0x01-0x10] Custom Persistent Memory 1-16 Type UNSIGNED32 Access RW PDO mapping No Default Value 0 Value Range UNSIGNED x2006 Global LED Array Enable This object globally enables and disables all LED array channels. Use this object to quickly switch on and off all LED array channels. You can also use this object, if you need to prepare brightness of multiple channels before switching the channels on. Switching this global enable signal does not change the brightness value of the single LED array channels. Write 1 to this object to enable the LED array and 0 to disable it. [0x2006, 0x00] Global LED Array Enable Type Access BOOLEAN RW 52 celed LED Array Firmware Specificationl

48 PDO mapping Default Value Value Range Optional TRUE BOOLEAN x2007 Global Brightness This object globally changes the brightness of all LED array channels simultaneously. [0x2007, 0x00] Global Brightness Type UNSIGNED16 Access RW PDO mapping Optional Default Value 0 Value Range x2008 Write multiplexed output 16-bit This object provides a channel multiplexer that enables writing any analog output channel using only two object dictionary entries. First select the channel by writing the channel number into sub index 0x01 - Channel multiplexer. Then write the analog output value to the selected channel by writing into sub index 0x02 Analog output value. Because the number of RPDOs is limited, also the number of output channels that can be mapped into RPDOs is limited. To circumvent this limitation, you simply need to map the sub index 0x01 and 0x02 of this object into a single RPDO. Afterwards you can change any analog output channel via PDO transfer by sending the channel index and the analog output value. [0x2008, 0x00] Write multiplexed output 16-bit Number of entries 2 [0x2007, 0x01] Channel multiplexer Type UNSIGNED16 Access RW PDO mapping Default Default Value 0 Value Range 0 Number of analog out channels - 1 [0x2007, 0x02] Analog output value Type INTEGER16 celed LED Array Firmware Specification 53

49 Access RW PDO mapping Default Default Value 0 Value Range x200A Self Test Writing 1 to this entry will start a device self test. Writing 0 to this entry will stop a running self test. [0x200A, 0x00] Self Test Type INTEGER8 Access WO PDO mapping No Default Value 0 Value Range x2100 Bank Brightness This object writes an INTEGER16 brightness value to a certain LED bank. Writing a brightness value to a bank changes the brightness of all LED channels in this bank. So instead of writing each LED channel with a single data transfer, you can change all channels in a bank with a single write access. Each sub entry represents one single bank. That means sub entry 0x01 represents object 0x2101 LED Bank 1, sub entry 0x02 changes brightness of object 0x2102 LED Bank 2 and so on. [0x2100, 0x00] Bank Brightness Number of banks 12 (Hardware dependent) [0x2100, 0x01-0x0C] Bank 1 - x Type INTEGER16 Access RW PDO mapping Optional Default Value 0 Value Range x2101 0x210C LED Bank 1 LED Bank 12 Because an object dictionary does not support more than 254 sub entries, the LED array channels are splitted into multiple objects the LED banks. A LED bank groups a number of up to 254 LED channels. The number of channels in a bank is device specific and depends on the layout of the physical device. 54 celed LED Array Firmware Specificationl

50 For this specific device there are 12 Banks with 24 LED channels in each bank = 288 LED channels. [0x2101-0x210C, 0x00] LED Bank 1-12 Number of channels 24 (Hardware dependent) [0x2101-0x210C, 0x01-0x18] Bank 1 12, Channel 1-24 Type INTEGER16 Access RW PDO mapping Optional Default Value 0 Value Range x2200 Group Brightness This object writes an INTEGER16 brightness value to a certain LED group. Writing a brightness value to a group changes the brightness of all LED channels in this group. So instead of writing each LED channel with a single data transfer, you can change all channels in a group with a single write access. Each sub entry represents one single group. That means sub entry 0x01 represents object 0x2201 LED Group 1, sub entry 0x02 changes brightness of object 0x2202 LED Group 2 and so on. [0x2200, 0x00] Group Brightness Number of groups 16 [0x2100, 0x01-0x0C] Bank 1-12 Type INTEGER16 Access RW PDO mapping Optional Default Value 0 Value Range x2201 0x2210 LED Group 1 LED Group 16 The LED array supports up to 16 user configurable LED groups. Each group has 254 sub entries. The user can group up to 254 LED channels (single LED channels or LED bank channels) into a LED group. [0x2201-0x2210, 0x00] LED Group 1-16 Number of channels 254 [0x2201-0x2210, 0x01-0xFE] Group 1 16, Channel celed LED Array Firmware Specification 55

51 Type UNSIGNED16 Access RW PDO mapping No Default Value 0 Value Range 0 Number of LED channels + Number of LED Banks 9.4 Standardized Device Objects x6100 Read digital input 16-bit Displays the states of the digital inputs. If a bit is read as one, the input is activated. 0x6100, 0x00] Read digital input 16-bit Number of channels 01 [0x6100, 0x01] Digital input 1 to 16 Type UNSIGNED16 Access RO PDO mapping Optional Default Value - Value Range - The first 3 bits are the digital inputs of the external I/O interface. Bits 3 7 are reserved for future use. Bits 8 15 are hardware depended. Depending on the LED array hardware that is connected and controlled by this LED array controller, these bits show device specific inputs. Read the hadrware device manual for information about these inputs. Bit Meaning 0 Digital Input 1 1 Digital Input 2 2 Digital Input reserved 8-15 Hardware dependent 56 celed LED Array Firmware Specificationl

52 x6200 Write digital output 8-bit Writes the digital outputs as group of 8 output lines. 0x6200, 0x00] Write digital output 8-bit Number of channels 01 [0x6200, 0x01] Digital output 1 to 8 Type UNSIGNED8 Access RW PDO mapping Optional Default Value - Value Range - Bit Meaning 0 Digital Output 1 1 Digital Output 2 2 Digital Output reserved celed LED Array Firmware Specification 57

53 x6401 Read analog input 16-bit The voltage measured at analog input 1 or 2 [mv]. 0x6401, 0x00] Read analog input16-bit Number of channels 01 to 02 [0x6401, 0x01-0x02] Analog input 1 and 2 Type INTEGER16 Access RO PDO mapping Optional Default Value - Value Range depending on hardware x6411 Write analog output 16-bit This object writes an INTEGER16 value to a certain LED output channel. The value is left adjusted. Sub index 0x00 provides the number of channels available. Sub indices 0x01 0xFE provide the analog output channels. If the device has more than 253 LED channels, only the first 253 channels are mapped into the sub indices 0x01 0xFE. Writing a value into a sub index changes the brightness of the associated LED channel. 0x6411, 0x00] Write analog output 16-bit Number of channels 01 to FE [0x6411, 0x01-0xFE] Analog output Type INTEGER16 Access RW PDO mapping Optional Default Value 0 Value Range INTEGER16 58 celed LED Array Firmware Specificationl

54 10 Error Code Definition 10.1 Common emergency error codes Error Code 0x0000 0x1000 0x2000 0x2100 0x2200 0x2300 0x3000 0x3100 0x3200 0x3300 0x4000 0x4100 0x4200 0x5000 0x6000 0x6100 0x6200 0x6300 0x7000 0x8000 0x8100 0x8110 0x8120 0x8130 0x8140 0x8150 0x8200 0x8210 0x8220 Name Error reset or no Error Generic Error Current generic error Current, CANopen device input side - generic Current inside the CANopen device - generic Current, CANopen device output side - generic Voltage generic error Mains voltage generic Voltage inside the CANopen device - generic Output voltage - generic Temperature generic error Ambient temperature - generic Device temperature - generic CANopen device hardware generic error CANopen device software generic error Internal software - generic User software - generic Data set - generic Additional modules generic error Monitoring generic error Communication - generic CAN overrun (objects lost) CAN in error passive mode Life guard error or heartbeat error Recovered from bus off CAN-ID collision Protocol error - generic PDO not processed due to length error PDO length exceeded celed LED Array Firmware Specification 59

55 0x8230 0x8240 0x8250 0x9000 0xF000 0xFF00 DAM MPDO not processed, destination object not available Unexpected SYNC data length RPDO timeout External error generic error Additional functions generic error Device specific generic error Table 10: Common emergency error codes 10.2 I/O device specific additional error codes The following table defines additional I/O device profile specific error codes: Error Code 0x0080 0x2310 0x2320 0x2330 0x3110 0x3120 0x3210 0x3220 0x3310 0x3320 Name Warning: Analogue inputs disabled Current at outputs too high (overload) Short circuit at outputs Load dump at outputs Input voltage too high Input voltage too low Internal voltage too high Internal voltage too high Output voltage too high Output voltage too low Table 11: I/O device specific additional error codes 60 celed LED Array Firmware Specificationl