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RENSSELAERPOLYTECHNIC INST ITUTE‐ ECSE 4790 MICROPROCESSORSYSTEMS (MPS)

ControllerAreaNetworkNationalInstrumentsManual

LabVIEWTeam:

AlbertBarsaCarlosCaoCaoPaulKwoniUpdateversion

AUGUST20,2012

ManualforECSE4790MPSCourselabexperimentdealingspecificallywiththeNationalInstrumentsUSBCANHardware

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CANUSB:

ThedemoboxprovidedbyLesleyYuhelpedusgreatlyunderstandthefunctionalityandlimitationoftheNIUSB‐8473Hardware.TheCANUSBdoesnotsupportChannelAPIbecauseUSBdeviceslackthisfunction.ThismanualwillalsodetailothertopicsusingtheNational Instrument’s(NI)equipment. ItwillstartoffbycoveringtheCANUSB,itwillthencovertheDAQcardandfinallywillcoverCANtoDAQdatasynchronization.

HardwareRequired:

Figure1:TerminationCable Figure2:NICANUSB‐8473

Figure3:NICANDemoBox

Procedure:

InstallingLabVIEWSoftware

• LabVIEWisalreadyinstalledonthelabdesktops,howeveryou’llneeditonyourlaptoptobeabletoruntheexampleVIsforthisdemonstrationonyourlaptop.Thistakesquiteabitoftimeifyouaregoingtoinstall the latest version. So farNI‐HWS,NI‐IMAQ,NI‐IMAQdx,NI‐IMAQ for IEEE1394,NI‐IMAQ IO,NI‐Motion,andNI‐RIOarenot requiredtobe installed.Downloadthe latestversionofLabVIEWfromRPI.Instructionsonhowtogetalicenseanddownloadareonthehelpdesksite.

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• FollowtheinstallinstructionontheRPIwebpage

InstallingNI‐CANSoftware

• Theexamplesthatyouneedhavetobe installedseparatelyforNI‐CAN(2.7.3)thatcomeswithNIUSB‐8473.ItcontainsspecificexamplesthatutilizeCAN.ItalsoinstallsthedriversthatarerequiredtoenabletheNIUSBmodulestoproperlycommunicatewithyourcomputer.InstallNI‐CAN2.7.3from: http://joule.ni.com/nidu/cds/view/p/id/2646/lang/en

• WhenpromptedforaLabVIEWVersion,chooseLabVIEW2011,unlessyouhaveanolderversion.Installallsubfeatures.

• YoucandisableVisualBasic/VisualC/BorlandCsupport.ItisnotneededfortheCANviewer.

Figure4:NI‐CAN2.7.3Examples

YouaredonewiththeLabVIEWinstallandmayopenanyCANVIthatyouwishtouse.

InstallingMeasurement&AutomationExplorerSoftware

• Thehardwaredemocomeswithanotherdisklabeled“NICANDemoBox”thathasausermanualandacoupleoffilesonit.YouneedtocopythecontentofthisdisktotheNationalInstrumentsfolderthatislocatedatC:\ProgramFiles\NationalInstruments.

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h Figure5:NI‐CANDemoBoxCD

AfteryouaredonecopyingyouneedopenMeasurement&AutomationExplorerthatcanbefoundeitheronyourDesktoporinprogramfilesundertheNationalInstrumentsfolder.

Figure6:NIMAX(Measurement&AutomationExplorer)Icon

Onceit loadsexpandtheDataNeighborhoodbyselectingthe+signonits leftside.LeftclickonCANChannels.SelectLoadChannelConfiguration.

Figure7:ExplorerWelcomeWindow

• Open CAN Demo Box.ncd from its location which should be in the directory you copied thecontentoftheCDin.Select“AddAllMessagesandChannels.”ClickLoad,andthenclickDone.

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Figure8:LoadingChannelConfiguration

• Itshouldload13messagefilesintotheexplorer.

Figure9:MessageFilesLoaded

SettingupHardware

• ConnecttheNIUSB‐8473toyoucomputerviatheUSBport.

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• Inthedemoboxyouareprovidedwithaterminationcable.ThiscablewillbeusedtoconnectthemaleDB9terminaloftheNIUSBhardwaretothemaleDB9terminalofthedemoboxlabeled“CAN.”

• ConnectajumperwirebetweentheFunctionGeneratorGenterminalandtheAnalogInToCANCh0terminal.(NationalInstruments,2006)

• ConnectasecondjumperwirebetweentheFunctionGeneratorGenterminalandtheAnalogInToCANCh1terminal.(NationalInstruments,2006)

Figure10:Wiring(NationalInstruments,2006)

• Connect the DC power supply to the box. At power up, the box will begin transmitting theWAVEFORM0_SAW0_SWITCHES_FROM_CDBandWAVEFORM1_SAW1_FROM_CDBmessagesattheNI‐CANdefaultbaudrateof125K.(NationalInstruments,2006)

• Thisiswhatyourfinalsetupshouldlooklike.

Figure11:ProperlyConnectedHardware

• YoucanverifythattheCANmessagesarebeingtransmittedbyrunningtheBusMonitorintheMeasurement & Automation Explorer (MAX). To run the Bus Monitor, right‐click the portconnected to thePort connector on theNI CANDemoBox and select BusMonitor. (NationalInstruments,2006)

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Figure12:BusMonitor

LabVIEW

• StartLabVIEWanditwillopenawindowlabeled“GettingStarted.”Clickon“FindExamples.”

Figure13:LabVIEWWelcomeWindow

• Itwillopenanotherwindow“NIExampleFinder”inwhichthereisasearchfieldonthetopleft

corner.Searchfor“CAN.”Doubleclickthesearchresultsinthefieldbelow.SelectCANReceive.vifromthelistgiveninthecenter.

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Figure14:NIExampleFinder

• This will open the CAN Receive.vi, make sure you select CAN0 in the interface window and

changetheBaudrateto500000beforehittingrun(theright‐pointingarrow).

Figure15:CANReceive.viExample

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Figure16:DemoSetupwithCANReceive.virunningonthelaptop

SendingaFrametotheCANbuswithLabVIEW:

HardwareRequired:

Figure17:TerminationCable Figure18:NICANUSB‐8473

Procedure:HardwareConnections

• The connection between theNIUSB‐8473 andCANbus requires a termination cable. It is an essentialcomponent togetting thedata fromtheCANbus toyourPC.The terminationcablewillactasamale‐maleconverterbetweentheNIUSB‐8473andCANbusDB9terminals.

• TheNIUSB‐8473willconnecttoyourPCthroughtheUSBport.

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• Youwill connect themale DB9 terminal of your NI USB‐8473 to one of the female terminals on yourterminationcable.

• Theother female terminalof the termination cablewill be connected to themaleDB9 terminalof theCANbus.

LabVIEW

• StartLabVIEWanditwillopenawindowlabeled“GettingStarted.”Clickon“FindExamples.”

Figure19:LabVIEWWelcomeWindow[Uselatestversionavailable]

• Itwillopenanotherwindow“NIExampleFinder” inwhichthereisasearchfieldonthetopleftcorner.

Searchfor“CAN.”Doubleclickthesearchresultsinthefieldbelow.SelectCANTransmit–eventbased.vifromthelistgiveninthecenter.

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Figure20:NIExampleFinder

• ThiswillopentheCANTransmit–eventbased.viwithitsdefaultinputvalues.

Figure21:CANTransmit‐eventbased.vi

• Thisstepisthemostimportantanditneedstobefollowedcarefully.Theinterfaceneedstobechanged

toCAN0,theBaudratemustbe500000oryouwillnotbeabletocommunicatewiththeCANbusonthecaratall.

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Figure22:CANTransmit‐eventbased.viwithinterfaceandBaudratechanged

• AfterchangingthevaluesofinterfaceandBaudrate,youneedtochangethedatalengthandArbitrationId.Thechangesinthesetwovaluesdependonwhichfeatureyouwanttocontrol.Thefollowingtablewillassistyouinselectingthesevalues.

CANDemoBoxFunctions

Changesmaybeobserveddirectlyformostitemsifthedisplayisalreadyshowingtheaffectedmenuitem.

Function ArbitrationID[decimalval]

Databytes

Data

Ch0Dataout&Switches(Readonly)

0x710[1808]

3 2bytesofanalogdata,3rdbyte:XXS3S2S1S0XX

Ch1Dataout(Readonly)

0x720[1824]

3 2bytesofanalogdata,3rdbyte:0x00

StringRequest 0x730[1840]

0(ignored)

Ignored,butmakesureRTRisnotset.Boxreplieswithnextmessage.

StringResponse(Readonly)

0x740[1856]

6 6‐bytestringwithASCII“NI‐CAN”codes;replytoStringRequestcommand.

TransmitType 0x760[1888]

1 0‐Disableall1‐Waveform0,Sawtooth0,Switchesonly2‐Waveform1,Sawtooth1only3‐Enableall

DelayMultiplier 0x763[1891]

2 Delaybetweenanalogsamples:DelayMultiplierx200nsRange:0–65535Default:50,000(10ms)

BaudRateType(Canchangebutcan’tchangebackwithoutusingBoxmenu

buttons)

0x765[1893]

1 2‐125Kbps3‐250Kbps4‐500Kbps5‐1Mbps

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FunctionGeneratorOutput 0x766[1894]

1 0‐Sine1‐Square2‐Triangle

FunctionGeneratorFrequency 0x767[1895]

1 0to9‐0.1to1Hzin0.1Hzincrements9to18‐1to10Hzin1Hzincrements18to117‐10Hzto1kHzin10Hzincr.

LCDContrast 0x768[1896]

1 0‐Decreasecontrast1‐Increasecontrast

LCDMenu(DisplaysselectedmenuonDemoBoxLCDpanel)

0x769[1897]

1 0‐CANbaudrate1‐CANtransmitstatus2‐CAN/DAQ3‐Functiongeneratoroutput4‐Functiongeneratorfrequency5‐LCDcontrast6‐(clearscreen)7‐“HighSpeedCAN”message

• It is highly recommended that you start off with the simplest feature to control. It would berecommended that you try changing the displayed function generator frequency at Id 0x767. As anexample,tosendasingledatabyte(bytevalueof1)toadevicewhoseArbitrationIDis0x30thesettingwouldbe:

Figure23:ChangingArbitrationIdandDataLength[NewArbitrationIdshouldbe04]

• TheDatahas8inputsbutwhenyousettheDatalengthtobe1,itwilltakeonlythefirstinputandignoretherest.NowyoucanclickthebuttonwiththewhitearrowonitthatwillmaketheVIrun.Thedeviceat0x30canbeactivatedwhenyousetthefirstinputto1andclickWrite.Toturnitoffyouneedtochangetheinputto0andclickWriteoncemore.

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Figure24:RunningVIandChangingDatainput[NewArbitrationIdshouldbe04]

GettingtheDAQcardtalkingtoDAQassist:

[ThissectioncanonlybecompletedifaDAQCard‐6062Eisavailable,otherwiseitshouldbeskipped.Thispartof the procedure requires the use of FrameAPI for the CAN interface rather than Channel API. So far, only

ChannelAPIhasbeenimplemented.TheUSB‐8473convertersdonotsupportFrameAPI.ContinuewithUsingLabVIEWWiththeCANDemoBoxandAnalogSignalsonpage23.]

InorderforthecomputertorecognizetheDAQcard,weneedtoinserttheDAQcardfirstandinstallthedriverforit.Atthistimeofinstallation,IamusingLabVIEW8.5.1totalktotheDAQcard.Thedriverversionthatworked well talking to LabVIEW 8.5.1 was NI‐DAQmx 8.8, which can be downloaded from:http://ftp.ni.com/support/softlib/multifunction_daq/nidaqmx/8.8/nidaq880f2_downloader.exe

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Use the defaults setting to install this driver. Once the driver is finished installing, you can check by

clicking (NI MAX icon), click on “Devices and Interfaces ‐> Ni‐DAQmx Devices ‐> NI DAQCard‐6062E:“Dev1”,andchoose“TestPanels”attheuppercorner:

AndyoucantestthefunctionalityoftheDAQcard:

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Youcanalsogoto“Software”tocheckifthedriveriscorrectlyinstalled,andyouwillseethefollowing:Onceitisverified,youcanmaketheDAQtalkingtotheDAQassist.Thefollowingstepsarefollowed:

1) OpenLabVIEW2) PressCtrl+Ntocreatea“NewVI”3) ThenpressCTRL+E,(Window‐>ShowBlockDiagram),tobringtheBlockDiagram4) Rightclickanywhereontheblankspace,andpickthefirsticononthelistandyouwillseetheDAQassist

icon:

5) Choose“DAQAssist”,andyouneedtoplacetheDAQAssistandwillseeanInitializingdialog.

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6) Finally,youwillhavethefollowing:

7) Thenyouselecteither“AcquireSignals”or“GenerateSignals”tochoosethetoolyouneedlikeVoltage,temperature,Resistance,etc.

8) Click on Finished once you are done. And you will see another window of the kind of tool you have

selected.Inmycase:Ihavechose:AcquireSignals‐>AnalogInput‐>Voltage‐>ai0togetthefollowingwindows:

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CB‐68LP

To investigate further the useful feature of the DAQ card, we can use an Unshielded Screw TerminalBlocks,CB‐68LPthathas68pinstosimulatedifferentI/OsignalswiththeDAQcard.Toconnectcorrectlywiththepins,wecanlookatthereferencetablebelow:

TheimportantpinsthatareneededtomakethisterminalconnectorandtheDAQcardworkareindicated,andyoucanusetheTestPaneltosimulatethesignalswithdifferentinputnumbers.

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TOPIC:CANDEMOBOX,USB‐8473s,andDAQCARDSYNCHRONIZATION

Beforewestart: Inorder to accomplish thegoalof this guide,weneed the followingequipments:

CANdemobox,NIUSB‐8473s,DAQCard‐6062E,andcablesthatallowingconnectionbetweencomputerCANdemobox,andNIUSB‐8473s.

SpecialsetuponNIUSB‐8473s:Tomakethisdevicetowork,weneedtoputsomewiresbetweenthedemoboxanditself.Thewiresconfigurationisfollowed:

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Next,wegoto totestiftheDAQcardisfuctioningcorrecting.ThisisimportantbecausesometimesthecomputerdoesnotrecognizetheDAQcardandcauseproblemstohappen.

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OnceweknowthattheDAQcardisworkingcorrectly.WenowcanlaunchLabVIEW8.5,atthisstageiftestingLabVIEW8.6DOESNOTwork.Clickon“FindExamples ‐>Search ‐>Enterkeyword”,andwrite“CAN”,thenclickon“CANFrameAPIInputDAQmxInput.VI”.

Andyouwillseethefollowingwithoutanyproblems:

Ifyoucan’tseethepictureabove,thefollowingarethepossiblecausesthatwehaveencountered:

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1) TheLabVIEWversionshouldbethelatestavailable

2) ThecorrectwiringbetweenCANUSBandDemobox

3) TheDAQcardshouldbeinsertedandworkingproperly

WhenwegobacktoourLabVIEW,weonlyneedtoclick“RUN”or“CLT+R”,wecanseethatLabVIEWisreadingdatafromthedevices.Wealsonotedthedifferenttimesframesthatthedatawasacquired:

Youcanclickon“Window‐>ShowBlockDiagram”orCLT+Etoseehowthedeviceworks.

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UsingLabVIEWWiththeCANDemoBoxandAnalogSignals

ThispartofthelabprocedurewilluseNILabVIEWtoolstoobserveandplotanalogwaveformsgeneratedintheCANDemoBoxandsampledinthebox.ThedatasamplesaresentoutasCANframesonthebus.AVIwillbeusedtoreadthesamplesandcreateareal‐timeplotofthewaveforms.

[TheproceduresandVIssupportingtheanalogsignalsgeneratedbytheNICANDemoBoxanddisplayingthemingraphicalformarenotavailableyet.Thispartoftheexercisewillbeimplementedatalaterdate.]

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UsingLabVIEWWiththeModelCar

Thesecondpartofthe labprocedure involvesCANcommunicationswiththemodelcarstillusingtheLabVIEWtoolsandtwoVIsthatweredevelopedtoassistintheprocessofwritinganddebuggingCcodeontheC8051F040EVB.UseanyofthepreviousVIsaswellastwonewones(CAN‐sender‐MPS.viandCAN‐viewer‐MPS.vi).Thesearestrippeddownversionsthathavebeensimplifiedtobeeasiertouse.Beforegoingbacktothelabtocontinuetheprocedure,someofthefunctionsmaybecheckedoutheretoverifythecorrectoperationoftheRCcaranditsresponsetocommands.ThefollowingtablesummarizestheCANIDstowhichthecarwillrespond.

RCCarFunctions

Function ArbitrationID Datalength

Data

Headlights 0x01 1 Byte0:0=Off,1=On

Leftturnsignal 0x02 1 Byte0:0=Off,1=On

Rightturnsignal 0x03 1 Byte0:0=Off,1=On

Horn 0x04 1 Byte0:0=Off,1=On

DriveMotorDAC 0x05 2 Byte1,Byte0:12‐bitvalue(0‐4095/0‐0xFFF)

SteeringServoPWM 0x06 2 Byte1,Byte0:16‐bitvalue(850‐2150)

(Windshieldwiper) 0x20 1 Byte0:0=Off,1=On

RCCarStatusReplies

Function ArbitrationID Datalength

Data

MotorTemperature 0x07 2 Byte1,Byte0:12‐bitvalue(0‐4095/0‐0xFFF)

WheelRPM 0x08 2 Byte1,Byte0:12‐bitvalue(0‐1400/0‐0x578)

MotorCurrent 0x09 2 Byte1,Byte0:12‐bitvalue(0‐4095/0‐0xFFF)

LeftTurnSignalStatus 0x0A 1 Byte0:0=Off,0xFF=On

RightTurnSignalStatus 0x0B 1 Byte0:0=Off,0xFF=On

WorksCitedNationalInstruments.(2006,October).NI‐CANHardwareandSoftwareManual.

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