Alcom PCAN-GPS FD Programmable Sensor Module User Manual Specifications

: May 15, 2024
: Alcom

Table of Contents

PCAN-GPS FD Programmable Sensor Module
Specifications
Product Usage Instructions
1. Introduction
2. Hardware Configuration
3. Operation
4. Creating Own Firmware
5. Firmware Upload
- FAQ
Q: Can I modify the behavior of the PCAN-GPS FD for my specific
Q: How do I start the PCAN-GPS FD?
Q: What sensors are included in the PCAN-GPS FD?

PCAN-GPS FD Programmable Sensor Module

Specifications

Product Name: PCAN-GPS FD
Part Number: IPEH-003110
Microcontroller: NXP LPC54618 with Arm Cortex M4 core
CAN Connection: High-speed CAN connection (ISO 11898-2)
CAN Specifications: Complies with CAN specifications 2.0 A/B
and FD
CAN FD Bit Rates: Data field supports up to 64 bytes at rates
from 40 kbit/s to 10 Mbit/s
CAN Bit Rates: Supports rates from 40 kbit/s to 1 Mbit/s
CAN Transceiver: NXP TJA1043
Wake-up: Can be triggered by CAN bus or separate input
Receiver: u-blox MAX-M10S for navigation satellites

Product Usage Instructions

1. Introduction

The PCAN-GPS FD is a programmable sensor module designed for
position and orientation determination with a CAN FD connection. It
includes a satellite receiver, a magnetic field sensor, an
accelerometer, and a gyroscope. The NXP microcontroller LPC54618
processes sensor data and transmits it via CAN or CAN FD.

2. Hardware Configuration

Configure the hardware by adjusting the coding solder jumpers,
activating CAN termination if needed, and ensuring the buffer
battery for GNSS is in place.

3. Operation

To start the PCAN-GPS FD, follow the instructions provided in
the manual. Pay attention to the status LEDs to monitor the
device’s operation. The module can enter sleep mode when not in
use, and wake-up can be initiated through specific triggers.

4. Creating Own Firmware

The PCAN-GPS FD allows for programming custom firmware tailored
to specific applications. Utilize the provided development package
with GNU compiler for C and C++ to create and upload your firmware
to the module via CAN.

5. Firmware Upload

Ensure your system meets the requirements for firmware upload,
prepare the hardware accordingly, and proceed with transferring the
firmware to the PCAN-GPS FD.

FAQ

Q: Can I modify the behavior of the PCAN-GPS FD for my specific

needs?

A: Yes, the PCAN-GPS FD allows for programming of custom
firmware to adapt its behavior for different applications.

Q: How do I start the PCAN-GPS FD?

A: To start the PCAN-GPS FD, refer to the user manual for
detailed instructions on initialization.

Q: What sensors are included in the PCAN-GPS FD?

A: The PCAN-GPS FD features a satellite receiver, a magnetic
field sensor, an accelerometer, and a gyroscope for comprehensive
data collection.

V2/24
PCAN-GPS FD
User Manual
User Manual 1.0.2 © 2023 PEAK-System Technik GmbH

Relevant Product
Product name PCAN-GPS FD

Part number IPEH-003110

Imprint
PCAN is a registered trademark of PEAK-System Technik GmbH.
All other product names in this document may be the trademarks or registered trademarks of their respective companies. They are not explicitly marked by TM or ®.
© 2023 PEAK-System Technik GmbH
Duplication (copying, printing, or other forms) and the electronic distribution of this document is only allowed with explicit permission of PEAK-System Technik GmbH. PEAK-System Technik GmbH reserves the right to change technical data without prior announcement. The general business conditions and the regulations of the license agreement apply. All rights are reserved.
PEAK-System Technik GmbH Otto-Röhm-Straße 69 64293 Darmstadt Germany
Phone: +49 6151 8173-20 Fax: +49 6151 8173-29
www.peak-system.com [email protected]
Document version 1.0.2 (2023-12-21)

Relevant Product PCAN-GPS FD

2

Contents

Imprint

2

Relevant Product

2

Contents

3

1 Introduction

5

1.1 Properties at a Glance

6

1.2 Scope of Supply

7

1.3 Prerequisites

7

2 Description of the Sensors

8

2.1 Receiver for Navigation Satellites (GNSS)

8

2.2 3D Accelerometer and 3D Gyroscope

9

2.3 3D Magnetic Field Sensor

11

3 Connectors

13

3.1 Spring Terminal Strip

14

3.2 SMA Antenna Connector

15

4 Hardware Configuration

16

4.1 Coding Solder Jumpers

16

4.2 Internal Termination

18

4.3 Buffer Battery for GNSS

19

5 Operation

21

5.1 Starting the PCAN-GPS FD

21

5.2 Status LEDs

21

5.3 Sleep Mode

22

5.4 Wake-up

22

6 Creating Own Firmware

24

6.1 Library

26

7 Firmware Upload

27

7.1 System Requirements

27

Contents PCAN-GPS FD

3

7.2 Preparing Hardware

27

7.3 Firmware Transfer

29

8 Technical Data

32

Appendix A CE Certificate

38

Appendix B UKCA Certificate

39

Appendix C Dimension Drawing

40

Appendix D CAN Messages of the Standard Firmware

41

D.1 CAN Messages from the PCAN-GPS FD

42

D.2 CAN Messages to the PCAN-GPS FD

46

Appendix E Data Sheets

48

Appendix F Disposal

49

Contents PCAN-GPS FD

4

1 Introduction
The PCAN-GPS FD is a programmable sensor module for position and orientation determination with CAN FD connection. It has a satellite receiver, a magnetic field sensor, an accelerometer, and a gyroscope. Incoming sensor data is processed by the NXP microcontroller LPC54618 and then transmitted via CAN or CAN FD.
The behavior of the PCAN-GPS FD can be programmed freely for specific applications. The firmware is created using the included development package with GNU compiler for C and C++ and is then transferred to the module via CAN. Various programming examples facilitate the implementation of own solutions.
On delivery, the PCAN-GPS FD is provided with a standard firmware that transmits the raw data of the sensors periodically on the CAN bus.

1 Introduction PCAN-GPS FD

5

1.1 Properties at a Glance
NXP LPC54618 microcontroller with Arm Cortex M4 core High-speed CAN connection (ISO 11898-2)
Complies with CAN specifications 2.0 A/B and FD CAN FD bit rates for the data field (64 bytes max.) from 40 kbit/s up to 10 Mbit/s CAN bit rates from 40 kbit/s up to 1 Mbit/s NXP TJA1043 CAN transceiver CAN termination can be activated through solder jumpers Wake-up by CAN bus or by separate input Receiver for navigation satellites u-blox MAX-M10S
Supported navigation and supplementary systems: GPS, Galileo, BeiDou, GLONASS, SBAS, and QZSS Simultaneous reception of 3 navigation systems 3.3 V supply of active GPS antennas Electronic three-axis magnetic field sensor IIS2MDC from ST Gyroscope and three-axis accelerometer ISM330DLC from ST 8 MByte QSPI flash 3 digital I/Os, each usable as input (High-active) or output with Low-side switch LEDs for status signaling Connection via a 10-pole terminal strip (Phoenix) Voltage supply from 8 to 32 V Button cell for preserving the RTC and the GPS data to shorten the TTFF (Time To First Fix) Extended operating temperature range from -40 to +85 °C (-40 to +185 °F) (with exception of the button cell) New firmware can be loaded via CAN interface

1 Introduction PCAN-GPS FD

6

1.2 Scope of Supply
PCAN-GPS FD in plastic casing including Mating connector: Phoenix Contact FMC 1,5/10-ST-3,5 – 1952348 External antenna for satellite reception
Download Windows development package with: GCC ARM Embedded Flash program Programming examples Manual in PDF format
1.3 Prerequisites
Power supply in the range of 8 to 32 V DC For uploading the firmware via CAN:
CAN interface of the PCAN series for the computer (e.g. PCAN-USB) Operating system Windows 11 (x64/ARM64), 10 (x86/x64)

1 Introduction PCAN-GPS FD

7

2 Description of the Sensors
This chapter describes the characteristics of the sensors that are used in the PCAN-GPS FD in short form and gives instructions for use. For additional information about the sensors, see chapter 8 Technical Data and the data sheets of the respective manufacturers in Appendix E Data Sheets.
2.1 Receiver for Navigation Satellites (GNSS)
The u-blox MAX-M10S receiver module provides exceptional sensitivity and acquisition time for all L1 GNSS signals and is designed for the following global navigation satellite systems (GNSS):
GPS (USA) Galileo (Europe) BeiDou (China) GLONASS (Russia)
Furthermore, the following satellite-based supplementary systems can be received:
QZSS (Japan) SBAS (EGNOS, GAGAN, MSAS, and WAAS)
The receiver module supports simultaneous reception of three navigation satellite systems and the supplementary systems. A total of up to 32 satellites can be tracked simultaneously. The use of the supplementary systems requires an active GPS. At delivery, the PCAN-GPS FD receives GPS, Galileo, BeiDou as well as QZSS and SBAS simultaneously. The navigation satellite system used can be adapted by the user during runtime. The possible combinations can be seen in Appendix E Data Sheets.

2 Description of the Sensors PCAN-GPS FD

8

To receive a satellite signal, an external antenna must be connected to the SMA socket. Both passive and active antennas can be used. An active antenna is included in the scope of supply. On the sensor side, the antenna is monitored for short circuits. If a short circuit is detected, the voltage supply to the external antenna is interrupted to prevent damage to the PCAN-GPS FD.
For a faster position determination after switching on the PCAN-GPS FD, the internal RTC and the internal backup RAM can be supplied with the button cell. This requires a hardware modification (see section 4.3 Buffer Battery for GNSS).
Further and detailed information can be found in Appendix E Data Sheets.
2.2 3D Accelerometer and 3D Gyroscope
The STMicroelectronics ISM330DLC sensor module is a multi-chip module with a high-performance digital 3D accelerometer, a digital 3D gyroscope, and a temperature sensor. The sensor module measures the acceleration along the X, Y, and Z axes as well as the rotation rate around them.
In a steady state on a horizontal surface, the acceleration sensor measures 0 g on the X and Y axes. On the Z-axis it measures 1 g due to the gravitational acceleration.
The output of the values for acceleration and rotation rate can be scaled in predefined steps via the value range.

2 Description of the Sensors PCAN-GPS FD

9

Gyroscope axes in relation to the PCAN-GPS FD casing Z: yaw, X: roll, Y: pitch

Axes of the acceleration sensor in relation to the PCAN-GPS FD casing

2 Description of the Sensors PCAN-GPS FD

10

For measurement accuracy, various filters are connected in series, consisting of an analog anti-aliasing low-pass filter with a cutoff frequency dependent on the output data rate (ODR), an ADC converter, an adjustable digital low- pass filter, and a composite group of selectable, adjustable digital filters.
The gyroscope filter chain is a series connection of three filters, consisting of a selectable, adjustable digital high-pass filter (HPF), a selectable, adjustable digital low-pass filter (LPF1), and a digital low-pass filter (LPF2), whose cut-off frequency depends on the selected output data rate (ODR).
The sensor has two configurable interrupt outputs connected to the microcontroller (INT1 and INT2). Different interrupt signals can be applied here.
Further and detailed information can be found in Appendix E Data Sheets.
2.3 3D Magnetic Field Sensor
The STMicroelectronics IIS2MDC magnetic field sensor is used to determine the position in a magnetic field (e.g. earth’s magnetic field). Its dynamic range is ±50 Gauss.

2 Description of the Sensors PCAN-GPS FD

11

Axes of the magnetic field sensor in relation to the PCAN-GPS FD casing
The sensor includes a selectable digital low-pass filter to reduce noise. In addition, hard-iron errors can be automatically compensated using configurable offset values. This is necessary if a magnet is placed in the immediate vicinity of the sensor, which permanently affects the sensor. Apart from this, the magnetic field sensor is factory calibrated at delivery and does not require any offset correction. The required calibration parameters are stored in the sensor itself. Each time the sensor is restarted, this data is retrieved and the sensor recalibrates itself.
The sensor has an interrupt output that is connected to the microcontroller and can generate an interrupt signal when new sensor data is available.
Further and detailed information can be found in Appendix E Data Sheets.

2 Description of the Sensors PCAN-GPS FD

12

3 Connectors

PCAN-GPS FD with a 10-pole terminal strip (Phoenix), a SMA antenna connector, and 2 status LEDs

3 Connectors PCAN-GPS FD

13

3.1 Spring Terminal Strip

Terminal 1 2 3 4 5 6 7 8 9 10

Spring terminal strip with 3.5 mm pitch (Phoenix Contact FMC 1,5/10-ST-3,5 – 1952348)

Identifier Vb GND CAN_Low CAN_High DIO_0 DIO_1 Boot CAN GND Wake-up DIO_2

Function Power supply 8 to 32 V DC, e.g. car terminal 30, reverse-polarity protection Ground Differential CAN signal
Can be used as input (High-active) or output with Low-side switch Can be used as input (High-active) or output with Low-side switch CAN bootloader activation, High-active Ground External wake-up signal, High-active, e.g. car terminal 15 Can be used as input (High-active) or output with Low-side switch

3 Connectors PCAN-GPS FD

14

3.2 SMA Antenna Connector
An external antenna must be connected to the SMA socket for the reception of satellite signals. Both passive and active antennas are suitable. For an active antenna, a supply of 3.3 V with at most 50 mA can be switched through the GNSS receiver.
The scope of supply provides an active antenna which can receive the navigation systems GPS, Galileo, and BeiDou with QZSS and SBAS by factory default of the PCAN-GPS FD.

3 Connectors PCAN-GPS FD

15

4 Hardware Configuration
For special applications, several settings can be done on the circuit board of the PCAN-GPS FD by using solder bridges:
Coding solder bridges for polling by the firmware Internal termination Buffer battery for satellite reception

4.1 Coding Solder Jumpers
The circuit board has four coding solder bridges to assign a permanent state to the corresponding input bits of the microcontroller. The four positions for coding solder bridges (ID 0 – 3) are each assigned to one port of the microcontroller LPC54618J512ET180 (C). A bit is set (1) if the corresponding solder field is open.
The status of the ports is relevant in the following cases:
The loaded firmware is programmed so that it reads the status at the corresponding ports of the microcontroller. For example, the activation of certain functions of the firmware or the coding of an ID is conceivable here.
For a firmware update via CAN, the PCAN-GPS FD module is identified by a 4-bit ID which is determined by solder jumpers. A bit is set (1) when the corresponding solder field is open (default setting: ID 15, all solder fields open).

Solder field Binary digit Decimal equivalent

ID0 0001 1

ID1 0010 2

ID2 0100 4

ID3 1000 8

See chapter 7 Firmware Upload for more information.

4 Hardware Configuration PCAN-GPS FD

16

Activate coding solder bridges:
Risk of short circuit! Soldering on the PCAN-GPS FD may only be performed by qualified electrical engineering personnel.
Attention! Electrostatic discharge (ESD) can damage or destroy components on the card. Take precautions to avoid ESD.
1. Disconnect the PCAN-GPS FD from the power supply. 2. Remove the two screws on the housing flange. 3. Remove the cover under consideration of the antenna connection. 4. Solder the solder bridge(s) on the board according to the desired setting.

Solder field status

Port status High Low

Solder fields 0 to 3 for the ID on the board
5. Put the housing cover back in place according to the recess of the antenna connection.
6. Screw the two screws back onto the housing flange.

4 Hardware Configuration PCAN-GPS FD

17

4.2 Internal Termination
If the PCAN-GPS FD is connected to one end of a CAN bus and if there is no termination of the CAN bus yet, an internal termination with 120 between the lines CAN-High and CAN-Low can be activated. Termination is possible independently for both CAN channels.
Tip: We recommend adding termination at the CAN cabling, for example with termination adapters (e.g. PCAN-Term). Thus, CAN nodes can be flexibly connected to the bus.
Activate the internal termination:
Risk of short circuit! Soldering on the PCAN-GPS FD may only be performed by qualified electrical engineering personnel.
Attention! Electrostatic discharge (ESD) can damage or destroy components on the card. Take precautions to avoid ESD.
1. Disconnect the PCAN-GPS FD from the power supply. 2. Remove the two screws on the housing flange. 3. Remove the cover under consideration of the antenna connection.

4 Hardware Configuration PCAN-GPS FD

18

4. Solder the solder bridge(s) on the board according to the desired setting.

Solder fields Term. for the termination of the CAN channel

CAN channel

Without termination (Default)

With termination

5. Put the housing cover back in place according to the recess of the antenna connection.
6. Screw the two screws back onto the housing flange.

4.3 Buffer Battery for GNSS
The receiver for navigation satellites (GNSS) needs about half a minute until the first position fix after switching on the PCAN-GPS FD module. To shorten this period, the button cell can be used as a buffer battery for a quick start of the GNSS receiver. However, this will shorten the life of the button cell.

4 Hardware Configuration PCAN-GPS FD

19

Activate quick start via buffer battery: Risk of short circuit! Soldering on the PCAN-GPS FD may only be performed by qualified electrical engineering personnel.
Attention! Electrostatic discharge (ESD) can damage or destroy components on the card. Take precautions to avoid ESD.
1. Disconnect the PCAN-GPS FD from the power supply. 2. Remove the two screws on the housing flange. 3. Remove the cover under consideration of the antenna connection. 4. Solder the solder bridge(s) on the board according to the desired setting.
Solder field status Port status Default: quick start of the GNSS receiver is not activated. Quick start of the GNSS receiver is activated.
Solder field Vgps on the circuit board
5. Put the housing cover back in place according to the recess of the antenna connection.
6. Screw the two screws back onto the housing flange.

4 Hardware Configuration PCAN-GPS FD

20

5 Operation
5.1 Starting the PCAN-GPS FD
The PCAN-GPS FD is activated by applying the supply voltage to the respective ports, see section 3.1 Spring Terminal Strip. The firmware in the flash memory is subsequently run.
At delivery, the PCAN-GPS FD is provided with a standard firmware. In addition to the supply voltage, a wake-up signal is required for its start-up, see section 5.4 Wake-up. The standard firmware periodically transmits the raw values measured by the sensors with a CAN bit rate of 500 kbit/s. In Appendix D CAN Messages of the Standard Firmware is a list of the used CAN messages.

5.2 Status LEDs
The PCAN-GPS FD has two status LEDs that can be green, red, or orange. The status LEDs are controlled by the running firmware.
If the PCAN-GPS FD module is in CAN bootloader mode which is used for a firmware update (see chapter 7 Firmware Upload), the two LEDs are in the following state:

LED Status 1 Status 2

Status quickly blinking glowing

Color orange orange

5 Operation PCAN-GPS FD

21

5.3 Sleep Mode
The PCAN-GPS FD can be put into a sleep mode. When programming your own firmware, you can trigger the sleep mode by a CAN message or a timeout. Thereby no high level may be present at pin 9, Wake-up. In sleep mode, the power supply for most of the electronics in the PCAN-GPS FD is switched off and the current consumption is reduced to 175 µA with simultaneous RTC and GPS operation. The sleep mode can be terminated via different wake-up signals. More about this can be found in the following section 5.4 Wake-up. The standard firmware installed at delivery puts the PCAN-GPS FD into sleep mode after a timeout of 5 s. Timeout refers to the time passed since the last CAN message was received.
5.4 Wake-up
If the PCAN-GPS FD is in sleep mode, a wake-up signal is required for the PCAN-GPS FD to turn on again. The PCAN-GPS FD needs 16.5 ms for a wake-up. The following subsections show the possibilities.
5.4.1 Wake-up by external High Level
Via pin 9 of the connector strip (see section 3.1 Spring Terminal Strip), a high level (at least 8 V) can be applied over the entire voltage range in order to turn on the PCAN-GPS FD.
Note: As long as a voltage is present at the wake-up pin, it is not possible to turn off the PCAN-GPS FD.

5 Operation PCAN-GPS FD

22

5.4.2 Wake-up via CAN
When receiving any CAN message, the PCAN-GPS FD will turn on again.

5 Operation PCAN-GPS FD

23

6 Creating Own Firmware
With the help of the PEAK-DevPack development package, you can program your own application-specific firmware for PEAK-System programmable hardware products. For each supported product, examples are included. On delivery, the PCAN-GPS FD is provided with a standard firmware that transmits the raw data of the sensors periodically on the CAN bus. The source code of the firmware is available as example 00_Standard_Firmware.
Note: The example of the standard firmware contains a PCAN-Explorer project for the sensor data presentation. The PCAN-Explorer is a professional Windows software for working with CAN and CAN FD buses. A license of the software is required to use the project.
System requirements:
Computer with operating system Windows 11 (x64), 10 (x86/x64) CAN interface of the PCAN series to upload the firmware to your hardware via CAN
Download of the development package: www.peak-system.com/quick/DLP-DevPack
Content of the package:
Build Tools Win32 Tools for automating the build process for Windows 32-bit Build Tools Win64 Tools for automating the build process for Windows 64-bit Compiler Compilers for the supported programmable products

6 Creating Own Firmware PCAN-GPS FD

24

Debug
OpenOCD and configuration files for hardware which supports debugging VBScript SetDebug_for_VSCode.vbs to modify the example directories for the Visual Studio Code IDE with Cortex-debug Detailed information about debugging in the enclosed documentation of the PEAK-DevPack Debug Adapter Hardware Sub directories with firmware examples for supported hardware. Use the examples for starting your own firmware development. PEAK-Flash Windows software for uploading the firmware to your hardware via CAN LiesMich.txt and ReadMe.txt Short documentation how to work with the development package in German and English SetPath_for_VSCode.vbs VBScript to modify the example directories for the Visual Studio Code IDE
Creating your own firmware:
1. Create a folder on your computer. We recommend using a local drive. 2. Unzip the development package PEAK-DevPack.zip completely into the
folder. No installation is required. 3. Run the script SetPath_for_VSCode.vbs.
This script will modify the example directories for the Visual Studio Code IDE. Afterwards, each example directory has a folder called .vscode containing the needed files with your local path information. 4. Start Visual Studio Code. The IDE is available free of charge from Microsoft: https://code.visualstudio.com. 5. Select the folder of your project and open it. For example: d:PEAK-DevPackHardwarePCAN-GPS_FDExamples3_Timer.

6 Creating Own Firmware PCAN-GPS FD

25

6. You can edit the C code and use the menu Terminal > Run Task to call make clean, make all, or to compile a single file.
7. Create your firmware with make all. The firmware is the .bin file in the out sub directory of your project folder.
8. Prepare your hardware for firmware upload like described in section 7.2 Preparing Hardware.
9. Use the PEAK-Flash tool to upload your firmware to the device via CAN.
The tool is either started via the menu Terminal > Run Task > Flash Device or from the sub directory of the development package. Section 7.3 Firmware Transfer describes the process. A CAN interface of the PCAN series is required.
6.1 Library
The development of applications for the PCAN-GPS FD is supported by the library libpeak_gps_fd.a ( stands for version number), a binary file. You can access all resources of the PCAN-GPS FD by means of this library. The library is documented in the header files (*.h) which are located in the inc sub directory of each example directory.

6 Creating Own Firmware PCAN-GPS FD

26

7 Firmware Upload
The microcontroller in the PCAN-GPS FD is equipped with new firmware via CAN. The firmware is uploaded via a CAN bus with the Windows software PEAK-Flash.
7.1 System Requirements
CAN interface of the PCAN series for the computer, for example PCAN-USB CAN cabling between the CAN interface and the module with correct termination at both ends of the CAN bus with 120 Ohm each. Operating system Windows 11 (x64/ARM64), 10 (x86/x64) If you want to update several PCAN-GPS FD modules on the same CAN bus with new firmware, you must assign an ID to each module. See section 4.1 Coding Solder Jumpers.
7.2 Preparing Hardware
For an firmware upload via CAN, the CAN bootloader of the PCAN-GPS FD must be activated. Activating CAN Bootloader:
Attention! Electrostatic discharge (ESD) can damage or destroy components on the card. Take precautions to avoid ESD.

7 Firmware Upload PCAN-GPS FD

27

1. Disconnect the PCAN-GPS FD from the power supply. 2. Establish a connection between Boot and the power supply Vb.

Connection at the spring terminal strip between terminals 1 and 7

Because of that, a High level is later applied to the Boot connection.
3. Connect the CAN bus of the module with a CAN interface connected to the computer. Pay attention to the proper termination of the CAN cabling (2 x 120 Ohm).
4. Reconnect the power supply. Due to the High level at the Boot connection, the PCAN-GPS FD starts the CAN bootloader. This can be determined by the status LEDs:

LED Status 1 Status 2

Status quickly blinking glowing

Color orange orange

7 Firmware Upload PCAN-GPS FD

28

7.3 Firmware Transfer
A new firmware version can be transferred to the PCAN-GPS FD. The firmware is uploaded via a CAN bus using the Windows software PEAK-Flash.
Transfer firmware with PEAK-Flash: The software PEAK-Flash is included in the development package, which can be downloaded via the following link: www.peak- system.com/quick/DLP-DevPack
1. Open the zip file and extract it to your local storage medium. 2. Run the PEAK-Flash.exe.
The main window of PEAK-Flash appears.

7 Firmware Upload PCAN-GPS FD

29

3. Click the button Next. The Select Hardware window appears.

4. Click on the Modules connected to the CAN bus radio button.
5. In the drop-down menu Channels of connected CAN hardware, select a CAN interface connected to the computer.
6. In the drop-down menu Bit rate, select the nominal bit rate 500 kbit/s.
7. Click on Detect. In the list, the PCAN-GPS FD appears together with the Module ID and Firmware version. If not, check whether a proper connection to the CAN bus with the appropriate nominal bit rate exists.

7 Firmware Upload PCAN-GPS FD

30

8. Click Next. The Select Firmware window appears.

9. Select the Firmware File radio button and click Browse. 10. Select the corresponding file (*.bin). 11. Click Next.
The Ready to Flash dialog appears. 12. Click Start to transfer the new firmware to the PCAN-GPS FD.
The Flashing dialog appears. 13. After the process is complete, click Next. 14. You can exit the program. 15. Disconnect the PCAN-GPS FD from the power supply. 16. Remove the connection between Boot and the power supply Vb. 17. Connect the PCAN-GPS FD to the power supply.
You can now use the PCAN-GPS FD with the new firmware.

7 Firmware Upload PCAN-GPS FD

31

8 Technical Data

Power supply Supply voltage Current consumption normal operation
Current consumption sleep
Button cell for RTC (and GNSS if required)

8 to 32 V DC
8 V: 50 mA 12 V: 35 mA 24 V: 20 mA 30 V: 17 mA
140 µA (RTC only) 175 µA (RTC and GPS)
Type CR2032, 3 V, 220 mAh
Operating time without power supply of the PCAN-GPS FD: Only RTC approx. 13 years Only GPS approx. 9 month With RTC and GPS approx. 9 month

Note: Pay attention to the operating temperature range of the inserted button cell.

Connectors Spring terminal strip
Antenna

10-pole, 3.5 mm pitch (Phoenix Contact FMC 1,5/10-ST-3,5 – 1952348)
SMA (Sub Miniature version A) Supply for active antenna: 3.3 V, max. 50 mA

8 Technical Data PCAN-GPS FD

32

CAN (FD) Protocols Physical transmission CAN bit rates CAN FD bit rates
Transceiver Internal termination Listen-only mode

CAN FD ISO 11898-1:2015, CAN FD non-ISO, CAN 2.0 A/B

ISO 11898-2 (High-speed CAN)

Nominal: 40 kbit/s to 1 Mbit/s

Data:

40 kbit/s to 10 Mbit/s1

NXP TJA1043, wake-up capable

via solder bridges, not activated at delivery

Programmable; not activated at delivery

1 According to the CAN transceiver data sheet, only CAN FD bit rates up to 5 Mbit/s are guaranteed with the specified timing.

Receiver for navigation satellites (GNSS)

Type

u-blox MAX-M10S

Receivable navigation systems

GPS, Galileo, BeiDou, GLONASS, QZSS, SBAS Note: The standard firmware uses GPS, Galileo, and BeiDou.

Connection to microcontroller

Serial connection (UART 6) with 9600 Baud 8N1 (default) Input for synchronization pulses (ExtInt) Output of timing pulses 1PPS (0.25 Hz to 10 MHz, configurable)

Operating modes

Continuous mode Power-save mode

Antenna type

active or passive

Protective circuit antenna Monitoring of the antenna current on short circuit with error message

Maximum update rate of navigation data

Up to 10 Hz (4 concurrent GNSS) Up to 18 Hz (single GNSS) Note: The manufacturer of the u-blox M10 allows up to 25 Hz (single GNSS) with an irreversible configuration. You can perform this modification on your own responsibility. However, we do not offer support for it.

8 Technical Data PCAN-GPS FD

33

Receiver for navigation satellites (GNSS)

Maximum number of

32

satellites received at the

same time

Sensitivity

max. -166 dbm (tracking and navigation)

Time to first position fix after cold start (TTFF)

approx. 30 s

Accuracy of the position values

GPS (Concurrent): 1.5 m Galileo: 3 m BeiDou: 2 m GLONASS: 4 m

Supply for active antenna 3.3 V, max. 50 mA, switchable

Antenna for satellite reception (in scope of supply )

Type

taoglas Ulysses AA.162

Center frequency range

1574 to 1610 MHz

Receivable systems

GPS, Galileo, BeiDou, GLONASS

Operating temperature range -40 to +85 °C (-40 to +185 °F)

Size

40 x 38 x 10 mm

Cable length

approx. 3 m

Weight

59 g

Special feature

Integrated magnet for mounting

3D gyroscope Type Connection to microcontroller Axes Measuring ranges

ST ISM330DLC SPI
roll (X), pitch (Y), yaw (Z) ±125, ±250, ±500, ±1000, ±2000 dps (degrees per second)

8 Technical Data PCAN-GPS FD

34

3D gyroscope Data format Output data rate (ODR)
Filter possibilities Power saving mode Operating modes

16 bits, two’s complement 12,5 Hz, 26 Hz, 52 Hz, 104 Hz, 208 Hz, 416 Hz, 833 Hz, 1666 Hz, 3332 Hz, 6664 Hz Configurable digital filter chain Power-down Low-power, Normal, and High-performance mode

3D acceleration sensor Type Connection to microcontroller Measuring ranges Data format Filter possibilities Operating modes Correction options

ST ISM330DLC SPI
±2, ±4, ±8, ±16 G 16 bits, two’s complement Configurable digital filter chain Power-down, Low-power, Normal, and High-performance mode Offset compensation

3D magnetic field sensor

Type

ST IIS2MDC

Connection to microcontroller I2C direct connection

Sensitivity Data format Filter possibilities Output data rate (ODR) Operating modes

±49.152 Gauss (±4915µT) 16 bits, two’s complement Configurable digital filter chain 10 to 150 measurements per second Idle, Continous, and Single mode

8 Technical Data PCAN-GPS FD

35

Digital inputs Count Switch type Max. input frequency Max. voltage Switching thresholds
Internal resistance

3 High-active (internal pull-down), inverting 3 kHz 60 V High: Uin 2.6 V Low: Uin 1.3 V > 33 k

Digital outputs Count Type Max. voltage Max. current Short-circuit current Internal resistance

3 Low-side driver 60 V 0.7 A 1A 0.55 k

Microcontroller Type Clock frequency quartz Clock frequency internally Memory
Firmware upload

NXP LPC54618J512ET180, Arm-Cortex-M4-Core
12 MHz
max. 180 MHz (programmable by PLL)
512 kByte MCU Flash (Program) 2 kByte EEPROM 8 MByte QSPI Flash
via CAN (PCAN interface required)

8 Technical Data PCAN-GPS FD

36

Measures Size Weight

68 x 57 x 25.5 mm (W x D x H) (without SMA connector)

Circuit board: 27 g (incl. button cell and mating connector)

Casing:

17 g

Environment

Operating temperature

-40 to +85 °C (-40 to +185 °F) (except button cell) Button cell (typical): -20 to +60 °C (-5 to +140 °F)

Temperature for storage and -40 to +85 °C (-40 to +185 °F) (except button cell)

transport

Button cell (typical): -40 to +70 °C (-40 to +160 °F)

Relative humidity

15 to 90 %, not condensing

Ingress protection

IP20

(IEC 60529)

Conformity RoHS 2
EMC

EU Directive 2011/65/EU (RoHS 2) + 2015/863/EU DIN EN IEC 63000:2019-05
EU Directive 2014/30/EU DIN EN 61326-1:2022-11

8 Technical Data PCAN-GPS FD

37

Appendix A CE Certificate

EU Declaration of Conformity

This declaration applies to the following product:

Product name:

PCAN-GPS FD

Item number(s):

IPEH-003110

Manufacturer:

PEAK-System Technik GmbH Otto-Röhm-Straße 69 64293 Darmstadt Germany

We declare under our sole responsibility that the mentioned product is in conformity with the following directives and the affiliated harmonized standards:

EU Directive 2011/65/EU (RoHS 2) + 2015/863/EU (amended list of restricted substances) DIN EN IEC 63000:2019-05 Technical documentation for the assessment of electrical and electronic products with respect to the restriction of hazardous substances (IEC 63000:2016); German version of EN IEC 63000:2018
EU Directive 2014/30/EU (Electromagnetic Compatibility) DIN EN 61326-1:2022-11 Electrical equipment for measurement, control and laboratory use – EMC requirements – Part 1: General requirements (IEC 61326-1:2020); German version of EN IEC 61326-1:2021
Darmstadt, 26 October 2023

Uwe Wilhelm, Managing Director

Appendix A CE Certificate PCAN-GPS FD

38

Appendix B UKCA Certificate

UK Declaration of Conformity

This declaration applies to the following product:

Product name:

PCAN-GPS FD

Item number(s):

IPEH-003110

Manufacturer: PEAK-System Technik GmbH Otto-Röhm-Straße 69 64293 Darmstadt Germany

UK authorized representative: Control Technologies UK Ltd Unit 1, Stoke Mill, Mill Road, Sharnbrook, Bedfordshire, MK44 1NN, UK

We declare under our sole responsibility that the mentioned product is in conformity with the following UK legislations and the affiliated harmonized standards:

The Restriction of the Use of Certain Hazardous Substances in Electrical and Electronic Equipment Regulations 2012 DIN EN IEC 63000:2019-05 Technical documentation for the assessment of electrical and electronic products with respect to the restriction of hazardous substances (IEC 63000:2016); German version of EN IEC 63000:2018
Electromagnetic Compatibility Regulations 2016 DIN EN 61326-1:2022-11 Electrical equipment for measurement, control and laboratory use – EMC requirements – Part 1: General requirements (IEC 61326-1:2020); German version of EN IEC 61326-1:2021

Darmstadt, 26 October 2023

Uwe Wilhelm, Managing Director

Appendix B UKCA Certificate PCAN-GPS FD

39

Appendix C Dimension Drawing

Appendix C Dimension Drawing PCAN-GPS FD

40

Appendix D CAN Messages of the Standard Firmware
The following two tables apply to the standard firmware which is provided with the PCAN-GPS FD at delivery. They list the CAN messages that, on the one hand, are transmitted periodically by the PCAN-GPS FD (600h to 630h) and, on the other hand, can be used to control the PCAN-GPS FD (650h to 658h). The CAN messages are sent in Intel format.
Tip: For users of the PCAN-Explorer, the development package contains an example project that is compatible with the standard firmware.
Download link to the development package: www.peak-system.com/quick/DLP- DevPack
Path to the example project: PEAK-DevPackHardwarePCAN-GPS_FDExamples 00_Standard_FirmwarePCAN-Explorer Example Project

Appendix D CAN Messages of the Standard Firmware PCAN-GPS FD

41

D.1 CAN Messages from the PCAN-GPS FD

CAN ID 600h

Start bit

Bit count Identifier

MEMS_Acceleration (Cycle time 100 ms)

0

16

Acceleration_X

16

Acceleration_Y

32

16

Acceleration_Z

48

8

Temperature

56

2

VerticalAxis

58

3

Orientation

601h 610h 611h

MEMS_MagneticField (Cycle time 100 ms)

0

16

MagneticField_X

16

MagneticField_Y

32

16

MagneticField_Z

MEMS_Rotation_A (Cycle time 100 ms)

0

32

Rotation_X

32

Rotation_Y

MEMS_Rotation_B (Cycle time 100 ms)

0

32

Rotation_Z

Values
Conversion to mG: raw value 0.061
Conversion to °C: raw value 0.5 + 25 0 = undefined 1 = X axis 2 = Y axis 3 = Z axis 0 = flat 1 = flat upside down 2 = landscape left 3 = landscape right 4 = portrait 5 = portrait upside down
Conversion to mGauss: raw value * 1.5
Floating-point number1, unit: degree per second
Floating-point number1, unit: degree per second

1 Sign: 1 bit, fixed-point part: 23 bits, exponent: 8 bits (according to IEEE 754)

Appendix D CAN Messages of the Standard Firmware PCAN-GPS FD

42

CAN ID 620h

Start bit

Bit count Identifier

GPS_Status (Cycle time 1000 ms)

0

8

GPS_AntennaStatus

8

16

8

24

8

GPS_NumSatellites GPS_NavigationMethod
TalkerID

621h

GPS_CourseSpeed (Cycle time 1000 ms)

0

32

GPS_Course

32

GPS_Speed

622h

GPS_PositionLongitude (Cycle time 1000 ms)

0

32

GPS_Longitude_Minutes

32

16

GPS_Longitude_Degree

48

8

GPS_IndicatorEW

Values
0 = INIT 1 = DONTKNOW 2 = OK 3 = SHORT 4 = OPEN
0 = INIT 1 = NONE 2 = 2D 3 = 3D 0 = GPS, SBAS 1 = GAL 2 = BeiDou 3 = QZSS 4 = Any combination
of GNSS 6 = GLONASS
Floating-point number1, unit: degree Floating-point number1, unit: km/h
Floating-point number1
0 = INIT 69 = East 87 = West

Appendix D CAN Messages of the Standard Firmware PCAN-GPS FD

43

CAN ID 623h

Start bit

Bit count Identifier

GPS_PositionLatitude (Cycle time 1000 ms)

0

32

GPS_Latitude_Minutes

32

16

GPS_Latitude_Degree

48

8

GPS_IndicatorNS

624h 625h
626h 627h

GPS_PositionAltitude (Cycle time 1000 ms)

0

32

GPS_Altitude

GPS_Delusions_A (Cycle time 1000 ms)

0

32

GPS_PDOP

32

GPS_HDOP

GPS_Delusions_B (Cycle time 1000 ms)

0

32

GPS_VDOP

GPS_DateTime (Cycle time 1000 ms)

0

8

UTC_Year

8

UTC_Month

16

8

UTC_DayOfMonth

24

8

UTC_Hour

32

8

UTC_Minute

40

8

UTC_Second

48

8

UTC_LeapSeconds

56

1

UTC_LeapSecondStatus

Values Floating-point number1
0 = INIT 78 = North 83 = South Floating-point number1 Floating-point number1
Floating-point number1

Appendix D CAN Messages of the Standard Firmware PCAN-GPS FD

44

CAN ID 630h

Start bit

Bit count

IO (Cycle time 125 ms)

0

1

2

1

3

1

4

1

5

1

6

1

7

1

8

4

Identifier
Din0_Status Din1_Status Din2_Status Dout0_Status Dout1_Status Dout2_Status
GPS_PowerStatus Device_ID

Values

Appendix D CAN Messages of the Standard Firmware PCAN-GPS FD

45

D.2 CAN Messages to the PCAN-GPS FD

CAN ID 650h
652h

Start bit

Bit count

Out_IO (1 Byte)

0

1

2

1

3

1

Out_Gyro (1 Byte)

0

2

Identifier
DO_0_Set GPS_SetPower DO_1_Set DO_2_Set
Gyro_SetScale

653h

Out_MEMS_AccScale (1 Byte)

0

3

Acc_SetScale

654h

Out_SaveConfig (1 Byte)

0

1

Config_SaveToEEPROM

Values
0 = ±250 °/s 1 = ±125 °/s 2 = ±500 °/s 4 = ±1000 °/s 6 = ±2000 °/s
0 = ±2 G 2 = ±4 G 3 = ±8 G 1 = ±16 G

Appendix D CAN Messages of the Standard Firmware PCAN-GPS FD

46

CAN ID 655h
656h

Start bit

Bit count Identifier

Out_RTC_SetTime (8 Bytes)

0

8

RTC_SetSec

8

RTC_SetMin

16

8

RTC_SetHour

24

8

RTC_SetDayOfWeek

32

8

RTC_SetDayOfMonth

40

8

RTC_SetMonth

48

16

RTC_SetYear

Out_RTC_TimeFromGPS (1 Byte)

0

1

RTC_SetTimeFromGPS

657h 658h

Out_Acc_Calibration (4 Bytes)

0

2

Acc_SetCalibTarget_X

8

2

Acc_SetCalibTarget_Y

16

2

Acc_SetCalibTarget_Z

24

1

Acc_CalibEnabled

Out_EraseConfig (1 Byte)

0

1

Config_Erase-from-EEPROM

Values
Note: The data from GPS does not contain the day of week. 0=0G 1 = +1 G 2 = -1 G

Appendix D CAN Messages of the Standard Firmware PCAN-GPS FD

47

Appendix E Data Sheets
The data sheets of components of the PCAN-GPS FD are enclosed to this document (PDF files). You can download the current versions of the data sheets and additional information from the manufacturer websites.
Antenna taoglas Ulysses AA.162: PCAN-GPS-FD_UserManAppendix_Antenna.pdf www.taoglas.com
GNSS receiver u-blox MAX-M10S: PCAN-GPS-FD_UserManAppendix_GNSS_DataSheet.pdf PCAN-GPS-FD_UserManAppendix_GNSS_InterfaceDescription.pdf www.u-blox.com
3D Accelerometer and 3D Gyroscope sensor ISM330DLC by ST: PCAN-GPS- FD_UserManAppendix_AccelerometerGyroscope.pdf www.st.com
3D Magnetic field sensor IIS2MDC by ST: PCAN-GPS- FD_UserManAppendix_MagneticFieldSensor.pdf www.st.com
Microcontroller NXP LPC54618 (User Manual): PCAN-GPS- FD_UserManAppendix_Microcontroller.pdf www.nxp.com

Appendix E Data Sheets PCAN-GPS FD

48

Appendix F Disposal
The PCAN-GPS FD and the battery it contains must not be disposed of in household waste. Remove the battery and dispose of the battery and the PCAN- GPS FD properly in accordance with local regulations. The following battery is included in the PCAN-GPS FD:
1 x button cell CR2032 3.0 V

Appendix F Disposal PCAN-GPS FD

49