Connection of CAN to TASE?

[danstrider]

My question is: can the Piccolo II Micro-D connector CAN be used to communicate to the TASE?  If yes, why is mine not working (what am I missing)? :-(

I am trying to connect the CAN coming from the Micro-D connector to a TASE.  I confirmed the pin numbers (hi/lo/gnd) and their order in the 3-pin locking connector match the CCT supplied HD-44 test harness.  I have read a previous post about a terminating resistor and tried that (http://cloudcapsupport.com/forums/index.php?topic=436.msg1259#msg1259). 

As the simplest test I could think of, I took just my stock PII and connected to HWIL sim using the HD-44 CAN plug, which works fine.  Rebooting and using the Micro-D CAN plug that I made, the HWIL does not work.  The period avg is in the region of 31/47ms and that box is red, pointing me to bad communication over the CAN link.  The simulator appears to let me set slews using the Micro-D CAN, but these are not echoed by PCC, leading me further to believe the Micro-D CAN isn't communicating correctly.

As another test, I used the HD-44 CAN plugged to the TASE CAN and I can communicate happily.  However, when switching to the Micro-D CAN plug that I made, the TASE goes into AHRS and I lose comms with it.

I don't think I've ever used the Micro-D on this particular Piccolo, so I'm fairly comfortable suggesting it isn't my hardware.

Any suggestions of what I'm doing wrong?  Any tests I can do to ensure the Micro-D CAN connector I populated is actually correct?  Is the CAN on the daughter-board just not happy?  This whole question stems from wanting to do HWIL tests with the Piccolo whilst the TASE is connected (and I need the TASE on CAN).

I'm using version 2.1.1e on the Piccolo.

Thanks for your time.
danstrider

[Marius Niculescu]

The CAN connector on the Piccolo II Micro-D connector provides interface to another bus, CAN_B which is not used at this point. HIL sim communication and gimbal communication take place on CAN_A. There is no documentation on connecting a gimbal to Piccolo via CAN-bus, in the Gimbal Integration Guide, so I realize you were not aware of this.

Thanks,
Marius

[danstrider]

Thanks very much for your message Marius!  I will move to a serial connection between the Piccolo and TASE to open up CAN_A for HWIL ground tests.  This will be an acceptable alternate.

Thank you,
Dan

[Marius Niculescu]

I don't see why you wouldn't use the CAN connection for both simulation and gimbal communication.

[danstrider]

HIL sim communication and gimbal communication take place on CAN_A.

If I need to do both HIL and gimbal communication simultaneously on CAN, and CAN_A is the only one configured for it, I don't get what I'm missing.  Can I simply y-harness to do both functions off CAN_A?  I've heard I2C is similar to this arrangement, but I haven't messed much with either.  I'm up for learning though!

Pulling the 2nd serial from the 37-pin Micro-D on the TASE and changing to 9600 baud on the payload driving the TASE and worked fine, though it was another connector to add...

Thanks,
Dan

[Marius Niculescu]

CAN stands for Controller Area Network, and for good reason it is called this way. You can have as many devices on the bus as you like.