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    CAN-FD Generic IO

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    • JoergS5undefined
      JoergS5
      last edited by

      Teensy 4 may be an option too. It has a fast 600 MHz MCU and one CAN-FD. The new 4.1 version has some improvements like more IO ports.

      1 Reply Last reply Reply Quote 1
      • dc42undefined
        dc42 administrators
        last edited by dc42

        I've added a SAMMYC21 build configuration to project Duet3Expansion. It's designed to work with the bootloader from chip45.com. I won't have a chance to test/debug it until the boards I have ordered arrive.

        I've set up the pin table to use the available ports on the Sammy-C21 board as follows:

        PA02 "temp0" (thermistor or other analog input)
        PA03 "temp1" (thermistor or other analog input)
        PA04 "pa04" input, output with PWM
        PA05 "pa05" input, output
        PA06 "pa06" input, output with PWM
        PA07 "pa07" input, output
        PA08 "pa08" output
        PA09 External driver EN, active low
        PA10 External driver DIR, active low
        PA11 External driver STEP, active low
        PA12 "pa12" input, output with PWM
        PA13 "pa13" input, output
        PA16 "pa16" input, output
        PA17 "pa17" input, output
        PA18 "pa18" input, output
        PA19 "pa19" input, output with PWM
        PA20 "pa20" output
        PA21 "pa21" output
        PA22 "pa22" output
        PA23 "pa23" output with PWM
        PB08 "pb08" input, output
        PB09 "pb09" input, output

        Duet WiFi hardware designer and firmware engineer
        Please do not ask me for Duet support via PM or email, use the forum
        http://www.escher3d.com, https://miscsolutions.wordpress.com

        A Former User? drobertson123undefined 2 Replies Last reply Reply Quote 4
        • A Former User?
          A Former User @dc42
          last edited by

          @dc42 said in CAN-FD Generic IO:

          I've added a SAMMYC21 build configuration to project Duet3Expansion.

          much love!

          1 Reply Last reply Reply Quote 1
          • drobertson123undefined
            drobertson123 @dc42
            last edited by

            @dc42 That is great.

            I got in some components to play with, not the SAMMYC21 yet, but some CAN-FD compliant transceivers and some NUCLEO STM32 boards that have built-in CAN-FD.

            When my SAMMYC21 gets here I should have a decent ecosystem of boards.

            When is the CAN-FD Stepper driver you had mentioned earlier estimated to be available? Will it have some IO for endstops? If so it would be a good fit for driving my Delta arms.

            I already have the tool board on order(looking forward to filastruder shipping it) and I think I am picking up a second Duet 3 Mainboard for a CoreXY project. I like where you are taking your products. Keep it up.

            1 Reply Last reply Reply Quote 0
            • mwwhitedundefined
              mwwhited @dc42
              last edited by

              @dc42 said in CAN-FD Generic IO:

              A disadvantage is that a license fee is payable on any EtherCAT device, although not on on an EtherCAT host

              As stated in their own FAQ

              3.3 How about licences? 
              There is a licence for implementing an EtherCAT master which is free of charge - the agreement demands compatibility, ensures that the licence remains free of charge and provides legal certainty. For slave devices EtherCAT has adopted the CAN license model (CAN is an excellent example for a standardized open technology that is protected by patents): The small license fee is "embedded" in the EtherCAT Slave Controller (ESC) chip, so that device manufacturers, end users, system integrators, tool manufacturers etc. do not have to pay a license.
              
              

              This license is only payable for dedicated embedded controllers. If you used a multi-master configuration there would be no dedicated chip and no payable license. If you did use an embedded chip the license free is included with the chip cost.

              1 Reply Last reply Reply Quote 1
              • JoergS5undefined
                JoergS5
                last edited by

                I ordered the sammy also, it is available through eb.. and is a nice small device.

                If someone is interested in FPGAs, I detected an open source CAN-FD VHDL implementation of CAN-FD on https://gitlab.fel.cvut.cz/canbus/ctucanfd_ip_core
                (but according to their readme one needs a license from Bosch for commercial usage)

                drobertson123undefined 1 Reply Last reply Reply Quote 0
                • drobertson123undefined
                  drobertson123 @JoergS5
                  last edited by

                  @JoergS5 said in CAN-FD Generic IO:

                  I ordered the sammy also, it is available through eb..

                  What is eb? Is it a source in the US?

                  The SAMMYC21 is great but the shipping to the US doubles the price. I am hoping that someone here stocks them so we can get them at a more reasonable price.

                  JoergS5undefined 1 Reply Last reply Reply Quote 0
                  • JoergS5undefined
                    JoergS5 @drobertson123
                    last edited by JoergS5

                    @drobertson123 sorry to abbreviate... eb=ebay, germany in my case. chip45 offers his products in ebay for the same price as in his supplier shop.

                    wilrikerundefined 1 Reply Last reply Reply Quote 1
                    • wilrikerundefined
                      wilriker @JoergS5
                      last edited by

                      @JoergS5 Just to mention that: chip45 is a German company. 😉

                      Manuel
                      Duet 3 6HC (v0.6) with RPi 4B on a custom Cartesian
                      with probably always latest firmware/DWC (incl. betas or self-compiled)
                      My Tool Collection

                      JoergS5undefined 1 Reply Last reply Reply Quote 0
                      • JoergS5undefined
                        JoergS5 @wilriker
                        last edited by

                        @wilriker I wonder why the don't offer in digikey.com, because e.g. Trimac TMC chip are german also, but offer worldwide. That's a pity for non-europe users.

                        dc42undefined 1 Reply Last reply Reply Quote 0
                        • dc42undefined
                          dc42 administrators @JoergS5
                          last edited by

                          If there is enough interest in it in the US, perhaps Filastruder may be interested in stocking them?

                          Duet WiFi hardware designer and firmware engineer
                          Please do not ask me for Duet support via PM or email, use the forum
                          http://www.escher3d.com, https://miscsolutions.wordpress.com

                          1 Reply Last reply Reply Quote 0
                          • drobertson123undefined
                            drobertson123
                            last edited by

                            Having filastruder stock them would be good.

                            I am ok with paying a bit of a premium but it doubles the price for the board to order it from the US. At that price point, I am looking at more local solutions despite the SAMMYC21 board looking good. I still have one coming to test but I am also playing with the STM Nucleo boards that I can get local for $15, add on the transceiver for $2 and I have a good base to work with.

                            1 Reply Last reply Reply Quote 0
                            • dc42undefined
                              dc42 administrators
                              last edited by

                              I have the Sammy-C21 board working with Duet 3 now and the firmware is committed to Github (there are now SAMMYC21 build configurations in the Duet3Bootloader and Duet3Expansion projects). I will write a wiki page soon on how to use it with Duet 3.

                              Duet WiFi hardware designer and firmware engineer
                              Please do not ask me for Duet support via PM or email, use the forum
                              http://www.escher3d.com, https://miscsolutions.wordpress.com

                              1 Reply Last reply Reply Quote 3
                              • dc42undefined
                                dc42 administrators
                                last edited by

                                The wiki page is now available here https://duet3d.dozuki.com/Wiki/Using_the_Sammy-C21_development_board_with_Duet_3.

                                Duet WiFi hardware designer and firmware engineer
                                Please do not ask me for Duet support via PM or email, use the forum
                                http://www.escher3d.com, https://miscsolutions.wordpress.com

                                1 Reply Last reply Reply Quote 1
                                • A Former User?
                                  A Former User
                                  last edited by A Former User

                                  The Sammy-C21 can be purchased directly from chip45.com. We are making arrangements with them to have the Duet3D CAN bootloader pre-installed as an option.

                                  .. not sure why I keep being amazed by you guys, but I do ..

                                  (edit: it should be possible to use OpenOCD and RaspberryPi GPIO to flash the Atmel chip over SWD, might pick up one of those boards next month and give it a try, providing an alternative to pricey Atmel ICE)

                                  1 Reply Last reply Reply Quote 2
                                  • JoergS5undefined
                                    JoergS5
                                    last edited by JoergS5

                                    For Arduino based solutions there is CANdiy-shield, an Arduino library is available for it. The shield can switch 3.3 and 5v. There are two versions of the shield, v2 and fd, the fd version has CAN-FD.

                                    1 Reply Last reply Reply Quote 0
                                    • hauschkaundefined
                                      hauschka
                                      last edited by hauschka

                                      CANdiy shield seems very interesting.

                                      Would anyone have an idea what sort of message I'd have to send?

                                      I'm imagining a scenario where I place a Gcode-command in my code and my Arduino is then "noticed" via CAN-FD to run a function

                                      Vice-versa, the Duet would "wait" until it receives a notification via CAN-FD .

                                      Would this even be remotely possible or am I completely off in terms of capabilites of CAN-FD?

                                      For example, to come back to the Sammy-C21 documentation, how would I go about setting a pin high/low or querying the status of a pin through Gcode?

                                      1 Reply Last reply Reply Quote 0
                                      • ChrisPundefined
                                        ChrisP
                                        last edited by

                                        My Sammy-C21 and Atmel-ICE arrived today and after some fiddling I've managed to get the latest version of the Duet3Expansion firmware built and flashed using OpenOCD through Eclipse. However, I'm curious to know if others who are using the Atmel-ICE are using it with Eclipse and whether they've managed to get it working properly as a debugger with breakpoints etc?
                                        I'm pretty sure it's flashed fine as I have the rapid flashing light indicating no CAN connection (I need to go and dig out some RJ11 to hook it up to the Duet3 to be sure), but having the ability to debug properly would be nice.

                                        1 Reply Last reply Reply Quote 0
                                        • dc42undefined
                                          dc42 administrators
                                          last edited by

                                          So far I have only used the Atmel ICE in Atmel Studio, by loading the .elf file produced by Eclipse. Debugging is rather limited. You can set breakpoints, but not read the values of variables without working out their memory addresses first.

                                          Duet WiFi hardware designer and firmware engineer
                                          Please do not ask me for Duet support via PM or email, use the forum
                                          http://www.escher3d.com, https://miscsolutions.wordpress.com

                                          1 Reply Last reply Reply Quote 0
                                          • ChrisPundefined
                                            ChrisP
                                            last edited by

                                            Yeh, using the Atmel-ICE with Atmel Studio to program the .elf from Eclipse was super simple, it just seemed a bit overkill and I wondered if I was missing something. I can set breakpoints in Eclipse but they're not handled properly and while execution is halted and can be resumed, as you say variables can't be read.
                                            Nevermind, it's useful as is anyway. I shall get on to getting it hooked up to the Duet and hope I don't need to do too much debugging 😂

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