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2.9 Controller Area Network (CAN)
Controller Area Network (CAN) is a serial bus system especially suited to interconnect smart
devices to build smart systems or sub-systems [ 2 ]. A CAN is a collection of nodes, where each
node can support digital I/O and analogue lines.
Originally designed for the automotive industry, CANs are used in a broad range of industries
such as factory automation, machine control, building automation, maritime, medical and
railway applications.
The CAN protocol boasts a sophisticated error detection mechanism which makes it ideal for the
APT environment where reliability is a primary concern. Although all CAN nodes can transmit
instructions, a feature to facilitate redundancy. The CAN at the APT is controlled by a single PCI
CAN adaptor
i
.
Currently CAN nodes are installed to control the roof circuitry, the observatory lights, and a
switchboard of 240V outlets. (as shown in Figure 2-14).Much of the work done to install the APT
CAN system has been documented in [ 52 ].
2.10 Roof
The sliding Roof, clearly visible in Figure 2-1 and Figure 5-5, is one of the more crucial systems.
Failure to close the roof in foul weather (or in bright sunlight) could result in significant damage to
the telescope and other equipment within the enclosure. Every effort must be made to ensure
this veritable catastrophe must never occur.
The roof circuitry, discussed in [ 52 ], ensures that several safety conditions must be met before
the software will attempt to drive the roof motors.
• Telescope must be in the correct position
• Roof Emergency Stop button, located on the roof control box, must be depressed
• The Crane system must be stowed
• Crane power off
• Correct roof position information ( Roof Closed, Roof Open Sensors )
i
JANZ VMOD-ICAN3 PCI CAN Adaptor, interfaced using /dev/can
- Oliver Mather 1
- Abstract 3
- Acknowledgements 5
- Contents 7
- List of Figures 9
- 1 Introduction 11
- 2 APT hardware 13
- 2.3 Mistral 14
- 2.4 Telescope 14
- 2.5 CCD 16
- 2.6 Telescope movement 16
- 2.6.1 Anti backlash motor 17
- 2.6.2 Limit switches 18
- 2.6.3 Tilt sensor 19
- 2.6.4 Macrostation 19
- 2.7 Masterswitch 20
- 2.8 Web cameras 21
- 2.10 Roof 22
- 2.11 ROTSE 23
- ParralelRS232RS232 24
- 3 APT software 25
- 3.3 Command line tools 26
- 3.4.1 Introduction 27
- 3.4.2 Architecture 27
- 3.5 APT server 28
- 4.1 Introduction 31
- 4.3 Code 32
- 4.3.2 Configuration 33
- 4.3.3 SNMP messages 33
- 4.4 JAS integration 34
- 4.4.1 Commands 35
- 4.4.2 Messages 36
- 4.5 Screenshots 37
- 4.6 Conclusion 38
- 5.1 Introduction 39
- 5.2 Architecture 40
- 5.3 Process manager 40
- 5.4 Roof 41
- 5.5 Chat system 43
- Figure 5-8 APT chat system 44
- 5.6 Look and Feel 45
- 5.6.2 Problems 46
- 5.6.3 Screenshots 46
- 5.7 Conclusion 47
- 6 APT software deployment 49
- 6.3.1 Versioning 50
- 6.3.2 Security 51
- 6.4 Compilation 52
- 6.5 Version synchronisation 55
- 6.6 Uploading 56
- 6.7 Conclusion 57
- 7.1 Introduction 59
- 7.2 Hardware 59
- 7.3 Software 59
- 7.3.2 Maintenance 60
- 7.3.3 Client SP server 60
- 7.3.4 Client error control 60
- 7.4 Conclusion 62
- 8 SkinnedTextField 63
- 8.4 TextSkin 64
- 8.5 SkinnedTextFieldDemo 65
- 9 CSIRO SEARFE project 69
- 9.3 Requirements 70
- 9.4 Hardware 71
- 9.5 Architecture 71
- 9.5.1 Data files 72
- 9.6 User interface 73
- 9.6.2 Data visualisation 76
- 9.7.1 Visualisations 80
- 9.8 Conclusion 81
- 10 Conclusion 83
- 10.4 Logging analysis 84
- Bibliography 87
- A. Glossary 89
- B.1. Introduction 91
- B.2. JAS message sender 91
- B.4. Creating JAS commands 91
- B.4.1. JASCommand object 92
- B.4.2. Installing commands 92
- B.5. JAS channel monitoring 93
- C. Software tools 95
- C.1.3. Checkout the code 96
- C.1.4. CVS user interfaces 96
- D. SNMP overview 97
- Response 98
- RequestRequest 98
- E. Astronomy primer 99
- E.1.3. Coordinate epochs 100
- E.2. Astronomical times 101
- E.3. Gamma ray bursts 102
- E.4. Astronomical filters 102
- E.5. Flat fielding 103
- E.6. Cosmic rays 103
- F. Selected code listings 105
- F.1.6. SnmpTrapDaemon.java 121
- F.2. APT deployment system 132
- F.2.3. apt build.xml 134
- F.2.4. lib build.xml 141
- F.3. CSIRO / SEARFE 144
- F.4. TextSkin 145
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