So we are using the RS232 Bridge built in to the Black jags to drive our CAN Bus but we have run in to some problems. I will attempt to Document the issue as clearly and as accurately as I can.
**Documents used in the configuration and setup of our CAN Bus( for reference)
**
**Changes we have made from the above Documentation ( all related to changes documented in the 2014 Manual)
**
All references to Firmware other than 107 for Black Jaguars(MDL-BDC24) and Firmware 101 for the “gray” Jaguars(MDL-BDC) have been installed as Version 107 for Black Jaguares and 101 for “gray” Jaguars.
All references to cRio Firmware other than FRC_2014_v52 are installed as FRC_2014_v52.
All references to the TI BDC-COMM tool other than version 107 are installed as version 107 (From VexPRO).
**OK so here is what we have done
**
We have created 3 Rs232 DB9 to RJ12 connectors ensuring that we have placed a 100ohm resistor between the red and green wires as described in the “You Can do CAN” Document.
We have created 3 CAN Terminators with a 100ohm resistor between pins 2 and 3 as described in the “You Can do CAN” Document.
We have verified with a multimeter that all the connections are correct and all the resistances are on the correct pins for all terminators and connectors
We have purchased pre made 4c4p CAN Cables( Several 6" and a few 12") from AndyMark/CrossTheRoad.
We have purchased a premade 6c6c reversed cable (7’) from DigiKey as given in the “CAN Getting started” document.
We have installed the 107 BDC-Comm software on our Windows 7 Laptop.
We have Installed a the USB to Serial Software that came with our USB to Serial Cable.
We have updated all our Black Jags to the latest 107 Firmware using the latest BDC-COMM tool with only 1 Jaguar attached. (Jaguar Firmware Update Instructions).
We have assigned all our Black Jags individual odd numbers with only 1 Jaguar attached.(Jaguar Firmware Update Instructions).
**Here is where our problems start
**When we attempted to update the Gray Jags with the latest firmware our BDC Comms was unable to see more than 1 Jag. for any Setup ( B1-G1, B1-G2, B1-B2, B2-B1, B2-G1, B2-G2) all the following would show ONLY the First Black Jag in the series, the second jaguar (of either colour, even ones we have verified to talk when hooked up as the first Jag) would blink yellow.
Troubleshooting
We verified the cables were in the correct order and correct Ports ( Getting Started Guide).
We have verified the cables were correct to what was documented
We have verified that the Firmware is correct by re updating to 107
We have changed the assigned IDs of the Black Jags when connected to the Gray Jags.
We have Reset the Black and Grey Jags with the Reset Buttons.
We have changed out the terminators used and the connectors used.
We have verified that we are plugging in the 6c6p connector into the IOIOI port on the Black Jag and the Andymark/CrossTheRoad cable is plugged in to the other port and the first port on the Gray Jag.
We have verified that the battery is fully charged and the connections are solid ( working Jag is solid Yellow all other Jags are flashing yellow).
It sounds like you are able to receive a message on each of the black jaguars, but it just doesn’t pass it along.
We had a similar problem with a team here, and it turned out the middle pins on the RJ-12 connector where stuck depressed in and not springing back, so the CAN cable was not making contact. So the BDC-COMM tool could see the first jaguar in the chain, but not the rest. The only way we were able to fix this was to replace the outgoing RJ-12 connectors.
I would recommend looking in at the actual pins on both the input and output side for each of the jaguars and see if this is your problem.
That was it. Pins 2 and 3 on the down line were both not springing back( both Jags had the same issue).
We had to un-solder the rj15 connector from the Jaguar board
then use a straight razor to push the pins back in to place before soldering the connector them back into place.
I will write up a white paper with instructions on how to do this when I get some time towards the end of the season. until then here is a basic instructions on how to fix this.
**Temp instructions
** Note you are taking a Jaguar apart and using a heat gun to remove parts from the main PCB. PLEASE use correct ESD protection and care to not un-solder or overheat any other component.
Unscrew the 4 philips screws on the back of the Jaguar
Unclip the fan terminal from the fan headers
Separate the internal board from the jaguar housing (be careful of ESD)
On the back of the board the rj15 terminals will have 1 4 pin and 1 6 pin connector. We are focusing on the terminal that has 4 pins (the right one when the terminals are on the bottom with the fan facing up).
Place the Jaguar board in a vice with the back of the board facing towards you.
With a pair of plyers and a heat gun carefully desolder and remove the rj15 terminal (the heat will melt the plastic mounting pins as it removes the solder)
If you look at the bottom of the rj15 connector you will see little slots where each of the spring pins are sitting
Use a straight razor (or other very fine tool) push the spring pins up from the bottom of the connector attempting to get all the spring pins at the same height and springiness (you will have to overshoot to stretch the pins to their correct location)
Use a spare CAN cable to verify the all the spring connectors are making correct contact.
Use a solder sucker and a soldering iron remove the leftover solder from the Jaguar Board.
When mounting the connector back be sure to align it properly with the square on the board. Note: The Jaguar casing has very tight tolerances and a slightly crooked connector will have to be remounted.
Place the repaired connector back in its original mount point.
Solder the connections to the board.
Use a small amount of hot glue to mount the connector to the board (remember you melted the plastic mounting pins).
Place the Jaguar Board on the back Jaguar housing.
Connect power cables to the power side (right) of the board.
Verify the Device light turns on (flashing yellow).
Use a PC set up to communicate with CAN devices and a working Jaguar verify that the repaired Jaguar CAN terminals are functional. the device should report its ID and see a second Jaguar in the device chain.
Remove the Power terminals and CAN Cables.
Connect the Jaguar fan back to the Jaguar Board.
Carefully put the Jaguar top housing back on the Jaguar (you will need to work with it as the tolerances are very tight).
Screw in the 4 philips head screws to the back of the Jaguar.