FCC ID: Y2K-CAB2C001 RFID-Radio Frequency Identification Device for Sample Carriers

FL-MDS-CAB.2 MODULE DESIGN SPECIFICATION CANopen Antenna Board AUTHOR & REVISION HISTORY Version Author Change Description 1 2 Adriano Melis First version Adriano Melis Added statements for FCC and ISED DOCUMENT APPROVAL Function Name Signature and Date FW Modules & Platform Manager Walter Ruzzarin Contents 4 5 3.1 Contents .......................................................................................................................................................1 1 DEFINITIONS AND ACRONYMS, REFERENCES ........................................................................................2 2 OVERVIEW .............................................................................................................................................3 ARCHITECTURE ......................................................................................................................................3 3 Performance requirements ...........................................................................................................5 INTERFACES ...........................................................................................................................................7 RELEVANT USE CASES ............................................................................................................................7 Automatic board version detection...............................................................................................7 On-the-fly RFId tag reading (both versions)...................................................................................7 Static RFId reading of two carriers tag Ids (double antenna version)............................................7 Firmware update ...........................................................................................................................8 HTRC110 tag reader configuration ................................................................................................8 6 DESIGN SPECIFICATIONS REFERENCE MECHANICAL AND ELECTRICAL...............................................8 CAB mechanical specification ........................................................................................................8 Single antenna electrical specs....................................................................................................10 5.1 5.2 5.3 5.4 5.5 6.1 6.2 MOD-MDS.1

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1 of 28 il 14/11/2019 alle 15:22:43 CETFirmato da Walter Ruzzarin FL-MDS-CAB.2 6.3 7.6 7.7 7.1 7.2 7.3 7.4 7.5 7.2.1 7.2.2 7.5.1 7.5.2 7.5.3 Double antenna electrical specs..................................................................................................10 7 DESIGN SPECIFICATIONS REFERENCE FIRMWARE ............................................................................11 FW structure ................................................................................................................................12 Tag encoding................................................................................................................................12 Carrier tag encoding ............................................................................................................12 Rack tag encoding................................................................................................................13 Signal encoding............................................................................................................................13 CANopen implementation ...........................................................................................................14 PDO messages specification ........................................................................................................14 RPDO1 messages .................................................................................................................14 TPDO1 and TPDO2 messages...............................................................................................15 TPDO3 ..................................................................................................................................16 Error and event codes..................................................................................................................17 Example PDO sequences..............................................................................................................18 Continuous read on Antenna A............................................................................................18 Calibration and continuous reading on antenna A ..............................................................19 Change active antenna from antenna A to antenna B.........................................................20 Object Dictionary .........................................................................................................................21 7.8.1 Object Dictionary sections dedicated to Firmware Update.................................................24 Appendix CRCs computation ............................................................................................................25 CRC1 computation .......................................................................................................................25 CRC2 computation .......................................................................................................................26 FCC and ISED statements.....................................................................................................................27 9.1 Warnings......................................................................................................................................27 Information to the user statements ............................................................................................27 9.2 Information to user......................................................................................................................27 9.3 9.4 RF Radiation Exposure statement................................................................................................28 7.7.1 7.7.2 7.7.3 8.1 8.2 7.8 8 9 1 DEFINITIONS AND ACRONYMS, REFERENCES Name ADC ARM Cortex-M Reference https://developer.arm.com/products/processors/cortex-m CAB CAN This document https://www.can-cia.org/can-knowledge/

Definition/description Analog to Digital Converter a group of 32-bit RISC ARM processors intended for use in microcontrollers CANopen Antenna Board Controller Area Network a robust field bus and data link used level standard in automotive and industrial environments MOD-MDS.1

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2 of 28 FL-MDS-CAB.2 Reference Specification CiA 301 cia.org/groups/specifications/

is available at https://www.can-

https://www.nxp.com/products/identification-and-

security/smart-label-and-tag-ics/hitag datasheet and application note at http://confluence.inpeco.com/display/HP/Mosaico+Active+Antenna+Semiconductors Light, fast, high priority CANopen message (8-byte datagram) https://en.wikipedia.org/wiki/Radio-frequency_identification Heavier, low priority, reliable and versatile CANopen message. Variable length message. datasheet http://confluence.inpeco.com/display/HP/Mosaico+Active+Antenna+Semiconductors The set of laboratory automation technologies and appliances created and provided by Inpeco reference manuals available and at device Definition/description A communication protocol and profile specification. Based on the CAN data link protocol and physical layer. A family of devices and tags by NXP semiconductors for low frequency RFId (125 kHz) The HITAG RFId reader chip used in the CAB Printed Circuit Board Process Data Object Frequency Radio set of identification. A technologies for automatic identification and tracking based on electromagnetic fields Service Data Object The microcontroller which controls the CAB Total Laboratory Automation Universal Receiver-Transmitter Asynchronous Name CANopen HITAG RFId HTRC110 PCB PDO RFId SDO STM32L462CEU6 TLA UART 2 OVERVIEW The CANopen Antenna Board (CAB) is a CANopen device embodied by a single PCB (printed circuit board) which reads HITAG RFId tags from TLA tube carriers or racks and sends the decoded identifiers to its CANopen master node. The CAB is developed in two versions based on the same PCB, populated differently:

1. Single antenna CAB: designed and fine-tuned to read HITAG tags on-the-fly; reads statically equally well. 2. Double antenna CAB: designed and fine-tuned for static HITAG RFId readings. The antenna axes are distant 40 mm (carrier step). N double antenna CABs can be physically and electrically connected to form a linear array of antennas separated by 40-mm gaps, creating 2*N contiguous reading points. 3 ARCHITECTURE The architectures of the two version of CAB are shown in figures 3 and 4. The architecture elements are:

STM32L462CEU6 MCU (Micro Controller Unit) by STMicroelectronics, based on ARM Cortex-M M4 processor core. It runs the device firmware, which decodes the RFId tags using the HITAG reader chip and communicates with the CANopen master node on the CAN bus through the CAN MOD-MDS.1

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3 of 28 FL-MDS-CAB.2 transceiver chip. The MCU is connected to an ASTMLPA-16.000MHz standard clock oscillator for precise clock reference. CAN transceiver it provides the physical interface between the MCU CAN controller and the physical CAN 2-wire bus. HTRC110 HITAG reader chip by NXP. It drives the connected antenna to power the RFId tag, receives the tag contents signal and sends to the CPU the digitized signal to be decoded. Power supply circuit subsystem which regulate and provide the correct supply voltages to the active components of the PCB. Antenna select circuit present only on the double antenna version - connects the desired antenna (A or B) to the HTRC110. It is driven by one digital line from the MCU. On the single antenna version board the HITAG reader chip is connected directly to antenna A. Antenna A and, on the double antenna version, Antenna B are the coil antennas which energize the RFId tag(s) and receive data from them. Power supply UART port Debug port STM32 Cortex-M MCU HITAG RFId reader Antenna A CAN transceiver status LED CAN id + termination resistor 24V DC I/O connector CAN bus I/O connector Figure 1. Single Antenna CAB schema MOD-MDS.1

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4 of 28 FL-MDS-CAB.2 Power supply Antenna A Antenna B UART port Debug port STM32 Cortex-M MCU HITAG RFId reader Antenna select circuit CAN transceiver status LED CAN id + termination resistor 24V DC I/O and bypass connector CAN bus I/O and bypass connector Figure 2. Double antenna CAB schema 3.1 Performance requirements The required maximum read failure rate for PCF7931 tags is 0.3 PPM (3 failed reads every 107) for both CAB versions. Failure rate is estimated with the following tests:

o on-the-fly read: consecutive read of at least 30M passages of 50 tags at standard HT TLA speed (172.5 mm/s 5%) in a standard Inpeco sampling point on a test track. o static read: at least 30M consecutive alternate readings of 2 carriers of the test Inpeco minitrack according to the figure below (carrier tags A and B are read alternatively). The carrier axes are aligned with the antennas axes, adjacent carriers do not prevent correct readings (see the carrier C position in figure 5). A read operation is performed every 250 ms. o The required failure rates must not be exceeded in presence of neighboring antennas. Minimum distances in mm are shown in the potentially critic layouts shown in figure 6. MOD-MDS.1

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5 of 28 FL-MDS-CAB.2 Carrier C Carrier A on Antenna A Carrier B on Antenna B Figure 3. Schematic layout of the static read test configuration, double antenna CAB mounted under the transport belt static read on-the-fly read Figure 4. Potentially critic layouts MOD-MDS.1

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6 of 28 4 INTERFACES The CAB has three hardware communication interfaces:

FL-MDS-CAB.2 During normal operation the CAB communicates with other devices through the CAN port. The default bit rate is 500 kbit/s. The CAB MCU is programmed through the debug/programming port, which is accessed on the PCB with test points. The port is connected to through a customized testbed of nails during firmware development/debugging, and in production for factory programming. The MCU has an UART port, accessible through test points, which can be connected during firmware development for tracing and debugging purposes via the testbed of nails. The UART is not used during normal operation. From the system perspective the CAB is a CANopen node slave device. Therefore:

the FW application has the role of a slave CANopen node configured and queried via SDO messages to/from its Object Dictionary. PDO messages are used to support the normal operativity of the device itself. A PDO message is named Received PDO (RPDO) when received by CAB. A PDO message is named Transmitted PDO (TPDO) when transmitted by CAB. 5 RELEVANT USE CASES 5.1 Automatic board version detection The CAB firmware application auto detects the single/double antenna version. Therefore, if a received command can be applied only to one of the two versions, the appropriate error or warning message will be sent to the CANopen master. HW version, firmware application versions and other vendor information can also be read from the CAB CANopen Object Dictionary with SDO transactions. 5.2 On-the-fly RFId tag reading (both versions) During on-the-fly reading the carriers run normally on the lane. The CAB is online and one antenna is active. The CAB sends a new carrier identified on antenna # TPDO message containing the carrier tag Id just after the decoding. A carrier has leaved antenna # TPDO message with the same tag Id is sent just after the RFId leaves the antenna reading range. 5.3 Static RFId reading of two carriers tag Ids (double antenna version) In this use case the antennas are initially inactive (off). When the system has two carriers positioned and centered above the two antennas the operating sequence will be:

1. activate antenna A with a RPDO1 message: the CAB will send two TPDO3s: the first one signaling antenna A is changing state, the second one signaling antenna A activation is complete. CAB then decodes the RFId tag and sends the carrier Id packed in a TPDO1 message;

2. deactivate antenna A with a RPDO1 message: a TPDO3 signaling antenna A deactivation is sent;

3. then CAB sends a TPDO1, signaling tag 1 Id is not read anymore. MOD-MDS.1

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7 of 28 FL-MDS-CAB.2 4. activate antenna B with a RPDO1 message: the CAB will send two TPDO3s: the first one signaling antenna B is changing state, the second one signaling antenna B activation is complete. CAB then decodes the RFId tag and sends the carrier Id packed in a TPDO2 message;

5. deactivate antenna B with a RPDO1 message: a TPDO3 signaling antenna B deactivation is sent;

6. then CAB sends a TPDO2 signaling tag 1 Id is not read anymore. 5.4 Firmware update In this use case the CANopen master sends the new firmware package using SDO messages and reads with SDO messages the status of the update progress. After receiving the complete package the CAB FW performs the necessary consistency and integrity checks, then the CAB FW is ready to receive a reboot command, which will trigger reboot and the FW update sequence on the MCU FLASH. After the reboot the CAB firmware is ready to operate. The FW update sequence can be repeated as needed during the normal operational life of the CAB. 5.5 HTRC110 tag reader configuration The HTRC110 reader chip is configured each time an antenna is activated. This ensures that all the HTRC parameters values accessible in the Object Dictionary are used as desired during tag decoding. In simplified form a reconfiguration sequence is:

1. deactivate antennas with a RPDO1 message;

2. write the HTRC110 parameters values as desired in the relevant OD entries using SDO messages;

3. activate the desired antenna with a TPDOn message. 6 DESIGN SPECIFICATIONS REFERENCE MECHANICAL AND ELECTRICAL 6.1 CAB mechanical specification The following mechanical specifications are mandatory requirements for both versions:

1. CAB can be mounted inside the track profile of Inpeco automation systems. 2. CABs single and double antenna version are produced using the same PCB populated differently 3. The dimensions must be as small as possible, with the following limits:

4. Maximum width 20 mm;

5. Maximum length 80 mm;

6. PCB thickness 1 mm (39-40 mil) 7. Top components maximum height 8 mm 8. Bottom components maximum height 4 mm 9. The PCB is designed to have the double antenna with antennas axes at a distance of 40 mm

(carrier step). 10. The PCB has asymmetric mounting buttonholes to ensure correct mounting direction during FW programming and field encasing in the plastic support 11. the PCB has an etched arrow to show belt direction Double antenna version requirements follow:

12. N double antenna CABs can be physically and electrically connected to form a linear array of antennas separated by 40-mm gaps, creating 2*N contiguous sampling points MOD-MDS.1

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8 of 28 13. the plastic support has retention joint to ensure mechanical support between CABs and to prevent inverted array mounting FL-MDS-CAB.2 Figure 5. 3D model of single antenna CAB Figure 6. 3D model of double antenna CAB MOD-MDS.1

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9 of 28 6.2 Single antenna electrical specs FL-MDS-CAB.2 1. 2. 3. 4. 5. 6. 7. 8. 9. Two identical retention connectors on the short edges of the TOP side, for CAN bus and 24 V power supply; the connector will be JST mod. SM07B-PASS-1 (smt 7 pole side entry type header);

The CAB system allows the cascading connection of up to 32 units connected through cabling length of maximum 6 m, providing full power supply and CAN bus connectivity;

The power supply to the CAB will be 24 V Dc 20% minus voltage drop on cabling. A switching power unit on board is hence required;

The maximum estimated maximum input current is 200 mA on the 5V power rail of the CAB (137 mA for the HITAG reader plus 63 for other electronics), equivalent to 1 W. Powering each CAB with 24 V DC 20% (19.2 V) the maximum input power will be 60 mW per CAB. With this consumption on 6 m / 0.14 sq. mm cabling for 32 CABs (non-distributed worst case) the voltage drop is 3.2 V. The switching power unit must be scaled on these input characteristics. The PCB has a miniaturized horizontal dip-switch with 6 lines, 5 for the CAN Id setting and 1 for the connection of the 120 termination resistor on the CAN bus. The indexes of the switches are the bit indexes, ON switch means 1, OFF switch means 0. For example: SW1 in configuration ON-ON-OFF-OFF-ON encodes node Id = 0b10011 = 0x0B = 11. The PCB has a status green LED visible when a carrier is centered above the coil antenna. The status of the LED is specified in the firmware section, An electric malfunction of one CAB does not prevent the CAN communication and the power supply to other CABs connected before and after the defective CAB. The CANopen tree master will identify the defective CAB, the malfunctioning is managed on the CAN bus and on the power supply bus. CAB uses the MCU internal watchdog to resolve catastrophic failures. The CAB has test point pads which expose the debug port of the MCU. The port is used during firmware development and to load the factory firmware application on the MCU FLASH memory during production. 10. The CAB PCB design documentation is completely available: circuit diagram, routing, BOM, GERBER, in native format and PDF format. 11. Components are chosen according to Automotive Standards (10 yrs. availability min.) 12. All components except MCU and HITAG decoder are chosen to guarantee second-source supply. 6.3 Double antenna electrical specs 1. Two identical retention connectors on the short edges of the TOP side, for CAN bus and 24 V power supply; the connector will be JST mod. SM07B-PASS-1 (smt 7 pole side entry type header);

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10 of 28 FL-MDS-CAB.2 2. 3. 4. 5. 6. 7. 8. 9. Two identical Socket Strip connectors on the bottom side for CAN bus and power transfer between CABs in array configuration a. connectors are SAMTEC mod. MMS-107-02-F-SH (smt 7 poles socketstrip). The connection between two CABs is made by a SAMTEC mod. MTMM-107-07-F-S-200 bridge

(see fig. 5) The CAB system allows the cascading connection of up to 32 units connected through cabling length of maximum 6 m, providing full power supply and CAN bus connectivity;

The power supply to the CAB will be 24 V Dc 20% minus voltage drop on cabling. A switching power unit on board is hence required;

The maximum estimated maximum input current is 360 mA on the 5V power rail of the d.a. CAB

(275 mA for the HITAG reader plus 65 mA for other electronics), equivalent to 1.7 W. Powering each CAB with 24 V DC 20% (19.2 V) the maximum input current will be 100 mA per CAB. The switching power unit must be scaled on these figures according to the number of MMAs connected. The PCB has a miniaturized horizontal dip-switch with 6 lines, 5 for the CAN Id setting and 1 for the connection of the 120 termination resistor on the CAN bus. The indexes of the switches are the bit indexes, ON switch means 1, OFF switch means 0. For example: SW1 in configuration ON-ON-OFF-OFF-ON encodes node Id = 0b10011 = 0x0B = 11. The PCB has a status green LED visible when a carrier is centered above the coil antenna. The status of the LED is specified in the firmware section, An electric malfunction of one CAB does not prevent the CAN communication and the power supply to other CABs connected before and after the defective CAB. The CANopen tree master will identify the defective CAB, the malfunctioning is managed on the CAN bus and on the power supply bus. 10. CAB uses the MCU internal watchdog to resolve catastrophic failures. 11. The CAB has test point pads which expose the debug port of the MCU. The port is used during firmware development and to load the factory firmware application on the MCU FLASH memory during production. 12. The CAB PCB design documentation is completely available: circuit diagram, routing, BOM, GERBER, in native format and PDF format. 13. Components are chosen according to Automotive Standards (10 yrs. availability min.) 14. All components except MCU and HITAG decoder are chosen to guarantee second-source supply. 7 DESIGN SPECIFICATIONS REFERENCE FIRMWARE MOD-MDS.1

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11 of 28 Software Design Specifications - CANopen Antenna Board Text Components Project Name Notes FL-MDS-CAB.2 ID CAB-32 CAB-24 CAB-20 CAB-22 CAB-27 CAB-21 CAB-17 CANopen Antenna Board shall decode carrier tags and rack tags CAB FW shall implement PDOs extending SFD-XMOLA.01 description Active Antenna FW shall extend OD entries described in SFD-XMOLA.01 CAB OD entries common with Cortex boards shall have standard mapping CANopen Antenna shall read two tags statically (with carriers flow stopped) CAB FW shall provide a sampling time calibration command Active Antenna FW provides access to HTRC110 parameters in OD CAB-26 CANopen Antenna shall read RFId tags contents on-the-fly CAB-18 CAB-25 CAB-23 CAB-19 CANopen Antenna Object Dictionary shall expose expose standard device info via SDO messages CANopen Antenna shall be able to read RFId tags statically

(with carrier flow stopped)) Canopen Antenna Board FW shall run on CAB V3 and following Active Antenna FW shall send an error message for power anomalies CAB-28 aa_board: implement update chunk size variable in OD NA NA NA NA NA NA NA NA NA NA NA NA NA CANopen Antenna Board CANopen Antenna Board CANopen Antenna Board CANopen Antenna Board CANopen Antenna Board CANopen Antenna Board CANopen Antenna Board CANopen Antenna Board CANopen Antenna Board CANopen Antenna Board CANopen Antenna Board CANopen Antenna Board CANopen Antenna Board N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A 7.1 FW structure The FW application is implemented with FreeRTOS tasks. The following jobs are performed by each task:

A task manages the CANopen node implementation. This task is also responsible of the application update service;

A task manages the HTRC110 programming and tag decoding with the help of an interrupt capture timer handler;

A task reads periodically the 3 ADC channels connected to the power supply distribution on the PCB. Another channel of the ADC is connected to the MODE pin of the HTRC110, to read the analog signal from the antenna, used to calibrate the best value for the antenna signal sampling time. 7.2 Tag encoding The tags are programmed to carry 16 bytes of information, transmitted cyclically when the tag is integer. Considering the 16 bytes of payload, is an unsigned 32-bit energized. A carrier transmission/reception is in LSB/lsb order. Id 7.2.1 Carrier tag encoding The tag contents for a tube carrier is outlined in the following table:

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12 of 28 FL-MDS-CAB.2 B0 B1 B2 B3 B4 B5 0xFF 0xFF 0xFF 0xFF 0xFF 0x5A B6 Id3 B7 Id2 B8 Id1 B9 Id0 B10 B11 CRC1 Id3 B12 Id2 B13 Id1 B14 Id0 B15 CRC2 Bytes 0-4 are all ones (can be used as synchronization preamble) 0x5A in byte 5 is a marker (sync pattern) used to detect the start of the meaningful sequence Bytes 6-9 carry bytes 3-0 of the carrier unique Id, which is transmitted in MSB order Byte 10 contains CRC1, a cyclic redundancy check computed on bytes 5-9 (algorithm in Appendix) Bytes 11-14 contain a replica of the tag Id Byte 15 contains CRC2, computed with another algorithm on bytes 11-14 (algorithm in Appendix) 7.2.2 Rack tag encoding The tag contents for a tube rack is outlined in the following table:

B0 Id3 B1 Id2 B2 Id1 B3 Id0 B4 B5 B6 B7 B8 B9 B10 B11 CRC2 0x55 0x55 0x55 0x55 0x55 0x55 Id3 B12 Id2 B13 Id1 B14 Id0 B15 CRC2 Bytes 0-3 carry bytes 3-0 of the rack unique Id, which is transmitted in MSB order Byte 4 contains CRC2, computed with the CRC2 algorithm on bytes 0-3 (algorithm in Appendix) Bytes B0-B4 could contain the value 0x55 on some legacy racks Bytes 5-10 contain the value 0x55 Bytes 11-14 contain bytes 3-0 of the rack unique Id, which is transmitted in MSB order Byte 15 contains CRC2, computed with the CRC2 algorithm on bytes 11-14 (algorithm in Appendix) NOTE: The content always present is in bytes B5-B15 so the decoding will be performed on the second copy of the meaningful content. 7.3 Signal encoding The HITAG digital signal to the MCU encodes the information as time intervals between signal edges:

1 is encoded by two edges separated by a 512 s nominal interval (full-one-bit);

0 is encoded by two double edges, separated by a 256 s nominal interval (two half-zero-bits). The signal is a threshold digitization of the analog antenna signal, so an interval tolerance is used to decide if the measured time between signal edges is to be considered valid during decoding. Example: if the interval tolerance is 30 s, a valid half-zero interval duration is 25630 s, a valid full-one interval duration is 51230 s. In practice: two edges separated by 203 s will be considered unacceptable, while two edges separated by 242 s will be considered a valid half-zero-bit. MOD-MDS.1

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13 of 28 FL-MDS-CAB.2 1 1 1 1 0 1 0 1 1 0 1 0 0 0 1 full-one-bit

(1) two half-zero-bits

(0) Figure 7. a portion of the signal from HTRC110 to the MCU which carries the tag content and the corresponding encoding 7.4 CANopen implementation The CAB firmware application implements a CANopen slave device according to CiA 301. Because one of the purposes of the CAB is the fastest and more accurate carrier identification possible, the carrier identification process is managed and communicated through PDO messages, lighter and faster than SDO messages. The configuration of the firmware is exposed in the Object Dictionary (for example all the HTRC110 HITAG reader parameters are r/w entries of the OD), and can be manipulated by the Master node of the CANopen network as needed. 7.5 PDO messages specification 7.5.1 RPDO1 messages RPDO1 messages, received by the CAB, carry the process command to the CAB. The requested operations are activation/deactivation of one antenna, start of the HITAG sampling time calibration procedure, and so on. There are some remarks about the commands:

On the single antenna CAB commands for antenna B are not valid;

On the double antenna CAB is possible to activate only one antenna at a time, because the HITAG decoder chip is unique. To change the active antenna on the double antenna CAB the antenna currently active must be set OFF. B1 B2 RPDO1 B3 B4 B5 B6 B7 B0 Unused Command Unused Unused Unused Unused Unused Unused MOD-MDS.1

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14 of 28 byte The command byte is structured in two nibbles:

FL-MDS-CAB.2 b7 b6 b5 Antenna B command CAB commands byte b4 b3 b2 b1 Antenna A command b0 so the command table is the following (complete command byte):

CAB commands name CMD_NULL CMD_ANT_OFF CMD_ANT_A_ON CMD_ANT_B_ON CMD_ANT_A_CALIB value 0x00 0x11 0x12 0x21 0x13 CMD_ANT_B_CALIB 0x31 description null command antennas off antenna A on: set up HTRC110, then start continuous reading on antenna A antenna B on: set up HTRC110, then start continuous reading on antenna B calibrate/start antenna A: set up HTRC110, calibrate AA, start continuous reading on antenna A calibrate/start antenna B: set up HTRC110, calibrate AB, start continuous reading on antenna B 7.5.2 TPDO1 and TPDO2 messages TPDO 1 and 2 are sent by CAB to communicate read events on the antenna A or B (no TPDO2 is sent by the single antenna CAB) respectively. B4 value is 0x01 when a new tag has just ben read, is 0x00 when the tag leaves the antenna detection range or the antenna has been deactivated with the tag still in detection range. TPDO1 B0 B1 B2 B3 B4 Carrier Id read on Antenna A Presence on AA LSB MSB 1/0 B5 CRC CRC value B6 B7 Error/warning byte 0 Error/warning byte 1 LSB MSB TPDO2 MOD-MDS.1

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15 of 28 B0 B1 B2 B3 B4 Carrier Id read on Antenna B Presence on AB LSB MSB 1/0 B5 CRC CRC value FL-MDS-CAB.2 B6 B7 Error/warning byte 0 Error/warning byte 1 LSB MSB 7.5.2.1 TPDO1s Example TPDO1 B0 0xC9 B1 0xC7 B2 0x05 B3 0x44 B4 0x01 B5 0xC0 B6 0x00 The tag with Id 0x4405C7C9 has been read on antenna A, the CRC is 0xC0, no error TPDO1 B0 0xC9 B1 0xC7 B2 0x05 B3 0x44 B4 0x00 B5 0xC0 B6 0x00 The tag with Id 0x4405C7C9 has left antenna A, the CRC is 0xC0, no error B7 0x00 B7 0x00 7.5.3 TPDO3 TPDO3 messages are sent by CAB to communicate a state change. For example, a TPDO3 is sent when one of the antennas is activated or deactivated, when the autocalibration of the sampling time is completed, when the power voltage goes under the (nominal 24 V value 20%) threshold and so on. B0 B1 B2 B3 TPDO3 B4 B5 B6 B7 Unused Antennas status Unused Unused Error/warning byte 0 Error/warning byte 1 Unused Unused Antennas status are encoded in Byte 1, the lower 4-bit nibble encodes Antenna A status, the higher 4-bit nibble encodes Antenna B status (if present):

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16 of 28 FL-MDS-CAB.2 b7 b6 b5 Antenna B status Antennas status b4 b3 b2 b1 Antenna A status b0 Possible antenna information nibble values:

0b0000 Antenna is changing state (calibration is in progress, switching on/off is in progress, etc.) 0b0001 Antenna off 0b0010 Antenna on Status byte examples:

Byte 1 = 0x11: both antennas are off Byte 1 = 0x21: antenna B on, antenna A off Byte 1 = 0x22: impossible (both antennas active) Byte 1 = 0x10: antenna A is changing state, antenna B is off 7.6 Error and event codes This is the error / event codes table. The code message can be related to an antenna (sent in a TPDO1/2) or related to the CAB system (sent in a TPDO3). Name Code Description AA_ERROR_NONE 0x0000 No error AA_ERROR_ANTFAIL 0x0001 Antenna fail AA_ERROR_CRC 0x0002 CRC computation mismatch AA_EVENT_CALIB_END 0x0100 Antenna calibration has finished AA_ERROR_V24_BAD 0x0103 24 V power malfunction. This value is used in a PDO3 sent once when the power voltage goes under 24V-20% (19.2 V). When the power goes above 22.6V (24V 10%) a PDO3 with AA_ERROR_NONE message is sent to communicate that the power supply voltage has reached a safe value. AA_ERROR_SINGLE_ANT 0x0104 Cannot execute: single antenna board AA_ERROR_NOT_READY 0x0105 CAB busy: cannot accept command AA_ERROR_UNKNOWN_CMD 0x01FF Unknown command MOD-MDS.1

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17 of 28 7.7 Example PDO sequences FL-MDS-CAB.2 For normal usage the CAB starts with optimal default parameters. No calibration is needed unless in a peculiar environment. A request for antenna activation will be denied if one of the antennas is already active. 7.7.1 Continuous read on Antenna A The antennas are assumed to be inactive. A single RPDO1 starts continuous reading:

1. 2. 3. RPDO1 [0x00 0x12 0x00 0x00 0x00 0x00 0x00 0x00] is received;

TPDO3 [0x00 0x10 0x00 0x00 0x00 0x00 0x00 0x00] is sent (AA is changing state), the tag reader is configured, then Antenna A is activated, then VAB sends TPDO3 0x00 0x12 0x00 0x00 0x00 0x00 0x00 0x00 (AA active);

CAB sends a pair of TPDO1s for each carrier passage:

a. TPDO1 tag read 0xC9 0xC7 0x05 0x44 0x01 0xC0 0x00 0x00;

b. TPDO1 tag passed 0xC9 0xC7 0x05 0x44 0x00 0xC0 0x00 0x00. MOD-MDS.1

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18 of 28 FL-MDS-CAB.2 Figure 8. Sequence diagram of AA activation and tag read 7.7.2 Calibration and continuous reading on antenna A Two RPDO1 are needed: one to deactivate the antennas, one to start calibration and continuous reading. A carrier must be positioned centered above the antenna, otherwise the calibration will fail, finding a wrong sampling time value, and possibly making the tag decoding impossible without a new, correct calibration. 1. 2. 3. 4. RPDO1 [0x00 0x11 0x00 0x00 0x00 0x00 0x00 0x00] is received (deactivate both antennas);

a. TPDO3 [0x00 0x11 0x00 0x00 0x00 0x00 0x00 0x00] is sent;

RPDO1 [0x00 0x11 0x00 0x00 0x00 0x00 0x00 0x00] is received (calibrate AA) the tag reader is configured and antenna A is connected, a. TPDO3 [0x00 0x10 0x00 0x00 0x00 0x00 0x00 0x00] is sent (AA is changing state);

CAB executes the sampling time calibration procedure. When the calibration is complete HTRC110 is configured with the best sampling time value, then Antenna is activated and TPDO3 [0x00 0x12 0x00 0x00 0x00 0x00 0x00 0x00] is sent (AB active);

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19 of 28 FL-MDS-CAB.2 5. 6. TPDO1 tag read [0xC9 0xC7 0x05 0x44 0x01 0xC0 0x00 0x00] is sent just after the calibration is completed (a tag is on the antenna);

TPDO1 tag passed [0xC9 0xC7 0x05 0x44 0x00 0xC0 0x00 0x00] is sent when the tag leaves the antenna. Remark: a TPDO3 with status antenna activated (0x12 or 0x21) after a calibration command implies a successful calibration procedure. Figure 9. Calibration sequence diagram 7.7.3 Change active antenna from antenna A to antenna B Assuming antenna B is active the sequence RPDO1 [0x00 0x11 0x00 0x00 0x00 0x00 0x00 0x00]

RPDO1 [0x00 0x12 0x00 0x00 0x00 0x00 0x00 0x00]

will deactivate antenna B, then immediately will activate antenna A. MOD-MDS.1

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20 of 28 7.8 Object Dictionary The Relevant sections of the Object Dictionary of CAB are outlined in the following tables Standard Communication Parameters FL-MDS-CAB.2 Index 0x1008 Subindex Name 1 Manufacturer Name Manufacturer version Manufacturer version Type VISIBLE_STRING RO Access Description E.g. "CAB"

Device hardware VISIBLE_STRING RO E.g. "Rev02"

software VISIBLE_STRING RO E.g. "CAB_1-0-1"

Inpeco Device Identification Subindex Name Firmware name Type VISIBLE_STRING RO Access Description Firmware version VISIBLE_STRING RO Platform version VISIBLE_STRING RO HW layer name Build date/time Build engineer VISIBLE_STRING RO VISIBLE_STRING RO VISIBLE_STRING RO Serial Number of the device MAC Address VISIBLE_STRING RO OCTET_STRING IP Address OCTET_STRING RO RO The name of the project as set in the main cmake file The firmware version (output of "git describe --tags --dirty") The platform version (based on Cortex tags) Eg: hw_aa_board / hw_secoboard... Date/time in UTC of the FW build User name of the person who did the FW build Serial number of the unit if available MAC address of the Ethernet device, if present, in binary format IP address currently assigned, in binary format

... 0x5000 10 Boot-up reason VISIBLE_STRING RO Subindex Name status_AA_presence UNSIGNED8 status_ AA_id status_ AA_crc status_ AA_error status_ AA_counter Antenna A status Type Access Description RO UNSIGNED32 RO UNSIGNED8 RO UNSIGNED16 RO UNSIGNED64 RW Antenna B status Type Access Description RO UNSIGNED32 RO presence on AB latest Id on AB presence on AA latest Id on AA latest CRC on AA (0 if rack tag) latest error code AA number of decoded Ids on AA Subindex Name status_AB_presence UNSIGNED8 status_ AB_id MOD-MDS.1

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21 of 28 0x1009 1 0x100A 1 Index 0x5000 1 0x5000 2 0x5000 3 0x5000 4 0x5000 5 0x5000 6 0x5000 7 0x5000 8 0x5000 9 Index 0x2000 1 0x2000 2 0x2000 3 0x2000 4 0x2000 5 Index 0x2001 1 0x2001 2 Index 0x2803 1 0x2803 2 0x2803 3 Index 0x4000 1 0x4000 2 0x4000 3 0x4000 4 0x4000 5 0x4000 6 FL-MDS-CAB.2 0x2001 3 0x2001 4 0x2001 5 status_ AB_crc status_ AB_error status_ AB_counter UNSIGNED8 RO UNSIGNED16 RO UNSIGNED64 RW latest CRC on AB (0 if rack tag) latest error code AB number of decoded Ids on AB Note: on the single antenna version the AB entries will contain always zeroes. Inpeco Node Info Subindex Name Type Access Description node_info_node_command UNSIGNED16 RO UNSIGNED16 RO node_info_node_status node_info_node_error UNSIGNED16 RO Inpeco node command Inpeco node status Inpeco node error HTRC110 / decoding configuration parameters Subindex Name sampling_time hysteresis gain hipass lopass moving_window_on Type UNSIGNED8 UNSIGNED8 UNSIGNED8 UNSIGNED8 UNSIGNED8 UNSIGNED8 0x4000 7 0x4000 8 interval_tol calib_request UNSIGNED8 RW UNSIGNED8 WR Notes:

Access Description RW RW RW RW RW RW Sampling time 0 633 Hysteresis on/off3 Gain3 Hipass freq3 Lopass freq3 Moving windows algorithm on/off1 signal width in s 2 Sampling request time calibration tolerance interval 1. The parameter at index 0x4000/6 (moving_window_on) selects the bit decoding algorithm. The moving window algorithm checks continuously the newest bytes received from the HITAG, attempting to decode them as an Inpeco carrier or rack tag. The value 0 selects the accumulation algorithm: the bits sent by the tag at each transmit cycle are accumulated, relevant bytes are checked for compliant decoding in the two standards (rack/carrier). 2. This is the tolerance for the time between two signal edges during decoding. 3. Read HTRC110 datasheet and application note documents to know how the parameters at subindexes 0x4000/1-5 influence the HTRC110 behavior. MOD-MDS.1

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22 of 28 FL-MDS-CAB.2 accumulation window moving window by te 0 b yt e 1 Figure 10. portion of tag signal illustrating the two decoding windows 4. HTRC110 setup parameters are organized in pages that can be inspected at index 0x4001:

Subindex Index 0x4001 1 0x4001 2 0x4001 3 0x4001 4 Name htrc110_page[0]

htrc110_page[1]

htrc110_page[2]

htrc110_page[3]

HTRC110 configuration pages Access RW RW RW RW Type UNSIGNED8 UNSIGNED8 UNSIGNED8 UNSIGNED8 Description HTRC110 configuration page 0 HTRC110 configuration page 1 HTRC110 configuration page 2 HTRC110 configuration page 3 Subindex Name Index 0x4003 1 config_is_double CAB configuration Type BOOLEAN Access Description RO 0x4003 2 0x4003 3 config_hw_version UNSIGNED8 config_selected_antenna INTEGER8 RO RO 0x4003 4 config_v_delta_threshold REAL32 RW 0x4003 5 0x4003 6 0x4003 7 0x4003 8 config_node_id_sw1 UNSIGNED8 RO config_decoded_bits UNSIGNED32 RO config_cd_on config_fw_version BOOLEAN VISIBLE_STRI RO RO for True if double antenna, false if single HW version bits read from pins PB6-PB7

-1: none; 0: antenna A; 1:

antenna B Max delta the 24V monitor points. if deltaV24 >

config_v_delta_threshold a DELTAV_THRESHOLD_EXCEE DED warning is sent node Id as read from bits 0-4 of SW1 currently decoded bits from the RFId tag True if continuous decoding on HTRC110 is on STMicroelectronics FW MOD-MDS.1

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23 of 28 Index Subindex Name FL-MDS-CAB.2 Access Description version string used to build this FW program CAB configuration Type NG Raw ADC read values Subindex Name Access Description Type UNSIGNED32 RO UNSIGNED32 RO UNSIGNED32 RO UNSIGNED32 RO ADC raw value - antenna analog signal ADC raw value - V5_MONIT ADC V24_MONIT_A ADC V24_MONIT_B value value raw raw

Type UNSIGNED32 RO UNSIGNED32 RO UNSIGNED32 RO UNSIGNED32 RO ADC value - antenna analog signal at ADC pin ADC value - V5_MONIT ADC value - V24_MONIT_A ADC value - V24_MONIT_B ADC voltages values (V at the ADC input pins), mV Subindex Name Access Description Index 0x4010 1 0x4010 2 0x4010 3 0x4010 4 Index 0x4011 1 0x4011 2 0x4011 3 0x4011 4 Index 0x4012 1 0x4012 2 0x4012 3 0x4012 4 v_adc[0]

v_adc[1]

v_adc[2]

v_adc[3]

v_mV[0]

v_mV[1]

v_mV[2]

v_mV[3]

v_signal[0]

v_signal[1]

v_signal[2]

v_signal[3]

ADC signal values (V before the voltage dividers), mV Subindex Name Access Description Type UNSIGNED32 RO UNSIGNED32 RO UNSIGNED32 RO UNSIGNED32 RO antenna analog signal V5_MONIT V24_MONIT_A V24_MONIT_B 7.8.1 Object Dictionary sections dedicated to Firmware Update Update page (data chunk) section Index Subindex Name Type 0x4020 1 img_page OCTET_STRING 0x4020 2 img_page_size UNSIGNED32 Access Description RW RO The byte array that the downloader software will overwrite with each chunk of the new firmware The size of the update page. be Each chunk must MOD-MDS.1

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24 of 28 Update page (data chunk) section FL-MDS-CAB.2 Index Subindex Name Type Access Description transferred with the same chunk size and padding must be used if needed Update protocol control variables Index 0x4024 1 0x4024 2 Subindex Name update_state update_avail_page_ idx Type UNSIGNED8 UNSIGNED32 0x4024 3 update_md5hash OCTET_STRING 8 Appendix CRCs computation 8.1 CRC1 computation Access Description RW Used by the protocol to control the update process The update page available at 0x4020/1 Used by the protocol to verify transfer correctness

- 16 octets index RW RW The following is a C code snippet showing the CRC1 computation

#define DI 0xE0 unsigned char crc8_table[256]; /* 8-bit table */

int tableBuilt = 0;

void initCRCTable(void)

int i, j;

unsigned char crc;

if (!tableBuilt) {

for (i = 0; i < 256; i++) {

crc = i;

for (j = 0; j < 8; j++) crc8_table[i] = crc & 0xFF;

tableBuilt = 1;

void crcReset()

void crcGenByte(unsigned char dataIn)

pecCrc = 0x80;

pecCrc = crc8_table[pecCrc[idx] ^ dataIn];

pecCrc &= 0xFF;

crc = (crc << 1) ^ ((crc & 0x80) ? DI : 0);

MOD-MDS.1

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25 of 28 FL-MDS-CAB.2 used as follows:

uint8_t payload[6];

crcReset();

for (i=0; i<5; i++) crcGenByte(payload[i]); // to be compared to B10 == payload[5]

8.2 CRC2 computation CRC2 computing is implemented by the crc2() C function.

/*! @brief Compute CRC2

* @param pload The payload array

* @param start The index of the first byte on which the CRC2 is computed

* @param stop The index of the last byte on which the CRC2 is computed

* @return The CRC2 value

uint8_t crc2(uint8_t *pload, int start, int stop)

uint8_t crc = 0x84;

uint8_t bMask;

int i;

for (i = start; i <= stop; i++) {

bMask = crc >> 1;

if (crc % 2) {

crc = pload[i] ^ bMask;

bMask = bMask | 0x80;

return crc;

MOD-MDS.1

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26 of 28 FL-MDS-CAB.2 9 FCC and ISED statements 9.1 Warnings This device complies with part 15 of the FCC Rules. Operation is subject to the following two conditions:

1. This device may not cause harmful interference, and 2. this device must accept any interference received, including interference that may cause undesired operation. 9.2 Information to the user statements This equipment has been tested and found to comply with the limits for a Class B digital device, pursuant to part 15 of the FCC Rules. These limits are designed to provide reasonable protection against harmful interference in a residential installation. This equipment generates, uses and can radiate radio frequency energy and, if not installed and used in accordance with the instructions, may cause harmful interference to radio communications. However, there is no guarantee that interference will not occur in a particular installation. If this equipment does cause harmful interference to radio or television reception, which can be determined by turning the equipment off and on, the user is encouraged to try to correct the interference by one or more of the following measures:

Reorient or relocate the receiving antenna. Increase the separation between the equipment and receiver. Connect the equipment into an outlet on a circuit different from that to which the receiver is connected. Consult the dealer or an experienced radio/TV technician for help. 9.3 Information to user Changes or modifications not expressly approved by the party responsible for compliance could void the user's authority to operate the equipment. This device contains licence-exempt transmitter(s)/receiver(s) that comply with Innovation, Science and Economic Development Canadas licence-exempt RSS(s). Operation is subject to the following two conditions:

1. This device may not cause interference. 2. This device must accept any interference, including interference that may cause undesired operation of the device. Lmetteur/rcepteur exempt de licence contenu dans le prsent appareil est conforme aux CNR dInnovation, Sciences et Dveloppement conomique Canada applicables aux appareils radio exempts de licence. Lexploitation est autorise aux deux conditions suivantes:

1. 2. Lappareil ne doit pas produire de brouillage;

Lappareil doit accepter tout brouillage radiolectrique subi, mme si le brouillage est susceptible den compromettre le fonctionnement. MOD-MDS.1

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27 of 28 FL-MDS-CAB.2 9.4 RF Radiation Exposure statement This product complies with FCC and ISED radiation exposure limits set forth for an uncontrolled environment. The antenna should be installed and operated with minimum distance of 20 cm between the radiator and your body. Cet appareil est conforme aux limites d'exposition aux rayonnements de lISED pour un environnement non contrl. L'antenne doit tre install de faon garder une distance minimale de 20 centimtres entre la source de rayonnements et votre corps.

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MOD-MDS.1

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28 of 28

eA DATE eae Ves ae Equipment Autorisation Division Federal Communications Commission 7435 Oakland Mills Road Columbia, MD 21046 FCC ID: Y2K-CAB2C001 Product Name: CAN Antenna 2 coil Request for Confidentiality Pursuant to Sections 0.457(d) and 0.459 of the commissions rules, we hereby request that the following documents be held confidential:

(List here the documents for which you are seeking confidentiality for example ...) Schematics Block diagrams Operation Description Part list These materials contain trade secrets and proprietary information and are not customarily released to the public. The public disclosure of this information might be harmful to the company and provide unjustified benefits to our competitors. Dated lk}

_ By: Ta Rare) t C=) y Signature etre]

Title: Product Certifications Manager On behalf of : Inpeco Spa via Givoletto 15 Val della Torre-10040

(TO), Italy Telephone: +39 (011) 7548105