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Improve CAN handling

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Daniel Öster 2023-02-26 13:17:55 -08:00 • committed by GitHub
parent f8a6e176de
commit 2f7e5fb1fa
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3 changed files with 374 additions and 420 deletions
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189
Software/BYD-MODBUS-2-LEAF-CAN.ino
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@ -20,6 +20,10 @@ const int rx_queue_size = 10; // Receive Queue size
byte mprun10 = 0; //counter 0-3 byte mprun10 = 0; //counter 0-3
byte mprun100 = 0; //counter 0-3 byte mprun100 = 0; //counter 0-3
CAN_frame_t LEAF_1F2 = {.MsgID = 0x1F2, LEAF_1F2.FIR.B.DLC = 8, LEAF_1F2.FIR.B.FF = CAN_frame_std, LEAF_1F2.data.u8[0] = 0x64, LEAF_1F2.data.u8[1] = 0x64,LEAF_1F2.data.u8[2] = 0x32, LEAF_1F2.data.u8[3] = 0xA0,LEAF_1F2.data.u8[4] = 0x00,LEAF_1F2.data.u8[5] = 0x0A};
CAN_frame_t LEAF_50B = {.MsgID = 0x50B, LEAF_50B.FIR.B.DLC = 8, LEAF_50B.FIR.B.FF = CAN_frame_std, LEAF_50B.data.u8[0] = 0x00, LEAF_50B.data.u8[1] = 0x00,LEAF_50B.data.u8[2] = 0x06, LEAF_50B.data.u8[3] = 0xC0,LEAF_50B.data.u8[4] = 0x00,LEAF_50B.data.u8[5] = 0x00};
CAN_frame_t LEAF_50C = {.MsgID = 0x50C, LEAF_50C.FIR.B.DLC = 8, LEAF_50C.FIR.B.FF = CAN_frame_std, LEAF_50C.data.u8[0] = 0x00, LEAF_50C.data.u8[1] = 0x00,LEAF_50C.data.u8[2] = 0x00, LEAF_50C.data.u8[3] = 0x00,LEAF_50C.data.u8[4] = 0x00,LEAF_50C.data.u8[5] = 0x00};
//Nissan LEAF battery parameters from CAN //Nissan LEAF battery parameters from CAN
#define WH_PER_GID 77 //One GID is this amount of Watt hours #define WH_PER_GID 77 //One GID is this amount of Watt hours
int LB_Discharge_Power_Limit = 0; //Limit in kW int LB_Discharge_Power_Limit = 0; //Limit in kW
@ -77,7 +81,6 @@ uint16_t p1001_data[] = {
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0
}; };
uint16_t i; uint16_t i;
static unsigned long currentMillis;
// Create a ModbusRTU server instance listening on Serial2 with 2000ms timeout // Create a ModbusRTU server instance listening on Serial2 with 2000ms timeout
ModbusServerRTU MBserver(Serial2, 2000); ModbusServerRTU MBserver(Serial2, 2000);
@ -129,12 +132,11 @@ void setup()
void loop() void loop()
{ {
handle_can(); handle_can();
update_values(); //every 10s
currentMillis = millis(); if (millis() - previousMillisModbus >= intervalModbusTask)
if (currentMillis - previousMillisModbus >= intervalModbusTask)
{ {
//every 10s previousMillisModbus = millis();
previousMillisModbus = currentMillis; update_values();
handle_UpdateDataModbus(); handle_UpdateDataModbus();
} }
} }
@ -206,19 +208,19 @@ void handle_UpdateDataModbus()
void handle_can() void handle_can()
{ {
CAN_frame_t rx_frame; CAN_frame_t rx_frame;
unsigned long currentMillis = millis();
static unsigned long currentMillis = millis(); // Receive next CAN frame from queue
if (xQueueReceive(CAN_cfg.rx_queue, &rx_frame, 3 * portTICK_PERIOD_MS) == pdTRUE)
// Receive next CAN frame from queue {
if (xQueueReceive(CAN_cfg.rx_queue, &rx_frame, 3 * portTICK_PERIOD_MS) == pdTRUE) if (rx_frame.FIR.B.FF == CAN_frame_std)
{ {
if (rx_frame.FIR.B.FF == CAN_frame_std) //printf("New standard frame");
{ switch (rx_frame.MsgID)
//printf("New standard frame");
switch (rx_frame.MsgID)
{ {
case 0x1DB: case 0x1DB:
//printf("1DB \n");
LB_Current = (rx_frame.data.u8[0] << 3) | (rx_frame.data.u8[1] & 0xe0) >> 5; LB_Current = (rx_frame.data.u8[0] << 3) | (rx_frame.data.u8[1] & 0xe0) >> 5;
LB_Total_Voltage = ((rx_frame.data.u8[2] << 2) | (rx_frame.data.u8[3] & 0xc0) >> 6) / 2; LB_Total_Voltage = ((rx_frame.data.u8[2] << 2) | (rx_frame.data.u8[3] & 0xc0) >> 6) / 2;
break; break;
@ -245,135 +247,86 @@ void handle_can()
LB_Wh_Remaining = (LB_GIDS * WH_PER_GID); LB_Wh_Remaining = (LB_GIDS * WH_PER_GID);
} }
break; break;
case 0x59E: //This message is only present on 2013+ AZE0 and upwards default:
break; break;
case 0x5C0: }
//todo read batt temp from here (or from active polling later) }
break; else
default: {
break; //printf("New extended frame");
} }
} }
else
{
//printf("New extended frame");
}
// if (rx_frame.FIR.B.RTR == CAN_RTR)
// {
// printf(" RTR from 0x%08X, DLC %d\r\n", rx_frame.MsgID, rx_frame.FIR.B.DLC);
// }
// else
// {
// printf(" from 0x%08X, DLC %d, Data ", rx_frame.MsgID, rx_frame.FIR.B.DLC);
// for (int i = 0; i < rx_frame.FIR.B.DLC; i++)
// {
// printf("0x%02X ", rx_frame.data.u8[i]);
// }
// printf("\n");
// }
}
// Send 100ms CAN Message // Send 100ms CAN Message
if (currentMillis - previousMillis100 >= interval100) if (currentMillis - previousMillis100 >= interval100)
{ {
previousMillis100 = currentMillis; previousMillis100 = currentMillis;
ESP32Can.CANWriteFrame(&LEAF_50B); //Always send 50B as a static message
mprun100++; mprun100++;
if (mprun100 > 3) if (mprun100 > 3)
{ {
mprun100 = 0; mprun100 = 0;
} }
CAN_frame_t tx_frame;
tx_frame.FIR.B.FF = CAN_frame_std;
tx_frame.MsgID = 0x50B;
tx_frame.FIR.B.DLC = 8;
tx_frame.data.u8[0] = 0x00;
tx_frame.data.u8[1] = 0x00;
tx_frame.data.u8[2] = 0x06;
tx_frame.data.u8[3] = 0xC0; //HCM_WakeUpSleepCmd = Wakeup
tx_frame.data.u8[4] = 0x00;
tx_frame.data.u8[5] = 0x00;
tx_frame.data.u8[6] = 0x00;
tx_frame.data.u8[7] = 0x00;
ESP32Can.CANWriteFrame(&tx_frame);
Serial.println("CAN send 50B done");
tx_frame.MsgID = 0x50C;
tx_frame.FIR.B.DLC = 8;
tx_frame.data.u8[0] = 0x00;
tx_frame.data.u8[1] = 0x00;
tx_frame.data.u8[2] = 0x00;
tx_frame.data.u8[3] = 0x00;
tx_frame.data.u8[4] = 0x00;
if (mprun100 == 0) if (mprun100 == 0)
{ {
tx_frame.data.u8[5] = 0x00; LEAF_50C.data.u8[5] = 0x00;
tx_frame.data.u8[6] = 0x5D; LEAF_50C.data.u8[6] = 0x5D;
tx_frame.data.u8[7] = 0xC8; LEAF_50C.data.u8[7] = 0xC8;
} }
if (mprun100 == 1) else if(mprun100 == 1)
{ {
tx_frame.data.u8[5] = 0x01; LEAF_50C.data.u8[5] = 0x01;
tx_frame.data.u8[6] = 0x5D; LEAF_50C.data.u8[6] = 0x5D;
tx_frame.data.u8[7] = 0x5F; LEAF_50C.data.u8[7] = 0x5F;
} }
if (mprun100 == 2) else if(mprun100 == 2)
{ {
tx_frame.data.u8[5] = 0x02; LEAF_50C.data.u8[5] = 0x02;
tx_frame.data.u8[6] = 0x5D; LEAF_50C.data.u8[6] = 0x5D;
tx_frame.data.u8[7] = 0x63; LEAF_50C.data.u8[7] = 0x63;
} }
if (mprun100 == 3) else if(mprun100 == 3)
{ {
tx_frame.data.u8[5] = 0x03; LEAF_50C.data.u8[5] = 0x03;
tx_frame.data.u8[6] = 0x5D; LEAF_50C.data.u8[6] = 0x5D;
tx_frame.data.u8[7] = 0xF4; LEAF_50C.data.u8[7] = 0xF4;
} }
ESP32Can.CANWriteFrame(&tx_frame); ESP32Can.CANWriteFrame(&LEAF_50C);
Serial.println("CAN send 50C done");
} }
//Send 10ms message
if (currentMillis - previousMillis10 >= interval10) if (currentMillis - previousMillis10 >= interval10)
{ {
previousMillis10 = currentMillis; previousMillis10 = currentMillis;
if(mprun10 == 0)
{
LEAF_1F2.data.u8[6] = 0x00;
LEAF_1F2.data.u8[7] = 0x8F;
}
else if(mprun10 == 1)
{
LEAF_1F2.data.u8[6] = 0x01;
LEAF_1F2.data.u8[7] = 0x80;
}
else if(mprun10 == 2)
{
LEAF_1F2.data.u8[6] = 0x02;
LEAF_1F2.data.u8[7] = 0x81;
}
else if(mprun10 == 3)
{
LEAF_1F2.data.u8[6] = 0x03;
LEAF_1F2.data.u8[7] = 0x82;
}
ESP32Can.CANWriteFrame(&LEAF_1F2);
mprun10++; mprun10++;
if (mprun10 > 3) if (mprun10 > 3)
{ {
mprun10 = 0; mprun10 = 0;
} }
//Serial.println("CAN 10ms done");
CAN_frame_t tx_frame;
tx_frame.FIR.B.FF = CAN_frame_std;
tx_frame.MsgID = 0x1F2;
tx_frame.FIR.B.DLC = 8;
tx_frame.data.u8[0] = 0x64;
tx_frame.data.u8[1] = 0x64;
tx_frame.data.u8[2] = 0x32;
tx_frame.data.u8[3] = 0xA0;
tx_frame.data.u8[4] = 0x00;
tx_frame.data.u8[5] = 0x0A;
if (mprun10 == 0)
{
tx_frame.data.u8[6] = 0x00;
tx_frame.data.u8[7] = 0x8F;
}
if (mprun10 == 1)
{
tx_frame.data.u8[6] = 0x01;
tx_frame.data.u8[7] = 0x80;
}
if (mprun10 == 2)
{
tx_frame.data.u8[6] = 0x02;
tx_frame.data.u8[7] = 0x81;
}
if (mprun10 == 3)
{
tx_frame.data.u8[6] = 0x03;
tx_frame.data.u8[7] = 0x82;
}
ESP32Can.CANWriteFrame(&tx_frame);
Serial.println("CAN send 1F2 done");
} }
} }

1
Software/CAN.c
View file

@ -171,6 +171,7 @@ int CAN_init() {
// enable module // enable module
DPORT_SET_PERI_REG_MASK(DPORT_PERIP_CLK_EN_REG, DPORT_CAN_CLK_EN); DPORT_SET_PERI_REG_MASK(DPORT_PERIP_CLK_EN_REG, DPORT_CAN_CLK_EN);
DPORT_SET_PERI_REG_MASK(DPORT_PERIP_RST_EN_REG, DPORT_CAN_RST); //Added https://github.com/miwagner/ESP32-Arduino-CAN/pull/37/commits/feccb722866fbdcc7628b941efe9f79295b0cf81
DPORT_CLEAR_PERI_REG_MASK(DPORT_PERIP_RST_EN_REG, DPORT_CAN_RST); DPORT_CLEAR_PERI_REG_MASK(DPORT_PERIP_RST_EN_REG, DPORT_CAN_RST);
// configure TX pin // configure TX pin

4
Software/config.h
View file

@ -4,8 +4,8 @@
// PIN // PIN
#define PIN_5V_EN 16 #define PIN_5V_EN 16
#define CAN_TX_PIN 26 #define CAN_TX_PIN 27
#define CAN_RX_PIN 27 #define CAN_RX_PIN 26
#define CAN_SE_PIN 23 #define CAN_SE_PIN 23
#define RS485_EN_PIN 17 // 17 /RE #define RS485_EN_PIN 17 // 17 /RE