diff --git a/Software/src/inverter/SOFAR-CAN.cpp b/Software/src/inverter/SOFAR-CAN.cpp index 1cc434a7..baf5bae9 100644 --- a/Software/src/inverter/SOFAR-CAN.cpp +++ b/Software/src/inverter/SOFAR-CAN.cpp @@ -1,208 +1,13 @@ #include "../include.h" #ifdef SOFAR_CAN +#include "../communication/can/comm_can.h" #include "../datalayer/datalayer.h" #include "SOFAR-CAN.h" /* This implementation of the SOFAR can protocol is halfway done. What's missing is implementing the inverter replies, all the CAN messages are listed, but the can sending is missing. */ -/* Do not change code below unless you are sure what you are doing */ -static unsigned long previousMillis100 = 0; // will store last time a 100ms CAN Message was send - -//Actual content messages -//Note that these are technically extended frames. If more batteries are put in parallel,the first battery sends 0x351 the next battery sends 0x1351 etc. 16 batteries in parallel supported -CAN_frame SOFAR_351 = {.FD = false, - .ext_ID = true, - .DLC = 8, - .ID = 0x351, - .data = {0xC6, 0x08, 0xFA, 0x00, 0xFA, 0x00, 0x80, 0x07}}; -CAN_frame SOFAR_355 = {.FD = false, - .ext_ID = true, - .DLC = 8, - .ID = 0x355, - .data = {0x31, 0x00, 0x64, 0x00, 0xFF, 0xFF, 0xF6, 0x00}}; -CAN_frame SOFAR_356 = {.FD = false, - .ext_ID = true, - .DLC = 8, - .ID = 0x356, - .data = {0x36, 0x08, 0x10, 0x00, 0xD0, 0x00, 0x01, 0x00}}; -CAN_frame SOFAR_30F = {.FD = false, - .ext_ID = true, - .DLC = 8, - .ID = 0x30F, - .data = {0x00, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}}; -CAN_frame SOFAR_359 = {.FD = false, - .ext_ID = true, - .DLC = 8, - .ID = 0x359, - .data = {0x00, 0x00, 0x00, 0x00, 0x04, 0x10, 0x27, 0x10}}; -CAN_frame SOFAR_35E = {.FD = false, - .ext_ID = true, - .DLC = 8, - .ID = 0x35E, - .data = {0x41, 0x4D, 0x41, 0x53, 0x53, 0x00, 0x00, 0x00}}; -CAN_frame SOFAR_35F = {.FD = false, - .ext_ID = true, - .DLC = 8, - .ID = 0x35F, - .data = {0x00, 0x00, 0x24, 0x4E, 0x32, 0x00, 0x00, 0x00}}; -CAN_frame SOFAR_35A = {.FD = false, - .ext_ID = true, - .DLC = 8, - .ID = 0x35A, - .data = {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}}; - -CAN_frame SOFAR_670 = {.FD = false, - .ext_ID = true, - .DLC = 8, - .ID = 0x670, - .data = {0x00, 0x8A, 0x33, 0x11, 0x59, 0x1A, 0x00, 0x00}}; -CAN_frame SOFAR_671 = {.FD = false, - .ext_ID = true, - .DLC = 8, - .ID = 0x671, - .data = {0x00, 0x42, 0x48, 0x55, 0x35, 0x31, 0x32, 0x30}}; -CAN_frame SOFAR_672 = {.FD = false, - .ext_ID = true, - .DLC = 8, - .ID = 0x672, - .data = {0x00, 0x32, 0x35, 0x45, 0x50, 0x43, 0x32, 0x31}}; -CAN_frame SOFAR_673 = {.FD = false, - .ext_ID = true, - .DLC = 8, - .ID = 0x673, - .data = {0x00, 0x34, 0x32, 0x36, 0x31, 0x36, 0x32, 0x00}}; -CAN_frame SOFAR_680 = {.FD = false, - .ext_ID = true, - .DLC = 8, - .ID = 0x680, - .data = {0x00, 0xB7, 0x0C, 0xB3, 0x0C, 0xB4, 0x0C, 0x00}}; -CAN_frame SOFAR_681 = {.FD = false, - .ext_ID = true, - .DLC = 8, - .ID = 0x681, - .data = {0x00, 0xB6, 0x0C, 0xB3, 0x0C, 0xB4, 0x0C, 0x00}}; -CAN_frame SOFAR_682 = {.FD = false, - .ext_ID = true, - .DLC = 8, - .ID = 0x682, - .data = {0x00, 0xB6, 0x0C, 0xB3, 0x0C, 0xB4, 0x0C, 0x00}}; -CAN_frame SOFAR_683 = {.FD = false, - .ext_ID = true, - .DLC = 8, - .ID = 0x683, - .data = {0x00, 0xB6, 0x0C, 0xB3, 0x0C, 0xB4, 0x0C, 0x00}}; -CAN_frame SOFAR_684 = {.FD = false, - .ext_ID = true, - .DLC = 8, - .ID = 0x684, - .data = {0x00, 0xB6, 0x0C, 0xB3, 0x0C, 0xB4, 0x0C, 0x00}}; -CAN_frame SOFAR_685 = {.FD = false, - .ext_ID = true, - .DLC = 8, - .ID = 0x685, - .data = {0x00, 0xB3, 0x0C, 0xBB, 0x0C, 0xB3, 0x0C, 0x00}}; -CAN_frame SOFAR_690 = {.FD = false, - .ext_ID = true, - .DLC = 8, - .ID = 0x690, - .data = {0x00, 0xD7, 0x00, 0xD4, 0x00, 0x00, 0x00, 0x00}}; -CAN_frame SOFAR_691 = {.FD = false, - .ext_ID = true, - .DLC = 8, - .ID = 0x691, - .data = {0x00, 0xD4, 0x00, 0xD1, 0x00, 0x00, 0x00, 0x00}}; -CAN_frame SOFAR_6A0 = {.FD = false, - .ext_ID = true, - .DLC = 8, - .ID = 0x6A0, - .data = {0x00, 0xFA, 0x00, 0xDD, 0x00, 0x00, 0x00, 0x00}}; -CAN_frame SOFAR_6B0 = {.FD = false, - .ext_ID = true, - .DLC = 8, - .ID = 0x6B0, - .data = {0x00, 0xF6, 0x00, 0x06, 0x02, 0x01, 0x00, 0x00}}; -CAN_frame SOFAR_6C0 = {.FD = false, - .ext_ID = true, - .DLC = 8, - .ID = 0x6C0, - .data = {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}}; -CAN_frame SOFAR_770 = {.FD = false, - .ext_ID = true, - .DLC = 8, - .ID = 0x770, - .data = {0x00, 0x56, 0x0B, 0xF0, 0x58, 0x00, 0x00, 0x00}}; -CAN_frame SOFAR_771 = {.FD = false, - .ext_ID = true, - .DLC = 8, - .ID = 0x771, - .data = {0x00, 0x42, 0x48, 0x55, 0x35, 0x31, 0x32, 0x30}}; -CAN_frame SOFAR_772 = {.FD = false, - .ext_ID = true, - .DLC = 8, - .ID = 0x772, - .data = {0x00, 0x32, 0x35, 0x45, 0x50, 0x43, 0x32, 0x31}}; -CAN_frame SOFAR_773 = {.FD = false, - .ext_ID = true, - .DLC = 8, - .ID = 0x773, - .data = {0x00, 0x34, 0x32, 0x36, 0x31, 0x36, 0x32, 0x00}}; -CAN_frame SOFAR_780 = {.FD = false, - .ext_ID = true, - .DLC = 8, - .ID = 0x780, - .data = {0x00, 0xEB, 0x0C, 0xED, 0x0C, 0xED, 0x0C, 0x00}}; -CAN_frame SOFAR_781 = {.FD = false, - .ext_ID = true, - .DLC = 8, - .ID = 0x781, - .data = {0x00, 0xEB, 0x0C, 0xED, 0x0C, 0xED, 0x0C, 0x00}}; -CAN_frame SOFAR_782 = {.FD = false, - .ext_ID = true, - .DLC = 8, - .ID = 0x782, - .data = {0x00, 0xEB, 0x0C, 0xED, 0x0C, 0xED, 0x0C, 0x00}}; -CAN_frame SOFAR_783 = {.FD = false, - .ext_ID = true, - .DLC = 8, - .ID = 0x783, - .data = {0x00, 0xEB, 0x0C, 0xED, 0x0C, 0xED, 0x0C, 0x00}}; -CAN_frame SOFAR_784 = {.FD = false, - .ext_ID = true, - .DLC = 8, - .ID = 0x784, - .data = {0x00, 0xEB, 0x0C, 0xED, 0x0C, 0xED, 0x0C, 0x00}}; -CAN_frame SOFAR_785 = {.FD = false, - .ext_ID = true, - .DLC = 8, - .ID = 0x785, - .data = {0x00, 0xEB, 0x0C, 0xED, 0x0C, 0xED, 0x0C, 0x00}}; -CAN_frame SOFAR_790 = {.FD = false, - .ext_ID = true, - .DLC = 8, - .ID = 0x790, - .data = {0x00, 0xCD, 0x00, 0xCF, 0x00, 0x00, 0x00, 0x00}}; -CAN_frame SOFAR_791 = {.FD = false, - .ext_ID = true, - .DLC = 8, - .ID = 0x791, - .data = {0x00, 0xCD, 0x00, 0xCF, 0x00, 0x00, 0x00, 0x00}}; -CAN_frame SOFAR_7A0 = {.FD = false, - .ext_ID = true, - .DLC = 8, - .ID = 0x7A0, - .data = {0x00, 0xFA, 0x00, 0xE1, 0x00, 0x00, 0x00, 0x00}}; -CAN_frame SOFAR_7B0 = {.FD = false, - .ext_ID = true, - .DLC = 8, - .ID = 0x7B0, - .data = {0x00, 0xF9, 0x00, 0x06, 0x02, 0xE9, 0x5D, 0x00}}; -CAN_frame SOFAR_7C0 = {.FD = false, - .ext_ID = true, - .DLC = 8, - .ID = 0x7C0, - .data = {0x00, 0x00, 0x00, 0x04, 0x00, 0x04, 0x80, 0x00}}; - -void update_values_can_inverter() { //This function maps all the values fetched from battery CAN to the correct CAN messages +void SofarInverter:: + update_values() { //This function maps all the values fetched from battery CAN to the correct CAN messages //Maxvoltage (eg 400.0V = 4000 , 16bits long) Charge Cutoff Voltage SOFAR_351.data.u8[0] = (datalayer.battery.info.max_design_voltage_dV >> 8); @@ -230,7 +35,7 @@ void update_values_can_inverter() { //This function maps all the values fetched SOFAR_356.data.u8[3] = (datalayer.battery.status.temperature_max_dC & 0x00FF); } -void map_can_frame_to_variable_inverter(CAN_frame rx_frame) { +void SofarInverter::map_can_frame_to_variable(CAN_frame rx_frame) { switch (rx_frame.ID) { //In here we need to respond to the inverter. TODO: make logic case 0x605: datalayer.system.status.CAN_inverter_still_alive = CAN_STILL_ALIVE; @@ -247,7 +52,7 @@ void map_can_frame_to_variable_inverter(CAN_frame rx_frame) { } } -void transmit_can_inverter(unsigned long currentMillis) { +void SofarInverter::transmit_can(unsigned long currentMillis) { // Send 100ms CAN Message if (currentMillis - previousMillis100 >= INTERVAL_100_MS) { previousMillis100 = currentMillis; @@ -263,7 +68,7 @@ void transmit_can_inverter(unsigned long currentMillis) { } } -void setup_inverter(void) { // Performs one time setup at startup over CAN bus +void SofarInverter::setup(void) { // Performs one time setup at startup over CAN bus strncpy(datalayer.system.info.inverter_protocol, "Sofar BMS (Extended Frame) over CAN bus", 63); datalayer.system.info.inverter_protocol[63] = '\0'; } diff --git a/Software/src/inverter/SOFAR-CAN.h b/Software/src/inverter/SOFAR-CAN.h index dfbe2ef7..fc12dc7c 100644 --- a/Software/src/inverter/SOFAR-CAN.h +++ b/Software/src/inverter/SOFAR-CAN.h @@ -2,9 +2,214 @@ #define SOFAR_CAN_H #include "../include.h" -#define CAN_INVERTER_SELECTED +#include "CanInverterProtocol.h" -void transmit_can_frame(CAN_frame* tx_frame, int interface); -void setup_inverter(void); +#define CAN_INVERTER_SELECTED +#define SELECTED_INVERTER_CLASS SofarInverter + +class SofarInverter : public CanInverterProtocol { + public: + void setup(); + void update_values(); + void transmit_can(unsigned long currentMillis); + void map_can_frame_to_variable(CAN_frame rx_frame); + + private: + unsigned long previousMillis100 = 0; // will store last time a 100ms CAN Message was send + + //Actual content messages + //Note that these are technically extended frames. If more batteries are put in parallel,the first battery sends 0x351 the next battery sends 0x1351 etc. 16 batteries in parallel supported + CAN_frame SOFAR_351 = {.FD = false, + .ext_ID = true, + .DLC = 8, + .ID = 0x351, + .data = {0xC6, 0x08, 0xFA, 0x00, 0xFA, 0x00, 0x80, 0x07}}; + CAN_frame SOFAR_355 = {.FD = false, + .ext_ID = true, + .DLC = 8, + .ID = 0x355, + .data = {0x31, 0x00, 0x64, 0x00, 0xFF, 0xFF, 0xF6, 0x00}}; + CAN_frame SOFAR_356 = {.FD = false, + .ext_ID = true, + .DLC = 8, + .ID = 0x356, + .data = {0x36, 0x08, 0x10, 0x00, 0xD0, 0x00, 0x01, 0x00}}; + CAN_frame SOFAR_30F = {.FD = false, + .ext_ID = true, + .DLC = 8, + .ID = 0x30F, + .data = {0x00, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}}; + CAN_frame SOFAR_359 = {.FD = false, + .ext_ID = true, + .DLC = 8, + .ID = 0x359, + .data = {0x00, 0x00, 0x00, 0x00, 0x04, 0x10, 0x27, 0x10}}; + CAN_frame SOFAR_35E = {.FD = false, + .ext_ID = true, + .DLC = 8, + .ID = 0x35E, + .data = {0x41, 0x4D, 0x41, 0x53, 0x53, 0x00, 0x00, 0x00}}; + CAN_frame SOFAR_35F = {.FD = false, + .ext_ID = true, + .DLC = 8, + .ID = 0x35F, + .data = {0x00, 0x00, 0x24, 0x4E, 0x32, 0x00, 0x00, 0x00}}; + CAN_frame SOFAR_35A = {.FD = false, + .ext_ID = true, + .DLC = 8, + .ID = 0x35A, + .data = {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}}; + + CAN_frame SOFAR_670 = {.FD = false, + .ext_ID = true, + .DLC = 8, + .ID = 0x670, + .data = {0x00, 0x8A, 0x33, 0x11, 0x59, 0x1A, 0x00, 0x00}}; + CAN_frame SOFAR_671 = {.FD = false, + .ext_ID = true, + .DLC = 8, + .ID = 0x671, + .data = {0x00, 0x42, 0x48, 0x55, 0x35, 0x31, 0x32, 0x30}}; + CAN_frame SOFAR_672 = {.FD = false, + .ext_ID = true, + .DLC = 8, + .ID = 0x672, + .data = {0x00, 0x32, 0x35, 0x45, 0x50, 0x43, 0x32, 0x31}}; + CAN_frame SOFAR_673 = {.FD = false, + .ext_ID = true, + .DLC = 8, + .ID = 0x673, + .data = {0x00, 0x34, 0x32, 0x36, 0x31, 0x36, 0x32, 0x00}}; + CAN_frame SOFAR_680 = {.FD = false, + .ext_ID = true, + .DLC = 8, + .ID = 0x680, + .data = {0x00, 0xB7, 0x0C, 0xB3, 0x0C, 0xB4, 0x0C, 0x00}}; + CAN_frame SOFAR_681 = {.FD = false, + .ext_ID = true, + .DLC = 8, + .ID = 0x681, + .data = {0x00, 0xB6, 0x0C, 0xB3, 0x0C, 0xB4, 0x0C, 0x00}}; + CAN_frame SOFAR_682 = {.FD = false, + .ext_ID = true, + .DLC = 8, + .ID = 0x682, + .data = {0x00, 0xB6, 0x0C, 0xB3, 0x0C, 0xB4, 0x0C, 0x00}}; + CAN_frame SOFAR_683 = {.FD = false, + .ext_ID = true, + .DLC = 8, + .ID = 0x683, + .data = {0x00, 0xB6, 0x0C, 0xB3, 0x0C, 0xB4, 0x0C, 0x00}}; + CAN_frame SOFAR_684 = {.FD = false, + .ext_ID = true, + .DLC = 8, + .ID = 0x684, + .data = {0x00, 0xB6, 0x0C, 0xB3, 0x0C, 0xB4, 0x0C, 0x00}}; + CAN_frame SOFAR_685 = {.FD = false, + .ext_ID = true, + .DLC = 8, + .ID = 0x685, + .data = {0x00, 0xB3, 0x0C, 0xBB, 0x0C, 0xB3, 0x0C, 0x00}}; + CAN_frame SOFAR_690 = {.FD = false, + .ext_ID = true, + .DLC = 8, + .ID = 0x690, + .data = {0x00, 0xD7, 0x00, 0xD4, 0x00, 0x00, 0x00, 0x00}}; + CAN_frame SOFAR_691 = {.FD = false, + .ext_ID = true, + .DLC = 8, + .ID = 0x691, + .data = {0x00, 0xD4, 0x00, 0xD1, 0x00, 0x00, 0x00, 0x00}}; + CAN_frame SOFAR_6A0 = {.FD = false, + .ext_ID = true, + .DLC = 8, + .ID = 0x6A0, + .data = {0x00, 0xFA, 0x00, 0xDD, 0x00, 0x00, 0x00, 0x00}}; + CAN_frame SOFAR_6B0 = {.FD = false, + .ext_ID = true, + .DLC = 8, + .ID = 0x6B0, + .data = {0x00, 0xF6, 0x00, 0x06, 0x02, 0x01, 0x00, 0x00}}; + CAN_frame SOFAR_6C0 = {.FD = false, + .ext_ID = true, + .DLC = 8, + .ID = 0x6C0, + .data = {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}}; + CAN_frame SOFAR_770 = {.FD = false, + .ext_ID = true, + .DLC = 8, + .ID = 0x770, + .data = {0x00, 0x56, 0x0B, 0xF0, 0x58, 0x00, 0x00, 0x00}}; + CAN_frame SOFAR_771 = {.FD = false, + .ext_ID = true, + .DLC = 8, + .ID = 0x771, + .data = {0x00, 0x42, 0x48, 0x55, 0x35, 0x31, 0x32, 0x30}}; + CAN_frame SOFAR_772 = {.FD = false, + .ext_ID = true, + .DLC = 8, + .ID = 0x772, + .data = {0x00, 0x32, 0x35, 0x45, 0x50, 0x43, 0x32, 0x31}}; + CAN_frame SOFAR_773 = {.FD = false, + .ext_ID = true, + .DLC = 8, + .ID = 0x773, + .data = {0x00, 0x34, 0x32, 0x36, 0x31, 0x36, 0x32, 0x00}}; + CAN_frame SOFAR_780 = {.FD = false, + .ext_ID = true, + .DLC = 8, + .ID = 0x780, + .data = {0x00, 0xEB, 0x0C, 0xED, 0x0C, 0xED, 0x0C, 0x00}}; + CAN_frame SOFAR_781 = {.FD = false, + .ext_ID = true, + .DLC = 8, + .ID = 0x781, + .data = {0x00, 0xEB, 0x0C, 0xED, 0x0C, 0xED, 0x0C, 0x00}}; + CAN_frame SOFAR_782 = {.FD = false, + .ext_ID = true, + .DLC = 8, + .ID = 0x782, + .data = {0x00, 0xEB, 0x0C, 0xED, 0x0C, 0xED, 0x0C, 0x00}}; + CAN_frame SOFAR_783 = {.FD = false, + .ext_ID = true, + .DLC = 8, + .ID = 0x783, + .data = {0x00, 0xEB, 0x0C, 0xED, 0x0C, 0xED, 0x0C, 0x00}}; + CAN_frame SOFAR_784 = {.FD = false, + .ext_ID = true, + .DLC = 8, + .ID = 0x784, + .data = {0x00, 0xEB, 0x0C, 0xED, 0x0C, 0xED, 0x0C, 0x00}}; + CAN_frame SOFAR_785 = {.FD = false, + .ext_ID = true, + .DLC = 8, + .ID = 0x785, + .data = {0x00, 0xEB, 0x0C, 0xED, 0x0C, 0xED, 0x0C, 0x00}}; + CAN_frame SOFAR_790 = {.FD = false, + .ext_ID = true, + .DLC = 8, + .ID = 0x790, + .data = {0x00, 0xCD, 0x00, 0xCF, 0x00, 0x00, 0x00, 0x00}}; + CAN_frame SOFAR_791 = {.FD = false, + .ext_ID = true, + .DLC = 8, + .ID = 0x791, + .data = {0x00, 0xCD, 0x00, 0xCF, 0x00, 0x00, 0x00, 0x00}}; + CAN_frame SOFAR_7A0 = {.FD = false, + .ext_ID = true, + .DLC = 8, + .ID = 0x7A0, + .data = {0x00, 0xFA, 0x00, 0xE1, 0x00, 0x00, 0x00, 0x00}}; + CAN_frame SOFAR_7B0 = {.FD = false, + .ext_ID = true, + .DLC = 8, + .ID = 0x7B0, + .data = {0x00, 0xF9, 0x00, 0x06, 0x02, 0xE9, 0x5D, 0x00}}; + CAN_frame SOFAR_7C0 = {.FD = false, + .ext_ID = true, + .DLC = 8, + .ID = 0x7C0, + .data = {0x00, 0x00, 0x00, 0x04, 0x00, 0x04, 0x80, 0x00}}; +}; #endif