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Simplify can sending routine and perf check

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This commit is contained in:
Daniel Öster 2025-04-26 23:43:51 +03:00
parent c49912df36
commit c8de168435
62 changed files with 98 additions and 301 deletions
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16
Software/Software.ino
View file

@ -52,6 +52,7 @@ volatile unsigned long long bmsResetTimeOffset = 0;
const char* version_number = "8.12.dev";
// Interval timers
volatile unsigned long currentMillis = 0;
unsigned long previousMillis10ms = 0;
unsigned long previousMillisUpdateVal = 0;
unsigned long lastMillisOverflowCheck = 0;
@ -208,6 +209,7 @@ void core_loop(void*) {
led_init();
while (true) {
START_TIME_MEASUREMENT(all);
START_TIME_MEASUREMENT(comm);
#ifdef EQUIPMENT_STOP_BUTTON
@ -227,8 +229,12 @@ void core_loop(void*) {
#endif // WEBSERVER
// Process
if (millis() - previousMillis10ms >= INTERVAL_10_MS) {
previousMillis10ms = millis();
currentMillis = millis();
if (currentMillis - previousMillis10ms >= INTERVAL_10_MS) {
if ((currentMillis - previousMillis10ms >= INTERVAL_10_MS_DELAYED) && (currentMillis > BOOTUP_TIME)) {
set_event(EVENT_TASK_OVERRUN, (currentMillis - previousMillis10ms));
}
previousMillis10ms = currentMillis;
#ifdef FUNCTION_TIME_MEASUREMENT
START_TIME_MEASUREMENT(time_10ms);
#endif
@ -242,8 +248,8 @@ void core_loop(void*) {
#endif
}
if (millis() - previousMillisUpdateVal >= INTERVAL_1_S) {
previousMillisUpdateVal = millis(); // Order matters on the update_loop!
if (currentMillis - previousMillisUpdateVal >= INTERVAL_1_S) {
previousMillisUpdateVal = currentMillis; // Order matters on the update_loop!
#ifdef FUNCTION_TIME_MEASUREMENT
START_TIME_MEASUREMENT(time_values);
#endif
@ -264,7 +270,7 @@ void core_loop(void*) {
START_TIME_MEASUREMENT(cantx);
#endif
// Output
transmit_can(); // Send CAN messages to all components
transmit_can(currentMillis); // Send CAN messages to all components
#ifdef RS485_BATTERY_SELECTED
transmit_rs485();

4
Software/src/battery/BATTERIES.h
View file

@ -5,7 +5,7 @@
#ifdef BMW_SBOX
#include "BMW-SBOX.h"
void handle_incoming_can_frame_shunt(CAN_frame rx_frame);
void transmit_can_shunt();
void transmit_can_shunt(unsigned long currentMillis);
void setup_can_shunt();
#endif
@ -155,7 +155,7 @@ void transmit_rs485();
void receive_RS485();
#else
void handle_incoming_can_frame_battery(CAN_frame rx_frame);
void transmit_can_battery();
void transmit_can_battery(unsigned long currentMillis);
#endif
#ifdef DOUBLE_BATTERY

9
Software/src/battery/BMW-I3-BATTERY.cpp
View file

@ -877,18 +877,11 @@ void handle_incoming_can_frame_battery2(CAN_frame rx_frame) {
break;
}
}
void transmit_can_battery() {
unsigned long currentMillis = millis();
void transmit_can_battery(unsigned long currentMillis) {
if (battery_awake) {
//Send 20ms message
if (currentMillis - previousMillis20 >= INTERVAL_20_MS) {
// Check if sending of CAN messages has been delayed too much.
if ((currentMillis - previousMillis20 >= INTERVAL_20_MS_DELAYED) && (currentMillis > BOOTUP_TIME)) {
set_event(EVENT_CAN_OVERRUN, (currentMillis - previousMillis20));
} else {
clear_event(EVENT_CAN_OVERRUN);
}
previousMillis20 = currentMillis;
if (startup_counter_contactor < 160) {

25
Software/src/battery/BMW-IX-BATTERY.cpp
View file

@ -11,8 +11,6 @@ static unsigned long previousMillis100 = 0; // will store last time a 100ms C
static unsigned long previousMillis200 = 0; // will store last time a 200ms CAN Message was send
static unsigned long previousMillis500 = 0; // will store last time a 500ms CAN Message was send
static unsigned long previousMillis640 = 0; // will store last time a 600ms CAN Message was send
static unsigned long previousMillis1000 = 0; // will store last time a 1000ms CAN Message was send
static unsigned long previousMillis5000 = 0; // will store last time a 5000ms CAN Message was send
static unsigned long previousMillis10000 = 0; // will store last time a 10000ms CAN Message was send
#define ALIVE_MAX_VALUE 14 // BMW CAN messages contain alive counter, goes from 0...14
@ -839,8 +837,7 @@ void handle_incoming_can_frame_battery(CAN_frame rx_frame) {
}
}
void transmit_can_battery() {
unsigned long currentMillis = millis();
void transmit_can_battery(unsigned long currentMillis) {
//if (battery_awake) { //We can always send CAN as the iX BMS will wake up on vehicle comms
// Send 100ms CAN Message
@ -862,14 +859,6 @@ void transmit_can_battery() {
BMWiX_C0.data.u8[0] = increment_C0_counter(BMWiX_C0.data.u8[0]); //Keep Alive 1
transmit_can_frame(&BMWiX_C0, can_config.battery);
}
// Send 1000ms CAN Message
if (currentMillis - previousMillis1000 >= INTERVAL_1_S) {
previousMillis1000 = currentMillis;
}
// Send 5000ms CAN Message
if (currentMillis - previousMillis5000 >= INTERVAL_5_S) {
previousMillis5000 = currentMillis;
}
// Send 10000ms CAN Message
if (currentMillis - previousMillis10000 >= INTERVAL_10_S) {
previousMillis10000 = currentMillis;
@ -877,18 +866,6 @@ void transmit_can_battery() {
transmit_can_frame(&BMWiX_6F4_REQUEST_BALANCING_START, can_config.battery);
}
}
//We can always send CAN as the iX BMS will wake up on vehicle comms
// else {
// previousMillis20 = currentMillis;
// previousMillis100 = currentMillis;
// previousMillis200 = currentMillis;
// previousMillis500 = currentMillis;
// previousMillis640 = currentMillis;
// previousMillis1000 = currentMillis;
// previousMillis5000 = currentMillis;
// previousMillis10000 = currentMillis;
// }
//} //We can always send CAN as the iX BMS will wake up on vehicle comms
void setup_battery(void) { // Performs one time setup at startup
strncpy(datalayer.system.info.battery_protocol, "BMW iX and i4-7 platform", 63);

3
Software/src/battery/BMW-PHEV-BATTERY.cpp
View file

@ -1005,8 +1005,7 @@ void handle_incoming_can_frame_battery(CAN_frame rx_frame) {
}
}
void transmit_can_battery() {
unsigned long currentMillis = millis();
void transmit_can_battery(unsigned long currentMillis) {
//if (battery_awake) { //We can always send CAN as the PHEV BMS will wake up on vehicle comms

21
Software/src/battery/BMW-SBOX.cpp
View file

@ -100,18 +100,17 @@ void handle_incoming_can_frame_shunt(CAN_frame rx_frame) {
}
}
void transmit_can_shunt() {
unsigned long currentTime = millis();
void transmit_can_shunt(unsigned long currentMillis) {
/** Shunt can frames seen? **/
if (ShuntLastSeen + 1000 < currentTime) {
if (ShuntLastSeen + 1000 < currentMillis) {
datalayer.shunt.available = false;
} else {
datalayer.shunt.available = true;
}
// Send 20ms CAN Message
if (currentTime - LastMsgTime >= INTERVAL_20_MS) {
LastMsgTime = currentTime;
if (currentMillis - LastMsgTime >= INTERVAL_20_MS) {
LastMsgTime = currentMillis;
// First check if we have any active errors, incase we do, turn off the battery
if (datalayer.battery.status.bms_status == FAULT) {
timeSpentInFaultedMode++;
@ -154,16 +153,16 @@ void transmit_can_shunt() {
switch (contactorStatus) {
case PRECHARGE:
SBOX_100.data.u8[0] = 0x86; // Precharge relay only
prechargeStartTime = currentTime;
prechargeStartTime = currentMillis;
contactorStatus = NEGATIVE;
#ifdef DEBUG_VIA_USB
Serial.println("S-BOX Precharge relay engaged");
#endif
break;
case NEGATIVE:
if (currentTime - prechargeStartTime >= CONTACTOR_CONTROL_T1) {
if (currentMillis - prechargeStartTime >= CONTACTOR_CONTROL_T1) {
SBOX_100.data.u8[0] = 0xA6; // Precharge + Negative
negativeStartTime = currentTime;
negativeStartTime = currentMillis;
contactorStatus = POSITIVE;
datalayer.shunt.precharging = true;
#ifdef DEBUG_VIA_USB
@ -172,11 +171,11 @@ void transmit_can_shunt() {
}
break;
case POSITIVE:
if (currentTime - negativeStartTime >= CONTACTOR_CONTROL_T2 &&
if (currentMillis - negativeStartTime >= CONTACTOR_CONTROL_T2 &&
(datalayer.shunt.measured_voltage_mV * MAX_PRECHARGE_RESISTOR_VOLTAGE_PERCENT <
datalayer.shunt.measured_outvoltage_mV)) {
SBOX_100.data.u8[0] = 0xAA; // Precharge + Negative + Positive
positiveStartTime = currentTime;
positiveStartTime = currentMillis;
contactorStatus = PRECHARGE_OFF;
datalayer.shunt.precharging = false;
#ifdef DEBUG_VIA_USB
@ -185,7 +184,7 @@ void transmit_can_shunt() {
}
break;
case PRECHARGE_OFF:
if (currentTime - positiveStartTime >= CONTACTOR_CONTROL_T3) {
if (currentMillis - positiveStartTime >= CONTACTOR_CONTROL_T3) {
SBOX_100.data.u8[0] = 0x6A; // Negative + Positive
contactorStatus = COMPLETED;
#ifdef DEBUG_VIA_USB

9
Software/src/battery/BOLT-AMPERA-BATTERY.cpp
View file

@ -769,17 +769,10 @@ void handle_incoming_can_frame_battery(CAN_frame rx_frame) {
}
}
void transmit_can_battery() {
unsigned long currentMillis = millis();
void transmit_can_battery(unsigned long currentMillis) {
//Send 20ms message
if (currentMillis - previousMillis20ms >= INTERVAL_20_MS) {
// Check if sending of CAN messages has been delayed too much.
if ((currentMillis - previousMillis20ms >= INTERVAL_20_MS_DELAYED) && (currentMillis > BOOTUP_TIME)) {
set_event(EVENT_CAN_OVERRUN, (currentMillis - previousMillis20ms));
} else {
clear_event(EVENT_CAN_OVERRUN);
}
previousMillis20ms = currentMillis;
transmit_can_frame(&BOLT_778, can_config.battery);
}

9
Software/src/battery/BYD-ATTO-3-BATTERY.cpp
View file

@ -389,16 +389,9 @@ void handle_incoming_can_frame_battery(CAN_frame rx_frame) {
break;
}
}
void transmit_can_battery() {
unsigned long currentMillis = millis();
void transmit_can_battery(unsigned long currentMillis) {
//Send 50ms message
if (currentMillis - previousMillis50 >= INTERVAL_50_MS) {
// Check if sending of CAN messages has been delayed too much.
if ((currentMillis - previousMillis50 >= INTERVAL_50_MS_DELAYED) && (currentMillis > BOOTUP_TIME)) {
set_event(EVENT_CAN_OVERRUN, (currentMillis - previousMillis50));
} else {
clear_event(EVENT_CAN_OVERRUN);
}
previousMillis50 = currentMillis;
// Set close contactors to allowed (Useful for crashed packs, started via contactor control thru GPIO)

5
Software/src/battery/CELLPOWER-BMS.cpp
View file

@ -316,11 +316,10 @@ void handle_incoming_can_frame_battery(CAN_frame rx_frame) {
}
}
void transmit_can_battery() {
unsigned long currentMillis = millis();
void transmit_can_battery(unsigned long currentMillis) {
// Send 1s CAN Message
if (currentMillis - previousMillis1s >= INTERVAL_1_S) {
previousMillis1s = currentMillis;
/*

10
Software/src/battery/CHADEMO-BATTERY.cpp
View file

@ -655,9 +655,7 @@ void update_evse_discharge_capabilities(CAN_frame& f) {
CHADEMO_208.data.u8[7] = highByte(x208_evse_dischg_cap.lower_threshold_voltage);
}
void transmit_can_battery() {
unsigned long currentMillis = millis();
void transmit_can_battery(unsigned long currentMillis) {
handlerBeforeMillis = currentMillis;
handle_chademo_sequence();
@ -665,12 +663,6 @@ void transmit_can_battery() {
// Send 100ms CAN Message
if (currentMillis - previousMillis100 >= INTERVAL_100_MS) {
// Check if sending of CAN messages has been delayed too much.
if ((currentMillis - previousMillis100 >= INTERVAL_100_MS_DELAYED) && (currentMillis > BOOTUP_TIME)) {
set_event(EVENT_CAN_OVERRUN, (currentMillis - previousMillis100));
} else {
clear_event(EVENT_CAN_OVERRUN);
}
previousMillis100 = currentMillis;
/* no EVSE messages should be sent until the vehicle has

7
Software/src/battery/CMFA-EV-BATTERY.cpp
View file

@ -513,14 +513,9 @@ void handle_incoming_can_frame_battery(CAN_frame rx_frame) {
}
}
void transmit_can_battery() {
unsigned long currentMillis = millis();
void transmit_can_battery(unsigned long currentMillis) {
// Send 10ms CAN Message
if (currentMillis - previousMillis10ms >= INTERVAL_10_MS) {
// Check if sending of CAN messages has been delayed too much.
if ((currentMillis - previousMillis10ms >= INTERVAL_10_MS_DELAYED) && (currentMillis > BOOTUP_TIME)) {
set_event(EVENT_CAN_OVERRUN, (currentMillis - previousMillis10ms));
}
previousMillis10ms = currentMillis;
transmit_can_frame(&CMFA_1EA, can_config.battery);
transmit_can_frame(&CMFA_135, can_config.battery);

3
Software/src/battery/ECMP-BATTERY.cpp
View file

@ -288,8 +288,7 @@ void handle_incoming_can_frame_battery(CAN_frame rx_frame) {
}
}
void transmit_can_battery() {
unsigned long currentMillis = millis();
void transmit_can_battery(unsigned long currentMillis) {
// Send 1s CAN Message
if (currentMillis - previousMillis1000 >= INTERVAL_1_S) {
previousMillis1000 = currentMillis;

4
Software/src/battery/FOXESS-BATTERY.cpp
View file

@ -474,9 +474,7 @@ void handle_incoming_can_frame_battery(CAN_frame rx_frame) {
break;
}
}
void transmit_can_battery() {
unsigned long currentMillis = millis();
void transmit_can_battery(unsigned long currentMillis) {
// Send 500ms CAN Message
if (currentMillis - previousMillis500 >= INTERVAL_500_MS) {
previousMillis500 = currentMillis;

10
Software/src/battery/IMIEV-CZERO-ION-BATTERY.cpp
View file

@ -207,16 +207,10 @@ void handle_incoming_can_frame_battery(CAN_frame rx_frame) {
}
}
void transmit_can_battery() {
unsigned long currentMillis = millis();
void transmit_can_battery(unsigned long currentMillis) {
// Send 100ms CAN Message
if (currentMillis - previousMillis100 >= INTERVAL_100_MS) {
// Check if sending of CAN messages has been delayed too much.
if ((currentMillis - previousMillis100 >= INTERVAL_100_MS_DELAYED) && (currentMillis > BOOTUP_TIME)) {
set_event(EVENT_CAN_OVERRUN, (currentMillis - previousMillis100));
} else {
clear_event(EVENT_CAN_OVERRUN);
}
previousMillis100 = currentMillis;
// Send CAN goes here...

31
Software/src/battery/JAGUAR-IPACE-BATTERY.cpp
View file

@ -120,14 +120,6 @@ void update_values_battery() {
}
void handle_incoming_can_frame_battery(CAN_frame rx_frame) {
// Do not log noisy startup messages - there are many !
if (rx_frame.ID == 0 && rx_frame.DLC == 8 && rx_frame.data.u8[0] == 0 && rx_frame.data.u8[1] == 0 &&
rx_frame.data.u8[2] == 0 && rx_frame.data.u8[3] == 0 && rx_frame.data.u8[4] == 0 && rx_frame.data.u8[5] == 0 &&
rx_frame.data.u8[6] == 0x80 && rx_frame.data.u8[7] == 0) {
return;
}
switch (rx_frame.ID) { // These messages are periodically transmitted by the battery
case 0x080:
datalayer.battery.status.CAN_battery_still_alive = CAN_STILL_ALIVE;
@ -222,34 +214,13 @@ void handle_incoming_can_frame_battery(CAN_frame rx_frame) {
default:
break;
}
// Discard non-interesting can messages so they do not get logged via serial
if (rx_frame.ID < 0x500) {
return;
}
// All CAN messages recieved will be logged via serial
logging.print(millis()); // Example printout, time, ID, length, data: 7553 1DB 8 FF C0 B9 EA 0 0 2 5D
logging.print(" ");
logging.print(rx_frame.ID, HEX);
logging.print(" ");
logging.print(rx_frame.DLC);
logging.print(" ");
for (int i = 0; i < rx_frame.DLC; ++i) {
logging.print(rx_frame.data.u8[i], HEX);
logging.print(" ");
}
logging.println("");
}
void transmit_can_battery() {
unsigned long currentMillis = millis();
void transmit_can_battery(unsigned long currentMillis) {
/* Send keep-alive every 200ms */
if (currentMillis - previousMillisKeepAlive >= INTERVAL_200_MS) {
previousMillisKeepAlive = currentMillis;
transmit_can_frame(&ipace_keep_alive, can_config.battery);
return;
}
}

10
Software/src/battery/KIA-E-GMP-BATTERY.cpp
View file

@ -1082,8 +1082,7 @@ void handle_incoming_can_frame_battery(CAN_frame rx_frame) {
}
}
void transmit_can_battery() {
unsigned long currentMillis = millis();
void transmit_can_battery(unsigned long currentMillis) {
if (startedUp) {
//Send Contactor closing message loop
// Check if we still have messages to send
@ -1108,13 +1107,6 @@ void transmit_can_battery() {
//Send 200ms CANFD message
if (currentMillis - previousMillis200ms >= INTERVAL_200_MS) {
previousMillis200ms = currentMillis;
// Check if sending of CAN messages has been delayed too much.
if ((currentMillis - previousMillis200ms >= INTERVAL_200_MS_DELAYED) && (currentMillis > BOOTUP_TIME)) {
set_event(EVENT_CAN_OVERRUN, (currentMillis - previousMillis200ms));
} else {
clear_event(EVENT_CAN_OVERRUN);
}
previousMillis200ms = currentMillis;
EGMP_7E4.data.u8[3] = KIA_7E4_COUNTER;

9
Software/src/battery/KIA-HYUNDAI-64-BATTERY.cpp
View file

@ -924,8 +924,7 @@ void handle_incoming_can_frame_battery2(CAN_frame rx_frame) {
}
#endif //DOUBLE_BATTERY
void transmit_can_battery() {
unsigned long currentMillis = millis();
void transmit_can_battery(unsigned long currentMillis) {
if (!startedUp) {
return; // Don't send any CAN messages towards battery until it has started up
@ -948,12 +947,6 @@ void transmit_can_battery() {
}
// Send 10ms CAN Message
if (currentMillis - previousMillis10 >= INTERVAL_10_MS) {
// Check if sending of CAN messages has been delayed too much.
if ((currentMillis - previousMillis10 >= INTERVAL_10_MS_DELAYED) && (currentMillis > BOOTUP_TIME)) {
set_event(EVENT_CAN_OVERRUN, (currentMillis - previousMillis10));
} else {
clear_event(EVENT_CAN_OVERRUN);
}
previousMillis10 = currentMillis;
switch (counter_200) {

3
Software/src/battery/KIA-HYUNDAI-HYBRID-BATTERY.cpp
View file

@ -230,8 +230,7 @@ void handle_incoming_can_frame_battery(CAN_frame rx_frame) {
break;
}
}
void transmit_can_battery() {
unsigned long currentMillis = millis();
void transmit_can_battery(unsigned long currentMillis) {
// Send 1000ms CAN Message
if (currentMillis - previousMillis1000 >= INTERVAL_1_S) {

14
Software/src/battery/MEB-BATTERY.cpp
View file

@ -1627,9 +1627,8 @@ void handle_incoming_can_frame_battery(CAN_frame rx_frame) {
}
}
void transmit_can_battery() {
unsigned long currentMillis = millis();
// Send 10ms CAN Message
void transmit_can_battery(unsigned long currentMillis) {
if (currentMillis > last_can_msg_timestamp + 500) {
#ifdef DEBUG_LOG
if (first_can_msg)
@ -1642,15 +1641,8 @@ void transmit_can_battery() {
datalayer.system.status.battery_allows_contactor_closing = false;
}
}
// Send 10ms CAN Message
if (currentMillis - previousMillis10ms >= INTERVAL_10_MS) {
// Check if sending of CAN messages has been delayed too much.
if ((currentMillis - previousMillis10ms >= INTERVAL_10_MS_DELAYED) && (currentMillis > BOOTUP_TIME) &&
previousMillis10ms > 0) {
set_event(EVENT_CAN_OVERRUN, (currentMillis - previousMillis10ms));
} else {
clear_event(EVENT_CAN_OVERRUN);
}
previousMillis10ms = currentMillis;
MEB_0FC.data.u8[1] = ((MEB_0FC.data.u8[1] & 0xF0) | counter_10ms);

9
Software/src/battery/MG-5-BATTERY.cpp
View file

@ -108,16 +108,9 @@ void handle_incoming_can_frame_battery(CAN_frame rx_frame) {
break;
}
}
void transmit_can_battery() {
unsigned long currentMillis = millis();
void transmit_can_battery(unsigned long currentMillis) {
//Send 10ms message
if (currentMillis - previousMillis10 >= INTERVAL_10_MS) {
// Check if sending of CAN messages has been delayed too much.
if ((currentMillis - previousMillis10 >= INTERVAL_10_MS_DELAYED) && (currentMillis > BOOTUP_TIME)) {
set_event(EVENT_CAN_OVERRUN, (currentMillis - previousMillis10));
} else {
clear_event(EVENT_CAN_OVERRUN);
}
previousMillis10 = currentMillis;
transmit_can_frame(&MG_5_100, can_config.battery);

11
Software/src/battery/NISSAN-LEAF-BATTERY.cpp
View file

@ -1071,13 +1071,10 @@ void handle_incoming_can_frame_battery(CAN_frame rx_frame) {
break;
}
}
void transmit_can_battery() {
unsigned long currentMillis = millis();
void transmit_can_battery(unsigned long currentMillis) {
if (datalayer.system.status.BMS_reset_in_progress || datalayer.system.status.BMS_startup_in_progress) {
// Transmitting towards battery is halted while BMS is being reset
// Reset sending counters to avoid overrun messages when reset is over
previousMillis10 = currentMillis;
previousMillis100 = currentMillis;
previousMillis10s = currentMillis;
@ -1088,12 +1085,6 @@ void transmit_can_battery() {
//Send 10ms message
if (currentMillis - previousMillis10 >= INTERVAL_10_MS) {
// Check if sending of CAN messages has been delayed too much.
if ((currentMillis - previousMillis10 >= INTERVAL_10_MS_DELAYED) && (currentMillis > BOOTUP_TIME)) {
set_event(EVENT_CAN_OVERRUN, (currentMillis - previousMillis10));
} else {
clear_event(EVENT_CAN_OVERRUN);
}
previousMillis10 = currentMillis;
switch (mprun10) {

3
Software/src/battery/ORION-BMS.cpp
View file

@ -132,8 +132,7 @@ void handle_incoming_can_frame_battery(CAN_frame rx_frame) {
}
}
void transmit_can_battery() {
unsigned long currentMillis = millis();
void transmit_can_battery(unsigned long currentMillis) {
// No transmission needed for this integration
}

4
Software/src/battery/PYLON-BATTERY.cpp
View file

@ -158,11 +158,9 @@ void handle_incoming_can_frame_battery(CAN_frame rx_frame) {
}
}
void transmit_can_battery() {
unsigned long currentMillis = millis();
void transmit_can_battery(unsigned long currentMillis) {
// Send 1s CAN Message
if (currentMillis - previousMillis1000 >= INTERVAL_1_S) {
previousMillis1000 = currentMillis;
transmit_can_frame(&PYLON_3010, can_config.battery); // Heartbeat

4
Software/src/battery/RANGE-ROVER-PHEV-BATTERY.cpp
View file

@ -301,11 +301,9 @@ void handle_incoming_can_frame_battery(CAN_frame rx_frame) {
}
}
void transmit_can_battery() {
unsigned long currentMillis = millis();
void transmit_can_battery(unsigned long currentMillis) {
// Send 50ms CAN Message
if (currentMillis - previousMillis50ms >= INTERVAL_50_MS) {
previousMillis50ms = currentMillis;
transmit_can_frame(&RANGE_ROVER_18B, can_config.battery);

3
Software/src/battery/RENAULT-KANGOO-BATTERY.cpp
View file

@ -210,8 +210,7 @@ void handle_incoming_can_frame_battery(CAN_frame rx_frame) {
}
}
void transmit_can_battery() {
unsigned long currentMillis = millis();
void transmit_can_battery(unsigned long currentMillis) {
// Send 100ms CAN Message (for 2.4s, then pause 10s)
if ((currentMillis - previousMillis100) >= (INTERVAL_100_MS + GVL_pause)) {
previousMillis100 = currentMillis;

2
Software/src/battery/RENAULT-TWIZY.cpp
View file

@ -127,7 +127,7 @@ void handle_incoming_can_frame_battery(CAN_frame rx_frame) {
}
}
void transmit_can_battery() {
void transmit_can_battery(unsigned long currentMillis) {
// we do not need to send anything to the battery for now
}

7
Software/src/battery/RENAULT-ZOE-GEN1-BATTERY.cpp
View file

@ -490,14 +490,9 @@ void handle_incoming_can_frame_battery(CAN_frame rx_frame) {
}
}
void transmit_can_battery() {
unsigned long currentMillis = millis();
void transmit_can_battery(unsigned long currentMillis) {
// Send 100ms CAN Message
if (currentMillis - previousMillis100 >= INTERVAL_100_MS) {
// Check if sending of CAN messages has been delayed too much.
if ((currentMillis - previousMillis100 >= INTERVAL_100_MS_DELAYED) && (currentMillis > BOOTUP_TIME)) {
set_event(EVENT_CAN_OVERRUN, (currentMillis - previousMillis100));
}
previousMillis100 = currentMillis;
transmit_can_frame(&ZOE_423, can_config.battery);

7
Software/src/battery/RENAULT-ZOE-GEN2-BATTERY.cpp
View file

@ -371,8 +371,7 @@ void handle_incoming_can_frame_battery(CAN_frame rx_frame) {
}
}
void transmit_can_battery() {
unsigned long currentMillis = millis();
void transmit_can_battery(unsigned long currentMillis) {
// Send 100ms CAN Message
if (currentMillis - previousMillis100 >= INTERVAL_100_MS) {
previousMillis100 = currentMillis;
@ -391,10 +390,6 @@ void transmit_can_battery() {
// Send 200ms CAN Message
if (currentMillis - previousMillis200 >= INTERVAL_200_MS) {
// Check if sending of CAN messages has been delayed too much.
if ((currentMillis - previousMillis200 >= INTERVAL_200_MS_DELAYED) && (currentMillis > BOOTUP_TIME)) {
set_event(EVENT_CAN_OVERRUN, (currentMillis - previousMillis200));
}
previousMillis200 = currentMillis;
// Update current poll from the array

4
Software/src/battery/RJXZS-BMS.cpp
View file

@ -571,11 +571,9 @@ void handle_incoming_can_frame_battery(CAN_frame rx_frame) {
}
}
void transmit_can_battery() {
unsigned long currentMillis = millis();
void transmit_can_battery(unsigned long currentMillis) {
// Send 10s CAN Message
if (currentMillis - previousMillis10s >= INTERVAL_10_S) {
previousMillis10s = currentMillis;
if (datalayer.battery.status.bms_status == FAULT) {

10
Software/src/battery/SANTA-FE-PHEV-BATTERY.cpp
View file

@ -333,17 +333,9 @@ void handle_incoming_can_frame_battery(CAN_frame rx_frame) {
break;
}
}
void transmit_can_battery() {
unsigned long currentMillis = millis();
void transmit_can_battery(unsigned long currentMillis) {
//Send 10ms message
if (currentMillis - previousMillis10 >= INTERVAL_10_MS) {
// Check if sending of CAN messages has been delayed too much.
if ((currentMillis - previousMillis10 >= INTERVAL_10_MS_DELAYED) && (currentMillis > BOOTUP_TIME)) {
set_event(EVENT_CAN_OVERRUN, (currentMillis - previousMillis10));
} else {
clear_event(EVENT_CAN_OVERRUN);
}
previousMillis10 = currentMillis;
SANTAFE_200.data.u8[6] = (counter_200 << 1);

4
Software/src/battery/SIMPBMS-BATTERY.cpp
View file

@ -115,7 +115,9 @@ void handle_incoming_can_frame_battery(CAN_frame rx_frame) {
}
}
void transmit_can_battery() {}
void transmit_can_battery(unsigned long currentMillis) {
// No periodic transmitting for this battery type
}
void setup_battery(void) { // Performs one time setup at startup
strncpy(datalayer.system.info.battery_protocol, "SIMPBMS battery", 63);

4
Software/src/battery/SONO-BATTERY.cpp
View file

@ -137,9 +137,7 @@ void handle_incoming_can_frame_battery(CAN_frame rx_frame) {
break;
}
}
void transmit_can_battery() {
unsigned long currentMillis = millis();
void transmit_can_battery(unsigned long currentMillis) {
// Send 100ms CAN Message
if (currentMillis - previousMillis100 >= INTERVAL_100_MS) {
previousMillis100 = currentMillis;

10
Software/src/battery/TESLA-BATTERY.cpp
View file

@ -1864,14 +1864,12 @@ int index_1CF = 0;
int index_118 = 0;
#endif //defined(TESLA_MODEL_SX_BATTERY) || defined(EXP_TESLA_BMS_DIGITAL_HVIL)
void transmit_can_battery() {
void transmit_can_battery(unsigned long currentMillis) {
/*From bielec: My fist 221 message, to close the contactors is 0x41, 0x11, 0x01, 0x00, 0x00, 0x00, 0x20, 0x96 and then,
to cause "hv_up_for_drive" I send an additional 221 message 0x61, 0x15, 0x01, 0x00, 0x00, 0x00, 0x20, 0xBA so
two 221 messages are being continuously transmitted. When I want to shut down, I stop the second message and only send
the first, for a few cycles, then stop all messages which causes the contactor to open. */
unsigned long currentMillis = millis();
if (!cellvoltagesRead) {
return; //All cellvoltages not read yet, do not proceed with contactor closing
}
@ -1906,12 +1904,6 @@ the first, for a few cycles, then stop all messages which causes the contactor
//Send 50ms message
if (currentMillis - previousMillis50 >= INTERVAL_50_MS) {
// Check if sending of CAN messages has been delayed too much.
if ((currentMillis - previousMillis50 >= INTERVAL_50_MS_DELAYED) && (currentMillis > BOOTUP_TIME)) {
set_event(EVENT_CAN_OVERRUN, (currentMillis - previousMillis50));
} else {
clear_event(EVENT_CAN_OVERRUN);
}
previousMillis50 = currentMillis;
if ((datalayer.system.status.inverter_allows_contactor_closing == true) &&

3
Software/src/battery/TEST-FAKE-BATTERY.cpp
View file

@ -130,8 +130,7 @@ void handle_incoming_can_frame_battery2(CAN_frame rx_frame) {
void handle_incoming_can_frame_battery(CAN_frame rx_frame) {
datalayer.battery.status.CAN_battery_still_alive = CAN_STILL_ALIVE;
}
void transmit_can_battery() {
unsigned long currentMillis = millis();
void transmit_can_battery(unsigned long currentMillis) {
// Send 100ms CAN Message
if (currentMillis - previousMillis100 >= INTERVAL_100_MS) {
previousMillis100 = currentMillis;

9
Software/src/battery/VOLVO-SPA-BATTERY.cpp
View file

@ -435,16 +435,9 @@ void readCellVoltages() {
transmit_can_frame(&VOLVO_CELL_U_Req, can_config.battery); //Send cell voltage read request for first module
}
void transmit_can_battery() {
unsigned long currentMillis = millis();
void transmit_can_battery(unsigned long currentMillis) {
// Send 100ms CAN Message
if (currentMillis - previousMillis100 >= INTERVAL_100_MS) {
// Check if sending of CAN messages has been delayed too much.
if ((currentMillis - previousMillis100 >= INTERVAL_100_MS_DELAYED) && (currentMillis > BOOTUP_TIME)) {
set_event(EVENT_CAN_OVERRUN, (currentMillis - previousMillis100));
} else {
clear_event(EVENT_CAN_OVERRUN);
}
previousMillis100 = currentMillis;
transmit_can_frame(&VOLVO_536, can_config.battery); //Send 0x536 Network managing frame to keep BMS alive

9
Software/src/battery/VOLVO-SPA-HYBRID-BATTERY.cpp
View file

@ -610,16 +610,9 @@ void readCellVoltages() {
transmit_can_frame(&VOLVO_CELL_U_Req, can_config.battery); //Send cell voltage read request for first module
}
void transmit_can_battery() {
unsigned long currentMillis = millis();
void transmit_can_battery(unsigned long currentMillis) {
// Send 100ms CAN Message
if (currentMillis - previousMillis100 >= INTERVAL_100_MS) {
// Check if sending of CAN messages has been delayed too much.
if ((currentMillis - previousMillis100 >= INTERVAL_100_MS_DELAYED) && (currentMillis > BOOTUP_TIME)) {
set_event(EVENT_CAN_OVERRUN, (currentMillis - previousMillis100));
} else {
clear_event(EVENT_CAN_OVERRUN);
}
previousMillis100 = currentMillis;
transmit_can_frame(&VOLVO_536, can_config.battery); //Send 0x536 Network managing frame to keep BMS alive

2
Software/src/charger/CHARGERS.h
View file

@ -11,6 +11,6 @@
#endif
void map_can_frame_to_variable_charger(CAN_frame rx_frame);
void transmit_can_charger();
void transmit_can_charger(unsigned long currentMillis);
#endif

3
Software/src/charger/CHEVY-VOLT-CHARGER.cpp
View file

@ -98,8 +98,7 @@ void map_can_frame_to_variable_charger(CAN_frame rx_frame) {
}
}
void transmit_can_charger() {
unsigned long currentMillis = millis();
void transmit_can_charger(unsigned long currentMillis) {
uint16_t Vol_temp = 0;
uint16_t setpoint_HV_VDC = floor(datalayer.charger.charger_setpoint_HV_VDC);

3
Software/src/charger/NISSAN-LEAF-CHARGER.cpp
View file

@ -156,8 +156,7 @@ void map_can_frame_to_variable_charger(CAN_frame rx_frame) {
}
}
void transmit_can_charger() {
unsigned long currentMillis = millis();
void transmit_can_charger(unsigned long currentMillis) {
/* Send keepalive with mode every 10ms */
if (currentMillis - previousMillis10ms >= INTERVAL_10_MS) {

15
Software/src/communication/can/comm_can.cpp
View file

@ -3,12 +3,12 @@
#include "src/devboard/sdcard/sdcard.h"
// Parameters
CAN_device_t CAN_cfg; // CAN Config
const int rx_queue_size = 10; // Receive Queue size
const uint8_t rx_queue_size = 10; // Receive Queue size
volatile bool send_ok_native = 0;
volatile bool send_ok_2515 = 0;
volatile bool send_ok_2518 = 0;
static unsigned long previousMillis10 = 0;
#ifdef CAN_ADDON
static const uint32_t QUARTZ_FREQUENCY = CRYSTAL_FREQUENCY_MHZ * 1000000UL; //MHZ configured in USER_SETTINGS.h
@ -105,25 +105,26 @@ void init_CAN() {
}
// Transmit functions
void transmit_can() {
void transmit_can(unsigned long currentMillis) {
if (!allowed_to_send_CAN) {
return; //Global block of CAN messages
}
#ifndef RS485_BATTERY_SELECTED
transmit_can_battery();
transmit_can_battery(currentMillis);
#endif
#ifdef CAN_INVERTER_SELECTED
transmit_can_inverter();
transmit_can_inverter(currentMillis);
#endif // CAN_INVERTER_SELECTED
#ifdef CHARGER_SELECTED
transmit_can_charger();
transmit_can_charger(currentMillis);
#endif // CHARGER_SELECTED
#ifdef CAN_SHUNT_SELECTED
transmit_can_shunt();
transmit_can_shunt(currentMillis);
#endif // CAN_SHUNT_SELECTED
}

3
Software/src/communication/can/comm_can.h
View file

@ -40,10 +40,11 @@ void transmit_can_frame();
* @brief Send CAN messages to all components
*
* @param[in] void
* @param[in] unsigned long currentMillis
*
* @return void
*/
void transmit_can();
void transmit_can(unsigned long currentMillis);
/**
* @brief Receive CAN messages from all interfaces

2
Software/src/communication/contactorcontrol/comm_contactorcontrol.cpp
View file

@ -94,7 +94,7 @@ void init_contactors() {
#ifdef BMS_2_POWER //Hardware supports 2x BMS
pinMode(BMS_2_POWER, OUTPUT);
digitalWrite(BMS_2_POWER, HIGH);
#endif BMS_2_POWER
#endif //BMS_2_POWER
#endif // HW with dedicated BMS pins
#if defined(PERIODIC_BMS_RESET) || defined(REMOTE_BMS_RESET) // User has enabled BMS reset, turn on output on start
pinMode(BMS_POWER, OUTPUT);

6
Software/src/devboard/utils/events.cpp
View file

@ -39,7 +39,7 @@ void init_events(void) {
events.entries[EVENT_CANMCP2515_INIT_FAILURE].level = EVENT_LEVEL_WARNING;
events.entries[EVENT_CANFD_BUFFER_FULL].level = EVENT_LEVEL_WARNING;
events.entries[EVENT_CAN_BUFFER_FULL].level = EVENT_LEVEL_WARNING;
events.entries[EVENT_CAN_OVERRUN].level = EVENT_LEVEL_INFO;
events.entries[EVENT_TASK_OVERRUN].level = EVENT_LEVEL_INFO;
events.entries[EVENT_CAN_CORRUPTED_WARNING].level = EVENT_LEVEL_WARNING;
events.entries[EVENT_CAN_NATIVE_TX_FAILURE].level = EVENT_LEVEL_WARNING;
events.entries[EVENT_CAN_BATTERY_MISSING].level = EVENT_LEVEL_ERROR;
@ -176,8 +176,8 @@ const char* get_event_message_string(EVENTS_ENUM_TYPE event) {
return "MCP2518FD message failed to send. Buffer full or no one on the bus to ACK the message!";
case EVENT_CAN_BUFFER_FULL:
return "MCP2515 message failed to send. Buffer full or no one on the bus to ACK the message!";
case EVENT_CAN_OVERRUN:
return "CAN message failed to send within defined time. Contact developers, CPU load might be too high.";
case EVENT_TASK_OVERRUN:
return "Task took too long to complete. CPU load might be too high. Info message, no action required.";
case EVENT_CAN_CORRUPTED_WARNING:
return "High amount of corrupted CAN messages detected. Check CAN wire shielding!";
case EVENT_CAN_NATIVE_TX_FAILURE:

2
Software/src/devboard/utils/events.h
View file

@ -12,7 +12,6 @@
XX(EVENT_CANMCP2515_INIT_FAILURE) \
XX(EVENT_CANFD_BUFFER_FULL) \
XX(EVENT_CAN_BUFFER_FULL) \
XX(EVENT_CAN_OVERRUN) \
XX(EVENT_CAN_CORRUPTED_WARNING) \
XX(EVENT_CAN_BATTERY_MISSING) \
XX(EVENT_CAN_BATTERY2_MISSING) \
@ -73,6 +72,7 @@
XX(EVENT_SERIAL_RX_FAILURE) \
XX(EVENT_SERIAL_TX_FAILURE) \
XX(EVENT_SERIAL_TRANSMITTER_FAILURE) \
XX(EVENT_TASK_OVERRUN) \
XX(EVENT_RESET_UNKNOWN) \
XX(EVENT_RESET_POWERON) \
XX(EVENT_RESET_EXT) \

6
Software/src/devboard/utils/types.h
View file

@ -37,12 +37,6 @@ enum PrechargeState {
#define INTERVAL_60_S 60000
#define INTERVAL_10_MS_DELAYED 15
#define INTERVAL_20_MS_DELAYED 30
#define INTERVAL_30_MS_DELAYED 40
#define INTERVAL_50_MS_DELAYED 65
#define INTERVAL_100_MS_DELAYED 120
#define INTERVAL_200_MS_DELAYED 240
#define INTERVAL_500_MS_DELAYED 550
#define CAN_STILL_ALIVE 60
// Set by battery each time we get a CAN message. Decrements every second. When reaching 0, sets event

2
Software/src/inverter/AFORE-CAN.cpp
View file

@ -217,7 +217,7 @@ void map_can_frame_to_variable_inverter(CAN_frame rx_frame) {
}
}
void transmit_can_inverter() {
void transmit_can_inverter(unsigned long currentMillis) {
if (time_to_send_info) { // Set every 1s if we get message from inverter
transmit_can_frame(&AFORE_350, can_config.inverter);
transmit_can_frame(&AFORE_351, can_config.inverter);

3
Software/src/inverter/BYD-CAN.cpp
View file

@ -204,8 +204,7 @@ void map_can_frame_to_variable_inverter(CAN_frame rx_frame) {
}
}
void transmit_can_inverter() {
unsigned long currentMillis = millis();
void transmit_can_inverter(unsigned long currentMillis) {
if (!inverterStartedUp) {
//Avoid sending messages towards inverter, unless it has woken up and sent something to us first

2
Software/src/inverter/FERROAMP-CAN.cpp
View file

@ -453,7 +453,7 @@ void map_can_frame_to_variable_inverter(CAN_frame rx_frame) {
}
}
void transmit_can_inverter() {
void transmit_can_inverter(unsigned long currentMillis) {
// No periodic sending, we only react on received can messages
}

6
Software/src/inverter/FOXESS-CAN.cpp
View file

@ -595,10 +595,9 @@ void update_values_can_inverter() { //This function maps all the CAN values fet
// So do we really need to map the same two values over and over to 32 places?
}
void transmit_can_inverter() { // This function loops as fast as possible
void transmit_can_inverter(unsigned long currentMillis) {
if (send_bms_info) {
currentMillis = millis(); // Get the current time
// Check if enough time has passed since the last batch
if (currentMillis - previousMillisBMSinfo >= delay_between_batches_ms) {
@ -634,7 +633,6 @@ void transmit_can_inverter() { // This function loops as fast as possible
}
if (send_individual_pack_status) {
currentMillis = millis(); // Get the current time
// Check if enough time has passed since the last batch
if (currentMillis - previousMillisIndividualPacks >= delay_between_batches_ms) {
@ -670,7 +668,6 @@ void transmit_can_inverter() { // This function loops as fast as possible
}
if (send_serial_numbers) {
currentMillis = millis(); // Get the current time
// Check if enough time has passed since the last batch
if (currentMillis - previousMillisSerialNumber >= delay_between_batches_ms) {
@ -781,7 +778,6 @@ void transmit_can_inverter() { // This function loops as fast as possible
}
if (send_cellvoltages) {
currentMillis = millis(); // Get the current time
// Check if enough time has passed since the last batch
if (currentMillis - previousMillisCellvoltage >= delay_between_batches_ms) {

4
Software/src/inverter/GROWATT-HV-CAN.cpp
View file

@ -523,14 +523,12 @@ void map_can_frame_to_variable_inverter(CAN_frame rx_frame) {
}
}
void transmit_can_inverter() {
void transmit_can_inverter(unsigned long currentMillis) {
if (!inverter_alive) {
return; //Dont send messages towards inverter until it has started
}
unsigned long currentMillis = millis();
//Check if 1 second has passed, then we start sending!
if (currentMillis - previousMillis1s >= INTERVAL_1_S) {
previousMillis1s = currentMillis;

2
Software/src/inverter/GROWATT-LV-CAN.cpp
View file

@ -267,7 +267,7 @@ void map_can_frame_to_variable_inverter(CAN_frame rx_frame) {
}
}
void transmit_can_inverter() {
void transmit_can_inverter(unsigned long currentMillis) {
// No periodic sending for this battery type. Data is sent when inverter requests it
}

2
Software/src/inverter/INVERTERS.h
View file

@ -82,7 +82,7 @@
#ifdef CAN_INVERTER_SELECTED
void update_values_can_inverter();
void map_can_frame_to_variable_inverter(CAN_frame rx_frame);
void transmit_can_inverter();
void transmit_can_inverter(unsigned long currentMillis);
#endif
#ifdef MODBUS_INVERTER_SELECTED

2
Software/src/inverter/PYLON-CAN.cpp
View file

@ -438,7 +438,7 @@ void map_can_frame_to_variable_inverter(CAN_frame rx_frame) {
}
}
void transmit_can_inverter() {
void transmit_can_inverter(unsigned long currentMillis) {
// No periodic sending, we only react on received can messages
}

3
Software/src/inverter/PYLON-LV-CAN.cpp
View file

@ -158,8 +158,7 @@ void dump_frame(CAN_frame* frame) {
}
#endif
void transmit_can_inverter() {
unsigned long currentMillis = millis();
void transmit_can_inverter(unsigned long currentMillis) {
if (currentMillis - previousMillis1000ms >= 1000) {
previousMillis1000ms = currentMillis;

3
Software/src/inverter/SCHNEIDER-CAN.cpp
View file

@ -265,8 +265,7 @@ void map_can_frame_to_variable_inverter(CAN_frame rx_frame) {
}
}
void transmit_can_inverter() {
unsigned long currentMillis = millis();
void transmit_can_inverter(unsigned long currentMillis) {
// Send 500ms CAN Message
if (currentMillis - previousMillis500ms >= INTERVAL_500_MS) {

3
Software/src/inverter/SMA-BYD-H-CAN.cpp
View file

@ -236,8 +236,7 @@ void map_can_frame_to_variable_inverter(CAN_frame rx_frame) {
}
}
void transmit_can_inverter() {
unsigned long currentMillis = millis();
void transmit_can_inverter(unsigned long currentMillis) {
// Send CAN Message every 100ms if inverter allows contactor closing
if (datalayer.system.status.inverter_allows_contactor_closing) {

3
Software/src/inverter/SMA-BYD-HVS-CAN.cpp
View file

@ -240,8 +240,7 @@ void map_can_frame_to_variable_inverter(CAN_frame rx_frame) {
}
}
void transmit_can_inverter() {
unsigned long currentMillis = millis();
void transmit_can_inverter(unsigned long currentMillis) {
// Send CAN Message every 100ms if inverter allows contactor closing
if (datalayer.system.status.inverter_allows_contactor_closing) {

3
Software/src/inverter/SMA-LV-CAN.cpp
View file

@ -136,8 +136,7 @@ void map_can_frame_to_variable_inverter(CAN_frame rx_frame) {
}
}
void transmit_can_inverter() {
unsigned long currentMillis = millis();
void transmit_can_inverter(unsigned long currentMillis) {
if (currentMillis - previousMillis100ms >= INTERVAL_100_MS) {
previousMillis100ms = currentMillis;

3
Software/src/inverter/SMA-TRIPOWER-CAN.cpp
View file

@ -190,8 +190,7 @@ void pushFrame(CAN_frame* frame, void (*callback)() = NULL) {
listLength++;
}
void transmit_can_inverter() {
unsigned long currentMillis = millis();
void transmit_can_inverter(unsigned long currentMillis) {
// Send CAN Message only if we're enabled by inverter
if (!datalayer.system.status.inverter_allows_contactor_closing) {

3
Software/src/inverter/SOFAR-CAN.cpp
View file

@ -247,8 +247,7 @@ void map_can_frame_to_variable_inverter(CAN_frame rx_frame) {
}
}
void transmit_can_inverter() {
unsigned long currentMillis = millis();
void transmit_can_inverter(unsigned long currentMillis) {
// Send 100ms CAN Message
if (currentMillis - previousMillis100 >= INTERVAL_100_MS) {
previousMillis100 = currentMillis;

2
Software/src/inverter/SOLAX-CAN.cpp
View file

@ -206,7 +206,7 @@ void update_values_can_inverter() { //This function maps all the values fetched
SOLAX_187E.data.u8[5] = (uint8_t)(datalayer.battery.status.reported_soc / 100);
}
void transmit_can_inverter() {
void transmit_can_inverter(unsigned long currentMillis) {
// No periodic sending used on this protocol, we react only on incoming CAN messages!
}

4
Software/src/inverter/SUNGROW-CAN.cpp
View file

@ -557,9 +557,7 @@ void map_can_frame_to_variable_inverter(CAN_frame rx_frame) {
}
}
void transmit_can_inverter() {
unsigned long currentMillis = millis();
void transmit_can_inverter(unsigned long currentMillis) {
// Send 1s CAN Message
if (currentMillis - previousMillis500ms >= INTERVAL_500_MS) {
previousMillis500ms = currentMillis;