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Add initial batch of CAN messages

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Daniel Öster 2024-08-20 17:28:33 +03:00
parent 6d5f7aebc7
commit cd587cf8ca
1 changed files with 190 additions and 7 deletions
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197
Software/src/battery/KIA-E-GMP-BATTERY.cpp
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@ -6,11 +6,31 @@
#include "KIA-E-GMP-BATTERY.h"
/* Do not change code below unless you are sure what you are doing */
static unsigned long previousMillis20ms = 0; // will store last time a 20ms CAN Message was send
static unsigned long previousMillis200ms = 0; // will store last time a 200ms CAN Message was send
static unsigned long previousMillis500ms = 0; // will store last time a 500ms CAN Message was send
#define MAX_CELL_VOLTAGE 4250 //Battery is put into emergency stop if one cell goes over this value
#define MIN_CELL_VOLTAGE 2950 //Battery is put into emergency stop if one cell goes below this value
const unsigned char crc8_table[256] =
{ // CRC8_SAE_J1850_ZER0 formula,0x1D Poly,initial value 0x3F,Final XOR value varies
0x00, 0x1D, 0x3A, 0x27, 0x74, 0x69, 0x4E, 0x53, 0xE8, 0xF5, 0xD2, 0xCF, 0x9C, 0x81, 0xA6, 0xBB, 0xCD, 0xD0,
0xF7, 0xEA, 0xB9, 0xA4, 0x83, 0x9E, 0x25, 0x38, 0x1F, 0x02, 0x51, 0x4C, 0x6B, 0x76, 0x87, 0x9A, 0xBD, 0xA0,
0xF3, 0xEE, 0xC9, 0xD4, 0x6F, 0x72, 0x55, 0x48, 0x1B, 0x06, 0x21, 0x3C, 0x4A, 0x57, 0x70, 0x6D, 0x3E, 0x23,
0x04, 0x19, 0xA2, 0xBF, 0x98, 0x85, 0xD6, 0xCB, 0xEC, 0xF1, 0x13, 0x0E, 0x29, 0x34, 0x67, 0x7A, 0x5D, 0x40,
0xFB, 0xE6, 0xC1, 0xDC, 0x8F, 0x92, 0xB5, 0xA8, 0xDE, 0xC3, 0xE4, 0xF9, 0xAA, 0xB7, 0x90, 0x8D, 0x36, 0x2B,
0x0C, 0x11, 0x42, 0x5F, 0x78, 0x65, 0x94, 0x89, 0xAE, 0xB3, 0xE0, 0xFD, 0xDA, 0xC7, 0x7C, 0x61, 0x46, 0x5B,
0x08, 0x15, 0x32, 0x2F, 0x59, 0x44, 0x63, 0x7E, 0x2D, 0x30, 0x17, 0x0A, 0xB1, 0xAC, 0x8B, 0x96, 0xC5, 0xD8,
0xFF, 0xE2, 0x26, 0x3B, 0x1C, 0x01, 0x52, 0x4F, 0x68, 0x75, 0xCE, 0xD3, 0xF4, 0xE9, 0xBA, 0xA7, 0x80, 0x9D,
0xEB, 0xF6, 0xD1, 0xCC, 0x9F, 0x82, 0xA5, 0xB8, 0x03, 0x1E, 0x39, 0x24, 0x77, 0x6A, 0x4D, 0x50, 0xA1, 0xBC,
0x9B, 0x86, 0xD5, 0xC8, 0xEF, 0xF2, 0x49, 0x54, 0x73, 0x6E, 0x3D, 0x20, 0x07, 0x1A, 0x6C, 0x71, 0x56, 0x4B,
0x18, 0x05, 0x22, 0x3F, 0x84, 0x99, 0xBE, 0xA3, 0xF0, 0xED, 0xCA, 0xD7, 0x35, 0x28, 0x0F, 0x12, 0x41, 0x5C,
0x7B, 0x66, 0xDD, 0xC0, 0xE7, 0xFA, 0xA9, 0xB4, 0x93, 0x8E, 0xF8, 0xE5, 0xC2, 0xDF, 0x8C, 0x91, 0xB6, 0xAB,
0x10, 0x0D, 0x2A, 0x37, 0x64, 0x79, 0x5E, 0x43, 0xB2, 0xAF, 0x88, 0x95, 0xC6, 0xDB, 0xFC, 0xE1, 0x5A, 0x47,
0x60, 0x7D, 0x2E, 0x33, 0x14, 0x09, 0x7F, 0x62, 0x45, 0x58, 0x0B, 0x16, 0x31, 0x2C, 0x97, 0x8A, 0xAD, 0xB0,
0xE3, 0xFE, 0xD9, 0xC4};
static uint16_t inverterVoltageFrameHigh = 0;
static uint16_t inverterVoltage = 0;
static uint16_t soc_calculated = 0;
@ -41,6 +61,99 @@ static int8_t temperature_water_inlet = 0;
static int8_t powerRelayTemperature = 0;
static int8_t heatertemp = 0;
static uint8_t ticks_200ms_counter = 0;
static uint8_t EGMP_1CF_counter = 0;
CAN_frame EGMP_1CF = {.FD = true,
.ext_ID = false,
.DLC = 8,
.ID = 0x1CF,
.data = {0x56, 0x00, 0x00, 0x20, 0x00, 0x00, 0x00, 0x00}};
CAN_frame EGMP_3AA = {.FD = true,
.ext_ID = false,
.DLC = 8,
.ID = 0x3AA,
.data = {0xFF, 0x00, 0x00, 0x00, 0x54, 0x00, 0x00, 0x00}};
CAN_frame EGMP_4B4 = {.FD = true,
.ext_ID = false,
.DLC = 8,
.ID = 0x4B4,
.data = {0x00, 0x00, 0xC0, 0x3F, 0x00, 0x00, 0x00, 0x00}};
CAN_frame EGMP_4B5 = {.FD = true,
.ext_ID = false,
.DLC = 8,
.ID = 0x4B5,
.data = {0x08, 0x00, 0xF0, 0x07, 0x00, 0x00, 0x00, 0x00}};
CAN_frame EGMP_4B7 = {.FD = true,
.ext_ID = false,
.DLC = 8,
.ID = 0x4B7,
.data = {0x08, 0x00, 0xF0, 0x07, 0x00, 0x00, 0x00, 0x00}};
CAN_frame EGMP_4CC = {.FD = true,
.ext_ID = false,
.DLC = 8,
.ID = 0x4CC,
.data = {0x08, 0x00, 0x00, 0x27, 0x00, 0x00, 0x00, 0x00}};
CAN_frame EGMP_4CE = {.FD = true,
.ext_ID = false,
.DLC = 8,
.ID = 0x4CE,
.data = {0x16, 0xCF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF}};
CAN_frame EGMP_4D8 = {.FD = true,
.ext_ID = false,
.DLC = 8,
.ID = 0x4D8,
.data = {0x40, 0x10, 0xF0, 0xF0, 0x40, 0xF2, 0x1E, 0xCC}};
CAN_frame EGMP_4DD = {.FD = true,
.ext_ID = false,
.DLC = 8,
.ID = 0x4DD,
.data = {0x3F, 0xFC, 0xFF, 0x00, 0x38, 0x00, 0x00, 0x00}};
CAN_frame EGMP_4E7 = {.FD = true,
.ext_ID = false,
.DLC = 8,
.ID = 0x4E7,
.data = {0x00, 0x30, 0x00, 0x00, 0x00, 0x00, 0x10, 0x00}};
CAN_frame EGMP_4E9 = {.FD = true,
.ext_ID = false,
.DLC = 8,
.ID = 0x4E9,
.data = {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}};
CAN_frame EGMP_4EA = {.FD = true,
.ext_ID = false,
.DLC = 8,
.ID = 0x4EA,
.data = {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}};
CAN_frame EGMP_4EB = {.FD = true,
.ext_ID = false,
.DLC = 8,
.ID = 0x4EB,
.data = {0x01, 0x50, 0x0B, 0x26, 0x00, 0x00, 0x00, 0x00}};
CAN_frame EGMP_4EC = {.FD = true,
.ext_ID = false,
.DLC = 8,
.ID = 0x4EC,
.data = {0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x0F}};
CAN_frame EGMP_4ED = {.FD = true,
.ext_ID = false,
.DLC = 8,
.ID = 0x4ED,
.data = {0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x1F}};
CAN_frame EGMP_4EE = {.FD = true,
.ext_ID = false,
.DLC = 8,
.ID = 0x4EE,
.data = {0xFF, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}};
CAN_frame EGMP_4EF = {.FD = true,
.ext_ID = false,
.DLC = 8,
.ID = 0x4EF,
.data = {0x2B, 0xFE, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00}};
CAN_frame EGMP_641 = {.FD = true,
.ext_ID = false,
.DLC = 8,
.ID = 0x641,
.data = {0xFF, 0xFF, 0xFF, 0xFF, 0x0F, 0xFF, 0xFF, 0xFF}};
CAN_frame EGMP_7E4 = {.FD = true,
.ext_ID = false,
.DLC = 8,
@ -61,6 +174,14 @@ void set_cell_voltages(CAN_frame rx_frame, int start, int length, int startCell)
}
}
static uint8_t calculateCRC(CAN_frame rx_frame, uint8_t length, uint8_t initial_value) {
uint8_t crc = initial_value;
for (uint8_t j = 1; j < length; j++) { //start at 1, since 0 is the CRC
crc = crc8_table[(crc ^ static_cast<uint8_t>(rx_frame.data.u8[j])) % 256];
}
return crc;
}
void update_values_battery() { //This function maps all the values fetched via CAN to the correct parameters used for modbus
datalayer.battery.status.real_soc = (SOC_Display * 10); //increase SOC range from 0-100.0 -> 100.00
@ -414,6 +535,72 @@ void receive_can_battery(CAN_frame rx_frame) {
void send_can_battery() {
unsigned long currentMillis = millis();
//Send 20ms CANFD message
if (currentMillis - previousMillis20ms >= INTERVAL_20_MS) {
previousMillis20ms = currentMillis;
EGMP_1CF.data.u8[1] = (EGMP_1CF_counter % 15) * 0x10;
EGMP_1CF_counter++;
if (EGMP_1CF_counter > 0xE) {
EGMP_1CF_counter = 0;
}
EGMP_1CF.data.u8[0] = calculateCRC(EGMP_1CF, EGMP_1CF.DLC, 0x0A); // Set CRC bit, initial Value 0x0A
transmit_can(&EGMP_1CF, can_config.battery);
}
//Send 200ms CANFD message
if (currentMillis - previousMillis200ms >= INTERVAL_200_MS) {
previousMillis200ms = currentMillis;
transmit_can(&EGMP_4B4, can_config.battery);
transmit_can(&EGMP_4B5, can_config.battery);
transmit_can(&EGMP_4B7, can_config.battery);
transmit_can(&EGMP_4CC, can_config.battery);
transmit_can(&EGMP_4CE, can_config.battery);
transmit_can(&EGMP_4D8, can_config.battery);
transmit_can(&EGMP_4DD, can_config.battery);
transmit_can(&EGMP_4E7, can_config.battery);
transmit_can(&EGMP_4E9, can_config.battery);
transmit_can(&EGMP_4EA, can_config.battery);
transmit_can(&EGMP_4EB, can_config.battery);
transmit_can(&EGMP_4EC, can_config.battery);
transmit_can(&EGMP_4ED, can_config.battery);
transmit_can(&EGMP_4EE, can_config.battery);
transmit_can(&EGMP_4EF, can_config.battery);
transmit_can(&EGMP_641, can_config.battery);
transmit_can(&EGMP_3AA, can_config.battery);
if (ticks_200ms_counter < 254) {
ticks_200ms_counter++;
}
if (ticks_200ms_counter > 28) {
EGMP_4B4.data.u8[2] = 0;
EGMP_4B4.data.u8[3] = 0;
}
if (ticks_200ms_counter > 32) {
EGMP_4CE.data.u8[0] = 0x22;
EGMP_4CE.data.u8[1] = 0x41;
EGMP_4CE.data.u8[6] = 0x47;
EGMP_4CE.data.u8[7] = 0x1F;
}
if (ticks_200ms_counter > 43) {
EGMP_4EB.data.u8[2] = 0x0D;
EGMP_4EB.data.u8[3] = 0x3B;
}
if (ticks_200ms_counter > 46) {
EGMP_4EB.data.u8[2] = 0x0E;
EGMP_4EB.data.u8[3] = 0x00;
}
if (ticks_200ms_counter > 24) {
EGMP_4ED.data.u8[1] = 0x00;
EGMP_4ED.data.u8[2] = 0x00;
EGMP_4ED.data.u8[3] = 0x00;
EGMP_4ED.data.u8[4] = 0x00;
}
}
//Send 500ms CANFD message
if (currentMillis - previousMillis500ms >= INTERVAL_500_MS) {
@ -424,13 +611,7 @@ void send_can_battery() {
clear_event(EVENT_CAN_OVERRUN);
}
previousMillis500ms = currentMillis;
// Section added to close contractor
if (datalayer.battery.status.bms_status == ACTIVE) {
datalayer.system.status.battery_allows_contactor_closing = true;
} else { //datalayer.battery.status.bms_status == FAULT or inverter requested opening contactors
datalayer.system.status.battery_allows_contactor_closing = false;
}
// Section end
EGMP_7E4.data.u8[3] = KIA_7E4_COUNTER;
transmit_can(&EGMP_7E4, can_config.battery);
@ -446,6 +627,8 @@ void setup_battery(void) { // Performs one time setup at startup
Serial.println("Hyundai E-GMP (Electric Global Modular Platform) battery selected");
#endif
datalayer.system.status.battery_allows_contactor_closing = true;
datalayer.battery.info.number_of_cells = 192; // TODO: will vary depending on battery
datalayer.battery.info.max_design_voltage_dV =