Can receivers can register with half speed

Software/Software.ino

@@ -89,10 +89,6 @@ void setup() {
                           &logging_loop_task, WIFI_CORE);
 #endif
 
-  init_CAN();
-
-  init_contactors();
-
 #ifdef PRECHARGE_CONTROL
   init_precharge_control();
 #endif  // PRECHARGE_CONTROL
@@ -100,6 +96,12 @@ void setup() {
   setup_charger();
   setup_inverter();
   setup_battery();
+  setup_can_shunt();
+
+  // Init CAN only after any CAN receivers have had a chance to register.
+  init_CAN();
+
+  init_contactors();
 
   init_rs485();
 
@@ -107,7 +109,6 @@ void setup() {
   init_equipment_stop_button();
 #endif
 
-  setup_can_shunt();
   // BOOT button at runtime is used as an input for various things
   pinMode(0, INPUT_PULLUP);
 
@@ -139,6 +140,8 @@ void setup() {
     set_event(EVENT_PERIODIC_BMS_RESET_AT_INIT_SUCCESS, 0);
   }
 #endif
+
+  DEBUG_PRINTF("setup() complete\n");
 }
 
 // Loop empty, all functionality runs in tasks
@@ -207,6 +210,7 @@ static std::list<Transmitter*> transmitters;
 
 void register_transmitter(Transmitter* transmitter) {
   transmitters.push_back(transmitter);
+  DEBUG_PRINTF("transmitter registered, total: %d\n", transmitters.size());
 }
 
 void core_loop(void*) {

Software/src/battery/BATTERIES.cpp

@@ -11,6 +11,7 @@
 Battery* battery = nullptr;
 Battery* battery2 = nullptr;
 
+#ifdef COMMON_IMAGE
 std::vector<BatteryType> supported_battery_types() {
   std::vector<BatteryType> types;
 
@@ -101,6 +102,7 @@ extern const char* name_for_battery_type(BatteryType type) {
       return nullptr;
   }
 }
+#endif
 
 #ifdef COMMON_IMAGE
 #ifdef SELECTED_BATTERY_CLASS

Software/src/battery/BATTERIES.h

@@ -1,6 +1,7 @@
 #ifndef BATTERIES_H
 #define BATTERIES_H
 #include "../../USER_SETTINGS.h"
+#include "Shunt.h"
 
 class Battery;
 
@@ -18,10 +19,8 @@ void setup_can_shunt();
 #include "BOLT-AMPERA-BATTERY.h"
 #include "BYD-ATTO-3-BATTERY.h"
 #include "CELLPOWER-BMS.h"
-
 #include "CHADEMO-BATTERY.h"
 #include "CHADEMO-SHUNTS.h"
-
 #include "CMFA-EV-BATTERY.h"
 #include "DALY-BMS.h"
 #include "ECMP-BATTERY.h"

Software/src/battery/CELLPOWER-BMS.h

@@ -11,6 +11,8 @@
 
 class CellPowerBms : public CanBattery {
  public:
+  CellPowerBms() : CanBattery(true) {}
+
   virtual void setup(void);
   virtual void handle_incoming_can_frame(CAN_frame rx_frame);
   virtual void update_values();
@@ -132,7 +134,4 @@ class CellPowerBms : public CanBattery {
   bool error_state = false;
 };
 
-/* Do not modify any rows below*/
-#define NATIVECAN_250KBPS
-
 #endif

Software/src/battery/CanBattery.cpp

@@ -1,8 +1,8 @@
 #include "CanBattery.h"
 #include "../../src/include.h"
 
-CanBattery::CanBattery() {
+CanBattery::CanBattery(bool halfSpeed) {
   can_interface = can_config.battery;
   register_transmitter(this);
-  register_can_receiver(this, can_interface);
+  register_can_receiver(this, can_interface, halfSpeed);
 }

Software/src/battery/CanBattery.h

@@ -22,12 +22,12 @@ class CanBattery : public Battery, Transmitter, CanReceiver {
  protected:
   CAN_Interface can_interface;
 
-  CanBattery();
+  CanBattery(bool halfSpeed = false);
 
-  CanBattery(CAN_Interface interface) {
+  CanBattery(CAN_Interface interface, bool halfSpeed = false) {
     can_interface = interface;
     register_transmitter(this);
-    register_can_receiver(this, can_interface);
+    register_can_receiver(this, can_interface, halfSpeed);
   }
 };
 

Software/src/battery/NISSAN-LEAF-BATTERY.cpp

@@ -7,6 +7,7 @@
 #include "../datalayer/datalayer.h"
 #include "../datalayer/datalayer_extended.h"  //For "More battery info" webpage
 #include "../devboard/utils/events.h"
+#include "../devboard/utils/logging.h"
 
 #include "../charger/CanCharger.h"
 
@@ -205,6 +206,8 @@ void NissanLeafBattery::
 }
 
 void NissanLeafBattery::handle_incoming_can_frame(CAN_frame rx_frame) {
+  DEBUG_PRINTF("Leaf frame %x", rx_frame.ID);
+
   switch (rx_frame.ID) {
     case 0x1DB:
       if (is_message_corrupt(rx_frame)) {

Software/src/battery/RJXZS-BMS.h

@@ -11,6 +11,8 @@
 
 class RjxzsBms : public CanBattery {
  public:
+  RjxzsBms() : CanBattery(true) {}
+
   virtual void setup(void);
   virtual void handle_incoming_can_frame(CAN_frame rx_frame);
   virtual void update_values();
@@ -103,7 +105,4 @@ class RjxzsBms : public CanBattery {
   bool discharging_active = false;
 };
 
-/* Do not modify any rows below*/
-#define NATIVECAN_250KBPS
-
 #endif

Software/src/battery/VOLVO-SPA-BATTERY.cpp

@@ -102,8 +102,6 @@ void VolvoSpaBattery::
   logging.println(MAX_U);
   logging.print("Battery minimum voltage limit: ");
   logging.println(MIN_U);
-  logging.print("Remaining Energy: ");
-  logging.println(remaining_capacity);
   logging.print("Discharge limit: ");
   logging.println(HvBattPwrLimDchaSoft);
   logging.print("Battery Error Indication: ");

Software/src/communication/can/CanReceiver.h

@@ -9,6 +9,6 @@ class CanReceiver {
 };
 
 // Register a receiver object for a given CAN interface
-void register_can_receiver(CanReceiver* receiver, CAN_Interface interface);
+void register_can_receiver(CanReceiver* receiver, CAN_Interface interface, bool halfSpeed = false);
 
 #endif

Software/src/communication/can/comm_can.cpp

@@ -2,6 +2,24 @@
 #include <map>
 #include "../../include.h"
 #include "src/devboard/sdcard/sdcard.h"
+#include "src/devboard/utils/logging.h"
+
+struct CanReceiverRegistration {
+  CanReceiver* receiver;
+  bool halfSpeed;
+};
+
+static std::multimap<CAN_Interface, CanReceiverRegistration> can_receivers;
+
+bool hasHalfSpeedReceivers(const CAN_Interface& iface) {
+  auto range = can_receivers.equal_range(iface);
+  for (auto it = range.first; it != range.second; ++it) {
+    if (it->second.halfSpeed) {
+      return true;
+    }
+  }
+  return false;
+}
 
 // Parameters
 CAN_device_t CAN_cfg;              // CAN Config
@@ -27,21 +45,25 @@ ACAN2517FD canfd(MCP2517_CS, SPI2517, MCP2517_INT);
 // Initialization functions
 
 void init_CAN() {
+  DEBUG_PRINTF("init_CAN called\n");
 // CAN pins
 #ifdef CAN_SE_PIN
   pinMode(CAN_SE_PIN, OUTPUT);
   digitalWrite(CAN_SE_PIN, LOW);
 #endif  // CAN_SE_PIN
-  CAN_cfg.speed = CAN_SPEED_500KBPS;
+
-#ifdef NATIVECAN_250KBPS  // Some component is requesting lower CAN speed
+  // Half-speed currently only supported for CAN_NATIVE
-  CAN_cfg.speed = CAN_SPEED_250KBPS;
+  auto anyHalfSpeedNative = hasHalfSpeedReceivers(CAN_Interface::CAN_NATIVE);
-#endif  // NATIVECAN_250KBPS
+
+  CAN_cfg.speed = anyHalfSpeedNative ? CAN_SPEED_250KBPS : CAN_SPEED_500KBPS;
   CAN_cfg.tx_pin_id = CAN_TX_PIN;
   CAN_cfg.rx_pin_id = CAN_RX_PIN;
   CAN_cfg.rx_queue = xQueueCreate(rx_queue_size, sizeof(CAN_frame_t));
   // Init CAN Module
   ESP32Can.CANInit();
 
+  DEBUG_PRINTF("init_CAN performed\n");
+
 #ifdef CAN_ADDON
 #ifdef DEBUG_LOG
   logging.println("Dual CAN Bus (ESP32+MCP2515) selected");
@@ -108,6 +130,7 @@ void init_CAN() {
 }
 
 void transmit_can_frame(CAN_frame* tx_frame, int interface) {
+  DEBUG_PRINTF("transmit can %d", interface);
   if (!allowed_to_send_CAN) {
     return;
   }
@@ -119,6 +142,7 @@ void transmit_can_frame(CAN_frame* tx_frame, int interface) {
 
   switch (interface) {
     case CAN_NATIVE:
+
       CAN_frame_t frame;
       frame.MsgID = tx_frame->ID;
       frame.FIR.B.FF = tx_frame->ext_ID ? CAN_frame_ext : CAN_frame_std;
@@ -276,13 +300,13 @@ void print_can_frame(CAN_frame frame, frameDirection msgDir) {
   }
 }
 
-static std::multimap<CAN_Interface, CanReceiver*> can_receivers;
+void register_can_receiver(CanReceiver* receiver, CAN_Interface interface, bool halfSpeed) {
-
+  can_receivers.insert({interface, {receiver, halfSpeed}});
-void register_can_receiver(CanReceiver* receiver, CAN_Interface interface) {
+  DEBUG_PRINTF("CAN receiver registered, total: %d\n", can_receivers.size());
-  can_receivers.insert({interface, receiver});
 }
 
 void map_can_frame_to_variable(CAN_frame* rx_frame, CAN_Interface interface) {
+  DEBUG_PRINTF("map_can_frame_to_variable %d\n", interface);
   if (interface !=
       CANFD_NATIVE) {  //Avoid printing twice due to receive_frame_canfd_addon sending to both FD interfaces
     //TODO: This check can be removed later when refactored to use inline functions for logging
@@ -302,7 +326,7 @@ void map_can_frame_to_variable(CAN_frame* rx_frame, CAN_Interface interface) {
 
   for (auto it = receivers.first; it != receivers.second; ++it) {
     auto& receiver = it->second;
-    receiver->receive_can_frame(rx_frame);
+    receiver.receiver->receive_can_frame(rx_frame);
   }
 }
 

Software/src/devboard/utils/logging.h

@@ -17,4 +17,11 @@ class Logging : public Print {
 };
 
 extern Logging logging;
+
+#ifdef DEBUG_LOG
+#define DEBUG_PRINTF(fmt, ...) logging.printf(fmt, ##__VA_ARGS__)
+#else
+#define DEBUG_PRINTF(fmt, ...) ((void)0)
+#endif
+
 #endif  // __LOGGING_H__

Software/src/devboard/webserver/webserver.cpp

@@ -1258,7 +1258,7 @@ String processor(const String& var) {
 
       if (contactor_control_enabled) {
         content += "<h4>Contactors controlled by emulator, state: ";
-        if (datalayer.system.status.contactors_battery2_engaged) {
+        if (datalayer.system.status.contactors_engaged) {
           content += "<span style='color: green;'>ON</span>";
         } else {
           content += "<span style='color: red;'>OFF</span>";