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Add separate handling of static/dynamic data

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Performance gains
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Daniel Öster 2023-02-24 05:23:45 -08:00 • committed by GitHub
parent ede6cde1c2
commit f8a6e176de
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1 changed files with 304 additions and 250 deletions
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Software/BYD-MODBUS-2-LEAF-CAN.ino
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@ -11,14 +11,14 @@
#define BATTERY_WH_MAX 30000 #define BATTERY_WH_MAX 30000
//CAN parameters //CAN parameters
CAN_device_t CAN_cfg; // CAN Config CAN_device_t CAN_cfg; // CAN Config
unsigned long previousMillis10 = 0; // will store last time a 10ms CAN Message was send unsigned long previousMillis10 = 0; // will store last time a 10ms CAN Message was send
unsigned long previousMillis100 = 0; // will store last time a 100ms CAN Message was send unsigned long previousMillis100 = 0; // will store last time a 100ms CAN Message was send
const int interval10 = 10; // interval (ms) at which send CAN Messages const int interval10 = 10; // interval (ms) at which send CAN Messages
const int interval100 = 100; // interval (ms) at which send CAN Messages const int interval100 = 100; // interval (ms) at which send CAN Messages
const int rx_queue_size = 10; // Receive Queue size 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
//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
@ -36,7 +36,7 @@ int LB_Total_Voltage = 0; //Battery voltage (0-450V)
const int intervalModbusTask = 10000; //Interval at which to refresh modbus registers const int intervalModbusTask = 10000; //Interval at which to refresh modbus registers
unsigned long previousMillisModbus = 0; //will store last time a modbus register refresh unsigned long previousMillisModbus = 0; //will store last time a modbus register refresh
uint16_t mbPV[30000]; // process variable memory: produced by sensors, etc., cyclic read by PLC via modbus TCP uint16_t mbPV[30000]; // process variable memory: produced by sensors, etc., cyclic read by PLC via modbus TCP
uint16_t capacity_Wh_startup = BATTERY_WH_MAX; uint16_t capacity_Wh_startup = BATTERY_WH_MAX;
uint16_t MaxPower = 40960; //41kW TODO, fetch from LEAF battery (or does it matter, polled after startup?) uint16_t MaxPower = 40960; //41kW TODO, fetch from LEAF battery (or does it matter, polled after startup?)
uint16_t MaxVoltage = 4672; //(467.2V), if higher charging is not possible (goes into forced discharge) uint16_t MaxVoltage = 4672; //(467.2V), if higher charging is not possible (goes into forced discharge)
uint16_t MinVoltage = 3200; //Min Voltage (320.0V), if lower Gen24 disables battery uint16_t MinVoltage = 3200; //Min Voltage (320.0V), if lower Gen24 disables battery
@ -45,281 +45,335 @@ uint16_t SOC = 5000; //SOC 0-100.00% //Updates later on from CAN
uint16_t capacity_Wh = BATTERY_WH_MAX; //Updates later on from CAN uint16_t capacity_Wh = BATTERY_WH_MAX; //Updates later on from CAN
uint16_t remaining_capacity_Wh = BATTERY_WH_MAX; //Updates later on from CAN uint16_t remaining_capacity_Wh = BATTERY_WH_MAX; //Updates later on from CAN
uint16_t max_target_discharge_power = 0; //0W (0W > restricts to no discharge) //Updates later on from CAN uint16_t max_target_discharge_power = 0; //0W (0W > restricts to no discharge) //Updates later on from CAN
uint16_t max_target_charge_power = 4312; //4.3kW (during charge), both 307&308 can be set (>0) at the same time //Updates later on from CAN uint16_t max_target_charge_power = 4312;
//4.3kW (during charge), both 307&308 can be set (>0) at the same time //Updates later on from CAN
uint16_t TemperatureMax = 50; //Todo, read from LEAF pack, uint not ok uint16_t TemperatureMax = 50; //Todo, read from LEAF pack, uint not ok
uint16_t TemperatureMin = 60; //Todo, read from LEAF pack, uint not ok uint16_t TemperatureMin = 60; //Todo, read from LEAF pack, uint not ok
// Store the data into the array // Store the data into the array
//16-bit int in these modbus-register, two letters at a time. Example p101[1]....(ascii for S) * 256 + (ascii for I) = 21321 //16-bit int in these modbus-register, two letters at a time. Example p101[1]....(ascii for S) * 256 + (ascii for I) = 21321
uint16_t p101_data[] = {21321, 1, 16985, 17408, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 16985, 17408, 16993, 29812, 25970, 31021, 17007, 30720, 20594, 25965, 26997, 27904, 18518, 0, 0, 0, 13614, 12288, 0, 0, 0, 0, 0, 0, 13102, 12598, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0}; //uint16_t p101_data[] = {21321, 1, 16985, 17408, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 16985, 17408, 16993, 29812, 25970, 31021, 17007, 30720, 20594, 25965, 26997, 27904, 18518, 0, 0, 0, 13614, 12288, 0, 0, 0, 0, 0, 0, 13102, 12598, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0};
//uint16_t p101_data[] = {21321, 1, 16985, 17408, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 16985, 17440!17408, 16993, 29812, 25970, 31021, 17007, 30752!30720, 20594, 25965, 26997, 27936!27904, 18518, 0, 0, 0, 13614, 12288, 0, 0, 0, 0, 0, 0, 13102, 12598, 0, 0, 0, 0, 0, 0, 20581, 27756, 25856, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0};
//Delete the following lines once we know this works :) //Delete the following lines once we know this works :)
//uint16_t p101_data[] = {21321, 1}; //SI uint16_t p101_data[] = {21321, 1}; //SI
//uint16_t p103_data[] = {16985, 17408, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}; //BY D uint16_t p103_data[] = {16985, 17408, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}; //BY D
//uint16_t p119_data[] = {16985, 17408, 16993, 29812, 25970, 31021, 17007, 30720, 20594, 25965, 26997, 27904, 18518, 0, 0, 0}; //BY D Ba tt er y- Bo x Pr em iu m HV uint16_t p119_data[] = {
//uint16_t p135_data[] = {13614, 12288, 0, 0, 0, 0, 0, 0, 13102, 12598, 0, 0, 0, 0, 0, 0}; //5.0 3.16 16985, 17440, 16993, 29812, 25970, 31021, 17007, 30752, 20594, 25965, 26997, 27936, 18518, 0, 0, 0
//uint16_t p151_data[] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}; //Serial number for battery }; //BY D Ba tt er y- Bo x Pr em iu m HV
//uint16_t p167_data[] = {1, 0}; uint16_t p135_data[] = {13614, 12288, 0, 0, 0, 0, 0, 0, 13102, 12598, 0, 0, 0, 0, 0, 0}; //5.0 3.16
uint16_t p201_data[] = {0, 0, capacity_Wh_startup, MaxPower, MaxPower, MaxVoltage, MinVoltage, 53248, 10, 53248, 10, 0, 0}; uint16_t p151_data[] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}; //Serial number for battery
uint16_t p301_data[] = {Status, 0, 128, SOC, capacity_Wh, remaining_capacity_Wh, max_target_discharge_power, max_target_charge_power, 0, 0, 2058, 0, TemperatureMin, TemperatureMax, 0, 0, 16, 22741, 0, 0, 13, 52064, 80, 9900}; uint16_t p167_data[] = {1, 0};
uint16_t p201_data[] = {
0, 0, capacity_Wh_startup, MaxPower, MaxPower, MaxVoltage, MinVoltage, 53248, 10, 53248, 10, 0, 0
};
uint16_t p301_data[] = {
Status, 0, 128, SOC, capacity_Wh, remaining_capacity_Wh, max_target_discharge_power, max_target_charge_power, 0, 0,
2058, 0, TemperatureMin, TemperatureMax, 0, 0, 16, 22741, 0, 0, 13, 52064, 80, 9900
};
//These registers get written to //These registers get written to
uint16_t p401_data[] = {1, 255, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}; uint16_t p401_data[] = {1, 255, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
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, 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, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}; 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, 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, 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);
// Setup() - initialization happens here // Setup() - initialization happens here
void setup() { void setup()
//CAN pins {
pinMode(CAN_SE_PIN, OUTPUT); //CAN pins
digitalWrite(CAN_SE_PIN, LOW); pinMode(CAN_SE_PIN, OUTPUT);
CAN_cfg.speed = CAN_SPEED_500KBPS; digitalWrite(CAN_SE_PIN, LOW);
CAN_cfg.tx_pin_id = GPIO_NUM_27; CAN_cfg.speed = CAN_SPEED_500KBPS;
CAN_cfg.rx_pin_id = GPIO_NUM_26; CAN_cfg.tx_pin_id = GPIO_NUM_27;
CAN_cfg.rx_queue = xQueueCreate(rx_queue_size, sizeof(CAN_frame_t)); CAN_cfg.rx_pin_id = GPIO_NUM_26;
// Init CAN Module CAN_cfg.rx_queue = xQueueCreate(rx_queue_size, sizeof(CAN_frame_t));
ESP32Can.CANInit(); // Init CAN Module
Serial.println(CAN_cfg.speed); ESP32Can.CANInit();
Serial.println(CAN_cfg.speed);
//Modbus pins //Modbus pins
pinMode(RS485_EN_PIN, OUTPUT); pinMode(RS485_EN_PIN, OUTPUT);
digitalWrite(RS485_EN_PIN, HIGH); digitalWrite(RS485_EN_PIN, HIGH);
pinMode(RS485_SE_PIN, OUTPUT); pinMode(RS485_SE_PIN, OUTPUT);
digitalWrite(RS485_SE_PIN, HIGH); digitalWrite(RS485_SE_PIN, HIGH);
pinMode(PIN_5V_EN, OUTPUT); pinMode(PIN_5V_EN, OUTPUT);
digitalWrite(PIN_5V_EN, HIGH); digitalWrite(PIN_5V_EN, HIGH);
// Init Serial monitor // Init Serial monitor
Serial.begin(9600); Serial.begin(9600);
while (!Serial) {} while (!Serial)
Serial.println("__ OK __"); {
}
// Init Serial2 connected to the RTU Modbus Serial.println("__ OK __");
// (Fill in your data here!) // Init Static data to the RTU Modbus
Serial2.begin(9600, SERIAL_8N1, RS485_RX_PIN, RS485_TX_PIN); handle_StaticDataModbus();
// Register served function code worker for server id 21, FC 0x03 // Init Serial2 connected to the RTU Modbus
MBserver.registerWorker(MBTCP_ID, READ_HOLD_REGISTER, &FC03); // (Fill in your data here!)
MBserver.registerWorker(MBTCP_ID, WRITE_HOLD_REGISTER, &FC06); Serial2.begin(9600, SERIAL_8N1, RS485_RX_PIN, RS485_TX_PIN);
MBserver.registerWorker(MBTCP_ID, WRITE_MULT_REGISTERS, &FC16); // Register served function code worker for server id 21, FC 0x03
MBserver.registerWorker(MBTCP_ID, R_W_MULT_REGISTERS, &FC23); MBserver.registerWorker(MBTCP_ID, READ_HOLD_REGISTER, &FC03);
// Start ModbusRTU background task MBserver.registerWorker(MBTCP_ID, WRITE_HOLD_REGISTER, &FC06);
MBserver.start(); MBserver.registerWorker(MBTCP_ID, WRITE_MULT_REGISTERS, &FC16);
MBserver.registerWorker(MBTCP_ID, R_W_MULT_REGISTERS, &FC23);
// Start ModbusRTU background task
MBserver.start();
} }
// perform main program functions // perform main program functions
void loop() { void loop()
handle_modbus(); {
handle_can(); handle_can();
update_values(); update_values();
currentMillis = millis();
if (currentMillis - previousMillisModbus >= intervalModbusTask)
{
//every 10s
previousMillisModbus = currentMillis;
handle_UpdateDataModbus();
}
} }
void update_values(){ void update_values()
MaxPower = (LB_Discharge_Power_Limit*1000); //kW to W {
SOC = (LB_SOC * 10); //increase range from 0-100.0 -> 100.00 MaxPower = (LB_Discharge_Power_Limit * 1000); //kW to W
capacity_Wh = (LB_Max_GIDS * WH_PER_GID); SOC = (LB_SOC * 10); //increase range from 0-100.0 -> 100.00
remaining_capacity_Wh = LB_Wh_Remaining; capacity_Wh = (LB_Max_GIDS * WH_PER_GID);
max_target_discharge_power = (LB_Discharge_Power_Limit*1000); //kW to W remaining_capacity_Wh = LB_Wh_Remaining;
max_target_charge_power = (LB_MAX_POWER_FOR_CHARGER*1000); //kW to W max_target_discharge_power = (LB_Discharge_Power_Limit * 1000); //kW to W
TemperatureMin = 50; //hardcoded, todo, read from 5C0 max_target_charge_power = (LB_MAX_POWER_FOR_CHARGER * 1000); //kW to W
TemperatureMax = 60; //hardcoded, todo, read from 5C0 TemperatureMin = 50; //hardcoded, todo, read from 5C0
TemperatureMax = 60; //hardcoded, todo, read from 5C0
} }
void handle_modbus(){ void handle_StaticDataModbus()
static unsigned long currentMillis = millis(); {
if (currentMillis - previousMillisModbus >= intervalModbusTask) i = 100;
{ //every 10s // --- Copy the contents of the static data from the original arrays to the new modbus array ---
previousMillisModbus = currentMillis; for (uint16_t j = 0; j < sizeof(p101_data) / sizeof(uint16_t); j++)
{
//Print value of holfing register 40001 mbPV[i] = p101_data[j];
Serial.println(mbPV[0]); i++;
}
i = 0; for (uint16_t j = 0; j < sizeof(p103_data) / sizeof(uint16_t); j++)
// Copy the contents of the original arrays uint16_to the new array {
for (uint16_t j = 0; j < sizeof(p101_data) / sizeof(uint16_t); j++) { mbPV[i] = p103_data[j];
mbPV[i] = p101_data[j]; i++;
i++; }
} for (uint16_t j = 0; j < sizeof(p119_data) / sizeof(uint16_t); j++)
for (uint16_t j = 0; j < sizeof(p201_data) / sizeof(uint16_t); j++) { {
mbPV[i] = p201_data[j]; mbPV[i] = p119_data[j];
i++; i++;
} }
for (uint16_t j = 0; j < sizeof(p301_data) / sizeof(uint16_t); j++) { for (uint16_t j = 0; j < sizeof(p135_data) / sizeof(uint16_t); j++)
mbPV[i] = p301_data[j]; {
i++; mbPV[i] = p135_data[j];
} i++;
} }
for (uint16_t j = 0; j < sizeof(p151_data) / sizeof(uint16_t); j++)
{
mbPV[i] = p151_data[j];
i++;
}
for (uint16_t j = 0; j < sizeof(p167_data) / sizeof(uint16_t); j++)
{
mbPV[i] = p167_data[j];
i++;
}
} }
void handle_can() { void handle_UpdateDataModbus()
CAN_frame_t rx_frame; {
i = 200;
// --- Copy the data contents arrays to the new modbus array ---
for (uint16_t j = 0; j < sizeof(p201_data) / sizeof(uint16_t); j++)
{
mbPV[i] = p201_data[j];
i++;
}
i = 300;
for (uint16_t j = 0; j < sizeof(p301_data) / sizeof(uint16_t); j++)
{
mbPV[i] = p301_data[j];
i++;
}
}
static unsigned long currentMillis = millis(); void handle_can()
{
CAN_frame_t rx_frame;
// Receive next CAN frame from queue static unsigned long currentMillis = millis();
if (xQueueReceive(CAN_cfg.rx_queue, &rx_frame, 3 * portTICK_PERIOD_MS) == pdTRUE)
{
if (rx_frame.FIR.B.FF == CAN_frame_std) // Receive next CAN frame from queue
{ if (xQueueReceive(CAN_cfg.rx_queue, &rx_frame, 3 * portTICK_PERIOD_MS) == pdTRUE)
//printf("New standard frame"); {
switch (rx_frame.MsgID) { if (rx_frame.FIR.B.FF == CAN_frame_std)
case 0x1DB: {
LB_Current = (rx_frame.data.u8[0] << 3) | (rx_frame.data.u8[1] & 0xe0) >> 5; //printf("New standard frame");
LB_Total_Voltage = ((rx_frame.data.u8[2] << 2) | (rx_frame.data.u8[3] & 0xc0) >> 6) / 2; switch (rx_frame.MsgID)
break; {
case 0x1DC: case 0x1DB:
LB_Discharge_Power_Limit = ( ( rx_frame.data.u8[0] << 2 | rx_frame.data.u8[1] >> 6 ) / 4.0 ); LB_Current = (rx_frame.data.u8[0] << 3) | (rx_frame.data.u8[1] & 0xe0) >> 5;
LB_MAX_POWER_FOR_CHARGER = ( ( ( (rx_frame.data.u8[2] & 0x0F) << 6 | rx_frame.data.u8[3] >> 2 ) / 10.0 ) - 10); //check if -10 is correct offset LB_Total_Voltage = ((rx_frame.data.u8[2] << 2) | (rx_frame.data.u8[3] & 0xc0) >> 6) / 2;
break; break;
case 0x55B: case 0x1DC:
LB_SOC = (rx_frame.data.u8[0] << 2 | rx_frame.data.u8[1] >> 6); LB_Discharge_Power_Limit = ((rx_frame.data.u8[0] << 2 | rx_frame.data.u8[1] >> 6) / 4.0);
break; LB_MAX_POWER_FOR_CHARGER = ((((rx_frame.data.u8[2] & 0x0F) << 6 | rx_frame.data.u8[3] >> 2) / 10.0) -
case 0x5BC: 10); //check if -10 is correct offset
LB_MAX = ((rx_frame.data.u8[5] & 0x10) >> 4); break;
if(LB_MAX) case 0x55B:
{ LB_SOC = (rx_frame.data.u8[0] << 2 | rx_frame.data.u8[1] >> 6);
LB_Max_GIDS = (rx_frame.data.u8[0] << 2) | ((rx_frame.data.u8[1] & 0xC0) >> 6); break;
//Max gids active, do nothing case 0x5BC:
//Only the 30/40/62kWh packs have this mux LB_MAX = ((rx_frame.data.u8[5] & 0x10) >> 4);
} if (LB_MAX)
else {
{ //Normal current GIDS value is transmitted LB_Max_GIDS = (rx_frame.data.u8[0] << 2) | ((rx_frame.data.u8[1] & 0xC0) >> 6);
LB_GIDS = (rx_frame.data.u8[0] << 2) | ((rx_frame.data.u8[1] & 0xC0) >> 6); //Max gids active, do nothing
LB_Wh_Remaining = (LB_GIDS * WH_PER_GID); //Only the 30/40/62kWh packs have this mux
} }
break; else
case 0x59E: //This message is only present on 2013+ AZE0 and upwards {
break; //Normal current GIDS value is transmitted
case 0x5C0: LB_GIDS = (rx_frame.data.u8[0] << 2) | ((rx_frame.data.u8[1] & 0xC0) >> 6);
//todo read batt temp from here (or from active polling later) LB_Wh_Remaining = (LB_GIDS * WH_PER_GID);
break; }
default: break;
break; case 0x59E: //This message is only present on 2013+ AZE0 and upwards
} break;
} case 0x5C0:
else //todo read batt temp from here (or from active polling later)
{ break;
//printf("New extended frame"); default:
} break;
}
}
else
{
//printf("New extended frame");
}
// if (rx_frame.FIR.B.RTR == CAN_RTR) // 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); // printf(" RTR from 0x%08X, DLC %d\r\n", rx_frame.MsgID, rx_frame.FIR.B.DLC);
// } // }
// else // else
// { // {
// printf(" from 0x%08X, DLC %d, Data ", rx_frame.MsgID, rx_frame.FIR.B.DLC); // 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++) // for (int i = 0; i < rx_frame.FIR.B.DLC; i++)
// { // {
// printf("0x%02X ", rx_frame.data.u8[i]); // printf("0x%02X ", rx_frame.data.u8[i]);
// } // }
// printf("\n"); // printf("\n");
// } // }
} }
// Send 100ms CAN Message // Send 100ms CAN Message
if (currentMillis - previousMillis100 >= interval100) if (currentMillis - previousMillis100 >= interval100)
{ {
previousMillis100 = currentMillis; previousMillis100 = currentMillis;
mprun100++; mprun100++;
if(mprun100 > 3) if (mprun100 > 3)
{ {
mprun100 = 0; mprun100 = 0;
} }
CAN_frame_t tx_frame; CAN_frame_t tx_frame;
tx_frame.FIR.B.FF = CAN_frame_std; tx_frame.FIR.B.FF = CAN_frame_std;
tx_frame.MsgID = 0x50B; tx_frame.MsgID = 0x50B;
tx_frame.FIR.B.DLC = 8; tx_frame.FIR.B.DLC = 8;
tx_frame.data.u8[0] = 0x00; tx_frame.data.u8[0] = 0x00;
tx_frame.data.u8[1] = 0x00; tx_frame.data.u8[1] = 0x00;
tx_frame.data.u8[2] = 0x06; tx_frame.data.u8[2] = 0x06;
tx_frame.data.u8[3] = 0xC0; //HCM_WakeUpSleepCmd = Wakeup tx_frame.data.u8[3] = 0xC0; //HCM_WakeUpSleepCmd = Wakeup
tx_frame.data.u8[4] = 0x00; tx_frame.data.u8[4] = 0x00;
tx_frame.data.u8[5] = 0x00; tx_frame.data.u8[5] = 0x00;
tx_frame.data.u8[6] = 0x00; tx_frame.data.u8[6] = 0x00;
tx_frame.data.u8[7] = 0x00; tx_frame.data.u8[7] = 0x00;
ESP32Can.CANWriteFrame(&tx_frame); ESP32Can.CANWriteFrame(&tx_frame);
Serial.println("CAN send 50B done"); Serial.println("CAN send 50B done");
tx_frame.MsgID = 0x50C; tx_frame.MsgID = 0x50C;
tx_frame.FIR.B.DLC = 8; tx_frame.FIR.B.DLC = 8;
tx_frame.data.u8[0] = 0x00; tx_frame.data.u8[0] = 0x00;
tx_frame.data.u8[1] = 0x00; tx_frame.data.u8[1] = 0x00;
tx_frame.data.u8[2] = 0x00; tx_frame.data.u8[2] = 0x00;
tx_frame.data.u8[3] = 0x00; tx_frame.data.u8[3] = 0x00;
tx_frame.data.u8[4] = 0x00; tx_frame.data.u8[4] = 0x00;
if(mprun100 == 0) if (mprun100 == 0)
{ {
tx_frame.data.u8[5] = 0x00; tx_frame.data.u8[5] = 0x00;
tx_frame.data.u8[6] = 0x5D; tx_frame.data.u8[6] = 0x5D;
tx_frame.data.u8[7] = 0xC8; tx_frame.data.u8[7] = 0xC8;
} }
if(mprun100 == 1) if (mprun100 == 1)
{ {
tx_frame.data.u8[5] = 0x01; tx_frame.data.u8[5] = 0x01;
tx_frame.data.u8[6] = 0x5D; tx_frame.data.u8[6] = 0x5D;
tx_frame.data.u8[7] = 0x5F; tx_frame.data.u8[7] = 0x5F;
} }
if(mprun100 == 2) if (mprun100 == 2)
{ {
tx_frame.data.u8[5] = 0x02; tx_frame.data.u8[5] = 0x02;
tx_frame.data.u8[6] = 0x5D; tx_frame.data.u8[6] = 0x5D;
tx_frame.data.u8[7] = 0x63; tx_frame.data.u8[7] = 0x63;
} }
if(mprun100 == 3) if (mprun100 == 3)
{ {
tx_frame.data.u8[5] = 0x03; tx_frame.data.u8[5] = 0x03;
tx_frame.data.u8[6] = 0x5D; tx_frame.data.u8[6] = 0x5D;
tx_frame.data.u8[7] = 0xF4; tx_frame.data.u8[7] = 0xF4;
} }
ESP32Can.CANWriteFrame(&tx_frame); ESP32Can.CANWriteFrame(&tx_frame);
Serial.println("CAN send 50C done"); Serial.println("CAN send 50C done");
} }
if (currentMillis - previousMillis10 >= interval10) if (currentMillis - previousMillis10 >= interval10)
{ {
previousMillis10 = currentMillis; previousMillis10 = currentMillis;
mprun10++; mprun10++;
if(mprun10 > 3) if (mprun10 > 3)
{ {
mprun10 = 0; mprun10 = 0;
} }
CAN_frame_t tx_frame; CAN_frame_t tx_frame;
tx_frame.FIR.B.FF = CAN_frame_std; tx_frame.FIR.B.FF = CAN_frame_std;
tx_frame.MsgID = 0x1F2; tx_frame.MsgID = 0x1F2;
tx_frame.FIR.B.DLC = 8; tx_frame.FIR.B.DLC = 8;
tx_frame.data.u8[0] = 0x64; tx_frame.data.u8[0] = 0x64;
tx_frame.data.u8[1] = 0x64; tx_frame.data.u8[1] = 0x64;
tx_frame.data.u8[2] = 0x32; tx_frame.data.u8[2] = 0x32;
tx_frame.data.u8[3] = 0xA0; tx_frame.data.u8[3] = 0xA0;
tx_frame.data.u8[4] = 0x00; tx_frame.data.u8[4] = 0x00;
tx_frame.data.u8[5] = 0x0A; tx_frame.data.u8[5] = 0x0A;
if(mprun10 == 0) if (mprun10 == 0)
{ {
tx_frame.data.u8[6] = 0x00; tx_frame.data.u8[6] = 0x00;
tx_frame.data.u8[7] = 0x8F; tx_frame.data.u8[7] = 0x8F;
} }
if(mprun10 == 1) if (mprun10 == 1)
{ {
tx_frame.data.u8[6] = 0x01; tx_frame.data.u8[6] = 0x01;
tx_frame.data.u8[7] = 0x80; tx_frame.data.u8[7] = 0x80;
} }
if(mprun10 == 2) if (mprun10 == 2)
{ {
tx_frame.data.u8[6] = 0x02; tx_frame.data.u8[6] = 0x02;
tx_frame.data.u8[7] = 0x81; tx_frame.data.u8[7] = 0x81;
} }
if(mprun10 == 3) if (mprun10 == 3)
{ {
tx_frame.data.u8[6] = 0x03; tx_frame.data.u8[6] = 0x03;
tx_frame.data.u8[7] = 0x82; tx_frame.data.u8[7] = 0x82;
} }
ESP32Can.CANWriteFrame(&tx_frame); ESP32Can.CANWriteFrame(&tx_frame);
Serial.println("CAN send 1F2 done"); Serial.println("CAN send 1F2 done");
} }
} }