mirror of
https://github.com/dalathegreat/Battery-Emulator.git
synced 2025-10-03 17:59:27 +02:00
Add separate handling of static/dynamic data
Performance gains
This commit is contained in:
Daniel Öster
GitHub
parent
ede6cde1c2
commit
f8a6e176de
1 changed files with 304 additions and 250 deletions
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@ -11,14 +11,14 @@
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#define BATTERY_WH_MAX 30000
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//CAN parameters
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CAN_device_t CAN_cfg; // CAN Config
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CAN_device_t CAN_cfg; // CAN Config
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unsigned long previousMillis10 = 0; // will store last time a 10ms CAN Message was send
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unsigned long previousMillis100 = 0; // will store last time a 100ms CAN Message was send
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const int interval10 = 10; // interval (ms) at which send CAN Messages
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const int interval100 = 100; // interval (ms) at which send CAN Messages
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const int rx_queue_size = 10; // Receive Queue size
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byte mprun10 = 0; //counter 0-3
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byte mprun100 = 0; //counter 0-3
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const int interval10 = 10; // interval (ms) at which send CAN Messages
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const int interval100 = 100; // interval (ms) at which send CAN Messages
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const int rx_queue_size = 10; // Receive Queue size
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byte mprun10 = 0; //counter 0-3
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byte mprun100 = 0; //counter 0-3
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//Nissan LEAF battery parameters from CAN
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#define WH_PER_GID 77 //One GID is this amount of Watt hours
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@ -36,7 +36,7 @@ int LB_Total_Voltage = 0; //Battery voltage (0-450V)
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const int intervalModbusTask = 10000; //Interval at which to refresh modbus registers
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unsigned long previousMillisModbus = 0; //will store last time a modbus register refresh
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uint16_t mbPV[30000]; // process variable memory: produced by sensors, etc., cyclic read by PLC via modbus TCP
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uint16_t capacity_Wh_startup = BATTERY_WH_MAX;
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uint16_t capacity_Wh_startup = BATTERY_WH_MAX;
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uint16_t MaxPower = 40960; //41kW TODO, fetch from LEAF battery (or does it matter, polled after startup?)
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uint16_t MaxVoltage = 4672; //(467.2V), if higher charging is not possible (goes into forced discharge)
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uint16_t MinVoltage = 3200; //Min Voltage (320.0V), if lower Gen24 disables battery
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@ -45,281 +45,335 @@ uint16_t SOC = 5000; //SOC 0-100.00% //Updates later on from CAN
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uint16_t capacity_Wh = BATTERY_WH_MAX; //Updates later on from CAN
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uint16_t remaining_capacity_Wh = BATTERY_WH_MAX; //Updates later on from CAN
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uint16_t max_target_discharge_power = 0; //0W (0W > restricts to no discharge) //Updates later on from CAN
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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
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uint16_t max_target_charge_power = 4312;
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//4.3kW (during charge), both 307&308 can be set (>0) at the same time //Updates later on from CAN
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uint16_t TemperatureMax = 50; //Todo, read from LEAF pack, uint not ok
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uint16_t TemperatureMin = 60; //Todo, read from LEAF pack, uint not ok
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// Store the data into the array
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//16-bit int in these modbus-register, two letters at a time. Example p101[1]....(ascii for S) * 256 + (ascii for I) = 21321
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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};
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//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};
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//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};
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//Delete the following lines once we know this works :)
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//uint16_t p101_data[] = {21321, 1}; //SI
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//uint16_t p103_data[] = {16985, 17408, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}; //BY D
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//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
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//uint16_t p135_data[] = {13614, 12288, 0, 0, 0, 0, 0, 0, 13102, 12598, 0, 0, 0, 0, 0, 0}; //5.0 3.16
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//uint16_t p151_data[] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}; //Serial number for battery
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//uint16_t p167_data[] = {1, 0};
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uint16_t p201_data[] = {0, 0, capacity_Wh_startup, MaxPower, MaxPower, MaxVoltage, MinVoltage, 53248, 10, 53248, 10, 0, 0};
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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};
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uint16_t p101_data[] = {21321, 1}; //SI
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uint16_t p103_data[] = {16985, 17408, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}; //BY D
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uint16_t p119_data[] = {
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16985, 17440, 16993, 29812, 25970, 31021, 17007, 30752, 20594, 25965, 26997, 27936, 18518, 0, 0, 0
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}; //BY D Ba tt er y- Bo x Pr em iu m HV
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uint16_t p135_data[] = {13614, 12288, 0, 0, 0, 0, 0, 0, 13102, 12598, 0, 0, 0, 0, 0, 0}; //5.0 3.16
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uint16_t p151_data[] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}; //Serial number for battery
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uint16_t p167_data[] = {1, 0};
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uint16_t p201_data[] = {
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0, 0, capacity_Wh_startup, MaxPower, MaxPower, MaxVoltage, MinVoltage, 53248, 10, 53248, 10, 0, 0
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};
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uint16_t p301_data[] = {
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Status, 0, 128, SOC, capacity_Wh, remaining_capacity_Wh, max_target_discharge_power, max_target_charge_power, 0, 0,
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2058, 0, TemperatureMin, TemperatureMax, 0, 0, 16, 22741, 0, 0, 13, 52064, 80, 9900
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};
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//These registers get written to
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uint16_t p401_data[] = {1, 255, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
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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};
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uint16_t p1001_data[] = {
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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,
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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,
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0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0
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};
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uint16_t i;
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static unsigned long currentMillis;
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// Create a ModbusRTU server instance listening on Serial2 with 2000ms timeout
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ModbusServerRTU MBserver(Serial2, 2000);
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// Setup() - initialization happens here
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void setup() {
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//CAN pins
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pinMode(CAN_SE_PIN, OUTPUT);
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digitalWrite(CAN_SE_PIN, LOW);
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CAN_cfg.speed = CAN_SPEED_500KBPS;
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CAN_cfg.tx_pin_id = GPIO_NUM_27;
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CAN_cfg.rx_pin_id = GPIO_NUM_26;
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CAN_cfg.rx_queue = xQueueCreate(rx_queue_size, sizeof(CAN_frame_t));
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// Init CAN Module
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ESP32Can.CANInit();
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Serial.println(CAN_cfg.speed);
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void setup()
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{
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//CAN pins
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pinMode(CAN_SE_PIN, OUTPUT);
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digitalWrite(CAN_SE_PIN, LOW);
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CAN_cfg.speed = CAN_SPEED_500KBPS;
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CAN_cfg.tx_pin_id = GPIO_NUM_27;
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CAN_cfg.rx_pin_id = GPIO_NUM_26;
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CAN_cfg.rx_queue = xQueueCreate(rx_queue_size, sizeof(CAN_frame_t));
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// Init CAN Module
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ESP32Can.CANInit();
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Serial.println(CAN_cfg.speed);
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//Modbus pins
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pinMode(RS485_EN_PIN, OUTPUT);
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digitalWrite(RS485_EN_PIN, HIGH);
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//Modbus pins
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pinMode(RS485_EN_PIN, OUTPUT);
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digitalWrite(RS485_EN_PIN, HIGH);
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pinMode(RS485_SE_PIN, OUTPUT);
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digitalWrite(RS485_SE_PIN, HIGH);
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pinMode(RS485_SE_PIN, OUTPUT);
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digitalWrite(RS485_SE_PIN, HIGH);
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pinMode(PIN_5V_EN, OUTPUT);
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digitalWrite(PIN_5V_EN, HIGH);
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// Init Serial monitor
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Serial.begin(9600);
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while (!Serial) {}
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Serial.println("__ OK __");
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// Init Serial2 connected to the RTU Modbus
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// (Fill in your data here!)
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Serial2.begin(9600, SERIAL_8N1, RS485_RX_PIN, RS485_TX_PIN);
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// Register served function code worker for server id 21, FC 0x03
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MBserver.registerWorker(MBTCP_ID, READ_HOLD_REGISTER, &FC03);
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MBserver.registerWorker(MBTCP_ID, WRITE_HOLD_REGISTER, &FC06);
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MBserver.registerWorker(MBTCP_ID, WRITE_MULT_REGISTERS, &FC16);
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MBserver.registerWorker(MBTCP_ID, R_W_MULT_REGISTERS, &FC23);
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// Start ModbusRTU background task
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MBserver.start();
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pinMode(PIN_5V_EN, OUTPUT);
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digitalWrite(PIN_5V_EN, HIGH);
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// Init Serial monitor
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Serial.begin(9600);
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while (!Serial)
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{
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}
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Serial.println("__ OK __");
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// Init Static data to the RTU Modbus
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handle_StaticDataModbus();
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// Init Serial2 connected to the RTU Modbus
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// (Fill in your data here!)
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Serial2.begin(9600, SERIAL_8N1, RS485_RX_PIN, RS485_TX_PIN);
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// Register served function code worker for server id 21, FC 0x03
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MBserver.registerWorker(MBTCP_ID, READ_HOLD_REGISTER, &FC03);
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MBserver.registerWorker(MBTCP_ID, WRITE_HOLD_REGISTER, &FC06);
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MBserver.registerWorker(MBTCP_ID, WRITE_MULT_REGISTERS, &FC16);
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MBserver.registerWorker(MBTCP_ID, R_W_MULT_REGISTERS, &FC23);
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// Start ModbusRTU background task
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MBserver.start();
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}
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// perform main program functions
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void loop() {
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handle_modbus();
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handle_can();
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update_values();
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void loop()
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{
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handle_can();
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update_values();
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currentMillis = millis();
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if (currentMillis - previousMillisModbus >= intervalModbusTask)
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{
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//every 10s
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previousMillisModbus = currentMillis;
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handle_UpdateDataModbus();
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}
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}
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void update_values(){
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MaxPower = (LB_Discharge_Power_Limit*1000); //kW to W
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SOC = (LB_SOC * 10); //increase range from 0-100.0 -> 100.00
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capacity_Wh = (LB_Max_GIDS * WH_PER_GID);
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remaining_capacity_Wh = LB_Wh_Remaining;
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max_target_discharge_power = (LB_Discharge_Power_Limit*1000); //kW to W
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max_target_charge_power = (LB_MAX_POWER_FOR_CHARGER*1000); //kW to W
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TemperatureMin = 50; //hardcoded, todo, read from 5C0
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TemperatureMax = 60; //hardcoded, todo, read from 5C0
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void update_values()
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{
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MaxPower = (LB_Discharge_Power_Limit * 1000); //kW to W
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SOC = (LB_SOC * 10); //increase range from 0-100.0 -> 100.00
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capacity_Wh = (LB_Max_GIDS * WH_PER_GID);
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remaining_capacity_Wh = LB_Wh_Remaining;
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max_target_discharge_power = (LB_Discharge_Power_Limit * 1000); //kW to W
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max_target_charge_power = (LB_MAX_POWER_FOR_CHARGER * 1000); //kW to W
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TemperatureMin = 50; //hardcoded, todo, read from 5C0
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TemperatureMax = 60; //hardcoded, todo, read from 5C0
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}
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void handle_modbus(){
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static unsigned long currentMillis = millis();
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if (currentMillis - previousMillisModbus >= intervalModbusTask)
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{ //every 10s
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previousMillisModbus = currentMillis;
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//Print value of holfing register 40001
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Serial.println(mbPV[0]);
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i = 0;
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// Copy the contents of the original arrays uint16_to the new array
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for (uint16_t j = 0; j < sizeof(p101_data) / sizeof(uint16_t); j++) {
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mbPV[i] = p101_data[j];
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i++;
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}
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for (uint16_t j = 0; j < sizeof(p201_data) / sizeof(uint16_t); j++) {
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mbPV[i] = p201_data[j];
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i++;
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}
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for (uint16_t j = 0; j < sizeof(p301_data) / sizeof(uint16_t); j++) {
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mbPV[i] = p301_data[j];
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i++;
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}
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}
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void handle_StaticDataModbus()
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{
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i = 100;
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// --- Copy the contents of the static data from the original arrays to the new modbus array ---
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for (uint16_t j = 0; j < sizeof(p101_data) / sizeof(uint16_t); j++)
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{
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mbPV[i] = p101_data[j];
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i++;
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}
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for (uint16_t j = 0; j < sizeof(p103_data) / sizeof(uint16_t); j++)
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{
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mbPV[i] = p103_data[j];
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i++;
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}
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for (uint16_t j = 0; j < sizeof(p119_data) / sizeof(uint16_t); j++)
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{
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mbPV[i] = p119_data[j];
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i++;
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}
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for (uint16_t j = 0; j < sizeof(p135_data) / sizeof(uint16_t); j++)
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{
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mbPV[i] = p135_data[j];
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i++;
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}
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for (uint16_t j = 0; j < sizeof(p151_data) / sizeof(uint16_t); j++)
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{
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mbPV[i] = p151_data[j];
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i++;
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}
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for (uint16_t j = 0; j < sizeof(p167_data) / sizeof(uint16_t); j++)
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{
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mbPV[i] = p167_data[j];
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i++;
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}
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}
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void handle_can() {
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CAN_frame_t rx_frame;
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void handle_UpdateDataModbus()
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{
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i = 200;
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// --- Copy the data contents arrays to the new modbus array ---
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for (uint16_t j = 0; j < sizeof(p201_data) / sizeof(uint16_t); j++)
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{
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mbPV[i] = p201_data[j];
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i++;
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}
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i = 300;
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for (uint16_t j = 0; j < sizeof(p301_data) / sizeof(uint16_t); j++)
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{
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mbPV[i] = p301_data[j];
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i++;
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}
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}
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static unsigned long currentMillis = millis();
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void handle_can()
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{
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CAN_frame_t rx_frame;
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// Receive next CAN frame from queue
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if (xQueueReceive(CAN_cfg.rx_queue, &rx_frame, 3 * portTICK_PERIOD_MS) == pdTRUE)
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{
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static unsigned long currentMillis = millis();
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if (rx_frame.FIR.B.FF == CAN_frame_std)
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{
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//printf("New standard frame");
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switch (rx_frame.MsgID) {
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case 0x1DB:
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LB_Current = (rx_frame.data.u8[0] << 3) | (rx_frame.data.u8[1] & 0xe0) >> 5;
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LB_Total_Voltage = ((rx_frame.data.u8[2] << 2) | (rx_frame.data.u8[3] & 0xc0) >> 6) / 2;
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break;
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case 0x1DC:
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LB_Discharge_Power_Limit = ( ( rx_frame.data.u8[0] << 2 | rx_frame.data.u8[1] >> 6 ) / 4.0 );
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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
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break;
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case 0x55B:
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LB_SOC = (rx_frame.data.u8[0] << 2 | rx_frame.data.u8[1] >> 6);
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break;
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case 0x5BC:
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LB_MAX = ((rx_frame.data.u8[5] & 0x10) >> 4);
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if(LB_MAX)
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{
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LB_Max_GIDS = (rx_frame.data.u8[0] << 2) | ((rx_frame.data.u8[1] & 0xC0) >> 6);
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//Max gids active, do nothing
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//Only the 30/40/62kWh packs have this mux
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}
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else
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{ //Normal current GIDS value is transmitted
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LB_GIDS = (rx_frame.data.u8[0] << 2) | ((rx_frame.data.u8[1] & 0xC0) >> 6);
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LB_Wh_Remaining = (LB_GIDS * WH_PER_GID);
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}
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break;
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case 0x59E: //This message is only present on 2013+ AZE0 and upwards
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break;
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case 0x5C0:
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//todo read batt temp from here (or from active polling later)
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break;
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default:
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break;
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}
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}
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else
|
||||
{
|
||||
//printf("New extended frame");
|
||||
}
|
||||
// Receive next CAN frame from queue
|
||||
if (xQueueReceive(CAN_cfg.rx_queue, &rx_frame, 3 * portTICK_PERIOD_MS) == pdTRUE)
|
||||
{
|
||||
if (rx_frame.FIR.B.FF == CAN_frame_std)
|
||||
{
|
||||
//printf("New standard frame");
|
||||
switch (rx_frame.MsgID)
|
||||
{
|
||||
case 0x1DB:
|
||||
LB_Current = (rx_frame.data.u8[0] << 3) | (rx_frame.data.u8[1] & 0xe0) >> 5;
|
||||
LB_Total_Voltage = ((rx_frame.data.u8[2] << 2) | (rx_frame.data.u8[3] & 0xc0) >> 6) / 2;
|
||||
break;
|
||||
case 0x1DC:
|
||||
LB_Discharge_Power_Limit = ((rx_frame.data.u8[0] << 2 | rx_frame.data.u8[1] >> 6) / 4.0);
|
||||
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
|
||||
break;
|
||||
case 0x55B:
|
||||
LB_SOC = (rx_frame.data.u8[0] << 2 | rx_frame.data.u8[1] >> 6);
|
||||
break;
|
||||
case 0x5BC:
|
||||
LB_MAX = ((rx_frame.data.u8[5] & 0x10) >> 4);
|
||||
if (LB_MAX)
|
||||
{
|
||||
LB_Max_GIDS = (rx_frame.data.u8[0] << 2) | ((rx_frame.data.u8[1] & 0xC0) >> 6);
|
||||
//Max gids active, do nothing
|
||||
//Only the 30/40/62kWh packs have this mux
|
||||
}
|
||||
else
|
||||
{
|
||||
//Normal current GIDS value is transmitted
|
||||
LB_GIDS = (rx_frame.data.u8[0] << 2) | ((rx_frame.data.u8[1] & 0xC0) >> 6);
|
||||
LB_Wh_Remaining = (LB_GIDS * WH_PER_GID);
|
||||
}
|
||||
break;
|
||||
case 0x59E: //This message is only present on 2013+ AZE0 and upwards
|
||||
break;
|
||||
case 0x5C0:
|
||||
//todo read batt temp from here (or from active polling later)
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
//printf("New extended frame");
|
||||
}
|
||||
|
||||
// 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);
|
||||
// }
|
||||
// else
|
||||
// {
|
||||
// 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++)
|
||||
// {
|
||||
// printf("0x%02X ", rx_frame.data.u8[i]);
|
||||
// }
|
||||
// printf("\n");
|
||||
// }
|
||||
}
|
||||
// Send 100ms CAN Message
|
||||
if (currentMillis - previousMillis100 >= interval100)
|
||||
{
|
||||
previousMillis100 = currentMillis;
|
||||
mprun100++;
|
||||
if(mprun100 > 3)
|
||||
{
|
||||
mprun100 = 0;
|
||||
}
|
||||
// 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);
|
||||
// }
|
||||
// else
|
||||
// {
|
||||
// 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++)
|
||||
// {
|
||||
// printf("0x%02X ", rx_frame.data.u8[i]);
|
||||
// }
|
||||
// printf("\n");
|
||||
// }
|
||||
}
|
||||
// Send 100ms CAN Message
|
||||
if (currentMillis - previousMillis100 >= interval100)
|
||||
{
|
||||
previousMillis100 = currentMillis;
|
||||
mprun100++;
|
||||
if (mprun100 > 3)
|
||||
{
|
||||
mprun100 = 0;
|
||||
}
|
||||
|
||||
CAN_frame_t tx_frame;
|
||||
tx_frame.FIR.B.FF = CAN_frame_std;
|
||||
tx_frame.MsgID = 0x50B;
|
||||
tx_frame.FIR.B.DLC = 8;
|
||||
tx_frame.data.u8[0] = 0x00;
|
||||
tx_frame.data.u8[1] = 0x00;
|
||||
tx_frame.data.u8[2] = 0x06;
|
||||
tx_frame.data.u8[3] = 0xC0; //HCM_WakeUpSleepCmd = Wakeup
|
||||
tx_frame.data.u8[4] = 0x00;
|
||||
tx_frame.data.u8[5] = 0x00;
|
||||
tx_frame.data.u8[6] = 0x00;
|
||||
tx_frame.data.u8[7] = 0x00;
|
||||
CAN_frame_t tx_frame;
|
||||
tx_frame.FIR.B.FF = CAN_frame_std;
|
||||
tx_frame.MsgID = 0x50B;
|
||||
tx_frame.FIR.B.DLC = 8;
|
||||
tx_frame.data.u8[0] = 0x00;
|
||||
tx_frame.data.u8[1] = 0x00;
|
||||
tx_frame.data.u8[2] = 0x06;
|
||||
tx_frame.data.u8[3] = 0xC0; //HCM_WakeUpSleepCmd = Wakeup
|
||||
tx_frame.data.u8[4] = 0x00;
|
||||
tx_frame.data.u8[5] = 0x00;
|
||||
tx_frame.data.u8[6] = 0x00;
|
||||
tx_frame.data.u8[7] = 0x00;
|
||||
|
||||
ESP32Can.CANWriteFrame(&tx_frame);
|
||||
Serial.println("CAN send 50B done");
|
||||
ESP32Can.CANWriteFrame(&tx_frame);
|
||||
Serial.println("CAN send 50B done");
|
||||
|
||||
tx_frame.MsgID = 0x50C;
|
||||
tx_frame.FIR.B.DLC = 8;
|
||||
tx_frame.data.u8[0] = 0x00;
|
||||
tx_frame.data.u8[1] = 0x00;
|
||||
tx_frame.data.u8[2] = 0x00;
|
||||
tx_frame.data.u8[3] = 0x00;
|
||||
tx_frame.data.u8[4] = 0x00;
|
||||
if(mprun100 == 0)
|
||||
{
|
||||
tx_frame.data.u8[5] = 0x00;
|
||||
tx_frame.data.u8[6] = 0x5D;
|
||||
tx_frame.data.u8[7] = 0xC8;
|
||||
}
|
||||
if(mprun100 == 1)
|
||||
{
|
||||
tx_frame.data.u8[5] = 0x01;
|
||||
tx_frame.data.u8[6] = 0x5D;
|
||||
tx_frame.data.u8[7] = 0x5F;
|
||||
}
|
||||
if(mprun100 == 2)
|
||||
{
|
||||
tx_frame.data.u8[5] = 0x02;
|
||||
tx_frame.data.u8[6] = 0x5D;
|
||||
tx_frame.data.u8[7] = 0x63;
|
||||
}
|
||||
if(mprun100 == 3)
|
||||
{
|
||||
tx_frame.data.u8[5] = 0x03;
|
||||
tx_frame.data.u8[6] = 0x5D;
|
||||
tx_frame.data.u8[7] = 0xF4;
|
||||
}
|
||||
ESP32Can.CANWriteFrame(&tx_frame);
|
||||
Serial.println("CAN send 50C done");
|
||||
}
|
||||
tx_frame.MsgID = 0x50C;
|
||||
tx_frame.FIR.B.DLC = 8;
|
||||
tx_frame.data.u8[0] = 0x00;
|
||||
tx_frame.data.u8[1] = 0x00;
|
||||
tx_frame.data.u8[2] = 0x00;
|
||||
tx_frame.data.u8[3] = 0x00;
|
||||
tx_frame.data.u8[4] = 0x00;
|
||||
if (mprun100 == 0)
|
||||
{
|
||||
tx_frame.data.u8[5] = 0x00;
|
||||
tx_frame.data.u8[6] = 0x5D;
|
||||
tx_frame.data.u8[7] = 0xC8;
|
||||
}
|
||||
if (mprun100 == 1)
|
||||
{
|
||||
tx_frame.data.u8[5] = 0x01;
|
||||
tx_frame.data.u8[6] = 0x5D;
|
||||
tx_frame.data.u8[7] = 0x5F;
|
||||
}
|
||||
if (mprun100 == 2)
|
||||
{
|
||||
tx_frame.data.u8[5] = 0x02;
|
||||
tx_frame.data.u8[6] = 0x5D;
|
||||
tx_frame.data.u8[7] = 0x63;
|
||||
}
|
||||
if (mprun100 == 3)
|
||||
{
|
||||
tx_frame.data.u8[5] = 0x03;
|
||||
tx_frame.data.u8[6] = 0x5D;
|
||||
tx_frame.data.u8[7] = 0xF4;
|
||||
}
|
||||
ESP32Can.CANWriteFrame(&tx_frame);
|
||||
Serial.println("CAN send 50C done");
|
||||
}
|
||||
|
||||
if (currentMillis - previousMillis10 >= interval10)
|
||||
{
|
||||
previousMillis10 = currentMillis;
|
||||
mprun10++;
|
||||
if(mprun10 > 3)
|
||||
{
|
||||
mprun10 = 0;
|
||||
}
|
||||
if (currentMillis - previousMillis10 >= interval10)
|
||||
{
|
||||
previousMillis10 = currentMillis;
|
||||
mprun10++;
|
||||
if (mprun10 > 3)
|
||||
{
|
||||
mprun10 = 0;
|
||||
}
|
||||
|
||||
CAN_frame_t tx_frame;
|
||||
tx_frame.FIR.B.FF = CAN_frame_std;
|
||||
tx_frame.MsgID = 0x1F2;
|
||||
tx_frame.FIR.B.DLC = 8;
|
||||
tx_frame.data.u8[0] = 0x64;
|
||||
tx_frame.data.u8[1] = 0x64;
|
||||
tx_frame.data.u8[2] = 0x32;
|
||||
tx_frame.data.u8[3] = 0xA0;
|
||||
tx_frame.data.u8[4] = 0x00;
|
||||
tx_frame.data.u8[5] = 0x0A;
|
||||
if(mprun10 == 0)
|
||||
{
|
||||
tx_frame.data.u8[6] = 0x00;
|
||||
tx_frame.data.u8[7] = 0x8F;
|
||||
}
|
||||
if(mprun10 == 1)
|
||||
{
|
||||
tx_frame.data.u8[6] = 0x01;
|
||||
tx_frame.data.u8[7] = 0x80;
|
||||
}
|
||||
if(mprun10 == 2)
|
||||
{
|
||||
tx_frame.data.u8[6] = 0x02;
|
||||
tx_frame.data.u8[7] = 0x81;
|
||||
}
|
||||
if(mprun10 == 3)
|
||||
{
|
||||
tx_frame.data.u8[6] = 0x03;
|
||||
tx_frame.data.u8[7] = 0x82;
|
||||
}
|
||||
ESP32Can.CANWriteFrame(&tx_frame);
|
||||
Serial.println("CAN send 1F2 done");
|
||||
}
|
||||
}
|
||||
CAN_frame_t tx_frame;
|
||||
tx_frame.FIR.B.FF = CAN_frame_std;
|
||||
tx_frame.MsgID = 0x1F2;
|
||||
tx_frame.FIR.B.DLC = 8;
|
||||
tx_frame.data.u8[0] = 0x64;
|
||||
tx_frame.data.u8[1] = 0x64;
|
||||
tx_frame.data.u8[2] = 0x32;
|
||||
tx_frame.data.u8[3] = 0xA0;
|
||||
tx_frame.data.u8[4] = 0x00;
|
||||
tx_frame.data.u8[5] = 0x0A;
|
||||
if (mprun10 == 0)
|
||||
{
|
||||
tx_frame.data.u8[6] = 0x00;
|
||||
tx_frame.data.u8[7] = 0x8F;
|
||||
}
|
||||
if (mprun10 == 1)
|
||||
{
|
||||
tx_frame.data.u8[6] = 0x01;
|
||||
tx_frame.data.u8[7] = 0x80;
|
||||
}
|
||||
if (mprun10 == 2)
|
||||
{
|
||||
tx_frame.data.u8[6] = 0x02;
|
||||
tx_frame.data.u8[7] = 0x81;
|
||||
}
|
||||
if (mprun10 == 3)
|
||||
{
|
||||
tx_frame.data.u8[6] = 0x03;
|
||||
tx_frame.data.u8[7] = 0x82;
|
||||
}
|
||||
ESP32Can.CANWriteFrame(&tx_frame);
|
||||
Serial.println("CAN send 1F2 done");
|
||||
}
|
||||
}
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue