#include #include "HardwareSerial.h" #include "config.h" #include "logging.h" #include "mbServerFCs.h" #include "ModbusServerRTU.h" #include "ESP32CAN.h" #include "CAN_config.h" /* User definable settings */ #define BATTERY_WH_MAX 30000 //Battery size in Wh (Maximum value Fronius accepts is 60000 [60kWh]) #define MAXPERCENTAGE 800 //80.0% , Max percentage the battery will charge to (App will show 100% once this value is reached) #define MINPERCENTAGE 200 //20.0% , Min percentage the battery will discharge to (App will show 0% once this value is reached) //#define INTERLOCK_REQUIRED //Uncomment this line to skip requiring both high voltage connectors to be seated on the LEAF battery byte printValues = 1; //Should modbus values be printed to serial output? /* Do not change code below unless you are sure what you are doing */ //CAN parameters CAN_device_t CAN_cfg; // CAN Config 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 const int interval10 = 10; // 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 uint8_t stillAlive = 6; //counter for checking if CAN is still alive uint8_t mprun10r = 0; //counter 0-20 for 0x1F2 message byte mprun10 = 0; //counter 0-3 byte mprun100 = 0; //counter 0-3 CAN_frame_t LEAF_1F2 = {.MsgID = 0x1F2, LEAF_1F2.FIR.B.DLC = 8, LEAF_1F2.FIR.B.FF = CAN_frame_std, LEAF_1F2.data.u8[0] = 0x10, LEAF_1F2.data.u8[1] = 0x64,LEAF_1F2.data.u8[2] = 0x00, LEAF_1F2.data.u8[3] = 0xB0,LEAF_1F2.data.u8[4] = 0x00,LEAF_1F2.data.u8[5] = 0x1E}; CAN_frame_t LEAF_50B = {.MsgID = 0x50B, LEAF_50B.FIR.B.DLC = 7, LEAF_50B.FIR.B.FF = CAN_frame_std, LEAF_50B.data.u8[0] = 0x00, LEAF_50B.data.u8[1] = 0x00,LEAF_50B.data.u8[2] = 0x06, LEAF_50B.data.u8[3] = 0xC0,LEAF_50B.data.u8[4] = 0x00,LEAF_50B.data.u8[5] = 0x00}; CAN_frame_t LEAF_50C = {.MsgID = 0x50C, LEAF_50C.FIR.B.DLC = 8, LEAF_50C.FIR.B.FF = CAN_frame_std, LEAF_50C.data.u8[0] = 0x00, LEAF_50C.data.u8[1] = 0x00,LEAF_50C.data.u8[2] = 0x00, LEAF_50C.data.u8[3] = 0x00,LEAF_50C.data.u8[4] = 0x00,LEAF_50C.data.u8[5] = 0x00}; CAN_frame_t LEAF_1D4 = {.MsgID = 0x1D4, LEAF_1D4.FIR.B.DLC = 8, LEAF_1D4.FIR.B.FF = CAN_frame_std, LEAF_1D4.data.u8[0] = 0x6E, LEAF_1D4.data.u8[1] = 0x6E,LEAF_1D4.data.u8[2] = 0x00, LEAF_1D4.data.u8[3] = 0x00,LEAF_1D4.data.u8[4] = 0x00,LEAF_1D4.data.u8[5] = 0x00}; //Nissan LEAF battery parameters from CAN #define WH_PER_GID 77 //One GID is this amount of Watt hours #define LB_MAX_SOC 1000 //LEAF BMS never goes over this value. We use this info to rescale SOC% sent to Fronius #define LB_MIN_SOC 0 //LEAF BMS never goes below this value. We use this info to rescale SOC% sent to Fronius uint16_t LB_Discharge_Power_Limit = 0; //Limit in kW uint16_t LB_Charge_Power_Limit = 0; //Limit in kW int16_t LB_MAX_POWER_FOR_CHARGER = 0; //Limit in kW int16_t LB_SOC = 500; //0 - 100.0 % (0-1000) uint16_t LB_Wh_Remaining = 0; //Amount of energy in battery, in Wh uint16_t LB_GIDS = 0; uint16_t LB_MAX = 0; uint16_t LB_Max_GIDS = 273; //Startup in 24kWh mode uint16_t LB_SOH = 99; //State of health % uint16_t LB_Total_Voltage = 370; //Battery voltage (0-450V) int16_t LB_Current = 0; //Current in A going in/out of battery int16_t LB_Power = 0; //Watts going in/out of battery int16_t LB_HistData_Temperature_MAX = 60; //-40 to 86*C int16_t LB_HistData_Temperature_MIN = 50; //-40 to 86*C uint8_t LB_Relay_Cut_Request = 0; //LB_FAIL uint8_t LB_Failsafe_Status = 0; //LB_STATUS = 000b = normal start Request //001b = Main Relay OFF Request //010b = Charging Mode Stop Request //011b = Main Relay OFF Request //100b = Caution Lamp Request //101b = Caution Lamp Request & Main Relay OFF Request //110b = Caution Lamp Request & Charging Mode Stop Request //111b = Caution Lamp Request & Main Relay OFF Request byte LB_Interlock = 1; //Contains info on if HV leads are seated (Note, to use this both HV connectors need to be inserted) byte LB_Full_CHARGE_flag = 0; //LB_FCHGEND , Goes to 1 if battery is fully charged byte LB_MainRelayOn_flag = 0; //No-Permission=0, Main Relay On Permission=1 byte LB_Capacity_Empty = 0; //LB_EMPTY, , Goes to 1 if battery is empty // global Modbus memory registers const int intervalModbusTask = 4800; //Interval at which to refresh modbus registers unsigned long previousMillisModbus = 0; //will store last time a modbus register refresh // ModbusRTU Server #define MB_RTU_NUM_VALUES 30000 //#define MB_RTU_DIVICE_ID 21 uint16_t mbPV[MB_RTU_NUM_VALUES]; // process variable memory: produced by sensors, etc., cyclic read by PLC via modbus TCP #define STANDBY 0 #define INACTIVE 1 #define DARKSTART 2 #define ACTIVE 3 #define FAULT 4 #define UPDATING 5 uint16_t capacity_Wh_startup = BATTERY_WH_MAX; uint16_t max_power = 40960; //41kW uint16_t max_voltage = 4040; //(404.4V), if higher charging is not possible (goes into forced discharge) uint16_t min_voltage = 3100; //Min Voltage (310.0V), if lower Gen24 disables battery uint16_t battery_voltage = 3700; uint16_t SOC = 5000; //SOC 0-100.00% //Updates later on from CAN uint16_t SOH = 9900; //SOH 0-100.00% //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 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 temperature_max = 50; //Todo, read from LEAF pack, uint not ok uint16_t temperature_min = 60; //Todo, read from LEAF pack, uint not ok uint16_t bms_char_dis_status; //0 idle, 1 discharging, 2, charging uint16_t bms_status = ACTIVE; //ACTIVE - [0..5]<>[STANDBY,INACTIVE,DARKSTART,ACTIVE,FAULT,UPDATING] uint16_t stat_batt_power = 0; //power going in/out of battery // Create a ModbusRTU server instance listening on Serial2 with 2000ms timeout ModbusServerRTU MBserver(Serial2, 2000); // Setup() - initialization happens here void setup() { //CAN pins pinMode(CAN_SE_PIN, OUTPUT); digitalWrite(CAN_SE_PIN, LOW); CAN_cfg.speed = CAN_SPEED_500KBPS; CAN_cfg.tx_pin_id = GPIO_NUM_27; CAN_cfg.rx_pin_id = GPIO_NUM_26; CAN_cfg.rx_queue = xQueueCreate(rx_queue_size, sizeof(CAN_frame_t)); // Init CAN Module ESP32Can.CANInit(); Serial.println(CAN_cfg.speed); // Init Serial monitor Serial.begin(9600); while (!Serial) { } Serial.println("__ OK __"); //Set up Modbus RTU Server Serial.println("Set ModbusRtu PIN"); pinMode(RS485_EN_PIN, OUTPUT); digitalWrite(RS485_EN_PIN, HIGH); pinMode(RS485_SE_PIN, OUTPUT); digitalWrite(RS485_SE_PIN, HIGH); pinMode(PIN_5V_EN, OUTPUT); digitalWrite(PIN_5V_EN, HIGH); // Init Static data to the RTU Modbus handle_static_data_modbus(); // Init Serial2 connected to the RTU Modbus RTUutils::prepareHardwareSerial(Serial2); Serial2.begin(9600, SERIAL_8N1, RS485_RX_PIN, RS485_TX_PIN); // Register served function code worker for server MBserver.registerWorker(MBTCP_ID, READ_HOLD_REGISTER, &FC03); MBserver.registerWorker(MBTCP_ID, WRITE_HOLD_REGISTER, &FC06); MBserver.registerWorker(MBTCP_ID, WRITE_MULT_REGISTERS, &FC16); MBserver.registerWorker(MBTCP_ID, R_W_MULT_REGISTERS, &FC23); // Start ModbusRTU background task MBserver.begin(Serial2); } // perform main program functions void loop() { handle_can_leaf_battery(); //every 10s if (millis() - previousMillisModbus >= intervalModbusTask) { previousMillisModbus = millis(); update_values_leaf_battery(); handle_update_data_modbusp201(); //Updata for ModbusRTU Server for GEN24 handle_update_data_modbusp301(); //Updata for ModbusRTU Server for GEN24 } } void update_values_leaf_battery() { //This function maps all the values fetched via CAN to the correct parameters used for modbus SOH = (LB_SOH * 100); //Increase range from 99% -> 99.00% //Calculate the SOC% value to send to Fronius LB_SOC = LB_MIN_SOC + (LB_MAX_SOC - LB_MIN_SOC) * (LB_SOC - MINPERCENTAGE) / (MAXPERCENTAGE - MINPERCENTAGE); if (LB_SOC < 0) { //We are in the real SOC% range of 0-20%, always set SOC sent to Fronius as 0% LB_SOC = 0; } if (LB_SOC > 1000) { //We are in the real SOC% range of 80-100%, always set SOC sent to Fronius as 100% LB_SOC = 1000; } SOC = (LB_SOC * 10); //increase LB_SOC range from 0-100.0 -> 100.00 battery_voltage = (LB_Total_Voltage*10); //One more decimal needed capacity_Wh = (LB_Max_GIDS * WH_PER_GID); remaining_capacity_Wh = LB_Wh_Remaining; /* Define power able to be discharged from battery */ if(LB_Discharge_Power_Limit > 30) //if >30kW can be pulled from battery { max_target_discharge_power = 30000; //cap value so we don't go over the Fronius limits } else { max_target_discharge_power = (LB_Discharge_Power_Limit * 1000); //kW to W } if(SOC == 0) //Scaled SOC% value is 0.00%, we should not discharge battery further { max_target_discharge_power = 0; } /* Define power able to be put into the battery */ if(LB_Charge_Power_Limit > 30) //if >30kW can be put into the battery { max_target_charge_power = 30000; //cap value so we don't go over the Fronius limits } if(LB_Charge_Power_Limit < 0) //LB_MAX_POWER_FOR_CHARGER can actually go to -10kW { max_target_charge_power = 0; //cap calue so we dont do under the Fronius limits } else { max_target_charge_power = (LB_Charge_Power_Limit * 1000); //kW to W } if(SOC == 10000) //Scaled SOC% value is 100.00% { max_target_charge_power = 0; //No need to charge further, set max power to 0 } /*Extra safeguards*/ if(LB_GIDS < 10) //800Wh left in battery { //Battery is running abnormally low, some discharge logic might have failed. Zero it all out. SOC = 0; max_target_discharge_power = 0; } if(LB_Full_CHARGE_flag) { //Battery reports that it is fully charged stop all further charging incase it hasn't already max_target_charge_power = 0; } if(LB_Relay_Cut_Request) { //LB_FAIL, BMS requesting shutdown and contactors to be opened Serial.println("Battery requesting immediate shutdown and contactors to be opened!"); bms_status = FAULT; SOC = 0; max_target_discharge_power = 0; max_target_charge_power = 0; } if(LB_Failsafe_Status > 0) // 0 is normal, start charging/discharging { switch(LB_Failsafe_Status) { case(1): //Normal Stop Request //This means that battery is fully discharged and it's OK to stop the session. For stationary storage we don't disconnect contactors, so we do nothing here. break; case(2): //Charging Mode Stop Request //This means that battery is fully charged and it's OK to stop the session. For stationary storage we don't disconnect contactors, so we do nothing here. break; case(3): //Charging Mode Stop Request & Normal Stop Request //Normal stop request. For stationary storage we don't disconnect contactors, so we ignore this. break; case(4): //Caution Lamp Request Serial.println("Battery raised caution indicator. Inspect battery status!"); break; case(5): //Caution Lamp Request & Normal Stop Request bms_status = FAULT; Serial.println("Battery raised caution indicator AND requested discharge stop. Inspect battery status!"); break; case(6): //Caution Lamp Request & Charging Mode Stop Request bms_status = FAULT; Serial.println("Battery raised caution indicator AND requested charge stop. Inspect battery status!"); break; case(7): //Caution Lamp Request & Charging Mode Stop Request & Normal Stop Request bms_status = FAULT; Serial.println("Battery raised caution indicator AND requested charge/discharge stop. Inspect battery status!"); break; default: break; } } #ifdef INTERLOCK_REQUIRED if(!LB_Interlock) { Serial.println("Battery interlock loop broken. Check that high voltage connectors are seated. Battery will be disabled!"); bms_status = FAULT; SOC = 0; max_target_discharge_power = 0; max_target_charge_power = 0; } #endif /* Check if the BMS is still sending CAN messages. If we go 60s without messages we raise an error*/ if(!stillAlive) { bms_status = FAULT; Serial.println("No CAN communication detected for 60s. Shutting down battery control."); } else { stillAlive--; } LB_Power = LB_Total_Voltage * LB_Current;//P = U * I stat_batt_power = convert2unsignedint16(LB_Power); //add sign if needed LB_HistData_Temperature_MIN = (LB_HistData_Temperature_MIN * 10); //increase range to fit the Fronius temperature_min = convert2unsignedint16(LB_HistData_Temperature_MIN); //add sign if needed LB_HistData_Temperature_MAX = (LB_HistData_Temperature_MAX * 10); //increase range to fit the Fronius temperature_max = convert2unsignedint16(LB_HistData_Temperature_MAX); if(printValues) { //values heading towards the modbus registers Serial.println("SOH%: "); Serial.println(SOH); Serial.println("SOC% to Fronius: "); Serial.println(SOC); Serial.println("Max discharge power: "); Serial.println(max_target_discharge_power); Serial.println("Max charge power: "); Serial.println(max_target_charge_power); Serial.println("Temperature Min: "); Serial.println(temperature_min); Serial.println("Temperature Max: "); Serial.println(temperature_max); Serial.println("GIDS: "); Serial.println(LB_GIDS); } } void handle_static_data_modbus() { // Store the data into the array static uint16_t si_data[] = { 21321, 1 }; static uint16_t byd_data[] = { 16985, 17408, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 }; static uint16_t battery_data[] = { 16985, 17440, 16993, 29812, 25970, 31021, 17007, 30752, 20594, 25965, 26997, 27936, 18518, 0, 0, 0 }; static uint16_t volt_data[] = { 13614, 12288, 0, 0, 0, 0, 0, 0, 13102, 12598, 0, 0, 0, 0, 0, 0 }; static uint16_t serial_data[] = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 }; static uint16_t static_data[] = { 1, 0 }; static uint16_t* data_array_pointers[] = { si_data, byd_data, battery_data, volt_data, serial_data, static_data }; static uint16_t data_sizes[] = { sizeof(si_data), sizeof(byd_data), sizeof(battery_data), sizeof(volt_data), sizeof(serial_data), sizeof(static_data) }; static uint16_t i = 100; for (uint8_t arr_idx = 0; arr_idx < sizeof(data_array_pointers) / sizeof(uint16_t*); arr_idx++) { uint16_t data_size = data_sizes[arr_idx]; memcpy(&mbPV[i], data_array_pointers[arr_idx], data_size); i += data_size / sizeof(uint16_t); } } void handle_update_data_modbusp201() { // Store the data into the array static uint16_t system_data[13]; system_data[0] = 0; // Id.: p201 Value.: 0 Scaled value.: 0 Comment.: Always 0 system_data[1] = 0; // Id.: p202 Value.: 0 Scaled value.: 0 Comment.: Always 0 system_data[2] = (capacity_Wh_startup); // Id.: p203 Value.: 32000 Scaled value.: 32kWh Comment.: Capacity rated, maximum value is 60000 (60kWh) system_data[3] = (max_power); // Id.: p204 Value.: 32000 Scaled value.: 32kWh Comment.: Nominal capacity system_data[4] = (max_power); // Id.: p205 Value.: 14500 Scaled value.: 30,42kW Comment.: Max Charge/Discharge Power=10.24kW (lowest value of 204 and 205 will be enforced by Gen24) system_data[5] = (max_voltage); // Id.: p206 Value.: 3667 Scaled value.: 362,7VDC Comment.: Max Voltage, if higher charging is not possible (goes into forced discharge) system_data[6] = (min_voltage); // Id.: p207 Value.: 2776 Scaled value.: 277,6VDC Comment.: Min Voltage, if lower Gen24 disables battery system_data[7] = 53248; // Id.: p208 Value.: 53248 Scaled value.: 53248 Comment.: Always 53248 for this BYD, Peak Charge power? system_data[8] = 10; // Id.: p209 Value.: 10 Scaled value.: 10 Comment.: Always 10 system_data[9] = 53248; // Id.: p210 Value.: 53248 Scaled value.: 53248 Comment.: Always 53248 for this BYD, Peak Discharge power? system_data[10] = 10; // Id.: p211 Value.: 10 Scaled value.: 10 Comment.: Always 10 system_data[11] = 0; // Id.: p212 Value.: 0 Scaled value.: 0 Comment.: Always 0 system_data[12] = 0; // Id.: p213 Value.: 0 Scaled value.: 0 Comment.: Always 0 static uint16_t i = 200; memcpy(&mbPV[i], system_data, sizeof(system_data)); } void handle_update_data_modbusp301() { // Store the data into the array static uint16_t battery_data[24]; if (LB_Current > 0) { //Positive value = Charging on LEAF bms_char_dis_status = 2; //Charging } else if (LB_Current < 0) { //Negative value = Discharging on LEAF bms_char_dis_status = 1; //Discharging } else { //LB_Current == 0 bms_char_dis_status = 0; //idle } if (bms_status == ACTIVE) { battery_data[8] = battery_voltage; // Id.: p309 Value.: 3161 Scaled value.: 316,1VDC Comment.: Batt Voltage outer (0 if status !=3, maybe a contactor closes when active): 173.4V } else { battery_data[8] = 0; } battery_data[0] = bms_status; // Id.: p301 Value.: 3 Scaled value.: 3 Comment.: status(*): ACTIVE - [0..5]<>[STANDBY,INACTIVE,DARKSTART,ACTIVE,FAULT,UPDATING] battery_data[1] = 0; // Id.: p302 Value.: 0 Scaled value.: 0 Comment.: always 0 battery_data[2] = 128 + bms_char_dis_status; // Id.: p303 Value.: 130 Scaled value.: 130 Comment.: mode(*): normal battery_data[3] = SOC; // Id.: p304 Value.: 1700 Scaled value.: 50% Comment.: SOC: (50% would equal 5000) battery_data[4] = capacity_Wh; // Id.: p305 Value.: 32000 Scaled value.: 32kWh Comment.: tot cap: battery_data[5] = remaining_capacity_Wh; // Id.: p306 Value.: 13260 Scaled value.: 13,26kWh Comment.: remaining cap: 7.68kWh battery_data[6] = max_target_discharge_power; // Id.: p307 Value.: 25604 Scaled value.: 25,604kW Comment.: max/target discharge power: 0W (0W > restricts to no discharge) battery_data[7] = max_target_charge_power; // Id.: p308 Value.: 25604 Scaled value.: 25,604kW Comment.: max/target charge power: 4.3kW (during charge), both 307&308 can be set (>0) at the same time //Battery_data[8] set previously in function // Id.: p309 Value.: 3161 Scaled value.: 316,1VDC Comment.: Batt Voltage outer (0 if status !=3, maybe a contactor closes when active): 173.4V battery_data[9] = 2000; // Id.: p310 Value.: 64121 Scaled value.: 6412,1W Comment.: Current Power to API: if>32768... -(65535-61760)=3775W battery_data[10] = battery_voltage; // Id.: p311 Value.: 3161 Scaled value.: 316,1VDC Comment.: Batt Voltage inner: 173.2V (LEAF voltage is in whole volts, need to add a decimal) battery_data[11] = 2000; // Id.: p312 Value.: 64121 Scaled value.: 6412,1W Comment.: p310 battery_data[12] = temperature_min; // Id.: p313 Value.: 75 Scaled value.: 7,5 Comment.: temp min: 7 degrees (if below 0....65535-t) battery_data[13] = temperature_max; // Id.: p314 Value.: 95 Scaled value.: 9,5 Comment.: temp max: 9 degrees (if below 0....65535-t) battery_data[14] = 0; // Id.: p315 Value.: 0 Scaled value.: 0 Comment.: always 0 battery_data[15] = 0; // Id.: p316 Value.: 0 Scaled value.: 0 Comment.: always 0 battery_data[16] = 16; // Id.: p317 Value.: 0 Scaled value.: 0 Comment.: counter charge hi battery_data[17] = 22741; // Id.: p318 Value.: 0 Scaled value.: 0 Comment.: counter charge lo....65536*101+9912 = 6629048 Wh? battery_data[18] = 0; // Id.: p319 Value.: 0 Scaled value.: 0 Comment.: always 0 battery_data[19] = 0; // Id.: p320 Value.: 0 Scaled value.: 0 Comment.: always 0 battery_data[20] = 13; // Id.: p321 Value.: 0 Scaled value.: 0 Comment.: counter discharge hi battery_data[21] = 52064; // Id.: p322 Value.: 0 Scaled value.: 0 Comment.: counter discharge lo....65536*92+7448 = 6036760 Wh? battery_data[22] = 230; // Id.: p323 Value.: 0 Scaled value.: 0 Comment.: device temperature (23 degrees) battery_data[23] = SOH; // Id.: p324 Value.: 9900 Scaled value.: 99% Comment.: SOH static uint16_t i = 300; memcpy(&mbPV[i], battery_data, sizeof(battery_data)); } void handle_can_leaf_battery() { CAN_frame_t rx_frame; unsigned long currentMillis = millis(); // 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; if (LB_Current & 0x0400) { // negative so extend the sign bit LB_Current |= 0xf800; } //Serial.println("LB_Current: "); //Serial.println(LB_Current); LB_Total_Voltage = ((rx_frame.data.u8[2] << 2) | (rx_frame.data.u8[3] & 0xc0) >> 6) / 2; //Collect various data from the BMS LB_Relay_Cut_Request = ((rx_frame.data.u8[1] & 0x18) >> 3); LB_Failsafe_Status = (rx_frame.data.u8[1] & 0x07); LB_MainRelayOn_flag = (byte) ((rx_frame.data.u8[3] & 0x20) >> 5); LB_Full_CHARGE_flag = (byte) ((rx_frame.data.u8[3] & 0x10) >> 4); LB_Interlock = (byte) ((rx_frame.data.u8[3] & 0x08) >> 3); break; case 0x1DC: LB_Discharge_Power_Limit = ((rx_frame.data.u8[0] << 2 | rx_frame.data.u8[1] >> 6) / 4.0); LB_Charge_Power_Limit = (((rx_frame.data.u8[1] & 0x3F) << 2 | rx_frame.data.u8[2] >> 4) / 4.0); LB_MAX_POWER_FOR_CHARGER = ((((rx_frame.data.u8[2] & 0x0F) << 6 | rx_frame.data.u8[3] >> 2) / 10.0) - 10); break; case 0x55B: LB_SOC = (rx_frame.data.u8[0] << 2 | rx_frame.data.u8[1] >> 6); break; case 0x5BC: stillAlive = 6; //Indicate that we are still getting CAN messages from the BMS 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); } LB_SOH = (rx_frame.data.u8[4] >> 1); //Collect state of health from battery break; case 0x5C0: //This method only works for 2011-2017 LEAF packs, the mux is different on 2018+ 40/62kWH packs if ((rx_frame.data.u8[0]>>6) == 1) { // Battery Temperature. Effectively has only 7-bit precision, as the bottom bit is always 0. LB_HistData_Temperature_MAX = ((rx_frame.data.u8[2] / 2) - 40); //Serial.println(LB_HistData_Temperature_MAX); } if ((rx_frame.data.u8[0]>>6) == 3) { // Battery Temperature. Effectively has only 7-bit precision, as the bottom bit is always 0. LB_HistData_Temperature_MIN = ((rx_frame.data.u8[2] / 2) - 40); //Serial.println(LB_HistData_Temperature_MIN); } break; default: break; } } else { //printf("New extended frame"); } } // Send 100ms CAN Message if (currentMillis - previousMillis100 >= interval100) { previousMillis100 = currentMillis; ESP32Can.CANWriteFrame(&LEAF_50B); //Always send 50B as a static message (Contains HCM_WakeUpSleepCommand == 11b == WakeUp, and CANMASK = 1) mprun100++; if (mprun100 > 3) { mprun100 = 0; } if (mprun100 == 0) { LEAF_50C.data.u8[5] = 0x00; LEAF_50C.data.u8[6] = 0x5D; LEAF_50C.data.u8[7] = 0xC8; } else if(mprun100 == 1) { LEAF_50C.data.u8[5] = 0x01; LEAF_50C.data.u8[6] = 0x5D; LEAF_50C.data.u8[7] = 0x5F; } else if(mprun100 == 2) { LEAF_50C.data.u8[5] = 0x02; LEAF_50C.data.u8[6] = 0x5D; LEAF_50C.data.u8[7] = 0x63; } else if(mprun100 == 3) { LEAF_50C.data.u8[5] = 0x03; LEAF_50C.data.u8[6] = 0x5D; LEAF_50C.data.u8[7] = 0xF4; } ESP32Can.CANWriteFrame(&LEAF_50C); } //Send 10ms message if (currentMillis - previousMillis10 >= interval10) { previousMillis10 = currentMillis; if(mprun10 == 0) { LEAF_1D4.data.u8[4] = 0x07; LEAF_1D4.data.u8[5] = 0x46; LEAF_1D4.data.u8[6] = 0x01; LEAF_1D4.data.u8[7] = 0x44; } else if(mprun10 == 1) { LEAF_1D4.data.u8[4] = 0x47; LEAF_1D4.data.u8[5] = 0x46; LEAF_1D4.data.u8[6] = 0x01; LEAF_1D4.data.u8[7] = 0x44; } else if(mprun10 == 2) { LEAF_1D4.data.u8[4] = 0x87; LEAF_1D4.data.u8[5] = 0x46; LEAF_1D4.data.u8[6] = 0x01; LEAF_1D4.data.u8[7] = 0x88; } else if(mprun10 == 3) { LEAF_1D4.data.u8[4] = 0xC7; LEAF_1D4.data.u8[5] = 0x46; LEAF_1D4.data.u8[6] = 0x01; LEAF_1D4.data.u8[7] = 0x4F; } ESP32Can.CANWriteFrame(&LEAF_1D4); mprun10++; if (mprun10 > 3) { mprun10 = 0; } switch(mprun10r) { case(0): LEAF_1F2.data.u8[3] = 0xB0; LEAF_1F2.data.u8[6] = 0x00; LEAF_1F2.data.u8[7] = 0x8F; break; case(1): LEAF_1F2.data.u8[3] = 0xB0; LEAF_1F2.data.u8[6] = 0x01; LEAF_1F2.data.u8[7] = 0x80; break; case(2): LEAF_1F2.data.u8[3] = 0xB0; LEAF_1F2.data.u8[6] = 0x02; LEAF_1F2.data.u8[7] = 0x81; break; case(3): LEAF_1F2.data.u8[3] = 0xB0; LEAF_1F2.data.u8[6] = 0x03; LEAF_1F2.data.u8[7] = 0x82; break; case(4): LEAF_1F2.data.u8[3] = 0xB0; LEAF_1F2.data.u8[6] = 0x00; LEAF_1F2.data.u8[7] = 0x8F; break; case(5): // Set 2 LEAF_1F2.data.u8[3] = 0xB4; LEAF_1F2.data.u8[6] = 0x01; LEAF_1F2.data.u8[7] = 0x84; break; case(6): LEAF_1F2.data.u8[3] = 0xB4; LEAF_1F2.data.u8[6] = 0x02; LEAF_1F2.data.u8[7] = 0x85; break; case(7): LEAF_1F2.data.u8[3] = 0xB4; LEAF_1F2.data.u8[6] = 0x03; LEAF_1F2.data.u8[7] = 0x86; break; case(8): LEAF_1F2.data.u8[3] = 0xB4; LEAF_1F2.data.u8[6] = 0x00; LEAF_1F2.data.u8[7] = 0x83; break; case(9): LEAF_1F2.data.u8[3] = 0xB4; LEAF_1F2.data.u8[6] = 0x01; LEAF_1F2.data.u8[7] = 0x84; break; case(10): // Set 3 LEAF_1F2.data.u8[3] = 0xB0; LEAF_1F2.data.u8[6] = 0x02; LEAF_1F2.data.u8[7] = 0x81; break; case(11): LEAF_1F2.data.u8[3] = 0xB0; LEAF_1F2.data.u8[6] = 0x03; LEAF_1F2.data.u8[7] = 0x82; break; case(12): LEAF_1F2.data.u8[3] = 0xB0; LEAF_1F2.data.u8[6] = 0x00; LEAF_1F2.data.u8[7] = 0x8F; break; case(13): LEAF_1F2.data.u8[3] = 0xB0; LEAF_1F2.data.u8[6] = 0x01; LEAF_1F2.data.u8[7] = 0x80; break; case(14): LEAF_1F2.data.u8[3] = 0xB0; LEAF_1F2.data.u8[6] = 0x02; LEAF_1F2.data.u8[7] = 0x81; break; case(15): // Set 4 LEAF_1F2.data.u8[3] = 0xB4; LEAF_1F2.data.u8[6] = 0x03; LEAF_1F2.data.u8[7] = 0x86; break; case(16): LEAF_1F2.data.u8[3] = 0xB4; LEAF_1F2.data.u8[6] = 0x00; LEAF_1F2.data.u8[7] = 0x83; break; case(17): LEAF_1F2.data.u8[3] = 0xB4; LEAF_1F2.data.u8[6] = 0x01; LEAF_1F2.data.u8[7] = 0x84; break; case(18): LEAF_1F2.data.u8[3] = 0xB4; LEAF_1F2.data.u8[6] = 0x02; LEAF_1F2.data.u8[7] = 0x85; break; case(19): LEAF_1F2.data.u8[3] = 0xB4; LEAF_1F2.data.u8[6] = 0x03; LEAF_1F2.data.u8[7] = 0x86; break; default: break; } ESP32Can.CANWriteFrame(&LEAF_1F2); //Contains (CHG_STA_RQ == 1 == Normal Charge) mprun10r++; if(mprun10r > 19) // 0x1F2 patter repeats after 20 messages, { mprun10r = 0; } //Serial.println("CAN 10ms done"); } } uint16_t convert2unsignedint16(uint16_t signed_value) { if(signed_value < 0) { return(65535 + signed_value); } else { return signed_value; } }