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Battery-Emulator/Software/NISSAN-LEAF-BATTERY.cpp
Daniel deb664d097 Rewrite CAN handler. Add Solax
2023-07-04 11:54:09 +03:00

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#include "NISSAN-LEAF-BATTERY.h"
#include "ESP32CAN.h"
#include "CAN_config.h"
/* Do not change code below unless you are sure what you are doing */
static unsigned long previousMillis10 = 0; // will store last time a 10ms CAN Message was send
static unsigned long previousMillis100 = 0; // will store last time a 100ms CAN Message was send
static const int interval10 = 10; // interval (ms) at which send CAN Messages
static const int interval100 = 100; // interval (ms) at which send CAN Messages
const int rx_queue_size = 10; // Receive Queue size
uint16_t CANerror = 0; //counter on how many CAN errors encountered
static uint8_t CANstillAlive = 12; //counter for checking if CAN is still alive
static uint8_t errorCode = 0; //stores if we have an error code active from battery control logic
static uint8_t mprun10r = 0; //counter 0-20 for 0x1F2 message
static byte mprun10 = 0; //counter 0-3
static byte mprun100 = 0; //counter 0-3
CAN_frame_t LEAF_1F2 = {.FIR = {.B = {.DLC = 8,.FF = CAN_frame_std,}},.MsgID = 0x1F2,.data = {0x10, 0x64, 0x00, 0xB0, 0x00, 0x1E, 0x00, 0x8F}};
CAN_frame_t LEAF_50B = {.FIR = {.B = {.DLC = 7,.FF = CAN_frame_std,}},.MsgID = 0x50B,.data = {0x00, 0x00, 0x06, 0xC0, 0x00, 0x00, 0x00}};
CAN_frame_t LEAF_50C = {.FIR = {.B = {.DLC = 6,.FF = CAN_frame_std,}},.MsgID = 0x50C,.data = {0x00, 0x00, 0x00, 0x00, 0x00, 0x00}};
CAN_frame_t LEAF_1D4 = {.FIR = {.B = {.DLC = 8,.FF = CAN_frame_std,}},.MsgID = 0x1D4,.data = {0x6E, 0x6E, 0x00, 0x04, 0x07, 0x46, 0xE0, 0x44}};
static uint8_t crctable[256] = {0,133,143,10,155,30,20,145,179,54,60,185,40,173,167,34,227,102,108,233,120,253,247,114,80,213,223,90,203,78,68,193,67,
198,204,73,216,93,87,210,240,117,127,250,107,238,228,97,160,37,47,170,59,190,180,49,19,150,156,25,136,13,7,130,134,3,9,
140,29,152,146,23,53,176,186,63,174,43,33,164,101,224,234,111,254,123,113,244,214,83,89,220,77,200,194,71,197,64,74,207,
94,219,209,84,118,243,249,124,237,104,98,231,38,163,169,44,189,56,50,183,149,16,26,159,14,139,129,4,137,12,6,131,18,151,
157,24,58,191,181,48,161,36,46,171,106,239,229,96,241,116,126,251,217,92,86,211,66,199,205,72,202,79,69,192,81,212,222,
91,121,252,246,115,226,103,109,232,41,172,166,35,178,55,61,184,154,31,21,144,1,132,142,11,15,138,128,5,148,17,27,158,188,
57,51,182,39,162,168,45,236,105,99,230,119,242,248,125,95,218,208,85,196,65,75,206,76,201,195,70,215,82,88,221,255,122,
112,245,100,225,235,110,175,42,32,165,52,177,187,62,28,153,147,22,135,2,8,141};
//Nissan LEAF battery parameters from CAN
#define ZE0_BATTERY 0
#define AZE0_BATTERY 1
#define ZE1_BATTERY 2
static uint8_t LEAF_Battery_Type = ZE0_BATTERY;
#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
static uint16_t LB_Discharge_Power_Limit = 0; //Limit in kW
static uint16_t LB_Charge_Power_Limit = 0; //Limit in kW
static int16_t LB_MAX_POWER_FOR_CHARGER = 0; //Limit in kW
static int16_t LB_SOC = 500; //0 - 100.0 % (0-1000)
static uint16_t LB_TEMP = 0; //Temporary value used in status checks
static uint16_t LB_Wh_Remaining = 0; //Amount of energy in battery, in Wh
static uint16_t LB_GIDS = 0;
static uint16_t LB_MAX = 0;
static uint16_t LB_Max_GIDS = 273; //Startup in 24kWh mode
static uint16_t LB_StateOfHealth = 99; //State of health %
static uint16_t LB_Total_Voltage = 370; //Battery voltage (0-450V)
static int16_t LB_Current = 0; //Current in A going in/out of battery
static int16_t LB_Power = 0; //Watts going in/out of battery
static int16_t LB_HistData_Temperature_MAX = 6; //-40 to 86*C
static int16_t LB_HistData_Temperature_MIN = 5; //-40 to 86*C
static uint8_t LB_Relay_Cut_Request = 0; //LB_FAIL
static 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
static byte LB_Interlock = 1; //Contains info on if HV leads are seated (Note, to use this both HV connectors need to be inserted)
static byte LB_Full_CHARGE_flag = 0; //LB_FCHGEND , Goes to 1 if battery is fully charged
static byte LB_MainRelayOn_flag = 0; //No-Permission=0, Main Relay On Permission=1
static byte LB_Capacity_Empty = 0; //LB_EMPTY, , Goes to 1 if battery is empty
void update_values_leaf_battery()
{ //This function maps all the values fetched via CAN to the correct parameters used for modbus
bms_status = ACTIVE; //Startout in active mode
StateOfHealth = (LB_StateOfHealth * 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
battery_current = LB_Current;
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!");
//Note, this is sometimes triggered during the night while idle, and the BMS recovers after a while. Removed latching from this scenario
errorCode = 1;
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;
errorCode = 2;
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;
errorCode = 3;
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;
errorCode = 4;
Serial.println("Battery raised caution indicator AND requested charge/discharge stop. Inspect battery status!");
break;
default:
break;
}
}
if(LB_StateOfHealth < 25)
{ //Battery is extremely degraded, not fit for secondlifestorage. Zero it all out.
if(LB_StateOfHealth != 0)
{ //Extra check to see that we actually have a SOH Value available
Serial.println("State of health critically low. Battery internal resistance too high to continue. Recycle battery.");
bms_status = FAULT;
errorCode = 5;
max_target_discharge_power = 0;
max_target_charge_power = 0;
}
}
#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;
errorCode = 6;
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(!CANstillAlive)
{
bms_status = FAULT;
errorCode = 7;
Serial.println("No CAN communication detected for 60s. Shutting down battery control.");
}
else
{
CANstillAlive--;
}
LB_Power = LB_Total_Voltage * LB_Current;//P = U * I
stat_batt_power = convert2unsignedint16(LB_Power); //add sign if needed
temperature_min = convert2unsignedint16((LB_HistData_Temperature_MIN * 10)); //add sign if needed and increase range
temperature_max = convert2unsignedint16((LB_HistData_Temperature_MAX * 10));
if(printValues)
{ //values heading towards the modbus registers
if(errorCode > 0)
{
Serial.print("ERROR CODE ACTIVE IN SYSTEM. NUMBER: ");
Serial.println(errorCode);
}
Serial.print("BMS Status (3=OK): ");
Serial.println(bms_status);
switch (bms_char_dis_status)
{
case 0:
Serial.println("Battery Idle");
break;
case 1:
Serial.println("Battery Discharging");
break;
case 2:
Serial.println("Battery Charging");
break;
default:
break;
}
Serial.print("Power: ");
Serial.println(LB_Power);
Serial.print("Max discharge power: ");
Serial.println(max_target_discharge_power);
Serial.print("Max charge power: ");
Serial.println(max_target_charge_power);
Serial.print("SOH%: ");
Serial.println(StateOfHealth);
Serial.print("SOC% to Fronius: ");
Serial.println(SOC);
Serial.print("Temperature Min: ");
Serial.println(temperature_min);
Serial.print("Temperature Max: ");
Serial.println(temperature_max);
Serial.print("GIDS: ");
Serial.println(LB_GIDS);
Serial.print("LEAF battery gen: ");
Serial.println(LEAF_Battery_Type);
}
}
void receive_can_leaf_battery(CAN_frame_t rx_frame)
{
switch (rx_frame.MsgID)
{
case 0x1DB:
if(is_message_corrupt(rx_frame))
{
CANerror++;
break; //Message content malformed, abort reading data from it
}
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;
}
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:
if(is_message_corrupt(rx_frame))
{
CANerror++;
break; //Message content malformed, abort reading data from it
}
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:
if(is_message_corrupt(rx_frame))
{
CANerror++;
break; //Message content malformed, abort reading data from it
}
LB_TEMP = (rx_frame.data.u8[0] << 2 | rx_frame.data.u8[1] >> 6);
if (LB_TEMP != 0x3ff) //3FF is unavailable value
{
LB_SOC = LB_TEMP;
}
break;
case 0x5BC:
CANstillAlive = 12; //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_TEMP = (rx_frame.data.u8[4] >> 1);
if (LB_TEMP != 0)
{
LB_StateOfHealth = LB_TEMP; //Collect state of health from battery
}
break;
case 0x5C0: //This method only works for 2013-2017 AZE0 LEAF packs, the mux is different on other generations
if(LEAF_Battery_Type == AZE0_BATTERY)
{
if ((rx_frame.data.u8[0]>>6) == 1)
{ // Battery MAX 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);
}
if ((rx_frame.data.u8[0]>>6) == 3)
{ // Battery MIN 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);
}
}
if(LEAF_Battery_Type == ZE1_BATTERY)
{ //note different mux location in first frame
if ((rx_frame.data.u8[0] & 0x0F) == 1)
{
LB_HistData_Temperature_MAX = ((rx_frame.data.u8[2] / 2) - 40);
}
if ((rx_frame.data.u8[0] & 0x0F) == 3)
{
LB_HistData_Temperature_MIN = ((rx_frame.data.u8[2] / 2) - 40);
}
}
break;
case 0x59E:
//AZE0 2013-2017 or ZE1 2018-2023 battery detected
//Only detect as AZE0 if not already set as ZE1
if(LEAF_Battery_Type != ZE1_BATTERY)
{
LEAF_Battery_Type = AZE0_BATTERY;
}
break;
case 0x1ED:
case 0x1C2:
//ZE1 2018-2023 battery detected!
LEAF_Battery_Type = ZE1_BATTERY;
break;
default:
break;
}
}
void send_can_leaf_battery()
{
static unsigned long currentMillis = millis();
// 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[3] = 0x00;
LEAF_50C.data.u8[4] = 0x5D;
LEAF_50C.data.u8[5] = 0xC8;
}
else if(mprun100 == 1)
{
LEAF_50C.data.u8[3] = 0x01;
LEAF_50C.data.u8[4] = 0xB2;
LEAF_50C.data.u8[5] = 0x31;
}
else if(mprun100 == 2)
{
LEAF_50C.data.u8[3] = 0x02;
LEAF_50C.data.u8[4] = 0x5D;
LEAF_50C.data.u8[5] = 0x63;
}
else if(mprun100 == 3)
{
LEAF_50C.data.u8[3] = 0x03;
LEAF_50C.data.u8[4] = 0xB2;
LEAF_50C.data.u8[5] = 0x9A;
}
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[7] = 0x12;
}
else if(mprun10 == 1)
{
LEAF_1D4.data.u8[4] = 0x47;
LEAF_1D4.data.u8[7] = 0xD5;
}
else if(mprun10 == 2)
{
LEAF_1D4.data.u8[4] = 0x87;
LEAF_1D4.data.u8[7] = 0x19;
}
else if(mprun10 == 3)
{
LEAF_1D4.data.u8[4] = 0xC7;
LEAF_1D4.data.u8[7] = 0xDE;
}
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;
}
}
bool is_message_corrupt(CAN_frame_t rx_frame)
{
uint8_t crc = 0;
for (uint8_t j = 0; j < 7; j++)
{
crc = crctable[(crc ^ static_cast<uint8_t>(rx_frame.data.u8[j])) % 256];
}
return crc != rx_frame.data.u8[7];
}
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