CAN-bus - Revision history

Aran Dokoupil: /* CAN-bus pinout */

2026-05-06T14:31:10Z

CAN-bus pinout

@@ Line 56: / Line 56: @@
 |-
 | 5 ||style="background: #B2B3B7;"| Gray  || Safety
 |}

Aran Dokoupil: /* CAN-bus ID overview */

2026-05-06T14:29:20Z

CAN-bus ID overview

← Older revision		Revision as of 14:29, 6 May 2026
Line 22:		Line 22:
	0x481 Gan MPPT F0		0x481 Gan MPPT F0
	...		...
	0x4F0 Gan MPPT F0		0x4F0 Gan MPPT F7
	0x4F1 Gan MPPT F0		0x4F1 Gan MPPT F7

	0x4E6 Gan MPPT Baseboard Front		0x4E6 Gan MPPT Baseboard Front

Aran Dokoupil: /* CAN-bus ID overview */

2026-05-01T05:41:15Z

CAN-bus ID overview

← Older revision		Revision as of 05:41, 1 May 2026
Line 12:		Line 12:
	0x204 EoI GNNS date time, u16 year, u8 month, u8 day, u8 hour, u8 minute, u8 second		0x204 EoI GNNS date time, u16 year, u8 month, u8 day, u8 hour, u8 minute, u8 second

	~~0x302 MG Battery~~		0x400 Gan MPPT R0 : Vin, Iin, Vout, Iout
	~~0x402 MG Battery~~		0x401 Gan MPPT R0 : Mode, Fault, Enabled, TBoard, THS
	~~0x482 MG Battery cell voltage~~		0x410 Gan MPPT R1
			0x411 Gan MPPT R1
			...
			0x470 Gan MPPT R7
			0x471 Gan MPPT R7
			0x480 Gan MPPT F0
			0x481 Gan MPPT F0
			...
			0x4F0 Gan MPPT F0
			0x4F1 Gan MPPT F0

			0x4E6 Gan MPPT Baseboard Front
			0x4EE Gan MPPT Baseboard Rear

	0x700 MPPT start		0x700 MPPT start

Quintenlb: Added CAN-Bus ID overview

2025-06-19T08:13:37Z

Added CAN-Bus ID overview

@@ Line 1: / Line 1: @@
 The communication between the electronics within the [[Solar boat (boii)|solar boat]] is build upon the CAN-bus protocol, where the [[datalogger]] logs the CAN messages. Pinout of our Binder connectors are:
 {| class="wikitable"
 |+ Colours of the Standard Binder CAN Cable and its pinout

Aran Dokoupil at 15:33, 19 March 2024

2024-03-19T15:33:37Z

← Older revision		Revision as of 15:33, 19 March 2024
Line 27:		Line 27:
	! Binder Connector pin Number !! Wire Colour !! Signal on wire		! Binder Connector pin Number !! Wire Colour !! Signal on wire
	\|-		\|-
	\| 1 \|\|style="background: #~~B2B3B7~~;"\| ~~Gray~~ \|\| ~~Safety~~		\| 1 \|\|style="background: #FFFFFF;"\| White \|\| 24v Power
	\|-		\|-
	\| 2 \|\|style="background: #~~FFFFFF~~;"\| ~~White~~ \|\| ~~24v Power~~		\| 2 \|\|style="background: #241F21;color:white;"\| Black \|\| CAN H
	\|-		\|-
	\| 3 \|\|style="background: #~~0065B2~~;"\| ~~Blue~~ \|\| ~~Ground~~		\| 3 \|\|style="background: #B2B3B7;"\| Gray \|\| CAN L
	\|-		\|-
	\| 4 \|\|style="background: #~~241F21;color:white~~;"\| ~~Black~~ \|\| ~~CAN H~~		\| 4 \|\|style="background: #0065B2;"\| Blue \|\| Ground
	\|-		\|-
	\| 5 \|\|style="background: #83603A;"\| Brown \|\| ~~CAN L~~		\| 5 \|\|style="background: #83603A;"\| Brown \|\| Safety
	\|-		\|-

Aran Dokoupil at 15:31, 19 March 2024

2024-03-19T15:31:12Z

← Older revision		Revision as of 15:31, 19 March 2024
Line 8:		Line 8:
	! Binder Connector pin Number !! Wire Colour !! Signal on wire		! Binder Connector pin Number !! Wire Colour !! Signal on wire
	\|-		\|-
	\| 1 \|\|style="background: #~~FFFFFF~~;"\| ~~White~~ \|\| ~~CAN H~~		\| 1 \|\|style="background: #83603A;"\| Brown \|\| 24v Power
	\|-		\|-
	\| 2 \|\|style="background: #~~241F21;color:white~~;"\| ~~Black~~ \|\| ~~Ground~~		\| 2 \|\|style="background: #FFFFFF;"\| White \|\| CAN H
	\|-		\|-
	\| 3 \|\|style="background: #~~B2B3B7~~;"\| ~~Gray~~ \|\| ~~Safety~~		\| 3 \|\|style="background: #0065B2;"\| Blue \|\| CAN L
	\|-		\|-
	\| 4 \|\|style="background: #~~0065B2~~;"\| ~~Blue~~ \|\| ~~CAN L~~		\| 4 \|\|style="background: #241F21;color:white;"\| Black \|\| Ground
	\|-		\|-
	\| 5 \|\|style="background: #~~83603A~~;"\| ~~Brown~~ \|\| ~~24v Power~~		\| 5 \|\|style="background: #B2B3B7;"\| Gray \|\| Safety

	\|}		\|}

Aran Dokoupil at 15:29, 19 March 2024

2024-03-19T15:29:15Z

@@ Line 1: / Line 1: @@
 The communication between the electronics within the [[Solar boat (boii)|solar boat]] is build upon the CAN-bus protocol, where the [[datalogger]] logs the CAN messages. Pinout of our Binder connectors are:
-# Brown VCC (24 V)
 # White CAN H
-# Blue CAN L
+{| class="wikitable"
-#Black GND
+|+ Colours of the Standard Binder CAN Cable and its pinout
-#Safety
+|-
 == Battery (MG) CAN-format (No longer used) ==

Fromeijn at 20:37, 18 March 2024

2024-03-18T20:37:52Z

← Older revision		Revision as of 20:37, 18 March 2024
Line 1:		Line 1:
	The communication between the electronics within the [[Solar boat (boii)\|solar boat]] is build upon the CAN-bus protocol, where the [[datalogger]] logs the CAN messages. Pinout of our Binder connectors are:		The communication between the electronics within the [[Solar boat (boii)\|solar boat]] is build upon the CAN-bus protocol, where the [[datalogger]] logs the CAN messages. Pinout of our Binder connectors are:

	~~# Shield~~
	# Brown VCC (24 V)		# Brown VCC (24 V)
	~~# Black GND~~
	# White CAN H		# White CAN H
	# Blue CAN L		# Blue CAN L
			#Black GND
			#Safety

	== Battery (MG) CAN-format (No longer used) ==		== Battery (MG) CAN-format (No longer used) ==

Fromeijn: add pinout canbus, removed information that is no longer true

2024-03-18T19:28:54Z

add pinout canbus, removed information that is no longer true

Show changes

Quintenlb: Created CAN-format page

2022-09-21T14:50:37Z

Created CAN-format page

New page

The communication between the electronics within the [[Solar boat (boii)|solar boat]] is build upon the CAN-bus protocol, where the [[datalogger]] logs the CAN messages. Every CAN-frame holds data that is PCB specific build, these frames are built according the [[wikipedia:CANopen|CANOpen]] protocol.

== CANopen format ==
A CAN-frame consists of an 11-bit identifier, a 1-bit Remote Transmission Request (RTR), 4-bit data length of the message and up to 8 bytes of data.
{| class="wikitable"
|+CANopen frame format
!
!CAN-ID
!RTR
!Data length
!Data
|-
!Length
|11 bits
|1 bit
|4 bits
|0-8 bytes
|}
The default CAN-ID mapping sorts frames by attributing a function code (NMT, SYNC, EMCY, PDO, SDO) to the first 4 bits, so that critical functions are given priority.
{| class="wikitable"
|+CAN-ID
!
!Function code
!Node ID
|-
!Length
|4 bits
|7 bits
|}
The data bytes are split into the following components:
{| class="wikitable"
|+Data in CAN-frame
!Data[0]
!Data[1]
!Data[2]
!Data[3]
!Data[4]
!Data[5]
!Data[6]
!Data[7]
|-
|Node-ID
|Index Low
|Index High
|Subindex
|Data
|Data
|Data
|Data
|}
Following the format the specific subsystems within the [[Solar boat (boii)|solar boat]] are given here below in their respective section.

== Battery (MG) CAN-format ==
As of now the MG electronics [[battery]] is used in the [[Solar boat (boii)|solar boat]]. Although a new battery is being developed, this MG battery is still in use (as of September '22). Therefore the battery format is given here below.
{| class="wikitable"
|+
!Node-ID
!Index
!Subindex
!Data
!Type
!Resolution
|-
|0x302
|0x2005
|0x01
|Voltage <code>[V]</code>
|uint16_t
|1 <code>[mV/LSB]</code>
|-
|
|
|0x02
|Current <code>[A]</code>
|int16_t
|10 <code>[mA/LSB]</code>
|-
|
|
|0x03
|Current Discharge <code>[A]</code>
|int16_t
|10 <code>[mA/LSB]</code>
|-
|
|
|0x04
|Current Charge <code>[A]</code>
|int16_t
|10 <code>[mA/LSB]</code>
|-
|
|
|0x05
|State-of-Charge <code>[%]</code>
|int8_t
|1 <code>[%/LSB]</code>
|-
|
|
|0x06
|
|
|
|-
|
|
|0x07
|Time to Go <code>[min]</code>
|uint16_t
|1 <code>[min/LSB]</code>
|-
|
|
|
|
|
|
|-
|0x402
|0x2005
|0x09
|Cell Temperature High <code>[°C]</code>
|int8_t
|1 <code>[°C/LSB]</code>
|-
|
|
|0x0A
|
|
|
|-
|
|
|0x0B
|Cell Temperature Low <code>[°C]</code>
|int8_t
|1 <code>[°C/LSB]</code>
|-
|
|
|0x0C
|Cell Voltage High <code>[V]</code>
|uint16_t
|1 <code>[mV/LSB]</code>
|-
|
|
|0x0D
|Cell Voltage Low <code>[V]</code>
|uint16_t
|1 <code>[mV/LSB]</code>
|-
|
|
|0x0E
|BMS State
|uint32_t
|
|-
|
|
|0x0F
|Temperature Collection <code>[°C]</code>
|4x uint8_t
|1 <code>[°C/LSB]</code>
|-
|
|
|
|
|
|
|-
|0x482
|0x2000
|Cell nr
|Cell <code>[Cell_nr]</code> Voltage <code>[V]</code>
|uint16_t
|1 <code>[mV/LSB]</code>
|-
|
|
|
|
|
|
|-
|0x202
|Don't Care
|Don't Care
|Power Level <code>[%]</code>
|uint8_t
|1 <code>[%/LSB]</code>
|}

== MPPT CAN-format ==
[[MPPT]] CAN-ID is set on the PCB with 3 resistors, ID 0-7. In case of the MPPT a formula needs to be used to determine the Node-ID of the respective MPPT.

The following formula needs to be used:

<code>can_base_id = 1254 + (device_id * 8)</code>

The CAN-data is in HEX therefore <code>can_base_id</code> needs to be converted to a hexadecimal value: <code>Node-ID</code>.
{| class="wikitable"
|+
!Node-ID
!Index
!Subindex
!Data
!Type
!Resolution
|-
|0x4E6 + (device_id * 8)
|Don't Care
|0x00
|Voltage Output <code>[V]</code>
|int16_t
|
|-
|
|
|0x01
|Current Output <code>[A]</code>
|int16_t
|
|-
|
|
|0x02
|Voltage OUT_SW <code>[V]</code>
|int16_t
|
|-
|
|
|0x03
|MPPT State
|uint8_t
|
|-
|
|
|0x04
|Safety Enabled
|bool
|
|-
|
|
|0x05
|PWM Enabled
|bool
|
|-
|
|
|0x06
|Temperature <code>[°C]</code>
|int8_t
|1 <code>[°C/LSB]</code>
|-
|
|
|
|
|
|
|-
|0x4E6 + (device_id * 8)
|Don't Care
|0x08
|Voltage Panel 1 <code>[V]</code>
|int16_t
|
|-
|
|
|0x09
|Current Panel 1 <code>[A]</code>
|int16_t
|
|-
|
|
|0x0A
|Voltage Panel 2 <code>[V]</code>
|int16_t
|
|-
|
|
|0x0B
|Current Panel 2 <code>[A]</code>
|int16_t
|
|-
|
|
|0x0C
|Voltage Panel 3 <code>[V]</code>
|int16_t
|
|-
|
|
|0x0D
|Current Panel 3 <code>[A]</code>
|int16_t
|
|-
|
|
|0x0E
|Voltage Panel 4 <code>[V]</code>
|int16_t
|
|-
|
|
|0x0F
|Current Panel 4 <code>[A]</code>
|int16_t
|
|-
|
|
|
|
|
|
|-
|0x4E6 + (device_id * 8)
|Don't Care
|0x01
|Duty Cycle Panel 1 <code>[%]</code>
|uint8_t
|1 <code>[%/LSB]</code>
|-
|
|
|0x02
|Duty Cycle Panel 2 <code>[%]</code>
|uint8_t
|1 <code>[%/LSB]</code>
|-
|
|
|0x03
|Duty Cycle Panel 3 <code>[%]</code>
|uint8_t
|1 <code>[%/LSB]</code>
|-
|
|
|0x04
|Duty Cycle Panel 4 <code>[%]</code>
|uint8_t
|1 <code>[%/LSB]</code>
|-
|
|
|0x05
|Channel Active map
|4x uint8_t
|
|}