Difference between revisions of "CAN-bus"

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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.
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:  
 
 


== 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"
{| class="wikitable"
|+CANopen frame format
|+ Colours of the Standard Binder CAN Cable and its pinout
!
|-
!CAN-ID
! Binder Connector pin Number !! Wire Colour !! Signal on wire
!RTR
|-
!Data length
| 1 ||style="background: #83603A;"| Brown || 24v Power
!Data
|-
| 2 ||style="background: #FFFFFF;"| White || CAN H
|-
| 3 ||style="background: #0065B2;"| Blue  || CAN L
|-
| 4 ||style="background: #241F21;color:white;"| Black || Ground
|-
|-
!Length
| 5 ||style="background: #B2B3B7;"| Gray  || Safety
|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.  
 
Note that the M12 connectors have a different pinout and thus different colour wires. To make compatibility between systems easier the binder connectors are soldered with the wrong colored wires so that plugging in a M12 device results in the right signals being passed to the Binder connector. This Compatibility pinout is shown below:
 
{| class="wikitable"
{| class="wikitable"
|+CAN-ID
|+ NON-STANDARD!! Colours when connecting an M12 cable to a binder connector NON-STANDARD!!
!
|-
!Function code
! Binder Connector pin Number !! Wire Colour !! Signal on wire
!Node ID
|-
| 1 ||style="background: #FFFFFF;"| White || 24v Power
|-
| 2 ||style="background: #241F21;color:white;"| Black || CAN H
|-
| 3 ||style="background: #B2B3B7;"| Gray  || CAN L
|-
| 4 ||style="background: #0065B2;"| Blue  || Ground
|-
|-
!Length
| 5 ||style="background: #83603A;"| Brown || Safety
|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 ==
== Battery (MG) CAN-format (No longer used) ==
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.
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"
{| class="wikitable"
Line 194: Line 183:
|uint8_t
|uint8_t
|1  <code>[%/LSB]</code>
|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
|
|}
|}

Latest revision as of 15:33, 19 March 2024

The communication between the electronics within the solar boat is build upon the CAN-bus protocol, where the datalogger logs the CAN messages. Pinout of our Binder connectors are:


Colours of the Standard Binder CAN Cable and its pinout
Binder Connector pin Number Wire Colour Signal on wire
1 Brown 24v Power
2 White CAN H
3 Blue CAN L
4 Black Ground
5 Gray Safety

Note that the M12 connectors have a different pinout and thus different colour wires. To make compatibility between systems easier the binder connectors are soldered with the wrong colored wires so that plugging in a M12 device results in the right signals being passed to the Binder connector. This Compatibility pinout is shown below:

NON-STANDARD!! Colours when connecting an M12 cable to a binder connector NON-STANDARD!!
Binder Connector pin Number Wire Colour Signal on wire
1 White 24v Power
2 Black CAN H
3 Gray CAN L
4 Blue Ground
5 Brown Safety

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

As of now the MG electronics battery is used in the 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.

Node-ID Index Subindex Data Type Resolution
0x302 0x2005 0x01 Voltage [V] uint16_t 1 [mV/LSB]
0x02 Current [A] int16_t 10 [mA/LSB]
0x03 Current Discharge [A] int16_t 10 [mA/LSB]
0x04 Current Charge [A] int16_t 10 [mA/LSB]
0x05 State-of-Charge [%] int8_t 1 [%/LSB]
0x06
0x07 Time to Go [min] uint16_t 1 [min/LSB]
0x402 0x2005 0x09 Cell Temperature High [°C] int8_t 1 [°C/LSB]
0x0A
0x0B Cell Temperature Low [°C] int8_t 1 [°C/LSB]
0x0C Cell Voltage High [V] uint16_t 1 [mV/LSB]
0x0D Cell Voltage Low [V] uint16_t 1 [mV/LSB]
0x0E BMS State uint32_t
0x0F Temperature Collection [°C] 4x uint8_t 1 [°C/LSB]
0x482 0x2000 Cell nr Cell [Cell_nr] Voltage [V] uint16_t 1 [mV/LSB]
0x202 Don't Care Don't Care Power Level [%] uint8_t 1 [%/LSB]
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