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:
CAN-bus ID overview
0x100 EoI Battery start
0x10F EoI Battery end
0x200 EoI GNNS info, u8 fix (bool); u8 sats; u8 sats used
0x201 EoI GNNS f32 speed, kmh; f32 direction, degrees
0x202 EoI GNNS f64 Latitude, degrees
0x203 EoI GNNS f64 Longitude, degrees
0x204 EoI GNNS date time, u16 year, u8 month, u8 day, u8 hour, u8 minute, u8 second
0x302 MG Battery
0x402 MG Battery
0x482 MG Battery cell voltage
0x700 MPPT start
0x77F MPPT end
0x0900 THROTTLE To VESC
0x1337 THROTTLE Status
0x0909 VESC Status message 1
0x0E09 VESC Status message 2
0x0F09 VESC Status message 3
0x1009 VESC Status message 4
0x1B09 VESC Status message 5
CAN-bus pinout
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]
|