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
0x400 Gan MPPT R0 : Vin, Iin, Vout, Iout
0x401 Gan MPPT R0 : Mode, Fault, Enabled, TBoard, THS
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 F7
0x4F1 Gan MPPT F7
0x4E6 Gan MPPT Baseboard Front
0x4EE Gan MPPT Baseboard Rear
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
|
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]
|