CAN Library

• CAN Library
• 1 Overview
• 2 Update Instructions
• 3 CAN Message Documentation
  • 3.1 BMS
    • 3.1.1 Voltage
    • 3.1.2 Temperature
    • 3.1.3 State
    • 3.1.4 Balance
    • 3.1.5 Enabled Temperature Sensors
    • 3.1.6 Desired Fan Speeds (Both DART1 and DART2)
  • 3.2 APPS
  • 3.3 LVPDB
  • 3.4 DCU
  • 3.5 ICS
    • 3.5.1 Buttons & Swtiches
  • 3.6 DART
    • 3.6.1 Measured Fan Speeds (Both DART1 and DART2)

1 Overview

STM32 Files:

• FEB_CAN_ID.h: A header file that stores all CAN Message IDs.
• FEB_CAN.c: A file that handles CAN library initialization and received message handling. Additional CAN files will build of this one. File contains template code for writing additional CAN files.
• FEB_CAN.h: Header file for FEB_CAN.c.

Other files:

• FEB_CAN_ID.csv: A CSV file that stores names of CAN messages without assigned CAN IDs. This file is used to generate dynamic CAN IDs.
• FEB_CAN_Static_ID.csv: A CSV file that sores names of CAN messages and their assigned CAN ID.
• generate.py: This file uses data from FEB_CAN_ID.csv and FEB_CAN_Static_ID.csv to generate FEB_CAN_ID.h.
• FEB_CAN_ID.py: This file storse all CAN Message IDs. Used for the CAN Monitor.

2 Update Instructions

1. Add CAN Message: To add a CAN message with a static CAN ID, update FEB_CAN_Static_ID.csv file. To add a CAN message without a static CAN ID, update the FEB_CAN_ID.csv file.
2. Generate: Run generate.py script. This will update the FEB_CAN_ID.h header file.
3. Documentation: Document the new CAN message in this readme file.
4. GitHub: Push all changes to GitHub to ensure the CAN Library is up to date for everyone.

3 CAN Message Documentation

3.1 BMS

3.1.1 Voltage

Byte	Value	Factor	Offset	Datatype	Unit
0	Bank [1, 7]	1	0	uint8_t	-
1	Cell [1, 20]	1	0	uint8_t	-
2-3	Voltage	10-4	0	uint16_t	V

3.1.2 Temperature

Byte	Value	Factor	Offset	Datatype	Unit
0	Bank [1, 7]	1	0	uint8_t	-
1	Cell [1, 20]	1	0	uint8_t	-
2-3	Temperature	10-1	0	int16_t	oC

3.1.3 State

Byte	Value	Datatype
0	BMS State	uint8_t
1	Relay State	uint8_t

BMS State Value	BMS State
0	Pre-charge
1	Charge
2	Balance
3	Drive
4	Shutdown

Relay State Bit	Relay	State
2	Shutdown	0 if closed else 1
1	AIR+	0 if closed else 1
0	Pre-charge	0 if closed else 1

3.1.4 Balance

Byte	Value	Factor	Offset	Datatype	Unit
0	Bank [1, 7]	1	0	uint8_t	-
1-3	Cell balance state	1	0	-	-
4-5	Target voltage	10-4	0	uint16_t	V

Cell balance state bit	Value
24-20	0
19-0	1 if cell balance else 0. Bit i for cell (i + 1).

3.1.5 Enabled Temperature Sensors

Byte	Value	Datatype
0	Bank [1, 7]	uint8_t
1-3	Temperature Sensor	-

Temperature sensor state bit	Value
24-20	0
19-0	1 if enabled else 0. Bit i for cell (i + 1).

3.1.6 Desired Fan Speeds (Both DART1 and DART2)

Byte	Value	Datatype
0	Desired fan speed for fan 1, with 0 being fan off and 255 being fan at full speed	uint8_t
1	Equivalent for fan 2	uint8_t
2	Equivalent for fan 3	uint8_t
3	Equivalent for fan 4	uint8_t
4	Equivalent for fan 5	uint8_t

3.2 APPS

3.2.1 Normalized Brake

Byte	Value	Datatype
0-4	Normalized Brake	float

3.2.2 RMS Param Msg

Byte	Value	Datatype
0	addr	uint8_t
2	r/w command	boolean
3	NA	-
4-5	data	uint8_t
6-7	NA	-

R/W Command Value	State
0	Read
1	Write

Addr Value	State
20	Fault Clear
148	CAN Active Messages Lo Wor

3.2.3 RMS Command Msg

Byte	Value	Datatype
0-1	Torque Command	Torque
2-3	Speed Command	Angular Velocity
4	Direction	boolean
5.0	Inverter Enable	boolean
5.1	Inverter Discharge	boolean
5.2	Speedmode Enabled	boolean
6-7	Command Torque Limited	Torque

3.2.4 BSPD

Byte	Value	Datatype
0	BSPD State	uint8_t

BSPD State Value	BSPD State
0	False / Not Triggered
1	True / Triggered

3.2.5 Current

Byte	Value	Datatype
0-4	TPS Current	float

3.3 LVPDB

3.4 DCU

3.5 ICS

3.5.1 Buttons & Swtiches

The DASH_Breakout Board transmits a 1 byte message corresponding to status of the I/O on the I/O expander, the bits in the message are broken down in the table below:

Bit	Value	Datatype
0	Buzzer State	bool
1	Button 1 (Ready-To-Drive)	bool
2	Button 2	bool
3	Button 3	bool
4	Button 4	bool
5	Switch 1 (Coolant Pump)	bool
6	Switch 2 (Radiator Fans)	bool
7	Switch 3 (Accumulator Fans)	bool

3.6 DART

3.6.1 Measured Fan Speeds (Both DART1 and DART2)

Byte	Value	Datatype
0	Measured fan speed for fan 1, with 0 being fan off and 255 being fan at full speed	uint8_t
1	Equivalent for fan 2	uint8_t
2	Equivalent for fan 3	uint8_t
3	Equivalent for fan 4	uint8_t
4	Equivalent for fan 5	uint8_t