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CAN Library

1 Overview

Branches:

  • main: Stores all files and latest changes.
  • stm32: Stores FEB_CAN_ID.h file. This branch is a shared submodule for all STM32 projects.

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: A Python file that stores all CAN Message IDs.
  • README.md: Documentation for the CAN Library.

2 Usage

2.1 Git Submodule

  1. Add: Install submodule into STM32 project, in Core/Inc/FEB_CAN_Library. Example command for BMS project is provided below.

    git submodule add -b stm32 [email protected]:Formula-Electric-Berkeley/FEB_CAN_Library_SN3.git BMS/Core/Inc/FEB_CAN_Library

    Command template.

    git submodule add -b stm32 <CAN Library GitHub URL> project_name/Core/Inc/FEB_CAN_Library

  2. Update: Run this command periodically to update the CAN library for STM32 projects.

    git submodule update --init --remote --recursive

2.2 Update Library

Updating the library is a 2 step process, across branches main and stm32.

Git Branch: main

  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: Commit and push changes to GitHub.

Git Branch: stm32

  1. Update: Fetch changes from main branch.

    git checkout main -- FEB_CAN_ID.h

  2. GitHub: Commit and push changes to GitHub.

3 CAN Message Documentation

Note: Bytes and bits are 0-indexed. Multi-byte data is stored in Big-Endian format.

3.1 BMS

3.1.1 State

Byte Value Datatype
0 BMS State uint8_t
1 Relay State -
2 GPIO Sense -
BMS State Value BMS State
0 Startup
1 Standby
2 Balance
3 Charge
4 Precharge
5 Drive-Standby
6 Drive
7 Drive-Regen
8 Fault
Relay State Bit Value
0 BMS Shutdown
1 AIR+
2 Precharge
GPIO Sense Bit Value
0 AIR- Sense
1 AIR+ Sense
2 BMS Shutdown Sense
3 IMD Shutdown Sense
4 Charge Sense

3.1.2 Cell Data

Byte Bit Value Unit Datatype
0 7-5 Bank - uint8_t
0 4-0 Cell - uint8_t
1-2 - Voltage mV uint16_t
3-4 - Temperature dC int16_t
5 - Flags - -
Bit Flags
0 Under/Over Voltage
1 Under/Over Temperature
2 Balance
3 Disabled Temperature

3.1.3 Accumulator Voltage

Byte Value Unit Datatype
0-1 Total Pack Voltage mV uint16_t
2-3 Min Cell Voltage mV uint16_t
4-5 Max Cell Voltage mV uint16_t

3.1.4 Accumulator Temperature

Byte Value Unit Datatype
0-1 Average Cell Temperature dC int16_t
2-3 Min Cell Temperature dC int16_t
4-5 Max Cell Temperature dC int16_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

The LVPDB transmits 1 byte messages that correspond to the voltage and currents on the main bus, coolant pump, accumulator fans, or radiator fans.

3.3.1 Bus Current

Bus current should be measured to the second decimal place. Intended to be measured in mA 
</tr>
Byte Value Datatype
1-2 Bus Current int16_t

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