├── .gitignore
├── config.h
├── README.md
├── avgbuffer.h
├── filtering.h
├── ringbuffer.h
├── log.h
├── software_debounce.h
├── can_common.h
├── command_accumulator.h
├── util.h
├── mcp_can.h
├── mcp_can_dfs.h
├── LICENSE
├── mcp_can.cpp
└── prius3charger_buck.ino


/.gitignore:
--------------------------------------------------------------------------------
 1 | .*
 2 | !.gitignore
 3 | *~
 4 | *.bak*
 5 | *.o
 6 | *.d
 7 | *.elf
 8 | *.hex
 9 | *.ll
10 | *.dump
11 | *.lst
12 | *.lss
13 | *.bin
14 | *.old
15 | old.*
16 | 
17 | session.vim
18 | 
19 | dump
20 | tmp
21 | old
22 | Log
23 | build
24 | local
25 | 
26 | 


--------------------------------------------------------------------------------
/config.h:
--------------------------------------------------------------------------------
 1 | /*
 2 | Part of prius3charger_buck
 3 | Copyright (c) 2020 Perttu "celeron55" Ahola
 4 | 
 5 | This program is free software: you can redistribute it and/or modify
 6 | it under the terms of the GNU General Public License as published by
 7 | the Free Software Foundation, either version 3 of the License, or
 8 | (at your option) any later version.
 9 | 
10 | This program is distributed in the hope that it will be useful,
11 | but WITHOUT ANY WARRANTY; without even the implied warranty of
12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
13 | GNU General Public License for more details.
14 | 
15 | You should have received a copy of the GNU General Public License
16 | along with this program.  If not, see <https://www.gnu.org/licenses/>.
17 | */
18 | 
19 | #pragma once
20 | 
21 | #define CONSOLE Serial
22 | 
23 | 


--------------------------------------------------------------------------------
/README.md:
--------------------------------------------------------------------------------
 1 | # prius3charger_buck
 2 | 
 3 | Prius Gen 3 buck/boost converter charger controller - buck mode charging
 4 | 
 5 | For atmega328 on damienmaguire/Prius-Gen3-Inverter version V1c
 6 | 
 7 | See comments in [prius3charger_buck.ino](prius3charger_buck.ino) for documentation.
 8 | 
 9 | You can show appreciation of this work with money here: https://www.paypal.me/celeron55
10 | 
11 | This program is free software: you can redistribute it and/or modify
12 | it under the terms of the GNU General Public License as published by
13 | the Free Software Foundation, either version 3 of the License, or
14 | (at your option) any later version.
15 | 
16 | This program is distributed in the hope that it will be useful,
17 | but WITHOUT ANY WARRANTY; without even the implied warranty of
18 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
19 | GNU General Public License for more details.
20 | 
21 | You should have received a copy of the GNU General Public License
22 | along with this program.  If not, see <https://www.gnu.org/licenses/>.
23 | 
24 | 


--------------------------------------------------------------------------------
/avgbuffer.h:
--------------------------------------------------------------------------------
 1 | /*
 2 | Part of prius3charger_buck
 3 | Copyright (c) 2020 Perttu "celeron55" Ahola
 4 | 
 5 | This program is free software: you can redistribute it and/or modify
 6 | it under the terms of the GNU General Public License as published by
 7 | the Free Software Foundation, either version 3 of the License, or
 8 | (at your option) any later version.
 9 | 
10 | This program is distributed in the hope that it will be useful,
11 | but WITHOUT ANY WARRANTY; without even the implied warranty of
12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
13 | GNU General Public License for more details.
14 | 
15 | You should have received a copy of the GNU General Public License
16 | along with this program.  If not, see <https://www.gnu.org/licenses/>.
17 | */
18 | 
19 | #pragma once
20 | #include "ringbuffer.h"
21 | 
22 | template<typename T, typename sumT, size_t C>
23 | struct AvgBuffer
24 | {
25 | 	RingBuffer2<T, C> buf;
26 | 	sumT sum = 0;
27 | 
28 | 	void push(const T &v)
29 | 	{
30 | 		if(buf.full()){
31 | 			sum -= buf.pop();
32 | 		}
33 | 		buf.push(v);
34 | 		sum += v;
35 | 	}
36 | 
37 | 	T avg()
38 | 	{
39 | 		return sum / buf.size();
40 | 	}
41 | 
42 | 	sumT avg(sumT multiplier)
43 | 	{
44 | 		return (sum * multiplier) / buf.size();
45 | 	}
46 | 
47 | 	void reset()
48 | 	{
49 | 		buf.reset();
50 | 		sum = 0;
51 | 	}
52 | };
53 | 
54 | 


--------------------------------------------------------------------------------
/filtering.h:
--------------------------------------------------------------------------------
 1 | /*
 2 | Part of prius3charger_buck
 3 | Copyright (c) 2020 Perttu "celeron55" Ahola
 4 | 
 5 | This program is free software: you can redistribute it and/or modify
 6 | it under the terms of the GNU General Public License as published by
 7 | the Free Software Foundation, either version 3 of the License, or
 8 | (at your option) any later version.
 9 | 
10 | This program is distributed in the hope that it will be useful,
11 | but WITHOUT ANY WARRANTY; without even the implied warranty of
12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
13 | GNU General Public License for more details.
14 | 
15 | You should have received a copy of the GNU General Public License
16 | along with this program.  If not, see <https://www.gnu.org/licenses/>.
17 | */
18 | 
19 | #pragma once
20 | 
21 | template<const int LIM_FALL, const int LIM_RISE>
22 | struct DigitalNoiseFilter
23 | {
24 | 	int c = 0;
25 | 	bool filtered_v = false;
26 | 
27 | 	bool feed(bool v)
28 | 	{
29 | 		if(v){
30 | 			if(c < 0)
31 | 				c = 0;
32 | 			if(c < LIM_RISE)
33 | 				c++;
34 | 			if(c == LIM_RISE)
35 | 				filtered_v = true;
36 | 		} else {
37 | 			if(c > 0)
38 | 				c = 0;
39 | 			if(c > -LIM_FALL)
40 | 				c--;
41 | 			if(c == -LIM_FALL)
42 | 				filtered_v = false;
43 | 		}
44 | 		return filtered_v;
45 | 	}
46 | 
47 | 	bool get()
48 | 	{
49 | 		return filtered_v;
50 | 	}
51 | 
52 | 	void reset(bool value)
53 | 	{
54 | 		c = 0;
55 | 		filtered_v = value;
56 | 	}
57 | };
58 | 


--------------------------------------------------------------------------------
/ringbuffer.h:
--------------------------------------------------------------------------------
 1 | /*
 2 | Part of prius3charger_buck
 3 | Copyright (c) 2020 Perttu "celeron55" Ahola
 4 | 
 5 | This program is free software: you can redistribute it and/or modify
 6 | it under the terms of the GNU General Public License as published by
 7 | the Free Software Foundation, either version 3 of the License, or
 8 | (at your option) any later version.
 9 | 
10 | This program is distributed in the hope that it will be useful,
11 | but WITHOUT ANY WARRANTY; without even the implied warranty of
12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
13 | GNU General Public License for more details.
14 | 
15 | You should have received a copy of the GNU General Public License
16 | along with this program.  If not, see <https://www.gnu.org/licenses/>.
17 | */
18 | 
19 | #pragma once
20 | 
21 | template<typename T, size_t S>
22 | struct RingBuffer2
23 | {
24 | 	T data[S];
25 | 	size_t start = 0;
26 | 	size_t end = 0;
27 | 	size_t size_ = 0;
28 | 
29 | 	void push(const T &v) {
30 | 		if(end == S)
31 | 			end = 0;
32 | 		data[end++] = v;
33 | 		if(size_ == S){
34 | 			start++;
35 | 			if(start == S)
36 | 				start = 0;
37 | 		} else {
38 | 			size_++;
39 | 		}
40 | 	}
41 | 
42 | 	T pop(){
43 | 		if(size_ == 0)
44 | 			return 0;
45 | 		T v = data[start++];
46 | 		if(start == S)
47 | 			start = 0;
48 | 		size_--;
49 | 		return v;
50 | 	}
51 | 
52 | 	T& operator[] (size_t i){
53 | 		i += start;
54 | 		if(i >= S)
55 | 			i -= S;
56 | 		return data[i];
57 | 	}
58 | 
59 | 	bool full() const {
60 | 		return size_ == S;
61 | 	}
62 | 
63 | 	size_t size() const {
64 | 		return size_;
65 | 	}
66 | 
67 | 	void reset(){
68 | 		start = 0;
69 | 		end = 0;
70 | 		size_ = 0;
71 | 	}
72 | };
73 | 


--------------------------------------------------------------------------------
/log.h:
--------------------------------------------------------------------------------
 1 | /*
 2 | Part of prius3charger_buck
 3 | Copyright (c) 2020 Perttu "celeron55" Ahola
 4 | 
 5 | This program is free software: you can redistribute it and/or modify
 6 | it under the terms of the GNU General Public License as published by
 7 | the Free Software Foundation, either version 3 of the License, or
 8 | (at your option) any later version.
 9 | 
10 | This program is distributed in the hope that it will be useful,
11 | but WITHOUT ANY WARRANTY; without even the implied warranty of
12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
13 | GNU General Public License for more details.
14 | 
15 | You should have received a copy of the GNU General Public License
16 | along with this program.  If not, see <https://www.gnu.org/licenses/>.
17 | */
18 | 
19 | #pragma once
20 | 
21 | static char log_format_buf[17];
22 | 
23 | static void log_print_timestamp()
24 | {
25 | 	uint32_t t = millis();
26 | 	int ms = t % 1000;
27 | 	t /= 1000;
28 | 	int s = t % 60;
29 | 	t /= 60;
30 | 	int m = t % 60;
31 | 	t /= 60;
32 | 	int h = t;
33 | 	if(h == 0 && m == 0)
34 | 		snprintf(log_format_buf, sizeof log_format_buf, "%02i.%03is: ", s, ms);
35 | 	else if(h == 0)
36 | 		snprintf(log_format_buf, sizeof log_format_buf, "%02im%02i.%03is: ", m, s, ms);
37 | 	else
38 | 		snprintf(log_format_buf, sizeof log_format_buf, "%02ih%02im%02i.%03is: ", h, m, s, ms);
39 | 	CONSOLE.print(log_format_buf);
40 | }
41 | 
42 | static void log_println(const char *line)
43 | {
44 | 	log_print_timestamp();
45 | 	CONSOLE.println(line);
46 | }
47 | 
48 | static void log_println_P(const char *line)
49 | {
50 | 	log_print_timestamp();
51 | 	CONSOLE.println((__FlashStringHelper*)line);
52 | }
53 | 
54 | #define log_println_f(x) log_println_P(PSTR(x))
55 | 
56 | 


--------------------------------------------------------------------------------
/software_debounce.h:
--------------------------------------------------------------------------------
 1 | /*
 2 | Part of prius3charger_buck
 3 | Copyright (c) 2020 Perttu "celeron55" Ahola
 4 | 
 5 | This program is free software: you can redistribute it and/or modify
 6 | it under the terms of the GNU General Public License as published by
 7 | the Free Software Foundation, either version 3 of the License, or
 8 | (at your option) any later version.
 9 | 
10 | This program is distributed in the hope that it will be useful,
11 | but WITHOUT ANY WARRANTY; without even the implied warranty of
12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
13 | GNU General Public License for more details.
14 | 
15 | You should have received a copy of the GNU General Public License
16 | along with this program.  If not, see <https://www.gnu.org/licenses/>.
17 | */
18 | 
19 | #pragma once
20 | #include "filtering.h"
21 | 
22 | template<const int PIN, const int NUM_SAMPLES, const int TRIGGER_LIMIT>
23 | struct SoftwareDebouncePin
24 | {
25 | 	DigitalNoiseFilter<TRIGGER_LIMIT, TRIGGER_LIMIT> filter;
26 | 
27 | 	SoftwareDebouncePin()
28 | 	{
29 | 		(void)read();
30 | 	}
31 | 
32 | 	// Reads value from hardware and returns it filtered
33 | 	bool read()
34 | 	{
35 | 		for(uint8_t i=0; i<NUM_SAMPLES; i++){
36 | 			filter.feed(digitalRead(PIN));
37 | 		}
38 | 		return filter.get();
39 | 	}
40 | 
41 | 	// Gets last value without reading it from hardware
42 | 	bool get()
43 | 	{
44 | 		return filter.get();
45 | 	}
46 | };
47 | 
48 | template<const int PIN, const int NUM_SAMPLES, const int TRIGGER_LIMIT>
49 | struct SoftwareDebounceAnalogPin
50 | {
51 | 	DigitalNoiseFilter<TRIGGER_LIMIT, TRIGGER_LIMIT> filter;
52 | 
53 | 	SoftwareDebounceAnalogPin()
54 | 	{
55 | 		(void)read();
56 | 	}
57 | 
58 | 	// Reads value from hardware and returns it filtered
59 | 	bool read()
60 | 	{
61 | 		for(uint8_t i=0; i<NUM_SAMPLES; i++){
62 | 			filter.feed(analogRead(PIN) >= 300);
63 | 		}
64 | 		return filter.get();
65 | 	}
66 | 
67 | 	// Gets last value without reading it from hardware
68 | 	bool get()
69 | 	{
70 | 		return filter.get();
71 | 	}
72 | };
73 | 


--------------------------------------------------------------------------------
/can_common.h:
--------------------------------------------------------------------------------
 1 | /*
 2 | MIT License
 3 | 
 4 | Copyright (c) 2017 Collin Kidder
 5 | 
 6 | Permission is hereby granted, free of charge, to any person obtaining a copy
 7 | of this software and associated documentation files (the "Software"), to deal
 8 | in the Software without restriction, including without limitation the rights
 9 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
10 | copies of the Software, and to permit persons to whom the Software is
11 | furnished to do so, subject to the following conditions:
12 | 
13 | The above copyright notice and this permission notice shall be included in all
14 | copies or substantial portions of the Software.
15 | 
16 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
17 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
18 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
19 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
20 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
21 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
22 | SOFTWARE.
23 | */
24 | 
25 | #pragma once
26 | #include <Arduino.h>
27 | 
28 | //This structure presupposes little endian mode. If you use it on a big endian processor you're going to have a bad time.
29 | typedef union {
30 |   uint64_t value;
31 | 	struct {
32 | 		uint32_t low;
33 | 		uint32_t high;
34 | 	};
35 | 	struct {
36 | 		uint16_t s0;
37 | 		uint16_t s1;
38 | 		uint16_t s2;
39 | 		uint16_t s3;
40 |   };
41 | 	uint8_t bytes[8];
42 | 	uint8_t byte[8]; //alternate name so you can omit the s if you feel it makes more sense
43 | } BytesUnion;
44 | 
45 | typedef struct
46 | {
47 |   uint32_t id = 0;		// EID if ide set, SID otherwise
48 |   uint32_t fid = 0;		// family ID
49 |   uint8_t rtr = 0;		// Remote Transmission Request
50 |   uint8_t priority = 0;	// Priority but only important for TX frames and then only for special uses.
51 |   uint8_t extended = 0;	// Extended ID flag
52 |   uint16_t time = 0;      // CAN timer value when mailbox message was received.
53 |   uint8_t length = 0;		// Number of data bytes
54 |   BytesUnion data;	// 64 bits - lots of ways to access it.
55 | } CAN_FRAME;
56 | 


--------------------------------------------------------------------------------
/command_accumulator.h:
--------------------------------------------------------------------------------
 1 | /*
 2 | Part of prius3charger_buck
 3 | Copyright (c) 2020 Perttu "celeron55" Ahola
 4 | 
 5 | This program is free software: you can redistribute it and/or modify
 6 | it under the terms of the GNU General Public License as published by
 7 | the Free Software Foundation, either version 3 of the License, or
 8 | (at your option) any later version.
 9 | 
10 | This program is distributed in the hope that it will be useful,
11 | but WITHOUT ANY WARRANTY; without even the implied warranty of
12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
13 | GNU General Public License for more details.
14 | 
15 | You should have received a copy of the GNU General Public License
16 | along with this program.  If not, see <https://www.gnu.org/licenses/>.
17 | */
18 | 
19 | #pragma once
20 | 
21 | template<size_t T_buf_size>
22 | struct CommandAccumulator
23 | {
24 | 	char buffer[T_buf_size];
25 | 	size_t next_i;
26 | 	bool overflow;
27 | 	bool ready;
28 | 
29 | 	CommandAccumulator()
30 | 	{
31 | 		reset();
32 | 	}
33 | 
34 | 	void reset()
35 | 	{
36 | 		memset(buffer, 0, T_buf_size);
37 | 		next_i = 0;
38 | 		overflow = false;
39 | 		ready = false;
40 | 	}
41 | 
42 | 	bool put_char(char c)
43 | 	{
44 | 		if(ready){
45 | 			reset();
46 | 		}
47 | 		// Support backspace for convenience when testing
48 | 		if(c == 127){
49 | 			if(next_i != 0){
50 | 				next_i--;
51 | 				buffer[next_i] = 0;
52 | 				overflow = false;
53 | 			}
54 | 			return false;
55 | 		}
56 | 		// Check this first to resolve overflows at newline
57 | 		// NOTE: \r should be accepted as end-of-command because serial
58 | 		//       terminals that's the enter key.
59 | 		if(c == '\n' || c == '\r'){
60 | 			if(overflow){
61 | 				reset();
62 | 				return false;
63 | 			} else if(next_i == 0){
64 | 				// Ignore initial newlines
65 | 				return false;
66 | 			} else {
67 | 				ready = true;
68 | 				return true;
69 | 			}
70 | 		}
71 | 		if(next_i == T_buf_size){
72 | 			overflow = true;
73 | 			return false; // Can't do much
74 | 		}
75 | 		buffer[next_i++] = c;
76 | 		return false;
77 | 	}
78 | 
79 | 	template<class T_serial>
80 | 	bool read(T_serial &serial)
81 | 	{
82 | 		while(serial.available()){
83 | 			char c = serial.read();
84 | 			if(put_char(c))
85 | 				return true;
86 | 		}
87 | 		return false;
88 | 	}
89 | 
90 | 	const char* command()
91 | 	{
92 | 		return buffer;
93 | 	}
94 | };
95 | 


--------------------------------------------------------------------------------
/util.h:
--------------------------------------------------------------------------------
  1 | /*
  2 | Part of prius3charger_buck
  3 | Copyright (c) 2020 Perttu "celeron55" Ahola
  4 | 
  5 | This program is free software: you can redistribute it and/or modify
  6 | it under the terms of the GNU General Public License as published by
  7 | the Free Software Foundation, either version 3 of the License, or
  8 | (at your option) any later version.
  9 | 
 10 | This program is distributed in the hope that it will be useful,
 11 | but WITHOUT ANY WARRANTY; without even the implied warranty of
 12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 13 | GNU General Public License for more details.
 14 | 
 15 | You should have received a copy of the GNU General Public License
 16 | along with this program.  If not, see <https://www.gnu.org/licenses/>.
 17 | */
 18 | 
 19 | #include <Arduino.h>
 20 | 
 21 | #define NUM_ELEMS(x) (sizeof (x) / sizeof (x)[0])
 22 | 
 23 | static unsigned long timestamp_age(unsigned long timestamp_ms)
 24 | {
 25 | 	return millis() - timestamp_ms;
 26 | }
 27 | 
 28 | static bool timestamp_younger_than(unsigned long timestamp_ms, unsigned long max_age)
 29 | {
 30 | 	// Timestamp is assumed to be initialized to 0. This means that a timestamp
 31 | 	// of 0 is infinitely old.
 32 | 	if(timestamp_ms == 0)
 33 | 		return false;
 34 | 	return timestamp_age(timestamp_ms) < max_age;
 35 | }
 36 | 
 37 | static int8_t fahrenheit_to_celsius(uint16_t fahrenheit)
 38 | {
 39 | 	int16_t result = ((int16_t)fahrenheit - 32) * 5 / 9;
 40 | 	if(result < -128)
 41 | 		return -128;
 42 | 	if(result > 127)
 43 | 		return 127;
 44 | 	return result;
 45 | }
 46 | 
 47 | static bool ENM_compare_and_update(unsigned long &t0, const unsigned long &interval)
 48 | {
 49 | 	bool trigger_now = timestamp_age(t0) >= interval;
 50 | 	if(trigger_now)
 51 | 		t0 = millis();
 52 | 	return trigger_now;
 53 | }
 54 | 
 55 | #define EVERY_N_MILLISECONDS(ms) for(static unsigned long t0 = 0; ENM_compare_and_update(t0, ms); )
 56 | 
 57 | #define REPORT_BOOL(var) \
 58 | 	{\
 59 | 		static bool reported_value = false;\
 60 | 		if(var != reported_value || console_report_all_values){\
 61 | 			log_print_timestamp();\
 62 | 			CONSOLE.print(F(">> "#var" = "));\
 63 | 			if(var)\
 64 | 				CONSOLE.println(F("TRUE"));\
 65 | 			else\
 66 | 				CONSOLE.println(F("FALSE"));\
 67 | 			reported_value = var;\
 68 | 		}\
 69 | 	}
 70 | 
 71 | #define REPORT_UINT8(var) \
 72 | 	{\
 73 | 		static uint8_t reported_value = 0;\
 74 | 		if(var != reported_value){\
 75 | 			log_print_timestamp();\
 76 | 			CONSOLE.print(F(">> "#var" = "));\
 77 | 			CONSOLE.println(var);\
 78 | 			reported_value = var;\
 79 | 		}\
 80 | 	}
 81 | 
 82 | #define REPORT_UINT16(var) \
 83 | 	{\
 84 | 		static uint16_t reported_value = 0;\
 85 | 		if(var != reported_value || console_report_all_values){\
 86 | 			log_print_timestamp();\
 87 | 			CONSOLE.print(F(">> "#var" = "));\
 88 | 			CONSOLE.println(var);\
 89 | 			reported_value = var;\
 90 | 		}\
 91 | 	}
 92 | 
 93 | #define REPORT_INT16(var) \
 94 | 	{\
 95 | 		static int16_t reported_value = 0;\
 96 | 		if(var != reported_value || console_report_all_values){\
 97 | 			log_print_timestamp();\
 98 | 			CONSOLE.print(F(">> "#var" = "));\
 99 | 			CONSOLE.println(var);\
100 | 			reported_value = var;\
101 | 		}\
102 | 	}
103 | 
104 | #define REPORT_UINT8_HYS(var, hys) \
105 | 	{\
106 | 		static uint8_t reported_value = 0;\
107 | 		if(abs(((int16_t)var - (int16_t)reported_value)) > (hys) || console_report_all_values){\
108 | 			log_print_timestamp();\
109 | 			CONSOLE.print(F(">> "#var" = "));\
110 | 			CONSOLE.println(var);\
111 | 			reported_value = var;\
112 | 		}\
113 | 	}
114 | 
115 | #define REPORT_UINT16_HYS(var, hys) \
116 | 	{\
117 | 		static uint16_t reported_value = 0;\
118 | 		if(abs(((int32_t)var - (int32_t)reported_value)) > (hys) || console_report_all_values){\
119 | 			log_print_timestamp();\
120 | 			CONSOLE.print(F(">> "#var" = "));\
121 | 			CONSOLE.println(var);\
122 | 			reported_value = var;\
123 | 		}\
124 | 	}
125 | 
126 | #define REPORT_INT16_HYS(var, hys) \
127 | 	{\
128 | 		static int16_t reported_value = 0;\
129 | 		if(abs((int16_t)((int32_t)var - (int32_t)reported_value)) > (hys) || console_report_all_values){\
130 | 			log_print_timestamp();\
131 | 			CONSOLE.print(F(">> "#var" = "));\
132 | 			CONSOLE.println(var);\
133 | 			reported_value = var;\
134 | 		}\
135 | 	}
136 | 
137 | #define REPORT_UINT16_FORMAT(var, hys, mul, unit) \
138 | 	{\
139 | 		static uint16_t reported_value = 0;\
140 | 		if(abs((int16_t)((int32_t)var - (int32_t)reported_value)) > (hys) || console_report_all_values){\
141 | 			log_print_timestamp();\
142 | 			CONSOLE.print(F(">> "#var" = "));\
143 | 			CONSOLE.print((float)var * mul);\
144 | 			CONSOLE.println(F(unit));\
145 | 			reported_value = var;\
146 | 		}\
147 | 	}
148 | 
149 | #define REPORT_INT16_FORMAT(var, hys, mul, unit) \
150 | 	{\
151 | 		static int16_t reported_value = 0;\
152 | 		if(abs(var - reported_value) > (hys) || console_report_all_values){\
153 | 			log_print_timestamp();\
154 | 			CONSOLE.print(F(">> "#var" = "));\
155 | 			CONSOLE.print((float)var * mul);\
156 | 			CONSOLE.println(F(unit));\
157 | 			reported_value = var;\
158 | 		}\
159 | 	}
160 | 
161 | #define REPORT_ENUM(var, names) \
162 | 	{\
163 | 		static uint8_t reported_value = 0;\
164 | 		if(var != reported_value || console_report_all_values){\
165 | 			log_print_timestamp();\
166 | 			CONSOLE.print(F(">> "#var" = "));\
167 | 			CONSOLE.println(names[var]);\
168 | 			reported_value = var;\
169 | 		}\
170 | 	}
171 | 
172 | #define REPORT_ENUM_PROGMEM(var, names) \
173 | 	{\
174 | 		static uint8_t reported_value = 0;\
175 | 		if(var != reported_value || console_report_all_values){\
176 | 			log_print_timestamp();\
177 | 			CONSOLE.print(F(">> "#var" = "));\
178 | 			CONSOLE.println((__FlashStringHelper*)pgm_read_word(&names[var]));\
179 | 			reported_value = var;\
180 | 		}\
181 | 	}
182 | 
183 | #define REPORT_UINT16_BITMAP(var, num_bits, names) \
184 | 	{\
185 | 		static uint16_t reported_value = 0;\
186 | 		if(var != reported_value){\
187 | 			log_print_timestamp();\
188 | 			CONSOLE.print(F(">> "#var" = "));\
189 | 			for(uint16_t i=0; i<num_bits; i++){\
190 | 				if(var & bit(i)){\
191 | 					CONSOLE.print(names[i]);\
192 | 					CONSOLE.print(" ");\
193 | 				}\
194 | 			}\
195 | 			CONSOLE.println();\
196 | 			reported_value = var;\
197 | 		}\
198 | 	}
199 | 
200 | 
201 | static uint16_t limit_uint16(uint16_t v, uint16_t min, uint16_t max)
202 | {
203 | 	if(v < min)
204 | 		return min;
205 | 	if(v > max)
206 | 		return max;
207 | 	return v;
208 | }
209 | 
210 | static int16_t limit_int16(int16_t v, int16_t min, int16_t max)
211 | {
212 | 	if(v < min)
213 | 		return min;
214 | 	if(v > max)
215 | 		return max;
216 | 	return v;
217 | }
218 | 
219 | static int32_t limit_int32(int32_t v, int32_t min, int32_t max)
220 | {
221 | 	if(v < min)
222 | 		return min;
223 | 	if(v > max)
224 | 		return max;
225 | 	return v;
226 | }
227 | 


--------------------------------------------------------------------------------
/mcp_can.h:
--------------------------------------------------------------------------------
  1 | /*
  2 |   mcp_can.h
  3 |   2012 Copyright (c) Seeed Technology Inc.  All right reserved.
  4 |   2017 Copyright (c) Cory J. Fowler  All Rights Reserved.
  5 | 
  6 |   Author:Loovee
  7 |   Contributor: Cory J. Fowler
  8 |   2017-09-25
  9 |   This library is free software; you can redistribute it and/or
 10 |   modify it under the terms of the GNU Lesser General Public
 11 |   License as published by the Free Software Foundation; either
 12 |   version 2.1 of the License, or (at your option) any later version.
 13 | 
 14 |   This library is distributed in the hope that it will be useful,
 15 |   but WITHOUT ANY WARRANTY; without even the implied warranty of
 16 |   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 17 |   Lesser General Public License for more details.
 18 | 
 19 |   You should have received a copy of the GNU Lesser General Public
 20 |   License along with this library; if not, write to the Free Software
 21 |   Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-
 22 |   1301  USA
 23 | */
 24 | #ifndef _MCP2515_H_
 25 | #define _MCP2515_H_
 26 | 
 27 | #include "mcp_can_dfs.h"
 28 | #define MAX_CHAR_IN_MESSAGE 8
 29 | 
 30 | class MCP_CAN
 31 | {
 32 |     private:
 33 |     
 34 |     INT8U   m_nExtFlg;                                                  // Identifier Type
 35 |                                                                         // Extended (29 bit) or Standard (11 bit)
 36 |     INT32U  m_nID;                                                      // CAN ID
 37 |     INT8U   m_nDlc;                                                     // Data Length Code
 38 |     INT8U   m_nDta[MAX_CHAR_IN_MESSAGE];                            	// Data array
 39 |     INT8U   m_nRtr;                                                     // Remote request flag
 40 |     INT8U   m_nfilhit;                                                  // The number of the filter that matched the message
 41 |     INT8U   MCPCS;                                                      // Chip Select pin number
 42 |     INT8U   mcpMode;                                                    // Mode to return to after configurations are performed.
 43 |     
 44 | 
 45 | /*********************************************************************************************************
 46 |  *  mcp2515 driver function 
 47 |  *********************************************************************************************************/
 48 |    // private:
 49 |    private:
 50 | 
 51 |     void mcp2515_reset(void);                                           // Soft Reset MCP2515
 52 | 
 53 |     INT8U mcp2515_readRegister(const INT8U address);                    // Read MCP2515 register
 54 |     
 55 |     void mcp2515_readRegisterS(const INT8U address,                     // Read MCP2515 successive registers
 56 | 	                             INT8U values[], 
 57 |                                const INT8U n);
 58 |    
 59 |     void mcp2515_setRegister(const INT8U address,                       // Set MCP2515 register
 60 |                              const INT8U value);
 61 | 
 62 |     void mcp2515_setRegisterS(const INT8U address,                      // Set MCP2515 successive registers
 63 |                               const INT8U values[],
 64 |                               const INT8U n);
 65 |     
 66 |     void mcp2515_initCANBuffers(void);
 67 |     
 68 |     void mcp2515_modifyRegister(const INT8U address,                    // Set specific bit(s) of a register
 69 |                                 const INT8U mask,
 70 |                                 const INT8U data);
 71 | 
 72 |     INT8U mcp2515_readStatus(void);                                     // Read MCP2515 Status
 73 |     INT8U mcp2515_setCANCTRL_Mode(const INT8U newmode);                 // Set mode
 74 |     INT8U mcp2515_configRate(const INT8U canSpeed,                      // Set baud rate
 75 |                              const INT8U canClock);
 76 |                              
 77 |     INT8U mcp2515_init(const INT8U canIDMode,                           // Initialize Controller
 78 |                        const INT8U canSpeed,
 79 |                        const INT8U canClock);
 80 | 		       
 81 |     void mcp2515_write_mf( const INT8U mcp_addr,                        // Write CAN Mask or Filter
 82 |                            const INT8U ext,
 83 |                            const INT32U id );
 84 | 			       
 85 |     void mcp2515_write_id( const INT8U mcp_addr,                        // Write CAN ID
 86 |                            const INT8U ext,
 87 |                            const INT32U id );
 88 | 
 89 |     void mcp2515_read_id( const INT8U mcp_addr,                         // Read CAN ID
 90 | 				INT8U* ext,
 91 |                                 INT32U* id );
 92 | 
 93 |     void mcp2515_write_canMsg( const INT8U buffer_sidh_addr );          // Write CAN message
 94 |     void mcp2515_read_canMsg( const INT8U buffer_sidh_addr);            // Read CAN message
 95 |     INT8U mcp2515_getNextFreeTXBuf(INT8U *txbuf_n);                     // Find empty transmit buffer
 96 | 
 97 | /*********************************************************************************************************
 98 |  *  CAN operator function
 99 |  *********************************************************************************************************/
100 | 
101 |     INT8U setMsg(INT32U id, INT8U rtr, INT8U ext, INT8U len, const INT8U *pData);        // Set message
102 |     INT8U clearMsg();                                                   // Clear all message to zero
103 |     INT8U readMsg();                                                    // Read message
104 |     INT8U sendMsg();                                                    // Send message
105 | 
106 | public:
107 |     MCP_CAN(INT8U _CS);
108 |     INT8U begin(INT8U idmodeset, INT8U speedset, INT8U clockset);       // Initialize controller parameters
109 |     INT8U init_Mask(INT8U num, INT8U ext, INT32U ulData);               // Initialize Mask(s)
110 |     INT8U init_Mask(INT8U num, INT32U ulData);                          // Initialize Mask(s)
111 |     INT8U init_Filt(INT8U num, INT8U ext, INT32U ulData);               // Initialize Filter(s)
112 |     INT8U init_Filt(INT8U num, INT32U ulData);                          // Initialize Filter(s)
113 |     INT8U setMode(INT8U opMode);                                        // Set operational mode
114 |     INT8U sendMsgBuf(INT32U id, INT8U ext, INT8U len, const INT8U *buf);      // Send message to transmit buffer
115 |     INT8U sendMsgBuf(INT32U id, INT8U len, const INT8U *buf);                 // Send message to transmit buffer
116 |     INT8U readMsgBuf(INT32U *id, INT8U *ext, INT8U *len, INT8U *buf);   // Read message from receive buffer
117 |     INT8U readMsgBuf(INT32U *id, INT8U *len, INT8U *buf);               // Read message from receive buffer
118 |     INT8U checkReceive(void);                                           // Check for received data
119 |     INT8U checkError(void);                                             // Check for errors
120 |     INT8U getError(void);                                               // Check for errors
121 |     INT8U errorCountRX(void);                                           // Get error count
122 |     INT8U errorCountTX(void);                                           // Get error count
123 |     INT8U enOneShotTX(void);                                            // Enable one-shot transmission
124 |     INT8U disOneShotTX(void);                                           // Disable one-shot transmission
125 |     INT8U abortTX(void);                                                // Abort queued transmission(s)
126 |     INT8U setGPO(INT8U data);                                           // Sets GPO
127 |     INT8U getGPI(void);                                                 // Reads GPI
128 | };
129 | 
130 | #endif
131 | /*********************************************************************************************************
132 |  *  END FILE
133 |  *********************************************************************************************************/
134 | 


--------------------------------------------------------------------------------
/mcp_can_dfs.h:
--------------------------------------------------------------------------------
  1 | /*
  2 |   mcp_can_dfs.h
  3 |   2012 Copyright (c) Seeed Technology Inc.  All right reserved.
  4 |   2017 Copyright (c) Cory J. Fowler  All Rights Reserved.
  5 | 
  6 |   Author:Loovee
  7 |   Contributor: Cory J. Fowler
  8 |   2017-09-25
  9 |   This library is free software; you can redistribute it and/or
 10 |   modify it under the terms of the GNU Lesser General Public
 11 |   License as published by the Free Software Foundation; either
 12 |   version 2.1 of the License, or (at your option) any later version.
 13 | 
 14 |   This library is distributed in the hope that it will be useful,
 15 |   but WITHOUT ANY WARRANTY; without even the implied warranty of
 16 |   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 17 |   Lesser General Public License for more details.
 18 | 
 19 |   You should have received a copy of the GNU Lesser General Public
 20 |   License along with this library; if not, write to the Free Software
 21 |   Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-
 22 |   1301  USA
 23 | */
 24 | #ifndef _MCP2515DFS_H_
 25 | #define _MCP2515DFS_H_
 26 | 
 27 | #include <Arduino.h>
 28 | #include <SPI.h>
 29 | #include <inttypes.h>
 30 | 
 31 | #ifndef INT32U
 32 | #define INT32U unsigned long
 33 | #endif
 34 | 
 35 | #ifndef INT8U
 36 | #define INT8U byte
 37 | #endif
 38 | 
 39 | // if print debug information
 40 | #define DEBUG_MODE 0
 41 | 
 42 | /*
 43 |  *   Begin mt
 44 |  */
 45 | #define TIMEOUTVALUE    50
 46 | #define MCP_SIDH        0
 47 | #define MCP_SIDL        1
 48 | #define MCP_EID8        2
 49 | #define MCP_EID0        3
 50 | 
 51 | #define MCP_TXB_EXIDE_M     0x08                                        /* In TXBnSIDL                  */
 52 | #define MCP_DLC_MASK        0x0F                                        /* 4 LSBits                     */
 53 | #define MCP_RTR_MASK        0x40                                        /* (1<<6) Bit 6                 */
 54 | 
 55 | #define MCP_RXB_RX_ANY      0x60
 56 | #define MCP_RXB_RX_EXT      0x40
 57 | #define MCP_RXB_RX_STD      0x20
 58 | #define MCP_RXB_RX_STDEXT   0x00
 59 | #define MCP_RXB_RX_MASK     0x60
 60 | #define MCP_RXB_BUKT_MASK   (1<<2)
 61 | 
 62 | /*
 63 | ** Bits in the TXBnCTRL registers.
 64 | */
 65 | #define MCP_TXB_TXBUFE_M    0x80
 66 | #define MCP_TXB_ABTF_M      0x40
 67 | #define MCP_TXB_MLOA_M      0x20
 68 | #define MCP_TXB_TXERR_M     0x10
 69 | #define MCP_TXB_TXREQ_M     0x08
 70 | #define MCP_TXB_TXIE_M      0x04
 71 | #define MCP_TXB_TXP10_M     0x03
 72 | 
 73 | #define MCP_TXB_RTR_M       0x40                                        /* In TXBnDLC                   */
 74 | #define MCP_RXB_IDE_M       0x08                                        /* In RXBnSIDL                  */
 75 | #define MCP_RXB_RTR_M       0x40                                        /* In RXBnDLC                   */
 76 | 
 77 | #define MCP_STAT_RXIF_MASK   (0x03)
 78 | #define MCP_STAT_RX0IF       (1<<0)
 79 | #define MCP_STAT_RX1IF       (1<<1)
 80 | 
 81 | #define MCP_EFLG_RX1OVR     (1<<7)
 82 | #define MCP_EFLG_RX0OVR     (1<<6)
 83 | #define MCP_EFLG_TXBO       (1<<5)
 84 | #define MCP_EFLG_TXEP       (1<<4)
 85 | #define MCP_EFLG_RXEP       (1<<3)
 86 | #define MCP_EFLG_TXWAR      (1<<2)
 87 | #define MCP_EFLG_RXWAR      (1<<1)
 88 | #define MCP_EFLG_EWARN      (1<<0)
 89 | #define MCP_EFLG_ERRORMASK  (0xF8)                                      /* 5 MS-Bits                    */
 90 | 
 91 | #define MCP_BxBFS_MASK    0x30
 92 | #define MCP_BxBFE_MASK    0x0C
 93 | #define MCP_BxBFM_MASK    0x03
 94 | 
 95 | #define MCP_BxRTS_MASK    0x38
 96 | #define MCP_BxRTSM_MASK   0x07
 97 | 
 98 | /*
 99 |  *   Define MCP2515 register addresses
100 |  */
101 | #define MCP_RXF0SIDH    0x00
102 | #define MCP_RXF0SIDL    0x01
103 | #define MCP_RXF0EID8    0x02
104 | #define MCP_RXF0EID0    0x03
105 | #define MCP_RXF1SIDH    0x04
106 | #define MCP_RXF1SIDL    0x05
107 | #define MCP_RXF1EID8    0x06
108 | #define MCP_RXF1EID0    0x07
109 | #define MCP_RXF2SIDH    0x08
110 | #define MCP_RXF2SIDL    0x09
111 | #define MCP_RXF2EID8    0x0A
112 | #define MCP_RXF2EID0    0x0B
113 | #define MCP_BFPCTRL     0x0C
114 | #define MCP_TXRTSCTRL   0x0D
115 | #define MCP_CANSTAT     0x0E
116 | #define MCP_CANCTRL     0x0F
117 | #define MCP_RXF3SIDH    0x10
118 | #define MCP_RXF3SIDL    0x11
119 | #define MCP_RXF3EID8    0x12
120 | #define MCP_RXF3EID0    0x13
121 | #define MCP_RXF4SIDH    0x14
122 | #define MCP_RXF4SIDL    0x15
123 | #define MCP_RXF4EID8    0x16
124 | #define MCP_RXF4EID0    0x17
125 | #define MCP_RXF5SIDH    0x18
126 | #define MCP_RXF5SIDL    0x19
127 | #define MCP_RXF5EID8    0x1A
128 | #define MCP_RXF5EID0    0x1B
129 | #define MCP_TEC            0x1C
130 | #define MCP_REC            0x1D
131 | #define MCP_RXM0SIDH    0x20
132 | #define MCP_RXM0SIDL    0x21
133 | #define MCP_RXM0EID8    0x22
134 | #define MCP_RXM0EID0    0x23
135 | #define MCP_RXM1SIDH    0x24
136 | #define MCP_RXM1SIDL    0x25
137 | #define MCP_RXM1EID8    0x26
138 | #define MCP_RXM1EID0    0x27
139 | #define MCP_CNF3        0x28
140 | #define MCP_CNF2        0x29
141 | #define MCP_CNF1        0x2A
142 | #define MCP_CANINTE        0x2B
143 | #define MCP_CANINTF        0x2C
144 | #define MCP_EFLG        0x2D
145 | #define MCP_TXB0CTRL    0x30
146 | #define MCP_TXB1CTRL    0x40
147 | #define MCP_TXB2CTRL    0x50
148 | #define MCP_RXB0CTRL    0x60
149 | #define MCP_RXB0SIDH    0x61
150 | #define MCP_RXB1CTRL    0x70
151 | #define MCP_RXB1SIDH    0x71
152 | 
153 | 
154 | #define MCP_TX_INT          0x1C                                    /* Enable all transmit interrup ts  */
155 | #define MCP_TX01_INT        0x0C                                    /* Enable TXB0 and TXB1 interru pts */
156 | #define MCP_RX_INT          0x03                                    /* Enable receive interrupts        */
157 | #define MCP_NO_INT          0x00                                    /* Disable all interrupts           */
158 | 
159 | #define MCP_TX01_MASK       0x14
160 | #define MCP_TX_MASK        0x54
161 | 
162 | /*
163 |  *   Define SPI Instruction Set
164 |  */
165 | #define MCP_WRITE           0x02
166 | 
167 | #define MCP_READ            0x03
168 | 
169 | #define MCP_BITMOD          0x05
170 | 
171 | #define MCP_LOAD_TX0        0x40
172 | #define MCP_LOAD_TX1        0x42
173 | #define MCP_LOAD_TX2        0x44
174 | 
175 | #define MCP_RTS_TX0         0x81
176 | #define MCP_RTS_TX1         0x82
177 | #define MCP_RTS_TX2         0x84
178 | #define MCP_RTS_ALL         0x87
179 | 
180 | #define MCP_READ_RX0        0x90
181 | #define MCP_READ_RX1        0x94
182 | 
183 | #define MCP_READ_STATUS     0xA0
184 | 
185 | #define MCP_RX_STATUS       0xB0
186 | 
187 | #define MCP_RESET           0xC0
188 | 
189 | 
190 | /*
191 |  *   CANCTRL Register Values
192 |  */
193 | #define MCP_NORMAL     0x00
194 | #define MCP_SLEEP      0x20
195 | #define MCP_LOOPBACK   0x40
196 | #define MCP_LISTENONLY 0x60
197 | #define MODE_CONFIG     0x80
198 | #define MODE_POWERUP    0xE0
199 | #define MODE_MASK       0xE0
200 | #define ABORT_TX        0x10
201 | #define MODE_ONESHOT    0x08
202 | #define CLKOUT_ENABLE   0x04
203 | #define CLKOUT_DISABLE  0x00
204 | #define CLKOUT_PS1      0x00
205 | #define CLKOUT_PS2      0x01
206 | #define CLKOUT_PS4      0x02
207 | #define CLKOUT_PS8      0x03
208 | 
209 | 
210 | /*
211 |  *   CNF1 Register Values
212 |  */
213 | #define SJW1            0x00
214 | #define SJW2            0x40
215 | #define SJW3            0x80
216 | #define SJW4            0xC0
217 | 
218 | 
219 | /*
220 |  *   CNF2 Register Values
221 |  */
222 | #define BTLMODE         0x80
223 | #define SAMPLE_1X       0x00
224 | #define SAMPLE_3X       0x40
225 | 
226 | 
227 | /*
228 |  *   CNF3 Register Values
229 |  */
230 | #define SOF_ENABLE      0x80
231 | #define SOF_DISABLE     0x00
232 | #define WAKFIL_ENABLE   0x40
233 | #define WAKFIL_DISABLE  0x00
234 | 
235 | 
236 | /*
237 |  *   CANINTF Register Bits
238 |  */
239 | #define MCP_RX0IF       0x01
240 | #define MCP_RX1IF       0x02
241 | #define MCP_TX0IF       0x04
242 | #define MCP_TX1IF       0x08
243 | #define MCP_TX2IF       0x10
244 | #define MCP_ERRIF       0x20
245 | #define MCP_WAKIF       0x40
246 | #define MCP_MERRF       0x80
247 | 
248 | 
249 | /*
250 |  *  Speed 8M
251 |  */
252 | #define MCP_8MHz_1000kBPS_CFG1 (0x00)  
253 | #define MCP_8MHz_1000kBPS_CFG2 (0xC0)  /* Enabled SAM bit     */
254 | #define MCP_8MHz_1000kBPS_CFG3 (0x80)  /* Sample point at 75% */
255 | 
256 | #define MCP_8MHz_500kBPS_CFG1 (0x00)
257 | #define MCP_8MHz_500kBPS_CFG2 (0xD1)   /* Enabled SAM bit     */
258 | #define MCP_8MHz_500kBPS_CFG3 (0x81)   /* Sample point at 75% */
259 | 
260 | #define MCP_8MHz_250kBPS_CFG1 (0x80)   /* Increased SJW       */
261 | #define MCP_8MHz_250kBPS_CFG2 (0xE5)   /* Enabled SAM bit     */
262 | #define MCP_8MHz_250kBPS_CFG3 (0x83)   /* Sample point at 75% */
263 | 
264 | #define MCP_8MHz_200kBPS_CFG1 (0x80)   /* Increased SJW       */
265 | #define MCP_8MHz_200kBPS_CFG2 (0xF6)   /* Enabled SAM bit     */
266 | #define MCP_8MHz_200kBPS_CFG3 (0x84)   /* Sample point at 75% */
267 | 
268 | #define MCP_8MHz_125kBPS_CFG1 (0x81)   /* Increased SJW       */
269 | #define MCP_8MHz_125kBPS_CFG2 (0xE5)   /* Enabled SAM bit     */
270 | #define MCP_8MHz_125kBPS_CFG3 (0x83)   /* Sample point at 75% */
271 | 
272 | #define MCP_8MHz_100kBPS_CFG1 (0x81)   /* Increased SJW       */
273 | #define MCP_8MHz_100kBPS_CFG2 (0xF6)   /* Enabled SAM bit     */
274 | #define MCP_8MHz_100kBPS_CFG3 (0x84)   /* Sample point at 75% */
275 | 
276 | #define MCP_8MHz_80kBPS_CFG1 (0x84)    /* Increased SJW       */
277 | #define MCP_8MHz_80kBPS_CFG2 (0xD3)    /* Enabled SAM bit     */
278 | #define MCP_8MHz_80kBPS_CFG3 (0x81)    /* Sample point at 75% */
279 | 
280 | #define MCP_8MHz_50kBPS_CFG1 (0x84)    /* Increased SJW       */
281 | #define MCP_8MHz_50kBPS_CFG2 (0xE5)    /* Enabled SAM bit     */
282 | #define MCP_8MHz_50kBPS_CFG3 (0x83)    /* Sample point at 75% */
283 | 
284 | #define MCP_8MHz_40kBPS_CFG1 (0x84)    /* Increased SJW       */
285 | #define MCP_8MHz_40kBPS_CFG2 (0xF6)    /* Enabled SAM bit     */
286 | #define MCP_8MHz_40kBPS_CFG3 (0x84)    /* Sample point at 75% */
287 | 
288 | #define MCP_8MHz_33k3BPS_CFG1 (0x85)   /* Increased SJW       */
289 | #define MCP_8MHz_33k3BPS_CFG2 (0xF6)   /* Enabled SAM bit     */
290 | #define MCP_8MHz_33k3BPS_CFG3 (0x84)   /* Sample point at 75% */
291 | 
292 | #define MCP_8MHz_31k25BPS_CFG1 (0x87)  /* Increased SJW       */
293 | #define MCP_8MHz_31k25BPS_CFG2 (0xE5)  /* Enabled SAM bit     */
294 | #define MCP_8MHz_31k25BPS_CFG3 (0x83)  /* Sample point at 75% */
295 | 
296 | #define MCP_8MHz_20kBPS_CFG1 (0x89)    /* Increased SJW       */
297 | #define MCP_8MHz_20kBPS_CFG2 (0xF6)    /* Enabled SAM bit     */
298 | #define MCP_8MHz_20kBPS_CFG3 (0x84)    /* Sample point at 75% */
299 | 
300 | #define MCP_8MHz_10kBPS_CFG1 (0x93)    /* Increased SJW       */
301 | #define MCP_8MHz_10kBPS_CFG2 (0xF6)    /* Enabled SAM bit     */
302 | #define MCP_8MHz_10kBPS_CFG3 (0x84)    /* Sample point at 75% */
303 | 
304 | #define MCP_8MHz_5kBPS_CFG1 (0xA7)     /* Increased SJW       */
305 | #define MCP_8MHz_5kBPS_CFG2 (0xF6)     /* Enabled SAM bit     */
306 | #define MCP_8MHz_5kBPS_CFG3 (0x84)     /* Sample point at 75% */
307 | 
308 | /*
309 |  *  speed 16M
310 |  */
311 | #define MCP_16MHz_1000kBPS_CFG1 (0x00)
312 | #define MCP_16MHz_1000kBPS_CFG2 (0xCA)
313 | #define MCP_16MHz_1000kBPS_CFG3 (0x81)    /* Sample point at 75% */
314 | 
315 | #define MCP_16MHz_500kBPS_CFG1 (0x40)     /* Increased SJW       */
316 | #define MCP_16MHz_500kBPS_CFG2 (0xE5)
317 | #define MCP_16MHz_500kBPS_CFG3 (0x83)     /* Sample point at 75% */
318 | 
319 | #define MCP_16MHz_250kBPS_CFG1 (0x41)
320 | #define MCP_16MHz_250kBPS_CFG2 (0xE5)
321 | #define MCP_16MHz_250kBPS_CFG3 (0x83)     /* Sample point at 75% */
322 | 
323 | #define MCP_16MHz_200kBPS_CFG1 (0x41)     /* Increased SJW       */
324 | #define MCP_16MHz_200kBPS_CFG2 (0xF6)
325 | #define MCP_16MHz_200kBPS_CFG3 (0x84)     /* Sample point at 75% */
326 | 
327 | #define MCP_16MHz_125kBPS_CFG1 (0x43)     /* Increased SJW       */
328 | #define MCP_16MHz_125kBPS_CFG2 (0xE5)
329 | #define MCP_16MHz_125kBPS_CFG3 (0x83)     /* Sample point at 75% */
330 | 
331 | #define MCP_16MHz_100kBPS_CFG1 (0x44)     /* Increased SJW       */
332 | #define MCP_16MHz_100kBPS_CFG2 (0xE5)
333 | #define MCP_16MHz_100kBPS_CFG3 (0x83)     /* Sample point at 75% */
334 | 
335 | #define MCP_16MHz_80kBPS_CFG1 (0x44)      /* Increased SJW       */
336 | #define MCP_16MHz_80kBPS_CFG2 (0xF6)
337 | #define MCP_16MHz_80kBPS_CFG3 (0x84)      /* Sample point at 75% */
338 | 
339 | #define MCP_16MHz_50kBPS_CFG1 (0x47)      /* Increased SJW       */
340 | #define MCP_16MHz_50kBPS_CFG2 (0xF6)
341 | #define MCP_16MHz_50kBPS_CFG3 (0x84)      /* Sample point at 75% */
342 | 
343 | #define MCP_16MHz_40kBPS_CFG1 (0x49)      /* Increased SJW       */
344 | #define MCP_16MHz_40kBPS_CFG2 (0xF6)
345 | #define MCP_16MHz_40kBPS_CFG3 (0x84)      /* Sample point at 75% */
346 | 
347 | #define MCP_16MHz_33k3BPS_CFG1 (0x4E)
348 | #define MCP_16MHz_33k3BPS_CFG2 (0xE5)
349 | #define MCP_16MHz_33k3BPS_CFG3 (0x83)     /* Sample point at 75% */
350 | 
351 | #define MCP_16MHz_20kBPS_CFG1 (0x53)      /* Increased SJW       */
352 | #define MCP_16MHz_20kBPS_CFG2 (0xF6)
353 | #define MCP_16MHz_20kBPS_CFG3 (0x84)      /* Sample point at 75% */
354 | 
355 | #define MCP_16MHz_10kBPS_CFG1 (0x67)      /* Increased SJW       */
356 | #define MCP_16MHz_10kBPS_CFG2 (0xF6)
357 | #define MCP_16MHz_10kBPS_CFG3 (0x84)      /* Sample point at 75% */
358 | 
359 | #define MCP_16MHz_5kBPS_CFG1 (0x3F)
360 | #define MCP_16MHz_5kBPS_CFG2 (0xFF)
361 | #define MCP_16MHz_5kBPS_CFG3 (0x87)       /* Sample point at 68% */
362 | 
363 | /*
364 |  *  speed 20M
365 |  */
366 | #define MCP_20MHz_1000kBPS_CFG1 (0x00)
367 | #define MCP_20MHz_1000kBPS_CFG2 (0xD9)
368 | #define MCP_20MHz_1000kBPS_CFG3 (0x82)     /* Sample point at 80% */
369 | 
370 | #define MCP_20MHz_500kBPS_CFG1 (0x40)     /* Increased SJW       */
371 | #define MCP_20MHz_500kBPS_CFG2 (0xF6)
372 | #define MCP_20MHz_500kBPS_CFG3 (0x84)     /* Sample point at 75% */
373 | 
374 | #define MCP_20MHz_250kBPS_CFG1 (0x41)     /* Increased SJW       */
375 | #define MCP_20MHz_250kBPS_CFG2 (0xF6)
376 | #define MCP_20MHz_250kBPS_CFG3 (0x84)     /* Sample point at 75% */
377 | 
378 | #define MCP_20MHz_200kBPS_CFG1 (0x44)     /* Increased SJW       */
379 | #define MCP_20MHz_200kBPS_CFG2 (0xD3)
380 | #define MCP_20MHz_200kBPS_CFG3 (0x81)     /* Sample point at 80% */
381 | 
382 | #define MCP_20MHz_125kBPS_CFG1 (0x44)     /* Increased SJW       */
383 | #define MCP_20MHz_125kBPS_CFG2 (0xE5)
384 | #define MCP_20MHz_125kBPS_CFG3 (0x83)     /* Sample point at 75% */
385 | 
386 | #define MCP_20MHz_100kBPS_CFG1 (0x44)     /* Increased SJW       */
387 | #define MCP_20MHz_100kBPS_CFG2 (0xF6)
388 | #define MCP_20MHz_100kBPS_CFG3 (0x84)     /* Sample point at 75% */
389 | 
390 | #define MCP_20MHz_80kBPS_CFG1 (0xC4)      /* Increased SJW       */
391 | #define MCP_20MHz_80kBPS_CFG2 (0xFF)
392 | #define MCP_20MHz_80kBPS_CFG3 (0x87)      /* Sample point at 68% */
393 | 
394 | #define MCP_20MHz_50kBPS_CFG1 (0x49)      /* Increased SJW       */
395 | #define MCP_20MHz_50kBPS_CFG2 (0xF6)
396 | #define MCP_20MHz_50kBPS_CFG3 (0x84)      /* Sample point at 75% */
397 | 
398 | #define MCP_20MHz_40kBPS_CFG1 (0x18)
399 | #define MCP_20MHz_40kBPS_CFG2 (0xD3)
400 | #define MCP_20MHz_40kBPS_CFG3 (0x81)      /* Sample point at 80% */
401 | 
402 | 
403 | #define MCPDEBUG        (0)
404 | #define MCPDEBUG_TXBUF  (0)
405 | #define MCP_N_TXBUFFERS (3)
406 | 
407 | #define MCP_RXBUF_0 (MCP_RXB0SIDH)
408 | #define MCP_RXBUF_1 (MCP_RXB1SIDH)
409 | 
410 | #define MCP2515_SELECT()   digitalWrite(MCPCS, LOW)
411 | #define MCP2515_UNSELECT() digitalWrite(MCPCS, HIGH)
412 | 
413 | #define MCP2515_OK         (0)
414 | #define MCP2515_FAIL       (1)
415 | #define MCP_ALLTXBUSY      (2)
416 | 
417 | #define CANDEBUG   1
418 | 
419 | #define CANUSELOOP 0
420 | 
421 | #define CANSENDTIMEOUT (200)                                            /* milliseconds                 */
422 | 
423 | /*
424 |  *   initial value of gCANAutoProcess
425 |  */
426 | #define CANAUTOPROCESS (1)
427 | #define CANAUTOON  (1)
428 | #define CANAUTOOFF (0)
429 | 
430 | #define CAN_STDID (0)
431 | #define CAN_EXTID (1)
432 | 
433 | #define CANDEFAULTIDENT    (0x55CC)
434 | #define CANDEFAULTIDENTEXT (CAN_EXTID)
435 | 
436 | #define MCP_STDEXT   0                                                  /* Standard and Extended        */
437 | #define MCP_STD      1                                                  /* Standard IDs ONLY            */
438 | #define MCP_EXT      2                                                  /* Extended IDs ONLY            */
439 | #define MCP_ANY      3                                                  /* Disables Masks and Filters   */
440 | 
441 | #define MCP_20MHZ    0
442 | #define MCP_16MHZ    1
443 | #define MCP_8MHZ     2
444 | 
445 | #define CAN_4K096BPS 0
446 | #define CAN_5KBPS    1
447 | #define CAN_10KBPS   2
448 | #define CAN_20KBPS   3
449 | #define CAN_31K25BPS 4
450 | #define CAN_33K3BPS  5
451 | #define CAN_40KBPS   6
452 | #define CAN_50KBPS   7
453 | #define CAN_80KBPS   8
454 | #define CAN_100KBPS  9
455 | #define CAN_125KBPS  10
456 | #define CAN_200KBPS  11
457 | #define CAN_250KBPS  12
458 | #define CAN_500KBPS  13
459 | #define CAN_1000KBPS 14
460 | 
461 | #define CAN_OK             (0)
462 | #define CAN_FAILINIT       (1)
463 | #define CAN_FAILTX         (2)
464 | #define CAN_MSGAVAIL       (3)
465 | #define CAN_NOMSG          (4)
466 | #define CAN_CTRLERROR      (5)
467 | #define CAN_GETTXBFTIMEOUT (6)
468 | #define CAN_SENDMSGTIMEOUT (7)
469 | #define CAN_FAIL       (0xff)
470 | 
471 | #define CAN_MAX_CHAR_IN_MESSAGE (8)
472 | 
473 | #endif
474 | /*********************************************************************************************************
475 |   END FILE
476 | *********************************************************************************************************/
477 | 


--------------------------------------------------------------------------------
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--------------------------------------------------------------------------------
/mcp_can.cpp:
--------------------------------------------------------------------------------
   1 | /*
   2 |   mcp_can.cpp
   3 |   2012 Copyright (c) Seeed Technology Inc.  All right reserved.
   4 |   2017 Copyright (c) Cory J. Fowler  All Rights Reserved.
   5 | 
   6 |   Author: Loovee
   7 |   Contributor: Cory J. Fowler
   8 |   2017-09-25
   9 |   This library is free software; you can redistribute it and/or
  10 |   modify it under the terms of the GNU Lesser General Public
  11 |   License as published by the Free Software Foundation; either
  12 |   version 2.1 of the License, or (at your option) any later version.
  13 | 
  14 |   This library is distributed in the hope that it will be useful,
  15 |   but WITHOUT ANY WARRANTY; without even the implied warranty of
  16 |   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  17 |   Lesser General Public License for more details.
  18 | 
  19 |   You should have received a copy of the GNU Lesser General Public
  20 |   License along with this library; if not, write to the Free Software
  21 |   Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-
  22 |   1301  USA
  23 | */
  24 | #include "mcp_can.h"
  25 | 
  26 | #define spi_readwrite SPI.transfer
  27 | #define spi_read() spi_readwrite(0x00)
  28 | 
  29 | /*********************************************************************************************************
  30 | ** Function name:           mcp2515_reset
  31 | ** Descriptions:            Performs a software reset
  32 | *********************************************************************************************************/
  33 | void MCP_CAN::mcp2515_reset(void)                                      
  34 | {
  35 |     SPI.beginTransaction(SPISettings(10000000, MSBFIRST, SPI_MODE0));
  36 |     MCP2515_SELECT();
  37 |     spi_readwrite(MCP_RESET);
  38 |     MCP2515_UNSELECT();
  39 |     SPI.endTransaction();
  40 |     delayMicroseconds(10);
  41 | }
  42 | 
  43 | /*********************************************************************************************************
  44 | ** Function name:           mcp2515_readRegister
  45 | ** Descriptions:            Read data register
  46 | *********************************************************************************************************/
  47 | INT8U MCP_CAN::mcp2515_readRegister(const INT8U address)                                                                     
  48 | {
  49 |     INT8U ret;
  50 | 
  51 |     SPI.beginTransaction(SPISettings(10000000, MSBFIRST, SPI_MODE0));
  52 |     MCP2515_SELECT();
  53 |     spi_readwrite(MCP_READ);
  54 |     spi_readwrite(address);
  55 |     ret = spi_read();
  56 |     MCP2515_UNSELECT();
  57 |     SPI.endTransaction();
  58 | 
  59 |     return ret;
  60 | }
  61 | 
  62 | /*********************************************************************************************************
  63 | ** Function name:           mcp2515_readRegisterS
  64 | ** Descriptions:            Reads sucessive data registers
  65 | *********************************************************************************************************/
  66 | void MCP_CAN::mcp2515_readRegisterS(const INT8U address, INT8U values[], const INT8U n)
  67 | {
  68 |     INT8U i;
  69 |     SPI.beginTransaction(SPISettings(10000000, MSBFIRST, SPI_MODE0));
  70 |     MCP2515_SELECT();
  71 |     spi_readwrite(MCP_READ);
  72 |     spi_readwrite(address);
  73 |     // mcp2515 has auto-increment of address-pointer
  74 |     for (i=0; i<n; i++) 
  75 |         values[i] = spi_read();
  76 | 
  77 |     MCP2515_UNSELECT();
  78 |     SPI.endTransaction();
  79 | }
  80 | 
  81 | /*********************************************************************************************************
  82 | ** Function name:           mcp2515_setRegister
  83 | ** Descriptions:            Sets data register
  84 | *********************************************************************************************************/
  85 | void MCP_CAN::mcp2515_setRegister(const INT8U address, const INT8U value)
  86 | {
  87 |     SPI.beginTransaction(SPISettings(10000000, MSBFIRST, SPI_MODE0));
  88 |     MCP2515_SELECT();
  89 |     spi_readwrite(MCP_WRITE);
  90 |     spi_readwrite(address);
  91 |     spi_readwrite(value);
  92 |     MCP2515_UNSELECT();
  93 |     SPI.endTransaction();
  94 | }
  95 | 
  96 | /*********************************************************************************************************
  97 | ** Function name:           mcp2515_setRegisterS
  98 | ** Descriptions:            Sets sucessive data registers
  99 | *********************************************************************************************************/
 100 | void MCP_CAN::mcp2515_setRegisterS(const INT8U address, const INT8U values[], const INT8U n)
 101 | {
 102 |     INT8U i;
 103 |     SPI.beginTransaction(SPISettings(10000000, MSBFIRST, SPI_MODE0));
 104 |     MCP2515_SELECT();
 105 |     spi_readwrite(MCP_WRITE);
 106 |     spi_readwrite(address);
 107 |        
 108 |     for (i=0; i<n; i++) 
 109 |         spi_readwrite(values[i]);
 110 | 	
 111 |     MCP2515_UNSELECT();
 112 |     SPI.endTransaction();
 113 | }
 114 | 
 115 | /*********************************************************************************************************
 116 | ** Function name:           mcp2515_modifyRegister
 117 | ** Descriptions:            Sets specific bits of a register
 118 | *********************************************************************************************************/
 119 | void MCP_CAN::mcp2515_modifyRegister(const INT8U address, const INT8U mask, const INT8U data)
 120 | {
 121 |     SPI.beginTransaction(SPISettings(10000000, MSBFIRST, SPI_MODE0));
 122 |     MCP2515_SELECT();
 123 |     spi_readwrite(MCP_BITMOD);
 124 |     spi_readwrite(address);
 125 |     spi_readwrite(mask);
 126 |     spi_readwrite(data);
 127 |     MCP2515_UNSELECT();
 128 |     SPI.endTransaction();
 129 | }
 130 | 
 131 | /*********************************************************************************************************
 132 | ** Function name:           mcp2515_readStatus
 133 | ** Descriptions:            Reads status register
 134 | *********************************************************************************************************/
 135 | INT8U MCP_CAN::mcp2515_readStatus(void)                             
 136 | {
 137 |     INT8U i;
 138 |     SPI.beginTransaction(SPISettings(10000000, MSBFIRST, SPI_MODE0));
 139 |     MCP2515_SELECT();
 140 |     spi_readwrite(MCP_READ_STATUS);
 141 |     i = spi_read();
 142 |     MCP2515_UNSELECT();
 143 |     SPI.endTransaction();
 144 |     return i;
 145 | }
 146 | 
 147 | /*********************************************************************************************************
 148 | ** Function name:           setMode
 149 | ** Descriptions:            Sets control mode
 150 | *********************************************************************************************************/
 151 | INT8U MCP_CAN::setMode(const INT8U opMode)
 152 | {
 153 |     mcpMode = opMode;
 154 |     return mcp2515_setCANCTRL_Mode(mcpMode);
 155 | }
 156 | 
 157 | /*********************************************************************************************************
 158 | ** Function name:           mcp2515_setCANCTRL_Mode
 159 | ** Descriptions:            Set control mode
 160 | *********************************************************************************************************/
 161 | INT8U MCP_CAN::mcp2515_setCANCTRL_Mode(const INT8U newmode)
 162 | {
 163 |     INT8U i;
 164 | 
 165 |     mcp2515_modifyRegister(MCP_CANCTRL, MODE_MASK, newmode);
 166 | 
 167 |     i = mcp2515_readRegister(MCP_CANCTRL);
 168 |     i &= MODE_MASK;
 169 | 
 170 |     if ( i == newmode ) 
 171 |         return MCP2515_OK;
 172 | 
 173 |     return MCP2515_FAIL;
 174 | }
 175 | 
 176 | /*********************************************************************************************************
 177 | ** Function name:           mcp2515_configRate
 178 | ** Descriptions:            Set baudrate
 179 | *********************************************************************************************************/
 180 | INT8U MCP_CAN::mcp2515_configRate(const INT8U canSpeed, const INT8U canClock)            
 181 | {
 182 |     INT8U set, cfg1, cfg2, cfg3;
 183 |     set = 1;
 184 |     switch (canClock)
 185 |     {
 186 |         case (MCP_8MHZ):
 187 |         switch (canSpeed) 
 188 |         {
 189 |             case (CAN_5KBPS):                                               //   5KBPS                  
 190 |             cfg1 = MCP_8MHz_5kBPS_CFG1;
 191 |             cfg2 = MCP_8MHz_5kBPS_CFG2;
 192 |             cfg3 = MCP_8MHz_5kBPS_CFG3;
 193 |             break;
 194 | 
 195 |             case (CAN_10KBPS):                                              //  10KBPS                  
 196 |             cfg1 = MCP_8MHz_10kBPS_CFG1;
 197 |             cfg2 = MCP_8MHz_10kBPS_CFG2;
 198 |             cfg3 = MCP_8MHz_10kBPS_CFG3;
 199 |             break;
 200 | 
 201 |             case (CAN_20KBPS):                                              //  20KBPS                  
 202 |             cfg1 = MCP_8MHz_20kBPS_CFG1;
 203 |             cfg2 = MCP_8MHz_20kBPS_CFG2;
 204 |             cfg3 = MCP_8MHz_20kBPS_CFG3;
 205 |             break;
 206 | 
 207 |             case (CAN_31K25BPS):                                            //  31.25KBPS                  
 208 |             cfg1 = MCP_8MHz_31k25BPS_CFG1;
 209 |             cfg2 = MCP_8MHz_31k25BPS_CFG2;
 210 |             cfg3 = MCP_8MHz_31k25BPS_CFG3;
 211 |             break;
 212 | 
 213 |             case (CAN_33K3BPS):                                             //  33.33KBPS                  
 214 |             cfg1 = MCP_8MHz_33k3BPS_CFG1;
 215 |             cfg2 = MCP_8MHz_33k3BPS_CFG2;
 216 |             cfg3 = MCP_8MHz_33k3BPS_CFG3;
 217 |             break;
 218 | 
 219 |             case (CAN_40KBPS):                                              //  40Kbps
 220 |             cfg1 = MCP_8MHz_40kBPS_CFG1;
 221 |             cfg2 = MCP_8MHz_40kBPS_CFG2;
 222 |             cfg3 = MCP_8MHz_40kBPS_CFG3;
 223 |             break;
 224 | 
 225 |             case (CAN_50KBPS):                                              //  50Kbps
 226 |             cfg1 = MCP_8MHz_50kBPS_CFG1;
 227 |             cfg2 = MCP_8MHz_50kBPS_CFG2;
 228 |             cfg3 = MCP_8MHz_50kBPS_CFG3;
 229 |             break;
 230 | 
 231 |             case (CAN_80KBPS):                                              //  80Kbps
 232 |             cfg1 = MCP_8MHz_80kBPS_CFG1;
 233 |             cfg2 = MCP_8MHz_80kBPS_CFG2;
 234 |             cfg3 = MCP_8MHz_80kBPS_CFG3;
 235 |             break;
 236 | 
 237 |             case (CAN_100KBPS):                                             // 100Kbps
 238 |             cfg1 = MCP_8MHz_100kBPS_CFG1;
 239 |             cfg2 = MCP_8MHz_100kBPS_CFG2;
 240 |             cfg3 = MCP_8MHz_100kBPS_CFG3;
 241 |             break;
 242 | 
 243 |             case (CAN_125KBPS):                                             // 125Kbps
 244 |             cfg1 = MCP_8MHz_125kBPS_CFG1;
 245 |             cfg2 = MCP_8MHz_125kBPS_CFG2;
 246 |             cfg3 = MCP_8MHz_125kBPS_CFG3;
 247 |             break;
 248 | 
 249 |             case (CAN_200KBPS):                                             // 200Kbps
 250 |             cfg1 = MCP_8MHz_200kBPS_CFG1;
 251 |             cfg2 = MCP_8MHz_200kBPS_CFG2;
 252 |             cfg3 = MCP_8MHz_200kBPS_CFG3;
 253 |             break;
 254 | 
 255 |             case (CAN_250KBPS):                                             // 250Kbps
 256 |             cfg1 = MCP_8MHz_250kBPS_CFG1;
 257 |             cfg2 = MCP_8MHz_250kBPS_CFG2;
 258 |             cfg3 = MCP_8MHz_250kBPS_CFG3;
 259 |             break;
 260 | 
 261 |             case (CAN_500KBPS):                                             // 500Kbps
 262 |             cfg1 = MCP_8MHz_500kBPS_CFG1;
 263 |             cfg2 = MCP_8MHz_500kBPS_CFG2;
 264 |             cfg3 = MCP_8MHz_500kBPS_CFG3;
 265 |             break;
 266 |         
 267 |             case (CAN_1000KBPS):                                            //   1Mbps
 268 |             cfg1 = MCP_8MHz_1000kBPS_CFG1;
 269 |             cfg2 = MCP_8MHz_1000kBPS_CFG2;
 270 |             cfg3 = MCP_8MHz_1000kBPS_CFG3;
 271 |             break;  
 272 | 
 273 |             default:
 274 |             set = 0;
 275 | 	    return MCP2515_FAIL;
 276 |             break;
 277 |         }
 278 |         break;
 279 | 
 280 |         case (MCP_16MHZ):
 281 |         switch (canSpeed) 
 282 |         {
 283 |             case (CAN_5KBPS):                                               //   5Kbps
 284 |             cfg1 = MCP_16MHz_5kBPS_CFG1;
 285 |             cfg2 = MCP_16MHz_5kBPS_CFG2;
 286 |             cfg3 = MCP_16MHz_5kBPS_CFG3;
 287 |             break;
 288 | 
 289 |             case (CAN_10KBPS):                                              //  10Kbps
 290 |             cfg1 = MCP_16MHz_10kBPS_CFG1;
 291 |             cfg2 = MCP_16MHz_10kBPS_CFG2;
 292 |             cfg3 = MCP_16MHz_10kBPS_CFG3;
 293 |             break;
 294 | 
 295 |             case (CAN_20KBPS):                                              //  20Kbps
 296 |             cfg1 = MCP_16MHz_20kBPS_CFG1;
 297 |             cfg2 = MCP_16MHz_20kBPS_CFG2;
 298 |             cfg3 = MCP_16MHz_20kBPS_CFG3;
 299 |             break;
 300 | 
 301 |             case (CAN_33K3BPS):                                              //  20Kbps
 302 |             cfg1 = MCP_16MHz_33k3BPS_CFG1;
 303 |             cfg2 = MCP_16MHz_33k3BPS_CFG2;
 304 |             cfg3 = MCP_16MHz_33k3BPS_CFG3;
 305 |             break;
 306 | 
 307 |             case (CAN_40KBPS):                                              //  40Kbps
 308 |             cfg1 = MCP_16MHz_40kBPS_CFG1;
 309 |             cfg2 = MCP_16MHz_40kBPS_CFG2;
 310 |             cfg3 = MCP_16MHz_40kBPS_CFG3;
 311 |             break;
 312 | 
 313 |             case (CAN_50KBPS):                                              //  50Kbps
 314 |             cfg2 = MCP_16MHz_50kBPS_CFG2;
 315 |             cfg3 = MCP_16MHz_50kBPS_CFG3;
 316 |             break;
 317 | 
 318 |             case (CAN_80KBPS):                                              //  80Kbps
 319 |             cfg1 = MCP_16MHz_80kBPS_CFG1;
 320 |             cfg2 = MCP_16MHz_80kBPS_CFG2;
 321 |             cfg3 = MCP_16MHz_80kBPS_CFG3;
 322 |             break;
 323 | 
 324 |             case (CAN_100KBPS):                                             // 100Kbps
 325 |             cfg1 = MCP_16MHz_100kBPS_CFG1;
 326 |             cfg2 = MCP_16MHz_100kBPS_CFG2;
 327 |             cfg3 = MCP_16MHz_100kBPS_CFG3;
 328 |             break;
 329 | 
 330 |             case (CAN_125KBPS):                                             // 125Kbps
 331 |             cfg1 = MCP_16MHz_125kBPS_CFG1;
 332 |             cfg2 = MCP_16MHz_125kBPS_CFG2;
 333 |             cfg3 = MCP_16MHz_125kBPS_CFG3;
 334 |             break;
 335 | 
 336 |             case (CAN_200KBPS):                                             // 200Kbps
 337 |             cfg1 = MCP_16MHz_200kBPS_CFG1;
 338 |             cfg2 = MCP_16MHz_200kBPS_CFG2;
 339 |             cfg3 = MCP_16MHz_200kBPS_CFG3;
 340 |             break;
 341 | 
 342 |             case (CAN_250KBPS):                                             // 250Kbps
 343 |             cfg1 = MCP_16MHz_250kBPS_CFG1;
 344 |             cfg2 = MCP_16MHz_250kBPS_CFG2;
 345 |             cfg3 = MCP_16MHz_250kBPS_CFG3;
 346 |             break;
 347 | 
 348 |             case (CAN_500KBPS):                                             // 500Kbps
 349 |             cfg1 = MCP_16MHz_500kBPS_CFG1;
 350 |             cfg2 = MCP_16MHz_500kBPS_CFG2;
 351 |             cfg3 = MCP_16MHz_500kBPS_CFG3;
 352 |             break;
 353 |         
 354 |             case (CAN_1000KBPS):                                            //   1Mbps
 355 |             cfg1 = MCP_16MHz_1000kBPS_CFG1;
 356 |             cfg2 = MCP_16MHz_1000kBPS_CFG2;
 357 |             cfg3 = MCP_16MHz_1000kBPS_CFG3;
 358 |             break;  
 359 | 
 360 |             default:
 361 |             set = 0;
 362 | 	    return MCP2515_FAIL;
 363 |             break;
 364 |         }
 365 |         break;
 366 |         
 367 |         case (MCP_20MHZ):
 368 |         switch (canSpeed) 
 369 |         {
 370 |             case (CAN_40KBPS):                                              //  40Kbps
 371 |             cfg1 = MCP_20MHz_40kBPS_CFG1;
 372 |             cfg2 = MCP_20MHz_40kBPS_CFG2;
 373 |             cfg3 = MCP_20MHz_40kBPS_CFG3;
 374 |             break;
 375 | 
 376 |             case (CAN_50KBPS):                                              //  50Kbps
 377 |             cfg1 = MCP_20MHz_50kBPS_CFG1;
 378 |             cfg2 = MCP_20MHz_50kBPS_CFG2;
 379 |             cfg3 = MCP_20MHz_50kBPS_CFG3;
 380 |             break;
 381 | 
 382 |             case (CAN_80KBPS):                                              //  80Kbps
 383 |             cfg1 = MCP_20MHz_80kBPS_CFG1;
 384 |             cfg2 = MCP_20MHz_80kBPS_CFG2;
 385 |             cfg3 = MCP_20MHz_80kBPS_CFG3;
 386 |             break;
 387 | 
 388 |             case (CAN_100KBPS):                                             // 100Kbps
 389 |             cfg1 = MCP_20MHz_100kBPS_CFG1;
 390 |             cfg2 = MCP_20MHz_100kBPS_CFG2;
 391 |             cfg3 = MCP_20MHz_100kBPS_CFG3;
 392 |             break;
 393 | 
 394 |             case (CAN_125KBPS):                                             // 125Kbps
 395 |             cfg1 = MCP_20MHz_125kBPS_CFG1;
 396 |             cfg2 = MCP_20MHz_125kBPS_CFG2;
 397 |             cfg3 = MCP_20MHz_125kBPS_CFG3;
 398 |             break;
 399 | 
 400 |             case (CAN_200KBPS):                                             // 200Kbps
 401 |             cfg1 = MCP_20MHz_200kBPS_CFG1;
 402 |             cfg2 = MCP_20MHz_200kBPS_CFG2;
 403 |             cfg3 = MCP_20MHz_200kBPS_CFG3;
 404 |             break;
 405 | 
 406 |             case (CAN_250KBPS):                                             // 250Kbps
 407 |             cfg1 = MCP_20MHz_250kBPS_CFG1;
 408 |             cfg2 = MCP_20MHz_250kBPS_CFG2;
 409 |             cfg3 = MCP_20MHz_250kBPS_CFG3;
 410 |             break;
 411 | 
 412 |             case (CAN_500KBPS):                                             // 500Kbps
 413 |             cfg1 = MCP_20MHz_500kBPS_CFG1;
 414 |             cfg2 = MCP_20MHz_500kBPS_CFG2;
 415 |             cfg3 = MCP_20MHz_500kBPS_CFG3;
 416 |             break;
 417 |         
 418 |             case (CAN_1000KBPS):                                            //   1Mbps
 419 |             cfg1 = MCP_20MHz_1000kBPS_CFG1;
 420 |             cfg2 = MCP_20MHz_1000kBPS_CFG2;
 421 |             cfg3 = MCP_20MHz_1000kBPS_CFG3;
 422 |             break;  
 423 | 
 424 |             default:
 425 |             set = 0;
 426 |             return MCP2515_FAIL;
 427 |             break;
 428 |         }
 429 |         break;
 430 |         
 431 |         default:
 432 |         set = 0;
 433 | 	return MCP2515_FAIL;
 434 |         break;
 435 |     }
 436 | 
 437 |     if (set) {
 438 |         mcp2515_setRegister(MCP_CNF1, cfg1);
 439 |         mcp2515_setRegister(MCP_CNF2, cfg2);
 440 |         mcp2515_setRegister(MCP_CNF3, cfg3);
 441 |         return MCP2515_OK;
 442 |     }
 443 |      
 444 |     return MCP2515_FAIL;
 445 | }
 446 | 
 447 | /*********************************************************************************************************
 448 | ** Function name:           mcp2515_initCANBuffers
 449 | ** Descriptions:            Initialize Buffers, Masks, and Filters
 450 | *********************************************************************************************************/
 451 | void MCP_CAN::mcp2515_initCANBuffers(void)
 452 | {
 453 |     INT8U i, a1, a2, a3;
 454 |     
 455 |     INT8U std = 0;               
 456 |     INT8U ext = 1;
 457 |     INT32U ulMask = 0x00, ulFilt = 0x00;
 458 | 
 459 | 
 460 |     mcp2515_write_mf(MCP_RXM0SIDH, ext, ulMask);			/*Set both masks to 0           */
 461 |     mcp2515_write_mf(MCP_RXM1SIDH, ext, ulMask);			/*Mask register ignores ext bit */
 462 |     
 463 |                                                                         /* Set all filters to 0         */
 464 |     mcp2515_write_mf(MCP_RXF0SIDH, ext, ulFilt);			/* RXB0: extended               */
 465 |     mcp2515_write_mf(MCP_RXF1SIDH, std, ulFilt);			/* RXB1: standard               */
 466 |     mcp2515_write_mf(MCP_RXF2SIDH, ext, ulFilt);			/* RXB2: extended               */
 467 |     mcp2515_write_mf(MCP_RXF3SIDH, std, ulFilt);			/* RXB3: standard               */
 468 |     mcp2515_write_mf(MCP_RXF4SIDH, ext, ulFilt);
 469 |     mcp2515_write_mf(MCP_RXF5SIDH, std, ulFilt);
 470 | 
 471 |                                                                         /* Clear, deactivate the three  */
 472 |                                                                         /* transmit buffers             */
 473 |                                                                         /* TXBnCTRL -> TXBnD7           */
 474 |     a1 = MCP_TXB0CTRL;
 475 |     a2 = MCP_TXB1CTRL;
 476 |     a3 = MCP_TXB2CTRL;
 477 |     for (i = 0; i < 14; i++) {                                          /* in-buffer loop               */
 478 |         mcp2515_setRegister(a1, 0);
 479 |         mcp2515_setRegister(a2, 0);
 480 |         mcp2515_setRegister(a3, 0);
 481 |         a1++;
 482 |         a2++;
 483 |         a3++;
 484 |     }
 485 |     mcp2515_setRegister(MCP_RXB0CTRL, 0);
 486 |     mcp2515_setRegister(MCP_RXB1CTRL, 0);
 487 | }
 488 | 
 489 | /*********************************************************************************************************
 490 | ** Function name:           mcp2515_init
 491 | ** Descriptions:            Initialize the controller
 492 | *********************************************************************************************************/
 493 | INT8U MCP_CAN::mcp2515_init(const INT8U canIDMode, const INT8U canSpeed, const INT8U canClock)
 494 | {
 495 | 
 496 |   INT8U res;
 497 | 
 498 |     mcp2515_reset();
 499 |     
 500 |     mcpMode = MCP_LOOPBACK;
 501 | 
 502 |     res = mcp2515_setCANCTRL_Mode(MODE_CONFIG);
 503 |     if(res > 0)
 504 |     {
 505 | #if DEBUG_MODE
 506 |       Serial.print("Entering Configuration Mode Failure...\r\n"); 
 507 | #endif
 508 |       return res;
 509 |     }
 510 | #if DEBUG_MODE
 511 |     Serial.print("Entering Configuration Mode Successful!\r\n");
 512 | #endif
 513 | 
 514 |     // Set Baudrate
 515 |     if(mcp2515_configRate(canSpeed, canClock))
 516 |     {
 517 | #if DEBUG_MODE
 518 |       Serial.print("Setting Baudrate Failure...\r\n");
 519 | #endif
 520 |       return res;
 521 |     }
 522 | #if DEBUG_MODE
 523 |     Serial.print("Setting Baudrate Successful!\r\n");
 524 | #endif
 525 | 
 526 |     if ( res == MCP2515_OK ) {
 527 | 
 528 |                                                                         /* init canbuffers              */
 529 |         mcp2515_initCANBuffers();
 530 | 
 531 |                                                                         /* interrupt mode               */
 532 |         mcp2515_setRegister(MCP_CANINTE, MCP_RX0IF | MCP_RX1IF);
 533 | 
 534 | 	//Sets BF pins as GPO
 535 | 	mcp2515_setRegister(MCP_BFPCTRL,MCP_BxBFS_MASK | MCP_BxBFE_MASK);
 536 | 	//Sets RTS pins as GPI
 537 | 	mcp2515_setRegister(MCP_TXRTSCTRL,0x00);
 538 | 
 539 |         switch(canIDMode)
 540 |         {
 541 |             case (MCP_ANY):
 542 |             mcp2515_modifyRegister(MCP_RXB0CTRL,
 543 |             MCP_RXB_RX_MASK | MCP_RXB_BUKT_MASK,
 544 |             MCP_RXB_RX_ANY | MCP_RXB_BUKT_MASK);
 545 |             mcp2515_modifyRegister(MCP_RXB1CTRL, MCP_RXB_RX_MASK,
 546 |             MCP_RXB_RX_ANY);
 547 |             break;
 548 | /*          The followingn two functions of the MCP2515 do not work, there is a bug in the silicon.
 549 |             case (MCP_STD): 
 550 |             mcp2515_modifyRegister(MCP_RXB0CTRL,
 551 |             MCP_RXB_RX_MASK | MCP_RXB_BUKT_MASK,
 552 |             MCP_RXB_RX_STD | MCP_RXB_BUKT_MASK );
 553 |             mcp2515_modifyRegister(MCP_RXB1CTRL, MCP_RXB_RX_MASK,
 554 |             MCP_RXB_RX_STD);
 555 |             break;
 556 | 
 557 |             case (MCP_EXT): 
 558 |             mcp2515_modifyRegister(MCP_RXB0CTRL,
 559 |             MCP_RXB_RX_MASK | MCP_RXB_BUKT_MASK,
 560 |             MCP_RXB_RX_EXT | MCP_RXB_BUKT_MASK );
 561 |             mcp2515_modifyRegister(MCP_RXB1CTRL, MCP_RXB_RX_MASK,
 562 |             MCP_RXB_RX_EXT);
 563 |             break;
 564 | */
 565 |             case (MCP_STDEXT): 
 566 |             mcp2515_modifyRegister(MCP_RXB0CTRL,
 567 |             MCP_RXB_RX_MASK | MCP_RXB_BUKT_MASK,
 568 |             MCP_RXB_RX_STDEXT | MCP_RXB_BUKT_MASK );
 569 |             mcp2515_modifyRegister(MCP_RXB1CTRL, MCP_RXB_RX_MASK,
 570 |             MCP_RXB_RX_STDEXT);
 571 |             break;
 572 |     
 573 |             default:
 574 | #if DEBUG_MODE        
 575 |             Serial.print("`Setting ID Mode Failure...\r\n");
 576 | #endif           
 577 |             return MCP2515_FAIL;
 578 |             break;
 579 | }    
 580 | 
 581 | 
 582 |         res = mcp2515_setCANCTRL_Mode(mcpMode);                                                                
 583 |         if(res)
 584 |         {
 585 | #if DEBUG_MODE        
 586 |           Serial.print("Returning to Previous Mode Failure...\r\n");
 587 | #endif           
 588 |           return res;
 589 |         }
 590 | 
 591 |     }
 592 |     return res;
 593 | 
 594 | }
 595 | 
 596 | /*********************************************************************************************************
 597 | ** Function name:           mcp2515_write_id
 598 | ** Descriptions:            Write CAN ID
 599 | *********************************************************************************************************/
 600 | void MCP_CAN::mcp2515_write_id( const INT8U mcp_addr, const INT8U ext, const INT32U id )
 601 | {
 602 |     uint16_t canid;
 603 |     INT8U tbufdata[4];
 604 | 
 605 |     canid = (uint16_t)(id & 0x0FFFF);
 606 | 
 607 |     if ( ext == 1) 
 608 |     {
 609 |         tbufdata[MCP_EID0] = (INT8U) (canid & 0xFF);
 610 |         tbufdata[MCP_EID8] = (INT8U) (canid >> 8);
 611 |         canid = (uint16_t)(id >> 16);
 612 |         tbufdata[MCP_SIDL] = (INT8U) (canid & 0x03);
 613 |         tbufdata[MCP_SIDL] += (INT8U) ((canid & 0x1C) << 3);
 614 |         tbufdata[MCP_SIDL] |= MCP_TXB_EXIDE_M;
 615 |         tbufdata[MCP_SIDH] = (INT8U) (canid >> 5 );
 616 |     }
 617 |     else 
 618 |     {
 619 |         tbufdata[MCP_SIDH] = (INT8U) (canid >> 3 );
 620 |         tbufdata[MCP_SIDL] = (INT8U) ((canid & 0x07 ) << 5);
 621 |         tbufdata[MCP_EID0] = 0;
 622 |         tbufdata[MCP_EID8] = 0;
 623 |     }
 624 |     
 625 |     mcp2515_setRegisterS( mcp_addr, tbufdata, 4 );
 626 | }
 627 | 
 628 | /*********************************************************************************************************
 629 | ** Function name:           mcp2515_write_mf
 630 | ** Descriptions:            Write Masks and Filters
 631 | *********************************************************************************************************/
 632 | void MCP_CAN::mcp2515_write_mf( const INT8U mcp_addr, const INT8U ext, const INT32U id )
 633 | {
 634 |     uint16_t canid;
 635 |     INT8U tbufdata[4];
 636 | 
 637 |     canid = (uint16_t)(id & 0x0FFFF);
 638 | 
 639 |     if ( ext == 1) 
 640 |     {
 641 |         tbufdata[MCP_EID0] = (INT8U) (canid & 0xFF);
 642 |         tbufdata[MCP_EID8] = (INT8U) (canid >> 8);
 643 |         canid = (uint16_t)(id >> 16);
 644 |         tbufdata[MCP_SIDL] = (INT8U) (canid & 0x03);
 645 |         tbufdata[MCP_SIDL] += (INT8U) ((canid & 0x1C) << 3);
 646 |         tbufdata[MCP_SIDL] |= MCP_TXB_EXIDE_M;
 647 |         tbufdata[MCP_SIDH] = (INT8U) (canid >> 5 );
 648 |     }
 649 |     else 
 650 |     {
 651 |         tbufdata[MCP_EID0] = (INT8U) (canid & 0xFF);
 652 |         tbufdata[MCP_EID8] = (INT8U) (canid >> 8);
 653 |         canid = (uint16_t)(id >> 16);
 654 |         tbufdata[MCP_SIDL] = (INT8U) ((canid & 0x07) << 5);
 655 |         tbufdata[MCP_SIDH] = (INT8U) (canid >> 3 );
 656 |     }
 657 |     
 658 |     mcp2515_setRegisterS( mcp_addr, tbufdata, 4 );
 659 | }
 660 | 
 661 | /*********************************************************************************************************
 662 | ** Function name:           mcp2515_read_id
 663 | ** Descriptions:            Read CAN ID
 664 | *********************************************************************************************************/
 665 | void MCP_CAN::mcp2515_read_id( const INT8U mcp_addr, INT8U* ext, INT32U* id )
 666 | {
 667 |     INT8U tbufdata[4];
 668 | 
 669 |     *ext = 0;
 670 |     *id = 0;
 671 | 
 672 |     mcp2515_readRegisterS( mcp_addr, tbufdata, 4 );
 673 | 
 674 |     *id = (tbufdata[MCP_SIDH]<<3) + (tbufdata[MCP_SIDL]>>5);
 675 | 
 676 |     if ( (tbufdata[MCP_SIDL] & MCP_TXB_EXIDE_M) ==  MCP_TXB_EXIDE_M ) 
 677 |     {
 678 |                                                                         /* extended id                  */
 679 |         *id = (*id<<2) + (tbufdata[MCP_SIDL] & 0x03);
 680 |         *id = (*id<<8) + tbufdata[MCP_EID8];
 681 |         *id = (*id<<8) + tbufdata[MCP_EID0];
 682 |         *ext = 1;
 683 |     }
 684 | }
 685 | 
 686 | /*********************************************************************************************************
 687 | ** Function name:           mcp2515_write_canMsg
 688 | ** Descriptions:            Write message
 689 | *********************************************************************************************************/
 690 | void MCP_CAN::mcp2515_write_canMsg( const INT8U buffer_sidh_addr)
 691 | {
 692 |     INT8U mcp_addr;
 693 |     mcp_addr = buffer_sidh_addr;
 694 |     mcp2515_setRegisterS(mcp_addr+5, m_nDta, m_nDlc );                  /* write data bytes             */
 695 | 	
 696 |     if ( m_nRtr == 1)                                                   /* if RTR set bit in byte       */
 697 |         m_nDlc |= MCP_RTR_MASK;  
 698 | 
 699 |     mcp2515_setRegister((mcp_addr+4), m_nDlc );                         /* write the RTR and DLC        */
 700 |     mcp2515_write_id(mcp_addr, m_nExtFlg, m_nID );                      /* write CAN id                 */
 701 | 
 702 | }
 703 | 
 704 | /*********************************************************************************************************
 705 | ** Function name:           mcp2515_read_canMsg
 706 | ** Descriptions:            Read message
 707 | *********************************************************************************************************/
 708 | void MCP_CAN::mcp2515_read_canMsg( const INT8U buffer_sidh_addr)        /* read can msg                 */
 709 | {
 710 |     INT8U mcp_addr, ctrl;
 711 | 
 712 |     mcp_addr = buffer_sidh_addr;
 713 | 
 714 |     mcp2515_read_id( mcp_addr, &m_nExtFlg,&m_nID );
 715 | 
 716 |     ctrl = mcp2515_readRegister( mcp_addr-1 );
 717 |     m_nDlc = mcp2515_readRegister( mcp_addr+4 );
 718 | 
 719 |     if (ctrl & 0x08)
 720 |         m_nRtr = 1;
 721 |     else
 722 |         m_nRtr = 0;
 723 | 
 724 |     m_nDlc &= MCP_DLC_MASK;
 725 |     mcp2515_readRegisterS( mcp_addr+5, &(m_nDta[0]), m_nDlc );
 726 | }
 727 | 
 728 | /*********************************************************************************************************
 729 | ** Function name:           mcp2515_getNextFreeTXBuf
 730 | ** Descriptions:            Send message
 731 | *********************************************************************************************************/
 732 | INT8U MCP_CAN::mcp2515_getNextFreeTXBuf(INT8U *txbuf_n)                 /* get Next free txbuf          */
 733 | {
 734 |     INT8U res, i, ctrlval;
 735 |     INT8U ctrlregs[MCP_N_TXBUFFERS] = { MCP_TXB0CTRL, MCP_TXB1CTRL, MCP_TXB2CTRL };
 736 | 
 737 |     res = MCP_ALLTXBUSY;
 738 |     *txbuf_n = 0x00;
 739 | 
 740 |                                                                         /* check all 3 TX-Buffers       */
 741 |     for (i=0; i<MCP_N_TXBUFFERS; i++) {
 742 |         ctrlval = mcp2515_readRegister( ctrlregs[i] );
 743 |         if ( (ctrlval & MCP_TXB_TXREQ_M) == 0 ) {
 744 |             *txbuf_n = ctrlregs[i]+1;                                   /* return SIDH-address of Buffer*/
 745 |             
 746 |             res = MCP2515_OK;
 747 |             return res;                                                 /* ! function exit              */
 748 |         }
 749 |     }
 750 |     return res;
 751 | }
 752 | 
 753 | /*********************************************************************************************************
 754 | ** Function name:           MCP_CAN
 755 | ** Descriptions:            Public function to declare CAN class and the /CS pin.
 756 | *********************************************************************************************************/
 757 | MCP_CAN::MCP_CAN(INT8U _CS)
 758 | {
 759 |     MCPCS = _CS;
 760 |     MCP2515_UNSELECT();
 761 |     pinMode(MCPCS, OUTPUT);
 762 | }
 763 | 
 764 | /*********************************************************************************************************
 765 | ** Function name:           begin
 766 | ** Descriptions:            Public function to declare controller initialization parameters.
 767 | *********************************************************************************************************/
 768 | INT8U MCP_CAN::begin(INT8U idmodeset, INT8U speedset, INT8U clockset)
 769 | {
 770 |     INT8U res;
 771 | 
 772 |     SPI.begin();
 773 |     res = mcp2515_init(idmodeset, speedset, clockset);
 774 |     if (res == MCP2515_OK)
 775 |         return CAN_OK;
 776 |     
 777 |     return CAN_FAILINIT;
 778 | }
 779 | 
 780 | /*********************************************************************************************************
 781 | ** Function name:           init_Mask
 782 | ** Descriptions:            Public function to set mask(s).
 783 | *********************************************************************************************************/
 784 | INT8U MCP_CAN::init_Mask(INT8U num, INT8U ext, INT32U ulData)
 785 | {
 786 |     INT8U res = MCP2515_OK;
 787 | #if DEBUG_MODE
 788 |     Serial.print("Starting to Set Mask!\r\n");
 789 | #endif
 790 |     res = mcp2515_setCANCTRL_Mode(MODE_CONFIG);
 791 |     if(res > 0){
 792 | #if DEBUG_MODE
 793 | 	Serial.print("Entering Configuration Mode Failure...\r\n"); 
 794 | #endif
 795 | 	return res;
 796 |      }
 797 |     
 798 |     if (num == 0){
 799 |         mcp2515_write_mf(MCP_RXM0SIDH, ext, ulData);
 800 | 
 801 |     }
 802 |     else if(num == 1){
 803 |         mcp2515_write_mf(MCP_RXM1SIDH, ext, ulData);
 804 |     }
 805 |     else res =  MCP2515_FAIL;
 806 |     
 807 |     res = mcp2515_setCANCTRL_Mode(mcpMode);
 808 |     if(res > 0){
 809 | #if DEBUG_MODE
 810 | 	Serial.print("Entering Previous Mode Failure...\r\nSetting Mask Failure...\r\n"); 
 811 | #endif
 812 | 	return res;
 813 |     }
 814 | #if DEBUG_MODE
 815 |     Serial.print("Setting Mask Successful!\r\n");
 816 | #endif
 817 |     return res;
 818 | }
 819 | 
 820 | /*********************************************************************************************************
 821 | ** Function name:           init_Mask
 822 | ** Descriptions:            Public function to set mask(s).
 823 | *********************************************************************************************************/
 824 | INT8U MCP_CAN::init_Mask(INT8U num, INT32U ulData)
 825 | {
 826 |     INT8U res = MCP2515_OK;
 827 |     INT8U ext = 0;
 828 | #if DEBUG_MODE
 829 |     Serial.print("Starting to Set Mask!\r\n");
 830 | #endif
 831 |     res = mcp2515_setCANCTRL_Mode(MODE_CONFIG);
 832 |     if(res > 0){
 833 | #if DEBUG_MODE
 834 |     Serial.print("Entering Configuration Mode Failure...\r\n"); 
 835 | #endif
 836 |   return res;
 837 | }
 838 |     
 839 |     if((num & 0x80000000) == 0x80000000)
 840 |         ext = 1;
 841 |     
 842 |     if (num == 0){
 843 |         mcp2515_write_mf(MCP_RXM0SIDH, ext, ulData);
 844 | 
 845 |     }
 846 |     else if(num == 1){
 847 |         mcp2515_write_mf(MCP_RXM1SIDH, ext, ulData);
 848 |     }
 849 |     else res =  MCP2515_FAIL;
 850 |     
 851 |     res = mcp2515_setCANCTRL_Mode(mcpMode);
 852 |     if(res > 0){
 853 | #if DEBUG_MODE
 854 |     Serial.print("Entering Previous Mode Failure...\r\nSetting Mask Failure...\r\n"); 
 855 | #endif
 856 |     return res;
 857 |   }
 858 | #if DEBUG_MODE
 859 |     Serial.print("Setting Mask Successful!\r\n");
 860 | #endif
 861 |     return res;
 862 | }
 863 | 
 864 | /*********************************************************************************************************
 865 | ** Function name:           init_Filt
 866 | ** Descriptions:            Public function to set filter(s).
 867 | *********************************************************************************************************/
 868 | INT8U MCP_CAN::init_Filt(INT8U num, INT8U ext, INT32U ulData)
 869 | {
 870 |     INT8U res = MCP2515_OK;
 871 | #if DEBUG_MODE
 872 |     Serial.print("Starting to Set Filter!\r\n");
 873 | #endif
 874 |     res = mcp2515_setCANCTRL_Mode(MODE_CONFIG);
 875 |     if(res > 0)
 876 |     {
 877 | #if DEBUG_MODE
 878 |       Serial.print("Enter Configuration Mode Failure...\r\n"); 
 879 | #endif
 880 |       return res;
 881 |     }
 882 |     
 883 |     switch( num )
 884 |     {
 885 |         case 0:
 886 |         mcp2515_write_mf(MCP_RXF0SIDH, ext, ulData);
 887 |         break;
 888 | 
 889 |         case 1:
 890 |         mcp2515_write_mf(MCP_RXF1SIDH, ext, ulData);
 891 |         break;
 892 | 
 893 |         case 2:
 894 |         mcp2515_write_mf(MCP_RXF2SIDH, ext, ulData);
 895 |         break;
 896 | 
 897 |         case 3:
 898 |         mcp2515_write_mf(MCP_RXF3SIDH, ext, ulData);
 899 |         break;
 900 | 
 901 |         case 4:
 902 |         mcp2515_write_mf(MCP_RXF4SIDH, ext, ulData);
 903 |         break;
 904 | 
 905 |         case 5:
 906 |         mcp2515_write_mf(MCP_RXF5SIDH, ext, ulData);
 907 |         break;
 908 | 
 909 |         default:
 910 |         res = MCP2515_FAIL;
 911 |     }
 912 |     
 913 |     res = mcp2515_setCANCTRL_Mode(mcpMode);
 914 |     if(res > 0)
 915 |     {
 916 | #if DEBUG_MODE
 917 |       Serial.print("Entering Previous Mode Failure...\r\nSetting Filter Failure...\r\n"); 
 918 | #endif
 919 |       return res;
 920 |     }
 921 | #if DEBUG_MODE
 922 |     Serial.print("Setting Filter Successfull!\r\n");
 923 | #endif
 924 |     
 925 |     return res;
 926 | }
 927 | 
 928 | /*********************************************************************************************************
 929 | ** Function name:           init_Filt
 930 | ** Descriptions:            Public function to set filter(s).
 931 | *********************************************************************************************************/
 932 | INT8U MCP_CAN::init_Filt(INT8U num, INT32U ulData)
 933 | {
 934 |     INT8U res = MCP2515_OK;
 935 |     INT8U ext = 0;
 936 |     
 937 | #if DEBUG_MODE
 938 |     Serial.print("Starting to Set Filter!\r\n");
 939 | #endif
 940 |     res = mcp2515_setCANCTRL_Mode(MODE_CONFIG);
 941 |     if(res > 0)
 942 |     {
 943 | #if DEBUG_MODE
 944 |       Serial.print("Enter Configuration Mode Failure...\r\n"); 
 945 | #endif
 946 |       return res;
 947 |     }
 948 |     
 949 |     if((num & 0x80000000) == 0x80000000)
 950 |         ext = 1;
 951 |     
 952 |     switch( num )
 953 |     {
 954 |         case 0:
 955 |         mcp2515_write_mf(MCP_RXF0SIDH, ext, ulData);
 956 |         break;
 957 | 
 958 |         case 1:
 959 |         mcp2515_write_mf(MCP_RXF1SIDH, ext, ulData);
 960 |         break;
 961 | 
 962 |         case 2:
 963 |         mcp2515_write_mf(MCP_RXF2SIDH, ext, ulData);
 964 |         break;
 965 | 
 966 |         case 3:
 967 |         mcp2515_write_mf(MCP_RXF3SIDH, ext, ulData);
 968 |         break;
 969 | 
 970 |         case 4:
 971 |         mcp2515_write_mf(MCP_RXF4SIDH, ext, ulData);
 972 |         break;
 973 | 
 974 |         case 5:
 975 |         mcp2515_write_mf(MCP_RXF5SIDH, ext, ulData);
 976 |         break;
 977 | 
 978 |         default:
 979 |         res = MCP2515_FAIL;
 980 |     }
 981 |     
 982 |     res = mcp2515_setCANCTRL_Mode(mcpMode);
 983 |     if(res > 0)
 984 |     {
 985 | #if DEBUG_MODE
 986 |       Serial.print("Entering Previous Mode Failure...\r\nSetting Filter Failure...\r\n"); 
 987 | #endif
 988 |       return res;
 989 |     }
 990 | #if DEBUG_MODE
 991 |     Serial.print("Setting Filter Successfull!\r\n");
 992 | #endif
 993 |     
 994 |     return res;
 995 | }
 996 | 
 997 | /*********************************************************************************************************
 998 | ** Function name:           setMsg
 999 | ** Descriptions:            Set can message, such as dlc, id, dta[] and so on
1000 | *********************************************************************************************************/
1001 | INT8U MCP_CAN::setMsg(INT32U id, INT8U rtr, INT8U ext, INT8U len, const INT8U *pData)
1002 | {
1003 |     int i = 0;
1004 |     m_nID     = id;
1005 |     m_nRtr    = rtr;
1006 |     m_nExtFlg = ext;
1007 |     m_nDlc    = len;
1008 |     for(i = 0; i<MAX_CHAR_IN_MESSAGE; i++)
1009 |         m_nDta[i] = *(pData+i);
1010 | 	
1011 |     return MCP2515_OK;
1012 | }
1013 | 
1014 | /*********************************************************************************************************
1015 | ** Function name:           clearMsg
1016 | ** Descriptions:            Set all messages to zero
1017 | *********************************************************************************************************/
1018 | INT8U MCP_CAN::clearMsg()
1019 | {
1020 |     m_nID       = 0;
1021 |     m_nDlc      = 0;
1022 |     m_nExtFlg   = 0;
1023 |     m_nRtr      = 0;
1024 |     m_nfilhit   = 0;
1025 |     for(int i = 0; i<m_nDlc; i++ )
1026 |       m_nDta[i] = 0x00;
1027 | 
1028 |     return MCP2515_OK;
1029 | }
1030 | 
1031 | /*********************************************************************************************************
1032 | ** Function name:           sendMsg
1033 | ** Descriptions:            Send message
1034 | *********************************************************************************************************/
1035 | INT8U MCP_CAN::sendMsg()
1036 | {
1037 |     INT8U res, res1, txbuf_n;
1038 |     uint16_t uiTimeOut = 0;
1039 | 
1040 |     do {
1041 |         res = mcp2515_getNextFreeTXBuf(&txbuf_n);                       /* info = addr.                 */
1042 |         uiTimeOut++;
1043 |     } while (res == MCP_ALLTXBUSY && (uiTimeOut < TIMEOUTVALUE));
1044 | 
1045 |     if(uiTimeOut == TIMEOUTVALUE) 
1046 |     {   
1047 |         return CAN_GETTXBFTIMEOUT;                                      /* get tx buff time out         */
1048 |     }
1049 |     uiTimeOut = 0;
1050 |     mcp2515_write_canMsg( txbuf_n);
1051 |     mcp2515_modifyRegister( txbuf_n-1 , MCP_TXB_TXREQ_M, MCP_TXB_TXREQ_M );
1052 |     
1053 |     do
1054 |     {
1055 |         uiTimeOut++;        
1056 |         res1 = mcp2515_readRegister(txbuf_n-1);                         /* read send buff ctrl reg 	*/
1057 |         res1 = res1 & 0x08;                               		
1058 |     } while (res1 && (uiTimeOut < TIMEOUTVALUE));   
1059 |     
1060 |     if(uiTimeOut == TIMEOUTVALUE)                                       /* send msg timeout             */	
1061 |         return CAN_SENDMSGTIMEOUT;
1062 |     
1063 |     return CAN_OK;
1064 | }
1065 | 
1066 | /*********************************************************************************************************
1067 | ** Function name:           sendMsgBuf
1068 | ** Descriptions:            Send message to transmitt buffer
1069 | *********************************************************************************************************/
1070 | INT8U MCP_CAN::sendMsgBuf(INT32U id, INT8U ext, INT8U len, const INT8U *buf)
1071 | {
1072 |     INT8U res;
1073 | 	
1074 |     setMsg(id, 0, ext, len, buf);
1075 |     res = sendMsg();
1076 |     
1077 |     return res;
1078 | }
1079 | 
1080 | /*********************************************************************************************************
1081 | ** Function name:           sendMsgBuf
1082 | ** Descriptions:            Send message to transmitt buffer
1083 | *********************************************************************************************************/
1084 | INT8U MCP_CAN::sendMsgBuf(INT32U id, INT8U len, const INT8U *buf)
1085 | {
1086 |     INT8U ext = 0, rtr = 0;
1087 |     INT8U res;
1088 |     
1089 |     if((id & 0x80000000) == 0x80000000)
1090 |         ext = 1;
1091 |  
1092 |     if((id & 0x40000000) == 0x40000000)
1093 |         rtr = 1;
1094 |         
1095 |     setMsg(id, rtr, ext, len, buf);
1096 |     res = sendMsg();
1097 |     
1098 |     return res;
1099 | }
1100 | 
1101 | /*********************************************************************************************************
1102 | ** Function name:           readMsg
1103 | ** Descriptions:            Read message
1104 | *********************************************************************************************************/
1105 | INT8U MCP_CAN::readMsg()
1106 | {
1107 |     INT8U stat, res;
1108 | 
1109 |     stat = mcp2515_readStatus();
1110 | 
1111 |     if ( stat & MCP_STAT_RX0IF )                                        /* Msg in Buffer 0              */
1112 |     {
1113 |         mcp2515_read_canMsg( MCP_RXBUF_0);
1114 |         mcp2515_modifyRegister(MCP_CANINTF, MCP_RX0IF, 0);
1115 |         res = CAN_OK;
1116 |     }
1117 |     else if ( stat & MCP_STAT_RX1IF )                                   /* Msg in Buffer 1              */
1118 |     {
1119 |         mcp2515_read_canMsg( MCP_RXBUF_1);
1120 |         mcp2515_modifyRegister(MCP_CANINTF, MCP_RX1IF, 0);
1121 |         res = CAN_OK;
1122 |     }
1123 |     else 
1124 |         res = CAN_NOMSG;
1125 |     
1126 |     return res;
1127 | }
1128 | 
1129 | /*********************************************************************************************************
1130 | ** Function name:           readMsgBuf
1131 | ** Descriptions:            Public function, Reads message from receive buffer.
1132 | *********************************************************************************************************/
1133 | INT8U MCP_CAN::readMsgBuf(INT32U *id, INT8U *ext, INT8U *len, INT8U buf[])
1134 | {
1135 |     if(readMsg() == CAN_NOMSG)
1136 | 	return CAN_NOMSG;
1137 | 	
1138 |     *id  = m_nID;
1139 |     *len = m_nDlc;
1140 |     *ext = m_nExtFlg;
1141 |     for(int i = 0; i<m_nDlc; i++)
1142 |         buf[i] = m_nDta[i];
1143 | 
1144 |     return CAN_OK;
1145 | }
1146 | 
1147 | /*********************************************************************************************************
1148 | ** Function name:           readMsgBuf
1149 | ** Descriptions:            Public function, Reads message from receive buffer.
1150 | *********************************************************************************************************/
1151 | INT8U MCP_CAN::readMsgBuf(INT32U *id, INT8U *len, INT8U buf[])
1152 | {
1153 |     if(readMsg() == CAN_NOMSG)
1154 | 	return CAN_NOMSG;
1155 | 
1156 |     if (m_nExtFlg)
1157 |         m_nID |= 0x80000000;
1158 | 
1159 |     if (m_nRtr)
1160 |         m_nID |= 0x40000000;
1161 | 	
1162 |     *id  = m_nID;
1163 |     *len = m_nDlc;
1164 |     
1165 |     for(int i = 0; i<m_nDlc; i++)
1166 |         buf[i] = m_nDta[i];
1167 | 
1168 |     return CAN_OK;
1169 | }
1170 | 
1171 | /*********************************************************************************************************
1172 | ** Function name:           checkReceive
1173 | ** Descriptions:            Public function, Checks for received data.  (Used if not using the interrupt output)
1174 | *********************************************************************************************************/
1175 | INT8U MCP_CAN::checkReceive(void)
1176 | {
1177 |     INT8U res;
1178 |     res = mcp2515_readStatus();                                         /* RXnIF in Bit 1 and 0         */
1179 |     if ( res & MCP_STAT_RXIF_MASK )
1180 |         return CAN_MSGAVAIL;
1181 |     else 
1182 |         return CAN_NOMSG;
1183 | }
1184 | 
1185 | /*********************************************************************************************************
1186 | ** Function name:           checkError
1187 | ** Descriptions:            Public function, Returns error register data.
1188 | *********************************************************************************************************/
1189 | INT8U MCP_CAN::checkError(void)
1190 | {
1191 |     INT8U eflg = mcp2515_readRegister(MCP_EFLG);
1192 | 
1193 |     if ( eflg & MCP_EFLG_ERRORMASK ) 
1194 |         return CAN_CTRLERROR;
1195 |     else
1196 |         return CAN_OK;
1197 | }
1198 | 
1199 | /*********************************************************************************************************
1200 | ** Function name:           getError
1201 | ** Descriptions:            Returns error register value.
1202 | *********************************************************************************************************/
1203 | INT8U MCP_CAN::getError(void)
1204 | {
1205 |     return mcp2515_readRegister(MCP_EFLG);
1206 | }
1207 | 
1208 | /*********************************************************************************************************
1209 | ** Function name:           mcp2515_errorCountRX
1210 | ** Descriptions:            Returns REC register value
1211 | *********************************************************************************************************/
1212 | INT8U MCP_CAN::errorCountRX(void)                             
1213 | {
1214 |     return mcp2515_readRegister(MCP_REC);
1215 | }
1216 | 
1217 | /*********************************************************************************************************
1218 | ** Function name:           mcp2515_errorCountTX
1219 | ** Descriptions:            Returns TEC register value
1220 | *********************************************************************************************************/
1221 | INT8U MCP_CAN::errorCountTX(void)                             
1222 | {
1223 |     return mcp2515_readRegister(MCP_TEC);
1224 | }
1225 | 
1226 | /*********************************************************************************************************
1227 | ** Function name:           mcp2515_enOneShotTX
1228 | ** Descriptions:            Enables one shot transmission mode
1229 | *********************************************************************************************************/
1230 | INT8U MCP_CAN::enOneShotTX(void)                             
1231 | {
1232 |     mcp2515_modifyRegister(MCP_CANCTRL, MODE_ONESHOT, MODE_ONESHOT);
1233 |     if((mcp2515_readRegister(MCP_CANCTRL) & MODE_ONESHOT) != MODE_ONESHOT)
1234 | 	    return CAN_FAIL;
1235 |     else
1236 | 	    return CAN_OK;
1237 | }
1238 | 
1239 | /*********************************************************************************************************
1240 | ** Function name:           mcp2515_disOneShotTX
1241 | ** Descriptions:            Disables one shot transmission mode
1242 | *********************************************************************************************************/
1243 | INT8U MCP_CAN::disOneShotTX(void)                             
1244 | {
1245 |     mcp2515_modifyRegister(MCP_CANCTRL, MODE_ONESHOT, 0);
1246 |     if((mcp2515_readRegister(MCP_CANCTRL) & MODE_ONESHOT) != 0)
1247 |         return CAN_FAIL;
1248 |     else
1249 |         return CAN_OK;
1250 | }
1251 | 
1252 | /*********************************************************************************************************
1253 | ** Function name:           mcp2515_abortTX
1254 | ** Descriptions:            Aborts any queued transmissions
1255 | *********************************************************************************************************/
1256 | INT8U MCP_CAN::abortTX(void)                             
1257 | {
1258 |     mcp2515_modifyRegister(MCP_CANCTRL, ABORT_TX, ABORT_TX);
1259 | 	
1260 |     // Maybe check to see if the TX buffer transmission request bits are cleared instead?
1261 |     if((mcp2515_readRegister(MCP_CANCTRL) & ABORT_TX) != ABORT_TX)
1262 | 	    return CAN_FAIL;
1263 |     else
1264 | 	    return CAN_OK;
1265 | }
1266 | 
1267 | /*********************************************************************************************************
1268 | ** Function name:           setGPO
1269 | ** Descriptions:            Public function, Checks for r
1270 | *********************************************************************************************************/
1271 | INT8U MCP_CAN::setGPO(INT8U data)
1272 | {
1273 |     mcp2515_modifyRegister(MCP_BFPCTRL, MCP_BxBFS_MASK, (data<<4));
1274 | 	    
1275 |     return 0;
1276 | }
1277 | 
1278 | /*********************************************************************************************************
1279 | ** Function name:           getGPI
1280 | ** Descriptions:            Public function, Checks for r
1281 | *********************************************************************************************************/
1282 | INT8U MCP_CAN::getGPI(void)
1283 | {
1284 |     INT8U res;
1285 |     res = mcp2515_readRegister(MCP_TXRTSCTRL) & MCP_BxRTS_MASK;
1286 |     return (res >> 3);
1287 | }
1288 | 
1289 | /*********************************************************************************************************
1290 |   END FILE
1291 | *********************************************************************************************************/
1292 | 


--------------------------------------------------------------------------------
/prius3charger_buck.ino:
--------------------------------------------------------------------------------
   1 | /*
   2 | prius3charger_buck
   3 | Copyright (c) 2020 Perttu "celeron55" Ahola
   4 | 
   5 | This program is free software: you can redistribute it and/or modify
   6 | it under the terms of the GNU General Public License as published by
   7 | the Free Software Foundation, either version 3 of the License, or
   8 | (at your option) any later version.
   9 | 
  10 | This program is distributed in the hope that it will be useful,
  11 | but WITHOUT ANY WARRANTY; without even the implied warranty of
  12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  13 | GNU General Public License for more details.
  14 | 
  15 | You should have received a copy of the GNU General Public License
  16 | along with this program.  If not, see <https://www.gnu.org/licenses/>.
  17 | 
  18 | Usage:
  19 | 
  20 | Prius Gen 3 buck/boost converter charger controller - buck mode charging
  21 | - For atmega328 on PriusG3_V1c
  22 | - In Arduino IDE:
  23 | 	1) Board selection: Arduino Nano
  24 | 	2) Program bootloader using an ISP programmer like USBasp
  25 | 	3) Connect USB-serial adapter to "FTDI 5V" connector (GND -- 5V RX TX RST)
  26 | 	4) Upload and monitor using the serial connection at 57600 baud.
  27 | - Alternatively you can use MiniCore for atmega328 with the "no bootloader"
  28 |   option and program using any in-circuit programmer supported by avrdude
  29 | 
  30 | This program is designed to give excellent information on the serial console
  31 | about what it is doing and why it is doing it.
  32 | 
  33 | Notes about connections:
  34 | - AC_CON_CTRL / AC_CONTACTOR_SWITCH:
  35 | 	- This activates a contactor to connect AC into MG1 terminals after
  36 | 	  precharging. This is always required.
  37 | 	- This can activate the battery side main contactor.
  38 | 	  ALTERNATIVELY the battery side main contactor can be controlled by an
  39 | 	  external controller based on CANbus messages or other signals.
  40 | 	- This can activate a relay to feed 12V to the charger in parallel to the
  41 | 	  ignition key separated by diodes. This way once charging has started the
  42 | 	  ignition key can be turned off and the charger will shut down by itself
  43 | 	  when charging is complete.
  44 | 	- This can activate an indicator LED to show that the charger is active
  45 | - AC_PRECH_CTRL / AC_PRECHARGE_SWITCH:
  46 | 	- This can activate a contactor to connect AC into MG1 terminals via
  47 | 	  precharge resistors.
  48 | 	  ALTERNATIVELY this software can precharge the MG/input side by boosting
  49 | 	  from the battery side.
  50 | 	- This can activate the battery side precharge contactor.
  51 | 	  ALTERNATIVELY the battery side precharge can be initiated by an external
  52 | 	  controller based on CANbus messages or other signals.
  53 | 	- This can activate an indicator LED to show that the charger is precharging
  54 | - HV_CON_CTRL / CONVERTER_SHORT_SWITCH:
  55 | 	- This can activate a contactor to short out the buck/boost converter to
  56 | 	  enable feeding more current to the motors than the converter inductor and
  57 | 	  IGBT can carry. This is switched on when the AC contactor and AC precharge
  58 | 	  switch outputs are inactive.
  59 | 
  60 | TODO: Calibrate temperature sensors
  61 | 
  62 | TODO: Maybe make output current and voltage values configurable in EEPROM. It's
  63 | 	  mostly a waste of program space though and a risky if you accidentally
  64 | 	  change them while monitoring.
  65 | 
  66 | Connections:
  67 | - A0: DCBUS1 (output side, lower voltage, toyota's battery voltage)
  68 | - A1: DCBUS2 (input side, higher voltage, MG1/2 voltage)
  69 | - A2: BOOST T1
  70 | - A3: BOOST T2
  71 | - A4: MG1 L1 current (10k/10k resistor divider)
  72 | - A5: MG1 L2 current (10k/10k resistor divider)
  73 | - A6: ACS758LCB-100U current sensor (not used in this version)
  74 | - A7: EVSE_PP
  75 | - 2/PD2: EVSE CP
  76 | - 3/PD3: MCP2515 INT
  77 | - 4/PD4: EVSE SW
  78 | - 5/PD5: AC_CON_CTRL / AC_CONTACTOR_SWITCH
  79 | - 6/PD6: HV_CON_CTRL / CONVERTER_SHORT_SWITCH
  80 | - 7/PD7: AC_PRECH_CTRL / AC_PRECHARGE_SWITCH
  81 | - 8/PB0: MCP2515 CS
  82 | - 9/PB1/OC1A: Boost low side switch (active high)
  83 | - 10/PB2/OC1B: Boost high side switch (active high)
  84 | 
  85 | */
  86 | #include "config.h"
  87 | #include "log.h"
  88 | #include "util.h"
  89 | #include "command_accumulator.h"
  90 | #include "avgbuffer.h"
  91 | #include "software_debounce.h"
  92 | // NOTE: These library portions are included with the project for ease of use.
  93 | // NOTE: They are licensed separately under different open source licenses.
  94 | // NOTE: See the files for details.
  95 | #include "mcp_can.h"
  96 | #include "can_common.h"
  97 | 
  98 | // Charging parameters
  99 | #define OUTPUT_CURRENT_MAX_A 80
 100 | #define BATTERY_CHARGE_VOLTAGE 300
 101 | 
 102 | // Other behavior
 103 | #define EVSE_FORCE_INPUT_AMPS 0  // If 0, EVSE CP PWM is followed
 104 | #define EVSE_PWM_TIMEOUT_MS 50
 105 | #define MAX_PRECHARGE_MS 30000
 106 | #define AC_PRECHARGE_MINIMUM_VOLTAGE 550  // European 3-phase rectifies to 600V
 107 | #define PRECHARGE_BOOST_ENABLED true
 108 | #define PRECHARGE_BOOST_START_MS 0
 109 | #define PRECHARGE_BOOST_VOLTAGE 550  // European 3-phase rectifies to 600V
 110 | //#define PWM_FREQ 3900  // Works for sure, but is very loud
 111 | #define PWM_FREQ 10000  // Not much tested, but is much quieter
 112 | 
 113 | // CANbus
 114 | // Edit send_canbus_frames(), handle_canbus_frame() and init_system_can_filters() to do what you need
 115 | #define CANBUS_ENABLE true
 116 | #define CANBUS_SEND_INTERVAL_MS 200
 117 | #define CANBUS_TIMEOUT_MS 2000
 118 | 
 119 | // Advanced
 120 | // Prints diagnostics about whether PWM output is limited by voltage or current
 121 | #define REPORT_PWM_LIMITING_VALUE false
 122 | // European 3-phase rectifies to 600V.
 123 | // Our measured voltage likes to oscillate a lot under load.
 124 | #define RECTIFIED_AC_MINIMUM_VOLTAGE 350
 125 | 
 126 | // Absolute maximums
 127 | #define INPUT_CURRENT_MAX_A 32
 128 | #define INPUT_VOLTAGE_MAX_V 650  // Maximum of all Toyota inverters
 129 | #define OUTPUT_VOLTAGE_MAX_V 305  // Yaris inverter has 300V and 350V capacitors
 130 | #define BMS_MIN_CELL_MV_FOR_FAIL 2500
 131 | #define BMS_MAX_CELL_MV_FOR_FAIL 4220
 132 | #define BMS_MAX_TEMPREATURE_C_FOR_FAIL 45
 133 | #define BOOST_MAX_TEMPERATURE_C 70
 134 | #define CHARGE_FINISH_AT_A 4
 135 | 
 136 | // Some secondary values that can be automatically set
 137 | #define BATTERY_MINIMUM_VOLTAGE (BATTERY_CHARGE_VOLTAGE / 2)
 138 | 
 139 | // Hardcoded tests
 140 | #define TEST_CONTACTORS false
 141 | #define TEST_BOOST false
 142 | #define TEST_BUCK false
 143 | 
 144 | // Scaling of analog inputs
 145 | // NOTE: DCBUS2 is buck high side = MG side = 3-phase AC input side
 146 | // NOTE: DCBUS1 is buck low side = battery side
 147 | #define DCBUS2_OFFSET_BITS 0
 148 | #define DCBUS2_V_PER_BIT 1.234
 149 | /*#define DCBUS1_OFFSET_BITS 0
 150 | #define DCBUS1_V_PER_BIT 0.438*/
 151 | // Not sure what's up with this, maybe my Prius gen3 inverter is a bit wonky
 152 | #define DCBUS1_OFFSET_BITS 74
 153 | #define DCBUS1_V_PER_BIT 0.551
 154 | 
 155 | // This is what it should be
 156 | #define MG1_CURRENT_A_PER_BIT 1.0
 157 | // This is what you need with wrong resistors on Yaris inverter
 158 | //#define MG1_CURRENT_A_PER_BIT 0.735
 159 | 
 160 | #define PWM_HANDLER_INTERVAL (uint8_t)(PWM_FREQ / 3400 + 1)
 161 | 
 162 | #define DCBUS1_PIN               A0
 163 | #define DCBUS2_PIN               A1
 164 | #define BOOST_T1_PIN             A2
 165 | #define BOOST_T2_PIN             A3
 166 | #define MG1_L1_CURRENT_PIN       A4
 167 | #define MG1_L2_CURRENT_PIN       A5
 168 | #define EXTRA_CURRENT_SENSOR_PIN A6
 169 | #define EVSE_PP_PIN              A7
 170 | #define EVSE_CP_PIN               2
 171 | #define MCP2515_INT_PIN           3
 172 | #define EVSE_SW_PIN               4
 173 | #define AC_CONTACTOR_SWITCH_PIN   5
 174 | #define CONVERTER_SHORT_SWITCH_PIN 6
 175 | #define AC_PRECHARGE_SWITCH_PIN   7
 176 | #define MCP2515_CS_PIN            8
 177 | #define BOOST_LOW_SWITCH_PIN      9
 178 | #define BOOST_HIGH_SWITCH_PIN    10
 179 | 
 180 | // If non-zero, overrides everything except INPUT_CURRENT_MAX_A.
 181 | // If zero, EVSE limit is followed.
 182 | uint8_t force_ac_input_amps = EVSE_FORCE_INPUT_AMPS;
 183 | 
 184 | // TODO: when reading these in the main thread, disable interrupts, maybe?
 185 | volatile int16_t dcbus1_raw = 0;
 186 | volatile int16_t dcbus2_raw = 0;
 187 | volatile int16_t mg2l1_current_raw_calibrated_zero = 530;
 188 | volatile int16_t mg2l2_current_raw_calibrated_zero = 530;
 189 | volatile int16_t mg2l1_current_raw = 0;
 190 | volatile int16_t mg2l2_current_raw = 0;
 191 | volatile int16_t boost_t1_raw = 0;
 192 | volatile int16_t boost_t2_raw = 0;
 193 | volatile int16_t evse_pp_raw = 0;
 194 | volatile int16_t input_voltage_V = 0;
 195 | volatile int16_t output_voltage_V = 0;
 196 | volatile int16_t input_dc_current_Ax10 = 0;
 197 | volatile int16_t output_dc_current_Ax10 = 0;
 198 | 
 199 | volatile enum DisablePwmReason {
 200 | 	DPR_PWM_ENABLED,
 201 | 	DPR_DCBUS1_OVERVOLTAGE,
 202 | 	DPR_DCBUS2_OVERVOLTAGE,
 203 | 	DPR_WANTED_PWM_IS_ZERO,
 204 | 	DPR_BOOST_OVER_TEMPERATURE,
 205 | 	DPR_LOST_EVSE_PROXIMITY_PILOT,
 206 | 	DPR_PULSE_DONE,
 207 | 
 208 | 	DPR_COUNT
 209 | } disable_pwm = DPR_PWM_ENABLED;
 210 | const char *DisablePwmReason_STRINGS[DPR_COUNT] = {
 211 | 	"PWM_ENABLED",
 212 | 	"DCBUS1_OVERVOLTAGE",
 213 | 	"DCBUS2_OVERVOLTAGE",
 214 | 	"WANTED_PWM_IS_ZERO",
 215 | 	"DPR_BOOST_OVER_TEMPERATURE",
 216 | 	"DPR_LOST_EVSE_PROXIMITY_PILOT",
 217 | 	"DPR_PULSE_DONE",
 218 | };
 219 | 
 220 | // Once succesfully calibrated, PWM interrupt will be enabled
 221 | bool current_sensor_zero_offsets_calibrated = false;
 222 | 
 223 | // Current is measured at the MG current sensors where AC is coming in. This is
 224 | // used to get a somewhat usable DC value from that.
 225 | // 10 extra samples
 226 | //AvgBuffer<int16_t, int32_t, PWM_FREQ/PWM_HANDLER_INTERVAL/7/50+10> input_current_avgbuf;
 227 | // 2 full waves
 228 | AvgBuffer<int16_t, int32_t, PWM_FREQ/PWM_HANDLER_INTERVAL/7/25+1> input_current_avgbuf;
 229 | 
 230 | int8_t boost_t1_c = 0;
 231 | int8_t boost_t2_c = 0;
 232 | 
 233 | volatile uint8_t interrupt_counter_for_mainloop = 0;
 234 | volatile bool mainloop_running = false;
 235 | volatile bool console_report_all_values = false;
 236 | CommandAccumulator<24> command_accumulator;
 237 | 
 238 | enum SwitchingMode {
 239 | 	SM_NONE,
 240 | 	SM_BUCK,
 241 | 	SM_BOOST,
 242 | 	SM_BOOST_SINGLE_PULSE,
 243 | };
 244 | 
 245 | // Switching control is based on these, each is a maximum.
 246 | volatile int16_t wanted_output_voltage = 0;
 247 | volatile int16_t wanted_output_current = 0;
 248 | volatile int16_t wanted_pwm = 0;
 249 | SwitchingMode wanted_switching_mode = SM_BUCK;
 250 | 
 251 | // Switching control state (don't touch from main program)
 252 | volatile int16_t current_pwm = 0;
 253 | volatile enum {BSPS_INIT, BSPS_PULSING, BSPS_PULSED} boost_single_pulse_state = BSPS_INIT;
 254 | SwitchingMode current_switching_mode = SM_BUCK;
 255 | 
 256 | // CANbus
 257 | 
 258 | MCP_CAN system_can(MCP2515_CS_PIN);
 259 | 
 260 | unsigned long canbus_last_receive_timestamp = 0;
 261 | 
 262 | struct CanbusStatus {
 263 | 	bool permit_charge = false;
 264 | 	bool main_contactor_closed = false;
 265 | 	uint16_t pack_voltage_V = 0;
 266 | 	uint16_t cell_voltage_min_mV = 0;
 267 | 	uint16_t cell_voltage_max_mV = 5000;
 268 | 	int8_t cell_temperature_min = -128;
 269 | 	int8_t cell_temperature_max = 127;
 270 | 	bool charge_completed = false;
 271 | 	uint16_t max_charge_current_A = 0;
 272 | } canbus_status;
 273 | 
 274 | // Charger state machine and related stuff
 275 | 
 276 | enum ChargerState {
 277 | 	CS_WAITING_START_TRIGGER,
 278 | 	CS_WAITING_CANBUS,
 279 | 	CS_WAITING_CHARGE_PERMISSION,
 280 | 	CS_PRECHARGING,
 281 | 	CS_CHARGING=8,
 282 | 	CS_STOPPING_CHARGE,
 283 | 	CS_DONE_CHARGING,
 284 | 	CS_FAILED, // Keep output shut down and wait state reset by user action
 285 | 	CS_ALLOW_MEASUREMENT_THEN_FAIL, // Wait 15s, then fail (DEBUG UTILITY)
 286 | 	CS_COUNT
 287 | } charger_state = CS_WAITING_START_TRIGGER;
 288 | 
 289 | const char* const ChargerState_STRINGS[CS_COUNT] = {
 290 | 	"CS_WAITING_START_TRIGGER",
 291 | 	"CS_WAITING_CANBUS",
 292 | 	"CS_WAITING_CHARGE_PERMISSION",
 293 | 	"CS_PRECHARGING",
 294 | 	"4", // Some room for future development
 295 | 	"5",
 296 | 	"6",
 297 | 	"7",
 298 | 	"CS_CHARGING",
 299 | 	"CS_STOPPING_CHARGE",
 300 | 	"CS_DONE_CHARGING",
 301 | 	"CS_FAILED",
 302 | 	"CS_ALLOW_MEASUREMENT_THEN_FAIL",
 303 | };
 304 | 
 305 | enum ChargerFailReason {
 306 | 	CFR_NOT_FAILED,
 307 | 	CFR_CANBUS_DEAD,
 308 | 	CFR_BMS_NO_CHARGE_PERMIT,
 309 | 	CFR_BMS_OVER_TEMPERATURE,
 310 | 	CFR_BMS_OVER_VOLTAGE,
 311 | 	CFR_BMS_UNDER_VOLTAGE,
 312 | 	CFR_AC_PRECHARGE_FAILED,
 313 | 	CFR_CUSTOM_MEASUREMENT_DELAY_ENDED,
 314 | 	CFR_UNHANDLED_STATE,
 315 | 	CFR_PRECHARGE_MINIMUM_VOLTAGE_NOT_SET,
 316 | 	CFR_INPUT_VOLTAGE_TOO_LOW,
 317 | 	CFR_INPUT_VOLTAGE_TOO_HIGH,
 318 | 	CFR_LOST_EVSE_PROXIMITY_PILOT,
 319 | 	CFR_PRECHARGE_VOLTAGE_THROUGH_THE_ROOF,
 320 | 
 321 | 	CFR_COUNT
 322 | };
 323 | 
 324 | const char* const ChargerFailReason_STRINGS[CFR_COUNT] = {
 325 | 	"CFR_NOT_FAILED",
 326 | 	"CFR_CANBUS_DEAD",
 327 | 	"CFR_BMS_NO_CHARGE_PERMIT",
 328 | 	"CFR_BMS_OVER_TEMPERATURE",
 329 | 	"CFR_BMS_OVER_VOLTAGE",
 330 | 	"CFR_BMS_UNDER_VOLTAGE",
 331 | 	"CFR_AC_PRECHARGE_FAILED",
 332 | 	"CFR_CUSTOM_MEASUREMENT_DELAY_ENDED",
 333 | 	"CFR_UNHANDLED_STATE",
 334 | 	"CFR_PRECHARGE_MINIMUM_VOLTAGE_NOT_SET",
 335 | 	"CFR_INPUT_VOLTAGE_TOO_LOW",
 336 | 	"CFR_INPUT_VOLTAGE_TOO_HIGH",
 337 | 	"CFR_LOST_EVSE_PROXIMITY_PILOT",
 338 | 	"CFR_PRECHARGE_VOLTAGE_THROUGH_THE_ROOF",
 339 | };
 340 | 
 341 | struct ChargerStatus
 342 | {
 343 | 	ChargerFailReason fail_reason = CFR_NOT_FAILED;
 344 | 	unsigned long no_start_condition_timestamp = 0;
 345 | 	unsigned long start_timestamp = 0;
 346 | 	unsigned long precharge_start_timestamp = 0;
 347 | 	unsigned long charge_not_looking_complete_timestamp = 0;
 348 | 	unsigned long stopping_charge_start_timestamp = 0;
 349 | 	unsigned long fail_timestamp = 0;
 350 | 	unsigned long allow_measurement_start_timestamp = 0;
 351 | 	int16_t precharge_last_input_voltage = 0;
 352 | 	int16_t precharge_last_battery_voltage = 0;
 353 | 	bool battery_side_looks_precharged = false;
 354 | } charger;
 355 | 
 356 | 
 357 | // EVSE CP PWM measurement
 358 | bool evse_pwm_enough_pulses_received = false;
 359 | volatile unsigned long evse_pwm_last_rise_timestamp_us = 0;
 360 | volatile unsigned long evse_pwm_last_valid_value_timestamp = 0;
 361 | AvgBuffer<int8_t, int16_t, 50> evse_allowed_amps_avgbuf;
 362 | volatile uint16_t evse_pwm_pulse_counter = 0;
 363 | 
 364 | // EVSE final converted value from CP PWM
 365 | uint8_t evse_allowed_amps = 0;
 366 | 
 367 | // EVSE final converted value from PP resistance (0 = no cable)
 368 | uint8_t evse_pp_cable_rating_a = 0;
 369 | 
 370 | unsigned long inductor_short_switch_closed_timestamp = 0;
 371 | unsigned long ac_contactor_closed_timestamp = 0;
 372 | 
 373 | volatile enum LimitingValue {
 374 | 	LV_NOTHING,
 375 | 	LV_SOMETHING,
 376 | 	LV_OUTPUT_CURRENT_SLOW,
 377 | 	LV_INPUT_CURRENT_SLOW,
 378 | 	LV_OUTPUT_VOLTAGE_SLOW,
 379 | 	LV_OUTPUT_CURRENT,
 380 | 	LV_INPUT_CURRENT,
 381 | 	LV_OUTPUT_VOLTAGE,
 382 | 	LV_OUTPUT_CURRENT_FAST,
 383 | 	LV_INPUT_CURRENT_FAST,
 384 | 	LV_OUTPUT_VOLTAGE_FAST,
 385 | 
 386 | 	LV_COUNT,
 387 | } limiting_value = LV_NOTHING;
 388 | 
 389 | const char* const LimitingValue_STRINGS[LV_COUNT] = {
 390 | 	"LV_NOTHING",
 391 | 	"LV_SOMETHING",
 392 | 	"LV_OUTPUT_CURRENT_SLOW",
 393 | 	"LV_INPUT_CURRENT_SLOW",
 394 | 	"LV_OUTPUT_VOLTAGE_SLOW",
 395 | 	"LV_OUTPUT_CURRENT",
 396 | 	"LV_INPUT_CURRENT",
 397 | 	"LV_OUTPUT_VOLTAGE",
 398 | 	"LV_OUTPUT_CURRENT_FAST",
 399 | 	"LV_INPUT_CURRENT_FAST",
 400 | 	"LV_OUTPUT_VOLTAGE_FAST",
 401 | };
 402 | 
 403 | 
 404 | void setup()
 405 | {
 406 | 	pinMode(DCBUS1_PIN, INPUT);
 407 | 	pinMode(DCBUS2_PIN, INPUT);
 408 | 	pinMode(BOOST_T1_PIN, INPUT);
 409 | 	pinMode(BOOST_T2_PIN, INPUT);
 410 | 	pinMode(MG1_L1_CURRENT_PIN, INPUT);
 411 | 	pinMode(MG1_L2_CURRENT_PIN, INPUT);
 412 | 	pinMode(EXTRA_CURRENT_SENSOR_PIN, INPUT);
 413 | 	pinMode(EVSE_PP_PIN, INPUT);
 414 | 	pinMode(EVSE_CP_PIN, INPUT);
 415 | 	pinMode(MCP2515_INT_PIN, INPUT);
 416 | 	pinMode(EVSE_SW_PIN, OUTPUT);
 417 | 	pinMode(AC_CONTACTOR_SWITCH_PIN, OUTPUT);
 418 | 	pinMode(CONVERTER_SHORT_SWITCH_PIN, OUTPUT);
 419 | 	pinMode(AC_PRECHARGE_SWITCH_PIN, OUTPUT);
 420 | 	pinMode(MCP2515_CS_PIN, OUTPUT);
 421 | 	pinMode(BOOST_LOW_SWITCH_PIN, OUTPUT);
 422 | 	pinMode(BOOST_HIGH_SWITCH_PIN, OUTPUT);
 423 | 
 424 | 	// Wait for programming
 425 | 	delay(2000);
 426 | 
 427 | 	// We're using 57600 baud instead of 115200 because we can't process serial
 428 | 	// data that fast with our monster interrupt routine running in sync with
 429 | 	// PWM generation.
 430 | 	Serial.begin(57600);
 431 | 
 432 | 	log_println_f("-!- prius3charger_buck");
 433 | 
 434 | #if TEST_CONTACTORS == true
 435 | 	for(;;){
 436 | 		log_println_f("DEBUG: AC_PRECHARGE_SWITCH_PIN on");
 437 | 		digitalWrite(AC_PRECHARGE_SWITCH_PIN, HIGH);
 438 | 		delay(1900);
 439 | 		log_println_f("DEBUG: AC_CONTACTOR_SWITCH_PIN on");
 440 | 		digitalWrite(AC_CONTACTOR_SWITCH_PIN, HIGH);
 441 | 		delay(100);
 442 | 		log_println_f("DEBUG: AC_PRECHARGE_SWITCH_PIN off");
 443 | 		digitalWrite(AC_PRECHARGE_SWITCH_PIN, LOW);
 444 | 		delay(2000);
 445 | 		log_println_f("DEBUG: AC_CONTACTOR_SWITCH_PIN off");
 446 | 		digitalWrite(AC_CONTACTOR_SWITCH_PIN, LOW);
 447 | 		delay(2000);
 448 | 	}
 449 | #endif
 450 | 
 451 | 	for(uint8_t i=0; i<10 && !current_sensor_zero_offsets_calibrated; i++){
 452 | 		delay(100);
 453 | 		calibrate_current_sensor_zero_offsets_if_needed();
 454 | 	}
 455 | 
 456 | 	SPI.begin();
 457 | 
 458 | 	init_system_can();
 459 | 
 460 | 	// EVSE PWM interrupt
 461 | 	attachInterrupt(digitalPinToInterrupt(EVSE_CP_PIN), evse_cp_pwm_handler, CHANGE);
 462 | 
 463 | 	mainloop_running = true;
 464 | }
 465 | 
 466 | void calibrate_current_sensor_zero_offsets_if_needed()
 467 | {
 468 | 	if(current_sensor_zero_offsets_calibrated)
 469 | 		return;
 470 | 
 471 | 	// Calibrate current sensor zero offsets before PWM output is initialized
 472 | 	Serial.println(F("Calibrating current sensor zero offsets..."));
 473 | 	set_pwm_inactive();
 474 | 
 475 | 	int16_t il1_0 = analogRead(MG1_L1_CURRENT_PIN);
 476 | 	int16_t il2_0 = analogRead(MG1_L2_CURRENT_PIN);
 477 | 	int16_t il1_1 = 0;
 478 | 	int16_t il2_1 = 0;
 479 | 	const uint8_t require_stable_count = 20;
 480 | 	uint8_t stable_count = 0;
 481 | 	while(stable_count < require_stable_count){
 482 | 		delay(20);
 483 | 		il1_1 = analogRead(MG1_L1_CURRENT_PIN);
 484 | 		il2_1 = analogRead(MG1_L2_CURRENT_PIN);
 485 | 		if(abs(il1_1 - il1_0) >= 3 || abs(il2_1 - il2_0) >= 3){
 486 | 			break;
 487 | 		}
 488 | 		stable_count++;
 489 | 	}
 490 | 	if(il1_1 < 460 || il1_1 > 570 || il2_1 < 460 || il2_1 > 570){
 491 | 		Serial.print(F("Not accepting current calibration values: "));
 492 | 		Serial.print(il1_1);
 493 | 		Serial.print(F(", "));
 494 | 		Serial.print(il2_1);
 495 | 		Serial.print(" (out of range)");
 496 | 		Serial.println();
 497 | 		return;
 498 | 	}
 499 | 	if(stable_count < require_stable_count){
 500 | 		Serial.print(F("Not accepting current calibration values: "));
 501 | 		Serial.print(il1_1);
 502 | 		Serial.print(F(", "));
 503 | 		Serial.print(il2_1);
 504 | 		Serial.print(" (unstable)");
 505 | 		Serial.println();
 506 | 		return;
 507 | 	}
 508 | 	mg2l1_current_raw_calibrated_zero = il1_1;
 509 | 	mg2l2_current_raw_calibrated_zero = il2_1;
 510 | 	log_print_timestamp();
 511 | 	Serial.print(F("Calibrated zero offsets: IL1,2: "));
 512 | 	Serial.print(mg2l1_current_raw_calibrated_zero);
 513 | 	Serial.print(F(", "));
 514 | 	Serial.print(mg2l2_current_raw_calibrated_zero);
 515 | 	Serial.println();
 516 | 
 517 | 	// PWM output
 518 | 	// A: Set on compare match, phase and frequency correct, clk/1
 519 | 	// B: Clear on compare match, phase and frequency correct, clk/1
 520 | 	TCCR1A = _BV(COM1A1) | _BV(COM1A0) | _BV(COM1B1);
 521 | 	TCCR1B = _BV(WGM13) | _BV(CS10);
 522 | #define PWM_MAX (uint16_t)((F_CPU / 2.0) / (float)PWM_FREQ)
 523 | 	ICR1 = PWM_MAX;
 524 | 	// Interrupt at TOP
 525 | 	TIMSK1 |= _BV(ICIE1);
 526 | 
 527 | 	// Set initial PWM to zero
 528 | 	set_pwm_inactive();
 529 | 
 530 | 	current_sensor_zero_offsets_calibrated = true;
 531 | }
 532 | 
 533 | void loop()
 534 | {
 535 | #if TEST_BOOST == true
 536 | 	dcbus2_raw = analogRead(DCBUS2_PIN) - DCBUS2_OFFSET_BITS;
 537 | 	input_voltage_V = ((int32_t)dcbus2_raw * (int32_t)(DCBUS2_V_PER_BIT*1000)) / 1000;
 538 | 	dcbus1_raw = analogRead(DCBUS1_PIN) - DCBUS1_OFFSET_BITS;
 539 | 	output_voltage_V = ((int32_t)dcbus1_raw * (int32_t)(DCBUS1_V_PER_BIT*1000)) / 1000;
 540 | 	EVERY_N_MILLISECONDS(200){
 541 | 		Serial.print(output_voltage_V);
 542 | 		Serial.print(" ");
 543 | 		Serial.println(input_voltage_V);
 544 | 	}
 545 | 	if(input_voltage_V < 400 && ((millis()/1000)&1)==0){
 546 | 		set_pwm_boost_active(ICR1 * 0.01);
 547 | 	} else {
 548 | 		set_pwm_inactive();
 549 | 	}
 550 | 	return;
 551 | #endif
 552 | #if TEST_BUCK == true
 553 | 	dcbus2_raw = analogRead(DCBUS2_PIN) - DCBUS2_OFFSET_BITS;
 554 | 	input_voltage_V = ((int32_t)dcbus2_raw * (int32_t)(DCBUS2_V_PER_BIT*1000)) / 1000;
 555 | 	dcbus1_raw = analogRead(DCBUS1_PIN) - DCBUS1_OFFSET_BITS;
 556 | 	output_voltage_V = ((int32_t)dcbus1_raw * (int32_t)(DCBUS1_V_PER_BIT*1000)) / 1000;
 557 | 	EVERY_N_MILLISECONDS(200){
 558 | 		Serial.print(output_voltage_V);
 559 | 		Serial.print(" ");
 560 | 		Serial.println(input_voltage_V);
 561 | 	}
 562 | 	if(output_voltage_V < 20 && ((millis()/1000)&1)==0){
 563 | 		set_pwm_buck_active(ICR1 * 0.01);
 564 | 	} else {
 565 | 		set_pwm_inactive();
 566 | 	}
 567 | 	return;
 568 | #endif
 569 | 
 570 | 	EVERY_N_MILLISECONDS(1000){
 571 | 		calibrate_current_sensor_zero_offsets_if_needed();
 572 | 	}
 573 | 
 574 | 	read_console_serial();
 575 | 
 576 | 	read_canbus_frames();
 577 | 
 578 | 	EVERY_N_MILLISECONDS(100){
 579 | 		apply_canbus_timeouts();
 580 | 	}
 581 | 
 582 | 	convert_evse();
 583 | 
 584 | 	handle_evse_pwm_timeout();
 585 | 
 586 | 	handle_charger_state();
 587 | 
 588 | 	control_inductor_short_switch();
 589 | 
 590 | 	avoid_explosions();
 591 | 
 592 | 	EVERY_N_MILLISECONDS(CANBUS_SEND_INTERVAL_MS){
 593 | 		send_canbus_frames();
 594 | 	}
 595 | 
 596 | 	EVERY_N_MILLISECONDS(1000){
 597 | 		convert_temperatures();
 598 | 	}
 599 | 	EVERY_N_MILLISECONDS(200){
 600 | 		report_status_on_console();
 601 | 	}
 602 | 	EVERY_N_MILLISECONDS(5){
 603 | 		interrupt_counter_for_mainloop = 0;
 604 | 	}
 605 | }
 606 | 
 607 | void charger_fail(ChargerFailReason fail_reason)
 608 | {
 609 | 	charger_state = CS_FAILED;
 610 | 
 611 | 	if(charger.fail_reason == CFR_NOT_FAILED){
 612 | 		charger.fail_reason = fail_reason;
 613 | 		charger.fail_timestamp = millis();
 614 | 	}
 615 | 
 616 | 	set_wanted_output_V_A_pwm(0, 0, 0, SM_NONE);
 617 | 	digitalWrite(AC_CONTACTOR_SWITCH_PIN, LOW);
 618 | 	digitalWrite(AC_PRECHARGE_SWITCH_PIN, LOW);
 619 | 	digitalWrite(EVSE_SW_PIN, LOW);
 620 | 
 621 | 	log_print_timestamp();
 622 | 	CONSOLE.print("Charger failed: \"");
 623 | 	CONSOLE.print(ChargerFailReason_STRINGS[charger.fail_reason]);
 624 | 	CONSOLE.println("\"");
 625 | }
 626 | 
 627 | // Returns true if failed
 628 | bool fail_if_charging_unsafe()
 629 | {
 630 | 	if(CANBUS_ENABLE){
 631 | 		if(!canbus_alive()){
 632 | 			charger_fail(CFR_CANBUS_DEAD);
 633 | 			return true;
 634 | 		}
 635 | 		if(!canbus_status.permit_charge){
 636 | 			charger_fail(CFR_BMS_NO_CHARGE_PERMIT);
 637 | 			return true;
 638 | 		}
 639 | 		if(canbus_status.cell_temperature_max > BMS_MAX_TEMPREATURE_C_FOR_FAIL){
 640 | 			charger_fail(CFR_BMS_OVER_TEMPERATURE);
 641 | 			return true;
 642 | 		}
 643 | 		if(canbus_status.cell_voltage_min_mV < BMS_MIN_CELL_MV_FOR_FAIL){
 644 | 			charger_fail(CFR_BMS_UNDER_VOLTAGE);
 645 | 			return true;
 646 | 		}
 647 | 		if(canbus_status.cell_voltage_max_mV > BMS_MAX_CELL_MV_FOR_FAIL){
 648 | 			charger_fail(CFR_BMS_OVER_VOLTAGE);
 649 | 			return true;
 650 | 		}
 651 | 	}
 652 | 	return false;
 653 | }
 654 | 
 655 | void restore_initial_state()
 656 | {
 657 | 	log_println_f("restore_initial_state()");
 658 | 	if(charger_state != CS_FAILED && charger_state != CS_DONE_CHARGING){
 659 | 		log_println_f("restore_initial_state(): Can't restore: Not failed or ended");
 660 | 		return;
 661 | 	}
 662 | 	charger_state = CS_WAITING_START_TRIGGER;
 663 | 	charger = ChargerStatus(); // Reset
 664 | }
 665 | 
 666 | void start_charging()
 667 | {
 668 | 	log_println_f("start_charging()");
 669 | 
 670 | 	if(charger_state != CS_WAITING_START_TRIGGER &&
 671 | 			charger_state != CS_DONE_CHARGING){
 672 | 		log_println_f("Can't start charge: Not at charge cycle start or done charging");
 673 | 		return;
 674 | 	}
 675 | 
 676 | 	charger = ChargerStatus(); // Reset
 677 | 
 678 | 	charger.start_timestamp = millis();
 679 | 
 680 | 	set_wanted_output_V_A_pwm(0, 0, 0, SM_NONE);
 681 | 
 682 | 	// Request power from charger
 683 | 	digitalWrite(EVSE_SW_PIN, HIGH);
 684 | 
 685 | 	// Open converter short switch to let us have different voltages between the
 686 | 	// MG and battery rails
 687 | 	digitalWrite(CONVERTER_SHORT_SWITCH_PIN, LOW);
 688 | 	// Wait for a little bit to make sure AC contactor doesn't switch before
 689 | 	// converter short switch releases
 690 | 	delay(100);
 691 | 
 692 | 	charger_state = CS_WAITING_CANBUS;
 693 | }
 694 | 
 695 | void stop_charging()
 696 | {
 697 | 	if(charger_state == CS_FAILED){
 698 | 		// Don't change failed state to anything else here as that can be unsafe.
 699 | 		// Failed state can only be restored by power cycling or by
 700 | 		// restore_initial_state().
 701 | 		log_println_f("stop_charging(): Charger is in failed state.");
 702 | 		return;
 703 | 	}
 704 | 	if(charger_state == CS_STOPPING_CHARGE){
 705 | 		log_println_f("stop_charging(): Already stopped");
 706 | 		return;
 707 | 	}
 708 | 
 709 | 	log_println_f("Stopping charger");
 710 | 
 711 | 	charger_state = CS_STOPPING_CHARGE;
 712 | 	charger.stopping_charge_start_timestamp = millis();
 713 | }
 714 | 
 715 | #define HANDLE_CHARGER_STATE(state, handler) \
 716 | 		if(charger_state == (CS_##state)){ handler(); return; }
 717 | 
 718 | void handle_charger_state()
 719 | {
 720 | 	// State modifiers
 721 | 	if(charger_state != CS_FAILED){
 722 | 		if(charger_state > CS_CHARGING && charger_state < CS_STOPPING_CHARGE){
 723 | 			fail_if_charging_unsafe();
 724 | 		}
 725 | 	}
 726 | 
 727 | 	// State handlers
 728 | 	HANDLE_CHARGER_STATE(WAITING_START_TRIGGER, [&](){
 729 | 		if(evse_pp_cable_rating_a > 0 && get_max_input_a() > 0 && current_sensor_zero_offsets_calibrated){
 730 | 			// Wait until 2 seconds of continuous start conditions
 731 | 			if(timestamp_age(charger.no_start_condition_timestamp) >= 2000){
 732 | 				log_println_f("Charger start triggered");
 733 | 				start_charging();
 734 | 			} else {
 735 | 				EVERY_N_MILLISECONDS(500){
 736 | 					log_println_f("... Waiting stable starting condition for 2000ms");
 737 | 				}
 738 | 			}
 739 | 			return;
 740 | 		} else {
 741 | 			charger.no_start_condition_timestamp = millis();
 742 | 		}
 743 | 		EVERY_N_MILLISECONDS(5000){
 744 | 			if(evse_pp_cable_rating_a == 0){
 745 | 				log_println_f("... Waiting for EVSE PP connection"
 746 | 						" (pull it to ground if you don't have EVSE)");
 747 | 			}
 748 | 			if(get_max_input_a() == 0 && force_ac_input_amps == 0){
 749 | 				log_println_f("... Waiting for EVSE CP PWM"
 750 | 						" (set force_ac_input_amps if you don't have EVSE)");
 751 | 			}
 752 | 		}
 753 | 	});
 754 | 	HANDLE_CHARGER_STATE(WAITING_CANBUS, [&](){
 755 | 		if(CANBUS_ENABLE){
 756 | 			if(canbus_alive()){
 757 | 				log_println_f("CANbus detected");
 758 | 				charger_state = CS_WAITING_CHARGE_PERMISSION;
 759 | 			}
 760 | 			EVERY_N_MILLISECONDS(5000){
 761 | 				log_println_f("... Waiting for CANbus");
 762 | 			}
 763 | 		} else {
 764 | 			// Skip ahead, we don't need no CANbus!
 765 | 			charger_state = CS_WAITING_CHARGE_PERMISSION;
 766 | 		}
 767 | 	});
 768 | 	HANDLE_CHARGER_STATE(WAITING_CHARGE_PERMISSION, [&](){
 769 | 		if((canbus_status.permit_charge || !CANBUS_ENABLE) && evse_pp_cable_rating_a > 0){
 770 | 			if(CANBUS_ENABLE){
 771 | 				log_println_f("BMS gives charge permission and cable proximity pilot is connected. Starting AC side precharge");
 772 | 			} else {
 773 | 				log_println_f("Cable proximity pilot is connected. Starting AC side precharge");
 774 | 			}
 775 | 			charger_state = CS_PRECHARGING;
 776 | 
 777 | 
 778 | 			charger.precharge_start_timestamp = millis();
 779 | 			charger.precharge_last_input_voltage = dcbus2_raw * DCBUS2_V_PER_BIT;
 780 | 
 781 | 			report_status_on_console();
 782 | 
 783 | 			log_print_timestamp();
 784 | 			CONSOLE.print(F("Precharge starting at "));
 785 | 			CONSOLE.print(charger.precharge_last_input_voltage);
 786 | 			CONSOLE.println(" V");
 787 | 			return;
 788 | 		}
 789 | 		EVERY_N_MILLISECONDS(5000){
 790 | 			if(CANBUS_ENABLE){
 791 | 				if(!canbus_status.permit_charge){
 792 | 					log_println_f("... Waiting for BMS charge permission");
 793 | 				}
 794 | 			}
 795 | 			if(evse_pp_cable_rating_a == 0){
 796 | 				log_println_f("... Waiting for EVSE proximity pilot connection");
 797 | 			}
 798 | 		}
 799 | 	});
 800 | 	HANDLE_CHARGER_STATE(PRECHARGING, [&](){
 801 | 		if(evse_pp_cable_rating_a == 0){
 802 | 			charger_fail(CFR_LOST_EVSE_PROXIMITY_PILOT);
 803 | 			return;
 804 | 		}
 805 | 
 806 | 		// Stop and cancel charging if any voltage goes through the roof
 807 | 		if(input_voltage_V > INPUT_VOLTAGE_MAX_V ||
 808 | 				output_voltage_V > OUTPUT_VOLTAGE_MAX_V){
 809 | 			charger_fail(CFR_PRECHARGE_VOLTAGE_THROUGH_THE_ROOF);
 810 | 			return;
 811 | 		}
 812 | 
 813 | 		// Delay closing the AC side precharge switch a bit.
 814 | 		// This delay is useful if your precharge contactor doesn't quite work
 815 | 		// at 12V but works at 14V, and your DC-DC converter is enabled at the
 816 | 		// start of CS_PRECHARGING.
 817 | 		// Ok yeah that's a bit silly for sure, but it happened to me!
 818 | 		if(timestamp_age(charger.precharge_start_timestamp) >= 500){
 819 | 			if(!digitalRead(AC_CONTACTOR_SWITCH_PIN)){
 820 | 				digitalWrite(AC_PRECHARGE_SWITCH_PIN, HIGH);
 821 | 			}
 822 | 		}
 823 | 
 824 | 		// Follow battery side precharge
 825 | 		EVERY_N_MILLISECONDS(1000){
 826 | 			if(!charger.battery_side_looks_precharged){
 827 | 				if(
 828 | 					abs(output_voltage_V - charger.precharge_last_battery_voltage) <= 2 &&
 829 | 					output_voltage_V >= BATTERY_MINIMUM_VOLTAGE
 830 | 				){
 831 | 					log_print_timestamp();
 832 | 					CONSOLE.print(F("-> Battery side precharge looks FINISHED at "));
 833 | 					CONSOLE.print(output_voltage_V);
 834 | 					CONSOLE.println("V");
 835 | 
 836 | 					charger.battery_side_looks_precharged = true;
 837 | 				} else {
 838 | 					log_print_timestamp();
 839 | 					CONSOLE.print(F("... Battery side precharging at "));
 840 | 					CONSOLE.print(output_voltage_V);
 841 | 					CONSOLE.println("V");
 842 | 
 843 | 					charger.precharge_last_battery_voltage = output_voltage_V;
 844 | 				}
 845 | 			}
 846 | 
 847 | 			if(CANBUS_ENABLE){
 848 | 				if(!canbus_status.main_contactor_closed){
 849 | 					charger.battery_side_looks_precharged = false;
 850 | 				}
 851 | 			}
 852 | 		}
 853 | 
 854 | 		// Follow AC side precharge
 855 | 		EVERY_N_MILLISECONDS(1000){
 856 | 			if(!digitalRead(AC_CONTACTOR_SWITCH_PIN)){
 857 | 				if(
 858 | 					(abs(input_voltage_V - charger.precharge_last_input_voltage) <= 2
 859 | 							|| PRECHARGE_BOOST_ENABLED) &&
 860 | 					input_voltage_V >= AC_PRECHARGE_MINIMUM_VOLTAGE
 861 | 				){
 862 | 					uint16_t finish_voltage = input_voltage_V;
 863 | 
 864 | 					digitalWrite(AC_CONTACTOR_SWITCH_PIN, HIGH);
 865 | 					// This delay allows an NO AUX contact on the precharge
 866 | 					// contactor to be paralleled with a resistor to form an
 867 | 					// economizer for the main contactor.
 868 | 					delay(100);
 869 | 					digitalWrite(AC_PRECHARGE_SWITCH_PIN, LOW);
 870 | 
 871 | 					log_print_timestamp();
 872 | 					CONSOLE.print(F("-> AC side precharge FINISHED at "));
 873 | 					CONSOLE.print(finish_voltage);
 874 | 					CONSOLE.println("V, AC contactor CLOSED");
 875 | 				} else {
 876 | 					log_print_timestamp();
 877 | 					CONSOLE.print(F("... AC side precharging at "));
 878 | 					CONSOLE.print(input_voltage_V);
 879 | 					CONSOLE.println("V");
 880 | 
 881 | 					charger.precharge_last_input_voltage = input_voltage_V;
 882 | 				}
 883 | 			}
 884 | 		}
 885 | 
 886 | 		// Precharge finish condition
 887 | 		if(digitalRead(AC_CONTACTOR_SWITCH_PIN) && charger.battery_side_looks_precharged){
 888 | 			log_println_f("Input and battery side precharge done, now charging.");
 889 | 			charger_state = CS_CHARGING;
 890 | 			return;
 891 | 		}
 892 | 
 893 | 		// Precharge timeout
 894 | 		if(timestamp_age(charger.precharge_start_timestamp) > MAX_PRECHARGE_MS){
 895 | 			// Open precharge contactor
 896 | 			digitalWrite(AC_PRECHARGE_SWITCH_PIN, LOW);
 897 | 			// Stop boosting
 898 | 			set_wanted_output_V_A_pwm(0, 0, 0, SM_NONE);
 899 | 			set_pwm_inactive();
 900 | 			// Report
 901 | 			log_print_timestamp();
 902 | 			CONSOLE.print(F("-> Precharge FAILED at "));
 903 | 			CONSOLE.print(input_voltage_V);
 904 | 			CONSOLE.print(F("V: Voltage not reaching target "));
 905 | 			CONSOLE.print(AC_PRECHARGE_MINIMUM_VOLTAGE);
 906 | 			CONSOLE.println("V");
 907 | 			// Fail
 908 | 			charger_fail(CFR_AC_PRECHARGE_FAILED);
 909 | 			return;
 910 | 		}
 911 | 
 912 | 		// Use boosting to precharge in case there are no precharge resistors
 913 | 		// configured.
 914 | 		// This can be done only after the battery side has been precharged
 915 | 		// first.
 916 | 		if(PRECHARGE_BOOST_ENABLED &&
 917 | 				timestamp_age(charger.precharge_start_timestamp) > PRECHARGE_BOOST_START_MS){
 918 | 			if(!charger.battery_side_looks_precharged){
 919 | 				EVERY_N_MILLISECONDS(5000){
 920 | 					log_println_f("... Waiting battery side to be precharged before boosting");
 921 | 				}
 922 | 			}
 923 | 			if(charger.battery_side_looks_precharged &&
 924 | 					input_voltage_V < PRECHARGE_BOOST_VOLTAGE &&
 925 | 					input_voltage_V < INPUT_VOLTAGE_MAX_V - 20){
 926 | 				EVERY_N_MILLISECONDS(500){
 927 | 					log_println_f("... Doing AC side precharge boost pulses");
 928 | 				}
 929 | 				EVERY_N_MILLISECONDS(1){
 930 | 					// Make one boost pulse at a time so that we get updated
 931 | 					// voltage measurements in between
 932 | 					set_wanted_output_V_A_pwm(PRECHARGE_BOOST_VOLTAGE, 1, ICR1*0.05,
 933 | 							SM_BOOST_SINGLE_PULSE);
 934 | 				}
 935 | 			} else {
 936 | 				set_wanted_output_V_A_pwm(0, 0, 0, SM_NONE);
 937 | 				set_pwm_inactive();
 938 | 			}
 939 | 		}
 940 | 
 941 | 		// Report what we're waiting for
 942 | 		if(!digitalRead(AC_CONTACTOR_SWITCH_PIN)){
 943 | 			EVERY_N_MILLISECONDS(5000){
 944 | 				log_println_f("... Doing AC side precharge");
 945 | 			}
 946 | 		}
 947 | 		if(!charger.battery_side_looks_precharged){
 948 | 			EVERY_N_MILLISECONDS(5000){
 949 | 				log_println_f("... Doing battery side precharge");
 950 | 			}
 951 | 		}
 952 | 	});
 953 | 	HANDLE_CHARGER_STATE(CHARGING, [&](){
 954 | 		if(evse_pp_cable_rating_a == 0){
 955 | 			charger_fail(CFR_LOST_EVSE_PROXIMITY_PILOT);
 956 | 			return;
 957 | 		}
 958 | 
 959 | 		check_and_react_if_high_power_input_failed();
 960 | 
 961 | 		if(CANBUS_ENABLE){
 962 | 			if(!canbus_status.permit_charge || !canbus_status.main_contactor_closed){
 963 | 				report_status_on_console();
 964 | 				log_println_f("BMS does not permit charging");
 965 | 				charger_state = CS_STOPPING_CHARGE;
 966 | 				charger.stopping_charge_start_timestamp = millis();
 967 | 				return;
 968 | 			}
 969 | 		}
 970 | 
 971 | 		// Stop charging if finished
 972 | 
 973 | 		if(CANBUS_ENABLE){
 974 | 			if(canbus_status.charge_completed){
 975 | 				report_status_on_console();
 976 | 				log_println_f("BMS reports charge completion, stopping");
 977 | 				charger_state = CS_STOPPING_CHARGE;
 978 | 				charger.stopping_charge_start_timestamp = millis();
 979 | 				return;
 980 | 			}
 981 | 		}
 982 | 
 983 | 		bool charge_looks_momentarily_complete =
 984 | 				output_voltage_V >= BATTERY_CHARGE_VOLTAGE - 2 &&
 985 | 				output_dc_current_Ax10 <= (CHARGE_FINISH_AT_A * 10);
 986 | 
 987 | 		if(charge_looks_momentarily_complete){
 988 | 			if(charger.charge_not_looking_complete_timestamp != 0 &&
 989 | 					timestamp_age(charger.charge_not_looking_complete_timestamp) >= 30000){
 990 | 				report_status_on_console();
 991 | 				log_println_f("Charge looks complete, stopping");
 992 | 				charger_state = CS_STOPPING_CHARGE;
 993 | 				charger.stopping_charge_start_timestamp = millis();
 994 | 				return;
 995 | 			} else {
 996 | 				EVERY_N_MILLISECONDS(5000){
 997 | 					log_println_f("... Charge looks momentarily complete, waiting");
 998 | 				}
 999 | 			}
1000 | 		} else {
1001 | 			charger.charge_not_looking_complete_timestamp = millis();
1002 | 		}
1003 | 
1004 | 		// Update output according to vehicle requirements
1005 | 
1006 | 		if(CANBUS_ENABLE){
1007 | 			set_wanted_output_V_A_pwm(
1008 | 					BATTERY_CHARGE_VOLTAGE,
1009 | 					canbus_status.max_charge_current_A,
1010 | 					PWM_MAX,
1011 | 					SM_BUCK);
1012 | 		} else {
1013 | 			set_wanted_output_V_A_pwm(
1014 | 					BATTERY_CHARGE_VOLTAGE,
1015 | 					OUTPUT_CURRENT_MAX_A,
1016 | 					PWM_MAX,
1017 | 					SM_BUCK);
1018 | 		}
1019 | 
1020 | 		if(fail_if_charging_unsafe())
1021 | 			return;
1022 | 	});
1023 | 	HANDLE_CHARGER_STATE(STOPPING_CHARGE, [&](){
1024 | 		set_wanted_output_V_A_pwm(0, 0, 0, SM_NONE);
1025 | 
1026 | 		if(timestamp_age(charger.stopping_charge_start_timestamp) >= 1000){
1027 | 			charger_state = CS_DONE_CHARGING;
1028 | 			return;
1029 | 		}
1030 | 
1031 | 		EVERY_N_MILLISECONDS(5000){
1032 | 			log_println_f("... Stopping charge");
1033 | 		}
1034 | 	});
1035 | 	HANDLE_CHARGER_STATE(DONE_CHARGING, [&](){
1036 | 		set_wanted_output_V_A_pwm(0, 0, 0, SM_NONE);
1037 | 
1038 | 		digitalWrite(AC_PRECHARGE_SWITCH_PIN, LOW);
1039 | 		digitalWrite(AC_CONTACTOR_SWITCH_PIN, LOW);
1040 | 		digitalWrite(EVSE_SW_PIN, LOW);
1041 | 
1042 | 		EVERY_N_MILLISECONDS(5000){
1043 | 			log_println_f("... Done charging");
1044 | 		}
1045 | 	});
1046 | 	HANDLE_CHARGER_STATE(FAILED, [&](){
1047 | 		set_wanted_output_V_A_pwm(0, 0, 0, SM_NONE);
1048 | 
1049 | 		digitalWrite(AC_PRECHARGE_SWITCH_PIN, LOW);
1050 | 		digitalWrite(AC_CONTACTOR_SWITCH_PIN, LOW);
1051 | 		digitalWrite(EVSE_SW_PIN, LOW);
1052 | 
1053 | 		EVERY_N_MILLISECONDS(5000){
1054 | 			log_print_timestamp();
1055 | 			CONSOLE.print("... In fault state: \"");
1056 | 			CONSOLE.print(ChargerFailReason_STRINGS[charger.fail_reason]);
1057 | 			CONSOLE.println("\"");
1058 | 		}
1059 | 
1060 | 		// Reset automatically from some states that don't seem too dangerous
1061 | 		if(charger.fail_reason == CFR_LOST_EVSE_PROXIMITY_PILOT){
1062 | 			if(timestamp_age(charger.fail_timestamp) >= 5000){
1063 | 				log_println_f("Automatically resetting EVSE PP lost failure");
1064 | 				restore_initial_state();
1065 | 			}
1066 | 		}
1067 | 	});
1068 | 	HANDLE_CHARGER_STATE(ALLOW_MEASUREMENT_THEN_FAIL, [&](){
1069 | 		if(timestamp_age(charger.allow_measurement_start_timestamp) > 15000){
1070 | 			charger_fail(CFR_CUSTOM_MEASUREMENT_DELAY_ENDED);
1071 | 		}
1072 | 		EVERY_N_MILLISECONDS(2000){
1073 | 			log_println_f("... Allowing measurement for 15s");
1074 | 		}
1075 | 	});
1076 | 
1077 | 	log_println_f("Unhandled charger state; falling back to stopping charge");
1078 | 	charger_fail(CFR_UNHANDLED_STATE);
1079 | }
1080 | 
1081 | void control_inductor_short_switch()
1082 | {
1083 | 	// Maintain some timestamps
1084 | 	if(digitalRead(CONVERTER_SHORT_SWITCH_PIN)){
1085 | 		inductor_short_switch_closed_timestamp = millis();
1086 | 	}
1087 | 	if(digitalRead(AC_CONTACTOR_SWITCH_PIN)){
1088 | 		ac_contactor_closed_timestamp = millis();
1089 | 	}
1090 | 
1091 | 	// Close converter short switch if charging isn't happening, AC contactor has
1092 | 	// been open for some time and the voltage difference is reasonable
1093 | 	if((charger_state == CS_WAITING_START_TRIGGER || charger_state == CS_DONE_CHARGING ||
1094 | 				charger_state == CS_FAILED) &&
1095 | 			timestamp_age(ac_contactor_closed_timestamp) >= 500){
1096 | 		if(!digitalRead(CONVERTER_SHORT_SWITCH_PIN)){
1097 | 			if(abs(input_voltage_V - output_voltage_V) < 20){
1098 | 				log_println_f("Closing converter short switch");
1099 | 				digitalWrite(CONVERTER_SHORT_SWITCH_PIN, HIGH);
1100 | 			} else {
1101 | 				EVERY_N_MILLISECONDS(5000){
1102 | 					log_println_f("Can't close converter short switch due to voltage "
1103 | 							"difference. If you're using the feature, make sure to "
1104 | 							"have a bleed down resistor in parallel with the "
1105 | 							"converter short switch.");
1106 | 				}
1107 | 			}
1108 | 		}
1109 | 	} else {
1110 | 		// Always if the AC main contactor is active, deactive the inductor
1111 | 		// short switch, and tell the programmer they messed up. You can look up
1112 | 		// if you find this in logs if your 3 phase breaker opened.
1113 | 		if(digitalRead(CONVERTER_SHORT_SWITCH_PIN)){
1114 | 			log_println_f("WARNING: CONVERTER_SHORT_SWITCH was active while AC "
1115 | 					"was active. The short switch has now been deactivated.");
1116 | 			digitalWrite(CONVERTER_SHORT_SWITCH_PIN, LOW);
1117 | 		}
1118 | 	}
1119 | }
1120 | 
1121 | void avoid_explosions()
1122 | {
1123 | 	// Nah
1124 | }
1125 | 
1126 | void set_wanted_output_V_A_pwm(int16_t voltage_V, int16_t current_A, int16_t pwm,
1127 | 		SwitchingMode switching_mode)
1128 | {
1129 | 	cli();
1130 | 	wanted_switching_mode = switching_mode;
1131 | 	wanted_output_voltage = voltage_V;
1132 | 	wanted_output_current = current_A;
1133 | 	wanted_pwm = pwm;
1134 | 	boost_single_pulse_state = BSPS_INIT;
1135 | 	sei();
1136 | }
1137 | 
1138 | void check_and_react_if_high_power_input_failed()
1139 | {
1140 | 	cli();
1141 | 	int16_t voltage_now = dcbus2_raw * DCBUS2_V_PER_BIT;
1142 | 	sei();
1143 | 
1144 | 	EVERY_N_MILLISECONDS(1000){
1145 | 		if(voltage_now < RECTIFIED_AC_MINIMUM_VOLTAGE){
1146 | 			log_print_timestamp();
1147 | 			CONSOLE.print(F("Input voltage dropped below the minimum voltage "));
1148 | 			CONSOLE.print(RECTIFIED_AC_MINIMUM_VOLTAGE);
1149 | 			CONSOLE.println(F(" V"));
1150 | 
1151 | 			charger_fail(CFR_INPUT_VOLTAGE_TOO_LOW);
1152 | 			return;
1153 | 		}
1154 | 
1155 | 		if(voltage_now > INPUT_VOLTAGE_MAX_V){
1156 | 			log_print_timestamp();
1157 | 			CONSOLE.print(F("Input voltage rose above the maximum voltage "));
1158 | 			CONSOLE.print(INPUT_VOLTAGE_MAX_V);
1159 | 			CONSOLE.println(F(" V"));
1160 | 
1161 | 			charger_fail(CFR_INPUT_VOLTAGE_TOO_HIGH);
1162 | 			return;
1163 | 		}
1164 | 	}
1165 | }
1166 | 
1167 | // Times are referenced to ICR1 value (ICR1 = 100%, 0 = 0%)
1168 | static void set_ontimes(uint16_t lowswitch_offtime, uint16_t highswitch_ontime)
1169 | {
1170 | 	// OC1A: Low side
1171 | 	OCR1A = lowswitch_offtime;
1172 | 	// OC1B: High side
1173 | 	OCR1B = highswitch_ontime;
1174 | 
1175 | 	// We need to rewind TCNT1 to OCR1A so that the lowside gets turned off.
1176 | 	// Otherwise it will stay on for a full PWM cycle until it reaches the
1177 | 	// lowered OC1A on the next cycle and by that point we've had quite the
1178 | 	// boost pulse. At 10kHz such a pulse will create about 50V of extra voltage
1179 | 	// on the MG side.
1180 | 	if(TCNT1 >= OCR1A)
1181 | 		TCNT1 = OCR1A-1;
1182 | }
1183 | 
1184 | // Sets high side switch PWM, and low side switch PWM based on it
1185 | static void set_pwm_buck_active(uint16_t highswitch_ontime)
1186 | {
1187 | 	if(!current_sensor_zero_offsets_calibrated)
1188 | 		return;
1189 | #if 0
1190 | 	const float deadtime_ns = 2500;
1191 | 	const uint16_t deadtime = (uint16_t)((float)deadtime_ns/(1.0/16e6*1e9));
1192 | 	set_ontimes(highswitch_ontime + deadtime, highswitch_ontime);
1193 | #else
1194 | 	set_ontimes(ICR1+1, highswitch_ontime);
1195 | #endif
1196 | }
1197 | 
1198 | // Sets low side switch PWM, and high side switch PWM based on it
1199 | static void set_pwm_boost_active(uint16_t lowswitch_ontime)
1200 | {
1201 | 	if(!current_sensor_zero_offsets_calibrated)
1202 | 		return;
1203 | 	if(lowswitch_ontime > ICR1)
1204 | 		lowswitch_ontime = ICR1;
1205 | 	uint16_t lowswitch_offtime = ICR1 - lowswitch_ontime;
1206 | #if 0
1207 | 	const float deadtime_ns = 10000;
1208 | 	const uint16_t deadtime = (uint16_t)((float)deadtime_ns/(1.0/16e6*1e9));
1209 | 	set_ontimes(lowswitch_offtime, lowswitch_offtime - deadtime);
1210 | #else
1211 | 	set_ontimes(lowswitch_offtime, 0);
1212 | #endif
1213 | }
1214 | 
1215 | static void set_pwm_inactive()
1216 | {
1217 | 	set_ontimes(ICR1, 0);
1218 | }
1219 | 
1220 | static int16_t get_max_input_a()
1221 | {
1222 | 	int16_t max_input_a = [&]() -> int16_t {
1223 | 		// If force_ac_input_amps is set, it overrides everything except
1224 | 		// INPUT_CURRENT_MAX_A.
1225 | 		if(force_ac_input_amps != 0)
1226 | 			return force_ac_input_amps;
1227 | 		// Otherwise use EVSE CP PWM limit
1228 | 		return evse_allowed_amps;
1229 | 	}();
1230 | 
1231 | 	// Cable limit (EVSE PP resistor)
1232 | 	// This is fairly reliable and fairly important so there is no need to
1233 | 	// support overriding it.
1234 | 	if(max_input_a >= evse_pp_cable_rating_a){
1235 | 		max_input_a = evse_pp_cable_rating_a;
1236 | 	}
1237 | 
1238 | 	// Final limit
1239 | 	if(max_input_a >= INPUT_CURRENT_MAX_A){
1240 | 		max_input_a = INPUT_CURRENT_MAX_A;
1241 | 	}
1242 | 
1243 | 	return max_input_a;
1244 | }
1245 | 
1246 | static void control_buck()
1247 | {
1248 | 	int16_t max_input_a = get_max_input_a();
1249 | 
1250 | 	// Calibrated input peak A = 2.0 * input RMS A (at around 10kW)
1251 | 	// Well, except that 2.0 will slowly blow a C32 fuse when input current is
1252 | 	// set at 32A.
1253 | 	// Let's randomly use 1.5, maybe it's good.
1254 | 	int16_t max_input_dc_current_Ax10 = max_input_a * 15;
1255 | 
1256 | 	if(
1257 | 		output_dc_current_Ax10 >= wanted_output_current * 20
1258 | 	){
1259 | 		// More than 200% current or more than 120% output voltage
1260 | 		if(current_pwm > 10)
1261 | 			current_pwm -= current_pwm / 8;
1262 | 		else
1263 | 			current_pwm = 0;
1264 | 		limiting_value = LV_OUTPUT_CURRENT_FAST;
1265 | 	} else if(
1266 | 		input_dc_current_Ax10 > max_input_dc_current_Ax10 * 2
1267 | 	){
1268 | 		// More than 200% current or more than 120% output voltage
1269 | 		if(current_pwm > 10)
1270 | 			current_pwm -= current_pwm / 8;
1271 | 		else
1272 | 			current_pwm = 0;
1273 | 		limiting_value = LV_INPUT_CURRENT_FAST;
1274 | 	} else if(
1275 | 		output_voltage_V >= wanted_output_voltage * 6 / 5
1276 | 	){
1277 | 		// More than 200% current or more than 120% output voltage
1278 | 		if(current_pwm > 10)
1279 | 			current_pwm -= current_pwm / 8;
1280 | 		else
1281 | 			current_pwm = 0;
1282 | 		limiting_value = LV_OUTPUT_VOLTAGE_FAST;
1283 | 	} else if(
1284 | 		output_dc_current_Ax10 > wanted_output_current * 12
1285 | 	){
1286 | 		// More than 120% current or more than 100% output voltage
1287 | 		current_pwm--;
1288 | 		limiting_value = LV_OUTPUT_CURRENT;
1289 | 	} else if(
1290 | 		input_dc_current_Ax10 > max_input_dc_current_Ax10 * 6 / 5
1291 | 	){
1292 | 		// More than 120% current or more than 100% output voltage
1293 | 		current_pwm--;
1294 | 		limiting_value = LV_INPUT_CURRENT;
1295 | 	} else if(
1296 | 		output_voltage_V > wanted_output_voltage
1297 | 	){
1298 | 		// More than 120% current or more than 100% output voltage
1299 | 		current_pwm--;
1300 | 		limiting_value = LV_OUTPUT_VOLTAGE;
1301 | 	} else if(
1302 | 		output_dc_current_Ax10 < wanted_output_current * 5 &&
1303 | 		input_dc_current_Ax10 < max_input_dc_current_Ax10 / 2 &&
1304 | 		output_voltage_V < wanted_output_voltage
1305 | 	){
1306 | 		// Less than 50% current and less than 100% output voltage
1307 | 		current_pwm++;
1308 | 		//limiting_value = LV_NOTHING; // Reset by report_status_on_console()
1309 | 	} else {
1310 | 		// Close to wanted values; adjust slower
1311 | 		static uint8_t counter = 0;
1312 | 		counter++;
1313 | 		if(counter >= 4){
1314 | 			counter = 0;
1315 | 
1316 | 			// More than 100% current or more than 100% output voltage
1317 | 			if(output_dc_current_Ax10 > wanted_output_current * 10){
1318 | 				current_pwm--;
1319 | 				limiting_value = LV_OUTPUT_CURRENT_SLOW;
1320 | 			} else if(output_voltage_V > wanted_output_voltage){
1321 | 				current_pwm--;
1322 | 				limiting_value = LV_OUTPUT_VOLTAGE_SLOW;
1323 | 			} else if(input_dc_current_Ax10 > max_input_dc_current_Ax10){
1324 | 				current_pwm--;
1325 | 				limiting_value = LV_INPUT_CURRENT_SLOW;
1326 | 			} else {
1327 | 				// Less than 100% current and less than 100% output voltage
1328 | 				current_pwm++;
1329 | 				//limiting_value = LV_NOTHING; // Reset by report_status_on_console()
1330 | 			}
1331 | 		}
1332 | 	}
1333 | 
1334 | 	if(current_pwm > wanted_pwm){
1335 | 		current_pwm = wanted_pwm;
1336 | 	}
1337 | 
1338 | 	// Limit PWM
1339 | 	if(current_pwm < 0)
1340 | 		current_pwm = 0;
1341 | 	else if(current_pwm > ICR1)
1342 | 		current_pwm = ICR1;
1343 | 
1344 | 	disable_pwm = [&](){
1345 | 		if(dcbus1_raw >= (int16_t)(OUTPUT_VOLTAGE_MAX_V / DCBUS1_V_PER_BIT)){
1346 | 			return DPR_DCBUS1_OVERVOLTAGE;
1347 | 		}
1348 | 		if(dcbus2_raw >= (int16_t)(INPUT_VOLTAGE_MAX_V / DCBUS2_V_PER_BIT)){
1349 | 			return DPR_DCBUS2_OVERVOLTAGE;
1350 | 		}
1351 | 		if(wanted_pwm == 0){
1352 | 			return DPR_WANTED_PWM_IS_ZERO;
1353 | 		}
1354 | 		if(boost_t1_c > BOOST_MAX_TEMPERATURE_C ||
1355 | 				boost_t2_c > BOOST_MAX_TEMPERATURE_C){
1356 | 			return DPR_BOOST_OVER_TEMPERATURE;
1357 | 		}
1358 | 		if(evse_pp_cable_rating_a == 0){
1359 | 			return DPR_LOST_EVSE_PROXIMITY_PILOT;
1360 | 		}
1361 | 		return DPR_PWM_ENABLED;
1362 | 	}();
1363 | 
1364 | 	if(disable_pwm != DPR_PWM_ENABLED){
1365 | 		set_pwm_inactive();
1366 | 		current_pwm = 0;
1367 | 	} else {
1368 | 		set_pwm_buck_active(current_pwm);
1369 | 	}
1370 | }
1371 | 
1372 | static void control_boost()
1373 | {
1374 | 	if(wanted_switching_mode == SM_BOOST_SINGLE_PULSE){
1375 | 		disable_pwm = DPR_PWM_ENABLED;
1376 | 		if(boost_single_pulse_state == BSPS_INIT){
1377 | 			// Start a pulse if it's needed
1378 | 			if(input_voltage_V >= INPUT_VOLTAGE_MAX_V ||
1379 | 					input_voltage_V >= wanted_output_voltage){
1380 | 				// Enough voltage, not creating pulse
1381 | 				current_pwm = 0;
1382 | 				set_pwm_inactive();
1383 | 				boost_single_pulse_state = BSPS_PULSED;
1384 | 			} else {
1385 | 				current_pwm = wanted_pwm;
1386 | 				set_pwm_boost_active(current_pwm);
1387 | 				boost_single_pulse_state = BSPS_PULSING;
1388 | 			}
1389 | 		} else if(boost_single_pulse_state == BSPS_PULSING){
1390 | 			// Pulse was started, now we end it
1391 | 			current_pwm = 0;
1392 | 			set_pwm_inactive();
1393 | 			boost_single_pulse_state = BSPS_PULSED;
1394 | 		} else {
1395 | 			// Pulse started and ended, nothing to do
1396 | 			disable_pwm = DPR_PULSE_DONE;
1397 | 		}
1398 | 	} else if(wanted_switching_mode == SM_BOOST){
1399 | 		disable_pwm = DPR_PWM_ENABLED;
1400 | 		if(input_voltage_V >= INPUT_VOLTAGE_MAX_V ||
1401 | 				input_voltage_V >= wanted_output_voltage){
1402 | 			// Enough voltage
1403 | 			current_pwm = 0;
1404 | 			set_pwm_inactive();
1405 | 		} else {
1406 | 			current_pwm = wanted_pwm;
1407 | 			set_pwm_boost_active(current_pwm);
1408 | 		}
1409 | 	}
1410 | }
1411 | 
1412 | SIGNAL(TIMER1_CAPT_vect) 
1413 | {
1414 | #if TEST_BOOST == true || TEST_BUCK == true
1415 | 	return;
1416 | #endif
1417 | 
1418 | 	static uint8_t pwm_handler_interval_counter = 0;
1419 | 	pwm_handler_interval_counter++;
1420 | 	if(pwm_handler_interval_counter < PWM_HANDLER_INTERVAL)
1421 | 		return;
1422 | 	pwm_handler_interval_counter = 0;
1423 | 
1424 | 	static uint8_t interrupt_counter = 0;
1425 | 
1426 | 	// NOTE: We have time for one analogRead and some calculation per PWM cycle
1427 | 
1428 | 	static uint8_t ch_i = 255;
1429 | 	ch_i++;
1430 | 	switch(ch_i){
1431 | 	case 0:
1432 | 		dcbus1_raw = analogRead(DCBUS1_PIN) - DCBUS1_OFFSET_BITS;
1433 | 		output_voltage_V = ((int32_t)dcbus1_raw * (int32_t)(DCBUS1_V_PER_BIT*1000)) / 1000;
1434 | 		break;
1435 | 	case 1:
1436 | 		dcbus2_raw = analogRead(DCBUS2_PIN) - DCBUS2_OFFSET_BITS;
1437 | 		input_voltage_V = ((int32_t)dcbus2_raw * (int32_t)(DCBUS2_V_PER_BIT*1000)) / 1000;
1438 | 		break;
1439 | 	case 2:
1440 | 		mg2l1_current_raw = analogRead(MG1_L1_CURRENT_PIN) -
1441 | 				mg2l1_current_raw_calibrated_zero;
1442 | 		break;
1443 | 	case 3:
1444 | 		mg2l2_current_raw = analogRead(MG1_L2_CURRENT_PIN) -
1445 | 				mg2l2_current_raw_calibrated_zero;
1446 | 		break;
1447 | 	case 4:
1448 | 		boost_t1_raw = analogRead(BOOST_T1_PIN);
1449 | 		break;
1450 | 	case 5:
1451 | 		boost_t2_raw = analogRead(BOOST_T2_PIN);
1452 | 		break;
1453 | 	case 6:
1454 | 		evse_pp_raw = analogRead(EVSE_PP_PIN);
1455 | 		break;
1456 | 	default:
1457 | 		ch_i = 255;
1458 | 		break;
1459 | 	}
1460 | 
1461 | 	if(ch_i == 3){
1462 | 		// Control PWM
1463 | 
1464 | 		int16_t l1_current_A =
1465 | 				abs(((int32_t)mg2l1_current_raw * (int32_t)(MG1_CURRENT_A_PER_BIT * 1000)) / 1000);
1466 | 		int16_t l2_current_A =
1467 | 				abs(((int32_t)mg2l2_current_raw * (int32_t)(MG1_CURRENT_A_PER_BIT * 1000)) / 1000);
1468 | 		int16_t input_now_A = l1_current_A > l2_current_A ? l1_current_A : l2_current_A;
1469 | 		input_current_avgbuf.push(input_now_A);
1470 | 		input_dc_current_Ax10 = limit_int32(input_current_avgbuf.avg(10), 0, 32767);
1471 | 		int32_t input_power_Wx10 = (int32_t)input_dc_current_Ax10 * input_voltage_V;
1472 | 		int16_t input_to_output_V_factor_x10 = input_voltage_V * 10 / output_voltage_V;
1473 | 		// Limit so that value is not too inaccurate
1474 | 		if(input_to_output_V_factor_x10 > 50) // 50 = 5x
1475 | 			input_to_output_V_factor_x10 = 50;
1476 | 		// With correction according to measurements in practice (0.74x)
1477 | 		output_dc_current_Ax10 = limit_int32((int32_t)input_dc_current_Ax10 *
1478 | 				input_to_output_V_factor_x10 * 74 / 1000, 0, 32767);
1479 | 		// Actually this is more accurate at around 10-15kW
1480 | 		// NOTE: Accurate as input power, but output after efficiency is
1481 | 		//       probably more like above?
1482 | 		/*output_dc_current_Ax10 = limit_int32((int32_t)input_dc_current_Ax10 *
1483 | 				input_to_output_V_factor_x10 * 93 / 1000, 0, 32767);*/
1484 | 
1485 | 		if(current_switching_mode != wanted_switching_mode){
1486 | 			current_pwm = 0;
1487 | 			current_switching_mode = wanted_switching_mode;
1488 | 		}
1489 | 
1490 | 		if(current_switching_mode == SM_BUCK){
1491 | 			control_buck();
1492 | 		} else if(current_switching_mode == SM_BOOST_SINGLE_PULSE ||
1493 | 				current_switching_mode == SM_BOOST){
1494 | 			control_boost();
1495 | 		} else {
1496 | 			set_pwm_inactive();
1497 | 			current_pwm = 0;
1498 | 		}
1499 | 	}
1500 | 
1501 | 	if(mainloop_running){
1502 | 		if(interrupt_counter == 0){ // 29Hz, 34ms
1503 | 			// If main loop doesn't reset counter before 340ms, issue warning
1504 | 			if(interrupt_counter_for_mainloop > 10){
1505 | 				Serial.println(F("WARNING: Too little time for main loop detected"));
1506 | 				interrupt_counter_for_mainloop = 0;
1507 | 			}
1508 | 			interrupt_counter_for_mainloop++;
1509 | 		}
1510 | 	}
1511 | 
1512 | 	interrupt_counter++;
1513 | }
1514 | 
1515 | void report_status_on_console()
1516 | {
1517 | 	static unsigned long last_accurate_report_timestamp = 0;
1518 | 	bool accurate = false;
1519 | 	if(timestamp_age(last_accurate_report_timestamp) >= 2000){
1520 | 		last_accurate_report_timestamp = millis();
1521 | 		accurate = true;
1522 | 	}
1523 | 
1524 | 	// Configuration
1525 | 	REPORT_INT16(BATTERY_CHARGE_VOLTAGE);
1526 | 	REPORT_INT16(OUTPUT_CURRENT_MAX_A);
1527 | 
1528 | 	// PWM control
1529 | 	REPORT_ENUM(disable_pwm, DisablePwmReason_STRINGS);
1530 | 	REPORT_INT16_FORMAT(wanted_output_voltage, 1, 1, " V")
1531 | 	REPORT_INT16_FORMAT(wanted_output_current, 1, 1, " A")
1532 | 	REPORT_UINT16_FORMAT(wanted_pwm, accurate ? 1 : 5, 100.0/PWM_MAX, " %")
1533 | 	//REPORT_INT16_FORMAT(dcbus1_raw, accurate ? 2 : 4, DCBUS1_V_PER_BIT, " V")
1534 | 	//REPORT_INT16_FORMAT(dcbus2_raw, accurate ? 2 : 4, DCBUS2_V_PER_BIT, " V")
1535 | 	//REPORT_INT16_FORMAT(mg2l1_current_raw, accurate ? 1 : 2, MG1_CURRENT_A_PER_BIT, " A")
1536 | 	//REPORT_INT16_FORMAT(mg2l2_current_raw, accurate ? 1 : 2, MG1_CURRENT_A_PER_BIT, " A")
1537 | #if REPORT_PWM_LIMITING_VALUE == true
1538 | 	REPORT_ENUM(limiting_value, LimitingValue_STRINGS);
1539 | 	limiting_value = LV_NOTHING;
1540 | #endif
1541 | 
1542 | 	// Digital outputs
1543 | 	REPORT_BOOL(digitalRead(AC_CONTACTOR_SWITCH_PIN))
1544 | 	REPORT_BOOL(digitalRead(AC_PRECHARGE_SWITCH_PIN))
1545 | 	REPORT_BOOL(digitalRead(CONVERTER_SHORT_SWITCH_PIN))
1546 | 
1547 | 	// Temperatures
1548 | 	//REPORT_INT16_FORMAT(boost_t1_raw, accurate ? 2 : 50, 1, " raw");
1549 | 	REPORT_INT16_FORMAT(boost_t1_c, accurate ? 2 : 5, 1, " C");
1550 | 	//REPORT_INT16_FORMAT(boost_t2_raw, accurate ? 2 : 50, 1, " raw");
1551 | 	REPORT_INT16_FORMAT(boost_t2_c, accurate ? 2 : 5, 1, " C");
1552 | 
1553 | 	// EVSE
1554 | 	REPORT_INT16_FORMAT(evse_pp_raw, accurate ? 2 : 50, 1, " raw");
1555 | 	REPORT_UINT8(evse_allowed_amps);
1556 | 	REPORT_UINT8(evse_pp_cable_rating_a);
1557 | 	REPORT_INT16(get_max_input_a());
1558 | 
1559 | 	// Charger status
1560 | 	REPORT_ENUM(charger_state, ChargerState_STRINGS);
1561 | 	REPORT_ENUM(charger.fail_reason, ChargerFailReason_STRINGS);
1562 | 
1563 | 	// BMS
1564 | 	if(CANBUS_ENABLE){
1565 | 		REPORT_BOOL(canbus_alive())
1566 | 		REPORT_INT16_FORMAT(canbus_status.max_charge_current_A, accurate ? 1 : 2, 1, "A")
1567 | 		REPORT_INT16_FORMAT(canbus_status.cell_voltage_max_mV, accurate ? 10 : 100, 0.001, "V")
1568 | 		REPORT_BOOL(canbus_status.permit_charge)
1569 | 		REPORT_BOOL(canbus_status.main_contactor_closed)
1570 | 	}
1571 | 
1572 | 	// Input and output voltage, current and PWM %
1573 | 	/*REPORT_INT16_FORMAT(input_voltage_V, accurate ? 2 : 4, 1, " V")
1574 | 	REPORT_INT16_FORMAT(output_voltage_V, accurate ? 2 : 4, 1, " V")
1575 | 	REPORT_INT16_FORMAT(input_dc_current_Ax10, accurate ? 1 : 2, 0.1, " A")
1576 | 	REPORT_INT16_FORMAT(output_dc_current_Ax10, accurate ? 1 : 2, 0.1, " A")
1577 | 	REPORT_UINT16_FORMAT(current_pwm, accurate ? 1 : 5, PWM_MAX/100.0/1024, " %")*/
1578 | 	{
1579 | 		static int16_t reported_input_voltage_V = 0;
1580 | 		static int16_t reported_output_voltage_V = 0;
1581 | 		static int16_t reported_input_dc_current_Ax10 = 0;
1582 | 		static int16_t reported_output_dc_current_Ax10 = 0;
1583 | 		static int16_t reported_current_pwm = 0;
1584 | 		if(
1585 | 			abs(input_voltage_V - reported_input_voltage_V) > (accurate ? 2 : 10) ||
1586 | 			abs(output_voltage_V - reported_output_voltage_V) > (accurate ? 2 : 4) ||
1587 | 			abs(input_dc_current_Ax10 - reported_input_dc_current_Ax10) > (accurate ? 1 : 5) ||
1588 | 			((abs(output_dc_current_Ax10 - reported_output_dc_current_Ax10) > (accurate ? 1 : 8)) && current_pwm > 0) ||
1589 | 			abs(current_pwm - reported_current_pwm) > (accurate ? 1 : (PWM_MAX/100+1)) ||
1590 | 			console_report_all_values
1591 | 		){
1592 | 			log_print_timestamp();
1593 | 			CONSOLE.print(F(">> PWM "));
1594 | 			CONSOLE.print((float)current_pwm / (float)(PWM_MAX / 100.0));
1595 | 			CONSOLE.print(F("%, in "));
1596 | 			CONSOLE.print(input_dc_current_Ax10 * 0.1);
1597 | 			CONSOLE.print(F("A @ "));
1598 | 			CONSOLE.print(input_voltage_V);
1599 | 			CONSOLE.print(F("V, out "));
1600 | 			CONSOLE.print(output_dc_current_Ax10 * 0.1);
1601 | 			CONSOLE.print(F("A @ "));
1602 | 			CONSOLE.print(output_voltage_V);
1603 | 			CONSOLE.print(F("V, "));
1604 | 			CONSOLE.print((int32_t)output_dc_current_Ax10 * output_voltage_V / 10);
1605 | 			CONSOLE.println(F("W"));
1606 | 
1607 | 			reported_input_voltage_V = input_voltage_V;
1608 | 			reported_output_voltage_V = output_voltage_V;
1609 | 			reported_input_dc_current_Ax10 = input_dc_current_Ax10;
1610 | 			reported_output_dc_current_Ax10 = output_dc_current_Ax10;
1611 | 			reported_current_pwm = current_pwm;
1612 | 		}
1613 | 	}
1614 | }
1615 | 
1616 | void console_help()
1617 | {
1618 | 	CONSOLE.println(F("Useful commands:"));
1619 | 	CONSOLE.println(F("  r (report)"));
1620 | 	CONSOLE.println(F("  chp  (charger stop)"));
1621 | 	CONSOLE.println(F("  chr  (charger restore)"));
1622 | 	CONSOLE.println(F("  aca <A>  (force_ac_input_amps)"));
1623 | }
1624 | 
1625 | void handle_command(const char *command, size_t command_len)
1626 | {
1627 | 	if(command[0] == 'h' || command[0] == '?'){
1628 | 		console_help();
1629 | 		return;
1630 | 	}
1631 | 	if(strcmp(command, "report") == 0 || strcmp(command, "r") == 0){
1632 | 		console_report_all_values = true;
1633 | 		report_status_on_console();
1634 | 		console_report_all_values = false;
1635 | 		return;
1636 | 	}
1637 | 	if(strcmp(command, "charger stop") == 0 || strcmp(command, "chp") == 0){
1638 | 		stop_charging();
1639 | 		return;
1640 | 	}
1641 | 	if(strcmp(command, "charger restore") == 0 || strcmp(command, "chr") == 0){
1642 | 		restore_initial_state();
1643 | 		return;
1644 | 	}
1645 | 	if(strncmp(command, "aca ", 4) == 0){
1646 | 		force_ac_input_amps = strtol(&command[4], NULL, 10);
1647 | 		log_print_timestamp();
1648 | 		CONSOLE.print(F("force_ac_input_amps set: "));
1649 | 		CONSOLE.print(force_ac_input_amps);
1650 | 		CONSOLE.println(F(" A"));
1651 | 		return;
1652 | 	}
1653 | 
1654 | 	CONSOLE.print(F("Unknown command: "));
1655 | 	CONSOLE.println(command);
1656 | 	console_help();
1657 | }
1658 | 
1659 | void read_console_serial()
1660 | {
1661 | 	while(CONSOLE.available()){
1662 | 		if(command_accumulator.put_char(CONSOLE.read())){
1663 | 			const char *command = command_accumulator.command();
1664 | 			size_t len = command_accumulator.next_i;
1665 | 			log_print_timestamp();
1666 | 			CONSOLE.print(F("Command: "));
1667 | 			CONSOLE.println(command);
1668 | 			handle_command(command, len);
1669 | 		}
1670 | 	}
1671 | }
1672 | 
1673 | void evse_cp_pwm_handler()
1674 | {
1675 | 	static bool state_before = false;
1676 | 
1677 | 	int8_t state_sum = 0;
1678 | 	for(uint8_t i=0; i<10; i++){
1679 | 		state_sum += digitalRead(EVSE_CP_PIN) ? 1 : -1;
1680 | 	}
1681 | 	bool state_now = state_sum >= 0;
1682 | 
1683 | 	if(state_now == state_before)
1684 | 		return;
1685 | 
1686 | 	if(state_now){
1687 | 		evse_pwm_last_rise_timestamp_us = micros();
1688 | 	} else {
1689 | 		unsigned long t1 = micros();
1690 | 		if(t1 >= evse_pwm_last_rise_timestamp_us){
1691 | 			unsigned long t = t1 - evse_pwm_last_rise_timestamp_us;
1692 | 			uint32_t amps = t / 16;
1693 | 			if(amps >= 3 || amps <= 80){
1694 | 				evse_pwm_pulse_counter++;
1695 | 				evse_pwm_last_valid_value_timestamp = millis();
1696 | 				evse_allowed_amps_avgbuf.push(amps);
1697 | 				evse_allowed_amps = evse_allowed_amps_avgbuf.avg();
1698 | 			}
1699 | 		}
1700 | 	}
1701 | 	state_before = state_now;
1702 | }
1703 | 
1704 | void handle_evse_pwm_timeout()
1705 | {
1706 | 	cli();
1707 | 	unsigned long t = evse_pwm_last_valid_value_timestamp;
1708 | 	sei();
1709 | 
1710 | 	EVERY_N_MILLISECONDS(EVSE_PWM_TIMEOUT_MS){
1711 | 		cli();
1712 | 		uint16_t v = evse_pwm_pulse_counter;
1713 | 		evse_pwm_pulse_counter = 0;
1714 | 		sei();
1715 | 		if(v >= EVSE_PWM_TIMEOUT_MS / 2){ // 50% of pulses at 1ms/pulse
1716 | 			evse_pwm_enough_pulses_received = true;
1717 | 		} else {
1718 | 			evse_pwm_enough_pulses_received = false;
1719 | 			evse_allowed_amps = 0;
1720 | 			cli();
1721 | 			evse_allowed_amps_avgbuf.reset();
1722 | 			sei();
1723 | 		}
1724 | 	}
1725 | }
1726 | 
1727 | void convert_evse()
1728 | {
1729 | 	evse_pp_cable_rating_a = [&](){
1730 | 		const uint16_t a = evse_pp_raw;
1731 | 		if(a < (uint16_t)(1024/5 * 0.94))
1732 | 			return 63;
1733 | 		if(a < (uint16_t)(1024/5 * 2.29))
1734 | 			return 32;
1735 | 		if(a < (uint16_t)(1024/5 * 2.70))
1736 | 			return 13;
1737 | 		if(a < (uint16_t)(1024/5 * 3.03))
1738 | 			return 6;
1739 | 		return 0;
1740 | 	}();
1741 | }
1742 | 
1743 | void convert_temperatures()
1744 | {
1745 | 	{
1746 | 		int16_t t = boost_t1_raw;
1747 | 		// Not really calibrated
1748 | 		const int16_t bits_per_c = (867 - 792) / (20 - 35);
1749 | 		boost_t1_c = 20 + (boost_t1_raw - 867) / bits_per_c;
1750 | 	}
1751 | 	{
1752 | 		int16_t t = boost_t2_raw;
1753 | 		// Not really calibrated
1754 | 		const int16_t bits_per_c = (867 - 792) / (20 - 35);
1755 | 		boost_t2_c = 20 + (boost_t2_raw - 867) / bits_per_c;
1756 | 	}
1757 | }
1758 | 
1759 | static void canbus_detected() {
1760 | 	canbus_last_receive_timestamp = millis();
1761 | }
1762 | 
1763 | void init_system_can()
1764 | {
1765 | 	// Init MCP2515
1766 | 	for(uint8_t i=0; i<10; i++){
1767 | 		if(system_can.begin(MCP_STDEXT, CAN_500KBPS, MCP_16MHZ) == CAN_OK){
1768 | 			log_println_f("can_init: MCP2515 init ok");
1769 | 			// Allow messages to be transmitted
1770 | 			system_can.setMode(MCP_NORMAL);
1771 | 			// One-shot TX
1772 | 			//system_can.enOneShotTX();
1773 | 			break;
1774 | 		} else {
1775 | 			log_println_f("can_init: MCP2515 init failed");
1776 | 		}
1777 | 		delay(500);
1778 | 	}
1779 | 
1780 | 	init_system_can_filters();
1781 | }
1782 | 
1783 | void init_system_can_filters()
1784 | {
1785 | 	// Any 0x6** (input message) or 0x1** (BMS)
1786 | 	if(system_can.init_Mask(0, false, 0x0f00L << 16) == MCP2515_FAIL) goto filter_fail;
1787 | 	if(system_can.init_Filt(0, false, 0x0600L << 16) == MCP2515_FAIL) goto filter_fail;
1788 | 	if(system_can.init_Filt(1, false, 0x0100L << 16) == MCP2515_FAIL) goto filter_fail;
1789 | 
1790 | 	// Any 0x1** (BMS)
1791 | 	if(system_can.init_Mask(1, false, 0x0f00L << 16) == MCP2515_FAIL) goto filter_fail;
1792 | 	if(system_can.init_Filt(2, false, 0x0100L << 16) == MCP2515_FAIL) goto filter_fail;
1793 | 	if(system_can.init_Filt(3, false, 0x0100L << 16) == MCP2515_FAIL) goto filter_fail;
1794 | 	if(system_can.init_Filt(4, false, 0x0100L << 16) == MCP2515_FAIL) goto filter_fail;
1795 | 	if(system_can.init_Filt(5, false, 0x0100L << 16) == MCP2515_FAIL) goto filter_fail;
1796 | 	return;
1797 | 
1798 | filter_fail:
1799 | 	log_println_f("FAILED to set MCP2515 filters");
1800 | 	log_println_f("WARNING: CANbus communication will not work correctly.");
1801 | 	//for(;;);
1802 | }
1803 | 
1804 | uint8_t pack_32A_into_4bits(uint8_t v)
1805 | {
1806 | 	uint8_t r = v / 2;
1807 | 	if(r > 0x0f)
1808 | 		r = 0x0f;
1809 | 	return r;
1810 | }
1811 | 
1812 | void send_canbus_frames()
1813 | {
1814 | 	// Put our status info on the bus
1815 | 	{
1816 | 		CAN_FRAME frame;
1817 | 		frame.id = 0x600;
1818 | 		frame.length = 8;
1819 | 		bool request_inverter_disable = (evse_pp_cable_rating_a > 0 ||
1820 | 				evse_allowed_amps > 0 || (charger_state >= CS_WAITING_CANBUS &&
1821 | 						charger_state <= CS_STOPPING_CHARGE));
1822 | 		// Request main contactor, in addition to when it's actually needed,
1823 | 		// also when the inverter is requested to be disabled, so that the DC-DC
1824 | 		// can maintain charge in the 12V system.
1825 | 		bool request_main_contactor =
1826 | 				digitalRead(AC_PRECHARGE_SWITCH_PIN) || digitalRead(AC_CONTACTOR_SWITCH_PIN) ||
1827 | 				charger_state == CS_PRECHARGING || charger_state == CS_CHARGING ||
1828 | 				charger_state == CS_STOPPING_CHARGE || request_inverter_disable;
1829 | 		uint16_t pack_voltage_Vx10 = output_voltage_V * 10;
1830 | 		uint16_t charge_current_Ax10 = current_pwm == 0 ? 0 : output_dc_current_Ax10;
1831 | 		int8_t charger_temperature_c = boost_t1_c;
1832 | 		if(charger_temperature_c < boost_t2_c)
1833 | 			charger_temperature_c = boost_t2_c;
1834 | 		bool request_cooling = (charger_temperature_c > 40);
1835 | 
1836 | 		frame.data.bytes[0] =
1837 | 				(request_main_contactor ? (1<<0) : 0) |
1838 | 				(false ? (1<<1) : 0) |
1839 | 				(false ? (1<<2) : 0) |
1840 | 				(request_inverter_disable ? (1<<3) : 0) |
1841 | 				(request_cooling ? (1<<4) : 0);
1842 | 		frame.data.bytes[1] = pack_voltage_Vx10 >> 8;
1843 | 		frame.data.bytes[2] = pack_voltage_Vx10 & 0xff;
1844 | 		frame.data.bytes[3] = output_dc_current_Ax10 / 10;
1845 | 		frame.data.bytes[4] = (pack_32A_into_4bits(evse_allowed_amps) << 4) |
1846 | 				pack_32A_into_4bits(evse_pp_cable_rating_a);
1847 | 		frame.data.bytes[5] = charger_temperature_c;
1848 | 		frame.data.bytes[6] = ((charger.fail_reason & 0x0f) << 4) | (charger_state & 0x0f);
1849 | 		frame.data.bytes[7] = force_ac_input_amps;
1850 | 
1851 | 		if(!canc_send(system_can, frame)){
1852 | 			EVERY_N_MILLISECONDS(10000){
1853 | 				log_println_f("Failed to send CAN frame 0x600");
1854 | 			}
1855 | 		}
1856 | 	}
1857 | 
1858 | 	// Put a separate message on the bus to disable the inverter when a cable is
1859 | 	// connected or we are charging
1860 | 	if(evse_pp_cable_rating_a > 0 || evse_allowed_amps > 0 ||
1861 | 			(charger_state >= CS_WAITING_CANBUS &&
1862 | 					charger_state <= CS_STOPPING_CHARGE)){
1863 | 		CAN_FRAME frame;
1864 | 		frame.id = 0x320;
1865 | 		frame.length = 8;
1866 | 
1867 | 		frame.data.bytes[0] = 1;
1868 | 		frame.data.bytes[1] = 0;
1869 | 		frame.data.bytes[2] = 0;
1870 | 		frame.data.bytes[3] = 0;
1871 | 		frame.data.bytes[4] = 0;
1872 | 		frame.data.bytes[5] = 0;
1873 | 		frame.data.bytes[6] = 0;
1874 | 		frame.data.bytes[7] = 0;
1875 | 
1876 | 		if(!canc_send(system_can, frame)){
1877 | 			EVERY_N_MILLISECONDS(10000){
1878 | 				log_println_f("Failed to send CAN frame 0x320");
1879 | 			}
1880 | 		}
1881 | 	}
1882 | }
1883 | 
1884 | static void handle_canbus_frame(const CAN_FRAME &frame)
1885 | {
1886 | 	// BMS
1887 | 	if(frame.id == 0x100){
1888 | 		canbus_detected();
1889 | 
1890 | 		canbus_status.permit_charge = frame.data.bytes[0] & (1<<0);
1891 | 		canbus_status.main_contactor_closed = frame.data.bytes[0] & (1<<2);
1892 | 		canbus_status.pack_voltage_V =
1893 | 				((frame.data.bytes[1] << 8) | frame.data.bytes[2]) / 10;
1894 | 		return;
1895 | 	}
1896 | 	if(frame.id == 0x101){
1897 | 		canbus_detected();
1898 | 
1899 | 		canbus_status.cell_voltage_min_mV = (uint16_t)((frame.data.bytes[0] << 4) |
1900 | 				(frame.data.bytes[1] >> 4)) * 10;
1901 | 		canbus_status.cell_voltage_max_mV = (uint16_t)(((frame.data.bytes[1] & 0x0f) << 8) |
1902 | 				frame.data.bytes[2]) * 10;
1903 | 		canbus_status.cell_temperature_min = frame.data.bytes[3];
1904 | 		canbus_status.cell_temperature_max = frame.data.bytes[4];
1905 | 		canbus_status.charge_completed = frame.data.bytes[5] & (1<<1);
1906 | 		return;
1907 | 	}
1908 | 	if(frame.id == 0x102){
1909 | 		canbus_detected();
1910 | 
1911 | 		canbus_status.max_charge_current_A =
1912 | 				((frame.data.bytes[2] << 8) | frame.data.bytes[3]) / 10;
1913 | 		return;
1914 | 	}
1915 | 
1916 | 	// Configuration messages for ourselves
1917 | 	if(frame.id == 0x620){
1918 | 		// Set setting
1919 | 		uint8_t setting_id = frame.data.bytes[0];
1920 | 		uint16_t old_value = (frame.data.bytes[1] << 8) | frame.data.bytes[2];
1921 | 		uint16_t new_value = (frame.data.bytes[3] << 8) | frame.data.bytes[4];
1922 | 		if(setting_id == 0){ // AC input A limit setting
1923 | 			if(force_ac_input_amps == old_value){
1924 | 				force_ac_input_amps = new_value;
1925 | 				send_canbus_frames();
1926 | 
1927 | 				log_print_timestamp();
1928 | 				CONSOLE.print(F("CANbus setting force_ac_input_amps = "));
1929 | 				CONSOLE.println(force_ac_input_amps);
1930 | 			}
1931 | 		}
1932 | 		if(setting_id == 1){
1933 | 			log_println_f("CANbus start charge");
1934 | 			start_charging();
1935 | 		}
1936 | 		if(setting_id == 2){
1937 | 			log_println_f("CANbus stop charge");
1938 | 			stop_charging();
1939 | 		}
1940 | 		if(setting_id == 3){
1941 | 			log_println_f("CANbus restore initial state");
1942 | 			restore_initial_state();
1943 | 		}
1944 | 		return;
1945 | 	}
1946 | }
1947 | 
1948 | static void apply_canbus_timeouts()
1949 | {
1950 | 	if(CANBUS_ENABLE){
1951 | 		static bool canbus_reported_alive = false;
1952 | 		if(canbus_alive()){
1953 | 			if(!canbus_reported_alive &&
1954 | 					canbus_last_receive_timestamp != 0){
1955 | 				canbus_reported_alive = true;
1956 | 				log_println_f("CANbus up");
1957 | 				canbus_status = CanbusStatus(); // Reset status
1958 | 			}
1959 | 		} else {
1960 | 			if(canbus_reported_alive){
1961 | 				canbus_reported_alive = false;
1962 | 				log_println_f("CANbus lost");
1963 | 				canbus_status = CanbusStatus(); // Reset status
1964 | 			}
1965 | 		}
1966 | 	}
1967 | }
1968 | 
1969 | static void read_canbus_frames()
1970 | {
1971 | 	if(CANBUS_ENABLE){
1972 | 		for(uint8_t i=0; i<10 && !digitalRead(MCP2515_INT_PIN); i++){
1973 | 			CAN_FRAME frame;
1974 | 			canc_read(system_can, frame);
1975 | 
1976 | 			uint32_t &id = frame.id;
1977 | 			uint8_t &len = frame.length;
1978 | 			uint8_t *data = frame.data.bytes;
1979 | 
1980 | 			handle_canbus_frame(frame);
1981 | 		}
1982 | 	}
1983 | }
1984 | 
1985 | static bool canc_send(MCP_CAN &mcp_can, const CAN_FRAME &frame)
1986 | {
1987 | 	return (mcp_can.sendMsgBuf(frame.id, 0, frame.length,
1988 | 			frame.data.bytes) == CAN_OK);
1989 | }
1990 | 
1991 | static bool canc_read(MCP_CAN &mcp_can, CAN_FRAME &frame)
1992 | {
1993 | 	memset(&frame, 0, sizeof frame);
1994 | 	uint8_t r = mcp_can.readMsgBuf(&frame.id, &frame.length, frame.data.bytes);
1995 | 	return (r == CAN_OK);
1996 | }
1997 | 
1998 | static bool canbus_alive()
1999 | {
2000 | 	return timestamp_younger_than(canbus_last_receive_timestamp, CANBUS_TIMEOUT_MS);
2001 | }
2002 | 


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