Support for Daly CAN Bus (#169)

* support for Daly CAN Bus
* fix constructor args
* revert port, needs fix
* add can filters
* comment logger

Some changes are still needed to work with the latest version. They will follow in a next PR.

---------

Co-authored-by: Samuel Brucksch <[email protected]>
Co-authored-by: Manuel <[email protected]>

etc/dbus-serialbattery/daly_can.py

@@ -0,0 +1,332 @@
+# -*- coding: utf-8 -*-
+from __future__ import absolute_import, division, print_function, unicode_literals
+from battery import Protection, Battery, Cell
+from utils import *
+from struct import *
+import can
+
+class DalyCAN(Battery):
+
+    def __init__(self,port,baud):
+        super(DalyCAN, self).__init__(port,baud)
+        self.charger_connected = None
+        self.load_connected = None
+        self.cell_min_voltage = None
+        self.cell_max_voltage = None
+        self.cell_min_no = None
+        self.cell_max_no = None
+        self.poll_interval = 1000
+        self.poll_step = 0
+        self.type = self.BATTERYTYPE
+        self.bus = None
+    # command bytes [Priority=18][Command=94][BMS ID=01][Uplink ID=40]
+    command_base = 0x18940140
+    command_soc = 0x18900140
+    command_minmax_cell_volts = 0x18910140
+    command_minmax_temp = 0x18920140
+    command_fet = 0x18930140
+    command_status = 0x18940140
+    command_cell_volts = 0x18950140
+    command_temp = 0x18960140
+    command_cell_balance = 0x18970140
+    command_alarm = 0x18980140
+
+    response_base = 0x18944001
+    response_soc = 0x18904001
+    response_minmax_cell_volts = 0x18914001
+    response_minmax_temp = 0x18924001
+    response_fet = 0x18934001
+    response_status = 0x18944001
+    response_cell_volts = 0x18954001
+    response_temp = 0x18964001
+    response_cell_balance = 0x18974001
+    response_alarm = 0x18984001
+
+    BATTERYTYPE = "Daly_CAN"
+    LENGTH_CHECK = 4
+    LENGTH_POS = 3
+    CURRENT_ZERO_CONSTANT = 30000
+    TEMP_ZERO_CONSTANT = 40
+
+    def test_connection(self):
+        result = False
+
+        # TODO handle errors?
+        can_filters = [{"can_id":self.response_base, "can_mask": 0xFFFFFFF},
+               {"can_id":self.response_soc, "can_mask": 0xFFFFFFF},
+               {"can_id":self.response_minmax_cell_volts, "can_mask": 0xFFFFFFF},
+               {"can_id":self.response_minmax_temp, "can_mask": 0xFFFFFFF},
+               {"can_id":self.response_fet, "can_mask": 0xFFFFFFF},
+               {"can_id":self.response_status, "can_mask": 0xFFFFFFF},
+               {"can_id":self.response_cell_volts, "can_mask": 0xFFFFFFF},
+               {"can_id":self.response_temp, "can_mask": 0xFFFFFFF},
+               {"can_id":self.response_cell_balance, "can_mask": 0xFFFFFFF},
+               {"can_id":self.response_alarm, "can_mask": 0xFFFFFFF}]
+        self.bus = can.Bus(interface='socketcan',
+              channel='can0',
+              receive_own_messages=False,
+              can_filters=can_filters)
+
+        result = self.read_status_data(self.bus)
+
+        return result
+
+    def get_settings(self):
+        self.capacity = BATTERY_CAPACITY
+        self.max_battery_current = MAX_BATTERY_CURRENT
+        self.max_battery_discharge_current = MAX_BATTERY_DISCHARGE_CURRENT
+        return True
+
+    def refresh_data(self):
+        result = False
+
+        result = self.read_soc_data(self.bus)
+        result = result and self.read_fed_data(self.bus)
+        if self.poll_step == 0:
+            # This must be listed in step 0 as get_min_cell_voltage and get_max_cell_voltage in battery.py needs it at first cycle for publish_dbus in dbushelper.py
+            result = result and self.read_cell_voltage_range_data(self.bus)
+        elif self.poll_step == 1:
+            result = result and self.read_alarm_data(self.bus)
+        elif self.poll_step == 2:
+            result = result and self.read_cells_volts(self.bus)
+        elif self.poll_step == 3:
+            result = result and self.read_temperature_range_data(self.bus)
+        #else:          # A placeholder to remind this is the last step. Add any additional steps before here
+            # This is last step so reset poll_step
+            self.poll_step = -1
+
+        self.poll_step += 1
+
+        return result
+
+    def read_status_data(self, bus):
+        status_data = self.read_bus_data_daly(bus, self.command_status)
+        # check if connection success
+        if status_data is False:
+            logger.debug("read_status_data")
+            return False
+
+        self.cell_count, self.temp_sensors, self.charger_connected, self.load_connected, \
+            state, self.cycles = unpack_from('>bb??bhx', status_data)
+
+        self.max_battery_voltage = MAX_CELL_VOLTAGE * self.cell_count
+        self.min_battery_voltage = MIN_CELL_VOLTAGE * self.cell_count
+
+        self.hardware_version = "DalyBMS " + str(self.cell_count) + " cells"
+        logger.info(self.hardware_version)
+        return True
+
+    def read_soc_data(self, ser):                
+        # Ensure data received is valid
+        crntMinValid = -(MAX_BATTERY_DISCHARGE_CURRENT * 2.1)
+        crntMaxValid = (MAX_BATTERY_CURRENT * 1.3)
+        triesValid = 2
+        while triesValid > 0:
+            soc_data = self.read_bus_data_daly(ser, self.command_soc)
+            # check if connection success
+            if soc_data is False:
+                return False
+
+            voltage, tmp, current, soc = unpack_from('>hhhh', soc_data)
+            current = ((current - self.CURRENT_ZERO_CONSTANT) / -10 * INVERT_CURRENT_MEASUREMENT)
+            #logger.info("voltage: " + str(voltage) + ", current: " + str(current) + ", soc: " + str(soc))
+            if crntMinValid < current < crntMaxValid:
+                self.voltage = (voltage / 10)
+                self.current = current
+                self.soc = (soc / 10)
+                return True
+
+            logger.warning("read_soc_data - triesValid " + str(triesValid))
+            triesValid -= 1
+
+        return False
+
+    def read_alarm_data(self, ser):
+        alarm_data = self.read_bus_data_daly(ser, self.command_alarm)
+        # check if connection success
+        if alarm_data is False:
+            logger.warning("read_alarm_data")
+            return False
+
+        al_volt, al_temp, al_crnt_soc, al_diff, \
+            al_mos, al_misc1, al_misc2, al_fault = unpack_from('>bbbbbbbb', alarm_data)
+
+        if al_volt & 48:
+            # High voltage levels - Alarm
+            self.voltage_high = 2            
+        elif al_volt & 15:
+            # High voltage Warning levels - Pre-alarm
+            self.voltage_high = 1
+        else:
+            self.voltage_high = 0
+
+        if al_volt & 128:
+            # Low voltage level - Alarm
+            self.voltage_low = 2
+        elif al_volt & 64:
+            # Low voltage Warning level - Pre-alarm
+            self.voltage_low = 1
+        else:
+            self.voltage_low = 0
+
+        if al_temp & 2:
+            # High charge temp - Alarm
+            self.temp_high_charge = 2            
+        elif al_temp & 1:
+            # High charge temp - Pre-alarm
+            self.temp_high_charge = 1
+        else:
+            self.temp_high_charge = 0
+
+        if al_temp & 8:
+            # Low charge temp - Alarm
+            self.temp_low_charge = 2            
+        elif al_temp & 4:
+            # Low charge temp - Pre-alarm
+            self.temp_low_charge = 1
+        else:
+            self.temp_low_charge = 0
+
+
+        if al_temp & 32:
+            # High discharge temp - Alarm
+            self.temp_high_discharge = 2            
+        elif al_temp & 16:
+            # High discharge temp - Pre-alarm
+            self.temp_high_discharge = 1
+        else:
+            self.temp_high_discharge = 0
+
+        if al_temp & 128:
+            # Low discharge temp - Alarm
+            self.temp_low_discharge = 2            
+        elif al_temp & 64:
+            # Low discharge temp - Pre-alarm
+            self.temp_low_discharge = 1
+        else:
+            self.temp_low_discharge = 0
+
+        #if al_crnt_soc & 2:
+        #    # High charge current - Alarm
+        #    self.current_over = 2            
+        #elif al_crnt_soc & 1:
+        #    # High charge current - Pre-alarm
+        #    self.current_over = 1
+        #else:
+        #    self.current_over = 0
+
+        #if al_crnt_soc & 8:
+        #    # High discharge current - Alarm
+        #    self.current_over = 2            
+        #elif al_crnt_soc & 4:
+        #    # High discharge current - Pre-alarm
+        #    self.current_over = 1
+        #else:
+        #    self.current_over = 0
+
+        if al_crnt_soc & 2 or al_crnt_soc & 8:
+            # High charge/discharge current - Alarm
+            self.current_over = 2            
+        elif al_crnt_soc & 1 or al_crnt_soc & 4:
+            # High charge/discharge current - Pre-alarm
+            self.current_over = 1
+        else:
+            self.current_over = 0
+
+        if al_crnt_soc & 128:
+            # Low SoC - Alarm
+            self.soc_low = 2
+        elif al_crnt_soc & 64:
+            # Low SoC Warning level - Pre-alarm
+            self.soc_low = 1
+        else:
+            self.soc_low = 0
+
+        return True
+
+    def read_cells_volts(self, bus):
+        if self.cell_count is not None:
+            cells_volts_data = self.read_bus_data_daly(bus, self.command_cell_volts, 6)
+            if cells_volts_data is False:
+                logger.warning("read_cells_volts")
+                return False
+
+            frameCell = [0, 0, 0]
+            lowMin = (MIN_CELL_VOLTAGE / 2)
+            frame = 0
+            bufIdx = 0
+
+            if len(self.cells) != self.cell_count:
+                # init the numbers of cells
+                self.cells = []
+                for idx in range(self.cell_count):
+                    self.cells.append(Cell(True))
+
+            while bufIdx < len(cells_volts_data): 
+                  frame, frameCell[0], frameCell[1], frameCell[2] = unpack_from('>Bhhh', cells_volts_data, bufIdx)
+                  for idx in range(3):
+                    cellnum = ((frame - 1) * 3) + idx  # daly is 1 based, driver 0 based
+                    if cellnum >= self.cell_count:
+                        break
+                    cellVoltage = frameCell[idx] / 1000
+                    self.cells[cellnum].voltage = None if cellVoltage < lowMin else cellVoltage
+                  bufIdx += 8
+
+        return True
+
+    def read_cell_voltage_range_data(self, ser):
+        minmax_data = self.read_bus_data_daly(ser, self.command_minmax_cell_volts)
+        # check if connection success
+        if minmax_data is False:
+            logger.warning("read_cell_voltage_range_data")
+            return False
+
+        cell_max_voltage,self.cell_max_no,cell_min_voltage, self.cell_min_no = unpack_from('>hbhb', minmax_data)
+        # Daly cells numbers are 1 based and not 0 based
+        self.cell_min_no -= 1
+        self.cell_max_no -= 1
+        # Voltage is returned in mV
+        self.cell_max_voltage = cell_max_voltage / 1000
+        self.cell_min_voltage = cell_min_voltage / 1000
+        return True
+
+    def read_temperature_range_data(self, ser):
+        minmax_data = self.read_bus_data_daly(ser, self.command_minmax_temp)
+        # check if connection success
+        if minmax_data is False:
+            logger.debug("read_temperature_range_data")
+            return False
+
+        max_temp,max_no,min_temp, min_no = unpack_from('>bbbb', minmax_data)
+        self.temp1 = min_temp - self.TEMP_ZERO_CONSTANT
+        self.temp2 = max_temp - self.TEMP_ZERO_CONSTANT
+        return True
+
+    def read_fed_data(self, ser):
+        fed_data = self.read_bus_data_daly(ser, self.command_fet)
+        # check if connection success
+        if fed_data is False:
+            logger.debug("read_fed_data")
+            return False
+
+        status, self.charge_fet, self.discharge_fet, bms_cycles, capacity_remain = unpack_from('>b??BL', fed_data)
+        self.capacity_remain = capacity_remain / 1000
+        return True
+
+    def read_bus_data_daly(self, bus, command, expectedMessageCount = 1):
+        # TODO handling of error cases
+        message = can.Message(arbitration_id=command)
+        bus.send(message, timeout=0.2)
+        response = bytearray()
+
+        # TODO use async notifier instead of this where we expect a specific frame to be received
+        # this could end up in a deadlock if a package is not received 
+        count = 0
+        for msg in bus:
+            # print(f"{msg.arbitration_id:X}: {msg.data}")
+            # logger.info('Frame: ' + ", ".join(hex(b) for b in msg.data))
+            response.extend(msg.data)
+            count += 1
+            if count == expectedMessageCount:
+              break
+        return response

etc/dbus-serialbattery/dbus-serialbattery.py

@@ -34,6 +34,8 @@
 # enabled only if explicitly set in config under "BMS_TYPE"
 if "ANT" in utils.BMS_TYPE:
     from bms.ant import ANT
+if "Daly_CAN" in utils.BMS_TYPE:
+    from bms.daly_can import Daly_CAN
 if "MNB" in utils.BMS_TYPE:
     from bms.mnb import MNB
 if "Sinowealth" in utils.BMS_TYPE:
@@ -56,6 +58,8 @@
 # enabled only if explicitly set in config under "BMS_TYPE"
 if "ANT" in utils.BMS_TYPE:
     supported_bms_types.append({"bms": ANT, "baud": 19200})
+if "Daly_CAN" in utils.BMS_TYPE:
+    supported_bms_types.append({"bms": Daly_CAN, "baud": 9600})
 if "MNB" in utils.BMS_TYPE:
     supported_bms_types.append({"bms": MNB, "baud": 9600})
 if "Sinowealth" in utils.BMS_TYPE: