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Merge pull request #134 from dalathegreat/master
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Nissan LEAF: Increase robustness by using CRC bit on incoming messages
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@damienmaguire
damienmaguire authored Dec 6, 2024
2 parents b07cd3d + 1d08a75 commit 55f87f0
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Showing 4 changed files with 142 additions and 117 deletions.
2 changes: 2 additions & 0 deletions include/leafbms.h
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Original file line number Diff line number Diff line change
Expand Up @@ -25,6 +25,8 @@ class LeafBMS: public BMS
public:
void SetCanInterface(CanHardware* can) override;
void DecodeCAN(int id, uint8_t * data) override;
private:
bool isMessageCorrupt(uint8_t *data);
};

#endif // LEAFBMS_H
3 changes: 1 addition & 2 deletions include/leafinv.h
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Expand Up @@ -39,9 +39,8 @@ class LeafINV: public Inverter
float GetMotorSpeed() { return speed; }
int GetInverterState() { return error; }
void SetCanInterface(CanHardware* c);

private:
static void nissan_crc(uint8_t *data, uint8_t polynomial);
uint8_t nissan_crc(uint8_t *data);
static int8_t fahrenheit_to_celsius(uint16_t fahrenheit);
uint32_t lastRecv;
int16_t speed;
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217 changes: 125 additions & 92 deletions src/leafbms.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -44,107 +44,140 @@ void LeafBMS::DecodeCAN(int id, uint8_t * data)
{
uint8_t* bytes = (uint8_t*)data;

if (id == 0x1DB)
{
float cur = uint16_t(bytes[0] << 3) + uint16_t(bytes[1] >>5);
if(cur>1023)cur -=2047; //check if negative
uint16_t udc = uint16_t(bytes[2] << 2) + uint16_t(bytes[3] >>6);
//bool interlock = (bytes[3] & (1 << 3)) >> 3;
//bool full = (bytes[3] & (1 << 4)) >> 4;

if (Param::GetInt(Param::ShuntType) == 0)//Only populate if no shunt is used
{
float BattCur = cur / 2;
float BattVoltage = udc / 2;
Param::SetFloat(Param::idc, BattCur);
if(BattVoltage < 450)Param::SetFloat(Param::udc2, BattVoltage);
if(BattVoltage > 200)Param::SetFloat(Param::udcsw, BattVoltage - 20); //Set for precharging based on actual voltage
float kw = (BattVoltage*BattCur)/1000;//get power from isa sensor and post to parameter database
Param::SetFloat(Param::power, kw);
switch (id) {
case 0x1DB:{
if (isMessageCorrupt(bytes)) {
//Message content malformed, abort reading data from it! Raise flag!
break;
}
float cur = uint16_t(bytes[0] << 3) + uint16_t(bytes[1] >>5);
if(cur>1023)cur -=2047; //check if negative
uint16_t udc = uint16_t(bytes[2] << 2) + uint16_t(bytes[3] >>6);
//bool interlock = (bytes[3] & (1 << 3)) >> 3;
//bool full = (bytes[3] & (1 << 4)) >> 4;

if (Param::GetInt(Param::ShuntType) == 0)//Only populate if no shunt is used
{
float BattCur = cur / 2;
float BattVoltage = udc / 2;
Param::SetFloat(Param::idc, BattCur);
if(BattVoltage < 450)Param::SetFloat(Param::udc2, BattVoltage);
if(BattVoltage > 200)Param::SetFloat(Param::udcsw, BattVoltage - 20); //Set for precharging based on actual voltage
float kw = (BattVoltage*BattCur)/1000;//get power from isa sensor and post to parameter database
Param::SetFloat(Param::power, kw);
}
break;
}
}
else if (id == 0x1DC)
{
float dislimit = uint16_t(bytes[0] << 2) + uint16_t(bytes[1] >>6);
dislimit = dislimit*0.25; //Kw discharge limit
float chglimit = uint16_t((bytes[1] & 0x3F) << 4) + uint16_t(bytes[2] >>4);
chglimit = chglimit*0.25; //Kw charge limit
float chargelimit = uint16_t((bytes[2] & 0x0F) << 6) + uint16_t(bytes[3] >>2);
chargelimit = chargelimit*0.1; //Kw charger limit

chargelimit = chargelimit*1000 / Param::GetFloat(Param::udc2);//Transform into Amps
//Param::SetFixed(Param::dislim, dislimit / 4);

Param::SetFloat(Param::BMS_ChargeLim, chargelimit);

Param::SetInt(Param::BMS_MaxInput, chglimit);
Param::SetInt(Param::BMS_MaxOutput, dislimit);
}
else if (id == 0x55B)
{
float soc = uint16_t(bytes[0] << 2) + uint16_t(bytes[1] >> 6);
if (Param::GetInt(Param::ShuntType) == 0)//Only populate if no shunt is used
{
soc = soc*0.1;
Param::SetFloat(Param::SOC, soc);
case 0x1DC: {
if (isMessageCorrupt(bytes)) {
//Message content malformed, abort reading data from it! Raise flag!
break;
}
float dislimit = uint16_t(bytes[0] << 2) + uint16_t(bytes[1] >>6);
dislimit = dislimit*0.25; //Kw discharge limit
float chglimit = uint16_t((bytes[1] & 0x3F) << 4) + uint16_t(bytes[2] >>4);
chglimit = chglimit*0.25; //Kw charge limit
float chargelimit = uint16_t((bytes[2] & 0x0F) << 6) + uint16_t(bytes[3] >>2);
chargelimit = chargelimit*0.1; //Kw charger limit

chargelimit = chargelimit*1000 / Param::GetFloat(Param::udc2);//Transform into Amps
//Param::SetFixed(Param::dislim, dislimit / 4);

Param::SetFloat(Param::BMS_ChargeLim, chargelimit);
Param::SetInt(Param::BMS_MaxInput, chglimit);
Param::SetInt(Param::BMS_MaxOutput, dislimit);
break;
}
case 0x55B: {
if (isMessageCorrupt(bytes)) {
//Message content malformed, abort reading data from it! Raise flag!
break;
}
float soc = uint16_t(bytes[0] << 2) + uint16_t(bytes[1] >> 6);
if (Param::GetInt(Param::ShuntType) == 0)//Only populate if no shunt is used
{
soc = soc*0.1;
Param::SetFloat(Param::SOC, soc);
}

uint16_t IsoTemp = uint16_t(bytes[4] << 2) + uint16_t(bytes[5] >> 6);
uint16_t IsoTemp = uint16_t(bytes[4] << 2) + uint16_t(bytes[5] >> 6);

Param::SetInt(Param::BMS_IsoMeas,IsoTemp);
}
else if (id == 0x5BC)
{
/*
int soh = bytes[4] >> 1;
int cond = (bytes[6] >> 5) + ((bytes[5] & 0x3) << 3);
/nt limres = bytes[5] >> 5;
Param::SetInt(Param::BMS_IsoMeas,IsoTemp);
break;
}
case 0x5BC: {
/*
int soh = bytes[4] >> 1;
int cond = (bytes[6] >> 5) + ((bytes[5] & 0x3) << 3);
/nt limres = bytes[5] >> 5;
//Param::SetInt(Param::limreason, limres);
//Param::SetInt(Param::limreason, limres);
//Only acquire quick charge remaining time
if (cond == 0)
{
int time = bytes[7] + ((bytes[6] & 0x1F) << 8);
//Only acquire quick charge remaining time
if (cond == 0)
{
int time = bytes[7] + ((bytes[6] & 0x1F) << 8);
//Param::SetInt(Param::chgtime, time);
}
//Param::SetInt(Param::chgtime, time);
//Param::SetInt(Param::soh, soh);
*/
//0x5BC only contains average battery temperature on ZE0
if (LEAF_battery_Type == ZE0_BATTERY) {
temperature = (bytes[3] - 40);
Param::SetInt(Param::BMS_Tavg, temperature);
}
break;
}
//Param::SetInt(Param::soh, soh);
*/
//0x5BC only contains average battery temperature on ZE0
if (LEAF_battery_Type == ZE0_BATTERY) {
temperature = (bytes[3] - 40);
Param::SetInt(Param::BMS_Tavg, temperature);
case 0x5C0: {
//This temperature only works for 2013-2017 AZE0 LEAF packs, the mux is different on other generations
if (LEAF_battery_Type == AZE0_BATTERY) {
if ((bytes[0] >> 6) == 1) { // Mux signalling MAX value
temperature = ((bytes[2] / 2) - 40); //Effectively has only 7-bit precision, bottom bit is always 0
Param::SetInt(Param::BMS_Tavg, temperature);
}
}
break;
}
}
else if (id == 0x5C0)
{
//This temperature only works for 2013-2017 AZE0 LEAF packs, the mux is different on other generations
if (LEAF_battery_Type == AZE0_BATTERY) {
if ((bytes[0] >> 6) == 1) { // Mux signalling MAX value
temperature = ((bytes[2] / 2) - 40); //Effectively has only 7-bit precision, bottom bit is always 0
Param::SetInt(Param::BMS_Tavg, temperature);
case 0x59E: {
//AZE0 2013-2017 or ZE1 2018-2023 battery detected
//Only detect as AZE0 if not already set as ZE1
if (LEAF_battery_Type != ZE1_BATTERY) {
LEAF_battery_Type = AZE0_BATTERY;
}
break;
}
}
}
else if (id == 0x59E)
{
//AZE0 2013-2017 or ZE1 2018-2023 battery detected
//Only detect as AZE0 if not already set as ZE1
if (LEAF_battery_Type != ZE1_BATTERY) {
LEAF_battery_Type = AZE0_BATTERY;
}
}
else if (id == 0x1C2)
{
//ZE1 2018-2023 battery detected!
LEAF_battery_Type = ZE1_BATTERY;
}
else if (id == 0x1ED)
{
//ZE1 62kWh battery detected!
LEAF_battery_Type = ZE1_BATTERY;
case 0x1C2: {
//ZE1 2018-2023 battery detected!
LEAF_battery_Type = ZE1_BATTERY;
break;
}
case 0x1ED: {
//ZE1 62kWh battery detected!
LEAF_battery_Type = ZE1_BATTERY;
break;
}
default:
break;
}
}

bool LeafBMS::isMessageCorrupt(uint8_t *data)
{
uint8_t crc = 0;
uint8_t polynomial = 0x85;

for (int b = 0; b < 8; b++) {
uint8_t byte = (b == 7) ? 0 : data[b]; // Treat 8th byte as 0 during calculation.
for (int i = 7; i >= 0; i--) {
uint8_t bit = ((byte & (1 << i)) > 0) ? 1 : 0;
if (crc >= 0x80)
crc = (uint8_t)(((crc << 1) + bit) ^ polynomial);
else
crc = (uint8_t)((crc << 1) + bit);
}
}
return crc != data[7];
}
37 changes: 14 additions & 23 deletions src/leafinv.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -161,9 +161,7 @@ void LeafINV::Task10Ms()
bytes[4] = weird_d34_values[mprun10][1];//0xC0;
bytes[5] = 0x00; // Always 0x00 (LeafLogs, canmsgs)
bytes[6] = mprun10; // A 2-bit counter

// Extra CRC
nissan_crc(bytes, 0x85);//not sure if this is really working or just making me look like a muppet.
bytes[7] = nissan_crc(bytes);

can->Send(0x11A, (uint32_t*)bytes, 8);

Expand Down Expand Up @@ -303,9 +301,7 @@ void LeafINV::Task10Ms()
// 2016-24kWh-ev-on-drive-park-off.pcap #12101 / 15.63s
// outFrame.data.bytes[6] = 0x01;
//byte 6 brake signal

// Extra CRC
nissan_crc(bytes, 0x85);
bytes[7] = nissan_crc(bytes);

can->Send(0x1D4, (uint32_t*)bytes, 8);//send on can1

Expand Down Expand Up @@ -335,9 +331,7 @@ void LeafINV::Task10Ms()
bytes[4] = 0x40; //SOC for dash in Leaf. fixed val.
bytes[5] = 0x00;
bytes[6] = mprun10;

// Extra CRC in byte 7
nissan_crc(bytes, 0x85);
bytes[7] = nissan_crc(bytes);

can->Send(0x1DB, (uint32_t*)bytes, 8);
}
Expand All @@ -357,8 +351,7 @@ void LeafINV::Task10Ms()
bytes[4]=0x00;//may not need pairing code crap here...and we don't:)
bytes[5]=0x00;
bytes[6]=mprun10;
// Extra CRC in byte 7
nissan_crc(bytes, 0x85);
bytes[7] = nissan_crc(bytes);

can->Send(0x1DC, (uint32_t*)bytes, 8);
}
Expand Down Expand Up @@ -456,8 +449,7 @@ void LeafINV::Task100Ms()
bytes[4] = 0xDF;
bytes[5] = 0xC0;
bytes[6] = ((0x1 << 4) | (mprun100));
// Extra CRC in byte 7
nissan_crc(bytes, 0x85);
bytes[7] = nissan_crc(bytes);

can->Send(0x55b, (uint32_t*)bytes, 8);

Expand Down Expand Up @@ -505,21 +497,20 @@ int8_t LeafINV::fahrenheit_to_celsius(uint16_t fahrenheit)



void LeafINV::nissan_crc(uint8_t *data, uint8_t polynomial)
uint8_t LeafINV::nissan_crc(uint8_t *data)
{
// We want to process 8 bytes with the 8th byte being zero
data[7] = 0;
uint8_t crc = 0;
for(int b=0; b<8; b++)
{
for(int i=7; i>=0; i--)
{
uint8_t bit = ((data[b] &(1 << i)) > 0) ? 1 : 0;
if(crc >= 0x80)
uint8_t polynomial = 0x85;

for (int b = 0; b < 8; b++) {
uint8_t byte = (b == 7) ? 0 : data[b]; // Treat 8th byte as 0 during calculation.
for (int i = 7; i >= 0; i--) {
uint8_t bit = ((byte & (1 << i)) > 0) ? 1 : 0;
if (crc >= 0x80)
crc = (uint8_t)(((crc << 1) + bit) ^ polynomial);
else
crc = (uint8_t)((crc << 1) + bit);
}
}
data[7] = crc;
return crc;
}

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