1.3. Canbus Data Frames
This section explains how to communicate with canbus line. There are specific opcodes to parse data properly. User should parse every canbus frame with matching corresponding frame description below.
Note
Pay your attention about value type and data packet descriptions. User may check the communication with 3rd party tools. (e.g. Busmaster)
| Type | Name | Version | Release Date | Link |
|---|---|---|---|---|
ZIP Archive |
Busmaster, CANBus DBF file | r0.1 | 2022-01-07 17:00 | Download |
ZIP Archive |
BUSMASTER Software | v3.2.2 | 2017-10-30 | Download |
1.3.1. Hello Packet (0x01)
This command can be used as heartbeat or handshake. Device responds with same frame when requested.
Table.1.3.1: Request
| Byte 4 (MSB) | Byte 3 | Byte 2 | Byte 1 (LSB) | Ext. ID | RTR | DLC |
|---|---|---|---|---|---|---|
| BASE Add. (MSB) | BASE Add. (LSB) | 0x00 | 0x01 | 1 | 0 | 0 |
Table.1.3.2: Response
| Byte 4 (MSB) | Byte 3 | Byte 2 | Byte 1 (LSB) | Ext. ID | RTR | DLC |
|---|---|---|---|---|---|---|
| BASE Add. (MSB) | BASE Add. (LSB) | 0x00 | 0x01 | 1 | 0 | 0 |
1.3.2. Battery Pack Status (0x02)
Live status of the battery pack.
Table.1.3.3: Request
| Byte 4 (MSB) | Byte 3 | Byte 2 | Byte 1 (LSB) | Ext. ID | RTR | DLC |
|---|---|---|---|---|---|---|
| BASE Add. (MSB) | BASE Add. (LSB) | 0x00 | 0x02 | 1 | 0 | 0 |
Table.1.3.4: Response
| Byte 4 (MSB) | Byte 3 | Byte 2 | Byte 1 (LSB) | Ext. ID | RTR | DLC | Data |
|---|---|---|---|---|---|---|---|
| BASE Add. (MSB) | BASE Add. (LSB) | 0x00 | 0x02 | 1 | 0 | 1 | 1 byte |
Table.1.3.5: DATA Field Description:
| Field | Value Type | Value Name | Description |
|---|---|---|---|
| 0 | uint8 | SOC | State of charge of the battery percentage. |
1.3.3. Overall Pack Voltages (0x03)
Summarized pack voltages for quick check.
Table.1.3.6: Request
| Byte 4 (MSB) | Byte 3 | Byte 2 | Byte 1 (LSB) | Ext. ID | RTR | DLC |
|---|---|---|---|---|---|---|
| BASE Add. (MSB) | BASE Add. (LSB) | 0x00 | 0x03 | 1 | 0 | 0 |
Table.1.3.7: Response
| Byte 4 (MSB) | Byte 3 | Byte 2 | Byte 1 (LSB) | Ext. ID | RTR | DLC | Data |
|---|---|---|---|---|---|---|---|
| BASE Add. (MSB) | BASE Add. (LSB) | 0x00 | 0x03 | 1 | 0 | 5 | 5 bytes |
Table.1.3.8: DATA Field Description:
| Field | Value Type | Value Name | Description |
|---|---|---|---|
| 0 | uint8 | Min. Cell Voltage | Minimum cell voltage in pack. 10mV steps in 2.0V basis. |
| 1 | uint8 | Max. Cell Voltage | Maximum cell voltage in pack. 10mV steps in 2.0V basis. |
| 2 | uint8 | Cell Voltage Delta | Difference between max. and min. cell voltages. Multiples of 10mV. |
| [3:4] | uint16 | Total Pack Voltage | Total battery pack voltage. Multiples of 100mV. |
1.3.4. Overall Pack Currents (0x04)
Battery pack current value and power path status.
Table.1.3.9: Request
| Byte 4 (MSB) | Byte 3 | Byte 2 | Byte 1 (LSB) | Ext. ID | RTR | DLC |
|---|---|---|---|---|---|---|
| BASE Add. (MSB) | BASE Add. (LSB) | 0x00 | 0x04 | 1 | 0 | 0 |
Table.1.3.10: Response
| Byte 4 (MSB) | Byte 3 | Byte 2 | Byte 1 (LSB) | Ext. ID | RTR | DLC | Data |
|---|---|---|---|---|---|---|---|
| BASE Add. (MSB) | BASE Add. (LSB) | 0x00 | 0x04 | 1 | 0 | 6 | 6 bytes |
Table.1.3.11: DATA Field Description:
| Field | Value Type | Value Name | Description |
|---|---|---|---|
| [0:3] | int32 | Current | Current of the pack. Multiples of 10mA. |
| 4 | uint8 | Charge FET Status | 0: Disabled, 1: Enabled |
| 5 | uint8 | Discharge FET Status | 0: Disabled, 1: Enabled |
1.3.5. Power And Energy (0x05)
Battery pack power and energy values.
Table.1.3.12: Request
| Byte 4 (MSB) | Byte 3 | Byte 2 | Byte 1 (LSB) | Ext. ID | RTR | DLC |
|---|---|---|---|---|---|---|
| BASE Add. (MSB) | BASE Add. (LSB) | 0x00 | 0x05 | 1 | 0 | 0 |
Table.1.3.13: Response
| Byte 4 (MSB) | Byte 3 | Byte 2 | Byte 1 (LSB) | Ext. ID | RTR | DLC | Data |
|---|---|---|---|---|---|---|---|
| BASE Add. (MSB) | BASE Add. (LSB) | 0x00 | 0x05 | 1 | 0 | 8 | 8 bytes |
Table.1.3.14: DATA Field Description:
| Field | Value Type | Value Name | Description |
|---|---|---|---|
| [0:3] | int32 | Power | Instantaneous power of the pack. Multiples of 100mW. |
| [4:7] | uint32 | Energy | Net energy inside battery pack. Multiples of 100mAh. |
1.3.6. Pack Overall Temperatures (0x06)
Summarized pack temperatures for quick check.
Table.1.3.15: Request
| Byte 4 (MSB) | Byte 3 | Byte 2 | Byte 1 (LSB) | Ext. ID | RTR | DLC |
|---|---|---|---|---|---|---|
| BASE Add. (MSB) | BASE Add. (LSB) | 0x00 | 0x06 | 1 | 0 | 0 |
Table.1.3.16: Response
| Byte 4 (MSB) | Byte 3 | Byte 2 | Byte 1 (LSB) | Ext. ID | RTR | DLC | Data |
|---|---|---|---|---|---|---|---|
| BASE Add. (MSB) | BASE Add. (LSB) | 0x00 | 0x06 | 1 | 0 | 8 | 8 bytes |
Table.1.3.17: DATA Field Description:
| Field | Value Type | Value Name | Description |
|---|---|---|---|
| [0:1] | int16 | Min. Temperature | Minimum temperature measurement value. Multiples of 0.1°. Signed. |
| [2:3] | int16 | Max. Temperature | Maximum temperature measurement value. Multiples of 0.1°. Signed. |
| [4:5] | uint16 | Temperature Delta | Difference between maxium and minimum measured temperature value. Multiples of 0.1° |
| [6:7] | int16 | Mean Temperature | Mean value of all measured temperatures. Multiples of 0.1°. Signed |
1.3.7. Individual Cell Voltage (0x07)
Requesting individual cell voltages for detailed check.
Table.1.3.18: Request
| Byte 4 (MSB) | Byte 3 | Byte 2 | Byte 1 (LSB) | Ext. ID | RTR | DLC | DATA |
|---|---|---|---|---|---|---|---|
| BASE Add. (MSB) | BASE Add. (LSB) | 0x00 | 0x06 | 1 | 0 | 1 | 1 Byte |
Table.1.3.19: DATA Field Description
| Field | Value Type | Value Name | Description |
|---|---|---|---|
| 0 | uint8 | Cell Number | Requested cell number. Value between 1 and 18 |
Table.1.3.20: Response
| Byte 4 (MSB) | Byte 3 | Byte 2 | Byte 1 (LSB) | Ext. ID | RTR | DLC | Data |
|---|---|---|---|---|---|---|---|
| BASE Add. (MSB) | BASE Add. (LSB) | 0x00 | 0x06 | 1 | 0 | 1 | 1 byte |
Table.1.3.21: DATA Field Description:
| Field | Value Type | Value Name | Description |
|---|---|---|---|
| 0 | uint8 | Cell Voltage | Requested cell's voltage. Multiples of 10mV in 2.0V basis. If requested cell number (N) is greater than number of cells connected to the BMS, this field reads 0xFF. |
1.3.8. Broadcast Cell Voltages (0x08)
When the BMS receives request frame, it starts sending battery pack's all cell voltage values. Each master and slave BMS modules has its own designated frame ID. Each BMS module may contain up to 18 connected cell. Therefore each BMS module may have up to 3 broadcast frame according to connected cell number. Refer the Table.1.3.25
Table.1.3.22: Request
| Byte 4 (MSB) | Byte 3 | Byte 2 | Byte 1 (LSB) | Ext. ID | RTR | DLC |
|---|---|---|---|---|---|---|
| BASE Add. (MSB) | BASE Add. (LSB) | 0x00 | 0x08 | 1 | 0 | 0 |
Table.1.3.23: Response
| Byte 4 (MSB) | Byte 3 | Byte 2 | Byte 1 (LSB) | Ext. ID | RTR | DLC | Data |
|---|---|---|---|---|---|---|---|
| BASE Add. (MSB) | BASE Add. (LSB) | 0x00 | OPCODE | 1 | 0 | N | N bytes |
Table.1.3.24: DATA Field Description
| Field | Value Type | Value Name | Description |
|---|---|---|---|
| [0 ... 7] | uint8 | Cell Voltage | Cell voltage. Multiples of 10mV in 2.0V basis. If one cell is not connected, related bytes and frames are omitted. |
Table.1.3.25: OPCODE Field Description
| Module ID | Cell Numbers | Opcode |
|---|---|---|
| 0 | [0:7] | 0x08 |
| 0 | [8:15] | 0x09 |
| 0 | [16:17] | 0x0A |
| 1 | [0:7] | 0x0B |
| 1 | [8:15] | 0x0C |
| 1 | [16:17] | 0x0D |
| ... | ... | ... |
| 15 | [8:15] | 0x3C |
| 15 | [16:17] | 0x3D |
1.3.9. Broadcast Temperatures (0x40)
Send all temperature sensor results. Unconnected sensors reads -99999 and unsupported inputs reads 0. Each master and slave BMS modules has its own designated frame ID. Each BMS module may contain up to 5 connected sensor. Therefore each BMS may have up to 2 broadcast frame.
Table.1.3.26: Request
| Byte 4 (MSB) | Byte 3 | Byte 2 | Byte 1 (LSB) | Ext. ID | RTR | DLC |
|---|---|---|---|---|---|---|
| BASE Add. (MSB) | BASE Add. (LSB) | 0x00 | 0x40 | 1 | 0 | 0 |
Table.1.3.27: Response
| Byte 4 (MSB) | Byte 3 | Byte 2 | Byte 1 (LSB) | Ext. ID | RTR | DLC | Data |
|---|---|---|---|---|---|---|---|
| BASE Add. (MSB) | BASE Add. (LSB) | 0x00 | OPCODE | 1 | 0 | N | N bytes |
Table.1.3.28: DATA Field Description:
| Field | Value Type | Value Name | Description |
|---|---|---|---|
| [0:1] | int16 | Sensor Result | Temperature measured on sensor. Multiples of 0.1°. Signed. |
| [2:3] | int16 | Sensor Result | Temperature measured on sensor. Multiples of 0.1°. Signed. |
| [4:5] | int16 | Sensor Result | Temperature measured on sensor. Multiples of 0.1°. Signed. |
| [6:7] | int16 | Sensor Result | Temperature measured on sensor. Multiples of 0.1°. Signed. |
Table.1.3.29: OPCODE Field Description
| Module ID | Temperature Sensor Number | Opcode |
|---|---|---|
| 0 | [0:7] | 0x40 |
| 0 | [8:9] | 0x41 |
| 1 | [0:7] | 0x42 |
| 1 | [8:9] | 0x43 |
| ... | ... | ... |
| 15 | [0:7] | 0x7A |
| 15 | [8:9] | 0x7B |
1.3.10. Sleep Enterance (0x70)
Put system into sleep. After sending this command, system will go to sleep and waits for wake up conditions. Any canbus message will wake up the board. After wake up, a system reset executes and will be ready to use after a few seconds.
Table.1.3.30: Request
| Byte 4 (MSB) | Byte 3 | Byte 2 | Byte 1 (LSB) | Ext. ID | RTR | DLC | Data |
|---|---|---|---|---|---|---|---|
| BASE Add. (MSB) | BASE Add. (LSB) | 0x00 | 0x70 | 1 | 0 | 0 | 4 bytes |
Table.1.3.31: DATA Field Description:
| Field | Value Type | Value Name | Description |
|---|---|---|---|
| [0] | uint8 | Fixed Value | 0x11 |
| [1] | uint8 | Fixed Value | 0x22 |
| [2] | uint8 | Fixed Value | 0x33 |
| [3] | uint8 | Fixed Value | 0x44 |