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We are using WaveSculptor22 for motor controller, see TritiumWaveSculptor22_Manual.pdf (tritiumcharging.com) for docs.

Motivation

The motor controllers (MC) are a third-party board with a custom CAN communication protocol. The MC must send and receive messages to the driver controls (DC), however because the MC protocol is strict and thorough it requires abstraction from the rest of the system. The motor controller interface (MCI) handles this abstraction.

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WaveSculptor’s broadcast messages can be found TritiumWaveSculptor22_Manual.pdf (tritiumcharging.com) section 18.4

Note

18.4.2: Status: Error Flags uses bits 1-8 instead of 0-7,
this was parsed incorrectly on firmware_xiv

WaveScultpor drive command message can be found in section 18.2

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Code Block
id: 
target:
data:
  velocity: uint8_t (m/s) ?
  rpm: uint16int16_t or uint32_t depending on motor max rpm(-32,766 - 32,767)
  bus_voltage_v: uint32uint16_t
  bus_current_a: uint32uint16_t
  mc_limit_bitset: uint8_t
  mc_error_bitset: uint8_t


  motor_temp_c: int8_t ?
  heatsink_temp_c: int8_t ?
  dsp_temp_c: int8_t ?

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