Export shunt/HV monitor telemetry on CAN (0x602–0x605) and implement encoding

documentation/CAN_Message_Packing.md

@@ -111,6 +111,54 @@ CRC byte.
 | 7 bit4 | Positive contactor can open | bool | `0=no`, `1=yes` |
 | 7 bit7:5 | reserved |  | transmit `0` |
 
+
+## Extra section: shunt + HV monitor telemetry (`0x602`-`0x605`, 10 Hz)
+
+These frames mirror all currently available shunt and HV monitor runtime telemetry
+(`param::*`) in the same style as contactor telemetry: fixed CAN IDs and raw
+telemetry payload bytes without CRC/counter fields. All numeric values are packed
+as `uint16` with defined scale/offset.
+Values that exceed the representable range are saturated to `0..65535`.
+
+### `BMS_SHUNT_HV_META` (0x602)
+
+| Byte | Signal | Type | Encoding |
+|-----|--------|------|----------|
+| 0 | Shunt state | enum (`uint8`) | `ShuntState` (`0=INIT,1=OPERATING,2=FAULT`) |
+| 1 | Shunt DTC LSB | `uint8` | `param::dtc` bits 7:0 |
+| 2 | Shunt DTC MSB | `uint8` | `param::dtc` bits 15:8 |
+| 3 | HV monitor state | enum (`uint8`) | `HVMonitorState` (`0=INIT,1=OPERATING,2=FAULT`) |
+| 4 | HV monitor DTC | bitfield (`uint8`) | `HVMonitorDTC` |
+| 5 | Voltage matched | bool (`uint8`) | `0=false`, `1=true` |
+| 6-7 | HV monitor delta voltage | `uint16` | `V x 100` |
+
+### `BMS_MSG_SHUNT_HV_I_CURRENT_COUNTERS` (0x603)
+
+| Byte | Signal | Type | Scaling/Offset |
+|-----|--------|------|----------------|
+| 0-1 | Current | `uint16` | `(A x 10) + 5000` |
+| 2-3 | Current average | `uint16` | `(A x 10) + 5000` |
+| 4-5 | Charge counter (`As`) | `uint16` | `As + 32768` |
+| 6-7 | Energy counter (`Wh`) | `uint16` | `Wh + 32768` |
+
+### `BMS_MSG_SHUNT_HV_DI_TEMP_POWER` (0x604)
+
+| Byte | Signal | Type | Scaling/Offset |
+|-----|--------|------|----------------|
+| 0-1 | Current derivative | `uint16` | `(A/s x 1) + 32768` |
+| 2-3 | Temperature | `uint16` | `(degC x 10) + 400` |
+| 4-5 | Power | `uint16` | `(W x 0.1) + 32768` |
+| 6-7 | reserved | `uint16` | `0` |
+
+### `BMS_MSG_SHUNT_HV_U12_U3` (0x605)
+
+| Byte | Signal | Type | Scaling/Offset |
+|-----|--------|------|----------------|
+| 0-1 | Input HV box voltage (`U1`) | `uint16` | `V x 100` |
+| 2-3 | Output HV box voltage (`U2`) | `uint16` | `V x 100` |
+| 4-5 | `U3` voltage | `uint16` | `V x 100` |
+| 6-7 | reserved | `uint16` | `0` |
+
 ## VCU to BMS (`BMS_VCU`, 0x437)
 
 All signals below are unsigned unless otherwise noted.

documentation/Shunt_HV_Monitor_Telemetry.md

@@ -74,3 +74,13 @@ In the HV Monitor section, prints:
 
 ### Current visibility gap
 - `param::hv_monitor_dtc` exists internally but is not currently printed by the serial monitor.
+
+### CAN telemetry availability
+
+All values listed in this document are now exported on BMS CAN via dedicated telemetry
+messages (`0x602`-`0x605`) alongside contactor telemetry (`0x601`).
+
+- `0x602` publishes shunt/HV monitor states and DTC bitfields.
+- `0x603`..`0x605` publish scaled/offset `uint16` telemetry values.
+
+See `documentation/CAN_Message_Packing.md` for exact byte-level layout.

src/bms/battery_manager.cpp

@@ -4,6 +4,7 @@
 #include "bms/battery_manager.h"
 #include "bms/current.h"
 #include "bms/contactor_manager.h"
+#include "bms/hv_monitor.h"
 #include "utils/can_packer.h"
 #include "utils/can_crc.h"
 #include "utils/current_limit_lookup.h"
@@ -15,6 +16,29 @@
 
 // #define DEBUG
 
+
+namespace {
+
+uint16_t encodeUnsigned(float value, float scale, float offset)
+{
+    const float encoded = (value * scale) + offset;
+    const float clamped = std::clamp(encoded, 0.0f, 65535.0f);
+    return static_cast<uint16_t>(clamped);
+}
+
+uint16_t encodeSignedOffset(float value, float scale)
+{
+    return encodeUnsigned(value, scale, 32768.0f);
+}
+
+void writeUint16ToCanBytes(CANMessage &msg, uint8_t start_index, uint16_t value)
+{
+    msg.data[start_index + 0] = static_cast<uint8_t>(value & 0xFF);
+    msg.data[start_index + 1] = static_cast<uint8_t>(value >> 8);
+}
+
+}
+
 BMS::BMS(BatteryPack &_batteryPack, Shunt_IVTS &_shunt, Contactormanager &_contactorManager)
     : batteryPack(_batteryPack),
       shunt(_shunt),
@@ -135,6 +159,7 @@ void BMS::Task1000Ms()
 void BMS::Monitor100Ms()
 {
     send_contactor_telemetry_message();
+    send_shunt_hv_monitor_telemetry_messages();
 }
 
 // ###############################################################################################################################################################################
@@ -652,6 +677,46 @@ void BMS::send_contactor_telemetry_message()
     send_message(&msg);
 }
 
+
+void BMS::send_shunt_hv_monitor_telemetry_messages()
+{
+    CANMessage msg;
+    msg.len = 8;
+
+    msg.id = BMS_MSG_SHUNT_HV_META;
+    msg.data[0] = static_cast<uint8_t>(param::state);
+    msg.data[1] = static_cast<uint8_t>(param::dtc & 0xFF);
+    msg.data[2] = static_cast<uint8_t>((param::dtc >> 8) & 0xFF);
+    msg.data[3] = static_cast<uint8_t>(param::hv_monitor_state);
+    msg.data[4] = static_cast<uint8_t>(param::hv_monitor_dtc);
+    msg.data[5] = param::voltage_matched ? 1U : 0U;
+    writeUint16ToCanBytes(msg, 6, encodeUnsigned(param::hv_monitor_delta_voltage, 100.0f, 0.0f));
+    send_message(&msg);
+
+    msg.id = BMS_MSG_SHUNT_HV_I_CURRENT_COUNTERS;
+    writeUint16ToCanBytes(msg, 0, encodeUnsigned(param::current, 10.0f, 5000.0f));
+    writeUint16ToCanBytes(msg, 2, encodeUnsigned(param::current_avg, 10.0f, 5000.0f));
+    writeUint16ToCanBytes(msg, 4, encodeSignedOffset(param::as, 1.0f));
+    writeUint16ToCanBytes(msg, 6, encodeSignedOffset(param::wh, 1.0f));
+    send_message(&msg);
+
+    msg.id = BMS_MSG_SHUNT_HV_DI_TEMP_POWER;
+    writeUint16ToCanBytes(msg, 0, encodeSignedOffset(param::current_dA_per_s, 1.0f));
+    writeUint16ToCanBytes(msg, 2, encodeUnsigned(param::temp, 10.0f, 400.0f));
+    writeUint16ToCanBytes(msg, 4, encodeSignedOffset(param::power, 0.1f));
+    msg.data[6] = 0U;
+    msg.data[7] = 0U;
+    send_message(&msg);
+
+    msg.id = BMS_MSG_SHUNT_HV_U12_U3;
+    writeUint16ToCanBytes(msg, 0, encodeUnsigned(param::u_input_hvbox, 100.0f, 0.0f));
+    writeUint16ToCanBytes(msg, 2, encodeUnsigned(param::u_output_hvbox, 100.0f, 0.0f));
+    writeUint16ToCanBytes(msg, 4, encodeUnsigned(param::u3, 100.0f, 0.0f));
+    msg.data[6] = 0U;
+    msg.data[7] = 0U;
+    send_message(&msg);
+}
+
 void BMS::send_message(CANMessage *frame)
 {
     if (ACAN_T4::BMS_CAN.tryToSend(*frame))

src/bms/battery_manager.h

@@ -166,6 +166,7 @@ class BMS
 
     void send_battery_status_message();
     void send_contactor_telemetry_message();
+    void send_shunt_hv_monitor_telemetry_messages();
 
     // --- Core Functions ---
     void update_soc_coulomb_counting();

src/settings.h

@@ -77,6 +77,10 @@
 #define BMS_MSG_SOC 0x41D
 #define BMS_MSG_HMI 0x41E
 #define BMS_MSG_CONTACTOR_TELEMETRY 0x601
+#define BMS_MSG_SHUNT_HV_META 0x602
+#define BMS_MSG_SHUNT_HV_I_CURRENT_COUNTERS 0x603
+#define BMS_MSG_SHUNT_HV_DI_TEMP_POWER 0x604
+#define BMS_MSG_SHUNT_HV_U12_U3 0x605
 #define BMS_VCU_TIMEOUT 300
 
 #define BMS_ENERGY_AVG_WINDOW_SEC 60.0f