README.md

KLS

Code for interfacing with KLS motor controllers using Teensy 3.6 for the UVA Solar Car project.

Contents of this repository

• KLS.h contains the class definition for KLS
• KLS.ino contains an example Arduino program for using the library functions
• WIP

KLS Motor Controller Library

• Written to interface with Kelly Controls KLS 8080I family of motor controllers over CAN
• Tested with KLS 12201-8080I
• Class written based on manufacturer specifications for the motor controller's CAN protocol
• Requires the fork of the FlexCAN library by pawelsky
• WIP Library documentation

Miscellaneous Notes

Some things we've learned:

• Bit stuffing: for synchronization purposes, if there are 5 bits of the same value sent consecutively, then a bit of opposite value is inserted ("stuffed") after those 5 bits
  • See photos>bit_stuffing.PNG
• Connecting Teensy 3.6 to MCP 2562 Transceiver:
  • See photos>Transceiver_Teensy_Connections.PNG
  • do not forget to ground the STBY pin

Some resources we've found helpful:

• General CAN background (lower-level info starting around 11 minutes in)
• Orion BMS Wiring information: Solar Car Google Drive: Orion BMS Main IO Connector, Orion BMS Wiring Guide
• Orion BMS CAN information: Solar Car Google Drive: operational_manual.pdf, Orion BMS Software Utility
• MCP 2562 Datasheet
• Software for Orion BMS: Orion BMS Utility