feat: Dold RN5893 IMD Hardware Driver

config/bringup/CMakeLists.txt

@@ -12,6 +12,7 @@ generate_config_tmux_run_script(CONFIG bringup-api-system)
 generate_config_tmux_run_script(CONFIG bringup-DZG)
 generate_config_tmux_run_script(CONFIG bringup-LEM)
 generate_config_tmux_run_script(CONFIG bringup-bender-isocha)
+generate_config_tmux_run_script(CONFIG bringup-dold-rn5893)
 generate_config_tmux_run_script(CONFIG bringup-huawei)
 generate_config_tmux_run_script(CONFIG bringup-isolation-monitor-sil)
 generate_config_tmux_run_script(CONFIG bringup-nxpnfcfrontend-token-provider)

config/bringup/config-bringup-dold-rn5893.yaml

@@ -0,0 +1,25 @@
+active_modules:
+  im_cli:
+    standalone: true
+    module: BUIsolationMonitor
+    connections:
+      imd:
+        - implementation_id: main
+          module_id: dold_rn5893
+
+  serial_comm_hub:
+    module: SerialCommHub
+    config_implementation:
+      main:
+        serial_port: /dev/ttyUSB0
+        baudrate: 115200
+
+  dold_rn5893:
+    module: DoldRN5893
+    connections:
+      serial_comm_hub:
+        - module_id: serial_comm_hub
+          implementation_id: main
+    config_module:
+      device_id: 1
+      power_supply_type: DC

modules/HardwareDrivers/IsolationMonitors/CMakeLists.txt

@@ -1 +1,2 @@
 ev_add_module(Bender_isoCHA425HV)
+ev_add_module(DoldRN5893)

modules/HardwareDrivers/IsolationMonitors/DoldRN5893/CMakeLists.txt

@@ -0,0 +1,23 @@
+#
+# AUTO GENERATED - MARKED REGIONS WILL BE KEPT
+# template version 3
+#
+
+# module setup:
+#   - ${MODULE_NAME}: module name
+ev_setup_cpp_module()
+
+# ev@bcc62523-e22b-41d7-ba2f-825b493a3c97:v1
+# insert your custom targets and additional config variables here
+# ev@bcc62523-e22b-41d7-ba2f-825b493a3c97:v1
+
+target_sources(${MODULE_NAME}
+    PRIVATE
+        "main/isolation_monitorImpl.cpp"
+)
+
+# ev@c55432ab-152c-45a9-9d2e-7281d50c69c3:v1
+target_sources(${MODULE_NAME} PRIVATE
+    "main/registers.cpp"
+)
+# ev@c55432ab-152c-45a9-9d2e-7281d50c69c3:v1

modules/HardwareDrivers/IsolationMonitors/DoldRN5893/DoldRN5893.cpp

@@ -0,0 +1,16 @@
+// SPDX-License-Identifier: Apache-2.0
+// Copyright Frickly Systems GmbH
+// Copyright Pionix GmbH and Contributors to EVerest
+#include "DoldRN5893.hpp"
+
+namespace module {
+
+void DoldRN5893::init() {
+    invoke_init(*p_main);
+}
+
+void DoldRN5893::ready() {
+    invoke_ready(*p_main);
+}
+
+} // namespace module

modules/HardwareDrivers/IsolationMonitors/DoldRN5893/DoldRN5893.hpp

@@ -0,0 +1,81 @@
+// SPDX-License-Identifier: Apache-2.0
+// Copyright Frickly Systems GmbH
+// Copyright Pionix GmbH and Contributors to EVerest
+#ifndef DOLD_RN5893_HPP
+#define DOLD_RN5893_HPP
+
+//
+// AUTO GENERATED - MARKED REGIONS WILL BE KEPT
+// template version 2
+//
+
+#include "ld-ev.hpp"
+
+// headers for provided interface implementations
+#include <generated/interfaces/isolation_monitor/Implementation.hpp>
+
+// headers for required interface implementations
+#include <generated/interfaces/serial_communication_hub/Interface.hpp>
+
+// ev@4bf81b14-a215-475c-a1d3-0a484ae48918:v1
+// insert your custom include headers here
+// ev@4bf81b14-a215-475c-a1d3-0a484ae48918:v1
+
+namespace module {
+
+struct Conf {
+    int device_id;
+    int self_test_timeout_s;
+    bool keep_measurement_active;
+    bool always_publish_measurements;
+    bool timeout_release;
+    double timeout_s;
+    std::string broken_wire_detect;
+    bool storing_insulation_fault;
+    std::string switching_mode_indicator_relay;
+    std::string power_supply_type;
+    int response_value_alarm_kohm;
+    int response_value_pre_alarm_kohm;
+    std::string coupling_device;
+    std::string indicator_relay_k1_function;
+    std::string indicator_relay_k2_function;
+    bool automatic_self_test;
+};
+
+class DoldRN5893 : public Everest::ModuleBase {
+public:
+    DoldRN5893() = delete;
+    DoldRN5893(const ModuleInfo& info, std::unique_ptr<isolation_monitorImplBase> p_main,
+               std::unique_ptr<serial_communication_hubIntf> r_serial_comm_hub, Conf& config) :
+        ModuleBase(info), p_main(std::move(p_main)), r_serial_comm_hub(std::move(r_serial_comm_hub)), config(config){};
+
+    const std::unique_ptr<isolation_monitorImplBase> p_main;
+    const std::unique_ptr<serial_communication_hubIntf> r_serial_comm_hub;
+    const Conf& config;
+
+    // ev@1fce4c5e-0ab8-41bb-90f7-14277703d2ac:v1
+    // insert your public definitions here
+    // ev@1fce4c5e-0ab8-41bb-90f7-14277703d2ac:v1
+
+protected:
+    // ev@4714b2ab-a24f-4b95-ab81-36439e1478de:v1
+    // insert your protected definitions here
+    // ev@4714b2ab-a24f-4b95-ab81-36439e1478de:v1
+
+private:
+    friend class LdEverest;
+    void init();
+    void ready();
+
+    // ev@211cfdbe-f69a-4cd6-a4ec-f8aaa3d1b6c8:v1
+    // insert your private definitions here
+    // ev@211cfdbe-f69a-4cd6-a4ec-f8aaa3d1b6c8:v1
+};
+
+// ev@087e516b-124c-48df-94fb-109508c7cda9:v1
+// insert other definitions here
+// ev@087e516b-124c-48df-94fb-109508c7cda9:v1
+
+} // namespace module
+
+#endif // DOLD_RN5893_HPP

modules/HardwareDrivers/IsolationMonitors/DoldRN5893/README.md

@@ -0,0 +1,48 @@
+# Dold RN5893 IMD with UL 2231 approval - especially for DC charging stations
+
+Electrical safety must be guaranteed during the charging process. For this purpose, an unearthed DC power supply system (IT system) with insulation monitoring is set up and monitored with an insulation monitoring device (IMD).
+Dold has developed a smart insulation monitoring solution for DC charging stations that also fulfils the requirements of UL 2231.
+The insulation monitor RN 5893 from the VARIMETER IMD family monitors the charging process from the charging station to the vehicle in combination with the coupling device RP 5898.
+
+- Response delay < 10 s
+- Nominal voltage up to DC 1000 V
+- Manipulation protection due to sealable transparent cover
+
+## Self test
+
+The Dold RN5893 supports two types of self tests: the normal self test and the extended self test.
+This module only supports the "normal" self tests, not the extended self test.
+
+When a self test is started via the IMD interface, bit 4 of the "control word 1" register (address 40001) is set.
+The device will then perform a self test. If a device fault is present while the self test is running, the self test will fail.
+If the device reports a state that is not "self test running" anymore and there is no device fault, the self test is considered successful.
+
+Changes of the device state, including self tests, are reported with a short delay via Modbus. This is handled internally using the `self_test_running` and `self_test_triggered` variables of the driver.
+
+## Timeout
+
+The device supports a communication timeout, which raises a device fault if no communication is possible for a certain time.
+
+This module supports this timeout. It is enabled by setting `timeout_release` to `true` and optionally configuring the timeout duration in seconds using `timeout_s`, which defaults to 3s.
+
+This value should not be smaller than 2s, as the driver updates the *Timeout* register only once per second (or slightly less frequently), which would otherwise lead to false positives.
+
+If the device reports *Communication Fault Modbus* in the *device fault* register, the driver will try to reset the device by writing `1` to the *control word 1* register. After that, the driver resets the control word 1 to the previous value.
+
+The driver will try to write the device reset command every cycle until the device fault is cleared.
+
+## Measurement and publishing modes
+
+This driver supports three modes of operation:
+- **Standard mode**: The device pauses measurements upon startup and when `stop()` is called. Measurements are started by calling `start()`
+- **Continous measurement mode**: The device continuously performs measurements, bit 8 of the "control word 1" register (address 40001) is not set at any time. This is useful if the device should always alarm on isolation faults, even when no EV is connected. Measurements are still only published when `start()` is called, until `stop()` is called
+  - This mode is enabled by setting `keep_measurement_active` to `true`
+- **Always publish mode**: Like in continous measurement mode, the device continuously performs measurements. Additionally, all measurements are published, even when `stop()` is called. This is only useful in very specific scenarios, e.g. if a special module needs measurements all the time
+  - This mode is enabled by setting both `always_publish_measurements` and `keep_measurement_active` to `true`
+
+## Device instructions
+
+- For applications following UL 2231 the parameter `automatic_self_test` has to be disabled (i.e. set to `false`)
+- Changes to modbus registers triggered by modbus messages may have a short delay before they can be read back over the bus. The device's internal reaction is faster than what is reported via Modbus, however
+- The device state may not always report "Error" when a device fault is present (i.e. the device has an internal fault or the device fault register reports a fault), because of internal prioritization of faults. Because of this, we only check the device fault register to determine if a fault is present and report that to Everest
+- If a modbus communication timeout occurs, the device only responds to modbus requests that either read data or write a reset command