Add extracted tools: CitrineOS, OpenOCPP, ShapeShifter

- CitrineOS core extracted (CSMS OCPP 2.0.1)
- OpenOCPP extracted (firmware OCPP 1.6J/2.0.1)
- ShapeShifter library installed (pip install -e)
- ShapeShifter specification extracted
- EVerest extracted

TODO updated with progress

tools/EVerest-main/modules/HardwareDrivers/PowerSupplies/DPM1000/CMakeLists.txt

@@ -0,0 +1,31 @@
+#
+# AUTO GENERATED - MARKED REGIONS WILL BE KEPT
+# template version 3
+#
+
+# module setup:
+#   - ${MODULE_NAME}: module name
+ev_setup_cpp_module()
+
+# ev@bcc62523-e22b-41d7-ba2f-825b493a3c97:v1
+# insert your custom targets and additional config variables here
+target_sources(${MODULE_NAME}
+    PRIVATE
+        main/can_broker.cpp
+)
+
+target_link_libraries(${MODULE_NAME}
+    PRIVATE
+        can_protocols::dpm1000
+        everest::gpio
+)
+# ev@bcc62523-e22b-41d7-ba2f-825b493a3c97:v1
+
+target_sources(${MODULE_NAME}
+    PRIVATE
+        "main/power_supply_DCImpl.cpp"
+)
+
+# ev@c55432ab-152c-45a9-9d2e-7281d50c69c3:v1
+# insert other things like install cmds etc here
+# ev@c55432ab-152c-45a9-9d2e-7281d50c69c3:v1

tools/EVerest-main/modules/HardwareDrivers/PowerSupplies/DPM1000/DPM1000.cpp

@@ -0,0 +1,15 @@
+// SPDX-License-Identifier: Apache-2.0
+// Copyright Pionix GmbH and Contributors to EVerest
+#include "DPM1000.hpp"
+
+namespace module {
+
+void DPM1000::init() {
+    invoke_init(*p_main);
+}
+
+void DPM1000::ready() {
+    invoke_ready(*p_main);
+}
+
+} // namespace module

tools/EVerest-main/modules/HardwareDrivers/PowerSupplies/DPM1000/DPM1000.hpp

@@ -0,0 +1,69 @@
+// SPDX-License-Identifier: Apache-2.0
+// Copyright Pionix GmbH and Contributors to EVerest
+#ifndef DPM1000_HPP
+#define DPM1000_HPP
+
+//
+// AUTO GENERATED - MARKED REGIONS WILL BE KEPT
+// template version 2
+//
+
+#include "ld-ev.hpp"
+
+// headers for provided interface implementations
+#include <generated/interfaces/power_supply_DC/Implementation.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 {
+    std::string device;
+    int device_address;
+    double power_limit_W;
+    double current_limit_A;
+    double voltage_limit_V;
+    std::string series_parallel_mode;
+    std::string discharge_gpio_chip;
+    int discharge_gpio_line;
+    bool discharge_gpio_polarity;
+    bool debug_print_all_telemetry;
+};
+
+class DPM1000 : public Everest::ModuleBase {
+public:
+    DPM1000() = delete;
+    DPM1000(const ModuleInfo& info, std::unique_ptr<power_supply_DCImplBase> p_main, Conf& config) :
+        ModuleBase(info), p_main(std::move(p_main)), config(config){};
+
+    const std::unique_ptr<power_supply_DCImplBase> p_main;
+    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 // DPM1000_HPP

tools/EVerest-main/modules/HardwareDrivers/PowerSupplies/DPM1000/main/can_broker.cpp

@@ -0,0 +1,221 @@
+#include "can_broker.hpp"
+
+#include <cstring>
+#include <stdexcept>
+
+#include <net/if.h>
+#include <poll.h>
+#include <sys/eventfd.h>
+#include <sys/ioctl.h>
+#include <sys/socket.h>
+#include <unistd.h>
+
+namespace dpm1000 = can::protocol::dpm1000;
+
+// FIXME (aw): this helper doesn't really belong here
+static void throw_with_error(const std::string& msg) {
+    throw std::runtime_error(msg + ": (" + std::string(strerror(errno)) + ")");
+}
+
+CanBroker::CanBroker(const std::string& interface_name, uint8_t _device_src) : device_src(_device_src) {
+    can_fd = socket(PF_CAN, SOCK_RAW, CAN_RAW);
+
+    if (can_fd == -1) {
+        throw_with_error("Failed to open socket");
+    }
+
+    // retrieve interface index from interface name
+    struct ifreq ifr;
+
+    if (interface_name.size() >= sizeof(ifr.ifr_name)) {
+        throw_with_error("Interface name too long: " + interface_name);
+    } else {
+        strcpy(ifr.ifr_name, interface_name.c_str());
+    }
+
+    if (ioctl(can_fd, SIOCGIFINDEX, &ifr) == -1) {
+        throw_with_error("Failed with ioctl/SIOCGIFINDEX on interface " + interface_name);
+    }
+
+    // bind to the interface
+    struct sockaddr_can addr;
+    memset(&addr, 0, sizeof(addr));
+    addr.can_family = AF_CAN;
+    addr.can_ifindex = ifr.ifr_ifindex;
+
+    if (bind(can_fd, reinterpret_cast<struct sockaddr*>(&addr), sizeof(addr)) == -1) {
+        throw_with_error("Failed with bind");
+    }
+
+    event_fd = eventfd(0, 0);
+
+    loop_thread = std::thread(&CanBroker::loop, this);
+}
+
+CanBroker::~CanBroker() {
+    uint64_t quit_value = 1;
+    write(event_fd, &quit_value, sizeof(quit_value));
+
+    loop_thread.join();
+
+    close(can_fd);
+    close(event_fd);
+}
+
+void CanBroker::loop() {
+    std::array<struct pollfd, 2> pollfds = {{
+        {can_fd, POLLIN, 0},
+        {event_fd, POLLIN, 0},
+    }};
+
+    while (true) {
+        const auto poll_result = poll(pollfds.data(), pollfds.size(), -1);
+
+        if (poll_result == 0) {
+            // timeout
+            continue;
+        }
+
+        if (pollfds[0].revents & POLLIN) {
+            struct can_frame frame;
+            read(can_fd, &frame, sizeof(frame));
+            handle_can_input(frame);
+        }
+
+        if (pollfds[1].revents & POLLIN) {
+            uint64_t tmp;
+            read(event_fd, &tmp, sizeof(tmp));
+            // new event, for now, we do not care, later on we could check, if it is an exit event code
+            return;
+        }
+    }
+}
+
+void CanBroker::set_state(bool enabled) {
+    struct can_frame frame;
+    dpm1000::power_on(frame, enabled, enabled);
+    dpm1000::set_header(frame, monitor_id, device_src);
+
+    write_to_can(frame);
+
+    // Do an extra module ON command as sometimes the bits in the header are not enough to actually switch on
+    set_data_int(dpm1000::def::SetValueType::SWITCH_ON_OFF_SETTING, (enabled ? 0 : 1));
+}
+
+CanBroker::AccessReturnType CanBroker::dispatch_frame(const struct can_frame& frame, uint16_t id,
+                                                      uint32_t* return_payload) {
+    // wait until we get access
+    std::lock_guard<std::mutex> access_lock(access_mtx);
+
+    std::unique_lock<std::mutex> request_lock(request.mutex);
+    write_to_can(frame);
+    request.msg_type = id;
+    request.state = CanRequest::State::ISSUED;
+
+    const auto finished = request.cv.wait_for(request_lock, ACCESS_TIMEOUT,
+                                              [this]() { return request.state != CanRequest::State::ISSUED; });
+
+    if (not finished) {
+        return AccessReturnType::TIMEOUT;
+    }
+
+    if (request.state == CanRequest::State::FAILED) {
+        return AccessReturnType::FAILED;
+    }
+
+    // success
+    if (return_payload) {
+        memcpy(return_payload, request.response.data(), sizeof(std::remove_pointer_t<decltype(return_payload)>));
+    }
+
+    return AccessReturnType::SUCCESS;
+}
+
+CanBroker::AccessReturnType CanBroker::read_data(dpm1000::def::ReadValueType value_type, float& result) {
+    const auto id = static_cast<std::underlying_type_t<decltype(value_type)>>(value_type);
+
+    struct can_frame frame;
+    dpm1000::request_data(frame, value_type);
+    dpm1000::set_header(frame, monitor_id, device_src);
+
+    uint32_t tmp;
+    const auto status = dispatch_frame(frame, id, &tmp);
+
+    if (status == AccessReturnType::SUCCESS) {
+        memcpy(&result, &tmp, sizeof(result));
+    }
+
+    return status;
+}
+
+CanBroker::AccessReturnType CanBroker::read_data_int(dpm1000::def::ReadValueType value_type, uint32_t& result) {
+    const auto id = static_cast<std::underlying_type_t<decltype(value_type)>>(value_type);
+
+    struct can_frame frame;
+    dpm1000::request_data(frame, value_type);
+    dpm1000::set_header(frame, monitor_id, device_src);
+
+    uint32_t tmp;
+    const auto status = dispatch_frame(frame, id, &tmp);
+
+    if (status == AccessReturnType::SUCCESS) {
+        result = tmp;
+    }
+
+    return status;
+}
+
+CanBroker::AccessReturnType CanBroker::set_data(dpm1000::def::SetValueType value_type, float payload) {
+    const auto id = static_cast<std::underlying_type_t<decltype(value_type)>>(value_type);
+
+    uint8_t raw_payload[sizeof(payload)];
+    memcpy(raw_payload, &payload, sizeof(payload));
+
+    struct can_frame frame;
+    dpm1000::set_data(frame, value_type, {raw_payload[3], raw_payload[2], raw_payload[1], raw_payload[0]});
+    dpm1000::set_header(frame, monitor_id, device_src);
+
+    return dispatch_frame(frame, id);
+}
+
+CanBroker::AccessReturnType CanBroker::set_data_int(dpm1000::def::SetValueType value_type, uint32_t payload) {
+    const auto id = static_cast<std::underlying_type_t<decltype(value_type)>>(value_type);
+
+    uint8_t raw_payload[sizeof(payload)];
+    memcpy(raw_payload, &payload, sizeof(payload));
+
+    struct can_frame frame;
+    dpm1000::set_data(frame, value_type, {raw_payload[3], raw_payload[2], raw_payload[1], raw_payload[0]});
+    dpm1000::set_header(frame, monitor_id, device_src);
+
+    return dispatch_frame(frame, id);
+}
+
+void CanBroker::write_to_can(const struct can_frame& frame) {
+    write(can_fd, &frame, sizeof(frame));
+}
+
+void CanBroker::handle_can_input(const struct can_frame& frame) {
+    if (((frame.can_id >> dpm1000::def::MESSAGE_HEADER_BIT_SHIFT) & dpm1000::def::MESSAGE_HEADER_MASK) !=
+        dpm1000::def::MESSAGE_HEADER) {
+        return;
+    }
+
+    std::unique_lock<std::mutex> request_lock(request.mutex);
+    if ((request.state != CanRequest::State::ISSUED) or (request.msg_type != dpm1000::parse_msg_type(frame))) {
+        return;
+    }
+
+    if (dpm1000::is_error_flag_set(frame)) {
+        request.state = CanRequest::State::FAILED;
+    } else {
+        // this is ugly
+        for (auto i = 0; i < request.response.size(); ++i) {
+            request.response[i] = frame.data[7 - i];
+        }
+        request.state = CanRequest::State::COMPLETED;
+    }
+
+    request_lock.unlock();
+    request.cv.notify_one();
+}

tools/EVerest-main/modules/HardwareDrivers/PowerSupplies/DPM1000/main/can_broker.hpp

@@ -0,0 +1,70 @@
+// SPDX-License-Identifier: Apache-2.0
+// Copyright Pionix GmbH and Contributors to EVerest
+#ifndef DPM1000_MAIN_DC_CAN_BROKER_HPP
+#define DPM1000_MAIN_DC_CAN_BROKER_HPP
+#include <array>
+#include <condition_variable>
+#include <functional>
+#include <mutex>
+#include <stdexcept>
+#include <string>
+#include <thread>
+
+#include <everest/can/protocol/dpm1000.hpp>
+
+struct CanRequest {
+    enum class State {
+        IDLE,
+        ISSUED,
+        COMPLETED,
+        FAILED,
+    } state{State::IDLE};
+
+    uint16_t msg_type;
+    std::array<uint8_t, 4> response;
+    std::condition_variable cv;
+    std::mutex mutex;
+};
+
+class CanBroker {
+public:
+    enum class AccessReturnType {
+        SUCCESS,
+        FAILED,
+        TIMEOUT,
+        NOT_READY,
+    };
+    CanBroker(const std::string& interface_name, uint8_t _device_src);
+
+    AccessReturnType read_data(can::protocol::dpm1000::def::ReadValueType, float& result);
+    AccessReturnType read_data_int(can::protocol::dpm1000::def::ReadValueType, uint32_t& result);
+
+    AccessReturnType set_data(can::protocol::dpm1000::def::SetValueType, float value);
+    AccessReturnType set_data_int(can::protocol::dpm1000::def::SetValueType, uint32_t value);
+    void set_state(bool enabled);
+
+    ~CanBroker();
+
+private:
+    constexpr static auto ACCESS_TIMEOUT = std::chrono::milliseconds(250);
+    void loop();
+
+    void write_to_can(const struct can_frame& frame);
+    AccessReturnType dispatch_frame(const struct can_frame& frame, uint16_t id, uint32_t* result = nullptr);
+
+    void handle_can_input(const struct can_frame& frame);
+
+    uint8_t device_src;
+
+    std::mutex access_mtx;
+    CanRequest request;
+
+    const uint8_t monitor_id{0xf0};
+
+    std::thread loop_thread;
+
+    int event_fd{-1};
+    int can_fd{-1};
+};
+
+#endif // DPM1000_MAIN_DC_CAN_BROKER_HPP

tools/EVerest-main/modules/HardwareDrivers/PowerSupplies/DPM1000/main/power_supply_DCImpl.cpp

@@ -0,0 +1,294 @@
+// SPDX-License-Identifier: Apache-2.0
+// Copyright Pionix GmbH and Contributors to EVerest
+#include "power_supply_DCImpl.hpp"
+
+#include <memory>
+
+#include "can_broker.hpp"
+
+#include <fmt/core.h>
+#include <utils/formatter.hpp>
+
+std::unique_ptr<CanBroker> can_broker;
+
+namespace dpm1000 = can::protocol::dpm1000;
+
+namespace module {
+namespace main {
+
+static void log_status_on_fail(const std::string& msg, CanBroker::AccessReturnType status) {
+    using ReturnStatus = CanBroker::AccessReturnType;
+
+    std::string reason;
+    switch (status) {
+    case ReturnStatus::FAILED:
+        reason = "failed";
+        break;
+    case ReturnStatus::NOT_READY:
+        reason = "not ready";
+        break;
+    case ReturnStatus::TIMEOUT:
+        reason = "timeout";
+    default:
+        return;
+    }
+
+    EVLOG_info << msg << " reason: (" << reason << ")";
+}
+
+static std::string alarm_to_string(uint32_t alarm) {
+    std::string alarmflags;
+
+    if (alarm & (1 << (int)dpm1000::def::Alarm::FUSE_BURN_OUT))
+        alarmflags += "[FUSE_BURN_OUT]";
+    if (alarm & (1 << (int)dpm1000::def::Alarm::PFC_DCDC_COMMUNICATION_ERROR))
+        alarmflags += "[PFC_DCDC_COMMUNICATION_ERROR]";
+    if (alarm & (1 << (int)dpm1000::def::Alarm::UNBALANCED_BUS_VOLTAGE))
+        alarmflags += "[UNBALANCED_BUS_VOLTAGE]";
+    if (alarm & (1 << (int)dpm1000::def::Alarm::BUS_OVER_VOLTAGE))
+        alarmflags += "[BUS_OVER_VOLTAGE]";
+    if (alarm & (1 << (int)dpm1000::def::Alarm::BUS_ABNORMAL_VOLTAGE))
+        alarmflags += "[BUS_ABNORMAL_VOLTAGE]";
+    if (alarm & (1 << (int)dpm1000::def::Alarm::PHASE_OVER_VOLTAGE))
+        alarmflags += "[PHASE_OVER_VOLTAGE]";
+    if (alarm & (1 << (int)dpm1000::def::Alarm::ID_NUMBER_REPETITION))
+        alarmflags += "[ID_NUMBER_REPETITION]";
+    if (alarm & (1 << (int)dpm1000::def::Alarm::BUS_UNDER_VOLTAGE))
+        alarmflags += "[BUS_UNDER_VOLTAGE]";
+    if (alarm & (1 << (int)dpm1000::def::Alarm::PHASE_LOSS))
+        alarmflags += "[PHASE_LOSS]";
+
+    if (alarm & (1 << (int)dpm1000::def::Alarm::PHASE_UNDER_VOLTAGE))
+        alarmflags += "[PHASE_UNDER_VOLTAGE]";
+    if (alarm & (1 << (int)dpm1000::def::Alarm::CAN_COMMUNICATION_FAULT))
+        alarmflags += "[CAN_COMMUNICATION_FAULT]";
+    if (alarm & (1 << (int)dpm1000::def::Alarm::DCDC_UNEVEN_CURRENT_SHARING))
+        alarmflags += "[DCDC_UNEVEN_CURRENT_SHARING]";
+    if (alarm & (1 << (int)dpm1000::def::Alarm::PFC_POWER_OFF))
+        alarmflags += "[PFC_POWER_OFF]";
+
+    if (alarm & (1 << (int)dpm1000::def::Alarm::FAN_FULL_SPEED))
+        alarmflags += "[FAN_FULL_SPEED]";
+    if (alarm & (1 << (int)dpm1000::def::Alarm::POWER_LIMITING))
+        alarmflags += "[POWER_LIMITING]";
+    if (alarm & (1 << (int)dpm1000::def::Alarm::DCDC_POWER_OFF))
+        alarmflags += "[DCDC_POWER_OFF]";
+    if (alarm & (1 << (int)dpm1000::def::Alarm::TEMPERATURE_POWER_LIMITING))
+        alarmflags += "[TEMPERATURE_POWER_LIMITING]";
+
+    if (alarm & (1 << (int)dpm1000::def::Alarm::AC_POWER_LIMITING))
+        alarmflags += "[AC_POWER_LIMITING]";
+    if (alarm & (1 << (int)dpm1000::def::Alarm::DCDC_EEPROM_FAULTS))
+        alarmflags += "[DCDC_EEPROM_FAULTS]";
+    if (alarm & (1 << (int)dpm1000::def::Alarm::FAN_FAULTS))
+        alarmflags += "[FAN_FAULTS]";
+    if (alarm & (1 << (int)dpm1000::def::Alarm::DCDC_SHORT_CIRCUIT))
+        alarmflags += "[DCDC_SHORT_CIRCUIT]";
+
+    if (alarm & (1 << (int)dpm1000::def::Alarm::PFC_EEPROM_FAULTS))
+        alarmflags += "[PFC_EEPROM_FAULTS]";
+    if (alarm & (1 << (int)dpm1000::def::Alarm::DCDC_OVER_TEMPERATURE))
+        alarmflags += "[DCDC_OVER_TEMPERATURE]";
+    if (alarm & (1 << (int)dpm1000::def::Alarm::DCDC_OUTPUT_OVER_VOLTAGE))
+        alarmflags += "[DCDC_OUTPUT_OVER_VOLTAGE]";
+
+    return alarmflags;
+}
+
+void power_supply_DCImpl::init() {
+    current = 0;
+    voltage = 300;
+
+    config_current_limit = mod->config.current_limit_A;
+    config_voltage_limit = mod->config.voltage_limit_V;
+    config_power_limit = mod->config.power_limit_W;
+
+    if (!mod->config.discharge_gpio_chip.empty()) {
+        discharge_gpio.open(mod->config.discharge_gpio_chip, mod->config.discharge_gpio_line,
+                            !mod->config.discharge_gpio_polarity);
+        discharge_gpio.set_output(false);
+    }
+
+    can_broker = std::make_unique<CanBroker>(mod->config.device, mod->config.device_address);
+
+    // ensure the module is switched off
+    can_broker->set_state(false);
+
+    // Configure module for series or parallel mode
+    // 0 is automatic switching mode
+    float series_parallel_mode = 0.;
+
+    if (mod->config.series_parallel_mode == "Series") {
+        series_parallel_mode = 1050.;
+        config_min_voltage_limit = 300.;
+        parallel_mode = false;
+    } else if (mod->config.series_parallel_mode == "Parallel") {
+        series_parallel_mode = 520.;
+        if (config_voltage_limit > 520) {
+            config_voltage_limit = 520;
+        }
+        parallel_mode = true;
+    }
+
+    // WTF: This really uses a float to set one of the three modes automatic, series or parallel.
+    auto status = can_broker->set_data(dpm1000::def::SetValueType::SERIES_PARALLEL_MODE, series_parallel_mode);
+    log_status_on_fail("Set current limit failed", status);
+}
+
+void power_supply_DCImpl::ready() {
+    types::power_supply_DC::Capabilities caps;
+    caps.bidirectional = false;
+    caps.max_export_current_A = config_current_limit;
+    caps.max_export_voltage_V = config_voltage_limit;
+    caps.min_export_current_A = 0;
+    caps.min_export_voltage_V = config_min_voltage_limit;
+    caps.max_export_power_W = config_power_limit;
+    caps.current_regulation_tolerance_A = 0.5;
+    caps.peak_current_ripple_A = 1;
+    caps.conversion_efficiency_export = 0.95;
+
+    publish_capabilities(caps);
+
+    while (true) {
+        std::this_thread::sleep_for(std::chrono::milliseconds(250));
+
+        // Send voltage, current and power limits
+
+        auto status = can_broker->set_data(dpm1000::def::SetValueType::CURRENT_LIMIT, current);
+        log_status_on_fail("Set current limit failed", status);
+
+        status = can_broker->set_data(dpm1000::def::SetValueType::DEFAULT_CURRENT_LIMIT, 1.0);
+        log_status_on_fail("Set default current limit failed", status);
+
+        status = can_broker->set_data(dpm1000::def::SetValueType::VOLTAGE, voltage);
+        log_status_on_fail("Set voltage failed", status);
+
+        status = can_broker->set_data(dpm1000::def::SetValueType::POWER_LIMIT, 1.0);
+        log_status_on_fail("Set current limit failed", status);
+
+        // Read voltage and current
+        float tmp;
+        types::power_supply_DC::VoltageCurrent vc;
+
+        status = can_broker->read_data(dpm1000::def::ReadValueType::VOLTAGE, tmp);
+        log_status_on_fail("Read voltage failed", status);
+        if (status != CanBroker::AccessReturnType::SUCCESS) {
+            continue;
+        }
+        vc.voltage_V = tmp;
+
+        status = can_broker->read_data(dpm1000::def::ReadValueType::CURRENT, tmp);
+        log_status_on_fail("Read current failed", status);
+        if (status != CanBroker::AccessReturnType::SUCCESS) {
+            continue;
+        }
+
+        // Publish voltage and current var
+        // Current scaling depends on series/parallel mode operation.
+        vc.current_A = tmp;
+        if (parallel_mode) {
+            vc.current_A *= 2.;
+        }
+        publish_voltage_current(vc);
+
+        // read alarm flags
+        uint32_t alarm = 0;
+        status = can_broker->read_data_int(dpm1000::def::ReadValueType::ALARM, alarm);
+        log_status_on_fail("Read alarm failed", status);
+        if (status == CanBroker::AccessReturnType::SUCCESS) {
+            if (last_alarm_flags != alarm) {
+                auto alarmflags = alarm_to_string(alarm);
+                if (alarmflags != "") {
+                    EVLOG_warning << "Alarm flags changed: " << alarmflags;
+                } else {
+                    EVLOG_info << "All Alarm flags cleared.";
+                }
+                last_alarm_flags = alarm;
+            }
+        }
+
+        // Discharge output if it is higher then setpoint voltage.
+        // Note that this has no timeout, so HW must be designed to sustain the worst case load (e.g. 1000V) continously
+        if (vc.voltage_V > (voltage + 10)) {
+            discharge_gpio.set(true);
+        } else {
+            discharge_gpio.set(false);
+        }
+
+        if (mod->config.debug_print_all_telemetry) {
+            // read additional meta data
+            float current_real_part = 0, current_limit = 0, dcdc_temperature = 0, ac_voltage = 0, voltage_limit = 0,
+                  pfc0_voltage = 0, pfc1_voltage = 0, env_temperature = 0, ac_voltage_phase_a = 0,
+                  ac_voltage_phase_b = 0, ac_voltage_phase_c = 0, pfc_temperature = 0, power_limit = 0;
+            status = can_broker->read_data(dpm1000::def::ReadValueType::CURRENT_REAL_PART, current_real_part);
+            log_status_on_fail("Read CURRENT_REAL_PART failed", status);
+            status = can_broker->read_data(dpm1000::def::ReadValueType::CURRENT_LIMIT, current_limit);
+            log_status_on_fail("Read CURRENT_LIMIT failed", status);
+
+            status = can_broker->read_data(dpm1000::def::ReadValueType::DCDC_TEMPERATURE, dcdc_temperature);
+            log_status_on_fail("Read DCDC_TEMPERATURE failed", status);
+            status = can_broker->read_data(dpm1000::def::ReadValueType::AC_VOLTAGE, ac_voltage);
+            log_status_on_fail("Read AC_VOLTAGE failed", status);
+            status = can_broker->read_data(dpm1000::def::ReadValueType::VOLTAGE_LIMIT, voltage_limit);
+            log_status_on_fail("Read VOLTAGE_LIMIT failed", status);
+            status = can_broker->read_data(dpm1000::def::ReadValueType::PFC0_VOLTAGE, pfc0_voltage);
+            log_status_on_fail("Read PFC0_VOLTAGE failed", status);
+            status = can_broker->read_data(dpm1000::def::ReadValueType::PFC1_VOLTAGE, pfc1_voltage);
+            log_status_on_fail("Read PFC1_VOLTAGE failed", status);
+            status = can_broker->read_data(dpm1000::def::ReadValueType::ENV_TEMPERATURE, env_temperature);
+            log_status_on_fail("Read ENV_TEMPERATURE failed", status);
+
+            status = can_broker->read_data(dpm1000::def::ReadValueType::AC_VOLTAGE_PHASE_A, ac_voltage_phase_a);
+            log_status_on_fail("Read AC_VOLTAGE_PHASE_A failed", status);
+            status = can_broker->read_data(dpm1000::def::ReadValueType::AC_VOLTAGE_PHASE_B, ac_voltage_phase_b);
+            log_status_on_fail("Read AC_VOLTAGE_PHASE_B failed", status);
+
+            status = can_broker->read_data(dpm1000::def::ReadValueType::AC_VOLTAGE_PHASE_C, ac_voltage_phase_c);
+            log_status_on_fail("Read AC_VOLTAGE_PHASE_C failed", status);
+
+            status = can_broker->read_data(dpm1000::def::ReadValueType::PFC_TEMPERATURE, pfc_temperature);
+            log_status_on_fail("Read PFC_TEMPERATURE failed", status);
+
+            status = can_broker->read_data(dpm1000::def::ReadValueType::POWER_LIMIT, power_limit);
+            log_status_on_fail("Read POWER_LIMIT failed", status);
+
+            status = can_broker->read_data(dpm1000::def::ReadValueType::ENV_TEMPERATURE, env_temperature);
+            log_status_on_fail("Read ENV_TEMPERATURE failed", status);
+
+            EVLOG_info << fmt::format(
+                "set_voltage {} set_current {} vc.current_A {} vc.voltage_V {} current_real_part {} current_limit {} "
+                "dcdc_temperature {} ac_voltage {} "
+                "voltage_limit "
+                "{} pfc0_voltage {} pfc1_voltage {} env_temperature {} ac_voltage_phase_a {} ac_voltage_phase_b {} "
+                "ac_voltage_phase_c {} pfc_temperature {} power_limit {}",
+                voltage, current, vc.current_A, vc.voltage_V, current_real_part, current_limit, dcdc_temperature,
+                ac_voltage, voltage_limit, pfc0_voltage, pfc1_voltage, env_temperature, ac_voltage_phase_a,
+                ac_voltage_phase_b, ac_voltage_phase_c, pfc_temperature, power_limit);
+        }
+    }
+}
+
+void power_supply_DCImpl::handle_setMode(types::power_supply_DC::Mode& mode,
+                                         types::power_supply_DC::ChargingPhase& phase) {
+    if (mode == types::power_supply_DC::Mode::Export) {
+        can_broker->set_state(true);
+    } else {
+        can_broker->set_state(false);
+    }
+}
+
+void power_supply_DCImpl::handle_setExportVoltageCurrent(double& voltage, double& current) {
+    if (voltage <= config_voltage_limit && voltage >= config_min_voltage_limit && current <= config_current_limit) {
+        this->voltage = voltage;
+        this->current = current / 100.;
+    } else {
+        EVLOG_error << fmt::format("Out of range voltage/current settings ignored: {}V / {}A", voltage, current);
+    }
+}
+
+void power_supply_DCImpl::handle_setImportVoltageCurrent(double& voltage, double& current) {
+    // power supply is uni directional only
+}
+
+} // namespace main
+} // namespace module

tools/EVerest-main/modules/HardwareDrivers/PowerSupplies/DPM1000/main/power_supply_DCImpl.hpp

@@ -0,0 +1,76 @@
+// SPDX-License-Identifier: Apache-2.0
+// Copyright Pionix GmbH and Contributors to EVerest
+#ifndef MAIN_POWER_SUPPLY_DC_IMPL_HPP
+#define MAIN_POWER_SUPPLY_DC_IMPL_HPP
+
+//
+// AUTO GENERATED - MARKED REGIONS WILL BE KEPT
+// template version 3
+//
+
+#include <generated/interfaces/power_supply_DC/Implementation.hpp>
+
+#include "../DPM1000.hpp"
+
+// ev@75ac1216-19eb-4182-a85c-820f1fc2c091:v1
+#include <atomic>
+
+#include <everest/gpio/gpio.hpp>
+// ev@75ac1216-19eb-4182-a85c-820f1fc2c091:v1
+
+namespace module {
+namespace main {
+
+struct Conf {};
+
+class power_supply_DCImpl : public power_supply_DCImplBase {
+public:
+    power_supply_DCImpl() = delete;
+    power_supply_DCImpl(Everest::ModuleAdapter* ev, const Everest::PtrContainer<DPM1000>& mod, Conf& config) :
+        power_supply_DCImplBase(ev, "main"), mod(mod), config(config){};
+
+    // ev@8ea32d28-373f-4c90-ae5e-b4fcc74e2a61:v1
+    // insert your public definitions here
+    // ev@8ea32d28-373f-4c90-ae5e-b4fcc74e2a61:v1
+
+protected:
+    // command handler functions (virtual)
+    virtual void handle_setMode(types::power_supply_DC::Mode& mode,
+                                types::power_supply_DC::ChargingPhase& phase) override;
+    virtual void handle_setExportVoltageCurrent(double& voltage, double& current) override;
+    virtual void handle_setImportVoltageCurrent(double& voltage, double& current) override;
+
+    // ev@d2d1847a-7b88-41dd-ad07-92785f06f5c4:v1
+    // insert your protected definitions here
+    // ev@d2d1847a-7b88-41dd-ad07-92785f06f5c4:v1
+
+private:
+    const Everest::PtrContainer<DPM1000>& mod;
+    const Conf& config;
+
+    virtual void init() override;
+    virtual void ready() override;
+
+    // ev@3370e4dd-95f4-47a9-aaec-ea76f34a66c9:v1
+    std::atomic<float> voltage;
+    std::atomic<float> current;
+    std::atomic<uint32_t> last_alarm_flags{0};
+
+    float config_current_limit{0};
+    float config_voltage_limit{0};
+    float config_power_limit{0};
+    float config_min_voltage_limit{50.};
+
+    Everest::Gpio discharge_gpio;
+    bool parallel_mode{false};
+    // ev@3370e4dd-95f4-47a9-aaec-ea76f34a66c9:v1
+};
+
+// ev@3d7da0ad-02c2-493d-9920-0bbbd56b9876:v1
+// insert other definitions here
+// ev@3d7da0ad-02c2-493d-9920-0bbbd56b9876:v1
+
+} // namespace main
+} // namespace module
+
+#endif // MAIN_POWER_SUPPLY_DC_IMPL_HPP

tools/EVerest-main/modules/HardwareDrivers/PowerSupplies/DPM1000/manifest.yaml

@@ -0,0 +1,61 @@
+description: DC Power Supply Driver
+provides:
+  main:
+    description: Power supply driver for DPM 1000-30 from SCU Power. Currently supports only one module.
+    interface: power_supply_DC
+config:
+  device:
+    description: Interface name for can device
+    type: string
+    default: can0
+  device_address:
+    description: Device address (as selected on front LED panel)
+    type: integer
+    default: 0
+  power_limit_W:
+    description: Maximum Power Limit in Watt
+    type: number
+    maximum: 30000
+    default: 30000
+  current_limit_A:
+    description: Maximum Current Limit in Ampere
+    type: number
+    maximum: 100
+    default: 100
+  voltage_limit_V:
+    description: Maximum Voltage Limit in Volt. Will be limited by series parallel setting as well.
+    type: number
+    maximum: 1000
+    default: 1000
+  series_parallel_mode:
+    description: 
+      Select series (300-1000V), parallel (50-500) or automatic switching mode (50-1000). 
+      This switches the internal configuration of one module and should not be confused with parallel operation of multiple modules.
+    type: string
+    enum:
+      - Series
+      - Parallel
+      - Automatic
+    default: Series
+  discharge_gpio_chip:
+    description: >-
+      GPIO chip to use to switch external discharge load on and off. An empty string disables discharging.
+      Note that the hardware load must be designed to allow permanent discharge from the highest voltage (e.g. 1000V)
+    type: string
+    default: ''
+  discharge_gpio_line:
+    description: GPIO line to use to switch discharge load
+    type: integer
+    default: 0
+  discharge_gpio_polarity:
+    description: GPIO polarity, false means active low, true means active high
+    type: boolean
+    default: true
+  debug_print_all_telemetry:
+    description: Read and print all telemetry from the power module. Helpful while debugging.
+    type: boolean
+    default: false
+metadata:
+  license: https://opensource.org/licenses/Apache-2.0
+  authors:
+    - aw@pionix.de