diff --git a/Autogen/CAN/.gitignore b/Autogen/CAN/.gitignore
index 446fc01fc..693167941 100644
--- a/Autogen/CAN/.gitignore
+++ b/Autogen/CAN/.gitignore
@@ -2,5 +2,4 @@ inc/
 !inc/output.dbc
 
 # CANfigurator
-Inc/*.h
 Doc/*.dbc
diff --git a/Autogen/CAN/Doc/GRCAN.CANdo b/Autogen/CAN/Doc/GRCAN.CANdo
index 839d1a87e..3612039b6 100644
--- a/Autogen/CAN/Doc/GRCAN.CANdo
+++ b/Autogen/CAN/Doc/GRCAN.CANdo
@@ -32,6 +32,10 @@ routing:
         Charger:
           - msg: Charger Control
             can_id_override: 0x1806E5F4
+        CCU:
+          - msg: BCU Status 1
+          - msg: BCU Status 2
+          - msg: BCU Status 3
     Charger:
       CAN3:
         BCU:
@@ -160,7 +164,8 @@ routing:
           - msg: Debug FD
           - msg: Ping
         TCM:
-          - msg: ECU Pedals Data
+          - msg: ECU Analog Data
+          - msg: ECU Performance
     Energy Meter:
       CAN3:
         BCU:
@@ -3903,7 +3908,7 @@ Message ID:
       comment: Literal copy of ECU Status's status bit map
       data type: b[24]
       units: Bool map
-  ECU Pedals Data:
+  ECU Analog Data:
     MSG ID: 0x02E
     MSG LENGTH: 16
     BSPD Signal:
@@ -4051,6 +4056,16 @@ Message ID:
       comment: W
       data type: i16
       map equation: "x/100"
+  ECU Performance:
+    MSG ID: 0x123
+    MSG LENGTH: 4
+    Elapsed Cycles:
+      bit_start: 0
+      comment:
+        Represents the total number of clock cycles elapsed for 10 iterations of the main loop
+        data type: u32
+        units: Clock Cycles
+      data type: u8
 
 Custom CAN ID:
   DTI Control 1:
diff --git a/Autogen/CAN/Inc/GRCAN_MSG_DATA.h b/Autogen/CAN/Inc/GRCAN_MSG_DATA.h
index c5e8d50a5..bf6fe2b6a 100644
--- a/Autogen/CAN/Inc/GRCAN_MSG_DATA.h
+++ b/Autogen/CAN/Inc/GRCAN_MSG_DATA.h
@@ -37,7 +37,7 @@ See diagram in StateMachine.h
 5: TS Discharge ECU State
 6-7: Reserved
 See diagram in StateMachine.h (Byte 0) */
-	uint8_t state_messages;
+	uint8_t ecu_state;
 	/** [Byte 1 / Bits 8-15]
 8: BCU Node Status (1: OK, 0: Timeout)
 9: GR Inverter Status (1: OK, 0: Timeout)
@@ -405,7 +405,7 @@ typedef struct {
 	uint16_t steering_angle_signal;
 	/** 4-20 mA signal (Byte 14) */
 	uint16_t aux_signal;
-} GRCAN_ECU_PEDALS_DATA_MSG;
+} GRCAN_ECU_ANALOG_DATA_MSG;
 
 /** GPS LAT */
 typedef struct {
@@ -465,4 +465,13 @@ typedef struct {
 	uint16_t dgps_w;
 } GRCAN_UVW_DGPS_MSG;
 
+/** ECU Performance */
+typedef struct {
+	/**
+	 * Represents the total number of clock cycles elapsed for 10 iterations of the main loop
+	 * data type: u32
+	 * units: Clock Cycles (Byte 0) */
+	uint32_t elapsed_cycles;
+} GRCAN_ECU_PERFORMANCE_MSG;
+
 #endif
diff --git a/Autogen/CAN/Inc/GRCAN_MSG_ID.h b/Autogen/CAN/Inc/GRCAN_MSG_ID.h
index d589fa470..f5739421f 100644
--- a/Autogen/CAN/Inc/GRCAN_MSG_ID.h
+++ b/Autogen/CAN/Inc/GRCAN_MSG_ID.h
@@ -3,44 +3,45 @@
 #define CAN_MSG_IDS_H
 
 typedef enum {
-	MSG_DEBUG_2_0 = 0x000,
-	MSG_DEBUG_FD = 0x001,
-	MSG_PING = 0x002,
-	MSG_ECU_STATUS_1 = 0x003,
-	MSG_ECU_STATUS_2 = 0x004,
-	MSG_ECU_STATUS_3 = 0x005,
-	MSG_ECU_CONFIG = 0x006,
-	MSG_BCU_STATUS_1 = 0x007,
-	MSG_BCU_STATUS_2 = 0x008,
-	MSG_BCU_STATUS_3 = 0x009,
-	MSG_BCU_PRECHARGE = 0x00A,
-	MSG_BCU_CONFIG_CHARGE_PARAMETERS = 0x00B,
-	MSG_BCU_CONFIG_OPERATIONAL_PARAMETERS = 0x00C,
-	MSG_BCU_CELL_DATA_1 = 0x00D,
-	MSG_BCU_CELL_DATA_2 = 0x00E,
-	MSG_BCU_CELL_DATA_3 = 0x00F,
-	MSG_BCU_CELL_DATA_4 = 0x010,
-	MSG_BCU_CELL_DATA_5 = 0x011,
-	MSG_INVERTER_STATUS_1 = 0x013,
-	MSG_INVERTER_STATUS_2 = 0x014,
-	MSG_INVERTER_STATUS_3 = 0x015,
-	MSG_INVERTER_CONFIG = 0x016,
-	MSG_INVERTER_COMMAND = 0x017,
-	MSG_FAN_STATUS = 0x018,
-	MSG_FAN_COMMAND = 0x019,
-	MSG_DASH_STATUS = 0x01A,
-	MSG_DASH_CONFIG = 0x01B,
-	MSG_TCM_STATUS = 0x029,
-	MSG_TCM_RESOURCE_UTILIZATION = 0x02A,
-	MSG_DASH_WARNING_FLAGS = 0x02B,
-	MSG_ECU_PEDALS_DATA = 0x02E,
-	MSG_GPS_LAT = 0x031,
-	MSG_GPS_LON = 0x032,
-	MSG_GPS_ALT = 0x033,
-	MSG_GPS_PX = 0x034,
-	MSG_GPS_QY = 0x035,
-	MSG_GPS_RZ = 0x036,
-	MSG_UVW_DGPS = 0x030,
+	GRCAN_DEBUG_2_0 = 0x000,
+	GRCAN_DEBUG_FD = 0x001,
+	GRCAN_PING = 0x002,
+	GRCAN_ECU_STATUS_1 = 0x003,
+	GRCAN_ECU_STATUS_2 = 0x004,
+	GRCAN_ECU_STATUS_3 = 0x005,
+	GRCAN_ECU_CONFIG = 0x006,
+	GRCAN_BCU_STATUS_1 = 0x007,
+	GRCAN_BCU_STATUS_2 = 0x008,
+	GRCAN_BCU_STATUS_3 = 0x009,
+	GRCAN_BCU_PRECHARGE = 0x00A,
+	GRCAN_BCU_CONFIG_CHARGE_PARAMETERS = 0x00B,
+	GRCAN_BCU_CONFIG_OPERATIONAL_PARAMETERS = 0x00C,
+	GRCAN_BCU_CELL_DATA_1 = 0x00D,
+	GRCAN_BCU_CELL_DATA_2 = 0x00E,
+	GRCAN_BCU_CELL_DATA_3 = 0x00F,
+	GRCAN_BCU_CELL_DATA_4 = 0x010,
+	GRCAN_BCU_CELL_DATA_5 = 0x011,
+	GRCAN_INVERTER_STATUS_1 = 0x013,
+	GRCAN_INVERTER_STATUS_2 = 0x014,
+	GRCAN_INVERTER_STATUS_3 = 0x015,
+	GRCAN_INVERTER_CONFIG = 0x016,
+	GRCAN_INVERTER_COMMAND = 0x017,
+	GRCAN_FAN_STATUS = 0x018,
+	GRCAN_FAN_COMMAND = 0x019,
+	GRCAN_DASH_STATUS = 0x01A,
+	GRCAN_DASH_CONFIG = 0x01B,
+	GRCAN_TCM_STATUS = 0x029,
+	GRCAN_TCM_RESOURCE_UTILIZATION = 0x02A,
+	GRCAN_DASH_WARNING_FLAGS = 0x02B,
+	GRCAN_ECU_ANALOG_DATA = 0x02E,
+	GRCAN_GPS_LAT = 0x031,
+	GRCAN_GPS_LON = 0x032,
+	GRCAN_GPS_ALT = 0x033,
+	GRCAN_GPS_PX = 0x034,
+	GRCAN_GPS_QY = 0x035,
+	GRCAN_GPS_RZ = 0x036,
+	GRCAN_UVW_DGPS = 0x030,
+	GRCAN_ECU_PERFORMANCE = 0x123,
 } GRCAN_MSG_ID;
 
 #endif // CAN_MSG_IDS_H
diff --git a/Autogen/CAN/Inc/GRCAN_NODE_ID.h b/Autogen/CAN/Inc/GRCAN_NODE_ID.h
index 7dd47cd1a..f68b80888 100644
--- a/Autogen/CAN/Inc/GRCAN_NODE_ID.h
+++ b/Autogen/CAN/Inc/GRCAN_NODE_ID.h
@@ -3,20 +3,20 @@
 #define GR_IDS_H
 
 typedef enum {
-	ALL = 0xFF,
-	BCU = 0x03,
-	ECU = 0x02,
-	CCU = 0x02,
-	Charger = 0x00,
-	Charging_SDC = 0x0C,
-	DGPS = 0x30,
-	Dash_Panel = 0x05,
-	Debugger = 0x01,
-	Fan_Controller_1 = 0x0D,
-	Fan_Controller_2 = 0x0E,
-	Fan_Controller_3 = 0x0F,
-	GR_Inverter = 0x08,
-	TCM = 0x04,
+	GRCAN_ALL = 0xFF,
+	GRCAN_BCU = 0x03,
+	GRCAN_ECU = 0x02,
+	GRCAN_CCU = 0x02,
+	GRCAN_Charger = 0x00,
+	GRCAN_Charging_SDC = 0x0C,
+	GRCAN_DGPS = 0x30,
+	GRCAN_Dash_Panel = 0x05,
+	GRCAN_Debugger = 0x01,
+	GRCAN_Fan_Controller_1 = 0x0D,
+	GRCAN_Fan_Controller_2 = 0x0E,
+	GRCAN_Fan_Controller_3 = 0x0F,
+	GRCAN_GR_Inverter = 0x08,
+	GRCAN_TCM = 0x04,
 } GRCAN_NODE_ID;
 
 #endif // GR_IDS_H
diff --git a/CCU/Application/Inc/CCUStateData.h b/CCU/Application/Inc/CCUStateData.h
index 0a0b1f15e..405c0e142 100644
--- a/CCU/Application/Inc/CCUStateData.h
+++ b/CCU/Application/Inc/CCUStateData.h
@@ -30,7 +30,7 @@ typedef struct {
 	// bool BCU_S2_PRECHARGE_ERROR;
 
 	// State
-	// uint8_t BCU_S2_PRECHARGE_BITS;
+	uint8_t BCU_S2_PRECHARGE_BITS;
 	// bool BCU_S2_PRECHARGE_STATE;
 	// bool BCU_S2_IR_STATE;
 	bool BCU_S2_SOFTWARE_LATCH;
diff --git a/CCU/Application/Src/CANDler.c b/CCU/Application/Src/CANDler.c
index 3dbffb443..680e7876a 100644
--- a/CCU/Application/Src/CANDler.c
+++ b/CCU/Application/Src/CANDler.c
@@ -4,10 +4,10 @@
 #include "CANDler.h"
 
 #include "CCUStateData.h"
-#include "GR_OLD_BUS_ID.h"
-#include "GR_OLD_MSG_DAT.h"
-#include "GR_OLD_MSG_ID.h"
-#include "GR_OLD_NODE_ID.h"
+#include "GRCAN_BUS_ID.h"
+#include "GRCAN_MSG_DATA.h"
+#include "GRCAN_MSG_ID.h"
+#include "GRCAN_NODE_ID.h"
 #include "Logomatic.h"
 #include "Unused.h"
 #include "bitManipulations.h"
@@ -19,16 +19,13 @@ CANHandle *primary_can = {0};
 void Read_CAN(uint32_t ID, void *data, uint32_t size)
 {
 
-	GR_OLD_MSG_ID messageId = (0x000FFF00 & ID) >> 8;
-	GR_OLD_NODE_ID nodeId = (0xFF00000 & ID) >> 20;
-
-	UNUSED(nodeId); // TODO Determine if calculating this value is actually needed
+	GRCAN_MSG_ID messageId = (0x000FFF00 & ID) >> 8;
 
 	switch (messageId) {
-		case MSG_BCU_STATUS_2:
+		case GRCAN_BCU_STATUS_2:
 			// FIXME: if bad message do a thing
 
-			if (size != sizeof(GR_OLD_BCU_STATUS_2_MSG)) {
+			if (size != sizeof(GRCAN_BCU_STATUS_2_MSG)) {
 				LOGOMATIC("Bad CCU CAN Rx length! ID: %lu, Size %lu\n", ID, size);
 				break;
 			}
@@ -41,19 +38,22 @@ void Read_CAN(uint32_t ID, void *data, uint32_t size)
 
 			// What the rewrite would look like: STATUS 2
 
-			GR_OLD_BCU_STATUS_2_MSG *bcu_status_2 = (GR_OLD_BCU_STATUS_2_MSG *)data;
-			state_data.BCU_S2_MIN_CELL_Volt = bcu_status_2->voltage_min_cell;
+			GRCAN_BCU_STATUS_2_MSG *bcu_status_2 = (GRCAN_BCU_STATUS_2_MSG *)data;
+			state_data.BCU_S2_20Volt = bcu_status_2->_20v_voltage;
+			state_data.BCU_S2_12Volt = bcu_status_2->_12v_voltage;
+			state_data.BCU_S2_SDC_Volt = bcu_status_2->sdc_voltage;
+			state_data.BCU_S2_MIN_CELL_Volt = bcu_status_2->min_cell_voltage;
 			state_data.BCU_S2_MAX_CELL_TEMP = bcu_status_2->max_cell_temp;
 
-			state_data.BCU_S2_OVERTEMP_ERROR = GETBIT(bcu_status_2->error_bits, 0);
-			state_data.BCU_S2_OVERVOLT_ERROR = GETBIT(bcu_status_2->error_bits, 1);
-			state_data.BCU_S2_UNDERVOLT_ERROR = GETBIT(bcu_status_2->error_bits, 2);
-			state_data.BCU_S2_OVERCURR_ERROR = GETBIT(bcu_status_2->error_bits, 3);
-			state_data.BCU_S2_OVERCURR_ERROR = GETBIT(bcu_status_2->error_bits, 4);
+			state_data.BCU_S2_OVERTEMP_ERROR = GETBIT(bcu_status_2->status_flags, 0);
+			state_data.BCU_S2_OVERVOLT_ERROR = GETBIT(bcu_status_2->status_flags, 1);
+			state_data.BCU_S2_UNDERVOLT_ERROR = GETBIT(bcu_status_2->status_flags, 2);
+			state_data.BCU_S2_OVERCURR_ERROR = GETBIT(bcu_status_2->status_flags, 3);
+			state_data.BCU_S2_UNDERCURR_ERROR = GETBIT(bcu_status_2->status_flags, 4);
 
-			state_data.BCU_S2_UNDER20v_WARNING = GETBIT(bcu_status_2->error_bits, 5);
-			state_data.BCU_S2_UNDER12v_WARNING = GETBIT(bcu_status_2->error_bits, 6);
-			state_data.BCU_S2_UNDERVOLTSDC_WARNING = GETBIT(bcu_status_2->error_bits, 7);
+			state_data.BCU_S2_UNDER20v_WARNING = GETBIT(bcu_status_2->status_flags, 5);
+			state_data.BCU_S2_UNDER12v_WARNING = GETBIT(bcu_status_2->status_flags, 6);
+			state_data.BCU_S2_UNDERVOLTSDC_WARNING = GETBIT(bcu_status_2->status_flags, 7);
 
 			break;
 
@@ -159,17 +159,22 @@ void CAN_Configure(void)
 
 void SendPrechargeStatus(CCU_StateData *state_data)
 {
+
 	FDCANTxMessage msg;
-	msg.tx_header.Identifier = ((0xFF & LOCAL_GR_ID) << 20) | ((0xFFF & MSG_BCU_PRECHARGE) << 8) | (0xFF & GR_BCU);
+	msg.tx_header.Identifier = ((0xFF & LOCAL_GR_ID) << 20) | ((0xFFF & GRCAN_BCU_PRECHARGE) << 8) | (0xFF & GRCAN_BCU);
 	msg.tx_header.IdType = FDCAN_EXTENDED_ID;
 	msg.tx_header.TxFrameType = FDCAN_DATA_FRAME;
 	msg.tx_header.ErrorStateIndicator = FDCAN_ESI_ACTIVE;
-	msg.tx_header.DataLength = 1;
+	msg.tx_header.DataLength = FDCAN_DLC_BYTES_1;
 	msg.tx_header.BitRateSwitch = FDCAN_BRS_OFF;
 	msg.tx_header.TxEventFifoControl = FDCAN_NO_TX_EVENTS;
 	msg.tx_header.MessageMarker = 0;
 
 	msg.data[0] = (state_data->BCU_PRECHARGE_SET_TS_ACTIVE);
+
+	if (sizeof(msg) != sizeof(GRCAN_BCU_PRECHARGE_MSG)) {
+		LOGOMATIC("Bad CCU CAN Tx length!, Size %u\n", sizeof(msg));
+	}
 	LOGOMATIC("PRECHARGE SET: %d\n", state_data->BCU_PRECHARGE_SET_TS_ACTIVE);
 
 	can_send(primary_can, &msg);
diff --git a/CCU/CMakeLists.txt b/CCU/CMakeLists.txt
index 7b27d3b4d..839453ca1 100644
--- a/CCU/CMakeLists.txt
+++ b/CCU/CMakeLists.txt
@@ -35,10 +35,7 @@ if(CMAKE_PRESET_NAME STREQUAL "HOOTLTest")
 		CCUStateTicksTests
 		PRIVATE
 			GLOBALSHARE_LIB
-			#GR_OLD_CAN_MESSAGES
 			LOGOMATIC_LIB
-			#GR_ADC
-			#PERIPHERAL_CAN_LIB
 			BitManipulations_Lib
 	)
 	add_test(CCUStateTicksTests CCUStateTicksTests)
@@ -78,7 +75,7 @@ target_sources(
 target_link_libraries(
 	${GR_PROJECT_NAME}_USER_CODE
 	INTERFACE
-		GR_OLD_CAN_MESSAGES
+		CANfigurator
 		BitManipulations_Lib
 		PERIPHERAL_CAN_LIB
 		VCP_LIB
diff --git a/CCU/Core/Inc/main.h b/CCU/Core/Inc/main.h
index e14a6f683..f9e44106f 100644
--- a/CCU/Core/Inc/main.h
+++ b/CCU/Core/Inc/main.h
@@ -44,7 +44,7 @@ extern "C" {
 
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
-#include "GR_OLD_NODE_ID.h"
+#include "GRCAN_NODE_ID.h"
 /* USER CODE END Includes */
 
 /* Exported types ------------------------------------------------------------*/
@@ -108,7 +108,7 @@ void Error_Handler(void);
 #define SOFTWARE_OK_CONTROL_GPIO_Port GPIOB
 
 /* USER CODE BEGIN Private defines */
-#define LOCAL_GR_ID GR_CCU
+#define LOCAL_GR_ID GRCAN_CCU
 /* USER CODE END Private defines */
 
 #ifdef __cplusplus
diff --git a/CMakeLists.txt b/CMakeLists.txt
index c78af7f6e..7c62d802b 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -24,9 +24,6 @@ set(CMAKE_EXPORT_COMPILE_COMMANDS TRUE)
 set(lib_path "Lib")
 set(platform_path "${lib_path}/Platform")
 
-# FIXME Temporary holdover for CAN messages until URCA is ready for merge
-include("${lib_path}/FancyLayers-RENAME/GRCAN/TemporaryHoldover/temp.cmake")
-
 # Vendor
 include("${lib_path}/Vendor/CMSIS_5/cmsis_5.cmake")
 include("${lib_path}/Vendor/STM32_HAL_LL/cube.cmake")
diff --git a/DashPanel/Application/Inc/CANdler.h b/DashPanel/Application/Inc/CANdler.h
index 471ffb3ac..240f2822c 100644
--- a/DashPanel/Application/Inc/CANdler.h
+++ b/DashPanel/Application/Inc/CANdler.h
@@ -1,14 +1,13 @@
 #ifndef CANDLER_H
 #define CANDLER_H
-#include "GR_OLD_MSG_DAT.h"
-#include "GR_OLD_MSG_ID.h"
-#include "GR_OLD_NODE_ID.h"
+#include "GRCAN_MSG_DATA.h"
+#include "GRCAN_MSG_ID.h"
+#include "GRCAN_NODE_ID.h"
 #include "can.h"
 
 typedef struct {
 	uint8_t ECUState;
-	uint8_t TSActiveButton;
-	uint8_t RTDButton;
+	uint8_t button_flags;
 	uint8_t led_bits;
 } DashStatus;
 
@@ -17,8 +16,8 @@ extern CANHandle *can_handler;
 extern bool canReadyToSend;
 
 void CANInitialize();
-void CAN_sendPing(GR_OLD_NODE_ID to, uint32_t data);
+void CAN_sendPing(GRCAN_NODE_ID to, uint32_t data);
 void CAN_callback(uint32_t ID, void *data, uint32_t size);
-void CAN_sendECU(CANHandle *c, GR_OLD_DASH_STATUS_MSG *msg, GR_OLD_NODE_ID to);
+void CAN_sendECU(CANHandle *c, GRCAN_DASH_STATUS_MSG *msg, GRCAN_NODE_ID to);
 
 #endif
diff --git a/DashPanel/Application/Src/CANdler.c b/DashPanel/Application/Src/CANdler.c
index 6d0df463d..c973ffa0c 100644
--- a/DashPanel/Application/Src/CANdler.c
+++ b/DashPanel/Application/Src/CANdler.c
@@ -2,17 +2,18 @@
 
 #include <string.h>
 
-#include "GR_OLD_MSG_DAT.h"
-#include "GR_OLD_MSG_ID.h"
-#include "GR_OLD_NODE_ID.h"
+#include "GRCAN_MSG_DATA.h"
+#include "GRCAN_MSG_ID.h"
+#include "GRCAN_NODE_ID.h"
 #include "Logomatic.h"
 #include "Unused.h"
+#include "bitManipulations.h"
 #include "can.h"
 #include "dashutils.h"
 #include "main.h"
 #include "stm32g4xx_hal_fdcan.h"
 
-#define ECU_ID GR_ECU
+#define ECU_ID GRCAN_ECU
 #define PING_ID MSG_PING
 
 CANHandle *can_handler;
@@ -64,33 +65,33 @@ void CANInitialize()
 	can_start(can_handler);
 }
 
-void CAN_sendPing(GR_OLD_NODE_ID to, uint32_t data)
+void CAN_sendPing(GRCAN_NODE_ID to, uint32_t data)
 {
 	FDCANTxMessage pingMsg;
-	pingMsg.tx_header.Identifier = (GR_DASH_PANEL << 20) | (MSG_PING << 8) | to;
+	pingMsg.tx_header.Identifier = (GRCAN_Dash_Panel << 20) | (GRCAN_PING << 8) | to;
 	pingMsg.tx_header.IdType = FDCAN_EXTENDED_ID;
 	pingMsg.tx_header.TxFrameType = FDCAN_DATA_FRAME;
 	pingMsg.tx_header.ErrorStateIndicator = FDCAN_ESI_ACTIVE;
-	pingMsg.tx_header.DataLength = sizeof(GR_OLD_PING_MSG);
+	pingMsg.tx_header.DataLength = sizeof(GRCAN_PING_MSG);
 	pingMsg.tx_header.BitRateSwitch = FDCAN_BRS_OFF;
 	pingMsg.tx_header.TxEventFifoControl = FDCAN_NO_TX_EVENTS;
 	pingMsg.tx_header.MessageMarker = 0;
 
-	GR_OLD_PING_MSG msg = {.timestamp = data};
+	GRCAN_PING_MSG msg = {.timestamp = data};
 	memcpy(pingMsg.data, &msg, sizeof(msg));
 
 	can_send(can_handler, &pingMsg);
 }
 
-void CAN_sendECU(CANHandle *c, GR_OLD_DASH_STATUS_MSG *msg, GR_OLD_NODE_ID to)
+void CAN_sendECU(CANHandle *c, GRCAN_DASH_STATUS_MSG *msg, GRCAN_NODE_ID to)
 {
 
 	FDCANTxMessage sendECUMsg;
-	sendECUMsg.tx_header.Identifier = (GR_DASH_PANEL << 20) | (MSG_DASH_STATUS << 8) | to;
+	sendECUMsg.tx_header.Identifier = (GRCAN_Dash_Panel << 20) | (GRCAN_DASH_STATUS << 8) | to;
 	sendECUMsg.tx_header.IdType = FDCAN_EXTENDED_ID;
 	sendECUMsg.tx_header.TxFrameType = FDCAN_DATA_FRAME;
 	sendECUMsg.tx_header.ErrorStateIndicator = FDCAN_ESI_ACTIVE;
-	sendECUMsg.tx_header.DataLength = sizeof(GR_OLD_DASH_STATUS_MSG);
+	sendECUMsg.tx_header.DataLength = sizeof(GRCAN_DASH_STATUS_MSG);
 	sendECUMsg.tx_header.BitRateSwitch = FDCAN_BRS_OFF;
 	sendECUMsg.tx_header.TxEventFifoControl = FDCAN_NO_TX_EVENTS;
 	sendECUMsg.tx_header.MessageMarker = 0;
@@ -103,18 +104,24 @@ void CAN_sendECU(CANHandle *c, GR_OLD_DASH_STATUS_MSG *msg, GR_OLD_NODE_ID to)
 void CAN_callback(uint32_t ID, void *data, uint32_t size)
 {
 
-	GR_OLD_MSG_ID msg_id = (0x000FFF00 & ID) >> 8;
-	GR_OLD_NODE_ID node_id = (0x0FF00000 & ID) >> 20;
+	GRCAN_MSG_ID msg_id = GETBITS(ID, 12, 12);
+	GRCAN_NODE_ID node_id = GETBITS(ID, 4, 8);
 
 	// Process data
-	if (msg_id == MSG_ECU_STATUS_1 && size == sizeof(GR_OLD_ECU_STATUS_1_MSG)) {
-		GR_OLD_ECU_STATUS_1_MSG *ecu_data = (GR_OLD_ECU_STATUS_1_MSG *)data;
-		dashStatus.ECUState = ecu_data->ecu_status; // Get ECU Status
-	} else if (msg_id == MSG_DASH_CONFIG && size == sizeof(GR_OLD_DASH_CONFIG_MSG)) {
-		GR_OLD_DASH_CONFIG_MSG *dash_data = (GR_OLD_DASH_CONFIG_MSG *)data;
+	// ECU Status
+	if (msg_id == GRCAN_ECU_STATUS_1 && size == sizeof(GRCAN_ECU_STATUS_1_MSG)) {
+		GRCAN_ECU_STATUS_1_MSG *ecu_data = (GRCAN_ECU_STATUS_1_MSG *)data;
+		dashStatus.ECUState = ecu_data->ecu_state; // Get ECU Status
+
+		// Dash Config
+	} else if (msg_id == GRCAN_DASH_CONFIG && size == sizeof(GRCAN_DASH_CONFIG_MSG)) {
+		GRCAN_DASH_CONFIG_MSG *dash_data = (GRCAN_DASH_CONFIG_MSG *)data;
 		dashStatus.led_bits = dash_data->led_bits; // Get LED bits
-	} else if (msg_id == PING_ID && size == sizeof(GR_OLD_PING_MSG)) {
+
+		// Ping
+	} else if (msg_id == GRCAN_PING && size == sizeof(GRCAN_PING_MSG)) {
 		CAN_sendPing(node_id, *(uint32_t *)data);
+
 	} else {
 		// Check that you are sending the correct sizes if you get this message
 		LOGOMATIC("Unrecognized CAN message.\n");
diff --git a/DashPanel/CMakeLists.txt b/DashPanel/CMakeLists.txt
index c9391ff17..b63f67124 100644
--- a/DashPanel/CMakeLists.txt
+++ b/DashPanel/CMakeLists.txt
@@ -38,7 +38,7 @@ target_sources(
 target_link_libraries(
 	${GR_PROJECT_NAME}_USER_CODE
 	INTERFACE
-		GR_OLD_CAN_MESSAGES
+		CANfigurator
 		PERIPHERAL_CAN_LIB
 		CircularBuffer_Lib
 		GR_NEOPIXEL
diff --git a/DashPanel/Core/Inc/main.h b/DashPanel/Core/Inc/main.h
index 4e65478db..42faacf3b 100644
--- a/DashPanel/Core/Inc/main.h
+++ b/DashPanel/Core/Inc/main.h
@@ -66,6 +66,7 @@ extern "C" {
 
 /* Exported functions prototypes ---------------------------------------------*/
 void Error_Handler(void);
+void timer_inc(void);
 
 /* USER CODE BEGIN EFP */
 
@@ -95,6 +96,7 @@ void Error_Handler(void);
 #endif
 
 /* USER CODE BEGIN Private defines */
+extern uint32_t timer;
 
 /* USER CODE END Private defines */
 
diff --git a/DashPanel/Core/Src/main.c b/DashPanel/Core/Src/main.c
index 30c2a002a..e6770a370 100644
--- a/DashPanel/Core/Src/main.c
+++ b/DashPanel/Core/Src/main.c
@@ -20,6 +20,7 @@
 #include "main.h"
 
 #include "CANdler.h"
+#include "bitManipulations.h"
 #include "dashutils.h"
 
 /* Private includes ----------------------------------------------------------*/
@@ -58,6 +59,8 @@ LogomaticConfig logomaticConfig = {.clock_source = LOGOMATIC_PCLK1,
 				   .prescaler = LOGOMATIC_PRESCALER_DIV1,
 				   .tx_fifo_threshold = LOGOMATIC_FIFOTHRESHOLD_1_8,
 				   .rx_fifo_threshold = LOGOMATIC_FIFOTHRESHOLD_1_8};
+
+uint32_t timer = 0;
 /* USER CODE END PV */
 
 /* Private function prototypes -----------------------------------------------*/
@@ -101,6 +104,7 @@ int main(void)
 	LL_PWR_DisableUCPDDeadBattery();
 
 	/* USER CODE BEGIN Init */
+	HAL_Init();
 	CANInitialize();
 	GPIO_Interrupt_Init();
 	Setup_Logomatic(&logomaticConfig);
@@ -119,6 +123,10 @@ int main(void)
 	NeoPixel_Init();
 	/* USER CODE BEGIN 2 */
 
+	// uint32_t previous_time = HAL_GetTick();
+	// uint32_t current_time;
+	uint8_t tick_freq = HAL_GetTickFreq();
+
 	/* USER CODE END 2 */
 
 	/* Infinite loop */
@@ -127,25 +135,38 @@ int main(void)
 	while (1) {
 		/* USER CODE END WHILE */
 
-		if (canReadyToSend) {
+		if (canReadyToSend || timer * tick_freq >= 100) {
 
-			GR_OLD_DASH_STATUS_MSG msg_struct;
+			GRCAN_DASH_STATUS_MSG msg_struct;
 
 			msg_struct.led_bits = dashStatus.led_bits;
-			msg_struct.ts_button = dashStatus.TSActiveButton;
-			msg_struct.rtd_button = dashStatus.RTDButton;
+			msg_struct.button_flags = dashStatus.button_flags;
 
-			if (dashStatus.TSActiveButton) {
-				dashStatus.TSActiveButton = 0;
+			if (GETBIT(dashStatus.button_flags, 0)) { // TSActive
+				SetBitInByte(dashStatus.button_flags, 0, false);
+			}
+			if (GETBIT(dashStatus.button_flags, 1)) { // RTD
+				SetBitInByte(dashStatus.button_flags, 1, false);
+			}
+			if (GETBIT(dashStatus.button_flags, 2)) { // Mystery Meat Buttons(this through the end)
+				SetBitInByte(dashStatus.button_flags, 2, false);
 			}
-			if (dashStatus.RTDButton) {
-				dashStatus.RTDButton = 0;
+			if (GETBIT(dashStatus.button_flags, 3)) {
+				SetBitInByte(dashStatus.button_flags, 3, false);
 			}
+			if (GETBIT(dashStatus.button_flags, 4)) {
+				SetBitInByte(dashStatus.button_flags, 4, false);
+			}
+			if (GETBIT(dashStatus.button_flags, 5)) {
+				SetBitInByte(dashStatus.button_flags, 5, false);
+			}
+			// CAN_sendPing(Dash_Panel);
+			CAN_sendECU(can_handler, &msg_struct, GRCAN_ECU);
 
-			// CAN_sendPing(GR_DASH_PANEL);
-			CAN_sendECU(can_handler, &msg_struct, GR_ECU);
+			LOGOMATIC("CAN\n");
 
 			canReadyToSend = false;
+			timer = 0;
 		}
 
 		// Neopixel
@@ -228,37 +249,37 @@ static void MX_GPIO_Init(void)
 	/**/
 	LL_GPIO_ResetOutputPin(GPIOC, LL_GPIO_PIN_4);
 
-	/**/
+	/*TSActive*/
 	GPIO_InitStruct.Pin = TS_ACTIVE_BTN_Pin;
 	GPIO_InitStruct.Mode = LL_GPIO_MODE_INPUT;
 	GPIO_InitStruct.Pull = LL_GPIO_PULL_NO;
 	LL_GPIO_Init(TS_ACTIVE_BTN_GPIO_Port, &GPIO_InitStruct);
 
-	/**/
+	/*RTD*/
 	GPIO_InitStruct.Pin = RTD_BTN_Pin;
 	GPIO_InitStruct.Mode = LL_GPIO_MODE_INPUT;
 	GPIO_InitStruct.Pull = LL_GPIO_PULL_NO;
 	LL_GPIO_Init(RTD_BTN_GPIO_Port, &GPIO_InitStruct);
 
-	/**/
+	/*Button 1*/
 	GPIO_InitStruct.Pin = LL_GPIO_PIN_5;
 	GPIO_InitStruct.Mode = LL_GPIO_MODE_INPUT;
 	GPIO_InitStruct.Pull = LL_GPIO_PULL_NO;
 	LL_GPIO_Init(GPIOA, &GPIO_InitStruct);
 
-	/**/
+	/*Button 2*/
 	GPIO_InitStruct.Pin = LL_GPIO_PIN_6;
 	GPIO_InitStruct.Mode = LL_GPIO_MODE_INPUT;
 	GPIO_InitStruct.Pull = LL_GPIO_PULL_NO;
 	LL_GPIO_Init(GPIOA, &GPIO_InitStruct);
 
-	/**/
+	/*Button 3*/
 	GPIO_InitStruct.Pin = LL_GPIO_PIN_7;
 	GPIO_InitStruct.Mode = LL_GPIO_MODE_INPUT;
 	GPIO_InitStruct.Pull = LL_GPIO_PULL_NO;
 	LL_GPIO_Init(GPIOA, &GPIO_InitStruct);
 
-	/**/
+	/*Button 4*/
 	GPIO_InitStruct.Pin = LL_GPIO_PIN_4;
 	GPIO_InitStruct.Mode = LL_GPIO_MODE_INPUT;
 	GPIO_InitStruct.Pull = LL_GPIO_PULL_NO;
@@ -311,6 +332,11 @@ static void GPIO_Interrupt_Init(void)
 	NVIC_EnableIRQ(EXTI4_IRQn);
 }
 
+void timer_inc(void)
+{
+	timer++;
+}
+
 /* USER CODE END 4 */
 
 /**
diff --git a/DashPanel/Core/Src/stm32g4xx_it.c b/DashPanel/Core/Src/stm32g4xx_it.c
index 1371c09e2..2f9dad7a0 100644
--- a/DashPanel/Core/Src/stm32g4xx_it.c
+++ b/DashPanel/Core/Src/stm32g4xx_it.c
@@ -22,6 +22,7 @@
 
 #include "CANdler.h"   // For CAN stuff
 #include "Logomatic.h" // For Logomatic
+#include "bitManipulations.h"
 #include "main.h"
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
@@ -180,7 +181,7 @@ void PendSV_Handler(void)
 void SysTick_Handler(void)
 {
 	/* USER CODE BEGIN SysTick_IRQn 0 */
-
+	timer_inc();
 	/* USER CODE END SysTick_IRQn 0 */
 
 	/* USER CODE BEGIN SysTick_IRQn 1 */
@@ -222,7 +223,8 @@ void EXTI3_IRQHandler(void)
 	if (LL_EXTI_IsActiveFlag_0_31(LL_EXTI_LINE_3)) {
 
 		// Blame Electronics if hardware debounce doesn't work
-		dashStatus.TSActiveButton = 1;
+		SetBitInByte(dashStatus.button_flags, 0, true);
+		// dashStatus = 1;
 		canReadyToSend = true;
 		LOGOMATIC("TS Active Pressed!");
 		LL_EXTI_ClearFlag_0_31(LL_EXTI_LINE_3);
@@ -241,7 +243,7 @@ void EXTI4_IRQHandler(void)
 
 		// Blame Electronics if hardware debounce doesn't work
 
-		dashStatus.RTDButton = 1;
+		SetBitInByte(dashStatus.button_flags, 1, true);
 		canReadyToSend = true;
 		LOGOMATIC("RTD Pressed!");
 		LL_EXTI_ClearFlag_0_31(LL_EXTI_LINE_4);
diff --git a/ECU/Application/Inc/CANdler.h b/ECU/Application/Inc/CANdler.h
index 7072f5ad4..048243634 100644
--- a/ECU/Application/Inc/CANdler.h
+++ b/ECU/Application/Inc/CANdler.h
@@ -1,14 +1,14 @@
 #include <stdbool.h>
 #include <stdint.h>
 
-#include "GR_OLD_BUS_ID.h"
-#include "GR_OLD_MSG_ID.h"
-#include "GR_OLD_NODE_ID.h"
+#include "GRCAN_BUS_ID.h"
+#include "GRCAN_MSG_ID.h"
+#include "GRCAN_NODE_ID.h"
 #include "StateData.h"
 
 #ifndef CANDLER_H
 #define CANDLER_H
 
-void ECU_CAN_MessageHandler(ECU_StateData *state_data, GR_OLD_BUS_ID bus_id, GR_OLD_MSG_ID msg_id, GR_OLD_NODE_ID sender_id, uint8_t *data, uint32_t data_length);
+void ECU_CAN_MessageHandler(ECU_StateData *state_data, GRCAN_BUS_ID bus_id, GRCAN_MSG_ID msg_id, GRCAN_NODE_ID sender_id, uint8_t *data, uint32_t data_length);
 
 #endif
diff --git a/ECU/Application/Inc/CANutils.h b/ECU/Application/Inc/CANutils.h
index a7011d9fa..aa79cfb1d 100644
--- a/ECU/Application/Inc/CANutils.h
+++ b/ECU/Application/Inc/CANutils.h
@@ -1,15 +1,15 @@
 #include <stdint.h>
 
-#include "GR_OLD_BUS_ID.h"
-#include "GR_OLD_MSG_ID.h"
-#include "GR_OLD_NODE_ID.h"
+#include "GRCAN_BUS_ID.h"
+#include "GRCAN_MSG_ID.h"
+#include "GRCAN_NODE_ID.h"
 #include "StateData.h"
 
 #ifndef CANUTILS_H
 #define CANUTILS_H
 
 #define ECU_STATE_DATA_SEND_INTERVAL_MS 20
-void ECU_CAN_Send(GR_OLD_BUS_ID bus, GR_OLD_NODE_ID destNode, GR_OLD_MSG_ID messageID, void *data, uint32_t size);
+void ECU_CAN_Send(GRCAN_BUS_ID bus, GRCAN_NODE_ID destNode, GRCAN_MSG_ID messageID, void *data, uint32_t size);
 void SendECUStateDataOverCAN(ECU_StateData *stateData);
 
 #endif
diff --git a/ECU/Application/Inc/StateData.h b/ECU/Application/Inc/StateData.h
index 3bad50701..1ba6ccfca 100644
--- a/ECU/Application/Inc/StateData.h
+++ b/ECU/Application/Inc/StateData.h
@@ -1,7 +1,7 @@
 #include <stdbool.h>
 #include <stdint.h>
 
-#include "GR_OLD_MSG_DAT.h"
+#include "GRCAN_MSG_DATA.h"
 #include "StateMachine.h"
 
 #ifndef _STATEDATA_H_
@@ -79,10 +79,13 @@ typedef volatile struct ECU_StateData {
 	float estop_sense;
 	float driving_heat_capacity_1;
 	float driving_heat_capacity_2;
+	uint16_t bse_signal;
+	uint16_t bspd_signal;
 	uint16_t APPS1_Signal;
 	uint16_t APPS2_Signal;
 	uint16_t Brake_R_Signal;
 	uint16_t Brake_F_Signal;
+	uint16_t aux_signal;
 	uint8_t status_bits[3];
 	int8_t ping_block[3];	      /** Node timeout status bits (1=OK, 0=Timeout) */
 	uint8_t powerlevel_torquemap; /** Power lvl (4b) & torque map (4b) */
diff --git a/ECU/Application/Src/CANdler.c b/ECU/Application/Src/CANdler.c
index f6e67c0e5..3ab7a4eff 100644
--- a/ECU/Application/Src/CANdler.c
+++ b/ECU/Application/Src/CANdler.c
@@ -2,9 +2,9 @@
 
 #include <stdint.h>
 
-#include "GR_OLD_BUS_ID.h"
-#include "GR_OLD_MSG_ID.h"
-#include "GR_OLD_NODE_ID.h"
+#include "GRCAN_BUS_ID.h"
+#include "GRCAN_MSG_ID.h"
+#include "GRCAN_NODE_ID.h"
 #include "Logomatic.h"
 #include "Pinging.h"
 #include "StateData.h"
@@ -14,105 +14,109 @@
 
 extern ECU_StateData stateLump;
 
-void ReportBadMessageLength(GR_OLD_BUS_ID bus_id, GR_OLD_MSG_ID msg_id, GR_OLD_NODE_ID sender_id)
+void ReportBadMessageLength(GRCAN_BUS_ID bus_id, GRCAN_MSG_ID msg_id, GRCAN_NODE_ID sender_id)
 {
 	// TODO Ideally change some state data to note a bad message, ie if BCU
 	// that can be a comms error
 	LOGOMATIC("Bad ECU CAN Rx length! Bus: %d, Msg: %X, Sender: %X\n", bus_id, msg_id, sender_id);
 }
 
-void ReportUnhandledMessage(GR_OLD_BUS_ID bus_id, GR_OLD_MSG_ID msg_id, GR_OLD_NODE_ID sender_id)
+void ReportUnhandledMessage(GRCAN_BUS_ID bus_id, GRCAN_MSG_ID msg_id, GRCAN_NODE_ID sender_id)
 {
 	// Filtering likely needs to be adjusted if this is happening often
 	LOGOMATIC("Unhandled ECU CAN Rx msg! Bus: %d, Msg: %X, Sender: %X\n", bus_id, msg_id, sender_id);
 }
 
-void ECU_CAN_MessageHandler(ECU_StateData *state_data, GR_OLD_BUS_ID bus_id, GR_OLD_MSG_ID msg_id, GR_OLD_NODE_ID sender_id, uint8_t *data, uint32_t data_length)
+void ECU_CAN_MessageHandler(ECU_StateData *state_data, GRCAN_BUS_ID bus_id, GRCAN_MSG_ID msg_id, GRCAN_NODE_ID sender_id, uint8_t *data, uint32_t data_length)
 {
 	switch (msg_id) {
-		case MSG_DEBUG_2_0:
-			if (data_length > sizeof(GR_OLD_DEBUG_2_MSG)) {
+		case GRCAN_DEBUG_2_0:
+			if (data_length > sizeof(GRCAN_DEBUG_2_0_MSG)) {
 				ReportBadMessageLength(bus_id, msg_id, sender_id);
 				break;
 			}
 			LOGOMATIC("Received from %02X on bus %d: %.*s\n", sender_id, bus_id, (int)data_length, data);
 			break;
 
-		case MSG_DEBUG_FD:
-			if (data_length > sizeof(GR_OLD_DEBUG_2_MSG)) {
+		case GRCAN_DEBUG_FD:
+			if (data_length > sizeof(GRCAN_DEBUG_FD_MSG)) {
 				ReportBadMessageLength(bus_id, msg_id, sender_id);
 				break;
 			}
 			LOGOMATIC("Received from %02X on bus %d: %.*s\n", sender_id, bus_id, (int)data_length, data);
 			break;
 
-		case MSG_PING:
-			if (data_length != sizeof(GR_OLD_PING_MSG)) {
+		case GRCAN_PING:
+			if (data_length != sizeof(GRCAN_PING_MSG)) {
 				ReportBadMessageLength(bus_id, msg_id, sender_id);
 				break;
 			}
-			respondToPing(sender_id, ((GR_OLD_PING_MSG *)data)->timestamp);
+			respondToPing(sender_id, ((GRCAN_PING_MSG *)data)->timestamp);
 			break;
 
-		case MSG_BCU_STATUS_1:
-			if (data_length != sizeof(GR_OLD_BCU_STATUS_1_MSG)) {
+		case GRCAN_BCU_STATUS_1:
+			if (data_length != sizeof(GRCAN_BCU_STATUS_1_MSG)) {
 				ReportBadMessageLength(bus_id, msg_id, sender_id);
 				break;
 			}
-			GR_OLD_BCU_STATUS_1_MSG *bcu_status_1 = (GR_OLD_BCU_STATUS_1_MSG *)data;
-			state_data->tractivebattery_soc = bcu_status_1->tractivebattery_soc;
+			GRCAN_BCU_STATUS_1_MSG *bcu_status_1 = (GRCAN_BCU_STATUS_1_MSG *)data;
+			state_data->tractivebattery_soc = bcu_status_1->accumulator_soc;
 			state_data->glv_soc = bcu_status_1->glv_soc;
 			state_data->ts_voltage = bcu_status_1->ts_voltage * 0.01;
 			break;
 
-		case MSG_BCU_STATUS_2:
-			if (data_length != sizeof(GR_OLD_BCU_STATUS_2_MSG)) {
+		case GRCAN_BCU_STATUS_2:
+			if (data_length != sizeof(GRCAN_BCU_STATUS_2_MSG)) {
 				ReportBadMessageLength(bus_id, msg_id, sender_id);
 				break;
 			}
-			GR_OLD_BCU_STATUS_2_MSG *bcu_status_2 = (GR_OLD_BCU_STATUS_2_MSG *)data;
+			GRCAN_BCU_STATUS_2_MSG *bcu_status_2 = (GRCAN_BCU_STATUS_2_MSG *)data;
 			state_data->max_cell_temp_c = bcu_status_2->max_cell_temp * 0.25;
-			state_data->bcu_error_warning_bits = bcu_status_2->error_bits;
-			state_data->ir_minus = GETBIT(bcu_status_2->precharge_bits, 1);
-			state_data->ir_plus = GETBIT(bcu_status_2->precharge_bits, 2);
-			state_data->bcu_software_latch = GETBIT(bcu_status_2->precharge_bits, 3);
+			state_data->bcu_error_warning_bits = bcu_status_2->status_flags;
+			state_data->ir_minus = GETBIT(bcu_status_2->precharge_latch_flags, 1);
+			state_data->ir_plus = GETBIT(bcu_status_2->precharge_latch_flags, 2);
+			state_data->bcu_software_latch = GETBIT(bcu_status_2->precharge_latch_flags, 3);
 			break;
 
-		case MSG_INVERTER_STATUS_1:
-			if (data_length != sizeof(GR_OLD_INVERTER_STATUS_1_MSG)) {
+		case GRCAN_INVERTER_STATUS_1:
+			if (data_length != sizeof(GRCAN_INVERTER_STATUS_1_MSG)) {
 				ReportBadMessageLength(bus_id, msg_id, sender_id);
 				break;
 			}
-			GR_OLD_INVERTER_STATUS_1_MSG *inverter_status_1 = (GR_OLD_INVERTER_STATUS_1_MSG *)data;
+			GRCAN_INVERTER_STATUS_1_MSG *inverter_status_1 = (GRCAN_INVERTER_STATUS_1_MSG *)data;
 			UNUSED(inverter_status_1);
 			break;
-		case MSG_INVERTER_STATUS_3:
-			if (data_length != sizeof(GR_OLD_INVERTER_STATUS_3_MSG)) {
+		case GRCAN_INVERTER_STATUS_3:
+			if (data_length != sizeof(GRCAN_INVERTER_STATUS_3_MSG)) {
 				ReportBadMessageLength(bus_id, msg_id, sender_id);
 				break;
 			}
-			GR_OLD_INVERTER_STATUS_3_MSG *inverter_status_3 = (GR_OLD_INVERTER_STATUS_3_MSG *)data;
+			GRCAN_INVERTER_STATUS_3_MSG *inverter_status_3 = (GRCAN_INVERTER_STATUS_3_MSG *)data;
 			state_data->inverter_fault_map = inverter_status_3->fault_bits;
 			break;
 		/*
-		case MSG_STEERING_STATUS:
-			if (data_length != sizeof(GR_OLD_STEERING_STATUS_MSG)) {
+		case GRCAN_STEERING_STATUS:
+			if (data_length != sizeof(GRCAN_STEERING_STATUS_MSG)) {
 				ReportBadMessageLength(bus_id, msg_id, sender_id);
 				break;
 			}
-			GR_OLD_STEERING_STATUS_MSG *steering_status = (GR_OLD_STEERING_STATUS_MSG *)data;
+			GRCAN_STEERING_STATUS_MSG *steering_status = (GRCAN_STEERING_STATUS_MSG *)data;
 			state_data->powerlevel_torquemap = steering_status->encoder_bits;
 			break;
 		*/
-		case MSG_SAM_REAR_WHEELSPEED:
-			if (data_length != sizeof(GR_OLD_SAM_REAR_WHEELSPEED_MSG)) {
+
+		// TODO: fix when sensors done
+		/*
+		case GRCAN_SAM_REAR_WHEELSPEED:
+			if (data_length != sizeof(GRCAN_SAM_REAR_WHEELSPEED_MSG)) {
 				ReportBadMessageLength(bus_id, msg_id, sender_id);
 				break;
 			}
-			GR_OLD_SAM_REAR_WHEELSPEED_MSG *encoder_status = (GR_OLD_SAM_REAR_WHEELSPEED_MSG *)data;
+			GRCAN_SAM_REAR_WHEELSPEED_MSG *encoder_status = (GRCAN_SAM_REAR_WHEELSPEED_MSG *)data;
 			state_data->rr_wheel_rpm = encoder_status->wheel_speed * 0.1 - 32768; // TODO: find out which wheel this actually measures: one or 4 sensors?
 			state_data->vehicle_speed_mph = state_data->rr_wheel_rpm * WHEEL_RPM_TO_MPH_RATIO;
 			break;
+		*/
 		default:
 			ReportUnhandledMessage(bus_id, msg_id, sender_id);
 			break;
diff --git a/ECU/Application/Src/CANutils.c b/ECU/Application/Src/CANutils.c
index a05d12ea5..e557f484b 100644
--- a/ECU/Application/Src/CANutils.c
+++ b/ECU/Application/Src/CANutils.c
@@ -1,8 +1,8 @@
 #include "CANutils.h"
 
-#include "GR_OLD_BUS_ID.h"
-#include "GR_OLD_MSG_DAT.h"
-#include "GR_OLD_MSG_ID.h"
+#include "GRCAN_BUS_ID.h"
+#include "GRCAN_MSG_ID.h"
+#include "GRCAN_NODE_ID.h"
 #include "Logomatic.h"
 #include "StateData.h"
 #include "StateTicks.h"
@@ -13,7 +13,7 @@
 
 uint32_t lastTickECUStateDataSent = 0;
 
-void ECU_CAN_Send(GR_OLD_BUS_ID bus, GR_OLD_NODE_ID destNode, GR_OLD_MSG_ID messageID, void *data, uint32_t size)
+void ECU_CAN_Send(GRCAN_BUS_ID bus, GRCAN_NODE_ID destNode, GRCAN_MSG_ID messageID, void *data, uint32_t size)
 {
 	if (size > FDCAN_MAX_DATA_BYTES) {
 		size = FDCAN_MAX_DATA_BYTES;
@@ -39,10 +39,10 @@ void ECU_CAN_Send(GR_OLD_BUS_ID bus, GR_OLD_NODE_ID destNode, GR_OLD_MSG_ID mess
 	memcpy(&(msg.data), data, size);
 
 	switch (bus) {
-		case GR_OLD_BUS_PRIMARY:
+		case GRCAN_BUS_PRIMARY:
 			can_send(primary_can, &msg);
 			break;
-		case GR_OLD_BUS_DATA:
+		case GRCAN_BUS_DATA:
 			can_send(data_can, &msg);
 			break;
 		default:
@@ -112,7 +112,7 @@ void SendECUStateDataOverCAN(ECU_StateData *stateData)
 
 	LOGOMATIC("Sending ECU State Data over CAN");
 
-	ECU_CAN_Send(GR_OLD_BUS_PRIMARY, GR_ALL, MSG_ECU_STATUS_1, (void *)&messages.ECUStatusMsgOne, sizeof(messages.ECUStatusMsgOne));
-	ECU_CAN_Send(GR_OLD_BUS_PRIMARY, GR_ALL, MSG_ECU_STATUS_2, (void *)&messages.ECUStatusMsgTwo, sizeof(messages.ECUStatusMsgTwo));
-	ECU_CAN_Send(GR_OLD_BUS_PRIMARY, GR_ALL, MSG_ECU_STATUS_3, (void *)&messages.ECUStatusMsgThree, sizeof(messages.ECUStatusMsgThree));
+	ECU_CAN_Send(GRCAN_BUS_PRIMARY, GRCAN_ALL, GRCAN_ECU_STATUS_1, (void *)&messages.ECUStatusMsgOne, sizeof(messages.ECUStatusMsgOne));
+	ECU_CAN_Send(GRCAN_BUS_PRIMARY, GRCAN_ALL, GRCAN_ECU_STATUS_2, (void *)&messages.ECUStatusMsgTwo, sizeof(messages.ECUStatusMsgTwo));
+	ECU_CAN_Send(GRCAN_BUS_PRIMARY, GRCAN_ALL, GRCAN_ECU_STATUS_3, (void *)&messages.ECUStatusMsgThree, sizeof(messages.ECUStatusMsgThree));
 }
diff --git a/ECU/Application/Src/Lights.c b/ECU/Application/Src/Lights.c
index 66eb5832e..9b2fcf086 100644
--- a/ECU/Application/Src/Lights.c
+++ b/ECU/Application/Src/Lights.c
@@ -74,8 +74,8 @@ void BMSLights(ECU_StateData *stateLump)
 	light |= stateLump->ts_voltage > CRITICAL_TS_VOLTAGE;
 	light |= bmsFailure(stateLump);
 	// TODO: interrupted/missing BMS vals
-	GR_OLD_DASH_CONFIG_MSG message = {.led_bits = light};
-	ECU_CAN_Send(GR_OLD_BUS_PRIMARY, GR_DASH_PANEL, MSG_DASH_CONFIG, &message, sizeof(message));
+	GRCAN_DASH_CONFIG_MSG message = {.led_bits = light};
+	ECU_CAN_Send(GRCAN_BUS_PRIMARY, GRCAN_Dash_Panel, GRCAN_DASH_CONFIG, &message, sizeof(message));
 }
 
 void IMDLights(ECU_StateData *stateLump)
@@ -83,8 +83,8 @@ void IMDLights(ECU_StateData *stateLump)
 	uint8_t light = 0;
 	// TODO: isolation failure?
 	light |= imdFailure(stateLump);
-	GR_OLD_DASH_CONFIG_MSG message = {.led_bits = (light << 1)};
-	ECU_CAN_Send(GR_OLD_BUS_PRIMARY, GR_DASH_PANEL, MSG_DASH_CONFIG, &message, sizeof(message));
+	GRCAN_DASH_CONFIG_MSG message = {.led_bits = (light << 1)};
+	ECU_CAN_Send(GRCAN_BUS_PRIMARY, GRCAN_Dash_Panel, GRCAN_DASH_CONFIG, &message, sizeof(message));
 }
 
 void BSPDLights(ECU_StateData *stateLump)
@@ -92,8 +92,8 @@ void BSPDLights(ECU_StateData *stateLump)
 	uint8_t light = 0;
 	// TODO: isolation failure?
 	light |= bspdFailure(stateLump);
-	GR_OLD_DASH_CONFIG_MSG message = {.led_bits = (light << 2)};
-	ECU_CAN_Send(GR_OLD_BUS_PRIMARY, GR_DASH_PANEL, MSG_DASH_CONFIG, &message, sizeof(message));
+	GRCAN_DASH_CONFIG_MSG message = {.led_bits = (light << 2)};
+	ECU_CAN_Send(GRCAN_BUS_PRIMARY, GRCAN_Dash_Panel, GRCAN_DASH_CONFIG, &message, sizeof(message));
 }
 
 void lightControl(ECU_StateData *stateData)
diff --git a/ECU/Application/Src/Pinging.c b/ECU/Application/Src/Pinging.c
index 55aa9d3d2..eda10d9a8 100644
--- a/ECU/Application/Src/Pinging.c
+++ b/ECU/Application/Src/Pinging.c
@@ -1,16 +1,15 @@
 #include "Pinging.h"
 
 #include "CANutils.h"
-#include "GR_OLD_MSG_DAT.h"
-#include "GR_OLD_MSG_ID.h"
-#include "GR_OLD_NODE_ID.h"
+#include "GRCAN_BUS_ID.h"
+#include "GRCAN_MSG_ID.h"
+#include "GRCAN_NODE_ID.h"
 #include "StateUtils.h"
 
 // add new pingable devices here, arrays are updated automagically
 #define PING_LIST(OP)                                                                                                                                                                                  \
-	OP(GR_BCU, 0)                                                                                                                                                                                  \
-	OP(GR_DASH_PANEL, 1)                                                                                                                                                                           \
-	OP(GR_CCU, 2)
+	OP(GRCAN_BCU, 0)                                                                                                                                                                               \
+	OP(GRCAN_Dash_Panel, 1)
 
 // Converts PING_LIST into a list of the first column (IDs)
 #define PING_LIST_AS_ID(id, index) id,
@@ -42,7 +41,7 @@ void pingAll(void)
 		}
 
 		sentTimestamps[i] = timestamp;
-		ECU_CAN_Send(GR_OLD_BUS_PRIMARY, IDsToBePinged[i], MSG_PING, &(GR_OLD_PING_MSG){timestamp}, sizeof(GR_OLD_PING_MSG));
+		ECU_CAN_Send(GRCAN_BUS_PRIMARY, IDsToBePinged[i], GRCAN_PING, &(GRCAN_PING_MSG){timestamp}, sizeof(GRCAN_PING_MSG));
 	}
 }
 
diff --git a/ECU/Application/Src/StateTicks.c b/ECU/Application/Src/StateTicks.c
index 0a7d949c8..3ed0e446d 100644
--- a/ECU/Application/Src/StateTicks.c
+++ b/ECU/Application/Src/StateTicks.c
@@ -4,10 +4,10 @@
 
 #include "CANutils.h"
 #include "ComparatorMacros.h"
-#include "GR_OLD_BUS_ID.h"
-#include "GR_OLD_MSG_DAT.h"
-#include "GR_OLD_MSG_ID.h"
-#include "GR_OLD_NODE_ID.h"
+#include "GRCAN_BUS_ID.h"
+#include "GRCAN_MSG_DATA.h"
+#include "GRCAN_MSG_ID.h"
+#include "GRCAN_NODE_ID.h"
 #include "Logomatic.h"
 #include "StateData.h"
 #include "StateMachine.h"
@@ -28,6 +28,7 @@
 ECU_StateData stateLump = {.ecu_state = GR_GLV_ON, .bcu_software_latch = 1};
 static uint32_t buzzer_start_millis;
 static uint32_t last_can_inverter_request_millis;
+static uint32_t last_can_tcm_request_millis; // TODO: implement
 
 CANHandle *primary_can;
 CANHandle *data_can;
@@ -88,7 +89,7 @@ void ECU_GLV_On(ECU_StateData *stateData)
 	if (stateData->ts_voltage >= SAFE_VOLTAGE_LIMIT) {
 		ECU_Transition_To_Tractive_System_Discharge(stateData);
 		LOGOMATIC("Error: TS Voltage >= %d!\n", SAFE_VOLTAGE_LIMIT);
-		ECU_CAN_Send(GR_OLD_BUS_PRIMARY, GR_DEBUGGER, MSG_DEBUG_2_0, "TS-Runwy", 8);
+		ECU_CAN_Send(GRCAN_BUS_PRIMARY, GRCAN_Debugger, GRCAN_DEBUG_2_0, "TS-Runwy", 8);
 		return;
 	}
 
@@ -102,8 +103,8 @@ void ECU_GLV_On(ECU_StateData *stateData)
 void ECU_Transition_To_Precharge_Engaged(ECU_StateData *stateData)
 {
 	/*send message to BCU to start precharging*/
-	GR_OLD_BCU_PRECHARGE_MSG message = {.precharge = 1}; // Go TS Active/Precharge
-	ECU_CAN_Send(GR_OLD_BUS_PRIMARY, GR_BCU, MSG_BCU_PRECHARGE, &message, sizeof(message));
+	GRCAN_BCU_PRECHARGE_MSG message = {.set_ts_active = 1}; // Go TS Active/Precharge
+	ECU_CAN_Send(GRCAN_BUS_PRIMARY, GRCAN_BCU, GRCAN_BCU_PRECHARGE, &message, sizeof(message));
 	stateData->ecu_state = GR_PRECHARGE_ENGAGED;
 	LOGOMATIC("PRECHARGE START to PRECHARGE ENGAGED!\n");
 	return;
@@ -120,7 +121,7 @@ void ECU_Precharge_Engaged(ECU_StateData *stateData)
 	if (!stateData->ts_active_button_active || CommunicationError(stateData)) {
 		ECU_Transition_To_Tractive_System_Discharge(stateData);
 		LOGOMATIC("ERROR or ts_active OFF! PRECHARGE ENGAGED to TS DISCHARGE START!\n");
-		ECU_CAN_Send(GR_OLD_BUS_PRIMARY, GR_DEBUGGER, MSG_DEBUG_2_0, "TS-P-ITR", 8);
+		ECU_CAN_Send(GRCAN_BUS_PRIMARY, GRCAN_Debugger, GRCAN_DEBUG_2_0, "TS-P-ITR", 8);
 		return;
 	}
 }
@@ -136,13 +137,23 @@ void ECU_Precharge_Complete(ECU_StateData *stateData)
 	if (CriticalError(stateData)) {
 		ECU_Transition_To_Tractive_System_Discharge(stateData);
 		LOGOMATIC("Error: Critical Error Occurred. Discharging Tractive System.\n");
-		ECU_CAN_Send(GR_OLD_BUS_PRIMARY, GR_DEBUGGER, MSG_DEBUG_2_0, "HV-CritE", 8);
+		ECU_CAN_Send(GRCAN_BUS_PRIMARY, GRCAN_Debugger, GRCAN_DEBUG_2_0, "HV-CritE", 8);
 		return;
 	}
 
 	if (PressingBrake(stateData) && stateData->rtd_button_active) {
-		GR_OLD_INVERTER_CONFIG_MSG message = {.max_ac_current = 0xFFFF, .max_dc_current = 0xFFFF, .abs_max_motor_rpm = 0xFFFF, .motor_direction = 0};
-		ECU_CAN_Send(GR_OLD_BUS_PRIMARY, GR_GR_INVERTER_1, MSG_INVERTER_CONFIG, &message, sizeof(message));
+		GRCAN_INVERTER_CONFIG_MSG inverter_message = {.max_ac_current = 0xFFFF, .max_dc_current = 0xFFFF, .absolute_max_rpm_limit = 0xFFFF, .motor_direction = 0};
+		ECU_CAN_Send(GRCAN_BUS_PRIMARY, GRCAN_GR_Inverter, GRCAN_INVERTER_CONFIG, &inverter_message, sizeof(inverter_message));
+		GRCAN_ECU_ANALOG_DATA_MSG pedals_message = {.bspd_signal = stateData->bspd_signal,
+							    .bse_signal = stateData->bse_signal,
+							    .apps_1_signal = stateData->APPS1_Signal,
+							    .apps_2_signal = stateData->APPS2_Signal,
+							    .brakeline_f_signal = stateData->Brake_F_Signal,
+							    .brakeline_r_signal = stateData->Brake_R_Signal,
+							    // TODO: include steering wheel data
+							    .steering_angle_signal = 0,
+							    .aux_signal = stateData->aux_signal};
+		ECU_CAN_Send(GRCAN_BUS_DATA, GRCAN_TCM, GRCAN_ECU_ANALOG_DATA, &pedals_message, sizeof(pedals_message));
 		LOGOMATIC("PRECHARGE COMPLETE to DRIVE START/ACTIVE!\n");
 		ECU_Transition_To_Drive_Active(stateData);
 		return;
@@ -161,7 +172,7 @@ void ECU_Drive_Active(ECU_StateData *stateData)
 	if (!stateData->ts_active_button_active || CriticalError(stateData)) {
 		ECU_Transition_To_Tractive_System_Discharge(stateData);
 		LOGOMATIC("Error: Critical Error Occured. Discharging Tractive System.\n");
-		ECU_CAN_Send(GR_OLD_BUS_PRIMARY, GR_DEBUGGER, MSG_DEBUG_2_0, "DA-CritE", 8);
+		ECU_CAN_Send(GRCAN_BUS_PRIMARY, GRCAN_Debugger, GRCAN_DEBUG_2_0, "DA-CritE", 8);
 		return;
 	}
 
@@ -201,8 +212,24 @@ void ECU_Drive_Active(ECU_StateData *stateData)
 	}
 
 	if (stateData->millisSinceBoot - last_can_inverter_request_millis > 10) {
-		GR_OLD_INVERTER_COMMAND_MSG message = {.ac_current = torque_request * 100 + 32768, .dc_current = torque_request * 100 + 32768, .drive_enable = 1, .rpm_limit = 0};
-		ECU_CAN_Send(GR_OLD_BUS_PRIMARY, GR_GR_INVERTER_1, MSG_INVERTER_COMMAND, &message, sizeof(message));
+		GRCAN_INVERTER_COMMAND_MSG message = {.set_ac_current = torque_request * 100 + 32768, .set_dc_current = torque_request * 100 + 32768, .drive_enable = 1, .rpm_limit = 0};
+		ECU_CAN_Send(GRCAN_BUS_PRIMARY, GRCAN_GR_Inverter, GRCAN_INVERTER_COMMAND, &message, sizeof(message));
+		last_can_inverter_request_millis = stateData->millisSinceBoot;
+	}
+
+	// placeholder for pedal data
+	// TODO: determine send time (15, 20 ms?)
+	if (stateData->millisSinceBoot - last_can_tcm_request_millis > 10) {
+		GRCAN_ECU_ANALOG_DATA_MSG message = {.bspd_signal = stateData->bspd_signal,
+						     .bse_signal = stateData->bse_signal,
+						     .apps_1_signal = stateData->APPS1_Signal,
+						     .apps_2_signal = stateData->APPS2_Signal,
+						     .brakeline_f_signal = stateData->Brake_F_Signal,
+						     .brakeline_r_signal = stateData->Brake_R_Signal,
+						     // TODO: include steering wheel data
+						     .steering_angle_signal = 0,
+						     .aux_signal = stateData->aux_signal};
+		ECU_CAN_Send(GRCAN_BUS_DATA, GRCAN_TCM, GRCAN_ECU_ANALOG_DATA, &message, sizeof(message));
 		last_can_inverter_request_millis = stateData->millisSinceBoot;
 	}
 }
@@ -211,8 +238,8 @@ void ECU_Transition_To_Tractive_System_Discharge(ECU_StateData *stateData)
 {
 	stateData->ecu_state = GR_TS_DISCHARGE;
 	LOGOMATIC("ECU: BCU discharge Tractive System\n");
-	GR_OLD_BCU_PRECHARGE_MSG message = {.precharge = 0};
-	ECU_CAN_Send(GR_OLD_BUS_PRIMARY, GR_BCU, MSG_BCU_PRECHARGE, &message, sizeof(message));
+	GRCAN_BCU_PRECHARGE_MSG message = {.set_ts_active = 0};
+	ECU_CAN_Send(GRCAN_BUS_PRIMARY, GRCAN_BCU, GRCAN_BCU_PRECHARGE, &message, sizeof(message));
 	stateData->dischargeStartMillis = stateData->millisSinceBoot;
 }
 
@@ -232,6 +259,6 @@ void ECU_Tractive_System_Discharge(ECU_StateData *stateData)
 	*/
 	if (stateData->millisSinceBoot - stateData->dischargeStartMillis > TRACTIVE_SYSTEM_MAX_PERMITTED_DISCHARGE_TIME_MILLIS) {
 		LOGOMATIC("Warning: Tractive System fails to discharge in time.\n");
-		ECU_CAN_Send(GR_OLD_BUS_PRIMARY, GR_DEBUGGER, MSG_DEBUG_2_0, "TS-D-TLE", 8);
+		ECU_CAN_Send(GRCAN_BUS_PRIMARY, GRCAN_Debugger, GRCAN_DEBUG_2_0, "TS-D-TLE", 8);
 	}
 }
diff --git a/ECU/CMakeLists.txt b/ECU/CMakeLists.txt
index 41327e2ab..db2656b1b 100644
--- a/ECU/CMakeLists.txt
+++ b/ECU/CMakeLists.txt
@@ -36,7 +36,7 @@ if(CMAKE_PRESET_NAME STREQUAL "HOOTLTest")
 		StateTicksTest
 		PRIVATE
 			GLOBALSHARE_LIB
-			GR_OLD_CAN_MESSAGES
+			CANfigurator
 			LOGOMATIC_LIB
 			# GR_ADC
 			# PERIPHERAL_CAN_LIB
@@ -84,7 +84,7 @@ target_sources(
 target_link_libraries(
 	${GR_PROJECT_NAME}_USER_CODE
 	INTERFACE
-		GR_OLD_CAN_MESSAGES
+		CANfigurator
 		GR_ADC
 		PERIPHERAL_CAN_LIB
 		BitManipulations_Lib
diff --git a/ECU/Core/Inc/main.h b/ECU/Core/Inc/main.h
index de0c4f788..a04f2580a 100644
--- a/ECU/Core/Inc/main.h
+++ b/ECU/Core/Inc/main.h
@@ -43,7 +43,7 @@ extern "C" {
 
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
-#include "GR_OLD_NODE_ID.h"
+#include "GRCAN_NODE_ID.h"
 /* USER CODE END Includes */
 
 /* Exported types ------------------------------------------------------------*/
@@ -58,7 +58,7 @@ extern "C" {
 
 /* Exported macro ------------------------------------------------------------*/
 /* USER CODE BEGIN EM */
-#define LOCAL_GR_ID GR_ECU
+#define LOCAL_GR_ID GRCAN_ECU
 /* USER CODE END EM */
 
 /* Exported functions prototypes ---------------------------------------------*/
diff --git a/ECU/Core/Src/main.c b/ECU/Core/Src/main.c
index 0ad5307fc..b46e78573 100644
--- a/ECU/Core/Src/main.c
+++ b/ECU/Core/Src/main.c
@@ -19,7 +19,7 @@
 /* Includes ------------------------------------------------------------------*/
 #include "main.h"
 
-#include "GR_OLD_BUS_ID.h"
+#include "GRCAN_BUS_ID.h"
 #include "StateData.h"
 #include "StateTicks.h"
 #include "adc.h"
@@ -117,18 +117,18 @@ void read_digital(void)
 void write_adc_values_to_state_data()
 {
 	// analog
-	// TODO: bse signal idk what to do ADC_outputs[0]
-	// TODO: bspd signal --> ADC_outputs[1], find use
+	stateLump.bse_signal = ADC_outputs[0];
+	stateLump.bspd_signal = ADC_outputs[1];
 	stateLump.APPS1_Signal = ADC_outputs[2];
 	stateLump.APPS2_Signal = ADC_outputs[3];
 	stateLump.Brake_F_Signal = ADC_outputs[4];
 	stateLump.Brake_R_Signal = ADC_outputs[5];
-	// TODO: Aux signal idk what to do with it ADC1_outputs[6]
+	stateLump.aux_signal = ADC_outputs[6];
 
 	// TODO: determine conversion factors for all of these (uint to float)
-	stateLump.bspd_sense = ADC_outputs[6];
-	stateLump.imd_sense = ADC_outputs[7];
-	stateLump.ams_sense = ADC_outputs[8];
+	stateLump.bspd_sense = ADC_outputs[7];
+	stateLump.imd_sense = ADC_outputs[8];
+	stateLump.ams_sense = ADC_outputs[9];
 }
 
 void ADC_Configure(void)
@@ -139,44 +139,6 @@ void ADC_Configure(void)
 	LL_AHB2_GRP1_EnableClock(LL_AHB2_GRP1_PERIPH_ADC12);
 	LL_AHB2_GRP1_EnableClock(LL_AHB2_GRP1_PERIPH_GPIOA);
 
-	// OLD ADC (FOR REF)
-	/*
-	// Initialize the ADC1
-	ADC_Group_Init(ADC1, PS_8); // TODO: change prescalar l8r
-	ADC_Regular_Group_Init(ADC1, RANKS_7);
-
-	// Initialize the pins and channels
-	Pin_Ports p1 = {0};
-	p1.port = GPIOC;
-	p1.pin = LL_GPIO_PIN_0 | LL_GPIO_PIN_1 | LL_GPIO_PIN_2 | LL_GPIO_PIN_3;
-	ADC_Init_Pins(&p1);
-	Pin_Ports p2 = {0};
-	p2.port = GPIOB;
-	p2.pin = LL_GPIO_PIN_0 | LL_GPIO_PIN_1 | LL_GPIO_PIN_14;
-	ADC_Init_Pins(&p2);
-	ADC_Channel_Init(ADC1, RANK_1, ADC_CHANNEL_6, SINGLE_ENDED, SAMPLINGTIME_247CYCLES_5);
-	ADC_Channel_Init(ADC1, RANK_2, ADC_CHANNEL_7, SINGLE_ENDED, SAMPLINGTIME_247CYCLES_5);
-	ADC_Channel_Init(ADC1, RANK_3, ADC_CHANNEL_8, SINGLE_ENDED, SAMPLINGTIME_247CYCLES_5);
-	ADC_Channel_Init(ADC1, RANK_4, ADC_CHANNEL_9, SINGLE_ENDED, SAMPLINGTIME_247CYCLES_5);
-	ADC_Channel_Init(ADC1, RANK_5, ADC_CHANNEL_15, SINGLE_ENDED, SAMPLINGTIME_247CYCLES_5);
-	ADC_Channel_Init(ADC1, RANK_6, ADC_CHANNEL_12, SINGLE_ENDED, SAMPLINGTIME_247CYCLES_5);
-	ADC_Channel_Init(ADC1, RANK_7, ADC_CHANNEL_5, SINGLE_ENDED, SAMPLINGTIME_247CYCLES_5);
-
-	// Initialize ADC2
-	ADC_Init(ADC2, RESOLUTION_12, RIGHT);
-	ADC_Regular_Group_Init(ADC2, RANKS_4);
-
-	// Initialize the pins and channels
-	Pin_Ports p3 = {0};
-	p3.port = GPIOA;
-	p3.pin = LL_GPIO_PIN_15;
-	ADC_Init_Pins(&p3);
-	ADC_Channel_Init(ADC2, RANK_1, ADC_CHANNEL_15, SINGLE_ENDED, SAMPLINGTIME_247CYCLES_5);
-	ADC_Channel_Init(ADC2, RANK_2, ADC_CHANNEL_13, SINGLE_ENDED, SAMPLINGTIME_247CYCLES_5);
-	ADC_Channel_Init(ADC2, RANK_3, ADC_CHANNEL_3, SINGLE_ENDED, SAMPLINGTIME_247CYCLES_5);
-	ADC_Channel_Init(ADC2, RANK_4, ADC_CHANNEL_4, SINGLE_ENDED, SAMPLINGTIME_247CYCLES_5);
-	*/
-
 	// ADC 1
 	ADC_Init_Values Init_Vals_ADC1 = {0};
 	Init_Vals_ADC1.ADC = ADC1;
@@ -245,14 +207,14 @@ void ADC_Configure(void)
 
 void CAN1_rx_callback(uint32_t ID, void *data, uint32_t size)
 {
-	ECU_CAN_MessageHandler(&stateLump, GR_OLD_BUS_PRIMARY,
+	ECU_CAN_MessageHandler(&stateLump, GRCAN_BUS_PRIMARY,
 			       (0x000FFF00 & ID) >> 8, // TODO: Double check
 			       (0xFF00000 & ID) >> 20, data, size);
 }
 
 void CAN2_rx_callback(uint32_t ID, void *data, uint32_t size)
 {
-	ECU_CAN_MessageHandler(&stateLump, GR_OLD_BUS_DATA, (0x000FFF00 & ID) >> 8, (0xFF00000 & ID) >> 20, data, size);
+	ECU_CAN_MessageHandler(&stateLump, GRCAN_BUS_DATA, (0x000FFF00 & ID) >> 8, (0xFF00000 & ID) >> 20, data, size);
 }
 
 void CAN_Configure()
@@ -413,6 +375,11 @@ int main(void)
 	MX_FDCAN2_Init();
 	/* USER CODE BEGIN 2 */
 
+	// Initialize DWT
+	CoreDebug->DEMCR |= CoreDebug_DEMCR_TRCENA_Msk;
+	DWT->CYCCNT = 0;
+	DWT->CTRL |= DWT_CTRL_CYCCNTENA_Msk;
+
 	// Initialize CAN
 	CAN_Configure();
 
@@ -425,22 +392,34 @@ int main(void)
 
 	/* Infinite loop */
 	/* USER CODE BEGIN WHILE */
+	uint32_t elapsed_cycles, cycle_counter_accumulator = -1;
 	while (1) {
 		/* USER CODE END WHILE */
 
 		/* USER CODE BEGIN 3 */
+		if (cycle_counter_accumulator == 10) {
+			elapsed_cycles = DWT->CYCCNT;
+			LOGOMATIC("Cycles elapsed for 10 iterations of the main loop: %lu\n", elapsed_cycles);
+			GRCAN_ECU_PERFORMANCE_MSG performance_message = {.elapsed_cycles = elapsed_cycles};
+			ECU_CAN_Send(GRCAN_BUS_DATA, GRCAN_TCM, GRCAN_ECU_PERFORMANCE, &performance_message, sizeof(GRCAN_ECU_PERFORMANCE_MSG));
+			cycle_counter_accumulator = 0;
+			DWT->CYCCNT = 0;
+		} else {
+			cycle_counter_accumulator++;
+		}
+
 		static uint32_t nextPing;
 		if (MillisecondsSinceBoot() >= nextPing) {
 			pingAll();
 
 			if (nextPing != 0) {
-				if (getRTT(GR_BCU) == PINGTIMEOUT_VALUE) {
+				if (getRTT(GRCAN_BCU) == PINGTIMEOUT_VALUE) {
 					LOGOMATIC("ERROR: BCU is not responding to pings!\n");
 				}
-				if (getRTT(GR_DASH_PANEL) == PINGTIMEOUT_VALUE) {
+				if (getRTT(GRCAN_Dash_Panel) == PINGTIMEOUT_VALUE) {
 					LOGOMATIC("ERROR: Dash Panel is not responding to pings!\n");
 				}
-				if (getRTT(GR_CCU) != PINGTIMEOUT_VALUE) {
+				if (getRTT(GRCAN_CCU) != PINGTIMEOUT_VALUE) {
 					// halt if CCU is connected
 					return 1;
 				}
diff --git a/ECU/Test/Inc/main.h b/ECU/Test/Inc/main.h
index 256e979a3..00adc0693 100644
--- a/ECU/Test/Inc/main.h
+++ b/ECU/Test/Inc/main.h
@@ -1,2 +1,2 @@
-#include "GR_OLD_NODE_ID.h"
-#define LOCAL_GR_ID GR_ECU
+#include "GRCAN_NODE_ID.h"
+#define LOCAL_GR_ID GRCAN_ECU
diff --git a/Lib/FancyLayers-RENAME/GRCAN/TemporaryHoldover/IMPORTANT_README.md b/Lib/FancyLayers-RENAME/GRCAN/TemporaryHoldover/IMPORTANT_README.md
deleted file mode 100644
index 03fca33a9..000000000
--- a/Lib/FancyLayers-RENAME/GRCAN/TemporaryHoldover/IMPORTANT_README.md
+++ /dev/null
@@ -1,11 +0,0 @@
-# Temporary Code
-
-This is temporary and should be replaced by the CAN URCA group's output
-
-Replacing this will be a large refactor, but is needed to get ECU work started (among other boards)
-
-DO NOT ATTEMPT TO UPGRADE THIS
-
-## Otherwise
-
-See [CSV-25](https://github.com/Gaucho-Racing/CSV-25) for more things
diff --git a/Lib/FancyLayers-RENAME/GRCAN/TemporaryHoldover/Inc/GR_OLD_BUS_ID.h b/Lib/FancyLayers-RENAME/GRCAN/TemporaryHoldover/Inc/GR_OLD_BUS_ID.h
deleted file mode 100644
index b4828dc62..000000000
--- a/Lib/FancyLayers-RENAME/GRCAN/TemporaryHoldover/Inc/GR_OLD_BUS_ID.h
+++ /dev/null
@@ -1,18 +0,0 @@
-// DO NOT CONSIDER THESE STABLE ... EXPECT URCA TO REPLACE THEM FULLY
-
-#ifndef GR_OLD_BUS_ID_H
-#define GR_OLD_BUS_ID_H
-
-/** GR CAN Bus IDs */
-typedef enum {
-	/** Testing Bus */
-	GR_OLD_BUS_TESTING = 0,
-	/** Primary Bus */
-	GR_OLD_BUS_PRIMARY = 1,
-	/** Data Bus */
-	GR_OLD_BUS_DATA = 2,
-	/** Charger and BCU Bus */
-	GR_OLD_BUS_CHARGING = 3,
-} GR_OLD_BUS_ID;
-
-#endif
diff --git a/Lib/FancyLayers-RENAME/GRCAN/TemporaryHoldover/Inc/GR_OLD_MSG_DAT.h b/Lib/FancyLayers-RENAME/GRCAN/TemporaryHoldover/Inc/GR_OLD_MSG_DAT.h
deleted file mode 100644
index 978134d76..000000000
--- a/Lib/FancyLayers-RENAME/GRCAN/TemporaryHoldover/Inc/GR_OLD_MSG_DAT.h
+++ /dev/null
@@ -1,389 +0,0 @@
-#include <stdint.h>
-
-// DO NOT CONSIDER THESE STABLE ... EXPECT URCA TO REPLACE THEM FULLY
-
-// ADD MESSAGES AS NEEDED AND AT MODIFICATION, TALK TO URCA FOLKS THOUGH
-
-// ALSO... AI DID THE COMMENTS FROM THE DOCUMENT... DO NOT TRUST AT ALL
-
-#ifndef GR_OLD_MSG_DAT_H
-#define GR_OLD_MSG_DAT_H
-
-/** Debug 2.0 - Print statement up to 8 bytes */
-typedef struct {
-	uint8_t message[8]; /** Debug msg parseable by target */
-} GR_OLD_DEBUG_2_MSG;
-
-/** Debug FD - Print statement up to 64 bytes */
-typedef struct {
-	uint8_t message[64]; /** Debug msg parseable by target */
-} GR_OLD_DEBUG_FD_MSG;
-
-/** Ping message */
-typedef struct {
-	uint32_t timestamp; /** Time in ms */
-} GR_OLD_PING_MSG;
-
-/** ECU Status 1 */
-typedef struct {
-	uint8_t ecu_status;	      /** ECU state (see diagram) */
-	uint8_t ping_block[3];	      /** Node timeout status bits (1=OK, 0=Timeout) */
-	uint8_t powerlevel_torquemap; /** Power lvl (4b) & torque map (4b) */
-	uint8_t max_cell_temp;	      /** Hottest cell temp, 0.25°C/bit */
-	uint8_t tractivebattery_soc;  /** Accumulator SoC, 20x/51=% */
-	uint8_t glv_soc;	      /** GLV SoC, 20x/51=% */
-} GR_OLD_ECU_STATUS_1_MSG;
-
-/** ECU Status 2 */
-typedef struct {
-	uint16_t ts_voltage;	/** TS output voltage, 0.01V */
-	uint16_t vehicle_speed; /** Vehicle speed, 0.01 MPH */
-	uint16_t fr_wheel_rpm;	/** FR wheel, 0.1x-3276.8 RPM */
-	uint16_t fl_wheel_rpm;	/** FL wheel, 0.1x-3276.8 RPM */
-} GR_OLD_ECU_STATUS_2_MSG;
-
-/** ECU Status 3 */
-typedef struct {
-	uint16_t rr_wheel_rpm; /** RR wheel, 0.1x-3276.8 RPM */
-	uint16_t rl_wheel_rpm; /** RL wheel, 0.1x-3276.8 RPM */
-} GR_OLD_ECU_STATUS_3_MSG;
-
-/** BCU Status 1 */
-typedef struct {
-	uint16_t tractivebattery_voltage; /** All cells sum, 0.01V */
-	uint16_t ts_voltage;		  /** TS output voltage, 0.01V */
-	uint16_t tractivebattery_current; /** Current out (i16), 0.01A */
-	uint8_t tractivebattery_soc;	  /** Accum SoC (lowest cell), 20x/51=% */
-	uint8_t glv_soc;		  /** GLV SoC, 20x/51=% */
-} GR_OLD_BCU_STATUS_1_MSG;
-
-/** BCU Status 2 */
-typedef struct {
-	uint8_t voltage_20v;	  /** 20V GLV, 0.1V */
-	uint8_t voltage_12v;	  /** 12V supply, 0.1V */
-	uint8_t voltage_sdc;	  /** SDC voltage before latch, 0.1V */
-	uint8_t voltage_min_cell; /** Min cell V, 0.01x+2 V */
-	uint8_t max_cell_temp;	  /** Hottest cell, 0.25°C */
-	uint8_t error_bits;	  /** Error flags (temp/V/I) */
-	uint8_t precharge_bits;	  /** Precharge & relay states */
-} GR_OLD_BCU_STATUS_2_MSG;
-
-/** BCU Status 3 */
-typedef struct {
-	uint16_t hv_input_voltage;  /** 600V input, 0.01V */
-	uint16_t hv_output_voltage; /** 20V output, 0.01V */
-	uint16_t hv_input_current;  /** 600V input, 0.001A */
-	uint16_t hv_output_current; /** 20V output, 0.001A */
-} GR_OLD_BCU_STATUS_3_MSG;
-
-/** BCU Precharge cmd */
-typedef struct {
-	uint8_t precharge; /** Set TS active (0=shutdown, 1=precharge) */
-} GR_OLD_BCU_PRECHARGE_MSG;
-
-/** BCU Config Charge Params */
-typedef struct {
-	uint16_t charge_voltage; /** Target charge V, 0.1V */
-	uint16_t charge_current; /** Target charge I, 0.1A */
-} GR_OLD_BCU_CONFIG_CHARGE_PARAMS_MSG;
-
-/** BCU Config Operational Params */
-typedef struct {
-	uint8_t min_cell_voltage; /** Min cell V thresh, 0.01x+2 V */
-	uint8_t max_cell_voltage; /** Max cell temp thresh, 0.25°C */
-} GR_OLD_BCU_CONFIG_OPS_PARAMS_MSG;
-
-/** BCU Cell Data 1 - Cells 0-31 */
-typedef struct {
-	struct {
-		uint8_t voltage;     /** Cell V, 0.01x+2 V */
-		uint8_t temperature; /** Cell temp, 0.25°C */
-	} cells[32];
-} GR_OLD_BCU_CELL_DATA_1_MSG;
-
-/** BCU Cell Data 2 - Cells 32-63 */
-typedef struct {
-	struct {
-		uint8_t voltage;     /** Cell V, 0.01x+2 V */
-		uint8_t temperature; /** Cell temp, 0.25°C */
-	} cells[32];
-} GR_OLD_BCU_CELL_DATA_2_MSG;
-
-/** BCU Cell Data 3 - Cells 64-95 */
-typedef struct {
-	struct {
-		uint8_t voltage;     /** Cell V, 0.01x+2 V */
-		uint8_t temperature; /** Cell temp, 0.25°C */
-	} cells[32];
-} GR_OLD_BCU_CELL_DATA_3_MSG;
-
-/** BCU Cell Data 4 - Cells 96-127 */
-typedef struct {
-	struct {
-		uint8_t voltage;     /** Cell V, 0.01x+2 V */
-		uint8_t temperature; /** Cell temp, 0.25°C */
-	} cells[32];
-} GR_OLD_BCU_CELL_DATA_4_MSG;
-
-/** BCU Cell Data 5 - Cells 128-159 */
-typedef struct {
-	struct {
-		uint8_t voltage;     /** Cell V, 0.01x+2 V */
-		uint8_t temperature; /** Cell temp, 0.25°C */
-	} cells[32];
-} GR_OLD_BCU_CELL_DATA_5_MSG;
-
-/** DC-DC Converter Status */
-typedef struct {
-	uint16_t input_voltage;	 /** ~20V (LV) or 600V (HV), x/1000 V */
-	uint16_t output_voltage; /** ~12V (LV) or ~20V (HV), x/1000 V */
-	uint8_t input_current;	 /** Input I (LV only), 0.1A */
-	uint8_t output_current;	 /** Output I, 0.1A */
-	uint8_t temperature;	 /** DC-DC temp, °C */
-} GR_OLD_DCDC_STATUS_MSG;
-
-/** Inverter Status 1 */
-typedef struct {
-	uint16_t ac_current; /** AC I (i16), 0.01x-327.68 A */
-	uint16_t dc_current; /** DC I, 0.01A */
-	uint16_t motor_rpm;  /** Motor RPM (i16), x-32768 */
-} GR_OLD_INVERTER_STATUS_1_MSG;
-
-/** Inverter Status 2 */
-typedef struct {
-	uint16_t u_mosfet_temp; /** U phase temp, x-40 °C */
-	uint16_t v_mosfet_temp; /** V phase temp, x-40 °C */
-	uint16_t w_mosfet_temp; /** W phase temp, x-40 °C */
-} GR_OLD_INVERTER_STATUS_2_MSG;
-
-/** Inverter Status 3 */
-typedef struct {
-	uint8_t motor_temp; /** Motor temp, x-40 °C */
-	uint8_t fault_bits; /** Fault flags (V/temp/transistor/encoder/CAN) */
-} GR_OLD_INVERTER_STATUS_3_MSG;
-
-/** Inverter Config */
-typedef struct {
-	uint16_t max_ac_current;    /** Max AC I, 0.01x-327.68 A */
-	uint16_t max_dc_current;    /** Max DC I, 0.01x-327.68 A */
-	uint16_t abs_max_motor_rpm; /** Abs max RPM limit, x-32768 */
-	uint8_t motor_direction;    /** Motor dir (1=invert) */
-} GR_OLD_INVERTER_CONFIG_MSG;
-
-/** Inverter Command */
-typedef struct {
-	uint16_t ac_current;	 /** Cmd AC I, 0.01x-327.68 A */
-	uint16_t dc_current;	 /** Cmd DC I, 0.01x-327.68 A */
-	uint16_t rpm_limit;	 /** RPM limit (0=none), x-32768 */
-	uint8_t field_weakening; /** Field weak strength, 0.1A */
-	uint8_t drive_enable;	 /** Enable inv (send 1 every 100ms) */
-} GR_OLD_INVERTER_COMMAND_MSG;
-
-/** Fan Status */
-typedef struct {
-	uint16_t fan_speed;    /** Fan RPM */
-	uint8_t input_voltage; /** Input V (0-22), 0.1V */
-	uint8_t input_current; /** Input I (0-10), 0.1A */
-} GR_OLD_FAN_STATUS_MSG;
-
-/** Fan Command */
-typedef struct {
-	uint8_t fan_command; /** Fan cmd, 0-100% */
-} GR_OLD_FAN_COMMAND_MSG;
-
-/** Dashboard Status */
-typedef struct {
-	uint8_t led_bits;   /** BMS/IMD/BSPD LED states */
-	uint8_t ts_button;  /** TS button state & time (MSB=pressed, 7b=0.1s) */
-	uint8_t rtd_button; /** RTD button state & time (MSB=pressed, 7b=0.1s) */
-} GR_OLD_DASH_STATUS_MSG;
-
-/** Dashboard Config */
-typedef struct {
-	uint8_t led_bits; /** BMS/IMD/BSPD LED cmds (0=off, 1=on) */
-} GR_OLD_DASH_CONFIG_MSG;
-
-/** Steering Wheel Status */
-typedef struct {
-	uint8_t encoder_bits;	       /** Current encoder pos (1-16) & torque map (1-16) */
-	uint8_t regen_and_button_bits; /** Regen pos (1-16) & 4 button states */
-} GR_OLD_STEERING_STATUS_MSG;
-
-/** Steering Wheel Config */
-typedef struct {
-	uint8_t RESERVED; /** Updates based on ECU status */
-} GR_OLD_STEERING_CONFIG_MSG;
-
-/** SAM Brake IR Temp */
-typedef struct {
-	uint8_t temperature; /** IR brake temp, °C */
-} GR_OLD_SAM_BRAK_IR_MSG;
-
-/** SAM Tire Temps */
-typedef struct {
-	uint8_t outside_temp;	     /** Furthest from chassis, °C */
-	uint8_t outside_middle_temp; /** Mid-tire outer, °C */
-	uint8_t inside_middle_temp;  /** Mid-tire inner, °C */
-	uint8_t inside_temp;	     /** Closest to chassis, °C */
-} GR_OLD_SAM_TIRE_TEMP_MSG;
-
-/** SAM IMU Data */
-typedef struct {
-	uint16_t acceleration_x; /** X accel, 0.01x-327.68 m/s² */
-	uint16_t acceleration_y; /** Y accel, 0.01x-327.68 m/s² */
-	uint16_t acceleration_z; /** Z accel, 0.01x-327.68 m/s² */
-	uint16_t gyro_x;	 /** X ang vel, 0.001x-32.768 rad/s */
-	uint16_t gyro_y;	 /** Y ang vel, 0.001x-32.768 rad/s */
-	uint16_t gyro_z;	 /** Z ang vel, 0.001x-32.768 rad/s */
-} GR_OLD_SAM_IMU_MSG;
-
-/** SAM GPS Position */
-typedef struct {
-	uint32_t latitude;  /** Lat, decimal degrees */
-	uint32_t longitude; /** Lon, decimal degrees */
-} GR_OLD_SAM_GPS_1_MSG;
-
-/** SAM GPS Accuracy & Altitude */
-typedef struct {
-	uint32_t accuracy; /** GPS position accuracy */
-	uint16_t altitude; /** Vehicle altitude */
-} GR_OLD_SAM_GPS_2_MSG;
-
-/** SAM GPS Time */
-typedef struct {
-	uint32_t time;		  /** Time since GPS epoch, s */
-	uint32_t time_of_week_ms; /** Time of week, ms */
-} GR_OLD_SAM_GPS_TIME_MSG;
-
-/** SAM GPS Heading */
-typedef struct {
-	uint32_t heading; /** Heading angle rel to true North */
-} GR_OLD_SAM_GPS_HEADING_MSG;
-
-/** SAM Suspension Pots */
-typedef struct {
-	uint8_t suspension_angle; /** Pot position, degrees */
-} GR_OLD_SUS_POTS_MSG;
-
-/** SAM Time-of-Flight */
-typedef struct {
-	uint16_t height; /** Ride height, x/256 mm */
-} GR_OLD_SAM_TOF_MSG;
-
-/** SAM Rear Wheelspeed */
-typedef struct {
-	uint16_t wheel_speed; /** Wheel RPM, 0.1x-3276.8 */
-} GR_OLD_SAM_REAR_WHEELSPEED_MSG;
-
-/** SAM Pushrod Force */
-typedef struct {
-	uint16_t load_force; /** Pushrod force, 0.1x-3276.8 N */
-} GR_OLD_SAM_PUSHROD_FORCE_MSG;
-
-/** TCM Status */
-typedef struct {
-	uint8_t status_bits; /** Conn/MQTT/shelter/camera status */
-	uint16_t ping;	     /** Mapache ping (upload), ms */
-	uint16_t cache_size; /** Non-synced msg count */
-	uint8_t reserved;    /** Reserved */
-} GR_OLD_TCM_STATUS_MSG;
-
-/** TCM Resource Utilization */
-typedef struct {
-	uint16_t cpu_0_freq;	/** Core 0 freq, MHz */
-	uint8_t cpu_0_util;	/** Core 0 util, % */
-	uint16_t cpu_1_freq;	/** Core 1 freq, MHz */
-	uint8_t cpu_1_util;	/** Core 1 util, % */
-	uint16_t cpu_2_freq;	/** Core 2 freq, MHz */
-	uint8_t cpu_2_util;	/** Core 2 util, % */
-	uint16_t cpu_3_freq;	/** Core 3 freq, MHz */
-	uint8_t cpu_3_util;	/** Core 3 util, % */
-	uint16_t cpu_4_freq;	/** Core 4 freq, MHz */
-	uint8_t cpu_4_util;	/** Core 4 util, % */
-	uint16_t cpu_5_freq;	/** Core 5 freq, MHz */
-	uint8_t cpu_5_util;	/** Core 5 util, % */
-	uint8_t cpu_total_util; /** Total CPU util, % */
-	uint16_t ram_total;	/** Total RAM, MB */
-	uint16_t ram_used;	/** Used RAM, MB */
-	uint8_t ram_util;	/** RAM util, % */
-	uint8_t gpu_util;	/** GPU util, % */
-	uint16_t gpu_freq;	/** GPU freq, MHz */
-	uint32_t disk_total;	/** Total disk, MB */
-	uint32_t disk_used;	/** Used disk, MB */
-	uint8_t disk_util;	/** Disk util, % */
-	uint8_t cpu_temp;	/** CPU temp, °C */
-	uint8_t gpu_temp;	/** GPU temp, °C */
-	uint16_t voltage_draw;	/** Voltage, mV */
-	uint16_t current_draw;	/** Current, mA */
-	uint16_t power_draw;	/** Power, mW */
-} GR_OLD_TCM_RESOURCE_UTILIZATION_MSG;
-
-/** Dashboard Warning Flags */
-typedef struct {
-	uint8_t flag_bits; /** Warning flags (BSE APPS violation, etc.) */
-} GR_OLD_DASH_WARNING_FLAGS_MSG;
-
-/** Specific Brake IR Temp */
-typedef struct {
-	uint8_t wheel_identifier; /** Wheel ID per wiki */
-	uint8_t temp;		  /** IR brake temp, °C */
-} GR_OLD_SPECIFIC_BRAKE_IR_MSG;
-
-/** ECU Ping Information */
-typedef struct {
-	uint16_t online_ping_bits; /** Copy of ECU Status ping bitmap */
-} GR_OLD_ECU_PING_INFORMATION_MSG;
-
-/** ECU Pedals Data */
-typedef struct {
-	uint16_t apps1_signal;	 /** APPS1 signal, x/655.35 % */
-	uint16_t apps2_signal;	 /** APPS2 signal, x/655.35 % */
-	uint16_t bse_signal;	 /** Brake force signal, x/655.35 % */
-	uint16_t brake_f_signal; /** Front brake pressure, x/655.35 % */
-	uint16_t brake_r_signal; /** Rear brake pressure, x/655.35 % */
-} GR_OLD_ECU_PEDALS_DATA_MSG;
-
-/** GPS Latitude */
-typedef struct {
-	double lat; /** Latitude */
-} GR_OLD_GPS_LAT_MSG;
-
-/** GPS Longitude */
-typedef struct {
-	double lon; /** Longitude */
-} GR_OLD_GPS_LON_MSG;
-
-/** GPS Altitude */
-typedef struct {
-	double alt; /** Altitude */
-} GR_OLD_GPS_ALT_MSG;
-
-/** GPS PX Data */
-typedef struct {
-	int16_t theta;	 /** Theta, x/1000 */
-	int16_t acc;	 /** Acceleration, x/100 */
-	uint32_t status; /** Status */
-} GR_OLD_GPS_PX_MSG;
-
-/** GPS QY Data */
-typedef struct {
-	int16_t theta;	 /** Theta, x/1000 */
-	int16_t acc;	 /** Acceleration, x/100 */
-	uint32_t status; /** Status */
-} GR_OLD_GPS_QY_MSG;
-
-/** GPS RZ Data */
-typedef struct {
-	int16_t theta;	 /** Theta, x/1000 */
-	int16_t acc;	 /** Acceleration, x/100 */
-	uint32_t status; /** Status */
-} GR_OLD_GPS_RZ_MSG;
-
-/** UVW DGPS Data */
-typedef struct {
-	int16_t dgps_u; /** U coord, x/100 */
-	int16_t dgps_v; /** V coord, x/100 */
-	int16_t dgps_w; /** W coord, x/100 */
-} GR_OLD_UVW_DGPS_MSG;
-
-#endif
diff --git a/Lib/FancyLayers-RENAME/GRCAN/TemporaryHoldover/Inc/GR_OLD_MSG_ID.h b/Lib/FancyLayers-RENAME/GRCAN/TemporaryHoldover/Inc/GR_OLD_MSG_ID.h
deleted file mode 100644
index 88007ee6c..000000000
--- a/Lib/FancyLayers-RENAME/GRCAN/TemporaryHoldover/Inc/GR_OLD_MSG_ID.h
+++ /dev/null
@@ -1,84 +0,0 @@
-#ifndef GR_OLD_MSG_ID_H
-#define GR_OLD_MSG_ID_H
-
-typedef enum {
-	MSG_DEBUG_2_0 = 0x000,
-	MSG_DEBUG_FD = 0x001,
-	MSG_PING = 0x002,
-	MSG_ECU_STATUS_1 = 0x003,
-	MSG_ECU_STATUS_2 = 0x004,
-	MSG_ECU_STATUS_3 = 0x005,
-	MSG_ECU_CONFIG = 0x006,
-	MSG_BCU_STATUS_1 = 0x007,
-	MSG_BCU_STATUS_2 = 0x008,
-	MSG_BCU_STATUS_3 = 0x009,
-	MSG_BCU_PRECHARGE = 0x00A,
-	MSG_BCU_CONFIG_CHARGE_PARAMETERS = 0x00B,
-	MSG_BCU_CONFIG_OPERATIONAL_PARAMETERS = 0x00C,
-	MSG_BCU_CELL_DATA_1 = 0x00D,
-	MSG_BCU_CELL_DATA_2 = 0x00E,
-	MSG_BCU_CELL_DATA_3 = 0x00F,
-	MSG_BCU_CELL_DATA_4 = 0x010,
-	MSG_BCU_CELL_DATA_5 = 0x011,
-	MSG_DC_DC_STATUS = 0x012,
-	MSG_INVERTER_STATUS_1 = 0x013,
-	MSG_INVERTER_STATUS_2 = 0x014,
-	MSG_INVERTER_STATUS_3 = 0x015,
-	MSG_INVERTER_CONFIG = 0x016,
-	MSG_INVERTER_COMMAND = 0x017,
-	MSG_FAN_STATUS = 0x018,
-	MSG_FAN_COMMAND = 0x019,
-	MSG_DASH_STATUS = 0x01A,
-	MSG_DASH_CONFIG = 0x01B,
-	MSG_STEERING_STATUS = 0x01C,
-	MSG_STEERING_CONFIG = 0x01D,
-	MSG_SAM_BRAKE_IR = 0x01E,
-	MSG_SAM_TIRE_TEMP = 0x01F,
-	MSG_SAM_IMU = 0x020,
-	MSG_SAM_GPS_1 = 0x021,
-	MSG_SAM_GPS_2 = 0x022,
-	MSG_SAM_GPS_TIME = 0x023,
-	MSG_SAM_GPS_HEADING = 0x024,
-	MSG_SAM_SUS_POTS = 0x025,
-	MSG_SAM_TOF = 0x026,
-	MSG_SAM_REAR_WHEELSPEED = 0x027,
-	MSG_SAM_PUSHROD_FORCE = 0x028,
-	MSG_TCM_STATUS = 0x029,
-	MSG_TCM_RESOURCE_UTILIZATION = 0x02A,
-	MSG_DASH_WARNING_FLAGS = 0x02B,
-	MSG_SPECIFIC_BRAKE_IR = 0x02C,
-	MSG_ECU_PING_INFORMATION = 0x02D,
-	MSG_ECU_PEDALS_DATA = 0x02E,
-	MSG_DTI_CONTROL_1 = 0x116,
-	MSG_DTI_CONTROL_2 = 0x216,
-	MSG_DTI_CONTROL_3 = 0x316,
-	MSG_DTI_CONTROL_4 = 0x416,
-	MSG_DTI_CONTROL_5 = 0x516,
-	MSG_DTI_CONTROL_6 = 0x616,
-	MSG_DTI_CONTROL_7 = 0x716,
-	MSG_DTI_CONTROL_8 = 0x816,
-	MSG_DTI_CONTROL_9 = 0x916,
-	MSG_DTI_CONTROL_10 = 0xA16,
-	MSG_DTI_CONTROL_11 = 0xB16,
-	MSG_DTI_CONTROL_12 = 0xC16,
-	MSG_DTI_DATA_1 = 0x2016,
-	MSG_DTI_DATA_2 = 0x2116,
-	MSG_DTI_DATA_3 = 0x2216,
-	MSG_DTI_DATA_4 = 0x2316,
-	MSG_DTI_DATA_5 = 0x2416,
-	MSG_IMD_GENERAL = 0x18FF01F4,
-	MSG_IMD_ISOLATION_INFO = 0x18EFF4FE,
-	MSG_IMD_VOLTAGE = 0x18EFF4FE,
-	MSG_IMD_IT_SYSTEM = 0x18EFF4FE,
-	MSG_IMD_REQUEST = 0x18EFF4FE,
-	MSG_IMD_RESPONSE = 0x23,
-	MSG_CHARGER_DATA = 0x18FF50E5,
-	MSG_CHARGER_CONTROL = 0x1806E5F4,
-	MSG_EM_MEASUREMENT = 0x10d,
-	MSG_EM_STATUS = 0x40d,
-	MSG_EM_TEMPERATURE = 0x60d,
-	MSG_EM_TEAM_DATA_1 = 0x30d,
-	MSG_EM_TEAM_DATA_2 = 0x30e,
-} GR_OLD_MSG_ID;
-
-#endif
diff --git a/Lib/FancyLayers-RENAME/GRCAN/TemporaryHoldover/Inc/GR_OLD_NODE_ID.h b/Lib/FancyLayers-RENAME/GRCAN/TemporaryHoldover/Inc/GR_OLD_NODE_ID.h
deleted file mode 100644
index bf6479379..000000000
--- a/Lib/FancyLayers-RENAME/GRCAN/TemporaryHoldover/Inc/GR_OLD_NODE_ID.h
+++ /dev/null
@@ -1,53 +0,0 @@
-#ifndef GR_OLD_NODE_ID_H
-#define GR_OLD_NODE_ID_H
-
-typedef enum {
-	GR_DTI_INVERTER = 0x00,
-	GR_ENERGY_METER = 0x00,
-	GR_CHARGER = 0x00,
-	GR_IMD = 0x00,
-	GR_DEBUGGER = 0x01,
-	GR_ECU = 0x02,
-	GR_BCU = 0x03,
-	GR_TCM = 0x04,
-	GR_DASH_PANEL = 0x05,
-	GR_STEERING_WHEEL = 0x06,
-	GR_GR_INVERTER_1 = 0x08,
-	GR_GR_INVERTER_2 = 0x09,
-	GR_GR_INVERTER_3 = 0x0A,
-	GR_GR_INVERTER_4 = 0x0B,
-	GR_CHARGING_SDC = 0x0C,
-	GR_FAN_CONTROLLER_1 = 0x0D,
-	GR_FAN_CONTROLLER_2 = 0x0E,
-	GR_FAN_CONTROLLER_3 = 0x0F,
-	GR_FAN_CONTROLLER_4 = 0x10,
-	GR_FAN_CONTROLLER_5 = 0x11,
-	GR_FAN_CONTROLLER_6 = 0x12,
-	GR_FAN_CONTROLLER_7 = 0x13,
-	GR_FAN_CONTROLLER_8 = 0x14,
-	GR_SAM1 = 0x15,
-	GR_SAM2 = 0x16,
-	GR_SAM3 = 0x17,
-	GR_SAM4 = 0x18,
-	GR_SAM5 = 0x19,
-	GR_SAM6 = 0x1A,
-	GR_SAM7 = 0x1B,
-	GR_SAM8 = 0x1C,
-	GR_SAM9 = 0x1D,
-	GR_SAM10 = 0x1E,
-	GR_SAM11 = 0x1F,
-	GR_SAM12 = 0x20,
-	GR_SAM13 = 0x21,
-	GR_SAM14 = 0x22,
-	GR_SAM15 = 0x23,
-	GR_SAM16 = 0x24,
-	GR_SAM17 = 0x25,
-	GR_SAM18 = 0x26,
-	GR_SAM19 = 0x27,
-	GR_SAM20 = 0x28,
-	GR_LV_DC_DC = 0x29,
-	GR_CCU = 0x2A,
-	GR_ALL = 0xFF,
-} GR_OLD_NODE_ID;
-
-#endif
diff --git a/Lib/FancyLayers-RENAME/GRCAN/TemporaryHoldover/temp.cmake b/Lib/FancyLayers-RENAME/GRCAN/TemporaryHoldover/temp.cmake
deleted file mode 100644
index 633954210..000000000
--- a/Lib/FancyLayers-RENAME/GRCAN/TemporaryHoldover/temp.cmake
+++ /dev/null
@@ -1,7 +0,0 @@
-add_library(GR_OLD_CAN_MESSAGES INTERFACE)
-
-target_include_directories(
-	GR_OLD_CAN_MESSAGES
-	INTERFACE
-		${CMAKE_CURRENT_LIST_DIR}/Inc
-)
diff --git a/TireTemp/CMakeLists.txt b/TireTemp/CMakeLists.txt
index ddab02aa0..7100807ab 100644
--- a/TireTemp/CMakeLists.txt
+++ b/TireTemp/CMakeLists.txt
@@ -44,7 +44,7 @@ target_sources(
 target_link_libraries(
 	${GR_PROJECT_NAME}_USER_CODE
 	INTERFACE
-		GR_OLD_CAN_MESSAGES
+		CANfigurator
 		BitManipulations_Lib
 		MLX90640_LIB
 )