Migrate To New CAN Specification by dchansen06 · Pull Request #390 · Gaucho-Racing/Firmware

dchansen06 · 2026-04-02T20:15:15Z

Initial CAN Specification Migration

Problem and Scope

Migrate away from old CAN specification to new (auto-generated) one

Transitioning from GR_OLD_CAN_MESSAGES to CANfigurator interface link library

Description

Each group will work on migrating their own board on this PR to avoid merge conflicts (separate from other boards), this can be done by having a VS Code Live Share on this branch and only fixing code in their scope and syncing often

Gotchas and Limitations

Subject to change, this is first pass

Testing

HOOTL testing
HITL testing
Human tested

Testing Details

Compilation and groups checking their projects

Larger Impact

Migrating fully to URCA and new CAN implementation

Additional Context and Ticket

Resolves #261

Signed-off-by: Daniel Hansen <dchansen06@gmail.com>

Co-authored-by: David Uzunov <DavidUzunov@users.noreply.github.com> Co-authored-by: Bailey Say <baileyasay@gmail.com>

…Firmware into GrandCanMigration

Co-authored-by: Bailey Say <baileyasay@gmail.com> Co-authored-by: David Uzunov <DavidUzunov@users.noreply.github.com>

… into GrandCanMigration

horizon-ab · 2026-04-03T05:10:10Z

Dash Panel good to go

Signed-off-by: Daniel Hansen <dchansen06@gmail.com>

# ECU CAN Migration ## Problem and Scope Part of the Grand CAN Migration ## Description CAN Migration ## Gotchas and Limitations ## Testing - [x] HOOTL testing - [ ] HITL testing - [ ] Human tested ### Testing Details ctest ## Larger Impact Must-do. ## Additional Context and Ticket #390 --------- Co-authored-by: kzwicker <kzwicker@users.noreply.github.com> Co-authored-by: khoulihan27 <khoulihan27@users.noreply.github.com> Co-authored-by: github-actions <41898282+github-actions[bot]@users.noreply.github.com>

Signed-off-by: Daniel Hansen <dchansen06@gmail.com>

dchansen06 · 2026-04-03T23:14:50Z

ECU/Core/Src/main.c

+				if (getRTT(CCU) != PINGTIMEOUT_VALUE) {
 					// halt if CCU is connected
 					return 1;
 				}


Under no scenario can the ECU just throw up it's hands and declare failure, this should be a very clearly logged event (debug message and logomatic) but not a half. (Also, this is not a valid halt, see Error_Handler() which is).

The CCU will never (electrically / mechanically) be connected to the car, this is a footgun waiting to happen if some node accidentally uses the 0x02 identifier or a message ID gets corrupted into it

Also, you no longer send to this node anymore so this check does nothing

@SlowThomas @kzwicker @Ng0710 @khoulihan27

dchansen06 · 2026-04-03T23:17:40Z

ECU/Application/Src/Pinging.c

 #define PING_LIST(OP)                                                                                                                                                                                  \
-	OP(GR_BCU, 0)                                                                                                                                                                                  \
-	OP(GR_DASH_PANEL, 1)                                                                                                                                                                           \
-	OP(GR_CCU, 2)
+	OP(BCU, 0)                                                                                                                                                                                     \
+	OP(Dash_Panel, 1)


This list is not up to date with the current specification

BCU Node Status

GR Inverter Status

Fan Controller 1 Status

Fan Controller 2 Status

Fan Controller 3 Status

Dash Panel Status

TCM Node Status

Reserved

(Another byte likely added later for sensors when those are available, but for now do not worry about them)

@SlowThomas @kzwicker @Ng0710 @khoulihan27

dchansen06 · 2026-04-03T23:19:19Z

ECU/Application/Src/Pinging.c

+		ECU_CAN_Send(GRCAN_BUS_PRIMARY, IDsToBePinged[i], MSG_PING, &(GRCAN_PING_MSG){timestamp}, sizeof(GRCAN_PING_MSG));
 	}


Please implement something to not send CAN messages to 8-16 nodes at once, your buffer is only 10 messages

@SlowThomas @kzwicker @Ng0710 @khoulihan27

dchansen06 · 2026-04-03T23:33:35Z

DashPanel/Application/Src/CANdler.c

 	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);


This is not correct, see https://discord.com/channels/756738476887638107/1457989912069537906/1489483629427163216

@DavidUzunov @horizon-ab @anthony9975

dchansen06 · 2026-04-03T23:33:43Z

DashPanel/Application/Src/CANdler.c

 	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);


This is not correct, see https://discord.com/channels/756738476887638107/1457989912069537906/1489483629427163216

@DavidUzunov @horizon-ab @anthony9975

dchansen06 · 2026-04-03T23:35:33Z

DashPanel/Application/Src/CANdler.c

+	GRCAN_MSG_ID msg_id = GETBITS(ID, 12, 12);
+	GRCAN_NODE_ID node_id = GETBITS(ID, 4, 8);


GETBITS and related is only intended for CAN message bit flags (eg button and LED bit flags) and can be changed to follow MSB/LSB ordering. These bits are fixed and you should use manual bit manipulations to extract the values.

Suggested change

GRCAN_MSG_ID msg_id = GETBITS(ID, 12, 12);

GRCAN_NODE_ID node_id = GETBITS(ID, 4, 8);

GRCAN_MSG_ID msg_id = (0x000FFF00 & ID) >> 8;

GRCAN_NODE_ID node_id = (0x0FF00000 & ID) >> 20;

@DavidUzunov @horizon-ab @anthony9975

dchansen06 · 2026-04-03T23:43:40Z

ECU/Application/Src/Lights.c

 void BMSLights(ECU_StateData *stateLump)
 {
 	bool light = 0;
 	light |= stateLump->max_cell_temp_c > CRITICAL_MAX_CELL_TEMP_C;
 	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, MSG_DASH_CONFIG, &message, sizeof(message));
 }

 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, MSG_DASH_CONFIG, &message, sizeof(message));
 }

 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, MSG_DASH_CONFIG, &message, sizeof(message));
 }


Please use SetBitInByte from the BitManipulations library as it will correctly handle LSB/MSB transitions and such

@SlowThomas @kzwicker @Ng0710 @khoulihan27

Signed-off-by: Daniel Hansen <dchansen06@gmail.com>

dchansen06 · 2026-04-03T23:50:37Z

ECU/Application/Src/CANdler.c

 				break;
 			}
-			respondToPing(sender_id, ((GR_OLD_PING_MSG *)data)->timestamp);
+			respondToPing(sender_id, ((GRCAN_PING_MSG *)data)->timestamp);


Please note that the debugger may attempt to ping you and will want a valid response (so you would need to respond to the ping as a client or server depending on the node ID)

@SlowThomas @kzwicker @Ng0710 @khoulihan27

coderask and others added 30 commits March 21, 2026 20:51

fixed deleting nodes and added strict modification logic

516b74a

Automatic Web Format: Standardized formatting automatically

2ce4c86

does not use header files anymore, everything is parsed from CANDO file

b52e647

Automatic Web Format: Standardized formatting automatically

cf2d7c2

Merge branch 'main' into GRCANDO_editor_refinement

6f20c55

fix lots of duplicate files

2f8bce4

fix custom msg descriptions + UI cleanup + code cleanup

cb757ad

Automatic Web Format: Standardized formatting automatically

ffb8ab9

updated GRCAN.CANdo file

64c73b3

message expanded by default

692f245

Merge branch 'main' into GRCANDO_editor_refinement

28a9bbd

partial update + beta graph view

db955ab

partial update + beta graph view

5d7fd96

Automatic Web Format: Standardized formatting automatically

f8cf3fc

Merge branch 'main' into GRCANDO_editor_refinement

b2fc7f3

CROSS CHECK - Setup ECU state as bit instead of number

24ff97a

Signed-off-by: Daniel Hansen <dchansen06@gmail.com>

Fix numbers for bit start

c021bfb

Signed-off-by: Daniel Hansen <dchansen06@gmail.com>

CROSS CHECK - Setup new ECU ping block map and cascade changes

e03e9b9

Signed-off-by: Daniel Hansen <dchansen06@gmail.com>

CROSS CHECK - No longer have ECU pinging itself

31fd169

Signed-off-by: Daniel Hansen <dchansen06@gmail.com>

CROSS CHECK - Remove extraneous can id override

4b15f5e

Signed-off-by: Daniel Hansen <dchansen06@gmail.com>

fix minor stuff

4697fbc

Automatic Web Format: Standardized formatting automatically

5c44a21

Automatic Web Format: Standardized formatting automatically

e92a054

add ECU perofmrance message

bd477b9

Ecu thing

fec5910

Merge branch 'main' into GRCANDO_editor_refinement

20bd25c

fix things for merge

a48cc43

Automatic Web Format: Standardized formatting automatically

38af778

fix cando

90ef335

fix cando with tabbed comments

7f83575

github-actions bot and others added 11 commits April 3, 2026 03:18

Automatic Clang-Format: Standardized formatting automatically

5be9a28

updated gitignore to not ignore header files

76398af

intial naming correction

3ffaa61

More changes to Dash Status main.c and CANdler.c

e14c266

Co-authored-by: David Uzunov <DavidUzunov@users.noreply.github.com> Co-authored-by: Bailey Say <baileyasay@gmail.com>

Automatic Clang-Format: Standardized formatting automatically

70e8f33

Merge branch 'GrandCanMigration' of https://github.com/Gaucho-Racing/…

3498436

…Firmware into GrandCanMigration

updated read can and send precharge

f78f63a

Automatic Clang-Format: Standardized formatting automatically

7c33f4c

fix minor bugs in SendPrecharge

9845b83

fix minor bug in ReadCAN

ca6a9e5

Fixed SendPrecharge CAN msg

8053076

SlowThomas mentioned this pull request Apr 3, 2026

ECU CAN Migration #392

Merged

3 tasks

anthony9975 and others added 6 commits April 2, 2026 21:32

Added timer stuff for CAN

0284a7e

Co-authored-by: Bailey Say <baileyasay@gmail.com> Co-authored-by: David Uzunov <DavidUzunov@users.noreply.github.com>

Merge branch 'GrandCanMigration' of github.com:Gaucho-Racing/Firmware…

f033113

… into GrandCanMigration

Ecu performance

e59541e

hal timer not working :(

13e72f4

systick interrupt works; CAN triggers every 100ms

e896058

Automatic Clang-Format: Standardized formatting automatically

38a6625

dwilson765 and others added 4 commits April 2, 2026 23:21

Changed DataLength to FDCAN_DLC_BYTES_1

e15a4be

Rename pedals data to analog data

05182bf

Signed-off-by: Daniel Hansen <dchansen06@gmail.com>

comment out unused variables in main.c of DashPanel

e2361db

SlowThomas marked this pull request as ready for review April 3, 2026 20:59

dchansen06 added 2 commits April 3, 2026 16:25

Change node IDs back to be GRCAN_*

bb7deff

Signed-off-by: Daniel Hansen <dchansen06@gmail.com>

Match syntax of message IDs as node IDs and such since names are unique

d230c4d

Signed-off-by: Daniel Hansen <dchansen06@gmail.com>

dchansen06 commented Apr 3, 2026

View reviewed changes

Fix remaining message names I missed during change over

01b91e0

Signed-off-by: Daniel Hansen <dchansen06@gmail.com>

dchansen06 commented Apr 3, 2026

View reviewed changes

dchansen06 marked this pull request as draft April 3, 2026 23:56

		ECU_CAN_Send(GRCAN_BUS_PRIMARY, IDsToBePinged[i], MSG_PING, &(GRCAN_PING_MSG){timestamp}, sizeof(GRCAN_PING_MSG));
		}

		GRCAN_MSG_ID msg_id = GETBITS(ID, 12, 12);
		GRCAN_NODE_ID node_id = GETBITS(ID, 4, 8);

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Initial CAN Specification Migration

Problem and Scope

Description

Gotchas and Limitations

Testing

Testing Details

Larger Impact

Additional Context and Ticket

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horizon-ab commented Apr 3, 2026

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dchansen06 commented Apr 2, 2026 •

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