From 1d327ad490009f1a35cc9227ee669b0081dc3113 Mon Sep 17 00:00:00 2001
From: Nandini <nandinim.dharwadkar@gmail.com>
Date: Mon, 6 Apr 2026 20:54:34 -0700
Subject: [PATCH 01/34] starting sniffer stuff

---
 CANine/Core/Inc/can_cfg.h |   7 ++
 CANine/Core/Inc/fdcan.h   |  53 ++++++++++++++
 CANine/Core/Src/fdcan.c   | 141 ++++++++++++++++++++++++++++++++++++++
 3 files changed, 201 insertions(+)
 create mode 100644 CANine/Core/Inc/can_cfg.h
 create mode 100644 CANine/Core/Inc/fdcan.h
 create mode 100644 CANine/Core/Src/fdcan.c

diff --git a/CANine/Core/Inc/can_cfg.h b/CANine/Core/Inc/can_cfg.h
new file mode 100644
index 000000000..0e987b82d
--- /dev/null
+++ b/CANine/Core/Inc/can_cfg.h
@@ -0,0 +1,7 @@
+#ifndef CAN_CFG_H
+#define CAN_CFG_H
+
+#define USECAN1
+#define TX_BUFFER_1_SIZE 10
+
+#endif
diff --git a/CANine/Core/Inc/fdcan.h b/CANine/Core/Inc/fdcan.h
new file mode 100644
index 000000000..ceb9a8256
--- /dev/null
+++ b/CANine/Core/Inc/fdcan.h
@@ -0,0 +1,53 @@
+/* USER CODE BEGIN Header */
+/**
+ ******************************************************************************
+ * @file    fdcan.h
+ * @brief   This file contains all the function prototypes for
+ *          the fdcan.c file
+ ******************************************************************************
+ * @attention
+ *
+ * Copyright (c) 2025 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software is licensed under terms that can be found in the LICENSE file
+ * in the root directory of this software component.
+ * If no LICENSE file comes with this software, it is provided AS-IS.
+ *
+ ******************************************************************************
+ */
+/* USER CODE END Header */
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __FDCAN_H__
+#define __FDCAN_H__
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "main.h"
+
+/* USER CODE BEGIN Includes */
+
+/* USER CODE END Includes */
+
+extern FDCAN_HandleTypeDef hfdcan1;
+
+
+/* USER CODE BEGIN Private defines */
+
+/* USER CODE END Private defines */
+
+void MX_FDCAN1_Init(void);
+
+
+/* USER CODE BEGIN Prototypes */
+
+/* USER CODE END Prototypes */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __FDCAN_H__ */
diff --git a/CANine/Core/Src/fdcan.c b/CANine/Core/Src/fdcan.c
new file mode 100644
index 000000000..0b59d342c
--- /dev/null
+++ b/CANine/Core/Src/fdcan.c
@@ -0,0 +1,141 @@
+/* USER CODE BEGIN Header */
+/**
+ ******************************************************************************
+ * @file    fdcan.c
+ * @brief   This file provides code for the configuration
+ *          of the FDCAN instances.
+ ******************************************************************************
+ * @attention
+ *
+ * Copyright (c) 2025 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software is licensed under terms that can be found in the LICENSE file
+ * in the root directory of this software component.
+ * If no LICENSE file comes with this software, it is provided AS-IS.
+ *
+ ******************************************************************************
+ */
+/* USER CODE END Header */
+/* Includes ------------------------------------------------------------------*/
+#include "fdcan.h"
+
+/* USER CODE BEGIN 0 */
+
+/* USER CODE END 0 */
+
+FDCAN_HandleTypeDef hfdcan1;
+
+/* FDCAN1 init function */
+void MX_FDCAN1_Init(void)
+{
+
+	/* USER CODE BEGIN FDCAN1_Init 0 */
+
+	/* USER CODE END FDCAN1_Init 0 */
+
+	/* USER CODE BEGIN FDCAN1_Init 1 */
+
+	/* USER CODE END FDCAN1_Init 1 */
+	hfdcan1.Instance = FDCAN1;
+	hfdcan1.Init.ClockDivider = FDCAN_CLOCK_DIV1;
+	hfdcan1.Init.FrameFormat = FDCAN_FRAME_CLASSIC;
+	hfdcan1.Init.Mode = FDCAN_MODE_NORMAL;
+	hfdcan1.Init.AutoRetransmission = ENABLE;
+	hfdcan1.Init.TransmitPause = DISABLE;
+	hfdcan1.Init.ProtocolException = ENABLE;
+	hfdcan1.Init.NominalPrescaler = 1;
+	hfdcan1.Init.NominalSyncJumpWidth = 16;
+	hfdcan1.Init.NominalTimeSeg1 = 119;
+	hfdcan1.Init.NominalTimeSeg2 = 40;
+	hfdcan1.Init.DataPrescaler = 8;
+	hfdcan1.Init.DataSyncJumpWidth = 16;
+	hfdcan1.Init.DataTimeSeg1 = 14;
+	hfdcan1.Init.DataTimeSeg2 = 5;
+	hfdcan1.Init.StdFiltersNbr = 0;
+	hfdcan1.Init.ExtFiltersNbr = 2;
+	hfdcan1.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;
+	if (HAL_FDCAN_Init(&hfdcan1) != HAL_OK) {
+		Error_Handler();
+	}
+	/* USER CODE BEGIN FDCAN1_Init 2 */
+
+	/* USER CODE END FDCAN1_Init 2 */
+}
+
+static uint32_t HAL_RCC_FDCAN_CLK_ENABLED = 0;
+
+void HAL_FDCAN_MspInit(FDCAN_HandleTypeDef *fdcanHandle)
+{
+
+	GPIO_InitTypeDef GPIO_InitStruct = {0};
+	if (fdcanHandle->Instance == FDCAN1) {
+		/* USER CODE BEGIN FDCAN1_MspInit 0 */
+
+		/* USER CODE END FDCAN1_MspInit 0 */
+		LL_RCC_SetFDCANClockSource(LL_RCC_FDCAN_CLKSOURCE_PCLK1);
+
+		/* FDCAN1 clock enable */
+		HAL_RCC_FDCAN_CLK_ENABLED++;
+		if (HAL_RCC_FDCAN_CLK_ENABLED == 1) {
+			__HAL_RCC_FDCAN_CLK_ENABLE();
+		}
+
+		__HAL_RCC_GPIOA_CLK_ENABLE();
+		/**FDCAN1 GPIO Configuration
+		PA11     ------> FDCAN1_RX
+		PA12     ------> FDCAN1_TX
+		*/
+		GPIO_InitStruct.Pin = GPIO_PIN_11;
+		GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+		GPIO_InitStruct.Pull = GPIO_PULLUP;
+		GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+		GPIO_InitStruct.Alternate = GPIO_AF9_FDCAN1;
+		HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
+		GPIO_InitStruct.Pin = GPIO_PIN_12;
+		GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+		GPIO_InitStruct.Pull = GPIO_NOPULL;
+		GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+		GPIO_InitStruct.Alternate = GPIO_AF9_FDCAN1;
+		HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
+		/* FDCAN1 interrupt Init */
+		HAL_NVIC_SetPriority(FDCAN1_IT0_IRQn, 0, 0);
+		HAL_NVIC_EnableIRQ(FDCAN1_IT0_IRQn);
+		/* USER CODE BEGIN FDCAN1_MspInit 1 */
+
+		/* USER CODE END FDCAN1_MspInit 1 */
+    }
+}
+
+void HAL_FDCAN_MspDeInit(FDCAN_HandleTypeDef *fdcanHandle)
+{
+
+	if (fdcanHandle->Instance == FDCAN1) {
+		/* USER CODE BEGIN FDCAN1_MspDeInit 0 */
+
+		/* USER CODE END FDCAN1_MspDeInit 0 */
+		/* Peripheral clock disable */
+		HAL_RCC_FDCAN_CLK_ENABLED--;
+		if (HAL_RCC_FDCAN_CLK_ENABLED == 0) {
+			__HAL_RCC_FDCAN_CLK_DISABLE();
+		}
+
+		/**FDCAN1 GPIO Configuration
+		PA11     ------> FDCAN1_RX
+		PA12     ------> FDCAN1_TX
+		*/
+		HAL_GPIO_DeInit(GPIOA, GPIO_PIN_11 | GPIO_PIN_12);
+
+		/* FDCAN1 interrupt Deinit */
+		HAL_NVIC_DisableIRQ(FDCAN1_IT0_IRQn);
+		/* USER CODE BEGIN FDCAN1_MspDeInit 1 */
+
+		/* USER CODE END FDCAN1_MspDeInit 1 */
+	}
+}
+
+/* USER CODE BEGIN 1 */
+
+/* USER CODE END 1 */

From 1f6a0768f10f182401704ea28db448b4621ddb1e Mon Sep 17 00:00:00 2001
From: Nandini <nandinim.dharwadkar@gmail.com>
Date: Mon, 6 Apr 2026 21:04:11 -0700
Subject: [PATCH 02/34] more stuff

---
 CANine/Core/Src/stm32g4xx_it.c | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/CANine/Core/Src/stm32g4xx_it.c b/CANine/Core/Src/stm32g4xx_it.c
index dc40b1624..414efb2aa 100644
--- a/CANine/Core/Src/stm32g4xx_it.c
+++ b/CANine/Core/Src/stm32g4xx_it.c
@@ -56,6 +56,8 @@
 /* USER CODE END 0 */
 
 /* External variables --------------------------------------------------------*/
+extern FDCAN_HandleTypeDef hfdcan1;
+
 
 /* USER CODE BEGIN EV */
 
@@ -186,6 +188,12 @@ void SysTick_Handler(void)
 	/* USER CODE END SysTick_IRQn 1 */
 }
 
+void FDCAN1_IT0_IRQHandler(void){
+
+	HAL_FDCAN_IRQHandler(&hfdcan1);
+
+}
+
 /******************************************************************************/
 /* STM32G4xx Peripheral Interrupt Handlers                                    */
 /* Add here the Interrupt Handlers for the used peripherals.                  */

From dd9ffa987c26271c5112b253b9161c54176bee35 Mon Sep 17 00:00:00 2001
From: Nandini <nandinim.dharwadkar@gmail.com>
Date: Mon, 6 Apr 2026 21:17:35 -0700
Subject: [PATCH 03/34] can init

---
 CANine/Core/Src/main.c | 41 +++++++++++++++++++++++++++++++++++++++--
 1 file changed, 39 insertions(+), 2 deletions(-)

diff --git a/CANine/Core/Src/main.c b/CANine/Core/Src/main.c
index f136aa096..1dff03547 100644
--- a/CANine/Core/Src/main.c
+++ b/CANine/Core/Src/main.c
@@ -23,6 +23,9 @@
 /* USER CODE BEGIN Includes */
 #include "Logomatic.h"
 #include "vcp.h"
+#include "can.h"
+#include "fdcan.h"
+#include <string.h>
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -83,6 +86,16 @@ VCP_Config vcp_config = {.baud_rate = 4000000,
 			 .rx_fifo_threshold = VCP_Threshold_1_8,
 			 .usart_instance = USART2,
 			 .alternate_function = LL_GPIO_AF_7};
+
+
+static CANHandle *can1;
+
+static void can_rx_callback(uint32_t id, void *data, uint32_t size){
+	uint8_t buf[FDCAN_MAX_DATA_BYTES];
+	memcpy(buf, data, size);
+	LOGOMATIC("CAN RX: id = 0x%1x size = %1u data[0]=0x%x\n", id, size, buf[0]);
+}
+
 /* USER CODE END 0 */
 
 /**
@@ -113,13 +126,37 @@ int main(void)
 	/* USER CODE BEGIN SysInit */
 	Setup_Logomatic(&logomaticConfig);
 	Setup_VCP(&vcp_config);
+
+	LOGOMATIC("Logomatic initialization complete\n");
+	VCP_Send((uint8_t *)"VCP initialization complete\n", 29);
 	/* USER CODE END SysInit */
 
 	/* Initialize all configured peripherals */
 	MX_GPIO_Init();
 	/* USER CODE BEGIN 2 */
-	LOGOMATIC("Logomatic initialization complete\n");
-	VCP_Send((uint8_t *)"VCP initialization complete\n", 29);
+	can_set_clksource(LL_RCC_FDCAN_CLKSOURCE_PCLK1);
+
+	CANConfig cfg1;
+	if (get_cfg(FDCAN1, can_rx_callback, &cfg1, FDCAN_MODE_NORMAL, 0, 0)){
+		LOGOMATIC("CAN: failed to get config\n");
+		Error_Handler();
+	}
+	can1 = can_init(&cfg1);
+	if (can1 == NULL){
+		LOGOMATIC("CAN: init failed\n");
+		Error_Handler();
+	}
+
+	HAL_FDCAN_ConfigGlobalFilter(can1->hal_fdcanP, 0, 0, 0, 0);
+
+	if (can_start(can1)){
+		LOGOMATIC("CAN: start failed\n");
+		Error_Handler();
+	}
+
+	LOGOMATIC("CAN: ready\n");
+
+
 	/* USER CODE END 2 */
 
 	/* Infinite loop */

From 26f76c8802a878ca210acd73b9520dafaa327f7c Mon Sep 17 00:00:00 2001
From: Nandini <nandinim.dharwadkar@gmail.com>
Date: Mon, 6 Apr 2026 21:22:43 -0700
Subject: [PATCH 04/34] update cmake

---
 CANine/CMakeLists.txt | 1 +
 1 file changed, 1 insertion(+)

diff --git a/CANine/CMakeLists.txt b/CANine/CMakeLists.txt
index 3410dbbb7..73ae6aa75 100644
--- a/CANine/CMakeLists.txt
+++ b/CANine/CMakeLists.txt
@@ -33,6 +33,7 @@ target_sources(
 		Core/Src/main.c
 		Core/Src/stm32g4xx_it.c
 		Core/Src/stm32g4xx_hal_msp.c
+		Core/Src/fdcan.c
 )
 
 target_link_libraries(${GR_PROJECT_NAME}_USER_CODE INTERFACE VCP_LIB)

From d26949fd2b059a0d8df0efa2df095f25911c1d0b Mon Sep 17 00:00:00 2001
From: Nandini <nandinim.dharwadkar@gmail.com>
Date: Mon, 6 Apr 2026 21:23:41 -0700
Subject: [PATCH 05/34] update cmake

---
 CANine/CMakeLists.txt | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/CANine/CMakeLists.txt b/CANine/CMakeLists.txt
index 73ae6aa75..176c7e4c0 100644
--- a/CANine/CMakeLists.txt
+++ b/CANine/CMakeLists.txt
@@ -36,6 +36,6 @@ target_sources(
 		Core/Src/fdcan.c
 )
 
-target_link_libraries(${GR_PROJECT_NAME}_USER_CODE INTERFACE VCP_LIB)
+target_link_libraries(${GR_PROJECT_NAME}_USER_CODE INTERFACE VCP_LIB PERIPHERAL_CAN_LIB)
 
 target_include_directories(${GR_PROJECT_NAME}_USER_CODE INTERFACE Core/Inc)

From f25efa4ee941b55cea602cc04f6fabf37575fac4 Mon Sep 17 00:00:00 2001
From: github-actions <41898282+github-actions[bot]@users.noreply.github.com>
Date: Tue, 7 Apr 2026 04:25:17 +0000
Subject: [PATCH 06/34] Automatic CMake Format: Standardized formatting
 automatically

---
 CANine/CMakeLists.txt | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/CANine/CMakeLists.txt b/CANine/CMakeLists.txt
index 176c7e4c0..299acba46 100644
--- a/CANine/CMakeLists.txt
+++ b/CANine/CMakeLists.txt
@@ -36,6 +36,11 @@ target_sources(
 		Core/Src/fdcan.c
 )
 
-target_link_libraries(${GR_PROJECT_NAME}_USER_CODE INTERFACE VCP_LIB PERIPHERAL_CAN_LIB)
+target_link_libraries(
+	${GR_PROJECT_NAME}_USER_CODE
+	INTERFACE
+		VCP_LIB
+		PERIPHERAL_CAN_LIB
+)
 
 target_include_directories(${GR_PROJECT_NAME}_USER_CODE INTERFACE Core/Inc)

From a3d0348636e78460a8b15207041781d3c57f528f Mon Sep 17 00:00:00 2001
From: github-actions <41898282+github-actions[bot]@users.noreply.github.com>
Date: Tue, 7 Apr 2026 04:26:59 +0000
Subject: [PATCH 07/34] Automatic Clang-Format: Standardized formatting
 automatically

---
 CANine/Core/Inc/fdcan.h        |  2 --
 CANine/Core/Src/fdcan.c        |  2 +-
 CANine/Core/Src/main.c         | 16 ++++++++--------
 CANine/Core/Src/stm32g4xx_it.c |  5 ++---
 4 files changed, 11 insertions(+), 14 deletions(-)

diff --git a/CANine/Core/Inc/fdcan.h b/CANine/Core/Inc/fdcan.h
index ceb9a8256..8a144ca5e 100644
--- a/CANine/Core/Inc/fdcan.h
+++ b/CANine/Core/Inc/fdcan.h
@@ -34,14 +34,12 @@ extern "C" {
 
 extern FDCAN_HandleTypeDef hfdcan1;
 
-
 /* USER CODE BEGIN Private defines */
 
 /* USER CODE END Private defines */
 
 void MX_FDCAN1_Init(void);
 
-
 /* USER CODE BEGIN Prototypes */
 
 /* USER CODE END Prototypes */
diff --git a/CANine/Core/Src/fdcan.c b/CANine/Core/Src/fdcan.c
index 0b59d342c..600ebf188 100644
--- a/CANine/Core/Src/fdcan.c
+++ b/CANine/Core/Src/fdcan.c
@@ -106,7 +106,7 @@ void HAL_FDCAN_MspInit(FDCAN_HandleTypeDef *fdcanHandle)
 		/* USER CODE BEGIN FDCAN1_MspInit 1 */
 
 		/* USER CODE END FDCAN1_MspInit 1 */
-    }
+	}
 }
 
 void HAL_FDCAN_MspDeInit(FDCAN_HandleTypeDef *fdcanHandle)
diff --git a/CANine/Core/Src/main.c b/CANine/Core/Src/main.c
index 1dff03547..d1d65af33 100644
--- a/CANine/Core/Src/main.c
+++ b/CANine/Core/Src/main.c
@@ -21,11 +21,12 @@
 
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
+#include <string.h>
+
 #include "Logomatic.h"
-#include "vcp.h"
 #include "can.h"
 #include "fdcan.h"
-#include <string.h>
+#include "vcp.h"
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -87,10 +88,10 @@ VCP_Config vcp_config = {.baud_rate = 4000000,
 			 .usart_instance = USART2,
 			 .alternate_function = LL_GPIO_AF_7};
 
-
 static CANHandle *can1;
 
-static void can_rx_callback(uint32_t id, void *data, uint32_t size){
+static void can_rx_callback(uint32_t id, void *data, uint32_t size)
+{
 	uint8_t buf[FDCAN_MAX_DATA_BYTES];
 	memcpy(buf, data, size);
 	LOGOMATIC("CAN RX: id = 0x%1x size = %1u data[0]=0x%x\n", id, size, buf[0]);
@@ -137,26 +138,25 @@ int main(void)
 	can_set_clksource(LL_RCC_FDCAN_CLKSOURCE_PCLK1);
 
 	CANConfig cfg1;
-	if (get_cfg(FDCAN1, can_rx_callback, &cfg1, FDCAN_MODE_NORMAL, 0, 0)){
+	if (get_cfg(FDCAN1, can_rx_callback, &cfg1, FDCAN_MODE_NORMAL, 0, 0)) {
 		LOGOMATIC("CAN: failed to get config\n");
 		Error_Handler();
 	}
 	can1 = can_init(&cfg1);
-	if (can1 == NULL){
+	if (can1 == NULL) {
 		LOGOMATIC("CAN: init failed\n");
 		Error_Handler();
 	}
 
 	HAL_FDCAN_ConfigGlobalFilter(can1->hal_fdcanP, 0, 0, 0, 0);
 
-	if (can_start(can1)){
+	if (can_start(can1)) {
 		LOGOMATIC("CAN: start failed\n");
 		Error_Handler();
 	}
 
 	LOGOMATIC("CAN: ready\n");
 
-
 	/* USER CODE END 2 */
 
 	/* Infinite loop */
diff --git a/CANine/Core/Src/stm32g4xx_it.c b/CANine/Core/Src/stm32g4xx_it.c
index 414efb2aa..b3e17d54a 100644
--- a/CANine/Core/Src/stm32g4xx_it.c
+++ b/CANine/Core/Src/stm32g4xx_it.c
@@ -58,7 +58,6 @@
 /* External variables --------------------------------------------------------*/
 extern FDCAN_HandleTypeDef hfdcan1;
 
-
 /* USER CODE BEGIN EV */
 
 /* USER CODE END EV */
@@ -188,10 +187,10 @@ void SysTick_Handler(void)
 	/* USER CODE END SysTick_IRQn 1 */
 }
 
-void FDCAN1_IT0_IRQHandler(void){
+void FDCAN1_IT0_IRQHandler(void)
+{
 
 	HAL_FDCAN_IRQHandler(&hfdcan1);
-
 }
 
 /******************************************************************************/

From fef1fd1b8249fada99e40587e7e066aae822e2cf Mon Sep 17 00:00:00 2001
From: Nandini <nandinim.dharwadkar@gmail.com>
Date: Mon, 6 Apr 2026 21:32:40 -0700
Subject: [PATCH 08/34] fixing fdcan

---
 CANine/Core/Inc/stm32g4xx_hal_conf.h | 2 +-
 CANine/Core/Src/main.c               | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/CANine/Core/Inc/stm32g4xx_hal_conf.h b/CANine/Core/Inc/stm32g4xx_hal_conf.h
index 0888f0058..673034544 100644
--- a/CANine/Core/Inc/stm32g4xx_hal_conf.h
+++ b/CANine/Core/Inc/stm32g4xx_hal_conf.h
@@ -42,7 +42,7 @@ extern "C" {
 /*#define HAL_CRC_MODULE_ENABLED   */
 /*#define HAL_CRYP_MODULE_ENABLED   */
 /*#define HAL_DAC_MODULE_ENABLED   */
-/*#define HAL_FDCAN_MODULE_ENABLED   */
+#define HAL_FDCAN_MODULE_ENABLED
 /*#define HAL_FMAC_MODULE_ENABLED   */
 /*#define HAL_HRTIM_MODULE_ENABLED   */
 /*#define HAL_IRDA_MODULE_ENABLED   */
diff --git a/CANine/Core/Src/main.c b/CANine/Core/Src/main.c
index d1d65af33..a54cc8a00 100644
--- a/CANine/Core/Src/main.c
+++ b/CANine/Core/Src/main.c
@@ -94,7 +94,7 @@ static void can_rx_callback(uint32_t id, void *data, uint32_t size)
 {
 	uint8_t buf[FDCAN_MAX_DATA_BYTES];
 	memcpy(buf, data, size);
-	LOGOMATIC("CAN RX: id = 0x%1x size = %1u data[0]=0x%x\n", id, size, buf[0]);
+	LOGOMATIC("CAN RX: id = 0x%lx size = %lu data[0]=0x%x\n", id, size, buf[0]);
 }
 
 /* USER CODE END 0 */

From 9e357560ff2ce01eefb8735f6424e2e50dfa2852 Mon Sep 17 00:00:00 2001
From: CrolineCrois <maoninii@gmail.com>
Date: Mon, 6 Apr 2026 21:47:17 -0700
Subject: [PATCH 09/34] fix crash

---
 CANine/Core/Src/stm32g4xx_it.c | 7 -------
 1 file changed, 7 deletions(-)

diff --git a/CANine/Core/Src/stm32g4xx_it.c b/CANine/Core/Src/stm32g4xx_it.c
index b3e17d54a..dc40b1624 100644
--- a/CANine/Core/Src/stm32g4xx_it.c
+++ b/CANine/Core/Src/stm32g4xx_it.c
@@ -56,7 +56,6 @@
 /* USER CODE END 0 */
 
 /* External variables --------------------------------------------------------*/
-extern FDCAN_HandleTypeDef hfdcan1;
 
 /* USER CODE BEGIN EV */
 
@@ -187,12 +186,6 @@ void SysTick_Handler(void)
 	/* USER CODE END SysTick_IRQn 1 */
 }
 
-void FDCAN1_IT0_IRQHandler(void)
-{
-
-	HAL_FDCAN_IRQHandler(&hfdcan1);
-}
-
 /******************************************************************************/
 /* STM32G4xx Peripheral Interrupt Handlers                                    */
 /* Add here the Interrupt Handlers for the used peripherals.                  */

From 411b5c5cb916abe26fedac9113774c6eeb218a2e Mon Sep 17 00:00:00 2001
From: CrolineCrois <maoninii@gmail.com>
Date: Mon, 6 Apr 2026 21:55:32 -0700
Subject: [PATCH 10/34] ye

---
 CANine/CMakeLists.txt   |   1 -
 CANine/Core/Src/fdcan.c | 141 ----------------------------------------
 CANine/Core/Src/main.c  |   1 -
 3 files changed, 143 deletions(-)
 delete mode 100644 CANine/Core/Src/fdcan.c

diff --git a/CANine/CMakeLists.txt b/CANine/CMakeLists.txt
index 299acba46..af31b3e17 100644
--- a/CANine/CMakeLists.txt
+++ b/CANine/CMakeLists.txt
@@ -33,7 +33,6 @@ target_sources(
 		Core/Src/main.c
 		Core/Src/stm32g4xx_it.c
 		Core/Src/stm32g4xx_hal_msp.c
-		Core/Src/fdcan.c
 )
 
 target_link_libraries(
diff --git a/CANine/Core/Src/fdcan.c b/CANine/Core/Src/fdcan.c
deleted file mode 100644
index 600ebf188..000000000
--- a/CANine/Core/Src/fdcan.c
+++ /dev/null
@@ -1,141 +0,0 @@
-/* USER CODE BEGIN Header */
-/**
- ******************************************************************************
- * @file    fdcan.c
- * @brief   This file provides code for the configuration
- *          of the FDCAN instances.
- ******************************************************************************
- * @attention
- *
- * Copyright (c) 2025 STMicroelectronics.
- * All rights reserved.
- *
- * This software is licensed under terms that can be found in the LICENSE file
- * in the root directory of this software component.
- * If no LICENSE file comes with this software, it is provided AS-IS.
- *
- ******************************************************************************
- */
-/* USER CODE END Header */
-/* Includes ------------------------------------------------------------------*/
-#include "fdcan.h"
-
-/* USER CODE BEGIN 0 */
-
-/* USER CODE END 0 */
-
-FDCAN_HandleTypeDef hfdcan1;
-
-/* FDCAN1 init function */
-void MX_FDCAN1_Init(void)
-{
-
-	/* USER CODE BEGIN FDCAN1_Init 0 */
-
-	/* USER CODE END FDCAN1_Init 0 */
-
-	/* USER CODE BEGIN FDCAN1_Init 1 */
-
-	/* USER CODE END FDCAN1_Init 1 */
-	hfdcan1.Instance = FDCAN1;
-	hfdcan1.Init.ClockDivider = FDCAN_CLOCK_DIV1;
-	hfdcan1.Init.FrameFormat = FDCAN_FRAME_CLASSIC;
-	hfdcan1.Init.Mode = FDCAN_MODE_NORMAL;
-	hfdcan1.Init.AutoRetransmission = ENABLE;
-	hfdcan1.Init.TransmitPause = DISABLE;
-	hfdcan1.Init.ProtocolException = ENABLE;
-	hfdcan1.Init.NominalPrescaler = 1;
-	hfdcan1.Init.NominalSyncJumpWidth = 16;
-	hfdcan1.Init.NominalTimeSeg1 = 119;
-	hfdcan1.Init.NominalTimeSeg2 = 40;
-	hfdcan1.Init.DataPrescaler = 8;
-	hfdcan1.Init.DataSyncJumpWidth = 16;
-	hfdcan1.Init.DataTimeSeg1 = 14;
-	hfdcan1.Init.DataTimeSeg2 = 5;
-	hfdcan1.Init.StdFiltersNbr = 0;
-	hfdcan1.Init.ExtFiltersNbr = 2;
-	hfdcan1.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;
-	if (HAL_FDCAN_Init(&hfdcan1) != HAL_OK) {
-		Error_Handler();
-	}
-	/* USER CODE BEGIN FDCAN1_Init 2 */
-
-	/* USER CODE END FDCAN1_Init 2 */
-}
-
-static uint32_t HAL_RCC_FDCAN_CLK_ENABLED = 0;
-
-void HAL_FDCAN_MspInit(FDCAN_HandleTypeDef *fdcanHandle)
-{
-
-	GPIO_InitTypeDef GPIO_InitStruct = {0};
-	if (fdcanHandle->Instance == FDCAN1) {
-		/* USER CODE BEGIN FDCAN1_MspInit 0 */
-
-		/* USER CODE END FDCAN1_MspInit 0 */
-		LL_RCC_SetFDCANClockSource(LL_RCC_FDCAN_CLKSOURCE_PCLK1);
-
-		/* FDCAN1 clock enable */
-		HAL_RCC_FDCAN_CLK_ENABLED++;
-		if (HAL_RCC_FDCAN_CLK_ENABLED == 1) {
-			__HAL_RCC_FDCAN_CLK_ENABLE();
-		}
-
-		__HAL_RCC_GPIOA_CLK_ENABLE();
-		/**FDCAN1 GPIO Configuration
-		PA11     ------> FDCAN1_RX
-		PA12     ------> FDCAN1_TX
-		*/
-		GPIO_InitStruct.Pin = GPIO_PIN_11;
-		GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
-		GPIO_InitStruct.Pull = GPIO_PULLUP;
-		GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
-		GPIO_InitStruct.Alternate = GPIO_AF9_FDCAN1;
-		HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
-
-		GPIO_InitStruct.Pin = GPIO_PIN_12;
-		GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
-		GPIO_InitStruct.Pull = GPIO_NOPULL;
-		GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
-		GPIO_InitStruct.Alternate = GPIO_AF9_FDCAN1;
-		HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
-
-		/* FDCAN1 interrupt Init */
-		HAL_NVIC_SetPriority(FDCAN1_IT0_IRQn, 0, 0);
-		HAL_NVIC_EnableIRQ(FDCAN1_IT0_IRQn);
-		/* USER CODE BEGIN FDCAN1_MspInit 1 */
-
-		/* USER CODE END FDCAN1_MspInit 1 */
-	}
-}
-
-void HAL_FDCAN_MspDeInit(FDCAN_HandleTypeDef *fdcanHandle)
-{
-
-	if (fdcanHandle->Instance == FDCAN1) {
-		/* USER CODE BEGIN FDCAN1_MspDeInit 0 */
-
-		/* USER CODE END FDCAN1_MspDeInit 0 */
-		/* Peripheral clock disable */
-		HAL_RCC_FDCAN_CLK_ENABLED--;
-		if (HAL_RCC_FDCAN_CLK_ENABLED == 0) {
-			__HAL_RCC_FDCAN_CLK_DISABLE();
-		}
-
-		/**FDCAN1 GPIO Configuration
-		PA11     ------> FDCAN1_RX
-		PA12     ------> FDCAN1_TX
-		*/
-		HAL_GPIO_DeInit(GPIOA, GPIO_PIN_11 | GPIO_PIN_12);
-
-		/* FDCAN1 interrupt Deinit */
-		HAL_NVIC_DisableIRQ(FDCAN1_IT0_IRQn);
-		/* USER CODE BEGIN FDCAN1_MspDeInit 1 */
-
-		/* USER CODE END FDCAN1_MspDeInit 1 */
-	}
-}
-
-/* USER CODE BEGIN 1 */
-
-/* USER CODE END 1 */
diff --git a/CANine/Core/Src/main.c b/CANine/Core/Src/main.c
index a54cc8a00..15d56dc35 100644
--- a/CANine/Core/Src/main.c
+++ b/CANine/Core/Src/main.c
@@ -25,7 +25,6 @@
 
 #include "Logomatic.h"
 #include "can.h"
-#include "fdcan.h"
 #include "vcp.h"
 /* USER CODE END Includes */
 

From 93236af465908e67dc04ccfe64dc519cd2a916b0 Mon Sep 17 00:00:00 2001
From: Nandini <nandinim.dharwadkar@gmail.com>
Date: Mon, 6 Apr 2026 22:42:33 -0700
Subject: [PATCH 11/34] config not working

---
 CANine/Application/Src/CANdler.c |   0
 CANine/Core/Src/main.c           | 135 +++++++++++++++++++++++++------
 2 files changed, 110 insertions(+), 25 deletions(-)
 create mode 100644 CANine/Application/Src/CANdler.c

diff --git a/CANine/Application/Src/CANdler.c b/CANine/Application/Src/CANdler.c
new file mode 100644
index 000000000..e69de29bb
diff --git a/CANine/Core/Src/main.c b/CANine/Core/Src/main.c
index 15d56dc35..aecf2873c 100644
--- a/CANine/Core/Src/main.c
+++ b/CANine/Core/Src/main.c
@@ -89,19 +89,124 @@ VCP_Config vcp_config = {.baud_rate = 4000000,
 
 static CANHandle *can1;
 
-static void can_rx_callback(uint32_t id, void *data, uint32_t size)
+void CAN1_rx_callback(uint32_t ID, void *data, uint32_t size)
 {
-	uint8_t buf[FDCAN_MAX_DATA_BYTES];
-	memcpy(buf, data, size);
-	LOGOMATIC("CAN RX: id = 0x%lx size = %lu data[0]=0x%x\n", id, size, buf[0]);
+	// ECU_CAN_MessageHandler(&stateLump, GR_OLD_BUS_PRIMARY,
+	// 		       (0x000FFF00 & ID) >> 8, // TODO: Double check
+	// 		       (0xFF00000 & ID) >> 20, data, size);
 }
 
+	//CANConfig cfg1;
+	void CAN_Configure() {
+
+
+		CANConfig canCfg;
+		can1 = can_init(&canCfg);
+
+
+		// SHARED config ddata for CAN1 and CAN2
+		canCfg.hal_fdcan_init.ClockDivider = FDCAN_CLOCK_DIV1;
+		canCfg.hal_fdcan_init.FrameFormat = FDCAN_FRAME_FD_NO_BRS;
+		canCfg.hal_fdcan_init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;
+		canCfg.hal_fdcan_init.Mode = FDCAN_MODE_NORMAL;
+		canCfg.hal_fdcan_init.AutoRetransmission = ENABLE;
+		canCfg.hal_fdcan_init.TransmitPause = DISABLE;
+		canCfg.hal_fdcan_init.ProtocolException = ENABLE;
+		canCfg.hal_fdcan_init.NominalPrescaler = 1;
+		canCfg.hal_fdcan_init.NominalSyncJumpWidth = 16;
+		canCfg.hal_fdcan_init.NominalTimeSeg1 = 127; // Updated for 170MHz: (1+127+42)*1 = 170 ticks -> 1 Mbps
+		canCfg.hal_fdcan_init.NominalTimeSeg2 = 42;
+		canCfg.hal_fdcan_init.DataPrescaler = 2;
+		canCfg.hal_fdcan_init.DataSyncJumpWidth = 16;
+		canCfg.hal_fdcan_init.DataTimeSeg1 = 12; // Updated for 170MHz: 170 MHz/((1+12+4)*2) = 5 Mbps
+		canCfg.hal_fdcan_init.DataTimeSeg2 = 4;
+		canCfg.hal_fdcan_init.StdFiltersNbr = 1;
+		canCfg.hal_fdcan_init.ExtFiltersNbr = 0;
+
+		canCfg.rx_callback = NULL;
+		canCfg.rx_interrupt_priority = 15; // TODO: Maybe make these not hardcoded
+		canCfg.tx_interrupt_priority = 15;
+		// canCfg.tx_buffer_length = CAN_TX_BUFFER_LENGTH;
+
+		// RX shared settings
+		canCfg.init_rx_gpio.Mode = GPIO_MODE_AF_PP;
+		canCfg.init_rx_gpio.Pull = GPIO_PULLUP;
+		canCfg.init_rx_gpio.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+
+		// TX Shared settings
+		canCfg.init_tx_gpio.Mode = GPIO_MODE_AF_PP;
+		canCfg.init_tx_gpio.Pull = GPIO_NOPULL;
+		canCfg.init_tx_gpio.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+
+		/*FDCAN_TxHeaderTypeDef TxHeader = {
+			.Identifier = 1,
+
+			.IdType = FDCAN_STANDARD_ID,
+			.TxFrameType = FDCAN_DATA_FRAME,
+			.ErrorStateIndicator = FDCAN_ESI_ACTIVE, // honestly this might be a value you have to read from a node
+								// FDCAN_ESI_ACTIVE is just a state that assumes there are minimal errors
+			.DataLength = 1,
+			.BitRateSwitch = FDCAN_BRS_OFF,
+			.TxEventFifoControl = FDCAN_NO_TX_EVENTS, // change to FDCAN_STORE_TX_EVENTS if you need to store info regarding transmitted messages
+			.MessageMarker = 0			      // also change this to a real address if you change fifo control
+		};
+
+		FDCANTxMessage msg = {.data = {0x80}, .tx_header = TxHeader};
+		*/
+
+		// PCLK1 from SYSCLK
+		can_set_clksource(LL_RCC_FDCAN_CLKSOURCE_PCLK1);
+
+		// CAN1 =====================================================================
+		canCfg.fdcan_instance = FDCAN1;
+		canCfg.rx_gpio = GPIOA;
+		canCfg.init_rx_gpio.Pin = GPIO_PIN_11;
+		canCfg.init_rx_gpio.Alternate = GPIO_AF9_FDCAN1;
+
+		canCfg.tx_gpio = GPIOA;
+		canCfg.init_tx_gpio.Pin = GPIO_PIN_12;
+		canCfg.init_tx_gpio.Alternate = GPIO_AF9_FDCAN1;
+
+		// RX Callback CAN1
+		canCfg.rx_callback = CAN1_rx_callback; // TODO: Make sure the wrapper for this is defined correctly
+
+		//primary_can = can_init(&canCfg);
+
+		// // Filter 1 Definitions
+		// FDCAN_FilterTypeDef fdcan1_filter;
+
+		// fdcan1_filter.IdType = FDCAN_EXTENDED_ID;
+		// fdcan1_filter.FilterIndex = 0;
+		// fdcan1_filter.FilterType = FDCAN_FILTER_MASK;
+		// fdcan1_filter.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;
+		// fdcan1_filter.FilterID1 = LOCAL_GR_ID; // filter messages with ECU destination
+		// fdcan1_filter.FilterID2 = 0x00000FF;
+
+		// fdcan1_filter.FilterIndex = 1;
+		// fdcan1_filter.FilterID1 = 0xFF; // filter messages for all targets
+		// HAL_FDCAN_ConfigFilter(primary_can->hal_fdcanP, &fdcan1_filter);
+
+		//data_can = can_init(&canCfg);
+
+		// accept unmatched standard and extended frames into RXFIFO0 - default behaviour
+
+		can_start(can1);
+}
+
+
+
+
 /* USER CODE END 0 */
 
 /**
  * @brief  The application entry point.
  * @retval int
  */
+
+
+
+
+
 int main(void)
 {
 
@@ -134,28 +239,8 @@ int main(void)
 	/* Initialize all configured peripherals */
 	MX_GPIO_Init();
 	/* USER CODE BEGIN 2 */
-	can_set_clksource(LL_RCC_FDCAN_CLKSOURCE_PCLK1);
-
-	CANConfig cfg1;
-	if (get_cfg(FDCAN1, can_rx_callback, &cfg1, FDCAN_MODE_NORMAL, 0, 0)) {
-		LOGOMATIC("CAN: failed to get config\n");
-		Error_Handler();
-	}
-	can1 = can_init(&cfg1);
-	if (can1 == NULL) {
-		LOGOMATIC("CAN: init failed\n");
-		Error_Handler();
-	}
-
-	HAL_FDCAN_ConfigGlobalFilter(can1->hal_fdcanP, 0, 0, 0, 0);
-
-	if (can_start(can1)) {
-		LOGOMATIC("CAN: start failed\n");
-		Error_Handler();
-	}
-
-	LOGOMATIC("CAN: ready\n");
 
+	CAN_Configure();
 	/* USER CODE END 2 */
 
 	/* Infinite loop */

From 2936df32b7996dc4d1c3acf7b3d3c85c268d0d70 Mon Sep 17 00:00:00 2001
From: github-actions <41898282+github-actions[bot]@users.noreply.github.com>
Date: Tue, 7 Apr 2026 05:43:48 +0000
Subject: [PATCH 12/34] Automatic Clang-Format: Standardized formatting
 automatically

---
 CANine/Core/Src/main.c | 196 ++++++++++++++++++++---------------------
 1 file changed, 94 insertions(+), 102 deletions(-)

diff --git a/CANine/Core/Src/main.c b/CANine/Core/Src/main.c
index aecf2873c..cef867cdd 100644
--- a/CANine/Core/Src/main.c
+++ b/CANine/Core/Src/main.c
@@ -96,105 +96,101 @@ void CAN1_rx_callback(uint32_t ID, void *data, uint32_t size)
 	// 		       (0xFF00000 & ID) >> 20, data, size);
 }
 
-	//CANConfig cfg1;
-	void CAN_Configure() {
-
-
-		CANConfig canCfg;
-		can1 = can_init(&canCfg);
-
-
-		// SHARED config ddata for CAN1 and CAN2
-		canCfg.hal_fdcan_init.ClockDivider = FDCAN_CLOCK_DIV1;
-		canCfg.hal_fdcan_init.FrameFormat = FDCAN_FRAME_FD_NO_BRS;
-		canCfg.hal_fdcan_init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;
-		canCfg.hal_fdcan_init.Mode = FDCAN_MODE_NORMAL;
-		canCfg.hal_fdcan_init.AutoRetransmission = ENABLE;
-		canCfg.hal_fdcan_init.TransmitPause = DISABLE;
-		canCfg.hal_fdcan_init.ProtocolException = ENABLE;
-		canCfg.hal_fdcan_init.NominalPrescaler = 1;
-		canCfg.hal_fdcan_init.NominalSyncJumpWidth = 16;
-		canCfg.hal_fdcan_init.NominalTimeSeg1 = 127; // Updated for 170MHz: (1+127+42)*1 = 170 ticks -> 1 Mbps
-		canCfg.hal_fdcan_init.NominalTimeSeg2 = 42;
-		canCfg.hal_fdcan_init.DataPrescaler = 2;
-		canCfg.hal_fdcan_init.DataSyncJumpWidth = 16;
-		canCfg.hal_fdcan_init.DataTimeSeg1 = 12; // Updated for 170MHz: 170 MHz/((1+12+4)*2) = 5 Mbps
-		canCfg.hal_fdcan_init.DataTimeSeg2 = 4;
-		canCfg.hal_fdcan_init.StdFiltersNbr = 1;
-		canCfg.hal_fdcan_init.ExtFiltersNbr = 0;
-
-		canCfg.rx_callback = NULL;
-		canCfg.rx_interrupt_priority = 15; // TODO: Maybe make these not hardcoded
-		canCfg.tx_interrupt_priority = 15;
-		// canCfg.tx_buffer_length = CAN_TX_BUFFER_LENGTH;
-
-		// RX shared settings
-		canCfg.init_rx_gpio.Mode = GPIO_MODE_AF_PP;
-		canCfg.init_rx_gpio.Pull = GPIO_PULLUP;
-		canCfg.init_rx_gpio.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
-
-		// TX Shared settings
-		canCfg.init_tx_gpio.Mode = GPIO_MODE_AF_PP;
-		canCfg.init_tx_gpio.Pull = GPIO_NOPULL;
-		canCfg.init_tx_gpio.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
-
-		/*FDCAN_TxHeaderTypeDef TxHeader = {
-			.Identifier = 1,
-
-			.IdType = FDCAN_STANDARD_ID,
-			.TxFrameType = FDCAN_DATA_FRAME,
-			.ErrorStateIndicator = FDCAN_ESI_ACTIVE, // honestly this might be a value you have to read from a node
-								// FDCAN_ESI_ACTIVE is just a state that assumes there are minimal errors
-			.DataLength = 1,
-			.BitRateSwitch = FDCAN_BRS_OFF,
-			.TxEventFifoControl = FDCAN_NO_TX_EVENTS, // change to FDCAN_STORE_TX_EVENTS if you need to store info regarding transmitted messages
-			.MessageMarker = 0			      // also change this to a real address if you change fifo control
-		};
-
-		FDCANTxMessage msg = {.data = {0x80}, .tx_header = TxHeader};
-		*/
-
-		// PCLK1 from SYSCLK
-		can_set_clksource(LL_RCC_FDCAN_CLKSOURCE_PCLK1);
-
-		// CAN1 =====================================================================
-		canCfg.fdcan_instance = FDCAN1;
-		canCfg.rx_gpio = GPIOA;
-		canCfg.init_rx_gpio.Pin = GPIO_PIN_11;
-		canCfg.init_rx_gpio.Alternate = GPIO_AF9_FDCAN1;
-
-		canCfg.tx_gpio = GPIOA;
-		canCfg.init_tx_gpio.Pin = GPIO_PIN_12;
-		canCfg.init_tx_gpio.Alternate = GPIO_AF9_FDCAN1;
-
-		// RX Callback CAN1
-		canCfg.rx_callback = CAN1_rx_callback; // TODO: Make sure the wrapper for this is defined correctly
-
-		//primary_can = can_init(&canCfg);
-
-		// // Filter 1 Definitions
-		// FDCAN_FilterTypeDef fdcan1_filter;
-
-		// fdcan1_filter.IdType = FDCAN_EXTENDED_ID;
-		// fdcan1_filter.FilterIndex = 0;
-		// fdcan1_filter.FilterType = FDCAN_FILTER_MASK;
-		// fdcan1_filter.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;
-		// fdcan1_filter.FilterID1 = LOCAL_GR_ID; // filter messages with ECU destination
-		// fdcan1_filter.FilterID2 = 0x00000FF;
-
-		// fdcan1_filter.FilterIndex = 1;
-		// fdcan1_filter.FilterID1 = 0xFF; // filter messages for all targets
-		// HAL_FDCAN_ConfigFilter(primary_can->hal_fdcanP, &fdcan1_filter);
-
-		//data_can = can_init(&canCfg);
-
-		// accept unmatched standard and extended frames into RXFIFO0 - default behaviour
-
-		can_start(can1);
-}
-
-
+// CANConfig cfg1;
+void CAN_Configure()
+{
 
+	CANConfig canCfg;
+	can1 = can_init(&canCfg);
+
+	// SHARED config ddata for CAN1 and CAN2
+	canCfg.hal_fdcan_init.ClockDivider = FDCAN_CLOCK_DIV1;
+	canCfg.hal_fdcan_init.FrameFormat = FDCAN_FRAME_FD_NO_BRS;
+	canCfg.hal_fdcan_init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;
+	canCfg.hal_fdcan_init.Mode = FDCAN_MODE_NORMAL;
+	canCfg.hal_fdcan_init.AutoRetransmission = ENABLE;
+	canCfg.hal_fdcan_init.TransmitPause = DISABLE;
+	canCfg.hal_fdcan_init.ProtocolException = ENABLE;
+	canCfg.hal_fdcan_init.NominalPrescaler = 1;
+	canCfg.hal_fdcan_init.NominalSyncJumpWidth = 16;
+	canCfg.hal_fdcan_init.NominalTimeSeg1 = 127; // Updated for 170MHz: (1+127+42)*1 = 170 ticks -> 1 Mbps
+	canCfg.hal_fdcan_init.NominalTimeSeg2 = 42;
+	canCfg.hal_fdcan_init.DataPrescaler = 2;
+	canCfg.hal_fdcan_init.DataSyncJumpWidth = 16;
+	canCfg.hal_fdcan_init.DataTimeSeg1 = 12; // Updated for 170MHz: 170 MHz/((1+12+4)*2) = 5 Mbps
+	canCfg.hal_fdcan_init.DataTimeSeg2 = 4;
+	canCfg.hal_fdcan_init.StdFiltersNbr = 1;
+	canCfg.hal_fdcan_init.ExtFiltersNbr = 0;
+
+	canCfg.rx_callback = NULL;
+	canCfg.rx_interrupt_priority = 15; // TODO: Maybe make these not hardcoded
+	canCfg.tx_interrupt_priority = 15;
+	// canCfg.tx_buffer_length = CAN_TX_BUFFER_LENGTH;
+
+	// RX shared settings
+	canCfg.init_rx_gpio.Mode = GPIO_MODE_AF_PP;
+	canCfg.init_rx_gpio.Pull = GPIO_PULLUP;
+	canCfg.init_rx_gpio.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+
+	// TX Shared settings
+	canCfg.init_tx_gpio.Mode = GPIO_MODE_AF_PP;
+	canCfg.init_tx_gpio.Pull = GPIO_NOPULL;
+	canCfg.init_tx_gpio.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+
+	/*FDCAN_TxHeaderTypeDef TxHeader = {
+		.Identifier = 1,
+
+		.IdType = FDCAN_STANDARD_ID,
+		.TxFrameType = FDCAN_DATA_FRAME,
+		.ErrorStateIndicator = FDCAN_ESI_ACTIVE, // honestly this might be a value you have to read from a node
+							// FDCAN_ESI_ACTIVE is just a state that assumes there are minimal errors
+		.DataLength = 1,
+		.BitRateSwitch = FDCAN_BRS_OFF,
+		.TxEventFifoControl = FDCAN_NO_TX_EVENTS, // change to FDCAN_STORE_TX_EVENTS if you need to store info regarding transmitted messages
+		.MessageMarker = 0			      // also change this to a real address if you change fifo control
+	};
+
+	FDCANTxMessage msg = {.data = {0x80}, .tx_header = TxHeader};
+	*/
+
+	// PCLK1 from SYSCLK
+	can_set_clksource(LL_RCC_FDCAN_CLKSOURCE_PCLK1);
+
+	// CAN1 =====================================================================
+	canCfg.fdcan_instance = FDCAN1;
+	canCfg.rx_gpio = GPIOA;
+	canCfg.init_rx_gpio.Pin = GPIO_PIN_11;
+	canCfg.init_rx_gpio.Alternate = GPIO_AF9_FDCAN1;
+
+	canCfg.tx_gpio = GPIOA;
+	canCfg.init_tx_gpio.Pin = GPIO_PIN_12;
+	canCfg.init_tx_gpio.Alternate = GPIO_AF9_FDCAN1;
+
+	// RX Callback CAN1
+	canCfg.rx_callback = CAN1_rx_callback; // TODO: Make sure the wrapper for this is defined correctly
+
+	// primary_can = can_init(&canCfg);
+
+	// // Filter 1 Definitions
+	// FDCAN_FilterTypeDef fdcan1_filter;
+
+	// fdcan1_filter.IdType = FDCAN_EXTENDED_ID;
+	// fdcan1_filter.FilterIndex = 0;
+	// fdcan1_filter.FilterType = FDCAN_FILTER_MASK;
+	// fdcan1_filter.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;
+	// fdcan1_filter.FilterID1 = LOCAL_GR_ID; // filter messages with ECU destination
+	// fdcan1_filter.FilterID2 = 0x00000FF;
+
+	// fdcan1_filter.FilterIndex = 1;
+	// fdcan1_filter.FilterID1 = 0xFF; // filter messages for all targets
+	// HAL_FDCAN_ConfigFilter(primary_can->hal_fdcanP, &fdcan1_filter);
+
+	// data_can = can_init(&canCfg);
+
+	// accept unmatched standard and extended frames into RXFIFO0 - default behaviour
+
+	can_start(can1);
+}
 
 /* USER CODE END 0 */
 
@@ -203,10 +199,6 @@ void CAN1_rx_callback(uint32_t ID, void *data, uint32_t size)
  * @retval int
  */
 
-
-
-
-
 int main(void)
 {
 

From ecc79adf309408462d8ca6ec1d60dea532002a78 Mon Sep 17 00:00:00 2001
From: CrolineCrois <maoninii@gmail.com>
Date: Thu, 9 Apr 2026 20:57:32 -0700
Subject: [PATCH 13/34] comment out logo and vcp fornow

---
 CANine/Core/Src/main.c | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/CANine/Core/Src/main.c b/CANine/Core/Src/main.c
index cef867cdd..e77fe73ce 100644
--- a/CANine/Core/Src/main.c
+++ b/CANine/Core/Src/main.c
@@ -63,7 +63,7 @@ static void MX_GPIO_Init(void);
 LogomaticConfig logomaticConfig = {.clock_source = LOGOMATIC_PCLK1,
 				   .bus = LOGOMATIC_BUS,
 				   .gpio_port = LOGOMATIC_GPIOA,
-				   .gpio_pin_rx_tx_mask = LL_GPIO_PIN_9 | LL_GPIO_PIN_10,
+				   .gpio_pin_rx_tx_mask = LL_GPIO_PIN_2 | LL_GPIO_PIN_3,
 				   .baud_rate = 115200,
 				   .data_width = LOGOMATIC_DATAWIDTH_8B,
 				   .stop_bits = LOGOMATIC_STOPBITS_1,
@@ -101,7 +101,6 @@ void CAN_Configure()
 {
 
 	CANConfig canCfg;
-	can1 = can_init(&canCfg);
 
 	// SHARED config ddata for CAN1 and CAN2
 	canCfg.hal_fdcan_init.ClockDivider = FDCAN_CLOCK_DIV1;
@@ -188,6 +187,7 @@ void CAN_Configure()
 	// data_can = can_init(&canCfg);
 
 	// accept unmatched standard and extended frames into RXFIFO0 - default behaviour
+	can1 = can_init(&canCfg);
 
 	can_start(can1);
 }
@@ -224,8 +224,8 @@ int main(void)
 	Setup_Logomatic(&logomaticConfig);
 	Setup_VCP(&vcp_config);
 
-	LOGOMATIC("Logomatic initialization complete\n");
-	VCP_Send((uint8_t *)"VCP initialization complete\n", 29);
+	// LOGOMATIC("Logomatic initialization complete\n");
+	// VCP_Send((uint8_t *)"VCP initialization complete\n", 29);
 	/* USER CODE END SysInit */
 
 	/* Initialize all configured peripherals */
@@ -241,8 +241,8 @@ int main(void)
 		/* USER CODE END WHILE */
 
 		/* USER CODE BEGIN 3 */
-		LOGOMATIC("Hello, LOGOMATIC! Great to be here\n");
-		VCP_Send((uint8_t *)"Hello, VCP! Great to be here\n", 30);
+		// LOGOMATIC("Hello, LOGOMATIC! Great to be here\n");
+		// VCP_Send((uint8_t *)"Hello, VCP! Great to be here\n", 30);
 
 		LL_mDelay(750);
 	}

From f52de54565b4d5dcfccad033d0cb15d694ef98d3 Mon Sep 17 00:00:00 2001
From: Nandini <nandinim.dharwadkar@gmail.com>
Date: Thu, 9 Apr 2026 21:06:11 -0700
Subject: [PATCH 14/34] so like idk what to do but we writing switch cases for
 message handling ig

---
 CANine/Application/Src/CANdler.c | 18 ++++++++++++++++++
 1 file changed, 18 insertions(+)

diff --git a/CANine/Application/Src/CANdler.c b/CANine/Application/Src/CANdler.c
index e69de29bb..c8e19cc33 100644
--- a/CANine/Application/Src/CANdler.c
+++ b/CANine/Application/Src/CANdler.c
@@ -0,0 +1,18 @@
+#include "CANdler.h"
+
+#include <stdint.h>
+
+#include "GRCAN_BUS_ID.h"
+#include "GRCAN_MSG_ID.h"
+#include "GRCAN_NODE_ID.h"
+#include "GRCAN_MSG_DATA.h"
+#include "Logomatic.h"
+#include "Pinging.h"
+#include "StateData.h"
+#include "bitManipulations.h"
+
+
+
+void ECU_CAN_MessageHandler(GRCAN_BUS_ID bus_id, GRCAN_MSG_ID msg_id, GRCAN_NODE_ID sender_id, uint8_t *data, uint32_t data_length){
+
+}

From 796c872abdde6104325d182d9d192eb7816b6857 Mon Sep 17 00:00:00 2001
From: github-actions <41898282+github-actions[bot]@users.noreply.github.com>
Date: Fri, 10 Apr 2026 04:07:29 +0000
Subject: [PATCH 15/34] Automatic Clang-Format: Standardized formatting
 automatically

---
 CANine/Application/Src/CANdler.c | 8 ++------
 1 file changed, 2 insertions(+), 6 deletions(-)

diff --git a/CANine/Application/Src/CANdler.c b/CANine/Application/Src/CANdler.c
index c8e19cc33..9896918dd 100644
--- a/CANine/Application/Src/CANdler.c
+++ b/CANine/Application/Src/CANdler.c
@@ -3,16 +3,12 @@
 #include <stdint.h>
 
 #include "GRCAN_BUS_ID.h"
+#include "GRCAN_MSG_DATA.h"
 #include "GRCAN_MSG_ID.h"
 #include "GRCAN_NODE_ID.h"
-#include "GRCAN_MSG_DATA.h"
 #include "Logomatic.h"
 #include "Pinging.h"
 #include "StateData.h"
 #include "bitManipulations.h"
 
-
-
-void ECU_CAN_MessageHandler(GRCAN_BUS_ID bus_id, GRCAN_MSG_ID msg_id, GRCAN_NODE_ID sender_id, uint8_t *data, uint32_t data_length){
-
-}
+void ECU_CAN_MessageHandler(GRCAN_BUS_ID bus_id, GRCAN_MSG_ID msg_id, GRCAN_NODE_ID sender_id, uint8_t *data, uint32_t data_length) {}

From 7e9794c11e21285d1b1a48b5c290a3ffda0e0efb Mon Sep 17 00:00:00 2001
From: CrolineCrois <maoninii@gmail.com>
Date: Thu, 9 Apr 2026 21:21:01 -0700
Subject: [PATCH 16/34] fix unused

---
 CANine/Core/Src/main.c | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/CANine/Core/Src/main.c b/CANine/Core/Src/main.c
index e77fe73ce..dc1185477 100644
--- a/CANine/Core/Src/main.c
+++ b/CANine/Core/Src/main.c
@@ -91,6 +91,9 @@ static CANHandle *can1;
 
 void CAN1_rx_callback(uint32_t ID, void *data, uint32_t size)
 {
+	UNUSED(ID);
+	UNUSED(data);
+	UNUSED(size);
 	// ECU_CAN_MessageHandler(&stateLump, GR_OLD_BUS_PRIMARY,
 	// 		       (0x000FFF00 & ID) >> 8, // TODO: Double check
 	// 		       (0xFF00000 & ID) >> 20, data, size);

From 895662a455c615bd616066648ffcf9fcefb34be9 Mon Sep 17 00:00:00 2001
From: Nandini <nandinim.dharwadkar@gmail.com>
Date: Thu, 9 Apr 2026 21:58:55 -0700
Subject: [PATCH 17/34] okie now we all branch off and do our own thing

---
 CANine/Application/Src/CANdler.c | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/CANine/Application/Src/CANdler.c b/CANine/Application/Src/CANdler.c
index 9896918dd..8dc5dda4e 100644
--- a/CANine/Application/Src/CANdler.c
+++ b/CANine/Application/Src/CANdler.c
@@ -11,4 +11,8 @@
 #include "StateData.h"
 #include "bitManipulations.h"
 
-void ECU_CAN_MessageHandler(GRCAN_BUS_ID bus_id, GRCAN_MSG_ID msg_id, GRCAN_NODE_ID sender_id, uint8_t *data, uint32_t data_length) {}
+void ECU_CAN_MessageHandler(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){
+
+    }
+}

From 9907b0a21151b847d1840af327ab020dfe38f118 Mon Sep 17 00:00:00 2001
From: github-actions <41898282+github-actions[bot]@users.noreply.github.com>
Date: Fri, 10 Apr 2026 05:00:11 +0000
Subject: [PATCH 18/34] Automatic Clang-Format: Standardized formatting
 automatically

---
 CANine/Application/Src/CANdler.c | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/CANine/Application/Src/CANdler.c b/CANine/Application/Src/CANdler.c
index 8dc5dda4e..b2fe07df9 100644
--- a/CANine/Application/Src/CANdler.c
+++ b/CANine/Application/Src/CANdler.c
@@ -11,8 +11,8 @@
 #include "StateData.h"
 #include "bitManipulations.h"
 
-void ECU_CAN_MessageHandler(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){
-
-    }
+void ECU_CAN_MessageHandler(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) {
+	}
 }

From bdd3b5da74864614672a4b94cdfc29a6ec084457 Mon Sep 17 00:00:00 2001
From: Daniel Hansen <dchansen06@gmail.com>
Date: Sun, 12 Apr 2026 22:58:10 -0700
Subject: [PATCH 19/34] Remove VCP (no support)

Signed-off-by: Daniel Hansen <dchansen06@gmail.com>
---
 CANine/Core/Src/main.c | 17 +----------------
 1 file changed, 1 insertion(+), 16 deletions(-)

diff --git a/CANine/Core/Src/main.c b/CANine/Core/Src/main.c
index dc1185477..2a26c30f7 100644
--- a/CANine/Core/Src/main.c
+++ b/CANine/Core/Src/main.c
@@ -25,7 +25,6 @@
 
 #include "Logomatic.h"
 #include "can.h"
-#include "vcp.h"
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -74,19 +73,6 @@ LogomaticConfig logomaticConfig = {.clock_source = LOGOMATIC_PCLK1,
 				   .tx_fifo_threshold = LOGOMATIC_FIFOTHRESHOLD_1_8,
 				   .rx_fifo_threshold = LOGOMATIC_FIFOTHRESHOLD_1_8};
 
-VCP_Config vcp_config = {.baud_rate = 4000000,
-			 .clock_source = VCP_CLOCK_PCLK,
-			 .gpio_tx_rx_pin_mask = LL_GPIO_PIN_2 | LL_GPIO_PIN_3,
-			 .bus_port = VCP_Port_A,
-			 .parity = VCP_Parity_None,
-			 .prescaler = VCP_Prescalar_Div1,
-			 .stop_bits = VCP_StopBits_1,
-			 .oversampling = VCP_Oversampling_16,
-			 .tx_fifo_threshold = VCP_Threshold_1_8,
-			 .rx_fifo_threshold = VCP_Threshold_1_8,
-			 .usart_instance = USART2,
-			 .alternate_function = LL_GPIO_AF_7};
-
 static CANHandle *can1;
 
 void CAN1_rx_callback(uint32_t ID, void *data, uint32_t size)
@@ -225,7 +211,6 @@ int main(void)
 
 	/* USER CODE BEGIN SysInit */
 	Setup_Logomatic(&logomaticConfig);
-	Setup_VCP(&vcp_config);
 
 	// LOGOMATIC("Logomatic initialization complete\n");
 	// VCP_Send((uint8_t *)"VCP initialization complete\n", 29);
@@ -244,7 +229,7 @@ int main(void)
 		/* USER CODE END WHILE */
 
 		/* USER CODE BEGIN 3 */
-		// LOGOMATIC("Hello, LOGOMATIC! Great to be here\n");
+		LOGOMATIC("Hello, LOGOMATIC! Great to be here\n");
 		// VCP_Send((uint8_t *)"Hello, VCP! Great to be here\n", 30);
 
 		LL_mDelay(750);

From fb858379f477e829a1cf918b17ef6ab0fbf362a5 Mon Sep 17 00:00:00 2001
From: Daniel Hansen <dchansen06@gmail.com>
Date: Sun, 12 Apr 2026 23:33:58 -0700
Subject: [PATCH 20/34] Cleanup CANine and setup loopback testing for debugging

Signed-off-by: Daniel Hansen <dchansen06@gmail.com>
---
 CANine/Application/Inc/CANdler.h    |  6 ++
 CANine/Application/Src/CANdler.c    | 15 ++---
 CANine/CMakeLists.txt               |  9 ++-
 CANine/Core/Inc/fdcan.h             | 51 -----------------
 CANine/Core/Src/main.c              | 49 ++++++++++++----
 CANine/Core/Src/stm32g4xx_hal_msp.c | 86 -----------------------------
 6 files changed, 57 insertions(+), 159 deletions(-)
 create mode 100644 CANine/Application/Inc/CANdler.h
 delete mode 100644 CANine/Core/Inc/fdcan.h
 delete mode 100644 CANine/Core/Src/stm32g4xx_hal_msp.c

diff --git a/CANine/Application/Inc/CANdler.h b/CANine/Application/Inc/CANdler.h
new file mode 100644
index 000000000..fda166893
--- /dev/null
+++ b/CANine/Application/Inc/CANdler.h
@@ -0,0 +1,6 @@
+#include <stdint.h>
+
+#ifndef CANDLER_H
+#define CANDLER_H
+void LoopbackTest(uint32_t ID, void *data, uint32_t size);
+#endif
diff --git a/CANine/Application/Src/CANdler.c b/CANine/Application/Src/CANdler.c
index b2fe07df9..e81a7b152 100644
--- a/CANine/Application/Src/CANdler.c
+++ b/CANine/Application/Src/CANdler.c
@@ -2,17 +2,14 @@
 
 #include <stdint.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 "Pinging.h"
-#include "StateData.h"
-#include "bitManipulations.h"
 
-void ECU_CAN_MessageHandler(GRCAN_BUS_ID bus_id, GRCAN_MSG_ID msg_id, GRCAN_NODE_ID sender_id, uint8_t *data, uint32_t data_length)
+void LoopbackTest(uint32_t ID, void *data, uint32_t size)
 {
-	switch (msg_id) {
+	uint8_t *bytes = (uint8_t *)data;
+	LOGOMATIC("Received CAN message with ID: 0x%lX, data: 0x", ID);
+	for (uint32_t i = 0; i < size; i++) {
+		LOGOMATIC("%02X", bytes[i]);
 	}
+	LOGOMATIC("\n");
 }
diff --git a/CANine/CMakeLists.txt b/CANine/CMakeLists.txt
index af31b3e17..7c8a029bf 100644
--- a/CANine/CMakeLists.txt
+++ b/CANine/CMakeLists.txt
@@ -30,16 +30,19 @@ add_library(${GR_PROJECT_NAME}_USER_CODE INTERFACE)
 target_sources(
 	${GR_PROJECT_NAME}_USER_CODE
 	INTERFACE
+		# Core
 		Core/Src/main.c
 		Core/Src/stm32g4xx_it.c
-		Core/Src/stm32g4xx_hal_msp.c
+		# Application
+		Application/Src/CANdler.c
 )
 
 target_link_libraries(
 	${GR_PROJECT_NAME}_USER_CODE
 	INTERFACE
-		VCP_LIB
 		PERIPHERAL_CAN_LIB
+		CANfigurator
+		BitManipulations_Lib
 )
 
-target_include_directories(${GR_PROJECT_NAME}_USER_CODE INTERFACE Core/Inc)
+target_include_directories(${GR_PROJECT_NAME}_USER_CODE INTERFACE Core/Inc Application/Inc)
diff --git a/CANine/Core/Inc/fdcan.h b/CANine/Core/Inc/fdcan.h
deleted file mode 100644
index 8a144ca5e..000000000
--- a/CANine/Core/Inc/fdcan.h
+++ /dev/null
@@ -1,51 +0,0 @@
-/* USER CODE BEGIN Header */
-/**
- ******************************************************************************
- * @file    fdcan.h
- * @brief   This file contains all the function prototypes for
- *          the fdcan.c file
- ******************************************************************************
- * @attention
- *
- * Copyright (c) 2025 STMicroelectronics.
- * All rights reserved.
- *
- * This software is licensed under terms that can be found in the LICENSE file
- * in the root directory of this software component.
- * If no LICENSE file comes with this software, it is provided AS-IS.
- *
- ******************************************************************************
- */
-/* USER CODE END Header */
-/* Define to prevent recursive inclusion -------------------------------------*/
-#ifndef __FDCAN_H__
-#define __FDCAN_H__
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/* Includes ------------------------------------------------------------------*/
-#include "main.h"
-
-/* USER CODE BEGIN Includes */
-
-/* USER CODE END Includes */
-
-extern FDCAN_HandleTypeDef hfdcan1;
-
-/* USER CODE BEGIN Private defines */
-
-/* USER CODE END Private defines */
-
-void MX_FDCAN1_Init(void);
-
-/* USER CODE BEGIN Prototypes */
-
-/* USER CODE END Prototypes */
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* __FDCAN_H__ */
diff --git a/CANine/Core/Src/main.c b/CANine/Core/Src/main.c
index 2a26c30f7..ba32affe1 100644
--- a/CANine/Core/Src/main.c
+++ b/CANine/Core/Src/main.c
@@ -22,7 +22,10 @@
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
 #include <string.h>
-
+#include "CANdler.h"
+#include "GRCAN_MSG_DATA.h"
+#include "GRCAN_MSG_ID.h"
+#include "GRCAN_NODE_ID.h"
 #include "Logomatic.h"
 #include "can.h"
 /* USER CODE END Includes */
@@ -35,11 +38,18 @@
 /* Private define ------------------------------------------------------------*/
 /* USER CODE BEGIN PD */
 
+// TODO Comment and uncomment this line as relevant
+#define EXTERNAL_LOOPBACK_TEST
+
 /* USER CODE END PD */
 
 /* Private macro -------------------------------------------------------------*/
 /* USER CODE BEGIN PM */
-
+#ifdef EXTERNAL_LOOPBACK_TEST
+#pragma message("Testing with external loopback")
+#else
+#pragma message("Testing with external CAN bus")
+#endif
 /* USER CODE END PM */
 
 /* Private variables ---------------------------------------------------------*/
@@ -77,12 +87,11 @@ static CANHandle *can1;
 
 void CAN1_rx_callback(uint32_t ID, void *data, uint32_t size)
 {
-	UNUSED(ID);
-	UNUSED(data);
-	UNUSED(size);
-	// ECU_CAN_MessageHandler(&stateLump, GR_OLD_BUS_PRIMARY,
-	// 		       (0x000FFF00 & ID) >> 8, // TODO: Double check
-	// 		       (0xFF00000 & ID) >> 20, data, size);
+	#ifdef EXTERNAL_LOOPBACK_TEST
+	LoopbackTest(ID, data, size);
+	#else
+	// FIXME Put a call to the actual callback here
+	#endif
 }
 
 // CANConfig cfg1;
@@ -95,7 +104,11 @@ void CAN_Configure()
 	canCfg.hal_fdcan_init.ClockDivider = FDCAN_CLOCK_DIV1;
 	canCfg.hal_fdcan_init.FrameFormat = FDCAN_FRAME_FD_NO_BRS;
 	canCfg.hal_fdcan_init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;
+	#ifdef EXTERNAL_LOOPBACK_TEST
+	canCfg.hal_fdcan_init.Mode = FDCAN_MODE_EXTERNAL_LOOPBACK;
+	#else
 	canCfg.hal_fdcan_init.Mode = FDCAN_MODE_NORMAL;
+	#endif
 	canCfg.hal_fdcan_init.AutoRetransmission = ENABLE;
 	canCfg.hal_fdcan_init.TransmitPause = DISABLE;
 	canCfg.hal_fdcan_init.ProtocolException = ENABLE;
@@ -229,8 +242,24 @@ int main(void)
 		/* USER CODE END WHILE */
 
 		/* USER CODE BEGIN 3 */
-		LOGOMATIC("Hello, LOGOMATIC! Great to be here\n");
-		// VCP_Send((uint8_t *)"Hello, VCP! Great to be here\n", 30);
+		LOGOMATIC("Main loop iteration\n");
+
+		#ifdef EXTERNAL_LOOPBACK_TEST
+		LOGOMATIC("Sending CAN message in external loopback mode\n");
+		FDCANTxMessage sendECUMsg;
+		sendECUMsg.tx_header.Identifier = 0x12345678;
+		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 = FDCAN_DLC_BYTES_3;
+		sendECUMsg.tx_header.BitRateSwitch = FDCAN_BRS_OFF;
+		sendECUMsg.tx_header.TxEventFifoControl = FDCAN_NO_TX_EVENTS;
+		sendECUMsg.tx_header.MessageMarker = 0;
+		sendECUMsg.data[0] = 0xAB;
+		sendECUMsg.data[1] = 0xCD;
+		sendECUMsg.data[2] = 0xEF;
+		can_send(can1, &sendECUMsg);
+		#endif
 
 		LL_mDelay(750);
 	}
diff --git a/CANine/Core/Src/stm32g4xx_hal_msp.c b/CANine/Core/Src/stm32g4xx_hal_msp.c
deleted file mode 100644
index f266230dd..000000000
--- a/CANine/Core/Src/stm32g4xx_hal_msp.c
+++ /dev/null
@@ -1,86 +0,0 @@
-/* USER CODE BEGIN Header */
-/**
- ******************************************************************************
- * @file         stm32g4xx_hal_msp.c
- * @brief        This file provides code for the MSP Initialization
- *               and de-Initialization codes.
- ******************************************************************************
- * @attention
- *
- * Copyright (c) 2025 STMicroelectronics.
- * All rights reserved.
- *
- * This software is licensed under terms that can be found in the LICENSE file
- * in the root directory of this software component.
- * If no LICENSE file comes with this software, it is provided AS-IS.
- *
- ******************************************************************************
- */
-/* USER CODE END Header */
-
-/* Includes ------------------------------------------------------------------*/
-#include "main.h"
-/* USER CODE BEGIN Includes */
-
-/* USER CODE END Includes */
-
-/* Private typedef -----------------------------------------------------------*/
-/* USER CODE BEGIN TD */
-
-/* USER CODE END TD */
-
-/* Private define ------------------------------------------------------------*/
-/* USER CODE BEGIN Define */
-
-/* USER CODE END Define */
-
-/* Private macro -------------------------------------------------------------*/
-/* USER CODE BEGIN Macro */
-
-/* USER CODE END Macro */
-
-/* Private variables ---------------------------------------------------------*/
-/* USER CODE BEGIN PV */
-
-/* USER CODE END PV */
-
-/* Private function prototypes -----------------------------------------------*/
-/* USER CODE BEGIN PFP */
-
-/* USER CODE END PFP */
-
-/* External functions --------------------------------------------------------*/
-/* USER CODE BEGIN ExternalFunctions */
-
-/* USER CODE END ExternalFunctions */
-
-/* USER CODE BEGIN 0 */
-
-/* USER CODE END 0 */
-/**
- * Initializes the Global MSP.
- */
-void HAL_MspInit(void)
-{
-
-	/* USER CODE BEGIN MspInit 0 */
-
-	/* USER CODE END MspInit 0 */
-
-	__HAL_RCC_SYSCFG_CLK_ENABLE();
-	__HAL_RCC_PWR_CLK_ENABLE();
-
-	/* System interrupt init*/
-
-	/** Disable the internal Pull-Up in Dead Battery pins of UCPD peripheral
-	 */
-	HAL_PWREx_DisableUCPDDeadBattery();
-
-	/* USER CODE BEGIN MspInit 1 */
-
-	/* USER CODE END MspInit 1 */
-}
-
-/* USER CODE BEGIN 1 */
-
-/* USER CODE END 1 */

From 49823fc4e5cf3a486c10235c4a32e93408af924c Mon Sep 17 00:00:00 2001
From: github-actions <41898282+github-actions[bot]@users.noreply.github.com>
Date: Mon, 13 Apr 2026 06:35:09 +0000
Subject: [PATCH 21/34] Automatic CMake Format: Standardized formatting
 automatically

---
 CANine/CMakeLists.txt | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/CANine/CMakeLists.txt b/CANine/CMakeLists.txt
index 7c8a029bf..3884f59f2 100644
--- a/CANine/CMakeLists.txt
+++ b/CANine/CMakeLists.txt
@@ -45,4 +45,9 @@ target_link_libraries(
 		BitManipulations_Lib
 )
 
-target_include_directories(${GR_PROJECT_NAME}_USER_CODE INTERFACE Core/Inc Application/Inc)
+target_include_directories(
+	${GR_PROJECT_NAME}_USER_CODE
+	INTERFACE
+		Core/Inc
+		Application/Inc
+)

From 4b3241da6dd5e5206552b7107c037dd5f1593bf8 Mon Sep 17 00:00:00 2001
From: github-actions <41898282+github-actions[bot]@users.noreply.github.com>
Date: Mon, 13 Apr 2026 06:36:36 +0000
Subject: [PATCH 22/34] Automatic Clang-Format: Standardized formatting
 automatically

---
 CANine/Core/Src/main.c | 19 ++++++++++---------
 1 file changed, 10 insertions(+), 9 deletions(-)

diff --git a/CANine/Core/Src/main.c b/CANine/Core/Src/main.c
index ba32affe1..e305881ea 100644
--- a/CANine/Core/Src/main.c
+++ b/CANine/Core/Src/main.c
@@ -22,6 +22,7 @@
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
 #include <string.h>
+
 #include "CANdler.h"
 #include "GRCAN_MSG_DATA.h"
 #include "GRCAN_MSG_ID.h"
@@ -87,11 +88,11 @@ static CANHandle *can1;
 
 void CAN1_rx_callback(uint32_t ID, void *data, uint32_t size)
 {
-	#ifdef EXTERNAL_LOOPBACK_TEST
+#ifdef EXTERNAL_LOOPBACK_TEST
 	LoopbackTest(ID, data, size);
-	#else
-	// FIXME Put a call to the actual callback here
-	#endif
+#else
+// FIXME Put a call to the actual callback here
+#endif
 }
 
 // CANConfig cfg1;
@@ -104,11 +105,11 @@ void CAN_Configure()
 	canCfg.hal_fdcan_init.ClockDivider = FDCAN_CLOCK_DIV1;
 	canCfg.hal_fdcan_init.FrameFormat = FDCAN_FRAME_FD_NO_BRS;
 	canCfg.hal_fdcan_init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;
-	#ifdef EXTERNAL_LOOPBACK_TEST
+#ifdef EXTERNAL_LOOPBACK_TEST
 	canCfg.hal_fdcan_init.Mode = FDCAN_MODE_EXTERNAL_LOOPBACK;
-	#else
+#else
 	canCfg.hal_fdcan_init.Mode = FDCAN_MODE_NORMAL;
-	#endif
+#endif
 	canCfg.hal_fdcan_init.AutoRetransmission = ENABLE;
 	canCfg.hal_fdcan_init.TransmitPause = DISABLE;
 	canCfg.hal_fdcan_init.ProtocolException = ENABLE;
@@ -244,7 +245,7 @@ int main(void)
 		/* USER CODE BEGIN 3 */
 		LOGOMATIC("Main loop iteration\n");
 
-		#ifdef EXTERNAL_LOOPBACK_TEST
+#ifdef EXTERNAL_LOOPBACK_TEST
 		LOGOMATIC("Sending CAN message in external loopback mode\n");
 		FDCANTxMessage sendECUMsg;
 		sendECUMsg.tx_header.Identifier = 0x12345678;
@@ -259,7 +260,7 @@ int main(void)
 		sendECUMsg.data[1] = 0xCD;
 		sendECUMsg.data[2] = 0xEF;
 		can_send(can1, &sendECUMsg);
-		#endif
+#endif
 
 		LL_mDelay(750);
 	}

From 25b7bed31249743fe8ab1b059adf39ca9793ae3c Mon Sep 17 00:00:00 2001
From: krai19 <kr9stride@gmail.com>
Date: Mon, 13 Apr 2026 21:34:50 -0700
Subject: [PATCH 23/34] most updated CANdler.c file with LOGOMATIC statements

---
 CANine/Application/Src/CANdler.c | 205 ++++++++++++++++++++++++++++++-
 1 file changed, 204 insertions(+), 1 deletion(-)

diff --git a/CANine/Application/Src/CANdler.c b/CANine/Application/Src/CANdler.c
index e81a7b152..eae260afa 100644
--- a/CANine/Application/Src/CANdler.c
+++ b/CANine/Application/Src/CANdler.c
@@ -1,8 +1,26 @@
 #include "CANdler.h"
 
 #include <stdint.h>
-
+#include "GRCAN_MSG_DATA.h"
+#include "GRCAN_BUS_ID.h"
+#include "GRCAN_MSG_ID.h"
+#include "GRCAN_NODE_ID.h"
 #include "Logomatic.h"
+#include "bitManipulations.h"
+
+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 CAN Message length! Bus: %d, Msg: %X, Sender: %X\n", bus_id, msg_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 LoopbackTest(uint32_t ID, void *data, uint32_t size)
 {
@@ -13,3 +31,188 @@ void LoopbackTest(uint32_t ID, void *data, uint32_t size)
 	}
 	LOGOMATIC("\n");
 }
+
+void CAN_MessageHandler(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 GRCAN_DEBUG_2_0:
+			if (data_length > sizeof(GRCAN_DEBUG_2_0)) {
+				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 GRCAN_DEBUG_FD:
+			if (data_length > sizeof(GRCAN_DEBUG_FD)) {
+				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 GRCAN_DASH_CONFIG:
+			if (data_length > sizeof(GRCAN_DASH_CONFIG)) {
+				ReportBadMessageLength(bus_id, msg_id, sender_id);
+				break;
+			}
+			GRCAN_DASH_CONFIG_MSG * grcan_dash_config_msg = (GRCAN_DASH_CONFIG_MSG *) data;
+			LOGOMATIC("BMS: %s\n", GETBIT(grcan_dash_config_msg->led_bits, 0) ? "true" : "false");
+			LOGOMATIC("IMD %s\n", GETBIT(grcan_dash_config_msg->led_bits, 1) ? "true" : "false");
+			LOGOMATIC("BSPD %s\n", GETBIT(grcan_dash_config_msg->led_bits, 2) ? "true" : "false");
+			break;
+		case GRCAN_TCM_STATUS:
+			if (data_length > sizeof(GRCAN_TCM_STATUS_MSG)) {
+				ReportBadMessageLength(bus_id, msg_id, sender_id);
+				break;
+			}
+			GRCAN_TCM_STATUS_MSG * grcan_tcm_status_msg = (GRCAN_TCM_STATUS_MSG *)data;
+			LOGOMATIC("Connection Status: %s\n", GETBIT(grcan_tcm_status_msg->status_bits, 0) ? "OK" : "Timeout");
+			LOGOMATIC("MQTT Status: %s\n", GETBIT(grcan_tcm_status_msg->status_bits, 1) ? "OK" : "Timeout");
+			LOGOMATIC("Epic Shelter Status %s\n", GETBIT(grcan_tcm_status_msg->status_bits, 2) ? "In Progress" : "Idle");
+			LOGOMATIC("Camera Status %s\n", GETBIT(grcan_tcm_status_msg->status_bits, 3) ? "Recording" : "Idle");
+
+			LOGOMATIC("Mapache Ping: %u ms\n", grcan_tcm_status_msg->mapache_ping);
+			LOGOMATIC("Cache Size: %lu \n", grcan_tcm_status_msg->cache_size);
+
+			break;
+		case GRCAN_TCM_RESOURCE_UTILIZATION:
+			if (data_length > sizeof(GRCAN_TCM_RESOURCE_UTILIZATION_MSG)) {
+				ReportBadMessageLength(bus_id, msg_id, sender_id);
+				break;
+			}
+			GRCAN_TCM_RESOURCE_UTILIZATION_MSG * grcan_tcm_resource_utilization_msg = (GRCAN_TCM_RESOURCE_UTILIZATION_MSG *)data;
+			LOGOMATIC("Core 0 Frequency: %u MHz\n", grcan_tcm_resource_utilization_msg->cpu_0_freq);
+			LOGOMATIC("Core 0 Utilization: %u%%\n", grcan_tcm_resource_utilization_msg->cpu_0_util);
+			LOGOMATIC("Core 1 Frequency: %u MHz\n", grcan_tcm_resource_utilization_msg->cpu_1_freq);
+			LOGOMATIC("Core 1 Utilization: %u%%\n", grcan_tcm_resource_utilization_msg->cpu_1_util);
+			LOGOMATIC("Core 2 Frequency: %u MHz\n", grcan_tcm_resource_utilization_msg->cpu_2_freq);
+			LOGOMATIC("Core 2 Utilization: %u%%\n", grcan_tcm_resource_utilization_msg->cpu_2_util);
+			LOGOMATIC("Core 3 Frequency: %u MHz\n", grcan_tcm_resource_utilization_msg->cpu_3_freq);
+			LOGOMATIC("Core 3 Utilization: %u%%\n", grcan_tcm_resource_utilization_msg->cpu_3_util);
+			LOGOMATIC("Core 4 Frequency: %u MHz\n", grcan_tcm_resource_utilization_msg->cpu_4_freq);
+			LOGOMATIC("Core 4 Utilization: %u%%\n", grcan_tcm_resource_utilization_msg->cpu_4_util);
+			LOGOMATIC("Core 5 Frequency: %u MHz\n", grcan_tcm_resource_utilization_msg->cpu_5_freq);
+			LOGOMATIC("Core 5 Utilization: %u%%\n", grcan_tcm_resource_utilization_msg->cpu_5_util);
+			LOGOMATIC("Total CPU Utilization: %u%%\n", grcan_tcm_resource_utilization_msg->cpu_total_util);
+			LOGOMATIC("Total Memory: %u MB\n", grcan_tcm_resource_utilization_msg->ram_total);
+			LOGOMATIC("Used Memory: %u MB\n", grcan_tcm_resource_utilization_msg->ram_used);
+			LOGOMATIC("Memory Utilization: %u%%\n", grcan_tcm_resource_utilization_msg->ram_util);
+			LOGOMATIC("GPU Utilization: %u%%\n", grcan_tcm_resource_utilization_msg->gpu_util);
+			LOGOMATIC("GPU Frequency: %u MHz\n", grcan_tcm_resource_utilization_msg->gpu_freq);
+			LOGOMATIC("Total Disk Space: %lu MB\n", grcan_tcm_resource_utilization_msg->disk_total);
+			LOGOMATIC("Used Disk Space: %lu MB\n", grcan_tcm_resource_utilization_msg->disk_used);
+			LOGOMATIC("Disk Utilization: %u%%\n", grcan_tcm_resource_utilization_msg->disk_util);
+			LOGOMATIC("CPU Temp: %u ˚C\n", grcan_tcm_resource_utilization_msg->cpu_temp);
+			LOGOMATIC("GPU Temp: %u ˚C\n", grcan_tcm_resource_utilization_msg->gpu_temp);
+			LOGOMATIC("Voltage Draw: %u mV\n", grcan_tcm_resource_utilization_msg->voltage_draw);
+			LOGOMATIC("Current Draw: %u mA\n", grcan_tcm_resource_utilization_msg->current_draw);
+			LOGOMATIC("Power Draw: %u mW\n", grcan_tcm_resource_utilization_msg->power_draw);
+
+			break;
+		case GRCAN_ECU_ANALOG_DATA:
+			if (data_length > sizeof(GRCAN_ECU_ANALOG_DATA_MSG)) {
+				ReportBadMessageLength(bus_id, msg_id, sender_id);
+				break;
+			}
+			GRCAN_ECU_ANALOG_DATA_MSG * grcan_ecu_analog_data_msg = (GRCAN_ECU_ANALOG_DATA_MSG *)data;
+
+			LOGOMATIC("All of the following ECU Analog Signals are in the range of 4-20 mA: ");
+			LOGOMATIC("BSPD Signal: %u mA\n", grcan_ecu_analog_data_msg->bspd_signal);
+			LOGOMATIC("BSE Signal: %u mA\n", grcan_ecu_analog_data_msg->bse_signal);
+			LOGOMATIC("Apps 1 Signal: %u mA\n", grcan_ecu_analog_data_msg->apps_1_signal);
+			LOGOMATIC("Apps 2 Signal: %u mA\n", grcan_ecu_analog_data_msg->apps_2_signal);
+			LOGOMATIC("Brakeline F Signal: %u mA\n", grcan_ecu_analog_data_msg->brakeline_f_signal);
+			LOGOMATIC("Brakeline R Signal: %u mA\n", grcan_ecu_analog_data_msg->brakeline_r_signal);
+			LOGOMATIC("Steering Angle Signal: %u mA\n", grcan_ecu_analog_data_msg->steering_angle_signal);
+			LOGOMATIC("Aux Signal: %u mA\n", grcan_ecu_analog_data_msg->aux_signal);
+
+			break;
+		case GRCAN_GPS_LAT:
+			if (data_length > sizeof(GRCAN_GPS_LAT_MSG)) {
+				ReportBadMessageLength(bus_id, msg_id, sender_id);
+				break;
+			}
+			GRCAN_GPS_LAT_MSG * grcan_gps_lat_msg = (GRCAN_GPS_LAT_MSG *)data;
+
+			LOGOMATIC("Lattitude: %u \n", grcan_gps_lat_msg->lat);
+			break;
+		case GRCAN_GPS_LON:
+			if (data_length > sizeof(GRCAN_GPS_LON_MSG)) {
+				ReportBadMessageLength(bus_id, msg_id, sender_id);
+				break;
+			}
+			GRCAN_GPS_LON_MSG * grcan_gps_lon_msg = (GRCAN_GPS_LON_MSG *)data;
+
+			LOGOMATIC("Longitude: %u \n", grcan_gps_lon_msg->lon);
+			break;
+		case GRCAN_GPS_ALT:
+			if (data_length > sizeof(GRCAN_GPS_ALT_MSG)) {
+				ReportBadMessageLength(bus_id, msg_id, sender_id);
+				break;
+			}
+			GRCAN_GPS_ALT_MSG * grcan_gps_alt_msg = (GRCAN_GPS_ALT_MSG *)data;
+
+			LOGOMATIC("Altitude: %u \n", grcan_gps_alt_msg->alt);
+			break;
+		case GRCAN_GPS_PX:
+			if (data_length > sizeof(GRCAN_GPS_PX_MSG)) {
+				ReportBadMessageLength(bus_id, msg_id, sender_id);
+				break;
+			}
+			GRCAN_GPS_PX_MSG * grcan_gps_px_msg = (GRCAN_GPS_PX_MSG *)data;
+
+			LOGOMATIC("Theta: %u \n", grcan_gps_px_msg->theta);
+			LOGOMATIC("Acc: %u \n", grcan_gps_px_msg->acc);
+			LOGOMATIC("Status: %lu \n", grcan_gps_px_msg->status);
+
+			break;
+		case GRCAN_GPS_QY:
+			if (data_length > sizeof(GRCAN_GPS_QY_MSG)) {
+				ReportBadMessageLength(bus_id, msg_id, sender_id);
+				break;
+			}
+			GRCAN_GPS_QY_MSG * grcan_gps_qy_msg = (GRCAN_GPS_QY_MSG *)data;
+
+			LOGOMATIC("Theta: %u \n", grcan_gps_qy_msg->theta);
+			LOGOMATIC("Acc: %u \n", grcan_gps_qy_msg->acc);
+			LOGOMATIC("Status: %lu \n", grcan_gps_qy_msg->status);
+
+			break;
+		case GRCAN_GPS_RZ:
+			if (data_length > sizeof(GRCAN_GPS_RZ_MSG)) {
+				ReportBadMessageLength(bus_id, msg_id, sender_id);
+				break;
+			}
+			GRCAN_GPS_RZ_MSG * grcan_gps_rz_msg = (GRCAN_GPS_RZ_MSG *)data;
+
+			LOGOMATIC("Theta: %u \n", grcan_gps_rz_msg->theta);
+			LOGOMATIC("Acc: %u \n", grcan_gps_rz_msg->acc);
+			LOGOMATIC("Status: %lu \n", grcan_gps_rz_msg->status);
+
+			break;
+		case GRCAN_UVW_DGPS:
+			if (data_length > sizeof(GRCAN_UVW_DGPS_MSG)) {
+				ReportBadMessageLength(bus_id, msg_id, sender_id);
+				break;
+			}
+			GRCAN_UVW_DGPS_MSG * grcan_uvw_dgps_msg = (GRCAN_UVW_DGPS_MSG *)data;
+
+			LOGOMATIC("U: %u \n", grcan_uvw_dgps_msg->dgps_u);
+			LOGOMATIC("V: %u \n", grcan_uvw_dgps_msg->dgps_v);
+			LOGOMATIC("W: %u \n", grcan_uvw_dgps_msg->dgps_w);
+
+			break;
+		case GRCAN_ECU_PERFORMANCE:
+			if (data_length > sizeof(GRCAN_ECU_PERFORMANCE_MSG)) {
+				ReportBadMessageLength(bus_id, msg_id, sender_id);
+				break;
+			}
+			GRCAN_ECU_PERFORMANCE_MSG * grcan_ecu_performance_msg = (GRCAN_ECU_PERFORMANCE_MSG *)data;
+
+			LOGOMATIC("Total number of clock cycles elapsed for 10 iterations of the main loop: %lu \n", grcan_ecu_performance_msg->elapsed_cycles);
+
+			break;
+		default:
+			ReportUnhandledMessage(bus_id, msg_id, sender_id);
+			break;
+	}
+}

From 9589bbbf613d7dd1498d1dd7e15ed4c1b9056654 Mon Sep 17 00:00:00 2001
From: CrolineCrois <maoninii@gmail.com>
Date: Mon, 13 Apr 2026 22:07:01 -0700
Subject: [PATCH 24/34] all

---
 CANine/Application/Inc/CANdler.h | 9 +++++++++
 CANine/Core/Src/main.c           | 2 +-
 2 files changed, 10 insertions(+), 1 deletion(-)

diff --git a/CANine/Application/Inc/CANdler.h b/CANine/Application/Inc/CANdler.h
index fda166893..2316ce77a 100644
--- a/CANine/Application/Inc/CANdler.h
+++ b/CANine/Application/Inc/CANdler.h
@@ -1,6 +1,15 @@
 #include <stdint.h>
+#include "GRCAN_MSG_DATA.h"
+#include "GRCAN_MSG_ID.h"
+#include "GRCAN_BUS_ID.h"
+#include "GRCAN_NODE_ID.h"
 
 #ifndef CANDLER_H
 #define CANDLER_H
+void ReportBadMessageLength(GRCAN_BUS_ID bus_id, GRCAN_MSG_ID msg_id, GRCAN_NODE_ID sender_id);
+void ReportUnhandledMessage(GRCAN_BUS_ID bus_id, GRCAN_MSG_ID msg_id, GRCAN_NODE_ID sender_id);
 void LoopbackTest(uint32_t ID, void *data, uint32_t size);
+void CAN_MessageHandler(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/CANine/Core/Src/main.c b/CANine/Core/Src/main.c
index e305881ea..afcc8adde 100644
--- a/CANine/Core/Src/main.c
+++ b/CANine/Core/Src/main.c
@@ -91,7 +91,7 @@ void CAN1_rx_callback(uint32_t ID, void *data, uint32_t size)
 #ifdef EXTERNAL_LOOPBACK_TEST
 	LoopbackTest(ID, data, size);
 #else
-// FIXME Put a call to the actual callback here
+    CAN_MessageHandler(GRCAN_BUS_PRIMARY, (0x000FFF00 & ID) >> 8, (0xFF00000 & ID) >> 20, (uint8_t*)data, size);
 #endif
 }
 

From 0cafac453c0132361435cc99217b3cc960123701 Mon Sep 17 00:00:00 2001
From: CrolineCrois <maoninii@gmail.com>
Date: Mon, 13 Apr 2026 22:32:12 -0700
Subject: [PATCH 25/34] send msg for test

---
 CANine/Core/Src/main.c | 16 ++++++++++++++--
 1 file changed, 14 insertions(+), 2 deletions(-)

diff --git a/CANine/Core/Src/main.c b/CANine/Core/Src/main.c
index afcc8adde..8a24d8e69 100644
--- a/CANine/Core/Src/main.c
+++ b/CANine/Core/Src/main.c
@@ -40,7 +40,7 @@
 /* USER CODE BEGIN PD */
 
 // TODO Comment and uncomment this line as relevant
-#define EXTERNAL_LOOPBACK_TEST
+// #define EXTERNAL_LOOPBACK_TEST
 
 /* USER CODE END PD */
 
@@ -244,9 +244,10 @@ int main(void)
 
 		/* USER CODE BEGIN 3 */
 		LOGOMATIC("Main loop iteration\n");
+		sendMSG();
 
 #ifdef EXTERNAL_LOOPBACK_TEST
-		LOGOMATIC("Sending CAN message in external loopback mode\n");
+	LOGOMATIC("Sending CAN message in external loopback mode\n");
 		FDCANTxMessage sendECUMsg;
 		sendECUMsg.tx_header.Identifier = 0x12345678;
 		sendECUMsg.tx_header.IdType = FDCAN_EXTENDED_ID;
@@ -260,6 +261,7 @@ int main(void)
 		sendECUMsg.data[1] = 0xCD;
 		sendECUMsg.data[2] = 0xEF;
 		can_send(can1, &sendECUMsg);
+
 #endif
 
 		LL_mDelay(750);
@@ -267,6 +269,16 @@ int main(void)
 	/* USER CODE END 3 */
 }
 
+void sendMSG(){
+		LOGOMATIC("Sending CAN message in external loopback mode\n");
+		GRCAN_GPS_QY_MSG testDashConfig;
+		testDashConfig.theta = "hi";
+		testDashConfig.acc = "yo";
+		testDashConfig.acc = "cora";
+		can_send(can1, &testDashConfig);
+
+	}
+
 /**
  * @brief System Clock Configuration
  * @retval None

From 9c597e9a3a73be3d2f1c57d1ce12ce6dc94f0bf9 Mon Sep 17 00:00:00 2001
From: krai19 <kr9stride@gmail.com>
Date: Mon, 13 Apr 2026 23:28:53 -0700
Subject: [PATCH 26/34] sendMSG implementation working better

---
 CANine/Core/Src/main.c | 67 ++++++++++++++++++++++++++----------------
 1 file changed, 42 insertions(+), 25 deletions(-)

diff --git a/CANine/Core/Src/main.c b/CANine/Core/Src/main.c
index 8a24d8e69..43817f5b3 100644
--- a/CANine/Core/Src/main.c
+++ b/CANine/Core/Src/main.c
@@ -40,7 +40,7 @@
 /* USER CODE BEGIN PD */
 
 // TODO Comment and uncomment this line as relevant
-// #define EXTERNAL_LOOPBACK_TEST
+#define EXTERNAL_LOOPBACK_TEST
 
 /* USER CODE END PD */
 
@@ -95,6 +95,27 @@ void CAN1_rx_callback(uint32_t ID, void *data, uint32_t size)
 #endif
 }
 
+void sendMSG(){
+		FDCANTxMessage sendECUMsg;
+
+		sendECUMsg.tx_header.Identifier = (0x000FFF00 & GRCAN_GPS_RZ) >> 8;
+		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 = FDCAN_DLC_BYTES_8;
+		sendECUMsg.tx_header.BitRateSwitch = FDCAN_BRS_OFF;
+		sendECUMsg.tx_header.TxEventFifoControl = FDCAN_NO_TX_EVENTS;
+		sendECUMsg.tx_header.MessageMarker = 0;
+
+		GRCAN_GPS_RZ_MSG message = {.theta = 0xABCD, .acc = 0x1234, .status = 0x12345678};
+
+		memcpy(sendECUMsg.data, &message, sizeof(message));
+
+		can_send(can1, &sendECUMsg);
+
+
+	}
+
 // CANConfig cfg1;
 void CAN_Configure()
 {
@@ -246,38 +267,34 @@ int main(void)
 		LOGOMATIC("Main loop iteration\n");
 		sendMSG();
 
-#ifdef EXTERNAL_LOOPBACK_TEST
-	LOGOMATIC("Sending CAN message in external loopback mode\n");
-		FDCANTxMessage sendECUMsg;
-		sendECUMsg.tx_header.Identifier = 0x12345678;
-		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 = FDCAN_DLC_BYTES_3;
-		sendECUMsg.tx_header.BitRateSwitch = FDCAN_BRS_OFF;
-		sendECUMsg.tx_header.TxEventFifoControl = FDCAN_NO_TX_EVENTS;
-		sendECUMsg.tx_header.MessageMarker = 0;
-		sendECUMsg.data[0] = 0xAB;
-		sendECUMsg.data[1] = 0xCD;
-		sendECUMsg.data[2] = 0xEF;
-		can_send(can1, &sendECUMsg);
+// #ifdef EXTERNAL_LOOPBACK_TEST
+// 	LOGOMATIC("Sending CAN message in external loopback mode\n");
+// 		FDCANTxMessage sendECUMsg;
 
-#endif
+// 		sendECUMsg.tx_header.Identifier = (0x000FFF00 & GRCAN_GPS_RZ) >> 8;
+// 		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 = FDCAN_DLC_BYTES_8;
+// 		sendECUMsg.tx_header.BitRateSwitch = FDCAN_BRS_OFF;
+// 		sendECUMsg.tx_header.TxEventFifoControl = FDCAN_NO_TX_EVENTS;
+// 		sendECUMsg.tx_header.MessageMarker = 0;
+
+// 		GRCAN_GPS_RZ_MSG message = {.theta = 0xABCD, .acc = 0x1234, .status = 0x12345678};
+
+// 		memcpy(sendECUMsg.data, &message, sizeof(message));
+
+// 		can_send(can1, &sendECUMsg);
+
+// #endif
 
 		LL_mDelay(750);
 	}
+
 	/* USER CODE END 3 */
 }
 
-void sendMSG(){
-		LOGOMATIC("Sending CAN message in external loopback mode\n");
-		GRCAN_GPS_QY_MSG testDashConfig;
-		testDashConfig.theta = "hi";
-		testDashConfig.acc = "yo";
-		testDashConfig.acc = "cora";
-		can_send(can1, &testDashConfig);
 
-	}
 
 /**
  * @brief System Clock Configuration

From 774561bda4c75de81fa6da640ade8afb3431c644 Mon Sep 17 00:00:00 2001
From: Nandini <nandinim.dharwadkar@gmail.com>
Date: Thu, 16 Apr 2026 22:50:12 -0700
Subject: [PATCH 27/34] make some changes so that internal loopback testing
 works now

---
 .vscode/launch.json | 43 ++++++++++++++++++++++---------------------
 1 file changed, 22 insertions(+), 21 deletions(-)

diff --git a/.vscode/launch.json b/.vscode/launch.json
index e51ff0935..992411427 100644
--- a/.vscode/launch.json
+++ b/.vscode/launch.json
@@ -19,7 +19,7 @@
 			"swoConfig": {
 				"enabled": true,
 				"cpuFrequency": 170000000,
-				"swoFrequency": 2000000,
+				"swoFrequency": 500000,
 				"source": "probe",
 				"decoders": [
 					{
@@ -50,7 +50,7 @@
 			"swoConfig": {
 				"enabled": true,
 				"cpuFrequency": 170000000,
-				"swoFrequency": 2000000,
+				"swoFrequency": 500000,
 				"source": "probe",
 				"decoders": [
 					{
@@ -81,7 +81,7 @@
 			"swoConfig": {
 				"enabled": true,
 				"cpuFrequency": 170000000,
-				"swoFrequency": 2000000,
+				"swoFrequency": 500000,
 				"source": "probe",
 				"decoders": [
 					{
@@ -112,7 +112,7 @@
 			"swoConfig": {
 				"enabled": true,
 				"cpuFrequency": 170000000,
-				"swoFrequency": 2000000,
+				"swoFrequency": 500000,
 				"source": "probe",
 				"decoders": [
 					{
@@ -132,6 +132,7 @@
 			"request": "launch",
 			"type": "cortex-debug",
 			"servertype": "openocd",
+			"runToEntryPoint": "main",
 			"configFiles": [
 				"interface/stlink.cfg",
 				"target/stm32g4x.cfg"
@@ -143,7 +144,7 @@
 			"swoConfig": {
 				"enabled": true,
 				"cpuFrequency": 170000000,
-				"swoFrequency": 2000000,
+				"swoFrequency": 500000,
 				"source": "probe",
 				"decoders": [
 					{
@@ -174,7 +175,7 @@
 			"swoConfig": {
 				"enabled": true,
 				"cpuFrequency": 160000000,
-				"swoFrequency": 2000000,
+				"swoFrequency": 500000,
 				"source": "probe",
 				"decoders": [
 					{
@@ -205,7 +206,7 @@
 			"swoConfig": {
 				"enabled": true,
 				"cpuFrequency": 170000000,
-				"swoFrequency": 2000000,
+				"swoFrequency": 500000,
 				"source": "probe",
 				"decoders": [
 					{
@@ -236,7 +237,7 @@
 			"swoConfig": {
 				"enabled": true,
 				"cpuFrequency": 170000000,
-				"swoFrequency": 2000000,
+				"swoFrequency": 500000,
 				"source": "probe",
 				"decoders": [
 					{
@@ -267,7 +268,7 @@
 			"swoConfig": {
 				"enabled": true,
 				"cpuFrequency": 170000000,
-				"swoFrequency": 2000000,
+				"swoFrequency": 500000,
 				"source": "probe",
 				"decoders": [
 					{
@@ -329,7 +330,7 @@
 			"swoConfig": {
 				"enabled": true,
 				"cpuFrequency": 80000000,
-				"swoFrequency": 2000000,
+				"swoFrequency": 500000,
 				"source": "probe",
 				"decoders": [
 					{
@@ -393,7 +394,7 @@
 			"swoConfig": {
 				"enabled": true,
 				"cpuFrequency": 170000000,
-				"swoFrequency": 2000000,
+				"swoFrequency": 500000,
 				"source": "probe",
 				"decoders": [
 					{
@@ -424,7 +425,7 @@
 			"swoConfig": {
 				"enabled": true,
 				"cpuFrequency": 170000000,
-				"swoFrequency": 2000000,
+				"swoFrequency": 500000,
 				"source": "probe",
 				"decoders": [
 					{
@@ -455,7 +456,7 @@
 			"swoConfig": {
 				"enabled": true,
 				"cpuFrequency": 170000000,
-				"swoFrequency": 2000000,
+				"swoFrequency": 500000,
 				"source": "probe",
 				"decoders": [
 					{
@@ -486,7 +487,7 @@
 			"swoConfig": {
 				"enabled": true,
 				"cpuFrequency": 170000000,
-				"swoFrequency": 2000000,
+				"swoFrequency": 500000,
 				"source": "probe",
 				"decoders": [
 					{
@@ -517,7 +518,7 @@
 			"swoConfig": {
 				"enabled": true,
 				"cpuFrequency": 170000000,
-				"swoFrequency": 2000000,
+				"swoFrequency": 500000,
 				"source": "probe",
 				"decoders": [
 					{
@@ -548,7 +549,7 @@
 			"swoConfig": {
 				"enabled": true,
 				"cpuFrequency": 170000000,
-				"swoFrequency": 2000000,
+				"swoFrequency": 500000,
 				"source": "probe",
 				"decoders": [
 					{
@@ -579,7 +580,7 @@
 			"swoConfig": {
 				"enabled": true,
 				"cpuFrequency": 170000000,
-				"swoFrequency": 2000000,
+				"swoFrequency": 500000,
 				"source": "probe",
 				"decoders": [
 					{
@@ -610,7 +611,7 @@
 			"swoConfig": {
 				"enabled": true,
 				"cpuFrequency": 170000000,
-				"swoFrequency": 2000000,
+				"swoFrequency": 500000,
 				"source": "probe",
 				"decoders": [
 					{
@@ -641,7 +642,7 @@
 			"swoConfig": {
 				"enabled": true,
 				"cpuFrequency": 170000000,
-				"swoFrequency": 2000000,
+				"swoFrequency": 500000,
 				"source": "probe",
 				"decoders": [
 					{
@@ -672,7 +673,7 @@
 			"swoConfig": {
 				"enabled": true,
 				"cpuFrequency": 170000000,
-				"swoFrequency": 2000000,
+				"swoFrequency": 500000,
 				"source": "probe",
 				"decoders": [
 					{
@@ -703,7 +704,7 @@
 			"swoConfig": {
 				"enabled": true,
 				"cpuFrequency": 170000000,
-				"swoFrequency": 2000000,
+				"swoFrequency": 500000,
 				"source": "probe",
 				"decoders": [
 					{

From 69fe9c46748cdf72ad55c76514d9008e941edccb Mon Sep 17 00:00:00 2001
From: krai19 <kr9stride@gmail.com>
Date: Thu, 30 Apr 2026 20:34:39 -0700
Subject: [PATCH 28/34] working version

---
 .vscode/settings.json  |  3 ++-
 CANine/Core/Src/main.c | 24 +++++++-----------------
 2 files changed, 9 insertions(+), 18 deletions(-)

diff --git a/.vscode/settings.json b/.vscode/settings.json
index 2370caa0c..5e71e685a 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -23,5 +23,6 @@
 	"files.trimFinalNewlines": true,
 	"files.trimTrailingWhitespace": true,
 	"files.eol": "\n",
-	"cmake.useCMakePresets": "always"
+	"cmake.useCMakePresets": "always",
+	"C_Cpp.errorSquiggles": "disabled"
 }
diff --git a/CANine/Core/Src/main.c b/CANine/Core/Src/main.c
index 43817f5b3..86e5b1118 100644
--- a/CANine/Core/Src/main.c
+++ b/CANine/Core/Src/main.c
@@ -1,15 +1,5 @@
-/* USER CODE BEGIN Header */
-/**
- ******************************************************************************
- * @file           : main.c
- * @brief          : Main program body
- ******************************************************************************
- * @attention
- *
- * Copyright (c) 2025 STMicroelectronics.
- * All rights reserved.
- *
- * This software is licensed under terms that can be found in the LICENSE file
+
+ /* This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
@@ -88,17 +78,17 @@ static CANHandle *can1;
 
 void CAN1_rx_callback(uint32_t ID, void *data, uint32_t size)
 {
-#ifdef EXTERNAL_LOOPBACK_TEST
-	LoopbackTest(ID, data, size);
-#else
+//#ifdef EXTERNAL_LOOPBACK_TEST
+//	LoopbackTest(ID, data, size);
+//#else
     CAN_MessageHandler(GRCAN_BUS_PRIMARY, (0x000FFF00 & ID) >> 8, (0xFF00000 & ID) >> 20, (uint8_t*)data, size);
-#endif
+//#endif
 }
 
 void sendMSG(){
 		FDCANTxMessage sendECUMsg;
 
-		sendECUMsg.tx_header.Identifier = (0x000FFF00 & GRCAN_GPS_RZ) >> 8;
+		sendECUMsg.tx_header.Identifier = (GRCAN_DGPS << 20) | (GRCAN_GPS_RZ << 8) | GRCAN_Debugger;
 		sendECUMsg.tx_header.IdType = FDCAN_EXTENDED_ID;
 		sendECUMsg.tx_header.TxFrameType = FDCAN_DATA_FRAME;
 		sendECUMsg.tx_header.ErrorStateIndicator = FDCAN_ESI_ACTIVE;

From 3316be305a7573032dbd138907d092fab46adb62 Mon Sep 17 00:00:00 2001
From: krai19 <kr9stride@gmail.com>
Date: Thu, 7 May 2026 20:45:03 -0700
Subject: [PATCH 29/34] candler completed draft 1

---
 CANine/Application/Src/CANdler.c | 264 ++++++++++++++++++++++++++++++-
 CANine/Core/Src/main.c           |  33 +++-
 2 files changed, 287 insertions(+), 10 deletions(-)

diff --git a/CANine/Application/Src/CANdler.c b/CANine/Application/Src/CANdler.c
index eae260afa..0aae99884 100644
--- a/CANine/Application/Src/CANdler.c
+++ b/CANine/Application/Src/CANdler.c
@@ -1,5 +1,5 @@
 #include "CANdler.h"
-
+#include "StateMachine.h"
 #include <stdint.h>
 #include "GRCAN_MSG_DATA.h"
 #include "GRCAN_BUS_ID.h"
@@ -18,7 +18,7 @@ void ReportBadMessageLength(GRCAN_BUS_ID bus_id, GRCAN_MSG_ID msg_id, GRCAN_NODE
 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);
+	LOGOMATIC("Unhandled CANine CAN Rx msg! Bus: %d, Msg: %X, Sender: %X\n", bus_id, msg_id, sender_id);
 }
 
 
@@ -35,22 +35,273 @@ void LoopbackTest(uint32_t ID, void *data, uint32_t size)
 void CAN_MessageHandler(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 GRCAN_DEBUG_2_0:
-			if (data_length > sizeof(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 GRCAN_DEBUG_FD:
-			if (data_length > sizeof(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 GRCAN_PING:
+			if (data_length > sizeof(GRCAN_PING_MSG)) {
+				ReportBadMessageLength(bus_id, msg_id, sender_id);
+				break;
+			}
+        	GRCAN_PING_MSG * grcan_ping_msg = (GRCAN_PING_MSG *) data;
+			LOGOMATIC("Time in millis: %u", grcan_ping_msg->timestamp);
+        	break;
+		case GRCAN_ECU_STATUS_1:
+			if (data_length > sizeof(GRCAN_ECU_STATUS_1_MSG)) {
+				ReportBadMessageLength(bus_id, msg_id, sender_id);
+				break;
+			}
+			GRCAN_ECU_STATUS_1_MSG * grcan_ecu_status_1_msg = (GRCAN_ECU_STATUS_1_MSG *) data;
+			switch (grcan_ecu_status_1_msg->ecu_state) {
+				case GR_GLV_OFF:
+					LOGOMATIC("Current ECU State: GR_GLV_OFF \n");
+					break;
+				case GR_GLV_ON:
+					LOGOMATIC("Current ECU State: GR_GLV_ON \n");
+					break;
+				case GR_PRECHARGE_ENGAGED:
+					LOGOMATIC("Current ECU State: GR_PRECHARGE_ENGAGED \n");
+					break;
+				case GR_PRECHARGE_COMPLETE:
+					LOGOMATIC("Current ECU State: GR_PRECHARGE_COMPLETE \n");
+					break;
+				case GR_DRIVE_ACTIVE:
+					LOGOMATIC("Current ECU State: GR_DRIVE_ACTIVE \n");
+					break;
+				case GR_TS_DISCHARGE:
+					LOGOMATIC("Current ECU State: GR_TS_DISCHARGE \n");
+					break;
+				default:
+					LOGOMATIC("Current ECU State: None found \n");
+					break;
+			}
+
+			LOGOMATIC("BCU Node Status: %s\n", GETBIT(grcan_ecu_status_1_msg->status_flags, 0) ? "OK" : "Timeout");
+			LOGOMATIC("GR Inverter Status: %s\n", GETBIT(grcan_ecu_status_1_msg->status_flags, 1) ? "OK" : "Timeout");
+			LOGOMATIC("Fan Controller 1 Status: %s\n", GETBIT(grcan_ecu_status_1_msg->status_flags, 2) ? "OK" : "Timeout");
+			LOGOMATIC("Fan Controller 2 Status: %s\n", GETBIT(grcan_ecu_status_1_msg->status_flags, 3) ? "OK" : "Timeout");
+			LOGOMATIC("Fan Controller 3 Status: %s\n", GETBIT(grcan_ecu_status_1_msg->status_flags, 4) ? "OK" : "Timeout");
+			LOGOMATIC("Dash Panel Status: %s\n", GETBIT(grcan_ecu_status_1_msg->status_flags, 5) ? "OK" : "Timeout");
+			LOGOMATIC("TCM Node Status: %s\n", GETBIT(grcan_ecu_status_1_msg->status_flags, 6) ? "OK" : "Timeout");
+
+			//What is this value?????
+			LOGOMATIC("Power Level Torque Map: \n");
+
+			LOGOMATIC("Max Cell Temperature: %u\n", grcan_ecu_status_1_msg->max_cell_temp);
+			LOGOMATIC("Percent of accumlator charged: %u\n", grcan_ecu_status_1_msg->accumulator_state_of_charge);
+			LOGOMATIC("Percent of Low Voltage Bat charged: %u\n", grcan_ecu_status_1_msg->glv_state_of_charge);
+			LOGOMATIC("Output terminal voltage of accumulator: %u\n", grcan_ecu_status_1_msg->tractive_system_voltage);
+			break;
+		case GRCAN_ECU_STATUS_2:
+			if (data_length > sizeof(GRCAN_ECU_STATUS_2_MSG)) {
+				ReportBadMessageLength(bus_id, msg_id, sender_id);
+				break;
+			}
+			GRCAN_ECU_STATUS_2_MSG * grcan_ecu_status_2_msg = (GRCAN_ECU_STATUS_2_MSG *)data;
+			LOGOMATIC("Absolute value of speed: %u\n", grcan_ecu_status_2_msg->vehicle_speed);
+			LOGOMATIC("FR Wheel RPM: %u\n", grcan_ecu_status_2_msg->fr_wheel_rpm);
+			LOGOMATIC("FL Wheel RPM: %u\n", grcan_ecu_status_2_msg->fl_wheel_rpm);
+			LOGOMATIC("RR Wheel RPM: %u\n", grcan_ecu_status_2_msg->rr_wheel_rpm);
+			break;
+
+
+
+
+
+
+
+		// case GRCAN_ECU_STATUS_3:
+		// 	if (data_length > sizeof(GRCAN_ECU_STATUS_3_MSG)) {
+		// 		ReportBadMessageLength(bus_id, msg_id, sender_id);
+		// 		break;
+		// 	}
+		// 	GRCAN_ECU_STATUS_3_MSG * grcan_ecu_status_3 = (GRCAN_ECU_STATUS_3_MSG *)data;
+		// 	LOGOMATIC("Wheel RPM: %u\n", grcan_ecu_status_3->rl_wheel_rpm);
+		// 	break;
+		// //what to do about this?
+		// case GRCAN_ECU_CONFIG:
+		// 	if (data_length > sizeof(GRCAN_ECU_CONFIG_MSG)) {
+		// 		ReportBadMessageLength(bus_id, msg_id, sender_id);
+		// 		break;
+		// 	}
+		// 	GRCAN_ECU_CONFIG_MSG * grcan_ecu_config = (GRCAN_ECU_CONFIG_MSG *)data;
+		// 	break;
+		// case GRCAN_BCU_CELL_DATA_1:
+        //     if (data_length > sizeof(GRCAN_BCU_CELL_DATA_1_MSG)) {
+        //         ReportBadMessageLength(bus_id, msg_id, sender_id);
+        //         break;
+        //     }
+        //     GRCAN_BCU_CELL_DATA_1_MSG * grcan_bcu_cell_data_1_msg = (GRCAN_BCU_CELL_DATA_1_MSG *)data;
+        //     for (int i = 0; i < 32; i++) {
+        //         LOGOMATIC("Cell %d - Voltage: %u, Temp: %u\n", i + 1, grcan_bcu_cell_data_1_msg->cells[i].voltage, grcan_bcu_cell_data_1_msg->cells[i].temperature);
+        //     }
+        //     break;
+
+        // case GRCAN_BCU_CELL_DATA_2:
+        //     if (data_length > sizeof(GRCAN_BCU_CELL_DATA_2_MSG)) {
+        //         ReportBadMessageLength(bus_id, msg_id, sender_id);
+        //         break;
+        //     }
+        //     GRCAN_BCU_CELL_DATA_2_MSG * grcan_bcu_cell_data_2_msg = (GRCAN_BCU_CELL_DATA_2_MSG *)data;
+        //     for (int i = 0; i < 32; i++) {
+        //         LOGOMATIC("Cell %d - Voltage: %u, Temp: %u\n", i + 33, grcan_bcu_cell_data_2_msg->cells[i].voltage, grcan_bcu_cell_data_2_msg->cells[i].temperature);
+        //     }
+        //     break;
+
+        // case GRCAN_BCU_CELL_DATA_3:
+        //     if (data_length > sizeof(GRCAN_BCU_CELL_DATA_3_MSG)) {
+        //         ReportBadMessageLength(bus_id, msg_id, sender_id);
+        //         break;
+        //     }
+        //     GRCAN_BCU_CELL_DATA_3_MSG * grcan_bcu_cell_data_3_msg = (GRCAN_BCU_CELL_DATA_3_MSG *)data;
+        //     for (int i = 0; i < 32; i++) {
+        //         LOGOMATIC("Cell %d - Voltage: %u, Temp: %u\n", i + 65, grcan_bcu_cell_data_3_msg->cells[i].voltage, grcan_bcu_cell_data_3_msg->cells[i].temperature);
+        //     }
+        //     break;
+
+        // case GRCAN_BCU_CELL_DATA_4:
+        //     if (data_length > sizeof(GRCAN_BCU_CELL_DATA_4_MSG)) {
+        //         ReportBadMessageLength(bus_id, msg_id, sender_id);
+        //         break;
+        //     }
+        //     GRCAN_BCU_CELL_DATA_4_MSG * grcan_bcu_cell_data_4_msg = (GRCAN_BCU_CELL_DATA_4_MSG *)data;
+        //     for (int i = 0; i < 32; i++) {
+        //         LOGOMATIC("Cell %d - Voltage: %u, Temp: %u\n", i + 97, grcan_bcu_cell_data_4_msg->cells[i].voltage, grcan_bcu_cell_data_4_msg->cells[i].temperature);
+        //     }
+        //     break;
+
+        // case GRCAN_BCU_CELL_DATA_5:
+        //     if (data_length > sizeof(GRCAN_BCU_CELL_DATA_5_MSG)) {
+        //         ReportBadMessageLength(bus_id, msg_id, sender_id);
+        //         break;
+        //     }
+        //     GRCAN_BCU_CELL_DATA_5_MSG * grcan_bcu_cell_data_5_msg = (GRCAN_BCU_CELL_DATA_5_MSG *)data;
+        //     for (int i = 0; i < 32; i++) {
+        //         LOGOMATIC("Cell %d - Voltage: %u, Temp: %u\n", i + 129, grcan_bcu_cell_data_5_msg->cells[i].voltage, grcan_bcu_cell_data_5_msg->cells[i].temperature);
+        //     }
+        //     break;
+
+        // case GRCAN_INVERTER_STATUS_1:
+        //     if (data_length > sizeof(GRCAN_INVERTER_STATUS_1_MSG)) {
+        //         ReportBadMessageLength(bus_id, msg_id, sender_id);
+        //         break;
+        //     }
+        //     GRCAN_INVERTER_STATUS_1_MSG * grcan_inverter_status_1_msg = (GRCAN_INVERTER_STATUS_1_MSG *)data;
+        //     LOGOMATIC("AC Current: %u (0.01 * current)\n", grcan_inverter_status_1_msg->ac_current);
+        //     LOGOMATIC("DC Current: %u (0.01 * current)\n", grcan_inverter_status_1_msg->dc_current);
+        //     LOGOMATIC("Motor RPM: %u (RPM)\n", grcan_inverter_status_1_msg->motor_rpm);
+        //     break;
+
+        // case GRCAN_INVERTER_STATUS_2:
+        //     if (data_length > sizeof(GRCAN_INVERTER_STATUS_2_MSG)) {
+        //         ReportBadMessageLength(bus_id, msg_id, sender_id);
+        //         break;
+        //     }
+        //     GRCAN_INVERTER_STATUS_2_MSG * grcan_inverter_status_2_msg = (GRCAN_INVERTER_STATUS_2_MSG *)data;
+        //     LOGOMATIC("U MOSFET Temp: %u (Celsius + 40)\n", grcan_inverter_status_2_msg->u_mosfet_temperature);
+        //     LOGOMATIC("V MOSFET Temp: %u (Celsius + 40)\n", grcan_inverter_status_2_msg->v_mosfet_temperature);
+        //     LOGOMATIC("W MOSFET Temp: %u (Celsius + 40)\n", grcan_inverter_status_2_msg->w_mosfet_temperature);
+        //     break;
+
+        // case GRCAN_INVERTER_STATUS_3:
+        //     if (data_length > sizeof(GRCAN_INVERTER_STATUS_3_MSG)) {
+        //         ReportBadMessageLength(bus_id, msg_id, sender_id);
+        //         break;
+        //     }
+        //     GRCAN_INVERTER_STATUS_3_MSG * grcan_inverter_status_3_msg = (GRCAN_INVERTER_STATUS_3_MSG *)data;
+        //     LOGOMATIC("Motor Temp: %u (Celsius + 40)\n", grcan_inverter_status_3_msg->motor_temperature);
+        //     LOGOMATIC("TS Over Max: %s\n", GETBIT(grcan_inverter_status_3_msg->fault_bits, 0) ? "FAIL" : "OK");
+        //     LOGOMATIC("TS Under Min: %s\n", GETBIT(grcan_inverter_status_3_msg->fault_bits, 1) ? "FAIL" : "OK");
+        //     LOGOMATIC("Inverter Over Temp: %s\n", GETBIT(grcan_inverter_status_3_msg->fault_bits, 2) ? "FAIL" : "OK");
+        //     LOGOMATIC("Motor Over Temp: %s\n", GETBIT(grcan_inverter_status_3_msg->fault_bits, 3) ? "FAIL" : "OK");
+        //     LOGOMATIC("Mosfet Drive Error: %s\n", GETBIT(grcan_inverter_status_3_msg->fault_bits, 4) ? "FAIL" : "OK");
+        //     LOGOMATIC("Encoder Error: %s\n", GETBIT(grcan_inverter_status_3_msg->fault_bits, 5) ? "FAIL" : "OK");
+        //     LOGOMATIC("CAN Error/Timeout: %s\n", GETBIT(grcan_inverter_status_3_msg->fault_bits, 6) ? "FAIL" : "OK");
+        //     break;
+
+        // case GRCAN_INVERTER_CONFIG:
+        //     if (data_length > sizeof(GRCAN_INVERTER_CONFIG_MSG)) {
+        //         ReportBadMessageLength(bus_id, msg_id, sender_id);
+        //         break;
+        //     }
+        //     GRCAN_INVERTER_CONFIG_MSG * grcan_inverter_config_msg = (GRCAN_INVERTER_CONFIG_MSG *)data;
+        //     LOGOMATIC("Max AC Current: %u\n", grcan_inverter_config_msg->max_ac_current);
+        //     LOGOMATIC("Max DC Current: %u\n", grcan_inverter_config_msg->max_dc_current);
+        //     LOGOMATIC("RPM Limit: %u (0: No limit)\n", grcan_inverter_config_msg->absolute_max_rpm_limit);
+        //     LOGOMATIC("Motor Direction: %s\n", (grcan_inverter_config_msg->motor_direction == 1) ? "Inverted" : "Normal");
+        //     break;
+
+        // case GRCAN_INVERTER_COMMAND:
+        //     if (data_length > sizeof(GRCAN_INVERTER_COMMAND_MSG)) {
+        //         ReportBadMessageLength(bus_id, msg_id, sender_id);
+        //         break;
+        //     }
+        //     GRCAN_INVERTER_COMMAND_MSG * grcan_inverter_command_msg = (GRCAN_INVERTER_COMMAND_MSG *)data;
+        //     LOGOMATIC("Set AC Current: %u\n", grcan_inverter_command_msg->set_ac_current);
+        //     LOGOMATIC("Set DC Current: %u\n", grcan_inverter_command_msg->set_dc_current);
+        //     LOGOMATIC("RPM Limit: %u\n", grcan_inverter_command_msg->rpm_limit);
+        //     LOGOMATIC("Field Weakening: %u\n", grcan_inverter_command_msg->field_weakening);
+        //     LOGOMATIC("Drive Enable: %s\n", (grcan_inverter_command_msg->drive_enable == 1) ? "ENABLED" : "DISABLED");
+        //     break;
+
+        // case GRCAN_FAN_STATUS:
+        //     if (data_length > sizeof(GRCAN_FAN_STATUS_MSG)) {
+        //         ReportBadMessageLength(bus_id, msg_id, sender_id);
+        //         break;
+        //     }
+        //     GRCAN_FAN_STATUS_MSG * grcan_fan_status_msg = (GRCAN_FAN_STATUS_MSG *)data;
+        //     LOGOMATIC("Fan Speed: %u RPM\n", grcan_fan_status_msg->fan_speed);
+        //     LOGOMATIC("Input Voltage: %u (0-22)\n", grcan_fan_status_msg->input_voltage);
+        //     LOGOMATIC("Input Current: %u (0-10)\n", grcan_fan_status_msg->input_current);
+        //     break;
+
+        // case GRCAN_FAN_COMMAND:
+        //     if (data_length > sizeof(GRCAN_FAN_COMMAND_MSG)) {
+        //         ReportBadMessageLength(bus_id, msg_id, sender_id);
+        //         break;
+        //     }
+        //     GRCAN_FAN_COMMAND_MSG * grcan_fan_command_msg = (GRCAN_FAN_COMMAND_MSG *)data;
+        //     LOGOMATIC("Fan Command: %u Percent\n", grcan_fan_command_msg->fan_command);
+        //     break;
+
+		// //is this correct
+        // case GRCAN_DASH_STATUS:
+        //     if (data_length > sizeof(GRCAN_DASH_STATUS_MSG)) {
+        //         ReportBadMessageLength(bus_id, msg_id, sender_id);
+        //         break;
+        //     }
+        //     GRCAN_DASH_STATUS_MSG * grcan_dash_status_msg = (GRCAN_DASH_STATUS_MSG *)data;
+        //     LOGOMATIC("TS Active: %s\n", GETBIT(grcan_dash_status_msg->button_flags, 0) ? "YES" : "NO");
+        //     LOGOMATIC("RTD: %s\n", GETBIT(grcan_dash_status_msg->button_flags, 1) ? "YES" : "NO");
+        //     LOGOMATIC("LED BMS: %s\n", GETBIT(grcan_dash_status_msg->led_bits, 0) ? "ON" : "OFF");
+        //     LOGOMATIC("LED IMD: %s\n", GETBIT(grcan_dash_status_msg->led_bits, 1) ? "ON" : "OFF");
+        //     LOGOMATIC("LED BSPD: %s\n", GETBIT(grcan_dash_status_msg->led_bits, 2) ? "ON" : "OFF");
+        //     break;
+
+
+
+
+
+
+
+
+
+
+
+
+
 		case GRCAN_DASH_CONFIG:
-			if (data_length > sizeof(GRCAN_DASH_CONFIG)) {
+			if (data_length > sizeof(GRCAN_DASH_CONFIG_MSG)) {
 				ReportBadMessageLength(bus_id, msg_id, sender_id);
 				break;
 			}
@@ -141,7 +392,6 @@ void CAN_MessageHandler(GRCAN_BUS_ID bus_id, GRCAN_MSG_ID msg_id, GRCAN_NODE_ID
 				break;
 			}
 			GRCAN_GPS_LON_MSG * grcan_gps_lon_msg = (GRCAN_GPS_LON_MSG *)data;
-
 			LOGOMATIC("Longitude: %u \n", grcan_gps_lon_msg->lon);
 			break;
 		case GRCAN_GPS_ALT:
diff --git a/CANine/Core/Src/main.c b/CANine/Core/Src/main.c
index 86e5b1118..2db015e89 100644
--- a/CANine/Core/Src/main.c
+++ b/CANine/Core/Src/main.c
@@ -12,7 +12,7 @@
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
 #include <string.h>
-
+#include "StateMachine.h"
 #include "CANdler.h"
 #include "GRCAN_MSG_DATA.h"
 #include "GRCAN_MSG_ID.h"
@@ -86,6 +86,35 @@ void CAN1_rx_callback(uint32_t ID, void *data, uint32_t size)
 }
 
 void sendMSG(){
+		FDCANTxMessage sendECUStatus1;
+
+		sendECUStatus1.tx_header.Identifier = (GRCAN_ECU << 20) | (GRCAN_ECU_STATUS_1 << 8) | GRCAN_Debugger;
+		sendECUStatus1.tx_header.IdType = FDCAN_EXTENDED_ID;
+		sendECUStatus1.tx_header.TxFrameType = FDCAN_DATA_FRAME;
+		sendECUStatus1.tx_header.ErrorStateIndicator = FDCAN_ESI_ACTIVE;
+		sendECUStatus1.tx_header.DataLength = FDCAN_DLC_BYTES_8;
+		sendECUStatus1.tx_header.BitRateSwitch = FDCAN_BRS_OFF;
+		sendECUStatus1.tx_header.TxEventFifoControl = FDCAN_NO_TX_EVENTS;
+		sendECUStatus1.tx_header.MessageMarker = 0;
+
+		GRCAN_ECU_STATUS_1_MSG ecu_status1_msg = {
+			.ecu_state = GR_DRIVE_ACTIVE,
+
+			.status_flags = 0x67,
+
+			.power_level_torque_map = 3,
+			.max_cell_temp = 35,
+			.accumulator_state_of_charge = 90,
+			.glv_state_of_charge = 95,
+			.tractive_system_voltage = 560
+
+		};
+
+		memcpy(sendECUStatus1.data, &ecu_status1_msg, sizeof(ecu_status1_msg));
+
+		can_send(can1, &sendECUStatus1);
+
+
 		FDCANTxMessage sendECUMsg;
 
 		sendECUMsg.tx_header.Identifier = (GRCAN_DGPS << 20) | (GRCAN_GPS_RZ << 8) | GRCAN_Debugger;
@@ -102,8 +131,6 @@ void sendMSG(){
 		memcpy(sendECUMsg.data, &message, sizeof(message));
 
 		can_send(can1, &sendECUMsg);
-
-
 	}
 
 // CANConfig cfg1;

From ff8a05452e9162e6e858a9a1cbd7587ac316efa7 Mon Sep 17 00:00:00 2001
From: krai19 <kr9stride@gmail.com>
Date: Mon, 11 May 2026 22:24:34 -0700
Subject: [PATCH 30/34] commented file BE CAREFUL

---
 CANine/Application/Src/CANdler.c | 365 +++++++++++++++++--------------
 CANine/Core/Src/main.c           |  65 ++++--
 2 files changed, 241 insertions(+), 189 deletions(-)

diff --git a/CANine/Application/Src/CANdler.c b/CANine/Application/Src/CANdler.c
index 0aae99884..2db36e204 100644
--- a/CANine/Application/Src/CANdler.c
+++ b/CANine/Application/Src/CANdler.c
@@ -8,6 +8,8 @@
 #include "Logomatic.h"
 #include "bitManipulations.h"
 
+
+
 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
@@ -54,7 +56,9 @@ void CAN_MessageHandler(GRCAN_BUS_ID bus_id, GRCAN_MSG_ID msg_id, GRCAN_NODE_ID
 				break;
 			}
         	GRCAN_PING_MSG * grcan_ping_msg = (GRCAN_PING_MSG *) data;
-			LOGOMATIC("Time in millis: %u", grcan_ping_msg->timestamp);
+
+			//comment 1
+			//LOGOMATIC("Time in millis: %u", grcan_ping_msg->timestamp);
         	break;
 		case GRCAN_ECU_STATUS_1:
 			if (data_length > sizeof(GRCAN_ECU_STATUS_1_MSG)) {
@@ -95,7 +99,8 @@ void CAN_MessageHandler(GRCAN_BUS_ID bus_id, GRCAN_MSG_ID msg_id, GRCAN_NODE_ID
 			LOGOMATIC("TCM Node Status: %s\n", GETBIT(grcan_ecu_status_1_msg->status_flags, 6) ? "OK" : "Timeout");
 
 			//What is this value?????
-			LOGOMATIC("Power Level Torque Map: \n");
+			// LOGOMATIC("Power Level (in hex, Controls the AC current limits): 0x%X\n", GETBITS(grcan_ecu_status_1_msg->power_level_torque_map, 0, 4));
+			// LOGOMATIC("Torque Map (in hex): 0x%X\n", GETBITS(grcan_ecu_status_1_msg->power_level_torque_map, 4, 4));
 
 			LOGOMATIC("Max Cell Temperature: %u\n", grcan_ecu_status_1_msg->max_cell_temp);
 			LOGOMATIC("Percent of accumlator charged: %u\n", grcan_ecu_status_1_msg->accumulator_state_of_charge);
@@ -120,173 +125,195 @@ void CAN_MessageHandler(GRCAN_BUS_ID bus_id, GRCAN_MSG_ID msg_id, GRCAN_NODE_ID
 
 
 
-		// case GRCAN_ECU_STATUS_3:
-		// 	if (data_length > sizeof(GRCAN_ECU_STATUS_3_MSG)) {
-		// 		ReportBadMessageLength(bus_id, msg_id, sender_id);
-		// 		break;
-		// 	}
-		// 	GRCAN_ECU_STATUS_3_MSG * grcan_ecu_status_3 = (GRCAN_ECU_STATUS_3_MSG *)data;
-		// 	LOGOMATIC("Wheel RPM: %u\n", grcan_ecu_status_3->rl_wheel_rpm);
-		// 	break;
-		// //what to do about this?
-		// case GRCAN_ECU_CONFIG:
-		// 	if (data_length > sizeof(GRCAN_ECU_CONFIG_MSG)) {
-		// 		ReportBadMessageLength(bus_id, msg_id, sender_id);
-		// 		break;
-		// 	}
-		// 	GRCAN_ECU_CONFIG_MSG * grcan_ecu_config = (GRCAN_ECU_CONFIG_MSG *)data;
-		// 	break;
-		// case GRCAN_BCU_CELL_DATA_1:
-        //     if (data_length > sizeof(GRCAN_BCU_CELL_DATA_1_MSG)) {
-        //         ReportBadMessageLength(bus_id, msg_id, sender_id);
-        //         break;
-        //     }
-        //     GRCAN_BCU_CELL_DATA_1_MSG * grcan_bcu_cell_data_1_msg = (GRCAN_BCU_CELL_DATA_1_MSG *)data;
-        //     for (int i = 0; i < 32; i++) {
-        //         LOGOMATIC("Cell %d - Voltage: %u, Temp: %u\n", i + 1, grcan_bcu_cell_data_1_msg->cells[i].voltage, grcan_bcu_cell_data_1_msg->cells[i].temperature);
-        //     }
-        //     break;
-
-        // case GRCAN_BCU_CELL_DATA_2:
-        //     if (data_length > sizeof(GRCAN_BCU_CELL_DATA_2_MSG)) {
-        //         ReportBadMessageLength(bus_id, msg_id, sender_id);
-        //         break;
-        //     }
-        //     GRCAN_BCU_CELL_DATA_2_MSG * grcan_bcu_cell_data_2_msg = (GRCAN_BCU_CELL_DATA_2_MSG *)data;
-        //     for (int i = 0; i < 32; i++) {
-        //         LOGOMATIC("Cell %d - Voltage: %u, Temp: %u\n", i + 33, grcan_bcu_cell_data_2_msg->cells[i].voltage, grcan_bcu_cell_data_2_msg->cells[i].temperature);
-        //     }
-        //     break;
-
-        // case GRCAN_BCU_CELL_DATA_3:
-        //     if (data_length > sizeof(GRCAN_BCU_CELL_DATA_3_MSG)) {
-        //         ReportBadMessageLength(bus_id, msg_id, sender_id);
-        //         break;
-        //     }
-        //     GRCAN_BCU_CELL_DATA_3_MSG * grcan_bcu_cell_data_3_msg = (GRCAN_BCU_CELL_DATA_3_MSG *)data;
-        //     for (int i = 0; i < 32; i++) {
-        //         LOGOMATIC("Cell %d - Voltage: %u, Temp: %u\n", i + 65, grcan_bcu_cell_data_3_msg->cells[i].voltage, grcan_bcu_cell_data_3_msg->cells[i].temperature);
-        //     }
-        //     break;
-
-        // case GRCAN_BCU_CELL_DATA_4:
-        //     if (data_length > sizeof(GRCAN_BCU_CELL_DATA_4_MSG)) {
-        //         ReportBadMessageLength(bus_id, msg_id, sender_id);
-        //         break;
-        //     }
-        //     GRCAN_BCU_CELL_DATA_4_MSG * grcan_bcu_cell_data_4_msg = (GRCAN_BCU_CELL_DATA_4_MSG *)data;
-        //     for (int i = 0; i < 32; i++) {
-        //         LOGOMATIC("Cell %d - Voltage: %u, Temp: %u\n", i + 97, grcan_bcu_cell_data_4_msg->cells[i].voltage, grcan_bcu_cell_data_4_msg->cells[i].temperature);
-        //     }
-        //     break;
-
-        // case GRCAN_BCU_CELL_DATA_5:
-        //     if (data_length > sizeof(GRCAN_BCU_CELL_DATA_5_MSG)) {
-        //         ReportBadMessageLength(bus_id, msg_id, sender_id);
-        //         break;
-        //     }
-        //     GRCAN_BCU_CELL_DATA_5_MSG * grcan_bcu_cell_data_5_msg = (GRCAN_BCU_CELL_DATA_5_MSG *)data;
-        //     for (int i = 0; i < 32; i++) {
-        //         LOGOMATIC("Cell %d - Voltage: %u, Temp: %u\n", i + 129, grcan_bcu_cell_data_5_msg->cells[i].voltage, grcan_bcu_cell_data_5_msg->cells[i].temperature);
-        //     }
-        //     break;
-
-        // case GRCAN_INVERTER_STATUS_1:
-        //     if (data_length > sizeof(GRCAN_INVERTER_STATUS_1_MSG)) {
-        //         ReportBadMessageLength(bus_id, msg_id, sender_id);
-        //         break;
-        //     }
-        //     GRCAN_INVERTER_STATUS_1_MSG * grcan_inverter_status_1_msg = (GRCAN_INVERTER_STATUS_1_MSG *)data;
-        //     LOGOMATIC("AC Current: %u (0.01 * current)\n", grcan_inverter_status_1_msg->ac_current);
-        //     LOGOMATIC("DC Current: %u (0.01 * current)\n", grcan_inverter_status_1_msg->dc_current);
-        //     LOGOMATIC("Motor RPM: %u (RPM)\n", grcan_inverter_status_1_msg->motor_rpm);
-        //     break;
-
-        // case GRCAN_INVERTER_STATUS_2:
-        //     if (data_length > sizeof(GRCAN_INVERTER_STATUS_2_MSG)) {
-        //         ReportBadMessageLength(bus_id, msg_id, sender_id);
-        //         break;
-        //     }
-        //     GRCAN_INVERTER_STATUS_2_MSG * grcan_inverter_status_2_msg = (GRCAN_INVERTER_STATUS_2_MSG *)data;
-        //     LOGOMATIC("U MOSFET Temp: %u (Celsius + 40)\n", grcan_inverter_status_2_msg->u_mosfet_temperature);
-        //     LOGOMATIC("V MOSFET Temp: %u (Celsius + 40)\n", grcan_inverter_status_2_msg->v_mosfet_temperature);
-        //     LOGOMATIC("W MOSFET Temp: %u (Celsius + 40)\n", grcan_inverter_status_2_msg->w_mosfet_temperature);
-        //     break;
-
-        // case GRCAN_INVERTER_STATUS_3:
-        //     if (data_length > sizeof(GRCAN_INVERTER_STATUS_3_MSG)) {
-        //         ReportBadMessageLength(bus_id, msg_id, sender_id);
-        //         break;
-        //     }
-        //     GRCAN_INVERTER_STATUS_3_MSG * grcan_inverter_status_3_msg = (GRCAN_INVERTER_STATUS_3_MSG *)data;
-        //     LOGOMATIC("Motor Temp: %u (Celsius + 40)\n", grcan_inverter_status_3_msg->motor_temperature);
-        //     LOGOMATIC("TS Over Max: %s\n", GETBIT(grcan_inverter_status_3_msg->fault_bits, 0) ? "FAIL" : "OK");
-        //     LOGOMATIC("TS Under Min: %s\n", GETBIT(grcan_inverter_status_3_msg->fault_bits, 1) ? "FAIL" : "OK");
-        //     LOGOMATIC("Inverter Over Temp: %s\n", GETBIT(grcan_inverter_status_3_msg->fault_bits, 2) ? "FAIL" : "OK");
-        //     LOGOMATIC("Motor Over Temp: %s\n", GETBIT(grcan_inverter_status_3_msg->fault_bits, 3) ? "FAIL" : "OK");
-        //     LOGOMATIC("Mosfet Drive Error: %s\n", GETBIT(grcan_inverter_status_3_msg->fault_bits, 4) ? "FAIL" : "OK");
-        //     LOGOMATIC("Encoder Error: %s\n", GETBIT(grcan_inverter_status_3_msg->fault_bits, 5) ? "FAIL" : "OK");
-        //     LOGOMATIC("CAN Error/Timeout: %s\n", GETBIT(grcan_inverter_status_3_msg->fault_bits, 6) ? "FAIL" : "OK");
-        //     break;
-
-        // case GRCAN_INVERTER_CONFIG:
-        //     if (data_length > sizeof(GRCAN_INVERTER_CONFIG_MSG)) {
-        //         ReportBadMessageLength(bus_id, msg_id, sender_id);
-        //         break;
-        //     }
-        //     GRCAN_INVERTER_CONFIG_MSG * grcan_inverter_config_msg = (GRCAN_INVERTER_CONFIG_MSG *)data;
-        //     LOGOMATIC("Max AC Current: %u\n", grcan_inverter_config_msg->max_ac_current);
-        //     LOGOMATIC("Max DC Current: %u\n", grcan_inverter_config_msg->max_dc_current);
-        //     LOGOMATIC("RPM Limit: %u (0: No limit)\n", grcan_inverter_config_msg->absolute_max_rpm_limit);
-        //     LOGOMATIC("Motor Direction: %s\n", (grcan_inverter_config_msg->motor_direction == 1) ? "Inverted" : "Normal");
-        //     break;
-
-        // case GRCAN_INVERTER_COMMAND:
-        //     if (data_length > sizeof(GRCAN_INVERTER_COMMAND_MSG)) {
-        //         ReportBadMessageLength(bus_id, msg_id, sender_id);
-        //         break;
-        //     }
-        //     GRCAN_INVERTER_COMMAND_MSG * grcan_inverter_command_msg = (GRCAN_INVERTER_COMMAND_MSG *)data;
-        //     LOGOMATIC("Set AC Current: %u\n", grcan_inverter_command_msg->set_ac_current);
-        //     LOGOMATIC("Set DC Current: %u\n", grcan_inverter_command_msg->set_dc_current);
-        //     LOGOMATIC("RPM Limit: %u\n", grcan_inverter_command_msg->rpm_limit);
-        //     LOGOMATIC("Field Weakening: %u\n", grcan_inverter_command_msg->field_weakening);
-        //     LOGOMATIC("Drive Enable: %s\n", (grcan_inverter_command_msg->drive_enable == 1) ? "ENABLED" : "DISABLED");
-        //     break;
-
-        // case GRCAN_FAN_STATUS:
-        //     if (data_length > sizeof(GRCAN_FAN_STATUS_MSG)) {
-        //         ReportBadMessageLength(bus_id, msg_id, sender_id);
-        //         break;
-        //     }
-        //     GRCAN_FAN_STATUS_MSG * grcan_fan_status_msg = (GRCAN_FAN_STATUS_MSG *)data;
-        //     LOGOMATIC("Fan Speed: %u RPM\n", grcan_fan_status_msg->fan_speed);
-        //     LOGOMATIC("Input Voltage: %u (0-22)\n", grcan_fan_status_msg->input_voltage);
-        //     LOGOMATIC("Input Current: %u (0-10)\n", grcan_fan_status_msg->input_current);
-        //     break;
-
-        // case GRCAN_FAN_COMMAND:
-        //     if (data_length > sizeof(GRCAN_FAN_COMMAND_MSG)) {
-        //         ReportBadMessageLength(bus_id, msg_id, sender_id);
-        //         break;
-        //     }
-        //     GRCAN_FAN_COMMAND_MSG * grcan_fan_command_msg = (GRCAN_FAN_COMMAND_MSG *)data;
-        //     LOGOMATIC("Fan Command: %u Percent\n", grcan_fan_command_msg->fan_command);
-        //     break;
-
-		// //is this correct
-        // case GRCAN_DASH_STATUS:
-        //     if (data_length > sizeof(GRCAN_DASH_STATUS_MSG)) {
-        //         ReportBadMessageLength(bus_id, msg_id, sender_id);
-        //         break;
-        //     }
-        //     GRCAN_DASH_STATUS_MSG * grcan_dash_status_msg = (GRCAN_DASH_STATUS_MSG *)data;
-        //     LOGOMATIC("TS Active: %s\n", GETBIT(grcan_dash_status_msg->button_flags, 0) ? "YES" : "NO");
-        //     LOGOMATIC("RTD: %s\n", GETBIT(grcan_dash_status_msg->button_flags, 1) ? "YES" : "NO");
-        //     LOGOMATIC("LED BMS: %s\n", GETBIT(grcan_dash_status_msg->led_bits, 0) ? "ON" : "OFF");
-        //     LOGOMATIC("LED IMD: %s\n", GETBIT(grcan_dash_status_msg->led_bits, 1) ? "ON" : "OFF");
-        //     LOGOMATIC("LED BSPD: %s\n", GETBIT(grcan_dash_status_msg->led_bits, 2) ? "ON" : "OFF");
-        //     break;
+		case GRCAN_ECU_STATUS_3:
+			if (data_length > sizeof(GRCAN_ECU_STATUS_3_MSG)) {
+				ReportBadMessageLength(bus_id, msg_id, sender_id);
+				break;
+			}
+			GRCAN_ECU_STATUS_3_MSG * grcan_ecu_status_3 = (GRCAN_ECU_STATUS_3_MSG *)data;
+			LOGOMATIC("Wheel RPM: %u\n", grcan_ecu_status_3->rl_wheel_rpm);
+			break;
+		case GRCAN_BCU_CELL_DATA_1:
+            if (data_length > sizeof(GRCAN_BCU_CELL_DATA_1_MSG)) {
+                ReportBadMessageLength(bus_id, msg_id, sender_id);
+                break;
+            }
+            // GRCAN_BCU_CELL_DATA_1_MSG * grcan_bcu_cell_data_1_msg = (GRCAN_BCU_CELL_DATA_1_MSG *)data;
+            // for (int i = 0; i < 32; i++) {
+            //     LOGOMATIC("Cell %d - Voltage: %u, Temp: %u\n", i + 1, grcan_bcu_cell_data_1_msg->cells[i].voltage, grcan_bcu_cell_data_1_msg->cells[i].temperature);
+            // }
+            // break;
+
+				for (int i = 0; i < 32; i++) {
+		// 1. Voltage Conversion (mV to V)
+		// We use %u.%03u to simulate a float: 3500mV -> "3.500 V"
+		// uint32_t v_mv = msg->cells[i].voltage;
+		// uint32_t v_whole = v_mv / 1000;
+		// uint32_t v_frac = v_mv % 1000;
+
+		//comment #2
+
+		// // 2. Temp Conversion (Offset of -40)
+		// int32_t temp_c = (int32_t)msg->cells[i].temperature - 40;
+
+		// LOGOMATIC("Cell %d | %u.%03u V | %ld C\n", i + 1, v_whole, v_frac, temp_c);
+	}
+		break;
+        case GRCAN_BCU_CELL_DATA_2:
+            if (data_length > sizeof(GRCAN_BCU_CELL_DATA_2_MSG)) {
+                ReportBadMessageLength(bus_id, msg_id, sender_id);
+                break;
+            }
+            GRCAN_BCU_CELL_DATA_2_MSG * grcan_bcu_cell_data_2_msg = (GRCAN_BCU_CELL_DATA_2_MSG *)data;
+            for (int i = 0; i < 32; i++) {
+                LOGOMATIC("Cell %d - Voltage: %u, Temp: %u\n", i + 33, grcan_bcu_cell_data_2_msg->cells[i].voltage, grcan_bcu_cell_data_2_msg->cells[i].temperature);
+            }
+            break;
+
+        case GRCAN_BCU_CELL_DATA_3:
+            if (data_length > sizeof(GRCAN_BCU_CELL_DATA_3_MSG)) {
+                ReportBadMessageLength(bus_id, msg_id, sender_id);
+                break;
+            }
+            GRCAN_BCU_CELL_DATA_3_MSG * grcan_bcu_cell_data_3_msg = (GRCAN_BCU_CELL_DATA_3_MSG *)data;
+            for (int i = 0; i < 32; i++) {
+                LOGOMATIC("Cell %d - Voltage: %u, Temp: %u\n", i + 65, grcan_bcu_cell_data_3_msg->cells[i].voltage, grcan_bcu_cell_data_3_msg->cells[i].temperature);
+            }
+            break;
+
+        case GRCAN_BCU_CELL_DATA_4:
+            if (data_length > sizeof(GRCAN_BCU_CELL_DATA_4_MSG)) {
+                ReportBadMessageLength(bus_id, msg_id, sender_id);
+                break;
+            }
+            GRCAN_BCU_CELL_DATA_4_MSG * grcan_bcu_cell_data_4_msg = (GRCAN_BCU_CELL_DATA_4_MSG *)data;
+            for (int i = 0; i < 32; i++) {
+                LOGOMATIC("Cell %d - Voltage: %u, Temp: %u\n", i + 97, grcan_bcu_cell_data_4_msg->cells[i].voltage, grcan_bcu_cell_data_4_msg->cells[i].temperature);
+            }
+            break;
+
+        case GRCAN_BCU_CELL_DATA_5:
+            if (data_length > sizeof(GRCAN_BCU_CELL_DATA_5_MSG)) {
+                ReportBadMessageLength(bus_id, msg_id, sender_id);
+                break;
+            }
+            GRCAN_BCU_CELL_DATA_5_MSG * grcan_bcu_cell_data_5_msg = (GRCAN_BCU_CELL_DATA_5_MSG *)data;
+            for (int i = 0; i < 32; i++) {
+                LOGOMATIC("Cell %d - Voltage: %u, Temp: %u\n", i + 129, grcan_bcu_cell_data_5_msg->cells[i].voltage, grcan_bcu_cell_data_5_msg->cells[i].temperature);
+            }
+            break;
+		//convert to celsius
+        case GRCAN_INVERTER_STATUS_1:
+            if (data_length > sizeof(GRCAN_INVERTER_STATUS_1_MSG)) {
+                ReportBadMessageLength(bus_id, msg_id, sender_id);
+                break;
+            }
+            GRCAN_INVERTER_STATUS_1_MSG * grcan_inverter_status_1_msg = (GRCAN_INVERTER_STATUS_1_MSG *)data;
+            LOGOMATIC("AC Current: %u (0.01 * current)\n", grcan_inverter_status_1_msg->ac_current);
+            LOGOMATIC("DC Current: %u (0.01 * current)\n", grcan_inverter_status_1_msg->dc_current);
+            LOGOMATIC("Motor RPM: %u (RPM)\n", grcan_inverter_status_1_msg->motor_rpm);
+            break;
+
+        case GRCAN_INVERTER_STATUS_2:
+            if (data_length > sizeof(GRCAN_INVERTER_STATUS_2_MSG)) {
+                ReportBadMessageLength(bus_id, msg_id, sender_id);
+                break;
+            }
+            GRCAN_INVERTER_STATUS_2_MSG * grcan_inverter_status_2_msg = (GRCAN_INVERTER_STATUS_2_MSG *)data;
+            LOGOMATIC("U MOSFET Temp: %u (Celsius + 40)\n", grcan_inverter_status_2_msg->u_mosfet_temperature);
+            LOGOMATIC("V MOSFET Temp: %u (Celsius + 40)\n", grcan_inverter_status_2_msg->v_mosfet_temperature);
+            LOGOMATIC("W MOSFET Temp: %u (Celsius + 40)\n", grcan_inverter_status_2_msg->w_mosfet_temperature);
+            break;
+
+        case GRCAN_INVERTER_STATUS_3:
+            if (data_length > sizeof(GRCAN_INVERTER_STATUS_3_MSG)) {
+                ReportBadMessageLength(bus_id, msg_id, sender_id);
+                break;
+            }
+            GRCAN_INVERTER_STATUS_3_MSG * grcan_inverter_status_3_msg = (GRCAN_INVERTER_STATUS_3_MSG *)data;
+            int32_t motor_temp_c = (int32_t)grcan_inverter_status_3_msg->motor_temperature - 40;
+            LOGOMATIC("Motor Temp: %ld C\n", motor_temp_c);
+
+            const char *fault_msgs[] = {
+                "TS Over Max",
+                "TS Under Min",
+                "Inverter Over Temp",
+                "Motor Over Temp",
+                "Mosfet Drive Error",
+                "Encoder Error",
+                "CAN Error/Timeout",
+                "Reserved/Unknown Fault"
+            };
+
+            if (grcan_inverter_status_3_msg->fault_bits == 0) {
+                LOGOMATIC("System Status: OK\n");
+            } else {
+                for (int i = 0; i < 8; i++) {
+                    if (GETBIT(grcan_inverter_status_3_msg->fault_bits, i)) {
+                        LOGOMATIC("FAULT DETECTED: %s\n", fault_msgs[i]);
+                    }
+                }
+            }
+            break;
+
+        case GRCAN_INVERTER_CONFIG:
+            if (data_length > sizeof(GRCAN_INVERTER_CONFIG_MSG)) {
+                ReportBadMessageLength(bus_id, msg_id, sender_id);
+                break;
+            }
+            GRCAN_INVERTER_CONFIG_MSG * grcan_inverter_config_msg = (GRCAN_INVERTER_CONFIG_MSG *)data;
+            LOGOMATIC("Max AC Current: %u\n", grcan_inverter_config_msg->max_ac_current);
+            LOGOMATIC("Max DC Current: %u\n", grcan_inverter_config_msg->max_dc_current);
+            LOGOMATIC("RPM Limit: %u (0: No limit)\n", grcan_inverter_config_msg->absolute_max_rpm_limit);
+            LOGOMATIC("Motor Direction: %s\n", (grcan_inverter_config_msg->motor_direction == 1) ? "Inverted" : "Normal");
+            break;
+
+        case GRCAN_INVERTER_COMMAND:
+            if (data_length > sizeof(GRCAN_INVERTER_COMMAND_MSG)) {
+                ReportBadMessageLength(bus_id, msg_id, sender_id);
+                break;
+            }
+            GRCAN_INVERTER_COMMAND_MSG * grcan_inverter_command_msg = (GRCAN_INVERTER_COMMAND_MSG *)data;
+            LOGOMATIC("Set AC Current: %u\n", grcan_inverter_command_msg->set_ac_current);
+            LOGOMATIC("Set DC Current: %u\n", grcan_inverter_command_msg->set_dc_current);
+            LOGOMATIC("RPM Limit: %u\n", grcan_inverter_command_msg->rpm_limit);
+            LOGOMATIC("Field Weakening: %u\n", grcan_inverter_command_msg->field_weakening);
+            LOGOMATIC("Drive Enable: %s\n", (grcan_inverter_command_msg->drive_enable == 1) ? "ENABLED" : "DISABLED");
+            break;
+
+        case GRCAN_FAN_STATUS:
+            if (data_length > sizeof(GRCAN_FAN_STATUS_MSG)) {
+                ReportBadMessageLength(bus_id, msg_id, sender_id);
+                break;
+            }
+            GRCAN_FAN_STATUS_MSG * grcan_fan_status_msg = (GRCAN_FAN_STATUS_MSG *)data;
+            LOGOMATIC("Fan Speed: %u RPM\n", grcan_fan_status_msg->fan_speed);
+            LOGOMATIC("Input Voltage: %u (0-22)\n", grcan_fan_status_msg->input_voltage);
+            LOGOMATIC("Input Current: %u (0-10)\n", grcan_fan_status_msg->input_current);
+            break;
+
+        case GRCAN_FAN_COMMAND:
+            if (data_length > sizeof(GRCAN_FAN_COMMAND_MSG)) {
+                ReportBadMessageLength(bus_id, msg_id, sender_id);
+                break;
+            }
+            GRCAN_FAN_COMMAND_MSG * grcan_fan_command_msg = (GRCAN_FAN_COMMAND_MSG *)data;
+            LOGOMATIC("Fan Command: %u Percent\n", grcan_fan_command_msg->fan_command);
+            break;
+
+		//is this correct
+        case GRCAN_DASH_STATUS:
+            if (data_length > sizeof(GRCAN_DASH_STATUS_MSG)) {
+                ReportBadMessageLength(bus_id, msg_id, sender_id);
+                break;
+            }
+            GRCAN_DASH_STATUS_MSG * grcan_dash_status_msg = (GRCAN_DASH_STATUS_MSG *)data;
+            LOGOMATIC("TS Active: %s\n", GETBIT(grcan_dash_status_msg->button_flags, 0) ? "YES" : "NO");
+            LOGOMATIC("RTD: %s\n", GETBIT(grcan_dash_status_msg->button_flags, 1) ? "YES" : "NO");
+            LOGOMATIC("LED BMS: %s\n", GETBIT(grcan_dash_status_msg->led_bits, 0) ? "ON" : "OFF");
+            LOGOMATIC("LED IMD: %s\n", GETBIT(grcan_dash_status_msg->led_bits, 1) ? "ON" : "OFF");
+            LOGOMATIC("LED BSPD: %s\n", GETBIT(grcan_dash_status_msg->led_bits, 2) ? "ON" : "OFF");
+            break;
 
 
 
diff --git a/CANine/Core/Src/main.c b/CANine/Core/Src/main.c
index 2db015e89..866ea36ef 100644
--- a/CANine/Core/Src/main.c
+++ b/CANine/Core/Src/main.c
@@ -86,33 +86,58 @@ void CAN1_rx_callback(uint32_t ID, void *data, uint32_t size)
 }
 
 void sendMSG(){
-		FDCANTxMessage sendECUStatus1;
 
-		sendECUStatus1.tx_header.Identifier = (GRCAN_ECU << 20) | (GRCAN_ECU_STATUS_1 << 8) | GRCAN_Debugger;
-		sendECUStatus1.tx_header.IdType = FDCAN_EXTENDED_ID;
-		sendECUStatus1.tx_header.TxFrameType = FDCAN_DATA_FRAME;
-		sendECUStatus1.tx_header.ErrorStateIndicator = FDCAN_ESI_ACTIVE;
-		sendECUStatus1.tx_header.DataLength = FDCAN_DLC_BYTES_8;
-		sendECUStatus1.tx_header.BitRateSwitch = FDCAN_BRS_OFF;
-		sendECUStatus1.tx_header.TxEventFifoControl = FDCAN_NO_TX_EVENTS;
-		sendECUStatus1.tx_header.MessageMarker = 0;
+		FDCANTxMessage sendInverterStatus3;
 
-		GRCAN_ECU_STATUS_1_MSG ecu_status1_msg = {
-			.ecu_state = GR_DRIVE_ACTIVE,
+		sendInverterStatus3.tx_header.Identifier = (GRCAN_GR_Inverter << 20) | (GRCAN_INVERTER_STATUS_3 << 8) | GRCAN_Debugger;
+		sendInverterStatus3.tx_header.IdType = FDCAN_EXTENDED_ID;
+		sendInverterStatus3.tx_header.TxFrameType = FDCAN_DATA_FRAME;
+		sendInverterStatus3.tx_header.ErrorStateIndicator = FDCAN_ESI_ACTIVE;
+		sendInverterStatus3.tx_header.DataLength = FDCAN_DLC_BYTES_8;
+		sendInverterStatus3.tx_header.BitRateSwitch = FDCAN_BRS_OFF;
+		sendInverterStatus3.tx_header.TxEventFifoControl = FDCAN_NO_TX_EVENTS;
+		sendInverterStatus3.tx_header.MessageMarker = 0;
 
-			.status_flags = 0x67,
+		GRCAN_INVERTER_STATUS_3_MSG sendInverterStatus3_msg = {
+			.motor_temperature = 105,
+			.fault_bits = 0x24
+		};
 
-			.power_level_torque_map = 3,
-			.max_cell_temp = 35,
-			.accumulator_state_of_charge = 90,
-			.glv_state_of_charge = 95,
-			.tractive_system_voltage = 560
+		memcpy(sendInverterStatus3.data, &sendInverterStatus3_msg, sizeof(sendInverterStatus3_msg));
+
+		can_send(can1, &sendInverterStatus3);
+
+
+		// FDCANTxMessage sendECUStatus1;
+
+		// sendECUStatus1.tx_header.Identifier = (GRCAN_ECU << 20) | (GRCAN_ECU_STATUS_1 << 8) | GRCAN_Debugger;
+		// sendECUStatus1.tx_header.IdType = FDCAN_EXTENDED_ID;
+		// sendECUStatus1.tx_header.TxFrameType = FDCAN_DATA_FRAME;
+		// sendECUStatus1.tx_header.ErrorStateIndicator = FDCAN_ESI_ACTIVE;
+		// sendECUStatus1.tx_header.DataLength = FDCAN_DLC_BYTES_8;
+		// sendECUStatus1.tx_header.BitRateSwitch = FDCAN_BRS_OFF;
+		// sendECUStatus1.tx_header.TxEventFifoControl = FDCAN_NO_TX_EVENTS;
+		// sendECUStatus1.tx_header.MessageMarker = 0;
+
+		// GRCAN_ECU_STATUS_1_MSG ecu_status1_msg = {
+		// 	.ecu_state = GR_DRIVE_ACTIVE,
+
+		// 	.status_flags = 0x67,
+
+		// 	.power_level_torque_map = (0xA << 4) | 0x3,
+		// 	.max_cell_temp = 35,
+		// 	.accumulator_state_of_charge = 90,
+		// 	.glv_state_of_charge = 95,
+		// 	.tractive_system_voltage = 560
+		// };
+
+		// LOGOMATIC("Power Level (in hex, Controls the AC current limits): 0x%X\n", GETBITS(ecu_status1_msg.power_level_torque_map, 0, 4));
+		// LOGOMATIC("Torque Map (in hex): 0x%X\n", GETBITS(ecu_status1_msg.power_level_torque_map, 4, 4));
 
-		};
 
-		memcpy(sendECUStatus1.data, &ecu_status1_msg, sizeof(ecu_status1_msg));
+		// memcpy(sendECUStatus1.data, &ecu_status1_msg, sizeof(ecu_status1_msg));
 
-		can_send(can1, &sendECUStatus1);
+		// can_send(can1, &sendECUStatus1);
 
 
 		FDCANTxMessage sendECUMsg;

From 1aeed6b996be048a1ba2ba09ee365b6cf60e1541 Mon Sep 17 00:00:00 2001
From: krai19 <kr9stride@gmail.com>
Date: Tue, 12 May 2026 22:49:06 -0700
Subject: [PATCH 31/34] idk

---
 CANine/Application/Src/CANdler.c | 51 +++++++++++---------------------
 1 file changed, 18 insertions(+), 33 deletions(-)

diff --git a/CANine/Application/Src/CANdler.c b/CANine/Application/Src/CANdler.c
index 2db36e204..e6aa0f538 100644
--- a/CANine/Application/Src/CANdler.c
+++ b/CANine/Application/Src/CANdler.c
@@ -57,8 +57,7 @@ void CAN_MessageHandler(GRCAN_BUS_ID bus_id, GRCAN_MSG_ID msg_id, GRCAN_NODE_ID
 			}
         	GRCAN_PING_MSG * grcan_ping_msg = (GRCAN_PING_MSG *) data;
 
-			//comment 1
-			//LOGOMATIC("Time in millis: %u", grcan_ping_msg->timestamp);
+			LOGOMATIC("Time in millis: %lu", grcan_ping_msg->timestamp);
         	break;
 		case GRCAN_ECU_STATUS_1:
 			if (data_length > sizeof(GRCAN_ECU_STATUS_1_MSG)) {
@@ -90,17 +89,19 @@ void CAN_MessageHandler(GRCAN_BUS_ID bus_id, GRCAN_MSG_ID msg_id, GRCAN_NODE_ID
 					break;
 			}
 
-			LOGOMATIC("BCU Node Status: %s\n", GETBIT(grcan_ecu_status_1_msg->status_flags, 0) ? "OK" : "Timeout");
-			LOGOMATIC("GR Inverter Status: %s\n", GETBIT(grcan_ecu_status_1_msg->status_flags, 1) ? "OK" : "Timeout");
-			LOGOMATIC("Fan Controller 1 Status: %s\n", GETBIT(grcan_ecu_status_1_msg->status_flags, 2) ? "OK" : "Timeout");
-			LOGOMATIC("Fan Controller 2 Status: %s\n", GETBIT(grcan_ecu_status_1_msg->status_flags, 3) ? "OK" : "Timeout");
-			LOGOMATIC("Fan Controller 3 Status: %s\n", GETBIT(grcan_ecu_status_1_msg->status_flags, 4) ? "OK" : "Timeout");
-			LOGOMATIC("Dash Panel Status: %s\n", GETBIT(grcan_ecu_status_1_msg->status_flags, 5) ? "OK" : "Timeout");
-			LOGOMATIC("TCM Node Status: %s\n", GETBIT(grcan_ecu_status_1_msg->status_flags, 6) ? "OK" : "Timeout");
+			LOGOMATIC("BCU Node Status: %s\n", GETBIT(grcan_ecu_status_1_msg->status_flags, 7) ? "OK" : "Timeout");
+			LOGOMATIC("GR Inverter Status: %s\n", GETBIT(grcan_ecu_status_1_msg->status_flags, 6) ? "OK" : "Timeout");
+			LOGOMATIC("Fan Controller 1 Status: %s\n", GETBIT(grcan_ecu_status_1_msg->status_flags, 5) ? "OK" : "Timeout");
+			LOGOMATIC("Fan Controller 2 Status: %s\n", GETBIT(grcan_ecu_status_1_msg->status_flags, 4) ? "OK" : "Timeout");
+			LOGOMATIC("Fan Controller 3 Status: %s\n", GETBIT(grcan_ecu_status_1_msg->status_flags, 3) ? "OK" : "Timeout");
+			LOGOMATIC("Dash Panel Status: %s\n", GETBIT(grcan_ecu_status_1_msg->status_flags, 2) ? "OK" : "Timeout");
+			LOGOMATIC("TCM Node Status: %s\n", GETBIT(grcan_ecu_status_1_msg->status_flags, 1) ? "OK" : "Timeout");
 
-			//What is this value?????
-			// LOGOMATIC("Power Level (in hex, Controls the AC current limits): 0x%X\n", GETBITS(grcan_ecu_status_1_msg->power_level_torque_map, 0, 4));
-			// LOGOMATIC("Torque Map (in hex): 0x%X\n", GETBITS(grcan_ecu_status_1_msg->power_level_torque_map, 4, 4));
+			uint8_t torque_map = grcan_ecu_status_1_msg->power_level_torque_map & 0x0F;
+            uint8_t power_lvl = (grcan_ecu_status_1_msg->power_level_torque_map >> 4) & 0x0F;
+
+			LOGOMATIC("Power Level (hex value, controls the AC current limits): 0x%X\n", power_lvl);
+            LOGOMATIC("Torque Map (hex value): 0x%X\n", torque_map);
 
 			LOGOMATIC("Max Cell Temperature: %u\n", grcan_ecu_status_1_msg->max_cell_temp);
 			LOGOMATIC("Percent of accumlator charged: %u\n", grcan_ecu_status_1_msg->accumulator_state_of_charge);
@@ -138,27 +139,11 @@ void CAN_MessageHandler(GRCAN_BUS_ID bus_id, GRCAN_MSG_ID msg_id, GRCAN_NODE_ID
                 ReportBadMessageLength(bus_id, msg_id, sender_id);
                 break;
             }
-            // GRCAN_BCU_CELL_DATA_1_MSG * grcan_bcu_cell_data_1_msg = (GRCAN_BCU_CELL_DATA_1_MSG *)data;
-            // for (int i = 0; i < 32; i++) {
-            //     LOGOMATIC("Cell %d - Voltage: %u, Temp: %u\n", i + 1, grcan_bcu_cell_data_1_msg->cells[i].voltage, grcan_bcu_cell_data_1_msg->cells[i].temperature);
-            // }
-            // break;
-
-				for (int i = 0; i < 32; i++) {
-		// 1. Voltage Conversion (mV to V)
-		// We use %u.%03u to simulate a float: 3500mV -> "3.500 V"
-		// uint32_t v_mv = msg->cells[i].voltage;
-		// uint32_t v_whole = v_mv / 1000;
-		// uint32_t v_frac = v_mv % 1000;
-
-		//comment #2
-
-		// // 2. Temp Conversion (Offset of -40)
-		// int32_t temp_c = (int32_t)msg->cells[i].temperature - 40;
-
-		// LOGOMATIC("Cell %d | %u.%03u V | %ld C\n", i + 1, v_whole, v_frac, temp_c);
-	}
-		break;
+            GRCAN_BCU_CELL_DATA_1_MSG * grcan_bcu_cell_data_1_msg = (GRCAN_BCU_CELL_DATA_1_MSG *)data;
+            for (int i = 0; i < 32; i++) {
+                LOGOMATIC("Cell %d - Voltage: %u, Temp: %u\n", i + 1, grcan_bcu_cell_data_1_msg->cells[i].voltage, grcan_bcu_cell_data_1_msg->cells[i].temperature);
+            }
+            break;
         case GRCAN_BCU_CELL_DATA_2:
             if (data_length > sizeof(GRCAN_BCU_CELL_DATA_2_MSG)) {
                 ReportBadMessageLength(bus_id, msg_id, sender_id);

From 1a29cb63a41c479058ce1516f853f65f27c26d5b Mon Sep 17 00:00:00 2001
From: krai19 <kr9stride@gmail.com>
Date: Tue, 12 May 2026 22:51:52 -0700
Subject: [PATCH 32/34] yay

---
 CANine/Core/Src/main.c | 90 ++++++++++++++++++++++++++++++------------
 1 file changed, 65 insertions(+), 25 deletions(-)

diff --git a/CANine/Core/Src/main.c b/CANine/Core/Src/main.c
index 866ea36ef..e94fac0d9 100644
--- a/CANine/Core/Src/main.c
+++ b/CANine/Core/Src/main.c
@@ -87,13 +87,57 @@ void CAN1_rx_callback(uint32_t ID, void *data, uint32_t size)
 
 void sendMSG(){
 
+		FDCANTxMessage sendBCUCellData1;
+
+		sendBCUCellData1.tx_header.Identifier = (GRCAN_BCU << 20) | (GRCAN_BCU_CELL_DATA_1 << 8) | GRCAN_Debugger;
+		sendBCUCellData1.tx_header.IdType = FDCAN_EXTENDED_ID;
+		sendBCUCellData1.tx_header.TxFrameType = FDCAN_DATA_FRAME;
+		sendBCUCellData1.tx_header.ErrorStateIndicator = FDCAN_ESI_ACTIVE;
+		sendBCUCellData1.tx_header.DataLength = FDCAN_DLC_BYTES_64;
+		sendBCUCellData1.tx_header.BitRateSwitch = FDCAN_BRS_OFF;
+		sendBCUCellData1.tx_header.TxEventFifoControl = FDCAN_NO_TX_EVENTS;
+		sendBCUCellData1.tx_header.MessageMarker = 0;
+
+		GRCAN_BCU_CELL_DATA_1_MSG grcan_bcu_cell_data_1_msg = {
+			.cells[0].voltage = 0xAF,
+    		.cells[0].temperature = 45,
+    		.cells[1].voltage = 0xBE,
+    		.cells[1].temperature = 48,
+    		.cells[2].voltage = 0xFF,
+    		.cells[2].temperature = 60,
+			.cells[3].voltage = 0xAF,
+    		.cells[3].temperature = 45,
+    		.cells[4].voltage = 0xBE,
+    		.cells[4].temperature = 48,
+    		.cells[5].voltage = 0xFF,
+    		.cells[5].temperature = 60,
+			.cells[6].voltage = 0xAF,
+    		.cells[6].temperature = 45,
+    		.cells[7].voltage = 0xBE,
+    		.cells[7].temperature = 48,
+    		.cells[8].voltage = 0xFF,
+    		.cells[8].temperature = 60,
+			.cells[9].voltage = 0xAF,
+    		.cells[9].temperature = 45,
+    		.cells[10].voltage = 0xBE,
+    		.cells[10].temperature = 48,
+    		.cells[11].voltage = 0xFF,
+    		.cells[11].temperature = 60
+
+
+		};
+
+		memcpy(sendBCUCellData1.data, &grcan_bcu_cell_data_1_msg, sizeof(grcan_bcu_cell_data_1_msg));
+
+		can_send(can1, &sendBCUCellData1);
+
 		FDCANTxMessage sendInverterStatus3;
 
 		sendInverterStatus3.tx_header.Identifier = (GRCAN_GR_Inverter << 20) | (GRCAN_INVERTER_STATUS_3 << 8) | GRCAN_Debugger;
 		sendInverterStatus3.tx_header.IdType = FDCAN_EXTENDED_ID;
 		sendInverterStatus3.tx_header.TxFrameType = FDCAN_DATA_FRAME;
 		sendInverterStatus3.tx_header.ErrorStateIndicator = FDCAN_ESI_ACTIVE;
-		sendInverterStatus3.tx_header.DataLength = FDCAN_DLC_BYTES_8;
+		sendInverterStatus3.tx_header.DataLength = FDCAN_DLC_BYTES_2;
 		sendInverterStatus3.tx_header.BitRateSwitch = FDCAN_BRS_OFF;
 		sendInverterStatus3.tx_header.TxEventFifoControl = FDCAN_NO_TX_EVENTS;
 		sendInverterStatus3.tx_header.MessageMarker = 0;
@@ -108,36 +152,32 @@ void sendMSG(){
 		can_send(can1, &sendInverterStatus3);
 
 
-		// FDCANTxMessage sendECUStatus1;
-
-		// sendECUStatus1.tx_header.Identifier = (GRCAN_ECU << 20) | (GRCAN_ECU_STATUS_1 << 8) | GRCAN_Debugger;
-		// sendECUStatus1.tx_header.IdType = FDCAN_EXTENDED_ID;
-		// sendECUStatus1.tx_header.TxFrameType = FDCAN_DATA_FRAME;
-		// sendECUStatus1.tx_header.ErrorStateIndicator = FDCAN_ESI_ACTIVE;
-		// sendECUStatus1.tx_header.DataLength = FDCAN_DLC_BYTES_8;
-		// sendECUStatus1.tx_header.BitRateSwitch = FDCAN_BRS_OFF;
-		// sendECUStatus1.tx_header.TxEventFifoControl = FDCAN_NO_TX_EVENTS;
-		// sendECUStatus1.tx_header.MessageMarker = 0;
+		FDCANTxMessage sendECUStatus1;
 
-		// GRCAN_ECU_STATUS_1_MSG ecu_status1_msg = {
-		// 	.ecu_state = GR_DRIVE_ACTIVE,
+		sendECUStatus1.tx_header.Identifier = (GRCAN_ECU << 20) | (GRCAN_ECU_STATUS_1 << 8) | GRCAN_Debugger;
+		sendECUStatus1.tx_header.IdType = FDCAN_EXTENDED_ID;
+		sendECUStatus1.tx_header.TxFrameType = FDCAN_DATA_FRAME;
+		sendECUStatus1.tx_header.ErrorStateIndicator = FDCAN_ESI_ACTIVE;
+		sendECUStatus1.tx_header.DataLength = FDCAN_DLC_BYTES_8;
+		sendECUStatus1.tx_header.BitRateSwitch = FDCAN_BRS_OFF;
+		sendECUStatus1.tx_header.TxEventFifoControl = FDCAN_NO_TX_EVENTS;
+		sendECUStatus1.tx_header.MessageMarker = 0;
 
-		// 	.status_flags = 0x67,
+		GRCAN_ECU_STATUS_1_MSG ecu_status1_msg = {
+			.ecu_state = GR_DRIVE_ACTIVE,
 
-		// 	.power_level_torque_map = (0xA << 4) | 0x3,
-		// 	.max_cell_temp = 35,
-		// 	.accumulator_state_of_charge = 90,
-		// 	.glv_state_of_charge = 95,
-		// 	.tractive_system_voltage = 560
-		// };
-
-		// LOGOMATIC("Power Level (in hex, Controls the AC current limits): 0x%X\n", GETBITS(ecu_status1_msg.power_level_torque_map, 0, 4));
-		// LOGOMATIC("Torque Map (in hex): 0x%X\n", GETBITS(ecu_status1_msg.power_level_torque_map, 4, 4));
+			.status_flags = 0x65,
 
+			.power_level_torque_map = (0xA << 4) | 0x3,
+			.max_cell_temp = 35,
+			.accumulator_state_of_charge = 90,
+			.glv_state_of_charge = 95,
+			.tractive_system_voltage = 560
+		};
 
-		// memcpy(sendECUStatus1.data, &ecu_status1_msg, sizeof(ecu_status1_msg));
+		memcpy(sendECUStatus1.data, &ecu_status1_msg, sizeof(ecu_status1_msg));
 
-		// can_send(can1, &sendECUStatus1);
+		can_send(can1, &sendECUStatus1);
 
 
 		FDCANTxMessage sendECUMsg;

From c710bfa28c117ecdbd3f72e38a7e2f7e2d38f31a Mon Sep 17 00:00:00 2001
From: Daniel Hansen <dchansen06@gmail.com>
Date: Tue, 12 May 2026 23:00:57 -0700
Subject: [PATCH 33/34] Fill all fields

Signed-off-by: Daniel Hansen <dchansen06@gmail.com>
---
 CANine/Core/Src/main.c | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/CANine/Core/Src/main.c b/CANine/Core/Src/main.c
index e94fac0d9..c7c7c91dc 100644
--- a/CANine/Core/Src/main.c
+++ b/CANine/Core/Src/main.c
@@ -123,10 +123,13 @@ void sendMSG(){
     		.cells[10].temperature = 48,
     		.cells[11].voltage = 0xFF,
     		.cells[11].temperature = 60
-
-
 		};
 
+		for (int i = 12; i < 32;) {
+			grcan_bcu_cell_data_1_msg.cells[i].voltage = i++;
+			grcan_bcu_cell_data_1_msg.cells[i].temperature = i++;
+		}
+
 		memcpy(sendBCUCellData1.data, &grcan_bcu_cell_data_1_msg, sizeof(grcan_bcu_cell_data_1_msg));
 
 		can_send(can1, &sendBCUCellData1);

From c371db24276b44247bffac54d01b18d38d94d3ba Mon Sep 17 00:00:00 2001
From: Daniel Hansen <dchansen06@gmail.com>
Date: Tue, 12 May 2026 23:07:14 -0700
Subject: [PATCH 34/34] Fill all fields but not breaking things

Signed-off-by: Daniel Hansen <dchansen06@gmail.com>
---
 CANine/Core/Src/main.c | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/CANine/Core/Src/main.c b/CANine/Core/Src/main.c
index c7c7c91dc..00be7408d 100644
--- a/CANine/Core/Src/main.c
+++ b/CANine/Core/Src/main.c
@@ -125,9 +125,9 @@ void sendMSG(){
     		.cells[11].temperature = 60
 		};
 
-		for (int i = 12; i < 32;) {
-			grcan_bcu_cell_data_1_msg.cells[i].voltage = i++;
-			grcan_bcu_cell_data_1_msg.cells[i].temperature = i++;
+		for (int i = 12; i < 32; i++) {
+			grcan_bcu_cell_data_1_msg.cells[i].voltage = i * 2;
+			grcan_bcu_cell_data_1_msg.cells[i].temperature = i * 2 + 1;
 		}
 
 		memcpy(sendBCUCellData1.data, &grcan_bcu_cell_data_1_msg, sizeof(grcan_bcu_cell_data_1_msg));