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Post-Hesse High Voltage Testing #501

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ced8dd0
Initial changeover, totally untested
dchansen06 May 12, 2026
02521cc
Bring back HOOTL testing
dchansen06 May 12, 2026
44484e6
Set bspd sense in test to new good value
kzwicker May 13, 2026
ebe95dd
Fix analog data and inverter command frequency
dchansen06 May 13, 2026
2e36676
Sanity set initial statics to 0
dchansen06 May 13, 2026
619f576
Fix can dlc size
dchansen06 May 13, 2026
d8bfa01
Revise dti send can
dchansen06 May 13, 2026
b018016
Scale torque request respectfully
dchansen06 May 13, 2026
5d63c9d
Random tested values for throttle
dchansen06 May 13, 2026
0b7fc64
Automatic Clang-Format: Standardized formatting automatically
github-actions[bot] May 13, 2026
de64947
Switch to custom bytes to CAN DLC function for hootl test
dchansen06 May 13, 2026
3a1c390
Allegedly fix rtd button press latch
dchansen06 May 13, 2026
a2a6bee
Read and reset the variable set by the button read interrupt exactly …
kzwicker May 13, 2026
4f9ad78
Explicitly send do not torque
dchansen06 May 13, 2026
55ea9e2
Driving check?
dchansen06 May 13, 2026
42392ff
ADC alpha is useless if not rate limited
dchansen06 May 13, 2026
3e558c0
Remove sketchy APPS debug logic
dchansen06 May 14, 2026
3e01c85
Migrate analog data message out of state ticks to be something always…
dchansen06 May 14, 2026
daabfdf
Merge branch 'main' into HV-test
dchansen06 May 14, 2026
483657d
Merge branch 'main' into HV-test
dchansen06 May 14, 2026
32f2d30
added a scary FIXME for the code causing HOOTLTest failures
SlowThomas May 15, 2026
524477e
No more DWT
dchansen06 May 15, 2026
0b52ba7
Set clock div 4, oversample 64, bitshift right 6
dchansen06 May 15, 2026
76afff7
Cycle adc init values into real values while in hot loop waiting for …
dchansen06 May 15, 2026
928b3dc
Grab 20V level from ACU
kzwicker May 18, 2026
383b275
consolidate comparisons of ams bms bspd sense lines to one function
kzwicker May 18, 2026
f26a0e4
Unfuck the bspd (does not depend on GLV 20V)
kzwicker May 18, 2026
b1715d3
give 20v line a default value so something sensible happens on startup
kzwicker May 19, 2026
0656b50
is good
kzwicker May 19, 2026
330bbed
double unfuck the bspd
kzwicker May 19, 2026
625af97
Read rtd button press on CAN in GLV On
dchansen06 May 30, 2026
e72b3e2
Fix light blinking pattern
dchansen06 May 30, 2026
4be38f0
Update max current amperage per Ryan
dchansen06 May 30, 2026
2937349
Remove overspecifying comment on power level
dchansen06 May 30, 2026
fd5ffc8
Clarify power level and torque maps
dchansen06 May 30, 2026
7297cbd
Implement torque mapping
dchansen06 May 30, 2026
c61c472
Oops, 6 power levels 0 through 5
dchansen06 May 30, 2026
99591a4
Increase APPS deadzone to be 8%
dchansen06 May 30, 2026
7be6c78
Change ams to bms in ECU (rules and labels)
dchansen06 May 30, 2026
831acb6
Reduce bms/imd thresholds from 0.4 to 0.2
dchansen06 May 30, 2026
be93212
Clean up the bms/imd/bspd dash logic to be clear booleans instead of …
dchansen06 May 30, 2026
be0d4de
Brake percent is not real, use brake pressure for everything
dchansen06 May 30, 2026
eae2d08
Automatic CANfigurator: Updated CAN files automatically
github-actions[bot] May 30, 2026
cfc9ad9
Add in ECU Config message but do not wire it in to anything yet
dchansen06 May 30, 2026
3bee8bd
Automatic CANfigurator: Updated CAN files automatically
github-actions[bot] May 30, 2026
97d6bea
Fix brake pedal travel canfigurator name
dchansen06 May 30, 2026
3c08a10
Add more fields to ECU Config
dchansen06 May 30, 2026
a2237e1
Automatic CANfigurator: Updated CAN files automatically
github-actions[bot] May 30, 2026
6925b1b
Rename min/max to be shorter in cando
dchansen06 May 30, 2026
43ec493
Automatic CANfigurator: Updated CAN files automatically
github-actions[bot] May 30, 2026
6d7915a
Fix scaling for max precharge time
dchansen06 May 30, 2026
d045b5a
Remove unneded extern
dchansen06 May 30, 2026
1ffec3d
Remove unused CANdler callbacks and add ecu config
dchansen06 May 30, 2026
1637e9e
Copy init values for ecu config things into state lump
dchansen06 May 30, 2026
93adf10
Create `SendECUConfigOverCAN` and add more const-ness
dchansen06 May 30, 2026
cefa56f
Automatic CANfigurator: Updated CAN files automatically
github-actions[bot] May 30, 2026
17d91b0
Switch more things over to config
dchansen06 May 30, 2026
52e8657
Missed some constant usage
dchansen06 May 30, 2026
ca76a03
Remove unused `#define` constants since I get easily confused
dchansen06 May 30, 2026
6a73eab
Ensure DC-DC appear on the CAN
dchansen06 May 30, 2026
81cc28d
Automatic CANfigurator: Updated CAN files automatically
github-actions[bot] May 30, 2026
bfb3127
Reduce BMS and IMD min thresholds
dchansen06 May 30, 2026
1f075e9
Fix ping, try and fix DC-DC not showing up
dchansen06 May 30, 2026
aba356d
Automatic CANfigurator: Updated CAN files automatically
github-actions[bot] May 30, 2026
cdefc56
Be more explicit about `PLAN_C`
dchansen06 May 30, 2026
bb56eeb
Add RTD light control spec
dchansen06 May 30, 2026
086b553
Automatic CANfigurator: Updated CAN files automatically
github-actions[bot] May 30, 2026
dcf3dcd
rewrote MSGparser to allow hyphenated names(fixes DC-DC status not ap…
coderask May 30, 2026
a7f472e
Automatic CANfigurator: Updated CAN files automatically
github-actions[bot] May 30, 2026
1d9fd80
Try to implement RTD button light control
dchansen06 May 30, 2026
ccc2f82
Make lights orange
dchansen06 May 30, 2026
d0f9811
Change light multiplier cause light is bad
dchansen06 May 30, 2026
a83a94b
Merge branch 'main' into dynamic-SDC-voltages
kzwicker May 30, 2026
de78348
remove duplicate fn
kzwicker May 30, 2026
fe7af8c
Trivial commit
dchansen06 May 30, 2026
2266eb8
change SDC levels
kzwicker May 30, 2026
d9517af
Fix message ordering
dchansen06 May 30, 2026
e6a85b3
Add condition for SDC startup instead of weird latch thing
kzwicker May 30, 2026
27aafa8
comments
kzwicker May 30, 2026
7efeafb
bms not ams
kzwicker May 30, 2026
f47a4af
also bms here
kzwicker May 30, 2026
4a83f24
Merge branch 'dynamic-SDC-voltages' into FixPowerLevel
kzwicker May 30, 2026
5d92d2a
Use these newfangled statedata values
kzwicker May 30, 2026
d8a9caa
Mid progress to get the lights working
dchansen06 May 30, 2026
716952f
It really shouldn't be this way but it is right now
kzwicker May 31, 2026
fb7b7be
make bspd use these newfangled statedata values too
kzwicker May 31, 2026
be0cd35
comment dash light strangeness
kzwicker May 31, 2026
5d5eed7
Merge branch 'FixPowerLevel' of https://github.com/Gaucho-Racing/Firm…
kzwicker May 31, 2026
dd78472
change HOOTLtest to match progress
kzwicker May 31, 2026
abb0f9a
Automatic Clang-Format: Standardized formatting automatically
github-actions[bot] May 31, 2026
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1,996 changes: 1,043 additions & 953 deletions Autogen/CAN/Doc/GRCAN.CANdo
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82 changes: 80 additions & 2 deletions Autogen/CAN/Doc/GRCAN_Data.dbc
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Original file line number Diff line number Diff line change
Expand Up @@ -407,7 +407,7 @@ BO_ 2149592580 ECU_ECU_Analog_Data_to_TCM: 20 ECU
SG_ Steering_Angle_Signal : 96|16@1+ (0.0015259022,0) [0|100] "%" TCM
SG_ AUX_Signal : 112|16@1+ (0.0015259022,0) [0|100] "%" TCM
SG_ Acc_Pedal_Travel : 128|16@1+ (0.0015259022,0) [0|100] "%" TCM
SG_ Brake_Pedal_Travel : 144|16@1+ (0.0015259022,0) [0|100] "%" TCM
SG_ Brake_Pedal_Pressure : 144|16@1+ (1,0) [0|5000] "PSI" TCM

BO_ 2149592324 ECU_ECU_Pinging_RTT_to_TCM: 24 ECU
SG_ ACU_RTT : 0|8@1+ (1,0) [0|0] "ms" TCM
Expand Down Expand Up @@ -435,9 +435,49 @@ BO_ 2149592324 ECU_ECU_Pinging_RTT_to_TCM: 24 ECU
SG_ Brake_Temp_RR_RTT : 176|8@1+ (1,0) [0|0] "ms" TCM
SG_ DGPS_RTT : 184|8@1+ (1,0) [0|0] "ms" TCM

BO_ 2149592836 ECU_ECU_Config_to_TCM: 20 ECU
SG_ Ping_Timeout_Delay : 0|8@1+ (10,0) [0|2550] "ms" TCM
SG_ Brake_F_Min : 8|8@1+ (25,0) [0|6375] "PSI" TCM
SG_ Brake_R_Min : 16|8@1+ (25,0) [0|6375] "PSI" TCM
SG_ Brake_BSE_Min : 24|8@1+ (25,0) [0|6375] "PSI" TCM
SG_ APPS_1_Min : 32|8@1+ (10,0) [0|2550] "ADC" TCM
SG_ APPS_2_Min : 40|8@1+ (10,0) [0|2550] "ADC" TCM
SG_ APPS_1_Max : 48|8@1+ (10,0) [0|2550] "ADC" TCM
SG_ APPS_2_Max : 56|8@1+ (10,0) [0|2550] "ADC" TCM
SG_ APPS_Deadzone : 64|8@1+ (0.0392156863,0) [0|100] "%" TCM
SG_ BMS_Min_Threshold : 72|8@1+ (0.05,0) [0|12.75] "V" TCM
SG_ BMS_Max_Threshold : 80|8@1+ (0.05,0) [0|12.75] "V" TCM
SG_ IMD_Min_Threshold : 88|8@1+ (0.05,0) [0|12.75] "V" TCM
SG_ IMD_Max_Threshold : 96|8@1+ (0.05,0) [0|12.75] "V" TCM
SG_ BSPD_Min_Threshold : 104|8@1+ (0.05,0) [0|12.75] "V" TCM
SG_ BSPD_Max_Threshold : 112|8@1+ (0.05,0) [0|12.75] "V" TCM
SG_ Max_Precharge_Time : 120|8@1+ (10,0) [0|2550] "ms" TCM
SG_ Regen_Strength : 128|8@1+ (0.1,0) [0|25.5] "Ratio" TCM
SG_ Enable_Regen : 136|1@1+ (1,0) [0|0] "Bool" TCM

BO_ 2149581312 ECU_Ping_to_ALL: 4 ECU
SG_ Timestamp : 0|32@1+ (1,0) [0|4294967296] "ms" ALL

BO_ 2151689986 TCM_ECU_Config_to_ECU: 20 TCM
SG_ Ping_Timeout_Delay : 0|8@1+ (10,0) [0|2550] "ms" ECU
SG_ Brake_F_Min : 8|8@1+ (25,0) [0|6375] "PSI" ECU
SG_ Brake_R_Min : 16|8@1+ (25,0) [0|6375] "PSI" ECU
SG_ Brake_BSE_Min : 24|8@1+ (25,0) [0|6375] "PSI" ECU
SG_ APPS_1_Min : 32|8@1+ (10,0) [0|2550] "ADC" ECU
SG_ APPS_2_Min : 40|8@1+ (10,0) [0|2550] "ADC" ECU
SG_ APPS_1_Max : 48|8@1+ (10,0) [0|2550] "ADC" ECU
SG_ APPS_2_Max : 56|8@1+ (10,0) [0|2550] "ADC" ECU
SG_ APPS_Deadzone : 64|8@1+ (0.0392156863,0) [0|100] "%" ECU
SG_ BMS_Min_Threshold : 72|8@1+ (0.05,0) [0|12.75] "V" ECU
SG_ BMS_Max_Threshold : 80|8@1+ (0.05,0) [0|12.75] "V" ECU
SG_ IMD_Min_Threshold : 88|8@1+ (0.05,0) [0|12.75] "V" ECU
SG_ IMD_Max_Threshold : 96|8@1+ (0.05,0) [0|12.75] "V" ECU
SG_ BSPD_Min_Threshold : 104|8@1+ (0.05,0) [0|12.75] "V" ECU
SG_ BSPD_Max_Threshold : 112|8@1+ (0.05,0) [0|12.75] "V" ECU
SG_ Max_Precharge_Time : 120|8@1+ (10,0) [0|2550] "ms" ECU
SG_ Regen_Strength : 128|8@1+ (0.1,0) [0|25.5] "Ratio" ECU
SG_ Enable_Regen : 136|1@1+ (1,0) [0|0] "Bool" ECU

BO_ 2151678465 TCM_Ping_to_Debugger: 4 TCM
SG_ Timestamp : 0|32@1+ (1,0) [0|4294967296] "ms" Debugger

Expand Down Expand Up @@ -4281,7 +4321,7 @@ CM_ SG_ 2149592580 Brakeline_R_Signal "4-20 mA signal";
CM_ SG_ 2149592580 Steering_Angle_Signal "4-20 mA signal";
CM_ SG_ 2149592580 AUX_Signal "4-20 mA signal";
CM_ SG_ 2149592580 Acc_Pedal_Travel "0-100% percentage";
CM_ SG_ 2149592580 Brake_Pedal_Travel "0-100% percentage";
CM_ SG_ 2149592580 Brake_Pedal_Pressure "Pressure";
CM_ SG_ 2149592324 ACU_RTT "Round trip time";
CM_ SG_ 2149592324 GR_Inv_RTT "Round trip time";
CM_ SG_ 2149592324 Fan_Ctrl_1_RTT "Round trip time";
Expand All @@ -4306,7 +4346,43 @@ CM_ SG_ 2149592324 Brake_Temp_FR_RTT "Round trip time";
CM_ SG_ 2149592324 Brake_Temp_RL_RTT "Round trip time";
CM_ SG_ 2149592324 Brake_Temp_RR_RTT "Round trip time";
CM_ SG_ 2149592324 DGPS_RTT "Round trip time";
CM_ SG_ 2149592836 Ping_Timeout_Delay "Delay for which to consider pings timed out";
CM_ SG_ 2149592836 Brake_F_Min "Minimum brake f psi for which to consider the brakes pressed";
CM_ SG_ 2149592836 Brake_R_Min "Minimum brake r psi for which to consider the brakes pressed";
CM_ SG_ 2149592836 Brake_BSE_Min "Minimum brake bse psi for which to consider the brakes pressed";
CM_ SG_ 2149592836 APPS_1_Min "Minimum value that the APPS 1 sensor is expected to read";
CM_ SG_ 2149592836 APPS_2_Min "Minimum value that the APPS 2 sensor is expected to read";
CM_ SG_ 2149592836 APPS_1_Max "Maximum value that the APPS 1 sensor is expected to read";
CM_ SG_ 2149592836 APPS_2_Max "Maximum value that the APPS 2 sensor is expected to read";
CM_ SG_ 2149592836 APPS_Deadzone "Percentage deadzone of the APPS for which to not consider the pedals to have traveled";
CM_ SG_ 2149592836 BMS_Min_Threshold "Minimum acceptable BMS sense value such that the BMS is not considered in failure";
CM_ SG_ 2149592836 BMS_Max_Threshold "Maximum acceptable BMS sense value such that the BMS is not considered in failure";
CM_ SG_ 2149592836 IMD_Min_Threshold "Minimum acceptable IMD sense value such that the BMS is not considered in failure";
CM_ SG_ 2149592836 IMD_Max_Threshold "Maximum acceptable IMD sense value such that the BMS is not considered in failure";
CM_ SG_ 2149592836 BSPD_Min_Threshold "Minimum acceptable BSPD sense value such that the BMS is not considered in failure";
CM_ SG_ 2149592836 BSPD_Max_Threshold "Maximum acceptable BSPD sense value such that the BMS is not considered in failure";
CM_ SG_ 2149592836 Max_Precharge_Time "Maximum acceptable time to remain precharging before discharging";
CM_ SG_ 2149592836 Regen_Strength "TBD";
CM_ SG_ 2149592836 Enable_Regen "Enable or disable regenerative braking";
CM_ SG_ 2149581312 Timestamp "Time in millis";
CM_ SG_ 2151689986 Ping_Timeout_Delay "Delay for which to consider pings timed out";
CM_ SG_ 2151689986 Brake_F_Min "Minimum brake f psi for which to consider the brakes pressed";
CM_ SG_ 2151689986 Brake_R_Min "Minimum brake r psi for which to consider the brakes pressed";
CM_ SG_ 2151689986 Brake_BSE_Min "Minimum brake bse psi for which to consider the brakes pressed";
CM_ SG_ 2151689986 APPS_1_Min "Minimum value that the APPS 1 sensor is expected to read";
CM_ SG_ 2151689986 APPS_2_Min "Minimum value that the APPS 2 sensor is expected to read";
CM_ SG_ 2151689986 APPS_1_Max "Maximum value that the APPS 1 sensor is expected to read";
CM_ SG_ 2151689986 APPS_2_Max "Maximum value that the APPS 2 sensor is expected to read";
CM_ SG_ 2151689986 APPS_Deadzone "Percentage deadzone of the APPS for which to not consider the pedals to have traveled";
CM_ SG_ 2151689986 BMS_Min_Threshold "Minimum acceptable BMS sense value such that the BMS is not considered in failure";
CM_ SG_ 2151689986 BMS_Max_Threshold "Maximum acceptable BMS sense value such that the BMS is not considered in failure";
CM_ SG_ 2151689986 IMD_Min_Threshold "Minimum acceptable IMD sense value such that the BMS is not considered in failure";
CM_ SG_ 2151689986 IMD_Max_Threshold "Maximum acceptable IMD sense value such that the BMS is not considered in failure";
CM_ SG_ 2151689986 BSPD_Min_Threshold "Minimum acceptable BSPD sense value such that the BMS is not considered in failure";
CM_ SG_ 2151689986 BSPD_Max_Threshold "Maximum acceptable BSPD sense value such that the BMS is not considered in failure";
CM_ SG_ 2151689986 Max_Precharge_Time "Maximum acceptable time to remain precharging before discharging";
CM_ SG_ 2151689986 Regen_Strength "TBD";
CM_ SG_ 2151689986 Enable_Regen "Enable or disable regenerative braking";
CM_ SG_ 2151678465 Timestamp "Time in millis";
CM_ SG_ 2181038594 Timestamp "Time in millis";
CM_ SG_ 2181051140 ALT "altitude";
Expand Down Expand Up @@ -7551,7 +7627,9 @@ BA_ "VFrameFormat" BO_ 2149581057 15;
BA_ "VFrameFormat" BO_ 2149581313 15;
BA_ "VFrameFormat" BO_ 2149592580 15;
BA_ "VFrameFormat" BO_ 2149592324 15;
BA_ "VFrameFormat" BO_ 2149592836 15;
BA_ "VFrameFormat" BO_ 2149581312 15;
BA_ "VFrameFormat" BO_ 2151689986 15;
BA_ "VFrameFormat" BO_ 2151678465 15;
BA_ "VFrameFormat" BO_ 2181038594 15;
BA_ "VFrameFormat" BO_ 2181051140 15;
Expand Down
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