From b88b247058b6bb07bae9cf45a652249851794cdd Mon Sep 17 00:00:00 2001
From: Casey Zwicker <caseypzwicker@gmail.com>
Date: Mon, 1 Jun 2026 20:56:39 -0700
Subject: [PATCH 01/36] Initial commit

Co-authored-by: Thomas Xu <thomasxu070224@gmail.com>
---
 Autogen/CAN/Doc/GRCAN.CANdo       | 27 ++++++++++++++
 Autogen/CAN/Inc/GRCAN_CUSTOM_ID.h | 61 ++++++++++++++++---------------
 ECU/Application/Inc/CANdler.h     |  3 ++
 ECU/Application/Inc/StateData.h   |  2 +
 ECU/Application/Inc/StateUtils.h  |  1 -
 ECU/Application/Src/CANdler.c     | 34 +++++++++++++++++
 ECU/Application/Src/StateTicks.c  |  2 +-
 ECU/Application/Src/StateUtils.c  |  6 ---
 ECU/Core/Src/main.c               | 17 ++++++++-
 9 files changed, 113 insertions(+), 40 deletions(-)

diff --git a/Autogen/CAN/Doc/GRCAN.CANdo b/Autogen/CAN/Doc/GRCAN.CANdo
index 2041234c9..be1dd6f3c 100644
--- a/Autogen/CAN/Doc/GRCAN.CANdo
+++ b/Autogen/CAN/Doc/GRCAN.CANdo
@@ -108,6 +108,8 @@ routing:
             can_id_override: 0x2316
           - msg: DTI Data 5
             can_id_override: 0x2416
+          - msg: DTI Data 6
+            can_id_override: 0x1F16
     HV DC-DC:
       Primary:
         ECU:
@@ -9319,6 +9321,31 @@ Custom CAN ID:
       - name: "CAN Version"
         bit_start: 56
         comment: Indicates the CAN map version. For ex: 23 -> 2,3 (V2,3)
+  DTI Data 6:
+    CAN ID: 0x1F16
+    Length: 8
+    signals:
+      - name: "Control mode"
+        bit_start: 0
+        comment: Describes the control mode of the inverter:
+          1: CONTROL_MODE_SPEED
+          2: CONTROL_MODE_CURRENT
+          3: CONTROL_MODE_CURRENT_BRAKE
+          4: CONTROL_MODE_POS
+          7: CONTROL_MODE_NONE
+          0, 5, 6: NOT USED
+          Mainly used in multi-controller configurations for internal communication.
+      - name: "Target Iq"
+        bit_start: 8
+        comment: The value represent how much Iq current the inverter is targeted to reach. This value excludes limits. For ex. if the target Iq is 50 A and temperature limit is hit, the values keep 50 A in any case, not including the deration of the temp. limit. This is useful in multi-inverter configuration to let know the secondary inverter the target Iq.
+      - name: "Motor position"
+        bit_start: 24
+        comment: Motor position expressed in degrees
+      - name: "isMotorStill"
+        bit_start: 40
+        comment: Represents if the motor in still position or not.
+          1: still
+          0: rotating
   IMD general:
     CAN ID: 0x18FF01F4
     Length: 8
diff --git a/Autogen/CAN/Inc/GRCAN_CUSTOM_ID.h b/Autogen/CAN/Inc/GRCAN_CUSTOM_ID.h
index 5a70891ac..5a2a69f6e 100644
--- a/Autogen/CAN/Inc/GRCAN_CUSTOM_ID.h
+++ b/Autogen/CAN/Inc/GRCAN_CUSTOM_ID.h
@@ -3,36 +3,37 @@
 #define CUSTOM_CAN_ID_H
 
 typedef enum {
-	CHARGER_CONTROL_CAN_ID = 0x1806E5F4,
-	CHARGER_DATA_CAN_ID = 0x18FF50E5,
-	DTI_CONTROL_1_CAN_ID = 0x116,
-	DTI_CONTROL_10_CAN_ID = 0xA16,
-	DTI_CONTROL_11_CAN_ID = 0xB16,
-	DTI_CONTROL_12_CAN_ID = 0xC16,
-	DTI_CONTROL_2_CAN_ID = 0x216,
-	DTI_CONTROL_3_CAN_ID = 0x316,
-	DTI_CONTROL_4_CAN_ID = 0x416,
-	DTI_CONTROL_5_CAN_ID = 0x516,
-	DTI_CONTROL_6_CAN_ID = 0x616,
-	DTI_CONTROL_7_CAN_ID = 0x716,
-	DTI_CONTROL_8_CAN_ID = 0x816,
-	DTI_CONTROL_9_CAN_ID = 0x916,
-	DTI_DATA_1_CAN_ID = 0x2016,
-	DTI_DATA_2_CAN_ID = 0x2116,
-	DTI_DATA_3_CAN_ID = 0x2216,
-	DTI_DATA_4_CAN_ID = 0x2316,
-	DTI_DATA_5_CAN_ID = 0x2416,
-	EM_MEAS_CAN_ID = 0x10D,
-	EM_STATUS_CAN_ID = 0x40D,
-	EM_TEAM_DATA_1_CAN_ID = 0x30D,
-	EM_TEAM_DATA_2_CAN_ID = 0x30E,
-	EM_TEMP_CAN_ID = 0x60D,
-	IMD_IT_SYSTEM_CAN_ID = 0x18EFF4FE,
-	IMD_GENERAL_CAN_ID = 0x18FF01F4,
-	IMD_ISOLATION_INFO_CAN_ID = 0x18EFF4FE,
-	IMD_REQUEST_CAN_ID = 0x18EFF4FE,
-	IMD_RESPONSE_CAN_ID = 0x23,
-	IMD_VOLTAGE_CAN_ID = 0x18EFF4FE,
+    CHARGER_CONTROL_CAN_ID = 0x1806E5F4,
+    CHARGER_DATA_CAN_ID = 0x18FF50E5,
+    DTI_CONTROL_1_CAN_ID = 0x116,
+    DTI_CONTROL_10_CAN_ID = 0xA16,
+    DTI_CONTROL_11_CAN_ID = 0xB16,
+    DTI_CONTROL_12_CAN_ID = 0xC16,
+    DTI_CONTROL_2_CAN_ID = 0x216,
+    DTI_CONTROL_3_CAN_ID = 0x316,
+    DTI_CONTROL_4_CAN_ID = 0x416,
+    DTI_CONTROL_5_CAN_ID = 0x516,
+    DTI_CONTROL_6_CAN_ID = 0x616,
+    DTI_CONTROL_7_CAN_ID = 0x716,
+    DTI_CONTROL_8_CAN_ID = 0x816,
+    DTI_CONTROL_9_CAN_ID = 0x916,
+    DTI_DATA_1_CAN_ID = 0x2016,
+    DTI_DATA_2_CAN_ID = 0x2116,
+    DTI_DATA_3_CAN_ID = 0x2216,
+    DTI_DATA_4_CAN_ID = 0x2316,
+    DTI_DATA_5_CAN_ID = 0x2416,
+    DTI_DATA_6_CAN_ID = 0x1F16,
+    EM_MEAS_CAN_ID = 0x10D,
+    EM_STATUS_CAN_ID = 0x40D,
+    EM_TEAM_DATA_1_CAN_ID = 0x30D,
+    EM_TEAM_DATA_2_CAN_ID = 0x30E,
+    EM_TEMP_CAN_ID = 0x60D,
+    IMD_IT_SYSTEM_CAN_ID = 0x18EFF4FE,
+    IMD_GENERAL_CAN_ID = 0x18FF01F4,
+    IMD_ISOLATION_INFO_CAN_ID = 0x18EFF4FE,
+    IMD_REQUEST_CAN_ID = 0x18EFF4FE,
+    IMD_RESPONSE_CAN_ID = 0x23,
+    IMD_VOLTAGE_CAN_ID = 0x18EFF4FE,
 } GRCAN_CUSTOM_ID;
 
 #endif // CUSTOM_CAN_ID_H
diff --git a/ECU/Application/Inc/CANdler.h b/ECU/Application/Inc/CANdler.h
index 048243634..20f8db1fa 100644
--- a/ECU/Application/Inc/CANdler.h
+++ b/ECU/Application/Inc/CANdler.h
@@ -4,6 +4,7 @@
 #include "GRCAN_BUS_ID.h"
 #include "GRCAN_MSG_ID.h"
 #include "GRCAN_NODE_ID.h"
+#include "GRCAN_CUSTOM_ID.h"
 #include "StateData.h"
 
 #ifndef CANDLER_H
@@ -11,4 +12,6 @@
 
 void ECU_CAN_MessageHandler(ECU_StateData *state_data, GRCAN_BUS_ID bus_id, GRCAN_MSG_ID msg_id, GRCAN_NODE_ID sender_id, uint8_t *data, uint32_t data_length);
 
+void ECU_CAN_DTI_MessageHandler(ECU_StateData *state_data, GRCAN_CUSTOM_ID id, uint8_t *data, uint32_t data_length);
+
 #endif
diff --git a/ECU/Application/Inc/StateData.h b/ECU/Application/Inc/StateData.h
index 97992394a..d6870a523 100644
--- a/ECU/Application/Inc/StateData.h
+++ b/ECU/Application/Inc/StateData.h
@@ -124,6 +124,8 @@ typedef volatile struct ECU_StateData {
 
 	bool apps_bse_violation;
 
+	bool is_moving;
+
 	GR_ECU_State ecu_state;
 
 	CANHandle *primary_can;
diff --git a/ECU/Application/Inc/StateUtils.h b/ECU/Application/Inc/StateUtils.h
index c258b6676..96ec2d3c3 100644
--- a/ECU/Application/Inc/StateUtils.h
+++ b/ECU/Application/Inc/StateUtils.h
@@ -74,7 +74,6 @@ bool PressingBrake(volatile const ECU_StateData *stateData);
 float CalcBrakePressure(volatile const ECU_StateData *stateData);
 float CalcAccPedalTravel(volatile const ECU_StateData *stateData);
 bool APPS_Plausible(volatile const ECU_StateData *stateData);
-bool vehicle_is_moving(volatile const ECU_StateData *stateData);
 /* Disable inverter for both DTI and Custom */
 void disable_inverter(void);
 void Send_VCP_APPS(const ECU_StateData *stateData, uint16_t apps1_raw, uint16_t apps2_raw);
diff --git a/ECU/Application/Src/CANdler.c b/ECU/Application/Src/CANdler.c
index 0fb46ba4e..4721a434d 100644
--- a/ECU/Application/Src/CANdler.c
+++ b/ECU/Application/Src/CANdler.c
@@ -1,16 +1,20 @@
 #include "CANdler.h"
 
 #include <stdint.h>
+#include <math.h>
 
 #include "GRCAN_BUS_ID.h"
 #include "GRCAN_MSG_ID.h"
 #include "GRCAN_NODE_ID.h"
+#include "GRCAN_CUSTOM_ID.h"
 #include "Logomatic.h"
 #include "Pinging.h"
 #include "StateData.h"
 #include "bitManipulations.h"
 
 #define WHEEL_RPM_TO_MPH_RATIO 0.0476f
+#define NUM_MOTOR_POLE_PAIRS 10
+#define GEAR_RATIO 3.0f
 
 void ReportBadMessageLength(GRCAN_BUS_ID bus_id, GRCAN_MSG_ID msg_id, GRCAN_NODE_ID sender_id)
 {
@@ -156,3 +160,33 @@ void ECU_CAN_MessageHandler(ECU_StateData *state_data, GRCAN_BUS_ID bus_id, GRCA
 			break;
 	}
 }
+
+void ECU_CAN_DTI_MessageHandler(ECU_StateData *state_data, GRCAN_CUSTOM_ID id, uint8_t *data, uint32_t data_length)
+{
+	switch (id) {
+		case DTI_DATA_1_CAN_ID:
+			if(data_length != 8) {
+				ReportBadMessageLength(GRCAN_BUS_PRIMARY, (GRCAN_MSG_ID)id, GRCAN_DTI_Inv);
+				break;
+			}
+			int32_t erpm = (data[0] << 24)
+				| (data[1] << 16)
+				| (data[2] << 8)
+				| (data[3]);
+			state_data->vehicle_speed_mph = (float) erpm / NUM_MOTOR_POLE_PAIRS / GEAR_RATIO * WHEEL_RPM_TO_MPH_RATIO;
+			break;
+
+		case DTI_DATA_6_CAN_ID:
+			if(data_length != 8) {
+				ReportBadMessageLength(GRCAN_BUS_PRIMARY, (GRCAN_MSG_ID)id, GRCAN_DTI_Inv);
+				break;
+			}
+			state_data->is_moving = !data[5];
+			break;
+
+		default:
+			// don't really gaf
+			// ReportUnhandledMessage(GRCAN_BUS_PRIMARY, (GRCAN_MSG_ID)id, GRCAN_DTI_Inv);
+			break;
+	}
+}
diff --git a/ECU/Application/Src/StateTicks.c b/ECU/Application/Src/StateTicks.c
index 18d3cf616..9280b4d59 100644
--- a/ECU/Application/Src/StateTicks.c
+++ b/ECU/Application/Src/StateTicks.c
@@ -238,7 +238,7 @@ void ECU_Drive_Active(ECU_StateData *stateData)
 
 	if (stateData->rtd_button_pressed) {
 		stateData->ecu_state = GR_PRECHARGE_COMPLETE;
-		if (vehicle_is_moving(stateData)) {
+		if (stateData->is_moving) {
 			LOGOMATIC("Warning: Vehicle is moving during state transition.\n");
 		}
 		return;
diff --git a/ECU/Application/Src/StateUtils.c b/ECU/Application/Src/StateUtils.c
index 8a2a17f8a..d5fbf593e 100644
--- a/ECU/Application/Src/StateUtils.c
+++ b/ECU/Application/Src/StateUtils.c
@@ -175,12 +175,6 @@ bool APPS_Plausible(volatile const ECU_StateData *stateData)
 	return error < 0.1f;
 }
 
-bool vehicle_is_moving(volatile const ECU_StateData *stateData)
-{
-	const float tolerance = 0.1f; // In MPH
-	return stateData->vehicle_speed_mph > tolerance;
-}
-
 void disable_inverter(void)
 {
 	GRCAN_INV_CMD_MSG inverter_msg = {.drive_enable = 0, .field_weakening = 0, .rpm_limit = 0, .set_ac_current = 0, .set_dc_current = 0};
diff --git a/ECU/Core/Src/main.c b/ECU/Core/Src/main.c
index 9ad6a31bb..e582c1811 100644
--- a/ECU/Core/Src/main.c
+++ b/ECU/Core/Src/main.c
@@ -298,7 +298,11 @@ void ADC_Configure(void)
 
 void CAN1_rx_callback(uint32_t ID, void *data, uint32_t size)
 {
-	ECU_CAN_MessageHandler(&stateLump, GRCAN_BUS_PRIMARY, (0x000FFF00 & ID) >> 8, (0xFF00000 & ID) >> 20, data, size);
+	if ((ID & 0x1FFFC0FF) == 0x00000016) {
+		ECU_CAN_DTI_MessageHandler(&stateLump, ID, data, size);
+	} else {
+		ECU_CAN_MessageHandler(&stateLump, GRCAN_BUS_PRIMARY, (0x000FFF00 & ID) >> 8, (0xFF00000 & ID) >> 20, data, size);
+	}
 }
 
 void CAN2_rx_callback(uint32_t ID, void *data, uint32_t size)
@@ -327,7 +331,7 @@ void CAN_Configure(void)
 	canCfg.hal_fdcan_init.DataTimeSeg1 = 9; // Updated for 160MHz: 160 MHz/((1+9+10)*1) = 8 Mbps
 	canCfg.hal_fdcan_init.DataTimeSeg2 = 10;
 	canCfg.hal_fdcan_init.StdFiltersNbr = 0;
-	canCfg.hal_fdcan_init.ExtFiltersNbr = 1;
+	canCfg.hal_fdcan_init.ExtFiltersNbr = 3;
 
 	canCfg.rx_callback = NULL;
 	canCfg.rx_interrupt_priority = 15; // TODO: Maybe make these not hardcoded
@@ -392,10 +396,19 @@ void CAN_Configure(void)
 	fdcan_primary_filter_all.FilterID1 = GRCAN_ALL & 0xFF;
 	fdcan_primary_filter_all.FilterID2 = 0x000000FF;
 
+	FDCAN_FilterTypeDef fdcan_primary_filter_dti = {0};
+	fdcan_primary_filter_ecu.IdType = FDCAN_EXTENDED_ID;
+	fdcan_primary_filter_ecu.FilterIndex = 2;
+	fdcan_primary_filter_ecu.FilterType = FDCAN_FILTER_MASK;
+	fdcan_primary_filter_ecu.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;
+	fdcan_primary_filter_ecu.FilterID1 = 0x00000016;
+	fdcan_primary_filter_ecu.FilterID2 = 0x1FFFC0FF;
+
 	stateLump.primary_can = can_init(&canCfg);
 
 	can_add_filter(stateLump.primary_can, &fdcan_primary_filter_ecu);
 	can_add_filter(stateLump.primary_can, &fdcan_primary_filter_all);
+	can_add_filter(stateLump.primary_can, &fdcan_primary_filter_dti);
 
 	// CAN2 ======================================================
 	canCfg.fdcan_instance = FDCAN2;

From d4718ddff5490f19d83e83447a56fe2d3c2c5cf7 Mon Sep 17 00:00:00 2001
From: Casey Zwicker <caseypzwicker@gmail.com>
Date: Mon, 1 Jun 2026 21:01:16 -0700
Subject: [PATCH 02/36] current gear ratio

---
 ECU/Application/Src/CANdler.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ECU/Application/Src/CANdler.c b/ECU/Application/Src/CANdler.c
index 4721a434d..28d1e24da 100644
--- a/ECU/Application/Src/CANdler.c
+++ b/ECU/Application/Src/CANdler.c
@@ -14,7 +14,7 @@
 
 #define WHEEL_RPM_TO_MPH_RATIO 0.0476f
 #define NUM_MOTOR_POLE_PAIRS 10
-#define GEAR_RATIO 3.0f
+#define GEAR_RATIO 3.92f // will be 3.0 when the sprocket is changed
 
 void ReportBadMessageLength(GRCAN_BUS_ID bus_id, GRCAN_MSG_ID msg_id, GRCAN_NODE_ID sender_id)
 {

From 1b0b2c26cbafe83cd95cac720fb94cb691884626 Mon Sep 17 00:00:00 2001
From: Casey Zwicker <caseypzwicker@gmail.com>
Date: Mon, 1 Jun 2026 21:06:03 -0700
Subject: [PATCH 03/36] use vehicle speed when deciding whether to regen brake

---
 ECU/Application/Src/StateTicks.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ECU/Application/Src/StateTicks.c b/ECU/Application/Src/StateTicks.c
index 9280b4d59..9f27e4172 100644
--- a/ECU/Application/Src/StateTicks.c
+++ b/ECU/Application/Src/StateTicks.c
@@ -260,7 +260,7 @@ void ECU_Drive_Active(ECU_StateData *stateData)
 
 	if (stateData->apps_bse_violation || !apps_plausible) {
 		torque_request = 0;
-	} else if (stateData->enable_regen && PressingBrake(stateData) && 0 > REGEN_MIN_SPEED_MPH) { // stateData->vehicle_speed_mph
+	} else if (stateData->enable_regen && PressingBrake(stateData) && stateData->vehicle_speed_mph > REGEN_MIN_SPEED_MPH) {
 		torque_request = -MIN_WITH_TYPES(CalcBrakePressure(stateData) / 5000.0f * stateData->regen_strength, 1.0f) * MAX_REVERSE_CURRENT_AMPS;
 	} else {
 		uint16_t max_current = 0;

From d5c7e3e79a2ddeaa494d1bcaf63db79f4cdedd08 Mon Sep 17 00:00:00 2001
From: Casey Zwicker <caseypzwicker@gmail.com>
Date: Mon, 1 Jun 2026 21:07:37 -0700
Subject: [PATCH 04/36] Note where min speed came from

---
 ECU/Application/Inc/StateUtils.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ECU/Application/Inc/StateUtils.h b/ECU/Application/Inc/StateUtils.h
index 96ec2d3c3..53372a66d 100644
--- a/ECU/Application/Inc/StateUtils.h
+++ b/ECU/Application/Inc/StateUtils.h
@@ -14,7 +14,7 @@ uint32_t MillisecondsSinceBoot(void);
 #define MAX_APPS_IMPLAUSIBLE_TIME_MS 100
 #define MAX_BUZZER_TIME_MS 1000
 
-#define REGEN_MIN_SPEED_MPH 3.106856f // MPH
+#define REGEN_MIN_SPEED_MPH 3.106856f // 5 KPH
 
 #define MAX_CURRENT_AMPS 300.0f	       // Determined by Ryan
 #define MAX_REVERSE_CURRENT_AMPS 20.0f // TODO: Change as appropriate

From cbbb7d7d549dbcfda18cedefb6becb2c9bdbf0e5 Mon Sep 17 00:00:00 2001
From: Casey Zwicker <caseypzwicker@gmail.com>
Date: Mon, 1 Jun 2026 21:20:45 -0700
Subject: [PATCH 05/36] explicitly promote integer just in case

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

diff --git a/ECU/Application/Src/CANdler.c b/ECU/Application/Src/CANdler.c
index 28d1e24da..ab7a616b2 100644
--- a/ECU/Application/Src/CANdler.c
+++ b/ECU/Application/Src/CANdler.c
@@ -169,10 +169,10 @@ void ECU_CAN_DTI_MessageHandler(ECU_StateData *state_data, GRCAN_CUSTOM_ID id, u
 				ReportBadMessageLength(GRCAN_BUS_PRIMARY, (GRCAN_MSG_ID)id, GRCAN_DTI_Inv);
 				break;
 			}
-			int32_t erpm = (data[0] << 24)
-				| (data[1] << 16)
-				| (data[2] << 8)
-				| (data[3]);
+			int32_t erpm = ((uint32_t)data[0] << 24)
+				| ((uint32_t)data[1] << 16)
+				| ((uint32_t)data[2] << 8)
+				| ((uint32_t)data[3]);
 			state_data->vehicle_speed_mph = (float) erpm / NUM_MOTOR_POLE_PAIRS / GEAR_RATIO * WHEEL_RPM_TO_MPH_RATIO;
 			break;
 

From c5344f92ecf096de424681679dd3d6e4175e4240 Mon Sep 17 00:00:00 2001
From: github-actions <41898282+github-actions[bot]@users.noreply.github.com>
Date: Tue, 2 Jun 2026 04:44:40 +0000
Subject: [PATCH 06/36] Automatic CANfigurator: Updated CAN files automatically

---
 Autogen/CAN/Doc/GRCAN_Primary.dbc | 11 ++++++
 Autogen/CAN/Inc/GRCAN_CUSTOM_ID.h | 62 +++++++++++++++----------------
 2 files changed, 42 insertions(+), 31 deletions(-)

diff --git a/Autogen/CAN/Doc/GRCAN_Primary.dbc b/Autogen/CAN/Doc/GRCAN_Primary.dbc
index 5979cc4f0..eb030e765 100644
--- a/Autogen/CAN/Doc/GRCAN_Primary.dbc
+++ b/Autogen/CAN/Doc/GRCAN_Primary.dbc
@@ -169,6 +169,12 @@ BO_ 2147492886 DTI_Inv_DTI_Data_5_to_ECU: 8 DTI_Inv
  SG_ Power_limit : 42|1@1+ (1,0) [0|0] ""  ECU
  SG_ CAN_Version : 56|8@1+ (1,0) [0|0] ""  ECU
 
+BO_ 2147491606 DTI_Inv_DTI_Data_6_to_ECU: 8 DTI_Inv
+ SG_ Control_mode : 0|8@1+ (1,0) [0|0] ""  ECU
+ SG_ Target_Iq : 8|16@1+ (1,0) [0|0] ""  ECU
+ SG_ Motor_position : 24|16@1+ (1,0) [0|0] ""  ECU
+ SG_ isMotorStill : 40|16@1+ (1,0) [0|0] ""  ECU
+
 BO_ 2191528450 HV_DC_DC_Status_to_ECU: 7 HV_DC_DC
  SG_ Input_Voltage : 0|16@1+ (0.001,0) [0|65.535] "V"  ECU
  SG_ Output_Voltage : 16|16@1+ (0.001,0) [0|65.535] "V"  ECU
@@ -458,6 +464,10 @@ CM_ SG_ 2147492886 RPM_min_limit "1: RPM min limit active 0: RPM min limit inact
 CM_ SG_ 2147492886 RPM_max_limit "1: RPM max limit active 0: RPM max limit inactive";
 CM_ SG_ 2147492886 Power_limit "1: Power limit by Config active 0: Power limit by Config inactive";
 CM_ SG_ 2147492886 CAN_Version "Indicates the CAN map version. For ex: 23 -> 2,3 (V2,3)";
+CM_ SG_ 2147491606 Control_mode "Describes the control mode of the inverter:";
+CM_ SG_ 2147491606 Target_Iq "The value represent how much Iq current the inverter is targeted to reach. This value excludes limits. For ex. if the target Iq is 50 A and temperature limit is hit, the values keep 50 A in any case, not including the deration of the temp. limit. This is useful in multi-inverter configuration to let know the secondary inverter the target Iq.";
+CM_ SG_ 2147491606 Motor_position "Motor position expressed in degrees";
+CM_ SG_ 2147491606 isMotorStill "Represents if the motor in still position or not.";
 CM_ SG_ 2191528450 Input_Voltage "~20v for LV (LV only. Send 0 for HV)";
 CM_ SG_ 2191528450 Output_Voltage "~12v for LV and ~20v for HV";
 CM_ SG_ 2191528450 Input_Current "Input current (LV only. Send 0 for HV)";
@@ -603,6 +613,7 @@ BA_ "VFrameFormat" BO_ 2147492118 1;
 BA_ "VFrameFormat" BO_ 2147492374 1;
 BA_ "VFrameFormat" BO_ 2147492630 1;
 BA_ "VFrameFormat" BO_ 2147492886 1;
+BA_ "VFrameFormat" BO_ 2147491606 1;
 BA_ "VFrameFormat" BO_ 2191528450 1;
 BA_ "VFrameFormat" BO_ 2191524354 1;
 BA_ "VFrameFormat" BO_ 2191524353 1;
diff --git a/Autogen/CAN/Inc/GRCAN_CUSTOM_ID.h b/Autogen/CAN/Inc/GRCAN_CUSTOM_ID.h
index 5a2a69f6e..3d14fdae7 100644
--- a/Autogen/CAN/Inc/GRCAN_CUSTOM_ID.h
+++ b/Autogen/CAN/Inc/GRCAN_CUSTOM_ID.h
@@ -3,37 +3,37 @@
 #define CUSTOM_CAN_ID_H
 
 typedef enum {
-    CHARGER_CONTROL_CAN_ID = 0x1806E5F4,
-    CHARGER_DATA_CAN_ID = 0x18FF50E5,
-    DTI_CONTROL_1_CAN_ID = 0x116,
-    DTI_CONTROL_10_CAN_ID = 0xA16,
-    DTI_CONTROL_11_CAN_ID = 0xB16,
-    DTI_CONTROL_12_CAN_ID = 0xC16,
-    DTI_CONTROL_2_CAN_ID = 0x216,
-    DTI_CONTROL_3_CAN_ID = 0x316,
-    DTI_CONTROL_4_CAN_ID = 0x416,
-    DTI_CONTROL_5_CAN_ID = 0x516,
-    DTI_CONTROL_6_CAN_ID = 0x616,
-    DTI_CONTROL_7_CAN_ID = 0x716,
-    DTI_CONTROL_8_CAN_ID = 0x816,
-    DTI_CONTROL_9_CAN_ID = 0x916,
-    DTI_DATA_1_CAN_ID = 0x2016,
-    DTI_DATA_2_CAN_ID = 0x2116,
-    DTI_DATA_3_CAN_ID = 0x2216,
-    DTI_DATA_4_CAN_ID = 0x2316,
-    DTI_DATA_5_CAN_ID = 0x2416,
-    DTI_DATA_6_CAN_ID = 0x1F16,
-    EM_MEAS_CAN_ID = 0x10D,
-    EM_STATUS_CAN_ID = 0x40D,
-    EM_TEAM_DATA_1_CAN_ID = 0x30D,
-    EM_TEAM_DATA_2_CAN_ID = 0x30E,
-    EM_TEMP_CAN_ID = 0x60D,
-    IMD_IT_SYSTEM_CAN_ID = 0x18EFF4FE,
-    IMD_GENERAL_CAN_ID = 0x18FF01F4,
-    IMD_ISOLATION_INFO_CAN_ID = 0x18EFF4FE,
-    IMD_REQUEST_CAN_ID = 0x18EFF4FE,
-    IMD_RESPONSE_CAN_ID = 0x23,
-    IMD_VOLTAGE_CAN_ID = 0x18EFF4FE,
+	CHARGER_CONTROL_CAN_ID = 0x1806E5F4,
+	CHARGER_DATA_CAN_ID = 0x18FF50E5,
+	DTI_CONTROL_1_CAN_ID = 0x116,
+	DTI_CONTROL_10_CAN_ID = 0xA16,
+	DTI_CONTROL_11_CAN_ID = 0xB16,
+	DTI_CONTROL_12_CAN_ID = 0xC16,
+	DTI_CONTROL_2_CAN_ID = 0x216,
+	DTI_CONTROL_3_CAN_ID = 0x316,
+	DTI_CONTROL_4_CAN_ID = 0x416,
+	DTI_CONTROL_5_CAN_ID = 0x516,
+	DTI_CONTROL_6_CAN_ID = 0x616,
+	DTI_CONTROL_7_CAN_ID = 0x716,
+	DTI_CONTROL_8_CAN_ID = 0x816,
+	DTI_CONTROL_9_CAN_ID = 0x916,
+	DTI_DATA_1_CAN_ID = 0x2016,
+	DTI_DATA_2_CAN_ID = 0x2116,
+	DTI_DATA_3_CAN_ID = 0x2216,
+	DTI_DATA_4_CAN_ID = 0x2316,
+	DTI_DATA_5_CAN_ID = 0x2416,
+	DTI_DATA_6_CAN_ID = 0x1F16,
+	EM_MEAS_CAN_ID = 0x10D,
+	EM_STATUS_CAN_ID = 0x40D,
+	EM_TEAM_DATA_1_CAN_ID = 0x30D,
+	EM_TEAM_DATA_2_CAN_ID = 0x30E,
+	EM_TEMP_CAN_ID = 0x60D,
+	IMD_IT_SYSTEM_CAN_ID = 0x18EFF4FE,
+	IMD_GENERAL_CAN_ID = 0x18FF01F4,
+	IMD_ISOLATION_INFO_CAN_ID = 0x18EFF4FE,
+	IMD_REQUEST_CAN_ID = 0x18EFF4FE,
+	IMD_RESPONSE_CAN_ID = 0x23,
+	IMD_VOLTAGE_CAN_ID = 0x18EFF4FE,
 } GRCAN_CUSTOM_ID;
 
 #endif // CUSTOM_CAN_ID_H

From 4c9c5031aa1fe73737a399b270b11837d31b9aba Mon Sep 17 00:00:00 2001
From: github-actions <41898282+github-actions[bot]@users.noreply.github.com>
Date: Tue, 2 Jun 2026 04:46:15 +0000
Subject: [PATCH 07/36] Automatic Clang-Format: Standardized formatting
 automatically

---
 ECU/Application/Inc/CANdler.h |  2 +-
 ECU/Application/Src/CANdler.c | 15 ++++++---------
 2 files changed, 7 insertions(+), 10 deletions(-)

diff --git a/ECU/Application/Inc/CANdler.h b/ECU/Application/Inc/CANdler.h
index 20f8db1fa..47cb01326 100644
--- a/ECU/Application/Inc/CANdler.h
+++ b/ECU/Application/Inc/CANdler.h
@@ -2,9 +2,9 @@
 #include <stdint.h>
 
 #include "GRCAN_BUS_ID.h"
+#include "GRCAN_CUSTOM_ID.h"
 #include "GRCAN_MSG_ID.h"
 #include "GRCAN_NODE_ID.h"
-#include "GRCAN_CUSTOM_ID.h"
 #include "StateData.h"
 
 #ifndef CANDLER_H
diff --git a/ECU/Application/Src/CANdler.c b/ECU/Application/Src/CANdler.c
index ab7a616b2..72dc7ad45 100644
--- a/ECU/Application/Src/CANdler.c
+++ b/ECU/Application/Src/CANdler.c
@@ -1,12 +1,12 @@
 #include "CANdler.h"
 
-#include <stdint.h>
 #include <math.h>
+#include <stdint.h>
 
 #include "GRCAN_BUS_ID.h"
+#include "GRCAN_CUSTOM_ID.h"
 #include "GRCAN_MSG_ID.h"
 #include "GRCAN_NODE_ID.h"
-#include "GRCAN_CUSTOM_ID.h"
 #include "Logomatic.h"
 #include "Pinging.h"
 #include "StateData.h"
@@ -165,19 +165,16 @@ void ECU_CAN_DTI_MessageHandler(ECU_StateData *state_data, GRCAN_CUSTOM_ID id, u
 {
 	switch (id) {
 		case DTI_DATA_1_CAN_ID:
-			if(data_length != 8) {
+			if (data_length != 8) {
 				ReportBadMessageLength(GRCAN_BUS_PRIMARY, (GRCAN_MSG_ID)id, GRCAN_DTI_Inv);
 				break;
 			}
-			int32_t erpm = ((uint32_t)data[0] << 24)
-				| ((uint32_t)data[1] << 16)
-				| ((uint32_t)data[2] << 8)
-				| ((uint32_t)data[3]);
-			state_data->vehicle_speed_mph = (float) erpm / NUM_MOTOR_POLE_PAIRS / GEAR_RATIO * WHEEL_RPM_TO_MPH_RATIO;
+			int32_t erpm = ((uint32_t)data[0] << 24) | ((uint32_t)data[1] << 16) | ((uint32_t)data[2] << 8) | ((uint32_t)data[3]);
+			state_data->vehicle_speed_mph = (float)erpm / NUM_MOTOR_POLE_PAIRS / GEAR_RATIO * WHEEL_RPM_TO_MPH_RATIO;
 			break;
 
 		case DTI_DATA_6_CAN_ID:
-			if(data_length != 8) {
+			if (data_length != 8) {
 				ReportBadMessageLength(GRCAN_BUS_PRIMARY, (GRCAN_MSG_ID)id, GRCAN_DTI_Inv);
 				break;
 			}

From b4fda59ffa7bbc659e7071d0a4d48620f5c2b824 Mon Sep 17 00:00:00 2001
From: Thomas Xu <thomasxu070224@gmail.com>
Date: Thu, 4 Jun 2026 20:52:46 -0700
Subject: [PATCH 08/36] Adjust `disable_inverter` offset for current requests.

---
 ECU/Application/Src/StateUtils.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ECU/Application/Src/StateUtils.c b/ECU/Application/Src/StateUtils.c
index d5fbf593e..be3d158a8 100644
--- a/ECU/Application/Src/StateUtils.c
+++ b/ECU/Application/Src/StateUtils.c
@@ -177,7 +177,7 @@ bool APPS_Plausible(volatile const ECU_StateData *stateData)
 
 void disable_inverter(void)
 {
-	GRCAN_INV_CMD_MSG inverter_msg = {.drive_enable = 0, .field_weakening = 0, .rpm_limit = 0, .set_ac_current = 0, .set_dc_current = 0};
+	GRCAN_INV_CMD_MSG inverter_msg = {.drive_enable = 0, .field_weakening = 0, .rpm_limit = 0, .set_ac_current = 32768, .set_dc_current = 32768};
 	ECU_CAN_Send(GRCAN_BUS_PRIMARY, GRCAN_GR_Inv, GRCAN_INV_CMD, &inverter_msg, sizeof(inverter_msg));
 	ECU_CAN_Send_DTI(DTI_CONTROL_12_CAN_ID, &inverter_msg.drive_enable, 1);
 }

From cb5e869434ded2f8a6807fd80eeb4bb123a5f98f Mon Sep 17 00:00:00 2001
From: Daniel Hansen <dchansen06@gmail.com>
Date: Sat, 6 Jun 2026 19:28:00 -0700
Subject: [PATCH 09/36] Data 6 does not exist in our version (v2.4 not v2.5)

Signed-off-by: Daniel Hansen <dchansen06@gmail.com>
---
 Autogen/CAN/Doc/GRCAN.CANdo | 25 -------------------------
 1 file changed, 25 deletions(-)

diff --git a/Autogen/CAN/Doc/GRCAN.CANdo b/Autogen/CAN/Doc/GRCAN.CANdo
index be1dd6f3c..11c571064 100644
--- a/Autogen/CAN/Doc/GRCAN.CANdo
+++ b/Autogen/CAN/Doc/GRCAN.CANdo
@@ -9321,31 +9321,6 @@ Custom CAN ID:
       - name: "CAN Version"
         bit_start: 56
         comment: Indicates the CAN map version. For ex: 23 -> 2,3 (V2,3)
-  DTI Data 6:
-    CAN ID: 0x1F16
-    Length: 8
-    signals:
-      - name: "Control mode"
-        bit_start: 0
-        comment: Describes the control mode of the inverter:
-          1: CONTROL_MODE_SPEED
-          2: CONTROL_MODE_CURRENT
-          3: CONTROL_MODE_CURRENT_BRAKE
-          4: CONTROL_MODE_POS
-          7: CONTROL_MODE_NONE
-          0, 5, 6: NOT USED
-          Mainly used in multi-controller configurations for internal communication.
-      - name: "Target Iq"
-        bit_start: 8
-        comment: The value represent how much Iq current the inverter is targeted to reach. This value excludes limits. For ex. if the target Iq is 50 A and temperature limit is hit, the values keep 50 A in any case, not including the deration of the temp. limit. This is useful in multi-inverter configuration to let know the secondary inverter the target Iq.
-      - name: "Motor position"
-        bit_start: 24
-        comment: Motor position expressed in degrees
-      - name: "isMotorStill"
-        bit_start: 40
-        comment: Represents if the motor in still position or not.
-          1: still
-          0: rotating
   IMD general:
     CAN ID: 0x18FF01F4
     Length: 8

From 9379b40b62f821fd3e455bcfdf540d0d811919f1 Mon Sep 17 00:00:00 2001
From: Daniel Hansen <dchansen06@gmail.com>
Date: Sat, 6 Jun 2026 19:28:21 -0700
Subject: [PATCH 10/36] Remove logic relating to not real dti data 6

Signed-off-by: Daniel Hansen <dchansen06@gmail.com>
---
 ECU/Application/Inc/StateData.h  | 2 --
 ECU/Application/Src/CANdler.c    | 8 --------
 ECU/Application/Src/StateTicks.c | 2 +-
 3 files changed, 1 insertion(+), 11 deletions(-)

diff --git a/ECU/Application/Inc/StateData.h b/ECU/Application/Inc/StateData.h
index d6870a523..97992394a 100644
--- a/ECU/Application/Inc/StateData.h
+++ b/ECU/Application/Inc/StateData.h
@@ -124,8 +124,6 @@ typedef volatile struct ECU_StateData {
 
 	bool apps_bse_violation;
 
-	bool is_moving;
-
 	GR_ECU_State ecu_state;
 
 	CANHandle *primary_can;
diff --git a/ECU/Application/Src/CANdler.c b/ECU/Application/Src/CANdler.c
index 72dc7ad45..fadfda906 100644
--- a/ECU/Application/Src/CANdler.c
+++ b/ECU/Application/Src/CANdler.c
@@ -173,14 +173,6 @@ void ECU_CAN_DTI_MessageHandler(ECU_StateData *state_data, GRCAN_CUSTOM_ID id, u
 			state_data->vehicle_speed_mph = (float)erpm / NUM_MOTOR_POLE_PAIRS / GEAR_RATIO * WHEEL_RPM_TO_MPH_RATIO;
 			break;
 
-		case DTI_DATA_6_CAN_ID:
-			if (data_length != 8) {
-				ReportBadMessageLength(GRCAN_BUS_PRIMARY, (GRCAN_MSG_ID)id, GRCAN_DTI_Inv);
-				break;
-			}
-			state_data->is_moving = !data[5];
-			break;
-
 		default:
 			// don't really gaf
 			// ReportUnhandledMessage(GRCAN_BUS_PRIMARY, (GRCAN_MSG_ID)id, GRCAN_DTI_Inv);
diff --git a/ECU/Application/Src/StateTicks.c b/ECU/Application/Src/StateTicks.c
index 9f27e4172..c5226772b 100644
--- a/ECU/Application/Src/StateTicks.c
+++ b/ECU/Application/Src/StateTicks.c
@@ -238,7 +238,7 @@ void ECU_Drive_Active(ECU_StateData *stateData)
 
 	if (stateData->rtd_button_pressed) {
 		stateData->ecu_state = GR_PRECHARGE_COMPLETE;
-		if (stateData->is_moving) {
+		if (stateData->vehicle_speed_mph > 0) {
 			LOGOMATIC("Warning: Vehicle is moving during state transition.\n");
 		}
 		return;

From d776c65989ad72136bb11c2b54baabf3cceffcb0 Mon Sep 17 00:00:00 2001
From: github-actions <41898282+github-actions[bot]@users.noreply.github.com>
Date: Sun, 7 Jun 2026 02:28:51 +0000
Subject: [PATCH 11/36] Automatic CANfigurator: Updated CAN files automatically

---
 Autogen/CAN/Doc/GRCAN_Primary.dbc | 11 -----------
 Autogen/CAN/Inc/GRCAN_CUSTOM_ID.h |  1 -
 2 files changed, 12 deletions(-)

diff --git a/Autogen/CAN/Doc/GRCAN_Primary.dbc b/Autogen/CAN/Doc/GRCAN_Primary.dbc
index eb030e765..5979cc4f0 100644
--- a/Autogen/CAN/Doc/GRCAN_Primary.dbc
+++ b/Autogen/CAN/Doc/GRCAN_Primary.dbc
@@ -169,12 +169,6 @@ BO_ 2147492886 DTI_Inv_DTI_Data_5_to_ECU: 8 DTI_Inv
  SG_ Power_limit : 42|1@1+ (1,0) [0|0] ""  ECU
  SG_ CAN_Version : 56|8@1+ (1,0) [0|0] ""  ECU
 
-BO_ 2147491606 DTI_Inv_DTI_Data_6_to_ECU: 8 DTI_Inv
- SG_ Control_mode : 0|8@1+ (1,0) [0|0] ""  ECU
- SG_ Target_Iq : 8|16@1+ (1,0) [0|0] ""  ECU
- SG_ Motor_position : 24|16@1+ (1,0) [0|0] ""  ECU
- SG_ isMotorStill : 40|16@1+ (1,0) [0|0] ""  ECU
-
 BO_ 2191528450 HV_DC_DC_Status_to_ECU: 7 HV_DC_DC
  SG_ Input_Voltage : 0|16@1+ (0.001,0) [0|65.535] "V"  ECU
  SG_ Output_Voltage : 16|16@1+ (0.001,0) [0|65.535] "V"  ECU
@@ -464,10 +458,6 @@ CM_ SG_ 2147492886 RPM_min_limit "1: RPM min limit active 0: RPM min limit inact
 CM_ SG_ 2147492886 RPM_max_limit "1: RPM max limit active 0: RPM max limit inactive";
 CM_ SG_ 2147492886 Power_limit "1: Power limit by Config active 0: Power limit by Config inactive";
 CM_ SG_ 2147492886 CAN_Version "Indicates the CAN map version. For ex: 23 -> 2,3 (V2,3)";
-CM_ SG_ 2147491606 Control_mode "Describes the control mode of the inverter:";
-CM_ SG_ 2147491606 Target_Iq "The value represent how much Iq current the inverter is targeted to reach. This value excludes limits. For ex. if the target Iq is 50 A and temperature limit is hit, the values keep 50 A in any case, not including the deration of the temp. limit. This is useful in multi-inverter configuration to let know the secondary inverter the target Iq.";
-CM_ SG_ 2147491606 Motor_position "Motor position expressed in degrees";
-CM_ SG_ 2147491606 isMotorStill "Represents if the motor in still position or not.";
 CM_ SG_ 2191528450 Input_Voltage "~20v for LV (LV only. Send 0 for HV)";
 CM_ SG_ 2191528450 Output_Voltage "~12v for LV and ~20v for HV";
 CM_ SG_ 2191528450 Input_Current "Input current (LV only. Send 0 for HV)";
@@ -613,7 +603,6 @@ BA_ "VFrameFormat" BO_ 2147492118 1;
 BA_ "VFrameFormat" BO_ 2147492374 1;
 BA_ "VFrameFormat" BO_ 2147492630 1;
 BA_ "VFrameFormat" BO_ 2147492886 1;
-BA_ "VFrameFormat" BO_ 2147491606 1;
 BA_ "VFrameFormat" BO_ 2191528450 1;
 BA_ "VFrameFormat" BO_ 2191524354 1;
 BA_ "VFrameFormat" BO_ 2191524353 1;
diff --git a/Autogen/CAN/Inc/GRCAN_CUSTOM_ID.h b/Autogen/CAN/Inc/GRCAN_CUSTOM_ID.h
index 3d14fdae7..5a70891ac 100644
--- a/Autogen/CAN/Inc/GRCAN_CUSTOM_ID.h
+++ b/Autogen/CAN/Inc/GRCAN_CUSTOM_ID.h
@@ -22,7 +22,6 @@ typedef enum {
 	DTI_DATA_3_CAN_ID = 0x2216,
 	DTI_DATA_4_CAN_ID = 0x2316,
 	DTI_DATA_5_CAN_ID = 0x2416,
-	DTI_DATA_6_CAN_ID = 0x1F16,
 	EM_MEAS_CAN_ID = 0x10D,
 	EM_STATUS_CAN_ID = 0x40D,
 	EM_TEAM_DATA_1_CAN_ID = 0x30D,

From 42774e4c4f743fa4c3f9d9346e98f2c44355f5e8 Mon Sep 17 00:00:00 2001
From: Daniel Hansen <dchansen06@gmail.com>
Date: Sat, 6 Jun 2026 19:29:09 -0700
Subject: [PATCH 12/36] Nuke remaining dti data 6 ref

Signed-off-by: Daniel Hansen <dchansen06@gmail.com>
---
 Autogen/CAN/Doc/GRCAN.CANdo | 2 --
 1 file changed, 2 deletions(-)

diff --git a/Autogen/CAN/Doc/GRCAN.CANdo b/Autogen/CAN/Doc/GRCAN.CANdo
index 11c571064..2041234c9 100644
--- a/Autogen/CAN/Doc/GRCAN.CANdo
+++ b/Autogen/CAN/Doc/GRCAN.CANdo
@@ -108,8 +108,6 @@ routing:
             can_id_override: 0x2316
           - msg: DTI Data 5
             can_id_override: 0x2416
-          - msg: DTI Data 6
-            can_id_override: 0x1F16
     HV DC-DC:
       Primary:
         ECU:

From 8bcbd1a50871a15f17ec432e148461d4484f5bba Mon Sep 17 00:00:00 2001
From: Daniel Hansen <dchansen06@gmail.com>
Date: Sat, 6 Jun 2026 19:42:52 -0700
Subject: [PATCH 13/36] Enable regen on the branch to test regen

Signed-off-by: Daniel Hansen <dchansen06@gmail.com>
---
 ECU/Application/Src/StateTicks.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ECU/Application/Src/StateTicks.c b/ECU/Application/Src/StateTicks.c
index c5226772b..ae7608ee3 100644
--- a/ECU/Application/Src/StateTicks.c
+++ b/ECU/Application/Src/StateTicks.c
@@ -59,7 +59,7 @@ ECU_StateData stateLump = {
     .apps_2_max = 1926,
     // Regen
     .regen_strength = 2,
-    .enable_regen = false};
+    .enable_regen = true  };
 
 static uint32_t millis_since_boot;
 void ECU_State_Tick(void)

From 7e7f1a26c9891e1678e8412031f4a297b3e365af Mon Sep 17 00:00:00 2001
From: github-actions <41898282+github-actions[bot]@users.noreply.github.com>
Date: Sun, 7 Jun 2026 02:44:07 +0000
Subject: [PATCH 14/36] Automatic Clang-Format: Standardized formatting
 automatically

---
 ECU/Application/Src/StateTicks.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ECU/Application/Src/StateTicks.c b/ECU/Application/Src/StateTicks.c
index ae7608ee3..db3970833 100644
--- a/ECU/Application/Src/StateTicks.c
+++ b/ECU/Application/Src/StateTicks.c
@@ -59,7 +59,7 @@ ECU_StateData stateLump = {
     .apps_2_max = 1926,
     // Regen
     .regen_strength = 2,
-    .enable_regen = true  };
+    .enable_regen = true};
 
 static uint32_t millis_since_boot;
 void ECU_State_Tick(void)

From 6d88e875ce705b627d6bbe95126d533c87b06581 Mon Sep 17 00:00:00 2001
From: Daniel Hansen <dchansen06@gmail.com>
Date: Sat, 6 Jun 2026 21:39:31 -0700
Subject: [PATCH 15/36] Use more explicit math for `WHEEL_RPM_TO_MPH_RATIO`

Signed-off-by: Daniel Hansen <dchansen06@gmail.com>
---
 ECU/Application/Src/CANdler.c | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/ECU/Application/Src/CANdler.c b/ECU/Application/Src/CANdler.c
index fadfda906..187b57fba 100644
--- a/ECU/Application/Src/CANdler.c
+++ b/ECU/Application/Src/CANdler.c
@@ -12,9 +12,13 @@
 #include "StateData.h"
 #include "bitManipulations.h"
 
-#define WHEEL_RPM_TO_MPH_RATIO 0.0476f
+#define WHEEL_RADIUS_INCHES 8.0f
+#define WHEEL_CIRCUMFERENCE_INCHES (2.0f * M_PI * WHEEL_RADIUS_INCHES)
+#define WHEEL_RPM_TO_MPH_RATIO (WHEEL_CIRCUMFERENCE_INCHES / 63360.0f * 60.0f)
 #define NUM_MOTOR_POLE_PAIRS 10
-#define GEAR_RATIO 3.92f // will be 3.0 when the sprocket is changed
+#define DRIVEN_SPROCKET_TEETH 51.0f
+#define DRIVING_SPROCKET_TEETH 19.0f
+#define GEAR_RATIO (51.0f / 19.0f)
 
 void ReportBadMessageLength(GRCAN_BUS_ID bus_id, GRCAN_MSG_ID msg_id, GRCAN_NODE_ID sender_id)
 {

From 136e5c21d3f36372819162d9a8440be2ee65f522 Mon Sep 17 00:00:00 2001
From: Daniel Hansen <dchansen06@gmail.com>
Date: Sat, 6 Jun 2026 21:39:42 -0700
Subject: [PATCH 16/36] Cleanup actual calc

Signed-off-by: Daniel Hansen <dchansen06@gmail.com>
---
 ECU/Application/Src/CANdler.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ECU/Application/Src/CANdler.c b/ECU/Application/Src/CANdler.c
index 187b57fba..6e9d62e08 100644
--- a/ECU/Application/Src/CANdler.c
+++ b/ECU/Application/Src/CANdler.c
@@ -174,7 +174,7 @@ void ECU_CAN_DTI_MessageHandler(ECU_StateData *state_data, GRCAN_CUSTOM_ID id, u
 				break;
 			}
 			int32_t erpm = ((uint32_t)data[0] << 24) | ((uint32_t)data[1] << 16) | ((uint32_t)data[2] << 8) | ((uint32_t)data[3]);
-			state_data->vehicle_speed_mph = (float)erpm / NUM_MOTOR_POLE_PAIRS / GEAR_RATIO * WHEEL_RPM_TO_MPH_RATIO;
+			state_data->vehicle_speed_mph = (float)erpm * WHEEL_RPM_TO_MPH_RATIO / (NUM_MOTOR_POLE_PAIRS * GEAR_RATIO);
 			break;
 
 		default:

From 6884d0e6d5ec77f2f0098c35cd5979219c0aca55 Mon Sep 17 00:00:00 2001
From: Daniel Hansen <dchansen06@gmail.com>
Date: Sat, 6 Jun 2026 21:44:34 -0700
Subject: [PATCH 17/36] Never print buzz

Signed-off-by: Daniel Hansen <dchansen06@gmail.com>
---
 ECU/Application/Src/StateTicks.c | 1 -
 1 file changed, 1 deletion(-)

diff --git a/ECU/Application/Src/StateTicks.c b/ECU/Application/Src/StateTicks.c
index db3970833..e22114d11 100644
--- a/ECU/Application/Src/StateTicks.c
+++ b/ECU/Application/Src/StateTicks.c
@@ -233,7 +233,6 @@ void ECU_Drive_Active(ECU_StateData *stateData)
 		LL_GPIO_ResetOutputPin(RTD_CONTROL_GPIO_Port, RTD_CONTROL_Pin);
 	} else {
 		LL_GPIO_SetOutputPin(RTD_CONTROL_GPIO_Port, RTD_CONTROL_Pin);
-		// LOGOMATIC("buzz!\n");
 	}
 
 	if (stateData->rtd_button_pressed) {

From 3f178c9e58dea4c74a0254b4f4e26e6d7f6bc49a Mon Sep 17 00:00:00 2001
From: Daniel Hansen <dchansen06@gmail.com>
Date: Sat, 6 Jun 2026 22:10:57 -0700
Subject: [PATCH 18/36] Pi floats!

Signed-off-by: Daniel Hansen <dchansen06@gmail.com>
---
 ECU/Application/Src/CANdler.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ECU/Application/Src/CANdler.c b/ECU/Application/Src/CANdler.c
index 6e9d62e08..1478a8b76 100644
--- a/ECU/Application/Src/CANdler.c
+++ b/ECU/Application/Src/CANdler.c
@@ -13,7 +13,7 @@
 #include "bitManipulations.h"
 
 #define WHEEL_RADIUS_INCHES 8.0f
-#define WHEEL_CIRCUMFERENCE_INCHES (2.0f * M_PI * WHEEL_RADIUS_INCHES)
+#define WHEEL_CIRCUMFERENCE_INCHES (2.0f * (float)M_PI * WHEEL_RADIUS_INCHES)
 #define WHEEL_RPM_TO_MPH_RATIO (WHEEL_CIRCUMFERENCE_INCHES / 63360.0f * 60.0f)
 #define NUM_MOTOR_POLE_PAIRS 10
 #define DRIVEN_SPROCKET_TEETH 51.0f

From ffd0865754d8fe246394a5982f4317b243baa864 Mon Sep 17 00:00:00 2001
From: Daniel Hansen <dchansen06@gmail.com>
Date: Mon, 8 Jun 2026 21:00:44 -0700
Subject: [PATCH 19/36] Ensure the brake lights stay on at least 100ms

Copied from `dfb8fbc9f0e1928c02f05b7379796cb03bb8190f`

Signed-off-by: Daniel Hansen <dchansen06@gmail.com>
---
 ECU/Application/Src/Lights.c | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/ECU/Application/Src/Lights.c b/ECU/Application/Src/Lights.c
index 3e0e7c31d..ddd9eb07c 100644
--- a/ECU/Application/Src/Lights.c
+++ b/ECU/Application/Src/Lights.c
@@ -13,7 +13,13 @@
 
 void BrakeLightControl(ECU_StateData *stateLump)
 {
+	static uint32_t brake_light_start_millis;
+
 	if (PressingBrake(stateLump)) {
+		brake_light_start_millis = MillisecondsSinceBoot();
+	}
+
+	if (MillisecondsSinceBoot() - brake_light_start_millis < 100) {
 		LL_GPIO_SetOutputPin(BRAKE_LIGHT_GPIO_Port, BRAKE_LIGHT_Pin);
 	} else {
 		LL_GPIO_ResetOutputPin(BRAKE_LIGHT_GPIO_Port, BRAKE_LIGHT_Pin);

From bc696e2998221683d031eac4c4fb2a69170ac3e3 Mon Sep 17 00:00:00 2001
From: Daniel Hansen <dchansen06@gmail.com>
Date: Mon, 8 Jun 2026 21:02:18 -0700
Subject: [PATCH 20/36] Run brake and dash lights during startup delay

Co-authored-by: kzwicker <kzwicker@users.noreply.github.com>
Signed-off-by: Daniel Hansen <dchansen06@gmail.com>
---
 ECU/Application/Inc/Lights.h | 2 ++
 ECU/Core/Src/main.c          | 2 ++
 2 files changed, 4 insertions(+)

diff --git a/ECU/Application/Inc/Lights.h b/ECU/Application/Inc/Lights.h
index 37e3b6626..08fa9658c 100644
--- a/ECU/Application/Inc/Lights.h
+++ b/ECU/Application/Inc/Lights.h
@@ -12,6 +12,8 @@
  *
  * @return void
  */
+void BrakeLightControl(ECU_StateData *stateLump);
+void dashLights(ECU_StateData *stateLump);
 void lightControl(ECU_StateData *stateData);
 
 #endif
diff --git a/ECU/Core/Src/main.c b/ECU/Core/Src/main.c
index e582c1811..3e54fac46 100644
--- a/ECU/Core/Src/main.c
+++ b/ECU/Core/Src/main.c
@@ -498,6 +498,8 @@ int main(void)
 	LOGOMATIC("Boot completed at %lu ms\n", MillisecondsSinceBoot());
 
 	while (MillisecondsSinceBoot() < 5000) { // Notes per Andrey and Ryan
+		BrakeLightControl(&stateLump);
+		dashLights(&stateLump);
 		LL_mDelay(1);
 		ADC_UpdateAnalogValues_EMA(ADC_buffers, NUM_SIGNALS, adc_alpha, ADC_outputs);
 		write_adc_values_to_state_data();

From e04322a43723ee0248e0af588179056a6ecd151e Mon Sep 17 00:00:00 2001
From: Daniel Hansen <dchansen06@gmail.com>
Date: Tue, 9 Jun 2026 10:53:09 -0700
Subject: [PATCH 21/36] Move driving critical decisions from brake f and brake
 r to just bse/f

https://discord.com/channels/756738476887638107/1457989718741618788/1513853014874521680
Signed-off-by: Daniel Hansen <dchansen06@gmail.com>
---
 ECU/Application/Src/StateUtils.c | 6 ++----
 1 file changed, 2 insertions(+), 4 deletions(-)

diff --git a/ECU/Application/Src/StateUtils.c b/ECU/Application/Src/StateUtils.c
index be3d158a8..2297cb216 100644
--- a/ECU/Application/Src/StateUtils.c
+++ b/ECU/Application/Src/StateUtils.c
@@ -140,7 +140,7 @@ bool PressingBrake(volatile const ECU_StateData *stateData)
 	}
 #endif
 
-	return (stateData->Brake_F_Signal > stateData->brake_f_min) || (stateData->Brake_R_Signal > stateData->brake_r_min);
+	return stateData->bse_signal > stateData->brake_bse_min;
 }
 
 float CalcBrakePressure(volatile const ECU_StateData *stateData)
@@ -149,9 +149,7 @@ float CalcBrakePressure(volatile const ECU_StateData *stateData)
 	return 0;
 #endif
 
-	float psi_front = stateData->Brake_F_Signal / 4096.0f * 5000.0f;
-	float psi_rear = stateData->Brake_R_Signal / 4096.0f * 5000.0f;
-	return fmaxf(psi_front, psi_rear);
+	return stateData->bse_signal / 4096.0f * 5000.0f;
 }
 
 // TODO: reconsider deadzone

From acbbbb586cec1b1e7bdcf6ad90302d94aceffcff Mon Sep 17 00:00:00 2001
From: Daniel Hansen <dchansen06@gmail.com>
Date: Tue, 9 Jun 2026 22:32:20 -0700
Subject: [PATCH 22/36] Send analog data (eg pedals) every 30 ms

Signed-off-by: Daniel Hansen <dchansen06@gmail.com>
---
 ECU/Application/Src/CANutils.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ECU/Application/Src/CANutils.c b/ECU/Application/Src/CANutils.c
index 5b1765cc9..0e340fee8 100644
--- a/ECU/Application/Src/CANutils.c
+++ b/ECU/Application/Src/CANutils.c
@@ -132,7 +132,7 @@ void SendECUAnalogDataOverCAN(const ECU_StateData *stateData)
 	uint32_t millis_since_boot = MillisecondsSinceBoot();
 
 	static uint32_t last_can_tcm_request_millis = 0;
-	if (millis_since_boot - last_can_tcm_request_millis > 100) {
+	if (millis_since_boot - last_can_tcm_request_millis > 30) {
 		GRCAN_ECU_ANALOG_DATA_MSG message = {.bspd_signal = stateData->bspd_signal,
 						     .bse_signal = stateData->bse_signal,
 						     .apps_1_signal = stateData->APPS1_Signal,

From 7fbd756a8ed17dcc7ee8470e5bb3545c0c52a356 Mon Sep 17 00:00:00 2001
From: Daniel Hansen <dchansen06@gmail.com>
Date: Tue, 9 Jun 2026 22:47:04 -0700
Subject: [PATCH 23/36] Have hootl tests use bse instead of brake f

Signed-off-by: Daniel Hansen <dchansen06@gmail.com>
---
 ECU/Test/Src/StateTicksTest.c | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/ECU/Test/Src/StateTicksTest.c b/ECU/Test/Src/StateTicksTest.c
index 5fbedb3fc..75a3b4112 100644
--- a/ECU/Test/Src/StateTicksTest.c
+++ b/ECU/Test/Src/StateTicksTest.c
@@ -163,7 +163,7 @@ int main(void)
 		stateLumpTest.APPS2_Signal = stateLumpTest.apps_2_min;
 
 		LOGOMATIC("Press brake: STAY IN GLV ON\n");
-		stateLumpTest.Brake_F_Signal = stateLumpTest.brake_f_min + 69;
+		stateLumpTest.bse_signal = stateLumpTest.brake_bse_min + 69;
 		ECU_Pseudo_State_Tick(&stateLumpTest);
 		if (stateLumpTest.ecu_state != GR_GLV_ON) {
 			LOGOMATIC("0.2 Failure: ecu state not in GLV ON\n");
@@ -175,7 +175,7 @@ int main(void)
 		}
 
 		LOGOMATIC("Release brake: STAY IN GLV ON\n");
-		stateLumpTest.Brake_F_Signal = 0;
+		stateLumpTest.bse_signal = 0;
 		ECU_Pseudo_State_Tick(&stateLumpTest);
 		if (stateLumpTest.ecu_state != GR_GLV_ON) {
 			LOGOMATIC("0.2 Failure: ecu state not in GLV ON\n");
@@ -256,7 +256,7 @@ int main(void)
 		// ## Step 0.7             ##
 		// ##########################
 		LOGOMATIC("Press and release the RTD button WHILE pressing the brake\n");
-		stateLumpTest.Brake_F_Signal = stateLumpTest.brake_f_min + 69;
+		stateLumpTest.bse_signal = stateLumpTest.brake_bse_min + 69;
 		LOGOMATIC("Press RTD\n");
 		stateLumpTest.rtd_button_press_interrupt = true;
 		ECU_Pseudo_State_Tick(&stateLumpTest);
@@ -275,7 +275,7 @@ int main(void)
 		// ## Step 0.8             ##
 		// ##########################
 		LOGOMATIC("Release Brakes -> STAY IN DRIVE ACTIVE\n");
-		stateLumpTest.Brake_F_Signal = 0;
+		stateLumpTest.bse_signal = 0;
 		ECU_Pseudo_State_Tick(&stateLumpTest);
 		if (stateLumpTest.ecu_state != GR_DRIVE_ACTIVE) {
 			LOGOMATIC("0.8 Failure: ecu state not in drive active\n");
@@ -324,7 +324,7 @@ int main(void)
 		LOGOMATIC("Press Throttle and Brake -> STAY IN DRIVE ACTIVE\n");
 		stateLumpTest.APPS1_Signal = stateLumpTest.apps_1_max;
 		stateLumpTest.APPS2_Signal = stateLumpTest.apps_2_max;
-		stateLumpTest.Brake_F_Signal = stateLumpTest.brake_f_min + 69;
+		stateLumpTest.bse_signal = stateLumpTest.brake_bse_min + 69;
 		ECU_Pseudo_State_Tick(&stateLumpTest);
 		if (stateLumpTest.ecu_state != GR_DRIVE_ACTIVE) {
 			LOGOMATIC("0.11 Failure: ecu state not in drive active\n");
@@ -341,7 +341,7 @@ int main(void)
 		LOGOMATIC("Release Throttle and Brake-> STAY IN DRIVE ACTIVE\n");
 		stateLumpTest.APPS1_Signal = stateLumpTest.apps_1_min;
 		stateLumpTest.APPS2_Signal = stateLumpTest.apps_2_min;
-		stateLumpTest.Brake_F_Signal = 0;
+		stateLumpTest.bse_signal = 0;
 		ECU_Pseudo_State_Tick(&stateLumpTest);
 		if (stateLumpTest.ecu_state != GR_DRIVE_ACTIVE) {
 			LOGOMATIC("0.12 Failure: ecu state not in drive active\n");

From 06695128f77fa1a6c1d55b47bf2c412250c64cbe Mon Sep 17 00:00:00 2001
From: Daniel Hansen <dchansen06@gmail.com>
Date: Thu, 11 Jun 2026 19:47:03 -0700
Subject: [PATCH 24/36] More power!

Signed-off-by: Daniel Hansen <dchansen06@gmail.com>
---
 Autogen/CAN/Doc/GRCAN.CANdo      |  2 +-
 ECU/Application/Src/StateTicks.c | 16 ++++++++--------
 2 files changed, 9 insertions(+), 9 deletions(-)

diff --git a/Autogen/CAN/Doc/GRCAN.CANdo b/Autogen/CAN/Doc/GRCAN.CANdo
index 2041234c9..03bd7924a 100644
--- a/Autogen/CAN/Doc/GRCAN.CANdo
+++ b/Autogen/CAN/Doc/GRCAN.CANdo
@@ -560,7 +560,7 @@ Message ID:
       data type: u4
     Torque Map:
       bit_start: 36
-      comment: The torque map selected; torque map is the mapping of the throttle to the torque sent to each motor. 0 is max current amps, 1 is 50 / 100 / 150 / 200 / 250 / 275, 2 and later is tbd
+      comment: The torque map selected; torque map is the mapping of the throttle to the torque sent to each motor. 0 is max current amps, 1 is 100 / 200 / 250 / 300 / 325 / 350 Amps, 2 and later is tbd
       data type: u4
     Max Cell Temp:
       bit_start: 40
diff --git a/ECU/Application/Src/StateTicks.c b/ECU/Application/Src/StateTicks.c
index e22114d11..2c79efa41 100644
--- a/ECU/Application/Src/StateTicks.c
+++ b/ECU/Application/Src/StateTicks.c
@@ -31,8 +31,8 @@ ECU_StateData stateLump = {
     .ecu_state = GR_GLV_ON,
     // Assume ACU good at boot
     .acu_software_latch = 1,
-    // Startup at just above minimum power
-    .powerlevel = 1,
+    // Startup at minimum power
+    .powerlevel = 0,
     // See CANdo specification
     .torquemap = 1,
     // APPS Deadzone
@@ -266,22 +266,22 @@ void ECU_Drive_Active(ECU_StateData *stateData)
 		// Chosen max current for different power level / torque maps
 		switch (stateData->powerlevel) {
 			case 0:
-				max_current = 50;
+				max_current = 100;
 				break;
 			case 1:
-				max_current = 100;
+				max_current = 200;
 				break;
 			case 2:
-				max_current = 150;
+				max_current = 250;
 				break;
 			case 3:
-				max_current = 200;
+				max_current = 300;
 				break;
 			case 4:
-				max_current = 250;
+				max_current = 325;
 				break;
 			case 5:
-				max_current = 275;
+				max_current = 350;
 				break;
 			default:
 				LOGOMATIC("Invalid power level: %d. Defaulting to no current.\n", stateData->powerlevel);

From 7c56baa72874d042a7d58d8262e910bb0545392c Mon Sep 17 00:00:00 2001
From: github-actions <41898282+github-actions[bot]@users.noreply.github.com>
Date: Fri, 12 Jun 2026 02:47:49 +0000
Subject: [PATCH 25/36] Automatic CANfigurator: Updated CAN files automatically

---
 Autogen/CAN/Doc/GRCAN_Primary.dbc | 2 +-
 Autogen/CAN/Inc/GRCAN_MSG_DATA.h  | 4 ++--
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/Autogen/CAN/Doc/GRCAN_Primary.dbc b/Autogen/CAN/Doc/GRCAN_Primary.dbc
index 5979cc4f0..dc09b2400 100644
--- a/Autogen/CAN/Doc/GRCAN_Primary.dbc
+++ b/Autogen/CAN/Doc/GRCAN_Primary.dbc
@@ -515,7 +515,7 @@ CM_ SG_ 2149581568 Ping_Group_1 "[Byte 1 / Bits 8-15] ECU ping targets 8: ACU (1
 CM_ SG_ 2149581568 Ping_Group_2 "[Byte 2 / Bits 16-23] ECU ping targets 16: Suspension FL (1: OK, 0: Timeout) 17: Suspension FR (1: OK, 0: Timeout) 18: Suspension RL (1: OK, 0: Timeout) 19: Suspension RR (1: OK, 0: Timeout) 20: InboardFloor FL (1: OK, 0: Timeout) 21: InboardFloor FR (1: OK, 0: Timeout) 22: InboardFloor RL (1: OK, 0: Timeout) 23: InboardFloor RR (1: OK, 0: Timeout)";
 CM_ SG_ 2149581568 Ping_Group_3 "[Byte 3 / Bits 24-31] ECU ping targets 24: TireTemp FL (1: OK, 0: Timeout) 25: TireTemp FR (1: OK, 0: Timeout) 26: TireTemp RL (1: OK, 0: Timeout) 27: TireTemp RR (1: OK, 0: Timeout) 28: BrakeTemp FL (1: OK, 0: Timeout) 29: BrakeTemp FR (1: OK, 0: Timeout) 30: BrakeTemp RL (1: OK, 0: Timeout) 31: BrakeTemp RR (1: OK, 0: Timeout)";
 CM_ SG_ 2149581568 Power_Level "Controls the AC current limits to each of the inverters Discrete Mapping, actual current values described by the torque map";
-CM_ SG_ 2149581568 Torque_Map "The torque map selected; torque map is the mapping of the throttle to the torque sent to each motor. 0 is max current amps, 1 is 50 / 100 / 150 / 200 / 250 / 275, 2 and later is tbd";
+CM_ SG_ 2149581568 Torque_Map "The torque map selected; torque map is the mapping of the throttle to the torque sent to each motor. 0 is max current amps, 1 is 100 / 200 / 250 / 300 / 325 / 350 Amps, 2 and later is tbd";
 CM_ SG_ 2149581568 Max_Cell_Temp "the Temp of the hottest cell of the accumulator";
 CM_ SG_ 2149581568 Accumulator_State_of_Chg "% charged of the Accumulator";
 CM_ SG_ 2149581568 GLV_State_of_Chg "% charged of the Low Voltage Bat";
diff --git a/Autogen/CAN/Inc/GRCAN_MSG_DATA.h b/Autogen/CAN/Inc/GRCAN_MSG_DATA.h
index c00113345..5d5b185d2 100644
--- a/Autogen/CAN/Inc/GRCAN_MSG_DATA.h
+++ b/Autogen/CAN/Inc/GRCAN_MSG_DATA.h
@@ -53,8 +53,8 @@ See diagram in StateMachine.h (Byte 0) */
 31: BrakeTemp RR (1: OK, 0: Timeout) (Byte 3) */
 	uint8_t ping_group_3;
 	/** Controls the AC current limits to each of the inverters
-Discrete Mapping, actual current values described by the torque map The torque map selected; torque map is the mapping of the throttle to the torque sent to each motor. 0 is max current amps, 1 is 50
-/ 100 / 150 / 200 / 250 / 275, 2 and later is tbd (Byte 4) */
+Discrete Mapping, actual current values described by the torque map The torque map selected; torque map is the mapping of the throttle to the torque sent to each motor. 0 is max current amps, 1 is 100
+/ 200 / 250 / 300 / 325 / 350 Amps, 2 and later is tbd (Byte 4) */
 	uint8_t power_level_torque_map;
 	/** the Temp of the hottest cell of the accumulator (Byte 5) */
 	uint8_t max_cell_temp;

From 7858fd54ab87fcd4bd35dbd8d831010c1d386b7b Mon Sep 17 00:00:00 2001
From: Daniel Hansen <dchansen06@gmail.com>
Date: Thu, 11 Jun 2026 19:51:01 -0700
Subject: [PATCH 26/36] Adjust hard coded absolute non-configurable maximum

Signed-off-by: Daniel Hansen <dchansen06@gmail.com>
---
 ECU/Application/Inc/StateUtils.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ECU/Application/Inc/StateUtils.h b/ECU/Application/Inc/StateUtils.h
index 53372a66d..62d11d066 100644
--- a/ECU/Application/Inc/StateUtils.h
+++ b/ECU/Application/Inc/StateUtils.h
@@ -16,7 +16,7 @@ uint32_t MillisecondsSinceBoot(void);
 
 #define REGEN_MIN_SPEED_MPH 3.106856f // 5 KPH
 
-#define MAX_CURRENT_AMPS 300.0f	       // Determined by Ryan
+#define MAX_CURRENT_AMPS 375.0f	       // Determined by Ryan
 #define MAX_REVERSE_CURRENT_AMPS 20.0f // TODO: Change as appropriate
 
 #define ECU_STATUS_MSG_PERIOD_MILLIS (1000)

From 424609c443b704b805807b60804daeaca9394e3d Mon Sep 17 00:00:00 2001
From: Daniel Hansen <dchansen06@gmail.com>
Date: Thu, 11 Jun 2026 19:53:46 -0700
Subject: [PATCH 27/36] Incorporate brake pressure fix ```c float pressure_psi
 = ((float)adc_counts - 654.09f) * 5000.0f / 2614.73f; ```

https://discord.com/channels/@me/1339848701379612764/1514824425336340532
Signed-off-by: Daniel Hansen <dchansen06@gmail.com>
---
 ECU/Application/Src/StateUtils.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ECU/Application/Src/StateUtils.c b/ECU/Application/Src/StateUtils.c
index 2297cb216..85929bafb 100644
--- a/ECU/Application/Src/StateUtils.c
+++ b/ECU/Application/Src/StateUtils.c
@@ -149,7 +149,7 @@ float CalcBrakePressure(volatile const ECU_StateData *stateData)
 	return 0;
 #endif
 
-	return stateData->bse_signal / 4096.0f * 5000.0f;
+	return ((float)stateData->bse_signal - 654.09f) * 5000.0f / 2614.73f;
 }
 
 // TODO: reconsider deadzone

From 113c1b927a4de77a9baa4f4b63fd5230d9b33a92 Mon Sep 17 00:00:00 2001
From: Daniel Hansen <dchansen06@gmail.com>
Date: Thu, 11 Jun 2026 20:09:27 -0700
Subject: [PATCH 28/36] Temp disable regen

Signed-off-by: Daniel Hansen <dchansen06@gmail.com>
---
 ECU/Application/Src/StateTicks.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ECU/Application/Src/StateTicks.c b/ECU/Application/Src/StateTicks.c
index 2c79efa41..e5e15e481 100644
--- a/ECU/Application/Src/StateTicks.c
+++ b/ECU/Application/Src/StateTicks.c
@@ -59,7 +59,7 @@ ECU_StateData stateLump = {
     .apps_2_max = 1926,
     // Regen
     .regen_strength = 2,
-    .enable_regen = true};
+    .enable_regen = false};
 
 static uint32_t millis_since_boot;
 void ECU_State_Tick(void)

From 145ff2a1b30d739aa3838ec21065e1e8ee8c6c19 Mon Sep 17 00:00:00 2001
From: Daniel Hansen <dchansen06@gmail.com>
Date: Thu, 11 Jun 2026 20:19:03 -0700
Subject: [PATCH 29/36] Battery max reverse current at 30A

Signed-off-by: Daniel Hansen <dchansen06@gmail.com>
---
 ECU/Application/Inc/StateUtils.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ECU/Application/Inc/StateUtils.h b/ECU/Application/Inc/StateUtils.h
index 62d11d066..955b0a520 100644
--- a/ECU/Application/Inc/StateUtils.h
+++ b/ECU/Application/Inc/StateUtils.h
@@ -17,7 +17,7 @@ uint32_t MillisecondsSinceBoot(void);
 #define REGEN_MIN_SPEED_MPH 3.106856f // 5 KPH
 
 #define MAX_CURRENT_AMPS 375.0f	       // Determined by Ryan
-#define MAX_REVERSE_CURRENT_AMPS 20.0f // TODO: Change as appropriate
+#define MAX_REVERSE_CURRENT_AMPS 30.0f // TODO: Change as appropriate
 
 #define ECU_STATUS_MSG_PERIOD_MILLIS (1000)
 #define TRACTIVE_SYSTEM_MAX_PERMITTED_DISCHARGE_TIME_MILLIS (5000)

From 1502edabbfde426338c576bc3c53e1658e1cf45e Mon Sep 17 00:00:00 2001
From: Casey Zwicker <caseypzwicker@gmail.com>
Date: Wed, 17 Jun 2026 21:49:50 -0400
Subject: [PATCH 30/36] The Unwronging of the Dash Panel Lights

---
 ECU/Application/Inc/StateData.h  |  4 +---
 ECU/Application/Src/Lights.c     | 17 +++++++++++------
 ECU/Application/Src/StateTicks.c |  4 +++-
 ECU/Core/Src/main.c              | 11 ++++++++++-
 4 files changed, 25 insertions(+), 11 deletions(-)

diff --git a/ECU/Application/Inc/StateData.h b/ECU/Application/Inc/StateData.h
index 97992394a..0cd60783f 100644
--- a/ECU/Application/Inc/StateData.h
+++ b/ECU/Application/Inc/StateData.h
@@ -116,9 +116,7 @@ typedef volatile struct ECU_StateData {
 	bool ir_minus;
 	bool acu_software_latch;
 
-	bool bms_light;
-	bool imd_light;
-	bool tssi_fault;
+	bool SDC_startup_condition;
 
 	bool enable_regen;
 
diff --git a/ECU/Application/Src/Lights.c b/ECU/Application/Src/Lights.c
index ddd9eb07c..6679df722 100644
--- a/ECU/Application/Src/Lights.c
+++ b/ECU/Application/Src/Lights.c
@@ -26,7 +26,6 @@ void BrakeLightControl(ECU_StateData *stateLump)
 	}
 }
 
-static bool SDCStartupCondition = true; // prevent false positive TSSI on startup
 // PRECONDITION: IMD assumed to give valid readings before this is run
 void TSSILightControl(ECU_StateData *stateLump)
 {
@@ -36,16 +35,16 @@ void TSSILightControl(ECU_StateData *stateLump)
 	bool redCar;
 
 	// if we are before SDC is reset, don't red car unless there is an active failure
-	if (SDCStartupCondition) {
+	if (stateLump->SDC_startup_condition) {
 		redCar = false;
 
 		SDC_Level bms = bmsLevel(stateLump);
 		SDC_Level imd = imdLevel(stateLump);
 
 		if (bms == SDC_OK && imd == SDC_OK) {
-			SDCStartupCondition = false;
+			stateLump->SDC_startup_condition = false;
 		} else if (bms == SDC_ONGOING_FAILURE || imd == SDC_ONGOING_FAILURE) {
-			SDCStartupCondition = false;
+			stateLump->SDC_startup_condition = false;
 			redCar = true;
 		}
 	} else {
@@ -149,8 +148,14 @@ void dashLights(ECU_StateData *stateLump)
 
 	GRCAN_DASH_CONFIG_MSG message = {.led_latch_flags = (bms_nonlatch << 5) | (imd_nonlatch << 4) | (bspd_nonlatch << 3) | (bms_latch << 2) | (imd_latch << 1) | (bspd_latch << 0)};
 	*/
-	GRCAN_DASH_CONFIG_MSG message = {.led_latch_flags = (!bspdFailure(stateLump) << 5) | (!imdFailure(stateLump) << 4) | (!bmsFailure(stateLump) << 3) | (bspdFailure(stateLump) << 2) |
-							    (imdFailure(stateLump) << 1) | (bmsFailure(stateLump) << 0)};
+	GRCAN_DASH_CONFIG_MSG message;
+	if(stateLump->SDC_startup_condition) {
+		message = (GRCAN_DASH_CONFIG_MSG){.led_latch_flags = (true << 5) | (true << 4) | (true << 3) | (false << 2) |
+						    (false << 1) | (false << 0)};
+	} else {
+		message = (GRCAN_DASH_CONFIG_MSG){.led_latch_flags = (!bspdFailure(stateLump) << 5) | (!imdFailure(stateLump) << 4) | (!bmsFailure(stateLump) << 3) | (bspdFailure(stateLump) << 2) |
+									(imdFailure(stateLump) << 1) | (bmsFailure(stateLump) << 0)};
+	}
 
 	message.led_latch_flags = ~message.led_latch_flags; // not to spec, needed as of the current iteration of the dash panel code
 	ECU_CAN_Send(GRCAN_BUS_PRIMARY, GRCAN_Dash_Panel, GRCAN_DASH_CONFIG, &message, sizeof(message));
diff --git a/ECU/Application/Src/StateTicks.c b/ECU/Application/Src/StateTicks.c
index e5e15e481..41ff2da6e 100644
--- a/ECU/Application/Src/StateTicks.c
+++ b/ECU/Application/Src/StateTicks.c
@@ -59,7 +59,9 @@ ECU_StateData stateLump = {
     .apps_2_max = 1926,
     // Regen
     .regen_strength = 2,
-    .enable_regen = false};
+    .enable_regen = false,
+	.SDC_startup_condition = true
+};
 
 static uint32_t millis_since_boot;
 void ECU_State_Tick(void)
diff --git a/ECU/Core/Src/main.c b/ECU/Core/Src/main.c
index 3e54fac46..193c67178 100644
--- a/ECU/Core/Src/main.c
+++ b/ECU/Core/Src/main.c
@@ -499,7 +499,16 @@ int main(void)
 
 	while (MillisecondsSinceBoot() < 5000) { // Notes per Andrey and Ryan
 		BrakeLightControl(&stateLump);
-		dashLights(&stateLump);
+		//GRCAN_DASH_CONFIG_MSG message = {.led_latch_flags = (!bspdFailure(stateLump) << 5) | (!imdFailure(stateLump) << 4) | (!bmsFailure(stateLump) << 3) | (bspdFailure(stateLump) << 2) |
+		//					    (imdFailure(stateLump) << 1) | (bmsFailure(stateLump) << 0)};
+
+		GRCAN_DASH_CONFIG_MSG message = {.led_latch_flags = (true << 5) | (true << 4) | (true << 3) | (false << 2) |
+						    (false << 1) | (false << 0)};
+
+		message.led_latch_flags = ~message.led_latch_flags; // not to spec, needed as of the current iteration of the dash panel code
+
+		ECU_CAN_Send(GRCAN_BUS_PRIMARY, GRCAN_Dash_Panel, GRCAN_DASH_CONFIG, &message, sizeof(message));
+
 		LL_mDelay(1);
 		ADC_UpdateAnalogValues_EMA(ADC_buffers, NUM_SIGNALS, adc_alpha, ADC_outputs);
 		write_adc_values_to_state_data();

From e7ae6bc6c3f4afe1ce793c1b77d4161b178355ec Mon Sep 17 00:00:00 2001
From: github-actions <41898282+github-actions[bot]@users.noreply.github.com>
Date: Thu, 18 Jun 2026 01:53:14 +0000
Subject: [PATCH 31/36] Automatic Clang-Format: Standardized formatting
 automatically

---
 ECU/Application/Src/Lights.c     | 7 +++----
 ECU/Application/Src/StateTicks.c | 3 +--
 ECU/Core/Src/main.c              | 5 ++---
 3 files changed, 6 insertions(+), 9 deletions(-)

diff --git a/ECU/Application/Src/Lights.c b/ECU/Application/Src/Lights.c
index 6679df722..c86bb1efe 100644
--- a/ECU/Application/Src/Lights.c
+++ b/ECU/Application/Src/Lights.c
@@ -149,12 +149,11 @@ void dashLights(ECU_StateData *stateLump)
 	GRCAN_DASH_CONFIG_MSG message = {.led_latch_flags = (bms_nonlatch << 5) | (imd_nonlatch << 4) | (bspd_nonlatch << 3) | (bms_latch << 2) | (imd_latch << 1) | (bspd_latch << 0)};
 	*/
 	GRCAN_DASH_CONFIG_MSG message;
-	if(stateLump->SDC_startup_condition) {
-		message = (GRCAN_DASH_CONFIG_MSG){.led_latch_flags = (true << 5) | (true << 4) | (true << 3) | (false << 2) |
-						    (false << 1) | (false << 0)};
+	if (stateLump->SDC_startup_condition) {
+		message = (GRCAN_DASH_CONFIG_MSG){.led_latch_flags = (true << 5) | (true << 4) | (true << 3) | (false << 2) | (false << 1) | (false << 0)};
 	} else {
 		message = (GRCAN_DASH_CONFIG_MSG){.led_latch_flags = (!bspdFailure(stateLump) << 5) | (!imdFailure(stateLump) << 4) | (!bmsFailure(stateLump) << 3) | (bspdFailure(stateLump) << 2) |
-									(imdFailure(stateLump) << 1) | (bmsFailure(stateLump) << 0)};
+								     (imdFailure(stateLump) << 1) | (bmsFailure(stateLump) << 0)};
 	}
 
 	message.led_latch_flags = ~message.led_latch_flags; // not to spec, needed as of the current iteration of the dash panel code
diff --git a/ECU/Application/Src/StateTicks.c b/ECU/Application/Src/StateTicks.c
index 41ff2da6e..2a78ae364 100644
--- a/ECU/Application/Src/StateTicks.c
+++ b/ECU/Application/Src/StateTicks.c
@@ -60,8 +60,7 @@ ECU_StateData stateLump = {
     // Regen
     .regen_strength = 2,
     .enable_regen = false,
-	.SDC_startup_condition = true
-};
+    .SDC_startup_condition = true};
 
 static uint32_t millis_since_boot;
 void ECU_State_Tick(void)
diff --git a/ECU/Core/Src/main.c b/ECU/Core/Src/main.c
index 193c67178..aa8f6f89b 100644
--- a/ECU/Core/Src/main.c
+++ b/ECU/Core/Src/main.c
@@ -499,11 +499,10 @@ int main(void)
 
 	while (MillisecondsSinceBoot() < 5000) { // Notes per Andrey and Ryan
 		BrakeLightControl(&stateLump);
-		//GRCAN_DASH_CONFIG_MSG message = {.led_latch_flags = (!bspdFailure(stateLump) << 5) | (!imdFailure(stateLump) << 4) | (!bmsFailure(stateLump) << 3) | (bspdFailure(stateLump) << 2) |
+		// GRCAN_DASH_CONFIG_MSG message = {.led_latch_flags = (!bspdFailure(stateLump) << 5) | (!imdFailure(stateLump) << 4) | (!bmsFailure(stateLump) << 3) | (bspdFailure(stateLump) << 2) |
 		//					    (imdFailure(stateLump) << 1) | (bmsFailure(stateLump) << 0)};
 
-		GRCAN_DASH_CONFIG_MSG message = {.led_latch_flags = (true << 5) | (true << 4) | (true << 3) | (false << 2) |
-						    (false << 1) | (false << 0)};
+		GRCAN_DASH_CONFIG_MSG message = {.led_latch_flags = (true << 5) | (true << 4) | (true << 3) | (false << 2) | (false << 1) | (false << 0)};
 
 		message.led_latch_flags = ~message.led_latch_flags; // not to spec, needed as of the current iteration of the dash panel code
 

From b0acb84e14f9934a2d06307c923f3e463ee6a0c8 Mon Sep 17 00:00:00 2001
From: Casey Zwicker <caseypzwicker@gmail.com>
Date: Fri, 19 Jun 2026 17:28:41 -0400
Subject: [PATCH 32/36] Revised scaling of TS voltage

---
 ECU/Application/Src/CANdler.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ECU/Application/Src/CANdler.c b/ECU/Application/Src/CANdler.c
index 1478a8b76..cd1bd97d7 100644
--- a/ECU/Application/Src/CANdler.c
+++ b/ECU/Application/Src/CANdler.c
@@ -71,7 +71,7 @@ void ECU_CAN_MessageHandler(ECU_StateData *state_data, GRCAN_BUS_ID bus_id, GRCA
 			GRCAN_ACU_STATUS_1_MSG *acu_status_1 = (GRCAN_ACU_STATUS_1_MSG *)data;
 			state_data->tractivebattery_soc = acu_status_1->accumulator_soc;
 			state_data->glv_soc = acu_status_1->glv_soc;
-			state_data->ts_voltage = acu_status_1->ts_voltage * 0.01f;
+			state_data->ts_voltage = acu_status_1->ts_voltage * 0.1f;
 			break;
 
 		case GRCAN_ACU_STATUS_2:

From e6919a464047dadee2b7d77a46be5eb7629ce0f9 Mon Sep 17 00:00:00 2001
From: Daniel Hansen <dchansen06@gmail.com>
Date: Fri, 19 Jun 2026 14:29:12 -0700
Subject: [PATCH 33/36] Switch to 10x scaling of the ACU Status 1 field for TS
 Voltage

Signed-off-by: Daniel Hansen <dchansen06@gmail.com>
---
 Autogen/CAN/Doc/GRCAN.CANdo | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Autogen/CAN/Doc/GRCAN.CANdo b/Autogen/CAN/Doc/GRCAN.CANdo
index 03bd7924a..fff052888 100644
--- a/Autogen/CAN/Doc/GRCAN.CANdo
+++ b/Autogen/CAN/Doc/GRCAN.CANdo
@@ -668,7 +668,7 @@ Message ID:
       units: Volts
       scaled min: 0
       scaled max: 655.35
-      map equation: "0.01x"
+      map equation: "0.1x"
     Accumulator Current:
       bit_start: 32
       comment: Current output of accumulator

From b70f0302a397d80030537b4bb554fcae9008444a Mon Sep 17 00:00:00 2001
From: github-actions <41898282+github-actions[bot]@users.noreply.github.com>
Date: Fri, 19 Jun 2026 21:29:36 +0000
Subject: [PATCH 34/36] Automatic CANfigurator: Updated CAN files automatically

---
 Autogen/CAN/Doc/GRCAN_Charger.dbc | 2 +-
 Autogen/CAN/Doc/GRCAN_Primary.dbc | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/Autogen/CAN/Doc/GRCAN_Charger.dbc b/Autogen/CAN/Doc/GRCAN_Charger.dbc
index 5cef85a39..9d7f15ec7 100644
--- a/Autogen/CAN/Doc/GRCAN_Charger.dbc
+++ b/Autogen/CAN/Doc/GRCAN_Charger.dbc
@@ -41,7 +41,7 @@ BO_ 2550588916 ACU_Charger_Control_to_Charger: 5 ACU
 
 BO_ 2150631170 ACU_ACU_Status_1_to_CCU: 8 ACU
  SG_ Accumulator_Voltage : 0|16@1+ (0.01,0) [0|655.35] "Volts"  CCU
- SG_ TS_Voltage : 16|16@1+ (0.01,0) [0|655.35] "Volts"  CCU
+ SG_ TS_Voltage : 16|16@1+ (0.1,0) [0|655.35] "Volts"  CCU
  SG_ Accumulator_Current : 32|16@1- (0.01,0) [-327.68|327.67] "Amps"  CCU
  SG_ Accumulator_SOC : 48|8@1+ (0.3921568627,0) [0|100] "%"  CCU
  SG_ GLV_SOC : 56|8@1+ (0.3921568627,0) [0|100] "%"  CCU
diff --git a/Autogen/CAN/Doc/GRCAN_Primary.dbc b/Autogen/CAN/Doc/GRCAN_Primary.dbc
index dc09b2400..c1ca89636 100644
--- a/Autogen/CAN/Doc/GRCAN_Primary.dbc
+++ b/Autogen/CAN/Doc/GRCAN_Primary.dbc
@@ -45,7 +45,7 @@ BO_ 2150629890 ACU_Ping_to_ECU: 4 ACU
 
 BO_ 2150631170 ACU_ACU_Status_1_to_ECU: 8 ACU
  SG_ Accumulator_Voltage : 0|16@1+ (0.01,0) [0|655.35] "Volts"  ECU
- SG_ TS_Voltage : 16|16@1+ (0.01,0) [0|655.35] "Volts"  ECU
+ SG_ TS_Voltage : 16|16@1+ (0.1,0) [0|655.35] "Volts"  ECU
  SG_ Accumulator_Current : 32|16@1- (0.01,0) [-327.68|327.67] "Amps"  ECU
  SG_ Accumulator_SOC : 48|8@1+ (0.3921568627,0) [0|100] "%"  ECU
  SG_ GLV_SOC : 56|8@1+ (0.3921568627,0) [0|100] "%"  ECU

From d7c83d85f5096be172017c3d0c68d2f58db7004e Mon Sep 17 00:00:00 2001
From: Casey Zwicker <caseypzwicker@gmail.com>
Date: Fri, 19 Jun 2026 17:36:07 -0400
Subject: [PATCH 35/36] fix ccu anyway

---
 CCU/Application/Src/StateUtils.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/CCU/Application/Src/StateUtils.c b/CCU/Application/Src/StateUtils.c
index ecded1836..04ec028da 100644
--- a/CCU/Application/Src/StateUtils.c
+++ b/CCU/Application/Src/StateUtils.c
@@ -89,7 +89,7 @@ void VCP_Oneliner(const CCU_StateData *state_data)
 	length = snprintf(buffer, sizeof(buffer), " | IR+ %s", state_data->IR_PLUS ? "Closed" : "Open");
 	VCP_Send(buffer, length);
 
-	length = snprintf(buffer, sizeof(buffer), " | %huV", state_data->Accumulator_Voltage / 100);
+	length = snprintf(buffer, sizeof(buffer), " | %huV", state_data->Accumulator_Voltage / 10);
 	VCP_Send(buffer, length);
 
 	length = snprintf(buffer, sizeof(buffer), " | SOC %hu%%", (uint8_t)(state_data->Accumulator_SOC * 20.0f / 51.0f));

From d1bd0f76deb33ba2e5680937a5299698c37da12b Mon Sep 17 00:00:00 2001
From: Daniel Hansen <dchansen06@gmail.com>
Date: Fri, 19 Jun 2026 20:58:21 -0700
Subject: [PATCH 36/36] Make everything 325 A regardless of brightness

Signed-off-by: Daniel Hansen <dchansen06@gmail.com>
---
 ECU/Application/Src/StateTicks.c | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/ECU/Application/Src/StateTicks.c b/ECU/Application/Src/StateTicks.c
index 2a78ae364..cc86939a4 100644
--- a/ECU/Application/Src/StateTicks.c
+++ b/ECU/Application/Src/StateTicks.c
@@ -267,22 +267,22 @@ void ECU_Drive_Active(ECU_StateData *stateData)
 		// Chosen max current for different power level / torque maps
 		switch (stateData->powerlevel) {
 			case 0:
-				max_current = 100;
+				max_current = 325;
 				break;
 			case 1:
-				max_current = 200;
+				max_current = 325;
 				break;
 			case 2:
-				max_current = 250;
+				max_current = 325;
 				break;
 			case 3:
-				max_current = 300;
+				max_current = 325;
 				break;
 			case 4:
 				max_current = 325;
 				break;
 			case 5:
-				max_current = 350;
+				max_current = 325;
 				break;
 			default:
 				LOGOMATIC("Invalid power level: %d. Defaulting to no current.\n", stateData->powerlevel);