URCA CANdo Web Viewer Improvements

Autogen/CAN/Doc/GRCAN.dbc

@@ -37,13 +37,6 @@ BO_ 2147682562 BCU_BCU_Status_3_to_ECU: 8 BCU
  SG_ HV_Input_Current : 32|16@1+ (0.001,0) [0|65.535] "Amps" ECU
  SG_ HV_Output_Current : 48|16@1+ (0.001,0) [0|65.535] "Amps" ECU
 
-BO_ 2147684866 BCU_DC_DC_Status_to_ECU: 7 BCU
- SG_ Input_Voltage : 0|16@1+ (0.001,0) [0|65.535] "Volts" ECU
- SG_ Output_Voltage : 16|16@1+ (0.001,0) [0|65.535] "Volts" ECU
- SG_ Input_Current : 32|8@1+ (0.1,0) [0|25.5] "Amps" ECU
- SG_ Output_Current : 40|8@1+ (0.1,0) [0|25.5] "Amps" ECU
- SG_ DC_DC_Temp : 48|8@1+ (1,0) [0|255] "Celsius" ECU
-
 BO_ 2147680513 BCU_Debug_FD_to_Debugger: 64 BCU
  SG_ Debug : 0|64@1- (1,0) [0|0] "" Debugger
 
@@ -388,6 +381,28 @@ BO_ 2550588916 BCU_Charger_Control_to_Charger: 5 BCU
  SG_ Set_Current : 16|8@1+ (1,0) [0|0] "" Charger
  SG_ Charge_Enable : 17|8@1+ (1,0) [0|0] "" Charger
 
+BO_ 2147682050 BCU_BCU_Status_1_to_CCU: 8 BCU
+ 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_ Accumulator_Current : 32|16@1- (0.01,0) [-327.68|327.67] "Amps" CCU
+ SG_ Accumulator_SOC : 48|8@1+ (0.392157,0) [0|100] "%" CCU
+ SG_ GLV_SOC : 56|8@1+ (0.392157,0) [0|100] "%" CCU
+
+BO_ 2147682306 BCU_BCU_Status_2_to_CCU: 7 BCU
+ SG_ 20v_Voltage : 0|8@1+ (1,0) [0|0] "" CCU
+ SG_ 12v_Voltage : 8|8@1+ (1,0) [0|0] "" CCU
+ SG_ SDC_Voltage : 16|8@1+ (1,0) [0|0] "" CCU
+ SG_ Min_Cell_Voltage : 24|8@1+ (1,0) [0|0] "" CCU
+ SG_ Max_Cell_Temp : 32|8@1+ (1,0) [0|0] "" CCU
+ SG_ status_flags : 40|1@1+ (1,0) [0|0] "" CCU
+ SG_ precharge_latch_flags : 48|1@1+ (1,0) [0|0] "" CCU
+
+BO_ 2147682562 BCU_BCU_Status_3_to_CCU: 8 BCU
+ SG_ HV_Input_Voltage : 0|16@1+ (0.01,0) [0|655.35] "Volts" CCU
+ SG_ HV_Output_Voltage : 16|16@1+ (0.01,0) [0|655.35] "Volts" CCU
+ SG_ HV_Input_Current : 32|16@1+ (0.001,0) [0|65.535] "Amps" CCU
+ SG_ HV_Output_Current : 48|16@1+ (0.001,0) [0|65.535] "Amps" CCU
+
 BO_ 2566869221 Charger_Charger_Data_to_BCU: 8 Charger
  SG_ Output_Voltage : 0|8@1+ (1,0) [0|0] "" BCU
  SG_ Output_Current : 16|8@1+ (1,0) [0|0] "" BCU
@@ -618,15 +633,13 @@ BO_ 2147615247 ECU_Ping_to_Fan_Controller_3: 4 ECU
  SG_ Timestamp : 0|32@1+ (1,0) [0|4,294,967,296] "ms" Fan_Controller_3
 
 BO_ 2147621637 ECU_Dash_Config_to_Dash_Panel: 1 ECU
- SG_ BMS_LED : 0|1@1+ (1,0) [0|0] "Bool" Dash_Panel
- SG_ IMD_LED : 1|1@1+ (1,0) [0|0] "Bool" Dash_Panel
- SG_ BSPD_LED : 2|1@1+ (1,0) [0|0] "Bool" Dash_Panel
+ SG_ led_bits : 0|8@1+ (1,0) [0|0] "" Dash_Panel
 
 BO_ 2147615237 ECU_Ping_to_Dash_Panel: 4 ECU
  SG_ Timestamp : 0|32@1+ (1,0) [0|4,294,967,296] "ms" Dash_Panel
 
 BO_ 2147615743 ECU_ECU_Status_1_to_ALL: 8 ECU
- SG_ state_messages : 0|1@1+ (1,0) [0|0] "Bool" ALL
+ SG_ ecu_state : 0|1@1+ (1,0) [0|0] "Bool" ALL
  SG_ status_flags : 8|1@1+ (1,0) [0|0] "" ALL
  SG_ Power_Level : 16|4@1+ (1,0) [0|0] "" ALL
  SG_ Torque_Map : 20|4@1+ (1,0) [0|0] "" ALL
@@ -653,7 +666,7 @@ BO_ 2147614977 ECU_Debug_FD_to_Debugger: 64 ECU
 BO_ 2147615233 ECU_Ping_to_Debugger: 4 ECU
  SG_ Timestamp : 0|32@1+ (1,0) [0|4,294,967,296] "ms" Debugger
 
-BO_ 2147626500 ECU_ECU_Pedals_Data_to_TCM: 16 ECU
+BO_ 2147626500 ECU_ECU_Analog_Data_to_TCM: 16 ECU
  SG_ BSPD_Signal : 0|16@1+ (0.0015259,0) [0|100] "%" TCM
  SG_ BSE_Signal : 16|16@1+ (0.0015259,0) [0|100] "%" TCM
  SG_ APPS_1_Signal : 32|16@1+ (0.0015259,0) [0|100] "%" TCM
@@ -663,6 +676,9 @@ BO_ 2147626500 ECU_ECU_Pedals_Data_to_TCM: 16 ECU
  SG_ Steering_Angle_Signal : 96|16@1+ (0.0015259,0) [0|100] "%" TCM
  SG_ AUX_Signal : 112|16@1+ (0.0015259,0) [0|100] "%" TCM
 
+BO_ 2147689220 ECU_ECU_Performance_to_TCM: 4 ECU
+ SG_ Elapsed_Cycles : 0|32@1+ (1,0) [0|0] "Clock Cycles" TCM
+
 BO_ 269 Energy_Meter_EM_Measurement_to_BCU: 8 Energy_Meter
  SG_ Current : 0|8@1+ (1,0) [0|0] "" BCU
  SG_ Voltage : 32|8@1+ (1,0) [0|0] "" BCU
@@ -752,16 +768,9 @@ BO_ 2148013058 GR_Inverter_Inverter_Status_2_to_ECU: 6 GR_Inverter
  SG_ V_MOSFET_temperature : 16|8@1+ (1,-40) [-40|215] "Celsius" ECU
  SG_ W_MOSFET_temperature : 32|8@1+ (1,-40) [-40|215] "Celsius" ECU
 
-BO_ 2148013314 GR_Inverter_Inverter_Status_3_to_ECU: 2 GR_Inverter
+BO_ 2148013314 GR_Inverter_Inverter_Status_3_to_ECU: 3 GR_Inverter
  SG_ Motor_temperature : 0|8@1+ (1,-40) [-40|215] "Celsius" ECU
- SG_ Over_voltage_faults : 16|1@1+ (1,0) [0|0] "Bool" ECU
- SG_ Under_voltage_fault : 17|1@1+ (1,0) [0|0] "Bool" ECU
- SG_ Inv_overtemp_fault : 18|1@1+ (1,0) [0|0] "Bool" ECU
- SG_ Motor_overtemp_fault : 19|1@1+ (1,0) [0|0] "Bool" ECU
- SG_ Transistor_fault : 20|1@1+ (1,0) [0|0] "Bool" ECU
- SG_ Encoder_fault : 21|1@1+ (1,0) [0|0] "Bool" ECU
- SG_ CAN_fault : 22|1@1+ (1,0) [0|0] "Bool" ECU
- SG_ Future_use : 23|1@1+ (1,0) [0|0] "Bool" ECU
+ SG_ fault_bits : 16|8@1+ (1,0) [0|0] "" ECU
 
 BO_ 35 IMD_IMD_response_to_BCU: 0 IMD
 

Autogen/CAN/Inc/GRCAN_MSG_DATA.h

@@ -4,18 +4,6 @@
 
 #include <stdint.h>
 
-/** Debug 2.0 */
-typedef struct {
-	/** Essentially a print statement up to 8 bytes long that whichever targeted can parse (Byte 0) */
-	uint8_t debug[8];
-} GRCAN_DEBUG_2_0_MSG;
-
-/** Debug FD */
-typedef struct {
-	/** Essentially a print statement up to 64 bytes long that whichever targeted can parse (Byte 0) */
-	uint8_t debug[64];
-} GRCAN_DEBUG_FD_MSG;
-
 /** Ping */
 typedef struct {
 	/** Time in millis (Byte 0) */
@@ -310,18 +298,13 @@ typedef struct {
 
 /** Dash Config */
 typedef struct {
-	/** BMS = bit 0 of this byte, IMD = bit 1, BSPD = bit 2, bits 3–7 reserved (Byte 1) */
+	/** BMS LED command = bit 0, IMD LED command = bit 1, BSPD LED command = bit 2, bits 3-7 reserved (Byte 0) */
 	uint8_t led_bits;
 } GRCAN_DASH_CONFIG_MSG;
 
 /** TCM Status */
 typedef struct {
-	/**
-	 * Connection Status - 1: OK, 0: Timeout (bit 0)
-	 * MQTT Status - 1: OK, 0: Timeout (bit 1)
-	 * Epic Shelter Status - 1: In Progress, 0: Idle (bit 2)
-	 * Camera Status - 1: Recording, 0: Idle (bit 3)
-	 */
+	/** "Connection Status = bit 0, MQTT Status = bit 1, Epic Shelter Status = bit 2, Camera Status = bit 3, bits 4-7 reserved" (Byte 0) */
 	uint8_t status_bits;
 	/** Mapache ping (upload) (Byte 1) */
 	uint16_t mapache_ping;
@@ -387,7 +370,7 @@ typedef struct {
 	uint16_t power_draw;
 } GRCAN_TCM_RESOURCE_UTILIZATION_MSG;
 
-/** ECU Pedals Data */
+/** ECU Analog Data */
 typedef struct {
 	/** 4-20 mA signal (Byte 0) */
 	uint16_t bspd_signal;
@@ -467,10 +450,7 @@ typedef struct {
 
 /** ECU Performance */
 typedef struct {
-	/**
-	 * Represents the total number of clock cycles elapsed for 10 iterations of the main loop
-	 * data type: u32
-	 * units: Clock Cycles (Byte 0) */
+	/** Represents the total number of clock cycles elapsed for 10 iterations of the main loop (Byte 0) */
 	uint32_t elapsed_cycles;
 } GRCAN_ECU_PERFORMANCE_MSG;
 

Autogen/CAN/Inc/GRCAN_MSG_ID.h

@@ -32,7 +32,6 @@ typedef enum {
 	GRCAN_DASH_CONFIG = 0x01B,
 	GRCAN_TCM_STATUS = 0x029,
 	GRCAN_TCM_RESOURCE_UTILIZATION = 0x02A,
-	GRCAN_DASH_WARNING_FLAGS = 0x02B,
 	GRCAN_ECU_ANALOG_DATA = 0x02E,
 	GRCAN_GPS_LAT = 0x031,
 	GRCAN_GPS_LON = 0x032,

Autogen/CAN/Inc/GRCAN_NODE_ID.h

@@ -5,17 +5,20 @@
 typedef enum {
 	GRCAN_ALL = 0xFF,
 	GRCAN_BCU = 0x03,
-	GRCAN_ECU = 0x02,
 	GRCAN_CCU = 0x02,
 	GRCAN_Charger = 0x00,
 	GRCAN_Charging_SDC = 0x0C,
 	GRCAN_DGPS = 0x30,
+	GRCAN_DTI_Inverter = 0x00,
 	GRCAN_Dash_Panel = 0x05,
 	GRCAN_Debugger = 0x01,
+	GRCAN_ECU = 0x02,
+	GRCAN_Energy_Meter = 0x00,
 	GRCAN_Fan_Controller_1 = 0x0D,
 	GRCAN_Fan_Controller_2 = 0x0E,
 	GRCAN_Fan_Controller_3 = 0x0F,
 	GRCAN_GR_Inverter = 0x08,
+	GRCAN_IMD = 0x00,
 	GRCAN_TCM = 0x04,
 } GRCAN_NODE_ID;
 

Autogen/CAN/Src/GRparser.pl

@@ -73,33 +73,27 @@ sub generate_gr_header_content {
 	push @header_lines, "#define GR_IDS_H\n\n";
 	push @header_lines, "typedef enum {\n";
 
-	# --- TRACKERS FOR ISSUE #373 ---
+	# Track emitted names to avoid exact duplicate enum symbols.
 	my %seen_names;
-	my %seen_values;
 
 	my @sorted = sort { $a->{name} cmp $b->{name} } @{$ids_ref};
 
 	for my $item (@sorted) {
-		my $const_name = $item->{name};
+		my $const_name = 'GRCAN_' . $item->{name};
 		$const_name =~ s/[[:^alnum:]]/_/gsmx;
 		my $val = $item->{id};
 
-		# --- FIX FOR #373: Skip if name or ID value is already in the list ---
+		# Skip only duplicate enum names.
 		if ( $seen_names{$const_name} ) {
 			warn "Skipping duplicate Node Name: $const_name\n";
 			next;
 		}
-		if ( defined $val && $seen_values{$val} ) {
-			warn "Issue #373: Skipping duplicate Node ID value: $val ($const_name)\n";
-			next;
-		}
 
 		if ( defined $val && $val ne q{} ) {
 			push @header_lines, sprintf "    %s = %s,\n", $const_name, $val;
 
 			# Mark as processed
 			$seen_names{$const_name} = 1;
-			$seen_values{$val}       = 1;
 		}
 	}
 

Autogen/CAN/Src/MSGparser.pl

@@ -82,7 +82,7 @@ sub find_id_in_lines {
 			${$idx_ref} = $j;
 
 			my $id        = $1;
-			my $enum_name = 'MSG_' . uc $msg_name;
+			my $enum_name = 'GRCAN_' . uc $msg_name;
 			$enum_name =~ s/\W+/_/gsmx;
 			$enum_name =~ s/_+/_/gsmx;
 			$enum_name =~ s/^_|_$//gsmx;

Autogen/CAN/Src/STRUCTparser.pl

@@ -156,7 +156,9 @@ sub generate_header {
 			if ($current_msg) {
 				push @output, process_message( $current_msg, \@fields, $d_map, $prefix );
 			}
-			$current_msg = $msg_name;
+
+			# Debug payload structs are intentionally excluded.
+			$current_msg = ( $msg_name =~ /^Debug(?:\s+(?:2[.]0|FD))?$/ismx ) ? $EMPTY_STR : $msg_name;
 			@fields      = ();
 		}
 
@@ -233,6 +235,7 @@ sub clean_field_name {
 
 sub process_message {
 	my ( $name, $f_ref, $d_map, $prefix ) = @_;
+
 	my @buf;
 	my $tag = uc $name =~ s/[^[:alpha:][:digit:]]/_/grsmx =~ s/_+/_/grsmx =~ s/^_|_$//grsmx;
 
@@ -248,45 +251,72 @@ sub process_message {
 
 	push @buf, "/** $name */\ntypedef struct {\n";
 	my @sorted = sort { $a <=> $b } keys %byte_map;
+	my %used_field_names;
 
 	for my $i ( 0 .. $#sorted ) {
-		push @buf, process_byte_entry( $name, \@sorted, \%byte_map, \$i, $d_map );
+		my %byte_ctx = (
+			msg_name   => $name,
+			sorted_ref => \@sorted,
+			map_ref    => \%byte_map,
+			idx_ref    => \$i,
+			d_map      => $d_map,
+			seen_ref   => \%used_field_names,
+		);
+		push @buf, process_byte_entry( \%byte_ctx );
 	}
 	push @buf, "} ${prefix}_${tag}_MSG;\n\n";
 	return join $EMPTY_STR, @buf;
 }
 
 sub process_byte_entry {
-	my ( $msg_name, $sorted_ref, $map_ref, $idx_ref, $d_map ) = @_;
+	my ($ctx_ref)  = @_;
+	my $msg_name   = $ctx_ref->{msg_name};
+	my $sorted_ref = $ctx_ref->{sorted_ref};
+	my $map_ref    = $ctx_ref->{map_ref};
+	my $idx_ref    = $ctx_ref->{idx_ref};
+	my $d_map      = $ctx_ref->{d_map};
+	my $seen_ref   = $ctx_ref->{seen_ref};
 	my @out;
 	my $b_idx  = ${$sorted_ref}[ ${$idx_ref} ];
 	my $fields = ${$map_ref}{$b_idx};
 
 	if ( scalar @{$fields} > 2 && ${$fields}[0]->{name} =~ /reserved|ping|byte/ismx ) {
-		push @out, handle_multi_field_range( $sorted_ref, $map_ref, $idx_ref );
+		push @out, handle_multi_field_range( $sorted_ref, $map_ref, $idx_ref, $seen_ref );
 	}
 	else {
-		my $f_var =
-		  ( scalar @{$fields} == 1 )
-		  ? clean_field_name( ${$fields}[0]->{name} )
-		  : join q{_}, map { clean_field_name( $_->{name} ) } @{$fields};
-		if ( $f_var =~ /^[[:digit:]]/smx ) {
-			$f_var = q{_} . $f_var;
+		# For dense semantic bytes, emit each explicit CANdo field separately.
+		if ( scalar @{$fields} > 2 ) {
+			for my $f ( @{$fields} ) {
+				my $f_var = assign_unique_field_name( clean_field_name( $f->{name} ), $seen_ref );
+				my $type =
+				    ( $f->{type} =~ /32/smx ) ? 'uint32_t'
+				  : ( $f->{type} =~ /16/smx ) ? 'uint16_t'
+				  :                             'uint8_t';
+				my $desc = ${$d_map}{ $msg_name . q{::} . clean_field_name( $f->{name} ) } // "Byte $b_idx";
+				push @out, sprintf "\t/** %s (Byte %d) */\n\t%-10s %-30s\n", $desc, $b_idx, $type, $f_var . q{;};
+			}
+		}
+		else {
+			my $f_var =
+			  ( scalar @{$fields} == 1 )
+			  ? clean_field_name( ${$fields}[0]->{name} )
+			  : join q{_}, map { clean_field_name( $_->{name} ) } @{$fields};
+			$f_var = assign_unique_field_name( $f_var, $seen_ref );
+
+			my $type =
+			    ( ${$fields}[0]->{type} =~ /32/smx ) ? 'uint32_t'
+			  : ( ${$fields}[0]->{type} =~ /16/smx ) ? 'uint16_t'
+			  :                                        'uint8_t';
+			my $desc = join $SPACE_STR, map { ${$d_map}{ $msg_name . q{::} . clean_field_name( $_->{name} ) } // () } @{$fields};
+
+			push @out, sprintf "\t/** %s (Byte %d) */\n\t%-10s %-30s\n", ( $desc || "Byte $b_idx" ), $b_idx, $type, $f_var . q{;};
 		}
-
-		my $type =
-		    ( ${$fields}[0]->{type} =~ /32/smx ) ? 'uint32_t'
-		  : ( ${$fields}[0]->{type} =~ /16/smx ) ? 'uint16_t'
-		  :                                        'uint8_t';
-		my $desc = join $SPACE_STR, map { ${$d_map}{ $msg_name . q{::} . clean_field_name( $_->{name} ) } // () } @{$fields};
-
-		push @out, sprintf "\t/** %s (Byte %d) */\n\t%-10s %-30s\n", ( $desc || "Byte $b_idx" ), $b_idx, $type, $f_var . q{;};
 	}
 	return join $EMPTY_STR, @out;
 }
 
 sub handle_multi_field_range {
-	my ( $bytes_ref, $map_ref, $idx_ref ) = @_;
+	my ( $bytes_ref, $map_ref, $idx_ref, $seen_ref ) = @_;
 	my $start_byte = ${$bytes_ref}[ ${$idx_ref} ];
 	my $has_error  = grep { $_->{name} =~ /error|fault|violation/ismx } @{ ${$map_ref}{$start_byte} };
 
@@ -302,7 +332,27 @@ sub handle_multi_field_range {
 	}
 
 	my $len    = ( ${$bytes_ref}[ ${$idx_ref} ] - $start_byte ) + 1;
-	my $v_name = $has_error   ? 'error_fault_violation_bits' : 'ping_block';
-	my $suffix = ( $len > 1 ) ? "[$len]"                     : $EMPTY_STR;
+	my $v_name = $has_error ? 'error_fault_violation_bits' : 'ping_block';
+	$v_name = assign_unique_field_name( $v_name, $seen_ref );
+	my $suffix = ( $len > 1 ) ? "[$len]" : $EMPTY_STR;
 	return sprintf "\tuint8_t    %s%s;\n", $v_name, $suffix;
 }
+
+sub assign_unique_field_name {
+	my ( $base_name, $seen_ref ) = @_;
+	my $name = $base_name // 'unknown_field';
+	if ( $name =~ /^[[:digit:]]/smx ) {
+		$name = q{_} . $name;
+	}
+	if ( !$seen_ref->{$name} ) {
+		$seen_ref->{$name} = 1;
+		return $name;
+	}
+	my $idx = 1;
+	while ( $seen_ref->{ $name . q{_} . $idx } ) {
+		$idx++;
+	}
+	my $unique = $name . q{_} . $idx;
+	$seen_ref->{$unique} = 1;
+	return $unique;
+}

ECU/Application/Src/CANdler.c

@@ -31,15 +31,15 @@ void ECU_CAN_MessageHandler(ECU_StateData *state_data, GRCAN_BUS_ID bus_id, GRCA
 {
 	switch (msg_id) {
 		case GRCAN_DEBUG_2_0:
-			if (data_length > sizeof(GRCAN_DEBUG_2_0_MSG)) {
+			if (data_length > 8) {
 				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_MSG)) {
+			if (data_length > 64) {
 				ReportBadMessageLength(bus_id, msg_id, sender_id);
 				break;
 			}