gr26: sync CAN models with firmware GRCAN#155
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Tooling to keep gr26/model in sync with the Firmware GRCAN autogen artifacts (Inc/GRCAN_*_ID.h + Doc/GRCAN_*.dbc): - grcan_sync.py: stdlib parser/differ with three modes — parse, diff (firmware-vs-firmware), reconcile (models-vs-firmware audit). Joins by CAN ID via composite base-ID extraction with name-match fallback. - fetch.sh: pull the 5 source artifacts from Firmware via gh. - snapshot/: committed baseline for diffing future firmware changes. - .claude/skills/sync-grcan: orchestration skill (audit -> apply -> PR). Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
…ructural
reconcile was false-flagging dash messages (which build signals via the
bit(v,n,"name") helper, not Signal{Name:...} literals) as having 0 signals.
Also: when the model exposes MORE signals than the DBC (e.g. dash explodes a
byte into per-bit booleans) that's intentional enrichment, not drift -
demote it from structural to naming.
Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
Ran grcan_sync reconcile against Firmware@main. Applied the one clearly-safe structural fix and flagged the judgment cases with TODO(grcan-sync) for firmware confirmation rather than blindly conforming to the DBC. Applied: - ECU_STATUS_3: add missing relay_states field (firmware dlc 5, byte 4) Flagged (no behavior change): - DTI_DATA_1-5: DBC endianness/signedness/scale disagree with the hand-tuned third-party layout; DTI_DATA_5 also has a richer DBC layout - INV_STATUS_3: fault_bits byte position differs from DBC - GPS_ALT: DBC 8-byte ALT vs model float32 + gps_status See gr26/tools/grcan/AUDIT-20260530.md for the full report. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
Adds message definitions and messageMap entries for firmware nodes that were never modeled (untracked firmware messages: 49 -> 15): - Tire temp thermal arrays: TireTempFrame0..23 (0x37-0x4E), 64-byte CAN-FD, 768 pixels (global pixel0..767) via a tireTempFrame() factory - Brake node: BrakeTemp (0x4F), WheelSpeed (0x50) - SuspensionIMUMagData (0x51), InboardFloorIMUToFData (0x52) - Energy Meter: EMMeas/EMStatus/EMTeamData1/EMTeamData2/EMTemp - IMDGeneral (0x18FF01F4) These are >8-byte CAN-FD frames; verified the mapache-go decoder sizes match and a 64-byte tire frame decodes correctly. Layouts generated from the DBC via grcan_sync; judgment items (IEEE-float vs raw, bit-packed fields, the mag_status DLC overrun, J1939-multiplexed IMD frames) carry TODO(grcan-sync) flags. Remaining untracked (debug, DTI control commands, charger, IMD_RESPONSE) intentionally not modeled. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
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Syncs
gr26/modelwith the Firmware GRCAN autogen artifacts (Autogen/CAN/Inc/GRCAN_*_ID.h+Doc/GRCAN_*.dbc) and adds the tooling that produced this sync.Applied (1)
relay_statesfield — firmware dlc is 5, the model stopped at 4 bytes. Confirmed in-sync after the change.Flagged for firmware confirmation —
TODO(grcan-sync), no behavior changecan_version) vs the model's reserved bytes.fault_bitsat byte 1 (byte 2 unused); model has padding at byte 1,fault_bitsat byte 2.ALT(likely float64); model decodes a float32 altitude +gps_status.No action (intentional)
dash.go).ts_voltagevstractive_system_voltage) are intentional abbreviations.Tooling included
gr26/tools/grcan/—grcan_sync.py(parse / diff / reconcile),fetch.sh, committed firmwaresnapshot/, and thesync-grcanskill. Full audit ingr26/tools/grcan/AUDIT-20260530.md.Net model change is +27 lines, all additive (one field + four comment blocks).
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