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ECUs check for safe canflash state before resetting #544

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56f1e65
ECUs check for safe canflash state before resetting
Tegh25 Nov 16, 2025
60d39a9
Fix: canflash.sh stops when can flash is not allowed
Tegh25 Feb 10, 2026
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12 changes: 9 additions & 3 deletions projects/front_controller/src/main.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -244,8 +244,13 @@ void ToggleDebugLed() {
void CheckCanFlash() {
auto msg = veh_can_bus.GetRxInitiateCanFlash();

// Only allow CAN flash when fc in startup or waiting states
bool in_safe_state = (fsm::state == fsm::State::START_DASHBOARD ||
fsm::state == fsm::State::WAIT_DRIVER_SELECT);

if (msg.has_value() &&
msg->ECU() == RxInitiateCanFlash::ECU_t::FrontController) {
msg->ECU() == RxInitiateCanFlash::ECU_t::FrontController &&
in_safe_state) {
bindings::SoftwareReset();
}
}
Expand Down Expand Up @@ -287,8 +292,7 @@ void task_10hz(void* argument) {
ToggleDebugLed();
UpdateErrorLeds();
dbc_hash::Update_10Hz(veh_can_bus);
// CheckCanFlash(); // no CAN flash in 2025. pcb needs an external
// oscillator
CheckCanFlash();
suspension::task_10hz(veh_can_bus);

veh_can_bus.Send(TxFcStatus{
Expand All @@ -300,6 +304,8 @@ void task_10hz(void* argument) {
.inv2_state =
static_cast<TxFcStatus::Inv2State_t>(motors::GetRightState()),
.dbc_valid = dbc_hash::IsValid(),
.can_flash_allowed = (fsm::state == fsm::State::START_DASHBOARD ||
fsm::state == fsm::State::WAIT_DRIVER_SELECT),
.inv1_starter = static_cast<uint8_t>(motors::GetLeftStarterState()),
.inv2_starter =
static_cast<uint8_t>(motors::GetRightStarterState()),
Expand Down
11 changes: 9 additions & 2 deletions projects/lvcontroller/src/main.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -202,9 +202,16 @@ void Update_100hz(void) {

void check_can_flash(void) {
auto msg = veh_can.GetRxInitiateCanFlash();
auto fc_status = veh_can.GetRxFcStatus();

bool can_flash_allowed = false;
if (fc_status.has_value()) {
can_flash_allowed = fc_status->CanFlashAllowed();
}

if (msg.has_value() &&
msg->ECU() == RxInitiateCanFlash::ECU_t::LvController) {
msg->ECU() == RxInitiateCanFlash::ECU_t::LvController &&
can_flash_allowed) {
bindings::SoftwareReset();
}
}
Expand All @@ -223,7 +230,7 @@ void task_10hz(void) {
suspension::task_10hz(veh_can);
tssi::task_10hz();
accumulator::task_10hz(veh_can);
// check_can_flash(); // unused in 2025
check_can_flash();

veh_can.Send(TxLvStatus{
.counter = tx_counter++,
Expand Down
10 changes: 9 additions & 1 deletion projects/tms/src/main.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -140,7 +140,15 @@ void task_10hz(void* argument) {

// Check for CAN Flash
auto msg = veh_can_bus.PopRxInitiateCanFlash();
if (msg.has_value() && msg->ECU() == RxInitiateCanFlash::ECU_t::TMS) {
auto fc_status = veh_can_bus.GetRxFcStatus();

bool can_flash_allowed = false;
if (fc_status.has_value()) {
can_flash_allowed = fc_status->CanFlashAllowed();
}

if (msg.has_value() && msg->ECU() == RxInitiateCanFlash::ECU_t::TMS &&
can_flash_allowed) {
bindings::SoftwareReset();
}

Expand Down
1 change: 1 addition & 0 deletions projects/veh.dbc
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Original file line number Diff line number Diff line change
Expand Up @@ -68,6 +68,7 @@ BO_ 201 FcStatus: 8 FC
SG_ Inv1State : 32|4@1+ (1,0) [0|255] "" RPI
SG_ Inv2State : 36|4@1+ (1,0) [0|255] "" RPI
SG_ DbcValid : 40|1@1+ (1,0) [0|1] "" RPI
SG_ CanFlashAllowed : 41|1@1+ (1,0) [0|1] "" LVC, TMS
SG_ Inv1Starter : 48|4@1+ (1,0) [0|255] "" RPI
SG_ Inv2Starter : 52|4@1+ (1,0) [0|255] "" RPI

Expand Down
28 changes: 28 additions & 0 deletions scripts/canflash/scripts/canflash.sh
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Original file line number Diff line number Diff line change
Expand Up @@ -31,6 +31,34 @@ sudo ip link set can0 down
sudo ip link set can0 up type can bitrate 500000
sleep 1

# Check if CAN flash is allowed by reading FcStatus message (ID 0xC9 = 201)
echo "Checking if FrontController is in safe state..."
fc_status=$(timeout 2 candump can0,0C9:7FF -n 1 2>/dev/null | head -n 1)

if [ -z "$fc_status" ]; then
echo "Error: Could not read FrontController status. Is the FrontController online?"
sudo ip link set can0 down
sudo pinctrl set $gpio_pin op dl
exit 1
fi

# Extract the CanFlashAllowed bit (bit 41, which is bit 1 of byte 5)
# CAN message format: can0 0C9 [8] B0 B1 B2 B3 B4 B5 B6 B7
# $1 $2 $3 $4 $5 $6 $7 $8 $9
# We need byte 5 (awk field $9), bit 1
byte5=$(echo "$fc_status" | awk '{print $9}')
can_flash_allowed=$(( (0x$byte5 >> 1) & 0x01 ))

if [ "$can_flash_allowed" -ne 1 ]; then
echo "Error: CAN flash not allowed. FrontController is not in a safe state."
echo "Please ensure the vehicle is in START_DASHBOARD or WAIT_DRIVER_SELECT state."
sudo ip link set can0 down
sudo pinctrl set $gpio_pin op dl
exit 1
fi

echo "CAN flash allowed. Proceeding..."

# Send reset CAN message
canprog -n can0 send 0x6D "$(printf "%02X" "$ecu")"
sleep 1
Expand Down