The current firmware configures the STM32 FDCAN peripheral for classic CAN at 500 kbit/s and transmits a compact status message. The DBC file is stored beside the firmware project as RT_STACK_V2.dbc.
RT_Status message
The source sends RT_Status every 10 ms using standard identifier 0x100. It is an 8-byte classic-CAN data frame.
| Bytes | Signal | Representation |
|---|---|---|
| 0 to 1 | EngineAngle | Unsigned little-endian, 0.1 degree per bit |
| 2 | McuTemp | Signed degrees C |
| 3 | Reserved | Zero |
| 4 to 5 | Vbat | Raw ADC counts, little-endian |
| 6 to 7 | Vbus | Raw ADC counts, little-endian |
Validation checklist
- Confirm bus wiring, termination and common reference.
- Set the analyser to 500 kbit/s classic CAN.
- Import the supplied DBC or decode the frame manually.
- Check frame period, identifier, byte order and scaling against source.
- Record actual supply and temperature values alongside raw counts before assigning engineering conversions.
Integration boundary
CAN telemetry is a good first external interface. Treat incoming commands, calibration and XCP as deliberate next integration steps with defined units, rates, timeout behaviour and a safe response to stale data. FDCAN-capable hardware does not automatically make a CAN-FD or XCP protocol implementation available in the committed firmware.
Suggested screenshot: CAN analyser view showing ID 0x100 and decoded RT_Status signals.