Communication: Overview

Communication covers the one bus this board is on: FDCAN1, the vehicle CAN network shared with the ECU, BMS, left/right gateway inverters, Telemetry, IMU, and LVSOC.

• CAN: driver architecture, message IDs the dashboard sends and receives, and two real bugs (a heap-exhaustion bug and a set of byte-offset/endianness bugs) found and fixed on this board that are worth knowing about even if you never touch this code again.

Both directions (RX into can_input_data, TX out of ui_data) are decoupled from the rest of the firmware through the shared-snapshot pattern described in the Module Index.