Communication Overview

The Communication module is responsible for bridging the high-level application logic of the ECU with the vehicle's CAN bus network.

Structure

The module is primarily composed of:

• CAN Message Handling: The core logic for translating incoming CAN frames into internal data structures, and packing internal variables into outgoing CAN frames.
• CAN Driver: A thin layer leveraging the shared generic_can_driver from the common repository to interface directly with the FDCAN hardware on the STM32.

Purpose

Since the ECU is the central node, it requires data from almost every other subsystem in the car. It receives sensor data from the Front and Rear Gateways, BMS status from the Battery Management System, and IMU telemetry. In return, the ECU transmits motor control commands to the inverters and vehicle state information for telemetry.