From 194f1ca6c0fec73dfc49460c6427ec64f097fb11 Mon Sep 17 00:00:00 2001
From: Casey Zwicker <caseypzwicker@gmail.com>
Date: Thu, 8 Jan 2026 21:58:59 -0800
Subject: [PATCH 01/21] The beginnings of state machine implementation

Co-authored-by: Ng0710 <Ng0710@users.noreply.github.com>
Co-authored-by: Thomas Xu <XuChe777@users.noreply.github.com>
---
 ECU/Application/Inc/StateData.h  | 19 +++++--
 ECU/Application/Src/StateTicks.c | 92 ++++++++++++++++++++++----------
 ECU/Application/Src/StateUtils.c |  3 ++
 3 files changed, 83 insertions(+), 31 deletions(-)

diff --git a/ECU/Application/Inc/StateData.h b/ECU/Application/Inc/StateData.h
index 5094af7e..e9c19473 100644
--- a/ECU/Application/Inc/StateData.h
+++ b/ECU/Application/Inc/StateData.h
@@ -19,11 +19,21 @@
  * logic to access and modify the ECU's operational data.
  */
 typedef struct ECU_StateData {
-	// DON'T TOUCH YET
-	GR_OLD_ECU_STATUS_1_MSG ecuStatus1;
-	GR_OLD_ECU_STATUS_2_MSG ecuStatus2;
-	GR_OLD_ECU_STATUS_3_MSG ecuStatus3;
 
+	// These states are copied from the GR_OLD_ECU_STATUS_#_MSG structs
+	// TODO: Remove unneeded states
+	int8_t ping_block[3]; /** Node timeout status bits (1=OK, 0=Timeout) */
+	uint8_t powerlevel_torquemap; /** Power lvl (4b) & torque map (4b) */
+	uint8_t max_cell_temp;	      /** Hottest cell temp, 0.25°C/bit */
+	uint8_t tractivebattery_soc;  /** Accumulator SoC, 20x/51=% */
+	uint8_t glv_soc;	      /** GLV SoC, 20x/51=% */
+	uint16_t vehicle_speed; /** Vehicle speed, 0.01 MPH */
+	uint16_t fr_wheel_rpm;	/** FR wheel, 0.1x-3276.8 RPM */
+	uint16_t fl_wheel_rpm;	/** FL wheel, 0.1x-3276.8 RPM */
+	uint16_t rr_wheel_rpm; /** RR wheel, 0.1x-3276.8 RPM */
+	uint16_t rl_wheel_rpm; /** RL wheel, 0.1x-3276.8 RPM */
+
+	GR_ECU_State ecu_state;
 	int32_t dischargeStartMillis;
 	uint32_t lastECUStatusMsgTick;
 	uint32_t lastTSSIFlash;
@@ -39,6 +49,7 @@ typedef struct ECU_StateData {
 	uint8_t inverter_fault_map;
 	bool bse_apps_violation;
 	bool ts_active_button_engaged;
+	uint16_t ts_voltage;	/** TS output voltage, 0.01V */
 	bool rtd_button_engaged;
 } ECU_StateData; // FIXME Add comments to each data field with descriptions and
 		 // rules (eg -1 = invalid?, etc)
diff --git a/ECU/Application/Src/StateTicks.c b/ECU/Application/Src/StateTicks.c
index c45fab6c..eca3e110 100644
--- a/ECU/Application/Src/StateTicks.c
+++ b/ECU/Application/Src/StateTicks.c
@@ -16,11 +16,19 @@
  */
 ECU_StateData stateLump = {0};
 
+#define ECU_STATUS_MSG_PERIOD (100)
+#define TRACTIVE_SYSTEM_MAX_DISCHARGE_TIME (10000) // TODO: determine an appropriate wait time
+
 void ECU_State_Tick(void)
 {
-	LOGOMATIC("ECU Current State: %d\n", stateLump.ecuStatus1.ecu_status);
+	if(stateLump.lastECUStatusMsgTick >= ECU_STATUS_MSG_PERIOD){
+		LOGOMATIC("ECU Current State: %d\n", stateLump.ecu_state);
+		stateLump.lastECUStatusMsgTick = 0;
+	} else{
+		stateLump.lastECUStatusMsgTick++;
+	}
 
-	switch (stateLump.ecuStatus1.ecu_status) {
+	switch (stateLump.ecu_state) {
 		case GR_GLV_OFF:
 			ECU_GLV_Off(&stateLump);
 			break;
@@ -41,9 +49,9 @@ void ECU_State_Tick(void)
 			break;
 		default:
 			LOGOMATIC("ECU Current State Unknown: %d\n",
-				  stateLump.ecuStatus1.ecu_status);
+				  stateLump.ecu_state);
 			LOGOMATIC("ECU: Resetting to GLV On\n");
-			stateLump.ecuStatus1.ecu_status = GR_GLV_ON;
+			stateLump.ecu_state = GR_GLV_ON;
 			break;
 	}
 }
@@ -64,35 +72,30 @@ void ECU_GLV_Off(ECU_StateData *stateData)
 
 void ECU_GLV_On(ECU_StateData *stateData)
 {
-	UNUSED(stateData);
-	/*
-	if(stateData->TractiveSystemVoltage >= 60){ // should never happen but
-	has to be accounted for stateData->currentState = GR_TS_DISCHARGE;
-		emit an error
-		break;
+	if(stateData->ts_voltage >= 60){ // should never happen but has to be accounted for 
+		ECU_Tractive_System_Discharge_Start(stateData);
+		// emit an error
+		return;
 	}
-	*/
 
 	// TODO Implement functionality
 	if (stateData->ts_active_button_engaged) {
-		stateData->ecuStatus1.ecu_status = GR_PRECHARGE_ENGAGED;
+		stateData->ecu_state = GR_PRECHARGE_ENGAGED;
 	}
 }
 
 void ECU_Precharge_Engaged(ECU_StateData *stateData)
 {
-	UNUSED(stateData);
-	if (stateData->ecuStatus2.ts_voltage > 60) {
-		// Go to TS discharge
-		stateData->ecuStatus1.ecu_status = GR_TS_DISCHARGE;
-		// Emit an error
+	if (stateData->ts_voltage >= 60) {
+		ECU_Tractive_System_Discharge_Start(stateData);
+		// emit an error
 		return;
 	}
 	// TODO Implement functionality
-	/*if(not TS Active || Communication Error (CAN)){
-		stateData->currentState = GR_TS_DISCHARGE
-		break;
-	}*/
+	if(!stateData->ts_active_button_engaged || CommunicationError(stateData)){
+		ECU_Tractive_System_Discharge_Start(stateData);
+		return;
+	}
 	/*if(1 Isolation relay close && second isolation relay close){ --> CAN!
 		stateData->currentState = GR_PRECHARGE_COMPLETE
 	}*/
@@ -100,7 +103,6 @@ void ECU_Precharge_Engaged(ECU_StateData *stateData)
 
 void ECU_Precharge_Complete(ECU_StateData *stateData)
 {
-	UNUSED(stateData);
 	// TODO Implement functionality
 	/*
 		On but idle
@@ -112,7 +114,7 @@ void ECU_Precharge_Complete(ECU_StateData *stateData)
 	if (TS pressed or critical error) {
 		stateData->currentState = GR_TS_DISCHARGE
 		emit error
-		break;
+		return;
 	}
 	*/
 	/*
@@ -122,11 +124,19 @@ void ECU_Precharge_Complete(ECU_StateData *stateData)
 	*/
 
 	// Pseudocode
+	if(stateData->ts_active_button_engaged || CriticalError(stateData)){
+		ECU_Tractive_System_Discharge_Start(stateData);
+		// emit an error
+		return;
+	}
+
+	if(PressingBrake(stateData) && stateData->rtd_button_engaged){
+		stateData->ecu_state = GR_DRIVE_ACTIVE;
+	}
 }
 
 void ECU_Drive_Active(ECU_StateData *stateData)
 {
-	UNUSED(stateData);
 	// TODO Implement functionality
 	/*
 		If APPS/BSE Violation --> Don't drive until resolved (no state
@@ -152,21 +162,49 @@ void ECU_Drive_Active(ECU_StateData *stateData)
 		 - calcPedalTravel func :p
 		 - make tuna-ble function
 	*/
+	
+	if(!stateData->ts_active_button_engaged || CriticalError(stateData)){
+		ECU_Tractive_System_Discharge_Start(stateData);
+		return;
+	}
+
+	if(!stateData->rtd_button_engaged){
+		stateData->ecu_state = GR_PRECHARGE_COMPLETE;
+		// emit a warning if not moving
+		return;
+	}
+}
+
+void ECU_Tractive_System_Discharge_Start(ECU_StateData *stateData) {
+		stateData->ecu_state = GR_TS_DISCHARGE;
+		LOGOMATIC("tell the BCU to discharge TS");
+		stateData->dischargeStartMillis = 0;
 }
 
 void ECU_Tractive_System_Discharge(ECU_StateData *stateData)
 {
-	UNUSED(stateData);
 	// TODO Implement functionality of state itself
 	/*
 		Discharge the tractive system to below 60 volts
 		If TS voltage < 60 --> stateData->GLV_ON
 	*/
-	if (stateData->ecuStatus2.ts_voltage < 60) {
-		stateData->ecuStatus1.ecu_status = GR_GLV_ON;
+	// TODO: Discharge TC through CAN
+	if (stateData->ts_voltage < 60) {
+		stateData->ecu_state = GR_GLV_ON;
+		stateData->dischargeStartMillis = 0;
+		return;
 	}
 	/*
 		If TS fails to discharge over time then stay and emit a warning,
 	   see #129
 	*/
+	// TODO: Determine the maximum time to wait for TC to discharge.
+	if(stateData->dischargeStartMillis > TRACTIVE_SYSTEM_MAX_DISCHARGE_TIME){
+		// TODO: Research appropriate ways to buffer warning messages.
+		LOGOMATIC("Tractive System fails to discharge in time.");
+	}
+
+	if(stateData->dischargeStartMillis < INT32_MAX){
+		stateData->dischargeStartMillis++;
+	}
 }
diff --git a/ECU/Application/Src/StateUtils.c b/ECU/Application/Src/StateUtils.c
index 24c3b6e0..97e3c5ea 100644
--- a/ECU/Application/Src/StateUtils.c
+++ b/ECU/Application/Src/StateUtils.c
@@ -36,6 +36,9 @@ bool CriticalError(const ECU_StateData *stateData)
 	if (stateData->ecuStatus2.ts_voltage > 600) {
 		return true;
 	}
+	if (stateData->bse_apps_violation) {
+		return true;
+	}
 	return false;
 }
 

From d3c93228d2d17c24c7460111608234ff0215315c Mon Sep 17 00:00:00 2001
From: Casey Zwicker <caseypzwicker@gmail.com>
Date: Thu, 8 Jan 2026 21:58:59 -0800
Subject: [PATCH 02/21] The beginnings of state machine implementation

Co-authored-by: Ng0710 <Ng0710@users.noreply.github.com>
Co-authored-by: Thomas Xu <XuChe777@users.noreply.github.com>
---
 ECU/Application/Inc/StateData.h  | 19 +++++--
 ECU/Application/Src/StateTicks.c | 90 +++++++++++++++++++++++---------
 ECU/Application/Src/StateUtils.c |  3 ++
 3 files changed, 82 insertions(+), 30 deletions(-)

diff --git a/ECU/Application/Inc/StateData.h b/ECU/Application/Inc/StateData.h
index 5094af7e..e9c19473 100644
--- a/ECU/Application/Inc/StateData.h
+++ b/ECU/Application/Inc/StateData.h
@@ -19,11 +19,21 @@
  * logic to access and modify the ECU's operational data.
  */
 typedef struct ECU_StateData {
-	// DON'T TOUCH YET
-	GR_OLD_ECU_STATUS_1_MSG ecuStatus1;
-	GR_OLD_ECU_STATUS_2_MSG ecuStatus2;
-	GR_OLD_ECU_STATUS_3_MSG ecuStatus3;
 
+	// These states are copied from the GR_OLD_ECU_STATUS_#_MSG structs
+	// TODO: Remove unneeded states
+	int8_t ping_block[3]; /** Node timeout status bits (1=OK, 0=Timeout) */
+	uint8_t powerlevel_torquemap; /** Power lvl (4b) & torque map (4b) */
+	uint8_t max_cell_temp;	      /** Hottest cell temp, 0.25°C/bit */
+	uint8_t tractivebattery_soc;  /** Accumulator SoC, 20x/51=% */
+	uint8_t glv_soc;	      /** GLV SoC, 20x/51=% */
+	uint16_t vehicle_speed; /** Vehicle speed, 0.01 MPH */
+	uint16_t fr_wheel_rpm;	/** FR wheel, 0.1x-3276.8 RPM */
+	uint16_t fl_wheel_rpm;	/** FL wheel, 0.1x-3276.8 RPM */
+	uint16_t rr_wheel_rpm; /** RR wheel, 0.1x-3276.8 RPM */
+	uint16_t rl_wheel_rpm; /** RL wheel, 0.1x-3276.8 RPM */
+
+	GR_ECU_State ecu_state;
 	int32_t dischargeStartMillis;
 	uint32_t lastECUStatusMsgTick;
 	uint32_t lastTSSIFlash;
@@ -39,6 +49,7 @@ typedef struct ECU_StateData {
 	uint8_t inverter_fault_map;
 	bool bse_apps_violation;
 	bool ts_active_button_engaged;
+	uint16_t ts_voltage;	/** TS output voltage, 0.01V */
 	bool rtd_button_engaged;
 } ECU_StateData; // FIXME Add comments to each data field with descriptions and
 		 // rules (eg -1 = invalid?, etc)
diff --git a/ECU/Application/Src/StateTicks.c b/ECU/Application/Src/StateTicks.c
index a8cf0738..1753a0fc 100644
--- a/ECU/Application/Src/StateTicks.c
+++ b/ECU/Application/Src/StateTicks.c
@@ -16,11 +16,19 @@
  */
 ECU_StateData stateLump = {0};
 
+#define ECU_STATUS_MSG_PERIOD (100)
+#define TRACTIVE_SYSTEM_MAX_DISCHARGE_TIME (10000) // TODO: determine an appropriate wait time
+
 void ECU_State_Tick(void)
 {
-	LOGOMATIC("ECU Current State: %d\n", stateLump.ecuStatus1.ecu_status);
+	if(stateLump.lastECUStatusMsgTick >= ECU_STATUS_MSG_PERIOD){
+		LOGOMATIC("ECU Current State: %d\n", stateLump.ecu_state);
+		stateLump.lastECUStatusMsgTick = 0;
+	} else{
+		stateLump.lastECUStatusMsgTick++;
+	}
 
-	switch (stateLump.ecuStatus1.ecu_status) {
+	switch (stateLump.ecu_state) {
 		case GR_GLV_OFF:
 			ECU_GLV_Off(&stateLump);
 			break;
@@ -42,7 +50,7 @@ void ECU_State_Tick(void)
 		default:
 			LOGOMATIC("ECU Current State Unknown: %d\n", stateLump.ecuStatus1.ecu_status);
 			LOGOMATIC("ECU: Resetting to GLV On\n");
-			stateLump.ecuStatus1.ecu_status = GR_GLV_ON;
+			stateLump.ecu_state = GR_GLV_ON;
 			break;
 	}
 }
@@ -63,35 +71,30 @@ void ECU_GLV_Off(ECU_StateData *stateData)
 
 void ECU_GLV_On(ECU_StateData *stateData)
 {
-	UNUSED(stateData);
-	/*
-	if(stateData->TractiveSystemVoltage >= 60){ // should never happen but
-	has to be accounted for stateData->currentState = GR_TS_DISCHARGE;
-		emit an error
-		break;
+	if(stateData->ts_voltage >= 60){ // should never happen but has to be accounted for
+		ECU_Tractive_System_Discharge_Start(stateData);
+		// emit an error
+		return;
 	}
-	*/
 
 	// TODO Implement functionality
 	if (stateData->ts_active_button_engaged) {
-		stateData->ecuStatus1.ecu_status = GR_PRECHARGE_ENGAGED;
+		stateData->ecu_state = GR_PRECHARGE_ENGAGED;
 	}
 }
 
 void ECU_Precharge_Engaged(ECU_StateData *stateData)
 {
-	UNUSED(stateData);
-	if (stateData->ecuStatus2.ts_voltage > 60) {
-		// Go to TS discharge
-		stateData->ecuStatus1.ecu_status = GR_TS_DISCHARGE;
-		// Emit an error
+	if (stateData->ts_voltage >= 60) {
+		ECU_Tractive_System_Discharge_Start(stateData);
+		// emit an error
 		return;
 	}
 	// TODO Implement functionality
-	/*if(not TS Active || Communication Error (CAN)){
-		stateData->currentState = GR_TS_DISCHARGE
-		break;
-	}*/
+	if(!stateData->ts_active_button_engaged || CommunicationError(stateData)){
+		ECU_Tractive_System_Discharge_Start(stateData);
+		return;
+	}
 	/*if(1 Isolation relay close && second isolation relay close){ --> CAN!
 		stateData->currentState = GR_PRECHARGE_COMPLETE
 	}*/
@@ -99,7 +102,6 @@ void ECU_Precharge_Engaged(ECU_StateData *stateData)
 
 void ECU_Precharge_Complete(ECU_StateData *stateData)
 {
-	UNUSED(stateData);
 	// TODO Implement functionality
 	/*
 		On but idle
@@ -111,7 +113,7 @@ void ECU_Precharge_Complete(ECU_StateData *stateData)
 	if (TS pressed or critical error) {
 		stateData->currentState = GR_TS_DISCHARGE
 		emit error
-		break;
+		return;
 	}
 	*/
 	/*
@@ -121,11 +123,19 @@ void ECU_Precharge_Complete(ECU_StateData *stateData)
 	*/
 
 	// Pseudocode
+	if(stateData->ts_active_button_engaged || CriticalError(stateData)){
+		ECU_Tractive_System_Discharge_Start(stateData);
+		// emit an error
+		return;
+	}
+
+	if(PressingBrake(stateData) && stateData->rtd_button_engaged){
+		stateData->ecu_state = GR_DRIVE_ACTIVE;
+	}
 }
 
 void ECU_Drive_Active(ECU_StateData *stateData)
 {
-	UNUSED(stateData);
 	// TODO Implement functionality
 	/*
 		If APPS/BSE Violation --> Don't drive until resolved (no state
@@ -151,21 +161,49 @@ void ECU_Drive_Active(ECU_StateData *stateData)
 		 - calcPedalTravel func :p
 		 - make tuna-ble function
 	*/
+
+	if(!stateData->ts_active_button_engaged || CriticalError(stateData)){
+		ECU_Tractive_System_Discharge_Start(stateData);
+		return;
+	}
+
+	if(!stateData->rtd_button_engaged){
+		stateData->ecu_state = GR_PRECHARGE_COMPLETE;
+		// emit a warning if not moving
+		return;
+	}
+}
+
+void ECU_Tractive_System_Discharge_Start(ECU_StateData *stateData) {
+		stateData->ecu_state = GR_TS_DISCHARGE;
+		LOGOMATIC("tell the BCU to discharge TS");
+		stateData->dischargeStartMillis = 0;
 }
 
 void ECU_Tractive_System_Discharge(ECU_StateData *stateData)
 {
-	UNUSED(stateData);
 	// TODO Implement functionality of state itself
 	/*
 		Discharge the tractive system to below 60 volts
 		If TS voltage < 60 --> stateData->GLV_ON
 	*/
-	if (stateData->ecuStatus2.ts_voltage < 60) {
-		stateData->ecuStatus1.ecu_status = GR_GLV_ON;
+	// TODO: Discharge TC through CAN
+	if (stateData->ts_voltage < 60) {
+		stateData->ecu_state = GR_GLV_ON;
+		stateData->dischargeStartMillis = 0;
+		return;
 	}
 	/*
 		If TS fails to discharge over time then stay and emit a warning,
 	   see #129
 	*/
+	// TODO: Determine the maximum time to wait for TC to discharge.
+	if(stateData->dischargeStartMillis > TRACTIVE_SYSTEM_MAX_DISCHARGE_TIME){
+		// TODO: Research appropriate ways to buffer warning messages.
+		LOGOMATIC("Tractive System fails to discharge in time.");
+	}
+
+	if(stateData->dischargeStartMillis < INT32_MAX){
+		stateData->dischargeStartMillis++;
+	}
 }
diff --git a/ECU/Application/Src/StateUtils.c b/ECU/Application/Src/StateUtils.c
index 6e8b4604..cecc65a6 100644
--- a/ECU/Application/Src/StateUtils.c
+++ b/ECU/Application/Src/StateUtils.c
@@ -36,6 +36,9 @@ bool CriticalError(const ECU_StateData *stateData)
 	if (stateData->ecuStatus2.ts_voltage > 600) {
 		return true;
 	}
+	if (stateData->bse_apps_violation) {
+		return true;
+	}
 	return false;
 }
 

From c1ed33e6fb770b7d52779aca64f20a3c98bbc660 Mon Sep 17 00:00:00 2001
From: Thomas Xu <thomas.xu.7@outlook.com>
Date: Thu, 8 Jan 2026 22:41:55 -0800
Subject: [PATCH 03/21] Added the function signature of
 ECU_Tractive_System_Discharge_Start in the header file.

---
 ECU/Application/Inc/StateTicks.h | 12 ++++++++++++
 1 file changed, 12 insertions(+)

diff --git a/ECU/Application/Inc/StateTicks.h b/ECU/Application/Inc/StateTicks.h
index 6844ceb8..42f633da 100644
--- a/ECU/Application/Inc/StateTicks.h
+++ b/ECU/Application/Inc/StateTicks.h
@@ -68,6 +68,18 @@ void ECU_Precharge_Complete(ECU_StateData *stateData);
  */
 void ECU_Drive_Active(ECU_StateData *stateData);
 
+/**
+ * @brief Init function for ECU_Tractive_System_Discharge_Start.
+ *
+ * Resets Tractive System discharge timer and switches on the Tractive System
+ * Discharge state.
+ *
+ * @param stateData Pointer to the ECU state data structure.
+ *
+ * @return void
+ */
+void ECU_Tractive_System_Discharge_Start(ECU_StateData *stateData);
+
 /**
  * @brief State handler for the Tractive System Discharge state.
  *

From 35bc726dd2c5fd1b8446adc7d673699c9b873216 Mon Sep 17 00:00:00 2001
From: github-actions <41898282+github-actions[bot]@users.noreply.github.com>
Date: Tue, 13 Jan 2026 03:30:22 +0000
Subject: [PATCH 04/21] Automatic Clang-Format: Standardized formatting
 automatically

---
 ECU/Application/Inc/StateData.h  | 14 +++++++-------
 ECU/Application/Src/StateTicks.c | 29 +++++++++++++++--------------
 2 files changed, 22 insertions(+), 21 deletions(-)

diff --git a/ECU/Application/Inc/StateData.h b/ECU/Application/Inc/StateData.h
index e9c19473..5562e8c0 100644
--- a/ECU/Application/Inc/StateData.h
+++ b/ECU/Application/Inc/StateData.h
@@ -22,16 +22,16 @@ typedef struct ECU_StateData {
 
 	// These states are copied from the GR_OLD_ECU_STATUS_#_MSG structs
 	// TODO: Remove unneeded states
-	int8_t ping_block[3]; /** Node timeout status bits (1=OK, 0=Timeout) */
+	int8_t ping_block[3];	      /** Node timeout status bits (1=OK, 0=Timeout) */
 	uint8_t powerlevel_torquemap; /** Power lvl (4b) & torque map (4b) */
 	uint8_t max_cell_temp;	      /** Hottest cell temp, 0.25°C/bit */
 	uint8_t tractivebattery_soc;  /** Accumulator SoC, 20x/51=% */
 	uint8_t glv_soc;	      /** GLV SoC, 20x/51=% */
-	uint16_t vehicle_speed; /** Vehicle speed, 0.01 MPH */
-	uint16_t fr_wheel_rpm;	/** FR wheel, 0.1x-3276.8 RPM */
-	uint16_t fl_wheel_rpm;	/** FL wheel, 0.1x-3276.8 RPM */
-	uint16_t rr_wheel_rpm; /** RR wheel, 0.1x-3276.8 RPM */
-	uint16_t rl_wheel_rpm; /** RL wheel, 0.1x-3276.8 RPM */
+	uint16_t vehicle_speed;	      /** Vehicle speed, 0.01 MPH */
+	uint16_t fr_wheel_rpm;	      /** FR wheel, 0.1x-3276.8 RPM */
+	uint16_t fl_wheel_rpm;	      /** FL wheel, 0.1x-3276.8 RPM */
+	uint16_t rr_wheel_rpm;	      /** RR wheel, 0.1x-3276.8 RPM */
+	uint16_t rl_wheel_rpm;	      /** RL wheel, 0.1x-3276.8 RPM */
 
 	GR_ECU_State ecu_state;
 	int32_t dischargeStartMillis;
@@ -49,7 +49,7 @@ typedef struct ECU_StateData {
 	uint8_t inverter_fault_map;
 	bool bse_apps_violation;
 	bool ts_active_button_engaged;
-	uint16_t ts_voltage;	/** TS output voltage, 0.01V */
+	uint16_t ts_voltage; /** TS output voltage, 0.01V */
 	bool rtd_button_engaged;
 } ECU_StateData; // FIXME Add comments to each data field with descriptions and
 		 // rules (eg -1 = invalid?, etc)
diff --git a/ECU/Application/Src/StateTicks.c b/ECU/Application/Src/StateTicks.c
index 1753a0fc..85412660 100644
--- a/ECU/Application/Src/StateTicks.c
+++ b/ECU/Application/Src/StateTicks.c
@@ -21,10 +21,10 @@ ECU_StateData stateLump = {0};
 
 void ECU_State_Tick(void)
 {
-	if(stateLump.lastECUStatusMsgTick >= ECU_STATUS_MSG_PERIOD){
+	if (stateLump.lastECUStatusMsgTick >= ECU_STATUS_MSG_PERIOD) {
 		LOGOMATIC("ECU Current State: %d\n", stateLump.ecu_state);
 		stateLump.lastECUStatusMsgTick = 0;
-	} else{
+	} else {
 		stateLump.lastECUStatusMsgTick++;
 	}
 
@@ -71,7 +71,7 @@ void ECU_GLV_Off(ECU_StateData *stateData)
 
 void ECU_GLV_On(ECU_StateData *stateData)
 {
-	if(stateData->ts_voltage >= 60){ // should never happen but has to be accounted for
+	if (stateData->ts_voltage >= 60) { // should never happen but has to be accounted for
 		ECU_Tractive_System_Discharge_Start(stateData);
 		// emit an error
 		return;
@@ -91,7 +91,7 @@ void ECU_Precharge_Engaged(ECU_StateData *stateData)
 		return;
 	}
 	// TODO Implement functionality
-	if(!stateData->ts_active_button_engaged || CommunicationError(stateData)){
+	if (!stateData->ts_active_button_engaged || CommunicationError(stateData)) {
 		ECU_Tractive_System_Discharge_Start(stateData);
 		return;
 	}
@@ -123,13 +123,13 @@ void ECU_Precharge_Complete(ECU_StateData *stateData)
 	*/
 
 	// Pseudocode
-	if(stateData->ts_active_button_engaged || CriticalError(stateData)){
+	if (stateData->ts_active_button_engaged || CriticalError(stateData)) {
 		ECU_Tractive_System_Discharge_Start(stateData);
 		// emit an error
 		return;
 	}
 
-	if(PressingBrake(stateData) && stateData->rtd_button_engaged){
+	if (PressingBrake(stateData) && stateData->rtd_button_engaged) {
 		stateData->ecu_state = GR_DRIVE_ACTIVE;
 	}
 }
@@ -162,22 +162,23 @@ void ECU_Drive_Active(ECU_StateData *stateData)
 		 - make tuna-ble function
 	*/
 
-	if(!stateData->ts_active_button_engaged || CriticalError(stateData)){
+	if (!stateData->ts_active_button_engaged || CriticalError(stateData)) {
 		ECU_Tractive_System_Discharge_Start(stateData);
 		return;
 	}
 
-	if(!stateData->rtd_button_engaged){
+	if (!stateData->rtd_button_engaged) {
 		stateData->ecu_state = GR_PRECHARGE_COMPLETE;
 		// emit a warning if not moving
 		return;
 	}
 }
 
-void ECU_Tractive_System_Discharge_Start(ECU_StateData *stateData) {
-		stateData->ecu_state = GR_TS_DISCHARGE;
-		LOGOMATIC("tell the BCU to discharge TS");
-		stateData->dischargeStartMillis = 0;
+void ECU_Tractive_System_Discharge_Start(ECU_StateData *stateData)
+{
+	stateData->ecu_state = GR_TS_DISCHARGE;
+	LOGOMATIC("tell the BCU to discharge TS");
+	stateData->dischargeStartMillis = 0;
 }
 
 void ECU_Tractive_System_Discharge(ECU_StateData *stateData)
@@ -198,12 +199,12 @@ void ECU_Tractive_System_Discharge(ECU_StateData *stateData)
 	   see #129
 	*/
 	// TODO: Determine the maximum time to wait for TC to discharge.
-	if(stateData->dischargeStartMillis > TRACTIVE_SYSTEM_MAX_DISCHARGE_TIME){
+	if (stateData->dischargeStartMillis > TRACTIVE_SYSTEM_MAX_DISCHARGE_TIME) {
 		// TODO: Research appropriate ways to buffer warning messages.
 		LOGOMATIC("Tractive System fails to discharge in time.");
 	}
 
-	if(stateData->dischargeStartMillis < INT32_MAX){
+	if (stateData->dischargeStartMillis < INT32_MAX) {
 		stateData->dischargeStartMillis++;
 	}
 }

From 11142415a530db0daec011dbbe9eeadffe77b283 Mon Sep 17 00:00:00 2001
From: Casey Zwicker <caseypzwicker@gmail.com>
Date: Mon, 12 Jan 2026 21:47:43 -0800
Subject: [PATCH 05/21] cleaned up data, switched to floats, etc

---
 ECU/Application/Inc/StateData.h  | 37 ++++++++++++++++++++------------
 ECU/Application/Src/StateUtils.c |  4 ++--
 2 files changed, 25 insertions(+), 16 deletions(-)

diff --git a/ECU/Application/Inc/StateData.h b/ECU/Application/Inc/StateData.h
index e9c19473..e7504412 100644
--- a/ECU/Application/Inc/StateData.h
+++ b/ECU/Application/Inc/StateData.h
@@ -20,37 +20,46 @@
  */
 typedef struct ECU_StateData {
 
-	// These states are copied from the GR_OLD_ECU_STATUS_#_MSG structs
 	// TODO: Remove unneeded states
-	int8_t ping_block[3]; /** Node timeout status bits (1=OK, 0=Timeout) */
-	uint8_t powerlevel_torquemap; /** Power lvl (4b) & torque map (4b) */
-	uint8_t max_cell_temp;	      /** Hottest cell temp, 0.25°C/bit */
-	uint8_t tractivebattery_soc;  /** Accumulator SoC, 20x/51=% */
-	uint8_t glv_soc;	      /** GLV SoC, 20x/51=% */
-	uint16_t vehicle_speed; /** Vehicle speed, 0.01 MPH */
-	uint16_t fr_wheel_rpm;	/** FR wheel, 0.1x-3276.8 RPM */
-	uint16_t fl_wheel_rpm;	/** FL wheel, 0.1x-3276.8 RPM */
-	uint16_t rr_wheel_rpm; /** RR wheel, 0.1x-3276.8 RPM */
-	uint16_t rl_wheel_rpm; /** RL wheel, 0.1x-3276.8 RPM */
-
-	GR_ECU_State ecu_state;
 	int32_t dischargeStartMillis;
 	uint32_t lastECUStatusMsgTick;
 	uint32_t lastTSSIFlash;
 	int32_t last_drive_active_control_ms;
+
 	float min_amk_heat_cap_throttle_percent;
+	float ts_voltage;
+	float max_cell_temp;	      /** Temperature of hottest cell, celsius */
+
+	float vehicle_speed; /** Vehicle speed, MPH */
+	float fr_wheel_rpm;	/** FR wheel, RPM */
+	float fl_wheel_rpm;	/** FL wheel, RPM */
+	float rr_wheel_rpm; /** RRv wheel, RPM */
+	float rl_wheel_rpm; /** RL wheel, RPM */
+
+	// 0.5V when things go to shit (X_OK low)
+	// 3V when things almost poggers (X_OK high but SDC not reset)
+	// 2.4V when things are actually poggers (X_OK high and SDC is not triggered)
+	float ams_sense;
+	float imd_sense;
+	float bspd_sense;
+
+	float estop_sense;
 	uint16_t driving_heat_capacity_1;
 	uint16_t driving_heat_capacity_2;
 	uint16_t APPS1_Signal;
 	uint16_t APPS2_Signal;
 	uint16_t Brake_R_Signal;
 	uint16_t Brake_F_Signal;
+	int8_t ping_block[3]; /** Node timeout status bits (1=OK, 0=Timeout) */
+	uint8_t powerlevel_torquemap; /** Power lvl (4b) & torque map (4b) */
+	uint8_t tractivebattery_soc;  /** Accumulator SoC, 20x/51=% */
+	uint8_t glv_soc;	      /** GLV SoC, 20x/51=% */
 	uint8_t acu_error_warning_bits;
 	uint8_t inverter_fault_map;
 	bool bse_apps_violation;
 	bool ts_active_button_engaged;
-	uint16_t ts_voltage;	/** TS output voltage, 0.01V */
 	bool rtd_button_engaged;
+	GR_ECU_State ecu_state;
 } ECU_StateData; // FIXME Add comments to each data field with descriptions and
 		 // rules (eg -1 = invalid?, etc)
 		 // Will also need to add information from ADC into this struct
diff --git a/ECU/Application/Src/StateUtils.c b/ECU/Application/Src/StateUtils.c
index cecc65a6..116d94dc 100644
--- a/ECU/Application/Src/StateUtils.c
+++ b/ECU/Application/Src/StateUtils.c
@@ -30,10 +30,10 @@ void setSoftwareLatch(bool close)
 
 bool CriticalError(const ECU_StateData *stateData)
 {
-	if (stateData->ecuStatus1.max_cell_temp > 60) {
+	if (stateData->max_cell_temp > 60) {
 		return true;
 	}
-	if (stateData->ecuStatus2.ts_voltage > 600) {
+	if (stateData->ts_voltage > 600) {
 		return true;
 	}
 	if (stateData->bse_apps_violation) {

From 4008051b963d6ef48c4832977f106923a930afae Mon Sep 17 00:00:00 2001
From: github-actions <41898282+github-actions[bot]@users.noreply.github.com>
Date: Tue, 13 Jan 2026 05:51:06 +0000
Subject: [PATCH 06/21] Automatic Clang-Format: Standardized formatting
 automatically

---
 ECU/Application/Inc/StateData.h  | 12 ++++++------
 ECU/Application/Src/StateTicks.c |  5 ++---
 2 files changed, 8 insertions(+), 9 deletions(-)

diff --git a/ECU/Application/Inc/StateData.h b/ECU/Application/Inc/StateData.h
index e7504412..fc4c49f6 100644
--- a/ECU/Application/Inc/StateData.h
+++ b/ECU/Application/Inc/StateData.h
@@ -28,13 +28,13 @@ typedef struct ECU_StateData {
 
 	float min_amk_heat_cap_throttle_percent;
 	float ts_voltage;
-	float max_cell_temp;	      /** Temperature of hottest cell, celsius */
+	float max_cell_temp; /** Temperature of hottest cell, celsius */
 
 	float vehicle_speed; /** Vehicle speed, MPH */
-	float fr_wheel_rpm;	/** FR wheel, RPM */
-	float fl_wheel_rpm;	/** FL wheel, RPM */
-	float rr_wheel_rpm; /** RRv wheel, RPM */
-	float rl_wheel_rpm; /** RL wheel, RPM */
+	float fr_wheel_rpm;  /** FR wheel, RPM */
+	float fl_wheel_rpm;  /** FL wheel, RPM */
+	float rr_wheel_rpm;  /** RRv wheel, RPM */
+	float rl_wheel_rpm;  /** RL wheel, RPM */
 
 	// 0.5V when things go to shit (X_OK low)
 	// 3V when things almost poggers (X_OK high but SDC not reset)
@@ -50,7 +50,7 @@ typedef struct ECU_StateData {
 	uint16_t APPS2_Signal;
 	uint16_t Brake_R_Signal;
 	uint16_t Brake_F_Signal;
-	int8_t ping_block[3]; /** Node timeout status bits (1=OK, 0=Timeout) */
+	int8_t ping_block[3];	      /** Node timeout status bits (1=OK, 0=Timeout) */
 	uint8_t powerlevel_torquemap; /** Power lvl (4b) & torque map (4b) */
 	uint8_t tractivebattery_soc;  /** Accumulator SoC, 20x/51=% */
 	uint8_t glv_soc;	      /** GLV SoC, 20x/51=% */
diff --git a/ECU/Application/Src/StateTicks.c b/ECU/Application/Src/StateTicks.c
index cc5aadd3..beccad86 100644
--- a/ECU/Application/Src/StateTicks.c
+++ b/ECU/Application/Src/StateTicks.c
@@ -48,8 +48,7 @@ void ECU_State_Tick(void)
 			ECU_Tractive_System_Discharge(&stateLump);
 			break;
 		default:
-			LOGOMATIC("ECU Current State Unknown: %d\n",
-				  stateLump.ecu_state);
+			LOGOMATIC("ECU Current State Unknown: %d\n", stateLump.ecu_state);
 			LOGOMATIC("ECU: Resetting to GLV On\n");
 			stateLump.ecu_state = GR_GLV_ON;
 			break;
@@ -72,7 +71,7 @@ void ECU_GLV_Off(ECU_StateData *stateData)
 
 void ECU_GLV_On(ECU_StateData *stateData)
 {
-	if(stateData->ts_voltage >= 60){ // should never happen but has to be accounted for 
+	if (stateData->ts_voltage >= 60) { // should never happen but has to be accounted for
 		ECU_Tractive_System_Discharge_Start(stateData);
 		// emit an error
 		return;

From a72a587ce2901530cf09333622a917009f2c0e7f Mon Sep 17 00:00:00 2001
From: Thomas Xu <thomas.xu.7@outlook.com>
Date: Mon, 12 Jan 2026 21:54:31 -0800
Subject: [PATCH 07/21] add a placeholder

---
 ECU/Application/Src/StateTicks.c | 1 +
 1 file changed, 1 insertion(+)

diff --git a/ECU/Application/Src/StateTicks.c b/ECU/Application/Src/StateTicks.c
index beccad86..95ef1e81 100644
--- a/ECU/Application/Src/StateTicks.c
+++ b/ECU/Application/Src/StateTicks.c
@@ -189,6 +189,7 @@ void ECU_Tractive_System_Discharge(ECU_StateData *stateData)
 		If TS voltage < 60 --> stateData->GLV_ON
 	*/
 	// TODO: Discharge TC through CAN
+	LOGOMATIC("CAN: please discharge the Tractive System");
 	if (stateData->ts_voltage < 60) {
 		stateData->ecu_state = GR_GLV_ON;
 		stateData->dischargeStartMillis = 0;

From f33172ead817903409d47ef25abbe73bb81d86e8 Mon Sep 17 00:00:00 2001
From: Casey Zwicker <caseypzwicker@gmail.com>
Date: Thu, 15 Jan 2026 19:45:32 -0800
Subject: [PATCH 08/21] volatile state lump

---
 ECU/Application/Src/StateTicks.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ECU/Application/Src/StateTicks.c b/ECU/Application/Src/StateTicks.c
index 95ef1e81..a39ad113 100644
--- a/ECU/Application/Src/StateTicks.c
+++ b/ECU/Application/Src/StateTicks.c
@@ -14,7 +14,7 @@
  *
  * @remark Intentionally not a globally accessible variable
  */
-ECU_StateData stateLump = {0};
+volatile ECU_StateData stateLump = {0};
 
 #define ECU_STATUS_MSG_PERIOD (100)
 #define TRACTIVE_SYSTEM_MAX_DISCHARGE_TIME (10000) // TODO: determine an appropriate wait time

From 6a27ff107c0c8074c6275c3f7cd471c69c903bcf Mon Sep 17 00:00:00 2001
From: Casey Zwicker <caseypzwicker@gmail.com>
Date: Thu, 15 Jan 2026 19:51:19 -0800
Subject: [PATCH 09/21] scopes

---
 Lib/FancyLayers-RENAME/ADC/Src/gr_adc.c | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/Lib/FancyLayers-RENAME/ADC/Src/gr_adc.c b/Lib/FancyLayers-RENAME/ADC/Src/gr_adc.c
index 22eeaf29..db2a98ce 100644
--- a/Lib/FancyLayers-RENAME/ADC/Src/gr_adc.c
+++ b/Lib/FancyLayers-RENAME/ADC/Src/gr_adc.c
@@ -140,10 +140,10 @@ void DMA_Init(DMA_TypeDef *DMA, DMA_Channel channel, uint32_t src_address, uint3
 
 // NOTE: DMA init is still using NOINCREMENT
 // TODO: Add int n to consider last n values
-int num = 0;
-uint8_t filled = 0;
 void ADC_UpdateAnalogValues(uint16_t **adcDataValues, volatile uint16_t *new_values, int num_signals, int window_size, uint16_t *weighted_output)
 {
+	static int num = 0;
+	static uint8_t filled = 0;
 	for (int i = 0; i < num_signals; ++i) {
 		weighted_output[i] += (new_values[i] - (filled ? adcDataValues[i][num] : 0)) / window_size; // Update the average
 		adcDataValues[i][num] = new_values[i];

From cec19d0dab9805b10a7b67fb2b5265f06cff2960 Mon Sep 17 00:00:00 2001
From: khoulihan27 <khoulihan@ucsb.edu>
Date: Thu, 15 Jan 2026 23:21:38 -0800
Subject: [PATCH 10/21] adc basic functionality to ECU

---
 ECU/Application/Inc/StateData.h  |   1 +
 ECU/Application/Src/StateTicks.c |   1 +
 ECU/Application/Src/StateUtils.c |  14 +++
 ECU/Core/Src/main.c              | 172 ++++++++++++++++++++++++++++++-
 4 files changed, 187 insertions(+), 1 deletion(-)

diff --git a/ECU/Application/Inc/StateData.h b/ECU/Application/Inc/StateData.h
index fc4c49f6..0da61b53 100644
--- a/ECU/Application/Inc/StateData.h
+++ b/ECU/Application/Inc/StateData.h
@@ -50,6 +50,7 @@ typedef struct ECU_StateData {
 	uint16_t APPS2_Signal;
 	uint16_t Brake_R_Signal;
 	uint16_t Brake_F_Signal;
+	uint16_t STEERING_ANGLE_SIGNAL;
 	int8_t ping_block[3];	      /** Node timeout status bits (1=OK, 0=Timeout) */
 	uint8_t powerlevel_torquemap; /** Power lvl (4b) & torque map (4b) */
 	uint8_t tractivebattery_soc;  /** Accumulator SoC, 20x/51=% */
diff --git a/ECU/Application/Src/StateTicks.c b/ECU/Application/Src/StateTicks.c
index a39ad113..6a0ac64e 100644
--- a/ECU/Application/Src/StateTicks.c
+++ b/ECU/Application/Src/StateTicks.c
@@ -6,6 +6,7 @@
 #include "StateUtils.h"
 #include "Unused.h"
 
+
 /**
  * @brief The ECU state data lump.
  *
diff --git a/ECU/Application/Src/StateUtils.c b/ECU/Application/Src/StateUtils.c
index 116d94dc..95fa2639 100644
--- a/ECU/Application/Src/StateUtils.c
+++ b/ECU/Application/Src/StateUtils.c
@@ -6,6 +6,7 @@
 #include "StateData.h"
 #include "Unused.h"
 
+// use estop_sense to detect close(?)
 void setSoftwareLatch(bool close)
 {
 	UNUSED(close);
@@ -26,6 +27,19 @@ void setSoftwareLatch(bool close)
 	   SOFTWARE_OK_CONTROL_Pin, GPIO_PIN_RESET);
 	    }
 		*/
+
+		if (close && !LL_GPIO_ReadPin(SOFTWARE_OK_CONTROL_GPIO_Port,
+	   SOFTWARE_OK_CONTROL_Pin)) // Avoid writing pins that are already
+	   written too
+	    {
+		HAL_GPIO_WritePin(SOFTWARE_OK_CONTROL_GPIO_Port,
+	   SOFTWARE_OK_CONTROL_Pin, GPIO_PIN_SET);
+	    }
+	    else if (!close && HAL_GPIO_ReadPin(SOFTWARE_OK_CONTROL_GPIO_Port,
+	   SOFTWARE_OK_CONTROL_Pin))
+	    {
+		HAL_GPIO_WritePin(SOFTWARE_OK_CONTROL_GPIO_Port,
+	   SOFTWARE_OK_CONTROL_Pin, GPIO_PIN_RESET);
 }
 
 bool CriticalError(const ECU_StateData *stateData)
diff --git a/ECU/Core/Src/main.c b/ECU/Core/Src/main.c
index 1897c985..5157e9e0 100644
--- a/ECU/Core/Src/main.c
+++ b/ECU/Core/Src/main.c
@@ -18,7 +18,9 @@
 /* USER CODE END Header */
 /* Includes ------------------------------------------------------------------*/
 #include "main.h"
-
+#include "gr_adc.h"
+#include "StateTicks.h"
+#include "StateData.h"
 #include "adc.h"
 #include "dma.h"
 #include "fdcan.h"
@@ -52,6 +54,60 @@
 
 /* USER CODE END PV */
 
+
+
+/*
+RELAVANT PORTS AND PINS
+
+-- ANALOG IN --
+ADC 1 (ADC_1 BUFFERS array is IN ORDER from top to bottom of this list)
+BSE_SIGNAL (8): PC0 -> ADC12_IN6 (ADC 1 and ADC 2)
+BSPD_SIGNAL (9): PC1 -> ADC12_IN7
+APPS1_SIGNAL (10): PC2 -> ADC12_IN8
+APPS2_SIGNAL (11): PC3 -> ADC12_IN9
+BRAKE_F_SIGNAL (24): PB0 -> ADC1_IN15
+BRAKE_R_SIGNAL (25): PB1 -> ADC1_IN12
+AUX_SIGNAL (36): PB14 -> ADC1_IN5
+
+	ADC 2
+STEERING_ANGLE_SIGNAL (37): PB15 -> ADC2_IN15
+
+-- DIGITAL IN --
+BSPD_SENSE (19): PA5
+IMD_SENSE (20): PA6
+AMS_SENSE (21): PA7
+TS_ACTIVE_BTN_SENSE (54): PC12
+RTD_BTN_SENSE (53): PC11
+INERTIA_SW_SENSE (52): PC10
+ESTOP_SENSE (51): PA15
+
+-- DIGITAL OUT --
+RTD_CONTROL (60): PB7
+TSSI_R_CONTROL (59): PB6
+TSSI_G_CONTROL (58): PB5
+BRAKE_CONTROL (57): PB4
+TS_ACTIVE_BTN_LED_CONTROL (43): PA9
+RTD_BTN_LED_CONTROL (42): PA8
+*/
+
+// ADC 1/2
+#define WINDOW_SIZE 10 // weighted average for now can extend to other window functions
+#define NUM_SIGNALS_ADC1 7
+#define NUM_SIGNALS_ADC2 1
+#define NUM_SIGNALS_DIGITAL 7
+// TODO: check which data size to use (floats...ints...etc)
+volatile uint16_t ADC1_buffers[NUM_SIGNALS_ADC1] = {0}; // Contains new values
+volatile uint16_t ADC2_buffers[NUM_SIGNALS_ADC2] = {0}; // Contains new values
+uint16_t ADC1_outputs[NUM_SIGNALS_ADC1] = {0};	      // Updated averages
+uint16_t ADC2_outputs[NUM_SIGNALS_ADC2] = {0};	      // Updated averages
+uint16_t *adcDataValues[(NUM_SIGNALS_ADC1 + NUM_SIGNALS_ADC2)] = {0};		  // 2D Array
+
+// DIGITAL
+uint8_t digital_data[NUM_SIGNALS_DIGITAL] = {0};
+
+// STATE DATA
+extern ECU_StateData stateLump;
+
 /* Private function prototypes -----------------------------------------------*/
 void SystemClock_Config(void);
 /* USER CODE BEGIN PFP */
@@ -74,6 +130,112 @@ static void ITM_Enable(void)
 }
 /* USER CODE END 0 */
 
+// TODO: state data stores stuff as either FLOATS or BOOLS...check
+void read_digital(void) {
+	for (int i = 0; i < NUM_SIGNALS_DIGITAL; i++) {
+		GPIO_PinState currRead;
+		switch(i) {
+			case 0:
+				currRead = LL_GPIO_ReadPin(GPIOA, LL_GPIO_PIN_5);
+				break;
+			case 1:
+				currRead = LL_GPIO_ReadPin(GPIOA, LL_GPIO_PIN_6);
+				break;
+			case 2:
+				currRead = LL_GPIO_ReadPin(GPIOA, LL_GPIO_PIN_7);
+				break;
+			case 3:
+				currRead = LL_GPIO_ReadPin(GPIOC, LL_GPIO_PIN_12);
+				break;
+			case 4:
+				currRead = LL_GPIO_ReadPin(GPIOC, LL_GPIO_PIN_11);
+				break;
+			case 5:
+				currRead = LL_GPIO_ReadPin(GPIOC, LL_GPIO_PIN_10);
+				break;
+			case 6:
+				currRead = LL_GPIO_ReadPin(GPIOA, LL_GPIO_PIN_15);
+				break;
+		}
+		digital_data[i] = currRead
+	}
+}
+
+void write_state_data() {
+	// analog
+	// TODO: bse signal idk what to do ADC1_outputs[0]
+	// TODO: bspd signal idk what to do ADC1_outputs[1]
+	stateLump.APPS1_SIGNAL = ADC1_outputs[2];
+	stateLump.APPS2_SIGNAL = ADC1_outputs[3];
+	stateLump.Brake_F_Signal = ADC1_outputs[4];
+	stateLump.Brake_R_Signal = ADC1_outputs[5];
+	// TODO: Aux signal idk what to do with it ADC1_outputs[6]
+	stateLump.STEERING_ANGLE_SIGNAL = ADC2_outputs[0];
+
+	// digital
+	stateLump.bspd_sense = digital_data[0];
+	stateLump.imd_sense = digital_data[1];
+	stateLump.ams_sense = digital_data[2];
+	stateLump.ts_active_button_engaged = digital_data[3];
+	stateLump.rtd_button_engaged = digital_data[4];
+	stateLump.bspd_sense = digital_data[5];
+	// TODO: inertia steering wheel sense? digital_data[6]
+	stateLump.estop_sense = digital_data[7];
+}
+
+void ADC_Configure(void)
+{
+	// Initialize which clock source to use
+	LL_RCC_SetADCClockSource(LL_RCC_ADC12_CLKSOURCE_SYSCLK);
+	/* Peripheral clock enable */
+	LL_AHB2_GRP1_EnableClock(LL_AHB2_GRP1_PERIPH_ADC12);
+	LL_AHB2_GRP1_EnableClock(LL_AHB2_GRP1_PERIPH_GPIOA);
+
+	// Initialize the ADC1
+	ADC_Group_Init(ADC1, PS_8); // TODO: change prescalar l8r
+	ADC_Init(ADC1, RESOLUTION_12, RIGHT);
+	ADC_Regular_Group_Init(ADC1, NO_RANKS);
+
+	// TODO: INITIALIZE PIN_PORTS BETTER!!!
+	// Initialize the pins and channels
+	Pin_Ports p1 = {0};
+	p1.port = GPIOC;
+	p1.pin = LL_GPIO_PIN_0 | LL_GPIO_PIN_1 | LL_GPIO_PIN_2 | LL_GPIO_PIN_3;
+	ADC_Init_Pins(&p1);
+	Pin_Ports p2 = {0};
+	p2.port = GPIOB;
+	p2.pin = LL_GPIO_PIN_0 | LL_GPIO_PIN_1 | LL_GPIO_PIN_14;
+	ADC_Init_Pins(&p2);
+	ADC_Channel_Init(ADC1, RANK_1, ADC_CHANNEL_6, SINGLE_ENDED, SAMPLINGTIME_247CYCLES_5);
+	ADC_Channel_Init(ADC1, RANK_2, ADC_CHANNEL_7, SINGLE_ENDED, SAMPLINGTIME_247CYCLES_5);
+	ADC_Channel_Init(ADC1, RANK_3, ADC_CHANNEL_8, SINGLE_ENDED, SAMPLINGTIME_247CYCLES_5);
+	ADC_Channel_Init(ADC1, RANK_4, ADC_CHANNEL_9, SINGLE_ENDED, SAMPLINGTIME_247CYCLES_5);
+	ADC_Channel_Init(ADC1, RANK_5, ADC_CHANNEL_15, SINGLE_ENDED, SAMPLINGTIME_247CYCLES_5);
+	ADC_Channel_Init(ADC1, RANK_6, ADC_CHANNEL_12, SINGLE_ENDED, SAMPLINGTIME_247CYCLES_5);
+	ADC_Channel_Init(ADC1, RANK_7, ADC_CHANNEL_5, SINGLE_ENDED, SAMPLINGTIME_247CYCLES_5);
+
+	// Initialize ADC2
+	ADC_Init(ADC2, RESOLUTION_12, RIGHT);
+	ADC_Regular_Group_Init(ADC2, NO_RANKS);
+
+	// Initialize the pins and channels
+	Pin_Ports p3 = {0};
+	p.port = GPIOA;
+	p.pin = LL_GPIO_PIN_15;
+	ADC_Init_Pins(&p3);
+	ADC_Channel_Init(ADC2, RANK_1, ADC_CHANNEL_15, SINGLE_ENDED, SAMPLINGTIME_247CYCLES_5);
+
+	// Initialize DMA (ADC1 = CHANNEL 1, ADC2 = CHANNEL 2)
+	// DMA reads into buffer
+	DMA_Init(DMA1, LL_DMA_CHANNEL_1, LL_ADC_DMA_GetRegAddr(ADC1, LL_ADC_DMA_REG_REGULAR_DATA), (uint16_t)&ADC1_buffers, LL_DMA_PDATAALIGN_HALFWORD, LL_DMA_MDATAALIGN_HALFWORD, NUM_SIGNALS_ADC1, ADC1, HIGH);
+	LL_DMA_EnableChannel(DMA1, LL_DMA_CHANNEL_1);
+	DMA_Init(DMA1, LL_DMA_CHANNEL_2, LL_ADC_DMA_GetRegAddr(ADC2, LL_ADC_DMA_REG_REGULAR_DATA), (uint16_t)&ADC2_buffers, LL_DMA_PDATAALIGN_HALFWORD, LL_DMA_MDATAALIGN_HALFWORD, NUM_SIGNALS_ADC2, ADC2, HIGH);
+	LL_DMA_EnableChannel(DMA1, LL_DMA_CHANNEL_2);
+
+	ADC_Enable_And_Calibrate(ADC1);
+	ADC_Enable_And_Calibrate(ADC2);
+}
+
 /**
  * @brief  The application entry point.
  * @retval int
@@ -112,6 +274,10 @@ int main(void)
 	MX_ADC2_Init();
 	MX_LPUART1_UART_Init();
 	/* USER CODE BEGIN 2 */
+	ADC_Configure();
+	for (int i = 0; i < (NUM_SIGNALS_ADC1 + NUM_SIGNALS_ADC2); i++){
+		adcDataValues[i] = malloc(sizeof(uint16_t) * WINDOW_SIZE);
+	}
 
 	/* USER CODE END 2 */
 
@@ -121,6 +287,10 @@ int main(void)
 		/* USER CODE END WHILE */
 
 		/* USER CODE BEGIN 3 */
+		read_digital();
+		write_state_data();
+		ADC_UpdateAnalogValues(adcDataValues, ADC1_buffers, NUM_SIGNALS_ADC1, WINDOW_SIZE, ADC1_outputs);
+		ADC_UpdateAnalogValues(adcDataValues, ADC2_buffers, NUM_SIGNALS_ADC2, WINDOW_SIZE, ADC2_outputs);
 		ECU_State_Tick();
 		LOGOMATIC("Main Loop Tick Complete. I like Pi %f\n", 3.14159265);
 		LL_mDelay(250); // FIXME Reduce or remove delay

From 6fa0832299fede26e30407d9389dbce9ea84fdcc Mon Sep 17 00:00:00 2001
From: github-actions <41898282+github-actions[bot]@users.noreply.github.com>
Date: Fri, 16 Jan 2026 07:23:11 +0000
Subject: [PATCH 11/21] Automatic Clang-Format: Standardized formatting
 automatically

---
 ECU/Application/Src/StateTicks.c |  1 -
 ECU/Application/Src/StateUtils.c | 97 +++++++++++++++-----------------
 ECU/Core/Src/main.c              | 33 ++++++-----
 3 files changed, 63 insertions(+), 68 deletions(-)

diff --git a/ECU/Application/Src/StateTicks.c b/ECU/Application/Src/StateTicks.c
index 6a0ac64e..a39ad113 100644
--- a/ECU/Application/Src/StateTicks.c
+++ b/ECU/Application/Src/StateTicks.c
@@ -6,7 +6,6 @@
 #include "StateUtils.h"
 #include "Unused.h"
 
-
 /**
  * @brief The ECU state data lump.
  *
diff --git a/ECU/Application/Src/StateUtils.c b/ECU/Application/Src/StateUtils.c
index 95fa2639..34095aec 100644
--- a/ECU/Application/Src/StateUtils.c
+++ b/ECU/Application/Src/StateUtils.c
@@ -28,62 +28,55 @@ void setSoftwareLatch(bool close)
 	    }
 		*/
 
-		if (close && !LL_GPIO_ReadPin(SOFTWARE_OK_CONTROL_GPIO_Port,
-	   SOFTWARE_OK_CONTROL_Pin)) // Avoid writing pins that are already
-	   written too
-	    {
-		HAL_GPIO_WritePin(SOFTWARE_OK_CONTROL_GPIO_Port,
-	   SOFTWARE_OK_CONTROL_Pin, GPIO_PIN_SET);
-	    }
-	    else if (!close && HAL_GPIO_ReadPin(SOFTWARE_OK_CONTROL_GPIO_Port,
-	   SOFTWARE_OK_CONTROL_Pin))
-	    {
-		HAL_GPIO_WritePin(SOFTWARE_OK_CONTROL_GPIO_Port,
-	   SOFTWARE_OK_CONTROL_Pin, GPIO_PIN_RESET);
-}
-
-bool CriticalError(const ECU_StateData *stateData)
-{
-	if (stateData->max_cell_temp > 60) {
-		return true;
+	if (close && !LL_GPIO_ReadPin(SOFTWARE_OK_CONTROL_GPIO_Port,
+				      SOFTWARE_OK_CONTROL_Pin)) { // Avoid writing pins that are already
+		written too { HAL_GPIO_WritePin(SOFTWARE_OK_CONTROL_GPIO_Port, SOFTWARE_OK_CONTROL_Pin, GPIO_PIN_SET); }
+	} else if (!close && HAL_GPIO_ReadPin(SOFTWARE_OK_CONTROL_GPIO_Port, SOFTWARE_OK_CONTROL_Pin)) {
+		HAL_GPIO_WritePin(SOFTWARE_OK_CONTROL_GPIO_Port, SOFTWARE_OK_CONTROL_Pin, GPIO_PIN_RESET);
 	}
-	if (stateData->ts_voltage > 600) {
-		return true;
-	}
-	if (stateData->bse_apps_violation) {
-		return true;
+
+	bool CriticalError(const ECU_StateData *stateData)
+	{
+		if (stateData->max_cell_temp > 60) {
+			return true;
+		}
+		if (stateData->ts_voltage > 600) {
+			return true;
+		}
+		if (stateData->bse_apps_violation) {
+			return true;
+		}
+		return false;
 	}
-	return false;
-}
 
-bool CommunicationError(const ECU_StateData *stateData)
-{
-	UNUSED(stateData);
-	// TODO: implement COMMS errors
-	return false;
-}
+	bool CommunicationError(const ECU_StateData *stateData)
+	{
+		UNUSED(stateData);
+		// TODO: implement COMMS errors
+		return false;
+	}
 
-bool APPS_BSE_Violation(const ECU_StateData *stateData)
-{
-	// Checks 2 * APPS_1 is within 10% of APPS_2 and break + throttle at the
-	// same time
-	return fabs(stateData->APPS2_Signal - stateData->APPS1_Signal * APPS_PROPORTION - APPS_OFFSET) > stateData->APPS2_Signal * 0.1f ||
-	       (PressingBrake(stateData) && CalcPedalTravel(stateData) >= 0.25f);
-}
+	bool APPS_BSE_Violation(const ECU_StateData *stateData)
+	{
+		// Checks 2 * APPS_1 is within 10% of APPS_2 and break + throttle at the
+		// same time
+		return fabs(stateData->APPS2_Signal - stateData->APPS1_Signal * APPS_PROPORTION - APPS_OFFSET) > stateData->APPS2_Signal * 0.1f ||
+		       (PressingBrake(stateData) && CalcPedalTravel(stateData) >= 0.25f);
+	}
 
-bool PressingBrake(const ECU_StateData *stateData)
-{
-	return (stateData->Brake_F_Signal - BRAKE_F_MIN > BSE_DEADZONE * (BRAKE_F_MAX - BRAKE_F_MIN)) && (stateData->Brake_R_Signal - BRAKE_R_MIN > BSE_DEADZONE * (BRAKE_R_MAX - BRAKE_R_MIN));
-	// Ideally TCM receives values of 0 after this is no longer called xD.
-}
+	bool PressingBrake(const ECU_StateData *stateData)
+	{
+		return (stateData->Brake_F_Signal - BRAKE_F_MIN > BSE_DEADZONE * (BRAKE_F_MAX - BRAKE_F_MIN)) && (stateData->Brake_R_Signal - BRAKE_R_MIN > BSE_DEADZONE * (BRAKE_R_MAX - BRAKE_R_MIN));
+		// Ideally TCM receives values of 0 after this is no longer called xD.
+	}
 
-float CalcBrakePercent(const ECU_StateData *stateData) // THIS IS NOT ACTUALLY BRAKE TRAVEL,
-						       // PRESSURE SENSORS CAPTURE BRAKE TRAVEL
-{
-	return (float)(stateData->Brake_F_Signal + stateData->Brake_R_Signal - BRAKE_R_MIN - BRAKE_F_MIN) / (BRAKE_F_MAX - BRAKE_F_MIN + BRAKE_R_MAX - BRAKE_R_MIN);
-}
+	float CalcBrakePercent(const ECU_StateData *stateData) // THIS IS NOT ACTUALLY BRAKE TRAVEL,
+							       // PRESSURE SENSORS CAPTURE BRAKE TRAVEL
+	{
+		return (float)(stateData->Brake_F_Signal + stateData->Brake_R_Signal - BRAKE_R_MIN - BRAKE_F_MIN) / (BRAKE_F_MAX - BRAKE_F_MIN + BRAKE_R_MAX - BRAKE_R_MIN);
+	}
 
-float CalcPedalTravel(const ECU_StateData *stateData)
-{
-	return (float)(stateData->APPS1_Signal + stateData->APPS2_Signal - THROTTLE_MIN_2 - THROTTLE_MIN_1) / (THROTTLE_MAX_1 + THROTTLE_MAX_2 - THROTTLE_MIN_1 - THROTTLE_MIN_2);
-}
+	float CalcPedalTravel(const ECU_StateData *stateData)
+	{
+		return (float)(stateData->APPS1_Signal + stateData->APPS2_Signal - THROTTLE_MIN_2 - THROTTLE_MIN_1) / (THROTTLE_MAX_1 + THROTTLE_MAX_2 - THROTTLE_MIN_1 - THROTTLE_MIN_2);
+	}
diff --git a/ECU/Core/Src/main.c b/ECU/Core/Src/main.c
index 5157e9e0..8446863d 100644
--- a/ECU/Core/Src/main.c
+++ b/ECU/Core/Src/main.c
@@ -18,13 +18,14 @@
 /* USER CODE END Header */
 /* Includes ------------------------------------------------------------------*/
 #include "main.h"
-#include "gr_adc.h"
-#include "StateTicks.h"
+
 #include "StateData.h"
+#include "StateTicks.h"
 #include "adc.h"
 #include "dma.h"
 #include "fdcan.h"
 #include "gpio.h"
+#include "gr_adc.h"
 #include "usart.h"
 
 /* Private includes ----------------------------------------------------------*/
@@ -54,8 +55,6 @@
 
 /* USER CODE END PV */
 
-
-
 /*
 RELAVANT PORTS AND PINS
 
@@ -96,11 +95,11 @@ RTD_BTN_LED_CONTROL (42): PA8
 #define NUM_SIGNALS_ADC2 1
 #define NUM_SIGNALS_DIGITAL 7
 // TODO: check which data size to use (floats...ints...etc)
-volatile uint16_t ADC1_buffers[NUM_SIGNALS_ADC1] = {0}; // Contains new values
-volatile uint16_t ADC2_buffers[NUM_SIGNALS_ADC2] = {0}; // Contains new values
-uint16_t ADC1_outputs[NUM_SIGNALS_ADC1] = {0};	      // Updated averages
-uint16_t ADC2_outputs[NUM_SIGNALS_ADC2] = {0};	      // Updated averages
-uint16_t *adcDataValues[(NUM_SIGNALS_ADC1 + NUM_SIGNALS_ADC2)] = {0};		  // 2D Array
+volatile uint16_t ADC1_buffers[NUM_SIGNALS_ADC1] = {0};		      // Contains new values
+volatile uint16_t ADC2_buffers[NUM_SIGNALS_ADC2] = {0};		      // Contains new values
+uint16_t ADC1_outputs[NUM_SIGNALS_ADC1] = {0};			      // Updated averages
+uint16_t ADC2_outputs[NUM_SIGNALS_ADC2] = {0};			      // Updated averages
+uint16_t *adcDataValues[(NUM_SIGNALS_ADC1 + NUM_SIGNALS_ADC2)] = {0}; // 2D Array
 
 // DIGITAL
 uint8_t digital_data[NUM_SIGNALS_DIGITAL] = {0};
@@ -131,10 +130,11 @@ static void ITM_Enable(void)
 /* USER CODE END 0 */
 
 // TODO: state data stores stuff as either FLOATS or BOOLS...check
-void read_digital(void) {
+void read_digital(void)
+{
 	for (int i = 0; i < NUM_SIGNALS_DIGITAL; i++) {
 		GPIO_PinState currRead;
-		switch(i) {
+		switch (i) {
 			case 0:
 				currRead = LL_GPIO_ReadPin(GPIOA, LL_GPIO_PIN_5);
 				break;
@@ -161,7 +161,8 @@ void read_digital(void) {
 	}
 }
 
-void write_state_data() {
+void write_state_data()
+{
 	// analog
 	// TODO: bse signal idk what to do ADC1_outputs[0]
 	// TODO: bspd signal idk what to do ADC1_outputs[1]
@@ -227,9 +228,11 @@ void ADC_Configure(void)
 
 	// Initialize DMA (ADC1 = CHANNEL 1, ADC2 = CHANNEL 2)
 	// DMA reads into buffer
-	DMA_Init(DMA1, LL_DMA_CHANNEL_1, LL_ADC_DMA_GetRegAddr(ADC1, LL_ADC_DMA_REG_REGULAR_DATA), (uint16_t)&ADC1_buffers, LL_DMA_PDATAALIGN_HALFWORD, LL_DMA_MDATAALIGN_HALFWORD, NUM_SIGNALS_ADC1, ADC1, HIGH);
+	DMA_Init(DMA1, LL_DMA_CHANNEL_1, LL_ADC_DMA_GetRegAddr(ADC1, LL_ADC_DMA_REG_REGULAR_DATA), (uint16_t)&ADC1_buffers, LL_DMA_PDATAALIGN_HALFWORD, LL_DMA_MDATAALIGN_HALFWORD, NUM_SIGNALS_ADC1,
+		 ADC1, HIGH);
 	LL_DMA_EnableChannel(DMA1, LL_DMA_CHANNEL_1);
-	DMA_Init(DMA1, LL_DMA_CHANNEL_2, LL_ADC_DMA_GetRegAddr(ADC2, LL_ADC_DMA_REG_REGULAR_DATA), (uint16_t)&ADC2_buffers, LL_DMA_PDATAALIGN_HALFWORD, LL_DMA_MDATAALIGN_HALFWORD, NUM_SIGNALS_ADC2, ADC2, HIGH);
+	DMA_Init(DMA1, LL_DMA_CHANNEL_2, LL_ADC_DMA_GetRegAddr(ADC2, LL_ADC_DMA_REG_REGULAR_DATA), (uint16_t)&ADC2_buffers, LL_DMA_PDATAALIGN_HALFWORD, LL_DMA_MDATAALIGN_HALFWORD, NUM_SIGNALS_ADC2,
+		 ADC2, HIGH);
 	LL_DMA_EnableChannel(DMA1, LL_DMA_CHANNEL_2);
 
 	ADC_Enable_And_Calibrate(ADC1);
@@ -275,7 +278,7 @@ int main(void)
 	MX_LPUART1_UART_Init();
 	/* USER CODE BEGIN 2 */
 	ADC_Configure();
-	for (int i = 0; i < (NUM_SIGNALS_ADC1 + NUM_SIGNALS_ADC2); i++){
+	for (int i = 0; i < (NUM_SIGNALS_ADC1 + NUM_SIGNALS_ADC2); i++) {
 		adcDataValues[i] = malloc(sizeof(uint16_t) * WINDOW_SIZE);
 	}
 

From beb3a2f8cbd5439caf1f065a1ed237d98581ef19 Mon Sep 17 00:00:00 2001
From: khoulihan27 <khoulihan@ucsb.edu>
Date: Thu, 15 Jan 2026 23:34:29 -0800
Subject: [PATCH 12/21] fixed LL stuff

---
 ECU/Application/Src/StateUtils.c | 13 +++++++------
 ECU/CMakeLists.txt               |  1 +
 ECU/Core/Src/main.c              | 26 ++++++++++++++------------
 3 files changed, 22 insertions(+), 18 deletions(-)

diff --git a/ECU/Application/Src/StateUtils.c b/ECU/Application/Src/StateUtils.c
index 95fa2639..756589db 100644
--- a/ECU/Application/Src/StateUtils.c
+++ b/ECU/Application/Src/StateUtils.c
@@ -13,33 +13,34 @@ void setSoftwareLatch(bool close)
 	// TODO Implement functionality
 	// LOGOMATIC("Setting software latch to %d\n", close);
 	/*
-	    if (close && !HAL_GPIO_ReadPin(SOFTWARE_OK_CONTROL_GPIO_Port,
+	    if (close && !HAL_GPIO_IsInputPinSet(SOFTWARE_OK_CONTROL_GPIO_Port,
 	   SOFTWARE_OK_CONTROL_Pin)) // Avoid writing pins that are already
 	   written too
 	    {
 		HAL_GPIO_WritePin(SOFTWARE_OK_CONTROL_GPIO_Port,
 	   SOFTWARE_OK_CONTROL_Pin, GPIO_PIN_SET);
 	    }
-	    else if (!close && HAL_GPIO_ReadPin(SOFTWARE_OK_CONTROL_GPIO_Port,
+	    else if (!close && HAL_GPIO_IsInputPinSet(SOFTWARE_OK_CONTROL_GPIO_Port,
 	   SOFTWARE_OK_CONTROL_Pin))
 	    {
 		HAL_GPIO_WritePin(SOFTWARE_OK_CONTROL_GPIO_Port,
 	   SOFTWARE_OK_CONTROL_Pin, GPIO_PIN_RESET);
 	    }
-		*/
-
-		if (close && !LL_GPIO_ReadPin(SOFTWARE_OK_CONTROL_GPIO_Port,
+	*/
+	/*
+		if (close && !LL_GPIO_IsInputPinSet(SOFTWARE_OK_CONTROL_GPIO_Port,
 	   SOFTWARE_OK_CONTROL_Pin)) // Avoid writing pins that are already
 	   written too
 	    {
 		HAL_GPIO_WritePin(SOFTWARE_OK_CONTROL_GPIO_Port,
 	   SOFTWARE_OK_CONTROL_Pin, GPIO_PIN_SET);
 	    }
-	    else if (!close && HAL_GPIO_ReadPin(SOFTWARE_OK_CONTROL_GPIO_Port,
+	    else if (!close && HAL_GPIO_IsInputPinSet(SOFTWARE_OK_CONTROL_GPIO_Port,
 	   SOFTWARE_OK_CONTROL_Pin))
 	    {
 		HAL_GPIO_WritePin(SOFTWARE_OK_CONTROL_GPIO_Port,
 	   SOFTWARE_OK_CONTROL_Pin, GPIO_PIN_RESET);
+	*/
 }
 
 bool CriticalError(const ECU_StateData *stateData)
diff --git a/ECU/CMakeLists.txt b/ECU/CMakeLists.txt
index bf16105f..7c17f935 100644
--- a/ECU/CMakeLists.txt
+++ b/ECU/CMakeLists.txt
@@ -77,6 +77,7 @@ target_link_libraries(
 	${GR_PROJECT_NAME}_USER_CODE
 	INTERFACE
 		GR_OLD_CAN_MESSAGES
+		ADC
 )
 
 target_include_directories(
diff --git a/ECU/Core/Src/main.c b/ECU/Core/Src/main.c
index 5157e9e0..3b45d458 100644
--- a/ECU/Core/Src/main.c
+++ b/ECU/Core/Src/main.c
@@ -25,6 +25,8 @@
 #include "dma.h"
 #include "fdcan.h"
 #include "gpio.h"
+#include "gr_adc.h"
+#include "malloc.h"
 #include "usart.h"
 
 /* Private includes ----------------------------------------------------------*/
@@ -136,28 +138,28 @@ void read_digital(void) {
 		GPIO_PinState currRead;
 		switch(i) {
 			case 0:
-				currRead = LL_GPIO_ReadPin(GPIOA, LL_GPIO_PIN_5);
+				currRead = LL_GPIO_IsInputPinSet(GPIOA, LL_GPIO_PIN_5);
 				break;
 			case 1:
-				currRead = LL_GPIO_ReadPin(GPIOA, LL_GPIO_PIN_6);
+				currRead = LL_GPIO_IsInputPinSet(GPIOA, LL_GPIO_PIN_6);
 				break;
 			case 2:
-				currRead = LL_GPIO_ReadPin(GPIOA, LL_GPIO_PIN_7);
+				currRead = LL_GPIO_IsInputPinSet(GPIOA, LL_GPIO_PIN_7);
 				break;
 			case 3:
-				currRead = LL_GPIO_ReadPin(GPIOC, LL_GPIO_PIN_12);
+				currRead = LL_GPIO_IsInputPinSet(GPIOC, LL_GPIO_PIN_12);
 				break;
 			case 4:
-				currRead = LL_GPIO_ReadPin(GPIOC, LL_GPIO_PIN_11);
+				currRead = LL_GPIO_IsInputPinSet(GPIOC, LL_GPIO_PIN_11);
 				break;
 			case 5:
-				currRead = LL_GPIO_ReadPin(GPIOC, LL_GPIO_PIN_10);
+				currRead = LL_GPIO_IsInputPinSet(GPIOC, LL_GPIO_PIN_10);
 				break;
 			case 6:
-				currRead = LL_GPIO_ReadPin(GPIOA, LL_GPIO_PIN_15);
+				currRead = LL_GPIO_IsInputPinSet(GPIOA, LL_GPIO_PIN_15);
 				break;
 		}
-		digital_data[i] = currRead
+		digital_data[i] = currRead;
 	}
 }
 
@@ -165,8 +167,8 @@ void write_state_data() {
 	// analog
 	// TODO: bse signal idk what to do ADC1_outputs[0]
 	// TODO: bspd signal idk what to do ADC1_outputs[1]
-	stateLump.APPS1_SIGNAL = ADC1_outputs[2];
-	stateLump.APPS2_SIGNAL = ADC1_outputs[3];
+	stateLump.APPS1_Signal = ADC1_outputs[2];
+	stateLump.APPS2_Signal = ADC1_outputs[3];
 	stateLump.Brake_F_Signal = ADC1_outputs[4];
 	stateLump.Brake_R_Signal = ADC1_outputs[5];
 	// TODO: Aux signal idk what to do with it ADC1_outputs[6]
@@ -220,8 +222,8 @@ void ADC_Configure(void)
 
 	// Initialize the pins and channels
 	Pin_Ports p3 = {0};
-	p.port = GPIOA;
-	p.pin = LL_GPIO_PIN_15;
+	p3.port = GPIOA;
+	p3.pin = LL_GPIO_PIN_15;
 	ADC_Init_Pins(&p3);
 	ADC_Channel_Init(ADC2, RANK_1, ADC_CHANNEL_15, SINGLE_ENDED, SAMPLINGTIME_247CYCLES_5);
 

From 7921f1b696fb451a922dd46a35ef45bdf6c643bf Mon Sep 17 00:00:00 2001
From: github-actions <41898282+github-actions[bot]@users.noreply.github.com>
Date: Fri, 16 Jan 2026 07:37:52 +0000
Subject: [PATCH 13/21] Automatic Clang-Format: Standardized formatting
 automatically

---
 ECU/Application/Src/StateUtils.c | 79 ++++++++++++++++----------------
 1 file changed, 39 insertions(+), 40 deletions(-)

diff --git a/ECU/Application/Src/StateUtils.c b/ECU/Application/Src/StateUtils.c
index 8613e978..1ef3faef 100644
--- a/ECU/Application/Src/StateUtils.c
+++ b/ECU/Application/Src/StateUtils.c
@@ -44,49 +44,48 @@ void setSoftwareLatch(bool close)
 	*/
 }
 
-	bool CriticalError(const ECU_StateData *stateData)
-	{
-		if (stateData->max_cell_temp > 60) {
-			return true;
-		}
-		if (stateData->ts_voltage > 600) {
-			return true;
-		}
-		if (stateData->bse_apps_violation) {
-			return true;
-		}
-		return false;
+bool CriticalError(const ECU_StateData *stateData)
+{
+	if (stateData->max_cell_temp > 60) {
+		return true;
 	}
-
-	bool CommunicationError(const ECU_StateData *stateData)
-	{
-		UNUSED(stateData);
-		// TODO: implement COMMS errors
-		return false;
+	if (stateData->ts_voltage > 600) {
+		return true;
 	}
-
-	bool APPS_BSE_Violation(const ECU_StateData *stateData)
-	{
-		// Checks 2 * APPS_1 is within 10% of APPS_2 and break + throttle at the
-		// same time
-		return fabs(stateData->APPS2_Signal - stateData->APPS1_Signal * APPS_PROPORTION - APPS_OFFSET) > stateData->APPS2_Signal * 0.1f ||
-		       (PressingBrake(stateData) && CalcPedalTravel(stateData) >= 0.25f);
+	if (stateData->bse_apps_violation) {
+		return true;
 	}
+	return false;
+}
 
-	bool PressingBrake(const ECU_StateData *stateData)
-	{
-		return (stateData->Brake_F_Signal - BRAKE_F_MIN > BSE_DEADZONE * (BRAKE_F_MAX - BRAKE_F_MIN)) && (stateData->Brake_R_Signal - BRAKE_R_MIN > BSE_DEADZONE * (BRAKE_R_MAX - BRAKE_R_MIN));
-		// Ideally TCM receives values of 0 after this is no longer called xD.
-	}
+bool CommunicationError(const ECU_StateData *stateData)
+{
+	UNUSED(stateData);
+	// TODO: implement COMMS errors
+	return false;
+}
 
-	float CalcBrakePercent(const ECU_StateData *stateData) // THIS IS NOT ACTUALLY BRAKE TRAVEL,
-							       // PRESSURE SENSORS CAPTURE BRAKE TRAVEL
-	{
-		return (float)(stateData->Brake_F_Signal + stateData->Brake_R_Signal - BRAKE_R_MIN - BRAKE_F_MIN) / (BRAKE_F_MAX - BRAKE_F_MIN + BRAKE_R_MAX - BRAKE_R_MIN);
-	}
+bool APPS_BSE_Violation(const ECU_StateData *stateData)
+{
+	// Checks 2 * APPS_1 is within 10% of APPS_2 and break + throttle at the
+	// same time
+	return fabs(stateData->APPS2_Signal - stateData->APPS1_Signal * APPS_PROPORTION - APPS_OFFSET) > stateData->APPS2_Signal * 0.1f ||
+	       (PressingBrake(stateData) && CalcPedalTravel(stateData) >= 0.25f);
+}
 
-	float CalcPedalTravel(const ECU_StateData *stateData)
-	{
-		return (float)(stateData->APPS1_Signal + stateData->APPS2_Signal - THROTTLE_MIN_2 - THROTTLE_MIN_1) / (THROTTLE_MAX_1 + THROTTLE_MAX_2 - THROTTLE_MIN_1 - THROTTLE_MIN_2);
-	}
-	
+bool PressingBrake(const ECU_StateData *stateData)
+{
+	return (stateData->Brake_F_Signal - BRAKE_F_MIN > BSE_DEADZONE * (BRAKE_F_MAX - BRAKE_F_MIN)) && (stateData->Brake_R_Signal - BRAKE_R_MIN > BSE_DEADZONE * (BRAKE_R_MAX - BRAKE_R_MIN));
+	// Ideally TCM receives values of 0 after this is no longer called xD.
+}
+
+float CalcBrakePercent(const ECU_StateData *stateData) // THIS IS NOT ACTUALLY BRAKE TRAVEL,
+						       // PRESSURE SENSORS CAPTURE BRAKE TRAVEL
+{
+	return (float)(stateData->Brake_F_Signal + stateData->Brake_R_Signal - BRAKE_R_MIN - BRAKE_F_MIN) / (BRAKE_F_MAX - BRAKE_F_MIN + BRAKE_R_MAX - BRAKE_R_MIN);
+}
+
+float CalcPedalTravel(const ECU_StateData *stateData)
+{
+	return (float)(stateData->APPS1_Signal + stateData->APPS2_Signal - THROTTLE_MIN_2 - THROTTLE_MIN_1) / (THROTTLE_MAX_1 + THROTTLE_MAX_2 - THROTTLE_MIN_1 - THROTTLE_MIN_2);
+}

From 7434de743a40e2c144bfdf28a1314a1ce351a706 Mon Sep 17 00:00:00 2001
From: khoulihan27 <khoulihan@ucsb.edu>
Date: Fri, 16 Jan 2026 00:11:19 -0800
Subject: [PATCH 14/21] fixed free() stuff

---
 ECU/Core/Src/main.c | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/ECU/Core/Src/main.c b/ECU/Core/Src/main.c
index 621cf790..208c9bb5 100644
--- a/ECU/Core/Src/main.c
+++ b/ECU/Core/Src/main.c
@@ -27,6 +27,7 @@
 #include "gpio.h"
 #include "gr_adc.h"
 #include "usart.h"
+#include "malloc.h"
 
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
@@ -299,6 +300,9 @@ int main(void)
 		LL_mDelay(250); // FIXME Reduce or remove delay
 	}
 	/* USER CODE END 3 */
+	for (int i = (NUM_SIGNALS_ADC1 + NUM_SIGNALS_ADC2) - 1; i >= 0; i--) {
+		free(adcDataValues[i]);
+	}
 }
 
 /**

From bfa3f4a17cabe6646fd1d1286c33676119527f6a Mon Sep 17 00:00:00 2001
From: github-actions <41898282+github-actions[bot]@users.noreply.github.com>
Date: Fri, 16 Jan 2026 08:13:58 +0000
Subject: [PATCH 15/21] Automatic Clang-Format: Standardized formatting
 automatically

---
 ECU/Core/Src/main.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ECU/Core/Src/main.c b/ECU/Core/Src/main.c
index 208c9bb5..eb5483d0 100644
--- a/ECU/Core/Src/main.c
+++ b/ECU/Core/Src/main.c
@@ -26,8 +26,8 @@
 #include "fdcan.h"
 #include "gpio.h"
 #include "gr_adc.h"
-#include "usart.h"
 #include "malloc.h"
+#include "usart.h"
 
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */

From 8bef2c1da817acb4a64bbf7c871de6a597ee8dcd Mon Sep 17 00:00:00 2001
From: Daniel Hansen <dchansen06@gmail.com>
Date: Fri, 16 Jan 2026 01:27:41 -0800
Subject: [PATCH 16/21] Spread volatility over the state data lump for things
 to do better

---
 ECU/Application/Inc/StateTicks.h | 14 +++++++-------
 ECU/Application/Src/StateTicks.c | 14 +++++++-------
 2 files changed, 14 insertions(+), 14 deletions(-)

diff --git a/ECU/Application/Inc/StateTicks.h b/ECU/Application/Inc/StateTicks.h
index 42f633da..f2f5161b 100644
--- a/ECU/Application/Inc/StateTicks.h
+++ b/ECU/Application/Inc/StateTicks.h
@@ -22,7 +22,7 @@ void ECU_State_Tick(void);
  *
  * @return void
  */
-void ECU_GLV_Off(ECU_StateData *stateData);
+void ECU_GLV_Off(volatile ECU_StateData *stateData);
 
 /**
  * @brief State handler for the GLV On state.
@@ -33,7 +33,7 @@ void ECU_GLV_Off(ECU_StateData *stateData);
  *
  * @return void
  */
-void ECU_GLV_On(ECU_StateData *stateData);
+void ECU_GLV_On(volatile ECU_StateData *stateData);
 
 /**
  * @brief State handler for the Precharge Engaged state.
@@ -44,7 +44,7 @@ void ECU_GLV_On(ECU_StateData *stateData);
  *
  * @return void
  */
-void ECU_Precharge_Engaged(ECU_StateData *stateData);
+void ECU_Precharge_Engaged(volatile ECU_StateData *stateData);
 
 /**
  * @brief State handler for the Precharge Complete state.
@@ -55,7 +55,7 @@ void ECU_Precharge_Engaged(ECU_StateData *stateData);
  *
  * @return void
  */
-void ECU_Precharge_Complete(ECU_StateData *stateData);
+void ECU_Precharge_Complete(volatile ECU_StateData *stateData);
 
 /**
  * @brief State handler for the Precharge Fault state.
@@ -66,7 +66,7 @@ void ECU_Precharge_Complete(ECU_StateData *stateData);
  *
  * @return void
  */
-void ECU_Drive_Active(ECU_StateData *stateData);
+void ECU_Drive_Active(volatile ECU_StateData *stateData);
 
 /**
  * @brief Init function for ECU_Tractive_System_Discharge_Start.
@@ -78,7 +78,7 @@ void ECU_Drive_Active(ECU_StateData *stateData);
  *
  * @return void
  */
-void ECU_Tractive_System_Discharge_Start(ECU_StateData *stateData);
+void ECU_Tractive_System_Discharge_Start(volatile ECU_StateData *stateData);
 
 /**
  * @brief State handler for the Tractive System Discharge state.
@@ -90,6 +90,6 @@ void ECU_Tractive_System_Discharge_Start(ECU_StateData *stateData);
  *
  * @return void
  */
-void ECU_Tractive_System_Discharge(ECU_StateData *stateData);
+void ECU_Tractive_System_Discharge(volatile ECU_StateData *stateData);
 
 #endif
diff --git a/ECU/Application/Src/StateTicks.c b/ECU/Application/Src/StateTicks.c
index a39ad113..c075b17a 100644
--- a/ECU/Application/Src/StateTicks.c
+++ b/ECU/Application/Src/StateTicks.c
@@ -62,14 +62,14 @@ transitioning state
 
 */
 
-void ECU_GLV_Off(ECU_StateData *stateData)
+void ECU_GLV_Off(volatile ECU_StateData *stateData)
 {
 	UNUSED(stateData);
 	// TODO Implement functionality
 	// ERROR --> GLV_OFF should never be reached
 }
 
-void ECU_GLV_On(ECU_StateData *stateData)
+void ECU_GLV_On(volatile ECU_StateData *stateData)
 {
 	if (stateData->ts_voltage >= 60) { // should never happen but has to be accounted for
 		ECU_Tractive_System_Discharge_Start(stateData);
@@ -83,7 +83,7 @@ void ECU_GLV_On(ECU_StateData *stateData)
 	}
 }
 
-void ECU_Precharge_Engaged(ECU_StateData *stateData)
+void ECU_Precharge_Engaged(volatile ECU_StateData *stateData)
 {
 	if (stateData->ts_voltage >= 60) {
 		ECU_Tractive_System_Discharge_Start(stateData);
@@ -100,7 +100,7 @@ void ECU_Precharge_Engaged(ECU_StateData *stateData)
 	}*/
 }
 
-void ECU_Precharge_Complete(ECU_StateData *stateData)
+void ECU_Precharge_Complete(volatile ECU_StateData *stateData)
 {
 	// TODO Implement functionality
 	/*
@@ -134,7 +134,7 @@ void ECU_Precharge_Complete(ECU_StateData *stateData)
 	}
 }
 
-void ECU_Drive_Active(ECU_StateData *stateData)
+void ECU_Drive_Active(volatile ECU_StateData *stateData)
 {
 	// TODO Implement functionality
 	/*
@@ -174,14 +174,14 @@ void ECU_Drive_Active(ECU_StateData *stateData)
 	}
 }
 
-void ECU_Tractive_System_Discharge_Start(ECU_StateData *stateData)
+void ECU_Tractive_System_Discharge_Start(volatile ECU_StateData *stateData)
 {
 	stateData->ecu_state = GR_TS_DISCHARGE;
 	LOGOMATIC("tell the BCU to discharge TS");
 	stateData->dischargeStartMillis = 0;
 }
 
-void ECU_Tractive_System_Discharge(ECU_StateData *stateData)
+void ECU_Tractive_System_Discharge(volatile ECU_StateData *stateData)
 {
 	// TODO Implement functionality of state itself
 	/*

From 787876ca84e38165a6b91d0dee6a3bfaf2de780f Mon Sep 17 00:00:00 2001
From: khoulihan27 <khoulihan@ucsb.edu>
Date: Fri, 16 Jan 2026 14:11:20 -0800
Subject: [PATCH 17/21] removed switch-case for if-else, fixed function order
 in main

---
 ECU/Core/Src/main.c | 44 +++++++++++++++++++++-----------------------
 1 file changed, 21 insertions(+), 23 deletions(-)

diff --git a/ECU/Core/Src/main.c b/ECU/Core/Src/main.c
index eb5483d0..a346b89c 100644
--- a/ECU/Core/Src/main.c
+++ b/ECU/Core/Src/main.c
@@ -135,28 +135,26 @@ void read_digital(void)
 {
 	for (int i = 0; i < NUM_SIGNALS_DIGITAL; i++) {
 		GPIO_PinState currRead;
-		switch (i) {
-			case 0:
-				currRead = LL_GPIO_IsInputPinSet(GPIOA, LL_GPIO_PIN_5);
-				break;
-			case 1:
-				currRead = LL_GPIO_IsInputPinSet(GPIOA, LL_GPIO_PIN_6);
-				break;
-			case 2:
-				currRead = LL_GPIO_IsInputPinSet(GPIOA, LL_GPIO_PIN_7);
-				break;
-			case 3:
-				currRead = LL_GPIO_IsInputPinSet(GPIOC, LL_GPIO_PIN_12);
-				break;
-			case 4:
-				currRead = LL_GPIO_IsInputPinSet(GPIOC, LL_GPIO_PIN_11);
-				break;
-			case 5:
-				currRead = LL_GPIO_IsInputPinSet(GPIOC, LL_GPIO_PIN_10);
-				break;
-			case 6:
-				currRead = LL_GPIO_IsInputPinSet(GPIOA, LL_GPIO_PIN_15);
-				break;
+		if (i == 0) {
+			currRead = LL_GPIO_IsInputPinSet(GPIOA, LL_GPIO_PIN_5);
+		}
+		else if (i == 1) {
+			currRead = LL_GPIO_IsInputPinSet(GPIOA, LL_GPIO_PIN_6);
+		}
+		else if (i == 2) {
+			currRead = LL_GPIO_IsInputPinSet(GPIOA, LL_GPIO_PIN_7);
+		}
+		else if (i == 3) {
+			currRead = LL_GPIO_IsInputPinSet(GPIOC, LL_GPIO_PIN_12);
+		}
+		else if (i == 4) {
+			currRead = LL_GPIO_IsInputPinSet(GPIOC, LL_GPIO_PIN_11);
+		}
+		else if (i == 5) {
+			currRead = LL_GPIO_IsInputPinSet(GPIOC, LL_GPIO_PIN_10);
+		}
+		else if (i == 6) {
+			currRead = LL_GPIO_IsInputPinSet(GPIOA, LL_GPIO_PIN_15);
 		}
 		digital_data[i] = currRead;
 	}
@@ -292,9 +290,9 @@ int main(void)
 
 		/* USER CODE BEGIN 3 */
 		read_digital();
-		write_state_data();
 		ADC_UpdateAnalogValues(adcDataValues, ADC1_buffers, NUM_SIGNALS_ADC1, WINDOW_SIZE, ADC1_outputs);
 		ADC_UpdateAnalogValues(adcDataValues, ADC2_buffers, NUM_SIGNALS_ADC2, WINDOW_SIZE, ADC2_outputs);
+		write_state_data();
 		ECU_State_Tick();
 		LOGOMATIC("Main Loop Tick Complete. I like Pi %f\n", 3.14159265);
 		LL_mDelay(250); // FIXME Reduce or remove delay

From d5ccf94254e7b66527e2949eb6be78d470904edf Mon Sep 17 00:00:00 2001
From: github-actions <41898282+github-actions[bot]@users.noreply.github.com>
Date: Fri, 16 Jan 2026 22:12:23 +0000
Subject: [PATCH 18/21] Automatic Clang-Format: Standardized formatting
 automatically

---
 ECU/Core/Src/main.c | 18 ++++++------------
 1 file changed, 6 insertions(+), 12 deletions(-)

diff --git a/ECU/Core/Src/main.c b/ECU/Core/Src/main.c
index a346b89c..7ef141e8 100644
--- a/ECU/Core/Src/main.c
+++ b/ECU/Core/Src/main.c
@@ -137,23 +137,17 @@ void read_digital(void)
 		GPIO_PinState currRead;
 		if (i == 0) {
 			currRead = LL_GPIO_IsInputPinSet(GPIOA, LL_GPIO_PIN_5);
-		}
-		else if (i == 1) {
+		} else if (i == 1) {
 			currRead = LL_GPIO_IsInputPinSet(GPIOA, LL_GPIO_PIN_6);
-		}
-		else if (i == 2) {
+		} else if (i == 2) {
 			currRead = LL_GPIO_IsInputPinSet(GPIOA, LL_GPIO_PIN_7);
-		}
-		else if (i == 3) {
+		} else if (i == 3) {
 			currRead = LL_GPIO_IsInputPinSet(GPIOC, LL_GPIO_PIN_12);
-		}
-		else if (i == 4) {
+		} else if (i == 4) {
 			currRead = LL_GPIO_IsInputPinSet(GPIOC, LL_GPIO_PIN_11);
-		}
-		else if (i == 5) {
+		} else if (i == 5) {
 			currRead = LL_GPIO_IsInputPinSet(GPIOC, LL_GPIO_PIN_10);
-		}
-		else if (i == 6) {
+		} else if (i == 6) {
 			currRead = LL_GPIO_IsInputPinSet(GPIOA, LL_GPIO_PIN_15);
 		}
 		digital_data[i] = currRead;

From f0d0633a46ca5396e9e1aa976f4815333a0c4484 Mon Sep 17 00:00:00 2001
From: Daniel Hansen <dchansen06@gmail.com>
Date: Fri, 16 Jan 2026 14:33:39 -0800
Subject: [PATCH 19/21] Use `const volatile` for `ECU_StateData` pointers that
 you should not change in a function but should expect to be changed/modified
 in interrupt contexts

---
 ECU/Application/Inc/StateUtils.h | 12 ++++++------
 ECU/Application/Src/StateUtils.c | 12 ++++++------
 2 files changed, 12 insertions(+), 12 deletions(-)

diff --git a/ECU/Application/Inc/StateUtils.h b/ECU/Application/Inc/StateUtils.h
index 7dcfeedf..b509a9a3 100644
--- a/ECU/Application/Inc/StateUtils.h
+++ b/ECU/Application/Inc/StateUtils.h
@@ -20,11 +20,11 @@
 #define APPS_OFFSET 250.0f   // TODO: Need to be experimentally determined
 
 // Checks stateData for critical errors
-bool CriticalError(const ECU_StateData *stateData);
-bool CommunicationError(const ECU_StateData *stateData);
-bool APPS_BSE_Violation(const ECU_StateData *stateData);
-bool PressingBrake(const ECU_StateData *stateData);
-float CalcBrakePercent(const ECU_StateData *stateData);
-float CalcPedalTravel(const ECU_StateData *stateData);
+bool CriticalError(volatile const ECU_StateData *stateData);
+bool CommunicationError(volatile const ECU_StateData *stateData);
+bool APPS_BSE_Violation(volatile const ECU_StateData *stateData);
+bool PressingBrake(volatile const ECU_StateData *stateData);
+float CalcBrakePercent(volatile const ECU_StateData *stateData);
+float CalcPedalTravel(volatile const ECU_StateData *stateData);
 
 #endif
diff --git a/ECU/Application/Src/StateUtils.c b/ECU/Application/Src/StateUtils.c
index 1ef3faef..5e7c9be4 100644
--- a/ECU/Application/Src/StateUtils.c
+++ b/ECU/Application/Src/StateUtils.c
@@ -44,7 +44,7 @@ void setSoftwareLatch(bool close)
 	*/
 }
 
-bool CriticalError(const ECU_StateData *stateData)
+bool CriticalError(volatile const ECU_StateData *stateData)
 {
 	if (stateData->max_cell_temp > 60) {
 		return true;
@@ -58,14 +58,14 @@ bool CriticalError(const ECU_StateData *stateData)
 	return false;
 }
 
-bool CommunicationError(const ECU_StateData *stateData)
+bool CommunicationError(volatile const ECU_StateData *stateData)
 {
 	UNUSED(stateData);
 	// TODO: implement COMMS errors
 	return false;
 }
 
-bool APPS_BSE_Violation(const ECU_StateData *stateData)
+bool APPS_BSE_Violation(volatile const ECU_StateData *stateData)
 {
 	// Checks 2 * APPS_1 is within 10% of APPS_2 and break + throttle at the
 	// same time
@@ -73,19 +73,19 @@ bool APPS_BSE_Violation(const ECU_StateData *stateData)
 	       (PressingBrake(stateData) && CalcPedalTravel(stateData) >= 0.25f);
 }
 
-bool PressingBrake(const ECU_StateData *stateData)
+bool PressingBrake(volatile const ECU_StateData *stateData)
 {
 	return (stateData->Brake_F_Signal - BRAKE_F_MIN > BSE_DEADZONE * (BRAKE_F_MAX - BRAKE_F_MIN)) && (stateData->Brake_R_Signal - BRAKE_R_MIN > BSE_DEADZONE * (BRAKE_R_MAX - BRAKE_R_MIN));
 	// Ideally TCM receives values of 0 after this is no longer called xD.
 }
 
-float CalcBrakePercent(const ECU_StateData *stateData) // THIS IS NOT ACTUALLY BRAKE TRAVEL,
+float CalcBrakePercent(volatile const ECU_StateData *stateData) // THIS IS NOT ACTUALLY BRAKE TRAVEL,
 						       // PRESSURE SENSORS CAPTURE BRAKE TRAVEL
 {
 	return (float)(stateData->Brake_F_Signal + stateData->Brake_R_Signal - BRAKE_R_MIN - BRAKE_F_MIN) / (BRAKE_F_MAX - BRAKE_F_MIN + BRAKE_R_MAX - BRAKE_R_MIN);
 }
 
-float CalcPedalTravel(const ECU_StateData *stateData)
+float CalcPedalTravel(volatile const ECU_StateData *stateData)
 {
 	return (float)(stateData->APPS1_Signal + stateData->APPS2_Signal - THROTTLE_MIN_2 - THROTTLE_MIN_1) / (THROTTLE_MAX_1 + THROTTLE_MAX_2 - THROTTLE_MIN_1 - THROTTLE_MIN_2);
 }

From 9187de1b48756df3a9f985c0be9bb84c313acfab Mon Sep 17 00:00:00 2001
From: github-actions <41898282+github-actions[bot]@users.noreply.github.com>
Date: Fri, 16 Jan 2026 22:34:41 +0000
Subject: [PATCH 20/21] Automatic Clang-Format: Standardized formatting
 automatically

---
 ECU/Application/Src/StateUtils.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ECU/Application/Src/StateUtils.c b/ECU/Application/Src/StateUtils.c
index 5e7c9be4..a9dbd990 100644
--- a/ECU/Application/Src/StateUtils.c
+++ b/ECU/Application/Src/StateUtils.c
@@ -80,7 +80,7 @@ bool PressingBrake(volatile const ECU_StateData *stateData)
 }
 
 float CalcBrakePercent(volatile const ECU_StateData *stateData) // THIS IS NOT ACTUALLY BRAKE TRAVEL,
-						       // PRESSURE SENSORS CAPTURE BRAKE TRAVEL
+								// PRESSURE SENSORS CAPTURE BRAKE TRAVEL
 {
 	return (float)(stateData->Brake_F_Signal + stateData->Brake_R_Signal - BRAKE_R_MIN - BRAKE_F_MIN) / (BRAKE_F_MAX - BRAKE_F_MIN + BRAKE_R_MAX - BRAKE_R_MIN);
 }

From 10e55ccc326cfd3a26f7915530a73fa1bc11fe17 Mon Sep 17 00:00:00 2001
From: khoulihan27 <khoulihan@ucsb.edu>
Date: Fri, 16 Jan 2026 14:43:27 -0800
Subject: [PATCH 21/21] fixed stateLump not being declared volatile

---
 ECU/Core/Src/main.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ECU/Core/Src/main.c b/ECU/Core/Src/main.c
index 7ef141e8..15b48cf7 100644
--- a/ECU/Core/Src/main.c
+++ b/ECU/Core/Src/main.c
@@ -106,7 +106,7 @@ uint16_t *adcDataValues[(NUM_SIGNALS_ADC1 + NUM_SIGNALS_ADC2)] = {0}; // 2D Arra
 uint8_t digital_data[NUM_SIGNALS_DIGITAL] = {0};
 
 // STATE DATA
-extern ECU_StateData stateLump;
+extern volatile ECU_StateData stateLump;
 
 /* Private function prototypes -----------------------------------------------*/
 void SystemClock_Config(void);