Gaucho-Racing · dchansen06 · Jul 9, 2026 · Jul 9, 2026 · Jul 10, 2026 · Jul 10, 2026
@@ -9,6 +9,7 @@
 		"github.vscode-pull-request-github",
 		"eamodio.gitlens",
 		"davidanson.vscode-markdownlint",
-		"ms-vscode.vscode-serial-monitor"
+		"ms-vscode.vscode-serial-monitor",
+		"dcortes92.freemarker"
 	]
 }
@@ -142,6 +142,7 @@ include("Autogen/CAN/CANfigurator.cmake")
 include("${lib_path}/Peripherals/USART/common.cmake")
 include("${lib_path}/Peripherals/TimedCAN/common.cmake")
 include("${lib_path}/Peripherals/CAN/common.cmake")
+include("${lib_path}/Peripherals/CubeCAN/cube_can.cmake")
 
 include("${lib_path}/FancyLayers-RENAME/GRCAN/grcan_fancylayer.cmake")
 include("${lib_path}/FancyLayers-RENAME/ADC/adc.cmake")
@@ -161,6 +162,7 @@ add_gr_project(STM32G474xE G4PERTESTING)
 add_gr_project(STM32G474xE G4SPITESTING)
 add_gr_project(STM32G474xE G4ADCTESTING)
 add_gr_project(STM32G474xE G4NEOTESTING)
+add_gr_project(STM32G474xE CUBEMXTESTING)
 
 # CAN Peripheral Testing
 add_gr_project(STM32G474xE G474xE_CAN_TESTING CAN_BASIC_TEST)

@@ -0,0 +1,8 @@
+#include "CubeCAN.h"
+
+#ifndef CANDLER_H
+#define CANDLER_H
+
+void CANdler_Callback(CubeCAN_Handle *const handle, void *const user_context);
+
+#endif
@@ -0,0 +1,10 @@
+#ifndef CUBE_CAN_CONFIG_H
+#define CUBE_CAN_CONFIG_H
+
+#include "GRCAN_NODE_ID.h"
+#include "main.h"
+
+#define CUBEMX_CAN_TX_QUEUE_SIZE 32U
+#define CUBEMX_SENDING_NODE_ID GRCAN_ECU
+
+#endif
@@ -0,0 +1,6 @@
+#ifndef LOOP_H
+#define LOOP_H
+
+void MainLoop(void);
+
+#endif
@@ -0,0 +1,8 @@
+#ifndef VCP_CONFIG
+#define VCP_CONFIG
+
+#define VCP_CONFIG_CLAIM_USART2
+
+#define VCP_TX_BUFFER_SIZE 128
+
+#endif
@@ -0,0 +1,9 @@
+#include "CANdler.h"
+
+#include "CubeCAN.h"
+
+void CANdler_Callback(CubeCAN_Handle *const handle, void *const user_context)
+{
+	LOGOMATIC("CANdler_Callback: Received CAN message on handle %p with user context %p\n", (void *)handle, user_context);
+	// TODO
+}
@@ -0,0 +1,17 @@
+#include "loop.h"
+
+#include "Logomatic.h"
+#include "main.h"
+
+void MainLoop(void)
+{
+	LL_GPIO_TogglePin(USER_LED_GPIO_Port, USER_LED_Pin);
+
+	if (LL_GPIO_IsInputPinSet(USER_BUTTON_GPIO_Port, USER_BUTTON_Pin)) {
+		LL_GPIO_SetOutputPin(USER_LED_GPIO_Port, USER_LED_Pin);
+	} else {
+		LL_GPIO_ResetOutputPin(USER_LED_GPIO_Port, USER_LED_Pin);
+	}
+
+	LOGOMATIC("Doing things!\n");
+}
@@ -0,0 +1,44 @@
+cmake_minimum_required(VERSION 3.25)
+
+# Setup compiler settings
+set(CMAKE_C_STANDARD 11)
+set(CMAKE_C_STANDARD_REQUIRED ON)
+set(CMAKE_C_EXTENSIONS ON)
+
+# Define the build type
+if(NOT CMAKE_BUILD_TYPE)
+	set(CMAKE_BUILD_TYPE "Debug")
+endif()
+
+# Enable CMake support for ASM and C languages
+enable_language(
+	C
+	ASM
+)
+
+# Core project settings
+project(${CMAKE_PROJECT_NAME})
+
+# what, does in fact not get the filename of somthing but rather the name of the project from the path
+get_filename_component(PROJECT_NAME ${CMAKE_CURRENT_SOURCE_DIR} NAME)
+
+add_library(${PROJECT_NAME}_USER_CODE INTERFACE)
+target_sources(
+	${PROJECT_NAME}_USER_CODE
+	INTERFACE
+		Application/Src/loop.c
+		Core/Src/fdcan.c
+		Core/Src/gpio.c
+		Core/Src/main.c
+		Core/Src/stm32g4xx_it.c
+		Core/Src/tim.c
+)
+
+target_link_libraries(${PROJECT_NAME}_USER_CODE INTERFACE VCP_LIB CUBEMX_CAN_LIB LOGOMATIC_LIB)
+
+target_include_directories(
+	${PROJECT_NAME}_USER_CODE
+	INTERFACE
+		Core/Inc
+		Application/Inc
+)
@@ -0,0 +1,199 @@
+#MicroXplorer Configuration settings - do not modify
+CAD.formats=[]
+CAD.pinconfig=Dual
+CAD.provider=
+FDCAN1.AutoRetransmission=ENABLE
+FDCAN1.CalculateBaudRateNominal=1000000
+FDCAN1.CalculateTimeBitNominal=1000
+FDCAN1.CalculateTimeQuantumNominal=6.25
+FDCAN1.DataPrescaler=8
+FDCAN1.DataSyncJumpWidth=16
+FDCAN1.DataTimeSeg1=14
+FDCAN1.DataTimeSeg2=5
+FDCAN1.ExtFiltersNbr=2
+FDCAN1.IPParameters=CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal,NominalSyncJumpWidth,AutoRetransmission,ProtocolException,DataPrescaler,DataSyncJumpWidth,DataTimeSeg1,DataTimeSeg2,ExtFiltersNbr,NominalPrescaler,NominalTimeSeg1,NominalTimeSeg2
+FDCAN1.NominalPrescaler=1
+FDCAN1.NominalSyncJumpWidth=16
+FDCAN1.NominalTimeSeg1=119
+FDCAN1.NominalTimeSeg2=40
+FDCAN1.ProtocolException=ENABLE
+FDCAN2.AutoRetransmission=ENABLE
+FDCAN2.CalculateBaudRateNominal=1000000
+FDCAN2.CalculateTimeBitNominal=1000
+FDCAN2.CalculateTimeQuantumNominal=6.25
+FDCAN2.DataPrescaler=8
+FDCAN2.DataSyncJumpWidth=16
+FDCAN2.DataTimeSeg1=14
+FDCAN2.DataTimeSeg2=5
+FDCAN2.ExtFiltersNbr=2
+FDCAN2.IPParameters=CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal,AutoRetransmission,ProtocolException,NominalSyncJumpWidth,DataPrescaler,DataSyncJumpWidth,DataTimeSeg1,DataTimeSeg2,ExtFiltersNbr,NominalPrescaler,NominalTimeSeg1,NominalTimeSeg2
+FDCAN2.NominalPrescaler=1
+FDCAN2.NominalSyncJumpWidth=16
+FDCAN2.NominalTimeSeg1=119
+FDCAN2.NominalTimeSeg2=40
+FDCAN2.ProtocolException=ENABLE
+FDCAN3.CalculateBaudRateNominal=3333333
+FDCAN3.CalculateTimeBitNominal=300
+FDCAN3.CalculateTimeQuantumNominal=100.0
+FDCAN3.IPParameters=CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal
+File.Version=6
+GPIO.groupedBy=Group By Peripherals
+KeepUserPlacement=false
+Mcu.CPN=STM32G474RET6
+Mcu.Family=STM32G4
+Mcu.IP0=FDCAN1
+Mcu.IP1=FDCAN2
+Mcu.IP2=FDCAN3
+Mcu.IP3=NVIC
+Mcu.IP4=RCC
+Mcu.IP5=SYS
+Mcu.IP6=TIM5
+Mcu.IPNb=7
+Mcu.Name=STM32G474R(B-C-E)Tx
+Mcu.Package=LQFP64
+Mcu.Pin0=PC13
+Mcu.Pin1=PA5
+Mcu.Pin10=VP_TIM5_VS_ClockSourceINT
+Mcu.Pin2=PB12
+Mcu.Pin3=PB13
+Mcu.Pin4=PA8
+Mcu.Pin5=PA15
+Mcu.Pin6=PB8-BOOT0
+Mcu.Pin7=PB9
+Mcu.Pin8=VP_SYS_VS_Systick
+Mcu.Pin9=VP_SYS_VS_DBSignals
+Mcu.PinsNb=11
+Mcu.ThirdPartyNb=0
+Mcu.UserConstants=
+Mcu.UserName=STM32G474RETx
+MxCube.Version=6.18.0
+MxDb.Version=DB.6.0.180
+NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
+NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
+NVIC.ForceEnableDMAVector=false
+NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
+NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
+NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
+NVIC.PendSV_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
+NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
+NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
+NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:true\:false\:true\:false
+NVIC.TIM5_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
+NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
+PA15.Mode=FDCAN_Activate
+PA15.Signal=FDCAN3_TX
+PA5.GPIOParameters=GPIO_Label
+PA5.GPIO_Label=USER_LED
+PA5.Locked=true
+PA5.Signal=GPIO_Output
+PA8.Mode=FDCAN_Activate
+PA8.Signal=FDCAN3_RX
+PB12.Mode=FDCAN_Activate
+PB12.Signal=FDCAN2_RX
+PB13.Mode=FDCAN_Activate
+PB13.Signal=FDCAN2_TX
+PB8-BOOT0.Mode=FDCAN_Activate
+PB8-BOOT0.Signal=FDCAN1_RX
+PB9.Mode=FDCAN_Activate
+PB9.Signal=FDCAN1_TX
+PC13.GPIOParameters=GPIO_Label
+PC13.GPIO_Label=USER_BUTTON
+PC13.Locked=true
+PC13.Signal=GPIO_Input
+PinOutPanel.RotationAngle=0
+ProjectManager.AskForMigrate=true
+ProjectManager.BackupPrevious=false
+ProjectManager.CompilerLinker=GCC
+ProjectManager.CompilerOptimize=6
+ProjectManager.ComputerToolchain=false
+ProjectManager.CoupleFile=true
+ProjectManager.CustomerFirmwarePackage=
+ProjectManager.DefaultFWLocation=true
+ProjectManager.DeletePrevious=true
+ProjectManager.DeviceId=STM32G474RETx
+ProjectManager.FirmwarePackage=STM32Cube FW_G4 V1.6.3
+ProjectManager.FreePins=true
+ProjectManager.FreePinsContext=
+ProjectManager.HalAssertFull=true
+ProjectManager.HeapSize=0x200
+ProjectManager.KeepUserCode=true
+ProjectManager.LastFirmware=true
+ProjectManager.LibraryCopy=2
+ProjectManager.MainLocation=Core/Src
+ProjectManager.NoMain=false
+ProjectManager.PreviousToolchain=
+ProjectManager.ProjectBuild=false
+ProjectManager.ProjectFileName=CUBEMXTESTING.ioc
+ProjectManager.ProjectName=CUBEMXTESTING
+ProjectManager.ProjectStructure=
+ProjectManager.RegisterCallBack=
+ProjectManager.StackSize=0x400
+ProjectManager.TargetToolchain=EWARM V8.50
+ProjectManager.TemplateDestinationPath=C\:\\Users\\maxnm\\Firmware\\CUBEMXTESTING
+ProjectManager.TemplateSourcePath=C\:\\Users\\maxnm\\Firmware\\Lib\\CubeMXTemplates
+ProjectManager.TemplatesList=\\Autogen\\Inc\\can_cfg_h.ftl,
+ProjectManager.ToolChainLocation=
+ProjectManager.UAScriptAfterPath=
+ProjectManager.UAScriptBeforePath=
+ProjectManager.UnderRoot=false
+ProjectManager.UseDefaultDestinationPath=true
+ProjectManager.UseDefaultSourcePath=true
+ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-LL-false,2-MX_GPIO_Init-GPIO-false-LL-true,3-MX_FDCAN1_Init-FDCAN1-false-HAL-true,4-MX_FDCAN2_Init-FDCAN2-false-HAL-true,5-MX_TIM5_Init-TIM5-false-HAL-true,6-MX_FDCAN3_Init-FDCAN3-false-HAL-true
+RCC.ADC12Freq_Value=160000000
+RCC.ADC345Freq_Value=160000000
+RCC.AHBFreq_Value=160000000
+RCC.APB1Freq_Value=160000000
+RCC.APB1TimFreq_Value=160000000
+RCC.APB2Freq_Value=160000000
+RCC.APB2TimFreq_Value=160000000
+RCC.CRSFreq_Value=48000000
+RCC.CortexFreq_Value=160000000
+RCC.EXTERNAL_CLOCK_VALUE=12288000
+RCC.FCLKCortexFreq_Value=160000000
+RCC.FDCANFreq_Value=160000000
+RCC.FamilyName=M
+RCC.HCLKFreq_Value=160000000
+RCC.HRTIM1Freq_Value=160000000
+RCC.HSE_VALUE=16000000
+RCC.HSI48_VALUE=48000000
+RCC.HSI_VALUE=16000000
+RCC.I2C1Freq_Value=160000000
+RCC.I2C2Freq_Value=160000000
+RCC.I2C3Freq_Value=160000000
+RCC.I2C4Freq_Value=160000000
+RCC.I2SFreq_Value=160000000
+RCC.IPParameters=ADC12Freq_Value,ADC345Freq_Value,AHBFreq_Value,APB1Freq_Value,APB1TimFreq_Value,APB2Freq_Value,APB2TimFreq_Value,CRSFreq_Value,CortexFreq_Value,EXTERNAL_CLOCK_VALUE,FCLKCortexFreq_Value,FDCANFreq_Value,FamilyName,HCLKFreq_Value,HRTIM1Freq_Value,HSE_VALUE,HSI48_VALUE,HSI_VALUE,I2C1Freq_Value,I2C2Freq_Value,I2C3Freq_Value,I2C4Freq_Value,I2SFreq_Value,LPTIM1Freq_Value,LPUART1Freq_Value,LSCOPinFreq_Value,LSE_VALUE,LSI_VALUE,MCO1PinFreq_Value,PLLN,PLLPoutputFreq_Value,PLLQoutputFreq_Value,PLLRCLKFreq_Value,PWRFreq_Value,QSPIFreq_Value,RNGFreq_Value,SAI1Freq_Value,SYSCLKFreq_VALUE,SYSCLKSource,UART4Freq_Value,UART5Freq_Value,USART1Freq_Value,USART2Freq_Value,USART3Freq_Value,USBFreq_Value,VCOInputFreq_Value,VCOOutputFreq_Value
+RCC.LPTIM1Freq_Value=160000000
+RCC.LPUART1Freq_Value=160000000
+RCC.LSCOPinFreq_Value=32000
+RCC.LSE_VALUE=32768
+RCC.LSI_VALUE=32000
+RCC.MCO1PinFreq_Value=16000000
+RCC.PLLN=20
+RCC.PLLPoutputFreq_Value=160000000
+RCC.PLLQoutputFreq_Value=160000000
+RCC.PLLRCLKFreq_Value=160000000
+RCC.PWRFreq_Value=160000000
+RCC.QSPIFreq_Value=160000000
+RCC.RNGFreq_Value=160000000
+RCC.SAI1Freq_Value=160000000
+RCC.SYSCLKFreq_VALUE=160000000
+RCC.SYSCLKSource=RCC_SYSCLKSOURCE_PLLCLK
+RCC.UART4Freq_Value=160000000
+RCC.UART5Freq_Value=160000000
+RCC.USART1Freq_Value=160000000
+RCC.USART2Freq_Value=160000000
+RCC.USART3Freq_Value=160000000
+RCC.USBFreq_Value=160000000
+RCC.VCOInputFreq_Value=16000000
+RCC.VCOOutputFreq_Value=320000000
+TIM5.IPParameters=Prescaler,PeriodNoDither
+TIM5.PeriodNoDither=999
+TIM5.Prescaler=15999
+VP_SYS_VS_DBSignals.Mode=DisableDeadBatterySignals
+VP_SYS_VS_DBSignals.Signal=SYS_VS_DBSignals
+VP_SYS_VS_Systick.Mode=SysTick
+VP_SYS_VS_Systick.Signal=SYS_VS_Systick
+VP_TIM5_VS_ClockSourceINT.Mode=Internal
+VP_TIM5_VS_ClockSourceINT.Signal=TIM5_VS_ClockSourceINT
+board=custom
@@ -0,0 +1,58 @@
+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file    fdcan.h
+  * @brief   This file contains all the function prototypes for
+  *          the fdcan.c file
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2026 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+/* USER CODE END Header */
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __FDCAN_H__
+#define __FDCAN_H__
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "main.h"
+
+/* USER CODE BEGIN Includes */
+
+/* USER CODE END Includes */
+
+extern FDCAN_HandleTypeDef hfdcan1;
+
+extern FDCAN_HandleTypeDef hfdcan2;
+
+extern FDCAN_HandleTypeDef hfdcan3;
+
+/* USER CODE BEGIN Private defines */
+
+/* USER CODE END Private defines */
+
+void MX_FDCAN1_Init(void);
+void MX_FDCAN2_Init(void);
+void MX_FDCAN3_Init(void);
+
+/* USER CODE BEGIN Prototypes */
+
+/* USER CODE END Prototypes */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __FDCAN_H__ */
+