clbears · Nov 3, 2026 · Nov 1, 2026 · Nov 1, 2026 · Nov 1, 2026 · Nov 1, 2026
diff --git a/dashboards/PROD/PROD_DRD_Cascadia.json b/dashboards/PROD/PROD_DRD_Cascadia.json
diff --git a/dashboards/PROD/PROD_MDI_Cascadia.json b/dashboards/PROD/PROD_MDI_Cascadia.json
diff --git a/dashboards/PROD/PROD_STR_Cascadia.json b/dashboards/PROD/PROD_STR_Cascadia.json
diff --git a/dashboards/PROD/PROD_TEL_Cascadia.json b/dashboards/PROD/PROD_TEL_Cascadia.json
diff --git a/dbc/cascadia.dbc b/dbc/cascadia.dbc
@@ -470,6 +470,10 @@ BO_ 1025 MotorCommand: 5 DRD
    SG_ EcoModeOn : 33|1@1+ (1,0) [0|1] "" MDI
    SG_ SpeedUnits : 34|1@1+ (1,0) [0|1] "" STR
 
+BO_ 1026 DRDMCUHealth: 4 DRD
+   SG_ DRDMCUSupplyVoltage : 0|16@1+ (1,0) [0|4000] "mV" Vector__XXX
+   SG_ DRDMCUTemperature : 16|16@1- (1,0) [-40|125] "degC" Vector__XXX
+
 BO_ 1027 DRDDiagnostics: 8 DRD
    SG_ RawADC1 : 0|16@1+ (1,0) [0|65535] "" Vector__XXX
    SG_ RawADC2 : 16|16@1+ (1,0) [0|65535] "" Vector__XXX
@@ -479,6 +483,8 @@ BO_ 1027 DRDDiagnostics: 8 DRD
    SG_ ADCMismatch : 35|1@1+ (1,0) [0|1] "" Vector__XXX
    SG_ DRDWatchdogReset : 36|1@1+ (1,0) [0|1] "" Vector__XXX
    SG_ MotorCommFault : 37|1@1+ (1,0) [0|1] "" Vector__XXX
+   SG_ DRDMCUOverTemp : 38|1@1+ (1,0) [0|1] "" Vector__XXX
+   SG_ DRDMCUUnderVoltage : 39|1@1+ (1,0) [0|1] "" Vector__XXX
    SG_ DriveState : 40|8@1+ (1,0) [0|255] "" Vector__XXX
    SG_ SpeedTimeout : 48|1@1+ (1,0) [0|1] "" Vector__XXX
    SG_ DriveStateTimeout : 49|1@1+ (1,0) [0|1] "" Vector__XXX
@@ -498,10 +504,13 @@ BO_ 1281 MDIDiagnostics: 1 MDI
    SG_ MDIWatchdogReset : 0|1@1+ (1,0) [0|1] "" Vector__XXX
    SG_ MDIVoltageOverThreshold : 1|1@1+ (1,0) [0|1] "" Vector__XXX
    SG_ MDIMotorOverTemp : 2|1@1+ (1,0) [0|1] "" Vector__XXX
+   SG_ MDIRTDFault : 3|1@1+ (1,0) [0|1] "" Vector__XXX
+   SG_ MDIRTDCommError : 4|1@1+ (1,0) [0|1] "" Vector__XXX
 
-BO_ 1282 MDIMotorTemperature: 5 MDI
+BO_ 1282 MDIMotorTemperature: 6 MDI
    SG_ RTDReadSuccess : 0|1@1+ (1,0) [0|1] "" Vector__XXX
    SG_ MotorTemperature : 8|32@1- (1,0) [-100|300] "degC" Vector__XXX
+   SG_ RTDFaultFlags : 40|8@1+ (1,0) [0|255] "" Vector__XXX
 
 BO_ 1408 STRDRDControl: 8 STR
    SG_ STRRegenEnabled : 0|1@1+ (1,0) [0|1] "" Vector__XXX
@@ -521,6 +530,14 @@ BO_ 1409 STRTimeSinceBootup: 4 STR
 BO_ 1410 STRDiagnostics: 1 STR
    SG_ STRWatchdogReset : 0|1@1+ (1,0) [0|1] "" Vector__XXX
 
+BO_ 1425 STRMCUHealth: 4 STR
+   SG_ STRMCUVoltage : 0|16@1+ (1,0) [0|65535] "mV" Vector__XXX
+   SG_ STRMCUTemperature : 16|16@1- (1,0) [-40|125] "degC" Vector__XXX
+
+BO_ 1426 STRFlags: 1 STR
+   SG_ STRMCUUnderVoltage : 0|1@1+ (1,0) [0|1] "" Vector__XXX
+   SG_ STRMCUOverTemp : 1|1@1+ (1,0) [0|1] "" Vector__XXX
+
 BO_ 1696 MPPTInputMeasurementsA: 8 MPPT
    SG_ InputVoltageA : 0|32@1- (1,0) [-3.4e+38|3.4e+38] "V" Vector__XXX
    SG_ InputCurrentA : 32|32@1- (1,0) [-3.4e+38|3.4e+38] "A" Vector__XXX
@@ -758,6 +775,8 @@ BO_ 1873 TELDiagnostics: 1 TEL
    SG_ IMUWriteFail : 2|1@1+ (1,0) [0|1] "" Vector__XXX
    SG_ GPSReadFail : 3|1@1+ (1,0) [0|1] "" Vector__XXX
    SG_ GPSWriteFail : 4|1@1+ (1,0) [0|1] "" Vector__XXX
+   SG_ MCUOvertemp : 5|1@1+ (1,0) [0|1] "" Vector__XXX
+   SG_ MCUUndervoltage : 6|1@1+ (1,0) [0|1] "" Vector__XXX
 
 BO_ 1874 TELImuAG_X: 8 TEL
    SG_ ImuAGXAccel : 0|32@1- (1,0) [-3.4e+38|3.4e+38] "m/s^2" Vector__XXX
@@ -812,8 +831,9 @@ BO_ 1883 TELGpsUtcTime: 6 TEL
 BO_ 1891 CANBusLoad: 1 TEL
    SG_ BusLoad : 0|8@1+ (1,0) [0|100] "%" Vector__XXX
 
-BO_ 1892 CPULoad: 4 TEL
-   SG_ CPULoad : 0|32@1- (1,0) [-3.4e+38|3.4e+38] "" Vector__XXX
+BO_ 1892 TELMCUHealth: 4 TEL
+   SG_ MCU_Voltage : 0|16@1+ (1,0) [0|65535] "mV" Vector__XXX
+   SG_ MCU_Temperature : 16|16@1- (1,0) [-40|125] "degC" Vector__XXX
 
 BO_ 2290418213 Mitsuba_Frame0: 8 MC
    SG_ BatteryVoltage : 0|10@1+ (0.5,0) [0|511.5] "V" DRD
@@ -931,6 +951,17 @@ CM_ BO_ 932 "Firmware branch ID";
 CM_ BO_ 1025 "Motor command to MDI. Also sent immediately when the brake is pressed.";
 CM_ SG_ 1027 SOC "SOC_MAX is 1.04 so values up to 104 are possible";
 CM_ SG_ 1281 MDIMotorOverTemp "Set at 100 degC, cleared at 95 degC";
+CM_ SG_ 1281 MDIVoltageOverThreshold "Not set by current MDI firmware (always 0)";
+CM_ SG_ 1281 MDIRTDFault "1 = RTD fault latched: +1 per faulted read, -1 per clean read, sets at 5, clears at 0";
+CM_ SG_ 1281 MDIRTDCommError "1 = SPI error, or MAX31865 missing/reset";
+CM_ SG_ 1282 RTDReadSuccess "1 = valid read, 0 = fault/HAL error";
+CM_ SG_ 1282 RTDFaultFlags "MAX31865 fault register: 0x80 = RTD high, 0x40 = RTD low, 0x04 = OV/UV, 0 = none";
+CM_ SG_ 1026 DRDMCUSupplyVoltage "0 = read failed";
+CM_ SG_ 1027 DRDMCUOverTemp "1 = fault: DRD MCU over temperature";
+CM_ SG_ 1027 DRDMCUUnderVoltage "1 = fault: DRD MCU under voltage";
+CM_ SG_ 1425 STRMCUVoltage "0 = read failed";
+CM_ SG_ 1426 STRMCUUnderVoltage "1 = fault: STR MCU Vdd below 2400 mV";
+CM_ SG_ 1426 STRMCUOverTemp "1 = fault: STR MCU above 105 degC";
 CM_ BO_ 1408 "Steering inputs. Firmware sends 8 bytes; bytes 4-7 are 0.";
 CM_ BO_ 1410 "Not sent by current STR firmware (kept for existing dashboards)";
 CM_ BO_ 1704 "Command to MPPT A";
@@ -949,7 +980,7 @@ CM_ BO_ 1872 "HVC uses this as the TEL heartbeat";
 CM_ BO_ 1880 "Only sent with a valid fix";
 CM_ BO_ 1881 "Only sent with a valid fix";
 CM_ BO_ 1883 "Only sent with a valid UTC date and time";
-CM_ BO_ 1892 "Not sent by current TEL firmware";
+CM_ BO_ 1892 "TEL MCU health: Vdd and die temperature, 10 Hz (firmware tel/app/diagnostics.c)";
 CM_ BO_ 2290418213 "Sent in response to MitsubaDataRequest";
 CM_ SG_ 2290418213 MotorRotatingSpeed "rpm x 0.106688 (0.283 m wheel radius). Raw value is rpm.";
 CM_ SG_ 2290418213 PWMDuty "Only valid in PWM control mode";
@@ -1000,13 +1031,16 @@ BA_ "GenMsgCycleTime" BO_ 930 500;
 BA_ "GenMsgCycleTime" BO_ 931 1000;
 BA_ "GenMsgCycleTime" BO_ 932 1000;
 BA_ "GenMsgCycleTime" BO_ 1025 25;
+BA_ "GenMsgCycleTime" BO_ 1026 1000;
 BA_ "GenMsgCycleTime" BO_ 1027 100;
 BA_ "GenMsgCycleTime" BO_ 1028 1000;
 BA_ "GenMsgCycleTime" BO_ 1280 1000;
 BA_ "GenMsgCycleTime" BO_ 1281 1000;
 BA_ "GenMsgCycleTime" BO_ 1282 1000;
 BA_ "GenMsgCycleTime" BO_ 1408 100;
 BA_ "GenMsgCycleTime" BO_ 1409 1000;
+BA_ "GenMsgCycleTime" BO_ 1425 100;
+BA_ "GenMsgCycleTime" BO_ 1426 100;
 BA_ "GenMsgCycleTime" BO_ 1872 1000;
 BA_ "GenMsgCycleTime" BO_ 1873 100;
 BA_ "GenMsgCycleTime" BO_ 1874 100;
@@ -1020,6 +1054,7 @@ BA_ "GenMsgCycleTime" BO_ 1881 1000;
 BA_ "GenMsgCycleTime" BO_ 1882 1000;
 BA_ "GenMsgCycleTime" BO_ 1883 1000;
 BA_ "GenMsgCycleTime" BO_ 1891 100;
+BA_ "GenMsgCycleTime" BO_ 1892 100;
 BA_ "VFrameFormat" BO_ 2290418213 1;
 BA_ "GenMsgCycleTime" BO_ 2290418213 100;
 BA_ "VFrameFormat" BO_ 2291466789 1;
@@ -1034,6 +1069,7 @@ VAL_ 1025 Direction 1 "Forward" 0 "Reverse";
 VAL_ 1025 EcoModeOn 1 "Eco" 0 "Power";
 VAL_ 1025 SpeedUnits 1 "KPH" 0 "MPH";
 VAL_ 1027 DriveState 4 "REVERSE" 3 "PARK" 2 "CRUISE" 1 "FORWARD" 0 "INVALID";
+VAL_ 1282 RTDFaultFlags 128 "RTD high" 64 "RTD low" 4 "OV/UV" 0 "None";
 VAL_ 1882 GpsFixType 5 "TimeOnly" 4 "GnssDeadReckoning" 3 "Fix3D" 2 "Fix2D" 1 "DeadReckoning" 0 "NoFix";
 VAL_ 2290418213 BatteryCurrentDirection 1 "Negative" 0 "Positive";
 VAL_ 2291466789 PowerMode 1 "Power" 0 "Eco";
@@ -1122,4 +1158,3 @@ SIG_VALTYPE_ 1876 ImuAGZGyro : 1;
 SIG_VALTYPE_ 1877 ImuMXMag : 1;
 SIG_VALTYPE_ 1878 ImuMYMag : 1;
 SIG_VALTYPE_ 1879 ImuMZMag : 1;
-SIG_VALTYPE_ 1892 CPULoad : 1;
diff --git a/images/cascadia_dashboards/cascadia_sim_panel.png b/images/cascadia_dashboards/cascadia_sim_panel.png
diff --git a/images/cascadia_dashboards/drd_fault_and_warning.png b/images/cascadia_dashboards/drd_fault_and_warning.png
diff --git a/images/cascadia_dashboards/drd_normal.png b/images/cascadia_dashboards/drd_normal.png
diff --git a/images/cascadia_dashboards/drd_raw_diagnostic.png b/images/cascadia_dashboards/drd_raw_diagnostic.png
diff --git a/images/cascadia_dashboards/mdi_normal.png b/images/cascadia_dashboards/mdi_normal.png
diff --git a/images/cascadia_dashboards/mdi_overtemp.png b/images/cascadia_dashboards/mdi_overtemp.png
diff --git a/images/cascadia_dashboards/str_normal.png b/images/cascadia_dashboards/str_normal.png
diff --git a/images/cascadia_dashboards/tel_gps_warning.png b/images/cascadia_dashboards/tel_gps_warning.png
diff --git a/images/cascadia_dashboards/tel_normal.png b/images/cascadia_dashboards/tel_normal.png
diff --git a/tools/cascadia_sim/README.md b/tools/cascadia_sim/README.md
@@ -0,0 +1,118 @@
+# Cascadia data simulator
+
+Generates realistic Cascadia CAN data for the **TEL, MDI, DRD and STR** boards and writes it to your
+local InfluxDB. Use it to look at the Cascadia Grafana dashboards without the car. It sends the same
+frame IDs, rates and fault logic as `firmware_v4`. Each frame is encoded with `dbc/cascadia.dbc` and
+decoded back, with enum signals stored as raw ints (the dashboards map them back to names). Points
+are written with sunlink's layout: measurement = sender, field = signal, tags `car` and `class`.
+
+A control panel lets you change what's happening while it runs: drive state, throttle, GPS fix,
+temperatures, supply voltages, faults and so on. Presets jump straight to common cases.
+
+## 1. Install
+
+You need the normal sunlink setup: Docker running InfluxDB and Grafana, the `environment` venv, and a
+`.env` file in the sunlink root. If you haven't done that yet, follow the main [README](../../README.md)
+(`MacOS_setup.sh` on Mac, `setup.sh` on Linux).
+
+Then, from the sunlink root:
+
+```bash
+source environment/bin/activate
+pip install -r requirements.txt          # Mac: requirements_MacOS.txt
+```
+
+The simulator only uses `cantools`, `influxdb-client` and `python-dotenv` from that list. The Tk
+window (`--tk`) also needs a Python with Tk support. Most installs have it. If yours doesn't, use the
+browser panel.
+
+Check that:
+
+- the containers are up: `docker compose up -d`. InfluxDB should be on `localhost:8086` and Grafana
+  on `localhost:3000`.
+- `.env` contains `INFLUX_TOKEN` and `INFLUX_ORG`. The setup script writes both.
+- the `CAN_prod` bucket exists. The setup script creates it.
+
+The Cascadia dashboards (`dashboards/PROD/PROD_*_Cascadia.json`) are mounted into Grafana
+automatically. If they don't appear, run `docker compose restart grafana`.
+
+## 2. Run
+
+Run every command from the sunlink root with the venv active.
+
+```bash
+python tools/cascadia_sim/cascadia_sim.py
+```
+
+This starts writing data and opens the control panel at <http://localhost:8090>. The panel has
+scenario buttons, toggles and sliders for every input, a live readout, and links to the four
+dashboards. Stop it with Ctrl+C.
+
+Other ways to run it:
+
+```bash
+python tools/cascadia_sim/cascadia_sim.py --tk                    # same controls in a Tk window
+python tools/cascadia_sim/cascadia_sim.py --list-scenarios        # show the presets
+python tools/cascadia_sim/cascadia_sim.py --scenario gps_lost --headless --duration 120   # no UI, 2 minutes
+```
+
+Then open a dashboard. Set the time range to the last 5 minutes and refresh to 1 s:
+
+| Board | URL |
+|---|---|
+| TEL | <http://localhost:3000/d/cascadia-prod-tel> |
+| MDI | <http://localhost:3000/d/cascadia-prod-mdi> |
+| DRD | <http://localhost:3000/d/cascadia-prod-drd> |
+| STR | <http://localhost:3000/d/cascadia-prod-str> |
+
+### Options
+
+| Flag | Default | What it does |
+|---|---|---|
+| `--scenario NAME` | `normal` | Preset to start in (see below) |
+| `--headless` | off | No window or panel. Runs the scenario and prints how many frames were written |
+| `--duration SECONDS` | forever | How long a headless run lasts |
+| `--tk` | off | Tk window instead of the browser panel |
+| `--port N` | `8090` | Port for the browser panel (bound to 127.0.0.1 only) |
+| `--url URL` | `http://localhost:8086` | InfluxDB to write to |
+| `--bucket NAME` | `CAN_prod` | Bucket to write to |
+| `--dbc PATH` | `dbc/cascadia.dbc` | DBC used to encode and decode |
+| `--allow-remote` | off | Allow writing to an InfluxDB that isn't on localhost |
+
+### Scenarios
+
+| Name | Situation |
+|---|---|
+| `normal` | Normal driving: 3D fix, everything in band |
+| `parked` | Parked on the bench, no throttle |
+| `cruise` | Cruise at 60 km/h |
+| `gps_lost` | GPS lost (no fix, few satellites) |
+| `motor_overheat` | Hard driving, motor temperature climbs past 100 °C |
+| `rtd_failure` | Motor RTD open circuit |
+| `drd_mcu_hot` | DRD MCU over temperature |
+| `str_brownout` | STR supply sagging below 2400 mV |
+| `tel_link_down` | TEL stops sending (radio/CAN down) |
+| `drd_reset` | DRD watchdog reset |
+| `pedal_mismatch` | Throttle sensors disagree |
+| `timeouts` | DRD lost its cyclic inputs (BMS/MC silent) |
+| `bus_overload` | CAN bus load 92 % |
+
+## Safety
+
+- **Local only by default.** The simulator refuses to write anywhere other than `localhost` unless you
+  pass `--allow-remote`. Don't point it at a shared or race InfluxDB.
+- **Simulated points are tagged.** Every point it writes has the tag `source=cascadia_sim`.
+  **Reset everything to normal** in the panel restores normal inputs, clears latched faults, and
+  deletes only points with that tag. Real data imported into the same bucket is left alone. The
+  dashboards ignore the tag, so simulated and real data look the same on them.
+- The `car` tag comes from `CAR_NAME` in `LINK_CONSTANTS.py`.
+
+## Troubleshooting
+
+| Problem | Fix |
+|---|---|
+| `ModuleNotFoundError: No module named 'cantools'` | The venv isn't active, or the requirements aren't installed (step 1) |
+| `KeyError: 'INFLUX_TOKEN'` | `.env` is missing or incomplete. Re-run the setup script |
+| `refusing to write simulated data to ...` | `--url` isn't localhost. Add `--allow-remote` only if you really mean it |
+| Dashboards are empty | Check the time range is recent, the bucket is `CAN_prod`, and the panel's frame counter is going up |
+| Port 8090 already in use | Pass `--port 8091` (or any free port) |