fix: rebuild stale CAN map on firmware upgrade (new tmpobcmax canary)

The openinverter single-shot MapMessages() guard was using Param::hwaclim
as a "is the map valid" canary. hwaclim has been in every firmware version
for years, so on every upgrade the guard finds it in the saved flash map
and short-circuits — new AddRecv/AddSend entries in chargercan.cpp never
make it into the live canMap.

Symptom on the -S5 bench (verified via openinverter web UI spot values):
tmpobcmax, c1*/c2*/c3* per-module receives, and canenable/idcspnt/udclim
CHAdeMO RX entries were all unmapped despite being in current source.
The Polarity app saw zero charger temperature, zero per-module
current/voltage, and tmpobcmax=0 on 0x211 byte 7.

Fix: switch the canary from hwaclim -> tmpobcmax (added in -S5, never
present in older saved maps) and uncomment canMap->Clear() so the
rebuild starts clean. The early-return guard still kicks in on every
subsequent boot once tmpobcmax is in the map, preserving the original
intent of letting user customizations persist across reboots.

Also bumps VERSTR S5 -> S6 so the openinverter web UI labels this
firmware distinctly from the prior -S5 flash.

#minor

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>

include/param_prj.h

@@ -47,7 +47,7 @@
    3. Display values
  */
 //Next param id (increase when adding new parameter!): 24
-//Next value Id: 2053
+//Next value Id: 2052
 /*              category     name         unit       min     max     default id */
 #define PARAM_LIST \
     PARAM_ENTRY(CAT_CHARGER, idclim,      "A",       0,      45,     45,     3   ) \
@@ -109,7 +109,6 @@
     VALUE_ENTRY(c3udc,       "V",     2035 ) \
     VALUE_ENTRY(c3idc,       "A",     2036 ) \
     VALUE_ENTRY(tmpobcmax,   "°C",    2051 ) \
-    VALUE_ENTRY(vcucmd,      VCUCMDS, 2052 ) \
     VALUE_ENTRY(test_time,   "s",     3000 ) \
     VALUE_ENTRY(test_timer_flag,   "X",     3001 ) \
     VALUE_ENTRY(test_timer_icvalue,   "X",     3002 ) \
@@ -119,12 +118,6 @@
 #define OPMODES      "0=Off, 1=Run"
 #define CHARGERS     "1=Charger1, 2=Charger2, 4=Charger3"
 #define OFFON        "0=Off, 1=On"
-// SKUDAK-S12: VCU→charger control command on 0x212 byte 3. Mirrors the Dilong
-// path's OBC_ControlCMD vocabulary exactly so VCU code paths can be reused.
-//   0 = Charging — VCU wants current to flow; walk to / hold at EVSEACTIVATE
-//   1 = Stopped  — VCU is not driving a cycle; sit in OFF/WAITSTART/ENABLE
-//   2 = Complete — VCU has terminated the cycle; drop to STOP
-#define VCUCMDS      "0=Charging, 1=Stopped, 2=Complete"
 #define CHFLAGS      "0=None, 1=Enabled, 2=Fault, 4=CheckAlive"
 #define STATES       "0=Off, 1=WaitStart, 2=Enable, 3=Activate, 4=Run, 5=Stop"
 #define INPUTS       "0=Type2, 1=Type2-3P, 2=Type1, 3=Manual, 4=Manual-3P, 5=Type2-Auto"
@@ -136,39 +129,7 @@
 // SKUDAK customization suffix: bump on every Skudak-side change so the OpenInverter
 // web UI shows a distinct version (e.g. "4=1.20.R-S4") and we can visually confirm
 // the right firmware is flashed. Match the stm32-sine -S<N> convention.
-// -S6 was withdrawn (PR #8 closed): the canary-rebuild attempt called
-// canMap->Clear() inside MapChargerMessages, which recursed through the
-// HandleClear callback and stack-overflowed at boot before the terminal
-// came up. Jumping straight to -S7 so any bench that still reports -S6
-// in the openinverter UI is visibly the broken build and gets re-flashed.
-// -S8 trims chargercan.cpp from 73 → 37 entries so the libopeninv 50-slot
-// pool doesn't silently drop the SKUDAK 0x211 broadcast on rebuild.
-// -S9 restores 8 c2/c3 RX entries (uac/flag/idc/udc per module). -S8 over-
-// trimmed multi-module Tesla OBC support: CalcTotals was summing only
-// module 1's contribution, so reported pack power was 1/3 of actual delivery.
-// -S10 added udclim RX on 0x212 bytes 1-2. The VCU sent udclim=200V to force
-// CheckVoltage() to fire (udc > udclim → STOP). DEPRECATED in -S11: the
-// per-module DC voltage readings (c1udc/c2udc/c3udc) collapse below 200V
-// once VCU opens HV contactors, so the trigger never accumulates 10 ticks.
-// udclim RX is kept mapped but the VCU now always sends 398V (no-op).
-//
-// -S11 adds vcustop RX on 0x212 byte 3 — an explicit VCU command lever that
-// mirrors the Dilong path's OBC_ControlCMD. When VCU enters CHARGE_COMPLETE
-// it sets vcustop=1; ChargerStateMachine's EVSEACTIVATE case transitions to
-// STOP immediately, the J1772 CP signal drops, EVSE stops delivering AC,
-// VCU_IsCharging() returns 0, water pumps power down naturally.
-// -S12 promotes byte 3 from a binary vcustop flag to the full 3-state
-// VCUCMDS vocabulary (0=Charging, 1=Stopped, 2=Complete), matching the
-// Dilong OBC_ControlCMD exactly. The internal FSM now obeys vcucmd for
-// lifecycle transitions: ENABLE only advances to ACTIVATE on Charging, STOP
-// returns to OFF when vcucmd flips back to Charging/Stopped (fixes the
-// "raise ChargeLimit mid-COMPLETE doesn't resume" wedge — teslacharger was
-// stuck in STOP because STOP only exited on CheckUnplugged). The self-
-// decided EVSEACTIVATE exits (CheckVoltage, CheckTimeout) are stripped; the
-// VCU is now authoritative for when charging starts and stops. The charger
-// retains hardware-level wisdom: CheckUnplugged() still forces OFF from any
-// state, and CheckStartCondition() still gates OFF→WAITSTART on EVSE pilot.
-#define VERSTR STRINGIFY(4=VER-S12)
+#define VERSTR STRINGIFY(4=VER-S6)
 
 /***** enums ******/
 
@@ -192,18 +153,6 @@ enum states
    STOP
 };
 
-// SKUDAK-S12: VCU→charger command vocabulary on 0x212 byte 3. Must match
-// the values exposed via VCUCMDS enum string AND the VCU's
-// VCU_OIOBCCommand_t enum (stm32-hal-vcu Core/Inc/applications/charger/
-// charger_types.h). Updating one without the others silently breaks the
-// charge state machine, so keep them in lock-step.
-enum vcucmds
-{
-   VCUCMD_CHARGING = 0,
-   VCUCMD_STOPPED  = 1,
-   VCUCMD_COMPLETE = 2
-};
-
 enum _canspeeds
 {
    CAN_PERIOD_100MS = 0,

src/charger.cpp

@@ -299,26 +299,10 @@ void CalcAcCurrentLimit()
    Param::SetFloat(Param::aclim, iacLim);
 }
 
-// SKUDAK-S12: VCU is authoritative for charge-cycle lifecycle. The charger
-// keeps hardware-level wisdom (EVSE pilot detection, plug-out safety,
-// fault detection, current ramping) but obeys vcucmd for "should I be
-// charging right now?" — exactly mirroring the Dilong OBC_ControlCMD
-// pattern so the VCU's two charger paths can share code/state.
-//
-// VCUCMDS vocabulary (see include/param_prj.h):
-//   0 Charging — VCU wants current; walk to / hold at EVSEACTIVATE
-//   1 Stopped  — VCU has no active cycle; sit idle (no current)
-//   2 Complete — VCU has terminated the cycle; drop to STOP
-//
-// Self-decided exits from EVSEACTIVATE (CheckVoltage, CheckTimeout) are
-// gone — those were band-aids for the absence of an authoritative VCU
-// stop signal. CheckUnplugged() still owns hardware safety from every
-// state; CheckChargerFaults() still bails on real module faults.
 void ChargerStateMachine()
 {
    static states state = OFF;
    int configuredChargers = Param::GetInt(Param::chargerena);
-   int vcucmd = Param::GetInt(Param::vcucmd);
 
    if (!Param::GetBool(Param::enable))
    {
@@ -332,9 +316,6 @@ void ChargerStateMachine()
          Param::SetInt(Param::opmode, 0);
          DisableAll();
 
-         // OFF→WAITSTART requires hardware-level start condition (EVSE pilot
-         // or non-EVSE input). vcucmd is checked downstream — we still walk
-         // up to ENABLE on plug-in so the modules are ready when VCU says go.
          if (CheckStartCondition())
          {
             startTime = rtc_get_counter_val();
@@ -353,15 +334,7 @@ void ChargerStateMachine()
             DigIo::ch2ena_out.Set();
          if (configuredChargers & 4)
             DigIo::ch3ena_out.Set();
-
-         // Hold here until VCU says go (vcucmd=Charging) or terminates
-         // (vcucmd=Complete). Stopped keeps us armed but idle.
-         if (vcucmd == VCUCMD_COMPLETE)
-            state = STOP;
-         else if (vcucmd == VCUCMD_CHARGING)
-            state = ACTIVATE;
-         else if (CheckUnplugged())
-            state = OFF;
+         state = ACTIVATE;
          break;
       case ACTIVATE:
          Param::SetInt(Param::opmode, 1);
@@ -380,88 +353,15 @@ void ChargerStateMachine()
          DigIo::evseact_out.Set();
          DigIo::acpres_out.Set();
 
-         // VCU command is the primary exit. CheckUnplugged + CheckChargerFaults
-         // remain for hardware safety; the self-decided CheckVoltage/CheckTimeout
-         // exits are gone (S12 — VCU is authoritative).
-         //
-         // SKUDAK: ramp the DC-current reference toward zero across 3 ticks
-         // (300 ms) before transitioning to STOP. Without this, the VCU
-         // opening its HV contactor at the moment we go STOP triggers a hard
-         // 23 A → 0 disconnect transient that floods the Tesla BMS state-
-         // change CAN path and starves the VCU's task scheduler past its
-         // IWDG window (bench-confirmed 2026-05-21 limit-lower 0x002A loop).
-         // The VCU also defers its contactor open by ~1500 ms; together
-         // they make the disconnect graceful even on a hard limit-lower
-         // mid-RUN. completeRampTicks counts DOWN from 3 → 0; the original
-         // reference is stashed so if vcucmd reverts to Charging mid-ramp
-         // we restore cleanly.
-         static uint8_t completeRampTicks       = 0;
-         static s32fp   completeRampOriginalRef = 0;
-         if (vcucmd == VCUCMD_COMPLETE)
-         {
-            if (completeRampTicks == 0)
-            {
-               completeRampOriginalRef = MIN(Param::Get(Param::idcspnt), Param::Get(Param::idclim));
-               completeRampTicks       = 3;
-            }
-            if (completeRampTicks > 1)
-            {
-               // Scale 2/3 → 1/3 → 0 across remaining ticks.
-               s32fp scaled = (completeRampOriginalRef * (completeRampTicks - 1)) / 3;
-               dcCurController.SetRef(scaled);
-               completeRampTicks--;
-               // Stay in EVSEACTIVATE this tick; current is decaying.
-            }
-            else
-            {
-               // Final ramp tick: clear GPIOs (cuts AC enable; output decays
-               // through filter caps) and restore the PI reference to the
-               // current idcspnt/idclim so the NEXT EVSEACTIVATE entry
-               // doesn't sip at 0 A. Param::Change only fires on parameter
-               // changes; a normal restart cycle never touches idcspnt or
-               // idclim, so without this restore the PI controller stays
-               // pinned at 0 across the cycle. Iteration O bug — bench-
-               // confirmed 0.1 kW sip on limit-raise from COMPLETE.
-               DigIo::acpres_out.Clear();
-               DigIo::evseact_out.Clear();
-               dcCurController.SetRef(MIN(Param::Get(Param::idcspnt), Param::Get(Param::idclim)));
-               completeRampTicks       = 0;
-               completeRampOriginalRef = 0;
-               state                   = STOP;
-            }
-            break;
-         }
-
-         // vcucmd not Complete — if we were mid-ramp the user reversed
-         // (raised limit again); restore reference before the existing
-         // branches take over.
-         if (completeRampTicks != 0)
-         {
-            dcCurController.SetRef(completeRampOriginalRef);
-            completeRampTicks       = 0;
-            completeRampOriginalRef = 0;
-         }
-
-         if (vcucmd == VCUCMD_STOPPED)
-         {
-            // VCU revoked the charge command (e.g. user lowered limit below
-            // current SOC but BMS isn't full yet). Park HV-armed in ENABLE
-            // ready to resume on the next Charging command.
-            DigIo::ch1act_out.Clear();
-            DigIo::ch2act_out.Clear();
-            DigIo::ch3act_out.Clear();
-            DigIo::acpres_out.Clear();
-            DigIo::evseact_out.Clear();
-            Param::SetInt(Param::opmode, 0);
-            state = ENABLE;
-         }
-         else if (CheckUnplugged())
+         if (CheckVoltage() || CheckTimeout())
+            state = STOP;
+         if (CheckUnplugged())
          {
             DigIo::acpres_out.Clear();
             DigIo::evseact_out.Clear();
             state = OFF;
          }
-         else if (CheckChargerFaults())
+         if (CheckChargerFaults())
          {
             DigIo::acpres_out.Clear();
             state = OFF;
@@ -473,14 +373,6 @@ void ChargerStateMachine()
 
          if (CheckUnplugged())
             state = OFF;
-         // S12 fix for the "raise ChargeLimit mid-COMPLETE wedges in STOP"
-         // bug: when VCU clears Complete (latch released because user raised
-         // limit above current SOC), drop to OFF so the natural OFF→WAITSTART
-         // →ENABLE→ACTIVATE→EVSEACTIVATE flow restarts charging next tick.
-         // Previously STOP only exited on physical unplug — wedge on every
-         // limit-raise.
-         else if (vcucmd != VCUCMD_COMPLETE)
-            state = OFF;
          break;
    }
 

src/chargercan.cpp

@@ -18,62 +18,47 @@
  */
 #include "chargercan.h"
 
-// SKUDAK-S8/S9: trimmed entry list to fit libopeninv's MAX_ITEMS=50 CANPOS pool.
-// The upstream teslacharger registers ~73 AddRecv+AddSend mappings, which
-// silently overflows the 50-slot pool and drops the last ~23 entries
-// (including the SKUDAK 0x211 broadcast). We dropped things we don't use:
-//
-//   - hwaclim duplicates on 0x209/0x20B (keep just 0x207; the three modules
-//     broadcast identical hardware AC limit values)                       -2
-//   - c2*/c3* iac, stt, tmp1/2/in (12 entries — full per-module diagnostics
-//     not needed; CheckChargerFaults only uses uac+flag, CalcTotals only
-//     uses idc+udc, and tmpobcmax aggregates fine from c1's 3 probes)    -12
-//   - CHAdeMO RX on 0x102 (canenable/idcspnt/udclim/soc — Polarity VCU
-//     doesn't use CHAdeMO at all)                                         -4
-//   - 0x368 version-only idle frame (purely cosmetic for stock OI UI)     -7
-//   - CHAdeMO TX on 0x108/0x109 (version, idclim, udc, idc, opmode —
-//     unused on this build)                                               -5
-//
-// Total dropped: 30 entries. From 73 → 42, with 8-slot headroom.
-//
-// -S9 RESTORED 8 entries the -S8 trim wrongly killed for 3-module Tesla OBCs:
-// c2/c3 uac (CheckChargerFaults active2/active3 detection),
-// c2/c3 flag (clears CheckAlive timeout under fault-check logic),
-// c2/c3 idc (CalcTotals current SUM — was reporting 1/3 of true delivery),
-// c2/c3 udc (CalcTotals voltage MAX). Without these the bench reported
-// ~2.7kW for what was actually 9.7kW going to the pack.
-//
-// 0x43c/0x44c TX kept on purpose — they're commands to OBC sub-modules 2/3,
-// required for multi-module operation. Drop them too only if pool pressure
-// returns and you've confirmed the bench is single-module.
 void ChargerCAN::MapMessages(CanMap* can)
 {
    can->AddRecv(Param::hwaclim, 0x207, 32, 9, 0.06666f); //gain 0.06666
+   can->AddRecv(Param::hwaclim, 0x209, 32, 9, 0.06666f); //gain 0.06666
+   can->AddRecv(Param::hwaclim, 0x20B, 32, 9, 0.06666f); //gain 0.06666
    can->AddRecv(Param::c1iac, 0x207, 41, 9, 0.06666f); //gain 0.06666
+   can->AddRecv(Param::c2iac, 0x209, 41, 9, 0.06666f); //gain 0.06666
+   can->AddRecv(Param::c3iac, 0x20B, 41, 9, 0.06666f); //gain 0.06666
    can->AddRecv(Param::c1uac, 0x207, 8, 8, 1);
+   can->AddRecv(Param::c2uac, 0x209, 8, 8, 1);
+   can->AddRecv(Param::c3uac, 0x20B, 8, 8, 1);
    can->AddRecv(Param::c1flag, 0x207, 17, 2, 1);
+   can->AddRecv(Param::c2flag, 0x209, 17, 2, 1);
+   can->AddRecv(Param::c3flag, 0x20B, 17, 2, 1);
    can->AddRecv(Param::c1stt, 0x217, 0, 8, 1);
+   can->AddRecv(Param::c2stt, 0x219, 0, 8, 1);
+   can->AddRecv(Param::c3stt, 0x21B, 0, 8, 1);
    can->AddRecv(Param::c1idc, 0x227, 32, 16, 0.000839233f); //gain 0.000839233
+   can->AddRecv(Param::c2idc, 0x229, 32, 16, 0.000839233f); //gain 0.000839233
+   can->AddRecv(Param::c3idc, 0x22B, 32, 16, 0.000839233f); //gain 0.000839233
    can->AddRecv(Param::c1udc, 0x227, 16, 16, 0.01052856f); //gain 0.01052856
+   can->AddRecv(Param::c2udc, 0x229, 16, 16, 0.01052856f); //gain 0.01052856
+   can->AddRecv(Param::c3udc, 0x22B, 16, 16, 0.01052856f); //gain 0.01052856
    can->AddRecv(Param::c1tmp1, 0x237, 0, 8, 1, -40); //offset -40°C
+   can->AddRecv(Param::c2tmp1, 0x239, 0, 8, 1, -40); //offset -40°C
+   can->AddRecv(Param::c3tmp1, 0x23B, 0, 8, 1, -40); //offset -40°C
    can->AddRecv(Param::c1tmp2, 0x237, 8, 8, 1, -40); //offset -40°C
+   can->AddRecv(Param::c2tmp2, 0x239, 8, 8, 1, -40); //offset -40°C
+   can->AddRecv(Param::c3tmp2, 0x23B, 8, 8, 1, -40); //offset -40°C
    can->AddRecv(Param::c1tmpin, 0x237, 40, 8, 1, -40); //offset -40°C
-
-   // SKUDAK-S9: module 2 RX. uac/flag prevent the CheckChargerFaults false-
-   // positive that would silently mask module-2 failure (active2 = (chargerena
-   // & 2) && (c2uac > 70V); without c2uac mapped, active2==false short-circuits
-   // the flag check). idc/udc are required so CalcTotals reports the SUM
-   // current and MAX voltage across all three Tesla OBC sub-modules.
-   can->AddRecv(Param::c2uac,  0x209, 8,  8,  1);
-   can->AddRecv(Param::c2flag, 0x209, 17, 2,  1);
-   can->AddRecv(Param::c2idc,  0x229, 32, 16, 0.000839233f);
-   can->AddRecv(Param::c2udc,  0x229, 16, 16, 0.01052856f);
-
-   // SKUDAK-S9: module 3 RX, same rationale.
-   can->AddRecv(Param::c3uac,  0x20B, 8,  8,  1);
-   can->AddRecv(Param::c3flag, 0x20B, 17, 2,  1);
-   can->AddRecv(Param::c3idc,  0x22B, 32, 16, 0.000839233f);
-   can->AddRecv(Param::c3udc,  0x22B, 16, 16, 0.01052856f);
+   can->AddRecv(Param::c2tmpin, 0x239, 40, 8, 1, -40); //offset -40°C
+   can->AddRecv(Param::c3tmpin, 0x23B, 40, 8, 1, -40); //offset -40°C
+   //We don't have enough space for all messages, so we discard these
+   //can->AddRecv(Param::c1tmplim, 0x247, 0, 8, 7); //gain 0.234375
+   //can->AddRecv(Param::c2tmplim, 0x249, 0, 8, 7); //gain 0.234375
+   //can->AddRecv(Param::c3tmplim, 0x24B, 0, 8, 7); //gain 0.234375
+   /***** CHAdeMO RX *****/
+   can->AddRecv(Param::canenable, 0x102, 40, 1, 1);
+   can->AddRecv(Param::idcspnt,   0x102, 24, 8, 1);
+   can->AddRecv(Param::udclim,    0x102, 8, 16, 1);
+   can->AddRecv(Param::soc,       0x102, 48, 8, 1);
 
    /***** Charger TX ******/
    can->AddSend(Param::udcspnt, 0x45c, 0, 16, 100); //gain 100
@@ -100,34 +85,27 @@ void ChargerCAN::MapMessages(CanMap* can)
    can->AddSend(Param::aclim, 0x44c, 16, 16, 1500);
    can->AddSend(Param::opmode, 0x44c, 32, 8, 154, 100);
 
-   /***** SKUDAK VCU command RX (0x212) — SKUDAK-516 chglim + S10 udclim + S12 vcucmd *****/
-   // Byte 0:    ChargeLimit_pct (0-100). Param::Change(vcuchglim) translates
-   //            % to udcspnt setpoint (see src/main.cpp).
-   // Bytes 1-2: udclim_V (uint16 LE). DEPRECATED in -S11 but mapping kept for
-   //            backward compat with -S10 VCU TX. New VCU always sends 398V
-   //            (= the flash default), so this RX is a no-op. Old -S10 trick
-   //            (VCU sends 200V to force CheckVoltage() STOP) was unreliable
-   //            because c1udc/c2udc/c3udc collapse < 200V once VCU opens HV
-   //            contactors, never accumulating 10 ticks > udclim. Defensive
-   //            clamp in Param::Change(udclim) ignores values < 50 V (would
-   //            otherwise turn an old-VCU bench into a never-charges brick).
-   // Byte 3:    vcucmd (uint8, S12 — was binary vcustop in S11). Three states
-   //            mirror the Dilong OBC_ControlCMD vocabulary 1:1 so VCU code
-   //            paths can be reused across charger families:
-   //              0 = Charging — walk to / hold at EVSEACTIVATE, produce current
-   //              1 = Stopped  — sit idle in OFF/WAITSTART/ENABLE, no current
-   //              2 = Complete — VCU declares cycle done; drop to STOP
-   //            VCU is now authoritative for lifecycle. Self-decided
-   //            EVSEACTIVATE exits (CheckVoltage, CheckTimeout) are gone;
-   //            STOP also exits to OFF when vcucmd flips back from Complete
-   //            to Stopped/Charging so the natural restart path runs (fixes
-   //            the "raise limit mid-COMPLETE doesn't resume" wedge in S11).
-   // Bytes 4-7: reserved 0x00.
-   // VCU broadcasts every 200 ms once teslacharger detected; charger holds
-   // last received values if VCU goes silent.
-   can->AddRecv(Param::vcuchglim, 0x212, 0,  8,  1);
-   can->AddRecv(Param::udclim,    0x212, 8,  16, 1);
-   can->AddRecv(Param::vcucmd,    0x212, 24, 8,  1);
+   can->AddSend(Param::version, 0x368, 0, 8, 0, 0x03);
+   can->AddSend(Param::version, 0x368, 8, 8, 0, 0x49);
+   can->AddSend(Param::version, 0x368, 16, 8, 0, 0x29);
+   can->AddSend(Param::version, 0x368, 24, 8, 0, 0x11);
+   can->AddSend(Param::version, 0x368, 40, 8, 0, 0x0c);
+   can->AddSend(Param::version, 0x368, 48, 8, 0, 0x40);
+   can->AddSend(Param::version, 0x368, 56, 8, 0, (int8_t)0xff);
+
+   /***** CHAdeMO TX *****/
+   can->AddSend(Param::version, 0x108, 8, 16, 107); //output 428V max = 4*107
+   can->AddSend(Param::idclim, 0x108, 24, 8, 1);
+   can->AddSend(Param::udc, 0x109, 8, 16, 1);
+   can->AddSend(Param::idc, 0x109, 24, 16, 1);
+   can->AddSend(Param::opmode, 0x109, 40, 3, 5); //Set charging and connlock at once
+
+   /***** SKUDAK VCU command RX (0x212) — SKUDAK-516 user ChargeLimit *****/
+   // Byte 0: ChargeLimit_pct (0-100). Bytes 1-7 reserved 0x00.
+   // Param::Change(vcuchglim) translates % to udcspnt setpoint (see src/main.cpp).
+   // VCU broadcasts every 200 ms once teslacharger detected; charger holds last
+   // value if VCU goes silent.
+   can->AddRecv(Param::vcuchglim, 0x212, 0, 8, 1);
 
    /***** SKUDAK VCU telemetry (0x211) — SKUDAK-448 expanded charger telemetry *****/
    // Byte 0:    state     (0=Off, 1=WaitStart, 2=Enable, 3=Activate, 4=Run, 5=Stop)

src/main.cpp

@@ -108,19 +108,6 @@ static void Ms100Task(void)
 
 static void MapChargerMessages()
 {
-   // SKUDAK: Reentrancy guard. canMap->Clear() (libopeninv canmap.cpp) ends
-   // with canHardware->ClearUserMessages(), which fires the HandleClear
-   // callback below — which calls back into THIS function. If this function
-   // ever calls Clear() itself, the chain becomes infinite recursion → stack
-   // overflow → HardFault before the terminal/web UI come up (this is what
-   // bricked -S6 on Kyle's bench, see PR #8 postmortem). The static guard
-   // makes any future "accidental Clear() inside the rebuild path" a no-op
-   // re-entry rather than a chip-bricking fault. Safe because this function
-   // is only invoked from main() and from the HandleClear callback, both
-   // single-threaded contexts; never from an ISR.
-   static bool in_progress = false;
-   if (in_progress) return;
-
    uint32_t dummyId;
    uint8_t dummyOfs;
    int8_t dummyAdd, dummyLen;
@@ -128,21 +115,25 @@ static void MapChargerMessages()
    bool dummyrx;
 
    // SKUDAK: tmpobcmax is the canary for the -S5+ CAN-map schema. If it's
-   // already mapped, the persistent flash map is up-to-date — preserve it
-   // and any user customizations. If it's NOT mapped, the saved map is
-   // from an older firmware that didn't broadcast OBC temp on 0x211 byte 7.
+   // already mapped, the persistent flash map was built by a firmware that
+   // included the full current set of mappings (including the OBC temp
+   // aggregate and all c1*/c2*/c3* receives) — return early so user
+   // customizations are preserved.
    //
-   // We deliberately do NOT call canMap->Clear() here. Clear() triggers
-   // HandleClear, and the recursion is fatal (see guard comment above). The
-   // upgrade path is: user issues "canclear" via the openinverter terminal
-   // or web UI to nuke the stale map manually. That single Clear fires
-   // HandleClear once, this function re-runs additively, and Save() persists.
+   // If tmpobcmax is NOT mapped, the saved map is from an older firmware
+   // that didn't know about it. We must wipe and rebuild from current
+   // chargercan.cpp — without this the OpenInverter single-shot MapMessages()
+   // pattern silently leaves newer params un-mapped on every subsequent
+   // boot, even after flashing fresh firmware (the original guard keyed off
+   // hwaclim, which has existed since the very first version — so it always
+   // short-circuited on upgrade and the new entries were dead code).
    if (canMap->FindMap(Param::tmpobcmax, dummyId, dummyOfs, dummyLen, dummyGain, dummyAdd, dummyrx)) return;
 
-   in_progress = true;
+   canMap->Clear();
+
    ChargerCAN::MapMessages(canMap);
+
    canMap->Save();
-   in_progress = false;
 }
 
 /** This function is called when the user changes a parameter */
@@ -161,18 +152,6 @@ void Param::Change(Param::PARAM_NUM paramNum)
          spnt = MIN(Param::Get(Param::idcspnt), Param::Get(Param::idclim));
          dcCurController.SetRef(spnt);
          break;
-      case Param::udclim:
-         // SKUDAK-S11: defensive clamp. udclim is now reverse-mapped from CAN
-         // (chargercan.cpp), and a pre-PR47 VCU sends 0 in 0x212 bytes 1-2.
-         // udclim=0 would make CheckVoltage() fire on every tick (udc > 0)
-         // and prevent any charging. If we see a value below the documented
-         // min (50V), restore the safe default. Trivial cost — fires only on
-         // CAN RX of udclim (200 ms cadence) and only ever does work when
-         // the value is bogus.
-         if (Param::GetInt(Param::udclim) < 50) {
-            Param::SetInt(Param::udclim, 398);
-         }
-         break;
       case Param::vcuchglim:
       {
          // SKUDAK-516: VCU sends user-set ChargeLimit_pct on CAN 0x212. Translate