From 3853236023e32b9eccdbd6caa733605887e135d2 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Daniel=20=C3=96ster?= <dalathegreat@gmail.com>
Date: Thu, 21 Aug 2025 19:59:16 +0300
Subject: [PATCH 1/2] Add support for 64kWh FD Kia battery

---
 Software/USER_SETTINGS.h                  |   1 +
 Software/src/battery/BATTERIES.cpp        |   4 +
 Software/src/battery/BATTERIES.h          |   1 +
 Software/src/battery/Battery.h            |   1 +
 Software/src/battery/KIA-64FD-BATTERY.cpp | 423 ++++++++++++++
 Software/src/battery/KIA-64FD-BATTERY.h   | 635 ++++++++++++++++++++++
 Software/src/battery/KIA-E-GMP-BATTERY.h  |   2 -
 7 files changed, 1065 insertions(+), 2 deletions(-)
 create mode 100644 Software/src/battery/KIA-64FD-BATTERY.cpp
 create mode 100644 Software/src/battery/KIA-64FD-BATTERY.h

diff --git a/Software/USER_SETTINGS.h b/Software/USER_SETTINGS.h
index a1d246fa..ff6ccfe0 100644
--- a/Software/USER_SETTINGS.h
+++ b/Software/USER_SETTINGS.h
@@ -25,6 +25,7 @@
 //#define JAGUAR_IPACE_BATTERY
 //#define KIA_E_GMP_BATTERY
 //#define KIA_HYUNDAI_64_BATTERY
+//#define KIA_HYUNDAI_64_FD_BATTERY
 //#define KIA_HYUNDAI_HYBRID_BATTERY
 //#define MEB_BATTERY
 //#define MG_5_BATTERY
diff --git a/Software/src/battery/BATTERIES.cpp b/Software/src/battery/BATTERIES.cpp
index 1aa07bc6..247e61e5 100644
--- a/Software/src/battery/BATTERIES.cpp
+++ b/Software/src/battery/BATTERIES.cpp
@@ -90,6 +90,8 @@ const char* name_for_battery_type(BatteryType type) {
       return KiaEGmpBattery::Name;
     case BatteryType::KiaHyundai64:
       return KiaHyundai64Battery::Name;
+    case BatteryType::Kia64FD:
+      return Kia64FDBattery::Name;
     case BatteryType::KiaHyundaiHybrid:
       return KiaHyundaiHybridBattery::Name;
     case BatteryType::Meb:
@@ -187,6 +189,8 @@ Battery* create_battery(BatteryType type) {
       return new ImievCZeroIonBattery();
     case BatteryType::JaguarIpace:
       return new JaguarIpaceBattery();
+    case BatteryType::Kia64FD:
+      return new Kia64FDBattery();
     case BatteryType::KiaEGmp:
       return new KiaEGmpBattery();
     case BatteryType::KiaHyundai64:
diff --git a/Software/src/battery/BATTERIES.h b/Software/src/battery/BATTERIES.h
index 3e89149c..5c5539a6 100644
--- a/Software/src/battery/BATTERIES.h
+++ b/Software/src/battery/BATTERIES.h
@@ -29,6 +29,7 @@ void setup_can_shunt();
 #include "HYUNDAI-IONIQ-28-BATTERY.h"
 #include "IMIEV-CZERO-ION-BATTERY.h"
 #include "JAGUAR-IPACE-BATTERY.h"
+#include "KIA-64FD-BATTERY.h"
 #include "KIA-E-GMP-BATTERY.h"
 #include "KIA-HYUNDAI-64-BATTERY.h"
 #include "KIA-HYUNDAI-HYBRID-BATTERY.h"
diff --git a/Software/src/battery/Battery.h b/Software/src/battery/Battery.h
index 2b163a95..d22fcb93 100644
--- a/Software/src/battery/Battery.h
+++ b/Software/src/battery/Battery.h
@@ -45,6 +45,7 @@ enum class BatteryType {
   MgHsPhev = 37,
   SamsungSdiLv = 38,
   HyundaiIoniq28 = 39,
+  Kia64FD = 40,
   Highest
 };
 
diff --git a/Software/src/battery/KIA-64FD-BATTERY.cpp b/Software/src/battery/KIA-64FD-BATTERY.cpp
new file mode 100644
index 00000000..032b7c31
--- /dev/null
+++ b/Software/src/battery/KIA-64FD-BATTERY.cpp
@@ -0,0 +1,423 @@
+#include "KIA-64FD-BATTERY.h"
+#include "../communication/can/comm_can.h"
+#include "../datalayer/datalayer.h"
+#include "../devboard/utils/events.h"
+#include "../devboard/utils/logging.h"
+#include "../system_settings.h"
+
+// Function to estimate SOC based on cell voltage
+uint16_t Kia64FDBattery::estimateSOCFromCell(uint16_t cellVoltage) {
+  if (cellVoltage >= voltage[0]) {
+    return SOC[0];
+  }
+  if (cellVoltage <= voltage[numPoints - 1]) {
+    return SOC[numPoints - 1];
+  }
+
+  for (int i = 1; i < numPoints; ++i) {
+    if (cellVoltage >= voltage[i]) {
+      // Cast to float for proper division
+      float t = (float)(cellVoltage - voltage[i]) / (float)(voltage[i - 1] - voltage[i]);
+
+      // Calculate interpolated SOC value
+      uint16_t socDiff = SOC[i - 1] - SOC[i];
+      uint16_t interpolatedValue = SOC[i] + (uint16_t)(t * socDiff);
+
+      return interpolatedValue;
+    }
+  }
+  return 0;  // Default return for safety, should never reach here
+}
+
+// Simplified version of the pack-based SOC estimation with compensation
+uint16_t Kia64FDBattery::estimateSOC(uint16_t packVoltage, uint16_t cellCount, int16_t currentAmps) {
+
+  if (cellCount == 0) {
+    return 0;
+  }
+
+  // Convert pack voltage (decivolts) to millivolts
+  uint32_t packVoltageMv = packVoltage * 100;
+
+  // Apply internal resistance compensation
+  // Current is in deciamps (-150 = -15.0A, 150 = 15.0A)
+  // Resistance is in milliohms
+  int32_t voltageDrop = (currentAmps * PACK_INTERNAL_RESISTANCE_MOHM) / 10;
+
+  // Compensate the pack voltage (add the voltage drop)
+  uint32_t compensatedPackVoltageMv = packVoltageMv + voltageDrop;
+
+  // Calculate average cell voltage in millivolts
+  uint16_t avgCellVoltage = compensatedPackVoltageMv / cellCount;
+
+  // Use the cell voltage lookup table to estimate SOC
+  return estimateSOCFromCell(avgCellVoltage);
+}
+
+// Fix: Change parameter types to uint16_t to match SOC values
+uint16_t Kia64FDBattery::selectSOC(uint16_t SOC_low, uint16_t SOC_high) {
+  if (SOC_low == 0 || SOC_high == 0) {
+    return 0;  // If either value is 0, return 0
+  }
+  if (SOC_low == 10000 || SOC_high == 10000) {
+    return 10000;  // If either value is 100%, return 100%
+  }
+  return (SOC_low < SOC_high) ? SOC_low : SOC_high;  // Otherwise, return the lowest value
+}
+
+void write_cell_voltages(CAN_frame rx_frame, int start, int length, int startCell) {
+  for (size_t i = 0; i < length; i++) {
+    if ((rx_frame.data.u8[start + i] * 20) > 1000) {
+      datalayer.battery.status.cell_voltages_mV[startCell + i] = (rx_frame.data.u8[start + i] * 20);
+    }
+  }
+}
+
+uint8_t Kia64FDBattery::calculateCRC(CAN_frame rx_frame, uint8_t length, uint8_t initial_value) {
+  uint8_t crc = initial_value;
+  for (uint8_t j = 1; j < length; j++) {  //start at 1, since 0 is the CRC
+    crc = crc8_table[(crc ^ static_cast<uint8_t>(rx_frame.data.u8[j])) % 256];
+  }
+  return crc;
+}
+
+void Kia64FDBattery::update_values() {
+
+#ifdef ESTIMATE_SOC_FROM_CELLVOLTAGE
+  // Use the simplified pack-based SOC estimation with proper compensation
+  datalayer.battery.status.real_soc = estimateSOC(batteryVoltage, datalayer.battery.info.number_of_cells, batteryAmps);
+
+  // For comparison or fallback, we can still calculate from min/max cell voltages
+  SOC_estimated_lowest = estimateSOCFromCell(CellVoltMin_mV);
+  SOC_estimated_highest = estimateSOCFromCell(CellVoltMax_mV);
+#else
+  datalayer.battery.status.real_soc = (SOC_Display * 10);  //increase SOC range from 0-100.0 -> 100.00
+#endif
+
+  datalayer.battery.status.soh_pptt = (batterySOH * 10);  //Increase decimals from 100.0% -> 100.00%
+
+  datalayer.battery.status.voltage_dV = batteryVoltage;  //value is *10 (3700 = 370.0)
+
+  datalayer.battery.status.current_dA = -batteryAmps;  //value is *10 (150 = 15.0)
+
+  datalayer.battery.status.remaining_capacity_Wh = static_cast<uint32_t>(
+      (static_cast<double>(datalayer.battery.status.real_soc) / 10000) * datalayer.battery.info.total_capacity_Wh);
+
+  //datalayer.battery.status.max_charge_power_W = (uint16_t)allowedChargePower * 10;  //From kW*100 to Watts
+  //The allowed charge power is not available. We estimate this value for now
+  if (datalayer.battery.status.real_soc > 9900) {
+    datalayer.battery.status.max_charge_power_W = 0;
+  } else if (datalayer.battery.status.real_soc >
+             RAMPDOWN_SOC) {  // When real SOC is between 90-99%, ramp the value between Max<->0
+    datalayer.battery.status.max_charge_power_W =
+        RAMPDOWNPOWERALLOWED * (1 - (datalayer.battery.status.real_soc - RAMPDOWN_SOC) / (10000.0 - RAMPDOWN_SOC));
+  } else {  // No limits, max charging power allowed
+    datalayer.battery.status.max_charge_power_W = MAXCHARGEPOWERALLOWED;
+  }
+
+  //datalayer.battery.status.max_discharge_power_W = (uint16_t)allowedDischargePower * 10;  //From kW*100 to Watts
+  //The allowed discharge power is not available. We hardcode this value for now
+  datalayer.battery.status.max_discharge_power_W = MAXDISCHARGEPOWERALLOWED;
+
+  datalayer.battery.status.temperature_min_dC = (int8_t)temperatureMin * 10;  //Increase decimals, 17C -> 17.0C
+
+  datalayer.battery.status.temperature_max_dC = (int8_t)temperatureMax * 10;  //Increase decimals, 18C -> 18.0C
+
+  datalayer.battery.status.cell_max_voltage_mV = CellVoltMax_mV;
+
+  datalayer.battery.status.cell_min_voltage_mV = CellVoltMin_mV;
+
+  if (leadAcidBatteryVoltage < 110) {
+    set_event(EVENT_12V_LOW, leadAcidBatteryVoltage);
+  }
+}
+
+void Kia64FDBattery::handle_incoming_can_frame(CAN_frame rx_frame) {
+  startedUp = true;
+  switch (rx_frame.ID) {
+    case 0x055:
+      datalayer.battery.status.CAN_battery_still_alive = CAN_STILL_ALIVE;
+      break;
+    case 0x150:
+      datalayer.battery.status.CAN_battery_still_alive = CAN_STILL_ALIVE;
+      break;
+    case 0x1F5:
+      datalayer.battery.status.CAN_battery_still_alive = CAN_STILL_ALIVE;
+      break;
+    case 0x215:
+      datalayer.battery.status.CAN_battery_still_alive = CAN_STILL_ALIVE;
+      break;
+    case 0x21A:
+      datalayer.battery.status.CAN_battery_still_alive = CAN_STILL_ALIVE;
+      break;
+    case 0x235:
+      datalayer.battery.status.CAN_battery_still_alive = CAN_STILL_ALIVE;
+      break;
+    case 0x245:
+      datalayer.battery.status.CAN_battery_still_alive = CAN_STILL_ALIVE;
+      break;
+    case 0x25A:
+      datalayer.battery.status.CAN_battery_still_alive = CAN_STILL_ALIVE;
+      break;
+    case 0x275:
+      datalayer.battery.status.CAN_battery_still_alive = CAN_STILL_ALIVE;
+      break;
+    case 0x2FA:
+      datalayer.battery.status.CAN_battery_still_alive = CAN_STILL_ALIVE;
+      break;
+    case 0x325:
+      datalayer.battery.status.CAN_battery_still_alive = CAN_STILL_ALIVE;
+      break;
+    case 0x330:
+      datalayer.battery.status.CAN_battery_still_alive = CAN_STILL_ALIVE;
+      break;
+    case 0x335:
+      datalayer.battery.status.CAN_battery_still_alive = CAN_STILL_ALIVE;
+      break;
+    case 0x360:
+      datalayer.battery.status.CAN_battery_still_alive = CAN_STILL_ALIVE;
+      break;
+    case 0x365:
+      datalayer.battery.status.CAN_battery_still_alive = CAN_STILL_ALIVE;
+      break;
+    case 0x3BA:
+      datalayer.battery.status.CAN_battery_still_alive = CAN_STILL_ALIVE;
+      break;
+    case 0x3F5:
+      datalayer.battery.status.CAN_battery_still_alive = CAN_STILL_ALIVE;
+      break;
+    case 0x7EC:
+      // print_canfd_frame(frame);
+      switch (rx_frame.data.u8[0]) {
+        case 0x10:  //"PID Header"
+          // logging.println ("Send ack");
+          poll_data_pid = rx_frame.data.u8[4];
+          // if (rx_frame.data.u8[4] == poll_data_pid) {
+          transmit_can_frame(&KIA64FD_ack);  //Send ack to BMS if the same frame is sent as polled
+          // }
+          break;
+        case 0x21:  //First frame in PID group
+          if (poll_data_pid == 1) {
+            allowedChargePower = ((rx_frame.data.u8[3] << 8) + rx_frame.data.u8[4]);
+            allowedDischargePower = ((rx_frame.data.u8[5] << 8) + rx_frame.data.u8[6]);
+            SOC_BMS = rx_frame.data.u8[2] * 5;  //100% = 200 ( 200 * 5 = 1000 )
+
+          } else if (poll_data_pid == 2) {
+            // set cell voltages data, start bite, data length from start, start cell
+            write_cell_voltages(rx_frame, 2, 6, 0);
+          } else if (poll_data_pid == 3) {
+            write_cell_voltages(rx_frame, 2, 6, 32);
+          } else if (poll_data_pid == 4) {
+            write_cell_voltages(rx_frame, 2, 6, 64);
+          } else if (poll_data_pid == 0x0A) {
+            write_cell_voltages(rx_frame, 2, 6, 96);
+          } else if (poll_data_pid == 0x0B) {
+            write_cell_voltages(rx_frame, 2, 6, 128);
+          } else if (poll_data_pid == 0x0C) {
+            write_cell_voltages(rx_frame, 2, 6, 160);
+          }
+          break;
+        case 0x22:  //Second datarow in PID group
+          if (poll_data_pid == 1) {
+            batteryVoltage = (rx_frame.data.u8[3] << 8) + rx_frame.data.u8[4];
+            batteryAmps = (rx_frame.data.u8[1] << 8) + rx_frame.data.u8[2];
+            temperatureMax = rx_frame.data.u8[5];
+            temperatureMin = rx_frame.data.u8[6];
+            // temp1 = rx_frame.data.u8[7];
+          } else if (poll_data_pid == 2) {
+            write_cell_voltages(rx_frame, 1, 7, 6);
+          } else if (poll_data_pid == 3) {
+            write_cell_voltages(rx_frame, 1, 7, 38);
+          } else if (poll_data_pid == 4) {
+            write_cell_voltages(rx_frame, 1, 7, 70);
+          } else if (poll_data_pid == 0x0A) {
+            write_cell_voltages(rx_frame, 1, 7, 102);
+          } else if (poll_data_pid == 0x0B) {
+            write_cell_voltages(rx_frame, 1, 7, 134);
+          } else if (poll_data_pid == 0x0C) {
+            write_cell_voltages(rx_frame, 1, 7, 166);
+          } else if (poll_data_pid == 6) {
+            batteryManagementMode = rx_frame.data.u8[5];
+          }
+          break;
+        case 0x23:  //Third datarow in PID group
+          if (poll_data_pid == 1) {
+            temperature_water_inlet = rx_frame.data.u8[6];
+            CellVoltMax_mV = (rx_frame.data.u8[7] * 20);  //(volts *50) *20 =mV
+            // temp2 = rx_frame.data.u8[1];
+            // temp3 = rx_frame.data.u8[2];
+            // temp4 = rx_frame.data.u8[3];
+          } else if (poll_data_pid == 2) {
+            write_cell_voltages(rx_frame, 1, 7, 13);
+          } else if (poll_data_pid == 3) {
+            write_cell_voltages(rx_frame, 1, 7, 45);
+          } else if (poll_data_pid == 4) {
+            write_cell_voltages(rx_frame, 1, 7, 77);
+          } else if (poll_data_pid == 0x0A) {
+            write_cell_voltages(rx_frame, 1, 7, 109);
+          } else if (poll_data_pid == 0x0B) {
+            write_cell_voltages(rx_frame, 1, 7, 141);
+          } else if (poll_data_pid == 0x0C) {
+            write_cell_voltages(rx_frame, 1, 7, 173);
+          } else if (poll_data_pid == 5) {
+            // ac = rx_frame.data.u8[3];
+            // Vdiff = rx_frame.data.u8[4];
+
+            // airbag = rx_frame.data.u8[6];
+            heatertemp = rx_frame.data.u8[7];
+          }
+          break;
+        case 0x24:  //Fourth datarow in PID group
+          if (poll_data_pid == 1) {
+            CellVmaxNo = rx_frame.data.u8[1];
+            CellVoltMin_mV = (rx_frame.data.u8[2] * 20);  //(volts *50) *20 =mV
+            CellVminNo = rx_frame.data.u8[3];
+            // fanMod = rx_frame.data.u8[4];
+            // fanSpeed = rx_frame.data.u8[5];
+            leadAcidBatteryVoltage = rx_frame.data.u8[6];  //12v Battery Volts
+            //cumulative_charge_current[0] = rx_frame.data.u8[7];
+          } else if (poll_data_pid == 2) {
+            write_cell_voltages(rx_frame, 1, 7, 20);
+          } else if (poll_data_pid == 3) {
+            write_cell_voltages(rx_frame, 1, 7, 52);
+          } else if (poll_data_pid == 4) {
+            write_cell_voltages(rx_frame, 1, 7, 84);
+          } else if (poll_data_pid == 0x0A) {
+            write_cell_voltages(rx_frame, 1, 7, 116);
+          } else if (poll_data_pid == 0x0B) {
+            write_cell_voltages(rx_frame, 1, 7, 148);
+          } else if (poll_data_pid == 0x0C) {
+            write_cell_voltages(rx_frame, 1, 7, 180);
+          } else if (poll_data_pid == 5) {
+            batterySOH = ((rx_frame.data.u8[2] << 8) + rx_frame.data.u8[3]);
+            // maxDetCell = rx_frame.data.u8[4];
+            // minDet = (rx_frame.data.u8[5] << 8) + rx_frame.data.u8[6];
+            // minDetCell = rx_frame.data.u8[7];
+          }
+          break;
+        case 0x25:  //Fifth datarow in PID group
+          if (poll_data_pid == 1) {
+            //cumulative_charge_current[1] = rx_frame.data.u8[1];
+            //cumulative_charge_current[2] = rx_frame.data.u8[2];
+            //cumulative_charge_current[3] = rx_frame.data.u8[3];
+            //cumulative_discharge_current[0] = rx_frame.data.u8[4];
+            //cumulative_discharge_current[1] = rx_frame.data.u8[5];
+            //cumulative_discharge_current[2] = rx_frame.data.u8[6];
+            //cumulative_discharge_current[3] = rx_frame.data.u8[7];
+            //set_cumulative_charge_current();
+            //set_cumulative_discharge_current();
+          } else if (poll_data_pid == 2) {
+            write_cell_voltages(rx_frame, 1, 5, 27);
+          } else if (poll_data_pid == 3) {
+            write_cell_voltages(rx_frame, 1, 5, 59);
+          } else if (poll_data_pid == 4) {
+            write_cell_voltages(rx_frame, 1, 5, 91);
+          } else if (poll_data_pid == 0x0A) {
+            write_cell_voltages(rx_frame, 1, 5, 123);
+          } else if (poll_data_pid == 0x0B) {
+            write_cell_voltages(rx_frame, 1, 5, 155);
+          } else if (poll_data_pid == 0x0C) {
+            write_cell_voltages(rx_frame, 1, 5, 187);
+            //set_cell_count();
+          } else if (poll_data_pid == 5) {
+            // datalayer.battery.info.number_of_cells = 98;
+            SOC_Display = rx_frame.data.u8[1] * 5;
+          }
+          break;
+        case 0x26:  //Sixth datarow in PID group
+          if (poll_data_pid == 1) {
+            //cumulative_energy_charged[0] = rx_frame.data.u8[1];
+            // cumulative_energy_charged[1] = rx_frame.data.u8[2];
+            //cumulative_energy_charged[2] = rx_frame.data.u8[3];
+            //cumulative_energy_charged[3] = rx_frame.data.u8[4];
+            //cumulative_energy_discharged[0] = rx_frame.data.u8[5];
+            //cumulative_energy_discharged[1] = rx_frame.data.u8[6];
+            //cumulative_energy_discharged[2] = rx_frame.data.u8[7];
+            // set_cumulative_energy_charged();
+          }
+          break;
+        case 0x27:  //Seventh datarow in PID group
+          if (poll_data_pid == 1) {
+            //cumulative_energy_discharged[3] = rx_frame.data.u8[1];
+
+            //opTimeBytes[0] = rx_frame.data.u8[2];
+            //opTimeBytes[1] = rx_frame.data.u8[3];
+            //opTimeBytes[2] = rx_frame.data.u8[4];
+            //opTimeBytes[3] = rx_frame.data.u8[5];
+
+            BMS_ign = rx_frame.data.u8[6];
+            inverterVoltageFrameHigh = rx_frame.data.u8[7];  // BMS Capacitoir
+
+            // set_cumulative_energy_discharged();
+            // set_opTime();
+          }
+          break;
+        case 0x28:  //Eighth datarow in PID group
+          if (poll_data_pid == 1) {
+            inverterVoltage = (inverterVoltageFrameHigh << 8) + rx_frame.data.u8[1];  // BMS Capacitoir
+          }
+          break;
+      }
+      break;
+    default:
+      break;
+  }
+}
+
+void Kia64FDBattery::transmit_can(unsigned long currentMillis) {
+  if (startedUp) {
+    //Send Contactor closing message loop
+    // Check if we still have messages to send
+    if (messageIndex < sizeof(messageDelays) / sizeof(messageDelays[0])) {
+
+      // Check if it's time to send the next message
+      if (currentMillis - startMillis >= messageDelays[messageIndex]) {
+
+        // Transmit the current message
+        transmit_can_frame(messages[messageIndex]);
+
+        // Move to the next message
+        messageIndex++;
+      }
+    }
+
+    if (messageIndex >= 63) {
+      startMillis = currentMillis;  // Start over!
+      messageIndex = 0;
+    }
+
+    //Send 200ms CANFD message
+    if (currentMillis - previousMillis200ms >= INTERVAL_200_MS) {
+      previousMillis200ms = currentMillis;
+
+      KIA64FD_7E4.data.u8[3] = KIA_7E4_COUNTER;
+
+      if (ok_start_polling_battery) {
+        transmit_can_frame(&KIA64FD_7E4);
+      }
+
+      KIA_7E4_COUNTER++;
+      if (KIA_7E4_COUNTER > 0x0D) {  // gets up to 0x010C before repeating
+        KIA_7E4_COUNTER = 0x01;
+      }
+    }
+    //Send 10s CANFD message
+    if (currentMillis - previousMillis10s >= INTERVAL_10_S) {
+      previousMillis10s = currentMillis;
+
+      ok_start_polling_battery = true;
+    }
+  }
+}
+
+void Kia64FDBattery::setup(void) {  // Performs one time setup at startup
+  strncpy(datalayer.system.info.battery_protocol, Name, 63);
+  datalayer.system.info.battery_protocol[63] = '\0';
+  datalayer.system.status.battery_allows_contactor_closing = true;
+  datalayer.battery.info.number_of_cells = 96;
+  datalayer.battery.info.max_design_voltage_dV = MAX_PACK_VOLTAGE_DV;
+  datalayer.battery.info.min_design_voltage_dV = MIN_PACK_VOLTAGE_DV;
+  datalayer.battery.info.max_cell_voltage_mV = MAX_CELL_VOLTAGE_MV;
+  datalayer.battery.info.min_cell_voltage_mV = MIN_CELL_VOLTAGE_MV;
+  datalayer.battery.info.max_cell_voltage_deviation_mV = MAX_CELL_DEVIATION_MV;
+}
diff --git a/Software/src/battery/KIA-64FD-BATTERY.h b/Software/src/battery/KIA-64FD-BATTERY.h
new file mode 100644
index 00000000..2b2806c9
--- /dev/null
+++ b/Software/src/battery/KIA-64FD-BATTERY.h
@@ -0,0 +1,635 @@
+#ifndef KIA_64_FD_BATTERY_H
+#define KIA_64_FD_BATTERY_H
+#include <Arduino.h>
+#include "CanBattery.h"
+
+#define ESTIMATE_SOC_FROM_CELLVOLTAGE
+
+#ifdef KIA_HYUNDAI_64_FD_BATTERY
+#define SELECTED_BATTERY_CLASS Kia64FDBattery
+#endif
+
+class Kia64FDBattery : public CanBattery {
+ public:
+  virtual void setup(void);
+  virtual void handle_incoming_can_frame(CAN_frame rx_frame);
+  virtual void update_values();
+  virtual void transmit_can(unsigned long currentMillis);
+  static constexpr const char* Name = "Kia 64kWh FD battery";
+
+ private:
+  uint16_t estimateSOC(uint16_t packVoltage, uint16_t cellCount, int16_t currentAmps);
+  uint16_t estimateSOCFromCell(uint16_t cellVoltage);
+  uint8_t calculateCRC(CAN_frame rx_frame, uint8_t length, uint8_t initial_value);
+  uint16_t selectSOC(uint16_t SOC_low, uint16_t SOC_high);
+
+  static const int MAX_PACK_VOLTAGE_DV = 4032;  //5000 = 500.0V
+  static const int MIN_PACK_VOLTAGE_DV = 2400;
+  static const int MAX_CELL_DEVIATION_MV = 150;
+  static const int MAX_CELL_VOLTAGE_MV = 4250;  //Battery is put into emergency stop if one cell goes over this value
+  static const int MIN_CELL_VOLTAGE_MV = 2950;  //Battery is put into emergency stop if one cell goes below this value
+  static const int MAXCHARGEPOWERALLOWED = 10000;
+  static const int MAXDISCHARGEPOWERALLOWED = 10000;
+  static const int RAMPDOWN_SOC = 9000;  // 90.00 SOC% to start ramping down from max charge power towards 0 at 100.00%
+  static const int RAMPDOWNPOWERALLOWED = 10000;  // What power we ramp down from towards top balancing
+
+  // Used for SoC compensation - Define internal resistance value in milliohms for the entire pack
+  // How to calculate: voltage_drop_under_known_load [Volts] / load [Amps] = Resistance
+  static const int PACK_INTERNAL_RESISTANCE_MOHM = 200;  // 200 milliohms for the whole pack
+
+  unsigned long previousMillis200ms = 0;  // will store last time a 200ms CAN Message was send
+  unsigned long previousMillis10s = 0;    // will store last time a 10s CAN Message was send
+
+  uint16_t inverterVoltageFrameHigh = 0;
+  uint16_t inverterVoltage = 0;
+  uint16_t soc_calculated = 0;
+  uint16_t SOC_BMS = 0;
+  uint16_t SOC_Display = 0;
+  uint16_t SOC_estimated_lowest = 0;
+  uint16_t SOC_estimated_highest = 0;
+  uint16_t batterySOH = 1000;
+  uint16_t CellVoltMax_mV = 3700;
+  uint16_t CellVoltMin_mV = 3700;
+  uint16_t batteryVoltage = 0;
+  int16_t leadAcidBatteryVoltage = 120;
+  int16_t batteryAmps = 0;
+  int16_t temperatureMax = 0;
+  int16_t temperatureMin = 0;
+  int16_t allowedDischargePower = 0;
+  int16_t allowedChargePower = 0;
+  int16_t poll_data_pid = 0;
+  uint8_t CellVmaxNo = 0;
+  uint8_t CellVminNo = 0;
+  uint8_t batteryManagementMode = 0;
+  uint8_t BMS_ign = 0;
+  bool startedUp = false;
+  bool ok_start_polling_battery = false;
+  uint8_t KIA_7E4_COUNTER = 0x01;
+  int8_t temperature_water_inlet = 0;
+  int8_t heatertemp = 0;
+  unsigned long startMillis = 0;
+  uint8_t messageIndex = 0;
+
+  const unsigned char crc8_table[256] = {
+      // CRC8_SAE_J1850_ZER0 formula,0x1D Poly,initial value 0x3F,Final XOR value varies
+      0x00, 0x1D, 0x3A, 0x27, 0x74, 0x69, 0x4E, 0x53, 0xE8, 0xF5, 0xD2, 0xCF, 0x9C, 0x81, 0xA6, 0xBB, 0xCD, 0xD0, 0xF7,
+      0xEA, 0xB9, 0xA4, 0x83, 0x9E, 0x25, 0x38, 0x1F, 0x02, 0x51, 0x4C, 0x6B, 0x76, 0x87, 0x9A, 0xBD, 0xA0, 0xF3, 0xEE,
+      0xC9, 0xD4, 0x6F, 0x72, 0x55, 0x48, 0x1B, 0x06, 0x21, 0x3C, 0x4A, 0x57, 0x70, 0x6D, 0x3E, 0x23, 0x04, 0x19, 0xA2,
+      0xBF, 0x98, 0x85, 0xD6, 0xCB, 0xEC, 0xF1, 0x13, 0x0E, 0x29, 0x34, 0x67, 0x7A, 0x5D, 0x40, 0xFB, 0xE6, 0xC1, 0xDC,
+      0x8F, 0x92, 0xB5, 0xA8, 0xDE, 0xC3, 0xE4, 0xF9, 0xAA, 0xB7, 0x90, 0x8D, 0x36, 0x2B, 0x0C, 0x11, 0x42, 0x5F, 0x78,
+      0x65, 0x94, 0x89, 0xAE, 0xB3, 0xE0, 0xFD, 0xDA, 0xC7, 0x7C, 0x61, 0x46, 0x5B, 0x08, 0x15, 0x32, 0x2F, 0x59, 0x44,
+      0x63, 0x7E, 0x2D, 0x30, 0x17, 0x0A, 0xB1, 0xAC, 0x8B, 0x96, 0xC5, 0xD8, 0xFF, 0xE2, 0x26, 0x3B, 0x1C, 0x01, 0x52,
+      0x4F, 0x68, 0x75, 0xCE, 0xD3, 0xF4, 0xE9, 0xBA, 0xA7, 0x80, 0x9D, 0xEB, 0xF6, 0xD1, 0xCC, 0x9F, 0x82, 0xA5, 0xB8,
+      0x03, 0x1E, 0x39, 0x24, 0x77, 0x6A, 0x4D, 0x50, 0xA1, 0xBC, 0x9B, 0x86, 0xD5, 0xC8, 0xEF, 0xF2, 0x49, 0x54, 0x73,
+      0x6E, 0x3D, 0x20, 0x07, 0x1A, 0x6C, 0x71, 0x56, 0x4B, 0x18, 0x05, 0x22, 0x3F, 0x84, 0x99, 0xBE, 0xA3, 0xF0, 0xED,
+      0xCA, 0xD7, 0x35, 0x28, 0x0F, 0x12, 0x41, 0x5C, 0x7B, 0x66, 0xDD, 0xC0, 0xE7, 0xFA, 0xA9, 0xB4, 0x93, 0x8E, 0xF8,
+      0xE5, 0xC2, 0xDF, 0x8C, 0x91, 0xB6, 0xAB, 0x10, 0x0D, 0x2A, 0x37, 0x64, 0x79, 0x5E, 0x43, 0xB2, 0xAF, 0x88, 0x95,
+      0xC6, 0xDB, 0xFC, 0xE1, 0x5A, 0x47, 0x60, 0x7D, 0x2E, 0x33, 0x14, 0x09, 0x7F, 0x62, 0x45, 0x58, 0x0B, 0x16, 0x31,
+      0x2C, 0x97, 0x8A, 0xAD, 0xB0, 0xE3, 0xFE, 0xD9, 0xC4};
+
+  // Define the data points for %SOC depending on cell voltage
+  const uint8_t numPoints = 100;
+
+  const uint16_t SOC[101] = {10000, 9900, 9800, 9700, 9600, 9500, 9400, 9300, 9200, 9100, 9000, 8900, 8800, 8700, 8600,
+                             8500,  8400, 8300, 8200, 8100, 8000, 7900, 7800, 7700, 7600, 7500, 7400, 7300, 7200, 7100,
+                             7000,  6900, 6800, 6700, 6600, 6500, 6400, 6300, 6200, 6100, 6000, 5900, 5800, 5700, 5600,
+                             5500,  5400, 5300, 5200, 5100, 5000, 4900, 4800, 4700, 4600, 4500, 4400, 4300, 4200, 4100,
+                             4000,  3900, 3800, 3700, 3600, 3500, 3400, 3300, 3200, 3100, 3000, 2900, 2800, 2700, 2600,
+                             2500,  2400, 2300, 2200, 2100, 2000, 1900, 1800, 1700, 1600, 1500, 1400, 1300, 1200, 1100,
+                             1000,  900,  800,  700,  600,  500,  400,  300,  200,  100,  0};
+
+  const uint16_t voltage[101] = {
+      4200, 4173, 4148, 4124, 4102, 4080, 4060, 4041, 4023, 4007, 3993, 3980, 3969, 3959, 3953, 3950, 3941,
+      3932, 3924, 3915, 3907, 3898, 3890, 3881, 3872, 3864, 3855, 3847, 3838, 3830, 3821, 3812, 3804, 3795,
+      3787, 3778, 3770, 3761, 3752, 3744, 3735, 3727, 3718, 3710, 3701, 3692, 3684, 3675, 3667, 3658, 3650,
+      3641, 3632, 3624, 3615, 3607, 3598, 3590, 3581, 3572, 3564, 3555, 3547, 3538, 3530, 3521, 3512, 3504,
+      3495, 3487, 3478, 3470, 3461, 3452, 3444, 3435, 3427, 3418, 3410, 3401, 3392, 3384, 3375, 3367, 3358,
+      3350, 3338, 3325, 3313, 3299, 3285, 3271, 3255, 3239, 3221, 3202, 3180, 3156, 3127, 3090, 3000};
+  /* These messages are needed for contactor closing */
+  uint8_t messageDelays[63] = {0,   0,   5,   10,  10,  15,  19,  19,  20,  20,  25,  30,  30,  35,  40,  40,
+                               45,  49,  49,  50,  50,  52,  53,  53,  54,  55,  60,  60,  65,  67,  67,  70,
+                               70,  75,  77,  77,  80,  80,  85,  90,  90,  95,  100, 100, 105, 110, 110, 115,
+                               119, 119, 120, 120, 125, 130, 130, 135, 140, 140, 145, 149, 149, 150, 150};
+  static constexpr CAN_frame message_1 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x10A,
+      .data = {0x62, 0x36, 0x8c, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x36, 0x39, 0x35, 0x35,
+               0xc9, 0x02, 0x00, 0x00, 0x10, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
+
+  static constexpr CAN_frame message_2 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x120,
+      .data = {0xd4, 0x1b, 0x8c, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x37, 0x35, 0x37, 0x37,
+               0xc9, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
+
+  static constexpr CAN_frame message_3 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x19A,
+      .data = {0x24, 0x9b, 0x7b, 0x55, 0x44, 0x64, 0xd8, 0x1b, 0x40, 0x20, 0x00, 0x00, 0x00, 0x00, 0x11, 0x52,
+               0x00, 0x12, 0x02, 0x64, 0x00, 0x00, 0x00, 0x08, 0x13, 0x00, 0x00, 0x00, 0x00, 0x32, 0x00, 0x00}};
+
+  static constexpr CAN_frame message_4 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x10A,
+      .data = {0x24, 0x6f, 0x8d, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x36, 0x39, 0x35, 0x35,
+               0xc9, 0x02, 0x00, 0x00, 0x10, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
+
+  static constexpr CAN_frame message_5 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x120,
+      .data = {0x92, 0x42, 0x8d, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x37, 0x35, 0x37, 0x37,
+               0xc9, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
+
+  static constexpr CAN_frame message_6 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x19A,
+      .data = {0xd7, 0x05, 0x7c, 0x55, 0x44, 0x64, 0xd8, 0x1b, 0x40, 0x20, 0x00, 0x00, 0x00, 0x00, 0x11, 0x52,
+               0x00, 0x12, 0x02, 0x64, 0x00, 0x00, 0x00, 0x08, 0x13, 0x00, 0x00, 0x00, 0x00, 0x32, 0x00, 0x00}};
+
+  static constexpr CAN_frame message_7 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x30A,
+      .data = {0xb1, 0xe0, 0x26, 0x08, 0x54, 0x01, 0x04, 0x15, 0x00, 0x1a, 0x76, 0x00, 0x25, 0x01, 0x10, 0x27,
+               0x4f, 0x06, 0x18, 0x04, 0x33, 0x15, 0x34, 0x28, 0x00, 0x00, 0x10, 0x06, 0x21, 0x00, 0x4b, 0x06}};
+
+  static constexpr CAN_frame message_8 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x320,
+      .data = {0xc6, 0xab, 0x26, 0x41, 0x00, 0x00, 0x01, 0x3c, 0xac, 0x0d, 0x40, 0x20, 0x05, 0xc8, 0xa0, 0x03,
+               0x40, 0x20, 0x2b, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}};
+
+  static constexpr CAN_frame message_9 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x10A,
+      .data = {0xee, 0x84, 0x8e, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x36, 0x39, 0x35, 0x35,
+               0xc9, 0x02, 0x00, 0x00, 0x10, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
+
+  static constexpr CAN_frame message_10 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x120,
+      .data = {0x58, 0xa9, 0x8e, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x37, 0x35, 0x37, 0x37,
+               0xc9, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
+  static constexpr CAN_frame message_11 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x19A,
+      .data = {0x91, 0x5c, 0x7d, 0x55, 0x44, 0x64, 0xd8, 0x1b, 0x40, 0x20, 0x00, 0x00, 0x00, 0x00, 0x11, 0x52,
+               0x00, 0x12, 0x02, 0x64, 0x00, 0x00, 0x00, 0x08, 0x13, 0x00, 0x00, 0x00, 0x00, 0x32, 0x00, 0x00}};
+
+  static constexpr CAN_frame message_12 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x10A,
+      .data = {0xa8, 0xdd, 0x8f, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x36, 0x39, 0x35, 0x35,
+               0xc9, 0x02, 0x00, 0x00, 0x10, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
+
+  static constexpr CAN_frame message_13 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x120,
+      .data = {0x1e, 0xf0, 0x8f, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x37, 0x35, 0x37, 0x37,
+               0xc9, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
+
+  static constexpr CAN_frame message_14 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x19A,
+      .data = {0x5b, 0xb7, 0x7e, 0x55, 0x44, 0x64, 0xd8, 0x1b, 0x40, 0x20, 0x00, 0x00, 0x00, 0x00, 0x11, 0x52,
+               0x00, 0x12, 0x02, 0x64, 0x00, 0x00, 0x00, 0x08, 0x13, 0x00, 0x00, 0x00, 0x00, 0x32, 0x00, 0x00}};
+
+  static constexpr CAN_frame message_15 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x10A,
+      .data = {0xec, 0x6d, 0x90, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x36, 0x39, 0x35, 0x35,
+               0xc9, 0x02, 0x00, 0x00, 0x10, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
+
+  static constexpr CAN_frame message_16 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x120,
+      .data = {0x5a, 0x40, 0x90, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x37, 0x35, 0x37, 0x37,
+               0xc9, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
+
+  static constexpr CAN_frame message_17 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x19A,
+      .data = {0x1d, 0xee, 0x7f, 0x55, 0x44, 0x64, 0xd8, 0x1b, 0x40, 0x20, 0x00, 0x00, 0x00, 0x00, 0x11, 0x52,
+               0x00, 0x12, 0x02, 0x64, 0x00, 0x00, 0x00, 0x08, 0x13, 0x00, 0x00, 0x00, 0x00, 0x32, 0x00, 0x00}};
+
+  static constexpr CAN_frame message_18 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x2B5,
+      .data = {0xbd, 0xb2, 0x42, 0x00, 0x00, 0x00, 0x00, 0x80, 0x59, 0x00, 0x2b, 0x00, 0x00, 0x04, 0x00, 0x00,
+               0xfa, 0xd0, 0x07, 0x00, 0x00, 0x00, 0x00, 0x00, 0x8f, 0x06, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}};
+
+  static constexpr CAN_frame message_19 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x2E0,
+      .data = {0xc1, 0xf2, 0x42, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x7e, 0x00, 0x00,
+               0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x70, 0x01, 0x0f, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}};
+
+  static constexpr CAN_frame message_20 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x10A,
+      .data = {0xaa, 0x34, 0x91, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x36, 0x39, 0x35, 0x35,
+               0xc9, 0x02, 0x00, 0x00, 0x10, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
+  static constexpr CAN_frame message_21 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x120,
+      .data = {0x1c, 0x19, 0x91, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x37, 0x35, 0x37, 0x37,
+               0xc9, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
+
+  static constexpr CAN_frame message_22 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x2D5,
+      .data = {0x79, 0xfb, 0xa0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0b, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00,
+               0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0x34, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}};
+
+  static constexpr CAN_frame message_23 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x2EA,
+      .data = {0x6e, 0xbb, 0xa0, 0x0d, 0x04, 0x01, 0x00, 0x00, 0x38, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+               0xc7, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}};
+
+  static constexpr CAN_frame message_24 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x306,
+      .data = {0x00, 0x00, 0x00, 0xd2, 0x06, 0x92, 0x05, 0x34, 0x07, 0x8e, 0x08, 0x73, 0x05, 0x80, 0x05, 0x83,
+               0x05, 0x73, 0x05, 0x80, 0x05, 0xed, 0x01, 0xdd, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}};
+
+  static constexpr CAN_frame message_25 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x308,
+      .data = {0xbe, 0x84, 0xa0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xff,
+               0x75, 0x6c, 0x86, 0x0d, 0xfb, 0xdf, 0x03, 0x36, 0xc3, 0x86, 0x11, 0x00, 0x00, 0x00, 0x00, 0x00}};
+
+  static constexpr CAN_frame message_26 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x19A,
+      .data = {0x6b, 0xa2, 0x80, 0x55, 0x44, 0x64, 0xd8, 0x1b, 0x40, 0x20, 0x00, 0x00, 0x00, 0x00, 0x11, 0x52,
+               0x00, 0x12, 0x02, 0x64, 0x00, 0x00, 0x00, 0x08, 0x13, 0x00, 0x00, 0x00, 0x00, 0x32, 0x00, 0x00}};
+
+  static constexpr CAN_frame message_27 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x10A,
+      .data = {0x60, 0xdf, 0x92, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x36, 0x39, 0x35, 0x35,
+               0xc9, 0x02, 0x00, 0x00, 0x10, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
+
+  static constexpr CAN_frame message_28 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x120,
+      .data = {0xd6, 0xf2, 0x92, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x37, 0x35, 0x37, 0x37,
+               0xc9, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
+
+  static constexpr CAN_frame message_29 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x19A,
+      .data = {0x2d, 0xfb, 0x81, 0x55, 0x44, 0x64, 0xd8, 0x1b, 0x40, 0x20, 0x00, 0x00, 0x00, 0x00, 0x11, 0x52,
+               0x00, 0x12, 0x02, 0x64, 0x00, 0x00, 0x00, 0x08, 0x13, 0x00, 0x00, 0x00, 0x00, 0x32, 0x00, 0x00}};
+
+  static constexpr CAN_frame message_30 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x33A,
+      .data = {0x1a, 0x23, 0x26, 0x10, 0x27, 0x4f, 0x06, 0x00, 0xf8, 0x1b, 0x19, 0x04, 0x30, 0x01, 0x00, 0x06,
+               0x00, 0x00, 0x00, 0x2e, 0x2d, 0x81, 0x25, 0x20, 0x00, 0x42, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}};
+  static constexpr CAN_frame message_31 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x350,
+      .data = {0x26, 0x82, 0x26, 0xf4, 0x01, 0x00, 0x00, 0x50, 0x90, 0x15, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+               0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}};
+
+  static constexpr CAN_frame message_32 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x10A,
+      .data = {0x26, 0x86, 0x93, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x36, 0x39, 0x35, 0x35,
+               0xc9, 0x02, 0x00, 0x00, 0x10, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
+
+  static constexpr CAN_frame message_33 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x120,
+      .data = {0x90, 0xab, 0x93, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x37, 0x35, 0x37, 0x37,
+               0xc9, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
+
+  static constexpr CAN_frame message_34 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x19A,
+      .data = {0xe7, 0x10, 0x82, 0x55, 0x44, 0x64, 0xd8, 0x1b, 0x40, 0x20, 0x00, 0x00, 0x00, 0x00, 0x11, 0x52,
+               0x00, 0x12, 0x02, 0x64, 0x00, 0x00, 0x00, 0x08, 0x13, 0x00, 0x00, 0x00, 0x00, 0x32, 0x00, 0x00}};
+
+  static constexpr CAN_frame message_35 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x2E5,
+      .data = {0x69, 0x8a, 0x3f, 0x01, 0x00, 0x00, 0x00, 0x15, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+               0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}};
+
+  static constexpr CAN_frame message_36 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x3B5,
+      .data = {0xa3, 0xc8, 0x9f, 0x00, 0x00, 0x00, 0x00, 0x36, 0x37, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+               0xc7, 0x02, 0x00, 0x00, 0x00, 0x00, 0x6a, 0x09, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}};
+
+  static constexpr CAN_frame message_37 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x10A,
+      .data = {0xd5, 0x18, 0x94, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x36, 0x39, 0x35, 0x35,
+               0xc9, 0x02, 0x00, 0x00, 0x10, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
+
+  static constexpr CAN_frame message_38 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x120,
+      .data = {0x63, 0x35, 0x94, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x37, 0x35, 0x37, 0x37,
+               0xc9, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
+
+  static constexpr CAN_frame message_39 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x19A,
+      .data = {0xa1, 0x49, 0x83, 0x55, 0x44, 0x64, 0xd8, 0x1b, 0x40, 0x20, 0x00, 0x00, 0x00, 0x00, 0x11, 0x52,
+               0x00, 0x12, 0x02, 0x64, 0x00, 0x00, 0x00, 0x08, 0x13, 0x00, 0x00, 0x00, 0x00, 0x32, 0x00, 0x00}};
+
+  static constexpr CAN_frame message_40 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x10A,
+      .data = {0x93, 0x41, 0x95, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x36, 0x39, 0x35, 0x35,
+               0xc9, 0x02, 0x00, 0x00, 0x10, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
+  static constexpr CAN_frame message_41 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x120,
+      .data = {0x25, 0x6c, 0x95, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x37, 0x35, 0x37, 0x37,
+               0xc9, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
+
+  static constexpr CAN_frame message_42 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x19A,
+      .data = {0x52, 0xd7, 0x84, 0x55, 0x44, 0x64, 0xd8, 0x1b, 0x40, 0x20, 0x00, 0x00, 0x00, 0x00, 0x11, 0x52,
+               0x00, 0x12, 0x02, 0x64, 0x00, 0x00, 0x00, 0x08, 0x13, 0x00, 0x00, 0x00, 0x00, 0x32, 0x00, 0x00}};
+
+  static constexpr CAN_frame message_43 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x10A,
+      .data = {0x59, 0xaa, 0x96, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x36, 0x39, 0x35, 0x35,
+               0xc9, 0x02, 0x00, 0x00, 0x10, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
+
+  static constexpr CAN_frame message_44 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x120,
+      .data = {0xef, 0x87, 0x96, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x37, 0x35, 0x37, 0x37,
+               0xc9, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
+
+  static constexpr CAN_frame message_45 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x19A,
+      .data = {0x14, 0x8e, 0x85, 0x55, 0x44, 0x64, 0xd8, 0x1b, 0x40, 0x20, 0x00, 0x00, 0x00, 0x00, 0x11, 0x52,
+               0x00, 0x12, 0x02, 0x64, 0x00, 0x00, 0x00, 0x08, 0x13, 0x00, 0x00, 0x00, 0x00, 0x32, 0x00, 0x00}};
+
+  static constexpr CAN_frame message_46 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x10A,
+      .data = {0x1f, 0xf3, 0x97, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x36, 0x39, 0x35, 0x35,
+               0xc9, 0x02, 0x00, 0x00, 0x10, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
+
+  static constexpr CAN_frame message_47 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x120,
+      .data = {0xa9, 0xde, 0x97, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x37, 0x35, 0x37, 0x37,
+               0xc9, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
+
+  static constexpr CAN_frame message_48 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x19A,
+      .data = {0xde, 0x65, 0x86, 0x55, 0x44, 0x64, 0xd8, 0x1b, 0x40, 0x20, 0x00, 0x00, 0x00, 0x00, 0x11, 0x52,
+               0x00, 0x12, 0x02, 0x64, 0x00, 0x00, 0x00, 0x08, 0x13, 0x00, 0x00, 0x00, 0x00, 0x32, 0x00, 0x00}};
+
+  static constexpr CAN_frame message_49 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x30A,
+      .data = {0xd3, 0x11, 0x27, 0x08, 0x54, 0x01, 0x04, 0x15, 0x00, 0x1a, 0x76, 0x00, 0x25, 0x01, 0x10, 0x27,
+               0x4f, 0x06, 0x19, 0x04, 0x33, 0x15, 0x34, 0x28, 0x00, 0x00, 0x10, 0x06, 0x21, 0x00, 0x4b, 0x06}};
+
+  static constexpr CAN_frame message_50 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x320,
+      .data = {0x80, 0xf2, 0x27, 0x41, 0x00, 0x00, 0x01, 0x3c, 0xac, 0x0d, 0x40, 0x20, 0x05, 0xc8, 0xa0, 0x03,
+               0x40, 0x20, 0x2b, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}};
+  static constexpr CAN_frame message_51 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x10A,
+      .data = {0x9e, 0x87, 0x98, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x36, 0x39, 0x35, 0x35,
+               0xc9, 0x02, 0x00, 0x00, 0x10, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
+
+  static constexpr CAN_frame message_52 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x120,
+      .data = {0x28, 0xaa, 0x98, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x37, 0x35, 0x37, 0x37,
+               0xc9, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
+
+  static constexpr CAN_frame message_53 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x19A,
+      .data = {0x98, 0x3c, 0x87, 0x55, 0x44, 0x64, 0xd8, 0x1b, 0x40, 0x20, 0x00, 0x00, 0x00, 0x00, 0x11, 0x52,
+               0x00, 0x12, 0x02, 0x64, 0x00, 0x00, 0x00, 0x08, 0x13, 0x00, 0x00, 0x00, 0x00, 0x32, 0x00, 0x00}};
+
+  static constexpr CAN_frame message_54 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x10A,
+      .data = {0xd8, 0xde, 0x99, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x36, 0x39, 0x35, 0x35,
+               0xc9, 0x02, 0x00, 0x00, 0x10, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
+
+  static constexpr CAN_frame message_55 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x120,
+      .data = {0x6e, 0xf3, 0x99, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x37, 0x35, 0x37, 0x37,
+               0xc9, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
+
+  static constexpr CAN_frame message_56 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x19A,
+      .data = {0x19, 0x48, 0x88, 0x55, 0x44, 0x64, 0xd8, 0x1b, 0x40, 0x20, 0x00, 0x00, 0x00, 0x00, 0x11, 0x52,
+               0x00, 0x12, 0x02, 0x64, 0x00, 0x00, 0x00, 0x08, 0x13, 0x00, 0x00, 0x00, 0x00, 0x32, 0x00, 0x00}};
+
+  static constexpr CAN_frame message_57 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x10A,
+      .data = {0x12, 0x35, 0x9a, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x36, 0x39, 0x35, 0x35,
+               0xc9, 0x02, 0x00, 0x00, 0x10, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
+
+  static constexpr CAN_frame message_58 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x120,
+      .data = {0xa4, 0x18, 0x9a, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x37, 0x35, 0x37, 0x37,
+               0xc9, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
+
+  static constexpr CAN_frame message_59 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x19A,
+      .data = {0x5f, 0x11, 0x89, 0x55, 0x44, 0x64, 0xd8, 0x1b, 0x40, 0x20, 0x00, 0x00, 0x00, 0x00, 0x11, 0x52,
+               0x00, 0x12, 0x02, 0x64, 0x00, 0x00, 0x00, 0x08, 0x13, 0x00, 0x00, 0x00, 0x00, 0x32, 0x00, 0x00}};
+
+  static constexpr CAN_frame message_60 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x2B5,
+      .data = {0xfb, 0xeb, 0x43, 0x00, 0x00, 0x00, 0x00, 0x80, 0x59, 0x00, 0x2b, 0x00, 0x00, 0x04, 0x00, 0x00,
+               0xfa, 0xd0, 0x07, 0x00, 0x00, 0x00, 0x00, 0x00, 0x8f, 0x06, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}};
+
+  static constexpr CAN_frame message_61 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x2C0,
+      .data = {0xcc, 0xcd, 0xa2, 0x21, 0x00, 0xa1, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x7d, 0x00,
+               0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}};
+
+  static constexpr CAN_frame message_62 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x2E0,
+      .data = {0x87, 0xab, 0x43, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x7e, 0x00, 0x00,
+               0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x70, 0x01, 0x0f, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}};
+
+  static constexpr CAN_frame message_63 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x10A,
+      .data = {0x54, 0x6c, 0x9b, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x36, 0x39, 0x35, 0x35,
+               0xc9, 0x02, 0x00, 0x00, 0x10, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
+  const CAN_frame* messages[64] = {
+      &message_1,  &message_2,  &message_3,  &message_4,  &message_5,  &message_6,  &message_7,  &message_8,
+      &message_9,  &message_10, &message_11, &message_12, &message_13, &message_14, &message_15, &message_16,
+      &message_17, &message_18, &message_19, &message_20, &message_21, &message_22, &message_23, &message_24,
+      &message_25, &message_26, &message_27, &message_28, &message_29, &message_30, &message_31, &message_32,
+      &message_33, &message_34, &message_35, &message_36, &message_37, &message_38, &message_39, &message_40,
+      &message_41, &message_42, &message_43, &message_44, &message_45, &message_46, &message_47, &message_48,
+      &message_49, &message_50, &message_51, &message_52, &message_53, &message_54, &message_55, &message_56,
+      &message_57, &message_58, &message_59, &message_60, &message_61, &message_62, &message_63};
+
+  /* PID polling messages */
+  CAN_frame KIA64FD_7E4 = {.FD = true,
+                           .ext_ID = false,
+                           .DLC = 8,
+                           .ID = 0x7E4,
+                           .data = {0x03, 0x22, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00}};  //Poll PID 03 22 01 01
+  CAN_frame KIA64FD_ack = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 8,
+      .ID = 0x7E4,
+      .data = {0x30, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}};  //Ack frame, correct PID is returned
+};
+
+#endif
diff --git a/Software/src/battery/KIA-E-GMP-BATTERY.h b/Software/src/battery/KIA-E-GMP-BATTERY.h
index bf1c769e..b807db4c 100644
--- a/Software/src/battery/KIA-E-GMP-BATTERY.h
+++ b/Software/src/battery/KIA-E-GMP-BATTERY.h
@@ -82,8 +82,6 @@ class KiaEGmpBattery : public CanBattery {
   int8_t heatertemp = 20;
   bool set_voltage_limits = false;
   uint8_t ticks_200ms_counter = 0;
-  uint8_t EGMP_1CF_counter = 0;
-  uint8_t EGMP_3XF_counter = 0;
 };
 
 #endif

From 2888402e5de4da553895b0279fc350831fd74c81 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Daniel=20=C3=96ster?= <dalathegreat@gmail.com>
Date: Thu, 21 Aug 2025 20:06:48 +0300
Subject: [PATCH 2/2] Move variables to private section

---
 Software/src/battery/KIA-E-GMP-BATTERY.cpp | 575 +--------------------
 Software/src/battery/KIA-E-GMP-BATTERY.h   | 509 +++++++++++++++++-
 2 files changed, 513 insertions(+), 571 deletions(-)

diff --git a/Software/src/battery/KIA-E-GMP-BATTERY.cpp b/Software/src/battery/KIA-E-GMP-BATTERY.cpp
index 9a91a760..a4c8bd95 100644
--- a/Software/src/battery/KIA-E-GMP-BATTERY.cpp
+++ b/Software/src/battery/KIA-E-GMP-BATTERY.cpp
@@ -6,45 +6,8 @@
 #include "../devboard/utils/logging.h"
 #include "../system_settings.h"
 
-const unsigned char crc8_table[256] =
-    {  // CRC8_SAE_J1850_ZER0 formula,0x1D Poly,initial value 0x3F,Final XOR value varies
-        0x00, 0x1D, 0x3A, 0x27, 0x74, 0x69, 0x4E, 0x53, 0xE8, 0xF5, 0xD2, 0xCF, 0x9C, 0x81, 0xA6, 0xBB, 0xCD, 0xD0,
-        0xF7, 0xEA, 0xB9, 0xA4, 0x83, 0x9E, 0x25, 0x38, 0x1F, 0x02, 0x51, 0x4C, 0x6B, 0x76, 0x87, 0x9A, 0xBD, 0xA0,
-        0xF3, 0xEE, 0xC9, 0xD4, 0x6F, 0x72, 0x55, 0x48, 0x1B, 0x06, 0x21, 0x3C, 0x4A, 0x57, 0x70, 0x6D, 0x3E, 0x23,
-        0x04, 0x19, 0xA2, 0xBF, 0x98, 0x85, 0xD6, 0xCB, 0xEC, 0xF1, 0x13, 0x0E, 0x29, 0x34, 0x67, 0x7A, 0x5D, 0x40,
-        0xFB, 0xE6, 0xC1, 0xDC, 0x8F, 0x92, 0xB5, 0xA8, 0xDE, 0xC3, 0xE4, 0xF9, 0xAA, 0xB7, 0x90, 0x8D, 0x36, 0x2B,
-        0x0C, 0x11, 0x42, 0x5F, 0x78, 0x65, 0x94, 0x89, 0xAE, 0xB3, 0xE0, 0xFD, 0xDA, 0xC7, 0x7C, 0x61, 0x46, 0x5B,
-        0x08, 0x15, 0x32, 0x2F, 0x59, 0x44, 0x63, 0x7E, 0x2D, 0x30, 0x17, 0x0A, 0xB1, 0xAC, 0x8B, 0x96, 0xC5, 0xD8,
-        0xFF, 0xE2, 0x26, 0x3B, 0x1C, 0x01, 0x52, 0x4F, 0x68, 0x75, 0xCE, 0xD3, 0xF4, 0xE9, 0xBA, 0xA7, 0x80, 0x9D,
-        0xEB, 0xF6, 0xD1, 0xCC, 0x9F, 0x82, 0xA5, 0xB8, 0x03, 0x1E, 0x39, 0x24, 0x77, 0x6A, 0x4D, 0x50, 0xA1, 0xBC,
-        0x9B, 0x86, 0xD5, 0xC8, 0xEF, 0xF2, 0x49, 0x54, 0x73, 0x6E, 0x3D, 0x20, 0x07, 0x1A, 0x6C, 0x71, 0x56, 0x4B,
-        0x18, 0x05, 0x22, 0x3F, 0x84, 0x99, 0xBE, 0xA3, 0xF0, 0xED, 0xCA, 0xD7, 0x35, 0x28, 0x0F, 0x12, 0x41, 0x5C,
-        0x7B, 0x66, 0xDD, 0xC0, 0xE7, 0xFA, 0xA9, 0xB4, 0x93, 0x8E, 0xF8, 0xE5, 0xC2, 0xDF, 0x8C, 0x91, 0xB6, 0xAB,
-        0x10, 0x0D, 0x2A, 0x37, 0x64, 0x79, 0x5E, 0x43, 0xB2, 0xAF, 0x88, 0x95, 0xC6, 0xDB, 0xFC, 0xE1, 0x5A, 0x47,
-        0x60, 0x7D, 0x2E, 0x33, 0x14, 0x09, 0x7F, 0x62, 0x45, 0x58, 0x0B, 0x16, 0x31, 0x2C, 0x97, 0x8A, 0xAD, 0xB0,
-        0xE3, 0xFE, 0xD9, 0xC4};
-
-// Define the data points for %SOC depending on cell voltage
-const uint8_t numPoints = 100;
-
-const uint16_t SOC[] = {10000, 9900, 9800, 9700, 9600, 9500, 9400, 9300, 9200, 9100, 9000, 8900, 8800, 8700, 8600,
-                        8500,  8400, 8300, 8200, 8100, 8000, 7900, 7800, 7700, 7600, 7500, 7400, 7300, 7200, 7100,
-                        7000,  6900, 6800, 6700, 6600, 6500, 6400, 6300, 6200, 6100, 6000, 5900, 5800, 5700, 5600,
-                        5500,  5400, 5300, 5200, 5100, 5000, 4900, 4800, 4700, 4600, 4500, 4400, 4300, 4200, 4100,
-                        4000,  3900, 3800, 3700, 3600, 3500, 3400, 3300, 3200, 3100, 3000, 2900, 2800, 2700, 2600,
-                        2500,  2400, 2300, 2200, 2100, 2000, 1900, 1800, 1700, 1600, 1500, 1400, 1300, 1200, 1100,
-                        1000,  900,  800,  700,  600,  500,  400,  300,  200,  100,  0};
-
-const uint16_t voltage[] = {4200, 4173, 4148, 4124, 4102, 4080, 4060, 4041, 4023, 4007, 3993, 3980, 3969, 3959, 3953,
-                            3950, 3941, 3932, 3924, 3915, 3907, 3898, 3890, 3881, 3872, 3864, 3855, 3847, 3838, 3830,
-                            3821, 3812, 3804, 3795, 3787, 3778, 3770, 3761, 3752, 3744, 3735, 3727, 3718, 3710, 3701,
-                            3692, 3684, 3675, 3667, 3658, 3650, 3641, 3632, 3624, 3615, 3607, 3598, 3590, 3581, 3572,
-                            3564, 3555, 3547, 3538, 3530, 3521, 3512, 3504, 3495, 3487, 3478, 3470, 3461, 3452, 3444,
-                            3435, 3427, 3418, 3410, 3401, 3392, 3384, 3375, 3367, 3358, 3350, 3338, 3325, 3313, 3299,
-                            3285, 3271, 3255, 3239, 3221, 3202, 3180, 3156, 3127, 3090, 3000};
-
 // Function to estimate SOC based on cell voltage
-uint16_t estimateSOCFromCell(uint16_t cellVoltage) {
+uint16_t KiaEGmpBattery::estimateSOCFromCell(uint16_t cellVoltage) {
   if (cellVoltage >= voltage[0]) {
     return SOC[0];
   }
@@ -111,7 +74,7 @@ uint16_t KiaEGmpBattery::estimateSOC(uint16_t packVoltage, uint16_t cellCount, i
 }
 
 // Fix: Change parameter types to uint16_t to match SOC values
-uint16_t selectSOC(uint16_t SOC_low, uint16_t SOC_high) {
+uint16_t KiaEGmpBattery::selectSOC(uint16_t SOC_low, uint16_t SOC_high) {
   if (SOC_low == 0 || SOC_high == 0) {
     return 0;  // If either value is 0, return 0
   }
@@ -121,534 +84,7 @@ uint16_t selectSOC(uint16_t SOC_low, uint16_t SOC_high) {
   return (SOC_low < SOC_high) ? SOC_low : SOC_high;  // Otherwise, return the lowest value
 }
 
-/* These messages are needed for contactor closing */
-unsigned long startMillis = 0;
-uint8_t messageIndex = 0;
-uint8_t messageDelays[63] = {0,   0,   5,   10,  10,  15,  19,  19,  20,  20,  25,  30,  30,  35,  40,  40,
-                             45,  49,  49,  50,  50,  52,  53,  53,  54,  55,  60,  60,  65,  67,  67,  70,
-                             70,  75,  77,  77,  80,  80,  85,  90,  90,  95,  100, 100, 105, 110, 110, 115,
-                             119, 119, 120, 120, 125, 130, 130, 135, 140, 140, 145, 149, 149, 150, 150};
-static constexpr CAN_frame message_1 = {
-    .FD = true,
-    .ext_ID = false,
-    .DLC = 32,
-    .ID = 0x10A,
-    .data = {0x62, 0x36, 0x8c, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x36, 0x39, 0x35, 0x35,
-             0xc9, 0x02, 0x00, 0x00, 0x10, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
-
-static constexpr CAN_frame message_2 = {
-    .FD = true,
-    .ext_ID = false,
-    .DLC = 32,
-    .ID = 0x120,
-    .data = {0xd4, 0x1b, 0x8c, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x37, 0x35, 0x37, 0x37,
-             0xc9, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
-
-static constexpr CAN_frame message_3 = {
-    .FD = true,
-    .ext_ID = false,
-    .DLC = 32,
-    .ID = 0x19A,
-    .data = {0x24, 0x9b, 0x7b, 0x55, 0x44, 0x64, 0xd8, 0x1b, 0x40, 0x20, 0x00, 0x00, 0x00, 0x00, 0x11, 0x52,
-             0x00, 0x12, 0x02, 0x64, 0x00, 0x00, 0x00, 0x08, 0x13, 0x00, 0x00, 0x00, 0x00, 0x32, 0x00, 0x00}};
-
-static constexpr CAN_frame message_4 = {
-    .FD = true,
-    .ext_ID = false,
-    .DLC = 32,
-    .ID = 0x10A,
-    .data = {0x24, 0x6f, 0x8d, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x36, 0x39, 0x35, 0x35,
-             0xc9, 0x02, 0x00, 0x00, 0x10, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
-
-static constexpr CAN_frame message_5 = {
-    .FD = true,
-    .ext_ID = false,
-    .DLC = 32,
-    .ID = 0x120,
-    .data = {0x92, 0x42, 0x8d, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x37, 0x35, 0x37, 0x37,
-             0xc9, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
-
-static constexpr CAN_frame message_6 = {
-    .FD = true,
-    .ext_ID = false,
-    .DLC = 32,
-    .ID = 0x19A,
-    .data = {0xd7, 0x05, 0x7c, 0x55, 0x44, 0x64, 0xd8, 0x1b, 0x40, 0x20, 0x00, 0x00, 0x00, 0x00, 0x11, 0x52,
-             0x00, 0x12, 0x02, 0x64, 0x00, 0x00, 0x00, 0x08, 0x13, 0x00, 0x00, 0x00, 0x00, 0x32, 0x00, 0x00}};
-
-static constexpr CAN_frame message_7 = {
-    .FD = true,
-    .ext_ID = false,
-    .DLC = 32,
-    .ID = 0x30A,
-    .data = {0xb1, 0xe0, 0x26, 0x08, 0x54, 0x01, 0x04, 0x15, 0x00, 0x1a, 0x76, 0x00, 0x25, 0x01, 0x10, 0x27,
-             0x4f, 0x06, 0x18, 0x04, 0x33, 0x15, 0x34, 0x28, 0x00, 0x00, 0x10, 0x06, 0x21, 0x00, 0x4b, 0x06}};
-
-static constexpr CAN_frame message_8 = {
-    .FD = true,
-    .ext_ID = false,
-    .DLC = 32,
-    .ID = 0x320,
-    .data = {0xc6, 0xab, 0x26, 0x41, 0x00, 0x00, 0x01, 0x3c, 0xac, 0x0d, 0x40, 0x20, 0x05, 0xc8, 0xa0, 0x03,
-             0x40, 0x20, 0x2b, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}};
-
-static constexpr CAN_frame message_9 = {
-    .FD = true,
-    .ext_ID = false,
-    .DLC = 32,
-    .ID = 0x10A,
-    .data = {0xee, 0x84, 0x8e, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x36, 0x39, 0x35, 0x35,
-             0xc9, 0x02, 0x00, 0x00, 0x10, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
-
-static constexpr CAN_frame message_10 = {
-    .FD = true,
-    .ext_ID = false,
-    .DLC = 32,
-    .ID = 0x120,
-    .data = {0x58, 0xa9, 0x8e, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x37, 0x35, 0x37, 0x37,
-             0xc9, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
-static constexpr CAN_frame message_11 = {
-    .FD = true,
-    .ext_ID = false,
-    .DLC = 32,
-    .ID = 0x19A,
-    .data = {0x91, 0x5c, 0x7d, 0x55, 0x44, 0x64, 0xd8, 0x1b, 0x40, 0x20, 0x00, 0x00, 0x00, 0x00, 0x11, 0x52,
-             0x00, 0x12, 0x02, 0x64, 0x00, 0x00, 0x00, 0x08, 0x13, 0x00, 0x00, 0x00, 0x00, 0x32, 0x00, 0x00}};
-
-static constexpr CAN_frame message_12 = {
-    .FD = true,
-    .ext_ID = false,
-    .DLC = 32,
-    .ID = 0x10A,
-    .data = {0xa8, 0xdd, 0x8f, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x36, 0x39, 0x35, 0x35,
-             0xc9, 0x02, 0x00, 0x00, 0x10, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
-
-static constexpr CAN_frame message_13 = {
-    .FD = true,
-    .ext_ID = false,
-    .DLC = 32,
-    .ID = 0x120,
-    .data = {0x1e, 0xf0, 0x8f, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x37, 0x35, 0x37, 0x37,
-             0xc9, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
-
-static constexpr CAN_frame message_14 = {
-    .FD = true,
-    .ext_ID = false,
-    .DLC = 32,
-    .ID = 0x19A,
-    .data = {0x5b, 0xb7, 0x7e, 0x55, 0x44, 0x64, 0xd8, 0x1b, 0x40, 0x20, 0x00, 0x00, 0x00, 0x00, 0x11, 0x52,
-             0x00, 0x12, 0x02, 0x64, 0x00, 0x00, 0x00, 0x08, 0x13, 0x00, 0x00, 0x00, 0x00, 0x32, 0x00, 0x00}};
-
-static constexpr CAN_frame message_15 = {
-    .FD = true,
-    .ext_ID = false,
-    .DLC = 32,
-    .ID = 0x10A,
-    .data = {0xec, 0x6d, 0x90, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x36, 0x39, 0x35, 0x35,
-             0xc9, 0x02, 0x00, 0x00, 0x10, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
-
-static constexpr CAN_frame message_16 = {
-    .FD = true,
-    .ext_ID = false,
-    .DLC = 32,
-    .ID = 0x120,
-    .data = {0x5a, 0x40, 0x90, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x37, 0x35, 0x37, 0x37,
-             0xc9, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
-
-static constexpr CAN_frame message_17 = {
-    .FD = true,
-    .ext_ID = false,
-    .DLC = 32,
-    .ID = 0x19A,
-    .data = {0x1d, 0xee, 0x7f, 0x55, 0x44, 0x64, 0xd8, 0x1b, 0x40, 0x20, 0x00, 0x00, 0x00, 0x00, 0x11, 0x52,
-             0x00, 0x12, 0x02, 0x64, 0x00, 0x00, 0x00, 0x08, 0x13, 0x00, 0x00, 0x00, 0x00, 0x32, 0x00, 0x00}};
-
-static constexpr CAN_frame message_18 = {
-    .FD = true,
-    .ext_ID = false,
-    .DLC = 32,
-    .ID = 0x2B5,
-    .data = {0xbd, 0xb2, 0x42, 0x00, 0x00, 0x00, 0x00, 0x80, 0x59, 0x00, 0x2b, 0x00, 0x00, 0x04, 0x00, 0x00,
-             0xfa, 0xd0, 0x07, 0x00, 0x00, 0x00, 0x00, 0x00, 0x8f, 0x06, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}};
-
-static constexpr CAN_frame message_19 = {
-    .FD = true,
-    .ext_ID = false,
-    .DLC = 32,
-    .ID = 0x2E0,
-    .data = {0xc1, 0xf2, 0x42, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x7e, 0x00, 0x00,
-             0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x70, 0x01, 0x0f, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}};
-
-static constexpr CAN_frame message_20 = {
-    .FD = true,
-    .ext_ID = false,
-    .DLC = 32,
-    .ID = 0x10A,
-    .data = {0xaa, 0x34, 0x91, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x36, 0x39, 0x35, 0x35,
-             0xc9, 0x02, 0x00, 0x00, 0x10, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
-static constexpr CAN_frame message_21 = {
-    .FD = true,
-    .ext_ID = false,
-    .DLC = 32,
-    .ID = 0x120,
-    .data = {0x1c, 0x19, 0x91, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x37, 0x35, 0x37, 0x37,
-             0xc9, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
-
-static constexpr CAN_frame message_22 = {
-    .FD = true,
-    .ext_ID = false,
-    .DLC = 32,
-    .ID = 0x2D5,
-    .data = {0x79, 0xfb, 0xa0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0b, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00,
-             0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0x34, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}};
-
-static constexpr CAN_frame message_23 = {
-    .FD = true,
-    .ext_ID = false,
-    .DLC = 32,
-    .ID = 0x2EA,
-    .data = {0x6e, 0xbb, 0xa0, 0x0d, 0x04, 0x01, 0x00, 0x00, 0x38, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-             0xc7, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}};
-
-static constexpr CAN_frame message_24 = {
-    .FD = true,
-    .ext_ID = false,
-    .DLC = 32,
-    .ID = 0x306,
-    .data = {0x00, 0x00, 0x00, 0xd2, 0x06, 0x92, 0x05, 0x34, 0x07, 0x8e, 0x08, 0x73, 0x05, 0x80, 0x05, 0x83,
-             0x05, 0x73, 0x05, 0x80, 0x05, 0xed, 0x01, 0xdd, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}};
-
-static constexpr CAN_frame message_25 = {
-    .FD = true,
-    .ext_ID = false,
-    .DLC = 32,
-    .ID = 0x308,
-    .data = {0xbe, 0x84, 0xa0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xff,
-             0x75, 0x6c, 0x86, 0x0d, 0xfb, 0xdf, 0x03, 0x36, 0xc3, 0x86, 0x11, 0x00, 0x00, 0x00, 0x00, 0x00}};
-
-static constexpr CAN_frame message_26 = {
-    .FD = true,
-    .ext_ID = false,
-    .DLC = 32,
-    .ID = 0x19A,
-    .data = {0x6b, 0xa2, 0x80, 0x55, 0x44, 0x64, 0xd8, 0x1b, 0x40, 0x20, 0x00, 0x00, 0x00, 0x00, 0x11, 0x52,
-             0x00, 0x12, 0x02, 0x64, 0x00, 0x00, 0x00, 0x08, 0x13, 0x00, 0x00, 0x00, 0x00, 0x32, 0x00, 0x00}};
-
-static constexpr CAN_frame message_27 = {
-    .FD = true,
-    .ext_ID = false,
-    .DLC = 32,
-    .ID = 0x10A,
-    .data = {0x60, 0xdf, 0x92, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x36, 0x39, 0x35, 0x35,
-             0xc9, 0x02, 0x00, 0x00, 0x10, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
-
-static constexpr CAN_frame message_28 = {
-    .FD = true,
-    .ext_ID = false,
-    .DLC = 32,
-    .ID = 0x120,
-    .data = {0xd6, 0xf2, 0x92, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x37, 0x35, 0x37, 0x37,
-             0xc9, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
-
-static constexpr CAN_frame message_29 = {
-    .FD = true,
-    .ext_ID = false,
-    .DLC = 32,
-    .ID = 0x19A,
-    .data = {0x2d, 0xfb, 0x81, 0x55, 0x44, 0x64, 0xd8, 0x1b, 0x40, 0x20, 0x00, 0x00, 0x00, 0x00, 0x11, 0x52,
-             0x00, 0x12, 0x02, 0x64, 0x00, 0x00, 0x00, 0x08, 0x13, 0x00, 0x00, 0x00, 0x00, 0x32, 0x00, 0x00}};
-
-static constexpr CAN_frame message_30 = {
-    .FD = true,
-    .ext_ID = false,
-    .DLC = 32,
-    .ID = 0x33A,
-    .data = {0x1a, 0x23, 0x26, 0x10, 0x27, 0x4f, 0x06, 0x00, 0xf8, 0x1b, 0x19, 0x04, 0x30, 0x01, 0x00, 0x06,
-             0x00, 0x00, 0x00, 0x2e, 0x2d, 0x81, 0x25, 0x20, 0x00, 0x42, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}};
-static constexpr CAN_frame message_31 = {
-    .FD = true,
-    .ext_ID = false,
-    .DLC = 32,
-    .ID = 0x350,
-    .data = {0x26, 0x82, 0x26, 0xf4, 0x01, 0x00, 0x00, 0x50, 0x90, 0x15, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-             0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}};
-
-static constexpr CAN_frame message_32 = {
-    .FD = true,
-    .ext_ID = false,
-    .DLC = 32,
-    .ID = 0x10A,
-    .data = {0x26, 0x86, 0x93, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x36, 0x39, 0x35, 0x35,
-             0xc9, 0x02, 0x00, 0x00, 0x10, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
-
-static constexpr CAN_frame message_33 = {
-    .FD = true,
-    .ext_ID = false,
-    .DLC = 32,
-    .ID = 0x120,
-    .data = {0x90, 0xab, 0x93, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x37, 0x35, 0x37, 0x37,
-             0xc9, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
-
-static constexpr CAN_frame message_34 = {
-    .FD = true,
-    .ext_ID = false,
-    .DLC = 32,
-    .ID = 0x19A,
-    .data = {0xe7, 0x10, 0x82, 0x55, 0x44, 0x64, 0xd8, 0x1b, 0x40, 0x20, 0x00, 0x00, 0x00, 0x00, 0x11, 0x52,
-             0x00, 0x12, 0x02, 0x64, 0x00, 0x00, 0x00, 0x08, 0x13, 0x00, 0x00, 0x00, 0x00, 0x32, 0x00, 0x00}};
-
-static constexpr CAN_frame message_35 = {
-    .FD = true,
-    .ext_ID = false,
-    .DLC = 32,
-    .ID = 0x2E5,
-    .data = {0x69, 0x8a, 0x3f, 0x01, 0x00, 0x00, 0x00, 0x15, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-             0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}};
-
-static constexpr CAN_frame message_36 = {
-    .FD = true,
-    .ext_ID = false,
-    .DLC = 32,
-    .ID = 0x3B5,
-    .data = {0xa3, 0xc8, 0x9f, 0x00, 0x00, 0x00, 0x00, 0x36, 0x37, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-             0xc7, 0x02, 0x00, 0x00, 0x00, 0x00, 0x6a, 0x09, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}};
-
-static constexpr CAN_frame message_37 = {
-    .FD = true,
-    .ext_ID = false,
-    .DLC = 32,
-    .ID = 0x10A,
-    .data = {0xd5, 0x18, 0x94, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x36, 0x39, 0x35, 0x35,
-             0xc9, 0x02, 0x00, 0x00, 0x10, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
-
-static constexpr CAN_frame message_38 = {
-    .FD = true,
-    .ext_ID = false,
-    .DLC = 32,
-    .ID = 0x120,
-    .data = {0x63, 0x35, 0x94, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x37, 0x35, 0x37, 0x37,
-             0xc9, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
-
-static constexpr CAN_frame message_39 = {
-    .FD = true,
-    .ext_ID = false,
-    .DLC = 32,
-    .ID = 0x19A,
-    .data = {0xa1, 0x49, 0x83, 0x55, 0x44, 0x64, 0xd8, 0x1b, 0x40, 0x20, 0x00, 0x00, 0x00, 0x00, 0x11, 0x52,
-             0x00, 0x12, 0x02, 0x64, 0x00, 0x00, 0x00, 0x08, 0x13, 0x00, 0x00, 0x00, 0x00, 0x32, 0x00, 0x00}};
-
-static constexpr CAN_frame message_40 = {
-    .FD = true,
-    .ext_ID = false,
-    .DLC = 32,
-    .ID = 0x10A,
-    .data = {0x93, 0x41, 0x95, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x36, 0x39, 0x35, 0x35,
-             0xc9, 0x02, 0x00, 0x00, 0x10, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
-static constexpr CAN_frame message_41 = {
-    .FD = true,
-    .ext_ID = false,
-    .DLC = 32,
-    .ID = 0x120,
-    .data = {0x25, 0x6c, 0x95, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x37, 0x35, 0x37, 0x37,
-             0xc9, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
-
-static constexpr CAN_frame message_42 = {
-    .FD = true,
-    .ext_ID = false,
-    .DLC = 32,
-    .ID = 0x19A,
-    .data = {0x52, 0xd7, 0x84, 0x55, 0x44, 0x64, 0xd8, 0x1b, 0x40, 0x20, 0x00, 0x00, 0x00, 0x00, 0x11, 0x52,
-             0x00, 0x12, 0x02, 0x64, 0x00, 0x00, 0x00, 0x08, 0x13, 0x00, 0x00, 0x00, 0x00, 0x32, 0x00, 0x00}};
-
-static constexpr CAN_frame message_43 = {
-    .FD = true,
-    .ext_ID = false,
-    .DLC = 32,
-    .ID = 0x10A,
-    .data = {0x59, 0xaa, 0x96, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x36, 0x39, 0x35, 0x35,
-             0xc9, 0x02, 0x00, 0x00, 0x10, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
-
-static constexpr CAN_frame message_44 = {
-    .FD = true,
-    .ext_ID = false,
-    .DLC = 32,
-    .ID = 0x120,
-    .data = {0xef, 0x87, 0x96, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x37, 0x35, 0x37, 0x37,
-             0xc9, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
-
-static constexpr CAN_frame message_45 = {
-    .FD = true,
-    .ext_ID = false,
-    .DLC = 32,
-    .ID = 0x19A,
-    .data = {0x14, 0x8e, 0x85, 0x55, 0x44, 0x64, 0xd8, 0x1b, 0x40, 0x20, 0x00, 0x00, 0x00, 0x00, 0x11, 0x52,
-             0x00, 0x12, 0x02, 0x64, 0x00, 0x00, 0x00, 0x08, 0x13, 0x00, 0x00, 0x00, 0x00, 0x32, 0x00, 0x00}};
-
-static constexpr CAN_frame message_46 = {
-    .FD = true,
-    .ext_ID = false,
-    .DLC = 32,
-    .ID = 0x10A,
-    .data = {0x1f, 0xf3, 0x97, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x36, 0x39, 0x35, 0x35,
-             0xc9, 0x02, 0x00, 0x00, 0x10, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
-
-static constexpr CAN_frame message_47 = {
-    .FD = true,
-    .ext_ID = false,
-    .DLC = 32,
-    .ID = 0x120,
-    .data = {0xa9, 0xde, 0x97, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x37, 0x35, 0x37, 0x37,
-             0xc9, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
-
-static constexpr CAN_frame message_48 = {
-    .FD = true,
-    .ext_ID = false,
-    .DLC = 32,
-    .ID = 0x19A,
-    .data = {0xde, 0x65, 0x86, 0x55, 0x44, 0x64, 0xd8, 0x1b, 0x40, 0x20, 0x00, 0x00, 0x00, 0x00, 0x11, 0x52,
-             0x00, 0x12, 0x02, 0x64, 0x00, 0x00, 0x00, 0x08, 0x13, 0x00, 0x00, 0x00, 0x00, 0x32, 0x00, 0x00}};
-
-static constexpr CAN_frame message_49 = {
-    .FD = true,
-    .ext_ID = false,
-    .DLC = 32,
-    .ID = 0x30A,
-    .data = {0xd3, 0x11, 0x27, 0x08, 0x54, 0x01, 0x04, 0x15, 0x00, 0x1a, 0x76, 0x00, 0x25, 0x01, 0x10, 0x27,
-             0x4f, 0x06, 0x19, 0x04, 0x33, 0x15, 0x34, 0x28, 0x00, 0x00, 0x10, 0x06, 0x21, 0x00, 0x4b, 0x06}};
-
-static constexpr CAN_frame message_50 = {
-    .FD = true,
-    .ext_ID = false,
-    .DLC = 32,
-    .ID = 0x320,
-    .data = {0x80, 0xf2, 0x27, 0x41, 0x00, 0x00, 0x01, 0x3c, 0xac, 0x0d, 0x40, 0x20, 0x05, 0xc8, 0xa0, 0x03,
-             0x40, 0x20, 0x2b, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}};
-static constexpr CAN_frame message_51 = {
-    .FD = true,
-    .ext_ID = false,
-    .DLC = 32,
-    .ID = 0x10A,
-    .data = {0x9e, 0x87, 0x98, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x36, 0x39, 0x35, 0x35,
-             0xc9, 0x02, 0x00, 0x00, 0x10, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
-
-static constexpr CAN_frame message_52 = {
-    .FD = true,
-    .ext_ID = false,
-    .DLC = 32,
-    .ID = 0x120,
-    .data = {0x28, 0xaa, 0x98, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x37, 0x35, 0x37, 0x37,
-             0xc9, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
-
-static constexpr CAN_frame message_53 = {
-    .FD = true,
-    .ext_ID = false,
-    .DLC = 32,
-    .ID = 0x19A,
-    .data = {0x98, 0x3c, 0x87, 0x55, 0x44, 0x64, 0xd8, 0x1b, 0x40, 0x20, 0x00, 0x00, 0x00, 0x00, 0x11, 0x52,
-             0x00, 0x12, 0x02, 0x64, 0x00, 0x00, 0x00, 0x08, 0x13, 0x00, 0x00, 0x00, 0x00, 0x32, 0x00, 0x00}};
-
-static constexpr CAN_frame message_54 = {
-    .FD = true,
-    .ext_ID = false,
-    .DLC = 32,
-    .ID = 0x10A,
-    .data = {0xd8, 0xde, 0x99, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x36, 0x39, 0x35, 0x35,
-             0xc9, 0x02, 0x00, 0x00, 0x10, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
-
-static constexpr CAN_frame message_55 = {
-    .FD = true,
-    .ext_ID = false,
-    .DLC = 32,
-    .ID = 0x120,
-    .data = {0x6e, 0xf3, 0x99, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x37, 0x35, 0x37, 0x37,
-             0xc9, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
-
-static constexpr CAN_frame message_56 = {
-    .FD = true,
-    .ext_ID = false,
-    .DLC = 32,
-    .ID = 0x19A,
-    .data = {0x19, 0x48, 0x88, 0x55, 0x44, 0x64, 0xd8, 0x1b, 0x40, 0x20, 0x00, 0x00, 0x00, 0x00, 0x11, 0x52,
-             0x00, 0x12, 0x02, 0x64, 0x00, 0x00, 0x00, 0x08, 0x13, 0x00, 0x00, 0x00, 0x00, 0x32, 0x00, 0x00}};
-
-static constexpr CAN_frame message_57 = {
-    .FD = true,
-    .ext_ID = false,
-    .DLC = 32,
-    .ID = 0x10A,
-    .data = {0x12, 0x35, 0x9a, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x36, 0x39, 0x35, 0x35,
-             0xc9, 0x02, 0x00, 0x00, 0x10, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
-
-static constexpr CAN_frame message_58 = {
-    .FD = true,
-    .ext_ID = false,
-    .DLC = 32,
-    .ID = 0x120,
-    .data = {0xa4, 0x18, 0x9a, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x37, 0x35, 0x37, 0x37,
-             0xc9, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
-
-static constexpr CAN_frame message_59 = {
-    .FD = true,
-    .ext_ID = false,
-    .DLC = 32,
-    .ID = 0x19A,
-    .data = {0x5f, 0x11, 0x89, 0x55, 0x44, 0x64, 0xd8, 0x1b, 0x40, 0x20, 0x00, 0x00, 0x00, 0x00, 0x11, 0x52,
-             0x00, 0x12, 0x02, 0x64, 0x00, 0x00, 0x00, 0x08, 0x13, 0x00, 0x00, 0x00, 0x00, 0x32, 0x00, 0x00}};
-
-static constexpr CAN_frame message_60 = {
-    .FD = true,
-    .ext_ID = false,
-    .DLC = 32,
-    .ID = 0x2B5,
-    .data = {0xfb, 0xeb, 0x43, 0x00, 0x00, 0x00, 0x00, 0x80, 0x59, 0x00, 0x2b, 0x00, 0x00, 0x04, 0x00, 0x00,
-             0xfa, 0xd0, 0x07, 0x00, 0x00, 0x00, 0x00, 0x00, 0x8f, 0x06, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}};
-
-static constexpr CAN_frame message_61 = {
-    .FD = true,
-    .ext_ID = false,
-    .DLC = 32,
-    .ID = 0x2C0,
-    .data = {0xcc, 0xcd, 0xa2, 0x21, 0x00, 0xa1, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x7d, 0x00,
-             0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}};
-
-static constexpr CAN_frame message_62 = {
-    .FD = true,
-    .ext_ID = false,
-    .DLC = 32,
-    .ID = 0x2E0,
-    .data = {0x87, 0xab, 0x43, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x7e, 0x00, 0x00,
-             0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x70, 0x01, 0x0f, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}};
-
-static constexpr CAN_frame message_63 = {
-    .FD = true,
-    .ext_ID = false,
-    .DLC = 32,
-    .ID = 0x10A,
-    .data = {0x54, 0x6c, 0x9b, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x36, 0x39, 0x35, 0x35,
-             0xc9, 0x02, 0x00, 0x00, 0x10, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
-static const CAN_frame* messages[] = {
-    &message_1,  &message_2,  &message_3,  &message_4,  &message_5,  &message_6,  &message_7,  &message_8,
-    &message_9,  &message_10, &message_11, &message_12, &message_13, &message_14, &message_15, &message_16,
-    &message_17, &message_18, &message_19, &message_20, &message_21, &message_22, &message_23, &message_24,
-    &message_25, &message_26, &message_27, &message_28, &message_29, &message_30, &message_31, &message_32,
-    &message_33, &message_34, &message_35, &message_36, &message_37, &message_38, &message_39, &message_40,
-    &message_41, &message_42, &message_43, &message_44, &message_45, &message_46, &message_47, &message_48,
-    &message_49, &message_50, &message_51, &message_52, &message_53, &message_54, &message_55, &message_56,
-    &message_57, &message_58, &message_59, &message_60, &message_61, &message_62, &message_63};
-/* PID polling messages */
-CAN_frame EGMP_7E4 = {.FD = true,
-                      .ext_ID = false,
-                      .DLC = 8,
-                      .ID = 0x7E4,
-                      .data = {0x03, 0x22, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00}};  //Poll PID 03 22 01 01
-static constexpr CAN_frame EGMP_7E4_ack = {
-    .FD = true,
-    .ext_ID = false,
-    .DLC = 8,
-    .ID = 0x7E4,
-    .data = {0x30, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}};  //Ack frame, correct PID is returned
-
-void set_cell_voltages(CAN_frame rx_frame, int start, int length, int startCell) {
+void KiaEGmpBattery::set_cell_voltages(CAN_frame rx_frame, int start, int length, int startCell) {
   for (size_t i = 0; i < length; i++) {
     if ((rx_frame.data.u8[start + i] * 20) > 1000) {
       datalayer.battery.status.cell_voltages_mV[startCell + i] = (rx_frame.data.u8[start + i] * 20);
@@ -682,7 +118,7 @@ void KiaEGmpBattery::set_voltage_minmax_limits() {
   }
 }
 
-static uint8_t calculateCRC(CAN_frame rx_frame, uint8_t length, uint8_t initial_value) {
+uint8_t KiaEGmpBattery::calculateCRC(CAN_frame rx_frame, uint8_t length, uint8_t initial_value) {
   uint8_t crc = initial_value;
   for (uint8_t j = 1; j < length; j++) {  //start at 1, since 0 is the CRC
     crc = crc8_table[(crc ^ static_cast<uint8_t>(rx_frame.data.u8[j])) % 256];
@@ -690,8 +126,7 @@ static uint8_t calculateCRC(CAN_frame rx_frame, uint8_t length, uint8_t initial_
   return crc;
 }
 
-void KiaEGmpBattery::
-    update_values() {  //This function maps all the values fetched via CAN to the correct parameters used for modbus
+void KiaEGmpBattery::update_values() {
 
 #ifdef ESTIMATE_SOC_FROM_CELLVOLTAGE
   // Use the simplified pack-based SOC estimation with proper compensation
diff --git a/Software/src/battery/KIA-E-GMP-BATTERY.h b/Software/src/battery/KIA-E-GMP-BATTERY.h
index b807db4c..461f7d4a 100644
--- a/Software/src/battery/KIA-E-GMP-BATTERY.h
+++ b/Software/src/battery/KIA-E-GMP-BATTERY.h
@@ -30,6 +30,10 @@ class KiaEGmpBattery : public CanBattery {
  private:
   KiaEGMPHtmlRenderer renderer;
   uint16_t estimateSOC(uint16_t packVoltage, uint16_t cellCount, int16_t currentAmps);
+  uint16_t selectSOC(uint16_t SOC_low, uint16_t SOC_high);
+  uint16_t estimateSOCFromCell(uint16_t cellVoltage);
+  uint8_t calculateCRC(CAN_frame rx_frame, uint8_t length, uint8_t initial_value);
+  void set_cell_voltages(CAN_frame rx_frame, int start, int length, int startCell);
   void set_voltage_minmax_limits();
 
   static const int MAX_PACK_VOLTAGE_DV = 8064;  //5000 = 500.0V
@@ -81,7 +85,510 @@ class KiaEGmpBattery : public CanBattery {
   int8_t powerRelayTemperature = 10;
   int8_t heatertemp = 20;
   bool set_voltage_limits = false;
-  uint8_t ticks_200ms_counter = 0;
+
+  const unsigned char crc8_table[256] = {
+      // CRC8_SAE_J1850_ZER0 formula,0x1D Poly,initial value 0x3F,Final XOR value varies
+      0x00, 0x1D, 0x3A, 0x27, 0x74, 0x69, 0x4E, 0x53, 0xE8, 0xF5, 0xD2, 0xCF, 0x9C, 0x81, 0xA6, 0xBB, 0xCD, 0xD0, 0xF7,
+      0xEA, 0xB9, 0xA4, 0x83, 0x9E, 0x25, 0x38, 0x1F, 0x02, 0x51, 0x4C, 0x6B, 0x76, 0x87, 0x9A, 0xBD, 0xA0, 0xF3, 0xEE,
+      0xC9, 0xD4, 0x6F, 0x72, 0x55, 0x48, 0x1B, 0x06, 0x21, 0x3C, 0x4A, 0x57, 0x70, 0x6D, 0x3E, 0x23, 0x04, 0x19, 0xA2,
+      0xBF, 0x98, 0x85, 0xD6, 0xCB, 0xEC, 0xF1, 0x13, 0x0E, 0x29, 0x34, 0x67, 0x7A, 0x5D, 0x40, 0xFB, 0xE6, 0xC1, 0xDC,
+      0x8F, 0x92, 0xB5, 0xA8, 0xDE, 0xC3, 0xE4, 0xF9, 0xAA, 0xB7, 0x90, 0x8D, 0x36, 0x2B, 0x0C, 0x11, 0x42, 0x5F, 0x78,
+      0x65, 0x94, 0x89, 0xAE, 0xB3, 0xE0, 0xFD, 0xDA, 0xC7, 0x7C, 0x61, 0x46, 0x5B, 0x08, 0x15, 0x32, 0x2F, 0x59, 0x44,
+      0x63, 0x7E, 0x2D, 0x30, 0x17, 0x0A, 0xB1, 0xAC, 0x8B, 0x96, 0xC5, 0xD8, 0xFF, 0xE2, 0x26, 0x3B, 0x1C, 0x01, 0x52,
+      0x4F, 0x68, 0x75, 0xCE, 0xD3, 0xF4, 0xE9, 0xBA, 0xA7, 0x80, 0x9D, 0xEB, 0xF6, 0xD1, 0xCC, 0x9F, 0x82, 0xA5, 0xB8,
+      0x03, 0x1E, 0x39, 0x24, 0x77, 0x6A, 0x4D, 0x50, 0xA1, 0xBC, 0x9B, 0x86, 0xD5, 0xC8, 0xEF, 0xF2, 0x49, 0x54, 0x73,
+      0x6E, 0x3D, 0x20, 0x07, 0x1A, 0x6C, 0x71, 0x56, 0x4B, 0x18, 0x05, 0x22, 0x3F, 0x84, 0x99, 0xBE, 0xA3, 0xF0, 0xED,
+      0xCA, 0xD7, 0x35, 0x28, 0x0F, 0x12, 0x41, 0x5C, 0x7B, 0x66, 0xDD, 0xC0, 0xE7, 0xFA, 0xA9, 0xB4, 0x93, 0x8E, 0xF8,
+      0xE5, 0xC2, 0xDF, 0x8C, 0x91, 0xB6, 0xAB, 0x10, 0x0D, 0x2A, 0x37, 0x64, 0x79, 0x5E, 0x43, 0xB2, 0xAF, 0x88, 0x95,
+      0xC6, 0xDB, 0xFC, 0xE1, 0x5A, 0x47, 0x60, 0x7D, 0x2E, 0x33, 0x14, 0x09, 0x7F, 0x62, 0x45, 0x58, 0x0B, 0x16, 0x31,
+      0x2C, 0x97, 0x8A, 0xAD, 0xB0, 0xE3, 0xFE, 0xD9, 0xC4};
+  // Define the data points for %SOC depending on cell voltage
+  const uint8_t numPoints = 100;
+
+  const uint16_t SOC[101] = {10000, 9900, 9800, 9700, 9600, 9500, 9400, 9300, 9200, 9100, 9000, 8900, 8800, 8700, 8600,
+                             8500,  8400, 8300, 8200, 8100, 8000, 7900, 7800, 7700, 7600, 7500, 7400, 7300, 7200, 7100,
+                             7000,  6900, 6800, 6700, 6600, 6500, 6400, 6300, 6200, 6100, 6000, 5900, 5800, 5700, 5600,
+                             5500,  5400, 5300, 5200, 5100, 5000, 4900, 4800, 4700, 4600, 4500, 4400, 4300, 4200, 4100,
+                             4000,  3900, 3800, 3700, 3600, 3500, 3400, 3300, 3200, 3100, 3000, 2900, 2800, 2700, 2600,
+                             2500,  2400, 2300, 2200, 2100, 2000, 1900, 1800, 1700, 1600, 1500, 1400, 1300, 1200, 1100,
+                             1000,  900,  800,  700,  600,  500,  400,  300,  200,  100,  0};
+
+  const uint16_t voltage[101] = {
+      4200, 4173, 4148, 4124, 4102, 4080, 4060, 4041, 4023, 4007, 3993, 3980, 3969, 3959, 3953, 3950, 3941,
+      3932, 3924, 3915, 3907, 3898, 3890, 3881, 3872, 3864, 3855, 3847, 3838, 3830, 3821, 3812, 3804, 3795,
+      3787, 3778, 3770, 3761, 3752, 3744, 3735, 3727, 3718, 3710, 3701, 3692, 3684, 3675, 3667, 3658, 3650,
+      3641, 3632, 3624, 3615, 3607, 3598, 3590, 3581, 3572, 3564, 3555, 3547, 3538, 3530, 3521, 3512, 3504,
+      3495, 3487, 3478, 3470, 3461, 3452, 3444, 3435, 3427, 3418, 3410, 3401, 3392, 3384, 3375, 3367, 3358,
+      3350, 3338, 3325, 3313, 3299, 3285, 3271, 3255, 3239, 3221, 3202, 3180, 3156, 3127, 3090, 3000};
+  /* These messages are needed for contactor closing */
+  unsigned long startMillis = 0;
+  uint8_t messageIndex = 0;
+  uint8_t messageDelays[63] = {0,   0,   5,   10,  10,  15,  19,  19,  20,  20,  25,  30,  30,  35,  40,  40,
+                               45,  49,  49,  50,  50,  52,  53,  53,  54,  55,  60,  60,  65,  67,  67,  70,
+                               70,  75,  77,  77,  80,  80,  85,  90,  90,  95,  100, 100, 105, 110, 110, 115,
+                               119, 119, 120, 120, 125, 130, 130, 135, 140, 140, 145, 149, 149, 150, 150};
+  static constexpr CAN_frame message_1 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x10A,
+      .data = {0x62, 0x36, 0x8c, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x36, 0x39, 0x35, 0x35,
+               0xc9, 0x02, 0x00, 0x00, 0x10, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
+  static constexpr CAN_frame message_2 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x120,
+      .data = {0xd4, 0x1b, 0x8c, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x37, 0x35, 0x37, 0x37,
+               0xc9, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
+  static constexpr CAN_frame message_3 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x19A,
+      .data = {0x24, 0x9b, 0x7b, 0x55, 0x44, 0x64, 0xd8, 0x1b, 0x40, 0x20, 0x00, 0x00, 0x00, 0x00, 0x11, 0x52,
+               0x00, 0x12, 0x02, 0x64, 0x00, 0x00, 0x00, 0x08, 0x13, 0x00, 0x00, 0x00, 0x00, 0x32, 0x00, 0x00}};
+  static constexpr CAN_frame message_4 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x10A,
+      .data = {0x24, 0x6f, 0x8d, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x36, 0x39, 0x35, 0x35,
+               0xc9, 0x02, 0x00, 0x00, 0x10, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
+  static constexpr CAN_frame message_5 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x120,
+      .data = {0x92, 0x42, 0x8d, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x37, 0x35, 0x37, 0x37,
+               0xc9, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
+  static constexpr CAN_frame message_6 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x19A,
+      .data = {0xd7, 0x05, 0x7c, 0x55, 0x44, 0x64, 0xd8, 0x1b, 0x40, 0x20, 0x00, 0x00, 0x00, 0x00, 0x11, 0x52,
+               0x00, 0x12, 0x02, 0x64, 0x00, 0x00, 0x00, 0x08, 0x13, 0x00, 0x00, 0x00, 0x00, 0x32, 0x00, 0x00}};
+  static constexpr CAN_frame message_7 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x30A,
+      .data = {0xb1, 0xe0, 0x26, 0x08, 0x54, 0x01, 0x04, 0x15, 0x00, 0x1a, 0x76, 0x00, 0x25, 0x01, 0x10, 0x27,
+               0x4f, 0x06, 0x18, 0x04, 0x33, 0x15, 0x34, 0x28, 0x00, 0x00, 0x10, 0x06, 0x21, 0x00, 0x4b, 0x06}};
+  static constexpr CAN_frame message_8 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x320,
+      .data = {0xc6, 0xab, 0x26, 0x41, 0x00, 0x00, 0x01, 0x3c, 0xac, 0x0d, 0x40, 0x20, 0x05, 0xc8, 0xa0, 0x03,
+               0x40, 0x20, 0x2b, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}};
+  static constexpr CAN_frame message_9 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x10A,
+      .data = {0xee, 0x84, 0x8e, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x36, 0x39, 0x35, 0x35,
+               0xc9, 0x02, 0x00, 0x00, 0x10, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
+  static constexpr CAN_frame message_10 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x120,
+      .data = {0x58, 0xa9, 0x8e, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x37, 0x35, 0x37, 0x37,
+               0xc9, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
+  static constexpr CAN_frame message_11 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x19A,
+      .data = {0x91, 0x5c, 0x7d, 0x55, 0x44, 0x64, 0xd8, 0x1b, 0x40, 0x20, 0x00, 0x00, 0x00, 0x00, 0x11, 0x52,
+               0x00, 0x12, 0x02, 0x64, 0x00, 0x00, 0x00, 0x08, 0x13, 0x00, 0x00, 0x00, 0x00, 0x32, 0x00, 0x00}};
+  static constexpr CAN_frame message_12 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x10A,
+      .data = {0xa8, 0xdd, 0x8f, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x36, 0x39, 0x35, 0x35,
+               0xc9, 0x02, 0x00, 0x00, 0x10, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
+  static constexpr CAN_frame message_13 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x120,
+      .data = {0x1e, 0xf0, 0x8f, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x37, 0x35, 0x37, 0x37,
+               0xc9, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
+  static constexpr CAN_frame message_14 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x19A,
+      .data = {0x5b, 0xb7, 0x7e, 0x55, 0x44, 0x64, 0xd8, 0x1b, 0x40, 0x20, 0x00, 0x00, 0x00, 0x00, 0x11, 0x52,
+               0x00, 0x12, 0x02, 0x64, 0x00, 0x00, 0x00, 0x08, 0x13, 0x00, 0x00, 0x00, 0x00, 0x32, 0x00, 0x00}};
+  static constexpr CAN_frame message_15 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x10A,
+      .data = {0xec, 0x6d, 0x90, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x36, 0x39, 0x35, 0x35,
+               0xc9, 0x02, 0x00, 0x00, 0x10, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
+  static constexpr CAN_frame message_16 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x120,
+      .data = {0x5a, 0x40, 0x90, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x37, 0x35, 0x37, 0x37,
+               0xc9, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
+  static constexpr CAN_frame message_17 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x19A,
+      .data = {0x1d, 0xee, 0x7f, 0x55, 0x44, 0x64, 0xd8, 0x1b, 0x40, 0x20, 0x00, 0x00, 0x00, 0x00, 0x11, 0x52,
+               0x00, 0x12, 0x02, 0x64, 0x00, 0x00, 0x00, 0x08, 0x13, 0x00, 0x00, 0x00, 0x00, 0x32, 0x00, 0x00}};
+  static constexpr CAN_frame message_18 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x2B5,
+      .data = {0xbd, 0xb2, 0x42, 0x00, 0x00, 0x00, 0x00, 0x80, 0x59, 0x00, 0x2b, 0x00, 0x00, 0x04, 0x00, 0x00,
+               0xfa, 0xd0, 0x07, 0x00, 0x00, 0x00, 0x00, 0x00, 0x8f, 0x06, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}};
+  static constexpr CAN_frame message_19 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x2E0,
+      .data = {0xc1, 0xf2, 0x42, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x7e, 0x00, 0x00,
+               0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x70, 0x01, 0x0f, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}};
+  static constexpr CAN_frame message_20 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x10A,
+      .data = {0xaa, 0x34, 0x91, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x36, 0x39, 0x35, 0x35,
+               0xc9, 0x02, 0x00, 0x00, 0x10, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
+  static constexpr CAN_frame message_21 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x120,
+      .data = {0x1c, 0x19, 0x91, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x37, 0x35, 0x37, 0x37,
+               0xc9, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
+  static constexpr CAN_frame message_22 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x2D5,
+      .data = {0x79, 0xfb, 0xa0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0b, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00,
+               0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0x34, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}};
+  static constexpr CAN_frame message_23 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x2EA,
+      .data = {0x6e, 0xbb, 0xa0, 0x0d, 0x04, 0x01, 0x00, 0x00, 0x38, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+               0xc7, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}};
+  static constexpr CAN_frame message_24 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x306,
+      .data = {0x00, 0x00, 0x00, 0xd2, 0x06, 0x92, 0x05, 0x34, 0x07, 0x8e, 0x08, 0x73, 0x05, 0x80, 0x05, 0x83,
+               0x05, 0x73, 0x05, 0x80, 0x05, 0xed, 0x01, 0xdd, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}};
+  static constexpr CAN_frame message_25 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x308,
+      .data = {0xbe, 0x84, 0xa0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xff,
+               0x75, 0x6c, 0x86, 0x0d, 0xfb, 0xdf, 0x03, 0x36, 0xc3, 0x86, 0x11, 0x00, 0x00, 0x00, 0x00, 0x00}};
+  static constexpr CAN_frame message_26 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x19A,
+      .data = {0x6b, 0xa2, 0x80, 0x55, 0x44, 0x64, 0xd8, 0x1b, 0x40, 0x20, 0x00, 0x00, 0x00, 0x00, 0x11, 0x52,
+               0x00, 0x12, 0x02, 0x64, 0x00, 0x00, 0x00, 0x08, 0x13, 0x00, 0x00, 0x00, 0x00, 0x32, 0x00, 0x00}};
+  static constexpr CAN_frame message_27 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x10A,
+      .data = {0x60, 0xdf, 0x92, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x36, 0x39, 0x35, 0x35,
+               0xc9, 0x02, 0x00, 0x00, 0x10, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
+  static constexpr CAN_frame message_28 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x120,
+      .data = {0xd6, 0xf2, 0x92, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x37, 0x35, 0x37, 0x37,
+               0xc9, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
+  static constexpr CAN_frame message_29 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x19A,
+      .data = {0x2d, 0xfb, 0x81, 0x55, 0x44, 0x64, 0xd8, 0x1b, 0x40, 0x20, 0x00, 0x00, 0x00, 0x00, 0x11, 0x52,
+               0x00, 0x12, 0x02, 0x64, 0x00, 0x00, 0x00, 0x08, 0x13, 0x00, 0x00, 0x00, 0x00, 0x32, 0x00, 0x00}};
+  static constexpr CAN_frame message_30 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x33A,
+      .data = {0x1a, 0x23, 0x26, 0x10, 0x27, 0x4f, 0x06, 0x00, 0xf8, 0x1b, 0x19, 0x04, 0x30, 0x01, 0x00, 0x06,
+               0x00, 0x00, 0x00, 0x2e, 0x2d, 0x81, 0x25, 0x20, 0x00, 0x42, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}};
+  static constexpr CAN_frame message_31 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x350,
+      .data = {0x26, 0x82, 0x26, 0xf4, 0x01, 0x00, 0x00, 0x50, 0x90, 0x15, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+               0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}};
+  static constexpr CAN_frame message_32 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x10A,
+      .data = {0x26, 0x86, 0x93, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x36, 0x39, 0x35, 0x35,
+               0xc9, 0x02, 0x00, 0x00, 0x10, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
+  static constexpr CAN_frame message_33 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x120,
+      .data = {0x90, 0xab, 0x93, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x37, 0x35, 0x37, 0x37,
+               0xc9, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
+  static constexpr CAN_frame message_34 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x19A,
+      .data = {0xe7, 0x10, 0x82, 0x55, 0x44, 0x64, 0xd8, 0x1b, 0x40, 0x20, 0x00, 0x00, 0x00, 0x00, 0x11, 0x52,
+               0x00, 0x12, 0x02, 0x64, 0x00, 0x00, 0x00, 0x08, 0x13, 0x00, 0x00, 0x00, 0x00, 0x32, 0x00, 0x00}};
+  static constexpr CAN_frame message_35 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x2E5,
+      .data = {0x69, 0x8a, 0x3f, 0x01, 0x00, 0x00, 0x00, 0x15, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+               0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}};
+  static constexpr CAN_frame message_36 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x3B5,
+      .data = {0xa3, 0xc8, 0x9f, 0x00, 0x00, 0x00, 0x00, 0x36, 0x37, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+               0xc7, 0x02, 0x00, 0x00, 0x00, 0x00, 0x6a, 0x09, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}};
+  static constexpr CAN_frame message_37 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x10A,
+      .data = {0xd5, 0x18, 0x94, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x36, 0x39, 0x35, 0x35,
+               0xc9, 0x02, 0x00, 0x00, 0x10, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
+  static constexpr CAN_frame message_38 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x120,
+      .data = {0x63, 0x35, 0x94, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x37, 0x35, 0x37, 0x37,
+               0xc9, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
+  static constexpr CAN_frame message_39 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x19A,
+      .data = {0xa1, 0x49, 0x83, 0x55, 0x44, 0x64, 0xd8, 0x1b, 0x40, 0x20, 0x00, 0x00, 0x00, 0x00, 0x11, 0x52,
+               0x00, 0x12, 0x02, 0x64, 0x00, 0x00, 0x00, 0x08, 0x13, 0x00, 0x00, 0x00, 0x00, 0x32, 0x00, 0x00}};
+  static constexpr CAN_frame message_40 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x10A,
+      .data = {0x93, 0x41, 0x95, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x36, 0x39, 0x35, 0x35,
+               0xc9, 0x02, 0x00, 0x00, 0x10, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
+  static constexpr CAN_frame message_41 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x120,
+      .data = {0x25, 0x6c, 0x95, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x37, 0x35, 0x37, 0x37,
+               0xc9, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
+  static constexpr CAN_frame message_42 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x19A,
+      .data = {0x52, 0xd7, 0x84, 0x55, 0x44, 0x64, 0xd8, 0x1b, 0x40, 0x20, 0x00, 0x00, 0x00, 0x00, 0x11, 0x52,
+               0x00, 0x12, 0x02, 0x64, 0x00, 0x00, 0x00, 0x08, 0x13, 0x00, 0x00, 0x00, 0x00, 0x32, 0x00, 0x00}};
+  static constexpr CAN_frame message_43 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x10A,
+      .data = {0x59, 0xaa, 0x96, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x36, 0x39, 0x35, 0x35,
+               0xc9, 0x02, 0x00, 0x00, 0x10, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
+  static constexpr CAN_frame message_44 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x120,
+      .data = {0xef, 0x87, 0x96, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x37, 0x35, 0x37, 0x37,
+               0xc9, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
+  static constexpr CAN_frame message_45 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x19A,
+      .data = {0x14, 0x8e, 0x85, 0x55, 0x44, 0x64, 0xd8, 0x1b, 0x40, 0x20, 0x00, 0x00, 0x00, 0x00, 0x11, 0x52,
+               0x00, 0x12, 0x02, 0x64, 0x00, 0x00, 0x00, 0x08, 0x13, 0x00, 0x00, 0x00, 0x00, 0x32, 0x00, 0x00}};
+  static constexpr CAN_frame message_46 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x10A,
+      .data = {0x1f, 0xf3, 0x97, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x36, 0x39, 0x35, 0x35,
+               0xc9, 0x02, 0x00, 0x00, 0x10, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
+  static constexpr CAN_frame message_47 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x120,
+      .data = {0xa9, 0xde, 0x97, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x37, 0x35, 0x37, 0x37,
+               0xc9, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
+  static constexpr CAN_frame message_48 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x19A,
+      .data = {0xde, 0x65, 0x86, 0x55, 0x44, 0x64, 0xd8, 0x1b, 0x40, 0x20, 0x00, 0x00, 0x00, 0x00, 0x11, 0x52,
+               0x00, 0x12, 0x02, 0x64, 0x00, 0x00, 0x00, 0x08, 0x13, 0x00, 0x00, 0x00, 0x00, 0x32, 0x00, 0x00}};
+  static constexpr CAN_frame message_49 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x30A,
+      .data = {0xd3, 0x11, 0x27, 0x08, 0x54, 0x01, 0x04, 0x15, 0x00, 0x1a, 0x76, 0x00, 0x25, 0x01, 0x10, 0x27,
+               0x4f, 0x06, 0x19, 0x04, 0x33, 0x15, 0x34, 0x28, 0x00, 0x00, 0x10, 0x06, 0x21, 0x00, 0x4b, 0x06}};
+  static constexpr CAN_frame message_50 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x320,
+      .data = {0x80, 0xf2, 0x27, 0x41, 0x00, 0x00, 0x01, 0x3c, 0xac, 0x0d, 0x40, 0x20, 0x05, 0xc8, 0xa0, 0x03,
+               0x40, 0x20, 0x2b, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}};
+  static constexpr CAN_frame message_51 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x10A,
+      .data = {0x9e, 0x87, 0x98, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x36, 0x39, 0x35, 0x35,
+               0xc9, 0x02, 0x00, 0x00, 0x10, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
+  static constexpr CAN_frame message_52 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x120,
+      .data = {0x28, 0xaa, 0x98, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x37, 0x35, 0x37, 0x37,
+               0xc9, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
+  static constexpr CAN_frame message_53 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x19A,
+      .data = {0x98, 0x3c, 0x87, 0x55, 0x44, 0x64, 0xd8, 0x1b, 0x40, 0x20, 0x00, 0x00, 0x00, 0x00, 0x11, 0x52,
+               0x00, 0x12, 0x02, 0x64, 0x00, 0x00, 0x00, 0x08, 0x13, 0x00, 0x00, 0x00, 0x00, 0x32, 0x00, 0x00}};
+  static constexpr CAN_frame message_54 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x10A,
+      .data = {0xd8, 0xde, 0x99, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x36, 0x39, 0x35, 0x35,
+               0xc9, 0x02, 0x00, 0x00, 0x10, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
+  static constexpr CAN_frame message_55 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x120,
+      .data = {0x6e, 0xf3, 0x99, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x37, 0x35, 0x37, 0x37,
+               0xc9, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
+  static constexpr CAN_frame message_56 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x19A,
+      .data = {0x19, 0x48, 0x88, 0x55, 0x44, 0x64, 0xd8, 0x1b, 0x40, 0x20, 0x00, 0x00, 0x00, 0x00, 0x11, 0x52,
+               0x00, 0x12, 0x02, 0x64, 0x00, 0x00, 0x00, 0x08, 0x13, 0x00, 0x00, 0x00, 0x00, 0x32, 0x00, 0x00}};
+  static constexpr CAN_frame message_57 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x10A,
+      .data = {0x12, 0x35, 0x9a, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x36, 0x39, 0x35, 0x35,
+               0xc9, 0x02, 0x00, 0x00, 0x10, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
+  static constexpr CAN_frame message_58 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x120,
+      .data = {0xa4, 0x18, 0x9a, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x37, 0x35, 0x37, 0x37,
+               0xc9, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
+  static constexpr CAN_frame message_59 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x19A,
+      .data = {0x5f, 0x11, 0x89, 0x55, 0x44, 0x64, 0xd8, 0x1b, 0x40, 0x20, 0x00, 0x00, 0x00, 0x00, 0x11, 0x52,
+               0x00, 0x12, 0x02, 0x64, 0x00, 0x00, 0x00, 0x08, 0x13, 0x00, 0x00, 0x00, 0x00, 0x32, 0x00, 0x00}};
+  static constexpr CAN_frame message_60 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x2B5,
+      .data = {0xfb, 0xeb, 0x43, 0x00, 0x00, 0x00, 0x00, 0x80, 0x59, 0x00, 0x2b, 0x00, 0x00, 0x04, 0x00, 0x00,
+               0xfa, 0xd0, 0x07, 0x00, 0x00, 0x00, 0x00, 0x00, 0x8f, 0x06, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}};
+  static constexpr CAN_frame message_61 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x2C0,
+      .data = {0xcc, 0xcd, 0xa2, 0x21, 0x00, 0xa1, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x7d, 0x00,
+               0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}};
+  static constexpr CAN_frame message_62 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x2E0,
+      .data = {0x87, 0xab, 0x43, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x7e, 0x00, 0x00,
+               0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x70, 0x01, 0x0f, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}};
+  static constexpr CAN_frame message_63 = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 32,
+      .ID = 0x10A,
+      .data = {0x54, 0x6c, 0x9b, 0x00, 0x00, 0x00, 0x00, 0x01, 0xff, 0x01, 0x00, 0x00, 0x36, 0x39, 0x35, 0x35,
+               0xc9, 0x02, 0x00, 0x00, 0x10, 0x00, 0x00, 0x35, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0x00}};
+  const CAN_frame* messages[63] = {
+      &message_1,  &message_2,  &message_3,  &message_4,  &message_5,  &message_6,  &message_7,  &message_8,
+      &message_9,  &message_10, &message_11, &message_12, &message_13, &message_14, &message_15, &message_16,
+      &message_17, &message_18, &message_19, &message_20, &message_21, &message_22, &message_23, &message_24,
+      &message_25, &message_26, &message_27, &message_28, &message_29, &message_30, &message_31, &message_32,
+      &message_33, &message_34, &message_35, &message_36, &message_37, &message_38, &message_39, &message_40,
+      &message_41, &message_42, &message_43, &message_44, &message_45, &message_46, &message_47, &message_48,
+      &message_49, &message_50, &message_51, &message_52, &message_53, &message_54, &message_55, &message_56,
+      &message_57, &message_58, &message_59, &message_60, &message_61, &message_62, &message_63};
+  /* PID polling messages */
+  CAN_frame EGMP_7E4 = {.FD = true,
+                        .ext_ID = false,
+                        .DLC = 8,
+                        .ID = 0x7E4,
+                        .data = {0x03, 0x22, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00}};  //Poll PID 03 22 01 01
+  static constexpr CAN_frame EGMP_7E4_ack = {
+      .FD = true,
+      .ext_ID = false,
+      .DLC = 8,
+      .ID = 0x7E4,
+      .data = {0x30, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}};  //Ack frame, correct PID is returned
 };
 
 #endif