Add CAN1 100 ms heartbeat with verified firmware and updated protocol PDF

docs/evidence/2026-10-04/heartbeat/dbc-verification.json

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+{
+  "result": "passed",
+  "messages": 13,
+  "signals": 53,
+  "known_payload_checks": 84,
+  "all_task_ids_and_counter_edges": true,
+  "ports_bitrate": {
+    "CAN1": 500000,
+    "CAN2": 250000
+  },
+  "shared_dbc_layouts_and_payloads_match": true,
+  "heartbeat_can1_only": true,
+  "firmware_and_ioc_bit_timing_match": true,
+  "firmware_ids_match": true,
+  "sdc_source_layout_match": true,
+  "display_sender_known_bytes_and_argument_rejection": true,
+  "cantools_version": "44.1.0"
+}

docs/evidence/2026-10-04/heartbeat/flash.log

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+      -------------------------------------------------------------------
+                       STM32CubeProgrammer v2.20.0                  
+      -------------------------------------------------------------------
+
+ST-LINK SN  : 37FF71064E573436188C1543
+ST-LINK FW  : V2J47S7
+Board       : --
+Voltage     : 3.27V
+SWD freq    : 950 KHz
+Connect mode: Under Reset
+Reset mode  : Hardware reset
+Device ID   : 0x467
+Revision ID : Rev Z
+Device name : STM32G0B0xx/B1xx/C1xx
+Flash size  : 128 KBytes
+Device type : MCU
+Device CPU  : Cortex-M0+
+BL Version  : 0x92
+
+
+
+Opening and parsing file: AMI_Controller.bin
+
+
+Memory Programming ...
+  File          : AMI_Controller.bin
+  Size          : 16.14 KB 
+  Address       : 0x08000000
+
+
+Erasing memory corresponding to segment 0:
+Erasing internal memory sectors [0 8]
+Download in Progress:
+±±±±±±±±±±±±±±±±±±±±±±±±±±±±±±±±±±±±±±±±±±±±±±±±±± 0%␍ÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛ 100%
+
+File download complete
+Time elapsed during download operation: 00:00:00.799
+
+
+
+Verifying...
+
+
+Read progress:
+±±±±±±±±±±±±±±±±±±±±±±±±±±±±±±±±±±±±±±±±±±±±±±±±±± 50%␍ÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛ 100%
+
+Time elapsed during verifying operation: 00:00:00.263
+
+
+Download verified successfully 
+
+
+
+MCU Reset
+
+Software reset is performed

docs/evidence/2026-10-04/heartbeat/flash_test.py

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+import os, json, time, subprocess, hashlib, statistics, sys
+from pathlib import Path
+root=Path.cwd(); out=root/'docs/evidence/2026-10-04/heartbeat'
+dll=root/'tmp/can1-test-20261002/pcan-basic/x64'
+os.environ['PATH']=str(dll)+os.pathsep+os.environ['PATH']; handle=os.add_dll_directory(str(dll))
+import can
+cli=r'D:\STM32CubeCLT_1.19.0\STM32CubeProgrammer\bin\STM32_Programmer_CLI.exe'
+firmware=root/'firmware/build/Release/AMI_Controller.bin'
+def run(name,args):
+ p=subprocess.run([cli]+args,capture_output=True,timeout=40)
+ (out/(name+'.log')).write_bytes(p.stdout+p.stderr)
+ print(name, p.returncode, p.stdout.decode(errors='replace')[-750:],flush=True)
+ assert p.returncode==0,name
+ return p
+with can.Bus(interface='pcan',channel='PCAN_USBBUS1',bitrate=500000) as bus:
+ assert bus.reset()
+ if '--capture-only' not in sys.argv: run('flash',['-c','port=SWD','mode=UR','freq=1000','-d',str(firmware),'0x08000000','-v','-rst'])
+ readback=out/'readback.bin'
+ run('readback',['-c','port=SWD','mode=HOTPLUG','freq=1000','-u','0x08000000',str(firmware.stat().st_size),str(readback)])
+ assert firmware.read_bytes()==readback.read_bytes()
+ while bus.recv(0): pass
+ frames=[];end=time.monotonic()+12
+ while time.monotonic()<end:
+  m=bus.recv(.2)
+  if m:frames.append({'timestamp':m.timestamp,'id':m.arbitration_id,'data':m.data.hex(' '),'dlc':m.dlc,'extended':m.is_extended_id,'remote':m.is_remote_frame,'error':m.is_error_frame})
+ status=bus.status()
+(out/'capture.json').write_text(json.dumps(frames,indent=2))
+h=[f for f in frames if f['id']==0x301 and not f['error']]
+seq=[int.from_bytes(bytes.fromhex(f['data'])[2:4],'little') for f in h]
+ticks=[int.from_bytes(bytes.fromhex(f['data'])[4:8],'little') for f in h]
+intervals=[(b['timestamp']-a['timestamp'])*1000 for a,b in zip(h,h[1:])]
+checks={'enough_frames':len(h)>=100,'bus_ok':status==0,'format':all(f['dlc']==8 and not f['extended'] and not f['remote'] and bytes.fromhex(f['data'])[:2]==b'\x01\x00' for f in h),'sequence_contiguous':all((b-a)%65536==1 for a,b in zip(seq,seq[1:])),'uptime_100ms':all((b-a)%2**32==100 for a,b in zip(ticks,ticks[1:])),'wire_period_95_to_105ms':bool(intervals) and all(95<=v<=105 for v in intervals)}
+result={'firmware_bytes':firmware.stat().st_size,'sha256':hashlib.sha256(firmware.read_bytes()).hexdigest(),'flash_readback_identical':True,'bus':'CAN1 500 kbit/s PCAN_USBBUS1','duration_s':12,'heartbeat_count':len(h),'bus_status':status,'interval_ms':{'min':min(intervals),'mean':statistics.mean(intervals),'max':max(intervals)} if intervals else None,'checks':checks,'passed':all(checks.values()),'CAN2_wire_verified':False}
+(out/'results.json').write_text(json.dumps(result,indent=2));print(json.dumps(result,indent=2))

docs/evidence/2026-10-04/heartbeat/readback.log

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+      -------------------------------------------------------------------
+                       STM32CubeProgrammer v2.20.0                  
+      -------------------------------------------------------------------
+
+ST-LINK SN  : 37FF71064E573436188C1543
+ST-LINK FW  : V2J47S7
+Board       : --
+Voltage     : 3.27V
+SWD freq    : 950 KHz
+Connect mode: Hot Plug
+Reset mode  : Software reset
+Device ID   : 0x467
+Revision ID : Rev Z
+Device name : STM32G0B0xx/B1xx/C1xx
+Flash size  : 128 KBytes
+Device type : MCU
+Device CPU  : Cortex-M0+
+BL Version  : 0x92
+
+
+UPLOADING ...
+  File          : D:\YMR\AMI\docs\evidence\2026-10-04\heartbeat\readback.bin
+  Size          : 16528 Bytes
+  Address:      : 0x8000000
+Read progress:
+±±±±±±±±±±±±±±±±±±±±±±±±±±±±±±±±±±±±±±±±±±±±±±±±±± 0%␍ÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛÛ 100%
+
+Data read successfully
+Time elapsed during read operation is: 00:00:00.262

docs/evidence/2026-10-04/heartbeat/results.json

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+{
+  "firmware_bytes": 16528,
+  "sha256": "e97ec2fb3384e4bad0980017c65360f7d615dc9e716038af4445da43892f2b6e",
+  "flash_readback_identical": true,
+  "bus": "CAN1 500 kbit/s PCAN_USBBUS1",
+  "duration_s": 12,
+  "heartbeat_count": 121,
+  "bus_status": 0,
+  "interval_ms": {
+    "min": 99.95199996046722,
+    "mean": 100.09439166654677,
+    "max": 100.17999995034188
+  },
+  "checks": {
+    "enough_frames": true,
+    "bus_ok": true,
+    "format": true,
+    "sequence_contiguous": true,
+    "uptime_100ms": true,
+    "wire_period_95_to_105ms": true
+  },
+  "passed": true,
+  "CAN2_wire_verified": false
+}