From c40635f0496c5a4ca990db353d5a3975dd95df2a Mon Sep 17 00:00:00 2001
From: "David J. Fiddes" <D.J@fiddes.net>
Date: Sat, 28 Sep 2024 12:04:02 +0100
Subject: [PATCH] Simplify CAN callbacks to use bytes rather than 32-bit words

Virtually all CAN callbacks cast the two 32-bit words
the libopeninv library presents an incoming CAN
frame in to bytes. Rather than repeat this cast all over
the place replace with one central cast and change
the interface of the DecodeCAN callback methods.

The exceptions which require reverse casts of byte-
arrays back to 32-bit words are:
 - FCChademo
 - E65_Lever
 - OutlanderInverter

These could be changed to access the bytes directly but
this would require greater understanding and testing of
the code.

The changes are mechanical in nature and should not
affect the operation of the code.

Where applicable "override" is used for virtual methods
to make it clear to the compiler that virtual functions
are being overridden.

Tests:
 - Build for STM32 and Linux
---
 include/BMW_E31.h               |  2 +-
 include/BMW_E39.h               |  2 +-
 include/BMW_E65.h               | 10 +++----
 include/CPC.h                   |  4 +--
 include/Can_OBD2.h              |  2 +-
 include/Can_OI.h                |  2 +-
 include/E65_Lever.h             |  2 +-
 include/ElconCharger.h          |  4 +--
 include/F30_Lever.h             |  2 +-
 include/Focci.h                 |  8 +++---
 include/JLR_G1.h                |  2 +-
 include/JLR_G2.h                |  2 +-
 include/NissanPDM.h             |  2 +-
 include/OutlanderCanHeater.h    |  4 +--
 include/bms.h                   |  2 +-
 include/bmw_sbox.h              |  8 +++---
 include/chademo.h               |  2 +-
 include/chargerhw.h             |  2 +-
 include/chargerint.h            |  2 +-
 include/daisychainbms.h         |  2 +-
 include/dcdc.h                  |  2 +-
 include/heater.h                |  2 +-
 include/i3LIM.h                 | 12 ++++----
 include/inverter.h              |  2 +-
 include/isa_shunt.h             | 18 ++++++------
 include/kangoobms.h             |  2 +-
 include/leafbms.h               |  2 +-
 include/leafinv.h               |  2 +-
 include/outlanderCharger.h      |  8 +++---
 include/outlanderinverter.h     |  2 +-
 include/rearoutlanderinverter.h |  2 +-
 include/shifter.h               |  2 +-
 include/simpbms.h               |  2 +-
 include/teslaCharger.h          |  2 +-
 include/vag_sbox.h              |  4 +--
 include/vehicle.h               |  2 +-
 src/BMW_E31.cpp                 |  4 +--
 src/BMW_E39.cpp                 |  4 +--
 src/BMW_E65.cpp                 | 25 +++++++----------
 src/CPC.cpp                     |  8 ++----
 src/Can_OBD2.cpp                |  3 +-
 src/Can_OI.cpp                  |  4 +--
 src/E65_Lever.cpp               |  4 ++-
 src/ElconCharger.cpp            |  7 ++---
 src/F30_Lever.cpp               |  3 +-
 src/Focci.cpp                   | 20 +++++--------
 src/JLR_G1.cpp                  |  4 +--
 src/JLR_G2.cpp                  |  3 +-
 src/NissanPDM.cpp               |  4 +--
 src/OutlanderCanHeater.cpp      |  7 ++---
 src/RearOutlanderinverter.cpp   |  3 +-
 src/bmw_sbox.cpp                | 22 +++++----------
 src/chademo.cpp                 | 27 ++++++++++--------
 src/charger.cpp                 |  4 +--
 src/daisychainbms.cpp           |  2 +-
 src/i3LIM.cpp                   | 32 ++++++++-------------
 src/isa_shunt.cpp               | 50 +++++++++++----------------------
 src/kangoobms.cpp               |  2 +-
 src/leafbms.cpp                 |  4 +--
 src/leafinv.cpp                 |  4 +--
 src/outlanderCharger.cpp        | 23 +++++----------
 src/outlanderinverter.cpp       |  4 ++-
 src/simpbms.cpp                 |  2 +-
 src/stm32_vcu.cpp               | 45 ++++++++++++++---------------
 src/teslaCharger.cpp            |  3 +-
 src/vag_sbox.cpp                |  8 ++----
 66 files changed, 198 insertions(+), 269 deletions(-)

diff --git a/include/BMW_E31.h b/include/BMW_E31.h
index 81459aeb..9e6dd57d 100644
--- a/include/BMW_E31.h
+++ b/include/BMW_E31.h
@@ -39,7 +39,7 @@ class BMW_E31: public Vehicle
    void Task1Ms();
    void SetRevCounter(int s);
    void SetTemperatureGauge(float temp);
-   void DecodeCAN(int id, uint32_t* data);
+   void DecodeCAN(int id, const uint8_t bytes[8]) override;
    bool Ready();
    bool Start();
 
diff --git a/include/BMW_E39.h b/include/BMW_E39.h
index 1b848902..3ae560d4 100644
--- a/include/BMW_E39.h
+++ b/include/BMW_E39.h
@@ -36,7 +36,7 @@ class BMW_E39: public Vehicle
    void Task100Ms();
    void SetRevCounter(int s) { speed = s; }
    void SetTemperatureGauge(float temp);
-   void DecodeCAN(int id, uint32_t* data);
+   void DecodeCAN(int id, const uint8_t bytes[8]) override;
    bool Ready();
    bool Start();
    void SetE46(bool e46) { isE46 = e46; }
diff --git a/include/BMW_E65.h b/include/BMW_E65.h
index 2db060be..925b71f5 100644
--- a/include/BMW_E65.h
+++ b/include/BMW_E65.h
@@ -20,14 +20,14 @@ class BMW_E65: public Vehicle
    void Task200Ms();
    void SetRevCounter(int speed) { revCounter = speed; }
    void SetTemperatureGauge(float temp) { temperature = temp; }
-   void DecodeCAN(int, uint32_t* data);
+   void DecodeCAN(int id, const uint8_t bytes[8]) override;
    bool Ready() { return terminal15On; }
    bool Start() { return terminal15On; }
    void DashOff();
-   void handle130(uint32_t data[2]);
-   void handle1A0(uint32_t data[2]);
-   void handle2FC(uint32_t data[2]);
-   void handle480(uint32_t data[2]);
+   void handle130(const uint8_t bytes[8]);
+   void handle1A0(const uint8_t bytes[8]);
+   void handle2FC(const uint8_t bytes[8]);
+   void handle480(const uint8_t bytes[8]);
    void SetE90(bool e90) { isE90 = e90; }
    void Engine_Data();
    void SetFuelGauge(float level);
diff --git a/include/CPC.h b/include/CPC.h
index d222475b..ae527b78 100644
--- a/include/CPC.h
+++ b/include/CPC.h
@@ -17,7 +17,7 @@ class CPCClass: public Chargerint
 
 public:
       void SetCanInterface(CanHardware* c);
-      void DecodeCAN(int id, uint32_t data[2]);
+      void DecodeCAN(int id, const uint8_t bytes[8]) override;
       void Task10Ms();
       void Task100Ms();
       void Task200Ms();
@@ -25,7 +25,7 @@ class CPCClass: public Chargerint
       bool ACRequest(bool RunCh);
 
 private:
-static void handle357(uint32_t data[2]);
+static void handle357(const uint8_t bytes[8]);
 
 static void Chg_Timers();
 };
diff --git a/include/Can_OBD2.h b/include/Can_OBD2.h
index dbb601ce..dd6c64fb 100644
--- a/include/Can_OBD2.h
+++ b/include/Can_OBD2.h
@@ -25,7 +25,7 @@ class Can_OBD2
 {
 public:
   void SetCanInterface(CanHardware *c);
-  void DecodeCAN(int id, uint32_t data[2]);
+  void DecodeCAN(int id, const uint8_t bytes[8]);
 
 protected:
   CanHardware *can;
diff --git a/include/Can_OI.h b/include/Can_OI.h
index 4642f284..b275aa55 100644
--- a/include/Can_OI.h
+++ b/include/Can_OI.h
@@ -30,7 +30,7 @@ class Can_OI: public Inverter
 {
 public:
    void Task100Ms() override;
-   void DecodeCAN(int, uint32_t*) override;
+   void DecodeCAN(int id, const uint8_t bytes[8]) override;
    void SetTorque(float torquePercent) override;
    float GetMotorTemperature() override { return motor_temp; }
    float GetInverterTemperature() override { return inv_temp; }
diff --git a/include/E65_Lever.h b/include/E65_Lever.h
index acdfc0aa..cce4d7df 100644
--- a/include/E65_Lever.h
+++ b/include/E65_Lever.h
@@ -35,7 +35,7 @@ class E65_Lever: public Shifter
 
    void Task10Ms();
    void Task100Ms();
-   void DecodeCAN(int, uint32_t*);
+   void DecodeCAN(int id, const uint8_t bytes[8]) override;
    bool GetGear(Shifter::Sgear& outGear);//if shifter class knows gear return true and set dir
    void SetCanInterface(CanHardware* c);
 
diff --git a/include/ElconCharger.h b/include/ElconCharger.h
index 95c4ba9f..65c45684 100644
--- a/include/ElconCharger.h
+++ b/include/ElconCharger.h
@@ -16,11 +16,11 @@ class ElconCharger: public Chargerhw
 {
 
 public:
-void DecodeCAN(int id, uint32_t data[2]);
+void DecodeCAN(int id, const uint8_t bytes[8]) override;
 void Task200Ms();
 bool ControlCharge(bool RunCh, bool ACReq);
 void SetCanInterface(CanHardware* c);
-void handle18FF50E5(uint32_t data[2]);
+void handle18FF50E5(const uint8_t bytes[8]);
 /*
 static void handle108(uint32_t data[2]);
 static bool HVreq;
diff --git a/include/F30_Lever.h b/include/F30_Lever.h
index af6a14a9..6d44af30 100644
--- a/include/F30_Lever.h
+++ b/include/F30_Lever.h
@@ -37,7 +37,7 @@ class F30_Lever: public Shifter
 
    void Task10Ms();
    void Task100Ms();
-   void DecodeCAN(int, uint32_t*);
+   void DecodeCAN(int id, const uint8_t bytes[8]) override;
    bool GetGear(Shifter::Sgear& outGear);//if shifter class knows gear return true and set dir
    void SetCanInterface(CanHardware* c);
 
diff --git a/include/Focci.h b/include/Focci.h
index 5cf525fc..83f90f91 100644
--- a/include/Focci.h
+++ b/include/Focci.h
@@ -21,7 +21,7 @@ class FocciClass: public Chargerint
 
 public:
       void SetCanInterface(CanHardware* c);
-      void DecodeCAN(int id, uint32_t data[2]);
+      void DecodeCAN(int id, const uint8_t bytes[8]) override;
       void Task10Ms();
       void Task100Ms();
       void Task200Ms();
@@ -31,9 +31,9 @@ class FocciClass: public Chargerint
       void CCS_Pwr_Con();
 
 private:
-static void handle357(uint32_t data[2]);
-static void handle109(uint32_t data[2]);
-static void handle596(uint32_t data[2]);
+static void handle357(const uint8_t bytes[8]);
+static void handle109(const uint8_t bytes[8]);
+static void handle596(const uint8_t bytes[8]);
 static void Chg_Timers();
 };
 
diff --git a/include/JLR_G1.h b/include/JLR_G1.h
index 3ba937cc..edfb2741 100644
--- a/include/JLR_G1.h
+++ b/include/JLR_G1.h
@@ -34,7 +34,7 @@ class JLR_G1: public Shifter
 
    void Task10Ms();
    void Task100Ms();
-   void DecodeCAN(int, uint32_t*);
+   void DecodeCAN(int id, const uint8_t bytes[8]) override;
    bool GetGear(Shifter::Sgear& outGear);//if shifter class knows gear return true and set dir
    void SetCanInterface(CanHardware* c);
 
diff --git a/include/JLR_G2.h b/include/JLR_G2.h
index 9156e257..bfde0b8c 100644
--- a/include/JLR_G2.h
+++ b/include/JLR_G2.h
@@ -34,7 +34,7 @@ class JLR_G2: public Shifter
 
    void Task10Ms();
    void Task100Ms();
-   void DecodeCAN(int, uint32_t*);
+   void DecodeCAN(int id, const uint8_t bytes[8]) override;
    bool GetGear(Shifter::Sgear& outGear);//if shifter class knows gear return true and set dir
    void SetCanInterface(CanHardware* c);
 
diff --git a/include/NissanPDM.h b/include/NissanPDM.h
index 8194592d..e26d72de 100644
--- a/include/NissanPDM.h
+++ b/include/NissanPDM.h
@@ -28,7 +28,7 @@
 class NissanPDM: public Chargerhw
 {
 public:
-   void DecodeCAN(int id, uint32_t data[2]);
+   void DecodeCAN(int id, const uint8_t bytes[8]) override;
    void Task10Ms();
    void Task100Ms();
    bool ControlCharge(bool RunCh, bool ACReq);
diff --git a/include/OutlanderCanHeater.h b/include/OutlanderCanHeater.h
index 13326928..3ab92bc9 100644
--- a/include/OutlanderCanHeater.h
+++ b/include/OutlanderCanHeater.h
@@ -28,7 +28,7 @@ class OutlanderCanHeater : public Heater
    public:
       void SetTargetTemperature(float temp);
       void SetCanInterface(CanHardware* c);
-      void DecodeCAN(int id, uint32_t data[2]);
+      void DecodeCAN(int id, const uint8_t bytes[8]);
       void SetPower(uint16_t power, bool HeatReq);
       void Task100Ms();
 
@@ -37,7 +37,7 @@ class OutlanderCanHeater : public Heater
       int8_t desiredTemperature;
 
       bool shouldHeat;
-      static void handle398(uint32_t data[2]);
+      static void handle398(const uint8_t bytes[8]);
 
 };
 
diff --git a/include/bms.h b/include/bms.h
index 54e77d57..ee9a303d 100644
--- a/include/bms.h
+++ b/include/bms.h
@@ -38,7 +38,7 @@
 class BMS
 {
    public:
-      virtual void DecodeCAN(int, uint8_t *) {};
+      virtual void DecodeCAN(int, const uint8_t[8]) {};
       virtual void DeInit() {};
       virtual float MaxChargeCurrent() { return 9999.0; };
       virtual void Task100Ms() {
diff --git a/include/bmw_sbox.h b/include/bmw_sbox.h
index 2f1b67d6..2a22073e 100644
--- a/include/bmw_sbox.h
+++ b/include/bmw_sbox.h
@@ -22,7 +22,7 @@ class SBOX
 
 public:
     static void RegisterCanMessages(CanHardware* can);
-    static void DecodeCAN(int id, uint32_t data[2]);
+    static void DecodeCAN(int id, const uint8_t bytes[8]);
     static void ControlContactors(int opmode, CanHardware* can);
 
     static int32_t Voltage;
@@ -37,9 +37,9 @@ class SBOX
 private:
 
 
-    static void handle200(uint32_t data[2]);
-    static void handle210(uint32_t data[2]);
-    static void handle220(uint32_t data[2]);
+    static void handle200(const uint8_t bytes[8]);
+    static void handle210(const uint8_t bytes[8]);
+    static void handle220(const uint8_t bytes[8]);
 
 };
 
diff --git a/include/chademo.h b/include/chademo.h
index 2a2d0909..bf80d6ab 100644
--- a/include/chademo.h
+++ b/include/chademo.h
@@ -31,7 +31,7 @@
 class FCChademo: public Chargerint
 {
    public:
-      void DecodeCAN(int id, uint32_t data[2]);
+      void DecodeCAN(int id, const uint8_t bytes[8]) override;
       void Task100Ms();//Must be called every 100ms
       void Task200Ms();
       bool DCFCRequest(bool RunCh);
diff --git a/include/chargerhw.h b/include/chargerhw.h
index 78ed61b4..69e885d7 100644
--- a/include/chargerhw.h
+++ b/include/chargerhw.h
@@ -29,7 +29,7 @@ class Chargerhw
    virtual void Task10Ms() {} //Default does nothing
    virtual void Task100Ms() {} //Default does nothing
    virtual void Task200Ms() {} //Default does nothing
-   virtual void DecodeCAN(int, uint32_t*) {};
+   virtual void DecodeCAN(int, const uint8_t[8]) {};
    virtual bool ControlCharge(bool, bool) {return false;};
    virtual void DeInit() {} //called when switching to another charger, similar to a destructor
    virtual void SetCanInterface(CanHardware* c) { can = c; }
diff --git a/include/chargerint.h b/include/chargerint.h
index 8849c085..587392a4 100644
--- a/include/chargerint.h
+++ b/include/chargerint.h
@@ -29,7 +29,7 @@ class Chargerint
    virtual void Task10Ms() {} //Default does nothing
    virtual void Task100Ms() {} //Default does nothing
    virtual void Task200Ms() {} //Default does nothing
-   virtual void DecodeCAN(int, uint32_t*) {};
+   virtual void DecodeCAN(int, const uint8_t[8]) {};
    virtual bool DCFCRequest(bool) {return false;};
    virtual bool ACRequest(bool) {return false;};
    virtual void DeInit() {} //called when switching to another charger, similar to a destructor
diff --git a/include/daisychainbms.h b/include/daisychainbms.h
index 3ba1e837..d6094c6b 100644
--- a/include/daisychainbms.h
+++ b/include/daisychainbms.h
@@ -28,7 +28,7 @@ class DaisychainBMS: public BMS
 {
    public:
       void SetCanInterface(CanHardware* c) override;
-      void DecodeCAN(int id, uint8_t * data) override;
+      void DecodeCAN(int id, const uint8_t data[8]) override;
       float MaxChargeCurrent() override;
       void Task100Ms() override;
    private:
diff --git a/include/dcdc.h b/include/dcdc.h
index ac5eb4d2..bb5ec5ae 100644
--- a/include/dcdc.h
+++ b/include/dcdc.h
@@ -26,7 +26,7 @@
 class DCDC
 {
    public:
-      virtual void DecodeCAN(int, uint8_t *) {};
+      virtual void DecodeCAN(int, const uint8_t[8]) {};
       virtual void DeInit() {};
       virtual void Task1Ms() {};
       virtual void Task10Ms() {};
diff --git a/include/heater.h b/include/heater.h
index ef3dc912..cb613b43 100644
--- a/include/heater.h
+++ b/include/heater.h
@@ -12,7 +12,7 @@
 class Heater
 {
 public:
-   virtual void DecodeCAN(int, uint32_t*) {};
+   virtual void DecodeCAN(int, const uint8_t[8]) {};
    virtual float GetTemperature() { return 0; }
    virtual void SetTargetTemperature(float temp) = 0; //target temperature in °C
    virtual void SetPower(uint16_t power, bool HeatReq) = 0; //Must be called cyclically with power in watts
diff --git a/include/i3LIM.h b/include/i3LIM.h
index 8c25e6ff..05c1f61f 100644
--- a/include/i3LIM.h
+++ b/include/i3LIM.h
@@ -13,7 +13,7 @@ class i3LIMClass: public Chargerint
 {
 public:
       void SetCanInterface(CanHardware* c) override;
-      void DecodeCAN(int id, uint32_t* data) override;
+      void DecodeCAN(int id, const uint8_t bytes[8]) override;
       void Task10Ms() override;
       void Task100Ms() override;
       void Task200Ms() override;
@@ -21,11 +21,11 @@ class i3LIMClass: public Chargerint
       bool ACRequest(bool RunCh) override;
 
 private:
-      void handle3B4(uint32_t data[2]);
-      void handle29E(uint32_t data[2]);
-      void handle2B2(uint32_t data[2]);
-      void handle2EF(uint32_t data[2]);
-      void handle272(uint32_t data[2]);
+      void handle3B4(const uint8_t bytes[8]);
+      void handle29E(const uint8_t bytes[8]);
+      void handle2B2(const uint8_t bytes[8]);
+      void handle2EF(const uint8_t bytes[8]);
+      void handle272(const uint8_t bytes[8]);
       void CCS_Pwr_Con();
       void Chg_Timers();
 };
diff --git a/include/inverter.h b/include/inverter.h
index b9c394a9..2c6c50ba 100644
--- a/include/inverter.h
+++ b/include/inverter.h
@@ -28,7 +28,7 @@ class Inverter
    virtual void Task1Ms() {} //Default does nothing
    virtual void Task10Ms() {} //Default does nothing
    virtual void Task100Ms() {} //Default does nothing
-   virtual void DecodeCAN(int, uint32_t*) {};
+   virtual void DecodeCAN(int, const uint8_t[8]) {};
    virtual void SetTorque(float torquePercent) = 0;
    virtual float GetMotorTemperature() = 0;
    virtual float GetInverterTemperature() = 0;
diff --git a/include/isa_shunt.h b/include/isa_shunt.h
index 119f2ab0..706c008a 100644
--- a/include/isa_shunt.h
+++ b/include/isa_shunt.h
@@ -29,7 +29,7 @@ class ISA
     static void START(CanHardware* can);
     static void RESTART(CanHardware* can);
     static void deFAULT(CanHardware* can);
-    static void DecodeCAN(int id, uint32_t data[2]);
+    static void DecodeCAN(int id, const uint8_t bytes[8]);
 
     static int32_t Voltage;
     static int32_t Voltage2;
@@ -42,14 +42,14 @@ class ISA
 
 
 private:
-    static void handle521(uint32_t data[2]);
-    static void handle522(uint32_t data[2]);
-    static void handle523(uint32_t data[2]);
-    static void handle524(uint32_t data[2]);
-    static void handle525(uint32_t data[2]);
-    static void handle526(uint32_t data[2]);
-    static void handle527(uint32_t data[2]);
-    static void handle528(uint32_t data[2]);
+    static void handle521(const uint8_t bytes[8]);
+    static void handle522(const uint8_t bytes[8]);
+    static void handle523(const uint8_t bytes[8]);
+    static void handle524(const uint8_t bytes[8]);
+    static void handle525(const uint8_t bytes[8]);
+    static void handle526(const uint8_t bytes[8]);
+    static void handle527(const uint8_t bytes[8]);
+    static void handle528(const uint8_t bytes[8]);
 };
 
 #endif /* SimpleISA_h */
diff --git a/include/kangoobms.h b/include/kangoobms.h
index e36cef30..f6897a90 100644
--- a/include/kangoobms.h
+++ b/include/kangoobms.h
@@ -29,7 +29,7 @@ class KangooBMS: public BMS
 {
    public:
       void SetCanInterface(CanHardware* c) override;
-      void DecodeCAN(int id, uint8_t * data) override;
+      void DecodeCAN(int id, const uint8_t data[8]) override;
       float MaxChargeCurrent() override;
       void Task100Ms() override;
 
diff --git a/include/leafbms.h b/include/leafbms.h
index 74cd9c1b..2835be3a 100644
--- a/include/leafbms.h
+++ b/include/leafbms.h
@@ -24,7 +24,7 @@ class LeafBMS: public BMS
 {
 public:
     void SetCanInterface(CanHardware* can) override;
-    void DecodeCAN(int id, uint8_t * data) override;
+    void DecodeCAN(int id, const uint8_t bytes[8]) override;
 };
 
 #endif // LEAFBMS_H
diff --git a/include/leafinv.h b/include/leafinv.h
index 48c34d88..01897ec4 100644
--- a/include/leafinv.h
+++ b/include/leafinv.h
@@ -28,7 +28,7 @@
 class LeafINV: public Inverter
 {
 public:
-   void DecodeCAN(int id, uint32_t data[2]);
+   void DecodeCAN(int id, const uint8_t bytes[8]) override;
    void Task10Ms();
    void Task100Ms();
    static bool ControlCharge(bool RunCh);
diff --git a/include/outlanderCharger.h b/include/outlanderCharger.h
index 182c6de6..0272ae24 100644
--- a/include/outlanderCharger.h
+++ b/include/outlanderCharger.h
@@ -35,7 +35,7 @@ class outlanderCharger: public Chargerhw
 {
 
 public:
-void DecodeCAN(int id, uint32_t data[2]);
+void DecodeCAN(int id, const uint8_t bytes[8]) override;
 void Task100Ms();
 bool ControlCharge(bool RunCh, bool ACReq);
 void SetCanInterface(CanHardware* c);
@@ -51,9 +51,9 @@ static uint8_t chgStatus , evseDuty;
 static float dcBusV , temp_1 , temp_2 , ACVolts , DCAmps , ACAmps;
 static float LV_Volts , LV_Amps;
 
-static void handle377(uint32_t data[2]);
-static void handle389(uint32_t data[2]);
-static void handle38A(uint32_t data[2]);
+static void handle377(const uint8_t bytes[8]);
+static void handle389(const uint8_t bytes[8]);
+static void handle38A(const uint8_t bytes[8]);
 };
 
 #endif // OUTLANDERCHARGER_H
diff --git a/include/outlanderinverter.h b/include/outlanderinverter.h
index a6059850..da0f08b8 100644
--- a/include/outlanderinverter.h
+++ b/include/outlanderinverter.h
@@ -27,7 +27,7 @@ class OutlanderInverter : public Inverter
 public:
    OutlanderInverter();
    void SetCanInterface(CanHardware* c);
-   void DecodeCAN(int id, uint32_t data[2]);
+   void DecodeCAN(int id, const uint8_t bytes[8]) override;
    void Task10Ms();
    void Task100Ms();
    void SetTorque(float torque);
diff --git a/include/rearoutlanderinverter.h b/include/rearoutlanderinverter.h
index 9ca03a36..c58c03cf 100644
--- a/include/rearoutlanderinverter.h
+++ b/include/rearoutlanderinverter.h
@@ -27,7 +27,7 @@ class RearOutlanderInverter : public Inverter
 public:
    RearOutlanderInverter();
    void SetCanInterface(CanHardware* c);
-   void DecodeCAN(int id, uint32_t data[2]);
+   void DecodeCAN(int id, const uint8_t bytes[8]) override;
    void Task10Ms();
    void Task100Ms();
    void SetTorque(float torque);
diff --git a/include/shifter.h b/include/shifter.h
index fc465bec..5a2d6ffc 100644
--- a/include/shifter.h
+++ b/include/shifter.h
@@ -31,7 +31,7 @@ class Shifter
    virtual void Task10Ms() {} //Default does nothing
    virtual void Task100Ms() {} //Default does nothing
    virtual void Task200Ms() {} //Default does nothing
-   virtual void DecodeCAN(int, uint32_t*) {};
+   virtual void DecodeCAN(int, const uint8_t[8]) {};
    virtual bool GetGear(Sgear&) { return false; } //if shifter class knows gear return true and set dir
    virtual void SetCanInterface(CanHardware* c) { can = c; }
 
diff --git a/include/simpbms.h b/include/simpbms.h
index 88ad071a..f7afaa0a 100644
--- a/include/simpbms.h
+++ b/include/simpbms.h
@@ -28,7 +28,7 @@ class SimpBMS: public BMS
 {
    public:
       void SetCanInterface(CanHardware* c) override;
-      void DecodeCAN(int id, uint8_t * data) override;
+      void DecodeCAN(int id, const uint8_t data[8]) override;
       float MaxChargeCurrent() override;
       void Task100Ms() override;
    private:
diff --git a/include/teslaCharger.h b/include/teslaCharger.h
index 5e391d8f..cedd6222 100644
--- a/include/teslaCharger.h
+++ b/include/teslaCharger.h
@@ -12,7 +12,7 @@
 class teslaCharger: public Chargerhw
 {
 public:
-    void DecodeCAN(int id, uint32_t data[2]) override;
+    void DecodeCAN(int id, const uint8_t bytes[8]) override;
     void Task100Ms() override;
     bool ControlCharge(bool RunCh, bool ACReq) override;
     void SetCanInterface(CanHardware* c) override;
diff --git a/include/vag_sbox.h b/include/vag_sbox.h
index 08b0c73b..e9982880 100644
--- a/include/vag_sbox.h
+++ b/include/vag_sbox.h
@@ -22,7 +22,7 @@ class VWBOX
 
 public:
     static void RegisterCanMessages(CanHardware* can);
-    static void DecodeCAN(int id, uint32_t data[2]);
+    static void DecodeCAN(int id, const uint8_t bytes[8]);
     static void ControlContactors(int opmode, CanHardware* can);
 
     static float Voltage;
@@ -37,7 +37,7 @@ class VWBOX
 private:
 
 
-    static void handle0BB(uint32_t data[2]);
+    static void handle0BB(const uint8_t bytes[8]);
     static uint8_t vw_crc_calc(uint8_t *data);
 
 };
diff --git a/include/vehicle.h b/include/vehicle.h
index 3bd0d807..33b73958 100644
--- a/include/vehicle.h
+++ b/include/vehicle.h
@@ -32,7 +32,7 @@ class Vehicle
    virtual void Task10Ms() {} //Default does nothing
    virtual void Task100Ms() {} //Default does nothing
    virtual void Task200Ms() {} //Default does nothing
-   virtual void DecodeCAN(int, uint32_t*) {};
+   virtual void DecodeCAN(int, const uint8_t[8]) {};
    virtual void DashOff() {}
    virtual void SetRevCounter(int speed) = 0;
    virtual void SetTemperatureGauge(float temp) = 0;
diff --git a/src/BMW_E31.cpp b/src/BMW_E31.cpp
index 5cdc0560..c3d210be 100644
--- a/src/BMW_E31.cpp
+++ b/src/BMW_E31.cpp
@@ -56,9 +56,9 @@ void BMW_E31::SetTemperatureGauge(float temp)
     dc = dc;
 }
 
-void BMW_E31::DecodeCAN(int id, uint32_t* data)
+void BMW_E31::DecodeCAN(int id, const uint8_t bytes[8])
 {
-    uint8_t* bytes = (uint8_t*)data;//E31 CAN to be added here
+    //E31 CAN to be added here
 
     if (id == 0x153)// ASC1 contains road speed signal. Unsure if applies to E31 as yet ....
     {
diff --git a/src/BMW_E39.cpp b/src/BMW_E39.cpp
index 51779c82..e022ace5 100644
--- a/src/BMW_E39.cpp
+++ b/src/BMW_E39.cpp
@@ -370,7 +370,7 @@ void BMW_E39::Msg43F(int8_t gear)
     can->Send(0x43F, bytes, 8);
 }
 
-void BMW_E39::DecodeCAN(int id, uint32_t* data)
+void BMW_E39::DecodeCAN(int id, const uint8_t bytes[8])
 {
     //ASC1 message data 0x153
     /*
@@ -423,8 +423,6 @@ void BMW_E39::DecodeCAN(int id, uint32_t* data)
     Byte 7 - ASC ALIVE
     */
 
-    uint8_t* bytes = (uint8_t*)data;// arrgghhh this converts the two 32bit array into bytes. See comments are useful:)
-
     if (id == 0x153)// ASC1 contains road speed signal.
     {
         //Vehicle speed signal in Km/h
diff --git a/src/BMW_E65.cpp b/src/BMW_E65.cpp
index 2fb58f7c..456755fd 100644
--- a/src/BMW_E65.cpp
+++ b/src/BMW_E65.cpp
@@ -30,25 +30,25 @@ void BMW_E65::SetCanInterface(CanHardware* c)
 /////////////////////////////////////////////////////////////////////////////////////////////////////
 ///////Handle incomming pt can messages from the car here
 ////////////////////////////////////////////////////////////////////////////////////////////////////
-void BMW_E65::DecodeCAN(int id, uint32_t* data)
+void BMW_E65::DecodeCAN(int id, const uint8_t bytes[8])
 {
 
     switch (id)
     {
     case 0x130:
-        BMW_E65::handle130(data);
+        BMW_E65::handle130(bytes);
         break;
 
     case 0x1A0:
-        BMW_E65::handle1A0(data);
+        BMW_E65::handle1A0(bytes);
         break;
 
     case 0x2FC:
-        BMW_E65::handle2FC(data);
+        BMW_E65::handle2FC(bytes);
         break;
 
     case 0x480:
-        BMW_E65::handle480(data);
+        BMW_E65::handle480(bytes);
         break;
 
     default:
@@ -56,9 +56,8 @@ void BMW_E65::DecodeCAN(int id, uint32_t* data)
     }
 }
 
-void BMW_E65::handle130(uint32_t data[2])
+void BMW_E65::handle130(const uint8_t bytes[8])
 {
-    uint8_t* bytes = (uint8_t*)data;
     /*
         if ((bytes[0] == 0x45) || (bytes[0] == 0x55))
         {
@@ -107,17 +106,14 @@ void BMW_E65::handle130(uint32_t data[2])
     }
 }
 
-void BMW_E65::handle1A0(uint32_t data[2])
+void BMW_E65::handle1A0(const uint8_t bytes[8])
 {
-    uint8_t* bytes = (uint8_t*)data;
-
     float kph = (bytes[0] + uint16_t((bytes[1]&0x0F)<<8)) * 0.1;
     Param::SetFloat(Param::Veh_Speed, kph * 0.621371f);
 }
 
-void BMW_E65::handle2FC(uint32_t data[2])
+void BMW_E65::handle2FC(const uint8_t bytes[8])
 {
-    uint8_t* bytes = (uint8_t*)data;
     if (bytes[0] == 0x84)//Locked
     {
         Param::SetInt(Param::VehLockSt,1);
@@ -128,10 +124,9 @@ void BMW_E65::handle2FC(uint32_t data[2])
     }
 }
 
-void BMW_E65::handle480(uint32_t data[2])
-{
-    uint8_t* bytes = (uint8_t*)data;
 
+void BMW_E65::handle480(const uint8_t bytes[8])
+{
     if (bytes[1] == 0x32)
     {
         CANWake = false;
diff --git a/src/CPC.cpp b/src/CPC.cpp
index 73b76da2..3738901d 100644
--- a/src/CPC.cpp
+++ b/src/CPC.cpp
@@ -32,13 +32,13 @@ void CPCClass::SetCanInterface(CanHardware* c)
     can->RegisterUserMessage(0x357);
 }
 
-void CPCClass::DecodeCAN(int id, uint32_t* data)
+void CPCClass::DecodeCAN(int id, const uint8_t bytes[8])
 {
 
     switch(id)
     {
     case 0x357:
-        CPCClass::handle357(data);
+        CPCClass::handle357(bytes);
         break;
 
 
@@ -48,10 +48,8 @@ void CPCClass::DecodeCAN(int id, uint32_t* data)
     }
 }
 
-void CPCClass::handle357(uint32_t data[2])  //Lim data
+void CPCClass::handle357(const uint8_t bytes[8])  //Lim data
 {
-    uint8_t* bytes = (uint8_t*)data;// arrgghhh this converts the two 32bit array into bytes. See comments are useful:)
-
     ChargePort_IsoStop = bytes[0];
     ChargePort_ACLimit = bytes[2] * 256 + bytes[1];
     ChargePort_Status = bytes[3];
diff --git a/src/Can_OBD2.cpp b/src/Can_OBD2.cpp
index 5546657b..1a661a57 100644
--- a/src/Can_OBD2.cpp
+++ b/src/Can_OBD2.cpp
@@ -75,9 +75,8 @@ void Can_OBD2::SetCanInterface(CanHardware *c)
    can->RegisterUserMessage(0x7DF);
 }
 
-void Can_OBD2::DecodeCAN(int id, uint32_t data[2])
+void Can_OBD2::DecodeCAN(int id, const uint8_t bytes[8])
 {
-  uint8_t *bytes = (uint8_t *)data; // arrgghhh this converts the two 32bit array into bytes. See comments are useful:)
   uint8_t response[8];
   uint16_t speed;
 
diff --git a/src/Can_OI.cpp b/src/Can_OI.cpp
index ac5e3565..1585a9aa 100644
--- a/src/Can_OI.cpp
+++ b/src/Can_OI.cpp
@@ -44,14 +44,12 @@ void Can_OI::SetCanInterface(CanHardware* c)
    can->RegisterUserMessage(0x1AE);//Open Inv Msg. Dec 430 for Opmode.
 }
 
-void Can_OI::DecodeCAN(int id, uint32_t* data)
+void Can_OI::DecodeCAN(int id, const uint8_t bytes[8])
 {
 //0x1A4 bits 0-15 inverter voltage x10
 //0x190 bits 0-15 motor rpm x1
 //0x19A bits 0-15 heatsink temp x10
 
-   uint8_t* bytes = (uint8_t*)data;// arrgghhh this converts the two 32bit array into bytes. See comments are useful:)
-
    if (id == 0x1A4)// THIS MSG CONTAINS INV VOLTAGE
    {
       voltage=((bytes[1]<<8)|(bytes[0]))/10;
diff --git a/src/E65_Lever.cpp b/src/E65_Lever.cpp
index f8d8dddb..0b3010e5 100644
--- a/src/E65_Lever.cpp
+++ b/src/E65_Lever.cpp
@@ -28,8 +28,10 @@ void E65_Lever::SetCanInterface(CanHardware* c)
     can->RegisterUserMessage(0x192);//GWS status msg. Contains info on buttons pressed and lever location.
 }
 
-void E65_Lever::DecodeCAN(int id, uint32_t* data)
+void E65_Lever::DecodeCAN(int id, const uint8_t bytes[8])
 {
+    uint32_t* data = (uint32_t*)bytes;
+
     if (id == 0x192)
     {
         uint32_t GLeaver = data[0] & 0x00ffffff;  //unsigned int to contain result of message 0x192. Gear selector lever position
diff --git a/src/ElconCharger.cpp b/src/ElconCharger.cpp
index 6a4225f6..3fc42a67 100644
--- a/src/ElconCharger.cpp
+++ b/src/ElconCharger.cpp
@@ -18,12 +18,12 @@ void ElconCharger::SetCanInterface(CanHardware* c)
 
 }
 
-void ElconCharger::DecodeCAN(int id, uint32_t data[2])
+void ElconCharger::DecodeCAN(int id, const uint8_t bytes[8])
 {
     switch (id)
     {
     case 0x18FF50E5:
-        ElconCharger::handle18FF50E5(data);
+        ElconCharger::handle18FF50E5(bytes);
         break;
 
     default:
@@ -31,9 +31,8 @@ void ElconCharger::DecodeCAN(int id, uint32_t data[2])
     }
 }
 
-void ElconCharger::handle18FF50E5(uint32_t data[2])
+void ElconCharger::handle18FF50E5(const uint8_t bytes[8])
 {
-    uint8_t* bytes = (uint8_t*)data;// arrgghhh this converts the two 32bit array into bytes.
     ChargerHVbatteryVolts = (bytes[0] * 256 + bytes[1]) * 0.1;
     ChargerHVcurrent = (bytes[2] * 256 + bytes[3]) * 0.1;
     ChargerStatus = bytes[4];
diff --git a/src/F30_Lever.cpp b/src/F30_Lever.cpp
index 306d65a3..5e56c4a2 100644
--- a/src/F30_Lever.cpp
+++ b/src/F30_Lever.cpp
@@ -93,9 +93,8 @@ remainder = remainder^final;
 }
 
 
-void F30_Lever::DecodeCAN(int id, uint32_t* data)
+void F30_Lever::DecodeCAN(int id, const uint8_t bytes[8])
 {
-   uint8_t* bytes = (uint8_t*)data;
    if (id == 0x197)
    {
      Up1 = false;
diff --git a/src/Focci.cpp b/src/Focci.cpp
index 7a9e257c..e27d05e8 100644
--- a/src/Focci.cpp
+++ b/src/Focci.cpp
@@ -71,19 +71,19 @@ void FocciClass::SetCanInterface(CanHardware* c)
     can->RegisterUserMessage(0x596);
 }
 
-void FocciClass::DecodeCAN(int id, uint32_t* data)
+void FocciClass::DecodeCAN(int id, const uint8_t bytes[8])
 {
 
     switch(id)
     {
     case 0x109:
-        handle109(data);
+        handle109(bytes);
         break;
     case 0x357:
-        handle357(data);
+        handle357(bytes);
         break;
     case 0x596:
-        handle596(data);
+        handle596(bytes);
         break;
 
 
@@ -93,21 +93,16 @@ void FocciClass::DecodeCAN(int id, uint32_t* data)
     }
 }
 
-void FocciClass::handle109(uint32_t data[2])  //FOCCI DCFC info
+void FocciClass::handle109(const uint8_t bytes[8])  //FOCCI DCFC info
 {
-    uint8_t* bytes = (uint8_t*)data;// arrgghhh this converts the two 32bit array into bytes. See comments are useful:)
-
     Param::SetInt(Param::CCS_V,bytes[1] * 256 + bytes[0]);
     Param::SetInt(Param::CCS_I,bytes[3] * 256 + bytes[2]);
     Param::SetInt(Param::CCS_I_Avail,bytes[5] * 256 + bytes[4]);
     Param::SetInt(Param::CCS_V_Avail,bytes[7] * 256 + bytes[6]);
-
 }
 
-void FocciClass::handle357(uint32_t data[2])  //FOCCI Charge Port Info
+void FocciClass::handle357(const uint8_t bytes[8])  //FOCCI Charge Port Info
 {
-    uint8_t* bytes = (uint8_t*)data;// arrgghhh this converts the two 32bit array into bytes. See comments are useful:)
-
     ChargePort_IsoStop = bytes[0];
     ChargePort_ACLimit = bytes[2] * 256 + bytes[1];
     ChargePort_Status = bytes[3];
@@ -170,9 +165,8 @@ void FocciClass::handle357(uint32_t data[2])  //FOCCI Charge Port Info
     Param::SetInt(Param::PilotTyp,CP_Mode);
 }
 
-void FocciClass::handle596(uint32_t data[2])  //FOCCI SDO responses
+void FocciClass::handle596(const uint8_t bytes[8])  //FOCCI SDO responses
 {
-    uint8_t* bytes = (uint8_t*)data;// arrgghhh this converts the two 32bit array into bytes. See comments are useful:)
     if(RespondReq == 1)//only look at this if we have sent a message looking for a response
     {
         if(bytes[0] == 0x80)
diff --git a/src/JLR_G1.cpp b/src/JLR_G1.cpp
index ca876168..fef57191 100644
--- a/src/JLR_G1.cpp
+++ b/src/JLR_G1.cpp
@@ -44,15 +44,13 @@ void JLR_G1::SetCanInterface(CanHardware* c)
 }
 
 
-void JLR_G1::DecodeCAN(int id, uint32_t* data)
+void JLR_G1::DecodeCAN(int id, const uint8_t bytes[8])
 {
-    uint8_t* bytes = (uint8_t*)data;
     if (id == 0x312)
     {
         Cnt312 = bytes[7] & 0x0F;
         DirJLRG1 = bytes[3] >> 4;
     }
-
 }
 
 void JLR_G1::sendcan()
diff --git a/src/JLR_G2.cpp b/src/JLR_G2.cpp
index 2a6ce22c..f3c0be97 100644
--- a/src/JLR_G2.cpp
+++ b/src/JLR_G2.cpp
@@ -58,9 +58,8 @@ void JLR_G2::SetCanInterface(CanHardware* c)
 }
 
 
-void JLR_G2::DecodeCAN(int id, uint32_t* data)
+void JLR_G2::DecodeCAN(int id, const uint8_t bytes[8])
 {
-    uint8_t* bytes = (uint8_t*)data;
     if (id == 0x0E0)
     {
         Cnt0E0 = bytes[4];
diff --git a/src/NissanPDM.cpp b/src/NissanPDM.cpp
index f8675fd9..c2c4c92b 100644
--- a/src/NissanPDM.cpp
+++ b/src/NissanPDM.cpp
@@ -89,10 +89,8 @@ void NissanPDM::SetCanInterface(CanHardware* c)
     can->RegisterUserMessage(0x390);//Leaf obc msg
 }
 
-void NissanPDM::DecodeCAN(int id, uint32_t data[2])
+void NissanPDM::DecodeCAN(int id, const uint8_t bytes[8])
 {
-    uint8_t* bytes = (uint8_t*)data;// arrgghhh this converts the two 32bit array into bytes. See comments are useful:)
-
     if (id == 0x679)// THIS MSG FIRES ONCE ON CHARGE PLUG INSERT
     {
         uint8_t dummyVar = bytes[0];
diff --git a/src/OutlanderCanHeater.cpp b/src/OutlanderCanHeater.cpp
index e8ba3eb8..f059caa2 100644
--- a/src/OutlanderCanHeater.cpp
+++ b/src/OutlanderCanHeater.cpp
@@ -69,19 +69,18 @@ void OutlanderCanHeater::SetTargetTemperature(float temp)
     desiredTemperature = temp;
 }
 
-void OutlanderCanHeater::DecodeCAN(int id, uint32_t data[2])
+void OutlanderCanHeater::DecodeCAN(int id, const uint8_t bytes[8])
 {
     switch (id)
     {
     case 0x398:
-        OutlanderCanHeater::handle398(data);
+        OutlanderCanHeater::handle398(bytes);
         break;
     }
 }
 
-void OutlanderCanHeater::handle398(uint32_t data[2])
+void OutlanderCanHeater::handle398(const uint8_t bytes[8])
 {
-    uint8_t* bytes = (uint8_t*)data;// arrgghhh this converts the two 32bit array into bytes. See comments are useful:)
     unsigned int temp1 = bytes[3] - 40;
     unsigned int temp2 = bytes[4] - 40;
     if (temp2 > temp1)
diff --git a/src/RearOutlanderinverter.cpp b/src/RearOutlanderinverter.cpp
index ffdd9123..56ac1b73 100644
--- a/src/RearOutlanderinverter.cpp
+++ b/src/RearOutlanderinverter.cpp
@@ -38,9 +38,8 @@ void RearOutlanderInverter::SetCanInterface(CanHardware* c)
     can->RegisterUserMessage(0x733);//Outlander Inv Msg
 }
 
-void RearOutlanderInverter::DecodeCAN(int id, uint32_t data[2])
+void RearOutlanderInverter::DecodeCAN(int id, const uint8_t bytes[8])
 {
-    uint8_t* bytes = (uint8_t*)data;// arrgghhh this converts the two 32bit array into bytes. See comments are useful:)
     switch (id)
     {
     case 0x289:
diff --git a/src/bmw_sbox.cpp b/src/bmw_sbox.cpp
index bad40b08..97e7b63e 100644
--- a/src/bmw_sbox.cpp
+++ b/src/bmw_sbox.cpp
@@ -95,47 +95,39 @@ void SBOX::RegisterCanMessages(CanHardware* can)
 
 }
 
-void SBOX::DecodeCAN(int id, uint32_t data[2])
+void SBOX::DecodeCAN(int id, const uint8_t bytes[8])
 {
    switch (id)
    {
    case 0x200:
-      SBOX::handle200(data);//SBOX CAN MESSAGE
+      SBOX::handle200(bytes);//SBOX CAN MESSAGE
       break;
    case 0x210:
-      SBOX::handle210(data);//SBOX CAN MESSAGE
+      SBOX::handle210(bytes);//SBOX CAN MESSAGE
       break;
    case 0x220:
-      SBOX::handle220(data);//SBOX CAN MESSAGE
+      SBOX::handle220(bytes);//SBOX CAN MESSAGE
       break;
    }
 }
 
 
-void SBOX::handle200(uint32_t data[2])  //SBOX Current
-
+void SBOX::handle200(const uint8_t bytes[8])  //SBOX Current
 {
-   uint8_t* bytes = (uint8_t*)data;// arrgghhh this converts the two 32bit array into bytes. See comments are useful:)
    Amperes = ((bytes[2] << 16) | (bytes[1] << 8) | (bytes[0]));
    Amperes = (Amperes<<8) >> 8;//extend sign bit as its a 24 bit signed value in a 32bit int! AAAHHHHHH!
-
 }
 
-void SBOX::handle210(uint32_t data[2])  //SBOX battery voltage
-
+void SBOX::handle210(const uint8_t bytes[8])  //SBOX battery voltage
 {
-   uint8_t* bytes = (uint8_t*)data;// arrgghhh this converts the two 32bit array into bytes. See comments are useful:)
    Voltage=((bytes[2] << 16) | (bytes[1] << 8) | (bytes[0]));
    Voltage = (Voltage<<8) >> 8;//extend sign bit as its a 24 bit signed value in a 32bit int! AAAHHHHHH!
 }
 
-void SBOX::handle220(uint32_t data[2]) //SBOX Output voltage
-
+void SBOX::handle220(const uint8_t bytes[8]) //SBOX Output voltage
 {
-   uint8_t* bytes = (uint8_t*)data;// arrgghhh this converts the two 32bit array into bytes. See comments are useful:)
    Voltage2=((bytes[2] << 16) | (bytes[1] << 8) | (bytes[0]));
    Voltage2 = (Voltage2<<8) >> 8;//extend sign bit as its a 24 bit signed value in a 32bit int! AAAHHHHHH!
-
 }
 
 void SBOX::ControlContactors(int opmode, CanHardware* can)
diff --git a/src/chademo.cpp b/src/chademo.cpp
index 88614035..6311a85d 100644
--- a/src/chademo.cpp
+++ b/src/chademo.cpp
@@ -47,21 +47,24 @@ static void delay(void)
       __asm__("nop");
 }
 
-void FCChademo::DecodeCAN(int id, uint32_t data[2])
+void FCChademo::DecodeCAN(int id, const uint8_t bytes[8])
 {
-if (id == 0x108)
-{
-    chargerMaxCurrent = data[0] >> 24;
-    chargerMaxVoltage = data[0] >> 8;
-}
+   // TODO: Refactor to access the bytes this is looking for
+   const uint32_t* data = (uint32_t*)bytes;
 
+   if (id == 0x108)
+   {
+      chargerMaxCurrent = data[0] >> 24;
+      chargerMaxVoltage = data[0] >> 8;
+   }
 
-if (id == 0x109)
-{
-   chargerOutputVoltage = data[0] >> 8;
-   chargerOutputCurrent = data[0] >> 24;
-   chargerStatus = (data[1] >> 8) & 0x3F;
-}
+
+   if (id == 0x109)
+   {
+      chargerOutputVoltage = data[0] >> 8;
+      chargerOutputCurrent = data[0] >> 24;
+      chargerStatus = (data[1] >> 8) & 0x3F;
+   }
 }
 
 
diff --git a/src/charger.cpp b/src/charger.cpp
index 7fd7fbc0..4b9d6c6d 100644
--- a/src/charger.cpp
+++ b/src/charger.cpp
@@ -4,10 +4,8 @@ bool chargerClass::HVreq=false;
 static uint8_t counter_109 = 0;
 
 
-void chargerClass::handle108(uint32_t data[2])  //HV request
-
+void chargerClass::handle108(const uint8_t bytes[8])  //HV request
 {
-   uint8_t* bytes = (uint8_t*)data;// arrgghhh this converts the two 32bit array into bytes. See comments are useful:)
    if(bytes[0]==0xAA) HVreq=true;
    if(bytes[0]==0xCC) HVreq=false;
    //Counter in byte 7 to validate msg.
diff --git a/src/daisychainbms.cpp b/src/daisychainbms.cpp
index eb6c66ce..d236b5e2 100644
--- a/src/daisychainbms.cpp
+++ b/src/daisychainbms.cpp
@@ -76,7 +76,7 @@ float DaisychainBMS::MaxChargeCurrent()
 }
 
 // Process voltage and temperature message from TI Daisychain BMS.
-void DaisychainBMS::DecodeCAN(int id, uint8_t *data)
+void DaisychainBMS::DecodeCAN(int id, const uint8_t data[8])
 {
    int bms = -1;
    if (id == 0x4f1) bms = 0;
diff --git a/src/i3LIM.cpp b/src/i3LIM.cpp
index d19049db..da7a294f 100644
--- a/src/i3LIM.cpp
+++ b/src/i3LIM.cpp
@@ -86,25 +86,25 @@ void i3LIMClass::SetCanInterface(CanHardware* c)
     can->RegisterUserMessage(0x2EF);
 }
 
-void i3LIMClass::DecodeCAN(int id, uint32_t* data)
+void i3LIMClass::DecodeCAN(int id, const uint8_t bytes[8])
 {
 
     switch(id)
     {
     case 0x3B4:
-        handle3B4(data);
+        handle3B4(bytes);
         break;
     case 0x272:
-        handle272(data);
+        handle272(bytes);
         break;
     case 0x29E:
-        handle29E(data);
+        handle29E(bytes);
         break;
     case 0x2B2:
-        handle2B2(data);
+        handle2B2(bytes);
         break;
     case 0x2EF:
-        handle2EF(data);
+        handle2EF(bytes);
         break;
 
     default:
@@ -113,7 +113,7 @@ void i3LIMClass::DecodeCAN(int id, uint32_t* data)
     }
 }
 
-void i3LIMClass::handle3B4(uint32_t data[2])  //Lim data
+void i3LIMClass::handle3B4(const uint8_t bytes[8])  //Lim data
 
 {
     /*
@@ -127,7 +127,6 @@ void i3LIMClass::handle3B4(uint32_t data[2])  //Lim data
     6=pilot static
     */
 
-    uint8_t* bytes = (uint8_t*)data;// arrgghhh this converts the two 32bit array into bytes. See comments are useful:)
     uint8_t CP_Amps=bytes[0];
     Param::SetInt(Param::PilotLim,CP_Amps);
     uint8_t PP_Amps=bytes[1];
@@ -160,10 +159,8 @@ void i3LIMClass::handle3B4(uint32_t data[2])  //Lim data
 
 }
 
-void i3LIMClass::handle29E(uint32_t data[2])  //Lim data. Available current and voltage from the ccs charger
-
+void i3LIMClass::handle29E(const uint8_t bytes[8])  //Lim data. Available current and voltage from the ccs charger
 {
-    uint8_t* bytes = (uint8_t*)data;// arrgghhh this converts the two 32bit array into bytes. See comments are useful:)
     uint16_t V_Avail=((bytes[2]<<8)|(bytes[1]));
     V_Avail=FP_TOINT(FP_DIV(V_Avail,10));
     Param::SetInt(Param::CCS_V_Avail,V_Avail);//available voltage from ccs charger
@@ -175,13 +172,10 @@ void i3LIMClass::handle29E(uint32_t data[2])  //Lim data. Available current and
     CCS_Iso = (bytes[0]>>6)&0x03;
     CCS_IntStat = (bytes[0]>>2)&0x0f;
     Param::SetInt(Param::CCS_COND,CCS_IntStat);//update evse condition on webui
-
 }
 
-void i3LIMClass::handle2B2(uint32_t data[2])  //Lim data. Current and Votage as measured by the ccs charger
-
+void i3LIMClass::handle2B2(const uint8_t bytes[8])  //Lim data. Current and Votage as measured by the ccs charger
 {
-    uint8_t* bytes = (uint8_t*)data;// arrgghhh this converts the two 32bit array into bytes. See comments are useful:)
     uint16_t CCS_Vmeas=((bytes[1]<<8)|(bytes[0]));
     CCS_Vmeas=FP_TOINT(FP_DIV(CCS_Vmeas,10));
     Param::SetInt(Param::CCS_V,CCS_Vmeas);//Voltage measurement from ccs charger
@@ -199,21 +193,17 @@ void i3LIMClass::handle2B2(uint32_t data[2])  //Lim data. Current and Votage as
     CCS_Stop = (bytes[5]>>2)&0x03;
 }
 
-void i3LIMClass::handle2EF(uint32_t data[2])  //Lim data. Min available voltage from the ccs charger.
-
+void i3LIMClass::handle2EF(const uint8_t bytes[8])  //Lim data. Min available voltage from the ccs charger.
 {
-    uint8_t* bytes = (uint8_t*)data;// arrgghhh this converts the two 32bit array into bytes. See comments are useful:)
     uint16_t minV_Avail=((bytes[1]<<8)|(bytes[0]));
     minV_Avail=FP_TOINT(FP_DIV(minV_Avail,10));
     Param::SetInt(Param::CCS_V_Min,minV_Avail);//minimum available voltage from ccs charger
 
     CCS_Plim = (bytes[6]>>4)&0x03;
-
 }
 
-void i3LIMClass::handle272(uint32_t data[2])  //Lim data. CCS contactor state and charge flap open/close status.
+void i3LIMClass::handle272(const uint8_t bytes[8])  //Lim data. CCS contactor state and charge flap open/close status.
 {
-    uint8_t* bytes = (uint8_t*)data;// arrgghhh this converts the two 32bit array into bytes. See comments are useful:)
 // Only the top 6-bits indicate the contactor state
     uint8_t Cont_stat=bytes[2] >> 2;
     Param::SetInt(Param::CCS_Contactor,Cont_stat);
diff --git a/src/isa_shunt.cpp b/src/isa_shunt.cpp
index 0f370567..4e243906 100644
--- a/src/isa_shunt.cpp
+++ b/src/isa_shunt.cpp
@@ -37,33 +37,33 @@ static void delay(void) //delay used for isa setup fumction. probably much bette
       __asm__("nop");
 }
 
-void ISA::DecodeCAN(int id, uint32_t data[2])
+void ISA::DecodeCAN(int id, const uint8_t bytes[8])
 {
    switch (id)
    {
    case 0x521:
-      ISA::handle521(data);//ISA CAN MESSAGE
+      ISA::handle521(bytes);//ISA CAN MESSAGE
       break;
    case 0x522:
-      ISA::handle522(data);//ISA CAN MESSAGE
+      ISA::handle522(bytes);//ISA CAN MESSAGE
       break;
    case 0x523:
-      ISA::handle523(data);//ISA CAN MESSAGE
+      ISA::handle523(bytes);//ISA CAN MESSAGE
       break;
    case 0x524:
-      ISA::handle524(data);//ISA CAN MESSAGE
+      ISA::handle524(bytes);//ISA CAN MESSAGE
       break;
    case 0x525:
-      ISA::handle525(data);//ISA CAN MESSAGE
+      ISA::handle525(bytes);//ISA CAN MESSAGE
       break;
    case 0x526:
-      ISA::handle526(data);//ISA CAN MESSAGE
+      ISA::handle526(bytes);//ISA CAN MESSAGE
       break;
    case 0x527:
-      ISA::handle527(data);//ISA CAN MESSAGE
+      ISA::handle527(bytes);//ISA CAN MESSAGE
       break;
    case 0x528:
-      ISA::handle528(data);//ISA CAN MESSAGE
+      ISA::handle528(bytes);//ISA CAN MESSAGE
       break;
    }
 }
@@ -225,66 +225,50 @@ void ISA::initCurrent(CanHardware* can)
 
 /********* Private functions *******/
 
-void ISA::handle521(uint32_t data[2])  //Amperes
+void ISA::handle521(const uint8_t bytes[8])  //Amperes
 
 {
-   uint8_t* bytes = (uint8_t*)data;// arrgghhh this converts the two 32bit array into bytes. See comments are useful:)
    Amperes = ((bytes[5] << 24) | (bytes[4] << 16) | (bytes[3] << 8) | (bytes[2]));
 }
 
-void ISA::handle522(uint32_t data[2])  //Voltage
+void ISA::handle522(const uint8_t bytes[8])  //Voltage
 
 {
-   uint8_t* bytes = (uint8_t*)data;// arrgghhh this converts the two 32bit array into bytes. See comments are useful:)
    Voltage=((bytes[5] << 24) | (bytes[4] << 16) | (bytes[3] << 8) | (bytes[2]));
 }
 
-void ISA::handle523(uint32_t data[2]) //Voltage2
+void ISA::handle523(const uint8_t bytes[8]) //Voltage2
 
 {
-   uint8_t* bytes = (uint8_t*)data;// arrgghhh this converts the two 32bit array into bytes. See comments are useful:)
    Voltage2 = (uint32_t)((bytes[5] << 24) | (bytes[4] << 16) | (bytes[3] << 8) | (bytes[2]));
-
-
 }
 
-void ISA::handle524(uint32_t data[2])  //Voltage3
-
+void ISA::handle524(const uint8_t bytes[8])  //Voltage3
 {
-   uint8_t* bytes = (uint8_t*)data;// arrgghhh this converts the two 32bit array into bytes. See comments are useful:)
    Voltage3 = (uint32_t)((bytes[5] << 24) | (bytes[4] << 16) | (bytes[3] << 8) | (bytes[2]));
-
 }
 
-void ISA::handle525(uint32_t data[2])  //Temperature
+void ISA::handle525(const uint8_t bytes[8])  //Temperature
 {
-   uint8_t* bytes = (uint8_t*)data;// arrgghhh this converts the two 32bit array into bytes. See comments are useful:)
    framecount++;
    int32_t temp=0;
    temp = (int32_t)((bytes[5] << 24) | (bytes[4] << 16) | (bytes[3] << 8) | (bytes[2]));
 
    Temperature=temp/10;
-
 }
 
-void ISA::handle526(uint32_t data[2]) //Kilowatts
+void ISA::handle526(const uint8_t bytes[8]) //Kilowatts
 {
-   uint8_t* bytes = (uint8_t*)data;// arrgghhh this converts the two 32bit array into bytes. See comments are useful:)
    KW = (int32_t)((bytes[5] << 24) | (bytes[4] << 16) | (bytes[3] << 8) | (bytes[2]));
 }
 
 
-void ISA::handle527(uint32_t data[2]) //Ampere-Hours
-
+void ISA::handle527(const uint8_t bytes[8]) //Ampere-Hours
 {
-   uint8_t* bytes = (uint8_t*)data;// arrgghhh this converts the two 32bit array into bytes. See comments are useful:)
    Ah = (bytes[5] << 24) | (bytes[4] << 16) | (bytes[3] << 8) | (bytes[2]);
 }
 
-void ISA::handle528(uint32_t data[2])  //kiloWatt-hours
-
+void ISA::handle528(const uint8_t bytes[8])  //kiloWatt-hours
 {
-   uint8_t* bytes = (uint8_t*)data;// arrgghhh this converts the two 32bit array into bytes. See comments are useful:)
    KWh=((bytes[5] << 24) | (bytes[4] << 16) | (bytes[3] << 8) | (bytes[2]));
-
 }
diff --git a/src/kangoobms.cpp b/src/kangoobms.cpp
index e456c3fe..f1b62773 100644
--- a/src/kangoobms.cpp
+++ b/src/kangoobms.cpp
@@ -53,7 +53,7 @@ float KangooBMS::MaxChargeCurrent()
 }
 
 // Process voltage and temperature message from SimpBMS.
-void KangooBMS::DecodeCAN(int id, uint8_t *data)
+void KangooBMS::DecodeCAN(int id, const uint8_t data[8])
 {
    if (id == 0x155)
    {
diff --git a/src/leafbms.cpp b/src/leafbms.cpp
index b8c13620..6e2909cb 100644
--- a/src/leafbms.cpp
+++ b/src/leafbms.cpp
@@ -31,10 +31,8 @@ void LeafBMS::SetCanInterface(CanHardware* can)
     //can->RegisterUserMessage(0x59E);//Leaf BMS message 500ms
 }
 
-void LeafBMS::DecodeCAN(int id, uint8_t * data)
+void LeafBMS::DecodeCAN(int id, const uint8_t bytes[8])
 {
-    uint8_t* bytes = (uint8_t*)data;
-
     if (id == 0x1DB)
     {
         float cur = uint16_t(bytes[0] << 3) + uint16_t(bytes[1] >>5);
diff --git a/src/leafinv.cpp b/src/leafinv.cpp
index ec04274e..9774f711 100644
--- a/src/leafinv.cpp
+++ b/src/leafinv.cpp
@@ -63,10 +63,8 @@ void LeafINV::SetCanInterface(CanHardware* c)
     can->RegisterUserMessage(0x55A);//Leaf inv msg
 }
 
-void LeafINV::DecodeCAN(int id, uint32_t data[2])
+void LeafINV::DecodeCAN(int id, const uint8_t bytes[8])
 {
-    uint8_t* bytes = (uint8_t*)data;// arrgghhh this converts the two 32bit array into bytes. See comments are useful:)
-
     if (id == 0x1DA)// THIS MSG CONTAINS INV VOLTAGE, MOTOR SPEED AND ERROR STATE
     {
         voltage = ((bytes[0] << 2) | (bytes[1] >> 6)) * 0.5;//MEASURED VOLTAGE FROM LEAF INVERTER
diff --git a/src/outlanderCharger.cpp b/src/outlanderCharger.cpp
index 0526dd5b..4f8361bc 100644
--- a/src/outlanderCharger.cpp
+++ b/src/outlanderCharger.cpp
@@ -124,18 +124,18 @@ void outlanderCharger::SetCanInterface(CanHardware* c)
     can->RegisterUserMessage(0x38A);//charger status 2
 }
 
-void outlanderCharger::DecodeCAN(int id, uint32_t data[2])
+void outlanderCharger::DecodeCAN(int id, const uint8_t bytes[8])
 {
     switch (id)
     {
     case 0x377:
-        outlanderCharger::handle377(data);
+        outlanderCharger::handle377(bytes);
         break;
     case 0x389:
-        outlanderCharger::handle389(data);
+        outlanderCharger::handle389(bytes);
         break;
     case 0x38A:
-        outlanderCharger::handle38A(data);
+        outlanderCharger::handle38A(bytes);
         break;
     }
 }
@@ -212,21 +212,16 @@ void outlanderCharger::Task100Ms()
     }
 }
 
-void outlanderCharger::handle377(uint32_t data[2])
-
+void outlanderCharger::handle377(const uint8_t bytes[8])
 {
-    uint8_t* bytes = (uint8_t*)data;// arrgghhh this converts the two 32bit array into bytes. See comments are useful:)
     LV_Volts = ((bytes[0]<<8) | (bytes[1]))*0.01;
     LV_Amps = ((bytes[2]<<8) | (bytes[3]))*0.1;
     Param::SetFloat(Param::U12V, LV_Volts);
     Param::SetFloat(Param::I12V, LV_Amps);
-
 }
 
-void outlanderCharger::handle389(uint32_t data[2])
-
+void outlanderCharger::handle389(const uint8_t bytes[8])
 {
-    uint8_t* bytes = (uint8_t*)data;// arrgghhh this converts the two 32bit array into bytes. See comments are useful:)
     ACVolts = bytes[1]; //AC voltage measured at charger. Scale 1 to 1.
     ACAmps = bytes[6] * 0.1; //Current in Amps from mains. scale 0.1.
     DCAmps = bytes[2] * 0.1; //Current in Amps from charger to battery. scale 0.1.
@@ -234,10 +229,8 @@ void outlanderCharger::handle389(uint32_t data[2])
     Param::SetFloat(Param::AC_Amps, ACAmps);
 }
 
-void outlanderCharger::handle38A(uint32_t data[2])
-
+void outlanderCharger::handle38A(const uint8_t bytes[8])
 {
-    uint8_t* bytes = (uint8_t*)data;// arrgghhh this converts the two 32bit array into bytes. See comments are useful:)
     chgStatus = bytes[4];
     evseDuty = bytes[3];
     dcBusV = bytes[2]*2;// Volts scale 2
@@ -245,5 +238,3 @@ void outlanderCharger::handle38A(uint32_t data[2])
     temp_2 = bytes[1]-45;//degC bias -45
     Param::SetFloat(Param::ChgTemp, MAX(temp_1, temp_2));
 }
-
-
diff --git a/src/outlanderinverter.cpp b/src/outlanderinverter.cpp
index c6488234..2a693206 100644
--- a/src/outlanderinverter.cpp
+++ b/src/outlanderinverter.cpp
@@ -35,8 +35,10 @@ void OutlanderInverter::SetCanInterface(CanHardware* c)
    can->RegisterUserMessage(0x733);//Outlander Inv Msg
 }
 
-void OutlanderInverter::DecodeCAN(int id, uint32_t data[2])
+void OutlanderInverter::DecodeCAN(int id, const uint8_t bytes[8])
 {
+   const uint32_t* data = (uint32_t*)bytes;
+
    switch (id)
    {
    case 0x289:
diff --git a/src/simpbms.cpp b/src/simpbms.cpp
index 740a5f1d..7c2d64e5 100644
--- a/src/simpbms.cpp
+++ b/src/simpbms.cpp
@@ -68,7 +68,7 @@ float SimpBMS::MaxChargeCurrent()
 }
 
 // Process voltage and temperature message from SimpBMS.
-void SimpBMS::DecodeCAN(int id, uint8_t *data)
+void SimpBMS::DecodeCAN(int id, const uint8_t data[8])
 {
    if (id == 0x373)
    {
diff --git a/src/stm32_vcu.cpp b/src/stm32_vcu.cpp
index a209a9c2..4820f309 100644
--- a/src/stm32_vcu.cpp
+++ b/src/stm32_vcu.cpp
@@ -1107,27 +1107,29 @@ void Param::Change(Param::PARAM_NUM paramNum)
 }
 
 
-static bool CanCallback(uint32_t id, uint32_t data[2], uint8_t dlc) //This is where we go when a defined CAN message is received.
+//This is where we go when a defined CAN message is received.
+static bool CanCallback(uint32_t id, uint32_t data[2], uint8_t len __attribute__((unused)) )
 {
-    dlc = dlc;
+    const uint8_t* bytes = (uint8_t*)data;
+
     switch (id)
     {
     case 0x7DF:
-        canOBD2.DecodeCAN(id,data);
+        canOBD2.DecodeCAN(id, bytes);
         break;
 
     default:
-        if (Param::GetInt(Param::ShuntType) == 1)  ISA::DecodeCAN(id, data);
-        if (Param::GetInt(Param::ShuntType) == 2)  SBOX::DecodeCAN(id, data);
-        if (Param::GetInt(Param::ShuntType) == 3)  VWBOX::DecodeCAN(id, data);
-        selectedInverter->DecodeCAN(id, data);
-        selectedVehicle->DecodeCAN(id, data);
-        selectedCharger->DecodeCAN(id, data);
-        selectedChargeInt->DecodeCAN(id, data);
-        selectedBMS->DecodeCAN(id, (uint8_t*)data);
-        selectedDCDC->DecodeCAN(id, (uint8_t*)data);
-        selectedShifter->DecodeCAN(id,data);
-        selectedHeater->DecodeCAN(id, data);
+        if (Param::GetInt(Param::ShuntType) == 1)  ISA::DecodeCAN(id, bytes);
+        if (Param::GetInt(Param::ShuntType) == 2)  SBOX::DecodeCAN(id, bytes);
+        if (Param::GetInt(Param::ShuntType) == 3)  VWBOX::DecodeCAN(id, bytes);
+        selectedInverter->DecodeCAN(id, bytes);
+        selectedVehicle->DecodeCAN(id, bytes);
+        selectedCharger->DecodeCAN(id, bytes);
+        selectedChargeInt->DecodeCAN(id, bytes);
+        selectedBMS->DecodeCAN(id, bytes);
+        selectedDCDC->DecodeCAN(id, bytes);
+        selectedShifter->DecodeCAN(id, bytes);
+        selectedHeater->DecodeCAN(id, bytes);
         break;
     }
     return false;
@@ -1152,17 +1154,16 @@ extern "C" void tim4_isr(void)
 extern "C" void exti15_10_isr(void)    //CAN3 MCP25625 interruppt
 {
     uCAN_MSG rxMessage;
-    uint32_t canData[2];
-    if(CANSPI_receive(&rxMessage))
-    {
-        canData[0]=(rxMessage.frame.data0 | rxMessage.frame.data1<<8 | rxMessage.frame.data2<<16 | rxMessage.frame.data3<<24);
-        canData[1]=(rxMessage.frame.data4 | rxMessage.frame.data5<<8 | rxMessage.frame.data6<<16 | rxMessage.frame.data7<<24);
-    }
-    //can cast this to uint32_t[2]. dont be an idiot! * pointer
+
+    bool newFrame = CANSPI_receive(&rxMessage);
     CANSPI_CLR_IRQ();   //Clear Rx irqs in mcp25625
+
     exti_reset_request(EXTI15); // clear irq
-    if((rxMessage.frame.id==0x108)||(rxMessage.frame.id==0x109)) selectedChargeInt->DecodeCAN(rxMessage.frame.id, canData);
 
+    if(newFrame && ((rxMessage.frame.id==0x108)||(rxMessage.frame.id==0x109)))
+    {
+        selectedChargeInt->DecodeCAN(rxMessage.frame.id, &rxMessage.frame.data0);
+    }
 }
 
 extern "C" void rtc_isr(void)
diff --git a/src/teslaCharger.cpp b/src/teslaCharger.cpp
index 963fbddc..af86375e 100644
--- a/src/teslaCharger.cpp
+++ b/src/teslaCharger.cpp
@@ -21,9 +21,8 @@ void teslaCharger::SetCanInterface(CanHardware* c)
 
 }
 
-void teslaCharger::DecodeCAN(int id, uint32_t data[2])
+void teslaCharger::DecodeCAN(int id, const uint8_t bytes[8])
 {
-   uint8_t* bytes = (uint8_t*)data;
    if (id == 0x108)
    {
    if(bytes[0]==0xAA) HVreq=true;
diff --git a/src/vag_sbox.cpp b/src/vag_sbox.cpp
index 566a2037..b19c937a 100644
--- a/src/vag_sbox.cpp
+++ b/src/vag_sbox.cpp
@@ -49,22 +49,20 @@ void VWBOX::RegisterCanMessages(CanHardware* can)
 
 }
 
-void VWBOX::DecodeCAN(int id, uint32_t data[2])
+void VWBOX::DecodeCAN(int id, const uint8_t bytes[8])
 {
    switch (id)
    {
    case 0x0BB:
-      VWBOX::handle0BB(data);//VWBOX CAN MESSAGE
+      VWBOX::handle0BB(bytes);//VWBOX CAN MESSAGE
       break;
 
    }
 }
 
 
-void VWBOX::handle0BB(uint32_t data[2])  //VWBOX Current and voltages
-
+void VWBOX::handle0BB(const uint8_t bytes[8])  //VWBOX Current and voltages
 {
-   uint8_t* bytes = (uint8_t*)data;// arrgghhh this converts the two 32bit array into bytes. See comments are useful:)
    q12 = (((bytes[2])<<4) | ((bytes[1])>>4));
    Amperes=(q12&0x0800)?(q12|0xF800):q12;//Step1: Copy , Step2: Paste , Step3: Profit!
    Voltage=((bytes[5] << 4) | ((bytes[4]>>4)&0xF));//output voltage