diff --git a/docs/docs/firmware/can-traffic/img/canbusdiagram.svg b/docs/docs/firmware/can-traffic/img/canbusdiagram.svg
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+++ b/docs/docs/firmware/can-traffic/img/canbusdiagram.svg
@@ -0,0 +1 @@
+
\ No newline at end of file
diff --git a/docs/docs/firmware/can-traffic/index.md b/docs/docs/firmware/can-traffic/index.md
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+++ b/docs/docs/firmware/can-traffic/index.md
@@ -0,0 +1,87 @@
+# Calculating CAN Traffic
+
+In order to calculate the CAN load, we must define a few variables related to the CAN protocol.
+
+## Baud
+
+The baud rate is the rate at which data is transfered in a communication channel (like CAN). For example, 9600 Baud rate is 9600 bits per second
+
+## Frequency
+
+The frequency of a message, expressed in (Hz), is how often a message is transmitted per second. Different messages can have different frequencies.
+
+This variation affects the total bits transmitted and, in turn, the bus load. To calculate bits per second, consider each message’s frequency and whether their lengths differ.
+
+## Message Length
+
+The message length in a CAN frame can be calculated as a function of the data length. This calculation includes several fixed fields and a variable data field, which changes based on the message's data content.
+
+
+{ width="100%" }
+CAN Bus Frame Diagram. Source: CSS Electronics CAN Bus Tutorial
+
+
+Each CAN frame consists of several fields with fixed bit lengths, plus a variable-length data field. Let \(x\) be the number of bytes. Here’s the breakdown:
+
+|Frame Element| Length (bits)|
+|--------------|------------|
+|Start of Frame (SOF) | 1 |
+|Identifier (ID)| 11 |
+|Remote Transmission Request (RTR)| 1|
+| Control (DLC)| 6|
+|Data| 8 bits per byte with 20% bit stuffing = 9.6x|
+|Cyclic Redundancy Check (CRC) | 16 |
+|Acknowledgement (ACK)| 2 |
+|End of Frame (EOF)| 7|
+
+### Final Formula
+
+The maximum total frame length is:
+
+\[ 1 + 11 + 1 + 6 + 16 + 2 + 7 + 9.6x = 44 + 9.6x \text{ bits}\]
+
+where \(x\) represents the number of bytes in the variable data field.
+
+--------------------------------------
+
+## Total CAN Traffic
+
+\begin{align}
+\text{Total Bits Per Second} &= \sum_{i=1}^n \left(\text{Frequency}_i \times \text{Message Length}_i \right)\\
+\end{align}
+
+## Total Bus Load
+
+\begin{align}
+\text{Bus Load}\%= \frac{\text{Total Bits per Second}}{\text{Baud Rate}} \times 100\%
+\end{align}
+
+--------------------------------------
+
+## Sample calculation
+
+**Given**:
+
+Baud Rate: 500 kbaud (500,000 bits transferred per second)
+
+|Message Type | Data Length| Frequency (Hz)| Message Length (Bits)|
+|--------------|------------|---------------|---------------------|
+|Battery Status| 8 | 100 | 44 + 9.6 x 8 = 121|
+|Motor Control| 5 | 50 | 44 + 9.6 x 5 = 92|
+
+\begin{align}
+\text{Total Bits Per Second} &= \sum_{i=1}^n \left(\text{Frequency}_i \times \text{Message Length}_i \right)\\
+\text{Total Bits Per Second} &= (100\text{ Hz} \times 121\text{ bits}) + (50\text{ Hz}\times 92\text{ bits})\\
+&=(12100 + 4600)\text{ bits per second}\\
+&= 16700\text{ bits per second}
+\end{align}
+
+The bus load is the previous example can be calculated as:
+
+$$
+\text{Bus Load}\%= \frac{\text{Total Bits per Second}}{\text{Baud Rate}} \times 100\%
+$$
+
+$$
+\text{Bus Load} = \left(\frac{16700}{500,000}\right) \times 100\% = 3.34\%
+$$
diff --git a/docs/javascripts/katex.js b/docs/javascripts/katex.js
new file mode 100644
index 00000000..3828300a
--- /dev/null
+++ b/docs/javascripts/katex.js
@@ -0,0 +1,10 @@
+document$.subscribe(({ body }) => {
+ renderMathInElement(body, {
+ delimiters: [
+ { left: "$$", right: "$$", display: true },
+ { left: "$", right: "$", display: false },
+ { left: "\\(", right: "\\)", display: false },
+ { left: "\\[", right: "\\]", display: true }
+ ],
+ })
+ })
\ No newline at end of file
diff --git a/docs/mkdocs.yml b/docs/mkdocs.yml
index 35236fb6..f4dcf97e 100644
--- a/docs/mkdocs.yml
+++ b/docs/mkdocs.yml
@@ -32,6 +32,12 @@ theme:
extra_css:
- stylesheets/extra.css
+ - https://unpkg.com/katex@0/dist/katex.min.css
+
+extra_javascript:
+ - https://unpkg.com/mathjax@3/es5/tex-mml-chtml.js
+ - https://unpkg.com/katex@0/dist/katex.min.js
+ - https://unpkg.com/katex@0/dist/contrib/auto-render.min.js
copyright: Copyright © McMaster Formula Electric
@@ -91,6 +97,8 @@ markdown_extensions:
base_path:
- !relative
- !relative $docs_dir/../
+ - pymdownx.arithmatex:
+ generic: true
repo_url: https://github.com/macformula/racecar
repo_name: macformula/racecar
@@ -127,6 +135,7 @@ nav:
- firmware/compile-project.md
- firmware/flashing/index.md
- firmware/hw-debug.md
+ - firmware/can-traffic/index.md
- Glossary: glossary.md
watch: