FaSTTUBe/steering-wheel
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fix wheelspeed readout

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This commit is contained in:
Leonard Gies 2025-08-01 01:58:19 +02:00
parent 5933dc1012
commit d07f944150
Signed by: l.gies
GPG Key ID: 6F6FB9338EE44F71
1 changed files with 4 additions and 4 deletions
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8
Core/Src/vehicle.c
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@ -258,10 +258,10 @@ void ftcan_msg_received_cb(uint16_t id, size_t datalen, const uint8_t *data) {
break;
case CAN_ID_FTCU_WHEELSPEED:
vehicle_state.watchdog_times.ftcu = tick;
vehicle_state.wheel_speeds.wss_fl = data[0] | ((data[1] & 0x0F) << 8);
vehicle_state.wheel_speeds.wss_fr = ((data[1] >> 4) & 0x0F) | (data[2] << 4);
vehicle_state.wheel_speeds.wss_rl = data[3] | ((data[4] & 0x0F) << 8);
vehicle_state.wheel_speeds.wss_rr = ((data[4] >> 4) & 0x0F) | (data[5] << 4);
vehicle_state.wheel_speeds.wss_fl = (data[0] | ((data[1] & 0x0F) << 8)) * 0.05;
vehicle_state.wheel_speeds.wss_fr = (((data[1] >> 4) & 0x0F) | (data[2] << 4)) * 0.05;
vehicle_state.wheel_speeds.wss_rl = (data[3] | ((data[4] & 0x0F) << 8)) * 0.05;
vehicle_state.wheel_speeds.wss_rr = (((data[4] >> 4) & 0x0F) | (data[5] << 4)) * 0.05;
vehicle_state.distance_session = data[6] | (data[7] << 8);
break;
case CAN_ID_FTCU_BRAKE_T: