From d07f944150c4d0c9e4ec84ecf37cd971ca9d326a Mon Sep 17 00:00:00 2001 From: Leonard Gies Date: Fri, 1 Aug 2025 01:58:19 +0200 Subject: [PATCH] fix wheelspeed readout --- Core/Src/vehicle.c | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/Core/Src/vehicle.c b/Core/Src/vehicle.c index 60fb7e8..b116e9e 100644 --- a/Core/Src/vehicle.c +++ b/Core/Src/vehicle.c @@ -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: