front to rear axle speed slip rate gauge #5842

firmware/console/binary/output_channels.txt

@@ -375,5 +375,7 @@ float mapFast
 	uint16_t autoscale afrGasolineScale;@@GAUGE_NAME_AFR_GAS_SCALE@@;"AFR",{1/@@PACK_MULT_AFR@@}, 0, 0, 0, 2
 	uint16_t autoscale afr2GasolineScale;@@GAUGE_NAME_AFR2_GAS_SCALE@@;"AFR",{1/@@PACK_MULT_AFR@@}, 0, 0, 0, 2
 
-	uint8_t[120 iterate] unusedAtTheEnd;;"",1, 0, 0, 0, 0
+	float wheelSlipRatio
+
+	uint8_t[116 iterate] unusedAtTheEnd;;"",1, 0, 0, 0, 0
 end_struct

firmware/console/status_loop.cpp

@@ -450,6 +450,7 @@ static void updateVvtSensors() {
 static void updateVehicleSpeed() {
 #if EFI_VEHICLE_SPEED
 	engine->outputChannels.vehicleSpeedKph = Sensor::getOrZero(SensorType::VehicleSpeed);
+	engine->outputChannels.wheelSlipRatio = Sensor::getOrZero(SensorType::WheelSlipRatio);
 	engine->outputChannels.speedToRpmRatio = engine->module<GearDetector>()->getGearboxRatio();
 	engine->outputChannels.detectedGear = Sensor::getOrZero(SensorType::DetectedGear);
 #endif /* EFI_VEHICLE_SPEED */
@@ -733,10 +734,10 @@ void updateTunerStudioState() {
 		tle8888PostState();
 #endif /* BOARD_TLE8888_COUNT */
 		break;
-	case DBG_LOGIC_ANALYZER: 
+	case DBG_LOGIC_ANALYZER:
-#if EFI_LOGIC_ANALYZER	
+#if EFI_LOGIC_ANALYZER
 		reportLogicAnalyzerToTS();
-#endif /* EFI_LOGIC_ANALYZER */		
+#endif /* EFI_LOGIC_ANALYZER */
 		break;
 	default:
 		;

firmware/controllers/can/can_vss.cpp

@@ -16,6 +16,7 @@
 
 static bool isInit = false;
 static uint16_t filterVssCanID = 0;
+static uint16_t filterSecondVssCanID = 0;
 static uint16_t filterRpmCanID = 0;
 
 static expected<uint16_t> look_up_rpm_can_id(can_vss_nbc_e type) {
@@ -38,9 +39,11 @@ static expected<uint16_t> look_up_vss_can_id(can_vss_nbc_e type) {
 		case BMW_e90:
 			return 0x1A0;	// BMW E90 ABS speed frame (not wheel speeds, vehicle speed)
 		case NISSAN_350:
-		  return 0x280;
+		  // decimal 640 0x280 has cluster speed but we use wheel speeds
+		  return /*0x284*/644;
 		case HYUNDAI_PB:
-		  return 1264; // decimal 1264
+		  // decimal 1264 0x4F0 CLU1 has cluster speed but we use wheel speeds
+		  return /*0x1F1*/497;
 		case HONDA_CIVIC9:
 		  return 0x309;
 		case W202:
@@ -51,12 +54,29 @@ static expected<uint16_t> look_up_vss_can_id(can_vss_nbc_e type) {
 	}
 }
 
+static uint16_t look_up_second_vss_can_id(can_vss_nbc_e type) {
+	switch (type) {
+		case NISSAN_350:
+		  // decimal 640 0x280 has cluster speed but we use wheel speeds
+		  return /*0x285*/645;
+		default:
+		  // it's OK not to require second packet
+			return 0;
+	}
+}
+
 static int getTwoBytesLsb(const CANRxFrame& frame, int index) {
 	uint8_t low = frame.data8[index];
 	uint8_t high = frame.data8[index + 1] & 0xFF;
 	return low | (high << 8);
 }
 
+static int getTwoBytesMsb(const CANRxFrame& frame, int index) {
+	uint8_t low = frame.data8[index + 1];
+	uint8_t high = frame.data8[index] & 0x0FF;
+	return low | (high << 8);
+}
+
 /* Module specific processing functions */
 /* source: http://z4evconversion.blogspot.com/2016/07/completely-forgot-but-it-does-live-on.html */
 float processBMW_e46(const CANRxFrame& frame) {
@@ -67,6 +87,19 @@ float processBMW_e46(const CANRxFrame& frame) {
 	return (left + right) / (16 * 2);
 }
 
+// open question if that's front axle or rear axle?
+static int nissanFrontAxle = 0;
+
+float processNissan(const CANRxFrame& frame) {
+	// todo: open question which one is left which one is right
+	int left =  getTwoBytesMsb(frame, 0);
+	int right = getTwoBytesMsb(frame, 2);
+
+	nissanFrontAxle = left + right;
+
+	return nissanFrontAxle / (100 * 2);
+}
+
 float processBMW_e90(const CANRxFrame& frame) {
 	return 0.1f * getTwoBytesLsb(frame, 0);
 }
@@ -87,7 +120,8 @@ expected<float> processCanRxVssImpl(const CANRxFrame& frame) {
 			return processBMW_e90(frame);
 		case W202:
 			return processW202(frame);
-//		case NISSAN_350:
+		case NISSAN_350:
+			return processNissan(frame);
 		default:
 			efiPrintf("vss unsupported can option selected %x", engineConfiguration->canVssNbcType );
 	}
@@ -96,6 +130,27 @@ expected<float> processCanRxVssImpl(const CANRxFrame& frame) {
 }
 
 static StoredValueSensor canSpeed(SensorType::VehicleSpeed, MS2NT(500));
+static StoredValueSensor wheelSlipRatio(SensorType::WheelSlipRatio, MS2NT(1000));
+
+static void processNissanSecondVss(const CANRxFrame& frame, efitick_t nowNt) {
+	// todo: open question which one is left which one is right
+  int left =  getTwoBytesMsb(frame, 0);
+	int right = getTwoBytesMsb(frame, 2);
+
+	int rearAxle = left + right;
+
+	wheelSlipRatio.setValidValue(1.0 * nissanFrontAxle / rearAxle, nowNt);
+}
+
+void processCanRxSecondVss(const CANRxFrame& frame, efitick_t nowNt) {
+	switch (engineConfiguration->canVssNbcType) {
+		case NISSAN_350:
+		  processNissanSecondVss(frame, nowNt);
+		  return;
+		default:
+		  criticalError("Unexpected processCanRxSecondVss %d", (int)engineConfiguration->canVssNbcType);
+	}
+}
 
 void processCanRxVss(const CANRxFrame& frame, efitick_t nowNt) {
 	if ((!engineConfiguration->enableCanVss) || (!isInit)) {
@@ -113,6 +168,11 @@ void processCanRxVss(const CANRxFrame& frame, efitick_t nowNt) {
   	}
 	}
 
+	if (CAN_SID(frame) == filterSecondVssCanID) {
+	  processCanRxSecondVss(frame, nowNt);
+	}
+
+
 	if (CAN_SID(frame) == filterRpmCanID) {
   }
 
@@ -122,7 +182,9 @@ void initCanVssSupport() {
 	if (engineConfiguration->enableCanVss) {
 		if (auto canId = look_up_vss_can_id(engineConfiguration->canVssNbcType)) {
 			filterVssCanID = canId.Value;
+			filterSecondVssCanID = look_up_second_vss_can_id(engineConfiguration->canVssNbcType);
 			canSpeed.Register();
+			wheelSlipRatio.Register();
 			isInit = true;
 		} else {
 			isInit = false;

firmware/tunerstudio/rusefi.input

@@ -1437,6 +1437,7 @@ gaugeCategory = Sensors - Basic
        ;Name               Var            Title                 Units     Lo     Hi     LoD    LoW   HiW   HiD vd ld
 gaugeCategory = Sensors - Extra 1
 	VSSGauge			= vehicleSpeedKph,		@@GAUGE_NAME_VVS@@,			"kmh",		0,	200,		0,		1,		3,	4,	1,	1
+	wheelSlipRatioGauge			= wheelSlipRatio,		"Wheel Slip Ratio",			"",		0,	200,		0,		1,		3,	4,	3,	3
 	turboSpeedGauge	= turboSpeed,			@@GAUGE_NAME_TURBO_SPEED@@, "hz",			0,	200,		0,		1,		3,	4,	1,	1
 	baroPressureGauge	= baroPressure,			@@GAUGE_NAME_BARO_PRESSURE@@,		"kPa",		0,	1024,		0,		0,		0,	0,	0,	0
 	internalMcuTemperatureGauge = internalMcuTemperature, @@GAUGE_NAME_ECU_TEMPERATURE@@, "C",	0,	100,	0,	0,	75,  100,	0,	0