More info on various CAN messages

Based on my own logs captured, as well as
https://blog.toyobaru.es/index.php?tag/BusCAN

can_db/ft86.md

@@ -17,7 +17,7 @@ accelerometers.
 
 Channel name | Equation | Notes
 ------------ | -------- | -----
-Steering angle | `bytesToIntLe(raw, 0, 2) * 0.1` | Also available in `0xD0`
+Steering angle | `bytesToIntLe(raw, 0, 2) * -0.1` | Also available in `0xD0`
 ??? | `C` or `bytesToIntLe(raw, 2, 1)` | The value is 112 most of the time for me
 ??? | `D` or `bytesToIntLe(raw, 3, 1)` | 0–14 sawtooth
 ??? | `E` or `bytesToIntLe(raw, 4, 1)` | The value is 0 most of the time for me
@@ -33,7 +33,8 @@ Channel name | Equation | Notes
 ------------ | -------- | -----
 Steering angle | `bytesToIntLe(raw, 0, 2) * 0.1` | Also available in 0x18
 Z rate of rotation | `bytesToIntLe(raw, 2, 2) * -0.286478897` | The multiplier for º/sec appears to be ((90 / pi) * 100)
-??? | bytes 4, 5 |
+??? | `E` | Some flags?
+??? | `F` | Some flags?
 Lateral acceleration | `bytesToIntLe(raw, 6, 1) * 0.2` | Not 100% sure about the multiplier, but looks about right
 Longitudinal acceleration | `bytesToIntLe(raw, 7, 1) * -0.1` | Not 100% sure about the multiplier, but looks about right
 Combined acceleration | `sqrt(pow2(bytesToIntLe(raw, 6, 1) * 0.2) + pow2(bytesToIntLe(raw, 7, 1) * 0.1))` |
@@ -41,11 +42,13 @@ Combined acceleration | `sqrt(pow2(bytesToIntLe(raw, 6, 1) * 0.2) + pow2(bytesTo
 ## PID 0xD1
 
 Update frequency: 50 times per second.
+Length: 4 bytes
 
 Channel name | Equation | Notes
 ------------ | -------- | -----
 Speed | `bytesToIntLe(raw, 0, 2) * 0.015694` | May want to check the multiplier against an external GPS device
 Brake position | `min(C / 0.7, 100)` | The third byte is the pressure in the brake system, in Bars. The 0.7 divider seems to be a good value to get 100% at pressure slightly higher than those you're likely to use on the track for cars with no aero. You can use 0.8 or 0.9 if you see 100% too often.
+??? | D | Always 0?
 
 ## PID 0xD4
 
@@ -66,11 +69,15 @@ Channel name | Equation | Notes
 ------------ | -------- | -----
 Accelerator position | `A / 2.55`
 Clutch position | `(B & 0x80) / 1.28` | On/off only
+??? | B & 0x70 | Unused?
+??? | B & 0x0f | 0–15 counter?
 Engine RPM | `C + (D & 0x3f) * 256`
-??? | `D & 0xc0`
-??? | byte 4
-Throttle position | `F / 2.55` | Not tested
-??? | bytes 6, 7
+??? | `D & 0x80` | Always 0?
+??? | `D & 0x40` | 1 when accelerator pedal is released, 0 otherwise
+Accelerator position | `E / 2.55` | Not clear what's the difference from the other two
+Accelerator position | `F / 2.55` | Not clear what's the difference from the other two
+Throttle position | `G / 2.55` | Not tested
+??? | H | Some flags
 
 ## PID 0x141
 
@@ -80,9 +87,10 @@ Channel name | Equation | Notes
 ------------ | -------- | -----
 Accelerator pedal position? | `bytesToIntLe(raw, 0, 2)` | Follows `A` from `0x140` closely with ~9860 for 0% and ~11625 for 42%. Needs more testing.
 Throttle position? | `bytesToIntLe(raw, 2, 2)` | Follows the accelerator pedal position with some extra smoothness. Independent at idle revs, and you can see it changing in response to modulating the clutch in stop and go traffic. Scale is unknown.
-Engine RPM? | `E + (F & 0x3f) * 256`
-??? | `F & 0xc0`
-Gear | `(G & 0xF) * (1 - (min(G & 0xF, 7)) / 7)` | It's basically just `G & 0xF` but neutral is reported as `7`, hence the complex math to turn it into a 0. The reverse gear is reported as `1`. The value can be wrong when the clutch pedal is depressed.
+Engine RPM | `E + (F & 0x3f) * 256`
+??? | `F & 0x80` | 1 when accelerator pedal is released, 0 otherwise
+??? | `F & 0x40` | Always 0?
+Gear | `(G & 0xf) * (1 - (min(G & 0xf, 7)) / 7)` | It's basically just `G & 0xf` but neutral is reported as `7`, hence the complex math to turn it into a 0. The reverse gear is reported as `1`. The value can be wrong when the clutch pedal is depressed.
 ??? | `G & 0xF0` | I saw values of 128, 160, 192 here.
 ??? | `H` | Equals to 16 when I lift off the accelerator, then turns to 8, then 0.